{
  "best_global_step": null,
  "best_metric": null,
  "best_model_checkpoint": null,
  "epoch": 35.97122302158273,
  "eval_steps": 500,
  "global_step": 40000,
  "is_hyper_param_search": false,
  "is_local_process_zero": true,
  "is_world_process_zero": true,
  "log_history": [
    {
      "action_loss": 2.3601033687591553,
      "epoch": 0,
      "step": 0
    },
    {
      "epoch": 0,
      "step": 0,
      "torque_loss": 1.228797435760498
    },
    {
      "epoch": 0.008992805755395683,
      "grad_norm": 25.071945190429688,
      "learning_rate": 3.0000000000000004e-07,
      "loss": 2.4776,
      "step": 10
    },
    {
      "action_loss": 1.3460880517959595,
      "epoch": 0.008992805755395683,
      "step": 10
    },
    {
      "epoch": 0.008992805755395683,
      "step": 10,
      "torque_loss": 1.1185355186462402
    },
    {
      "epoch": 0.017985611510791366,
      "grad_norm": 86.86817169189453,
      "learning_rate": 6.333333333333333e-07,
      "loss": 2.5981,
      "step": 20
    },
    {
      "action_loss": 1.8547900915145874,
      "epoch": 0.017985611510791366,
      "step": 20
    },
    {
      "epoch": 0.017985611510791366,
      "step": 20,
      "torque_loss": 1.0779401063919067
    },
    {
      "epoch": 0.02697841726618705,
      "grad_norm": 23.92437171936035,
      "learning_rate": 9.666666666666668e-07,
      "loss": 2.503,
      "step": 30
    },
    {
      "action_loss": 2.150662660598755,
      "epoch": 0.02697841726618705,
      "step": 30
    },
    {
      "epoch": 0.02697841726618705,
      "step": 30,
      "torque_loss": 1.2505098581314087
    },
    {
      "epoch": 0.03597122302158273,
      "grad_norm": 21.38734245300293,
      "learning_rate": 1.3e-06,
      "loss": 2.2972,
      "step": 40
    },
    {
      "action_loss": 1.7744098901748657,
      "epoch": 0.03597122302158273,
      "step": 40
    },
    {
      "epoch": 0.03597122302158273,
      "step": 40,
      "torque_loss": 1.1729792356491089
    },
    {
      "epoch": 0.044964028776978415,
      "grad_norm": 12.067179679870605,
      "learning_rate": 1.6333333333333333e-06,
      "loss": 2.1403,
      "step": 50
    },
    {
      "action_loss": 1.2721601724624634,
      "epoch": 0.044964028776978415,
      "step": 50
    },
    {
      "epoch": 0.044964028776978415,
      "step": 50,
      "torque_loss": 1.1698811054229736
    },
    {
      "epoch": 0.0539568345323741,
      "grad_norm": 8.9168119430542,
      "learning_rate": 1.9666666666666668e-06,
      "loss": 1.8372,
      "step": 60
    },
    {
      "action_loss": 0.7553159594535828,
      "epoch": 0.0539568345323741,
      "step": 60
    },
    {
      "epoch": 0.0539568345323741,
      "step": 60,
      "torque_loss": 1.2138123512268066
    },
    {
      "epoch": 0.06294964028776978,
      "grad_norm": 9.972052574157715,
      "learning_rate": 2.3e-06,
      "loss": 1.3542,
      "step": 70
    },
    {
      "action_loss": 0.5480057597160339,
      "epoch": 0.06294964028776978,
      "step": 70
    },
    {
      "epoch": 0.06294964028776978,
      "step": 70,
      "torque_loss": 1.1928168535232544
    },
    {
      "epoch": 0.07194244604316546,
      "grad_norm": 2.361851453781128,
      "learning_rate": 2.6333333333333337e-06,
      "loss": 1.2168,
      "step": 80
    },
    {
      "action_loss": 0.38906529545783997,
      "epoch": 0.07194244604316546,
      "step": 80
    },
    {
      "epoch": 0.07194244604316546,
      "step": 80,
      "torque_loss": 1.0835970640182495
    },
    {
      "epoch": 0.08093525179856115,
      "grad_norm": 1.4709742069244385,
      "learning_rate": 2.966666666666667e-06,
      "loss": 1.0607,
      "step": 90
    },
    {
      "action_loss": 0.2794106900691986,
      "epoch": 0.08093525179856115,
      "step": 90
    },
    {
      "epoch": 0.08093525179856115,
      "step": 90,
      "torque_loss": 1.2511152029037476
    },
    {
      "epoch": 0.08992805755395683,
      "grad_norm": 1.374706745147705,
      "learning_rate": 3.3e-06,
      "loss": 0.9656,
      "step": 100
    },
    {
      "action_loss": 0.2490370273590088,
      "epoch": 0.08992805755395683,
      "step": 100
    },
    {
      "epoch": 0.08992805755395683,
      "step": 100,
      "torque_loss": 1.1008645296096802
    },
    {
      "epoch": 0.09892086330935251,
      "grad_norm": 1.3973140716552734,
      "learning_rate": 3.633333333333334e-06,
      "loss": 0.8887,
      "step": 110
    },
    {
      "action_loss": 0.19860589504241943,
      "epoch": 0.09892086330935251,
      "step": 110
    },
    {
      "epoch": 0.09892086330935251,
      "step": 110,
      "torque_loss": 1.1784859895706177
    },
    {
      "epoch": 0.1079136690647482,
      "grad_norm": 1.5731942653656006,
      "learning_rate": 3.966666666666667e-06,
      "loss": 0.8657,
      "step": 120
    },
    {
      "action_loss": 0.14134247601032257,
      "epoch": 0.1079136690647482,
      "step": 120
    },
    {
      "epoch": 0.1079136690647482,
      "step": 120,
      "torque_loss": 1.142398715019226
    },
    {
      "epoch": 0.11690647482014388,
      "grad_norm": 1.0451860427856445,
      "learning_rate": 4.2999999999999995e-06,
      "loss": 0.8139,
      "step": 130
    },
    {
      "action_loss": 0.13740815222263336,
      "epoch": 0.11690647482014388,
      "step": 130
    },
    {
      "epoch": 0.11690647482014388,
      "step": 130,
      "torque_loss": 1.1404907703399658
    },
    {
      "epoch": 0.12589928057553956,
      "grad_norm": 1.1420588493347168,
      "learning_rate": 4.633333333333334e-06,
      "loss": 0.7882,
      "step": 140
    },
    {
      "action_loss": 0.10212137550115585,
      "epoch": 0.12589928057553956,
      "step": 140
    },
    {
      "epoch": 0.12589928057553956,
      "step": 140,
      "torque_loss": 1.1281633377075195
    },
    {
      "epoch": 0.13489208633093525,
      "grad_norm": 0.9105278849601746,
      "learning_rate": 4.966666666666667e-06,
      "loss": 0.7877,
      "step": 150
    },
    {
      "action_loss": 0.2378050684928894,
      "epoch": 0.13489208633093525,
      "step": 150
    },
    {
      "epoch": 0.13489208633093525,
      "step": 150,
      "torque_loss": 1.1047486066818237
    },
    {
      "epoch": 0.14388489208633093,
      "grad_norm": 0.6294947862625122,
      "learning_rate": 5.3e-06,
      "loss": 0.7813,
      "step": 160
    },
    {
      "action_loss": 0.1413825899362564,
      "epoch": 0.14388489208633093,
      "step": 160
    },
    {
      "epoch": 0.14388489208633093,
      "step": 160,
      "torque_loss": 1.1528915166854858
    },
    {
      "epoch": 0.1528776978417266,
      "grad_norm": 0.8054171204566956,
      "learning_rate": 5.633333333333333e-06,
      "loss": 0.7532,
      "step": 170
    },
    {
      "action_loss": 0.07351673394441605,
      "epoch": 0.1528776978417266,
      "step": 170
    },
    {
      "epoch": 0.1528776978417266,
      "step": 170,
      "torque_loss": 1.0601669549942017
    },
    {
      "epoch": 0.1618705035971223,
      "grad_norm": 1.0823380947113037,
      "learning_rate": 5.9666666666666666e-06,
      "loss": 0.7544,
      "step": 180
    },
    {
      "action_loss": 0.09853282570838928,
      "epoch": 0.1618705035971223,
      "step": 180
    },
    {
      "epoch": 0.1618705035971223,
      "step": 180,
      "torque_loss": 1.0987164974212646
    },
    {
      "epoch": 0.17086330935251798,
      "grad_norm": 0.8827524185180664,
      "learning_rate": 6.300000000000001e-06,
      "loss": 0.7753,
      "step": 190
    },
    {
      "action_loss": 0.07383780926465988,
      "epoch": 0.17086330935251798,
      "step": 190
    },
    {
      "epoch": 0.17086330935251798,
      "step": 190,
      "torque_loss": 1.1882470846176147
    },
    {
      "epoch": 0.17985611510791366,
      "grad_norm": 1.0798677206039429,
      "learning_rate": 6.633333333333333e-06,
      "loss": 0.7628,
      "step": 200
    },
    {
      "action_loss": 0.054432351142168045,
      "epoch": 0.17985611510791366,
      "step": 200
    },
    {
      "epoch": 0.17985611510791366,
      "step": 200,
      "torque_loss": 1.1141352653503418
    },
    {
      "epoch": 0.18884892086330934,
      "grad_norm": 0.6156890988349915,
      "learning_rate": 6.966666666666667e-06,
      "loss": 0.7606,
      "step": 210
    },
    {
      "action_loss": 0.09084396809339523,
      "epoch": 0.18884892086330934,
      "step": 210
    },
    {
      "epoch": 0.18884892086330934,
      "step": 210,
      "torque_loss": 1.0857702493667603
    },
    {
      "epoch": 0.19784172661870503,
      "grad_norm": 0.9973111152648926,
      "learning_rate": 7.2999999999999996e-06,
      "loss": 0.7624,
      "step": 220
    },
    {
      "action_loss": 0.06743448972702026,
      "epoch": 0.19784172661870503,
      "step": 220
    },
    {
      "epoch": 0.19784172661870503,
      "step": 220,
      "torque_loss": 1.1273317337036133
    },
    {
      "epoch": 0.2068345323741007,
      "grad_norm": 1.0328171253204346,
      "learning_rate": 7.633333333333334e-06,
      "loss": 0.7523,
      "step": 230
    },
    {
      "action_loss": 0.08155327290296555,
      "epoch": 0.2068345323741007,
      "step": 230
    },
    {
      "epoch": 0.2068345323741007,
      "step": 230,
      "torque_loss": 1.1435743570327759
    },
    {
      "epoch": 0.2158273381294964,
      "grad_norm": 1.2842570543289185,
      "learning_rate": 7.966666666666666e-06,
      "loss": 0.7395,
      "step": 240
    },
    {
      "action_loss": 0.08218440413475037,
      "epoch": 0.2158273381294964,
      "step": 240
    },
    {
      "epoch": 0.2158273381294964,
      "step": 240,
      "torque_loss": 1.1545201539993286
    },
    {
      "epoch": 0.22482014388489208,
      "grad_norm": 0.8005467653274536,
      "learning_rate": 8.3e-06,
      "loss": 0.7413,
      "step": 250
    },
    {
      "action_loss": 0.07422365248203278,
      "epoch": 0.22482014388489208,
      "step": 250
    },
    {
      "epoch": 0.22482014388489208,
      "step": 250,
      "torque_loss": 1.0796318054199219
    },
    {
      "epoch": 0.23381294964028776,
      "grad_norm": 0.9177917838096619,
      "learning_rate": 8.633333333333334e-06,
      "loss": 0.7332,
      "step": 260
    },
    {
      "action_loss": 0.05043135583400726,
      "epoch": 0.23381294964028776,
      "step": 260
    },
    {
      "epoch": 0.23381294964028776,
      "step": 260,
      "torque_loss": 1.121415138244629
    },
    {
      "epoch": 0.24280575539568344,
      "grad_norm": 0.9168376922607422,
      "learning_rate": 8.966666666666668e-06,
      "loss": 0.7469,
      "step": 270
    },
    {
      "action_loss": 0.06627322733402252,
      "epoch": 0.24280575539568344,
      "step": 270
    },
    {
      "epoch": 0.24280575539568344,
      "step": 270,
      "torque_loss": 1.1081852912902832
    },
    {
      "epoch": 0.2517985611510791,
      "grad_norm": 0.8672727346420288,
      "learning_rate": 9.3e-06,
      "loss": 0.7168,
      "step": 280
    },
    {
      "action_loss": 0.04705033823847771,
      "epoch": 0.2517985611510791,
      "step": 280
    },
    {
      "epoch": 0.2517985611510791,
      "step": 280,
      "torque_loss": 1.1210312843322754
    },
    {
      "epoch": 0.2607913669064748,
      "grad_norm": 1.0553734302520752,
      "learning_rate": 9.633333333333335e-06,
      "loss": 0.7282,
      "step": 290
    },
    {
      "action_loss": 0.07608530670404434,
      "epoch": 0.2607913669064748,
      "step": 290
    },
    {
      "epoch": 0.2607913669064748,
      "step": 290,
      "torque_loss": 1.0456403493881226
    },
    {
      "epoch": 0.2697841726618705,
      "grad_norm": 0.9795993566513062,
      "learning_rate": 9.966666666666667e-06,
      "loss": 0.7146,
      "step": 300
    },
    {
      "action_loss": 0.058746304363012314,
      "epoch": 0.2697841726618705,
      "step": 300
    },
    {
      "epoch": 0.2697841726618705,
      "step": 300,
      "torque_loss": 1.0842264890670776
    },
    {
      "epoch": 0.2787769784172662,
      "grad_norm": 1.2752305269241333,
      "learning_rate": 1.03e-05,
      "loss": 0.7066,
      "step": 310
    },
    {
      "action_loss": 0.08919032663106918,
      "epoch": 0.2787769784172662,
      "step": 310
    },
    {
      "epoch": 0.2787769784172662,
      "step": 310,
      "torque_loss": 1.030057430267334
    },
    {
      "epoch": 0.28776978417266186,
      "grad_norm": 0.9920501112937927,
      "learning_rate": 1.0633333333333334e-05,
      "loss": 0.7087,
      "step": 320
    },
    {
      "action_loss": 0.050046157091856,
      "epoch": 0.28776978417266186,
      "step": 320
    },
    {
      "epoch": 0.28776978417266186,
      "step": 320,
      "torque_loss": 0.9957067370414734
    },
    {
      "epoch": 0.29676258992805754,
      "grad_norm": 1.4219967126846313,
      "learning_rate": 1.0966666666666666e-05,
      "loss": 0.7085,
      "step": 330
    },
    {
      "action_loss": 0.061535853892564774,
      "epoch": 0.29676258992805754,
      "step": 330
    },
    {
      "epoch": 0.29676258992805754,
      "step": 330,
      "torque_loss": 1.0251423120498657
    },
    {
      "epoch": 0.3057553956834532,
      "grad_norm": 1.1964991092681885,
      "learning_rate": 1.13e-05,
      "loss": 0.6825,
      "step": 340
    },
    {
      "action_loss": 0.04989084601402283,
      "epoch": 0.3057553956834532,
      "step": 340
    },
    {
      "epoch": 0.3057553956834532,
      "step": 340,
      "torque_loss": 1.1280646324157715
    },
    {
      "epoch": 0.3147482014388489,
      "grad_norm": 1.7309211492538452,
      "learning_rate": 1.1633333333333334e-05,
      "loss": 0.714,
      "step": 350
    },
    {
      "action_loss": 0.05466362461447716,
      "epoch": 0.3147482014388489,
      "step": 350
    },
    {
      "epoch": 0.3147482014388489,
      "step": 350,
      "torque_loss": 0.9835445284843445
    },
    {
      "epoch": 0.3237410071942446,
      "grad_norm": 1.741851568222046,
      "learning_rate": 1.1966666666666668e-05,
      "loss": 0.7045,
      "step": 360
    },
    {
      "action_loss": 0.04053666815161705,
      "epoch": 0.3237410071942446,
      "step": 360
    },
    {
      "epoch": 0.3237410071942446,
      "step": 360,
      "torque_loss": 1.1115670204162598
    },
    {
      "epoch": 0.3327338129496403,
      "grad_norm": 1.0163975954055786,
      "learning_rate": 1.23e-05,
      "loss": 0.6874,
      "step": 370
    },
    {
      "action_loss": 0.0805637538433075,
      "epoch": 0.3327338129496403,
      "step": 370
    },
    {
      "epoch": 0.3327338129496403,
      "step": 370,
      "torque_loss": 1.0344704389572144
    },
    {
      "epoch": 0.34172661870503596,
      "grad_norm": 1.9901119470596313,
      "learning_rate": 1.2633333333333333e-05,
      "loss": 0.6787,
      "step": 380
    },
    {
      "action_loss": 0.033416908234357834,
      "epoch": 0.34172661870503596,
      "step": 380
    },
    {
      "epoch": 0.34172661870503596,
      "step": 380,
      "torque_loss": 1.10007905960083
    },
    {
      "epoch": 0.35071942446043164,
      "grad_norm": 0.9794852137565613,
      "learning_rate": 1.2966666666666669e-05,
      "loss": 0.701,
      "step": 390
    },
    {
      "action_loss": 0.028374990448355675,
      "epoch": 0.35071942446043164,
      "step": 390
    },
    {
      "epoch": 0.35071942446043164,
      "step": 390,
      "torque_loss": 1.0804682970046997
    },
    {
      "epoch": 0.3597122302158273,
      "grad_norm": 1.4453119039535522,
      "learning_rate": 1.3300000000000001e-05,
      "loss": 0.6647,
      "step": 400
    },
    {
      "action_loss": 0.08073117583990097,
      "epoch": 0.3597122302158273,
      "step": 400
    },
    {
      "epoch": 0.3597122302158273,
      "step": 400,
      "torque_loss": 1.0079985857009888
    },
    {
      "epoch": 0.368705035971223,
      "grad_norm": 1.3261090517044067,
      "learning_rate": 1.3633333333333334e-05,
      "loss": 0.6729,
      "step": 410
    },
    {
      "action_loss": 0.04264439269900322,
      "epoch": 0.368705035971223,
      "step": 410
    },
    {
      "epoch": 0.368705035971223,
      "step": 410,
      "torque_loss": 1.0483264923095703
    },
    {
      "epoch": 0.3776978417266187,
      "grad_norm": 0.8749484419822693,
      "learning_rate": 1.3966666666666666e-05,
      "loss": 0.6926,
      "step": 420
    },
    {
      "action_loss": 0.0471532940864563,
      "epoch": 0.3776978417266187,
      "step": 420
    },
    {
      "epoch": 0.3776978417266187,
      "step": 420,
      "torque_loss": 0.9825827479362488
    },
    {
      "epoch": 0.38669064748201437,
      "grad_norm": 1.7766046524047852,
      "learning_rate": 1.43e-05,
      "loss": 0.6597,
      "step": 430
    },
    {
      "action_loss": 0.10714120417833328,
      "epoch": 0.38669064748201437,
      "step": 430
    },
    {
      "epoch": 0.38669064748201437,
      "step": 430,
      "torque_loss": 1.040794849395752
    },
    {
      "epoch": 0.39568345323741005,
      "grad_norm": 1.182275414466858,
      "learning_rate": 1.4633333333333334e-05,
      "loss": 0.6666,
      "step": 440
    },
    {
      "action_loss": 0.09162747114896774,
      "epoch": 0.39568345323741005,
      "step": 440
    },
    {
      "epoch": 0.39568345323741005,
      "step": 440,
      "torque_loss": 0.9759108424186707
    },
    {
      "epoch": 0.40467625899280574,
      "grad_norm": 0.9825280904769897,
      "learning_rate": 1.4966666666666668e-05,
      "loss": 0.6657,
      "step": 450
    },
    {
      "action_loss": 0.05365939438343048,
      "epoch": 0.40467625899280574,
      "step": 450
    },
    {
      "epoch": 0.40467625899280574,
      "step": 450,
      "torque_loss": 0.9661161303520203
    },
    {
      "epoch": 0.4136690647482014,
      "grad_norm": 1.0763386487960815,
      "learning_rate": 1.53e-05,
      "loss": 0.6463,
      "step": 460
    },
    {
      "action_loss": 0.06864164024591446,
      "epoch": 0.4136690647482014,
      "step": 460
    },
    {
      "epoch": 0.4136690647482014,
      "step": 460,
      "torque_loss": 1.0370157957077026
    },
    {
      "epoch": 0.4226618705035971,
      "grad_norm": 0.9412219524383545,
      "learning_rate": 1.563333333333333e-05,
      "loss": 0.6573,
      "step": 470
    },
    {
      "action_loss": 0.03223542869091034,
      "epoch": 0.4226618705035971,
      "step": 470
    },
    {
      "epoch": 0.4226618705035971,
      "step": 470,
      "torque_loss": 1.011393666267395
    },
    {
      "epoch": 0.4316546762589928,
      "grad_norm": 1.2407145500183105,
      "learning_rate": 1.5966666666666667e-05,
      "loss": 0.6541,
      "step": 480
    },
    {
      "action_loss": 0.053185660392045975,
      "epoch": 0.4316546762589928,
      "step": 480
    },
    {
      "epoch": 0.4316546762589928,
      "step": 480,
      "torque_loss": 0.994636058807373
    },
    {
      "epoch": 0.44064748201438847,
      "grad_norm": 0.9485853314399719,
      "learning_rate": 1.63e-05,
      "loss": 0.6652,
      "step": 490
    },
    {
      "action_loss": 0.09030773490667343,
      "epoch": 0.44064748201438847,
      "step": 490
    },
    {
      "epoch": 0.44064748201438847,
      "step": 490,
      "torque_loss": 0.9554548263549805
    },
    {
      "epoch": 0.44964028776978415,
      "grad_norm": 0.8695769309997559,
      "learning_rate": 1.6633333333333336e-05,
      "loss": 0.642,
      "step": 500
    },
    {
      "action_loss": 0.06017867848277092,
      "epoch": 0.44964028776978415,
      "step": 500
    },
    {
      "epoch": 0.44964028776978415,
      "step": 500,
      "torque_loss": 0.9414789080619812
    },
    {
      "epoch": 0.45863309352517984,
      "grad_norm": 1.0067031383514404,
      "learning_rate": 1.6966666666666668e-05,
      "loss": 0.6581,
      "step": 510
    },
    {
      "action_loss": 0.03633496165275574,
      "epoch": 0.45863309352517984,
      "step": 510
    },
    {
      "epoch": 0.45863309352517984,
      "step": 510,
      "torque_loss": 1.0161365270614624
    },
    {
      "epoch": 0.4676258992805755,
      "grad_norm": 0.8872912526130676,
      "learning_rate": 1.73e-05,
      "loss": 0.6373,
      "step": 520
    },
    {
      "action_loss": 0.07821891456842422,
      "epoch": 0.4676258992805755,
      "step": 520
    },
    {
      "epoch": 0.4676258992805755,
      "step": 520,
      "torque_loss": 1.0442619323730469
    },
    {
      "epoch": 0.4766187050359712,
      "grad_norm": 1.149326205253601,
      "learning_rate": 1.7633333333333336e-05,
      "loss": 0.6611,
      "step": 530
    },
    {
      "action_loss": 0.10009270906448364,
      "epoch": 0.4766187050359712,
      "step": 530
    },
    {
      "epoch": 0.4766187050359712,
      "step": 530,
      "torque_loss": 1.0289759635925293
    },
    {
      "epoch": 0.4856115107913669,
      "grad_norm": 1.413682222366333,
      "learning_rate": 1.796666666666667e-05,
      "loss": 0.6763,
      "step": 540
    },
    {
      "action_loss": 0.07956963032484055,
      "epoch": 0.4856115107913669,
      "step": 540
    },
    {
      "epoch": 0.4856115107913669,
      "step": 540,
      "torque_loss": 1.0494105815887451
    },
    {
      "epoch": 0.49460431654676257,
      "grad_norm": 1.2833068370819092,
      "learning_rate": 1.83e-05,
      "loss": 0.6525,
      "step": 550
    },
    {
      "action_loss": 0.07492244988679886,
      "epoch": 0.49460431654676257,
      "step": 550
    },
    {
      "epoch": 0.49460431654676257,
      "step": 550,
      "torque_loss": 1.023133635520935
    },
    {
      "epoch": 0.5035971223021583,
      "grad_norm": 0.9770055413246155,
      "learning_rate": 1.8633333333333333e-05,
      "loss": 0.6443,
      "step": 560
    },
    {
      "action_loss": 0.03979291394352913,
      "epoch": 0.5035971223021583,
      "step": 560
    },
    {
      "epoch": 0.5035971223021583,
      "step": 560,
      "torque_loss": 1.0212955474853516
    },
    {
      "epoch": 0.512589928057554,
      "grad_norm": 1.280092716217041,
      "learning_rate": 1.896666666666667e-05,
      "loss": 0.6657,
      "step": 570
    },
    {
      "action_loss": 0.055417004972696304,
      "epoch": 0.512589928057554,
      "step": 570
    },
    {
      "epoch": 0.512589928057554,
      "step": 570,
      "torque_loss": 1.0120583772659302
    },
    {
      "epoch": 0.5215827338129496,
      "grad_norm": 1.0747944116592407,
      "learning_rate": 1.93e-05,
      "loss": 0.6597,
      "step": 580
    },
    {
      "action_loss": 0.06836161762475967,
      "epoch": 0.5215827338129496,
      "step": 580
    },
    {
      "epoch": 0.5215827338129496,
      "step": 580,
      "torque_loss": 0.9599930644035339
    },
    {
      "epoch": 0.5305755395683454,
      "grad_norm": 0.8699008822441101,
      "learning_rate": 1.9633333333333334e-05,
      "loss": 0.6526,
      "step": 590
    },
    {
      "action_loss": 0.04463890194892883,
      "epoch": 0.5305755395683454,
      "step": 590
    },
    {
      "epoch": 0.5305755395683454,
      "step": 590,
      "torque_loss": 1.0378084182739258
    },
    {
      "epoch": 0.539568345323741,
      "grad_norm": 1.2482844591140747,
      "learning_rate": 1.9966666666666666e-05,
      "loss": 0.6426,
      "step": 600
    },
    {
      "action_loss": 0.09986943751573563,
      "epoch": 0.539568345323741,
      "step": 600
    },
    {
      "epoch": 0.539568345323741,
      "step": 600,
      "torque_loss": 0.9161393046379089
    },
    {
      "epoch": 0.5485611510791367,
      "grad_norm": 1.6824803352355957,
      "learning_rate": 2.0300000000000002e-05,
      "loss": 0.6325,
      "step": 610
    },
    {
      "action_loss": 0.06485525518655777,
      "epoch": 0.5485611510791367,
      "step": 610
    },
    {
      "epoch": 0.5485611510791367,
      "step": 610,
      "torque_loss": 1.0097626447677612
    },
    {
      "epoch": 0.5575539568345323,
      "grad_norm": 1.7079585790634155,
      "learning_rate": 2.0633333333333335e-05,
      "loss": 0.6462,
      "step": 620
    },
    {
      "action_loss": 0.06220120191574097,
      "epoch": 0.5575539568345323,
      "step": 620
    },
    {
      "epoch": 0.5575539568345323,
      "step": 620,
      "torque_loss": 1.0302258729934692
    },
    {
      "epoch": 0.5665467625899281,
      "grad_norm": 1.087373971939087,
      "learning_rate": 2.0966666666666667e-05,
      "loss": 0.6357,
      "step": 630
    },
    {
      "action_loss": 0.036185454577207565,
      "epoch": 0.5665467625899281,
      "step": 630
    },
    {
      "epoch": 0.5665467625899281,
      "step": 630,
      "torque_loss": 1.0345574617385864
    },
    {
      "epoch": 0.5755395683453237,
      "grad_norm": 0.9478173851966858,
      "learning_rate": 2.13e-05,
      "loss": 0.6462,
      "step": 640
    },
    {
      "action_loss": 0.0908084511756897,
      "epoch": 0.5755395683453237,
      "step": 640
    },
    {
      "epoch": 0.5755395683453237,
      "step": 640,
      "torque_loss": 1.0032485723495483
    },
    {
      "epoch": 0.5845323741007195,
      "grad_norm": 1.3268548250198364,
      "learning_rate": 2.1633333333333332e-05,
      "loss": 0.642,
      "step": 650
    },
    {
      "action_loss": 0.027489980682730675,
      "epoch": 0.5845323741007195,
      "step": 650
    },
    {
      "epoch": 0.5845323741007195,
      "step": 650,
      "torque_loss": 0.8783957958221436
    },
    {
      "epoch": 0.5935251798561151,
      "grad_norm": 1.0037832260131836,
      "learning_rate": 2.1966666666666668e-05,
      "loss": 0.6287,
      "step": 660
    },
    {
      "action_loss": 0.04270133376121521,
      "epoch": 0.5935251798561151,
      "step": 660
    },
    {
      "epoch": 0.5935251798561151,
      "step": 660,
      "torque_loss": 0.9307217597961426
    },
    {
      "epoch": 0.6025179856115108,
      "grad_norm": 1.3270783424377441,
      "learning_rate": 2.23e-05,
      "loss": 0.6143,
      "step": 670
    },
    {
      "action_loss": 0.06936189532279968,
      "epoch": 0.6025179856115108,
      "step": 670
    },
    {
      "epoch": 0.6025179856115108,
      "step": 670,
      "torque_loss": 0.9971422553062439
    },
    {
      "epoch": 0.6115107913669064,
      "grad_norm": 1.3350270986557007,
      "learning_rate": 2.2633333333333336e-05,
      "loss": 0.6395,
      "step": 680
    },
    {
      "action_loss": 0.061157580465078354,
      "epoch": 0.6115107913669064,
      "step": 680
    },
    {
      "epoch": 0.6115107913669064,
      "step": 680,
      "torque_loss": 0.9963483810424805
    },
    {
      "epoch": 0.6205035971223022,
      "grad_norm": 0.9526259899139404,
      "learning_rate": 2.2966666666666668e-05,
      "loss": 0.6141,
      "step": 690
    },
    {
      "action_loss": 0.04836845025420189,
      "epoch": 0.6205035971223022,
      "step": 690
    },
    {
      "epoch": 0.6205035971223022,
      "step": 690,
      "torque_loss": 0.9504715800285339
    },
    {
      "epoch": 0.6294964028776978,
      "grad_norm": 1.5896618366241455,
      "learning_rate": 2.3300000000000004e-05,
      "loss": 0.6235,
      "step": 700
    },
    {
      "action_loss": 0.028065389022231102,
      "epoch": 0.6294964028776978,
      "step": 700
    },
    {
      "epoch": 0.6294964028776978,
      "step": 700,
      "torque_loss": 0.967683732509613
    },
    {
      "epoch": 0.6384892086330936,
      "grad_norm": 1.3163323402404785,
      "learning_rate": 2.3633333333333336e-05,
      "loss": 0.625,
      "step": 710
    },
    {
      "action_loss": 0.02837451733648777,
      "epoch": 0.6384892086330936,
      "step": 710
    },
    {
      "epoch": 0.6384892086330936,
      "step": 710,
      "torque_loss": 0.987034022808075
    },
    {
      "epoch": 0.6474820143884892,
      "grad_norm": 1.3351598978042603,
      "learning_rate": 2.396666666666667e-05,
      "loss": 0.6106,
      "step": 720
    },
    {
      "action_loss": 0.07958420366048813,
      "epoch": 0.6474820143884892,
      "step": 720
    },
    {
      "epoch": 0.6474820143884892,
      "step": 720,
      "torque_loss": 0.9238533973693848
    },
    {
      "epoch": 0.6564748201438849,
      "grad_norm": 1.6972004175186157,
      "learning_rate": 2.43e-05,
      "loss": 0.6223,
      "step": 730
    },
    {
      "action_loss": 0.07562819868326187,
      "epoch": 0.6564748201438849,
      "step": 730
    },
    {
      "epoch": 0.6564748201438849,
      "step": 730,
      "torque_loss": 0.959472119808197
    },
    {
      "epoch": 0.6654676258992805,
      "grad_norm": 1.3841592073440552,
      "learning_rate": 2.4633333333333334e-05,
      "loss": 0.5774,
      "step": 740
    },
    {
      "action_loss": 0.047848593443632126,
      "epoch": 0.6654676258992805,
      "step": 740
    },
    {
      "epoch": 0.6654676258992805,
      "step": 740,
      "torque_loss": 0.8421330451965332
    },
    {
      "epoch": 0.6744604316546763,
      "grad_norm": 1.5274842977523804,
      "learning_rate": 2.496666666666667e-05,
      "loss": 0.5657,
      "step": 750
    },
    {
      "action_loss": 0.03686165064573288,
      "epoch": 0.6744604316546763,
      "step": 750
    },
    {
      "epoch": 0.6744604316546763,
      "step": 750,
      "torque_loss": 0.8640791773796082
    },
    {
      "epoch": 0.6834532374100719,
      "grad_norm": 1.6186784505844116,
      "learning_rate": 2.5300000000000002e-05,
      "loss": 0.5536,
      "step": 760
    },
    {
      "action_loss": 0.06724251061677933,
      "epoch": 0.6834532374100719,
      "step": 760
    },
    {
      "epoch": 0.6834532374100719,
      "step": 760,
      "torque_loss": 0.8407055735588074
    },
    {
      "epoch": 0.6924460431654677,
      "grad_norm": 1.3599365949630737,
      "learning_rate": 2.5633333333333338e-05,
      "loss": 0.5387,
      "step": 770
    },
    {
      "action_loss": 0.030956314876675606,
      "epoch": 0.6924460431654677,
      "step": 770
    },
    {
      "epoch": 0.6924460431654677,
      "step": 770,
      "torque_loss": 0.8808550834655762
    },
    {
      "epoch": 0.7014388489208633,
      "grad_norm": 1.8494763374328613,
      "learning_rate": 2.5966666666666667e-05,
      "loss": 0.544,
      "step": 780
    },
    {
      "action_loss": 0.029672781005501747,
      "epoch": 0.7014388489208633,
      "step": 780
    },
    {
      "epoch": 0.7014388489208633,
      "step": 780,
      "torque_loss": 0.7976288199424744
    },
    {
      "epoch": 0.710431654676259,
      "grad_norm": 2.1473541259765625,
      "learning_rate": 2.6300000000000002e-05,
      "loss": 0.5437,
      "step": 790
    },
    {
      "action_loss": 0.04914906248450279,
      "epoch": 0.710431654676259,
      "step": 790
    },
    {
      "epoch": 0.710431654676259,
      "step": 790,
      "torque_loss": 0.851344883441925
    },
    {
      "epoch": 0.7194244604316546,
      "grad_norm": 1.415934443473816,
      "learning_rate": 2.663333333333333e-05,
      "loss": 0.5456,
      "step": 800
    },
    {
      "action_loss": 0.03175240382552147,
      "epoch": 0.7194244604316546,
      "step": 800
    },
    {
      "epoch": 0.7194244604316546,
      "step": 800,
      "torque_loss": 0.8138476014137268
    },
    {
      "epoch": 0.7284172661870504,
      "grad_norm": 1.5186996459960938,
      "learning_rate": 2.6966666666666667e-05,
      "loss": 0.5462,
      "step": 810
    },
    {
      "action_loss": 0.07499395310878754,
      "epoch": 0.7284172661870504,
      "step": 810
    },
    {
      "epoch": 0.7284172661870504,
      "step": 810,
      "torque_loss": 0.8412261605262756
    },
    {
      "epoch": 0.737410071942446,
      "grad_norm": 1.5389217138290405,
      "learning_rate": 2.7300000000000003e-05,
      "loss": 0.5573,
      "step": 820
    },
    {
      "action_loss": 0.020929694175720215,
      "epoch": 0.737410071942446,
      "step": 820
    },
    {
      "epoch": 0.737410071942446,
      "step": 820,
      "torque_loss": 0.8161070942878723
    },
    {
      "epoch": 0.7464028776978417,
      "grad_norm": 1.770845651626587,
      "learning_rate": 2.7633333333333332e-05,
      "loss": 0.551,
      "step": 830
    },
    {
      "action_loss": 0.029146989807486534,
      "epoch": 0.7464028776978417,
      "step": 830
    },
    {
      "epoch": 0.7464028776978417,
      "step": 830,
      "torque_loss": 0.7613658308982849
    },
    {
      "epoch": 0.7553956834532374,
      "grad_norm": 1.254033088684082,
      "learning_rate": 2.7966666666666668e-05,
      "loss": 0.5347,
      "step": 840
    },
    {
      "action_loss": 0.05798740312457085,
      "epoch": 0.7553956834532374,
      "step": 840
    },
    {
      "epoch": 0.7553956834532374,
      "step": 840,
      "torque_loss": 0.8369202613830566
    },
    {
      "epoch": 0.7643884892086331,
      "grad_norm": 1.243747353553772,
      "learning_rate": 2.83e-05,
      "loss": 0.534,
      "step": 850
    },
    {
      "action_loss": 0.059894103556871414,
      "epoch": 0.7643884892086331,
      "step": 850
    },
    {
      "epoch": 0.7643884892086331,
      "step": 850,
      "torque_loss": 0.7920210957527161
    },
    {
      "epoch": 0.7733812949640287,
      "grad_norm": 1.788097620010376,
      "learning_rate": 2.8633333333333336e-05,
      "loss": 0.5387,
      "step": 860
    },
    {
      "action_loss": 0.03971414268016815,
      "epoch": 0.7733812949640287,
      "step": 860
    },
    {
      "epoch": 0.7733812949640287,
      "step": 860,
      "torque_loss": 0.8520753979682922
    },
    {
      "epoch": 0.7823741007194245,
      "grad_norm": 1.3764604330062866,
      "learning_rate": 2.8966666666666668e-05,
      "loss": 0.5191,
      "step": 870
    },
    {
      "action_loss": 0.05784929171204567,
      "epoch": 0.7823741007194245,
      "step": 870
    },
    {
      "epoch": 0.7823741007194245,
      "step": 870,
      "torque_loss": 0.7419889569282532
    },
    {
      "epoch": 0.7913669064748201,
      "grad_norm": 1.7099690437316895,
      "learning_rate": 2.93e-05,
      "loss": 0.5002,
      "step": 880
    },
    {
      "action_loss": 0.05348843336105347,
      "epoch": 0.7913669064748201,
      "step": 880
    },
    {
      "epoch": 0.7913669064748201,
      "step": 880,
      "torque_loss": 0.7348904609680176
    },
    {
      "epoch": 0.8003597122302158,
      "grad_norm": 1.9816800355911255,
      "learning_rate": 2.9633333333333336e-05,
      "loss": 0.4825,
      "step": 890
    },
    {
      "action_loss": 0.02894936501979828,
      "epoch": 0.8003597122302158,
      "step": 890
    },
    {
      "epoch": 0.8003597122302158,
      "step": 890,
      "torque_loss": 0.6457857489585876
    },
    {
      "epoch": 0.8093525179856115,
      "grad_norm": 2.1590847969055176,
      "learning_rate": 2.9966666666666672e-05,
      "loss": 0.4717,
      "step": 900
    },
    {
      "action_loss": 0.07757400721311569,
      "epoch": 0.8093525179856115,
      "step": 900
    },
    {
      "epoch": 0.8093525179856115,
      "step": 900,
      "torque_loss": 0.7191212773323059
    },
    {
      "epoch": 0.8183453237410072,
      "grad_norm": 1.27239990234375,
      "learning_rate": 3.03e-05,
      "loss": 0.4694,
      "step": 910
    },
    {
      "action_loss": 0.05625969544053078,
      "epoch": 0.8183453237410072,
      "step": 910
    },
    {
      "epoch": 0.8183453237410072,
      "step": 910,
      "torque_loss": 0.6140779852867126
    },
    {
      "epoch": 0.8273381294964028,
      "grad_norm": 1.5078861713409424,
      "learning_rate": 3.063333333333334e-05,
      "loss": 0.4639,
      "step": 920
    },
    {
      "action_loss": 0.04621373116970062,
      "epoch": 0.8273381294964028,
      "step": 920
    },
    {
      "epoch": 0.8273381294964028,
      "step": 920,
      "torque_loss": 0.6801791191101074
    },
    {
      "epoch": 0.8363309352517986,
      "grad_norm": 1.6948964595794678,
      "learning_rate": 3.096666666666666e-05,
      "loss": 0.4745,
      "step": 930
    },
    {
      "action_loss": 0.02737528644502163,
      "epoch": 0.8363309352517986,
      "step": 930
    },
    {
      "epoch": 0.8363309352517986,
      "step": 930,
      "torque_loss": 0.6310020685195923
    },
    {
      "epoch": 0.8453237410071942,
      "grad_norm": 1.4358534812927246,
      "learning_rate": 3.13e-05,
      "loss": 0.4229,
      "step": 940
    },
    {
      "action_loss": 0.05302533507347107,
      "epoch": 0.8453237410071942,
      "step": 940
    },
    {
      "epoch": 0.8453237410071942,
      "step": 940,
      "torque_loss": 0.6118227243423462
    },
    {
      "epoch": 0.85431654676259,
      "grad_norm": 1.9527961015701294,
      "learning_rate": 3.1633333333333334e-05,
      "loss": 0.4121,
      "step": 950
    },
    {
      "action_loss": 0.05449235811829567,
      "epoch": 0.85431654676259,
      "step": 950
    },
    {
      "epoch": 0.85431654676259,
      "step": 950,
      "torque_loss": 0.6620091795921326
    },
    {
      "epoch": 0.8633093525179856,
      "grad_norm": 2.800851583480835,
      "learning_rate": 3.196666666666667e-05,
      "loss": 0.4108,
      "step": 960
    },
    {
      "action_loss": 0.037330277264118195,
      "epoch": 0.8633093525179856,
      "step": 960
    },
    {
      "epoch": 0.8633093525179856,
      "step": 960,
      "torque_loss": 0.6791467070579529
    },
    {
      "epoch": 0.8723021582733813,
      "grad_norm": 1.9069832563400269,
      "learning_rate": 3.2300000000000006e-05,
      "loss": 0.3863,
      "step": 970
    },
    {
      "action_loss": 0.034259162843227386,
      "epoch": 0.8723021582733813,
      "step": 970
    },
    {
      "epoch": 0.8723021582733813,
      "step": 970,
      "torque_loss": 0.4727899730205536
    },
    {
      "epoch": 0.8812949640287769,
      "grad_norm": 1.7734878063201904,
      "learning_rate": 3.263333333333333e-05,
      "loss": 0.3902,
      "step": 980
    },
    {
      "action_loss": 0.029537290334701538,
      "epoch": 0.8812949640287769,
      "step": 980
    },
    {
      "epoch": 0.8812949640287769,
      "step": 980,
      "torque_loss": 0.47530388832092285
    },
    {
      "epoch": 0.8902877697841727,
      "grad_norm": 1.350583791732788,
      "learning_rate": 3.296666666666667e-05,
      "loss": 0.3696,
      "step": 990
    },
    {
      "action_loss": 0.027830520644783974,
      "epoch": 0.8902877697841727,
      "step": 990
    },
    {
      "epoch": 0.8902877697841727,
      "step": 990,
      "torque_loss": 0.5462077260017395
    },
    {
      "epoch": 0.8992805755395683,
      "grad_norm": 1.6345831155776978,
      "learning_rate": 3.33e-05,
      "loss": 0.3773,
      "step": 1000
    },
    {
      "action_loss": 0.06700121611356735,
      "epoch": 0.8992805755395683,
      "step": 1000
    },
    {
      "epoch": 0.8992805755395683,
      "step": 1000,
      "torque_loss": 0.5600783228874207
    },
    {
      "epoch": 0.908273381294964,
      "grad_norm": 1.2257014513015747,
      "learning_rate": 3.3633333333333335e-05,
      "loss": 0.3941,
      "step": 1010
    },
    {
      "action_loss": 0.03146505355834961,
      "epoch": 0.908273381294964,
      "step": 1010
    },
    {
      "epoch": 0.908273381294964,
      "step": 1010,
      "torque_loss": 0.46373534202575684
    },
    {
      "epoch": 0.9172661870503597,
      "grad_norm": 2.255980968475342,
      "learning_rate": 3.396666666666667e-05,
      "loss": 0.3504,
      "step": 1020
    },
    {
      "action_loss": 0.06270324438810349,
      "epoch": 0.9172661870503597,
      "step": 1020
    },
    {
      "epoch": 0.9172661870503597,
      "step": 1020,
      "torque_loss": 0.5182711482048035
    },
    {
      "epoch": 0.9262589928057554,
      "grad_norm": 1.1929795742034912,
      "learning_rate": 3.430000000000001e-05,
      "loss": 0.3732,
      "step": 1030
    },
    {
      "action_loss": 0.02586393989622593,
      "epoch": 0.9262589928057554,
      "step": 1030
    },
    {
      "epoch": 0.9262589928057554,
      "step": 1030,
      "torque_loss": 0.5341915488243103
    },
    {
      "epoch": 0.935251798561151,
      "grad_norm": 1.3577488660812378,
      "learning_rate": 3.463333333333333e-05,
      "loss": 0.3652,
      "step": 1040
    },
    {
      "action_loss": 0.03985318914055824,
      "epoch": 0.935251798561151,
      "step": 1040
    },
    {
      "epoch": 0.935251798561151,
      "step": 1040,
      "torque_loss": 0.5703646540641785
    },
    {
      "epoch": 0.9442446043165468,
      "grad_norm": 1.2191908359527588,
      "learning_rate": 3.496666666666667e-05,
      "loss": 0.3694,
      "step": 1050
    },
    {
      "action_loss": 0.054227229207754135,
      "epoch": 0.9442446043165468,
      "step": 1050
    },
    {
      "epoch": 0.9442446043165468,
      "step": 1050,
      "torque_loss": 0.5273457169532776
    },
    {
      "epoch": 0.9532374100719424,
      "grad_norm": 1.700364351272583,
      "learning_rate": 3.53e-05,
      "loss": 0.3783,
      "step": 1060
    },
    {
      "action_loss": 0.03287883475422859,
      "epoch": 0.9532374100719424,
      "step": 1060
    },
    {
      "epoch": 0.9532374100719424,
      "step": 1060,
      "torque_loss": 0.4685949385166168
    },
    {
      "epoch": 0.9622302158273381,
      "grad_norm": 1.4304977655410767,
      "learning_rate": 3.563333333333334e-05,
      "loss": 0.3365,
      "step": 1070
    },
    {
      "action_loss": 0.055376071482896805,
      "epoch": 0.9622302158273381,
      "step": 1070
    },
    {
      "epoch": 0.9622302158273381,
      "step": 1070,
      "torque_loss": 0.5627819895744324
    },
    {
      "epoch": 0.9712230215827338,
      "grad_norm": 1.5578420162200928,
      "learning_rate": 3.596666666666667e-05,
      "loss": 0.3618,
      "step": 1080
    },
    {
      "action_loss": 0.02446863241493702,
      "epoch": 0.9712230215827338,
      "step": 1080
    },
    {
      "epoch": 0.9712230215827338,
      "step": 1080,
      "torque_loss": 0.45511510968208313
    },
    {
      "epoch": 0.9802158273381295,
      "grad_norm": 1.9137933254241943,
      "learning_rate": 3.63e-05,
      "loss": 0.3342,
      "step": 1090
    },
    {
      "action_loss": 0.055748242884874344,
      "epoch": 0.9802158273381295,
      "step": 1090
    },
    {
      "epoch": 0.9802158273381295,
      "step": 1090,
      "torque_loss": 0.516370415687561
    },
    {
      "epoch": 0.9892086330935251,
      "grad_norm": 2.237147331237793,
      "learning_rate": 3.6633333333333334e-05,
      "loss": 0.2912,
      "step": 1100
    },
    {
      "action_loss": 0.060275573283433914,
      "epoch": 0.9892086330935251,
      "step": 1100
    },
    {
      "epoch": 0.9892086330935251,
      "step": 1100,
      "torque_loss": 0.48215457797050476
    },
    {
      "epoch": 0.9982014388489209,
      "grad_norm": 1.8865132331848145,
      "learning_rate": 3.6966666666666666e-05,
      "loss": 0.2759,
      "step": 1110
    },
    {
      "action_loss": 0.03896287828683853,
      "epoch": 0.9982014388489209,
      "step": 1110
    },
    {
      "epoch": 0.9982014388489209,
      "step": 1110,
      "torque_loss": 0.38514623045921326
    },
    {
      "epoch": 1.0071942446043165,
      "grad_norm": 1.7204033136367798,
      "learning_rate": 3.73e-05,
      "loss": 0.2459,
      "step": 1120
    },
    {
      "action_loss": 0.054887790232896805,
      "epoch": 1.0071942446043165,
      "step": 1120
    },
    {
      "epoch": 1.0071942446043165,
      "step": 1120,
      "torque_loss": 0.4213196337223053
    },
    {
      "epoch": 1.0161870503597121,
      "grad_norm": 2.1309096813201904,
      "learning_rate": 3.763333333333334e-05,
      "loss": 0.239,
      "step": 1130
    },
    {
      "action_loss": 0.026898035779595375,
      "epoch": 1.0161870503597121,
      "step": 1130
    },
    {
      "epoch": 1.0161870503597121,
      "step": 1130,
      "torque_loss": 0.2522331476211548
    },
    {
      "epoch": 1.025179856115108,
      "grad_norm": 2.1035940647125244,
      "learning_rate": 3.796666666666667e-05,
      "loss": 0.2141,
      "step": 1140
    },
    {
      "action_loss": 0.05629356577992439,
      "epoch": 1.025179856115108,
      "step": 1140
    },
    {
      "epoch": 1.025179856115108,
      "step": 1140,
      "torque_loss": 0.4360061585903168
    },
    {
      "epoch": 1.0341726618705036,
      "grad_norm": 3.730388641357422,
      "learning_rate": 3.83e-05,
      "loss": 0.2251,
      "step": 1150
    },
    {
      "action_loss": 0.03564196825027466,
      "epoch": 1.0341726618705036,
      "step": 1150
    },
    {
      "epoch": 1.0341726618705036,
      "step": 1150,
      "torque_loss": 0.3083765208721161
    },
    {
      "epoch": 1.0431654676258992,
      "grad_norm": 2.3928487300872803,
      "learning_rate": 3.8633333333333335e-05,
      "loss": 0.2054,
      "step": 1160
    },
    {
      "action_loss": 0.04846004769206047,
      "epoch": 1.0431654676258992,
      "step": 1160
    },
    {
      "epoch": 1.0431654676258992,
      "step": 1160,
      "torque_loss": 0.30115827918052673
    },
    {
      "epoch": 1.0521582733812949,
      "grad_norm": 1.6622577905654907,
      "learning_rate": 3.896666666666667e-05,
      "loss": 0.2448,
      "step": 1170
    },
    {
      "action_loss": 0.05029189586639404,
      "epoch": 1.0521582733812949,
      "step": 1170
    },
    {
      "epoch": 1.0521582733812949,
      "step": 1170,
      "torque_loss": 0.33787909150123596
    },
    {
      "epoch": 1.0611510791366907,
      "grad_norm": 2.1903748512268066,
      "learning_rate": 3.9300000000000007e-05,
      "loss": 0.2333,
      "step": 1180
    },
    {
      "action_loss": 0.053037893027067184,
      "epoch": 1.0611510791366907,
      "step": 1180
    },
    {
      "epoch": 1.0611510791366907,
      "step": 1180,
      "torque_loss": 0.29551196098327637
    },
    {
      "epoch": 1.0701438848920863,
      "grad_norm": 1.7137657403945923,
      "learning_rate": 3.963333333333333e-05,
      "loss": 0.2071,
      "step": 1190
    },
    {
      "action_loss": 0.06009425222873688,
      "epoch": 1.0701438848920863,
      "step": 1190
    },
    {
      "epoch": 1.0701438848920863,
      "step": 1190,
      "torque_loss": 0.3259294331073761
    },
    {
      "epoch": 1.079136690647482,
      "grad_norm": 1.088654637336731,
      "learning_rate": 3.996666666666667e-05,
      "loss": 0.2118,
      "step": 1200
    },
    {
      "action_loss": 0.032147180289030075,
      "epoch": 1.079136690647482,
      "step": 1200
    },
    {
      "epoch": 1.079136690647482,
      "step": 1200,
      "torque_loss": 0.18672464787960052
    },
    {
      "epoch": 1.0881294964028776,
      "grad_norm": 1.6597812175750732,
      "learning_rate": 4.0300000000000004e-05,
      "loss": 0.2366,
      "step": 1210
    },
    {
      "action_loss": 0.05867820605635643,
      "epoch": 1.0881294964028776,
      "step": 1210
    },
    {
      "epoch": 1.0881294964028776,
      "step": 1210,
      "torque_loss": 0.3271464705467224
    },
    {
      "epoch": 1.0971223021582734,
      "grad_norm": 2.328322410583496,
      "learning_rate": 4.0633333333333336e-05,
      "loss": 0.2363,
      "step": 1220
    },
    {
      "action_loss": 0.04877522215247154,
      "epoch": 1.0971223021582734,
      "step": 1220
    },
    {
      "epoch": 1.0971223021582734,
      "step": 1220,
      "torque_loss": 0.34894898533821106
    },
    {
      "epoch": 1.106115107913669,
      "grad_norm": 0.8066007494926453,
      "learning_rate": 4.096666666666667e-05,
      "loss": 0.2057,
      "step": 1230
    },
    {
      "action_loss": 0.0323597714304924,
      "epoch": 1.106115107913669,
      "step": 1230
    },
    {
      "epoch": 1.106115107913669,
      "step": 1230,
      "torque_loss": 0.24356679618358612
    },
    {
      "epoch": 1.1151079136690647,
      "grad_norm": 1.0903337001800537,
      "learning_rate": 4.13e-05,
      "loss": 0.2004,
      "step": 1240
    },
    {
      "action_loss": 0.0677773654460907,
      "epoch": 1.1151079136690647,
      "step": 1240
    },
    {
      "epoch": 1.1151079136690647,
      "step": 1240,
      "torque_loss": 0.29066458344459534
    },
    {
      "epoch": 1.1241007194244603,
      "grad_norm": 1.604366660118103,
      "learning_rate": 4.1633333333333333e-05,
      "loss": 0.1936,
      "step": 1250
    },
    {
      "action_loss": 0.03668946027755737,
      "epoch": 1.1241007194244603,
      "step": 1250
    },
    {
      "epoch": 1.1241007194244603,
      "step": 1250,
      "torque_loss": 0.21138960123062134
    },
    {
      "epoch": 1.1330935251798562,
      "grad_norm": 1.8731218576431274,
      "learning_rate": 4.196666666666667e-05,
      "loss": 0.1847,
      "step": 1260
    },
    {
      "action_loss": 0.044336676597595215,
      "epoch": 1.1330935251798562,
      "step": 1260
    },
    {
      "epoch": 1.1330935251798562,
      "step": 1260,
      "torque_loss": 0.18436622619628906
    },
    {
      "epoch": 1.1420863309352518,
      "grad_norm": 1.7642568349838257,
      "learning_rate": 4.23e-05,
      "loss": 0.1751,
      "step": 1270
    },
    {
      "action_loss": 0.0641457661986351,
      "epoch": 1.1420863309352518,
      "step": 1270
    },
    {
      "epoch": 1.1420863309352518,
      "step": 1270,
      "torque_loss": 0.3361654281616211
    },
    {
      "epoch": 1.1510791366906474,
      "grad_norm": 1.336024284362793,
      "learning_rate": 4.263333333333334e-05,
      "loss": 0.207,
      "step": 1280
    },
    {
      "action_loss": 0.025867722928524017,
      "epoch": 1.1510791366906474,
      "step": 1280
    },
    {
      "epoch": 1.1510791366906474,
      "step": 1280,
      "torque_loss": 0.2318500280380249
    },
    {
      "epoch": 1.1600719424460433,
      "grad_norm": 1.1879180669784546,
      "learning_rate": 4.296666666666666e-05,
      "loss": 0.2091,
      "step": 1290
    },
    {
      "action_loss": 0.04849165678024292,
      "epoch": 1.1600719424460433,
      "step": 1290
    },
    {
      "epoch": 1.1600719424460433,
      "step": 1290,
      "torque_loss": 0.2995452582836151
    },
    {
      "epoch": 1.169064748201439,
      "grad_norm": 1.7940224409103394,
      "learning_rate": 4.33e-05,
      "loss": 0.2089,
      "step": 1300
    },
    {
      "action_loss": 0.02219189517199993,
      "epoch": 1.169064748201439,
      "step": 1300
    },
    {
      "epoch": 1.169064748201439,
      "step": 1300,
      "torque_loss": 0.20711804926395416
    },
    {
      "epoch": 1.1780575539568345,
      "grad_norm": 1.5748834609985352,
      "learning_rate": 4.3633333333333335e-05,
      "loss": 0.1926,
      "step": 1310
    },
    {
      "action_loss": 0.0565982460975647,
      "epoch": 1.1780575539568345,
      "step": 1310
    },
    {
      "epoch": 1.1780575539568345,
      "step": 1310,
      "torque_loss": 0.26344195008277893
    },
    {
      "epoch": 1.1870503597122302,
      "grad_norm": 1.2831159830093384,
      "learning_rate": 4.396666666666667e-05,
      "loss": 0.2149,
      "step": 1320
    },
    {
      "action_loss": 0.04810456559062004,
      "epoch": 1.1870503597122302,
      "step": 1320
    },
    {
      "epoch": 1.1870503597122302,
      "step": 1320,
      "torque_loss": 0.28174030780792236
    },
    {
      "epoch": 1.1960431654676258,
      "grad_norm": 1.3472036123275757,
      "learning_rate": 4.43e-05,
      "loss": 0.2051,
      "step": 1330
    },
    {
      "action_loss": 0.03747788071632385,
      "epoch": 1.1960431654676258,
      "step": 1330
    },
    {
      "epoch": 1.1960431654676258,
      "step": 1330,
      "torque_loss": 0.22272752225399017
    },
    {
      "epoch": 1.2050359712230216,
      "grad_norm": 1.5106734037399292,
      "learning_rate": 4.463333333333334e-05,
      "loss": 0.2429,
      "step": 1340
    },
    {
      "action_loss": 0.04182146117091179,
      "epoch": 1.2050359712230216,
      "step": 1340
    },
    {
      "epoch": 1.2050359712230216,
      "step": 1340,
      "torque_loss": 0.26510393619537354
    },
    {
      "epoch": 1.2140287769784173,
      "grad_norm": 1.3023890256881714,
      "learning_rate": 4.496666666666667e-05,
      "loss": 0.1991,
      "step": 1350
    },
    {
      "action_loss": 0.05001044645905495,
      "epoch": 1.2140287769784173,
      "step": 1350
    },
    {
      "epoch": 1.2140287769784173,
      "step": 1350,
      "torque_loss": 0.24331529438495636
    },
    {
      "epoch": 1.223021582733813,
      "grad_norm": 1.6315251588821411,
      "learning_rate": 4.53e-05,
      "loss": 0.23,
      "step": 1360
    },
    {
      "action_loss": 0.033759232610464096,
      "epoch": 1.223021582733813,
      "step": 1360
    },
    {
      "epoch": 1.223021582733813,
      "step": 1360,
      "torque_loss": 0.1999327689409256
    },
    {
      "epoch": 1.2320143884892087,
      "grad_norm": 1.6175017356872559,
      "learning_rate": 4.5633333333333336e-05,
      "loss": 0.198,
      "step": 1370
    },
    {
      "action_loss": 0.04159950837492943,
      "epoch": 1.2320143884892087,
      "step": 1370
    },
    {
      "epoch": 1.2320143884892087,
      "step": 1370,
      "torque_loss": 0.1472519040107727
    },
    {
      "epoch": 1.2410071942446044,
      "grad_norm": 2.2657501697540283,
      "learning_rate": 4.596666666666667e-05,
      "loss": 0.2003,
      "step": 1380
    },
    {
      "action_loss": 0.03667006269097328,
      "epoch": 1.2410071942446044,
      "step": 1380
    },
    {
      "epoch": 1.2410071942446044,
      "step": 1380,
      "torque_loss": 0.2072998732328415
    },
    {
      "epoch": 1.25,
      "grad_norm": 1.7759621143341064,
      "learning_rate": 4.630000000000001e-05,
      "loss": 0.1993,
      "step": 1390
    },
    {
      "action_loss": 0.03233005106449127,
      "epoch": 1.25,
      "step": 1390
    },
    {
      "epoch": 1.25,
      "step": 1390,
      "torque_loss": 0.1902974247932434
    },
    {
      "epoch": 1.2589928057553956,
      "grad_norm": 1.433287501335144,
      "learning_rate": 4.663333333333333e-05,
      "loss": 0.198,
      "step": 1400
    },
    {
      "action_loss": 0.03840872272849083,
      "epoch": 1.2589928057553956,
      "step": 1400
    },
    {
      "epoch": 1.2589928057553956,
      "step": 1400,
      "torque_loss": 0.1836148053407669
    },
    {
      "epoch": 1.2679856115107913,
      "grad_norm": 1.4578485488891602,
      "learning_rate": 4.696666666666667e-05,
      "loss": 0.2316,
      "step": 1410
    },
    {
      "action_loss": 0.0493522547185421,
      "epoch": 1.2679856115107913,
      "step": 1410
    },
    {
      "epoch": 1.2679856115107913,
      "step": 1410,
      "torque_loss": 0.27771809697151184
    },
    {
      "epoch": 1.276978417266187,
      "grad_norm": 1.4004695415496826,
      "learning_rate": 4.73e-05,
      "loss": 0.2089,
      "step": 1420
    },
    {
      "action_loss": 0.07767688482999802,
      "epoch": 1.276978417266187,
      "step": 1420
    },
    {
      "epoch": 1.276978417266187,
      "step": 1420,
      "torque_loss": 0.4274906814098358
    },
    {
      "epoch": 1.2859712230215827,
      "grad_norm": 2.3029985427856445,
      "learning_rate": 4.763333333333334e-05,
      "loss": 0.225,
      "step": 1430
    },
    {
      "action_loss": 0.07624570280313492,
      "epoch": 1.2859712230215827,
      "step": 1430
    },
    {
      "epoch": 1.2859712230215827,
      "step": 1430,
      "torque_loss": 0.30630865693092346
    },
    {
      "epoch": 1.2949640287769784,
      "grad_norm": 2.743070602416992,
      "learning_rate": 4.796666666666667e-05,
      "loss": 0.1924,
      "step": 1440
    },
    {
      "action_loss": 0.05436474457383156,
      "epoch": 1.2949640287769784,
      "step": 1440
    },
    {
      "epoch": 1.2949640287769784,
      "step": 1440,
      "torque_loss": 0.32865357398986816
    },
    {
      "epoch": 1.3039568345323742,
      "grad_norm": 0.9835125803947449,
      "learning_rate": 4.83e-05,
      "loss": 0.2012,
      "step": 1450
    },
    {
      "action_loss": 0.05473802983760834,
      "epoch": 1.3039568345323742,
      "step": 1450
    },
    {
      "epoch": 1.3039568345323742,
      "step": 1450,
      "torque_loss": 0.2832389175891876
    },
    {
      "epoch": 1.3129496402877698,
      "grad_norm": 2.2664992809295654,
      "learning_rate": 4.8633333333333334e-05,
      "loss": 0.1989,
      "step": 1460
    },
    {
      "action_loss": 0.027439633384346962,
      "epoch": 1.3129496402877698,
      "step": 1460
    },
    {
      "epoch": 1.3129496402877698,
      "step": 1460,
      "torque_loss": 0.18204765021800995
    },
    {
      "epoch": 1.3219424460431655,
      "grad_norm": 1.500249981880188,
      "learning_rate": 4.8966666666666667e-05,
      "loss": 0.177,
      "step": 1470
    },
    {
      "action_loss": 0.051999881863594055,
      "epoch": 1.3219424460431655,
      "step": 1470
    },
    {
      "epoch": 1.3219424460431655,
      "step": 1470,
      "torque_loss": 0.23033757507801056
    },
    {
      "epoch": 1.330935251798561,
      "grad_norm": 1.5382485389709473,
      "learning_rate": 4.93e-05,
      "loss": 0.1798,
      "step": 1480
    },
    {
      "action_loss": 0.02041007950901985,
      "epoch": 1.330935251798561,
      "step": 1480
    },
    {
      "epoch": 1.330935251798561,
      "step": 1480,
      "torque_loss": 0.19124417006969452
    },
    {
      "epoch": 1.3399280575539567,
      "grad_norm": 1.6923507452011108,
      "learning_rate": 4.963333333333334e-05,
      "loss": 0.1834,
      "step": 1490
    },
    {
      "action_loss": 0.0513102225959301,
      "epoch": 1.3399280575539567,
      "step": 1490
    },
    {
      "epoch": 1.3399280575539567,
      "step": 1490,
      "torque_loss": 0.24583090841770172
    },
    {
      "epoch": 1.3489208633093526,
      "grad_norm": 1.2972358465194702,
      "learning_rate": 4.996666666666667e-05,
      "loss": 0.2039,
      "step": 1500
    },
    {
      "action_loss": 0.03534022346138954,
      "epoch": 1.3489208633093526,
      "step": 1500
    },
    {
      "epoch": 1.3489208633093526,
      "step": 1500,
      "torque_loss": 0.23883770406246185
    },
    {
      "epoch": 1.3579136690647482,
      "grad_norm": 0.7992076277732849,
      "learning_rate": 5.03e-05,
      "loss": 0.1595,
      "step": 1510
    },
    {
      "action_loss": 0.056145694106817245,
      "epoch": 1.3579136690647482,
      "step": 1510
    },
    {
      "epoch": 1.3579136690647482,
      "step": 1510,
      "torque_loss": 0.31424859166145325
    },
    {
      "epoch": 1.3669064748201438,
      "grad_norm": 1.9746333360671997,
      "learning_rate": 5.0633333333333335e-05,
      "loss": 0.1943,
      "step": 1520
    },
    {
      "action_loss": 0.03471263125538826,
      "epoch": 1.3669064748201438,
      "step": 1520
    },
    {
      "epoch": 1.3669064748201438,
      "step": 1520,
      "torque_loss": 0.2010846883058548
    },
    {
      "epoch": 1.3758992805755397,
      "grad_norm": 1.0390357971191406,
      "learning_rate": 5.0966666666666674e-05,
      "loss": 0.2047,
      "step": 1530
    },
    {
      "action_loss": 0.03669046238064766,
      "epoch": 1.3758992805755397,
      "step": 1530
    },
    {
      "epoch": 1.3758992805755397,
      "step": 1530,
      "torque_loss": 0.22810983657836914
    },
    {
      "epoch": 1.3848920863309353,
      "grad_norm": 1.1564204692840576,
      "learning_rate": 5.130000000000001e-05,
      "loss": 0.1848,
      "step": 1540
    },
    {
      "action_loss": 0.02542993612587452,
      "epoch": 1.3848920863309353,
      "step": 1540
    },
    {
      "epoch": 1.3848920863309353,
      "step": 1540,
      "torque_loss": 0.22431211173534393
    },
    {
      "epoch": 1.393884892086331,
      "grad_norm": 1.3474466800689697,
      "learning_rate": 5.163333333333333e-05,
      "loss": 0.2154,
      "step": 1550
    },
    {
      "action_loss": 0.04140591248869896,
      "epoch": 1.393884892086331,
      "step": 1550
    },
    {
      "epoch": 1.393884892086331,
      "step": 1550,
      "torque_loss": 0.24919819831848145
    },
    {
      "epoch": 1.4028776978417266,
      "grad_norm": 1.3492481708526611,
      "learning_rate": 5.196666666666667e-05,
      "loss": 0.172,
      "step": 1560
    },
    {
      "action_loss": 0.04144539684057236,
      "epoch": 1.4028776978417266,
      "step": 1560
    },
    {
      "epoch": 1.4028776978417266,
      "step": 1560,
      "torque_loss": 0.19199323654174805
    },
    {
      "epoch": 1.4118705035971222,
      "grad_norm": 1.5253697633743286,
      "learning_rate": 5.2300000000000004e-05,
      "loss": 0.186,
      "step": 1570
    },
    {
      "action_loss": 0.04017492011189461,
      "epoch": 1.4118705035971222,
      "step": 1570
    },
    {
      "epoch": 1.4118705035971222,
      "step": 1570,
      "torque_loss": 0.18769705295562744
    },
    {
      "epoch": 1.420863309352518,
      "grad_norm": 1.7465101480484009,
      "learning_rate": 5.2633333333333336e-05,
      "loss": 0.1947,
      "step": 1580
    },
    {
      "action_loss": 0.027137726545333862,
      "epoch": 1.420863309352518,
      "step": 1580
    },
    {
      "epoch": 1.420863309352518,
      "step": 1580,
      "torque_loss": 0.2069772630929947
    },
    {
      "epoch": 1.4298561151079137,
      "grad_norm": 1.9963868856430054,
      "learning_rate": 5.296666666666666e-05,
      "loss": 0.1886,
      "step": 1590
    },
    {
      "action_loss": 0.033583179116249084,
      "epoch": 1.4298561151079137,
      "step": 1590
    },
    {
      "epoch": 1.4298561151079137,
      "step": 1590,
      "torque_loss": 0.2676877975463867
    },
    {
      "epoch": 1.4388489208633093,
      "grad_norm": 1.4588085412979126,
      "learning_rate": 5.330000000000001e-05,
      "loss": 0.1855,
      "step": 1600
    },
    {
      "action_loss": 0.036470960825681686,
      "epoch": 1.4388489208633093,
      "step": 1600
    },
    {
      "epoch": 1.4388489208633093,
      "step": 1600,
      "torque_loss": 0.28059422969818115
    },
    {
      "epoch": 1.4478417266187051,
      "grad_norm": 1.7007945775985718,
      "learning_rate": 5.3633333333333334e-05,
      "loss": 0.2131,
      "step": 1610
    },
    {
      "action_loss": 0.06419728696346283,
      "epoch": 1.4478417266187051,
      "step": 1610
    },
    {
      "epoch": 1.4478417266187051,
      "step": 1610,
      "torque_loss": 0.22035379707813263
    },
    {
      "epoch": 1.4568345323741008,
      "grad_norm": 1.0284358263015747,
      "learning_rate": 5.3966666666666666e-05,
      "loss": 0.2027,
      "step": 1620
    },
    {
      "action_loss": 0.04524751007556915,
      "epoch": 1.4568345323741008,
      "step": 1620
    },
    {
      "epoch": 1.4568345323741008,
      "step": 1620,
      "torque_loss": 0.2338164895772934
    },
    {
      "epoch": 1.4658273381294964,
      "grad_norm": 1.2820512056350708,
      "learning_rate": 5.4300000000000005e-05,
      "loss": 0.1989,
      "step": 1630
    },
    {
      "action_loss": 0.037725020200014114,
      "epoch": 1.4658273381294964,
      "step": 1630
    },
    {
      "epoch": 1.4658273381294964,
      "step": 1630,
      "torque_loss": 0.17981772124767303
    },
    {
      "epoch": 1.474820143884892,
      "grad_norm": 1.3845694065093994,
      "learning_rate": 5.463333333333334e-05,
      "loss": 0.1961,
      "step": 1640
    },
    {
      "action_loss": 0.0403883196413517,
      "epoch": 1.474820143884892,
      "step": 1640
    },
    {
      "epoch": 1.474820143884892,
      "step": 1640,
      "torque_loss": 0.2424883395433426
    },
    {
      "epoch": 1.4838129496402876,
      "grad_norm": 0.9319870471954346,
      "learning_rate": 5.496666666666666e-05,
      "loss": 0.1828,
      "step": 1650
    },
    {
      "action_loss": 0.028459584340453148,
      "epoch": 1.4838129496402876,
      "step": 1650
    },
    {
      "epoch": 1.4838129496402876,
      "step": 1650,
      "torque_loss": 0.1869153529405594
    },
    {
      "epoch": 1.4928057553956835,
      "grad_norm": 1.3589965105056763,
      "learning_rate": 5.530000000000001e-05,
      "loss": 0.2126,
      "step": 1660
    },
    {
      "action_loss": 0.03954601660370827,
      "epoch": 1.4928057553956835,
      "step": 1660
    },
    {
      "epoch": 1.4928057553956835,
      "step": 1660,
      "torque_loss": 0.20188188552856445
    },
    {
      "epoch": 1.5017985611510791,
      "grad_norm": 1.3298144340515137,
      "learning_rate": 5.5633333333333335e-05,
      "loss": 0.1823,
      "step": 1670
    },
    {
      "action_loss": 0.06515335291624069,
      "epoch": 1.5017985611510791,
      "step": 1670
    },
    {
      "epoch": 1.5017985611510791,
      "step": 1670,
      "torque_loss": 0.2163563221693039
    },
    {
      "epoch": 1.5107913669064748,
      "grad_norm": 1.1110050678253174,
      "learning_rate": 5.596666666666667e-05,
      "loss": 0.1885,
      "step": 1680
    },
    {
      "action_loss": 0.029764940962195396,
      "epoch": 1.5107913669064748,
      "step": 1680
    },
    {
      "epoch": 1.5107913669064748,
      "step": 1680,
      "torque_loss": 0.19621829688549042
    },
    {
      "epoch": 1.5197841726618706,
      "grad_norm": 1.2508468627929688,
      "learning_rate": 5.63e-05,
      "loss": 0.2143,
      "step": 1690
    },
    {
      "action_loss": 0.02922545187175274,
      "epoch": 1.5197841726618706,
      "step": 1690
    },
    {
      "epoch": 1.5197841726618706,
      "step": 1690,
      "torque_loss": 0.18200482428073883
    },
    {
      "epoch": 1.5287769784172662,
      "grad_norm": 1.5846954584121704,
      "learning_rate": 5.663333333333334e-05,
      "loss": 0.2063,
      "step": 1700
    },
    {
      "action_loss": 0.04093484953045845,
      "epoch": 1.5287769784172662,
      "step": 1700
    },
    {
      "epoch": 1.5287769784172662,
      "step": 1700,
      "torque_loss": 0.24212555587291718
    },
    {
      "epoch": 1.5377697841726619,
      "grad_norm": 1.1507614850997925,
      "learning_rate": 5.696666666666667e-05,
      "loss": 0.1931,
      "step": 1710
    },
    {
      "action_loss": 0.04107213020324707,
      "epoch": 1.5377697841726619,
      "step": 1710
    },
    {
      "epoch": 1.5377697841726619,
      "step": 1710,
      "torque_loss": 0.24990685284137726
    },
    {
      "epoch": 1.5467625899280577,
      "grad_norm": 1.482911467552185,
      "learning_rate": 5.73e-05,
      "loss": 0.216,
      "step": 1720
    },
    {
      "action_loss": 0.03748412802815437,
      "epoch": 1.5467625899280577,
      "step": 1720
    },
    {
      "epoch": 1.5467625899280577,
      "step": 1720,
      "torque_loss": 0.1568470001220703
    },
    {
      "epoch": 1.5557553956834531,
      "grad_norm": 1.1974776983261108,
      "learning_rate": 5.7633333333333336e-05,
      "loss": 0.1717,
      "step": 1730
    },
    {
      "action_loss": 0.0663800835609436,
      "epoch": 1.5557553956834531,
      "step": 1730
    },
    {
      "epoch": 1.5557553956834531,
      "step": 1730,
      "torque_loss": 0.45275673270225525
    },
    {
      "epoch": 1.564748201438849,
      "grad_norm": 1.324669361114502,
      "learning_rate": 5.796666666666667e-05,
      "loss": 0.2118,
      "step": 1740
    },
    {
      "action_loss": 0.04940791428089142,
      "epoch": 1.564748201438849,
      "step": 1740
    },
    {
      "epoch": 1.564748201438849,
      "step": 1740,
      "torque_loss": 0.2667076289653778
    },
    {
      "epoch": 1.5737410071942446,
      "grad_norm": 1.290582537651062,
      "learning_rate": 5.83e-05,
      "loss": 0.1892,
      "step": 1750
    },
    {
      "action_loss": 0.042719125747680664,
      "epoch": 1.5737410071942446,
      "step": 1750
    },
    {
      "epoch": 1.5737410071942446,
      "step": 1750,
      "torque_loss": 0.2376115322113037
    },
    {
      "epoch": 1.5827338129496402,
      "grad_norm": 1.2932226657867432,
      "learning_rate": 5.863333333333334e-05,
      "loss": 0.1903,
      "step": 1760
    },
    {
      "action_loss": 0.03939172253012657,
      "epoch": 1.5827338129496402,
      "step": 1760
    },
    {
      "epoch": 1.5827338129496402,
      "step": 1760,
      "torque_loss": 0.2828308641910553
    },
    {
      "epoch": 1.591726618705036,
      "grad_norm": 1.4118731021881104,
      "learning_rate": 5.896666666666667e-05,
      "loss": 0.1976,
      "step": 1770
    },
    {
      "action_loss": 0.02695036679506302,
      "epoch": 1.591726618705036,
      "step": 1770
    },
    {
      "epoch": 1.591726618705036,
      "step": 1770,
      "torque_loss": 0.2069142609834671
    },
    {
      "epoch": 1.6007194244604317,
      "grad_norm": 1.9598239660263062,
      "learning_rate": 5.93e-05,
      "loss": 0.163,
      "step": 1780
    },
    {
      "action_loss": 0.03470180556178093,
      "epoch": 1.6007194244604317,
      "step": 1780
    },
    {
      "epoch": 1.6007194244604317,
      "step": 1780,
      "torque_loss": 0.24922461807727814
    },
    {
      "epoch": 1.6097122302158273,
      "grad_norm": 1.0525918006896973,
      "learning_rate": 5.9633333333333344e-05,
      "loss": 0.2214,
      "step": 1790
    },
    {
      "action_loss": 0.02089432068169117,
      "epoch": 1.6097122302158273,
      "step": 1790
    },
    {
      "epoch": 1.6097122302158273,
      "step": 1790,
      "torque_loss": 0.2205437570810318
    },
    {
      "epoch": 1.6187050359712232,
      "grad_norm": 1.3010022640228271,
      "learning_rate": 5.996666666666667e-05,
      "loss": 0.1979,
      "step": 1800
    },
    {
      "action_loss": 0.025884171947836876,
      "epoch": 1.6187050359712232,
      "step": 1800
    },
    {
      "epoch": 1.6187050359712232,
      "step": 1800,
      "torque_loss": 0.23913271725177765
    },
    {
      "epoch": 1.6276978417266186,
      "grad_norm": 1.062484622001648,
      "learning_rate": 6.03e-05,
      "loss": 0.1871,
      "step": 1810
    },
    {
      "action_loss": 0.03451920673251152,
      "epoch": 1.6276978417266186,
      "step": 1810
    },
    {
      "epoch": 1.6276978417266186,
      "step": 1810,
      "torque_loss": 0.18789173662662506
    },
    {
      "epoch": 1.6366906474820144,
      "grad_norm": 1.412408471107483,
      "learning_rate": 6.063333333333333e-05,
      "loss": 0.1683,
      "step": 1820
    },
    {
      "action_loss": 0.028138145804405212,
      "epoch": 1.6366906474820144,
      "step": 1820
    },
    {
      "epoch": 1.6366906474820144,
      "step": 1820,
      "torque_loss": 0.21203310787677765
    },
    {
      "epoch": 1.64568345323741,
      "grad_norm": 1.0366275310516357,
      "learning_rate": 6.0966666666666674e-05,
      "loss": 0.1943,
      "step": 1830
    },
    {
      "action_loss": 0.04788921773433685,
      "epoch": 1.64568345323741,
      "step": 1830
    },
    {
      "epoch": 1.64568345323741,
      "step": 1830,
      "torque_loss": 0.22789700329303741
    },
    {
      "epoch": 1.6546762589928057,
      "grad_norm": 0.9584492444992065,
      "learning_rate": 6.13e-05,
      "loss": 0.2058,
      "step": 1840
    },
    {
      "action_loss": 0.033312465995550156,
      "epoch": 1.6546762589928057,
      "step": 1840
    },
    {
      "epoch": 1.6546762589928057,
      "step": 1840,
      "torque_loss": 0.23749573528766632
    },
    {
      "epoch": 1.6636690647482015,
      "grad_norm": 1.1597014665603638,
      "learning_rate": 6.163333333333333e-05,
      "loss": 0.1749,
      "step": 1850
    },
    {
      "action_loss": 0.028527170419692993,
      "epoch": 1.6636690647482015,
      "step": 1850
    },
    {
      "epoch": 1.6636690647482015,
      "step": 1850,
      "torque_loss": 0.28533241152763367
    },
    {
      "epoch": 1.6726618705035972,
      "grad_norm": 1.245605707168579,
      "learning_rate": 6.196666666666668e-05,
      "loss": 0.187,
      "step": 1860
    },
    {
      "action_loss": 0.039489325135946274,
      "epoch": 1.6726618705035972,
      "step": 1860
    },
    {
      "epoch": 1.6726618705035972,
      "step": 1860,
      "torque_loss": 0.2051321268081665
    },
    {
      "epoch": 1.6816546762589928,
      "grad_norm": 1.4763439893722534,
      "learning_rate": 6.23e-05,
      "loss": 0.1738,
      "step": 1870
    },
    {
      "action_loss": 0.029935233294963837,
      "epoch": 1.6816546762589928,
      "step": 1870
    },
    {
      "epoch": 1.6816546762589928,
      "step": 1870,
      "torque_loss": 0.3341348171234131
    },
    {
      "epoch": 1.6906474820143886,
      "grad_norm": 1.1533327102661133,
      "learning_rate": 6.263333333333333e-05,
      "loss": 0.1801,
      "step": 1880
    },
    {
      "action_loss": 0.02751818299293518,
      "epoch": 1.6906474820143886,
      "step": 1880
    },
    {
      "epoch": 1.6906474820143886,
      "step": 1880,
      "torque_loss": 0.16865409910678864
    },
    {
      "epoch": 1.699640287769784,
      "grad_norm": 1.0709233283996582,
      "learning_rate": 6.296666666666667e-05,
      "loss": 0.2152,
      "step": 1890
    },
    {
      "action_loss": 0.04189513996243477,
      "epoch": 1.699640287769784,
      "step": 1890
    },
    {
      "epoch": 1.699640287769784,
      "step": 1890,
      "torque_loss": 0.2824627161026001
    },
    {
      "epoch": 1.70863309352518,
      "grad_norm": 1.1156259775161743,
      "learning_rate": 6.330000000000001e-05,
      "loss": 0.1972,
      "step": 1900
    },
    {
      "action_loss": 0.036163460463285446,
      "epoch": 1.70863309352518,
      "step": 1900
    },
    {
      "epoch": 1.70863309352518,
      "step": 1900,
      "torque_loss": 0.22062461078166962
    },
    {
      "epoch": 1.7176258992805755,
      "grad_norm": 0.9872162342071533,
      "learning_rate": 6.363333333333334e-05,
      "loss": 0.1793,
      "step": 1910
    },
    {
      "action_loss": 0.02875983715057373,
      "epoch": 1.7176258992805755,
      "step": 1910
    },
    {
      "epoch": 1.7176258992805755,
      "step": 1910,
      "torque_loss": 0.19125783443450928
    },
    {
      "epoch": 1.7266187050359711,
      "grad_norm": 1.3411977291107178,
      "learning_rate": 6.396666666666667e-05,
      "loss": 0.1654,
      "step": 1920
    },
    {
      "action_loss": 0.07741799205541611,
      "epoch": 1.7266187050359711,
      "step": 1920
    },
    {
      "epoch": 1.7266187050359711,
      "step": 1920,
      "torque_loss": 0.2763902246952057
    },
    {
      "epoch": 1.735611510791367,
      "grad_norm": 1.1523159742355347,
      "learning_rate": 6.43e-05,
      "loss": 0.1918,
      "step": 1930
    },
    {
      "action_loss": 0.05739777162671089,
      "epoch": 1.735611510791367,
      "step": 1930
    },
    {
      "epoch": 1.735611510791367,
      "step": 1930,
      "torque_loss": 0.2693094313144684
    },
    {
      "epoch": 1.7446043165467626,
      "grad_norm": 1.256042242050171,
      "learning_rate": 6.463333333333334e-05,
      "loss": 0.1646,
      "step": 1940
    },
    {
      "action_loss": 0.03888488933444023,
      "epoch": 1.7446043165467626,
      "step": 1940
    },
    {
      "epoch": 1.7446043165467626,
      "step": 1940,
      "torque_loss": 0.32551199197769165
    },
    {
      "epoch": 1.7535971223021583,
      "grad_norm": 1.3437511920928955,
      "learning_rate": 6.496666666666667e-05,
      "loss": 0.2012,
      "step": 1950
    },
    {
      "action_loss": 0.046645790338516235,
      "epoch": 1.7535971223021583,
      "step": 1950
    },
    {
      "epoch": 1.7535971223021583,
      "step": 1950,
      "torque_loss": 0.2841830551624298
    },
    {
      "epoch": 1.762589928057554,
      "grad_norm": 1.489492416381836,
      "learning_rate": 6.53e-05,
      "loss": 0.187,
      "step": 1960
    },
    {
      "action_loss": 0.030797457322478294,
      "epoch": 1.762589928057554,
      "step": 1960
    },
    {
      "epoch": 1.762589928057554,
      "step": 1960,
      "torque_loss": 0.170052170753479
    },
    {
      "epoch": 1.7715827338129495,
      "grad_norm": 1.1059294939041138,
      "learning_rate": 6.563333333333333e-05,
      "loss": 0.2005,
      "step": 1970
    },
    {
      "action_loss": 0.06381866335868835,
      "epoch": 1.7715827338129495,
      "step": 1970
    },
    {
      "epoch": 1.7715827338129495,
      "step": 1970,
      "torque_loss": 0.2972308099269867
    },
    {
      "epoch": 1.7805755395683454,
      "grad_norm": 0.9871699213981628,
      "learning_rate": 6.596666666666667e-05,
      "loss": 0.1858,
      "step": 1980
    },
    {
      "action_loss": 0.028540687635540962,
      "epoch": 1.7805755395683454,
      "step": 1980
    },
    {
      "epoch": 1.7805755395683454,
      "step": 1980,
      "torque_loss": 0.18525183200836182
    },
    {
      "epoch": 1.789568345323741,
      "grad_norm": 1.0717177391052246,
      "learning_rate": 6.630000000000001e-05,
      "loss": 0.1863,
      "step": 1990
    },
    {
      "action_loss": 0.01802976243197918,
      "epoch": 1.789568345323741,
      "step": 1990
    },
    {
      "epoch": 1.789568345323741,
      "step": 1990,
      "torque_loss": 0.19889824092388153
    },
    {
      "epoch": 1.7985611510791366,
      "grad_norm": 0.8776652812957764,
      "learning_rate": 6.663333333333333e-05,
      "loss": 0.1904,
      "step": 2000
    },
    {
      "action_loss": 0.03754677623510361,
      "epoch": 1.7985611510791366,
      "step": 2000
    },
    {
      "epoch": 1.7985611510791366,
      "step": 2000,
      "torque_loss": 0.22252561151981354
    },
    {
      "epoch": 1.8075539568345325,
      "grad_norm": 1.4249894618988037,
      "learning_rate": 6.696666666666666e-05,
      "loss": 0.1701,
      "step": 2010
    },
    {
      "action_loss": 0.04412977024912834,
      "epoch": 1.8075539568345325,
      "step": 2010
    },
    {
      "epoch": 1.8075539568345325,
      "step": 2010,
      "torque_loss": 0.22114042937755585
    },
    {
      "epoch": 1.816546762589928,
      "grad_norm": 0.8910714983940125,
      "learning_rate": 6.730000000000001e-05,
      "loss": 0.1718,
      "step": 2020
    },
    {
      "action_loss": 0.03859308362007141,
      "epoch": 1.816546762589928,
      "step": 2020
    },
    {
      "epoch": 1.816546762589928,
      "step": 2020,
      "torque_loss": 0.29290032386779785
    },
    {
      "epoch": 1.8255395683453237,
      "grad_norm": 0.8825613260269165,
      "learning_rate": 6.763333333333334e-05,
      "loss": 0.1924,
      "step": 2030
    },
    {
      "action_loss": 0.030887776985764503,
      "epoch": 1.8255395683453237,
      "step": 2030
    },
    {
      "epoch": 1.8255395683453237,
      "step": 2030,
      "torque_loss": 0.273565411567688
    },
    {
      "epoch": 1.8345323741007196,
      "grad_norm": 1.0531922578811646,
      "learning_rate": 6.796666666666666e-05,
      "loss": 0.1729,
      "step": 2040
    },
    {
      "action_loss": 0.039413902908563614,
      "epoch": 1.8345323741007196,
      "step": 2040
    },
    {
      "epoch": 1.8345323741007196,
      "step": 2040,
      "torque_loss": 0.24809543788433075
    },
    {
      "epoch": 1.843525179856115,
      "grad_norm": 0.7149152755737305,
      "learning_rate": 6.83e-05,
      "loss": 0.1755,
      "step": 2050
    },
    {
      "action_loss": 0.01792014203965664,
      "epoch": 1.843525179856115,
      "step": 2050
    },
    {
      "epoch": 1.843525179856115,
      "step": 2050,
      "torque_loss": 0.14377032220363617
    },
    {
      "epoch": 1.8525179856115108,
      "grad_norm": 1.066757321357727,
      "learning_rate": 6.863333333333334e-05,
      "loss": 0.188,
      "step": 2060
    },
    {
      "action_loss": 0.03233494237065315,
      "epoch": 1.8525179856115108,
      "step": 2060
    },
    {
      "epoch": 1.8525179856115108,
      "step": 2060,
      "torque_loss": 0.19698774814605713
    },
    {
      "epoch": 1.8615107913669064,
      "grad_norm": 1.2496477365493774,
      "learning_rate": 6.896666666666667e-05,
      "loss": 0.1894,
      "step": 2070
    },
    {
      "action_loss": 0.029381627216935158,
      "epoch": 1.8615107913669064,
      "step": 2070
    },
    {
      "epoch": 1.8615107913669064,
      "step": 2070,
      "torque_loss": 0.2580276429653168
    },
    {
      "epoch": 1.870503597122302,
      "grad_norm": 1.1071528196334839,
      "learning_rate": 6.93e-05,
      "loss": 0.1929,
      "step": 2080
    },
    {
      "action_loss": 0.04345273971557617,
      "epoch": 1.870503597122302,
      "step": 2080
    },
    {
      "epoch": 1.870503597122302,
      "step": 2080,
      "torque_loss": 0.25307270884513855
    },
    {
      "epoch": 1.879496402877698,
      "grad_norm": 0.9540648460388184,
      "learning_rate": 6.963333333333334e-05,
      "loss": 0.1714,
      "step": 2090
    },
    {
      "action_loss": 0.03308546915650368,
      "epoch": 1.879496402877698,
      "step": 2090
    },
    {
      "epoch": 1.879496402877698,
      "step": 2090,
      "torque_loss": 0.31015744805336
    },
    {
      "epoch": 1.8884892086330936,
      "grad_norm": 1.203490972518921,
      "learning_rate": 6.996666666666667e-05,
      "loss": 0.1711,
      "step": 2100
    },
    {
      "action_loss": 0.025437256321310997,
      "epoch": 1.8884892086330936,
      "step": 2100
    },
    {
      "epoch": 1.8884892086330936,
      "step": 2100,
      "torque_loss": 0.175981804728508
    },
    {
      "epoch": 1.8974820143884892,
      "grad_norm": 0.8149719834327698,
      "learning_rate": 7.03e-05,
      "loss": 0.1889,
      "step": 2110
    },
    {
      "action_loss": 0.03627795726060867,
      "epoch": 1.8974820143884892,
      "step": 2110
    },
    {
      "epoch": 1.8974820143884892,
      "step": 2110,
      "torque_loss": 0.22580397129058838
    },
    {
      "epoch": 1.906474820143885,
      "grad_norm": 0.9615484476089478,
      "learning_rate": 7.063333333333333e-05,
      "loss": 0.2119,
      "step": 2120
    },
    {
      "action_loss": 0.03163142874836922,
      "epoch": 1.906474820143885,
      "step": 2120
    },
    {
      "epoch": 1.906474820143885,
      "step": 2120,
      "torque_loss": 0.1841520071029663
    },
    {
      "epoch": 1.9154676258992804,
      "grad_norm": 1.1510553359985352,
      "learning_rate": 7.096666666666667e-05,
      "loss": 0.2084,
      "step": 2130
    },
    {
      "action_loss": 0.03735082969069481,
      "epoch": 1.9154676258992804,
      "step": 2130
    },
    {
      "epoch": 1.9154676258992804,
      "step": 2130,
      "torque_loss": 0.26284560561180115
    },
    {
      "epoch": 1.9244604316546763,
      "grad_norm": 1.2142341136932373,
      "learning_rate": 7.13e-05,
      "loss": 0.1878,
      "step": 2140
    },
    {
      "action_loss": 0.041151657700538635,
      "epoch": 1.9244604316546763,
      "step": 2140
    },
    {
      "epoch": 1.9244604316546763,
      "step": 2140,
      "torque_loss": 0.32396605610847473
    },
    {
      "epoch": 1.933453237410072,
      "grad_norm": 0.9198023080825806,
      "learning_rate": 7.163333333333334e-05,
      "loss": 0.1763,
      "step": 2150
    },
    {
      "action_loss": 0.025605956092476845,
      "epoch": 1.933453237410072,
      "step": 2150
    },
    {
      "epoch": 1.933453237410072,
      "step": 2150,
      "torque_loss": 0.2530941963195801
    },
    {
      "epoch": 1.9424460431654675,
      "grad_norm": 1.2277367115020752,
      "learning_rate": 7.196666666666668e-05,
      "loss": 0.1936,
      "step": 2160
    },
    {
      "action_loss": 0.046468645334243774,
      "epoch": 1.9424460431654675,
      "step": 2160
    },
    {
      "epoch": 1.9424460431654675,
      "step": 2160,
      "torque_loss": 0.23827606439590454
    },
    {
      "epoch": 1.9514388489208634,
      "grad_norm": 1.3778629302978516,
      "learning_rate": 7.23e-05,
      "loss": 0.1738,
      "step": 2170
    },
    {
      "action_loss": 0.03623973950743675,
      "epoch": 1.9514388489208634,
      "step": 2170
    },
    {
      "epoch": 1.9514388489208634,
      "step": 2170,
      "torque_loss": 0.17318372428417206
    },
    {
      "epoch": 1.960431654676259,
      "grad_norm": 1.2485857009887695,
      "learning_rate": 7.263333333333334e-05,
      "loss": 0.1507,
      "step": 2180
    },
    {
      "action_loss": 0.037312742322683334,
      "epoch": 1.960431654676259,
      "step": 2180
    },
    {
      "epoch": 1.960431654676259,
      "step": 2180,
      "torque_loss": 0.2241894006729126
    },
    {
      "epoch": 1.9694244604316546,
      "grad_norm": 1.521353840827942,
      "learning_rate": 7.296666666666667e-05,
      "loss": 0.1805,
      "step": 2190
    },
    {
      "action_loss": 0.04329133406281471,
      "epoch": 1.9694244604316546,
      "step": 2190
    },
    {
      "epoch": 1.9694244604316546,
      "step": 2190,
      "torque_loss": 0.24648988246917725
    },
    {
      "epoch": 1.9784172661870505,
      "grad_norm": 0.9644017815589905,
      "learning_rate": 7.33e-05,
      "loss": 0.1773,
      "step": 2200
    },
    {
      "action_loss": 0.05346617102622986,
      "epoch": 1.9784172661870505,
      "step": 2200
    },
    {
      "epoch": 1.9784172661870505,
      "step": 2200,
      "torque_loss": 0.36603572964668274
    },
    {
      "epoch": 1.987410071942446,
      "grad_norm": 0.8555987477302551,
      "learning_rate": 7.363333333333334e-05,
      "loss": 0.1965,
      "step": 2210
    },
    {
      "action_loss": 0.0448712594807148,
      "epoch": 1.987410071942446,
      "step": 2210
    },
    {
      "epoch": 1.987410071942446,
      "step": 2210,
      "torque_loss": 0.2682015597820282
    },
    {
      "epoch": 1.9964028776978417,
      "grad_norm": 1.064080834388733,
      "learning_rate": 7.396666666666667e-05,
      "loss": 0.1794,
      "step": 2220
    },
    {
      "action_loss": 0.03338354453444481,
      "epoch": 1.9964028776978417,
      "step": 2220
    },
    {
      "epoch": 1.9964028776978417,
      "step": 2220,
      "torque_loss": 0.211073637008667
    },
    {
      "epoch": 2.0053956834532376,
      "grad_norm": 1.2192391157150269,
      "learning_rate": 7.43e-05,
      "loss": 0.1857,
      "step": 2230
    },
    {
      "action_loss": 0.056077226996421814,
      "epoch": 2.0053956834532376,
      "step": 2230
    },
    {
      "epoch": 2.0053956834532376,
      "step": 2230,
      "torque_loss": 0.34936535358428955
    },
    {
      "epoch": 2.014388489208633,
      "grad_norm": 1.4691566228866577,
      "learning_rate": 7.463333333333334e-05,
      "loss": 0.179,
      "step": 2240
    },
    {
      "action_loss": 0.040664639323949814,
      "epoch": 2.014388489208633,
      "step": 2240
    },
    {
      "epoch": 2.014388489208633,
      "step": 2240,
      "torque_loss": 0.30719685554504395
    },
    {
      "epoch": 2.023381294964029,
      "grad_norm": 0.9464696645736694,
      "learning_rate": 7.496666666666667e-05,
      "loss": 0.1979,
      "step": 2250
    },
    {
      "action_loss": 0.027231967076659203,
      "epoch": 2.023381294964029,
      "step": 2250
    },
    {
      "epoch": 2.023381294964029,
      "step": 2250,
      "torque_loss": 0.19606085121631622
    },
    {
      "epoch": 2.0323741007194243,
      "grad_norm": 0.6981268525123596,
      "learning_rate": 7.53e-05,
      "loss": 0.2021,
      "step": 2260
    },
    {
      "action_loss": 0.02166188694536686,
      "epoch": 2.0323741007194243,
      "step": 2260
    },
    {
      "epoch": 2.0323741007194243,
      "step": 2260,
      "torque_loss": 0.18720275163650513
    },
    {
      "epoch": 2.04136690647482,
      "grad_norm": 1.0285924673080444,
      "learning_rate": 7.563333333333333e-05,
      "loss": 0.1924,
      "step": 2270
    },
    {
      "action_loss": 0.06088582053780556,
      "epoch": 2.04136690647482,
      "step": 2270
    },
    {
      "epoch": 2.04136690647482,
      "step": 2270,
      "torque_loss": 0.2850090265274048
    },
    {
      "epoch": 2.050359712230216,
      "grad_norm": 1.2473974227905273,
      "learning_rate": 7.596666666666668e-05,
      "loss": 0.1833,
      "step": 2280
    },
    {
      "action_loss": 0.055059004575014114,
      "epoch": 2.050359712230216,
      "step": 2280
    },
    {
      "epoch": 2.050359712230216,
      "step": 2280,
      "torque_loss": 0.30954524874687195
    },
    {
      "epoch": 2.0593525179856114,
      "grad_norm": 0.7912524342536926,
      "learning_rate": 7.630000000000001e-05,
      "loss": 0.1921,
      "step": 2290
    },
    {
      "action_loss": 0.03146032989025116,
      "epoch": 2.0593525179856114,
      "step": 2290
    },
    {
      "epoch": 2.0593525179856114,
      "step": 2290,
      "torque_loss": 0.2310253381729126
    },
    {
      "epoch": 2.068345323741007,
      "grad_norm": 1.1133698225021362,
      "learning_rate": 7.663333333333333e-05,
      "loss": 0.1768,
      "step": 2300
    },
    {
      "action_loss": 0.023026784881949425,
      "epoch": 2.068345323741007,
      "step": 2300
    },
    {
      "epoch": 2.068345323741007,
      "step": 2300,
      "torque_loss": 0.19194848835468292
    },
    {
      "epoch": 2.077338129496403,
      "grad_norm": 0.865003228187561,
      "learning_rate": 7.696666666666668e-05,
      "loss": 0.1678,
      "step": 2310
    },
    {
      "action_loss": 0.02465830184519291,
      "epoch": 2.077338129496403,
      "step": 2310
    },
    {
      "epoch": 2.077338129496403,
      "step": 2310,
      "torque_loss": 0.17816364765167236
    },
    {
      "epoch": 2.0863309352517985,
      "grad_norm": 1.1504647731781006,
      "learning_rate": 7.730000000000001e-05,
      "loss": 0.1897,
      "step": 2320
    },
    {
      "action_loss": 0.03480272367596626,
      "epoch": 2.0863309352517985,
      "step": 2320
    },
    {
      "epoch": 2.0863309352517985,
      "step": 2320,
      "torque_loss": 0.18526776134967804
    },
    {
      "epoch": 2.0953237410071943,
      "grad_norm": 0.9174593687057495,
      "learning_rate": 7.763333333333334e-05,
      "loss": 0.188,
      "step": 2330
    },
    {
      "action_loss": 0.03690126910805702,
      "epoch": 2.0953237410071943,
      "step": 2330
    },
    {
      "epoch": 2.0953237410071943,
      "step": 2330,
      "torque_loss": 0.2459900975227356
    },
    {
      "epoch": 2.1043165467625897,
      "grad_norm": 1.098821759223938,
      "learning_rate": 7.796666666666666e-05,
      "loss": 0.1764,
      "step": 2340
    },
    {
      "action_loss": 0.030632534995675087,
      "epoch": 2.1043165467625897,
      "step": 2340
    },
    {
      "epoch": 2.1043165467625897,
      "step": 2340,
      "torque_loss": 0.24314117431640625
    },
    {
      "epoch": 2.1133093525179856,
      "grad_norm": 0.7877588868141174,
      "learning_rate": 7.83e-05,
      "loss": 0.1843,
      "step": 2350
    },
    {
      "action_loss": 0.0456099770963192,
      "epoch": 2.1133093525179856,
      "step": 2350
    },
    {
      "epoch": 2.1133093525179856,
      "step": 2350,
      "torque_loss": 0.24205006659030914
    },
    {
      "epoch": 2.1223021582733814,
      "grad_norm": 1.012729287147522,
      "learning_rate": 7.863333333333334e-05,
      "loss": 0.1722,
      "step": 2360
    },
    {
      "action_loss": 0.04457930102944374,
      "epoch": 2.1223021582733814,
      "step": 2360
    },
    {
      "epoch": 2.1223021582733814,
      "step": 2360,
      "torque_loss": 0.19897128641605377
    },
    {
      "epoch": 2.131294964028777,
      "grad_norm": 0.8656269311904907,
      "learning_rate": 7.896666666666667e-05,
      "loss": 0.1778,
      "step": 2370
    },
    {
      "action_loss": 0.02142155170440674,
      "epoch": 2.131294964028777,
      "step": 2370
    },
    {
      "epoch": 2.131294964028777,
      "step": 2370,
      "torque_loss": 0.21871991455554962
    },
    {
      "epoch": 2.1402877697841727,
      "grad_norm": 0.9156185388565063,
      "learning_rate": 7.93e-05,
      "loss": 0.1746,
      "step": 2380
    },
    {
      "action_loss": 0.051273662596940994,
      "epoch": 2.1402877697841727,
      "step": 2380
    },
    {
      "epoch": 2.1402877697841727,
      "step": 2380,
      "torque_loss": 0.3112185299396515
    },
    {
      "epoch": 2.1492805755395685,
      "grad_norm": 0.6909753084182739,
      "learning_rate": 7.963333333333334e-05,
      "loss": 0.1992,
      "step": 2390
    },
    {
      "action_loss": 0.029538124799728394,
      "epoch": 2.1492805755395685,
      "step": 2390
    },
    {
      "epoch": 2.1492805755395685,
      "step": 2390,
      "torque_loss": 0.19576160609722137
    },
    {
      "epoch": 2.158273381294964,
      "grad_norm": 0.874372661113739,
      "learning_rate": 7.996666666666667e-05,
      "loss": 0.1775,
      "step": 2400
    },
    {
      "action_loss": 0.04146328195929527,
      "epoch": 2.158273381294964,
      "step": 2400
    },
    {
      "epoch": 2.158273381294964,
      "step": 2400,
      "torque_loss": 0.14249853789806366
    },
    {
      "epoch": 2.16726618705036,
      "grad_norm": 1.0559849739074707,
      "learning_rate": 8.030000000000001e-05,
      "loss": 0.1855,
      "step": 2410
    },
    {
      "action_loss": 0.03743477165699005,
      "epoch": 2.16726618705036,
      "step": 2410
    },
    {
      "epoch": 2.16726618705036,
      "step": 2410,
      "torque_loss": 0.19504757225513458
    },
    {
      "epoch": 2.176258992805755,
      "grad_norm": 0.8279873132705688,
      "learning_rate": 8.063333333333333e-05,
      "loss": 0.1773,
      "step": 2420
    },
    {
      "action_loss": 0.04920132830739021,
      "epoch": 2.176258992805755,
      "step": 2420
    },
    {
      "epoch": 2.176258992805755,
      "step": 2420,
      "torque_loss": 0.3146803081035614
    },
    {
      "epoch": 2.185251798561151,
      "grad_norm": 1.530151128768921,
      "learning_rate": 8.096666666666667e-05,
      "loss": 0.1756,
      "step": 2430
    },
    {
      "action_loss": 0.04897041618824005,
      "epoch": 2.185251798561151,
      "step": 2430
    },
    {
      "epoch": 2.185251798561151,
      "step": 2430,
      "torque_loss": 0.2706270217895508
    },
    {
      "epoch": 2.194244604316547,
      "grad_norm": 0.7952126860618591,
      "learning_rate": 8.13e-05,
      "loss": 0.1752,
      "step": 2440
    },
    {
      "action_loss": 0.030906708911061287,
      "epoch": 2.194244604316547,
      "step": 2440
    },
    {
      "epoch": 2.194244604316547,
      "step": 2440,
      "torque_loss": 0.17272688448429108
    },
    {
      "epoch": 2.2032374100719423,
      "grad_norm": 1.0380154848098755,
      "learning_rate": 8.163333333333334e-05,
      "loss": 0.1822,
      "step": 2450
    },
    {
      "action_loss": 0.036600567400455475,
      "epoch": 2.2032374100719423,
      "step": 2450
    },
    {
      "epoch": 2.2032374100719423,
      "step": 2450,
      "torque_loss": 0.2009994387626648
    },
    {
      "epoch": 2.212230215827338,
      "grad_norm": 1.3534965515136719,
      "learning_rate": 8.196666666666668e-05,
      "loss": 0.1737,
      "step": 2460
    },
    {
      "action_loss": 0.029478082433342934,
      "epoch": 2.212230215827338,
      "step": 2460
    },
    {
      "epoch": 2.212230215827338,
      "step": 2460,
      "torque_loss": 0.27246344089508057
    },
    {
      "epoch": 2.221223021582734,
      "grad_norm": 0.9862401485443115,
      "learning_rate": 8.23e-05,
      "loss": 0.1629,
      "step": 2470
    },
    {
      "action_loss": 0.025289371609687805,
      "epoch": 2.221223021582734,
      "step": 2470
    },
    {
      "epoch": 2.221223021582734,
      "step": 2470,
      "torque_loss": 0.1336299031972885
    },
    {
      "epoch": 2.2302158273381294,
      "grad_norm": 0.5524766445159912,
      "learning_rate": 8.263333333333334e-05,
      "loss": 0.1778,
      "step": 2480
    },
    {
      "action_loss": 0.059403061866760254,
      "epoch": 2.2302158273381294,
      "step": 2480
    },
    {
      "epoch": 2.2302158273381294,
      "step": 2480,
      "torque_loss": 0.21764595806598663
    },
    {
      "epoch": 2.2392086330935252,
      "grad_norm": 0.8829817771911621,
      "learning_rate": 8.296666666666667e-05,
      "loss": 0.1911,
      "step": 2490
    },
    {
      "action_loss": 0.0365251749753952,
      "epoch": 2.2392086330935252,
      "step": 2490
    },
    {
      "epoch": 2.2392086330935252,
      "step": 2490,
      "torque_loss": 0.21073229610919952
    },
    {
      "epoch": 2.2482014388489207,
      "grad_norm": 0.8790428042411804,
      "learning_rate": 8.33e-05,
      "loss": 0.1796,
      "step": 2500
    },
    {
      "action_loss": 0.04717804864048958,
      "epoch": 2.2482014388489207,
      "step": 2500
    },
    {
      "epoch": 2.2482014388489207,
      "step": 2500,
      "torque_loss": 0.3137301504611969
    },
    {
      "epoch": 2.2571942446043165,
      "grad_norm": 0.8811512589454651,
      "learning_rate": 8.363333333333334e-05,
      "loss": 0.1936,
      "step": 2510
    },
    {
      "action_loss": 0.04025311395525932,
      "epoch": 2.2571942446043165,
      "step": 2510
    },
    {
      "epoch": 2.2571942446043165,
      "step": 2510,
      "torque_loss": 0.3026411533355713
    },
    {
      "epoch": 2.2661870503597124,
      "grad_norm": 1.097564458847046,
      "learning_rate": 8.396666666666667e-05,
      "loss": 0.1579,
      "step": 2520
    },
    {
      "action_loss": 0.056756194680929184,
      "epoch": 2.2661870503597124,
      "step": 2520
    },
    {
      "epoch": 2.2661870503597124,
      "step": 2520,
      "torque_loss": 0.29115059971809387
    },
    {
      "epoch": 2.2751798561151078,
      "grad_norm": 1.4205818176269531,
      "learning_rate": 8.43e-05,
      "loss": 0.161,
      "step": 2530
    },
    {
      "action_loss": 0.05868129804730415,
      "epoch": 2.2751798561151078,
      "step": 2530
    },
    {
      "epoch": 2.2751798561151078,
      "step": 2530,
      "torque_loss": 0.27166321873664856
    },
    {
      "epoch": 2.2841726618705036,
      "grad_norm": 0.5193299055099487,
      "learning_rate": 8.463333333333335e-05,
      "loss": 0.2144,
      "step": 2540
    },
    {
      "action_loss": 0.037607885897159576,
      "epoch": 2.2841726618705036,
      "step": 2540
    },
    {
      "epoch": 2.2841726618705036,
      "step": 2540,
      "torque_loss": 0.24810700118541718
    },
    {
      "epoch": 2.2931654676258995,
      "grad_norm": 0.9774449467658997,
      "learning_rate": 8.496666666666667e-05,
      "loss": 0.1729,
      "step": 2550
    },
    {
      "action_loss": 0.025868279859423637,
      "epoch": 2.2931654676258995,
      "step": 2550
    },
    {
      "epoch": 2.2931654676258995,
      "step": 2550,
      "torque_loss": 0.17854245007038116
    },
    {
      "epoch": 2.302158273381295,
      "grad_norm": 0.9375455975532532,
      "learning_rate": 8.53e-05,
      "loss": 0.1996,
      "step": 2560
    },
    {
      "action_loss": 0.03848273679614067,
      "epoch": 2.302158273381295,
      "step": 2560
    },
    {
      "epoch": 2.302158273381295,
      "step": 2560,
      "torque_loss": 0.2734481990337372
    },
    {
      "epoch": 2.3111510791366907,
      "grad_norm": 0.915597140789032,
      "learning_rate": 8.563333333333333e-05,
      "loss": 0.1831,
      "step": 2570
    },
    {
      "action_loss": 0.03490402176976204,
      "epoch": 2.3111510791366907,
      "step": 2570
    },
    {
      "epoch": 2.3111510791366907,
      "step": 2570,
      "torque_loss": 0.1620626151561737
    },
    {
      "epoch": 2.3201438848920866,
      "grad_norm": 1.3078819513320923,
      "learning_rate": 8.596666666666668e-05,
      "loss": 0.1947,
      "step": 2580
    },
    {
      "action_loss": 0.044929202646017075,
      "epoch": 2.3201438848920866,
      "step": 2580
    },
    {
      "epoch": 2.3201438848920866,
      "step": 2580,
      "torque_loss": 0.2800597846508026
    },
    {
      "epoch": 2.329136690647482,
      "grad_norm": 0.971284031867981,
      "learning_rate": 8.63e-05,
      "loss": 0.1783,
      "step": 2590
    },
    {
      "action_loss": 0.038797806948423386,
      "epoch": 2.329136690647482,
      "step": 2590
    },
    {
      "epoch": 2.329136690647482,
      "step": 2590,
      "torque_loss": 0.2307034581899643
    },
    {
      "epoch": 2.338129496402878,
      "grad_norm": 0.8855559229850769,
      "learning_rate": 8.663333333333333e-05,
      "loss": 0.1829,
      "step": 2600
    },
    {
      "action_loss": 0.04769815132021904,
      "epoch": 2.338129496402878,
      "step": 2600
    },
    {
      "epoch": 2.338129496402878,
      "step": 2600,
      "torque_loss": 0.1770680993795395
    },
    {
      "epoch": 2.347122302158273,
      "grad_norm": 1.1670985221862793,
      "learning_rate": 8.696666666666668e-05,
      "loss": 0.199,
      "step": 2610
    },
    {
      "action_loss": 0.028244605287909508,
      "epoch": 2.347122302158273,
      "step": 2610
    },
    {
      "epoch": 2.347122302158273,
      "step": 2610,
      "torque_loss": 0.21536843478679657
    },
    {
      "epoch": 2.356115107913669,
      "grad_norm": 0.7691673636436462,
      "learning_rate": 8.730000000000001e-05,
      "loss": 0.1765,
      "step": 2620
    },
    {
      "action_loss": 0.05115498974919319,
      "epoch": 2.356115107913669,
      "step": 2620
    },
    {
      "epoch": 2.356115107913669,
      "step": 2620,
      "torque_loss": 0.2772064208984375
    },
    {
      "epoch": 2.365107913669065,
      "grad_norm": 1.0487374067306519,
      "learning_rate": 8.763333333333334e-05,
      "loss": 0.1882,
      "step": 2630
    },
    {
      "action_loss": 0.04736854508519173,
      "epoch": 2.365107913669065,
      "step": 2630
    },
    {
      "epoch": 2.365107913669065,
      "step": 2630,
      "torque_loss": 0.3105471432209015
    },
    {
      "epoch": 2.3741007194244603,
      "grad_norm": 0.9945613145828247,
      "learning_rate": 8.796666666666667e-05,
      "loss": 0.1912,
      "step": 2640
    },
    {
      "action_loss": 0.0694267675280571,
      "epoch": 2.3741007194244603,
      "step": 2640
    },
    {
      "epoch": 2.3741007194244603,
      "step": 2640,
      "torque_loss": 0.2645087242126465
    },
    {
      "epoch": 2.383093525179856,
      "grad_norm": 0.6112527847290039,
      "learning_rate": 8.83e-05,
      "loss": 0.1681,
      "step": 2650
    },
    {
      "action_loss": 0.04595302417874336,
      "epoch": 2.383093525179856,
      "step": 2650
    },
    {
      "epoch": 2.383093525179856,
      "step": 2650,
      "torque_loss": 0.17838972806930542
    },
    {
      "epoch": 2.3920863309352516,
      "grad_norm": 0.9825464487075806,
      "learning_rate": 8.863333333333334e-05,
      "loss": 0.1704,
      "step": 2660
    },
    {
      "action_loss": 0.06639229506254196,
      "epoch": 2.3920863309352516,
      "step": 2660
    },
    {
      "epoch": 2.3920863309352516,
      "step": 2660,
      "torque_loss": 0.23566614091396332
    },
    {
      "epoch": 2.4010791366906474,
      "grad_norm": 0.575599730014801,
      "learning_rate": 8.896666666666667e-05,
      "loss": 0.1831,
      "step": 2670
    },
    {
      "action_loss": 0.021346965804696083,
      "epoch": 2.4010791366906474,
      "step": 2670
    },
    {
      "epoch": 2.4010791366906474,
      "step": 2670,
      "torque_loss": 0.197331503033638
    },
    {
      "epoch": 2.4100719424460433,
      "grad_norm": 0.8426250219345093,
      "learning_rate": 8.93e-05,
      "loss": 0.1646,
      "step": 2680
    },
    {
      "action_loss": 0.032143108546733856,
      "epoch": 2.4100719424460433,
      "step": 2680
    },
    {
      "epoch": 2.4100719424460433,
      "step": 2680,
      "torque_loss": 0.1904972791671753
    },
    {
      "epoch": 2.4190647482014387,
      "grad_norm": 0.8711763024330139,
      "learning_rate": 8.963333333333333e-05,
      "loss": 0.157,
      "step": 2690
    },
    {
      "action_loss": 0.03259913995862007,
      "epoch": 2.4190647482014387,
      "step": 2690
    },
    {
      "epoch": 2.4190647482014387,
      "step": 2690,
      "torque_loss": 0.30608853697776794
    },
    {
      "epoch": 2.4280575539568345,
      "grad_norm": 0.8301617503166199,
      "learning_rate": 8.996666666666667e-05,
      "loss": 0.1648,
      "step": 2700
    },
    {
      "action_loss": 0.02459898591041565,
      "epoch": 2.4280575539568345,
      "step": 2700
    },
    {
      "epoch": 2.4280575539568345,
      "step": 2700,
      "torque_loss": 0.18209002912044525
    },
    {
      "epoch": 2.4370503597122304,
      "grad_norm": 0.5862883925437927,
      "learning_rate": 9.030000000000001e-05,
      "loss": 0.1653,
      "step": 2710
    },
    {
      "action_loss": 0.028349494561553,
      "epoch": 2.4370503597122304,
      "step": 2710
    },
    {
      "epoch": 2.4370503597122304,
      "step": 2710,
      "torque_loss": 0.21465925872325897
    },
    {
      "epoch": 2.446043165467626,
      "grad_norm": 0.9890007376670837,
      "learning_rate": 9.063333333333333e-05,
      "loss": 0.1874,
      "step": 2720
    },
    {
      "action_loss": 0.012776019982993603,
      "epoch": 2.446043165467626,
      "step": 2720
    },
    {
      "epoch": 2.446043165467626,
      "step": 2720,
      "torque_loss": 0.13926582038402557
    },
    {
      "epoch": 2.4550359712230216,
      "grad_norm": 0.6599013209342957,
      "learning_rate": 9.096666666666666e-05,
      "loss": 0.1471,
      "step": 2730
    },
    {
      "action_loss": 0.024034298956394196,
      "epoch": 2.4550359712230216,
      "step": 2730
    },
    {
      "epoch": 2.4550359712230216,
      "step": 2730,
      "torque_loss": 0.22410959005355835
    },
    {
      "epoch": 2.4640287769784175,
      "grad_norm": 0.7020226716995239,
      "learning_rate": 9.130000000000001e-05,
      "loss": 0.1634,
      "step": 2740
    },
    {
      "action_loss": 0.03747546672821045,
      "epoch": 2.4640287769784175,
      "step": 2740
    },
    {
      "epoch": 2.4640287769784175,
      "step": 2740,
      "torque_loss": 0.29399803280830383
    },
    {
      "epoch": 2.473021582733813,
      "grad_norm": 0.9042898416519165,
      "learning_rate": 9.163333333333334e-05,
      "loss": 0.1882,
      "step": 2750
    },
    {
      "action_loss": 0.06875535845756531,
      "epoch": 2.473021582733813,
      "step": 2750
    },
    {
      "epoch": 2.473021582733813,
      "step": 2750,
      "torque_loss": 0.23685447871685028
    },
    {
      "epoch": 2.4820143884892087,
      "grad_norm": 1.1190818548202515,
      "learning_rate": 9.196666666666666e-05,
      "loss": 0.1829,
      "step": 2760
    },
    {
      "action_loss": 0.041641730815172195,
      "epoch": 2.4820143884892087,
      "step": 2760
    },
    {
      "epoch": 2.4820143884892087,
      "step": 2760,
      "torque_loss": 0.3415559232234955
    },
    {
      "epoch": 2.491007194244604,
      "grad_norm": 0.9239036440849304,
      "learning_rate": 9.230000000000001e-05,
      "loss": 0.1644,
      "step": 2770
    },
    {
      "action_loss": 0.04984307289123535,
      "epoch": 2.491007194244604,
      "step": 2770
    },
    {
      "epoch": 2.491007194244604,
      "step": 2770,
      "torque_loss": 0.2521437108516693
    },
    {
      "epoch": 2.5,
      "grad_norm": 0.7768085598945618,
      "learning_rate": 9.263333333333334e-05,
      "loss": 0.1621,
      "step": 2780
    },
    {
      "action_loss": 0.03405581787228584,
      "epoch": 2.5,
      "step": 2780
    },
    {
      "epoch": 2.5,
      "step": 2780,
      "torque_loss": 0.25922760367393494
    },
    {
      "epoch": 2.508992805755396,
      "grad_norm": 0.7812137603759766,
      "learning_rate": 9.296666666666667e-05,
      "loss": 0.1895,
      "step": 2790
    },
    {
      "action_loss": 0.0214341189712286,
      "epoch": 2.508992805755396,
      "step": 2790
    },
    {
      "epoch": 2.508992805755396,
      "step": 2790,
      "torque_loss": 0.18661729991436005
    },
    {
      "epoch": 2.5179856115107913,
      "grad_norm": 0.9062943458557129,
      "learning_rate": 9.33e-05,
      "loss": 0.1678,
      "step": 2800
    },
    {
      "action_loss": 0.03733142837882042,
      "epoch": 2.5179856115107913,
      "step": 2800
    },
    {
      "epoch": 2.5179856115107913,
      "step": 2800,
      "torque_loss": 0.26082900166511536
    },
    {
      "epoch": 2.526978417266187,
      "grad_norm": 0.7451797127723694,
      "learning_rate": 9.363333333333334e-05,
      "loss": 0.1705,
      "step": 2810
    },
    {
      "action_loss": 0.0340036042034626,
      "epoch": 2.526978417266187,
      "step": 2810
    },
    {
      "epoch": 2.526978417266187,
      "step": 2810,
      "torque_loss": 0.20398761332035065
    },
    {
      "epoch": 2.5359712230215825,
      "grad_norm": 0.9242757558822632,
      "learning_rate": 9.396666666666667e-05,
      "loss": 0.1636,
      "step": 2820
    },
    {
      "action_loss": 0.019967570900917053,
      "epoch": 2.5359712230215825,
      "step": 2820
    },
    {
      "epoch": 2.5359712230215825,
      "step": 2820,
      "torque_loss": 0.17101150751113892
    },
    {
      "epoch": 2.5449640287769784,
      "grad_norm": 0.5743494629859924,
      "learning_rate": 9.43e-05,
      "loss": 0.1833,
      "step": 2830
    },
    {
      "action_loss": 0.033128365874290466,
      "epoch": 2.5449640287769784,
      "step": 2830
    },
    {
      "epoch": 2.5449640287769784,
      "step": 2830,
      "torque_loss": 0.2086247354745865
    },
    {
      "epoch": 2.553956834532374,
      "grad_norm": 1.0134040117263794,
      "learning_rate": 9.463333333333333e-05,
      "loss": 0.1736,
      "step": 2840
    },
    {
      "action_loss": 0.017834598198533058,
      "epoch": 2.553956834532374,
      "step": 2840
    },
    {
      "epoch": 2.553956834532374,
      "step": 2840,
      "torque_loss": 0.1474757343530655
    },
    {
      "epoch": 2.56294964028777,
      "grad_norm": 0.7921326756477356,
      "learning_rate": 9.496666666666667e-05,
      "loss": 0.1641,
      "step": 2850
    },
    {
      "action_loss": 0.03435974195599556,
      "epoch": 2.56294964028777,
      "step": 2850
    },
    {
      "epoch": 2.56294964028777,
      "step": 2850,
      "torque_loss": 0.2518726885318756
    },
    {
      "epoch": 2.5719424460431655,
      "grad_norm": 0.8380470871925354,
      "learning_rate": 9.53e-05,
      "loss": 0.1817,
      "step": 2860
    },
    {
      "action_loss": 0.024473972618579865,
      "epoch": 2.5719424460431655,
      "step": 2860
    },
    {
      "epoch": 2.5719424460431655,
      "step": 2860,
      "torque_loss": 0.2516339123249054
    },
    {
      "epoch": 2.5809352517985613,
      "grad_norm": 0.6142778992652893,
      "learning_rate": 9.563333333333334e-05,
      "loss": 0.1877,
      "step": 2870
    },
    {
      "action_loss": 0.040658190846443176,
      "epoch": 2.5809352517985613,
      "step": 2870
    },
    {
      "epoch": 2.5809352517985613,
      "step": 2870,
      "torque_loss": 0.2592298090457916
    },
    {
      "epoch": 2.5899280575539567,
      "grad_norm": 0.8638019561767578,
      "learning_rate": 9.596666666666668e-05,
      "loss": 0.1621,
      "step": 2880
    },
    {
      "action_loss": 0.045856598764657974,
      "epoch": 2.5899280575539567,
      "step": 2880
    },
    {
      "epoch": 2.5899280575539567,
      "step": 2880,
      "torque_loss": 0.21954099833965302
    },
    {
      "epoch": 2.5989208633093526,
      "grad_norm": 0.8769229650497437,
      "learning_rate": 9.63e-05,
      "loss": 0.1721,
      "step": 2890
    },
    {
      "action_loss": 0.045179594308137894,
      "epoch": 2.5989208633093526,
      "step": 2890
    },
    {
      "epoch": 2.5989208633093526,
      "step": 2890,
      "torque_loss": 0.27072277665138245
    },
    {
      "epoch": 2.6079136690647484,
      "grad_norm": 0.6910836696624756,
      "learning_rate": 9.663333333333334e-05,
      "loss": 0.1754,
      "step": 2900
    },
    {
      "action_loss": 0.025974944233894348,
      "epoch": 2.6079136690647484,
      "step": 2900
    },
    {
      "epoch": 2.6079136690647484,
      "step": 2900,
      "torque_loss": 0.19095559418201447
    },
    {
      "epoch": 2.616906474820144,
      "grad_norm": 0.7392135858535767,
      "learning_rate": 9.696666666666667e-05,
      "loss": 0.1631,
      "step": 2910
    },
    {
      "action_loss": 0.03671032562851906,
      "epoch": 2.616906474820144,
      "step": 2910
    },
    {
      "epoch": 2.616906474820144,
      "step": 2910,
      "torque_loss": 0.31771746277809143
    },
    {
      "epoch": 2.6258992805755397,
      "grad_norm": 1.2275060415267944,
      "learning_rate": 9.730000000000001e-05,
      "loss": 0.1751,
      "step": 2920
    },
    {
      "action_loss": 0.03621062636375427,
      "epoch": 2.6258992805755397,
      "step": 2920
    },
    {
      "epoch": 2.6258992805755397,
      "step": 2920,
      "torque_loss": 0.15818250179290771
    },
    {
      "epoch": 2.634892086330935,
      "grad_norm": 0.7934859395027161,
      "learning_rate": 9.763333333333334e-05,
      "loss": 0.1572,
      "step": 2930
    },
    {
      "action_loss": 0.033138055354356766,
      "epoch": 2.634892086330935,
      "step": 2930
    },
    {
      "epoch": 2.634892086330935,
      "step": 2930,
      "torque_loss": 0.3371175527572632
    },
    {
      "epoch": 2.643884892086331,
      "grad_norm": 0.9872663021087646,
      "learning_rate": 9.796666666666667e-05,
      "loss": 0.1873,
      "step": 2940
    },
    {
      "action_loss": 0.07665334641933441,
      "epoch": 2.643884892086331,
      "step": 2940
    },
    {
      "epoch": 2.643884892086331,
      "step": 2940,
      "torque_loss": 0.32208451628685
    },
    {
      "epoch": 2.652877697841727,
      "grad_norm": 0.8891186714172363,
      "learning_rate": 9.83e-05,
      "loss": 0.1809,
      "step": 2950
    },
    {
      "action_loss": 0.05144814774394035,
      "epoch": 2.652877697841727,
      "step": 2950
    },
    {
      "epoch": 2.652877697841727,
      "step": 2950,
      "torque_loss": 0.2725497782230377
    },
    {
      "epoch": 2.661870503597122,
      "grad_norm": 0.7142044901847839,
      "learning_rate": 9.863333333333334e-05,
      "loss": 0.1779,
      "step": 2960
    },
    {
      "action_loss": 0.017679506912827492,
      "epoch": 2.661870503597122,
      "step": 2960
    },
    {
      "epoch": 2.661870503597122,
      "step": 2960,
      "torque_loss": 0.1468411535024643
    },
    {
      "epoch": 2.670863309352518,
      "grad_norm": 0.8411307334899902,
      "learning_rate": 9.896666666666667e-05,
      "loss": 0.1655,
      "step": 2970
    },
    {
      "action_loss": 0.04583049193024635,
      "epoch": 2.670863309352518,
      "step": 2970
    },
    {
      "epoch": 2.670863309352518,
      "step": 2970,
      "torque_loss": 0.26762655377388
    },
    {
      "epoch": 2.6798561151079134,
      "grad_norm": 0.8158789873123169,
      "learning_rate": 9.93e-05,
      "loss": 0.1552,
      "step": 2980
    },
    {
      "action_loss": 0.030100546777248383,
      "epoch": 2.6798561151079134,
      "step": 2980
    },
    {
      "epoch": 2.6798561151079134,
      "step": 2980,
      "torque_loss": 0.20539379119873047
    },
    {
      "epoch": 2.6888489208633093,
      "grad_norm": 0.9888566732406616,
      "learning_rate": 9.963333333333333e-05,
      "loss": 0.1835,
      "step": 2990
    },
    {
      "action_loss": 0.03856873884797096,
      "epoch": 2.6888489208633093,
      "step": 2990
    },
    {
      "epoch": 2.6888489208633093,
      "step": 2990,
      "torque_loss": 0.40404191613197327
    },
    {
      "epoch": 2.697841726618705,
      "grad_norm": 0.897696852684021,
      "learning_rate": 9.996666666666668e-05,
      "loss": 0.1976,
      "step": 3000
    },
    {
      "action_loss": 0.026626795530319214,
      "epoch": 2.697841726618705,
      "step": 3000
    },
    {
      "epoch": 2.697841726618705,
      "step": 3000,
      "torque_loss": 0.21663641929626465
    },
    {
      "epoch": 2.706834532374101,
      "grad_norm": 0.6242678165435791,
      "learning_rate": 9.999999384858465e-05,
      "loss": 0.1614,
      "step": 3010
    },
    {
      "action_loss": 0.028543060645461082,
      "epoch": 2.706834532374101,
      "step": 3010
    },
    {
      "epoch": 2.706834532374101,
      "step": 3010,
      "torque_loss": 0.2040422111749649
    },
    {
      "epoch": 2.7158273381294964,
      "grad_norm": 0.6033580303192139,
      "learning_rate": 9.999997258443473e-05,
      "loss": 0.1743,
      "step": 3020
    },
    {
      "action_loss": 0.03732160106301308,
      "epoch": 2.7158273381294964,
      "step": 3020
    },
    {
      "epoch": 2.7158273381294964,
      "step": 3020,
      "torque_loss": 0.2828497886657715
    },
    {
      "epoch": 2.7248201438848922,
      "grad_norm": 0.8652268052101135,
      "learning_rate": 9.999993613161331e-05,
      "loss": 0.1641,
      "step": 3030
    },
    {
      "action_loss": 0.042367223650217056,
      "epoch": 2.7248201438848922,
      "step": 3030
    },
    {
      "epoch": 2.7248201438848922,
      "step": 3030,
      "torque_loss": 0.27860018610954285
    },
    {
      "epoch": 2.7338129496402876,
      "grad_norm": 0.6465263962745667,
      "learning_rate": 9.999988449013146e-05,
      "loss": 0.1797,
      "step": 3040
    },
    {
      "action_loss": 0.03038354031741619,
      "epoch": 2.7338129496402876,
      "step": 3040
    },
    {
      "epoch": 2.7338129496402876,
      "step": 3040,
      "torque_loss": 0.2349443882703781
    },
    {
      "epoch": 2.7428057553956835,
      "grad_norm": 1.012575626373291,
      "learning_rate": 9.99998176600049e-05,
      "loss": 0.1989,
      "step": 3050
    },
    {
      "action_loss": 0.02037590928375721,
      "epoch": 2.7428057553956835,
      "step": 3050
    },
    {
      "epoch": 2.7428057553956835,
      "step": 3050,
      "torque_loss": 0.15306538343429565
    },
    {
      "epoch": 2.7517985611510793,
      "grad_norm": 0.8973447680473328,
      "learning_rate": 9.999973564125389e-05,
      "loss": 0.1583,
      "step": 3060
    },
    {
      "action_loss": 0.020966636016964912,
      "epoch": 2.7517985611510793,
      "step": 3060
    },
    {
      "epoch": 2.7517985611510793,
      "step": 3060,
      "torque_loss": 0.23605318367481232
    },
    {
      "epoch": 2.7607913669064748,
      "grad_norm": 0.9076579809188843,
      "learning_rate": 9.999963843390335e-05,
      "loss": 0.1619,
      "step": 3070
    },
    {
      "action_loss": 0.02813025377690792,
      "epoch": 2.7607913669064748,
      "step": 3070
    },
    {
      "epoch": 2.7607913669064748,
      "step": 3070,
      "torque_loss": 0.208149716258049
    },
    {
      "epoch": 2.7697841726618706,
      "grad_norm": 0.9132898449897766,
      "learning_rate": 9.999952603798282e-05,
      "loss": 0.2004,
      "step": 3080
    },
    {
      "action_loss": 0.04241865873336792,
      "epoch": 2.7697841726618706,
      "step": 3080
    },
    {
      "epoch": 2.7697841726618706,
      "step": 3080,
      "torque_loss": 0.21946799755096436
    },
    {
      "epoch": 2.778776978417266,
      "grad_norm": 0.9363276958465576,
      "learning_rate": 9.999939845352646e-05,
      "loss": 0.1702,
      "step": 3090
    },
    {
      "action_loss": 0.02192108891904354,
      "epoch": 2.778776978417266,
      "step": 3090
    },
    {
      "epoch": 2.778776978417266,
      "step": 3090,
      "torque_loss": 0.22751887142658234
    },
    {
      "epoch": 2.787769784172662,
      "grad_norm": 0.9137658476829529,
      "learning_rate": 9.999925568057298e-05,
      "loss": 0.1718,
      "step": 3100
    },
    {
      "action_loss": 0.031889889389276505,
      "epoch": 2.787769784172662,
      "step": 3100
    },
    {
      "epoch": 2.787769784172662,
      "step": 3100,
      "torque_loss": 0.13643886148929596
    },
    {
      "epoch": 2.7967625899280577,
      "grad_norm": 0.8435372114181519,
      "learning_rate": 9.999909771916578e-05,
      "loss": 0.1673,
      "step": 3110
    },
    {
      "action_loss": 0.03972965106368065,
      "epoch": 2.7967625899280577,
      "step": 3110
    },
    {
      "epoch": 2.7967625899280577,
      "step": 3110,
      "torque_loss": 0.20372998714447021
    },
    {
      "epoch": 2.805755395683453,
      "grad_norm": 0.6084837317466736,
      "learning_rate": 9.999892456935285e-05,
      "loss": 0.174,
      "step": 3120
    },
    {
      "action_loss": 0.0517246313393116,
      "epoch": 2.805755395683453,
      "step": 3120
    },
    {
      "epoch": 2.805755395683453,
      "step": 3120,
      "torque_loss": 0.3727372884750366
    },
    {
      "epoch": 2.814748201438849,
      "grad_norm": 0.7857725620269775,
      "learning_rate": 9.999873623118679e-05,
      "loss": 0.1724,
      "step": 3130
    },
    {
      "action_loss": 0.024789273738861084,
      "epoch": 2.814748201438849,
      "step": 3130
    },
    {
      "epoch": 2.814748201438849,
      "step": 3130,
      "torque_loss": 0.2597333788871765
    },
    {
      "epoch": 2.8237410071942444,
      "grad_norm": 0.9307717680931091,
      "learning_rate": 9.999853270472479e-05,
      "loss": 0.1694,
      "step": 3140
    },
    {
      "action_loss": 0.026181140914559364,
      "epoch": 2.8237410071942444,
      "step": 3140
    },
    {
      "epoch": 2.8237410071942444,
      "step": 3140,
      "torque_loss": 0.28141531348228455
    },
    {
      "epoch": 2.83273381294964,
      "grad_norm": 0.608248770236969,
      "learning_rate": 9.999831399002871e-05,
      "loss": 0.1625,
      "step": 3150
    },
    {
      "action_loss": 0.029587173834443092,
      "epoch": 2.83273381294964,
      "step": 3150
    },
    {
      "epoch": 2.83273381294964,
      "step": 3150,
      "torque_loss": 0.24546201527118683
    },
    {
      "epoch": 2.841726618705036,
      "grad_norm": 0.857422947883606,
      "learning_rate": 9.999808008716494e-05,
      "loss": 0.1572,
      "step": 3160
    },
    {
      "action_loss": 0.05876150727272034,
      "epoch": 2.841726618705036,
      "step": 3160
    },
    {
      "epoch": 2.841726618705036,
      "step": 3160,
      "torque_loss": 0.3761621415615082
    },
    {
      "epoch": 2.850719424460432,
      "grad_norm": 0.7740470767021179,
      "learning_rate": 9.999783099620459e-05,
      "loss": 0.169,
      "step": 3170
    },
    {
      "action_loss": 0.014202896505594254,
      "epoch": 2.850719424460432,
      "step": 3170
    },
    {
      "epoch": 2.850719424460432,
      "step": 3170,
      "torque_loss": 0.19408686459064484
    },
    {
      "epoch": 2.8597122302158273,
      "grad_norm": 0.7465882301330566,
      "learning_rate": 9.999756671722328e-05,
      "loss": 0.1575,
      "step": 3180
    },
    {
      "action_loss": 0.021320229396224022,
      "epoch": 2.8597122302158273,
      "step": 3180
    },
    {
      "epoch": 2.8597122302158273,
      "step": 3180,
      "torque_loss": 0.18188445270061493
    },
    {
      "epoch": 2.868705035971223,
      "grad_norm": 0.5912874341011047,
      "learning_rate": 9.99972872503013e-05,
      "loss": 0.1555,
      "step": 3190
    },
    {
      "action_loss": 0.027159558609128,
      "epoch": 2.868705035971223,
      "step": 3190
    },
    {
      "epoch": 2.868705035971223,
      "step": 3190,
      "torque_loss": 0.2572857141494751
    },
    {
      "epoch": 2.8776978417266186,
      "grad_norm": 0.9510894417762756,
      "learning_rate": 9.999699259552359e-05,
      "loss": 0.1815,
      "step": 3200
    },
    {
      "action_loss": 0.015557602047920227,
      "epoch": 2.8776978417266186,
      "step": 3200
    },
    {
      "epoch": 2.8776978417266186,
      "step": 3200,
      "torque_loss": 0.1212419793009758
    },
    {
      "epoch": 2.8866906474820144,
      "grad_norm": 0.646770715713501,
      "learning_rate": 9.99966827529796e-05,
      "loss": 0.1465,
      "step": 3210
    },
    {
      "action_loss": 0.024984868243336678,
      "epoch": 2.8866906474820144,
      "step": 3210
    },
    {
      "epoch": 2.8866906474820144,
      "step": 3210,
      "torque_loss": 0.20868487656116486
    },
    {
      "epoch": 2.8956834532374103,
      "grad_norm": 0.8469381928443909,
      "learning_rate": 9.999635772276348e-05,
      "loss": 0.1594,
      "step": 3220
    },
    {
      "action_loss": 0.02082737535238266,
      "epoch": 2.8956834532374103,
      "step": 3220
    },
    {
      "epoch": 2.8956834532374103,
      "step": 3220,
      "torque_loss": 0.13652342557907104
    },
    {
      "epoch": 2.9046762589928057,
      "grad_norm": 0.6366978883743286,
      "learning_rate": 9.999601750497396e-05,
      "loss": 0.1496,
      "step": 3230
    },
    {
      "action_loss": 0.023640111088752747,
      "epoch": 2.9046762589928057,
      "step": 3230
    },
    {
      "epoch": 2.9046762589928057,
      "step": 3230,
      "torque_loss": 0.2213105410337448
    },
    {
      "epoch": 2.9136690647482015,
      "grad_norm": 0.783977746963501,
      "learning_rate": 9.99956620997144e-05,
      "loss": 0.1598,
      "step": 3240
    },
    {
      "action_loss": 0.025585750117897987,
      "epoch": 2.9136690647482015,
      "step": 3240
    },
    {
      "epoch": 2.9136690647482015,
      "step": 3240,
      "torque_loss": 0.19591379165649414
    },
    {
      "epoch": 2.922661870503597,
      "grad_norm": 0.8095446228981018,
      "learning_rate": 9.999529150709275e-05,
      "loss": 0.1703,
      "step": 3250
    },
    {
      "action_loss": 0.027026211842894554,
      "epoch": 2.922661870503597,
      "step": 3250
    },
    {
      "epoch": 2.922661870503597,
      "step": 3250,
      "torque_loss": 0.18704302608966827
    },
    {
      "epoch": 2.931654676258993,
      "grad_norm": 0.7060543298721313,
      "learning_rate": 9.999490572722158e-05,
      "loss": 0.1579,
      "step": 3260
    },
    {
      "action_loss": 0.02905534766614437,
      "epoch": 2.931654676258993,
      "step": 3260
    },
    {
      "epoch": 2.931654676258993,
      "step": 3260,
      "torque_loss": 0.2797172963619232
    },
    {
      "epoch": 2.9406474820143886,
      "grad_norm": 0.8726913928985596,
      "learning_rate": 9.99945047602181e-05,
      "loss": 0.1721,
      "step": 3270
    },
    {
      "action_loss": 0.020707283169031143,
      "epoch": 2.9406474820143886,
      "step": 3270
    },
    {
      "epoch": 2.9406474820143886,
      "step": 3270,
      "torque_loss": 0.17078639566898346
    },
    {
      "epoch": 2.949640287769784,
      "grad_norm": 0.6975228190422058,
      "learning_rate": 9.99940886062041e-05,
      "loss": 0.1594,
      "step": 3280
    },
    {
      "action_loss": 0.024200694635510445,
      "epoch": 2.949640287769784,
      "step": 3280
    },
    {
      "epoch": 2.949640287769784,
      "step": 3280,
      "torque_loss": 0.2540251910686493
    },
    {
      "epoch": 2.95863309352518,
      "grad_norm": 0.695429801940918,
      "learning_rate": 9.999365726530599e-05,
      "loss": 0.1601,
      "step": 3290
    },
    {
      "action_loss": 0.028896307572722435,
      "epoch": 2.95863309352518,
      "step": 3290
    },
    {
      "epoch": 2.95863309352518,
      "step": 3290,
      "torque_loss": 0.295061856508255
    },
    {
      "epoch": 2.9676258992805753,
      "grad_norm": 0.6173990368843079,
      "learning_rate": 9.999321073765481e-05,
      "loss": 0.1971,
      "step": 3300
    },
    {
      "action_loss": 0.025268493220210075,
      "epoch": 2.9676258992805753,
      "step": 3300
    },
    {
      "epoch": 2.9676258992805753,
      "step": 3300,
      "torque_loss": 0.23275358974933624
    },
    {
      "epoch": 2.976618705035971,
      "grad_norm": 0.5064751505851746,
      "learning_rate": 9.99927490233862e-05,
      "loss": 0.1433,
      "step": 3310
    },
    {
      "action_loss": 0.030221475288271904,
      "epoch": 2.976618705035971,
      "step": 3310
    },
    {
      "epoch": 2.976618705035971,
      "step": 3310,
      "torque_loss": 0.2279936820268631
    },
    {
      "epoch": 2.985611510791367,
      "grad_norm": 0.9989295601844788,
      "learning_rate": 9.999227212264043e-05,
      "loss": 0.1472,
      "step": 3320
    },
    {
      "action_loss": 0.02555588074028492,
      "epoch": 2.985611510791367,
      "step": 3320
    },
    {
      "epoch": 2.985611510791367,
      "step": 3320,
      "torque_loss": 0.16741611063480377
    },
    {
      "epoch": 2.994604316546763,
      "grad_norm": 0.8547114133834839,
      "learning_rate": 9.999178003556236e-05,
      "loss": 0.1683,
      "step": 3330
    },
    {
      "action_loss": 0.032825272530317307,
      "epoch": 2.994604316546763,
      "step": 3330
    },
    {
      "epoch": 2.994604316546763,
      "step": 3330,
      "torque_loss": 0.179527148604393
    },
    {
      "epoch": 3.0035971223021583,
      "grad_norm": 0.7222832441329956,
      "learning_rate": 9.999127276230146e-05,
      "loss": 0.1532,
      "step": 3340
    },
    {
      "action_loss": 0.03490176424384117,
      "epoch": 3.0035971223021583,
      "step": 3340
    },
    {
      "epoch": 3.0035971223021583,
      "step": 3340,
      "torque_loss": 0.19747082889080048
    },
    {
      "epoch": 3.012589928057554,
      "grad_norm": 1.060142159461975,
      "learning_rate": 9.999075030301184e-05,
      "loss": 0.1624,
      "step": 3350
    },
    {
      "action_loss": 0.029090115800499916,
      "epoch": 3.012589928057554,
      "step": 3350
    },
    {
      "epoch": 3.012589928057554,
      "step": 3350,
      "torque_loss": 0.21507571637630463
    },
    {
      "epoch": 3.0215827338129495,
      "grad_norm": 0.4572644829750061,
      "learning_rate": 9.999021265785221e-05,
      "loss": 0.1768,
      "step": 3360
    },
    {
      "action_loss": 0.030014747753739357,
      "epoch": 3.0215827338129495,
      "step": 3360
    },
    {
      "epoch": 3.0215827338129495,
      "step": 3360,
      "torque_loss": 0.2302626222372055
    },
    {
      "epoch": 3.0305755395683454,
      "grad_norm": 0.5789883136749268,
      "learning_rate": 9.998965982698589e-05,
      "loss": 0.178,
      "step": 3370
    },
    {
      "action_loss": 0.025535881519317627,
      "epoch": 3.0305755395683454,
      "step": 3370
    },
    {
      "epoch": 3.0305755395683454,
      "step": 3370,
      "torque_loss": 0.1938336342573166
    },
    {
      "epoch": 3.039568345323741,
      "grad_norm": 0.6226507425308228,
      "learning_rate": 9.998909181058082e-05,
      "loss": 0.1555,
      "step": 3380
    },
    {
      "action_loss": 0.03841463848948479,
      "epoch": 3.039568345323741,
      "step": 3380
    },
    {
      "epoch": 3.039568345323741,
      "step": 3380,
      "torque_loss": 0.19621367752552032
    },
    {
      "epoch": 3.0485611510791366,
      "grad_norm": 0.8098050951957703,
      "learning_rate": 9.998850860880953e-05,
      "loss": 0.1606,
      "step": 3390
    },
    {
      "action_loss": 0.02712087333202362,
      "epoch": 3.0485611510791366,
      "step": 3390
    },
    {
      "epoch": 3.0485611510791366,
      "step": 3390,
      "torque_loss": 0.21225547790527344
    },
    {
      "epoch": 3.0575539568345325,
      "grad_norm": 0.8120296597480774,
      "learning_rate": 9.998791022184922e-05,
      "loss": 0.163,
      "step": 3400
    },
    {
      "action_loss": 0.015243013389408588,
      "epoch": 3.0575539568345325,
      "step": 3400
    },
    {
      "epoch": 3.0575539568345325,
      "step": 3400,
      "torque_loss": 0.114946149289608
    },
    {
      "epoch": 3.066546762589928,
      "grad_norm": 0.6503015160560608,
      "learning_rate": 9.99872966498816e-05,
      "loss": 0.1485,
      "step": 3410
    },
    {
      "action_loss": 0.032093435525894165,
      "epoch": 3.066546762589928,
      "step": 3410
    },
    {
      "epoch": 3.066546762589928,
      "step": 3410,
      "torque_loss": 0.19455619156360626
    },
    {
      "epoch": 3.0755395683453237,
      "grad_norm": 0.6964169144630432,
      "learning_rate": 9.998666789309313e-05,
      "loss": 0.1732,
      "step": 3420
    },
    {
      "action_loss": 0.013531864620745182,
      "epoch": 3.0755395683453237,
      "step": 3420
    },
    {
      "epoch": 3.0755395683453237,
      "step": 3420,
      "torque_loss": 0.16221188008785248
    },
    {
      "epoch": 3.0845323741007196,
      "grad_norm": 0.5183081030845642,
      "learning_rate": 9.998602395167475e-05,
      "loss": 0.1595,
      "step": 3430
    },
    {
      "action_loss": 0.02847466617822647,
      "epoch": 3.0845323741007196,
      "step": 3430
    },
    {
      "epoch": 3.0845323741007196,
      "step": 3430,
      "torque_loss": 0.2411622405052185
    },
    {
      "epoch": 3.093525179856115,
      "grad_norm": 0.702516496181488,
      "learning_rate": 9.998536482582213e-05,
      "loss": 0.1779,
      "step": 3440
    },
    {
      "action_loss": 0.028873315081000328,
      "epoch": 3.093525179856115,
      "step": 3440
    },
    {
      "epoch": 3.093525179856115,
      "step": 3440,
      "torque_loss": 0.1874125599861145
    },
    {
      "epoch": 3.102517985611511,
      "grad_norm": 0.7235767841339111,
      "learning_rate": 9.998469051573544e-05,
      "loss": 0.1667,
      "step": 3450
    },
    {
      "action_loss": 0.03556182608008385,
      "epoch": 3.102517985611511,
      "step": 3450
    },
    {
      "epoch": 3.102517985611511,
      "step": 3450,
      "torque_loss": 0.22525489330291748
    },
    {
      "epoch": 3.1115107913669067,
      "grad_norm": 0.669238805770874,
      "learning_rate": 9.998400102161954e-05,
      "loss": 0.1666,
      "step": 3460
    },
    {
      "action_loss": 0.025445343926548958,
      "epoch": 3.1115107913669067,
      "step": 3460
    },
    {
      "epoch": 3.1115107913669067,
      "step": 3460,
      "torque_loss": 0.21836459636688232
    },
    {
      "epoch": 3.120503597122302,
      "grad_norm": 0.6236045956611633,
      "learning_rate": 9.998329634368388e-05,
      "loss": 0.1643,
      "step": 3470
    },
    {
      "action_loss": 0.029471328482031822,
      "epoch": 3.120503597122302,
      "step": 3470
    },
    {
      "epoch": 3.120503597122302,
      "step": 3470,
      "torque_loss": 0.17869198322296143
    },
    {
      "epoch": 3.129496402877698,
      "grad_norm": 0.6385704278945923,
      "learning_rate": 9.998257648214253e-05,
      "loss": 0.1544,
      "step": 3480
    },
    {
      "action_loss": 0.04957398399710655,
      "epoch": 3.129496402877698,
      "step": 3480
    },
    {
      "epoch": 3.129496402877698,
      "step": 3480,
      "torque_loss": 0.2810024917125702
    },
    {
      "epoch": 3.1384892086330933,
      "grad_norm": 0.8745490908622742,
      "learning_rate": 9.998184143721417e-05,
      "loss": 0.1711,
      "step": 3490
    },
    {
      "action_loss": 0.03289538249373436,
      "epoch": 3.1384892086330933,
      "step": 3490
    },
    {
      "epoch": 3.1384892086330933,
      "step": 3490,
      "torque_loss": 0.23052020370960236
    },
    {
      "epoch": 3.147482014388489,
      "grad_norm": 0.7269488573074341,
      "learning_rate": 9.998109120912206e-05,
      "loss": 0.1645,
      "step": 3500
    },
    {
      "action_loss": 0.03949172422289848,
      "epoch": 3.147482014388489,
      "step": 3500
    },
    {
      "epoch": 3.147482014388489,
      "step": 3500,
      "torque_loss": 0.2724590599536896
    },
    {
      "epoch": 3.156474820143885,
      "grad_norm": 0.6740773320198059,
      "learning_rate": 9.998032579809411e-05,
      "loss": 0.1578,
      "step": 3510
    },
    {
      "action_loss": 0.020019732415676117,
      "epoch": 3.156474820143885,
      "step": 3510
    },
    {
      "epoch": 3.156474820143885,
      "step": 3510,
      "torque_loss": 0.240207239985466
    },
    {
      "epoch": 3.1654676258992804,
      "grad_norm": 0.6950735449790955,
      "learning_rate": 9.997954520436286e-05,
      "loss": 0.1705,
      "step": 3520
    },
    {
      "action_loss": 0.02063731662929058,
      "epoch": 3.1654676258992804,
      "step": 3520
    },
    {
      "epoch": 3.1654676258992804,
      "step": 3520,
      "torque_loss": 0.29937854409217834
    },
    {
      "epoch": 3.1744604316546763,
      "grad_norm": 0.6845229864120483,
      "learning_rate": 9.997874942816538e-05,
      "loss": 0.1499,
      "step": 3530
    },
    {
      "action_loss": 0.05345747992396355,
      "epoch": 3.1744604316546763,
      "step": 3530
    },
    {
      "epoch": 3.1744604316546763,
      "step": 3530,
      "torque_loss": 0.22740735113620758
    },
    {
      "epoch": 3.183453237410072,
      "grad_norm": 0.7476611733436584,
      "learning_rate": 9.997793846974345e-05,
      "loss": 0.1827,
      "step": 3540
    },
    {
      "action_loss": 0.021720165386795998,
      "epoch": 3.183453237410072,
      "step": 3540
    },
    {
      "epoch": 3.183453237410072,
      "step": 3540,
      "torque_loss": 0.11882876604795456
    },
    {
      "epoch": 3.1924460431654675,
      "grad_norm": 0.9152717590332031,
      "learning_rate": 9.997711232934341e-05,
      "loss": 0.1538,
      "step": 3550
    },
    {
      "action_loss": 0.036371443420648575,
      "epoch": 3.1924460431654675,
      "step": 3550
    },
    {
      "epoch": 3.1924460431654675,
      "step": 3550,
      "torque_loss": 0.29139789938926697
    },
    {
      "epoch": 3.2014388489208634,
      "grad_norm": 0.4673975706100464,
      "learning_rate": 9.99762710072162e-05,
      "loss": 0.1633,
      "step": 3560
    },
    {
      "action_loss": 0.03934439644217491,
      "epoch": 3.2014388489208634,
      "step": 3560
    },
    {
      "epoch": 3.2014388489208634,
      "step": 3560,
      "torque_loss": 0.2281150072813034
    },
    {
      "epoch": 3.210431654676259,
      "grad_norm": 0.5388296246528625,
      "learning_rate": 9.997541450361743e-05,
      "loss": 0.1586,
      "step": 3570
    },
    {
      "action_loss": 0.05487588047981262,
      "epoch": 3.210431654676259,
      "step": 3570
    },
    {
      "epoch": 3.210431654676259,
      "step": 3570,
      "torque_loss": 0.251565545797348
    },
    {
      "epoch": 3.2194244604316546,
      "grad_norm": 0.7149212956428528,
      "learning_rate": 9.997454281880723e-05,
      "loss": 0.173,
      "step": 3580
    },
    {
      "action_loss": 0.015623525716364384,
      "epoch": 3.2194244604316546,
      "step": 3580
    },
    {
      "epoch": 3.2194244604316546,
      "step": 3580,
      "torque_loss": 0.13801313936710358
    },
    {
      "epoch": 3.2284172661870505,
      "grad_norm": 0.738354504108429,
      "learning_rate": 9.997365595305044e-05,
      "loss": 0.1615,
      "step": 3590
    },
    {
      "action_loss": 0.05091744661331177,
      "epoch": 3.2284172661870505,
      "step": 3590
    },
    {
      "epoch": 3.2284172661870505,
      "step": 3590,
      "torque_loss": 0.3991478979587555
    },
    {
      "epoch": 3.237410071942446,
      "grad_norm": 0.8139817118644714,
      "learning_rate": 9.997275390661644e-05,
      "loss": 0.1578,
      "step": 3600
    },
    {
      "action_loss": 0.020093463361263275,
      "epoch": 3.237410071942446,
      "step": 3600
    },
    {
      "epoch": 3.237410071942446,
      "step": 3600,
      "torque_loss": 0.14820335805416107
    },
    {
      "epoch": 3.2464028776978417,
      "grad_norm": 0.708817720413208,
      "learning_rate": 9.997183667977926e-05,
      "loss": 0.1636,
      "step": 3610
    },
    {
      "action_loss": 0.019221549853682518,
      "epoch": 3.2464028776978417,
      "step": 3610
    },
    {
      "epoch": 3.2464028776978417,
      "step": 3610,
      "torque_loss": 0.2165941745042801
    },
    {
      "epoch": 3.2553956834532376,
      "grad_norm": 0.6555910110473633,
      "learning_rate": 9.997090427281752e-05,
      "loss": 0.1559,
      "step": 3620
    },
    {
      "action_loss": 0.035430509597063065,
      "epoch": 3.2553956834532376,
      "step": 3620
    },
    {
      "epoch": 3.2553956834532376,
      "step": 3620,
      "torque_loss": 0.21334342658519745
    },
    {
      "epoch": 3.264388489208633,
      "grad_norm": 0.5643985271453857,
      "learning_rate": 9.996995668601448e-05,
      "loss": 0.166,
      "step": 3630
    },
    {
      "action_loss": 0.04423769190907478,
      "epoch": 3.264388489208633,
      "step": 3630
    },
    {
      "epoch": 3.264388489208633,
      "step": 3630,
      "torque_loss": 0.22323495149612427
    },
    {
      "epoch": 3.273381294964029,
      "grad_norm": 0.6168771982192993,
      "learning_rate": 9.996899391965798e-05,
      "loss": 0.1363,
      "step": 3640
    },
    {
      "action_loss": 0.03549988940358162,
      "epoch": 3.273381294964029,
      "step": 3640
    },
    {
      "epoch": 3.273381294964029,
      "step": 3640,
      "torque_loss": 0.25340354442596436
    },
    {
      "epoch": 3.2823741007194247,
      "grad_norm": 0.5054361820220947,
      "learning_rate": 9.996801597404048e-05,
      "loss": 0.1702,
      "step": 3650
    },
    {
      "action_loss": 0.030335085466504097,
      "epoch": 3.2823741007194247,
      "step": 3650
    },
    {
      "epoch": 3.2823741007194247,
      "step": 3650,
      "torque_loss": 0.2975369095802307
    },
    {
      "epoch": 3.29136690647482,
      "grad_norm": 0.6188281774520874,
      "learning_rate": 9.996702284945905e-05,
      "loss": 0.1506,
      "step": 3660
    },
    {
      "action_loss": 0.02726396918296814,
      "epoch": 3.29136690647482,
      "step": 3660
    },
    {
      "epoch": 3.29136690647482,
      "step": 3660,
      "torque_loss": 0.23064494132995605
    },
    {
      "epoch": 3.300359712230216,
      "grad_norm": 0.7555333375930786,
      "learning_rate": 9.996601454621539e-05,
      "loss": 0.1669,
      "step": 3670
    },
    {
      "action_loss": 0.022011086344718933,
      "epoch": 3.300359712230216,
      "step": 3670
    },
    {
      "epoch": 3.300359712230216,
      "step": 3670,
      "torque_loss": 0.2239406257867813
    },
    {
      "epoch": 3.3093525179856114,
      "grad_norm": 0.6106038689613342,
      "learning_rate": 9.996499106461577e-05,
      "loss": 0.1522,
      "step": 3680
    },
    {
      "action_loss": 0.016639990732073784,
      "epoch": 3.3093525179856114,
      "step": 3680
    },
    {
      "epoch": 3.3093525179856114,
      "step": 3680,
      "torque_loss": 0.16177964210510254
    },
    {
      "epoch": 3.318345323741007,
      "grad_norm": 0.6518740653991699,
      "learning_rate": 9.996395240497112e-05,
      "loss": 0.1594,
      "step": 3690
    },
    {
      "action_loss": 0.03151654824614525,
      "epoch": 3.318345323741007,
      "step": 3690
    },
    {
      "epoch": 3.318345323741007,
      "step": 3690,
      "torque_loss": 0.22145068645477295
    },
    {
      "epoch": 3.327338129496403,
      "grad_norm": 0.703041136264801,
      "learning_rate": 9.996289856759696e-05,
      "loss": 0.1619,
      "step": 3700
    },
    {
      "action_loss": 0.0610877126455307,
      "epoch": 3.327338129496403,
      "step": 3700
    },
    {
      "epoch": 3.327338129496403,
      "step": 3700,
      "torque_loss": 0.21703112125396729
    },
    {
      "epoch": 3.3363309352517985,
      "grad_norm": 0.6544398069381714,
      "learning_rate": 9.996182955281342e-05,
      "loss": 0.1668,
      "step": 3710
    },
    {
      "action_loss": 0.053961317986249924,
      "epoch": 3.3363309352517985,
      "step": 3710
    },
    {
      "epoch": 3.3363309352517985,
      "step": 3710,
      "torque_loss": 0.31532713770866394
    },
    {
      "epoch": 3.3453237410071943,
      "grad_norm": 0.7850503921508789,
      "learning_rate": 9.996074536094519e-05,
      "loss": 0.1718,
      "step": 3720
    },
    {
      "action_loss": 0.04034365341067314,
      "epoch": 3.3453237410071943,
      "step": 3720
    },
    {
      "epoch": 3.3453237410071943,
      "step": 3720,
      "torque_loss": 0.26011037826538086
    },
    {
      "epoch": 3.3543165467625897,
      "grad_norm": 0.6600376963615417,
      "learning_rate": 9.995964599232168e-05,
      "loss": 0.152,
      "step": 3730
    },
    {
      "action_loss": 0.04485657438635826,
      "epoch": 3.3543165467625897,
      "step": 3730
    },
    {
      "epoch": 3.3543165467625897,
      "step": 3730,
      "torque_loss": 0.29549235105514526
    },
    {
      "epoch": 3.3633093525179856,
      "grad_norm": 0.6431972980499268,
      "learning_rate": 9.995853144727683e-05,
      "loss": 0.165,
      "step": 3740
    },
    {
      "action_loss": 0.031164348125457764,
      "epoch": 3.3633093525179856,
      "step": 3740
    },
    {
      "epoch": 3.3633093525179856,
      "step": 3740,
      "torque_loss": 0.27727141976356506
    },
    {
      "epoch": 3.3723021582733814,
      "grad_norm": 0.8523962497711182,
      "learning_rate": 9.99574017261492e-05,
      "loss": 0.1569,
      "step": 3750
    },
    {
      "action_loss": 0.020992735400795937,
      "epoch": 3.3723021582733814,
      "step": 3750
    },
    {
      "epoch": 3.3723021582733814,
      "step": 3750,
      "torque_loss": 0.18412023782730103
    },
    {
      "epoch": 3.381294964028777,
      "grad_norm": 0.5939038395881653,
      "learning_rate": 9.995625682928198e-05,
      "loss": 0.1441,
      "step": 3760
    },
    {
      "action_loss": 0.01799250952899456,
      "epoch": 3.381294964028777,
      "step": 3760
    },
    {
      "epoch": 3.381294964028777,
      "step": 3760,
      "torque_loss": 0.24543572962284088
    },
    {
      "epoch": 3.3902877697841727,
      "grad_norm": 0.6511802673339844,
      "learning_rate": 9.995509675702295e-05,
      "loss": 0.1409,
      "step": 3770
    },
    {
      "action_loss": 0.01479797437787056,
      "epoch": 3.3902877697841727,
      "step": 3770
    },
    {
      "epoch": 3.3902877697841727,
      "step": 3770,
      "torque_loss": 0.1902928352355957
    },
    {
      "epoch": 3.3992805755395685,
      "grad_norm": 0.6929193735122681,
      "learning_rate": 9.995392150972451e-05,
      "loss": 0.1463,
      "step": 3780
    },
    {
      "action_loss": 0.058321867138147354,
      "epoch": 3.3992805755395685,
      "step": 3780
    },
    {
      "epoch": 3.3992805755395685,
      "step": 3780,
      "torque_loss": 0.2530662715435028
    },
    {
      "epoch": 3.408273381294964,
      "grad_norm": 0.637980043888092,
      "learning_rate": 9.995273108774366e-05,
      "loss": 0.1602,
      "step": 3790
    },
    {
      "action_loss": 0.013070132583379745,
      "epoch": 3.408273381294964,
      "step": 3790
    },
    {
      "epoch": 3.408273381294964,
      "step": 3790,
      "torque_loss": 0.209986612200737
    },
    {
      "epoch": 3.41726618705036,
      "grad_norm": 0.45474451780319214,
      "learning_rate": 9.995152549144205e-05,
      "loss": 0.1728,
      "step": 3800
    },
    {
      "action_loss": 0.0333232544362545,
      "epoch": 3.41726618705036,
      "step": 3800
    },
    {
      "epoch": 3.41726618705036,
      "step": 3800,
      "torque_loss": 0.2586748003959656
    },
    {
      "epoch": 3.4262589928057556,
      "grad_norm": 0.7453661561012268,
      "learning_rate": 9.995030472118587e-05,
      "loss": 0.1631,
      "step": 3810
    },
    {
      "action_loss": 0.025324106216430664,
      "epoch": 3.4262589928057556,
      "step": 3810
    },
    {
      "epoch": 3.4262589928057556,
      "step": 3810,
      "torque_loss": 0.2057429552078247
    },
    {
      "epoch": 3.435251798561151,
      "grad_norm": 0.5804601311683655,
      "learning_rate": 9.9949068777346e-05,
      "loss": 0.1666,
      "step": 3820
    },
    {
      "action_loss": 0.015803875401616096,
      "epoch": 3.435251798561151,
      "step": 3820
    },
    {
      "epoch": 3.435251798561151,
      "step": 3820,
      "torque_loss": 0.24794626235961914
    },
    {
      "epoch": 3.444244604316547,
      "grad_norm": 0.7009686231613159,
      "learning_rate": 9.994781766029786e-05,
      "loss": 0.1571,
      "step": 3830
    },
    {
      "action_loss": 0.050871122628450394,
      "epoch": 3.444244604316547,
      "step": 3830
    },
    {
      "epoch": 3.444244604316547,
      "step": 3830,
      "torque_loss": 0.3511470854282379
    },
    {
      "epoch": 3.4532374100719423,
      "grad_norm": 0.5677936673164368,
      "learning_rate": 9.994655137042151e-05,
      "loss": 0.1774,
      "step": 3840
    },
    {
      "action_loss": 0.057148948311805725,
      "epoch": 3.4532374100719423,
      "step": 3840
    },
    {
      "epoch": 3.4532374100719423,
      "step": 3840,
      "torque_loss": 0.26383838057518005
    },
    {
      "epoch": 3.462230215827338,
      "grad_norm": 0.6129845976829529,
      "learning_rate": 9.99452699081016e-05,
      "loss": 0.1545,
      "step": 3850
    },
    {
      "action_loss": 0.023469993844628334,
      "epoch": 3.462230215827338,
      "step": 3850
    },
    {
      "epoch": 3.462230215827338,
      "step": 3850,
      "torque_loss": 0.17072610557079315
    },
    {
      "epoch": 3.471223021582734,
      "grad_norm": 0.5939493179321289,
      "learning_rate": 9.994397327372743e-05,
      "loss": 0.1695,
      "step": 3860
    },
    {
      "action_loss": 0.02528201974928379,
      "epoch": 3.471223021582734,
      "step": 3860
    },
    {
      "epoch": 3.471223021582734,
      "step": 3860,
      "torque_loss": 0.2828733026981354
    },
    {
      "epoch": 3.4802158273381294,
      "grad_norm": 0.6165569424629211,
      "learning_rate": 9.994266146769286e-05,
      "loss": 0.1708,
      "step": 3870
    },
    {
      "action_loss": 0.015489608980715275,
      "epoch": 3.4802158273381294,
      "step": 3870
    },
    {
      "epoch": 3.4802158273381294,
      "step": 3870,
      "torque_loss": 0.16849462687969208
    },
    {
      "epoch": 3.4892086330935252,
      "grad_norm": 0.7076467275619507,
      "learning_rate": 9.994133449039642e-05,
      "loss": 0.1568,
      "step": 3880
    },
    {
      "action_loss": 0.018005935475230217,
      "epoch": 3.4892086330935252,
      "step": 3880
    },
    {
      "epoch": 3.4892086330935252,
      "step": 3880,
      "torque_loss": 0.20920109748840332
    },
    {
      "epoch": 3.4982014388489207,
      "grad_norm": 0.8013393878936768,
      "learning_rate": 9.993999234224118e-05,
      "loss": 0.1646,
      "step": 3890
    },
    {
      "action_loss": 0.036220941692590714,
      "epoch": 3.4982014388489207,
      "step": 3890
    },
    {
      "epoch": 3.4982014388489207,
      "step": 3890,
      "torque_loss": 0.26025936007499695
    },
    {
      "epoch": 3.5071942446043165,
      "grad_norm": 0.8663239479064941,
      "learning_rate": 9.993863502363485e-05,
      "loss": 0.15,
      "step": 3900
    },
    {
      "action_loss": 0.026436910033226013,
      "epoch": 3.5071942446043165,
      "step": 3900
    },
    {
      "epoch": 3.5071942446043165,
      "step": 3900,
      "torque_loss": 0.22075814008712769
    },
    {
      "epoch": 3.5161870503597124,
      "grad_norm": 0.7398295402526855,
      "learning_rate": 9.993726253498976e-05,
      "loss": 0.138,
      "step": 3910
    },
    {
      "action_loss": 0.016353776678442955,
      "epoch": 3.5161870503597124,
      "step": 3910
    },
    {
      "epoch": 3.5161870503597124,
      "step": 3910,
      "torque_loss": 0.14437468349933624
    },
    {
      "epoch": 3.5251798561151078,
      "grad_norm": 0.9377062320709229,
      "learning_rate": 9.993587487672282e-05,
      "loss": 0.1403,
      "step": 3920
    },
    {
      "action_loss": 0.023662908002734184,
      "epoch": 3.5251798561151078,
      "step": 3920
    },
    {
      "epoch": 3.5251798561151078,
      "step": 3920,
      "torque_loss": 0.26449456810951233
    },
    {
      "epoch": 3.5341726618705036,
      "grad_norm": 0.7559934854507446,
      "learning_rate": 9.993447204925558e-05,
      "loss": 0.1739,
      "step": 3930
    },
    {
      "action_loss": 0.039845388382673264,
      "epoch": 3.5341726618705036,
      "step": 3930
    },
    {
      "epoch": 3.5341726618705036,
      "step": 3930,
      "torque_loss": 0.2419026643037796
    },
    {
      "epoch": 3.543165467625899,
      "grad_norm": 0.7336196899414062,
      "learning_rate": 9.993305405301416e-05,
      "loss": 0.1827,
      "step": 3940
    },
    {
      "action_loss": 0.02796604298055172,
      "epoch": 3.543165467625899,
      "step": 3940
    },
    {
      "epoch": 3.543165467625899,
      "step": 3940,
      "torque_loss": 0.21675324440002441
    },
    {
      "epoch": 3.552158273381295,
      "grad_norm": 0.6412901282310486,
      "learning_rate": 9.993162088842935e-05,
      "loss": 0.1439,
      "step": 3950
    },
    {
      "action_loss": 0.050373177975416183,
      "epoch": 3.552158273381295,
      "step": 3950
    },
    {
      "epoch": 3.552158273381295,
      "step": 3950,
      "torque_loss": 0.3036406338214874
    },
    {
      "epoch": 3.5611510791366907,
      "grad_norm": 0.6730105876922607,
      "learning_rate": 9.993017255593646e-05,
      "loss": 0.1816,
      "step": 3960
    },
    {
      "action_loss": 0.020885786041617393,
      "epoch": 3.5611510791366907,
      "step": 3960
    },
    {
      "epoch": 3.5611510791366907,
      "step": 3960,
      "torque_loss": 0.1734883338212967
    },
    {
      "epoch": 3.5701438848920866,
      "grad_norm": 0.7729699611663818,
      "learning_rate": 9.992870905597548e-05,
      "loss": 0.1669,
      "step": 3970
    },
    {
      "action_loss": 0.02965478040277958,
      "epoch": 3.5701438848920866,
      "step": 3970
    },
    {
      "epoch": 3.5701438848920866,
      "step": 3970,
      "torque_loss": 0.20710110664367676
    },
    {
      "epoch": 3.579136690647482,
      "grad_norm": 0.8205403089523315,
      "learning_rate": 9.9927230388991e-05,
      "loss": 0.1559,
      "step": 3980
    },
    {
      "action_loss": 0.024399898946285248,
      "epoch": 3.579136690647482,
      "step": 3980
    },
    {
      "epoch": 3.579136690647482,
      "step": 3980,
      "torque_loss": 0.21590656042099
    },
    {
      "epoch": 3.588129496402878,
      "grad_norm": 0.6529257893562317,
      "learning_rate": 9.992573655543215e-05,
      "loss": 0.1583,
      "step": 3990
    },
    {
      "action_loss": 0.021138211712241173,
      "epoch": 3.588129496402878,
      "step": 3990
    },
    {
      "epoch": 3.588129496402878,
      "step": 3990,
      "torque_loss": 0.17043472826480865
    },
    {
      "epoch": 3.597122302158273,
      "grad_norm": 0.582210898399353,
      "learning_rate": 9.992422755575277e-05,
      "loss": 0.1389,
      "step": 4000
    },
    {
      "action_loss": 0.04525167867541313,
      "epoch": 3.597122302158273,
      "step": 4000
    },
    {
      "epoch": 3.597122302158273,
      "step": 4000,
      "torque_loss": 0.24272514879703522
    },
    {
      "epoch": 3.606115107913669,
      "grad_norm": 0.6165055632591248,
      "learning_rate": 9.992270339041123e-05,
      "loss": 0.1529,
      "step": 4010
    },
    {
      "action_loss": 0.017860351130366325,
      "epoch": 3.606115107913669,
      "step": 4010
    },
    {
      "epoch": 3.606115107913669,
      "step": 4010,
      "torque_loss": 0.25204554200172424
    },
    {
      "epoch": 3.615107913669065,
      "grad_norm": 0.6889089941978455,
      "learning_rate": 9.992116405987053e-05,
      "loss": 0.148,
      "step": 4020
    },
    {
      "action_loss": 0.03520755097270012,
      "epoch": 3.615107913669065,
      "step": 4020
    },
    {
      "epoch": 3.615107913669065,
      "step": 4020,
      "torque_loss": 0.21806569397449493
    },
    {
      "epoch": 3.6241007194244603,
      "grad_norm": 0.6763757467269897,
      "learning_rate": 9.991960956459828e-05,
      "loss": 0.1585,
      "step": 4030
    },
    {
      "action_loss": 0.02430984377861023,
      "epoch": 3.6241007194244603,
      "step": 4030
    },
    {
      "epoch": 3.6241007194244603,
      "step": 4030,
      "torque_loss": 0.1834084838628769
    },
    {
      "epoch": 3.633093525179856,
      "grad_norm": 0.6306350231170654,
      "learning_rate": 9.991803990506669e-05,
      "loss": 0.1676,
      "step": 4040
    },
    {
      "action_loss": 0.02154175378382206,
      "epoch": 3.633093525179856,
      "step": 4040
    },
    {
      "epoch": 3.633093525179856,
      "step": 4040,
      "torque_loss": 0.19273845851421356
    },
    {
      "epoch": 3.6420863309352516,
      "grad_norm": 0.5946177840232849,
      "learning_rate": 9.991645508175258e-05,
      "loss": 0.1704,
      "step": 4050
    },
    {
      "action_loss": 0.09357108920812607,
      "epoch": 3.6420863309352516,
      "step": 4050
    },
    {
      "epoch": 3.6420863309352516,
      "step": 4050,
      "torque_loss": 0.310708612203598
    },
    {
      "epoch": 3.6510791366906474,
      "grad_norm": 0.5814290642738342,
      "learning_rate": 9.99148550951374e-05,
      "loss": 0.1514,
      "step": 4060
    },
    {
      "action_loss": 0.0159620214253664,
      "epoch": 3.6510791366906474,
      "step": 4060
    },
    {
      "epoch": 3.6510791366906474,
      "step": 4060,
      "torque_loss": 0.2639828622341156
    },
    {
      "epoch": 3.6600719424460433,
      "grad_norm": 0.8040772676467896,
      "learning_rate": 9.991323994570716e-05,
      "loss": 0.1839,
      "step": 4070
    },
    {
      "action_loss": 0.017114395275712013,
      "epoch": 3.6600719424460433,
      "step": 4070
    },
    {
      "epoch": 3.6600719424460433,
      "step": 4070,
      "torque_loss": 0.13883236050605774
    },
    {
      "epoch": 3.6690647482014387,
      "grad_norm": 0.7416817545890808,
      "learning_rate": 9.99116096339525e-05,
      "loss": 0.161,
      "step": 4080
    },
    {
      "action_loss": 0.04111438989639282,
      "epoch": 3.6690647482014387,
      "step": 4080
    },
    {
      "epoch": 3.6690647482014387,
      "step": 4080,
      "torque_loss": 0.2873859405517578
    },
    {
      "epoch": 3.6780575539568345,
      "grad_norm": 0.8287255167961121,
      "learning_rate": 9.990996416036869e-05,
      "loss": 0.1582,
      "step": 4090
    },
    {
      "action_loss": 0.029431244358420372,
      "epoch": 3.6780575539568345,
      "step": 4090
    },
    {
      "epoch": 3.6780575539568345,
      "step": 4090,
      "torque_loss": 0.18149615824222565
    },
    {
      "epoch": 3.68705035971223,
      "grad_norm": 0.7998374700546265,
      "learning_rate": 9.990830352545555e-05,
      "loss": 0.1529,
      "step": 4100
    },
    {
      "action_loss": 0.013056258670985699,
      "epoch": 3.68705035971223,
      "step": 4100
    },
    {
      "epoch": 3.68705035971223,
      "step": 4100,
      "torque_loss": 0.1123645231127739
    },
    {
      "epoch": 3.696043165467626,
      "grad_norm": 0.6469091176986694,
      "learning_rate": 9.990662772971756e-05,
      "loss": 0.1293,
      "step": 4110
    },
    {
      "action_loss": 0.04452994093298912,
      "epoch": 3.696043165467626,
      "step": 4110
    },
    {
      "epoch": 3.696043165467626,
      "step": 4110,
      "torque_loss": 0.3020593822002411
    },
    {
      "epoch": 3.7050359712230216,
      "grad_norm": 1.0034425258636475,
      "learning_rate": 9.990493677366376e-05,
      "loss": 0.1547,
      "step": 4120
    },
    {
      "action_loss": 0.02899215556681156,
      "epoch": 3.7050359712230216,
      "step": 4120
    },
    {
      "epoch": 3.7050359712230216,
      "step": 4120,
      "torque_loss": 0.2035144567489624
    },
    {
      "epoch": 3.7140287769784175,
      "grad_norm": 0.5836743116378784,
      "learning_rate": 9.990323065780786e-05,
      "loss": 0.1425,
      "step": 4130
    },
    {
      "action_loss": 0.026828140020370483,
      "epoch": 3.7140287769784175,
      "step": 4130
    },
    {
      "epoch": 3.7140287769784175,
      "step": 4130,
      "torque_loss": 0.16946227848529816
    },
    {
      "epoch": 3.723021582733813,
      "grad_norm": 0.6180920600891113,
      "learning_rate": 9.990150938266808e-05,
      "loss": 0.1569,
      "step": 4140
    },
    {
      "action_loss": 0.030163874849677086,
      "epoch": 3.723021582733813,
      "step": 4140
    },
    {
      "epoch": 3.723021582733813,
      "step": 4140,
      "torque_loss": 0.19983188807964325
    },
    {
      "epoch": 3.7320143884892087,
      "grad_norm": 0.6022657752037048,
      "learning_rate": 9.989977294876733e-05,
      "loss": 0.1553,
      "step": 4150
    },
    {
      "action_loss": 0.025800002738833427,
      "epoch": 3.7320143884892087,
      "step": 4150
    },
    {
      "epoch": 3.7320143884892087,
      "step": 4150,
      "torque_loss": 0.21198010444641113
    },
    {
      "epoch": 3.741007194244604,
      "grad_norm": 0.5502544045448303,
      "learning_rate": 9.989802135663308e-05,
      "loss": 0.1339,
      "step": 4160
    },
    {
      "action_loss": 0.04976429417729378,
      "epoch": 3.741007194244604,
      "step": 4160
    },
    {
      "epoch": 3.741007194244604,
      "step": 4160,
      "torque_loss": 0.2514127194881439
    },
    {
      "epoch": 3.75,
      "grad_norm": 0.5433077812194824,
      "learning_rate": 9.989625460679743e-05,
      "loss": 0.1382,
      "step": 4170
    },
    {
      "action_loss": 0.04029426351189613,
      "epoch": 3.75,
      "step": 4170
    },
    {
      "epoch": 3.75,
      "step": 4170,
      "torque_loss": 0.2730608284473419
    },
    {
      "epoch": 3.758992805755396,
      "grad_norm": 0.5370930433273315,
      "learning_rate": 9.989447269979706e-05,
      "loss": 0.1475,
      "step": 4180
    },
    {
      "action_loss": 0.027814289554953575,
      "epoch": 3.758992805755396,
      "step": 4180
    },
    {
      "epoch": 3.758992805755396,
      "step": 4180,
      "torque_loss": 0.21030867099761963
    },
    {
      "epoch": 3.7679856115107913,
      "grad_norm": 0.5663517713546753,
      "learning_rate": 9.989267563617328e-05,
      "loss": 0.1472,
      "step": 4190
    },
    {
      "action_loss": 0.008376700803637505,
      "epoch": 3.7679856115107913,
      "step": 4190
    },
    {
      "epoch": 3.7679856115107913,
      "step": 4190,
      "torque_loss": 0.12208351492881775
    },
    {
      "epoch": 3.776978417266187,
      "grad_norm": 0.6702066659927368,
      "learning_rate": 9.989086341647198e-05,
      "loss": 0.1375,
      "step": 4200
    },
    {
      "action_loss": 0.03607834875583649,
      "epoch": 3.776978417266187,
      "step": 4200
    },
    {
      "epoch": 3.776978417266187,
      "step": 4200,
      "torque_loss": 0.23236925899982452
    },
    {
      "epoch": 3.7859712230215825,
      "grad_norm": 0.5242424011230469,
      "learning_rate": 9.988903604124366e-05,
      "loss": 0.1385,
      "step": 4210
    },
    {
      "action_loss": 0.013741972856223583,
      "epoch": 3.7859712230215825,
      "step": 4210
    },
    {
      "epoch": 3.7859712230215825,
      "step": 4210,
      "torque_loss": 0.17153899371623993
    },
    {
      "epoch": 3.7949640287769784,
      "grad_norm": 0.5670526623725891,
      "learning_rate": 9.988719351104343e-05,
      "loss": 0.1481,
      "step": 4220
    },
    {
      "action_loss": 0.019346686080098152,
      "epoch": 3.7949640287769784,
      "step": 4220
    },
    {
      "epoch": 3.7949640287769784,
      "step": 4220,
      "torque_loss": 0.17669928073883057
    },
    {
      "epoch": 3.803956834532374,
      "grad_norm": 0.6788485050201416,
      "learning_rate": 9.9885335826431e-05,
      "loss": 0.1494,
      "step": 4230
    },
    {
      "action_loss": 0.018203943967819214,
      "epoch": 3.803956834532374,
      "step": 4230
    },
    {
      "epoch": 3.803956834532374,
      "step": 4230,
      "torque_loss": 0.15677039325237274
    },
    {
      "epoch": 3.81294964028777,
      "grad_norm": 0.6910423040390015,
      "learning_rate": 9.988346298797071e-05,
      "loss": 0.1345,
      "step": 4240
    },
    {
      "action_loss": 0.02663491852581501,
      "epoch": 3.81294964028777,
      "step": 4240
    },
    {
      "epoch": 3.81294964028777,
      "step": 4240,
      "torque_loss": 0.20852720737457275
    },
    {
      "epoch": 3.8219424460431655,
      "grad_norm": 0.5988829731941223,
      "learning_rate": 9.988157499623146e-05,
      "loss": 0.1738,
      "step": 4250
    },
    {
      "action_loss": 0.023429477587342262,
      "epoch": 3.8219424460431655,
      "step": 4250
    },
    {
      "epoch": 3.8219424460431655,
      "step": 4250,
      "torque_loss": 0.19496536254882812
    },
    {
      "epoch": 3.8309352517985613,
      "grad_norm": 0.6244550943374634,
      "learning_rate": 9.987967185178677e-05,
      "loss": 0.1326,
      "step": 4260
    },
    {
      "action_loss": 0.024983035400509834,
      "epoch": 3.8309352517985613,
      "step": 4260
    },
    {
      "epoch": 3.8309352517985613,
      "step": 4260,
      "torque_loss": 0.21768300235271454
    },
    {
      "epoch": 3.8399280575539567,
      "grad_norm": 0.4387204945087433,
      "learning_rate": 9.987775355521476e-05,
      "loss": 0.1627,
      "step": 4270
    },
    {
      "action_loss": 0.012552856467664242,
      "epoch": 3.8399280575539567,
      "step": 4270
    },
    {
      "epoch": 3.8399280575539567,
      "step": 4270,
      "torque_loss": 0.19961251318454742
    },
    {
      "epoch": 3.8489208633093526,
      "grad_norm": 0.8260754346847534,
      "learning_rate": 9.987582010709817e-05,
      "loss": 0.1572,
      "step": 4280
    },
    {
      "action_loss": 0.07541808485984802,
      "epoch": 3.8489208633093526,
      "step": 4280
    },
    {
      "epoch": 3.8489208633093526,
      "step": 4280,
      "torque_loss": 0.3352765738964081
    },
    {
      "epoch": 3.8579136690647484,
      "grad_norm": 0.6814550161361694,
      "learning_rate": 9.987387150802431e-05,
      "loss": 0.1991,
      "step": 4290
    },
    {
      "action_loss": 0.012470086105167866,
      "epoch": 3.8579136690647484,
      "step": 4290
    },
    {
      "epoch": 3.8579136690647484,
      "step": 4290,
      "torque_loss": 0.19502033293247223
    },
    {
      "epoch": 3.866906474820144,
      "grad_norm": 0.5860317349433899,
      "learning_rate": 9.987190775858517e-05,
      "loss": 0.1342,
      "step": 4300
    },
    {
      "action_loss": 0.021741673350334167,
      "epoch": 3.866906474820144,
      "step": 4300
    },
    {
      "epoch": 3.866906474820144,
      "step": 4300,
      "torque_loss": 0.20000743865966797
    },
    {
      "epoch": 3.8758992805755397,
      "grad_norm": 0.7478262782096863,
      "learning_rate": 9.98699288593772e-05,
      "loss": 0.152,
      "step": 4310
    },
    {
      "action_loss": 0.01746954768896103,
      "epoch": 3.8758992805755397,
      "step": 4310
    },
    {
      "epoch": 3.8758992805755397,
      "step": 4310,
      "torque_loss": 0.1999153345823288
    },
    {
      "epoch": 3.884892086330935,
      "grad_norm": 0.5581755042076111,
      "learning_rate": 9.986793481100161e-05,
      "loss": 0.1569,
      "step": 4320
    },
    {
      "action_loss": 0.04933272674679756,
      "epoch": 3.884892086330935,
      "step": 4320
    },
    {
      "epoch": 3.884892086330935,
      "step": 4320,
      "torque_loss": 0.29448142647743225
    },
    {
      "epoch": 3.893884892086331,
      "grad_norm": 0.7816908955574036,
      "learning_rate": 9.986592561406412e-05,
      "loss": 0.149,
      "step": 4330
    },
    {
      "action_loss": 0.01940774917602539,
      "epoch": 3.893884892086331,
      "step": 4330
    },
    {
      "epoch": 3.893884892086331,
      "step": 4330,
      "torque_loss": 0.15239548683166504
    },
    {
      "epoch": 3.902877697841727,
      "grad_norm": 0.6837709546089172,
      "learning_rate": 9.986390126917503e-05,
      "loss": 0.1332,
      "step": 4340
    },
    {
      "action_loss": 0.020224491134285927,
      "epoch": 3.902877697841727,
      "step": 4340
    },
    {
      "epoch": 3.902877697841727,
      "step": 4340,
      "torque_loss": 0.1799001693725586
    },
    {
      "epoch": 3.911870503597122,
      "grad_norm": 0.5418379306793213,
      "learning_rate": 9.986186177694933e-05,
      "loss": 0.1365,
      "step": 4350
    },
    {
      "action_loss": 0.03507109358906746,
      "epoch": 3.911870503597122,
      "step": 4350
    },
    {
      "epoch": 3.911870503597122,
      "step": 4350,
      "torque_loss": 0.2329397201538086
    },
    {
      "epoch": 3.920863309352518,
      "grad_norm": 0.6915778517723083,
      "learning_rate": 9.985980713800656e-05,
      "loss": 0.1804,
      "step": 4360
    },
    {
      "action_loss": 0.014803054742515087,
      "epoch": 3.920863309352518,
      "step": 4360
    },
    {
      "epoch": 3.920863309352518,
      "step": 4360,
      "torque_loss": 0.09777305275201797
    },
    {
      "epoch": 3.9298561151079134,
      "grad_norm": 0.708846926689148,
      "learning_rate": 9.985773735297084e-05,
      "loss": 0.1281,
      "step": 4370
    },
    {
      "action_loss": 0.02440345101058483,
      "epoch": 3.9298561151079134,
      "step": 4370
    },
    {
      "epoch": 3.9298561151079134,
      "step": 4370,
      "torque_loss": 0.21750831604003906
    },
    {
      "epoch": 3.9388489208633093,
      "grad_norm": 0.6217613220214844,
      "learning_rate": 9.985565242247092e-05,
      "loss": 0.1507,
      "step": 4380
    },
    {
      "action_loss": 0.03284168615937233,
      "epoch": 3.9388489208633093,
      "step": 4380
    },
    {
      "epoch": 3.9388489208633093,
      "step": 4380,
      "torque_loss": 0.27241232991218567
    },
    {
      "epoch": 3.947841726618705,
      "grad_norm": 0.5560563206672668,
      "learning_rate": 9.985355234714016e-05,
      "loss": 0.1573,
      "step": 4390
    },
    {
      "action_loss": 0.013472981750965118,
      "epoch": 3.947841726618705,
      "step": 4390
    },
    {
      "epoch": 3.947841726618705,
      "step": 4390,
      "torque_loss": 0.1650732457637787
    },
    {
      "epoch": 3.956834532374101,
      "grad_norm": 0.662022590637207,
      "learning_rate": 9.985143712761652e-05,
      "loss": 0.1273,
      "step": 4400
    },
    {
      "action_loss": 0.02087295614182949,
      "epoch": 3.956834532374101,
      "step": 4400
    },
    {
      "epoch": 3.956834532374101,
      "step": 4400,
      "torque_loss": 0.1388367861509323
    },
    {
      "epoch": 3.9658273381294964,
      "grad_norm": 0.6145968437194824,
      "learning_rate": 9.984930676454252e-05,
      "loss": 0.1468,
      "step": 4410
    },
    {
      "action_loss": 0.03045114316046238,
      "epoch": 3.9658273381294964,
      "step": 4410
    },
    {
      "epoch": 3.9658273381294964,
      "step": 4410,
      "torque_loss": 0.26670947670936584
    },
    {
      "epoch": 3.9748201438848922,
      "grad_norm": 0.81181800365448,
      "learning_rate": 9.984716125856532e-05,
      "loss": 0.1482,
      "step": 4420
    },
    {
      "action_loss": 0.016581743955612183,
      "epoch": 3.9748201438848922,
      "step": 4420
    },
    {
      "epoch": 3.9748201438848922,
      "step": 4420,
      "torque_loss": 0.14960306882858276
    },
    {
      "epoch": 3.9838129496402876,
      "grad_norm": 0.7950723767280579,
      "learning_rate": 9.984500061033667e-05,
      "loss": 0.1345,
      "step": 4430
    },
    {
      "action_loss": 0.020091407001018524,
      "epoch": 3.9838129496402876,
      "step": 4430
    },
    {
      "epoch": 3.9838129496402876,
      "step": 4430,
      "torque_loss": 0.17451155185699463
    },
    {
      "epoch": 3.9928057553956835,
      "grad_norm": 0.8703324794769287,
      "learning_rate": 9.984282482051293e-05,
      "loss": 0.158,
      "step": 4440
    },
    {
      "action_loss": 0.05302907153964043,
      "epoch": 3.9928057553956835,
      "step": 4440
    },
    {
      "epoch": 3.9928057553956835,
      "step": 4440,
      "torque_loss": 0.32844358682632446
    },
    {
      "epoch": 4.001798561151079,
      "grad_norm": 0.5864046216011047,
      "learning_rate": 9.9840633889755e-05,
      "loss": 0.1486,
      "step": 4450
    },
    {
      "action_loss": 0.01273049134761095,
      "epoch": 4.001798561151079,
      "step": 4450
    },
    {
      "epoch": 4.001798561151079,
      "step": 4450,
      "torque_loss": 0.1867072582244873
    },
    {
      "epoch": 4.010791366906475,
      "grad_norm": 0.603525698184967,
      "learning_rate": 9.983842781872848e-05,
      "loss": 0.1586,
      "step": 4460
    },
    {
      "action_loss": 0.025639409199357033,
      "epoch": 4.010791366906475,
      "step": 4460
    },
    {
      "epoch": 4.010791366906475,
      "step": 4460,
      "torque_loss": 0.1666850596666336
    },
    {
      "epoch": 4.01978417266187,
      "grad_norm": 0.7813773155212402,
      "learning_rate": 9.98362066081035e-05,
      "loss": 0.1533,
      "step": 4470
    },
    {
      "action_loss": 0.034973446279764175,
      "epoch": 4.01978417266187,
      "step": 4470
    },
    {
      "epoch": 4.01978417266187,
      "step": 4470,
      "torque_loss": 0.1945546418428421
    },
    {
      "epoch": 4.028776978417266,
      "grad_norm": 0.6397462487220764,
      "learning_rate": 9.983397025855479e-05,
      "loss": 0.1326,
      "step": 4480
    },
    {
      "action_loss": 0.041529640555381775,
      "epoch": 4.028776978417266,
      "step": 4480
    },
    {
      "epoch": 4.028776978417266,
      "step": 4480,
      "torque_loss": 0.265989750623703
    },
    {
      "epoch": 4.037769784172662,
      "grad_norm": 0.5219550728797913,
      "learning_rate": 9.983171877076171e-05,
      "loss": 0.1467,
      "step": 4490
    },
    {
      "action_loss": 0.07969601452350616,
      "epoch": 4.037769784172662,
      "step": 4490
    },
    {
      "epoch": 4.037769784172662,
      "step": 4490,
      "torque_loss": 0.24267548322677612
    },
    {
      "epoch": 4.046762589928058,
      "grad_norm": 0.8426265120506287,
      "learning_rate": 9.98294521454082e-05,
      "loss": 0.1804,
      "step": 4500
    },
    {
      "action_loss": 0.018208418041467667,
      "epoch": 4.046762589928058,
      "step": 4500
    },
    {
      "epoch": 4.046762589928058,
      "step": 4500,
      "torque_loss": 0.13963933289051056
    },
    {
      "epoch": 4.055755395683454,
      "grad_norm": 0.64494788646698,
      "learning_rate": 9.98271703831828e-05,
      "loss": 0.1488,
      "step": 4510
    },
    {
      "action_loss": 0.03937200829386711,
      "epoch": 4.055755395683454,
      "step": 4510
    },
    {
      "epoch": 4.055755395683454,
      "step": 4510,
      "torque_loss": 0.26095038652420044
    },
    {
      "epoch": 4.0647482014388485,
      "grad_norm": 0.5073079466819763,
      "learning_rate": 9.982487348477865e-05,
      "loss": 0.1719,
      "step": 4520
    },
    {
      "action_loss": 0.049027878791093826,
      "epoch": 4.0647482014388485,
      "step": 4520
    },
    {
      "epoch": 4.0647482014388485,
      "step": 4520,
      "torque_loss": 0.22285199165344238
    },
    {
      "epoch": 4.073741007194244,
      "grad_norm": 0.6302840113639832,
      "learning_rate": 9.982256145089347e-05,
      "loss": 0.1501,
      "step": 4530
    },
    {
      "action_loss": 0.02102654241025448,
      "epoch": 4.073741007194244,
      "step": 4530
    },
    {
      "epoch": 4.073741007194244,
      "step": 4530,
      "torque_loss": 0.1349773406982422
    },
    {
      "epoch": 4.08273381294964,
      "grad_norm": 0.7318467497825623,
      "learning_rate": 9.982023428222962e-05,
      "loss": 0.1374,
      "step": 4540
    },
    {
      "action_loss": 0.06424128264188766,
      "epoch": 4.08273381294964,
      "step": 4540
    },
    {
      "epoch": 4.08273381294964,
      "step": 4540,
      "torque_loss": 0.31402671337127686
    },
    {
      "epoch": 4.091726618705036,
      "grad_norm": 0.4468785524368286,
      "learning_rate": 9.981789197949403e-05,
      "loss": 0.1565,
      "step": 4550
    },
    {
      "action_loss": 0.04947575926780701,
      "epoch": 4.091726618705036,
      "step": 4550
    },
    {
      "epoch": 4.091726618705036,
      "step": 4550,
      "torque_loss": 0.3256961703300476
    },
    {
      "epoch": 4.100719424460432,
      "grad_norm": 0.6995185613632202,
      "learning_rate": 9.98155345433982e-05,
      "loss": 0.1582,
      "step": 4560
    },
    {
      "action_loss": 0.0519779734313488,
      "epoch": 4.100719424460432,
      "step": 4560
    },
    {
      "epoch": 4.100719424460432,
      "step": 4560,
      "torque_loss": 0.26802995800971985
    },
    {
      "epoch": 4.109712230215828,
      "grad_norm": 0.6949416399002075,
      "learning_rate": 9.981316197465831e-05,
      "loss": 0.1466,
      "step": 4570
    },
    {
      "action_loss": 0.03747817501425743,
      "epoch": 4.109712230215828,
      "step": 4570
    },
    {
      "epoch": 4.109712230215828,
      "step": 4570,
      "torque_loss": 0.31246218085289
    },
    {
      "epoch": 4.118705035971223,
      "grad_norm": 0.610203742980957,
      "learning_rate": 9.981077427399504e-05,
      "loss": 0.16,
      "step": 4580
    },
    {
      "action_loss": 0.02879214845597744,
      "epoch": 4.118705035971223,
      "step": 4580
    },
    {
      "epoch": 4.118705035971223,
      "step": 4580,
      "torque_loss": 0.22938160598278046
    },
    {
      "epoch": 4.127697841726619,
      "grad_norm": 0.5127555131912231,
      "learning_rate": 9.980837144213371e-05,
      "loss": 0.1332,
      "step": 4590
    },
    {
      "action_loss": 0.026274897158145905,
      "epoch": 4.127697841726619,
      "step": 4590
    },
    {
      "epoch": 4.127697841726619,
      "step": 4590,
      "torque_loss": 0.1920972615480423
    },
    {
      "epoch": 4.136690647482014,
      "grad_norm": 0.6314271092414856,
      "learning_rate": 9.980595347980426e-05,
      "loss": 0.1338,
      "step": 4600
    },
    {
      "action_loss": 0.021787038072943687,
      "epoch": 4.136690647482014,
      "step": 4600
    },
    {
      "epoch": 4.136690647482014,
      "step": 4600,
      "torque_loss": 0.1622474044561386
    },
    {
      "epoch": 4.14568345323741,
      "grad_norm": 0.6408776640892029,
      "learning_rate": 9.980352038774119e-05,
      "loss": 0.1567,
      "step": 4610
    },
    {
      "action_loss": 0.029053613543510437,
      "epoch": 4.14568345323741,
      "step": 4610
    },
    {
      "epoch": 4.14568345323741,
      "step": 4610,
      "torque_loss": 0.2500464618206024
    },
    {
      "epoch": 4.154676258992806,
      "grad_norm": 0.4971717596054077,
      "learning_rate": 9.98010721666836e-05,
      "loss": 0.146,
      "step": 4620
    },
    {
      "action_loss": 0.019325116649270058,
      "epoch": 4.154676258992806,
      "step": 4620
    },
    {
      "epoch": 4.154676258992806,
      "step": 4620,
      "torque_loss": 0.10538844019174576
    },
    {
      "epoch": 4.163669064748201,
      "grad_norm": 0.6583346724510193,
      "learning_rate": 9.979860881737523e-05,
      "loss": 0.1254,
      "step": 4630
    },
    {
      "action_loss": 0.01001161988824606,
      "epoch": 4.163669064748201,
      "step": 4630
    },
    {
      "epoch": 4.163669064748201,
      "step": 4630,
      "torque_loss": 0.19564305245876312
    },
    {
      "epoch": 4.172661870503597,
      "grad_norm": 0.680870532989502,
      "learning_rate": 9.979613034056434e-05,
      "loss": 0.1486,
      "step": 4640
    },
    {
      "action_loss": 0.0649513304233551,
      "epoch": 4.172661870503597,
      "step": 4640
    },
    {
      "epoch": 4.172661870503597,
      "step": 4640,
      "torque_loss": 0.19289644062519073
    },
    {
      "epoch": 4.181654676258993,
      "grad_norm": 0.7566598057746887,
      "learning_rate": 9.979363673700386e-05,
      "loss": 0.1558,
      "step": 4650
    },
    {
      "action_loss": 0.022880597040057182,
      "epoch": 4.181654676258993,
      "step": 4650
    },
    {
      "epoch": 4.181654676258993,
      "step": 4650,
      "torque_loss": 0.19452667236328125
    },
    {
      "epoch": 4.190647482014389,
      "grad_norm": 0.48941585421562195,
      "learning_rate": 9.979112800745124e-05,
      "loss": 0.1646,
      "step": 4660
    },
    {
      "action_loss": 0.0448145754635334,
      "epoch": 4.190647482014389,
      "step": 4660
    },
    {
      "epoch": 4.190647482014389,
      "step": 4660,
      "torque_loss": 0.17879481613636017
    },
    {
      "epoch": 4.1996402877697845,
      "grad_norm": 0.7493339776992798,
      "learning_rate": 9.978860415266861e-05,
      "loss": 0.158,
      "step": 4670
    },
    {
      "action_loss": 0.05043886974453926,
      "epoch": 4.1996402877697845,
      "step": 4670
    },
    {
      "epoch": 4.1996402877697845,
      "step": 4670,
      "torque_loss": 0.21581220626831055
    },
    {
      "epoch": 4.2086330935251794,
      "grad_norm": 0.817766547203064,
      "learning_rate": 9.978606517342262e-05,
      "loss": 0.1402,
      "step": 4680
    },
    {
      "action_loss": 0.014638036489486694,
      "epoch": 4.2086330935251794,
      "step": 4680
    },
    {
      "epoch": 4.2086330935251794,
      "step": 4680,
      "torque_loss": 0.1692972630262375
    },
    {
      "epoch": 4.217625899280575,
      "grad_norm": 0.7414416670799255,
      "learning_rate": 9.978351107048456e-05,
      "loss": 0.1604,
      "step": 4690
    },
    {
      "action_loss": 0.009729860350489616,
      "epoch": 4.217625899280575,
      "step": 4690
    },
    {
      "epoch": 4.217625899280575,
      "step": 4690,
      "torque_loss": 0.14386916160583496
    },
    {
      "epoch": 4.226618705035971,
      "grad_norm": 0.7088095545768738,
      "learning_rate": 9.978094184463029e-05,
      "loss": 0.1536,
      "step": 4700
    },
    {
      "action_loss": 0.04376353695988655,
      "epoch": 4.226618705035971,
      "step": 4700
    },
    {
      "epoch": 4.226618705035971,
      "step": 4700,
      "torque_loss": 0.3280535936355591
    },
    {
      "epoch": 4.235611510791367,
      "grad_norm": 0.5300129055976868,
      "learning_rate": 9.977835749664029e-05,
      "loss": 0.1414,
      "step": 4710
    },
    {
      "action_loss": 0.018919862806797028,
      "epoch": 4.235611510791367,
      "step": 4710
    },
    {
      "epoch": 4.235611510791367,
      "step": 4710,
      "torque_loss": 0.2074086219072342
    },
    {
      "epoch": 4.244604316546763,
      "grad_norm": 0.7055826783180237,
      "learning_rate": 9.97757580272996e-05,
      "loss": 0.1329,
      "step": 4720
    },
    {
      "action_loss": 0.014083978720009327,
      "epoch": 4.244604316546763,
      "step": 4720
    },
    {
      "epoch": 4.244604316546763,
      "step": 4720,
      "torque_loss": 0.24970221519470215
    },
    {
      "epoch": 4.253597122302159,
      "grad_norm": 0.7342536449432373,
      "learning_rate": 9.977314343739786e-05,
      "loss": 0.1269,
      "step": 4730
    },
    {
      "action_loss": 0.0444553904235363,
      "epoch": 4.253597122302159,
      "step": 4730
    },
    {
      "epoch": 4.253597122302159,
      "step": 4730,
      "torque_loss": 0.25491562485694885
    },
    {
      "epoch": 4.262589928057554,
      "grad_norm": 0.6658812165260315,
      "learning_rate": 9.977051372772934e-05,
      "loss": 0.1578,
      "step": 4740
    },
    {
      "action_loss": 0.023178840056061745,
      "epoch": 4.262589928057554,
      "step": 4740
    },
    {
      "epoch": 4.262589928057554,
      "step": 4740,
      "torque_loss": 0.20881497859954834
    },
    {
      "epoch": 4.2715827338129495,
      "grad_norm": 0.6212975978851318,
      "learning_rate": 9.976786889909286e-05,
      "loss": 0.1367,
      "step": 4750
    },
    {
      "action_loss": 0.025107039138674736,
      "epoch": 4.2715827338129495,
      "step": 4750
    },
    {
      "epoch": 4.2715827338129495,
      "step": 4750,
      "torque_loss": 0.16921794414520264
    },
    {
      "epoch": 4.280575539568345,
      "grad_norm": 0.6254833936691284,
      "learning_rate": 9.976520895229185e-05,
      "loss": 0.1357,
      "step": 4760
    },
    {
      "action_loss": 0.025208353996276855,
      "epoch": 4.280575539568345,
      "step": 4760
    },
    {
      "epoch": 4.280575539568345,
      "step": 4760,
      "torque_loss": 0.17256473004817963
    },
    {
      "epoch": 4.289568345323741,
      "grad_norm": 0.6681833863258362,
      "learning_rate": 9.976253388813433e-05,
      "loss": 0.1509,
      "step": 4770
    },
    {
      "action_loss": 0.011959371156990528,
      "epoch": 4.289568345323741,
      "step": 4770
    },
    {
      "epoch": 4.289568345323741,
      "step": 4770,
      "torque_loss": 0.15658317506313324
    },
    {
      "epoch": 4.298561151079137,
      "grad_norm": 0.7261105179786682,
      "learning_rate": 9.975984370743293e-05,
      "loss": 0.1504,
      "step": 4780
    },
    {
      "action_loss": 0.024754365906119347,
      "epoch": 4.298561151079137,
      "step": 4780
    },
    {
      "epoch": 4.298561151079137,
      "step": 4780,
      "torque_loss": 0.2513566315174103
    },
    {
      "epoch": 4.307553956834532,
      "grad_norm": 0.7491858005523682,
      "learning_rate": 9.975713841100485e-05,
      "loss": 0.1623,
      "step": 4790
    },
    {
      "action_loss": 0.017602084204554558,
      "epoch": 4.307553956834532,
      "step": 4790
    },
    {
      "epoch": 4.307553956834532,
      "step": 4790,
      "torque_loss": 0.19910864531993866
    },
    {
      "epoch": 4.316546762589928,
      "grad_norm": 0.6964789628982544,
      "learning_rate": 9.975441799967187e-05,
      "loss": 0.1485,
      "step": 4800
    },
    {
      "action_loss": 0.020189911127090454,
      "epoch": 4.316546762589928,
      "step": 4800
    },
    {
      "epoch": 4.316546762589928,
      "step": 4800,
      "torque_loss": 0.13104169070720673
    },
    {
      "epoch": 4.325539568345324,
      "grad_norm": 0.6588019728660583,
      "learning_rate": 9.975168247426039e-05,
      "loss": 0.1442,
      "step": 4810
    },
    {
      "action_loss": 0.039116356521844864,
      "epoch": 4.325539568345324,
      "step": 4810
    },
    {
      "epoch": 4.325539568345324,
      "step": 4810,
      "torque_loss": 0.16774602234363556
    },
    {
      "epoch": 4.33453237410072,
      "grad_norm": 0.7456806302070618,
      "learning_rate": 9.974893183560139e-05,
      "loss": 0.1289,
      "step": 4820
    },
    {
      "action_loss": 0.0210821982473135,
      "epoch": 4.33453237410072,
      "step": 4820
    },
    {
      "epoch": 4.33453237410072,
      "step": 4820,
      "torque_loss": 0.1800859421491623
    },
    {
      "epoch": 4.343525179856115,
      "grad_norm": 0.5159510970115662,
      "learning_rate": 9.974616608453045e-05,
      "loss": 0.1364,
      "step": 4830
    },
    {
      "action_loss": 0.030595863237977028,
      "epoch": 4.343525179856115,
      "step": 4830
    },
    {
      "epoch": 4.343525179856115,
      "step": 4830,
      "torque_loss": 0.2174859493970871
    },
    {
      "epoch": 4.35251798561151,
      "grad_norm": 0.42422372102737427,
      "learning_rate": 9.974338522188772e-05,
      "loss": 0.1444,
      "step": 4840
    },
    {
      "action_loss": 0.02754923887550831,
      "epoch": 4.35251798561151,
      "step": 4840
    },
    {
      "epoch": 4.35251798561151,
      "step": 4840,
      "torque_loss": 0.24916620552539825
    },
    {
      "epoch": 4.361510791366906,
      "grad_norm": 0.5824350118637085,
      "learning_rate": 9.974058924851797e-05,
      "loss": 0.1448,
      "step": 4850
    },
    {
      "action_loss": 0.03276650607585907,
      "epoch": 4.361510791366906,
      "step": 4850
    },
    {
      "epoch": 4.361510791366906,
      "step": 4850,
      "torque_loss": 0.21122534573078156
    },
    {
      "epoch": 4.370503597122302,
      "grad_norm": 0.7973430752754211,
      "learning_rate": 9.973777816527051e-05,
      "loss": 0.1535,
      "step": 4860
    },
    {
      "action_loss": 0.05149819329380989,
      "epoch": 4.370503597122302,
      "step": 4860
    },
    {
      "epoch": 4.370503597122302,
      "step": 4860,
      "torque_loss": 0.3496286869049072
    },
    {
      "epoch": 4.379496402877698,
      "grad_norm": 0.5378323197364807,
      "learning_rate": 9.973495197299931e-05,
      "loss": 0.1627,
      "step": 4870
    },
    {
      "action_loss": 0.013384613208472729,
      "epoch": 4.379496402877698,
      "step": 4870
    },
    {
      "epoch": 4.379496402877698,
      "step": 4870,
      "torque_loss": 0.1706562489271164
    },
    {
      "epoch": 4.388489208633094,
      "grad_norm": 0.6621399521827698,
      "learning_rate": 9.973211067256287e-05,
      "loss": 0.1469,
      "step": 4880
    },
    {
      "action_loss": 0.01770607940852642,
      "epoch": 4.388489208633094,
      "step": 4880
    },
    {
      "epoch": 4.388489208633094,
      "step": 4880,
      "torque_loss": 0.20910155773162842
    },
    {
      "epoch": 4.39748201438849,
      "grad_norm": 0.6288256049156189,
      "learning_rate": 9.97292542648243e-05,
      "loss": 0.1625,
      "step": 4890
    },
    {
      "action_loss": 0.012295223772525787,
      "epoch": 4.39748201438849,
      "step": 4890
    },
    {
      "epoch": 4.39748201438849,
      "step": 4890,
      "torque_loss": 0.11600256711244583
    },
    {
      "epoch": 4.406474820143885,
      "grad_norm": 0.6413540244102478,
      "learning_rate": 9.972638275065131e-05,
      "loss": 0.1386,
      "step": 4900
    },
    {
      "action_loss": 0.03861216455698013,
      "epoch": 4.406474820143885,
      "step": 4900
    },
    {
      "epoch": 4.406474820143885,
      "step": 4900,
      "torque_loss": 0.19478142261505127
    },
    {
      "epoch": 4.41546762589928,
      "grad_norm": 0.5607053637504578,
      "learning_rate": 9.972349613091621e-05,
      "loss": 0.1558,
      "step": 4910
    },
    {
      "action_loss": 0.039844002574682236,
      "epoch": 4.41546762589928,
      "step": 4910
    },
    {
      "epoch": 4.41546762589928,
      "step": 4910,
      "torque_loss": 0.25864943861961365
    },
    {
      "epoch": 4.424460431654676,
      "grad_norm": 0.7476945519447327,
      "learning_rate": 9.972059440649584e-05,
      "loss": 0.1636,
      "step": 4920
    },
    {
      "action_loss": 0.020896300673484802,
      "epoch": 4.424460431654676,
      "step": 4920
    },
    {
      "epoch": 4.424460431654676,
      "step": 4920,
      "torque_loss": 0.15795820951461792
    },
    {
      "epoch": 4.433453237410072,
      "grad_norm": 0.5457589626312256,
      "learning_rate": 9.971767757827168e-05,
      "loss": 0.1372,
      "step": 4930
    },
    {
      "action_loss": 0.018241068348288536,
      "epoch": 4.433453237410072,
      "step": 4930
    },
    {
      "epoch": 4.433453237410072,
      "step": 4930,
      "torque_loss": 0.14755286276340485
    },
    {
      "epoch": 4.442446043165468,
      "grad_norm": 0.7167475819587708,
      "learning_rate": 9.971474564712982e-05,
      "loss": 0.1497,
      "step": 4940
    },
    {
      "action_loss": 0.028665468096733093,
      "epoch": 4.442446043165468,
      "step": 4940
    },
    {
      "epoch": 4.442446043165468,
      "step": 4940,
      "torque_loss": 0.14780820906162262
    },
    {
      "epoch": 4.451438848920863,
      "grad_norm": 0.7268010377883911,
      "learning_rate": 9.971179861396084e-05,
      "loss": 0.1446,
      "step": 4950
    },
    {
      "action_loss": 0.04411076381802559,
      "epoch": 4.451438848920863,
      "step": 4950
    },
    {
      "epoch": 4.451438848920863,
      "step": 4950,
      "torque_loss": 0.20660285651683807
    },
    {
      "epoch": 4.460431654676259,
      "grad_norm": 0.6925868391990662,
      "learning_rate": 9.970883647966003e-05,
      "loss": 0.1546,
      "step": 4960
    },
    {
      "action_loss": 0.03738158568739891,
      "epoch": 4.460431654676259,
      "step": 4960
    },
    {
      "epoch": 4.460431654676259,
      "step": 4960,
      "torque_loss": 0.30896177887916565
    },
    {
      "epoch": 4.469424460431655,
      "grad_norm": 0.9162440299987793,
      "learning_rate": 9.970585924512717e-05,
      "loss": 0.1432,
      "step": 4970
    },
    {
      "action_loss": 0.016121534630656242,
      "epoch": 4.469424460431655,
      "step": 4970
    },
    {
      "epoch": 4.469424460431655,
      "step": 4970,
      "torque_loss": 0.18823279440402985
    },
    {
      "epoch": 4.4784172661870505,
      "grad_norm": 0.4750308394432068,
      "learning_rate": 9.970286691126669e-05,
      "loss": 0.1353,
      "step": 4980
    },
    {
      "action_loss": 0.014760772697627544,
      "epoch": 4.4784172661870505,
      "step": 4980
    },
    {
      "epoch": 4.4784172661870505,
      "step": 4980,
      "torque_loss": 0.19003649055957794
    },
    {
      "epoch": 4.487410071942446,
      "grad_norm": 0.6422733664512634,
      "learning_rate": 9.969985947898756e-05,
      "loss": 0.1437,
      "step": 4990
    },
    {
      "action_loss": 0.03703463077545166,
      "epoch": 4.487410071942446,
      "step": 4990
    },
    {
      "epoch": 4.487410071942446,
      "step": 4990,
      "torque_loss": 0.2897397577762604
    },
    {
      "epoch": 4.496402877697841,
      "grad_norm": 0.5954152345657349,
      "learning_rate": 9.969683694920337e-05,
      "loss": 0.1715,
      "step": 5000
    },
    {
      "action_loss": 0.052507732063531876,
      "epoch": 4.496402877697841,
      "step": 5000
    },
    {
      "epoch": 4.496402877697841,
      "step": 5000,
      "torque_loss": 0.25783053040504456
    },
    {
      "epoch": 4.505395683453237,
      "grad_norm": 0.804078996181488,
      "learning_rate": 9.969379932283228e-05,
      "loss": 0.149,
      "step": 5010
    },
    {
      "action_loss": 0.02460164576768875,
      "epoch": 4.505395683453237,
      "step": 5010
    },
    {
      "epoch": 4.505395683453237,
      "step": 5010,
      "torque_loss": 0.18151597678661346
    },
    {
      "epoch": 4.514388489208633,
      "grad_norm": 0.6934306621551514,
      "learning_rate": 9.969074660079704e-05,
      "loss": 0.1463,
      "step": 5020
    },
    {
      "action_loss": 0.050948381423950195,
      "epoch": 4.514388489208633,
      "step": 5020
    },
    {
      "epoch": 4.514388489208633,
      "step": 5020,
      "torque_loss": 0.26605963706970215
    },
    {
      "epoch": 4.523381294964029,
      "grad_norm": 0.5864652395248413,
      "learning_rate": 9.968767878402501e-05,
      "loss": 0.1495,
      "step": 5030
    },
    {
      "action_loss": 0.01688360422849655,
      "epoch": 4.523381294964029,
      "step": 5030
    },
    {
      "epoch": 4.523381294964029,
      "step": 5030,
      "torque_loss": 0.17108316719532013
    },
    {
      "epoch": 4.532374100719425,
      "grad_norm": 0.5859226584434509,
      "learning_rate": 9.968459587344808e-05,
      "loss": 0.1337,
      "step": 5040
    },
    {
      "action_loss": 0.015177734196186066,
      "epoch": 4.532374100719425,
      "step": 5040
    },
    {
      "epoch": 4.532374100719425,
      "step": 5040,
      "torque_loss": 0.2415459156036377
    },
    {
      "epoch": 4.5413669064748206,
      "grad_norm": 0.6429872512817383,
      "learning_rate": 9.968149787000278e-05,
      "loss": 0.1534,
      "step": 5050
    },
    {
      "action_loss": 0.010898127220571041,
      "epoch": 4.5413669064748206,
      "step": 5050
    },
    {
      "epoch": 4.5413669064748206,
      "step": 5050,
      "torque_loss": 0.12798167765140533
    },
    {
      "epoch": 4.5503597122302155,
      "grad_norm": 0.536632776260376,
      "learning_rate": 9.967838477463018e-05,
      "loss": 0.1207,
      "step": 5060
    },
    {
      "action_loss": 0.02823948860168457,
      "epoch": 4.5503597122302155,
      "step": 5060
    },
    {
      "epoch": 4.5503597122302155,
      "step": 5060,
      "torque_loss": 0.12318258732557297
    },
    {
      "epoch": 4.559352517985611,
      "grad_norm": 0.4310348927974701,
      "learning_rate": 9.967525658827597e-05,
      "loss": 0.1492,
      "step": 5070
    },
    {
      "action_loss": 0.03695925697684288,
      "epoch": 4.559352517985611,
      "step": 5070
    },
    {
      "epoch": 4.559352517985611,
      "step": 5070,
      "torque_loss": 0.1681365817785263
    },
    {
      "epoch": 4.568345323741007,
      "grad_norm": 0.5831528306007385,
      "learning_rate": 9.967211331189042e-05,
      "loss": 0.1482,
      "step": 5080
    },
    {
      "action_loss": 0.02887253277003765,
      "epoch": 4.568345323741007,
      "step": 5080
    },
    {
      "epoch": 4.568345323741007,
      "step": 5080,
      "torque_loss": 0.18469424545764923
    },
    {
      "epoch": 4.577338129496403,
      "grad_norm": 0.5382142066955566,
      "learning_rate": 9.966895494642834e-05,
      "loss": 0.1603,
      "step": 5090
    },
    {
      "action_loss": 0.040478628128767014,
      "epoch": 4.577338129496403,
      "step": 5090
    },
    {
      "epoch": 4.577338129496403,
      "step": 5090,
      "torque_loss": 0.25957751274108887
    },
    {
      "epoch": 4.586330935251799,
      "grad_norm": 0.8423056602478027,
      "learning_rate": 9.96657814928492e-05,
      "loss": 0.1717,
      "step": 5100
    },
    {
      "action_loss": 0.020497119054198265,
      "epoch": 4.586330935251799,
      "step": 5100
    },
    {
      "epoch": 4.586330935251799,
      "step": 5100,
      "torque_loss": 0.17771615087985992
    },
    {
      "epoch": 4.595323741007194,
      "grad_norm": 0.4580293893814087,
      "learning_rate": 9.966259295211697e-05,
      "loss": 0.153,
      "step": 5110
    },
    {
      "action_loss": 0.026135222986340523,
      "epoch": 4.595323741007194,
      "step": 5110
    },
    {
      "epoch": 4.595323741007194,
      "step": 5110,
      "torque_loss": 0.18983419239521027
    },
    {
      "epoch": 4.60431654676259,
      "grad_norm": 0.6265316605567932,
      "learning_rate": 9.965938932520028e-05,
      "loss": 0.1416,
      "step": 5120
    },
    {
      "action_loss": 0.04611576721072197,
      "epoch": 4.60431654676259,
      "step": 5120
    },
    {
      "epoch": 4.60431654676259,
      "step": 5120,
      "torque_loss": 0.27970942854881287
    },
    {
      "epoch": 4.613309352517986,
      "grad_norm": 0.6505469679832458,
      "learning_rate": 9.965617061307229e-05,
      "loss": 0.146,
      "step": 5130
    },
    {
      "action_loss": 0.04323343560099602,
      "epoch": 4.613309352517986,
      "step": 5130
    },
    {
      "epoch": 4.613309352517986,
      "step": 5130,
      "torque_loss": 0.20262128114700317
    },
    {
      "epoch": 4.622302158273381,
      "grad_norm": 0.5022614002227783,
      "learning_rate": 9.965293681671077e-05,
      "loss": 0.1602,
      "step": 5140
    },
    {
      "action_loss": 0.06890880316495895,
      "epoch": 4.622302158273381,
      "step": 5140
    },
    {
      "epoch": 4.622302158273381,
      "step": 5140,
      "torque_loss": 0.30320122838020325
    },
    {
      "epoch": 4.631294964028777,
      "grad_norm": 0.6097627282142639,
      "learning_rate": 9.964968793709804e-05,
      "loss": 0.1529,
      "step": 5150
    },
    {
      "action_loss": 0.016457492485642433,
      "epoch": 4.631294964028777,
      "step": 5150
    },
    {
      "epoch": 4.631294964028777,
      "step": 5150,
      "torque_loss": 0.1747227907180786
    },
    {
      "epoch": 4.640287769784173,
      "grad_norm": 0.6818853616714478,
      "learning_rate": 9.964642397522106e-05,
      "loss": 0.1488,
      "step": 5160
    },
    {
      "action_loss": 0.025943463668227196,
      "epoch": 4.640287769784173,
      "step": 5160
    },
    {
      "epoch": 4.640287769784173,
      "step": 5160,
      "torque_loss": 0.2371092587709427
    },
    {
      "epoch": 4.649280575539568,
      "grad_norm": 0.7182847261428833,
      "learning_rate": 9.96431449320713e-05,
      "loss": 0.1446,
      "step": 5170
    },
    {
      "action_loss": 0.017890706658363342,
      "epoch": 4.649280575539568,
      "step": 5170
    },
    {
      "epoch": 4.649280575539568,
      "step": 5170,
      "torque_loss": 0.16075961291790009
    },
    {
      "epoch": 4.658273381294964,
      "grad_norm": 0.5409006476402283,
      "learning_rate": 9.963985080864486e-05,
      "loss": 0.1538,
      "step": 5180
    },
    {
      "action_loss": 0.02201598882675171,
      "epoch": 4.658273381294964,
      "step": 5180
    },
    {
      "epoch": 4.658273381294964,
      "step": 5180,
      "torque_loss": 0.2352110892534256
    },
    {
      "epoch": 4.66726618705036,
      "grad_norm": 0.5276452302932739,
      "learning_rate": 9.96365416059424e-05,
      "loss": 0.1416,
      "step": 5190
    },
    {
      "action_loss": 0.04028233885765076,
      "epoch": 4.66726618705036,
      "step": 5190
    },
    {
      "epoch": 4.66726618705036,
      "step": 5190,
      "torque_loss": 0.26825520396232605
    },
    {
      "epoch": 4.676258992805756,
      "grad_norm": 0.715116560459137,
      "learning_rate": 9.963321732496919e-05,
      "loss": 0.1493,
      "step": 5200
    },
    {
      "action_loss": 0.024695128202438354,
      "epoch": 4.676258992805756,
      "step": 5200
    },
    {
      "epoch": 4.676258992805756,
      "step": 5200,
      "torque_loss": 0.25081753730773926
    },
    {
      "epoch": 4.685251798561151,
      "grad_norm": 0.49023914337158203,
      "learning_rate": 9.962987796673506e-05,
      "loss": 0.1476,
      "step": 5210
    },
    {
      "action_loss": 0.027434712275862694,
      "epoch": 4.685251798561151,
      "step": 5210
    },
    {
      "epoch": 4.685251798561151,
      "step": 5210,
      "torque_loss": 0.23692171275615692
    },
    {
      "epoch": 4.694244604316546,
      "grad_norm": 0.6122496128082275,
      "learning_rate": 9.962652353225438e-05,
      "loss": 0.1266,
      "step": 5220
    },
    {
      "action_loss": 0.02177140675485134,
      "epoch": 4.694244604316546,
      "step": 5220
    },
    {
      "epoch": 4.694244604316546,
      "step": 5220,
      "torque_loss": 0.1427275836467743
    },
    {
      "epoch": 4.703237410071942,
      "grad_norm": 0.4970516264438629,
      "learning_rate": 9.962315402254619e-05,
      "loss": 0.1499,
      "step": 5230
    },
    {
      "action_loss": 0.02240573614835739,
      "epoch": 4.703237410071942,
      "step": 5230
    },
    {
      "epoch": 4.703237410071942,
      "step": 5230,
      "torque_loss": 0.19496099650859833
    },
    {
      "epoch": 4.712230215827338,
      "grad_norm": 0.6291744709014893,
      "learning_rate": 9.9619769438634e-05,
      "loss": 0.1338,
      "step": 5240
    },
    {
      "action_loss": 0.034097280353307724,
      "epoch": 4.712230215827338,
      "step": 5240
    },
    {
      "epoch": 4.712230215827338,
      "step": 5240,
      "torque_loss": 0.1975380778312683
    },
    {
      "epoch": 4.721223021582734,
      "grad_norm": 0.5432637333869934,
      "learning_rate": 9.9616369781546e-05,
      "loss": 0.1241,
      "step": 5250
    },
    {
      "action_loss": 0.009923787787556648,
      "epoch": 4.721223021582734,
      "step": 5250
    },
    {
      "epoch": 4.721223021582734,
      "step": 5250,
      "torque_loss": 0.14760862290859222
    },
    {
      "epoch": 4.73021582733813,
      "grad_norm": 0.5170552134513855,
      "learning_rate": 9.961295505231491e-05,
      "loss": 0.1422,
      "step": 5260
    },
    {
      "action_loss": 0.022851401939988136,
      "epoch": 4.73021582733813,
      "step": 5260
    },
    {
      "epoch": 4.73021582733813,
      "step": 5260,
      "torque_loss": 0.17782141268253326
    },
    {
      "epoch": 4.739208633093525,
      "grad_norm": 0.6533814668655396,
      "learning_rate": 9.960952525197804e-05,
      "loss": 0.1343,
      "step": 5270
    },
    {
      "action_loss": 0.009202363900840282,
      "epoch": 4.739208633093525,
      "step": 5270
    },
    {
      "epoch": 4.739208633093525,
      "step": 5270,
      "torque_loss": 0.18029475212097168
    },
    {
      "epoch": 4.748201438848921,
      "grad_norm": 0.507968544960022,
      "learning_rate": 9.960608038157724e-05,
      "loss": 0.1202,
      "step": 5280
    },
    {
      "action_loss": 0.024336040019989014,
      "epoch": 4.748201438848921,
      "step": 5280
    },
    {
      "epoch": 4.748201438848921,
      "step": 5280,
      "torque_loss": 0.23003393411636353
    },
    {
      "epoch": 4.7571942446043165,
      "grad_norm": 0.6242617964744568,
      "learning_rate": 9.960262044215901e-05,
      "loss": 0.1406,
      "step": 5290
    },
    {
      "action_loss": 0.05256226658821106,
      "epoch": 4.7571942446043165,
      "step": 5290
    },
    {
      "epoch": 4.7571942446043165,
      "step": 5290,
      "torque_loss": 0.310042142868042
    },
    {
      "epoch": 4.766187050359712,
      "grad_norm": 0.5238114595413208,
      "learning_rate": 9.959914543477435e-05,
      "loss": 0.1615,
      "step": 5300
    },
    {
      "action_loss": 0.07123535871505737,
      "epoch": 4.766187050359712,
      "step": 5300
    },
    {
      "epoch": 4.766187050359712,
      "step": 5300,
      "torque_loss": 0.29466021060943604
    },
    {
      "epoch": 4.775179856115108,
      "grad_norm": 0.5987823009490967,
      "learning_rate": 9.959565536047892e-05,
      "loss": 0.1635,
      "step": 5310
    },
    {
      "action_loss": 0.01409983355551958,
      "epoch": 4.775179856115108,
      "step": 5310
    },
    {
      "epoch": 4.775179856115108,
      "step": 5310,
      "torque_loss": 0.12135880440473557
    },
    {
      "epoch": 4.784172661870503,
      "grad_norm": 0.7255853414535522,
      "learning_rate": 9.959215022033288e-05,
      "loss": 0.1406,
      "step": 5320
    },
    {
      "action_loss": 0.028494983911514282,
      "epoch": 4.784172661870503,
      "step": 5320
    },
    {
      "epoch": 4.784172661870503,
      "step": 5320,
      "torque_loss": 0.26011598110198975
    },
    {
      "epoch": 4.793165467625899,
      "grad_norm": 0.5435407757759094,
      "learning_rate": 9.9588630015401e-05,
      "loss": 0.1496,
      "step": 5330
    },
    {
      "action_loss": 0.029404861852526665,
      "epoch": 4.793165467625899,
      "step": 5330
    },
    {
      "epoch": 4.793165467625899,
      "step": 5330,
      "torque_loss": 0.23921573162078857
    },
    {
      "epoch": 4.802158273381295,
      "grad_norm": 0.5056909322738647,
      "learning_rate": 9.958509474675264e-05,
      "loss": 0.1353,
      "step": 5340
    },
    {
      "action_loss": 0.01688995026051998,
      "epoch": 4.802158273381295,
      "step": 5340
    },
    {
      "epoch": 4.802158273381295,
      "step": 5340,
      "torque_loss": 0.20813946425914764
    },
    {
      "epoch": 4.811151079136691,
      "grad_norm": 0.6004248261451721,
      "learning_rate": 9.958154441546171e-05,
      "loss": 0.1535,
      "step": 5350
    },
    {
      "action_loss": 0.017984412610530853,
      "epoch": 4.811151079136691,
      "step": 5350
    },
    {
      "epoch": 4.811151079136691,
      "step": 5350,
      "torque_loss": 0.2282819002866745
    },
    {
      "epoch": 4.820143884892087,
      "grad_norm": 0.5769628882408142,
      "learning_rate": 9.957797902260673e-05,
      "loss": 0.1424,
      "step": 5360
    },
    {
      "action_loss": 0.026443615555763245,
      "epoch": 4.820143884892087,
      "step": 5360
    },
    {
      "epoch": 4.820143884892087,
      "step": 5360,
      "torque_loss": 0.2352173775434494
    },
    {
      "epoch": 4.829136690647482,
      "grad_norm": 0.9066013097763062,
      "learning_rate": 9.957439856927073e-05,
      "loss": 0.1277,
      "step": 5370
    },
    {
      "action_loss": 0.034022193402051926,
      "epoch": 4.829136690647482,
      "step": 5370
    },
    {
      "epoch": 4.829136690647482,
      "step": 5370,
      "torque_loss": 0.24937427043914795
    },
    {
      "epoch": 4.838129496402877,
      "grad_norm": 0.6660497188568115,
      "learning_rate": 9.957080305654139e-05,
      "loss": 0.1638,
      "step": 5380
    },
    {
      "action_loss": 0.020909858867526054,
      "epoch": 4.838129496402877,
      "step": 5380
    },
    {
      "epoch": 4.838129496402877,
      "step": 5380,
      "torque_loss": 0.2639136016368866
    },
    {
      "epoch": 4.847122302158273,
      "grad_norm": 0.6563220024108887,
      "learning_rate": 9.956719248551092e-05,
      "loss": 0.1553,
      "step": 5390
    },
    {
      "action_loss": 0.009315184317529202,
      "epoch": 4.847122302158273,
      "step": 5390
    },
    {
      "epoch": 4.847122302158273,
      "step": 5390,
      "torque_loss": 0.1401190310716629
    },
    {
      "epoch": 4.856115107913669,
      "grad_norm": 0.6764304637908936,
      "learning_rate": 9.956356685727612e-05,
      "loss": 0.1522,
      "step": 5400
    },
    {
      "action_loss": 0.02023950032889843,
      "epoch": 4.856115107913669,
      "step": 5400
    },
    {
      "epoch": 4.856115107913669,
      "step": 5400,
      "torque_loss": 0.1471051424741745
    },
    {
      "epoch": 4.865107913669065,
      "grad_norm": 0.4864187240600586,
      "learning_rate": 9.955992617293836e-05,
      "loss": 0.1451,
      "step": 5410
    },
    {
      "action_loss": 0.015987925231456757,
      "epoch": 4.865107913669065,
      "step": 5410
    },
    {
      "epoch": 4.865107913669065,
      "step": 5410,
      "torque_loss": 0.16826315224170685
    },
    {
      "epoch": 4.874100719424461,
      "grad_norm": 0.46791109442710876,
      "learning_rate": 9.955627043360358e-05,
      "loss": 0.1377,
      "step": 5420
    },
    {
      "action_loss": 0.01674521528184414,
      "epoch": 4.874100719424461,
      "step": 5420
    },
    {
      "epoch": 4.874100719424461,
      "step": 5420,
      "torque_loss": 0.24247176945209503
    },
    {
      "epoch": 4.883093525179856,
      "grad_norm": 0.5387957096099854,
      "learning_rate": 9.955259964038231e-05,
      "loss": 0.1413,
      "step": 5430
    },
    {
      "action_loss": 0.013654832728207111,
      "epoch": 4.883093525179856,
      "step": 5430
    },
    {
      "epoch": 4.883093525179856,
      "step": 5430,
      "torque_loss": 0.1960185170173645
    },
    {
      "epoch": 4.892086330935252,
      "grad_norm": 0.6663799285888672,
      "learning_rate": 9.954891379438962e-05,
      "loss": 0.153,
      "step": 5440
    },
    {
      "action_loss": 0.021597668528556824,
      "epoch": 4.892086330935252,
      "step": 5440
    },
    {
      "epoch": 4.892086330935252,
      "step": 5440,
      "torque_loss": 0.1845097541809082
    },
    {
      "epoch": 4.901079136690647,
      "grad_norm": 0.49657347798347473,
      "learning_rate": 9.954521289674519e-05,
      "loss": 0.1536,
      "step": 5450
    },
    {
      "action_loss": 0.015884900465607643,
      "epoch": 4.901079136690647,
      "step": 5450
    },
    {
      "epoch": 4.901079136690647,
      "step": 5450,
      "torque_loss": 0.18431270122528076
    },
    {
      "epoch": 4.910071942446043,
      "grad_norm": 0.6922895908355713,
      "learning_rate": 9.954149694857325e-05,
      "loss": 0.1471,
      "step": 5460
    },
    {
      "action_loss": 0.019438611343503,
      "epoch": 4.910071942446043,
      "step": 5460
    },
    {
      "epoch": 4.910071942446043,
      "step": 5460,
      "torque_loss": 0.12160726636648178
    },
    {
      "epoch": 4.919064748201439,
      "grad_norm": 0.5057725310325623,
      "learning_rate": 9.953776595100258e-05,
      "loss": 0.1598,
      "step": 5470
    },
    {
      "action_loss": 0.0268804132938385,
      "epoch": 4.919064748201439,
      "step": 5470
    },
    {
      "epoch": 4.919064748201439,
      "step": 5470,
      "torque_loss": 0.21067476272583008
    },
    {
      "epoch": 4.928057553956835,
      "grad_norm": 0.7903064489364624,
      "learning_rate": 9.95340199051666e-05,
      "loss": 0.1327,
      "step": 5480
    },
    {
      "action_loss": 0.011137762106955051,
      "epoch": 4.928057553956835,
      "step": 5480
    },
    {
      "epoch": 4.928057553956835,
      "step": 5480,
      "torque_loss": 0.2272164672613144
    },
    {
      "epoch": 4.93705035971223,
      "grad_norm": 0.5267750024795532,
      "learning_rate": 9.953025881220325e-05,
      "loss": 0.1329,
      "step": 5490
    },
    {
      "action_loss": 0.0150243379175663,
      "epoch": 4.93705035971223,
      "step": 5490
    },
    {
      "epoch": 4.93705035971223,
      "step": 5490,
      "torque_loss": 0.17521989345550537
    },
    {
      "epoch": 4.946043165467626,
      "grad_norm": 0.5156149864196777,
      "learning_rate": 9.952648267325504e-05,
      "loss": 0.1325,
      "step": 5500
    },
    {
      "action_loss": 0.029559483751654625,
      "epoch": 4.946043165467626,
      "step": 5500
    },
    {
      "epoch": 4.946043165467626,
      "step": 5500,
      "torque_loss": 0.21972627937793732
    },
    {
      "epoch": 4.955035971223022,
      "grad_norm": 0.5856043100357056,
      "learning_rate": 9.952269148946905e-05,
      "loss": 0.1415,
      "step": 5510
    },
    {
      "action_loss": 0.015427912585437298,
      "epoch": 4.955035971223022,
      "step": 5510
    },
    {
      "epoch": 4.955035971223022,
      "step": 5510,
      "torque_loss": 0.14944954216480255
    },
    {
      "epoch": 4.9640287769784175,
      "grad_norm": 0.7778714299201965,
      "learning_rate": 9.951888526199697e-05,
      "loss": 0.1391,
      "step": 5520
    },
    {
      "action_loss": 0.01884440891444683,
      "epoch": 4.9640287769784175,
      "step": 5520
    },
    {
      "epoch": 4.9640287769784175,
      "step": 5520,
      "torque_loss": 0.17745937407016754
    },
    {
      "epoch": 4.9730215827338125,
      "grad_norm": 0.6587964296340942,
      "learning_rate": 9.951506399199501e-05,
      "loss": 0.1428,
      "step": 5530
    },
    {
      "action_loss": 0.013799979351460934,
      "epoch": 4.9730215827338125,
      "step": 5530
    },
    {
      "epoch": 4.9730215827338125,
      "step": 5530,
      "torque_loss": 0.17662020027637482
    },
    {
      "epoch": 4.982014388489208,
      "grad_norm": 0.44622960686683655,
      "learning_rate": 9.951122768062399e-05,
      "loss": 0.1281,
      "step": 5540
    },
    {
      "action_loss": 0.016183240339159966,
      "epoch": 4.982014388489208,
      "step": 5540
    },
    {
      "epoch": 4.982014388489208,
      "step": 5540,
      "torque_loss": 0.21955859661102295
    },
    {
      "epoch": 4.991007194244604,
      "grad_norm": 0.585726261138916,
      "learning_rate": 9.950737632904927e-05,
      "loss": 0.1385,
      "step": 5550
    },
    {
      "action_loss": 0.013170632533729076,
      "epoch": 4.991007194244604,
      "step": 5550
    },
    {
      "epoch": 4.991007194244604,
      "step": 5550,
      "torque_loss": 0.13952837884426117
    },
    {
      "epoch": 5.0,
      "grad_norm": 0.649267852306366,
      "learning_rate": 9.950350993844077e-05,
      "loss": 0.141,
      "step": 5560
    },
    {
      "action_loss": 0.024133553728461266,
      "epoch": 5.0,
      "step": 5560
    },
    {
      "epoch": 5.0,
      "step": 5560,
      "torque_loss": 0.17963016033172607
    },
    {
      "epoch": 5.008992805755396,
      "grad_norm": 0.5341352820396423,
      "learning_rate": 9.949962850997303e-05,
      "loss": 0.1443,
      "step": 5570
    },
    {
      "action_loss": 0.011242099106311798,
      "epoch": 5.008992805755396,
      "step": 5570
    },
    {
      "epoch": 5.008992805755396,
      "step": 5570,
      "torque_loss": 0.16999705135822296
    },
    {
      "epoch": 5.017985611510792,
      "grad_norm": 0.5905406475067139,
      "learning_rate": 9.949573204482512e-05,
      "loss": 0.1267,
      "step": 5580
    },
    {
      "action_loss": 0.02215324342250824,
      "epoch": 5.017985611510792,
      "step": 5580
    },
    {
      "epoch": 5.017985611510792,
      "step": 5580,
      "torque_loss": 0.16735200583934784
    },
    {
      "epoch": 5.026978417266187,
      "grad_norm": 0.550835132598877,
      "learning_rate": 9.949182054418064e-05,
      "loss": 0.1317,
      "step": 5590
    },
    {
      "action_loss": 0.03683167323470116,
      "epoch": 5.026978417266187,
      "step": 5590
    },
    {
      "epoch": 5.026978417266187,
      "step": 5590,
      "torque_loss": 0.358081579208374
    },
    {
      "epoch": 5.0359712230215825,
      "grad_norm": 0.5519558191299438,
      "learning_rate": 9.948789400922787e-05,
      "loss": 0.1621,
      "step": 5600
    },
    {
      "action_loss": 0.03886045888066292,
      "epoch": 5.0359712230215825,
      "step": 5600
    },
    {
      "epoch": 5.0359712230215825,
      "step": 5600,
      "torque_loss": 0.17117787897586823
    },
    {
      "epoch": 5.044964028776978,
      "grad_norm": 0.7142127156257629,
      "learning_rate": 9.948395244115953e-05,
      "loss": 0.1414,
      "step": 5610
    },
    {
      "action_loss": 0.026641622185707092,
      "epoch": 5.044964028776978,
      "step": 5610
    },
    {
      "epoch": 5.044964028776978,
      "step": 5610,
      "torque_loss": 0.20262162387371063
    },
    {
      "epoch": 5.053956834532374,
      "grad_norm": 0.5479272603988647,
      "learning_rate": 9.9479995841173e-05,
      "loss": 0.1451,
      "step": 5620
    },
    {
      "action_loss": 0.023846713826060295,
      "epoch": 5.053956834532374,
      "step": 5620
    },
    {
      "epoch": 5.053956834532374,
      "step": 5620,
      "torque_loss": 0.11285867542028427
    },
    {
      "epoch": 5.06294964028777,
      "grad_norm": 0.5859777331352234,
      "learning_rate": 9.947602421047017e-05,
      "loss": 0.1108,
      "step": 5630
    },
    {
      "action_loss": 0.02362748794257641,
      "epoch": 5.06294964028777,
      "step": 5630
    },
    {
      "epoch": 5.06294964028777,
      "step": 5630,
      "torque_loss": 0.1724000722169876
    },
    {
      "epoch": 5.071942446043165,
      "grad_norm": 0.5172885656356812,
      "learning_rate": 9.947203755025753e-05,
      "loss": 0.1421,
      "step": 5640
    },
    {
      "action_loss": 0.030057614669203758,
      "epoch": 5.071942446043165,
      "step": 5640
    },
    {
      "epoch": 5.071942446043165,
      "step": 5640,
      "torque_loss": 0.1746872514486313
    },
    {
      "epoch": 5.080935251798561,
      "grad_norm": 0.4033794403076172,
      "learning_rate": 9.946803586174611e-05,
      "loss": 0.1368,
      "step": 5650
    },
    {
      "action_loss": 0.03697885200381279,
      "epoch": 5.080935251798561,
      "step": 5650
    },
    {
      "epoch": 5.080935251798561,
      "step": 5650,
      "torque_loss": 0.2778954803943634
    },
    {
      "epoch": 5.089928057553957,
      "grad_norm": 0.3841419219970703,
      "learning_rate": 9.946401914615151e-05,
      "loss": 0.1474,
      "step": 5660
    },
    {
      "action_loss": 0.017757287248969078,
      "epoch": 5.089928057553957,
      "step": 5660
    },
    {
      "epoch": 5.089928057553957,
      "step": 5660,
      "torque_loss": 0.1623672991991043
    },
    {
      "epoch": 5.098920863309353,
      "grad_norm": 0.5542572736740112,
      "learning_rate": 9.945998740469394e-05,
      "loss": 0.1182,
      "step": 5670
    },
    {
      "action_loss": 0.07763903588056564,
      "epoch": 5.098920863309353,
      "step": 5670
    },
    {
      "epoch": 5.098920863309353,
      "step": 5670,
      "torque_loss": 0.22029775381088257
    },
    {
      "epoch": 5.107913669064748,
      "grad_norm": 0.6385448575019836,
      "learning_rate": 9.945594063859809e-05,
      "loss": 0.1568,
      "step": 5680
    },
    {
      "action_loss": 0.007914519868791103,
      "epoch": 5.107913669064748,
      "step": 5680
    },
    {
      "epoch": 5.107913669064748,
      "step": 5680,
      "torque_loss": 0.19260920584201813
    },
    {
      "epoch": 5.116906474820144,
      "grad_norm": 0.5957069993019104,
      "learning_rate": 9.94518788490933e-05,
      "loss": 0.1312,
      "step": 5690
    },
    {
      "action_loss": 0.049867164343595505,
      "epoch": 5.116906474820144,
      "step": 5690
    },
    {
      "epoch": 5.116906474820144,
      "step": 5690,
      "torque_loss": 0.2794138491153717
    },
    {
      "epoch": 5.125899280575539,
      "grad_norm": 0.5382339954376221,
      "learning_rate": 9.944780203741341e-05,
      "loss": 0.1544,
      "step": 5700
    },
    {
      "action_loss": 0.017856886610388756,
      "epoch": 5.125899280575539,
      "step": 5700
    },
    {
      "epoch": 5.125899280575539,
      "step": 5700,
      "torque_loss": 0.14151223003864288
    },
    {
      "epoch": 5.134892086330935,
      "grad_norm": 0.5635290145874023,
      "learning_rate": 9.944371020479686e-05,
      "loss": 0.1378,
      "step": 5710
    },
    {
      "action_loss": 0.020891299471259117,
      "epoch": 5.134892086330935,
      "step": 5710
    },
    {
      "epoch": 5.134892086330935,
      "step": 5710,
      "torque_loss": 0.14831537008285522
    },
    {
      "epoch": 5.143884892086331,
      "grad_norm": 0.6257177591323853,
      "learning_rate": 9.943960335248662e-05,
      "loss": 0.1286,
      "step": 5720
    },
    {
      "action_loss": 0.011303327977657318,
      "epoch": 5.143884892086331,
      "step": 5720
    },
    {
      "epoch": 5.143884892086331,
      "step": 5720,
      "torque_loss": 0.1219455823302269
    },
    {
      "epoch": 5.152877697841727,
      "grad_norm": 0.6775807738304138,
      "learning_rate": 9.943548148173027e-05,
      "loss": 0.1439,
      "step": 5730
    },
    {
      "action_loss": 0.014654979109764099,
      "epoch": 5.152877697841727,
      "step": 5730
    },
    {
      "epoch": 5.152877697841727,
      "step": 5730,
      "torque_loss": 0.15974752604961395
    },
    {
      "epoch": 5.161870503597123,
      "grad_norm": 0.5781309008598328,
      "learning_rate": 9.943134459377992e-05,
      "loss": 0.125,
      "step": 5740
    },
    {
      "action_loss": 0.016419118270277977,
      "epoch": 5.161870503597123,
      "step": 5740
    },
    {
      "epoch": 5.161870503597123,
      "step": 5740,
      "torque_loss": 0.17371618747711182
    },
    {
      "epoch": 5.170863309352518,
      "grad_norm": 0.5089454650878906,
      "learning_rate": 9.942719268989222e-05,
      "loss": 0.1424,
      "step": 5750
    },
    {
      "action_loss": 0.0187834482640028,
      "epoch": 5.170863309352518,
      "step": 5750
    },
    {
      "epoch": 5.170863309352518,
      "step": 5750,
      "torque_loss": 0.16223473846912384
    },
    {
      "epoch": 5.179856115107913,
      "grad_norm": 0.6395071148872375,
      "learning_rate": 9.942302577132844e-05,
      "loss": 0.1301,
      "step": 5760
    },
    {
      "action_loss": 0.022559473291039467,
      "epoch": 5.179856115107913,
      "step": 5760
    },
    {
      "epoch": 5.179856115107913,
      "step": 5760,
      "torque_loss": 0.21222440898418427
    },
    {
      "epoch": 5.188848920863309,
      "grad_norm": 0.5692628622055054,
      "learning_rate": 9.941884383935438e-05,
      "loss": 0.1352,
      "step": 5770
    },
    {
      "action_loss": 0.03680765628814697,
      "epoch": 5.188848920863309,
      "step": 5770
    },
    {
      "epoch": 5.188848920863309,
      "step": 5770,
      "torque_loss": 0.2563823163509369
    },
    {
      "epoch": 5.197841726618705,
      "grad_norm": 0.552270233631134,
      "learning_rate": 9.941464689524039e-05,
      "loss": 0.1398,
      "step": 5780
    },
    {
      "action_loss": 0.018099790439009666,
      "epoch": 5.197841726618705,
      "step": 5780
    },
    {
      "epoch": 5.197841726618705,
      "step": 5780,
      "torque_loss": 0.19251960515975952
    },
    {
      "epoch": 5.206834532374101,
      "grad_norm": 0.5350431799888611,
      "learning_rate": 9.941043494026139e-05,
      "loss": 0.1476,
      "step": 5790
    },
    {
      "action_loss": 0.028808971866965294,
      "epoch": 5.206834532374101,
      "step": 5790
    },
    {
      "epoch": 5.206834532374101,
      "step": 5790,
      "torque_loss": 0.24028931558132172
    },
    {
      "epoch": 5.215827338129497,
      "grad_norm": 0.6225906610488892,
      "learning_rate": 9.940620797569685e-05,
      "loss": 0.1413,
      "step": 5800
    },
    {
      "action_loss": 0.02264578640460968,
      "epoch": 5.215827338129497,
      "step": 5800
    },
    {
      "epoch": 5.215827338129497,
      "step": 5800,
      "torque_loss": 0.17832307517528534
    },
    {
      "epoch": 5.224820143884892,
      "grad_norm": 0.48993316292762756,
      "learning_rate": 9.940196600283082e-05,
      "loss": 0.1668,
      "step": 5810
    },
    {
      "action_loss": 0.018269727006554604,
      "epoch": 5.224820143884892,
      "step": 5810
    },
    {
      "epoch": 5.224820143884892,
      "step": 5810,
      "torque_loss": 0.23943346738815308
    },
    {
      "epoch": 5.233812949640288,
      "grad_norm": 0.7786487936973572,
      "learning_rate": 9.939770902295192e-05,
      "loss": 0.1509,
      "step": 5820
    },
    {
      "action_loss": 0.011454696767032146,
      "epoch": 5.233812949640288,
      "step": 5820
    },
    {
      "epoch": 5.233812949640288,
      "step": 5820,
      "torque_loss": 0.14716951549053192
    },
    {
      "epoch": 5.2428057553956835,
      "grad_norm": 0.45754343271255493,
      "learning_rate": 9.939343703735329e-05,
      "loss": 0.1469,
      "step": 5830
    },
    {
      "action_loss": 0.017715981230139732,
      "epoch": 5.2428057553956835,
      "step": 5830
    },
    {
      "epoch": 5.2428057553956835,
      "step": 5830,
      "torque_loss": 0.1529974788427353
    },
    {
      "epoch": 5.251798561151079,
      "grad_norm": 0.6234074234962463,
      "learning_rate": 9.938915004733264e-05,
      "loss": 0.1281,
      "step": 5840
    },
    {
      "action_loss": 0.017504505813121796,
      "epoch": 5.251798561151079,
      "step": 5840
    },
    {
      "epoch": 5.251798561151079,
      "step": 5840,
      "torque_loss": 0.28541991114616394
    },
    {
      "epoch": 5.260791366906475,
      "grad_norm": 0.4601658880710602,
      "learning_rate": 9.938484805419224e-05,
      "loss": 0.1442,
      "step": 5850
    },
    {
      "action_loss": 0.021935993805527687,
      "epoch": 5.260791366906475,
      "step": 5850
    },
    {
      "epoch": 5.260791366906475,
      "step": 5850,
      "torque_loss": 0.2047911435365677
    },
    {
      "epoch": 5.26978417266187,
      "grad_norm": 0.6790842413902283,
      "learning_rate": 9.938053105923894e-05,
      "loss": 0.142,
      "step": 5860
    },
    {
      "action_loss": 0.016041500493884087,
      "epoch": 5.26978417266187,
      "step": 5860
    },
    {
      "epoch": 5.26978417266187,
      "step": 5860,
      "torque_loss": 0.18306773900985718
    },
    {
      "epoch": 5.278776978417266,
      "grad_norm": 0.7295709252357483,
      "learning_rate": 9.937619906378413e-05,
      "loss": 0.1297,
      "step": 5870
    },
    {
      "action_loss": 0.013760142028331757,
      "epoch": 5.278776978417266,
      "step": 5870
    },
    {
      "epoch": 5.278776978417266,
      "step": 5870,
      "torque_loss": 0.15456855297088623
    },
    {
      "epoch": 5.287769784172662,
      "grad_norm": 0.5662158131599426,
      "learning_rate": 9.937185206914374e-05,
      "loss": 0.1424,
      "step": 5880
    },
    {
      "action_loss": 0.0341128408908844,
      "epoch": 5.287769784172662,
      "step": 5880
    },
    {
      "epoch": 5.287769784172662,
      "step": 5880,
      "torque_loss": 0.18096835911273956
    },
    {
      "epoch": 5.296762589928058,
      "grad_norm": 0.6081100106239319,
      "learning_rate": 9.936749007663829e-05,
      "loss": 0.1305,
      "step": 5890
    },
    {
      "action_loss": 0.021209046244621277,
      "epoch": 5.296762589928058,
      "step": 5890
    },
    {
      "epoch": 5.296762589928058,
      "step": 5890,
      "torque_loss": 0.20209574699401855
    },
    {
      "epoch": 5.305755395683454,
      "grad_norm": 0.49237748980522156,
      "learning_rate": 9.93631130875928e-05,
      "loss": 0.134,
      "step": 5900
    },
    {
      "action_loss": 0.038805678486824036,
      "epoch": 5.305755395683454,
      "step": 5900
    },
    {
      "epoch": 5.305755395683454,
      "step": 5900,
      "torque_loss": 0.24759572744369507
    },
    {
      "epoch": 5.3147482014388485,
      "grad_norm": 0.7004761695861816,
      "learning_rate": 9.935872110333692e-05,
      "loss": 0.156,
      "step": 5910
    },
    {
      "action_loss": 0.02615748904645443,
      "epoch": 5.3147482014388485,
      "step": 5910
    },
    {
      "epoch": 5.3147482014388485,
      "step": 5910,
      "torque_loss": 0.21060477197170258
    },
    {
      "epoch": 5.323741007194244,
      "grad_norm": 0.5586017966270447,
      "learning_rate": 9.935431412520484e-05,
      "loss": 0.1475,
      "step": 5920
    },
    {
      "action_loss": 0.016202883794903755,
      "epoch": 5.323741007194244,
      "step": 5920
    },
    {
      "epoch": 5.323741007194244,
      "step": 5920,
      "torque_loss": 0.2089506834745407
    },
    {
      "epoch": 5.33273381294964,
      "grad_norm": 0.6177256107330322,
      "learning_rate": 9.934989215453523e-05,
      "loss": 0.1487,
      "step": 5930
    },
    {
      "action_loss": 0.023547274991869926,
      "epoch": 5.33273381294964,
      "step": 5930
    },
    {
      "epoch": 5.33273381294964,
      "step": 5930,
      "torque_loss": 0.22804264724254608
    },
    {
      "epoch": 5.341726618705036,
      "grad_norm": 0.6266664266586304,
      "learning_rate": 9.934545519267139e-05,
      "loss": 0.1445,
      "step": 5940
    },
    {
      "action_loss": 0.015717286616563797,
      "epoch": 5.341726618705036,
      "step": 5940
    },
    {
      "epoch": 5.341726618705036,
      "step": 5940,
      "torque_loss": 0.2411840707063675
    },
    {
      "epoch": 5.350719424460432,
      "grad_norm": 0.5441216826438904,
      "learning_rate": 9.934100324096117e-05,
      "loss": 0.1395,
      "step": 5950
    },
    {
      "action_loss": 0.017060918733477592,
      "epoch": 5.350719424460432,
      "step": 5950
    },
    {
      "epoch": 5.350719424460432,
      "step": 5950,
      "torque_loss": 0.23402619361877441
    },
    {
      "epoch": 5.359712230215827,
      "grad_norm": 0.5129082202911377,
      "learning_rate": 9.933653630075692e-05,
      "loss": 0.1293,
      "step": 5960
    },
    {
      "action_loss": 0.027217289432883263,
      "epoch": 5.359712230215827,
      "step": 5960
    },
    {
      "epoch": 5.359712230215827,
      "step": 5960,
      "torque_loss": 0.1945703774690628
    },
    {
      "epoch": 5.368705035971223,
      "grad_norm": 0.5436323881149292,
      "learning_rate": 9.93320543734156e-05,
      "loss": 0.1453,
      "step": 5970
    },
    {
      "action_loss": 0.00972067005932331,
      "epoch": 5.368705035971223,
      "step": 5970
    },
    {
      "epoch": 5.368705035971223,
      "step": 5970,
      "torque_loss": 0.16062100231647491
    },
    {
      "epoch": 5.377697841726619,
      "grad_norm": 0.4361002445220947,
      "learning_rate": 9.932755746029871e-05,
      "loss": 0.1241,
      "step": 5980
    },
    {
      "action_loss": 0.007001470308750868,
      "epoch": 5.377697841726619,
      "step": 5980
    },
    {
      "epoch": 5.377697841726619,
      "step": 5980,
      "torque_loss": 0.10597901791334152
    },
    {
      "epoch": 5.386690647482014,
      "grad_norm": 0.5322760343551636,
      "learning_rate": 9.932304556277228e-05,
      "loss": 0.1406,
      "step": 5990
    },
    {
      "action_loss": 0.021162159740924835,
      "epoch": 5.386690647482014,
      "step": 5990
    },
    {
      "epoch": 5.386690647482014,
      "step": 5990,
      "torque_loss": 0.17949752509593964
    },
    {
      "epoch": 5.39568345323741,
      "grad_norm": 0.540668249130249,
      "learning_rate": 9.93185186822069e-05,
      "loss": 0.1521,
      "step": 6000
    },
    {
      "action_loss": 0.02859322540462017,
      "epoch": 5.39568345323741,
      "step": 6000
    },
    {
      "epoch": 5.39568345323741,
      "step": 6000,
      "torque_loss": 0.20789416134357452
    },
    {
      "epoch": 5.404676258992806,
      "grad_norm": 0.63994961977005,
      "learning_rate": 9.931397681997773e-05,
      "loss": 0.1384,
      "step": 6010
    },
    {
      "action_loss": 0.014481914229691029,
      "epoch": 5.404676258992806,
      "step": 6010
    },
    {
      "epoch": 5.404676258992806,
      "step": 6010,
      "torque_loss": 0.1613428145647049
    },
    {
      "epoch": 5.413669064748201,
      "grad_norm": 0.570260226726532,
      "learning_rate": 9.930941997746446e-05,
      "loss": 0.1345,
      "step": 6020
    },
    {
      "action_loss": 0.024898409843444824,
      "epoch": 5.413669064748201,
      "step": 6020
    },
    {
      "epoch": 5.413669064748201,
      "step": 6020,
      "torque_loss": 0.1847987174987793
    },
    {
      "epoch": 5.422661870503597,
      "grad_norm": 0.3505989611148834,
      "learning_rate": 9.930484815605134e-05,
      "loss": 0.1411,
      "step": 6030
    },
    {
      "action_loss": 0.011401374824345112,
      "epoch": 5.422661870503597,
      "step": 6030
    },
    {
      "epoch": 5.422661870503597,
      "step": 6030,
      "torque_loss": 0.17315669357776642
    },
    {
      "epoch": 5.431654676258993,
      "grad_norm": 0.46978235244750977,
      "learning_rate": 9.930026135712717e-05,
      "loss": 0.1508,
      "step": 6040
    },
    {
      "action_loss": 0.008659337647259235,
      "epoch": 5.431654676258993,
      "step": 6040
    },
    {
      "epoch": 5.431654676258993,
      "step": 6040,
      "torque_loss": 0.11863281577825546
    },
    {
      "epoch": 5.440647482014389,
      "grad_norm": 0.5270165801048279,
      "learning_rate": 9.92956595820853e-05,
      "loss": 0.1407,
      "step": 6050
    },
    {
      "action_loss": 0.011349822394549847,
      "epoch": 5.440647482014389,
      "step": 6050
    },
    {
      "epoch": 5.440647482014389,
      "step": 6050,
      "torque_loss": 0.10461780428886414
    },
    {
      "epoch": 5.4496402877697845,
      "grad_norm": 0.587076723575592,
      "learning_rate": 9.929104283232362e-05,
      "loss": 0.1273,
      "step": 6060
    },
    {
      "action_loss": 0.03613879531621933,
      "epoch": 5.4496402877697845,
      "step": 6060
    },
    {
      "epoch": 5.4496402877697845,
      "step": 6060,
      "torque_loss": 0.27844932675361633
    },
    {
      "epoch": 5.4586330935251794,
      "grad_norm": 0.6695418953895569,
      "learning_rate": 9.92864111092446e-05,
      "loss": 0.1398,
      "step": 6070
    },
    {
      "action_loss": 0.008286813274025917,
      "epoch": 5.4586330935251794,
      "step": 6070
    },
    {
      "epoch": 5.4586330935251794,
      "step": 6070,
      "torque_loss": 0.12285073846578598
    },
    {
      "epoch": 5.467625899280575,
      "grad_norm": 0.5969694256782532,
      "learning_rate": 9.92817644142552e-05,
      "loss": 0.1172,
      "step": 6080
    },
    {
      "action_loss": 0.014564592391252518,
      "epoch": 5.467625899280575,
      "step": 6080
    },
    {
      "epoch": 5.467625899280575,
      "step": 6080,
      "torque_loss": 0.1815851479768753
    },
    {
      "epoch": 5.476618705035971,
      "grad_norm": 0.7406890988349915,
      "learning_rate": 9.927710274876698e-05,
      "loss": 0.1436,
      "step": 6090
    },
    {
      "action_loss": 0.01803181692957878,
      "epoch": 5.476618705035971,
      "step": 6090
    },
    {
      "epoch": 5.476618705035971,
      "step": 6090,
      "torque_loss": 0.26286736130714417
    },
    {
      "epoch": 5.485611510791367,
      "grad_norm": 0.6956456899642944,
      "learning_rate": 9.927242611419603e-05,
      "loss": 0.1534,
      "step": 6100
    },
    {
      "action_loss": 0.027797222137451172,
      "epoch": 5.485611510791367,
      "step": 6100
    },
    {
      "epoch": 5.485611510791367,
      "step": 6100,
      "torque_loss": 0.2277393788099289
    },
    {
      "epoch": 5.494604316546763,
      "grad_norm": 0.5152212381362915,
      "learning_rate": 9.926773451196301e-05,
      "loss": 0.1599,
      "step": 6110
    },
    {
      "action_loss": 0.01375400647521019,
      "epoch": 5.494604316546763,
      "step": 6110
    },
    {
      "epoch": 5.494604316546763,
      "step": 6110,
      "torque_loss": 0.1358250379562378
    },
    {
      "epoch": 5.503597122302159,
      "grad_norm": 0.49098020792007446,
      "learning_rate": 9.926302794349306e-05,
      "loss": 0.1358,
      "step": 6120
    },
    {
      "action_loss": 0.023830873891711235,
      "epoch": 5.503597122302159,
      "step": 6120
    },
    {
      "epoch": 5.503597122302159,
      "step": 6120,
      "torque_loss": 0.25719431042671204
    },
    {
      "epoch": 5.512589928057554,
      "grad_norm": 0.5354481339454651,
      "learning_rate": 9.925830641021594e-05,
      "loss": 0.1605,
      "step": 6130
    },
    {
      "action_loss": 0.030774682760238647,
      "epoch": 5.512589928057554,
      "step": 6130
    },
    {
      "epoch": 5.512589928057554,
      "step": 6130,
      "torque_loss": 0.27729594707489014
    },
    {
      "epoch": 5.5215827338129495,
      "grad_norm": 0.5995681285858154,
      "learning_rate": 9.925356991356593e-05,
      "loss": 0.1359,
      "step": 6140
    },
    {
      "action_loss": 0.06358995288610458,
      "epoch": 5.5215827338129495,
      "step": 6140
    },
    {
      "epoch": 5.5215827338129495,
      "step": 6140,
      "torque_loss": 0.2774023115634918
    },
    {
      "epoch": 5.530575539568345,
      "grad_norm": 0.6447850465774536,
      "learning_rate": 9.924881845498184e-05,
      "loss": 0.1347,
      "step": 6150
    },
    {
      "action_loss": 0.015296850353479385,
      "epoch": 5.530575539568345,
      "step": 6150
    },
    {
      "epoch": 5.530575539568345,
      "step": 6150,
      "torque_loss": 0.23633229732513428
    },
    {
      "epoch": 5.539568345323741,
      "grad_norm": 0.4467301368713379,
      "learning_rate": 9.924405203590705e-05,
      "loss": 0.1418,
      "step": 6160
    },
    {
      "action_loss": 0.019701246172189713,
      "epoch": 5.539568345323741,
      "step": 6160
    },
    {
      "epoch": 5.539568345323741,
      "step": 6160,
      "torque_loss": 0.1607493907213211
    },
    {
      "epoch": 5.548561151079137,
      "grad_norm": 0.5674362778663635,
      "learning_rate": 9.923927065778946e-05,
      "loss": 0.1353,
      "step": 6170
    },
    {
      "action_loss": 0.009004323743283749,
      "epoch": 5.548561151079137,
      "step": 6170
    },
    {
      "epoch": 5.548561151079137,
      "step": 6170,
      "torque_loss": 0.16978709399700165
    },
    {
      "epoch": 5.557553956834532,
      "grad_norm": 0.5341231226921082,
      "learning_rate": 9.923447432208154e-05,
      "loss": 0.1402,
      "step": 6180
    },
    {
      "action_loss": 0.017802415415644646,
      "epoch": 5.557553956834532,
      "step": 6180
    },
    {
      "epoch": 5.557553956834532,
      "step": 6180,
      "torque_loss": 0.28284937143325806
    },
    {
      "epoch": 5.566546762589928,
      "grad_norm": 0.5791513323783875,
      "learning_rate": 9.922966303024027e-05,
      "loss": 0.1338,
      "step": 6190
    },
    {
      "action_loss": 0.020266830921173096,
      "epoch": 5.566546762589928,
      "step": 6190
    },
    {
      "epoch": 5.566546762589928,
      "step": 6190,
      "torque_loss": 0.28979572653770447
    },
    {
      "epoch": 5.575539568345324,
      "grad_norm": 0.529244065284729,
      "learning_rate": 9.922483678372721e-05,
      "loss": 0.1638,
      "step": 6200
    },
    {
      "action_loss": 0.0430021695792675,
      "epoch": 5.575539568345324,
      "step": 6200
    },
    {
      "epoch": 5.575539568345324,
      "step": 6200,
      "torque_loss": 0.28823307156562805
    },
    {
      "epoch": 5.58453237410072,
      "grad_norm": 0.6983257532119751,
      "learning_rate": 9.921999558400845e-05,
      "loss": 0.1456,
      "step": 6210
    },
    {
      "action_loss": 0.0199684277176857,
      "epoch": 5.58453237410072,
      "step": 6210
    },
    {
      "epoch": 5.58453237410072,
      "step": 6210,
      "torque_loss": 0.1957160085439682
    },
    {
      "epoch": 5.593525179856115,
      "grad_norm": 0.6642294526100159,
      "learning_rate": 9.92151394325546e-05,
      "loss": 0.1661,
      "step": 6220
    },
    {
      "action_loss": 0.015183950774371624,
      "epoch": 5.593525179856115,
      "step": 6220
    },
    {
      "epoch": 5.593525179856115,
      "step": 6220,
      "torque_loss": 0.15461687743663788
    },
    {
      "epoch": 5.602517985611511,
      "grad_norm": 0.6250678896903992,
      "learning_rate": 9.921026833084084e-05,
      "loss": 0.1289,
      "step": 6230
    },
    {
      "action_loss": 0.01856544055044651,
      "epoch": 5.602517985611511,
      "step": 6230
    },
    {
      "epoch": 5.602517985611511,
      "step": 6230,
      "torque_loss": 0.22081594169139862
    },
    {
      "epoch": 5.611510791366906,
      "grad_norm": 0.46308889985084534,
      "learning_rate": 9.920538228034689e-05,
      "loss": 0.1286,
      "step": 6240
    },
    {
      "action_loss": 0.022802993655204773,
      "epoch": 5.611510791366906,
      "step": 6240
    },
    {
      "epoch": 5.611510791366906,
      "step": 6240,
      "torque_loss": 0.17201454937458038
    },
    {
      "epoch": 5.620503597122302,
      "grad_norm": 0.4377543330192566,
      "learning_rate": 9.920048128255699e-05,
      "loss": 0.1261,
      "step": 6250
    },
    {
      "action_loss": 0.017986664548516273,
      "epoch": 5.620503597122302,
      "step": 6250
    },
    {
      "epoch": 5.620503597122302,
      "step": 6250,
      "torque_loss": 0.1691322922706604
    },
    {
      "epoch": 5.629496402877698,
      "grad_norm": 0.5257594585418701,
      "learning_rate": 9.919556533895995e-05,
      "loss": 0.1553,
      "step": 6260
    },
    {
      "action_loss": 0.02768351323902607,
      "epoch": 5.629496402877698,
      "step": 6260
    },
    {
      "epoch": 5.629496402877698,
      "step": 6260,
      "torque_loss": 0.18707217276096344
    },
    {
      "epoch": 5.638489208633094,
      "grad_norm": 0.511772632598877,
      "learning_rate": 9.919063445104907e-05,
      "loss": 0.146,
      "step": 6270
    },
    {
      "action_loss": 0.013599961064755917,
      "epoch": 5.638489208633094,
      "step": 6270
    },
    {
      "epoch": 5.638489208633094,
      "step": 6270,
      "torque_loss": 0.22925643622875214
    },
    {
      "epoch": 5.647482014388489,
      "grad_norm": 0.6039383411407471,
      "learning_rate": 9.918568862032227e-05,
      "loss": 0.1424,
      "step": 6280
    },
    {
      "action_loss": 0.02400307171046734,
      "epoch": 5.647482014388489,
      "step": 6280
    },
    {
      "epoch": 5.647482014388489,
      "step": 6280,
      "torque_loss": 0.3119698464870453
    },
    {
      "epoch": 5.656474820143885,
      "grad_norm": 0.6196522116661072,
      "learning_rate": 9.918072784828194e-05,
      "loss": 0.1354,
      "step": 6290
    },
    {
      "action_loss": 0.03543631732463837,
      "epoch": 5.656474820143885,
      "step": 6290
    },
    {
      "epoch": 5.656474820143885,
      "step": 6290,
      "torque_loss": 0.2315060943365097
    },
    {
      "epoch": 5.66546762589928,
      "grad_norm": 0.5028137564659119,
      "learning_rate": 9.917575213643501e-05,
      "loss": 0.14,
      "step": 6300
    },
    {
      "action_loss": 0.01955563761293888,
      "epoch": 5.66546762589928,
      "step": 6300
    },
    {
      "epoch": 5.66546762589928,
      "step": 6300,
      "torque_loss": 0.21410799026489258
    },
    {
      "epoch": 5.674460431654676,
      "grad_norm": 0.49142923951148987,
      "learning_rate": 9.917076148629302e-05,
      "loss": 0.1321,
      "step": 6310
    },
    {
      "action_loss": 0.01146967988461256,
      "epoch": 5.674460431654676,
      "step": 6310
    },
    {
      "epoch": 5.674460431654676,
      "step": 6310,
      "torque_loss": 0.16865421831607819
    },
    {
      "epoch": 5.683453237410072,
      "grad_norm": 0.5261096358299255,
      "learning_rate": 9.916575589937196e-05,
      "loss": 0.1482,
      "step": 6320
    },
    {
      "action_loss": 0.01872357912361622,
      "epoch": 5.683453237410072,
      "step": 6320
    },
    {
      "epoch": 5.683453237410072,
      "step": 6320,
      "torque_loss": 0.21090908348560333
    },
    {
      "epoch": 5.692446043165468,
      "grad_norm": 0.5384975671768188,
      "learning_rate": 9.916073537719239e-05,
      "loss": 0.1349,
      "step": 6330
    },
    {
      "action_loss": 0.017394280061125755,
      "epoch": 5.692446043165468,
      "step": 6330
    },
    {
      "epoch": 5.692446043165468,
      "step": 6330,
      "torque_loss": 0.24160321056842804
    },
    {
      "epoch": 5.701438848920863,
      "grad_norm": 0.580590009689331,
      "learning_rate": 9.915569992127944e-05,
      "loss": 0.1351,
      "step": 6340
    },
    {
      "action_loss": 0.015036702156066895,
      "epoch": 5.701438848920863,
      "step": 6340
    },
    {
      "epoch": 5.701438848920863,
      "step": 6340,
      "torque_loss": 0.2496287077665329
    },
    {
      "epoch": 5.710431654676259,
      "grad_norm": 0.6509239077568054,
      "learning_rate": 9.915064953316273e-05,
      "loss": 0.133,
      "step": 6350
    },
    {
      "action_loss": 0.011092732660472393,
      "epoch": 5.710431654676259,
      "step": 6350
    },
    {
      "epoch": 5.710431654676259,
      "step": 6350,
      "torque_loss": 0.21777351200580597
    },
    {
      "epoch": 5.719424460431655,
      "grad_norm": 0.5085830092430115,
      "learning_rate": 9.914558421437645e-05,
      "loss": 0.1325,
      "step": 6360
    },
    {
      "action_loss": 0.014022848568856716,
      "epoch": 5.719424460431655,
      "step": 6360
    },
    {
      "epoch": 5.719424460431655,
      "step": 6360,
      "torque_loss": 0.14730991423130035
    },
    {
      "epoch": 5.7284172661870505,
      "grad_norm": 0.7094071507453918,
      "learning_rate": 9.914050396645929e-05,
      "loss": 0.1396,
      "step": 6370
    },
    {
      "action_loss": 0.021780962124466896,
      "epoch": 5.7284172661870505,
      "step": 6370
    },
    {
      "epoch": 5.7284172661870505,
      "step": 6370,
      "torque_loss": 0.17993251979351044
    },
    {
      "epoch": 5.737410071942446,
      "grad_norm": 0.5202098488807678,
      "learning_rate": 9.913540879095452e-05,
      "loss": 0.1389,
      "step": 6380
    },
    {
      "action_loss": 0.04251869395375252,
      "epoch": 5.737410071942446,
      "step": 6380
    },
    {
      "epoch": 5.737410071942446,
      "step": 6380,
      "torque_loss": 0.31853917241096497
    },
    {
      "epoch": 5.746402877697841,
      "grad_norm": 0.4869391918182373,
      "learning_rate": 9.913029868940987e-05,
      "loss": 0.1523,
      "step": 6390
    },
    {
      "action_loss": 0.024577610194683075,
      "epoch": 5.746402877697841,
      "step": 6390
    },
    {
      "epoch": 5.746402877697841,
      "step": 6390,
      "torque_loss": 0.18336807191371918
    },
    {
      "epoch": 5.755395683453237,
      "grad_norm": 0.4438258707523346,
      "learning_rate": 9.912517366337772e-05,
      "loss": 0.1455,
      "step": 6400
    },
    {
      "action_loss": 0.02254561521112919,
      "epoch": 5.755395683453237,
      "step": 6400
    },
    {
      "epoch": 5.755395683453237,
      "step": 6400,
      "torque_loss": 0.17257337272167206
    },
    {
      "epoch": 5.764388489208633,
      "grad_norm": 0.6030913591384888,
      "learning_rate": 9.912003371441487e-05,
      "loss": 0.1348,
      "step": 6410
    },
    {
      "action_loss": 0.027914149686694145,
      "epoch": 5.764388489208633,
      "step": 6410
    },
    {
      "epoch": 5.764388489208633,
      "step": 6410,
      "torque_loss": 0.21281373500823975
    },
    {
      "epoch": 5.773381294964029,
      "grad_norm": 0.687258243560791,
      "learning_rate": 9.911487884408271e-05,
      "loss": 0.1304,
      "step": 6420
    },
    {
      "action_loss": 0.00857588555663824,
      "epoch": 5.773381294964029,
      "step": 6420
    },
    {
      "epoch": 5.773381294964029,
      "step": 6420,
      "torque_loss": 0.1343742460012436
    },
    {
      "epoch": 5.782374100719425,
      "grad_norm": 0.4180031418800354,
      "learning_rate": 9.910970905394719e-05,
      "loss": 0.1373,
      "step": 6430
    },
    {
      "action_loss": 0.011482015252113342,
      "epoch": 5.782374100719425,
      "step": 6430
    },
    {
      "epoch": 5.782374100719425,
      "step": 6430,
      "torque_loss": 0.12796883285045624
    },
    {
      "epoch": 5.7913669064748206,
      "grad_norm": 0.7260056734085083,
      "learning_rate": 9.91045243455787e-05,
      "loss": 0.1272,
      "step": 6440
    },
    {
      "action_loss": 0.014509507454931736,
      "epoch": 5.7913669064748206,
      "step": 6440
    },
    {
      "epoch": 5.7913669064748206,
      "step": 6440,
      "torque_loss": 0.1279943436384201
    },
    {
      "epoch": 5.8003597122302155,
      "grad_norm": 0.647864580154419,
      "learning_rate": 9.909932472055225e-05,
      "loss": 0.1524,
      "step": 6450
    },
    {
      "action_loss": 0.01826428435742855,
      "epoch": 5.8003597122302155,
      "step": 6450
    },
    {
      "epoch": 5.8003597122302155,
      "step": 6450,
      "torque_loss": 0.11712998151779175
    },
    {
      "epoch": 5.809352517985611,
      "grad_norm": 0.6983824968338013,
      "learning_rate": 9.909411018044734e-05,
      "loss": 0.1142,
      "step": 6460
    },
    {
      "action_loss": 0.024804679676890373,
      "epoch": 5.809352517985611,
      "step": 6460
    },
    {
      "epoch": 5.809352517985611,
      "step": 6460,
      "torque_loss": 0.20562678575515747
    },
    {
      "epoch": 5.818345323741007,
      "grad_norm": 0.518579363822937,
      "learning_rate": 9.908888072684802e-05,
      "loss": 0.1383,
      "step": 6470
    },
    {
      "action_loss": 0.02822883427143097,
      "epoch": 5.818345323741007,
      "step": 6470
    },
    {
      "epoch": 5.818345323741007,
      "step": 6470,
      "torque_loss": 0.20650345087051392
    },
    {
      "epoch": 5.827338129496403,
      "grad_norm": 0.7092698812484741,
      "learning_rate": 9.908363636134285e-05,
      "loss": 0.1211,
      "step": 6480
    },
    {
      "action_loss": 0.018880248069763184,
      "epoch": 5.827338129496403,
      "step": 6480
    },
    {
      "epoch": 5.827338129496403,
      "step": 6480,
      "torque_loss": 0.211702361702919
    },
    {
      "epoch": 5.836330935251799,
      "grad_norm": 0.5707871913909912,
      "learning_rate": 9.907837708552493e-05,
      "loss": 0.1248,
      "step": 6490
    },
    {
      "action_loss": 0.018224850296974182,
      "epoch": 5.836330935251799,
      "step": 6490
    },
    {
      "epoch": 5.836330935251799,
      "step": 6490,
      "torque_loss": 0.20718121528625488
    },
    {
      "epoch": 5.845323741007194,
      "grad_norm": 0.6005966067314148,
      "learning_rate": 9.90731029009919e-05,
      "loss": 0.1285,
      "step": 6500
    },
    {
      "action_loss": 0.013688714243471622,
      "epoch": 5.845323741007194,
      "step": 6500
    },
    {
      "epoch": 5.845323741007194,
      "step": 6500,
      "torque_loss": 0.15566708147525787
    },
    {
      "epoch": 5.85431654676259,
      "grad_norm": 0.566154420375824,
      "learning_rate": 9.906781380934589e-05,
      "loss": 0.156,
      "step": 6510
    },
    {
      "action_loss": 0.026763953268527985,
      "epoch": 5.85431654676259,
      "step": 6510
    },
    {
      "epoch": 5.85431654676259,
      "step": 6510,
      "torque_loss": 0.25938138365745544
    },
    {
      "epoch": 5.863309352517986,
      "grad_norm": 0.593975841999054,
      "learning_rate": 9.906250981219362e-05,
      "loss": 0.1467,
      "step": 6520
    },
    {
      "action_loss": 0.0109262615442276,
      "epoch": 5.863309352517986,
      "step": 6520
    },
    {
      "epoch": 5.863309352517986,
      "step": 6520,
      "torque_loss": 0.18979495763778687
    },
    {
      "epoch": 5.872302158273381,
      "grad_norm": 0.6803259253501892,
      "learning_rate": 9.905719091114628e-05,
      "loss": 0.1217,
      "step": 6530
    },
    {
      "action_loss": 0.01661919243633747,
      "epoch": 5.872302158273381,
      "step": 6530
    },
    {
      "epoch": 5.872302158273381,
      "step": 6530,
      "torque_loss": 0.17390668392181396
    },
    {
      "epoch": 5.881294964028777,
      "grad_norm": 0.6654937863349915,
      "learning_rate": 9.905185710781964e-05,
      "loss": 0.1443,
      "step": 6540
    },
    {
      "action_loss": 0.012779696844518185,
      "epoch": 5.881294964028777,
      "step": 6540
    },
    {
      "epoch": 5.881294964028777,
      "step": 6540,
      "torque_loss": 0.15771134197711945
    },
    {
      "epoch": 5.890287769784173,
      "grad_norm": 0.4974304735660553,
      "learning_rate": 9.904650840383392e-05,
      "loss": 0.1319,
      "step": 6550
    },
    {
      "action_loss": 0.013018111698329449,
      "epoch": 5.890287769784173,
      "step": 6550
    },
    {
      "epoch": 5.890287769784173,
      "step": 6550,
      "torque_loss": 0.21054325997829437
    },
    {
      "epoch": 5.899280575539568,
      "grad_norm": 0.45250338315963745,
      "learning_rate": 9.904114480081397e-05,
      "loss": 0.1202,
      "step": 6560
    },
    {
      "action_loss": 0.011673684231936932,
      "epoch": 5.899280575539568,
      "step": 6560
    },
    {
      "epoch": 5.899280575539568,
      "step": 6560,
      "torque_loss": 0.1480821967124939
    },
    {
      "epoch": 5.908273381294964,
      "grad_norm": 0.4982425272464752,
      "learning_rate": 9.903576630038906e-05,
      "loss": 0.1417,
      "step": 6570
    },
    {
      "action_loss": 0.018374474719166756,
      "epoch": 5.908273381294964,
      "step": 6570
    },
    {
      "epoch": 5.908273381294964,
      "step": 6570,
      "torque_loss": 0.16930489242076874
    },
    {
      "epoch": 5.91726618705036,
      "grad_norm": 0.45154890418052673,
      "learning_rate": 9.903037290419309e-05,
      "loss": 0.1289,
      "step": 6580
    },
    {
      "action_loss": 0.01077913586050272,
      "epoch": 5.91726618705036,
      "step": 6580
    },
    {
      "epoch": 5.91726618705036,
      "step": 6580,
      "torque_loss": 0.1432366818189621
    },
    {
      "epoch": 5.926258992805756,
      "grad_norm": 0.6035374402999878,
      "learning_rate": 9.902496461386439e-05,
      "loss": 0.1253,
      "step": 6590
    },
    {
      "action_loss": 0.010621778666973114,
      "epoch": 5.926258992805756,
      "step": 6590
    },
    {
      "epoch": 5.926258992805756,
      "step": 6590,
      "torque_loss": 0.17748777568340302
    },
    {
      "epoch": 5.935251798561151,
      "grad_norm": 0.7617992758750916,
      "learning_rate": 9.901954143104588e-05,
      "loss": 0.1255,
      "step": 6600
    },
    {
      "action_loss": 0.011792276985943317,
      "epoch": 5.935251798561151,
      "step": 6600
    },
    {
      "epoch": 5.935251798561151,
      "step": 6600,
      "torque_loss": 0.1717759370803833
    },
    {
      "epoch": 5.944244604316546,
      "grad_norm": 0.5329558253288269,
      "learning_rate": 9.901410335738496e-05,
      "loss": 0.1107,
      "step": 6610
    },
    {
      "action_loss": 0.023324916139245033,
      "epoch": 5.944244604316546,
      "step": 6610
    },
    {
      "epoch": 5.944244604316546,
      "step": 6610,
      "torque_loss": 0.23085828125476837
    },
    {
      "epoch": 5.953237410071942,
      "grad_norm": 0.6099438071250916,
      "learning_rate": 9.900865039453358e-05,
      "loss": 0.1357,
      "step": 6620
    },
    {
      "action_loss": 0.010387777350842953,
      "epoch": 5.953237410071942,
      "step": 6620
    },
    {
      "epoch": 5.953237410071942,
      "step": 6620,
      "torque_loss": 0.17261017858982086
    },
    {
      "epoch": 5.962230215827338,
      "grad_norm": 0.494281142950058,
      "learning_rate": 9.900318254414821e-05,
      "loss": 0.1315,
      "step": 6630
    },
    {
      "action_loss": 0.02977617084980011,
      "epoch": 5.962230215827338,
      "step": 6630
    },
    {
      "epoch": 5.962230215827338,
      "step": 6630,
      "torque_loss": 0.24680566787719727
    },
    {
      "epoch": 5.971223021582734,
      "grad_norm": 0.5103464126586914,
      "learning_rate": 9.899769980788985e-05,
      "loss": 0.1295,
      "step": 6640
    },
    {
      "action_loss": 0.010959174484014511,
      "epoch": 5.971223021582734,
      "step": 6640
    },
    {
      "epoch": 5.971223021582734,
      "step": 6640,
      "torque_loss": 0.13393443822860718
    },
    {
      "epoch": 5.98021582733813,
      "grad_norm": 0.5276363492012024,
      "learning_rate": 9.899220218742398e-05,
      "loss": 0.1189,
      "step": 6650
    },
    {
      "action_loss": 0.010261159390211105,
      "epoch": 5.98021582733813,
      "step": 6650
    },
    {
      "epoch": 5.98021582733813,
      "step": 6650,
      "torque_loss": 0.16217941045761108
    },
    {
      "epoch": 5.989208633093525,
      "grad_norm": 0.607358992099762,
      "learning_rate": 9.898668968442066e-05,
      "loss": 0.1589,
      "step": 6660
    },
    {
      "action_loss": 0.025243153795599937,
      "epoch": 5.989208633093525,
      "step": 6660
    },
    {
      "epoch": 5.989208633093525,
      "step": 6660,
      "torque_loss": 0.22340263426303864
    },
    {
      "epoch": 5.998201438848921,
      "grad_norm": 0.7807033658027649,
      "learning_rate": 9.898116230055443e-05,
      "loss": 0.1331,
      "step": 6670
    },
    {
      "action_loss": 0.021006939932703972,
      "epoch": 5.998201438848921,
      "step": 6670
    },
    {
      "epoch": 5.998201438848921,
      "step": 6670,
      "torque_loss": 0.21579430997371674
    },
    {
      "epoch": 6.0071942446043165,
      "grad_norm": 0.7072218060493469,
      "learning_rate": 9.897562003750437e-05,
      "loss": 0.1291,
      "step": 6680
    },
    {
      "action_loss": 0.017358265817165375,
      "epoch": 6.0071942446043165,
      "step": 6680
    },
    {
      "epoch": 6.0071942446043165,
      "step": 6680,
      "torque_loss": 0.1687830239534378
    },
    {
      "epoch": 6.016187050359712,
      "grad_norm": 0.4368653893470764,
      "learning_rate": 9.897006289695407e-05,
      "loss": 0.1322,
      "step": 6690
    },
    {
      "action_loss": 0.030406737700104713,
      "epoch": 6.016187050359712,
      "step": 6690
    },
    {
      "epoch": 6.016187050359712,
      "step": 6690,
      "torque_loss": 0.22919882833957672
    },
    {
      "epoch": 6.025179856115108,
      "grad_norm": 0.5325899124145508,
      "learning_rate": 9.896449088059164e-05,
      "loss": 0.1521,
      "step": 6700
    },
    {
      "action_loss": 0.012899558991193771,
      "epoch": 6.025179856115108,
      "step": 6700
    },
    {
      "epoch": 6.025179856115108,
      "step": 6700,
      "torque_loss": 0.158796489238739
    },
    {
      "epoch": 6.034172661870503,
      "grad_norm": 0.4698043465614319,
      "learning_rate": 9.89589039901097e-05,
      "loss": 0.141,
      "step": 6710
    },
    {
      "action_loss": 0.013239274732768536,
      "epoch": 6.034172661870503,
      "step": 6710
    },
    {
      "epoch": 6.034172661870503,
      "step": 6710,
      "torque_loss": 0.1629478484392166
    },
    {
      "epoch": 6.043165467625899,
      "grad_norm": 0.5453435182571411,
      "learning_rate": 9.895330222720542e-05,
      "loss": 0.1284,
      "step": 6720
    },
    {
      "action_loss": 0.01877593994140625,
      "epoch": 6.043165467625899,
      "step": 6720
    },
    {
      "epoch": 6.043165467625899,
      "step": 6720,
      "torque_loss": 0.16894201934337616
    },
    {
      "epoch": 6.052158273381295,
      "grad_norm": 0.3586134910583496,
      "learning_rate": 9.894768559358047e-05,
      "loss": 0.157,
      "step": 6730
    },
    {
      "action_loss": 0.06417828053236008,
      "epoch": 6.052158273381295,
      "step": 6730
    },
    {
      "epoch": 6.052158273381295,
      "step": 6730,
      "torque_loss": 0.21290524303913116
    },
    {
      "epoch": 6.061151079136691,
      "grad_norm": 0.5188984274864197,
      "learning_rate": 9.894205409094101e-05,
      "loss": 0.1463,
      "step": 6740
    },
    {
      "action_loss": 0.03032868541777134,
      "epoch": 6.061151079136691,
      "step": 6740
    },
    {
      "epoch": 6.061151079136691,
      "step": 6740,
      "torque_loss": 0.2890433967113495
    },
    {
      "epoch": 6.070143884892087,
      "grad_norm": 0.611182689666748,
      "learning_rate": 9.893640772099777e-05,
      "loss": 0.125,
      "step": 6750
    },
    {
      "action_loss": 0.016491210088133812,
      "epoch": 6.070143884892087,
      "step": 6750
    },
    {
      "epoch": 6.070143884892087,
      "step": 6750,
      "torque_loss": 0.1883302927017212
    },
    {
      "epoch": 6.079136690647482,
      "grad_norm": 0.5243465304374695,
      "learning_rate": 9.893074648546595e-05,
      "loss": 0.1492,
      "step": 6760
    },
    {
      "action_loss": 0.02925245463848114,
      "epoch": 6.079136690647482,
      "step": 6760
    },
    {
      "epoch": 6.079136690647482,
      "step": 6760,
      "torque_loss": 0.20984280109405518
    },
    {
      "epoch": 6.088129496402877,
      "grad_norm": 0.5027456879615784,
      "learning_rate": 9.892507038606528e-05,
      "loss": 0.1421,
      "step": 6770
    },
    {
      "action_loss": 0.016264529898762703,
      "epoch": 6.088129496402877,
      "step": 6770
    },
    {
      "epoch": 6.088129496402877,
      "step": 6770,
      "torque_loss": 0.2536693811416626
    },
    {
      "epoch": 6.097122302158273,
      "grad_norm": 0.5248166918754578,
      "learning_rate": 9.891937942452003e-05,
      "loss": 0.1297,
      "step": 6780
    },
    {
      "action_loss": 0.011080104857683182,
      "epoch": 6.097122302158273,
      "step": 6780
    },
    {
      "epoch": 6.097122302158273,
      "step": 6780,
      "torque_loss": 0.2528373897075653
    },
    {
      "epoch": 6.106115107913669,
      "grad_norm": 0.4438765048980713,
      "learning_rate": 9.891367360255895e-05,
      "loss": 0.1291,
      "step": 6790
    },
    {
      "action_loss": 0.0375971756875515,
      "epoch": 6.106115107913669,
      "step": 6790
    },
    {
      "epoch": 6.106115107913669,
      "step": 6790,
      "torque_loss": 0.2747572958469391
    },
    {
      "epoch": 6.115107913669065,
      "grad_norm": 0.552991509437561,
      "learning_rate": 9.890795292191532e-05,
      "loss": 0.1606,
      "step": 6800
    },
    {
      "action_loss": 0.019379638135433197,
      "epoch": 6.115107913669065,
      "step": 6800
    },
    {
      "epoch": 6.115107913669065,
      "step": 6800,
      "torque_loss": 0.15614376962184906
    },
    {
      "epoch": 6.124100719424461,
      "grad_norm": 0.468839168548584,
      "learning_rate": 9.890221738432694e-05,
      "loss": 0.134,
      "step": 6810
    },
    {
      "action_loss": 0.014003965072333813,
      "epoch": 6.124100719424461,
      "step": 6810
    },
    {
      "epoch": 6.124100719424461,
      "step": 6810,
      "torque_loss": 0.1983504742383957
    },
    {
      "epoch": 6.133093525179856,
      "grad_norm": 0.42331600189208984,
      "learning_rate": 9.88964669915361e-05,
      "loss": 0.1279,
      "step": 6820
    },
    {
      "action_loss": 0.020038379356265068,
      "epoch": 6.133093525179856,
      "step": 6820
    },
    {
      "epoch": 6.133093525179856,
      "step": 6820,
      "torque_loss": 0.19073696434497833
    },
    {
      "epoch": 6.142086330935252,
      "grad_norm": 0.6574915051460266,
      "learning_rate": 9.889070174528963e-05,
      "loss": 0.1489,
      "step": 6830
    },
    {
      "action_loss": 0.014303489588201046,
      "epoch": 6.142086330935252,
      "step": 6830
    },
    {
      "epoch": 6.142086330935252,
      "step": 6830,
      "torque_loss": 0.17403078079223633
    },
    {
      "epoch": 6.151079136690647,
      "grad_norm": 0.5453472137451172,
      "learning_rate": 9.888492164733883e-05,
      "loss": 0.1277,
      "step": 6840
    },
    {
      "action_loss": 0.013868586160242558,
      "epoch": 6.151079136690647,
      "step": 6840
    },
    {
      "epoch": 6.151079136690647,
      "step": 6840,
      "torque_loss": 0.17677254974842072
    },
    {
      "epoch": 6.160071942446043,
      "grad_norm": 0.48788416385650635,
      "learning_rate": 9.88791266994396e-05,
      "loss": 0.1295,
      "step": 6850
    },
    {
      "action_loss": 0.01192426960915327,
      "epoch": 6.160071942446043,
      "step": 6850
    },
    {
      "epoch": 6.160071942446043,
      "step": 6850,
      "torque_loss": 0.14504440128803253
    },
    {
      "epoch": 6.169064748201439,
      "grad_norm": 0.4950529932975769,
      "learning_rate": 9.887331690335223e-05,
      "loss": 0.121,
      "step": 6860
    },
    {
      "action_loss": 0.02239970862865448,
      "epoch": 6.169064748201439,
      "step": 6860
    },
    {
      "epoch": 6.169064748201439,
      "step": 6860,
      "torque_loss": 0.27124491333961487
    },
    {
      "epoch": 6.178057553956835,
      "grad_norm": 0.5096455812454224,
      "learning_rate": 9.886749226084163e-05,
      "loss": 0.1225,
      "step": 6870
    },
    {
      "action_loss": 0.011669143103063107,
      "epoch": 6.178057553956835,
      "step": 6870
    },
    {
      "epoch": 6.178057553956835,
      "step": 6870,
      "torque_loss": 0.1369217336177826
    },
    {
      "epoch": 6.18705035971223,
      "grad_norm": 0.6057453155517578,
      "learning_rate": 9.886165277367714e-05,
      "loss": 0.1452,
      "step": 6880
    },
    {
      "action_loss": 0.022491440176963806,
      "epoch": 6.18705035971223,
      "step": 6880
    },
    {
      "epoch": 6.18705035971223,
      "step": 6880,
      "torque_loss": 0.1402449607849121
    },
    {
      "epoch": 6.196043165467626,
      "grad_norm": 0.47069185972213745,
      "learning_rate": 9.885579844363265e-05,
      "loss": 0.1217,
      "step": 6890
    },
    {
      "action_loss": 0.015501863323152065,
      "epoch": 6.196043165467626,
      "step": 6890
    },
    {
      "epoch": 6.196043165467626,
      "step": 6890,
      "torque_loss": 0.21059846878051758
    },
    {
      "epoch": 6.205035971223022,
      "grad_norm": 0.44601109623908997,
      "learning_rate": 9.884992927248656e-05,
      "loss": 0.1217,
      "step": 6900
    },
    {
      "action_loss": 0.007339660543948412,
      "epoch": 6.205035971223022,
      "step": 6900
    },
    {
      "epoch": 6.205035971223022,
      "step": 6900,
      "torque_loss": 0.1330493837594986
    },
    {
      "epoch": 6.2140287769784175,
      "grad_norm": 0.5231848359107971,
      "learning_rate": 9.884404526202178e-05,
      "loss": 0.1308,
      "step": 6910
    },
    {
      "action_loss": 0.020772747695446014,
      "epoch": 6.2140287769784175,
      "step": 6910
    },
    {
      "epoch": 6.2140287769784175,
      "step": 6910,
      "torque_loss": 0.2364349365234375
    },
    {
      "epoch": 6.223021582733813,
      "grad_norm": 0.4249134659767151,
      "learning_rate": 9.883814641402568e-05,
      "loss": 0.145,
      "step": 6920
    },
    {
      "action_loss": 0.014840682037174702,
      "epoch": 6.223021582733813,
      "step": 6920
    },
    {
      "epoch": 6.223021582733813,
      "step": 6920,
      "torque_loss": 0.13466106355190277
    },
    {
      "epoch": 6.232014388489208,
      "grad_norm": 0.5313286185264587,
      "learning_rate": 9.88322327302902e-05,
      "loss": 0.1199,
      "step": 6930
    },
    {
      "action_loss": 0.01581881009042263,
      "epoch": 6.232014388489208,
      "step": 6930
    },
    {
      "epoch": 6.232014388489208,
      "step": 6930,
      "torque_loss": 0.1301898956298828
    },
    {
      "epoch": 6.241007194244604,
      "grad_norm": 0.5017443895339966,
      "learning_rate": 9.882630421261176e-05,
      "loss": 0.1157,
      "step": 6940
    },
    {
      "action_loss": 0.009893429465591908,
      "epoch": 6.241007194244604,
      "step": 6940
    },
    {
      "epoch": 6.241007194244604,
      "step": 6940,
      "torque_loss": 0.16905276477336884
    },
    {
      "epoch": 6.25,
      "grad_norm": 0.5750678181648254,
      "learning_rate": 9.88203608627913e-05,
      "loss": 0.1267,
      "step": 6950
    },
    {
      "action_loss": 0.018552618101239204,
      "epoch": 6.25,
      "step": 6950
    },
    {
      "epoch": 6.25,
      "step": 6950,
      "torque_loss": 0.1566590815782547
    },
    {
      "epoch": 6.258992805755396,
      "grad_norm": 0.48383793234825134,
      "learning_rate": 9.881440268263422e-05,
      "loss": 0.1376,
      "step": 6960
    },
    {
      "action_loss": 0.010782641358673573,
      "epoch": 6.258992805755396,
      "step": 6960
    },
    {
      "epoch": 6.258992805755396,
      "step": 6960,
      "torque_loss": 0.09312129765748978
    },
    {
      "epoch": 6.267985611510792,
      "grad_norm": 0.49816271662712097,
      "learning_rate": 9.880842967395048e-05,
      "loss": 0.1282,
      "step": 6970
    },
    {
      "action_loss": 0.013085521757602692,
      "epoch": 6.267985611510792,
      "step": 6970
    },
    {
      "epoch": 6.267985611510792,
      "step": 6970,
      "torque_loss": 0.1651206761598587
    },
    {
      "epoch": 6.276978417266187,
      "grad_norm": 0.49774080514907837,
      "learning_rate": 9.880244183855452e-05,
      "loss": 0.1294,
      "step": 6980
    },
    {
      "action_loss": 0.015142402611672878,
      "epoch": 6.276978417266187,
      "step": 6980
    },
    {
      "epoch": 6.276978417266187,
      "step": 6980,
      "torque_loss": 0.22068889439105988
    },
    {
      "epoch": 6.2859712230215825,
      "grad_norm": 0.8211982846260071,
      "learning_rate": 9.879643917826527e-05,
      "loss": 0.1623,
      "step": 6990
    },
    {
      "action_loss": 0.035020917654037476,
      "epoch": 6.2859712230215825,
      "step": 6990
    },
    {
      "epoch": 6.2859712230215825,
      "step": 6990,
      "torque_loss": 0.2530559003353119
    },
    {
      "epoch": 6.294964028776978,
      "grad_norm": 0.5184189081192017,
      "learning_rate": 9.87904216949062e-05,
      "loss": 0.1393,
      "step": 7000
    },
    {
      "action_loss": 0.01928875595331192,
      "epoch": 6.294964028776978,
      "step": 7000
    },
    {
      "epoch": 6.294964028776978,
      "step": 7000,
      "torque_loss": 0.2204713374376297
    },
    {
      "epoch": 6.303956834532374,
      "grad_norm": 0.6239527463912964,
      "learning_rate": 9.878438939030526e-05,
      "loss": 0.151,
      "step": 7010
    },
    {
      "action_loss": 0.018945490941405296,
      "epoch": 6.303956834532374,
      "step": 7010
    },
    {
      "epoch": 6.303956834532374,
      "step": 7010,
      "torque_loss": 0.19711287319660187
    },
    {
      "epoch": 6.31294964028777,
      "grad_norm": 0.6229615807533264,
      "learning_rate": 9.877834226629489e-05,
      "loss": 0.1317,
      "step": 7020
    },
    {
      "action_loss": 0.005822690669447184,
      "epoch": 6.31294964028777,
      "step": 7020
    },
    {
      "epoch": 6.31294964028777,
      "step": 7020,
      "torque_loss": 0.141839399933815
    },
    {
      "epoch": 6.321942446043165,
      "grad_norm": 0.49270984530448914,
      "learning_rate": 9.877228032471206e-05,
      "loss": 0.1237,
      "step": 7030
    },
    {
      "action_loss": 0.020515812560915947,
      "epoch": 6.321942446043165,
      "step": 7030
    },
    {
      "epoch": 6.321942446043165,
      "step": 7030,
      "torque_loss": 0.19136019051074982
    },
    {
      "epoch": 6.330935251798561,
      "grad_norm": 0.31469276547431946,
      "learning_rate": 9.876620356739823e-05,
      "loss": 0.1219,
      "step": 7040
    },
    {
      "action_loss": 0.017836349084973335,
      "epoch": 6.330935251798561,
      "step": 7040
    },
    {
      "epoch": 6.330935251798561,
      "step": 7040,
      "torque_loss": 0.19780278205871582
    },
    {
      "epoch": 6.339928057553957,
      "grad_norm": 0.6137352585792542,
      "learning_rate": 9.876011199619935e-05,
      "loss": 0.123,
      "step": 7050
    },
    {
      "action_loss": 0.004797155037522316,
      "epoch": 6.339928057553957,
      "step": 7050
    },
    {
      "epoch": 6.339928057553957,
      "step": 7050,
      "torque_loss": 0.08126512914896011
    },
    {
      "epoch": 6.348920863309353,
      "grad_norm": 0.4362714886665344,
      "learning_rate": 9.875400561296589e-05,
      "loss": 0.1279,
      "step": 7060
    },
    {
      "action_loss": 0.01647365652024746,
      "epoch": 6.348920863309353,
      "step": 7060
    },
    {
      "epoch": 6.348920863309353,
      "step": 7060,
      "torque_loss": 0.204476997256279
    },
    {
      "epoch": 6.357913669064748,
      "grad_norm": 0.4284490644931793,
      "learning_rate": 9.874788441955278e-05,
      "loss": 0.1352,
      "step": 7070
    },
    {
      "action_loss": 0.011893530376255512,
      "epoch": 6.357913669064748,
      "step": 7070
    },
    {
      "epoch": 6.357913669064748,
      "step": 7070,
      "torque_loss": 0.13365910947322845
    },
    {
      "epoch": 6.366906474820144,
      "grad_norm": 0.4819446802139282,
      "learning_rate": 9.874174841781951e-05,
      "loss": 0.1461,
      "step": 7080
    },
    {
      "action_loss": 0.02895781397819519,
      "epoch": 6.366906474820144,
      "step": 7080
    },
    {
      "epoch": 6.366906474820144,
      "step": 7080,
      "torque_loss": 0.23287774622440338
    },
    {
      "epoch": 6.375899280575539,
      "grad_norm": 0.6260504126548767,
      "learning_rate": 9.873559760963003e-05,
      "loss": 0.1358,
      "step": 7090
    },
    {
      "action_loss": 0.026063168421387672,
      "epoch": 6.375899280575539,
      "step": 7090
    },
    {
      "epoch": 6.375899280575539,
      "step": 7090,
      "torque_loss": 0.17907555401325226
    },
    {
      "epoch": 6.384892086330935,
      "grad_norm": 0.589446485042572,
      "learning_rate": 9.872943199685278e-05,
      "loss": 0.129,
      "step": 7100
    },
    {
      "action_loss": 0.02155614085495472,
      "epoch": 6.384892086330935,
      "step": 7100
    },
    {
      "epoch": 6.384892086330935,
      "step": 7100,
      "torque_loss": 0.22990405559539795
    },
    {
      "epoch": 6.393884892086331,
      "grad_norm": 0.5256199240684509,
      "learning_rate": 9.872325158136071e-05,
      "loss": 0.1469,
      "step": 7110
    },
    {
      "action_loss": 0.009468899108469486,
      "epoch": 6.393884892086331,
      "step": 7110
    },
    {
      "epoch": 6.393884892086331,
      "step": 7110,
      "torque_loss": 0.1340576410293579
    },
    {
      "epoch": 6.402877697841727,
      "grad_norm": 0.6006612777709961,
      "learning_rate": 9.871705636503128e-05,
      "loss": 0.1334,
      "step": 7120
    },
    {
      "action_loss": 0.020253121852874756,
      "epoch": 6.402877697841727,
      "step": 7120
    },
    {
      "epoch": 6.402877697841727,
      "step": 7120,
      "torque_loss": 0.16795210540294647
    },
    {
      "epoch": 6.411870503597123,
      "grad_norm": 0.719935417175293,
      "learning_rate": 9.871084634974641e-05,
      "loss": 0.1385,
      "step": 7130
    },
    {
      "action_loss": 0.028610000386834145,
      "epoch": 6.411870503597123,
      "step": 7130
    },
    {
      "epoch": 6.411870503597123,
      "step": 7130,
      "torque_loss": 0.28119537234306335
    },
    {
      "epoch": 6.420863309352518,
      "grad_norm": 0.8488429188728333,
      "learning_rate": 9.870462153739257e-05,
      "loss": 0.156,
      "step": 7140
    },
    {
      "action_loss": 0.012149647809565067,
      "epoch": 6.420863309352518,
      "step": 7140
    },
    {
      "epoch": 6.420863309352518,
      "step": 7140,
      "torque_loss": 0.17656737565994263
    },
    {
      "epoch": 6.429856115107913,
      "grad_norm": 0.4457622468471527,
      "learning_rate": 9.869838192986067e-05,
      "loss": 0.1298,
      "step": 7150
    },
    {
      "action_loss": 0.011051966808736324,
      "epoch": 6.429856115107913,
      "step": 7150
    },
    {
      "epoch": 6.429856115107913,
      "step": 7150,
      "torque_loss": 0.16398723423480988
    },
    {
      "epoch": 6.438848920863309,
      "grad_norm": 0.6592724919319153,
      "learning_rate": 9.869212752904616e-05,
      "loss": 0.1424,
      "step": 7160
    },
    {
      "action_loss": 0.016201278194785118,
      "epoch": 6.438848920863309,
      "step": 7160
    },
    {
      "epoch": 6.438848920863309,
      "step": 7160,
      "torque_loss": 0.21290616691112518
    },
    {
      "epoch": 6.447841726618705,
      "grad_norm": 0.5303897261619568,
      "learning_rate": 9.868585833684894e-05,
      "loss": 0.1301,
      "step": 7170
    },
    {
      "action_loss": 0.01682237721979618,
      "epoch": 6.447841726618705,
      "step": 7170
    },
    {
      "epoch": 6.447841726618705,
      "step": 7170,
      "torque_loss": 0.10459347814321518
    },
    {
      "epoch": 6.456834532374101,
      "grad_norm": 0.4261557161808014,
      "learning_rate": 9.867957435517342e-05,
      "loss": 0.1292,
      "step": 7180
    },
    {
      "action_loss": 0.019317107275128365,
      "epoch": 6.456834532374101,
      "step": 7180
    },
    {
      "epoch": 6.456834532374101,
      "step": 7180,
      "torque_loss": 0.1639845222234726
    },
    {
      "epoch": 6.465827338129497,
      "grad_norm": 0.4588714838027954,
      "learning_rate": 9.867327558592854e-05,
      "loss": 0.1367,
      "step": 7190
    },
    {
      "action_loss": 0.013941660523414612,
      "epoch": 6.465827338129497,
      "step": 7190
    },
    {
      "epoch": 6.465827338129497,
      "step": 7190,
      "torque_loss": 0.12886081635951996
    },
    {
      "epoch": 6.474820143884892,
      "grad_norm": 0.4840279817581177,
      "learning_rate": 9.866696203102766e-05,
      "loss": 0.1405,
      "step": 7200
    },
    {
      "action_loss": 0.01027427427470684,
      "epoch": 6.474820143884892,
      "step": 7200
    },
    {
      "epoch": 6.474820143884892,
      "step": 7200,
      "torque_loss": 0.12506087124347687
    },
    {
      "epoch": 6.483812949640288,
      "grad_norm": 0.5582743287086487,
      "learning_rate": 9.86606336923887e-05,
      "loss": 0.1254,
      "step": 7210
    },
    {
      "action_loss": 0.011683876626193523,
      "epoch": 6.483812949640288,
      "step": 7210
    },
    {
      "epoch": 6.483812949640288,
      "step": 7210,
      "torque_loss": 0.1546328216791153
    },
    {
      "epoch": 6.4928057553956835,
      "grad_norm": 0.5572634339332581,
      "learning_rate": 9.865429057193403e-05,
      "loss": 0.1321,
      "step": 7220
    },
    {
      "action_loss": 0.03493089973926544,
      "epoch": 6.4928057553956835,
      "step": 7220
    },
    {
      "epoch": 6.4928057553956835,
      "step": 7220,
      "torque_loss": 0.21432511508464813
    },
    {
      "epoch": 6.501798561151079,
      "grad_norm": 0.6388423442840576,
      "learning_rate": 9.864793267159053e-05,
      "loss": 0.1315,
      "step": 7230
    },
    {
      "action_loss": 0.009366370737552643,
      "epoch": 6.501798561151079,
      "step": 7230
    },
    {
      "epoch": 6.501798561151079,
      "step": 7230,
      "torque_loss": 0.13317525386810303
    },
    {
      "epoch": 6.510791366906475,
      "grad_norm": 0.42183148860931396,
      "learning_rate": 9.864155999328957e-05,
      "loss": 0.1241,
      "step": 7240
    },
    {
      "action_loss": 0.008611700497567654,
      "epoch": 6.510791366906475,
      "step": 7240
    },
    {
      "epoch": 6.510791366906475,
      "step": 7240,
      "torque_loss": 0.15196886658668518
    },
    {
      "epoch": 6.51978417266187,
      "grad_norm": 0.583014726638794,
      "learning_rate": 9.8635172538967e-05,
      "loss": 0.1353,
      "step": 7250
    },
    {
      "action_loss": 0.023413831368088722,
      "epoch": 6.51978417266187,
      "step": 7250
    },
    {
      "epoch": 6.51978417266187,
      "step": 7250,
      "torque_loss": 0.15770076215267181
    },
    {
      "epoch": 6.528776978417266,
      "grad_norm": 0.3902617394924164,
      "learning_rate": 9.862877031056312e-05,
      "loss": 0.1271,
      "step": 7260
    },
    {
      "action_loss": 0.007882400415837765,
      "epoch": 6.528776978417266,
      "step": 7260
    },
    {
      "epoch": 6.528776978417266,
      "step": 7260,
      "torque_loss": 0.136775404214859
    },
    {
      "epoch": 6.537769784172662,
      "grad_norm": 0.4746233820915222,
      "learning_rate": 9.862235331002279e-05,
      "loss": 0.1433,
      "step": 7270
    },
    {
      "action_loss": 0.018964892253279686,
      "epoch": 6.537769784172662,
      "step": 7270
    },
    {
      "epoch": 6.537769784172662,
      "step": 7270,
      "torque_loss": 0.16460323333740234
    },
    {
      "epoch": 6.546762589928058,
      "grad_norm": 0.5689901113510132,
      "learning_rate": 9.861592153929533e-05,
      "loss": 0.1354,
      "step": 7280
    },
    {
      "action_loss": 0.01079903170466423,
      "epoch": 6.546762589928058,
      "step": 7280
    },
    {
      "epoch": 6.546762589928058,
      "step": 7280,
      "torque_loss": 0.09026835113763809
    },
    {
      "epoch": 6.555755395683454,
      "grad_norm": 0.5723434686660767,
      "learning_rate": 9.860947500033455e-05,
      "loss": 0.1159,
      "step": 7290
    },
    {
      "action_loss": 0.04919368028640747,
      "epoch": 6.555755395683454,
      "step": 7290
    },
    {
      "epoch": 6.555755395683454,
      "step": 7290,
      "torque_loss": 0.21033744513988495
    },
    {
      "epoch": 6.564748201438849,
      "grad_norm": 0.4833504557609558,
      "learning_rate": 9.86030136950987e-05,
      "loss": 0.1371,
      "step": 7300
    },
    {
      "action_loss": 0.013666502200067043,
      "epoch": 6.564748201438849,
      "step": 7300
    },
    {
      "epoch": 6.564748201438849,
      "step": 7300,
      "torque_loss": 0.16001008450984955
    },
    {
      "epoch": 6.573741007194244,
      "grad_norm": 0.4688897132873535,
      "learning_rate": 9.85965376255506e-05,
      "loss": 0.118,
      "step": 7310
    },
    {
      "action_loss": 0.011797520332038403,
      "epoch": 6.573741007194244,
      "step": 7310
    },
    {
      "epoch": 6.573741007194244,
      "step": 7310,
      "torque_loss": 0.16395753622055054
    },
    {
      "epoch": 6.58273381294964,
      "grad_norm": 0.5053675770759583,
      "learning_rate": 9.859004679365747e-05,
      "loss": 0.1177,
      "step": 7320
    },
    {
      "action_loss": 0.017963046208024025,
      "epoch": 6.58273381294964,
      "step": 7320
    },
    {
      "epoch": 6.58273381294964,
      "step": 7320,
      "torque_loss": 0.2286285012960434
    },
    {
      "epoch": 6.591726618705036,
      "grad_norm": 0.4577694237232208,
      "learning_rate": 9.858354120139108e-05,
      "loss": 0.1303,
      "step": 7330
    },
    {
      "action_loss": 0.020713087171316147,
      "epoch": 6.591726618705036,
      "step": 7330
    },
    {
      "epoch": 6.591726618705036,
      "step": 7330,
      "torque_loss": 0.2597671449184418
    },
    {
      "epoch": 6.600719424460432,
      "grad_norm": 0.6117475032806396,
      "learning_rate": 9.857702085072764e-05,
      "loss": 0.1306,
      "step": 7340
    },
    {
      "action_loss": 0.012313214130699635,
      "epoch": 6.600719424460432,
      "step": 7340
    },
    {
      "epoch": 6.600719424460432,
      "step": 7340,
      "torque_loss": 0.18457789719104767
    },
    {
      "epoch": 6.609712230215827,
      "grad_norm": 0.47476130723953247,
      "learning_rate": 9.857048574364787e-05,
      "loss": 0.1358,
      "step": 7350
    },
    {
      "action_loss": 0.009821786545217037,
      "epoch": 6.609712230215827,
      "step": 7350
    },
    {
      "epoch": 6.609712230215827,
      "step": 7350,
      "torque_loss": 0.14045122265815735
    },
    {
      "epoch": 6.618705035971223,
      "grad_norm": 0.6021174788475037,
      "learning_rate": 9.856393588213698e-05,
      "loss": 0.1336,
      "step": 7360
    },
    {
      "action_loss": 0.016008691862225533,
      "epoch": 6.618705035971223,
      "step": 7360
    },
    {
      "epoch": 6.618705035971223,
      "step": 7360,
      "torque_loss": 0.2502686083316803
    },
    {
      "epoch": 6.627697841726619,
      "grad_norm": 0.3490820825099945,
      "learning_rate": 9.855737126818458e-05,
      "loss": 0.1407,
      "step": 7370
    },
    {
      "action_loss": 0.011812195181846619,
      "epoch": 6.627697841726619,
      "step": 7370
    },
    {
      "epoch": 6.627697841726619,
      "step": 7370,
      "torque_loss": 0.1308145523071289
    },
    {
      "epoch": 6.636690647482014,
      "grad_norm": 0.4691697061061859,
      "learning_rate": 9.855079190378491e-05,
      "loss": 0.1421,
      "step": 7380
    },
    {
      "action_loss": 0.024934565648436546,
      "epoch": 6.636690647482014,
      "step": 7380
    },
    {
      "epoch": 6.636690647482014,
      "step": 7380,
      "torque_loss": 0.18195241689682007
    },
    {
      "epoch": 6.64568345323741,
      "grad_norm": 0.4612026810646057,
      "learning_rate": 9.854419779093655e-05,
      "loss": 0.1287,
      "step": 7390
    },
    {
      "action_loss": 0.018369270488619804,
      "epoch": 6.64568345323741,
      "step": 7390
    },
    {
      "epoch": 6.64568345323741,
      "step": 7390,
      "torque_loss": 0.1462731808423996
    },
    {
      "epoch": 6.654676258992806,
      "grad_norm": 0.534422755241394,
      "learning_rate": 9.853758893164264e-05,
      "loss": 0.1297,
      "step": 7400
    },
    {
      "action_loss": 0.013210180215537548,
      "epoch": 6.654676258992806,
      "step": 7400
    },
    {
      "epoch": 6.654676258992806,
      "step": 7400,
      "torque_loss": 0.13040977716445923
    },
    {
      "epoch": 6.663669064748201,
      "grad_norm": 0.49519893527030945,
      "learning_rate": 9.853096532791078e-05,
      "loss": 0.1227,
      "step": 7410
    },
    {
      "action_loss": 0.016162816435098648,
      "epoch": 6.663669064748201,
      "step": 7410
    },
    {
      "epoch": 6.663669064748201,
      "step": 7410,
      "torque_loss": 0.19201882183551788
    },
    {
      "epoch": 6.672661870503597,
      "grad_norm": 0.6436981558799744,
      "learning_rate": 9.852432698175304e-05,
      "loss": 0.1373,
      "step": 7420
    },
    {
      "action_loss": 0.014552711509168148,
      "epoch": 6.672661870503597,
      "step": 7420
    },
    {
      "epoch": 6.672661870503597,
      "step": 7420,
      "torque_loss": 0.14851857721805573
    },
    {
      "epoch": 6.681654676258993,
      "grad_norm": 0.5544201135635376,
      "learning_rate": 9.851767389518597e-05,
      "loss": 0.1431,
      "step": 7430
    },
    {
      "action_loss": 0.012077376246452332,
      "epoch": 6.681654676258993,
      "step": 7430
    },
    {
      "epoch": 6.681654676258993,
      "step": 7430,
      "torque_loss": 0.16721034049987793
    },
    {
      "epoch": 6.690647482014389,
      "grad_norm": 0.6473069787025452,
      "learning_rate": 9.85110060702306e-05,
      "loss": 0.1278,
      "step": 7440
    },
    {
      "action_loss": 0.008131624199450016,
      "epoch": 6.690647482014389,
      "step": 7440
    },
    {
      "epoch": 6.690647482014389,
      "step": 7440,
      "torque_loss": 0.12619581818580627
    },
    {
      "epoch": 6.6996402877697845,
      "grad_norm": 0.4321233034133911,
      "learning_rate": 9.850432350891245e-05,
      "loss": 0.119,
      "step": 7450
    },
    {
      "action_loss": 0.01448801625519991,
      "epoch": 6.6996402877697845,
      "step": 7450
    },
    {
      "epoch": 6.6996402877697845,
      "step": 7450,
      "torque_loss": 0.15228687226772308
    },
    {
      "epoch": 6.7086330935251794,
      "grad_norm": 0.5478025078773499,
      "learning_rate": 9.84976262132615e-05,
      "loss": 0.1224,
      "step": 7460
    },
    {
      "action_loss": 0.010106951929628849,
      "epoch": 6.7086330935251794,
      "step": 7460
    },
    {
      "epoch": 6.7086330935251794,
      "step": 7460,
      "torque_loss": 0.16480731964111328
    },
    {
      "epoch": 6.717625899280575,
      "grad_norm": 0.5932726263999939,
      "learning_rate": 9.849091418531222e-05,
      "loss": 0.129,
      "step": 7470
    },
    {
      "action_loss": 0.020502334460616112,
      "epoch": 6.717625899280575,
      "step": 7470
    },
    {
      "epoch": 6.717625899280575,
      "step": 7470,
      "torque_loss": 0.21006911993026733
    },
    {
      "epoch": 6.726618705035971,
      "grad_norm": 0.6282484531402588,
      "learning_rate": 9.848418742710353e-05,
      "loss": 0.1296,
      "step": 7480
    },
    {
      "action_loss": 0.009796182624995708,
      "epoch": 6.726618705035971,
      "step": 7480
    },
    {
      "epoch": 6.726618705035971,
      "step": 7480,
      "torque_loss": 0.131507009267807
    },
    {
      "epoch": 6.735611510791367,
      "grad_norm": 0.5970615148544312,
      "learning_rate": 9.847744594067885e-05,
      "loss": 0.1268,
      "step": 7490
    },
    {
      "action_loss": 0.019233427941799164,
      "epoch": 6.735611510791367,
      "step": 7490
    },
    {
      "epoch": 6.735611510791367,
      "step": 7490,
      "torque_loss": 0.16233742237091064
    },
    {
      "epoch": 6.744604316546763,
      "grad_norm": 0.4514527916908264,
      "learning_rate": 9.847068972808607e-05,
      "loss": 0.1326,
      "step": 7500
    },
    {
      "action_loss": 0.010349535383284092,
      "epoch": 6.744604316546763,
      "step": 7500
    },
    {
      "epoch": 6.744604316546763,
      "step": 7500,
      "torque_loss": 0.17022450268268585
    },
    {
      "epoch": 6.753597122302159,
      "grad_norm": 0.5431055426597595,
      "learning_rate": 9.846391879137756e-05,
      "loss": 0.1183,
      "step": 7510
    },
    {
      "action_loss": 0.011597511358559132,
      "epoch": 6.753597122302159,
      "step": 7510
    },
    {
      "epoch": 6.753597122302159,
      "step": 7510,
      "torque_loss": 0.1667826920747757
    },
    {
      "epoch": 6.762589928057554,
      "grad_norm": 0.38842251896858215,
      "learning_rate": 9.845713313261012e-05,
      "loss": 0.1283,
      "step": 7520
    },
    {
      "action_loss": 0.017845168709754944,
      "epoch": 6.762589928057554,
      "step": 7520
    },
    {
      "epoch": 6.762589928057554,
      "step": 7520,
      "torque_loss": 0.19281132519245148
    },
    {
      "epoch": 6.7715827338129495,
      "grad_norm": 0.5211015343666077,
      "learning_rate": 9.845033275384505e-05,
      "loss": 0.1535,
      "step": 7530
    },
    {
      "action_loss": 0.009760488756000996,
      "epoch": 6.7715827338129495,
      "step": 7530
    },
    {
      "epoch": 6.7715827338129495,
      "step": 7530,
      "torque_loss": 0.12222877889871597
    },
    {
      "epoch": 6.780575539568345,
      "grad_norm": 0.6835273504257202,
      "learning_rate": 9.844351765714818e-05,
      "loss": 0.1261,
      "step": 7540
    },
    {
      "action_loss": 0.024145126342773438,
      "epoch": 6.780575539568345,
      "step": 7540
    },
    {
      "epoch": 6.780575539568345,
      "step": 7540,
      "torque_loss": 0.2593745291233063
    },
    {
      "epoch": 6.789568345323741,
      "grad_norm": 0.561438262462616,
      "learning_rate": 9.843668784458971e-05,
      "loss": 0.1417,
      "step": 7550
    },
    {
      "action_loss": 0.008156786672770977,
      "epoch": 6.789568345323741,
      "step": 7550
    },
    {
      "epoch": 6.789568345323741,
      "step": 7550,
      "torque_loss": 0.15898247063159943
    },
    {
      "epoch": 6.798561151079137,
      "grad_norm": 0.5355768799781799,
      "learning_rate": 9.842984331824437e-05,
      "loss": 0.1254,
      "step": 7560
    },
    {
      "action_loss": 0.014936176128685474,
      "epoch": 6.798561151079137,
      "step": 7560
    },
    {
      "epoch": 6.798561151079137,
      "step": 7560,
      "torque_loss": 0.1805974841117859
    },
    {
      "epoch": 6.807553956834532,
      "grad_norm": 0.4801589846611023,
      "learning_rate": 9.842298408019133e-05,
      "loss": 0.1058,
      "step": 7570
    },
    {
      "action_loss": 0.019861290231347084,
      "epoch": 6.807553956834532,
      "step": 7570
    },
    {
      "epoch": 6.807553956834532,
      "step": 7570,
      "torque_loss": 0.20131666958332062
    },
    {
      "epoch": 6.816546762589928,
      "grad_norm": 0.43517670035362244,
      "learning_rate": 9.841611013251429e-05,
      "loss": 0.1386,
      "step": 7580
    },
    {
      "action_loss": 0.011176243424415588,
      "epoch": 6.816546762589928,
      "step": 7580
    },
    {
      "epoch": 6.816546762589928,
      "step": 7580,
      "torque_loss": 0.2152065485715866
    },
    {
      "epoch": 6.825539568345324,
      "grad_norm": 0.5461550354957581,
      "learning_rate": 9.840922147730133e-05,
      "loss": 0.1306,
      "step": 7590
    },
    {
      "action_loss": 0.02146032452583313,
      "epoch": 6.825539568345324,
      "step": 7590
    },
    {
      "epoch": 6.825539568345324,
      "step": 7590,
      "torque_loss": 0.24785394966602325
    },
    {
      "epoch": 6.83453237410072,
      "grad_norm": 0.47458750009536743,
      "learning_rate": 9.840231811664506e-05,
      "loss": 0.1348,
      "step": 7600
    },
    {
      "action_loss": 0.010415187105536461,
      "epoch": 6.83453237410072,
      "step": 7600
    },
    {
      "epoch": 6.83453237410072,
      "step": 7600,
      "torque_loss": 0.18352758884429932
    },
    {
      "epoch": 6.843525179856115,
      "grad_norm": 0.4778413772583008,
      "learning_rate": 9.839540005264252e-05,
      "loss": 0.1276,
      "step": 7610
    },
    {
      "action_loss": 0.011416471563279629,
      "epoch": 6.843525179856115,
      "step": 7610
    },
    {
      "epoch": 6.843525179856115,
      "step": 7610,
      "torque_loss": 0.1547328680753708
    },
    {
      "epoch": 6.852517985611511,
      "grad_norm": 0.4928676187992096,
      "learning_rate": 9.838846728739527e-05,
      "loss": 0.115,
      "step": 7620
    },
    {
      "action_loss": 0.006913152989000082,
      "epoch": 6.852517985611511,
      "step": 7620
    },
    {
      "epoch": 6.852517985611511,
      "step": 7620,
      "torque_loss": 0.12112357467412949
    },
    {
      "epoch": 6.861510791366906,
      "grad_norm": 0.5133723616600037,
      "learning_rate": 9.838151982300927e-05,
      "loss": 0.1509,
      "step": 7630
    },
    {
      "action_loss": 0.01631067879498005,
      "epoch": 6.861510791366906,
      "step": 7630
    },
    {
      "epoch": 6.861510791366906,
      "step": 7630,
      "torque_loss": 0.2573308050632477
    },
    {
      "epoch": 6.870503597122302,
      "grad_norm": 0.8805178999900818,
      "learning_rate": 9.8374557661595e-05,
      "loss": 0.1202,
      "step": 7640
    },
    {
      "action_loss": 0.02616722323000431,
      "epoch": 6.870503597122302,
      "step": 7640
    },
    {
      "epoch": 6.870503597122302,
      "step": 7640,
      "torque_loss": 0.25774767994880676
    },
    {
      "epoch": 6.879496402877698,
      "grad_norm": 0.45935991406440735,
      "learning_rate": 9.836758080526735e-05,
      "loss": 0.1513,
      "step": 7650
    },
    {
      "action_loss": 0.020315786823630333,
      "epoch": 6.879496402877698,
      "step": 7650
    },
    {
      "epoch": 6.879496402877698,
      "step": 7650,
      "torque_loss": 0.22506965696811676
    },
    {
      "epoch": 6.888489208633094,
      "grad_norm": 0.5348014831542969,
      "learning_rate": 9.836058925614575e-05,
      "loss": 0.1214,
      "step": 7660
    },
    {
      "action_loss": 0.008786645717918873,
      "epoch": 6.888489208633094,
      "step": 7660
    },
    {
      "epoch": 6.888489208633094,
      "step": 7660,
      "torque_loss": 0.15587422251701355
    },
    {
      "epoch": 6.897482014388489,
      "grad_norm": 0.43298330903053284,
      "learning_rate": 9.8353583016354e-05,
      "loss": 0.1249,
      "step": 7670
    },
    {
      "action_loss": 0.017447935417294502,
      "epoch": 6.897482014388489,
      "step": 7670
    },
    {
      "epoch": 6.897482014388489,
      "step": 7670,
      "torque_loss": 0.2386215478181839
    },
    {
      "epoch": 6.906474820143885,
      "grad_norm": 0.502255916595459,
      "learning_rate": 9.834656208802044e-05,
      "loss": 0.1329,
      "step": 7680
    },
    {
      "action_loss": 0.01877833716571331,
      "epoch": 6.906474820143885,
      "step": 7680
    },
    {
      "epoch": 6.906474820143885,
      "step": 7680,
      "torque_loss": 0.1953829973936081
    },
    {
      "epoch": 6.91546762589928,
      "grad_norm": 0.5233989357948303,
      "learning_rate": 9.833952647327784e-05,
      "loss": 0.1342,
      "step": 7690
    },
    {
      "action_loss": 0.008184658363461494,
      "epoch": 6.91546762589928,
      "step": 7690
    },
    {
      "epoch": 6.91546762589928,
      "step": 7690,
      "torque_loss": 0.12337478250265121
    },
    {
      "epoch": 6.924460431654676,
      "grad_norm": 0.464336633682251,
      "learning_rate": 9.833247617426342e-05,
      "loss": 0.1167,
      "step": 7700
    },
    {
      "action_loss": 0.009869935922324657,
      "epoch": 6.924460431654676,
      "step": 7700
    },
    {
      "epoch": 6.924460431654676,
      "step": 7700,
      "torque_loss": 0.15056614577770233
    },
    {
      "epoch": 6.933453237410072,
      "grad_norm": 0.534161388874054,
      "learning_rate": 9.832541119311889e-05,
      "loss": 0.1219,
      "step": 7710
    },
    {
      "action_loss": 0.028191963210701942,
      "epoch": 6.933453237410072,
      "step": 7710
    },
    {
      "epoch": 6.933453237410072,
      "step": 7710,
      "torque_loss": 0.25465014576911926
    },
    {
      "epoch": 6.942446043165468,
      "grad_norm": 0.5290017127990723,
      "learning_rate": 9.83183315319904e-05,
      "loss": 0.1394,
      "step": 7720
    },
    {
      "action_loss": 0.039206262677907944,
      "epoch": 6.942446043165468,
      "step": 7720
    },
    {
      "epoch": 6.942446043165468,
      "step": 7720,
      "torque_loss": 0.2538861334323883
    },
    {
      "epoch": 6.951438848920863,
      "grad_norm": 0.5696597695350647,
      "learning_rate": 9.831123719302855e-05,
      "loss": 0.1401,
      "step": 7730
    },
    {
      "action_loss": 0.013157927431166172,
      "epoch": 6.951438848920863,
      "step": 7730
    },
    {
      "epoch": 6.951438848920863,
      "step": 7730,
      "torque_loss": 0.1455109715461731
    },
    {
      "epoch": 6.960431654676259,
      "grad_norm": 0.7254674434661865,
      "learning_rate": 9.830412817838842e-05,
      "loss": 0.124,
      "step": 7740
    },
    {
      "action_loss": 0.026387033984065056,
      "epoch": 6.960431654676259,
      "step": 7740
    },
    {
      "epoch": 6.960431654676259,
      "step": 7740,
      "torque_loss": 0.206592857837677
    },
    {
      "epoch": 6.969424460431655,
      "grad_norm": 0.6177034974098206,
      "learning_rate": 9.829700449022956e-05,
      "loss": 0.1302,
      "step": 7750
    },
    {
      "action_loss": 0.032828379422426224,
      "epoch": 6.969424460431655,
      "step": 7750
    },
    {
      "epoch": 6.969424460431655,
      "step": 7750,
      "torque_loss": 0.23726487159729004
    },
    {
      "epoch": 6.9784172661870505,
      "grad_norm": 0.592140257358551,
      "learning_rate": 9.828986613071593e-05,
      "loss": 0.1249,
      "step": 7760
    },
    {
      "action_loss": 0.008199618197977543,
      "epoch": 6.9784172661870505,
      "step": 7760
    },
    {
      "epoch": 6.9784172661870505,
      "step": 7760,
      "torque_loss": 0.15350492298603058
    },
    {
      "epoch": 6.987410071942446,
      "grad_norm": 0.3964797258377075,
      "learning_rate": 9.828271310201601e-05,
      "loss": 0.1242,
      "step": 7770
    },
    {
      "action_loss": 0.007822681218385696,
      "epoch": 6.987410071942446,
      "step": 7770
    },
    {
      "epoch": 6.987410071942446,
      "step": 7770,
      "torque_loss": 0.18475012481212616
    },
    {
      "epoch": 6.996402877697841,
      "grad_norm": 0.679054319858551,
      "learning_rate": 9.827554540630268e-05,
      "loss": 0.1249,
      "step": 7780
    },
    {
      "action_loss": 0.02545514702796936,
      "epoch": 6.996402877697841,
      "step": 7780
    },
    {
      "epoch": 6.996402877697841,
      "step": 7780,
      "torque_loss": 0.28034940361976624
    },
    {
      "epoch": 7.005395683453237,
      "grad_norm": 0.4811067283153534,
      "learning_rate": 9.826836304575329e-05,
      "loss": 0.1559,
      "step": 7790
    },
    {
      "action_loss": 0.01835801638662815,
      "epoch": 7.005395683453237,
      "step": 7790
    },
    {
      "epoch": 7.005395683453237,
      "step": 7790,
      "torque_loss": 0.22255432605743408
    },
    {
      "epoch": 7.014388489208633,
      "grad_norm": 0.5271545052528381,
      "learning_rate": 9.826116602254966e-05,
      "loss": 0.1201,
      "step": 7800
    },
    {
      "action_loss": 0.01801934838294983,
      "epoch": 7.014388489208633,
      "step": 7800
    },
    {
      "epoch": 7.014388489208633,
      "step": 7800,
      "torque_loss": 0.2681841552257538
    },
    {
      "epoch": 7.023381294964029,
      "grad_norm": 0.3736742436885834,
      "learning_rate": 9.825395433887805e-05,
      "loss": 0.141,
      "step": 7810
    },
    {
      "action_loss": 0.013634989969432354,
      "epoch": 7.023381294964029,
      "step": 7810
    },
    {
      "epoch": 7.023381294964029,
      "step": 7810,
      "torque_loss": 0.18754731118679047
    },
    {
      "epoch": 7.032374100719425,
      "grad_norm": 0.5110796093940735,
      "learning_rate": 9.824672799692917e-05,
      "loss": 0.132,
      "step": 7820
    },
    {
      "action_loss": 0.012774703092873096,
      "epoch": 7.032374100719425,
      "step": 7820
    },
    {
      "epoch": 7.032374100719425,
      "step": 7820,
      "torque_loss": 0.17373324930667877
    },
    {
      "epoch": 7.0413669064748206,
      "grad_norm": 0.4417451322078705,
      "learning_rate": 9.823948699889823e-05,
      "loss": 0.1372,
      "step": 7830
    },
    {
      "action_loss": 0.012947794049978256,
      "epoch": 7.0413669064748206,
      "step": 7830
    },
    {
      "epoch": 7.0413669064748206,
      "step": 7830,
      "torque_loss": 0.1101313903927803
    },
    {
      "epoch": 7.0503597122302155,
      "grad_norm": 0.46324780583381653,
      "learning_rate": 9.823223134698483e-05,
      "loss": 0.122,
      "step": 7840
    },
    {
      "action_loss": 0.024414516985416412,
      "epoch": 7.0503597122302155,
      "step": 7840
    },
    {
      "epoch": 7.0503597122302155,
      "step": 7840,
      "torque_loss": 0.24531178176403046
    },
    {
      "epoch": 7.059352517985611,
      "grad_norm": 0.33867284655570984,
      "learning_rate": 9.822496104339303e-05,
      "loss": 0.1319,
      "step": 7850
    },
    {
      "action_loss": 0.014089641161262989,
      "epoch": 7.059352517985611,
      "step": 7850
    },
    {
      "epoch": 7.059352517985611,
      "step": 7850,
      "torque_loss": 0.17183156311511993
    },
    {
      "epoch": 7.068345323741007,
      "grad_norm": 0.6038378477096558,
      "learning_rate": 9.821767609033138e-05,
      "loss": 0.1322,
      "step": 7860
    },
    {
      "action_loss": 0.01213113497942686,
      "epoch": 7.068345323741007,
      "step": 7860
    },
    {
      "epoch": 7.068345323741007,
      "step": 7860,
      "torque_loss": 0.20271359384059906
    },
    {
      "epoch": 7.077338129496403,
      "grad_norm": 0.5215276479721069,
      "learning_rate": 9.821037649001284e-05,
      "loss": 0.135,
      "step": 7870
    },
    {
      "action_loss": 0.031092731282114983,
      "epoch": 7.077338129496403,
      "step": 7870
    },
    {
      "epoch": 7.077338129496403,
      "step": 7870,
      "torque_loss": 0.2689630389213562
    },
    {
      "epoch": 7.086330935251799,
      "grad_norm": 0.5377815365791321,
      "learning_rate": 9.820306224465486e-05,
      "loss": 0.1375,
      "step": 7880
    },
    {
      "action_loss": 0.008258363232016563,
      "epoch": 7.086330935251799,
      "step": 7880
    },
    {
      "epoch": 7.086330935251799,
      "step": 7880,
      "torque_loss": 0.10946919769048691
    },
    {
      "epoch": 7.095323741007194,
      "grad_norm": 0.4278516173362732,
      "learning_rate": 9.819573335647928e-05,
      "loss": 0.1251,
      "step": 7890
    },
    {
      "action_loss": 0.0071639493107795715,
      "epoch": 7.095323741007194,
      "step": 7890
    },
    {
      "epoch": 7.095323741007194,
      "step": 7890,
      "torque_loss": 0.13728365302085876
    },
    {
      "epoch": 7.10431654676259,
      "grad_norm": 0.35318711400032043,
      "learning_rate": 9.818838982771246e-05,
      "loss": 0.148,
      "step": 7900
    },
    {
      "action_loss": 0.008354694582521915,
      "epoch": 7.10431654676259,
      "step": 7900
    },
    {
      "epoch": 7.10431654676259,
      "step": 7900,
      "torque_loss": 0.21476125717163086
    },
    {
      "epoch": 7.113309352517986,
      "grad_norm": 0.5466328263282776,
      "learning_rate": 9.818103166058514e-05,
      "loss": 0.1342,
      "step": 7910
    },
    {
      "action_loss": 0.02578691951930523,
      "epoch": 7.113309352517986,
      "step": 7910
    },
    {
      "epoch": 7.113309352517986,
      "step": 7910,
      "torque_loss": 0.24299192428588867
    },
    {
      "epoch": 7.122302158273381,
      "grad_norm": 0.5533431768417358,
      "learning_rate": 9.817365885733254e-05,
      "loss": 0.1345,
      "step": 7920
    },
    {
      "action_loss": 0.011179403401911259,
      "epoch": 7.122302158273381,
      "step": 7920
    },
    {
      "epoch": 7.122302158273381,
      "step": 7920,
      "torque_loss": 0.17737846076488495
    },
    {
      "epoch": 7.131294964028777,
      "grad_norm": 0.5208855271339417,
      "learning_rate": 9.816627142019434e-05,
      "loss": 0.1264,
      "step": 7930
    },
    {
      "action_loss": 0.013655642978847027,
      "epoch": 7.131294964028777,
      "step": 7930
    },
    {
      "epoch": 7.131294964028777,
      "step": 7930,
      "torque_loss": 0.271430641412735
    },
    {
      "epoch": 7.140287769784172,
      "grad_norm": 0.46772921085357666,
      "learning_rate": 9.815886935141463e-05,
      "loss": 0.1492,
      "step": 7940
    },
    {
      "action_loss": 0.014166408218443394,
      "epoch": 7.140287769784172,
      "step": 7940
    },
    {
      "epoch": 7.140287769784172,
      "step": 7940,
      "torque_loss": 0.17782074213027954
    },
    {
      "epoch": 7.149280575539568,
      "grad_norm": 0.46522256731987,
      "learning_rate": 9.8151452653242e-05,
      "loss": 0.1237,
      "step": 7950
    },
    {
      "action_loss": 0.013634120114147663,
      "epoch": 7.149280575539568,
      "step": 7950
    },
    {
      "epoch": 7.149280575539568,
      "step": 7950,
      "torque_loss": 0.16126008331775665
    },
    {
      "epoch": 7.158273381294964,
      "grad_norm": 0.5392661690711975,
      "learning_rate": 9.814402132792939e-05,
      "loss": 0.1292,
      "step": 7960
    },
    {
      "action_loss": 0.03066641092300415,
      "epoch": 7.158273381294964,
      "step": 7960
    },
    {
      "epoch": 7.158273381294964,
      "step": 7960,
      "torque_loss": 0.19422554969787598
    },
    {
      "epoch": 7.16726618705036,
      "grad_norm": 0.419284462928772,
      "learning_rate": 9.813657537773428e-05,
      "loss": 0.1275,
      "step": 7970
    },
    {
      "action_loss": 0.009606080129742622,
      "epoch": 7.16726618705036,
      "step": 7970
    },
    {
      "epoch": 7.16726618705036,
      "step": 7970,
      "torque_loss": 0.12898629903793335
    },
    {
      "epoch": 7.176258992805756,
      "grad_norm": 0.44632062315940857,
      "learning_rate": 9.812911480491854e-05,
      "loss": 0.1165,
      "step": 7980
    },
    {
      "action_loss": 0.015307359397411346,
      "epoch": 7.176258992805756,
      "step": 7980
    },
    {
      "epoch": 7.176258992805756,
      "step": 7980,
      "torque_loss": 0.1707616001367569
    },
    {
      "epoch": 7.1852517985611515,
      "grad_norm": 0.5069199800491333,
      "learning_rate": 9.81216396117485e-05,
      "loss": 0.1379,
      "step": 7990
    },
    {
      "action_loss": 0.02205611951649189,
      "epoch": 7.1852517985611515,
      "step": 7990
    },
    {
      "epoch": 7.1852517985611515,
      "step": 7990,
      "torque_loss": 0.2385188192129135
    },
    {
      "epoch": 7.194244604316546,
      "grad_norm": 0.45145779848098755,
      "learning_rate": 9.811414980049491e-05,
      "loss": 0.1284,
      "step": 8000
    },
    {
      "action_loss": 0.029218042269349098,
      "epoch": 7.194244604316546,
      "step": 8000
    },
    {
      "epoch": 7.194244604316546,
      "step": 8000,
      "torque_loss": 0.2430303543806076
    },
    {
      "epoch": 7.203237410071942,
      "grad_norm": 0.5294502973556519,
      "learning_rate": 9.810664537343301e-05,
      "loss": 0.1255,
      "step": 8010
    },
    {
      "action_loss": 0.020094437524676323,
      "epoch": 7.203237410071942,
      "step": 8010
    },
    {
      "epoch": 7.203237410071942,
      "step": 8010,
      "torque_loss": 0.21394318342208862
    },
    {
      "epoch": 7.212230215827338,
      "grad_norm": 0.42837318778038025,
      "learning_rate": 9.809912633284243e-05,
      "loss": 0.1274,
      "step": 8020
    },
    {
      "action_loss": 0.009415646083652973,
      "epoch": 7.212230215827338,
      "step": 8020
    },
    {
      "epoch": 7.212230215827338,
      "step": 8020,
      "torque_loss": 0.1736125946044922
    },
    {
      "epoch": 7.221223021582734,
      "grad_norm": 0.514460027217865,
      "learning_rate": 9.809159268100725e-05,
      "loss": 0.122,
      "step": 8030
    },
    {
      "action_loss": 0.011503874324262142,
      "epoch": 7.221223021582734,
      "step": 8030
    },
    {
      "epoch": 7.221223021582734,
      "step": 8030,
      "torque_loss": 0.171620175242424
    },
    {
      "epoch": 7.23021582733813,
      "grad_norm": 0.38285645842552185,
      "learning_rate": 9.808404442021599e-05,
      "loss": 0.1297,
      "step": 8040
    },
    {
      "action_loss": 0.01682380586862564,
      "epoch": 7.23021582733813,
      "step": 8040
    },
    {
      "epoch": 7.23021582733813,
      "step": 8040,
      "torque_loss": 0.19129042327404022
    },
    {
      "epoch": 7.239208633093525,
      "grad_norm": 0.4512690603733063,
      "learning_rate": 9.807648155276163e-05,
      "loss": 0.1332,
      "step": 8050
    },
    {
      "action_loss": 0.028663218021392822,
      "epoch": 7.239208633093525,
      "step": 8050
    },
    {
      "epoch": 7.239208633093525,
      "step": 8050,
      "torque_loss": 0.20488502085208893
    },
    {
      "epoch": 7.248201438848921,
      "grad_norm": 0.4574315547943115,
      "learning_rate": 9.806890408094156e-05,
      "loss": 0.1324,
      "step": 8060
    },
    {
      "action_loss": 0.009677162393927574,
      "epoch": 7.248201438848921,
      "step": 8060
    },
    {
      "epoch": 7.248201438848921,
      "step": 8060,
      "torque_loss": 0.17265570163726807
    },
    {
      "epoch": 7.2571942446043165,
      "grad_norm": 0.47681814432144165,
      "learning_rate": 9.806131200705761e-05,
      "loss": 0.1228,
      "step": 8070
    },
    {
      "action_loss": 0.016324400901794434,
      "epoch": 7.2571942446043165,
      "step": 8070
    },
    {
      "epoch": 7.2571942446043165,
      "step": 8070,
      "torque_loss": 0.22875522077083588
    },
    {
      "epoch": 7.266187050359712,
      "grad_norm": 0.41090354323387146,
      "learning_rate": 9.805370533341605e-05,
      "loss": 0.1329,
      "step": 8080
    },
    {
      "action_loss": 0.016688494011759758,
      "epoch": 7.266187050359712,
      "step": 8080
    },
    {
      "epoch": 7.266187050359712,
      "step": 8080,
      "torque_loss": 0.22781126201152802
    },
    {
      "epoch": 7.275179856115108,
      "grad_norm": 0.37701892852783203,
      "learning_rate": 9.804608406232762e-05,
      "loss": 0.1177,
      "step": 8090
    },
    {
      "action_loss": 0.015987807884812355,
      "epoch": 7.275179856115108,
      "step": 8090
    },
    {
      "epoch": 7.275179856115108,
      "step": 8090,
      "torque_loss": 0.20025987923145294
    },
    {
      "epoch": 7.284172661870503,
      "grad_norm": 0.534715473651886,
      "learning_rate": 9.803844819610741e-05,
      "loss": 0.1318,
      "step": 8100
    },
    {
      "action_loss": 0.03532217815518379,
      "epoch": 7.284172661870503,
      "step": 8100
    },
    {
      "epoch": 7.284172661870503,
      "step": 8100,
      "torque_loss": 0.2862694561481476
    },
    {
      "epoch": 7.293165467625899,
      "grad_norm": 0.47590771317481995,
      "learning_rate": 9.803079773707504e-05,
      "loss": 0.1262,
      "step": 8110
    },
    {
      "action_loss": 0.015476390719413757,
      "epoch": 7.293165467625899,
      "step": 8110
    },
    {
      "epoch": 7.293165467625899,
      "step": 8110,
      "torque_loss": 0.27780136466026306
    },
    {
      "epoch": 7.302158273381295,
      "grad_norm": 0.5117525458335876,
      "learning_rate": 9.802313268755447e-05,
      "loss": 0.1518,
      "step": 8120
    },
    {
      "action_loss": 0.021830864250659943,
      "epoch": 7.302158273381295,
      "step": 8120
    },
    {
      "epoch": 7.302158273381295,
      "step": 8120,
      "torque_loss": 0.2170936018228531
    },
    {
      "epoch": 7.311151079136691,
      "grad_norm": 0.5229195952415466,
      "learning_rate": 9.801545304987419e-05,
      "loss": 0.137,
      "step": 8130
    },
    {
      "action_loss": 0.027498861774802208,
      "epoch": 7.311151079136691,
      "step": 8130
    },
    {
      "epoch": 7.311151079136691,
      "step": 8130,
      "torque_loss": 0.22548894584178925
    },
    {
      "epoch": 7.320143884892087,
      "grad_norm": 0.3562336266040802,
      "learning_rate": 9.800775882636704e-05,
      "loss": 0.1284,
      "step": 8140
    },
    {
      "action_loss": 0.026813847944140434,
      "epoch": 7.320143884892087,
      "step": 8140
    },
    {
      "epoch": 7.320143884892087,
      "step": 8140,
      "torque_loss": 0.20669694244861603
    },
    {
      "epoch": 7.329136690647482,
      "grad_norm": 0.3849460184574127,
      "learning_rate": 9.800005001937034e-05,
      "loss": 0.1179,
      "step": 8150
    },
    {
      "action_loss": 0.026478150859475136,
      "epoch": 7.329136690647482,
      "step": 8150
    },
    {
      "epoch": 7.329136690647482,
      "step": 8150,
      "torque_loss": 0.1835613250732422
    },
    {
      "epoch": 7.338129496402877,
      "grad_norm": 0.45471319556236267,
      "learning_rate": 9.79923266312258e-05,
      "loss": 0.1254,
      "step": 8160
    },
    {
      "action_loss": 0.026585916057229042,
      "epoch": 7.338129496402877,
      "step": 8160
    },
    {
      "epoch": 7.338129496402877,
      "step": 8160,
      "torque_loss": 0.1627868413925171
    },
    {
      "epoch": 7.347122302158273,
      "grad_norm": 0.41202235221862793,
      "learning_rate": 9.79845886642796e-05,
      "loss": 0.1238,
      "step": 8170
    },
    {
      "action_loss": 0.008480846881866455,
      "epoch": 7.347122302158273,
      "step": 8170
    },
    {
      "epoch": 7.347122302158273,
      "step": 8170,
      "torque_loss": 0.18745370209217072
    },
    {
      "epoch": 7.356115107913669,
      "grad_norm": 0.447020560503006,
      "learning_rate": 9.797683612088233e-05,
      "loss": 0.1198,
      "step": 8180
    },
    {
      "action_loss": 0.019362663850188255,
      "epoch": 7.356115107913669,
      "step": 8180
    },
    {
      "epoch": 7.356115107913669,
      "step": 8180,
      "torque_loss": 0.16178320348262787
    },
    {
      "epoch": 7.365107913669065,
      "grad_norm": 0.35116180777549744,
      "learning_rate": 9.796906900338898e-05,
      "loss": 0.1348,
      "step": 8190
    },
    {
      "action_loss": 0.013063580729067326,
      "epoch": 7.365107913669065,
      "step": 8190
    },
    {
      "epoch": 7.365107913669065,
      "step": 8190,
      "torque_loss": 0.19291476905345917
    },
    {
      "epoch": 7.374100719424461,
      "grad_norm": 0.5568772554397583,
      "learning_rate": 9.796128731415903e-05,
      "loss": 0.1443,
      "step": 8200
    },
    {
      "action_loss": 0.011339542455971241,
      "epoch": 7.374100719424461,
      "step": 8200
    },
    {
      "epoch": 7.374100719424461,
      "step": 8200,
      "torque_loss": 0.18447645008563995
    },
    {
      "epoch": 7.383093525179856,
      "grad_norm": 0.5435598492622375,
      "learning_rate": 9.795349105555634e-05,
      "loss": 0.1269,
      "step": 8210
    },
    {
      "action_loss": 0.01808335818350315,
      "epoch": 7.383093525179856,
      "step": 8210
    },
    {
      "epoch": 7.383093525179856,
      "step": 8210,
      "torque_loss": 0.15693648159503937
    },
    {
      "epoch": 7.392086330935252,
      "grad_norm": 0.5087056756019592,
      "learning_rate": 9.794568022994922e-05,
      "loss": 0.1357,
      "step": 8220
    },
    {
      "action_loss": 0.012843060307204723,
      "epoch": 7.392086330935252,
      "step": 8220
    },
    {
      "epoch": 7.392086330935252,
      "step": 8220,
      "torque_loss": 0.18942968547344208
    },
    {
      "epoch": 7.401079136690647,
      "grad_norm": 0.5740323662757874,
      "learning_rate": 9.793785483971034e-05,
      "loss": 0.1169,
      "step": 8230
    },
    {
      "action_loss": 0.010233073495328426,
      "epoch": 7.401079136690647,
      "step": 8230
    },
    {
      "epoch": 7.401079136690647,
      "step": 8230,
      "torque_loss": 0.1619015336036682
    },
    {
      "epoch": 7.410071942446043,
      "grad_norm": 0.39029058814048767,
      "learning_rate": 9.793001488721691e-05,
      "loss": 0.1389,
      "step": 8240
    },
    {
      "action_loss": 0.017934253439307213,
      "epoch": 7.410071942446043,
      "step": 8240
    },
    {
      "epoch": 7.410071942446043,
      "step": 8240,
      "torque_loss": 0.16206450760364532
    },
    {
      "epoch": 7.419064748201439,
      "grad_norm": 0.5188407897949219,
      "learning_rate": 9.792216037485047e-05,
      "loss": 0.1268,
      "step": 8250
    },
    {
      "action_loss": 0.019661476835608482,
      "epoch": 7.419064748201439,
      "step": 8250
    },
    {
      "epoch": 7.419064748201439,
      "step": 8250,
      "torque_loss": 0.25594887137413025
    },
    {
      "epoch": 7.428057553956835,
      "grad_norm": 0.4383695125579834,
      "learning_rate": 9.791429130499704e-05,
      "loss": 0.136,
      "step": 8260
    },
    {
      "action_loss": 0.021037571132183075,
      "epoch": 7.428057553956835,
      "step": 8260
    },
    {
      "epoch": 7.428057553956835,
      "step": 8260,
      "torque_loss": 0.2464589923620224
    },
    {
      "epoch": 7.43705035971223,
      "grad_norm": 0.519355058670044,
      "learning_rate": 9.790640768004698e-05,
      "loss": 0.1278,
      "step": 8270
    },
    {
      "action_loss": 0.01937875896692276,
      "epoch": 7.43705035971223,
      "step": 8270
    },
    {
      "epoch": 7.43705035971223,
      "step": 8270,
      "torque_loss": 0.16722293198108673
    },
    {
      "epoch": 7.446043165467626,
      "grad_norm": 0.543757975101471,
      "learning_rate": 9.789850950239518e-05,
      "loss": 0.1438,
      "step": 8280
    },
    {
      "action_loss": 0.020343219861388206,
      "epoch": 7.446043165467626,
      "step": 8280
    },
    {
      "epoch": 7.446043165467626,
      "step": 8280,
      "torque_loss": 0.2287444919347763
    },
    {
      "epoch": 7.455035971223022,
      "grad_norm": 0.5331960916519165,
      "learning_rate": 9.789059677444089e-05,
      "loss": 0.1328,
      "step": 8290
    },
    {
      "action_loss": 0.009542682208120823,
      "epoch": 7.455035971223022,
      "step": 8290
    },
    {
      "epoch": 7.455035971223022,
      "step": 8290,
      "torque_loss": 0.17521162331104279
    },
    {
      "epoch": 7.4640287769784175,
      "grad_norm": 0.3991667926311493,
      "learning_rate": 9.788266949858776e-05,
      "loss": 0.109,
      "step": 8300
    },
    {
      "action_loss": 0.006766708102077246,
      "epoch": 7.4640287769784175,
      "step": 8300
    },
    {
      "epoch": 7.4640287769784175,
      "step": 8300,
      "torque_loss": 0.1670873761177063
    },
    {
      "epoch": 7.473021582733813,
      "grad_norm": 0.438070684671402,
      "learning_rate": 9.787472767724392e-05,
      "loss": 0.116,
      "step": 8310
    },
    {
      "action_loss": 0.00886692013591528,
      "epoch": 7.473021582733813,
      "step": 8310
    },
    {
      "epoch": 7.473021582733813,
      "step": 8310,
      "torque_loss": 0.096455417573452
    },
    {
      "epoch": 7.482014388489208,
      "grad_norm": 0.6069698333740234,
      "learning_rate": 9.786677131282185e-05,
      "loss": 0.1276,
      "step": 8320
    },
    {
      "action_loss": 0.01635180227458477,
      "epoch": 7.482014388489208,
      "step": 8320
    },
    {
      "epoch": 7.482014388489208,
      "step": 8320,
      "torque_loss": 0.2427472621202469
    },
    {
      "epoch": 7.491007194244604,
      "grad_norm": 0.5885980725288391,
      "learning_rate": 9.785880040773853e-05,
      "loss": 0.1378,
      "step": 8330
    },
    {
      "action_loss": 0.010760863311588764,
      "epoch": 7.491007194244604,
      "step": 8330
    },
    {
      "epoch": 7.491007194244604,
      "step": 8330,
      "torque_loss": 0.1315302699804306
    },
    {
      "epoch": 7.5,
      "grad_norm": 0.52247154712677,
      "learning_rate": 9.785081496441527e-05,
      "loss": 0.1285,
      "step": 8340
    },
    {
      "action_loss": 0.01925058476626873,
      "epoch": 7.5,
      "step": 8340
    },
    {
      "epoch": 7.5,
      "step": 8340,
      "torque_loss": 0.23232907056808472
    },
    {
      "epoch": 7.508992805755396,
      "grad_norm": 0.581160306930542,
      "learning_rate": 9.784281498527785e-05,
      "loss": 0.1375,
      "step": 8350
    },
    {
      "action_loss": 0.01381192822009325,
      "epoch": 7.508992805755396,
      "step": 8350
    },
    {
      "epoch": 7.508992805755396,
      "step": 8350,
      "torque_loss": 0.16293232142925262
    },
    {
      "epoch": 7.517985611510792,
      "grad_norm": 0.4569307267665863,
      "learning_rate": 9.783480047275646e-05,
      "loss": 0.1404,
      "step": 8360
    },
    {
      "action_loss": 0.014746233820915222,
      "epoch": 7.517985611510792,
      "step": 8360
    },
    {
      "epoch": 7.517985611510792,
      "step": 8360,
      "torque_loss": 0.19093012809753418
    },
    {
      "epoch": 7.5269784172661875,
      "grad_norm": 0.502368688583374,
      "learning_rate": 9.78267714292857e-05,
      "loss": 0.1334,
      "step": 8370
    },
    {
      "action_loss": 0.008024840615689754,
      "epoch": 7.5269784172661875,
      "step": 8370
    },
    {
      "epoch": 7.5269784172661875,
      "step": 8370,
      "torque_loss": 0.11564627289772034
    },
    {
      "epoch": 7.5359712230215825,
      "grad_norm": 0.496195524930954,
      "learning_rate": 9.781872785730454e-05,
      "loss": 0.1278,
      "step": 8380
    },
    {
      "action_loss": 0.02058827131986618,
      "epoch": 7.5359712230215825,
      "step": 8380
    },
    {
      "epoch": 7.5359712230215825,
      "step": 8380,
      "torque_loss": 0.24084258079528809
    },
    {
      "epoch": 7.544964028776978,
      "grad_norm": 0.48931264877319336,
      "learning_rate": 9.781066975925646e-05,
      "loss": 0.1353,
      "step": 8390
    },
    {
      "action_loss": 0.01759384758770466,
      "epoch": 7.544964028776978,
      "step": 8390
    },
    {
      "epoch": 7.544964028776978,
      "step": 8390,
      "torque_loss": 0.21476741135120392
    },
    {
      "epoch": 7.553956834532374,
      "grad_norm": 0.4732513427734375,
      "learning_rate": 9.780259713758928e-05,
      "loss": 0.1248,
      "step": 8400
    },
    {
      "action_loss": 0.011902506463229656,
      "epoch": 7.553956834532374,
      "step": 8400
    },
    {
      "epoch": 7.553956834532374,
      "step": 8400,
      "torque_loss": 0.1355362981557846
    },
    {
      "epoch": 7.56294964028777,
      "grad_norm": 0.6066412329673767,
      "learning_rate": 9.779450999475524e-05,
      "loss": 0.1235,
      "step": 8410
    },
    {
      "action_loss": 0.014822044409811497,
      "epoch": 7.56294964028777,
      "step": 8410
    },
    {
      "epoch": 7.56294964028777,
      "step": 8410,
      "torque_loss": 0.1930159330368042
    },
    {
      "epoch": 7.571942446043165,
      "grad_norm": 0.6501162052154541,
      "learning_rate": 9.7786408333211e-05,
      "loss": 0.1198,
      "step": 8420
    },
    {
      "action_loss": 0.013729683123528957,
      "epoch": 7.571942446043165,
      "step": 8420
    },
    {
      "epoch": 7.571942446043165,
      "step": 8420,
      "torque_loss": 0.23134177923202515
    },
    {
      "epoch": 7.580935251798561,
      "grad_norm": 0.6942180395126343,
      "learning_rate": 9.777829215541764e-05,
      "loss": 0.1364,
      "step": 8430
    },
    {
      "action_loss": 0.010820134542882442,
      "epoch": 7.580935251798561,
      "step": 8430
    },
    {
      "epoch": 7.580935251798561,
      "step": 8430,
      "torque_loss": 0.16670948266983032
    },
    {
      "epoch": 7.589928057553957,
      "grad_norm": 0.3985198736190796,
      "learning_rate": 9.777016146384064e-05,
      "loss": 0.127,
      "step": 8440
    },
    {
      "action_loss": 0.04016125202178955,
      "epoch": 7.589928057553957,
      "step": 8440
    },
    {
      "epoch": 7.589928057553957,
      "step": 8440,
      "torque_loss": 0.2379484325647354
    },
    {
      "epoch": 7.598920863309353,
      "grad_norm": 0.4789911210536957,
      "learning_rate": 9.776201626094988e-05,
      "loss": 0.1141,
      "step": 8450
    },
    {
      "action_loss": 0.009574607945978642,
      "epoch": 7.598920863309353,
      "step": 8450
    },
    {
      "epoch": 7.598920863309353,
      "step": 8450,
      "torque_loss": 0.1551801711320877
    },
    {
      "epoch": 7.607913669064748,
      "grad_norm": 0.5104438066482544,
      "learning_rate": 9.775385654921965e-05,
      "loss": 0.1196,
      "step": 8460
    },
    {
      "action_loss": 0.01255288626998663,
      "epoch": 7.607913669064748,
      "step": 8460
    },
    {
      "epoch": 7.607913669064748,
      "step": 8460,
      "torque_loss": 0.20117564499378204
    },
    {
      "epoch": 7.616906474820144,
      "grad_norm": 0.38089948892593384,
      "learning_rate": 9.774568233112868e-05,
      "loss": 0.1281,
      "step": 8470
    },
    {
      "action_loss": 0.019243570044636726,
      "epoch": 7.616906474820144,
      "step": 8470
    },
    {
      "epoch": 7.616906474820144,
      "step": 8470,
      "torque_loss": 0.18782146275043488
    },
    {
      "epoch": 7.625899280575539,
      "grad_norm": 0.6269126534461975,
      "learning_rate": 9.773749360916007e-05,
      "loss": 0.1439,
      "step": 8480
    },
    {
      "action_loss": 0.018750840798020363,
      "epoch": 7.625899280575539,
      "step": 8480
    },
    {
      "epoch": 7.625899280575539,
      "step": 8480,
      "torque_loss": 0.16127048432826996
    },
    {
      "epoch": 7.634892086330935,
      "grad_norm": 0.4432384967803955,
      "learning_rate": 9.772929038580134e-05,
      "loss": 0.1341,
      "step": 8490
    },
    {
      "action_loss": 0.0241867545992136,
      "epoch": 7.634892086330935,
      "step": 8490
    },
    {
      "epoch": 7.634892086330935,
      "step": 8490,
      "torque_loss": 0.2322707176208496
    },
    {
      "epoch": 7.643884892086331,
      "grad_norm": 0.61858069896698,
      "learning_rate": 9.772107266354439e-05,
      "loss": 0.1495,
      "step": 8500
    },
    {
      "action_loss": 0.019896307960152626,
      "epoch": 7.643884892086331,
      "step": 8500
    },
    {
      "epoch": 7.643884892086331,
      "step": 8500,
      "torque_loss": 0.2112836390733719
    },
    {
      "epoch": 7.652877697841727,
      "grad_norm": 0.6006408929824829,
      "learning_rate": 9.77128404448856e-05,
      "loss": 0.1368,
      "step": 8510
    },
    {
      "action_loss": 0.019473137333989143,
      "epoch": 7.652877697841727,
      "step": 8510
    },
    {
      "epoch": 7.652877697841727,
      "step": 8510,
      "torque_loss": 0.1594061255455017
    },
    {
      "epoch": 7.661870503597123,
      "grad_norm": 0.6001814007759094,
      "learning_rate": 9.770459373232565e-05,
      "loss": 0.1076,
      "step": 8520
    },
    {
      "action_loss": 0.014276575297117233,
      "epoch": 7.661870503597123,
      "step": 8520
    },
    {
      "epoch": 7.661870503597123,
      "step": 8520,
      "torque_loss": 0.19915771484375
    },
    {
      "epoch": 7.670863309352518,
      "grad_norm": 0.504167914390564,
      "learning_rate": 9.769633252836969e-05,
      "loss": 0.131,
      "step": 8530
    },
    {
      "action_loss": 0.009696969762444496,
      "epoch": 7.670863309352518,
      "step": 8530
    },
    {
      "epoch": 7.670863309352518,
      "step": 8530,
      "torque_loss": 0.14801371097564697
    },
    {
      "epoch": 7.679856115107913,
      "grad_norm": 0.6212944388389587,
      "learning_rate": 9.768805683552724e-05,
      "loss": 0.1094,
      "step": 8540
    },
    {
      "action_loss": 0.017824223265051842,
      "epoch": 7.679856115107913,
      "step": 8540
    },
    {
      "epoch": 7.679856115107913,
      "step": 8540,
      "torque_loss": 0.1956912726163864
    },
    {
      "epoch": 7.688848920863309,
      "grad_norm": 0.510403573513031,
      "learning_rate": 9.767976665631228e-05,
      "loss": 0.1305,
      "step": 8550
    },
    {
      "action_loss": 0.005761189851909876,
      "epoch": 7.688848920863309,
      "step": 8550
    },
    {
      "epoch": 7.688848920863309,
      "step": 8550,
      "torque_loss": 0.13682235777378082
    },
    {
      "epoch": 7.697841726618705,
      "grad_norm": 0.46420323848724365,
      "learning_rate": 9.767146199324311e-05,
      "loss": 0.1251,
      "step": 8560
    },
    {
      "action_loss": 0.009354867041110992,
      "epoch": 7.697841726618705,
      "step": 8560
    },
    {
      "epoch": 7.697841726618705,
      "step": 8560,
      "torque_loss": 0.13763219118118286
    },
    {
      "epoch": 7.706834532374101,
      "grad_norm": 0.40926364064216614,
      "learning_rate": 9.766314284884249e-05,
      "loss": 0.1095,
      "step": 8570
    },
    {
      "action_loss": 0.0225040465593338,
      "epoch": 7.706834532374101,
      "step": 8570
    },
    {
      "epoch": 7.706834532374101,
      "step": 8570,
      "torque_loss": 0.2715313136577606
    },
    {
      "epoch": 7.715827338129497,
      "grad_norm": 0.4413151741027832,
      "learning_rate": 9.765480922563752e-05,
      "loss": 0.1318,
      "step": 8580
    },
    {
      "action_loss": 0.013568851165473461,
      "epoch": 7.715827338129497,
      "step": 8580
    },
    {
      "epoch": 7.715827338129497,
      "step": 8580,
      "torque_loss": 0.22352004051208496
    },
    {
      "epoch": 7.724820143884892,
      "grad_norm": 0.4308524429798126,
      "learning_rate": 9.764646112615978e-05,
      "loss": 0.1286,
      "step": 8590
    },
    {
      "action_loss": 0.02310362458229065,
      "epoch": 7.724820143884892,
      "step": 8590
    },
    {
      "epoch": 7.724820143884892,
      "step": 8590,
      "torque_loss": 0.19950789213180542
    },
    {
      "epoch": 7.733812949640288,
      "grad_norm": 0.4974185526371002,
      "learning_rate": 9.763809855294517e-05,
      "loss": 0.1242,
      "step": 8600
    },
    {
      "action_loss": 0.00893250573426485,
      "epoch": 7.733812949640288,
      "step": 8600
    },
    {
      "epoch": 7.733812949640288,
      "step": 8600,
      "torque_loss": 0.15440309047698975
    },
    {
      "epoch": 7.7428057553956835,
      "grad_norm": 0.5383493304252625,
      "learning_rate": 9.762972150853404e-05,
      "loss": 0.1154,
      "step": 8610
    },
    {
      "action_loss": 0.013286846689879894,
      "epoch": 7.7428057553956835,
      "step": 8610
    },
    {
      "epoch": 7.7428057553956835,
      "step": 8610,
      "torque_loss": 0.2079528123140335
    },
    {
      "epoch": 7.751798561151079,
      "grad_norm": 0.6772728562355042,
      "learning_rate": 9.762132999547111e-05,
      "loss": 0.1294,
      "step": 8620
    },
    {
      "action_loss": 0.01211314182728529,
      "epoch": 7.751798561151079,
      "step": 8620
    },
    {
      "epoch": 7.751798561151079,
      "step": 8620,
      "torque_loss": 0.13809029757976532
    },
    {
      "epoch": 7.760791366906475,
      "grad_norm": 0.4447677433490753,
      "learning_rate": 9.761292401630549e-05,
      "loss": 0.1198,
      "step": 8630
    },
    {
      "action_loss": 0.014621327631175518,
      "epoch": 7.760791366906475,
      "step": 8630
    },
    {
      "epoch": 7.760791366906475,
      "step": 8630,
      "torque_loss": 0.18309412896633148
    },
    {
      "epoch": 7.76978417266187,
      "grad_norm": 0.35509592294692993,
      "learning_rate": 9.76045035735907e-05,
      "loss": 0.1167,
      "step": 8640
    },
    {
      "action_loss": 0.014572039246559143,
      "epoch": 7.76978417266187,
      "step": 8640
    },
    {
      "epoch": 7.76978417266187,
      "step": 8640,
      "torque_loss": 0.1884545534849167
    },
    {
      "epoch": 7.778776978417266,
      "grad_norm": 0.3886178135871887,
      "learning_rate": 9.759606866988464e-05,
      "loss": 0.1192,
      "step": 8650
    },
    {
      "action_loss": 0.0070604439824819565,
      "epoch": 7.778776978417266,
      "step": 8650
    },
    {
      "epoch": 7.778776978417266,
      "step": 8650,
      "torque_loss": 0.15652215480804443
    },
    {
      "epoch": 7.787769784172662,
      "grad_norm": 0.45264196395874023,
      "learning_rate": 9.758761930774963e-05,
      "loss": 0.1081,
      "step": 8660
    },
    {
      "action_loss": 0.01444109808653593,
      "epoch": 7.787769784172662,
      "step": 8660
    },
    {
      "epoch": 7.787769784172662,
      "step": 8660,
      "torque_loss": 0.15931330621242523
    },
    {
      "epoch": 7.796762589928058,
      "grad_norm": 0.4253899157047272,
      "learning_rate": 9.757915548975235e-05,
      "loss": 0.1189,
      "step": 8670
    },
    {
      "action_loss": 0.021459022536873817,
      "epoch": 7.796762589928058,
      "step": 8670
    },
    {
      "epoch": 7.796762589928058,
      "step": 8670,
      "torque_loss": 0.20847196877002716
    },
    {
      "epoch": 7.805755395683454,
      "grad_norm": 0.4197235107421875,
      "learning_rate": 9.757067721846389e-05,
      "loss": 0.1285,
      "step": 8680
    },
    {
      "action_loss": 0.010928582400083542,
      "epoch": 7.805755395683454,
      "step": 8680
    },
    {
      "epoch": 7.805755395683454,
      "step": 8680,
      "torque_loss": 0.17596907913684845
    },
    {
      "epoch": 7.814748201438849,
      "grad_norm": 0.4040171205997467,
      "learning_rate": 9.756218449645971e-05,
      "loss": 0.1323,
      "step": 8690
    },
    {
      "action_loss": 0.007855945266783237,
      "epoch": 7.814748201438849,
      "step": 8690
    },
    {
      "epoch": 7.814748201438849,
      "step": 8690,
      "torque_loss": 0.2109944075345993
    },
    {
      "epoch": 7.823741007194244,
      "grad_norm": 0.45956745743751526,
      "learning_rate": 9.75536773263197e-05,
      "loss": 0.1239,
      "step": 8700
    },
    {
      "action_loss": 0.013208028860390186,
      "epoch": 7.823741007194244,
      "step": 8700
    },
    {
      "epoch": 7.823741007194244,
      "step": 8700,
      "torque_loss": 0.23710386455059052
    },
    {
      "epoch": 7.83273381294964,
      "grad_norm": 0.5709884762763977,
      "learning_rate": 9.75451557106281e-05,
      "loss": 0.114,
      "step": 8710
    },
    {
      "action_loss": 0.012577268294990063,
      "epoch": 7.83273381294964,
      "step": 8710
    },
    {
      "epoch": 7.83273381294964,
      "step": 8710,
      "torque_loss": 0.14755748212337494
    },
    {
      "epoch": 7.841726618705036,
      "grad_norm": 0.45803341269493103,
      "learning_rate": 9.753661965197354e-05,
      "loss": 0.1174,
      "step": 8720
    },
    {
      "action_loss": 0.014966499991714954,
      "epoch": 7.841726618705036,
      "step": 8720
    },
    {
      "epoch": 7.841726618705036,
      "step": 8720,
      "torque_loss": 0.23731322586536407
    },
    {
      "epoch": 7.850719424460432,
      "grad_norm": 0.5117339491844177,
      "learning_rate": 9.752806915294908e-05,
      "loss": 0.1263,
      "step": 8730
    },
    {
      "action_loss": 0.014371730387210846,
      "epoch": 7.850719424460432,
      "step": 8730
    },
    {
      "epoch": 7.850719424460432,
      "step": 8730,
      "torque_loss": 0.24075299501419067
    },
    {
      "epoch": 7.859712230215827,
      "grad_norm": 0.5395709276199341,
      "learning_rate": 9.75195042161521e-05,
      "loss": 0.1164,
      "step": 8740
    },
    {
      "action_loss": 0.012700870633125305,
      "epoch": 7.859712230215827,
      "step": 8740
    },
    {
      "epoch": 7.859712230215827,
      "step": 8740,
      "torque_loss": 0.14851343631744385
    },
    {
      "epoch": 7.868705035971223,
      "grad_norm": 0.7021387219429016,
      "learning_rate": 9.751092484418442e-05,
      "loss": 0.1065,
      "step": 8750
    },
    {
      "action_loss": 0.008488026447594166,
      "epoch": 7.868705035971223,
      "step": 8750
    },
    {
      "epoch": 7.868705035971223,
      "step": 8750,
      "torque_loss": 0.21624529361724854
    },
    {
      "epoch": 7.877697841726619,
      "grad_norm": 0.44025254249572754,
      "learning_rate": 9.750233103965224e-05,
      "loss": 0.1291,
      "step": 8760
    },
    {
      "action_loss": 0.013417561538517475,
      "epoch": 7.877697841726619,
      "step": 8760
    },
    {
      "epoch": 7.877697841726619,
      "step": 8760,
      "torque_loss": 0.14837495982646942
    },
    {
      "epoch": 7.886690647482014,
      "grad_norm": 0.4253762364387512,
      "learning_rate": 9.749372280516611e-05,
      "loss": 0.1323,
      "step": 8770
    },
    {
      "action_loss": 0.010339311324059963,
      "epoch": 7.886690647482014,
      "step": 8770
    },
    {
      "epoch": 7.886690647482014,
      "step": 8770,
      "torque_loss": 0.1405472457408905
    },
    {
      "epoch": 7.89568345323741,
      "grad_norm": 0.4553302526473999,
      "learning_rate": 9.748510014334097e-05,
      "loss": 0.1243,
      "step": 8780
    },
    {
      "action_loss": 0.02265390194952488,
      "epoch": 7.89568345323741,
      "step": 8780
    },
    {
      "epoch": 7.89568345323741,
      "step": 8780,
      "torque_loss": 0.16056634485721588
    },
    {
      "epoch": 7.904676258992806,
      "grad_norm": 0.5853199362754822,
      "learning_rate": 9.747646305679621e-05,
      "loss": 0.1472,
      "step": 8790
    },
    {
      "action_loss": 0.012551081366837025,
      "epoch": 7.904676258992806,
      "step": 8790
    },
    {
      "epoch": 7.904676258992806,
      "step": 8790,
      "torque_loss": 0.15900550782680511
    },
    {
      "epoch": 7.913669064748201,
      "grad_norm": 0.3493174612522125,
      "learning_rate": 9.74678115481555e-05,
      "loss": 0.1401,
      "step": 8800
    },
    {
      "action_loss": 0.03042864240705967,
      "epoch": 7.913669064748201,
      "step": 8800
    },
    {
      "epoch": 7.913669064748201,
      "step": 8800,
      "torque_loss": 0.18871372938156128
    },
    {
      "epoch": 7.922661870503597,
      "grad_norm": 0.49091625213623047,
      "learning_rate": 9.745914562004696e-05,
      "loss": 0.137,
      "step": 8810
    },
    {
      "action_loss": 0.00889533944427967,
      "epoch": 7.922661870503597,
      "step": 8810
    },
    {
      "epoch": 7.922661870503597,
      "step": 8810,
      "torque_loss": 0.14893537759780884
    },
    {
      "epoch": 7.931654676258993,
      "grad_norm": 0.3928019106388092,
      "learning_rate": 9.745046527510307e-05,
      "loss": 0.1171,
      "step": 8820
    },
    {
      "action_loss": 0.015004063956439495,
      "epoch": 7.931654676258993,
      "step": 8820
    },
    {
      "epoch": 7.931654676258993,
      "step": 8820,
      "torque_loss": 0.21656186878681183
    },
    {
      "epoch": 7.940647482014389,
      "grad_norm": 0.5823075771331787,
      "learning_rate": 9.744177051596068e-05,
      "loss": 0.1224,
      "step": 8830
    },
    {
      "action_loss": 0.015099924989044666,
      "epoch": 7.940647482014389,
      "step": 8830
    },
    {
      "epoch": 7.940647482014389,
      "step": 8830,
      "torque_loss": 0.1558617204427719
    },
    {
      "epoch": 7.9496402877697845,
      "grad_norm": 0.40585312247276306,
      "learning_rate": 9.743306134526105e-05,
      "loss": 0.132,
      "step": 8840
    },
    {
      "action_loss": 0.026659125462174416,
      "epoch": 7.9496402877697845,
      "step": 8840
    },
    {
      "epoch": 7.9496402877697845,
      "step": 8840,
      "torque_loss": 0.22189877927303314
    },
    {
      "epoch": 7.9586330935251794,
      "grad_norm": 0.38162681460380554,
      "learning_rate": 9.742433776564977e-05,
      "loss": 0.1106,
      "step": 8850
    },
    {
      "action_loss": 0.014770537614822388,
      "epoch": 7.9586330935251794,
      "step": 8850
    },
    {
      "epoch": 7.9586330935251794,
      "step": 8850,
      "torque_loss": 0.2636176347732544
    },
    {
      "epoch": 7.967625899280575,
      "grad_norm": 0.36957332491874695,
      "learning_rate": 9.741559977977683e-05,
      "loss": 0.1241,
      "step": 8860
    },
    {
      "action_loss": 0.009787512011826038,
      "epoch": 7.967625899280575,
      "step": 8860
    },
    {
      "epoch": 7.967625899280575,
      "step": 8860,
      "torque_loss": 0.14057999849319458
    },
    {
      "epoch": 7.976618705035971,
      "grad_norm": 0.4594159722328186,
      "learning_rate": 9.740684739029661e-05,
      "loss": 0.1239,
      "step": 8870
    },
    {
      "action_loss": 0.013259577564895153,
      "epoch": 7.976618705035971,
      "step": 8870
    },
    {
      "epoch": 7.976618705035971,
      "step": 8870,
      "torque_loss": 0.2063712328672409
    },
    {
      "epoch": 7.985611510791367,
      "grad_norm": 0.46681058406829834,
      "learning_rate": 9.739808059986789e-05,
      "loss": 0.1457,
      "step": 8880
    },
    {
      "action_loss": 0.009520606137812138,
      "epoch": 7.985611510791367,
      "step": 8880
    },
    {
      "epoch": 7.985611510791367,
      "step": 8880,
      "torque_loss": 0.2108025997877121
    },
    {
      "epoch": 7.994604316546763,
      "grad_norm": 0.3820553123950958,
      "learning_rate": 9.738929941115373e-05,
      "loss": 0.1312,
      "step": 8890
    },
    {
      "action_loss": 0.0048216842114925385,
      "epoch": 7.994604316546763,
      "step": 8890
    },
    {
      "epoch": 7.994604316546763,
      "step": 8890,
      "torque_loss": 0.07497472316026688
    },
    {
      "epoch": 8.003597122302159,
      "grad_norm": 0.37020114064216614,
      "learning_rate": 9.738050382682167e-05,
      "loss": 0.0964,
      "step": 8900
    },
    {
      "action_loss": 0.01106608659029007,
      "epoch": 8.003597122302159,
      "step": 8900
    },
    {
      "epoch": 8.003597122302159,
      "step": 8900,
      "torque_loss": 0.14515753090381622
    },
    {
      "epoch": 8.012589928057555,
      "grad_norm": 0.3799160420894623,
      "learning_rate": 9.737169384954355e-05,
      "loss": 0.1325,
      "step": 8910
    },
    {
      "action_loss": 0.034223686903715134,
      "epoch": 8.012589928057555,
      "step": 8910
    },
    {
      "epoch": 8.012589928057555,
      "step": 8910,
      "torque_loss": 0.23089082539081573
    },
    {
      "epoch": 8.02158273381295,
      "grad_norm": 0.38291990756988525,
      "learning_rate": 9.736286948199562e-05,
      "loss": 0.1277,
      "step": 8920
    },
    {
      "action_loss": 0.013255618512630463,
      "epoch": 8.02158273381295,
      "step": 8920
    },
    {
      "epoch": 8.02158273381295,
      "step": 8920,
      "torque_loss": 0.16467368602752686
    },
    {
      "epoch": 8.030575539568344,
      "grad_norm": 0.4596540629863739,
      "learning_rate": 9.735403072685848e-05,
      "loss": 0.1284,
      "step": 8930
    },
    {
      "action_loss": 0.018066920340061188,
      "epoch": 8.030575539568344,
      "step": 8930
    },
    {
      "epoch": 8.030575539568344,
      "step": 8930,
      "torque_loss": 0.19418483972549438
    },
    {
      "epoch": 8.03956834532374,
      "grad_norm": 0.5425064563751221,
      "learning_rate": 9.734517758681712e-05,
      "loss": 0.1342,
      "step": 8940
    },
    {
      "action_loss": 0.013067975640296936,
      "epoch": 8.03956834532374,
      "step": 8940
    },
    {
      "epoch": 8.03956834532374,
      "step": 8940,
      "torque_loss": 0.09815271943807602
    },
    {
      "epoch": 8.048561151079136,
      "grad_norm": 0.4246535003185272,
      "learning_rate": 9.733631006456088e-05,
      "loss": 0.1157,
      "step": 8950
    },
    {
      "action_loss": 0.00691187521442771,
      "epoch": 8.048561151079136,
      "step": 8950
    },
    {
      "epoch": 8.048561151079136,
      "step": 8950,
      "torque_loss": 0.13290263712406158
    },
    {
      "epoch": 8.057553956834532,
      "grad_norm": 0.47656333446502686,
      "learning_rate": 9.732742816278348e-05,
      "loss": 0.1244,
      "step": 8960
    },
    {
      "action_loss": 0.01259035337716341,
      "epoch": 8.057553956834532,
      "step": 8960
    },
    {
      "epoch": 8.057553956834532,
      "step": 8960,
      "torque_loss": 0.203605055809021
    },
    {
      "epoch": 8.066546762589928,
      "grad_norm": 0.4758337736129761,
      "learning_rate": 9.731853188418302e-05,
      "loss": 0.1182,
      "step": 8970
    },
    {
      "action_loss": 0.05070780590176582,
      "epoch": 8.066546762589928,
      "step": 8970
    },
    {
      "epoch": 8.066546762589928,
      "step": 8970,
      "torque_loss": 0.26275935769081116
    },
    {
      "epoch": 8.075539568345324,
      "grad_norm": 0.5166704654693604,
      "learning_rate": 9.730962123146194e-05,
      "loss": 0.1241,
      "step": 8980
    },
    {
      "action_loss": 0.009442843496799469,
      "epoch": 8.075539568345324,
      "step": 8980
    },
    {
      "epoch": 8.075539568345324,
      "step": 8980,
      "torque_loss": 0.12808434665203094
    },
    {
      "epoch": 8.08453237410072,
      "grad_norm": 0.518697202205658,
      "learning_rate": 9.730069620732709e-05,
      "loss": 0.1218,
      "step": 8990
    },
    {
      "action_loss": 0.0112702501937747,
      "epoch": 8.08453237410072,
      "step": 8990
    },
    {
      "epoch": 8.08453237410072,
      "step": 8990,
      "torque_loss": 0.14213766157627106
    },
    {
      "epoch": 8.093525179856115,
      "grad_norm": 0.5319736003875732,
      "learning_rate": 9.72917568144896e-05,
      "loss": 0.1116,
      "step": 9000
    },
    {
      "action_loss": 0.0175620224326849,
      "epoch": 8.093525179856115,
      "step": 9000
    },
    {
      "epoch": 8.093525179856115,
      "step": 9000,
      "torque_loss": 0.20823664963245392
    },
    {
      "epoch": 8.102517985611511,
      "grad_norm": 0.4432993531227112,
      "learning_rate": 9.728280305566509e-05,
      "loss": 0.1352,
      "step": 9010
    },
    {
      "action_loss": 0.02400945872068405,
      "epoch": 8.102517985611511,
      "step": 9010
    },
    {
      "epoch": 8.102517985611511,
      "step": 9010,
      "torque_loss": 0.2474827617406845
    },
    {
      "epoch": 8.111510791366907,
      "grad_norm": 0.4618120491504669,
      "learning_rate": 9.727383493357343e-05,
      "loss": 0.1392,
      "step": 9020
    },
    {
      "action_loss": 0.018212823197245598,
      "epoch": 8.111510791366907,
      "step": 9020
    },
    {
      "epoch": 8.111510791366907,
      "step": 9020,
      "torque_loss": 0.15906594693660736
    },
    {
      "epoch": 8.120503597122303,
      "grad_norm": 0.5330766439437866,
      "learning_rate": 9.726485245093891e-05,
      "loss": 0.1268,
      "step": 9030
    },
    {
      "action_loss": 0.01731635443866253,
      "epoch": 8.120503597122303,
      "step": 9030
    },
    {
      "epoch": 8.120503597122303,
      "step": 9030,
      "torque_loss": 0.16968272626399994
    },
    {
      "epoch": 8.129496402877697,
      "grad_norm": 0.4468296468257904,
      "learning_rate": 9.725585561049018e-05,
      "loss": 0.1188,
      "step": 9040
    },
    {
      "action_loss": 0.028880730271339417,
      "epoch": 8.129496402877697,
      "step": 9040
    },
    {
      "epoch": 8.129496402877697,
      "step": 9040,
      "torque_loss": 0.2160978466272354
    },
    {
      "epoch": 8.138489208633093,
      "grad_norm": 0.37862473726272583,
      "learning_rate": 9.724684441496022e-05,
      "loss": 0.1356,
      "step": 9050
    },
    {
      "action_loss": 0.010707742534577847,
      "epoch": 8.138489208633093,
      "step": 9050
    },
    {
      "epoch": 8.138489208633093,
      "step": 9050,
      "torque_loss": 0.1372060626745224
    },
    {
      "epoch": 8.147482014388489,
      "grad_norm": 0.4598006308078766,
      "learning_rate": 9.72378188670864e-05,
      "loss": 0.1245,
      "step": 9060
    },
    {
      "action_loss": 0.010638399980962276,
      "epoch": 8.147482014388489,
      "step": 9060
    },
    {
      "epoch": 8.147482014388489,
      "step": 9060,
      "torque_loss": 0.13654308021068573
    },
    {
      "epoch": 8.156474820143885,
      "grad_norm": 0.3693313002586365,
      "learning_rate": 9.722877896961047e-05,
      "loss": 0.1136,
      "step": 9070
    },
    {
      "action_loss": 0.01177168171852827,
      "epoch": 8.156474820143885,
      "step": 9070
    },
    {
      "epoch": 8.156474820143885,
      "step": 9070,
      "torque_loss": 0.2094889134168625
    },
    {
      "epoch": 8.16546762589928,
      "grad_norm": 0.5105636715888977,
      "learning_rate": 9.721972472527848e-05,
      "loss": 0.1216,
      "step": 9080
    },
    {
      "action_loss": 0.013351098634302616,
      "epoch": 8.16546762589928,
      "step": 9080
    },
    {
      "epoch": 8.16546762589928,
      "step": 9080,
      "torque_loss": 0.22422818839550018
    },
    {
      "epoch": 8.174460431654676,
      "grad_norm": 0.5082065463066101,
      "learning_rate": 9.721065613684089e-05,
      "loss": 0.1148,
      "step": 9090
    },
    {
      "action_loss": 0.009929473511874676,
      "epoch": 8.174460431654676,
      "step": 9090
    },
    {
      "epoch": 8.174460431654676,
      "step": 9090,
      "torque_loss": 0.12832914292812347
    },
    {
      "epoch": 8.183453237410072,
      "grad_norm": 0.39985528588294983,
      "learning_rate": 9.72015732070525e-05,
      "loss": 0.1089,
      "step": 9100
    },
    {
      "action_loss": 0.033137187361717224,
      "epoch": 8.183453237410072,
      "step": 9100
    },
    {
      "epoch": 8.183453237410072,
      "step": 9100,
      "torque_loss": 0.1871088147163391
    },
    {
      "epoch": 8.192446043165468,
      "grad_norm": 0.31700849533081055,
      "learning_rate": 9.719247593867244e-05,
      "loss": 0.107,
      "step": 9110
    },
    {
      "action_loss": 0.03052137792110443,
      "epoch": 8.192446043165468,
      "step": 9110
    },
    {
      "epoch": 8.192446043165468,
      "step": 9110,
      "torque_loss": 0.22861264646053314
    },
    {
      "epoch": 8.201438848920864,
      "grad_norm": 0.4203495383262634,
      "learning_rate": 9.718336433446423e-05,
      "loss": 0.122,
      "step": 9120
    },
    {
      "action_loss": 0.04632136598229408,
      "epoch": 8.201438848920864,
      "step": 9120
    },
    {
      "epoch": 8.201438848920864,
      "step": 9120,
      "torque_loss": 0.2225784808397293
    },
    {
      "epoch": 8.21043165467626,
      "grad_norm": 0.39213427901268005,
      "learning_rate": 9.717423839719574e-05,
      "loss": 0.1255,
      "step": 9130
    },
    {
      "action_loss": 0.015357919037342072,
      "epoch": 8.21043165467626,
      "step": 9130
    },
    {
      "epoch": 8.21043165467626,
      "step": 9130,
      "torque_loss": 0.1975366473197937
    },
    {
      "epoch": 8.219424460431656,
      "grad_norm": 0.38275980949401855,
      "learning_rate": 9.71650981296392e-05,
      "loss": 0.1181,
      "step": 9140
    },
    {
      "action_loss": 0.01748386025428772,
      "epoch": 8.219424460431656,
      "step": 9140
    },
    {
      "epoch": 8.219424460431656,
      "step": 9140,
      "torque_loss": 0.2185826301574707
    },
    {
      "epoch": 8.22841726618705,
      "grad_norm": 0.5826392769813538,
      "learning_rate": 9.715594353457118e-05,
      "loss": 0.1188,
      "step": 9150
    },
    {
      "action_loss": 0.010540912859141827,
      "epoch": 8.22841726618705,
      "step": 9150
    },
    {
      "epoch": 8.22841726618705,
      "step": 9150,
      "torque_loss": 0.14518888294696808
    },
    {
      "epoch": 8.237410071942445,
      "grad_norm": 0.5477155447006226,
      "learning_rate": 9.714677461477257e-05,
      "loss": 0.119,
      "step": 9160
    },
    {
      "action_loss": 0.016187643632292747,
      "epoch": 8.237410071942445,
      "step": 9160
    },
    {
      "epoch": 8.237410071942445,
      "step": 9160,
      "torque_loss": 0.25595536828041077
    },
    {
      "epoch": 8.246402877697841,
      "grad_norm": 0.5243854522705078,
      "learning_rate": 9.713759137302869e-05,
      "loss": 0.1302,
      "step": 9170
    },
    {
      "action_loss": 0.012308411300182343,
      "epoch": 8.246402877697841,
      "step": 9170
    },
    {
      "epoch": 8.246402877697841,
      "step": 9170,
      "torque_loss": 0.16894574463367462
    },
    {
      "epoch": 8.255395683453237,
      "grad_norm": 0.5150465369224548,
      "learning_rate": 9.712839381212914e-05,
      "loss": 0.1185,
      "step": 9180
    },
    {
      "action_loss": 0.010309618897736073,
      "epoch": 8.255395683453237,
      "step": 9180
    },
    {
      "epoch": 8.255395683453237,
      "step": 9180,
      "torque_loss": 0.19120760262012482
    },
    {
      "epoch": 8.264388489208633,
      "grad_norm": 0.46718132495880127,
      "learning_rate": 9.71191819348679e-05,
      "loss": 0.1214,
      "step": 9190
    },
    {
      "action_loss": 0.010355028323829174,
      "epoch": 8.264388489208633,
      "step": 9190
    },
    {
      "epoch": 8.264388489208633,
      "step": 9190,
      "torque_loss": 0.20957531034946442
    },
    {
      "epoch": 8.273381294964029,
      "grad_norm": 0.384653776884079,
      "learning_rate": 9.710995574404331e-05,
      "loss": 0.1245,
      "step": 9200
    },
    {
      "action_loss": 0.011941966600716114,
      "epoch": 8.273381294964029,
      "step": 9200
    },
    {
      "epoch": 8.273381294964029,
      "step": 9200,
      "torque_loss": 0.17953036725521088
    },
    {
      "epoch": 8.282374100719425,
      "grad_norm": 0.4971296787261963,
      "learning_rate": 9.710071524245802e-05,
      "loss": 0.1432,
      "step": 9210
    },
    {
      "action_loss": 0.020824557170271873,
      "epoch": 8.282374100719425,
      "step": 9210
    },
    {
      "epoch": 8.282374100719425,
      "step": 9210,
      "torque_loss": 0.2104729861021042
    },
    {
      "epoch": 8.29136690647482,
      "grad_norm": 0.3983381986618042,
      "learning_rate": 9.709146043291906e-05,
      "loss": 0.1056,
      "step": 9220
    },
    {
      "action_loss": 0.006538778077811003,
      "epoch": 8.29136690647482,
      "step": 9220
    },
    {
      "epoch": 8.29136690647482,
      "step": 9220,
      "torque_loss": 0.14214585721492767
    },
    {
      "epoch": 8.300359712230216,
      "grad_norm": 0.45923343300819397,
      "learning_rate": 9.70821913182378e-05,
      "loss": 0.125,
      "step": 9230
    },
    {
      "action_loss": 0.009515647776424885,
      "epoch": 8.300359712230216,
      "step": 9230
    },
    {
      "epoch": 8.300359712230216,
      "step": 9230,
      "torque_loss": 0.1939215064048767
    },
    {
      "epoch": 8.309352517985612,
      "grad_norm": 0.46234795451164246,
      "learning_rate": 9.707290790122995e-05,
      "loss": 0.1233,
      "step": 9240
    },
    {
      "action_loss": 0.006566318217664957,
      "epoch": 8.309352517985612,
      "step": 9240
    },
    {
      "epoch": 8.309352517985612,
      "step": 9240,
      "torque_loss": 0.10797557979822159
    },
    {
      "epoch": 8.318345323741006,
      "grad_norm": 0.31962674856185913,
      "learning_rate": 9.706361018471557e-05,
      "loss": 0.1224,
      "step": 9250
    },
    {
      "action_loss": 0.024162814021110535,
      "epoch": 8.318345323741006,
      "step": 9250
    },
    {
      "epoch": 8.318345323741006,
      "step": 9250,
      "torque_loss": 0.23182439804077148
    },
    {
      "epoch": 8.327338129496402,
      "grad_norm": 0.4186016023159027,
      "learning_rate": 9.705429817151906e-05,
      "loss": 0.1292,
      "step": 9260
    },
    {
      "action_loss": 0.019907796755433083,
      "epoch": 8.327338129496402,
      "step": 9260
    },
    {
      "epoch": 8.327338129496402,
      "step": 9260,
      "torque_loss": 0.16074630618095398
    },
    {
      "epoch": 8.336330935251798,
      "grad_norm": 0.28346574306488037,
      "learning_rate": 9.704497186446917e-05,
      "loss": 0.1115,
      "step": 9270
    },
    {
      "action_loss": 0.01850486733019352,
      "epoch": 8.336330935251798,
      "step": 9270
    },
    {
      "epoch": 8.336330935251798,
      "step": 9270,
      "torque_loss": 0.2640182077884674
    },
    {
      "epoch": 8.345323741007194,
      "grad_norm": 0.39197954535484314,
      "learning_rate": 9.703563126639896e-05,
      "loss": 0.1335,
      "step": 9280
    },
    {
      "action_loss": 0.014735457487404346,
      "epoch": 8.345323741007194,
      "step": 9280
    },
    {
      "epoch": 8.345323741007194,
      "step": 9280,
      "torque_loss": 0.1977490931749344
    },
    {
      "epoch": 8.35431654676259,
      "grad_norm": 0.41907158493995667,
      "learning_rate": 9.70262763801459e-05,
      "loss": 0.1241,
      "step": 9290
    },
    {
      "action_loss": 0.015270284377038479,
      "epoch": 8.35431654676259,
      "step": 9290
    },
    {
      "epoch": 8.35431654676259,
      "step": 9290,
      "torque_loss": 0.21384818851947784
    },
    {
      "epoch": 8.363309352517986,
      "grad_norm": 0.44996654987335205,
      "learning_rate": 9.701690720855171e-05,
      "loss": 0.1323,
      "step": 9300
    },
    {
      "action_loss": 0.008875972591340542,
      "epoch": 8.363309352517986,
      "step": 9300
    },
    {
      "epoch": 8.363309352517986,
      "step": 9300,
      "torque_loss": 0.14086298644542694
    },
    {
      "epoch": 8.372302158273381,
      "grad_norm": 0.5478487610816956,
      "learning_rate": 9.700752375446253e-05,
      "loss": 0.1263,
      "step": 9310
    },
    {
      "action_loss": 0.08794399350881577,
      "epoch": 8.372302158273381,
      "step": 9310
    },
    {
      "epoch": 8.372302158273381,
      "step": 9310,
      "torque_loss": 0.23630638420581818
    },
    {
      "epoch": 8.381294964028777,
      "grad_norm": 0.4902341961860657,
      "learning_rate": 9.69981260207288e-05,
      "loss": 0.1534,
      "step": 9320
    },
    {
      "action_loss": 0.01845490001142025,
      "epoch": 8.381294964028777,
      "step": 9320
    },
    {
      "epoch": 8.381294964028777,
      "step": 9320,
      "torque_loss": 0.27441099286079407
    },
    {
      "epoch": 8.390287769784173,
      "grad_norm": 0.5336071848869324,
      "learning_rate": 9.698871401020529e-05,
      "loss": 0.1293,
      "step": 9330
    },
    {
      "action_loss": 0.007888180203735828,
      "epoch": 8.390287769784173,
      "step": 9330
    },
    {
      "epoch": 8.390287769784173,
      "step": 9330,
      "torque_loss": 0.17781786620616913
    },
    {
      "epoch": 8.399280575539569,
      "grad_norm": 0.48312652111053467,
      "learning_rate": 9.697928772575112e-05,
      "loss": 0.1243,
      "step": 9340
    },
    {
      "action_loss": 0.01986815594136715,
      "epoch": 8.399280575539569,
      "step": 9340
    },
    {
      "epoch": 8.399280575539569,
      "step": 9340,
      "torque_loss": 0.18011640012264252
    },
    {
      "epoch": 8.408273381294965,
      "grad_norm": 0.4326934218406677,
      "learning_rate": 9.696984717022976e-05,
      "loss": 0.1084,
      "step": 9350
    },
    {
      "action_loss": 0.007398419082164764,
      "epoch": 8.408273381294965,
      "step": 9350
    },
    {
      "epoch": 8.408273381294965,
      "step": 9350,
      "torque_loss": 0.2242453694343567
    },
    {
      "epoch": 8.417266187050359,
      "grad_norm": 0.3518812358379364,
      "learning_rate": 9.6960392346509e-05,
      "loss": 0.1048,
      "step": 9360
    },
    {
      "action_loss": 0.025337889790534973,
      "epoch": 8.417266187050359,
      "step": 9360
    },
    {
      "epoch": 8.417266187050359,
      "step": 9360,
      "torque_loss": 0.20794324576854706
    },
    {
      "epoch": 8.426258992805755,
      "grad_norm": 0.450843870639801,
      "learning_rate": 9.695092325746097e-05,
      "loss": 0.1449,
      "step": 9370
    },
    {
      "action_loss": 0.008301991038024426,
      "epoch": 8.426258992805755,
      "step": 9370
    },
    {
      "epoch": 8.426258992805755,
      "step": 9370,
      "torque_loss": 0.15159308910369873
    },
    {
      "epoch": 8.43525179856115,
      "grad_norm": 0.3977252244949341,
      "learning_rate": 9.694143990596211e-05,
      "loss": 0.1173,
      "step": 9380
    },
    {
      "action_loss": 0.00784303154796362,
      "epoch": 8.43525179856115,
      "step": 9380
    },
    {
      "epoch": 8.43525179856115,
      "step": 9380,
      "torque_loss": 0.20684866607189178
    },
    {
      "epoch": 8.444244604316546,
      "grad_norm": 0.3932156264781952,
      "learning_rate": 9.693194229489325e-05,
      "loss": 0.1401,
      "step": 9390
    },
    {
      "action_loss": 0.011764060705900192,
      "epoch": 8.444244604316546,
      "step": 9390
    },
    {
      "epoch": 8.444244604316546,
      "step": 9390,
      "torque_loss": 0.2314382791519165
    },
    {
      "epoch": 8.453237410071942,
      "grad_norm": 0.4994092285633087,
      "learning_rate": 9.692243042713944e-05,
      "loss": 0.1189,
      "step": 9400
    },
    {
      "action_loss": 0.025753242895007133,
      "epoch": 8.453237410071942,
      "step": 9400
    },
    {
      "epoch": 8.453237410071942,
      "step": 9400,
      "torque_loss": 0.22950701415538788
    },
    {
      "epoch": 8.462230215827338,
      "grad_norm": 0.4657718241214752,
      "learning_rate": 9.691290430559022e-05,
      "loss": 0.1276,
      "step": 9410
    },
    {
      "action_loss": 0.017267147079110146,
      "epoch": 8.462230215827338,
      "step": 9410
    },
    {
      "epoch": 8.462230215827338,
      "step": 9410,
      "torque_loss": 0.1747240275144577
    },
    {
      "epoch": 8.471223021582734,
      "grad_norm": 0.510161280632019,
      "learning_rate": 9.690336393313932e-05,
      "loss": 0.1244,
      "step": 9420
    },
    {
      "action_loss": 0.011211887001991272,
      "epoch": 8.471223021582734,
      "step": 9420
    },
    {
      "epoch": 8.471223021582734,
      "step": 9420,
      "torque_loss": 0.1676759123802185
    },
    {
      "epoch": 8.48021582733813,
      "grad_norm": 0.5586357712745667,
      "learning_rate": 9.689380931268487e-05,
      "loss": 0.136,
      "step": 9430
    },
    {
      "action_loss": 0.01919718086719513,
      "epoch": 8.48021582733813,
      "step": 9430
    },
    {
      "epoch": 8.48021582733813,
      "step": 9430,
      "torque_loss": 0.19655247032642365
    },
    {
      "epoch": 8.489208633093526,
      "grad_norm": 0.4865509569644928,
      "learning_rate": 9.688424044712932e-05,
      "loss": 0.1288,
      "step": 9440
    },
    {
      "action_loss": 0.013063198886811733,
      "epoch": 8.489208633093526,
      "step": 9440
    },
    {
      "epoch": 8.489208633093526,
      "step": 9440,
      "torque_loss": 0.20591825246810913
    },
    {
      "epoch": 8.498201438848922,
      "grad_norm": 0.5846719145774841,
      "learning_rate": 9.687465733937942e-05,
      "loss": 0.136,
      "step": 9450
    },
    {
      "action_loss": 0.01157485693693161,
      "epoch": 8.498201438848922,
      "step": 9450
    },
    {
      "epoch": 8.498201438848922,
      "step": 9450,
      "torque_loss": 0.15718533098697662
    },
    {
      "epoch": 8.507194244604317,
      "grad_norm": 0.543043315410614,
      "learning_rate": 9.686505999234627e-05,
      "loss": 0.1151,
      "step": 9460
    },
    {
      "action_loss": 0.018908223137259483,
      "epoch": 8.507194244604317,
      "step": 9460
    },
    {
      "epoch": 8.507194244604317,
      "step": 9460,
      "torque_loss": 0.1880689412355423
    },
    {
      "epoch": 8.516187050359711,
      "grad_norm": 0.4042539596557617,
      "learning_rate": 9.685544840894529e-05,
      "loss": 0.1165,
      "step": 9470
    },
    {
      "action_loss": 0.010813377797603607,
      "epoch": 8.516187050359711,
      "step": 9470
    },
    {
      "epoch": 8.516187050359711,
      "step": 9470,
      "torque_loss": 0.13193173706531525
    },
    {
      "epoch": 8.525179856115107,
      "grad_norm": 0.4601670503616333,
      "learning_rate": 9.684582259209624e-05,
      "loss": 0.1158,
      "step": 9480
    },
    {
      "action_loss": 0.01742357201874256,
      "epoch": 8.525179856115107,
      "step": 9480
    },
    {
      "epoch": 8.525179856115107,
      "step": 9480,
      "torque_loss": 0.19499576091766357
    },
    {
      "epoch": 8.534172661870503,
      "grad_norm": 0.49086371064186096,
      "learning_rate": 9.683618254472317e-05,
      "loss": 0.1266,
      "step": 9490
    },
    {
      "action_loss": 0.010001328773796558,
      "epoch": 8.534172661870503,
      "step": 9490
    },
    {
      "epoch": 8.534172661870503,
      "step": 9490,
      "torque_loss": 0.18191027641296387
    },
    {
      "epoch": 8.543165467625899,
      "grad_norm": 0.44153517484664917,
      "learning_rate": 9.682652826975449e-05,
      "loss": 0.1285,
      "step": 9500
    },
    {
      "action_loss": 0.029786253347992897,
      "epoch": 8.543165467625899,
      "step": 9500
    },
    {
      "epoch": 8.543165467625899,
      "step": 9500,
      "torque_loss": 0.23889446258544922
    },
    {
      "epoch": 8.552158273381295,
      "grad_norm": 0.4262647032737732,
      "learning_rate": 9.681685977012291e-05,
      "loss": 0.1161,
      "step": 9510
    },
    {
      "action_loss": 0.011699003167450428,
      "epoch": 8.552158273381295,
      "step": 9510
    },
    {
      "epoch": 8.552158273381295,
      "step": 9510,
      "torque_loss": 0.11363162845373154
    },
    {
      "epoch": 8.56115107913669,
      "grad_norm": 0.3665526211261749,
      "learning_rate": 9.680717704876546e-05,
      "loss": 0.125,
      "step": 9520
    },
    {
      "action_loss": 0.021360665559768677,
      "epoch": 8.56115107913669,
      "step": 9520
    },
    {
      "epoch": 8.56115107913669,
      "step": 9520,
      "torque_loss": 0.23983485996723175
    },
    {
      "epoch": 8.570143884892087,
      "grad_norm": 0.4807360768318176,
      "learning_rate": 9.679748010862349e-05,
      "loss": 0.13,
      "step": 9530
    },
    {
      "action_loss": 0.009313342161476612,
      "epoch": 8.570143884892087,
      "step": 9530
    },
    {
      "epoch": 8.570143884892087,
      "step": 9530,
      "torque_loss": 0.1353350728750229
    },
    {
      "epoch": 8.579136690647482,
      "grad_norm": 0.45040029287338257,
      "learning_rate": 9.678776895264267e-05,
      "loss": 0.1293,
      "step": 9540
    },
    {
      "action_loss": 0.024559304118156433,
      "epoch": 8.579136690647482,
      "step": 9540
    },
    {
      "epoch": 8.579136690647482,
      "step": 9540,
      "torque_loss": 0.23845148086547852
    },
    {
      "epoch": 8.588129496402878,
      "grad_norm": 0.4615209102630615,
      "learning_rate": 9.6778043583773e-05,
      "loss": 0.138,
      "step": 9550
    },
    {
      "action_loss": 0.010110054165124893,
      "epoch": 8.588129496402878,
      "step": 9550
    },
    {
      "epoch": 8.588129496402878,
      "step": 9550,
      "torque_loss": 0.1467440277338028
    },
    {
      "epoch": 8.597122302158274,
      "grad_norm": 0.4202478528022766,
      "learning_rate": 9.67683040049688e-05,
      "loss": 0.1095,
      "step": 9560
    },
    {
      "action_loss": 0.012987866997718811,
      "epoch": 8.597122302158274,
      "step": 9560
    },
    {
      "epoch": 8.597122302158274,
      "step": 9560,
      "torque_loss": 0.17712320387363434
    },
    {
      "epoch": 8.60611510791367,
      "grad_norm": 0.4071405231952667,
      "learning_rate": 9.675855021918869e-05,
      "loss": 0.1294,
      "step": 9570
    },
    {
      "action_loss": 0.004799955058842897,
      "epoch": 8.60611510791367,
      "step": 9570
    },
    {
      "epoch": 8.60611510791367,
      "step": 9570,
      "torque_loss": 0.14813750982284546
    },
    {
      "epoch": 8.615107913669064,
      "grad_norm": 0.4693993330001831,
      "learning_rate": 9.674878222939561e-05,
      "loss": 0.1107,
      "step": 9580
    },
    {
      "action_loss": 0.006180922035127878,
      "epoch": 8.615107913669064,
      "step": 9580
    },
    {
      "epoch": 8.615107913669064,
      "step": 9580,
      "torque_loss": 0.08553435653448105
    },
    {
      "epoch": 8.62410071942446,
      "grad_norm": 0.41689392924308777,
      "learning_rate": 9.673900003855681e-05,
      "loss": 0.1081,
      "step": 9590
    },
    {
      "action_loss": 0.016785630956292152,
      "epoch": 8.62410071942446,
      "step": 9590
    },
    {
      "epoch": 8.62410071942446,
      "step": 9590,
      "torque_loss": 0.15153580904006958
    },
    {
      "epoch": 8.633093525179856,
      "grad_norm": 0.4039299488067627,
      "learning_rate": 9.672920364964389e-05,
      "loss": 0.1306,
      "step": 9600
    },
    {
      "action_loss": 0.018613776192069054,
      "epoch": 8.633093525179856,
      "step": 9600
    },
    {
      "epoch": 8.633093525179856,
      "step": 9600,
      "torque_loss": 0.18208126723766327
    },
    {
      "epoch": 8.642086330935252,
      "grad_norm": 0.5340539216995239,
      "learning_rate": 9.671939306563269e-05,
      "loss": 0.1125,
      "step": 9610
    },
    {
      "action_loss": 0.019468052312731743,
      "epoch": 8.642086330935252,
      "step": 9610
    },
    {
      "epoch": 8.642086330935252,
      "step": 9610,
      "torque_loss": 0.23496408760547638
    },
    {
      "epoch": 8.651079136690647,
      "grad_norm": 0.4716508984565735,
      "learning_rate": 9.670956828950345e-05,
      "loss": 0.1283,
      "step": 9620
    },
    {
      "action_loss": 0.01530071347951889,
      "epoch": 8.651079136690647,
      "step": 9620
    },
    {
      "epoch": 8.651079136690647,
      "step": 9620,
      "torque_loss": 0.25956544280052185
    },
    {
      "epoch": 8.660071942446043,
      "grad_norm": 0.5991566777229309,
      "learning_rate": 9.669972932424065e-05,
      "loss": 0.1217,
      "step": 9630
    },
    {
      "action_loss": 0.00883942935615778,
      "epoch": 8.660071942446043,
      "step": 9630
    },
    {
      "epoch": 8.660071942446043,
      "step": 9630,
      "torque_loss": 0.14751480519771576
    },
    {
      "epoch": 8.66906474820144,
      "grad_norm": 0.485465943813324,
      "learning_rate": 9.668987617283312e-05,
      "loss": 0.1059,
      "step": 9640
    },
    {
      "action_loss": 0.007879102602601051,
      "epoch": 8.66906474820144,
      "step": 9640
    },
    {
      "epoch": 8.66906474820144,
      "step": 9640,
      "torque_loss": 0.11929741501808167
    },
    {
      "epoch": 8.678057553956835,
      "grad_norm": 0.4124605655670166,
      "learning_rate": 9.668000883827397e-05,
      "loss": 0.1352,
      "step": 9650
    },
    {
      "action_loss": 0.011573473922908306,
      "epoch": 8.678057553956835,
      "step": 9650
    },
    {
      "epoch": 8.678057553956835,
      "step": 9650,
      "torque_loss": 0.18275435268878937
    },
    {
      "epoch": 8.68705035971223,
      "grad_norm": 0.4154244363307953,
      "learning_rate": 9.667012732356067e-05,
      "loss": 0.1382,
      "step": 9660
    },
    {
      "action_loss": 0.008607749827206135,
      "epoch": 8.68705035971223,
      "step": 9660
    },
    {
      "epoch": 8.68705035971223,
      "step": 9660,
      "torque_loss": 0.1502809375524521
    },
    {
      "epoch": 8.696043165467627,
      "grad_norm": 0.5339526534080505,
      "learning_rate": 9.666023163169493e-05,
      "loss": 0.1444,
      "step": 9670
    },
    {
      "action_loss": 0.02605229616165161,
      "epoch": 8.696043165467627,
      "step": 9670
    },
    {
      "epoch": 8.696043165467627,
      "step": 9670,
      "torque_loss": 0.2846374213695526
    },
    {
      "epoch": 8.70503597122302,
      "grad_norm": 0.4067680537700653,
      "learning_rate": 9.665032176568281e-05,
      "loss": 0.1177,
      "step": 9680
    },
    {
      "action_loss": 0.010515411384403706,
      "epoch": 8.70503597122302,
      "step": 9680
    },
    {
      "epoch": 8.70503597122302,
      "step": 9680,
      "torque_loss": 0.19051019847393036
    },
    {
      "epoch": 8.714028776978417,
      "grad_norm": 0.4399321377277374,
      "learning_rate": 9.664039772853469e-05,
      "loss": 0.1141,
      "step": 9690
    },
    {
      "action_loss": 0.010641154833137989,
      "epoch": 8.714028776978417,
      "step": 9690
    },
    {
      "epoch": 8.714028776978417,
      "step": 9690,
      "torque_loss": 0.1444190889596939
    },
    {
      "epoch": 8.723021582733812,
      "grad_norm": 0.3675147593021393,
      "learning_rate": 9.663045952326518e-05,
      "loss": 0.1202,
      "step": 9700
    },
    {
      "action_loss": 0.012462337501347065,
      "epoch": 8.723021582733812,
      "step": 9700
    },
    {
      "epoch": 8.723021582733812,
      "step": 9700,
      "torque_loss": 0.14776010811328888
    },
    {
      "epoch": 8.732014388489208,
      "grad_norm": 0.3896152079105377,
      "learning_rate": 9.662050715289328e-05,
      "loss": 0.1052,
      "step": 9710
    },
    {
      "action_loss": 0.015616278164088726,
      "epoch": 8.732014388489208,
      "step": 9710
    },
    {
      "epoch": 8.732014388489208,
      "step": 9710,
      "torque_loss": 0.16885100305080414
    },
    {
      "epoch": 8.741007194244604,
      "grad_norm": 0.3992328941822052,
      "learning_rate": 9.661054062044226e-05,
      "loss": 0.1371,
      "step": 9720
    },
    {
      "action_loss": 0.026854107156395912,
      "epoch": 8.741007194244604,
      "step": 9720
    },
    {
      "epoch": 8.741007194244604,
      "step": 9720,
      "torque_loss": 0.17129473388195038
    },
    {
      "epoch": 8.75,
      "grad_norm": 0.46807244420051575,
      "learning_rate": 9.660055992893968e-05,
      "loss": 0.1132,
      "step": 9730
    },
    {
      "action_loss": 0.019644243642687798,
      "epoch": 8.75,
      "step": 9730
    },
    {
      "epoch": 8.75,
      "step": 9730,
      "torque_loss": 0.18448512256145477
    },
    {
      "epoch": 8.758992805755396,
      "grad_norm": 0.3762849271297455,
      "learning_rate": 9.659056508141739e-05,
      "loss": 0.12,
      "step": 9740
    },
    {
      "action_loss": 0.015103553421795368,
      "epoch": 8.758992805755396,
      "step": 9740
    },
    {
      "epoch": 8.758992805755396,
      "step": 9740,
      "torque_loss": 0.17598360776901245
    },
    {
      "epoch": 8.767985611510792,
      "grad_norm": 0.4322441816329956,
      "learning_rate": 9.658055608091161e-05,
      "loss": 0.125,
      "step": 9750
    },
    {
      "action_loss": 0.008082128129899502,
      "epoch": 8.767985611510792,
      "step": 9750
    },
    {
      "epoch": 8.767985611510792,
      "step": 9750,
      "torque_loss": 0.21881616115570068
    },
    {
      "epoch": 8.776978417266188,
      "grad_norm": 0.4017515480518341,
      "learning_rate": 9.657053293046276e-05,
      "loss": 0.1271,
      "step": 9760
    },
    {
      "action_loss": 0.017189739271998405,
      "epoch": 8.776978417266188,
      "step": 9760
    },
    {
      "epoch": 8.776978417266188,
      "step": 9760,
      "torque_loss": 0.21024282276630402
    },
    {
      "epoch": 8.785971223021583,
      "grad_norm": 0.3997935354709625,
      "learning_rate": 9.656049563311564e-05,
      "loss": 0.1143,
      "step": 9770
    },
    {
      "action_loss": 0.015563917346298695,
      "epoch": 8.785971223021583,
      "step": 9770
    },
    {
      "epoch": 8.785971223021583,
      "step": 9770,
      "torque_loss": 0.2019478678703308
    },
    {
      "epoch": 8.79496402877698,
      "grad_norm": 0.40936192870140076,
      "learning_rate": 9.655044419191929e-05,
      "loss": 0.1361,
      "step": 9780
    },
    {
      "action_loss": 0.004833715036511421,
      "epoch": 8.79496402877698,
      "step": 9780
    },
    {
      "epoch": 8.79496402877698,
      "step": 9780,
      "torque_loss": 0.145766481757164
    },
    {
      "epoch": 8.803956834532373,
      "grad_norm": 0.5065961480140686,
      "learning_rate": 9.654037860992711e-05,
      "loss": 0.1206,
      "step": 9790
    },
    {
      "action_loss": 0.020352505147457123,
      "epoch": 8.803956834532373,
      "step": 9790
    },
    {
      "epoch": 8.803956834532373,
      "step": 9790,
      "torque_loss": 0.23433633148670197
    },
    {
      "epoch": 8.81294964028777,
      "grad_norm": 0.6027885675430298,
      "learning_rate": 9.653029889019672e-05,
      "loss": 0.1352,
      "step": 9800
    },
    {
      "action_loss": 0.016018254682421684,
      "epoch": 8.81294964028777,
      "step": 9800
    },
    {
      "epoch": 8.81294964028777,
      "step": 9800,
      "torque_loss": 0.21208810806274414
    },
    {
      "epoch": 8.821942446043165,
      "grad_norm": 0.4542813301086426,
      "learning_rate": 9.65202050357901e-05,
      "loss": 0.1218,
      "step": 9810
    },
    {
      "action_loss": 0.03170063719153404,
      "epoch": 8.821942446043165,
      "step": 9810
    },
    {
      "epoch": 8.821942446043165,
      "step": 9810,
      "torque_loss": 0.2922048568725586
    },
    {
      "epoch": 8.83093525179856,
      "grad_norm": 0.4734850525856018,
      "learning_rate": 9.651009704977347e-05,
      "loss": 0.1146,
      "step": 9820
    },
    {
      "action_loss": 0.0045386929996311665,
      "epoch": 8.83093525179856,
      "step": 9820
    },
    {
      "epoch": 8.83093525179856,
      "step": 9820,
      "torque_loss": 0.08861645311117172
    },
    {
      "epoch": 8.839928057553957,
      "grad_norm": 0.4085341989994049,
      "learning_rate": 9.649997493521738e-05,
      "loss": 0.1193,
      "step": 9830
    },
    {
      "action_loss": 0.010842788964509964,
      "epoch": 8.839928057553957,
      "step": 9830
    },
    {
      "epoch": 8.839928057553957,
      "step": 9830,
      "torque_loss": 0.16666586697101593
    },
    {
      "epoch": 8.848920863309353,
      "grad_norm": 0.44090697169303894,
      "learning_rate": 9.64898386951967e-05,
      "loss": 0.1148,
      "step": 9840
    },
    {
      "action_loss": 0.02690141648054123,
      "epoch": 8.848920863309353,
      "step": 9840
    },
    {
      "epoch": 8.848920863309353,
      "step": 9840,
      "torque_loss": 0.23622210323810577
    },
    {
      "epoch": 8.857913669064748,
      "grad_norm": 0.43154194951057434,
      "learning_rate": 9.647968833279049e-05,
      "loss": 0.1306,
      "step": 9850
    },
    {
      "action_loss": 0.011315837502479553,
      "epoch": 8.857913669064748,
      "step": 9850
    },
    {
      "epoch": 8.857913669064748,
      "step": 9850,
      "torque_loss": 0.21253633499145508
    },
    {
      "epoch": 8.866906474820144,
      "grad_norm": 0.5080624222755432,
      "learning_rate": 9.646952385108218e-05,
      "loss": 0.1313,
      "step": 9860
    },
    {
      "action_loss": 0.005588958505541086,
      "epoch": 8.866906474820144,
      "step": 9860
    },
    {
      "epoch": 8.866906474820144,
      "step": 9860,
      "torque_loss": 0.1354256123304367
    },
    {
      "epoch": 8.87589928057554,
      "grad_norm": 0.44944247603416443,
      "learning_rate": 9.645934525315951e-05,
      "loss": 0.1125,
      "step": 9870
    },
    {
      "action_loss": 0.004378997255116701,
      "epoch": 8.87589928057554,
      "step": 9870
    },
    {
      "epoch": 8.87589928057554,
      "step": 9870,
      "torque_loss": 0.0942763015627861
    },
    {
      "epoch": 8.884892086330936,
      "grad_norm": 0.47695425152778625,
      "learning_rate": 9.644915254211442e-05,
      "loss": 0.1199,
      "step": 9880
    },
    {
      "action_loss": 0.016572315245866776,
      "epoch": 8.884892086330936,
      "step": 9880
    },
    {
      "epoch": 8.884892086330936,
      "step": 9880,
      "torque_loss": 0.15449188649654388
    },
    {
      "epoch": 8.89388489208633,
      "grad_norm": 0.39264053106307983,
      "learning_rate": 9.643894572104321e-05,
      "loss": 0.1183,
      "step": 9890
    },
    {
      "action_loss": 0.006752135697752237,
      "epoch": 8.89388489208633,
      "step": 9890
    },
    {
      "epoch": 8.89388489208633,
      "step": 9890,
      "torque_loss": 0.0934368148446083
    },
    {
      "epoch": 8.902877697841726,
      "grad_norm": 0.609044075012207,
      "learning_rate": 9.642872479304644e-05,
      "loss": 0.1221,
      "step": 9900
    },
    {
      "action_loss": 0.01847894862294197,
      "epoch": 8.902877697841726,
      "step": 9900
    },
    {
      "epoch": 8.902877697841726,
      "step": 9900,
      "torque_loss": 0.21770340204238892
    },
    {
      "epoch": 8.911870503597122,
      "grad_norm": 0.5208342671394348,
      "learning_rate": 9.641848976122895e-05,
      "loss": 0.1233,
      "step": 9910
    },
    {
      "action_loss": 0.013692252337932587,
      "epoch": 8.911870503597122,
      "step": 9910
    },
    {
      "epoch": 8.911870503597122,
      "step": 9910,
      "torque_loss": 0.17836254835128784
    },
    {
      "epoch": 8.920863309352518,
      "grad_norm": 0.3474958539009094,
      "learning_rate": 9.64082406286999e-05,
      "loss": 0.1065,
      "step": 9920
    },
    {
      "action_loss": 0.007189995143562555,
      "epoch": 8.920863309352518,
      "step": 9920
    },
    {
      "epoch": 8.920863309352518,
      "step": 9920,
      "torque_loss": 0.10255801677703857
    },
    {
      "epoch": 8.929856115107913,
      "grad_norm": 0.47556135058403015,
      "learning_rate": 9.639797739857269e-05,
      "loss": 0.1345,
      "step": 9930
    },
    {
      "action_loss": 0.010625015012919903,
      "epoch": 8.929856115107913,
      "step": 9930
    },
    {
      "epoch": 8.929856115107913,
      "step": 9930,
      "torque_loss": 0.1572597771883011
    },
    {
      "epoch": 8.93884892086331,
      "grad_norm": 0.40367087721824646,
      "learning_rate": 9.638770007396498e-05,
      "loss": 0.1232,
      "step": 9940
    },
    {
      "action_loss": 0.006553275045007467,
      "epoch": 8.93884892086331,
      "step": 9940
    },
    {
      "epoch": 8.93884892086331,
      "step": 9940,
      "torque_loss": 0.15448519587516785
    },
    {
      "epoch": 8.947841726618705,
      "grad_norm": 0.5162588357925415,
      "learning_rate": 9.63774086579988e-05,
      "loss": 0.1311,
      "step": 9950
    },
    {
      "action_loss": 0.017808325588703156,
      "epoch": 8.947841726618705,
      "step": 9950
    },
    {
      "epoch": 8.947841726618705,
      "step": 9950,
      "torque_loss": 0.19936828315258026
    },
    {
      "epoch": 8.956834532374101,
      "grad_norm": 0.45563095808029175,
      "learning_rate": 9.63671031538004e-05,
      "loss": 0.1153,
      "step": 9960
    },
    {
      "action_loss": 0.012215512804687023,
      "epoch": 8.956834532374101,
      "step": 9960
    },
    {
      "epoch": 8.956834532374101,
      "step": 9960,
      "torque_loss": 0.14783908426761627
    },
    {
      "epoch": 8.965827338129497,
      "grad_norm": 0.42397308349609375,
      "learning_rate": 9.635678356450031e-05,
      "loss": 0.1203,
      "step": 9970
    },
    {
      "action_loss": 0.007179430220276117,
      "epoch": 8.965827338129497,
      "step": 9970
    },
    {
      "epoch": 8.965827338129497,
      "step": 9970,
      "torque_loss": 0.11556407064199448
    },
    {
      "epoch": 8.974820143884893,
      "grad_norm": 0.5363574028015137,
      "learning_rate": 9.634644989323336e-05,
      "loss": 0.1204,
      "step": 9980
    },
    {
      "action_loss": 0.017149390652775764,
      "epoch": 8.974820143884893,
      "step": 9980
    },
    {
      "epoch": 8.974820143884893,
      "step": 9980,
      "torque_loss": 0.17190246284008026
    },
    {
      "epoch": 8.983812949640289,
      "grad_norm": 0.41752371191978455,
      "learning_rate": 9.633610214313861e-05,
      "loss": 0.1337,
      "step": 9990
    },
    {
      "action_loss": 0.011635024100542068,
      "epoch": 8.983812949640289,
      "step": 9990
    },
    {
      "epoch": 8.983812949640289,
      "step": 9990,
      "torque_loss": 0.10699370503425598
    },
    {
      "epoch": 8.992805755395683,
      "grad_norm": 0.49704304337501526,
      "learning_rate": 9.632574031735951e-05,
      "loss": 0.1211,
      "step": 10000
    },
    {
      "action_loss": 0.008961674757301807,
      "epoch": 8.992805755395683,
      "step": 10000
    },
    {
      "epoch": 8.992805755395683,
      "step": 10000,
      "torque_loss": 0.16144798696041107
    },
    {
      "epoch": 9.001798561151078,
      "grad_norm": 0.4061869978904724,
      "learning_rate": 9.631536441904364e-05,
      "loss": 0.116,
      "step": 10010
    },
    {
      "action_loss": 0.010416320525109768,
      "epoch": 9.001798561151078,
      "step": 10010
    },
    {
      "epoch": 9.001798561151078,
      "step": 10010,
      "torque_loss": 0.1688687950372696
    },
    {
      "epoch": 9.010791366906474,
      "grad_norm": 0.4648078680038452,
      "learning_rate": 9.630497445134293e-05,
      "loss": 0.1328,
      "step": 10020
    },
    {
      "action_loss": 0.01092468947172165,
      "epoch": 9.010791366906474,
      "step": 10020
    },
    {
      "epoch": 9.010791366906474,
      "step": 10020,
      "torque_loss": 0.12863893806934357
    },
    {
      "epoch": 9.01978417266187,
      "grad_norm": 0.4573740065097809,
      "learning_rate": 9.62945704174136e-05,
      "loss": 0.128,
      "step": 10030
    },
    {
      "action_loss": 0.015325249172747135,
      "epoch": 9.01978417266187,
      "step": 10030
    },
    {
      "epoch": 9.01978417266187,
      "step": 10030,
      "torque_loss": 0.18305586278438568
    },
    {
      "epoch": 9.028776978417266,
      "grad_norm": 0.4526602625846863,
      "learning_rate": 9.628415232041612e-05,
      "loss": 0.12,
      "step": 10040
    },
    {
      "action_loss": 0.03471803665161133,
      "epoch": 9.028776978417266,
      "step": 10040
    },
    {
      "epoch": 9.028776978417266,
      "step": 10040,
      "torque_loss": 0.2786595821380615
    },
    {
      "epoch": 9.037769784172662,
      "grad_norm": 0.5724684596061707,
      "learning_rate": 9.627372016351524e-05,
      "loss": 0.1271,
      "step": 10050
    },
    {
      "action_loss": 0.01504210289567709,
      "epoch": 9.037769784172662,
      "step": 10050
    },
    {
      "epoch": 9.037769784172662,
      "step": 10050,
      "torque_loss": 0.19115744531154633
    },
    {
      "epoch": 9.046762589928058,
      "grad_norm": 0.49063995480537415,
      "learning_rate": 9.626327394987995e-05,
      "loss": 0.1167,
      "step": 10060
    },
    {
      "action_loss": 0.009053497575223446,
      "epoch": 9.046762589928058,
      "step": 10060
    },
    {
      "epoch": 9.046762589928058,
      "step": 10060,
      "torque_loss": 0.1381485015153885
    },
    {
      "epoch": 9.055755395683454,
      "grad_norm": 0.5002123117446899,
      "learning_rate": 9.625281368268355e-05,
      "loss": 0.1163,
      "step": 10070
    },
    {
      "action_loss": 0.026405850425362587,
      "epoch": 9.055755395683454,
      "step": 10070
    },
    {
      "epoch": 9.055755395683454,
      "step": 10070,
      "torque_loss": 0.23424220085144043
    },
    {
      "epoch": 9.06474820143885,
      "grad_norm": 0.39268648624420166,
      "learning_rate": 9.624233936510357e-05,
      "loss": 0.1172,
      "step": 10080
    },
    {
      "action_loss": 0.02272970974445343,
      "epoch": 9.06474820143885,
      "step": 10080
    },
    {
      "epoch": 9.06474820143885,
      "step": 10080,
      "torque_loss": 0.16604270040988922
    },
    {
      "epoch": 9.073741007194245,
      "grad_norm": 0.5140688419342041,
      "learning_rate": 9.623185100032187e-05,
      "loss": 0.126,
      "step": 10090
    },
    {
      "action_loss": 0.008617707528173923,
      "epoch": 9.073741007194245,
      "step": 10090
    },
    {
      "epoch": 9.073741007194245,
      "step": 10090,
      "torque_loss": 0.12400487810373306
    },
    {
      "epoch": 9.082733812949641,
      "grad_norm": 0.49479517340660095,
      "learning_rate": 9.62213485915245e-05,
      "loss": 0.1176,
      "step": 10100
    },
    {
      "action_loss": 0.009624400176107883,
      "epoch": 9.082733812949641,
      "step": 10100
    },
    {
      "epoch": 9.082733812949641,
      "step": 10100,
      "torque_loss": 0.19230319559574127
    },
    {
      "epoch": 9.091726618705035,
      "grad_norm": 0.3314875364303589,
      "learning_rate": 9.621083214190186e-05,
      "loss": 0.1125,
      "step": 10110
    },
    {
      "action_loss": 0.0056791906245052814,
      "epoch": 9.091726618705035,
      "step": 10110
    },
    {
      "epoch": 9.091726618705035,
      "step": 10110,
      "torque_loss": 0.14419186115264893
    },
    {
      "epoch": 9.100719424460431,
      "grad_norm": 0.39851951599121094,
      "learning_rate": 9.62003016546485e-05,
      "loss": 0.1206,
      "step": 10120
    },
    {
      "action_loss": 0.015323038212954998,
      "epoch": 9.100719424460431,
      "step": 10120
    },
    {
      "epoch": 9.100719424460431,
      "step": 10120,
      "torque_loss": 0.20547960698604584
    },
    {
      "epoch": 9.109712230215827,
      "grad_norm": 0.37061625719070435,
      "learning_rate": 9.618975713296339e-05,
      "loss": 0.1131,
      "step": 10130
    },
    {
      "action_loss": 0.00608823960646987,
      "epoch": 9.109712230215827,
      "step": 10130
    },
    {
      "epoch": 9.109712230215827,
      "step": 10130,
      "torque_loss": 0.17129181325435638
    },
    {
      "epoch": 9.118705035971223,
      "grad_norm": 0.4035986661911011,
      "learning_rate": 9.61791985800496e-05,
      "loss": 0.1001,
      "step": 10140
    },
    {
      "action_loss": 0.016774741932749748,
      "epoch": 9.118705035971223,
      "step": 10140
    },
    {
      "epoch": 9.118705035971223,
      "step": 10140,
      "torque_loss": 0.190884068608284
    },
    {
      "epoch": 9.127697841726619,
      "grad_norm": 0.3150959312915802,
      "learning_rate": 9.616862599911458e-05,
      "loss": 0.1224,
      "step": 10150
    },
    {
      "action_loss": 0.013543777167797089,
      "epoch": 9.127697841726619,
      "step": 10150
    },
    {
      "epoch": 9.127697841726619,
      "step": 10150,
      "torque_loss": 0.15822987258434296
    },
    {
      "epoch": 9.136690647482014,
      "grad_norm": 0.41453588008880615,
      "learning_rate": 9.615803939337e-05,
      "loss": 0.1142,
      "step": 10160
    },
    {
      "action_loss": 0.01904173195362091,
      "epoch": 9.136690647482014,
      "step": 10160
    },
    {
      "epoch": 9.136690647482014,
      "step": 10160,
      "torque_loss": 0.15787892043590546
    },
    {
      "epoch": 9.14568345323741,
      "grad_norm": 0.4786461889743805,
      "learning_rate": 9.614743876603178e-05,
      "loss": 0.1199,
      "step": 10170
    },
    {
      "action_loss": 0.022084763273596764,
      "epoch": 9.14568345323741,
      "step": 10170
    },
    {
      "epoch": 9.14568345323741,
      "step": 10170,
      "torque_loss": 0.24228300154209137
    },
    {
      "epoch": 9.154676258992806,
      "grad_norm": 0.5761147141456604,
      "learning_rate": 9.613682412032013e-05,
      "loss": 0.1293,
      "step": 10180
    },
    {
      "action_loss": 0.02102603204548359,
      "epoch": 9.154676258992806,
      "step": 10180
    },
    {
      "epoch": 9.154676258992806,
      "step": 10180,
      "torque_loss": 0.2400507777929306
    },
    {
      "epoch": 9.163669064748202,
      "grad_norm": 0.4693073630332947,
      "learning_rate": 9.612619545945947e-05,
      "loss": 0.1404,
      "step": 10190
    },
    {
      "action_loss": 0.005140981171280146,
      "epoch": 9.163669064748202,
      "step": 10190
    },
    {
      "epoch": 9.163669064748202,
      "step": 10190,
      "torque_loss": 0.16987276077270508
    },
    {
      "epoch": 9.172661870503598,
      "grad_norm": 0.41858670115470886,
      "learning_rate": 9.611555278667852e-05,
      "loss": 0.1118,
      "step": 10200
    },
    {
      "action_loss": 0.01286900881677866,
      "epoch": 9.172661870503598,
      "step": 10200
    },
    {
      "epoch": 9.172661870503598,
      "step": 10200,
      "torque_loss": 0.12781967222690582
    },
    {
      "epoch": 9.181654676258994,
      "grad_norm": 0.4024120569229126,
      "learning_rate": 9.610489610521024e-05,
      "loss": 0.121,
      "step": 10210
    },
    {
      "action_loss": 0.01241304725408554,
      "epoch": 9.181654676258994,
      "step": 10210
    },
    {
      "epoch": 9.181654676258994,
      "step": 10210,
      "torque_loss": 0.15376000106334686
    },
    {
      "epoch": 9.190647482014388,
      "grad_norm": 0.3622828423976898,
      "learning_rate": 9.609422541829187e-05,
      "loss": 0.111,
      "step": 10220
    },
    {
      "action_loss": 0.011708460748195648,
      "epoch": 9.190647482014388,
      "step": 10220
    },
    {
      "epoch": 9.190647482014388,
      "step": 10220,
      "torque_loss": 0.1598835289478302
    },
    {
      "epoch": 9.199640287769784,
      "grad_norm": 0.39876818656921387,
      "learning_rate": 9.608354072916486e-05,
      "loss": 0.1377,
      "step": 10230
    },
    {
      "action_loss": 0.01567254029214382,
      "epoch": 9.199640287769784,
      "step": 10230
    },
    {
      "epoch": 9.199640287769784,
      "step": 10230,
      "torque_loss": 0.14702501893043518
    },
    {
      "epoch": 9.20863309352518,
      "grad_norm": 0.46605321764945984,
      "learning_rate": 9.607284204107493e-05,
      "loss": 0.1223,
      "step": 10240
    },
    {
      "action_loss": 0.007795598823577166,
      "epoch": 9.20863309352518,
      "step": 10240
    },
    {
      "epoch": 9.20863309352518,
      "step": 10240,
      "torque_loss": 0.1384429931640625
    },
    {
      "epoch": 9.217625899280575,
      "grad_norm": 0.38883015513420105,
      "learning_rate": 9.606212935727208e-05,
      "loss": 0.0995,
      "step": 10250
    },
    {
      "action_loss": 0.01129920780658722,
      "epoch": 9.217625899280575,
      "step": 10250
    },
    {
      "epoch": 9.217625899280575,
      "step": 10250,
      "torque_loss": 0.1296224147081375
    },
    {
      "epoch": 9.226618705035971,
      "grad_norm": 0.38882729411125183,
      "learning_rate": 9.605140268101052e-05,
      "loss": 0.1204,
      "step": 10260
    },
    {
      "action_loss": 0.010438837110996246,
      "epoch": 9.226618705035971,
      "step": 10260
    },
    {
      "epoch": 9.226618705035971,
      "step": 10260,
      "torque_loss": 0.2066735476255417
    },
    {
      "epoch": 9.235611510791367,
      "grad_norm": 0.5403329133987427,
      "learning_rate": 9.604066201554875e-05,
      "loss": 0.102,
      "step": 10270
    },
    {
      "action_loss": 0.017967617139220238,
      "epoch": 9.235611510791367,
      "step": 10270
    },
    {
      "epoch": 9.235611510791367,
      "step": 10270,
      "torque_loss": 0.19721542298793793
    },
    {
      "epoch": 9.244604316546763,
      "grad_norm": 0.5895339846611023,
      "learning_rate": 9.60299073641495e-05,
      "loss": 0.1217,
      "step": 10280
    },
    {
      "action_loss": 0.012312489561736584,
      "epoch": 9.244604316546763,
      "step": 10280
    },
    {
      "epoch": 9.244604316546763,
      "step": 10280,
      "torque_loss": 0.15330977737903595
    },
    {
      "epoch": 9.253597122302159,
      "grad_norm": 0.39698243141174316,
      "learning_rate": 9.601913873007974e-05,
      "loss": 0.101,
      "step": 10290
    },
    {
      "action_loss": 0.006775203626602888,
      "epoch": 9.253597122302159,
      "step": 10290
    },
    {
      "epoch": 9.253597122302159,
      "step": 10290,
      "torque_loss": 0.19417977333068848
    },
    {
      "epoch": 9.262589928057555,
      "grad_norm": 0.3686746656894684,
      "learning_rate": 9.60083561166107e-05,
      "loss": 0.1317,
      "step": 10300
    },
    {
      "action_loss": 0.004742360208183527,
      "epoch": 9.262589928057555,
      "step": 10300
    },
    {
      "epoch": 9.262589928057555,
      "step": 10300,
      "torque_loss": 0.11661761999130249
    },
    {
      "epoch": 9.27158273381295,
      "grad_norm": 0.39148205518722534,
      "learning_rate": 9.599755952701783e-05,
      "loss": 0.1201,
      "step": 10310
    },
    {
      "action_loss": 0.013503228314220905,
      "epoch": 9.27158273381295,
      "step": 10310
    },
    {
      "epoch": 9.27158273381295,
      "step": 10310,
      "torque_loss": 0.12959325313568115
    },
    {
      "epoch": 9.280575539568344,
      "grad_norm": 0.488797128200531,
      "learning_rate": 9.598674896458089e-05,
      "loss": 0.127,
      "step": 10320
    },
    {
      "action_loss": 0.011336886323988438,
      "epoch": 9.280575539568344,
      "step": 10320
    },
    {
      "epoch": 9.280575539568344,
      "step": 10320,
      "torque_loss": 0.1454296112060547
    },
    {
      "epoch": 9.28956834532374,
      "grad_norm": 0.3732556104660034,
      "learning_rate": 9.597592443258383e-05,
      "loss": 0.0956,
      "step": 10330
    },
    {
      "action_loss": 0.006973492447286844,
      "epoch": 9.28956834532374,
      "step": 10330
    },
    {
      "epoch": 9.28956834532374,
      "step": 10330,
      "torque_loss": 0.13057196140289307
    },
    {
      "epoch": 9.298561151079136,
      "grad_norm": 0.3887004852294922,
      "learning_rate": 9.596508593431483e-05,
      "loss": 0.1044,
      "step": 10340
    },
    {
      "action_loss": 0.006784887984395027,
      "epoch": 9.298561151079136,
      "step": 10340
    },
    {
      "epoch": 9.298561151079136,
      "step": 10340,
      "torque_loss": 0.13222678005695343
    },
    {
      "epoch": 9.307553956834532,
      "grad_norm": 0.4096716642379761,
      "learning_rate": 9.59542334730664e-05,
      "loss": 0.1147,
      "step": 10350
    },
    {
      "action_loss": 0.012666639871895313,
      "epoch": 9.307553956834532,
      "step": 10350
    },
    {
      "epoch": 9.307553956834532,
      "step": 10350,
      "torque_loss": 0.14508189260959625
    },
    {
      "epoch": 9.316546762589928,
      "grad_norm": 0.4428849220275879,
      "learning_rate": 9.594336705213516e-05,
      "loss": 0.1222,
      "step": 10360
    },
    {
      "action_loss": 0.012222218327224255,
      "epoch": 9.316546762589928,
      "step": 10360
    },
    {
      "epoch": 9.316546762589928,
      "step": 10360,
      "torque_loss": 0.15212887525558472
    },
    {
      "epoch": 9.325539568345324,
      "grad_norm": 0.4320310950279236,
      "learning_rate": 9.593248667482208e-05,
      "loss": 0.1089,
      "step": 10370
    },
    {
      "action_loss": 0.0160736832767725,
      "epoch": 9.325539568345324,
      "step": 10370
    },
    {
      "epoch": 9.325539568345324,
      "step": 10370,
      "torque_loss": 0.1898362785577774
    },
    {
      "epoch": 9.33453237410072,
      "grad_norm": 0.4612119495868683,
      "learning_rate": 9.592159234443233e-05,
      "loss": 0.1332,
      "step": 10380
    },
    {
      "action_loss": 0.015429223887622356,
      "epoch": 9.33453237410072,
      "step": 10380
    },
    {
      "epoch": 9.33453237410072,
      "step": 10380,
      "torque_loss": 0.18011480569839478
    },
    {
      "epoch": 9.343525179856115,
      "grad_norm": 0.5455573201179504,
      "learning_rate": 9.59106840642753e-05,
      "loss": 0.1278,
      "step": 10390
    },
    {
      "action_loss": 0.012183435261249542,
      "epoch": 9.343525179856115,
      "step": 10390
    },
    {
      "epoch": 9.343525179856115,
      "step": 10390,
      "torque_loss": 0.1658240109682083
    },
    {
      "epoch": 9.352517985611511,
      "grad_norm": 0.3891197443008423,
      "learning_rate": 9.589976183766467e-05,
      "loss": 0.1224,
      "step": 10400
    },
    {
      "action_loss": 0.010045948438346386,
      "epoch": 9.352517985611511,
      "step": 10400
    },
    {
      "epoch": 9.352517985611511,
      "step": 10400,
      "torque_loss": 0.14568746089935303
    },
    {
      "epoch": 9.361510791366907,
      "grad_norm": 0.4236734211444855,
      "learning_rate": 9.58888256679183e-05,
      "loss": 0.1237,
      "step": 10410
    },
    {
      "action_loss": 0.011900666169822216,
      "epoch": 9.361510791366907,
      "step": 10410
    },
    {
      "epoch": 9.361510791366907,
      "step": 10410,
      "torque_loss": 0.15799115598201752
    },
    {
      "epoch": 9.370503597122303,
      "grad_norm": 0.4308495819568634,
      "learning_rate": 9.587787555835832e-05,
      "loss": 0.1237,
      "step": 10420
    },
    {
      "action_loss": 0.02041323482990265,
      "epoch": 9.370503597122303,
      "step": 10420
    },
    {
      "epoch": 9.370503597122303,
      "step": 10420,
      "torque_loss": 0.28718218207359314
    },
    {
      "epoch": 9.379496402877697,
      "grad_norm": 0.3325156569480896,
      "learning_rate": 9.586691151231107e-05,
      "loss": 0.1225,
      "step": 10430
    },
    {
      "action_loss": 0.006188590079545975,
      "epoch": 9.379496402877697,
      "step": 10430
    },
    {
      "epoch": 9.379496402877697,
      "step": 10430,
      "torque_loss": 0.1431676596403122
    },
    {
      "epoch": 9.388489208633093,
      "grad_norm": 0.5286041498184204,
      "learning_rate": 9.585593353310715e-05,
      "loss": 0.122,
      "step": 10440
    },
    {
      "action_loss": 0.015894973650574684,
      "epoch": 9.388489208633093,
      "step": 10440
    },
    {
      "epoch": 9.388489208633093,
      "step": 10440,
      "torque_loss": 0.19211876392364502
    },
    {
      "epoch": 9.397482014388489,
      "grad_norm": 0.43236854672431946,
      "learning_rate": 9.58449416240814e-05,
      "loss": 0.1234,
      "step": 10450
    },
    {
      "action_loss": 0.006170891225337982,
      "epoch": 9.397482014388489,
      "step": 10450
    },
    {
      "epoch": 9.397482014388489,
      "step": 10450,
      "torque_loss": 0.09730010479688644
    },
    {
      "epoch": 9.406474820143885,
      "grad_norm": 0.4636145234107971,
      "learning_rate": 9.583393578857283e-05,
      "loss": 0.1099,
      "step": 10460
    },
    {
      "action_loss": 0.007795941550284624,
      "epoch": 9.406474820143885,
      "step": 10460
    },
    {
      "epoch": 9.406474820143885,
      "step": 10460,
      "torque_loss": 0.15551157295703888
    },
    {
      "epoch": 9.41546762589928,
      "grad_norm": 0.44389286637306213,
      "learning_rate": 9.582291602992474e-05,
      "loss": 0.1108,
      "step": 10470
    },
    {
      "action_loss": 0.00852722767740488,
      "epoch": 9.41546762589928,
      "step": 10470
    },
    {
      "epoch": 9.41546762589928,
      "step": 10470,
      "torque_loss": 0.12749874591827393
    },
    {
      "epoch": 9.424460431654676,
      "grad_norm": 0.3975944221019745,
      "learning_rate": 9.581188235148466e-05,
      "loss": 0.1129,
      "step": 10480
    },
    {
      "action_loss": 0.007510806899517775,
      "epoch": 9.424460431654676,
      "step": 10480
    },
    {
      "epoch": 9.424460431654676,
      "step": 10480,
      "torque_loss": 0.1251915842294693
    },
    {
      "epoch": 9.433453237410072,
      "grad_norm": 0.4014056622982025,
      "learning_rate": 9.58008347566043e-05,
      "loss": 0.1103,
      "step": 10490
    },
    {
      "action_loss": 0.02062220685184002,
      "epoch": 9.433453237410072,
      "step": 10490
    },
    {
      "epoch": 9.433453237410072,
      "step": 10490,
      "torque_loss": 0.22930943965911865
    },
    {
      "epoch": 9.442446043165468,
      "grad_norm": 0.5479212403297424,
      "learning_rate": 9.578977324863965e-05,
      "loss": 0.1166,
      "step": 10500
    },
    {
      "action_loss": 0.007942024618387222,
      "epoch": 9.442446043165468,
      "step": 10500
    },
    {
      "epoch": 9.442446043165468,
      "step": 10500,
      "torque_loss": 0.1157667338848114
    },
    {
      "epoch": 9.451438848920864,
      "grad_norm": 0.4521387219429016,
      "learning_rate": 9.577869783095089e-05,
      "loss": 0.1182,
      "step": 10510
    },
    {
      "action_loss": 0.015225696377456188,
      "epoch": 9.451438848920864,
      "step": 10510
    },
    {
      "epoch": 9.451438848920864,
      "step": 10510,
      "torque_loss": 0.18623702228069305
    },
    {
      "epoch": 9.46043165467626,
      "grad_norm": 0.4178721606731415,
      "learning_rate": 9.576760850690245e-05,
      "loss": 0.1236,
      "step": 10520
    },
    {
      "action_loss": 0.0179018285125494,
      "epoch": 9.46043165467626,
      "step": 10520
    },
    {
      "epoch": 9.46043165467626,
      "step": 10520,
      "torque_loss": 0.21819214522838593
    },
    {
      "epoch": 9.469424460431656,
      "grad_norm": 0.5002855062484741,
      "learning_rate": 9.575650527986298e-05,
      "loss": 0.1407,
      "step": 10530
    },
    {
      "action_loss": 0.031024187803268433,
      "epoch": 9.469424460431656,
      "step": 10530
    },
    {
      "epoch": 9.469424460431656,
      "step": 10530,
      "torque_loss": 0.1943134218454361
    },
    {
      "epoch": 9.47841726618705,
      "grad_norm": 0.4415045380592346,
      "learning_rate": 9.574538815320531e-05,
      "loss": 0.1094,
      "step": 10540
    },
    {
      "action_loss": 0.00886058434844017,
      "epoch": 9.47841726618705,
      "step": 10540
    },
    {
      "epoch": 9.47841726618705,
      "step": 10540,
      "torque_loss": 0.1865425556898117
    },
    {
      "epoch": 9.487410071942445,
      "grad_norm": 0.45111358165740967,
      "learning_rate": 9.573425713030656e-05,
      "loss": 0.1391,
      "step": 10550
    },
    {
      "action_loss": 0.008967091329395771,
      "epoch": 9.487410071942445,
      "step": 10550
    },
    {
      "epoch": 9.487410071942445,
      "step": 10550,
      "torque_loss": 0.14315815269947052
    },
    {
      "epoch": 9.496402877697841,
      "grad_norm": 0.43296390771865845,
      "learning_rate": 9.572311221454806e-05,
      "loss": 0.1188,
      "step": 10560
    },
    {
      "action_loss": 0.014532707631587982,
      "epoch": 9.496402877697841,
      "step": 10560
    },
    {
      "epoch": 9.496402877697841,
      "step": 10560,
      "torque_loss": 0.18893830478191376
    },
    {
      "epoch": 9.505395683453237,
      "grad_norm": 0.5187705755233765,
      "learning_rate": 9.57119534093153e-05,
      "loss": 0.1253,
      "step": 10570
    },
    {
      "action_loss": 0.012953825294971466,
      "epoch": 9.505395683453237,
      "step": 10570
    },
    {
      "epoch": 9.505395683453237,
      "step": 10570,
      "torque_loss": 0.20446623861789703
    },
    {
      "epoch": 9.514388489208633,
      "grad_norm": 0.4633350670337677,
      "learning_rate": 9.570078071799806e-05,
      "loss": 0.1207,
      "step": 10580
    },
    {
      "action_loss": 0.022781671956181526,
      "epoch": 9.514388489208633,
      "step": 10580
    },
    {
      "epoch": 9.514388489208633,
      "step": 10580,
      "torque_loss": 0.21337063610553741
    },
    {
      "epoch": 9.523381294964029,
      "grad_norm": 0.4769333302974701,
      "learning_rate": 9.568959414399028e-05,
      "loss": 0.1149,
      "step": 10590
    },
    {
      "action_loss": 0.0286931823939085,
      "epoch": 9.523381294964029,
      "step": 10590
    },
    {
      "epoch": 9.523381294964029,
      "step": 10590,
      "torque_loss": 0.23307399451732635
    },
    {
      "epoch": 9.532374100719425,
      "grad_norm": 0.5013886094093323,
      "learning_rate": 9.567839369069018e-05,
      "loss": 0.1147,
      "step": 10600
    },
    {
      "action_loss": 0.009938006289303303,
      "epoch": 9.532374100719425,
      "step": 10600
    },
    {
      "epoch": 9.532374100719425,
      "step": 10600,
      "torque_loss": 0.21343670785427094
    },
    {
      "epoch": 9.54136690647482,
      "grad_norm": 0.4396341145038605,
      "learning_rate": 9.566717936150013e-05,
      "loss": 0.1302,
      "step": 10610
    },
    {
      "action_loss": 0.017901169136166573,
      "epoch": 9.54136690647482,
      "step": 10610
    },
    {
      "epoch": 9.54136690647482,
      "step": 10610,
      "torque_loss": 0.26512691378593445
    },
    {
      "epoch": 9.550359712230216,
      "grad_norm": 0.4563892185688019,
      "learning_rate": 9.565595115982678e-05,
      "loss": 0.1144,
      "step": 10620
    },
    {
      "action_loss": 0.017686130478978157,
      "epoch": 9.550359712230216,
      "step": 10620
    },
    {
      "epoch": 9.550359712230216,
      "step": 10620,
      "torque_loss": 0.17202945053577423
    },
    {
      "epoch": 9.559352517985612,
      "grad_norm": 0.47548532485961914,
      "learning_rate": 9.564470908908094e-05,
      "loss": 0.1226,
      "step": 10630
    },
    {
      "action_loss": 0.0398649163544178,
      "epoch": 9.559352517985612,
      "step": 10630
    },
    {
      "epoch": 9.559352517985612,
      "step": 10630,
      "torque_loss": 0.20512175559997559
    },
    {
      "epoch": 9.568345323741006,
      "grad_norm": 0.4287552237510681,
      "learning_rate": 9.563345315267764e-05,
      "loss": 0.1233,
      "step": 10640
    },
    {
      "action_loss": 0.015983788296580315,
      "epoch": 9.568345323741006,
      "step": 10640
    },
    {
      "epoch": 9.568345323741006,
      "step": 10640,
      "torque_loss": 0.18146848678588867
    },
    {
      "epoch": 9.577338129496402,
      "grad_norm": 0.38936862349510193,
      "learning_rate": 9.562218335403616e-05,
      "loss": 0.1199,
      "step": 10650
    },
    {
      "action_loss": 0.011569775640964508,
      "epoch": 9.577338129496402,
      "step": 10650
    },
    {
      "epoch": 9.577338129496402,
      "step": 10650,
      "torque_loss": 0.22917167842388153
    },
    {
      "epoch": 9.586330935251798,
      "grad_norm": 0.3312101662158966,
      "learning_rate": 9.561089969657999e-05,
      "loss": 0.1114,
      "step": 10660
    },
    {
      "action_loss": 0.009815412573516369,
      "epoch": 9.586330935251798,
      "step": 10660
    },
    {
      "epoch": 9.586330935251798,
      "step": 10660,
      "torque_loss": 0.16851703822612762
    },
    {
      "epoch": 9.595323741007194,
      "grad_norm": 0.33612415194511414,
      "learning_rate": 9.559960218373673e-05,
      "loss": 0.1242,
      "step": 10670
    },
    {
      "action_loss": 0.020311878994107246,
      "epoch": 9.595323741007194,
      "step": 10670
    },
    {
      "epoch": 9.595323741007194,
      "step": 10670,
      "torque_loss": 0.22468866407871246
    },
    {
      "epoch": 9.60431654676259,
      "grad_norm": 0.4007485806941986,
      "learning_rate": 9.558829081893836e-05,
      "loss": 0.1187,
      "step": 10680
    },
    {
      "action_loss": 0.015653548762202263,
      "epoch": 9.60431654676259,
      "step": 10680
    },
    {
      "epoch": 9.60431654676259,
      "step": 10680,
      "torque_loss": 0.20843245089054108
    },
    {
      "epoch": 9.613309352517986,
      "grad_norm": 0.3916700482368469,
      "learning_rate": 9.55769656056209e-05,
      "loss": 0.114,
      "step": 10690
    },
    {
      "action_loss": 0.01343062985688448,
      "epoch": 9.613309352517986,
      "step": 10690
    },
    {
      "epoch": 9.613309352517986,
      "step": 10690,
      "torque_loss": 0.16765160858631134
    },
    {
      "epoch": 9.622302158273381,
      "grad_norm": 0.3627735674381256,
      "learning_rate": 9.556562654722469e-05,
      "loss": 0.1212,
      "step": 10700
    },
    {
      "action_loss": 0.013604196719825268,
      "epoch": 9.622302158273381,
      "step": 10700
    },
    {
      "epoch": 9.622302158273381,
      "step": 10700,
      "torque_loss": 0.16541288793087006
    },
    {
      "epoch": 9.631294964028777,
      "grad_norm": 0.4162858724594116,
      "learning_rate": 9.555427364719422e-05,
      "loss": 0.131,
      "step": 10710
    },
    {
      "action_loss": 0.016601277515292168,
      "epoch": 9.631294964028777,
      "step": 10710
    },
    {
      "epoch": 9.631294964028777,
      "step": 10710,
      "torque_loss": 0.17261725664138794
    },
    {
      "epoch": 9.640287769784173,
      "grad_norm": 0.4748736023902893,
      "learning_rate": 9.55429069089782e-05,
      "loss": 0.116,
      "step": 10720
    },
    {
      "action_loss": 0.020180905237793922,
      "epoch": 9.640287769784173,
      "step": 10720
    },
    {
      "epoch": 9.640287769784173,
      "step": 10720,
      "torque_loss": 0.27699998021125793
    },
    {
      "epoch": 9.649280575539569,
      "grad_norm": 0.4802723526954651,
      "learning_rate": 9.553152633602956e-05,
      "loss": 0.1277,
      "step": 10730
    },
    {
      "action_loss": 0.007940305396914482,
      "epoch": 9.649280575539569,
      "step": 10730
    },
    {
      "epoch": 9.649280575539569,
      "step": 10730,
      "torque_loss": 0.14973972737789154
    },
    {
      "epoch": 9.658273381294965,
      "grad_norm": 0.5407938361167908,
      "learning_rate": 9.552013193180543e-05,
      "loss": 0.1322,
      "step": 10740
    },
    {
      "action_loss": 0.00907642487436533,
      "epoch": 9.658273381294965,
      "step": 10740
    },
    {
      "epoch": 9.658273381294965,
      "step": 10740,
      "torque_loss": 0.13996782898902893
    },
    {
      "epoch": 9.667266187050359,
      "grad_norm": 0.5634610056877136,
      "learning_rate": 9.550872369976707e-05,
      "loss": 0.1174,
      "step": 10750
    },
    {
      "action_loss": 0.01424665842205286,
      "epoch": 9.667266187050359,
      "step": 10750
    },
    {
      "epoch": 9.667266187050359,
      "step": 10750,
      "torque_loss": 0.17465107142925262
    },
    {
      "epoch": 9.676258992805755,
      "grad_norm": 0.36569586396217346,
      "learning_rate": 9.549730164338007e-05,
      "loss": 0.1114,
      "step": 10760
    },
    {
      "action_loss": 0.010541354306042194,
      "epoch": 9.676258992805755,
      "step": 10760
    },
    {
      "epoch": 9.676258992805755,
      "step": 10760,
      "torque_loss": 0.16252197325229645
    },
    {
      "epoch": 9.68525179856115,
      "grad_norm": 0.467753142118454,
      "learning_rate": 9.548586576611408e-05,
      "loss": 0.1195,
      "step": 10770
    },
    {
      "action_loss": 0.01184803619980812,
      "epoch": 9.68525179856115,
      "step": 10770
    },
    {
      "epoch": 9.68525179856115,
      "step": 10770,
      "torque_loss": 0.14695985615253448
    },
    {
      "epoch": 9.694244604316546,
      "grad_norm": 0.43553048372268677,
      "learning_rate": 9.54744160714431e-05,
      "loss": 0.1175,
      "step": 10780
    },
    {
      "action_loss": 0.009985874406993389,
      "epoch": 9.694244604316546,
      "step": 10780
    },
    {
      "epoch": 9.694244604316546,
      "step": 10780,
      "torque_loss": 0.1408587098121643
    },
    {
      "epoch": 9.703237410071942,
      "grad_norm": 0.4851857125759125,
      "learning_rate": 9.546295256284516e-05,
      "loss": 0.1113,
      "step": 10790
    },
    {
      "action_loss": 0.017346108332276344,
      "epoch": 9.703237410071942,
      "step": 10790
    },
    {
      "epoch": 9.703237410071942,
      "step": 10790,
      "torque_loss": 0.1642860323190689
    },
    {
      "epoch": 9.712230215827338,
      "grad_norm": 0.4416370689868927,
      "learning_rate": 9.545147524380265e-05,
      "loss": 0.1262,
      "step": 10800
    },
    {
      "action_loss": 0.010199497453868389,
      "epoch": 9.712230215827338,
      "step": 10800
    },
    {
      "epoch": 9.712230215827338,
      "step": 10800,
      "torque_loss": 0.15783293545246124
    },
    {
      "epoch": 9.721223021582734,
      "grad_norm": 0.4128723740577698,
      "learning_rate": 9.543998411780201e-05,
      "loss": 0.1208,
      "step": 10810
    },
    {
      "action_loss": 0.027729006484150887,
      "epoch": 9.721223021582734,
      "step": 10810
    },
    {
      "epoch": 9.721223021582734,
      "step": 10810,
      "torque_loss": 0.2614153325557709
    },
    {
      "epoch": 9.73021582733813,
      "grad_norm": 0.4916072189807892,
      "learning_rate": 9.542847918833397e-05,
      "loss": 0.1223,
      "step": 10820
    },
    {
      "action_loss": 0.01723526604473591,
      "epoch": 9.73021582733813,
      "step": 10820
    },
    {
      "epoch": 9.73021582733813,
      "step": 10820,
      "torque_loss": 0.16769365966320038
    },
    {
      "epoch": 9.739208633093526,
      "grad_norm": 0.36067137122154236,
      "learning_rate": 9.541696045889343e-05,
      "loss": 0.1171,
      "step": 10830
    },
    {
      "action_loss": 0.008188421837985516,
      "epoch": 9.739208633093526,
      "step": 10830
    },
    {
      "epoch": 9.739208633093526,
      "step": 10830,
      "torque_loss": 0.14641334116458893
    },
    {
      "epoch": 9.748201438848922,
      "grad_norm": 0.3919582962989807,
      "learning_rate": 9.540542793297947e-05,
      "loss": 0.1117,
      "step": 10840
    },
    {
      "action_loss": 0.009781158529222012,
      "epoch": 9.748201438848922,
      "step": 10840
    },
    {
      "epoch": 9.748201438848922,
      "step": 10840,
      "torque_loss": 0.1643802523612976
    },
    {
      "epoch": 9.757194244604317,
      "grad_norm": 0.47023308277130127,
      "learning_rate": 9.539388161409537e-05,
      "loss": 0.1187,
      "step": 10850
    },
    {
      "action_loss": 0.01529895979911089,
      "epoch": 9.757194244604317,
      "step": 10850
    },
    {
      "epoch": 9.757194244604317,
      "step": 10850,
      "torque_loss": 0.22691567242145538
    },
    {
      "epoch": 9.766187050359711,
      "grad_norm": 0.47174572944641113,
      "learning_rate": 9.538232150574857e-05,
      "loss": 0.1258,
      "step": 10860
    },
    {
      "action_loss": 0.012517054565250874,
      "epoch": 9.766187050359711,
      "step": 10860
    },
    {
      "epoch": 9.766187050359711,
      "step": 10860,
      "torque_loss": 0.18338818848133087
    },
    {
      "epoch": 9.775179856115107,
      "grad_norm": 0.43484508991241455,
      "learning_rate": 9.537074761145076e-05,
      "loss": 0.105,
      "step": 10870
    },
    {
      "action_loss": 0.00767097482457757,
      "epoch": 9.775179856115107,
      "step": 10870
    },
    {
      "epoch": 9.775179856115107,
      "step": 10870,
      "torque_loss": 0.1360224038362503
    },
    {
      "epoch": 9.784172661870503,
      "grad_norm": 0.459564745426178,
      "learning_rate": 9.535915993471778e-05,
      "loss": 0.1192,
      "step": 10880
    },
    {
      "action_loss": 0.020286548882722855,
      "epoch": 9.784172661870503,
      "step": 10880
    },
    {
      "epoch": 9.784172661870503,
      "step": 10880,
      "torque_loss": 0.17632757127285004
    },
    {
      "epoch": 9.793165467625899,
      "grad_norm": 0.42417672276496887,
      "learning_rate": 9.534755847906964e-05,
      "loss": 0.1335,
      "step": 10890
    },
    {
      "action_loss": 0.0062254928052425385,
      "epoch": 9.793165467625899,
      "step": 10890
    },
    {
      "epoch": 9.793165467625899,
      "step": 10890,
      "torque_loss": 0.16011063754558563
    },
    {
      "epoch": 9.802158273381295,
      "grad_norm": 0.4650164246559143,
      "learning_rate": 9.533594324803057e-05,
      "loss": 0.118,
      "step": 10900
    },
    {
      "action_loss": 0.016921982169151306,
      "epoch": 9.802158273381295,
      "step": 10900
    },
    {
      "epoch": 9.802158273381295,
      "step": 10900,
      "torque_loss": 0.20585380494594574
    },
    {
      "epoch": 9.81115107913669,
      "grad_norm": 0.39154401421546936,
      "learning_rate": 9.532431424512895e-05,
      "loss": 0.0996,
      "step": 10910
    },
    {
      "action_loss": 0.015417508780956268,
      "epoch": 9.81115107913669,
      "step": 10910
    },
    {
      "epoch": 9.81115107913669,
      "step": 10910,
      "torque_loss": 0.20499368011951447
    },
    {
      "epoch": 9.820143884892087,
      "grad_norm": 0.3775922954082489,
      "learning_rate": 9.531267147389741e-05,
      "loss": 0.1239,
      "step": 10920
    },
    {
      "action_loss": 0.020342597737908363,
      "epoch": 9.820143884892087,
      "step": 10920
    },
    {
      "epoch": 9.820143884892087,
      "step": 10920,
      "torque_loss": 0.2121037244796753
    },
    {
      "epoch": 9.829136690647482,
      "grad_norm": 0.4551807940006256,
      "learning_rate": 9.530101493787266e-05,
      "loss": 0.1159,
      "step": 10930
    },
    {
      "action_loss": 0.028634563088417053,
      "epoch": 9.829136690647482,
      "step": 10930
    },
    {
      "epoch": 9.829136690647482,
      "step": 10930,
      "torque_loss": 0.20401625335216522
    },
    {
      "epoch": 9.838129496402878,
      "grad_norm": 0.3627903461456299,
      "learning_rate": 9.528934464059571e-05,
      "loss": 0.1101,
      "step": 10940
    },
    {
      "action_loss": 0.010639202781021595,
      "epoch": 9.838129496402878,
      "step": 10940
    },
    {
      "epoch": 9.838129496402878,
      "step": 10940,
      "torque_loss": 0.16497176885604858
    },
    {
      "epoch": 9.847122302158274,
      "grad_norm": 0.37337803840637207,
      "learning_rate": 9.527766058561163e-05,
      "loss": 0.0996,
      "step": 10950
    },
    {
      "action_loss": 0.013725177384912968,
      "epoch": 9.847122302158274,
      "step": 10950
    },
    {
      "epoch": 9.847122302158274,
      "step": 10950,
      "torque_loss": 0.1829308122396469
    },
    {
      "epoch": 9.85611510791367,
      "grad_norm": 0.617634117603302,
      "learning_rate": 9.526596277646976e-05,
      "loss": 0.1177,
      "step": 10960
    },
    {
      "action_loss": 0.012305743992328644,
      "epoch": 9.85611510791367,
      "step": 10960
    },
    {
      "epoch": 9.85611510791367,
      "step": 10960,
      "torque_loss": 0.19790787994861603
    },
    {
      "epoch": 9.865107913669064,
      "grad_norm": 0.49848252534866333,
      "learning_rate": 9.525425121672358e-05,
      "loss": 0.1127,
      "step": 10970
    },
    {
      "action_loss": 0.005612219218164682,
      "epoch": 9.865107913669064,
      "step": 10970
    },
    {
      "epoch": 9.865107913669064,
      "step": 10970,
      "torque_loss": 0.1076635792851448
    },
    {
      "epoch": 9.87410071942446,
      "grad_norm": 0.43154188990592957,
      "learning_rate": 9.524252590993074e-05,
      "loss": 0.0973,
      "step": 10980
    },
    {
      "action_loss": 0.0059467521496117115,
      "epoch": 9.87410071942446,
      "step": 10980
    },
    {
      "epoch": 9.87410071942446,
      "step": 10980,
      "torque_loss": 0.10684707015752792
    },
    {
      "epoch": 9.883093525179856,
      "grad_norm": 0.41167205572128296,
      "learning_rate": 9.523078685965309e-05,
      "loss": 0.1134,
      "step": 10990
    },
    {
      "action_loss": 0.0031226191204041243,
      "epoch": 9.883093525179856,
      "step": 10990
    },
    {
      "epoch": 9.883093525179856,
      "step": 10990,
      "torque_loss": 0.10739047080278397
    },
    {
      "epoch": 9.892086330935252,
      "grad_norm": 0.39739030599594116,
      "learning_rate": 9.521903406945664e-05,
      "loss": 0.1054,
      "step": 11000
    },
    {
      "action_loss": 0.013171547092497349,
      "epoch": 9.892086330935252,
      "step": 11000
    },
    {
      "epoch": 9.892086330935252,
      "step": 11000,
      "torque_loss": 0.15527032315731049
    },
    {
      "epoch": 9.901079136690647,
      "grad_norm": 0.4235251843929291,
      "learning_rate": 9.520726754291158e-05,
      "loss": 0.1132,
      "step": 11010
    },
    {
      "action_loss": 0.02542049251496792,
      "epoch": 9.901079136690647,
      "step": 11010
    },
    {
      "epoch": 9.901079136690647,
      "step": 11010,
      "torque_loss": 0.2346246838569641
    },
    {
      "epoch": 9.910071942446043,
      "grad_norm": 0.4670312702655792,
      "learning_rate": 9.519548728359227e-05,
      "loss": 0.1126,
      "step": 11020
    },
    {
      "action_loss": 0.01600041054189205,
      "epoch": 9.910071942446043,
      "step": 11020
    },
    {
      "epoch": 9.910071942446043,
      "step": 11020,
      "torque_loss": 0.14871762692928314
    },
    {
      "epoch": 9.91906474820144,
      "grad_norm": 0.39703741669654846,
      "learning_rate": 9.518369329507726e-05,
      "loss": 0.1057,
      "step": 11030
    },
    {
      "action_loss": 0.00796330627053976,
      "epoch": 9.91906474820144,
      "step": 11030
    },
    {
      "epoch": 9.91906474820144,
      "step": 11030,
      "torque_loss": 0.12082862854003906
    },
    {
      "epoch": 9.928057553956835,
      "grad_norm": 0.366755872964859,
      "learning_rate": 9.51718855809492e-05,
      "loss": 0.0962,
      "step": 11040
    },
    {
      "action_loss": 0.011855732649564743,
      "epoch": 9.928057553956835,
      "step": 11040
    },
    {
      "epoch": 9.928057553956835,
      "step": 11040,
      "torque_loss": 0.22653628885746002
    },
    {
      "epoch": 9.93705035971223,
      "grad_norm": 0.4651262164115906,
      "learning_rate": 9.516006414479502e-05,
      "loss": 0.1309,
      "step": 11050
    },
    {
      "action_loss": 0.013441686518490314,
      "epoch": 9.93705035971223,
      "step": 11050
    },
    {
      "epoch": 9.93705035971223,
      "step": 11050,
      "torque_loss": 0.1825680136680603
    },
    {
      "epoch": 9.946043165467627,
      "grad_norm": 0.3609393835067749,
      "learning_rate": 9.514822899020572e-05,
      "loss": 0.1285,
      "step": 11060
    },
    {
      "action_loss": 0.012861977331340313,
      "epoch": 9.946043165467627,
      "step": 11060
    },
    {
      "epoch": 9.946043165467627,
      "step": 11060,
      "torque_loss": 0.1762094348669052
    },
    {
      "epoch": 9.95503597122302,
      "grad_norm": 0.5797876715660095,
      "learning_rate": 9.513638012077654e-05,
      "loss": 0.1172,
      "step": 11070
    },
    {
      "action_loss": 0.011646567843854427,
      "epoch": 9.95503597122302,
      "step": 11070
    },
    {
      "epoch": 9.95503597122302,
      "step": 11070,
      "torque_loss": 0.13155405223369598
    },
    {
      "epoch": 9.964028776978417,
      "grad_norm": 0.3779428005218506,
      "learning_rate": 9.512451754010683e-05,
      "loss": 0.1006,
      "step": 11080
    },
    {
      "action_loss": 0.013887849636375904,
      "epoch": 9.964028776978417,
      "step": 11080
    },
    {
      "epoch": 9.964028776978417,
      "step": 11080,
      "torque_loss": 0.13003331422805786
    },
    {
      "epoch": 9.973021582733812,
      "grad_norm": 0.4945477545261383,
      "learning_rate": 9.511264125180013e-05,
      "loss": 0.105,
      "step": 11090
    },
    {
      "action_loss": 0.009799965657293797,
      "epoch": 9.973021582733812,
      "step": 11090
    },
    {
      "epoch": 9.973021582733812,
      "step": 11090,
      "torque_loss": 0.18069450557231903
    },
    {
      "epoch": 9.982014388489208,
      "grad_norm": 0.4194795787334442,
      "learning_rate": 9.510075125946414e-05,
      "loss": 0.1098,
      "step": 11100
    },
    {
      "action_loss": 0.01284098532050848,
      "epoch": 9.982014388489208,
      "step": 11100
    },
    {
      "epoch": 9.982014388489208,
      "step": 11100,
      "torque_loss": 0.2525228261947632
    },
    {
      "epoch": 9.991007194244604,
      "grad_norm": 0.3696177005767822,
      "learning_rate": 9.508884756671075e-05,
      "loss": 0.1277,
      "step": 11110
    },
    {
      "action_loss": 0.00635553291067481,
      "epoch": 9.991007194244604,
      "step": 11110
    },
    {
      "epoch": 9.991007194244604,
      "step": 11110,
      "torque_loss": 0.1358669549226761
    },
    {
      "epoch": 10.0,
      "grad_norm": 0.37853068113327026,
      "learning_rate": 9.507693017715596e-05,
      "loss": 0.1165,
      "step": 11120
    },
    {
      "action_loss": 0.013865509070456028,
      "epoch": 10.0,
      "step": 11120
    },
    {
      "epoch": 10.0,
      "step": 11120,
      "torque_loss": 0.13654758036136627
    },
    {
      "epoch": 10.008992805755396,
      "grad_norm": 0.6184044480323792,
      "learning_rate": 9.506499909441997e-05,
      "loss": 0.1088,
      "step": 11130
    },
    {
      "action_loss": 0.007178646046668291,
      "epoch": 10.008992805755396,
      "step": 11130
    },
    {
      "epoch": 10.008992805755396,
      "step": 11130,
      "torque_loss": 0.1326734572649002
    },
    {
      "epoch": 10.017985611510792,
      "grad_norm": 0.49695175886154175,
      "learning_rate": 9.505305432212713e-05,
      "loss": 0.1071,
      "step": 11140
    },
    {
      "action_loss": 0.010901889763772488,
      "epoch": 10.017985611510792,
      "step": 11140
    },
    {
      "epoch": 10.017985611510792,
      "step": 11140,
      "torque_loss": 0.14910487830638885
    },
    {
      "epoch": 10.026978417266188,
      "grad_norm": 0.414789080619812,
      "learning_rate": 9.504109586390595e-05,
      "loss": 0.1096,
      "step": 11150
    },
    {
      "action_loss": 0.004220140632241964,
      "epoch": 10.026978417266188,
      "step": 11150
    },
    {
      "epoch": 10.026978417266188,
      "step": 11150,
      "torque_loss": 0.12153306603431702
    },
    {
      "epoch": 10.035971223021583,
      "grad_norm": 0.4252563416957855,
      "learning_rate": 9.502912372338908e-05,
      "loss": 0.1224,
      "step": 11160
    },
    {
      "action_loss": 0.006833745166659355,
      "epoch": 10.035971223021583,
      "step": 11160
    },
    {
      "epoch": 10.035971223021583,
      "step": 11160,
      "torque_loss": 0.1078549399971962
    },
    {
      "epoch": 10.04496402877698,
      "grad_norm": 0.5421680212020874,
      "learning_rate": 9.501713790421335e-05,
      "loss": 0.1077,
      "step": 11170
    },
    {
      "action_loss": 0.010509095154702663,
      "epoch": 10.04496402877698,
      "step": 11170
    },
    {
      "epoch": 10.04496402877698,
      "step": 11170,
      "torque_loss": 0.20156173408031464
    },
    {
      "epoch": 10.053956834532373,
      "grad_norm": 0.47107699513435364,
      "learning_rate": 9.500513841001974e-05,
      "loss": 0.1138,
      "step": 11180
    },
    {
      "action_loss": 0.01314498484134674,
      "epoch": 10.053956834532373,
      "step": 11180
    },
    {
      "epoch": 10.053956834532373,
      "step": 11180,
      "torque_loss": 0.17120890319347382
    },
    {
      "epoch": 10.06294964028777,
      "grad_norm": 0.40525567531585693,
      "learning_rate": 9.499312524445336e-05,
      "loss": 0.1241,
      "step": 11190
    },
    {
      "action_loss": 0.00504910247400403,
      "epoch": 10.06294964028777,
      "step": 11190
    },
    {
      "epoch": 10.06294964028777,
      "step": 11190,
      "torque_loss": 0.09226226806640625
    },
    {
      "epoch": 10.071942446043165,
      "grad_norm": 0.4240349531173706,
      "learning_rate": 9.498109841116351e-05,
      "loss": 0.1049,
      "step": 11200
    },
    {
      "action_loss": 0.011887435801327229,
      "epoch": 10.071942446043165,
      "step": 11200
    },
    {
      "epoch": 10.071942446043165,
      "step": 11200,
      "torque_loss": 0.18520860373973846
    },
    {
      "epoch": 10.08093525179856,
      "grad_norm": 0.379129022359848,
      "learning_rate": 9.496905791380363e-05,
      "loss": 0.138,
      "step": 11210
    },
    {
      "action_loss": 0.01125404518097639,
      "epoch": 10.08093525179856,
      "step": 11210
    },
    {
      "epoch": 10.08093525179856,
      "step": 11210,
      "torque_loss": 0.16519606113433838
    },
    {
      "epoch": 10.089928057553957,
      "grad_norm": 0.4633525609970093,
      "learning_rate": 9.495700375603129e-05,
      "loss": 0.1115,
      "step": 11220
    },
    {
      "action_loss": 0.013229689560830593,
      "epoch": 10.089928057553957,
      "step": 11220
    },
    {
      "epoch": 10.089928057553957,
      "step": 11220,
      "torque_loss": 0.20241932570934296
    },
    {
      "epoch": 10.098920863309353,
      "grad_norm": 0.40727055072784424,
      "learning_rate": 9.494493594150822e-05,
      "loss": 0.1293,
      "step": 11230
    },
    {
      "action_loss": 0.009024374186992645,
      "epoch": 10.098920863309353,
      "step": 11230
    },
    {
      "epoch": 10.098920863309353,
      "step": 11230,
      "torque_loss": 0.13510091602802277
    },
    {
      "epoch": 10.107913669064748,
      "grad_norm": 0.45314815640449524,
      "learning_rate": 9.493285447390032e-05,
      "loss": 0.1129,
      "step": 11240
    },
    {
      "action_loss": 0.008312353864312172,
      "epoch": 10.107913669064748,
      "step": 11240
    },
    {
      "epoch": 10.107913669064748,
      "step": 11240,
      "torque_loss": 0.17303061485290527
    },
    {
      "epoch": 10.116906474820144,
      "grad_norm": 0.38505619764328003,
      "learning_rate": 9.492075935687761e-05,
      "loss": 0.1132,
      "step": 11250
    },
    {
      "action_loss": 0.014116744510829449,
      "epoch": 10.116906474820144,
      "step": 11250
    },
    {
      "epoch": 10.116906474820144,
      "step": 11250,
      "torque_loss": 0.11046939343214035
    },
    {
      "epoch": 10.12589928057554,
      "grad_norm": 0.38250061869621277,
      "learning_rate": 9.490865059411427e-05,
      "loss": 0.1043,
      "step": 11260
    },
    {
      "action_loss": 0.027295542880892754,
      "epoch": 10.12589928057554,
      "step": 11260
    },
    {
      "epoch": 10.12589928057554,
      "step": 11260,
      "torque_loss": 0.18060730397701263
    },
    {
      "epoch": 10.134892086330936,
      "grad_norm": 0.4286685883998871,
      "learning_rate": 9.489652818928863e-05,
      "loss": 0.1112,
      "step": 11270
    },
    {
      "action_loss": 0.014908332377672195,
      "epoch": 10.134892086330936,
      "step": 11270
    },
    {
      "epoch": 10.134892086330936,
      "step": 11270,
      "torque_loss": 0.16146476566791534
    },
    {
      "epoch": 10.14388489208633,
      "grad_norm": 0.3940505087375641,
      "learning_rate": 9.488439214608315e-05,
      "loss": 0.1285,
      "step": 11280
    },
    {
      "action_loss": 0.010736345313489437,
      "epoch": 10.14388489208633,
      "step": 11280
    },
    {
      "epoch": 10.14388489208633,
      "step": 11280,
      "torque_loss": 0.11727681010961533
    },
    {
      "epoch": 10.152877697841726,
      "grad_norm": 0.4422975480556488,
      "learning_rate": 9.487224246818444e-05,
      "loss": 0.1006,
      "step": 11290
    },
    {
      "action_loss": 0.008214837871491909,
      "epoch": 10.152877697841726,
      "step": 11290
    },
    {
      "epoch": 10.152877697841726,
      "step": 11290,
      "torque_loss": 0.13614879548549652
    },
    {
      "epoch": 10.161870503597122,
      "grad_norm": 0.339615136384964,
      "learning_rate": 9.486007915928325e-05,
      "loss": 0.1033,
      "step": 11300
    },
    {
      "action_loss": 0.01055938471108675,
      "epoch": 10.161870503597122,
      "step": 11300
    },
    {
      "epoch": 10.161870503597122,
      "step": 11300,
      "torque_loss": 0.13843385875225067
    },
    {
      "epoch": 10.170863309352518,
      "grad_norm": 0.4245370030403137,
      "learning_rate": 9.484790222307448e-05,
      "loss": 0.1065,
      "step": 11310
    },
    {
      "action_loss": 0.004904836881905794,
      "epoch": 10.170863309352518,
      "step": 11310
    },
    {
      "epoch": 10.170863309352518,
      "step": 11310,
      "torque_loss": 0.09560194611549377
    },
    {
      "epoch": 10.179856115107913,
      "grad_norm": 0.4172523319721222,
      "learning_rate": 9.483571166325716e-05,
      "loss": 0.1264,
      "step": 11320
    },
    {
      "action_loss": 0.011145000346004963,
      "epoch": 10.179856115107913,
      "step": 11320
    },
    {
      "epoch": 10.179856115107913,
      "step": 11320,
      "torque_loss": 0.18090248107910156
    },
    {
      "epoch": 10.18884892086331,
      "grad_norm": 0.4236672818660736,
      "learning_rate": 9.482350748353444e-05,
      "loss": 0.1174,
      "step": 11330
    },
    {
      "action_loss": 0.006943728309124708,
      "epoch": 10.18884892086331,
      "step": 11330
    },
    {
      "epoch": 10.18884892086331,
      "step": 11330,
      "torque_loss": 0.13001160323619843
    },
    {
      "epoch": 10.197841726618705,
      "grad_norm": 0.5115694403648376,
      "learning_rate": 9.481128968761363e-05,
      "loss": 0.1087,
      "step": 11340
    },
    {
      "action_loss": 0.01021267008036375,
      "epoch": 10.197841726618705,
      "step": 11340
    },
    {
      "epoch": 10.197841726618705,
      "step": 11340,
      "torque_loss": 0.17132651805877686
    },
    {
      "epoch": 10.206834532374101,
      "grad_norm": 0.3671814203262329,
      "learning_rate": 9.479905827920621e-05,
      "loss": 0.107,
      "step": 11350
    },
    {
      "action_loss": 0.013433519750833511,
      "epoch": 10.206834532374101,
      "step": 11350
    },
    {
      "epoch": 10.206834532374101,
      "step": 11350,
      "torque_loss": 0.15662677586078644
    },
    {
      "epoch": 10.215827338129497,
      "grad_norm": 0.41157636046409607,
      "learning_rate": 9.478681326202773e-05,
      "loss": 0.1063,
      "step": 11360
    },
    {
      "action_loss": 0.006918551400303841,
      "epoch": 10.215827338129497,
      "step": 11360
    },
    {
      "epoch": 10.215827338129497,
      "step": 11360,
      "torque_loss": 0.11628631502389908
    },
    {
      "epoch": 10.224820143884893,
      "grad_norm": 0.4242388904094696,
      "learning_rate": 9.477455463979791e-05,
      "loss": 0.1083,
      "step": 11370
    },
    {
      "action_loss": 0.008338212966918945,
      "epoch": 10.224820143884893,
      "step": 11370
    },
    {
      "epoch": 10.224820143884893,
      "step": 11370,
      "torque_loss": 0.1748950332403183
    },
    {
      "epoch": 10.233812949640289,
      "grad_norm": 0.43159809708595276,
      "learning_rate": 9.476228241624059e-05,
      "loss": 0.14,
      "step": 11380
    },
    {
      "action_loss": 0.0046361587010324,
      "epoch": 10.233812949640289,
      "step": 11380
    },
    {
      "epoch": 10.233812949640289,
      "step": 11380,
      "torque_loss": 0.12008175998926163
    },
    {
      "epoch": 10.242805755395683,
      "grad_norm": 0.43166467547416687,
      "learning_rate": 9.474999659508374e-05,
      "loss": 0.1054,
      "step": 11390
    },
    {
      "action_loss": 0.005073340144008398,
      "epoch": 10.242805755395683,
      "step": 11390
    },
    {
      "epoch": 10.242805755395683,
      "step": 11390,
      "torque_loss": 0.094424307346344
    },
    {
      "epoch": 10.251798561151078,
      "grad_norm": 0.421082079410553,
      "learning_rate": 9.47376971800595e-05,
      "loss": 0.0885,
      "step": 11400
    },
    {
      "action_loss": 0.007130660582333803,
      "epoch": 10.251798561151078,
      "step": 11400
    },
    {
      "epoch": 10.251798561151078,
      "step": 11400,
      "torque_loss": 0.13319337368011475
    },
    {
      "epoch": 10.260791366906474,
      "grad_norm": 0.44825488328933716,
      "learning_rate": 9.472538417490409e-05,
      "loss": 0.1356,
      "step": 11410
    },
    {
      "action_loss": 0.010179034434258938,
      "epoch": 10.260791366906474,
      "step": 11410
    },
    {
      "epoch": 10.260791366906474,
      "step": 11410,
      "torque_loss": 0.11394151300191879
    },
    {
      "epoch": 10.26978417266187,
      "grad_norm": 0.37029802799224854,
      "learning_rate": 9.471305758335784e-05,
      "loss": 0.1219,
      "step": 11420
    },
    {
      "action_loss": 0.005914326757192612,
      "epoch": 10.26978417266187,
      "step": 11420
    },
    {
      "epoch": 10.26978417266187,
      "step": 11420,
      "torque_loss": 0.1157878115773201
    },
    {
      "epoch": 10.278776978417266,
      "grad_norm": 0.4549577236175537,
      "learning_rate": 9.47007174091653e-05,
      "loss": 0.1199,
      "step": 11430
    },
    {
      "action_loss": 0.015923386439681053,
      "epoch": 10.278776978417266,
      "step": 11430
    },
    {
      "epoch": 10.278776978417266,
      "step": 11430,
      "torque_loss": 0.1767834573984146
    },
    {
      "epoch": 10.287769784172662,
      "grad_norm": 0.38981103897094727,
      "learning_rate": 9.468836365607507e-05,
      "loss": 0.1273,
      "step": 11440
    },
    {
      "action_loss": 0.017903879284858704,
      "epoch": 10.287769784172662,
      "step": 11440
    },
    {
      "epoch": 10.287769784172662,
      "step": 11440,
      "torque_loss": 0.2394515872001648
    },
    {
      "epoch": 10.296762589928058,
      "grad_norm": 0.42782488465309143,
      "learning_rate": 9.467599632783988e-05,
      "loss": 0.1339,
      "step": 11450
    },
    {
      "action_loss": 0.020548762753605843,
      "epoch": 10.296762589928058,
      "step": 11450
    },
    {
      "epoch": 10.296762589928058,
      "step": 11450,
      "torque_loss": 0.2260865420103073
    },
    {
      "epoch": 10.305755395683454,
      "grad_norm": 0.4975396394729614,
      "learning_rate": 9.466361542821662e-05,
      "loss": 0.1235,
      "step": 11460
    },
    {
      "action_loss": 0.012284447439014912,
      "epoch": 10.305755395683454,
      "step": 11460
    },
    {
      "epoch": 10.305755395683454,
      "step": 11460,
      "torque_loss": 0.1687134951353073
    },
    {
      "epoch": 10.31474820143885,
      "grad_norm": 0.38878852128982544,
      "learning_rate": 9.465122096096625e-05,
      "loss": 0.1069,
      "step": 11470
    },
    {
      "action_loss": 0.019595570862293243,
      "epoch": 10.31474820143885,
      "step": 11470
    },
    {
      "epoch": 10.31474820143885,
      "step": 11470,
      "torque_loss": 0.2236972600221634
    },
    {
      "epoch": 10.323741007194245,
      "grad_norm": 0.48489466309547424,
      "learning_rate": 9.463881292985391e-05,
      "loss": 0.1167,
      "step": 11480
    },
    {
      "action_loss": 0.009330249391496181,
      "epoch": 10.323741007194245,
      "step": 11480
    },
    {
      "epoch": 10.323741007194245,
      "step": 11480,
      "torque_loss": 0.13676400482654572
    },
    {
      "epoch": 10.332733812949641,
      "grad_norm": 0.48091158270835876,
      "learning_rate": 9.462639133864881e-05,
      "loss": 0.1091,
      "step": 11490
    },
    {
      "action_loss": 0.010631154291331768,
      "epoch": 10.332733812949641,
      "step": 11490
    },
    {
      "epoch": 10.332733812949641,
      "step": 11490,
      "torque_loss": 0.17410922050476074
    },
    {
      "epoch": 10.341726618705035,
      "grad_norm": 0.4690338671207428,
      "learning_rate": 9.461395619112432e-05,
      "loss": 0.1124,
      "step": 11500
    },
    {
      "action_loss": 0.01626242883503437,
      "epoch": 10.341726618705035,
      "step": 11500
    },
    {
      "epoch": 10.341726618705035,
      "step": 11500,
      "torque_loss": 0.20676034688949585
    },
    {
      "epoch": 10.350719424460431,
      "grad_norm": 0.39653533697128296,
      "learning_rate": 9.460150749105791e-05,
      "loss": 0.1071,
      "step": 11510
    },
    {
      "action_loss": 0.014826349914073944,
      "epoch": 10.350719424460431,
      "step": 11510
    },
    {
      "epoch": 10.350719424460431,
      "step": 11510,
      "torque_loss": 0.17516189813613892
    },
    {
      "epoch": 10.359712230215827,
      "grad_norm": 0.4074593782424927,
      "learning_rate": 9.458904524223116e-05,
      "loss": 0.1192,
      "step": 11520
    },
    {
      "action_loss": 0.014886931516230106,
      "epoch": 10.359712230215827,
      "step": 11520
    },
    {
      "epoch": 10.359712230215827,
      "step": 11520,
      "torque_loss": 0.14786802232265472
    },
    {
      "epoch": 10.368705035971223,
      "grad_norm": 0.5796221494674683,
      "learning_rate": 9.457656944842976e-05,
      "loss": 0.1231,
      "step": 11530
    },
    {
      "action_loss": 0.005159068387001753,
      "epoch": 10.368705035971223,
      "step": 11530
    },
    {
      "epoch": 10.368705035971223,
      "step": 11530,
      "torque_loss": 0.1597146838903427
    },
    {
      "epoch": 10.377697841726619,
      "grad_norm": 0.4193874001502991,
      "learning_rate": 9.456408011344353e-05,
      "loss": 0.1053,
      "step": 11540
    },
    {
      "action_loss": 0.012248420156538486,
      "epoch": 10.377697841726619,
      "step": 11540
    },
    {
      "epoch": 10.377697841726619,
      "step": 11540,
      "torque_loss": 0.174677312374115
    },
    {
      "epoch": 10.386690647482014,
      "grad_norm": 0.4046534597873688,
      "learning_rate": 9.455157724106643e-05,
      "loss": 0.1157,
      "step": 11550
    },
    {
      "action_loss": 0.042509838938713074,
      "epoch": 10.386690647482014,
      "step": 11550
    },
    {
      "epoch": 10.386690647482014,
      "step": 11550,
      "torque_loss": 0.2524425685405731
    },
    {
      "epoch": 10.39568345323741,
      "grad_norm": 0.41306039690971375,
      "learning_rate": 9.453906083509647e-05,
      "loss": 0.1265,
      "step": 11560
    },
    {
      "action_loss": 0.012440727092325687,
      "epoch": 10.39568345323741,
      "step": 11560
    },
    {
      "epoch": 10.39568345323741,
      "step": 11560,
      "torque_loss": 0.13152071833610535
    },
    {
      "epoch": 10.404676258992806,
      "grad_norm": 0.3784874677658081,
      "learning_rate": 9.45265308993358e-05,
      "loss": 0.1006,
      "step": 11570
    },
    {
      "action_loss": 0.07787508517503738,
      "epoch": 10.404676258992806,
      "step": 11570
    },
    {
      "epoch": 10.404676258992806,
      "step": 11570,
      "torque_loss": 0.16182902455329895
    },
    {
      "epoch": 10.413669064748202,
      "grad_norm": 0.32229185104370117,
      "learning_rate": 9.451398743759071e-05,
      "loss": 0.1171,
      "step": 11580
    },
    {
      "action_loss": 0.012853114865720272,
      "epoch": 10.413669064748202,
      "step": 11580
    },
    {
      "epoch": 10.413669064748202,
      "step": 11580,
      "torque_loss": 0.1336233764886856
    },
    {
      "epoch": 10.422661870503598,
      "grad_norm": 0.5065287947654724,
      "learning_rate": 9.450143045367156e-05,
      "loss": 0.1036,
      "step": 11590
    },
    {
      "action_loss": 0.026823721826076508,
      "epoch": 10.422661870503598,
      "step": 11590
    },
    {
      "epoch": 10.422661870503598,
      "step": 11590,
      "torque_loss": 0.2719709575176239
    },
    {
      "epoch": 10.431654676258994,
      "grad_norm": 0.44592955708503723,
      "learning_rate": 9.448885995139283e-05,
      "loss": 0.1182,
      "step": 11600
    },
    {
      "action_loss": 0.007752627599984407,
      "epoch": 10.431654676258994,
      "step": 11600
    },
    {
      "epoch": 10.431654676258994,
      "step": 11600,
      "torque_loss": 0.15701059997081757
    },
    {
      "epoch": 10.440647482014388,
      "grad_norm": 0.4249378740787506,
      "learning_rate": 9.44762759345731e-05,
      "loss": 0.1125,
      "step": 11610
    },
    {
      "action_loss": 0.008521725423634052,
      "epoch": 10.440647482014388,
      "step": 11610
    },
    {
      "epoch": 10.440647482014388,
      "step": 11610,
      "torque_loss": 0.13627715408802032
    },
    {
      "epoch": 10.449640287769784,
      "grad_norm": 0.36493808031082153,
      "learning_rate": 9.446367840703509e-05,
      "loss": 0.1107,
      "step": 11620
    },
    {
      "action_loss": 0.013029615394771099,
      "epoch": 10.449640287769784,
      "step": 11620
    },
    {
      "epoch": 10.449640287769784,
      "step": 11620,
      "torque_loss": 0.15075932443141937
    },
    {
      "epoch": 10.45863309352518,
      "grad_norm": 0.5408989787101746,
      "learning_rate": 9.445106737260556e-05,
      "loss": 0.0962,
      "step": 11630
    },
    {
      "action_loss": 0.0070760915987193584,
      "epoch": 10.45863309352518,
      "step": 11630
    },
    {
      "epoch": 10.45863309352518,
      "step": 11630,
      "torque_loss": 0.13156674802303314
    },
    {
      "epoch": 10.467625899280575,
      "grad_norm": 0.5224066376686096,
      "learning_rate": 9.443844283511543e-05,
      "loss": 0.11,
      "step": 11640
    },
    {
      "action_loss": 0.011660720221698284,
      "epoch": 10.467625899280575,
      "step": 11640
    },
    {
      "epoch": 10.467625899280575,
      "step": 11640,
      "torque_loss": 0.16473840177059174
    },
    {
      "epoch": 10.476618705035971,
      "grad_norm": 0.4161374270915985,
      "learning_rate": 9.442580479839968e-05,
      "loss": 0.1195,
      "step": 11650
    },
    {
      "action_loss": 0.011962111108005047,
      "epoch": 10.476618705035971,
      "step": 11650
    },
    {
      "epoch": 10.476618705035971,
      "step": 11650,
      "torque_loss": 0.14480404555797577
    },
    {
      "epoch": 10.485611510791367,
      "grad_norm": 0.478974312543869,
      "learning_rate": 9.441315326629745e-05,
      "loss": 0.1256,
      "step": 11660
    },
    {
      "action_loss": 0.012803718447685242,
      "epoch": 10.485611510791367,
      "step": 11660
    },
    {
      "epoch": 10.485611510791367,
      "step": 11660,
      "torque_loss": 0.12810947000980377
    },
    {
      "epoch": 10.494604316546763,
      "grad_norm": 0.3862878084182739,
      "learning_rate": 9.44004882426519e-05,
      "loss": 0.1253,
      "step": 11670
    },
    {
      "action_loss": 0.010327567346394062,
      "epoch": 10.494604316546763,
      "step": 11670
    },
    {
      "epoch": 10.494604316546763,
      "step": 11670,
      "torque_loss": 0.12858988344669342
    },
    {
      "epoch": 10.503597122302159,
      "grad_norm": 0.39229559898376465,
      "learning_rate": 9.438780973131037e-05,
      "loss": 0.1122,
      "step": 11680
    },
    {
      "action_loss": 0.021430322900414467,
      "epoch": 10.503597122302159,
      "step": 11680
    },
    {
      "epoch": 10.503597122302159,
      "step": 11680,
      "torque_loss": 0.23578500747680664
    },
    {
      "epoch": 10.512589928057555,
      "grad_norm": 0.39281177520751953,
      "learning_rate": 9.437511773612423e-05,
      "loss": 0.125,
      "step": 11690
    },
    {
      "action_loss": 0.018551791086792946,
      "epoch": 10.512589928057555,
      "step": 11690
    },
    {
      "epoch": 10.512589928057555,
      "step": 11690,
      "torque_loss": 0.21035011112689972
    },
    {
      "epoch": 10.52158273381295,
      "grad_norm": 0.4370034635066986,
      "learning_rate": 9.436241226094896e-05,
      "loss": 0.1164,
      "step": 11700
    },
    {
      "action_loss": 0.038226619362831116,
      "epoch": 10.52158273381295,
      "step": 11700
    },
    {
      "epoch": 10.52158273381295,
      "step": 11700,
      "torque_loss": 0.18033349514007568
    },
    {
      "epoch": 10.530575539568346,
      "grad_norm": 0.31283193826675415,
      "learning_rate": 9.434969330964418e-05,
      "loss": 0.1166,
      "step": 11710
    },
    {
      "action_loss": 0.01760747842490673,
      "epoch": 10.530575539568346,
      "step": 11710
    },
    {
      "epoch": 10.530575539568346,
      "step": 11710,
      "torque_loss": 0.23716647922992706
    },
    {
      "epoch": 10.53956834532374,
      "grad_norm": 0.389626145362854,
      "learning_rate": 9.433696088607356e-05,
      "loss": 0.1192,
      "step": 11720
    },
    {
      "action_loss": 0.014245313592255116,
      "epoch": 10.53956834532374,
      "step": 11720
    },
    {
      "epoch": 10.53956834532374,
      "step": 11720,
      "torque_loss": 0.182697594165802
    },
    {
      "epoch": 10.548561151079136,
      "grad_norm": 0.4303554594516754,
      "learning_rate": 9.432421499410486e-05,
      "loss": 0.1169,
      "step": 11730
    },
    {
      "action_loss": 0.012453754432499409,
      "epoch": 10.548561151079136,
      "step": 11730
    },
    {
      "epoch": 10.548561151079136,
      "step": 11730,
      "torque_loss": 0.1589936912059784
    },
    {
      "epoch": 10.557553956834532,
      "grad_norm": 0.3711388111114502,
      "learning_rate": 9.431145563760998e-05,
      "loss": 0.1178,
      "step": 11740
    },
    {
      "action_loss": 0.02038663439452648,
      "epoch": 10.557553956834532,
      "step": 11740
    },
    {
      "epoch": 10.557553956834532,
      "step": 11740,
      "torque_loss": 0.1838403195142746
    },
    {
      "epoch": 10.566546762589928,
      "grad_norm": 0.41129517555236816,
      "learning_rate": 9.429868282046484e-05,
      "loss": 0.1207,
      "step": 11750
    },
    {
      "action_loss": 0.011253689415752888,
      "epoch": 10.566546762589928,
      "step": 11750
    },
    {
      "epoch": 10.566546762589928,
      "step": 11750,
      "torque_loss": 0.20372872054576874
    },
    {
      "epoch": 10.575539568345324,
      "grad_norm": 0.4005832076072693,
      "learning_rate": 9.428589654654951e-05,
      "loss": 0.1362,
      "step": 11760
    },
    {
      "action_loss": 0.011947485618293285,
      "epoch": 10.575539568345324,
      "step": 11760
    },
    {
      "epoch": 10.575539568345324,
      "step": 11760,
      "torque_loss": 0.19003109633922577
    },
    {
      "epoch": 10.58453237410072,
      "grad_norm": 0.3995225727558136,
      "learning_rate": 9.42730968197481e-05,
      "loss": 0.1174,
      "step": 11770
    },
    {
      "action_loss": 0.005846414249390364,
      "epoch": 10.58453237410072,
      "step": 11770
    },
    {
      "epoch": 10.58453237410072,
      "step": 11770,
      "torque_loss": 0.18414391577243805
    },
    {
      "epoch": 10.593525179856115,
      "grad_norm": 0.32686078548431396,
      "learning_rate": 9.426028364394883e-05,
      "loss": 0.1179,
      "step": 11780
    },
    {
      "action_loss": 0.012629766948521137,
      "epoch": 10.593525179856115,
      "step": 11780
    },
    {
      "epoch": 10.593525179856115,
      "step": 11780,
      "torque_loss": 0.13638119399547577
    },
    {
      "epoch": 10.602517985611511,
      "grad_norm": 0.37114188075065613,
      "learning_rate": 9.424745702304402e-05,
      "loss": 0.1058,
      "step": 11790
    },
    {
      "action_loss": 0.017872633412480354,
      "epoch": 10.602517985611511,
      "step": 11790
    },
    {
      "epoch": 10.602517985611511,
      "step": 11790,
      "torque_loss": 0.1956215500831604
    },
    {
      "epoch": 10.611510791366907,
      "grad_norm": 0.38400518894195557,
      "learning_rate": 9.423461696093006e-05,
      "loss": 0.1224,
      "step": 11800
    },
    {
      "action_loss": 0.033508624881505966,
      "epoch": 10.611510791366907,
      "step": 11800
    },
    {
      "epoch": 10.611510791366907,
      "step": 11800,
      "torque_loss": 0.2575549781322479
    },
    {
      "epoch": 10.620503597122303,
      "grad_norm": 0.3715147078037262,
      "learning_rate": 9.422176346150741e-05,
      "loss": 0.1126,
      "step": 11810
    },
    {
      "action_loss": 0.008948138915002346,
      "epoch": 10.620503597122303,
      "step": 11810
    },
    {
      "epoch": 10.620503597122303,
      "step": 11810,
      "torque_loss": 0.13786013424396515
    },
    {
      "epoch": 10.629496402877697,
      "grad_norm": 0.4093463122844696,
      "learning_rate": 9.420889652868063e-05,
      "loss": 0.1136,
      "step": 11820
    },
    {
      "action_loss": 0.007357212249189615,
      "epoch": 10.629496402877697,
      "step": 11820
    },
    {
      "epoch": 10.629496402877697,
      "step": 11820,
      "torque_loss": 0.12073444575071335
    },
    {
      "epoch": 10.638489208633093,
      "grad_norm": 0.3984494209289551,
      "learning_rate": 9.419601616635836e-05,
      "loss": 0.1207,
      "step": 11830
    },
    {
      "action_loss": 0.014607141725718975,
      "epoch": 10.638489208633093,
      "step": 11830
    },
    {
      "epoch": 10.638489208633093,
      "step": 11830,
      "torque_loss": 0.20309583842754364
    },
    {
      "epoch": 10.647482014388489,
      "grad_norm": 0.5558615326881409,
      "learning_rate": 9.418312237845331e-05,
      "loss": 0.1163,
      "step": 11840
    },
    {
      "action_loss": 0.007574313785880804,
      "epoch": 10.647482014388489,
      "step": 11840
    },
    {
      "epoch": 10.647482014388489,
      "step": 11840,
      "torque_loss": 0.112340547144413
    },
    {
      "epoch": 10.656474820143885,
      "grad_norm": 0.48251718282699585,
      "learning_rate": 9.417021516888225e-05,
      "loss": 0.1137,
      "step": 11850
    },
    {
      "action_loss": 0.018359676003456116,
      "epoch": 10.656474820143885,
      "step": 11850
    },
    {
      "epoch": 10.656474820143885,
      "step": 11850,
      "torque_loss": 0.2098560780286789
    },
    {
      "epoch": 10.66546762589928,
      "grad_norm": 0.39162176847457886,
      "learning_rate": 9.415729454156608e-05,
      "loss": 0.1084,
      "step": 11860
    },
    {
      "action_loss": 0.01909749023616314,
      "epoch": 10.66546762589928,
      "step": 11860
    },
    {
      "epoch": 10.66546762589928,
      "step": 11860,
      "torque_loss": 0.18094998598098755
    },
    {
      "epoch": 10.674460431654676,
      "grad_norm": 0.43748950958251953,
      "learning_rate": 9.414436050042973e-05,
      "loss": 0.1172,
      "step": 11870
    },
    {
      "action_loss": 0.013409525156021118,
      "epoch": 10.674460431654676,
      "step": 11870
    },
    {
      "epoch": 10.674460431654676,
      "step": 11870,
      "torque_loss": 0.20683293044567108
    },
    {
      "epoch": 10.683453237410072,
      "grad_norm": 0.43854907155036926,
      "learning_rate": 9.413141304940223e-05,
      "loss": 0.1134,
      "step": 11880
    },
    {
      "action_loss": 0.011780482716858387,
      "epoch": 10.683453237410072,
      "step": 11880
    },
    {
      "epoch": 10.683453237410072,
      "step": 11880,
      "torque_loss": 0.1550305336713791
    },
    {
      "epoch": 10.692446043165468,
      "grad_norm": 0.5432202816009521,
      "learning_rate": 9.411845219241666e-05,
      "loss": 0.1112,
      "step": 11890
    },
    {
      "action_loss": 0.0045369830913841724,
      "epoch": 10.692446043165468,
      "step": 11890
    },
    {
      "epoch": 10.692446043165468,
      "step": 11890,
      "torque_loss": 0.11352745443582535
    },
    {
      "epoch": 10.701438848920864,
      "grad_norm": 0.3416752517223358,
      "learning_rate": 9.410547793341021e-05,
      "loss": 0.1128,
      "step": 11900
    },
    {
      "action_loss": 0.006953095551580191,
      "epoch": 10.701438848920864,
      "step": 11900
    },
    {
      "epoch": 10.701438848920864,
      "step": 11900,
      "torque_loss": 0.14506815373897552
    },
    {
      "epoch": 10.71043165467626,
      "grad_norm": 0.3608955144882202,
      "learning_rate": 9.409249027632408e-05,
      "loss": 0.108,
      "step": 11910
    },
    {
      "action_loss": 0.009203321300446987,
      "epoch": 10.71043165467626,
      "step": 11910
    },
    {
      "epoch": 10.71043165467626,
      "step": 11910,
      "torque_loss": 0.1668577939271927
    },
    {
      "epoch": 10.719424460431654,
      "grad_norm": 0.4063766300678253,
      "learning_rate": 9.407948922510362e-05,
      "loss": 0.1137,
      "step": 11920
    },
    {
      "action_loss": 0.006331393960863352,
      "epoch": 10.719424460431654,
      "step": 11920
    },
    {
      "epoch": 10.719424460431654,
      "step": 11920,
      "torque_loss": 0.1245064064860344
    },
    {
      "epoch": 10.72841726618705,
      "grad_norm": 0.3298187851905823,
      "learning_rate": 9.406647478369817e-05,
      "loss": 0.1041,
      "step": 11930
    },
    {
      "action_loss": 0.01763427071273327,
      "epoch": 10.72841726618705,
      "step": 11930
    },
    {
      "epoch": 10.72841726618705,
      "step": 11930,
      "torque_loss": 0.22905601561069489
    },
    {
      "epoch": 10.737410071942445,
      "grad_norm": 0.38050422072410583,
      "learning_rate": 9.405344695606118e-05,
      "loss": 0.1087,
      "step": 11940
    },
    {
      "action_loss": 0.006521489471197128,
      "epoch": 10.737410071942445,
      "step": 11940
    },
    {
      "epoch": 10.737410071942445,
      "step": 11940,
      "torque_loss": 0.11351009458303452
    },
    {
      "epoch": 10.746402877697841,
      "grad_norm": 0.4065426290035248,
      "learning_rate": 9.404040574615018e-05,
      "loss": 0.0985,
      "step": 11950
    },
    {
      "action_loss": 0.01919683814048767,
      "epoch": 10.746402877697841,
      "step": 11950
    },
    {
      "epoch": 10.746402877697841,
      "step": 11950,
      "torque_loss": 0.20840446650981903
    },
    {
      "epoch": 10.755395683453237,
      "grad_norm": 0.4768826365470886,
      "learning_rate": 9.402735115792674e-05,
      "loss": 0.1239,
      "step": 11960
    },
    {
      "action_loss": 0.007047960069030523,
      "epoch": 10.755395683453237,
      "step": 11960
    },
    {
      "epoch": 10.755395683453237,
      "step": 11960,
      "torque_loss": 0.10793310403823853
    },
    {
      "epoch": 10.764388489208633,
      "grad_norm": 0.3955623209476471,
      "learning_rate": 9.401428319535649e-05,
      "loss": 0.0992,
      "step": 11970
    },
    {
      "action_loss": 0.008952253498136997,
      "epoch": 10.764388489208633,
      "step": 11970
    },
    {
      "epoch": 10.764388489208633,
      "step": 11970,
      "torque_loss": 0.11608162522315979
    },
    {
      "epoch": 10.773381294964029,
      "grad_norm": 0.5454248785972595,
      "learning_rate": 9.400120186240912e-05,
      "loss": 0.1118,
      "step": 11980
    },
    {
      "action_loss": 0.007933505810797215,
      "epoch": 10.773381294964029,
      "step": 11980
    },
    {
      "epoch": 10.773381294964029,
      "step": 11980,
      "torque_loss": 0.1470978856086731
    },
    {
      "epoch": 10.782374100719425,
      "grad_norm": 0.5594480633735657,
      "learning_rate": 9.398810716305844e-05,
      "loss": 0.1076,
      "step": 11990
    },
    {
      "action_loss": 0.01591290533542633,
      "epoch": 10.782374100719425,
      "step": 11990
    },
    {
      "epoch": 10.782374100719425,
      "step": 11990,
      "torque_loss": 0.16556905210018158
    },
    {
      "epoch": 10.79136690647482,
      "grad_norm": 0.43754297494888306,
      "learning_rate": 9.397499910128222e-05,
      "loss": 0.1231,
      "step": 12000
    },
    {
      "action_loss": 0.004819341469556093,
      "epoch": 10.79136690647482,
      "step": 12000
    },
    {
      "epoch": 10.79136690647482,
      "step": 12000,
      "torque_loss": 0.12929703295230865
    },
    {
      "epoch": 10.800359712230216,
      "grad_norm": 0.3453734815120697,
      "learning_rate": 9.396187768106237e-05,
      "loss": 0.101,
      "step": 12010
    },
    {
      "action_loss": 0.009307256899774075,
      "epoch": 10.800359712230216,
      "step": 12010
    },
    {
      "epoch": 10.800359712230216,
      "step": 12010,
      "torque_loss": 0.12324056774377823
    },
    {
      "epoch": 10.809352517985612,
      "grad_norm": 0.40327173471450806,
      "learning_rate": 9.394874290638482e-05,
      "loss": 0.1088,
      "step": 12020
    },
    {
      "action_loss": 0.014982105232775211,
      "epoch": 10.809352517985612,
      "step": 12020
    },
    {
      "epoch": 10.809352517985612,
      "step": 12020,
      "torque_loss": 0.21463747322559357
    },
    {
      "epoch": 10.818345323741006,
      "grad_norm": 0.3815365731716156,
      "learning_rate": 9.393559478123959e-05,
      "loss": 0.1162,
      "step": 12030
    },
    {
      "action_loss": 0.013519818894565105,
      "epoch": 10.818345323741006,
      "step": 12030
    },
    {
      "epoch": 10.818345323741006,
      "step": 12030,
      "torque_loss": 0.17441244423389435
    },
    {
      "epoch": 10.827338129496402,
      "grad_norm": 0.33466339111328125,
      "learning_rate": 9.39224333096207e-05,
      "loss": 0.1078,
      "step": 12040
    },
    {
      "action_loss": 0.0064761582762002945,
      "epoch": 10.827338129496402,
      "step": 12040
    },
    {
      "epoch": 10.827338129496402,
      "step": 12040,
      "torque_loss": 0.11750663071870804
    },
    {
      "epoch": 10.836330935251798,
      "grad_norm": 0.4640343487262726,
      "learning_rate": 9.390925849552629e-05,
      "loss": 0.1059,
      "step": 12050
    },
    {
      "action_loss": 0.015023522078990936,
      "epoch": 10.836330935251798,
      "step": 12050
    },
    {
      "epoch": 10.836330935251798,
      "step": 12050,
      "torque_loss": 0.20450849831104279
    },
    {
      "epoch": 10.845323741007194,
      "grad_norm": 0.36262184381484985,
      "learning_rate": 9.389607034295849e-05,
      "loss": 0.0982,
      "step": 12060
    },
    {
      "action_loss": 0.015136025846004486,
      "epoch": 10.845323741007194,
      "step": 12060
    },
    {
      "epoch": 10.845323741007194,
      "step": 12060,
      "torque_loss": 0.16120043396949768
    },
    {
      "epoch": 10.85431654676259,
      "grad_norm": 0.31175267696380615,
      "learning_rate": 9.388286885592355e-05,
      "loss": 0.1207,
      "step": 12070
    },
    {
      "action_loss": 0.0070376028306782246,
      "epoch": 10.85431654676259,
      "step": 12070
    },
    {
      "epoch": 10.85431654676259,
      "step": 12070,
      "torque_loss": 0.11276517063379288
    },
    {
      "epoch": 10.863309352517986,
      "grad_norm": 0.4116092920303345,
      "learning_rate": 9.386965403843168e-05,
      "loss": 0.1026,
      "step": 12080
    },
    {
      "action_loss": 0.004916139412671328,
      "epoch": 10.863309352517986,
      "step": 12080
    },
    {
      "epoch": 10.863309352517986,
      "step": 12080,
      "torque_loss": 0.15866976976394653
    },
    {
      "epoch": 10.872302158273381,
      "grad_norm": 0.320354163646698,
      "learning_rate": 9.385642589449726e-05,
      "loss": 0.1041,
      "step": 12090
    },
    {
      "action_loss": 0.004888240713626146,
      "epoch": 10.872302158273381,
      "step": 12090
    },
    {
      "epoch": 10.872302158273381,
      "step": 12090,
      "torque_loss": 0.09292802214622498
    },
    {
      "epoch": 10.881294964028777,
      "grad_norm": 0.41464272141456604,
      "learning_rate": 9.38431844281386e-05,
      "loss": 0.1027,
      "step": 12100
    },
    {
      "action_loss": 0.006762102246284485,
      "epoch": 10.881294964028777,
      "step": 12100
    },
    {
      "epoch": 10.881294964028777,
      "step": 12100,
      "torque_loss": 0.15301160514354706
    },
    {
      "epoch": 10.890287769784173,
      "grad_norm": 0.3395727872848511,
      "learning_rate": 9.38299296433781e-05,
      "loss": 0.1069,
      "step": 12110
    },
    {
      "action_loss": 0.01299334317445755,
      "epoch": 10.890287769784173,
      "step": 12110
    },
    {
      "epoch": 10.890287769784173,
      "step": 12110,
      "torque_loss": 0.20794379711151123
    },
    {
      "epoch": 10.899280575539569,
      "grad_norm": 0.3141842782497406,
      "learning_rate": 9.381666154424226e-05,
      "loss": 0.1123,
      "step": 12120
    },
    {
      "action_loss": 0.013389497064054012,
      "epoch": 10.899280575539569,
      "step": 12120
    },
    {
      "epoch": 10.899280575539569,
      "step": 12120,
      "torque_loss": 0.15907275676727295
    },
    {
      "epoch": 10.908273381294965,
      "grad_norm": 0.4012972414493561,
      "learning_rate": 9.380338013476157e-05,
      "loss": 0.111,
      "step": 12130
    },
    {
      "action_loss": 0.0233529731631279,
      "epoch": 10.908273381294965,
      "step": 12130
    },
    {
      "epoch": 10.908273381294965,
      "step": 12130,
      "torque_loss": 0.28530529141426086
    },
    {
      "epoch": 10.917266187050359,
      "grad_norm": 0.40122514963150024,
      "learning_rate": 9.379008541897054e-05,
      "loss": 0.1169,
      "step": 12140
    },
    {
      "action_loss": 0.0060343355871737,
      "epoch": 10.917266187050359,
      "step": 12140
    },
    {
      "epoch": 10.917266187050359,
      "step": 12140,
      "torque_loss": 0.11256318539381027
    },
    {
      "epoch": 10.926258992805755,
      "grad_norm": 0.38536080718040466,
      "learning_rate": 9.377677740090777e-05,
      "loss": 0.1231,
      "step": 12150
    },
    {
      "action_loss": 0.009819163009524345,
      "epoch": 10.926258992805755,
      "step": 12150
    },
    {
      "epoch": 10.926258992805755,
      "step": 12150,
      "torque_loss": 0.14750619232654572
    },
    {
      "epoch": 10.93525179856115,
      "grad_norm": 0.4263201057910919,
      "learning_rate": 9.376345608461588e-05,
      "loss": 0.1086,
      "step": 12160
    },
    {
      "action_loss": 0.011092737317085266,
      "epoch": 10.93525179856115,
      "step": 12160
    },
    {
      "epoch": 10.93525179856115,
      "step": 12160,
      "torque_loss": 0.21191461384296417
    },
    {
      "epoch": 10.944244604316546,
      "grad_norm": 0.30255556106567383,
      "learning_rate": 9.375012147414155e-05,
      "loss": 0.1052,
      "step": 12170
    },
    {
      "action_loss": 0.030785495415329933,
      "epoch": 10.944244604316546,
      "step": 12170
    },
    {
      "epoch": 10.944244604316546,
      "step": 12170,
      "torque_loss": 0.21552489697933197
    },
    {
      "epoch": 10.953237410071942,
      "grad_norm": 0.40294280648231506,
      "learning_rate": 9.373677357353545e-05,
      "loss": 0.118,
      "step": 12180
    },
    {
      "action_loss": 0.02157929539680481,
      "epoch": 10.953237410071942,
      "step": 12180
    },
    {
      "epoch": 10.953237410071942,
      "step": 12180,
      "torque_loss": 0.17733341455459595
    },
    {
      "epoch": 10.962230215827338,
      "grad_norm": 0.42937085032463074,
      "learning_rate": 9.372341238685237e-05,
      "loss": 0.0956,
      "step": 12190
    },
    {
      "action_loss": 0.008841034956276417,
      "epoch": 10.962230215827338,
      "step": 12190
    },
    {
      "epoch": 10.962230215827338,
      "step": 12190,
      "torque_loss": 0.15922944247722626
    },
    {
      "epoch": 10.971223021582734,
      "grad_norm": 0.5055394172668457,
      "learning_rate": 9.371003791815102e-05,
      "loss": 0.1078,
      "step": 12200
    },
    {
      "action_loss": 0.0049613662995398045,
      "epoch": 10.971223021582734,
      "step": 12200
    },
    {
      "epoch": 10.971223021582734,
      "step": 12200,
      "torque_loss": 0.10087230801582336
    },
    {
      "epoch": 10.98021582733813,
      "grad_norm": 0.4643513262271881,
      "learning_rate": 9.369665017149429e-05,
      "loss": 0.1089,
      "step": 12210
    },
    {
      "action_loss": 0.016138141974806786,
      "epoch": 10.98021582733813,
      "step": 12210
    },
    {
      "epoch": 10.98021582733813,
      "step": 12210,
      "torque_loss": 0.23927541077136993
    },
    {
      "epoch": 10.989208633093526,
      "grad_norm": 0.3108353614807129,
      "learning_rate": 9.368324915094895e-05,
      "loss": 0.104,
      "step": 12220
    },
    {
      "action_loss": 0.018562888726592064,
      "epoch": 10.989208633093526,
      "step": 12220
    },
    {
      "epoch": 10.989208633093526,
      "step": 12220,
      "torque_loss": 0.24087516963481903
    },
    {
      "epoch": 10.998201438848922,
      "grad_norm": 0.3043265640735626,
      "learning_rate": 9.366983486058591e-05,
      "loss": 0.1142,
      "step": 12230
    },
    {
      "action_loss": 0.0194129329174757,
      "epoch": 10.998201438848922,
      "step": 12230
    },
    {
      "epoch": 10.998201438848922,
      "step": 12230,
      "torque_loss": 0.1817152053117752
    },
    {
      "epoch": 11.007194244604317,
      "grad_norm": 0.38603490591049194,
      "learning_rate": 9.365640730448009e-05,
      "loss": 0.1123,
      "step": 12240
    },
    {
      "action_loss": 0.010160601697862148,
      "epoch": 11.007194244604317,
      "step": 12240
    },
    {
      "epoch": 11.007194244604317,
      "step": 12240,
      "torque_loss": 0.15367372334003448
    },
    {
      "epoch": 11.016187050359711,
      "grad_norm": 0.39843466877937317,
      "learning_rate": 9.36429664867104e-05,
      "loss": 0.1227,
      "step": 12250
    },
    {
      "action_loss": 0.007507903967052698,
      "epoch": 11.016187050359711,
      "step": 12250
    },
    {
      "epoch": 11.016187050359711,
      "step": 12250,
      "torque_loss": 0.10499797016382217
    },
    {
      "epoch": 11.025179856115107,
      "grad_norm": 0.4729006588459015,
      "learning_rate": 9.362951241135982e-05,
      "loss": 0.114,
      "step": 12260
    },
    {
      "action_loss": 0.01116007287055254,
      "epoch": 11.025179856115107,
      "step": 12260
    },
    {
      "epoch": 11.025179856115107,
      "step": 12260,
      "torque_loss": 0.1442543864250183
    },
    {
      "epoch": 11.034172661870503,
      "grad_norm": 0.34096893668174744,
      "learning_rate": 9.361604508251534e-05,
      "loss": 0.1045,
      "step": 12270
    },
    {
      "action_loss": 0.009201928973197937,
      "epoch": 11.034172661870503,
      "step": 12270
    },
    {
      "epoch": 11.034172661870503,
      "step": 12270,
      "torque_loss": 0.13916097581386566
    },
    {
      "epoch": 11.043165467625899,
      "grad_norm": 0.3484081029891968,
      "learning_rate": 9.360256450426799e-05,
      "loss": 0.1045,
      "step": 12280
    },
    {
      "action_loss": 0.011155943386256695,
      "epoch": 11.043165467625899,
      "step": 12280
    },
    {
      "epoch": 11.043165467625899,
      "step": 12280,
      "torque_loss": 0.1680763214826584
    },
    {
      "epoch": 11.052158273381295,
      "grad_norm": 0.43329930305480957,
      "learning_rate": 9.358907068071279e-05,
      "loss": 0.1019,
      "step": 12290
    },
    {
      "action_loss": 0.007945106364786625,
      "epoch": 11.052158273381295,
      "step": 12290
    },
    {
      "epoch": 11.052158273381295,
      "step": 12290,
      "torque_loss": 0.14647483825683594
    },
    {
      "epoch": 11.06115107913669,
      "grad_norm": 0.44887036085128784,
      "learning_rate": 9.357556361594882e-05,
      "loss": 0.0973,
      "step": 12300
    },
    {
      "action_loss": 0.004879587795585394,
      "epoch": 11.06115107913669,
      "step": 12300
    },
    {
      "epoch": 11.06115107913669,
      "step": 12300,
      "torque_loss": 0.13303129374980927
    },
    {
      "epoch": 11.070143884892087,
      "grad_norm": 0.3929116427898407,
      "learning_rate": 9.356204331407917e-05,
      "loss": 0.108,
      "step": 12310
    },
    {
      "action_loss": 0.04355092719197273,
      "epoch": 11.070143884892087,
      "step": 12310
    },
    {
      "epoch": 11.070143884892087,
      "step": 12310,
      "torque_loss": 0.20367105305194855
    },
    {
      "epoch": 11.079136690647482,
      "grad_norm": 0.4804379940032959,
      "learning_rate": 9.354850977921094e-05,
      "loss": 0.1191,
      "step": 12320
    },
    {
      "action_loss": 0.01586235500872135,
      "epoch": 11.079136690647482,
      "step": 12320
    },
    {
      "epoch": 11.079136690647482,
      "step": 12320,
      "torque_loss": 0.22494055330753326
    },
    {
      "epoch": 11.088129496402878,
      "grad_norm": 0.42232081294059753,
      "learning_rate": 9.353496301545529e-05,
      "loss": 0.1089,
      "step": 12330
    },
    {
      "action_loss": 0.010212600231170654,
      "epoch": 11.088129496402878,
      "step": 12330
    },
    {
      "epoch": 11.088129496402878,
      "step": 12330,
      "torque_loss": 0.13543416559696198
    },
    {
      "epoch": 11.097122302158274,
      "grad_norm": 0.3917171359062195,
      "learning_rate": 9.352140302692733e-05,
      "loss": 0.116,
      "step": 12340
    },
    {
      "action_loss": 0.004295202903449535,
      "epoch": 11.097122302158274,
      "step": 12340
    },
    {
      "epoch": 11.097122302158274,
      "step": 12340,
      "torque_loss": 0.15110550820827484
    },
    {
      "epoch": 11.10611510791367,
      "grad_norm": 0.33796438574790955,
      "learning_rate": 9.350782981774627e-05,
      "loss": 0.1212,
      "step": 12350
    },
    {
      "action_loss": 0.008950927294790745,
      "epoch": 11.10611510791367,
      "step": 12350
    },
    {
      "epoch": 11.10611510791367,
      "step": 12350,
      "torque_loss": 0.17905886471271515
    },
    {
      "epoch": 11.115107913669064,
      "grad_norm": 0.2986343204975128,
      "learning_rate": 9.349424339203526e-05,
      "loss": 0.1103,
      "step": 12360
    },
    {
      "action_loss": 0.008160252124071121,
      "epoch": 11.115107913669064,
      "step": 12360
    },
    {
      "epoch": 11.115107913669064,
      "step": 12360,
      "torque_loss": 0.15714053809642792
    },
    {
      "epoch": 11.12410071942446,
      "grad_norm": 0.42033544182777405,
      "learning_rate": 9.34806437539215e-05,
      "loss": 0.1192,
      "step": 12370
    },
    {
      "action_loss": 0.018645435571670532,
      "epoch": 11.12410071942446,
      "step": 12370
    },
    {
      "epoch": 11.12410071942446,
      "step": 12370,
      "torque_loss": 0.21605515480041504
    },
    {
      "epoch": 11.133093525179856,
      "grad_norm": 0.44932079315185547,
      "learning_rate": 9.346703090753622e-05,
      "loss": 0.1228,
      "step": 12380
    },
    {
      "action_loss": 0.01674940623342991,
      "epoch": 11.133093525179856,
      "step": 12380
    },
    {
      "epoch": 11.133093525179856,
      "step": 12380,
      "torque_loss": 0.24358922243118286
    },
    {
      "epoch": 11.142086330935252,
      "grad_norm": 0.46710729598999023,
      "learning_rate": 9.345340485701461e-05,
      "loss": 0.1249,
      "step": 12390
    },
    {
      "action_loss": 0.007737803738564253,
      "epoch": 11.142086330935252,
      "step": 12390
    },
    {
      "epoch": 11.142086330935252,
      "step": 12390,
      "torque_loss": 0.12708760797977448
    },
    {
      "epoch": 11.151079136690647,
      "grad_norm": 0.41607579588890076,
      "learning_rate": 9.343976560649595e-05,
      "loss": 0.0965,
      "step": 12400
    },
    {
      "action_loss": 0.011030447669327259,
      "epoch": 11.151079136690647,
      "step": 12400
    },
    {
      "epoch": 11.151079136690647,
      "step": 12400,
      "torque_loss": 0.17988626658916473
    },
    {
      "epoch": 11.160071942446043,
      "grad_norm": 0.44170358777046204,
      "learning_rate": 9.342611316012344e-05,
      "loss": 0.1166,
      "step": 12410
    },
    {
      "action_loss": 0.012968729250133038,
      "epoch": 11.160071942446043,
      "step": 12410
    },
    {
      "epoch": 11.160071942446043,
      "step": 12410,
      "torque_loss": 0.17077122628688812
    },
    {
      "epoch": 11.16906474820144,
      "grad_norm": 0.39914873242378235,
      "learning_rate": 9.341244752204437e-05,
      "loss": 0.1126,
      "step": 12420
    },
    {
      "action_loss": 0.017025453969836235,
      "epoch": 11.16906474820144,
      "step": 12420
    },
    {
      "epoch": 11.16906474820144,
      "step": 12420,
      "torque_loss": 0.22695167362689972
    },
    {
      "epoch": 11.178057553956835,
      "grad_norm": 0.31779414415359497,
      "learning_rate": 9.339876869640995e-05,
      "loss": 0.0965,
      "step": 12430
    },
    {
      "action_loss": 0.014369063079357147,
      "epoch": 11.178057553956835,
      "step": 12430
    },
    {
      "epoch": 11.178057553956835,
      "step": 12430,
      "torque_loss": 0.16788524389266968
    },
    {
      "epoch": 11.18705035971223,
      "grad_norm": 0.46011295914649963,
      "learning_rate": 9.33850766873755e-05,
      "loss": 0.1173,
      "step": 12440
    },
    {
      "action_loss": 0.022275755181908607,
      "epoch": 11.18705035971223,
      "step": 12440
    },
    {
      "epoch": 11.18705035971223,
      "step": 12440,
      "torque_loss": 0.2186921387910843
    },
    {
      "epoch": 11.196043165467627,
      "grad_norm": 0.4466851055622101,
      "learning_rate": 9.337137149910028e-05,
      "loss": 0.1226,
      "step": 12450
    },
    {
      "action_loss": 0.007632728666067123,
      "epoch": 11.196043165467627,
      "step": 12450
    },
    {
      "epoch": 11.196043165467627,
      "step": 12450,
      "torque_loss": 0.18941982090473175
    },
    {
      "epoch": 11.20503597122302,
      "grad_norm": 0.4530165493488312,
      "learning_rate": 9.335765313574753e-05,
      "loss": 0.1033,
      "step": 12460
    },
    {
      "action_loss": 0.006102666258811951,
      "epoch": 11.20503597122302,
      "step": 12460
    },
    {
      "epoch": 11.20503597122302,
      "step": 12460,
      "torque_loss": 0.13523827493190765
    },
    {
      "epoch": 11.214028776978417,
      "grad_norm": 0.5213270783424377,
      "learning_rate": 9.334392160148457e-05,
      "loss": 0.1106,
      "step": 12470
    },
    {
      "action_loss": 0.013256910257041454,
      "epoch": 11.214028776978417,
      "step": 12470
    },
    {
      "epoch": 11.214028776978417,
      "step": 12470,
      "torque_loss": 0.1138504147529602
    },
    {
      "epoch": 11.223021582733812,
      "grad_norm": 0.42035943269729614,
      "learning_rate": 9.333017690048264e-05,
      "loss": 0.1112,
      "step": 12480
    },
    {
      "action_loss": 0.011321738362312317,
      "epoch": 11.223021582733812,
      "step": 12480
    },
    {
      "epoch": 11.223021582733812,
      "step": 12480,
      "torque_loss": 0.13656871020793915
    },
    {
      "epoch": 11.232014388489208,
      "grad_norm": 0.48891371488571167,
      "learning_rate": 9.331641903691706e-05,
      "loss": 0.1073,
      "step": 12490
    },
    {
      "action_loss": 0.019788969308137894,
      "epoch": 11.232014388489208,
      "step": 12490
    },
    {
      "epoch": 11.232014388489208,
      "step": 12490,
      "torque_loss": 0.16368038952350616
    },
    {
      "epoch": 11.241007194244604,
      "grad_norm": 0.4247366786003113,
      "learning_rate": 9.330264801496707e-05,
      "loss": 0.1231,
      "step": 12500
    },
    {
      "action_loss": 0.022669097408652306,
      "epoch": 11.241007194244604,
      "step": 12500
    },
    {
      "epoch": 11.241007194244604,
      "step": 12500,
      "torque_loss": 0.16941845417022705
    },
    {
      "epoch": 11.25,
      "grad_norm": 0.4516794979572296,
      "learning_rate": 9.328886383881594e-05,
      "loss": 0.109,
      "step": 12510
    },
    {
      "action_loss": 0.01119727548211813,
      "epoch": 11.25,
      "step": 12510
    },
    {
      "epoch": 11.25,
      "step": 12510,
      "torque_loss": 0.18840591609477997
    },
    {
      "epoch": 11.258992805755396,
      "grad_norm": 0.37602388858795166,
      "learning_rate": 9.327506651265095e-05,
      "loss": 0.1131,
      "step": 12520
    },
    {
      "action_loss": 0.01385349128395319,
      "epoch": 11.258992805755396,
      "step": 12520
    },
    {
      "epoch": 11.258992805755396,
      "step": 12520,
      "torque_loss": 0.12305303663015366
    },
    {
      "epoch": 11.267985611510792,
      "grad_norm": 0.3607887029647827,
      "learning_rate": 9.326125604066338e-05,
      "loss": 0.1164,
      "step": 12530
    },
    {
      "action_loss": 0.008885464631021023,
      "epoch": 11.267985611510792,
      "step": 12530
    },
    {
      "epoch": 11.267985611510792,
      "step": 12530,
      "torque_loss": 0.10658135265111923
    },
    {
      "epoch": 11.276978417266188,
      "grad_norm": 0.48246851563453674,
      "learning_rate": 9.324743242704847e-05,
      "loss": 0.1054,
      "step": 12540
    },
    {
      "action_loss": 0.007764542009681463,
      "epoch": 11.276978417266188,
      "step": 12540
    },
    {
      "epoch": 11.276978417266188,
      "step": 12540,
      "torque_loss": 0.1888502985239029
    },
    {
      "epoch": 11.285971223021583,
      "grad_norm": 0.38522082567214966,
      "learning_rate": 9.323359567600546e-05,
      "loss": 0.1213,
      "step": 12550
    },
    {
      "action_loss": 0.027151718735694885,
      "epoch": 11.285971223021583,
      "step": 12550
    },
    {
      "epoch": 11.285971223021583,
      "step": 12550,
      "torque_loss": 0.26857686042785645
    },
    {
      "epoch": 11.29496402877698,
      "grad_norm": 0.3726217448711395,
      "learning_rate": 9.321974579173761e-05,
      "loss": 0.1112,
      "step": 12560
    },
    {
      "action_loss": 0.006826154887676239,
      "epoch": 11.29496402877698,
      "step": 12560
    },
    {
      "epoch": 11.29496402877698,
      "step": 12560,
      "torque_loss": 0.17074353992938995
    },
    {
      "epoch": 11.303956834532373,
      "grad_norm": 0.4542442858219147,
      "learning_rate": 9.320588277845213e-05,
      "loss": 0.1279,
      "step": 12570
    },
    {
      "action_loss": 0.010699531994760036,
      "epoch": 11.303956834532373,
      "step": 12570
    },
    {
      "epoch": 11.303956834532373,
      "step": 12570,
      "torque_loss": 0.2061590552330017
    },
    {
      "epoch": 11.31294964028777,
      "grad_norm": 0.4085211455821991,
      "learning_rate": 9.319200664036026e-05,
      "loss": 0.1209,
      "step": 12580
    },
    {
      "action_loss": 0.004822729155421257,
      "epoch": 11.31294964028777,
      "step": 12580
    },
    {
      "epoch": 11.31294964028777,
      "step": 12580,
      "torque_loss": 0.11634737253189087
    },
    {
      "epoch": 11.321942446043165,
      "grad_norm": 0.38698211312294006,
      "learning_rate": 9.31781173816772e-05,
      "loss": 0.102,
      "step": 12590
    },
    {
      "action_loss": 0.027933945879340172,
      "epoch": 11.321942446043165,
      "step": 12590
    },
    {
      "epoch": 11.321942446043165,
      "step": 12590,
      "torque_loss": 0.21804653108119965
    },
    {
      "epoch": 11.33093525179856,
      "grad_norm": 0.38194540143013,
      "learning_rate": 9.316421500662212e-05,
      "loss": 0.1083,
      "step": 12600
    },
    {
      "action_loss": 0.005700069013983011,
      "epoch": 11.33093525179856,
      "step": 12600
    },
    {
      "epoch": 11.33093525179856,
      "step": 12600,
      "torque_loss": 0.12123183161020279
    },
    {
      "epoch": 11.339928057553957,
      "grad_norm": 0.37116432189941406,
      "learning_rate": 9.31502995194182e-05,
      "loss": 0.1039,
      "step": 12610
    },
    {
      "action_loss": 0.009019696153700352,
      "epoch": 11.339928057553957,
      "step": 12610
    },
    {
      "epoch": 11.339928057553957,
      "step": 12610,
      "torque_loss": 0.14506185054779053
    },
    {
      "epoch": 11.348920863309353,
      "grad_norm": 0.3690848648548126,
      "learning_rate": 9.31363709242926e-05,
      "loss": 0.1148,
      "step": 12620
    },
    {
      "action_loss": 0.015487599186599255,
      "epoch": 11.348920863309353,
      "step": 12620
    },
    {
      "epoch": 11.348920863309353,
      "step": 12620,
      "torque_loss": 0.1482282429933548
    },
    {
      "epoch": 11.357913669064748,
      "grad_norm": 0.42809584736824036,
      "learning_rate": 9.312242922547647e-05,
      "loss": 0.0943,
      "step": 12630
    },
    {
      "action_loss": 0.007798964623361826,
      "epoch": 11.357913669064748,
      "step": 12630
    },
    {
      "epoch": 11.357913669064748,
      "step": 12630,
      "torque_loss": 0.13521064817905426
    },
    {
      "epoch": 11.366906474820144,
      "grad_norm": 0.3594772517681122,
      "learning_rate": 9.310847442720492e-05,
      "loss": 0.1144,
      "step": 12640
    },
    {
      "action_loss": 0.010774056427180767,
      "epoch": 11.366906474820144,
      "step": 12640
    },
    {
      "epoch": 11.366906474820144,
      "step": 12640,
      "torque_loss": 0.1707981377840042
    },
    {
      "epoch": 11.37589928057554,
      "grad_norm": 0.515690267086029,
      "learning_rate": 9.309450653371706e-05,
      "loss": 0.1182,
      "step": 12650
    },
    {
      "action_loss": 0.008993786759674549,
      "epoch": 11.37589928057554,
      "step": 12650
    },
    {
      "epoch": 11.37589928057554,
      "step": 12650,
      "torque_loss": 0.15421843528747559
    },
    {
      "epoch": 11.384892086330936,
      "grad_norm": 0.4990899860858917,
      "learning_rate": 9.308052554925595e-05,
      "loss": 0.1051,
      "step": 12660
    },
    {
      "action_loss": 0.0321982242166996,
      "epoch": 11.384892086330936,
      "step": 12660
    },
    {
      "epoch": 11.384892086330936,
      "step": 12660,
      "torque_loss": 0.2673574388027191
    },
    {
      "epoch": 11.39388489208633,
      "grad_norm": 0.5130634307861328,
      "learning_rate": 9.306653147806867e-05,
      "loss": 0.1149,
      "step": 12670
    },
    {
      "action_loss": 0.0034845878835767508,
      "epoch": 11.39388489208633,
      "step": 12670
    },
    {
      "epoch": 11.39388489208633,
      "step": 12670,
      "torque_loss": 0.0838836133480072
    },
    {
      "epoch": 11.402877697841726,
      "grad_norm": 0.4505019783973694,
      "learning_rate": 9.305252432440622e-05,
      "loss": 0.1031,
      "step": 12680
    },
    {
      "action_loss": 0.014127927832305431,
      "epoch": 11.402877697841726,
      "step": 12680
    },
    {
      "epoch": 11.402877697841726,
      "step": 12680,
      "torque_loss": 0.13621191680431366
    },
    {
      "epoch": 11.411870503597122,
      "grad_norm": 0.3653222918510437,
      "learning_rate": 9.303850409252361e-05,
      "loss": 0.1026,
      "step": 12690
    },
    {
      "action_loss": 0.006141627207398415,
      "epoch": 11.411870503597122,
      "step": 12690
    },
    {
      "epoch": 11.411870503597122,
      "step": 12690,
      "torque_loss": 0.1120925173163414
    },
    {
      "epoch": 11.420863309352518,
      "grad_norm": 0.46190834045410156,
      "learning_rate": 9.302447078667985e-05,
      "loss": 0.1021,
      "step": 12700
    },
    {
      "action_loss": 0.010177903808653355,
      "epoch": 11.420863309352518,
      "step": 12700
    },
    {
      "epoch": 11.420863309352518,
      "step": 12700,
      "torque_loss": 0.12034652382135391
    },
    {
      "epoch": 11.429856115107913,
      "grad_norm": 0.44701215624809265,
      "learning_rate": 9.301042441113783e-05,
      "loss": 0.1028,
      "step": 12710
    },
    {
      "action_loss": 0.010191609151661396,
      "epoch": 11.429856115107913,
      "step": 12710
    },
    {
      "epoch": 11.429856115107913,
      "step": 12710,
      "torque_loss": 0.15025947988033295
    },
    {
      "epoch": 11.43884892086331,
      "grad_norm": 0.4128844141960144,
      "learning_rate": 9.299636497016451e-05,
      "loss": 0.1271,
      "step": 12720
    },
    {
      "action_loss": 0.027339249849319458,
      "epoch": 11.43884892086331,
      "step": 12720
    },
    {
      "epoch": 11.43884892086331,
      "step": 12720,
      "torque_loss": 0.178923562169075
    },
    {
      "epoch": 11.447841726618705,
      "grad_norm": 0.37876731157302856,
      "learning_rate": 9.298229246803076e-05,
      "loss": 0.1062,
      "step": 12730
    },
    {
      "action_loss": 0.0072293970733881,
      "epoch": 11.447841726618705,
      "step": 12730
    },
    {
      "epoch": 11.447841726618705,
      "step": 12730,
      "torque_loss": 0.06536024808883667
    },
    {
      "epoch": 11.456834532374101,
      "grad_norm": 0.3688599169254303,
      "learning_rate": 9.296820690901144e-05,
      "loss": 0.1075,
      "step": 12740
    },
    {
      "action_loss": 0.005924989935010672,
      "epoch": 11.456834532374101,
      "step": 12740
    },
    {
      "epoch": 11.456834532374101,
      "step": 12740,
      "torque_loss": 0.10512054711580276
    },
    {
      "epoch": 11.465827338129497,
      "grad_norm": 0.36449211835861206,
      "learning_rate": 9.295410829738539e-05,
      "loss": 0.1046,
      "step": 12750
    },
    {
      "action_loss": 0.009004532359540462,
      "epoch": 11.465827338129497,
      "step": 12750
    },
    {
      "epoch": 11.465827338129497,
      "step": 12750,
      "torque_loss": 0.16159281134605408
    },
    {
      "epoch": 11.474820143884893,
      "grad_norm": 0.4591819941997528,
      "learning_rate": 9.293999663743535e-05,
      "loss": 0.1073,
      "step": 12760
    },
    {
      "action_loss": 0.008635745383799076,
      "epoch": 11.474820143884893,
      "step": 12760
    },
    {
      "epoch": 11.474820143884893,
      "step": 12760,
      "torque_loss": 0.16683833301067352
    },
    {
      "epoch": 11.483812949640289,
      "grad_norm": 0.4141153395175934,
      "learning_rate": 9.292587193344813e-05,
      "loss": 0.1254,
      "step": 12770
    },
    {
      "action_loss": 0.005731187295168638,
      "epoch": 11.483812949640289,
      "step": 12770
    },
    {
      "epoch": 11.483812949640289,
      "step": 12770,
      "torque_loss": 0.1302594393491745
    },
    {
      "epoch": 11.492805755395683,
      "grad_norm": 0.37042227387428284,
      "learning_rate": 9.291173418971437e-05,
      "loss": 0.1134,
      "step": 12780
    },
    {
      "action_loss": 0.021688150241971016,
      "epoch": 11.492805755395683,
      "step": 12780
    },
    {
      "epoch": 11.492805755395683,
      "step": 12780,
      "torque_loss": 0.22554732859134674
    },
    {
      "epoch": 11.501798561151078,
      "grad_norm": 0.4141480326652527,
      "learning_rate": 9.28975834105288e-05,
      "loss": 0.1187,
      "step": 12790
    },
    {
      "action_loss": 0.02651931345462799,
      "epoch": 11.501798561151078,
      "step": 12790
    },
    {
      "epoch": 11.501798561151078,
      "step": 12790,
      "torque_loss": 0.17125873267650604
    },
    {
      "epoch": 11.510791366906474,
      "grad_norm": 0.3550852835178375,
      "learning_rate": 9.288341960019004e-05,
      "loss": 0.1092,
      "step": 12800
    },
    {
      "action_loss": 0.006437332835048437,
      "epoch": 11.510791366906474,
      "step": 12800
    },
    {
      "epoch": 11.510791366906474,
      "step": 12800,
      "torque_loss": 0.12267782539129257
    },
    {
      "epoch": 11.51978417266187,
      "grad_norm": 0.4396991431713104,
      "learning_rate": 9.286924276300067e-05,
      "loss": 0.1194,
      "step": 12810
    },
    {
      "action_loss": 0.00859337393194437,
      "epoch": 11.51978417266187,
      "step": 12810
    },
    {
      "epoch": 11.51978417266187,
      "step": 12810,
      "torque_loss": 0.10264722257852554
    },
    {
      "epoch": 11.528776978417266,
      "grad_norm": 0.38368287682533264,
      "learning_rate": 9.285505290326726e-05,
      "loss": 0.1137,
      "step": 12820
    },
    {
      "action_loss": 0.00760575570166111,
      "epoch": 11.528776978417266,
      "step": 12820
    },
    {
      "epoch": 11.528776978417266,
      "step": 12820,
      "torque_loss": 0.14459870755672455
    },
    {
      "epoch": 11.537769784172662,
      "grad_norm": 0.4441986680030823,
      "learning_rate": 9.284085002530027e-05,
      "loss": 0.1017,
      "step": 12830
    },
    {
      "action_loss": 0.012198589742183685,
      "epoch": 11.537769784172662,
      "step": 12830
    },
    {
      "epoch": 11.537769784172662,
      "step": 12830,
      "torque_loss": 0.16016210615634918
    },
    {
      "epoch": 11.546762589928058,
      "grad_norm": 0.35259589552879333,
      "learning_rate": 9.282663413341422e-05,
      "loss": 0.1168,
      "step": 12840
    },
    {
      "action_loss": 0.006873064208775759,
      "epoch": 11.546762589928058,
      "step": 12840
    },
    {
      "epoch": 11.546762589928058,
      "step": 12840,
      "torque_loss": 0.11040753871202469
    },
    {
      "epoch": 11.555755395683454,
      "grad_norm": 0.35317742824554443,
      "learning_rate": 9.281240523192747e-05,
      "loss": 0.0971,
      "step": 12850
    },
    {
      "action_loss": 0.012133684940636158,
      "epoch": 11.555755395683454,
      "step": 12850
    },
    {
      "epoch": 11.555755395683454,
      "step": 12850,
      "torque_loss": 0.17225635051727295
    },
    {
      "epoch": 11.56474820143885,
      "grad_norm": 0.353922963142395,
      "learning_rate": 9.279816332516242e-05,
      "loss": 0.1033,
      "step": 12860
    },
    {
      "action_loss": 0.01457205880433321,
      "epoch": 11.56474820143885,
      "step": 12860
    },
    {
      "epoch": 11.56474820143885,
      "step": 12860,
      "torque_loss": 0.21061939001083374
    },
    {
      "epoch": 11.573741007194245,
      "grad_norm": 0.4369911253452301,
      "learning_rate": 9.278390841744536e-05,
      "loss": 0.1163,
      "step": 12870
    },
    {
      "action_loss": 0.004854412283748388,
      "epoch": 11.573741007194245,
      "step": 12870
    },
    {
      "epoch": 11.573741007194245,
      "step": 12870,
      "torque_loss": 0.11018449068069458
    },
    {
      "epoch": 11.582733812949641,
      "grad_norm": 0.3858620524406433,
      "learning_rate": 9.276964051310658e-05,
      "loss": 0.1082,
      "step": 12880
    },
    {
      "action_loss": 0.037249237298965454,
      "epoch": 11.582733812949641,
      "step": 12880
    },
    {
      "epoch": 11.582733812949641,
      "step": 12880,
      "torque_loss": 0.23440112173557281
    },
    {
      "epoch": 11.591726618705035,
      "grad_norm": 0.409488320350647,
      "learning_rate": 9.275535961648027e-05,
      "loss": 0.1021,
      "step": 12890
    },
    {
      "action_loss": 0.00843051914125681,
      "epoch": 11.591726618705035,
      "step": 12890
    },
    {
      "epoch": 11.591726618705035,
      "step": 12890,
      "torque_loss": 0.16114747524261475
    },
    {
      "epoch": 11.600719424460431,
      "grad_norm": 0.3282390832901001,
      "learning_rate": 9.274106573190459e-05,
      "loss": 0.0988,
      "step": 12900
    },
    {
      "action_loss": 0.008396480232477188,
      "epoch": 11.600719424460431,
      "step": 12900
    },
    {
      "epoch": 11.600719424460431,
      "step": 12900,
      "torque_loss": 0.17895351350307465
    },
    {
      "epoch": 11.609712230215827,
      "grad_norm": 0.40967661142349243,
      "learning_rate": 9.272675886372168e-05,
      "loss": 0.0984,
      "step": 12910
    },
    {
      "action_loss": 0.017837511375546455,
      "epoch": 11.609712230215827,
      "step": 12910
    },
    {
      "epoch": 11.609712230215827,
      "step": 12910,
      "torque_loss": 0.17380225658416748
    },
    {
      "epoch": 11.618705035971223,
      "grad_norm": 0.3148472011089325,
      "learning_rate": 9.271243901627754e-05,
      "loss": 0.1107,
      "step": 12920
    },
    {
      "action_loss": 0.011723697185516357,
      "epoch": 11.618705035971223,
      "step": 12920
    },
    {
      "epoch": 11.618705035971223,
      "step": 12920,
      "torque_loss": 0.15232382714748383
    },
    {
      "epoch": 11.627697841726619,
      "grad_norm": 0.40876856446266174,
      "learning_rate": 9.269810619392219e-05,
      "loss": 0.109,
      "step": 12930
    },
    {
      "action_loss": 0.00807799119502306,
      "epoch": 11.627697841726619,
      "step": 12930
    },
    {
      "epoch": 11.627697841726619,
      "step": 12930,
      "torque_loss": 0.14925016462802887
    },
    {
      "epoch": 11.636690647482014,
      "grad_norm": 0.45151853561401367,
      "learning_rate": 9.268376040100955e-05,
      "loss": 0.1309,
      "step": 12940
    },
    {
      "action_loss": 0.03714769706130028,
      "epoch": 11.636690647482014,
      "step": 12940
    },
    {
      "epoch": 11.636690647482014,
      "step": 12940,
      "torque_loss": 0.2569461166858673
    },
    {
      "epoch": 11.64568345323741,
      "grad_norm": 0.37096720933914185,
      "learning_rate": 9.266940164189752e-05,
      "loss": 0.1011,
      "step": 12950
    },
    {
      "action_loss": 0.02473945915699005,
      "epoch": 11.64568345323741,
      "step": 12950
    },
    {
      "epoch": 11.64568345323741,
      "step": 12950,
      "torque_loss": 0.21114139258861542
    },
    {
      "epoch": 11.654676258992806,
      "grad_norm": 0.5034787654876709,
      "learning_rate": 9.265502992094787e-05,
      "loss": 0.1087,
      "step": 12960
    },
    {
      "action_loss": 0.008163467980921268,
      "epoch": 11.654676258992806,
      "step": 12960
    },
    {
      "epoch": 11.654676258992806,
      "step": 12960,
      "torque_loss": 0.09464794397354126
    },
    {
      "epoch": 11.663669064748202,
      "grad_norm": 0.43404248356819153,
      "learning_rate": 9.264064524252638e-05,
      "loss": 0.099,
      "step": 12970
    },
    {
      "action_loss": 0.0054490044713020325,
      "epoch": 11.663669064748202,
      "step": 12970
    },
    {
      "epoch": 11.663669064748202,
      "step": 12970,
      "torque_loss": 0.10242611914873123
    },
    {
      "epoch": 11.672661870503598,
      "grad_norm": 0.4689120054244995,
      "learning_rate": 9.262624761100271e-05,
      "loss": 0.1212,
      "step": 12980
    },
    {
      "action_loss": 0.005631657782942057,
      "epoch": 11.672661870503598,
      "step": 12980
    },
    {
      "epoch": 11.672661870503598,
      "step": 12980,
      "torque_loss": 0.11022619158029556
    },
    {
      "epoch": 11.681654676258994,
      "grad_norm": 0.3883650600910187,
      "learning_rate": 9.261183703075051e-05,
      "loss": 0.1099,
      "step": 12990
    },
    {
      "action_loss": 0.014119702391326427,
      "epoch": 11.681654676258994,
      "step": 12990
    },
    {
      "epoch": 11.681654676258994,
      "step": 12990,
      "torque_loss": 0.22288958728313446
    },
    {
      "epoch": 11.690647482014388,
      "grad_norm": 0.4912433624267578,
      "learning_rate": 9.259741350614733e-05,
      "loss": 0.1085,
      "step": 13000
    },
    {
      "action_loss": 0.010921262204647064,
      "epoch": 11.690647482014388,
      "step": 13000
    },
    {
      "epoch": 11.690647482014388,
      "step": 13000,
      "torque_loss": 0.13160043954849243
    },
    {
      "epoch": 11.699640287769784,
      "grad_norm": 0.4571765065193176,
      "learning_rate": 9.258297704157464e-05,
      "loss": 0.1091,
      "step": 13010
    },
    {
      "action_loss": 0.011001679114997387,
      "epoch": 11.699640287769784,
      "step": 13010
    },
    {
      "epoch": 11.699640287769784,
      "step": 13010,
      "torque_loss": 0.13242368400096893
    },
    {
      "epoch": 11.70863309352518,
      "grad_norm": 0.4380281865596771,
      "learning_rate": 9.256852764141786e-05,
      "loss": 0.1076,
      "step": 13020
    },
    {
      "action_loss": 0.015060718171298504,
      "epoch": 11.70863309352518,
      "step": 13020
    },
    {
      "epoch": 11.70863309352518,
      "step": 13020,
      "torque_loss": 0.15804831683635712
    },
    {
      "epoch": 11.717625899280575,
      "grad_norm": 0.40683406591415405,
      "learning_rate": 9.255406531006634e-05,
      "loss": 0.104,
      "step": 13030
    },
    {
      "action_loss": 0.013033241033554077,
      "epoch": 11.717625899280575,
      "step": 13030
    },
    {
      "epoch": 11.717625899280575,
      "step": 13030,
      "torque_loss": 0.1614794135093689
    },
    {
      "epoch": 11.726618705035971,
      "grad_norm": 0.39107194542884827,
      "learning_rate": 9.253959005191335e-05,
      "loss": 0.1229,
      "step": 13040
    },
    {
      "action_loss": 0.008003235794603825,
      "epoch": 11.726618705035971,
      "step": 13040
    },
    {
      "epoch": 11.726618705035971,
      "step": 13040,
      "torque_loss": 0.1297776848077774
    },
    {
      "epoch": 11.735611510791367,
      "grad_norm": 0.33881163597106934,
      "learning_rate": 9.25251018713561e-05,
      "loss": 0.128,
      "step": 13050
    },
    {
      "action_loss": 0.01289613451808691,
      "epoch": 11.735611510791367,
      "step": 13050
    },
    {
      "epoch": 11.735611510791367,
      "step": 13050,
      "torque_loss": 0.13932208716869354
    },
    {
      "epoch": 11.744604316546763,
      "grad_norm": 0.3848223090171814,
      "learning_rate": 9.251060077279571e-05,
      "loss": 0.1019,
      "step": 13060
    },
    {
      "action_loss": 0.01030165795236826,
      "epoch": 11.744604316546763,
      "step": 13060
    },
    {
      "epoch": 11.744604316546763,
      "step": 13060,
      "torque_loss": 0.1561269909143448
    },
    {
      "epoch": 11.753597122302159,
      "grad_norm": 0.35218220949172974,
      "learning_rate": 9.249608676063724e-05,
      "loss": 0.1039,
      "step": 13070
    },
    {
      "action_loss": 0.05885636433959007,
      "epoch": 11.753597122302159,
      "step": 13070
    },
    {
      "epoch": 11.753597122302159,
      "step": 13070,
      "torque_loss": 0.2544872462749481
    },
    {
      "epoch": 11.762589928057555,
      "grad_norm": 0.2985812723636627,
      "learning_rate": 9.248155983928964e-05,
      "loss": 0.1045,
      "step": 13080
    },
    {
      "action_loss": 0.010588998906314373,
      "epoch": 11.762589928057555,
      "step": 13080
    },
    {
      "epoch": 11.762589928057555,
      "step": 13080,
      "torque_loss": 0.16224221885204315
    },
    {
      "epoch": 11.77158273381295,
      "grad_norm": 0.45961621403694153,
      "learning_rate": 9.246702001316583e-05,
      "loss": 0.1067,
      "step": 13090
    },
    {
      "action_loss": 0.015937460586428642,
      "epoch": 11.77158273381295,
      "step": 13090
    },
    {
      "epoch": 11.77158273381295,
      "step": 13090,
      "torque_loss": 0.2715968191623688
    },
    {
      "epoch": 11.780575539568346,
      "grad_norm": 0.3751336634159088,
      "learning_rate": 9.245246728668262e-05,
      "loss": 0.1124,
      "step": 13100
    },
    {
      "action_loss": 0.010064843110740185,
      "epoch": 11.780575539568346,
      "step": 13100
    },
    {
      "epoch": 11.780575539568346,
      "step": 13100,
      "torque_loss": 0.1527451127767563
    },
    {
      "epoch": 11.78956834532374,
      "grad_norm": 0.4811212420463562,
      "learning_rate": 9.243790166426073e-05,
      "loss": 0.1219,
      "step": 13110
    },
    {
      "action_loss": 0.01264519989490509,
      "epoch": 11.78956834532374,
      "step": 13110
    },
    {
      "epoch": 11.78956834532374,
      "step": 13110,
      "torque_loss": 0.263843297958374
    },
    {
      "epoch": 11.798561151079136,
      "grad_norm": 0.36064058542251587,
      "learning_rate": 9.242332315032484e-05,
      "loss": 0.115,
      "step": 13120
    },
    {
      "action_loss": 0.00492585264146328,
      "epoch": 11.798561151079136,
      "step": 13120
    },
    {
      "epoch": 11.798561151079136,
      "step": 13120,
      "torque_loss": 0.12714914977550507
    },
    {
      "epoch": 11.807553956834532,
      "grad_norm": 0.33608582615852356,
      "learning_rate": 9.240873174930349e-05,
      "loss": 0.1195,
      "step": 13130
    },
    {
      "action_loss": 0.01022909302264452,
      "epoch": 11.807553956834532,
      "step": 13130
    },
    {
      "epoch": 11.807553956834532,
      "step": 13130,
      "torque_loss": 0.17195749282836914
    },
    {
      "epoch": 11.816546762589928,
      "grad_norm": 0.46106600761413574,
      "learning_rate": 9.239412746562917e-05,
      "loss": 0.1156,
      "step": 13140
    },
    {
      "action_loss": 0.033431436866521835,
      "epoch": 11.816546762589928,
      "step": 13140
    },
    {
      "epoch": 11.816546762589928,
      "step": 13140,
      "torque_loss": 0.23422743380069733
    },
    {
      "epoch": 11.825539568345324,
      "grad_norm": 0.36120936274528503,
      "learning_rate": 9.237951030373828e-05,
      "loss": 0.1338,
      "step": 13150
    },
    {
      "action_loss": 0.02830669842660427,
      "epoch": 11.825539568345324,
      "step": 13150
    },
    {
      "epoch": 11.825539568345324,
      "step": 13150,
      "torque_loss": 0.21959693729877472
    },
    {
      "epoch": 11.83453237410072,
      "grad_norm": 0.4969213902950287,
      "learning_rate": 9.236488026807113e-05,
      "loss": 0.1201,
      "step": 13160
    },
    {
      "action_loss": 0.006733129266649485,
      "epoch": 11.83453237410072,
      "step": 13160
    },
    {
      "epoch": 11.83453237410072,
      "step": 13160,
      "torque_loss": 0.15205828845500946
    },
    {
      "epoch": 11.843525179856115,
      "grad_norm": 0.38987505435943604,
      "learning_rate": 9.235023736307193e-05,
      "loss": 0.1037,
      "step": 13170
    },
    {
      "action_loss": 0.009309175424277782,
      "epoch": 11.843525179856115,
      "step": 13170
    },
    {
      "epoch": 11.843525179856115,
      "step": 13170,
      "torque_loss": 0.1934005469083786
    },
    {
      "epoch": 11.852517985611511,
      "grad_norm": 0.4461324214935303,
      "learning_rate": 9.233558159318881e-05,
      "loss": 0.1118,
      "step": 13180
    },
    {
      "action_loss": 0.006781779229640961,
      "epoch": 11.852517985611511,
      "step": 13180
    },
    {
      "epoch": 11.852517985611511,
      "step": 13180,
      "torque_loss": 0.1434466391801834
    },
    {
      "epoch": 11.861510791366907,
      "grad_norm": 0.35636192560195923,
      "learning_rate": 9.232091296287382e-05,
      "loss": 0.0986,
      "step": 13190
    },
    {
      "action_loss": 0.00925401784479618,
      "epoch": 11.861510791366907,
      "step": 13190
    },
    {
      "epoch": 11.861510791366907,
      "step": 13190,
      "torque_loss": 0.16820192337036133
    },
    {
      "epoch": 11.870503597122303,
      "grad_norm": 0.4113359749317169,
      "learning_rate": 9.230623147658288e-05,
      "loss": 0.1048,
      "step": 13200
    },
    {
      "action_loss": 0.007255423814058304,
      "epoch": 11.870503597122303,
      "step": 13200
    },
    {
      "epoch": 11.870503597122303,
      "step": 13200,
      "torque_loss": 0.1499251425266266
    },
    {
      "epoch": 11.879496402877697,
      "grad_norm": 0.37488916516304016,
      "learning_rate": 9.229153713877586e-05,
      "loss": 0.1106,
      "step": 13210
    },
    {
      "action_loss": 0.01770542934536934,
      "epoch": 11.879496402877697,
      "step": 13210
    },
    {
      "epoch": 11.879496402877697,
      "step": 13210,
      "torque_loss": 0.20701496303081512
    },
    {
      "epoch": 11.888489208633093,
      "grad_norm": 0.4186451733112335,
      "learning_rate": 9.227682995391649e-05,
      "loss": 0.1232,
      "step": 13220
    },
    {
      "action_loss": 0.01340485643595457,
      "epoch": 11.888489208633093,
      "step": 13220
    },
    {
      "epoch": 11.888489208633093,
      "step": 13220,
      "torque_loss": 0.17191822826862335
    },
    {
      "epoch": 11.897482014388489,
      "grad_norm": 0.41453829407691956,
      "learning_rate": 9.226210992647243e-05,
      "loss": 0.108,
      "step": 13230
    },
    {
      "action_loss": 0.00812480691820383,
      "epoch": 11.897482014388489,
      "step": 13230
    },
    {
      "epoch": 11.897482014388489,
      "step": 13230,
      "torque_loss": 0.14346615970134735
    },
    {
      "epoch": 11.906474820143885,
      "grad_norm": 0.3896946609020233,
      "learning_rate": 9.224737706091525e-05,
      "loss": 0.0962,
      "step": 13240
    },
    {
      "action_loss": 0.01801156997680664,
      "epoch": 11.906474820143885,
      "step": 13240
    },
    {
      "epoch": 11.906474820143885,
      "step": 13240,
      "torque_loss": 0.18050134181976318
    },
    {
      "epoch": 11.91546762589928,
      "grad_norm": 0.31534990668296814,
      "learning_rate": 9.223263136172039e-05,
      "loss": 0.1174,
      "step": 13250
    },
    {
      "action_loss": 0.05346041917800903,
      "epoch": 11.91546762589928,
      "step": 13250
    },
    {
      "epoch": 11.91546762589928,
      "step": 13250,
      "torque_loss": 0.3176436722278595
    },
    {
      "epoch": 11.924460431654676,
      "grad_norm": 0.36567234992980957,
      "learning_rate": 9.22178728333672e-05,
      "loss": 0.1184,
      "step": 13260
    },
    {
      "action_loss": 0.011561363935470581,
      "epoch": 11.924460431654676,
      "step": 13260
    },
    {
      "epoch": 11.924460431654676,
      "step": 13260,
      "torque_loss": 0.14012835919857025
    },
    {
      "epoch": 11.933453237410072,
      "grad_norm": 0.424947053194046,
      "learning_rate": 9.220310148033897e-05,
      "loss": 0.1142,
      "step": 13270
    },
    {
      "action_loss": 0.010669194161891937,
      "epoch": 11.933453237410072,
      "step": 13270
    },
    {
      "epoch": 11.933453237410072,
      "step": 13270,
      "torque_loss": 0.14899586141109467
    },
    {
      "epoch": 11.942446043165468,
      "grad_norm": 0.602649450302124,
      "learning_rate": 9.21883173071228e-05,
      "loss": 0.1181,
      "step": 13280
    },
    {
      "action_loss": 0.008407934568822384,
      "epoch": 11.942446043165468,
      "step": 13280
    },
    {
      "epoch": 11.942446043165468,
      "step": 13280,
      "torque_loss": 0.12711377441883087
    },
    {
      "epoch": 11.951438848920864,
      "grad_norm": 0.3854684829711914,
      "learning_rate": 9.217352031820976e-05,
      "loss": 0.0953,
      "step": 13290
    },
    {
      "action_loss": 0.024353429675102234,
      "epoch": 11.951438848920864,
      "step": 13290
    },
    {
      "epoch": 11.951438848920864,
      "step": 13290,
      "torque_loss": 0.1851019412279129
    },
    {
      "epoch": 11.96043165467626,
      "grad_norm": 0.32448631525039673,
      "learning_rate": 9.215871051809477e-05,
      "loss": 0.1058,
      "step": 13300
    },
    {
      "action_loss": 0.004233511630445719,
      "epoch": 11.96043165467626,
      "step": 13300
    },
    {
      "epoch": 11.96043165467626,
      "step": 13300,
      "torque_loss": 0.09265085309743881
    },
    {
      "epoch": 11.969424460431654,
      "grad_norm": 0.4133296310901642,
      "learning_rate": 9.214388791127666e-05,
      "loss": 0.1082,
      "step": 13310
    },
    {
      "action_loss": 0.01821417175233364,
      "epoch": 11.969424460431654,
      "step": 13310
    },
    {
      "epoch": 11.969424460431654,
      "step": 13310,
      "torque_loss": 0.2308603972196579
    },
    {
      "epoch": 11.97841726618705,
      "grad_norm": 0.43141302466392517,
      "learning_rate": 9.212905250225814e-05,
      "loss": 0.1139,
      "step": 13320
    },
    {
      "action_loss": 0.009147741831839085,
      "epoch": 11.97841726618705,
      "step": 13320
    },
    {
      "epoch": 11.97841726618705,
      "step": 13320,
      "torque_loss": 0.19793976843357086
    },
    {
      "epoch": 11.987410071942445,
      "grad_norm": 0.40775689482688904,
      "learning_rate": 9.211420429554583e-05,
      "loss": 0.1053,
      "step": 13330
    },
    {
      "action_loss": 0.004075754899531603,
      "epoch": 11.987410071942445,
      "step": 13330
    },
    {
      "epoch": 11.987410071942445,
      "step": 13330,
      "torque_loss": 0.16331888735294342
    },
    {
      "epoch": 11.996402877697841,
      "grad_norm": 0.4662085175514221,
      "learning_rate": 9.209934329565022e-05,
      "loss": 0.1046,
      "step": 13340
    },
    {
      "action_loss": 0.004639522638171911,
      "epoch": 11.996402877697841,
      "step": 13340
    },
    {
      "epoch": 11.996402877697841,
      "step": 13340,
      "torque_loss": 0.1220267042517662
    },
    {
      "epoch": 12.005395683453237,
      "grad_norm": 0.5066155791282654,
      "learning_rate": 9.208446950708568e-05,
      "loss": 0.1185,
      "step": 13350
    },
    {
      "action_loss": 0.03159011900424957,
      "epoch": 12.005395683453237,
      "step": 13350
    },
    {
      "epoch": 12.005395683453237,
      "step": 13350,
      "torque_loss": 0.2801496982574463
    },
    {
      "epoch": 12.014388489208633,
      "grad_norm": 0.3473855257034302,
      "learning_rate": 9.20695829343705e-05,
      "loss": 0.112,
      "step": 13360
    },
    {
      "action_loss": 0.004833701532334089,
      "epoch": 12.014388489208633,
      "step": 13360
    },
    {
      "epoch": 12.014388489208633,
      "step": 13360,
      "torque_loss": 0.11269679665565491
    },
    {
      "epoch": 12.023381294964029,
      "grad_norm": 0.4006245732307434,
      "learning_rate": 9.205468358202678e-05,
      "loss": 0.1002,
      "step": 13370
    },
    {
      "action_loss": 0.009451953694224358,
      "epoch": 12.023381294964029,
      "step": 13370
    },
    {
      "epoch": 12.023381294964029,
      "step": 13370,
      "torque_loss": 0.20983581244945526
    },
    {
      "epoch": 12.032374100719425,
      "grad_norm": 0.4443390667438507,
      "learning_rate": 9.203977145458059e-05,
      "loss": 0.1193,
      "step": 13380
    },
    {
      "action_loss": 0.010707306675612926,
      "epoch": 12.032374100719425,
      "step": 13380
    },
    {
      "epoch": 12.032374100719425,
      "step": 13380,
      "torque_loss": 0.17431731522083282
    },
    {
      "epoch": 12.04136690647482,
      "grad_norm": 0.3956846296787262,
      "learning_rate": 9.202484655656182e-05,
      "loss": 0.1086,
      "step": 13390
    },
    {
      "action_loss": 0.01642967201769352,
      "epoch": 12.04136690647482,
      "step": 13390
    },
    {
      "epoch": 12.04136690647482,
      "step": 13390,
      "torque_loss": 0.1930420994758606
    },
    {
      "epoch": 12.050359712230216,
      "grad_norm": 0.45187908411026,
      "learning_rate": 9.200990889250427e-05,
      "loss": 0.1131,
      "step": 13400
    },
    {
      "action_loss": 0.006866173353046179,
      "epoch": 12.050359712230216,
      "step": 13400
    },
    {
      "epoch": 12.050359712230216,
      "step": 13400,
      "torque_loss": 0.11307547241449356
    },
    {
      "epoch": 12.059352517985612,
      "grad_norm": 0.38341575860977173,
      "learning_rate": 9.19949584669456e-05,
      "loss": 0.1005,
      "step": 13410
    },
    {
      "action_loss": 0.004947460722178221,
      "epoch": 12.059352517985612,
      "step": 13410
    },
    {
      "epoch": 12.059352517985612,
      "step": 13410,
      "torque_loss": 0.08927647024393082
    },
    {
      "epoch": 12.068345323741006,
      "grad_norm": 0.41467899084091187,
      "learning_rate": 9.197999528442738e-05,
      "loss": 0.1146,
      "step": 13420
    },
    {
      "action_loss": 0.01249802578240633,
      "epoch": 12.068345323741006,
      "step": 13420
    },
    {
      "epoch": 12.068345323741006,
      "step": 13420,
      "torque_loss": 0.18192319571971893
    },
    {
      "epoch": 12.077338129496402,
      "grad_norm": 0.37632372975349426,
      "learning_rate": 9.196501934949499e-05,
      "loss": 0.1012,
      "step": 13430
    },
    {
      "action_loss": 0.005015449598431587,
      "epoch": 12.077338129496402,
      "step": 13430
    },
    {
      "epoch": 12.077338129496402,
      "step": 13430,
      "torque_loss": 0.08849620074033737
    },
    {
      "epoch": 12.086330935251798,
      "grad_norm": 0.4869759976863861,
      "learning_rate": 9.195003066669776e-05,
      "loss": 0.111,
      "step": 13440
    },
    {
      "action_loss": 0.00786516536027193,
      "epoch": 12.086330935251798,
      "step": 13440
    },
    {
      "epoch": 12.086330935251798,
      "step": 13440,
      "torque_loss": 0.12679223716259003
    },
    {
      "epoch": 12.095323741007194,
      "grad_norm": 0.44385889172554016,
      "learning_rate": 9.193502924058884e-05,
      "loss": 0.1003,
      "step": 13450
    },
    {
      "action_loss": 0.007155591156333685,
      "epoch": 12.095323741007194,
      "step": 13450
    },
    {
      "epoch": 12.095323741007194,
      "step": 13450,
      "torque_loss": 0.14914992451667786
    },
    {
      "epoch": 12.10431654676259,
      "grad_norm": 0.41840100288391113,
      "learning_rate": 9.192001507572526e-05,
      "loss": 0.1198,
      "step": 13460
    },
    {
      "action_loss": 0.011995404958724976,
      "epoch": 12.10431654676259,
      "step": 13460
    },
    {
      "epoch": 12.10431654676259,
      "step": 13460,
      "torque_loss": 0.1783633977174759
    },
    {
      "epoch": 12.113309352517986,
      "grad_norm": 0.45512405037879944,
      "learning_rate": 9.190498817666793e-05,
      "loss": 0.1247,
      "step": 13470
    },
    {
      "action_loss": 0.02753998152911663,
      "epoch": 12.113309352517986,
      "step": 13470
    },
    {
      "epoch": 12.113309352517986,
      "step": 13470,
      "torque_loss": 0.1522333174943924
    },
    {
      "epoch": 12.122302158273381,
      "grad_norm": 0.33539631962776184,
      "learning_rate": 9.188994854798163e-05,
      "loss": 0.1033,
      "step": 13480
    },
    {
      "action_loss": 0.008416508324444294,
      "epoch": 12.122302158273381,
      "step": 13480
    },
    {
      "epoch": 12.122302158273381,
      "step": 13480,
      "torque_loss": 0.11012550443410873
    },
    {
      "epoch": 12.131294964028777,
      "grad_norm": 0.4018109440803528,
      "learning_rate": 9.187489619423499e-05,
      "loss": 0.1026,
      "step": 13490
    },
    {
      "action_loss": 0.00604885583743453,
      "epoch": 12.131294964028777,
      "step": 13490
    },
    {
      "epoch": 12.131294964028777,
      "step": 13490,
      "torque_loss": 0.20811688899993896
    },
    {
      "epoch": 12.140287769784173,
      "grad_norm": 0.40109366178512573,
      "learning_rate": 9.185983112000056e-05,
      "loss": 0.1032,
      "step": 13500
    },
    {
      "action_loss": 0.005584574770182371,
      "epoch": 12.140287769784173,
      "step": 13500
    },
    {
      "epoch": 12.140287769784173,
      "step": 13500,
      "torque_loss": 0.1187206506729126
    },
    {
      "epoch": 12.149280575539569,
      "grad_norm": 0.3770250082015991,
      "learning_rate": 9.184475332985464e-05,
      "loss": 0.0936,
      "step": 13510
    },
    {
      "action_loss": 0.009071278385818005,
      "epoch": 12.149280575539569,
      "step": 13510
    },
    {
      "epoch": 12.149280575539569,
      "step": 13510,
      "torque_loss": 0.13773350417613983
    },
    {
      "epoch": 12.158273381294965,
      "grad_norm": 0.5062207579612732,
      "learning_rate": 9.182966282837754e-05,
      "loss": 0.1073,
      "step": 13520
    },
    {
      "action_loss": 0.005589688662439585,
      "epoch": 12.158273381294965,
      "step": 13520
    },
    {
      "epoch": 12.158273381294965,
      "step": 13520,
      "torque_loss": 0.09653843194246292
    },
    {
      "epoch": 12.167266187050359,
      "grad_norm": 0.26466891169548035,
      "learning_rate": 9.18145596201533e-05,
      "loss": 0.0874,
      "step": 13530
    },
    {
      "action_loss": 0.010893593542277813,
      "epoch": 12.167266187050359,
      "step": 13530
    },
    {
      "epoch": 12.167266187050359,
      "step": 13530,
      "torque_loss": 0.14229877293109894
    },
    {
      "epoch": 12.176258992805755,
      "grad_norm": 0.3825680613517761,
      "learning_rate": 9.179944370976991e-05,
      "loss": 0.1002,
      "step": 13540
    },
    {
      "action_loss": 0.010137076489627361,
      "epoch": 12.176258992805755,
      "step": 13540
    },
    {
      "epoch": 12.176258992805755,
      "step": 13540,
      "torque_loss": 0.12406217306852341
    },
    {
      "epoch": 12.18525179856115,
      "grad_norm": 0.44355759024620056,
      "learning_rate": 9.178431510181918e-05,
      "loss": 0.096,
      "step": 13550
    },
    {
      "action_loss": 0.007061606738716364,
      "epoch": 12.18525179856115,
      "step": 13550
    },
    {
      "epoch": 12.18525179856115,
      "step": 13550,
      "torque_loss": 0.09511342644691467
    },
    {
      "epoch": 12.194244604316546,
      "grad_norm": 0.5274161696434021,
      "learning_rate": 9.176917380089675e-05,
      "loss": 0.113,
      "step": 13560
    },
    {
      "action_loss": 0.006521039176732302,
      "epoch": 12.194244604316546,
      "step": 13560
    },
    {
      "epoch": 12.194244604316546,
      "step": 13560,
      "torque_loss": 0.12964092195034027
    },
    {
      "epoch": 12.203237410071942,
      "grad_norm": 0.43157875537872314,
      "learning_rate": 9.175401981160219e-05,
      "loss": 0.1138,
      "step": 13570
    },
    {
      "action_loss": 0.0046125841327011585,
      "epoch": 12.203237410071942,
      "step": 13570
    },
    {
      "epoch": 12.203237410071942,
      "step": 13570,
      "torque_loss": 0.12993855774402618
    },
    {
      "epoch": 12.212230215827338,
      "grad_norm": 0.4191450774669647,
      "learning_rate": 9.173885313853885e-05,
      "loss": 0.1038,
      "step": 13580
    },
    {
      "action_loss": 0.007361177355051041,
      "epoch": 12.212230215827338,
      "step": 13580
    },
    {
      "epoch": 12.212230215827338,
      "step": 13580,
      "torque_loss": 0.1550344079732895
    },
    {
      "epoch": 12.221223021582734,
      "grad_norm": 0.3998585343360901,
      "learning_rate": 9.172367378631398e-05,
      "loss": 0.1195,
      "step": 13590
    },
    {
      "action_loss": 0.008687102235853672,
      "epoch": 12.221223021582734,
      "step": 13590
    },
    {
      "epoch": 12.221223021582734,
      "step": 13590,
      "torque_loss": 0.15718941390514374
    },
    {
      "epoch": 12.23021582733813,
      "grad_norm": 0.4136744737625122,
      "learning_rate": 9.170848175953866e-05,
      "loss": 0.1275,
      "step": 13600
    },
    {
      "action_loss": 0.005638373550027609,
      "epoch": 12.23021582733813,
      "step": 13600
    },
    {
      "epoch": 12.23021582733813,
      "step": 13600,
      "torque_loss": 0.0863790512084961
    },
    {
      "epoch": 12.239208633093526,
      "grad_norm": 0.4197591245174408,
      "learning_rate": 9.169327706282784e-05,
      "loss": 0.1006,
      "step": 13610
    },
    {
      "action_loss": 0.016453469172120094,
      "epoch": 12.239208633093526,
      "step": 13610
    },
    {
      "epoch": 12.239208633093526,
      "step": 13610,
      "torque_loss": 0.10407397896051407
    },
    {
      "epoch": 12.248201438848922,
      "grad_norm": 0.35983118414878845,
      "learning_rate": 9.167805970080029e-05,
      "loss": 0.0924,
      "step": 13620
    },
    {
      "action_loss": 0.014325063675642014,
      "epoch": 12.248201438848922,
      "step": 13620
    },
    {
      "epoch": 12.248201438848922,
      "step": 13620,
      "torque_loss": 0.16014626622200012
    },
    {
      "epoch": 12.257194244604317,
      "grad_norm": 0.4464864730834961,
      "learning_rate": 9.166282967807864e-05,
      "loss": 0.0964,
      "step": 13630
    },
    {
      "action_loss": 0.008398124016821384,
      "epoch": 12.257194244604317,
      "step": 13630
    },
    {
      "epoch": 12.257194244604317,
      "step": 13630,
      "torque_loss": 0.14030537009239197
    },
    {
      "epoch": 12.266187050359711,
      "grad_norm": 0.39826732873916626,
      "learning_rate": 9.16475869992894e-05,
      "loss": 0.0963,
      "step": 13640
    },
    {
      "action_loss": 0.01236219983547926,
      "epoch": 12.266187050359711,
      "step": 13640
    },
    {
      "epoch": 12.266187050359711,
      "step": 13640,
      "torque_loss": 0.13732625544071198
    },
    {
      "epoch": 12.275179856115107,
      "grad_norm": 0.4519980251789093,
      "learning_rate": 9.163233166906284e-05,
      "loss": 0.0883,
      "step": 13650
    },
    {
      "action_loss": 0.005311809480190277,
      "epoch": 12.275179856115107,
      "step": 13650
    },
    {
      "epoch": 12.275179856115107,
      "step": 13650,
      "torque_loss": 0.12961183488368988
    },
    {
      "epoch": 12.284172661870503,
      "grad_norm": 0.4518680274486542,
      "learning_rate": 9.161706369203317e-05,
      "loss": 0.1064,
      "step": 13660
    },
    {
      "action_loss": 0.007456807419657707,
      "epoch": 12.284172661870503,
      "step": 13660
    },
    {
      "epoch": 12.284172661870503,
      "step": 13660,
      "torque_loss": 0.11728910356760025
    },
    {
      "epoch": 12.293165467625899,
      "grad_norm": 0.32101282477378845,
      "learning_rate": 9.16017830728384e-05,
      "loss": 0.0851,
      "step": 13670
    },
    {
      "action_loss": 0.0030245843809098005,
      "epoch": 12.293165467625899,
      "step": 13670
    },
    {
      "epoch": 12.293165467625899,
      "step": 13670,
      "torque_loss": 0.1021738275885582
    },
    {
      "epoch": 12.302158273381295,
      "grad_norm": 0.30741551518440247,
      "learning_rate": 9.158648981612035e-05,
      "loss": 0.1038,
      "step": 13680
    },
    {
      "action_loss": 0.007121507078409195,
      "epoch": 12.302158273381295,
      "step": 13680
    },
    {
      "epoch": 12.302158273381295,
      "step": 13680,
      "torque_loss": 0.11723025888204575
    },
    {
      "epoch": 12.31115107913669,
      "grad_norm": 0.3379853665828705,
      "learning_rate": 9.157118392652472e-05,
      "loss": 0.1025,
      "step": 13690
    },
    {
      "action_loss": 0.01275882963091135,
      "epoch": 12.31115107913669,
      "step": 13690
    },
    {
      "epoch": 12.31115107913669,
      "step": 13690,
      "torque_loss": 0.17723500728607178
    },
    {
      "epoch": 12.320143884892087,
      "grad_norm": 0.3156889081001282,
      "learning_rate": 9.155586540870104e-05,
      "loss": 0.0962,
      "step": 13700
    },
    {
      "action_loss": 0.008435900323092937,
      "epoch": 12.320143884892087,
      "step": 13700
    },
    {
      "epoch": 12.320143884892087,
      "step": 13700,
      "torque_loss": 0.20227597653865814
    },
    {
      "epoch": 12.329136690647482,
      "grad_norm": 0.38922879099845886,
      "learning_rate": 9.154053426730267e-05,
      "loss": 0.119,
      "step": 13710
    },
    {
      "action_loss": 0.006492586340755224,
      "epoch": 12.329136690647482,
      "step": 13710
    },
    {
      "epoch": 12.329136690647482,
      "step": 13710,
      "torque_loss": 0.12665657699108124
    },
    {
      "epoch": 12.338129496402878,
      "grad_norm": 0.3842127323150635,
      "learning_rate": 9.15251905069868e-05,
      "loss": 0.1132,
      "step": 13720
    },
    {
      "action_loss": 0.01365450769662857,
      "epoch": 12.338129496402878,
      "step": 13720
    },
    {
      "epoch": 12.338129496402878,
      "step": 13720,
      "torque_loss": 0.15628018975257874
    },
    {
      "epoch": 12.347122302158274,
      "grad_norm": 0.34049561619758606,
      "learning_rate": 9.150983413241446e-05,
      "loss": 0.106,
      "step": 13730
    },
    {
      "action_loss": 0.011676195077598095,
      "epoch": 12.347122302158274,
      "step": 13730
    },
    {
      "epoch": 12.347122302158274,
      "step": 13730,
      "torque_loss": 0.19686593115329742
    },
    {
      "epoch": 12.35611510791367,
      "grad_norm": 0.36406445503234863,
      "learning_rate": 9.149446514825051e-05,
      "loss": 0.1135,
      "step": 13740
    },
    {
      "action_loss": 0.0050596497021615505,
      "epoch": 12.35611510791367,
      "step": 13740
    },
    {
      "epoch": 12.35611510791367,
      "step": 13740,
      "torque_loss": 0.10782036930322647
    },
    {
      "epoch": 12.365107913669064,
      "grad_norm": 0.4768945872783661,
      "learning_rate": 9.147908355916365e-05,
      "loss": 0.1089,
      "step": 13750
    },
    {
      "action_loss": 0.030362049117684364,
      "epoch": 12.365107913669064,
      "step": 13750
    },
    {
      "epoch": 12.365107913669064,
      "step": 13750,
      "torque_loss": 0.26576361060142517
    },
    {
      "epoch": 12.37410071942446,
      "grad_norm": 0.34296873211860657,
      "learning_rate": 9.146368936982642e-05,
      "loss": 0.1268,
      "step": 13760
    },
    {
      "action_loss": 0.01621066965162754,
      "epoch": 12.37410071942446,
      "step": 13760
    },
    {
      "epoch": 12.37410071942446,
      "step": 13760,
      "torque_loss": 0.1846676617860794
    },
    {
      "epoch": 12.383093525179856,
      "grad_norm": 0.3790304362773895,
      "learning_rate": 9.144828258491511e-05,
      "loss": 0.1141,
      "step": 13770
    },
    {
      "action_loss": 0.01917366124689579,
      "epoch": 12.383093525179856,
      "step": 13770
    },
    {
      "epoch": 12.383093525179856,
      "step": 13770,
      "torque_loss": 0.17616307735443115
    },
    {
      "epoch": 12.392086330935252,
      "grad_norm": 0.30347830057144165,
      "learning_rate": 9.143286320910996e-05,
      "loss": 0.1088,
      "step": 13780
    },
    {
      "action_loss": 0.010384579189121723,
      "epoch": 12.392086330935252,
      "step": 13780
    },
    {
      "epoch": 12.392086330935252,
      "step": 13780,
      "torque_loss": 0.1691257804632187
    },
    {
      "epoch": 12.401079136690647,
      "grad_norm": 0.4326944947242737,
      "learning_rate": 9.141743124709491e-05,
      "loss": 0.1055,
      "step": 13790
    },
    {
      "action_loss": 0.01159775722771883,
      "epoch": 12.401079136690647,
      "step": 13790
    },
    {
      "epoch": 12.401079136690647,
      "step": 13790,
      "torque_loss": 0.15483635663986206
    },
    {
      "epoch": 12.410071942446043,
      "grad_norm": 0.35701784491539,
      "learning_rate": 9.140198670355784e-05,
      "loss": 0.1067,
      "step": 13800
    },
    {
      "action_loss": 0.016893818974494934,
      "epoch": 12.410071942446043,
      "step": 13800
    },
    {
      "epoch": 12.410071942446043,
      "step": 13800,
      "torque_loss": 0.17725062370300293
    },
    {
      "epoch": 12.41906474820144,
      "grad_norm": 0.45055660605430603,
      "learning_rate": 9.138652958319034e-05,
      "loss": 0.1232,
      "step": 13810
    },
    {
      "action_loss": 0.0034735326189547777,
      "epoch": 12.41906474820144,
      "step": 13810
    },
    {
      "epoch": 12.41906474820144,
      "step": 13810,
      "torque_loss": 0.07723396271467209
    },
    {
      "epoch": 12.428057553956835,
      "grad_norm": 0.424854576587677,
      "learning_rate": 9.137105989068791e-05,
      "loss": 0.0982,
      "step": 13820
    },
    {
      "action_loss": 0.011551124043762684,
      "epoch": 12.428057553956835,
      "step": 13820
    },
    {
      "epoch": 12.428057553956835,
      "step": 13820,
      "torque_loss": 0.13590838015079498
    },
    {
      "epoch": 12.43705035971223,
      "grad_norm": 0.45835086703300476,
      "learning_rate": 9.135557763074983e-05,
      "loss": 0.1239,
      "step": 13830
    },
    {
      "action_loss": 0.010770599357783794,
      "epoch": 12.43705035971223,
      "step": 13830
    },
    {
      "epoch": 12.43705035971223,
      "step": 13830,
      "torque_loss": 0.09761040657758713
    },
    {
      "epoch": 12.446043165467627,
      "grad_norm": 0.4234763979911804,
      "learning_rate": 9.13400828080792e-05,
      "loss": 0.1185,
      "step": 13840
    },
    {
      "action_loss": 0.0034988902043551207,
      "epoch": 12.446043165467627,
      "step": 13840
    },
    {
      "epoch": 12.446043165467627,
      "step": 13840,
      "torque_loss": 0.10685151070356369
    },
    {
      "epoch": 12.45503597122302,
      "grad_norm": 0.42096906900405884,
      "learning_rate": 9.132457542738292e-05,
      "loss": 0.112,
      "step": 13850
    },
    {
      "action_loss": 0.007995285093784332,
      "epoch": 12.45503597122302,
      "step": 13850
    },
    {
      "epoch": 12.45503597122302,
      "step": 13850,
      "torque_loss": 0.15573103725910187
    },
    {
      "epoch": 12.464028776978417,
      "grad_norm": 0.3045656681060791,
      "learning_rate": 9.130905549337174e-05,
      "loss": 0.0949,
      "step": 13860
    },
    {
      "action_loss": 0.018871570006012917,
      "epoch": 12.464028776978417,
      "step": 13860
    },
    {
      "epoch": 12.464028776978417,
      "step": 13860,
      "torque_loss": 0.20040583610534668
    },
    {
      "epoch": 12.473021582733812,
      "grad_norm": 0.4004391133785248,
      "learning_rate": 9.129352301076021e-05,
      "loss": 0.1078,
      "step": 13870
    },
    {
      "action_loss": 0.012521225959062576,
      "epoch": 12.473021582733812,
      "step": 13870
    },
    {
      "epoch": 12.473021582733812,
      "step": 13870,
      "torque_loss": 0.13685722649097443
    },
    {
      "epoch": 12.482014388489208,
      "grad_norm": 0.41746994853019714,
      "learning_rate": 9.127797798426668e-05,
      "loss": 0.105,
      "step": 13880
    },
    {
      "action_loss": 0.04758928343653679,
      "epoch": 12.482014388489208,
      "step": 13880
    },
    {
      "epoch": 12.482014388489208,
      "step": 13880,
      "torque_loss": 0.22075168788433075
    },
    {
      "epoch": 12.491007194244604,
      "grad_norm": 0.4285392165184021,
      "learning_rate": 9.126242041861333e-05,
      "loss": 0.1204,
      "step": 13890
    },
    {
      "action_loss": 0.007161339744925499,
      "epoch": 12.491007194244604,
      "step": 13890
    },
    {
      "epoch": 12.491007194244604,
      "step": 13890,
      "torque_loss": 0.15356218814849854
    },
    {
      "epoch": 12.5,
      "grad_norm": 0.30466026067733765,
      "learning_rate": 9.124685031852611e-05,
      "loss": 0.1179,
      "step": 13900
    },
    {
      "action_loss": 0.00781466905027628,
      "epoch": 12.5,
      "step": 13900
    },
    {
      "epoch": 12.5,
      "step": 13900,
      "torque_loss": 0.15983699262142181
    },
    {
      "epoch": 12.508992805755396,
      "grad_norm": 0.4275083541870117,
      "learning_rate": 9.123126768873482e-05,
      "loss": 0.1061,
      "step": 13910
    },
    {
      "action_loss": 0.010210486128926277,
      "epoch": 12.508992805755396,
      "step": 13910
    },
    {
      "epoch": 12.508992805755396,
      "step": 13910,
      "torque_loss": 0.12797068059444427
    },
    {
      "epoch": 12.517985611510792,
      "grad_norm": 0.48988449573516846,
      "learning_rate": 9.121567253397308e-05,
      "loss": 0.1131,
      "step": 13920
    },
    {
      "action_loss": 0.005685979034751654,
      "epoch": 12.517985611510792,
      "step": 13920
    },
    {
      "epoch": 12.517985611510792,
      "step": 13920,
      "torque_loss": 0.11434347182512283
    },
    {
      "epoch": 12.526978417266188,
      "grad_norm": 0.3298438489437103,
      "learning_rate": 9.120006485897824e-05,
      "loss": 0.0891,
      "step": 13930
    },
    {
      "action_loss": 0.004828887991607189,
      "epoch": 12.526978417266188,
      "step": 13930
    },
    {
      "epoch": 12.526978417266188,
      "step": 13930,
      "torque_loss": 0.08533108234405518
    },
    {
      "epoch": 12.535971223021583,
      "grad_norm": 0.4211437404155731,
      "learning_rate": 9.118444466849152e-05,
      "loss": 0.109,
      "step": 13940
    },
    {
      "action_loss": 0.016402969136834145,
      "epoch": 12.535971223021583,
      "step": 13940
    },
    {
      "epoch": 12.535971223021583,
      "step": 13940,
      "torque_loss": 0.19601745903491974
    },
    {
      "epoch": 12.54496402877698,
      "grad_norm": 0.3691006898880005,
      "learning_rate": 9.116881196725793e-05,
      "loss": 0.1073,
      "step": 13950
    },
    {
      "action_loss": 0.005944435950368643,
      "epoch": 12.54496402877698,
      "step": 13950
    },
    {
      "epoch": 12.54496402877698,
      "step": 13950,
      "torque_loss": 0.14756914973258972
    },
    {
      "epoch": 12.553956834532373,
      "grad_norm": 0.3652347922325134,
      "learning_rate": 9.115316676002627e-05,
      "loss": 0.1048,
      "step": 13960
    },
    {
      "action_loss": 0.013061843812465668,
      "epoch": 12.553956834532373,
      "step": 13960
    },
    {
      "epoch": 12.553956834532373,
      "step": 13960,
      "torque_loss": 0.189495250582695
    },
    {
      "epoch": 12.56294964028777,
      "grad_norm": 0.2989960312843323,
      "learning_rate": 9.113750905154911e-05,
      "loss": 0.1129,
      "step": 13970
    },
    {
      "action_loss": 0.006243010982871056,
      "epoch": 12.56294964028777,
      "step": 13970
    },
    {
      "epoch": 12.56294964028777,
      "step": 13970,
      "torque_loss": 0.1582658737897873
    },
    {
      "epoch": 12.571942446043165,
      "grad_norm": 0.31469887495040894,
      "learning_rate": 9.112183884658289e-05,
      "loss": 0.1057,
      "step": 13980
    },
    {
      "action_loss": 0.006454195827245712,
      "epoch": 12.571942446043165,
      "step": 13980
    },
    {
      "epoch": 12.571942446043165,
      "step": 13980,
      "torque_loss": 0.19796304404735565
    },
    {
      "epoch": 12.58093525179856,
      "grad_norm": 0.3647690415382385,
      "learning_rate": 9.11061561498878e-05,
      "loss": 0.0958,
      "step": 13990
    },
    {
      "action_loss": 0.016766507178544998,
      "epoch": 12.58093525179856,
      "step": 13990
    },
    {
      "epoch": 12.58093525179856,
      "step": 13990,
      "torque_loss": 0.20852820575237274
    },
    {
      "epoch": 12.589928057553957,
      "grad_norm": 0.43522903323173523,
      "learning_rate": 9.109046096622779e-05,
      "loss": 0.115,
      "step": 14000
    },
    {
      "action_loss": 0.010585474781692028,
      "epoch": 12.589928057553957,
      "step": 14000
    },
    {
      "epoch": 12.589928057553957,
      "step": 14000,
      "torque_loss": 0.18030387163162231
    },
    {
      "epoch": 12.598920863309353,
      "grad_norm": 0.3813692331314087,
      "learning_rate": 9.107475330037069e-05,
      "loss": 0.1081,
      "step": 14010
    },
    {
      "action_loss": 0.013573809526860714,
      "epoch": 12.598920863309353,
      "step": 14010
    },
    {
      "epoch": 12.598920863309353,
      "step": 14010,
      "torque_loss": 0.18007366359233856
    },
    {
      "epoch": 12.607913669064748,
      "grad_norm": 0.44029632210731506,
      "learning_rate": 9.105903315708806e-05,
      "loss": 0.1105,
      "step": 14020
    },
    {
      "action_loss": 0.0051213838160037994,
      "epoch": 12.607913669064748,
      "step": 14020
    },
    {
      "epoch": 12.607913669064748,
      "step": 14020,
      "torque_loss": 0.12385204434394836
    },
    {
      "epoch": 12.616906474820144,
      "grad_norm": 0.2927245795726776,
      "learning_rate": 9.104330054115524e-05,
      "loss": 0.0977,
      "step": 14030
    },
    {
      "action_loss": 0.0073269749991595745,
      "epoch": 12.616906474820144,
      "step": 14030
    },
    {
      "epoch": 12.616906474820144,
      "step": 14030,
      "torque_loss": 0.12850256264209747
    },
    {
      "epoch": 12.62589928057554,
      "grad_norm": 0.297442764043808,
      "learning_rate": 9.102755545735141e-05,
      "loss": 0.0928,
      "step": 14040
    },
    {
      "action_loss": 0.01463345531374216,
      "epoch": 12.62589928057554,
      "step": 14040
    },
    {
      "epoch": 12.62589928057554,
      "step": 14040,
      "torque_loss": 0.11287399381399155
    },
    {
      "epoch": 12.634892086330936,
      "grad_norm": 0.45556074380874634,
      "learning_rate": 9.10117979104595e-05,
      "loss": 0.1111,
      "step": 14050
    },
    {
      "action_loss": 0.009838846512138844,
      "epoch": 12.634892086330936,
      "step": 14050
    },
    {
      "epoch": 12.634892086330936,
      "step": 14050,
      "torque_loss": 0.1606372743844986
    },
    {
      "epoch": 12.64388489208633,
      "grad_norm": 0.35406389832496643,
      "learning_rate": 9.099602790526624e-05,
      "loss": 0.1187,
      "step": 14060
    },
    {
      "action_loss": 0.009599012322723866,
      "epoch": 12.64388489208633,
      "step": 14060
    },
    {
      "epoch": 12.64388489208633,
      "step": 14060,
      "torque_loss": 0.13188011944293976
    },
    {
      "epoch": 12.652877697841726,
      "grad_norm": 0.521521806716919,
      "learning_rate": 9.098024544656212e-05,
      "loss": 0.0948,
      "step": 14070
    },
    {
      "action_loss": 0.00755680026486516,
      "epoch": 12.652877697841726,
      "step": 14070
    },
    {
      "epoch": 12.652877697841726,
      "step": 14070,
      "torque_loss": 0.091680146753788
    },
    {
      "epoch": 12.661870503597122,
      "grad_norm": 0.33781930804252625,
      "learning_rate": 9.096445053914148e-05,
      "loss": 0.117,
      "step": 14080
    },
    {
      "action_loss": 0.005317926872521639,
      "epoch": 12.661870503597122,
      "step": 14080
    },
    {
      "epoch": 12.661870503597122,
      "step": 14080,
      "torque_loss": 0.10184154659509659
    },
    {
      "epoch": 12.670863309352518,
      "grad_norm": 0.3563917279243469,
      "learning_rate": 9.094864318780236e-05,
      "loss": 0.1033,
      "step": 14090
    },
    {
      "action_loss": 0.06357032805681229,
      "epoch": 12.670863309352518,
      "step": 14090
    },
    {
      "epoch": 12.670863309352518,
      "step": 14090,
      "torque_loss": 0.24274718761444092
    },
    {
      "epoch": 12.679856115107913,
      "grad_norm": 0.4391920268535614,
      "learning_rate": 9.093282339734663e-05,
      "loss": 0.1279,
      "step": 14100
    },
    {
      "action_loss": 0.007325336802750826,
      "epoch": 12.679856115107913,
      "step": 14100
    },
    {
      "epoch": 12.679856115107913,
      "step": 14100,
      "torque_loss": 0.1385778933763504
    },
    {
      "epoch": 12.68884892086331,
      "grad_norm": 0.35689982771873474,
      "learning_rate": 9.091699117257992e-05,
      "loss": 0.0975,
      "step": 14110
    },
    {
      "action_loss": 0.00585678406059742,
      "epoch": 12.68884892086331,
      "step": 14110
    },
    {
      "epoch": 12.68884892086331,
      "step": 14110,
      "torque_loss": 0.2116440385580063
    },
    {
      "epoch": 12.697841726618705,
      "grad_norm": 0.37784355878829956,
      "learning_rate": 9.090114651831163e-05,
      "loss": 0.1069,
      "step": 14120
    },
    {
      "action_loss": 0.037030380219221115,
      "epoch": 12.697841726618705,
      "step": 14120
    },
    {
      "epoch": 12.697841726618705,
      "step": 14120,
      "torque_loss": 0.23420560359954834
    },
    {
      "epoch": 12.706834532374101,
      "grad_norm": 0.5456299185752869,
      "learning_rate": 9.088528943935497e-05,
      "loss": 0.1218,
      "step": 14130
    },
    {
      "action_loss": 0.008900395594537258,
      "epoch": 12.706834532374101,
      "step": 14130
    },
    {
      "epoch": 12.706834532374101,
      "step": 14130,
      "torque_loss": 0.1915833204984665
    },
    {
      "epoch": 12.715827338129497,
      "grad_norm": 0.31296631693840027,
      "learning_rate": 9.086941994052689e-05,
      "loss": 0.0959,
      "step": 14140
    },
    {
      "action_loss": 0.006943372543901205,
      "epoch": 12.715827338129497,
      "step": 14140
    },
    {
      "epoch": 12.715827338129497,
      "step": 14140,
      "torque_loss": 0.18336112797260284
    },
    {
      "epoch": 12.724820143884893,
      "grad_norm": 0.3012479841709137,
      "learning_rate": 9.085353802664813e-05,
      "loss": 0.0987,
      "step": 14150
    },
    {
      "action_loss": 0.011925623752176762,
      "epoch": 12.724820143884893,
      "step": 14150
    },
    {
      "epoch": 12.724820143884893,
      "step": 14150,
      "torque_loss": 0.1589939147233963
    },
    {
      "epoch": 12.733812949640289,
      "grad_norm": 0.34559521079063416,
      "learning_rate": 9.08376437025432e-05,
      "loss": 0.0994,
      "step": 14160
    },
    {
      "action_loss": 0.008967154659330845,
      "epoch": 12.733812949640289,
      "step": 14160
    },
    {
      "epoch": 12.733812949640289,
      "step": 14160,
      "torque_loss": 0.10832832008600235
    },
    {
      "epoch": 12.742805755395683,
      "grad_norm": 0.3575417399406433,
      "learning_rate": 9.082173697304035e-05,
      "loss": 0.1061,
      "step": 14170
    },
    {
      "action_loss": 0.011344097554683685,
      "epoch": 12.742805755395683,
      "step": 14170
    },
    {
      "epoch": 12.742805755395683,
      "step": 14170,
      "torque_loss": 0.1587107628583908
    },
    {
      "epoch": 12.751798561151078,
      "grad_norm": 0.4510779082775116,
      "learning_rate": 9.080581784297166e-05,
      "loss": 0.097,
      "step": 14180
    },
    {
      "action_loss": 0.030903711915016174,
      "epoch": 12.751798561151078,
      "step": 14180
    },
    {
      "epoch": 12.751798561151078,
      "step": 14180,
      "torque_loss": 0.2451292723417282
    },
    {
      "epoch": 12.760791366906474,
      "grad_norm": 0.3908237814903259,
      "learning_rate": 9.078988631717291e-05,
      "loss": 0.1093,
      "step": 14190
    },
    {
      "action_loss": 0.006999563425779343,
      "epoch": 12.760791366906474,
      "step": 14190
    },
    {
      "epoch": 12.760791366906474,
      "step": 14190,
      "torque_loss": 0.11780768632888794
    },
    {
      "epoch": 12.76978417266187,
      "grad_norm": 0.5284469127655029,
      "learning_rate": 9.077394240048369e-05,
      "loss": 0.1071,
      "step": 14200
    },
    {
      "action_loss": 0.0061003281734883785,
      "epoch": 12.76978417266187,
      "step": 14200
    },
    {
      "epoch": 12.76978417266187,
      "step": 14200,
      "torque_loss": 0.1307838261127472
    },
    {
      "epoch": 12.778776978417266,
      "grad_norm": 0.3542144000530243,
      "learning_rate": 9.075798609774736e-05,
      "loss": 0.106,
      "step": 14210
    },
    {
      "action_loss": 0.0031883178744465113,
      "epoch": 12.778776978417266,
      "step": 14210
    },
    {
      "epoch": 12.778776978417266,
      "step": 14210,
      "torque_loss": 0.12591728568077087
    },
    {
      "epoch": 12.787769784172662,
      "grad_norm": 0.4110490381717682,
      "learning_rate": 9.0742017413811e-05,
      "loss": 0.1056,
      "step": 14220
    },
    {
      "action_loss": 0.010366720147430897,
      "epoch": 12.787769784172662,
      "step": 14220
    },
    {
      "epoch": 12.787769784172662,
      "step": 14220,
      "torque_loss": 0.17762111127376556
    },
    {
      "epoch": 12.796762589928058,
      "grad_norm": 0.3216153085231781,
      "learning_rate": 9.072603635352548e-05,
      "loss": 0.1016,
      "step": 14230
    },
    {
      "action_loss": 0.006993390619754791,
      "epoch": 12.796762589928058,
      "step": 14230
    },
    {
      "epoch": 12.796762589928058,
      "step": 14230,
      "torque_loss": 0.113095723092556
    },
    {
      "epoch": 12.805755395683454,
      "grad_norm": 0.4541802704334259,
      "learning_rate": 9.071004292174541e-05,
      "loss": 0.1154,
      "step": 14240
    },
    {
      "action_loss": 0.010651317425072193,
      "epoch": 12.805755395683454,
      "step": 14240
    },
    {
      "epoch": 12.805755395683454,
      "step": 14240,
      "torque_loss": 0.1441020965576172
    },
    {
      "epoch": 12.81474820143885,
      "grad_norm": 0.3201122581958771,
      "learning_rate": 9.06940371233292e-05,
      "loss": 0.0967,
      "step": 14250
    },
    {
      "action_loss": 0.0077957105822861195,
      "epoch": 12.81474820143885,
      "step": 14250
    },
    {
      "epoch": 12.81474820143885,
      "step": 14250,
      "torque_loss": 0.12375827878713608
    },
    {
      "epoch": 12.823741007194245,
      "grad_norm": 0.342883825302124,
      "learning_rate": 9.067801896313898e-05,
      "loss": 0.109,
      "step": 14260
    },
    {
      "action_loss": 0.005485020577907562,
      "epoch": 12.823741007194245,
      "step": 14260
    },
    {
      "epoch": 12.823741007194245,
      "step": 14260,
      "torque_loss": 0.10162317752838135
    },
    {
      "epoch": 12.832733812949641,
      "grad_norm": 0.2864418029785156,
      "learning_rate": 9.066198844604064e-05,
      "loss": 0.104,
      "step": 14270
    },
    {
      "action_loss": 0.008682268671691418,
      "epoch": 12.832733812949641,
      "step": 14270
    },
    {
      "epoch": 12.832733812949641,
      "step": 14270,
      "torque_loss": 0.11859146505594254
    },
    {
      "epoch": 12.841726618705035,
      "grad_norm": 0.3803676962852478,
      "learning_rate": 9.06459455769038e-05,
      "loss": 0.1166,
      "step": 14280
    },
    {
      "action_loss": 0.013613875024020672,
      "epoch": 12.841726618705035,
      "step": 14280
    },
    {
      "epoch": 12.841726618705035,
      "step": 14280,
      "torque_loss": 0.18979227542877197
    },
    {
      "epoch": 12.850719424460431,
      "grad_norm": 0.3836610019207001,
      "learning_rate": 9.062989036060193e-05,
      "loss": 0.1201,
      "step": 14290
    },
    {
      "action_loss": 0.01423904299736023,
      "epoch": 12.850719424460431,
      "step": 14290
    },
    {
      "epoch": 12.850719424460431,
      "step": 14290,
      "torque_loss": 0.17500704526901245
    },
    {
      "epoch": 12.859712230215827,
      "grad_norm": 0.3714728057384491,
      "learning_rate": 9.061382280201212e-05,
      "loss": 0.1002,
      "step": 14300
    },
    {
      "action_loss": 0.05906395986676216,
      "epoch": 12.859712230215827,
      "step": 14300
    },
    {
      "epoch": 12.859712230215827,
      "step": 14300,
      "torque_loss": 0.19580243527889252
    },
    {
      "epoch": 12.868705035971223,
      "grad_norm": 0.36100631952285767,
      "learning_rate": 9.059774290601528e-05,
      "loss": 0.1155,
      "step": 14310
    },
    {
      "action_loss": 0.008257499895989895,
      "epoch": 12.868705035971223,
      "step": 14310
    },
    {
      "epoch": 12.868705035971223,
      "step": 14310,
      "torque_loss": 0.14549921452999115
    },
    {
      "epoch": 12.877697841726619,
      "grad_norm": 0.3106866180896759,
      "learning_rate": 9.058165067749606e-05,
      "loss": 0.1092,
      "step": 14320
    },
    {
      "action_loss": 0.010313655249774456,
      "epoch": 12.877697841726619,
      "step": 14320
    },
    {
      "epoch": 12.877697841726619,
      "step": 14320,
      "torque_loss": 0.17278647422790527
    },
    {
      "epoch": 12.886690647482014,
      "grad_norm": 0.45104819536209106,
      "learning_rate": 9.056554612134288e-05,
      "loss": 0.1215,
      "step": 14330
    },
    {
      "action_loss": 0.0073168035596609116,
      "epoch": 12.886690647482014,
      "step": 14330
    },
    {
      "epoch": 12.886690647482014,
      "step": 14330,
      "torque_loss": 0.14434035122394562
    },
    {
      "epoch": 12.89568345323741,
      "grad_norm": 0.4279404580593109,
      "learning_rate": 9.054942924244785e-05,
      "loss": 0.1029,
      "step": 14340
    },
    {
      "action_loss": 0.013302527368068695,
      "epoch": 12.89568345323741,
      "step": 14340
    },
    {
      "epoch": 12.89568345323741,
      "step": 14340,
      "torque_loss": 0.1418752670288086
    },
    {
      "epoch": 12.904676258992806,
      "grad_norm": 0.32262855768203735,
      "learning_rate": 9.053330004570686e-05,
      "loss": 0.1043,
      "step": 14350
    },
    {
      "action_loss": 0.010780063457787037,
      "epoch": 12.904676258992806,
      "step": 14350
    },
    {
      "epoch": 12.904676258992806,
      "step": 14350,
      "torque_loss": 0.14188896119594574
    },
    {
      "epoch": 12.913669064748202,
      "grad_norm": 0.4063054919242859,
      "learning_rate": 9.051715853601955e-05,
      "loss": 0.1066,
      "step": 14360
    },
    {
      "action_loss": 0.021219976246356964,
      "epoch": 12.913669064748202,
      "step": 14360
    },
    {
      "epoch": 12.913669064748202,
      "step": 14360,
      "torque_loss": 0.1953555792570114
    },
    {
      "epoch": 12.922661870503598,
      "grad_norm": 0.3171723783016205,
      "learning_rate": 9.050100471828926e-05,
      "loss": 0.1176,
      "step": 14370
    },
    {
      "action_loss": 0.009804205037653446,
      "epoch": 12.922661870503598,
      "step": 14370
    },
    {
      "epoch": 12.922661870503598,
      "step": 14370,
      "torque_loss": 0.15574060380458832
    },
    {
      "epoch": 12.931654676258994,
      "grad_norm": 0.39826542139053345,
      "learning_rate": 9.048483859742311e-05,
      "loss": 0.1121,
      "step": 14380
    },
    {
      "action_loss": 0.01603126712143421,
      "epoch": 12.931654676258994,
      "step": 14380
    },
    {
      "epoch": 12.931654676258994,
      "step": 14380,
      "torque_loss": 0.17881284654140472
    },
    {
      "epoch": 12.940647482014388,
      "grad_norm": 0.3743031322956085,
      "learning_rate": 9.046866017833193e-05,
      "loss": 0.0967,
      "step": 14390
    },
    {
      "action_loss": 0.01241978257894516,
      "epoch": 12.940647482014388,
      "step": 14390
    },
    {
      "epoch": 12.940647482014388,
      "step": 14390,
      "torque_loss": 0.20477350056171417
    },
    {
      "epoch": 12.949640287769784,
      "grad_norm": 0.4035113751888275,
      "learning_rate": 9.045246946593029e-05,
      "loss": 0.1086,
      "step": 14400
    },
    {
      "action_loss": 0.00527745857834816,
      "epoch": 12.949640287769784,
      "step": 14400
    },
    {
      "epoch": 12.949640287769784,
      "step": 14400,
      "torque_loss": 0.1330045610666275
    },
    {
      "epoch": 12.95863309352518,
      "grad_norm": 0.40178412199020386,
      "learning_rate": 9.043626646513652e-05,
      "loss": 0.0942,
      "step": 14410
    },
    {
      "action_loss": 0.0064101978205144405,
      "epoch": 12.95863309352518,
      "step": 14410
    },
    {
      "epoch": 12.95863309352518,
      "step": 14410,
      "torque_loss": 0.14932440221309662
    },
    {
      "epoch": 12.967625899280575,
      "grad_norm": 0.37128105759620667,
      "learning_rate": 9.042005118087267e-05,
      "loss": 0.1011,
      "step": 14420
    },
    {
      "action_loss": 0.00498120067641139,
      "epoch": 12.967625899280575,
      "step": 14420
    },
    {
      "epoch": 12.967625899280575,
      "step": 14420,
      "torque_loss": 0.09514778852462769
    },
    {
      "epoch": 12.976618705035971,
      "grad_norm": 0.3359939157962799,
      "learning_rate": 9.040382361806448e-05,
      "loss": 0.1171,
      "step": 14430
    },
    {
      "action_loss": 0.007495593279600143,
      "epoch": 12.976618705035971,
      "step": 14430
    },
    {
      "epoch": 12.976618705035971,
      "step": 14430,
      "torque_loss": 0.13899052143096924
    },
    {
      "epoch": 12.985611510791367,
      "grad_norm": 0.37269678711891174,
      "learning_rate": 9.038758378164148e-05,
      "loss": 0.1103,
      "step": 14440
    },
    {
      "action_loss": 0.014134020544588566,
      "epoch": 12.985611510791367,
      "step": 14440
    },
    {
      "epoch": 12.985611510791367,
      "step": 14440,
      "torque_loss": 0.13599105179309845
    },
    {
      "epoch": 12.994604316546763,
      "grad_norm": 0.44775310158729553,
      "learning_rate": 9.037133167653691e-05,
      "loss": 0.1049,
      "step": 14450
    },
    {
      "action_loss": 0.014548596926033497,
      "epoch": 12.994604316546763,
      "step": 14450
    },
    {
      "epoch": 12.994604316546763,
      "step": 14450,
      "torque_loss": 0.18924307823181152
    },
    {
      "epoch": 13.003597122302159,
      "grad_norm": 0.45160579681396484,
      "learning_rate": 9.035506730768771e-05,
      "loss": 0.1026,
      "step": 14460
    },
    {
      "action_loss": 0.006385754328221083,
      "epoch": 13.003597122302159,
      "step": 14460
    },
    {
      "epoch": 13.003597122302159,
      "step": 14460,
      "torque_loss": 0.12292822450399399
    },
    {
      "epoch": 13.012589928057555,
      "grad_norm": 0.3943355977535248,
      "learning_rate": 9.033879068003458e-05,
      "loss": 0.1018,
      "step": 14470
    },
    {
      "action_loss": 0.017038783058524132,
      "epoch": 13.012589928057555,
      "step": 14470
    },
    {
      "epoch": 13.012589928057555,
      "step": 14470,
      "torque_loss": 0.19361726939678192
    },
    {
      "epoch": 13.02158273381295,
      "grad_norm": 0.47578391432762146,
      "learning_rate": 9.032250179852193e-05,
      "loss": 0.1086,
      "step": 14480
    },
    {
      "action_loss": 0.014076241292059422,
      "epoch": 13.02158273381295,
      "step": 14480
    },
    {
      "epoch": 13.02158273381295,
      "step": 14480,
      "torque_loss": 0.1653028279542923
    },
    {
      "epoch": 13.030575539568344,
      "grad_norm": 0.35089805722236633,
      "learning_rate": 9.030620066809787e-05,
      "loss": 0.1003,
      "step": 14490
    },
    {
      "action_loss": 0.00765876704826951,
      "epoch": 13.030575539568344,
      "step": 14490
    },
    {
      "epoch": 13.030575539568344,
      "step": 14490,
      "torque_loss": 0.1064244881272316
    },
    {
      "epoch": 13.03956834532374,
      "grad_norm": 0.3240269422531128,
      "learning_rate": 9.028988729371428e-05,
      "loss": 0.1051,
      "step": 14500
    },
    {
      "action_loss": 0.012872668914496899,
      "epoch": 13.03956834532374,
      "step": 14500
    },
    {
      "epoch": 13.03956834532374,
      "step": 14500,
      "torque_loss": 0.17470954358577728
    },
    {
      "epoch": 13.048561151079136,
      "grad_norm": 0.40996888279914856,
      "learning_rate": 9.027356168032673e-05,
      "loss": 0.1081,
      "step": 14510
    },
    {
      "action_loss": 0.0049940538592636585,
      "epoch": 13.048561151079136,
      "step": 14510
    },
    {
      "epoch": 13.048561151079136,
      "step": 14510,
      "torque_loss": 0.09098265320062637
    },
    {
      "epoch": 13.057553956834532,
      "grad_norm": 0.5484997034072876,
      "learning_rate": 9.02572238328945e-05,
      "loss": 0.1047,
      "step": 14520
    },
    {
      "action_loss": 0.008847068063914776,
      "epoch": 13.057553956834532,
      "step": 14520
    },
    {
      "epoch": 13.057553956834532,
      "step": 14520,
      "torque_loss": 0.12879258394241333
    },
    {
      "epoch": 13.066546762589928,
      "grad_norm": 0.45438525080680847,
      "learning_rate": 9.02408737563806e-05,
      "loss": 0.116,
      "step": 14530
    },
    {
      "action_loss": 0.00545492535457015,
      "epoch": 13.066546762589928,
      "step": 14530
    },
    {
      "epoch": 13.066546762589928,
      "step": 14530,
      "torque_loss": 0.11275821924209595
    },
    {
      "epoch": 13.075539568345324,
      "grad_norm": 0.49823641777038574,
      "learning_rate": 9.022451145575174e-05,
      "loss": 0.1003,
      "step": 14540
    },
    {
      "action_loss": 0.0057326615788042545,
      "epoch": 13.075539568345324,
      "step": 14540
    },
    {
      "epoch": 13.075539568345324,
      "step": 14540,
      "torque_loss": 0.10784851759672165
    },
    {
      "epoch": 13.08453237410072,
      "grad_norm": 0.3947699964046478,
      "learning_rate": 9.02081369359784e-05,
      "loss": 0.1026,
      "step": 14550
    },
    {
      "action_loss": 0.006676745135337114,
      "epoch": 13.08453237410072,
      "step": 14550
    },
    {
      "epoch": 13.08453237410072,
      "step": 14550,
      "torque_loss": 0.12740634381771088
    },
    {
      "epoch": 13.093525179856115,
      "grad_norm": 0.5101856589317322,
      "learning_rate": 9.019175020203465e-05,
      "loss": 0.0933,
      "step": 14560
    },
    {
      "action_loss": 0.006209537386894226,
      "epoch": 13.093525179856115,
      "step": 14560
    },
    {
      "epoch": 13.093525179856115,
      "step": 14560,
      "torque_loss": 0.13323885202407837
    },
    {
      "epoch": 13.102517985611511,
      "grad_norm": 0.46962815523147583,
      "learning_rate": 9.017535125889842e-05,
      "loss": 0.0973,
      "step": 14570
    },
    {
      "action_loss": 0.015150885097682476,
      "epoch": 13.102517985611511,
      "step": 14570
    },
    {
      "epoch": 13.102517985611511,
      "step": 14570,
      "torque_loss": 0.196849063038826
    },
    {
      "epoch": 13.111510791366907,
      "grad_norm": 0.3733869791030884,
      "learning_rate": 9.015894011155124e-05,
      "loss": 0.1153,
      "step": 14580
    },
    {
      "action_loss": 0.014550524763762951,
      "epoch": 13.111510791366907,
      "step": 14580
    },
    {
      "epoch": 13.111510791366907,
      "step": 14580,
      "torque_loss": 0.16003794968128204
    },
    {
      "epoch": 13.120503597122303,
      "grad_norm": 0.3903230130672455,
      "learning_rate": 9.014251676497838e-05,
      "loss": 0.1238,
      "step": 14590
    },
    {
      "action_loss": 0.009255914948880672,
      "epoch": 13.120503597122303,
      "step": 14590
    },
    {
      "epoch": 13.120503597122303,
      "step": 14590,
      "torque_loss": 0.10306206345558167
    },
    {
      "epoch": 13.129496402877697,
      "grad_norm": 0.3272424340248108,
      "learning_rate": 9.012608122416884e-05,
      "loss": 0.0958,
      "step": 14600
    },
    {
      "action_loss": 0.007004739250987768,
      "epoch": 13.129496402877697,
      "step": 14600
    },
    {
      "epoch": 13.129496402877697,
      "step": 14600,
      "torque_loss": 0.1138436421751976
    },
    {
      "epoch": 13.138489208633093,
      "grad_norm": 0.3441503643989563,
      "learning_rate": 9.010963349411529e-05,
      "loss": 0.1065,
      "step": 14610
    },
    {
      "action_loss": 0.026353759691119194,
      "epoch": 13.138489208633093,
      "step": 14610
    },
    {
      "epoch": 13.138489208633093,
      "step": 14610,
      "torque_loss": 0.18803830444812775
    },
    {
      "epoch": 13.147482014388489,
      "grad_norm": 0.4338296353816986,
      "learning_rate": 9.00931735798141e-05,
      "loss": 0.1058,
      "step": 14620
    },
    {
      "action_loss": 0.005909452680498362,
      "epoch": 13.147482014388489,
      "step": 14620
    },
    {
      "epoch": 13.147482014388489,
      "step": 14620,
      "torque_loss": 0.11276718974113464
    },
    {
      "epoch": 13.156474820143885,
      "grad_norm": 0.41025686264038086,
      "learning_rate": 9.00767014862654e-05,
      "loss": 0.0964,
      "step": 14630
    },
    {
      "action_loss": 0.006740873213857412,
      "epoch": 13.156474820143885,
      "step": 14630
    },
    {
      "epoch": 13.156474820143885,
      "step": 14630,
      "torque_loss": 0.13376189768314362
    },
    {
      "epoch": 13.16546762589928,
      "grad_norm": 0.38603270053863525,
      "learning_rate": 9.006021721847295e-05,
      "loss": 0.1029,
      "step": 14640
    },
    {
      "action_loss": 0.013796635903418064,
      "epoch": 13.16546762589928,
      "step": 14640
    },
    {
      "epoch": 13.16546762589928,
      "step": 14640,
      "torque_loss": 0.2133830338716507
    },
    {
      "epoch": 13.174460431654676,
      "grad_norm": 0.42901134490966797,
      "learning_rate": 9.004372078144423e-05,
      "loss": 0.1085,
      "step": 14650
    },
    {
      "action_loss": 0.026003146544098854,
      "epoch": 13.174460431654676,
      "step": 14650
    },
    {
      "epoch": 13.174460431654676,
      "step": 14650,
      "torque_loss": 0.19505847990512848
    },
    {
      "epoch": 13.183453237410072,
      "grad_norm": 0.3895491659641266,
      "learning_rate": 9.002721218019043e-05,
      "loss": 0.1131,
      "step": 14660
    },
    {
      "action_loss": 0.010850015096366405,
      "epoch": 13.183453237410072,
      "step": 14660
    },
    {
      "epoch": 13.183453237410072,
      "step": 14660,
      "torque_loss": 0.08932337909936905
    },
    {
      "epoch": 13.192446043165468,
      "grad_norm": 0.44240352511405945,
      "learning_rate": 9.001069141972642e-05,
      "loss": 0.0942,
      "step": 14670
    },
    {
      "action_loss": 0.010034195147454739,
      "epoch": 13.192446043165468,
      "step": 14670
    },
    {
      "epoch": 13.192446043165468,
      "step": 14670,
      "torque_loss": 0.16603262722492218
    },
    {
      "epoch": 13.201438848920864,
      "grad_norm": 0.4168548882007599,
      "learning_rate": 8.99941585050708e-05,
      "loss": 0.1053,
      "step": 14680
    },
    {
      "action_loss": 0.01498199999332428,
      "epoch": 13.201438848920864,
      "step": 14680
    },
    {
      "epoch": 13.201438848920864,
      "step": 14680,
      "torque_loss": 0.13445629179477692
    },
    {
      "epoch": 13.21043165467626,
      "grad_norm": 0.33392488956451416,
      "learning_rate": 8.997761344124578e-05,
      "loss": 0.1023,
      "step": 14690
    },
    {
      "action_loss": 0.0036083159502595663,
      "epoch": 13.21043165467626,
      "step": 14690
    },
    {
      "epoch": 13.21043165467626,
      "step": 14690,
      "torque_loss": 0.13683240115642548
    },
    {
      "epoch": 13.219424460431656,
      "grad_norm": 0.3167121112346649,
      "learning_rate": 8.996105623327737e-05,
      "loss": 0.0939,
      "step": 14700
    },
    {
      "action_loss": 0.006987469736486673,
      "epoch": 13.219424460431656,
      "step": 14700
    },
    {
      "epoch": 13.219424460431656,
      "step": 14700,
      "torque_loss": 0.16074104607105255
    },
    {
      "epoch": 13.22841726618705,
      "grad_norm": 0.36476659774780273,
      "learning_rate": 8.994448688619517e-05,
      "loss": 0.0967,
      "step": 14710
    },
    {
      "action_loss": 0.00589502090588212,
      "epoch": 13.22841726618705,
      "step": 14710
    },
    {
      "epoch": 13.22841726618705,
      "step": 14710,
      "torque_loss": 0.14435510337352753
    },
    {
      "epoch": 13.237410071942445,
      "grad_norm": 0.2991262674331665,
      "learning_rate": 8.992790540503253e-05,
      "loss": 0.0978,
      "step": 14720
    },
    {
      "action_loss": 0.007733085658401251,
      "epoch": 13.237410071942445,
      "step": 14720
    },
    {
      "epoch": 13.237410071942445,
      "step": 14720,
      "torque_loss": 0.1685691922903061
    },
    {
      "epoch": 13.246402877697841,
      "grad_norm": 0.31075552105903625,
      "learning_rate": 8.991131179482648e-05,
      "loss": 0.0936,
      "step": 14730
    },
    {
      "action_loss": 0.010728859342634678,
      "epoch": 13.246402877697841,
      "step": 14730
    },
    {
      "epoch": 13.246402877697841,
      "step": 14730,
      "torque_loss": 0.14244361221790314
    },
    {
      "epoch": 13.255395683453237,
      "grad_norm": 0.4537180960178375,
      "learning_rate": 8.989470606061768e-05,
      "loss": 0.1047,
      "step": 14740
    },
    {
      "action_loss": 0.012867026031017303,
      "epoch": 13.255395683453237,
      "step": 14740
    },
    {
      "epoch": 13.255395683453237,
      "step": 14740,
      "torque_loss": 0.21498002111911774
    },
    {
      "epoch": 13.264388489208633,
      "grad_norm": 0.43302249908447266,
      "learning_rate": 8.987808820745056e-05,
      "loss": 0.1268,
      "step": 14750
    },
    {
      "action_loss": 0.011909343302249908,
      "epoch": 13.264388489208633,
      "step": 14750
    },
    {
      "epoch": 13.264388489208633,
      "step": 14750,
      "torque_loss": 0.18326139450073242
    },
    {
      "epoch": 13.273381294964029,
      "grad_norm": 0.3875921368598938,
      "learning_rate": 8.986145824037315e-05,
      "loss": 0.0996,
      "step": 14760
    },
    {
      "action_loss": 0.020334122702479362,
      "epoch": 13.273381294964029,
      "step": 14760
    },
    {
      "epoch": 13.273381294964029,
      "step": 14760,
      "torque_loss": 0.18757747113704681
    },
    {
      "epoch": 13.282374100719425,
      "grad_norm": 0.3426775634288788,
      "learning_rate": 8.984481616443721e-05,
      "loss": 0.115,
      "step": 14770
    },
    {
      "action_loss": 0.010531100444495678,
      "epoch": 13.282374100719425,
      "step": 14770
    },
    {
      "epoch": 13.282374100719425,
      "step": 14770,
      "torque_loss": 0.16898393630981445
    },
    {
      "epoch": 13.29136690647482,
      "grad_norm": 0.342147558927536,
      "learning_rate": 8.982816198469815e-05,
      "loss": 0.1002,
      "step": 14780
    },
    {
      "action_loss": 0.006017437670379877,
      "epoch": 13.29136690647482,
      "step": 14780
    },
    {
      "epoch": 13.29136690647482,
      "step": 14780,
      "torque_loss": 0.11973943561315536
    },
    {
      "epoch": 13.300359712230216,
      "grad_norm": 0.34855806827545166,
      "learning_rate": 8.98114957062151e-05,
      "loss": 0.113,
      "step": 14790
    },
    {
      "action_loss": 0.008468960411846638,
      "epoch": 13.300359712230216,
      "step": 14790
    },
    {
      "epoch": 13.300359712230216,
      "step": 14790,
      "torque_loss": 0.17752213776111603
    },
    {
      "epoch": 13.309352517985612,
      "grad_norm": 0.2709070146083832,
      "learning_rate": 8.97948173340508e-05,
      "loss": 0.0961,
      "step": 14800
    },
    {
      "action_loss": 0.005811998154968023,
      "epoch": 13.309352517985612,
      "step": 14800
    },
    {
      "epoch": 13.309352517985612,
      "step": 14800,
      "torque_loss": 0.1095500960946083
    },
    {
      "epoch": 13.318345323741006,
      "grad_norm": 0.3373732268810272,
      "learning_rate": 8.977812687327172e-05,
      "loss": 0.083,
      "step": 14810
    },
    {
      "action_loss": 0.024485496804118156,
      "epoch": 13.318345323741006,
      "step": 14810
    },
    {
      "epoch": 13.318345323741006,
      "step": 14810,
      "torque_loss": 0.20036081969738007
    },
    {
      "epoch": 13.327338129496402,
      "grad_norm": 0.3925272226333618,
      "learning_rate": 8.976142432894798e-05,
      "loss": 0.1024,
      "step": 14820
    },
    {
      "action_loss": 0.008410933427512646,
      "epoch": 13.327338129496402,
      "step": 14820
    },
    {
      "epoch": 13.327338129496402,
      "step": 14820,
      "torque_loss": 0.09117937833070755
    },
    {
      "epoch": 13.336330935251798,
      "grad_norm": 0.35227975249290466,
      "learning_rate": 8.974470970615336e-05,
      "loss": 0.1023,
      "step": 14830
    },
    {
      "action_loss": 0.019687699154019356,
      "epoch": 13.336330935251798,
      "step": 14830
    },
    {
      "epoch": 13.336330935251798,
      "step": 14830,
      "torque_loss": 0.22084297239780426
    },
    {
      "epoch": 13.345323741007194,
      "grad_norm": 0.40748316049575806,
      "learning_rate": 8.972798300996534e-05,
      "loss": 0.1119,
      "step": 14840
    },
    {
      "action_loss": 0.005342511925846338,
      "epoch": 13.345323741007194,
      "step": 14840
    },
    {
      "epoch": 13.345323741007194,
      "step": 14840,
      "torque_loss": 0.15396977961063385
    },
    {
      "epoch": 13.35431654676259,
      "grad_norm": 0.3632405698299408,
      "learning_rate": 8.971124424546504e-05,
      "loss": 0.1015,
      "step": 14850
    },
    {
      "action_loss": 0.005124018993228674,
      "epoch": 13.35431654676259,
      "step": 14850
    },
    {
      "epoch": 13.35431654676259,
      "step": 14850,
      "torque_loss": 0.12694664299488068
    },
    {
      "epoch": 13.363309352517986,
      "grad_norm": 0.340794175863266,
      "learning_rate": 8.969449341773724e-05,
      "loss": 0.1072,
      "step": 14860
    },
    {
      "action_loss": 0.014057368040084839,
      "epoch": 13.363309352517986,
      "step": 14860
    },
    {
      "epoch": 13.363309352517986,
      "step": 14860,
      "torque_loss": 0.2004082351922989
    },
    {
      "epoch": 13.372302158273381,
      "grad_norm": 0.34328505396842957,
      "learning_rate": 8.967773053187042e-05,
      "loss": 0.1089,
      "step": 14870
    },
    {
      "action_loss": 0.009717666544020176,
      "epoch": 13.372302158273381,
      "step": 14870
    },
    {
      "epoch": 13.372302158273381,
      "step": 14870,
      "torque_loss": 0.20508356392383575
    },
    {
      "epoch": 13.381294964028777,
      "grad_norm": 0.3298250138759613,
      "learning_rate": 8.966095559295668e-05,
      "loss": 0.0958,
      "step": 14880
    },
    {
      "action_loss": 0.005752595141530037,
      "epoch": 13.381294964028777,
      "step": 14880
    },
    {
      "epoch": 13.381294964028777,
      "step": 14880,
      "torque_loss": 0.1628730148077011
    },
    {
      "epoch": 13.390287769784173,
      "grad_norm": 0.2918006479740143,
      "learning_rate": 8.964416860609184e-05,
      "loss": 0.107,
      "step": 14890
    },
    {
      "action_loss": 0.006823386996984482,
      "epoch": 13.390287769784173,
      "step": 14890
    },
    {
      "epoch": 13.390287769784173,
      "step": 14890,
      "torque_loss": 0.13974183797836304
    },
    {
      "epoch": 13.399280575539569,
      "grad_norm": 0.4696875512599945,
      "learning_rate": 8.962736957637532e-05,
      "loss": 0.0863,
      "step": 14900
    },
    {
      "action_loss": 0.002696485025808215,
      "epoch": 13.399280575539569,
      "step": 14900
    },
    {
      "epoch": 13.399280575539569,
      "step": 14900,
      "torque_loss": 0.058612924069166183
    },
    {
      "epoch": 13.408273381294965,
      "grad_norm": 0.22332137823104858,
      "learning_rate": 8.96105585089102e-05,
      "loss": 0.0835,
      "step": 14910
    },
    {
      "action_loss": 0.031110597774386406,
      "epoch": 13.408273381294965,
      "step": 14910
    },
    {
      "epoch": 13.408273381294965,
      "step": 14910,
      "torque_loss": 0.25062957406044006
    },
    {
      "epoch": 13.417266187050359,
      "grad_norm": 0.3786676526069641,
      "learning_rate": 8.959373540880329e-05,
      "loss": 0.1209,
      "step": 14920
    },
    {
      "action_loss": 0.008535356260836124,
      "epoch": 13.417266187050359,
      "step": 14920
    },
    {
      "epoch": 13.417266187050359,
      "step": 14920,
      "torque_loss": 0.18830521404743195
    },
    {
      "epoch": 13.426258992805755,
      "grad_norm": 0.39088767766952515,
      "learning_rate": 8.957690028116495e-05,
      "loss": 0.1101,
      "step": 14930
    },
    {
      "action_loss": 0.009160280227661133,
      "epoch": 13.426258992805755,
      "step": 14930
    },
    {
      "epoch": 13.426258992805755,
      "step": 14930,
      "torque_loss": 0.1301240772008896
    },
    {
      "epoch": 13.43525179856115,
      "grad_norm": 0.42072001099586487,
      "learning_rate": 8.956005313110928e-05,
      "loss": 0.0979,
      "step": 14940
    },
    {
      "action_loss": 0.004664577078074217,
      "epoch": 13.43525179856115,
      "step": 14940
    },
    {
      "epoch": 13.43525179856115,
      "step": 14940,
      "torque_loss": 0.1186104342341423
    },
    {
      "epoch": 13.444244604316546,
      "grad_norm": 0.31642258167266846,
      "learning_rate": 8.9543193963754e-05,
      "loss": 0.1071,
      "step": 14950
    },
    {
      "action_loss": 0.013976727612316608,
      "epoch": 13.444244604316546,
      "step": 14950
    },
    {
      "epoch": 13.444244604316546,
      "step": 14950,
      "torque_loss": 0.15124191343784332
    },
    {
      "epoch": 13.453237410071942,
      "grad_norm": 0.3525657057762146,
      "learning_rate": 8.952632278422048e-05,
      "loss": 0.1012,
      "step": 14960
    },
    {
      "action_loss": 0.010922759771347046,
      "epoch": 13.453237410071942,
      "step": 14960
    },
    {
      "epoch": 13.453237410071942,
      "step": 14960,
      "torque_loss": 0.12142697721719742
    },
    {
      "epoch": 13.462230215827338,
      "grad_norm": 0.2811211049556732,
      "learning_rate": 8.95094395976337e-05,
      "loss": 0.1171,
      "step": 14970
    },
    {
      "action_loss": 0.013425435870885849,
      "epoch": 13.462230215827338,
      "step": 14970
    },
    {
      "epoch": 13.462230215827338,
      "step": 14970,
      "torque_loss": 0.15674345195293427
    },
    {
      "epoch": 13.471223021582734,
      "grad_norm": 0.47518420219421387,
      "learning_rate": 8.949254440912239e-05,
      "loss": 0.1122,
      "step": 14980
    },
    {
      "action_loss": 0.012995225377380848,
      "epoch": 13.471223021582734,
      "step": 14980
    },
    {
      "epoch": 13.471223021582734,
      "step": 14980,
      "torque_loss": 0.17132842540740967
    },
    {
      "epoch": 13.48021582733813,
      "grad_norm": 0.4819885790348053,
      "learning_rate": 8.94756372238188e-05,
      "loss": 0.1145,
      "step": 14990
    },
    {
      "action_loss": 0.01034363079816103,
      "epoch": 13.48021582733813,
      "step": 14990
    },
    {
      "epoch": 13.48021582733813,
      "step": 14990,
      "torque_loss": 0.19474440813064575
    },
    {
      "epoch": 13.489208633093526,
      "grad_norm": 0.40925076603889465,
      "learning_rate": 8.945871804685892e-05,
      "loss": 0.1101,
      "step": 15000
    },
    {
      "action_loss": 0.013249757699668407,
      "epoch": 13.489208633093526,
      "step": 15000
    },
    {
      "epoch": 13.489208633093526,
      "step": 15000,
      "torque_loss": 0.2040855437517166
    },
    {
      "epoch": 13.498201438848922,
      "grad_norm": 0.3855281472206116,
      "learning_rate": 8.944178688338236e-05,
      "loss": 0.102,
      "step": 15010
    },
    {
      "action_loss": 0.014144686050713062,
      "epoch": 13.498201438848922,
      "step": 15010
    },
    {
      "epoch": 13.498201438848922,
      "step": 15010,
      "torque_loss": 0.1519353836774826
    },
    {
      "epoch": 13.507194244604317,
      "grad_norm": 0.40580034255981445,
      "learning_rate": 8.942484373853233e-05,
      "loss": 0.0911,
      "step": 15020
    },
    {
      "action_loss": 0.006665655877441168,
      "epoch": 13.507194244604317,
      "step": 15020
    },
    {
      "epoch": 13.507194244604317,
      "step": 15020,
      "torque_loss": 0.1455800086259842
    },
    {
      "epoch": 13.516187050359711,
      "grad_norm": 0.4046599864959717,
      "learning_rate": 8.940788861745572e-05,
      "loss": 0.1068,
      "step": 15030
    },
    {
      "action_loss": 0.006026893388479948,
      "epoch": 13.516187050359711,
      "step": 15030
    },
    {
      "epoch": 13.516187050359711,
      "step": 15030,
      "torque_loss": 0.0997546836733818
    },
    {
      "epoch": 13.525179856115107,
      "grad_norm": 0.4450966417789459,
      "learning_rate": 8.939092152530308e-05,
      "loss": 0.1074,
      "step": 15040
    },
    {
      "action_loss": 0.006014792714267969,
      "epoch": 13.525179856115107,
      "step": 15040
    },
    {
      "epoch": 13.525179856115107,
      "step": 15040,
      "torque_loss": 0.1792060285806656
    },
    {
      "epoch": 13.534172661870503,
      "grad_norm": 0.40511250495910645,
      "learning_rate": 8.937394246722853e-05,
      "loss": 0.0945,
      "step": 15050
    },
    {
      "action_loss": 0.01570763625204563,
      "epoch": 13.534172661870503,
      "step": 15050
    },
    {
      "epoch": 13.534172661870503,
      "step": 15050,
      "torque_loss": 0.2077374905347824
    },
    {
      "epoch": 13.543165467625899,
      "grad_norm": 0.36414268612861633,
      "learning_rate": 8.935695144838984e-05,
      "loss": 0.1248,
      "step": 15060
    },
    {
      "action_loss": 0.01124497503042221,
      "epoch": 13.543165467625899,
      "step": 15060
    },
    {
      "epoch": 13.543165467625899,
      "step": 15060,
      "torque_loss": 0.1690623164176941
    },
    {
      "epoch": 13.552158273381295,
      "grad_norm": 0.47231295704841614,
      "learning_rate": 8.933994847394849e-05,
      "loss": 0.1004,
      "step": 15070
    },
    {
      "action_loss": 0.009982513263821602,
      "epoch": 13.552158273381295,
      "step": 15070
    },
    {
      "epoch": 13.552158273381295,
      "step": 15070,
      "torque_loss": 0.10282698273658752
    },
    {
      "epoch": 13.56115107913669,
      "grad_norm": 0.33728116750717163,
      "learning_rate": 8.932293354906949e-05,
      "loss": 0.0982,
      "step": 15080
    },
    {
      "action_loss": 0.010545991361141205,
      "epoch": 13.56115107913669,
      "step": 15080
    },
    {
      "epoch": 13.56115107913669,
      "step": 15080,
      "torque_loss": 0.19568507373332977
    },
    {
      "epoch": 13.570143884892087,
      "grad_norm": 0.3970257639884949,
      "learning_rate": 8.930590667892153e-05,
      "loss": 0.1032,
      "step": 15090
    },
    {
      "action_loss": 0.006797583773732185,
      "epoch": 13.570143884892087,
      "step": 15090
    },
    {
      "epoch": 13.570143884892087,
      "step": 15090,
      "torque_loss": 0.13381870090961456
    },
    {
      "epoch": 13.579136690647482,
      "grad_norm": 0.4486251473426819,
      "learning_rate": 8.928886786867696e-05,
      "loss": 0.096,
      "step": 15100
    },
    {
      "action_loss": 0.010687577538192272,
      "epoch": 13.579136690647482,
      "step": 15100
    },
    {
      "epoch": 13.579136690647482,
      "step": 15100,
      "torque_loss": 0.1540205329656601
    },
    {
      "epoch": 13.588129496402878,
      "grad_norm": 0.4335087239742279,
      "learning_rate": 8.927181712351168e-05,
      "loss": 0.0988,
      "step": 15110
    },
    {
      "action_loss": 0.006235411856323481,
      "epoch": 13.588129496402878,
      "step": 15110
    },
    {
      "epoch": 13.588129496402878,
      "step": 15110,
      "torque_loss": 0.13017983734607697
    },
    {
      "epoch": 13.597122302158274,
      "grad_norm": 0.32623207569122314,
      "learning_rate": 8.925475444860527e-05,
      "loss": 0.1036,
      "step": 15120
    },
    {
      "action_loss": 0.007360244635492563,
      "epoch": 13.597122302158274,
      "step": 15120
    },
    {
      "epoch": 13.597122302158274,
      "step": 15120,
      "torque_loss": 0.13869468867778778
    },
    {
      "epoch": 13.60611510791367,
      "grad_norm": 0.28519752621650696,
      "learning_rate": 8.923767984914092e-05,
      "loss": 0.0873,
      "step": 15130
    },
    {
      "action_loss": 0.0056544519029557705,
      "epoch": 13.60611510791367,
      "step": 15130
    },
    {
      "epoch": 13.60611510791367,
      "step": 15130,
      "torque_loss": 0.12282692641019821
    },
    {
      "epoch": 13.615107913669064,
      "grad_norm": 0.4258524477481842,
      "learning_rate": 8.922059333030545e-05,
      "loss": 0.1138,
      "step": 15140
    },
    {
      "action_loss": 0.004255636129528284,
      "epoch": 13.615107913669064,
      "step": 15140
    },
    {
      "epoch": 13.615107913669064,
      "step": 15140,
      "torque_loss": 0.09332910925149918
    },
    {
      "epoch": 13.62410071942446,
      "grad_norm": 0.3799521327018738,
      "learning_rate": 8.920349489728928e-05,
      "loss": 0.1018,
      "step": 15150
    },
    {
      "action_loss": 0.008471070788800716,
      "epoch": 13.62410071942446,
      "step": 15150
    },
    {
      "epoch": 13.62410071942446,
      "step": 15150,
      "torque_loss": 0.1187812089920044
    },
    {
      "epoch": 13.633093525179856,
      "grad_norm": 0.3627682328224182,
      "learning_rate": 8.918638455528646e-05,
      "loss": 0.1203,
      "step": 15160
    },
    {
      "action_loss": 0.0056570786982774734,
      "epoch": 13.633093525179856,
      "step": 15160
    },
    {
      "epoch": 13.633093525179856,
      "step": 15160,
      "torque_loss": 0.1053895354270935
    },
    {
      "epoch": 13.642086330935252,
      "grad_norm": 0.3650306761264801,
      "learning_rate": 8.916926230949468e-05,
      "loss": 0.1054,
      "step": 15170
    },
    {
      "action_loss": 0.007066891994327307,
      "epoch": 13.642086330935252,
      "step": 15170
    },
    {
      "epoch": 13.642086330935252,
      "step": 15170,
      "torque_loss": 0.09597349166870117
    },
    {
      "epoch": 13.651079136690647,
      "grad_norm": 0.3653104901313782,
      "learning_rate": 8.915212816511522e-05,
      "loss": 0.1041,
      "step": 15180
    },
    {
      "action_loss": 0.005716394633054733,
      "epoch": 13.651079136690647,
      "step": 15180
    },
    {
      "epoch": 13.651079136690647,
      "step": 15180,
      "torque_loss": 0.15317925810813904
    },
    {
      "epoch": 13.660071942446043,
      "grad_norm": 0.4305107295513153,
      "learning_rate": 8.913498212735296e-05,
      "loss": 0.1131,
      "step": 15190
    },
    {
      "action_loss": 0.012665173970162868,
      "epoch": 13.660071942446043,
      "step": 15190
    },
    {
      "epoch": 13.660071942446043,
      "step": 15190,
      "torque_loss": 0.16459859907627106
    },
    {
      "epoch": 13.66906474820144,
      "grad_norm": 0.35554561018943787,
      "learning_rate": 8.911782420141643e-05,
      "loss": 0.1097,
      "step": 15200
    },
    {
      "action_loss": 0.006959854159504175,
      "epoch": 13.66906474820144,
      "step": 15200
    },
    {
      "epoch": 13.66906474820144,
      "step": 15200,
      "torque_loss": 0.10349518060684204
    },
    {
      "epoch": 13.678057553956835,
      "grad_norm": 0.4026699364185333,
      "learning_rate": 8.910065439251775e-05,
      "loss": 0.0929,
      "step": 15210
    },
    {
      "action_loss": 0.007404783274978399,
      "epoch": 13.678057553956835,
      "step": 15210
    },
    {
      "epoch": 13.678057553956835,
      "step": 15210,
      "torque_loss": 0.11773854494094849
    },
    {
      "epoch": 13.68705035971223,
      "grad_norm": 0.34208640456199646,
      "learning_rate": 8.908347270587268e-05,
      "loss": 0.1012,
      "step": 15220
    },
    {
      "action_loss": 0.004042238462716341,
      "epoch": 13.68705035971223,
      "step": 15220
    },
    {
      "epoch": 13.68705035971223,
      "step": 15220,
      "torque_loss": 0.09256688505411148
    },
    {
      "epoch": 13.696043165467627,
      "grad_norm": 0.3817637860774994,
      "learning_rate": 8.906627914670054e-05,
      "loss": 0.0984,
      "step": 15230
    },
    {
      "action_loss": 0.010202039033174515,
      "epoch": 13.696043165467627,
      "step": 15230
    },
    {
      "epoch": 13.696043165467627,
      "step": 15230,
      "torque_loss": 0.18544864654541016
    },
    {
      "epoch": 13.70503597122302,
      "grad_norm": 0.4140496253967285,
      "learning_rate": 8.904907372022427e-05,
      "loss": 0.0888,
      "step": 15240
    },
    {
      "action_loss": 0.007313715759664774,
      "epoch": 13.70503597122302,
      "step": 15240
    },
    {
      "epoch": 13.70503597122302,
      "step": 15240,
      "torque_loss": 0.15839847922325134
    },
    {
      "epoch": 13.714028776978417,
      "grad_norm": 0.3832662105560303,
      "learning_rate": 8.903185643167042e-05,
      "loss": 0.1101,
      "step": 15250
    },
    {
      "action_loss": 0.004533042665570974,
      "epoch": 13.714028776978417,
      "step": 15250
    },
    {
      "epoch": 13.714028776978417,
      "step": 15250,
      "torque_loss": 0.07208351045846939
    },
    {
      "epoch": 13.723021582733812,
      "grad_norm": 0.4429500699043274,
      "learning_rate": 8.901462728626919e-05,
      "loss": 0.0986,
      "step": 15260
    },
    {
      "action_loss": 0.015450051985681057,
      "epoch": 13.723021582733812,
      "step": 15260
    },
    {
      "epoch": 13.723021582733812,
      "step": 15260,
      "torque_loss": 0.21165437996387482
    },
    {
      "epoch": 13.732014388489208,
      "grad_norm": 0.345967173576355,
      "learning_rate": 8.899738628925429e-05,
      "loss": 0.1074,
      "step": 15270
    },
    {
      "action_loss": 0.006821915507316589,
      "epoch": 13.732014388489208,
      "step": 15270
    },
    {
      "epoch": 13.732014388489208,
      "step": 15270,
      "torque_loss": 0.13759344816207886
    },
    {
      "epoch": 13.741007194244604,
      "grad_norm": 0.3119393289089203,
      "learning_rate": 8.898013344586312e-05,
      "loss": 0.091,
      "step": 15280
    },
    {
      "action_loss": 0.04024333134293556,
      "epoch": 13.741007194244604,
      "step": 15280
    },
    {
      "epoch": 13.741007194244604,
      "step": 15280,
      "torque_loss": 0.16754303872585297
    },
    {
      "epoch": 13.75,
      "grad_norm": 0.3639608323574066,
      "learning_rate": 8.896286876133661e-05,
      "loss": 0.1084,
      "step": 15290
    },
    {
      "action_loss": 0.007879647426307201,
      "epoch": 13.75,
      "step": 15290
    },
    {
      "epoch": 13.75,
      "step": 15290,
      "torque_loss": 0.11671767383813858
    },
    {
      "epoch": 13.758992805755396,
      "grad_norm": 0.3273724913597107,
      "learning_rate": 8.894559224091933e-05,
      "loss": 0.098,
      "step": 15300
    },
    {
      "action_loss": 0.019101768732070923,
      "epoch": 13.758992805755396,
      "step": 15300
    },
    {
      "epoch": 13.758992805755396,
      "step": 15300,
      "torque_loss": 0.18468992412090302
    },
    {
      "epoch": 13.767985611510792,
      "grad_norm": 0.3995179235935211,
      "learning_rate": 8.892830388985942e-05,
      "loss": 0.1026,
      "step": 15310
    },
    {
      "action_loss": 0.009449951350688934,
      "epoch": 13.767985611510792,
      "step": 15310
    },
    {
      "epoch": 13.767985611510792,
      "step": 15310,
      "torque_loss": 0.1698269098997116
    },
    {
      "epoch": 13.776978417266188,
      "grad_norm": 0.28491637110710144,
      "learning_rate": 8.891100371340864e-05,
      "loss": 0.0934,
      "step": 15320
    },
    {
      "action_loss": 0.020397571846842766,
      "epoch": 13.776978417266188,
      "step": 15320
    },
    {
      "epoch": 13.776978417266188,
      "step": 15320,
      "torque_loss": 0.13106226921081543
    },
    {
      "epoch": 13.785971223021583,
      "grad_norm": 0.4183328151702881,
      "learning_rate": 8.889369171682231e-05,
      "loss": 0.1038,
      "step": 15330
    },
    {
      "action_loss": 0.005776323843747377,
      "epoch": 13.785971223021583,
      "step": 15330
    },
    {
      "epoch": 13.785971223021583,
      "step": 15330,
      "torque_loss": 0.14874833822250366
    },
    {
      "epoch": 13.79496402877698,
      "grad_norm": 0.3636402189731598,
      "learning_rate": 8.887636790535936e-05,
      "loss": 0.097,
      "step": 15340
    },
    {
      "action_loss": 0.004986191634088755,
      "epoch": 13.79496402877698,
      "step": 15340
    },
    {
      "epoch": 13.79496402877698,
      "step": 15340,
      "torque_loss": 0.15190333127975464
    },
    {
      "epoch": 13.803956834532373,
      "grad_norm": 0.376457154750824,
      "learning_rate": 8.885903228428231e-05,
      "loss": 0.097,
      "step": 15350
    },
    {
      "action_loss": 0.006763773504644632,
      "epoch": 13.803956834532373,
      "step": 15350
    },
    {
      "epoch": 13.803956834532373,
      "step": 15350,
      "torque_loss": 0.1348973661661148
    },
    {
      "epoch": 13.81294964028777,
      "grad_norm": 0.2958364188671112,
      "learning_rate": 8.884168485885727e-05,
      "loss": 0.0994,
      "step": 15360
    },
    {
      "action_loss": 0.009168591350317001,
      "epoch": 13.81294964028777,
      "step": 15360
    },
    {
      "epoch": 13.81294964028777,
      "step": 15360,
      "torque_loss": 0.13945506513118744
    },
    {
      "epoch": 13.821942446043165,
      "grad_norm": 0.34850117564201355,
      "learning_rate": 8.882432563435393e-05,
      "loss": 0.1016,
      "step": 15370
    },
    {
      "action_loss": 0.011580941267311573,
      "epoch": 13.821942446043165,
      "step": 15370
    },
    {
      "epoch": 13.821942446043165,
      "step": 15370,
      "torque_loss": 0.20623314380645752
    },
    {
      "epoch": 13.83093525179856,
      "grad_norm": 0.5291422605514526,
      "learning_rate": 8.880695461604556e-05,
      "loss": 0.0939,
      "step": 15380
    },
    {
      "action_loss": 0.0028210189193487167,
      "epoch": 13.83093525179856,
      "step": 15380
    },
    {
      "epoch": 13.83093525179856,
      "step": 15380,
      "torque_loss": 0.07412248849868774
    },
    {
      "epoch": 13.839928057553957,
      "grad_norm": 0.35959339141845703,
      "learning_rate": 8.878957180920901e-05,
      "loss": 0.0946,
      "step": 15390
    },
    {
      "action_loss": 0.004638336598873138,
      "epoch": 13.839928057553957,
      "step": 15390
    },
    {
      "epoch": 13.839928057553957,
      "step": 15390,
      "torque_loss": 0.1251736879348755
    },
    {
      "epoch": 13.848920863309353,
      "grad_norm": 0.4298434257507324,
      "learning_rate": 8.877217721912473e-05,
      "loss": 0.0961,
      "step": 15400
    },
    {
      "action_loss": 0.005642494186758995,
      "epoch": 13.848920863309353,
      "step": 15400
    },
    {
      "epoch": 13.848920863309353,
      "step": 15400,
      "torque_loss": 0.12086091190576553
    },
    {
      "epoch": 13.857913669064748,
      "grad_norm": 0.2707573473453522,
      "learning_rate": 8.875477085107673e-05,
      "loss": 0.0994,
      "step": 15410
    },
    {
      "action_loss": 0.006282422225922346,
      "epoch": 13.857913669064748,
      "step": 15410
    },
    {
      "epoch": 13.857913669064748,
      "step": 15410,
      "torque_loss": 0.16171306371688843
    },
    {
      "epoch": 13.866906474820144,
      "grad_norm": 0.49417969584465027,
      "learning_rate": 8.87373527103526e-05,
      "loss": 0.1077,
      "step": 15420
    },
    {
      "action_loss": 0.004750643856823444,
      "epoch": 13.866906474820144,
      "step": 15420
    },
    {
      "epoch": 13.866906474820144,
      "step": 15420,
      "torque_loss": 0.10800755769014359
    },
    {
      "epoch": 13.87589928057554,
      "grad_norm": 0.42208871245384216,
      "learning_rate": 8.871992280224353e-05,
      "loss": 0.09,
      "step": 15430
    },
    {
      "action_loss": 0.007511306554079056,
      "epoch": 13.87589928057554,
      "step": 15430
    },
    {
      "epoch": 13.87589928057554,
      "step": 15430,
      "torque_loss": 0.14088332653045654
    },
    {
      "epoch": 13.884892086330936,
      "grad_norm": 0.32927629351615906,
      "learning_rate": 8.870248113204422e-05,
      "loss": 0.0951,
      "step": 15440
    },
    {
      "action_loss": 0.012304895557463169,
      "epoch": 13.884892086330936,
      "step": 15440
    },
    {
      "epoch": 13.884892086330936,
      "step": 15440,
      "torque_loss": 0.12533466517925262
    },
    {
      "epoch": 13.89388489208633,
      "grad_norm": 0.4271271228790283,
      "learning_rate": 8.868502770505306e-05,
      "loss": 0.1096,
      "step": 15450
    },
    {
      "action_loss": 0.011863067746162415,
      "epoch": 13.89388489208633,
      "step": 15450
    },
    {
      "epoch": 13.89388489208633,
      "step": 15450,
      "torque_loss": 0.16096071898937225
    },
    {
      "epoch": 13.902877697841726,
      "grad_norm": 0.2662155330181122,
      "learning_rate": 8.86675625265719e-05,
      "loss": 0.1161,
      "step": 15460
    },
    {
      "action_loss": 0.007180606480687857,
      "epoch": 13.902877697841726,
      "step": 15460
    },
    {
      "epoch": 13.902877697841726,
      "step": 15460,
      "torque_loss": 0.1279718428850174
    },
    {
      "epoch": 13.911870503597122,
      "grad_norm": 0.4029465615749359,
      "learning_rate": 8.865008560190618e-05,
      "loss": 0.0872,
      "step": 15470
    },
    {
      "action_loss": 0.033058565109968185,
      "epoch": 13.911870503597122,
      "step": 15470
    },
    {
      "epoch": 13.911870503597122,
      "step": 15470,
      "torque_loss": 0.22554413974285126
    },
    {
      "epoch": 13.920863309352518,
      "grad_norm": 0.27823179960250854,
      "learning_rate": 8.863259693636496e-05,
      "loss": 0.1017,
      "step": 15480
    },
    {
      "action_loss": 0.014243279583752155,
      "epoch": 13.920863309352518,
      "step": 15480
    },
    {
      "epoch": 13.920863309352518,
      "step": 15480,
      "torque_loss": 0.20121192932128906
    },
    {
      "epoch": 13.929856115107913,
      "grad_norm": 0.5353947877883911,
      "learning_rate": 8.861509653526083e-05,
      "loss": 0.0946,
      "step": 15490
    },
    {
      "action_loss": 0.00950809195637703,
      "epoch": 13.929856115107913,
      "step": 15490
    },
    {
      "epoch": 13.929856115107913,
      "step": 15490,
      "torque_loss": 0.19027023017406464
    },
    {
      "epoch": 13.93884892086331,
      "grad_norm": 0.32313770055770874,
      "learning_rate": 8.859758440390993e-05,
      "loss": 0.0989,
      "step": 15500
    },
    {
      "action_loss": 0.006383985280990601,
      "epoch": 13.93884892086331,
      "step": 15500
    },
    {
      "epoch": 13.93884892086331,
      "step": 15500,
      "torque_loss": 0.13644050061702728
    },
    {
      "epoch": 13.947841726618705,
      "grad_norm": 0.29291248321533203,
      "learning_rate": 8.858006054763202e-05,
      "loss": 0.0868,
      "step": 15510
    },
    {
      "action_loss": 0.011302344501018524,
      "epoch": 13.947841726618705,
      "step": 15510
    },
    {
      "epoch": 13.947841726618705,
      "step": 15510,
      "torque_loss": 0.13566477596759796
    },
    {
      "epoch": 13.956834532374101,
      "grad_norm": 0.3656037449836731,
      "learning_rate": 8.856252497175035e-05,
      "loss": 0.0965,
      "step": 15520
    },
    {
      "action_loss": 0.006202705204486847,
      "epoch": 13.956834532374101,
      "step": 15520
    },
    {
      "epoch": 13.956834532374101,
      "step": 15520,
      "torque_loss": 0.12817369401454926
    },
    {
      "epoch": 13.965827338129497,
      "grad_norm": 0.24268648028373718,
      "learning_rate": 8.854497768159178e-05,
      "loss": 0.0799,
      "step": 15530
    },
    {
      "action_loss": 0.011520583182573318,
      "epoch": 13.965827338129497,
      "step": 15530
    },
    {
      "epoch": 13.965827338129497,
      "step": 15530,
      "torque_loss": 0.23511582612991333
    },
    {
      "epoch": 13.974820143884893,
      "grad_norm": 0.3687359690666199,
      "learning_rate": 8.852741868248671e-05,
      "loss": 0.101,
      "step": 15540
    },
    {
      "action_loss": 0.011341535486280918,
      "epoch": 13.974820143884893,
      "step": 15540
    },
    {
      "epoch": 13.974820143884893,
      "step": 15540,
      "torque_loss": 0.19707565009593964
    },
    {
      "epoch": 13.983812949640289,
      "grad_norm": 0.37861159443855286,
      "learning_rate": 8.85098479797691e-05,
      "loss": 0.1077,
      "step": 15550
    },
    {
      "action_loss": 0.006480847951024771,
      "epoch": 13.983812949640289,
      "step": 15550
    },
    {
      "epoch": 13.983812949640289,
      "step": 15550,
      "torque_loss": 0.13638730347156525
    },
    {
      "epoch": 13.992805755395683,
      "grad_norm": 0.43241995573043823,
      "learning_rate": 8.849226557877646e-05,
      "loss": 0.1054,
      "step": 15560
    },
    {
      "action_loss": 0.010784911923110485,
      "epoch": 13.992805755395683,
      "step": 15560
    },
    {
      "epoch": 13.992805755395683,
      "step": 15560,
      "torque_loss": 0.16978096961975098
    },
    {
      "epoch": 14.001798561151078,
      "grad_norm": 0.39110419154167175,
      "learning_rate": 8.84746714848499e-05,
      "loss": 0.0946,
      "step": 15570
    },
    {
      "action_loss": 0.003966873046010733,
      "epoch": 14.001798561151078,
      "step": 15570
    },
    {
      "epoch": 14.001798561151078,
      "step": 15570,
      "torque_loss": 0.11104464530944824
    },
    {
      "epoch": 14.010791366906474,
      "grad_norm": 0.3242701590061188,
      "learning_rate": 8.845706570333397e-05,
      "loss": 0.0926,
      "step": 15580
    },
    {
      "action_loss": 0.011869095265865326,
      "epoch": 14.010791366906474,
      "step": 15580
    },
    {
      "epoch": 14.010791366906474,
      "step": 15580,
      "torque_loss": 0.15468595921993256
    },
    {
      "epoch": 14.01978417266187,
      "grad_norm": 0.32393068075180054,
      "learning_rate": 8.84394482395769e-05,
      "loss": 0.1181,
      "step": 15590
    },
    {
      "action_loss": 0.003557202173396945,
      "epoch": 14.01978417266187,
      "step": 15590
    },
    {
      "epoch": 14.01978417266187,
      "step": 15590,
      "torque_loss": 0.09707397222518921
    },
    {
      "epoch": 14.028776978417266,
      "grad_norm": 0.3222220540046692,
      "learning_rate": 8.842181909893038e-05,
      "loss": 0.0783,
      "step": 15600
    },
    {
      "action_loss": 0.011616534553468227,
      "epoch": 14.028776978417266,
      "step": 15600
    },
    {
      "epoch": 14.028776978417266,
      "step": 15600,
      "torque_loss": 0.15997318923473358
    },
    {
      "epoch": 14.037769784172662,
      "grad_norm": 0.29257190227508545,
      "learning_rate": 8.840417828674969e-05,
      "loss": 0.0972,
      "step": 15610
    },
    {
      "action_loss": 0.005510587245225906,
      "epoch": 14.037769784172662,
      "step": 15610
    },
    {
      "epoch": 14.037769784172662,
      "step": 15610,
      "torque_loss": 0.12881040573120117
    },
    {
      "epoch": 14.046762589928058,
      "grad_norm": 0.3145884573459625,
      "learning_rate": 8.838652580839364e-05,
      "loss": 0.1058,
      "step": 15620
    },
    {
      "action_loss": 0.007692456711083651,
      "epoch": 14.046762589928058,
      "step": 15620
    },
    {
      "epoch": 14.046762589928058,
      "step": 15620,
      "torque_loss": 0.16716258227825165
    },
    {
      "epoch": 14.055755395683454,
      "grad_norm": 0.4106309711933136,
      "learning_rate": 8.836886166922458e-05,
      "loss": 0.122,
      "step": 15630
    },
    {
      "action_loss": 0.004078971222043037,
      "epoch": 14.055755395683454,
      "step": 15630
    },
    {
      "epoch": 14.055755395683454,
      "step": 15630,
      "torque_loss": 0.09653834253549576
    },
    {
      "epoch": 14.06474820143885,
      "grad_norm": 0.44334039092063904,
      "learning_rate": 8.835118587460844e-05,
      "loss": 0.0936,
      "step": 15640
    },
    {
      "action_loss": 0.017906997352838516,
      "epoch": 14.06474820143885,
      "step": 15640
    },
    {
      "epoch": 14.06474820143885,
      "step": 15640,
      "torque_loss": 0.1526583880186081
    },
    {
      "epoch": 14.073741007194245,
      "grad_norm": 0.3533404767513275,
      "learning_rate": 8.83334984299146e-05,
      "loss": 0.1167,
      "step": 15650
    },
    {
      "action_loss": 0.015532489866018295,
      "epoch": 14.073741007194245,
      "step": 15650
    },
    {
      "epoch": 14.073741007194245,
      "step": 15650,
      "torque_loss": 0.18228793144226074
    },
    {
      "epoch": 14.082733812949641,
      "grad_norm": 0.38677898049354553,
      "learning_rate": 8.83157993405161e-05,
      "loss": 0.1144,
      "step": 15660
    },
    {
      "action_loss": 0.004853122401982546,
      "epoch": 14.082733812949641,
      "step": 15660
    },
    {
      "epoch": 14.082733812949641,
      "step": 15660,
      "torque_loss": 0.12120526283979416
    },
    {
      "epoch": 14.091726618705035,
      "grad_norm": 0.2987683117389679,
      "learning_rate": 8.829808861178943e-05,
      "loss": 0.1009,
      "step": 15670
    },
    {
      "action_loss": 0.009453163482248783,
      "epoch": 14.091726618705035,
      "step": 15670
    },
    {
      "epoch": 14.091726618705035,
      "step": 15670,
      "torque_loss": 0.14663831889629364
    },
    {
      "epoch": 14.100719424460431,
      "grad_norm": 0.47546398639678955,
      "learning_rate": 8.828036624911464e-05,
      "loss": 0.107,
      "step": 15680
    },
    {
      "action_loss": 0.009369158186018467,
      "epoch": 14.100719424460431,
      "step": 15680
    },
    {
      "epoch": 14.100719424460431,
      "step": 15680,
      "torque_loss": 0.12267792969942093
    },
    {
      "epoch": 14.109712230215827,
      "grad_norm": 0.4113294184207916,
      "learning_rate": 8.826263225787532e-05,
      "loss": 0.1047,
      "step": 15690
    },
    {
      "action_loss": 0.006245218217372894,
      "epoch": 14.109712230215827,
      "step": 15690
    },
    {
      "epoch": 14.109712230215827,
      "step": 15690,
      "torque_loss": 0.13502216339111328
    },
    {
      "epoch": 14.118705035971223,
      "grad_norm": 0.3628806173801422,
      "learning_rate": 8.824488664345858e-05,
      "loss": 0.0962,
      "step": 15700
    },
    {
      "action_loss": 0.017579661682248116,
      "epoch": 14.118705035971223,
      "step": 15700
    },
    {
      "epoch": 14.118705035971223,
      "step": 15700,
      "torque_loss": 0.17042593657970428
    },
    {
      "epoch": 14.127697841726619,
      "grad_norm": 0.32403847575187683,
      "learning_rate": 8.822712941125508e-05,
      "loss": 0.0873,
      "step": 15710
    },
    {
      "action_loss": 0.025139182806015015,
      "epoch": 14.127697841726619,
      "step": 15710
    },
    {
      "epoch": 14.127697841726619,
      "step": 15710,
      "torque_loss": 0.15520696341991425
    },
    {
      "epoch": 14.136690647482014,
      "grad_norm": 0.3198918402194977,
      "learning_rate": 8.820936056665898e-05,
      "loss": 0.0974,
      "step": 15720
    },
    {
      "action_loss": 0.009433376602828503,
      "epoch": 14.136690647482014,
      "step": 15720
    },
    {
      "epoch": 14.136690647482014,
      "step": 15720,
      "torque_loss": 0.15510280430316925
    },
    {
      "epoch": 14.14568345323741,
      "grad_norm": 0.32847434282302856,
      "learning_rate": 8.819158011506801e-05,
      "loss": 0.1036,
      "step": 15730
    },
    {
      "action_loss": 0.0046088905073702335,
      "epoch": 14.14568345323741,
      "step": 15730
    },
    {
      "epoch": 14.14568345323741,
      "step": 15730,
      "torque_loss": 0.12468767911195755
    },
    {
      "epoch": 14.154676258992806,
      "grad_norm": 0.3100323975086212,
      "learning_rate": 8.81737880618834e-05,
      "loss": 0.0948,
      "step": 15740
    },
    {
      "action_loss": 0.00988579262048006,
      "epoch": 14.154676258992806,
      "step": 15740
    },
    {
      "epoch": 14.154676258992806,
      "step": 15740,
      "torque_loss": 0.1125861406326294
    },
    {
      "epoch": 14.163669064748202,
      "grad_norm": 0.3110508322715759,
      "learning_rate": 8.815598441250987e-05,
      "loss": 0.1072,
      "step": 15750
    },
    {
      "action_loss": 0.003947950899600983,
      "epoch": 14.163669064748202,
      "step": 15750
    },
    {
      "epoch": 14.163669064748202,
      "step": 15750,
      "torque_loss": 0.12910936772823334
    },
    {
      "epoch": 14.172661870503598,
      "grad_norm": 0.3288668096065521,
      "learning_rate": 8.813816917235576e-05,
      "loss": 0.1,
      "step": 15760
    },
    {
      "action_loss": 0.009892783127725124,
      "epoch": 14.172661870503598,
      "step": 15760
    },
    {
      "epoch": 14.172661870503598,
      "step": 15760,
      "torque_loss": 0.09043405205011368
    },
    {
      "epoch": 14.181654676258994,
      "grad_norm": 0.5031497478485107,
      "learning_rate": 8.812034234683282e-05,
      "loss": 0.111,
      "step": 15770
    },
    {
      "action_loss": 0.010652798227965832,
      "epoch": 14.181654676258994,
      "step": 15770
    },
    {
      "epoch": 14.181654676258994,
      "step": 15770,
      "torque_loss": 0.2048102617263794
    },
    {
      "epoch": 14.190647482014388,
      "grad_norm": 0.3416144549846649,
      "learning_rate": 8.810250394135637e-05,
      "loss": 0.1057,
      "step": 15780
    },
    {
      "action_loss": 0.012292228639125824,
      "epoch": 14.190647482014388,
      "step": 15780
    },
    {
      "epoch": 14.190647482014388,
      "step": 15780,
      "torque_loss": 0.10782796889543533
    },
    {
      "epoch": 14.199640287769784,
      "grad_norm": 0.3178115785121918,
      "learning_rate": 8.808465396134529e-05,
      "loss": 0.1003,
      "step": 15790
    },
    {
      "action_loss": 0.010268418118357658,
      "epoch": 14.199640287769784,
      "step": 15790
    },
    {
      "epoch": 14.199640287769784,
      "step": 15790,
      "torque_loss": 0.14756865799427032
    },
    {
      "epoch": 14.20863309352518,
      "grad_norm": 0.3348466157913208,
      "learning_rate": 8.806679241222189e-05,
      "loss": 0.0905,
      "step": 15800
    },
    {
      "action_loss": 0.009678087197244167,
      "epoch": 14.20863309352518,
      "step": 15800
    },
    {
      "epoch": 14.20863309352518,
      "step": 15800,
      "torque_loss": 0.1442890167236328
    },
    {
      "epoch": 14.217625899280575,
      "grad_norm": 0.39434903860092163,
      "learning_rate": 8.804891929941203e-05,
      "loss": 0.117,
      "step": 15810
    },
    {
      "action_loss": 0.00910879671573639,
      "epoch": 14.217625899280575,
      "step": 15810
    },
    {
      "epoch": 14.217625899280575,
      "step": 15810,
      "torque_loss": 0.15456606447696686
    },
    {
      "epoch": 14.226618705035971,
      "grad_norm": 0.38231804966926575,
      "learning_rate": 8.803103462834514e-05,
      "loss": 0.1084,
      "step": 15820
    },
    {
      "action_loss": 0.009278311394155025,
      "epoch": 14.226618705035971,
      "step": 15820
    },
    {
      "epoch": 14.226618705035971,
      "step": 15820,
      "torque_loss": 0.22612391412258148
    },
    {
      "epoch": 14.235611510791367,
      "grad_norm": 0.4902573227882385,
      "learning_rate": 8.801313840445408e-05,
      "loss": 0.1038,
      "step": 15830
    },
    {
      "action_loss": 0.007949190214276314,
      "epoch": 14.235611510791367,
      "step": 15830
    },
    {
      "epoch": 14.235611510791367,
      "step": 15830,
      "torque_loss": 0.13691820204257965
    },
    {
      "epoch": 14.244604316546763,
      "grad_norm": 0.37435007095336914,
      "learning_rate": 8.799523063317524e-05,
      "loss": 0.0941,
      "step": 15840
    },
    {
      "action_loss": 0.004163408186286688,
      "epoch": 14.244604316546763,
      "step": 15840
    },
    {
      "epoch": 14.244604316546763,
      "step": 15840,
      "torque_loss": 0.14640207588672638
    },
    {
      "epoch": 14.253597122302159,
      "grad_norm": 0.36145442724227905,
      "learning_rate": 8.797731131994854e-05,
      "loss": 0.0878,
      "step": 15850
    },
    {
      "action_loss": 0.017791690304875374,
      "epoch": 14.253597122302159,
      "step": 15850
    },
    {
      "epoch": 14.253597122302159,
      "step": 15850,
      "torque_loss": 0.15581248700618744
    },
    {
      "epoch": 14.262589928057555,
      "grad_norm": 0.33520352840423584,
      "learning_rate": 8.795938047021739e-05,
      "loss": 0.1187,
      "step": 15860
    },
    {
      "action_loss": 0.007380913943052292,
      "epoch": 14.262589928057555,
      "step": 15860
    },
    {
      "epoch": 14.262589928057555,
      "step": 15860,
      "torque_loss": 0.13358597457408905
    },
    {
      "epoch": 14.27158273381295,
      "grad_norm": 0.32886067032814026,
      "learning_rate": 8.794143808942872e-05,
      "loss": 0.101,
      "step": 15870
    },
    {
      "action_loss": 0.014064491726458073,
      "epoch": 14.27158273381295,
      "step": 15870
    },
    {
      "epoch": 14.27158273381295,
      "step": 15870,
      "torque_loss": 0.1280210167169571
    },
    {
      "epoch": 14.280575539568344,
      "grad_norm": 0.40381401777267456,
      "learning_rate": 8.792348418303296e-05,
      "loss": 0.1046,
      "step": 15880
    },
    {
      "action_loss": 0.03831922635436058,
      "epoch": 14.280575539568344,
      "step": 15880
    },
    {
      "epoch": 14.280575539568344,
      "step": 15880,
      "torque_loss": 0.23013055324554443
    },
    {
      "epoch": 14.28956834532374,
      "grad_norm": 0.3360077440738678,
      "learning_rate": 8.790551875648398e-05,
      "loss": 0.1201,
      "step": 15890
    },
    {
      "action_loss": 0.014500629156827927,
      "epoch": 14.28956834532374,
      "step": 15890
    },
    {
      "epoch": 14.28956834532374,
      "step": 15890,
      "torque_loss": 0.20914708077907562
    },
    {
      "epoch": 14.298561151079136,
      "grad_norm": 0.4140723645687103,
      "learning_rate": 8.788754181523926e-05,
      "loss": 0.1089,
      "step": 15900
    },
    {
      "action_loss": 0.05754619464278221,
      "epoch": 14.298561151079136,
      "step": 15900
    },
    {
      "epoch": 14.298561151079136,
      "step": 15900,
      "torque_loss": 0.18693991005420685
    },
    {
      "epoch": 14.307553956834532,
      "grad_norm": 0.42490047216415405,
      "learning_rate": 8.78695533647597e-05,
      "loss": 0.112,
      "step": 15910
    },
    {
      "action_loss": 0.010451079346239567,
      "epoch": 14.307553956834532,
      "step": 15910
    },
    {
      "epoch": 14.307553956834532,
      "step": 15910,
      "torque_loss": 0.18652699887752533
    },
    {
      "epoch": 14.316546762589928,
      "grad_norm": 0.3158261477947235,
      "learning_rate": 8.785155341050972e-05,
      "loss": 0.1303,
      "step": 15920
    },
    {
      "action_loss": 0.011491361074149609,
      "epoch": 14.316546762589928,
      "step": 15920
    },
    {
      "epoch": 14.316546762589928,
      "step": 15920,
      "torque_loss": 0.1817120760679245
    },
    {
      "epoch": 14.325539568345324,
      "grad_norm": 0.3406376242637634,
      "learning_rate": 8.783354195795721e-05,
      "loss": 0.1073,
      "step": 15930
    },
    {
      "action_loss": 0.017405016347765923,
      "epoch": 14.325539568345324,
      "step": 15930
    },
    {
      "epoch": 14.325539568345324,
      "step": 15930,
      "torque_loss": 0.15738923847675323
    },
    {
      "epoch": 14.33453237410072,
      "grad_norm": 0.4781692326068878,
      "learning_rate": 8.78155190125736e-05,
      "loss": 0.1098,
      "step": 15940
    },
    {
      "action_loss": 0.011054151691496372,
      "epoch": 14.33453237410072,
      "step": 15940
    },
    {
      "epoch": 14.33453237410072,
      "step": 15940,
      "torque_loss": 0.16823923587799072
    },
    {
      "epoch": 14.343525179856115,
      "grad_norm": 0.3312503397464752,
      "learning_rate": 8.779748457983378e-05,
      "loss": 0.107,
      "step": 15950
    },
    {
      "action_loss": 0.007727675139904022,
      "epoch": 14.343525179856115,
      "step": 15950
    },
    {
      "epoch": 14.343525179856115,
      "step": 15950,
      "torque_loss": 0.16712750494480133
    },
    {
      "epoch": 14.352517985611511,
      "grad_norm": 0.27242329716682434,
      "learning_rate": 8.777943866521612e-05,
      "loss": 0.1222,
      "step": 15960
    },
    {
      "action_loss": 0.007482344750314951,
      "epoch": 14.352517985611511,
      "step": 15960
    },
    {
      "epoch": 14.352517985611511,
      "step": 15960,
      "torque_loss": 0.14020191133022308
    },
    {
      "epoch": 14.361510791366907,
      "grad_norm": 0.3940402865409851,
      "learning_rate": 8.77613812742025e-05,
      "loss": 0.0947,
      "step": 15970
    },
    {
      "action_loss": 0.010685905814170837,
      "epoch": 14.361510791366907,
      "step": 15970
    },
    {
      "epoch": 14.361510791366907,
      "step": 15970,
      "torque_loss": 0.11686911433935165
    },
    {
      "epoch": 14.370503597122303,
      "grad_norm": 0.3424079120159149,
      "learning_rate": 8.774331241227829e-05,
      "loss": 0.1114,
      "step": 15980
    },
    {
      "action_loss": 0.006816735025495291,
      "epoch": 14.370503597122303,
      "step": 15980
    },
    {
      "epoch": 14.370503597122303,
      "step": 15980,
      "torque_loss": 0.17284375429153442
    },
    {
      "epoch": 14.379496402877697,
      "grad_norm": 0.33198896050453186,
      "learning_rate": 8.772523208493232e-05,
      "loss": 0.0901,
      "step": 15990
    },
    {
      "action_loss": 0.013146092183887959,
      "epoch": 14.379496402877697,
      "step": 15990
    },
    {
      "epoch": 14.379496402877697,
      "step": 15990,
      "torque_loss": 0.1650153547525406
    },
    {
      "epoch": 14.388489208633093,
      "grad_norm": 0.3534037172794342,
      "learning_rate": 8.770714029765692e-05,
      "loss": 0.1087,
      "step": 16000
    },
    {
      "action_loss": 0.026327578350901604,
      "epoch": 14.388489208633093,
      "step": 16000
    },
    {
      "epoch": 14.388489208633093,
      "step": 16000,
      "torque_loss": 0.24358637630939484
    },
    {
      "epoch": 14.397482014388489,
      "grad_norm": 0.3472265601158142,
      "learning_rate": 8.768903705594789e-05,
      "loss": 0.1088,
      "step": 16010
    },
    {
      "action_loss": 0.021918192505836487,
      "epoch": 14.397482014388489,
      "step": 16010
    },
    {
      "epoch": 14.397482014388489,
      "step": 16010,
      "torque_loss": 0.1487094610929489
    },
    {
      "epoch": 14.406474820143885,
      "grad_norm": 0.4230922758579254,
      "learning_rate": 8.767092236530453e-05,
      "loss": 0.1015,
      "step": 16020
    },
    {
      "action_loss": 0.023799918591976166,
      "epoch": 14.406474820143885,
      "step": 16020
    },
    {
      "epoch": 14.406474820143885,
      "step": 16020,
      "torque_loss": 0.24184198677539825
    },
    {
      "epoch": 14.41546762589928,
      "grad_norm": 0.3893493413925171,
      "learning_rate": 8.76527962312296e-05,
      "loss": 0.116,
      "step": 16030
    },
    {
      "action_loss": 0.004574760794639587,
      "epoch": 14.41546762589928,
      "step": 16030
    },
    {
      "epoch": 14.41546762589928,
      "step": 16030,
      "torque_loss": 0.12591269612312317
    },
    {
      "epoch": 14.424460431654676,
      "grad_norm": 0.2967185080051422,
      "learning_rate": 8.763465865922934e-05,
      "loss": 0.0918,
      "step": 16040
    },
    {
      "action_loss": 0.03525706008076668,
      "epoch": 14.424460431654676,
      "step": 16040
    },
    {
      "epoch": 14.424460431654676,
      "step": 16040,
      "torque_loss": 0.19342410564422607
    },
    {
      "epoch": 14.433453237410072,
      "grad_norm": 0.4543176293373108,
      "learning_rate": 8.761650965481347e-05,
      "loss": 0.1092,
      "step": 16050
    },
    {
      "action_loss": 0.008904307149350643,
      "epoch": 14.433453237410072,
      "step": 16050
    },
    {
      "epoch": 14.433453237410072,
      "step": 16050,
      "torque_loss": 0.1366354078054428
    },
    {
      "epoch": 14.442446043165468,
      "grad_norm": 0.2993740141391754,
      "learning_rate": 8.759834922349516e-05,
      "loss": 0.101,
      "step": 16060
    },
    {
      "action_loss": 0.006066605448722839,
      "epoch": 14.442446043165468,
      "step": 16060
    },
    {
      "epoch": 14.442446043165468,
      "step": 16060,
      "torque_loss": 0.11405076831579208
    },
    {
      "epoch": 14.451438848920864,
      "grad_norm": 0.3236567974090576,
      "learning_rate": 8.758017737079108e-05,
      "loss": 0.104,
      "step": 16070
    },
    {
      "action_loss": 0.011426863260567188,
      "epoch": 14.451438848920864,
      "step": 16070
    },
    {
      "epoch": 14.451438848920864,
      "step": 16070,
      "torque_loss": 0.1430741846561432
    },
    {
      "epoch": 14.46043165467626,
      "grad_norm": 0.3245724141597748,
      "learning_rate": 8.756199410222137e-05,
      "loss": 0.0879,
      "step": 16080
    },
    {
      "action_loss": 0.007247494533658028,
      "epoch": 14.46043165467626,
      "step": 16080
    },
    {
      "epoch": 14.46043165467626,
      "step": 16080,
      "torque_loss": 0.1500893086194992
    },
    {
      "epoch": 14.469424460431656,
      "grad_norm": 0.3511224389076233,
      "learning_rate": 8.754379942330963e-05,
      "loss": 0.1043,
      "step": 16090
    },
    {
      "action_loss": 0.006345722824335098,
      "epoch": 14.469424460431656,
      "step": 16090
    },
    {
      "epoch": 14.469424460431656,
      "step": 16090,
      "torque_loss": 0.11746034026145935
    },
    {
      "epoch": 14.47841726618705,
      "grad_norm": 0.3114928603172302,
      "learning_rate": 8.75255933395829e-05,
      "loss": 0.0957,
      "step": 16100
    },
    {
      "action_loss": 0.008826692588627338,
      "epoch": 14.47841726618705,
      "step": 16100
    },
    {
      "epoch": 14.47841726618705,
      "step": 16100,
      "torque_loss": 0.23313641548156738
    },
    {
      "epoch": 14.487410071942445,
      "grad_norm": 0.41592586040496826,
      "learning_rate": 8.750737585657171e-05,
      "loss": 0.11,
      "step": 16110
    },
    {
      "action_loss": 0.00617488706484437,
      "epoch": 14.487410071942445,
      "step": 16110
    },
    {
      "epoch": 14.487410071942445,
      "step": 16110,
      "torque_loss": 0.15072931349277496
    },
    {
      "epoch": 14.496402877697841,
      "grad_norm": 0.2984028458595276,
      "learning_rate": 8.748914697981008e-05,
      "loss": 0.103,
      "step": 16120
    },
    {
      "action_loss": 0.011826661415398121,
      "epoch": 14.496402877697841,
      "step": 16120
    },
    {
      "epoch": 14.496402877697841,
      "step": 16120,
      "torque_loss": 0.19371740520000458
    },
    {
      "epoch": 14.505395683453237,
      "grad_norm": 0.3400440514087677,
      "learning_rate": 8.747090671483542e-05,
      "loss": 0.105,
      "step": 16130
    },
    {
      "action_loss": 0.00353887933306396,
      "epoch": 14.505395683453237,
      "step": 16130
    },
    {
      "epoch": 14.505395683453237,
      "step": 16130,
      "torque_loss": 0.09752616286277771
    },
    {
      "epoch": 14.514388489208633,
      "grad_norm": 0.35145509243011475,
      "learning_rate": 8.745265506718869e-05,
      "loss": 0.0829,
      "step": 16140
    },
    {
      "action_loss": 0.004835423082113266,
      "epoch": 14.514388489208633,
      "step": 16140
    },
    {
      "epoch": 14.514388489208633,
      "step": 16140,
      "torque_loss": 0.09773268550634384
    },
    {
      "epoch": 14.523381294964029,
      "grad_norm": 0.33682581782341003,
      "learning_rate": 8.74343920424142e-05,
      "loss": 0.0938,
      "step": 16150
    },
    {
      "action_loss": 0.0132276751101017,
      "epoch": 14.523381294964029,
      "step": 16150
    },
    {
      "epoch": 14.523381294964029,
      "step": 16150,
      "torque_loss": 0.208689883351326
    },
    {
      "epoch": 14.532374100719425,
      "grad_norm": 0.37448474764823914,
      "learning_rate": 8.741611764605982e-05,
      "loss": 0.1008,
      "step": 16160
    },
    {
      "action_loss": 0.0057658725418150425,
      "epoch": 14.532374100719425,
      "step": 16160
    },
    {
      "epoch": 14.532374100719425,
      "step": 16160,
      "torque_loss": 0.16050265729427338
    },
    {
      "epoch": 14.54136690647482,
      "grad_norm": 0.2921804189682007,
      "learning_rate": 8.739783188367682e-05,
      "loss": 0.0995,
      "step": 16170
    },
    {
      "action_loss": 0.004367648158222437,
      "epoch": 14.54136690647482,
      "step": 16170
    },
    {
      "epoch": 14.54136690647482,
      "step": 16170,
      "torque_loss": 0.10662122815847397
    },
    {
      "epoch": 14.550359712230216,
      "grad_norm": 0.3797454833984375,
      "learning_rate": 8.737953476081991e-05,
      "loss": 0.086,
      "step": 16180
    },
    {
      "action_loss": 0.006111775059252977,
      "epoch": 14.550359712230216,
      "step": 16180
    },
    {
      "epoch": 14.550359712230216,
      "step": 16180,
      "torque_loss": 0.1019473746418953
    },
    {
      "epoch": 14.559352517985612,
      "grad_norm": 0.2977198660373688,
      "learning_rate": 8.73612262830473e-05,
      "loss": 0.1021,
      "step": 16190
    },
    {
      "action_loss": 0.0057187494821846485,
      "epoch": 14.559352517985612,
      "step": 16190
    },
    {
      "epoch": 14.559352517985612,
      "step": 16190,
      "torque_loss": 0.13038252294063568
    },
    {
      "epoch": 14.568345323741006,
      "grad_norm": 0.34788504242897034,
      "learning_rate": 8.734290645592061e-05,
      "loss": 0.0789,
      "step": 16200
    },
    {
      "action_loss": 0.007318049669265747,
      "epoch": 14.568345323741006,
      "step": 16200
    },
    {
      "epoch": 14.568345323741006,
      "step": 16200,
      "torque_loss": 0.16979633271694183
    },
    {
      "epoch": 14.577338129496402,
      "grad_norm": 0.42898207902908325,
      "learning_rate": 8.732457528500493e-05,
      "loss": 0.0964,
      "step": 16210
    },
    {
      "action_loss": 0.006104330066591501,
      "epoch": 14.577338129496402,
      "step": 16210
    },
    {
      "epoch": 14.577338129496402,
      "step": 16210,
      "torque_loss": 0.156680166721344
    },
    {
      "epoch": 14.586330935251798,
      "grad_norm": 0.32109272480010986,
      "learning_rate": 8.730623277586875e-05,
      "loss": 0.1006,
      "step": 16220
    },
    {
      "action_loss": 0.004607511218637228,
      "epoch": 14.586330935251798,
      "step": 16220
    },
    {
      "epoch": 14.586330935251798,
      "step": 16220,
      "torque_loss": 0.11158571392297745
    },
    {
      "epoch": 14.595323741007194,
      "grad_norm": 0.41224926710128784,
      "learning_rate": 8.72878789340841e-05,
      "loss": 0.0947,
      "step": 16230
    },
    {
      "action_loss": 0.003716791048645973,
      "epoch": 14.595323741007194,
      "step": 16230
    },
    {
      "epoch": 14.595323741007194,
      "step": 16230,
      "torque_loss": 0.08241839706897736
    },
    {
      "epoch": 14.60431654676259,
      "grad_norm": 0.31495556235313416,
      "learning_rate": 8.726951376522635e-05,
      "loss": 0.1102,
      "step": 16240
    },
    {
      "action_loss": 0.007466034963726997,
      "epoch": 14.60431654676259,
      "step": 16240
    },
    {
      "epoch": 14.60431654676259,
      "step": 16240,
      "torque_loss": 0.1352781504392624
    },
    {
      "epoch": 14.613309352517986,
      "grad_norm": 0.4089420735836029,
      "learning_rate": 8.725113727487435e-05,
      "loss": 0.0968,
      "step": 16250
    },
    {
      "action_loss": 0.011516149155795574,
      "epoch": 14.613309352517986,
      "step": 16250
    },
    {
      "epoch": 14.613309352517986,
      "step": 16250,
      "torque_loss": 0.18878109753131866
    },
    {
      "epoch": 14.622302158273381,
      "grad_norm": 0.3129039406776428,
      "learning_rate": 8.723274946861042e-05,
      "loss": 0.0886,
      "step": 16260
    },
    {
      "action_loss": 0.0057628341019153595,
      "epoch": 14.622302158273381,
      "step": 16260
    },
    {
      "epoch": 14.622302158273381,
      "step": 16260,
      "torque_loss": 0.11628720909357071
    },
    {
      "epoch": 14.631294964028777,
      "grad_norm": 0.39221903681755066,
      "learning_rate": 8.721435035202026e-05,
      "loss": 0.0903,
      "step": 16270
    },
    {
      "action_loss": 0.019228054210543633,
      "epoch": 14.631294964028777,
      "step": 16270
    },
    {
      "epoch": 14.631294964028777,
      "step": 16270,
      "torque_loss": 0.2366974800825119
    },
    {
      "epoch": 14.640287769784173,
      "grad_norm": 0.35268229246139526,
      "learning_rate": 8.719593993069306e-05,
      "loss": 0.1207,
      "step": 16280
    },
    {
      "action_loss": 0.0062630437314510345,
      "epoch": 14.640287769784173,
      "step": 16280
    },
    {
      "epoch": 14.640287769784173,
      "step": 16280,
      "torque_loss": 0.1632343977689743
    },
    {
      "epoch": 14.649280575539569,
      "grad_norm": 0.38539984822273254,
      "learning_rate": 8.717751821022139e-05,
      "loss": 0.1036,
      "step": 16290
    },
    {
      "action_loss": 0.010852274484932423,
      "epoch": 14.649280575539569,
      "step": 16290
    },
    {
      "epoch": 14.649280575539569,
      "step": 16290,
      "torque_loss": 0.1709936112165451
    },
    {
      "epoch": 14.658273381294965,
      "grad_norm": 0.34522828459739685,
      "learning_rate": 8.715908519620134e-05,
      "loss": 0.1042,
      "step": 16300
    },
    {
      "action_loss": 0.01922071911394596,
      "epoch": 14.658273381294965,
      "step": 16300
    },
    {
      "epoch": 14.658273381294965,
      "step": 16300,
      "torque_loss": 0.18489818274974823
    },
    {
      "epoch": 14.667266187050359,
      "grad_norm": 0.3561491370201111,
      "learning_rate": 8.71406408942323e-05,
      "loss": 0.1036,
      "step": 16310
    },
    {
      "action_loss": 0.011750482954084873,
      "epoch": 14.667266187050359,
      "step": 16310
    },
    {
      "epoch": 14.667266187050359,
      "step": 16310,
      "torque_loss": 0.15445232391357422
    },
    {
      "epoch": 14.676258992805755,
      "grad_norm": 0.32276034355163574,
      "learning_rate": 8.712218530991723e-05,
      "loss": 0.0889,
      "step": 16320
    },
    {
      "action_loss": 0.009452980943024158,
      "epoch": 14.676258992805755,
      "step": 16320
    },
    {
      "epoch": 14.676258992805755,
      "step": 16320,
      "torque_loss": 0.15728643536567688
    },
    {
      "epoch": 14.68525179856115,
      "grad_norm": 0.38490965962409973,
      "learning_rate": 8.710371844886241e-05,
      "loss": 0.096,
      "step": 16330
    },
    {
      "action_loss": 0.025822937488555908,
      "epoch": 14.68525179856115,
      "step": 16330
    },
    {
      "epoch": 14.68525179856115,
      "step": 16330,
      "torque_loss": 0.22127707302570343
    },
    {
      "epoch": 14.694244604316546,
      "grad_norm": 0.35878226161003113,
      "learning_rate": 8.708524031667758e-05,
      "loss": 0.1007,
      "step": 16340
    },
    {
      "action_loss": 0.017210310325026512,
      "epoch": 14.694244604316546,
      "step": 16340
    },
    {
      "epoch": 14.694244604316546,
      "step": 16340,
      "torque_loss": 0.18911810219287872
    },
    {
      "epoch": 14.703237410071942,
      "grad_norm": 0.3367069363594055,
      "learning_rate": 8.706675091897592e-05,
      "loss": 0.1042,
      "step": 16350
    },
    {
      "action_loss": 0.009303580038249493,
      "epoch": 14.703237410071942,
      "step": 16350
    },
    {
      "epoch": 14.703237410071942,
      "step": 16350,
      "torque_loss": 0.15205711126327515
    },
    {
      "epoch": 14.712230215827338,
      "grad_norm": 0.3488940894603729,
      "learning_rate": 8.704825026137404e-05,
      "loss": 0.0958,
      "step": 16360
    },
    {
      "action_loss": 0.009793036617338657,
      "epoch": 14.712230215827338,
      "step": 16360
    },
    {
      "epoch": 14.712230215827338,
      "step": 16360,
      "torque_loss": 0.17189399898052216
    },
    {
      "epoch": 14.721223021582734,
      "grad_norm": 0.3429363965988159,
      "learning_rate": 8.702973834949192e-05,
      "loss": 0.1054,
      "step": 16370
    },
    {
      "action_loss": 0.007800595369189978,
      "epoch": 14.721223021582734,
      "step": 16370
    },
    {
      "epoch": 14.721223021582734,
      "step": 16370,
      "torque_loss": 0.13267454504966736
    },
    {
      "epoch": 14.73021582733813,
      "grad_norm": 0.2736717164516449,
      "learning_rate": 8.701121518895301e-05,
      "loss": 0.096,
      "step": 16380
    },
    {
      "action_loss": 0.013552725315093994,
      "epoch": 14.73021582733813,
      "step": 16380
    },
    {
      "epoch": 14.73021582733813,
      "step": 16380,
      "torque_loss": 0.18037302792072296
    },
    {
      "epoch": 14.739208633093526,
      "grad_norm": 0.3673611879348755,
      "learning_rate": 8.699268078538414e-05,
      "loss": 0.1059,
      "step": 16390
    },
    {
      "action_loss": 0.003346705110743642,
      "epoch": 14.739208633093526,
      "step": 16390
    },
    {
      "epoch": 14.739208633093526,
      "step": 16390,
      "torque_loss": 0.10038000345230103
    },
    {
      "epoch": 14.748201438848922,
      "grad_norm": 0.32022222876548767,
      "learning_rate": 8.69741351444156e-05,
      "loss": 0.0884,
      "step": 16400
    },
    {
      "action_loss": 0.01184286642819643,
      "epoch": 14.748201438848922,
      "step": 16400
    },
    {
      "epoch": 14.748201438848922,
      "step": 16400,
      "torque_loss": 0.16821861267089844
    },
    {
      "epoch": 14.757194244604317,
      "grad_norm": 0.3943643867969513,
      "learning_rate": 8.695557827168101e-05,
      "loss": 0.097,
      "step": 16410
    },
    {
      "action_loss": 0.006529305130243301,
      "epoch": 14.757194244604317,
      "step": 16410
    },
    {
      "epoch": 14.757194244604317,
      "step": 16410,
      "torque_loss": 0.15421628952026367
    },
    {
      "epoch": 14.766187050359711,
      "grad_norm": 0.32331007719039917,
      "learning_rate": 8.693701017281753e-05,
      "loss": 0.0939,
      "step": 16420
    },
    {
      "action_loss": 0.010346896015107632,
      "epoch": 14.766187050359711,
      "step": 16420
    },
    {
      "epoch": 14.766187050359711,
      "step": 16420,
      "torque_loss": 0.21222706139087677
    },
    {
      "epoch": 14.775179856115107,
      "grad_norm": 0.2932223677635193,
      "learning_rate": 8.691843085346563e-05,
      "loss": 0.1159,
      "step": 16430
    },
    {
      "action_loss": 0.008898457512259483,
      "epoch": 14.775179856115107,
      "step": 16430
    },
    {
      "epoch": 14.775179856115107,
      "step": 16430,
      "torque_loss": 0.14345715939998627
    },
    {
      "epoch": 14.784172661870503,
      "grad_norm": 0.31091591715812683,
      "learning_rate": 8.689984031926919e-05,
      "loss": 0.0944,
      "step": 16440
    },
    {
      "action_loss": 0.005393683444708586,
      "epoch": 14.784172661870503,
      "step": 16440
    },
    {
      "epoch": 14.784172661870503,
      "step": 16440,
      "torque_loss": 0.1417144387960434
    },
    {
      "epoch": 14.793165467625899,
      "grad_norm": 0.3828759789466858,
      "learning_rate": 8.688123857587555e-05,
      "loss": 0.0926,
      "step": 16450
    },
    {
      "action_loss": 0.004961395636200905,
      "epoch": 14.793165467625899,
      "step": 16450
    },
    {
      "epoch": 14.793165467625899,
      "step": 16450,
      "torque_loss": 0.1271476000547409
    },
    {
      "epoch": 14.802158273381295,
      "grad_norm": 0.36005303263664246,
      "learning_rate": 8.686262562893544e-05,
      "loss": 0.1139,
      "step": 16460
    },
    {
      "action_loss": 0.008170916698873043,
      "epoch": 14.802158273381295,
      "step": 16460
    },
    {
      "epoch": 14.802158273381295,
      "step": 16460,
      "torque_loss": 0.18481403589248657
    },
    {
      "epoch": 14.81115107913669,
      "grad_norm": 0.4209018051624298,
      "learning_rate": 8.684400148410294e-05,
      "loss": 0.0921,
      "step": 16470
    },
    {
      "action_loss": 0.003288567066192627,
      "epoch": 14.81115107913669,
      "step": 16470
    },
    {
      "epoch": 14.81115107913669,
      "step": 16470,
      "torque_loss": 0.1236434057354927
    },
    {
      "epoch": 14.820143884892087,
      "grad_norm": 0.3059574365615845,
      "learning_rate": 8.682536614703562e-05,
      "loss": 0.1001,
      "step": 16480
    },
    {
      "action_loss": 0.009214325807988644,
      "epoch": 14.820143884892087,
      "step": 16480
    },
    {
      "epoch": 14.820143884892087,
      "step": 16480,
      "torque_loss": 0.18706005811691284
    },
    {
      "epoch": 14.829136690647482,
      "grad_norm": 0.3221275508403778,
      "learning_rate": 8.680671962339437e-05,
      "loss": 0.0955,
      "step": 16490
    },
    {
      "action_loss": 0.00900799036026001,
      "epoch": 14.829136690647482,
      "step": 16490
    },
    {
      "epoch": 14.829136690647482,
      "step": 16490,
      "torque_loss": 0.17535729706287384
    },
    {
      "epoch": 14.838129496402878,
      "grad_norm": 0.32672640681266785,
      "learning_rate": 8.678806191884352e-05,
      "loss": 0.0983,
      "step": 16500
    },
    {
      "action_loss": 0.009570221416652203,
      "epoch": 14.838129496402878,
      "step": 16500
    },
    {
      "epoch": 14.838129496402878,
      "step": 16500,
      "torque_loss": 0.1564662903547287
    },
    {
      "epoch": 14.847122302158274,
      "grad_norm": 0.3704361021518707,
      "learning_rate": 8.67693930390508e-05,
      "loss": 0.0906,
      "step": 16510
    },
    {
      "action_loss": 0.012688924558460712,
      "epoch": 14.847122302158274,
      "step": 16510
    },
    {
      "epoch": 14.847122302158274,
      "step": 16510,
      "torque_loss": 0.1622074395418167
    },
    {
      "epoch": 14.85611510791367,
      "grad_norm": 0.29647892713546753,
      "learning_rate": 8.67507129896873e-05,
      "loss": 0.0939,
      "step": 16520
    },
    {
      "action_loss": 0.012904896400868893,
      "epoch": 14.85611510791367,
      "step": 16520
    },
    {
      "epoch": 14.85611510791367,
      "step": 16520,
      "torque_loss": 0.22992102801799774
    },
    {
      "epoch": 14.865107913669064,
      "grad_norm": 0.34846705198287964,
      "learning_rate": 8.673202177642757e-05,
      "loss": 0.1217,
      "step": 16530
    },
    {
      "action_loss": 0.01335290540009737,
      "epoch": 14.865107913669064,
      "step": 16530
    },
    {
      "epoch": 14.865107913669064,
      "step": 16530,
      "torque_loss": 0.20528407394886017
    },
    {
      "epoch": 14.87410071942446,
      "grad_norm": 0.36827266216278076,
      "learning_rate": 8.671331940494945e-05,
      "loss": 0.1082,
      "step": 16540
    },
    {
      "action_loss": 0.006424013990908861,
      "epoch": 14.87410071942446,
      "step": 16540
    },
    {
      "epoch": 14.87410071942446,
      "step": 16540,
      "torque_loss": 0.21329987049102783
    },
    {
      "epoch": 14.883093525179856,
      "grad_norm": 0.36213746666908264,
      "learning_rate": 8.669460588093427e-05,
      "loss": 0.1017,
      "step": 16550
    },
    {
      "action_loss": 0.006824204232543707,
      "epoch": 14.883093525179856,
      "step": 16550
    },
    {
      "epoch": 14.883093525179856,
      "step": 16550,
      "torque_loss": 0.17867867648601532
    },
    {
      "epoch": 14.892086330935252,
      "grad_norm": 0.28353041410446167,
      "learning_rate": 8.667588121006667e-05,
      "loss": 0.0892,
      "step": 16560
    },
    {
      "action_loss": 0.03262163698673248,
      "epoch": 14.892086330935252,
      "step": 16560
    },
    {
      "epoch": 14.892086330935252,
      "step": 16560,
      "torque_loss": 0.2330169677734375
    },
    {
      "epoch": 14.901079136690647,
      "grad_norm": 0.430093377828598,
      "learning_rate": 8.665714539803475e-05,
      "loss": 0.1061,
      "step": 16570
    },
    {
      "action_loss": 0.007505720015615225,
      "epoch": 14.901079136690647,
      "step": 16570
    },
    {
      "epoch": 14.901079136690647,
      "step": 16570,
      "torque_loss": 0.14936129748821259
    },
    {
      "epoch": 14.910071942446043,
      "grad_norm": 0.3379278779029846,
      "learning_rate": 8.663839845052993e-05,
      "loss": 0.0916,
      "step": 16580
    },
    {
      "action_loss": 0.008809168823063374,
      "epoch": 14.910071942446043,
      "step": 16580
    },
    {
      "epoch": 14.910071942446043,
      "step": 16580,
      "torque_loss": 0.1119552031159401
    },
    {
      "epoch": 14.91906474820144,
      "grad_norm": 0.4468376636505127,
      "learning_rate": 8.661964037324703e-05,
      "loss": 0.1064,
      "step": 16590
    },
    {
      "action_loss": 0.01657225750386715,
      "epoch": 14.91906474820144,
      "step": 16590
    },
    {
      "epoch": 14.91906474820144,
      "step": 16590,
      "torque_loss": 0.16763173043727875
    },
    {
      "epoch": 14.928057553956835,
      "grad_norm": 0.313776433467865,
      "learning_rate": 8.660087117188427e-05,
      "loss": 0.0758,
      "step": 16600
    },
    {
      "action_loss": 0.009560068137943745,
      "epoch": 14.928057553956835,
      "step": 16600
    },
    {
      "epoch": 14.928057553956835,
      "step": 16600,
      "torque_loss": 0.15997834503650665
    },
    {
      "epoch": 14.93705035971223,
      "grad_norm": 0.3691636323928833,
      "learning_rate": 8.658209085214325e-05,
      "loss": 0.1032,
      "step": 16610
    },
    {
      "action_loss": 0.0090734688565135,
      "epoch": 14.93705035971223,
      "step": 16610
    },
    {
      "epoch": 14.93705035971223,
      "step": 16610,
      "torque_loss": 0.15387053787708282
    },
    {
      "epoch": 14.946043165467627,
      "grad_norm": 0.3359665274620056,
      "learning_rate": 8.656329941972891e-05,
      "loss": 0.105,
      "step": 16620
    },
    {
      "action_loss": 0.006044917274266481,
      "epoch": 14.946043165467627,
      "step": 16620
    },
    {
      "epoch": 14.946043165467627,
      "step": 16620,
      "torque_loss": 0.1133415624499321
    },
    {
      "epoch": 14.95503597122302,
      "grad_norm": 0.26626914739608765,
      "learning_rate": 8.654449688034963e-05,
      "loss": 0.0996,
      "step": 16630
    },
    {
      "action_loss": 0.010913987644016743,
      "epoch": 14.95503597122302,
      "step": 16630
    },
    {
      "epoch": 14.95503597122302,
      "step": 16630,
      "torque_loss": 0.1623622179031372
    },
    {
      "epoch": 14.964028776978417,
      "grad_norm": 0.4118419587612152,
      "learning_rate": 8.652568323971706e-05,
      "loss": 0.1067,
      "step": 16640
    },
    {
      "action_loss": 0.0040929969400167465,
      "epoch": 14.964028776978417,
      "step": 16640
    },
    {
      "epoch": 14.964028776978417,
      "step": 16640,
      "torque_loss": 0.09651273488998413
    },
    {
      "epoch": 14.973021582733812,
      "grad_norm": 0.39644676446914673,
      "learning_rate": 8.650685850354636e-05,
      "loss": 0.0959,
      "step": 16650
    },
    {
      "action_loss": 0.009887688793241978,
      "epoch": 14.973021582733812,
      "step": 16650
    },
    {
      "epoch": 14.973021582733812,
      "step": 16650,
      "torque_loss": 0.17583268880844116
    },
    {
      "epoch": 14.982014388489208,
      "grad_norm": 0.45601171255111694,
      "learning_rate": 8.648802267755593e-05,
      "loss": 0.1101,
      "step": 16660
    },
    {
      "action_loss": 0.002986249513924122,
      "epoch": 14.982014388489208,
      "step": 16660
    },
    {
      "epoch": 14.982014388489208,
      "step": 16660,
      "torque_loss": 0.10640457272529602
    },
    {
      "epoch": 14.991007194244604,
      "grad_norm": 0.3600524961948395,
      "learning_rate": 8.646917576746764e-05,
      "loss": 0.0977,
      "step": 16670
    },
    {
      "action_loss": 0.007027377840131521,
      "epoch": 14.991007194244604,
      "step": 16670
    },
    {
      "epoch": 14.991007194244604,
      "step": 16670,
      "torque_loss": 0.11659836769104004
    },
    {
      "epoch": 15.0,
      "grad_norm": 0.37709102034568787,
      "learning_rate": 8.645031777900666e-05,
      "loss": 0.0919,
      "step": 16680
    },
    {
      "action_loss": 0.008418664336204529,
      "epoch": 15.0,
      "step": 16680
    },
    {
      "epoch": 15.0,
      "step": 16680,
      "torque_loss": 0.10247156769037247
    },
    {
      "epoch": 15.008992805755396,
      "grad_norm": 0.4617144763469696,
      "learning_rate": 8.643144871790154e-05,
      "loss": 0.1098,
      "step": 16690
    },
    {
      "action_loss": 0.009678434580564499,
      "epoch": 15.008992805755396,
      "step": 16690
    },
    {
      "epoch": 15.008992805755396,
      "step": 16690,
      "torque_loss": 0.16480308771133423
    },
    {
      "epoch": 15.017985611510792,
      "grad_norm": 0.2956034243106842,
      "learning_rate": 8.641256858988424e-05,
      "loss": 0.1016,
      "step": 16700
    },
    {
      "action_loss": 0.006030881777405739,
      "epoch": 15.017985611510792,
      "step": 16700
    },
    {
      "epoch": 15.017985611510792,
      "step": 16700,
      "torque_loss": 0.10424315929412842
    },
    {
      "epoch": 15.026978417266188,
      "grad_norm": 0.4319424033164978,
      "learning_rate": 8.639367740069e-05,
      "loss": 0.0944,
      "step": 16710
    },
    {
      "action_loss": 0.012660913169384003,
      "epoch": 15.026978417266188,
      "step": 16710
    },
    {
      "epoch": 15.026978417266188,
      "step": 16710,
      "torque_loss": 0.19839151203632355
    },
    {
      "epoch": 15.035971223021583,
      "grad_norm": 0.3626062870025635,
      "learning_rate": 8.63747751560575e-05,
      "loss": 0.1058,
      "step": 16720
    },
    {
      "action_loss": 0.004236577078700066,
      "epoch": 15.035971223021583,
      "step": 16720
    },
    {
      "epoch": 15.035971223021583,
      "step": 16720,
      "torque_loss": 0.08259477466344833
    },
    {
      "epoch": 15.04496402877698,
      "grad_norm": 0.35684850811958313,
      "learning_rate": 8.635586186172871e-05,
      "loss": 0.0853,
      "step": 16730
    },
    {
      "action_loss": 0.007022007834166288,
      "epoch": 15.04496402877698,
      "step": 16730
    },
    {
      "epoch": 15.04496402877698,
      "step": 16730,
      "torque_loss": 0.1338946670293808
    },
    {
      "epoch": 15.053956834532373,
      "grad_norm": 0.3560030162334442,
      "learning_rate": 8.633693752344902e-05,
      "loss": 0.0902,
      "step": 16740
    },
    {
      "action_loss": 0.009748854674398899,
      "epoch": 15.053956834532373,
      "step": 16740
    },
    {
      "epoch": 15.053956834532373,
      "step": 16740,
      "torque_loss": 0.092617928981781
    },
    {
      "epoch": 15.06294964028777,
      "grad_norm": 0.34956109523773193,
      "learning_rate": 8.631800214696713e-05,
      "loss": 0.0959,
      "step": 16750
    },
    {
      "action_loss": 0.007427711505442858,
      "epoch": 15.06294964028777,
      "step": 16750
    },
    {
      "epoch": 15.06294964028777,
      "step": 16750,
      "torque_loss": 0.1357688456773758
    },
    {
      "epoch": 15.071942446043165,
      "grad_norm": 0.44587424397468567,
      "learning_rate": 8.629905573803511e-05,
      "loss": 0.1023,
      "step": 16760
    },
    {
      "action_loss": 0.011581706814467907,
      "epoch": 15.071942446043165,
      "step": 16760
    },
    {
      "epoch": 15.071942446043165,
      "step": 16760,
      "torque_loss": 0.1512168049812317
    },
    {
      "epoch": 15.08093525179856,
      "grad_norm": 0.35843104124069214,
      "learning_rate": 8.628009830240839e-05,
      "loss": 0.1001,
      "step": 16770
    },
    {
      "action_loss": 0.004437328781932592,
      "epoch": 15.08093525179856,
      "step": 16770
    },
    {
      "epoch": 15.08093525179856,
      "step": 16770,
      "torque_loss": 0.11097625643014908
    },
    {
      "epoch": 15.089928057553957,
      "grad_norm": 0.5683722496032715,
      "learning_rate": 8.626112984584571e-05,
      "loss": 0.1011,
      "step": 16780
    },
    {
      "action_loss": 0.006302524358034134,
      "epoch": 15.089928057553957,
      "step": 16780
    },
    {
      "epoch": 15.089928057553957,
      "step": 16780,
      "torque_loss": 0.08632073551416397
    },
    {
      "epoch": 15.098920863309353,
      "grad_norm": 0.3474523723125458,
      "learning_rate": 8.62421503741092e-05,
      "loss": 0.0932,
      "step": 16790
    },
    {
      "action_loss": 0.010713701136410236,
      "epoch": 15.098920863309353,
      "step": 16790
    },
    {
      "epoch": 15.098920863309353,
      "step": 16790,
      "torque_loss": 0.09580516070127487
    },
    {
      "epoch": 15.107913669064748,
      "grad_norm": 0.23156312108039856,
      "learning_rate": 8.622315989296432e-05,
      "loss": 0.0767,
      "step": 16800
    },
    {
      "action_loss": 0.005144704598933458,
      "epoch": 15.107913669064748,
      "step": 16800
    },
    {
      "epoch": 15.107913669064748,
      "step": 16800,
      "torque_loss": 0.14324095845222473
    },
    {
      "epoch": 15.116906474820144,
      "grad_norm": 0.35685354471206665,
      "learning_rate": 8.62041584081799e-05,
      "loss": 0.0999,
      "step": 16810
    },
    {
      "action_loss": 0.012873713858425617,
      "epoch": 15.116906474820144,
      "step": 16810
    },
    {
      "epoch": 15.116906474820144,
      "step": 16810,
      "torque_loss": 0.13793039321899414
    },
    {
      "epoch": 15.12589928057554,
      "grad_norm": 0.35007357597351074,
      "learning_rate": 8.618514592552807e-05,
      "loss": 0.1001,
      "step": 16820
    },
    {
      "action_loss": 0.008408511988818645,
      "epoch": 15.12589928057554,
      "step": 16820
    },
    {
      "epoch": 15.12589928057554,
      "step": 16820,
      "torque_loss": 0.11470388621091843
    },
    {
      "epoch": 15.134892086330936,
      "grad_norm": 0.23976853489875793,
      "learning_rate": 8.616612245078431e-05,
      "loss": 0.089,
      "step": 16830
    },
    {
      "action_loss": 0.01178634911775589,
      "epoch": 15.134892086330936,
      "step": 16830
    },
    {
      "epoch": 15.134892086330936,
      "step": 16830,
      "torque_loss": 0.17482508718967438
    },
    {
      "epoch": 15.14388489208633,
      "grad_norm": 0.29722920060157776,
      "learning_rate": 8.614708798972746e-05,
      "loss": 0.0948,
      "step": 16840
    },
    {
      "action_loss": 0.010563231073319912,
      "epoch": 15.14388489208633,
      "step": 16840
    },
    {
      "epoch": 15.14388489208633,
      "step": 16840,
      "torque_loss": 0.1295812427997589
    },
    {
      "epoch": 15.152877697841726,
      "grad_norm": 0.3074696958065033,
      "learning_rate": 8.61280425481397e-05,
      "loss": 0.0897,
      "step": 16850
    },
    {
      "action_loss": 0.014150458388030529,
      "epoch": 15.152877697841726,
      "step": 16850
    },
    {
      "epoch": 15.152877697841726,
      "step": 16850,
      "torque_loss": 0.17635639011859894
    },
    {
      "epoch": 15.161870503597122,
      "grad_norm": 0.3947659432888031,
      "learning_rate": 8.61089861318065e-05,
      "loss": 0.0978,
      "step": 16860
    },
    {
      "action_loss": 0.008271283470094204,
      "epoch": 15.161870503597122,
      "step": 16860
    },
    {
      "epoch": 15.161870503597122,
      "step": 16860,
      "torque_loss": 0.09400469064712524
    },
    {
      "epoch": 15.170863309352518,
      "grad_norm": 0.2647205591201782,
      "learning_rate": 8.608991874651673e-05,
      "loss": 0.0804,
      "step": 16870
    },
    {
      "action_loss": 0.012582424096763134,
      "epoch": 15.170863309352518,
      "step": 16870
    },
    {
      "epoch": 15.170863309352518,
      "step": 16870,
      "torque_loss": 0.2144433856010437
    },
    {
      "epoch": 15.179856115107913,
      "grad_norm": 0.30887389183044434,
      "learning_rate": 8.607084039806255e-05,
      "loss": 0.0966,
      "step": 16880
    },
    {
      "action_loss": 0.020443463698029518,
      "epoch": 15.179856115107913,
      "step": 16880
    },
    {
      "epoch": 15.179856115107913,
      "step": 16880,
      "torque_loss": 0.15872685611248016
    },
    {
      "epoch": 15.18884892086331,
      "grad_norm": 0.32321780920028687,
      "learning_rate": 8.605175109223944e-05,
      "loss": 0.0914,
      "step": 16890
    },
    {
      "action_loss": 0.010436917655169964,
      "epoch": 15.18884892086331,
      "step": 16890
    },
    {
      "epoch": 15.18884892086331,
      "step": 16890,
      "torque_loss": 0.21394950151443481
    },
    {
      "epoch": 15.197841726618705,
      "grad_norm": 0.3124101459980011,
      "learning_rate": 8.603265083484624e-05,
      "loss": 0.0952,
      "step": 16900
    },
    {
      "action_loss": 0.005208803340792656,
      "epoch": 15.197841726618705,
      "step": 16900
    },
    {
      "epoch": 15.197841726618705,
      "step": 16900,
      "torque_loss": 0.14726336300373077
    },
    {
      "epoch": 15.206834532374101,
      "grad_norm": 0.3134666383266449,
      "learning_rate": 8.60135396316851e-05,
      "loss": 0.0838,
      "step": 16910
    },
    {
      "action_loss": 0.011061638593673706,
      "epoch": 15.206834532374101,
      "step": 16910
    },
    {
      "epoch": 15.206834532374101,
      "step": 16910,
      "torque_loss": 0.14032356441020966
    },
    {
      "epoch": 15.215827338129497,
      "grad_norm": 0.378640353679657,
      "learning_rate": 8.599441748856152e-05,
      "loss": 0.088,
      "step": 16920
    },
    {
      "action_loss": 0.00957395602017641,
      "epoch": 15.215827338129497,
      "step": 16920
    },
    {
      "epoch": 15.215827338129497,
      "step": 16920,
      "torque_loss": 0.15123815834522247
    },
    {
      "epoch": 15.224820143884893,
      "grad_norm": 0.34241896867752075,
      "learning_rate": 8.597528441128427e-05,
      "loss": 0.0966,
      "step": 16930
    },
    {
      "action_loss": 0.004911485593765974,
      "epoch": 15.224820143884893,
      "step": 16930
    },
    {
      "epoch": 15.224820143884893,
      "step": 16930,
      "torque_loss": 0.1278604418039322
    },
    {
      "epoch": 15.233812949640289,
      "grad_norm": 0.3356908857822418,
      "learning_rate": 8.595614040566549e-05,
      "loss": 0.0908,
      "step": 16940
    },
    {
      "action_loss": 0.004629700910300016,
      "epoch": 15.233812949640289,
      "step": 16940
    },
    {
      "epoch": 15.233812949640289,
      "step": 16940,
      "torque_loss": 0.08807014673948288
    },
    {
      "epoch": 15.242805755395683,
      "grad_norm": 0.3535546660423279,
      "learning_rate": 8.593698547752063e-05,
      "loss": 0.0882,
      "step": 16950
    },
    {
      "action_loss": 0.007486786227673292,
      "epoch": 15.242805755395683,
      "step": 16950
    },
    {
      "epoch": 15.242805755395683,
      "step": 16950,
      "torque_loss": 0.10626635700464249
    },
    {
      "epoch": 15.251798561151078,
      "grad_norm": 0.35496997833251953,
      "learning_rate": 8.591781963266843e-05,
      "loss": 0.1131,
      "step": 16960
    },
    {
      "action_loss": 0.00472363131120801,
      "epoch": 15.251798561151078,
      "step": 16960
    },
    {
      "epoch": 15.251798561151078,
      "step": 16960,
      "torque_loss": 0.07803675532341003
    },
    {
      "epoch": 15.260791366906474,
      "grad_norm": 0.4145192801952362,
      "learning_rate": 8.5898642876931e-05,
      "loss": 0.0884,
      "step": 16970
    },
    {
      "action_loss": 0.02105519361793995,
      "epoch": 15.260791366906474,
      "step": 16970
    },
    {
      "epoch": 15.260791366906474,
      "step": 16970,
      "torque_loss": 0.2264745682477951
    },
    {
      "epoch": 15.26978417266187,
      "grad_norm": 0.28091704845428467,
      "learning_rate": 8.587945521613369e-05,
      "loss": 0.1158,
      "step": 16980
    },
    {
      "action_loss": 0.005886354949325323,
      "epoch": 15.26978417266187,
      "step": 16980
    },
    {
      "epoch": 15.26978417266187,
      "step": 16980,
      "torque_loss": 0.10753240436315536
    },
    {
      "epoch": 15.278776978417266,
      "grad_norm": 0.3836565911769867,
      "learning_rate": 8.586025665610524e-05,
      "loss": 0.0857,
      "step": 16990
    },
    {
      "action_loss": 0.0065015689469873905,
      "epoch": 15.278776978417266,
      "step": 16990
    },
    {
      "epoch": 15.278776978417266,
      "step": 16990,
      "torque_loss": 0.10486254841089249
    },
    {
      "epoch": 15.287769784172662,
      "grad_norm": 0.3388010561466217,
      "learning_rate": 8.584104720267765e-05,
      "loss": 0.095,
      "step": 17000
    },
    {
      "action_loss": 0.010960171930491924,
      "epoch": 15.287769784172662,
      "step": 17000
    },
    {
      "epoch": 15.287769784172662,
      "step": 17000,
      "torque_loss": 0.1597200334072113
    },
    {
      "epoch": 15.296762589928058,
      "grad_norm": 0.5090630054473877,
      "learning_rate": 8.582182686168625e-05,
      "loss": 0.0967,
      "step": 17010
    },
    {
      "action_loss": 0.009077257476747036,
      "epoch": 15.296762589928058,
      "step": 17010
    },
    {
      "epoch": 15.296762589928058,
      "step": 17010,
      "torque_loss": 0.16234807670116425
    },
    {
      "epoch": 15.305755395683454,
      "grad_norm": 0.4219261109828949,
      "learning_rate": 8.580259563896967e-05,
      "loss": 0.1022,
      "step": 17020
    },
    {
      "action_loss": 0.015699056908488274,
      "epoch": 15.305755395683454,
      "step": 17020
    },
    {
      "epoch": 15.305755395683454,
      "step": 17020,
      "torque_loss": 0.1467193216085434
    },
    {
      "epoch": 15.31474820143885,
      "grad_norm": 0.4231925308704376,
      "learning_rate": 8.578335354036983e-05,
      "loss": 0.1003,
      "step": 17030
    },
    {
      "action_loss": 0.010872592218220234,
      "epoch": 15.31474820143885,
      "step": 17030
    },
    {
      "epoch": 15.31474820143885,
      "step": 17030,
      "torque_loss": 0.16839368641376495
    },
    {
      "epoch": 15.323741007194245,
      "grad_norm": 0.4794038236141205,
      "learning_rate": 8.576410057173201e-05,
      "loss": 0.1037,
      "step": 17040
    },
    {
      "action_loss": 0.007851450704038143,
      "epoch": 15.323741007194245,
      "step": 17040
    },
    {
      "epoch": 15.323741007194245,
      "step": 17040,
      "torque_loss": 0.15362977981567383
    },
    {
      "epoch": 15.332733812949641,
      "grad_norm": 0.3682393431663513,
      "learning_rate": 8.574483673890474e-05,
      "loss": 0.1016,
      "step": 17050
    },
    {
      "action_loss": 0.0038450185675174,
      "epoch": 15.332733812949641,
      "step": 17050
    },
    {
      "epoch": 15.332733812949641,
      "step": 17050,
      "torque_loss": 0.06453949958086014
    },
    {
      "epoch": 15.341726618705035,
      "grad_norm": 0.3681195080280304,
      "learning_rate": 8.572556204773983e-05,
      "loss": 0.0902,
      "step": 17060
    },
    {
      "action_loss": 0.006405230611562729,
      "epoch": 15.341726618705035,
      "step": 17060
    },
    {
      "epoch": 15.341726618705035,
      "step": 17060,
      "torque_loss": 0.14569583535194397
    },
    {
      "epoch": 15.350719424460431,
      "grad_norm": 0.4216742515563965,
      "learning_rate": 8.570627650409246e-05,
      "loss": 0.0876,
      "step": 17070
    },
    {
      "action_loss": 0.003397206775844097,
      "epoch": 15.350719424460431,
      "step": 17070
    },
    {
      "epoch": 15.350719424460431,
      "step": 17070,
      "torque_loss": 0.14243097603321075
    },
    {
      "epoch": 15.359712230215827,
      "grad_norm": 0.3340856432914734,
      "learning_rate": 8.568698011382107e-05,
      "loss": 0.0931,
      "step": 17080
    },
    {
      "action_loss": 0.031386882066726685,
      "epoch": 15.359712230215827,
      "step": 17080
    },
    {
      "epoch": 15.359712230215827,
      "step": 17080,
      "torque_loss": 0.23324166238307953
    },
    {
      "epoch": 15.368705035971223,
      "grad_norm": 0.3394729793071747,
      "learning_rate": 8.566767288278738e-05,
      "loss": 0.1141,
      "step": 17090
    },
    {
      "action_loss": 0.004667505621910095,
      "epoch": 15.368705035971223,
      "step": 17090
    },
    {
      "epoch": 15.368705035971223,
      "step": 17090,
      "torque_loss": 0.10764571279287338
    },
    {
      "epoch": 15.377697841726619,
      "grad_norm": 0.3297779858112335,
      "learning_rate": 8.56483548168564e-05,
      "loss": 0.0985,
      "step": 17100
    },
    {
      "action_loss": 0.00447835261002183,
      "epoch": 15.377697841726619,
      "step": 17100
    },
    {
      "epoch": 15.377697841726619,
      "step": 17100,
      "torque_loss": 0.10905016213655472
    },
    {
      "epoch": 15.386690647482014,
      "grad_norm": 0.3146417438983917,
      "learning_rate": 8.562902592189648e-05,
      "loss": 0.0971,
      "step": 17110
    },
    {
      "action_loss": 0.005171519238501787,
      "epoch": 15.386690647482014,
      "step": 17110
    },
    {
      "epoch": 15.386690647482014,
      "step": 17110,
      "torque_loss": 0.14502549171447754
    },
    {
      "epoch": 15.39568345323741,
      "grad_norm": 0.3093469440937042,
      "learning_rate": 8.560968620377921e-05,
      "loss": 0.0861,
      "step": 17120
    },
    {
      "action_loss": 0.02466140128672123,
      "epoch": 15.39568345323741,
      "step": 17120
    },
    {
      "epoch": 15.39568345323741,
      "step": 17120,
      "torque_loss": 0.17312543094158173
    },
    {
      "epoch": 15.404676258992806,
      "grad_norm": 0.41660961508750916,
      "learning_rate": 8.559033566837951e-05,
      "loss": 0.1026,
      "step": 17130
    },
    {
      "action_loss": 0.003588131396099925,
      "epoch": 15.404676258992806,
      "step": 17130
    },
    {
      "epoch": 15.404676258992806,
      "step": 17130,
      "torque_loss": 0.08617647737264633
    },
    {
      "epoch": 15.413669064748202,
      "grad_norm": 0.40588098764419556,
      "learning_rate": 8.557097432157551e-05,
      "loss": 0.1014,
      "step": 17140
    },
    {
      "action_loss": 0.01370866596698761,
      "epoch": 15.413669064748202,
      "step": 17140
    },
    {
      "epoch": 15.413669064748202,
      "step": 17140,
      "torque_loss": 0.136003777384758
    },
    {
      "epoch": 15.422661870503598,
      "grad_norm": 0.2757381796836853,
      "learning_rate": 8.555160216924872e-05,
      "loss": 0.0859,
      "step": 17150
    },
    {
      "action_loss": 0.01038939505815506,
      "epoch": 15.422661870503598,
      "step": 17150
    },
    {
      "epoch": 15.422661870503598,
      "step": 17150,
      "torque_loss": 0.1530652791261673
    },
    {
      "epoch": 15.431654676258994,
      "grad_norm": 0.3159751296043396,
      "learning_rate": 8.55322192172839e-05,
      "loss": 0.0963,
      "step": 17160
    },
    {
      "action_loss": 0.006056845188140869,
      "epoch": 15.431654676258994,
      "step": 17160
    },
    {
      "epoch": 15.431654676258994,
      "step": 17160,
      "torque_loss": 0.11791235208511353
    },
    {
      "epoch": 15.440647482014388,
      "grad_norm": 0.2977888286113739,
      "learning_rate": 8.551282547156902e-05,
      "loss": 0.0803,
      "step": 17170
    },
    {
      "action_loss": 0.01754733733832836,
      "epoch": 15.440647482014388,
      "step": 17170
    },
    {
      "epoch": 15.440647482014388,
      "step": 17170,
      "torque_loss": 0.15369121730327606
    },
    {
      "epoch": 15.449640287769784,
      "grad_norm": 0.40621012449264526,
      "learning_rate": 8.549342093799544e-05,
      "loss": 0.1073,
      "step": 17180
    },
    {
      "action_loss": 0.009433838538825512,
      "epoch": 15.449640287769784,
      "step": 17180
    },
    {
      "epoch": 15.449640287769784,
      "step": 17180,
      "torque_loss": 0.1279841512441635
    },
    {
      "epoch": 15.45863309352518,
      "grad_norm": 0.38290658593177795,
      "learning_rate": 8.547400562245773e-05,
      "loss": 0.1112,
      "step": 17190
    },
    {
      "action_loss": 0.019334616139531136,
      "epoch": 15.45863309352518,
      "step": 17190
    },
    {
      "epoch": 15.45863309352518,
      "step": 17190,
      "torque_loss": 0.181369349360466
    },
    {
      "epoch": 15.467625899280575,
      "grad_norm": 0.428832471370697,
      "learning_rate": 8.545457953085374e-05,
      "loss": 0.1,
      "step": 17200
    },
    {
      "action_loss": 0.007638821844011545,
      "epoch": 15.467625899280575,
      "step": 17200
    },
    {
      "epoch": 15.467625899280575,
      "step": 17200,
      "torque_loss": 0.11247783899307251
    },
    {
      "epoch": 15.476618705035971,
      "grad_norm": 0.30756887793540955,
      "learning_rate": 8.543514266908463e-05,
      "loss": 0.0938,
      "step": 17210
    },
    {
      "action_loss": 0.008212114684283733,
      "epoch": 15.476618705035971,
      "step": 17210
    },
    {
      "epoch": 15.476618705035971,
      "step": 17210,
      "torque_loss": 0.14361801743507385
    },
    {
      "epoch": 15.485611510791367,
      "grad_norm": 0.5021538734436035,
      "learning_rate": 8.541569504305478e-05,
      "loss": 0.1026,
      "step": 17220
    },
    {
      "action_loss": 0.009463152848184109,
      "epoch": 15.485611510791367,
      "step": 17220
    },
    {
      "epoch": 15.485611510791367,
      "step": 17220,
      "torque_loss": 0.1516999751329422
    },
    {
      "epoch": 15.494604316546763,
      "grad_norm": 0.33448097109794617,
      "learning_rate": 8.539623665867187e-05,
      "loss": 0.0996,
      "step": 17230
    },
    {
      "action_loss": 0.026900535449385643,
      "epoch": 15.494604316546763,
      "step": 17230
    },
    {
      "epoch": 15.494604316546763,
      "step": 17230,
      "torque_loss": 0.22403229773044586
    },
    {
      "epoch": 15.503597122302159,
      "grad_norm": 0.29953882098197937,
      "learning_rate": 8.537676752184685e-05,
      "loss": 0.1031,
      "step": 17240
    },
    {
      "action_loss": 0.0057909986935555935,
      "epoch": 15.503597122302159,
      "step": 17240
    },
    {
      "epoch": 15.503597122302159,
      "step": 17240,
      "torque_loss": 0.12709547579288483
    },
    {
      "epoch": 15.512589928057555,
      "grad_norm": 0.36035826802253723,
      "learning_rate": 8.53572876384939e-05,
      "loss": 0.0893,
      "step": 17250
    },
    {
      "action_loss": 0.006462485995143652,
      "epoch": 15.512589928057555,
      "step": 17250
    },
    {
      "epoch": 15.512589928057555,
      "step": 17250,
      "torque_loss": 0.14460064470767975
    },
    {
      "epoch": 15.52158273381295,
      "grad_norm": 0.3394506573677063,
      "learning_rate": 8.533779701453056e-05,
      "loss": 0.0968,
      "step": 17260
    },
    {
      "action_loss": 0.02828536182641983,
      "epoch": 15.52158273381295,
      "step": 17260
    },
    {
      "epoch": 15.52158273381295,
      "step": 17260,
      "torque_loss": 0.2179710865020752
    },
    {
      "epoch": 15.530575539568346,
      "grad_norm": 0.3534673750400543,
      "learning_rate": 8.53182956558775e-05,
      "loss": 0.1028,
      "step": 17270
    },
    {
      "action_loss": 0.0034122068900614977,
      "epoch": 15.530575539568346,
      "step": 17270
    },
    {
      "epoch": 15.530575539568346,
      "step": 17270,
      "torque_loss": 0.12828344106674194
    },
    {
      "epoch": 15.53956834532374,
      "grad_norm": 0.300591379404068,
      "learning_rate": 8.529878356845877e-05,
      "loss": 0.0884,
      "step": 17280
    },
    {
      "action_loss": 0.011678420007228851,
      "epoch": 15.53956834532374,
      "step": 17280
    },
    {
      "epoch": 15.53956834532374,
      "step": 17280,
      "torque_loss": 0.11121552437543869
    },
    {
      "epoch": 15.548561151079136,
      "grad_norm": 0.3693840503692627,
      "learning_rate": 8.527926075820158e-05,
      "loss": 0.1004,
      "step": 17290
    },
    {
      "action_loss": 0.00565572502091527,
      "epoch": 15.548561151079136,
      "step": 17290
    },
    {
      "epoch": 15.548561151079136,
      "step": 17290,
      "torque_loss": 0.08857652544975281
    },
    {
      "epoch": 15.557553956834532,
      "grad_norm": 0.34469032287597656,
      "learning_rate": 8.525972723103648e-05,
      "loss": 0.0952,
      "step": 17300
    },
    {
      "action_loss": 0.0064864023588597775,
      "epoch": 15.557553956834532,
      "step": 17300
    },
    {
      "epoch": 15.557553956834532,
      "step": 17300,
      "torque_loss": 0.1721632033586502
    },
    {
      "epoch": 15.566546762589928,
      "grad_norm": 0.3140944242477417,
      "learning_rate": 8.524018299289722e-05,
      "loss": 0.0953,
      "step": 17310
    },
    {
      "action_loss": 0.00639917841181159,
      "epoch": 15.566546762589928,
      "step": 17310
    },
    {
      "epoch": 15.566546762589928,
      "step": 17310,
      "torque_loss": 0.14545613527297974
    },
    {
      "epoch": 15.575539568345324,
      "grad_norm": 0.41602981090545654,
      "learning_rate": 8.522062804972083e-05,
      "loss": 0.1005,
      "step": 17320
    },
    {
      "action_loss": 0.012696191668510437,
      "epoch": 15.575539568345324,
      "step": 17320
    },
    {
      "epoch": 15.575539568345324,
      "step": 17320,
      "torque_loss": 0.1539711356163025
    },
    {
      "epoch": 15.58453237410072,
      "grad_norm": 0.33943530917167664,
      "learning_rate": 8.520106240744759e-05,
      "loss": 0.0977,
      "step": 17330
    },
    {
      "action_loss": 0.006824089214205742,
      "epoch": 15.58453237410072,
      "step": 17330
    },
    {
      "epoch": 15.58453237410072,
      "step": 17330,
      "torque_loss": 0.1434280276298523
    },
    {
      "epoch": 15.593525179856115,
      "grad_norm": 0.44847846031188965,
      "learning_rate": 8.518148607202102e-05,
      "loss": 0.1002,
      "step": 17340
    },
    {
      "action_loss": 0.009254305623471737,
      "epoch": 15.593525179856115,
      "step": 17340
    },
    {
      "epoch": 15.593525179856115,
      "step": 17340,
      "torque_loss": 0.15874765813350677
    },
    {
      "epoch": 15.602517985611511,
      "grad_norm": 0.5197000503540039,
      "learning_rate": 8.51618990493879e-05,
      "loss": 0.1091,
      "step": 17350
    },
    {
      "action_loss": 0.009011749178171158,
      "epoch": 15.602517985611511,
      "step": 17350
    },
    {
      "epoch": 15.602517985611511,
      "step": 17350,
      "torque_loss": 0.1789020150899887
    },
    {
      "epoch": 15.611510791366907,
      "grad_norm": 0.4246801733970642,
      "learning_rate": 8.514230134549823e-05,
      "loss": 0.1118,
      "step": 17360
    },
    {
      "action_loss": 0.013334120623767376,
      "epoch": 15.611510791366907,
      "step": 17360
    },
    {
      "epoch": 15.611510791366907,
      "step": 17360,
      "torque_loss": 0.11663220077753067
    },
    {
      "epoch": 15.620503597122303,
      "grad_norm": 0.3288423418998718,
      "learning_rate": 8.51226929663053e-05,
      "loss": 0.0943,
      "step": 17370
    },
    {
      "action_loss": 0.014312241226434708,
      "epoch": 15.620503597122303,
      "step": 17370
    },
    {
      "epoch": 15.620503597122303,
      "step": 17370,
      "torque_loss": 0.16795708239078522
    },
    {
      "epoch": 15.629496402877697,
      "grad_norm": 0.4081410765647888,
      "learning_rate": 8.51030739177656e-05,
      "loss": 0.0999,
      "step": 17380
    },
    {
      "action_loss": 0.003903564065694809,
      "epoch": 15.629496402877697,
      "step": 17380
    },
    {
      "epoch": 15.629496402877697,
      "step": 17380,
      "torque_loss": 0.08167019486427307
    },
    {
      "epoch": 15.638489208633093,
      "grad_norm": 0.2784653604030609,
      "learning_rate": 8.508344420583889e-05,
      "loss": 0.0916,
      "step": 17390
    },
    {
      "action_loss": 0.014224521815776825,
      "epoch": 15.638489208633093,
      "step": 17390
    },
    {
      "epoch": 15.638489208633093,
      "step": 17390,
      "torque_loss": 0.17326776683330536
    },
    {
      "epoch": 15.647482014388489,
      "grad_norm": 0.34766885638237,
      "learning_rate": 8.506380383648816e-05,
      "loss": 0.0907,
      "step": 17400
    },
    {
      "action_loss": 0.0044665527530014515,
      "epoch": 15.647482014388489,
      "step": 17400
    },
    {
      "epoch": 15.647482014388489,
      "step": 17400,
      "torque_loss": 0.12572580575942993
    },
    {
      "epoch": 15.656474820143885,
      "grad_norm": 0.32047951221466064,
      "learning_rate": 8.504415281567963e-05,
      "loss": 0.0942,
      "step": 17410
    },
    {
      "action_loss": 0.0048827072605490685,
      "epoch": 15.656474820143885,
      "step": 17410
    },
    {
      "epoch": 15.656474820143885,
      "step": 17410,
      "torque_loss": 0.10901688784360886
    },
    {
      "epoch": 15.66546762589928,
      "grad_norm": 0.3772222399711609,
      "learning_rate": 8.502449114938275e-05,
      "loss": 0.0835,
      "step": 17420
    },
    {
      "action_loss": 0.006632177159190178,
      "epoch": 15.66546762589928,
      "step": 17420
    },
    {
      "epoch": 15.66546762589928,
      "step": 17420,
      "torque_loss": 0.1323806345462799
    },
    {
      "epoch": 15.674460431654676,
      "grad_norm": 0.3562246859073639,
      "learning_rate": 8.500481884357025e-05,
      "loss": 0.1069,
      "step": 17430
    },
    {
      "action_loss": 0.007589863147586584,
      "epoch": 15.674460431654676,
      "step": 17430
    },
    {
      "epoch": 15.674460431654676,
      "step": 17430,
      "torque_loss": 0.19428987801074982
    },
    {
      "epoch": 15.683453237410072,
      "grad_norm": 0.4545918107032776,
      "learning_rate": 8.498513590421801e-05,
      "loss": 0.1034,
      "step": 17440
    },
    {
      "action_loss": 0.024545514956116676,
      "epoch": 15.683453237410072,
      "step": 17440
    },
    {
      "epoch": 15.683453237410072,
      "step": 17440,
      "torque_loss": 0.2399936467409134
    },
    {
      "epoch": 15.692446043165468,
      "grad_norm": 0.44484901428222656,
      "learning_rate": 8.496544233730522e-05,
      "loss": 0.1005,
      "step": 17450
    },
    {
      "action_loss": 0.006299895700067282,
      "epoch": 15.692446043165468,
      "step": 17450
    },
    {
      "epoch": 15.692446043165468,
      "step": 17450,
      "torque_loss": 0.11153271049261093
    },
    {
      "epoch": 15.701438848920864,
      "grad_norm": 0.4141848087310791,
      "learning_rate": 8.494573814881426e-05,
      "loss": 0.0978,
      "step": 17460
    },
    {
      "action_loss": 0.00630519213154912,
      "epoch": 15.701438848920864,
      "step": 17460
    },
    {
      "epoch": 15.701438848920864,
      "step": 17460,
      "torque_loss": 0.1419588178396225
    },
    {
      "epoch": 15.71043165467626,
      "grad_norm": 0.3328392207622528,
      "learning_rate": 8.492602334473074e-05,
      "loss": 0.0865,
      "step": 17470
    },
    {
      "action_loss": 0.012746465392410755,
      "epoch": 15.71043165467626,
      "step": 17470
    },
    {
      "epoch": 15.71043165467626,
      "step": 17470,
      "torque_loss": 0.20740240812301636
    },
    {
      "epoch": 15.719424460431654,
      "grad_norm": 0.30846017599105835,
      "learning_rate": 8.49062979310435e-05,
      "loss": 0.0999,
      "step": 17480
    },
    {
      "action_loss": 0.014571924693882465,
      "epoch": 15.719424460431654,
      "step": 17480
    },
    {
      "epoch": 15.719424460431654,
      "step": 17480,
      "torque_loss": 0.20490920543670654
    },
    {
      "epoch": 15.72841726618705,
      "grad_norm": 0.33950984477996826,
      "learning_rate": 8.488656191374458e-05,
      "loss": 0.1015,
      "step": 17490
    },
    {
      "action_loss": 0.0058424449525773525,
      "epoch": 15.72841726618705,
      "step": 17490
    },
    {
      "epoch": 15.72841726618705,
      "step": 17490,
      "torque_loss": 0.12296068668365479
    },
    {
      "epoch": 15.737410071942445,
      "grad_norm": 0.3972071409225464,
      "learning_rate": 8.48668152988293e-05,
      "loss": 0.0944,
      "step": 17500
    },
    {
      "action_loss": 0.008950144983828068,
      "epoch": 15.737410071942445,
      "step": 17500
    },
    {
      "epoch": 15.737410071942445,
      "step": 17500,
      "torque_loss": 0.13642388582229614
    },
    {
      "epoch": 15.746402877697841,
      "grad_norm": 0.41441911458969116,
      "learning_rate": 8.484705809229612e-05,
      "loss": 0.0946,
      "step": 17510
    },
    {
      "action_loss": 0.0163198821246624,
      "epoch": 15.746402877697841,
      "step": 17510
    },
    {
      "epoch": 15.746402877697841,
      "step": 17510,
      "torque_loss": 0.183784618973732
    },
    {
      "epoch": 15.755395683453237,
      "grad_norm": 0.4480056166648865,
      "learning_rate": 8.482729030014677e-05,
      "loss": 0.1201,
      "step": 17520
    },
    {
      "action_loss": 0.004679942037910223,
      "epoch": 15.755395683453237,
      "step": 17520
    },
    {
      "epoch": 15.755395683453237,
      "step": 17520,
      "torque_loss": 0.12232580035924911
    },
    {
      "epoch": 15.764388489208633,
      "grad_norm": 0.2748914361000061,
      "learning_rate": 8.48075119283862e-05,
      "loss": 0.0896,
      "step": 17530
    },
    {
      "action_loss": 0.016605472192168236,
      "epoch": 15.764388489208633,
      "step": 17530
    },
    {
      "epoch": 15.764388489208633,
      "step": 17530,
      "torque_loss": 0.18674075603485107
    },
    {
      "epoch": 15.773381294964029,
      "grad_norm": 0.41867733001708984,
      "learning_rate": 8.478772298302254e-05,
      "loss": 0.0974,
      "step": 17540
    },
    {
      "action_loss": 0.010260100476443768,
      "epoch": 15.773381294964029,
      "step": 17540
    },
    {
      "epoch": 15.773381294964029,
      "step": 17540,
      "torque_loss": 0.14670313894748688
    },
    {
      "epoch": 15.782374100719425,
      "grad_norm": 0.3592161238193512,
      "learning_rate": 8.476792347006716e-05,
      "loss": 0.0982,
      "step": 17550
    },
    {
      "action_loss": 0.007487920578569174,
      "epoch": 15.782374100719425,
      "step": 17550
    },
    {
      "epoch": 15.782374100719425,
      "step": 17550,
      "torque_loss": 0.10760293155908585
    },
    {
      "epoch": 15.79136690647482,
      "grad_norm": 0.3922692835330963,
      "learning_rate": 8.474811339553462e-05,
      "loss": 0.0994,
      "step": 17560
    },
    {
      "action_loss": 0.015025896020233631,
      "epoch": 15.79136690647482,
      "step": 17560
    },
    {
      "epoch": 15.79136690647482,
      "step": 17560,
      "torque_loss": 0.18037092685699463
    },
    {
      "epoch": 15.800359712230216,
      "grad_norm": 0.4309299886226654,
      "learning_rate": 8.47282927654427e-05,
      "loss": 0.1289,
      "step": 17570
    },
    {
      "action_loss": 0.00699011841788888,
      "epoch": 15.800359712230216,
      "step": 17570
    },
    {
      "epoch": 15.800359712230216,
      "step": 17570,
      "torque_loss": 0.09389978647232056
    },
    {
      "epoch": 15.809352517985612,
      "grad_norm": 0.36905744671821594,
      "learning_rate": 8.470846158581238e-05,
      "loss": 0.0868,
      "step": 17580
    },
    {
      "action_loss": 0.010537461377680302,
      "epoch": 15.809352517985612,
      "step": 17580
    },
    {
      "epoch": 15.809352517985612,
      "step": 17580,
      "torque_loss": 0.1319836527109146
    },
    {
      "epoch": 15.818345323741006,
      "grad_norm": 0.3359370529651642,
      "learning_rate": 8.468861986266787e-05,
      "loss": 0.0986,
      "step": 17590
    },
    {
      "action_loss": 0.01639142818748951,
      "epoch": 15.818345323741006,
      "step": 17590
    },
    {
      "epoch": 15.818345323741006,
      "step": 17590,
      "torque_loss": 0.2229854017496109
    },
    {
      "epoch": 15.827338129496402,
      "grad_norm": 0.2988719642162323,
      "learning_rate": 8.466876760203654e-05,
      "loss": 0.1029,
      "step": 17600
    },
    {
      "action_loss": 0.039678845554590225,
      "epoch": 15.827338129496402,
      "step": 17600
    },
    {
      "epoch": 15.827338129496402,
      "step": 17600,
      "torque_loss": 0.2448241114616394
    },
    {
      "epoch": 15.836330935251798,
      "grad_norm": 0.28869256377220154,
      "learning_rate": 8.464890480994898e-05,
      "loss": 0.1049,
      "step": 17610
    },
    {
      "action_loss": 0.005435654427856207,
      "epoch": 15.836330935251798,
      "step": 17610
    },
    {
      "epoch": 15.836330935251798,
      "step": 17610,
      "torque_loss": 0.10816409438848495
    },
    {
      "epoch": 15.845323741007194,
      "grad_norm": 0.2972653806209564,
      "learning_rate": 8.462903149243899e-05,
      "loss": 0.0883,
      "step": 17620
    },
    {
      "action_loss": 0.005647073034197092,
      "epoch": 15.845323741007194,
      "step": 17620
    },
    {
      "epoch": 15.845323741007194,
      "step": 17620,
      "torque_loss": 0.08204897493124008
    },
    {
      "epoch": 15.85431654676259,
      "grad_norm": 0.31907761096954346,
      "learning_rate": 8.460914765554357e-05,
      "loss": 0.0829,
      "step": 17630
    },
    {
      "action_loss": 0.006901080254465342,
      "epoch": 15.85431654676259,
      "step": 17630
    },
    {
      "epoch": 15.85431654676259,
      "step": 17630,
      "torque_loss": 0.11281061172485352
    },
    {
      "epoch": 15.863309352517986,
      "grad_norm": 0.4035785496234894,
      "learning_rate": 8.458925330530288e-05,
      "loss": 0.1177,
      "step": 17640
    },
    {
      "action_loss": 0.004263522569090128,
      "epoch": 15.863309352517986,
      "step": 17640
    },
    {
      "epoch": 15.863309352517986,
      "step": 17640,
      "torque_loss": 0.1445612758398056
    },
    {
      "epoch": 15.872302158273381,
      "grad_norm": 0.41036128997802734,
      "learning_rate": 8.456934844776032e-05,
      "loss": 0.0943,
      "step": 17650
    },
    {
      "action_loss": 0.00436511030420661,
      "epoch": 15.872302158273381,
      "step": 17650
    },
    {
      "epoch": 15.872302158273381,
      "step": 17650,
      "torque_loss": 0.13009817898273468
    },
    {
      "epoch": 15.881294964028777,
      "grad_norm": 0.45035088062286377,
      "learning_rate": 8.454943308896246e-05,
      "loss": 0.102,
      "step": 17660
    },
    {
      "action_loss": 0.013982038013637066,
      "epoch": 15.881294964028777,
      "step": 17660
    },
    {
      "epoch": 15.881294964028777,
      "step": 17660,
      "torque_loss": 0.16498751938343048
    },
    {
      "epoch": 15.890287769784173,
      "grad_norm": 0.308251291513443,
      "learning_rate": 8.452950723495905e-05,
      "loss": 0.0853,
      "step": 17670
    },
    {
      "action_loss": 0.007274392526596785,
      "epoch": 15.890287769784173,
      "step": 17670
    },
    {
      "epoch": 15.890287769784173,
      "step": 17670,
      "torque_loss": 0.12842053174972534
    },
    {
      "epoch": 15.899280575539569,
      "grad_norm": 0.3261122703552246,
      "learning_rate": 8.450957089180303e-05,
      "loss": 0.0926,
      "step": 17680
    },
    {
      "action_loss": 0.005913691595196724,
      "epoch": 15.899280575539569,
      "step": 17680
    },
    {
      "epoch": 15.899280575539569,
      "step": 17680,
      "torque_loss": 0.09765087813138962
    },
    {
      "epoch": 15.908273381294965,
      "grad_norm": 0.41977590322494507,
      "learning_rate": 8.448962406555055e-05,
      "loss": 0.0946,
      "step": 17690
    },
    {
      "action_loss": 0.025533527135849,
      "epoch": 15.908273381294965,
      "step": 17690
    },
    {
      "epoch": 15.908273381294965,
      "step": 17690,
      "torque_loss": 0.24942786991596222
    },
    {
      "epoch": 15.917266187050359,
      "grad_norm": 0.3132895529270172,
      "learning_rate": 8.446966676226093e-05,
      "loss": 0.1149,
      "step": 17700
    },
    {
      "action_loss": 0.0048650773242115974,
      "epoch": 15.917266187050359,
      "step": 17700
    },
    {
      "epoch": 15.917266187050359,
      "step": 17700,
      "torque_loss": 0.0931301936507225
    },
    {
      "epoch": 15.926258992805755,
      "grad_norm": 0.3724968731403351,
      "learning_rate": 8.444969898799667e-05,
      "loss": 0.0985,
      "step": 17710
    },
    {
      "action_loss": 0.020648518577218056,
      "epoch": 15.926258992805755,
      "step": 17710
    },
    {
      "epoch": 15.926258992805755,
      "step": 17710,
      "torque_loss": 0.22119300067424774
    },
    {
      "epoch": 15.93525179856115,
      "grad_norm": 0.39822879433631897,
      "learning_rate": 8.442972074882343e-05,
      "loss": 0.0995,
      "step": 17720
    },
    {
      "action_loss": 0.013469687663018703,
      "epoch": 15.93525179856115,
      "step": 17720
    },
    {
      "epoch": 15.93525179856115,
      "step": 17720,
      "torque_loss": 0.1665130853652954
    },
    {
      "epoch": 15.944244604316546,
      "grad_norm": 0.3785090446472168,
      "learning_rate": 8.44097320508101e-05,
      "loss": 0.0921,
      "step": 17730
    },
    {
      "action_loss": 0.004060944076627493,
      "epoch": 15.944244604316546,
      "step": 17730
    },
    {
      "epoch": 15.944244604316546,
      "step": 17730,
      "torque_loss": 0.11423647403717041
    },
    {
      "epoch": 15.953237410071942,
      "grad_norm": 0.40815627574920654,
      "learning_rate": 8.43897329000287e-05,
      "loss": 0.0845,
      "step": 17740
    },
    {
      "action_loss": 0.016530994325876236,
      "epoch": 15.953237410071942,
      "step": 17740
    },
    {
      "epoch": 15.953237410071942,
      "step": 17740,
      "torque_loss": 0.19000305235385895
    },
    {
      "epoch": 15.962230215827338,
      "grad_norm": 0.2875150740146637,
      "learning_rate": 8.436972330255448e-05,
      "loss": 0.0962,
      "step": 17750
    },
    {
      "action_loss": 0.0049575804732739925,
      "epoch": 15.962230215827338,
      "step": 17750
    },
    {
      "epoch": 15.962230215827338,
      "step": 17750,
      "torque_loss": 0.1272655427455902
    },
    {
      "epoch": 15.971223021582734,
      "grad_norm": 0.4205852150917053,
      "learning_rate": 8.434970326446579e-05,
      "loss": 0.0997,
      "step": 17760
    },
    {
      "action_loss": 0.006076211575418711,
      "epoch": 15.971223021582734,
      "step": 17760
    },
    {
      "epoch": 15.971223021582734,
      "step": 17760,
      "torque_loss": 0.09798302501440048
    },
    {
      "epoch": 15.98021582733813,
      "grad_norm": 0.32479608058929443,
      "learning_rate": 8.432967279184418e-05,
      "loss": 0.0854,
      "step": 17770
    },
    {
      "action_loss": 0.018761076033115387,
      "epoch": 15.98021582733813,
      "step": 17770
    },
    {
      "epoch": 15.98021582733813,
      "step": 17770,
      "torque_loss": 0.14194543659687042
    },
    {
      "epoch": 15.989208633093526,
      "grad_norm": 0.3370347321033478,
      "learning_rate": 8.430963189077441e-05,
      "loss": 0.0863,
      "step": 17780
    },
    {
      "action_loss": 0.008534695021808147,
      "epoch": 15.989208633093526,
      "step": 17780
    },
    {
      "epoch": 15.989208633093526,
      "step": 17780,
      "torque_loss": 0.14305712282657623
    },
    {
      "epoch": 15.998201438848922,
      "grad_norm": 0.44612738490104675,
      "learning_rate": 8.428958056734437e-05,
      "loss": 0.0866,
      "step": 17790
    },
    {
      "action_loss": 0.013854645192623138,
      "epoch": 15.998201438848922,
      "step": 17790
    },
    {
      "epoch": 15.998201438848922,
      "step": 17790,
      "torque_loss": 0.1990109235048294
    },
    {
      "epoch": 16.007194244604317,
      "grad_norm": 0.4139278829097748,
      "learning_rate": 8.426951882764513e-05,
      "loss": 0.1121,
      "step": 17800
    },
    {
      "action_loss": 0.009226600639522076,
      "epoch": 16.007194244604317,
      "step": 17800
    },
    {
      "epoch": 16.007194244604317,
      "step": 17800,
      "torque_loss": 0.15181122720241547
    },
    {
      "epoch": 16.01618705035971,
      "grad_norm": 0.2992665767669678,
      "learning_rate": 8.424944667777089e-05,
      "loss": 0.0865,
      "step": 17810
    },
    {
      "action_loss": 0.00768201844766736,
      "epoch": 16.01618705035971,
      "step": 17810
    },
    {
      "epoch": 16.01618705035971,
      "step": 17810,
      "torque_loss": 0.13850602507591248
    },
    {
      "epoch": 16.02517985611511,
      "grad_norm": 0.367180198431015,
      "learning_rate": 8.422936412381905e-05,
      "loss": 0.093,
      "step": 17820
    },
    {
      "action_loss": 0.007041756063699722,
      "epoch": 16.02517985611511,
      "step": 17820
    },
    {
      "epoch": 16.02517985611511,
      "step": 17820,
      "torque_loss": 0.13384781777858734
    },
    {
      "epoch": 16.034172661870503,
      "grad_norm": 0.42099225521087646,
      "learning_rate": 8.420927117189017e-05,
      "loss": 0.0906,
      "step": 17830
    },
    {
      "action_loss": 0.010989166796207428,
      "epoch": 16.034172661870503,
      "step": 17830
    },
    {
      "epoch": 16.034172661870503,
      "step": 17830,
      "torque_loss": 0.20905464887619019
    },
    {
      "epoch": 16.0431654676259,
      "grad_norm": 0.3996615707874298,
      "learning_rate": 8.418916782808795e-05,
      "loss": 0.0979,
      "step": 17840
    },
    {
      "action_loss": 0.006604921072721481,
      "epoch": 16.0431654676259,
      "step": 17840
    },
    {
      "epoch": 16.0431654676259,
      "step": 17840,
      "torque_loss": 0.09801877290010452
    },
    {
      "epoch": 16.052158273381295,
      "grad_norm": 0.3156903386116028,
      "learning_rate": 8.416905409851926e-05,
      "loss": 0.0967,
      "step": 17850
    },
    {
      "action_loss": 0.005740627646446228,
      "epoch": 16.052158273381295,
      "step": 17850
    },
    {
      "epoch": 16.052158273381295,
      "step": 17850,
      "torque_loss": 0.127268448472023
    },
    {
      "epoch": 16.06115107913669,
      "grad_norm": 0.32371652126312256,
      "learning_rate": 8.41489299892941e-05,
      "loss": 0.086,
      "step": 17860
    },
    {
      "action_loss": 0.007881676778197289,
      "epoch": 16.06115107913669,
      "step": 17860
    },
    {
      "epoch": 16.06115107913669,
      "step": 17860,
      "torque_loss": 0.149736225605011
    },
    {
      "epoch": 16.070143884892087,
      "grad_norm": 0.2641940414905548,
      "learning_rate": 8.412879550652566e-05,
      "loss": 0.0932,
      "step": 17870
    },
    {
      "action_loss": 0.005252351518720388,
      "epoch": 16.070143884892087,
      "step": 17870
    },
    {
      "epoch": 16.070143884892087,
      "step": 17870,
      "torque_loss": 0.11864670366048813
    },
    {
      "epoch": 16.07913669064748,
      "grad_norm": 0.36438101530075073,
      "learning_rate": 8.410865065633029e-05,
      "loss": 0.0932,
      "step": 17880
    },
    {
      "action_loss": 0.004631788935512304,
      "epoch": 16.07913669064748,
      "step": 17880
    },
    {
      "epoch": 16.07913669064748,
      "step": 17880,
      "torque_loss": 0.09466791152954102
    },
    {
      "epoch": 16.08812949640288,
      "grad_norm": 0.2735467851161957,
      "learning_rate": 8.408849544482742e-05,
      "loss": 0.0955,
      "step": 17890
    },
    {
      "action_loss": 0.009512831456959248,
      "epoch": 16.08812949640288,
      "step": 17890
    },
    {
      "epoch": 16.08812949640288,
      "step": 17890,
      "torque_loss": 0.18206918239593506
    },
    {
      "epoch": 16.097122302158272,
      "grad_norm": 0.3802896738052368,
      "learning_rate": 8.406832987813968e-05,
      "loss": 0.0903,
      "step": 17900
    },
    {
      "action_loss": 0.015821708366274834,
      "epoch": 16.097122302158272,
      "step": 17900
    },
    {
      "epoch": 16.097122302158272,
      "step": 17900,
      "torque_loss": 0.16947348415851593
    },
    {
      "epoch": 16.10611510791367,
      "grad_norm": 0.38643786311149597,
      "learning_rate": 8.404815396239286e-05,
      "loss": 0.1002,
      "step": 17910
    },
    {
      "action_loss": 0.0050856140442192554,
      "epoch": 16.10611510791367,
      "step": 17910
    },
    {
      "epoch": 16.10611510791367,
      "step": 17910,
      "torque_loss": 0.12238087505102158
    },
    {
      "epoch": 16.115107913669064,
      "grad_norm": 0.29942697286605835,
      "learning_rate": 8.402796770371587e-05,
      "loss": 0.1006,
      "step": 17920
    },
    {
      "action_loss": 0.011456146836280823,
      "epoch": 16.115107913669064,
      "step": 17920
    },
    {
      "epoch": 16.115107913669064,
      "step": 17920,
      "torque_loss": 0.13275407254695892
    },
    {
      "epoch": 16.12410071942446,
      "grad_norm": 0.3272879123687744,
      "learning_rate": 8.400777110824071e-05,
      "loss": 0.0885,
      "step": 17930
    },
    {
      "action_loss": 0.014925467781722546,
      "epoch": 16.12410071942446,
      "step": 17930
    },
    {
      "epoch": 16.12410071942446,
      "step": 17930,
      "torque_loss": 0.15928204357624054
    },
    {
      "epoch": 16.133093525179856,
      "grad_norm": 0.44141048192977905,
      "learning_rate": 8.398756418210263e-05,
      "loss": 0.0896,
      "step": 17940
    },
    {
      "action_loss": 0.0037104852963238955,
      "epoch": 16.133093525179856,
      "step": 17940
    },
    {
      "epoch": 16.133093525179856,
      "step": 17940,
      "torque_loss": 0.11771080642938614
    },
    {
      "epoch": 16.142086330935253,
      "grad_norm": 0.26648133993148804,
      "learning_rate": 8.396734693143993e-05,
      "loss": 0.0813,
      "step": 17950
    },
    {
      "action_loss": 0.005563363432884216,
      "epoch": 16.142086330935253,
      "step": 17950
    },
    {
      "epoch": 16.142086330935253,
      "step": 17950,
      "torque_loss": 0.12722048163414001
    },
    {
      "epoch": 16.151079136690647,
      "grad_norm": 0.35478466749191284,
      "learning_rate": 8.39471193623941e-05,
      "loss": 0.1059,
      "step": 17960
    },
    {
      "action_loss": 0.00519063463434577,
      "epoch": 16.151079136690647,
      "step": 17960
    },
    {
      "epoch": 16.151079136690647,
      "step": 17960,
      "torque_loss": 0.10997128486633301
    },
    {
      "epoch": 16.16007194244604,
      "grad_norm": 0.415224552154541,
      "learning_rate": 8.392688148110974e-05,
      "loss": 0.1006,
      "step": 17970
    },
    {
      "action_loss": 0.004177522379904985,
      "epoch": 16.16007194244604,
      "step": 17970
    },
    {
      "epoch": 16.16007194244604,
      "step": 17970,
      "torque_loss": 0.1026163101196289
    },
    {
      "epoch": 16.16906474820144,
      "grad_norm": 0.33521464467048645,
      "learning_rate": 8.390663329373456e-05,
      "loss": 0.0914,
      "step": 17980
    },
    {
      "action_loss": 0.00800811406224966,
      "epoch": 16.16906474820144,
      "step": 17980
    },
    {
      "epoch": 16.16906474820144,
      "step": 17980,
      "torque_loss": 0.1676151305437088
    },
    {
      "epoch": 16.178057553956833,
      "grad_norm": 0.41242578625679016,
      "learning_rate": 8.388637480641944e-05,
      "loss": 0.1094,
      "step": 17990
    },
    {
      "action_loss": 0.011945158243179321,
      "epoch": 16.178057553956833,
      "step": 17990
    },
    {
      "epoch": 16.178057553956833,
      "step": 17990,
      "torque_loss": 0.16041181981563568
    },
    {
      "epoch": 16.18705035971223,
      "grad_norm": 0.41370806097984314,
      "learning_rate": 8.386610602531837e-05,
      "loss": 0.0969,
      "step": 18000
    },
    {
      "action_loss": 0.00460845697671175,
      "epoch": 16.18705035971223,
      "step": 18000
    },
    {
      "epoch": 16.18705035971223,
      "step": 18000,
      "torque_loss": 0.06311570852994919
    },
    {
      "epoch": 16.196043165467625,
      "grad_norm": 0.3556494116783142,
      "learning_rate": 8.384582695658847e-05,
      "loss": 0.0861,
      "step": 18010
    },
    {
      "action_loss": 0.013544526882469654,
      "epoch": 16.196043165467625,
      "step": 18010
    },
    {
      "epoch": 16.196043165467625,
      "step": 18010,
      "torque_loss": 0.16535703837871552
    },
    {
      "epoch": 16.205035971223023,
      "grad_norm": 0.3411675691604614,
      "learning_rate": 8.382553760638999e-05,
      "loss": 0.0863,
      "step": 18020
    },
    {
      "action_loss": 0.006247160956263542,
      "epoch": 16.205035971223023,
      "step": 18020
    },
    {
      "epoch": 16.205035971223023,
      "step": 18020,
      "torque_loss": 0.13916908204555511
    },
    {
      "epoch": 16.214028776978417,
      "grad_norm": 0.24820518493652344,
      "learning_rate": 8.380523798088631e-05,
      "loss": 0.087,
      "step": 18030
    },
    {
      "action_loss": 0.008200527168810368,
      "epoch": 16.214028776978417,
      "step": 18030
    },
    {
      "epoch": 16.214028776978417,
      "step": 18030,
      "torque_loss": 0.09174296259880066
    },
    {
      "epoch": 16.223021582733814,
      "grad_norm": 0.31948190927505493,
      "learning_rate": 8.378492808624389e-05,
      "loss": 0.0851,
      "step": 18040
    },
    {
      "action_loss": 0.0068082963116467,
      "epoch": 16.223021582733814,
      "step": 18040
    },
    {
      "epoch": 16.223021582733814,
      "step": 18040,
      "torque_loss": 0.10544780641794205
    },
    {
      "epoch": 16.23201438848921,
      "grad_norm": 0.3088702857494354,
      "learning_rate": 8.376460792863237e-05,
      "loss": 0.0986,
      "step": 18050
    },
    {
      "action_loss": 0.006795309484004974,
      "epoch": 16.23201438848921,
      "step": 18050
    },
    {
      "epoch": 16.23201438848921,
      "step": 18050,
      "torque_loss": 0.12050601094961166
    },
    {
      "epoch": 16.241007194244606,
      "grad_norm": 0.2771526277065277,
      "learning_rate": 8.374427751422444e-05,
      "loss": 0.0765,
      "step": 18060
    },
    {
      "action_loss": 0.0055975839495658875,
      "epoch": 16.241007194244606,
      "step": 18060
    },
    {
      "epoch": 16.241007194244606,
      "step": 18060,
      "torque_loss": 0.1020035520195961
    },
    {
      "epoch": 16.25,
      "grad_norm": 0.35675695538520813,
      "learning_rate": 8.3723936849196e-05,
      "loss": 0.0811,
      "step": 18070
    },
    {
      "action_loss": 0.004781122785061598,
      "epoch": 16.25,
      "step": 18070
    },
    {
      "epoch": 16.25,
      "step": 18070,
      "torque_loss": 0.09758568555116653
    },
    {
      "epoch": 16.258992805755394,
      "grad_norm": 0.29327255487442017,
      "learning_rate": 8.370358593972595e-05,
      "loss": 0.0928,
      "step": 18080
    },
    {
      "action_loss": 0.0058839707635343075,
      "epoch": 16.258992805755394,
      "step": 18080
    },
    {
      "epoch": 16.258992805755394,
      "step": 18080,
      "torque_loss": 0.1031041368842125
    },
    {
      "epoch": 16.26798561151079,
      "grad_norm": 0.3263508081436157,
      "learning_rate": 8.36832247919964e-05,
      "loss": 0.0871,
      "step": 18090
    },
    {
      "action_loss": 0.01304086297750473,
      "epoch": 16.26798561151079,
      "step": 18090
    },
    {
      "epoch": 16.26798561151079,
      "step": 18090,
      "torque_loss": 0.18573622405529022
    },
    {
      "epoch": 16.276978417266186,
      "grad_norm": 0.25720900297164917,
      "learning_rate": 8.36628534121925e-05,
      "loss": 0.0925,
      "step": 18100
    },
    {
      "action_loss": 0.004341946914792061,
      "epoch": 16.276978417266186,
      "step": 18100
    },
    {
      "epoch": 16.276978417266186,
      "step": 18100,
      "torque_loss": 0.12842626869678497
    },
    {
      "epoch": 16.285971223021583,
      "grad_norm": 0.3039265275001526,
      "learning_rate": 8.364247180650254e-05,
      "loss": 0.1001,
      "step": 18110
    },
    {
      "action_loss": 0.014243493787944317,
      "epoch": 16.285971223021583,
      "step": 18110
    },
    {
      "epoch": 16.285971223021583,
      "step": 18110,
      "torque_loss": 0.12572996318340302
    },
    {
      "epoch": 16.294964028776977,
      "grad_norm": 0.32255956530570984,
      "learning_rate": 8.362207998111794e-05,
      "loss": 0.0798,
      "step": 18120
    },
    {
      "action_loss": 0.005961783230304718,
      "epoch": 16.294964028776977,
      "step": 18120
    },
    {
      "epoch": 16.294964028776977,
      "step": 18120,
      "torque_loss": 0.12394522875547409
    },
    {
      "epoch": 16.303956834532375,
      "grad_norm": 0.3294036388397217,
      "learning_rate": 8.360167794223318e-05,
      "loss": 0.0897,
      "step": 18130
    },
    {
      "action_loss": 0.012137487530708313,
      "epoch": 16.303956834532375,
      "step": 18130
    },
    {
      "epoch": 16.303956834532375,
      "step": 18130,
      "torque_loss": 0.13969051837921143
    },
    {
      "epoch": 16.31294964028777,
      "grad_norm": 0.407423198223114,
      "learning_rate": 8.358126569604586e-05,
      "loss": 0.098,
      "step": 18140
    },
    {
      "action_loss": 0.007341498509049416,
      "epoch": 16.31294964028777,
      "step": 18140
    },
    {
      "epoch": 16.31294964028777,
      "step": 18140,
      "torque_loss": 0.1728503257036209
    },
    {
      "epoch": 16.321942446043167,
      "grad_norm": 0.28298091888427734,
      "learning_rate": 8.356084324875668e-05,
      "loss": 0.0924,
      "step": 18150
    },
    {
      "action_loss": 0.004702113103121519,
      "epoch": 16.321942446043167,
      "step": 18150
    },
    {
      "epoch": 16.321942446043167,
      "step": 18150,
      "torque_loss": 0.10540681332349777
    },
    {
      "epoch": 16.33093525179856,
      "grad_norm": 0.36320990324020386,
      "learning_rate": 8.354041060656945e-05,
      "loss": 0.086,
      "step": 18160
    },
    {
      "action_loss": 0.0033031527418643236,
      "epoch": 16.33093525179856,
      "step": 18160
    },
    {
      "epoch": 16.33093525179856,
      "step": 18160,
      "torque_loss": 0.0866963341832161
    },
    {
      "epoch": 16.33992805755396,
      "grad_norm": 0.34959477186203003,
      "learning_rate": 8.351996777569106e-05,
      "loss": 0.0831,
      "step": 18170
    },
    {
      "action_loss": 0.010104202665388584,
      "epoch": 16.33992805755396,
      "step": 18170
    },
    {
      "epoch": 16.33992805755396,
      "step": 18170,
      "torque_loss": 0.12977272272109985
    },
    {
      "epoch": 16.348920863309353,
      "grad_norm": 0.2792492210865021,
      "learning_rate": 8.349951476233148e-05,
      "loss": 0.0962,
      "step": 18180
    },
    {
      "action_loss": 0.004765805788338184,
      "epoch": 16.348920863309353,
      "step": 18180
    },
    {
      "epoch": 16.348920863309353,
      "step": 18180,
      "torque_loss": 0.08637168258428574
    },
    {
      "epoch": 16.357913669064747,
      "grad_norm": 0.3248596787452698,
      "learning_rate": 8.347905157270386e-05,
      "loss": 0.0859,
      "step": 18190
    },
    {
      "action_loss": 0.007748740259557962,
      "epoch": 16.357913669064747,
      "step": 18190
    },
    {
      "epoch": 16.357913669064747,
      "step": 18190,
      "torque_loss": 0.12496425956487656
    },
    {
      "epoch": 16.366906474820144,
      "grad_norm": 0.30054327845573425,
      "learning_rate": 8.345857821302432e-05,
      "loss": 0.101,
      "step": 18200
    },
    {
      "action_loss": 0.018626496195793152,
      "epoch": 16.366906474820144,
      "step": 18200
    },
    {
      "epoch": 16.366906474820144,
      "step": 18200,
      "torque_loss": 0.1580430418252945
    },
    {
      "epoch": 16.37589928057554,
      "grad_norm": 0.4592098295688629,
      "learning_rate": 8.343809468951213e-05,
      "loss": 0.0918,
      "step": 18210
    },
    {
      "action_loss": 0.008309565484523773,
      "epoch": 16.37589928057554,
      "step": 18210
    },
    {
      "epoch": 16.37589928057554,
      "step": 18210,
      "torque_loss": 0.17001664638519287
    },
    {
      "epoch": 16.384892086330936,
      "grad_norm": 0.2830735743045807,
      "learning_rate": 8.341760100838965e-05,
      "loss": 0.1036,
      "step": 18220
    },
    {
      "action_loss": 0.011184140108525753,
      "epoch": 16.384892086330936,
      "step": 18220
    },
    {
      "epoch": 16.384892086330936,
      "step": 18220,
      "torque_loss": 0.15047185122966766
    },
    {
      "epoch": 16.39388489208633,
      "grad_norm": 0.27961817383766174,
      "learning_rate": 8.339709717588233e-05,
      "loss": 0.1054,
      "step": 18230
    },
    {
      "action_loss": 0.007056953385472298,
      "epoch": 16.39388489208633,
      "step": 18230
    },
    {
      "epoch": 16.39388489208633,
      "step": 18230,
      "torque_loss": 0.11564803123474121
    },
    {
      "epoch": 16.402877697841728,
      "grad_norm": 0.33805912733078003,
      "learning_rate": 8.33765831982187e-05,
      "loss": 0.0891,
      "step": 18240
    },
    {
      "action_loss": 0.003555254777893424,
      "epoch": 16.402877697841728,
      "step": 18240
    },
    {
      "epoch": 16.402877697841728,
      "step": 18240,
      "torque_loss": 0.07361964136362076
    },
    {
      "epoch": 16.41187050359712,
      "grad_norm": 0.2582588493824005,
      "learning_rate": 8.335605908163035e-05,
      "loss": 0.0737,
      "step": 18250
    },
    {
      "action_loss": 0.006395711097866297,
      "epoch": 16.41187050359712,
      "step": 18250
    },
    {
      "epoch": 16.41187050359712,
      "step": 18250,
      "torque_loss": 0.08220553398132324
    },
    {
      "epoch": 16.42086330935252,
      "grad_norm": 0.28352054953575134,
      "learning_rate": 8.333552483235196e-05,
      "loss": 0.0847,
      "step": 18260
    },
    {
      "action_loss": 0.006343957502394915,
      "epoch": 16.42086330935252,
      "step": 18260
    },
    {
      "epoch": 16.42086330935252,
      "step": 18260,
      "torque_loss": 0.11486522108316422
    },
    {
      "epoch": 16.429856115107913,
      "grad_norm": 0.26929110288619995,
      "learning_rate": 8.33149804566213e-05,
      "loss": 0.0943,
      "step": 18270
    },
    {
      "action_loss": 0.006826700177043676,
      "epoch": 16.429856115107913,
      "step": 18270
    },
    {
      "epoch": 16.429856115107913,
      "step": 18270,
      "torque_loss": 0.1602572500705719
    },
    {
      "epoch": 16.43884892086331,
      "grad_norm": 0.32828986644744873,
      "learning_rate": 8.329442596067921e-05,
      "loss": 0.0943,
      "step": 18280
    },
    {
      "action_loss": 0.0028912469279021025,
      "epoch": 16.43884892086331,
      "step": 18280
    },
    {
      "epoch": 16.43884892086331,
      "step": 18280,
      "torque_loss": 0.07243891805410385
    },
    {
      "epoch": 16.447841726618705,
      "grad_norm": 0.38155484199523926,
      "learning_rate": 8.32738613507696e-05,
      "loss": 0.0941,
      "step": 18290
    },
    {
      "action_loss": 0.011516444385051727,
      "epoch": 16.447841726618705,
      "step": 18290
    },
    {
      "epoch": 16.447841726618705,
      "step": 18290,
      "torque_loss": 0.11659073084592819
    },
    {
      "epoch": 16.4568345323741,
      "grad_norm": 0.4225389361381531,
      "learning_rate": 8.325328663313946e-05,
      "loss": 0.1079,
      "step": 18300
    },
    {
      "action_loss": 0.02584247849881649,
      "epoch": 16.4568345323741,
      "step": 18300
    },
    {
      "epoch": 16.4568345323741,
      "step": 18300,
      "torque_loss": 0.18380646407604218
    },
    {
      "epoch": 16.465827338129497,
      "grad_norm": 0.3077666163444519,
      "learning_rate": 8.323270181403884e-05,
      "loss": 0.0924,
      "step": 18310
    },
    {
      "action_loss": 0.018719471991062164,
      "epoch": 16.465827338129497,
      "step": 18310
    },
    {
      "epoch": 16.465827338129497,
      "step": 18310,
      "torque_loss": 0.1867436021566391
    },
    {
      "epoch": 16.47482014388489,
      "grad_norm": 0.26429757475852966,
      "learning_rate": 8.321210689972086e-05,
      "loss": 0.0917,
      "step": 18320
    },
    {
      "action_loss": 0.00503364996984601,
      "epoch": 16.47482014388489,
      "step": 18320
    },
    {
      "epoch": 16.47482014388489,
      "step": 18320,
      "torque_loss": 0.12744639813899994
    },
    {
      "epoch": 16.48381294964029,
      "grad_norm": 0.5156170725822449,
      "learning_rate": 8.319150189644174e-05,
      "loss": 0.0961,
      "step": 18330
    },
    {
      "action_loss": 0.004825991112738848,
      "epoch": 16.48381294964029,
      "step": 18330
    },
    {
      "epoch": 16.48381294964029,
      "step": 18330,
      "torque_loss": 0.10158950835466385
    },
    {
      "epoch": 16.492805755395683,
      "grad_norm": 0.3528153598308563,
      "learning_rate": 8.31708868104607e-05,
      "loss": 0.1127,
      "step": 18340
    },
    {
      "action_loss": 0.01287021767348051,
      "epoch": 16.492805755395683,
      "step": 18340
    },
    {
      "epoch": 16.492805755395683,
      "step": 18340,
      "torque_loss": 0.20455080270767212
    },
    {
      "epoch": 16.50179856115108,
      "grad_norm": 0.30509334802627563,
      "learning_rate": 8.315026164804007e-05,
      "loss": 0.0992,
      "step": 18350
    },
    {
      "action_loss": 0.005815593991428614,
      "epoch": 16.50179856115108,
      "step": 18350
    },
    {
      "epoch": 16.50179856115108,
      "step": 18350,
      "torque_loss": 0.09625547379255295
    },
    {
      "epoch": 16.510791366906474,
      "grad_norm": 0.33830979466438293,
      "learning_rate": 8.312962641544524e-05,
      "loss": 0.0977,
      "step": 18360
    },
    {
      "action_loss": 0.003334297798573971,
      "epoch": 16.510791366906474,
      "step": 18360
    },
    {
      "epoch": 16.510791366906474,
      "step": 18360,
      "torque_loss": 0.08579891920089722
    },
    {
      "epoch": 16.519784172661872,
      "grad_norm": 0.425844669342041,
      "learning_rate": 8.310898111894465e-05,
      "loss": 0.0872,
      "step": 18370
    },
    {
      "action_loss": 0.00670865410938859,
      "epoch": 16.519784172661872,
      "step": 18370
    },
    {
      "epoch": 16.519784172661872,
      "step": 18370,
      "torque_loss": 0.10543593764305115
    },
    {
      "epoch": 16.528776978417266,
      "grad_norm": 0.34772956371307373,
      "learning_rate": 8.308832576480977e-05,
      "loss": 0.0903,
      "step": 18380
    },
    {
      "action_loss": 0.007042527198791504,
      "epoch": 16.528776978417266,
      "step": 18380
    },
    {
      "epoch": 16.528776978417266,
      "step": 18380,
      "torque_loss": 0.11555717140436172
    },
    {
      "epoch": 16.53776978417266,
      "grad_norm": 0.3532050549983978,
      "learning_rate": 8.306766035931519e-05,
      "loss": 0.1048,
      "step": 18390
    },
    {
      "action_loss": 0.00897221639752388,
      "epoch": 16.53776978417266,
      "step": 18390
    },
    {
      "epoch": 16.53776978417266,
      "step": 18390,
      "torque_loss": 0.1686885505914688
    },
    {
      "epoch": 16.546762589928058,
      "grad_norm": 0.4252741038799286,
      "learning_rate": 8.304698490873847e-05,
      "loss": 0.0943,
      "step": 18400
    },
    {
      "action_loss": 0.005200957413762808,
      "epoch": 16.546762589928058,
      "step": 18400
    },
    {
      "epoch": 16.546762589928058,
      "step": 18400,
      "torque_loss": 0.0907365083694458
    },
    {
      "epoch": 16.555755395683452,
      "grad_norm": 0.33171865344047546,
      "learning_rate": 8.30262994193603e-05,
      "loss": 0.0968,
      "step": 18410
    },
    {
      "action_loss": 0.004447434563189745,
      "epoch": 16.555755395683452,
      "step": 18410
    },
    {
      "epoch": 16.555755395683452,
      "step": 18410,
      "torque_loss": 0.13956685364246368
    },
    {
      "epoch": 16.56474820143885,
      "grad_norm": 0.3467333912849426,
      "learning_rate": 8.300560389746438e-05,
      "loss": 0.0906,
      "step": 18420
    },
    {
      "action_loss": 0.015668241307139397,
      "epoch": 16.56474820143885,
      "step": 18420
    },
    {
      "epoch": 16.56474820143885,
      "step": 18420,
      "torque_loss": 0.19594687223434448
    },
    {
      "epoch": 16.573741007194243,
      "grad_norm": 0.46040078997612,
      "learning_rate": 8.298489834933745e-05,
      "loss": 0.102,
      "step": 18430
    },
    {
      "action_loss": 0.004506120458245277,
      "epoch": 16.573741007194243,
      "step": 18430
    },
    {
      "epoch": 16.573741007194243,
      "step": 18430,
      "torque_loss": 0.09221047908067703
    },
    {
      "epoch": 16.58273381294964,
      "grad_norm": 0.34456774592399597,
      "learning_rate": 8.296418278126934e-05,
      "loss": 0.0988,
      "step": 18440
    },
    {
      "action_loss": 0.0071984268724918365,
      "epoch": 16.58273381294964,
      "step": 18440
    },
    {
      "epoch": 16.58273381294964,
      "step": 18440,
      "torque_loss": 0.13600188493728638
    },
    {
      "epoch": 16.591726618705035,
      "grad_norm": 0.2986716330051422,
      "learning_rate": 8.294345719955284e-05,
      "loss": 0.0962,
      "step": 18450
    },
    {
      "action_loss": 0.0055312588810920715,
      "epoch": 16.591726618705035,
      "step": 18450
    },
    {
      "epoch": 16.591726618705035,
      "step": 18450,
      "torque_loss": 0.1270781010389328
    },
    {
      "epoch": 16.600719424460433,
      "grad_norm": 0.3801255524158478,
      "learning_rate": 8.29227216104839e-05,
      "loss": 0.0965,
      "step": 18460
    },
    {
      "action_loss": 0.010921536944806576,
      "epoch": 16.600719424460433,
      "step": 18460
    },
    {
      "epoch": 16.600719424460433,
      "step": 18460,
      "torque_loss": 0.19370703399181366
    },
    {
      "epoch": 16.609712230215827,
      "grad_norm": 0.4008491337299347,
      "learning_rate": 8.290197602036137e-05,
      "loss": 0.1024,
      "step": 18470
    },
    {
      "action_loss": 0.007822037674486637,
      "epoch": 16.609712230215827,
      "step": 18470
    },
    {
      "epoch": 16.609712230215827,
      "step": 18470,
      "torque_loss": 0.11778231710195541
    },
    {
      "epoch": 16.618705035971225,
      "grad_norm": 0.31159844994544983,
      "learning_rate": 8.288122043548725e-05,
      "loss": 0.0822,
      "step": 18480
    },
    {
      "action_loss": 0.006014909595251083,
      "epoch": 16.618705035971225,
      "step": 18480
    },
    {
      "epoch": 16.618705035971225,
      "step": 18480,
      "torque_loss": 0.12912572920322418
    },
    {
      "epoch": 16.62769784172662,
      "grad_norm": 0.234540656208992,
      "learning_rate": 8.286045486216657e-05,
      "loss": 0.0933,
      "step": 18490
    },
    {
      "action_loss": 0.014295271597802639,
      "epoch": 16.62769784172662,
      "step": 18490
    },
    {
      "epoch": 16.62769784172662,
      "step": 18490,
      "torque_loss": 0.18494713306427002
    },
    {
      "epoch": 16.636690647482013,
      "grad_norm": 0.34871283173561096,
      "learning_rate": 8.283967930670733e-05,
      "loss": 0.0941,
      "step": 18500
    },
    {
      "action_loss": 0.00898340716958046,
      "epoch": 16.636690647482013,
      "step": 18500
    },
    {
      "epoch": 16.636690647482013,
      "step": 18500,
      "torque_loss": 0.15200906991958618
    },
    {
      "epoch": 16.64568345323741,
      "grad_norm": 0.4130002558231354,
      "learning_rate": 8.281889377542058e-05,
      "loss": 0.1002,
      "step": 18510
    },
    {
      "action_loss": 0.007858695462346077,
      "epoch": 16.64568345323741,
      "step": 18510
    },
    {
      "epoch": 16.64568345323741,
      "step": 18510,
      "torque_loss": 0.14184652268886566
    },
    {
      "epoch": 16.654676258992804,
      "grad_norm": 0.41759517788887024,
      "learning_rate": 8.279809827462045e-05,
      "loss": 0.0868,
      "step": 18520
    },
    {
      "action_loss": 0.010234705172479153,
      "epoch": 16.654676258992804,
      "step": 18520
    },
    {
      "epoch": 16.654676258992804,
      "step": 18520,
      "torque_loss": 0.17384056746959686
    },
    {
      "epoch": 16.663669064748202,
      "grad_norm": 0.3166186511516571,
      "learning_rate": 8.277729281062402e-05,
      "loss": 0.1014,
      "step": 18530
    },
    {
      "action_loss": 0.004880594555288553,
      "epoch": 16.663669064748202,
      "step": 18530
    },
    {
      "epoch": 16.663669064748202,
      "step": 18530,
      "torque_loss": 0.14734791219234467
    },
    {
      "epoch": 16.672661870503596,
      "grad_norm": 0.3302207589149475,
      "learning_rate": 8.27564773897515e-05,
      "loss": 0.0916,
      "step": 18540
    },
    {
      "action_loss": 0.004790575709193945,
      "epoch": 16.672661870503596,
      "step": 18540
    },
    {
      "epoch": 16.672661870503596,
      "step": 18540,
      "torque_loss": 0.11587313562631607
    },
    {
      "epoch": 16.681654676258994,
      "grad_norm": 0.2461133897304535,
      "learning_rate": 8.273565201832602e-05,
      "loss": 0.0812,
      "step": 18550
    },
    {
      "action_loss": 0.009799282997846603,
      "epoch": 16.681654676258994,
      "step": 18550
    },
    {
      "epoch": 16.681654676258994,
      "step": 18550,
      "torque_loss": 0.13032270967960358
    },
    {
      "epoch": 16.690647482014388,
      "grad_norm": 0.29925569891929626,
      "learning_rate": 8.27148167026738e-05,
      "loss": 0.0847,
      "step": 18560
    },
    {
      "action_loss": 0.011447593569755554,
      "epoch": 16.690647482014388,
      "step": 18560
    },
    {
      "epoch": 16.690647482014388,
      "step": 18560,
      "torque_loss": 0.1553230732679367
    },
    {
      "epoch": 16.699640287769785,
      "grad_norm": 0.36445438861846924,
      "learning_rate": 8.269397144912405e-05,
      "loss": 0.082,
      "step": 18570
    },
    {
      "action_loss": 0.005456476006656885,
      "epoch": 16.699640287769785,
      "step": 18570
    },
    {
      "epoch": 16.699640287769785,
      "step": 18570,
      "torque_loss": 0.11568126082420349
    },
    {
      "epoch": 16.70863309352518,
      "grad_norm": 0.28724509477615356,
      "learning_rate": 8.267311626400899e-05,
      "loss": 0.0807,
      "step": 18580
    },
    {
      "action_loss": 0.010664845816791058,
      "epoch": 16.70863309352518,
      "step": 18580
    },
    {
      "epoch": 16.70863309352518,
      "step": 18580,
      "torque_loss": 0.09187781810760498
    },
    {
      "epoch": 16.717625899280577,
      "grad_norm": 0.46913978457450867,
      "learning_rate": 8.26522511536639e-05,
      "loss": 0.0951,
      "step": 18590
    },
    {
      "action_loss": 0.008519861847162247,
      "epoch": 16.717625899280577,
      "step": 18590
    },
    {
      "epoch": 16.717625899280577,
      "step": 18590,
      "torque_loss": 0.14667509496212006
    },
    {
      "epoch": 16.72661870503597,
      "grad_norm": 0.40362244844436646,
      "learning_rate": 8.263137612442706e-05,
      "loss": 0.0964,
      "step": 18600
    },
    {
      "action_loss": 0.003460899693891406,
      "epoch": 16.72661870503597,
      "step": 18600
    },
    {
      "epoch": 16.72661870503597,
      "step": 18600,
      "torque_loss": 0.11092972755432129
    },
    {
      "epoch": 16.735611510791365,
      "grad_norm": 0.43755078315734863,
      "learning_rate": 8.261049118263971e-05,
      "loss": 0.0906,
      "step": 18610
    },
    {
      "action_loss": 0.009538741782307625,
      "epoch": 16.735611510791365,
      "step": 18610
    },
    {
      "epoch": 16.735611510791365,
      "step": 18610,
      "torque_loss": 0.11047714203596115
    },
    {
      "epoch": 16.744604316546763,
      "grad_norm": 0.36895620822906494,
      "learning_rate": 8.258959633464619e-05,
      "loss": 0.093,
      "step": 18620
    },
    {
      "action_loss": 0.009296000935137272,
      "epoch": 16.744604316546763,
      "step": 18620
    },
    {
      "epoch": 16.744604316546763,
      "step": 18620,
      "torque_loss": 0.19096462428569794
    },
    {
      "epoch": 16.753597122302157,
      "grad_norm": 0.2758145034313202,
      "learning_rate": 8.256869158679377e-05,
      "loss": 0.0879,
      "step": 18630
    },
    {
      "action_loss": 0.014257240109145641,
      "epoch": 16.753597122302157,
      "step": 18630
    },
    {
      "epoch": 16.753597122302157,
      "step": 18630,
      "torque_loss": 0.1958245486021042
    },
    {
      "epoch": 16.762589928057555,
      "grad_norm": 0.3109160363674164,
      "learning_rate": 8.254777694543278e-05,
      "loss": 0.0998,
      "step": 18640
    },
    {
      "action_loss": 0.00482841394841671,
      "epoch": 16.762589928057555,
      "step": 18640
    },
    {
      "epoch": 16.762589928057555,
      "step": 18640,
      "torque_loss": 0.10115063190460205
    },
    {
      "epoch": 16.77158273381295,
      "grad_norm": 0.27707919478416443,
      "learning_rate": 8.252685241691651e-05,
      "loss": 0.095,
      "step": 18650
    },
    {
      "action_loss": 0.014678028412163258,
      "epoch": 16.77158273381295,
      "step": 18650
    },
    {
      "epoch": 16.77158273381295,
      "step": 18650,
      "torque_loss": 0.21142391860485077
    },
    {
      "epoch": 16.780575539568346,
      "grad_norm": 0.33761194348335266,
      "learning_rate": 8.250591800760133e-05,
      "loss": 0.1069,
      "step": 18660
    },
    {
      "action_loss": 0.006213450338691473,
      "epoch": 16.780575539568346,
      "step": 18660
    },
    {
      "epoch": 16.780575539568346,
      "step": 18660,
      "torque_loss": 0.15897031128406525
    },
    {
      "epoch": 16.78956834532374,
      "grad_norm": 0.3522542119026184,
      "learning_rate": 8.248497372384649e-05,
      "loss": 0.1002,
      "step": 18670
    },
    {
      "action_loss": 0.006999319419264793,
      "epoch": 16.78956834532374,
      "step": 18670
    },
    {
      "epoch": 16.78956834532374,
      "step": 18670,
      "torque_loss": 0.1309279054403305
    },
    {
      "epoch": 16.798561151079138,
      "grad_norm": 0.4184950292110443,
      "learning_rate": 8.246401957201437e-05,
      "loss": 0.0972,
      "step": 18680
    },
    {
      "action_loss": 0.008166112005710602,
      "epoch": 16.798561151079138,
      "step": 18680
    },
    {
      "epoch": 16.798561151079138,
      "step": 18680,
      "torque_loss": 0.15280510485172272
    },
    {
      "epoch": 16.807553956834532,
      "grad_norm": 0.3229549527168274,
      "learning_rate": 8.244305555847027e-05,
      "loss": 0.0907,
      "step": 18690
    },
    {
      "action_loss": 0.007556163240224123,
      "epoch": 16.807553956834532,
      "step": 18690
    },
    {
      "epoch": 16.807553956834532,
      "step": 18690,
      "torque_loss": 0.13939477503299713
    },
    {
      "epoch": 16.81654676258993,
      "grad_norm": 0.296256959438324,
      "learning_rate": 8.24220816895825e-05,
      "loss": 0.0844,
      "step": 18700
    },
    {
      "action_loss": 0.006434418261051178,
      "epoch": 16.81654676258993,
      "step": 18700
    },
    {
      "epoch": 16.81654676258993,
      "step": 18700,
      "torque_loss": 0.15063829720020294
    },
    {
      "epoch": 16.825539568345324,
      "grad_norm": 0.37369829416275024,
      "learning_rate": 8.240109797172237e-05,
      "loss": 0.102,
      "step": 18710
    },
    {
      "action_loss": 0.005189812276512384,
      "epoch": 16.825539568345324,
      "step": 18710
    },
    {
      "epoch": 16.825539568345324,
      "step": 18710,
      "torque_loss": 0.11415234953165054
    },
    {
      "epoch": 16.834532374100718,
      "grad_norm": 0.3405546545982361,
      "learning_rate": 8.238010441126416e-05,
      "loss": 0.1008,
      "step": 18720
    },
    {
      "action_loss": 0.015767572447657585,
      "epoch": 16.834532374100718,
      "step": 18720
    },
    {
      "epoch": 16.834532374100718,
      "step": 18720,
      "torque_loss": 0.20705978572368622
    },
    {
      "epoch": 16.843525179856115,
      "grad_norm": 0.33144518733024597,
      "learning_rate": 8.23591010145852e-05,
      "loss": 0.1052,
      "step": 18730
    },
    {
      "action_loss": 0.03451564908027649,
      "epoch": 16.843525179856115,
      "step": 18730
    },
    {
      "epoch": 16.843525179856115,
      "step": 18730,
      "torque_loss": 0.15612094104290009
    },
    {
      "epoch": 16.85251798561151,
      "grad_norm": 0.3603058159351349,
      "learning_rate": 8.233808778806571e-05,
      "loss": 0.0951,
      "step": 18740
    },
    {
      "action_loss": 0.006733340676873922,
      "epoch": 16.85251798561151,
      "step": 18740
    },
    {
      "epoch": 16.85251798561151,
      "step": 18740,
      "torque_loss": 0.14669476449489594
    },
    {
      "epoch": 16.861510791366907,
      "grad_norm": 0.3574373722076416,
      "learning_rate": 8.231706473808903e-05,
      "loss": 0.0956,
      "step": 18750
    },
    {
      "action_loss": 0.010843485593795776,
      "epoch": 16.861510791366907,
      "step": 18750
    },
    {
      "epoch": 16.861510791366907,
      "step": 18750,
      "torque_loss": 0.17918598651885986
    },
    {
      "epoch": 16.8705035971223,
      "grad_norm": 0.3176102042198181,
      "learning_rate": 8.229603187104133e-05,
      "loss": 0.1073,
      "step": 18760
    },
    {
      "action_loss": 0.006287971045821905,
      "epoch": 16.8705035971223,
      "step": 18760
    },
    {
      "epoch": 16.8705035971223,
      "step": 18760,
      "torque_loss": 0.0916064977645874
    },
    {
      "epoch": 16.8794964028777,
      "grad_norm": 0.439521849155426,
      "learning_rate": 8.22749891933119e-05,
      "loss": 0.099,
      "step": 18770
    },
    {
      "action_loss": 0.015393898822367191,
      "epoch": 16.8794964028777,
      "step": 18770
    },
    {
      "epoch": 16.8794964028777,
      "step": 18770,
      "torque_loss": 0.252413272857666
    },
    {
      "epoch": 16.888489208633093,
      "grad_norm": 0.4236300587654114,
      "learning_rate": 8.225393671129291e-05,
      "loss": 0.1018,
      "step": 18780
    },
    {
      "action_loss": 0.008082159794867039,
      "epoch": 16.888489208633093,
      "step": 18780
    },
    {
      "epoch": 16.888489208633093,
      "step": 18780,
      "torque_loss": 0.11927703768014908
    },
    {
      "epoch": 16.89748201438849,
      "grad_norm": 0.3892172873020172,
      "learning_rate": 8.223287443137957e-05,
      "loss": 0.0829,
      "step": 18790
    },
    {
      "action_loss": 0.005000781733542681,
      "epoch": 16.89748201438849,
      "step": 18790
    },
    {
      "epoch": 16.89748201438849,
      "step": 18790,
      "torque_loss": 0.10630923509597778
    },
    {
      "epoch": 16.906474820143885,
      "grad_norm": 0.340038001537323,
      "learning_rate": 8.221180235997004e-05,
      "loss": 0.0931,
      "step": 18800
    },
    {
      "action_loss": 0.0033716540783643723,
      "epoch": 16.906474820143885,
      "step": 18800
    },
    {
      "epoch": 16.906474820143885,
      "step": 18800,
      "torque_loss": 0.05509871616959572
    },
    {
      "epoch": 16.915467625899282,
      "grad_norm": 0.3372569978237152,
      "learning_rate": 8.219072050346544e-05,
      "loss": 0.0913,
      "step": 18810
    },
    {
      "action_loss": 0.01040157675743103,
      "epoch": 16.915467625899282,
      "step": 18810
    },
    {
      "epoch": 16.915467625899282,
      "step": 18810,
      "torque_loss": 0.12407534569501877
    },
    {
      "epoch": 16.924460431654676,
      "grad_norm": 0.3305010497570038,
      "learning_rate": 8.216962886826992e-05,
      "loss": 0.0895,
      "step": 18820
    },
    {
      "action_loss": 0.004118137992918491,
      "epoch": 16.924460431654676,
      "step": 18820
    },
    {
      "epoch": 16.924460431654676,
      "step": 18820,
      "torque_loss": 0.11785832792520523
    },
    {
      "epoch": 16.93345323741007,
      "grad_norm": 0.3817189335823059,
      "learning_rate": 8.214852746079054e-05,
      "loss": 0.0974,
      "step": 18830
    },
    {
      "action_loss": 0.003903757780790329,
      "epoch": 16.93345323741007,
      "step": 18830
    },
    {
      "epoch": 16.93345323741007,
      "step": 18830,
      "torque_loss": 0.14939971268177032
    },
    {
      "epoch": 16.942446043165468,
      "grad_norm": 0.3547206223011017,
      "learning_rate": 8.212741628743732e-05,
      "loss": 0.0875,
      "step": 18840
    },
    {
      "action_loss": 0.008934331126511097,
      "epoch": 16.942446043165468,
      "step": 18840
    },
    {
      "epoch": 16.942446043165468,
      "step": 18840,
      "torque_loss": 0.1326170265674591
    },
    {
      "epoch": 16.951438848920862,
      "grad_norm": 0.319401353597641,
      "learning_rate": 8.210629535462333e-05,
      "loss": 0.091,
      "step": 18850
    },
    {
      "action_loss": 0.010687566362321377,
      "epoch": 16.951438848920862,
      "step": 18850
    },
    {
      "epoch": 16.951438848920862,
      "step": 18850,
      "torque_loss": 0.09488046169281006
    },
    {
      "epoch": 16.96043165467626,
      "grad_norm": 0.3314138650894165,
      "learning_rate": 8.208516466876453e-05,
      "loss": 0.0911,
      "step": 18860
    },
    {
      "action_loss": 0.004067303147166967,
      "epoch": 16.96043165467626,
      "step": 18860
    },
    {
      "epoch": 16.96043165467626,
      "step": 18860,
      "torque_loss": 0.0831926092505455
    },
    {
      "epoch": 16.969424460431654,
      "grad_norm": 0.2941673696041107,
      "learning_rate": 8.206402423627986e-05,
      "loss": 0.0837,
      "step": 18870
    },
    {
      "action_loss": 0.013721436262130737,
      "epoch": 16.969424460431654,
      "step": 18870
    },
    {
      "epoch": 16.969424460431654,
      "step": 18870,
      "torque_loss": 0.17169417440891266
    },
    {
      "epoch": 16.97841726618705,
      "grad_norm": 0.3842267692089081,
      "learning_rate": 8.204287406359124e-05,
      "loss": 0.1179,
      "step": 18880
    },
    {
      "action_loss": 0.0098015321418643,
      "epoch": 16.97841726618705,
      "step": 18880
    },
    {
      "epoch": 16.97841726618705,
      "step": 18880,
      "torque_loss": 0.15388783812522888
    },
    {
      "epoch": 16.987410071942445,
      "grad_norm": 0.35111624002456665,
      "learning_rate": 8.20217141571235e-05,
      "loss": 0.0997,
      "step": 18890
    },
    {
      "action_loss": 0.003134012222290039,
      "epoch": 16.987410071942445,
      "step": 18890
    },
    {
      "epoch": 16.987410071942445,
      "step": 18890,
      "torque_loss": 0.09352785348892212
    },
    {
      "epoch": 16.996402877697843,
      "grad_norm": 0.3305180072784424,
      "learning_rate": 8.200054452330449e-05,
      "loss": 0.077,
      "step": 18900
    },
    {
      "action_loss": 0.0024418910034000874,
      "epoch": 16.996402877697843,
      "step": 18900
    },
    {
      "epoch": 16.996402877697843,
      "step": 18900,
      "torque_loss": 0.09824473410844803
    },
    {
      "epoch": 17.005395683453237,
      "grad_norm": 0.2825358808040619,
      "learning_rate": 8.197936516856499e-05,
      "loss": 0.0932,
      "step": 18910
    },
    {
      "action_loss": 0.009925737977027893,
      "epoch": 17.005395683453237,
      "step": 18910
    },
    {
      "epoch": 17.005395683453237,
      "step": 18910,
      "torque_loss": 0.1616065353155136
    },
    {
      "epoch": 17.014388489208635,
      "grad_norm": 0.3635106682777405,
      "learning_rate": 8.195817609933871e-05,
      "loss": 0.102,
      "step": 18920
    },
    {
      "action_loss": 0.012480598874390125,
      "epoch": 17.014388489208635,
      "step": 18920
    },
    {
      "epoch": 17.014388489208635,
      "step": 18920,
      "torque_loss": 0.14820611476898193
    },
    {
      "epoch": 17.02338129496403,
      "grad_norm": 0.26082003116607666,
      "learning_rate": 8.193697732206233e-05,
      "loss": 0.0922,
      "step": 18930
    },
    {
      "action_loss": 0.008543327450752258,
      "epoch": 17.02338129496403,
      "step": 18930
    },
    {
      "epoch": 17.02338129496403,
      "step": 18930,
      "torque_loss": 0.1328575164079666
    },
    {
      "epoch": 17.032374100719423,
      "grad_norm": 0.35608598589897156,
      "learning_rate": 8.19157688431755e-05,
      "loss": 0.098,
      "step": 18940
    },
    {
      "action_loss": 0.00532124936580658,
      "epoch": 17.032374100719423,
      "step": 18940
    },
    {
      "epoch": 17.032374100719423,
      "step": 18940,
      "torque_loss": 0.12249457091093063
    },
    {
      "epoch": 17.04136690647482,
      "grad_norm": 0.4343336820602417,
      "learning_rate": 8.189455066912077e-05,
      "loss": 0.0857,
      "step": 18950
    },
    {
      "action_loss": 0.008134562522172928,
      "epoch": 17.04136690647482,
      "step": 18950
    },
    {
      "epoch": 17.04136690647482,
      "step": 18950,
      "torque_loss": 0.11734088510274887
    },
    {
      "epoch": 17.050359712230215,
      "grad_norm": 0.31979554891586304,
      "learning_rate": 8.187332280634369e-05,
      "loss": 0.0954,
      "step": 18960
    },
    {
      "action_loss": 0.009659177623689175,
      "epoch": 17.050359712230215,
      "step": 18960
    },
    {
      "epoch": 17.050359712230215,
      "step": 18960,
      "torque_loss": 0.11195734888315201
    },
    {
      "epoch": 17.059352517985612,
      "grad_norm": 0.39833128452301025,
      "learning_rate": 8.18520852612927e-05,
      "loss": 0.1001,
      "step": 18970
    },
    {
      "action_loss": 0.008087622001767159,
      "epoch": 17.059352517985612,
      "step": 18970
    },
    {
      "epoch": 17.059352517985612,
      "step": 18970,
      "torque_loss": 0.12929822504520416
    },
    {
      "epoch": 17.068345323741006,
      "grad_norm": 0.30946075916290283,
      "learning_rate": 8.183083804041921e-05,
      "loss": 0.1081,
      "step": 18980
    },
    {
      "action_loss": 0.009280961006879807,
      "epoch": 17.068345323741006,
      "step": 18980
    },
    {
      "epoch": 17.068345323741006,
      "step": 18980,
      "torque_loss": 0.19781391322612762
    },
    {
      "epoch": 17.077338129496404,
      "grad_norm": 0.39323943853378296,
      "learning_rate": 8.180958115017757e-05,
      "loss": 0.0859,
      "step": 18990
    },
    {
      "action_loss": 0.0039904131554067135,
      "epoch": 17.077338129496404,
      "step": 18990
    },
    {
      "epoch": 17.077338129496404,
      "step": 18990,
      "torque_loss": 0.0768595039844513
    },
    {
      "epoch": 17.086330935251798,
      "grad_norm": 0.3982807397842407,
      "learning_rate": 8.178831459702505e-05,
      "loss": 0.1072,
      "step": 19000
    },
    {
      "action_loss": 0.00721932714805007,
      "epoch": 17.086330935251798,
      "step": 19000
    },
    {
      "epoch": 17.086330935251798,
      "step": 19000,
      "torque_loss": 0.14499418437480927
    },
    {
      "epoch": 17.095323741007196,
      "grad_norm": 0.45353373885154724,
      "learning_rate": 8.17670383874219e-05,
      "loss": 0.0913,
      "step": 19010
    },
    {
      "action_loss": 0.01701483130455017,
      "epoch": 17.095323741007196,
      "step": 19010
    },
    {
      "epoch": 17.095323741007196,
      "step": 19010,
      "torque_loss": 0.20476467907428741
    },
    {
      "epoch": 17.10431654676259,
      "grad_norm": 0.32641175389289856,
      "learning_rate": 8.174575252783124e-05,
      "loss": 0.0879,
      "step": 19020
    },
    {
      "action_loss": 0.038752008229494095,
      "epoch": 17.10431654676259,
      "step": 19020
    },
    {
      "epoch": 17.10431654676259,
      "step": 19020,
      "torque_loss": 0.24787098169326782
    },
    {
      "epoch": 17.113309352517987,
      "grad_norm": 0.37105593085289,
      "learning_rate": 8.172445702471914e-05,
      "loss": 0.106,
      "step": 19030
    },
    {
      "action_loss": 0.005097861867398024,
      "epoch": 17.113309352517987,
      "step": 19030
    },
    {
      "epoch": 17.113309352517987,
      "step": 19030,
      "torque_loss": 0.1478923112154007
    },
    {
      "epoch": 17.12230215827338,
      "grad_norm": 0.3860788643360138,
      "learning_rate": 8.170315188455466e-05,
      "loss": 0.0972,
      "step": 19040
    },
    {
      "action_loss": 0.006444490049034357,
      "epoch": 17.12230215827338,
      "step": 19040
    },
    {
      "epoch": 17.12230215827338,
      "step": 19040,
      "torque_loss": 0.11119109392166138
    },
    {
      "epoch": 17.131294964028775,
      "grad_norm": 0.3699122369289398,
      "learning_rate": 8.168183711380969e-05,
      "loss": 0.098,
      "step": 19050
    },
    {
      "action_loss": 0.010361974127590656,
      "epoch": 17.131294964028775,
      "step": 19050
    },
    {
      "epoch": 17.131294964028775,
      "step": 19050,
      "torque_loss": 0.14954866468906403
    },
    {
      "epoch": 17.140287769784173,
      "grad_norm": 0.39349180459976196,
      "learning_rate": 8.166051271895913e-05,
      "loss": 0.0993,
      "step": 19060
    },
    {
      "action_loss": 0.007250263821333647,
      "epoch": 17.140287769784173,
      "step": 19060
    },
    {
      "epoch": 17.140287769784173,
      "step": 19060,
      "torque_loss": 0.1274334043264389
    },
    {
      "epoch": 17.149280575539567,
      "grad_norm": 0.4296318292617798,
      "learning_rate": 8.163917870648075e-05,
      "loss": 0.1075,
      "step": 19070
    },
    {
      "action_loss": 0.005838725250214338,
      "epoch": 17.149280575539567,
      "step": 19070
    },
    {
      "epoch": 17.149280575539567,
      "step": 19070,
      "torque_loss": 0.09756787866353989
    },
    {
      "epoch": 17.158273381294965,
      "grad_norm": 0.4198109209537506,
      "learning_rate": 8.161783508285526e-05,
      "loss": 0.0883,
      "step": 19080
    },
    {
      "action_loss": 0.02141609601676464,
      "epoch": 17.158273381294965,
      "step": 19080
    },
    {
      "epoch": 17.158273381294965,
      "step": 19080,
      "torque_loss": 0.22172194719314575
    },
    {
      "epoch": 17.16726618705036,
      "grad_norm": 0.296267032623291,
      "learning_rate": 8.159648185456628e-05,
      "loss": 0.0982,
      "step": 19090
    },
    {
      "action_loss": 0.005052533000707626,
      "epoch": 17.16726618705036,
      "step": 19090
    },
    {
      "epoch": 17.16726618705036,
      "step": 19090,
      "torque_loss": 0.07580769807100296
    },
    {
      "epoch": 17.176258992805757,
      "grad_norm": 0.3629342317581177,
      "learning_rate": 8.157511902810038e-05,
      "loss": 0.0945,
      "step": 19100
    },
    {
      "action_loss": 0.010574179701507092,
      "epoch": 17.176258992805757,
      "step": 19100
    },
    {
      "epoch": 17.176258992805757,
      "step": 19100,
      "torque_loss": 0.14412136375904083
    },
    {
      "epoch": 17.18525179856115,
      "grad_norm": 0.4530353546142578,
      "learning_rate": 8.155374660994701e-05,
      "loss": 0.0932,
      "step": 19110
    },
    {
      "action_loss": 0.0046335854567587376,
      "epoch": 17.18525179856115,
      "step": 19110
    },
    {
      "epoch": 17.18525179856115,
      "step": 19110,
      "torque_loss": 0.14515122771263123
    },
    {
      "epoch": 17.194244604316548,
      "grad_norm": 0.3449672758579254,
      "learning_rate": 8.153236460659857e-05,
      "loss": 0.105,
      "step": 19120
    },
    {
      "action_loss": 0.023761719465255737,
      "epoch": 17.194244604316548,
      "step": 19120
    },
    {
      "epoch": 17.194244604316548,
      "step": 19120,
      "torque_loss": 0.19460546970367432
    },
    {
      "epoch": 17.203237410071942,
      "grad_norm": 0.32235172390937805,
      "learning_rate": 8.151097302455031e-05,
      "loss": 0.0905,
      "step": 19130
    },
    {
      "action_loss": 0.007760549429804087,
      "epoch": 17.203237410071942,
      "step": 19130
    },
    {
      "epoch": 17.203237410071942,
      "step": 19130,
      "torque_loss": 0.1402585357427597
    },
    {
      "epoch": 17.21223021582734,
      "grad_norm": 0.3863418400287628,
      "learning_rate": 8.148957187030044e-05,
      "loss": 0.1036,
      "step": 19140
    },
    {
      "action_loss": 0.0036656877491623163,
      "epoch": 17.21223021582734,
      "step": 19140
    },
    {
      "epoch": 17.21223021582734,
      "step": 19140,
      "torque_loss": 0.12575273215770721
    },
    {
      "epoch": 17.221223021582734,
      "grad_norm": 0.30928680300712585,
      "learning_rate": 8.146816115035006e-05,
      "loss": 0.092,
      "step": 19150
    },
    {
      "action_loss": 0.0028117650654166937,
      "epoch": 17.221223021582734,
      "step": 19150
    },
    {
      "epoch": 17.221223021582734,
      "step": 19150,
      "torque_loss": 0.06491108983755112
    },
    {
      "epoch": 17.230215827338128,
      "grad_norm": 0.35452407598495483,
      "learning_rate": 8.14467408712032e-05,
      "loss": 0.0979,
      "step": 19160
    },
    {
      "action_loss": 0.0037307133898139,
      "epoch": 17.230215827338128,
      "step": 19160
    },
    {
      "epoch": 17.230215827338128,
      "step": 19160,
      "torque_loss": 0.08371420949697495
    },
    {
      "epoch": 17.239208633093526,
      "grad_norm": 0.36187756061553955,
      "learning_rate": 8.142531103936678e-05,
      "loss": 0.0917,
      "step": 19170
    },
    {
      "action_loss": 0.00428331783041358,
      "epoch": 17.239208633093526,
      "step": 19170
    },
    {
      "epoch": 17.239208633093526,
      "step": 19170,
      "torque_loss": 0.08557287603616714
    },
    {
      "epoch": 17.24820143884892,
      "grad_norm": 0.28787821531295776,
      "learning_rate": 8.14038716613506e-05,
      "loss": 0.0647,
      "step": 19180
    },
    {
      "action_loss": 0.017450764775276184,
      "epoch": 17.24820143884892,
      "step": 19180
    },
    {
      "epoch": 17.24820143884892,
      "step": 19180,
      "torque_loss": 0.2421012669801712
    },
    {
      "epoch": 17.257194244604317,
      "grad_norm": 0.31794819235801697,
      "learning_rate": 8.138242274366736e-05,
      "loss": 0.0881,
      "step": 19190
    },
    {
      "action_loss": 0.004411648027598858,
      "epoch": 17.257194244604317,
      "step": 19190
    },
    {
      "epoch": 17.257194244604317,
      "step": 19190,
      "torque_loss": 0.13096360862255096
    },
    {
      "epoch": 17.26618705035971,
      "grad_norm": 0.33117401599884033,
      "learning_rate": 8.136096429283271e-05,
      "loss": 0.102,
      "step": 19200
    },
    {
      "action_loss": 0.008100184611976147,
      "epoch": 17.26618705035971,
      "step": 19200
    },
    {
      "epoch": 17.26618705035971,
      "step": 19200,
      "torque_loss": 0.1389503926038742
    },
    {
      "epoch": 17.27517985611511,
      "grad_norm": 0.4077320992946625,
      "learning_rate": 8.133949631536515e-05,
      "loss": 0.0997,
      "step": 19210
    },
    {
      "action_loss": 0.008981036953628063,
      "epoch": 17.27517985611511,
      "step": 19210
    },
    {
      "epoch": 17.27517985611511,
      "step": 19210,
      "torque_loss": 0.14940054714679718
    },
    {
      "epoch": 17.284172661870503,
      "grad_norm": 0.3168950378894806,
      "learning_rate": 8.131801881778607e-05,
      "loss": 0.1004,
      "step": 19220
    },
    {
      "action_loss": 0.00778372585773468,
      "epoch": 17.284172661870503,
      "step": 19220
    },
    {
      "epoch": 17.284172661870503,
      "step": 19220,
      "torque_loss": 0.10742604732513428
    },
    {
      "epoch": 17.2931654676259,
      "grad_norm": 0.3001580536365509,
      "learning_rate": 8.129653180661978e-05,
      "loss": 0.0937,
      "step": 19230
    },
    {
      "action_loss": 0.004914729855954647,
      "epoch": 17.2931654676259,
      "step": 19230
    },
    {
      "epoch": 17.2931654676259,
      "step": 19230,
      "torque_loss": 0.13700954616069794
    },
    {
      "epoch": 17.302158273381295,
      "grad_norm": 0.33876773715019226,
      "learning_rate": 8.127503528839346e-05,
      "loss": 0.1053,
      "step": 19240
    },
    {
      "action_loss": 0.015248182229697704,
      "epoch": 17.302158273381295,
      "step": 19240
    },
    {
      "epoch": 17.302158273381295,
      "step": 19240,
      "torque_loss": 0.19749273359775543
    },
    {
      "epoch": 17.31115107913669,
      "grad_norm": 0.4028593897819519,
      "learning_rate": 8.125352926963721e-05,
      "loss": 0.1081,
      "step": 19250
    },
    {
      "action_loss": 0.0039922562427818775,
      "epoch": 17.31115107913669,
      "step": 19250
    },
    {
      "epoch": 17.31115107913669,
      "step": 19250,
      "torque_loss": 0.08837287873029709
    },
    {
      "epoch": 17.320143884892087,
      "grad_norm": 0.45216435194015503,
      "learning_rate": 8.123201375688395e-05,
      "loss": 0.0892,
      "step": 19260
    },
    {
      "action_loss": 0.0033645706716924906,
      "epoch": 17.320143884892087,
      "step": 19260
    },
    {
      "epoch": 17.320143884892087,
      "step": 19260,
      "torque_loss": 0.10888403654098511
    },
    {
      "epoch": 17.32913669064748,
      "grad_norm": 0.3565727770328522,
      "learning_rate": 8.121048875666954e-05,
      "loss": 0.095,
      "step": 19270
    },
    {
      "action_loss": 0.005164742935448885,
      "epoch": 17.32913669064748,
      "step": 19270
    },
    {
      "epoch": 17.32913669064748,
      "step": 19270,
      "torque_loss": 0.13879333436489105
    },
    {
      "epoch": 17.33812949640288,
      "grad_norm": 0.31203195452690125,
      "learning_rate": 8.118895427553274e-05,
      "loss": 0.0801,
      "step": 19280
    },
    {
      "action_loss": 0.01104032713919878,
      "epoch": 17.33812949640288,
      "step": 19280
    },
    {
      "epoch": 17.33812949640288,
      "step": 19280,
      "torque_loss": 0.11941608041524887
    },
    {
      "epoch": 17.347122302158272,
      "grad_norm": 0.38015633821487427,
      "learning_rate": 8.116741032001511e-05,
      "loss": 0.1022,
      "step": 19290
    },
    {
      "action_loss": 0.008909923024475574,
      "epoch": 17.347122302158272,
      "step": 19290
    },
    {
      "epoch": 17.347122302158272,
      "step": 19290,
      "torque_loss": 0.12400727719068527
    },
    {
      "epoch": 17.35611510791367,
      "grad_norm": 0.32001057267189026,
      "learning_rate": 8.114585689666114e-05,
      "loss": 0.0879,
      "step": 19300
    },
    {
      "action_loss": 0.004736791364848614,
      "epoch": 17.35611510791367,
      "step": 19300
    },
    {
      "epoch": 17.35611510791367,
      "step": 19300,
      "torque_loss": 0.08458065986633301
    },
    {
      "epoch": 17.365107913669064,
      "grad_norm": 0.3006833791732788,
      "learning_rate": 8.112429401201821e-05,
      "loss": 0.0857,
      "step": 19310
    },
    {
      "action_loss": 0.03200085461139679,
      "epoch": 17.365107913669064,
      "step": 19310
    },
    {
      "epoch": 17.365107913669064,
      "step": 19310,
      "torque_loss": 0.26087486743927
    },
    {
      "epoch": 17.37410071942446,
      "grad_norm": 0.36812180280685425,
      "learning_rate": 8.110272167263656e-05,
      "loss": 0.105,
      "step": 19320
    },
    {
      "action_loss": 0.008146815933287144,
      "epoch": 17.37410071942446,
      "step": 19320
    },
    {
      "epoch": 17.37410071942446,
      "step": 19320,
      "torque_loss": 0.16138313710689545
    },
    {
      "epoch": 17.383093525179856,
      "grad_norm": 0.27767565846443176,
      "learning_rate": 8.108113988506929e-05,
      "loss": 0.0879,
      "step": 19330
    },
    {
      "action_loss": 0.01588883250951767,
      "epoch": 17.383093525179856,
      "step": 19330
    },
    {
      "epoch": 17.383093525179856,
      "step": 19330,
      "torque_loss": 0.1684533953666687
    },
    {
      "epoch": 17.392086330935253,
      "grad_norm": 0.35842499136924744,
      "learning_rate": 8.105954865587235e-05,
      "loss": 0.0933,
      "step": 19340
    },
    {
      "action_loss": 0.005347853992134333,
      "epoch": 17.392086330935253,
      "step": 19340
    },
    {
      "epoch": 17.392086330935253,
      "step": 19340,
      "torque_loss": 0.09402661770582199
    },
    {
      "epoch": 17.401079136690647,
      "grad_norm": 0.37663042545318604,
      "learning_rate": 8.103794799160463e-05,
      "loss": 0.0903,
      "step": 19350
    },
    {
      "action_loss": 0.02841835282742977,
      "epoch": 17.401079136690647,
      "step": 19350
    },
    {
      "epoch": 17.401079136690647,
      "step": 19350,
      "torque_loss": 0.2448616474866867
    },
    {
      "epoch": 17.41007194244604,
      "grad_norm": 0.5058532953262329,
      "learning_rate": 8.101633789882781e-05,
      "loss": 0.1027,
      "step": 19360
    },
    {
      "action_loss": 0.0050969249568879604,
      "epoch": 17.41007194244604,
      "step": 19360
    },
    {
      "epoch": 17.41007194244604,
      "step": 19360,
      "torque_loss": 0.10723957419395447
    },
    {
      "epoch": 17.41906474820144,
      "grad_norm": 0.3994798958301544,
      "learning_rate": 8.099471838410648e-05,
      "loss": 0.0871,
      "step": 19370
    },
    {
      "action_loss": 0.002799062756821513,
      "epoch": 17.41906474820144,
      "step": 19370
    },
    {
      "epoch": 17.41906474820144,
      "step": 19370,
      "torque_loss": 0.09022355824708939
    },
    {
      "epoch": 17.428057553956833,
      "grad_norm": 0.344701886177063,
      "learning_rate": 8.097308945400806e-05,
      "loss": 0.0911,
      "step": 19380
    },
    {
      "action_loss": 0.003097306238487363,
      "epoch": 17.428057553956833,
      "step": 19380
    },
    {
      "epoch": 17.428057553956833,
      "step": 19380,
      "torque_loss": 0.08858552575111389
    },
    {
      "epoch": 17.43705035971223,
      "grad_norm": 0.3632790446281433,
      "learning_rate": 8.095145111510288e-05,
      "loss": 0.0887,
      "step": 19390
    },
    {
      "action_loss": 0.004692563321441412,
      "epoch": 17.43705035971223,
      "step": 19390
    },
    {
      "epoch": 17.43705035971223,
      "step": 19390,
      "torque_loss": 0.11175358295440674
    },
    {
      "epoch": 17.446043165467625,
      "grad_norm": 0.45264682173728943,
      "learning_rate": 8.092980337396406e-05,
      "loss": 0.085,
      "step": 19400
    },
    {
      "action_loss": 0.014703297056257725,
      "epoch": 17.446043165467625,
      "step": 19400
    },
    {
      "epoch": 17.446043165467625,
      "step": 19400,
      "torque_loss": 0.18337933719158173
    },
    {
      "epoch": 17.455035971223023,
      "grad_norm": 0.32375097274780273,
      "learning_rate": 8.090814623716763e-05,
      "loss": 0.0964,
      "step": 19410
    },
    {
      "action_loss": 0.0031058266758918762,
      "epoch": 17.455035971223023,
      "step": 19410
    },
    {
      "epoch": 17.455035971223023,
      "step": 19410,
      "torque_loss": 0.10386929661035538
    },
    {
      "epoch": 17.464028776978417,
      "grad_norm": 0.2983385920524597,
      "learning_rate": 8.088647971129246e-05,
      "loss": 0.1012,
      "step": 19420
    },
    {
      "action_loss": 0.05181391164660454,
      "epoch": 17.464028776978417,
      "step": 19420
    },
    {
      "epoch": 17.464028776978417,
      "step": 19420,
      "torque_loss": 0.24733968079090118
    },
    {
      "epoch": 17.473021582733814,
      "grad_norm": 0.3059326708316803,
      "learning_rate": 8.086480380292026e-05,
      "loss": 0.0947,
      "step": 19430
    },
    {
      "action_loss": 0.0024895821698009968,
      "epoch": 17.473021582733814,
      "step": 19430
    },
    {
      "epoch": 17.473021582733814,
      "step": 19430,
      "torque_loss": 0.04770945385098457
    },
    {
      "epoch": 17.48201438848921,
      "grad_norm": 0.4225446581840515,
      "learning_rate": 8.084311851863562e-05,
      "loss": 0.0904,
      "step": 19440
    },
    {
      "action_loss": 0.007490409072488546,
      "epoch": 17.48201438848921,
      "step": 19440
    },
    {
      "epoch": 17.48201438848921,
      "step": 19440,
      "torque_loss": 0.15935692191123962
    },
    {
      "epoch": 17.491007194244606,
      "grad_norm": 0.37716227769851685,
      "learning_rate": 8.082142386502591e-05,
      "loss": 0.0905,
      "step": 19450
    },
    {
      "action_loss": 0.014852289110422134,
      "epoch": 17.491007194244606,
      "step": 19450
    },
    {
      "epoch": 17.491007194244606,
      "step": 19450,
      "torque_loss": 0.1385631412267685
    },
    {
      "epoch": 17.5,
      "grad_norm": 0.38378190994262695,
      "learning_rate": 8.079971984868145e-05,
      "loss": 0.1062,
      "step": 19460
    },
    {
      "action_loss": 0.007559523452073336,
      "epoch": 17.5,
      "step": 19460
    },
    {
      "epoch": 17.5,
      "step": 19460,
      "torque_loss": 0.1939244419336319
    },
    {
      "epoch": 17.508992805755394,
      "grad_norm": 0.37430134415626526,
      "learning_rate": 8.077800647619532e-05,
      "loss": 0.1022,
      "step": 19470
    },
    {
      "action_loss": 0.004405904095619917,
      "epoch": 17.508992805755394,
      "step": 19470
    },
    {
      "epoch": 17.508992805755394,
      "step": 19470,
      "torque_loss": 0.1598258912563324
    },
    {
      "epoch": 17.51798561151079,
      "grad_norm": 0.32629743218421936,
      "learning_rate": 8.075628375416345e-05,
      "loss": 0.0879,
      "step": 19480
    },
    {
      "action_loss": 0.004102904815226793,
      "epoch": 17.51798561151079,
      "step": 19480
    },
    {
      "epoch": 17.51798561151079,
      "step": 19480,
      "torque_loss": 0.08690357208251953
    },
    {
      "epoch": 17.526978417266186,
      "grad_norm": 0.4153362214565277,
      "learning_rate": 8.073455168918464e-05,
      "loss": 0.102,
      "step": 19490
    },
    {
      "action_loss": 0.006122452672570944,
      "epoch": 17.526978417266186,
      "step": 19490
    },
    {
      "epoch": 17.526978417266186,
      "step": 19490,
      "torque_loss": 0.131839781999588
    },
    {
      "epoch": 17.535971223021583,
      "grad_norm": 0.3780439794063568,
      "learning_rate": 8.071281028786055e-05,
      "loss": 0.0792,
      "step": 19500
    },
    {
      "action_loss": 0.004514506086707115,
      "epoch": 17.535971223021583,
      "step": 19500
    },
    {
      "epoch": 17.535971223021583,
      "step": 19500,
      "torque_loss": 0.10282047837972641
    },
    {
      "epoch": 17.544964028776977,
      "grad_norm": 0.3473834693431854,
      "learning_rate": 8.069105955679562e-05,
      "loss": 0.0906,
      "step": 19510
    },
    {
      "action_loss": 0.0069936602376401424,
      "epoch": 17.544964028776977,
      "step": 19510
    },
    {
      "epoch": 17.544964028776977,
      "step": 19510,
      "torque_loss": 0.12712521851062775
    },
    {
      "epoch": 17.553956834532375,
      "grad_norm": 0.37810441851615906,
      "learning_rate": 8.066929950259713e-05,
      "loss": 0.0922,
      "step": 19520
    },
    {
      "action_loss": 0.006585709750652313,
      "epoch": 17.553956834532375,
      "step": 19520
    },
    {
      "epoch": 17.553956834532375,
      "step": 19520,
      "torque_loss": 0.11320298165082932
    },
    {
      "epoch": 17.56294964028777,
      "grad_norm": 0.37585747241973877,
      "learning_rate": 8.064753013187522e-05,
      "loss": 0.0919,
      "step": 19530
    },
    {
      "action_loss": 0.013513338752090931,
      "epoch": 17.56294964028777,
      "step": 19530
    },
    {
      "epoch": 17.56294964028777,
      "step": 19530,
      "torque_loss": 0.22421269118785858
    },
    {
      "epoch": 17.571942446043167,
      "grad_norm": 0.3106481432914734,
      "learning_rate": 8.062575145124289e-05,
      "loss": 0.0917,
      "step": 19540
    },
    {
      "action_loss": 0.008815820328891277,
      "epoch": 17.571942446043167,
      "step": 19540
    },
    {
      "epoch": 17.571942446043167,
      "step": 19540,
      "torque_loss": 0.16833724081516266
    },
    {
      "epoch": 17.58093525179856,
      "grad_norm": 0.3630515933036804,
      "learning_rate": 8.060396346731587e-05,
      "loss": 0.0995,
      "step": 19550
    },
    {
      "action_loss": 0.00663907453417778,
      "epoch": 17.58093525179856,
      "step": 19550
    },
    {
      "epoch": 17.58093525179856,
      "step": 19550,
      "torque_loss": 0.1036745086312294
    },
    {
      "epoch": 17.58992805755396,
      "grad_norm": 0.4303417205810547,
      "learning_rate": 8.058216618671281e-05,
      "loss": 0.082,
      "step": 19560
    },
    {
      "action_loss": 0.009615506045520306,
      "epoch": 17.58992805755396,
      "step": 19560
    },
    {
      "epoch": 17.58992805755396,
      "step": 19560,
      "torque_loss": 0.14477753639221191
    },
    {
      "epoch": 17.598920863309353,
      "grad_norm": 0.28073129057884216,
      "learning_rate": 8.056035961605514e-05,
      "loss": 0.0799,
      "step": 19570
    },
    {
      "action_loss": 0.005156311672180891,
      "epoch": 17.598920863309353,
      "step": 19570
    },
    {
      "epoch": 17.598920863309353,
      "step": 19570,
      "torque_loss": 0.13076554238796234
    },
    {
      "epoch": 17.607913669064747,
      "grad_norm": 0.33303865790367126,
      "learning_rate": 8.05385437619671e-05,
      "loss": 0.1068,
      "step": 19580
    },
    {
      "action_loss": 0.0033197125885635614,
      "epoch": 17.607913669064747,
      "step": 19580
    },
    {
      "epoch": 17.607913669064747,
      "step": 19580,
      "torque_loss": 0.11598187685012817
    },
    {
      "epoch": 17.616906474820144,
      "grad_norm": 0.34044599533081055,
      "learning_rate": 8.05167186310758e-05,
      "loss": 0.0805,
      "step": 19590
    },
    {
      "action_loss": 0.008550050668418407,
      "epoch": 17.616906474820144,
      "step": 19590
    },
    {
      "epoch": 17.616906474820144,
      "step": 19590,
      "torque_loss": 0.16226492822170258
    },
    {
      "epoch": 17.62589928057554,
      "grad_norm": 0.3611937463283539,
      "learning_rate": 8.049488423001113e-05,
      "loss": 0.0909,
      "step": 19600
    },
    {
      "action_loss": 0.01603781431913376,
      "epoch": 17.62589928057554,
      "step": 19600
    },
    {
      "epoch": 17.62589928057554,
      "step": 19600,
      "torque_loss": 0.19707699120044708
    },
    {
      "epoch": 17.634892086330936,
      "grad_norm": 0.4195738732814789,
      "learning_rate": 8.047304056540581e-05,
      "loss": 0.0953,
      "step": 19610
    },
    {
      "action_loss": 0.012049809098243713,
      "epoch": 17.634892086330936,
      "step": 19610
    },
    {
      "epoch": 17.634892086330936,
      "step": 19610,
      "torque_loss": 0.15319861471652985
    },
    {
      "epoch": 17.64388489208633,
      "grad_norm": 0.4442208409309387,
      "learning_rate": 8.045118764389534e-05,
      "loss": 0.0919,
      "step": 19620
    },
    {
      "action_loss": 0.0041909911669790745,
      "epoch": 17.64388489208633,
      "step": 19620
    },
    {
      "epoch": 17.64388489208633,
      "step": 19620,
      "torque_loss": 0.09383255243301392
    },
    {
      "epoch": 17.652877697841728,
      "grad_norm": 0.35994261503219604,
      "learning_rate": 8.042932547211809e-05,
      "loss": 0.0739,
      "step": 19630
    },
    {
      "action_loss": 0.008252192288637161,
      "epoch": 17.652877697841728,
      "step": 19630
    },
    {
      "epoch": 17.652877697841728,
      "step": 19630,
      "torque_loss": 0.11902549117803574
    },
    {
      "epoch": 17.66187050359712,
      "grad_norm": 0.3356500566005707,
      "learning_rate": 8.04074540567152e-05,
      "loss": 0.0895,
      "step": 19640
    },
    {
      "action_loss": 0.003320985473692417,
      "epoch": 17.66187050359712,
      "step": 19640
    },
    {
      "epoch": 17.66187050359712,
      "step": 19640,
      "torque_loss": 0.09483834356069565
    },
    {
      "epoch": 17.67086330935252,
      "grad_norm": 0.3313612639904022,
      "learning_rate": 8.038557340433063e-05,
      "loss": 0.111,
      "step": 19650
    },
    {
      "action_loss": 0.007044665049761534,
      "epoch": 17.67086330935252,
      "step": 19650
    },
    {
      "epoch": 17.67086330935252,
      "step": 19650,
      "torque_loss": 0.16590319573879242
    },
    {
      "epoch": 17.679856115107913,
      "grad_norm": 0.29482007026672363,
      "learning_rate": 8.036368352161115e-05,
      "loss": 0.0901,
      "step": 19660
    },
    {
      "action_loss": 0.009659302420914173,
      "epoch": 17.679856115107913,
      "step": 19660
    },
    {
      "epoch": 17.679856115107913,
      "step": 19660,
      "torque_loss": 0.1583573818206787
    },
    {
      "epoch": 17.68884892086331,
      "grad_norm": 0.3646642565727234,
      "learning_rate": 8.034178441520633e-05,
      "loss": 0.0868,
      "step": 19670
    },
    {
      "action_loss": 0.00576857989653945,
      "epoch": 17.68884892086331,
      "step": 19670
    },
    {
      "epoch": 17.68884892086331,
      "step": 19670,
      "torque_loss": 0.1278574913740158
    },
    {
      "epoch": 17.697841726618705,
      "grad_norm": 0.5000727772712708,
      "learning_rate": 8.031987609176852e-05,
      "loss": 0.1028,
      "step": 19680
    },
    {
      "action_loss": 0.005689872428774834,
      "epoch": 17.697841726618705,
      "step": 19680
    },
    {
      "epoch": 17.697841726618705,
      "step": 19680,
      "torque_loss": 0.10470948368310928
    },
    {
      "epoch": 17.7068345323741,
      "grad_norm": 0.3728264570236206,
      "learning_rate": 8.02979585579529e-05,
      "loss": 0.0927,
      "step": 19690
    },
    {
      "action_loss": 0.013776046223938465,
      "epoch": 17.7068345323741,
      "step": 19690
    },
    {
      "epoch": 17.7068345323741,
      "step": 19690,
      "torque_loss": 0.13087902963161469
    },
    {
      "epoch": 17.715827338129497,
      "grad_norm": 0.3768354058265686,
      "learning_rate": 8.027603182041745e-05,
      "loss": 0.1058,
      "step": 19700
    },
    {
      "action_loss": 0.010727652348577976,
      "epoch": 17.715827338129497,
      "step": 19700
    },
    {
      "epoch": 17.715827338129497,
      "step": 19700,
      "torque_loss": 0.15342335402965546
    },
    {
      "epoch": 17.72482014388489,
      "grad_norm": 0.3165152668952942,
      "learning_rate": 8.025409588582292e-05,
      "loss": 0.0918,
      "step": 19710
    },
    {
      "action_loss": 0.005687573458999395,
      "epoch": 17.72482014388489,
      "step": 19710
    },
    {
      "epoch": 17.72482014388489,
      "step": 19710,
      "torque_loss": 0.11079571396112442
    },
    {
      "epoch": 17.73381294964029,
      "grad_norm": 0.37936314940452576,
      "learning_rate": 8.023215076083288e-05,
      "loss": 0.097,
      "step": 19720
    },
    {
      "action_loss": 0.0036943366285413504,
      "epoch": 17.73381294964029,
      "step": 19720
    },
    {
      "epoch": 17.73381294964029,
      "step": 19720,
      "torque_loss": 0.11604855209589005
    },
    {
      "epoch": 17.742805755395683,
      "grad_norm": 0.4132685661315918,
      "learning_rate": 8.021019645211367e-05,
      "loss": 0.083,
      "step": 19730
    },
    {
      "action_loss": 0.005630417261272669,
      "epoch": 17.742805755395683,
      "step": 19730
    },
    {
      "epoch": 17.742805755395683,
      "step": 19730,
      "torque_loss": 0.09445258975028992
    },
    {
      "epoch": 17.75179856115108,
      "grad_norm": 0.41758260130882263,
      "learning_rate": 8.018823296633441e-05,
      "loss": 0.0862,
      "step": 19740
    },
    {
      "action_loss": 0.012307391501963139,
      "epoch": 17.75179856115108,
      "step": 19740
    },
    {
      "epoch": 17.75179856115108,
      "step": 19740,
      "torque_loss": 0.14192336797714233
    },
    {
      "epoch": 17.760791366906474,
      "grad_norm": 0.28574860095977783,
      "learning_rate": 8.016626031016708e-05,
      "loss": 0.0901,
      "step": 19750
    },
    {
      "action_loss": 0.015658637508749962,
      "epoch": 17.760791366906474,
      "step": 19750
    },
    {
      "epoch": 17.760791366906474,
      "step": 19750,
      "torque_loss": 0.11076659709215164
    },
    {
      "epoch": 17.769784172661872,
      "grad_norm": 0.4122401773929596,
      "learning_rate": 8.014427849028636e-05,
      "loss": 0.0904,
      "step": 19760
    },
    {
      "action_loss": 0.01191349234431982,
      "epoch": 17.769784172661872,
      "step": 19760
    },
    {
      "epoch": 17.769784172661872,
      "step": 19760,
      "torque_loss": 0.13573789596557617
    },
    {
      "epoch": 17.778776978417266,
      "grad_norm": 0.2996594309806824,
      "learning_rate": 8.012228751336974e-05,
      "loss": 0.0941,
      "step": 19770
    },
    {
      "action_loss": 0.012760192155838013,
      "epoch": 17.778776978417266,
      "step": 19770
    },
    {
      "epoch": 17.778776978417266,
      "step": 19770,
      "torque_loss": 0.15685288608074188
    },
    {
      "epoch": 17.78776978417266,
      "grad_norm": 0.48701056838035583,
      "learning_rate": 8.01002873860975e-05,
      "loss": 0.1104,
      "step": 19780
    },
    {
      "action_loss": 0.008473562076687813,
      "epoch": 17.78776978417266,
      "step": 19780
    },
    {
      "epoch": 17.78776978417266,
      "step": 19780,
      "torque_loss": 0.08878927677869797
    },
    {
      "epoch": 17.796762589928058,
      "grad_norm": 0.31218376755714417,
      "learning_rate": 8.00782781151527e-05,
      "loss": 0.0836,
      "step": 19790
    },
    {
      "action_loss": 0.016625316813588142,
      "epoch": 17.796762589928058,
      "step": 19790
    },
    {
      "epoch": 17.796762589928058,
      "step": 19790,
      "torque_loss": 0.18339039385318756
    },
    {
      "epoch": 17.805755395683452,
      "grad_norm": 0.2878412902355194,
      "learning_rate": 8.005625970722119e-05,
      "loss": 0.096,
      "step": 19800
    },
    {
      "action_loss": 0.005255321506410837,
      "epoch": 17.805755395683452,
      "step": 19800
    },
    {
      "epoch": 17.805755395683452,
      "step": 19800,
      "torque_loss": 0.12222256511449814
    },
    {
      "epoch": 17.81474820143885,
      "grad_norm": 0.32905590534210205,
      "learning_rate": 8.003423216899158e-05,
      "loss": 0.0783,
      "step": 19810
    },
    {
      "action_loss": 0.0039056434761732817,
      "epoch": 17.81474820143885,
      "step": 19810
    },
    {
      "epoch": 17.81474820143885,
      "step": 19810,
      "torque_loss": 0.14268837869167328
    },
    {
      "epoch": 17.823741007194243,
      "grad_norm": 0.26302269101142883,
      "learning_rate": 8.001219550715522e-05,
      "loss": 0.0965,
      "step": 19820
    },
    {
      "action_loss": 0.006908537354320288,
      "epoch": 17.823741007194243,
      "step": 19820
    },
    {
      "epoch": 17.823741007194243,
      "step": 19820,
      "torque_loss": 0.13396961987018585
    },
    {
      "epoch": 17.83273381294964,
      "grad_norm": 0.310624897480011,
      "learning_rate": 7.999014972840632e-05,
      "loss": 0.0978,
      "step": 19830
    },
    {
      "action_loss": 0.009660162031650543,
      "epoch": 17.83273381294964,
      "step": 19830
    },
    {
      "epoch": 17.83273381294964,
      "step": 19830,
      "torque_loss": 0.14153601229190826
    },
    {
      "epoch": 17.841726618705035,
      "grad_norm": 0.3451830744743347,
      "learning_rate": 7.996809483944174e-05,
      "loss": 0.0877,
      "step": 19840
    },
    {
      "action_loss": 0.008144988678395748,
      "epoch": 17.841726618705035,
      "step": 19840
    },
    {
      "epoch": 17.841726618705035,
      "step": 19840,
      "torque_loss": 0.18431957066059113
    },
    {
      "epoch": 17.850719424460433,
      "grad_norm": 0.2722996175289154,
      "learning_rate": 7.994603084696124e-05,
      "loss": 0.0739,
      "step": 19850
    },
    {
      "action_loss": 0.023228874430060387,
      "epoch": 17.850719424460433,
      "step": 19850
    },
    {
      "epoch": 17.850719424460433,
      "step": 19850,
      "torque_loss": 0.20221151411533356
    },
    {
      "epoch": 17.859712230215827,
      "grad_norm": 0.26203039288520813,
      "learning_rate": 7.992395775766724e-05,
      "loss": 0.0805,
      "step": 19860
    },
    {
      "action_loss": 0.002843619091436267,
      "epoch": 17.859712230215827,
      "step": 19860
    },
    {
      "epoch": 17.859712230215827,
      "step": 19860,
      "torque_loss": 0.08673729747533798
    },
    {
      "epoch": 17.868705035971225,
      "grad_norm": 0.2887044847011566,
      "learning_rate": 7.990187557826497e-05,
      "loss": 0.1015,
      "step": 19870
    },
    {
      "action_loss": 0.014380061067640781,
      "epoch": 17.868705035971225,
      "step": 19870
    },
    {
      "epoch": 17.868705035971225,
      "step": 19870,
      "torque_loss": 0.22281794250011444
    },
    {
      "epoch": 17.87769784172662,
      "grad_norm": 0.30608922243118286,
      "learning_rate": 7.987978431546242e-05,
      "loss": 0.1023,
      "step": 19880
    },
    {
      "action_loss": 0.01224774494767189,
      "epoch": 17.87769784172662,
      "step": 19880
    },
    {
      "epoch": 17.87769784172662,
      "step": 19880,
      "torque_loss": 0.13207298517227173
    },
    {
      "epoch": 17.886690647482013,
      "grad_norm": 0.3196524679660797,
      "learning_rate": 7.985768397597031e-05,
      "loss": 0.0901,
      "step": 19890
    },
    {
      "action_loss": 0.011275782249867916,
      "epoch": 17.886690647482013,
      "step": 19890
    },
    {
      "epoch": 17.886690647482013,
      "step": 19890,
      "torque_loss": 0.12650947272777557
    },
    {
      "epoch": 17.89568345323741,
      "grad_norm": 0.40177902579307556,
      "learning_rate": 7.983557456650216e-05,
      "loss": 0.1075,
      "step": 19900
    },
    {
      "action_loss": 0.023243695497512817,
      "epoch": 17.89568345323741,
      "step": 19900
    },
    {
      "epoch": 17.89568345323741,
      "step": 19900,
      "torque_loss": 0.1571713238954544
    },
    {
      "epoch": 17.904676258992804,
      "grad_norm": 0.4371373653411865,
      "learning_rate": 7.981345609377422e-05,
      "loss": 0.0944,
      "step": 19910
    },
    {
      "action_loss": 0.019859490916132927,
      "epoch": 17.904676258992804,
      "step": 19910
    },
    {
      "epoch": 17.904676258992804,
      "step": 19910,
      "torque_loss": 0.18353426456451416
    },
    {
      "epoch": 17.913669064748202,
      "grad_norm": 0.3061910569667816,
      "learning_rate": 7.97913285645055e-05,
      "loss": 0.0905,
      "step": 19920
    },
    {
      "action_loss": 0.01988307572901249,
      "epoch": 17.913669064748202,
      "step": 19920
    },
    {
      "epoch": 17.913669064748202,
      "step": 19920,
      "torque_loss": 0.14316529035568237
    },
    {
      "epoch": 17.922661870503596,
      "grad_norm": 0.3646996319293976,
      "learning_rate": 7.976919198541776e-05,
      "loss": 0.0872,
      "step": 19930
    },
    {
      "action_loss": 0.006978800054639578,
      "epoch": 17.922661870503596,
      "step": 19930
    },
    {
      "epoch": 17.922661870503596,
      "step": 19930,
      "torque_loss": 0.10540437698364258
    },
    {
      "epoch": 17.931654676258994,
      "grad_norm": 0.46373701095581055,
      "learning_rate": 7.974704636323548e-05,
      "loss": 0.0928,
      "step": 19940
    },
    {
      "action_loss": 0.009498446248471737,
      "epoch": 17.931654676258994,
      "step": 19940
    },
    {
      "epoch": 17.931654676258994,
      "step": 19940,
      "torque_loss": 0.14043967425823212
    },
    {
      "epoch": 17.940647482014388,
      "grad_norm": 0.2612217962741852,
      "learning_rate": 7.972489170468597e-05,
      "loss": 0.0808,
      "step": 19950
    },
    {
      "action_loss": 0.005959701258689165,
      "epoch": 17.940647482014388,
      "step": 19950
    },
    {
      "epoch": 17.940647482014388,
      "step": 19950,
      "torque_loss": 0.11556798219680786
    },
    {
      "epoch": 17.949640287769785,
      "grad_norm": 0.38565194606781006,
      "learning_rate": 7.970272801649918e-05,
      "loss": 0.0987,
      "step": 19960
    },
    {
      "action_loss": 0.0041315690614283085,
      "epoch": 17.949640287769785,
      "step": 19960
    },
    {
      "epoch": 17.949640287769785,
      "step": 19960,
      "torque_loss": 0.16308243572711945
    },
    {
      "epoch": 17.95863309352518,
      "grad_norm": 0.3430868089199066,
      "learning_rate": 7.96805553054079e-05,
      "loss": 0.0941,
      "step": 19970
    },
    {
      "action_loss": 0.0031000401359051466,
      "epoch": 17.95863309352518,
      "step": 19970
    },
    {
      "epoch": 17.95863309352518,
      "step": 19970,
      "torque_loss": 0.15375414490699768
    },
    {
      "epoch": 17.967625899280577,
      "grad_norm": 0.4231738746166229,
      "learning_rate": 7.965837357814756e-05,
      "loss": 0.0929,
      "step": 19980
    },
    {
      "action_loss": 0.008858766406774521,
      "epoch": 17.967625899280577,
      "step": 19980
    },
    {
      "epoch": 17.967625899280577,
      "step": 19980,
      "torque_loss": 0.13122011721134186
    },
    {
      "epoch": 17.97661870503597,
      "grad_norm": 0.27838945388793945,
      "learning_rate": 7.963618284145643e-05,
      "loss": 0.0927,
      "step": 19990
    },
    {
      "action_loss": 0.009500158950686455,
      "epoch": 17.97661870503597,
      "step": 19990
    },
    {
      "epoch": 17.97661870503597,
      "step": 19990,
      "torque_loss": 0.15055203437805176
    },
    {
      "epoch": 17.985611510791365,
      "grad_norm": 0.33308935165405273,
      "learning_rate": 7.961398310207544e-05,
      "loss": 0.0964,
      "step": 20000
    },
    {
      "action_loss": 0.004794934764504433,
      "epoch": 17.985611510791365,
      "step": 20000
    },
    {
      "epoch": 17.985611510791365,
      "step": 20000,
      "torque_loss": 0.0931742712855339
    },
    {
      "epoch": 17.994604316546763,
      "grad_norm": 0.29071104526519775,
      "learning_rate": 7.95917743667483e-05,
      "loss": 0.0897,
      "step": 20010
    },
    {
      "action_loss": 0.004261153284460306,
      "epoch": 17.994604316546763,
      "step": 20010
    },
    {
      "epoch": 17.994604316546763,
      "step": 20010,
      "torque_loss": 0.07044173777103424
    },
    {
      "epoch": 18.003597122302157,
      "grad_norm": 0.37302374839782715,
      "learning_rate": 7.956955664222144e-05,
      "loss": 0.0886,
      "step": 20020
    },
    {
      "action_loss": 0.010334242135286331,
      "epoch": 18.003597122302157,
      "step": 20020
    },
    {
      "epoch": 18.003597122302157,
      "step": 20020,
      "torque_loss": 0.15601937472820282
    },
    {
      "epoch": 18.012589928057555,
      "grad_norm": 0.32923486828804016,
      "learning_rate": 7.954732993524399e-05,
      "loss": 0.0926,
      "step": 20030
    },
    {
      "action_loss": 0.01141029316931963,
      "epoch": 18.012589928057555,
      "step": 20030
    },
    {
      "epoch": 18.012589928057555,
      "step": 20030,
      "torque_loss": 0.1771666258573532
    },
    {
      "epoch": 18.02158273381295,
      "grad_norm": 0.25243210792541504,
      "learning_rate": 7.952509425256786e-05,
      "loss": 0.0979,
      "step": 20040
    },
    {
      "action_loss": 0.004316064994782209,
      "epoch": 18.02158273381295,
      "step": 20040
    },
    {
      "epoch": 18.02158273381295,
      "step": 20040,
      "torque_loss": 0.08589737862348557
    },
    {
      "epoch": 18.030575539568346,
      "grad_norm": 0.3003741502761841,
      "learning_rate": 7.950284960094767e-05,
      "loss": 0.0913,
      "step": 20050
    },
    {
      "action_loss": 0.0036277922336012125,
      "epoch": 18.030575539568346,
      "step": 20050
    },
    {
      "epoch": 18.030575539568346,
      "step": 20050,
      "torque_loss": 0.09777691960334778
    },
    {
      "epoch": 18.03956834532374,
      "grad_norm": 0.3907616138458252,
      "learning_rate": 7.948059598714076e-05,
      "loss": 0.0861,
      "step": 20060
    },
    {
      "action_loss": 0.007053365930914879,
      "epoch": 18.03956834532374,
      "step": 20060
    },
    {
      "epoch": 18.03956834532374,
      "step": 20060,
      "torque_loss": 0.10017911344766617
    },
    {
      "epoch": 18.048561151079138,
      "grad_norm": 0.434009313583374,
      "learning_rate": 7.945833341790717e-05,
      "loss": 0.1049,
      "step": 20070
    },
    {
      "action_loss": 0.01048863772302866,
      "epoch": 18.048561151079138,
      "step": 20070
    },
    {
      "epoch": 18.048561151079138,
      "step": 20070,
      "torque_loss": 0.13906532526016235
    },
    {
      "epoch": 18.057553956834532,
      "grad_norm": 0.4159417748451233,
      "learning_rate": 7.94360619000097e-05,
      "loss": 0.1071,
      "step": 20080
    },
    {
      "action_loss": 0.0061288680881261826,
      "epoch": 18.057553956834532,
      "step": 20080
    },
    {
      "epoch": 18.057553956834532,
      "step": 20080,
      "torque_loss": 0.11554042249917984
    },
    {
      "epoch": 18.06654676258993,
      "grad_norm": 0.3383695185184479,
      "learning_rate": 7.941378144021381e-05,
      "loss": 0.0849,
      "step": 20090
    },
    {
      "action_loss": 0.03550611808896065,
      "epoch": 18.06654676258993,
      "step": 20090
    },
    {
      "epoch": 18.06654676258993,
      "step": 20090,
      "torque_loss": 0.2477867156267166
    },
    {
      "epoch": 18.075539568345324,
      "grad_norm": 0.32440707087516785,
      "learning_rate": 7.939149204528777e-05,
      "loss": 0.0865,
      "step": 20100
    },
    {
      "action_loss": 0.013402573764324188,
      "epoch": 18.075539568345324,
      "step": 20100
    },
    {
      "epoch": 18.075539568345324,
      "step": 20100,
      "torque_loss": 0.162080779671669
    },
    {
      "epoch": 18.084532374100718,
      "grad_norm": 0.4153040647506714,
      "learning_rate": 7.936919372200246e-05,
      "loss": 0.1057,
      "step": 20110
    },
    {
      "action_loss": 0.006969774607568979,
      "epoch": 18.084532374100718,
      "step": 20110
    },
    {
      "epoch": 18.084532374100718,
      "step": 20110,
      "torque_loss": 0.15848326683044434
    },
    {
      "epoch": 18.093525179856115,
      "grad_norm": 0.4797092080116272,
      "learning_rate": 7.934688647713158e-05,
      "loss": 0.09,
      "step": 20120
    },
    {
      "action_loss": 0.004146389197558165,
      "epoch": 18.093525179856115,
      "step": 20120
    },
    {
      "epoch": 18.093525179856115,
      "step": 20120,
      "torque_loss": 0.09197720140218735
    },
    {
      "epoch": 18.10251798561151,
      "grad_norm": 0.4243015944957733,
      "learning_rate": 7.932457031745143e-05,
      "loss": 0.0863,
      "step": 20130
    },
    {
      "action_loss": 0.0798318088054657,
      "epoch": 18.10251798561151,
      "step": 20130
    },
    {
      "epoch": 18.10251798561151,
      "step": 20130,
      "torque_loss": 0.23761051893234253
    },
    {
      "epoch": 18.111510791366907,
      "grad_norm": 0.4914252758026123,
      "learning_rate": 7.930224524974108e-05,
      "loss": 0.0941,
      "step": 20140
    },
    {
      "action_loss": 0.017953379079699516,
      "epoch": 18.111510791366907,
      "step": 20140
    },
    {
      "epoch": 18.111510791366907,
      "step": 20140,
      "torque_loss": 0.1428392380475998
    },
    {
      "epoch": 18.1205035971223,
      "grad_norm": 0.2993495464324951,
      "learning_rate": 7.927991128078232e-05,
      "loss": 0.0881,
      "step": 20150
    },
    {
      "action_loss": 0.006562887225300074,
      "epoch": 18.1205035971223,
      "step": 20150
    },
    {
      "epoch": 18.1205035971223,
      "step": 20150,
      "torque_loss": 0.12421637773513794
    },
    {
      "epoch": 18.1294964028777,
      "grad_norm": 0.26096826791763306,
      "learning_rate": 7.925756841735958e-05,
      "loss": 0.0901,
      "step": 20160
    },
    {
      "action_loss": 0.011477905325591564,
      "epoch": 18.1294964028777,
      "step": 20160
    },
    {
      "epoch": 18.1294964028777,
      "step": 20160,
      "torque_loss": 0.1707438975572586
    },
    {
      "epoch": 18.138489208633093,
      "grad_norm": 0.39532703161239624,
      "learning_rate": 7.923521666626008e-05,
      "loss": 0.0906,
      "step": 20170
    },
    {
      "action_loss": 0.025368472561240196,
      "epoch": 18.138489208633093,
      "step": 20170
    },
    {
      "epoch": 18.138489208633093,
      "step": 20170,
      "torque_loss": 0.16804510354995728
    },
    {
      "epoch": 18.14748201438849,
      "grad_norm": 0.3432958126068115,
      "learning_rate": 7.921285603427366e-05,
      "loss": 0.0845,
      "step": 20180
    },
    {
      "action_loss": 0.006530022248625755,
      "epoch": 18.14748201438849,
      "step": 20180
    },
    {
      "epoch": 18.14748201438849,
      "step": 20180,
      "torque_loss": 0.09539274126291275
    },
    {
      "epoch": 18.156474820143885,
      "grad_norm": 0.37761393189430237,
      "learning_rate": 7.91904865281929e-05,
      "loss": 0.0922,
      "step": 20190
    },
    {
      "action_loss": 0.0035742304753512144,
      "epoch": 18.156474820143885,
      "step": 20190
    },
    {
      "epoch": 18.156474820143885,
      "step": 20190,
      "torque_loss": 0.10137352347373962
    },
    {
      "epoch": 18.165467625899282,
      "grad_norm": 0.34902527928352356,
      "learning_rate": 7.916810815481307e-05,
      "loss": 0.0824,
      "step": 20200
    },
    {
      "action_loss": 0.0029460135847330093,
      "epoch": 18.165467625899282,
      "step": 20200
    },
    {
      "epoch": 18.165467625899282,
      "step": 20200,
      "torque_loss": 0.10667084902524948
    },
    {
      "epoch": 18.174460431654676,
      "grad_norm": 0.3306768834590912,
      "learning_rate": 7.914572092093211e-05,
      "loss": 0.0905,
      "step": 20210
    },
    {
      "action_loss": 0.012392611242830753,
      "epoch": 18.174460431654676,
      "step": 20210
    },
    {
      "epoch": 18.174460431654676,
      "step": 20210,
      "torque_loss": 0.18387746810913086
    },
    {
      "epoch": 18.18345323741007,
      "grad_norm": 0.26667866110801697,
      "learning_rate": 7.912332483335068e-05,
      "loss": 0.098,
      "step": 20220
    },
    {
      "action_loss": 0.020430123433470726,
      "epoch": 18.18345323741007,
      "step": 20220
    },
    {
      "epoch": 18.18345323741007,
      "step": 20220,
      "torque_loss": 0.1305423378944397
    },
    {
      "epoch": 18.192446043165468,
      "grad_norm": 0.27521201968193054,
      "learning_rate": 7.910091989887213e-05,
      "loss": 0.0844,
      "step": 20230
    },
    {
      "action_loss": 0.010321510024368763,
      "epoch": 18.192446043165468,
      "step": 20230
    },
    {
      "epoch": 18.192446043165468,
      "step": 20230,
      "torque_loss": 0.16745305061340332
    },
    {
      "epoch": 18.201438848920862,
      "grad_norm": 0.2861417233943939,
      "learning_rate": 7.907850612430248e-05,
      "loss": 0.093,
      "step": 20240
    },
    {
      "action_loss": 0.007228687405586243,
      "epoch": 18.201438848920862,
      "step": 20240
    },
    {
      "epoch": 18.201438848920862,
      "step": 20240,
      "torque_loss": 0.11248091608285904
    },
    {
      "epoch": 18.21043165467626,
      "grad_norm": 0.3551650941371918,
      "learning_rate": 7.905608351645044e-05,
      "loss": 0.0789,
      "step": 20250
    },
    {
      "action_loss": 0.009192069061100483,
      "epoch": 18.21043165467626,
      "step": 20250
    },
    {
      "epoch": 18.21043165467626,
      "step": 20250,
      "torque_loss": 0.1607472151517868
    },
    {
      "epoch": 18.219424460431654,
      "grad_norm": 0.29420581459999084,
      "learning_rate": 7.90336520821274e-05,
      "loss": 0.092,
      "step": 20260
    },
    {
      "action_loss": 0.010020100511610508,
      "epoch": 18.219424460431654,
      "step": 20260
    },
    {
      "epoch": 18.219424460431654,
      "step": 20260,
      "torque_loss": 0.19834546744823456
    },
    {
      "epoch": 18.22841726618705,
      "grad_norm": 0.23881249129772186,
      "learning_rate": 7.901121182814746e-05,
      "loss": 0.0813,
      "step": 20270
    },
    {
      "action_loss": 0.002968003274872899,
      "epoch": 18.22841726618705,
      "step": 20270
    },
    {
      "epoch": 18.22841726618705,
      "step": 20270,
      "torque_loss": 0.11037391424179077
    },
    {
      "epoch": 18.237410071942445,
      "grad_norm": 0.33849653601646423,
      "learning_rate": 7.898876276132736e-05,
      "loss": 0.0911,
      "step": 20280
    },
    {
      "action_loss": 0.0051088943146169186,
      "epoch": 18.237410071942445,
      "step": 20280
    },
    {
      "epoch": 18.237410071942445,
      "step": 20280,
      "torque_loss": 0.1118229404091835
    },
    {
      "epoch": 18.246402877697843,
      "grad_norm": 0.23619309067726135,
      "learning_rate": 7.896630488848654e-05,
      "loss": 0.0844,
      "step": 20290
    },
    {
      "action_loss": 0.014661538414657116,
      "epoch": 18.246402877697843,
      "step": 20290
    },
    {
      "epoch": 18.246402877697843,
      "step": 20290,
      "torque_loss": 0.1544043868780136
    },
    {
      "epoch": 18.255395683453237,
      "grad_norm": 0.33206287026405334,
      "learning_rate": 7.89438382164471e-05,
      "loss": 0.0878,
      "step": 20300
    },
    {
      "action_loss": 0.008431370370090008,
      "epoch": 18.255395683453237,
      "step": 20300
    },
    {
      "epoch": 18.255395683453237,
      "step": 20300,
      "torque_loss": 0.19151920080184937
    },
    {
      "epoch": 18.264388489208635,
      "grad_norm": 0.3470510244369507,
      "learning_rate": 7.892136275203383e-05,
      "loss": 0.0887,
      "step": 20310
    },
    {
      "action_loss": 0.0034243997652083635,
      "epoch": 18.264388489208635,
      "step": 20310
    },
    {
      "epoch": 18.264388489208635,
      "step": 20310,
      "torque_loss": 0.08228632062673569
    },
    {
      "epoch": 18.27338129496403,
      "grad_norm": 0.3689459264278412,
      "learning_rate": 7.889887850207418e-05,
      "loss": 0.0883,
      "step": 20320
    },
    {
      "action_loss": 0.015285768546164036,
      "epoch": 18.27338129496403,
      "step": 20320
    },
    {
      "epoch": 18.27338129496403,
      "step": 20320,
      "torque_loss": 0.15286071598529816
    },
    {
      "epoch": 18.282374100719423,
      "grad_norm": 0.4065778851509094,
      "learning_rate": 7.887638547339827e-05,
      "loss": 0.0919,
      "step": 20330
    },
    {
      "action_loss": 0.008737246505916119,
      "epoch": 18.282374100719423,
      "step": 20330
    },
    {
      "epoch": 18.282374100719423,
      "step": 20330,
      "torque_loss": 0.1392488032579422
    },
    {
      "epoch": 18.29136690647482,
      "grad_norm": 0.280525267124176,
      "learning_rate": 7.885388367283891e-05,
      "loss": 0.088,
      "step": 20340
    },
    {
      "action_loss": 0.008524350821971893,
      "epoch": 18.29136690647482,
      "step": 20340
    },
    {
      "epoch": 18.29136690647482,
      "step": 20340,
      "torque_loss": 0.16194172203540802
    },
    {
      "epoch": 18.300359712230215,
      "grad_norm": 0.2741226255893707,
      "learning_rate": 7.88313731072315e-05,
      "loss": 0.0883,
      "step": 20350
    },
    {
      "action_loss": 0.006892851088196039,
      "epoch": 18.300359712230215,
      "step": 20350
    },
    {
      "epoch": 18.300359712230215,
      "step": 20350,
      "torque_loss": 0.17866134643554688
    },
    {
      "epoch": 18.309352517985612,
      "grad_norm": 0.3217521905899048,
      "learning_rate": 7.88088537834142e-05,
      "loss": 0.0906,
      "step": 20360
    },
    {
      "action_loss": 0.02357008494436741,
      "epoch": 18.309352517985612,
      "step": 20360
    },
    {
      "epoch": 18.309352517985612,
      "step": 20360,
      "torque_loss": 0.2126571089029312
    },
    {
      "epoch": 18.318345323741006,
      "grad_norm": 0.3152751624584198,
      "learning_rate": 7.878632570822778e-05,
      "loss": 0.0927,
      "step": 20370
    },
    {
      "action_loss": 0.014840342104434967,
      "epoch": 18.318345323741006,
      "step": 20370
    },
    {
      "epoch": 18.318345323741006,
      "step": 20370,
      "torque_loss": 0.1601990908384323
    },
    {
      "epoch": 18.327338129496404,
      "grad_norm": 0.27446600794792175,
      "learning_rate": 7.876378888851567e-05,
      "loss": 0.0927,
      "step": 20380
    },
    {
      "action_loss": 0.011783416382968426,
      "epoch": 18.327338129496404,
      "step": 20380
    },
    {
      "epoch": 18.327338129496404,
      "step": 20380,
      "torque_loss": 0.16756071150302887
    },
    {
      "epoch": 18.336330935251798,
      "grad_norm": 0.40008899569511414,
      "learning_rate": 7.874124333112396e-05,
      "loss": 0.0969,
      "step": 20390
    },
    {
      "action_loss": 0.019327357411384583,
      "epoch": 18.336330935251798,
      "step": 20390
    },
    {
      "epoch": 18.336330935251798,
      "step": 20390,
      "torque_loss": 0.13000868260860443
    },
    {
      "epoch": 18.345323741007196,
      "grad_norm": 0.2824147939682007,
      "learning_rate": 7.871868904290138e-05,
      "loss": 0.0801,
      "step": 20400
    },
    {
      "action_loss": 0.019577359780669212,
      "epoch": 18.345323741007196,
      "step": 20400
    },
    {
      "epoch": 18.345323741007196,
      "step": 20400,
      "torque_loss": 0.17533081769943237
    },
    {
      "epoch": 18.35431654676259,
      "grad_norm": 0.34522050619125366,
      "learning_rate": 7.869612603069935e-05,
      "loss": 0.0903,
      "step": 20410
    },
    {
      "action_loss": 0.005625308025628328,
      "epoch": 18.35431654676259,
      "step": 20410
    },
    {
      "epoch": 18.35431654676259,
      "step": 20410,
      "torque_loss": 0.14562438428401947
    },
    {
      "epoch": 18.363309352517987,
      "grad_norm": 0.37967944145202637,
      "learning_rate": 7.867355430137192e-05,
      "loss": 0.0918,
      "step": 20420
    },
    {
      "action_loss": 0.006653548683971167,
      "epoch": 18.363309352517987,
      "step": 20420
    },
    {
      "epoch": 18.363309352517987,
      "step": 20420,
      "torque_loss": 0.11382564157247543
    },
    {
      "epoch": 18.37230215827338,
      "grad_norm": 0.35371872782707214,
      "learning_rate": 7.865097386177577e-05,
      "loss": 0.0817,
      "step": 20430
    },
    {
      "action_loss": 0.030717618763446808,
      "epoch": 18.37230215827338,
      "step": 20430
    },
    {
      "epoch": 18.37230215827338,
      "step": 20430,
      "torque_loss": 0.21266181766986847
    },
    {
      "epoch": 18.381294964028775,
      "grad_norm": 0.37043026089668274,
      "learning_rate": 7.862838471877023e-05,
      "loss": 0.0928,
      "step": 20440
    },
    {
      "action_loss": 0.013953079469501972,
      "epoch": 18.381294964028775,
      "step": 20440
    },
    {
      "epoch": 18.381294964028775,
      "step": 20440,
      "torque_loss": 0.1975635290145874
    },
    {
      "epoch": 18.390287769784173,
      "grad_norm": 0.33602049946784973,
      "learning_rate": 7.860578687921731e-05,
      "loss": 0.0919,
      "step": 20450
    },
    {
      "action_loss": 0.009797925129532814,
      "epoch": 18.390287769784173,
      "step": 20450
    },
    {
      "epoch": 18.390287769784173,
      "step": 20450,
      "torque_loss": 0.16912288963794708
    },
    {
      "epoch": 18.399280575539567,
      "grad_norm": 0.4119470417499542,
      "learning_rate": 7.858318034998164e-05,
      "loss": 0.0906,
      "step": 20460
    },
    {
      "action_loss": 0.007784900721162558,
      "epoch": 18.399280575539567,
      "step": 20460
    },
    {
      "epoch": 18.399280575539567,
      "step": 20460,
      "torque_loss": 0.1450451761484146
    },
    {
      "epoch": 18.408273381294965,
      "grad_norm": 0.36244985461235046,
      "learning_rate": 7.856056513793046e-05,
      "loss": 0.0819,
      "step": 20470
    },
    {
      "action_loss": 0.011125430464744568,
      "epoch": 18.408273381294965,
      "step": 20470
    },
    {
      "epoch": 18.408273381294965,
      "step": 20470,
      "torque_loss": 0.1861252337694168
    },
    {
      "epoch": 18.41726618705036,
      "grad_norm": 0.3639461100101471,
      "learning_rate": 7.85379412499337e-05,
      "loss": 0.0888,
      "step": 20480
    },
    {
      "action_loss": 0.004766311962157488,
      "epoch": 18.41726618705036,
      "step": 20480
    },
    {
      "epoch": 18.41726618705036,
      "step": 20480,
      "torque_loss": 0.14437198638916016
    },
    {
      "epoch": 18.426258992805757,
      "grad_norm": 0.4008773863315582,
      "learning_rate": 7.851530869286389e-05,
      "loss": 0.0892,
      "step": 20490
    },
    {
      "action_loss": 0.0031289763282984495,
      "epoch": 18.426258992805757,
      "step": 20490
    },
    {
      "epoch": 18.426258992805757,
      "step": 20490,
      "torque_loss": 0.11062099784612656
    },
    {
      "epoch": 18.43525179856115,
      "grad_norm": 0.43058544397354126,
      "learning_rate": 7.849266747359619e-05,
      "loss": 0.0856,
      "step": 20500
    },
    {
      "action_loss": 0.003349529579281807,
      "epoch": 18.43525179856115,
      "step": 20500
    },
    {
      "epoch": 18.43525179856115,
      "step": 20500,
      "torque_loss": 0.11325079947710037
    },
    {
      "epoch": 18.444244604316548,
      "grad_norm": 0.3115875720977783,
      "learning_rate": 7.847001759900843e-05,
      "loss": 0.0758,
      "step": 20510
    },
    {
      "action_loss": 0.004663547966629267,
      "epoch": 18.444244604316548,
      "step": 20510
    },
    {
      "epoch": 18.444244604316548,
      "step": 20510,
      "torque_loss": 0.13742756843566895
    },
    {
      "epoch": 18.453237410071942,
      "grad_norm": 0.33529478311538696,
      "learning_rate": 7.844735907598102e-05,
      "loss": 0.1029,
      "step": 20520
    },
    {
      "action_loss": 0.024287035688757896,
      "epoch": 18.453237410071942,
      "step": 20520
    },
    {
      "epoch": 18.453237410071942,
      "step": 20520,
      "torque_loss": 0.15030251443386078
    },
    {
      "epoch": 18.46223021582734,
      "grad_norm": 0.23806600272655487,
      "learning_rate": 7.842469191139703e-05,
      "loss": 0.086,
      "step": 20530
    },
    {
      "action_loss": 0.004228703211992979,
      "epoch": 18.46223021582734,
      "step": 20530
    },
    {
      "epoch": 18.46223021582734,
      "step": 20530,
      "torque_loss": 0.08574181795120239
    },
    {
      "epoch": 18.471223021582734,
      "grad_norm": 0.308437317609787,
      "learning_rate": 7.840201611214215e-05,
      "loss": 0.09,
      "step": 20540
    },
    {
      "action_loss": 0.01800568960607052,
      "epoch": 18.471223021582734,
      "step": 20540
    },
    {
      "epoch": 18.471223021582734,
      "step": 20540,
      "torque_loss": 0.22592592239379883
    },
    {
      "epoch": 18.480215827338128,
      "grad_norm": 0.34360548853874207,
      "learning_rate": 7.837933168510469e-05,
      "loss": 0.1169,
      "step": 20550
    },
    {
      "action_loss": 0.006360757630318403,
      "epoch": 18.480215827338128,
      "step": 20550
    },
    {
      "epoch": 18.480215827338128,
      "step": 20550,
      "torque_loss": 0.11209902912378311
    },
    {
      "epoch": 18.489208633093526,
      "grad_norm": 0.3674125373363495,
      "learning_rate": 7.835663863717559e-05,
      "loss": 0.1,
      "step": 20560
    },
    {
      "action_loss": 0.01007586345076561,
      "epoch": 18.489208633093526,
      "step": 20560
    },
    {
      "epoch": 18.489208633093526,
      "step": 20560,
      "torque_loss": 0.17469941079616547
    },
    {
      "epoch": 18.49820143884892,
      "grad_norm": 0.3396100699901581,
      "learning_rate": 7.833393697524838e-05,
      "loss": 0.1067,
      "step": 20570
    },
    {
      "action_loss": 0.004044493660330772,
      "epoch": 18.49820143884892,
      "step": 20570
    },
    {
      "epoch": 18.49820143884892,
      "step": 20570,
      "torque_loss": 0.11442581564188004
    },
    {
      "epoch": 18.507194244604317,
      "grad_norm": 0.40982547402381897,
      "learning_rate": 7.831122670621922e-05,
      "loss": 0.0903,
      "step": 20580
    },
    {
      "action_loss": 0.004372125957161188,
      "epoch": 18.507194244604317,
      "step": 20580
    },
    {
      "epoch": 18.507194244604317,
      "step": 20580,
      "torque_loss": 0.11408340930938721
    },
    {
      "epoch": 18.51618705035971,
      "grad_norm": 0.3320446312427521,
      "learning_rate": 7.82885078369869e-05,
      "loss": 0.0894,
      "step": 20590
    },
    {
      "action_loss": 0.005709411110728979,
      "epoch": 18.51618705035971,
      "step": 20590
    },
    {
      "epoch": 18.51618705035971,
      "step": 20590,
      "torque_loss": 0.11314171552658081
    },
    {
      "epoch": 18.52517985611511,
      "grad_norm": 0.2698175311088562,
      "learning_rate": 7.826578037445283e-05,
      "loss": 0.0856,
      "step": 20600
    },
    {
      "action_loss": 0.00548244034871459,
      "epoch": 18.52517985611511,
      "step": 20600
    },
    {
      "epoch": 18.52517985611511,
      "step": 20600,
      "torque_loss": 0.1394394040107727
    },
    {
      "epoch": 18.534172661870503,
      "grad_norm": 0.3211716115474701,
      "learning_rate": 7.824304432552097e-05,
      "loss": 0.0759,
      "step": 20610
    },
    {
      "action_loss": 0.012035183608531952,
      "epoch": 18.534172661870503,
      "step": 20610
    },
    {
      "epoch": 18.534172661870503,
      "step": 20610,
      "torque_loss": 0.20766496658325195
    },
    {
      "epoch": 18.5431654676259,
      "grad_norm": 0.3117640018463135,
      "learning_rate": 7.822029969709798e-05,
      "loss": 0.1049,
      "step": 20620
    },
    {
      "action_loss": 0.009439777582883835,
      "epoch": 18.5431654676259,
      "step": 20620
    },
    {
      "epoch": 18.5431654676259,
      "step": 20620,
      "torque_loss": 0.1344345062971115
    },
    {
      "epoch": 18.552158273381295,
      "grad_norm": 0.2662261128425598,
      "learning_rate": 7.819754649609306e-05,
      "loss": 0.0936,
      "step": 20630
    },
    {
      "action_loss": 0.0057852440513670444,
      "epoch": 18.552158273381295,
      "step": 20630
    },
    {
      "epoch": 18.552158273381295,
      "step": 20630,
      "torque_loss": 0.09230363368988037
    },
    {
      "epoch": 18.56115107913669,
      "grad_norm": 0.3105960488319397,
      "learning_rate": 7.817478472941802e-05,
      "loss": 0.0942,
      "step": 20640
    },
    {
      "action_loss": 0.005330909043550491,
      "epoch": 18.56115107913669,
      "step": 20640
    },
    {
      "epoch": 18.56115107913669,
      "step": 20640,
      "torque_loss": 0.13083012402057648
    },
    {
      "epoch": 18.570143884892087,
      "grad_norm": 0.33755362033843994,
      "learning_rate": 7.815201440398727e-05,
      "loss": 0.0753,
      "step": 20650
    },
    {
      "action_loss": 0.02544517256319523,
      "epoch": 18.570143884892087,
      "step": 20650
    },
    {
      "epoch": 18.570143884892087,
      "step": 20650,
      "torque_loss": 0.20401962101459503
    },
    {
      "epoch": 18.57913669064748,
      "grad_norm": 0.3688476085662842,
      "learning_rate": 7.812923552671789e-05,
      "loss": 0.1017,
      "step": 20660
    },
    {
      "action_loss": 0.006949292030185461,
      "epoch": 18.57913669064748,
      "step": 20660
    },
    {
      "epoch": 18.57913669064748,
      "step": 20660,
      "torque_loss": 0.12326667457818985
    },
    {
      "epoch": 18.58812949640288,
      "grad_norm": 0.3348764181137085,
      "learning_rate": 7.810644810452945e-05,
      "loss": 0.0834,
      "step": 20670
    },
    {
      "action_loss": 0.005911390762776136,
      "epoch": 18.58812949640288,
      "step": 20670
    },
    {
      "epoch": 18.58812949640288,
      "step": 20670,
      "torque_loss": 0.10939383506774902
    },
    {
      "epoch": 18.597122302158272,
      "grad_norm": 0.330154150724411,
      "learning_rate": 7.808365214434417e-05,
      "loss": 0.0853,
      "step": 20680
    },
    {
      "action_loss": 0.0054360865615308285,
      "epoch": 18.597122302158272,
      "step": 20680
    },
    {
      "epoch": 18.597122302158272,
      "step": 20680,
      "torque_loss": 0.1317041516304016
    },
    {
      "epoch": 18.60611510791367,
      "grad_norm": 0.34525609016418457,
      "learning_rate": 7.80608476530869e-05,
      "loss": 0.0949,
      "step": 20690
    },
    {
      "action_loss": 0.0033745309337973595,
      "epoch": 18.60611510791367,
      "step": 20690
    },
    {
      "epoch": 18.60611510791367,
      "step": 20690,
      "torque_loss": 0.10936129093170166
    },
    {
      "epoch": 18.615107913669064,
      "grad_norm": 0.28118792176246643,
      "learning_rate": 7.8038034637685e-05,
      "loss": 0.0797,
      "step": 20700
    },
    {
      "action_loss": 0.01804095134139061,
      "epoch": 18.615107913669064,
      "step": 20700
    },
    {
      "epoch": 18.615107913669064,
      "step": 20700,
      "torque_loss": 0.1414554864168167
    },
    {
      "epoch": 18.62410071942446,
      "grad_norm": 0.3889027237892151,
      "learning_rate": 7.801521310506848e-05,
      "loss": 0.0796,
      "step": 20710
    },
    {
      "action_loss": 0.0076459795236587524,
      "epoch": 18.62410071942446,
      "step": 20710
    },
    {
      "epoch": 18.62410071942446,
      "step": 20710,
      "torque_loss": 0.09113819152116776
    },
    {
      "epoch": 18.633093525179856,
      "grad_norm": 0.3085611164569855,
      "learning_rate": 7.799238306216994e-05,
      "loss": 0.0755,
      "step": 20720
    },
    {
      "action_loss": 0.010990013368427753,
      "epoch": 18.633093525179856,
      "step": 20720
    },
    {
      "epoch": 18.633093525179856,
      "step": 20720,
      "torque_loss": 0.1654743254184723
    },
    {
      "epoch": 18.642086330935253,
      "grad_norm": 0.2626160681247711,
      "learning_rate": 7.796954451592448e-05,
      "loss": 0.1053,
      "step": 20730
    },
    {
      "action_loss": 0.005132336635142565,
      "epoch": 18.642086330935253,
      "step": 20730
    },
    {
      "epoch": 18.642086330935253,
      "step": 20730,
      "torque_loss": 0.08526179194450378
    },
    {
      "epoch": 18.651079136690647,
      "grad_norm": 0.43451249599456787,
      "learning_rate": 7.794669747326992e-05,
      "loss": 0.0904,
      "step": 20740
    },
    {
      "action_loss": 0.004867656622081995,
      "epoch": 18.651079136690647,
      "step": 20740
    },
    {
      "epoch": 18.651079136690647,
      "step": 20740,
      "torque_loss": 0.13249965012073517
    },
    {
      "epoch": 18.66007194244604,
      "grad_norm": 0.27113452553749084,
      "learning_rate": 7.792384194114654e-05,
      "loss": 0.0872,
      "step": 20750
    },
    {
      "action_loss": 0.012113518081605434,
      "epoch": 18.66007194244604,
      "step": 20750
    },
    {
      "epoch": 18.66007194244604,
      "step": 20750,
      "torque_loss": 0.15339362621307373
    },
    {
      "epoch": 18.66906474820144,
      "grad_norm": 0.4997711181640625,
      "learning_rate": 7.790097792649729e-05,
      "loss": 0.0947,
      "step": 20760
    },
    {
      "action_loss": 0.018266653642058372,
      "epoch": 18.66906474820144,
      "step": 20760
    },
    {
      "epoch": 18.66906474820144,
      "step": 20760,
      "torque_loss": 0.22849242389202118
    },
    {
      "epoch": 18.678057553956833,
      "grad_norm": 0.3216046392917633,
      "learning_rate": 7.787810543626762e-05,
      "loss": 0.0901,
      "step": 20770
    },
    {
      "action_loss": 0.011907284148037434,
      "epoch": 18.678057553956833,
      "step": 20770
    },
    {
      "epoch": 18.678057553956833,
      "step": 20770,
      "torque_loss": 0.15726976096630096
    },
    {
      "epoch": 18.68705035971223,
      "grad_norm": 0.37117135524749756,
      "learning_rate": 7.785522447740558e-05,
      "loss": 0.0834,
      "step": 20780
    },
    {
      "action_loss": 0.005625199992209673,
      "epoch": 18.68705035971223,
      "step": 20780
    },
    {
      "epoch": 18.68705035971223,
      "step": 20780,
      "torque_loss": 0.07111639529466629
    },
    {
      "epoch": 18.696043165467625,
      "grad_norm": 0.3306056559085846,
      "learning_rate": 7.783233505686182e-05,
      "loss": 0.0969,
      "step": 20790
    },
    {
      "action_loss": 0.0040064663626253605,
      "epoch": 18.696043165467625,
      "step": 20790
    },
    {
      "epoch": 18.696043165467625,
      "step": 20790,
      "torque_loss": 0.12390550225973129
    },
    {
      "epoch": 18.705035971223023,
      "grad_norm": 0.2887640595436096,
      "learning_rate": 7.780943718158955e-05,
      "loss": 0.076,
      "step": 20800
    },
    {
      "action_loss": 0.0052358247339725494,
      "epoch": 18.705035971223023,
      "step": 20800
    },
    {
      "epoch": 18.705035971223023,
      "step": 20800,
      "torque_loss": 0.11662524938583374
    },
    {
      "epoch": 18.714028776978417,
      "grad_norm": 0.39401963353157043,
      "learning_rate": 7.778653085854453e-05,
      "loss": 0.0902,
      "step": 20810
    },
    {
      "action_loss": 0.005045424215495586,
      "epoch": 18.714028776978417,
      "step": 20810
    },
    {
      "epoch": 18.714028776978417,
      "step": 20810,
      "torque_loss": 0.08717610687017441
    },
    {
      "epoch": 18.723021582733814,
      "grad_norm": 0.306953489780426,
      "learning_rate": 7.77636160946851e-05,
      "loss": 0.0784,
      "step": 20820
    },
    {
      "action_loss": 0.004268641117960215,
      "epoch": 18.723021582733814,
      "step": 20820
    },
    {
      "epoch": 18.723021582733814,
      "step": 20820,
      "torque_loss": 0.10843697935342789
    },
    {
      "epoch": 18.73201438848921,
      "grad_norm": 0.32188931107521057,
      "learning_rate": 7.774069289697215e-05,
      "loss": 0.0881,
      "step": 20830
    },
    {
      "action_loss": 0.0035931828897446394,
      "epoch": 18.73201438848921,
      "step": 20830
    },
    {
      "epoch": 18.73201438848921,
      "step": 20830,
      "torque_loss": 0.10706707090139389
    },
    {
      "epoch": 18.741007194244606,
      "grad_norm": 0.2996636927127838,
      "learning_rate": 7.771776127236913e-05,
      "loss": 0.0826,
      "step": 20840
    },
    {
      "action_loss": 0.007509245071560144,
      "epoch": 18.741007194244606,
      "step": 20840
    },
    {
      "epoch": 18.741007194244606,
      "step": 20840,
      "torque_loss": 0.13892124593257904
    },
    {
      "epoch": 18.75,
      "grad_norm": 0.35625821352005005,
      "learning_rate": 7.769482122784212e-05,
      "loss": 0.0838,
      "step": 20850
    },
    {
      "action_loss": 0.013491683639585972,
      "epoch": 18.75,
      "step": 20850
    },
    {
      "epoch": 18.75,
      "step": 20850,
      "torque_loss": 0.1762533187866211
    },
    {
      "epoch": 18.758992805755394,
      "grad_norm": 0.36469584703445435,
      "learning_rate": 7.767187277035963e-05,
      "loss": 0.086,
      "step": 20860
    },
    {
      "action_loss": 0.015297974459826946,
      "epoch": 18.758992805755394,
      "step": 20860
    },
    {
      "epoch": 18.758992805755394,
      "step": 20860,
      "torque_loss": 0.1701374500989914
    },
    {
      "epoch": 18.76798561151079,
      "grad_norm": 0.32738322019577026,
      "learning_rate": 7.764891590689285e-05,
      "loss": 0.0935,
      "step": 20870
    },
    {
      "action_loss": 0.006290167570114136,
      "epoch": 18.76798561151079,
      "step": 20870
    },
    {
      "epoch": 18.76798561151079,
      "step": 20870,
      "torque_loss": 0.1369890421628952
    },
    {
      "epoch": 18.776978417266186,
      "grad_norm": 0.3526645302772522,
      "learning_rate": 7.762595064441542e-05,
      "loss": 0.0917,
      "step": 20880
    },
    {
      "action_loss": 0.019061369821429253,
      "epoch": 18.776978417266186,
      "step": 20880
    },
    {
      "epoch": 18.776978417266186,
      "step": 20880,
      "torque_loss": 0.20999372005462646
    },
    {
      "epoch": 18.785971223021583,
      "grad_norm": 0.3046894669532776,
      "learning_rate": 7.760297698990362e-05,
      "loss": 0.086,
      "step": 20890
    },
    {
      "action_loss": 0.00468539958819747,
      "epoch": 18.785971223021583,
      "step": 20890
    },
    {
      "epoch": 18.785971223021583,
      "step": 20890,
      "torque_loss": 0.16612829267978668
    },
    {
      "epoch": 18.794964028776977,
      "grad_norm": 0.3383540213108063,
      "learning_rate": 7.757999495033623e-05,
      "loss": 0.0939,
      "step": 20900
    },
    {
      "action_loss": 0.008802071213722229,
      "epoch": 18.794964028776977,
      "step": 20900
    },
    {
      "epoch": 18.794964028776977,
      "step": 20900,
      "torque_loss": 0.15204884111881256
    },
    {
      "epoch": 18.803956834532375,
      "grad_norm": 0.24166397750377655,
      "learning_rate": 7.755700453269456e-05,
      "loss": 0.0759,
      "step": 20910
    },
    {
      "action_loss": 0.004556302912533283,
      "epoch": 18.803956834532375,
      "step": 20910
    },
    {
      "epoch": 18.803956834532375,
      "step": 20910,
      "torque_loss": 0.10659956187009811
    },
    {
      "epoch": 18.81294964028777,
      "grad_norm": 0.37699174880981445,
      "learning_rate": 7.753400574396254e-05,
      "loss": 0.0971,
      "step": 20920
    },
    {
      "action_loss": 0.0037072126287966967,
      "epoch": 18.81294964028777,
      "step": 20920
    },
    {
      "epoch": 18.81294964028777,
      "step": 20920,
      "torque_loss": 0.12164048105478287
    },
    {
      "epoch": 18.821942446043167,
      "grad_norm": 0.37478652596473694,
      "learning_rate": 7.751099859112655e-05,
      "loss": 0.0935,
      "step": 20930
    },
    {
      "action_loss": 0.009659129194915295,
      "epoch": 18.821942446043167,
      "step": 20930
    },
    {
      "epoch": 18.821942446043167,
      "step": 20930,
      "torque_loss": 0.1361812949180603
    },
    {
      "epoch": 18.83093525179856,
      "grad_norm": 0.2982809543609619,
      "learning_rate": 7.748798308117557e-05,
      "loss": 0.0756,
      "step": 20940
    },
    {
      "action_loss": 0.005542787257581949,
      "epoch": 18.83093525179856,
      "step": 20940
    },
    {
      "epoch": 18.83093525179856,
      "step": 20940,
      "torque_loss": 0.10907415300607681
    },
    {
      "epoch": 18.83992805755396,
      "grad_norm": 0.35812994837760925,
      "learning_rate": 7.746495922110112e-05,
      "loss": 0.0828,
      "step": 20950
    },
    {
      "action_loss": 0.009173542261123657,
      "epoch": 18.83992805755396,
      "step": 20950
    },
    {
      "epoch": 18.83992805755396,
      "step": 20950,
      "torque_loss": 0.14081765711307526
    },
    {
      "epoch": 18.848920863309353,
      "grad_norm": 0.2621867060661316,
      "learning_rate": 7.744192701789723e-05,
      "loss": 0.0805,
      "step": 20960
    },
    {
      "action_loss": 0.0044942270033061504,
      "epoch": 18.848920863309353,
      "step": 20960
    },
    {
      "epoch": 18.848920863309353,
      "step": 20960,
      "torque_loss": 0.11240822076797485
    },
    {
      "epoch": 18.857913669064747,
      "grad_norm": 0.3233477771282196,
      "learning_rate": 7.741888647856046e-05,
      "loss": 0.0809,
      "step": 20970
    },
    {
      "action_loss": 0.009895950555801392,
      "epoch": 18.857913669064747,
      "step": 20970
    },
    {
      "epoch": 18.857913669064747,
      "step": 20970,
      "torque_loss": 0.20391350984573364
    },
    {
      "epoch": 18.866906474820144,
      "grad_norm": 0.28563663363456726,
      "learning_rate": 7.739583761008994e-05,
      "loss": 0.0856,
      "step": 20980
    },
    {
      "action_loss": 0.024021288380026817,
      "epoch": 18.866906474820144,
      "step": 20980
    },
    {
      "epoch": 18.866906474820144,
      "step": 20980,
      "torque_loss": 0.2093208283185959
    },
    {
      "epoch": 18.87589928057554,
      "grad_norm": 0.35269778966903687,
      "learning_rate": 7.73727804194873e-05,
      "loss": 0.0885,
      "step": 20990
    },
    {
      "action_loss": 0.006313680205494165,
      "epoch": 18.87589928057554,
      "step": 20990
    },
    {
      "epoch": 18.87589928057554,
      "step": 20990,
      "torque_loss": 0.12992411851882935
    },
    {
      "epoch": 18.884892086330936,
      "grad_norm": 0.28904300928115845,
      "learning_rate": 7.734971491375671e-05,
      "loss": 0.0835,
      "step": 21000
    },
    {
      "action_loss": 0.004919752012938261,
      "epoch": 18.884892086330936,
      "step": 21000
    },
    {
      "epoch": 18.884892086330936,
      "step": 21000,
      "torque_loss": 0.07162654399871826
    },
    {
      "epoch": 18.89388489208633,
      "grad_norm": 0.33606380224227905,
      "learning_rate": 7.732664109990485e-05,
      "loss": 0.0824,
      "step": 21010
    },
    {
      "action_loss": 0.007574392016977072,
      "epoch": 18.89388489208633,
      "step": 21010
    },
    {
      "epoch": 18.89388489208633,
      "step": 21010,
      "torque_loss": 0.08991721272468567
    },
    {
      "epoch": 18.902877697841728,
      "grad_norm": 0.34083059430122375,
      "learning_rate": 7.730355898494095e-05,
      "loss": 0.1021,
      "step": 21020
    },
    {
      "action_loss": 0.017906926572322845,
      "epoch": 18.902877697841728,
      "step": 21020
    },
    {
      "epoch": 18.902877697841728,
      "step": 21020,
      "torque_loss": 0.14834095537662506
    },
    {
      "epoch": 18.91187050359712,
      "grad_norm": 0.33621716499328613,
      "learning_rate": 7.728046857587673e-05,
      "loss": 0.0982,
      "step": 21030
    },
    {
      "action_loss": 0.005607226863503456,
      "epoch": 18.91187050359712,
      "step": 21030
    },
    {
      "epoch": 18.91187050359712,
      "step": 21030,
      "torque_loss": 0.11342298239469528
    },
    {
      "epoch": 18.92086330935252,
      "grad_norm": 0.3365058898925781,
      "learning_rate": 7.725736987972647e-05,
      "loss": 0.0966,
      "step": 21040
    },
    {
      "action_loss": 0.009672005660831928,
      "epoch": 18.92086330935252,
      "step": 21040
    },
    {
      "epoch": 18.92086330935252,
      "step": 21040,
      "torque_loss": 0.1278279721736908
    },
    {
      "epoch": 18.929856115107913,
      "grad_norm": 0.36559250950813293,
      "learning_rate": 7.723426290350691e-05,
      "loss": 0.0914,
      "step": 21050
    },
    {
      "action_loss": 0.018150294199585915,
      "epoch": 18.929856115107913,
      "step": 21050
    },
    {
      "epoch": 18.929856115107913,
      "step": 21050,
      "torque_loss": 0.15295635163784027
    },
    {
      "epoch": 18.93884892086331,
      "grad_norm": 0.32514479756355286,
      "learning_rate": 7.721114765423736e-05,
      "loss": 0.0953,
      "step": 21060
    },
    {
      "action_loss": 0.007476967293769121,
      "epoch": 18.93884892086331,
      "step": 21060
    },
    {
      "epoch": 18.93884892086331,
      "step": 21060,
      "torque_loss": 0.13860861957073212
    },
    {
      "epoch": 18.947841726618705,
      "grad_norm": 0.3720276653766632,
      "learning_rate": 7.718802413893963e-05,
      "loss": 0.0846,
      "step": 21070
    },
    {
      "action_loss": 0.005878788884729147,
      "epoch": 18.947841726618705,
      "step": 21070
    },
    {
      "epoch": 18.947841726618705,
      "step": 21070,
      "torque_loss": 0.1321869045495987
    },
    {
      "epoch": 18.9568345323741,
      "grad_norm": 0.3216933608055115,
      "learning_rate": 7.716489236463802e-05,
      "loss": 0.0828,
      "step": 21080
    },
    {
      "action_loss": 0.009814455173909664,
      "epoch": 18.9568345323741,
      "step": 21080
    },
    {
      "epoch": 18.9568345323741,
      "step": 21080,
      "torque_loss": 0.1479647010564804
    },
    {
      "epoch": 18.965827338129497,
      "grad_norm": 0.29782286286354065,
      "learning_rate": 7.714175233835936e-05,
      "loss": 0.0784,
      "step": 21090
    },
    {
      "action_loss": 0.003600840689614415,
      "epoch": 18.965827338129497,
      "step": 21090
    },
    {
      "epoch": 18.965827338129497,
      "step": 21090,
      "torque_loss": 0.10395551472902298
    },
    {
      "epoch": 18.97482014388489,
      "grad_norm": 0.3007625937461853,
      "learning_rate": 7.711860406713299e-05,
      "loss": 0.0856,
      "step": 21100
    },
    {
      "action_loss": 0.013987655751407146,
      "epoch": 18.97482014388489,
      "step": 21100
    },
    {
      "epoch": 18.97482014388489,
      "step": 21100,
      "torque_loss": 0.1447070837020874
    },
    {
      "epoch": 18.98381294964029,
      "grad_norm": 0.3680391013622284,
      "learning_rate": 7.70954475579907e-05,
      "loss": 0.086,
      "step": 21110
    },
    {
      "action_loss": 0.007213123142719269,
      "epoch": 18.98381294964029,
      "step": 21110
    },
    {
      "epoch": 18.98381294964029,
      "step": 21110,
      "torque_loss": 0.10276845097541809
    },
    {
      "epoch": 18.992805755395683,
      "grad_norm": 0.43869954347610474,
      "learning_rate": 7.707228281796688e-05,
      "loss": 0.0938,
      "step": 21120
    },
    {
      "action_loss": 0.0038870859425514936,
      "epoch": 18.992805755395683,
      "step": 21120
    },
    {
      "epoch": 18.992805755395683,
      "step": 21120,
      "torque_loss": 0.12546424567699432
    },
    {
      "epoch": 19.00179856115108,
      "grad_norm": 0.4315304458141327,
      "learning_rate": 7.704910985409833e-05,
      "loss": 0.0898,
      "step": 21130
    },
    {
      "action_loss": 0.009156394749879837,
      "epoch": 19.00179856115108,
      "step": 21130
    },
    {
      "epoch": 19.00179856115108,
      "step": 21130,
      "torque_loss": 0.12788553535938263
    },
    {
      "epoch": 19.010791366906474,
      "grad_norm": 0.2540854811668396,
      "learning_rate": 7.702592867342439e-05,
      "loss": 0.0936,
      "step": 21140
    },
    {
      "action_loss": 0.005419764202088118,
      "epoch": 19.010791366906474,
      "step": 21140
    },
    {
      "epoch": 19.010791366906474,
      "step": 21140,
      "torque_loss": 0.10867869853973389
    },
    {
      "epoch": 19.019784172661872,
      "grad_norm": 0.3139370083808899,
      "learning_rate": 7.700273928298691e-05,
      "loss": 0.082,
      "step": 21150
    },
    {
      "action_loss": 0.008165564388036728,
      "epoch": 19.019784172661872,
      "step": 21150
    },
    {
      "epoch": 19.019784172661872,
      "step": 21150,
      "torque_loss": 0.13337290287017822
    },
    {
      "epoch": 19.028776978417266,
      "grad_norm": 0.3755112290382385,
      "learning_rate": 7.697954168983021e-05,
      "loss": 0.0853,
      "step": 21160
    },
    {
      "action_loss": 0.006630053278058767,
      "epoch": 19.028776978417266,
      "step": 21160
    },
    {
      "epoch": 19.028776978417266,
      "step": 21160,
      "torque_loss": 0.1254008561372757
    },
    {
      "epoch": 19.037769784172664,
      "grad_norm": 0.2830062210559845,
      "learning_rate": 7.695633590100109e-05,
      "loss": 0.0937,
      "step": 21170
    },
    {
      "action_loss": 0.004623245447874069,
      "epoch": 19.037769784172664,
      "step": 21170
    },
    {
      "epoch": 19.037769784172664,
      "step": 21170,
      "torque_loss": 0.1033250093460083
    },
    {
      "epoch": 19.046762589928058,
      "grad_norm": 0.371664434671402,
      "learning_rate": 7.693312192354886e-05,
      "loss": 0.0919,
      "step": 21180
    },
    {
      "action_loss": 0.007990953512489796,
      "epoch": 19.046762589928058,
      "step": 21180
    },
    {
      "epoch": 19.046762589928058,
      "step": 21180,
      "torque_loss": 0.1516697108745575
    },
    {
      "epoch": 19.055755395683452,
      "grad_norm": 0.23911835253238678,
      "learning_rate": 7.690989976452532e-05,
      "loss": 0.0859,
      "step": 21190
    },
    {
      "action_loss": 0.010153698734939098,
      "epoch": 19.055755395683452,
      "step": 21190
    },
    {
      "epoch": 19.055755395683452,
      "step": 21190,
      "torque_loss": 0.13807645440101624
    },
    {
      "epoch": 19.06474820143885,
      "grad_norm": 0.2707136273384094,
      "learning_rate": 7.688666943098475e-05,
      "loss": 0.085,
      "step": 21200
    },
    {
      "action_loss": 0.006891352590173483,
      "epoch": 19.06474820143885,
      "step": 21200
    },
    {
      "epoch": 19.06474820143885,
      "step": 21200,
      "torque_loss": 0.11087387800216675
    },
    {
      "epoch": 19.073741007194243,
      "grad_norm": 0.3532238304615021,
      "learning_rate": 7.686343092998389e-05,
      "loss": 0.0812,
      "step": 21210
    },
    {
      "action_loss": 0.004861170891672373,
      "epoch": 19.073741007194243,
      "step": 21210
    },
    {
      "epoch": 19.073741007194243,
      "step": 21210,
      "torque_loss": 0.09009512513875961
    },
    {
      "epoch": 19.08273381294964,
      "grad_norm": 0.29439711570739746,
      "learning_rate": 7.684018426858202e-05,
      "loss": 0.0899,
      "step": 21220
    },
    {
      "action_loss": 0.005626974161714315,
      "epoch": 19.08273381294964,
      "step": 21220
    },
    {
      "epoch": 19.08273381294964,
      "step": 21220,
      "torque_loss": 0.10477358847856522
    },
    {
      "epoch": 19.091726618705035,
      "grad_norm": 0.33503320813179016,
      "learning_rate": 7.681692945384084e-05,
      "loss": 0.0876,
      "step": 21230
    },
    {
      "action_loss": 0.008049283176660538,
      "epoch": 19.091726618705035,
      "step": 21230
    },
    {
      "epoch": 19.091726618705035,
      "step": 21230,
      "torque_loss": 0.14586633443832397
    },
    {
      "epoch": 19.100719424460433,
      "grad_norm": 0.3083992600440979,
      "learning_rate": 7.679366649282456e-05,
      "loss": 0.0793,
      "step": 21240
    },
    {
      "action_loss": 0.013890661299228668,
      "epoch": 19.100719424460433,
      "step": 21240
    },
    {
      "epoch": 19.100719424460433,
      "step": 21240,
      "torque_loss": 0.18905524909496307
    },
    {
      "epoch": 19.109712230215827,
      "grad_norm": 0.3809301555156708,
      "learning_rate": 7.677039539259983e-05,
      "loss": 0.0941,
      "step": 21250
    },
    {
      "action_loss": 0.006953440606594086,
      "epoch": 19.109712230215827,
      "step": 21250
    },
    {
      "epoch": 19.109712230215827,
      "step": 21250,
      "torque_loss": 0.20832546055316925
    },
    {
      "epoch": 19.118705035971225,
      "grad_norm": 0.2722795605659485,
      "learning_rate": 7.674711616023581e-05,
      "loss": 0.0925,
      "step": 21260
    },
    {
      "action_loss": 0.014207524247467518,
      "epoch": 19.118705035971225,
      "step": 21260
    },
    {
      "epoch": 19.118705035971225,
      "step": 21260,
      "torque_loss": 0.20717830955982208
    },
    {
      "epoch": 19.12769784172662,
      "grad_norm": 0.29257866740226746,
      "learning_rate": 7.672382880280413e-05,
      "loss": 0.0841,
      "step": 21270
    },
    {
      "action_loss": 0.00608113594353199,
      "epoch": 19.12769784172662,
      "step": 21270
    },
    {
      "epoch": 19.12769784172662,
      "step": 21270,
      "torque_loss": 0.10854760557413101
    },
    {
      "epoch": 19.136690647482013,
      "grad_norm": 0.31391772627830505,
      "learning_rate": 7.670053332737885e-05,
      "loss": 0.0846,
      "step": 21280
    },
    {
      "action_loss": 0.002386990934610367,
      "epoch": 19.136690647482013,
      "step": 21280
    },
    {
      "epoch": 19.136690647482013,
      "step": 21280,
      "torque_loss": 0.07284673303365707
    },
    {
      "epoch": 19.14568345323741,
      "grad_norm": 0.3749631643295288,
      "learning_rate": 7.667722974103654e-05,
      "loss": 0.0722,
      "step": 21290
    },
    {
      "action_loss": 0.0023603413719683886,
      "epoch": 19.14568345323741,
      "step": 21290
    },
    {
      "epoch": 19.14568345323741,
      "step": 21290,
      "torque_loss": 0.09032964706420898
    },
    {
      "epoch": 19.154676258992804,
      "grad_norm": 0.3490293025970459,
      "learning_rate": 7.66539180508562e-05,
      "loss": 0.0788,
      "step": 21300
    },
    {
      "action_loss": 0.008503551594913006,
      "epoch": 19.154676258992804,
      "step": 21300
    },
    {
      "epoch": 19.154676258992804,
      "step": 21300,
      "torque_loss": 0.1126624122262001
    },
    {
      "epoch": 19.163669064748202,
      "grad_norm": 0.32594311237335205,
      "learning_rate": 7.663059826391932e-05,
      "loss": 0.0899,
      "step": 21310
    },
    {
      "action_loss": 0.005015261936932802,
      "epoch": 19.163669064748202,
      "step": 21310
    },
    {
      "epoch": 19.163669064748202,
      "step": 21310,
      "torque_loss": 0.15691711008548737
    },
    {
      "epoch": 19.172661870503596,
      "grad_norm": 0.2214040905237198,
      "learning_rate": 7.660727038730981e-05,
      "loss": 0.0832,
      "step": 21320
    },
    {
      "action_loss": 0.019471358507871628,
      "epoch": 19.172661870503596,
      "step": 21320
    },
    {
      "epoch": 19.172661870503596,
      "step": 21320,
      "torque_loss": 0.20435458421707153
    },
    {
      "epoch": 19.181654676258994,
      "grad_norm": 0.2942233979701996,
      "learning_rate": 7.65839344281141e-05,
      "loss": 0.087,
      "step": 21330
    },
    {
      "action_loss": 0.006392946001142263,
      "epoch": 19.181654676258994,
      "step": 21330
    },
    {
      "epoch": 19.181654676258994,
      "step": 21330,
      "torque_loss": 0.1503145843744278
    },
    {
      "epoch": 19.190647482014388,
      "grad_norm": 0.3498871922492981,
      "learning_rate": 7.656059039342101e-05,
      "loss": 0.0761,
      "step": 21340
    },
    {
      "action_loss": 0.005644313991069794,
      "epoch": 19.190647482014388,
      "step": 21340
    },
    {
      "epoch": 19.190647482014388,
      "step": 21340,
      "torque_loss": 0.12282532453536987
    },
    {
      "epoch": 19.199640287769785,
      "grad_norm": 0.3465186357498169,
      "learning_rate": 7.653723829032187e-05,
      "loss": 0.0826,
      "step": 21350
    },
    {
      "action_loss": 0.00486223166808486,
      "epoch": 19.199640287769785,
      "step": 21350
    },
    {
      "epoch": 19.199640287769785,
      "step": 21350,
      "torque_loss": 0.09322068840265274
    },
    {
      "epoch": 19.20863309352518,
      "grad_norm": 0.27490103244781494,
      "learning_rate": 7.65138781259104e-05,
      "loss": 0.091,
      "step": 21360
    },
    {
      "action_loss": 0.005319376941770315,
      "epoch": 19.20863309352518,
      "step": 21360
    },
    {
      "epoch": 19.20863309352518,
      "step": 21360,
      "torque_loss": 0.10616327077150345
    },
    {
      "epoch": 19.217625899280577,
      "grad_norm": 0.3809833228588104,
      "learning_rate": 7.649050990728279e-05,
      "loss": 0.076,
      "step": 21370
    },
    {
      "action_loss": 0.007011007983237505,
      "epoch": 19.217625899280577,
      "step": 21370
    },
    {
      "epoch": 19.217625899280577,
      "step": 21370,
      "torque_loss": 0.15126079320907593
    },
    {
      "epoch": 19.22661870503597,
      "grad_norm": 0.265543669462204,
      "learning_rate": 7.646713364153774e-05,
      "loss": 0.09,
      "step": 21380
    },
    {
      "action_loss": 0.005021360237151384,
      "epoch": 19.22661870503597,
      "step": 21380
    },
    {
      "epoch": 19.22661870503597,
      "step": 21380,
      "torque_loss": 0.12882132828235626
    },
    {
      "epoch": 19.235611510791365,
      "grad_norm": 0.3470516800880432,
      "learning_rate": 7.64437493357763e-05,
      "loss": 0.0858,
      "step": 21390
    },
    {
      "action_loss": 0.0044388906098902225,
      "epoch": 19.235611510791365,
      "step": 21390
    },
    {
      "epoch": 19.235611510791365,
      "step": 21390,
      "torque_loss": 0.12814992666244507
    },
    {
      "epoch": 19.244604316546763,
      "grad_norm": 0.24240125715732574,
      "learning_rate": 7.642035699710202e-05,
      "loss": 0.0858,
      "step": 21400
    },
    {
      "action_loss": 0.005060770083218813,
      "epoch": 19.244604316546763,
      "step": 21400
    },
    {
      "epoch": 19.244604316546763,
      "step": 21400,
      "torque_loss": 0.14997337758541107
    },
    {
      "epoch": 19.253597122302157,
      "grad_norm": 0.34621381759643555,
      "learning_rate": 7.639695663262089e-05,
      "loss": 0.0761,
      "step": 21410
    },
    {
      "action_loss": 0.0154527323320508,
      "epoch": 19.253597122302157,
      "step": 21410
    },
    {
      "epoch": 19.253597122302157,
      "step": 21410,
      "torque_loss": 0.23642800748348236
    },
    {
      "epoch": 19.262589928057555,
      "grad_norm": 0.34965914487838745,
      "learning_rate": 7.637354824944128e-05,
      "loss": 0.1076,
      "step": 21420
    },
    {
      "action_loss": 0.007791346404701471,
      "epoch": 19.262589928057555,
      "step": 21420
    },
    {
      "epoch": 19.262589928057555,
      "step": 21420,
      "torque_loss": 0.11899403482675552
    },
    {
      "epoch": 19.27158273381295,
      "grad_norm": 0.36335092782974243,
      "learning_rate": 7.635013185467408e-05,
      "loss": 0.0752,
      "step": 21430
    },
    {
      "action_loss": 0.008760087192058563,
      "epoch": 19.27158273381295,
      "step": 21430
    },
    {
      "epoch": 19.27158273381295,
      "step": 21430,
      "torque_loss": 0.07692018896341324
    },
    {
      "epoch": 19.280575539568346,
      "grad_norm": 0.29379919171333313,
      "learning_rate": 7.632670745543256e-05,
      "loss": 0.0814,
      "step": 21440
    },
    {
      "action_loss": 0.0035040013026446104,
      "epoch": 19.280575539568346,
      "step": 21440
    },
    {
      "epoch": 19.280575539568346,
      "step": 21440,
      "torque_loss": 0.11028388887643814
    },
    {
      "epoch": 19.28956834532374,
      "grad_norm": 0.31609058380126953,
      "learning_rate": 7.630327505883242e-05,
      "loss": 0.0887,
      "step": 21450
    },
    {
      "action_loss": 0.0025894565042108297,
      "epoch": 19.28956834532374,
      "step": 21450
    },
    {
      "epoch": 19.28956834532374,
      "step": 21450,
      "torque_loss": 0.1014619842171669
    },
    {
      "epoch": 19.298561151079138,
      "grad_norm": 0.32694903016090393,
      "learning_rate": 7.627983467199182e-05,
      "loss": 0.0741,
      "step": 21460
    },
    {
      "action_loss": 0.006947105750441551,
      "epoch": 19.298561151079138,
      "step": 21460
    },
    {
      "epoch": 19.298561151079138,
      "step": 21460,
      "torque_loss": 0.1653868556022644
    },
    {
      "epoch": 19.307553956834532,
      "grad_norm": 0.33320823311805725,
      "learning_rate": 7.625638630203132e-05,
      "loss": 0.0893,
      "step": 21470
    },
    {
      "action_loss": 0.005132623482495546,
      "epoch": 19.307553956834532,
      "step": 21470
    },
    {
      "epoch": 19.307553956834532,
      "step": 21470,
      "torque_loss": 0.1401345580816269
    },
    {
      "epoch": 19.31654676258993,
      "grad_norm": 0.2939514219760895,
      "learning_rate": 7.623292995607394e-05,
      "loss": 0.0903,
      "step": 21480
    },
    {
      "action_loss": 0.01321441400796175,
      "epoch": 19.31654676258993,
      "step": 21480
    },
    {
      "epoch": 19.31654676258993,
      "step": 21480,
      "torque_loss": 0.13753251731395721
    },
    {
      "epoch": 19.325539568345324,
      "grad_norm": 0.3531478941440582,
      "learning_rate": 7.620946564124507e-05,
      "loss": 0.0833,
      "step": 21490
    },
    {
      "action_loss": 0.009166485629975796,
      "epoch": 19.325539568345324,
      "step": 21490
    },
    {
      "epoch": 19.325539568345324,
      "step": 21490,
      "torque_loss": 0.134939506649971
    },
    {
      "epoch": 19.334532374100718,
      "grad_norm": 0.2762276530265808,
      "learning_rate": 7.618599336467256e-05,
      "loss": 0.0829,
      "step": 21500
    },
    {
      "action_loss": 0.006043755915015936,
      "epoch": 19.334532374100718,
      "step": 21500
    },
    {
      "epoch": 19.334532374100718,
      "step": 21500,
      "torque_loss": 0.12349296361207962
    },
    {
      "epoch": 19.343525179856115,
      "grad_norm": 0.34418484568595886,
      "learning_rate": 7.616251313348666e-05,
      "loss": 0.0779,
      "step": 21510
    },
    {
      "action_loss": 0.009373911656439304,
      "epoch": 19.343525179856115,
      "step": 21510
    },
    {
      "epoch": 19.343525179856115,
      "step": 21510,
      "torque_loss": 0.1316349357366562
    },
    {
      "epoch": 19.35251798561151,
      "grad_norm": 0.3786344528198242,
      "learning_rate": 7.613902495482005e-05,
      "loss": 0.1028,
      "step": 21520
    },
    {
      "action_loss": 0.00546052074059844,
      "epoch": 19.35251798561151,
      "step": 21520
    },
    {
      "epoch": 19.35251798561151,
      "step": 21520,
      "torque_loss": 0.13003768026828766
    },
    {
      "epoch": 19.361510791366907,
      "grad_norm": 0.27373987436294556,
      "learning_rate": 7.611552883580784e-05,
      "loss": 0.0841,
      "step": 21530
    },
    {
      "action_loss": 0.007895777933299541,
      "epoch": 19.361510791366907,
      "step": 21530
    },
    {
      "epoch": 19.361510791366907,
      "step": 21530,
      "torque_loss": 0.1629680097103119
    },
    {
      "epoch": 19.3705035971223,
      "grad_norm": 0.29474735260009766,
      "learning_rate": 7.609202478358748e-05,
      "loss": 0.0964,
      "step": 21540
    },
    {
      "action_loss": 0.010754077695310116,
      "epoch": 19.3705035971223,
      "step": 21540
    },
    {
      "epoch": 19.3705035971223,
      "step": 21540,
      "torque_loss": 0.16979451477527618
    },
    {
      "epoch": 19.3794964028777,
      "grad_norm": 0.32554757595062256,
      "learning_rate": 7.606851280529895e-05,
      "loss": 0.0902,
      "step": 21550
    },
    {
      "action_loss": 0.006549505982547998,
      "epoch": 19.3794964028777,
      "step": 21550
    },
    {
      "epoch": 19.3794964028777,
      "step": 21550,
      "torque_loss": 0.10955312103033066
    },
    {
      "epoch": 19.388489208633093,
      "grad_norm": 0.2937321960926056,
      "learning_rate": 7.604499290808449e-05,
      "loss": 0.085,
      "step": 21560
    },
    {
      "action_loss": 0.01642548479139805,
      "epoch": 19.388489208633093,
      "step": 21560
    },
    {
      "epoch": 19.388489208633093,
      "step": 21560,
      "torque_loss": 0.18307726085186005
    },
    {
      "epoch": 19.39748201438849,
      "grad_norm": 0.35253044962882996,
      "learning_rate": 7.602146509908888e-05,
      "loss": 0.0875,
      "step": 21570
    },
    {
      "action_loss": 0.005283757578581572,
      "epoch": 19.39748201438849,
      "step": 21570
    },
    {
      "epoch": 19.39748201438849,
      "step": 21570,
      "torque_loss": 0.0652749165892601
    },
    {
      "epoch": 19.406474820143885,
      "grad_norm": 0.27742812037467957,
      "learning_rate": 7.599792938545921e-05,
      "loss": 0.0919,
      "step": 21580
    },
    {
      "action_loss": 0.007782362401485443,
      "epoch": 19.406474820143885,
      "step": 21580
    },
    {
      "epoch": 19.406474820143885,
      "step": 21580,
      "torque_loss": 0.10008737444877625
    },
    {
      "epoch": 19.415467625899282,
      "grad_norm": 0.256957471370697,
      "learning_rate": 7.597438577434506e-05,
      "loss": 0.0852,
      "step": 21590
    },
    {
      "action_loss": 0.009394805878400803,
      "epoch": 19.415467625899282,
      "step": 21590
    },
    {
      "epoch": 19.415467625899282,
      "step": 21590,
      "torque_loss": 0.1501922458410263
    },
    {
      "epoch": 19.424460431654676,
      "grad_norm": 0.35356417298316956,
      "learning_rate": 7.595083427289831e-05,
      "loss": 0.0826,
      "step": 21600
    },
    {
      "action_loss": 0.003901482792571187,
      "epoch": 19.424460431654676,
      "step": 21600
    },
    {
      "epoch": 19.424460431654676,
      "step": 21600,
      "torque_loss": 0.09321033954620361
    },
    {
      "epoch": 19.43345323741007,
      "grad_norm": 0.30982211232185364,
      "learning_rate": 7.59272748882733e-05,
      "loss": 0.0806,
      "step": 21610
    },
    {
      "action_loss": 0.028615489602088928,
      "epoch": 19.43345323741007,
      "step": 21610
    },
    {
      "epoch": 19.43345323741007,
      "step": 21610,
      "torque_loss": 0.16308265924453735
    },
    {
      "epoch": 19.442446043165468,
      "grad_norm": 0.2214595079421997,
      "learning_rate": 7.590370762762675e-05,
      "loss": 0.0911,
      "step": 21620
    },
    {
      "action_loss": 0.003954201005399227,
      "epoch": 19.442446043165468,
      "step": 21620
    },
    {
      "epoch": 19.442446043165468,
      "step": 21620,
      "torque_loss": 0.09171799570322037
    },
    {
      "epoch": 19.451438848920862,
      "grad_norm": 0.44244736433029175,
      "learning_rate": 7.588013249811777e-05,
      "loss": 0.1016,
      "step": 21630
    },
    {
      "action_loss": 0.008980878628790379,
      "epoch": 19.451438848920862,
      "step": 21630
    },
    {
      "epoch": 19.451438848920862,
      "step": 21630,
      "torque_loss": 0.1228618249297142
    },
    {
      "epoch": 19.46043165467626,
      "grad_norm": 0.28401151299476624,
      "learning_rate": 7.585654950690786e-05,
      "loss": 0.0859,
      "step": 21640
    },
    {
      "action_loss": 0.003628644160926342,
      "epoch": 19.46043165467626,
      "step": 21640
    },
    {
      "epoch": 19.46043165467626,
      "step": 21640,
      "torque_loss": 0.09087004512548447
    },
    {
      "epoch": 19.469424460431654,
      "grad_norm": 0.31381577253341675,
      "learning_rate": 7.583295866116091e-05,
      "loss": 0.088,
      "step": 21650
    },
    {
      "action_loss": 0.010984803549945354,
      "epoch": 19.469424460431654,
      "step": 21650
    },
    {
      "epoch": 19.469424460431654,
      "step": 21650,
      "torque_loss": 0.09978973865509033
    },
    {
      "epoch": 19.47841726618705,
      "grad_norm": 0.38761404156684875,
      "learning_rate": 7.580935996804321e-05,
      "loss": 0.1022,
      "step": 21660
    },
    {
      "action_loss": 0.00890992023050785,
      "epoch": 19.47841726618705,
      "step": 21660
    },
    {
      "epoch": 19.47841726618705,
      "step": 21660,
      "torque_loss": 0.18191313743591309
    },
    {
      "epoch": 19.487410071942445,
      "grad_norm": 0.3490758240222931,
      "learning_rate": 7.57857534347234e-05,
      "loss": 0.1021,
      "step": 21670
    },
    {
      "action_loss": 0.005915272515267134,
      "epoch": 19.487410071942445,
      "step": 21670
    },
    {
      "epoch": 19.487410071942445,
      "step": 21670,
      "torque_loss": 0.12687945365905762
    },
    {
      "epoch": 19.496402877697843,
      "grad_norm": 0.38527584075927734,
      "learning_rate": 7.576213906837254e-05,
      "loss": 0.0886,
      "step": 21680
    },
    {
      "action_loss": 0.020805606618523598,
      "epoch": 19.496402877697843,
      "step": 21680
    },
    {
      "epoch": 19.496402877697843,
      "step": 21680,
      "torque_loss": 0.18530325591564178
    },
    {
      "epoch": 19.505395683453237,
      "grad_norm": 0.42948827147483826,
      "learning_rate": 7.573851687616403e-05,
      "loss": 0.0913,
      "step": 21690
    },
    {
      "action_loss": 0.014690724201500416,
      "epoch": 19.505395683453237,
      "step": 21690
    },
    {
      "epoch": 19.505395683453237,
      "step": 21690,
      "torque_loss": 0.1761145144701004
    },
    {
      "epoch": 19.514388489208635,
      "grad_norm": 0.2928464114665985,
      "learning_rate": 7.571488686527368e-05,
      "loss": 0.0744,
      "step": 21700
    },
    {
      "action_loss": 0.0075211054645478725,
      "epoch": 19.514388489208635,
      "step": 21700
    },
    {
      "epoch": 19.514388489208635,
      "step": 21700,
      "torque_loss": 0.09468350559473038
    },
    {
      "epoch": 19.52338129496403,
      "grad_norm": 0.2828305661678314,
      "learning_rate": 7.569124904287968e-05,
      "loss": 0.0736,
      "step": 21710
    },
    {
      "action_loss": 0.005829526111483574,
      "epoch": 19.52338129496403,
      "step": 21710
    },
    {
      "epoch": 19.52338129496403,
      "step": 21710,
      "torque_loss": 0.1463138312101364
    },
    {
      "epoch": 19.532374100719423,
      "grad_norm": 0.30627602338790894,
      "learning_rate": 7.566760341616254e-05,
      "loss": 0.0898,
      "step": 21720
    },
    {
      "action_loss": 0.005068741273134947,
      "epoch": 19.532374100719423,
      "step": 21720
    },
    {
      "epoch": 19.532374100719423,
      "step": 21720,
      "torque_loss": 0.1333134025335312
    },
    {
      "epoch": 19.54136690647482,
      "grad_norm": 0.33699968457221985,
      "learning_rate": 7.564394999230519e-05,
      "loss": 0.0898,
      "step": 21730
    },
    {
      "action_loss": 0.006496348883956671,
      "epoch": 19.54136690647482,
      "step": 21730
    },
    {
      "epoch": 19.54136690647482,
      "step": 21730,
      "torque_loss": 0.12265130877494812
    },
    {
      "epoch": 19.550359712230215,
      "grad_norm": 0.28796663880348206,
      "learning_rate": 7.562028877849294e-05,
      "loss": 0.075,
      "step": 21740
    },
    {
      "action_loss": 0.007124621886759996,
      "epoch": 19.550359712230215,
      "step": 21740
    },
    {
      "epoch": 19.550359712230215,
      "step": 21740,
      "torque_loss": 0.1449485570192337
    },
    {
      "epoch": 19.559352517985612,
      "grad_norm": 0.37419092655181885,
      "learning_rate": 7.559661978191341e-05,
      "loss": 0.0876,
      "step": 21750
    },
    {
      "action_loss": 0.007635466754436493,
      "epoch": 19.559352517985612,
      "step": 21750
    },
    {
      "epoch": 19.559352517985612,
      "step": 21750,
      "torque_loss": 0.1296439915895462
    },
    {
      "epoch": 19.568345323741006,
      "grad_norm": 0.33286958932876587,
      "learning_rate": 7.557294300975664e-05,
      "loss": 0.0799,
      "step": 21760
    },
    {
      "action_loss": 0.0042005302384495735,
      "epoch": 19.568345323741006,
      "step": 21760
    },
    {
      "epoch": 19.568345323741006,
      "step": 21760,
      "torque_loss": 0.09189591556787491
    },
    {
      "epoch": 19.577338129496404,
      "grad_norm": 0.2944099009037018,
      "learning_rate": 7.554925846921499e-05,
      "loss": 0.083,
      "step": 21770
    },
    {
      "action_loss": 0.0025880250614136457,
      "epoch": 19.577338129496404,
      "step": 21770
    },
    {
      "epoch": 19.577338129496404,
      "step": 21770,
      "torque_loss": 0.11245554685592651
    },
    {
      "epoch": 19.586330935251798,
      "grad_norm": 0.2991395890712738,
      "learning_rate": 7.552556616748321e-05,
      "loss": 0.0844,
      "step": 21780
    },
    {
      "action_loss": 0.008366054855287075,
      "epoch": 19.586330935251798,
      "step": 21780
    },
    {
      "epoch": 19.586330935251798,
      "step": 21780,
      "torque_loss": 0.1549873799085617
    },
    {
      "epoch": 19.595323741007196,
      "grad_norm": 0.29032400250434875,
      "learning_rate": 7.550186611175838e-05,
      "loss": 0.1,
      "step": 21790
    },
    {
      "action_loss": 0.003923008218407631,
      "epoch": 19.595323741007196,
      "step": 21790
    },
    {
      "epoch": 19.595323741007196,
      "step": 21790,
      "torque_loss": 0.06654486060142517
    },
    {
      "epoch": 19.60431654676259,
      "grad_norm": 0.2637857496738434,
      "learning_rate": 7.547815830923998e-05,
      "loss": 0.0724,
      "step": 21800
    },
    {
      "action_loss": 0.00977683812379837,
      "epoch": 19.60431654676259,
      "step": 21800
    },
    {
      "epoch": 19.60431654676259,
      "step": 21800,
      "torque_loss": 0.11053041368722916
    },
    {
      "epoch": 19.613309352517987,
      "grad_norm": 0.4152510464191437,
      "learning_rate": 7.54544427671298e-05,
      "loss": 0.0891,
      "step": 21810
    },
    {
      "action_loss": 0.015616429038345814,
      "epoch": 19.613309352517987,
      "step": 21810
    },
    {
      "epoch": 19.613309352517987,
      "step": 21810,
      "torque_loss": 0.21645812690258026
    },
    {
      "epoch": 19.62230215827338,
      "grad_norm": 0.3452844023704529,
      "learning_rate": 7.543071949263198e-05,
      "loss": 0.0826,
      "step": 21820
    },
    {
      "action_loss": 0.0037641432136297226,
      "epoch": 19.62230215827338,
      "step": 21820
    },
    {
      "epoch": 19.62230215827338,
      "step": 21820,
      "torque_loss": 0.09938704967498779
    },
    {
      "epoch": 19.631294964028775,
      "grad_norm": 0.3813572824001312,
      "learning_rate": 7.540698849295305e-05,
      "loss": 0.0723,
      "step": 21830
    },
    {
      "action_loss": 0.004320889245718718,
      "epoch": 19.631294964028775,
      "step": 21830
    },
    {
      "epoch": 19.631294964028775,
      "step": 21830,
      "torque_loss": 0.10434418171644211
    },
    {
      "epoch": 19.640287769784173,
      "grad_norm": 0.3402734100818634,
      "learning_rate": 7.538324977530183e-05,
      "loss": 0.0849,
      "step": 21840
    },
    {
      "action_loss": 0.022310348227620125,
      "epoch": 19.640287769784173,
      "step": 21840
    },
    {
      "epoch": 19.640287769784173,
      "step": 21840,
      "torque_loss": 0.23834121227264404
    },
    {
      "epoch": 19.649280575539567,
      "grad_norm": 0.5308486819267273,
      "learning_rate": 7.535950334688955e-05,
      "loss": 0.0967,
      "step": 21850
    },
    {
      "action_loss": 0.0023402387741953135,
      "epoch": 19.649280575539567,
      "step": 21850
    },
    {
      "epoch": 19.649280575539567,
      "step": 21850,
      "torque_loss": 0.05266302824020386
    },
    {
      "epoch": 19.658273381294965,
      "grad_norm": 0.3055640459060669,
      "learning_rate": 7.533574921492972e-05,
      "loss": 0.0855,
      "step": 21860
    },
    {
      "action_loss": 0.0031146674882620573,
      "epoch": 19.658273381294965,
      "step": 21860
    },
    {
      "epoch": 19.658273381294965,
      "step": 21860,
      "torque_loss": 0.08006752282381058
    },
    {
      "epoch": 19.66726618705036,
      "grad_norm": 0.31384772062301636,
      "learning_rate": 7.531198738663824e-05,
      "loss": 0.0751,
      "step": 21870
    },
    {
      "action_loss": 0.0069799404591321945,
      "epoch": 19.66726618705036,
      "step": 21870
    },
    {
      "epoch": 19.66726618705036,
      "step": 21870,
      "torque_loss": 0.16388140618801117
    },
    {
      "epoch": 19.676258992805757,
      "grad_norm": 0.29287850856781006,
      "learning_rate": 7.528821786923333e-05,
      "loss": 0.0883,
      "step": 21880
    },
    {
      "action_loss": 0.017610063776373863,
      "epoch": 19.676258992805757,
      "step": 21880
    },
    {
      "epoch": 19.676258992805757,
      "step": 21880,
      "torque_loss": 0.12996409833431244
    },
    {
      "epoch": 19.68525179856115,
      "grad_norm": 0.38596293330192566,
      "learning_rate": 7.52644406699355e-05,
      "loss": 0.0991,
      "step": 21890
    },
    {
      "action_loss": 0.004014801699668169,
      "epoch": 19.68525179856115,
      "step": 21890
    },
    {
      "epoch": 19.68525179856115,
      "step": 21890,
      "torque_loss": 0.0912395641207695
    },
    {
      "epoch": 19.694244604316548,
      "grad_norm": 0.3434992730617523,
      "learning_rate": 7.524065579596766e-05,
      "loss": 0.076,
      "step": 21900
    },
    {
      "action_loss": 0.008123699575662613,
      "epoch": 19.694244604316548,
      "step": 21900
    },
    {
      "epoch": 19.694244604316548,
      "step": 21900,
      "torque_loss": 0.1245754063129425
    },
    {
      "epoch": 19.703237410071942,
      "grad_norm": 0.31244704127311707,
      "learning_rate": 7.521686325455506e-05,
      "loss": 0.0768,
      "step": 21910
    },
    {
      "action_loss": 0.00833441037684679,
      "epoch": 19.703237410071942,
      "step": 21910
    },
    {
      "epoch": 19.703237410071942,
      "step": 21910,
      "torque_loss": 0.13810229301452637
    },
    {
      "epoch": 19.71223021582734,
      "grad_norm": 0.33842095732688904,
      "learning_rate": 7.51930630529252e-05,
      "loss": 0.0874,
      "step": 21920
    },
    {
      "action_loss": 0.010486365295946598,
      "epoch": 19.71223021582734,
      "step": 21920
    },
    {
      "epoch": 19.71223021582734,
      "step": 21920,
      "torque_loss": 0.1836272031068802
    },
    {
      "epoch": 19.721223021582734,
      "grad_norm": 0.32928356528282166,
      "learning_rate": 7.516925519830797e-05,
      "loss": 0.0849,
      "step": 21930
    },
    {
      "action_loss": 0.006314496044069529,
      "epoch": 19.721223021582734,
      "step": 21930
    },
    {
      "epoch": 19.721223021582734,
      "step": 21930,
      "torque_loss": 0.13488595187664032
    },
    {
      "epoch": 19.730215827338128,
      "grad_norm": 0.33063533902168274,
      "learning_rate": 7.514543969793557e-05,
      "loss": 0.0814,
      "step": 21940
    },
    {
      "action_loss": 0.004623195622116327,
      "epoch": 19.730215827338128,
      "step": 21940
    },
    {
      "epoch": 19.730215827338128,
      "step": 21940,
      "torque_loss": 0.1045270636677742
    },
    {
      "epoch": 19.739208633093526,
      "grad_norm": 0.36188411712646484,
      "learning_rate": 7.512161655904251e-05,
      "loss": 0.092,
      "step": 21950
    },
    {
      "action_loss": 0.0021845169831067324,
      "epoch": 19.739208633093526,
      "step": 21950
    },
    {
      "epoch": 19.739208633093526,
      "step": 21950,
      "torque_loss": 0.1278194636106491
    },
    {
      "epoch": 19.74820143884892,
      "grad_norm": 0.481460303068161,
      "learning_rate": 7.509778578886563e-05,
      "loss": 0.0856,
      "step": 21960
    },
    {
      "action_loss": 0.0034142378717660904,
      "epoch": 19.74820143884892,
      "step": 21960
    },
    {
      "epoch": 19.74820143884892,
      "step": 21960,
      "torque_loss": 0.10372534394264221
    },
    {
      "epoch": 19.757194244604317,
      "grad_norm": 0.38387253880500793,
      "learning_rate": 7.507394739464412e-05,
      "loss": 0.0861,
      "step": 21970
    },
    {
      "action_loss": 0.004481826443225145,
      "epoch": 19.757194244604317,
      "step": 21970
    },
    {
      "epoch": 19.757194244604317,
      "step": 21970,
      "torque_loss": 0.10887358337640762
    },
    {
      "epoch": 19.76618705035971,
      "grad_norm": 0.347614049911499,
      "learning_rate": 7.50501013836194e-05,
      "loss": 0.0916,
      "step": 21980
    },
    {
      "action_loss": 0.002282097004354,
      "epoch": 19.76618705035971,
      "step": 21980
    },
    {
      "epoch": 19.76618705035971,
      "step": 21980,
      "torque_loss": 0.08520299196243286
    },
    {
      "epoch": 19.77517985611511,
      "grad_norm": 0.409019410610199,
      "learning_rate": 7.50262477630353e-05,
      "loss": 0.0951,
      "step": 21990
    },
    {
      "action_loss": 0.012563981115818024,
      "epoch": 19.77517985611511,
      "step": 21990
    },
    {
      "epoch": 19.77517985611511,
      "step": 21990,
      "torque_loss": 0.14380516111850739
    },
    {
      "epoch": 19.784172661870503,
      "grad_norm": 0.302969753742218,
      "learning_rate": 7.500238654013794e-05,
      "loss": 0.1025,
      "step": 22000
    },
    {
      "action_loss": 0.004144519101828337,
      "epoch": 19.784172661870503,
      "step": 22000
    },
    {
      "epoch": 19.784172661870503,
      "step": 22000,
      "torque_loss": 0.11104372888803482
    },
    {
      "epoch": 19.7931654676259,
      "grad_norm": 0.4228251278400421,
      "learning_rate": 7.497851772217566e-05,
      "loss": 0.0804,
      "step": 22010
    },
    {
      "action_loss": 0.010258165188133717,
      "epoch": 19.7931654676259,
      "step": 22010
    },
    {
      "epoch": 19.7931654676259,
      "step": 22010,
      "torque_loss": 0.16508112847805023
    },
    {
      "epoch": 19.802158273381295,
      "grad_norm": 0.4489392340183258,
      "learning_rate": 7.495464131639924e-05,
      "loss": 0.0823,
      "step": 22020
    },
    {
      "action_loss": 0.008778329007327557,
      "epoch": 19.802158273381295,
      "step": 22020
    },
    {
      "epoch": 19.802158273381295,
      "step": 22020,
      "torque_loss": 0.14808699488639832
    },
    {
      "epoch": 19.81115107913669,
      "grad_norm": 0.40630966424942017,
      "learning_rate": 7.493075733006166e-05,
      "loss": 0.092,
      "step": 22030
    },
    {
      "action_loss": 0.003981060814112425,
      "epoch": 19.81115107913669,
      "step": 22030
    },
    {
      "epoch": 19.81115107913669,
      "step": 22030,
      "torque_loss": 0.13009263575077057
    },
    {
      "epoch": 19.820143884892087,
      "grad_norm": 0.34582000970840454,
      "learning_rate": 7.490686577041828e-05,
      "loss": 0.0876,
      "step": 22040
    },
    {
      "action_loss": 0.008012217469513416,
      "epoch": 19.820143884892087,
      "step": 22040
    },
    {
      "epoch": 19.820143884892087,
      "step": 22040,
      "torque_loss": 0.14141608774662018
    },
    {
      "epoch": 19.82913669064748,
      "grad_norm": 0.2696736454963684,
      "learning_rate": 7.488296664472668e-05,
      "loss": 0.1075,
      "step": 22050
    },
    {
      "action_loss": 0.007852835580706596,
      "epoch": 19.82913669064748,
      "step": 22050
    },
    {
      "epoch": 19.82913669064748,
      "step": 22050,
      "torque_loss": 0.14065180718898773
    },
    {
      "epoch": 19.83812949640288,
      "grad_norm": 0.30212026834487915,
      "learning_rate": 7.485905996024682e-05,
      "loss": 0.0843,
      "step": 22060
    },
    {
      "action_loss": 0.00599685637280345,
      "epoch": 19.83812949640288,
      "step": 22060
    },
    {
      "epoch": 19.83812949640288,
      "step": 22060,
      "torque_loss": 0.12794561684131622
    },
    {
      "epoch": 19.847122302158272,
      "grad_norm": 0.39082813262939453,
      "learning_rate": 7.483514572424093e-05,
      "loss": 0.0714,
      "step": 22070
    },
    {
      "action_loss": 0.014133196324110031,
      "epoch": 19.847122302158272,
      "step": 22070
    },
    {
      "epoch": 19.847122302158272,
      "step": 22070,
      "torque_loss": 0.14720825850963593
    },
    {
      "epoch": 19.85611510791367,
      "grad_norm": 0.422933429479599,
      "learning_rate": 7.481122394397349e-05,
      "loss": 0.0791,
      "step": 22080
    },
    {
      "action_loss": 0.009065103717148304,
      "epoch": 19.85611510791367,
      "step": 22080
    },
    {
      "epoch": 19.85611510791367,
      "step": 22080,
      "torque_loss": 0.11982810497283936
    },
    {
      "epoch": 19.865107913669064,
      "grad_norm": 0.26374945044517517,
      "learning_rate": 7.478729462671131e-05,
      "loss": 0.078,
      "step": 22090
    },
    {
      "action_loss": 0.01043765340000391,
      "epoch": 19.865107913669064,
      "step": 22090
    },
    {
      "epoch": 19.865107913669064,
      "step": 22090,
      "torque_loss": 0.1659952998161316
    },
    {
      "epoch": 19.87410071942446,
      "grad_norm": 0.350630521774292,
      "learning_rate": 7.47633577797235e-05,
      "loss": 0.094,
      "step": 22100
    },
    {
      "action_loss": 0.0032503108959645033,
      "epoch": 19.87410071942446,
      "step": 22100
    },
    {
      "epoch": 19.87410071942446,
      "step": 22100,
      "torque_loss": 0.11066734045743942
    },
    {
      "epoch": 19.883093525179856,
      "grad_norm": 0.3563601076602936,
      "learning_rate": 7.473941341028144e-05,
      "loss": 0.079,
      "step": 22110
    },
    {
      "action_loss": 0.0035181597340852022,
      "epoch": 19.883093525179856,
      "step": 22110
    },
    {
      "epoch": 19.883093525179856,
      "step": 22110,
      "torque_loss": 0.13381025195121765
    },
    {
      "epoch": 19.892086330935253,
      "grad_norm": 0.26093101501464844,
      "learning_rate": 7.471546152565879e-05,
      "loss": 0.0736,
      "step": 22120
    },
    {
      "action_loss": 0.014675614424049854,
      "epoch": 19.892086330935253,
      "step": 22120
    },
    {
      "epoch": 19.892086330935253,
      "step": 22120,
      "torque_loss": 0.18078124523162842
    },
    {
      "epoch": 19.901079136690647,
      "grad_norm": 0.25621965527534485,
      "learning_rate": 7.46915021331315e-05,
      "loss": 0.0931,
      "step": 22130
    },
    {
      "action_loss": 0.015672734007239342,
      "epoch": 19.901079136690647,
      "step": 22130
    },
    {
      "epoch": 19.901079136690647,
      "step": 22130,
      "torque_loss": 0.22164206206798553
    },
    {
      "epoch": 19.91007194244604,
      "grad_norm": 0.2639658451080322,
      "learning_rate": 7.466753523997778e-05,
      "loss": 0.088,
      "step": 22140
    },
    {
      "action_loss": 0.00465167174115777,
      "epoch": 19.91007194244604,
      "step": 22140
    },
    {
      "epoch": 19.91007194244604,
      "step": 22140,
      "torque_loss": 0.11339988559484482
    },
    {
      "epoch": 19.91906474820144,
      "grad_norm": 0.302202433347702,
      "learning_rate": 7.464356085347819e-05,
      "loss": 0.0863,
      "step": 22150
    },
    {
      "action_loss": 0.0041390168480575085,
      "epoch": 19.91906474820144,
      "step": 22150
    },
    {
      "epoch": 19.91906474820144,
      "step": 22150,
      "torque_loss": 0.12474439293146133
    },
    {
      "epoch": 19.928057553956833,
      "grad_norm": 0.2995898127555847,
      "learning_rate": 7.461957898091548e-05,
      "loss": 0.0874,
      "step": 22160
    },
    {
      "action_loss": 0.0031308671459555626,
      "epoch": 19.928057553956833,
      "step": 22160
    },
    {
      "epoch": 19.928057553956833,
      "step": 22160,
      "torque_loss": 0.1274547427892685
    },
    {
      "epoch": 19.93705035971223,
      "grad_norm": 0.3505816161632538,
      "learning_rate": 7.459558962957473e-05,
      "loss": 0.0901,
      "step": 22170
    },
    {
      "action_loss": 0.006777556147426367,
      "epoch": 19.93705035971223,
      "step": 22170
    },
    {
      "epoch": 19.93705035971223,
      "step": 22170,
      "torque_loss": 0.11423760652542114
    },
    {
      "epoch": 19.946043165467625,
      "grad_norm": 0.31680041551589966,
      "learning_rate": 7.457159280674326e-05,
      "loss": 0.0825,
      "step": 22180
    },
    {
      "action_loss": 0.006243307609111071,
      "epoch": 19.946043165467625,
      "step": 22180
    },
    {
      "epoch": 19.946043165467625,
      "step": 22180,
      "torque_loss": 0.11413824558258057
    },
    {
      "epoch": 19.955035971223023,
      "grad_norm": 0.378690630197525,
      "learning_rate": 7.454758851971066e-05,
      "loss": 0.0843,
      "step": 22190
    },
    {
      "action_loss": 0.012552137486636639,
      "epoch": 19.955035971223023,
      "step": 22190
    },
    {
      "epoch": 19.955035971223023,
      "step": 22190,
      "torque_loss": 0.13645513355731964
    },
    {
      "epoch": 19.964028776978417,
      "grad_norm": 0.40737780928611755,
      "learning_rate": 7.45235767757688e-05,
      "loss": 0.0839,
      "step": 22200
    },
    {
      "action_loss": 0.0327996090054512,
      "epoch": 19.964028776978417,
      "step": 22200
    },
    {
      "epoch": 19.964028776978417,
      "step": 22200,
      "torque_loss": 0.20824451744556427
    },
    {
      "epoch": 19.973021582733814,
      "grad_norm": 0.31262385845184326,
      "learning_rate": 7.449955758221183e-05,
      "loss": 0.1068,
      "step": 22210
    },
    {
      "action_loss": 0.02154531143605709,
      "epoch": 19.973021582733814,
      "step": 22210
    },
    {
      "epoch": 19.973021582733814,
      "step": 22210,
      "torque_loss": 0.19999712705612183
    },
    {
      "epoch": 19.98201438848921,
      "grad_norm": 0.38333332538604736,
      "learning_rate": 7.447553094633615e-05,
      "loss": 0.0848,
      "step": 22220
    },
    {
      "action_loss": 0.008116373792290688,
      "epoch": 19.98201438848921,
      "step": 22220
    },
    {
      "epoch": 19.98201438848921,
      "step": 22220,
      "torque_loss": 0.14411476254463196
    },
    {
      "epoch": 19.991007194244606,
      "grad_norm": 0.27763161063194275,
      "learning_rate": 7.445149687544039e-05,
      "loss": 0.0898,
      "step": 22230
    },
    {
      "action_loss": 0.01050946582108736,
      "epoch": 19.991007194244606,
      "step": 22230
    },
    {
      "epoch": 19.991007194244606,
      "step": 22230,
      "torque_loss": 0.18544010818004608
    },
    {
      "epoch": 20.0,
      "grad_norm": 0.34603917598724365,
      "learning_rate": 7.44274553768255e-05,
      "loss": 0.086,
      "step": 22240
    },
    {
      "action_loss": 0.006275814026594162,
      "epoch": 20.0,
      "step": 22240
    },
    {
      "epoch": 20.0,
      "step": 22240,
      "torque_loss": 0.07639168947935104
    },
    {
      "epoch": 20.008992805755394,
      "grad_norm": 0.3423983156681061,
      "learning_rate": 7.440340645779464e-05,
      "loss": 0.0832,
      "step": 22250
    },
    {
      "action_loss": 0.007160473614931107,
      "epoch": 20.008992805755394,
      "step": 22250
    },
    {
      "epoch": 20.008992805755394,
      "step": 22250,
      "torque_loss": 0.14182543754577637
    },
    {
      "epoch": 20.01798561151079,
      "grad_norm": 0.23882800340652466,
      "learning_rate": 7.437935012565322e-05,
      "loss": 0.0832,
      "step": 22260
    },
    {
      "action_loss": 0.0026219456922262907,
      "epoch": 20.01798561151079,
      "step": 22260
    },
    {
      "epoch": 20.01798561151079,
      "step": 22260,
      "torque_loss": 0.07412139326334
    },
    {
      "epoch": 20.026978417266186,
      "grad_norm": 0.3635520935058594,
      "learning_rate": 7.435528638770893e-05,
      "loss": 0.0825,
      "step": 22270
    },
    {
      "action_loss": 0.004756861831992865,
      "epoch": 20.026978417266186,
      "step": 22270
    },
    {
      "epoch": 20.026978417266186,
      "step": 22270,
      "torque_loss": 0.11611980944871902
    },
    {
      "epoch": 20.035971223021583,
      "grad_norm": 0.314907968044281,
      "learning_rate": 7.433121525127171e-05,
      "loss": 0.0939,
      "step": 22280
    },
    {
      "action_loss": 0.017126524820923805,
      "epoch": 20.035971223021583,
      "step": 22280
    },
    {
      "epoch": 20.035971223021583,
      "step": 22280,
      "torque_loss": 0.12849341332912445
    },
    {
      "epoch": 20.044964028776977,
      "grad_norm": 0.3372287452220917,
      "learning_rate": 7.430713672365371e-05,
      "loss": 0.1066,
      "step": 22290
    },
    {
      "action_loss": 0.006195328664034605,
      "epoch": 20.044964028776977,
      "step": 22290
    },
    {
      "epoch": 20.044964028776977,
      "step": 22290,
      "torque_loss": 0.11245080083608627
    },
    {
      "epoch": 20.053956834532375,
      "grad_norm": 0.3227732479572296,
      "learning_rate": 7.428305081216938e-05,
      "loss": 0.0844,
      "step": 22300
    },
    {
      "action_loss": 0.010410699062049389,
      "epoch": 20.053956834532375,
      "step": 22300
    },
    {
      "epoch": 20.053956834532375,
      "step": 22300,
      "torque_loss": 0.11286827176809311
    },
    {
      "epoch": 20.06294964028777,
      "grad_norm": 0.354444682598114,
      "learning_rate": 7.425895752413536e-05,
      "loss": 0.0881,
      "step": 22310
    },
    {
      "action_loss": 0.03141391649842262,
      "epoch": 20.06294964028777,
      "step": 22310
    },
    {
      "epoch": 20.06294964028777,
      "step": 22310,
      "torque_loss": 0.1378210186958313
    },
    {
      "epoch": 20.071942446043167,
      "grad_norm": 0.2852379381656647,
      "learning_rate": 7.423485686687057e-05,
      "loss": 0.0928,
      "step": 22320
    },
    {
      "action_loss": 0.008969821967184544,
      "epoch": 20.071942446043167,
      "step": 22320
    },
    {
      "epoch": 20.071942446043167,
      "step": 22320,
      "torque_loss": 0.10271477699279785
    },
    {
      "epoch": 20.08093525179856,
      "grad_norm": 0.32608503103256226,
      "learning_rate": 7.421074884769616e-05,
      "loss": 0.0873,
      "step": 22330
    },
    {
      "action_loss": 0.026451589539647102,
      "epoch": 20.08093525179856,
      "step": 22330
    },
    {
      "epoch": 20.08093525179856,
      "step": 22330,
      "torque_loss": 0.2660682201385498
    },
    {
      "epoch": 20.08992805755396,
      "grad_norm": 0.34268662333488464,
      "learning_rate": 7.418663347393548e-05,
      "loss": 0.0979,
      "step": 22340
    },
    {
      "action_loss": 0.014158867299556732,
      "epoch": 20.08992805755396,
      "step": 22340
    },
    {
      "epoch": 20.08992805755396,
      "step": 22340,
      "torque_loss": 0.1493956595659256
    },
    {
      "epoch": 20.098920863309353,
      "grad_norm": 0.3840663731098175,
      "learning_rate": 7.416251075291418e-05,
      "loss": 0.0956,
      "step": 22350
    },
    {
      "action_loss": 0.005600979086011648,
      "epoch": 20.098920863309353,
      "step": 22350
    },
    {
      "epoch": 20.098920863309353,
      "step": 22350,
      "torque_loss": 0.14134417474269867
    },
    {
      "epoch": 20.107913669064747,
      "grad_norm": 0.2954639196395874,
      "learning_rate": 7.413838069196007e-05,
      "loss": 0.0717,
      "step": 22360
    },
    {
      "action_loss": 0.0031851797830313444,
      "epoch": 20.107913669064747,
      "step": 22360
    },
    {
      "epoch": 20.107913669064747,
      "step": 22360,
      "torque_loss": 0.10020375996828079
    },
    {
      "epoch": 20.116906474820144,
      "grad_norm": 0.361130028963089,
      "learning_rate": 7.411424329840324e-05,
      "loss": 0.0806,
      "step": 22370
    },
    {
      "action_loss": 0.004596354439854622,
      "epoch": 20.116906474820144,
      "step": 22370
    },
    {
      "epoch": 20.116906474820144,
      "step": 22370,
      "torque_loss": 0.1065899133682251
    },
    {
      "epoch": 20.12589928057554,
      "grad_norm": 0.35598382353782654,
      "learning_rate": 7.409009857957601e-05,
      "loss": 0.1039,
      "step": 22380
    },
    {
      "action_loss": 0.020058676600456238,
      "epoch": 20.12589928057554,
      "step": 22380
    },
    {
      "epoch": 20.12589928057554,
      "step": 22380,
      "torque_loss": 0.1615287810564041
    },
    {
      "epoch": 20.134892086330936,
      "grad_norm": 0.38283005356788635,
      "learning_rate": 7.40659465428129e-05,
      "loss": 0.0917,
      "step": 22390
    },
    {
      "action_loss": 0.013450301252305508,
      "epoch": 20.134892086330936,
      "step": 22390
    },
    {
      "epoch": 20.134892086330936,
      "step": 22390,
      "torque_loss": 0.15349571406841278
    },
    {
      "epoch": 20.14388489208633,
      "grad_norm": 0.3067522943019867,
      "learning_rate": 7.404178719545063e-05,
      "loss": 0.0904,
      "step": 22400
    },
    {
      "action_loss": 0.005800542887300253,
      "epoch": 20.14388489208633,
      "step": 22400
    },
    {
      "epoch": 20.14388489208633,
      "step": 22400,
      "torque_loss": 0.08712708950042725
    },
    {
      "epoch": 20.152877697841728,
      "grad_norm": 0.38712581992149353,
      "learning_rate": 7.401762054482822e-05,
      "loss": 0.0958,
      "step": 22410
    },
    {
      "action_loss": 0.008750204928219318,
      "epoch": 20.152877697841728,
      "step": 22410
    },
    {
      "epoch": 20.152877697841728,
      "step": 22410,
      "torque_loss": 0.13757994771003723
    },
    {
      "epoch": 20.16187050359712,
      "grad_norm": 0.26772668957710266,
      "learning_rate": 7.39934465982868e-05,
      "loss": 0.0902,
      "step": 22420
    },
    {
      "action_loss": 0.005622191820293665,
      "epoch": 20.16187050359712,
      "step": 22420
    },
    {
      "epoch": 20.16187050359712,
      "step": 22420,
      "torque_loss": 0.11089614778757095
    },
    {
      "epoch": 20.17086330935252,
      "grad_norm": 0.24855530261993408,
      "learning_rate": 7.396926536316984e-05,
      "loss": 0.0754,
      "step": 22430
    },
    {
      "action_loss": 0.008614522404968739,
      "epoch": 20.17086330935252,
      "step": 22430
    },
    {
      "epoch": 20.17086330935252,
      "step": 22430,
      "torque_loss": 0.16782665252685547
    },
    {
      "epoch": 20.179856115107913,
      "grad_norm": 0.3458348512649536,
      "learning_rate": 7.394507684682293e-05,
      "loss": 0.098,
      "step": 22440
    },
    {
      "action_loss": 0.008122864179313183,
      "epoch": 20.179856115107913,
      "step": 22440
    },
    {
      "epoch": 20.179856115107913,
      "step": 22440,
      "torque_loss": 0.13053855299949646
    },
    {
      "epoch": 20.18884892086331,
      "grad_norm": 0.3636939525604248,
      "learning_rate": 7.392088105659393e-05,
      "loss": 0.0878,
      "step": 22450
    },
    {
      "action_loss": 0.009631927125155926,
      "epoch": 20.18884892086331,
      "step": 22450
    },
    {
      "epoch": 20.18884892086331,
      "step": 22450,
      "torque_loss": 0.12656401097774506
    },
    {
      "epoch": 20.197841726618705,
      "grad_norm": 0.3479393720626831,
      "learning_rate": 7.389667799983284e-05,
      "loss": 0.0996,
      "step": 22460
    },
    {
      "action_loss": 0.009294108487665653,
      "epoch": 20.197841726618705,
      "step": 22460
    },
    {
      "epoch": 20.197841726618705,
      "step": 22460,
      "torque_loss": 0.13254772126674652
    },
    {
      "epoch": 20.2068345323741,
      "grad_norm": 0.3276597857475281,
      "learning_rate": 7.387246768389193e-05,
      "loss": 0.0813,
      "step": 22470
    },
    {
      "action_loss": 0.013098928146064281,
      "epoch": 20.2068345323741,
      "step": 22470
    },
    {
      "epoch": 20.2068345323741,
      "step": 22470,
      "torque_loss": 0.16776812076568604
    },
    {
      "epoch": 20.215827338129497,
      "grad_norm": 0.30387479066848755,
      "learning_rate": 7.384825011612563e-05,
      "loss": 0.0749,
      "step": 22480
    },
    {
      "action_loss": 0.008331761695444584,
      "epoch": 20.215827338129497,
      "step": 22480
    },
    {
      "epoch": 20.215827338129497,
      "step": 22480,
      "torque_loss": 0.1427815556526184
    },
    {
      "epoch": 20.22482014388489,
      "grad_norm": 0.3171856701374054,
      "learning_rate": 7.382402530389066e-05,
      "loss": 0.0973,
      "step": 22490
    },
    {
      "action_loss": 0.00492348475381732,
      "epoch": 20.22482014388489,
      "step": 22490
    },
    {
      "epoch": 20.22482014388489,
      "step": 22490,
      "torque_loss": 0.17704002559185028
    },
    {
      "epoch": 20.23381294964029,
      "grad_norm": 0.35690566897392273,
      "learning_rate": 7.379979325454582e-05,
      "loss": 0.0812,
      "step": 22500
    },
    {
      "action_loss": 0.0038312573451548815,
      "epoch": 20.23381294964029,
      "step": 22500
    },
    {
      "epoch": 20.23381294964029,
      "step": 22500,
      "torque_loss": 0.09091705083847046
    },
    {
      "epoch": 20.242805755395683,
      "grad_norm": 0.37454691529273987,
      "learning_rate": 7.37755539754522e-05,
      "loss": 0.0828,
      "step": 22510
    },
    {
      "action_loss": 0.005573386792093515,
      "epoch": 20.242805755395683,
      "step": 22510
    },
    {
      "epoch": 20.242805755395683,
      "step": 22510,
      "torque_loss": 0.11158844828605652
    },
    {
      "epoch": 20.25179856115108,
      "grad_norm": 0.2793903052806854,
      "learning_rate": 7.375130747397302e-05,
      "loss": 0.0743,
      "step": 22520
    },
    {
      "action_loss": 0.00306110642850399,
      "epoch": 20.25179856115108,
      "step": 22520
    },
    {
      "epoch": 20.25179856115108,
      "step": 22520,
      "torque_loss": 0.08118052035570145
    },
    {
      "epoch": 20.260791366906474,
      "grad_norm": 0.37546366453170776,
      "learning_rate": 7.372705375747377e-05,
      "loss": 0.0862,
      "step": 22530
    },
    {
      "action_loss": 0.00977406743913889,
      "epoch": 20.260791366906474,
      "step": 22530
    },
    {
      "epoch": 20.260791366906474,
      "step": 22530,
      "torque_loss": 0.12146228551864624
    },
    {
      "epoch": 20.269784172661872,
      "grad_norm": 0.34163448214530945,
      "learning_rate": 7.370279283332205e-05,
      "loss": 0.0792,
      "step": 22540
    },
    {
      "action_loss": 0.014495021663606167,
      "epoch": 20.269784172661872,
      "step": 22540
    },
    {
      "epoch": 20.269784172661872,
      "step": 22540,
      "torque_loss": 0.19498278200626373
    },
    {
      "epoch": 20.278776978417266,
      "grad_norm": 0.3493405878543854,
      "learning_rate": 7.36785247088877e-05,
      "loss": 0.0786,
      "step": 22550
    },
    {
      "action_loss": 0.010539524257183075,
      "epoch": 20.278776978417266,
      "step": 22550
    },
    {
      "epoch": 20.278776978417266,
      "step": 22550,
      "torque_loss": 0.12619884312152863
    },
    {
      "epoch": 20.28776978417266,
      "grad_norm": 0.30034032464027405,
      "learning_rate": 7.365424939154275e-05,
      "loss": 0.0865,
      "step": 22560
    },
    {
      "action_loss": 0.007849741727113724,
      "epoch": 20.28776978417266,
      "step": 22560
    },
    {
      "epoch": 20.28776978417266,
      "step": 22560,
      "torque_loss": 0.14484794437885284
    },
    {
      "epoch": 20.296762589928058,
      "grad_norm": 0.36431685090065,
      "learning_rate": 7.362996688866138e-05,
      "loss": 0.0844,
      "step": 22570
    },
    {
      "action_loss": 0.004008021671324968,
      "epoch": 20.296762589928058,
      "step": 22570
    },
    {
      "epoch": 20.296762589928058,
      "step": 22570,
      "torque_loss": 0.1097874715924263
    },
    {
      "epoch": 20.305755395683452,
      "grad_norm": 0.3257385194301605,
      "learning_rate": 7.360567720761999e-05,
      "loss": 0.0916,
      "step": 22580
    },
    {
      "action_loss": 0.007365111727267504,
      "epoch": 20.305755395683452,
      "step": 22580
    },
    {
      "epoch": 20.305755395683452,
      "step": 22580,
      "torque_loss": 0.1894538402557373
    },
    {
      "epoch": 20.31474820143885,
      "grad_norm": 0.4054173529148102,
      "learning_rate": 7.358138035579711e-05,
      "loss": 0.0948,
      "step": 22590
    },
    {
      "action_loss": 0.00431605102494359,
      "epoch": 20.31474820143885,
      "step": 22590
    },
    {
      "epoch": 20.31474820143885,
      "step": 22590,
      "torque_loss": 0.07391814142465591
    },
    {
      "epoch": 20.323741007194243,
      "grad_norm": 0.32205185294151306,
      "learning_rate": 7.355707634057354e-05,
      "loss": 0.0824,
      "step": 22600
    },
    {
      "action_loss": 0.007126168813556433,
      "epoch": 20.323741007194243,
      "step": 22600
    },
    {
      "epoch": 20.323741007194243,
      "step": 22600,
      "torque_loss": 0.11130619794130325
    },
    {
      "epoch": 20.33273381294964,
      "grad_norm": 0.2732789218425751,
      "learning_rate": 7.353276516933215e-05,
      "loss": 0.0729,
      "step": 22610
    },
    {
      "action_loss": 0.012804854661226273,
      "epoch": 20.33273381294964,
      "step": 22610
    },
    {
      "epoch": 20.33273381294964,
      "step": 22610,
      "torque_loss": 0.14762331545352936
    },
    {
      "epoch": 20.341726618705035,
      "grad_norm": 0.3192666471004486,
      "learning_rate": 7.350844684945806e-05,
      "loss": 0.0857,
      "step": 22620
    },
    {
      "action_loss": 0.0027117207646369934,
      "epoch": 20.341726618705035,
      "step": 22620
    },
    {
      "epoch": 20.341726618705035,
      "step": 22620,
      "torque_loss": 0.11214977502822876
    },
    {
      "epoch": 20.350719424460433,
      "grad_norm": 0.3435561954975128,
      "learning_rate": 7.348412138833851e-05,
      "loss": 0.0818,
      "step": 22630
    },
    {
      "action_loss": 0.003644441021606326,
      "epoch": 20.350719424460433,
      "step": 22630
    },
    {
      "epoch": 20.350719424460433,
      "step": 22630,
      "torque_loss": 0.12506574392318726
    },
    {
      "epoch": 20.359712230215827,
      "grad_norm": 0.36220040917396545,
      "learning_rate": 7.345978879336295e-05,
      "loss": 0.0804,
      "step": 22640
    },
    {
      "action_loss": 0.012813362292945385,
      "epoch": 20.359712230215827,
      "step": 22640
    },
    {
      "epoch": 20.359712230215827,
      "step": 22640,
      "torque_loss": 0.12203556299209595
    },
    {
      "epoch": 20.368705035971225,
      "grad_norm": 0.2653379440307617,
      "learning_rate": 7.343544907192296e-05,
      "loss": 0.0899,
      "step": 22650
    },
    {
      "action_loss": 0.01075250655412674,
      "epoch": 20.368705035971225,
      "step": 22650
    },
    {
      "epoch": 20.368705035971225,
      "step": 22650,
      "torque_loss": 0.16634207963943481
    },
    {
      "epoch": 20.37769784172662,
      "grad_norm": 0.2407214343547821,
      "learning_rate": 7.341110223141235e-05,
      "loss": 0.086,
      "step": 22660
    },
    {
      "action_loss": 0.007869417779147625,
      "epoch": 20.37769784172662,
      "step": 22660
    },
    {
      "epoch": 20.37769784172662,
      "step": 22660,
      "torque_loss": 0.12037762254476547
    },
    {
      "epoch": 20.386690647482013,
      "grad_norm": 0.3476046025753021,
      "learning_rate": 7.3386748279227e-05,
      "loss": 0.0895,
      "step": 22670
    },
    {
      "action_loss": 0.010275094769895077,
      "epoch": 20.386690647482013,
      "step": 22670
    },
    {
      "epoch": 20.386690647482013,
      "step": 22670,
      "torque_loss": 0.16569705307483673
    },
    {
      "epoch": 20.39568345323741,
      "grad_norm": 0.38404640555381775,
      "learning_rate": 7.336238722276501e-05,
      "loss": 0.104,
      "step": 22680
    },
    {
      "action_loss": 0.005885979160666466,
      "epoch": 20.39568345323741,
      "step": 22680
    },
    {
      "epoch": 20.39568345323741,
      "step": 22680,
      "torque_loss": 0.10328993201255798
    },
    {
      "epoch": 20.404676258992804,
      "grad_norm": 0.37020713090896606,
      "learning_rate": 7.333801906942663e-05,
      "loss": 0.0796,
      "step": 22690
    },
    {
      "action_loss": 0.003995861858129501,
      "epoch": 20.404676258992804,
      "step": 22690
    },
    {
      "epoch": 20.404676258992804,
      "step": 22690,
      "torque_loss": 0.08637925982475281
    },
    {
      "epoch": 20.413669064748202,
      "grad_norm": 0.21249420940876007,
      "learning_rate": 7.331364382661428e-05,
      "loss": 0.0783,
      "step": 22700
    },
    {
      "action_loss": 0.008539066649973392,
      "epoch": 20.413669064748202,
      "step": 22700
    },
    {
      "epoch": 20.413669064748202,
      "step": 22700,
      "torque_loss": 0.11502885818481445
    },
    {
      "epoch": 20.422661870503596,
      "grad_norm": 0.3135538399219513,
      "learning_rate": 7.328926150173248e-05,
      "loss": 0.0797,
      "step": 22710
    },
    {
      "action_loss": 0.004049323033541441,
      "epoch": 20.422661870503596,
      "step": 22710
    },
    {
      "epoch": 20.422661870503596,
      "step": 22710,
      "torque_loss": 0.09511637687683105
    },
    {
      "epoch": 20.431654676258994,
      "grad_norm": 0.2992185056209564,
      "learning_rate": 7.326487210218795e-05,
      "loss": 0.0788,
      "step": 22720
    },
    {
      "action_loss": 0.004757814574986696,
      "epoch": 20.431654676258994,
      "step": 22720
    },
    {
      "epoch": 20.431654676258994,
      "step": 22720,
      "torque_loss": 0.08717335015535355
    },
    {
      "epoch": 20.440647482014388,
      "grad_norm": 0.3385219871997833,
      "learning_rate": 7.324047563538955e-05,
      "loss": 0.0968,
      "step": 22730
    },
    {
      "action_loss": 0.0038335297722369432,
      "epoch": 20.440647482014388,
      "step": 22730
    },
    {
      "epoch": 20.440647482014388,
      "step": 22730,
      "torque_loss": 0.07643857598304749
    },
    {
      "epoch": 20.449640287769785,
      "grad_norm": 0.3190114200115204,
      "learning_rate": 7.321607210874828e-05,
      "loss": 0.0928,
      "step": 22740
    },
    {
      "action_loss": 0.014845737256109715,
      "epoch": 20.449640287769785,
      "step": 22740
    },
    {
      "epoch": 20.449640287769785,
      "step": 22740,
      "torque_loss": 0.14748214185237885
    },
    {
      "epoch": 20.45863309352518,
      "grad_norm": 0.32326191663742065,
      "learning_rate": 7.31916615296773e-05,
      "loss": 0.0838,
      "step": 22750
    },
    {
      "action_loss": 0.006324350833892822,
      "epoch": 20.45863309352518,
      "step": 22750
    },
    {
      "epoch": 20.45863309352518,
      "step": 22750,
      "torque_loss": 0.16940529644489288
    },
    {
      "epoch": 20.467625899280577,
      "grad_norm": 0.2935223877429962,
      "learning_rate": 7.316724390559188e-05,
      "loss": 0.0817,
      "step": 22760
    },
    {
      "action_loss": 0.0040749069303274155,
      "epoch": 20.467625899280577,
      "step": 22760
    },
    {
      "epoch": 20.467625899280577,
      "step": 22760,
      "torque_loss": 0.07716872543096542
    },
    {
      "epoch": 20.47661870503597,
      "grad_norm": 0.37984612584114075,
      "learning_rate": 7.314281924390946e-05,
      "loss": 0.0687,
      "step": 22770
    },
    {
      "action_loss": 0.024967113509774208,
      "epoch": 20.47661870503597,
      "step": 22770
    },
    {
      "epoch": 20.47661870503597,
      "step": 22770,
      "torque_loss": 0.3264580965042114
    },
    {
      "epoch": 20.485611510791365,
      "grad_norm": 0.3082062304019928,
      "learning_rate": 7.311838755204959e-05,
      "loss": 0.0913,
      "step": 22780
    },
    {
      "action_loss": 0.004388132132589817,
      "epoch": 20.485611510791365,
      "step": 22780
    },
    {
      "epoch": 20.485611510791365,
      "step": 22780,
      "torque_loss": 0.07909640669822693
    },
    {
      "epoch": 20.494604316546763,
      "grad_norm": 0.3218173086643219,
      "learning_rate": 7.3093948837434e-05,
      "loss": 0.0803,
      "step": 22790
    },
    {
      "action_loss": 0.0034080008044838905,
      "epoch": 20.494604316546763,
      "step": 22790
    },
    {
      "epoch": 20.494604316546763,
      "step": 22790,
      "torque_loss": 0.0872127041220665
    },
    {
      "epoch": 20.503597122302157,
      "grad_norm": 0.2676374614238739,
      "learning_rate": 7.306950310748651e-05,
      "loss": 0.0687,
      "step": 22800
    },
    {
      "action_loss": 0.005045115947723389,
      "epoch": 20.503597122302157,
      "step": 22800
    },
    {
      "epoch": 20.503597122302157,
      "step": 22800,
      "torque_loss": 0.12060286849737167
    },
    {
      "epoch": 20.512589928057555,
      "grad_norm": 0.25609245896339417,
      "learning_rate": 7.304505036963311e-05,
      "loss": 0.0951,
      "step": 22810
    },
    {
      "action_loss": 0.0075094327330589294,
      "epoch": 20.512589928057555,
      "step": 22810
    },
    {
      "epoch": 20.512589928057555,
      "step": 22810,
      "torque_loss": 0.12753410637378693
    },
    {
      "epoch": 20.52158273381295,
      "grad_norm": 0.34137865900993347,
      "learning_rate": 7.302059063130186e-05,
      "loss": 0.0821,
      "step": 22820
    },
    {
      "action_loss": 0.006541822571307421,
      "epoch": 20.52158273381295,
      "step": 22820
    },
    {
      "epoch": 20.52158273381295,
      "step": 22820,
      "torque_loss": 0.11528562754392624
    },
    {
      "epoch": 20.530575539568346,
      "grad_norm": 0.3337499797344208,
      "learning_rate": 7.2996123899923e-05,
      "loss": 0.0826,
      "step": 22830
    },
    {
      "action_loss": 0.008430560119450092,
      "epoch": 20.530575539568346,
      "step": 22830
    },
    {
      "epoch": 20.530575539568346,
      "step": 22830,
      "torque_loss": 0.13445419073104858
    },
    {
      "epoch": 20.53956834532374,
      "grad_norm": 0.29786306619644165,
      "learning_rate": 7.297165018292886e-05,
      "loss": 0.0891,
      "step": 22840
    },
    {
      "action_loss": 0.0050064329989254475,
      "epoch": 20.53956834532374,
      "step": 22840
    },
    {
      "epoch": 20.53956834532374,
      "step": 22840,
      "torque_loss": 0.10354789346456528
    },
    {
      "epoch": 20.548561151079138,
      "grad_norm": 0.3125115633010864,
      "learning_rate": 7.294716948775396e-05,
      "loss": 0.08,
      "step": 22850
    },
    {
      "action_loss": 0.0082260025665164,
      "epoch": 20.548561151079138,
      "step": 22850
    },
    {
      "epoch": 20.548561151079138,
      "step": 22850,
      "torque_loss": 0.13575828075408936
    },
    {
      "epoch": 20.557553956834532,
      "grad_norm": 0.3754071295261383,
      "learning_rate": 7.292268182183484e-05,
      "loss": 0.0882,
      "step": 22860
    },
    {
      "action_loss": 0.007948189042508602,
      "epoch": 20.557553956834532,
      "step": 22860
    },
    {
      "epoch": 20.557553956834532,
      "step": 22860,
      "torque_loss": 0.14787276089191437
    },
    {
      "epoch": 20.56654676258993,
      "grad_norm": 0.29669877886772156,
      "learning_rate": 7.28981871926102e-05,
      "loss": 0.077,
      "step": 22870
    },
    {
      "action_loss": 0.01112382858991623,
      "epoch": 20.56654676258993,
      "step": 22870
    },
    {
      "epoch": 20.56654676258993,
      "step": 22870,
      "torque_loss": 0.16764724254608154
    },
    {
      "epoch": 20.575539568345324,
      "grad_norm": 0.31653285026550293,
      "learning_rate": 7.28736856075209e-05,
      "loss": 0.0893,
      "step": 22880
    },
    {
      "action_loss": 0.007309264037758112,
      "epoch": 20.575539568345324,
      "step": 22880
    },
    {
      "epoch": 20.575539568345324,
      "step": 22880,
      "torque_loss": 0.13532529771327972
    },
    {
      "epoch": 20.584532374100718,
      "grad_norm": 0.3354112505912781,
      "learning_rate": 7.284917707400985e-05,
      "loss": 0.0793,
      "step": 22890
    },
    {
      "action_loss": 0.016063161194324493,
      "epoch": 20.584532374100718,
      "step": 22890
    },
    {
      "epoch": 20.584532374100718,
      "step": 22890,
      "torque_loss": 0.15981264412403107
    },
    {
      "epoch": 20.593525179856115,
      "grad_norm": 0.3161676824092865,
      "learning_rate": 7.282466159952212e-05,
      "loss": 0.0952,
      "step": 22900
    },
    {
      "action_loss": 0.007155477534979582,
      "epoch": 20.593525179856115,
      "step": 22900
    },
    {
      "epoch": 20.593525179856115,
      "step": 22900,
      "torque_loss": 0.1293586939573288
    },
    {
      "epoch": 20.60251798561151,
      "grad_norm": 0.28572311997413635,
      "learning_rate": 7.280013919150483e-05,
      "loss": 0.0872,
      "step": 22910
    },
    {
      "action_loss": 0.03601275011897087,
      "epoch": 20.60251798561151,
      "step": 22910
    },
    {
      "epoch": 20.60251798561151,
      "step": 22910,
      "torque_loss": 0.19264201819896698
    },
    {
      "epoch": 20.611510791366907,
      "grad_norm": 0.32861098647117615,
      "learning_rate": 7.277560985740728e-05,
      "loss": 0.1137,
      "step": 22920
    },
    {
      "action_loss": 0.009441850706934929,
      "epoch": 20.611510791366907,
      "step": 22920
    },
    {
      "epoch": 20.611510791366907,
      "step": 22920,
      "torque_loss": 0.09758269041776657
    },
    {
      "epoch": 20.6205035971223,
      "grad_norm": 0.24509593844413757,
      "learning_rate": 7.275107360468079e-05,
      "loss": 0.0863,
      "step": 22930
    },
    {
      "action_loss": 0.009741767309606075,
      "epoch": 20.6205035971223,
      "step": 22930
    },
    {
      "epoch": 20.6205035971223,
      "step": 22930,
      "torque_loss": 0.19108353555202484
    },
    {
      "epoch": 20.6294964028777,
      "grad_norm": 0.3542356491088867,
      "learning_rate": 7.272653044077885e-05,
      "loss": 0.0834,
      "step": 22940
    },
    {
      "action_loss": 0.045878421515226364,
      "epoch": 20.6294964028777,
      "step": 22940
    },
    {
      "epoch": 20.6294964028777,
      "step": 22940,
      "torque_loss": 0.16109436750411987
    },
    {
      "epoch": 20.638489208633093,
      "grad_norm": 0.27799269556999207,
      "learning_rate": 7.270198037315703e-05,
      "loss": 0.0857,
      "step": 22950
    },
    {
      "action_loss": 0.009349712170660496,
      "epoch": 20.638489208633093,
      "step": 22950
    },
    {
      "epoch": 20.638489208633093,
      "step": 22950,
      "torque_loss": 0.1928708553314209
    },
    {
      "epoch": 20.64748201438849,
      "grad_norm": 0.26198792457580566,
      "learning_rate": 7.267742340927297e-05,
      "loss": 0.0728,
      "step": 22960
    },
    {
      "action_loss": 0.004836739972233772,
      "epoch": 20.64748201438849,
      "step": 22960
    },
    {
      "epoch": 20.64748201438849,
      "step": 22960,
      "torque_loss": 0.1232639029622078
    },
    {
      "epoch": 20.656474820143885,
      "grad_norm": 0.31779053807258606,
      "learning_rate": 7.265285955658645e-05,
      "loss": 0.0732,
      "step": 22970
    },
    {
      "action_loss": 0.0129030616953969,
      "epoch": 20.656474820143885,
      "step": 22970
    },
    {
      "epoch": 20.656474820143885,
      "step": 22970,
      "torque_loss": 0.14647237956523895
    },
    {
      "epoch": 20.665467625899282,
      "grad_norm": 0.31795772910118103,
      "learning_rate": 7.26282888225593e-05,
      "loss": 0.0804,
      "step": 22980
    },
    {
      "action_loss": 0.0066238269209861755,
      "epoch": 20.665467625899282,
      "step": 22980
    },
    {
      "epoch": 20.665467625899282,
      "step": 22980,
      "torque_loss": 0.1180991530418396
    },
    {
      "epoch": 20.674460431654676,
      "grad_norm": 0.3421212136745453,
      "learning_rate": 7.260371121465548e-05,
      "loss": 0.0833,
      "step": 22990
    },
    {
      "action_loss": 0.004588224459439516,
      "epoch": 20.674460431654676,
      "step": 22990
    },
    {
      "epoch": 20.674460431654676,
      "step": 22990,
      "torque_loss": 0.13264314830303192
    },
    {
      "epoch": 20.68345323741007,
      "grad_norm": 0.29294532537460327,
      "learning_rate": 7.2579126740341e-05,
      "loss": 0.0882,
      "step": 23000
    },
    {
      "action_loss": 0.011768692173063755,
      "epoch": 20.68345323741007,
      "step": 23000
    },
    {
      "epoch": 20.68345323741007,
      "step": 23000,
      "torque_loss": 0.17955134809017181
    },
    {
      "epoch": 20.692446043165468,
      "grad_norm": 0.37408721446990967,
      "learning_rate": 7.2554535407084e-05,
      "loss": 0.0746,
      "step": 23010
    },
    {
      "action_loss": 0.0043189432471990585,
      "epoch": 20.692446043165468,
      "step": 23010
    },
    {
      "epoch": 20.692446043165468,
      "step": 23010,
      "torque_loss": 0.10573933273553848
    },
    {
      "epoch": 20.701438848920862,
      "grad_norm": 0.32552289962768555,
      "learning_rate": 7.252993722235464e-05,
      "loss": 0.0859,
      "step": 23020
    },
    {
      "action_loss": 0.005526702851057053,
      "epoch": 20.701438848920862,
      "step": 23020
    },
    {
      "epoch": 20.701438848920862,
      "step": 23020,
      "torque_loss": 0.10861573368310928
    },
    {
      "epoch": 20.71043165467626,
      "grad_norm": 0.35884183645248413,
      "learning_rate": 7.250533219362523e-05,
      "loss": 0.0796,
      "step": 23030
    },
    {
      "action_loss": 0.010767818428575993,
      "epoch": 20.71043165467626,
      "step": 23030
    },
    {
      "epoch": 20.71043165467626,
      "step": 23030,
      "torque_loss": 0.1603512018918991
    },
    {
      "epoch": 20.719424460431654,
      "grad_norm": 0.32845228910446167,
      "learning_rate": 7.248072032837012e-05,
      "loss": 0.0791,
      "step": 23040
    },
    {
      "action_loss": 0.005023655015975237,
      "epoch": 20.719424460431654,
      "step": 23040
    },
    {
      "epoch": 20.719424460431654,
      "step": 23040,
      "torque_loss": 0.1448749601840973
    },
    {
      "epoch": 20.72841726618705,
      "grad_norm": 0.3427826166152954,
      "learning_rate": 7.245610163406575e-05,
      "loss": 0.0836,
      "step": 23050
    },
    {
      "action_loss": 0.012422509491443634,
      "epoch": 20.72841726618705,
      "step": 23050
    },
    {
      "epoch": 20.72841726618705,
      "step": 23050,
      "torque_loss": 0.15675009787082672
    },
    {
      "epoch": 20.737410071942445,
      "grad_norm": 0.41358229517936707,
      "learning_rate": 7.243147611819061e-05,
      "loss": 0.0923,
      "step": 23060
    },
    {
      "action_loss": 0.0029850059654563665,
      "epoch": 20.737410071942445,
      "step": 23060
    },
    {
      "epoch": 20.737410071942445,
      "step": 23060,
      "torque_loss": 0.09252569824457169
    },
    {
      "epoch": 20.746402877697843,
      "grad_norm": 0.341920405626297,
      "learning_rate": 7.240684378822531e-05,
      "loss": 0.0747,
      "step": 23070
    },
    {
      "action_loss": 0.0064218356274068356,
      "epoch": 20.746402877697843,
      "step": 23070
    },
    {
      "epoch": 20.746402877697843,
      "step": 23070,
      "torque_loss": 0.07390408962965012
    },
    {
      "epoch": 20.755395683453237,
      "grad_norm": 0.3137661814689636,
      "learning_rate": 7.238220465165248e-05,
      "loss": 0.0815,
      "step": 23080
    },
    {
      "action_loss": 0.006322280969470739,
      "epoch": 20.755395683453237,
      "step": 23080
    },
    {
      "epoch": 20.755395683453237,
      "step": 23080,
      "torque_loss": 0.11114750057458878
    },
    {
      "epoch": 20.764388489208635,
      "grad_norm": 0.3831518590450287,
      "learning_rate": 7.235755871595684e-05,
      "loss": 0.0923,
      "step": 23090
    },
    {
      "action_loss": 0.005713455379009247,
      "epoch": 20.764388489208635,
      "step": 23090
    },
    {
      "epoch": 20.764388489208635,
      "step": 23090,
      "torque_loss": 0.09624788910150528
    },
    {
      "epoch": 20.77338129496403,
      "grad_norm": 0.323785662651062,
      "learning_rate": 7.233290598862517e-05,
      "loss": 0.0817,
      "step": 23100
    },
    {
      "action_loss": 0.0043406132608652115,
      "epoch": 20.77338129496403,
      "step": 23100
    },
    {
      "epoch": 20.77338129496403,
      "step": 23100,
      "torque_loss": 0.12064016610383987
    },
    {
      "epoch": 20.782374100719423,
      "grad_norm": 0.2812909483909607,
      "learning_rate": 7.230824647714635e-05,
      "loss": 0.0839,
      "step": 23110
    },
    {
      "action_loss": 0.008865279145538807,
      "epoch": 20.782374100719423,
      "step": 23110
    },
    {
      "epoch": 20.782374100719423,
      "step": 23110,
      "torque_loss": 0.15678036212921143
    },
    {
      "epoch": 20.79136690647482,
      "grad_norm": 0.28785407543182373,
      "learning_rate": 7.228358018901124e-05,
      "loss": 0.084,
      "step": 23120
    },
    {
      "action_loss": 0.010885911993682384,
      "epoch": 20.79136690647482,
      "step": 23120
    },
    {
      "epoch": 20.79136690647482,
      "step": 23120,
      "torque_loss": 0.1309250444173813
    },
    {
      "epoch": 20.800359712230215,
      "grad_norm": 0.3638690412044525,
      "learning_rate": 7.225890713171286e-05,
      "loss": 0.0929,
      "step": 23130
    },
    {
      "action_loss": 0.010158671997487545,
      "epoch": 20.800359712230215,
      "step": 23130
    },
    {
      "epoch": 20.800359712230215,
      "step": 23130,
      "torque_loss": 0.11644172668457031
    },
    {
      "epoch": 20.809352517985612,
      "grad_norm": 0.31218767166137695,
      "learning_rate": 7.223422731274618e-05,
      "loss": 0.0744,
      "step": 23140
    },
    {
      "action_loss": 0.003373999148607254,
      "epoch": 20.809352517985612,
      "step": 23140
    },
    {
      "epoch": 20.809352517985612,
      "step": 23140,
      "torque_loss": 0.08617918938398361
    },
    {
      "epoch": 20.818345323741006,
      "grad_norm": 0.2640685737133026,
      "learning_rate": 7.220954073960832e-05,
      "loss": 0.0747,
      "step": 23150
    },
    {
      "action_loss": 0.0144840432330966,
      "epoch": 20.818345323741006,
      "step": 23150
    },
    {
      "epoch": 20.818345323741006,
      "step": 23150,
      "torque_loss": 0.13699208199977875
    },
    {
      "epoch": 20.827338129496404,
      "grad_norm": 0.3124534785747528,
      "learning_rate": 7.218484741979838e-05,
      "loss": 0.0805,
      "step": 23160
    },
    {
      "action_loss": 0.005043745972216129,
      "epoch": 20.827338129496404,
      "step": 23160
    },
    {
      "epoch": 20.827338129496404,
      "step": 23160,
      "torque_loss": 0.11001556366682053
    },
    {
      "epoch": 20.836330935251798,
      "grad_norm": 0.36621880531311035,
      "learning_rate": 7.216014736081756e-05,
      "loss": 0.0905,
      "step": 23170
    },
    {
      "action_loss": 0.0044032433070242405,
      "epoch": 20.836330935251798,
      "step": 23170
    },
    {
      "epoch": 20.836330935251798,
      "step": 23170,
      "torque_loss": 0.11665735393762589
    },
    {
      "epoch": 20.845323741007196,
      "grad_norm": 0.3240525722503662,
      "learning_rate": 7.213544057016906e-05,
      "loss": 0.0812,
      "step": 23180
    },
    {
      "action_loss": 0.005055306013673544,
      "epoch": 20.845323741007196,
      "step": 23180
    },
    {
      "epoch": 20.845323741007196,
      "step": 23180,
      "torque_loss": 0.08322639018297195
    },
    {
      "epoch": 20.85431654676259,
      "grad_norm": 0.2927996814250946,
      "learning_rate": 7.211072705535819e-05,
      "loss": 0.0828,
      "step": 23190
    },
    {
      "action_loss": 0.004169024992734194,
      "epoch": 20.85431654676259,
      "step": 23190
    },
    {
      "epoch": 20.85431654676259,
      "step": 23190,
      "torque_loss": 0.10404136031866074
    },
    {
      "epoch": 20.863309352517987,
      "grad_norm": 0.32091638445854187,
      "learning_rate": 7.208600682389224e-05,
      "loss": 0.0825,
      "step": 23200
    },
    {
      "action_loss": 0.00245666760019958,
      "epoch": 20.863309352517987,
      "step": 23200
    },
    {
      "epoch": 20.863309352517987,
      "step": 23200,
      "torque_loss": 0.11753455549478531
    },
    {
      "epoch": 20.87230215827338,
      "grad_norm": 0.323529452085495,
      "learning_rate": 7.206127988328055e-05,
      "loss": 0.0853,
      "step": 23210
    },
    {
      "action_loss": 0.0049173180013895035,
      "epoch": 20.87230215827338,
      "step": 23210
    },
    {
      "epoch": 20.87230215827338,
      "step": 23210,
      "torque_loss": 0.10900819301605225
    },
    {
      "epoch": 20.881294964028775,
      "grad_norm": 0.3205546438694,
      "learning_rate": 7.203654624103453e-05,
      "loss": 0.0732,
      "step": 23220
    },
    {
      "action_loss": 0.018296077847480774,
      "epoch": 20.881294964028775,
      "step": 23220
    },
    {
      "epoch": 20.881294964028775,
      "step": 23220,
      "torque_loss": 0.14741377532482147
    },
    {
      "epoch": 20.890287769784173,
      "grad_norm": 0.3911847174167633,
      "learning_rate": 7.201180590466761e-05,
      "loss": 0.0849,
      "step": 23230
    },
    {
      "action_loss": 0.003648019628599286,
      "epoch": 20.890287769784173,
      "step": 23230
    },
    {
      "epoch": 20.890287769784173,
      "step": 23230,
      "torque_loss": 0.11148446053266525
    },
    {
      "epoch": 20.899280575539567,
      "grad_norm": 0.4136955142021179,
      "learning_rate": 7.198705888169523e-05,
      "loss": 0.0923,
      "step": 23240
    },
    {
      "action_loss": 0.0032016767654567957,
      "epoch": 20.899280575539567,
      "step": 23240
    },
    {
      "epoch": 20.899280575539567,
      "step": 23240,
      "torque_loss": 0.06719548255205154
    },
    {
      "epoch": 20.908273381294965,
      "grad_norm": 0.36459049582481384,
      "learning_rate": 7.196230517963491e-05,
      "loss": 0.0746,
      "step": 23250
    },
    {
      "action_loss": 0.03153720125555992,
      "epoch": 20.908273381294965,
      "step": 23250
    },
    {
      "epoch": 20.908273381294965,
      "step": 23250,
      "torque_loss": 0.22213530540466309
    },
    {
      "epoch": 20.91726618705036,
      "grad_norm": 0.32083749771118164,
      "learning_rate": 7.193754480600615e-05,
      "loss": 0.0797,
      "step": 23260
    },
    {
      "action_loss": 0.003196409670636058,
      "epoch": 20.91726618705036,
      "step": 23260
    },
    {
      "epoch": 20.91726618705036,
      "step": 23260,
      "torque_loss": 0.08566489070653915
    },
    {
      "epoch": 20.926258992805757,
      "grad_norm": 0.36489346623420715,
      "learning_rate": 7.19127777683305e-05,
      "loss": 0.0963,
      "step": 23270
    },
    {
      "action_loss": 0.002649240894243121,
      "epoch": 20.926258992805757,
      "step": 23270
    },
    {
      "epoch": 20.926258992805757,
      "step": 23270,
      "torque_loss": 0.08605992794036865
    },
    {
      "epoch": 20.93525179856115,
      "grad_norm": 0.30635443329811096,
      "learning_rate": 7.188800407413156e-05,
      "loss": 0.0639,
      "step": 23280
    },
    {
      "action_loss": 0.0031205713748931885,
      "epoch": 20.93525179856115,
      "step": 23280
    },
    {
      "epoch": 20.93525179856115,
      "step": 23280,
      "torque_loss": 0.12004977464675903
    },
    {
      "epoch": 20.944244604316548,
      "grad_norm": 0.31568092107772827,
      "learning_rate": 7.186322373093489e-05,
      "loss": 0.0896,
      "step": 23290
    },
    {
      "action_loss": 0.003322415752336383,
      "epoch": 20.944244604316548,
      "step": 23290
    },
    {
      "epoch": 20.944244604316548,
      "step": 23290,
      "torque_loss": 0.09644252061843872
    },
    {
      "epoch": 20.953237410071942,
      "grad_norm": 0.3334214985370636,
      "learning_rate": 7.18384367462681e-05,
      "loss": 0.0682,
      "step": 23300
    },
    {
      "action_loss": 0.010503738187253475,
      "epoch": 20.953237410071942,
      "step": 23300
    },
    {
      "epoch": 20.953237410071942,
      "step": 23300,
      "torque_loss": 0.15948928892612457
    },
    {
      "epoch": 20.96223021582734,
      "grad_norm": 0.30679330229759216,
      "learning_rate": 7.181364312766085e-05,
      "loss": 0.087,
      "step": 23310
    },
    {
      "action_loss": 0.006546178366988897,
      "epoch": 20.96223021582734,
      "step": 23310
    },
    {
      "epoch": 20.96223021582734,
      "step": 23310,
      "torque_loss": 0.11676763743162155
    },
    {
      "epoch": 20.971223021582734,
      "grad_norm": 0.2840712368488312,
      "learning_rate": 7.178884288264477e-05,
      "loss": 0.0708,
      "step": 23320
    },
    {
      "action_loss": 0.010369325056672096,
      "epoch": 20.971223021582734,
      "step": 23320
    },
    {
      "epoch": 20.971223021582734,
      "step": 23320,
      "torque_loss": 0.1391957402229309
    },
    {
      "epoch": 20.980215827338128,
      "grad_norm": 0.3374142646789551,
      "learning_rate": 7.176403601875353e-05,
      "loss": 0.0852,
      "step": 23330
    },
    {
      "action_loss": 0.003634039545431733,
      "epoch": 20.980215827338128,
      "step": 23330
    },
    {
      "epoch": 20.980215827338128,
      "step": 23330,
      "torque_loss": 0.1044938936829567
    },
    {
      "epoch": 20.989208633093526,
      "grad_norm": 0.38275831937789917,
      "learning_rate": 7.173922254352279e-05,
      "loss": 0.0853,
      "step": 23340
    },
    {
      "action_loss": 0.005101141054183245,
      "epoch": 20.989208633093526,
      "step": 23340
    },
    {
      "epoch": 20.989208633093526,
      "step": 23340,
      "torque_loss": 0.10294601321220398
    },
    {
      "epoch": 20.99820143884892,
      "grad_norm": 0.2633880078792572,
      "learning_rate": 7.171440246449024e-05,
      "loss": 0.0728,
      "step": 23350
    },
    {
      "action_loss": 0.006193322595208883,
      "epoch": 20.99820143884892,
      "step": 23350
    },
    {
      "epoch": 20.99820143884892,
      "step": 23350,
      "torque_loss": 0.09470707178115845
    },
    {
      "epoch": 21.007194244604317,
      "grad_norm": 0.3034098744392395,
      "learning_rate": 7.168957578919555e-05,
      "loss": 0.0799,
      "step": 23360
    },
    {
      "action_loss": 0.008776393719017506,
      "epoch": 21.007194244604317,
      "step": 23360
    },
    {
      "epoch": 21.007194244604317,
      "step": 23360,
      "torque_loss": 0.12075092643499374
    },
    {
      "epoch": 21.01618705035971,
      "grad_norm": 0.3086661398410797,
      "learning_rate": 7.16647425251804e-05,
      "loss": 0.08,
      "step": 23370
    },
    {
      "action_loss": 0.009048265404999256,
      "epoch": 21.01618705035971,
      "step": 23370
    },
    {
      "epoch": 21.01618705035971,
      "step": 23370,
      "torque_loss": 0.16425220668315887
    },
    {
      "epoch": 21.02517985611511,
      "grad_norm": 0.22583749890327454,
      "learning_rate": 7.163990267998852e-05,
      "loss": 0.0856,
      "step": 23380
    },
    {
      "action_loss": 0.0066929408349096775,
      "epoch": 21.02517985611511,
      "step": 23380
    },
    {
      "epoch": 21.02517985611511,
      "step": 23380,
      "torque_loss": 0.12665854394435883
    },
    {
      "epoch": 21.034172661870503,
      "grad_norm": 0.31859564781188965,
      "learning_rate": 7.161505626116556e-05,
      "loss": 0.0889,
      "step": 23390
    },
    {
      "action_loss": 0.0025281452108174562,
      "epoch": 21.034172661870503,
      "step": 23390
    },
    {
      "epoch": 21.034172661870503,
      "step": 23390,
      "torque_loss": 0.09832976013422012
    },
    {
      "epoch": 21.0431654676259,
      "grad_norm": 0.35166680812835693,
      "learning_rate": 7.159020327625923e-05,
      "loss": 0.0808,
      "step": 23400
    },
    {
      "action_loss": 0.015732645988464355,
      "epoch": 21.0431654676259,
      "step": 23400
    },
    {
      "epoch": 21.0431654676259,
      "step": 23400,
      "torque_loss": 0.17724810540676117
    },
    {
      "epoch": 21.052158273381295,
      "grad_norm": 0.3982737064361572,
      "learning_rate": 7.15653437328192e-05,
      "loss": 0.1029,
      "step": 23410
    },
    {
      "action_loss": 0.004185659810900688,
      "epoch": 21.052158273381295,
      "step": 23410
    },
    {
      "epoch": 21.052158273381295,
      "step": 23410,
      "torque_loss": 0.09774959087371826
    },
    {
      "epoch": 21.06115107913669,
      "grad_norm": 0.3557136356830597,
      "learning_rate": 7.154047763839713e-05,
      "loss": 0.0774,
      "step": 23420
    },
    {
      "action_loss": 0.003258742392063141,
      "epoch": 21.06115107913669,
      "step": 23420
    },
    {
      "epoch": 21.06115107913669,
      "step": 23420,
      "torque_loss": 0.11304539442062378
    },
    {
      "epoch": 21.070143884892087,
      "grad_norm": 0.3208012282848358,
      "learning_rate": 7.15156050005467e-05,
      "loss": 0.0714,
      "step": 23430
    },
    {
      "action_loss": 0.016375087201595306,
      "epoch": 21.070143884892087,
      "step": 23430
    },
    {
      "epoch": 21.070143884892087,
      "step": 23430,
      "torque_loss": 0.13207024335861206
    },
    {
      "epoch": 21.07913669064748,
      "grad_norm": 0.29706233739852905,
      "learning_rate": 7.149072582682357e-05,
      "loss": 0.0818,
      "step": 23440
    },
    {
      "action_loss": 0.012216425500810146,
      "epoch": 21.07913669064748,
      "step": 23440
    },
    {
      "epoch": 21.07913669064748,
      "step": 23440,
      "torque_loss": 0.10424371808767319
    },
    {
      "epoch": 21.08812949640288,
      "grad_norm": 0.28802233934402466,
      "learning_rate": 7.146584012478535e-05,
      "loss": 0.0762,
      "step": 23450
    },
    {
      "action_loss": 0.01344779971987009,
      "epoch": 21.08812949640288,
      "step": 23450
    },
    {
      "epoch": 21.08812949640288,
      "step": 23450,
      "torque_loss": 0.144209623336792
    },
    {
      "epoch": 21.097122302158272,
      "grad_norm": 0.2631221115589142,
      "learning_rate": 7.144094790199169e-05,
      "loss": 0.0843,
      "step": 23460
    },
    {
      "action_loss": 0.010749053210020065,
      "epoch": 21.097122302158272,
      "step": 23460
    },
    {
      "epoch": 21.097122302158272,
      "step": 23460,
      "torque_loss": 0.1209777370095253
    },
    {
      "epoch": 21.10611510791367,
      "grad_norm": 0.2866004407405853,
      "learning_rate": 7.141604916600415e-05,
      "loss": 0.0844,
      "step": 23470
    },
    {
      "action_loss": 0.005839595105499029,
      "epoch": 21.10611510791367,
      "step": 23470
    },
    {
      "epoch": 21.10611510791367,
      "step": 23470,
      "torque_loss": 0.13323931396007538
    },
    {
      "epoch": 21.115107913669064,
      "grad_norm": 0.40908390283584595,
      "learning_rate": 7.139114392438635e-05,
      "loss": 0.0728,
      "step": 23480
    },
    {
      "action_loss": 0.02664935030043125,
      "epoch": 21.115107913669064,
      "step": 23480
    },
    {
      "epoch": 21.115107913669064,
      "step": 23480,
      "torque_loss": 0.18057693541049957
    },
    {
      "epoch": 21.12410071942446,
      "grad_norm": 0.23954208195209503,
      "learning_rate": 7.136623218470382e-05,
      "loss": 0.0859,
      "step": 23490
    },
    {
      "action_loss": 0.003982384689152241,
      "epoch": 21.12410071942446,
      "step": 23490
    },
    {
      "epoch": 21.12410071942446,
      "step": 23490,
      "torque_loss": 0.11557167023420334
    },
    {
      "epoch": 21.133093525179856,
      "grad_norm": 0.2870762050151825,
      "learning_rate": 7.13413139545241e-05,
      "loss": 0.0839,
      "step": 23500
    },
    {
      "action_loss": 0.007423267234116793,
      "epoch": 21.133093525179856,
      "step": 23500
    },
    {
      "epoch": 21.133093525179856,
      "step": 23500,
      "torque_loss": 0.11539336293935776
    },
    {
      "epoch": 21.142086330935253,
      "grad_norm": 0.2956419587135315,
      "learning_rate": 7.131638924141668e-05,
      "loss": 0.0852,
      "step": 23510
    },
    {
      "action_loss": 0.0029339008033275604,
      "epoch": 21.142086330935253,
      "step": 23510
    },
    {
      "epoch": 21.142086330935253,
      "step": 23510,
      "torque_loss": 0.06667663156986237
    },
    {
      "epoch": 21.151079136690647,
      "grad_norm": 0.3766897916793823,
      "learning_rate": 7.129145805295304e-05,
      "loss": 0.079,
      "step": 23520
    },
    {
      "action_loss": 0.002890628529712558,
      "epoch": 21.151079136690647,
      "step": 23520
    },
    {
      "epoch": 21.151079136690647,
      "step": 23520,
      "torque_loss": 0.09149321913719177
    },
    {
      "epoch": 21.16007194244604,
      "grad_norm": 0.25797632336616516,
      "learning_rate": 7.126652039670661e-05,
      "loss": 0.0651,
      "step": 23530
    },
    {
      "action_loss": 0.004383078310638666,
      "epoch": 21.16007194244604,
      "step": 23530
    },
    {
      "epoch": 21.16007194244604,
      "step": 23530,
      "torque_loss": 0.1202118769288063
    },
    {
      "epoch": 21.16906474820144,
      "grad_norm": 0.26865851879119873,
      "learning_rate": 7.124157628025278e-05,
      "loss": 0.0774,
      "step": 23540
    },
    {
      "action_loss": 0.00549798458814621,
      "epoch": 21.16906474820144,
      "step": 23540
    },
    {
      "epoch": 21.16906474820144,
      "step": 23540,
      "torque_loss": 0.12997348606586456
    },
    {
      "epoch": 21.178057553956833,
      "grad_norm": 0.28804031014442444,
      "learning_rate": 7.121662571116894e-05,
      "loss": 0.0836,
      "step": 23550
    },
    {
      "action_loss": 0.003430395619943738,
      "epoch": 21.178057553956833,
      "step": 23550
    },
    {
      "epoch": 21.178057553956833,
      "step": 23550,
      "torque_loss": 0.10673586279153824
    },
    {
      "epoch": 21.18705035971223,
      "grad_norm": 0.32831865549087524,
      "learning_rate": 7.119166869703441e-05,
      "loss": 0.0692,
      "step": 23560
    },
    {
      "action_loss": 0.0033619434107095003,
      "epoch": 21.18705035971223,
      "step": 23560
    },
    {
      "epoch": 21.18705035971223,
      "step": 23560,
      "torque_loss": 0.0769561305642128
    },
    {
      "epoch": 21.196043165467625,
      "grad_norm": 0.2997820973396301,
      "learning_rate": 7.116670524543044e-05,
      "loss": 0.0828,
      "step": 23570
    },
    {
      "action_loss": 0.004877699073404074,
      "epoch": 21.196043165467625,
      "step": 23570
    },
    {
      "epoch": 21.196043165467625,
      "step": 23570,
      "torque_loss": 0.11799731105566025
    },
    {
      "epoch": 21.205035971223023,
      "grad_norm": 0.33637502789497375,
      "learning_rate": 7.114173536394032e-05,
      "loss": 0.0843,
      "step": 23580
    },
    {
      "action_loss": 0.0058481525629758835,
      "epoch": 21.205035971223023,
      "step": 23580
    },
    {
      "epoch": 21.205035971223023,
      "step": 23580,
      "torque_loss": 0.10532170534133911
    },
    {
      "epoch": 21.214028776978417,
      "grad_norm": 0.25024110078811646,
      "learning_rate": 7.111675906014917e-05,
      "loss": 0.0912,
      "step": 23590
    },
    {
      "action_loss": 0.009967646561563015,
      "epoch": 21.214028776978417,
      "step": 23590
    },
    {
      "epoch": 21.214028776978417,
      "step": 23590,
      "torque_loss": 0.1360529512166977
    },
    {
      "epoch": 21.223021582733814,
      "grad_norm": 0.250603049993515,
      "learning_rate": 7.109177634164421e-05,
      "loss": 0.0717,
      "step": 23600
    },
    {
      "action_loss": 0.002989603206515312,
      "epoch": 21.223021582733814,
      "step": 23600
    },
    {
      "epoch": 21.223021582733814,
      "step": 23600,
      "torque_loss": 0.05628135800361633
    },
    {
      "epoch": 21.23201438848921,
      "grad_norm": 0.2148611694574356,
      "learning_rate": 7.106678721601449e-05,
      "loss": 0.0677,
      "step": 23610
    },
    {
      "action_loss": 0.00805624295026064,
      "epoch": 21.23201438848921,
      "step": 23610
    },
    {
      "epoch": 21.23201438848921,
      "step": 23610,
      "torque_loss": 0.11854544281959534
    },
    {
      "epoch": 21.241007194244606,
      "grad_norm": 0.3187536597251892,
      "learning_rate": 7.104179169085103e-05,
      "loss": 0.0874,
      "step": 23620
    },
    {
      "action_loss": 0.006888324860483408,
      "epoch": 21.241007194244606,
      "step": 23620
    },
    {
      "epoch": 21.241007194244606,
      "step": 23620,
      "torque_loss": 0.11784350872039795
    },
    {
      "epoch": 21.25,
      "grad_norm": 0.4854729473590851,
      "learning_rate": 7.101678977374683e-05,
      "loss": 0.089,
      "step": 23630
    },
    {
      "action_loss": 0.00247090682387352,
      "epoch": 21.25,
      "step": 23630
    },
    {
      "epoch": 21.25,
      "step": 23630,
      "torque_loss": 0.05115717649459839
    },
    {
      "epoch": 21.258992805755394,
      "grad_norm": 0.34034496545791626,
      "learning_rate": 7.099178147229685e-05,
      "loss": 0.0832,
      "step": 23640
    },
    {
      "action_loss": 0.013023068197071552,
      "epoch": 21.258992805755394,
      "step": 23640
    },
    {
      "epoch": 21.258992805755394,
      "step": 23640,
      "torque_loss": 0.1463272124528885
    },
    {
      "epoch": 21.26798561151079,
      "grad_norm": 0.3561372458934784,
      "learning_rate": 7.096676679409789e-05,
      "loss": 0.0862,
      "step": 23650
    },
    {
      "action_loss": 0.01190824806690216,
      "epoch": 21.26798561151079,
      "step": 23650
    },
    {
      "epoch": 21.26798561151079,
      "step": 23650,
      "torque_loss": 0.15166649222373962
    },
    {
      "epoch": 21.276978417266186,
      "grad_norm": 0.3640524446964264,
      "learning_rate": 7.094174574674877e-05,
      "loss": 0.0848,
      "step": 23660
    },
    {
      "action_loss": 0.007892767898738384,
      "epoch": 21.276978417266186,
      "step": 23660
    },
    {
      "epoch": 21.276978417266186,
      "step": 23660,
      "torque_loss": 0.18180815875530243
    },
    {
      "epoch": 21.285971223021583,
      "grad_norm": 0.3745129406452179,
      "learning_rate": 7.091671833785025e-05,
      "loss": 0.0721,
      "step": 23670
    },
    {
      "action_loss": 0.004608754068613052,
      "epoch": 21.285971223021583,
      "step": 23670
    },
    {
      "epoch": 21.285971223021583,
      "step": 23670,
      "torque_loss": 0.11808896064758301
    },
    {
      "epoch": 21.294964028776977,
      "grad_norm": 0.31107500195503235,
      "learning_rate": 7.089168457500493e-05,
      "loss": 0.0854,
      "step": 23680
    },
    {
      "action_loss": 0.006243586540222168,
      "epoch": 21.294964028776977,
      "step": 23680
    },
    {
      "epoch": 21.294964028776977,
      "step": 23680,
      "torque_loss": 0.11378210037946701
    },
    {
      "epoch": 21.303956834532375,
      "grad_norm": 0.2897372543811798,
      "learning_rate": 7.086664446581747e-05,
      "loss": 0.084,
      "step": 23690
    },
    {
      "action_loss": 0.007014961447566748,
      "epoch": 21.303956834532375,
      "step": 23690
    },
    {
      "epoch": 21.303956834532375,
      "step": 23690,
      "torque_loss": 0.09558665752410889
    },
    {
      "epoch": 21.31294964028777,
      "grad_norm": 0.3263077735900879,
      "learning_rate": 7.084159801789438e-05,
      "loss": 0.0746,
      "step": 23700
    },
    {
      "action_loss": 0.003593936562538147,
      "epoch": 21.31294964028777,
      "step": 23700
    },
    {
      "epoch": 21.31294964028777,
      "step": 23700,
      "torque_loss": 0.10483673959970474
    },
    {
      "epoch": 21.321942446043167,
      "grad_norm": 0.3543184697628021,
      "learning_rate": 7.081654523884411e-05,
      "loss": 0.0968,
      "step": 23710
    },
    {
      "action_loss": 0.003988039214164019,
      "epoch": 21.321942446043167,
      "step": 23710
    },
    {
      "epoch": 21.321942446043167,
      "step": 23710,
      "torque_loss": 0.09734266996383667
    },
    {
      "epoch": 21.33093525179856,
      "grad_norm": 0.319487601518631,
      "learning_rate": 7.0791486136277e-05,
      "loss": 0.0946,
      "step": 23720
    },
    {
      "action_loss": 0.004224991891533136,
      "epoch": 21.33093525179856,
      "step": 23720
    },
    {
      "epoch": 21.33093525179856,
      "step": 23720,
      "torque_loss": 0.12009170651435852
    },
    {
      "epoch": 21.33992805755396,
      "grad_norm": 0.43164992332458496,
      "learning_rate": 7.07664207178054e-05,
      "loss": 0.0872,
      "step": 23730
    },
    {
      "action_loss": 0.004346225876361132,
      "epoch": 21.33992805755396,
      "step": 23730
    },
    {
      "epoch": 21.33992805755396,
      "step": 23730,
      "torque_loss": 0.08893879503011703
    },
    {
      "epoch": 21.348920863309353,
      "grad_norm": 0.3954757750034332,
      "learning_rate": 7.074134899104345e-05,
      "loss": 0.0934,
      "step": 23740
    },
    {
      "action_loss": 0.00322823622263968,
      "epoch": 21.348920863309353,
      "step": 23740
    },
    {
      "epoch": 21.348920863309353,
      "step": 23740,
      "torque_loss": 0.09768732637166977
    },
    {
      "epoch": 21.357913669064747,
      "grad_norm": 0.2569331228733063,
      "learning_rate": 7.071627096360735e-05,
      "loss": 0.0726,
      "step": 23750
    },
    {
      "action_loss": 0.005231190472841263,
      "epoch": 21.357913669064747,
      "step": 23750
    },
    {
      "epoch": 21.357913669064747,
      "step": 23750,
      "torque_loss": 0.12167823314666748
    },
    {
      "epoch": 21.366906474820144,
      "grad_norm": 0.33883076906204224,
      "learning_rate": 7.069118664311511e-05,
      "loss": 0.0798,
      "step": 23760
    },
    {
      "action_loss": 0.003689226694405079,
      "epoch": 21.366906474820144,
      "step": 23760
    },
    {
      "epoch": 21.366906474820144,
      "step": 23760,
      "torque_loss": 0.10381271690130234
    },
    {
      "epoch": 21.37589928057554,
      "grad_norm": 0.3373733162879944,
      "learning_rate": 7.06660960371867e-05,
      "loss": 0.0723,
      "step": 23770
    },
    {
      "action_loss": 0.014001076109707355,
      "epoch": 21.37589928057554,
      "step": 23770
    },
    {
      "epoch": 21.37589928057554,
      "step": 23770,
      "torque_loss": 0.12917304039001465
    },
    {
      "epoch": 21.384892086330936,
      "grad_norm": 0.34779322147369385,
      "learning_rate": 7.064099915344396e-05,
      "loss": 0.0921,
      "step": 23780
    },
    {
      "action_loss": 0.004310066346079111,
      "epoch": 21.384892086330936,
      "step": 23780
    },
    {
      "epoch": 21.384892086330936,
      "step": 23780,
      "torque_loss": 0.11352431774139404
    },
    {
      "epoch": 21.39388489208633,
      "grad_norm": 0.505897581577301,
      "learning_rate": 7.061589599951066e-05,
      "loss": 0.0888,
      "step": 23790
    },
    {
      "action_loss": 0.003356571076437831,
      "epoch": 21.39388489208633,
      "step": 23790
    },
    {
      "epoch": 21.39388489208633,
      "step": 23790,
      "torque_loss": 0.08410174399614334
    },
    {
      "epoch": 21.402877697841728,
      "grad_norm": 0.301106333732605,
      "learning_rate": 7.05907865830125e-05,
      "loss": 0.0863,
      "step": 23800
    },
    {
      "action_loss": 0.006267629563808441,
      "epoch": 21.402877697841728,
      "step": 23800
    },
    {
      "epoch": 21.402877697841728,
      "step": 23800,
      "torque_loss": 0.08994577080011368
    },
    {
      "epoch": 21.41187050359712,
      "grad_norm": 0.2886948585510254,
      "learning_rate": 7.056567091157703e-05,
      "loss": 0.0778,
      "step": 23810
    },
    {
      "action_loss": 0.010548601858317852,
      "epoch": 21.41187050359712,
      "step": 23810
    },
    {
      "epoch": 21.41187050359712,
      "step": 23810,
      "torque_loss": 0.13285617530345917
    },
    {
      "epoch": 21.42086330935252,
      "grad_norm": 0.24624568223953247,
      "learning_rate": 7.054054899283375e-05,
      "loss": 0.0831,
      "step": 23820
    },
    {
      "action_loss": 0.004908485803753138,
      "epoch": 21.42086330935252,
      "step": 23820
    },
    {
      "epoch": 21.42086330935252,
      "step": 23820,
      "torque_loss": 0.10439842939376831
    },
    {
      "epoch": 21.429856115107913,
      "grad_norm": 0.21488720178604126,
      "learning_rate": 7.051542083441403e-05,
      "loss": 0.0751,
      "step": 23830
    },
    {
      "action_loss": 0.005019283387809992,
      "epoch": 21.429856115107913,
      "step": 23830
    },
    {
      "epoch": 21.429856115107913,
      "step": 23830,
      "torque_loss": 0.09826960414648056
    },
    {
      "epoch": 21.43884892086331,
      "grad_norm": 0.28325194120407104,
      "learning_rate": 7.049028644395113e-05,
      "loss": 0.0815,
      "step": 23840
    },
    {
      "action_loss": 0.007219022139906883,
      "epoch": 21.43884892086331,
      "step": 23840
    },
    {
      "epoch": 21.43884892086331,
      "step": 23840,
      "torque_loss": 0.08605393767356873
    },
    {
      "epoch": 21.447841726618705,
      "grad_norm": 0.28388679027557373,
      "learning_rate": 7.046514582908024e-05,
      "loss": 0.0726,
      "step": 23850
    },
    {
      "action_loss": 0.006882587913423777,
      "epoch": 21.447841726618705,
      "step": 23850
    },
    {
      "epoch": 21.447841726618705,
      "step": 23850,
      "torque_loss": 0.09469994157552719
    },
    {
      "epoch": 21.4568345323741,
      "grad_norm": 0.3386783003807068,
      "learning_rate": 7.043999899743838e-05,
      "loss": 0.0793,
      "step": 23860
    },
    {
      "action_loss": 0.008535089902579784,
      "epoch": 21.4568345323741,
      "step": 23860
    },
    {
      "epoch": 21.4568345323741,
      "step": 23860,
      "torque_loss": 0.13860882818698883
    },
    {
      "epoch": 21.465827338129497,
      "grad_norm": 0.24573679268360138,
      "learning_rate": 7.041484595666451e-05,
      "loss": 0.0894,
      "step": 23870
    },
    {
      "action_loss": 0.008162986487150192,
      "epoch": 21.465827338129497,
      "step": 23870
    },
    {
      "epoch": 21.465827338129497,
      "step": 23870,
      "torque_loss": 0.1180153489112854
    },
    {
      "epoch": 21.47482014388489,
      "grad_norm": 0.29900315403938293,
      "learning_rate": 7.038968671439948e-05,
      "loss": 0.0822,
      "step": 23880
    },
    {
      "action_loss": 0.009715147316455841,
      "epoch": 21.47482014388489,
      "step": 23880
    },
    {
      "epoch": 21.47482014388489,
      "step": 23880,
      "torque_loss": 0.17723114788532257
    },
    {
      "epoch": 21.48381294964029,
      "grad_norm": 0.3493753671646118,
      "learning_rate": 7.036452127828596e-05,
      "loss": 0.094,
      "step": 23890
    },
    {
      "action_loss": 0.007672868203371763,
      "epoch": 21.48381294964029,
      "step": 23890
    },
    {
      "epoch": 21.48381294964029,
      "step": 23890,
      "torque_loss": 0.11824550479650497
    },
    {
      "epoch": 21.492805755395683,
      "grad_norm": 0.3526593744754791,
      "learning_rate": 7.033934965596859e-05,
      "loss": 0.073,
      "step": 23900
    },
    {
      "action_loss": 0.015284747816622257,
      "epoch": 21.492805755395683,
      "step": 23900
    },
    {
      "epoch": 21.492805755395683,
      "step": 23900,
      "torque_loss": 0.14503729343414307
    },
    {
      "epoch": 21.50179856115108,
      "grad_norm": 0.3623329997062683,
      "learning_rate": 7.031417185509381e-05,
      "loss": 0.0736,
      "step": 23910
    },
    {
      "action_loss": 0.006574598606675863,
      "epoch": 21.50179856115108,
      "step": 23910
    },
    {
      "epoch": 21.50179856115108,
      "step": 23910,
      "torque_loss": 0.12113312631845474
    },
    {
      "epoch": 21.510791366906474,
      "grad_norm": 0.22941982746124268,
      "learning_rate": 7.028898788331e-05,
      "loss": 0.0743,
      "step": 23920
    },
    {
      "action_loss": 0.0708036944270134,
      "epoch": 21.510791366906474,
      "step": 23920
    },
    {
      "epoch": 21.510791366906474,
      "step": 23920,
      "torque_loss": 0.1829289197921753
    },
    {
      "epoch": 21.519784172661872,
      "grad_norm": 0.341134637594223,
      "learning_rate": 7.026379774826736e-05,
      "loss": 0.097,
      "step": 23930
    },
    {
      "action_loss": 0.009825601242482662,
      "epoch": 21.519784172661872,
      "step": 23930
    },
    {
      "epoch": 21.519784172661872,
      "step": 23930,
      "torque_loss": 0.11124954372644424
    },
    {
      "epoch": 21.528776978417266,
      "grad_norm": 0.3989449143409729,
      "learning_rate": 7.0238601457618e-05,
      "loss": 0.0723,
      "step": 23940
    },
    {
      "action_loss": 0.015148240141570568,
      "epoch": 21.528776978417266,
      "step": 23940
    },
    {
      "epoch": 21.528776978417266,
      "step": 23940,
      "torque_loss": 0.16419686377048492
    },
    {
      "epoch": 21.53776978417266,
      "grad_norm": 0.29547956585884094,
      "learning_rate": 7.02133990190159e-05,
      "loss": 0.081,
      "step": 23950
    },
    {
      "action_loss": 0.005951233208179474,
      "epoch": 21.53776978417266,
      "step": 23950
    },
    {
      "epoch": 21.53776978417266,
      "step": 23950,
      "torque_loss": 0.11439886689186096
    },
    {
      "epoch": 21.546762589928058,
      "grad_norm": 0.36886805295944214,
      "learning_rate": 7.018819044011687e-05,
      "loss": 0.0897,
      "step": 23960
    },
    {
      "action_loss": 0.006749249994754791,
      "epoch": 21.546762589928058,
      "step": 23960
    },
    {
      "epoch": 21.546762589928058,
      "step": 23960,
      "torque_loss": 0.09628715366125107
    },
    {
      "epoch": 21.555755395683452,
      "grad_norm": 0.31177207827568054,
      "learning_rate": 7.016297572857863e-05,
      "loss": 0.0713,
      "step": 23970
    },
    {
      "action_loss": 0.002398131648078561,
      "epoch": 21.555755395683452,
      "step": 23970
    },
    {
      "epoch": 21.555755395683452,
      "step": 23970,
      "torque_loss": 0.12906785309314728
    },
    {
      "epoch": 21.56474820143885,
      "grad_norm": 0.2976647615432739,
      "learning_rate": 7.013775489206072e-05,
      "loss": 0.0749,
      "step": 23980
    },
    {
      "action_loss": 0.011301460675895214,
      "epoch": 21.56474820143885,
      "step": 23980
    },
    {
      "epoch": 21.56474820143885,
      "step": 23980,
      "torque_loss": 0.15707316994667053
    },
    {
      "epoch": 21.573741007194243,
      "grad_norm": 0.3263804614543915,
      "learning_rate": 7.01125279382246e-05,
      "loss": 0.0717,
      "step": 23990
    },
    {
      "action_loss": 0.012318238615989685,
      "epoch": 21.573741007194243,
      "step": 23990
    },
    {
      "epoch": 21.573741007194243,
      "step": 23990,
      "torque_loss": 0.17523054778575897
    },
    {
      "epoch": 21.58273381294964,
      "grad_norm": 0.3243844509124756,
      "learning_rate": 7.008729487473351e-05,
      "loss": 0.0823,
      "step": 24000
    },
    {
      "action_loss": 0.005917495582252741,
      "epoch": 21.58273381294964,
      "step": 24000
    },
    {
      "epoch": 21.58273381294964,
      "step": 24000,
      "torque_loss": 0.11798644065856934
    },
    {
      "epoch": 21.591726618705035,
      "grad_norm": 0.3441637456417084,
      "learning_rate": 7.006205570925263e-05,
      "loss": 0.089,
      "step": 24010
    },
    {
      "action_loss": 0.003216732293367386,
      "epoch": 21.591726618705035,
      "step": 24010
    },
    {
      "epoch": 21.591726618705035,
      "step": 24010,
      "torque_loss": 0.09215097874403
    },
    {
      "epoch": 21.600719424460433,
      "grad_norm": 0.3338419497013092,
      "learning_rate": 7.003681044944892e-05,
      "loss": 0.0803,
      "step": 24020
    },
    {
      "action_loss": 0.005135314539074898,
      "epoch": 21.600719424460433,
      "step": 24020
    },
    {
      "epoch": 21.600719424460433,
      "step": 24020,
      "torque_loss": 0.10179873555898666
    },
    {
      "epoch": 21.609712230215827,
      "grad_norm": 0.33765709400177,
      "learning_rate": 7.001155910299126e-05,
      "loss": 0.0815,
      "step": 24030
    },
    {
      "action_loss": 0.026032671332359314,
      "epoch": 21.609712230215827,
      "step": 24030
    },
    {
      "epoch": 21.609712230215827,
      "step": 24030,
      "torque_loss": 0.17629344761371613
    },
    {
      "epoch": 21.618705035971225,
      "grad_norm": 0.2565867304801941,
      "learning_rate": 6.99863016775503e-05,
      "loss": 0.0903,
      "step": 24040
    },
    {
      "action_loss": 0.00801235344260931,
      "epoch": 21.618705035971225,
      "step": 24040
    },
    {
      "epoch": 21.618705035971225,
      "step": 24040,
      "torque_loss": 0.13257646560668945
    },
    {
      "epoch": 21.62769784172662,
      "grad_norm": 0.3343800902366638,
      "learning_rate": 6.996103818079859e-05,
      "loss": 0.0829,
      "step": 24050
    },
    {
      "action_loss": 0.010481626726686954,
      "epoch": 21.62769784172662,
      "step": 24050
    },
    {
      "epoch": 21.62769784172662,
      "step": 24050,
      "torque_loss": 0.18034040927886963
    },
    {
      "epoch": 21.636690647482013,
      "grad_norm": 0.2999333143234253,
      "learning_rate": 6.993576862041054e-05,
      "loss": 0.0883,
      "step": 24060
    },
    {
      "action_loss": 0.007912714965641499,
      "epoch": 21.636690647482013,
      "step": 24060
    },
    {
      "epoch": 21.636690647482013,
      "step": 24060,
      "torque_loss": 0.12426582723855972
    },
    {
      "epoch": 21.64568345323741,
      "grad_norm": 0.3063163161277771,
      "learning_rate": 6.991049300406235e-05,
      "loss": 0.0735,
      "step": 24070
    },
    {
      "action_loss": 0.006735204253345728,
      "epoch": 21.64568345323741,
      "step": 24070
    },
    {
      "epoch": 21.64568345323741,
      "step": 24070,
      "torque_loss": 0.11358991265296936
    },
    {
      "epoch": 21.654676258992804,
      "grad_norm": 0.38485005497932434,
      "learning_rate": 6.988521133943209e-05,
      "loss": 0.0853,
      "step": 24080
    },
    {
      "action_loss": 0.01768595725297928,
      "epoch": 21.654676258992804,
      "step": 24080
    },
    {
      "epoch": 21.654676258992804,
      "step": 24080,
      "torque_loss": 0.17342519760131836
    },
    {
      "epoch": 21.663669064748202,
      "grad_norm": 0.36458033323287964,
      "learning_rate": 6.985992363419966e-05,
      "loss": 0.0918,
      "step": 24090
    },
    {
      "action_loss": 0.0041279662400484085,
      "epoch": 21.663669064748202,
      "step": 24090
    },
    {
      "epoch": 21.663669064748202,
      "step": 24090,
      "torque_loss": 0.10565634816884995
    },
    {
      "epoch": 21.672661870503596,
      "grad_norm": 0.37864580750465393,
      "learning_rate": 6.983462989604682e-05,
      "loss": 0.0885,
      "step": 24100
    },
    {
      "action_loss": 0.004425973631441593,
      "epoch": 21.672661870503596,
      "step": 24100
    },
    {
      "epoch": 21.672661870503596,
      "step": 24100,
      "torque_loss": 0.09847535938024521
    },
    {
      "epoch": 21.681654676258994,
      "grad_norm": 0.41206371784210205,
      "learning_rate": 6.980933013265709e-05,
      "loss": 0.0701,
      "step": 24110
    },
    {
      "action_loss": 0.00902226846665144,
      "epoch": 21.681654676258994,
      "step": 24110
    },
    {
      "epoch": 21.681654676258994,
      "step": 24110,
      "torque_loss": 0.1189795508980751
    },
    {
      "epoch": 21.690647482014388,
      "grad_norm": 0.44129112362861633,
      "learning_rate": 6.978402435171592e-05,
      "loss": 0.1069,
      "step": 24120
    },
    {
      "action_loss": 0.010820012539625168,
      "epoch": 21.690647482014388,
      "step": 24120
    },
    {
      "epoch": 21.690647482014388,
      "step": 24120,
      "torque_loss": 0.1096072793006897
    },
    {
      "epoch": 21.699640287769785,
      "grad_norm": 0.3171503245830536,
      "learning_rate": 6.975871256091052e-05,
      "loss": 0.0879,
      "step": 24130
    },
    {
      "action_loss": 0.002650093985721469,
      "epoch": 21.699640287769785,
      "step": 24130
    },
    {
      "epoch": 21.699640287769785,
      "step": 24130,
      "torque_loss": 0.08130853623151779
    },
    {
      "epoch": 21.70863309352518,
      "grad_norm": 0.35213974118232727,
      "learning_rate": 6.973339476792995e-05,
      "loss": 0.0749,
      "step": 24140
    },
    {
      "action_loss": 0.0053815762512385845,
      "epoch": 21.70863309352518,
      "step": 24140
    },
    {
      "epoch": 21.70863309352518,
      "step": 24140,
      "torque_loss": 0.11909613758325577
    },
    {
      "epoch": 21.717625899280577,
      "grad_norm": 0.3951173722743988,
      "learning_rate": 6.970807098046505e-05,
      "loss": 0.0745,
      "step": 24150
    },
    {
      "action_loss": 0.0034171382430940866,
      "epoch": 21.717625899280577,
      "step": 24150
    },
    {
      "epoch": 21.717625899280577,
      "step": 24150,
      "torque_loss": 0.08194129168987274
    },
    {
      "epoch": 21.72661870503597,
      "grad_norm": 0.43031075596809387,
      "learning_rate": 6.968274120620858e-05,
      "loss": 0.0828,
      "step": 24160
    },
    {
      "action_loss": 0.0034439528826624155,
      "epoch": 21.72661870503597,
      "step": 24160
    },
    {
      "epoch": 21.72661870503597,
      "step": 24160,
      "torque_loss": 0.09019043296575546
    },
    {
      "epoch": 21.735611510791365,
      "grad_norm": 0.3006274104118347,
      "learning_rate": 6.965740545285499e-05,
      "loss": 0.069,
      "step": 24170
    },
    {
      "action_loss": 0.006819461937993765,
      "epoch": 21.735611510791365,
      "step": 24170
    },
    {
      "epoch": 21.735611510791365,
      "step": 24170,
      "torque_loss": 0.092717744410038
    },
    {
      "epoch": 21.744604316546763,
      "grad_norm": 0.24978961050510406,
      "learning_rate": 6.963206372810068e-05,
      "loss": 0.0708,
      "step": 24180
    },
    {
      "action_loss": 0.0077166506089270115,
      "epoch": 21.744604316546763,
      "step": 24180
    },
    {
      "epoch": 21.744604316546763,
      "step": 24180,
      "torque_loss": 0.1642957329750061
    },
    {
      "epoch": 21.753597122302157,
      "grad_norm": 0.304638147354126,
      "learning_rate": 6.960671603964375e-05,
      "loss": 0.092,
      "step": 24190
    },
    {
      "action_loss": 0.033999502658843994,
      "epoch": 21.753597122302157,
      "step": 24190
    },
    {
      "epoch": 21.753597122302157,
      "step": 24190,
      "torque_loss": 0.17689307034015656
    },
    {
      "epoch": 21.762589928057555,
      "grad_norm": 0.3816242516040802,
      "learning_rate": 6.958136239518418e-05,
      "loss": 0.0807,
      "step": 24200
    },
    {
      "action_loss": 0.0035695694386959076,
      "epoch": 21.762589928057555,
      "step": 24200
    },
    {
      "epoch": 21.762589928057555,
      "step": 24200,
      "torque_loss": 0.06584589928388596
    },
    {
      "epoch": 21.77158273381295,
      "grad_norm": 0.339493066072464,
      "learning_rate": 6.955600280242371e-05,
      "loss": 0.0787,
      "step": 24210
    },
    {
      "action_loss": 0.005659842398017645,
      "epoch": 21.77158273381295,
      "step": 24210
    },
    {
      "epoch": 21.77158273381295,
      "step": 24210,
      "torque_loss": 0.10611746460199356
    },
    {
      "epoch": 21.780575539568346,
      "grad_norm": 0.29400375485420227,
      "learning_rate": 6.953063726906596e-05,
      "loss": 0.0744,
      "step": 24220
    },
    {
      "action_loss": 0.009176968596875668,
      "epoch": 21.780575539568346,
      "step": 24220
    },
    {
      "epoch": 21.780575539568346,
      "step": 24220,
      "torque_loss": 0.12012213468551636
    },
    {
      "epoch": 21.78956834532374,
      "grad_norm": 0.3532813489437103,
      "learning_rate": 6.950526580281626e-05,
      "loss": 0.0824,
      "step": 24230
    },
    {
      "action_loss": 0.00391989154741168,
      "epoch": 21.78956834532374,
      "step": 24230
    },
    {
      "epoch": 21.78956834532374,
      "step": 24230,
      "torque_loss": 0.11084706336259842
    },
    {
      "epoch": 21.798561151079138,
      "grad_norm": 0.33912193775177,
      "learning_rate": 6.947988841138184e-05,
      "loss": 0.0922,
      "step": 24240
    },
    {
      "action_loss": 0.0027906273026019335,
      "epoch": 21.798561151079138,
      "step": 24240
    },
    {
      "epoch": 21.798561151079138,
      "step": 24240,
      "torque_loss": 0.10488732904195786
    },
    {
      "epoch": 21.807553956834532,
      "grad_norm": 0.35843220353126526,
      "learning_rate": 6.945450510247165e-05,
      "loss": 0.0781,
      "step": 24250
    },
    {
      "action_loss": 0.007906532846391201,
      "epoch": 21.807553956834532,
      "step": 24250
    },
    {
      "epoch": 21.807553956834532,
      "step": 24250,
      "torque_loss": 0.12748263776302338
    },
    {
      "epoch": 21.81654676258993,
      "grad_norm": 0.3754189908504486,
      "learning_rate": 6.942911588379647e-05,
      "loss": 0.0797,
      "step": 24260
    },
    {
      "action_loss": 0.009025423787534237,
      "epoch": 21.81654676258993,
      "step": 24260
    },
    {
      "epoch": 21.81654676258993,
      "step": 24260,
      "torque_loss": 0.13933952152729034
    },
    {
      "epoch": 21.825539568345324,
      "grad_norm": 0.5114034414291382,
      "learning_rate": 6.940372076306888e-05,
      "loss": 0.0808,
      "step": 24270
    },
    {
      "action_loss": 0.011188398115336895,
      "epoch": 21.825539568345324,
      "step": 24270
    },
    {
      "epoch": 21.825539568345324,
      "step": 24270,
      "torque_loss": 0.1634095013141632
    },
    {
      "epoch": 21.834532374100718,
      "grad_norm": 0.29401540756225586,
      "learning_rate": 6.937831974800326e-05,
      "loss": 0.0798,
      "step": 24280
    },
    {
      "action_loss": 0.005663054063916206,
      "epoch": 21.834532374100718,
      "step": 24280
    },
    {
      "epoch": 21.834532374100718,
      "step": 24280,
      "torque_loss": 0.10558953881263733
    },
    {
      "epoch": 21.843525179856115,
      "grad_norm": 0.29438430070877075,
      "learning_rate": 6.935291284631574e-05,
      "loss": 0.0895,
      "step": 24290
    },
    {
      "action_loss": 0.024422645568847656,
      "epoch": 21.843525179856115,
      "step": 24290
    },
    {
      "epoch": 21.843525179856115,
      "step": 24290,
      "torque_loss": 0.16652065515518188
    },
    {
      "epoch": 21.85251798561151,
      "grad_norm": 0.31451985239982605,
      "learning_rate": 6.932750006572428e-05,
      "loss": 0.074,
      "step": 24300
    },
    {
      "action_loss": 0.007303353864699602,
      "epoch": 21.85251798561151,
      "step": 24300
    },
    {
      "epoch": 21.85251798561151,
      "step": 24300,
      "torque_loss": 0.09441620111465454
    },
    {
      "epoch": 21.861510791366907,
      "grad_norm": 0.2656010091304779,
      "learning_rate": 6.930208141394863e-05,
      "loss": 0.1052,
      "step": 24310
    },
    {
      "action_loss": 0.0064261252991855145,
      "epoch": 21.861510791366907,
      "step": 24310
    },
    {
      "epoch": 21.861510791366907,
      "step": 24310,
      "torque_loss": 0.1652422994375229
    },
    {
      "epoch": 21.8705035971223,
      "grad_norm": 0.29633504152297974,
      "learning_rate": 6.927665689871026e-05,
      "loss": 0.0748,
      "step": 24320
    },
    {
      "action_loss": 0.012149080634117126,
      "epoch": 21.8705035971223,
      "step": 24320
    },
    {
      "epoch": 21.8705035971223,
      "step": 24320,
      "torque_loss": 0.16241617500782013
    },
    {
      "epoch": 21.8794964028777,
      "grad_norm": 0.36991414427757263,
      "learning_rate": 6.925122652773253e-05,
      "loss": 0.08,
      "step": 24330
    },
    {
      "action_loss": 0.0036016779486089945,
      "epoch": 21.8794964028777,
      "step": 24330
    },
    {
      "epoch": 21.8794964028777,
      "step": 24330,
      "torque_loss": 0.10895057767629623
    },
    {
      "epoch": 21.888489208633093,
      "grad_norm": 0.3290375769138336,
      "learning_rate": 6.922579030874046e-05,
      "loss": 0.0811,
      "step": 24340
    },
    {
      "action_loss": 0.014348994009196758,
      "epoch": 21.888489208633093,
      "step": 24340
    },
    {
      "epoch": 21.888489208633093,
      "step": 24340,
      "torque_loss": 0.17044083774089813
    },
    {
      "epoch": 21.89748201438849,
      "grad_norm": 0.29252058267593384,
      "learning_rate": 6.920034824946093e-05,
      "loss": 0.0892,
      "step": 24350
    },
    {
      "action_loss": 0.006073296070098877,
      "epoch": 21.89748201438849,
      "step": 24350
    },
    {
      "epoch": 21.89748201438849,
      "step": 24350,
      "torque_loss": 0.09466293454170227
    },
    {
      "epoch": 21.906474820143885,
      "grad_norm": 0.2596883773803711,
      "learning_rate": 6.917490035762255e-05,
      "loss": 0.0795,
      "step": 24360
    },
    {
      "action_loss": 0.04117971286177635,
      "epoch": 21.906474820143885,
      "step": 24360
    },
    {
      "epoch": 21.906474820143885,
      "step": 24360,
      "torque_loss": 0.20683710277080536
    },
    {
      "epoch": 21.915467625899282,
      "grad_norm": 0.33828797936439514,
      "learning_rate": 6.914944664095573e-05,
      "loss": 0.1028,
      "step": 24370
    },
    {
      "action_loss": 0.004047393333166838,
      "epoch": 21.915467625899282,
      "step": 24370
    },
    {
      "epoch": 21.915467625899282,
      "step": 24370,
      "torque_loss": 0.12441539019346237
    },
    {
      "epoch": 21.924460431654676,
      "grad_norm": 0.3695458769798279,
      "learning_rate": 6.912398710719264e-05,
      "loss": 0.0793,
      "step": 24380
    },
    {
      "action_loss": 0.003531466471031308,
      "epoch": 21.924460431654676,
      "step": 24380
    },
    {
      "epoch": 21.924460431654676,
      "step": 24380,
      "torque_loss": 0.11641012877225876
    },
    {
      "epoch": 21.93345323741007,
      "grad_norm": 0.23989799618721008,
      "learning_rate": 6.90985217640672e-05,
      "loss": 0.0648,
      "step": 24390
    },
    {
      "action_loss": 0.005852987989783287,
      "epoch": 21.93345323741007,
      "step": 24390
    },
    {
      "epoch": 21.93345323741007,
      "step": 24390,
      "torque_loss": 0.09266213327646255
    },
    {
      "epoch": 21.942446043165468,
      "grad_norm": 0.28215330839157104,
      "learning_rate": 6.90730506193151e-05,
      "loss": 0.079,
      "step": 24400
    },
    {
      "action_loss": 0.005199176725000143,
      "epoch": 21.942446043165468,
      "step": 24400
    },
    {
      "epoch": 21.942446043165468,
      "step": 24400,
      "torque_loss": 0.10702375322580338
    },
    {
      "epoch": 21.951438848920862,
      "grad_norm": 0.2901553809642792,
      "learning_rate": 6.904757368067384e-05,
      "loss": 0.0795,
      "step": 24410
    },
    {
      "action_loss": 0.010889534838497639,
      "epoch": 21.951438848920862,
      "step": 24410
    },
    {
      "epoch": 21.951438848920862,
      "step": 24410,
      "torque_loss": 0.09012635797262192
    },
    {
      "epoch": 21.96043165467626,
      "grad_norm": 0.2887428104877472,
      "learning_rate": 6.90220909558826e-05,
      "loss": 0.0926,
      "step": 24420
    },
    {
      "action_loss": 0.006995562929660082,
      "epoch": 21.96043165467626,
      "step": 24420
    },
    {
      "epoch": 21.96043165467626,
      "step": 24420,
      "torque_loss": 0.11214947700500488
    },
    {
      "epoch": 21.969424460431654,
      "grad_norm": 0.26208174228668213,
      "learning_rate": 6.899660245268237e-05,
      "loss": 0.0761,
      "step": 24430
    },
    {
      "action_loss": 0.003369879210367799,
      "epoch": 21.969424460431654,
      "step": 24430
    },
    {
      "epoch": 21.969424460431654,
      "step": 24430,
      "torque_loss": 0.07243002206087112
    },
    {
      "epoch": 21.97841726618705,
      "grad_norm": 0.2583374083042145,
      "learning_rate": 6.897110817881592e-05,
      "loss": 0.084,
      "step": 24440
    },
    {
      "action_loss": 0.008821395225822926,
      "epoch": 21.97841726618705,
      "step": 24440
    },
    {
      "epoch": 21.97841726618705,
      "step": 24440,
      "torque_loss": 0.1329847127199173
    },
    {
      "epoch": 21.987410071942445,
      "grad_norm": 0.3523102402687073,
      "learning_rate": 6.894560814202769e-05,
      "loss": 0.0881,
      "step": 24450
    },
    {
      "action_loss": 0.00244846916757524,
      "epoch": 21.987410071942445,
      "step": 24450
    },
    {
      "epoch": 21.987410071942445,
      "step": 24450,
      "torque_loss": 0.06871955841779709
    },
    {
      "epoch": 21.996402877697843,
      "grad_norm": 0.3392413854598999,
      "learning_rate": 6.892010235006394e-05,
      "loss": 0.0952,
      "step": 24460
    },
    {
      "action_loss": 0.004715557210147381,
      "epoch": 21.996402877697843,
      "step": 24460
    },
    {
      "epoch": 21.996402877697843,
      "step": 24460,
      "torque_loss": 0.12700536847114563
    },
    {
      "epoch": 22.005395683453237,
      "grad_norm": 0.25139808654785156,
      "learning_rate": 6.889459081067264e-05,
      "loss": 0.072,
      "step": 24470
    },
    {
      "action_loss": 0.005910065025091171,
      "epoch": 22.005395683453237,
      "step": 24470
    },
    {
      "epoch": 22.005395683453237,
      "step": 24470,
      "torque_loss": 0.1137310341000557
    },
    {
      "epoch": 22.014388489208635,
      "grad_norm": 0.31812357902526855,
      "learning_rate": 6.886907353160356e-05,
      "loss": 0.0849,
      "step": 24480
    },
    {
      "action_loss": 0.01693611778318882,
      "epoch": 22.014388489208635,
      "step": 24480
    },
    {
      "epoch": 22.014388489208635,
      "step": 24480,
      "torque_loss": 0.19933223724365234
    },
    {
      "epoch": 22.02338129496403,
      "grad_norm": 0.4044528901576996,
      "learning_rate": 6.884355052060814e-05,
      "loss": 0.0801,
      "step": 24490
    },
    {
      "action_loss": 0.007822438143193722,
      "epoch": 22.02338129496403,
      "step": 24490
    },
    {
      "epoch": 22.02338129496403,
      "step": 24490,
      "torque_loss": 0.12086714059114456
    },
    {
      "epoch": 22.032374100719423,
      "grad_norm": 0.4201582372188568,
      "learning_rate": 6.88180217854396e-05,
      "loss": 0.0784,
      "step": 24500
    },
    {
      "action_loss": 0.00344061735086143,
      "epoch": 22.032374100719423,
      "step": 24500
    },
    {
      "epoch": 22.032374100719423,
      "step": 24500,
      "torque_loss": 0.0784129872918129
    },
    {
      "epoch": 22.04136690647482,
      "grad_norm": 0.24325047433376312,
      "learning_rate": 6.87924873338529e-05,
      "loss": 0.0889,
      "step": 24510
    },
    {
      "action_loss": 0.01270278263837099,
      "epoch": 22.04136690647482,
      "step": 24510
    },
    {
      "epoch": 22.04136690647482,
      "step": 24510,
      "torque_loss": 0.1226864755153656
    },
    {
      "epoch": 22.050359712230215,
      "grad_norm": 0.3548344075679779,
      "learning_rate": 6.876694717360475e-05,
      "loss": 0.084,
      "step": 24520
    },
    {
      "action_loss": 0.013290826231241226,
      "epoch": 22.050359712230215,
      "step": 24520
    },
    {
      "epoch": 22.050359712230215,
      "step": 24520,
      "torque_loss": 0.11304964870214462
    },
    {
      "epoch": 22.059352517985612,
      "grad_norm": 0.2357633262872696,
      "learning_rate": 6.874140131245355e-05,
      "loss": 0.0802,
      "step": 24530
    },
    {
      "action_loss": 0.012196493335068226,
      "epoch": 22.059352517985612,
      "step": 24530
    },
    {
      "epoch": 22.059352517985612,
      "step": 24530,
      "torque_loss": 0.15020905435085297
    },
    {
      "epoch": 22.068345323741006,
      "grad_norm": 0.3747880160808563,
      "learning_rate": 6.871584975815948e-05,
      "loss": 0.0872,
      "step": 24540
    },
    {
      "action_loss": 0.0027260640636086464,
      "epoch": 22.068345323741006,
      "step": 24540
    },
    {
      "epoch": 22.068345323741006,
      "step": 24540,
      "torque_loss": 0.12578682601451874
    },
    {
      "epoch": 22.077338129496404,
      "grad_norm": 0.28899288177490234,
      "learning_rate": 6.86902925184844e-05,
      "loss": 0.0736,
      "step": 24550
    },
    {
      "action_loss": 0.002836144296452403,
      "epoch": 22.077338129496404,
      "step": 24550
    },
    {
      "epoch": 22.077338129496404,
      "step": 24550,
      "torque_loss": 0.08523503690958023
    },
    {
      "epoch": 22.086330935251798,
      "grad_norm": 0.3288339674472809,
      "learning_rate": 6.866472960119195e-05,
      "loss": 0.0888,
      "step": 24560
    },
    {
      "action_loss": 0.006458842661231756,
      "epoch": 22.086330935251798,
      "step": 24560
    },
    {
      "epoch": 22.086330935251798,
      "step": 24560,
      "torque_loss": 0.09862402826547623
    },
    {
      "epoch": 22.095323741007196,
      "grad_norm": 0.2423548400402069,
      "learning_rate": 6.863916101404748e-05,
      "loss": 0.077,
      "step": 24570
    },
    {
      "action_loss": 0.00353326671756804,
      "epoch": 22.095323741007196,
      "step": 24570
    },
    {
      "epoch": 22.095323741007196,
      "step": 24570,
      "torque_loss": 0.09288924932479858
    },
    {
      "epoch": 22.10431654676259,
      "grad_norm": 0.35865041613578796,
      "learning_rate": 6.8613586764818e-05,
      "loss": 0.0721,
      "step": 24580
    },
    {
      "action_loss": 0.003206765977665782,
      "epoch": 22.10431654676259,
      "step": 24580
    },
    {
      "epoch": 22.10431654676259,
      "step": 24580,
      "torque_loss": 0.1108783707022667
    },
    {
      "epoch": 22.113309352517987,
      "grad_norm": 0.24177321791648865,
      "learning_rate": 6.858800686127233e-05,
      "loss": 0.075,
      "step": 24590
    },
    {
      "action_loss": 0.010137815959751606,
      "epoch": 22.113309352517987,
      "step": 24590
    },
    {
      "epoch": 22.113309352517987,
      "step": 24590,
      "torque_loss": 0.1774774044752121
    },
    {
      "epoch": 22.12230215827338,
      "grad_norm": 0.36737412214279175,
      "learning_rate": 6.856242131118097e-05,
      "loss": 0.079,
      "step": 24600
    },
    {
      "action_loss": 0.009435710497200489,
      "epoch": 22.12230215827338,
      "step": 24600
    },
    {
      "epoch": 22.12230215827338,
      "step": 24600,
      "torque_loss": 0.12492106109857559
    },
    {
      "epoch": 22.131294964028775,
      "grad_norm": 0.37350183725357056,
      "learning_rate": 6.853683012231614e-05,
      "loss": 0.0792,
      "step": 24610
    },
    {
      "action_loss": 0.002391454065218568,
      "epoch": 22.131294964028775,
      "step": 24610
    },
    {
      "epoch": 22.131294964028775,
      "step": 24610,
      "torque_loss": 0.10151815414428711
    },
    {
      "epoch": 22.140287769784173,
      "grad_norm": 0.42100176215171814,
      "learning_rate": 6.851123330245173e-05,
      "loss": 0.0766,
      "step": 24620
    },
    {
      "action_loss": 0.009561662562191486,
      "epoch": 22.140287769784173,
      "step": 24620
    },
    {
      "epoch": 22.140287769784173,
      "step": 24620,
      "torque_loss": 0.14868788421154022
    },
    {
      "epoch": 22.149280575539567,
      "grad_norm": 0.30347689986228943,
      "learning_rate": 6.848563085936343e-05,
      "loss": 0.0786,
      "step": 24630
    },
    {
      "action_loss": 0.0029126068111509085,
      "epoch": 22.149280575539567,
      "step": 24630
    },
    {
      "epoch": 22.149280575539567,
      "step": 24630,
      "torque_loss": 0.056038033217191696
    },
    {
      "epoch": 22.158273381294965,
      "grad_norm": 0.2767152190208435,
      "learning_rate": 6.846002280082853e-05,
      "loss": 0.0778,
      "step": 24640
    },
    {
      "action_loss": 0.00724721560254693,
      "epoch": 22.158273381294965,
      "step": 24640
    },
    {
      "epoch": 22.158273381294965,
      "step": 24640,
      "torque_loss": 0.11127257347106934
    },
    {
      "epoch": 22.16726618705036,
      "grad_norm": 0.257345974445343,
      "learning_rate": 6.843440913462614e-05,
      "loss": 0.0685,
      "step": 24650
    },
    {
      "action_loss": 0.002941598417237401,
      "epoch": 22.16726618705036,
      "step": 24650
    },
    {
      "epoch": 22.16726618705036,
      "step": 24650,
      "torque_loss": 0.08080194145441055
    },
    {
      "epoch": 22.176258992805757,
      "grad_norm": 0.32458046078681946,
      "learning_rate": 6.840878986853698e-05,
      "loss": 0.0774,
      "step": 24660
    },
    {
      "action_loss": 0.004126891493797302,
      "epoch": 22.176258992805757,
      "step": 24660
    },
    {
      "epoch": 22.176258992805757,
      "step": 24660,
      "torque_loss": 0.12845836579799652
    },
    {
      "epoch": 22.18525179856115,
      "grad_norm": 0.31304633617401123,
      "learning_rate": 6.838316501034352e-05,
      "loss": 0.0801,
      "step": 24670
    },
    {
      "action_loss": 0.00630401074886322,
      "epoch": 22.18525179856115,
      "step": 24670
    },
    {
      "epoch": 22.18525179856115,
      "step": 24670,
      "torque_loss": 0.11301837116479874
    },
    {
      "epoch": 22.194244604316548,
      "grad_norm": 0.21563708782196045,
      "learning_rate": 6.83575345678299e-05,
      "loss": 0.0693,
      "step": 24680
    },
    {
      "action_loss": 0.012431693263351917,
      "epoch": 22.194244604316548,
      "step": 24680
    },
    {
      "epoch": 22.194244604316548,
      "step": 24680,
      "torque_loss": 0.11531414836645126
    },
    {
      "epoch": 22.203237410071942,
      "grad_norm": 0.3052273392677307,
      "learning_rate": 6.833189854878196e-05,
      "loss": 0.0821,
      "step": 24690
    },
    {
      "action_loss": 0.004057707730680704,
      "epoch": 22.203237410071942,
      "step": 24690
    },
    {
      "epoch": 22.203237410071942,
      "step": 24690,
      "torque_loss": 0.09630704671144485
    },
    {
      "epoch": 22.21223021582734,
      "grad_norm": 0.36466071009635925,
      "learning_rate": 6.83062569609873e-05,
      "loss": 0.0743,
      "step": 24700
    },
    {
      "action_loss": 0.009520280174911022,
      "epoch": 22.21223021582734,
      "step": 24700
    },
    {
      "epoch": 22.21223021582734,
      "step": 24700,
      "torque_loss": 0.12313926964998245
    },
    {
      "epoch": 22.221223021582734,
      "grad_norm": 0.2932778596878052,
      "learning_rate": 6.828060981223512e-05,
      "loss": 0.0725,
      "step": 24710
    },
    {
      "action_loss": 0.004081482533365488,
      "epoch": 22.221223021582734,
      "step": 24710
    },
    {
      "epoch": 22.221223021582734,
      "step": 24710,
      "torque_loss": 0.06526116281747818
    },
    {
      "epoch": 22.230215827338128,
      "grad_norm": 0.26908814907073975,
      "learning_rate": 6.825495711031634e-05,
      "loss": 0.0758,
      "step": 24720
    },
    {
      "action_loss": 0.006789425853639841,
      "epoch": 22.230215827338128,
      "step": 24720
    },
    {
      "epoch": 22.230215827338128,
      "step": 24720,
      "torque_loss": 0.09858707338571548
    },
    {
      "epoch": 22.239208633093526,
      "grad_norm": 0.286139577627182,
      "learning_rate": 6.822929886302359e-05,
      "loss": 0.0667,
      "step": 24730
    },
    {
      "action_loss": 0.002714812057092786,
      "epoch": 22.239208633093526,
      "step": 24730
    },
    {
      "epoch": 22.239208633093526,
      "step": 24730,
      "torque_loss": 0.08540085703134537
    },
    {
      "epoch": 22.24820143884892,
      "grad_norm": 0.3721581697463989,
      "learning_rate": 6.820363507815116e-05,
      "loss": 0.0671,
      "step": 24740
    },
    {
      "action_loss": 0.005569318775087595,
      "epoch": 22.24820143884892,
      "step": 24740
    },
    {
      "epoch": 22.24820143884892,
      "step": 24740,
      "torque_loss": 0.10223084688186646
    },
    {
      "epoch": 22.257194244604317,
      "grad_norm": 0.3569082021713257,
      "learning_rate": 6.817796576349501e-05,
      "loss": 0.0825,
      "step": 24750
    },
    {
      "action_loss": 0.006347042974084616,
      "epoch": 22.257194244604317,
      "step": 24750
    },
    {
      "epoch": 22.257194244604317,
      "step": 24750,
      "torque_loss": 0.11300138384103775
    },
    {
      "epoch": 22.26618705035971,
      "grad_norm": 0.36813345551490784,
      "learning_rate": 6.815229092685285e-05,
      "loss": 0.0947,
      "step": 24760
    },
    {
      "action_loss": 0.009614763781428337,
      "epoch": 22.26618705035971,
      "step": 24760
    },
    {
      "epoch": 22.26618705035971,
      "step": 24760,
      "torque_loss": 0.1179107055068016
    },
    {
      "epoch": 22.27517985611511,
      "grad_norm": 0.3258046507835388,
      "learning_rate": 6.812661057602399e-05,
      "loss": 0.0729,
      "step": 24770
    },
    {
      "action_loss": 0.009285487234592438,
      "epoch": 22.27517985611511,
      "step": 24770
    },
    {
      "epoch": 22.27517985611511,
      "step": 24770,
      "torque_loss": 0.11426812410354614
    },
    {
      "epoch": 22.284172661870503,
      "grad_norm": 0.26070141792297363,
      "learning_rate": 6.810092471880943e-05,
      "loss": 0.0776,
      "step": 24780
    },
    {
      "action_loss": 0.01110096275806427,
      "epoch": 22.284172661870503,
      "step": 24780
    },
    {
      "epoch": 22.284172661870503,
      "step": 24780,
      "torque_loss": 0.10445747524499893
    },
    {
      "epoch": 22.2931654676259,
      "grad_norm": 0.36670348048210144,
      "learning_rate": 6.807523336301187e-05,
      "loss": 0.0827,
      "step": 24790
    },
    {
      "action_loss": 0.01044538151472807,
      "epoch": 22.2931654676259,
      "step": 24790
    },
    {
      "epoch": 22.2931654676259,
      "step": 24790,
      "torque_loss": 0.15689347684383392
    },
    {
      "epoch": 22.302158273381295,
      "grad_norm": 0.3348888158798218,
      "learning_rate": 6.804953651643566e-05,
      "loss": 0.0941,
      "step": 24800
    },
    {
      "action_loss": 0.013334299437701702,
      "epoch": 22.302158273381295,
      "step": 24800
    },
    {
      "epoch": 22.302158273381295,
      "step": 24800,
      "torque_loss": 0.17377883195877075
    },
    {
      "epoch": 22.31115107913669,
      "grad_norm": 0.2592044472694397,
      "learning_rate": 6.802383418688685e-05,
      "loss": 0.0872,
      "step": 24810
    },
    {
      "action_loss": 0.00952133908867836,
      "epoch": 22.31115107913669,
      "step": 24810
    },
    {
      "epoch": 22.31115107913669,
      "step": 24810,
      "torque_loss": 0.11315611749887466
    },
    {
      "epoch": 22.320143884892087,
      "grad_norm": 0.3159818649291992,
      "learning_rate": 6.799812638217309e-05,
      "loss": 0.087,
      "step": 24820
    },
    {
      "action_loss": 0.005542483646422625,
      "epoch": 22.320143884892087,
      "step": 24820
    },
    {
      "epoch": 22.320143884892087,
      "step": 24820,
      "torque_loss": 0.16306498646736145
    },
    {
      "epoch": 22.32913669064748,
      "grad_norm": 0.37411120533943176,
      "learning_rate": 6.797241311010373e-05,
      "loss": 0.0878,
      "step": 24830
    },
    {
      "action_loss": 0.0169984083622694,
      "epoch": 22.32913669064748,
      "step": 24830
    },
    {
      "epoch": 22.32913669064748,
      "step": 24830,
      "torque_loss": 0.15032429993152618
    },
    {
      "epoch": 22.33812949640288,
      "grad_norm": 0.3160530924797058,
      "learning_rate": 6.794669437848982e-05,
      "loss": 0.0821,
      "step": 24840
    },
    {
      "action_loss": 0.012192375026643276,
      "epoch": 22.33812949640288,
      "step": 24840
    },
    {
      "epoch": 22.33812949640288,
      "step": 24840,
      "torque_loss": 0.14648406207561493
    },
    {
      "epoch": 22.347122302158272,
      "grad_norm": 0.34213531017303467,
      "learning_rate": 6.792097019514402e-05,
      "loss": 0.0822,
      "step": 24850
    },
    {
      "action_loss": 0.006640389561653137,
      "epoch": 22.347122302158272,
      "step": 24850
    },
    {
      "epoch": 22.347122302158272,
      "step": 24850,
      "torque_loss": 0.11371854692697525
    },
    {
      "epoch": 22.35611510791367,
      "grad_norm": 0.3159818947315216,
      "learning_rate": 6.789524056788064e-05,
      "loss": 0.0796,
      "step": 24860
    },
    {
      "action_loss": 0.010599065572023392,
      "epoch": 22.35611510791367,
      "step": 24860
    },
    {
      "epoch": 22.35611510791367,
      "step": 24860,
      "torque_loss": 0.11967047303915024
    },
    {
      "epoch": 22.365107913669064,
      "grad_norm": 0.21515347063541412,
      "learning_rate": 6.786950550451567e-05,
      "loss": 0.071,
      "step": 24870
    },
    {
      "action_loss": 0.004531612619757652,
      "epoch": 22.365107913669064,
      "step": 24870
    },
    {
      "epoch": 22.365107913669064,
      "step": 24870,
      "torque_loss": 0.11757519841194153
    },
    {
      "epoch": 22.37410071942446,
      "grad_norm": 0.33676186203956604,
      "learning_rate": 6.784376501286676e-05,
      "loss": 0.083,
      "step": 24880
    },
    {
      "action_loss": 0.0036653310526162386,
      "epoch": 22.37410071942446,
      "step": 24880
    },
    {
      "epoch": 22.37410071942446,
      "step": 24880,
      "torque_loss": 0.11043087393045425
    },
    {
      "epoch": 22.383093525179856,
      "grad_norm": 0.24107056856155396,
      "learning_rate": 6.781801910075316e-05,
      "loss": 0.0701,
      "step": 24890
    },
    {
      "action_loss": 0.009513032622635365,
      "epoch": 22.383093525179856,
      "step": 24890
    },
    {
      "epoch": 22.383093525179856,
      "step": 24890,
      "torque_loss": 0.14891675114631653
    },
    {
      "epoch": 22.392086330935253,
      "grad_norm": 0.261544793844223,
      "learning_rate": 6.779226777599581e-05,
      "loss": 0.0778,
      "step": 24900
    },
    {
      "action_loss": 0.003030239837244153,
      "epoch": 22.392086330935253,
      "step": 24900
    },
    {
      "epoch": 22.392086330935253,
      "step": 24900,
      "torque_loss": 0.08199027925729752
    },
    {
      "epoch": 22.401079136690647,
      "grad_norm": 0.27093878388404846,
      "learning_rate": 6.776651104641729e-05,
      "loss": 0.0836,
      "step": 24910
    },
    {
      "action_loss": 0.0030419034883379936,
      "epoch": 22.401079136690647,
      "step": 24910
    },
    {
      "epoch": 22.401079136690647,
      "step": 24910,
      "torque_loss": 0.12218377739191055
    },
    {
      "epoch": 22.41007194244604,
      "grad_norm": 0.37000298500061035,
      "learning_rate": 6.774074891984183e-05,
      "loss": 0.083,
      "step": 24920
    },
    {
      "action_loss": 0.0037719709798693657,
      "epoch": 22.41007194244604,
      "step": 24920
    },
    {
      "epoch": 22.41007194244604,
      "step": 24920,
      "torque_loss": 0.06876856833696365
    },
    {
      "epoch": 22.41906474820144,
      "grad_norm": 0.2598024010658264,
      "learning_rate": 6.771498140409526e-05,
      "loss": 0.0798,
      "step": 24930
    },
    {
      "action_loss": 0.003092416562139988,
      "epoch": 22.41906474820144,
      "step": 24930
    },
    {
      "epoch": 22.41906474820144,
      "step": 24930,
      "torque_loss": 0.0762961208820343
    },
    {
      "epoch": 22.428057553956833,
      "grad_norm": 0.30556201934814453,
      "learning_rate": 6.768920850700506e-05,
      "loss": 0.0705,
      "step": 24940
    },
    {
      "action_loss": 0.03520018607378006,
      "epoch": 22.428057553956833,
      "step": 24940
    },
    {
      "epoch": 22.428057553956833,
      "step": 24940,
      "torque_loss": 0.1737503558397293
    },
    {
      "epoch": 22.43705035971223,
      "grad_norm": 0.33987632393836975,
      "learning_rate": 6.766343023640039e-05,
      "loss": 0.0915,
      "step": 24950
    },
    {
      "action_loss": 0.004366819281131029,
      "epoch": 22.43705035971223,
      "step": 24950
    },
    {
      "epoch": 22.43705035971223,
      "step": 24950,
      "torque_loss": 0.10024221986532211
    },
    {
      "epoch": 22.446043165467625,
      "grad_norm": 0.46019506454467773,
      "learning_rate": 6.763764660011198e-05,
      "loss": 0.0806,
      "step": 24960
    },
    {
      "action_loss": 0.003101175418123603,
      "epoch": 22.446043165467625,
      "step": 24960
    },
    {
      "epoch": 22.446043165467625,
      "step": 24960,
      "torque_loss": 0.13652794063091278
    },
    {
      "epoch": 22.455035971223023,
      "grad_norm": 0.27629518508911133,
      "learning_rate": 6.761185760597223e-05,
      "loss": 0.0726,
      "step": 24970
    },
    {
      "action_loss": 0.006508382502943277,
      "epoch": 22.455035971223023,
      "step": 24970
    },
    {
      "epoch": 22.455035971223023,
      "step": 24970,
      "torque_loss": 0.13320773839950562
    },
    {
      "epoch": 22.464028776978417,
      "grad_norm": 0.26535969972610474,
      "learning_rate": 6.758606326181515e-05,
      "loss": 0.0831,
      "step": 24980
    },
    {
      "action_loss": 0.003060925053432584,
      "epoch": 22.464028776978417,
      "step": 24980
    },
    {
      "epoch": 22.464028776978417,
      "step": 24980,
      "torque_loss": 0.12193995714187622
    },
    {
      "epoch": 22.473021582733814,
      "grad_norm": 0.3992759883403778,
      "learning_rate": 6.75602635754764e-05,
      "loss": 0.0745,
      "step": 24990
    },
    {
      "action_loss": 0.005197544582188129,
      "epoch": 22.473021582733814,
      "step": 24990
    },
    {
      "epoch": 22.473021582733814,
      "step": 24990,
      "torque_loss": 0.09235844761133194
    },
    {
      "epoch": 22.48201438848921,
      "grad_norm": 0.28137993812561035,
      "learning_rate": 6.75344585547932e-05,
      "loss": 0.0837,
      "step": 25000
    },
    {
      "action_loss": 0.004651012364774942,
      "epoch": 22.48201438848921,
      "step": 25000
    },
    {
      "epoch": 22.48201438848921,
      "step": 25000,
      "torque_loss": 0.1588708609342575
    },
    {
      "epoch": 22.491007194244606,
      "grad_norm": 0.3669337034225464,
      "learning_rate": 6.750864820760449e-05,
      "loss": 0.0754,
      "step": 25010
    },
    {
      "action_loss": 0.003113906132057309,
      "epoch": 22.491007194244606,
      "step": 25010
    },
    {
      "epoch": 22.491007194244606,
      "step": 25010,
      "torque_loss": 0.1098475232720375
    },
    {
      "epoch": 22.5,
      "grad_norm": 0.3866216838359833,
      "learning_rate": 6.748283254175072e-05,
      "loss": 0.0867,
      "step": 25020
    },
    {
      "action_loss": 0.011826052330434322,
      "epoch": 22.5,
      "step": 25020
    },
    {
      "epoch": 22.5,
      "step": 25020,
      "torque_loss": 0.1729486733675003
    },
    {
      "epoch": 22.508992805755394,
      "grad_norm": 0.37527358531951904,
      "learning_rate": 6.745701156507404e-05,
      "loss": 0.0834,
      "step": 25030
    },
    {
      "action_loss": 0.002212947467342019,
      "epoch": 22.508992805755394,
      "step": 25030
    },
    {
      "epoch": 22.508992805755394,
      "step": 25030,
      "torque_loss": 0.09166247397661209
    },
    {
      "epoch": 22.51798561151079,
      "grad_norm": 0.29136642813682556,
      "learning_rate": 6.743118528541818e-05,
      "loss": 0.0686,
      "step": 25040
    },
    {
      "action_loss": 0.0033121760934591293,
      "epoch": 22.51798561151079,
      "step": 25040
    },
    {
      "epoch": 22.51798561151079,
      "step": 25040,
      "torque_loss": 0.1077820286154747
    },
    {
      "epoch": 22.526978417266186,
      "grad_norm": 0.3503836989402771,
      "learning_rate": 6.740535371062846e-05,
      "loss": 0.0787,
      "step": 25050
    },
    {
      "action_loss": 0.007201194763183594,
      "epoch": 22.526978417266186,
      "step": 25050
    },
    {
      "epoch": 22.526978417266186,
      "step": 25050,
      "torque_loss": 0.11787388473749161
    },
    {
      "epoch": 22.535971223021583,
      "grad_norm": 0.30883699655532837,
      "learning_rate": 6.737951684855185e-05,
      "loss": 0.073,
      "step": 25060
    },
    {
      "action_loss": 0.007754489779472351,
      "epoch": 22.535971223021583,
      "step": 25060
    },
    {
      "epoch": 22.535971223021583,
      "step": 25060,
      "torque_loss": 0.09018342941999435
    },
    {
      "epoch": 22.544964028776977,
      "grad_norm": 0.4646201729774475,
      "learning_rate": 6.735367470703691e-05,
      "loss": 0.0814,
      "step": 25070
    },
    {
      "action_loss": 0.00656931335106492,
      "epoch": 22.544964028776977,
      "step": 25070
    },
    {
      "epoch": 22.544964028776977,
      "step": 25070,
      "torque_loss": 0.12133874744176865
    },
    {
      "epoch": 22.553956834532375,
      "grad_norm": 0.3989839553833008,
      "learning_rate": 6.732782729393379e-05,
      "loss": 0.0739,
      "step": 25080
    },
    {
      "action_loss": 0.005677813198417425,
      "epoch": 22.553956834532375,
      "step": 25080
    },
    {
      "epoch": 22.553956834532375,
      "step": 25080,
      "torque_loss": 0.0913066640496254
    },
    {
      "epoch": 22.56294964028777,
      "grad_norm": 0.39083462953567505,
      "learning_rate": 6.730197461709425e-05,
      "loss": 0.0743,
      "step": 25090
    },
    {
      "action_loss": 0.004431446548551321,
      "epoch": 22.56294964028777,
      "step": 25090
    },
    {
      "epoch": 22.56294964028777,
      "step": 25090,
      "torque_loss": 0.1006883755326271
    },
    {
      "epoch": 22.571942446043167,
      "grad_norm": 0.3723694086074829,
      "learning_rate": 6.727611668437164e-05,
      "loss": 0.0841,
      "step": 25100
    },
    {
      "action_loss": 0.006658031139522791,
      "epoch": 22.571942446043167,
      "step": 25100
    },
    {
      "epoch": 22.571942446043167,
      "step": 25100,
      "torque_loss": 0.1718875914812088
    },
    {
      "epoch": 22.58093525179856,
      "grad_norm": 0.39551296830177307,
      "learning_rate": 6.725025350362094e-05,
      "loss": 0.0738,
      "step": 25110
    },
    {
      "action_loss": 0.005147768650203943,
      "epoch": 22.58093525179856,
      "step": 25110
    },
    {
      "epoch": 22.58093525179856,
      "step": 25110,
      "torque_loss": 0.10644448548555374
    },
    {
      "epoch": 22.58992805755396,
      "grad_norm": 0.2682115435600281,
      "learning_rate": 6.72243850826987e-05,
      "loss": 0.0713,
      "step": 25120
    },
    {
      "action_loss": 0.006125787738710642,
      "epoch": 22.58992805755396,
      "step": 25120
    },
    {
      "epoch": 22.58992805755396,
      "step": 25120,
      "torque_loss": 0.12768495082855225
    },
    {
      "epoch": 22.598920863309353,
      "grad_norm": 0.3235085904598236,
      "learning_rate": 6.719851142946305e-05,
      "loss": 0.0743,
      "step": 25130
    },
    {
      "action_loss": 0.005825674161314964,
      "epoch": 22.598920863309353,
      "step": 25130
    },
    {
      "epoch": 22.598920863309353,
      "step": 25130,
      "torque_loss": 0.14552414417266846
    },
    {
      "epoch": 22.607913669064747,
      "grad_norm": 0.3965200185775757,
      "learning_rate": 6.717263255177372e-05,
      "loss": 0.0951,
      "step": 25140
    },
    {
      "action_loss": 0.006059898063540459,
      "epoch": 22.607913669064747,
      "step": 25140
    },
    {
      "epoch": 22.607913669064747,
      "step": 25140,
      "torque_loss": 0.12444709986448288
    },
    {
      "epoch": 22.616906474820144,
      "grad_norm": 0.24167412519454956,
      "learning_rate": 6.714674845749205e-05,
      "loss": 0.0776,
      "step": 25150
    },
    {
      "action_loss": 0.0096846679225564,
      "epoch": 22.616906474820144,
      "step": 25150
    },
    {
      "epoch": 22.616906474820144,
      "step": 25150,
      "torque_loss": 0.1249786838889122
    },
    {
      "epoch": 22.62589928057554,
      "grad_norm": 0.36384281516075134,
      "learning_rate": 6.712085915448092e-05,
      "loss": 0.0829,
      "step": 25160
    },
    {
      "action_loss": 0.0041747684590518475,
      "epoch": 22.62589928057554,
      "step": 25160
    },
    {
      "epoch": 22.62589928057554,
      "step": 25160,
      "torque_loss": 0.10156013816595078
    },
    {
      "epoch": 22.634892086330936,
      "grad_norm": 0.39392709732055664,
      "learning_rate": 6.709496465060486e-05,
      "loss": 0.0776,
      "step": 25170
    },
    {
      "action_loss": 0.002727583982050419,
      "epoch": 22.634892086330936,
      "step": 25170
    },
    {
      "epoch": 22.634892086330936,
      "step": 25170,
      "torque_loss": 0.09101156145334244
    },
    {
      "epoch": 22.64388489208633,
      "grad_norm": 0.32335054874420166,
      "learning_rate": 6.706906495372987e-05,
      "loss": 0.0714,
      "step": 25180
    },
    {
      "action_loss": 0.004210109356790781,
      "epoch": 22.64388489208633,
      "step": 25180
    },
    {
      "epoch": 22.64388489208633,
      "step": 25180,
      "torque_loss": 0.10866576433181763
    },
    {
      "epoch": 22.652877697841728,
      "grad_norm": 0.3649648427963257,
      "learning_rate": 6.704316007172365e-05,
      "loss": 0.0724,
      "step": 25190
    },
    {
      "action_loss": 0.006703610066324472,
      "epoch": 22.652877697841728,
      "step": 25190
    },
    {
      "epoch": 22.652877697841728,
      "step": 25190,
      "torque_loss": 0.12142805010080338
    },
    {
      "epoch": 22.66187050359712,
      "grad_norm": 0.24004550278186798,
      "learning_rate": 6.701725001245539e-05,
      "loss": 0.0884,
      "step": 25200
    },
    {
      "action_loss": 0.018801603466272354,
      "epoch": 22.66187050359712,
      "step": 25200
    },
    {
      "epoch": 22.66187050359712,
      "step": 25200,
      "torque_loss": 0.18475128710269928
    },
    {
      "epoch": 22.67086330935252,
      "grad_norm": 0.28512459993362427,
      "learning_rate": 6.699133478379588e-05,
      "loss": 0.0704,
      "step": 25210
    },
    {
      "action_loss": 0.007215478923171759,
      "epoch": 22.67086330935252,
      "step": 25210
    },
    {
      "epoch": 22.67086330935252,
      "step": 25210,
      "torque_loss": 0.1398775577545166
    },
    {
      "epoch": 22.679856115107913,
      "grad_norm": 0.22022849321365356,
      "learning_rate": 6.69654143936175e-05,
      "loss": 0.0726,
      "step": 25220
    },
    {
      "action_loss": 0.003861231030896306,
      "epoch": 22.679856115107913,
      "step": 25220
    },
    {
      "epoch": 22.679856115107913,
      "step": 25220,
      "torque_loss": 0.11658388376235962
    },
    {
      "epoch": 22.68884892086331,
      "grad_norm": 0.3727239966392517,
      "learning_rate": 6.693948884979419e-05,
      "loss": 0.0824,
      "step": 25230
    },
    {
      "action_loss": 0.00459104822948575,
      "epoch": 22.68884892086331,
      "step": 25230
    },
    {
      "epoch": 22.68884892086331,
      "step": 25230,
      "torque_loss": 0.1272730678319931
    },
    {
      "epoch": 22.697841726618705,
      "grad_norm": 0.27419331669807434,
      "learning_rate": 6.691355816020142e-05,
      "loss": 0.0697,
      "step": 25240
    },
    {
      "action_loss": 0.007406793534755707,
      "epoch": 22.697841726618705,
      "step": 25240
    },
    {
      "epoch": 22.697841726618705,
      "step": 25240,
      "torque_loss": 0.1228947639465332
    },
    {
      "epoch": 22.7068345323741,
      "grad_norm": 0.2258613556623459,
      "learning_rate": 6.688762233271624e-05,
      "loss": 0.0668,
      "step": 25250
    },
    {
      "action_loss": 0.005786702036857605,
      "epoch": 22.7068345323741,
      "step": 25250
    },
    {
      "epoch": 22.7068345323741,
      "step": 25250,
      "torque_loss": 0.1516328752040863
    },
    {
      "epoch": 22.715827338129497,
      "grad_norm": 0.2949698269367218,
      "learning_rate": 6.68616813752173e-05,
      "loss": 0.083,
      "step": 25260
    },
    {
      "action_loss": 0.0035449638962745667,
      "epoch": 22.715827338129497,
      "step": 25260
    },
    {
      "epoch": 22.715827338129497,
      "step": 25260,
      "torque_loss": 0.10557854175567627
    },
    {
      "epoch": 22.72482014388489,
      "grad_norm": 0.29289352893829346,
      "learning_rate": 6.683573529558477e-05,
      "loss": 0.0788,
      "step": 25270
    },
    {
      "action_loss": 0.00255620782263577,
      "epoch": 22.72482014388489,
      "step": 25270
    },
    {
      "epoch": 22.72482014388489,
      "step": 25270,
      "torque_loss": 0.09230490773916245
    },
    {
      "epoch": 22.73381294964029,
      "grad_norm": 0.36794131994247437,
      "learning_rate": 6.680978410170037e-05,
      "loss": 0.0778,
      "step": 25280
    },
    {
      "action_loss": 0.0038006079848855734,
      "epoch": 22.73381294964029,
      "step": 25280
    },
    {
      "epoch": 22.73381294964029,
      "step": 25280,
      "torque_loss": 0.08570923656225204
    },
    {
      "epoch": 22.742805755395683,
      "grad_norm": 0.3389282822608948,
      "learning_rate": 6.678382780144741e-05,
      "loss": 0.0781,
      "step": 25290
    },
    {
      "action_loss": 0.009076337330043316,
      "epoch": 22.742805755395683,
      "step": 25290
    },
    {
      "epoch": 22.742805755395683,
      "step": 25290,
      "torque_loss": 0.13053417205810547
    },
    {
      "epoch": 22.75179856115108,
      "grad_norm": 0.3302294909954071,
      "learning_rate": 6.675786640271071e-05,
      "loss": 0.0785,
      "step": 25300
    },
    {
      "action_loss": 0.0025586530100554228,
      "epoch": 22.75179856115108,
      "step": 25300
    },
    {
      "epoch": 22.75179856115108,
      "step": 25300,
      "torque_loss": 0.07758751511573792
    },
    {
      "epoch": 22.760791366906474,
      "grad_norm": 0.2525315284729004,
      "learning_rate": 6.673189991337665e-05,
      "loss": 0.0749,
      "step": 25310
    },
    {
      "action_loss": 0.005746800452470779,
      "epoch": 22.760791366906474,
      "step": 25310
    },
    {
      "epoch": 22.760791366906474,
      "step": 25310,
      "torque_loss": 0.08612751215696335
    },
    {
      "epoch": 22.769784172661872,
      "grad_norm": 0.32658132910728455,
      "learning_rate": 6.670592834133317e-05,
      "loss": 0.0818,
      "step": 25320
    },
    {
      "action_loss": 0.003964836709201336,
      "epoch": 22.769784172661872,
      "step": 25320
    },
    {
      "epoch": 22.769784172661872,
      "step": 25320,
      "torque_loss": 0.09533989429473877
    },
    {
      "epoch": 22.778776978417266,
      "grad_norm": 0.2765657305717468,
      "learning_rate": 6.667995169446979e-05,
      "loss": 0.072,
      "step": 25330
    },
    {
      "action_loss": 0.007187915500253439,
      "epoch": 22.778776978417266,
      "step": 25330
    },
    {
      "epoch": 22.778776978417266,
      "step": 25330,
      "torque_loss": 0.1888606995344162
    },
    {
      "epoch": 22.78776978417266,
      "grad_norm": 0.28519299626350403,
      "learning_rate": 6.665396998067747e-05,
      "loss": 0.0961,
      "step": 25340
    },
    {
      "action_loss": 0.00511070666834712,
      "epoch": 22.78776978417266,
      "step": 25340
    },
    {
      "epoch": 22.78776978417266,
      "step": 25340,
      "torque_loss": 0.10512097924947739
    },
    {
      "epoch": 22.796762589928058,
      "grad_norm": 0.3264622986316681,
      "learning_rate": 6.66279832078488e-05,
      "loss": 0.0695,
      "step": 25350
    },
    {
      "action_loss": 0.0059942398220300674,
      "epoch": 22.796762589928058,
      "step": 25350
    },
    {
      "epoch": 22.796762589928058,
      "step": 25350,
      "torque_loss": 0.09006436914205551
    },
    {
      "epoch": 22.805755395683452,
      "grad_norm": 0.3282230496406555,
      "learning_rate": 6.660199138387786e-05,
      "loss": 0.0744,
      "step": 25360
    },
    {
      "action_loss": 0.008336558006703854,
      "epoch": 22.805755395683452,
      "step": 25360
    },
    {
      "epoch": 22.805755395683452,
      "step": 25360,
      "torque_loss": 0.1419508457183838
    },
    {
      "epoch": 22.81474820143885,
      "grad_norm": 0.3351815640926361,
      "learning_rate": 6.65759945166603e-05,
      "loss": 0.0916,
      "step": 25370
    },
    {
      "action_loss": 0.004247708711773157,
      "epoch": 22.81474820143885,
      "step": 25370
    },
    {
      "epoch": 22.81474820143885,
      "step": 25370,
      "torque_loss": 0.11324814707040787
    },
    {
      "epoch": 22.823741007194243,
      "grad_norm": 0.3185517191886902,
      "learning_rate": 6.654999261409326e-05,
      "loss": 0.0908,
      "step": 25380
    },
    {
      "action_loss": 0.02489050291478634,
      "epoch": 22.823741007194243,
      "step": 25380
    },
    {
      "epoch": 22.823741007194243,
      "step": 25380,
      "torque_loss": 0.15650908648967743
    },
    {
      "epoch": 22.83273381294964,
      "grad_norm": 0.3522074818611145,
      "learning_rate": 6.652398568407544e-05,
      "loss": 0.0792,
      "step": 25390
    },
    {
      "action_loss": 0.021681996062397957,
      "epoch": 22.83273381294964,
      "step": 25390
    },
    {
      "epoch": 22.83273381294964,
      "step": 25390,
      "torque_loss": 0.13151498138904572
    },
    {
      "epoch": 22.841726618705035,
      "grad_norm": 0.2961673438549042,
      "learning_rate": 6.649797373450707e-05,
      "loss": 0.0778,
      "step": 25400
    },
    {
      "action_loss": 0.00917994137853384,
      "epoch": 22.841726618705035,
      "step": 25400
    },
    {
      "epoch": 22.841726618705035,
      "step": 25400,
      "torque_loss": 0.12742814421653748
    },
    {
      "epoch": 22.850719424460433,
      "grad_norm": 0.23107776045799255,
      "learning_rate": 6.647195677328988e-05,
      "loss": 0.0696,
      "step": 25410
    },
    {
      "action_loss": 0.0016799165168777108,
      "epoch": 22.850719424460433,
      "step": 25410
    },
    {
      "epoch": 22.850719424460433,
      "step": 25410,
      "torque_loss": 0.08635256439447403
    },
    {
      "epoch": 22.859712230215827,
      "grad_norm": 0.25850382447242737,
      "learning_rate": 6.644593480832712e-05,
      "loss": 0.0659,
      "step": 25420
    },
    {
      "action_loss": 0.0035718244034796953,
      "epoch": 22.859712230215827,
      "step": 25420
    },
    {
      "epoch": 22.859712230215827,
      "step": 25420,
      "torque_loss": 0.08795066922903061
    },
    {
      "epoch": 22.868705035971225,
      "grad_norm": 0.3812962770462036,
      "learning_rate": 6.641990784752363e-05,
      "loss": 0.0795,
      "step": 25430
    },
    {
      "action_loss": 0.006583665031939745,
      "epoch": 22.868705035971225,
      "step": 25430
    },
    {
      "epoch": 22.868705035971225,
      "step": 25430,
      "torque_loss": 0.10745995491743088
    },
    {
      "epoch": 22.87769784172662,
      "grad_norm": 0.3747582733631134,
      "learning_rate": 6.639387589878566e-05,
      "loss": 0.0815,
      "step": 25440
    },
    {
      "action_loss": 0.003229687921702862,
      "epoch": 22.87769784172662,
      "step": 25440
    },
    {
      "epoch": 22.87769784172662,
      "step": 25440,
      "torque_loss": 0.07129736989736557
    },
    {
      "epoch": 22.886690647482013,
      "grad_norm": 0.26087164878845215,
      "learning_rate": 6.636783897002103e-05,
      "loss": 0.0732,
      "step": 25450
    },
    {
      "action_loss": 0.00839914008975029,
      "epoch": 22.886690647482013,
      "step": 25450
    },
    {
      "epoch": 22.886690647482013,
      "step": 25450,
      "torque_loss": 0.13349707424640656
    },
    {
      "epoch": 22.89568345323741,
      "grad_norm": 0.2868444621562958,
      "learning_rate": 6.63417970691391e-05,
      "loss": 0.0776,
      "step": 25460
    },
    {
      "action_loss": 0.003415057435631752,
      "epoch": 22.89568345323741,
      "step": 25460
    },
    {
      "epoch": 22.89568345323741,
      "step": 25460,
      "torque_loss": 0.09360817819833755
    },
    {
      "epoch": 22.904676258992804,
      "grad_norm": 0.2828933894634247,
      "learning_rate": 6.63157502040507e-05,
      "loss": 0.0707,
      "step": 25470
    },
    {
      "action_loss": 0.017705602571368217,
      "epoch": 22.904676258992804,
      "step": 25470
    },
    {
      "epoch": 22.904676258992804,
      "step": 25470,
      "torque_loss": 0.18273760378360748
    },
    {
      "epoch": 22.913669064748202,
      "grad_norm": 0.27717331051826477,
      "learning_rate": 6.628969838266819e-05,
      "loss": 0.0844,
      "step": 25480
    },
    {
      "action_loss": 0.010024861432611942,
      "epoch": 22.913669064748202,
      "step": 25480
    },
    {
      "epoch": 22.913669064748202,
      "step": 25480,
      "torque_loss": 0.12930089235305786
    },
    {
      "epoch": 22.922661870503596,
      "grad_norm": 0.27119356393814087,
      "learning_rate": 6.626364161290541e-05,
      "loss": 0.0765,
      "step": 25490
    },
    {
      "action_loss": 0.005225079599767923,
      "epoch": 22.922661870503596,
      "step": 25490
    },
    {
      "epoch": 22.922661870503596,
      "step": 25490,
      "torque_loss": 0.0946316346526146
    },
    {
      "epoch": 22.931654676258994,
      "grad_norm": 0.24486801028251648,
      "learning_rate": 6.623757990267774e-05,
      "loss": 0.0719,
      "step": 25500
    },
    {
      "action_loss": 0.010447102598845959,
      "epoch": 22.931654676258994,
      "step": 25500
    },
    {
      "epoch": 22.931654676258994,
      "step": 25500,
      "torque_loss": 0.17602799832820892
    },
    {
      "epoch": 22.940647482014388,
      "grad_norm": 0.3043392598628998,
      "learning_rate": 6.621151325990201e-05,
      "loss": 0.0792,
      "step": 25510
    },
    {
      "action_loss": 0.01110987737774849,
      "epoch": 22.940647482014388,
      "step": 25510
    },
    {
      "epoch": 22.940647482014388,
      "step": 25510,
      "torque_loss": 0.14998896420001984
    },
    {
      "epoch": 22.949640287769785,
      "grad_norm": 0.23880089819431305,
      "learning_rate": 6.618544169249657e-05,
      "loss": 0.0733,
      "step": 25520
    },
    {
      "action_loss": 0.0015324648702517152,
      "epoch": 22.949640287769785,
      "step": 25520
    },
    {
      "epoch": 22.949640287769785,
      "step": 25520,
      "torque_loss": 0.09317903965711594
    },
    {
      "epoch": 22.95863309352518,
      "grad_norm": 0.39478304982185364,
      "learning_rate": 6.615936520838133e-05,
      "loss": 0.0794,
      "step": 25530
    },
    {
      "action_loss": 0.0022677029483020306,
      "epoch": 22.95863309352518,
      "step": 25530
    },
    {
      "epoch": 22.95863309352518,
      "step": 25530,
      "torque_loss": 0.09234937280416489
    },
    {
      "epoch": 22.967625899280577,
      "grad_norm": 0.274516224861145,
      "learning_rate": 6.613328381547759e-05,
      "loss": 0.0595,
      "step": 25540
    },
    {
      "action_loss": 0.006488510873168707,
      "epoch": 22.967625899280577,
      "step": 25540
    },
    {
      "epoch": 22.967625899280577,
      "step": 25540,
      "torque_loss": 0.1370246261358261
    },
    {
      "epoch": 22.97661870503597,
      "grad_norm": 0.3404320776462555,
      "learning_rate": 6.610719752170821e-05,
      "loss": 0.0978,
      "step": 25550
    },
    {
      "action_loss": 0.002154839923605323,
      "epoch": 22.97661870503597,
      "step": 25550
    },
    {
      "epoch": 22.97661870503597,
      "step": 25550,
      "torque_loss": 0.07501987367868423
    },
    {
      "epoch": 22.985611510791365,
      "grad_norm": 0.2856218218803406,
      "learning_rate": 6.60811063349975e-05,
      "loss": 0.0749,
      "step": 25560
    },
    {
      "action_loss": 0.0037651609163731337,
      "epoch": 22.985611510791365,
      "step": 25560
    },
    {
      "epoch": 22.985611510791365,
      "step": 25560,
      "torque_loss": 0.09612429141998291
    },
    {
      "epoch": 22.994604316546763,
      "grad_norm": 0.3799239695072174,
      "learning_rate": 6.605501026327127e-05,
      "loss": 0.0781,
      "step": 25570
    },
    {
      "action_loss": 0.006318926811218262,
      "epoch": 22.994604316546763,
      "step": 25570
    },
    {
      "epoch": 22.994604316546763,
      "step": 25570,
      "torque_loss": 0.14783430099487305
    },
    {
      "epoch": 23.003597122302157,
      "grad_norm": 0.2513357102870941,
      "learning_rate": 6.602890931445685e-05,
      "loss": 0.0864,
      "step": 25580
    },
    {
      "action_loss": 0.0055106766521930695,
      "epoch": 23.003597122302157,
      "step": 25580
    },
    {
      "epoch": 23.003597122302157,
      "step": 25580,
      "torque_loss": 0.13557694852352142
    },
    {
      "epoch": 23.012589928057555,
      "grad_norm": 0.3162645101547241,
      "learning_rate": 6.6002803496483e-05,
      "loss": 0.0859,
      "step": 25590
    },
    {
      "action_loss": 0.0025124752428382635,
      "epoch": 23.012589928057555,
      "step": 25590
    },
    {
      "epoch": 23.012589928057555,
      "step": 25590,
      "torque_loss": 0.09467307478189468
    },
    {
      "epoch": 23.02158273381295,
      "grad_norm": 0.3045474588871002,
      "learning_rate": 6.597669281727997e-05,
      "loss": 0.0759,
      "step": 25600
    },
    {
      "action_loss": 0.01633811928331852,
      "epoch": 23.02158273381295,
      "step": 25600
    },
    {
      "epoch": 23.02158273381295,
      "step": 25600,
      "torque_loss": 0.14574375748634338
    },
    {
      "epoch": 23.030575539568346,
      "grad_norm": 0.34103643894195557,
      "learning_rate": 6.595057728477949e-05,
      "loss": 0.0854,
      "step": 25610
    },
    {
      "action_loss": 0.012728444300591946,
      "epoch": 23.030575539568346,
      "step": 25610
    },
    {
      "epoch": 23.030575539568346,
      "step": 25610,
      "torque_loss": 0.14087168872356415
    },
    {
      "epoch": 23.03956834532374,
      "grad_norm": 0.32552823424339294,
      "learning_rate": 6.59244569069148e-05,
      "loss": 0.0845,
      "step": 25620
    },
    {
      "action_loss": 0.014441781677305698,
      "epoch": 23.03956834532374,
      "step": 25620
    },
    {
      "epoch": 23.03956834532374,
      "step": 25620,
      "torque_loss": 0.1472974270582199
    },
    {
      "epoch": 23.048561151079138,
      "grad_norm": 0.3073940575122833,
      "learning_rate": 6.589833169162054e-05,
      "loss": 0.0799,
      "step": 25630
    },
    {
      "action_loss": 0.006289674434810877,
      "epoch": 23.048561151079138,
      "step": 25630
    },
    {
      "epoch": 23.048561151079138,
      "step": 25630,
      "torque_loss": 0.11872434616088867
    },
    {
      "epoch": 23.057553956834532,
      "grad_norm": 0.33066216111183167,
      "learning_rate": 6.587220164683291e-05,
      "loss": 0.085,
      "step": 25640
    },
    {
      "action_loss": 0.006621358450502157,
      "epoch": 23.057553956834532,
      "step": 25640
    },
    {
      "epoch": 23.057553956834532,
      "step": 25640,
      "torque_loss": 0.09470199793577194
    },
    {
      "epoch": 23.06654676258993,
      "grad_norm": 0.3407909870147705,
      "learning_rate": 6.58460667804895e-05,
      "loss": 0.0767,
      "step": 25650
    },
    {
      "action_loss": 0.00888665858656168,
      "epoch": 23.06654676258993,
      "step": 25650
    },
    {
      "epoch": 23.06654676258993,
      "step": 25650,
      "torque_loss": 0.14343690872192383
    },
    {
      "epoch": 23.075539568345324,
      "grad_norm": 0.3234472870826721,
      "learning_rate": 6.581992710052938e-05,
      "loss": 0.0819,
      "step": 25660
    },
    {
      "action_loss": 0.004893087316304445,
      "epoch": 23.075539568345324,
      "step": 25660
    },
    {
      "epoch": 23.075539568345324,
      "step": 25660,
      "torque_loss": 0.10772816091775894
    },
    {
      "epoch": 23.084532374100718,
      "grad_norm": 0.3156912922859192,
      "learning_rate": 6.579378261489311e-05,
      "loss": 0.0841,
      "step": 25670
    },
    {
      "action_loss": 0.01085022184997797,
      "epoch": 23.084532374100718,
      "step": 25670
    },
    {
      "epoch": 23.084532374100718,
      "step": 25670,
      "torque_loss": 0.15216708183288574
    },
    {
      "epoch": 23.093525179856115,
      "grad_norm": 0.2371026575565338,
      "learning_rate": 6.576763333152268e-05,
      "loss": 0.077,
      "step": 25680
    },
    {
      "action_loss": 0.007613780442625284,
      "epoch": 23.093525179856115,
      "step": 25680
    },
    {
      "epoch": 23.093525179856115,
      "step": 25680,
      "torque_loss": 0.10948649793863297
    },
    {
      "epoch": 23.10251798561151,
      "grad_norm": 0.40794625878334045,
      "learning_rate": 6.574147925836159e-05,
      "loss": 0.07,
      "step": 25690
    },
    {
      "action_loss": 0.020278004929423332,
      "epoch": 23.10251798561151,
      "step": 25690
    },
    {
      "epoch": 23.10251798561151,
      "step": 25690,
      "torque_loss": 0.16125820577144623
    },
    {
      "epoch": 23.111510791366907,
      "grad_norm": 0.2745753228664398,
      "learning_rate": 6.571532040335472e-05,
      "loss": 0.0817,
      "step": 25700
    },
    {
      "action_loss": 0.0026920996606349945,
      "epoch": 23.111510791366907,
      "step": 25700
    },
    {
      "epoch": 23.111510791366907,
      "step": 25700,
      "torque_loss": 0.05403205752372742
    },
    {
      "epoch": 23.1205035971223,
      "grad_norm": 0.36957913637161255,
      "learning_rate": 6.568915677444845e-05,
      "loss": 0.0708,
      "step": 25710
    },
    {
      "action_loss": 0.018206799402832985,
      "epoch": 23.1205035971223,
      "step": 25710
    },
    {
      "epoch": 23.1205035971223,
      "step": 25710,
      "torque_loss": 0.14634086191654205
    },
    {
      "epoch": 23.1294964028777,
      "grad_norm": 0.3390801250934601,
      "learning_rate": 6.56629883795906e-05,
      "loss": 0.0811,
      "step": 25720
    },
    {
      "action_loss": 0.005412260536104441,
      "epoch": 23.1294964028777,
      "step": 25720
    },
    {
      "epoch": 23.1294964028777,
      "step": 25720,
      "torque_loss": 0.08738303184509277
    },
    {
      "epoch": 23.138489208633093,
      "grad_norm": 0.2996397912502289,
      "learning_rate": 6.563681522673043e-05,
      "loss": 0.0714,
      "step": 25730
    },
    {
      "action_loss": 0.013431350700557232,
      "epoch": 23.138489208633093,
      "step": 25730
    },
    {
      "epoch": 23.138489208633093,
      "step": 25730,
      "torque_loss": 0.125998392701149
    },
    {
      "epoch": 23.14748201438849,
      "grad_norm": 0.36988475918769836,
      "learning_rate": 6.561063732381867e-05,
      "loss": 0.087,
      "step": 25740
    },
    {
      "action_loss": 0.00650082528591156,
      "epoch": 23.14748201438849,
      "step": 25740
    },
    {
      "epoch": 23.14748201438849,
      "step": 25740,
      "torque_loss": 0.09434100240468979
    },
    {
      "epoch": 23.156474820143885,
      "grad_norm": 0.26146939396858215,
      "learning_rate": 6.558445467880745e-05,
      "loss": 0.0758,
      "step": 25750
    },
    {
      "action_loss": 0.004518407862633467,
      "epoch": 23.156474820143885,
      "step": 25750
    },
    {
      "epoch": 23.156474820143885,
      "step": 25750,
      "torque_loss": 0.11159635335206985
    },
    {
      "epoch": 23.165467625899282,
      "grad_norm": 0.31418341398239136,
      "learning_rate": 6.55582672996504e-05,
      "loss": 0.0746,
      "step": 25760
    },
    {
      "action_loss": 0.00590363098308444,
      "epoch": 23.165467625899282,
      "step": 25760
    },
    {
      "epoch": 23.165467625899282,
      "step": 25760,
      "torque_loss": 0.1103934571146965
    },
    {
      "epoch": 23.174460431654676,
      "grad_norm": 0.25762876868247986,
      "learning_rate": 6.553207519430253e-05,
      "loss": 0.0706,
      "step": 25770
    },
    {
      "action_loss": 0.01076322328299284,
      "epoch": 23.174460431654676,
      "step": 25770
    },
    {
      "epoch": 23.174460431654676,
      "step": 25770,
      "torque_loss": 0.13653631508350372
    },
    {
      "epoch": 23.18345323741007,
      "grad_norm": 0.26889342069625854,
      "learning_rate": 6.550587837072032e-05,
      "loss": 0.0854,
      "step": 25780
    },
    {
      "action_loss": 0.009172274731099606,
      "epoch": 23.18345323741007,
      "step": 25780
    },
    {
      "epoch": 23.18345323741007,
      "step": 25780,
      "torque_loss": 0.1204732283949852
    },
    {
      "epoch": 23.192446043165468,
      "grad_norm": 0.2572880983352661,
      "learning_rate": 6.547967683686166e-05,
      "loss": 0.0768,
      "step": 25790
    },
    {
      "action_loss": 0.004443229641765356,
      "epoch": 23.192446043165468,
      "step": 25790
    },
    {
      "epoch": 23.192446043165468,
      "step": 25790,
      "torque_loss": 0.11928850412368774
    },
    {
      "epoch": 23.201438848920862,
      "grad_norm": 0.2668056786060333,
      "learning_rate": 6.545347060068591e-05,
      "loss": 0.0642,
      "step": 25800
    },
    {
      "action_loss": 0.005624496843665838,
      "epoch": 23.201438848920862,
      "step": 25800
    },
    {
      "epoch": 23.201438848920862,
      "step": 25800,
      "torque_loss": 0.11615541577339172
    },
    {
      "epoch": 23.21043165467626,
      "grad_norm": 0.3360828459262848,
      "learning_rate": 6.542725967015382e-05,
      "loss": 0.0776,
      "step": 25810
    },
    {
      "action_loss": 0.002671479480341077,
      "epoch": 23.21043165467626,
      "step": 25810
    },
    {
      "epoch": 23.21043165467626,
      "step": 25810,
      "torque_loss": 0.11603397130966187
    },
    {
      "epoch": 23.219424460431654,
      "grad_norm": 0.28181880712509155,
      "learning_rate": 6.540104405322757e-05,
      "loss": 0.071,
      "step": 25820
    },
    {
      "action_loss": 0.0032528925221413374,
      "epoch": 23.219424460431654,
      "step": 25820
    },
    {
      "epoch": 23.219424460431654,
      "step": 25820,
      "torque_loss": 0.1062241792678833
    },
    {
      "epoch": 23.22841726618705,
      "grad_norm": 0.2750423848628998,
      "learning_rate": 6.537482375787077e-05,
      "loss": 0.0836,
      "step": 25830
    },
    {
      "action_loss": 0.0032384414225816727,
      "epoch": 23.22841726618705,
      "step": 25830
    },
    {
      "epoch": 23.22841726618705,
      "step": 25830,
      "torque_loss": 0.07686951756477356
    },
    {
      "epoch": 23.237410071942445,
      "grad_norm": 0.2933165431022644,
      "learning_rate": 6.534859879204845e-05,
      "loss": 0.0834,
      "step": 25840
    },
    {
      "action_loss": 0.01746531017124653,
      "epoch": 23.237410071942445,
      "step": 25840
    },
    {
      "epoch": 23.237410071942445,
      "step": 25840,
      "torque_loss": 0.18643324077129364
    },
    {
      "epoch": 23.246402877697843,
      "grad_norm": 0.288331001996994,
      "learning_rate": 6.532236916372709e-05,
      "loss": 0.0765,
      "step": 25850
    },
    {
      "action_loss": 0.006580287124961615,
      "epoch": 23.246402877697843,
      "step": 25850
    },
    {
      "epoch": 23.246402877697843,
      "step": 25850,
      "torque_loss": 0.1123180165886879
    },
    {
      "epoch": 23.255395683453237,
      "grad_norm": 0.3262643814086914,
      "learning_rate": 6.529613488087454e-05,
      "loss": 0.0733,
      "step": 25860
    },
    {
      "action_loss": 0.0024872859939932823,
      "epoch": 23.255395683453237,
      "step": 25860
    },
    {
      "epoch": 23.255395683453237,
      "step": 25860,
      "torque_loss": 0.08501815795898438
    },
    {
      "epoch": 23.264388489208635,
      "grad_norm": 0.360765665769577,
      "learning_rate": 6.526989595146009e-05,
      "loss": 0.0642,
      "step": 25870
    },
    {
      "action_loss": 0.005509381648153067,
      "epoch": 23.264388489208635,
      "step": 25870
    },
    {
      "epoch": 23.264388489208635,
      "step": 25870,
      "torque_loss": 0.1311342865228653
    },
    {
      "epoch": 23.27338129496403,
      "grad_norm": 0.21113842725753784,
      "learning_rate": 6.524365238345441e-05,
      "loss": 0.0706,
      "step": 25880
    },
    {
      "action_loss": 0.019949540495872498,
      "epoch": 23.27338129496403,
      "step": 25880
    },
    {
      "epoch": 23.27338129496403,
      "step": 25880,
      "torque_loss": 0.1776018738746643
    },
    {
      "epoch": 23.282374100719423,
      "grad_norm": 0.34191012382507324,
      "learning_rate": 6.521740418482964e-05,
      "loss": 0.0839,
      "step": 25890
    },
    {
      "action_loss": 0.005881598684936762,
      "epoch": 23.282374100719423,
      "step": 25890
    },
    {
      "epoch": 23.282374100719423,
      "step": 25890,
      "torque_loss": 0.11039672046899796
    },
    {
      "epoch": 23.29136690647482,
      "grad_norm": 0.3172544538974762,
      "learning_rate": 6.519115136355925e-05,
      "loss": 0.0706,
      "step": 25900
    },
    {
      "action_loss": 0.007345018442720175,
      "epoch": 23.29136690647482,
      "step": 25900
    },
    {
      "epoch": 23.29136690647482,
      "step": 25900,
      "torque_loss": 0.11922004073858261
    },
    {
      "epoch": 23.300359712230215,
      "grad_norm": 0.2859196960926056,
      "learning_rate": 6.51648939276182e-05,
      "loss": 0.075,
      "step": 25910
    },
    {
      "action_loss": 0.011283417232334614,
      "epoch": 23.300359712230215,
      "step": 25910
    },
    {
      "epoch": 23.300359712230215,
      "step": 25910,
      "torque_loss": 0.14363984763622284
    },
    {
      "epoch": 23.309352517985612,
      "grad_norm": 0.24289710819721222,
      "learning_rate": 6.513863188498277e-05,
      "loss": 0.0742,
      "step": 25920
    },
    {
      "action_loss": 0.005193326156586409,
      "epoch": 23.309352517985612,
      "step": 25920
    },
    {
      "epoch": 23.309352517985612,
      "step": 25920,
      "torque_loss": 0.09184989333152771
    },
    {
      "epoch": 23.318345323741006,
      "grad_norm": 0.42669877409935,
      "learning_rate": 6.511236524363068e-05,
      "loss": 0.073,
      "step": 25930
    },
    {
      "action_loss": 0.006508185062557459,
      "epoch": 23.318345323741006,
      "step": 25930
    },
    {
      "epoch": 23.318345323741006,
      "step": 25930,
      "torque_loss": 0.08169040083885193
    },
    {
      "epoch": 23.327338129496404,
      "grad_norm": 0.33207952976226807,
      "learning_rate": 6.508609401154104e-05,
      "loss": 0.0908,
      "step": 25940
    },
    {
      "action_loss": 0.0025256320368498564,
      "epoch": 23.327338129496404,
      "step": 25940
    },
    {
      "epoch": 23.327338129496404,
      "step": 25940,
      "torque_loss": 0.06259195506572723
    },
    {
      "epoch": 23.336330935251798,
      "grad_norm": 0.4085474908351898,
      "learning_rate": 6.505981819669439e-05,
      "loss": 0.0751,
      "step": 25950
    },
    {
      "action_loss": 0.016198279336094856,
      "epoch": 23.336330935251798,
      "step": 25950
    },
    {
      "epoch": 23.336330935251798,
      "step": 25950,
      "torque_loss": 0.177787184715271
    },
    {
      "epoch": 23.345323741007196,
      "grad_norm": 0.3974858522415161,
      "learning_rate": 6.503353780707258e-05,
      "loss": 0.0797,
      "step": 25960
    },
    {
      "action_loss": 0.0029499121010303497,
      "epoch": 23.345323741007196,
      "step": 25960
    },
    {
      "epoch": 23.345323741007196,
      "step": 25960,
      "torque_loss": 0.09310971945524216
    },
    {
      "epoch": 23.35431654676259,
      "grad_norm": 0.28513583540916443,
      "learning_rate": 6.500725285065895e-05,
      "loss": 0.078,
      "step": 25970
    },
    {
      "action_loss": 0.011030781082808971,
      "epoch": 23.35431654676259,
      "step": 25970
    },
    {
      "epoch": 23.35431654676259,
      "step": 25970,
      "torque_loss": 0.11791971325874329
    },
    {
      "epoch": 23.363309352517987,
      "grad_norm": 0.33286285400390625,
      "learning_rate": 6.498096333543813e-05,
      "loss": 0.0798,
      "step": 25980
    },
    {
      "action_loss": 0.002585478127002716,
      "epoch": 23.363309352517987,
      "step": 25980
    },
    {
      "epoch": 23.363309352517987,
      "step": 25980,
      "torque_loss": 0.07220259308815002
    },
    {
      "epoch": 23.37230215827338,
      "grad_norm": 0.2677749991416931,
      "learning_rate": 6.49546692693962e-05,
      "loss": 0.0682,
      "step": 25990
    },
    {
      "action_loss": 0.01278234738856554,
      "epoch": 23.37230215827338,
      "step": 25990
    },
    {
      "epoch": 23.37230215827338,
      "step": 25990,
      "torque_loss": 0.16536253690719604
    },
    {
      "epoch": 23.381294964028775,
      "grad_norm": 0.32138827443122864,
      "learning_rate": 6.492837066052059e-05,
      "loss": 0.0852,
      "step": 26000
    },
    {
      "action_loss": 0.0033726512920111418,
      "epoch": 23.381294964028775,
      "step": 26000
    },
    {
      "epoch": 23.381294964028775,
      "step": 26000,
      "torque_loss": 0.10167598724365234
    },
    {
      "epoch": 23.390287769784173,
      "grad_norm": 0.2992890477180481,
      "learning_rate": 6.490206751680014e-05,
      "loss": 0.0852,
      "step": 26010
    },
    {
      "action_loss": 0.002727731131017208,
      "epoch": 23.390287769784173,
      "step": 26010
    },
    {
      "epoch": 23.390287769784173,
      "step": 26010,
      "torque_loss": 0.09478811174631119
    },
    {
      "epoch": 23.399280575539567,
      "grad_norm": 0.32411089539527893,
      "learning_rate": 6.487575984622505e-05,
      "loss": 0.0822,
      "step": 26020
    },
    {
      "action_loss": 0.013988153077661991,
      "epoch": 23.399280575539567,
      "step": 26020
    },
    {
      "epoch": 23.399280575539567,
      "step": 26020,
      "torque_loss": 0.13851913809776306
    },
    {
      "epoch": 23.408273381294965,
      "grad_norm": 0.3180409073829651,
      "learning_rate": 6.484944765678689e-05,
      "loss": 0.0754,
      "step": 26030
    },
    {
      "action_loss": 0.00625310093164444,
      "epoch": 23.408273381294965,
      "step": 26030
    },
    {
      "epoch": 23.408273381294965,
      "step": 26030,
      "torque_loss": 0.13137029111385345
    },
    {
      "epoch": 23.41726618705036,
      "grad_norm": 0.3816865086555481,
      "learning_rate": 6.482313095647861e-05,
      "loss": 0.0806,
      "step": 26040
    },
    {
      "action_loss": 0.006164890248328447,
      "epoch": 23.41726618705036,
      "step": 26040
    },
    {
      "epoch": 23.41726618705036,
      "step": 26040,
      "torque_loss": 0.1228431984782219
    },
    {
      "epoch": 23.426258992805757,
      "grad_norm": 0.23911698162555695,
      "learning_rate": 6.479680975329451e-05,
      "loss": 0.0836,
      "step": 26050
    },
    {
      "action_loss": 0.00555381691083312,
      "epoch": 23.426258992805757,
      "step": 26050
    },
    {
      "epoch": 23.426258992805757,
      "step": 26050,
      "torque_loss": 0.11121370643377304
    },
    {
      "epoch": 23.43525179856115,
      "grad_norm": 0.331678569316864,
      "learning_rate": 6.477048405523031e-05,
      "loss": 0.0737,
      "step": 26060
    },
    {
      "action_loss": 0.00203570444136858,
      "epoch": 23.43525179856115,
      "step": 26060
    },
    {
      "epoch": 23.43525179856115,
      "step": 26060,
      "torque_loss": 0.09275131672620773
    },
    {
      "epoch": 23.444244604316548,
      "grad_norm": 0.3047536611557007,
      "learning_rate": 6.474415387028304e-05,
      "loss": 0.0815,
      "step": 26070
    },
    {
      "action_loss": 0.004480014089494944,
      "epoch": 23.444244604316548,
      "step": 26070
    },
    {
      "epoch": 23.444244604316548,
      "step": 26070,
      "torque_loss": 0.08450586348772049
    },
    {
      "epoch": 23.453237410071942,
      "grad_norm": 0.28779336810112,
      "learning_rate": 6.471781920645114e-05,
      "loss": 0.065,
      "step": 26080
    },
    {
      "action_loss": 0.017206929624080658,
      "epoch": 23.453237410071942,
      "step": 26080
    },
    {
      "epoch": 23.453237410071942,
      "step": 26080,
      "torque_loss": 0.1227828860282898
    },
    {
      "epoch": 23.46223021582734,
      "grad_norm": 0.2812912166118622,
      "learning_rate": 6.469148007173434e-05,
      "loss": 0.0774,
      "step": 26090
    },
    {
      "action_loss": 0.0038211513310670853,
      "epoch": 23.46223021582734,
      "step": 26090
    },
    {
      "epoch": 23.46223021582734,
      "step": 26090,
      "torque_loss": 0.09682762622833252
    },
    {
      "epoch": 23.471223021582734,
      "grad_norm": 0.35549890995025635,
      "learning_rate": 6.466513647413381e-05,
      "loss": 0.0785,
      "step": 26100
    },
    {
      "action_loss": 0.004873498808592558,
      "epoch": 23.471223021582734,
      "step": 26100
    },
    {
      "epoch": 23.471223021582734,
      "step": 26100,
      "torque_loss": 0.13505613803863525
    },
    {
      "epoch": 23.480215827338128,
      "grad_norm": 0.30452170968055725,
      "learning_rate": 6.463878842165203e-05,
      "loss": 0.0812,
      "step": 26110
    },
    {
      "action_loss": 0.0029572846833616495,
      "epoch": 23.480215827338128,
      "step": 26110
    },
    {
      "epoch": 23.480215827338128,
      "step": 26110,
      "torque_loss": 0.061018768697977066
    },
    {
      "epoch": 23.489208633093526,
      "grad_norm": 0.23558387160301208,
      "learning_rate": 6.461243592229286e-05,
      "loss": 0.0776,
      "step": 26120
    },
    {
      "action_loss": 0.0034110506530851126,
      "epoch": 23.489208633093526,
      "step": 26120
    },
    {
      "epoch": 23.489208633093526,
      "step": 26120,
      "torque_loss": 0.07616755366325378
    },
    {
      "epoch": 23.49820143884892,
      "grad_norm": 0.294656366109848,
      "learning_rate": 6.458607898406146e-05,
      "loss": 0.0607,
      "step": 26130
    },
    {
      "action_loss": 0.0038569404277950525,
      "epoch": 23.49820143884892,
      "step": 26130
    },
    {
      "epoch": 23.49820143884892,
      "step": 26130,
      "torque_loss": 0.108209528028965
    },
    {
      "epoch": 23.507194244604317,
      "grad_norm": 0.31138792634010315,
      "learning_rate": 6.455971761496439e-05,
      "loss": 0.0658,
      "step": 26140
    },
    {
      "action_loss": 0.0033639140892773867,
      "epoch": 23.507194244604317,
      "step": 26140
    },
    {
      "epoch": 23.507194244604317,
      "step": 26140,
      "torque_loss": 0.09217926114797592
    },
    {
      "epoch": 23.51618705035971,
      "grad_norm": 0.34683138132095337,
      "learning_rate": 6.453335182300953e-05,
      "loss": 0.0764,
      "step": 26150
    },
    {
      "action_loss": 0.008017351850867271,
      "epoch": 23.51618705035971,
      "step": 26150
    },
    {
      "epoch": 23.51618705035971,
      "step": 26150,
      "torque_loss": 0.18768823146820068
    },
    {
      "epoch": 23.52517985611511,
      "grad_norm": 0.3488617241382599,
      "learning_rate": 6.450698161620612e-05,
      "loss": 0.0792,
      "step": 26160
    },
    {
      "action_loss": 0.0029803605284541845,
      "epoch": 23.52517985611511,
      "step": 26160
    },
    {
      "epoch": 23.52517985611511,
      "step": 26160,
      "torque_loss": 0.09990862756967545
    },
    {
      "epoch": 23.534172661870503,
      "grad_norm": 0.35427209734916687,
      "learning_rate": 6.448060700256473e-05,
      "loss": 0.0843,
      "step": 26170
    },
    {
      "action_loss": 0.005505170673131943,
      "epoch": 23.534172661870503,
      "step": 26170
    },
    {
      "epoch": 23.534172661870503,
      "step": 26170,
      "torque_loss": 0.10760536044836044
    },
    {
      "epoch": 23.5431654676259,
      "grad_norm": 0.32288962602615356,
      "learning_rate": 6.445422799009726e-05,
      "loss": 0.0707,
      "step": 26180
    },
    {
      "action_loss": 0.0031494100112468004,
      "epoch": 23.5431654676259,
      "step": 26180
    },
    {
      "epoch": 23.5431654676259,
      "step": 26180,
      "torque_loss": 0.08575606346130371
    },
    {
      "epoch": 23.552158273381295,
      "grad_norm": 0.4193212389945984,
      "learning_rate": 6.442784458681699e-05,
      "loss": 0.0804,
      "step": 26190
    },
    {
      "action_loss": 0.005325924605131149,
      "epoch": 23.552158273381295,
      "step": 26190
    },
    {
      "epoch": 23.552158273381295,
      "step": 26190,
      "torque_loss": 0.07614951580762863
    },
    {
      "epoch": 23.56115107913669,
      "grad_norm": 0.3688426613807678,
      "learning_rate": 6.440145680073847e-05,
      "loss": 0.0773,
      "step": 26200
    },
    {
      "action_loss": 0.003452368313446641,
      "epoch": 23.56115107913669,
      "step": 26200
    },
    {
      "epoch": 23.56115107913669,
      "step": 26200,
      "torque_loss": 0.09880126267671585
    },
    {
      "epoch": 23.570143884892087,
      "grad_norm": 0.3020898103713989,
      "learning_rate": 6.437506463987762e-05,
      "loss": 0.0797,
      "step": 26210
    },
    {
      "action_loss": 0.006717648822814226,
      "epoch": 23.570143884892087,
      "step": 26210
    },
    {
      "epoch": 23.570143884892087,
      "step": 26210,
      "torque_loss": 0.14008159935474396
    },
    {
      "epoch": 23.57913669064748,
      "grad_norm": 0.2535039484500885,
      "learning_rate": 6.434866811225168e-05,
      "loss": 0.0728,
      "step": 26220
    },
    {
      "action_loss": 0.004118741489946842,
      "epoch": 23.57913669064748,
      "step": 26220
    },
    {
      "epoch": 23.57913669064748,
      "step": 26220,
      "torque_loss": 0.09318354725837708
    },
    {
      "epoch": 23.58812949640288,
      "grad_norm": 0.21970859169960022,
      "learning_rate": 6.432226722587923e-05,
      "loss": 0.078,
      "step": 26230
    },
    {
      "action_loss": 0.0065964520908892155,
      "epoch": 23.58812949640288,
      "step": 26230
    },
    {
      "epoch": 23.58812949640288,
      "step": 26230,
      "torque_loss": 0.10049957036972046
    },
    {
      "epoch": 23.597122302158272,
      "grad_norm": 0.3532967269420624,
      "learning_rate": 6.429586198878015e-05,
      "loss": 0.0848,
      "step": 26240
    },
    {
      "action_loss": 0.054923225194215775,
      "epoch": 23.597122302158272,
      "step": 26240
    },
    {
      "epoch": 23.597122302158272,
      "step": 26240,
      "torque_loss": 0.17287379503250122
    },
    {
      "epoch": 23.60611510791367,
      "grad_norm": 0.3245481848716736,
      "learning_rate": 6.426945240897566e-05,
      "loss": 0.0817,
      "step": 26250
    },
    {
      "action_loss": 0.010060003958642483,
      "epoch": 23.60611510791367,
      "step": 26250
    },
    {
      "epoch": 23.60611510791367,
      "step": 26250,
      "torque_loss": 0.14399774372577667
    },
    {
      "epoch": 23.615107913669064,
      "grad_norm": 0.2921847105026245,
      "learning_rate": 6.424303849448829e-05,
      "loss": 0.076,
      "step": 26260
    },
    {
      "action_loss": 0.003001173259690404,
      "epoch": 23.615107913669064,
      "step": 26260
    },
    {
      "epoch": 23.615107913669064,
      "step": 26260,
      "torque_loss": 0.060705337673425674
    },
    {
      "epoch": 23.62410071942446,
      "grad_norm": 0.34574201703071594,
      "learning_rate": 6.42166202533419e-05,
      "loss": 0.0786,
      "step": 26270
    },
    {
      "action_loss": 0.0034936442971229553,
      "epoch": 23.62410071942446,
      "step": 26270
    },
    {
      "epoch": 23.62410071942446,
      "step": 26270,
      "torque_loss": 0.08929973840713501
    },
    {
      "epoch": 23.633093525179856,
      "grad_norm": 0.3533228635787964,
      "learning_rate": 6.419019769356164e-05,
      "loss": 0.073,
      "step": 26280
    },
    {
      "action_loss": 0.006797388195991516,
      "epoch": 23.633093525179856,
      "step": 26280
    },
    {
      "epoch": 23.633093525179856,
      "step": 26280,
      "torque_loss": 0.13423947989940643
    },
    {
      "epoch": 23.642086330935253,
      "grad_norm": 0.3231765925884247,
      "learning_rate": 6.416377082317398e-05,
      "loss": 0.0794,
      "step": 26290
    },
    {
      "action_loss": 0.005605537444353104,
      "epoch": 23.642086330935253,
      "step": 26290
    },
    {
      "epoch": 23.642086330935253,
      "step": 26290,
      "torque_loss": 0.06520681083202362
    },
    {
      "epoch": 23.651079136690647,
      "grad_norm": 0.41746366024017334,
      "learning_rate": 6.413733965020674e-05,
      "loss": 0.068,
      "step": 26300
    },
    {
      "action_loss": 0.010066519491374493,
      "epoch": 23.651079136690647,
      "step": 26300
    },
    {
      "epoch": 23.651079136690647,
      "step": 26300,
      "torque_loss": 0.13092215359210968
    },
    {
      "epoch": 23.66007194244604,
      "grad_norm": 0.2800491750240326,
      "learning_rate": 6.411090418268896e-05,
      "loss": 0.0656,
      "step": 26310
    },
    {
      "action_loss": 0.0031744204461574554,
      "epoch": 23.66007194244604,
      "step": 26310
    },
    {
      "epoch": 23.66007194244604,
      "step": 26310,
      "torque_loss": 0.10469627380371094
    },
    {
      "epoch": 23.66906474820144,
      "grad_norm": 0.2941299080848694,
      "learning_rate": 6.408446442865109e-05,
      "loss": 0.065,
      "step": 26320
    },
    {
      "action_loss": 0.003996326122432947,
      "epoch": 23.66906474820144,
      "step": 26320
    },
    {
      "epoch": 23.66906474820144,
      "step": 26320,
      "torque_loss": 0.08816802501678467
    },
    {
      "epoch": 23.678057553956833,
      "grad_norm": 0.34931591153144836,
      "learning_rate": 6.405802039612479e-05,
      "loss": 0.0855,
      "step": 26330
    },
    {
      "action_loss": 0.0030856330413371325,
      "epoch": 23.678057553956833,
      "step": 26330
    },
    {
      "epoch": 23.678057553956833,
      "step": 26330,
      "torque_loss": 0.0801922157406807
    },
    {
      "epoch": 23.68705035971223,
      "grad_norm": 0.35720890760421753,
      "learning_rate": 6.403157209314308e-05,
      "loss": 0.0798,
      "step": 26340
    },
    {
      "action_loss": 0.008022729307413101,
      "epoch": 23.68705035971223,
      "step": 26340
    },
    {
      "epoch": 23.68705035971223,
      "step": 26340,
      "torque_loss": 0.09228497743606567
    },
    {
      "epoch": 23.696043165467625,
      "grad_norm": 0.28900569677352905,
      "learning_rate": 6.400511952774024e-05,
      "loss": 0.0772,
      "step": 26350
    },
    {
      "action_loss": 0.00563581520691514,
      "epoch": 23.696043165467625,
      "step": 26350
    },
    {
      "epoch": 23.696043165467625,
      "step": 26350,
      "torque_loss": 0.14423131942749023
    },
    {
      "epoch": 23.705035971223023,
      "grad_norm": 0.30793312191963196,
      "learning_rate": 6.397866270795187e-05,
      "loss": 0.0694,
      "step": 26360
    },
    {
      "action_loss": 0.004527151118963957,
      "epoch": 23.705035971223023,
      "step": 26360
    },
    {
      "epoch": 23.705035971223023,
      "step": 26360,
      "torque_loss": 0.09693596512079239
    },
    {
      "epoch": 23.714028776978417,
      "grad_norm": 0.3196352422237396,
      "learning_rate": 6.395220164181489e-05,
      "loss": 0.0658,
      "step": 26370
    },
    {
      "action_loss": 0.012385598383843899,
      "epoch": 23.714028776978417,
      "step": 26370
    },
    {
      "epoch": 23.714028776978417,
      "step": 26370,
      "torque_loss": 0.14918208122253418
    },
    {
      "epoch": 23.723021582733814,
      "grad_norm": 0.3424401879310608,
      "learning_rate": 6.39257363373674e-05,
      "loss": 0.0672,
      "step": 26380
    },
    {
      "action_loss": 0.006168623920530081,
      "epoch": 23.723021582733814,
      "step": 26380
    },
    {
      "epoch": 23.723021582733814,
      "step": 26380,
      "torque_loss": 0.13347391784191132
    },
    {
      "epoch": 23.73201438848921,
      "grad_norm": 0.2952961027622223,
      "learning_rate": 6.389926680264892e-05,
      "loss": 0.0871,
      "step": 26390
    },
    {
      "action_loss": 0.004926592111587524,
      "epoch": 23.73201438848921,
      "step": 26390
    },
    {
      "epoch": 23.73201438848921,
      "step": 26390,
      "torque_loss": 0.10826978832483292
    },
    {
      "epoch": 23.741007194244606,
      "grad_norm": 0.2814869284629822,
      "learning_rate": 6.387279304570017e-05,
      "loss": 0.0967,
      "step": 26400
    },
    {
      "action_loss": 0.0031028457451611757,
      "epoch": 23.741007194244606,
      "step": 26400
    },
    {
      "epoch": 23.741007194244606,
      "step": 26400,
      "torque_loss": 0.07856174558401108
    },
    {
      "epoch": 23.75,
      "grad_norm": 0.2894528806209564,
      "learning_rate": 6.384631507456319e-05,
      "loss": 0.0737,
      "step": 26410
    },
    {
      "action_loss": 0.009294874034821987,
      "epoch": 23.75,
      "step": 26410
    },
    {
      "epoch": 23.75,
      "step": 26410,
      "torque_loss": 0.08819124847650528
    },
    {
      "epoch": 23.758992805755394,
      "grad_norm": 0.30797067284584045,
      "learning_rate": 6.381983289728126e-05,
      "loss": 0.0816,
      "step": 26420
    },
    {
      "action_loss": 0.0033457695972174406,
      "epoch": 23.758992805755394,
      "step": 26420
    },
    {
      "epoch": 23.758992805755394,
      "step": 26420,
      "torque_loss": 0.08164703100919724
    },
    {
      "epoch": 23.76798561151079,
      "grad_norm": 0.3327929675579071,
      "learning_rate": 6.3793346521899e-05,
      "loss": 0.0802,
      "step": 26430
    },
    {
      "action_loss": 0.007590940687805414,
      "epoch": 23.76798561151079,
      "step": 26430
    },
    {
      "epoch": 23.76798561151079,
      "step": 26430,
      "torque_loss": 0.14830951392650604
    },
    {
      "epoch": 23.776978417266186,
      "grad_norm": 0.31655457615852356,
      "learning_rate": 6.376685595646226e-05,
      "loss": 0.0861,
      "step": 26440
    },
    {
      "action_loss": 0.017079748213291168,
      "epoch": 23.776978417266186,
      "step": 26440
    },
    {
      "epoch": 23.776978417266186,
      "step": 26440,
      "torque_loss": 0.17544473707675934
    },
    {
      "epoch": 23.785971223021583,
      "grad_norm": 0.4283851087093353,
      "learning_rate": 6.374036120901816e-05,
      "loss": 0.0891,
      "step": 26450
    },
    {
      "action_loss": 0.008548489771783352,
      "epoch": 23.785971223021583,
      "step": 26450
    },
    {
      "epoch": 23.785971223021583,
      "step": 26450,
      "torque_loss": 0.1807182878255844
    },
    {
      "epoch": 23.794964028776977,
      "grad_norm": 0.2974622845649719,
      "learning_rate": 6.371386228761514e-05,
      "loss": 0.0828,
      "step": 26460
    },
    {
      "action_loss": 0.008346076123416424,
      "epoch": 23.794964028776977,
      "step": 26460
    },
    {
      "epoch": 23.794964028776977,
      "step": 26460,
      "torque_loss": 0.1272481381893158
    },
    {
      "epoch": 23.803956834532375,
      "grad_norm": 0.35663068294525146,
      "learning_rate": 6.368735920030283e-05,
      "loss": 0.0925,
      "step": 26470
    },
    {
      "action_loss": 0.004529378842562437,
      "epoch": 23.803956834532375,
      "step": 26470
    },
    {
      "epoch": 23.803956834532375,
      "step": 26470,
      "torque_loss": 0.11213213205337524
    },
    {
      "epoch": 23.81294964028777,
      "grad_norm": 0.2344370037317276,
      "learning_rate": 6.366085195513218e-05,
      "loss": 0.07,
      "step": 26480
    },
    {
      "action_loss": 0.006120430771261454,
      "epoch": 23.81294964028777,
      "step": 26480
    },
    {
      "epoch": 23.81294964028777,
      "step": 26480,
      "torque_loss": 0.12596313655376434
    },
    {
      "epoch": 23.821942446043167,
      "grad_norm": 0.3413466513156891,
      "learning_rate": 6.363434056015543e-05,
      "loss": 0.0887,
      "step": 26490
    },
    {
      "action_loss": 0.010132760740816593,
      "epoch": 23.821942446043167,
      "step": 26490
    },
    {
      "epoch": 23.821942446043167,
      "step": 26490,
      "torque_loss": 0.14079126715660095
    },
    {
      "epoch": 23.83093525179856,
      "grad_norm": 0.3588504195213318,
      "learning_rate": 6.360782502342599e-05,
      "loss": 0.0708,
      "step": 26500
    },
    {
      "action_loss": 0.0030297369230538607,
      "epoch": 23.83093525179856,
      "step": 26500
    },
    {
      "epoch": 23.83093525179856,
      "step": 26500,
      "torque_loss": 0.08778225630521774
    },
    {
      "epoch": 23.83992805755396,
      "grad_norm": 0.3158741593360901,
      "learning_rate": 6.358130535299862e-05,
      "loss": 0.0831,
      "step": 26510
    },
    {
      "action_loss": 0.004513731691986322,
      "epoch": 23.83992805755396,
      "step": 26510
    },
    {
      "epoch": 23.83992805755396,
      "step": 26510,
      "torque_loss": 0.1080358549952507
    },
    {
      "epoch": 23.848920863309353,
      "grad_norm": 0.3516215682029724,
      "learning_rate": 6.355478155692926e-05,
      "loss": 0.082,
      "step": 26520
    },
    {
      "action_loss": 0.005573015660047531,
      "epoch": 23.848920863309353,
      "step": 26520
    },
    {
      "epoch": 23.848920863309353,
      "step": 26520,
      "torque_loss": 0.12712900340557098
    },
    {
      "epoch": 23.857913669064747,
      "grad_norm": 0.3270998001098633,
      "learning_rate": 6.352825364327517e-05,
      "loss": 0.0739,
      "step": 26530
    },
    {
      "action_loss": 0.015038315206766129,
      "epoch": 23.857913669064747,
      "step": 26530
    },
    {
      "epoch": 23.857913669064747,
      "step": 26530,
      "torque_loss": 0.20778970420360565
    },
    {
      "epoch": 23.866906474820144,
      "grad_norm": 0.34093523025512695,
      "learning_rate": 6.350172162009482e-05,
      "loss": 0.1004,
      "step": 26540
    },
    {
      "action_loss": 0.004669498186558485,
      "epoch": 23.866906474820144,
      "step": 26540
    },
    {
      "epoch": 23.866906474820144,
      "step": 26540,
      "torque_loss": 0.0858517661690712
    },
    {
      "epoch": 23.87589928057554,
      "grad_norm": 0.4062618911266327,
      "learning_rate": 6.347518549544793e-05,
      "loss": 0.0852,
      "step": 26550
    },
    {
      "action_loss": 0.0017095059156417847,
      "epoch": 23.87589928057554,
      "step": 26550
    },
    {
      "epoch": 23.87589928057554,
      "step": 26550,
      "torque_loss": 0.08761171251535416
    },
    {
      "epoch": 23.884892086330936,
      "grad_norm": 0.3250444233417511,
      "learning_rate": 6.344864527739547e-05,
      "loss": 0.0729,
      "step": 26560
    },
    {
      "action_loss": 0.007962641306221485,
      "epoch": 23.884892086330936,
      "step": 26560
    },
    {
      "epoch": 23.884892086330936,
      "step": 26560,
      "torque_loss": 0.12190752476453781
    },
    {
      "epoch": 23.89388489208633,
      "grad_norm": 0.334751158952713,
      "learning_rate": 6.342210097399966e-05,
      "loss": 0.0748,
      "step": 26570
    },
    {
      "action_loss": 0.00911192037165165,
      "epoch": 23.89388489208633,
      "step": 26570
    },
    {
      "epoch": 23.89388489208633,
      "step": 26570,
      "torque_loss": 0.0823044553399086
    },
    {
      "epoch": 23.902877697841728,
      "grad_norm": 0.32898208498954773,
      "learning_rate": 6.339555259332398e-05,
      "loss": 0.0894,
      "step": 26580
    },
    {
      "action_loss": 0.008544321171939373,
      "epoch": 23.902877697841728,
      "step": 26580
    },
    {
      "epoch": 23.902877697841728,
      "step": 26580,
      "torque_loss": 0.09945875406265259
    },
    {
      "epoch": 23.91187050359712,
      "grad_norm": 0.398209810256958,
      "learning_rate": 6.33690001434331e-05,
      "loss": 0.0949,
      "step": 26590
    },
    {
      "action_loss": 0.016883529722690582,
      "epoch": 23.91187050359712,
      "step": 26590
    },
    {
      "epoch": 23.91187050359712,
      "step": 26590,
      "torque_loss": 0.18436898291110992
    },
    {
      "epoch": 23.92086330935252,
      "grad_norm": 0.7017538547515869,
      "learning_rate": 6.334244363239296e-05,
      "loss": 0.0827,
      "step": 26600
    },
    {
      "action_loss": 0.0031208836007863283,
      "epoch": 23.92086330935252,
      "step": 26600
    },
    {
      "epoch": 23.92086330935252,
      "step": 26600,
      "torque_loss": 0.0520293302834034
    },
    {
      "epoch": 23.929856115107913,
      "grad_norm": 0.32012930512428284,
      "learning_rate": 6.331588306827073e-05,
      "loss": 0.0661,
      "step": 26610
    },
    {
      "action_loss": 0.004612784367054701,
      "epoch": 23.929856115107913,
      "step": 26610
    },
    {
      "epoch": 23.929856115107913,
      "step": 26610,
      "torque_loss": 0.10828232765197754
    },
    {
      "epoch": 23.93884892086331,
      "grad_norm": 0.4344647526741028,
      "learning_rate": 6.328931845913483e-05,
      "loss": 0.0651,
      "step": 26620
    },
    {
      "action_loss": 0.0034906594082713127,
      "epoch": 23.93884892086331,
      "step": 26620
    },
    {
      "epoch": 23.93884892086331,
      "step": 26620,
      "torque_loss": 0.11245104670524597
    },
    {
      "epoch": 23.947841726618705,
      "grad_norm": 0.27154940366744995,
      "learning_rate": 6.326274981305484e-05,
      "loss": 0.0736,
      "step": 26630
    },
    {
      "action_loss": 0.009198499843478203,
      "epoch": 23.947841726618705,
      "step": 26630
    },
    {
      "epoch": 23.947841726618705,
      "step": 26630,
      "torque_loss": 0.1290782392024994
    },
    {
      "epoch": 23.9568345323741,
      "grad_norm": 0.27830952405929565,
      "learning_rate": 6.323617713810166e-05,
      "loss": 0.0768,
      "step": 26640
    },
    {
      "action_loss": 0.0035818994510918856,
      "epoch": 23.9568345323741,
      "step": 26640
    },
    {
      "epoch": 23.9568345323741,
      "step": 26640,
      "torque_loss": 0.08327574282884598
    },
    {
      "epoch": 23.965827338129497,
      "grad_norm": 0.25851890444755554,
      "learning_rate": 6.320960044234734e-05,
      "loss": 0.0736,
      "step": 26650
    },
    {
      "action_loss": 0.007633570581674576,
      "epoch": 23.965827338129497,
      "step": 26650
    },
    {
      "epoch": 23.965827338129497,
      "step": 26650,
      "torque_loss": 0.13784503936767578
    },
    {
      "epoch": 23.97482014388489,
      "grad_norm": 0.32527029514312744,
      "learning_rate": 6.318301973386518e-05,
      "loss": 0.0975,
      "step": 26660
    },
    {
      "action_loss": 0.006440112832933664,
      "epoch": 23.97482014388489,
      "step": 26660
    },
    {
      "epoch": 23.97482014388489,
      "step": 26660,
      "torque_loss": 0.1405312567949295
    },
    {
      "epoch": 23.98381294964029,
      "grad_norm": 0.41196104884147644,
      "learning_rate": 6.315643502072971e-05,
      "loss": 0.0804,
      "step": 26670
    },
    {
      "action_loss": 0.002963489852845669,
      "epoch": 23.98381294964029,
      "step": 26670
    },
    {
      "epoch": 23.98381294964029,
      "step": 26670,
      "torque_loss": 0.06742515414953232
    },
    {
      "epoch": 23.992805755395683,
      "grad_norm": 0.2998652756214142,
      "learning_rate": 6.312984631101667e-05,
      "loss": 0.0683,
      "step": 26680
    },
    {
      "action_loss": 0.005384727846831083,
      "epoch": 23.992805755395683,
      "step": 26680
    },
    {
      "epoch": 23.992805755395683,
      "step": 26680,
      "torque_loss": 0.1437460333108902
    },
    {
      "epoch": 24.00179856115108,
      "grad_norm": 0.3147631585597992,
      "learning_rate": 6.310325361280297e-05,
      "loss": 0.07,
      "step": 26690
    },
    {
      "action_loss": 0.0026670873630791903,
      "epoch": 24.00179856115108,
      "step": 26690
    },
    {
      "epoch": 24.00179856115108,
      "step": 26690,
      "torque_loss": 0.10579761117696762
    },
    {
      "epoch": 24.010791366906474,
      "grad_norm": 0.24267791211605072,
      "learning_rate": 6.30766569341668e-05,
      "loss": 0.0657,
      "step": 26700
    },
    {
      "action_loss": 0.0026218879502266645,
      "epoch": 24.010791366906474,
      "step": 26700
    },
    {
      "epoch": 24.010791366906474,
      "step": 26700,
      "torque_loss": 0.06265757232904434
    },
    {
      "epoch": 24.019784172661872,
      "grad_norm": 0.29593518376350403,
      "learning_rate": 6.305005628318753e-05,
      "loss": 0.0769,
      "step": 26710
    },
    {
      "action_loss": 0.004068875219672918,
      "epoch": 24.019784172661872,
      "step": 26710
    },
    {
      "epoch": 24.019784172661872,
      "step": 26710,
      "torque_loss": 0.11499828100204468
    },
    {
      "epoch": 24.028776978417266,
      "grad_norm": 0.29105401039123535,
      "learning_rate": 6.302345166794572e-05,
      "loss": 0.0665,
      "step": 26720
    },
    {
      "action_loss": 0.008380607701838017,
      "epoch": 24.028776978417266,
      "step": 26720
    },
    {
      "epoch": 24.028776978417266,
      "step": 26720,
      "torque_loss": 0.1252802461385727
    },
    {
      "epoch": 24.037769784172664,
      "grad_norm": 0.2534368336200714,
      "learning_rate": 6.299684309652316e-05,
      "loss": 0.0791,
      "step": 26730
    },
    {
      "action_loss": 0.002474637934938073,
      "epoch": 24.037769784172664,
      "step": 26730
    },
    {
      "epoch": 24.037769784172664,
      "step": 26730,
      "torque_loss": 0.07156895846128464
    },
    {
      "epoch": 24.046762589928058,
      "grad_norm": 0.34146761894226074,
      "learning_rate": 6.297023057700283e-05,
      "loss": 0.0627,
      "step": 26740
    },
    {
      "action_loss": 0.020987212657928467,
      "epoch": 24.046762589928058,
      "step": 26740
    },
    {
      "epoch": 24.046762589928058,
      "step": 26740,
      "torque_loss": 0.16934700310230255
    },
    {
      "epoch": 24.055755395683452,
      "grad_norm": 0.3015943765640259,
      "learning_rate": 6.294361411746891e-05,
      "loss": 0.0751,
      "step": 26750
    },
    {
      "action_loss": 0.005610266700387001,
      "epoch": 24.055755395683452,
      "step": 26750
    },
    {
      "epoch": 24.055755395683452,
      "step": 26750,
      "torque_loss": 0.11357516050338745
    },
    {
      "epoch": 24.06474820143885,
      "grad_norm": 0.267545610666275,
      "learning_rate": 6.291699372600677e-05,
      "loss": 0.0758,
      "step": 26760
    },
    {
      "action_loss": 0.004665960557758808,
      "epoch": 24.06474820143885,
      "step": 26760
    },
    {
      "epoch": 24.06474820143885,
      "step": 26760,
      "torque_loss": 0.06791406869888306
    },
    {
      "epoch": 24.073741007194243,
      "grad_norm": 0.2944679856300354,
      "learning_rate": 6.2890369410703e-05,
      "loss": 0.0725,
      "step": 26770
    },
    {
      "action_loss": 0.0034206320997327566,
      "epoch": 24.073741007194243,
      "step": 26770
    },
    {
      "epoch": 24.073741007194243,
      "step": 26770,
      "torque_loss": 0.085554338991642
    },
    {
      "epoch": 24.08273381294964,
      "grad_norm": 0.28179752826690674,
      "learning_rate": 6.286374117964534e-05,
      "loss": 0.0749,
      "step": 26780
    },
    {
      "action_loss": 0.003168449504300952,
      "epoch": 24.08273381294964,
      "step": 26780
    },
    {
      "epoch": 24.08273381294964,
      "step": 26780,
      "torque_loss": 0.07344076782464981
    },
    {
      "epoch": 24.091726618705035,
      "grad_norm": 0.2827184796333313,
      "learning_rate": 6.283710904092277e-05,
      "loss": 0.0647,
      "step": 26790
    },
    {
      "action_loss": 0.00860639289021492,
      "epoch": 24.091726618705035,
      "step": 26790
    },
    {
      "epoch": 24.091726618705035,
      "step": 26790,
      "torque_loss": 0.13875575363636017
    },
    {
      "epoch": 24.100719424460433,
      "grad_norm": 0.3090909421443939,
      "learning_rate": 6.281047300262542e-05,
      "loss": 0.072,
      "step": 26800
    },
    {
      "action_loss": 0.004283765330910683,
      "epoch": 24.100719424460433,
      "step": 26800
    },
    {
      "epoch": 24.100719424460433,
      "step": 26800,
      "torque_loss": 0.10598239302635193
    },
    {
      "epoch": 24.109712230215827,
      "grad_norm": 0.33721300959587097,
      "learning_rate": 6.278383307284461e-05,
      "loss": 0.0806,
      "step": 26810
    },
    {
      "action_loss": 0.005407949443906546,
      "epoch": 24.109712230215827,
      "step": 26810
    },
    {
      "epoch": 24.109712230215827,
      "step": 26810,
      "torque_loss": 0.10348234325647354
    },
    {
      "epoch": 24.118705035971225,
      "grad_norm": 0.25429680943489075,
      "learning_rate": 6.275718925967284e-05,
      "loss": 0.0751,
      "step": 26820
    },
    {
      "action_loss": 0.011455663479864597,
      "epoch": 24.118705035971225,
      "step": 26820
    },
    {
      "epoch": 24.118705035971225,
      "step": 26820,
      "torque_loss": 0.15407909452915192
    },
    {
      "epoch": 24.12769784172662,
      "grad_norm": 0.27183812856674194,
      "learning_rate": 6.273054157120382e-05,
      "loss": 0.0764,
      "step": 26830
    },
    {
      "action_loss": 0.004144706297665834,
      "epoch": 24.12769784172662,
      "step": 26830
    },
    {
      "epoch": 24.12769784172662,
      "step": 26830,
      "torque_loss": 0.10068926960229874
    },
    {
      "epoch": 24.136690647482013,
      "grad_norm": 0.3038117587566376,
      "learning_rate": 6.270389001553238e-05,
      "loss": 0.0801,
      "step": 26840
    },
    {
      "action_loss": 0.002991418121382594,
      "epoch": 24.136690647482013,
      "step": 26840
    },
    {
      "epoch": 24.136690647482013,
      "step": 26840,
      "torque_loss": 0.1053893193602562
    },
    {
      "epoch": 24.14568345323741,
      "grad_norm": 0.3057265281677246,
      "learning_rate": 6.26772346007546e-05,
      "loss": 0.0828,
      "step": 26850
    },
    {
      "action_loss": 0.008490507490932941,
      "epoch": 24.14568345323741,
      "step": 26850
    },
    {
      "epoch": 24.14568345323741,
      "step": 26850,
      "torque_loss": 0.172764852643013
    },
    {
      "epoch": 24.154676258992804,
      "grad_norm": 0.28538084030151367,
      "learning_rate": 6.265057533496767e-05,
      "loss": 0.08,
      "step": 26860
    },
    {
      "action_loss": 0.007043296005576849,
      "epoch": 24.154676258992804,
      "step": 26860
    },
    {
      "epoch": 24.154676258992804,
      "step": 26860,
      "torque_loss": 0.09563863277435303
    },
    {
      "epoch": 24.163669064748202,
      "grad_norm": 0.32937222719192505,
      "learning_rate": 6.262391222626997e-05,
      "loss": 0.0822,
      "step": 26870
    },
    {
      "action_loss": 0.004028202034533024,
      "epoch": 24.163669064748202,
      "step": 26870
    },
    {
      "epoch": 24.163669064748202,
      "step": 26870,
      "torque_loss": 0.08658572286367416
    },
    {
      "epoch": 24.172661870503596,
      "grad_norm": 0.2800627648830414,
      "learning_rate": 6.259724528276106e-05,
      "loss": 0.0811,
      "step": 26880
    },
    {
      "action_loss": 0.009005970321595669,
      "epoch": 24.172661870503596,
      "step": 26880
    },
    {
      "epoch": 24.172661870503596,
      "step": 26880,
      "torque_loss": 0.09605014324188232
    },
    {
      "epoch": 24.181654676258994,
      "grad_norm": 0.44975587725639343,
      "learning_rate": 6.257057451254162e-05,
      "loss": 0.0799,
      "step": 26890
    },
    {
      "action_loss": 0.006717374082654715,
      "epoch": 24.181654676258994,
      "step": 26890
    },
    {
      "epoch": 24.181654676258994,
      "step": 26890,
      "torque_loss": 0.12283096462488174
    },
    {
      "epoch": 24.190647482014388,
      "grad_norm": 0.2683819532394409,
      "learning_rate": 6.254389992371357e-05,
      "loss": 0.081,
      "step": 26900
    },
    {
      "action_loss": 0.02118665911257267,
      "epoch": 24.190647482014388,
      "step": 26900
    },
    {
      "epoch": 24.190647482014388,
      "step": 26900,
      "torque_loss": 0.16471968591213226
    },
    {
      "epoch": 24.199640287769785,
      "grad_norm": 0.23618605732917786,
      "learning_rate": 6.25172215243799e-05,
      "loss": 0.0814,
      "step": 26910
    },
    {
      "action_loss": 0.009287308901548386,
      "epoch": 24.199640287769785,
      "step": 26910
    },
    {
      "epoch": 24.199640287769785,
      "step": 26910,
      "torque_loss": 0.10479442030191422
    },
    {
      "epoch": 24.20863309352518,
      "grad_norm": 0.22745607793331146,
      "learning_rate": 6.249053932264486e-05,
      "loss": 0.0718,
      "step": 26920
    },
    {
      "action_loss": 0.026683298870921135,
      "epoch": 24.20863309352518,
      "step": 26920
    },
    {
      "epoch": 24.20863309352518,
      "step": 26920,
      "torque_loss": 0.15204381942749023
    },
    {
      "epoch": 24.217625899280577,
      "grad_norm": 0.25210142135620117,
      "learning_rate": 6.246385332661376e-05,
      "loss": 0.0749,
      "step": 26930
    },
    {
      "action_loss": 0.025570325553417206,
      "epoch": 24.217625899280577,
      "step": 26930
    },
    {
      "epoch": 24.217625899280577,
      "step": 26930,
      "torque_loss": 0.12623560428619385
    },
    {
      "epoch": 24.22661870503597,
      "grad_norm": 0.3630076050758362,
      "learning_rate": 6.24371635443931e-05,
      "loss": 0.0809,
      "step": 26940
    },
    {
      "action_loss": 0.002235495252534747,
      "epoch": 24.22661870503597,
      "step": 26940
    },
    {
      "epoch": 24.22661870503597,
      "step": 26940,
      "torque_loss": 0.09852305799722672
    },
    {
      "epoch": 24.235611510791365,
      "grad_norm": 0.4208858609199524,
      "learning_rate": 6.241046998409054e-05,
      "loss": 0.0575,
      "step": 26950
    },
    {
      "action_loss": 0.0035706174094229937,
      "epoch": 24.235611510791365,
      "step": 26950
    },
    {
      "epoch": 24.235611510791365,
      "step": 26950,
      "torque_loss": 0.10246739536523819
    },
    {
      "epoch": 24.244604316546763,
      "grad_norm": 0.26983702182769775,
      "learning_rate": 6.238377265381489e-05,
      "loss": 0.0728,
      "step": 26960
    },
    {
      "action_loss": 0.004557773005217314,
      "epoch": 24.244604316546763,
      "step": 26960
    },
    {
      "epoch": 24.244604316546763,
      "step": 26960,
      "torque_loss": 0.13759446144104004
    },
    {
      "epoch": 24.253597122302157,
      "grad_norm": 0.3816186785697937,
      "learning_rate": 6.235707156167607e-05,
      "loss": 0.093,
      "step": 26970
    },
    {
      "action_loss": 0.011775177903473377,
      "epoch": 24.253597122302157,
      "step": 26970
    },
    {
      "epoch": 24.253597122302157,
      "step": 26970,
      "torque_loss": 0.13388574123382568
    },
    {
      "epoch": 24.262589928057555,
      "grad_norm": 0.2970850169658661,
      "learning_rate": 6.233036671578519e-05,
      "loss": 0.086,
      "step": 26980
    },
    {
      "action_loss": 0.02900972217321396,
      "epoch": 24.262589928057555,
      "step": 26980
    },
    {
      "epoch": 24.262589928057555,
      "step": 26980,
      "torque_loss": 0.16854362189769745
    },
    {
      "epoch": 24.27158273381295,
      "grad_norm": 0.32983797788619995,
      "learning_rate": 6.230365812425445e-05,
      "loss": 0.0765,
      "step": 26990
    },
    {
      "action_loss": 0.02481541782617569,
      "epoch": 24.27158273381295,
      "step": 26990
    },
    {
      "epoch": 24.27158273381295,
      "step": 26990,
      "torque_loss": 0.1606644243001938
    },
    {
      "epoch": 24.280575539568346,
      "grad_norm": 0.2985406219959259,
      "learning_rate": 6.227694579519724e-05,
      "loss": 0.0776,
      "step": 27000
    },
    {
      "action_loss": 0.014201290905475616,
      "epoch": 24.280575539568346,
      "step": 27000
    },
    {
      "epoch": 24.280575539568346,
      "step": 27000,
      "torque_loss": 0.1847439557313919
    },
    {
      "epoch": 24.28956834532374,
      "grad_norm": 0.2857685983181,
      "learning_rate": 6.225022973672805e-05,
      "loss": 0.0764,
      "step": 27010
    },
    {
      "action_loss": 0.0397278368473053,
      "epoch": 24.28956834532374,
      "step": 27010
    },
    {
      "epoch": 24.28956834532374,
      "step": 27010,
      "torque_loss": 0.22521202266216278
    },
    {
      "epoch": 24.298561151079138,
      "grad_norm": 0.3432311713695526,
      "learning_rate": 6.222350995696253e-05,
      "loss": 0.0931,
      "step": 27020
    },
    {
      "action_loss": 0.010296802967786789,
      "epoch": 24.298561151079138,
      "step": 27020
    },
    {
      "epoch": 24.298561151079138,
      "step": 27020,
      "torque_loss": 0.13419127464294434
    },
    {
      "epoch": 24.307553956834532,
      "grad_norm": 0.3364028334617615,
      "learning_rate": 6.21967864640174e-05,
      "loss": 0.0669,
      "step": 27030
    },
    {
      "action_loss": 0.003346335142850876,
      "epoch": 24.307553956834532,
      "step": 27030
    },
    {
      "epoch": 24.307553956834532,
      "step": 27030,
      "torque_loss": 0.09209132194519043
    },
    {
      "epoch": 24.31654676258993,
      "grad_norm": 0.3471417725086212,
      "learning_rate": 6.217005926601059e-05,
      "loss": 0.067,
      "step": 27040
    },
    {
      "action_loss": 0.018086476251482964,
      "epoch": 24.31654676258993,
      "step": 27040
    },
    {
      "epoch": 24.31654676258993,
      "step": 27040,
      "torque_loss": 0.11558441072702408
    },
    {
      "epoch": 24.325539568345324,
      "grad_norm": 0.3371846675872803,
      "learning_rate": 6.214332837106111e-05,
      "loss": 0.0696,
      "step": 27050
    },
    {
      "action_loss": 0.0035611160565167665,
      "epoch": 24.325539568345324,
      "step": 27050
    },
    {
      "epoch": 24.325539568345324,
      "step": 27050,
      "torque_loss": 0.10979608446359634
    },
    {
      "epoch": 24.334532374100718,
      "grad_norm": 0.30694979429244995,
      "learning_rate": 6.21165937872891e-05,
      "loss": 0.0717,
      "step": 27060
    },
    {
      "action_loss": 0.02407168783247471,
      "epoch": 24.334532374100718,
      "step": 27060
    },
    {
      "epoch": 24.334532374100718,
      "step": 27060,
      "torque_loss": 0.1930418759584427
    },
    {
      "epoch": 24.343525179856115,
      "grad_norm": 0.3565654456615448,
      "learning_rate": 6.208985552281582e-05,
      "loss": 0.0813,
      "step": 27070
    },
    {
      "action_loss": 0.008137623779475689,
      "epoch": 24.343525179856115,
      "step": 27070
    },
    {
      "epoch": 24.343525179856115,
      "step": 27070,
      "torque_loss": 0.12260828167200089
    },
    {
      "epoch": 24.35251798561151,
      "grad_norm": 0.3842250406742096,
      "learning_rate": 6.206311358576364e-05,
      "loss": 0.0874,
      "step": 27080
    },
    {
      "action_loss": 0.005282718222588301,
      "epoch": 24.35251798561151,
      "step": 27080
    },
    {
      "epoch": 24.35251798561151,
      "step": 27080,
      "torque_loss": 0.13196630775928497
    },
    {
      "epoch": 24.361510791366907,
      "grad_norm": 0.36640816926956177,
      "learning_rate": 6.203636798425608e-05,
      "loss": 0.0754,
      "step": 27090
    },
    {
      "action_loss": 0.010446584783494473,
      "epoch": 24.361510791366907,
      "step": 27090
    },
    {
      "epoch": 24.361510791366907,
      "step": 27090,
      "torque_loss": 0.15592508018016815
    },
    {
      "epoch": 24.3705035971223,
      "grad_norm": 0.3011930584907532,
      "learning_rate": 6.20096187264177e-05,
      "loss": 0.0771,
      "step": 27100
    },
    {
      "action_loss": 0.01034233346581459,
      "epoch": 24.3705035971223,
      "step": 27100
    },
    {
      "epoch": 24.3705035971223,
      "step": 27100,
      "torque_loss": 0.1555773764848709
    },
    {
      "epoch": 24.3794964028777,
      "grad_norm": 0.25040990114212036,
      "learning_rate": 6.198286582037425e-05,
      "loss": 0.0773,
      "step": 27110
    },
    {
      "action_loss": 0.010205419734120369,
      "epoch": 24.3794964028777,
      "step": 27110
    },
    {
      "epoch": 24.3794964028777,
      "step": 27110,
      "torque_loss": 0.14172504842281342
    },
    {
      "epoch": 24.388489208633093,
      "grad_norm": 0.341589093208313,
      "learning_rate": 6.195610927425256e-05,
      "loss": 0.0825,
      "step": 27120
    },
    {
      "action_loss": 0.00395343778654933,
      "epoch": 24.388489208633093,
      "step": 27120
    },
    {
      "epoch": 24.388489208633093,
      "step": 27120,
      "torque_loss": 0.07714266330003738
    },
    {
      "epoch": 24.39748201438849,
      "grad_norm": 0.3001756966114044,
      "learning_rate": 6.192934909618056e-05,
      "loss": 0.0626,
      "step": 27130
    },
    {
      "action_loss": 0.004879168700426817,
      "epoch": 24.39748201438849,
      "step": 27130
    },
    {
      "epoch": 24.39748201438849,
      "step": 27130,
      "torque_loss": 0.07726173847913742
    },
    {
      "epoch": 24.406474820143885,
      "grad_norm": 0.2729642391204834,
      "learning_rate": 6.190258529428728e-05,
      "loss": 0.07,
      "step": 27140
    },
    {
      "action_loss": 0.0846315398812294,
      "epoch": 24.406474820143885,
      "step": 27140
    },
    {
      "epoch": 24.406474820143885,
      "step": 27140,
      "torque_loss": 0.16961844265460968
    },
    {
      "epoch": 24.415467625899282,
      "grad_norm": 0.26983240246772766,
      "learning_rate": 6.187581787670285e-05,
      "loss": 0.0849,
      "step": 27150
    },
    {
      "action_loss": 0.005592163186520338,
      "epoch": 24.415467625899282,
      "step": 27150
    },
    {
      "epoch": 24.415467625899282,
      "step": 27150,
      "torque_loss": 0.09213137626647949
    },
    {
      "epoch": 24.424460431654676,
      "grad_norm": 0.3416697084903717,
      "learning_rate": 6.184904685155852e-05,
      "loss": 0.0744,
      "step": 27160
    },
    {
      "action_loss": 0.012467111460864544,
      "epoch": 24.424460431654676,
      "step": 27160
    },
    {
      "epoch": 24.424460431654676,
      "step": 27160,
      "torque_loss": 0.15320426225662231
    },
    {
      "epoch": 24.43345323741007,
      "grad_norm": 0.3331722915172577,
      "learning_rate": 6.18222722269866e-05,
      "loss": 0.0841,
      "step": 27170
    },
    {
      "action_loss": 0.005306856706738472,
      "epoch": 24.43345323741007,
      "step": 27170
    },
    {
      "epoch": 24.43345323741007,
      "step": 27170,
      "torque_loss": 0.14370407164096832
    },
    {
      "epoch": 24.442446043165468,
      "grad_norm": 0.26792284846305847,
      "learning_rate": 6.179549401112053e-05,
      "loss": 0.0696,
      "step": 27180
    },
    {
      "action_loss": 0.0054575433023273945,
      "epoch": 24.442446043165468,
      "step": 27180
    },
    {
      "epoch": 24.442446043165468,
      "step": 27180,
      "torque_loss": 0.09840735048055649
    },
    {
      "epoch": 24.451438848920862,
      "grad_norm": 0.3067781329154968,
      "learning_rate": 6.176871221209482e-05,
      "loss": 0.0785,
      "step": 27190
    },
    {
      "action_loss": 0.010338949970901012,
      "epoch": 24.451438848920862,
      "step": 27190
    },
    {
      "epoch": 24.451438848920862,
      "step": 27190,
      "torque_loss": 0.12666535377502441
    },
    {
      "epoch": 24.46043165467626,
      "grad_norm": 0.2814054489135742,
      "learning_rate": 6.174192683804508e-05,
      "loss": 0.0717,
      "step": 27200
    },
    {
      "action_loss": 0.007696919143199921,
      "epoch": 24.46043165467626,
      "step": 27200
    },
    {
      "epoch": 24.46043165467626,
      "step": 27200,
      "torque_loss": 0.14552009105682373
    },
    {
      "epoch": 24.469424460431654,
      "grad_norm": 0.22309377789497375,
      "learning_rate": 6.1715137897108e-05,
      "loss": 0.073,
      "step": 27210
    },
    {
      "action_loss": 0.0026566777378320694,
      "epoch": 24.469424460431654,
      "step": 27210
    },
    {
      "epoch": 24.469424460431654,
      "step": 27210,
      "torque_loss": 0.07229021936655045
    },
    {
      "epoch": 24.47841726618705,
      "grad_norm": 0.2713739275932312,
      "learning_rate": 6.168834539742134e-05,
      "loss": 0.0764,
      "step": 27220
    },
    {
      "action_loss": 0.00963549967855215,
      "epoch": 24.47841726618705,
      "step": 27220
    },
    {
      "epoch": 24.47841726618705,
      "step": 27220,
      "torque_loss": 0.1683695763349533
    },
    {
      "epoch": 24.487410071942445,
      "grad_norm": 0.3941788077354431,
      "learning_rate": 6.166154934712397e-05,
      "loss": 0.0889,
      "step": 27230
    },
    {
      "action_loss": 0.0030643779318779707,
      "epoch": 24.487410071942445,
      "step": 27230
    },
    {
      "epoch": 24.487410071942445,
      "step": 27230,
      "torque_loss": 0.08634406328201294
    },
    {
      "epoch": 24.496402877697843,
      "grad_norm": 0.34493616223335266,
      "learning_rate": 6.163474975435581e-05,
      "loss": 0.0707,
      "step": 27240
    },
    {
      "action_loss": 0.014574282802641392,
      "epoch": 24.496402877697843,
      "step": 27240
    },
    {
      "epoch": 24.496402877697843,
      "step": 27240,
      "torque_loss": 0.1553828865289688
    },
    {
      "epoch": 24.505395683453237,
      "grad_norm": 0.3209536075592041,
      "learning_rate": 6.160794662725787e-05,
      "loss": 0.0896,
      "step": 27250
    },
    {
      "action_loss": 0.0034149838611483574,
      "epoch": 24.505395683453237,
      "step": 27250
    },
    {
      "epoch": 24.505395683453237,
      "step": 27250,
      "torque_loss": 0.08966875821352005
    },
    {
      "epoch": 24.514388489208635,
      "grad_norm": 0.35764339566230774,
      "learning_rate": 6.158113997397222e-05,
      "loss": 0.0785,
      "step": 27260
    },
    {
      "action_loss": 0.008582723326981068,
      "epoch": 24.514388489208635,
      "step": 27260
    },
    {
      "epoch": 24.514388489208635,
      "step": 27260,
      "torque_loss": 0.08078143745660782
    },
    {
      "epoch": 24.52338129496403,
      "grad_norm": 0.29764848947525024,
      "learning_rate": 6.155432980264205e-05,
      "loss": 0.072,
      "step": 27270
    },
    {
      "action_loss": 0.003780227852985263,
      "epoch": 24.52338129496403,
      "step": 27270
    },
    {
      "epoch": 24.52338129496403,
      "step": 27270,
      "torque_loss": 0.07834644615650177
    },
    {
      "epoch": 24.532374100719423,
      "grad_norm": 0.2721945643424988,
      "learning_rate": 6.152751612141156e-05,
      "loss": 0.0769,
      "step": 27280
    },
    {
      "action_loss": 0.0037612691521644592,
      "epoch": 24.532374100719423,
      "step": 27280
    },
    {
      "epoch": 24.532374100719423,
      "step": 27280,
      "torque_loss": 0.1077488362789154
    },
    {
      "epoch": 24.54136690647482,
      "grad_norm": 0.3652364909648895,
      "learning_rate": 6.150069893842602e-05,
      "loss": 0.0773,
      "step": 27290
    },
    {
      "action_loss": 0.0038635460659861565,
      "epoch": 24.54136690647482,
      "step": 27290
    },
    {
      "epoch": 24.54136690647482,
      "step": 27290,
      "torque_loss": 0.1196548119187355
    },
    {
      "epoch": 24.550359712230215,
      "grad_norm": 0.29482898116111755,
      "learning_rate": 6.147387826183182e-05,
      "loss": 0.0665,
      "step": 27300
    },
    {
      "action_loss": 0.02578875422477722,
      "epoch": 24.550359712230215,
      "step": 27300
    },
    {
      "epoch": 24.550359712230215,
      "step": 27300,
      "torque_loss": 0.25399523973464966
    },
    {
      "epoch": 24.559352517985612,
      "grad_norm": 0.29741477966308594,
      "learning_rate": 6.144705409977635e-05,
      "loss": 0.0912,
      "step": 27310
    },
    {
      "action_loss": 0.005284557584673166,
      "epoch": 24.559352517985612,
      "step": 27310
    },
    {
      "epoch": 24.559352517985612,
      "step": 27310,
      "torque_loss": 0.10202157497406006
    },
    {
      "epoch": 24.568345323741006,
      "grad_norm": 0.2680540680885315,
      "learning_rate": 6.142022646040808e-05,
      "loss": 0.0713,
      "step": 27320
    },
    {
      "action_loss": 0.00982692837715149,
      "epoch": 24.568345323741006,
      "step": 27320
    },
    {
      "epoch": 24.568345323741006,
      "step": 27320,
      "torque_loss": 0.15856407582759857
    },
    {
      "epoch": 24.577338129496404,
      "grad_norm": 0.3150714337825775,
      "learning_rate": 6.139339535187653e-05,
      "loss": 0.0782,
      "step": 27330
    },
    {
      "action_loss": 0.004915532190352678,
      "epoch": 24.577338129496404,
      "step": 27330
    },
    {
      "epoch": 24.577338129496404,
      "step": 27330,
      "torque_loss": 0.09836580604314804
    },
    {
      "epoch": 24.586330935251798,
      "grad_norm": 0.2794588506221771,
      "learning_rate": 6.136656078233232e-05,
      "loss": 0.0638,
      "step": 27340
    },
    {
      "action_loss": 0.0019727095495909452,
      "epoch": 24.586330935251798,
      "step": 27340
    },
    {
      "epoch": 24.586330935251798,
      "step": 27340,
      "torque_loss": 0.07617367804050446
    },
    {
      "epoch": 24.595323741007196,
      "grad_norm": 0.2552453875541687,
      "learning_rate": 6.133972275992707e-05,
      "loss": 0.0834,
      "step": 27350
    },
    {
      "action_loss": 0.0024697675835341215,
      "epoch": 24.595323741007196,
      "step": 27350
    },
    {
      "epoch": 24.595323741007196,
      "step": 27350,
      "torque_loss": 0.06324214488267899
    },
    {
      "epoch": 24.60431654676259,
      "grad_norm": 0.3143237829208374,
      "learning_rate": 6.131288129281342e-05,
      "loss": 0.0817,
      "step": 27360
    },
    {
      "action_loss": 0.010652471333742142,
      "epoch": 24.60431654676259,
      "step": 27360
    },
    {
      "epoch": 24.60431654676259,
      "step": 27360,
      "torque_loss": 0.15017586946487427
    },
    {
      "epoch": 24.613309352517987,
      "grad_norm": 0.3488878607749939,
      "learning_rate": 6.128603638914516e-05,
      "loss": 0.0807,
      "step": 27370
    },
    {
      "action_loss": 0.005508484784513712,
      "epoch": 24.613309352517987,
      "step": 27370
    },
    {
      "epoch": 24.613309352517987,
      "step": 27370,
      "torque_loss": 0.09663749486207962
    },
    {
      "epoch": 24.62230215827338,
      "grad_norm": 0.40200379490852356,
      "learning_rate": 6.125918805707704e-05,
      "loss": 0.0699,
      "step": 27380
    },
    {
      "action_loss": 0.010169568471610546,
      "epoch": 24.62230215827338,
      "step": 27380
    },
    {
      "epoch": 24.62230215827338,
      "step": 27380,
      "torque_loss": 0.16652800142765045
    },
    {
      "epoch": 24.631294964028775,
      "grad_norm": 0.3498310446739197,
      "learning_rate": 6.123233630476485e-05,
      "loss": 0.0829,
      "step": 27390
    },
    {
      "action_loss": 0.002023273380473256,
      "epoch": 24.631294964028775,
      "step": 27390
    },
    {
      "epoch": 24.631294964028775,
      "step": 27390,
      "torque_loss": 0.049382541328668594
    },
    {
      "epoch": 24.640287769784173,
      "grad_norm": 0.29972490668296814,
      "learning_rate": 6.120548114036547e-05,
      "loss": 0.0768,
      "step": 27400
    },
    {
      "action_loss": 0.003884265199303627,
      "epoch": 24.640287769784173,
      "step": 27400
    },
    {
      "epoch": 24.640287769784173,
      "step": 27400,
      "torque_loss": 0.13530127704143524
    },
    {
      "epoch": 24.649280575539567,
      "grad_norm": 0.34429869055747986,
      "learning_rate": 6.117862257203679e-05,
      "loss": 0.0768,
      "step": 27410
    },
    {
      "action_loss": 0.005920755211263895,
      "epoch": 24.649280575539567,
      "step": 27410
    },
    {
      "epoch": 24.649280575539567,
      "step": 27410,
      "torque_loss": 0.09201877564191818
    },
    {
      "epoch": 24.658273381294965,
      "grad_norm": 0.2817162573337555,
      "learning_rate": 6.115176060793771e-05,
      "loss": 0.0803,
      "step": 27420
    },
    {
      "action_loss": 0.0028562787920236588,
      "epoch": 24.658273381294965,
      "step": 27420
    },
    {
      "epoch": 24.658273381294965,
      "step": 27420,
      "torque_loss": 0.09074529260396957
    },
    {
      "epoch": 24.66726618705036,
      "grad_norm": 0.3620588481426239,
      "learning_rate": 6.112489525622822e-05,
      "loss": 0.0568,
      "step": 27430
    },
    {
      "action_loss": 0.007559534162282944,
      "epoch": 24.66726618705036,
      "step": 27430
    },
    {
      "epoch": 24.66726618705036,
      "step": 27430,
      "torque_loss": 0.10706611722707748
    },
    {
      "epoch": 24.676258992805757,
      "grad_norm": 0.33488166332244873,
      "learning_rate": 6.109802652506928e-05,
      "loss": 0.0757,
      "step": 27440
    },
    {
      "action_loss": 0.006069765891879797,
      "epoch": 24.676258992805757,
      "step": 27440
    },
    {
      "epoch": 24.676258992805757,
      "step": 27440,
      "torque_loss": 0.1433684378862381
    },
    {
      "epoch": 24.68525179856115,
      "grad_norm": 0.3340926766395569,
      "learning_rate": 6.107115442262291e-05,
      "loss": 0.0757,
      "step": 27450
    },
    {
      "action_loss": 0.004028854425996542,
      "epoch": 24.68525179856115,
      "step": 27450
    },
    {
      "epoch": 24.68525179856115,
      "step": 27450,
      "torque_loss": 0.12570995092391968
    },
    {
      "epoch": 24.694244604316548,
      "grad_norm": 0.3397285044193268,
      "learning_rate": 6.104427895705214e-05,
      "loss": 0.0796,
      "step": 27460
    },
    {
      "action_loss": 0.002971990266814828,
      "epoch": 24.694244604316548,
      "step": 27460
    },
    {
      "epoch": 24.694244604316548,
      "step": 27460,
      "torque_loss": 0.07889974117279053
    },
    {
      "epoch": 24.703237410071942,
      "grad_norm": 0.2325773537158966,
      "learning_rate": 6.101740013652103e-05,
      "loss": 0.0593,
      "step": 27470
    },
    {
      "action_loss": 0.0180402472615242,
      "epoch": 24.703237410071942,
      "step": 27470
    },
    {
      "epoch": 24.703237410071942,
      "step": 27470,
      "torque_loss": 0.19682329893112183
    },
    {
      "epoch": 24.71223021582734,
      "grad_norm": 0.37319594621658325,
      "learning_rate": 6.099051796919465e-05,
      "loss": 0.088,
      "step": 27480
    },
    {
      "action_loss": 0.05149612948298454,
      "epoch": 24.71223021582734,
      "step": 27480
    },
    {
      "epoch": 24.71223021582734,
      "step": 27480,
      "torque_loss": 0.16677792370319366
    },
    {
      "epoch": 24.721223021582734,
      "grad_norm": 0.26622888445854187,
      "learning_rate": 6.096363246323911e-05,
      "loss": 0.0763,
      "step": 27490
    },
    {
      "action_loss": 0.0034338608384132385,
      "epoch": 24.721223021582734,
      "step": 27490
    },
    {
      "epoch": 24.721223021582734,
      "step": 27490,
      "torque_loss": 0.11657798290252686
    },
    {
      "epoch": 24.730215827338128,
      "grad_norm": 0.29799264669418335,
      "learning_rate": 6.0936743626821504e-05,
      "loss": 0.0873,
      "step": 27500
    },
    {
      "action_loss": 0.0027399135287851095,
      "epoch": 24.730215827338128,
      "step": 27500
    },
    {
      "epoch": 24.730215827338128,
      "step": 27500,
      "torque_loss": 0.08242913335561752
    },
    {
      "epoch": 24.739208633093526,
      "grad_norm": 0.27072983980178833,
      "learning_rate": 6.090985146810996e-05,
      "loss": 0.0661,
      "step": 27510
    },
    {
      "action_loss": 0.003548014210537076,
      "epoch": 24.739208633093526,
      "step": 27510
    },
    {
      "epoch": 24.739208633093526,
      "step": 27510,
      "torque_loss": 0.11690545082092285
    },
    {
      "epoch": 24.74820143884892,
      "grad_norm": 0.2816256880760193,
      "learning_rate": 6.088295599527357e-05,
      "loss": 0.073,
      "step": 27520
    },
    {
      "action_loss": 0.006076745223253965,
      "epoch": 24.74820143884892,
      "step": 27520
    },
    {
      "epoch": 24.74820143884892,
      "step": 27520,
      "torque_loss": 0.13149555027484894
    },
    {
      "epoch": 24.757194244604317,
      "grad_norm": 0.3694593608379364,
      "learning_rate": 6.085605721648252e-05,
      "loss": 0.0745,
      "step": 27530
    },
    {
      "action_loss": 0.0185424592345953,
      "epoch": 24.757194244604317,
      "step": 27530
    },
    {
      "epoch": 24.757194244604317,
      "step": 27530,
      "torque_loss": 0.19289541244506836
    },
    {
      "epoch": 24.76618705035971,
      "grad_norm": 0.35430774092674255,
      "learning_rate": 6.082915513990792e-05,
      "loss": 0.0775,
      "step": 27540
    },
    {
      "action_loss": 0.008934193290770054,
      "epoch": 24.76618705035971,
      "step": 27540
    },
    {
      "epoch": 24.76618705035971,
      "step": 27540,
      "torque_loss": 0.12435919791460037
    },
    {
      "epoch": 24.77517985611511,
      "grad_norm": 0.21500816941261292,
      "learning_rate": 6.080224977372192e-05,
      "loss": 0.07,
      "step": 27550
    },
    {
      "action_loss": 0.016605401411652565,
      "epoch": 24.77517985611511,
      "step": 27550
    },
    {
      "epoch": 24.77517985611511,
      "step": 27550,
      "torque_loss": 0.14558662474155426
    },
    {
      "epoch": 24.784172661870503,
      "grad_norm": 0.3278011679649353,
      "learning_rate": 6.0775341126097666e-05,
      "loss": 0.0687,
      "step": 27560
    },
    {
      "action_loss": 0.006759332027286291,
      "epoch": 24.784172661870503,
      "step": 27560
    },
    {
      "epoch": 24.784172661870503,
      "step": 27560,
      "torque_loss": 0.10605736821889877
    },
    {
      "epoch": 24.7931654676259,
      "grad_norm": 0.3260844349861145,
      "learning_rate": 6.074842920520926e-05,
      "loss": 0.0819,
      "step": 27570
    },
    {
      "action_loss": 0.003681295784190297,
      "epoch": 24.7931654676259,
      "step": 27570
    },
    {
      "epoch": 24.7931654676259,
      "step": 27570,
      "torque_loss": 0.08866315335035324
    },
    {
      "epoch": 24.802158273381295,
      "grad_norm": 0.36683622002601624,
      "learning_rate": 6.072151401923186e-05,
      "loss": 0.0746,
      "step": 27580
    },
    {
      "action_loss": 0.005114368628710508,
      "epoch": 24.802158273381295,
      "step": 27580
    },
    {
      "epoch": 24.802158273381295,
      "step": 27580,
      "torque_loss": 0.07635187357664108
    },
    {
      "epoch": 24.81115107913669,
      "grad_norm": 0.33904722332954407,
      "learning_rate": 6.069459557634159e-05,
      "loss": 0.0831,
      "step": 27590
    },
    {
      "action_loss": 0.0024970388039946556,
      "epoch": 24.81115107913669,
      "step": 27590
    },
    {
      "epoch": 24.81115107913669,
      "step": 27590,
      "torque_loss": 0.1169714704155922
    },
    {
      "epoch": 24.820143884892087,
      "grad_norm": 0.40018409490585327,
      "learning_rate": 6.066767388471557e-05,
      "loss": 0.0756,
      "step": 27600
    },
    {
      "action_loss": 0.012202121317386627,
      "epoch": 24.820143884892087,
      "step": 27600
    },
    {
      "epoch": 24.820143884892087,
      "step": 27600,
      "torque_loss": 0.22128267586231232
    },
    {
      "epoch": 24.82913669064748,
      "grad_norm": 0.38264769315719604,
      "learning_rate": 6.064074895253188e-05,
      "loss": 0.082,
      "step": 27610
    },
    {
      "action_loss": 0.008019773289561272,
      "epoch": 24.82913669064748,
      "step": 27610
    },
    {
      "epoch": 24.82913669064748,
      "step": 27610,
      "torque_loss": 0.11299855262041092
    },
    {
      "epoch": 24.83812949640288,
      "grad_norm": 0.29631543159484863,
      "learning_rate": 6.061382078796961e-05,
      "loss": 0.0827,
      "step": 27620
    },
    {
      "action_loss": 0.007323878351598978,
      "epoch": 24.83812949640288,
      "step": 27620
    },
    {
      "epoch": 24.83812949640288,
      "step": 27620,
      "torque_loss": 0.11691182851791382
    },
    {
      "epoch": 24.847122302158272,
      "grad_norm": 0.3120098114013672,
      "learning_rate": 6.0586889399208814e-05,
      "loss": 0.0639,
      "step": 27630
    },
    {
      "action_loss": 0.004663525149226189,
      "epoch": 24.847122302158272,
      "step": 27630
    },
    {
      "epoch": 24.847122302158272,
      "step": 27630,
      "torque_loss": 0.12706820666790009
    },
    {
      "epoch": 24.85611510791367,
      "grad_norm": 0.2645380198955536,
      "learning_rate": 6.0559954794430565e-05,
      "loss": 0.0837,
      "step": 27640
    },
    {
      "action_loss": 0.03448093309998512,
      "epoch": 24.85611510791367,
      "step": 27640
    },
    {
      "epoch": 24.85611510791367,
      "step": 27640,
      "torque_loss": 0.18468670547008514
    },
    {
      "epoch": 24.865107913669064,
      "grad_norm": 0.3048035204410553,
      "learning_rate": 6.053301698181687e-05,
      "loss": 0.076,
      "step": 27650
    },
    {
      "action_loss": 0.0018859748961403966,
      "epoch": 24.865107913669064,
      "step": 27650
    },
    {
      "epoch": 24.865107913669064,
      "step": 27650,
      "torque_loss": 0.046243179589509964
    },
    {
      "epoch": 24.87410071942446,
      "grad_norm": 0.29584255814552307,
      "learning_rate": 6.0506075969550725e-05,
      "loss": 0.0711,
      "step": 27660
    },
    {
      "action_loss": 0.007830731570720673,
      "epoch": 24.87410071942446,
      "step": 27660
    },
    {
      "epoch": 24.87410071942446,
      "step": 27660,
      "torque_loss": 0.13900668919086456
    },
    {
      "epoch": 24.883093525179856,
      "grad_norm": 0.22423139214515686,
      "learning_rate": 6.047913176581609e-05,
      "loss": 0.0794,
      "step": 27670
    },
    {
      "action_loss": 0.003960310015827417,
      "epoch": 24.883093525179856,
      "step": 27670
    },
    {
      "epoch": 24.883093525179856,
      "step": 27670,
      "torque_loss": 0.09412642568349838
    },
    {
      "epoch": 24.892086330935253,
      "grad_norm": 0.2744292616844177,
      "learning_rate": 6.0452184378797904e-05,
      "loss": 0.072,
      "step": 27680
    },
    {
      "action_loss": 0.0063209086656570435,
      "epoch": 24.892086330935253,
      "step": 27680
    },
    {
      "epoch": 24.892086330935253,
      "step": 27680,
      "torque_loss": 0.10336335748434067
    },
    {
      "epoch": 24.901079136690647,
      "grad_norm": 0.32592567801475525,
      "learning_rate": 6.042523381668209e-05,
      "loss": 0.0687,
      "step": 27690
    },
    {
      "action_loss": 0.0033147090580314398,
      "epoch": 24.901079136690647,
      "step": 27690
    },
    {
      "epoch": 24.901079136690647,
      "step": 27690,
      "torque_loss": 0.09517528861761093
    },
    {
      "epoch": 24.91007194244604,
      "grad_norm": 0.33415016531944275,
      "learning_rate": 6.03982800876555e-05,
      "loss": 0.0666,
      "step": 27700
    },
    {
      "action_loss": 0.02003292180597782,
      "epoch": 24.91007194244604,
      "step": 27700
    },
    {
      "epoch": 24.91007194244604,
      "step": 27700,
      "torque_loss": 0.1423054188489914
    },
    {
      "epoch": 24.91906474820144,
      "grad_norm": 0.28040045499801636,
      "learning_rate": 6.0371323199905975e-05,
      "loss": 0.0824,
      "step": 27710
    },
    {
      "action_loss": 0.003209102898836136,
      "epoch": 24.91906474820144,
      "step": 27710
    },
    {
      "epoch": 24.91906474820144,
      "step": 27710,
      "torque_loss": 0.10223990678787231
    },
    {
      "epoch": 24.928057553956833,
      "grad_norm": 0.2580537796020508,
      "learning_rate": 6.03443631616223e-05,
      "loss": 0.0686,
      "step": 27720
    },
    {
      "action_loss": 0.003163563786074519,
      "epoch": 24.928057553956833,
      "step": 27720
    },
    {
      "epoch": 24.928057553956833,
      "step": 27720,
      "torque_loss": 0.07119854539632797
    },
    {
      "epoch": 24.93705035971223,
      "grad_norm": 0.30993062257766724,
      "learning_rate": 6.031739998099421e-05,
      "loss": 0.064,
      "step": 27730
    },
    {
      "action_loss": 0.011025776155292988,
      "epoch": 24.93705035971223,
      "step": 27730
    },
    {
      "epoch": 24.93705035971223,
      "step": 27730,
      "torque_loss": 0.14750516414642334
    },
    {
      "epoch": 24.946043165467625,
      "grad_norm": 0.33051225543022156,
      "learning_rate": 6.029043366621243e-05,
      "loss": 0.067,
      "step": 27740
    },
    {
      "action_loss": 0.003991697449237108,
      "epoch": 24.946043165467625,
      "step": 27740
    },
    {
      "epoch": 24.946043165467625,
      "step": 27740,
      "torque_loss": 0.10026019811630249
    },
    {
      "epoch": 24.955035971223023,
      "grad_norm": 0.31621450185775757,
      "learning_rate": 6.0263464225468615e-05,
      "loss": 0.0697,
      "step": 27750
    },
    {
      "action_loss": 0.0024104572366923094,
      "epoch": 24.955035971223023,
      "step": 27750
    },
    {
      "epoch": 24.955035971223023,
      "step": 27750,
      "torque_loss": 0.07787478715181351
    },
    {
      "epoch": 24.964028776978417,
      "grad_norm": 0.28891170024871826,
      "learning_rate": 6.023649166695534e-05,
      "loss": 0.0656,
      "step": 27760
    },
    {
      "action_loss": 0.008134870789945126,
      "epoch": 24.964028776978417,
      "step": 27760
    },
    {
      "epoch": 24.964028776978417,
      "step": 27760,
      "torque_loss": 0.11655046790838242
    },
    {
      "epoch": 24.973021582733814,
      "grad_norm": 0.23938758671283722,
      "learning_rate": 6.0209515998866186e-05,
      "loss": 0.0792,
      "step": 27770
    },
    {
      "action_loss": 0.002548736985772848,
      "epoch": 24.973021582733814,
      "step": 27770
    },
    {
      "epoch": 24.973021582733814,
      "step": 27770,
      "torque_loss": 0.061301395297050476
    },
    {
      "epoch": 24.98201438848921,
      "grad_norm": 0.30928370356559753,
      "learning_rate": 6.018253722939563e-05,
      "loss": 0.0755,
      "step": 27780
    },
    {
      "action_loss": 0.004474143963307142,
      "epoch": 24.98201438848921,
      "step": 27780
    },
    {
      "epoch": 24.98201438848921,
      "step": 27780,
      "torque_loss": 0.11202347278594971
    },
    {
      "epoch": 24.991007194244606,
      "grad_norm": 0.3032703399658203,
      "learning_rate": 6.015555536673914e-05,
      "loss": 0.0752,
      "step": 27790
    },
    {
      "action_loss": 0.003985452465713024,
      "epoch": 24.991007194244606,
      "step": 27790
    },
    {
      "epoch": 24.991007194244606,
      "step": 27790,
      "torque_loss": 0.10936745256185532
    },
    {
      "epoch": 25.0,
      "grad_norm": 0.3144039511680603,
      "learning_rate": 6.0128570419093054e-05,
      "loss": 0.0787,
      "step": 27800
    },
    {
      "action_loss": 0.004393977113068104,
      "epoch": 25.0,
      "step": 27800
    },
    {
      "epoch": 25.0,
      "step": 27800,
      "torque_loss": 0.09677859395742416
    },
    {
      "epoch": 25.008992805755394,
      "grad_norm": 0.30316704511642456,
      "learning_rate": 6.010158239465471e-05,
      "loss": 0.0609,
      "step": 27810
    },
    {
      "action_loss": 0.003966872114688158,
      "epoch": 25.008992805755394,
      "step": 27810
    },
    {
      "epoch": 25.008992805755394,
      "step": 27810,
      "torque_loss": 0.11157277971506119
    },
    {
      "epoch": 25.01798561151079,
      "grad_norm": 0.2521178424358368,
      "learning_rate": 6.007459130162235e-05,
      "loss": 0.0791,
      "step": 27820
    },
    {
      "action_loss": 0.010328344069421291,
      "epoch": 25.01798561151079,
      "step": 27820
    },
    {
      "epoch": 25.01798561151079,
      "step": 27820,
      "torque_loss": 0.15932652354240417
    },
    {
      "epoch": 25.026978417266186,
      "grad_norm": 0.2877529263496399,
      "learning_rate": 6.004759714819516e-05,
      "loss": 0.0723,
      "step": 27830
    },
    {
      "action_loss": 0.0019157013157382607,
      "epoch": 25.026978417266186,
      "step": 27830
    },
    {
      "epoch": 25.026978417266186,
      "step": 27830,
      "torque_loss": 0.0798426941037178
    },
    {
      "epoch": 25.035971223021583,
      "grad_norm": 0.29393717646598816,
      "learning_rate": 6.002059994257323e-05,
      "loss": 0.0887,
      "step": 27840
    },
    {
      "action_loss": 0.005333239678293467,
      "epoch": 25.035971223021583,
      "step": 27840
    },
    {
      "epoch": 25.035971223021583,
      "step": 27840,
      "torque_loss": 0.10076712816953659
    },
    {
      "epoch": 25.044964028776977,
      "grad_norm": 0.3401517868041992,
      "learning_rate": 5.999359969295764e-05,
      "loss": 0.077,
      "step": 27850
    },
    {
      "action_loss": 0.005655268672853708,
      "epoch": 25.044964028776977,
      "step": 27850
    },
    {
      "epoch": 25.044964028776977,
      "step": 27850,
      "torque_loss": 0.129129096865654
    },
    {
      "epoch": 25.053956834532375,
      "grad_norm": 0.23754332959651947,
      "learning_rate": 5.9966596407550314e-05,
      "loss": 0.0639,
      "step": 27860
    },
    {
      "action_loss": 0.018437756225466728,
      "epoch": 25.053956834532375,
      "step": 27860
    },
    {
      "epoch": 25.053956834532375,
      "step": 27860,
      "torque_loss": 0.14868579804897308
    },
    {
      "epoch": 25.06294964028777,
      "grad_norm": 0.3171374201774597,
      "learning_rate": 5.993959009455416e-05,
      "loss": 0.0778,
      "step": 27870
    },
    {
      "action_loss": 0.003759446321055293,
      "epoch": 25.06294964028777,
      "step": 27870
    },
    {
      "epoch": 25.06294964028777,
      "step": 27870,
      "torque_loss": 0.07713030278682709
    },
    {
      "epoch": 25.071942446043167,
      "grad_norm": 0.35398727655410767,
      "learning_rate": 5.991258076217298e-05,
      "loss": 0.0647,
      "step": 27880
    },
    {
      "action_loss": 0.015921354293823242,
      "epoch": 25.071942446043167,
      "step": 27880
    },
    {
      "epoch": 25.071942446043167,
      "step": 27880,
      "torque_loss": 0.16890831291675568
    },
    {
      "epoch": 25.08093525179856,
      "grad_norm": 0.29671338200569153,
      "learning_rate": 5.988556841861147e-05,
      "loss": 0.0768,
      "step": 27890
    },
    {
      "action_loss": 0.007224968168884516,
      "epoch": 25.08093525179856,
      "step": 27890
    },
    {
      "epoch": 25.08093525179856,
      "step": 27890,
      "torque_loss": 0.14993761479854584
    },
    {
      "epoch": 25.08992805755396,
      "grad_norm": 0.3369870185852051,
      "learning_rate": 5.985855307207531e-05,
      "loss": 0.0858,
      "step": 27900
    },
    {
      "action_loss": 0.0037733856588602066,
      "epoch": 25.08992805755396,
      "step": 27900
    },
    {
      "epoch": 25.08992805755396,
      "step": 27900,
      "torque_loss": 0.0691223219037056
    },
    {
      "epoch": 25.098920863309353,
      "grad_norm": 0.29035893082618713,
      "learning_rate": 5.9831534730771e-05,
      "loss": 0.0649,
      "step": 27910
    },
    {
      "action_loss": 0.005171618424355984,
      "epoch": 25.098920863309353,
      "step": 27910
    },
    {
      "epoch": 25.098920863309353,
      "step": 27910,
      "torque_loss": 0.11898982524871826
    },
    {
      "epoch": 25.107913669064747,
      "grad_norm": 0.21592944860458374,
      "learning_rate": 5.980451340290605e-05,
      "loss": 0.0749,
      "step": 27920
    },
    {
      "action_loss": 0.002492240397259593,
      "epoch": 25.107913669064747,
      "step": 27920
    },
    {
      "epoch": 25.107913669064747,
      "step": 27920,
      "torque_loss": 0.1047581359744072
    },
    {
      "epoch": 25.116906474820144,
      "grad_norm": 0.3200257122516632,
      "learning_rate": 5.97774890966888e-05,
      "loss": 0.0677,
      "step": 27930
    },
    {
      "action_loss": 0.004771375562995672,
      "epoch": 25.116906474820144,
      "step": 27930
    },
    {
      "epoch": 25.116906474820144,
      "step": 27930,
      "torque_loss": 0.10531709343194962
    },
    {
      "epoch": 25.12589928057554,
      "grad_norm": 0.2657764256000519,
      "learning_rate": 5.975046182032851e-05,
      "loss": 0.0764,
      "step": 27940
    },
    {
      "action_loss": 0.011435255408287048,
      "epoch": 25.12589928057554,
      "step": 27940
    },
    {
      "epoch": 25.12589928057554,
      "step": 27940,
      "torque_loss": 0.1262841522693634
    },
    {
      "epoch": 25.134892086330936,
      "grad_norm": 0.3018190562725067,
      "learning_rate": 5.972343158203537e-05,
      "loss": 0.0722,
      "step": 27950
    },
    {
      "action_loss": 0.011756010353565216,
      "epoch": 25.134892086330936,
      "step": 27950
    },
    {
      "epoch": 25.134892086330936,
      "step": 27950,
      "torque_loss": 0.1293884813785553
    },
    {
      "epoch": 25.14388489208633,
      "grad_norm": 0.28093576431274414,
      "learning_rate": 5.969639839002045e-05,
      "loss": 0.0692,
      "step": 27960
    },
    {
      "action_loss": 0.008735896088182926,
      "epoch": 25.14388489208633,
      "step": 27960
    },
    {
      "epoch": 25.14388489208633,
      "step": 27960,
      "torque_loss": 0.14884281158447266
    },
    {
      "epoch": 25.152877697841728,
      "grad_norm": 0.22188976407051086,
      "learning_rate": 5.966936225249572e-05,
      "loss": 0.0729,
      "step": 27970
    },
    {
      "action_loss": 0.012482043355703354,
      "epoch": 25.152877697841728,
      "step": 27970
    },
    {
      "epoch": 25.152877697841728,
      "step": 27970,
      "torque_loss": 0.12156454473733902
    },
    {
      "epoch": 25.16187050359712,
      "grad_norm": 0.3062056303024292,
      "learning_rate": 5.9642323177674044e-05,
      "loss": 0.07,
      "step": 27980
    },
    {
      "action_loss": 0.001786458888091147,
      "epoch": 25.16187050359712,
      "step": 27980
    },
    {
      "epoch": 25.16187050359712,
      "step": 27980,
      "torque_loss": 0.06476340442895889
    },
    {
      "epoch": 25.17086330935252,
      "grad_norm": 0.3093818426132202,
      "learning_rate": 5.9615281173769154e-05,
      "loss": 0.0669,
      "step": 27990
    },
    {
      "action_loss": 0.014588743448257446,
      "epoch": 25.17086330935252,
      "step": 27990
    },
    {
      "epoch": 25.17086330935252,
      "step": 27990,
      "torque_loss": 0.15759311616420746
    },
    {
      "epoch": 25.179856115107913,
      "grad_norm": 0.255343496799469,
      "learning_rate": 5.958823624899574e-05,
      "loss": 0.0644,
      "step": 28000
    },
    {
      "action_loss": 0.004764961544424295,
      "epoch": 25.179856115107913,
      "step": 28000
    },
    {
      "epoch": 25.179856115107913,
      "step": 28000,
      "torque_loss": 0.09370499849319458
    },
    {
      "epoch": 25.18884892086331,
      "grad_norm": 0.43052297830581665,
      "learning_rate": 5.956118841156933e-05,
      "loss": 0.071,
      "step": 28010
    },
    {
      "action_loss": 0.002680281875655055,
      "epoch": 25.18884892086331,
      "step": 28010
    },
    {
      "epoch": 25.18884892086331,
      "step": 28010,
      "torque_loss": 0.10424675792455673
    },
    {
      "epoch": 25.197841726618705,
      "grad_norm": 0.1607753336429596,
      "learning_rate": 5.953413766970631e-05,
      "loss": 0.0729,
      "step": 28020
    },
    {
      "action_loss": 0.005450624972581863,
      "epoch": 25.197841726618705,
      "step": 28020
    },
    {
      "epoch": 25.197841726618705,
      "step": 28020,
      "torque_loss": 0.09581393748521805
    },
    {
      "epoch": 25.2068345323741,
      "grad_norm": 0.33881622552871704,
      "learning_rate": 5.9507084031624e-05,
      "loss": 0.0773,
      "step": 28030
    },
    {
      "action_loss": 0.008111945353448391,
      "epoch": 25.2068345323741,
      "step": 28030
    },
    {
      "epoch": 25.2068345323741,
      "step": 28030,
      "torque_loss": 0.10606000572443008
    },
    {
      "epoch": 25.215827338129497,
      "grad_norm": 0.34942665696144104,
      "learning_rate": 5.948002750554058e-05,
      "loss": 0.0791,
      "step": 28040
    },
    {
      "action_loss": 0.008905048482120037,
      "epoch": 25.215827338129497,
      "step": 28040
    },
    {
      "epoch": 25.215827338129497,
      "step": 28040,
      "torque_loss": 0.13550449907779694
    },
    {
      "epoch": 25.22482014388489,
      "grad_norm": 0.27807503938674927,
      "learning_rate": 5.9452968099675124e-05,
      "loss": 0.0701,
      "step": 28050
    },
    {
      "action_loss": 0.004557817708700895,
      "epoch": 25.22482014388489,
      "step": 28050
    },
    {
      "epoch": 25.22482014388489,
      "step": 28050,
      "torque_loss": 0.1381525993347168
    },
    {
      "epoch": 25.23381294964029,
      "grad_norm": 0.2877275347709656,
      "learning_rate": 5.9425905822247527e-05,
      "loss": 0.0707,
      "step": 28060
    },
    {
      "action_loss": 0.006210202816873789,
      "epoch": 25.23381294964029,
      "step": 28060
    },
    {
      "epoch": 25.23381294964029,
      "step": 28060,
      "torque_loss": 0.10798437148332596
    },
    {
      "epoch": 25.242805755395683,
      "grad_norm": 0.30219683051109314,
      "learning_rate": 5.939884068147864e-05,
      "loss": 0.0756,
      "step": 28070
    },
    {
      "action_loss": 0.0023428432177752256,
      "epoch": 25.242805755395683,
      "step": 28070
    },
    {
      "epoch": 25.242805755395683,
      "step": 28070,
      "torque_loss": 0.06755012273788452
    },
    {
      "epoch": 25.25179856115108,
      "grad_norm": 0.3148571252822876,
      "learning_rate": 5.937177268559011e-05,
      "loss": 0.0618,
      "step": 28080
    },
    {
      "action_loss": 0.004747506696730852,
      "epoch": 25.25179856115108,
      "step": 28080
    },
    {
      "epoch": 25.25179856115108,
      "step": 28080,
      "torque_loss": 0.08917620033025742
    },
    {
      "epoch": 25.260791366906474,
      "grad_norm": 0.32061153650283813,
      "learning_rate": 5.934470184280448e-05,
      "loss": 0.0658,
      "step": 28090
    },
    {
      "action_loss": 0.0033518618438392878,
      "epoch": 25.260791366906474,
      "step": 28090
    },
    {
      "epoch": 25.260791366906474,
      "step": 28090,
      "torque_loss": 0.12082032114267349
    },
    {
      "epoch": 25.269784172661872,
      "grad_norm": 0.35799792408943176,
      "learning_rate": 5.931762816134516e-05,
      "loss": 0.0714,
      "step": 28100
    },
    {
      "action_loss": 0.004560097586363554,
      "epoch": 25.269784172661872,
      "step": 28100
    },
    {
      "epoch": 25.269784172661872,
      "step": 28100,
      "torque_loss": 0.12318118661642075
    },
    {
      "epoch": 25.278776978417266,
      "grad_norm": 0.32174983620643616,
      "learning_rate": 5.9290551649436434e-05,
      "loss": 0.0707,
      "step": 28110
    },
    {
      "action_loss": 0.004459346178919077,
      "epoch": 25.278776978417266,
      "step": 28110
    },
    {
      "epoch": 25.278776978417266,
      "step": 28110,
      "torque_loss": 0.08168026804924011
    },
    {
      "epoch": 25.28776978417266,
      "grad_norm": 0.3794429302215576,
      "learning_rate": 5.9263472315303416e-05,
      "loss": 0.0822,
      "step": 28120
    },
    {
      "action_loss": 0.004194691777229309,
      "epoch": 25.28776978417266,
      "step": 28120
    },
    {
      "epoch": 25.28776978417266,
      "step": 28120,
      "torque_loss": 0.08485228568315506
    },
    {
      "epoch": 25.296762589928058,
      "grad_norm": 0.3996596038341522,
      "learning_rate": 5.9236390167172096e-05,
      "loss": 0.0684,
      "step": 28130
    },
    {
      "action_loss": 0.01111880224198103,
      "epoch": 25.296762589928058,
      "step": 28130
    },
    {
      "epoch": 25.296762589928058,
      "step": 28130,
      "torque_loss": 0.16695408523082733
    },
    {
      "epoch": 25.305755395683452,
      "grad_norm": 0.33353397250175476,
      "learning_rate": 5.920930521326932e-05,
      "loss": 0.0828,
      "step": 28140
    },
    {
      "action_loss": 0.017824195325374603,
      "epoch": 25.305755395683452,
      "step": 28140
    },
    {
      "epoch": 25.305755395683452,
      "step": 28140,
      "torque_loss": 0.1953369379043579
    },
    {
      "epoch": 25.31474820143885,
      "grad_norm": 0.2749834954738617,
      "learning_rate": 5.918221746182276e-05,
      "loss": 0.0739,
      "step": 28150
    },
    {
      "action_loss": 0.005200426559895277,
      "epoch": 25.31474820143885,
      "step": 28150
    },
    {
      "epoch": 25.31474820143885,
      "step": 28150,
      "torque_loss": 0.11185953766107559
    },
    {
      "epoch": 25.323741007194243,
      "grad_norm": 0.2687603533267975,
      "learning_rate": 5.9155126921061e-05,
      "loss": 0.0692,
      "step": 28160
    },
    {
      "action_loss": 0.003219078993424773,
      "epoch": 25.323741007194243,
      "step": 28160
    },
    {
      "epoch": 25.323741007194243,
      "step": 28160,
      "torque_loss": 0.07903183996677399
    },
    {
      "epoch": 25.33273381294964,
      "grad_norm": 0.4037219285964966,
      "learning_rate": 5.91280335992134e-05,
      "loss": 0.0666,
      "step": 28170
    },
    {
      "action_loss": 0.0030142858158797026,
      "epoch": 25.33273381294964,
      "step": 28170
    },
    {
      "epoch": 25.33273381294964,
      "step": 28170,
      "torque_loss": 0.08054842799901962
    },
    {
      "epoch": 25.341726618705035,
      "grad_norm": 0.30869489908218384,
      "learning_rate": 5.91009375045102e-05,
      "loss": 0.0712,
      "step": 28180
    },
    {
      "action_loss": 0.003402137430384755,
      "epoch": 25.341726618705035,
      "step": 28180
    },
    {
      "epoch": 25.341726618705035,
      "step": 28180,
      "torque_loss": 0.08149983733892441
    },
    {
      "epoch": 25.350719424460433,
      "grad_norm": 0.39159154891967773,
      "learning_rate": 5.9073838645182476e-05,
      "loss": 0.0616,
      "step": 28190
    },
    {
      "action_loss": 0.004185924772173166,
      "epoch": 25.350719424460433,
      "step": 28190
    },
    {
      "epoch": 25.350719424460433,
      "step": 28190,
      "torque_loss": 0.07643212378025055
    },
    {
      "epoch": 25.359712230215827,
      "grad_norm": 0.3891468942165375,
      "learning_rate": 5.904673702946217e-05,
      "loss": 0.0792,
      "step": 28200
    },
    {
      "action_loss": 0.00493858614936471,
      "epoch": 25.359712230215827,
      "step": 28200
    },
    {
      "epoch": 25.359712230215827,
      "step": 28200,
      "torque_loss": 0.07014685124158859
    },
    {
      "epoch": 25.368705035971225,
      "grad_norm": 0.27076205611228943,
      "learning_rate": 5.9019632665582004e-05,
      "loss": 0.0641,
      "step": 28210
    },
    {
      "action_loss": 0.001945150550454855,
      "epoch": 25.368705035971225,
      "step": 28210
    },
    {
      "epoch": 25.368705035971225,
      "step": 28210,
      "torque_loss": 0.06968450546264648
    },
    {
      "epoch": 25.37769784172662,
      "grad_norm": 0.34469643235206604,
      "learning_rate": 5.899252556177559e-05,
      "loss": 0.065,
      "step": 28220
    },
    {
      "action_loss": 0.003892573295161128,
      "epoch": 25.37769784172662,
      "step": 28220
    },
    {
      "epoch": 25.37769784172662,
      "step": 28220,
      "torque_loss": 0.11752312630414963
    },
    {
      "epoch": 25.386690647482013,
      "grad_norm": 0.32304948568344116,
      "learning_rate": 5.896541572627735e-05,
      "loss": 0.0709,
      "step": 28230
    },
    {
      "action_loss": 0.006341375410556793,
      "epoch": 25.386690647482013,
      "step": 28230
    },
    {
      "epoch": 25.386690647482013,
      "step": 28230,
      "torque_loss": 0.10392043739557266
    },
    {
      "epoch": 25.39568345323741,
      "grad_norm": 0.29223382472991943,
      "learning_rate": 5.893830316732253e-05,
      "loss": 0.0737,
      "step": 28240
    },
    {
      "action_loss": 0.005190910305827856,
      "epoch": 25.39568345323741,
      "step": 28240
    },
    {
      "epoch": 25.39568345323741,
      "step": 28240,
      "torque_loss": 0.06961461901664734
    },
    {
      "epoch": 25.404676258992804,
      "grad_norm": 0.23387083411216736,
      "learning_rate": 5.8911187893147214e-05,
      "loss": 0.0749,
      "step": 28250
    },
    {
      "action_loss": 0.007104924414306879,
      "epoch": 25.404676258992804,
      "step": 28250
    },
    {
      "epoch": 25.404676258992804,
      "step": 28250,
      "torque_loss": 0.10242369025945663
    },
    {
      "epoch": 25.413669064748202,
      "grad_norm": 0.29617223143577576,
      "learning_rate": 5.888406991198828e-05,
      "loss": 0.0763,
      "step": 28260
    },
    {
      "action_loss": 0.0062598916701972485,
      "epoch": 25.413669064748202,
      "step": 28260
    },
    {
      "epoch": 25.413669064748202,
      "step": 28260,
      "torque_loss": 0.10831645876169205
    },
    {
      "epoch": 25.422661870503596,
      "grad_norm": 0.33800220489501953,
      "learning_rate": 5.885694923208349e-05,
      "loss": 0.081,
      "step": 28270
    },
    {
      "action_loss": 0.005949844140559435,
      "epoch": 25.422661870503596,
      "step": 28270
    },
    {
      "epoch": 25.422661870503596,
      "step": 28270,
      "torque_loss": 0.12060918658971786
    },
    {
      "epoch": 25.431654676258994,
      "grad_norm": 0.3424675166606903,
      "learning_rate": 5.882982586167138e-05,
      "loss": 0.0778,
      "step": 28280
    },
    {
      "action_loss": 0.0034365560859441757,
      "epoch": 25.431654676258994,
      "step": 28280
    },
    {
      "epoch": 25.431654676258994,
      "step": 28280,
      "torque_loss": 0.07129731774330139
    },
    {
      "epoch": 25.440647482014388,
      "grad_norm": 0.31417161226272583,
      "learning_rate": 5.880269980899131e-05,
      "loss": 0.0683,
      "step": 28290
    },
    {
      "action_loss": 0.002560505410656333,
      "epoch": 25.440647482014388,
      "step": 28290
    },
    {
      "epoch": 25.440647482014388,
      "step": 28290,
      "torque_loss": 0.06261040270328522
    },
    {
      "epoch": 25.449640287769785,
      "grad_norm": 0.3365100622177124,
      "learning_rate": 5.8775571082283465e-05,
      "loss": 0.0665,
      "step": 28300
    },
    {
      "action_loss": 0.004692959599196911,
      "epoch": 25.449640287769785,
      "step": 28300
    },
    {
      "epoch": 25.449640287769785,
      "step": 28300,
      "torque_loss": 0.08773508667945862
    },
    {
      "epoch": 25.45863309352518,
      "grad_norm": 0.3075443506240845,
      "learning_rate": 5.8748439689788824e-05,
      "loss": 0.0726,
      "step": 28310
    },
    {
      "action_loss": 0.005715473089367151,
      "epoch": 25.45863309352518,
      "step": 28310
    },
    {
      "epoch": 25.45863309352518,
      "step": 28310,
      "torque_loss": 0.12562230229377747
    },
    {
      "epoch": 25.467625899280577,
      "grad_norm": 0.31796666979789734,
      "learning_rate": 5.87213056397492e-05,
      "loss": 0.0678,
      "step": 28320
    },
    {
      "action_loss": 0.007996329106390476,
      "epoch": 25.467625899280577,
      "step": 28320
    },
    {
      "epoch": 25.467625899280577,
      "step": 28320,
      "torque_loss": 0.12241315841674805
    },
    {
      "epoch": 25.47661870503597,
      "grad_norm": 0.2827773690223694,
      "learning_rate": 5.869416894040719e-05,
      "loss": 0.0802,
      "step": 28330
    },
    {
      "action_loss": 0.00589805468916893,
      "epoch": 25.47661870503597,
      "step": 28330
    },
    {
      "epoch": 25.47661870503597,
      "step": 28330,
      "torque_loss": 0.10473853349685669
    },
    {
      "epoch": 25.485611510791365,
      "grad_norm": 0.24224258959293365,
      "learning_rate": 5.866702960000621e-05,
      "loss": 0.0667,
      "step": 28340
    },
    {
      "action_loss": 0.005146846640855074,
      "epoch": 25.485611510791365,
      "step": 28340
    },
    {
      "epoch": 25.485611510791365,
      "step": 28340,
      "torque_loss": 0.08878042548894882
    },
    {
      "epoch": 25.494604316546763,
      "grad_norm": 0.3138313889503479,
      "learning_rate": 5.863988762679048e-05,
      "loss": 0.0805,
      "step": 28350
    },
    {
      "action_loss": 0.003718686057254672,
      "epoch": 25.494604316546763,
      "step": 28350
    },
    {
      "epoch": 25.494604316546763,
      "step": 28350,
      "torque_loss": 0.07800006866455078
    },
    {
      "epoch": 25.503597122302157,
      "grad_norm": 0.2589147686958313,
      "learning_rate": 5.8612743029005e-05,
      "loss": 0.0601,
      "step": 28360
    },
    {
      "action_loss": 0.0013389714295044541,
      "epoch": 25.503597122302157,
      "step": 28360
    },
    {
      "epoch": 25.503597122302157,
      "step": 28360,
      "torque_loss": 0.07138551026582718
    },
    {
      "epoch": 25.512589928057555,
      "grad_norm": 0.28465813398361206,
      "learning_rate": 5.858559581489561e-05,
      "loss": 0.0652,
      "step": 28370
    },
    {
      "action_loss": 0.018342284485697746,
      "epoch": 25.512589928057555,
      "step": 28370
    },
    {
      "epoch": 25.512589928057555,
      "step": 28370,
      "torque_loss": 0.1723880022764206
    },
    {
      "epoch": 25.52158273381295,
      "grad_norm": 0.2724984586238861,
      "learning_rate": 5.85584459927089e-05,
      "loss": 0.0722,
      "step": 28380
    },
    {
      "action_loss": 0.0122441491112113,
      "epoch": 25.52158273381295,
      "step": 28380
    },
    {
      "epoch": 25.52158273381295,
      "step": 28380,
      "torque_loss": 0.11844175308942795
    },
    {
      "epoch": 25.530575539568346,
      "grad_norm": 0.22683440148830414,
      "learning_rate": 5.853129357069227e-05,
      "loss": 0.0684,
      "step": 28390
    },
    {
      "action_loss": 0.007904427126049995,
      "epoch": 25.530575539568346,
      "step": 28390
    },
    {
      "epoch": 25.530575539568346,
      "step": 28390,
      "torque_loss": 0.16555844247341156
    },
    {
      "epoch": 25.53956834532374,
      "grad_norm": 0.267549604177475,
      "learning_rate": 5.8504138557093913e-05,
      "loss": 0.0734,
      "step": 28400
    },
    {
      "action_loss": 0.01699374057352543,
      "epoch": 25.53956834532374,
      "step": 28400
    },
    {
      "epoch": 25.53956834532374,
      "step": 28400,
      "torque_loss": 0.17850244045257568
    },
    {
      "epoch": 25.548561151079138,
      "grad_norm": 0.2435440570116043,
      "learning_rate": 5.8476980960162784e-05,
      "loss": 0.0738,
      "step": 28410
    },
    {
      "action_loss": 0.007534225005656481,
      "epoch": 25.548561151079138,
      "step": 28410
    },
    {
      "epoch": 25.548561151079138,
      "step": 28410,
      "torque_loss": 0.12413940578699112
    },
    {
      "epoch": 25.557553956834532,
      "grad_norm": 0.36534038186073303,
      "learning_rate": 5.844982078814868e-05,
      "loss": 0.0689,
      "step": 28420
    },
    {
      "action_loss": 0.008895154111087322,
      "epoch": 25.557553956834532,
      "step": 28420
    },
    {
      "epoch": 25.557553956834532,
      "step": 28420,
      "torque_loss": 0.1547756940126419
    },
    {
      "epoch": 25.56654676258993,
      "grad_norm": 0.4081001281738281,
      "learning_rate": 5.842265804930211e-05,
      "loss": 0.0856,
      "step": 28430
    },
    {
      "action_loss": 0.0024214175064116716,
      "epoch": 25.56654676258993,
      "step": 28430
    },
    {
      "epoch": 25.56654676258993,
      "step": 28430,
      "torque_loss": 0.08414909243583679
    },
    {
      "epoch": 25.575539568345324,
      "grad_norm": 0.2546674907207489,
      "learning_rate": 5.839549275187444e-05,
      "loss": 0.0644,
      "step": 28440
    },
    {
      "action_loss": 0.009705710224807262,
      "epoch": 25.575539568345324,
      "step": 28440
    },
    {
      "epoch": 25.575539568345324,
      "step": 28440,
      "torque_loss": 0.187751904129982
    },
    {
      "epoch": 25.584532374100718,
      "grad_norm": 0.26310405135154724,
      "learning_rate": 5.836832490411771e-05,
      "loss": 0.079,
      "step": 28450
    },
    {
      "action_loss": 0.002452960005030036,
      "epoch": 25.584532374100718,
      "step": 28450
    },
    {
      "epoch": 25.584532374100718,
      "step": 28450,
      "torque_loss": 0.06231098249554634
    },
    {
      "epoch": 25.593525179856115,
      "grad_norm": 0.28705522418022156,
      "learning_rate": 5.834115451428485e-05,
      "loss": 0.08,
      "step": 28460
    },
    {
      "action_loss": 0.01718234457075596,
      "epoch": 25.593525179856115,
      "step": 28460
    },
    {
      "epoch": 25.593525179856115,
      "step": 28460,
      "torque_loss": 0.1476050168275833
    },
    {
      "epoch": 25.60251798561151,
      "grad_norm": 0.29163214564323425,
      "learning_rate": 5.831398159062946e-05,
      "loss": 0.0705,
      "step": 28470
    },
    {
      "action_loss": 0.002578643150627613,
      "epoch": 25.60251798561151,
      "step": 28470
    },
    {
      "epoch": 25.60251798561151,
      "step": 28470,
      "torque_loss": 0.10659950971603394
    },
    {
      "epoch": 25.611510791366907,
      "grad_norm": 0.3460941016674042,
      "learning_rate": 5.828680614140599e-05,
      "loss": 0.0702,
      "step": 28480
    },
    {
      "action_loss": 0.010021652095019817,
      "epoch": 25.611510791366907,
      "step": 28480
    },
    {
      "epoch": 25.611510791366907,
      "step": 28480,
      "torque_loss": 0.15217311680316925
    },
    {
      "epoch": 25.6205035971223,
      "grad_norm": 0.3623691499233246,
      "learning_rate": 5.825962817486962e-05,
      "loss": 0.0811,
      "step": 28490
    },
    {
      "action_loss": 0.002533593447878957,
      "epoch": 25.6205035971223,
      "step": 28490
    },
    {
      "epoch": 25.6205035971223,
      "step": 28490,
      "torque_loss": 0.0759151503443718
    },
    {
      "epoch": 25.6294964028777,
      "grad_norm": 0.3628937005996704,
      "learning_rate": 5.823244769927629e-05,
      "loss": 0.077,
      "step": 28500
    },
    {
      "action_loss": 0.007223500404506922,
      "epoch": 25.6294964028777,
      "step": 28500
    },
    {
      "epoch": 25.6294964028777,
      "step": 28500,
      "torque_loss": 0.10438022017478943
    },
    {
      "epoch": 25.638489208633093,
      "grad_norm": 0.3396506607532501,
      "learning_rate": 5.8205264722882716e-05,
      "loss": 0.0852,
      "step": 28510
    },
    {
      "action_loss": 0.0020537760574370623,
      "epoch": 25.638489208633093,
      "step": 28510
    },
    {
      "epoch": 25.638489208633093,
      "step": 28510,
      "torque_loss": 0.06996490061283112
    },
    {
      "epoch": 25.64748201438849,
      "grad_norm": 0.32646605372428894,
      "learning_rate": 5.817807925394636e-05,
      "loss": 0.0654,
      "step": 28520
    },
    {
      "action_loss": 0.0060651577077806,
      "epoch": 25.64748201438849,
      "step": 28520
    },
    {
      "epoch": 25.64748201438849,
      "step": 28520,
      "torque_loss": 0.11575466394424438
    },
    {
      "epoch": 25.656474820143885,
      "grad_norm": 0.2979532778263092,
      "learning_rate": 5.815089130072546e-05,
      "loss": 0.0729,
      "step": 28530
    },
    {
      "action_loss": 0.007059374358505011,
      "epoch": 25.656474820143885,
      "step": 28530
    },
    {
      "epoch": 25.656474820143885,
      "step": 28530,
      "torque_loss": 0.08148600906133652
    },
    {
      "epoch": 25.665467625899282,
      "grad_norm": 0.33683857321739197,
      "learning_rate": 5.8123700871479e-05,
      "loss": 0.0628,
      "step": 28540
    },
    {
      "action_loss": 0.003983888775110245,
      "epoch": 25.665467625899282,
      "step": 28540
    },
    {
      "epoch": 25.665467625899282,
      "step": 28540,
      "torque_loss": 0.09044266492128372
    },
    {
      "epoch": 25.674460431654676,
      "grad_norm": 0.36689329147338867,
      "learning_rate": 5.809650797446671e-05,
      "loss": 0.0718,
      "step": 28550
    },
    {
      "action_loss": 0.003125666407868266,
      "epoch": 25.674460431654676,
      "step": 28550
    },
    {
      "epoch": 25.674460431654676,
      "step": 28550,
      "torque_loss": 0.10079395771026611
    },
    {
      "epoch": 25.68345323741007,
      "grad_norm": 0.32306116819381714,
      "learning_rate": 5.806931261794907e-05,
      "loss": 0.0719,
      "step": 28560
    },
    {
      "action_loss": 0.00292080151848495,
      "epoch": 25.68345323741007,
      "step": 28560
    },
    {
      "epoch": 25.68345323741007,
      "step": 28560,
      "torque_loss": 0.08560696244239807
    },
    {
      "epoch": 25.692446043165468,
      "grad_norm": 0.2697027325630188,
      "learning_rate": 5.804211481018731e-05,
      "loss": 0.0586,
      "step": 28570
    },
    {
      "action_loss": 0.010819231159985065,
      "epoch": 25.692446043165468,
      "step": 28570
    },
    {
      "epoch": 25.692446043165468,
      "step": 28570,
      "torque_loss": 0.14030574262142181
    },
    {
      "epoch": 25.701438848920862,
      "grad_norm": 0.2453904002904892,
      "learning_rate": 5.801491455944341e-05,
      "loss": 0.0584,
      "step": 28580
    },
    {
      "action_loss": 0.004980072844773531,
      "epoch": 25.701438848920862,
      "step": 28580
    },
    {
      "epoch": 25.701438848920862,
      "step": 28580,
      "torque_loss": 0.11658384650945663
    },
    {
      "epoch": 25.71043165467626,
      "grad_norm": 0.25129878520965576,
      "learning_rate": 5.79877118739801e-05,
      "loss": 0.0659,
      "step": 28590
    },
    {
      "action_loss": 0.03308965638279915,
      "epoch": 25.71043165467626,
      "step": 28590
    },
    {
      "epoch": 25.71043165467626,
      "step": 28590,
      "torque_loss": 0.16974858939647675
    },
    {
      "epoch": 25.719424460431654,
      "grad_norm": 0.30914363265037537,
      "learning_rate": 5.7960506762060816e-05,
      "loss": 0.0722,
      "step": 28600
    },
    {
      "action_loss": 0.005564519669860601,
      "epoch": 25.719424460431654,
      "step": 28600
    },
    {
      "epoch": 25.719424460431654,
      "step": 28600,
      "torque_loss": 0.12069400399923325
    },
    {
      "epoch": 25.72841726618705,
      "grad_norm": 0.3269912004470825,
      "learning_rate": 5.793329923194977e-05,
      "loss": 0.0641,
      "step": 28610
    },
    {
      "action_loss": 0.004935868084430695,
      "epoch": 25.72841726618705,
      "step": 28610
    },
    {
      "epoch": 25.72841726618705,
      "step": 28610,
      "torque_loss": 0.123292475938797
    },
    {
      "epoch": 25.737410071942445,
      "grad_norm": 0.33071187138557434,
      "learning_rate": 5.790608929191187e-05,
      "loss": 0.0636,
      "step": 28620
    },
    {
      "action_loss": 0.00316730048507452,
      "epoch": 25.737410071942445,
      "step": 28620
    },
    {
      "epoch": 25.737410071942445,
      "step": 28620,
      "torque_loss": 0.09203004091978073
    },
    {
      "epoch": 25.746402877697843,
      "grad_norm": 0.24979428946971893,
      "learning_rate": 5.78788769502128e-05,
      "loss": 0.085,
      "step": 28630
    },
    {
      "action_loss": 0.005114823114126921,
      "epoch": 25.746402877697843,
      "step": 28630
    },
    {
      "epoch": 25.746402877697843,
      "step": 28630,
      "torque_loss": 0.11627861112356186
    },
    {
      "epoch": 25.755395683453237,
      "grad_norm": 0.27697864174842834,
      "learning_rate": 5.785166221511894e-05,
      "loss": 0.0748,
      "step": 28640
    },
    {
      "action_loss": 0.0046099270693957806,
      "epoch": 25.755395683453237,
      "step": 28640
    },
    {
      "epoch": 25.755395683453237,
      "step": 28640,
      "torque_loss": 0.10049962252378464
    },
    {
      "epoch": 25.764388489208635,
      "grad_norm": 0.32740360498428345,
      "learning_rate": 5.7824445094897415e-05,
      "loss": 0.0814,
      "step": 28650
    },
    {
      "action_loss": 0.008527475409209728,
      "epoch": 25.764388489208635,
      "step": 28650
    },
    {
      "epoch": 25.764388489208635,
      "step": 28650,
      "torque_loss": 0.14484736323356628
    },
    {
      "epoch": 25.77338129496403,
      "grad_norm": 0.2729944586753845,
      "learning_rate": 5.7797225597816065e-05,
      "loss": 0.0795,
      "step": 28660
    },
    {
      "action_loss": 0.002463594311848283,
      "epoch": 25.77338129496403,
      "step": 28660
    },
    {
      "epoch": 25.77338129496403,
      "step": 28660,
      "torque_loss": 0.06870757788419724
    },
    {
      "epoch": 25.782374100719423,
      "grad_norm": 0.3322727382183075,
      "learning_rate": 5.777000373214345e-05,
      "loss": 0.0632,
      "step": 28670
    },
    {
      "action_loss": 0.003938771318644285,
      "epoch": 25.782374100719423,
      "step": 28670
    },
    {
      "epoch": 25.782374100719423,
      "step": 28670,
      "torque_loss": 0.079009510576725
    },
    {
      "epoch": 25.79136690647482,
      "grad_norm": 0.3479297161102295,
      "learning_rate": 5.774277950614885e-05,
      "loss": 0.0817,
      "step": 28680
    },
    {
      "action_loss": 0.012002146802842617,
      "epoch": 25.79136690647482,
      "step": 28680
    },
    {
      "epoch": 25.79136690647482,
      "step": 28680,
      "torque_loss": 0.1665532886981964
    },
    {
      "epoch": 25.800359712230215,
      "grad_norm": 0.2389768362045288,
      "learning_rate": 5.771555292810227e-05,
      "loss": 0.0729,
      "step": 28690
    },
    {
      "action_loss": 0.005290515720844269,
      "epoch": 25.800359712230215,
      "step": 28690
    },
    {
      "epoch": 25.800359712230215,
      "step": 28690,
      "torque_loss": 0.12348413467407227
    },
    {
      "epoch": 25.809352517985612,
      "grad_norm": 0.23914529383182526,
      "learning_rate": 5.768832400627444e-05,
      "loss": 0.0718,
      "step": 28700
    },
    {
      "action_loss": 0.009669211693108082,
      "epoch": 25.809352517985612,
      "step": 28700
    },
    {
      "epoch": 25.809352517985612,
      "step": 28700,
      "torque_loss": 0.11973175406455994
    },
    {
      "epoch": 25.818345323741006,
      "grad_norm": 0.29329633712768555,
      "learning_rate": 5.7661092748936775e-05,
      "loss": 0.0757,
      "step": 28710
    },
    {
      "action_loss": 0.004995009396225214,
      "epoch": 25.818345323741006,
      "step": 28710
    },
    {
      "epoch": 25.818345323741006,
      "step": 28710,
      "torque_loss": 0.1294529139995575
    },
    {
      "epoch": 25.827338129496404,
      "grad_norm": 0.2926766276359558,
      "learning_rate": 5.76338591643614e-05,
      "loss": 0.0778,
      "step": 28720
    },
    {
      "action_loss": 0.007773674558848143,
      "epoch": 25.827338129496404,
      "step": 28720
    },
    {
      "epoch": 25.827338129496404,
      "step": 28720,
      "torque_loss": 0.14696411788463593
    },
    {
      "epoch": 25.836330935251798,
      "grad_norm": 0.29169681668281555,
      "learning_rate": 5.760662326082118e-05,
      "loss": 0.0744,
      "step": 28730
    },
    {
      "action_loss": 0.002499561756849289,
      "epoch": 25.836330935251798,
      "step": 28730
    },
    {
      "epoch": 25.836330935251798,
      "step": 28730,
      "torque_loss": 0.12145847827196121
    },
    {
      "epoch": 25.845323741007196,
      "grad_norm": 0.3269982933998108,
      "learning_rate": 5.757938504658965e-05,
      "loss": 0.0688,
      "step": 28740
    },
    {
      "action_loss": 0.004597885999828577,
      "epoch": 25.845323741007196,
      "step": 28740
    },
    {
      "epoch": 25.845323741007196,
      "step": 28740,
      "torque_loss": 0.08365271240472794
    },
    {
      "epoch": 25.85431654676259,
      "grad_norm": 0.37308937311172485,
      "learning_rate": 5.755214452994107e-05,
      "loss": 0.0754,
      "step": 28750
    },
    {
      "action_loss": 0.009500325657427311,
      "epoch": 25.85431654676259,
      "step": 28750
    },
    {
      "epoch": 25.85431654676259,
      "step": 28750,
      "torque_loss": 0.09627475589513779
    },
    {
      "epoch": 25.863309352517987,
      "grad_norm": 0.24187174439430237,
      "learning_rate": 5.752490171915039e-05,
      "loss": 0.0796,
      "step": 28760
    },
    {
      "action_loss": 0.002694901078939438,
      "epoch": 25.863309352517987,
      "step": 28760
    },
    {
      "epoch": 25.863309352517987,
      "step": 28760,
      "torque_loss": 0.10484874248504639
    },
    {
      "epoch": 25.87230215827338,
      "grad_norm": 0.32045280933380127,
      "learning_rate": 5.749765662249324e-05,
      "loss": 0.075,
      "step": 28770
    },
    {
      "action_loss": 0.003924757242202759,
      "epoch": 25.87230215827338,
      "step": 28770
    },
    {
      "epoch": 25.87230215827338,
      "step": 28770,
      "torque_loss": 0.08400102704763412
    },
    {
      "epoch": 25.881294964028775,
      "grad_norm": 0.2679542005062103,
      "learning_rate": 5.747040924824596e-05,
      "loss": 0.0564,
      "step": 28780
    },
    {
      "action_loss": 0.002888693707063794,
      "epoch": 25.881294964028775,
      "step": 28780
    },
    {
      "epoch": 25.881294964028775,
      "step": 28780,
      "torque_loss": 0.09020302444696426
    },
    {
      "epoch": 25.890287769784173,
      "grad_norm": 0.3187273144721985,
      "learning_rate": 5.7443159604685613e-05,
      "loss": 0.0675,
      "step": 28790
    },
    {
      "action_loss": 0.01132163405418396,
      "epoch": 25.890287769784173,
      "step": 28790
    },
    {
      "epoch": 25.890287769784173,
      "step": 28790,
      "torque_loss": 0.14332331717014313
    },
    {
      "epoch": 25.899280575539567,
      "grad_norm": 0.25182756781578064,
      "learning_rate": 5.74159077000899e-05,
      "loss": 0.0789,
      "step": 28800
    },
    {
      "action_loss": 0.008694267831742764,
      "epoch": 25.899280575539567,
      "step": 28800
    },
    {
      "epoch": 25.899280575539567,
      "step": 28800,
      "torque_loss": 0.1010504886507988
    },
    {
      "epoch": 25.908273381294965,
      "grad_norm": 0.2895260155200958,
      "learning_rate": 5.7388653542737235e-05,
      "loss": 0.0662,
      "step": 28810
    },
    {
      "action_loss": 0.006350414361804724,
      "epoch": 25.908273381294965,
      "step": 28810
    },
    {
      "epoch": 25.908273381294965,
      "step": 28810,
      "torque_loss": 0.1262184977531433
    },
    {
      "epoch": 25.91726618705036,
      "grad_norm": 0.29774922132492065,
      "learning_rate": 5.736139714090672e-05,
      "loss": 0.079,
      "step": 28820
    },
    {
      "action_loss": 0.02436712384223938,
      "epoch": 25.91726618705036,
      "step": 28820
    },
    {
      "epoch": 25.91726618705036,
      "step": 28820,
      "torque_loss": 0.16317717730998993
    },
    {
      "epoch": 25.926258992805757,
      "grad_norm": 0.3121792674064636,
      "learning_rate": 5.73341385028781e-05,
      "loss": 0.0691,
      "step": 28830
    },
    {
      "action_loss": 0.011189696379005909,
      "epoch": 25.926258992805757,
      "step": 28830
    },
    {
      "epoch": 25.926258992805757,
      "step": 28830,
      "torque_loss": 0.1319676637649536
    },
    {
      "epoch": 25.93525179856115,
      "grad_norm": 0.27120551466941833,
      "learning_rate": 5.7306877636931855e-05,
      "loss": 0.0642,
      "step": 28840
    },
    {
      "action_loss": 0.003307979553937912,
      "epoch": 25.93525179856115,
      "step": 28840
    },
    {
      "epoch": 25.93525179856115,
      "step": 28840,
      "torque_loss": 0.10522478818893433
    },
    {
      "epoch": 25.944244604316548,
      "grad_norm": 0.3297356963157654,
      "learning_rate": 5.7279614551349125e-05,
      "loss": 0.0656,
      "step": 28850
    },
    {
      "action_loss": 0.0026119789108633995,
      "epoch": 25.944244604316548,
      "step": 28850
    },
    {
      "epoch": 25.944244604316548,
      "step": 28850,
      "torque_loss": 0.08419743180274963
    },
    {
      "epoch": 25.953237410071942,
      "grad_norm": 0.283577024936676,
      "learning_rate": 5.725234925441169e-05,
      "loss": 0.0584,
      "step": 28860
    },
    {
      "action_loss": 0.0014007698046043515,
      "epoch": 25.953237410071942,
      "step": 28860
    },
    {
      "epoch": 25.953237410071942,
      "step": 28860,
      "torque_loss": 0.05699239298701286
    },
    {
      "epoch": 25.96223021582734,
      "grad_norm": 0.30736109614372253,
      "learning_rate": 5.7225081754402044e-05,
      "loss": 0.0629,
      "step": 28870
    },
    {
      "action_loss": 0.0075543527491390705,
      "epoch": 25.96223021582734,
      "step": 28870
    },
    {
      "epoch": 25.96223021582734,
      "step": 28870,
      "torque_loss": 0.11712905019521713
    },
    {
      "epoch": 25.971223021582734,
      "grad_norm": 0.2597993016242981,
      "learning_rate": 5.7197812059603326e-05,
      "loss": 0.0668,
      "step": 28880
    },
    {
      "action_loss": 0.00957445241510868,
      "epoch": 25.971223021582734,
      "step": 28880
    },
    {
      "epoch": 25.971223021582734,
      "step": 28880,
      "torque_loss": 0.15744058787822723
    },
    {
      "epoch": 25.980215827338128,
      "grad_norm": 0.25868913531303406,
      "learning_rate": 5.717054017829934e-05,
      "loss": 0.0707,
      "step": 28890
    },
    {
      "action_loss": 0.0037037881556898355,
      "epoch": 25.980215827338128,
      "step": 28890
    },
    {
      "epoch": 25.980215827338128,
      "step": 28890,
      "torque_loss": 0.08456817269325256
    },
    {
      "epoch": 25.989208633093526,
      "grad_norm": 0.31462693214416504,
      "learning_rate": 5.7143266118774584e-05,
      "loss": 0.0848,
      "step": 28900
    },
    {
      "action_loss": 0.0032125574070960283,
      "epoch": 25.989208633093526,
      "step": 28900
    },
    {
      "epoch": 25.989208633093526,
      "step": 28900,
      "torque_loss": 0.08708769083023071
    },
    {
      "epoch": 25.99820143884892,
      "grad_norm": 0.3590066730976105,
      "learning_rate": 5.711598988931418e-05,
      "loss": 0.0645,
      "step": 28910
    },
    {
      "action_loss": 0.0036639368627220392,
      "epoch": 25.99820143884892,
      "step": 28910
    },
    {
      "epoch": 25.99820143884892,
      "step": 28910,
      "torque_loss": 0.10064313560724258
    },
    {
      "epoch": 26.007194244604317,
      "grad_norm": 0.32243791222572327,
      "learning_rate": 5.7088711498203954e-05,
      "loss": 0.0729,
      "step": 28920
    },
    {
      "action_loss": 0.004186647944152355,
      "epoch": 26.007194244604317,
      "step": 28920
    },
    {
      "epoch": 26.007194244604317,
      "step": 28920,
      "torque_loss": 0.0872613862156868
    },
    {
      "epoch": 26.01618705035971,
      "grad_norm": 0.31854960322380066,
      "learning_rate": 5.706143095373033e-05,
      "loss": 0.0869,
      "step": 28930
    },
    {
      "action_loss": 0.003708192380145192,
      "epoch": 26.01618705035971,
      "step": 28930
    },
    {
      "epoch": 26.01618705035971,
      "step": 28930,
      "torque_loss": 0.11370084434747696
    },
    {
      "epoch": 26.02517985611511,
      "grad_norm": 0.3136741518974304,
      "learning_rate": 5.703414826418042e-05,
      "loss": 0.07,
      "step": 28940
    },
    {
      "action_loss": 0.009647026658058167,
      "epoch": 26.02517985611511,
      "step": 28940
    },
    {
      "epoch": 26.02517985611511,
      "step": 28940,
      "torque_loss": 0.1386290043592453
    },
    {
      "epoch": 26.034172661870503,
      "grad_norm": 0.30615538358688354,
      "learning_rate": 5.7006863437842007e-05,
      "loss": 0.0725,
      "step": 28950
    },
    {
      "action_loss": 0.004408461041748524,
      "epoch": 26.034172661870503,
      "step": 28950
    },
    {
      "epoch": 26.034172661870503,
      "step": 28950,
      "torque_loss": 0.10615218430757523
    },
    {
      "epoch": 26.0431654676259,
      "grad_norm": 0.353304386138916,
      "learning_rate": 5.697957648300348e-05,
      "loss": 0.0824,
      "step": 28960
    },
    {
      "action_loss": 0.004902693443000317,
      "epoch": 26.0431654676259,
      "step": 28960
    },
    {
      "epoch": 26.0431654676259,
      "step": 28960,
      "torque_loss": 0.08815192431211472
    },
    {
      "epoch": 26.052158273381295,
      "grad_norm": 0.3521588444709778,
      "learning_rate": 5.695228740795391e-05,
      "loss": 0.0696,
      "step": 28970
    },
    {
      "action_loss": 0.004338397178798914,
      "epoch": 26.052158273381295,
      "step": 28970
    },
    {
      "epoch": 26.052158273381295,
      "step": 28970,
      "torque_loss": 0.08263800293207169
    },
    {
      "epoch": 26.06115107913669,
      "grad_norm": 0.35420510172843933,
      "learning_rate": 5.6924996220982985e-05,
      "loss": 0.0713,
      "step": 28980
    },
    {
      "action_loss": 0.0051075792871415615,
      "epoch": 26.06115107913669,
      "step": 28980
    },
    {
      "epoch": 26.06115107913669,
      "step": 28980,
      "torque_loss": 0.12047407776117325
    },
    {
      "epoch": 26.070143884892087,
      "grad_norm": 0.3113428056240082,
      "learning_rate": 5.6897702930381045e-05,
      "loss": 0.0625,
      "step": 28990
    },
    {
      "action_loss": 0.0022465530782938004,
      "epoch": 26.070143884892087,
      "step": 28990
    },
    {
      "epoch": 26.070143884892087,
      "step": 28990,
      "torque_loss": 0.05849720910191536
    },
    {
      "epoch": 26.07913669064748,
      "grad_norm": 0.3239055573940277,
      "learning_rate": 5.687040754443908e-05,
      "loss": 0.0563,
      "step": 29000
    },
    {
      "action_loss": 0.01002910640090704,
      "epoch": 26.07913669064748,
      "step": 29000
    },
    {
      "epoch": 26.07913669064748,
      "step": 29000,
      "torque_loss": 0.11846164613962173
    },
    {
      "epoch": 26.08812949640288,
      "grad_norm": 0.2699744403362274,
      "learning_rate": 5.6843110071448725e-05,
      "loss": 0.0774,
      "step": 29010
    },
    {
      "action_loss": 0.01051352173089981,
      "epoch": 26.08812949640288,
      "step": 29010
    },
    {
      "epoch": 26.08812949640288,
      "step": 29010,
      "torque_loss": 0.11668407917022705
    },
    {
      "epoch": 26.097122302158272,
      "grad_norm": 0.266439288854599,
      "learning_rate": 5.6815810519702194e-05,
      "loss": 0.0692,
      "step": 29020
    },
    {
      "action_loss": 0.00341072678565979,
      "epoch": 26.097122302158272,
      "step": 29020
    },
    {
      "epoch": 26.097122302158272,
      "step": 29020,
      "torque_loss": 0.08749867230653763
    },
    {
      "epoch": 26.10611510791367,
      "grad_norm": 0.3565065860748291,
      "learning_rate": 5.6788508897492396e-05,
      "loss": 0.061,
      "step": 29030
    },
    {
      "action_loss": 0.0018869329942390323,
      "epoch": 26.10611510791367,
      "step": 29030
    },
    {
      "epoch": 26.10611510791367,
      "step": 29030,
      "torque_loss": 0.06747471541166306
    },
    {
      "epoch": 26.115107913669064,
      "grad_norm": 0.4508759081363678,
      "learning_rate": 5.676120521311282e-05,
      "loss": 0.067,
      "step": 29040
    },
    {
      "action_loss": 0.011819721199572086,
      "epoch": 26.115107913669064,
      "step": 29040
    },
    {
      "epoch": 26.115107913669064,
      "step": 29040,
      "torque_loss": 0.15288417041301727
    },
    {
      "epoch": 26.12410071942446,
      "grad_norm": 0.25119248032569885,
      "learning_rate": 5.6733899474857634e-05,
      "loss": 0.0727,
      "step": 29050
    },
    {
      "action_loss": 0.003161183325573802,
      "epoch": 26.12410071942446,
      "step": 29050
    },
    {
      "epoch": 26.12410071942446,
      "step": 29050,
      "torque_loss": 0.11678232997655869
    },
    {
      "epoch": 26.133093525179856,
      "grad_norm": 0.2858201265335083,
      "learning_rate": 5.670659169102157e-05,
      "loss": 0.0676,
      "step": 29060
    },
    {
      "action_loss": 0.007873904891312122,
      "epoch": 26.133093525179856,
      "step": 29060
    },
    {
      "epoch": 26.133093525179856,
      "step": 29060,
      "torque_loss": 0.12149959802627563
    },
    {
      "epoch": 26.142086330935253,
      "grad_norm": 0.3532249331474304,
      "learning_rate": 5.6679281869900044e-05,
      "loss": 0.0846,
      "step": 29070
    },
    {
      "action_loss": 0.002560314955189824,
      "epoch": 26.142086330935253,
      "step": 29070
    },
    {
      "epoch": 26.142086330935253,
      "step": 29070,
      "torque_loss": 0.08993220329284668
    },
    {
      "epoch": 26.151079136690647,
      "grad_norm": 0.34400784969329834,
      "learning_rate": 5.6651970019789045e-05,
      "loss": 0.0704,
      "step": 29080
    },
    {
      "action_loss": 0.007191849406808615,
      "epoch": 26.151079136690647,
      "step": 29080
    },
    {
      "epoch": 26.151079136690647,
      "step": 29080,
      "torque_loss": 0.11647012829780579
    },
    {
      "epoch": 26.16007194244604,
      "grad_norm": 0.3070221245288849,
      "learning_rate": 5.662465614898519e-05,
      "loss": 0.0634,
      "step": 29090
    },
    {
      "action_loss": 0.00262719695456326,
      "epoch": 26.16007194244604,
      "step": 29090
    },
    {
      "epoch": 26.16007194244604,
      "step": 29090,
      "torque_loss": 0.0658186674118042
    },
    {
      "epoch": 26.16906474820144,
      "grad_norm": 0.2821534276008606,
      "learning_rate": 5.6597340265785695e-05,
      "loss": 0.0772,
      "step": 29100
    },
    {
      "action_loss": 0.0033274367451667786,
      "epoch": 26.16906474820144,
      "step": 29100
    },
    {
      "epoch": 26.16906474820144,
      "step": 29100,
      "torque_loss": 0.10285630077123642
    },
    {
      "epoch": 26.178057553956833,
      "grad_norm": 0.2346794158220291,
      "learning_rate": 5.657002237848843e-05,
      "loss": 0.0726,
      "step": 29110
    },
    {
      "action_loss": 0.0025940558407455683,
      "epoch": 26.178057553956833,
      "step": 29110
    },
    {
      "epoch": 26.178057553956833,
      "step": 29110,
      "torque_loss": 0.09299581497907639
    },
    {
      "epoch": 26.18705035971223,
      "grad_norm": 0.3518727719783783,
      "learning_rate": 5.654270249539183e-05,
      "loss": 0.0673,
      "step": 29120
    },
    {
      "action_loss": 0.016014164313673973,
      "epoch": 26.18705035971223,
      "step": 29120
    },
    {
      "epoch": 26.18705035971223,
      "step": 29120,
      "torque_loss": 0.1053389236330986
    },
    {
      "epoch": 26.196043165467625,
      "grad_norm": 0.3200758695602417,
      "learning_rate": 5.651538062479498e-05,
      "loss": 0.0749,
      "step": 29130
    },
    {
      "action_loss": 0.016613366082310677,
      "epoch": 26.196043165467625,
      "step": 29130
    },
    {
      "epoch": 26.196043165467625,
      "step": 29130,
      "torque_loss": 0.18083719909191132
    },
    {
      "epoch": 26.205035971223023,
      "grad_norm": 0.3911636173725128,
      "learning_rate": 5.648805677499751e-05,
      "loss": 0.0735,
      "step": 29140
    },
    {
      "action_loss": 0.0025979620404541492,
      "epoch": 26.205035971223023,
      "step": 29140
    },
    {
      "epoch": 26.205035971223023,
      "step": 29140,
      "torque_loss": 0.08098653703927994
    },
    {
      "epoch": 26.214028776978417,
      "grad_norm": 0.2674202024936676,
      "learning_rate": 5.646073095429969e-05,
      "loss": 0.0762,
      "step": 29150
    },
    {
      "action_loss": 0.009412077255547047,
      "epoch": 26.214028776978417,
      "step": 29150
    },
    {
      "epoch": 26.214028776978417,
      "step": 29150,
      "torque_loss": 0.09236404299736023
    },
    {
      "epoch": 26.223021582733814,
      "grad_norm": 0.3302106559276581,
      "learning_rate": 5.643340317100241e-05,
      "loss": 0.0653,
      "step": 29160
    },
    {
      "action_loss": 0.005260949954390526,
      "epoch": 26.223021582733814,
      "step": 29160
    },
    {
      "epoch": 26.223021582733814,
      "step": 29160,
      "torque_loss": 0.11367478966712952
    },
    {
      "epoch": 26.23201438848921,
      "grad_norm": 0.3458833694458008,
      "learning_rate": 5.64060734334071e-05,
      "loss": 0.0729,
      "step": 29170
    },
    {
      "action_loss": 0.00480559142306447,
      "epoch": 26.23201438848921,
      "step": 29170
    },
    {
      "epoch": 26.23201438848921,
      "step": 29170,
      "torque_loss": 0.07067089527845383
    },
    {
      "epoch": 26.241007194244606,
      "grad_norm": 0.25295740365982056,
      "learning_rate": 5.637874174981583e-05,
      "loss": 0.0598,
      "step": 29180
    },
    {
      "action_loss": 0.005010520573705435,
      "epoch": 26.241007194244606,
      "step": 29180
    },
    {
      "epoch": 26.241007194244606,
      "step": 29180,
      "torque_loss": 0.08893633633852005
    },
    {
      "epoch": 26.25,
      "grad_norm": 0.32438352704048157,
      "learning_rate": 5.635140812853124e-05,
      "loss": 0.0669,
      "step": 29190
    },
    {
      "action_loss": 0.002199243986979127,
      "epoch": 26.25,
      "step": 29190
    },
    {
      "epoch": 26.25,
      "step": 29190,
      "torque_loss": 0.046191781759262085
    },
    {
      "epoch": 26.258992805755394,
      "grad_norm": 0.21977598965168,
      "learning_rate": 5.6324072577856544e-05,
      "loss": 0.064,
      "step": 29200
    },
    {
      "action_loss": 0.013624110259115696,
      "epoch": 26.258992805755394,
      "step": 29200
    },
    {
      "epoch": 26.258992805755394,
      "step": 29200,
      "torque_loss": 0.13349030911922455
    },
    {
      "epoch": 26.26798561151079,
      "grad_norm": 0.3196758031845093,
      "learning_rate": 5.629673510609559e-05,
      "loss": 0.0688,
      "step": 29210
    },
    {
      "action_loss": 0.0030414138454943895,
      "epoch": 26.26798561151079,
      "step": 29210
    },
    {
      "epoch": 26.26798561151079,
      "step": 29210,
      "torque_loss": 0.09333682060241699
    },
    {
      "epoch": 26.276978417266186,
      "grad_norm": 0.33183640241622925,
      "learning_rate": 5.626939572155276e-05,
      "loss": 0.0798,
      "step": 29220
    },
    {
      "action_loss": 0.00626608869060874,
      "epoch": 26.276978417266186,
      "step": 29220
    },
    {
      "epoch": 26.276978417266186,
      "step": 29220,
      "torque_loss": 0.11225203424692154
    },
    {
      "epoch": 26.285971223021583,
      "grad_norm": 0.3776416778564453,
      "learning_rate": 5.6242054432533054e-05,
      "loss": 0.0663,
      "step": 29230
    },
    {
      "action_loss": 0.00905032828450203,
      "epoch": 26.285971223021583,
      "step": 29230
    },
    {
      "epoch": 26.285971223021583,
      "step": 29230,
      "torque_loss": 0.10897906869649887
    },
    {
      "epoch": 26.294964028776977,
      "grad_norm": 0.3012387752532959,
      "learning_rate": 5.621471124734201e-05,
      "loss": 0.0699,
      "step": 29240
    },
    {
      "action_loss": 0.005076809320598841,
      "epoch": 26.294964028776977,
      "step": 29240
    },
    {
      "epoch": 26.294964028776977,
      "step": 29240,
      "torque_loss": 0.10972923040390015
    },
    {
      "epoch": 26.303956834532375,
      "grad_norm": 0.3242396414279938,
      "learning_rate": 5.6187366174285794e-05,
      "loss": 0.0934,
      "step": 29250
    },
    {
      "action_loss": 0.0043777781538665295,
      "epoch": 26.303956834532375,
      "step": 29250
    },
    {
      "epoch": 26.303956834532375,
      "step": 29250,
      "torque_loss": 0.0950775220990181
    },
    {
      "epoch": 26.31294964028777,
      "grad_norm": 0.3259635865688324,
      "learning_rate": 5.616001922167109e-05,
      "loss": 0.0701,
      "step": 29260
    },
    {
      "action_loss": 0.0032193567603826523,
      "epoch": 26.31294964028777,
      "step": 29260
    },
    {
      "epoch": 26.31294964028777,
      "step": 29260,
      "torque_loss": 0.08047987520694733
    },
    {
      "epoch": 26.321942446043167,
      "grad_norm": 0.3538023829460144,
      "learning_rate": 5.61326703978052e-05,
      "loss": 0.0802,
      "step": 29270
    },
    {
      "action_loss": 0.0030549701768904924,
      "epoch": 26.321942446043167,
      "step": 29270
    },
    {
      "epoch": 26.321942446043167,
      "step": 29270,
      "torque_loss": 0.07689274102449417
    },
    {
      "epoch": 26.33093525179856,
      "grad_norm": 0.4383124113082886,
      "learning_rate": 5.6105319710995964e-05,
      "loss": 0.0718,
      "step": 29280
    },
    {
      "action_loss": 0.0039002392441034317,
      "epoch": 26.33093525179856,
      "step": 29280
    },
    {
      "epoch": 26.33093525179856,
      "step": 29280,
      "torque_loss": 0.09147379547357559
    },
    {
      "epoch": 26.33992805755396,
      "grad_norm": 0.3386524021625519,
      "learning_rate": 5.60779671695518e-05,
      "loss": 0.0683,
      "step": 29290
    },
    {
      "action_loss": 0.0034509978722780943,
      "epoch": 26.33992805755396,
      "step": 29290
    },
    {
      "epoch": 26.33992805755396,
      "step": 29290,
      "torque_loss": 0.08101505786180496
    },
    {
      "epoch": 26.348920863309353,
      "grad_norm": 0.2697407901287079,
      "learning_rate": 5.6050612781781684e-05,
      "loss": 0.0655,
      "step": 29300
    },
    {
      "action_loss": 0.0020162297878414392,
      "epoch": 26.348920863309353,
      "step": 29300
    },
    {
      "epoch": 26.348920863309353,
      "step": 29300,
      "torque_loss": 0.05960714817047119
    },
    {
      "epoch": 26.357913669064747,
      "grad_norm": 0.28165388107299805,
      "learning_rate": 5.602325655599516e-05,
      "loss": 0.0681,
      "step": 29310
    },
    {
      "action_loss": 0.006458458956331015,
      "epoch": 26.357913669064747,
      "step": 29310
    },
    {
      "epoch": 26.357913669064747,
      "step": 29310,
      "torque_loss": 0.10698428004980087
    },
    {
      "epoch": 26.366906474820144,
      "grad_norm": 0.33174771070480347,
      "learning_rate": 5.599589850050234e-05,
      "loss": 0.0721,
      "step": 29320
    },
    {
      "action_loss": 0.0040946477092802525,
      "epoch": 26.366906474820144,
      "step": 29320
    },
    {
      "epoch": 26.366906474820144,
      "step": 29320,
      "torque_loss": 0.1264447122812271
    },
    {
      "epoch": 26.37589928057554,
      "grad_norm": 0.28447026014328003,
      "learning_rate": 5.5968538623613874e-05,
      "loss": 0.0701,
      "step": 29330
    },
    {
      "action_loss": 0.0029704358894377947,
      "epoch": 26.37589928057554,
      "step": 29330
    },
    {
      "epoch": 26.37589928057554,
      "step": 29330,
      "torque_loss": 0.07826495170593262
    },
    {
      "epoch": 26.384892086330936,
      "grad_norm": 0.28147879242897034,
      "learning_rate": 5.594117693364095e-05,
      "loss": 0.0619,
      "step": 29340
    },
    {
      "action_loss": 0.010825426317751408,
      "epoch": 26.384892086330936,
      "step": 29340
    },
    {
      "epoch": 26.384892086330936,
      "step": 29340,
      "torque_loss": 0.10961422324180603
    },
    {
      "epoch": 26.39388489208633,
      "grad_norm": 0.37890923023223877,
      "learning_rate": 5.591381343889535e-05,
      "loss": 0.0763,
      "step": 29350
    },
    {
      "action_loss": 0.008951547555625439,
      "epoch": 26.39388489208633,
      "step": 29350
    },
    {
      "epoch": 26.39388489208633,
      "step": 29350,
      "torque_loss": 0.12160992622375488
    },
    {
      "epoch": 26.402877697841728,
      "grad_norm": 0.40983641147613525,
      "learning_rate": 5.5886448147689355e-05,
      "loss": 0.0704,
      "step": 29360
    },
    {
      "action_loss": 0.00797679927200079,
      "epoch": 26.402877697841728,
      "step": 29360
    },
    {
      "epoch": 26.402877697841728,
      "step": 29360,
      "torque_loss": 0.16817478835582733
    },
    {
      "epoch": 26.41187050359712,
      "grad_norm": 0.38066989183425903,
      "learning_rate": 5.585908106833585e-05,
      "loss": 0.0649,
      "step": 29370
    },
    {
      "action_loss": 0.0035841644275933504,
      "epoch": 26.41187050359712,
      "step": 29370
    },
    {
      "epoch": 26.41187050359712,
      "step": 29370,
      "torque_loss": 0.08270034193992615
    },
    {
      "epoch": 26.42086330935252,
      "grad_norm": 0.2987053692340851,
      "learning_rate": 5.5831712209148226e-05,
      "loss": 0.0705,
      "step": 29380
    },
    {
      "action_loss": 0.02035050094127655,
      "epoch": 26.42086330935252,
      "step": 29380
    },
    {
      "epoch": 26.42086330935252,
      "step": 29380,
      "torque_loss": 0.15553636848926544
    },
    {
      "epoch": 26.429856115107913,
      "grad_norm": 0.2685205042362213,
      "learning_rate": 5.58043415784404e-05,
      "loss": 0.0727,
      "step": 29390
    },
    {
      "action_loss": 0.00644509494304657,
      "epoch": 26.429856115107913,
      "step": 29390
    },
    {
      "epoch": 26.429856115107913,
      "step": 29390,
      "torque_loss": 0.09107768535614014
    },
    {
      "epoch": 26.43884892086331,
      "grad_norm": 0.3670492470264435,
      "learning_rate": 5.577696918452686e-05,
      "loss": 0.0666,
      "step": 29400
    },
    {
      "action_loss": 0.003999009262770414,
      "epoch": 26.43884892086331,
      "step": 29400
    },
    {
      "epoch": 26.43884892086331,
      "step": 29400,
      "torque_loss": 0.10527902096509933
    },
    {
      "epoch": 26.447841726618705,
      "grad_norm": 0.2917299270629883,
      "learning_rate": 5.5749595035722604e-05,
      "loss": 0.0972,
      "step": 29410
    },
    {
      "action_loss": 0.0022596383932977915,
      "epoch": 26.447841726618705,
      "step": 29410
    },
    {
      "epoch": 26.447841726618705,
      "step": 29410,
      "torque_loss": 0.05382375791668892
    },
    {
      "epoch": 26.4568345323741,
      "grad_norm": 0.270731657743454,
      "learning_rate": 5.5722219140343193e-05,
      "loss": 0.0625,
      "step": 29420
    },
    {
      "action_loss": 0.0028083890210837126,
      "epoch": 26.4568345323741,
      "step": 29420
    },
    {
      "epoch": 26.4568345323741,
      "step": 29420,
      "torque_loss": 0.0712827816605568
    },
    {
      "epoch": 26.465827338129497,
      "grad_norm": 0.3486013412475586,
      "learning_rate": 5.56948415067047e-05,
      "loss": 0.0773,
      "step": 29430
    },
    {
      "action_loss": 0.01637173630297184,
      "epoch": 26.465827338129497,
      "step": 29430
    },
    {
      "epoch": 26.465827338129497,
      "step": 29430,
      "torque_loss": 0.17111249268054962
    },
    {
      "epoch": 26.47482014388489,
      "grad_norm": 0.41059795022010803,
      "learning_rate": 5.5667462143123704e-05,
      "loss": 0.0855,
      "step": 29440
    },
    {
      "action_loss": 0.0031953260768204927,
      "epoch": 26.47482014388489,
      "step": 29440
    },
    {
      "epoch": 26.47482014388489,
      "step": 29440,
      "torque_loss": 0.0876011773943901
    },
    {
      "epoch": 26.48381294964029,
      "grad_norm": 0.32403433322906494,
      "learning_rate": 5.564008105791737e-05,
      "loss": 0.0645,
      "step": 29450
    },
    {
      "action_loss": 0.00552387535572052,
      "epoch": 26.48381294964029,
      "step": 29450
    },
    {
      "epoch": 26.48381294964029,
      "step": 29450,
      "torque_loss": 0.08598482608795166
    },
    {
      "epoch": 26.492805755395683,
      "grad_norm": 0.3966757655143738,
      "learning_rate": 5.5612698259403316e-05,
      "loss": 0.08,
      "step": 29460
    },
    {
      "action_loss": 0.004243496805429459,
      "epoch": 26.492805755395683,
      "step": 29460
    },
    {
      "epoch": 26.492805755395683,
      "step": 29460,
      "torque_loss": 0.12639544904232025
    },
    {
      "epoch": 26.50179856115108,
      "grad_norm": 0.35959967970848083,
      "learning_rate": 5.5585313755899724e-05,
      "loss": 0.0837,
      "step": 29470
    },
    {
      "action_loss": 0.009230654686689377,
      "epoch": 26.50179856115108,
      "step": 29470
    },
    {
      "epoch": 26.50179856115108,
      "step": 29470,
      "torque_loss": 0.11086469888687134
    },
    {
      "epoch": 26.510791366906474,
      "grad_norm": 0.36845970153808594,
      "learning_rate": 5.5557927555725285e-05,
      "loss": 0.0857,
      "step": 29480
    },
    {
      "action_loss": 0.004048296716064215,
      "epoch": 26.510791366906474,
      "step": 29480
    },
    {
      "epoch": 26.510791366906474,
      "step": 29480,
      "torque_loss": 0.07654360681772232
    },
    {
      "epoch": 26.519784172661872,
      "grad_norm": 0.3020698130130768,
      "learning_rate": 5.55305396671992e-05,
      "loss": 0.0602,
      "step": 29490
    },
    {
      "action_loss": 0.0031970925629138947,
      "epoch": 26.519784172661872,
      "step": 29490
    },
    {
      "epoch": 26.519784172661872,
      "step": 29490,
      "torque_loss": 0.0656811073422432
    },
    {
      "epoch": 26.528776978417266,
      "grad_norm": 0.26976069808006287,
      "learning_rate": 5.55031500986412e-05,
      "loss": 0.0864,
      "step": 29500
    },
    {
      "action_loss": 0.002294227946549654,
      "epoch": 26.528776978417266,
      "step": 29500
    },
    {
      "epoch": 26.528776978417266,
      "step": 29500,
      "torque_loss": 0.06619922816753387
    },
    {
      "epoch": 26.53776978417266,
      "grad_norm": 0.368055135011673,
      "learning_rate": 5.547575885837149e-05,
      "loss": 0.0654,
      "step": 29510
    },
    {
      "action_loss": 0.009807547554373741,
      "epoch": 26.53776978417266,
      "step": 29510
    },
    {
      "epoch": 26.53776978417266,
      "step": 29510,
      "torque_loss": 0.12532709538936615
    },
    {
      "epoch": 26.546762589928058,
      "grad_norm": 0.3214879631996155,
      "learning_rate": 5.5448365954710825e-05,
      "loss": 0.0763,
      "step": 29520
    },
    {
      "action_loss": 0.013702874071896076,
      "epoch": 26.546762589928058,
      "step": 29520
    },
    {
      "epoch": 26.546762589928058,
      "step": 29520,
      "torque_loss": 0.13535737991333008
    },
    {
      "epoch": 26.555755395683452,
      "grad_norm": 0.23952122032642365,
      "learning_rate": 5.5420971395980446e-05,
      "loss": 0.0851,
      "step": 29530
    },
    {
      "action_loss": 0.010953332297503948,
      "epoch": 26.555755395683452,
      "step": 29530
    },
    {
      "epoch": 26.555755395683452,
      "step": 29530,
      "torque_loss": 0.14101029932498932
    },
    {
      "epoch": 26.56474820143885,
      "grad_norm": 0.28876549005508423,
      "learning_rate": 5.539357519050209e-05,
      "loss": 0.0837,
      "step": 29540
    },
    {
      "action_loss": 0.003857637522742152,
      "epoch": 26.56474820143885,
      "step": 29540
    },
    {
      "epoch": 26.56474820143885,
      "step": 29540,
      "torque_loss": 0.08667561411857605
    },
    {
      "epoch": 26.573741007194243,
      "grad_norm": 0.3269238770008087,
      "learning_rate": 5.536617734659799e-05,
      "loss": 0.0779,
      "step": 29550
    },
    {
      "action_loss": 0.002807905664667487,
      "epoch": 26.573741007194243,
      "step": 29550
    },
    {
      "epoch": 26.573741007194243,
      "step": 29550,
      "torque_loss": 0.055899638682603836
    },
    {
      "epoch": 26.58273381294964,
      "grad_norm": 0.325979083776474,
      "learning_rate": 5.533877787259091e-05,
      "loss": 0.0654,
      "step": 29560
    },
    {
      "action_loss": 0.004706577863544226,
      "epoch": 26.58273381294964,
      "step": 29560
    },
    {
      "epoch": 26.58273381294964,
      "step": 29560,
      "torque_loss": 0.11289467662572861
    },
    {
      "epoch": 26.591726618705035,
      "grad_norm": 0.310016393661499,
      "learning_rate": 5.5311376776804044e-05,
      "loss": 0.0732,
      "step": 29570
    },
    {
      "action_loss": 0.0023589415941387415,
      "epoch": 26.591726618705035,
      "step": 29570
    },
    {
      "epoch": 26.591726618705035,
      "step": 29570,
      "torque_loss": 0.08478625863790512
    },
    {
      "epoch": 26.600719424460433,
      "grad_norm": 0.305564284324646,
      "learning_rate": 5.528397406756118e-05,
      "loss": 0.0745,
      "step": 29580
    },
    {
      "action_loss": 0.005593590438365936,
      "epoch": 26.600719424460433,
      "step": 29580
    },
    {
      "epoch": 26.600719424460433,
      "step": 29580,
      "torque_loss": 0.12222311645746231
    },
    {
      "epoch": 26.609712230215827,
      "grad_norm": 0.3536485731601715,
      "learning_rate": 5.525656975318652e-05,
      "loss": 0.0647,
      "step": 29590
    },
    {
      "action_loss": 0.003775297896936536,
      "epoch": 26.609712230215827,
      "step": 29590
    },
    {
      "epoch": 26.609712230215827,
      "step": 29590,
      "torque_loss": 0.10139423608779907
    },
    {
      "epoch": 26.618705035971225,
      "grad_norm": 0.28474128246307373,
      "learning_rate": 5.522916384200474e-05,
      "loss": 0.052,
      "step": 29600
    },
    {
      "action_loss": 0.00617388216778636,
      "epoch": 26.618705035971225,
      "step": 29600
    },
    {
      "epoch": 26.618705035971225,
      "step": 29600,
      "torque_loss": 0.12406545877456665
    },
    {
      "epoch": 26.62769784172662,
      "grad_norm": 0.3359247148036957,
      "learning_rate": 5.520175634234106e-05,
      "loss": 0.0675,
      "step": 29610
    },
    {
      "action_loss": 0.005908141378313303,
      "epoch": 26.62769784172662,
      "step": 29610
    },
    {
      "epoch": 26.62769784172662,
      "step": 29610,
      "torque_loss": 0.13192932307720184
    },
    {
      "epoch": 26.636690647482013,
      "grad_norm": 0.32118743658065796,
      "learning_rate": 5.517434726252113e-05,
      "loss": 0.0683,
      "step": 29620
    },
    {
      "action_loss": 0.005706592928618193,
      "epoch": 26.636690647482013,
      "step": 29620
    },
    {
      "epoch": 26.636690647482013,
      "step": 29620,
      "torque_loss": 0.09975627809762955
    },
    {
      "epoch": 26.64568345323741,
      "grad_norm": 0.3328876495361328,
      "learning_rate": 5.514693661087113e-05,
      "loss": 0.0709,
      "step": 29630
    },
    {
      "action_loss": 0.004919637460261583,
      "epoch": 26.64568345323741,
      "step": 29630
    },
    {
      "epoch": 26.64568345323741,
      "step": 29630,
      "torque_loss": 0.09461266547441483
    },
    {
      "epoch": 26.654676258992804,
      "grad_norm": 0.380210816860199,
      "learning_rate": 5.511952439571769e-05,
      "loss": 0.0691,
      "step": 29640
    },
    {
      "action_loss": 0.007134139072149992,
      "epoch": 26.654676258992804,
      "step": 29640
    },
    {
      "epoch": 26.654676258992804,
      "step": 29640,
      "torque_loss": 0.17740046977996826
    },
    {
      "epoch": 26.663669064748202,
      "grad_norm": 0.2323005348443985,
      "learning_rate": 5.509211062538791e-05,
      "loss": 0.0662,
      "step": 29650
    },
    {
      "action_loss": 0.012102591805160046,
      "epoch": 26.663669064748202,
      "step": 29650
    },
    {
      "epoch": 26.663669064748202,
      "step": 29650,
      "torque_loss": 0.16562069952487946
    },
    {
      "epoch": 26.672661870503596,
      "grad_norm": 0.3691399395465851,
      "learning_rate": 5.506469530820939e-05,
      "loss": 0.0871,
      "step": 29660
    },
    {
      "action_loss": 0.004141971468925476,
      "epoch": 26.672661870503596,
      "step": 29660
    },
    {
      "epoch": 26.672661870503596,
      "step": 29660,
      "torque_loss": 0.10828453302383423
    },
    {
      "epoch": 26.681654676258994,
      "grad_norm": 0.349431574344635,
      "learning_rate": 5.503727845251014e-05,
      "loss": 0.0675,
      "step": 29670
    },
    {
      "action_loss": 0.00721019646152854,
      "epoch": 26.681654676258994,
      "step": 29670
    },
    {
      "epoch": 26.681654676258994,
      "step": 29670,
      "torque_loss": 0.11846552044153214
    },
    {
      "epoch": 26.690647482014388,
      "grad_norm": 0.2748221457004547,
      "learning_rate": 5.50098600666187e-05,
      "loss": 0.0692,
      "step": 29680
    },
    {
      "action_loss": 0.002945834072306752,
      "epoch": 26.690647482014388,
      "step": 29680
    },
    {
      "epoch": 26.690647482014388,
      "step": 29680,
      "torque_loss": 0.07573302835226059
    },
    {
      "epoch": 26.699640287769785,
      "grad_norm": 0.3205670118331909,
      "learning_rate": 5.498244015886406e-05,
      "loss": 0.0684,
      "step": 29690
    },
    {
      "action_loss": 0.00777796795591712,
      "epoch": 26.699640287769785,
      "step": 29690
    },
    {
      "epoch": 26.699640287769785,
      "step": 29690,
      "torque_loss": 0.09779080003499985
    },
    {
      "epoch": 26.70863309352518,
      "grad_norm": 0.3411702811717987,
      "learning_rate": 5.495501873757565e-05,
      "loss": 0.0629,
      "step": 29700
    },
    {
      "action_loss": 0.007355297449976206,
      "epoch": 26.70863309352518,
      "step": 29700
    },
    {
      "epoch": 26.70863309352518,
      "step": 29700,
      "torque_loss": 0.11272323131561279
    },
    {
      "epoch": 26.717625899280577,
      "grad_norm": 0.29850637912750244,
      "learning_rate": 5.492759581108336e-05,
      "loss": 0.0694,
      "step": 29710
    },
    {
      "action_loss": 0.00910764466971159,
      "epoch": 26.717625899280577,
      "step": 29710
    },
    {
      "epoch": 26.717625899280577,
      "step": 29710,
      "torque_loss": 0.1363316923379898
    },
    {
      "epoch": 26.72661870503597,
      "grad_norm": 0.2709207534790039,
      "learning_rate": 5.490017138771759e-05,
      "loss": 0.0714,
      "step": 29720
    },
    {
      "action_loss": 0.00929273571819067,
      "epoch": 26.72661870503597,
      "step": 29720
    },
    {
      "epoch": 26.72661870503597,
      "step": 29720,
      "torque_loss": 0.13226014375686646
    },
    {
      "epoch": 26.735611510791365,
      "grad_norm": 0.3387089669704437,
      "learning_rate": 5.487274547580912e-05,
      "loss": 0.0734,
      "step": 29730
    },
    {
      "action_loss": 0.009213699959218502,
      "epoch": 26.735611510791365,
      "step": 29730
    },
    {
      "epoch": 26.735611510791365,
      "step": 29730,
      "torque_loss": 0.14102941751480103
    },
    {
      "epoch": 26.744604316546763,
      "grad_norm": 0.3555232584476471,
      "learning_rate": 5.484531808368923e-05,
      "loss": 0.0689,
      "step": 29740
    },
    {
      "action_loss": 0.007232954725623131,
      "epoch": 26.744604316546763,
      "step": 29740
    },
    {
      "epoch": 26.744604316546763,
      "step": 29740,
      "torque_loss": 0.12459202855825424
    },
    {
      "epoch": 26.753597122302157,
      "grad_norm": 0.33046841621398926,
      "learning_rate": 5.4817889219689656e-05,
      "loss": 0.0745,
      "step": 29750
    },
    {
      "action_loss": 0.0024334369227290154,
      "epoch": 26.753597122302157,
      "step": 29750
    },
    {
      "epoch": 26.753597122302157,
      "step": 29750,
      "torque_loss": 0.07699446380138397
    },
    {
      "epoch": 26.762589928057555,
      "grad_norm": 0.36555224657058716,
      "learning_rate": 5.4790458892142536e-05,
      "loss": 0.0668,
      "step": 29760
    },
    {
      "action_loss": 0.0024152931291610003,
      "epoch": 26.762589928057555,
      "step": 29760
    },
    {
      "epoch": 26.762589928057555,
      "step": 29760,
      "torque_loss": 0.07887545973062515
    },
    {
      "epoch": 26.77158273381295,
      "grad_norm": 0.25860628485679626,
      "learning_rate": 5.476302710938048e-05,
      "loss": 0.0643,
      "step": 29770
    },
    {
      "action_loss": 0.00801380816847086,
      "epoch": 26.77158273381295,
      "step": 29770
    },
    {
      "epoch": 26.77158273381295,
      "step": 29770,
      "torque_loss": 0.12123292684555054
    },
    {
      "epoch": 26.780575539568346,
      "grad_norm": 0.33769381046295166,
      "learning_rate": 5.473559387973657e-05,
      "loss": 0.0675,
      "step": 29780
    },
    {
      "action_loss": 0.009670868515968323,
      "epoch": 26.780575539568346,
      "step": 29780
    },
    {
      "epoch": 26.780575539568346,
      "step": 29780,
      "torque_loss": 0.14738817512989044
    },
    {
      "epoch": 26.78956834532374,
      "grad_norm": 0.34085679054260254,
      "learning_rate": 5.470815921154425e-05,
      "loss": 0.0763,
      "step": 29790
    },
    {
      "action_loss": 0.001864205696620047,
      "epoch": 26.78956834532374,
      "step": 29790
    },
    {
      "epoch": 26.78956834532374,
      "step": 29790,
      "torque_loss": 0.07219234108924866
    },
    {
      "epoch": 26.798561151079138,
      "grad_norm": 0.278643399477005,
      "learning_rate": 5.468072311313749e-05,
      "loss": 0.0559,
      "step": 29800
    },
    {
      "action_loss": 0.005992906633764505,
      "epoch": 26.798561151079138,
      "step": 29800
    },
    {
      "epoch": 26.798561151079138,
      "step": 29800,
      "torque_loss": 0.09880111366510391
    },
    {
      "epoch": 26.807553956834532,
      "grad_norm": 0.301593154668808,
      "learning_rate": 5.465328559285063e-05,
      "loss": 0.0643,
      "step": 29810
    },
    {
      "action_loss": 0.0033454708755016327,
      "epoch": 26.807553956834532,
      "step": 29810
    },
    {
      "epoch": 26.807553956834532,
      "step": 29810,
      "torque_loss": 0.07953587174415588
    },
    {
      "epoch": 26.81654676258993,
      "grad_norm": 0.35974255204200745,
      "learning_rate": 5.462584665901849e-05,
      "loss": 0.065,
      "step": 29820
    },
    {
      "action_loss": 0.002323760883882642,
      "epoch": 26.81654676258993,
      "step": 29820
    },
    {
      "epoch": 26.81654676258993,
      "step": 29820,
      "torque_loss": 0.07979602366685867
    },
    {
      "epoch": 26.825539568345324,
      "grad_norm": 0.311039000749588,
      "learning_rate": 5.4598406319976235e-05,
      "loss": 0.0863,
      "step": 29830
    },
    {
      "action_loss": 0.03889657184481621,
      "epoch": 26.825539568345324,
      "step": 29830
    },
    {
      "epoch": 26.825539568345324,
      "step": 29830,
      "torque_loss": 0.1711566001176834
    },
    {
      "epoch": 26.834532374100718,
      "grad_norm": 0.37567657232284546,
      "learning_rate": 5.457096458405958e-05,
      "loss": 0.0843,
      "step": 29840
    },
    {
      "action_loss": 0.008015435189008713,
      "epoch": 26.834532374100718,
      "step": 29840
    },
    {
      "epoch": 26.834532374100718,
      "step": 29840,
      "torque_loss": 0.1104622483253479
    },
    {
      "epoch": 26.843525179856115,
      "grad_norm": 0.23916001617908478,
      "learning_rate": 5.454352145960457e-05,
      "loss": 0.0693,
      "step": 29850
    },
    {
      "action_loss": 0.004380340222269297,
      "epoch": 26.843525179856115,
      "step": 29850
    },
    {
      "epoch": 26.843525179856115,
      "step": 29850,
      "torque_loss": 0.0826047956943512
    },
    {
      "epoch": 26.85251798561151,
      "grad_norm": 0.21383421123027802,
      "learning_rate": 5.4516076954947715e-05,
      "loss": 0.062,
      "step": 29860
    },
    {
      "action_loss": 0.0036297652404755354,
      "epoch": 26.85251798561151,
      "step": 29860
    },
    {
      "epoch": 26.85251798561151,
      "step": 29860,
      "torque_loss": 0.055829714983701706
    },
    {
      "epoch": 26.861510791366907,
      "grad_norm": 0.3308497369289398,
      "learning_rate": 5.448863107842591e-05,
      "loss": 0.0749,
      "step": 29870
    },
    {
      "action_loss": 0.00789750274270773,
      "epoch": 26.861510791366907,
      "step": 29870
    },
    {
      "epoch": 26.861510791366907,
      "step": 29870,
      "torque_loss": 0.15048784017562866
    },
    {
      "epoch": 26.8705035971223,
      "grad_norm": 0.3040582537651062,
      "learning_rate": 5.446118383837651e-05,
      "loss": 0.0747,
      "step": 29880
    },
    {
      "action_loss": 0.031547218561172485,
      "epoch": 26.8705035971223,
      "step": 29880
    },
    {
      "epoch": 26.8705035971223,
      "step": 29880,
      "torque_loss": 0.13813357055187225
    },
    {
      "epoch": 26.8794964028777,
      "grad_norm": 0.32629847526550293,
      "learning_rate": 5.443373524313722e-05,
      "loss": 0.0747,
      "step": 29890
    },
    {
      "action_loss": 0.003686295822262764,
      "epoch": 26.8794964028777,
      "step": 29890
    },
    {
      "epoch": 26.8794964028777,
      "step": 29890,
      "torque_loss": 0.11579927802085876
    },
    {
      "epoch": 26.888489208633093,
      "grad_norm": 0.3228836953639984,
      "learning_rate": 5.440628530104626e-05,
      "loss": 0.066,
      "step": 29900
    },
    {
      "action_loss": 0.002437710529193282,
      "epoch": 26.888489208633093,
      "step": 29900
    },
    {
      "epoch": 26.888489208633093,
      "step": 29900,
      "torque_loss": 0.0770040899515152
    },
    {
      "epoch": 26.89748201438849,
      "grad_norm": 0.3369635045528412,
      "learning_rate": 5.4378834020442146e-05,
      "loss": 0.0644,
      "step": 29910
    },
    {
      "action_loss": 0.006745086517184973,
      "epoch": 26.89748201438849,
      "step": 29910
    },
    {
      "epoch": 26.89748201438849,
      "step": 29910,
      "torque_loss": 0.11315345764160156
    },
    {
      "epoch": 26.906474820143885,
      "grad_norm": 0.36121848225593567,
      "learning_rate": 5.4351381409663884e-05,
      "loss": 0.0632,
      "step": 29920
    },
    {
      "action_loss": 0.003197053447365761,
      "epoch": 26.906474820143885,
      "step": 29920
    },
    {
      "epoch": 26.906474820143885,
      "step": 29920,
      "torque_loss": 0.051040057092905045
    },
    {
      "epoch": 26.915467625899282,
      "grad_norm": 0.3037407696247101,
      "learning_rate": 5.432392747705084e-05,
      "loss": 0.0666,
      "step": 29930
    },
    {
      "action_loss": 0.005544725805521011,
      "epoch": 26.915467625899282,
      "step": 29930
    },
    {
      "epoch": 26.915467625899282,
      "step": 29930,
      "torque_loss": 0.14692716300487518
    },
    {
      "epoch": 26.924460431654676,
      "grad_norm": 0.2964875102043152,
      "learning_rate": 5.429647223094278e-05,
      "loss": 0.061,
      "step": 29940
    },
    {
      "action_loss": 0.004719275515526533,
      "epoch": 26.924460431654676,
      "step": 29940
    },
    {
      "epoch": 26.924460431654676,
      "step": 29940,
      "torque_loss": 0.12550409138202667
    },
    {
      "epoch": 26.93345323741007,
      "grad_norm": 0.2935997247695923,
      "learning_rate": 5.4269015679679924e-05,
      "loss": 0.0724,
      "step": 29950
    },
    {
      "action_loss": 0.001867813989520073,
      "epoch": 26.93345323741007,
      "step": 29950
    },
    {
      "epoch": 26.93345323741007,
      "step": 29950,
      "torque_loss": 0.07696405053138733
    },
    {
      "epoch": 26.942446043165468,
      "grad_norm": 0.292125940322876,
      "learning_rate": 5.424155783160281e-05,
      "loss": 0.0565,
      "step": 29960
    },
    {
      "action_loss": 0.0070937699638307095,
      "epoch": 26.942446043165468,
      "step": 29960
    },
    {
      "epoch": 26.942446043165468,
      "step": 29960,
      "torque_loss": 0.12357622385025024
    },
    {
      "epoch": 26.951438848920862,
      "grad_norm": 0.2837543189525604,
      "learning_rate": 5.4214098695052415e-05,
      "loss": 0.0729,
      "step": 29970
    },
    {
      "action_loss": 0.006799509283155203,
      "epoch": 26.951438848920862,
      "step": 29970
    },
    {
      "epoch": 26.951438848920862,
      "step": 29970,
      "torque_loss": 0.09490242600440979
    },
    {
      "epoch": 26.96043165467626,
      "grad_norm": 0.34150421619415283,
      "learning_rate": 5.418663827837012e-05,
      "loss": 0.0757,
      "step": 29980
    },
    {
      "action_loss": 0.0046167499385774136,
      "epoch": 26.96043165467626,
      "step": 29980
    },
    {
      "epoch": 26.96043165467626,
      "step": 29980,
      "torque_loss": 0.07594247162342072
    },
    {
      "epoch": 26.969424460431654,
      "grad_norm": 0.3619091510772705,
      "learning_rate": 5.415917658989763e-05,
      "loss": 0.0617,
      "step": 29990
    },
    {
      "action_loss": 0.00241961982101202,
      "epoch": 26.969424460431654,
      "step": 29990
    },
    {
      "epoch": 26.969424460431654,
      "step": 29990,
      "torque_loss": 0.05086081102490425
    },
    {
      "epoch": 26.97841726618705,
      "grad_norm": 0.3254881799221039,
      "learning_rate": 5.413171363797713e-05,
      "loss": 0.0721,
      "step": 30000
    },
    {
      "action_loss": 0.006877134088426828,
      "epoch": 26.97841726618705,
      "step": 30000
    },
    {
      "epoch": 26.97841726618705,
      "step": 30000,
      "torque_loss": 0.12238214164972305
    },
    {
      "epoch": 26.987410071942445,
      "grad_norm": 0.2870929539203644,
      "learning_rate": 5.4104249430951116e-05,
      "loss": 0.0655,
      "step": 30010
    },
    {
      "action_loss": 0.0022727984469383955,
      "epoch": 26.987410071942445,
      "step": 30010
    },
    {
      "epoch": 26.987410071942445,
      "step": 30010,
      "torque_loss": 0.08314968645572662
    },
    {
      "epoch": 26.996402877697843,
      "grad_norm": 0.3113866448402405,
      "learning_rate": 5.4076783977162494e-05,
      "loss": 0.0687,
      "step": 30020
    },
    {
      "action_loss": 0.007338478695601225,
      "epoch": 26.996402877697843,
      "step": 30020
    },
    {
      "epoch": 26.996402877697843,
      "step": 30020,
      "torque_loss": 0.14573651552200317
    },
    {
      "epoch": 27.005395683453237,
      "grad_norm": 0.35446035861968994,
      "learning_rate": 5.4049317284954525e-05,
      "loss": 0.0619,
      "step": 30030
    },
    {
      "action_loss": 0.007201528642326593,
      "epoch": 27.005395683453237,
      "step": 30030
    },
    {
      "epoch": 27.005395683453237,
      "step": 30030,
      "torque_loss": 0.14853371679782867
    },
    {
      "epoch": 27.014388489208635,
      "grad_norm": 0.2764380872249603,
      "learning_rate": 5.4021849362670884e-05,
      "loss": 0.066,
      "step": 30040
    },
    {
      "action_loss": 0.0034432178363204002,
      "epoch": 27.014388489208635,
      "step": 30040
    },
    {
      "epoch": 27.014388489208635,
      "step": 30040,
      "torque_loss": 0.0914415493607521
    },
    {
      "epoch": 27.02338129496403,
      "grad_norm": 0.3570222854614258,
      "learning_rate": 5.3994380218655604e-05,
      "loss": 0.0746,
      "step": 30050
    },
    {
      "action_loss": 0.01146482303738594,
      "epoch": 27.02338129496403,
      "step": 30050
    },
    {
      "epoch": 27.02338129496403,
      "step": 30050,
      "torque_loss": 0.13661058247089386
    },
    {
      "epoch": 27.032374100719423,
      "grad_norm": 0.4737832248210907,
      "learning_rate": 5.396690986125309e-05,
      "loss": 0.0721,
      "step": 30060
    },
    {
      "action_loss": 0.0035669587086886168,
      "epoch": 27.032374100719423,
      "step": 30060
    },
    {
      "epoch": 27.032374100719423,
      "step": 30060,
      "torque_loss": 0.10991842299699783
    },
    {
      "epoch": 27.04136690647482,
      "grad_norm": 0.32674020528793335,
      "learning_rate": 5.3939438298808075e-05,
      "loss": 0.0721,
      "step": 30070
    },
    {
      "action_loss": 0.012896577827632427,
      "epoch": 27.04136690647482,
      "step": 30070
    },
    {
      "epoch": 27.04136690647482,
      "step": 30070,
      "torque_loss": 0.158639058470726
    },
    {
      "epoch": 27.050359712230215,
      "grad_norm": 0.3118785619735718,
      "learning_rate": 5.3911965539665744e-05,
      "loss": 0.0732,
      "step": 30080
    },
    {
      "action_loss": 0.0033253126312047243,
      "epoch": 27.050359712230215,
      "step": 30080
    },
    {
      "epoch": 27.050359712230215,
      "step": 30080,
      "torque_loss": 0.10089931637048721
    },
    {
      "epoch": 27.059352517985612,
      "grad_norm": 0.23210307955741882,
      "learning_rate": 5.388449159217156e-05,
      "loss": 0.0686,
      "step": 30090
    },
    {
      "action_loss": 0.006812678184360266,
      "epoch": 27.059352517985612,
      "step": 30090
    },
    {
      "epoch": 27.059352517985612,
      "step": 30090,
      "torque_loss": 0.09056618064641953
    },
    {
      "epoch": 27.068345323741006,
      "grad_norm": 0.3282026946544647,
      "learning_rate": 5.3857016464671385e-05,
      "loss": 0.0673,
      "step": 30100
    },
    {
      "action_loss": 0.0045183259062469006,
      "epoch": 27.068345323741006,
      "step": 30100
    },
    {
      "epoch": 27.068345323741006,
      "step": 30100,
      "torque_loss": 0.13428974151611328
    },
    {
      "epoch": 27.077338129496404,
      "grad_norm": 0.25497397780418396,
      "learning_rate": 5.382954016551146e-05,
      "loss": 0.0639,
      "step": 30110
    },
    {
      "action_loss": 0.003321348689496517,
      "epoch": 27.077338129496404,
      "step": 30110
    },
    {
      "epoch": 27.077338129496404,
      "step": 30110,
      "torque_loss": 0.06518032401800156
    },
    {
      "epoch": 27.086330935251798,
      "grad_norm": 0.3618171513080597,
      "learning_rate": 5.380206270303835e-05,
      "loss": 0.0702,
      "step": 30120
    },
    {
      "action_loss": 0.00682506337761879,
      "epoch": 27.086330935251798,
      "step": 30120
    },
    {
      "epoch": 27.086330935251798,
      "step": 30120,
      "torque_loss": 0.10464584827423096
    },
    {
      "epoch": 27.095323741007196,
      "grad_norm": 0.3795301914215088,
      "learning_rate": 5.377458408559897e-05,
      "loss": 0.0752,
      "step": 30130
    },
    {
      "action_loss": 0.002983690472319722,
      "epoch": 27.095323741007196,
      "step": 30130
    },
    {
      "epoch": 27.095323741007196,
      "step": 30130,
      "torque_loss": 0.0809200257062912
    },
    {
      "epoch": 27.10431654676259,
      "grad_norm": 0.24688534438610077,
      "learning_rate": 5.374710432154061e-05,
      "loss": 0.0679,
      "step": 30140
    },
    {
      "action_loss": 0.005344029050320387,
      "epoch": 27.10431654676259,
      "step": 30140
    },
    {
      "epoch": 27.10431654676259,
      "step": 30140,
      "torque_loss": 0.1163698211312294
    },
    {
      "epoch": 27.113309352517987,
      "grad_norm": 0.25107598304748535,
      "learning_rate": 5.3719623419210886e-05,
      "loss": 0.062,
      "step": 30150
    },
    {
      "action_loss": 0.004215391818434,
      "epoch": 27.113309352517987,
      "step": 30150
    },
    {
      "epoch": 27.113309352517987,
      "step": 30150,
      "torque_loss": 0.11604311317205429
    },
    {
      "epoch": 27.12230215827338,
      "grad_norm": 0.3062775731086731,
      "learning_rate": 5.3692141386957786e-05,
      "loss": 0.063,
      "step": 30160
    },
    {
      "action_loss": 0.0037986489478498697,
      "epoch": 27.12230215827338,
      "step": 30160
    },
    {
      "epoch": 27.12230215827338,
      "step": 30160,
      "torque_loss": 0.08492539077997208
    },
    {
      "epoch": 27.131294964028775,
      "grad_norm": 0.3931138217449188,
      "learning_rate": 5.3664658233129616e-05,
      "loss": 0.0685,
      "step": 30170
    },
    {
      "action_loss": 0.002688667504116893,
      "epoch": 27.131294964028775,
      "step": 30170
    },
    {
      "epoch": 27.131294964028775,
      "step": 30170,
      "torque_loss": 0.09550741314888
    },
    {
      "epoch": 27.140287769784173,
      "grad_norm": 0.213384747505188,
      "learning_rate": 5.363717396607504e-05,
      "loss": 0.0627,
      "step": 30180
    },
    {
      "action_loss": 0.0026805733796209097,
      "epoch": 27.140287769784173,
      "step": 30180
    },
    {
      "epoch": 27.140287769784173,
      "step": 30180,
      "torque_loss": 0.07270669937133789
    },
    {
      "epoch": 27.149280575539567,
      "grad_norm": 0.2942027747631073,
      "learning_rate": 5.360968859414305e-05,
      "loss": 0.0667,
      "step": 30190
    },
    {
      "action_loss": 0.003767048940062523,
      "epoch": 27.149280575539567,
      "step": 30190
    },
    {
      "epoch": 27.149280575539567,
      "step": 30190,
      "torque_loss": 0.07545100897550583
    },
    {
      "epoch": 27.158273381294965,
      "grad_norm": 0.35300499200820923,
      "learning_rate": 5.358220212568295e-05,
      "loss": 0.062,
      "step": 30200
    },
    {
      "action_loss": 0.01210014894604683,
      "epoch": 27.158273381294965,
      "step": 30200
    },
    {
      "epoch": 27.158273381294965,
      "step": 30200,
      "torque_loss": 0.10971236228942871
    },
    {
      "epoch": 27.16726618705036,
      "grad_norm": 0.2663075029850006,
      "learning_rate": 5.355471456904444e-05,
      "loss": 0.0607,
      "step": 30210
    },
    {
      "action_loss": 0.018967745825648308,
      "epoch": 27.16726618705036,
      "step": 30210
    },
    {
      "epoch": 27.16726618705036,
      "step": 30210,
      "torque_loss": 0.1913456916809082
    },
    {
      "epoch": 27.176258992805757,
      "grad_norm": 0.3051484227180481,
      "learning_rate": 5.3527225932577495e-05,
      "loss": 0.0888,
      "step": 30220
    },
    {
      "action_loss": 0.040510620921850204,
      "epoch": 27.176258992805757,
      "step": 30220
    },
    {
      "epoch": 27.176258992805757,
      "step": 30220,
      "torque_loss": 0.24368439614772797
    },
    {
      "epoch": 27.18525179856115,
      "grad_norm": 0.27669501304626465,
      "learning_rate": 5.349973622463246e-05,
      "loss": 0.0882,
      "step": 30230
    },
    {
      "action_loss": 0.014718112535774708,
      "epoch": 27.18525179856115,
      "step": 30230
    },
    {
      "epoch": 27.18525179856115,
      "step": 30230,
      "torque_loss": 0.17461366951465607
    },
    {
      "epoch": 27.194244604316548,
      "grad_norm": 0.3840002715587616,
      "learning_rate": 5.3472245453559956e-05,
      "loss": 0.0642,
      "step": 30240
    },
    {
      "action_loss": 0.010368725284934044,
      "epoch": 27.194244604316548,
      "step": 30240
    },
    {
      "epoch": 27.194244604316548,
      "step": 30240,
      "torque_loss": 0.10901536792516708
    },
    {
      "epoch": 27.203237410071942,
      "grad_norm": 0.2685491740703583,
      "learning_rate": 5.3444753627710955e-05,
      "loss": 0.0728,
      "step": 30250
    },
    {
      "action_loss": 0.005355076398700476,
      "epoch": 27.203237410071942,
      "step": 30250
    },
    {
      "epoch": 27.203237410071942,
      "step": 30250,
      "torque_loss": 0.1512160748243332
    },
    {
      "epoch": 27.21223021582734,
      "grad_norm": 0.38832831382751465,
      "learning_rate": 5.341726075543676e-05,
      "loss": 0.0667,
      "step": 30260
    },
    {
      "action_loss": 0.00184527353849262,
      "epoch": 27.21223021582734,
      "step": 30260
    },
    {
      "epoch": 27.21223021582734,
      "step": 30260,
      "torque_loss": 0.07616659253835678
    },
    {
      "epoch": 27.221223021582734,
      "grad_norm": 0.2977113127708435,
      "learning_rate": 5.338976684508898e-05,
      "loss": 0.0631,
      "step": 30270
    },
    {
      "action_loss": 0.006884824484586716,
      "epoch": 27.221223021582734,
      "step": 30270
    },
    {
      "epoch": 27.221223021582734,
      "step": 30270,
      "torque_loss": 0.09522608667612076
    },
    {
      "epoch": 27.230215827338128,
      "grad_norm": 0.27474895119667053,
      "learning_rate": 5.336227190501953e-05,
      "loss": 0.06,
      "step": 30280
    },
    {
      "action_loss": 0.00370377697981894,
      "epoch": 27.230215827338128,
      "step": 30280
    },
    {
      "epoch": 27.230215827338128,
      "step": 30280,
      "torque_loss": 0.06715195626020432
    },
    {
      "epoch": 27.239208633093526,
      "grad_norm": 0.2281142622232437,
      "learning_rate": 5.3334775943580664e-05,
      "loss": 0.0641,
      "step": 30290
    },
    {
      "action_loss": 0.004632537718862295,
      "epoch": 27.239208633093526,
      "step": 30290
    },
    {
      "epoch": 27.239208633093526,
      "step": 30290,
      "torque_loss": 0.09415573626756668
    },
    {
      "epoch": 27.24820143884892,
      "grad_norm": 0.1932963877916336,
      "learning_rate": 5.330727896912491e-05,
      "loss": 0.0585,
      "step": 30300
    },
    {
      "action_loss": 0.0025000853929668665,
      "epoch": 27.24820143884892,
      "step": 30300
    },
    {
      "epoch": 27.24820143884892,
      "step": 30300,
      "torque_loss": 0.07337672263383865
    },
    {
      "epoch": 27.257194244604317,
      "grad_norm": 0.26565027236938477,
      "learning_rate": 5.327978099000511e-05,
      "loss": 0.0605,
      "step": 30310
    },
    {
      "action_loss": 0.002402024809271097,
      "epoch": 27.257194244604317,
      "step": 30310
    },
    {
      "epoch": 27.257194244604317,
      "step": 30310,
      "torque_loss": 0.1078658476471901
    },
    {
      "epoch": 27.26618705035971,
      "grad_norm": 0.34053540229797363,
      "learning_rate": 5.3252282014574465e-05,
      "loss": 0.0647,
      "step": 30320
    },
    {
      "action_loss": 0.00424422649666667,
      "epoch": 27.26618705035971,
      "step": 30320
    },
    {
      "epoch": 27.26618705035971,
      "step": 30320,
      "torque_loss": 0.13725024461746216
    },
    {
      "epoch": 27.27517985611511,
      "grad_norm": 0.21277637779712677,
      "learning_rate": 5.322478205118641e-05,
      "loss": 0.0582,
      "step": 30330
    },
    {
      "action_loss": 0.01010659895837307,
      "epoch": 27.27517985611511,
      "step": 30330
    },
    {
      "epoch": 27.27517985611511,
      "step": 30330,
      "torque_loss": 0.1522255539894104
    },
    {
      "epoch": 27.284172661870503,
      "grad_norm": 0.3802861273288727,
      "learning_rate": 5.3197281108194704e-05,
      "loss": 0.0802,
      "step": 30340
    },
    {
      "action_loss": 0.0036650567781180143,
      "epoch": 27.284172661870503,
      "step": 30340
    },
    {
      "epoch": 27.284172661870503,
      "step": 30340,
      "torque_loss": 0.10933467000722885
    },
    {
      "epoch": 27.2931654676259,
      "grad_norm": 0.2613627016544342,
      "learning_rate": 5.316977919395342e-05,
      "loss": 0.0566,
      "step": 30350
    },
    {
      "action_loss": 0.014185170643031597,
      "epoch": 27.2931654676259,
      "step": 30350
    },
    {
      "epoch": 27.2931654676259,
      "step": 30350,
      "torque_loss": 0.153416246175766
    },
    {
      "epoch": 27.302158273381295,
      "grad_norm": 0.2655777931213379,
      "learning_rate": 5.314227631681691e-05,
      "loss": 0.0699,
      "step": 30360
    },
    {
      "action_loss": 0.006335163023322821,
      "epoch": 27.302158273381295,
      "step": 30360
    },
    {
      "epoch": 27.302158273381295,
      "step": 30360,
      "torque_loss": 0.12568135559558868
    },
    {
      "epoch": 27.31115107913669,
      "grad_norm": 0.32997435331344604,
      "learning_rate": 5.311477248513982e-05,
      "loss": 0.0641,
      "step": 30370
    },
    {
      "action_loss": 0.004129697568714619,
      "epoch": 27.31115107913669,
      "step": 30370
    },
    {
      "epoch": 27.31115107913669,
      "step": 30370,
      "torque_loss": 0.06114852428436279
    },
    {
      "epoch": 27.320143884892087,
      "grad_norm": 0.32394132018089294,
      "learning_rate": 5.30872677072771e-05,
      "loss": 0.0652,
      "step": 30380
    },
    {
      "action_loss": 0.0023128774482756853,
      "epoch": 27.320143884892087,
      "step": 30380
    },
    {
      "epoch": 27.320143884892087,
      "step": 30380,
      "torque_loss": 0.0901615247130394
    },
    {
      "epoch": 27.32913669064748,
      "grad_norm": 0.33142951130867004,
      "learning_rate": 5.3059761991583954e-05,
      "loss": 0.0769,
      "step": 30390
    },
    {
      "action_loss": 0.009126594290137291,
      "epoch": 27.32913669064748,
      "step": 30390
    },
    {
      "epoch": 27.32913669064748,
      "step": 30390,
      "torque_loss": 0.17170919477939606
    },
    {
      "epoch": 27.33812949640288,
      "grad_norm": 0.3160141408443451,
      "learning_rate": 5.303225534641592e-05,
      "loss": 0.0658,
      "step": 30400
    },
    {
      "action_loss": 0.00889818649739027,
      "epoch": 27.33812949640288,
      "step": 30400
    },
    {
      "epoch": 27.33812949640288,
      "step": 30400,
      "torque_loss": 0.08576896786689758
    },
    {
      "epoch": 27.347122302158272,
      "grad_norm": 0.3414342701435089,
      "learning_rate": 5.300474778012875e-05,
      "loss": 0.0613,
      "step": 30410
    },
    {
      "action_loss": 0.0029395921155810356,
      "epoch": 27.347122302158272,
      "step": 30410
    },
    {
      "epoch": 27.347122302158272,
      "step": 30410,
      "torque_loss": 0.07463601976633072
    },
    {
      "epoch": 27.35611510791367,
      "grad_norm": 0.3357495963573456,
      "learning_rate": 5.297723930107855e-05,
      "loss": 0.0625,
      "step": 30420
    },
    {
      "action_loss": 0.010934743098914623,
      "epoch": 27.35611510791367,
      "step": 30420
    },
    {
      "epoch": 27.35611510791367,
      "step": 30420,
      "torque_loss": 0.16541360318660736
    },
    {
      "epoch": 27.365107913669064,
      "grad_norm": 0.29763564467430115,
      "learning_rate": 5.294972991762167e-05,
      "loss": 0.0681,
      "step": 30430
    },
    {
      "action_loss": 0.0037354864180088043,
      "epoch": 27.365107913669064,
      "step": 30430
    },
    {
      "epoch": 27.365107913669064,
      "step": 30430,
      "torque_loss": 0.10047703236341476
    },
    {
      "epoch": 27.37410071942446,
      "grad_norm": 0.2734982371330261,
      "learning_rate": 5.292221963811472e-05,
      "loss": 0.0669,
      "step": 30440
    },
    {
      "action_loss": 0.009076758287847042,
      "epoch": 27.37410071942446,
      "step": 30440
    },
    {
      "epoch": 27.37410071942446,
      "step": 30440,
      "torque_loss": 0.14828576147556305
    },
    {
      "epoch": 27.383093525179856,
      "grad_norm": 0.2818618714809418,
      "learning_rate": 5.28947084709146e-05,
      "loss": 0.0635,
      "step": 30450
    },
    {
      "action_loss": 0.004665733780711889,
      "epoch": 27.383093525179856,
      "step": 30450
    },
    {
      "epoch": 27.383093525179856,
      "step": 30450,
      "torque_loss": 0.09221024066209793
    },
    {
      "epoch": 27.392086330935253,
      "grad_norm": 0.3108813464641571,
      "learning_rate": 5.2867196424378465e-05,
      "loss": 0.0706,
      "step": 30460
    },
    {
      "action_loss": 0.004834202118217945,
      "epoch": 27.392086330935253,
      "step": 30460
    },
    {
      "epoch": 27.392086330935253,
      "step": 30460,
      "torque_loss": 0.10162210464477539
    },
    {
      "epoch": 27.401079136690647,
      "grad_norm": 0.34962284564971924,
      "learning_rate": 5.2839683506863765e-05,
      "loss": 0.0776,
      "step": 30470
    },
    {
      "action_loss": 0.002656127093359828,
      "epoch": 27.401079136690647,
      "step": 30470
    },
    {
      "epoch": 27.401079136690647,
      "step": 30470,
      "torque_loss": 0.0834234356880188
    },
    {
      "epoch": 27.41007194244604,
      "grad_norm": 0.29024747014045715,
      "learning_rate": 5.281216972672821e-05,
      "loss": 0.0711,
      "step": 30480
    },
    {
      "action_loss": 0.0037382866721600294,
      "epoch": 27.41007194244604,
      "step": 30480
    },
    {
      "epoch": 27.41007194244604,
      "step": 30480,
      "torque_loss": 0.10450264066457748
    },
    {
      "epoch": 27.41906474820144,
      "grad_norm": 0.33897867798805237,
      "learning_rate": 5.278465509232973e-05,
      "loss": 0.0794,
      "step": 30490
    },
    {
      "action_loss": 0.001530722132883966,
      "epoch": 27.41906474820144,
      "step": 30490
    },
    {
      "epoch": 27.41906474820144,
      "step": 30490,
      "torque_loss": 0.054933976382017136
    },
    {
      "epoch": 27.428057553956833,
      "grad_norm": 0.24643875658512115,
      "learning_rate": 5.275713961202655e-05,
      "loss": 0.062,
      "step": 30500
    },
    {
      "action_loss": 0.00391709990799427,
      "epoch": 27.428057553956833,
      "step": 30500
    },
    {
      "epoch": 27.428057553956833,
      "step": 30500,
      "torque_loss": 0.10649462789297104
    },
    {
      "epoch": 27.43705035971223,
      "grad_norm": 0.29779261350631714,
      "learning_rate": 5.2729623294177165e-05,
      "loss": 0.0597,
      "step": 30510
    },
    {
      "action_loss": 0.0020388385746628046,
      "epoch": 27.43705035971223,
      "step": 30510
    },
    {
      "epoch": 27.43705035971223,
      "step": 30510,
      "torque_loss": 0.06856478005647659
    },
    {
      "epoch": 27.446043165467625,
      "grad_norm": 0.2893252670764923,
      "learning_rate": 5.270210614714028e-05,
      "loss": 0.0728,
      "step": 30520
    },
    {
      "action_loss": 0.00386410322971642,
      "epoch": 27.446043165467625,
      "step": 30520
    },
    {
      "epoch": 27.446043165467625,
      "step": 30520,
      "torque_loss": 0.11182566732168198
    },
    {
      "epoch": 27.455035971223023,
      "grad_norm": 0.33676448464393616,
      "learning_rate": 5.267458817927491e-05,
      "loss": 0.0767,
      "step": 30530
    },
    {
      "action_loss": 0.0018861168064177036,
      "epoch": 27.455035971223023,
      "step": 30530
    },
    {
      "epoch": 27.455035971223023,
      "step": 30530,
      "torque_loss": 0.09914698451757431
    },
    {
      "epoch": 27.464028776978417,
      "grad_norm": 0.28472647070884705,
      "learning_rate": 5.264706939894026e-05,
      "loss": 0.0696,
      "step": 30540
    },
    {
      "action_loss": 0.0030672152061015368,
      "epoch": 27.464028776978417,
      "step": 30540
    },
    {
      "epoch": 27.464028776978417,
      "step": 30540,
      "torque_loss": 0.09455829858779907
    },
    {
      "epoch": 27.473021582733814,
      "grad_norm": 0.27000364661216736,
      "learning_rate": 5.261954981449584e-05,
      "loss": 0.0687,
      "step": 30550
    },
    {
      "action_loss": 0.010119342245161533,
      "epoch": 27.473021582733814,
      "step": 30550
    },
    {
      "epoch": 27.473021582733814,
      "step": 30550,
      "torque_loss": 0.09475690126419067
    },
    {
      "epoch": 27.48201438848921,
      "grad_norm": 0.28739771246910095,
      "learning_rate": 5.2592029434301324e-05,
      "loss": 0.0687,
      "step": 30560
    },
    {
      "action_loss": 0.011433704756200314,
      "epoch": 27.48201438848921,
      "step": 30560
    },
    {
      "epoch": 27.48201438848921,
      "step": 30560,
      "torque_loss": 0.12294892221689224
    },
    {
      "epoch": 27.491007194244606,
      "grad_norm": 0.33424171805381775,
      "learning_rate": 5.256450826671672e-05,
      "loss": 0.0751,
      "step": 30570
    },
    {
      "action_loss": 0.004728905390948057,
      "epoch": 27.491007194244606,
      "step": 30570
    },
    {
      "epoch": 27.491007194244606,
      "step": 30570,
      "torque_loss": 0.10159063339233398
    },
    {
      "epoch": 27.5,
      "grad_norm": 0.2515795826911926,
      "learning_rate": 5.253698632010221e-05,
      "loss": 0.07,
      "step": 30580
    },
    {
      "action_loss": 0.012915901839733124,
      "epoch": 27.5,
      "step": 30580
    },
    {
      "epoch": 27.5,
      "step": 30580,
      "torque_loss": 0.165410578250885
    },
    {
      "epoch": 27.508992805755394,
      "grad_norm": 0.2704910635948181,
      "learning_rate": 5.2509463602818246e-05,
      "loss": 0.0719,
      "step": 30590
    },
    {
      "action_loss": 0.0066384077072143555,
      "epoch": 27.508992805755394,
      "step": 30590
    },
    {
      "epoch": 27.508992805755394,
      "step": 30590,
      "torque_loss": 0.11431439965963364
    },
    {
      "epoch": 27.51798561151079,
      "grad_norm": 0.3375019133090973,
      "learning_rate": 5.248194012322549e-05,
      "loss": 0.0655,
      "step": 30600
    },
    {
      "action_loss": 0.014646020717918873,
      "epoch": 27.51798561151079,
      "step": 30600
    },
    {
      "epoch": 27.51798561151079,
      "step": 30600,
      "torque_loss": 0.14975476264953613
    },
    {
      "epoch": 27.526978417266186,
      "grad_norm": 0.35575318336486816,
      "learning_rate": 5.245441588968486e-05,
      "loss": 0.0707,
      "step": 30610
    },
    {
      "action_loss": 0.003709023119881749,
      "epoch": 27.526978417266186,
      "step": 30610
    },
    {
      "epoch": 27.526978417266186,
      "step": 30610,
      "torque_loss": 0.07160349935293198
    },
    {
      "epoch": 27.535971223021583,
      "grad_norm": 0.3513669967651367,
      "learning_rate": 5.242689091055748e-05,
      "loss": 0.0793,
      "step": 30620
    },
    {
      "action_loss": 0.004994290415197611,
      "epoch": 27.535971223021583,
      "step": 30620
    },
    {
      "epoch": 27.535971223021583,
      "step": 30620,
      "torque_loss": 0.12223106622695923
    },
    {
      "epoch": 27.544964028776977,
      "grad_norm": 0.32259252667427063,
      "learning_rate": 5.239936519420473e-05,
      "loss": 0.0833,
      "step": 30630
    },
    {
      "action_loss": 0.011836222372949123,
      "epoch": 27.544964028776977,
      "step": 30630
    },
    {
      "epoch": 27.544964028776977,
      "step": 30630,
      "torque_loss": 0.1303999423980713
    },
    {
      "epoch": 27.553956834532375,
      "grad_norm": 0.3635013997554779,
      "learning_rate": 5.2371838748988175e-05,
      "loss": 0.0861,
      "step": 30640
    },
    {
      "action_loss": 0.010272227227687836,
      "epoch": 27.553956834532375,
      "step": 30640
    },
    {
      "epoch": 27.553956834532375,
      "step": 30640,
      "torque_loss": 0.12594372034072876
    },
    {
      "epoch": 27.56294964028777,
      "grad_norm": 0.3408564329147339,
      "learning_rate": 5.234431158326965e-05,
      "loss": 0.0797,
      "step": 30650
    },
    {
      "action_loss": 0.010601473040878773,
      "epoch": 27.56294964028777,
      "step": 30650
    },
    {
      "epoch": 27.56294964028777,
      "step": 30650,
      "torque_loss": 0.13295823335647583
    },
    {
      "epoch": 27.571942446043167,
      "grad_norm": 0.2982029914855957,
      "learning_rate": 5.231678370541115e-05,
      "loss": 0.0709,
      "step": 30660
    },
    {
      "action_loss": 0.02608460746705532,
      "epoch": 27.571942446043167,
      "step": 30660
    },
    {
      "epoch": 27.571942446043167,
      "step": 30660,
      "torque_loss": 0.19423745572566986
    },
    {
      "epoch": 27.58093525179856,
      "grad_norm": 0.3127378225326538,
      "learning_rate": 5.228925512377495e-05,
      "loss": 0.0738,
      "step": 30670
    },
    {
      "action_loss": 0.005283508449792862,
      "epoch": 27.58093525179856,
      "step": 30670
    },
    {
      "epoch": 27.58093525179856,
      "step": 30670,
      "torque_loss": 0.11543136090040207
    },
    {
      "epoch": 27.58992805755396,
      "grad_norm": 0.3616526126861572,
      "learning_rate": 5.2261725846723465e-05,
      "loss": 0.0752,
      "step": 30680
    },
    {
      "action_loss": 0.0035398041363805532,
      "epoch": 27.58992805755396,
      "step": 30680
    },
    {
      "epoch": 27.58992805755396,
      "step": 30680,
      "torque_loss": 0.07509780675172806
    },
    {
      "epoch": 27.598920863309353,
      "grad_norm": 0.304303914308548,
      "learning_rate": 5.22341958826194e-05,
      "loss": 0.0657,
      "step": 30690
    },
    {
      "action_loss": 0.01630779542028904,
      "epoch": 27.598920863309353,
      "step": 30690
    },
    {
      "epoch": 27.598920863309353,
      "step": 30690,
      "torque_loss": 0.12124564498662949
    },
    {
      "epoch": 27.607913669064747,
      "grad_norm": 0.22093622386455536,
      "learning_rate": 5.22066652398256e-05,
      "loss": 0.0663,
      "step": 30700
    },
    {
      "action_loss": 0.00638221763074398,
      "epoch": 27.607913669064747,
      "step": 30700
    },
    {
      "epoch": 27.607913669064747,
      "step": 30700,
      "torque_loss": 0.10512000322341919
    },
    {
      "epoch": 27.616906474820144,
      "grad_norm": 0.32925015687942505,
      "learning_rate": 5.2179133926705185e-05,
      "loss": 0.0664,
      "step": 30710
    },
    {
      "action_loss": 0.002771182684227824,
      "epoch": 27.616906474820144,
      "step": 30710
    },
    {
      "epoch": 27.616906474820144,
      "step": 30710,
      "torque_loss": 0.07446091622114182
    },
    {
      "epoch": 27.62589928057554,
      "grad_norm": 0.26211461424827576,
      "learning_rate": 5.215160195162141e-05,
      "loss": 0.0637,
      "step": 30720
    },
    {
      "action_loss": 0.006480127573013306,
      "epoch": 27.62589928057554,
      "step": 30720
    },
    {
      "epoch": 27.62589928057554,
      "step": 30720,
      "torque_loss": 0.09608682990074158
    },
    {
      "epoch": 27.634892086330936,
      "grad_norm": 0.32613861560821533,
      "learning_rate": 5.212406932293776e-05,
      "loss": 0.0568,
      "step": 30730
    },
    {
      "action_loss": 0.006453521549701691,
      "epoch": 27.634892086330936,
      "step": 30730
    },
    {
      "epoch": 27.634892086330936,
      "step": 30730,
      "torque_loss": 0.11692067235708237
    },
    {
      "epoch": 27.64388489208633,
      "grad_norm": 0.42026227712631226,
      "learning_rate": 5.209653604901795e-05,
      "loss": 0.0645,
      "step": 30740
    },
    {
      "action_loss": 0.004264110699295998,
      "epoch": 27.64388489208633,
      "step": 30740
    },
    {
      "epoch": 27.64388489208633,
      "step": 30740,
      "torque_loss": 0.10982044786214828
    },
    {
      "epoch": 27.652877697841728,
      "grad_norm": 0.3222639262676239,
      "learning_rate": 5.206900213822584e-05,
      "loss": 0.0685,
      "step": 30750
    },
    {
      "action_loss": 0.003980834502726793,
      "epoch": 27.652877697841728,
      "step": 30750
    },
    {
      "epoch": 27.652877697841728,
      "step": 30750,
      "torque_loss": 0.06127515435218811
    },
    {
      "epoch": 27.66187050359712,
      "grad_norm": 0.2724141478538513,
      "learning_rate": 5.204146759892551e-05,
      "loss": 0.0693,
      "step": 30760
    },
    {
      "action_loss": 0.0032156186643987894,
      "epoch": 27.66187050359712,
      "step": 30760
    },
    {
      "epoch": 27.66187050359712,
      "step": 30760,
      "torque_loss": 0.08185338973999023
    },
    {
      "epoch": 27.67086330935252,
      "grad_norm": 0.26350679993629456,
      "learning_rate": 5.2013932439481216e-05,
      "loss": 0.0659,
      "step": 30770
    },
    {
      "action_loss": 0.02754613757133484,
      "epoch": 27.67086330935252,
      "step": 30770
    },
    {
      "epoch": 27.67086330935252,
      "step": 30770,
      "torque_loss": 0.2713729441165924
    },
    {
      "epoch": 27.679856115107913,
      "grad_norm": 0.2752734124660492,
      "learning_rate": 5.198639666825743e-05,
      "loss": 0.0878,
      "step": 30780
    },
    {
      "action_loss": 0.01115492731332779,
      "epoch": 27.679856115107913,
      "step": 30780
    },
    {
      "epoch": 27.679856115107913,
      "step": 30780,
      "torque_loss": 0.12435568124055862
    },
    {
      "epoch": 27.68884892086331,
      "grad_norm": 0.29567909240722656,
      "learning_rate": 5.195886029361877e-05,
      "loss": 0.0697,
      "step": 30790
    },
    {
      "action_loss": 0.004041988402605057,
      "epoch": 27.68884892086331,
      "step": 30790
    },
    {
      "epoch": 27.68884892086331,
      "step": 30790,
      "torque_loss": 0.15499238669872284
    },
    {
      "epoch": 27.697841726618705,
      "grad_norm": 0.3508957326412201,
      "learning_rate": 5.193132332393009e-05,
      "loss": 0.0765,
      "step": 30800
    },
    {
      "action_loss": 0.024076765403151512,
      "epoch": 27.697841726618705,
      "step": 30800
    },
    {
      "epoch": 27.697841726618705,
      "step": 30800,
      "torque_loss": 0.18604642152786255
    },
    {
      "epoch": 27.7068345323741,
      "grad_norm": 0.2457025647163391,
      "learning_rate": 5.1903785767556376e-05,
      "loss": 0.067,
      "step": 30810
    },
    {
      "action_loss": 0.003447478637099266,
      "epoch": 27.7068345323741,
      "step": 30810
    },
    {
      "epoch": 27.7068345323741,
      "step": 30810,
      "torque_loss": 0.05423742160201073
    },
    {
      "epoch": 27.715827338129497,
      "grad_norm": 0.37155112624168396,
      "learning_rate": 5.187624763286282e-05,
      "loss": 0.0567,
      "step": 30820
    },
    {
      "action_loss": 0.009105809032917023,
      "epoch": 27.715827338129497,
      "step": 30820
    },
    {
      "epoch": 27.715827338129497,
      "step": 30820,
      "torque_loss": 0.13048236072063446
    },
    {
      "epoch": 27.72482014388489,
      "grad_norm": 0.3997020125389099,
      "learning_rate": 5.184870892821475e-05,
      "loss": 0.0923,
      "step": 30830
    },
    {
      "action_loss": 0.003107269061729312,
      "epoch": 27.72482014388489,
      "step": 30830
    },
    {
      "epoch": 27.72482014388489,
      "step": 30830,
      "torque_loss": 0.07492136210203171
    },
    {
      "epoch": 27.73381294964029,
      "grad_norm": 0.3696138560771942,
      "learning_rate": 5.182116966197773e-05,
      "loss": 0.0652,
      "step": 30840
    },
    {
      "action_loss": 0.0041135684587061405,
      "epoch": 27.73381294964029,
      "step": 30840
    },
    {
      "epoch": 27.73381294964029,
      "step": 30840,
      "torque_loss": 0.07332175225019455
    },
    {
      "epoch": 27.742805755395683,
      "grad_norm": 0.3052142858505249,
      "learning_rate": 5.1793629842517466e-05,
      "loss": 0.0615,
      "step": 30850
    },
    {
      "action_loss": 0.006175318732857704,
      "epoch": 27.742805755395683,
      "step": 30850
    },
    {
      "epoch": 27.742805755395683,
      "step": 30850,
      "torque_loss": 0.12641316652297974
    },
    {
      "epoch": 27.75179856115108,
      "grad_norm": 0.2892895042896271,
      "learning_rate": 5.17660894781998e-05,
      "loss": 0.0651,
      "step": 30860
    },
    {
      "action_loss": 0.0021892788354307413,
      "epoch": 27.75179856115108,
      "step": 30860
    },
    {
      "epoch": 27.75179856115108,
      "step": 30860,
      "torque_loss": 0.05734121799468994
    },
    {
      "epoch": 27.760791366906474,
      "grad_norm": 0.30549585819244385,
      "learning_rate": 5.173854857739079e-05,
      "loss": 0.0685,
      "step": 30870
    },
    {
      "action_loss": 0.004137205425649881,
      "epoch": 27.760791366906474,
      "step": 30870
    },
    {
      "epoch": 27.760791366906474,
      "step": 30870,
      "torque_loss": 0.06405114382505417
    },
    {
      "epoch": 27.769784172661872,
      "grad_norm": 0.3175692558288574,
      "learning_rate": 5.171100714845661e-05,
      "loss": 0.0572,
      "step": 30880
    },
    {
      "action_loss": 0.011248608119785786,
      "epoch": 27.769784172661872,
      "step": 30880
    },
    {
      "epoch": 27.769784172661872,
      "step": 30880,
      "torque_loss": 0.1047271266579628
    },
    {
      "epoch": 27.778776978417266,
      "grad_norm": 0.22851184010505676,
      "learning_rate": 5.1683465199763646e-05,
      "loss": 0.0764,
      "step": 30890
    },
    {
      "action_loss": 0.003476514481008053,
      "epoch": 27.778776978417266,
      "step": 30890
    },
    {
      "epoch": 27.778776978417266,
      "step": 30890,
      "torque_loss": 0.0761587843298912
    },
    {
      "epoch": 27.78776978417266,
      "grad_norm": 0.2907366454601288,
      "learning_rate": 5.16559227396784e-05,
      "loss": 0.0592,
      "step": 30900
    },
    {
      "action_loss": 0.004031195770949125,
      "epoch": 27.78776978417266,
      "step": 30900
    },
    {
      "epoch": 27.78776978417266,
      "step": 30900,
      "torque_loss": 0.0958227887749672
    },
    {
      "epoch": 27.796762589928058,
      "grad_norm": 0.3233397305011749,
      "learning_rate": 5.1628379776567556e-05,
      "loss": 0.0667,
      "step": 30910
    },
    {
      "action_loss": 0.0024853991344571114,
      "epoch": 27.796762589928058,
      "step": 30910
    },
    {
      "epoch": 27.796762589928058,
      "step": 30910,
      "torque_loss": 0.06353891640901566
    },
    {
      "epoch": 27.805755395683452,
      "grad_norm": 0.28306540846824646,
      "learning_rate": 5.160083631879792e-05,
      "loss": 0.0659,
      "step": 30920
    },
    {
      "action_loss": 0.002875726670026779,
      "epoch": 27.805755395683452,
      "step": 30920
    },
    {
      "epoch": 27.805755395683452,
      "step": 30920,
      "torque_loss": 0.07317005842924118
    },
    {
      "epoch": 27.81474820143885,
      "grad_norm": 0.32126179337501526,
      "learning_rate": 5.1573292374736484e-05,
      "loss": 0.0674,
      "step": 30930
    },
    {
      "action_loss": 0.002815108746290207,
      "epoch": 27.81474820143885,
      "step": 30930
    },
    {
      "epoch": 27.81474820143885,
      "step": 30930,
      "torque_loss": 0.08528163284063339
    },
    {
      "epoch": 27.823741007194243,
      "grad_norm": 0.3479314148426056,
      "learning_rate": 5.1545747952750356e-05,
      "loss": 0.0733,
      "step": 30940
    },
    {
      "action_loss": 0.006008153315633535,
      "epoch": 27.823741007194243,
      "step": 30940
    },
    {
      "epoch": 27.823741007194243,
      "step": 30940,
      "torque_loss": 0.10670802742242813
    },
    {
      "epoch": 27.83273381294964,
      "grad_norm": 0.29325827956199646,
      "learning_rate": 5.151820306120682e-05,
      "loss": 0.0591,
      "step": 30950
    },
    {
      "action_loss": 0.00388711248524487,
      "epoch": 27.83273381294964,
      "step": 30950
    },
    {
      "epoch": 27.83273381294964,
      "step": 30950,
      "torque_loss": 0.08710583299398422
    },
    {
      "epoch": 27.841726618705035,
      "grad_norm": 0.28612688183784485,
      "learning_rate": 5.149065770847328e-05,
      "loss": 0.057,
      "step": 30960
    },
    {
      "action_loss": 0.01105673611164093,
      "epoch": 27.841726618705035,
      "step": 30960
    },
    {
      "epoch": 27.841726618705035,
      "step": 30960,
      "torque_loss": 0.1216701865196228
    },
    {
      "epoch": 27.850719424460433,
      "grad_norm": 0.3539559841156006,
      "learning_rate": 5.1463111902917297e-05,
      "loss": 0.0736,
      "step": 30970
    },
    {
      "action_loss": 0.004041273146867752,
      "epoch": 27.850719424460433,
      "step": 30970
    },
    {
      "epoch": 27.850719424460433,
      "step": 30970,
      "torque_loss": 0.13849100470542908
    },
    {
      "epoch": 27.859712230215827,
      "grad_norm": 0.3088609278202057,
      "learning_rate": 5.143556565290654e-05,
      "loss": 0.0764,
      "step": 30980
    },
    {
      "action_loss": 0.004094287753105164,
      "epoch": 27.859712230215827,
      "step": 30980
    },
    {
      "epoch": 27.859712230215827,
      "step": 30980,
      "torque_loss": 0.11589208245277405
    },
    {
      "epoch": 27.868705035971225,
      "grad_norm": 0.28916221857070923,
      "learning_rate": 5.140801896680882e-05,
      "loss": 0.0624,
      "step": 30990
    },
    {
      "action_loss": 0.009570821188390255,
      "epoch": 27.868705035971225,
      "step": 30990
    },
    {
      "epoch": 27.868705035971225,
      "step": 30990,
      "torque_loss": 0.12686701118946075
    },
    {
      "epoch": 27.87769784172662,
      "grad_norm": 0.28396421670913696,
      "learning_rate": 5.1380471852992144e-05,
      "loss": 0.0665,
      "step": 31000
    },
    {
      "action_loss": 0.0051605417393147945,
      "epoch": 27.87769784172662,
      "step": 31000
    },
    {
      "epoch": 27.87769784172662,
      "step": 31000,
      "torque_loss": 0.07096031308174133
    },
    {
      "epoch": 27.886690647482013,
      "grad_norm": 0.22506457567214966,
      "learning_rate": 5.135292431982457e-05,
      "loss": 0.0642,
      "step": 31010
    },
    {
      "action_loss": 0.006206301506608725,
      "epoch": 27.886690647482013,
      "step": 31010
    },
    {
      "epoch": 27.886690647482013,
      "step": 31010,
      "torque_loss": 0.09370500594377518
    },
    {
      "epoch": 27.89568345323741,
      "grad_norm": 0.3386896252632141,
      "learning_rate": 5.1325376375674294e-05,
      "loss": 0.0657,
      "step": 31020
    },
    {
      "action_loss": 0.015281151048839092,
      "epoch": 27.89568345323741,
      "step": 31020
    },
    {
      "epoch": 27.89568345323741,
      "step": 31020,
      "torque_loss": 0.14366911351680756
    },
    {
      "epoch": 27.904676258992804,
      "grad_norm": 0.21991340816020966,
      "learning_rate": 5.129782802890968e-05,
      "loss": 0.0707,
      "step": 31030
    },
    {
      "action_loss": 0.002234814455732703,
      "epoch": 27.904676258992804,
      "step": 31030
    },
    {
      "epoch": 27.904676258992804,
      "step": 31030,
      "torque_loss": 0.07064346224069595
    },
    {
      "epoch": 27.913669064748202,
      "grad_norm": 0.2642335295677185,
      "learning_rate": 5.127027928789916e-05,
      "loss": 0.065,
      "step": 31040
    },
    {
      "action_loss": 0.009223397821187973,
      "epoch": 27.913669064748202,
      "step": 31040
    },
    {
      "epoch": 27.913669064748202,
      "step": 31040,
      "torque_loss": 0.072780542075634
    },
    {
      "epoch": 27.922661870503596,
      "grad_norm": 0.3895231783390045,
      "learning_rate": 5.124273016101135e-05,
      "loss": 0.0837,
      "step": 31050
    },
    {
      "action_loss": 0.003762780921533704,
      "epoch": 27.922661870503596,
      "step": 31050
    },
    {
      "epoch": 27.922661870503596,
      "step": 31050,
      "torque_loss": 0.07609273493289948
    },
    {
      "epoch": 27.931654676258994,
      "grad_norm": 0.3100006878376007,
      "learning_rate": 5.121518065661492e-05,
      "loss": 0.0675,
      "step": 31060
    },
    {
      "action_loss": 0.0025074637960642576,
      "epoch": 27.931654676258994,
      "step": 31060
    },
    {
      "epoch": 27.931654676258994,
      "step": 31060,
      "torque_loss": 0.07389967888593674
    },
    {
      "epoch": 27.940647482014388,
      "grad_norm": 0.20834563672542572,
      "learning_rate": 5.11876307830787e-05,
      "loss": 0.0692,
      "step": 31070
    },
    {
      "action_loss": 0.008809915743768215,
      "epoch": 27.940647482014388,
      "step": 31070
    },
    {
      "epoch": 27.940647482014388,
      "step": 31070,
      "torque_loss": 0.14929422736167908
    },
    {
      "epoch": 27.949640287769785,
      "grad_norm": 0.3045310974121094,
      "learning_rate": 5.1160080548771596e-05,
      "loss": 0.0763,
      "step": 31080
    },
    {
      "action_loss": 0.004327115137130022,
      "epoch": 27.949640287769785,
      "step": 31080
    },
    {
      "epoch": 27.949640287769785,
      "step": 31080,
      "torque_loss": 0.11793840676546097
    },
    {
      "epoch": 27.95863309352518,
      "grad_norm": 0.2661994695663452,
      "learning_rate": 5.1132529962062656e-05,
      "loss": 0.0637,
      "step": 31090
    },
    {
      "action_loss": 0.0018681412329897285,
      "epoch": 27.95863309352518,
      "step": 31090
    },
    {
      "epoch": 27.95863309352518,
      "step": 31090,
      "torque_loss": 0.07679726928472519
    },
    {
      "epoch": 27.967625899280577,
      "grad_norm": 0.3218686580657959,
      "learning_rate": 5.110497903132101e-05,
      "loss": 0.0575,
      "step": 31100
    },
    {
      "action_loss": 0.0014515850925818086,
      "epoch": 27.967625899280577,
      "step": 31100
    },
    {
      "epoch": 27.967625899280577,
      "step": 31100,
      "torque_loss": 0.05581963062286377
    },
    {
      "epoch": 27.97661870503597,
      "grad_norm": 0.4098682999610901,
      "learning_rate": 5.107742776491592e-05,
      "loss": 0.0677,
      "step": 31110
    },
    {
      "action_loss": 0.0020234861876815557,
      "epoch": 27.97661870503597,
      "step": 31110
    },
    {
      "epoch": 27.97661870503597,
      "step": 31110,
      "torque_loss": 0.07754997164011002
    },
    {
      "epoch": 27.985611510791365,
      "grad_norm": 0.2982770800590515,
      "learning_rate": 5.104987617121673e-05,
      "loss": 0.0591,
      "step": 31120
    },
    {
      "action_loss": 0.003237846540287137,
      "epoch": 27.985611510791365,
      "step": 31120
    },
    {
      "epoch": 27.985611510791365,
      "step": 31120,
      "torque_loss": 0.10333994776010513
    },
    {
      "epoch": 27.994604316546763,
      "grad_norm": 0.2785729169845581,
      "learning_rate": 5.102232425859287e-05,
      "loss": 0.0628,
      "step": 31130
    },
    {
      "action_loss": 0.0017137593822553754,
      "epoch": 27.994604316546763,
      "step": 31130
    },
    {
      "epoch": 27.994604316546763,
      "step": 31130,
      "torque_loss": 0.04299547150731087
    },
    {
      "epoch": 28.003597122302157,
      "grad_norm": 0.29213425517082214,
      "learning_rate": 5.09947720354139e-05,
      "loss": 0.0578,
      "step": 31140
    },
    {
      "action_loss": 0.008210831321775913,
      "epoch": 28.003597122302157,
      "step": 31140
    },
    {
      "epoch": 28.003597122302157,
      "step": 31140,
      "torque_loss": 0.1339065283536911
    },
    {
      "epoch": 28.012589928057555,
      "grad_norm": 0.2773280441761017,
      "learning_rate": 5.096721951004942e-05,
      "loss": 0.0688,
      "step": 31150
    },
    {
      "action_loss": 0.002580928383395076,
      "epoch": 28.012589928057555,
      "step": 31150
    },
    {
      "epoch": 28.012589928057555,
      "step": 31150,
      "torque_loss": 0.08250822871923447
    },
    {
      "epoch": 28.02158273381295,
      "grad_norm": 0.3724066913127899,
      "learning_rate": 5.0939666690869227e-05,
      "loss": 0.0637,
      "step": 31160
    },
    {
      "action_loss": 0.011963631957769394,
      "epoch": 28.02158273381295,
      "step": 31160
    },
    {
      "epoch": 28.02158273381295,
      "step": 31160,
      "torque_loss": 0.10926777124404907
    },
    {
      "epoch": 28.030575539568346,
      "grad_norm": 0.3239971101284027,
      "learning_rate": 5.0912113586243096e-05,
      "loss": 0.067,
      "step": 31170
    },
    {
      "action_loss": 0.003913348540663719,
      "epoch": 28.030575539568346,
      "step": 31170
    },
    {
      "epoch": 28.030575539568346,
      "step": 31170,
      "torque_loss": 0.07884597033262253
    },
    {
      "epoch": 28.03956834532374,
      "grad_norm": 0.3139030337333679,
      "learning_rate": 5.0884560204540935e-05,
      "loss": 0.0714,
      "step": 31180
    },
    {
      "action_loss": 0.017848948016762733,
      "epoch": 28.03956834532374,
      "step": 31180
    },
    {
      "epoch": 28.03956834532374,
      "step": 31180,
      "torque_loss": 0.1180240586400032
    },
    {
      "epoch": 28.048561151079138,
      "grad_norm": 0.3091764748096466,
      "learning_rate": 5.0857006554132736e-05,
      "loss": 0.0674,
      "step": 31190
    },
    {
      "action_loss": 0.002564231166616082,
      "epoch": 28.048561151079138,
      "step": 31190
    },
    {
      "epoch": 28.048561151079138,
      "step": 31190,
      "torque_loss": 0.08078494668006897
    },
    {
      "epoch": 28.057553956834532,
      "grad_norm": 0.24759899079799652,
      "learning_rate": 5.0829452643388575e-05,
      "loss": 0.0589,
      "step": 31200
    },
    {
      "action_loss": 0.004453945439308882,
      "epoch": 28.057553956834532,
      "step": 31200
    },
    {
      "epoch": 28.057553956834532,
      "step": 31200,
      "torque_loss": 0.09516274929046631
    },
    {
      "epoch": 28.06654676258993,
      "grad_norm": 0.35596343874931335,
      "learning_rate": 5.08018984806786e-05,
      "loss": 0.0607,
      "step": 31210
    },
    {
      "action_loss": 0.002823249204084277,
      "epoch": 28.06654676258993,
      "step": 31210
    },
    {
      "epoch": 28.06654676258993,
      "step": 31210,
      "torque_loss": 0.0886005088686943
    },
    {
      "epoch": 28.075539568345324,
      "grad_norm": 0.27783486247062683,
      "learning_rate": 5.0774344074373036e-05,
      "loss": 0.0667,
      "step": 31220
    },
    {
      "action_loss": 0.002287832088768482,
      "epoch": 28.075539568345324,
      "step": 31220
    },
    {
      "epoch": 28.075539568345324,
      "step": 31220,
      "torque_loss": 0.06120606139302254
    },
    {
      "epoch": 28.084532374100718,
      "grad_norm": 0.27586984634399414,
      "learning_rate": 5.07467894328422e-05,
      "loss": 0.0674,
      "step": 31230
    },
    {
      "action_loss": 0.014589470811188221,
      "epoch": 28.084532374100718,
      "step": 31230
    },
    {
      "epoch": 28.084532374100718,
      "step": 31230,
      "torque_loss": 0.13280338048934937
    },
    {
      "epoch": 28.093525179856115,
      "grad_norm": 0.3106343746185303,
      "learning_rate": 5.0719234564456454e-05,
      "loss": 0.0663,
      "step": 31240
    },
    {
      "action_loss": 0.008374814875423908,
      "epoch": 28.093525179856115,
      "step": 31240
    },
    {
      "epoch": 28.093525179856115,
      "step": 31240,
      "torque_loss": 0.12344636768102646
    },
    {
      "epoch": 28.10251798561151,
      "grad_norm": 0.2796287536621094,
      "learning_rate": 5.0691679477586216e-05,
      "loss": 0.0522,
      "step": 31250
    },
    {
      "action_loss": 0.0033370396122336388,
      "epoch": 28.10251798561151,
      "step": 31250
    },
    {
      "epoch": 28.10251798561151,
      "step": 31250,
      "torque_loss": 0.07487937062978745
    },
    {
      "epoch": 28.111510791366907,
      "grad_norm": 0.2747247815132141,
      "learning_rate": 5.0664124180602035e-05,
      "loss": 0.0612,
      "step": 31260
    },
    {
      "action_loss": 0.0020335169974714518,
      "epoch": 28.111510791366907,
      "step": 31260
    },
    {
      "epoch": 28.111510791366907,
      "step": 31260,
      "torque_loss": 0.039319224655628204
    },
    {
      "epoch": 28.1205035971223,
      "grad_norm": 0.30754855275154114,
      "learning_rate": 5.063656868187447e-05,
      "loss": 0.0597,
      "step": 31270
    },
    {
      "action_loss": 0.006118417251855135,
      "epoch": 28.1205035971223,
      "step": 31270
    },
    {
      "epoch": 28.1205035971223,
      "step": 31270,
      "torque_loss": 0.08648437261581421
    },
    {
      "epoch": 28.1294964028777,
      "grad_norm": 0.3052823841571808,
      "learning_rate": 5.060901298977413e-05,
      "loss": 0.0671,
      "step": 31280
    },
    {
      "action_loss": 0.019856134429574013,
      "epoch": 28.1294964028777,
      "step": 31280
    },
    {
      "epoch": 28.1294964028777,
      "step": 31280,
      "torque_loss": 0.14969904720783234
    },
    {
      "epoch": 28.138489208633093,
      "grad_norm": 0.31773555278778076,
      "learning_rate": 5.0581457112671725e-05,
      "loss": 0.076,
      "step": 31290
    },
    {
      "action_loss": 0.003741626627743244,
      "epoch": 28.138489208633093,
      "step": 31290
    },
    {
      "epoch": 28.138489208633093,
      "step": 31290,
      "torque_loss": 0.10268553346395493
    },
    {
      "epoch": 28.14748201438849,
      "grad_norm": 0.24593378603458405,
      "learning_rate": 5.0553901058938016e-05,
      "loss": 0.0631,
      "step": 31300
    },
    {
      "action_loss": 0.0028909940738230944,
      "epoch": 28.14748201438849,
      "step": 31300
    },
    {
      "epoch": 28.14748201438849,
      "step": 31300,
      "torque_loss": 0.06903833150863647
    },
    {
      "epoch": 28.156474820143885,
      "grad_norm": 0.2450956255197525,
      "learning_rate": 5.052634483694377e-05,
      "loss": 0.0615,
      "step": 31310
    },
    {
      "action_loss": 0.0035714705009013414,
      "epoch": 28.156474820143885,
      "step": 31310
    },
    {
      "epoch": 28.156474820143885,
      "step": 31310,
      "torque_loss": 0.09872066974639893
    },
    {
      "epoch": 28.165467625899282,
      "grad_norm": 0.3522529900074005,
      "learning_rate": 5.049878845505988e-05,
      "loss": 0.0646,
      "step": 31320
    },
    {
      "action_loss": 0.0032750118989497423,
      "epoch": 28.165467625899282,
      "step": 31320
    },
    {
      "epoch": 28.165467625899282,
      "step": 31320,
      "torque_loss": 0.08800455927848816
    },
    {
      "epoch": 28.174460431654676,
      "grad_norm": 0.2877991497516632,
      "learning_rate": 5.047123192165721e-05,
      "loss": 0.064,
      "step": 31330
    },
    {
      "action_loss": 0.003532766131684184,
      "epoch": 28.174460431654676,
      "step": 31330
    },
    {
      "epoch": 28.174460431654676,
      "step": 31330,
      "torque_loss": 0.07471992075443268
    },
    {
      "epoch": 28.18345323741007,
      "grad_norm": 0.40468859672546387,
      "learning_rate": 5.0443675245106735e-05,
      "loss": 0.069,
      "step": 31340
    },
    {
      "action_loss": 0.0022852702531963587,
      "epoch": 28.18345323741007,
      "step": 31340
    },
    {
      "epoch": 28.18345323741007,
      "step": 31340,
      "torque_loss": 0.04584053158760071
    },
    {
      "epoch": 28.192446043165468,
      "grad_norm": 0.39796656370162964,
      "learning_rate": 5.0416118433779426e-05,
      "loss": 0.0591,
      "step": 31350
    },
    {
      "action_loss": 0.016455160453915596,
      "epoch": 28.192446043165468,
      "step": 31350
    },
    {
      "epoch": 28.192446043165468,
      "step": 31350,
      "torque_loss": 0.20636701583862305
    },
    {
      "epoch": 28.201438848920862,
      "grad_norm": 0.25322505831718445,
      "learning_rate": 5.038856149604633e-05,
      "loss": 0.0652,
      "step": 31360
    },
    {
      "action_loss": 0.005591609049588442,
      "epoch": 28.201438848920862,
      "step": 31360
    },
    {
      "epoch": 28.201438848920862,
      "step": 31360,
      "torque_loss": 0.11871068924665451
    },
    {
      "epoch": 28.21043165467626,
      "grad_norm": 0.26239046454429626,
      "learning_rate": 5.03610044402785e-05,
      "loss": 0.0645,
      "step": 31370
    },
    {
      "action_loss": 0.00299827940762043,
      "epoch": 28.21043165467626,
      "step": 31370
    },
    {
      "epoch": 28.21043165467626,
      "step": 31370,
      "torque_loss": 0.08623597770929337
    },
    {
      "epoch": 28.219424460431654,
      "grad_norm": 0.2914130687713623,
      "learning_rate": 5.033344727484707e-05,
      "loss": 0.0712,
      "step": 31380
    },
    {
      "action_loss": 0.009958256967365742,
      "epoch": 28.219424460431654,
      "step": 31380
    },
    {
      "epoch": 28.219424460431654,
      "step": 31380,
      "torque_loss": 0.16386817395687103
    },
    {
      "epoch": 28.22841726618705,
      "grad_norm": 0.28202134370803833,
      "learning_rate": 5.030589000812315e-05,
      "loss": 0.0653,
      "step": 31390
    },
    {
      "action_loss": 0.003674466861411929,
      "epoch": 28.22841726618705,
      "step": 31390
    },
    {
      "epoch": 28.22841726618705,
      "step": 31390,
      "torque_loss": 0.09705273061990738
    },
    {
      "epoch": 28.237410071942445,
      "grad_norm": 0.28228092193603516,
      "learning_rate": 5.027833264847793e-05,
      "loss": 0.0612,
      "step": 31400
    },
    {
      "action_loss": 0.006210524123162031,
      "epoch": 28.237410071942445,
      "step": 31400
    },
    {
      "epoch": 28.237410071942445,
      "step": 31400,
      "torque_loss": 0.10226158052682877
    },
    {
      "epoch": 28.246402877697843,
      "grad_norm": 0.2800460457801819,
      "learning_rate": 5.025077520428258e-05,
      "loss": 0.079,
      "step": 31410
    },
    {
      "action_loss": 0.002496164059266448,
      "epoch": 28.246402877697843,
      "step": 31410
    },
    {
      "epoch": 28.246402877697843,
      "step": 31410,
      "torque_loss": 0.06105148792266846
    },
    {
      "epoch": 28.255395683453237,
      "grad_norm": 0.29033181071281433,
      "learning_rate": 5.022321768390837e-05,
      "loss": 0.0572,
      "step": 31420
    },
    {
      "action_loss": 0.01799548976123333,
      "epoch": 28.255395683453237,
      "step": 31420
    },
    {
      "epoch": 28.255395683453237,
      "step": 31420,
      "torque_loss": 0.1376689374446869
    },
    {
      "epoch": 28.264388489208635,
      "grad_norm": 0.39491409063339233,
      "learning_rate": 5.0195660095726516e-05,
      "loss": 0.0762,
      "step": 31430
    },
    {
      "action_loss": 0.006399159785360098,
      "epoch": 28.264388489208635,
      "step": 31430
    },
    {
      "epoch": 28.264388489208635,
      "step": 31430,
      "torque_loss": 0.11799303442239761
    },
    {
      "epoch": 28.27338129496403,
      "grad_norm": 0.2708837687969208,
      "learning_rate": 5.016810244810829e-05,
      "loss": 0.0692,
      "step": 31440
    },
    {
      "action_loss": 0.010596112348139286,
      "epoch": 28.27338129496403,
      "step": 31440
    },
    {
      "epoch": 28.27338129496403,
      "step": 31440,
      "torque_loss": 0.12894947826862335
    },
    {
      "epoch": 28.282374100719423,
      "grad_norm": 0.43105730414390564,
      "learning_rate": 5.0140544749424976e-05,
      "loss": 0.0625,
      "step": 31450
    },
    {
      "action_loss": 0.0037231456954032183,
      "epoch": 28.282374100719423,
      "step": 31450
    },
    {
      "epoch": 28.282374100719423,
      "step": 31450,
      "torque_loss": 0.09122574329376221
    },
    {
      "epoch": 28.29136690647482,
      "grad_norm": 0.4201442003250122,
      "learning_rate": 5.0112987008047874e-05,
      "loss": 0.0604,
      "step": 31460
    },
    {
      "action_loss": 0.010267500765621662,
      "epoch": 28.29136690647482,
      "step": 31460
    },
    {
      "epoch": 28.29136690647482,
      "step": 31460,
      "torque_loss": 0.12953180074691772
    },
    {
      "epoch": 28.300359712230215,
      "grad_norm": 0.2834095358848572,
      "learning_rate": 5.008542923234831e-05,
      "loss": 0.0707,
      "step": 31470
    },
    {
      "action_loss": 0.006020324770361185,
      "epoch": 28.300359712230215,
      "step": 31470
    },
    {
      "epoch": 28.300359712230215,
      "step": 31470,
      "torque_loss": 0.11876048892736435
    },
    {
      "epoch": 28.309352517985612,
      "grad_norm": 0.3976355195045471,
      "learning_rate": 5.00578714306976e-05,
      "loss": 0.0753,
      "step": 31480
    },
    {
      "action_loss": 0.003039401024580002,
      "epoch": 28.309352517985612,
      "step": 31480
    },
    {
      "epoch": 28.309352517985612,
      "step": 31480,
      "torque_loss": 0.08824978023767471
    },
    {
      "epoch": 28.318345323741006,
      "grad_norm": 0.32183000445365906,
      "learning_rate": 5.0030313611467084e-05,
      "loss": 0.0676,
      "step": 31490
    },
    {
      "action_loss": 0.008772730827331543,
      "epoch": 28.318345323741006,
      "step": 31490
    },
    {
      "epoch": 28.318345323741006,
      "step": 31490,
      "torque_loss": 0.08542981743812561
    },
    {
      "epoch": 28.327338129496404,
      "grad_norm": 0.38200610876083374,
      "learning_rate": 5.0002755783028074e-05,
      "loss": 0.066,
      "step": 31500
    },
    {
      "action_loss": 0.013195153325796127,
      "epoch": 28.327338129496404,
      "step": 31500
    },
    {
      "epoch": 28.327338129496404,
      "step": 31500,
      "torque_loss": 0.15796971321105957
    },
    {
      "epoch": 28.336330935251798,
      "grad_norm": 0.3014782965183258,
      "learning_rate": 4.997519795375194e-05,
      "loss": 0.0707,
      "step": 31510
    },
    {
      "action_loss": 0.0025545936077833176,
      "epoch": 28.336330935251798,
      "step": 31510
    },
    {
      "epoch": 28.336330935251798,
      "step": 31510,
      "torque_loss": 0.07741712033748627
    },
    {
      "epoch": 28.345323741007196,
      "grad_norm": 0.29256415367126465,
      "learning_rate": 4.9947640132010016e-05,
      "loss": 0.0677,
      "step": 31520
    },
    {
      "action_loss": 0.013194024562835693,
      "epoch": 28.345323741007196,
      "step": 31520
    },
    {
      "epoch": 28.345323741007196,
      "step": 31520,
      "torque_loss": 0.1833217889070511
    },
    {
      "epoch": 28.35431654676259,
      "grad_norm": 0.223119854927063,
      "learning_rate": 4.9920082326173625e-05,
      "loss": 0.0706,
      "step": 31530
    },
    {
      "action_loss": 0.02068706415593624,
      "epoch": 28.35431654676259,
      "step": 31530
    },
    {
      "epoch": 28.35431654676259,
      "step": 31530,
      "torque_loss": 0.1547653079032898
    },
    {
      "epoch": 28.363309352517987,
      "grad_norm": 0.2781568169593811,
      "learning_rate": 4.9892524544614114e-05,
      "loss": 0.0728,
      "step": 31540
    },
    {
      "action_loss": 0.0037999290507286787,
      "epoch": 28.363309352517987,
      "step": 31540
    },
    {
      "epoch": 28.363309352517987,
      "step": 31540,
      "torque_loss": 0.1130412220954895
    },
    {
      "epoch": 28.37230215827338,
      "grad_norm": 0.3428930938243866,
      "learning_rate": 4.986496679570283e-05,
      "loss": 0.072,
      "step": 31550
    },
    {
      "action_loss": 0.003342453157529235,
      "epoch": 28.37230215827338,
      "step": 31550
    },
    {
      "epoch": 28.37230215827338,
      "step": 31550,
      "torque_loss": 0.10304389148950577
    },
    {
      "epoch": 28.381294964028775,
      "grad_norm": 0.3131743371486664,
      "learning_rate": 4.983740908781105e-05,
      "loss": 0.0734,
      "step": 31560
    },
    {
      "action_loss": 0.002795093460008502,
      "epoch": 28.381294964028775,
      "step": 31560
    },
    {
      "epoch": 28.381294964028775,
      "step": 31560,
      "torque_loss": 0.10853216797113419
    },
    {
      "epoch": 28.390287769784173,
      "grad_norm": 0.43979066610336304,
      "learning_rate": 4.9809851429310116e-05,
      "loss": 0.0606,
      "step": 31570
    },
    {
      "action_loss": 0.005281609948724508,
      "epoch": 28.390287769784173,
      "step": 31570
    },
    {
      "epoch": 28.390287769784173,
      "step": 31570,
      "torque_loss": 0.1532198041677475
    },
    {
      "epoch": 28.399280575539567,
      "grad_norm": 0.27300164103507996,
      "learning_rate": 4.9782293828571275e-05,
      "loss": 0.0769,
      "step": 31580
    },
    {
      "action_loss": 0.005500939209014177,
      "epoch": 28.399280575539567,
      "step": 31580
    },
    {
      "epoch": 28.399280575539567,
      "step": 31580,
      "torque_loss": 0.07733067125082016
    },
    {
      "epoch": 28.408273381294965,
      "grad_norm": 0.32746440172195435,
      "learning_rate": 4.9754736293965846e-05,
      "loss": 0.0626,
      "step": 31590
    },
    {
      "action_loss": 0.006391247268766165,
      "epoch": 28.408273381294965,
      "step": 31590
    },
    {
      "epoch": 28.408273381294965,
      "step": 31590,
      "torque_loss": 0.14764101803302765
    },
    {
      "epoch": 28.41726618705036,
      "grad_norm": 0.3069736957550049,
      "learning_rate": 4.972717883386502e-05,
      "loss": 0.0789,
      "step": 31600
    },
    {
      "action_loss": 0.0020379682537168264,
      "epoch": 28.41726618705036,
      "step": 31600
    },
    {
      "epoch": 28.41726618705036,
      "step": 31600,
      "torque_loss": 0.0684228166937828
    },
    {
      "epoch": 28.426258992805757,
      "grad_norm": 0.35578566789627075,
      "learning_rate": 4.9699621456640075e-05,
      "loss": 0.0663,
      "step": 31610
    },
    {
      "action_loss": 0.0023075828794389963,
      "epoch": 28.426258992805757,
      "step": 31610
    },
    {
      "epoch": 28.426258992805757,
      "step": 31610,
      "torque_loss": 0.06710200756788254
    },
    {
      "epoch": 28.43525179856115,
      "grad_norm": 0.388370156288147,
      "learning_rate": 4.9672064170662214e-05,
      "loss": 0.059,
      "step": 31620
    },
    {
      "action_loss": 0.001477082259953022,
      "epoch": 28.43525179856115,
      "step": 31620
    },
    {
      "epoch": 28.43525179856115,
      "step": 31620,
      "torque_loss": 0.07136467844247818
    },
    {
      "epoch": 28.444244604316548,
      "grad_norm": 0.32813915610313416,
      "learning_rate": 4.9644506984302583e-05,
      "loss": 0.0851,
      "step": 31630
    },
    {
      "action_loss": 0.0038654834497720003,
      "epoch": 28.444244604316548,
      "step": 31630
    },
    {
      "epoch": 28.444244604316548,
      "step": 31630,
      "torque_loss": 0.09290915727615356
    },
    {
      "epoch": 28.453237410071942,
      "grad_norm": 0.3308197259902954,
      "learning_rate": 4.9616949905932356e-05,
      "loss": 0.0647,
      "step": 31640
    },
    {
      "action_loss": 0.008174627088010311,
      "epoch": 28.453237410071942,
      "step": 31640
    },
    {
      "epoch": 28.453237410071942,
      "step": 31640,
      "torque_loss": 0.08745330572128296
    },
    {
      "epoch": 28.46223021582734,
      "grad_norm": 0.3101043999195099,
      "learning_rate": 4.9589392943922615e-05,
      "loss": 0.0698,
      "step": 31650
    },
    {
      "action_loss": 0.002601748099550605,
      "epoch": 28.46223021582734,
      "step": 31650
    },
    {
      "epoch": 28.46223021582734,
      "step": 31650,
      "torque_loss": 0.04916733503341675
    },
    {
      "epoch": 28.471223021582734,
      "grad_norm": 0.30654144287109375,
      "learning_rate": 4.956183610664447e-05,
      "loss": 0.0664,
      "step": 31660
    },
    {
      "action_loss": 0.004050689283758402,
      "epoch": 28.471223021582734,
      "step": 31660
    },
    {
      "epoch": 28.471223021582734,
      "step": 31660,
      "torque_loss": 0.1163453534245491
    },
    {
      "epoch": 28.480215827338128,
      "grad_norm": 0.2516360878944397,
      "learning_rate": 4.9534279402468945e-05,
      "loss": 0.0605,
      "step": 31670
    },
    {
      "action_loss": 0.012399469502270222,
      "epoch": 28.480215827338128,
      "step": 31670
    },
    {
      "epoch": 28.480215827338128,
      "step": 31670,
      "torque_loss": 0.16513817012310028
    },
    {
      "epoch": 28.489208633093526,
      "grad_norm": 0.23396292328834534,
      "learning_rate": 4.9506722839767036e-05,
      "loss": 0.0634,
      "step": 31680
    },
    {
      "action_loss": 0.005722879897803068,
      "epoch": 28.489208633093526,
      "step": 31680
    },
    {
      "epoch": 28.489208633093526,
      "step": 31680,
      "torque_loss": 0.1325863152742386
    },
    {
      "epoch": 28.49820143884892,
      "grad_norm": 0.3046753704547882,
      "learning_rate": 4.947916642690972e-05,
      "loss": 0.0849,
      "step": 31690
    },
    {
      "action_loss": 0.004177651833742857,
      "epoch": 28.49820143884892,
      "step": 31690
    },
    {
      "epoch": 28.49820143884892,
      "step": 31690,
      "torque_loss": 0.11755850166082382
    },
    {
      "epoch": 28.507194244604317,
      "grad_norm": 0.24590669572353363,
      "learning_rate": 4.9451610172267874e-05,
      "loss": 0.053,
      "step": 31700
    },
    {
      "action_loss": 0.007207924500107765,
      "epoch": 28.507194244604317,
      "step": 31700
    },
    {
      "epoch": 28.507194244604317,
      "step": 31700,
      "torque_loss": 0.11569235473871231
    },
    {
      "epoch": 28.51618705035971,
      "grad_norm": 0.3087103068828583,
      "learning_rate": 4.9424054084212376e-05,
      "loss": 0.0627,
      "step": 31710
    },
    {
      "action_loss": 0.007471942808479071,
      "epoch": 28.51618705035971,
      "step": 31710
    },
    {
      "epoch": 28.51618705035971,
      "step": 31710,
      "torque_loss": 0.09038513898849487
    },
    {
      "epoch": 28.52517985611511,
      "grad_norm": 0.28998252749443054,
      "learning_rate": 4.939649817111407e-05,
      "loss": 0.0576,
      "step": 31720
    },
    {
      "action_loss": 0.004785229917615652,
      "epoch": 28.52517985611511,
      "step": 31720
    },
    {
      "epoch": 28.52517985611511,
      "step": 31720,
      "torque_loss": 0.11137060075998306
    },
    {
      "epoch": 28.534172661870503,
      "grad_norm": 0.299793541431427,
      "learning_rate": 4.936894244134365e-05,
      "loss": 0.0672,
      "step": 31730
    },
    {
      "action_loss": 0.0065445080399513245,
      "epoch": 28.534172661870503,
      "step": 31730
    },
    {
      "epoch": 28.534172661870503,
      "step": 31730,
      "torque_loss": 0.11990179866552353
    },
    {
      "epoch": 28.5431654676259,
      "grad_norm": 0.23225648701190948,
      "learning_rate": 4.9341386903271886e-05,
      "loss": 0.0612,
      "step": 31740
    },
    {
      "action_loss": 0.010647374205291271,
      "epoch": 28.5431654676259,
      "step": 31740
    },
    {
      "epoch": 28.5431654676259,
      "step": 31740,
      "torque_loss": 0.10020807385444641
    },
    {
      "epoch": 28.552158273381295,
      "grad_norm": 0.36792710423469543,
      "learning_rate": 4.931383156526936e-05,
      "loss": 0.0902,
      "step": 31750
    },
    {
      "action_loss": 0.002878139726817608,
      "epoch": 28.552158273381295,
      "step": 31750
    },
    {
      "epoch": 28.552158273381295,
      "step": 31750,
      "torque_loss": 0.08674157410860062
    },
    {
      "epoch": 28.56115107913669,
      "grad_norm": 0.32273226976394653,
      "learning_rate": 4.92862764357067e-05,
      "loss": 0.0685,
      "step": 31760
    },
    {
      "action_loss": 0.002281391294673085,
      "epoch": 28.56115107913669,
      "step": 31760
    },
    {
      "epoch": 28.56115107913669,
      "step": 31760,
      "torque_loss": 0.07063045352697372
    },
    {
      "epoch": 28.570143884892087,
      "grad_norm": 0.26067203283309937,
      "learning_rate": 4.925872152295443e-05,
      "loss": 0.0552,
      "step": 31770
    },
    {
      "action_loss": 0.0029643599409610033,
      "epoch": 28.570143884892087,
      "step": 31770
    },
    {
      "epoch": 28.570143884892087,
      "step": 31770,
      "torque_loss": 0.06719879060983658
    },
    {
      "epoch": 28.57913669064748,
      "grad_norm": 0.27071264386177063,
      "learning_rate": 4.923116683538296e-05,
      "loss": 0.0696,
      "step": 31780
    },
    {
      "action_loss": 0.010197659954428673,
      "epoch": 28.57913669064748,
      "step": 31780
    },
    {
      "epoch": 28.57913669064748,
      "step": 31780,
      "torque_loss": 0.13599903881549835
    },
    {
      "epoch": 28.58812949640288,
      "grad_norm": 0.30410709977149963,
      "learning_rate": 4.920361238136273e-05,
      "loss": 0.0723,
      "step": 31790
    },
    {
      "action_loss": 0.0024902988225221634,
      "epoch": 28.58812949640288,
      "step": 31790
    },
    {
      "epoch": 28.58812949640288,
      "step": 31790,
      "torque_loss": 0.08796028047800064
    },
    {
      "epoch": 28.597122302158272,
      "grad_norm": 0.31475189328193665,
      "learning_rate": 4.9176058169264014e-05,
      "loss": 0.0689,
      "step": 31800
    },
    {
      "action_loss": 0.005138773005455732,
      "epoch": 28.597122302158272,
      "step": 31800
    },
    {
      "epoch": 28.597122302158272,
      "step": 31800,
      "torque_loss": 0.08618154376745224
    },
    {
      "epoch": 28.60611510791367,
      "grad_norm": 0.270048052072525,
      "learning_rate": 4.9148504207457074e-05,
      "loss": 0.0786,
      "step": 31810
    },
    {
      "action_loss": 0.01621759869158268,
      "epoch": 28.60611510791367,
      "step": 31810
    },
    {
      "epoch": 28.60611510791367,
      "step": 31810,
      "torque_loss": 0.12324217706918716
    },
    {
      "epoch": 28.615107913669064,
      "grad_norm": 0.3736606240272522,
      "learning_rate": 4.912095050431208e-05,
      "loss": 0.0679,
      "step": 31820
    },
    {
      "action_loss": 0.0032173870131373405,
      "epoch": 28.615107913669064,
      "step": 31820
    },
    {
      "epoch": 28.615107913669064,
      "step": 31820,
      "torque_loss": 0.08836352825164795
    },
    {
      "epoch": 28.62410071942446,
      "grad_norm": 0.32311975955963135,
      "learning_rate": 4.909339706819911e-05,
      "loss": 0.0686,
      "step": 31830
    },
    {
      "action_loss": 0.005138126201927662,
      "epoch": 28.62410071942446,
      "step": 31830
    },
    {
      "epoch": 28.62410071942446,
      "step": 31830,
      "torque_loss": 0.11287647485733032
    },
    {
      "epoch": 28.633093525179856,
      "grad_norm": 0.2275637686252594,
      "learning_rate": 4.906584390748819e-05,
      "loss": 0.0677,
      "step": 31840
    },
    {
      "action_loss": 0.008166101761162281,
      "epoch": 28.633093525179856,
      "step": 31840
    },
    {
      "epoch": 28.633093525179856,
      "step": 31840,
      "torque_loss": 0.14857538044452667
    },
    {
      "epoch": 28.642086330935253,
      "grad_norm": 0.26586928963661194,
      "learning_rate": 4.9038291030549195e-05,
      "loss": 0.0979,
      "step": 31850
    },
    {
      "action_loss": 0.007189879659563303,
      "epoch": 28.642086330935253,
      "step": 31850
    },
    {
      "epoch": 28.642086330935253,
      "step": 31850,
      "torque_loss": 0.09424064308404922
    },
    {
      "epoch": 28.651079136690647,
      "grad_norm": 0.2971116304397583,
      "learning_rate": 4.9010738445751995e-05,
      "loss": 0.0693,
      "step": 31860
    },
    {
      "action_loss": 0.011680196039378643,
      "epoch": 28.651079136690647,
      "step": 31860
    },
    {
      "epoch": 28.651079136690647,
      "step": 31860,
      "torque_loss": 0.19209878146648407
    },
    {
      "epoch": 28.66007194244604,
      "grad_norm": 0.27236828207969666,
      "learning_rate": 4.8983186161466364e-05,
      "loss": 0.0581,
      "step": 31870
    },
    {
      "action_loss": 0.008102674968540668,
      "epoch": 28.66007194244604,
      "step": 31870
    },
    {
      "epoch": 28.66007194244604,
      "step": 31870,
      "torque_loss": 0.16027586162090302
    },
    {
      "epoch": 28.66906474820144,
      "grad_norm": 0.27890726923942566,
      "learning_rate": 4.89556341860619e-05,
      "loss": 0.0704,
      "step": 31880
    },
    {
      "action_loss": 0.002977905794978142,
      "epoch": 28.66906474820144,
      "step": 31880
    },
    {
      "epoch": 28.66906474820144,
      "step": 31880,
      "torque_loss": 0.09315094351768494
    },
    {
      "epoch": 28.678057553956833,
      "grad_norm": 0.29223141074180603,
      "learning_rate": 4.892808252790822e-05,
      "loss": 0.0691,
      "step": 31890
    },
    {
      "action_loss": 0.002660701982676983,
      "epoch": 28.678057553956833,
      "step": 31890
    },
    {
      "epoch": 28.678057553956833,
      "step": 31890,
      "torque_loss": 0.10223966091871262
    },
    {
      "epoch": 28.68705035971223,
      "grad_norm": 0.36208733916282654,
      "learning_rate": 4.890053119537475e-05,
      "loss": 0.0703,
      "step": 31900
    },
    {
      "action_loss": 0.01446177065372467,
      "epoch": 28.68705035971223,
      "step": 31900
    },
    {
      "epoch": 28.68705035971223,
      "step": 31900,
      "torque_loss": 0.11811991780996323
    },
    {
      "epoch": 28.696043165467625,
      "grad_norm": 0.31730160117149353,
      "learning_rate": 4.887298019683087e-05,
      "loss": 0.0779,
      "step": 31910
    },
    {
      "action_loss": 0.04640693962574005,
      "epoch": 28.696043165467625,
      "step": 31910
    },
    {
      "epoch": 28.696043165467625,
      "step": 31910,
      "torque_loss": 0.13279904425144196
    },
    {
      "epoch": 28.705035971223023,
      "grad_norm": 0.27389755845069885,
      "learning_rate": 4.884542954064587e-05,
      "loss": 0.0649,
      "step": 31920
    },
    {
      "action_loss": 0.007426404859870672,
      "epoch": 28.705035971223023,
      "step": 31920
    },
    {
      "epoch": 28.705035971223023,
      "step": 31920,
      "torque_loss": 0.1183759868144989
    },
    {
      "epoch": 28.714028776978417,
      "grad_norm": 0.24567031860351562,
      "learning_rate": 4.881787923518887e-05,
      "loss": 0.0756,
      "step": 31930
    },
    {
      "action_loss": 0.002234594663605094,
      "epoch": 28.714028776978417,
      "step": 31930
    },
    {
      "epoch": 28.714028776978417,
      "step": 31930,
      "torque_loss": 0.06536687165498734
    },
    {
      "epoch": 28.723021582733814,
      "grad_norm": 0.2926209270954132,
      "learning_rate": 4.879032928882896e-05,
      "loss": 0.0643,
      "step": 31940
    },
    {
      "action_loss": 0.009654898196458817,
      "epoch": 28.723021582733814,
      "step": 31940
    },
    {
      "epoch": 28.723021582733814,
      "step": 31940,
      "torque_loss": 0.14851291477680206
    },
    {
      "epoch": 28.73201438848921,
      "grad_norm": 0.35507723689079285,
      "learning_rate": 4.876277970993505e-05,
      "loss": 0.0594,
      "step": 31950
    },
    {
      "action_loss": 0.008468041196465492,
      "epoch": 28.73201438848921,
      "step": 31950
    },
    {
      "epoch": 28.73201438848921,
      "step": 31950,
      "torque_loss": 0.15286117792129517
    },
    {
      "epoch": 28.741007194244606,
      "grad_norm": 0.2263588160276413,
      "learning_rate": 4.873523050687602e-05,
      "loss": 0.0713,
      "step": 31960
    },
    {
      "action_loss": 0.00327562284655869,
      "epoch": 28.741007194244606,
      "step": 31960
    },
    {
      "epoch": 28.741007194244606,
      "step": 31960,
      "torque_loss": 0.06758920103311539
    },
    {
      "epoch": 28.75,
      "grad_norm": 0.23735198378562927,
      "learning_rate": 4.870768168802056e-05,
      "loss": 0.0564,
      "step": 31970
    },
    {
      "action_loss": 0.0052146571688354015,
      "epoch": 28.75,
      "step": 31970
    },
    {
      "epoch": 28.75,
      "step": 31970,
      "torque_loss": 0.09797094017267227
    },
    {
      "epoch": 28.758992805755394,
      "grad_norm": 0.24823026359081268,
      "learning_rate": 4.868013326173728e-05,
      "loss": 0.066,
      "step": 31980
    },
    {
      "action_loss": 0.0041175843216478825,
      "epoch": 28.758992805755394,
      "step": 31980
    },
    {
      "epoch": 28.758992805755394,
      "step": 31980,
      "torque_loss": 0.10473635792732239
    },
    {
      "epoch": 28.76798561151079,
      "grad_norm": 0.3181127607822418,
      "learning_rate": 4.865258523639468e-05,
      "loss": 0.0618,
      "step": 31990
    },
    {
      "action_loss": 0.004376610275357962,
      "epoch": 28.76798561151079,
      "step": 31990
    },
    {
      "epoch": 28.76798561151079,
      "step": 31990,
      "torque_loss": 0.1094161868095398
    },
    {
      "epoch": 28.776978417266186,
      "grad_norm": 0.33991166949272156,
      "learning_rate": 4.862503762036109e-05,
      "loss": 0.0634,
      "step": 32000
    },
    {
      "action_loss": 0.005965625401586294,
      "epoch": 28.776978417266186,
      "step": 32000
    },
    {
      "epoch": 28.776978417266186,
      "step": 32000,
      "torque_loss": 0.08831057697534561
    },
    {
      "epoch": 28.785971223021583,
      "grad_norm": 0.21545915305614471,
      "learning_rate": 4.859749042200478e-05,
      "loss": 0.0549,
      "step": 32010
    },
    {
      "action_loss": 0.0026536546647548676,
      "epoch": 28.785971223021583,
      "step": 32010
    },
    {
      "epoch": 28.785971223021583,
      "step": 32010,
      "torque_loss": 0.0985051766037941
    },
    {
      "epoch": 28.794964028776977,
      "grad_norm": 0.2909517288208008,
      "learning_rate": 4.856994364969384e-05,
      "loss": 0.0612,
      "step": 32020
    },
    {
      "action_loss": 0.003095436841249466,
      "epoch": 28.794964028776977,
      "step": 32020
    },
    {
      "epoch": 28.794964028776977,
      "step": 32020,
      "torque_loss": 0.08502105623483658
    },
    {
      "epoch": 28.803956834532375,
      "grad_norm": 0.2877185344696045,
      "learning_rate": 4.854239731179625e-05,
      "loss": 0.0506,
      "step": 32030
    },
    {
      "action_loss": 0.0029172247741371393,
      "epoch": 28.803956834532375,
      "step": 32030
    },
    {
      "epoch": 28.803956834532375,
      "step": 32030,
      "torque_loss": 0.09491226822137833
    },
    {
      "epoch": 28.81294964028777,
      "grad_norm": 0.3311561644077301,
      "learning_rate": 4.85148514166799e-05,
      "loss": 0.0639,
      "step": 32040
    },
    {
      "action_loss": 0.003562646685168147,
      "epoch": 28.81294964028777,
      "step": 32040
    },
    {
      "epoch": 28.81294964028777,
      "step": 32040,
      "torque_loss": 0.06617926806211472
    },
    {
      "epoch": 28.821942446043167,
      "grad_norm": 0.2692136764526367,
      "learning_rate": 4.8487305972712456e-05,
      "loss": 0.0644,
      "step": 32050
    },
    {
      "action_loss": 0.006554977502673864,
      "epoch": 28.821942446043167,
      "step": 32050
    },
    {
      "epoch": 28.821942446043167,
      "step": 32050,
      "torque_loss": 0.10437079519033432
    },
    {
      "epoch": 28.83093525179856,
      "grad_norm": 0.3041023015975952,
      "learning_rate": 4.8459760988261526e-05,
      "loss": 0.0598,
      "step": 32060
    },
    {
      "action_loss": 0.006657504942268133,
      "epoch": 28.83093525179856,
      "step": 32060
    },
    {
      "epoch": 28.83093525179856,
      "step": 32060,
      "torque_loss": 0.11072101444005966
    },
    {
      "epoch": 28.83992805755396,
      "grad_norm": 0.24222880601882935,
      "learning_rate": 4.843221647169453e-05,
      "loss": 0.06,
      "step": 32070
    },
    {
      "action_loss": 0.005503356922417879,
      "epoch": 28.83992805755396,
      "step": 32070
    },
    {
      "epoch": 28.83992805755396,
      "step": 32070,
      "torque_loss": 0.10266795754432678
    },
    {
      "epoch": 28.848920863309353,
      "grad_norm": 0.28149956464767456,
      "learning_rate": 4.840467243137878e-05,
      "loss": 0.0674,
      "step": 32080
    },
    {
      "action_loss": 0.002750155283138156,
      "epoch": 28.848920863309353,
      "step": 32080
    },
    {
      "epoch": 28.848920863309353,
      "step": 32080,
      "torque_loss": 0.09537819027900696
    },
    {
      "epoch": 28.857913669064747,
      "grad_norm": 0.3357076644897461,
      "learning_rate": 4.837712887568143e-05,
      "loss": 0.069,
      "step": 32090
    },
    {
      "action_loss": 0.006453806068748236,
      "epoch": 28.857913669064747,
      "step": 32090
    },
    {
      "epoch": 28.857913669064747,
      "step": 32090,
      "torque_loss": 0.0871599093079567
    },
    {
      "epoch": 28.866906474820144,
      "grad_norm": 0.40189388394355774,
      "learning_rate": 4.8349585812969464e-05,
      "loss": 0.0683,
      "step": 32100
    },
    {
      "action_loss": 0.009588838554918766,
      "epoch": 28.866906474820144,
      "step": 32100
    },
    {
      "epoch": 28.866906474820144,
      "step": 32100,
      "torque_loss": 0.10995947569608688
    },
    {
      "epoch": 28.87589928057554,
      "grad_norm": 0.25003179907798767,
      "learning_rate": 4.8322043251609775e-05,
      "loss": 0.06,
      "step": 32110
    },
    {
      "action_loss": 0.011737263761460781,
      "epoch": 28.87589928057554,
      "step": 32110
    },
    {
      "epoch": 28.87589928057554,
      "step": 32110,
      "torque_loss": 0.11397577077150345
    },
    {
      "epoch": 28.884892086330936,
      "grad_norm": 0.25745075941085815,
      "learning_rate": 4.8294501199969015e-05,
      "loss": 0.061,
      "step": 32120
    },
    {
      "action_loss": 0.002065959619358182,
      "epoch": 28.884892086330936,
      "step": 32120
    },
    {
      "epoch": 28.884892086330936,
      "step": 32120,
      "torque_loss": 0.054890941828489304
    },
    {
      "epoch": 28.89388489208633,
      "grad_norm": 0.3084534704685211,
      "learning_rate": 4.826695966641376e-05,
      "loss": 0.0583,
      "step": 32130
    },
    {
      "action_loss": 0.0027743412647396326,
      "epoch": 28.89388489208633,
      "step": 32130
    },
    {
      "epoch": 28.89388489208633,
      "step": 32130,
      "torque_loss": 0.06753795593976974
    },
    {
      "epoch": 28.902877697841728,
      "grad_norm": 0.29973214864730835,
      "learning_rate": 4.823941865931043e-05,
      "loss": 0.0676,
      "step": 32140
    },
    {
      "action_loss": 0.008783236145973206,
      "epoch": 28.902877697841728,
      "step": 32140
    },
    {
      "epoch": 28.902877697841728,
      "step": 32140,
      "torque_loss": 0.08306551724672318
    },
    {
      "epoch": 28.91187050359712,
      "grad_norm": 0.37561848759651184,
      "learning_rate": 4.82118781870252e-05,
      "loss": 0.0748,
      "step": 32150
    },
    {
      "action_loss": 0.002791234292089939,
      "epoch": 28.91187050359712,
      "step": 32150
    },
    {
      "epoch": 28.91187050359712,
      "step": 32150,
      "torque_loss": 0.0680980384349823
    },
    {
      "epoch": 28.92086330935252,
      "grad_norm": 0.32451149821281433,
      "learning_rate": 4.8184338257924185e-05,
      "loss": 0.07,
      "step": 32160
    },
    {
      "action_loss": 0.0067703681997954845,
      "epoch": 28.92086330935252,
      "step": 32160
    },
    {
      "epoch": 28.92086330935252,
      "step": 32160,
      "torque_loss": 0.12433215975761414
    },
    {
      "epoch": 28.929856115107913,
      "grad_norm": 0.27472177147865295,
      "learning_rate": 4.815679888037324e-05,
      "loss": 0.0687,
      "step": 32170
    },
    {
      "action_loss": 0.002843450754880905,
      "epoch": 28.929856115107913,
      "step": 32170
    },
    {
      "epoch": 28.929856115107913,
      "step": 32170,
      "torque_loss": 0.1050039604306221
    },
    {
      "epoch": 28.93884892086331,
      "grad_norm": 0.31984391808509827,
      "learning_rate": 4.8129260062738135e-05,
      "loss": 0.0592,
      "step": 32180
    },
    {
      "action_loss": 0.001217912882566452,
      "epoch": 28.93884892086331,
      "step": 32180
    },
    {
      "epoch": 28.93884892086331,
      "step": 32180,
      "torque_loss": 0.05362749099731445
    },
    {
      "epoch": 28.947841726618705,
      "grad_norm": 0.33434155583381653,
      "learning_rate": 4.810172181338445e-05,
      "loss": 0.0702,
      "step": 32190
    },
    {
      "action_loss": 0.0064892456866800785,
      "epoch": 28.947841726618705,
      "step": 32190
    },
    {
      "epoch": 28.947841726618705,
      "step": 32190,
      "torque_loss": 0.1176835224032402
    },
    {
      "epoch": 28.9568345323741,
      "grad_norm": 0.3499426245689392,
      "learning_rate": 4.807418414067753e-05,
      "loss": 0.0539,
      "step": 32200
    },
    {
      "action_loss": 0.0037970785051584244,
      "epoch": 28.9568345323741,
      "step": 32200
    },
    {
      "epoch": 28.9568345323741,
      "step": 32200,
      "torque_loss": 0.12311291694641113
    },
    {
      "epoch": 28.965827338129497,
      "grad_norm": 0.3030693233013153,
      "learning_rate": 4.804664705298264e-05,
      "loss": 0.0636,
      "step": 32210
    },
    {
      "action_loss": 0.0028325552120804787,
      "epoch": 28.965827338129497,
      "step": 32210
    },
    {
      "epoch": 28.965827338129497,
      "step": 32210,
      "torque_loss": 0.09543496370315552
    },
    {
      "epoch": 28.97482014388489,
      "grad_norm": 0.33464401960372925,
      "learning_rate": 4.80191105586648e-05,
      "loss": 0.0642,
      "step": 32220
    },
    {
      "action_loss": 0.00552019290626049,
      "epoch": 28.97482014388489,
      "step": 32220
    },
    {
      "epoch": 28.97482014388489,
      "step": 32220,
      "torque_loss": 0.08545330911874771
    },
    {
      "epoch": 28.98381294964029,
      "grad_norm": 0.4106428027153015,
      "learning_rate": 4.799157466608886e-05,
      "loss": 0.0655,
      "step": 32230
    },
    {
      "action_loss": 0.0033772962633520365,
      "epoch": 28.98381294964029,
      "step": 32230
    },
    {
      "epoch": 28.98381294964029,
      "step": 32230,
      "torque_loss": 0.08269260823726654
    },
    {
      "epoch": 28.992805755395683,
      "grad_norm": 0.2883555293083191,
      "learning_rate": 4.796403938361951e-05,
      "loss": 0.0731,
      "step": 32240
    },
    {
      "action_loss": 0.004290152806788683,
      "epoch": 28.992805755395683,
      "step": 32240
    },
    {
      "epoch": 28.992805755395683,
      "step": 32240,
      "torque_loss": 0.09306836128234863
    },
    {
      "epoch": 29.00179856115108,
      "grad_norm": 0.3815860450267792,
      "learning_rate": 4.793650471962123e-05,
      "loss": 0.055,
      "step": 32250
    },
    {
      "action_loss": 0.007856142707169056,
      "epoch": 29.00179856115108,
      "step": 32250
    },
    {
      "epoch": 29.00179856115108,
      "step": 32250,
      "torque_loss": 0.10384386032819748
    },
    {
      "epoch": 29.010791366906474,
      "grad_norm": 0.3236914277076721,
      "learning_rate": 4.790897068245835e-05,
      "loss": 0.0602,
      "step": 32260
    },
    {
      "action_loss": 0.0021244350355118513,
      "epoch": 29.010791366906474,
      "step": 32260
    },
    {
      "epoch": 29.010791366906474,
      "step": 32260,
      "torque_loss": 0.046471595764160156
    },
    {
      "epoch": 29.019784172661872,
      "grad_norm": 0.2590581774711609,
      "learning_rate": 4.7881437280494954e-05,
      "loss": 0.0743,
      "step": 32270
    },
    {
      "action_loss": 0.004677900578826666,
      "epoch": 29.019784172661872,
      "step": 32270
    },
    {
      "epoch": 29.019784172661872,
      "step": 32270,
      "torque_loss": 0.14798375964164734
    },
    {
      "epoch": 29.028776978417266,
      "grad_norm": 0.25079718232154846,
      "learning_rate": 4.7853904522094965e-05,
      "loss": 0.0675,
      "step": 32280
    },
    {
      "action_loss": 0.0032693129032850266,
      "epoch": 29.028776978417266,
      "step": 32280
    },
    {
      "epoch": 29.028776978417266,
      "step": 32280,
      "torque_loss": 0.14145155251026154
    },
    {
      "epoch": 29.037769784172664,
      "grad_norm": 0.26824164390563965,
      "learning_rate": 4.782637241562215e-05,
      "loss": 0.0683,
      "step": 32290
    },
    {
      "action_loss": 0.0017446560086682439,
      "epoch": 29.037769784172664,
      "step": 32290
    },
    {
      "epoch": 29.037769784172664,
      "step": 32290,
      "torque_loss": 0.0683656632900238
    },
    {
      "epoch": 29.046762589928058,
      "grad_norm": 0.257344126701355,
      "learning_rate": 4.779884096943997e-05,
      "loss": 0.0591,
      "step": 32300
    },
    {
      "action_loss": 0.002494869288057089,
      "epoch": 29.046762589928058,
      "step": 32300
    },
    {
      "epoch": 29.046762589928058,
      "step": 32300,
      "torque_loss": 0.08958497643470764
    },
    {
      "epoch": 29.055755395683452,
      "grad_norm": 0.39308539032936096,
      "learning_rate": 4.777131019191182e-05,
      "loss": 0.0713,
      "step": 32310
    },
    {
      "action_loss": 0.005975678563117981,
      "epoch": 29.055755395683452,
      "step": 32310
    },
    {
      "epoch": 29.055755395683452,
      "step": 32310,
      "torque_loss": 0.08665218204259872
    },
    {
      "epoch": 29.06474820143885,
      "grad_norm": 0.31917810440063477,
      "learning_rate": 4.774378009140076e-05,
      "loss": 0.067,
      "step": 32320
    },
    {
      "action_loss": 0.01084208209067583,
      "epoch": 29.06474820143885,
      "step": 32320
    },
    {
      "epoch": 29.06474820143885,
      "step": 32320,
      "torque_loss": 0.10310781002044678
    },
    {
      "epoch": 29.073741007194243,
      "grad_norm": 0.3460904657840729,
      "learning_rate": 4.7716250676269735e-05,
      "loss": 0.0586,
      "step": 32330
    },
    {
      "action_loss": 0.002953474409878254,
      "epoch": 29.073741007194243,
      "step": 32330
    },
    {
      "epoch": 29.073741007194243,
      "step": 32330,
      "torque_loss": 0.07303086668252945
    },
    {
      "epoch": 29.08273381294964,
      "grad_norm": 0.30348968505859375,
      "learning_rate": 4.7688721954881485e-05,
      "loss": 0.0623,
      "step": 32340
    },
    {
      "action_loss": 0.0034606866538524628,
      "epoch": 29.08273381294964,
      "step": 32340
    },
    {
      "epoch": 29.08273381294964,
      "step": 32340,
      "torque_loss": 0.07354974001646042
    },
    {
      "epoch": 29.091726618705035,
      "grad_norm": 0.215593159198761,
      "learning_rate": 4.7661193935598446e-05,
      "loss": 0.0752,
      "step": 32350
    },
    {
      "action_loss": 0.01107862126082182,
      "epoch": 29.091726618705035,
      "step": 32350
    },
    {
      "epoch": 29.091726618705035,
      "step": 32350,
      "torque_loss": 0.1509287804365158
    },
    {
      "epoch": 29.100719424460433,
      "grad_norm": 0.2609368562698364,
      "learning_rate": 4.763366662678296e-05,
      "loss": 0.0653,
      "step": 32360
    },
    {
      "action_loss": 0.006613054778426886,
      "epoch": 29.100719424460433,
      "step": 32360
    },
    {
      "epoch": 29.100719424460433,
      "step": 32360,
      "torque_loss": 0.12026890367269516
    },
    {
      "epoch": 29.109712230215827,
      "grad_norm": 0.3639967143535614,
      "learning_rate": 4.7606140036797064e-05,
      "loss": 0.0743,
      "step": 32370
    },
    {
      "action_loss": 0.001840040902607143,
      "epoch": 29.109712230215827,
      "step": 32370
    },
    {
      "epoch": 29.109712230215827,
      "step": 32370,
      "torque_loss": 0.0701933279633522
    },
    {
      "epoch": 29.118705035971225,
      "grad_norm": 0.2992399036884308,
      "learning_rate": 4.7578614174002614e-05,
      "loss": 0.0567,
      "step": 32380
    },
    {
      "action_loss": 0.0042237588204443455,
      "epoch": 29.118705035971225,
      "step": 32380
    },
    {
      "epoch": 29.118705035971225,
      "step": 32380,
      "torque_loss": 0.11711480468511581
    },
    {
      "epoch": 29.12769784172662,
      "grad_norm": 0.30695948004722595,
      "learning_rate": 4.755108904676125e-05,
      "loss": 0.0659,
      "step": 32390
    },
    {
      "action_loss": 0.004437526222318411,
      "epoch": 29.12769784172662,
      "step": 32390
    },
    {
      "epoch": 29.12769784172662,
      "step": 32390,
      "torque_loss": 0.06321658939123154
    },
    {
      "epoch": 29.136690647482013,
      "grad_norm": 0.3203226923942566,
      "learning_rate": 4.752356466343436e-05,
      "loss": 0.0711,
      "step": 32400
    },
    {
      "action_loss": 0.00227217935025692,
      "epoch": 29.136690647482013,
      "step": 32400
    },
    {
      "epoch": 29.136690647482013,
      "step": 32400,
      "torque_loss": 0.0788036435842514
    },
    {
      "epoch": 29.14568345323741,
      "grad_norm": 0.2761329412460327,
      "learning_rate": 4.7496041032383174e-05,
      "loss": 0.0541,
      "step": 32410
    },
    {
      "action_loss": 0.0029669934883713722,
      "epoch": 29.14568345323741,
      "step": 32410
    },
    {
      "epoch": 29.14568345323741,
      "step": 32410,
      "torque_loss": 0.08870616555213928
    },
    {
      "epoch": 29.154676258992804,
      "grad_norm": 0.26887932419776917,
      "learning_rate": 4.746851816196858e-05,
      "loss": 0.0543,
      "step": 32420
    },
    {
      "action_loss": 0.002132419031113386,
      "epoch": 29.154676258992804,
      "step": 32420
    },
    {
      "epoch": 29.154676258992804,
      "step": 32420,
      "torque_loss": 0.0493963360786438
    },
    {
      "epoch": 29.163669064748202,
      "grad_norm": 0.3117718994617462,
      "learning_rate": 4.744099606055135e-05,
      "loss": 0.0569,
      "step": 32430
    },
    {
      "action_loss": 0.01590859144926071,
      "epoch": 29.163669064748202,
      "step": 32430
    },
    {
      "epoch": 29.163669064748202,
      "step": 32430,
      "torque_loss": 0.16945551335811615
    },
    {
      "epoch": 29.172661870503596,
      "grad_norm": 0.29866909980773926,
      "learning_rate": 4.741347473649193e-05,
      "loss": 0.0698,
      "step": 32440
    },
    {
      "action_loss": 0.012491394765675068,
      "epoch": 29.172661870503596,
      "step": 32440
    },
    {
      "epoch": 29.172661870503596,
      "step": 32440,
      "torque_loss": 0.10472958534955978
    },
    {
      "epoch": 29.181654676258994,
      "grad_norm": 0.22525285184383392,
      "learning_rate": 4.738595419815058e-05,
      "loss": 0.0592,
      "step": 32450
    },
    {
      "action_loss": 0.014588392339646816,
      "epoch": 29.181654676258994,
      "step": 32450
    },
    {
      "epoch": 29.181654676258994,
      "step": 32450,
      "torque_loss": 0.14135994017124176
    },
    {
      "epoch": 29.190647482014388,
      "grad_norm": 0.37837347388267517,
      "learning_rate": 4.7358434453887365e-05,
      "loss": 0.0733,
      "step": 32460
    },
    {
      "action_loss": 0.004970386158674955,
      "epoch": 29.190647482014388,
      "step": 32460
    },
    {
      "epoch": 29.190647482014388,
      "step": 32460,
      "torque_loss": 0.06518842279911041
    },
    {
      "epoch": 29.199640287769785,
      "grad_norm": 0.3439258933067322,
      "learning_rate": 4.7330915512061976e-05,
      "loss": 0.0591,
      "step": 32470
    },
    {
      "action_loss": 0.003211007220670581,
      "epoch": 29.199640287769785,
      "step": 32470
    },
    {
      "epoch": 29.199640287769785,
      "step": 32470,
      "torque_loss": 0.09525913000106812
    },
    {
      "epoch": 29.20863309352518,
      "grad_norm": 0.2739960849285126,
      "learning_rate": 4.730339738103402e-05,
      "loss": 0.0703,
      "step": 32480
    },
    {
      "action_loss": 0.002972828224301338,
      "epoch": 29.20863309352518,
      "step": 32480
    },
    {
      "epoch": 29.20863309352518,
      "step": 32480,
      "torque_loss": 0.10513017326593399
    },
    {
      "epoch": 29.217625899280577,
      "grad_norm": 0.2590366005897522,
      "learning_rate": 4.727588006916271e-05,
      "loss": 0.07,
      "step": 32490
    },
    {
      "action_loss": 0.0014858405338600278,
      "epoch": 29.217625899280577,
      "step": 32490
    },
    {
      "epoch": 29.217625899280577,
      "step": 32490,
      "torque_loss": 0.0549384243786335
    },
    {
      "epoch": 29.22661870503597,
      "grad_norm": 0.2583823800086975,
      "learning_rate": 4.724836358480711e-05,
      "loss": 0.0545,
      "step": 32500
    },
    {
      "action_loss": 0.008583798073232174,
      "epoch": 29.22661870503597,
      "step": 32500
    },
    {
      "epoch": 29.22661870503597,
      "step": 32500,
      "torque_loss": 0.1901874542236328
    },
    {
      "epoch": 29.235611510791365,
      "grad_norm": 0.32411280274391174,
      "learning_rate": 4.722084793632601e-05,
      "loss": 0.0686,
      "step": 32510
    },
    {
      "action_loss": 0.0038462227676063776,
      "epoch": 29.235611510791365,
      "step": 32510
    },
    {
      "epoch": 29.235611510791365,
      "step": 32510,
      "torque_loss": 0.09426187723875046
    },
    {
      "epoch": 29.244604316546763,
      "grad_norm": 0.27937766909599304,
      "learning_rate": 4.719333313207792e-05,
      "loss": 0.0724,
      "step": 32520
    },
    {
      "action_loss": 0.005286215338855982,
      "epoch": 29.244604316546763,
      "step": 32520
    },
    {
      "epoch": 29.244604316546763,
      "step": 32520,
      "torque_loss": 0.1082206591963768
    },
    {
      "epoch": 29.253597122302157,
      "grad_norm": 0.3524652421474457,
      "learning_rate": 4.716581918042114e-05,
      "loss": 0.0675,
      "step": 32530
    },
    {
      "action_loss": 0.012462818063795567,
      "epoch": 29.253597122302157,
      "step": 32530
    },
    {
      "epoch": 29.253597122302157,
      "step": 32530,
      "torque_loss": 0.1119113340973854
    },
    {
      "epoch": 29.262589928057555,
      "grad_norm": 0.22563818097114563,
      "learning_rate": 4.7138306089713636e-05,
      "loss": 0.058,
      "step": 32540
    },
    {
      "action_loss": 0.0017349409172311425,
      "epoch": 29.262589928057555,
      "step": 32540
    },
    {
      "epoch": 29.262589928057555,
      "step": 32540,
      "torque_loss": 0.051497384905815125
    },
    {
      "epoch": 29.27158273381295,
      "grad_norm": 0.3100985288619995,
      "learning_rate": 4.7110793868313183e-05,
      "loss": 0.0535,
      "step": 32550
    },
    {
      "action_loss": 0.005958022549748421,
      "epoch": 29.27158273381295,
      "step": 32550
    },
    {
      "epoch": 29.27158273381295,
      "step": 32550,
      "torque_loss": 0.09200306981801987
    },
    {
      "epoch": 29.280575539568346,
      "grad_norm": 0.4780476987361908,
      "learning_rate": 4.708328252457729e-05,
      "loss": 0.0662,
      "step": 32560
    },
    {
      "action_loss": 0.009126662276685238,
      "epoch": 29.280575539568346,
      "step": 32560
    },
    {
      "epoch": 29.280575539568346,
      "step": 32560,
      "torque_loss": 0.11656457185745239
    },
    {
      "epoch": 29.28956834532374,
      "grad_norm": 0.34797805547714233,
      "learning_rate": 4.7055772066863135e-05,
      "loss": 0.0776,
      "step": 32570
    },
    {
      "action_loss": 0.004516115877777338,
      "epoch": 29.28956834532374,
      "step": 32570
    },
    {
      "epoch": 29.28956834532374,
      "step": 32570,
      "torque_loss": 0.1188930869102478
    },
    {
      "epoch": 29.298561151079138,
      "grad_norm": 0.35642945766448975,
      "learning_rate": 4.702826250352771e-05,
      "loss": 0.0546,
      "step": 32580
    },
    {
      "action_loss": 0.005597732961177826,
      "epoch": 29.298561151079138,
      "step": 32580
    },
    {
      "epoch": 29.298561151079138,
      "step": 32580,
      "torque_loss": 0.11341562122106552
    },
    {
      "epoch": 29.307553956834532,
      "grad_norm": 0.24814550578594208,
      "learning_rate": 4.7000753842927653e-05,
      "loss": 0.0609,
      "step": 32590
    },
    {
      "action_loss": 0.0036126046907156706,
      "epoch": 29.307553956834532,
      "step": 32590
    },
    {
      "epoch": 29.307553956834532,
      "step": 32590,
      "torque_loss": 0.09876600652933121
    },
    {
      "epoch": 29.31654676258993,
      "grad_norm": 0.35197150707244873,
      "learning_rate": 4.6973246093419384e-05,
      "loss": 0.0692,
      "step": 32600
    },
    {
      "action_loss": 0.004075984004884958,
      "epoch": 29.31654676258993,
      "step": 32600
    },
    {
      "epoch": 29.31654676258993,
      "step": 32600,
      "torque_loss": 0.07807231694459915
    },
    {
      "epoch": 29.325539568345324,
      "grad_norm": 0.3448934257030487,
      "learning_rate": 4.694573926335906e-05,
      "loss": 0.0682,
      "step": 32610
    },
    {
      "action_loss": 0.006321058142930269,
      "epoch": 29.325539568345324,
      "step": 32610
    },
    {
      "epoch": 29.325539568345324,
      "step": 32610,
      "torque_loss": 0.07393894344568253
    },
    {
      "epoch": 29.334532374100718,
      "grad_norm": 0.3372529447078705,
      "learning_rate": 4.6918233361102476e-05,
      "loss": 0.0631,
      "step": 32620
    },
    {
      "action_loss": 0.004078098107129335,
      "epoch": 29.334532374100718,
      "step": 32620
    },
    {
      "epoch": 29.334532374100718,
      "step": 32620,
      "torque_loss": 0.08047040551900864
    },
    {
      "epoch": 29.343525179856115,
      "grad_norm": 0.3658962547779083,
      "learning_rate": 4.689072839500525e-05,
      "loss": 0.0651,
      "step": 32630
    },
    {
      "action_loss": 0.007025338709354401,
      "epoch": 29.343525179856115,
      "step": 32630
    },
    {
      "epoch": 29.343525179856115,
      "step": 32630,
      "torque_loss": 0.12462329864501953
    },
    {
      "epoch": 29.35251798561151,
      "grad_norm": 0.35204094648361206,
      "learning_rate": 4.6863224373422635e-05,
      "loss": 0.0572,
      "step": 32640
    },
    {
      "action_loss": 0.006716158706694841,
      "epoch": 29.35251798561151,
      "step": 32640
    },
    {
      "epoch": 29.35251798561151,
      "step": 32640,
      "torque_loss": 0.13441981375217438
    },
    {
      "epoch": 29.361510791366907,
      "grad_norm": 0.30119410157203674,
      "learning_rate": 4.683572130470962e-05,
      "loss": 0.0583,
      "step": 32650
    },
    {
      "action_loss": 0.006578874308615923,
      "epoch": 29.361510791366907,
      "step": 32650
    },
    {
      "epoch": 29.361510791366907,
      "step": 32650,
      "torque_loss": 0.0903191938996315
    },
    {
      "epoch": 29.3705035971223,
      "grad_norm": 0.3005964756011963,
      "learning_rate": 4.680821919722094e-05,
      "loss": 0.0782,
      "step": 32660
    },
    {
      "action_loss": 0.008048946037888527,
      "epoch": 29.3705035971223,
      "step": 32660
    },
    {
      "epoch": 29.3705035971223,
      "step": 32660,
      "torque_loss": 0.1281156837940216
    },
    {
      "epoch": 29.3794964028777,
      "grad_norm": 0.25833722949028015,
      "learning_rate": 4.6780718059310975e-05,
      "loss": 0.0699,
      "step": 32670
    },
    {
      "action_loss": 0.0030929502099752426,
      "epoch": 29.3794964028777,
      "step": 32670
    },
    {
      "epoch": 29.3794964028777,
      "step": 32670,
      "torque_loss": 0.08246158063411713
    },
    {
      "epoch": 29.388489208633093,
      "grad_norm": 0.2544977366924286,
      "learning_rate": 4.675321789933389e-05,
      "loss": 0.0532,
      "step": 32680
    },
    {
      "action_loss": 0.0025192424654960632,
      "epoch": 29.388489208633093,
      "step": 32680
    },
    {
      "epoch": 29.388489208633093,
      "step": 32680,
      "torque_loss": 0.07637765258550644
    },
    {
      "epoch": 29.39748201438849,
      "grad_norm": 0.2863614559173584,
      "learning_rate": 4.6725718725643464e-05,
      "loss": 0.0556,
      "step": 32690
    },
    {
      "action_loss": 0.02332640439271927,
      "epoch": 29.39748201438849,
      "step": 32690
    },
    {
      "epoch": 29.39748201438849,
      "step": 32690,
      "torque_loss": 0.1276503950357437
    },
    {
      "epoch": 29.406474820143885,
      "grad_norm": 0.30099406838417053,
      "learning_rate": 4.669822054659323e-05,
      "loss": 0.0664,
      "step": 32700
    },
    {
      "action_loss": 0.00671835383400321,
      "epoch": 29.406474820143885,
      "step": 32700
    },
    {
      "epoch": 29.406474820143885,
      "step": 32700,
      "torque_loss": 0.11420655250549316
    },
    {
      "epoch": 29.415467625899282,
      "grad_norm": 0.345368355512619,
      "learning_rate": 4.667072337053644e-05,
      "loss": 0.0672,
      "step": 32710
    },
    {
      "action_loss": 0.010053095407783985,
      "epoch": 29.415467625899282,
      "step": 32710
    },
    {
      "epoch": 29.415467625899282,
      "step": 32710,
      "torque_loss": 0.14715619385242462
    },
    {
      "epoch": 29.424460431654676,
      "grad_norm": 0.3177671432495117,
      "learning_rate": 4.6643227205825965e-05,
      "loss": 0.0701,
      "step": 32720
    },
    {
      "action_loss": 0.004430997651070356,
      "epoch": 29.424460431654676,
      "step": 32720
    },
    {
      "epoch": 29.424460431654676,
      "step": 32720,
      "torque_loss": 0.0907873809337616
    },
    {
      "epoch": 29.43345323741007,
      "grad_norm": 0.30744969844818115,
      "learning_rate": 4.6615732060814454e-05,
      "loss": 0.0629,
      "step": 32730
    },
    {
      "action_loss": 0.0029772352427244186,
      "epoch": 29.43345323741007,
      "step": 32730
    },
    {
      "epoch": 29.43345323741007,
      "step": 32730,
      "torque_loss": 0.07854013890028
    },
    {
      "epoch": 29.442446043165468,
      "grad_norm": 0.21812015771865845,
      "learning_rate": 4.658823794385417e-05,
      "loss": 0.0642,
      "step": 32740
    },
    {
      "action_loss": 0.00842786394059658,
      "epoch": 29.442446043165468,
      "step": 32740
    },
    {
      "epoch": 29.442446043165468,
      "step": 32740,
      "torque_loss": 0.10219163447618484
    },
    {
      "epoch": 29.451438848920862,
      "grad_norm": 0.2806660234928131,
      "learning_rate": 4.6560744863297115e-05,
      "loss": 0.069,
      "step": 32750
    },
    {
      "action_loss": 0.005042668431997299,
      "epoch": 29.451438848920862,
      "step": 32750
    },
    {
      "epoch": 29.451438848920862,
      "step": 32750,
      "torque_loss": 0.09465968608856201
    },
    {
      "epoch": 29.46043165467626,
      "grad_norm": 0.2744559049606323,
      "learning_rate": 4.653325282749498e-05,
      "loss": 0.0681,
      "step": 32760
    },
    {
      "action_loss": 0.008304028771817684,
      "epoch": 29.46043165467626,
      "step": 32760
    },
    {
      "epoch": 29.46043165467626,
      "step": 32760,
      "torque_loss": 0.09593642503023148
    },
    {
      "epoch": 29.469424460431654,
      "grad_norm": 0.31028813123703003,
      "learning_rate": 4.6505761844799075e-05,
      "loss": 0.0609,
      "step": 32770
    },
    {
      "action_loss": 0.0021695184987038374,
      "epoch": 29.469424460431654,
      "step": 32770
    },
    {
      "epoch": 29.469424460431654,
      "step": 32770,
      "torque_loss": 0.07481903582811356
    },
    {
      "epoch": 29.47841726618705,
      "grad_norm": 0.3763382136821747,
      "learning_rate": 4.647827192356048e-05,
      "loss": 0.0669,
      "step": 32780
    },
    {
      "action_loss": 0.0069783409126102924,
      "epoch": 29.47841726618705,
      "step": 32780
    },
    {
      "epoch": 29.47841726618705,
      "step": 32780,
      "torque_loss": 0.16836892068386078
    },
    {
      "epoch": 29.487410071942445,
      "grad_norm": 0.3876325190067291,
      "learning_rate": 4.645078307212989e-05,
      "loss": 0.0708,
      "step": 32790
    },
    {
      "action_loss": 0.006160761695355177,
      "epoch": 29.487410071942445,
      "step": 32790
    },
    {
      "epoch": 29.487410071942445,
      "step": 32790,
      "torque_loss": 0.10231373459100723
    },
    {
      "epoch": 29.496402877697843,
      "grad_norm": 0.33527639508247375,
      "learning_rate": 4.642329529885768e-05,
      "loss": 0.063,
      "step": 32800
    },
    {
      "action_loss": 0.007512717042118311,
      "epoch": 29.496402877697843,
      "step": 32800
    },
    {
      "epoch": 29.496402877697843,
      "step": 32800,
      "torque_loss": 0.09318643808364868
    },
    {
      "epoch": 29.505395683453237,
      "grad_norm": 0.40748634934425354,
      "learning_rate": 4.639580861209393e-05,
      "loss": 0.0691,
      "step": 32810
    },
    {
      "action_loss": 0.005171755328774452,
      "epoch": 29.505395683453237,
      "step": 32810
    },
    {
      "epoch": 29.505395683453237,
      "step": 32810,
      "torque_loss": 0.09027624130249023
    },
    {
      "epoch": 29.514388489208635,
      "grad_norm": 0.268060564994812,
      "learning_rate": 4.636832302018835e-05,
      "loss": 0.0662,
      "step": 32820
    },
    {
      "action_loss": 0.002894410863518715,
      "epoch": 29.514388489208635,
      "step": 32820
    },
    {
      "epoch": 29.514388489208635,
      "step": 32820,
      "torque_loss": 0.1012401357293129
    },
    {
      "epoch": 29.52338129496403,
      "grad_norm": 0.20113727450370789,
      "learning_rate": 4.6340838531490365e-05,
      "loss": 0.0543,
      "step": 32830
    },
    {
      "action_loss": 0.0012263768585398793,
      "epoch": 29.52338129496403,
      "step": 32830
    },
    {
      "epoch": 29.52338129496403,
      "step": 32830,
      "torque_loss": 0.042314108461141586
    },
    {
      "epoch": 29.532374100719423,
      "grad_norm": 0.37902742624282837,
      "learning_rate": 4.6313355154349e-05,
      "loss": 0.0595,
      "step": 32840
    },
    {
      "action_loss": 0.004743013996630907,
      "epoch": 29.532374100719423,
      "step": 32840
    },
    {
      "epoch": 29.532374100719423,
      "step": 32840,
      "torque_loss": 0.10774457454681396
    },
    {
      "epoch": 29.54136690647482,
      "grad_norm": 0.2614439129829407,
      "learning_rate": 4.6285872897113025e-05,
      "loss": 0.06,
      "step": 32850
    },
    {
      "action_loss": 0.01222009677439928,
      "epoch": 29.54136690647482,
      "step": 32850
    },
    {
      "epoch": 29.54136690647482,
      "step": 32850,
      "torque_loss": 0.13135068118572235
    },
    {
      "epoch": 29.550359712230215,
      "grad_norm": 0.24671947956085205,
      "learning_rate": 4.625839176813077e-05,
      "loss": 0.0508,
      "step": 32860
    },
    {
      "action_loss": 0.002591080730780959,
      "epoch": 29.550359712230215,
      "step": 32860
    },
    {
      "epoch": 29.550359712230215,
      "step": 32860,
      "torque_loss": 0.06749091297388077
    },
    {
      "epoch": 29.559352517985612,
      "grad_norm": 0.2462218850851059,
      "learning_rate": 4.623091177575031e-05,
      "loss": 0.0636,
      "step": 32870
    },
    {
      "action_loss": 0.003773293225094676,
      "epoch": 29.559352517985612,
      "step": 32870
    },
    {
      "epoch": 29.559352517985612,
      "step": 32870,
      "torque_loss": 0.08556420356035233
    },
    {
      "epoch": 29.568345323741006,
      "grad_norm": 0.33540967106819153,
      "learning_rate": 4.620343292831936e-05,
      "loss": 0.0648,
      "step": 32880
    },
    {
      "action_loss": 0.0040614488534629345,
      "epoch": 29.568345323741006,
      "step": 32880
    },
    {
      "epoch": 29.568345323741006,
      "step": 32880,
      "torque_loss": 0.08976704627275467
    },
    {
      "epoch": 29.577338129496404,
      "grad_norm": 0.2839775085449219,
      "learning_rate": 4.6175955234185206e-05,
      "loss": 0.0666,
      "step": 32890
    },
    {
      "action_loss": 0.0025400437880307436,
      "epoch": 29.577338129496404,
      "step": 32890
    },
    {
      "epoch": 29.577338129496404,
      "step": 32890,
      "torque_loss": 0.07674766331911087
    },
    {
      "epoch": 29.586330935251798,
      "grad_norm": 0.2575780749320984,
      "learning_rate": 4.614847870169492e-05,
      "loss": 0.0493,
      "step": 32900
    },
    {
      "action_loss": 0.005337458103895187,
      "epoch": 29.586330935251798,
      "step": 32900
    },
    {
      "epoch": 29.586330935251798,
      "step": 32900,
      "torque_loss": 0.09529060125350952
    },
    {
      "epoch": 29.595323741007196,
      "grad_norm": 0.22428904473781586,
      "learning_rate": 4.612100333919509e-05,
      "loss": 0.0598,
      "step": 32910
    },
    {
      "action_loss": 0.003436171216890216,
      "epoch": 29.595323741007196,
      "step": 32910
    },
    {
      "epoch": 29.595323741007196,
      "step": 32910,
      "torque_loss": 0.07868852466344833
    },
    {
      "epoch": 29.60431654676259,
      "grad_norm": 0.2614149749279022,
      "learning_rate": 4.609352915503202e-05,
      "loss": 0.0705,
      "step": 32920
    },
    {
      "action_loss": 0.002588581060990691,
      "epoch": 29.60431654676259,
      "step": 32920
    },
    {
      "epoch": 29.60431654676259,
      "step": 32920,
      "torque_loss": 0.07914916425943375
    },
    {
      "epoch": 29.613309352517987,
      "grad_norm": 0.2525327801704407,
      "learning_rate": 4.606605615755166e-05,
      "loss": 0.0563,
      "step": 32930
    },
    {
      "action_loss": 0.025808552280068398,
      "epoch": 29.613309352517987,
      "step": 32930
    },
    {
      "epoch": 29.613309352517987,
      "step": 32930,
      "torque_loss": 0.15423183143138885
    },
    {
      "epoch": 29.62230215827338,
      "grad_norm": 0.34553954005241394,
      "learning_rate": 4.6038584355099576e-05,
      "loss": 0.0732,
      "step": 32940
    },
    {
      "action_loss": 0.0032750663813203573,
      "epoch": 29.62230215827338,
      "step": 32940
    },
    {
      "epoch": 29.62230215827338,
      "step": 32940,
      "torque_loss": 0.09380576759576797
    },
    {
      "epoch": 29.631294964028775,
      "grad_norm": 0.37198641896247864,
      "learning_rate": 4.6011113756020964e-05,
      "loss": 0.0629,
      "step": 32950
    },
    {
      "action_loss": 0.027198636904358864,
      "epoch": 29.631294964028775,
      "step": 32950
    },
    {
      "epoch": 29.631294964028775,
      "step": 32950,
      "torque_loss": 0.16258680820465088
    },
    {
      "epoch": 29.640287769784173,
      "grad_norm": 0.23185408115386963,
      "learning_rate": 4.598364436866066e-05,
      "loss": 0.0632,
      "step": 32960
    },
    {
      "action_loss": 0.011275247670710087,
      "epoch": 29.640287769784173,
      "step": 32960
    },
    {
      "epoch": 29.640287769784173,
      "step": 32960,
      "torque_loss": 0.14774933457374573
    },
    {
      "epoch": 29.649280575539567,
      "grad_norm": 0.39541175961494446,
      "learning_rate": 4.595617620136316e-05,
      "loss": 0.069,
      "step": 32970
    },
    {
      "action_loss": 0.007035417947918177,
      "epoch": 29.649280575539567,
      "step": 32970
    },
    {
      "epoch": 29.649280575539567,
      "step": 32970,
      "torque_loss": 0.10126108676195145
    },
    {
      "epoch": 29.658273381294965,
      "grad_norm": 0.26681646704673767,
      "learning_rate": 4.592870926247257e-05,
      "loss": 0.0698,
      "step": 32980
    },
    {
      "action_loss": 0.0048049259930849075,
      "epoch": 29.658273381294965,
      "step": 32980
    },
    {
      "epoch": 29.658273381294965,
      "step": 32980,
      "torque_loss": 0.09352263808250427
    },
    {
      "epoch": 29.66726618705036,
      "grad_norm": 0.3967770040035248,
      "learning_rate": 4.5901243560332594e-05,
      "loss": 0.0697,
      "step": 32990
    },
    {
      "action_loss": 0.0028532755095511675,
      "epoch": 29.66726618705036,
      "step": 32990
    },
    {
      "epoch": 29.66726618705036,
      "step": 32990,
      "torque_loss": 0.06387089937925339
    },
    {
      "epoch": 29.676258992805757,
      "grad_norm": 0.3589377999305725,
      "learning_rate": 4.587377910328662e-05,
      "loss": 0.0611,
      "step": 33000
    },
    {
      "action_loss": 0.002924060681834817,
      "epoch": 29.676258992805757,
      "step": 33000
    },
    {
      "epoch": 29.676258992805757,
      "step": 33000,
      "torque_loss": 0.09152057021856308
    },
    {
      "epoch": 29.68525179856115,
      "grad_norm": 0.2896439731121063,
      "learning_rate": 4.5846315899677586e-05,
      "loss": 0.0516,
      "step": 33010
    },
    {
      "action_loss": 0.0023993554059416056,
      "epoch": 29.68525179856115,
      "step": 33010
    },
    {
      "epoch": 29.68525179856115,
      "step": 33010,
      "torque_loss": 0.054693955928087234
    },
    {
      "epoch": 29.694244604316548,
      "grad_norm": 0.3082614243030548,
      "learning_rate": 4.5818853957848114e-05,
      "loss": 0.0685,
      "step": 33020
    },
    {
      "action_loss": 0.003571959212422371,
      "epoch": 29.694244604316548,
      "step": 33020
    },
    {
      "epoch": 29.694244604316548,
      "step": 33020,
      "torque_loss": 0.07663606107234955
    },
    {
      "epoch": 29.703237410071942,
      "grad_norm": 0.26544100046157837,
      "learning_rate": 4.579139328614043e-05,
      "loss": 0.0595,
      "step": 33030
    },
    {
      "action_loss": 0.009983690455555916,
      "epoch": 29.703237410071942,
      "step": 33030
    },
    {
      "epoch": 29.703237410071942,
      "step": 33030,
      "torque_loss": 0.10839255899190903
    },
    {
      "epoch": 29.71223021582734,
      "grad_norm": 0.1968948245048523,
      "learning_rate": 4.576393389289633e-05,
      "loss": 0.0623,
      "step": 33040
    },
    {
      "action_loss": 0.004434781149029732,
      "epoch": 29.71223021582734,
      "step": 33040
    },
    {
      "epoch": 29.71223021582734,
      "step": 33040,
      "torque_loss": 0.109588123857975
    },
    {
      "epoch": 29.721223021582734,
      "grad_norm": 0.32113200426101685,
      "learning_rate": 4.573647578645728e-05,
      "loss": 0.0696,
      "step": 33050
    },
    {
      "action_loss": 0.0030156599823385477,
      "epoch": 29.721223021582734,
      "step": 33050
    },
    {
      "epoch": 29.721223021582734,
      "step": 33050,
      "torque_loss": 0.0942046046257019
    },
    {
      "epoch": 29.730215827338128,
      "grad_norm": 0.32988160848617554,
      "learning_rate": 4.57090189751643e-05,
      "loss": 0.0506,
      "step": 33060
    },
    {
      "action_loss": 0.006498435046523809,
      "epoch": 29.730215827338128,
      "step": 33060
    },
    {
      "epoch": 29.730215827338128,
      "step": 33060,
      "torque_loss": 0.11016762256622314
    },
    {
      "epoch": 29.739208633093526,
      "grad_norm": 0.2736301124095917,
      "learning_rate": 4.568156346735806e-05,
      "loss": 0.0625,
      "step": 33070
    },
    {
      "action_loss": 0.002468676073476672,
      "epoch": 29.739208633093526,
      "step": 33070
    },
    {
      "epoch": 29.739208633093526,
      "step": 33070,
      "torque_loss": 0.09430411458015442
    },
    {
      "epoch": 29.74820143884892,
      "grad_norm": 0.24723486602306366,
      "learning_rate": 4.565410927137882e-05,
      "loss": 0.0599,
      "step": 33080
    },
    {
      "action_loss": 0.001843650359660387,
      "epoch": 29.74820143884892,
      "step": 33080
    },
    {
      "epoch": 29.74820143884892,
      "step": 33080,
      "torque_loss": 0.057133570313453674
    },
    {
      "epoch": 29.757194244604317,
      "grad_norm": 0.28367629647254944,
      "learning_rate": 4.562665639556644e-05,
      "loss": 0.0741,
      "step": 33090
    },
    {
      "action_loss": 0.002217549132183194,
      "epoch": 29.757194244604317,
      "step": 33090
    },
    {
      "epoch": 29.757194244604317,
      "step": 33090,
      "torque_loss": 0.060232579708099365
    },
    {
      "epoch": 29.76618705035971,
      "grad_norm": 0.328286737203598,
      "learning_rate": 4.559920484826037e-05,
      "loss": 0.0619,
      "step": 33100
    },
    {
      "action_loss": 0.0018670037388801575,
      "epoch": 29.76618705035971,
      "step": 33100
    },
    {
      "epoch": 29.76618705035971,
      "step": 33100,
      "torque_loss": 0.051932934671640396
    },
    {
      "epoch": 29.77517985611511,
      "grad_norm": 0.2961302101612091,
      "learning_rate": 4.5571754637799665e-05,
      "loss": 0.0624,
      "step": 33110
    },
    {
      "action_loss": 0.011167841963469982,
      "epoch": 29.77517985611511,
      "step": 33110
    },
    {
      "epoch": 29.77517985611511,
      "step": 33110,
      "torque_loss": 0.12948794662952423
    },
    {
      "epoch": 29.784172661870503,
      "grad_norm": 0.2666436433792114,
      "learning_rate": 4.554430577252298e-05,
      "loss": 0.0596,
      "step": 33120
    },
    {
      "action_loss": 0.004656476434320211,
      "epoch": 29.784172661870503,
      "step": 33120
    },
    {
      "epoch": 29.784172661870503,
      "step": 33120,
      "torque_loss": 0.11884696036577225
    },
    {
      "epoch": 29.7931654676259,
      "grad_norm": 0.26591432094573975,
      "learning_rate": 4.551685826076858e-05,
      "loss": 0.0642,
      "step": 33130
    },
    {
      "action_loss": 0.005165961105376482,
      "epoch": 29.7931654676259,
      "step": 33130
    },
    {
      "epoch": 29.7931654676259,
      "step": 33130,
      "torque_loss": 0.1012604832649231
    },
    {
      "epoch": 29.802158273381295,
      "grad_norm": 0.3399190902709961,
      "learning_rate": 4.5489412110874246e-05,
      "loss": 0.065,
      "step": 33140
    },
    {
      "action_loss": 0.003978620748966932,
      "epoch": 29.802158273381295,
      "step": 33140
    },
    {
      "epoch": 29.802158273381295,
      "step": 33140,
      "torque_loss": 0.09427622705698013
    },
    {
      "epoch": 29.81115107913669,
      "grad_norm": 0.299060583114624,
      "learning_rate": 4.5461967331177444e-05,
      "loss": 0.0721,
      "step": 33150
    },
    {
      "action_loss": 0.0036956581752747297,
      "epoch": 29.81115107913669,
      "step": 33150
    },
    {
      "epoch": 29.81115107913669,
      "step": 33150,
      "torque_loss": 0.10408055037260056
    },
    {
      "epoch": 29.820143884892087,
      "grad_norm": 0.3335393965244293,
      "learning_rate": 4.5434523930015115e-05,
      "loss": 0.0715,
      "step": 33160
    },
    {
      "action_loss": 0.006033396814018488,
      "epoch": 29.820143884892087,
      "step": 33160
    },
    {
      "epoch": 29.820143884892087,
      "step": 33160,
      "torque_loss": 0.09237221628427505
    },
    {
      "epoch": 29.82913669064748,
      "grad_norm": 0.27126428484916687,
      "learning_rate": 4.540708191572388e-05,
      "loss": 0.0662,
      "step": 33170
    },
    {
      "action_loss": 0.0017502257833257318,
      "epoch": 29.82913669064748,
      "step": 33170
    },
    {
      "epoch": 29.82913669064748,
      "step": 33170,
      "torque_loss": 0.051535140722990036
    },
    {
      "epoch": 29.83812949640288,
      "grad_norm": 0.2869466543197632,
      "learning_rate": 4.537964129663991e-05,
      "loss": 0.0525,
      "step": 33180
    },
    {
      "action_loss": 0.0032205015886574984,
      "epoch": 29.83812949640288,
      "step": 33180
    },
    {
      "epoch": 29.83812949640288,
      "step": 33180,
      "torque_loss": 0.09389200806617737
    },
    {
      "epoch": 29.847122302158272,
      "grad_norm": 0.3116796314716339,
      "learning_rate": 4.535220208109889e-05,
      "loss": 0.0679,
      "step": 33190
    },
    {
      "action_loss": 0.0023003036621958017,
      "epoch": 29.847122302158272,
      "step": 33190
    },
    {
      "epoch": 29.847122302158272,
      "step": 33190,
      "torque_loss": 0.1045343279838562
    },
    {
      "epoch": 29.85611510791367,
      "grad_norm": 0.2752304673194885,
      "learning_rate": 4.5324764277436194e-05,
      "loss": 0.0603,
      "step": 33200
    },
    {
      "action_loss": 0.003834899514913559,
      "epoch": 29.85611510791367,
      "step": 33200
    },
    {
      "epoch": 29.85611510791367,
      "step": 33200,
      "torque_loss": 0.09790375083684921
    },
    {
      "epoch": 29.865107913669064,
      "grad_norm": 0.29593491554260254,
      "learning_rate": 4.529732789398664e-05,
      "loss": 0.0678,
      "step": 33210
    },
    {
      "action_loss": 0.0036113013047724962,
      "epoch": 29.865107913669064,
      "step": 33210
    },
    {
      "epoch": 29.865107913669064,
      "step": 33210,
      "torque_loss": 0.06137187406420708
    },
    {
      "epoch": 29.87410071942446,
      "grad_norm": 0.23316338658332825,
      "learning_rate": 4.526989293908472e-05,
      "loss": 0.057,
      "step": 33220
    },
    {
      "action_loss": 0.003383081406354904,
      "epoch": 29.87410071942446,
      "step": 33220
    },
    {
      "epoch": 29.87410071942446,
      "step": 33220,
      "torque_loss": 0.07731688022613525
    },
    {
      "epoch": 29.883093525179856,
      "grad_norm": 0.31229302287101746,
      "learning_rate": 4.524245942106442e-05,
      "loss": 0.0597,
      "step": 33230
    },
    {
      "action_loss": 0.004263776820152998,
      "epoch": 29.883093525179856,
      "step": 33230
    },
    {
      "epoch": 29.883093525179856,
      "step": 33230,
      "torque_loss": 0.08255743980407715
    },
    {
      "epoch": 29.892086330935253,
      "grad_norm": 0.38949209451675415,
      "learning_rate": 4.5215027348259345e-05,
      "loss": 0.0713,
      "step": 33240
    },
    {
      "action_loss": 0.00815741065889597,
      "epoch": 29.892086330935253,
      "step": 33240
    },
    {
      "epoch": 29.892086330935253,
      "step": 33240,
      "torque_loss": 0.10927433520555496
    },
    {
      "epoch": 29.901079136690647,
      "grad_norm": 0.33173850178718567,
      "learning_rate": 4.5187596729002616e-05,
      "loss": 0.0645,
      "step": 33250
    },
    {
      "action_loss": 0.014759033918380737,
      "epoch": 29.901079136690647,
      "step": 33250
    },
    {
      "epoch": 29.901079136690647,
      "step": 33250,
      "torque_loss": 0.12306752800941467
    },
    {
      "epoch": 29.91007194244604,
      "grad_norm": 0.30339884757995605,
      "learning_rate": 4.516016757162693e-05,
      "loss": 0.0565,
      "step": 33260
    },
    {
      "action_loss": 0.017680931836366653,
      "epoch": 29.91007194244604,
      "step": 33260
    },
    {
      "epoch": 29.91007194244604,
      "step": 33260,
      "torque_loss": 0.15683674812316895
    },
    {
      "epoch": 29.91906474820144,
      "grad_norm": 0.1833275407552719,
      "learning_rate": 4.513273988446457e-05,
      "loss": 0.063,
      "step": 33270
    },
    {
      "action_loss": 0.004479800816625357,
      "epoch": 29.91906474820144,
      "step": 33270
    },
    {
      "epoch": 29.91906474820144,
      "step": 33270,
      "torque_loss": 0.09794187545776367
    },
    {
      "epoch": 29.928057553956833,
      "grad_norm": 0.28753864765167236,
      "learning_rate": 4.5105313675847296e-05,
      "loss": 0.0583,
      "step": 33280
    },
    {
      "action_loss": 0.00556274875998497,
      "epoch": 29.928057553956833,
      "step": 33280
    },
    {
      "epoch": 29.928057553956833,
      "step": 33280,
      "torque_loss": 0.11731693893671036
    },
    {
      "epoch": 29.93705035971223,
      "grad_norm": 0.31719985604286194,
      "learning_rate": 4.5077888954106495e-05,
      "loss": 0.0604,
      "step": 33290
    },
    {
      "action_loss": 0.0030650494154542685,
      "epoch": 29.93705035971223,
      "step": 33290
    },
    {
      "epoch": 29.93705035971223,
      "step": 33290,
      "torque_loss": 0.09859155863523483
    },
    {
      "epoch": 29.946043165467625,
      "grad_norm": 0.31862154603004456,
      "learning_rate": 4.505046572757309e-05,
      "loss": 0.0701,
      "step": 33300
    },
    {
      "action_loss": 0.010714162141084671,
      "epoch": 29.946043165467625,
      "step": 33300
    },
    {
      "epoch": 29.946043165467625,
      "step": 33300,
      "torque_loss": 0.1398504078388214
    },
    {
      "epoch": 29.955035971223023,
      "grad_norm": 0.3269478380680084,
      "learning_rate": 4.502304400457749e-05,
      "loss": 0.0704,
      "step": 33310
    },
    {
      "action_loss": 0.0032651524525135756,
      "epoch": 29.955035971223023,
      "step": 33310
    },
    {
      "epoch": 29.955035971223023,
      "step": 33310,
      "torque_loss": 0.04916325584053993
    },
    {
      "epoch": 29.964028776978417,
      "grad_norm": 0.29997092485427856,
      "learning_rate": 4.499562379344973e-05,
      "loss": 0.0493,
      "step": 33320
    },
    {
      "action_loss": 0.007059264462441206,
      "epoch": 29.964028776978417,
      "step": 33320
    },
    {
      "epoch": 29.964028776978417,
      "step": 33320,
      "torque_loss": 0.10123644024133682
    },
    {
      "epoch": 29.973021582733814,
      "grad_norm": 0.3151254653930664,
      "learning_rate": 4.4968205102519306e-05,
      "loss": 0.0637,
      "step": 33330
    },
    {
      "action_loss": 0.002331123221665621,
      "epoch": 29.973021582733814,
      "step": 33330
    },
    {
      "epoch": 29.973021582733814,
      "step": 33330,
      "torque_loss": 0.08748561143875122
    },
    {
      "epoch": 29.98201438848921,
      "grad_norm": 0.33187711238861084,
      "learning_rate": 4.494078794011532e-05,
      "loss": 0.0628,
      "step": 33340
    },
    {
      "action_loss": 0.003533242968842387,
      "epoch": 29.98201438848921,
      "step": 33340
    },
    {
      "epoch": 29.98201438848921,
      "step": 33340,
      "torque_loss": 0.08154270797967911
    },
    {
      "epoch": 29.991007194244606,
      "grad_norm": 0.3043470084667206,
      "learning_rate": 4.491337231456639e-05,
      "loss": 0.0619,
      "step": 33350
    },
    {
      "action_loss": 0.004318153019994497,
      "epoch": 29.991007194244606,
      "step": 33350
    },
    {
      "epoch": 29.991007194244606,
      "step": 33350,
      "torque_loss": 0.07608211040496826
    },
    {
      "epoch": 30.0,
      "grad_norm": 0.23658022284507751,
      "learning_rate": 4.4885958234200634e-05,
      "loss": 0.0528,
      "step": 33360
    },
    {
      "action_loss": 0.0018172316486015916,
      "epoch": 30.0,
      "step": 33360
    },
    {
      "epoch": 30.0,
      "step": 33360,
      "torque_loss": 0.04379098489880562
    },
    {
      "epoch": 30.008992805755394,
      "grad_norm": 0.27261269092559814,
      "learning_rate": 4.485854570734575e-05,
      "loss": 0.0565,
      "step": 33370
    },
    {
      "action_loss": 0.013596131466329098,
      "epoch": 30.008992805755394,
      "step": 33370
    },
    {
      "epoch": 30.008992805755394,
      "step": 33370,
      "torque_loss": 0.16884523630142212
    },
    {
      "epoch": 30.01798561151079,
      "grad_norm": 0.36839696764945984,
      "learning_rate": 4.483113474232891e-05,
      "loss": 0.0687,
      "step": 33380
    },
    {
      "action_loss": 0.0057900394313037395,
      "epoch": 30.01798561151079,
      "step": 33380
    },
    {
      "epoch": 30.01798561151079,
      "step": 33380,
      "torque_loss": 0.10768038034439087
    },
    {
      "epoch": 30.026978417266186,
      "grad_norm": 0.32446280121803284,
      "learning_rate": 4.480372534747688e-05,
      "loss": 0.0606,
      "step": 33390
    },
    {
      "action_loss": 0.0015819318359717727,
      "epoch": 30.026978417266186,
      "step": 33390
    },
    {
      "epoch": 30.026978417266186,
      "step": 33390,
      "torque_loss": 0.08415645360946655
    },
    {
      "epoch": 30.035971223021583,
      "grad_norm": 0.37774011492729187,
      "learning_rate": 4.477631753111588e-05,
      "loss": 0.0797,
      "step": 33400
    },
    {
      "action_loss": 0.006601691246032715,
      "epoch": 30.035971223021583,
      "step": 33400
    },
    {
      "epoch": 30.035971223021583,
      "step": 33400,
      "torque_loss": 0.11364950984716415
    },
    {
      "epoch": 30.044964028776977,
      "grad_norm": 0.2934483289718628,
      "learning_rate": 4.4748911301571686e-05,
      "loss": 0.0601,
      "step": 33410
    },
    {
      "action_loss": 0.0020841488149017096,
      "epoch": 30.044964028776977,
      "step": 33410
    },
    {
      "epoch": 30.044964028776977,
      "step": 33410,
      "torque_loss": 0.0668627992272377
    },
    {
      "epoch": 30.053956834532375,
      "grad_norm": 0.284323513507843,
      "learning_rate": 4.472150666716961e-05,
      "loss": 0.0509,
      "step": 33420
    },
    {
      "action_loss": 0.00805272813886404,
      "epoch": 30.053956834532375,
      "step": 33420
    },
    {
      "epoch": 30.053956834532375,
      "step": 33420,
      "torque_loss": 0.09358229488134384
    },
    {
      "epoch": 30.06294964028777,
      "grad_norm": 0.30184435844421387,
      "learning_rate": 4.469410363623442e-05,
      "loss": 0.0526,
      "step": 33430
    },
    {
      "action_loss": 0.003492940217256546,
      "epoch": 30.06294964028777,
      "step": 33430
    },
    {
      "epoch": 30.06294964028777,
      "step": 33430,
      "torque_loss": 0.05200757458806038
    },
    {
      "epoch": 30.071942446043167,
      "grad_norm": 0.3318862318992615,
      "learning_rate": 4.466670221709044e-05,
      "loss": 0.0809,
      "step": 33440
    },
    {
      "action_loss": 0.002345068147405982,
      "epoch": 30.071942446043167,
      "step": 33440
    },
    {
      "epoch": 30.071942446043167,
      "step": 33440,
      "torque_loss": 0.04503064230084419
    },
    {
      "epoch": 30.08093525179856,
      "grad_norm": 0.32456862926483154,
      "learning_rate": 4.463930241806154e-05,
      "loss": 0.0629,
      "step": 33450
    },
    {
      "action_loss": 0.0020169978961348534,
      "epoch": 30.08093525179856,
      "step": 33450
    },
    {
      "epoch": 30.08093525179856,
      "step": 33450,
      "torque_loss": 0.06407633423805237
    },
    {
      "epoch": 30.08992805755396,
      "grad_norm": 0.3805660009384155,
      "learning_rate": 4.4611904247471006e-05,
      "loss": 0.0489,
      "step": 33460
    },
    {
      "action_loss": 0.0029103311244398355,
      "epoch": 30.08992805755396,
      "step": 33460
    },
    {
      "epoch": 30.08992805755396,
      "step": 33460,
      "torque_loss": 0.08116155117750168
    },
    {
      "epoch": 30.098920863309353,
      "grad_norm": 0.3109448254108429,
      "learning_rate": 4.458450771364171e-05,
      "loss": 0.0586,
      "step": 33470
    },
    {
      "action_loss": 0.0015622340142726898,
      "epoch": 30.098920863309353,
      "step": 33470
    },
    {
      "epoch": 30.098920863309353,
      "step": 33470,
      "torque_loss": 0.052199963480234146
    },
    {
      "epoch": 30.107913669064747,
      "grad_norm": 0.23485198616981506,
      "learning_rate": 4.4557112824895965e-05,
      "loss": 0.0499,
      "step": 33480
    },
    {
      "action_loss": 0.0038563506677746773,
      "epoch": 30.107913669064747,
      "step": 33480
    },
    {
      "epoch": 30.107913669064747,
      "step": 33480,
      "torque_loss": 0.12933552265167236
    },
    {
      "epoch": 30.116906474820144,
      "grad_norm": 0.2688434422016144,
      "learning_rate": 4.452971958955563e-05,
      "loss": 0.0577,
      "step": 33490
    },
    {
      "action_loss": 0.0026949571911245584,
      "epoch": 30.116906474820144,
      "step": 33490
    },
    {
      "epoch": 30.116906474820144,
      "step": 33490,
      "torque_loss": 0.0819326862692833
    },
    {
      "epoch": 30.12589928057554,
      "grad_norm": 0.3140889108181,
      "learning_rate": 4.450232801594208e-05,
      "loss": 0.0571,
      "step": 33500
    },
    {
      "action_loss": 0.009966863319277763,
      "epoch": 30.12589928057554,
      "step": 33500
    },
    {
      "epoch": 30.12589928057554,
      "step": 33500,
      "torque_loss": 0.10342226177453995
    },
    {
      "epoch": 30.134892086330936,
      "grad_norm": 0.28709059953689575,
      "learning_rate": 4.447493811237609e-05,
      "loss": 0.0588,
      "step": 33510
    },
    {
      "action_loss": 0.013007394969463348,
      "epoch": 30.134892086330936,
      "step": 33510
    },
    {
      "epoch": 30.134892086330936,
      "step": 33510,
      "torque_loss": 0.12435313314199448
    },
    {
      "epoch": 30.14388489208633,
      "grad_norm": 0.4407808184623718,
      "learning_rate": 4.444754988717804e-05,
      "loss": 0.07,
      "step": 33520
    },
    {
      "action_loss": 0.003081665141507983,
      "epoch": 30.14388489208633,
      "step": 33520
    },
    {
      "epoch": 30.14388489208633,
      "step": 33520,
      "torque_loss": 0.09472844004631042
    },
    {
      "epoch": 30.152877697841728,
      "grad_norm": 0.28623420000076294,
      "learning_rate": 4.442016334866771e-05,
      "loss": 0.0768,
      "step": 33530
    },
    {
      "action_loss": 0.0048793405294418335,
      "epoch": 30.152877697841728,
      "step": 33530
    },
    {
      "epoch": 30.152877697841728,
      "step": 33530,
      "torque_loss": 0.09653687477111816
    },
    {
      "epoch": 30.16187050359712,
      "grad_norm": 0.30693694949150085,
      "learning_rate": 4.4392778505164445e-05,
      "loss": 0.056,
      "step": 33540
    },
    {
      "action_loss": 0.0027461934369057417,
      "epoch": 30.16187050359712,
      "step": 33540
    },
    {
      "epoch": 30.16187050359712,
      "step": 33540,
      "torque_loss": 0.07417584210634232
    },
    {
      "epoch": 30.17086330935252,
      "grad_norm": 0.36539140343666077,
      "learning_rate": 4.436539536498702e-05,
      "loss": 0.0525,
      "step": 33550
    },
    {
      "action_loss": 0.003212639130651951,
      "epoch": 30.17086330935252,
      "step": 33550
    },
    {
      "epoch": 30.17086330935252,
      "step": 33550,
      "torque_loss": 0.10718659311532974
    },
    {
      "epoch": 30.179856115107913,
      "grad_norm": 0.34686028957366943,
      "learning_rate": 4.433801393645369e-05,
      "loss": 0.0654,
      "step": 33560
    },
    {
      "action_loss": 0.005291730165481567,
      "epoch": 30.179856115107913,
      "step": 33560
    },
    {
      "epoch": 30.179856115107913,
      "step": 33560,
      "torque_loss": 0.11110826581716537
    },
    {
      "epoch": 30.18884892086331,
      "grad_norm": 0.3335234522819519,
      "learning_rate": 4.431063422788226e-05,
      "loss": 0.067,
      "step": 33570
    },
    {
      "action_loss": 0.004364707972854376,
      "epoch": 30.18884892086331,
      "step": 33570
    },
    {
      "epoch": 30.18884892086331,
      "step": 33570,
      "torque_loss": 0.09769779443740845
    },
    {
      "epoch": 30.197841726618705,
      "grad_norm": 0.3367835283279419,
      "learning_rate": 4.428325624758991e-05,
      "loss": 0.0591,
      "step": 33580
    },
    {
      "action_loss": 0.0016004638746380806,
      "epoch": 30.197841726618705,
      "step": 33580
    },
    {
      "epoch": 30.197841726618705,
      "step": 33580,
      "torque_loss": 0.0729731023311615
    },
    {
      "epoch": 30.2068345323741,
      "grad_norm": 0.3490860164165497,
      "learning_rate": 4.4255880003893366e-05,
      "loss": 0.0671,
      "step": 33590
    },
    {
      "action_loss": 0.004282028879970312,
      "epoch": 30.2068345323741,
      "step": 33590
    },
    {
      "epoch": 30.2068345323741,
      "step": 33590,
      "torque_loss": 0.08076560497283936
    },
    {
      "epoch": 30.215827338129497,
      "grad_norm": 0.21592722833156586,
      "learning_rate": 4.422850550510884e-05,
      "loss": 0.0542,
      "step": 33600
    },
    {
      "action_loss": 0.011525504291057587,
      "epoch": 30.215827338129497,
      "step": 33600
    },
    {
      "epoch": 30.215827338129497,
      "step": 33600,
      "torque_loss": 0.15012158453464508
    },
    {
      "epoch": 30.22482014388489,
      "grad_norm": 0.2992290258407593,
      "learning_rate": 4.4201132759551934e-05,
      "loss": 0.0674,
      "step": 33610
    },
    {
      "action_loss": 0.004968170076608658,
      "epoch": 30.22482014388489,
      "step": 33610
    },
    {
      "epoch": 30.22482014388489,
      "step": 33610,
      "torque_loss": 0.13588857650756836
    },
    {
      "epoch": 30.23381294964029,
      "grad_norm": 0.3130069077014923,
      "learning_rate": 4.4173761775537804e-05,
      "loss": 0.066,
      "step": 33620
    },
    {
      "action_loss": 0.0030165035277605057,
      "epoch": 30.23381294964029,
      "step": 33620
    },
    {
      "epoch": 30.23381294964029,
      "step": 33620,
      "torque_loss": 0.07204258441925049
    },
    {
      "epoch": 30.242805755395683,
      "grad_norm": 0.3596552610397339,
      "learning_rate": 4.414639256138099e-05,
      "loss": 0.0645,
      "step": 33630
    },
    {
      "action_loss": 0.003525507403537631,
      "epoch": 30.242805755395683,
      "step": 33630
    },
    {
      "epoch": 30.242805755395683,
      "step": 33630,
      "torque_loss": 0.06880035996437073
    },
    {
      "epoch": 30.25179856115108,
      "grad_norm": 0.3178566098213196,
      "learning_rate": 4.411902512539557e-05,
      "loss": 0.0549,
      "step": 33640
    },
    {
      "action_loss": 0.0028420810122042894,
      "epoch": 30.25179856115108,
      "step": 33640
    },
    {
      "epoch": 30.25179856115108,
      "step": 33640,
      "torque_loss": 0.07700914144515991
    },
    {
      "epoch": 30.260791366906474,
      "grad_norm": 0.359613835811615,
      "learning_rate": 4.4091659475895044e-05,
      "loss": 0.059,
      "step": 33650
    },
    {
      "action_loss": 0.0022337157279253006,
      "epoch": 30.260791366906474,
      "step": 33650
    },
    {
      "epoch": 30.260791366906474,
      "step": 33650,
      "torque_loss": 0.07171767204999924
    },
    {
      "epoch": 30.269784172661872,
      "grad_norm": 0.2694861590862274,
      "learning_rate": 4.406429562119235e-05,
      "loss": 0.0622,
      "step": 33660
    },
    {
      "action_loss": 0.008067626506090164,
      "epoch": 30.269784172661872,
      "step": 33660
    },
    {
      "epoch": 30.269784172661872,
      "step": 33660,
      "torque_loss": 0.10768333822488785
    },
    {
      "epoch": 30.278776978417266,
      "grad_norm": 0.3222379684448242,
      "learning_rate": 4.4036933569599945e-05,
      "loss": 0.0643,
      "step": 33670
    },
    {
      "action_loss": 0.0024564999621361494,
      "epoch": 30.278776978417266,
      "step": 33670
    },
    {
      "epoch": 30.278776978417266,
      "step": 33670,
      "torque_loss": 0.0738140419125557
    },
    {
      "epoch": 30.28776978417266,
      "grad_norm": 0.2765671908855438,
      "learning_rate": 4.400957332942965e-05,
      "loss": 0.0621,
      "step": 33680
    },
    {
      "action_loss": 0.0043232254683971405,
      "epoch": 30.28776978417266,
      "step": 33680
    },
    {
      "epoch": 30.28776978417266,
      "step": 33680,
      "torque_loss": 0.11097190529108047
    },
    {
      "epoch": 30.296762589928058,
      "grad_norm": 0.2921615242958069,
      "learning_rate": 4.3982214908992844e-05,
      "loss": 0.0598,
      "step": 33690
    },
    {
      "action_loss": 0.007372302934527397,
      "epoch": 30.296762589928058,
      "step": 33690
    },
    {
      "epoch": 30.296762589928058,
      "step": 33690,
      "torque_loss": 0.11423388123512268
    },
    {
      "epoch": 30.305755395683452,
      "grad_norm": 0.32507437467575073,
      "learning_rate": 4.3954858316600235e-05,
      "loss": 0.0586,
      "step": 33700
    },
    {
      "action_loss": 0.004102627281099558,
      "epoch": 30.305755395683452,
      "step": 33700
    },
    {
      "epoch": 30.305755395683452,
      "step": 33700,
      "torque_loss": 0.08179648965597153
    },
    {
      "epoch": 30.31474820143885,
      "grad_norm": 0.2888505458831787,
      "learning_rate": 4.392750356056205e-05,
      "loss": 0.0599,
      "step": 33710
    },
    {
      "action_loss": 0.00444556400179863,
      "epoch": 30.31474820143885,
      "step": 33710
    },
    {
      "epoch": 30.31474820143885,
      "step": 33710,
      "torque_loss": 0.09201905131340027
    },
    {
      "epoch": 30.323741007194243,
      "grad_norm": 0.28240177035331726,
      "learning_rate": 4.390015064918798e-05,
      "loss": 0.0538,
      "step": 33720
    },
    {
      "action_loss": 0.0018736724741756916,
      "epoch": 30.323741007194243,
      "step": 33720
    },
    {
      "epoch": 30.323741007194243,
      "step": 33720,
      "torque_loss": 0.08844850212335587
    },
    {
      "epoch": 30.33273381294964,
      "grad_norm": 0.38887110352516174,
      "learning_rate": 4.387279959078705e-05,
      "loss": 0.0594,
      "step": 33730
    },
    {
      "action_loss": 0.005509119480848312,
      "epoch": 30.33273381294964,
      "step": 33730
    },
    {
      "epoch": 30.33273381294964,
      "step": 33730,
      "torque_loss": 0.11013839393854141
    },
    {
      "epoch": 30.341726618705035,
      "grad_norm": 0.31425783038139343,
      "learning_rate": 4.384545039366786e-05,
      "loss": 0.0575,
      "step": 33740
    },
    {
      "action_loss": 0.00393943814560771,
      "epoch": 30.341726618705035,
      "step": 33740
    },
    {
      "epoch": 30.341726618705035,
      "step": 33740,
      "torque_loss": 0.13951320946216583
    },
    {
      "epoch": 30.350719424460433,
      "grad_norm": 0.358418732881546,
      "learning_rate": 4.381810306613831e-05,
      "loss": 0.0712,
      "step": 33750
    },
    {
      "action_loss": 0.008156700991094112,
      "epoch": 30.350719424460433,
      "step": 33750
    },
    {
      "epoch": 30.350719424460433,
      "step": 33750,
      "torque_loss": 0.13782407343387604
    },
    {
      "epoch": 30.359712230215827,
      "grad_norm": 0.27400752902030945,
      "learning_rate": 4.3790757616505826e-05,
      "loss": 0.0622,
      "step": 33760
    },
    {
      "action_loss": 0.0015299739316105843,
      "epoch": 30.359712230215827,
      "step": 33760
    },
    {
      "epoch": 30.359712230215827,
      "step": 33760,
      "torque_loss": 0.050354380160570145
    },
    {
      "epoch": 30.368705035971225,
      "grad_norm": 0.29670900106430054,
      "learning_rate": 4.376341405307725e-05,
      "loss": 0.069,
      "step": 33770
    },
    {
      "action_loss": 0.001842884928919375,
      "epoch": 30.368705035971225,
      "step": 33770
    },
    {
      "epoch": 30.368705035971225,
      "step": 33770,
      "torque_loss": 0.08675888925790787
    },
    {
      "epoch": 30.37769784172662,
      "grad_norm": 0.22596094012260437,
      "learning_rate": 4.37360723841588e-05,
      "loss": 0.0643,
      "step": 33780
    },
    {
      "action_loss": 0.008351834490895271,
      "epoch": 30.37769784172662,
      "step": 33780
    },
    {
      "epoch": 30.37769784172662,
      "step": 33780,
      "torque_loss": 0.14257419109344482
    },
    {
      "epoch": 30.386690647482013,
      "grad_norm": 0.41557782888412476,
      "learning_rate": 4.370873261805619e-05,
      "loss": 0.0833,
      "step": 33790
    },
    {
      "action_loss": 0.020124534144997597,
      "epoch": 30.386690647482013,
      "step": 33790
    },
    {
      "epoch": 30.386690647482013,
      "step": 33790,
      "torque_loss": 0.13149689137935638
    },
    {
      "epoch": 30.39568345323741,
      "grad_norm": 0.386057585477829,
      "learning_rate": 4.368139476307449e-05,
      "loss": 0.0791,
      "step": 33800
    },
    {
      "action_loss": 0.003913927357643843,
      "epoch": 30.39568345323741,
      "step": 33800
    },
    {
      "epoch": 30.39568345323741,
      "step": 33800,
      "torque_loss": 0.10043511539697647
    },
    {
      "epoch": 30.404676258992804,
      "grad_norm": 0.3172385096549988,
      "learning_rate": 4.365405882751822e-05,
      "loss": 0.0678,
      "step": 33810
    },
    {
      "action_loss": 0.005306954029947519,
      "epoch": 30.404676258992804,
      "step": 33810
    },
    {
      "epoch": 30.404676258992804,
      "step": 33810,
      "torque_loss": 0.10457977652549744
    },
    {
      "epoch": 30.413669064748202,
      "grad_norm": 0.2331819385290146,
      "learning_rate": 4.3626724819691326e-05,
      "loss": 0.0573,
      "step": 33820
    },
    {
      "action_loss": 0.0027696052566170692,
      "epoch": 30.413669064748202,
      "step": 33820
    },
    {
      "epoch": 30.413669064748202,
      "step": 33820,
      "torque_loss": 0.04316633939743042
    },
    {
      "epoch": 30.422661870503596,
      "grad_norm": 0.2731022834777832,
      "learning_rate": 4.359939274789715e-05,
      "loss": 0.0578,
      "step": 33830
    },
    {
      "action_loss": 0.0033429034519940615,
      "epoch": 30.422661870503596,
      "step": 33830
    },
    {
      "epoch": 30.422661870503596,
      "step": 33830,
      "torque_loss": 0.10323480516672134
    },
    {
      "epoch": 30.431654676258994,
      "grad_norm": 0.23615722358226776,
      "learning_rate": 4.357206262043848e-05,
      "loss": 0.0587,
      "step": 33840
    },
    {
      "action_loss": 0.0017068390734493732,
      "epoch": 30.431654676258994,
      "step": 33840
    },
    {
      "epoch": 30.431654676258994,
      "step": 33840,
      "torque_loss": 0.059084516018629074
    },
    {
      "epoch": 30.440647482014388,
      "grad_norm": 0.2645811140537262,
      "learning_rate": 4.354473444561745e-05,
      "loss": 0.0527,
      "step": 33850
    },
    {
      "action_loss": 0.004012967459857464,
      "epoch": 30.440647482014388,
      "step": 33850
    },
    {
      "epoch": 30.440647482014388,
      "step": 33850,
      "torque_loss": 0.08370282500982285
    },
    {
      "epoch": 30.449640287769785,
      "grad_norm": 0.3646846115589142,
      "learning_rate": 4.3517408231735644e-05,
      "loss": 0.0682,
      "step": 33860
    },
    {
      "action_loss": 0.005861061159521341,
      "epoch": 30.449640287769785,
      "step": 33860
    },
    {
      "epoch": 30.449640287769785,
      "step": 33860,
      "torque_loss": 0.09792932122945786
    },
    {
      "epoch": 30.45863309352518,
      "grad_norm": 0.26467689871788025,
      "learning_rate": 4.3490083987094086e-05,
      "loss": 0.0577,
      "step": 33870
    },
    {
      "action_loss": 0.0013985047116875648,
      "epoch": 30.45863309352518,
      "step": 33870
    },
    {
      "epoch": 30.45863309352518,
      "step": 33870,
      "torque_loss": 0.06451969593763351
    },
    {
      "epoch": 30.467625899280577,
      "grad_norm": 0.35436269640922546,
      "learning_rate": 4.34627617199931e-05,
      "loss": 0.0701,
      "step": 33880
    },
    {
      "action_loss": 0.008377306163311005,
      "epoch": 30.467625899280577,
      "step": 33880
    },
    {
      "epoch": 30.467625899280577,
      "step": 33880,
      "torque_loss": 0.10249257832765579
    },
    {
      "epoch": 30.47661870503597,
      "grad_norm": 0.3105771541595459,
      "learning_rate": 4.3435441438732526e-05,
      "loss": 0.0549,
      "step": 33890
    },
    {
      "action_loss": 0.014603443443775177,
      "epoch": 30.47661870503597,
      "step": 33890
    },
    {
      "epoch": 30.47661870503597,
      "step": 33890,
      "torque_loss": 0.0966343879699707
    },
    {
      "epoch": 30.485611510791365,
      "grad_norm": 0.273345410823822,
      "learning_rate": 4.340812315161149e-05,
      "loss": 0.0657,
      "step": 33900
    },
    {
      "action_loss": 0.007911230437457561,
      "epoch": 30.485611510791365,
      "step": 33900
    },
    {
      "epoch": 30.485611510791365,
      "step": 33900,
      "torque_loss": 0.13291506469249725
    },
    {
      "epoch": 30.494604316546763,
      "grad_norm": 0.3630085587501526,
      "learning_rate": 4.338080686692859e-05,
      "loss": 0.0727,
      "step": 33910
    },
    {
      "action_loss": 0.007264535874128342,
      "epoch": 30.494604316546763,
      "step": 33910
    },
    {
      "epoch": 30.494604316546763,
      "step": 33910,
      "torque_loss": 0.09845525026321411
    },
    {
      "epoch": 30.503597122302157,
      "grad_norm": 0.3664427101612091,
      "learning_rate": 4.3353492592981816e-05,
      "loss": 0.0619,
      "step": 33920
    },
    {
      "action_loss": 0.0032248811330646276,
      "epoch": 30.503597122302157,
      "step": 33920
    },
    {
      "epoch": 30.503597122302157,
      "step": 33920,
      "torque_loss": 0.07280495762825012
    },
    {
      "epoch": 30.512589928057555,
      "grad_norm": 0.23588962852954865,
      "learning_rate": 4.3326180338068485e-05,
      "loss": 0.0772,
      "step": 33930
    },
    {
      "action_loss": 0.003159475279971957,
      "epoch": 30.512589928057555,
      "step": 33930
    },
    {
      "epoch": 30.512589928057555,
      "step": 33930,
      "torque_loss": 0.0707351565361023
    },
    {
      "epoch": 30.52158273381295,
      "grad_norm": 0.2627086043357849,
      "learning_rate": 4.3298870110485356e-05,
      "loss": 0.0589,
      "step": 33940
    },
    {
      "action_loss": 0.004306199494749308,
      "epoch": 30.52158273381295,
      "step": 33940
    },
    {
      "epoch": 30.52158273381295,
      "step": 33940,
      "torque_loss": 0.07100443542003632
    },
    {
      "epoch": 30.530575539568346,
      "grad_norm": 0.24247083067893982,
      "learning_rate": 4.3271561918528567e-05,
      "loss": 0.05,
      "step": 33950
    },
    {
      "action_loss": 0.002289316849783063,
      "epoch": 30.530575539568346,
      "step": 33950
    },
    {
      "epoch": 30.530575539568346,
      "step": 33950,
      "torque_loss": 0.06435449421405792
    },
    {
      "epoch": 30.53956834532374,
      "grad_norm": 0.35628530383110046,
      "learning_rate": 4.324425577049359e-05,
      "loss": 0.0647,
      "step": 33960
    },
    {
      "action_loss": 0.005983427166938782,
      "epoch": 30.53956834532374,
      "step": 33960
    },
    {
      "epoch": 30.53956834532374,
      "step": 33960,
      "torque_loss": 0.11272013187408447
    },
    {
      "epoch": 30.548561151079138,
      "grad_norm": 0.22685767710208893,
      "learning_rate": 4.321695167467535e-05,
      "loss": 0.0632,
      "step": 33970
    },
    {
      "action_loss": 0.0017576393438503146,
      "epoch": 30.548561151079138,
      "step": 33970
    },
    {
      "epoch": 30.548561151079138,
      "step": 33970,
      "torque_loss": 0.05554013326764107
    },
    {
      "epoch": 30.557553956834532,
      "grad_norm": 0.37782180309295654,
      "learning_rate": 4.3189649639368093e-05,
      "loss": 0.0698,
      "step": 33980
    },
    {
      "action_loss": 0.0030788190197199583,
      "epoch": 30.557553956834532,
      "step": 33980
    },
    {
      "epoch": 30.557553956834532,
      "step": 33980,
      "torque_loss": 0.08847188949584961
    },
    {
      "epoch": 30.56654676258993,
      "grad_norm": 0.2934577465057373,
      "learning_rate": 4.316234967286547e-05,
      "loss": 0.063,
      "step": 33990
    },
    {
      "action_loss": 0.004252913407981396,
      "epoch": 30.56654676258993,
      "step": 33990
    },
    {
      "epoch": 30.56654676258993,
      "step": 33990,
      "torque_loss": 0.12304908037185669
    },
    {
      "epoch": 30.575539568345324,
      "grad_norm": 0.32503587007522583,
      "learning_rate": 4.313505178346046e-05,
      "loss": 0.0839,
      "step": 34000
    },
    {
      "action_loss": 0.0031647689174860716,
      "epoch": 30.575539568345324,
      "step": 34000
    },
    {
      "epoch": 30.575539568345324,
      "step": 34000,
      "torque_loss": 0.11912450939416885
    },
    {
      "epoch": 30.584532374100718,
      "grad_norm": 0.2966841757297516,
      "learning_rate": 4.3107755979445465e-05,
      "loss": 0.0651,
      "step": 34010
    },
    {
      "action_loss": 0.005464709829539061,
      "epoch": 30.584532374100718,
      "step": 34010
    },
    {
      "epoch": 30.584532374100718,
      "step": 34010,
      "torque_loss": 0.09480801224708557
    },
    {
      "epoch": 30.593525179856115,
      "grad_norm": 0.29060566425323486,
      "learning_rate": 4.308046226911224e-05,
      "loss": 0.0601,
      "step": 34020
    },
    {
      "action_loss": 0.006815432105213404,
      "epoch": 30.593525179856115,
      "step": 34020
    },
    {
      "epoch": 30.593525179856115,
      "step": 34020,
      "torque_loss": 0.09001147747039795
    },
    {
      "epoch": 30.60251798561151,
      "grad_norm": 0.26133593916893005,
      "learning_rate": 4.305317066075185e-05,
      "loss": 0.0668,
      "step": 34030
    },
    {
      "action_loss": 0.0018527511274442077,
      "epoch": 30.60251798561151,
      "step": 34030
    },
    {
      "epoch": 30.60251798561151,
      "step": 34030,
      "torque_loss": 0.068209707736969
    },
    {
      "epoch": 30.611510791366907,
      "grad_norm": 0.28904473781585693,
      "learning_rate": 4.302588116265482e-05,
      "loss": 0.0625,
      "step": 34040
    },
    {
      "action_loss": 0.008996224962174892,
      "epoch": 30.611510791366907,
      "step": 34040
    },
    {
      "epoch": 30.611510791366907,
      "step": 34040,
      "torque_loss": 0.1258578896522522
    },
    {
      "epoch": 30.6205035971223,
      "grad_norm": 0.24592533707618713,
      "learning_rate": 4.299859378311094e-05,
      "loss": 0.0678,
      "step": 34050
    },
    {
      "action_loss": 0.003251810325309634,
      "epoch": 30.6205035971223,
      "step": 34050
    },
    {
      "epoch": 30.6205035971223,
      "step": 34050,
      "torque_loss": 0.07066882401704788
    },
    {
      "epoch": 30.6294964028777,
      "grad_norm": 0.33368030190467834,
      "learning_rate": 4.2971308530409424e-05,
      "loss": 0.0566,
      "step": 34060
    },
    {
      "action_loss": 0.012348056770861149,
      "epoch": 30.6294964028777,
      "step": 34060
    },
    {
      "epoch": 30.6294964028777,
      "step": 34060,
      "torque_loss": 0.14489135146141052
    },
    {
      "epoch": 30.638489208633093,
      "grad_norm": 0.2912137806415558,
      "learning_rate": 4.2944025412838765e-05,
      "loss": 0.0565,
      "step": 34070
    },
    {
      "action_loss": 0.005139234010130167,
      "epoch": 30.638489208633093,
      "step": 34070
    },
    {
      "epoch": 30.638489208633093,
      "step": 34070,
      "torque_loss": 0.1324169635772705
    },
    {
      "epoch": 30.64748201438849,
      "grad_norm": 0.2562739849090576,
      "learning_rate": 4.291674443868689e-05,
      "loss": 0.0611,
      "step": 34080
    },
    {
      "action_loss": 0.0036362886894494295,
      "epoch": 30.64748201438849,
      "step": 34080
    },
    {
      "epoch": 30.64748201438849,
      "step": 34080,
      "torque_loss": 0.08317660540342331
    },
    {
      "epoch": 30.656474820143885,
      "grad_norm": 0.31175798177719116,
      "learning_rate": 4.288946561624104e-05,
      "loss": 0.0556,
      "step": 34090
    },
    {
      "action_loss": 0.0029341895133256912,
      "epoch": 30.656474820143885,
      "step": 34090
    },
    {
      "epoch": 30.656474820143885,
      "step": 34090,
      "torque_loss": 0.050099927932024
    },
    {
      "epoch": 30.665467625899282,
      "grad_norm": 0.24017862975597382,
      "learning_rate": 4.2862188953787794e-05,
      "loss": 0.0623,
      "step": 34100
    },
    {
      "action_loss": 0.005908617749810219,
      "epoch": 30.665467625899282,
      "step": 34100
    },
    {
      "epoch": 30.665467625899282,
      "step": 34100,
      "torque_loss": 0.10236481577157974
    },
    {
      "epoch": 30.674460431654676,
      "grad_norm": 0.2501104176044464,
      "learning_rate": 4.283491445961308e-05,
      "loss": 0.0604,
      "step": 34110
    },
    {
      "action_loss": 0.007449714932590723,
      "epoch": 30.674460431654676,
      "step": 34110
    },
    {
      "epoch": 30.674460431654676,
      "step": 34110,
      "torque_loss": 0.1087690070271492
    },
    {
      "epoch": 30.68345323741007,
      "grad_norm": 0.31296858191490173,
      "learning_rate": 4.2807642142002155e-05,
      "loss": 0.0632,
      "step": 34120
    },
    {
      "action_loss": 0.003003000281751156,
      "epoch": 30.68345323741007,
      "step": 34120
    },
    {
      "epoch": 30.68345323741007,
      "step": 34120,
      "torque_loss": 0.07164826989173889
    },
    {
      "epoch": 30.692446043165468,
      "grad_norm": 0.276278018951416,
      "learning_rate": 4.278037200923966e-05,
      "loss": 0.0535,
      "step": 34130
    },
    {
      "action_loss": 0.003781005507335067,
      "epoch": 30.692446043165468,
      "step": 34130
    },
    {
      "epoch": 30.692446043165468,
      "step": 34130,
      "torque_loss": 0.10950525850057602
    },
    {
      "epoch": 30.701438848920862,
      "grad_norm": 0.3329630196094513,
      "learning_rate": 4.275310406960953e-05,
      "loss": 0.0741,
      "step": 34140
    },
    {
      "action_loss": 0.021886946633458138,
      "epoch": 30.701438848920862,
      "step": 34140
    },
    {
      "epoch": 30.701438848920862,
      "step": 34140,
      "torque_loss": 0.17152535915374756
    },
    {
      "epoch": 30.71043165467626,
      "grad_norm": 0.3143312931060791,
      "learning_rate": 4.272583833139502e-05,
      "loss": 0.0724,
      "step": 34150
    },
    {
      "action_loss": 0.0026209671050310135,
      "epoch": 30.71043165467626,
      "step": 34150
    },
    {
      "epoch": 30.71043165467626,
      "step": 34150,
      "torque_loss": 0.07825272530317307
    },
    {
      "epoch": 30.719424460431654,
      "grad_norm": 0.36372819542884827,
      "learning_rate": 4.2698574802878794e-05,
      "loss": 0.0651,
      "step": 34160
    },
    {
      "action_loss": 0.004695412237197161,
      "epoch": 30.719424460431654,
      "step": 34160
    },
    {
      "epoch": 30.719424460431654,
      "step": 34160,
      "torque_loss": 0.10051365941762924
    },
    {
      "epoch": 30.72841726618705,
      "grad_norm": 0.26629534363746643,
      "learning_rate": 4.2671313492342734e-05,
      "loss": 0.0533,
      "step": 34170
    },
    {
      "action_loss": 0.0028277765959501266,
      "epoch": 30.72841726618705,
      "step": 34170
    },
    {
      "epoch": 30.72841726618705,
      "step": 34170,
      "torque_loss": 0.08063261955976486
    },
    {
      "epoch": 30.737410071942445,
      "grad_norm": 0.25778087973594666,
      "learning_rate": 4.264405440806813e-05,
      "loss": 0.0532,
      "step": 34180
    },
    {
      "action_loss": 0.0017078156815841794,
      "epoch": 30.737410071942445,
      "step": 34180
    },
    {
      "epoch": 30.737410071942445,
      "step": 34180,
      "torque_loss": 0.06840406358242035
    },
    {
      "epoch": 30.746402877697843,
      "grad_norm": 0.4703577756881714,
      "learning_rate": 4.26167975583356e-05,
      "loss": 0.0688,
      "step": 34190
    },
    {
      "action_loss": 0.003598463488742709,
      "epoch": 30.746402877697843,
      "step": 34190
    },
    {
      "epoch": 30.746402877697843,
      "step": 34190,
      "torque_loss": 0.07706273347139359
    },
    {
      "epoch": 30.755395683453237,
      "grad_norm": 0.21748431026935577,
      "learning_rate": 4.2589542951425e-05,
      "loss": 0.0496,
      "step": 34200
    },
    {
      "action_loss": 0.005129413213580847,
      "epoch": 30.755395683453237,
      "step": 34200
    },
    {
      "epoch": 30.755395683453237,
      "step": 34200,
      "torque_loss": 0.10942935943603516
    },
    {
      "epoch": 30.764388489208635,
      "grad_norm": 0.33661070466041565,
      "learning_rate": 4.2562290595615615e-05,
      "loss": 0.0648,
      "step": 34210
    },
    {
      "action_loss": 0.0036123974714428186,
      "epoch": 30.764388489208635,
      "step": 34210
    },
    {
      "epoch": 30.764388489208635,
      "step": 34210,
      "torque_loss": 0.08706429600715637
    },
    {
      "epoch": 30.77338129496403,
      "grad_norm": 0.26141393184661865,
      "learning_rate": 4.2535040499185946e-05,
      "loss": 0.0652,
      "step": 34220
    },
    {
      "action_loss": 0.0044183749705553055,
      "epoch": 30.77338129496403,
      "step": 34220
    },
    {
      "epoch": 30.77338129496403,
      "step": 34220,
      "torque_loss": 0.08927514404058456
    },
    {
      "epoch": 30.782374100719423,
      "grad_norm": 0.3758208453655243,
      "learning_rate": 4.250779267041387e-05,
      "loss": 0.0698,
      "step": 34230
    },
    {
      "action_loss": 0.002547771669924259,
      "epoch": 30.782374100719423,
      "step": 34230
    },
    {
      "epoch": 30.782374100719423,
      "step": 34230,
      "torque_loss": 0.056640371680259705
    },
    {
      "epoch": 30.79136690647482,
      "grad_norm": 0.302486389875412,
      "learning_rate": 4.248054711757657e-05,
      "loss": 0.0623,
      "step": 34240
    },
    {
      "action_loss": 0.0026988815516233444,
      "epoch": 30.79136690647482,
      "step": 34240
    },
    {
      "epoch": 30.79136690647482,
      "step": 34240,
      "torque_loss": 0.07390442490577698
    },
    {
      "epoch": 30.800359712230215,
      "grad_norm": 0.2969511151313782,
      "learning_rate": 4.245330384895052e-05,
      "loss": 0.0634,
      "step": 34250
    },
    {
      "action_loss": 0.01829470507800579,
      "epoch": 30.800359712230215,
      "step": 34250
    },
    {
      "epoch": 30.800359712230215,
      "step": 34250,
      "torque_loss": 0.20819056034088135
    },
    {
      "epoch": 30.809352517985612,
      "grad_norm": 0.24951964616775513,
      "learning_rate": 4.242606287281151e-05,
      "loss": 0.0821,
      "step": 34260
    },
    {
      "action_loss": 0.010164803825318813,
      "epoch": 30.809352517985612,
      "step": 34260
    },
    {
      "epoch": 30.809352517985612,
      "step": 34260,
      "torque_loss": 0.11698354035615921
    },
    {
      "epoch": 30.818345323741006,
      "grad_norm": 0.2352665662765503,
      "learning_rate": 4.2398824197434595e-05,
      "loss": 0.0806,
      "step": 34270
    },
    {
      "action_loss": 0.007835076190531254,
      "epoch": 30.818345323741006,
      "step": 34270
    },
    {
      "epoch": 30.818345323741006,
      "step": 34270,
      "torque_loss": 0.07337741553783417
    },
    {
      "epoch": 30.827338129496404,
      "grad_norm": 0.25713443756103516,
      "learning_rate": 4.23715878310942e-05,
      "loss": 0.0526,
      "step": 34280
    },
    {
      "action_loss": 0.005242606624960899,
      "epoch": 30.827338129496404,
      "step": 34280
    },
    {
      "epoch": 30.827338129496404,
      "step": 34280,
      "torque_loss": 0.09696290642023087
    },
    {
      "epoch": 30.836330935251798,
      "grad_norm": 0.230783611536026,
      "learning_rate": 4.234435378206402e-05,
      "loss": 0.0604,
      "step": 34290
    },
    {
      "action_loss": 0.0034088108222931623,
      "epoch": 30.836330935251798,
      "step": 34290
    },
    {
      "epoch": 30.836330935251798,
      "step": 34290,
      "torque_loss": 0.09104996919631958
    },
    {
      "epoch": 30.845323741007196,
      "grad_norm": 0.25840774178504944,
      "learning_rate": 4.2317122058617006e-05,
      "loss": 0.065,
      "step": 34300
    },
    {
      "action_loss": 0.0029514033813029528,
      "epoch": 30.845323741007196,
      "step": 34300
    },
    {
      "epoch": 30.845323741007196,
      "step": 34300,
      "torque_loss": 0.07906589657068253
    },
    {
      "epoch": 30.85431654676259,
      "grad_norm": 0.27746400237083435,
      "learning_rate": 4.2289892669025485e-05,
      "loss": 0.0597,
      "step": 34310
    },
    {
      "action_loss": 0.0020303495693951845,
      "epoch": 30.85431654676259,
      "step": 34310
    },
    {
      "epoch": 30.85431654676259,
      "step": 34310,
      "torque_loss": 0.07023467868566513
    },
    {
      "epoch": 30.863309352517987,
      "grad_norm": 0.24371285736560822,
      "learning_rate": 4.226266562156097e-05,
      "loss": 0.0659,
      "step": 34320
    },
    {
      "action_loss": 0.0017028084257617593,
      "epoch": 30.863309352517987,
      "step": 34320
    },
    {
      "epoch": 30.863309352517987,
      "step": 34320,
      "torque_loss": 0.04866025224328041
    },
    {
      "epoch": 30.87230215827338,
      "grad_norm": 0.2387232780456543,
      "learning_rate": 4.223544092449435e-05,
      "loss": 0.0534,
      "step": 34330
    },
    {
      "action_loss": 0.004547747317701578,
      "epoch": 30.87230215827338,
      "step": 34330
    },
    {
      "epoch": 30.87230215827338,
      "step": 34330,
      "torque_loss": 0.07624977082014084
    },
    {
      "epoch": 30.881294964028775,
      "grad_norm": 0.29030999541282654,
      "learning_rate": 4.2208218586095784e-05,
      "loss": 0.0587,
      "step": 34340
    },
    {
      "action_loss": 0.002758163260295987,
      "epoch": 30.881294964028775,
      "step": 34340
    },
    {
      "epoch": 30.881294964028775,
      "step": 34340,
      "torque_loss": 0.07939346879720688
    },
    {
      "epoch": 30.890287769784173,
      "grad_norm": 0.32642439007759094,
      "learning_rate": 4.218099861463466e-05,
      "loss": 0.0551,
      "step": 34350
    },
    {
      "action_loss": 0.0041245645843446255,
      "epoch": 30.890287769784173,
      "step": 34350
    },
    {
      "epoch": 30.890287769784173,
      "step": 34350,
      "torque_loss": 0.11098330467939377
    },
    {
      "epoch": 30.899280575539567,
      "grad_norm": 0.3856509029865265,
      "learning_rate": 4.215378101837972e-05,
      "loss": 0.0709,
      "step": 34360
    },
    {
      "action_loss": 0.0032687669154256582,
      "epoch": 30.899280575539567,
      "step": 34360
    },
    {
      "epoch": 30.899280575539567,
      "step": 34360,
      "torque_loss": 0.07250013202428818
    },
    {
      "epoch": 30.908273381294965,
      "grad_norm": 0.28655877709388733,
      "learning_rate": 4.2126565805598937e-05,
      "loss": 0.0588,
      "step": 34370
    },
    {
      "action_loss": 0.002210483653470874,
      "epoch": 30.908273381294965,
      "step": 34370
    },
    {
      "epoch": 30.908273381294965,
      "step": 34370,
      "torque_loss": 0.06094624474644661
    },
    {
      "epoch": 30.91726618705036,
      "grad_norm": 0.3747018277645111,
      "learning_rate": 4.209935298455957e-05,
      "loss": 0.0612,
      "step": 34380
    },
    {
      "action_loss": 0.0020623747259378433,
      "epoch": 30.91726618705036,
      "step": 34380
    },
    {
      "epoch": 30.91726618705036,
      "step": 34380,
      "torque_loss": 0.06619484722614288
    },
    {
      "epoch": 30.926258992805757,
      "grad_norm": 0.3757033348083496,
      "learning_rate": 4.207214256352817e-05,
      "loss": 0.0551,
      "step": 34390
    },
    {
      "action_loss": 0.0020705375354737043,
      "epoch": 30.926258992805757,
      "step": 34390
    },
    {
      "epoch": 30.926258992805757,
      "step": 34390,
      "torque_loss": 0.07904477417469025
    },
    {
      "epoch": 30.93525179856115,
      "grad_norm": 0.36850112676620483,
      "learning_rate": 4.2044934550770524e-05,
      "loss": 0.071,
      "step": 34400
    },
    {
      "action_loss": 0.06348345428705215,
      "epoch": 30.93525179856115,
      "step": 34400
    },
    {
      "epoch": 30.93525179856115,
      "step": 34400,
      "torque_loss": 0.15470902621746063
    },
    {
      "epoch": 30.944244604316548,
      "grad_norm": 0.369124174118042,
      "learning_rate": 4.201772895455174e-05,
      "loss": 0.0672,
      "step": 34410
    },
    {
      "action_loss": 0.0032276392448693514,
      "epoch": 30.944244604316548,
      "step": 34410
    },
    {
      "epoch": 30.944244604316548,
      "step": 34410,
      "torque_loss": 0.10138950496912003
    },
    {
      "epoch": 30.953237410071942,
      "grad_norm": 0.2922472059726715,
      "learning_rate": 4.199052578313613e-05,
      "loss": 0.0606,
      "step": 34420
    },
    {
      "action_loss": 0.00523274065926671,
      "epoch": 30.953237410071942,
      "step": 34420
    },
    {
      "epoch": 30.953237410071942,
      "step": 34420,
      "torque_loss": 0.06818514317274094
    },
    {
      "epoch": 30.96223021582734,
      "grad_norm": 0.2766851484775543,
      "learning_rate": 4.1963325044787294e-05,
      "loss": 0.0634,
      "step": 34430
    },
    {
      "action_loss": 0.0018288145074620843,
      "epoch": 30.96223021582734,
      "step": 34430
    },
    {
      "epoch": 30.96223021582734,
      "step": 34430,
      "torque_loss": 0.05245806649327278
    },
    {
      "epoch": 30.971223021582734,
      "grad_norm": 0.3042222559452057,
      "learning_rate": 4.193612674776814e-05,
      "loss": 0.0548,
      "step": 34440
    },
    {
      "action_loss": 0.007609322667121887,
      "epoch": 30.971223021582734,
      "step": 34440
    },
    {
      "epoch": 30.971223021582734,
      "step": 34440,
      "torque_loss": 0.11518775671720505
    },
    {
      "epoch": 30.980215827338128,
      "grad_norm": 0.21861864626407623,
      "learning_rate": 4.1908930900340745e-05,
      "loss": 0.0637,
      "step": 34450
    },
    {
      "action_loss": 0.00626777857542038,
      "epoch": 30.980215827338128,
      "step": 34450
    },
    {
      "epoch": 30.980215827338128,
      "step": 34450,
      "torque_loss": 0.11013247817754745
    },
    {
      "epoch": 30.989208633093526,
      "grad_norm": 0.2385271042585373,
      "learning_rate": 4.1881737510766536e-05,
      "loss": 0.0579,
      "step": 34460
    },
    {
      "action_loss": 0.0030624570790678263,
      "epoch": 30.989208633093526,
      "step": 34460
    },
    {
      "epoch": 30.989208633093526,
      "step": 34460,
      "torque_loss": 0.07466312497854233
    },
    {
      "epoch": 30.99820143884892,
      "grad_norm": 0.18603073060512543,
      "learning_rate": 4.185454658730609e-05,
      "loss": 0.0504,
      "step": 34470
    },
    {
      "action_loss": 0.003496327670291066,
      "epoch": 30.99820143884892,
      "step": 34470
    },
    {
      "epoch": 30.99820143884892,
      "step": 34470,
      "torque_loss": 0.07747790962457657
    },
    {
      "epoch": 31.007194244604317,
      "grad_norm": 0.2429533153772354,
      "learning_rate": 4.1827358138219355e-05,
      "loss": 0.0617,
      "step": 34480
    },
    {
      "action_loss": 0.002629300579428673,
      "epoch": 31.007194244604317,
      "step": 34480
    },
    {
      "epoch": 31.007194244604317,
      "step": 34480,
      "torque_loss": 0.052791934460401535
    },
    {
      "epoch": 31.01618705035971,
      "grad_norm": 0.3230243921279907,
      "learning_rate": 4.1800172171765404e-05,
      "loss": 0.0755,
      "step": 34490
    },
    {
      "action_loss": 0.004396727308630943,
      "epoch": 31.01618705035971,
      "step": 34490
    },
    {
      "epoch": 31.01618705035971,
      "step": 34490,
      "torque_loss": 0.11099603772163391
    },
    {
      "epoch": 31.02517985611511,
      "grad_norm": 0.24860158562660217,
      "learning_rate": 4.177298869620264e-05,
      "loss": 0.0515,
      "step": 34500
    },
    {
      "action_loss": 0.004085333552211523,
      "epoch": 31.02517985611511,
      "step": 34500
    },
    {
      "epoch": 31.02517985611511,
      "step": 34500,
      "torque_loss": 0.09068774431943893
    },
    {
      "epoch": 31.034172661870503,
      "grad_norm": 0.3340616822242737,
      "learning_rate": 4.1745807719788705e-05,
      "loss": 0.0647,
      "step": 34510
    },
    {
      "action_loss": 0.0024701105430722237,
      "epoch": 31.034172661870503,
      "step": 34510
    },
    {
      "epoch": 31.034172661870503,
      "step": 34510,
      "torque_loss": 0.08602949231863022
    },
    {
      "epoch": 31.0431654676259,
      "grad_norm": 0.26855236291885376,
      "learning_rate": 4.1718629250780445e-05,
      "loss": 0.0637,
      "step": 34520
    },
    {
      "action_loss": 0.005141586530953646,
      "epoch": 31.0431654676259,
      "step": 34520
    },
    {
      "epoch": 31.0431654676259,
      "step": 34520,
      "torque_loss": 0.08711516112089157
    },
    {
      "epoch": 31.052158273381295,
      "grad_norm": 0.2798885703086853,
      "learning_rate": 4.1691453297433956e-05,
      "loss": 0.0631,
      "step": 34530
    },
    {
      "action_loss": 0.00469619408249855,
      "epoch": 31.052158273381295,
      "step": 34530
    },
    {
      "epoch": 31.052158273381295,
      "step": 34530,
      "torque_loss": 0.09734531491994858
    },
    {
      "epoch": 31.06115107913669,
      "grad_norm": 0.3612266182899475,
      "learning_rate": 4.166427986800457e-05,
      "loss": 0.0665,
      "step": 34540
    },
    {
      "action_loss": 0.0030006945598870516,
      "epoch": 31.06115107913669,
      "step": 34540
    },
    {
      "epoch": 31.06115107913669,
      "step": 34540,
      "torque_loss": 0.0963071957230568
    },
    {
      "epoch": 31.070143884892087,
      "grad_norm": 0.30479925870895386,
      "learning_rate": 4.163710897074688e-05,
      "loss": 0.0554,
      "step": 34550
    },
    {
      "action_loss": 0.004573910031467676,
      "epoch": 31.070143884892087,
      "step": 34550
    },
    {
      "epoch": 31.070143884892087,
      "step": 34550,
      "torque_loss": 0.09132403880357742
    },
    {
      "epoch": 31.07913669064748,
      "grad_norm": 0.330363392829895,
      "learning_rate": 4.1609940613914686e-05,
      "loss": 0.0709,
      "step": 34560
    },
    {
      "action_loss": 0.00796977523714304,
      "epoch": 31.07913669064748,
      "step": 34560
    },
    {
      "epoch": 31.07913669064748,
      "step": 34560,
      "torque_loss": 0.12472623586654663
    },
    {
      "epoch": 31.08812949640288,
      "grad_norm": 0.28623223304748535,
      "learning_rate": 4.1582774805760996e-05,
      "loss": 0.0599,
      "step": 34570
    },
    {
      "action_loss": 0.0026919450610876083,
      "epoch": 31.08812949640288,
      "step": 34570
    },
    {
      "epoch": 31.08812949640288,
      "step": 34570,
      "torque_loss": 0.07069850713014603
    },
    {
      "epoch": 31.097122302158272,
      "grad_norm": 0.32312774658203125,
      "learning_rate": 4.155561155453809e-05,
      "loss": 0.0591,
      "step": 34580
    },
    {
      "action_loss": 0.0023878347128629684,
      "epoch": 31.097122302158272,
      "step": 34580
    },
    {
      "epoch": 31.097122302158272,
      "step": 34580,
      "torque_loss": 0.08282224088907242
    },
    {
      "epoch": 31.10611510791367,
      "grad_norm": 0.3072681725025177,
      "learning_rate": 4.15284508684974e-05,
      "loss": 0.0678,
      "step": 34590
    },
    {
      "action_loss": 0.002008214360103011,
      "epoch": 31.10611510791367,
      "step": 34590
    },
    {
      "epoch": 31.10611510791367,
      "step": 34590,
      "torque_loss": 0.06655276566743851
    },
    {
      "epoch": 31.115107913669064,
      "grad_norm": 0.30990439653396606,
      "learning_rate": 4.1501292755889675e-05,
      "loss": 0.0656,
      "step": 34600
    },
    {
      "action_loss": 0.004439647309482098,
      "epoch": 31.115107913669064,
      "step": 34600
    },
    {
      "epoch": 31.115107913669064,
      "step": 34600,
      "torque_loss": 0.08814636617898941
    },
    {
      "epoch": 31.12410071942446,
      "grad_norm": 0.3664606213569641,
      "learning_rate": 4.1474137224964833e-05,
      "loss": 0.0623,
      "step": 34610
    },
    {
      "action_loss": 0.006859472021460533,
      "epoch": 31.12410071942446,
      "step": 34610
    },
    {
      "epoch": 31.12410071942446,
      "step": 34610,
      "torque_loss": 0.09327306598424911
    },
    {
      "epoch": 31.133093525179856,
      "grad_norm": 0.39796018600463867,
      "learning_rate": 4.144698428397197e-05,
      "loss": 0.061,
      "step": 34620
    },
    {
      "action_loss": 0.002548327436670661,
      "epoch": 31.133093525179856,
      "step": 34620
    },
    {
      "epoch": 31.133093525179856,
      "step": 34620,
      "torque_loss": 0.10598230361938477
    },
    {
      "epoch": 31.142086330935253,
      "grad_norm": 0.25571683049201965,
      "learning_rate": 4.1419833941159466e-05,
      "loss": 0.0506,
      "step": 34630
    },
    {
      "action_loss": 0.002157660201191902,
      "epoch": 31.142086330935253,
      "step": 34630
    },
    {
      "epoch": 31.142086330935253,
      "step": 34630,
      "torque_loss": 0.07634662836790085
    },
    {
      "epoch": 31.151079136690647,
      "grad_norm": 0.30356457829475403,
      "learning_rate": 4.1392686204774846e-05,
      "loss": 0.0534,
      "step": 34640
    },
    {
      "action_loss": 0.0021115762647241354,
      "epoch": 31.151079136690647,
      "step": 34640
    },
    {
      "epoch": 31.151079136690647,
      "step": 34640,
      "torque_loss": 0.0700281485915184
    },
    {
      "epoch": 31.16007194244604,
      "grad_norm": 0.30338364839553833,
      "learning_rate": 4.13655410830649e-05,
      "loss": 0.0555,
      "step": 34650
    },
    {
      "action_loss": 0.004328013863414526,
      "epoch": 31.16007194244604,
      "step": 34650
    },
    {
      "epoch": 31.16007194244604,
      "step": 34650,
      "torque_loss": 0.08377230167388916
    },
    {
      "epoch": 31.16906474820144,
      "grad_norm": 0.31541091203689575,
      "learning_rate": 4.1338398584275594e-05,
      "loss": 0.0804,
      "step": 34660
    },
    {
      "action_loss": 0.011067393235862255,
      "epoch": 31.16906474820144,
      "step": 34660
    },
    {
      "epoch": 31.16906474820144,
      "step": 34660,
      "torque_loss": 0.14297863841056824
    },
    {
      "epoch": 31.178057553956833,
      "grad_norm": 0.3217081129550934,
      "learning_rate": 4.1311258716652104e-05,
      "loss": 0.072,
      "step": 34670
    },
    {
      "action_loss": 0.006654748227447271,
      "epoch": 31.178057553956833,
      "step": 34670
    },
    {
      "epoch": 31.178057553956833,
      "step": 34670,
      "torque_loss": 0.12581288814544678
    },
    {
      "epoch": 31.18705035971223,
      "grad_norm": 0.26583364605903625,
      "learning_rate": 4.128412148843881e-05,
      "loss": 0.0615,
      "step": 34680
    },
    {
      "action_loss": 0.005006979685276747,
      "epoch": 31.18705035971223,
      "step": 34680
    },
    {
      "epoch": 31.18705035971223,
      "step": 34680,
      "torque_loss": 0.09259893745183945
    },
    {
      "epoch": 31.196043165467625,
      "grad_norm": 0.31064361333847046,
      "learning_rate": 4.125698690787926e-05,
      "loss": 0.0628,
      "step": 34690
    },
    {
      "action_loss": 0.0061884052120149136,
      "epoch": 31.196043165467625,
      "step": 34690
    },
    {
      "epoch": 31.196043165467625,
      "step": 34690,
      "torque_loss": 0.10778876394033432
    },
    {
      "epoch": 31.205035971223023,
      "grad_norm": 0.28464624285697937,
      "learning_rate": 4.1229854983216245e-05,
      "loss": 0.0643,
      "step": 34700
    },
    {
      "action_loss": 0.00554642966017127,
      "epoch": 31.205035971223023,
      "step": 34700
    },
    {
      "epoch": 31.205035971223023,
      "step": 34700,
      "torque_loss": 0.09203839302062988
    },
    {
      "epoch": 31.214028776978417,
      "grad_norm": 0.4250434339046478,
      "learning_rate": 4.120272572269175e-05,
      "loss": 0.0714,
      "step": 34710
    },
    {
      "action_loss": 0.008940215222537518,
      "epoch": 31.214028776978417,
      "step": 34710
    },
    {
      "epoch": 31.214028776978417,
      "step": 34710,
      "torque_loss": 0.11434973031282425
    },
    {
      "epoch": 31.223021582733814,
      "grad_norm": 0.30403009057044983,
      "learning_rate": 4.117559913454687e-05,
      "loss": 0.059,
      "step": 34720
    },
    {
      "action_loss": 0.002832844154909253,
      "epoch": 31.223021582733814,
      "step": 34720
    },
    {
      "epoch": 31.223021582733814,
      "step": 34720,
      "torque_loss": 0.08409181982278824
    },
    {
      "epoch": 31.23201438848921,
      "grad_norm": 0.4183998703956604,
      "learning_rate": 4.114847522702201e-05,
      "loss": 0.06,
      "step": 34730
    },
    {
      "action_loss": 0.004776230547577143,
      "epoch": 31.23201438848921,
      "step": 34730
    },
    {
      "epoch": 31.23201438848921,
      "step": 34730,
      "torque_loss": 0.08664810657501221
    },
    {
      "epoch": 31.241007194244606,
      "grad_norm": 0.2291468381881714,
      "learning_rate": 4.112135400835664e-05,
      "loss": 0.0488,
      "step": 34740
    },
    {
      "action_loss": 0.007703002076596022,
      "epoch": 31.241007194244606,
      "step": 34740
    },
    {
      "epoch": 31.241007194244606,
      "step": 34740,
      "torque_loss": 0.09530019015073776
    },
    {
      "epoch": 31.25,
      "grad_norm": 0.4410642981529236,
      "learning_rate": 4.109423548678949e-05,
      "loss": 0.0508,
      "step": 34750
    },
    {
      "action_loss": 0.005001053214073181,
      "epoch": 31.25,
      "step": 34750
    },
    {
      "epoch": 31.25,
      "step": 34750,
      "torque_loss": 0.08360309153795242
    },
    {
      "epoch": 31.258992805755394,
      "grad_norm": 0.33365458250045776,
      "learning_rate": 4.106711967055848e-05,
      "loss": 0.0617,
      "step": 34760
    },
    {
      "action_loss": 0.00413215346634388,
      "epoch": 31.258992805755394,
      "step": 34760
    },
    {
      "epoch": 31.258992805755394,
      "step": 34760,
      "torque_loss": 0.053040772676467896
    },
    {
      "epoch": 31.26798561151079,
      "grad_norm": 0.2593609392642975,
      "learning_rate": 4.1040006567900636e-05,
      "loss": 0.0566,
      "step": 34770
    },
    {
      "action_loss": 0.0023413379676640034,
      "epoch": 31.26798561151079,
      "step": 34770
    },
    {
      "epoch": 31.26798561151079,
      "step": 34770,
      "torque_loss": 0.06375005096197128
    },
    {
      "epoch": 31.276978417266186,
      "grad_norm": 0.4241836369037628,
      "learning_rate": 4.101289618705224e-05,
      "loss": 0.05,
      "step": 34780
    },
    {
      "action_loss": 0.0020827052649110556,
      "epoch": 31.276978417266186,
      "step": 34780
    },
    {
      "epoch": 31.276978417266186,
      "step": 34780,
      "torque_loss": 0.06799068301916122
    },
    {
      "epoch": 31.285971223021583,
      "grad_norm": 0.2973523736000061,
      "learning_rate": 4.0985788536248675e-05,
      "loss": 0.0583,
      "step": 34790
    },
    {
      "action_loss": 0.004142870660871267,
      "epoch": 31.285971223021583,
      "step": 34790
    },
    {
      "epoch": 31.285971223021583,
      "step": 34790,
      "torque_loss": 0.08254074305295944
    },
    {
      "epoch": 31.294964028776977,
      "grad_norm": 0.31460317969322205,
      "learning_rate": 4.095868362372454e-05,
      "loss": 0.05,
      "step": 34800
    },
    {
      "action_loss": 0.006303913425654173,
      "epoch": 31.294964028776977,
      "step": 34800
    },
    {
      "epoch": 31.294964028776977,
      "step": 34800,
      "torque_loss": 0.13160477578639984
    },
    {
      "epoch": 31.303956834532375,
      "grad_norm": 0.25607526302337646,
      "learning_rate": 4.0931581457713614e-05,
      "loss": 0.0602,
      "step": 34810
    },
    {
      "action_loss": 0.014882877469062805,
      "epoch": 31.303956834532375,
      "step": 34810
    },
    {
      "epoch": 31.303956834532375,
      "step": 34810,
      "torque_loss": 0.1389191746711731
    },
    {
      "epoch": 31.31294964028777,
      "grad_norm": 0.3352469205856323,
      "learning_rate": 4.09044820464488e-05,
      "loss": 0.0681,
      "step": 34820
    },
    {
      "action_loss": 0.0021424477454274893,
      "epoch": 31.31294964028777,
      "step": 34820
    },
    {
      "epoch": 31.31294964028777,
      "step": 34820,
      "torque_loss": 0.06567160040140152
    },
    {
      "epoch": 31.321942446043167,
      "grad_norm": 0.2688378393650055,
      "learning_rate": 4.087738539816219e-05,
      "loss": 0.0625,
      "step": 34830
    },
    {
      "action_loss": 0.008178729563951492,
      "epoch": 31.321942446043167,
      "step": 34830
    },
    {
      "epoch": 31.321942446043167,
      "step": 34830,
      "torque_loss": 0.1348724216222763
    },
    {
      "epoch": 31.33093525179856,
      "grad_norm": 0.3701787292957306,
      "learning_rate": 4.085029152108501e-05,
      "loss": 0.0717,
      "step": 34840
    },
    {
      "action_loss": 0.0015229973942041397,
      "epoch": 31.33093525179856,
      "step": 34840
    },
    {
      "epoch": 31.33093525179856,
      "step": 34840,
      "torque_loss": 0.06848826259374619
    },
    {
      "epoch": 31.33992805755396,
      "grad_norm": 0.3372220993041992,
      "learning_rate": 4.0823200423447714e-05,
      "loss": 0.0619,
      "step": 34850
    },
    {
      "action_loss": 0.005557490512728691,
      "epoch": 31.33992805755396,
      "step": 34850
    },
    {
      "epoch": 31.33992805755396,
      "step": 34850,
      "torque_loss": 0.06388046592473984
    },
    {
      "epoch": 31.348920863309353,
      "grad_norm": 0.2652972638607025,
      "learning_rate": 4.079611211347981e-05,
      "loss": 0.0659,
      "step": 34860
    },
    {
      "action_loss": 0.004847269039601088,
      "epoch": 31.348920863309353,
      "step": 34860
    },
    {
      "epoch": 31.348920863309353,
      "step": 34860,
      "torque_loss": 0.0955960676074028
    },
    {
      "epoch": 31.357913669064747,
      "grad_norm": 0.2755710482597351,
      "learning_rate": 4.076902659941002e-05,
      "loss": 0.0534,
      "step": 34870
    },
    {
      "action_loss": 0.005120419897139072,
      "epoch": 31.357913669064747,
      "step": 34870
    },
    {
      "epoch": 31.357913669064747,
      "step": 34870,
      "torque_loss": 0.0986923798918724
    },
    {
      "epoch": 31.366906474820144,
      "grad_norm": 0.3265942335128784,
      "learning_rate": 4.074194388946624e-05,
      "loss": 0.0536,
      "step": 34880
    },
    {
      "action_loss": 0.002573632402345538,
      "epoch": 31.366906474820144,
      "step": 34880
    },
    {
      "epoch": 31.366906474820144,
      "step": 34880,
      "torque_loss": 0.0946764424443245
    },
    {
      "epoch": 31.37589928057554,
      "grad_norm": 0.3453352451324463,
      "learning_rate": 4.071486399187545e-05,
      "loss": 0.0593,
      "step": 34890
    },
    {
      "action_loss": 0.008479022420942783,
      "epoch": 31.37589928057554,
      "step": 34890
    },
    {
      "epoch": 31.37589928057554,
      "step": 34890,
      "torque_loss": 0.10275748372077942
    },
    {
      "epoch": 31.384892086330936,
      "grad_norm": 0.310770183801651,
      "learning_rate": 4.0687786914863836e-05,
      "loss": 0.0561,
      "step": 34900
    },
    {
      "action_loss": 0.0020660872105509043,
      "epoch": 31.384892086330936,
      "step": 34900
    },
    {
      "epoch": 31.384892086330936,
      "step": 34900,
      "torque_loss": 0.06477219611406326
    },
    {
      "epoch": 31.39388489208633,
      "grad_norm": 0.3555241823196411,
      "learning_rate": 4.0660712666656666e-05,
      "loss": 0.0555,
      "step": 34910
    },
    {
      "action_loss": 0.003965756390243769,
      "epoch": 31.39388489208633,
      "step": 34910
    },
    {
      "epoch": 31.39388489208633,
      "step": 34910,
      "torque_loss": 0.11926209926605225
    },
    {
      "epoch": 31.402877697841728,
      "grad_norm": 0.3637539744377136,
      "learning_rate": 4.0633641255478394e-05,
      "loss": 0.0676,
      "step": 34920
    },
    {
      "action_loss": 0.002889191033318639,
      "epoch": 31.402877697841728,
      "step": 34920
    },
    {
      "epoch": 31.402877697841728,
      "step": 34920,
      "torque_loss": 0.06713756173849106
    },
    {
      "epoch": 31.41187050359712,
      "grad_norm": 0.2731516361236572,
      "learning_rate": 4.0606572689552624e-05,
      "loss": 0.0536,
      "step": 34930
    },
    {
      "action_loss": 0.002375385956838727,
      "epoch": 31.41187050359712,
      "step": 34930
    },
    {
      "epoch": 31.41187050359712,
      "step": 34930,
      "torque_loss": 0.0648006945848465
    },
    {
      "epoch": 31.42086330935252,
      "grad_norm": 0.3092925548553467,
      "learning_rate": 4.0579506977102036e-05,
      "loss": 0.066,
      "step": 34940
    },
    {
      "action_loss": 0.004712210036814213,
      "epoch": 31.42086330935252,
      "step": 34940
    },
    {
      "epoch": 31.42086330935252,
      "step": 34940,
      "torque_loss": 0.08830883353948593
    },
    {
      "epoch": 31.429856115107913,
      "grad_norm": 0.36548006534576416,
      "learning_rate": 4.055244412634849e-05,
      "loss": 0.0627,
      "step": 34950
    },
    {
      "action_loss": 0.0023738888558000326,
      "epoch": 31.429856115107913,
      "step": 34950
    },
    {
      "epoch": 31.429856115107913,
      "step": 34950,
      "torque_loss": 0.05152143910527229
    },
    {
      "epoch": 31.43884892086331,
      "grad_norm": 0.3900492489337921,
      "learning_rate": 4.052538414551298e-05,
      "loss": 0.0564,
      "step": 34960
    },
    {
      "action_loss": 0.015367832966148853,
      "epoch": 31.43884892086331,
      "step": 34960
    },
    {
      "epoch": 31.43884892086331,
      "step": 34960,
      "torque_loss": 0.12214603275060654
    },
    {
      "epoch": 31.447841726618705,
      "grad_norm": 0.2863679826259613,
      "learning_rate": 4.0498327042815596e-05,
      "loss": 0.0619,
      "step": 34970
    },
    {
      "action_loss": 0.003199925646185875,
      "epoch": 31.447841726618705,
      "step": 34970
    },
    {
      "epoch": 31.447841726618705,
      "step": 34970,
      "torque_loss": 0.057766783982515335
    },
    {
      "epoch": 31.4568345323741,
      "grad_norm": 0.24564500153064728,
      "learning_rate": 4.047127282647559e-05,
      "loss": 0.0584,
      "step": 34980
    },
    {
      "action_loss": 0.003720823908224702,
      "epoch": 31.4568345323741,
      "step": 34980
    },
    {
      "epoch": 31.4568345323741,
      "step": 34980,
      "torque_loss": 0.08995795249938965
    },
    {
      "epoch": 31.465827338129497,
      "grad_norm": 0.25220605731010437,
      "learning_rate": 4.04442215047113e-05,
      "loss": 0.0494,
      "step": 34990
    },
    {
      "action_loss": 0.003991563338786364,
      "epoch": 31.465827338129497,
      "step": 34990
    },
    {
      "epoch": 31.465827338129497,
      "step": 34990,
      "torque_loss": 0.07395196706056595
    },
    {
      "epoch": 31.47482014388489,
      "grad_norm": 0.24041976034641266,
      "learning_rate": 4.041717308574023e-05,
      "loss": 0.0489,
      "step": 35000
    },
    {
      "action_loss": 0.004251400474458933,
      "epoch": 31.47482014388489,
      "step": 35000
    },
    {
      "epoch": 31.47482014388489,
      "step": 35000,
      "torque_loss": 0.09620508551597595
    },
    {
      "epoch": 31.48381294964029,
      "grad_norm": 0.31377115845680237,
      "learning_rate": 4.039012757777893e-05,
      "loss": 0.0632,
      "step": 35010
    },
    {
      "action_loss": 0.0037150036077946424,
      "epoch": 31.48381294964029,
      "step": 35010
    },
    {
      "epoch": 31.48381294964029,
      "step": 35010,
      "torque_loss": 0.08039560168981552
    },
    {
      "epoch": 31.492805755395683,
      "grad_norm": 0.2254188358783722,
      "learning_rate": 4.036308498904314e-05,
      "loss": 0.048,
      "step": 35020
    },
    {
      "action_loss": 0.0067777507938444614,
      "epoch": 31.492805755395683,
      "step": 35020
    },
    {
      "epoch": 31.492805755395683,
      "step": 35020,
      "torque_loss": 0.11312005668878555
    },
    {
      "epoch": 31.50179856115108,
      "grad_norm": 0.3323999047279358,
      "learning_rate": 4.033604532774771e-05,
      "loss": 0.0665,
      "step": 35030
    },
    {
      "action_loss": 0.00445522228255868,
      "epoch": 31.50179856115108,
      "step": 35030
    },
    {
      "epoch": 31.50179856115108,
      "step": 35030,
      "torque_loss": 0.10774891823530197
    },
    {
      "epoch": 31.510791366906474,
      "grad_norm": 0.25014591217041016,
      "learning_rate": 4.030900860210652e-05,
      "loss": 0.0534,
      "step": 35040
    },
    {
      "action_loss": 0.02223111502826214,
      "epoch": 31.510791366906474,
      "step": 35040
    },
    {
      "epoch": 31.510791366906474,
      "step": 35040,
      "torque_loss": 0.16148078441619873
    },
    {
      "epoch": 31.519784172661872,
      "grad_norm": 0.23241056501865387,
      "learning_rate": 4.028197482033266e-05,
      "loss": 0.0594,
      "step": 35050
    },
    {
      "action_loss": 0.002768582897260785,
      "epoch": 31.519784172661872,
      "step": 35050
    },
    {
      "epoch": 31.519784172661872,
      "step": 35050,
      "torque_loss": 0.07611823081970215
    },
    {
      "epoch": 31.528776978417266,
      "grad_norm": 0.2892669439315796,
      "learning_rate": 4.0254943990638246e-05,
      "loss": 0.0706,
      "step": 35060
    },
    {
      "action_loss": 0.0044434103183448315,
      "epoch": 31.528776978417266,
      "step": 35060
    },
    {
      "epoch": 31.528776978417266,
      "step": 35060,
      "torque_loss": 0.06673268228769302
    },
    {
      "epoch": 31.53776978417266,
      "grad_norm": 0.4432819187641144,
      "learning_rate": 4.022791612123454e-05,
      "loss": 0.0771,
      "step": 35070
    },
    {
      "action_loss": 0.0028189346194267273,
      "epoch": 31.53776978417266,
      "step": 35070
    },
    {
      "epoch": 31.53776978417266,
      "step": 35070,
      "torque_loss": 0.07742325216531754
    },
    {
      "epoch": 31.546762589928058,
      "grad_norm": 0.2650199830532074,
      "learning_rate": 4.020089122033192e-05,
      "loss": 0.0639,
      "step": 35080
    },
    {
      "action_loss": 0.0067059751600027084,
      "epoch": 31.546762589928058,
      "step": 35080
    },
    {
      "epoch": 31.546762589928058,
      "step": 35080,
      "torque_loss": 0.07734134048223495
    },
    {
      "epoch": 31.555755395683452,
      "grad_norm": 0.29138070344924927,
      "learning_rate": 4.01738692961398e-05,
      "loss": 0.0733,
      "step": 35090
    },
    {
      "action_loss": 0.001011489424854517,
      "epoch": 31.555755395683452,
      "step": 35090
    },
    {
      "epoch": 31.555755395683452,
      "step": 35090,
      "torque_loss": 0.07573197036981583
    },
    {
      "epoch": 31.56474820143885,
      "grad_norm": 0.24043668806552887,
      "learning_rate": 4.014685035686675e-05,
      "loss": 0.0532,
      "step": 35100
    },
    {
      "action_loss": 0.0031076520681381226,
      "epoch": 31.56474820143885,
      "step": 35100
    },
    {
      "epoch": 31.56474820143885,
      "step": 35100,
      "torque_loss": 0.09029518812894821
    },
    {
      "epoch": 31.573741007194243,
      "grad_norm": 0.32707080245018005,
      "learning_rate": 4.011983441072039e-05,
      "loss": 0.0543,
      "step": 35110
    },
    {
      "action_loss": 0.0032920429948717356,
      "epoch": 31.573741007194243,
      "step": 35110
    },
    {
      "epoch": 31.573741007194243,
      "step": 35110,
      "torque_loss": 0.11555864661931992
    },
    {
      "epoch": 31.58273381294964,
      "grad_norm": 0.25993281602859497,
      "learning_rate": 4.0092821465907485e-05,
      "loss": 0.07,
      "step": 35120
    },
    {
      "action_loss": 0.0032079543452709913,
      "epoch": 31.58273381294964,
      "step": 35120
    },
    {
      "epoch": 31.58273381294964,
      "step": 35120,
      "torque_loss": 0.07757211476564407
    },
    {
      "epoch": 31.591726618705035,
      "grad_norm": 0.3442010283470154,
      "learning_rate": 4.006581153063383e-05,
      "loss": 0.0557,
      "step": 35130
    },
    {
      "action_loss": 0.0035493585746735334,
      "epoch": 31.591726618705035,
      "step": 35130
    },
    {
      "epoch": 31.591726618705035,
      "step": 35130,
      "torque_loss": 0.07865891605615616
    },
    {
      "epoch": 31.600719424460433,
      "grad_norm": 0.32204851508140564,
      "learning_rate": 4.003880461310432e-05,
      "loss": 0.0629,
      "step": 35140
    },
    {
      "action_loss": 0.0029069979209452868,
      "epoch": 31.600719424460433,
      "step": 35140
    },
    {
      "epoch": 31.600719424460433,
      "step": 35140,
      "torque_loss": 0.07307401299476624
    },
    {
      "epoch": 31.609712230215827,
      "grad_norm": 0.37113523483276367,
      "learning_rate": 4.001180072152298e-05,
      "loss": 0.0675,
      "step": 35150
    },
    {
      "action_loss": 0.003552058944478631,
      "epoch": 31.609712230215827,
      "step": 35150
    },
    {
      "epoch": 31.609712230215827,
      "step": 35150,
      "torque_loss": 0.08288849890232086
    },
    {
      "epoch": 31.618705035971225,
      "grad_norm": 0.27618512511253357,
      "learning_rate": 3.998479986409285e-05,
      "loss": 0.0695,
      "step": 35160
    },
    {
      "action_loss": 0.0029976731166243553,
      "epoch": 31.618705035971225,
      "step": 35160
    },
    {
      "epoch": 31.618705035971225,
      "step": 35160,
      "torque_loss": 0.08102819323539734
    },
    {
      "epoch": 31.62769784172662,
      "grad_norm": 0.2219248265028,
      "learning_rate": 3.995780204901607e-05,
      "loss": 0.0541,
      "step": 35170
    },
    {
      "action_loss": 0.0030400182586163282,
      "epoch": 31.62769784172662,
      "step": 35170
    },
    {
      "epoch": 31.62769784172662,
      "step": 35170,
      "torque_loss": 0.10006871074438095
    },
    {
      "epoch": 31.636690647482013,
      "grad_norm": 0.3808257579803467,
      "learning_rate": 3.993080728449391e-05,
      "loss": 0.0533,
      "step": 35180
    },
    {
      "action_loss": 0.0024581709876656532,
      "epoch": 31.636690647482013,
      "step": 35180
    },
    {
      "epoch": 31.636690647482013,
      "step": 35180,
      "torque_loss": 0.0771753191947937
    },
    {
      "epoch": 31.64568345323741,
      "grad_norm": 0.2877640426158905,
      "learning_rate": 3.990381557872661e-05,
      "loss": 0.0491,
      "step": 35190
    },
    {
      "action_loss": 0.017041148617863655,
      "epoch": 31.64568345323741,
      "step": 35190
    },
    {
      "epoch": 31.64568345323741,
      "step": 35190,
      "torque_loss": 0.13536785542964935
    },
    {
      "epoch": 31.654676258992804,
      "grad_norm": 0.25818681716918945,
      "learning_rate": 3.987682693991359e-05,
      "loss": 0.0542,
      "step": 35200
    },
    {
      "action_loss": 0.00521836569532752,
      "epoch": 31.654676258992804,
      "step": 35200
    },
    {
      "epoch": 31.654676258992804,
      "step": 35200,
      "torque_loss": 0.10553515702486038
    },
    {
      "epoch": 31.663669064748202,
      "grad_norm": 0.2465234398841858,
      "learning_rate": 3.9849841376253226e-05,
      "loss": 0.0455,
      "step": 35210
    },
    {
      "action_loss": 0.002254786901175976,
      "epoch": 31.663669064748202,
      "step": 35210
    },
    {
      "epoch": 31.663669064748202,
      "step": 35210,
      "torque_loss": 0.08592533320188522
    },
    {
      "epoch": 31.672661870503596,
      "grad_norm": 0.3280999958515167,
      "learning_rate": 3.982285889594306e-05,
      "loss": 0.0527,
      "step": 35220
    },
    {
      "action_loss": 0.003362143412232399,
      "epoch": 31.672661870503596,
      "step": 35220
    },
    {
      "epoch": 31.672661870503596,
      "step": 35220,
      "torque_loss": 0.09892424941062927
    },
    {
      "epoch": 31.681654676258994,
      "grad_norm": 0.38175734877586365,
      "learning_rate": 3.9795879507179665e-05,
      "loss": 0.0595,
      "step": 35230
    },
    {
      "action_loss": 0.01019049808382988,
      "epoch": 31.681654676258994,
      "step": 35230
    },
    {
      "epoch": 31.681654676258994,
      "step": 35230,
      "torque_loss": 0.11803876608610153
    },
    {
      "epoch": 31.690647482014388,
      "grad_norm": 0.3268234133720398,
      "learning_rate": 3.9768903218158634e-05,
      "loss": 0.0559,
      "step": 35240
    },
    {
      "action_loss": 0.0026251000817865133,
      "epoch": 31.690647482014388,
      "step": 35240
    },
    {
      "epoch": 31.690647482014388,
      "step": 35240,
      "torque_loss": 0.08611493557691574
    },
    {
      "epoch": 31.699640287769785,
      "grad_norm": 0.3404930531978607,
      "learning_rate": 3.974193003707468e-05,
      "loss": 0.0637,
      "step": 35250
    },
    {
      "action_loss": 0.00526542728766799,
      "epoch": 31.699640287769785,
      "step": 35250
    },
    {
      "epoch": 31.699640287769785,
      "step": 35250,
      "torque_loss": 0.11810912936925888
    },
    {
      "epoch": 31.70863309352518,
      "grad_norm": 0.2853618264198303,
      "learning_rate": 3.971495997212152e-05,
      "loss": 0.0547,
      "step": 35260
    },
    {
      "action_loss": 0.0032226808834820986,
      "epoch": 31.70863309352518,
      "step": 35260
    },
    {
      "epoch": 31.70863309352518,
      "step": 35260,
      "torque_loss": 0.08899185061454773
    },
    {
      "epoch": 31.717625899280577,
      "grad_norm": 0.45530757308006287,
      "learning_rate": 3.9687993031491985e-05,
      "loss": 0.0643,
      "step": 35270
    },
    {
      "action_loss": 0.012006930075585842,
      "epoch": 31.717625899280577,
      "step": 35270
    },
    {
      "epoch": 31.717625899280577,
      "step": 35270,
      "torque_loss": 0.16036319732666016
    },
    {
      "epoch": 31.72661870503597,
      "grad_norm": 0.2864227592945099,
      "learning_rate": 3.966102922337787e-05,
      "loss": 0.0661,
      "step": 35280
    },
    {
      "action_loss": 0.004116796888411045,
      "epoch": 31.72661870503597,
      "step": 35280
    },
    {
      "epoch": 31.72661870503597,
      "step": 35280,
      "torque_loss": 0.10892520099878311
    },
    {
      "epoch": 31.735611510791365,
      "grad_norm": 0.29653313755989075,
      "learning_rate": 3.963406855597009e-05,
      "loss": 0.055,
      "step": 35290
    },
    {
      "action_loss": 0.004538594279438257,
      "epoch": 31.735611510791365,
      "step": 35290
    },
    {
      "epoch": 31.735611510791365,
      "step": 35290,
      "torque_loss": 0.11561540514230728
    },
    {
      "epoch": 31.744604316546763,
      "grad_norm": 0.29406705498695374,
      "learning_rate": 3.960711103745861e-05,
      "loss": 0.0586,
      "step": 35300
    },
    {
      "action_loss": 0.008299264125525951,
      "epoch": 31.744604316546763,
      "step": 35300
    },
    {
      "epoch": 31.744604316546763,
      "step": 35300,
      "torque_loss": 0.11039558053016663
    },
    {
      "epoch": 31.753597122302157,
      "grad_norm": 0.2554750442504883,
      "learning_rate": 3.958015667603237e-05,
      "loss": 0.064,
      "step": 35310
    },
    {
      "action_loss": 0.004410102963447571,
      "epoch": 31.753597122302157,
      "step": 35310
    },
    {
      "epoch": 31.753597122302157,
      "step": 35310,
      "torque_loss": 0.1362849771976471
    },
    {
      "epoch": 31.762589928057555,
      "grad_norm": 0.321995347738266,
      "learning_rate": 3.955320547987943e-05,
      "loss": 0.0585,
      "step": 35320
    },
    {
      "action_loss": 0.0035186114255338907,
      "epoch": 31.762589928057555,
      "step": 35320
    },
    {
      "epoch": 31.762589928057555,
      "step": 35320,
      "torque_loss": 0.0808115303516388
    },
    {
      "epoch": 31.77158273381295,
      "grad_norm": 0.38624265789985657,
      "learning_rate": 3.952625745718681e-05,
      "loss": 0.0749,
      "step": 35330
    },
    {
      "action_loss": 0.012149296700954437,
      "epoch": 31.77158273381295,
      "step": 35330
    },
    {
      "epoch": 31.77158273381295,
      "step": 35330,
      "torque_loss": 0.11593427509069443
    },
    {
      "epoch": 31.780575539568346,
      "grad_norm": 0.29139289259910583,
      "learning_rate": 3.949931261614064e-05,
      "loss": 0.0656,
      "step": 35340
    },
    {
      "action_loss": 0.003631375962868333,
      "epoch": 31.780575539568346,
      "step": 35340
    },
    {
      "epoch": 31.780575539568346,
      "step": 35340,
      "torque_loss": 0.10676293820142746
    },
    {
      "epoch": 31.78956834532374,
      "grad_norm": 0.35781651735305786,
      "learning_rate": 3.947237096492605e-05,
      "loss": 0.0492,
      "step": 35350
    },
    {
      "action_loss": 0.00600782223045826,
      "epoch": 31.78956834532374,
      "step": 35350
    },
    {
      "epoch": 31.78956834532374,
      "step": 35350,
      "torque_loss": 0.1263609677553177
    },
    {
      "epoch": 31.798561151079138,
      "grad_norm": 0.3496779799461365,
      "learning_rate": 3.944543251172719e-05,
      "loss": 0.0656,
      "step": 35360
    },
    {
      "action_loss": 0.003890917869284749,
      "epoch": 31.798561151079138,
      "step": 35360
    },
    {
      "epoch": 31.798561151079138,
      "step": 35360,
      "torque_loss": 0.08222194015979767
    },
    {
      "epoch": 31.807553956834532,
      "grad_norm": 0.28822240233421326,
      "learning_rate": 3.941849726472725e-05,
      "loss": 0.0535,
      "step": 35370
    },
    {
      "action_loss": 0.010655514895915985,
      "epoch": 31.807553956834532,
      "step": 35370
    },
    {
      "epoch": 31.807553956834532,
      "step": 35370,
      "torque_loss": 0.15044939517974854
    },
    {
      "epoch": 31.81654676258993,
      "grad_norm": 0.2737051546573639,
      "learning_rate": 3.939156523210846e-05,
      "loss": 0.056,
      "step": 35380
    },
    {
      "action_loss": 0.013504807837307453,
      "epoch": 31.81654676258993,
      "step": 35380
    },
    {
      "epoch": 31.81654676258993,
      "step": 35380,
      "torque_loss": 0.16191788017749786
    },
    {
      "epoch": 31.825539568345324,
      "grad_norm": 0.3075866401195526,
      "learning_rate": 3.9364636422052046e-05,
      "loss": 0.0774,
      "step": 35390
    },
    {
      "action_loss": 0.0029117511585354805,
      "epoch": 31.825539568345324,
      "step": 35390
    },
    {
      "epoch": 31.825539568345324,
      "step": 35390,
      "torque_loss": 0.09000823646783829
    },
    {
      "epoch": 31.834532374100718,
      "grad_norm": 0.2642801105976105,
      "learning_rate": 3.933771084273828e-05,
      "loss": 0.073,
      "step": 35400
    },
    {
      "action_loss": 0.006750606000423431,
      "epoch": 31.834532374100718,
      "step": 35400
    },
    {
      "epoch": 31.834532374100718,
      "step": 35400,
      "torque_loss": 0.140900656580925
    },
    {
      "epoch": 31.843525179856115,
      "grad_norm": 0.4126783311367035,
      "learning_rate": 3.931078850234643e-05,
      "loss": 0.0644,
      "step": 35410
    },
    {
      "action_loss": 0.004437337163835764,
      "epoch": 31.843525179856115,
      "step": 35410
    },
    {
      "epoch": 31.843525179856115,
      "step": 35410,
      "torque_loss": 0.07861251384019852
    },
    {
      "epoch": 31.85251798561151,
      "grad_norm": 0.37724050879478455,
      "learning_rate": 3.928386940905483e-05,
      "loss": 0.0529,
      "step": 35420
    },
    {
      "action_loss": 0.005642462521791458,
      "epoch": 31.85251798561151,
      "step": 35420
    },
    {
      "epoch": 31.85251798561151,
      "step": 35420,
      "torque_loss": 0.07644098997116089
    },
    {
      "epoch": 31.861510791366907,
      "grad_norm": 0.25699591636657715,
      "learning_rate": 3.925695357104073e-05,
      "loss": 0.0493,
      "step": 35430
    },
    {
      "action_loss": 0.00899561122059822,
      "epoch": 31.861510791366907,
      "step": 35430
    },
    {
      "epoch": 31.861510791366907,
      "step": 35430,
      "torque_loss": 0.18242354691028595
    },
    {
      "epoch": 31.8705035971223,
      "grad_norm": 0.34117162227630615,
      "learning_rate": 3.923004099648049e-05,
      "loss": 0.0671,
      "step": 35440
    },
    {
      "action_loss": 0.0016871989937499166,
      "epoch": 31.8705035971223,
      "step": 35440
    },
    {
      "epoch": 31.8705035971223,
      "step": 35440,
      "torque_loss": 0.0753808319568634
    },
    {
      "epoch": 31.8794964028777,
      "grad_norm": 0.2295457422733307,
      "learning_rate": 3.920313169354944e-05,
      "loss": 0.0547,
      "step": 35450
    },
    {
      "action_loss": 0.001938045141287148,
      "epoch": 31.8794964028777,
      "step": 35450
    },
    {
      "epoch": 31.8794964028777,
      "step": 35450,
      "torque_loss": 0.07509761303663254
    },
    {
      "epoch": 31.888489208633093,
      "grad_norm": 0.2861594557762146,
      "learning_rate": 3.9176225670421897e-05,
      "loss": 0.0743,
      "step": 35460
    },
    {
      "action_loss": 0.0026558376848697662,
      "epoch": 31.888489208633093,
      "step": 35460
    },
    {
      "epoch": 31.888489208633093,
      "step": 35460,
      "torque_loss": 0.08582381159067154
    },
    {
      "epoch": 31.89748201438849,
      "grad_norm": 0.24590623378753662,
      "learning_rate": 3.9149322935271224e-05,
      "loss": 0.0588,
      "step": 35470
    },
    {
      "action_loss": 0.01170958299189806,
      "epoch": 31.89748201438849,
      "step": 35470
    },
    {
      "epoch": 31.89748201438849,
      "step": 35470,
      "torque_loss": 0.09460270404815674
    },
    {
      "epoch": 31.906474820143885,
      "grad_norm": 0.4043864905834198,
      "learning_rate": 3.9122423496269725e-05,
      "loss": 0.0633,
      "step": 35480
    },
    {
      "action_loss": 0.0018759999657049775,
      "epoch": 31.906474820143885,
      "step": 35480
    },
    {
      "epoch": 31.906474820143885,
      "step": 35480,
      "torque_loss": 0.048510149121284485
    },
    {
      "epoch": 31.915467625899282,
      "grad_norm": 0.37305134534835815,
      "learning_rate": 3.909552736158877e-05,
      "loss": 0.0604,
      "step": 35490
    },
    {
      "action_loss": 0.003921728115528822,
      "epoch": 31.915467625899282,
      "step": 35490
    },
    {
      "epoch": 31.915467625899282,
      "step": 35490,
      "torque_loss": 0.09800800681114197
    },
    {
      "epoch": 31.924460431654676,
      "grad_norm": 0.24162018299102783,
      "learning_rate": 3.90686345393987e-05,
      "loss": 0.0518,
      "step": 35500
    },
    {
      "action_loss": 0.001817291951738298,
      "epoch": 31.924460431654676,
      "step": 35500
    },
    {
      "epoch": 31.924460431654676,
      "step": 35500,
      "torque_loss": 0.07873290777206421
    },
    {
      "epoch": 31.93345323741007,
      "grad_norm": 0.22832979261875153,
      "learning_rate": 3.9041745037868816e-05,
      "loss": 0.0516,
      "step": 35510
    },
    {
      "action_loss": 0.0021279852371662855,
      "epoch": 31.93345323741007,
      "step": 35510
    },
    {
      "epoch": 31.93345323741007,
      "step": 35510,
      "torque_loss": 0.06796035915613174
    },
    {
      "epoch": 31.942446043165468,
      "grad_norm": 0.3429839015007019,
      "learning_rate": 3.9014858865167465e-05,
      "loss": 0.0684,
      "step": 35520
    },
    {
      "action_loss": 0.005061831790953875,
      "epoch": 31.942446043165468,
      "step": 35520
    },
    {
      "epoch": 31.942446043165468,
      "step": 35520,
      "torque_loss": 0.09408923238515854
    },
    {
      "epoch": 31.951438848920862,
      "grad_norm": 0.33306583762168884,
      "learning_rate": 3.8987976029461935e-05,
      "loss": 0.0714,
      "step": 35530
    },
    {
      "action_loss": 0.0028288334142416716,
      "epoch": 31.951438848920862,
      "step": 35530
    },
    {
      "epoch": 31.951438848920862,
      "step": 35530,
      "torque_loss": 0.07577425986528397
    },
    {
      "epoch": 31.96043165467626,
      "grad_norm": 0.26958581805229187,
      "learning_rate": 3.896109653891853e-05,
      "loss": 0.0531,
      "step": 35540
    },
    {
      "action_loss": 0.004681373946368694,
      "epoch": 31.96043165467626,
      "step": 35540
    },
    {
      "epoch": 31.96043165467626,
      "step": 35540,
      "torque_loss": 0.07840388268232346
    },
    {
      "epoch": 31.969424460431654,
      "grad_norm": 0.2591448724269867,
      "learning_rate": 3.893422040170254e-05,
      "loss": 0.0475,
      "step": 35550
    },
    {
      "action_loss": 0.007428538054227829,
      "epoch": 31.969424460431654,
      "step": 35550
    },
    {
      "epoch": 31.969424460431654,
      "step": 35550,
      "torque_loss": 0.09882930666208267
    },
    {
      "epoch": 31.97841726618705,
      "grad_norm": 0.26250436902046204,
      "learning_rate": 3.8907347625978207e-05,
      "loss": 0.0707,
      "step": 35560
    },
    {
      "action_loss": 0.012482539750635624,
      "epoch": 31.97841726618705,
      "step": 35560
    },
    {
      "epoch": 31.97841726618705,
      "step": 35560,
      "torque_loss": 0.18106169998645782
    },
    {
      "epoch": 31.987410071942445,
      "grad_norm": 0.32673975825309753,
      "learning_rate": 3.88804782199088e-05,
      "loss": 0.0601,
      "step": 35570
    },
    {
      "action_loss": 0.008304803632199764,
      "epoch": 31.987410071942445,
      "step": 35570
    },
    {
      "epoch": 31.987410071942445,
      "step": 35570,
      "torque_loss": 0.12349053472280502
    },
    {
      "epoch": 31.996402877697843,
      "grad_norm": 0.38454556465148926,
      "learning_rate": 3.8853612191656495e-05,
      "loss": 0.0521,
      "step": 35580
    },
    {
      "action_loss": 0.0030290994327515364,
      "epoch": 31.996402877697843,
      "step": 35580
    },
    {
      "epoch": 31.996402877697843,
      "step": 35580,
      "torque_loss": 0.10027690976858139
    },
    {
      "epoch": 32.00539568345324,
      "grad_norm": 0.2484116554260254,
      "learning_rate": 3.88267495493825e-05,
      "loss": 0.0534,
      "step": 35590
    },
    {
      "action_loss": 0.0026542663108557463,
      "epoch": 32.00539568345324,
      "step": 35590
    },
    {
      "epoch": 32.00539568345324,
      "step": 35590,
      "torque_loss": 0.06427865475416183
    },
    {
      "epoch": 32.014388489208635,
      "grad_norm": 0.3079954981803894,
      "learning_rate": 3.8799890301247004e-05,
      "loss": 0.0688,
      "step": 35600
    },
    {
      "action_loss": 0.01675603538751602,
      "epoch": 32.014388489208635,
      "step": 35600
    },
    {
      "epoch": 32.014388489208635,
      "step": 35600,
      "torque_loss": 0.12367454916238785
    },
    {
      "epoch": 32.023381294964025,
      "grad_norm": 0.28709882497787476,
      "learning_rate": 3.8773034455409096e-05,
      "loss": 0.0597,
      "step": 35610
    },
    {
      "action_loss": 0.010551069863140583,
      "epoch": 32.023381294964025,
      "step": 35610
    },
    {
      "epoch": 32.023381294964025,
      "step": 35610,
      "torque_loss": 0.15305458009243011
    },
    {
      "epoch": 32.03237410071942,
      "grad_norm": 0.3234317898750305,
      "learning_rate": 3.8746182020026904e-05,
      "loss": 0.0613,
      "step": 35620
    },
    {
      "action_loss": 0.005535243544727564,
      "epoch": 32.03237410071942,
      "step": 35620
    },
    {
      "epoch": 32.03237410071942,
      "step": 35620,
      "torque_loss": 0.09212088584899902
    },
    {
      "epoch": 32.04136690647482,
      "grad_norm": 0.3160717785358429,
      "learning_rate": 3.871933300325745e-05,
      "loss": 0.0529,
      "step": 35630
    },
    {
      "action_loss": 0.004500210750848055,
      "epoch": 32.04136690647482,
      "step": 35630
    },
    {
      "epoch": 32.04136690647482,
      "step": 35630,
      "torque_loss": 0.10059712082147598
    },
    {
      "epoch": 32.05035971223022,
      "grad_norm": 0.38315898180007935,
      "learning_rate": 3.869248741325679e-05,
      "loss": 0.0642,
      "step": 35640
    },
    {
      "action_loss": 0.004927635658532381,
      "epoch": 32.05035971223022,
      "step": 35640
    },
    {
      "epoch": 32.05035971223022,
      "step": 35640,
      "torque_loss": 0.09322161227464676
    },
    {
      "epoch": 32.05935251798561,
      "grad_norm": 0.27592602372169495,
      "learning_rate": 3.866564525817992e-05,
      "loss": 0.0526,
      "step": 35650
    },
    {
      "action_loss": 0.006050774361938238,
      "epoch": 32.05935251798561,
      "step": 35650
    },
    {
      "epoch": 32.05935251798561,
      "step": 35650,
      "torque_loss": 0.09293007850646973
    },
    {
      "epoch": 32.068345323741006,
      "grad_norm": 0.22634729743003845,
      "learning_rate": 3.8638806546180725e-05,
      "loss": 0.058,
      "step": 35660
    },
    {
      "action_loss": 0.0022437297739088535,
      "epoch": 32.068345323741006,
      "step": 35660
    },
    {
      "epoch": 32.068345323741006,
      "step": 35660,
      "torque_loss": 0.0815233364701271
    },
    {
      "epoch": 32.077338129496404,
      "grad_norm": 0.3500893712043762,
      "learning_rate": 3.861197128541213e-05,
      "loss": 0.0684,
      "step": 35670
    },
    {
      "action_loss": 0.007673824671655893,
      "epoch": 32.077338129496404,
      "step": 35670
    },
    {
      "epoch": 32.077338129496404,
      "step": 35670,
      "torque_loss": 0.09772006422281265
    },
    {
      "epoch": 32.0863309352518,
      "grad_norm": 0.21908894181251526,
      "learning_rate": 3.858513948402599e-05,
      "loss": 0.0651,
      "step": 35680
    },
    {
      "action_loss": 0.0054310038685798645,
      "epoch": 32.0863309352518,
      "step": 35680
    },
    {
      "epoch": 32.0863309352518,
      "step": 35680,
      "torque_loss": 0.10643590241670609
    },
    {
      "epoch": 32.09532374100719,
      "grad_norm": 0.29895949363708496,
      "learning_rate": 3.8558311150173077e-05,
      "loss": 0.0835,
      "step": 35690
    },
    {
      "action_loss": 0.004206227604299784,
      "epoch": 32.09532374100719,
      "step": 35690
    },
    {
      "epoch": 32.09532374100719,
      "step": 35690,
      "torque_loss": 0.10960084199905396
    },
    {
      "epoch": 32.10431654676259,
      "grad_norm": 0.2651638090610504,
      "learning_rate": 3.853148629200312e-05,
      "loss": 0.0681,
      "step": 35700
    },
    {
      "action_loss": 0.0020580824930220842,
      "epoch": 32.10431654676259,
      "step": 35700
    },
    {
      "epoch": 32.10431654676259,
      "step": 35700,
      "torque_loss": 0.06510689854621887
    },
    {
      "epoch": 32.11330935251799,
      "grad_norm": 0.2797759771347046,
      "learning_rate": 3.850466491766482e-05,
      "loss": 0.0602,
      "step": 35710
    },
    {
      "action_loss": 0.005464175716042519,
      "epoch": 32.11330935251799,
      "step": 35710
    },
    {
      "epoch": 32.11330935251799,
      "step": 35710,
      "torque_loss": 0.07410752773284912
    },
    {
      "epoch": 32.12230215827338,
      "grad_norm": 0.37195277214050293,
      "learning_rate": 3.847784703530583e-05,
      "loss": 0.0509,
      "step": 35720
    },
    {
      "action_loss": 0.00397942028939724,
      "epoch": 32.12230215827338,
      "step": 35720
    },
    {
      "epoch": 32.12230215827338,
      "step": 35720,
      "torque_loss": 0.08147724717855453
    },
    {
      "epoch": 32.131294964028775,
      "grad_norm": 0.2609516978263855,
      "learning_rate": 3.845103265307266e-05,
      "loss": 0.0594,
      "step": 35730
    },
    {
      "action_loss": 0.001990770921111107,
      "epoch": 32.131294964028775,
      "step": 35730
    },
    {
      "epoch": 32.131294964028775,
      "step": 35730,
      "torque_loss": 0.0841192901134491
    },
    {
      "epoch": 32.14028776978417,
      "grad_norm": 0.27439069747924805,
      "learning_rate": 3.842422177911086e-05,
      "loss": 0.053,
      "step": 35740
    },
    {
      "action_loss": 0.005345831159502268,
      "epoch": 32.14028776978417,
      "step": 35740
    },
    {
      "epoch": 32.14028776978417,
      "step": 35740,
      "torque_loss": 0.07961393147706985
    },
    {
      "epoch": 32.14928057553957,
      "grad_norm": 0.2726941704750061,
      "learning_rate": 3.8397414421564826e-05,
      "loss": 0.0671,
      "step": 35750
    },
    {
      "action_loss": 0.004341829102486372,
      "epoch": 32.14928057553957,
      "step": 35750
    },
    {
      "epoch": 32.14928057553957,
      "step": 35750,
      "torque_loss": 0.08356201648712158
    },
    {
      "epoch": 32.15827338129496,
      "grad_norm": 0.3610464632511139,
      "learning_rate": 3.8370610588577935e-05,
      "loss": 0.0627,
      "step": 35760
    },
    {
      "action_loss": 0.0054461113177239895,
      "epoch": 32.15827338129496,
      "step": 35760
    },
    {
      "epoch": 32.15827338129496,
      "step": 35760,
      "torque_loss": 0.09354569762945175
    },
    {
      "epoch": 32.16726618705036,
      "grad_norm": 0.2528301477432251,
      "learning_rate": 3.834381028829251e-05,
      "loss": 0.0536,
      "step": 35770
    },
    {
      "action_loss": 0.005276754032820463,
      "epoch": 32.16726618705036,
      "step": 35770
    },
    {
      "epoch": 32.16726618705036,
      "step": 35770,
      "torque_loss": 0.09157904982566833
    },
    {
      "epoch": 32.17625899280576,
      "grad_norm": 0.19315695762634277,
      "learning_rate": 3.8317013528849745e-05,
      "loss": 0.0516,
      "step": 35780
    },
    {
      "action_loss": 0.004053207114338875,
      "epoch": 32.17625899280576,
      "step": 35780
    },
    {
      "epoch": 32.17625899280576,
      "step": 35780,
      "torque_loss": 0.09890294075012207
    },
    {
      "epoch": 32.185251798561154,
      "grad_norm": 0.33175817131996155,
      "learning_rate": 3.8290220318389815e-05,
      "loss": 0.0784,
      "step": 35790
    },
    {
      "action_loss": 0.00211123819462955,
      "epoch": 32.185251798561154,
      "step": 35790
    },
    {
      "epoch": 32.185251798561154,
      "step": 35790,
      "torque_loss": 0.07684404402971268
    },
    {
      "epoch": 32.194244604316545,
      "grad_norm": 0.27749043703079224,
      "learning_rate": 3.8263430665051746e-05,
      "loss": 0.0495,
      "step": 35800
    },
    {
      "action_loss": 0.00318780355155468,
      "epoch": 32.194244604316545,
      "step": 35800
    },
    {
      "epoch": 32.194244604316545,
      "step": 35800,
      "torque_loss": 0.09279713779687881
    },
    {
      "epoch": 32.20323741007194,
      "grad_norm": 0.28206560015678406,
      "learning_rate": 3.8236644576973554e-05,
      "loss": 0.0535,
      "step": 35810
    },
    {
      "action_loss": 0.003263951977714896,
      "epoch": 32.20323741007194,
      "step": 35810
    },
    {
      "epoch": 32.20323741007194,
      "step": 35810,
      "torque_loss": 0.07581052929162979
    },
    {
      "epoch": 32.21223021582734,
      "grad_norm": 0.20962217450141907,
      "learning_rate": 3.820986206229217e-05,
      "loss": 0.0572,
      "step": 35820
    },
    {
      "action_loss": 0.006685425061732531,
      "epoch": 32.21223021582734,
      "step": 35820
    },
    {
      "epoch": 32.21223021582734,
      "step": 35820,
      "torque_loss": 0.12075433880090714
    },
    {
      "epoch": 32.22122302158273,
      "grad_norm": 0.3077782690525055,
      "learning_rate": 3.8183083129143384e-05,
      "loss": 0.0531,
      "step": 35830
    },
    {
      "action_loss": 0.0030366850551217794,
      "epoch": 32.22122302158273,
      "step": 35830
    },
    {
      "epoch": 32.22122302158273,
      "step": 35830,
      "torque_loss": 0.0709196999669075
    },
    {
      "epoch": 32.23021582733813,
      "grad_norm": 0.24274948239326477,
      "learning_rate": 3.815630778566193e-05,
      "loss": 0.0801,
      "step": 35840
    },
    {
      "action_loss": 0.007901065982878208,
      "epoch": 32.23021582733813,
      "step": 35840
    },
    {
      "epoch": 32.23021582733813,
      "step": 35840,
      "torque_loss": 0.11350494623184204
    },
    {
      "epoch": 32.239208633093526,
      "grad_norm": 0.2690768241882324,
      "learning_rate": 3.812953603998145e-05,
      "loss": 0.065,
      "step": 35850
    },
    {
      "action_loss": 0.0021226259414106607,
      "epoch": 32.239208633093526,
      "step": 35850
    },
    {
      "epoch": 32.239208633093526,
      "step": 35850,
      "torque_loss": 0.05414343997836113
    },
    {
      "epoch": 32.24820143884892,
      "grad_norm": 0.3140333294868469,
      "learning_rate": 3.8102767900234504e-05,
      "loss": 0.0563,
      "step": 35860
    },
    {
      "action_loss": 0.0023765244986861944,
      "epoch": 32.24820143884892,
      "step": 35860
    },
    {
      "epoch": 32.24820143884892,
      "step": 35860,
      "torque_loss": 0.08057127147912979
    },
    {
      "epoch": 32.257194244604314,
      "grad_norm": 0.29232653975486755,
      "learning_rate": 3.807600337455256e-05,
      "loss": 0.0618,
      "step": 35870
    },
    {
      "action_loss": 0.01035669818520546,
      "epoch": 32.257194244604314,
      "step": 35870
    },
    {
      "epoch": 32.257194244604314,
      "step": 35870,
      "torque_loss": 0.12166806310415268
    },
    {
      "epoch": 32.26618705035971,
      "grad_norm": 0.31599944829940796,
      "learning_rate": 3.804924247106593e-05,
      "loss": 0.0634,
      "step": 35880
    },
    {
      "action_loss": 0.007596049923449755,
      "epoch": 32.26618705035971,
      "step": 35880
    },
    {
      "epoch": 32.26618705035971,
      "step": 35880,
      "torque_loss": 0.11065343022346497
    },
    {
      "epoch": 32.27517985611511,
      "grad_norm": 0.36169663071632385,
      "learning_rate": 3.8022485197903925e-05,
      "loss": 0.0606,
      "step": 35890
    },
    {
      "action_loss": 0.0013914518058300018,
      "epoch": 32.27517985611511,
      "step": 35890
    },
    {
      "epoch": 32.27517985611511,
      "step": 35890,
      "torque_loss": 0.04738990589976311
    },
    {
      "epoch": 32.28417266187051,
      "grad_norm": 0.2603940963745117,
      "learning_rate": 3.799573156319464e-05,
      "loss": 0.0559,
      "step": 35900
    },
    {
      "action_loss": 0.008018615655601025,
      "epoch": 32.28417266187051,
      "step": 35900
    },
    {
      "epoch": 32.28417266187051,
      "step": 35900,
      "torque_loss": 0.12455106526613235
    },
    {
      "epoch": 32.2931654676259,
      "grad_norm": 0.30838844180107117,
      "learning_rate": 3.796898157506515e-05,
      "loss": 0.0599,
      "step": 35910
    },
    {
      "action_loss": 0.0027411512564867735,
      "epoch": 32.2931654676259,
      "step": 35910
    },
    {
      "epoch": 32.2931654676259,
      "step": 35910,
      "torque_loss": 0.05903966352343559
    },
    {
      "epoch": 32.302158273381295,
      "grad_norm": 0.28175368905067444,
      "learning_rate": 3.794223524164143e-05,
      "loss": 0.0595,
      "step": 35920
    },
    {
      "action_loss": 0.001529472297988832,
      "epoch": 32.302158273381295,
      "step": 35920
    },
    {
      "epoch": 32.302158273381295,
      "step": 35920,
      "torque_loss": 0.05097358301281929
    },
    {
      "epoch": 32.31115107913669,
      "grad_norm": 0.2894609570503235,
      "learning_rate": 3.7915492571048245e-05,
      "loss": 0.0595,
      "step": 35930
    },
    {
      "action_loss": 0.004056012257933617,
      "epoch": 32.31115107913669,
      "step": 35930
    },
    {
      "epoch": 32.31115107913669,
      "step": 35930,
      "torque_loss": 0.06094207242131233
    },
    {
      "epoch": 32.32014388489208,
      "grad_norm": 0.3336101174354553,
      "learning_rate": 3.788875357140937e-05,
      "loss": 0.068,
      "step": 35940
    },
    {
      "action_loss": 0.010716182179749012,
      "epoch": 32.32014388489208,
      "step": 35940
    },
    {
      "epoch": 32.32014388489208,
      "step": 35940,
      "torque_loss": 0.11790785938501358
    },
    {
      "epoch": 32.32913669064748,
      "grad_norm": 0.3216100335121155,
      "learning_rate": 3.786201825084736e-05,
      "loss": 0.0604,
      "step": 35950
    },
    {
      "action_loss": 0.0019886994268745184,
      "epoch": 32.32913669064748,
      "step": 35950
    },
    {
      "epoch": 32.32913669064748,
      "step": 35950,
      "torque_loss": 0.07273276150226593
    },
    {
      "epoch": 32.33812949640288,
      "grad_norm": 0.2147853970527649,
      "learning_rate": 3.783528661748372e-05,
      "loss": 0.053,
      "step": 35960
    },
    {
      "action_loss": 0.0036992516834288836,
      "epoch": 32.33812949640288,
      "step": 35960
    },
    {
      "epoch": 32.33812949640288,
      "step": 35960,
      "torque_loss": 0.08059477061033249
    },
    {
      "epoch": 32.347122302158276,
      "grad_norm": 0.3908962905406952,
      "learning_rate": 3.780855867943882e-05,
      "loss": 0.0664,
      "step": 35970
    },
    {
      "action_loss": 0.0016517852200195193,
      "epoch": 32.347122302158276,
      "step": 35970
    },
    {
      "epoch": 32.347122302158276,
      "step": 35970,
      "torque_loss": 0.05338958278298378
    },
    {
      "epoch": 32.356115107913666,
      "grad_norm": 0.3038104176521301,
      "learning_rate": 3.778183444483189e-05,
      "loss": 0.0559,
      "step": 35980
    },
    {
      "action_loss": 0.006018077488988638,
      "epoch": 32.356115107913666,
      "step": 35980
    },
    {
      "epoch": 32.356115107913666,
      "step": 35980,
      "torque_loss": 0.08633601665496826
    },
    {
      "epoch": 32.365107913669064,
      "grad_norm": 0.2989422380924225,
      "learning_rate": 3.775511392178108e-05,
      "loss": 0.0596,
      "step": 35990
    },
    {
      "action_loss": 0.004057139623910189,
      "epoch": 32.365107913669064,
      "step": 35990
    },
    {
      "epoch": 32.365107913669064,
      "step": 35990,
      "torque_loss": 0.07744041085243225
    },
    {
      "epoch": 32.37410071942446,
      "grad_norm": 0.2753714919090271,
      "learning_rate": 3.772839711840332e-05,
      "loss": 0.0636,
      "step": 36000
    },
    {
      "action_loss": 0.005376704502850771,
      "epoch": 32.37410071942446,
      "step": 36000
    },
    {
      "epoch": 32.37410071942446,
      "step": 36000,
      "torque_loss": 0.11541193723678589
    },
    {
      "epoch": 32.38309352517986,
      "grad_norm": 0.32054299116134644,
      "learning_rate": 3.7701684042814515e-05,
      "loss": 0.0645,
      "step": 36010
    },
    {
      "action_loss": 0.0096841836348176,
      "epoch": 32.38309352517986,
      "step": 36010
    },
    {
      "epoch": 32.38309352517986,
      "step": 36010,
      "torque_loss": 0.09469833225011826
    },
    {
      "epoch": 32.39208633093525,
      "grad_norm": 0.2946270704269409,
      "learning_rate": 3.76749747031294e-05,
      "loss": 0.0544,
      "step": 36020
    },
    {
      "action_loss": 0.03822534158825874,
      "epoch": 32.39208633093525,
      "step": 36020
    },
    {
      "epoch": 32.39208633093525,
      "step": 36020,
      "torque_loss": 0.16954898834228516
    },
    {
      "epoch": 32.40107913669065,
      "grad_norm": 0.37994682788848877,
      "learning_rate": 3.764826910746152e-05,
      "loss": 0.0762,
      "step": 36030
    },
    {
      "action_loss": 0.002205610042437911,
      "epoch": 32.40107913669065,
      "step": 36030
    },
    {
      "epoch": 32.40107913669065,
      "step": 36030,
      "torque_loss": 0.07842446118593216
    },
    {
      "epoch": 32.410071942446045,
      "grad_norm": 0.2863500118255615,
      "learning_rate": 3.762156726392338e-05,
      "loss": 0.0527,
      "step": 36040
    },
    {
      "action_loss": 0.003212983487173915,
      "epoch": 32.410071942446045,
      "step": 36040
    },
    {
      "epoch": 32.410071942446045,
      "step": 36040,
      "torque_loss": 0.06960678100585938
    },
    {
      "epoch": 32.419064748201436,
      "grad_norm": 0.3270380198955536,
      "learning_rate": 3.759486918062625e-05,
      "loss": 0.0681,
      "step": 36050
    },
    {
      "action_loss": 0.004639493767172098,
      "epoch": 32.419064748201436,
      "step": 36050
    },
    {
      "epoch": 32.419064748201436,
      "step": 36050,
      "torque_loss": 0.08863082528114319
    },
    {
      "epoch": 32.42805755395683,
      "grad_norm": 0.3766387403011322,
      "learning_rate": 3.756817486568033e-05,
      "loss": 0.0621,
      "step": 36060
    },
    {
      "action_loss": 0.0013069696724414825,
      "epoch": 32.42805755395683,
      "step": 36060
    },
    {
      "epoch": 32.42805755395683,
      "step": 36060,
      "torque_loss": 0.06467255204916
    },
    {
      "epoch": 32.43705035971223,
      "grad_norm": 0.3657245337963104,
      "learning_rate": 3.7541484327194654e-05,
      "loss": 0.0566,
      "step": 36070
    },
    {
      "action_loss": 0.0017289273673668504,
      "epoch": 32.43705035971223,
      "step": 36070
    },
    {
      "epoch": 32.43705035971223,
      "step": 36070,
      "torque_loss": 0.05289437249302864
    },
    {
      "epoch": 32.44604316546763,
      "grad_norm": 0.22091223299503326,
      "learning_rate": 3.751479757327707e-05,
      "loss": 0.0612,
      "step": 36080
    },
    {
      "action_loss": 0.002187491627410054,
      "epoch": 32.44604316546763,
      "step": 36080
    },
    {
      "epoch": 32.44604316546763,
      "step": 36080,
      "torque_loss": 0.0741463154554367
    },
    {
      "epoch": 32.45503597122302,
      "grad_norm": 0.29234156012535095,
      "learning_rate": 3.7488114612034345e-05,
      "loss": 0.0604,
      "step": 36090
    },
    {
      "action_loss": 0.001542361336760223,
      "epoch": 32.45503597122302,
      "step": 36090
    },
    {
      "epoch": 32.45503597122302,
      "step": 36090,
      "torque_loss": 0.07953622192144394
    },
    {
      "epoch": 32.46402877697842,
      "grad_norm": 0.3126681447029114,
      "learning_rate": 3.7461435451572044e-05,
      "loss": 0.065,
      "step": 36100
    },
    {
      "action_loss": 0.008211719803512096,
      "epoch": 32.46402877697842,
      "step": 36100
    },
    {
      "epoch": 32.46402877697842,
      "step": 36100,
      "torque_loss": 0.1395581215620041
    },
    {
      "epoch": 32.473021582733814,
      "grad_norm": 0.23177523910999298,
      "learning_rate": 3.743476009999459e-05,
      "loss": 0.0585,
      "step": 36110
    },
    {
      "action_loss": 0.004306246992200613,
      "epoch": 32.473021582733814,
      "step": 36110
    },
    {
      "epoch": 32.473021582733814,
      "step": 36110,
      "torque_loss": 0.07016569375991821
    },
    {
      "epoch": 32.48201438848921,
      "grad_norm": 0.2219744175672531,
      "learning_rate": 3.7408088565405245e-05,
      "loss": 0.0621,
      "step": 36120
    },
    {
      "action_loss": 0.0026952214539051056,
      "epoch": 32.48201438848921,
      "step": 36120
    },
    {
      "epoch": 32.48201438848921,
      "step": 36120,
      "torque_loss": 0.09220924228429794
    },
    {
      "epoch": 32.4910071942446,
      "grad_norm": 0.2056090086698532,
      "learning_rate": 3.738142085590612e-05,
      "loss": 0.0542,
      "step": 36130
    },
    {
      "action_loss": 0.0023073998745530844,
      "epoch": 32.4910071942446,
      "step": 36130
    },
    {
      "epoch": 32.4910071942446,
      "step": 36130,
      "torque_loss": 0.071440190076828
    },
    {
      "epoch": 32.5,
      "grad_norm": 0.250857412815094,
      "learning_rate": 3.7354756979598194e-05,
      "loss": 0.0505,
      "step": 36140
    },
    {
      "action_loss": 0.0037971045821905136,
      "epoch": 32.5,
      "step": 36140
    },
    {
      "epoch": 32.5,
      "step": 36140,
      "torque_loss": 0.1020142212510109
    },
    {
      "epoch": 32.5089928057554,
      "grad_norm": 0.30570000410079956,
      "learning_rate": 3.7328096944581187e-05,
      "loss": 0.0532,
      "step": 36150
    },
    {
      "action_loss": 0.001231937319971621,
      "epoch": 32.5089928057554,
      "step": 36150
    },
    {
      "epoch": 32.5089928057554,
      "step": 36150,
      "torque_loss": 0.04615561291575432
    },
    {
      "epoch": 32.51798561151079,
      "grad_norm": 0.356900155544281,
      "learning_rate": 3.730144075895377e-05,
      "loss": 0.0636,
      "step": 36160
    },
    {
      "action_loss": 0.01476981956511736,
      "epoch": 32.51798561151079,
      "step": 36160
    },
    {
      "epoch": 32.51798561151079,
      "step": 36160,
      "torque_loss": 0.15486548840999603
    },
    {
      "epoch": 32.526978417266186,
      "grad_norm": 0.36462926864624023,
      "learning_rate": 3.727478843081335e-05,
      "loss": 0.0556,
      "step": 36170
    },
    {
      "action_loss": 0.0016950791468843818,
      "epoch": 32.526978417266186,
      "step": 36170
    },
    {
      "epoch": 32.526978417266186,
      "step": 36170,
      "torque_loss": 0.06485513597726822
    },
    {
      "epoch": 32.53597122302158,
      "grad_norm": 0.2794135808944702,
      "learning_rate": 3.72481399682562e-05,
      "loss": 0.0496,
      "step": 36180
    },
    {
      "action_loss": 0.04228697344660759,
      "epoch": 32.53597122302158,
      "step": 36180
    },
    {
      "epoch": 32.53597122302158,
      "step": 36180,
      "torque_loss": 0.2339072823524475
    },
    {
      "epoch": 32.54496402877698,
      "grad_norm": 0.3161049783229828,
      "learning_rate": 3.722149537937747e-05,
      "loss": 0.0646,
      "step": 36190
    },
    {
      "action_loss": 0.0032651189249008894,
      "epoch": 32.54496402877698,
      "step": 36190
    },
    {
      "epoch": 32.54496402877698,
      "step": 36190,
      "torque_loss": 0.07076802104711533
    },
    {
      "epoch": 32.55395683453237,
      "grad_norm": 0.35013043880462646,
      "learning_rate": 3.7194854672271015e-05,
      "loss": 0.0519,
      "step": 36200
    },
    {
      "action_loss": 0.012702112086117268,
      "epoch": 32.55395683453237,
      "step": 36200
    },
    {
      "epoch": 32.55395683453237,
      "step": 36200,
      "torque_loss": 0.11672037839889526
    },
    {
      "epoch": 32.56294964028777,
      "grad_norm": 0.29825523495674133,
      "learning_rate": 3.7168217855029644e-05,
      "loss": 0.0649,
      "step": 36210
    },
    {
      "action_loss": 0.004653651267290115,
      "epoch": 32.56294964028777,
      "step": 36210
    },
    {
      "epoch": 32.56294964028777,
      "step": 36210,
      "torque_loss": 0.12487256526947021
    },
    {
      "epoch": 32.57194244604317,
      "grad_norm": 0.3297024071216583,
      "learning_rate": 3.7141584935744856e-05,
      "loss": 0.06,
      "step": 36220
    },
    {
      "action_loss": 0.006387906614691019,
      "epoch": 32.57194244604317,
      "step": 36220
    },
    {
      "epoch": 32.57194244604317,
      "step": 36220,
      "torque_loss": 0.1302887350320816
    },
    {
      "epoch": 32.580935251798564,
      "grad_norm": 0.3198273181915283,
      "learning_rate": 3.7114955922507055e-05,
      "loss": 0.0532,
      "step": 36230
    },
    {
      "action_loss": 0.001019024639390409,
      "epoch": 32.580935251798564,
      "step": 36230
    },
    {
      "epoch": 32.580935251798564,
      "step": 36230,
      "torque_loss": 0.03975117951631546
    },
    {
      "epoch": 32.589928057553955,
      "grad_norm": 0.41955307126045227,
      "learning_rate": 3.708833082340545e-05,
      "loss": 0.0695,
      "step": 36240
    },
    {
      "action_loss": 0.0015011145733296871,
      "epoch": 32.589928057553955,
      "step": 36240
    },
    {
      "epoch": 32.589928057553955,
      "step": 36240,
      "torque_loss": 0.03897419571876526
    },
    {
      "epoch": 32.59892086330935,
      "grad_norm": 0.3846559226512909,
      "learning_rate": 3.7061709646528034e-05,
      "loss": 0.044,
      "step": 36250
    },
    {
      "action_loss": 0.007803704123944044,
      "epoch": 32.59892086330935,
      "step": 36250
    },
    {
      "epoch": 32.59892086330935,
      "step": 36250,
      "torque_loss": 0.11791666597127914
    },
    {
      "epoch": 32.60791366906475,
      "grad_norm": 0.3056507110595703,
      "learning_rate": 3.7035092399961604e-05,
      "loss": 0.0568,
      "step": 36260
    },
    {
      "action_loss": 0.0042247348465025425,
      "epoch": 32.60791366906475,
      "step": 36260
    },
    {
      "epoch": 32.60791366906475,
      "step": 36260,
      "torque_loss": 0.06757650524377823
    },
    {
      "epoch": 32.61690647482014,
      "grad_norm": 0.2941071689128876,
      "learning_rate": 3.700847909179177e-05,
      "loss": 0.0612,
      "step": 36270
    },
    {
      "action_loss": 0.00704210763797164,
      "epoch": 32.61690647482014,
      "step": 36270
    },
    {
      "epoch": 32.61690647482014,
      "step": 36270,
      "torque_loss": 0.12353792041540146
    },
    {
      "epoch": 32.62589928057554,
      "grad_norm": 0.3905763328075409,
      "learning_rate": 3.698186973010297e-05,
      "loss": 0.069,
      "step": 36280
    },
    {
      "action_loss": 0.008031453937292099,
      "epoch": 32.62589928057554,
      "step": 36280
    },
    {
      "epoch": 32.62589928057554,
      "step": 36280,
      "torque_loss": 0.11706504970788956
    },
    {
      "epoch": 32.634892086330936,
      "grad_norm": 0.28283312916755676,
      "learning_rate": 3.695526432297844e-05,
      "loss": 0.0545,
      "step": 36290
    },
    {
      "action_loss": 0.0046074590645730495,
      "epoch": 32.634892086330936,
      "step": 36290
    },
    {
      "epoch": 32.634892086330936,
      "step": 36290,
      "torque_loss": 0.127401202917099
    },
    {
      "epoch": 32.643884892086334,
      "grad_norm": 0.2827574908733368,
      "learning_rate": 3.692866287850017e-05,
      "loss": 0.0493,
      "step": 36300
    },
    {
      "action_loss": 0.008419301360845566,
      "epoch": 32.643884892086334,
      "step": 36300
    },
    {
      "epoch": 32.643884892086334,
      "step": 36300,
      "torque_loss": 0.1059398278594017
    },
    {
      "epoch": 32.652877697841724,
      "grad_norm": 0.2872828543186188,
      "learning_rate": 3.6902065404749006e-05,
      "loss": 0.0566,
      "step": 36310
    },
    {
      "action_loss": 0.01213775109499693,
      "epoch": 32.652877697841724,
      "step": 36310
    },
    {
      "epoch": 32.652877697841724,
      "step": 36310,
      "torque_loss": 0.12507615983486176
    },
    {
      "epoch": 32.66187050359712,
      "grad_norm": 0.37361690402030945,
      "learning_rate": 3.6875471909804516e-05,
      "loss": 0.0705,
      "step": 36320
    },
    {
      "action_loss": 0.0011489694006741047,
      "epoch": 32.66187050359712,
      "step": 36320
    },
    {
      "epoch": 32.66187050359712,
      "step": 36320,
      "torque_loss": 0.04929736256599426
    },
    {
      "epoch": 32.67086330935252,
      "grad_norm": 0.22583742439746857,
      "learning_rate": 3.6848882401745135e-05,
      "loss": 0.0404,
      "step": 36330
    },
    {
      "action_loss": 0.01160389930009842,
      "epoch": 32.67086330935252,
      "step": 36330
    },
    {
      "epoch": 32.67086330935252,
      "step": 36330,
      "torque_loss": 0.16064776480197906
    },
    {
      "epoch": 32.67985611510792,
      "grad_norm": 0.27345189452171326,
      "learning_rate": 3.682229688864806e-05,
      "loss": 0.0648,
      "step": 36340
    },
    {
      "action_loss": 0.0016327761113643646,
      "epoch": 32.67985611510792,
      "step": 36340
    },
    {
      "epoch": 32.67985611510792,
      "step": 36340,
      "torque_loss": 0.06059728190302849
    },
    {
      "epoch": 32.68884892086331,
      "grad_norm": 0.26430389285087585,
      "learning_rate": 3.6795715378589235e-05,
      "loss": 0.053,
      "step": 36350
    },
    {
      "action_loss": 0.0014630391960963607,
      "epoch": 32.68884892086331,
      "step": 36350
    },
    {
      "epoch": 32.68884892086331,
      "step": 36350,
      "torque_loss": 0.07496315985918045
    },
    {
      "epoch": 32.697841726618705,
      "grad_norm": 0.2878018617630005,
      "learning_rate": 3.676913787964345e-05,
      "loss": 0.0695,
      "step": 36360
    },
    {
      "action_loss": 0.0022253040224313736,
      "epoch": 32.697841726618705,
      "step": 36360
    },
    {
      "epoch": 32.697841726618705,
      "step": 36360,
      "torque_loss": 0.05956282094120979
    },
    {
      "epoch": 32.7068345323741,
      "grad_norm": 0.2980155050754547,
      "learning_rate": 3.674256439988423e-05,
      "loss": 0.0664,
      "step": 36370
    },
    {
      "action_loss": 0.003621201729401946,
      "epoch": 32.7068345323741,
      "step": 36370
    },
    {
      "epoch": 32.7068345323741,
      "step": 36370,
      "torque_loss": 0.066524937748909
    },
    {
      "epoch": 32.71582733812949,
      "grad_norm": 0.3134368062019348,
      "learning_rate": 3.6715994947383904e-05,
      "loss": 0.0558,
      "step": 36380
    },
    {
      "action_loss": 0.0016210906906053424,
      "epoch": 32.71582733812949,
      "step": 36380
    },
    {
      "epoch": 32.71582733812949,
      "step": 36380,
      "torque_loss": 0.06372586637735367
    },
    {
      "epoch": 32.72482014388489,
      "grad_norm": 0.30455368757247925,
      "learning_rate": 3.668942953021357e-05,
      "loss": 0.0487,
      "step": 36390
    },
    {
      "action_loss": 0.012240457348525524,
      "epoch": 32.72482014388489,
      "step": 36390
    },
    {
      "epoch": 32.72482014388489,
      "step": 36390,
      "torque_loss": 0.11704951524734497
    },
    {
      "epoch": 32.73381294964029,
      "grad_norm": 0.2633321285247803,
      "learning_rate": 3.66628681564431e-05,
      "loss": 0.053,
      "step": 36400
    },
    {
      "action_loss": 0.0019357810961082578,
      "epoch": 32.73381294964029,
      "step": 36400
    },
    {
      "epoch": 32.73381294964029,
      "step": 36400,
      "torque_loss": 0.05715416371822357
    },
    {
      "epoch": 32.742805755395686,
      "grad_norm": 0.2842896580696106,
      "learning_rate": 3.663631083414114e-05,
      "loss": 0.0457,
      "step": 36410
    },
    {
      "action_loss": 0.0022762161679565907,
      "epoch": 32.742805755395686,
      "step": 36410
    },
    {
      "epoch": 32.742805755395686,
      "step": 36410,
      "torque_loss": 0.08425746113061905
    },
    {
      "epoch": 32.75179856115108,
      "grad_norm": 0.30106887221336365,
      "learning_rate": 3.660975757137509e-05,
      "loss": 0.0535,
      "step": 36420
    },
    {
      "action_loss": 0.0017126001184806228,
      "epoch": 32.75179856115108,
      "step": 36420
    },
    {
      "epoch": 32.75179856115108,
      "step": 36420,
      "torque_loss": 0.057321902364492416
    },
    {
      "epoch": 32.760791366906474,
      "grad_norm": 0.2702959179878235,
      "learning_rate": 3.658320837621114e-05,
      "loss": 0.053,
      "step": 36430
    },
    {
      "action_loss": 0.001684873946942389,
      "epoch": 32.760791366906474,
      "step": 36430
    },
    {
      "epoch": 32.760791366906474,
      "step": 36430,
      "torque_loss": 0.04298076033592224
    },
    {
      "epoch": 32.76978417266187,
      "grad_norm": 0.3744123578071594,
      "learning_rate": 3.655666325671426e-05,
      "loss": 0.0597,
      "step": 36440
    },
    {
      "action_loss": 0.0022958454210311174,
      "epoch": 32.76978417266187,
      "step": 36440
    },
    {
      "epoch": 32.76978417266187,
      "step": 36440,
      "torque_loss": 0.06823164224624634
    },
    {
      "epoch": 32.77877697841727,
      "grad_norm": 0.27826154232025146,
      "learning_rate": 3.65301222209481e-05,
      "loss": 0.052,
      "step": 36450
    },
    {
      "action_loss": 0.006129346787929535,
      "epoch": 32.77877697841727,
      "step": 36450
    },
    {
      "epoch": 32.77877697841727,
      "step": 36450,
      "torque_loss": 0.11861220747232437
    },
    {
      "epoch": 32.78776978417266,
      "grad_norm": 0.3396196663379669,
      "learning_rate": 3.650358527697519e-05,
      "loss": 0.0663,
      "step": 36460
    },
    {
      "action_loss": 0.0040786066092550755,
      "epoch": 32.78776978417266,
      "step": 36460
    },
    {
      "epoch": 32.78776978417266,
      "step": 36460,
      "torque_loss": 0.08230864256620407
    },
    {
      "epoch": 32.79676258992806,
      "grad_norm": 0.3630322515964508,
      "learning_rate": 3.64770524328567e-05,
      "loss": 0.0578,
      "step": 36470
    },
    {
      "action_loss": 0.010228767059743404,
      "epoch": 32.79676258992806,
      "step": 36470
    },
    {
      "epoch": 32.79676258992806,
      "step": 36470,
      "torque_loss": 0.12248816341161728
    },
    {
      "epoch": 32.805755395683455,
      "grad_norm": 0.2714793086051941,
      "learning_rate": 3.645052369665265e-05,
      "loss": 0.0604,
      "step": 36480
    },
    {
      "action_loss": 0.013707637786865234,
      "epoch": 32.805755395683455,
      "step": 36480
    },
    {
      "epoch": 32.805755395683455,
      "step": 36480,
      "torque_loss": 0.1801542043685913
    },
    {
      "epoch": 32.814748201438846,
      "grad_norm": 0.2604643702507019,
      "learning_rate": 3.6423999076421724e-05,
      "loss": 0.0631,
      "step": 36490
    },
    {
      "action_loss": 0.004012505058199167,
      "epoch": 32.814748201438846,
      "step": 36490
    },
    {
      "epoch": 32.814748201438846,
      "step": 36490,
      "torque_loss": 0.09598908573389053
    },
    {
      "epoch": 32.82374100719424,
      "grad_norm": 0.30558544397354126,
      "learning_rate": 3.639747858022142e-05,
      "loss": 0.0703,
      "step": 36500
    },
    {
      "action_loss": 0.0033761656377464533,
      "epoch": 32.82374100719424,
      "step": 36500
    },
    {
      "epoch": 32.82374100719424,
      "step": 36500,
      "torque_loss": 0.08981496840715408
    },
    {
      "epoch": 32.83273381294964,
      "grad_norm": 0.27503764629364014,
      "learning_rate": 3.637096221610799e-05,
      "loss": 0.0561,
      "step": 36510
    },
    {
      "action_loss": 0.0017052688635885715,
      "epoch": 32.83273381294964,
      "step": 36510
    },
    {
      "epoch": 32.83273381294964,
      "step": 36510,
      "torque_loss": 0.05328337475657463
    },
    {
      "epoch": 32.84172661870504,
      "grad_norm": 0.3536607325077057,
      "learning_rate": 3.634444999213638e-05,
      "loss": 0.0458,
      "step": 36520
    },
    {
      "action_loss": 0.002188299549743533,
      "epoch": 32.84172661870504,
      "step": 36520
    },
    {
      "epoch": 32.84172661870504,
      "step": 36520,
      "torque_loss": 0.0916023924946785
    },
    {
      "epoch": 32.85071942446043,
      "grad_norm": 0.3369126617908478,
      "learning_rate": 3.6317941916360296e-05,
      "loss": 0.064,
      "step": 36530
    },
    {
      "action_loss": 0.0026575420051813126,
      "epoch": 32.85071942446043,
      "step": 36530
    },
    {
      "epoch": 32.85071942446043,
      "step": 36530,
      "torque_loss": 0.0760810375213623
    },
    {
      "epoch": 32.85971223021583,
      "grad_norm": 0.2649470865726471,
      "learning_rate": 3.629143799683221e-05,
      "loss": 0.0506,
      "step": 36540
    },
    {
      "action_loss": 0.003119681030511856,
      "epoch": 32.85971223021583,
      "step": 36540
    },
    {
      "epoch": 32.85971223021583,
      "step": 36540,
      "torque_loss": 0.057361382991075516
    },
    {
      "epoch": 32.868705035971225,
      "grad_norm": 0.24570588767528534,
      "learning_rate": 3.626493824160331e-05,
      "loss": 0.0603,
      "step": 36550
    },
    {
      "action_loss": 0.00426449254155159,
      "epoch": 32.868705035971225,
      "step": 36550
    },
    {
      "epoch": 32.868705035971225,
      "step": 36550,
      "torque_loss": 0.08251482248306274
    },
    {
      "epoch": 32.87769784172662,
      "grad_norm": 0.23225735127925873,
      "learning_rate": 3.623844265872352e-05,
      "loss": 0.041,
      "step": 36560
    },
    {
      "action_loss": 0.00202669994905591,
      "epoch": 32.87769784172662,
      "step": 36560
    },
    {
      "epoch": 32.87769784172662,
      "step": 36560,
      "torque_loss": 0.04117592051625252
    },
    {
      "epoch": 32.88669064748201,
      "grad_norm": 0.2706722617149353,
      "learning_rate": 3.621195125624149e-05,
      "loss": 0.0598,
      "step": 36570
    },
    {
      "action_loss": 0.0049363733269274235,
      "epoch": 32.88669064748201,
      "step": 36570
    },
    {
      "epoch": 32.88669064748201,
      "step": 36570,
      "torque_loss": 0.10933848470449448
    },
    {
      "epoch": 32.89568345323741,
      "grad_norm": 0.34811335802078247,
      "learning_rate": 3.618546404220463e-05,
      "loss": 0.0657,
      "step": 36580
    },
    {
      "action_loss": 0.007562959101051092,
      "epoch": 32.89568345323741,
      "step": 36580
    },
    {
      "epoch": 32.89568345323741,
      "step": 36580,
      "torque_loss": 0.11469987034797668
    },
    {
      "epoch": 32.90467625899281,
      "grad_norm": 0.24207672476768494,
      "learning_rate": 3.615898102465903e-05,
      "loss": 0.0655,
      "step": 36590
    },
    {
      "action_loss": 0.004899099934846163,
      "epoch": 32.90467625899281,
      "step": 36590
    },
    {
      "epoch": 32.90467625899281,
      "step": 36590,
      "torque_loss": 0.09915494918823242
    },
    {
      "epoch": 32.9136690647482,
      "grad_norm": 0.2987949252128601,
      "learning_rate": 3.6132502211649544e-05,
      "loss": 0.0637,
      "step": 36600
    },
    {
      "action_loss": 0.0037115884479135275,
      "epoch": 32.9136690647482,
      "step": 36600
    },
    {
      "epoch": 32.9136690647482,
      "step": 36600,
      "torque_loss": 0.050602417439222336
    },
    {
      "epoch": 32.922661870503596,
      "grad_norm": 0.27422717213630676,
      "learning_rate": 3.610602761121975e-05,
      "loss": 0.0557,
      "step": 36610
    },
    {
      "action_loss": 0.0033440596889704466,
      "epoch": 32.922661870503596,
      "step": 36610
    },
    {
      "epoch": 32.922661870503596,
      "step": 36610,
      "torque_loss": 0.1207445040345192
    },
    {
      "epoch": 32.931654676258994,
      "grad_norm": 0.20140542089939117,
      "learning_rate": 3.6079557231411897e-05,
      "loss": 0.0574,
      "step": 36620
    },
    {
      "action_loss": 0.0022721216082572937,
      "epoch": 32.931654676258994,
      "step": 36620
    },
    {
      "epoch": 32.931654676258994,
      "step": 36620,
      "torque_loss": 0.0744888186454773
    },
    {
      "epoch": 32.94064748201439,
      "grad_norm": 0.17267370223999023,
      "learning_rate": 3.6053091080267035e-05,
      "loss": 0.0441,
      "step": 36630
    },
    {
      "action_loss": 0.005438920110464096,
      "epoch": 32.94064748201439,
      "step": 36630
    },
    {
      "epoch": 32.94064748201439,
      "step": 36630,
      "torque_loss": 0.09333425760269165
    },
    {
      "epoch": 32.94964028776978,
      "grad_norm": 0.2947958707809448,
      "learning_rate": 3.602662916582483e-05,
      "loss": 0.0459,
      "step": 36640
    },
    {
      "action_loss": 0.004243556875735521,
      "epoch": 32.94964028776978,
      "step": 36640
    },
    {
      "epoch": 32.94964028776978,
      "step": 36640,
      "torque_loss": 0.0968356505036354
    },
    {
      "epoch": 32.95863309352518,
      "grad_norm": 0.21169143915176392,
      "learning_rate": 3.600017149612375e-05,
      "loss": 0.0565,
      "step": 36650
    },
    {
      "action_loss": 0.001408012118190527,
      "epoch": 32.95863309352518,
      "step": 36650
    },
    {
      "epoch": 32.95863309352518,
      "step": 36650,
      "torque_loss": 0.053786102682352066
    },
    {
      "epoch": 32.96762589928058,
      "grad_norm": 0.27043938636779785,
      "learning_rate": 3.5973718079200935e-05,
      "loss": 0.0588,
      "step": 36660
    },
    {
      "action_loss": 0.0012168491957709193,
      "epoch": 32.96762589928058,
      "step": 36660
    },
    {
      "epoch": 32.96762589928058,
      "step": 36660,
      "torque_loss": 0.05194646120071411
    },
    {
      "epoch": 32.976618705035975,
      "grad_norm": 0.30052751302719116,
      "learning_rate": 3.5947268923092216e-05,
      "loss": 0.0512,
      "step": 36670
    },
    {
      "action_loss": 0.002042414853349328,
      "epoch": 32.976618705035975,
      "step": 36670
    },
    {
      "epoch": 32.976618705035975,
      "step": 36670,
      "torque_loss": 0.06165614724159241
    },
    {
      "epoch": 32.985611510791365,
      "grad_norm": 0.33347561955451965,
      "learning_rate": 3.592082403583216e-05,
      "loss": 0.0565,
      "step": 36680
    },
    {
      "action_loss": 0.0011630243388935924,
      "epoch": 32.985611510791365,
      "step": 36680
    },
    {
      "epoch": 32.985611510791365,
      "step": 36680,
      "torque_loss": 0.04807698726654053
    },
    {
      "epoch": 32.99460431654676,
      "grad_norm": 0.26899582147598267,
      "learning_rate": 3.5894383425454004e-05,
      "loss": 0.0546,
      "step": 36690
    },
    {
      "action_loss": 0.0029720377642661333,
      "epoch": 32.99460431654676,
      "step": 36690
    },
    {
      "epoch": 32.99460431654676,
      "step": 36690,
      "torque_loss": 0.0648357942700386
    },
    {
      "epoch": 33.00359712230216,
      "grad_norm": 0.25615203380584717,
      "learning_rate": 3.586794709998975e-05,
      "loss": 0.0416,
      "step": 36700
    },
    {
      "action_loss": 0.003101033391430974,
      "epoch": 33.00359712230216,
      "step": 36700
    },
    {
      "epoch": 33.00359712230216,
      "step": 36700,
      "torque_loss": 0.09014272689819336
    },
    {
      "epoch": 33.01258992805755,
      "grad_norm": 0.24139560759067535,
      "learning_rate": 3.584151506747002e-05,
      "loss": 0.0572,
      "step": 36710
    },
    {
      "action_loss": 0.0015490766381844878,
      "epoch": 33.01258992805755,
      "step": 36710
    },
    {
      "epoch": 33.01258992805755,
      "step": 36710,
      "torque_loss": 0.06072153523564339
    },
    {
      "epoch": 33.02158273381295,
      "grad_norm": 0.2363813817501068,
      "learning_rate": 3.581508733592418e-05,
      "loss": 0.0614,
      "step": 36720
    },
    {
      "action_loss": 0.014375182799994946,
      "epoch": 33.02158273381295,
      "step": 36720
    },
    {
      "epoch": 33.02158273381295,
      "step": 36720,
      "torque_loss": 0.11038383841514587
    },
    {
      "epoch": 33.030575539568346,
      "grad_norm": 0.23529978096485138,
      "learning_rate": 3.5788663913380297e-05,
      "loss": 0.0571,
      "step": 36730
    },
    {
      "action_loss": 0.0062383138574659824,
      "epoch": 33.030575539568346,
      "step": 36730
    },
    {
      "epoch": 33.030575539568346,
      "step": 36730,
      "torque_loss": 0.10670939087867737
    },
    {
      "epoch": 33.039568345323744,
      "grad_norm": 0.2512344419956207,
      "learning_rate": 3.576224480786506e-05,
      "loss": 0.0698,
      "step": 36740
    },
    {
      "action_loss": 0.003904009936377406,
      "epoch": 33.039568345323744,
      "step": 36740
    },
    {
      "epoch": 33.039568345323744,
      "step": 36740,
      "torque_loss": 0.06500057876110077
    },
    {
      "epoch": 33.048561151079134,
      "grad_norm": 0.27947086095809937,
      "learning_rate": 3.573583002740393e-05,
      "loss": 0.0531,
      "step": 36750
    },
    {
      "action_loss": 0.010288065299391747,
      "epoch": 33.048561151079134,
      "step": 36750
    },
    {
      "epoch": 33.048561151079134,
      "step": 36750,
      "torque_loss": 0.11606823652982712
    },
    {
      "epoch": 33.05755395683453,
      "grad_norm": 0.3089178502559662,
      "learning_rate": 3.570941958002103e-05,
      "loss": 0.0645,
      "step": 36760
    },
    {
      "action_loss": 0.0014816070906817913,
      "epoch": 33.05755395683453,
      "step": 36760
    },
    {
      "epoch": 33.05755395683453,
      "step": 36760,
      "torque_loss": 0.05328604206442833
    },
    {
      "epoch": 33.06654676258993,
      "grad_norm": 0.262704998254776,
      "learning_rate": 3.568301347373912e-05,
      "loss": 0.0513,
      "step": 36770
    },
    {
      "action_loss": 0.0018236618489027023,
      "epoch": 33.06654676258993,
      "step": 36770
    },
    {
      "epoch": 33.06654676258993,
      "step": 36770,
      "torque_loss": 0.05487732216715813
    },
    {
      "epoch": 33.07553956834533,
      "grad_norm": 0.2679978311061859,
      "learning_rate": 3.5656611716579726e-05,
      "loss": 0.0544,
      "step": 36780
    },
    {
      "action_loss": 0.002899470506235957,
      "epoch": 33.07553956834533,
      "step": 36780
    },
    {
      "epoch": 33.07553956834533,
      "step": 36780,
      "torque_loss": 0.07322753220796585
    },
    {
      "epoch": 33.08453237410072,
      "grad_norm": 0.25997090339660645,
      "learning_rate": 3.5630214316562946e-05,
      "loss": 0.0749,
      "step": 36790
    },
    {
      "action_loss": 0.003192286938428879,
      "epoch": 33.08453237410072,
      "step": 36790
    },
    {
      "epoch": 33.08453237410072,
      "step": 36790,
      "torque_loss": 0.08959728479385376
    },
    {
      "epoch": 33.093525179856115,
      "grad_norm": 0.21907176077365875,
      "learning_rate": 3.560382128170766e-05,
      "loss": 0.0496,
      "step": 36800
    },
    {
      "action_loss": 0.054670076817274094,
      "epoch": 33.093525179856115,
      "step": 36800
    },
    {
      "epoch": 33.093525179856115,
      "step": 36800,
      "torque_loss": 0.1166720762848854
    },
    {
      "epoch": 33.10251798561151,
      "grad_norm": 0.23938961327075958,
      "learning_rate": 3.5577432620031374e-05,
      "loss": 0.0607,
      "step": 36810
    },
    {
      "action_loss": 0.003184010274708271,
      "epoch": 33.10251798561151,
      "step": 36810
    },
    {
      "epoch": 33.10251798561151,
      "step": 36810,
      "torque_loss": 0.08658963441848755
    },
    {
      "epoch": 33.111510791366904,
      "grad_norm": 0.293136328458786,
      "learning_rate": 3.5551048339550216e-05,
      "loss": 0.063,
      "step": 36820
    },
    {
      "action_loss": 0.011178155429661274,
      "epoch": 33.111510791366904,
      "step": 36820
    },
    {
      "epoch": 33.111510791366904,
      "step": 36820,
      "torque_loss": 0.10814318805932999
    },
    {
      "epoch": 33.1205035971223,
      "grad_norm": 0.3234040439128876,
      "learning_rate": 3.55246684482791e-05,
      "loss": 0.0633,
      "step": 36830
    },
    {
      "action_loss": 0.005275169387459755,
      "epoch": 33.1205035971223,
      "step": 36830
    },
    {
      "epoch": 33.1205035971223,
      "step": 36830,
      "torque_loss": 0.09241718053817749
    },
    {
      "epoch": 33.1294964028777,
      "grad_norm": 0.401597261428833,
      "learning_rate": 3.5498292954231496e-05,
      "loss": 0.0524,
      "step": 36840
    },
    {
      "action_loss": 0.0018937239656224847,
      "epoch": 33.1294964028777,
      "step": 36840
    },
    {
      "epoch": 33.1294964028777,
      "step": 36840,
      "torque_loss": 0.06612800806760788
    },
    {
      "epoch": 33.138489208633096,
      "grad_norm": 0.35346633195877075,
      "learning_rate": 3.54719218654196e-05,
      "loss": 0.0574,
      "step": 36850
    },
    {
      "action_loss": 0.017683017998933792,
      "epoch": 33.138489208633096,
      "step": 36850
    },
    {
      "epoch": 33.138489208633096,
      "step": 36850,
      "torque_loss": 0.14216814935207367
    },
    {
      "epoch": 33.14748201438849,
      "grad_norm": 0.32332339882850647,
      "learning_rate": 3.544555518985425e-05,
      "loss": 0.0593,
      "step": 36860
    },
    {
      "action_loss": 0.0027862731367349625,
      "epoch": 33.14748201438849,
      "step": 36860
    },
    {
      "epoch": 33.14748201438849,
      "step": 36860,
      "torque_loss": 0.08079109340906143
    },
    {
      "epoch": 33.156474820143885,
      "grad_norm": 0.2771643102169037,
      "learning_rate": 3.541919293554494e-05,
      "loss": 0.0549,
      "step": 36870
    },
    {
      "action_loss": 0.0024867334868758917,
      "epoch": 33.156474820143885,
      "step": 36870
    },
    {
      "epoch": 33.156474820143885,
      "step": 36870,
      "torque_loss": 0.07365840673446655
    },
    {
      "epoch": 33.16546762589928,
      "grad_norm": 0.35152721405029297,
      "learning_rate": 3.539283511049985e-05,
      "loss": 0.0587,
      "step": 36880
    },
    {
      "action_loss": 0.008174959570169449,
      "epoch": 33.16546762589928,
      "step": 36880
    },
    {
      "epoch": 33.16546762589928,
      "step": 36880,
      "torque_loss": 0.12530146539211273
    },
    {
      "epoch": 33.17446043165467,
      "grad_norm": 0.35666218400001526,
      "learning_rate": 3.5366481722725755e-05,
      "loss": 0.0567,
      "step": 36890
    },
    {
      "action_loss": 0.014554495923221111,
      "epoch": 33.17446043165467,
      "step": 36890
    },
    {
      "epoch": 33.17446043165467,
      "step": 36890,
      "torque_loss": 0.12195201963186264
    },
    {
      "epoch": 33.18345323741007,
      "grad_norm": 0.3256581723690033,
      "learning_rate": 3.534013278022816e-05,
      "loss": 0.0565,
      "step": 36900
    },
    {
      "action_loss": 0.020276471972465515,
      "epoch": 33.18345323741007,
      "step": 36900
    },
    {
      "epoch": 33.18345323741007,
      "step": 36900,
      "torque_loss": 0.14728225767612457
    },
    {
      "epoch": 33.19244604316547,
      "grad_norm": 0.3444722294807434,
      "learning_rate": 3.531378829101113e-05,
      "loss": 0.0602,
      "step": 36910
    },
    {
      "action_loss": 0.006174067500978708,
      "epoch": 33.19244604316547,
      "step": 36910
    },
    {
      "epoch": 33.19244604316547,
      "step": 36910,
      "torque_loss": 0.07917722314596176
    },
    {
      "epoch": 33.201438848920866,
      "grad_norm": 0.3164653182029724,
      "learning_rate": 3.528744826307746e-05,
      "loss": 0.0627,
      "step": 36920
    },
    {
      "action_loss": 0.0033422072883695364,
      "epoch": 33.201438848920866,
      "step": 36920
    },
    {
      "epoch": 33.201438848920866,
      "step": 36920,
      "torque_loss": 0.09416977316141129
    },
    {
      "epoch": 33.210431654676256,
      "grad_norm": 0.29929640889167786,
      "learning_rate": 3.5261112704428554e-05,
      "loss": 0.0555,
      "step": 36930
    },
    {
      "action_loss": 0.001874165260232985,
      "epoch": 33.210431654676256,
      "step": 36930
    },
    {
      "epoch": 33.210431654676256,
      "step": 36930,
      "torque_loss": 0.07994759827852249
    },
    {
      "epoch": 33.219424460431654,
      "grad_norm": 0.2733328342437744,
      "learning_rate": 3.523478162306443e-05,
      "loss": 0.052,
      "step": 36940
    },
    {
      "action_loss": 0.0026903010439127684,
      "epoch": 33.219424460431654,
      "step": 36940
    },
    {
      "epoch": 33.219424460431654,
      "step": 36940,
      "torque_loss": 0.08953364938497543
    },
    {
      "epoch": 33.22841726618705,
      "grad_norm": 0.23541375994682312,
      "learning_rate": 3.520845502698381e-05,
      "loss": 0.0474,
      "step": 36950
    },
    {
      "action_loss": 0.0014111846685409546,
      "epoch": 33.22841726618705,
      "step": 36950
    },
    {
      "epoch": 33.22841726618705,
      "step": 36950,
      "torque_loss": 0.053791988641023636
    },
    {
      "epoch": 33.23741007194245,
      "grad_norm": 0.35081976652145386,
      "learning_rate": 3.5182132924184005e-05,
      "loss": 0.0538,
      "step": 36960
    },
    {
      "action_loss": 0.0064592622220516205,
      "epoch": 33.23741007194245,
      "step": 36960
    },
    {
      "epoch": 33.23741007194245,
      "step": 36960,
      "torque_loss": 0.09353271871805191
    },
    {
      "epoch": 33.24640287769784,
      "grad_norm": 0.3484102487564087,
      "learning_rate": 3.5155815322660966e-05,
      "loss": 0.061,
      "step": 36970
    },
    {
      "action_loss": 0.011097974143922329,
      "epoch": 33.24640287769784,
      "step": 36970
    },
    {
      "epoch": 33.24640287769784,
      "step": 36970,
      "torque_loss": 0.11181912571191788
    },
    {
      "epoch": 33.25539568345324,
      "grad_norm": 0.35762861371040344,
      "learning_rate": 3.512950223040931e-05,
      "loss": 0.0532,
      "step": 36980
    },
    {
      "action_loss": 0.007937815971672535,
      "epoch": 33.25539568345324,
      "step": 36980
    },
    {
      "epoch": 33.25539568345324,
      "step": 36980,
      "torque_loss": 0.13292069733142853
    },
    {
      "epoch": 33.264388489208635,
      "grad_norm": 0.2583511471748352,
      "learning_rate": 3.5103193655422216e-05,
      "loss": 0.0573,
      "step": 36990
    },
    {
      "action_loss": 0.004702199716120958,
      "epoch": 33.264388489208635,
      "step": 36990
    },
    {
      "epoch": 33.264388489208635,
      "step": 36990,
      "torque_loss": 0.0878707692027092
    },
    {
      "epoch": 33.273381294964025,
      "grad_norm": 0.2702264189720154,
      "learning_rate": 3.5076889605691596e-05,
      "loss": 0.0535,
      "step": 37000
    },
    {
      "action_loss": 0.0025377331767231226,
      "epoch": 33.273381294964025,
      "step": 37000
    },
    {
      "epoch": 33.273381294964025,
      "step": 37000,
      "torque_loss": 0.08933863788843155
    },
    {
      "epoch": 33.28237410071942,
      "grad_norm": 0.30465075373649597,
      "learning_rate": 3.505059008920787e-05,
      "loss": 0.0648,
      "step": 37010
    },
    {
      "action_loss": 0.004466598387807608,
      "epoch": 33.28237410071942,
      "step": 37010
    },
    {
      "epoch": 33.28237410071942,
      "step": 37010,
      "torque_loss": 0.07928436249494553
    },
    {
      "epoch": 33.29136690647482,
      "grad_norm": 0.3110445439815521,
      "learning_rate": 3.502429511396016e-05,
      "loss": 0.061,
      "step": 37020
    },
    {
      "action_loss": 0.002268859650939703,
      "epoch": 33.29136690647482,
      "step": 37020
    },
    {
      "epoch": 33.29136690647482,
      "step": 37020,
      "torque_loss": 0.0800376608967781
    },
    {
      "epoch": 33.30035971223022,
      "grad_norm": 0.2014431208372116,
      "learning_rate": 3.4998004687936196e-05,
      "loss": 0.0573,
      "step": 37030
    },
    {
      "action_loss": 0.001102806651033461,
      "epoch": 33.30035971223022,
      "step": 37030
    },
    {
      "epoch": 33.30035971223022,
      "step": 37030,
      "torque_loss": 0.04886804521083832
    },
    {
      "epoch": 33.30935251798561,
      "grad_norm": 0.27407652139663696,
      "learning_rate": 3.497171881912229e-05,
      "loss": 0.0506,
      "step": 37040
    },
    {
      "action_loss": 0.0035424986854195595,
      "epoch": 33.30935251798561,
      "step": 37040
    },
    {
      "epoch": 33.30935251798561,
      "step": 37040,
      "torque_loss": 0.089542455971241
    },
    {
      "epoch": 33.318345323741006,
      "grad_norm": 0.23158708214759827,
      "learning_rate": 3.494543751550342e-05,
      "loss": 0.0534,
      "step": 37050
    },
    {
      "action_loss": 0.003868843661621213,
      "epoch": 33.318345323741006,
      "step": 37050
    },
    {
      "epoch": 33.318345323741006,
      "step": 37050,
      "torque_loss": 0.10792569071054459
    },
    {
      "epoch": 33.327338129496404,
      "grad_norm": 0.24131686985492706,
      "learning_rate": 3.491916078506313e-05,
      "loss": 0.0629,
      "step": 37060
    },
    {
      "action_loss": 0.001974719576537609,
      "epoch": 33.327338129496404,
      "step": 37060
    },
    {
      "epoch": 33.327338129496404,
      "step": 37060,
      "torque_loss": 0.06452658027410507
    },
    {
      "epoch": 33.3363309352518,
      "grad_norm": 0.2858755588531494,
      "learning_rate": 3.489288863578361e-05,
      "loss": 0.0692,
      "step": 37070
    },
    {
      "action_loss": 0.01026849914342165,
      "epoch": 33.3363309352518,
      "step": 37070
    },
    {
      "epoch": 33.3363309352518,
      "step": 37070,
      "torque_loss": 0.1443767547607422
    },
    {
      "epoch": 33.34532374100719,
      "grad_norm": 0.3119972348213196,
      "learning_rate": 3.4866621075645646e-05,
      "loss": 0.0683,
      "step": 37080
    },
    {
      "action_loss": 0.0019226297736167908,
      "epoch": 33.34532374100719,
      "step": 37080
    },
    {
      "epoch": 33.34532374100719,
      "step": 37080,
      "torque_loss": 0.06624343246221542
    },
    {
      "epoch": 33.35431654676259,
      "grad_norm": 0.27960431575775146,
      "learning_rate": 3.4840358112628614e-05,
      "loss": 0.055,
      "step": 37090
    },
    {
      "action_loss": 0.00894214492291212,
      "epoch": 33.35431654676259,
      "step": 37090
    },
    {
      "epoch": 33.35431654676259,
      "step": 37090,
      "torque_loss": 0.106178879737854
    },
    {
      "epoch": 33.36330935251799,
      "grad_norm": 0.28987225890159607,
      "learning_rate": 3.481409975471053e-05,
      "loss": 0.0481,
      "step": 37100
    },
    {
      "action_loss": 0.0013026585802435875,
      "epoch": 33.36330935251799,
      "step": 37100
    },
    {
      "epoch": 33.36330935251799,
      "step": 37100,
      "torque_loss": 0.05408094450831413
    },
    {
      "epoch": 33.37230215827338,
      "grad_norm": 0.33820462226867676,
      "learning_rate": 3.4787846009867986e-05,
      "loss": 0.0626,
      "step": 37110
    },
    {
      "action_loss": 0.006757061928510666,
      "epoch": 33.37230215827338,
      "step": 37110
    },
    {
      "epoch": 33.37230215827338,
      "step": 37110,
      "torque_loss": 0.10280927270650864
    },
    {
      "epoch": 33.381294964028775,
      "grad_norm": 0.33411335945129395,
      "learning_rate": 3.476159688607615e-05,
      "loss": 0.064,
      "step": 37120
    },
    {
      "action_loss": 0.0021123208571225405,
      "epoch": 33.381294964028775,
      "step": 37120
    },
    {
      "epoch": 33.381294964028775,
      "step": 37120,
      "torque_loss": 0.07901335507631302
    },
    {
      "epoch": 33.39028776978417,
      "grad_norm": 0.2726345360279083,
      "learning_rate": 3.4735352391308854e-05,
      "loss": 0.0528,
      "step": 37130
    },
    {
      "action_loss": 0.0038750257808715105,
      "epoch": 33.39028776978417,
      "step": 37130
    },
    {
      "epoch": 33.39028776978417,
      "step": 37130,
      "torque_loss": 0.0923149362206459
    },
    {
      "epoch": 33.39928057553957,
      "grad_norm": 0.25428682565689087,
      "learning_rate": 3.4709112533538446e-05,
      "loss": 0.0605,
      "step": 37140
    },
    {
      "action_loss": 0.001968022668734193,
      "epoch": 33.39928057553957,
      "step": 37140
    },
    {
      "epoch": 33.39928057553957,
      "step": 37140,
      "torque_loss": 0.05023103952407837
    },
    {
      "epoch": 33.40827338129496,
      "grad_norm": 0.2301008552312851,
      "learning_rate": 3.4682877320735934e-05,
      "loss": 0.0371,
      "step": 37150
    },
    {
      "action_loss": 0.0026219747960567474,
      "epoch": 33.40827338129496,
      "step": 37150
    },
    {
      "epoch": 33.40827338129496,
      "step": 37150,
      "torque_loss": 0.1092928946018219
    },
    {
      "epoch": 33.41726618705036,
      "grad_norm": 0.2738284468650818,
      "learning_rate": 3.465664676087085e-05,
      "loss": 0.0677,
      "step": 37160
    },
    {
      "action_loss": 0.008607697673141956,
      "epoch": 33.41726618705036,
      "step": 37160
    },
    {
      "epoch": 33.41726618705036,
      "step": 37160,
      "torque_loss": 0.11534786224365234
    },
    {
      "epoch": 33.42625899280576,
      "grad_norm": 0.22069774568080902,
      "learning_rate": 3.463042086191136e-05,
      "loss": 0.054,
      "step": 37170
    },
    {
      "action_loss": 0.005434510763734579,
      "epoch": 33.42625899280576,
      "step": 37170
    },
    {
      "epoch": 33.42625899280576,
      "step": 37170,
      "torque_loss": 0.1232428178191185
    },
    {
      "epoch": 33.435251798561154,
      "grad_norm": 0.41143038868904114,
      "learning_rate": 3.460419963182423e-05,
      "loss": 0.062,
      "step": 37180
    },
    {
      "action_loss": 0.004426969215273857,
      "epoch": 33.435251798561154,
      "step": 37180
    },
    {
      "epoch": 33.435251798561154,
      "step": 37180,
      "torque_loss": 0.1000814437866211
    },
    {
      "epoch": 33.444244604316545,
      "grad_norm": 0.27655625343322754,
      "learning_rate": 3.457798307857473e-05,
      "loss": 0.0611,
      "step": 37190
    },
    {
      "action_loss": 0.001188861788250506,
      "epoch": 33.444244604316545,
      "step": 37190
    },
    {
      "epoch": 33.444244604316545,
      "step": 37190,
      "torque_loss": 0.0559866726398468
    },
    {
      "epoch": 33.45323741007194,
      "grad_norm": 0.30455926060676575,
      "learning_rate": 3.455177121012678e-05,
      "loss": 0.0597,
      "step": 37200
    },
    {
      "action_loss": 0.0022769819479435682,
      "epoch": 33.45323741007194,
      "step": 37200
    },
    {
      "epoch": 33.45323741007194,
      "step": 37200,
      "torque_loss": 0.0545378178358078
    },
    {
      "epoch": 33.46223021582734,
      "grad_norm": 0.2828160524368286,
      "learning_rate": 3.452556403444285e-05,
      "loss": 0.0608,
      "step": 37210
    },
    {
      "action_loss": 0.0019505760865285993,
      "epoch": 33.46223021582734,
      "step": 37210
    },
    {
      "epoch": 33.46223021582734,
      "step": 37210,
      "torque_loss": 0.0646144226193428
    },
    {
      "epoch": 33.47122302158273,
      "grad_norm": 0.33284929394721985,
      "learning_rate": 3.4499361559483975e-05,
      "loss": 0.0584,
      "step": 37220
    },
    {
      "action_loss": 0.0020524447318166494,
      "epoch": 33.47122302158273,
      "step": 37220
    },
    {
      "epoch": 33.47122302158273,
      "step": 37220,
      "torque_loss": 0.0712059959769249
    },
    {
      "epoch": 33.48021582733813,
      "grad_norm": 0.27965840697288513,
      "learning_rate": 3.44731637932098e-05,
      "loss": 0.0482,
      "step": 37230
    },
    {
      "action_loss": 0.0019654312636703253,
      "epoch": 33.48021582733813,
      "step": 37230
    },
    {
      "epoch": 33.48021582733813,
      "step": 37230,
      "torque_loss": 0.08152401447296143
    },
    {
      "epoch": 33.489208633093526,
      "grad_norm": 0.44091740250587463,
      "learning_rate": 3.44469707435785e-05,
      "loss": 0.0534,
      "step": 37240
    },
    {
      "action_loss": 0.0029514965135604143,
      "epoch": 33.489208633093526,
      "step": 37240
    },
    {
      "epoch": 33.489208633093526,
      "step": 37240,
      "torque_loss": 0.10787595063447952
    },
    {
      "epoch": 33.49820143884892,
      "grad_norm": 0.32924115657806396,
      "learning_rate": 3.4420782418546835e-05,
      "loss": 0.0552,
      "step": 37250
    },
    {
      "action_loss": 0.005926153156906366,
      "epoch": 33.49820143884892,
      "step": 37250
    },
    {
      "epoch": 33.49820143884892,
      "step": 37250,
      "torque_loss": 0.10797403007745743
    },
    {
      "epoch": 33.507194244604314,
      "grad_norm": 0.23756080865859985,
      "learning_rate": 3.439459882607012e-05,
      "loss": 0.0562,
      "step": 37260
    },
    {
      "action_loss": 0.002351502887904644,
      "epoch": 33.507194244604314,
      "step": 37260
    },
    {
      "epoch": 33.507194244604314,
      "step": 37260,
      "torque_loss": 0.08093033730983734
    },
    {
      "epoch": 33.51618705035971,
      "grad_norm": 0.39906036853790283,
      "learning_rate": 3.436841997410225e-05,
      "loss": 0.0494,
      "step": 37270
    },
    {
      "action_loss": 0.0016397886211052537,
      "epoch": 33.51618705035971,
      "step": 37270
    },
    {
      "epoch": 33.51618705035971,
      "step": 37270,
      "torque_loss": 0.05211116746068001
    },
    {
      "epoch": 33.52517985611511,
      "grad_norm": 0.21491007506847382,
      "learning_rate": 3.434224587059567e-05,
      "loss": 0.0505,
      "step": 37280
    },
    {
      "action_loss": 0.009628486819565296,
      "epoch": 33.52517985611511,
      "step": 37280
    },
    {
      "epoch": 33.52517985611511,
      "step": 37280,
      "torque_loss": 0.1188640370965004
    },
    {
      "epoch": 33.53417266187051,
      "grad_norm": 0.2522684931755066,
      "learning_rate": 3.431607652350136e-05,
      "loss": 0.0582,
      "step": 37290
    },
    {
      "action_loss": 0.0054841251112520695,
      "epoch": 33.53417266187051,
      "step": 37290
    },
    {
      "epoch": 33.53417266187051,
      "step": 37290,
      "torque_loss": 0.11271490901708603
    },
    {
      "epoch": 33.5431654676259,
      "grad_norm": 0.3959525525569916,
      "learning_rate": 3.428991194076891e-05,
      "loss": 0.0565,
      "step": 37300
    },
    {
      "action_loss": 0.0020403247326612473,
      "epoch": 33.5431654676259,
      "step": 37300
    },
    {
      "epoch": 33.5431654676259,
      "step": 37300,
      "torque_loss": 0.072377048432827
    },
    {
      "epoch": 33.552158273381295,
      "grad_norm": 0.20375168323516846,
      "learning_rate": 3.4263752130346394e-05,
      "loss": 0.052,
      "step": 37310
    },
    {
      "action_loss": 0.005095877218991518,
      "epoch": 33.552158273381295,
      "step": 37310
    },
    {
      "epoch": 33.552158273381295,
      "step": 37310,
      "torque_loss": 0.0660669133067131
    },
    {
      "epoch": 33.56115107913669,
      "grad_norm": 0.27819177508354187,
      "learning_rate": 3.4237597100180515e-05,
      "loss": 0.0605,
      "step": 37320
    },
    {
      "action_loss": 0.0010237363167107105,
      "epoch": 33.56115107913669,
      "step": 37320
    },
    {
      "epoch": 33.56115107913669,
      "step": 37320,
      "torque_loss": 0.03465039283037186
    },
    {
      "epoch": 33.57014388489208,
      "grad_norm": 0.29729363322257996,
      "learning_rate": 3.4211446858216427e-05,
      "loss": 0.0689,
      "step": 37330
    },
    {
      "action_loss": 0.00801481306552887,
      "epoch": 33.57014388489208,
      "step": 37330
    },
    {
      "epoch": 33.57014388489208,
      "step": 37330,
      "torque_loss": 0.12272224575281143
    },
    {
      "epoch": 33.57913669064748,
      "grad_norm": 0.3828751742839813,
      "learning_rate": 3.4185301412397915e-05,
      "loss": 0.0733,
      "step": 37340
    },
    {
      "action_loss": 0.005285175982862711,
      "epoch": 33.57913669064748,
      "step": 37340
    },
    {
      "epoch": 33.57913669064748,
      "step": 37340,
      "torque_loss": 0.06922837346792221
    },
    {
      "epoch": 33.58812949640288,
      "grad_norm": 0.29912739992141724,
      "learning_rate": 3.415916077066729e-05,
      "loss": 0.0619,
      "step": 37350
    },
    {
      "action_loss": 0.0022708948235958815,
      "epoch": 33.58812949640288,
      "step": 37350
    },
    {
      "epoch": 33.58812949640288,
      "step": 37350,
      "torque_loss": 0.07124527543783188
    },
    {
      "epoch": 33.597122302158276,
      "grad_norm": 0.2527572512626648,
      "learning_rate": 3.413302494096535e-05,
      "loss": 0.046,
      "step": 37360
    },
    {
      "action_loss": 0.007209406699985266,
      "epoch": 33.597122302158276,
      "step": 37360
    },
    {
      "epoch": 33.597122302158276,
      "step": 37360,
      "torque_loss": 0.11031421273946762
    },
    {
      "epoch": 33.606115107913666,
      "grad_norm": 0.2624550759792328,
      "learning_rate": 3.410689393123151e-05,
      "loss": 0.0592,
      "step": 37370
    },
    {
      "action_loss": 0.005031134467571974,
      "epoch": 33.606115107913666,
      "step": 37370
    },
    {
      "epoch": 33.606115107913666,
      "step": 37370,
      "torque_loss": 0.07891971617937088
    },
    {
      "epoch": 33.615107913669064,
      "grad_norm": 0.2912076711654663,
      "learning_rate": 3.408076774940364e-05,
      "loss": 0.0605,
      "step": 37380
    },
    {
      "action_loss": 0.0070844064466655254,
      "epoch": 33.615107913669064,
      "step": 37380
    },
    {
      "epoch": 33.615107913669064,
      "step": 37380,
      "torque_loss": 0.09607044607400894
    },
    {
      "epoch": 33.62410071942446,
      "grad_norm": 0.3028906285762787,
      "learning_rate": 3.40546464034182e-05,
      "loss": 0.0546,
      "step": 37390
    },
    {
      "action_loss": 0.0034726292360574007,
      "epoch": 33.62410071942446,
      "step": 37390
    },
    {
      "epoch": 33.62410071942446,
      "step": 37390,
      "torque_loss": 0.09162608534097672
    },
    {
      "epoch": 33.63309352517986,
      "grad_norm": 0.17688459157943726,
      "learning_rate": 3.4028529901210185e-05,
      "loss": 0.0622,
      "step": 37400
    },
    {
      "action_loss": 0.008478695526719093,
      "epoch": 33.63309352517986,
      "step": 37400
    },
    {
      "epoch": 33.63309352517986,
      "step": 37400,
      "torque_loss": 0.10146617889404297
    },
    {
      "epoch": 33.64208633093525,
      "grad_norm": 0.19823019206523895,
      "learning_rate": 3.4002418250713086e-05,
      "loss": 0.0644,
      "step": 37410
    },
    {
      "action_loss": 0.0029285706114023924,
      "epoch": 33.64208633093525,
      "step": 37410
    },
    {
      "epoch": 33.64208633093525,
      "step": 37410,
      "torque_loss": 0.07672133296728134
    },
    {
      "epoch": 33.65107913669065,
      "grad_norm": 0.27872234582901,
      "learning_rate": 3.3976311459858936e-05,
      "loss": 0.0504,
      "step": 37420
    },
    {
      "action_loss": 0.004005079623311758,
      "epoch": 33.65107913669065,
      "step": 37420
    },
    {
      "epoch": 33.65107913669065,
      "step": 37420,
      "torque_loss": 0.11706298589706421
    },
    {
      "epoch": 33.660071942446045,
      "grad_norm": 0.3007199466228485,
      "learning_rate": 3.395020953657826e-05,
      "loss": 0.0588,
      "step": 37430
    },
    {
      "action_loss": 0.002268593991175294,
      "epoch": 33.660071942446045,
      "step": 37430
    },
    {
      "epoch": 33.660071942446045,
      "step": 37430,
      "torque_loss": 0.07844044268131256
    },
    {
      "epoch": 33.669064748201436,
      "grad_norm": 0.34049445390701294,
      "learning_rate": 3.3924112488800165e-05,
      "loss": 0.0482,
      "step": 37440
    },
    {
      "action_loss": 0.004173099063336849,
      "epoch": 33.669064748201436,
      "step": 37440
    },
    {
      "epoch": 33.669064748201436,
      "step": 37440,
      "torque_loss": 0.09743207693099976
    },
    {
      "epoch": 33.67805755395683,
      "grad_norm": 0.32311221957206726,
      "learning_rate": 3.389802032445225e-05,
      "loss": 0.0488,
      "step": 37450
    },
    {
      "action_loss": 0.0024960434529930353,
      "epoch": 33.67805755395683,
      "step": 37450
    },
    {
      "epoch": 33.67805755395683,
      "step": 37450,
      "torque_loss": 0.07539161294698715
    },
    {
      "epoch": 33.68705035971223,
      "grad_norm": 0.18136346340179443,
      "learning_rate": 3.38719330514606e-05,
      "loss": 0.0537,
      "step": 37460
    },
    {
      "action_loss": 0.003817471442744136,
      "epoch": 33.68705035971223,
      "step": 37460
    },
    {
      "epoch": 33.68705035971223,
      "step": 37460,
      "torque_loss": 0.06712379306554794
    },
    {
      "epoch": 33.69604316546763,
      "grad_norm": 0.2911567986011505,
      "learning_rate": 3.3845850677749866e-05,
      "loss": 0.0595,
      "step": 37470
    },
    {
      "action_loss": 0.012142769992351532,
      "epoch": 33.69604316546763,
      "step": 37470
    },
    {
      "epoch": 33.69604316546763,
      "step": 37470,
      "torque_loss": 0.16335968673229218
    },
    {
      "epoch": 33.70503597122302,
      "grad_norm": 0.3009502589702606,
      "learning_rate": 3.3819773211243157e-05,
      "loss": 0.0509,
      "step": 37480
    },
    {
      "action_loss": 0.002940460341051221,
      "epoch": 33.70503597122302,
      "step": 37480
    },
    {
      "epoch": 33.70503597122302,
      "step": 37480,
      "torque_loss": 0.08045411854982376
    },
    {
      "epoch": 33.71402877697842,
      "grad_norm": 0.3112732470035553,
      "learning_rate": 3.379370065986213e-05,
      "loss": 0.0492,
      "step": 37490
    },
    {
      "action_loss": 0.0029694789554923773,
      "epoch": 33.71402877697842,
      "step": 37490
    },
    {
      "epoch": 33.71402877697842,
      "step": 37490,
      "torque_loss": 0.07059658318758011
    },
    {
      "epoch": 33.723021582733814,
      "grad_norm": 0.3250070810317993,
      "learning_rate": 3.3767633031526955e-05,
      "loss": 0.0515,
      "step": 37500
    },
    {
      "action_loss": 0.0044365813955664635,
      "epoch": 33.723021582733814,
      "step": 37500
    },
    {
      "epoch": 33.723021582733814,
      "step": 37500,
      "torque_loss": 0.10788267850875854
    },
    {
      "epoch": 33.73201438848921,
      "grad_norm": 0.22350116074085236,
      "learning_rate": 3.374157033415626e-05,
      "loss": 0.0519,
      "step": 37510
    },
    {
      "action_loss": 0.010748873464763165,
      "epoch": 33.73201438848921,
      "step": 37510
    },
    {
      "epoch": 33.73201438848921,
      "step": 37510,
      "torque_loss": 0.13603322207927704
    },
    {
      "epoch": 33.7410071942446,
      "grad_norm": 0.2477906346321106,
      "learning_rate": 3.371551257566723e-05,
      "loss": 0.0527,
      "step": 37520
    },
    {
      "action_loss": 0.006939686834812164,
      "epoch": 33.7410071942446,
      "step": 37520
    },
    {
      "epoch": 33.7410071942446,
      "step": 37520,
      "torque_loss": 0.15307724475860596
    },
    {
      "epoch": 33.75,
      "grad_norm": 0.3594174087047577,
      "learning_rate": 3.36894597639755e-05,
      "loss": 0.0579,
      "step": 37530
    },
    {
      "action_loss": 0.007322041783481836,
      "epoch": 33.75,
      "step": 37530
    },
    {
      "epoch": 33.75,
      "step": 37530,
      "torque_loss": 0.10660991817712784
    },
    {
      "epoch": 33.7589928057554,
      "grad_norm": 0.2083999663591385,
      "learning_rate": 3.366341190699523e-05,
      "loss": 0.0537,
      "step": 37540
    },
    {
      "action_loss": 0.0035717973951250315,
      "epoch": 33.7589928057554,
      "step": 37540
    },
    {
      "epoch": 33.7589928057554,
      "step": 37540,
      "torque_loss": 0.08811676502227783
    },
    {
      "epoch": 33.76798561151079,
      "grad_norm": 0.43623653054237366,
      "learning_rate": 3.36373690126391e-05,
      "loss": 0.0543,
      "step": 37550
    },
    {
      "action_loss": 0.0013508191332221031,
      "epoch": 33.76798561151079,
      "step": 37550
    },
    {
      "epoch": 33.76798561151079,
      "step": 37550,
      "torque_loss": 0.06115543469786644
    },
    {
      "epoch": 33.776978417266186,
      "grad_norm": 0.2846590280532837,
      "learning_rate": 3.3611331088818234e-05,
      "loss": 0.0551,
      "step": 37560
    },
    {
      "action_loss": 0.004277973901480436,
      "epoch": 33.776978417266186,
      "step": 37560
    },
    {
      "epoch": 33.776978417266186,
      "step": 37560,
      "torque_loss": 0.08404501527547836
    },
    {
      "epoch": 33.78597122302158,
      "grad_norm": 0.36195650696754456,
      "learning_rate": 3.3585298143442265e-05,
      "loss": 0.0615,
      "step": 37570
    },
    {
      "action_loss": 0.0009776052320376039,
      "epoch": 33.78597122302158,
      "step": 37570
    },
    {
      "epoch": 33.78597122302158,
      "step": 37570,
      "torque_loss": 0.06893008202314377
    },
    {
      "epoch": 33.79496402877698,
      "grad_norm": 0.24593372642993927,
      "learning_rate": 3.35592701844193e-05,
      "loss": 0.057,
      "step": 37580
    },
    {
      "action_loss": 0.0017167730256915092,
      "epoch": 33.79496402877698,
      "step": 37580
    },
    {
      "epoch": 33.79496402877698,
      "step": 37580,
      "torque_loss": 0.0752708688378334
    },
    {
      "epoch": 33.80395683453237,
      "grad_norm": 0.27799907326698303,
      "learning_rate": 3.353324721965596e-05,
      "loss": 0.0619,
      "step": 37590
    },
    {
      "action_loss": 0.0014481717953458428,
      "epoch": 33.80395683453237,
      "step": 37590
    },
    {
      "epoch": 33.80395683453237,
      "step": 37590,
      "torque_loss": 0.05803672969341278
    },
    {
      "epoch": 33.81294964028777,
      "grad_norm": 0.29750582575798035,
      "learning_rate": 3.350722925705736e-05,
      "loss": 0.0493,
      "step": 37600
    },
    {
      "action_loss": 0.014469262212514877,
      "epoch": 33.81294964028777,
      "step": 37600
    },
    {
      "epoch": 33.81294964028777,
      "step": 37600,
      "torque_loss": 0.10490325093269348
    },
    {
      "epoch": 33.82194244604317,
      "grad_norm": 0.31820645928382874,
      "learning_rate": 3.348121630452703e-05,
      "loss": 0.0702,
      "step": 37610
    },
    {
      "action_loss": 0.01053574774414301,
      "epoch": 33.82194244604317,
      "step": 37610
    },
    {
      "epoch": 33.82194244604317,
      "step": 37610,
      "torque_loss": 0.10295286029577255
    },
    {
      "epoch": 33.830935251798564,
      "grad_norm": 0.2495049238204956,
      "learning_rate": 3.3455208369967044e-05,
      "loss": 0.0514,
      "step": 37620
    },
    {
      "action_loss": 0.0019301855936646461,
      "epoch": 33.830935251798564,
      "step": 37620
    },
    {
      "epoch": 33.830935251798564,
      "step": 37620,
      "torque_loss": 0.06677908450365067
    },
    {
      "epoch": 33.839928057553955,
      "grad_norm": 0.22886218130588531,
      "learning_rate": 3.34292054612779e-05,
      "loss": 0.0483,
      "step": 37630
    },
    {
      "action_loss": 0.0036857977975159883,
      "epoch": 33.839928057553955,
      "step": 37630
    },
    {
      "epoch": 33.839928057553955,
      "step": 37630,
      "torque_loss": 0.07540524750947952
    },
    {
      "epoch": 33.84892086330935,
      "grad_norm": 0.25252604484558105,
      "learning_rate": 3.340320758635861e-05,
      "loss": 0.0571,
      "step": 37640
    },
    {
      "action_loss": 0.001564274076372385,
      "epoch": 33.84892086330935,
      "step": 37640
    },
    {
      "epoch": 33.84892086330935,
      "step": 37640,
      "torque_loss": 0.05790714547038078
    },
    {
      "epoch": 33.85791366906475,
      "grad_norm": 0.25947105884552,
      "learning_rate": 3.337721475310666e-05,
      "loss": 0.0515,
      "step": 37650
    },
    {
      "action_loss": 0.003242895007133484,
      "epoch": 33.85791366906475,
      "step": 37650
    },
    {
      "epoch": 33.85791366906475,
      "step": 37650,
      "torque_loss": 0.11070368438959122
    },
    {
      "epoch": 33.86690647482014,
      "grad_norm": 0.2509274184703827,
      "learning_rate": 3.335122696941795e-05,
      "loss": 0.0521,
      "step": 37660
    },
    {
      "action_loss": 0.0027782784309238195,
      "epoch": 33.86690647482014,
      "step": 37660
    },
    {
      "epoch": 33.86690647482014,
      "step": 37660,
      "torque_loss": 0.07400012761354446
    },
    {
      "epoch": 33.87589928057554,
      "grad_norm": 0.39752471446990967,
      "learning_rate": 3.332524424318692e-05,
      "loss": 0.0519,
      "step": 37670
    },
    {
      "action_loss": 0.0010843113996088505,
      "epoch": 33.87589928057554,
      "step": 37670
    },
    {
      "epoch": 33.87589928057554,
      "step": 37670,
      "torque_loss": 0.046145182102918625
    },
    {
      "epoch": 33.884892086330936,
      "grad_norm": 0.28616270422935486,
      "learning_rate": 3.32992665823064e-05,
      "loss": 0.0485,
      "step": 37680
    },
    {
      "action_loss": 0.008432804606854916,
      "epoch": 33.884892086330936,
      "step": 37680
    },
    {
      "epoch": 33.884892086330936,
      "step": 37680,
      "torque_loss": 0.08386864513158798
    },
    {
      "epoch": 33.893884892086334,
      "grad_norm": 0.32998138666152954,
      "learning_rate": 3.327329399466774e-05,
      "loss": 0.0599,
      "step": 37690
    },
    {
      "action_loss": 0.0017241016030311584,
      "epoch": 33.893884892086334,
      "step": 37690
    },
    {
      "epoch": 33.893884892086334,
      "step": 37690,
      "torque_loss": 0.04347914084792137
    },
    {
      "epoch": 33.902877697841724,
      "grad_norm": 0.31352320313453674,
      "learning_rate": 3.324732648816072e-05,
      "loss": 0.0548,
      "step": 37700
    },
    {
      "action_loss": 0.002535861451178789,
      "epoch": 33.902877697841724,
      "step": 37700
    },
    {
      "epoch": 33.902877697841724,
      "step": 37700,
      "torque_loss": 0.07087687402963638
    },
    {
      "epoch": 33.91187050359712,
      "grad_norm": 0.3188319504261017,
      "learning_rate": 3.322136407067358e-05,
      "loss": 0.0486,
      "step": 37710
    },
    {
      "action_loss": 0.007994130253791809,
      "epoch": 33.91187050359712,
      "step": 37710
    },
    {
      "epoch": 33.91187050359712,
      "step": 37710,
      "torque_loss": 0.11264649033546448
    },
    {
      "epoch": 33.92086330935252,
      "grad_norm": 0.19783523678779602,
      "learning_rate": 3.3195406750093036e-05,
      "loss": 0.0544,
      "step": 37720
    },
    {
      "action_loss": 0.0019341070437803864,
      "epoch": 33.92086330935252,
      "step": 37720
    },
    {
      "epoch": 33.92086330935252,
      "step": 37720,
      "torque_loss": 0.04344714805483818
    },
    {
      "epoch": 33.92985611510792,
      "grad_norm": 0.2770645022392273,
      "learning_rate": 3.3169454534304205e-05,
      "loss": 0.0463,
      "step": 37730
    },
    {
      "action_loss": 0.0018922453746199608,
      "epoch": 33.92985611510792,
      "step": 37730
    },
    {
      "epoch": 33.92985611510792,
      "step": 37730,
      "torque_loss": 0.05900077894330025
    },
    {
      "epoch": 33.93884892086331,
      "grad_norm": 0.20815549790859222,
      "learning_rate": 3.3143507431190725e-05,
      "loss": 0.0598,
      "step": 37740
    },
    {
      "action_loss": 0.005012002307921648,
      "epoch": 33.93884892086331,
      "step": 37740
    },
    {
      "epoch": 33.93884892086331,
      "step": 37740,
      "torque_loss": 0.09849957376718521
    },
    {
      "epoch": 33.947841726618705,
      "grad_norm": 0.3113410174846649,
      "learning_rate": 3.311756544863459e-05,
      "loss": 0.0494,
      "step": 37750
    },
    {
      "action_loss": 0.002394674113020301,
      "epoch": 33.947841726618705,
      "step": 37750
    },
    {
      "epoch": 33.947841726618705,
      "step": 37750,
      "torque_loss": 0.06911910325288773
    },
    {
      "epoch": 33.9568345323741,
      "grad_norm": 0.1998601108789444,
      "learning_rate": 3.309162859451633e-05,
      "loss": 0.0628,
      "step": 37760
    },
    {
      "action_loss": 0.004886744078248739,
      "epoch": 33.9568345323741,
      "step": 37760
    },
    {
      "epoch": 33.9568345323741,
      "step": 37760,
      "torque_loss": 0.06834455579519272
    },
    {
      "epoch": 33.96582733812949,
      "grad_norm": 0.23077891767024994,
      "learning_rate": 3.306569687671487e-05,
      "loss": 0.0479,
      "step": 37770
    },
    {
      "action_loss": 0.011107418686151505,
      "epoch": 33.96582733812949,
      "step": 37770
    },
    {
      "epoch": 33.96582733812949,
      "step": 37770,
      "torque_loss": 0.14682726562023163
    },
    {
      "epoch": 33.97482014388489,
      "grad_norm": 0.3978191912174225,
      "learning_rate": 3.303977030310756e-05,
      "loss": 0.0575,
      "step": 37780
    },
    {
      "action_loss": 0.00672430545091629,
      "epoch": 33.97482014388489,
      "step": 37780
    },
    {
      "epoch": 33.97482014388489,
      "step": 37780,
      "torque_loss": 0.09862902760505676
    },
    {
      "epoch": 33.98381294964029,
      "grad_norm": 0.3080693781375885,
      "learning_rate": 3.3013848881570245e-05,
      "loss": 0.048,
      "step": 37790
    },
    {
      "action_loss": 0.002875323174521327,
      "epoch": 33.98381294964029,
      "step": 37790
    },
    {
      "epoch": 33.98381294964029,
      "step": 37790,
      "torque_loss": 0.05449589714407921
    },
    {
      "epoch": 33.992805755395686,
      "grad_norm": 0.2127414345741272,
      "learning_rate": 3.298793261997712e-05,
      "loss": 0.0614,
      "step": 37800
    },
    {
      "action_loss": 0.0012289034202694893,
      "epoch": 33.992805755395686,
      "step": 37800
    },
    {
      "epoch": 33.992805755395686,
      "step": 37800,
      "torque_loss": 0.052993688732385635
    },
    {
      "epoch": 34.00179856115108,
      "grad_norm": 0.3054056763648987,
      "learning_rate": 3.2962021526200893e-05,
      "loss": 0.0495,
      "step": 37810
    },
    {
      "action_loss": 0.004578463267534971,
      "epoch": 34.00179856115108,
      "step": 37810
    },
    {
      "epoch": 34.00179856115108,
      "step": 37810,
      "torque_loss": 0.07003771513700485
    },
    {
      "epoch": 34.010791366906474,
      "grad_norm": 0.2694181501865387,
      "learning_rate": 3.293611560811268e-05,
      "loss": 0.05,
      "step": 37820
    },
    {
      "action_loss": 0.005045953672379255,
      "epoch": 34.010791366906474,
      "step": 37820
    },
    {
      "epoch": 34.010791366906474,
      "step": 37820,
      "torque_loss": 0.08290624618530273
    },
    {
      "epoch": 34.01978417266187,
      "grad_norm": 0.3673964738845825,
      "learning_rate": 3.291021487358199e-05,
      "loss": 0.0646,
      "step": 37830
    },
    {
      "action_loss": 0.009315635077655315,
      "epoch": 34.01978417266187,
      "step": 37830
    },
    {
      "epoch": 34.01978417266187,
      "step": 37830,
      "torque_loss": 0.12945912778377533
    },
    {
      "epoch": 34.02877697841727,
      "grad_norm": 0.2996341586112976,
      "learning_rate": 3.28843193304768e-05,
      "loss": 0.0644,
      "step": 37840
    },
    {
      "action_loss": 0.010733458213508129,
      "epoch": 34.02877697841727,
      "step": 37840
    },
    {
      "epoch": 34.02877697841727,
      "step": 37840,
      "torque_loss": 0.11061901599168777
    },
    {
      "epoch": 34.03776978417266,
      "grad_norm": 0.3322160542011261,
      "learning_rate": 3.2858428986663456e-05,
      "loss": 0.0668,
      "step": 37850
    },
    {
      "action_loss": 0.0034387882333248854,
      "epoch": 34.03776978417266,
      "step": 37850
    },
    {
      "epoch": 34.03776978417266,
      "step": 37850,
      "torque_loss": 0.06505057960748672
    },
    {
      "epoch": 34.04676258992806,
      "grad_norm": 0.23232221603393555,
      "learning_rate": 3.283254385000681e-05,
      "loss": 0.0478,
      "step": 37860
    },
    {
      "action_loss": 0.006880661007016897,
      "epoch": 34.04676258992806,
      "step": 37860
    },
    {
      "epoch": 34.04676258992806,
      "step": 37860,
      "torque_loss": 0.14095641672611237
    },
    {
      "epoch": 34.055755395683455,
      "grad_norm": 0.251394659280777,
      "learning_rate": 3.2806663928370076e-05,
      "loss": 0.0572,
      "step": 37870
    },
    {
      "action_loss": 0.0046509685926139355,
      "epoch": 34.055755395683455,
      "step": 37870
    },
    {
      "epoch": 34.055755395683455,
      "step": 37870,
      "torque_loss": 0.09688965231180191
    },
    {
      "epoch": 34.064748201438846,
      "grad_norm": 0.27845698595046997,
      "learning_rate": 3.278078922961485e-05,
      "loss": 0.0549,
      "step": 37880
    },
    {
      "action_loss": 0.0033191998954862356,
      "epoch": 34.064748201438846,
      "step": 37880
    },
    {
      "epoch": 34.064748201438846,
      "step": 37880,
      "torque_loss": 0.050061631947755814
    },
    {
      "epoch": 34.07374100719424,
      "grad_norm": 0.1995571106672287,
      "learning_rate": 3.275491976160123e-05,
      "loss": 0.0507,
      "step": 37890
    },
    {
      "action_loss": 0.0070935399271547794,
      "epoch": 34.07374100719424,
      "step": 37890
    },
    {
      "epoch": 34.07374100719424,
      "step": 37890,
      "torque_loss": 0.11911070346832275
    },
    {
      "epoch": 34.08273381294964,
      "grad_norm": 0.30012276768684387,
      "learning_rate": 3.2729055532187645e-05,
      "loss": 0.0465,
      "step": 37900
    },
    {
      "action_loss": 0.0031794484239071608,
      "epoch": 34.08273381294964,
      "step": 37900
    },
    {
      "epoch": 34.08273381294964,
      "step": 37900,
      "torque_loss": 0.13336236774921417
    },
    {
      "epoch": 34.09172661870504,
      "grad_norm": 0.2823377251625061,
      "learning_rate": 3.270319654923097e-05,
      "loss": 0.064,
      "step": 37910
    },
    {
      "action_loss": 0.011932525783777237,
      "epoch": 34.09172661870504,
      "step": 37910
    },
    {
      "epoch": 34.09172661870504,
      "step": 37910,
      "torque_loss": 0.1919134259223938
    },
    {
      "epoch": 34.10071942446043,
      "grad_norm": 0.2703757584095001,
      "learning_rate": 3.2677342820586506e-05,
      "loss": 0.0605,
      "step": 37920
    },
    {
      "action_loss": 0.006650824099779129,
      "epoch": 34.10071942446043,
      "step": 37920
    },
    {
      "epoch": 34.10071942446043,
      "step": 37920,
      "torque_loss": 0.0793154239654541
    },
    {
      "epoch": 34.10971223021583,
      "grad_norm": 0.3426964282989502,
      "learning_rate": 3.2651494354107905e-05,
      "loss": 0.0598,
      "step": 37930
    },
    {
      "action_loss": 0.0008919609826989472,
      "epoch": 34.10971223021583,
      "step": 37930
    },
    {
      "epoch": 34.10971223021583,
      "step": 37930,
      "torque_loss": 0.037677112966775894
    },
    {
      "epoch": 34.118705035971225,
      "grad_norm": 0.3030616343021393,
      "learning_rate": 3.2625651157647266e-05,
      "loss": 0.0439,
      "step": 37940
    },
    {
      "action_loss": 0.0019626037683337927,
      "epoch": 34.118705035971225,
      "step": 37940
    },
    {
      "epoch": 34.118705035971225,
      "step": 37940,
      "torque_loss": 0.06582195311784744
    },
    {
      "epoch": 34.12769784172662,
      "grad_norm": 0.27795523405075073,
      "learning_rate": 3.259981323905505e-05,
      "loss": 0.0547,
      "step": 37950
    },
    {
      "action_loss": 0.0017319634789600968,
      "epoch": 34.12769784172662,
      "step": 37950
    },
    {
      "epoch": 34.12769784172662,
      "step": 37950,
      "torque_loss": 0.052278339862823486
    },
    {
      "epoch": 34.13669064748201,
      "grad_norm": 0.4290396273136139,
      "learning_rate": 3.257398060618014e-05,
      "loss": 0.0527,
      "step": 37960
    },
    {
      "action_loss": 0.003403909271582961,
      "epoch": 34.13669064748201,
      "step": 37960
    },
    {
      "epoch": 34.13669064748201,
      "step": 37960,
      "torque_loss": 0.09536242485046387
    },
    {
      "epoch": 34.14568345323741,
      "grad_norm": 0.29497382044792175,
      "learning_rate": 3.254815326686983e-05,
      "loss": 0.0451,
      "step": 37970
    },
    {
      "action_loss": 0.0022255154326558113,
      "epoch": 34.14568345323741,
      "step": 37970
    },
    {
      "epoch": 34.14568345323741,
      "step": 37970,
      "torque_loss": 0.07749443501234055
    },
    {
      "epoch": 34.15467625899281,
      "grad_norm": 0.206138014793396,
      "learning_rate": 3.2522331228969774e-05,
      "loss": 0.044,
      "step": 37980
    },
    {
      "action_loss": 0.0017386260442435741,
      "epoch": 34.15467625899281,
      "step": 37980
    },
    {
      "epoch": 34.15467625899281,
      "step": 37980,
      "torque_loss": 0.03764783963561058
    },
    {
      "epoch": 34.1636690647482,
      "grad_norm": 0.24417556822299957,
      "learning_rate": 3.2496514500324006e-05,
      "loss": 0.0538,
      "step": 37990
    },
    {
      "action_loss": 0.001734288758598268,
      "epoch": 34.1636690647482,
      "step": 37990
    },
    {
      "epoch": 34.1636690647482,
      "step": 37990,
      "torque_loss": 0.0653471127152443
    },
    {
      "epoch": 34.172661870503596,
      "grad_norm": 0.2270416021347046,
      "learning_rate": 3.247070308877498e-05,
      "loss": 0.0419,
      "step": 38000
    },
    {
      "action_loss": 0.008202153258025646,
      "epoch": 34.172661870503596,
      "step": 38000
    },
    {
      "epoch": 34.172661870503596,
      "step": 38000,
      "torque_loss": 0.09228383749723434
    },
    {
      "epoch": 34.181654676258994,
      "grad_norm": 0.3254702091217041,
      "learning_rate": 3.2444897002163515e-05,
      "loss": 0.0589,
      "step": 38010
    },
    {
      "action_loss": 0.001377831562422216,
      "epoch": 34.181654676258994,
      "step": 38010
    },
    {
      "epoch": 34.181654676258994,
      "step": 38010,
      "torque_loss": 0.04511584714055061
    },
    {
      "epoch": 34.19064748201439,
      "grad_norm": 0.34799081087112427,
      "learning_rate": 3.241909624832885e-05,
      "loss": 0.0497,
      "step": 38020
    },
    {
      "action_loss": 0.002285820199176669,
      "epoch": 34.19064748201439,
      "step": 38020
    },
    {
      "epoch": 34.19064748201439,
      "step": 38020,
      "torque_loss": 0.05610109865665436
    },
    {
      "epoch": 34.19964028776978,
      "grad_norm": 0.24067513644695282,
      "learning_rate": 3.239330083510852e-05,
      "loss": 0.063,
      "step": 38030
    },
    {
      "action_loss": 0.00420875521376729,
      "epoch": 34.19964028776978,
      "step": 38030
    },
    {
      "epoch": 34.19964028776978,
      "step": 38030,
      "torque_loss": 0.08454015105962753
    },
    {
      "epoch": 34.20863309352518,
      "grad_norm": 0.26688137650489807,
      "learning_rate": 3.236751077033855e-05,
      "loss": 0.0525,
      "step": 38040
    },
    {
      "action_loss": 0.0017139998963102698,
      "epoch": 34.20863309352518,
      "step": 38040
    },
    {
      "epoch": 34.20863309352518,
      "step": 38040,
      "torque_loss": 0.07742791622877121
    },
    {
      "epoch": 34.21762589928058,
      "grad_norm": 0.30242908000946045,
      "learning_rate": 3.234172606185322e-05,
      "loss": 0.061,
      "step": 38050
    },
    {
      "action_loss": 0.0021435243543237448,
      "epoch": 34.21762589928058,
      "step": 38050
    },
    {
      "epoch": 34.21762589928058,
      "step": 38050,
      "torque_loss": 0.09821665287017822
    },
    {
      "epoch": 34.226618705035975,
      "grad_norm": 0.4272827208042145,
      "learning_rate": 3.231594671748528e-05,
      "loss": 0.0623,
      "step": 38060
    },
    {
      "action_loss": 0.004930725786834955,
      "epoch": 34.226618705035975,
      "step": 38060
    },
    {
      "epoch": 34.226618705035975,
      "step": 38060,
      "torque_loss": 0.12629219889640808
    },
    {
      "epoch": 34.235611510791365,
      "grad_norm": 0.31309106945991516,
      "learning_rate": 3.2290172745065815e-05,
      "loss": 0.0489,
      "step": 38070
    },
    {
      "action_loss": 0.0038254850078374147,
      "epoch": 34.235611510791365,
      "step": 38070
    },
    {
      "epoch": 34.235611510791365,
      "step": 38070,
      "torque_loss": 0.09094556421041489
    },
    {
      "epoch": 34.24460431654676,
      "grad_norm": 0.3296452462673187,
      "learning_rate": 3.226440415242426e-05,
      "loss": 0.0546,
      "step": 38080
    },
    {
      "action_loss": 0.002041042782366276,
      "epoch": 34.24460431654676,
      "step": 38080
    },
    {
      "epoch": 34.24460431654676,
      "step": 38080,
      "torque_loss": 0.07136210799217224
    },
    {
      "epoch": 34.25359712230216,
      "grad_norm": 0.22441139817237854,
      "learning_rate": 3.223864094738846e-05,
      "loss": 0.0499,
      "step": 38090
    },
    {
      "action_loss": 0.0016322970623150468,
      "epoch": 34.25359712230216,
      "step": 38090
    },
    {
      "epoch": 34.25359712230216,
      "step": 38090,
      "torque_loss": 0.06191481649875641
    },
    {
      "epoch": 34.26258992805755,
      "grad_norm": 0.2498627007007599,
      "learning_rate": 3.221288313778456e-05,
      "loss": 0.044,
      "step": 38100
    },
    {
      "action_loss": 0.00168722087983042,
      "epoch": 34.26258992805755,
      "step": 38100
    },
    {
      "epoch": 34.26258992805755,
      "step": 38100,
      "torque_loss": 0.05682830139994621
    },
    {
      "epoch": 34.27158273381295,
      "grad_norm": 0.20701415836811066,
      "learning_rate": 3.2187130731437125e-05,
      "loss": 0.0399,
      "step": 38110
    },
    {
      "action_loss": 0.007923792116343975,
      "epoch": 34.27158273381295,
      "step": 38110
    },
    {
      "epoch": 34.27158273381295,
      "step": 38110,
      "torque_loss": 0.1031932607293129
    },
    {
      "epoch": 34.280575539568346,
      "grad_norm": 0.3202216923236847,
      "learning_rate": 3.216138373616905e-05,
      "loss": 0.0574,
      "step": 38120
    },
    {
      "action_loss": 0.0025006637442857027,
      "epoch": 34.280575539568346,
      "step": 38120
    },
    {
      "epoch": 34.280575539568346,
      "step": 38120,
      "torque_loss": 0.08382993191480637
    },
    {
      "epoch": 34.289568345323744,
      "grad_norm": 0.3115246593952179,
      "learning_rate": 3.21356421598016e-05,
      "loss": 0.0549,
      "step": 38130
    },
    {
      "action_loss": 0.004024407360702753,
      "epoch": 34.289568345323744,
      "step": 38130
    },
    {
      "epoch": 34.289568345323744,
      "step": 38130,
      "torque_loss": 0.11392968893051147
    },
    {
      "epoch": 34.298561151079134,
      "grad_norm": 0.3122250437736511,
      "learning_rate": 3.210990601015438e-05,
      "loss": 0.055,
      "step": 38140
    },
    {
      "action_loss": 0.001774271484464407,
      "epoch": 34.298561151079134,
      "step": 38140
    },
    {
      "epoch": 34.298561151079134,
      "step": 38140,
      "torque_loss": 0.05614476278424263
    },
    {
      "epoch": 34.30755395683453,
      "grad_norm": 0.37306204438209534,
      "learning_rate": 3.208417529504535e-05,
      "loss": 0.0463,
      "step": 38150
    },
    {
      "action_loss": 0.0036741800140589476,
      "epoch": 34.30755395683453,
      "step": 38150
    },
    {
      "epoch": 34.30755395683453,
      "step": 38150,
      "torque_loss": 0.10798487067222595
    },
    {
      "epoch": 34.31654676258993,
      "grad_norm": 0.31935903429985046,
      "learning_rate": 3.205845002229084e-05,
      "loss": 0.0565,
      "step": 38160
    },
    {
      "action_loss": 0.0023110939655452967,
      "epoch": 34.31654676258993,
      "step": 38160
    },
    {
      "epoch": 34.31654676258993,
      "step": 38160,
      "torque_loss": 0.0604291707277298
    },
    {
      "epoch": 34.32553956834532,
      "grad_norm": 0.27267274260520935,
      "learning_rate": 3.203273019970547e-05,
      "loss": 0.0446,
      "step": 38170
    },
    {
      "action_loss": 0.017285266891121864,
      "epoch": 34.32553956834532,
      "step": 38170
    },
    {
      "epoch": 34.32553956834532,
      "step": 38170,
      "torque_loss": 0.151328444480896
    },
    {
      "epoch": 34.33453237410072,
      "grad_norm": 0.2958511412143707,
      "learning_rate": 3.200701583510227e-05,
      "loss": 0.0577,
      "step": 38180
    },
    {
      "action_loss": 0.001955469837412238,
      "epoch": 34.33453237410072,
      "step": 38180
    },
    {
      "epoch": 34.33453237410072,
      "step": 38180,
      "torque_loss": 0.05513252690434456
    },
    {
      "epoch": 34.343525179856115,
      "grad_norm": 0.22207185626029968,
      "learning_rate": 3.198130693629261e-05,
      "loss": 0.0517,
      "step": 38190
    },
    {
      "action_loss": 0.001175880548544228,
      "epoch": 34.343525179856115,
      "step": 38190
    },
    {
      "epoch": 34.343525179856115,
      "step": 38190,
      "torque_loss": 0.05631871148943901
    },
    {
      "epoch": 34.35251798561151,
      "grad_norm": 0.27181103825569153,
      "learning_rate": 3.195560351108612e-05,
      "loss": 0.0575,
      "step": 38200
    },
    {
      "action_loss": 0.002148186322301626,
      "epoch": 34.35251798561151,
      "step": 38200
    },
    {
      "epoch": 34.35251798561151,
      "step": 38200,
      "torque_loss": 0.06993600726127625
    },
    {
      "epoch": 34.361510791366904,
      "grad_norm": 0.3584538996219635,
      "learning_rate": 3.1929905567290865e-05,
      "loss": 0.0503,
      "step": 38210
    },
    {
      "action_loss": 0.004286851733922958,
      "epoch": 34.361510791366904,
      "step": 38210
    },
    {
      "epoch": 34.361510791366904,
      "step": 38210,
      "torque_loss": 0.09408938139677048
    },
    {
      "epoch": 34.3705035971223,
      "grad_norm": 0.22973497211933136,
      "learning_rate": 3.1904213112713164e-05,
      "loss": 0.0515,
      "step": 38220
    },
    {
      "action_loss": 0.0050764745101332664,
      "epoch": 34.3705035971223,
      "step": 38220
    },
    {
      "epoch": 34.3705035971223,
      "step": 38220,
      "torque_loss": 0.10848388075828552
    },
    {
      "epoch": 34.3794964028777,
      "grad_norm": 0.2854699492454529,
      "learning_rate": 3.187852615515774e-05,
      "loss": 0.0561,
      "step": 38230
    },
    {
      "action_loss": 0.001610254985280335,
      "epoch": 34.3794964028777,
      "step": 38230
    },
    {
      "epoch": 34.3794964028777,
      "step": 38230,
      "torque_loss": 0.054266367107629776
    },
    {
      "epoch": 34.388489208633096,
      "grad_norm": 0.24385353922843933,
      "learning_rate": 3.1852844702427606e-05,
      "loss": 0.0418,
      "step": 38240
    },
    {
      "action_loss": 0.003549326444044709,
      "epoch": 34.388489208633096,
      "step": 38240
    },
    {
      "epoch": 34.388489208633096,
      "step": 38240,
      "torque_loss": 0.07724455744028091
    },
    {
      "epoch": 34.39748201438849,
      "grad_norm": 0.2522512972354889,
      "learning_rate": 3.18271687623241e-05,
      "loss": 0.0544,
      "step": 38250
    },
    {
      "action_loss": 0.00246493355371058,
      "epoch": 34.39748201438849,
      "step": 38250
    },
    {
      "epoch": 34.39748201438849,
      "step": 38250,
      "torque_loss": 0.06705322861671448
    },
    {
      "epoch": 34.406474820143885,
      "grad_norm": 0.24996976554393768,
      "learning_rate": 3.1801498342646896e-05,
      "loss": 0.0629,
      "step": 38260
    },
    {
      "action_loss": 0.0022079881746321917,
      "epoch": 34.406474820143885,
      "step": 38260
    },
    {
      "epoch": 34.406474820143885,
      "step": 38260,
      "torque_loss": 0.057330965995788574
    },
    {
      "epoch": 34.41546762589928,
      "grad_norm": 0.2864677906036377,
      "learning_rate": 3.177583345119398e-05,
      "loss": 0.055,
      "step": 38270
    },
    {
      "action_loss": 0.002011645818129182,
      "epoch": 34.41546762589928,
      "step": 38270
    },
    {
      "epoch": 34.41546762589928,
      "step": 38270,
      "torque_loss": 0.06761328130960464
    },
    {
      "epoch": 34.42446043165468,
      "grad_norm": 0.313671737909317,
      "learning_rate": 3.17501740957617e-05,
      "loss": 0.0443,
      "step": 38280
    },
    {
      "action_loss": 0.0015542618930339813,
      "epoch": 34.42446043165468,
      "step": 38280
    },
    {
      "epoch": 34.42446043165468,
      "step": 38280,
      "torque_loss": 0.038836266845464706
    },
    {
      "epoch": 34.43345323741007,
      "grad_norm": 0.31120648980140686,
      "learning_rate": 3.172452028414467e-05,
      "loss": 0.0527,
      "step": 38290
    },
    {
      "action_loss": 0.0024952711537480354,
      "epoch": 34.43345323741007,
      "step": 38290
    },
    {
      "epoch": 34.43345323741007,
      "step": 38290,
      "torque_loss": 0.07486492395401001
    },
    {
      "epoch": 34.44244604316547,
      "grad_norm": 0.3807530105113983,
      "learning_rate": 3.169887202413583e-05,
      "loss": 0.0584,
      "step": 38300
    },
    {
      "action_loss": 0.0030910249333828688,
      "epoch": 34.44244604316547,
      "step": 38300
    },
    {
      "epoch": 34.44244604316547,
      "step": 38300,
      "torque_loss": 0.060010362416505814
    },
    {
      "epoch": 34.451438848920866,
      "grad_norm": 0.33567866683006287,
      "learning_rate": 3.167322932352646e-05,
      "loss": 0.0591,
      "step": 38310
    },
    {
      "action_loss": 0.002499769674614072,
      "epoch": 34.451438848920866,
      "step": 38310
    },
    {
      "epoch": 34.451438848920866,
      "step": 38310,
      "torque_loss": 0.06106550619006157
    },
    {
      "epoch": 34.460431654676256,
      "grad_norm": 0.2295835018157959,
      "learning_rate": 3.164759219010613e-05,
      "loss": 0.0555,
      "step": 38320
    },
    {
      "action_loss": 0.00440480699762702,
      "epoch": 34.460431654676256,
      "step": 38320
    },
    {
      "epoch": 34.460431654676256,
      "step": 38320,
      "torque_loss": 0.0696580782532692
    },
    {
      "epoch": 34.469424460431654,
      "grad_norm": 0.2857149839401245,
      "learning_rate": 3.1621960631662725e-05,
      "loss": 0.0503,
      "step": 38330
    },
    {
      "action_loss": 0.006606314796954393,
      "epoch": 34.469424460431654,
      "step": 38330
    },
    {
      "epoch": 34.469424460431654,
      "step": 38330,
      "torque_loss": 0.06903756409883499
    },
    {
      "epoch": 34.47841726618705,
      "grad_norm": 0.31949424743652344,
      "learning_rate": 3.159633465598245e-05,
      "loss": 0.0643,
      "step": 38340
    },
    {
      "action_loss": 0.0033596239518374205,
      "epoch": 34.47841726618705,
      "step": 38340
    },
    {
      "epoch": 34.47841726618705,
      "step": 38340,
      "torque_loss": 0.12150028347969055
    },
    {
      "epoch": 34.48741007194245,
      "grad_norm": 0.26234522461891174,
      "learning_rate": 3.1570714270849767e-05,
      "loss": 0.0531,
      "step": 38350
    },
    {
      "action_loss": 0.0017751340055838227,
      "epoch": 34.48741007194245,
      "step": 38350
    },
    {
      "epoch": 34.48741007194245,
      "step": 38350,
      "torque_loss": 0.0576714389026165
    },
    {
      "epoch": 34.49640287769784,
      "grad_norm": 0.3870868980884552,
      "learning_rate": 3.1545099484047516e-05,
      "loss": 0.0534,
      "step": 38360
    },
    {
      "action_loss": 0.003070131642743945,
      "epoch": 34.49640287769784,
      "step": 38360
    },
    {
      "epoch": 34.49640287769784,
      "step": 38360,
      "torque_loss": 0.08530431985855103
    },
    {
      "epoch": 34.50539568345324,
      "grad_norm": 0.36740967631340027,
      "learning_rate": 3.151949030335674e-05,
      "loss": 0.0491,
      "step": 38370
    },
    {
      "action_loss": 0.002765512093901634,
      "epoch": 34.50539568345324,
      "step": 38370
    },
    {
      "epoch": 34.50539568345324,
      "step": 38370,
      "torque_loss": 0.09235131740570068
    },
    {
      "epoch": 34.514388489208635,
      "grad_norm": 0.23413190245628357,
      "learning_rate": 3.149388673655687e-05,
      "loss": 0.0625,
      "step": 38380
    },
    {
      "action_loss": 0.004500462207943201,
      "epoch": 34.514388489208635,
      "step": 38380
    },
    {
      "epoch": 34.514388489208635,
      "step": 38380,
      "torque_loss": 0.09061109274625778
    },
    {
      "epoch": 34.523381294964025,
      "grad_norm": 0.3468685746192932,
      "learning_rate": 3.146828879142559e-05,
      "loss": 0.059,
      "step": 38390
    },
    {
      "action_loss": 0.0012393933720886707,
      "epoch": 34.523381294964025,
      "step": 38390
    },
    {
      "epoch": 34.523381294964025,
      "step": 38390,
      "torque_loss": 0.04671938717365265
    },
    {
      "epoch": 34.53237410071942,
      "grad_norm": 0.27864938974380493,
      "learning_rate": 3.1442696475738866e-05,
      "loss": 0.0456,
      "step": 38400
    },
    {
      "action_loss": 0.0025607671122998,
      "epoch": 34.53237410071942,
      "step": 38400
    },
    {
      "epoch": 34.53237410071942,
      "step": 38400,
      "torque_loss": 0.07662006467580795
    },
    {
      "epoch": 34.54136690647482,
      "grad_norm": 0.30066680908203125,
      "learning_rate": 3.141710979727098e-05,
      "loss": 0.0494,
      "step": 38410
    },
    {
      "action_loss": 0.002034207107499242,
      "epoch": 34.54136690647482,
      "step": 38410
    },
    {
      "epoch": 34.54136690647482,
      "step": 38410,
      "torque_loss": 0.06000642105937004
    },
    {
      "epoch": 34.55035971223022,
      "grad_norm": 0.2657882571220398,
      "learning_rate": 3.139152876379447e-05,
      "loss": 0.0498,
      "step": 38420
    },
    {
      "action_loss": 0.002788831712678075,
      "epoch": 34.55035971223022,
      "step": 38420
    },
    {
      "epoch": 34.55035971223022,
      "step": 38420,
      "torque_loss": 0.0652516633272171
    },
    {
      "epoch": 34.55935251798561,
      "grad_norm": 0.23877167701721191,
      "learning_rate": 3.1365953383080214e-05,
      "loss": 0.0564,
      "step": 38430
    },
    {
      "action_loss": 0.0030814725905656815,
      "epoch": 34.55935251798561,
      "step": 38430
    },
    {
      "epoch": 34.55935251798561,
      "step": 38430,
      "torque_loss": 0.07545076310634613
    },
    {
      "epoch": 34.568345323741006,
      "grad_norm": 0.33889153599739075,
      "learning_rate": 3.134038366289731e-05,
      "loss": 0.0527,
      "step": 38440
    },
    {
      "action_loss": 0.0023057928774505854,
      "epoch": 34.568345323741006,
      "step": 38440
    },
    {
      "epoch": 34.568345323741006,
      "step": 38440,
      "torque_loss": 0.05812200531363487
    },
    {
      "epoch": 34.577338129496404,
      "grad_norm": 0.3007315397262573,
      "learning_rate": 3.131481961101317e-05,
      "loss": 0.0576,
      "step": 38450
    },
    {
      "action_loss": 0.003738507628440857,
      "epoch": 34.577338129496404,
      "step": 38450
    },
    {
      "epoch": 34.577338129496404,
      "step": 38450,
      "torque_loss": 0.07411739975214005
    },
    {
      "epoch": 34.5863309352518,
      "grad_norm": 0.2725914418697357,
      "learning_rate": 3.128926123519349e-05,
      "loss": 0.0583,
      "step": 38460
    },
    {
      "action_loss": 0.001572663546539843,
      "epoch": 34.5863309352518,
      "step": 38460
    },
    {
      "epoch": 34.5863309352518,
      "step": 38460,
      "torque_loss": 0.051688533276319504
    },
    {
      "epoch": 34.59532374100719,
      "grad_norm": 0.18214206397533417,
      "learning_rate": 3.1263708543202194e-05,
      "loss": 0.041,
      "step": 38470
    },
    {
      "action_loss": 0.0032720293384045362,
      "epoch": 34.59532374100719,
      "step": 38470
    },
    {
      "epoch": 34.59532374100719,
      "step": 38470,
      "torque_loss": 0.08228351920843124
    },
    {
      "epoch": 34.60431654676259,
      "grad_norm": 0.27113115787506104,
      "learning_rate": 3.123816154280155e-05,
      "loss": 0.0616,
      "step": 38480
    },
    {
      "action_loss": 0.004181068856269121,
      "epoch": 34.60431654676259,
      "step": 38480
    },
    {
      "epoch": 34.60431654676259,
      "step": 38480,
      "torque_loss": 0.09741243720054626
    },
    {
      "epoch": 34.61330935251799,
      "grad_norm": 0.2606617510318756,
      "learning_rate": 3.121262024175207e-05,
      "loss": 0.0568,
      "step": 38490
    },
    {
      "action_loss": 0.006382405757904053,
      "epoch": 34.61330935251799,
      "step": 38490
    },
    {
      "epoch": 34.61330935251799,
      "step": 38490,
      "torque_loss": 0.07982641458511353
    },
    {
      "epoch": 34.62230215827338,
      "grad_norm": 0.26984703540802,
      "learning_rate": 3.118708464781248e-05,
      "loss": 0.0573,
      "step": 38500
    },
    {
      "action_loss": 0.0028731580823659897,
      "epoch": 34.62230215827338,
      "step": 38500
    },
    {
      "epoch": 34.62230215827338,
      "step": 38500,
      "torque_loss": 0.07023695111274719
    },
    {
      "epoch": 34.631294964028775,
      "grad_norm": 0.2802664041519165,
      "learning_rate": 3.116155476873987e-05,
      "loss": 0.0591,
      "step": 38510
    },
    {
      "action_loss": 0.0016165176639333367,
      "epoch": 34.631294964028775,
      "step": 38510
    },
    {
      "epoch": 34.631294964028775,
      "step": 38510,
      "torque_loss": 0.04895497485995293
    },
    {
      "epoch": 34.64028776978417,
      "grad_norm": 0.3627713918685913,
      "learning_rate": 3.11360306122895e-05,
      "loss": 0.0547,
      "step": 38520
    },
    {
      "action_loss": 0.007515324279665947,
      "epoch": 34.64028776978417,
      "step": 38520
    },
    {
      "epoch": 34.64028776978417,
      "step": 38520,
      "torque_loss": 0.08323487639427185
    },
    {
      "epoch": 34.64928057553957,
      "grad_norm": 0.3157113194465637,
      "learning_rate": 3.1110512186214975e-05,
      "loss": 0.0519,
      "step": 38530
    },
    {
      "action_loss": 0.0016718622064217925,
      "epoch": 34.64928057553957,
      "step": 38530
    },
    {
      "epoch": 34.64928057553957,
      "step": 38530,
      "torque_loss": 0.06725048273801804
    },
    {
      "epoch": 34.65827338129496,
      "grad_norm": 0.2979092299938202,
      "learning_rate": 3.1084999498268095e-05,
      "loss": 0.0518,
      "step": 38540
    },
    {
      "action_loss": 0.010454676114022732,
      "epoch": 34.65827338129496,
      "step": 38540
    },
    {
      "epoch": 34.65827338129496,
      "step": 38540,
      "torque_loss": 0.10201100260019302
    },
    {
      "epoch": 34.66726618705036,
      "grad_norm": 0.3535771071910858,
      "learning_rate": 3.1059492556198934e-05,
      "loss": 0.0583,
      "step": 38550
    },
    {
      "action_loss": 0.0038590419571846724,
      "epoch": 34.66726618705036,
      "step": 38550
    },
    {
      "epoch": 34.66726618705036,
      "step": 38550,
      "torque_loss": 0.09129321575164795
    },
    {
      "epoch": 34.67625899280576,
      "grad_norm": 0.3120175004005432,
      "learning_rate": 3.103399136775586e-05,
      "loss": 0.0578,
      "step": 38560
    },
    {
      "action_loss": 0.006797898560762405,
      "epoch": 34.67625899280576,
      "step": 38560
    },
    {
      "epoch": 34.67625899280576,
      "step": 38560,
      "torque_loss": 0.10978253930807114
    },
    {
      "epoch": 34.685251798561154,
      "grad_norm": 0.5327492952346802,
      "learning_rate": 3.100849594068541e-05,
      "loss": 0.0646,
      "step": 38570
    },
    {
      "action_loss": 0.001547367312014103,
      "epoch": 34.685251798561154,
      "step": 38570
    },
    {
      "epoch": 34.685251798561154,
      "step": 38570,
      "torque_loss": 0.05124242976307869
    },
    {
      "epoch": 34.694244604316545,
      "grad_norm": 0.3057284653186798,
      "learning_rate": 3.0983006282732484e-05,
      "loss": 0.0526,
      "step": 38580
    },
    {
      "action_loss": 0.0021866855677217245,
      "epoch": 34.694244604316545,
      "step": 38580
    },
    {
      "epoch": 34.694244604316545,
      "step": 38580,
      "torque_loss": 0.08130775392055511
    },
    {
      "epoch": 34.70323741007194,
      "grad_norm": 0.2794843912124634,
      "learning_rate": 3.0957522401640116e-05,
      "loss": 0.0546,
      "step": 38590
    },
    {
      "action_loss": 0.001964566297829151,
      "epoch": 34.70323741007194,
      "step": 38590
    },
    {
      "epoch": 34.70323741007194,
      "step": 38590,
      "torque_loss": 0.048683252185583115
    },
    {
      "epoch": 34.71223021582734,
      "grad_norm": 0.2996554970741272,
      "learning_rate": 3.0932044305149645e-05,
      "loss": 0.045,
      "step": 38600
    },
    {
      "action_loss": 0.0023852342274039984,
      "epoch": 34.71223021582734,
      "step": 38600
    },
    {
      "epoch": 34.71223021582734,
      "step": 38600,
      "torque_loss": 0.06799871474504471
    },
    {
      "epoch": 34.72122302158273,
      "grad_norm": 0.3081621527671814,
      "learning_rate": 3.090657200100068e-05,
      "loss": 0.0494,
      "step": 38610
    },
    {
      "action_loss": 0.0032036944758147,
      "epoch": 34.72122302158273,
      "step": 38610
    },
    {
      "epoch": 34.72122302158273,
      "step": 38610,
      "torque_loss": 0.07668334990739822
    },
    {
      "epoch": 34.73021582733813,
      "grad_norm": 0.2992580235004425,
      "learning_rate": 3.088110549693099e-05,
      "loss": 0.0534,
      "step": 38620
    },
    {
      "action_loss": 0.0022156520280987024,
      "epoch": 34.73021582733813,
      "step": 38620
    },
    {
      "epoch": 34.73021582733813,
      "step": 38620,
      "torque_loss": 0.08156847953796387
    },
    {
      "epoch": 34.739208633093526,
      "grad_norm": 0.3013323247432709,
      "learning_rate": 3.085564480067667e-05,
      "loss": 0.0479,
      "step": 38630
    },
    {
      "action_loss": 0.0012966833310201764,
      "epoch": 34.739208633093526,
      "step": 38630
    },
    {
      "epoch": 34.739208633093526,
      "step": 38630,
      "torque_loss": 0.05807584524154663
    },
    {
      "epoch": 34.74820143884892,
      "grad_norm": 0.34622272849082947,
      "learning_rate": 3.0830189919971955e-05,
      "loss": 0.0433,
      "step": 38640
    },
    {
      "action_loss": 0.001347453915514052,
      "epoch": 34.74820143884892,
      "step": 38640
    },
    {
      "epoch": 34.74820143884892,
      "step": 38640,
      "torque_loss": 0.049444448202848434
    },
    {
      "epoch": 34.757194244604314,
      "grad_norm": 0.39167529344558716,
      "learning_rate": 3.080474086254939e-05,
      "loss": 0.0516,
      "step": 38650
    },
    {
      "action_loss": 0.0021096384152770042,
      "epoch": 34.757194244604314,
      "step": 38650
    },
    {
      "epoch": 34.757194244604314,
      "step": 38650,
      "torque_loss": 0.05581964552402496
    },
    {
      "epoch": 34.76618705035971,
      "grad_norm": 0.2505802810192108,
      "learning_rate": 3.077929763613975e-05,
      "loss": 0.0538,
      "step": 38660
    },
    {
      "action_loss": 0.002220290480181575,
      "epoch": 34.76618705035971,
      "step": 38660
    },
    {
      "epoch": 34.76618705035971,
      "step": 38660,
      "torque_loss": 0.0734400674700737
    },
    {
      "epoch": 34.77517985611511,
      "grad_norm": 0.23799997568130493,
      "learning_rate": 3.075386024847198e-05,
      "loss": 0.058,
      "step": 38670
    },
    {
      "action_loss": 0.004777266178280115,
      "epoch": 34.77517985611511,
      "step": 38670
    },
    {
      "epoch": 34.77517985611511,
      "step": 38670,
      "torque_loss": 0.10725895315408707
    },
    {
      "epoch": 34.78417266187051,
      "grad_norm": 0.2568604052066803,
      "learning_rate": 3.072842870727331e-05,
      "loss": 0.0498,
      "step": 38680
    },
    {
      "action_loss": 0.001143697532825172,
      "epoch": 34.78417266187051,
      "step": 38680
    },
    {
      "epoch": 34.78417266187051,
      "step": 38680,
      "torque_loss": 0.04767514392733574
    },
    {
      "epoch": 34.7931654676259,
      "grad_norm": 0.23969541490077972,
      "learning_rate": 3.070300302026916e-05,
      "loss": 0.0481,
      "step": 38690
    },
    {
      "action_loss": 0.0035183809231966734,
      "epoch": 34.7931654676259,
      "step": 38690
    },
    {
      "epoch": 34.7931654676259,
      "step": 38690,
      "torque_loss": 0.05847584083676338
    },
    {
      "epoch": 34.802158273381295,
      "grad_norm": 0.35971856117248535,
      "learning_rate": 3.067758319518318e-05,
      "loss": 0.0596,
      "step": 38700
    },
    {
      "action_loss": 0.013200894929468632,
      "epoch": 34.802158273381295,
      "step": 38700
    },
    {
      "epoch": 34.802158273381295,
      "step": 38700,
      "torque_loss": 0.12978792190551758
    },
    {
      "epoch": 34.81115107913669,
      "grad_norm": 0.24976935982704163,
      "learning_rate": 3.065216923973725e-05,
      "loss": 0.0494,
      "step": 38710
    },
    {
      "action_loss": 0.0023246898781508207,
      "epoch": 34.81115107913669,
      "step": 38710
    },
    {
      "epoch": 34.81115107913669,
      "step": 38710,
      "torque_loss": 0.09353815764188766
    },
    {
      "epoch": 34.82014388489208,
      "grad_norm": 0.33583784103393555,
      "learning_rate": 3.062676116165145e-05,
      "loss": 0.0467,
      "step": 38720
    },
    {
      "action_loss": 0.0036099704448133707,
      "epoch": 34.82014388489208,
      "step": 38720
    },
    {
      "epoch": 34.82014388489208,
      "step": 38720,
      "torque_loss": 0.09338852018117905
    },
    {
      "epoch": 34.82913669064748,
      "grad_norm": 0.2990938723087311,
      "learning_rate": 3.06013589686441e-05,
      "loss": 0.0491,
      "step": 38730
    },
    {
      "action_loss": 0.0015563304768875241,
      "epoch": 34.82913669064748,
      "step": 38730
    },
    {
      "epoch": 34.82913669064748,
      "step": 38730,
      "torque_loss": 0.04197133705019951
    },
    {
      "epoch": 34.83812949640288,
      "grad_norm": 0.19474823772907257,
      "learning_rate": 3.05759626684317e-05,
      "loss": 0.0525,
      "step": 38740
    },
    {
      "action_loss": 0.004877304192632437,
      "epoch": 34.83812949640288,
      "step": 38740
    },
    {
      "epoch": 34.83812949640288,
      "step": 38740,
      "torque_loss": 0.11896101385354996
    },
    {
      "epoch": 34.847122302158276,
      "grad_norm": 0.24160122871398926,
      "learning_rate": 3.055057226872896e-05,
      "loss": 0.0505,
      "step": 38750
    },
    {
      "action_loss": 0.010972167365252972,
      "epoch": 34.847122302158276,
      "step": 38750
    },
    {
      "epoch": 34.847122302158276,
      "step": 38750,
      "torque_loss": 0.16986744105815887
    },
    {
      "epoch": 34.856115107913666,
      "grad_norm": 0.33486276865005493,
      "learning_rate": 3.052518777724887e-05,
      "loss": 0.0561,
      "step": 38760
    },
    {
      "action_loss": 0.003235258860513568,
      "epoch": 34.856115107913666,
      "step": 38760
    },
    {
      "epoch": 34.856115107913666,
      "step": 38760,
      "torque_loss": 0.07118397206068039
    },
    {
      "epoch": 34.865107913669064,
      "grad_norm": 0.2198241651058197,
      "learning_rate": 3.04998092017025e-05,
      "loss": 0.0476,
      "step": 38770
    },
    {
      "action_loss": 0.012340432964265347,
      "epoch": 34.865107913669064,
      "step": 38770
    },
    {
      "epoch": 34.865107913669064,
      "step": 38770,
      "torque_loss": 0.13467474281787872
    },
    {
      "epoch": 34.87410071942446,
      "grad_norm": 0.29888996481895447,
      "learning_rate": 3.0474436549799246e-05,
      "loss": 0.0631,
      "step": 38780
    },
    {
      "action_loss": 0.0023053076583892107,
      "epoch": 34.87410071942446,
      "step": 38780
    },
    {
      "epoch": 34.87410071942446,
      "step": 38780,
      "torque_loss": 0.0722636952996254
    },
    {
      "epoch": 34.88309352517986,
      "grad_norm": 0.26408651471138,
      "learning_rate": 3.044906982924661e-05,
      "loss": 0.0561,
      "step": 38790
    },
    {
      "action_loss": 0.001690192031674087,
      "epoch": 34.88309352517986,
      "step": 38790
    },
    {
      "epoch": 34.88309352517986,
      "step": 38790,
      "torque_loss": 0.0662146583199501
    },
    {
      "epoch": 34.89208633093525,
      "grad_norm": 0.2669190466403961,
      "learning_rate": 3.0423709047750337e-05,
      "loss": 0.0505,
      "step": 38800
    },
    {
      "action_loss": 0.0017946549924090505,
      "epoch": 34.89208633093525,
      "step": 38800
    },
    {
      "epoch": 34.89208633093525,
      "step": 38800,
      "torque_loss": 0.040657129138708115
    },
    {
      "epoch": 34.90107913669065,
      "grad_norm": 0.37812933325767517,
      "learning_rate": 3.03983542130144e-05,
      "loss": 0.0532,
      "step": 38810
    },
    {
      "action_loss": 0.0037097346503287554,
      "epoch": 34.90107913669065,
      "step": 38810
    },
    {
      "epoch": 34.90107913669065,
      "step": 38810,
      "torque_loss": 0.10589317232370377
    },
    {
      "epoch": 34.910071942446045,
      "grad_norm": 0.3293079137802124,
      "learning_rate": 3.0373005332740877e-05,
      "loss": 0.0657,
      "step": 38820
    },
    {
      "action_loss": 0.0039398702792823315,
      "epoch": 34.910071942446045,
      "step": 38820
    },
    {
      "epoch": 34.910071942446045,
      "step": 38820,
      "torque_loss": 0.09099968522787094
    },
    {
      "epoch": 34.919064748201436,
      "grad_norm": 0.24090509116649628,
      "learning_rate": 3.034766241463013e-05,
      "loss": 0.053,
      "step": 38830
    },
    {
      "action_loss": 0.001289478619582951,
      "epoch": 34.919064748201436,
      "step": 38830
    },
    {
      "epoch": 34.919064748201436,
      "step": 38830,
      "torque_loss": 0.04339016601443291
    },
    {
      "epoch": 34.92805755395683,
      "grad_norm": 0.28679075837135315,
      "learning_rate": 3.032232546638064e-05,
      "loss": 0.045,
      "step": 38840
    },
    {
      "action_loss": 0.004168445710092783,
      "epoch": 34.92805755395683,
      "step": 38840
    },
    {
      "epoch": 34.92805755395683,
      "step": 38840,
      "torque_loss": 0.09062165766954422
    },
    {
      "epoch": 34.93705035971223,
      "grad_norm": 0.3355144262313843,
      "learning_rate": 3.0296994495689114e-05,
      "loss": 0.0475,
      "step": 38850
    },
    {
      "action_loss": 0.009954315610229969,
      "epoch": 34.93705035971223,
      "step": 38850
    },
    {
      "epoch": 34.93705035971223,
      "step": 38850,
      "torque_loss": 0.1604011058807373
    },
    {
      "epoch": 34.94604316546763,
      "grad_norm": 0.2800748348236084,
      "learning_rate": 3.0271669510250444e-05,
      "loss": 0.0571,
      "step": 38860
    },
    {
      "action_loss": 0.0016661611152812839,
      "epoch": 34.94604316546763,
      "step": 38860
    },
    {
      "epoch": 34.94604316546763,
      "step": 38860,
      "torque_loss": 0.04229286313056946
    },
    {
      "epoch": 34.95503597122302,
      "grad_norm": 0.2197420299053192,
      "learning_rate": 3.024635051775766e-05,
      "loss": 0.0479,
      "step": 38870
    },
    {
      "action_loss": 0.0019368970533832908,
      "epoch": 34.95503597122302,
      "step": 38870
    },
    {
      "epoch": 34.95503597122302,
      "step": 38870,
      "torque_loss": 0.05749806761741638
    },
    {
      "epoch": 34.96402877697842,
      "grad_norm": 0.2809690237045288,
      "learning_rate": 3.022103752590205e-05,
      "loss": 0.0558,
      "step": 38880
    },
    {
      "action_loss": 0.003845377592369914,
      "epoch": 34.96402877697842,
      "step": 38880
    },
    {
      "epoch": 34.96402877697842,
      "step": 38880,
      "torque_loss": 0.058661241084337234
    },
    {
      "epoch": 34.973021582733814,
      "grad_norm": 0.22352029383182526,
      "learning_rate": 3.0195730542372992e-05,
      "loss": 0.0558,
      "step": 38890
    },
    {
      "action_loss": 0.0065893749706447124,
      "epoch": 34.973021582733814,
      "step": 38890
    },
    {
      "epoch": 34.973021582733814,
      "step": 38890,
      "torque_loss": 0.12281852215528488
    },
    {
      "epoch": 34.98201438848921,
      "grad_norm": 0.2678719460964203,
      "learning_rate": 3.0170429574858084e-05,
      "loss": 0.0448,
      "step": 38900
    },
    {
      "action_loss": 0.007010933477431536,
      "epoch": 34.98201438848921,
      "step": 38900
    },
    {
      "epoch": 34.98201438848921,
      "step": 38900,
      "torque_loss": 0.09836983680725098
    },
    {
      "epoch": 34.9910071942446,
      "grad_norm": 0.20518237352371216,
      "learning_rate": 3.0145134631043127e-05,
      "loss": 0.048,
      "step": 38910
    },
    {
      "action_loss": 0.0026785265654325485,
      "epoch": 34.9910071942446,
      "step": 38910
    },
    {
      "epoch": 34.9910071942446,
      "step": 38910,
      "torque_loss": 0.06681307405233383
    },
    {
      "epoch": 35.0,
      "grad_norm": 0.33923155069351196,
      "learning_rate": 3.0119845718612018e-05,
      "loss": 0.0468,
      "step": 38920
    },
    {
      "action_loss": 0.0023083521518856287,
      "epoch": 35.0,
      "step": 38920
    },
    {
      "epoch": 35.0,
      "step": 38920,
      "torque_loss": 0.0618797205388546
    },
    {
      "epoch": 35.0089928057554,
      "grad_norm": 0.4110211133956909,
      "learning_rate": 3.009456284524688e-05,
      "loss": 0.0597,
      "step": 38930
    },
    {
      "action_loss": 0.005606494378298521,
      "epoch": 35.0089928057554,
      "step": 38930
    },
    {
      "epoch": 35.0089928057554,
      "step": 38930,
      "torque_loss": 0.09061869233846664
    },
    {
      "epoch": 35.01798561151079,
      "grad_norm": 0.21688592433929443,
      "learning_rate": 3.0069286018627967e-05,
      "loss": 0.0545,
      "step": 38940
    },
    {
      "action_loss": 0.005285936873406172,
      "epoch": 35.01798561151079,
      "step": 38940
    },
    {
      "epoch": 35.01798561151079,
      "step": 38940,
      "torque_loss": 0.10877611488103867
    },
    {
      "epoch": 35.026978417266186,
      "grad_norm": 0.23105934262275696,
      "learning_rate": 3.0044015246433743e-05,
      "loss": 0.0663,
      "step": 38950
    },
    {
      "action_loss": 0.010837581939995289,
      "epoch": 35.026978417266186,
      "step": 38950
    },
    {
      "epoch": 35.026978417266186,
      "step": 38950,
      "torque_loss": 0.12946277856826782
    },
    {
      "epoch": 35.03597122302158,
      "grad_norm": 0.32567575573921204,
      "learning_rate": 3.0018750536340755e-05,
      "loss": 0.0535,
      "step": 38960
    },
    {
      "action_loss": 0.021463856101036072,
      "epoch": 35.03597122302158,
      "step": 38960
    },
    {
      "epoch": 35.03597122302158,
      "step": 38960,
      "torque_loss": 0.18757779896259308
    },
    {
      "epoch": 35.04496402877698,
      "grad_norm": 0.2596427798271179,
      "learning_rate": 2.999349189602378e-05,
      "loss": 0.0859,
      "step": 38970
    },
    {
      "action_loss": 0.0018907474586740136,
      "epoch": 35.04496402877698,
      "step": 38970
    },
    {
      "epoch": 35.04496402877698,
      "step": 38970,
      "torque_loss": 0.04068891704082489
    },
    {
      "epoch": 35.05395683453237,
      "grad_norm": 0.27674704790115356,
      "learning_rate": 2.9968239333155733e-05,
      "loss": 0.0462,
      "step": 38980
    },
    {
      "action_loss": 0.010119394399225712,
      "epoch": 35.05395683453237,
      "step": 38980
    },
    {
      "epoch": 35.05395683453237,
      "step": 38980,
      "torque_loss": 0.09141095727682114
    },
    {
      "epoch": 35.06294964028777,
      "grad_norm": 0.2225031554698944,
      "learning_rate": 2.994299285540767e-05,
      "loss": 0.0521,
      "step": 38990
    },
    {
      "action_loss": 0.0011943575227633119,
      "epoch": 35.06294964028777,
      "step": 38990
    },
    {
      "epoch": 35.06294964028777,
      "step": 38990,
      "torque_loss": 0.041404519230127335
    },
    {
      "epoch": 35.07194244604317,
      "grad_norm": 0.3242126405239105,
      "learning_rate": 2.9917752470448813e-05,
      "loss": 0.0544,
      "step": 39000
    },
    {
      "action_loss": 0.0018637696048244834,
      "epoch": 35.07194244604317,
      "step": 39000
    },
    {
      "epoch": 35.07194244604317,
      "step": 39000,
      "torque_loss": 0.050159797072410583
    },
    {
      "epoch": 35.080935251798564,
      "grad_norm": 0.2363380640745163,
      "learning_rate": 2.9892518185946495e-05,
      "loss": 0.0468,
      "step": 39010
    },
    {
      "action_loss": 0.003272888483479619,
      "epoch": 35.080935251798564,
      "step": 39010
    },
    {
      "epoch": 35.080935251798564,
      "step": 39010,
      "torque_loss": 0.06901510804891586
    },
    {
      "epoch": 35.089928057553955,
      "grad_norm": 0.2781916856765747,
      "learning_rate": 2.986729000956624e-05,
      "loss": 0.0568,
      "step": 39020
    },
    {
      "action_loss": 0.005960026755928993,
      "epoch": 35.089928057553955,
      "step": 39020
    },
    {
      "epoch": 35.089928057553955,
      "step": 39020,
      "torque_loss": 0.08732350915670395
    },
    {
      "epoch": 35.09892086330935,
      "grad_norm": 0.28933387994766235,
      "learning_rate": 2.9842067948971736e-05,
      "loss": 0.055,
      "step": 39030
    },
    {
      "action_loss": 0.001988996984437108,
      "epoch": 35.09892086330935,
      "step": 39030
    },
    {
      "epoch": 35.09892086330935,
      "step": 39030,
      "torque_loss": 0.07515210658311844
    },
    {
      "epoch": 35.10791366906475,
      "grad_norm": 0.2521302103996277,
      "learning_rate": 2.9816852011824727e-05,
      "loss": 0.0441,
      "step": 39040
    },
    {
      "action_loss": 0.0016894437139853835,
      "epoch": 35.10791366906475,
      "step": 39040
    },
    {
      "epoch": 35.10791366906475,
      "step": 39040,
      "torque_loss": 0.08108695596456528
    },
    {
      "epoch": 35.11690647482014,
      "grad_norm": 0.21283851563930511,
      "learning_rate": 2.979164220578519e-05,
      "loss": 0.0567,
      "step": 39050
    },
    {
      "action_loss": 0.0013162953546270728,
      "epoch": 35.11690647482014,
      "step": 39050
    },
    {
      "epoch": 35.11690647482014,
      "step": 39050,
      "torque_loss": 0.05106915161013603
    },
    {
      "epoch": 35.12589928057554,
      "grad_norm": 0.34390076994895935,
      "learning_rate": 2.9766438538511165e-05,
      "loss": 0.0548,
      "step": 39060
    },
    {
      "action_loss": 0.0023420408833771944,
      "epoch": 35.12589928057554,
      "step": 39060
    },
    {
      "epoch": 35.12589928057554,
      "step": 39060,
      "torque_loss": 0.05675308406352997
    },
    {
      "epoch": 35.134892086330936,
      "grad_norm": 0.2743828594684601,
      "learning_rate": 2.9741241017658873e-05,
      "loss": 0.0491,
      "step": 39070
    },
    {
      "action_loss": 0.0029054787009954453,
      "epoch": 35.134892086330936,
      "step": 39070
    },
    {
      "epoch": 35.134892086330936,
      "step": 39070,
      "torque_loss": 0.08222448825836182
    },
    {
      "epoch": 35.143884892086334,
      "grad_norm": 0.2878972291946411,
      "learning_rate": 2.971604965088267e-05,
      "loss": 0.0523,
      "step": 39080
    },
    {
      "action_loss": 0.0036751972511410713,
      "epoch": 35.143884892086334,
      "step": 39080
    },
    {
      "epoch": 35.143884892086334,
      "step": 39080,
      "torque_loss": 0.053437769412994385
    },
    {
      "epoch": 35.152877697841724,
      "grad_norm": 0.2281772494316101,
      "learning_rate": 2.9690864445835008e-05,
      "loss": 0.0462,
      "step": 39090
    },
    {
      "action_loss": 0.007134587038308382,
      "epoch": 35.152877697841724,
      "step": 39090
    },
    {
      "epoch": 35.152877697841724,
      "step": 39090,
      "torque_loss": 0.07925034314393997
    },
    {
      "epoch": 35.16187050359712,
      "grad_norm": 0.41007092595100403,
      "learning_rate": 2.966568541016651e-05,
      "loss": 0.0665,
      "step": 39100
    },
    {
      "action_loss": 0.0013106971746310592,
      "epoch": 35.16187050359712,
      "step": 39100
    },
    {
      "epoch": 35.16187050359712,
      "step": 39100,
      "torque_loss": 0.044105369597673416
    },
    {
      "epoch": 35.17086330935252,
      "grad_norm": 0.29020464420318604,
      "learning_rate": 2.9640512551525867e-05,
      "loss": 0.0556,
      "step": 39110
    },
    {
      "action_loss": 0.0024503336753696203,
      "epoch": 35.17086330935252,
      "step": 39110
    },
    {
      "epoch": 35.17086330935252,
      "step": 39110,
      "torque_loss": 0.08698854595422745
    },
    {
      "epoch": 35.17985611510792,
      "grad_norm": 0.2974553108215332,
      "learning_rate": 2.961534587755995e-05,
      "loss": 0.0546,
      "step": 39120
    },
    {
      "action_loss": 0.0030016840901225805,
      "epoch": 35.17985611510792,
      "step": 39120
    },
    {
      "epoch": 35.17985611510792,
      "step": 39120,
      "torque_loss": 0.08910578489303589
    },
    {
      "epoch": 35.18884892086331,
      "grad_norm": 0.30446434020996094,
      "learning_rate": 2.959018539591375e-05,
      "loss": 0.0639,
      "step": 39130
    },
    {
      "action_loss": 0.004359475802630186,
      "epoch": 35.18884892086331,
      "step": 39130
    },
    {
      "epoch": 35.18884892086331,
      "step": 39130,
      "torque_loss": 0.08890210837125778
    },
    {
      "epoch": 35.197841726618705,
      "grad_norm": 0.3289213478565216,
      "learning_rate": 2.9565031114230325e-05,
      "loss": 0.0549,
      "step": 39140
    },
    {
      "action_loss": 0.003926787059754133,
      "epoch": 35.197841726618705,
      "step": 39140
    },
    {
      "epoch": 35.197841726618705,
      "step": 39140,
      "torque_loss": 0.07387750595808029
    },
    {
      "epoch": 35.2068345323741,
      "grad_norm": 0.3056769073009491,
      "learning_rate": 2.9539883040150895e-05,
      "loss": 0.0507,
      "step": 39150
    },
    {
      "action_loss": 0.0035679449792951345,
      "epoch": 35.2068345323741,
      "step": 39150
    },
    {
      "epoch": 35.2068345323741,
      "step": 39150,
      "torque_loss": 0.09238455444574356
    },
    {
      "epoch": 35.21582733812949,
      "grad_norm": 0.25227952003479004,
      "learning_rate": 2.9514741181314774e-05,
      "loss": 0.0572,
      "step": 39160
    },
    {
      "action_loss": 0.004289575386792421,
      "epoch": 35.21582733812949,
      "step": 39160
    },
    {
      "epoch": 35.21582733812949,
      "step": 39160,
      "torque_loss": 0.09730847924947739
    },
    {
      "epoch": 35.22482014388489,
      "grad_norm": 0.28557685017585754,
      "learning_rate": 2.94896055453594e-05,
      "loss": 0.0396,
      "step": 39170
    },
    {
      "action_loss": 0.0019596421625465155,
      "epoch": 35.22482014388489,
      "step": 39170
    },
    {
      "epoch": 35.22482014388489,
      "step": 39170,
      "torque_loss": 0.058082204312086105
    },
    {
      "epoch": 35.23381294964029,
      "grad_norm": 0.23024237155914307,
      "learning_rate": 2.9464476139920332e-05,
      "loss": 0.0488,
      "step": 39180
    },
    {
      "action_loss": 0.005247674882411957,
      "epoch": 35.23381294964029,
      "step": 39180
    },
    {
      "epoch": 35.23381294964029,
      "step": 39180,
      "torque_loss": 0.0967283844947815
    },
    {
      "epoch": 35.242805755395686,
      "grad_norm": 0.3448805809020996,
      "learning_rate": 2.9439352972631186e-05,
      "loss": 0.0406,
      "step": 39190
    },
    {
      "action_loss": 0.005998195614665747,
      "epoch": 35.242805755395686,
      "step": 39190
    },
    {
      "epoch": 35.242805755395686,
      "step": 39190,
      "torque_loss": 0.11218118667602539
    },
    {
      "epoch": 35.25179856115108,
      "grad_norm": 0.24258919060230255,
      "learning_rate": 2.9414236051123757e-05,
      "loss": 0.0528,
      "step": 39200
    },
    {
      "action_loss": 0.0017895487835630774,
      "epoch": 35.25179856115108,
      "step": 39200
    },
    {
      "epoch": 35.25179856115108,
      "step": 39200,
      "torque_loss": 0.06704065203666687
    },
    {
      "epoch": 35.260791366906474,
      "grad_norm": 0.27932196855545044,
      "learning_rate": 2.938912538302785e-05,
      "loss": 0.0481,
      "step": 39210
    },
    {
      "action_loss": 0.003033614717423916,
      "epoch": 35.260791366906474,
      "step": 39210
    },
    {
      "epoch": 35.260791366906474,
      "step": 39210,
      "torque_loss": 0.0940064787864685
    },
    {
      "epoch": 35.26978417266187,
      "grad_norm": 0.4576978385448456,
      "learning_rate": 2.9364020975971464e-05,
      "loss": 0.0434,
      "step": 39220
    },
    {
      "action_loss": 0.001869362429715693,
      "epoch": 35.26978417266187,
      "step": 39220
    },
    {
      "epoch": 35.26978417266187,
      "step": 39220,
      "torque_loss": 0.08103983849287033
    },
    {
      "epoch": 35.27877697841727,
      "grad_norm": 0.3051412105560303,
      "learning_rate": 2.9338922837580657e-05,
      "loss": 0.0534,
      "step": 39230
    },
    {
      "action_loss": 0.004068082198500633,
      "epoch": 35.27877697841727,
      "step": 39230
    },
    {
      "epoch": 35.27877697841727,
      "step": 39230,
      "torque_loss": 0.07556071132421494
    },
    {
      "epoch": 35.28776978417266,
      "grad_norm": 0.3033774495124817,
      "learning_rate": 2.931383097547955e-05,
      "loss": 0.0539,
      "step": 39240
    },
    {
      "action_loss": 0.007048665080219507,
      "epoch": 35.28776978417266,
      "step": 39240
    },
    {
      "epoch": 35.28776978417266,
      "step": 39240,
      "torque_loss": 0.12211830168962479
    },
    {
      "epoch": 35.29676258992806,
      "grad_norm": 0.39261990785598755,
      "learning_rate": 2.928874539729043e-05,
      "loss": 0.057,
      "step": 39250
    },
    {
      "action_loss": 0.003163845045492053,
      "epoch": 35.29676258992806,
      "step": 39250
    },
    {
      "epoch": 35.29676258992806,
      "step": 39250,
      "torque_loss": 0.06300396472215652
    },
    {
      "epoch": 35.305755395683455,
      "grad_norm": 0.3206816613674164,
      "learning_rate": 2.926366611063358e-05,
      "loss": 0.0458,
      "step": 39260
    },
    {
      "action_loss": 0.0053705014288425446,
      "epoch": 35.305755395683455,
      "step": 39260
    },
    {
      "epoch": 35.305755395683455,
      "step": 39260,
      "torque_loss": 0.09789454936981201
    },
    {
      "epoch": 35.314748201438846,
      "grad_norm": 0.24568654596805573,
      "learning_rate": 2.9238593123127463e-05,
      "loss": 0.05,
      "step": 39270
    },
    {
      "action_loss": 0.0025020402390509844,
      "epoch": 35.314748201438846,
      "step": 39270
    },
    {
      "epoch": 35.314748201438846,
      "step": 39270,
      "torque_loss": 0.0451844185590744
    },
    {
      "epoch": 35.32374100719424,
      "grad_norm": 0.34569206833839417,
      "learning_rate": 2.9213526442388583e-05,
      "loss": 0.0418,
      "step": 39280
    },
    {
      "action_loss": 0.0012809688923880458,
      "epoch": 35.32374100719424,
      "step": 39280
    },
    {
      "epoch": 35.32374100719424,
      "step": 39280,
      "torque_loss": 0.060299623757600784
    },
    {
      "epoch": 35.33273381294964,
      "grad_norm": 0.24298079311847687,
      "learning_rate": 2.9188466076031545e-05,
      "loss": 0.0441,
      "step": 39290
    },
    {
      "action_loss": 0.0018490668153390288,
      "epoch": 35.33273381294964,
      "step": 39290
    },
    {
      "epoch": 35.33273381294964,
      "step": 39290,
      "torque_loss": 0.06250990182161331
    },
    {
      "epoch": 35.34172661870504,
      "grad_norm": 0.27215972542762756,
      "learning_rate": 2.9163412031669012e-05,
      "loss": 0.0477,
      "step": 39300
    },
    {
      "action_loss": 0.004573144018650055,
      "epoch": 35.34172661870504,
      "step": 39300
    },
    {
      "epoch": 35.34172661870504,
      "step": 39300,
      "torque_loss": 0.0998997688293457
    },
    {
      "epoch": 35.35071942446043,
      "grad_norm": 0.32827481627464294,
      "learning_rate": 2.913836431691175e-05,
      "loss": 0.0607,
      "step": 39310
    },
    {
      "action_loss": 0.0008643201435916126,
      "epoch": 35.35071942446043,
      "step": 39310
    },
    {
      "epoch": 35.35071942446043,
      "step": 39310,
      "torque_loss": 0.04410867765545845
    },
    {
      "epoch": 35.35971223021583,
      "grad_norm": 0.2964474856853485,
      "learning_rate": 2.9113322939368583e-05,
      "loss": 0.0615,
      "step": 39320
    },
    {
      "action_loss": 0.002544696442782879,
      "epoch": 35.35971223021583,
      "step": 39320
    },
    {
      "epoch": 35.35971223021583,
      "step": 39320,
      "torque_loss": 0.052108000963926315
    },
    {
      "epoch": 35.368705035971225,
      "grad_norm": 0.557138204574585,
      "learning_rate": 2.9088287906646427e-05,
      "loss": 0.0626,
      "step": 39330
    },
    {
      "action_loss": 0.005983924958854914,
      "epoch": 35.368705035971225,
      "step": 39330
    },
    {
      "epoch": 35.368705035971225,
      "step": 39330,
      "torque_loss": 0.12492441385984421
    },
    {
      "epoch": 35.37769784172662,
      "grad_norm": 0.3065059185028076,
      "learning_rate": 2.906325922635024e-05,
      "loss": 0.0555,
      "step": 39340
    },
    {
      "action_loss": 0.0010930727003142238,
      "epoch": 35.37769784172662,
      "step": 39340
    },
    {
      "epoch": 35.37769784172662,
      "step": 39340,
      "torque_loss": 0.055405180901288986
    },
    {
      "epoch": 35.38669064748201,
      "grad_norm": 0.3170100748538971,
      "learning_rate": 2.903823690608313e-05,
      "loss": 0.0401,
      "step": 39350
    },
    {
      "action_loss": 0.003669436788186431,
      "epoch": 35.38669064748201,
      "step": 39350
    },
    {
      "epoch": 35.38669064748201,
      "step": 39350,
      "torque_loss": 0.07924158126115799
    },
    {
      "epoch": 35.39568345323741,
      "grad_norm": 0.2805895507335663,
      "learning_rate": 2.9013220953446174e-05,
      "loss": 0.0512,
      "step": 39360
    },
    {
      "action_loss": 0.0023347302339971066,
      "epoch": 35.39568345323741,
      "step": 39360
    },
    {
      "epoch": 35.39568345323741,
      "step": 39360,
      "torque_loss": 0.057221412658691406
    },
    {
      "epoch": 35.40467625899281,
      "grad_norm": 0.3034849762916565,
      "learning_rate": 2.8988211376038564e-05,
      "loss": 0.046,
      "step": 39370
    },
    {
      "action_loss": 0.00150105485226959,
      "epoch": 35.40467625899281,
      "step": 39370
    },
    {
      "epoch": 35.40467625899281,
      "step": 39370,
      "torque_loss": 0.0801461860537529
    },
    {
      "epoch": 35.4136690647482,
      "grad_norm": 0.2527206242084503,
      "learning_rate": 2.8963208181457564e-05,
      "loss": 0.0534,
      "step": 39380
    },
    {
      "action_loss": 0.02687050960958004,
      "epoch": 35.4136690647482,
      "step": 39380
    },
    {
      "epoch": 35.4136690647482,
      "step": 39380,
      "torque_loss": 0.10441833734512329
    },
    {
      "epoch": 35.422661870503596,
      "grad_norm": 0.2088402807712555,
      "learning_rate": 2.8938211377298453e-05,
      "loss": 0.0596,
      "step": 39390
    },
    {
      "action_loss": 0.0037989020347595215,
      "epoch": 35.422661870503596,
      "step": 39390
    },
    {
      "epoch": 35.422661870503596,
      "step": 39390,
      "torque_loss": 0.08969030529260635
    },
    {
      "epoch": 35.431654676258994,
      "grad_norm": 0.34175926446914673,
      "learning_rate": 2.8913220971154652e-05,
      "loss": 0.0635,
      "step": 39400
    },
    {
      "action_loss": 0.006289734970778227,
      "epoch": 35.431654676258994,
      "step": 39400
    },
    {
      "epoch": 35.431654676258994,
      "step": 39400,
      "torque_loss": 0.08305517584085464
    },
    {
      "epoch": 35.44064748201439,
      "grad_norm": 0.19793739914894104,
      "learning_rate": 2.888823697061753e-05,
      "loss": 0.0449,
      "step": 39410
    },
    {
      "action_loss": 0.003231540322303772,
      "epoch": 35.44064748201439,
      "step": 39410
    },
    {
      "epoch": 35.44064748201439,
      "step": 39410,
      "torque_loss": 0.0671200156211853
    },
    {
      "epoch": 35.44964028776978,
      "grad_norm": 0.24881984293460846,
      "learning_rate": 2.8863259383276618e-05,
      "loss": 0.0523,
      "step": 39420
    },
    {
      "action_loss": 0.005634593311697245,
      "epoch": 35.44964028776978,
      "step": 39420
    },
    {
      "epoch": 35.44964028776978,
      "step": 39420,
      "torque_loss": 0.09448012709617615
    },
    {
      "epoch": 35.45863309352518,
      "grad_norm": 0.4860468804836273,
      "learning_rate": 2.8838288216719395e-05,
      "loss": 0.0616,
      "step": 39430
    },
    {
      "action_loss": 0.005086854565888643,
      "epoch": 35.45863309352518,
      "step": 39430
    },
    {
      "epoch": 35.45863309352518,
      "step": 39430,
      "torque_loss": 0.08472660183906555
    },
    {
      "epoch": 35.46762589928058,
      "grad_norm": 0.3677115738391876,
      "learning_rate": 2.8813323478531484e-05,
      "loss": 0.0472,
      "step": 39440
    },
    {
      "action_loss": 0.0021078467834740877,
      "epoch": 35.46762589928058,
      "step": 39440
    },
    {
      "epoch": 35.46762589928058,
      "step": 39440,
      "torque_loss": 0.06446368247270584
    },
    {
      "epoch": 35.476618705035975,
      "grad_norm": 0.3234059810638428,
      "learning_rate": 2.8788365176296496e-05,
      "loss": 0.0649,
      "step": 39450
    },
    {
      "action_loss": 0.0028734728693962097,
      "epoch": 35.476618705035975,
      "step": 39450
    },
    {
      "epoch": 35.476618705035975,
      "step": 39450,
      "torque_loss": 0.0781412422657013
    },
    {
      "epoch": 35.485611510791365,
      "grad_norm": 0.3224029839038849,
      "learning_rate": 2.876341331759611e-05,
      "loss": 0.0436,
      "step": 39460
    },
    {
      "action_loss": 0.004972123075276613,
      "epoch": 35.485611510791365,
      "step": 39460
    },
    {
      "epoch": 35.485611510791365,
      "step": 39460,
      "torque_loss": 0.06509286910295486
    },
    {
      "epoch": 35.49460431654676,
      "grad_norm": 0.23750536143779755,
      "learning_rate": 2.8738467910010036e-05,
      "loss": 0.0562,
      "step": 39470
    },
    {
      "action_loss": 0.006143095437437296,
      "epoch": 35.49460431654676,
      "step": 39470
    },
    {
      "epoch": 35.49460431654676,
      "step": 39470,
      "torque_loss": 0.0758875235915184
    },
    {
      "epoch": 35.50359712230216,
      "grad_norm": 0.3400069773197174,
      "learning_rate": 2.8713528961116032e-05,
      "loss": 0.0549,
      "step": 39480
    },
    {
      "action_loss": 0.012766629457473755,
      "epoch": 35.50359712230216,
      "step": 39480
    },
    {
      "epoch": 35.50359712230216,
      "step": 39480,
      "torque_loss": 0.10923445224761963
    },
    {
      "epoch": 35.51258992805755,
      "grad_norm": 0.27076154947280884,
      "learning_rate": 2.8688596478489875e-05,
      "loss": 0.0629,
      "step": 39490
    },
    {
      "action_loss": 0.00361534277908504,
      "epoch": 35.51258992805755,
      "step": 39490
    },
    {
      "epoch": 35.51258992805755,
      "step": 39490,
      "torque_loss": 0.06795011460781097
    },
    {
      "epoch": 35.52158273381295,
      "grad_norm": 0.2548551559448242,
      "learning_rate": 2.8663670469705434e-05,
      "loss": 0.0449,
      "step": 39500
    },
    {
      "action_loss": 0.014938871376216412,
      "epoch": 35.52158273381295,
      "step": 39500
    },
    {
      "epoch": 35.52158273381295,
      "step": 39500,
      "torque_loss": 0.12610460817813873
    },
    {
      "epoch": 35.530575539568346,
      "grad_norm": 0.2219255119562149,
      "learning_rate": 2.8638750942334546e-05,
      "loss": 0.0553,
      "step": 39510
    },
    {
      "action_loss": 0.0010457743192091584,
      "epoch": 35.530575539568346,
      "step": 39510
    },
    {
      "epoch": 35.530575539568346,
      "step": 39510,
      "torque_loss": 0.05047034099698067
    },
    {
      "epoch": 35.539568345323744,
      "grad_norm": 0.26296576857566833,
      "learning_rate": 2.8613837903947115e-05,
      "loss": 0.0451,
      "step": 39520
    },
    {
      "action_loss": 0.010227108374238014,
      "epoch": 35.539568345323744,
      "step": 39520
    },
    {
      "epoch": 35.539568345323744,
      "step": 39520,
      "torque_loss": 0.13576458394527435
    },
    {
      "epoch": 35.548561151079134,
      "grad_norm": 0.30922290682792664,
      "learning_rate": 2.858893136211106e-05,
      "loss": 0.0575,
      "step": 39530
    },
    {
      "action_loss": 0.010550090111792088,
      "epoch": 35.548561151079134,
      "step": 39530
    },
    {
      "epoch": 35.548561151079134,
      "step": 39530,
      "torque_loss": 0.10706377029418945
    },
    {
      "epoch": 35.55755395683453,
      "grad_norm": 0.3183472752571106,
      "learning_rate": 2.8564031324392315e-05,
      "loss": 0.0541,
      "step": 39540
    },
    {
      "action_loss": 0.0020321307238191366,
      "epoch": 35.55755395683453,
      "step": 39540
    },
    {
      "epoch": 35.55755395683453,
      "step": 39540,
      "torque_loss": 0.07022081315517426
    },
    {
      "epoch": 35.56654676258993,
      "grad_norm": 0.3215215802192688,
      "learning_rate": 2.85391377983549e-05,
      "loss": 0.0558,
      "step": 39550
    },
    {
      "action_loss": 0.0020871541928499937,
      "epoch": 35.56654676258993,
      "step": 39550
    },
    {
      "epoch": 35.56654676258993,
      "step": 39550,
      "torque_loss": 0.07350979000329971
    },
    {
      "epoch": 35.57553956834532,
      "grad_norm": 0.2869607210159302,
      "learning_rate": 2.851425079156075e-05,
      "loss": 0.0497,
      "step": 39560
    },
    {
      "action_loss": 0.005214788019657135,
      "epoch": 35.57553956834532,
      "step": 39560
    },
    {
      "epoch": 35.57553956834532,
      "step": 39560,
      "torque_loss": 0.12563945353031158
    },
    {
      "epoch": 35.58453237410072,
      "grad_norm": 0.3436306416988373,
      "learning_rate": 2.848937031156994e-05,
      "loss": 0.0539,
      "step": 39570
    },
    {
      "action_loss": 0.0017264533089473844,
      "epoch": 35.58453237410072,
      "step": 39570
    },
    {
      "epoch": 35.58453237410072,
      "step": 39570,
      "torque_loss": 0.04041733965277672
    },
    {
      "epoch": 35.593525179856115,
      "grad_norm": 0.29979845881462097,
      "learning_rate": 2.846449636594044e-05,
      "loss": 0.0579,
      "step": 39580
    },
    {
      "action_loss": 0.00956295058131218,
      "epoch": 35.593525179856115,
      "step": 39580
    },
    {
      "epoch": 35.593525179856115,
      "step": 39580,
      "torque_loss": 0.09863210469484329
    },
    {
      "epoch": 35.60251798561151,
      "grad_norm": 0.3589041531085968,
      "learning_rate": 2.843962896222836e-05,
      "loss": 0.0484,
      "step": 39590
    },
    {
      "action_loss": 0.0025563451927155256,
      "epoch": 35.60251798561151,
      "step": 39590
    },
    {
      "epoch": 35.60251798561151,
      "step": 39590,
      "torque_loss": 0.06457792967557907
    },
    {
      "epoch": 35.611510791366904,
      "grad_norm": 0.252210795879364,
      "learning_rate": 2.8414768107987722e-05,
      "loss": 0.0553,
      "step": 39600
    },
    {
      "action_loss": 0.005316292401403189,
      "epoch": 35.611510791366904,
      "step": 39600
    },
    {
      "epoch": 35.611510791366904,
      "step": 39600,
      "torque_loss": 0.059460800141096115
    },
    {
      "epoch": 35.6205035971223,
      "grad_norm": 0.271744966506958,
      "learning_rate": 2.838991381077061e-05,
      "loss": 0.0595,
      "step": 39610
    },
    {
      "action_loss": 0.006635343190282583,
      "epoch": 35.6205035971223,
      "step": 39610
    },
    {
      "epoch": 35.6205035971223,
      "step": 39610,
      "torque_loss": 0.08689885586500168
    },
    {
      "epoch": 35.6294964028777,
      "grad_norm": 0.3865700662136078,
      "learning_rate": 2.83650660781271e-05,
      "loss": 0.0489,
      "step": 39620
    },
    {
      "action_loss": 0.001965229632332921,
      "epoch": 35.6294964028777,
      "step": 39620
    },
    {
      "epoch": 35.6294964028777,
      "step": 39620,
      "torque_loss": 0.045382797718048096
    },
    {
      "epoch": 35.638489208633096,
      "grad_norm": 0.3120872676372528,
      "learning_rate": 2.8340224917605285e-05,
      "loss": 0.0444,
      "step": 39630
    },
    {
      "action_loss": 0.0034629330039024353,
      "epoch": 35.638489208633096,
      "step": 39630
    },
    {
      "epoch": 35.638489208633096,
      "step": 39630,
      "torque_loss": 0.10302868485450745
    },
    {
      "epoch": 35.64748201438849,
      "grad_norm": 0.28015467524528503,
      "learning_rate": 2.831539033675122e-05,
      "loss": 0.0579,
      "step": 39640
    },
    {
      "action_loss": 0.0011526461457833648,
      "epoch": 35.64748201438849,
      "step": 39640
    },
    {
      "epoch": 35.64748201438849,
      "step": 39640,
      "torque_loss": 0.04232148453593254
    },
    {
      "epoch": 35.656474820143885,
      "grad_norm": 0.23134773969650269,
      "learning_rate": 2.8290562343109038e-05,
      "loss": 0.0645,
      "step": 39650
    },
    {
      "action_loss": 0.00861335638910532,
      "epoch": 35.656474820143885,
      "step": 39650
    },
    {
      "epoch": 35.656474820143885,
      "step": 39650,
      "torque_loss": 0.09665101766586304
    },
    {
      "epoch": 35.66546762589928,
      "grad_norm": 0.3580179214477539,
      "learning_rate": 2.826574094422082e-05,
      "loss": 0.0435,
      "step": 39660
    },
    {
      "action_loss": 0.002409568289294839,
      "epoch": 35.66546762589928,
      "step": 39660
    },
    {
      "epoch": 35.66546762589928,
      "step": 39660,
      "torque_loss": 0.08891254663467407
    },
    {
      "epoch": 35.67446043165468,
      "grad_norm": 0.20993465185165405,
      "learning_rate": 2.8240926147626645e-05,
      "loss": 0.0607,
      "step": 39670
    },
    {
      "action_loss": 0.0020322203636169434,
      "epoch": 35.67446043165468,
      "step": 39670
    },
    {
      "epoch": 35.67446043165468,
      "step": 39670,
      "torque_loss": 0.05065414309501648
    },
    {
      "epoch": 35.68345323741007,
      "grad_norm": 0.2814153730869293,
      "learning_rate": 2.8216117960864586e-05,
      "loss": 0.0555,
      "step": 39680
    },
    {
      "action_loss": 0.006416769232600927,
      "epoch": 35.68345323741007,
      "step": 39680
    },
    {
      "epoch": 35.68345323741007,
      "step": 39680,
      "torque_loss": 0.13756276667118073
    },
    {
      "epoch": 35.69244604316547,
      "grad_norm": 0.2961360514163971,
      "learning_rate": 2.8191316391470703e-05,
      "loss": 0.0587,
      "step": 39690
    },
    {
      "action_loss": 0.005075001623481512,
      "epoch": 35.69244604316547,
      "step": 39690
    },
    {
      "epoch": 35.69244604316547,
      "step": 39690,
      "torque_loss": 0.08623813837766647
    },
    {
      "epoch": 35.701438848920866,
      "grad_norm": 0.34289178252220154,
      "learning_rate": 2.816652144697911e-05,
      "loss": 0.0713,
      "step": 39700
    },
    {
      "action_loss": 0.0013888954417780042,
      "epoch": 35.701438848920866,
      "step": 39700
    },
    {
      "epoch": 35.701438848920866,
      "step": 39700,
      "torque_loss": 0.049900203943252563
    },
    {
      "epoch": 35.710431654676256,
      "grad_norm": 0.2255123108625412,
      "learning_rate": 2.8141733134921783e-05,
      "loss": 0.062,
      "step": 39710
    },
    {
      "action_loss": 0.0026976726949214935,
      "epoch": 35.710431654676256,
      "step": 39710
    },
    {
      "epoch": 35.710431654676256,
      "step": 39710,
      "torque_loss": 0.07462779432535172
    },
    {
      "epoch": 35.719424460431654,
      "grad_norm": 0.32960045337677,
      "learning_rate": 2.811695146282884e-05,
      "loss": 0.0592,
      "step": 39720
    },
    {
      "action_loss": 0.0028112970758229494,
      "epoch": 35.719424460431654,
      "step": 39720
    },
    {
      "epoch": 35.719424460431654,
      "step": 39720,
      "torque_loss": 0.06344179064035416
    },
    {
      "epoch": 35.72841726618705,
      "grad_norm": 0.3065878450870514,
      "learning_rate": 2.8092176438228212e-05,
      "loss": 0.0504,
      "step": 39730
    },
    {
      "action_loss": 0.0034583155065774918,
      "epoch": 35.72841726618705,
      "step": 39730
    },
    {
      "epoch": 35.72841726618705,
      "step": 39730,
      "torque_loss": 0.07153698056936264
    },
    {
      "epoch": 35.73741007194245,
      "grad_norm": 0.22907477617263794,
      "learning_rate": 2.806740806864598e-05,
      "loss": 0.0571,
      "step": 39740
    },
    {
      "action_loss": 0.006973743438720703,
      "epoch": 35.73741007194245,
      "step": 39740
    },
    {
      "epoch": 35.73741007194245,
      "step": 39740,
      "torque_loss": 0.13871540129184723
    },
    {
      "epoch": 35.74640287769784,
      "grad_norm": 0.27405500411987305,
      "learning_rate": 2.804264636160604e-05,
      "loss": 0.0492,
      "step": 39750
    },
    {
      "action_loss": 0.006654342170804739,
      "epoch": 35.74640287769784,
      "step": 39750
    },
    {
      "epoch": 35.74640287769784,
      "step": 39750,
      "torque_loss": 0.11758449673652649
    },
    {
      "epoch": 35.75539568345324,
      "grad_norm": 0.27996891736984253,
      "learning_rate": 2.8017891324630402e-05,
      "loss": 0.0491,
      "step": 39760
    },
    {
      "action_loss": 0.004938945639878511,
      "epoch": 35.75539568345324,
      "step": 39760
    },
    {
      "epoch": 35.75539568345324,
      "step": 39760,
      "torque_loss": 0.09470636397600174
    },
    {
      "epoch": 35.764388489208635,
      "grad_norm": 0.41773712635040283,
      "learning_rate": 2.7993142965238976e-05,
      "loss": 0.0548,
      "step": 39770
    },
    {
      "action_loss": 0.0022397746797651052,
      "epoch": 35.764388489208635,
      "step": 39770
    },
    {
      "epoch": 35.764388489208635,
      "step": 39770,
      "torque_loss": 0.05422748997807503
    },
    {
      "epoch": 35.773381294964025,
      "grad_norm": 0.4172411561012268,
      "learning_rate": 2.7968401290949665e-05,
      "loss": 0.0531,
      "step": 39780
    },
    {
      "action_loss": 0.007150414865463972,
      "epoch": 35.773381294964025,
      "step": 39780
    },
    {
      "epoch": 35.773381294964025,
      "step": 39780,
      "torque_loss": 0.12319376319646835
    },
    {
      "epoch": 35.78237410071942,
      "grad_norm": 0.22979363799095154,
      "learning_rate": 2.7943666309278328e-05,
      "loss": 0.0499,
      "step": 39790
    },
    {
      "action_loss": 0.003334498731419444,
      "epoch": 35.78237410071942,
      "step": 39790
    },
    {
      "epoch": 35.78237410071942,
      "step": 39790,
      "torque_loss": 0.07424802333116531
    },
    {
      "epoch": 35.79136690647482,
      "grad_norm": 0.2620571255683899,
      "learning_rate": 2.7918938027738783e-05,
      "loss": 0.0568,
      "step": 39800
    },
    {
      "action_loss": 0.0016169935697689652,
      "epoch": 35.79136690647482,
      "step": 39800
    },
    {
      "epoch": 35.79136690647482,
      "step": 39800,
      "torque_loss": 0.06668872386217117
    },
    {
      "epoch": 35.80035971223022,
      "grad_norm": 0.2505740821361542,
      "learning_rate": 2.789421645384287e-05,
      "loss": 0.0403,
      "step": 39810
    },
    {
      "action_loss": 0.0474495105445385,
      "epoch": 35.80035971223022,
      "step": 39810
    },
    {
      "epoch": 35.80035971223022,
      "step": 39810,
      "torque_loss": 0.16158294677734375
    },
    {
      "epoch": 35.80935251798561,
      "grad_norm": 0.24452057480812073,
      "learning_rate": 2.786950159510032e-05,
      "loss": 0.0555,
      "step": 39820
    },
    {
      "action_loss": 0.0025357739068567753,
      "epoch": 35.80935251798561,
      "step": 39820
    },
    {
      "epoch": 35.80935251798561,
      "step": 39820,
      "torque_loss": 0.06945682317018509
    },
    {
      "epoch": 35.818345323741006,
      "grad_norm": 0.3000852167606354,
      "learning_rate": 2.7844793459018876e-05,
      "loss": 0.0517,
      "step": 39830
    },
    {
      "action_loss": 0.0021735166665166616,
      "epoch": 35.818345323741006,
      "step": 39830
    },
    {
      "epoch": 35.818345323741006,
      "step": 39830,
      "torque_loss": 0.05134619399905205
    },
    {
      "epoch": 35.827338129496404,
      "grad_norm": 0.2540571987628937,
      "learning_rate": 2.7820092053104195e-05,
      "loss": 0.0473,
      "step": 39840
    },
    {
      "action_loss": 0.0036756836343556643,
      "epoch": 35.827338129496404,
      "step": 39840
    },
    {
      "epoch": 35.827338129496404,
      "step": 39840,
      "torque_loss": 0.08697953075170517
    },
    {
      "epoch": 35.8363309352518,
      "grad_norm": 0.24116703867912292,
      "learning_rate": 2.7795397384859933e-05,
      "loss": 0.0429,
      "step": 39850
    },
    {
      "action_loss": 0.00705656036734581,
      "epoch": 35.8363309352518,
      "step": 39850
    },
    {
      "epoch": 35.8363309352518,
      "step": 39850,
      "torque_loss": 0.11384273320436478
    },
    {
      "epoch": 35.84532374100719,
      "grad_norm": 0.28967830538749695,
      "learning_rate": 2.7770709461787638e-05,
      "loss": 0.0458,
      "step": 39860
    },
    {
      "action_loss": 0.0016835728893056512,
      "epoch": 35.84532374100719,
      "step": 39860
    },
    {
      "epoch": 35.84532374100719,
      "step": 39860,
      "torque_loss": 0.03367292881011963
    },
    {
      "epoch": 35.85431654676259,
      "grad_norm": 0.2437746822834015,
      "learning_rate": 2.7746028291386915e-05,
      "loss": 0.0434,
      "step": 39870
    },
    {
      "action_loss": 0.0016744928434491158,
      "epoch": 35.85431654676259,
      "step": 39870
    },
    {
      "epoch": 35.85431654676259,
      "step": 39870,
      "torque_loss": 0.05869213119149208
    },
    {
      "epoch": 35.86330935251799,
      "grad_norm": 0.33335521817207336,
      "learning_rate": 2.772135388115519e-05,
      "loss": 0.052,
      "step": 39880
    },
    {
      "action_loss": 0.002350383438169956,
      "epoch": 35.86330935251799,
      "step": 39880
    },
    {
      "epoch": 35.86330935251799,
      "step": 39880,
      "torque_loss": 0.09792587906122208
    },
    {
      "epoch": 35.87230215827338,
      "grad_norm": 0.29550400376319885,
      "learning_rate": 2.7696686238587945e-05,
      "loss": 0.0476,
      "step": 39890
    },
    {
      "action_loss": 0.008746772073209286,
      "epoch": 35.87230215827338,
      "step": 39890
    },
    {
      "epoch": 35.87230215827338,
      "step": 39890,
      "torque_loss": 0.09638889878988266
    },
    {
      "epoch": 35.881294964028775,
      "grad_norm": 0.3712659478187561,
      "learning_rate": 2.7672025371178505e-05,
      "loss": 0.0592,
      "step": 39900
    },
    {
      "action_loss": 0.0012956345453858376,
      "epoch": 35.881294964028775,
      "step": 39900
    },
    {
      "epoch": 35.881294964028775,
      "step": 39900,
      "torque_loss": 0.0535832941532135
    },
    {
      "epoch": 35.89028776978417,
      "grad_norm": 0.2985726296901703,
      "learning_rate": 2.7647371286418238e-05,
      "loss": 0.0437,
      "step": 39910
    },
    {
      "action_loss": 0.005041013937443495,
      "epoch": 35.89028776978417,
      "step": 39910
    },
    {
      "epoch": 35.89028776978417,
      "step": 39910,
      "torque_loss": 0.08920028060674667
    },
    {
      "epoch": 35.89928057553957,
      "grad_norm": 0.23325149714946747,
      "learning_rate": 2.762272399179639e-05,
      "loss": 0.0521,
      "step": 39920
    },
    {
      "action_loss": 0.007838386110961437,
      "epoch": 35.89928057553957,
      "step": 39920
    },
    {
      "epoch": 35.89928057553957,
      "step": 39920,
      "torque_loss": 0.09586736559867859
    },
    {
      "epoch": 35.90827338129496,
      "grad_norm": 0.24637407064437866,
      "learning_rate": 2.7598083494800154e-05,
      "loss": 0.0517,
      "step": 39930
    },
    {
      "action_loss": 0.012690332718193531,
      "epoch": 35.90827338129496,
      "step": 39930
    },
    {
      "epoch": 35.90827338129496,
      "step": 39930,
      "torque_loss": 0.1213272213935852
    },
    {
      "epoch": 35.91726618705036,
      "grad_norm": 0.344461590051651,
      "learning_rate": 2.7573449802914664e-05,
      "loss": 0.0591,
      "step": 39940
    },
    {
      "action_loss": 0.0024823390413075686,
      "epoch": 35.91726618705036,
      "step": 39940
    },
    {
      "epoch": 35.91726618705036,
      "step": 39940,
      "torque_loss": 0.07592912018299103
    },
    {
      "epoch": 35.92625899280576,
      "grad_norm": 0.3549812436103821,
      "learning_rate": 2.7548822923622964e-05,
      "loss": 0.0429,
      "step": 39950
    },
    {
      "action_loss": 0.0015605208463966846,
      "epoch": 35.92625899280576,
      "step": 39950
    },
    {
      "epoch": 35.92625899280576,
      "step": 39950,
      "torque_loss": 0.05959552526473999
    },
    {
      "epoch": 35.935251798561154,
      "grad_norm": 0.3000171482563019,
      "learning_rate": 2.752420286440609e-05,
      "loss": 0.051,
      "step": 39960
    },
    {
      "action_loss": 0.0008055532234720886,
      "epoch": 35.935251798561154,
      "step": 39960
    },
    {
      "epoch": 35.935251798561154,
      "step": 39960,
      "torque_loss": 0.05820358917117119
    },
    {
      "epoch": 35.944244604316545,
      "grad_norm": 0.28951495885849,
      "learning_rate": 2.749958963274295e-05,
      "loss": 0.0519,
      "step": 39970
    },
    {
      "action_loss": 0.005666801240295172,
      "epoch": 35.944244604316545,
      "step": 39970
    },
    {
      "epoch": 35.944244604316545,
      "step": 39970,
      "torque_loss": 0.1030765250325203
    },
    {
      "epoch": 35.95323741007194,
      "grad_norm": 0.3269881308078766,
      "learning_rate": 2.747498323611039e-05,
      "loss": 0.0592,
      "step": 39980
    },
    {
      "action_loss": 0.0010796411661431193,
      "epoch": 35.95323741007194,
      "step": 39980
    },
    {
      "epoch": 35.95323741007194,
      "step": 39980,
      "torque_loss": 0.03995769843459129
    },
    {
      "epoch": 35.96223021582734,
      "grad_norm": 0.19677650928497314,
      "learning_rate": 2.7450383681983184e-05,
      "loss": 0.0418,
      "step": 39990
    },
    {
      "action_loss": 0.0036199346650391817,
      "epoch": 35.96223021582734,
      "step": 39990
    },
    {
      "epoch": 35.96223021582734,
      "step": 39990,
      "torque_loss": 0.11065011471509933
    },
    {
      "epoch": 35.97122302158273,
      "grad_norm": 0.32281750440597534,
      "learning_rate": 2.742579097783403e-05,
      "loss": 0.0521,
      "step": 40000
    }
  ],
  "logging_steps": 10,
  "max_steps": 60000,
  "num_input_tokens_seen": 0,
  "num_train_epochs": 54,
  "save_steps": 10000,
  "stateful_callbacks": {
    "TrainerControl": {
      "args": {
        "should_epoch_stop": false,
        "should_evaluate": false,
        "should_log": false,
        "should_save": true,
        "should_training_stop": false
      },
      "attributes": {}
    }
  },
  "total_flos": 0.0,
  "train_batch_size": 16,
  "trial_name": null,
  "trial_params": null
}