Initial commit

Browse files

Files changed (12) hide show

README.md +1 -1
config.json +1 -1
replay.mp4 +0 -0
results.json +1 -1
sac-PandaPickAndPlaceJointsDense-v3.zip +2 -2
sac-PandaPickAndPlaceJointsDense-v3/actor.optimizer.pth +1 -1
sac-PandaPickAndPlaceJointsDense-v3/critic.optimizer.pth +1 -1
sac-PandaPickAndPlaceJointsDense-v3/data +25 -25
sac-PandaPickAndPlaceJointsDense-v3/ent_coef_optimizer.pth +1 -1
sac-PandaPickAndPlaceJointsDense-v3/policy.pth +1 -1
sac-PandaPickAndPlaceJointsDense-v3/pytorch_variables.pth +1 -1
vec_normalize.pkl +1 -1

README.md CHANGED Viewed

@@ -16,7 +16,7 @@ model-index:
       type: PandaPickAndPlaceJointsDense-v3
     metrics:
     - type: mean_reward
-      value: -10.04 +/- 4.44
       name: mean_reward
       verified: false
 ---

       type: PandaPickAndPlaceJointsDense-v3
     metrics:
     - type: mean_reward
+      value: -10.52 +/- 2.84
       name: mean_reward
       verified: false
 ---

config.json CHANGED Viewed

@@ -1 +1 @@

- {"policy_class": {":type:": "<class 'abc.ABCMeta'>", ":serialized:": "gAWVNwAAAAAAAACMHnN0YWJsZV9iYXNlbGluZXMzLnNhYy5wb2xpY2llc5SMEE11bHRpSW5wdXRQb2xpY3mUk5Qu", "__module__": "stable_baselines3.sac.policies", "__doc__": "\n Policy class (with both actor and critic) for SAC.\n\n :param observation_space: Observation space\n :param action_space: Action space\n :param lr_schedule: Learning rate schedule (could be constant)\n :param net_arch: The specification of the policy and value networks.\n :param activation_fn: Activation function\n :param use_sde: Whether to use State Dependent Exploration or not\n :param log_std_init: Initial value for the log standard deviation\n :param use_expln: Use ``expln()`` function instead of ``exp()`` when using gSDE to ensure\n a positive standard deviation (cf paper). It allows to keep variance\n above zero and prevent it from growing too fast. In practice, ``exp()`` is usually enough.\n :param clip_mean: Clip the mean output when using gSDE to avoid numerical instability.\n :param features_extractor_class: Features extractor to use.\n :param normalize_images: Whether to normalize images or not,\n dividing by 255.0 (True by default)\n :param optimizer_class: The optimizer to use,\n ``th.optim.Adam`` by default\n :param optimizer_kwargs: Additional keyword arguments,\n excluding the learning rate, to pass to the optimizer\n :param n_critics: Number of critic networks to create.\n :param share_features_extractor: Whether to share or not the features extractor\n between the actor and the critic (this saves computation time)\n ", "__init__": "<function MultiInputPolicy.__init__ at 0x7ef3104e80d0>", "__abstractmethods__": "frozenset()", "_abc_impl": "<_abc._abc_data object at 0x7ef3104e41c0>"}, "verbose": 1, "policy_kwargs": {"use_sde": false}, "num_timesteps": 499592, "_total_timesteps": 1000000, "_num_timesteps_at_start": 0, "seed": null, "action_noise": null, "start_time": 1720282111749259434, "learning_rate": 0.0003, "tensorboard_log": null, "_last_obs": {":type:": "<class 'collections.OrderedDict'>", ":serialized:": "gAWVGwQAAAAAAACMC2NvbGxlY3Rpb25zlIwLT3JkZXJlZERpY3SUk5QpUpQojA1hY2hpZXZlZF9nb2FslIwSbnVtcHkuY29yZS5udW1lcmljlIwLX2Zyb21idWZmZXKUk5QolmAAAAAAAAAAd1ojP94Wj79+7WU9fR4lvjRutr5+7WU9rot8v8vlZb+PGGY9ag7Gvumecj5ZBWY9mCfHP/pwnL+3CGY9cwRFv2/XrL+a+mU9N1piPgzzML9+7WU9IhaHPzN39r4AEmY9lIwFbnVtcHmUjAVkdHlwZZSTlIwCZjSUiYiHlFKUKEsDjAE8lE5OTkr/////Sv////9LAHSUYksISwOGlIwBQ5R0lFKUjAxkZXNpcmVkX2dvYWyUaAcolmAAAAAAAAAAH326vyqu5jxJZy4/Rx83vk/GU78SVeM/4JIvv5O7Mb7+rks/SwSfPwP3zD+lAYS9mvDRvxETqT9bJ9U/jO54P6Yorz/PgIq/aPqfv+F9VD8j7sg/GmWnv/f0rj56iGE/lGgOSwhLA4aUaBJ0lFKUjAtvYnNlcnZhdGlvbpRoByiWYAIAAAAAAACZmEM88SiXP89VBz0ijT67nETYu17iST+CSas/d1ojP94Wj79+7WU9mvqyukdSiDt7UFu84ECpPCnrS7yh9/g8C+8ZPLEUnrtLFLS7rmY+P4Y4K77HxIG+HhbXPogtlD6nteu+3pGnP30eJb40bra+fu1lPaT7srpFUog7OX1QvLtAqTx/60u8gPf4PGPwGTyxFJ67oBK0u+3o/L5F7Ey+Nd96P0uwqr0Z7uq8MzpBvkRGqz+ui3y/y+Vlv48YZj3DLfy6OId3O9xMXrz8ZKc8PC9GvMHq+zzCQek71OkcvIb7urtYn+q+4rGKv4LnjL5Iy1E/SKwzP8WH4b3f/Yo/ag7Gvumecj5ZBWY9hD35um8akzv0Z1i8rOKtPEBOTryh9/g8C+8ZPLAUnrtsLLO7xDf0PUdYC79GBIE/OvZTv/0MIsDk5Us/jkmrP5gnxz/6cJy/twhmPYic27qzy4s7/SMsvK0VtjzqAlS8iPb4PGv3GTz7C567OamMu5sPBj8RJJu9T17JvOZuxT+Av94/+dh9P1b2pj9zBEW/b9esv5r6ZT12ARC7GrKHO0DkS7xyU7M8HPpLvFQH/Dxbf0I8t/iIu76Umbt73fg/2sY1v6bQeT+DH+g930rGvqDcAj91Sas/N1piPgzzML9+7WU9nvqyukdSiDsD7Vi82ECpPC/rS7yh9/g8C+8ZPLEUnrvtE7S7c28gv9Ek7z0cDVC/2irwvjtAX72XboS7PkmrPyIWhz8zd/a+ABJmPYyZ57oAK347qqlhvHKHqDy90lC8off4PCXvGTxoFJ678UnFu5RoDksISxOGlGgSdJRSlHUu", "achieved_goal": "[[ 0.63809913 -1.1178854 0.05613469]\n [-0.16124912 -0.35630953 0.05613469]\n [-0.98650634 -0.8980376 0.05617576]\n [-0.38682872 0.23693432 0.05615744]\n [ 1.5558958 -1.2221978 0.05616065]\n [-0.76959914 -1.3503245 0.0561472 ]\n [ 0.22104727 -0.6912086 0.05613469]\n [ 1.0553629 -0.48137817 0.05616951]]", "desired_goal": "[[-1.4569434 0.02815922 0.6812635 ]\n [-0.17883025 -0.8272447 1.7760336 ]\n [-0.6858349 -0.1735671 0.7956389 ]\n [ 1.2423185 1.6012882 -0.06445626]\n [-1.6401551 1.3208944 1.6652635 ]\n [ 0.97238994 1.368428 -1.0820559 ]\n [-1.2498293 0.83004576 1.5697674 ]\n [-1.3077729 0.34171268 0.8809887 ]]", "observation": "[[ 1.19382376e-02 1.18093693e+00 3.30408178e-02 -2.90758209e-03\n -6.59997575e-03 7.88610339e-01 1.33818078e+00 6.38099134e-01\n -1.11788535e+00 5.61346933e-02 -1.36550074e-03 4.16019885e-03\n -1.33858873e-02 2.06608176e-02 -1.24462033e-02 3.03915162e-02\n 9.39537119e-03 -4.82424395e-03 -5.49558317e-03]\n [ 7.43754268e-01 -1.67207807e-01 -2.53454417e-01 4.20090616e-01\n 2.89409876e-01 -4.60370272e-01 1.30913901e+00 -1.61249116e-01\n -3.56309533e-01 5.61346933e-02 -1.36553170e-03 4.16019792e-03\n -1.27251679e-02 2.06607487e-02 -1.24462834e-02 3.03914547e-02\n 9.39569157e-03 -4.82424395e-03 -5.49538434e-03]\n [-4.93964583e-01 -2.00120047e-01 9.79968369e-01 -8.33440647e-02\n -2.86779869e-02 -1.88698575e-01 1.33808184e+00 -9.86506343e-01\n -8.98037612e-01 5.61757647e-02 -1.92397123e-03 3.77698056e-03\n -1.35681294e-02 2.04338953e-02 -1.20962225e-02 3.07515878e-02\n 7.11843465e-03 -9.57723334e-03 -5.70625346e-03]\n [-4.58246946e-01 -1.08355355e+00 -2.75203764e-01 8.19508076e-01\n 7.01847553e-01 -1.10122241e-01 1.08587253e+00 -3.86828721e-01\n 2.36934319e-01 5.61574437e-02 -1.90155255e-03 4.48923511e-03\n -1.32083781e-02 2.12262496e-02 -1.25918984e-02 3.03915162e-02\n 9.39537119e-03 -4.82424349e-03 -5.46794198e-03]\n [ 1.19246989e-01 -5.44315755e-01 1.00794291e+00 -8.27975869e-01\n -2.53204274e+00 7.96476603e-01 1.33818221e+00 1.55589581e+00\n -1.22219777e+00 5.61606549e-02 -1.67550240e-03 4.26622620e-03\n -1.05066271e-02 2.22271327e-02 -1.29401479e-02 3.03909928e-02\n 9.39736795e-03 -4.82320553e-03 -4.29263385e-03]\n [ 5.23675621e-01 -7.57523850e-02 -2.45811027e-02 1.54244685e+00\n 1.74021912e+00 9.91591990e-01 1.30439258e+00 -7.69599140e-01\n -1.35032451e+00 5.61471954e-02 -2.19735270e-03 4.14110441e-03\n -1.24445558e-02 2.18903758e-02 -1.24497674e-02 3.07652131e-02\n 1.18711842e-02 -4.18003974e-03 -4.68692090e-03]\n [ 1.94425905e+00 -7.10065484e-01 9.75839972e-01 1.13341354e-01\n -3.87289971e-01 5.11178970e-01 1.33817923e+00 2.21047267e-01\n -6.91208601e-01 5.61346933e-02 -1.36550120e-03 4.16019885e-03\n -1.32401017e-02 2.06608027e-02 -1.24462089e-02 3.03915162e-02\n 9.39537119e-03 -4.82424395e-03 -5.49553940e-03]\n [-6.26700580e-01 1.16769440e-01 -8.12700033e-01 -4.69076931e-01\n -5.45046143e-02 -4.04150365e-03 1.33817267e+00 1.05536294e+00\n -4.81378168e-01 5.61695099e-02 -1.76696619e-03 3.87829542e-03\n -1.37733612e-02 2.05723979e-02 -1.27455564e-02 3.03915162e-02\n 9.39539541e-03 -4.82420996e-03 -6.02077739e-03]]"}, "_last_episode_starts": {":type:": "<class 'numpy.ndarray'>", ":serialized:": "gAWVewAAAAAAAACMEm51bXB5LmNvcmUubnVtZXJpY5SMC19mcm9tYnVmZmVylJOUKJYIAAAAAAAAAAEBAQEBAQEBlIwFbnVtcHmUjAVkdHlwZZSTlIwCYjGUiYiHlFKUKEsDjAF8lE5OTkr/////Sv////9LAHSUYksIhZSMAUOUdJRSlC4="}, "_last_original_obs": {":type:": "<class 'collections.OrderedDict'>", ":serialized:": "gAWVGwQAAAAAAACMC2NvbGxlY3Rpb25zlIwLT3JkZXJlZERpY3SUk5QpUpQojA1hY2hpZXZlZF9nb2FslIwSbnVtcHkuY29yZS5udW1lcmljlIwLX2Zyb21idWZmZXKUk5QolmAAAAAAAAAAZZ5nPVTu273Qv6M8nnOEvMxeCb3Qv6M8tdy6vSdFsL2pwaM8Y0cWvcaFxDzWwKM8SmYPPqGl8L37wKM8inOSvdULBb5gwKM8VXGYPNoxh73Qv6M8K4zBPeoLO71hwaM8lIwFbnVtcHmUjAVkdHlwZZSTlIwCZjSUiYiHlFKUKEsDjAE8lE5OTkr/////Sv////9LAHSUYksISwOGlIwBQ5R0lFKUjAxkZXNpcmVkX2dvYWyUaAcolmAAAAAAAAAAhaQCvjy5Rzsijww++Mp8vB1Kkr1zHFc+TGx1vbfVbbwPWRQ+qcrfPWFgDz6+jbM92hoTvjTB7D1gkU8+lEivPQo79T0K16M8vhDgvbQ6lT2TEEk+cXrqvSGc+Dz6KBo+lGgOSwhLA4aUaBJ0lFKUjAtvYnNlcnZhdGlvbpRoByiWYAIAAAAAAACfQU68jxSfPombUj5LD3m9s6FHuqAbhj4E16M9ZZ5nPVTu273Qv6M8WNiMOJI6GzfCQly5jK2pt+rZF7ZARE+sROdLLwzgWy4Xy/u4sofbPQwRKL3byw0+m/QAPRJj1T13JxW+KsKhPZ5zhLzMXgm90L+jPCDWjDg/Ohs3/iMEuPayqbffKxi27zZnsfScNDSfwNIumnD7uKNdw70VPUu9jAXbPp94oL1kuwy863ppvTPVoz213Lq9J0WwvanBozyQJPu2clS+t3nzh7nU/u+3wB+cN2B4qDffZ5y693f2uoxnnLmSZLe9iGqPvo+SCD7l8vI9JjiAPv9yAL27wZE9Y0cWvcaFxDzWwKM8HJmWtl3WGTjz9Sm53x4xNfrAN7fIv4ys9MaUrucRii+3vsq44AWjO0nEDr6UYd4+z5h2vtxsZb8YbIc+C9ejPUpmDz6hpfC9+8CjPC3N1zeGv5c3/+cUOl7XHTjcDgW49mf6slp6jDXbnNw0GFlrOuvBkT3gqYy8jMREPp5+jT5nXB4/4AWoPhRroT2Kc5K91QsFvmDAozwYpzi46oYAN4DsOTifVNM3RR0mtofYrjcfEao6RJ+FOXzkEzrjfJs+ngw7vqCG2j5PLBG9jP8KvsqBLz791qM9VXGYPNoxh73Qv6M8UNiMOIA6Gzc/8zK5vq6pt0XfF7ZAwE+sdiFML673Wy4ct/u4NtzvvaBoBz0ANO877mkmvrdhkbzhiVU73tajPSuMwT3qCzu9YcGjPGuAYjdt+263ZgeluacTxbeiwai3aN84LeSUXDL1pGYyOPcTupRoDksISxOGlGgSdJRSlHUu", "achieved_goal": "[[ 0.05654754 -0.10738817 0.01998892]\n [-0.01616841 -0.03353767 0.01998892]\n [-0.09124128 -0.0860694 0.01998981]\n [-0.03668917 0.02398957 0.01998941]\n [ 0.14003864 -0.11750341 0.01998948]\n [-0.07150944 -0.12992795 0.01998919]\n [ 0.01860873 -0.06601305 0.01998892]\n [ 0.09450563 -0.04566566 0.01998967]]", "desired_goal": "[[-0.12758072 0.00304754 0.13726476]\n [-0.01542925 -0.07143042 0.21006946]\n [-0.05991773 -0.01451629 0.14487098]\n [ 0.10927326 0.1400161 0.0876727 ]\n [-0.14365712 0.11560288 0.202703 ]\n [ 0.08558765 0.11974151 0.02 ]\n [-0.10940693 0.07286587 0.19635229]\n [-0.11449135 0.03034789 0.15054694]]", "observation": "[[-1.25888875e-02 3.10703725e-01 2.05671445e-01 -6.08056001e-02\n -7.61534262e-04 2.61929512e-01 7.99999535e-02 5.65475412e-02\n -1.07388169e-01 1.99889243e-02 6.71601738e-05 9.25235690e-06\n -2.10057042e-04 -2.02271840e-05 -2.26275961e-06 -2.94543556e-12\n 1.85449045e-10 4.99938285e-11 -1.20064411e-04]\n [ 1.07192412e-01 -4.10318822e-02 1.38472959e-01 3.14832740e-02\n 1.04192868e-01 -1.45658359e-01 7.89836198e-02 -1.61684118e-02\n -3.35376710e-02 1.99889243e-02 6.71560410e-05 9.25228142e-06\n -3.15047728e-05 -2.02297051e-05 -2.26753014e-06 -3.36461503e-09\n 1.68209056e-07 9.58391075e-11 -1.19895863e-04]\n [-9.53934416e-02 -4.96187992e-02 4.27776694e-01 -7.83550665e-02\n -8.58959928e-03 -5.70019893e-02 7.99964890e-02 -9.12412778e-02\n -8.60693976e-02 1.99898053e-02 -7.48463935e-06 -2.26890879e-05\n -2.59306078e-04 -2.86096838e-05 1.86114339e-05 2.00832146e-05\n -1.19328115e-03 -1.88040629e-03 -2.98317871e-04]\n [-8.95472914e-02 -2.80109644e-01 1.33371577e-01 1.18627347e-01\n 2.50428379e-01 -3.13596688e-02 7.11702928e-02 -3.66891734e-02\n 2.39895694e-02 1.99894123e-02 -4.48817264e-06 3.66776840e-05\n -1.62087192e-04 6.59825616e-07 -1.09525809e-05 -4.00033132e-12\n -6.76560197e-11 2.51147741e-10 -9.66763400e-05]\n [ 4.97506559e-03 -1.39420643e-01 4.34338212e-01 -2.40817294e-01\n -8.96192312e-01 2.64496565e-01 8.00000057e-02 1.40038639e-01\n -1.17503412e-01 1.99894812e-02 2.57255397e-05 1.80897878e-05\n 5.68032207e-04 3.76322932e-05 -3.17235099e-05 -2.91511064e-08\n 1.04664218e-06 4.10923207e-07 8.97781458e-04]\n [ 7.11706504e-02 -1.71708465e-02 1.92156017e-01 2.76356637e-01\n 6.18597448e-01 3.28169823e-01 7.88175166e-02 -7.15094358e-02\n -1.29927948e-01 1.99891925e-02 -4.40246367e-05 7.66080666e-06\n 4.43276949e-05 2.51925649e-05 -2.47529647e-06 2.08432448e-05\n 1.29750732e-03 2.54863990e-04 5.64165181e-04]\n [ 3.03687185e-01 -1.82665318e-01 4.26808357e-01 -3.54426466e-02\n -1.35740459e-01 1.71393543e-01 7.99999014e-02 1.86087284e-02\n -6.60130531e-02 1.99889243e-02 6.71601156e-05 9.25234053e-06\n -1.70660191e-04 -2.02277406e-05 -2.26307134e-06 -2.95231894e-12\n 1.85655796e-10 5.00148187e-11 -1.20027194e-04]\n [-1.17119238e-01 3.30587626e-02 7.29990005e-03 -1.62513465e-01\n -1.77467894e-02 3.25834029e-03 7.99996704e-02 9.45056304e-02\n -4.56656590e-02 1.99896712e-02 1.35005494e-05 -1.42444451e-05\n -3.14767647e-04 -2.34933814e-05 -2.01173279e-05 1.05087952e-11\n 1.28395392e-08 1.34252689e-08 -5.64444344e-04]]"}, "_episode_num": 10334, "use_sde": false, "sde_sample_freq": -1, "_current_progress_remaining": 0.500408, "_stats_window_size": 100, "ep_info_buffer": {":type:": "<class 'collections.deque'>", ":serialized:": "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"}, "ep_success_buffer": {":type:": "<class 'collections.deque'>", ":serialized:": "gAWVhgAAAAAAAACMC2NvbGxlY3Rpb25zlIwFZGVxdWWUk5QpS2SGlFKUKImJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmIiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiImJiYmJiYllLg=="}, "_n_updates": 62436, "buffer_size": 1000000, "batch_size": 256, "learning_starts": 100, "tau": 0.005, "gamma": 0.99, "gradient_steps": 1, "optimize_memory_usage": false, "replay_buffer_class": {":type:": "<class 'abc.ABCMeta'>", ":serialized:": "gAWVOQAAAAAAAACMIHN0YWJsZV9iYXNlbGluZXMzLmNvbW1vbi5idWZmZXJzlIwQRGljdFJlcGxheUJ1ZmZlcpSTlC4=", "__module__": "stable_baselines3.common.buffers", "__annotations__": "{'observation_space': <class 'gymnasium.spaces.dict.Dict'>, 'obs_shape': typing.Dict[str, typing.Tuple[int, ...]], 'observations': typing.Dict[str, numpy.ndarray], 'next_observations': typing.Dict[str, numpy.ndarray]}", "__doc__": "\n Dict Replay buffer used in off-policy algorithms like SAC/TD3.\n Extends the ReplayBuffer to use dictionary observations\n\n :param buffer_size: Max number of element in the buffer\n :param observation_space: Observation space\n :param action_space: Action space\n :param device: PyTorch device\n :param n_envs: Number of parallel environments\n :param optimize_memory_usage: Enable a memory efficient variant\n Disabled for now (see https://github.com/DLR-RM/stable-baselines3/pull/243#discussion_r531535702)\n :param handle_timeout_termination: Handle timeout termination (due to timelimit)\n separately and treat the task as infinite horizon task.\n https://github.com/DLR-RM/stable-baselines3/issues/284\n ", "__init__": "<function DictReplayBuffer.__init__ at 0x7ef3107df520>", "add": "<function DictReplayBuffer.add at 0x7ef3107df5b0>", "sample": "<function DictReplayBuffer.sample at 0x7ef3107df640>", "_get_samples": "<function DictReplayBuffer._get_samples at 0x7ef3107df6d0>", "__abstractmethods__": "frozenset()", "_abc_impl": "<_abc._abc_data object at 0x7ef3107e3300>"}, "replay_buffer_kwargs": {}, "train_freq": {":type:": "<class 'stable_baselines3.common.type_aliases.TrainFreq'>", ":serialized:": "gAWVYQAAAAAAAACMJXN0YWJsZV9iYXNlbGluZXMzLmNvbW1vbi50eXBlX2FsaWFzZXOUjAlUcmFpbkZyZXGUk5RLAWgAjBJUcmFpbkZyZXF1ZW5jeVVuaXSUk5SMBHN0ZXCUhZRSlIaUgZQu"}, "use_sde_at_warmup": false, "target_entropy": -8.0, "ent_coef": "auto", "target_update_interval": 1, "observation_space": {":type:": "<class 'gymnasium.spaces.dict.Dict'>", ":serialized:": "gAWVMgQAAAAAAACMFWd5bW5hc2l1bS5zcGFjZXMuZGljdJSMBERpY3SUk5QpgZR9lCiMBnNwYWNlc5SMC2NvbGxlY3Rpb25zlIwLT3JkZXJlZERpY3SUk5QpUpQojA1hY2hpZXZlZF9nb2FslIwUZ3ltbmFzaXVtLnNwYWNlcy5ib3iUjANCb3iUk5QpgZR9lCiMBWR0eXBllIwFbnVtcHmUjAVkdHlwZZSTlIwCZjSUiYiHlFKUKEsDjAE8lE5OTkr/////Sv////9LAHSUYowNYm91bmRlZF9iZWxvd5SMEm51bXB5LmNvcmUubnVtZXJpY5SMC19mcm9tYnVmZmVylJOUKJYDAAAAAAAAAAEBAZRoE4wCYjGUiYiHlFKUKEsDjAF8lE5OTkr/////Sv////9LAHSUYksDhZSMAUOUdJRSlIwNYm91bmRlZF9hYm92ZZRoHCiWAwAAAAAAAAABAQGUaCBLA4WUaCR0lFKUjAZfc2hhcGWUSwOFlIwDbG93lGgcKJYMAAAAAAAAAAAAIMEAACDBAAAgwZRoFksDhZRoJHSUUpSMBGhpZ2iUaBwolgwAAAAAAAAAAAAgQQAAIEEAACBBlGgWSwOFlGgkdJRSlIwIbG93X3JlcHKUjAUtMTAuMJSMCWhpZ2hfcmVwcpSMBDEwLjCUjApfbnBfcmFuZG9tlE51YowMZGVzaXJlZF9nb2FslGgNKYGUfZQoaBBoFmgZaBwolgMAAAAAAAAAAQEBlGggSwOFlGgkdJRSlGgnaBwolgMAAAAAAAAAAQEBlGggSwOFlGgkdJRSlGgsSwOFlGguaBwolgwAAAAAAAAAAAAgwQAAIMEAACDBlGgWSwOFlGgkdJRSlGgzaBwolgwAAAAAAAAAAAAgQQAAIEEAACBBlGgWSwOFlGgkdJRSlGg4jAUtMTAuMJRoOowEMTAuMJRoPE51YowLb2JzZXJ2YXRpb26UaA0pgZR9lChoEGgWaBloHCiWEwAAAAAAAAABAQEBAQEBAQEBAQEBAQEBAQEBlGggSxOFlGgkdJRSlGgnaBwolhMAAAAAAAAAAQEBAQEBAQEBAQEBAQEBAQEBAZRoIEsThZRoJHSUUpRoLEsThZRoLmgcKJZMAAAAAAAAAAAAIMEAACDBAAAgwQAAIMEAACDBAAAgwQAAIMEAACDBAAAgwQAAIMEAACDBAAAgwQAAIMEAACDBAAAgwQAAIMEAACDBAAAgwQAAIMGUaBZLE4WUaCR0lFKUaDNoHCiWTAAAAAAAAAAAACBBAAAgQQAAIEEAACBBAAAgQQAAIEEAACBBAAAgQQAAIEEAACBBAAAgQQAAIEEAACBBAAAgQQAAIEEAACBBAAAgQQAAIEEAACBBlGgWSxOFlGgkdJRSlGg4jAUtMTAuMJRoOowEMTAuMJRoPE51YnVoLE5oEE5oPE51Yi4=", "spaces": "OrderedDict([('achieved_goal', Box(-10.0, 10.0, (3,), float32)), ('desired_goal', Box(-10.0, 10.0, (3,), float32)), ('observation', Box(-10.0, 10.0, (19,), float32))])", "_shape": null, "dtype": null, "_np_random": null}, "action_space": {":type:": "<class 'gymnasium.spaces.box.Box'>", ":serialized:": "gAWVeQIAAAAAAACMFGd5bW5hc2l1bS5zcGFjZXMuYm94lIwDQm94lJOUKYGUfZQojAVkdHlwZZSMBW51bXB5lIwFZHR5cGWUk5SMAmY0lImIh5RSlChLA4wBPJROTk5K/////0r/////SwB0lGKMDWJvdW5kZWRfYmVsb3eUjBJudW1weS5jb3JlLm51bWVyaWOUjAtfZnJvbWJ1ZmZlcpSTlCiWCAAAAAAAAAABAQEBAQEBAZRoCIwCYjGUiYiHlFKUKEsDjAF8lE5OTkr/////Sv////9LAHSUYksIhZSMAUOUdJRSlIwNYm91bmRlZF9hYm92ZZRoESiWCAAAAAAAAAABAQEBAQEBAZRoFUsIhZRoGXSUUpSMBl9zaGFwZZRLCIWUjANsb3eUaBEoliAAAAAAAAAAAACAvwAAgL8AAIC/AACAvwAAgL8AAIC/AACAvwAAgL+UaAtLCIWUaBl0lFKUjARoaWdolGgRKJYgAAAAAAAAAAAAgD8AAIA/AACAPwAAgD8AAIA/AACAPwAAgD8AAIA/lGgLSwiFlGgZdJRSlIwIbG93X3JlcHKUjAQtMS4wlIwJaGlnaF9yZXBylIwDMS4wlIwKX25wX3JhbmRvbZSMFG51bXB5LnJhbmRvbS5fcGlja2xllIwQX19nZW5lcmF0b3JfY3RvcpSTlIwFUENHNjSUhZRSlH2UKIwNYml0X2dlbmVyYXRvcpSMBVBDRzY0lIwFc3RhdGWUfZQoaDuKEdSPj2pt8rlywbq+2Mb65IkAjANpbmOUihGJzR4iQp/MEExxHhst5jKRAHWMCmhhc191aW50MzKUSwCMCHVpbnRlZ2VylEsAdWJ1Yi4=", "dtype": "float32", "bounded_below": "[ True True True True True True True True]", "bounded_above": "[ True True True True True True True True]", "_shape": [8], "low": "[-1. -1. -1. -1. -1. -1. -1. -1.]", "high": "[1. 1. 1. 1. 1. 1. 1. 1.]", "low_repr": "-1.0", "high_repr": "1.0", "_np_random": "Generator(PCG64)"}, "n_envs": 8, "lr_schedule": {":type:": "<class 'function'>", ":serialized:": "gAWVuwMAAAAAAACMF2Nsb3VkcGlja2xlLmNsb3VkcGlja2xllIwOX21ha2VfZnVuY3Rpb26Uk5QoaACMDV9idWlsdGluX3R5cGWUk5SMCENvZGVUeXBllIWUUpQoSwFLAEsASwFLA0sTQwx0AIgAfACDAYMBUwCUToWUjAVmbG9hdJSFlIwScHJvZ3Jlc3NfcmVtYWluaW5nlIWUjGUvaG9tZS9ldmdlbmlpL2FuYWNvbmRhMy9lbnZzL2hmX3VuaXRfNS9saWIvcHl0aG9uMy4xMC9zaXRlLXBhY2thZ2VzL3N0YWJsZV9iYXNlbGluZXMzL2NvbW1vbi91dGlscy5weZSMCDxsYW1iZGE+lEthQwIMAJSMDnZhbHVlX3NjaGVkdWxllIWUKXSUUpR9lCiMC19fcGFja2FnZV9flIwYc3RhYmxlX2Jhc2VsaW5lczMuY29tbW9ulIwIX19uYW1lX1+UjB5zdGFibGVfYmFzZWxpbmVzMy5jb21tb24udXRpbHOUjAhfX2ZpbGVfX5SMZS9ob21lL2V2Z2VuaWkvYW5hY29uZGEzL2VudnMvaGZfdW5pdF81L2xpYi9weXRob24zLjEwL3NpdGUtcGFja2FnZXMvc3RhYmxlX2Jhc2VsaW5lczMvY29tbW9uL3V0aWxzLnB5lHVOTmgAjBBfbWFrZV9lbXB0eV9jZWxslJOUKVKUhZR0lFKUaACMEl9mdW5jdGlvbl9zZXRzdGF0ZZSTlGghfZR9lChoGGgPjAxfX3F1YWxuYW1lX1+UjCFnZXRfc2NoZWR1bGVfZm4uPGxvY2Fscz4uPGxhbWJkYT6UjA9fX2Fubm90YXRpb25zX1+UfZSMDl9fa3dkZWZhdWx0c19flE6MDF9fZGVmYXVsdHNfX5ROjApfX21vZHVsZV9flGgZjAdfX2RvY19flE6MC19fY2xvc3VyZV9flGgAjApfbWFrZV9jZWxslJOUaAIoaAcoSwFLAEsASwFLAUsTQwSIAFMAlGgJKYwBX5SFlGgOjARmdW5jlEuFQwIEAZSMA3ZhbJSFlCl0lFKUaBVOTmgdKVKUhZR0lFKUaCNoPX2UfZQoaBhoNGgmjBljb25zdGFudF9mbi48bG9jYWxzPi5mdW5jlGgofZRoKk5oK05oLGgZaC1OaC5oMEc/M6kqMFUyYYWUUpSFlIwXX2Nsb3VkcGlja2xlX3N1Ym1vZHVsZXOUXZSMC19fZ2xvYmFsc19flH2UdYaUhlIwhZRSlIWUaEVdlGhHfZR1hpSGUjAu"}, "batch_norm_stats": [], "batch_norm_stats_target": [], "system_info": {"OS": "Linux-6.5.0-41-generic-x86_64-with-glibc2.35 # 41~22.04.2-Ubuntu SMP PREEMPT_DYNAMIC Mon Jun 3 11:32:55 UTC 2", "Python": "3.10.5", "Stable-Baselines3": "2.3.2", "PyTorch": "2.3.1+cu121", "GPU Enabled": "True", "Numpy": "1.23.5", "Cloudpickle": "3.0.0", "Gymnasium": "0.29.1", "OpenAI Gym": "0.26.2"}}

+ {"policy_class": {":type:": "<class 'abc.ABCMeta'>", ":serialized:": "gAWVNwAAAAAAAACMHnN0YWJsZV9iYXNlbGluZXMzLnNhYy5wb2xpY2llc5SMEE11bHRpSW5wdXRQb2xpY3mUk5Qu", "__module__": "stable_baselines3.sac.policies", "__doc__": "\n Policy class (with both actor and critic) for SAC.\n\n :param observation_space: Observation space\n :param action_space: Action space\n :param lr_schedule: Learning rate schedule (could be constant)\n :param net_arch: The specification of the policy and value networks.\n :param activation_fn: Activation function\n :param use_sde: Whether to use State Dependent Exploration or not\n :param log_std_init: Initial value for the log standard deviation\n :param use_expln: Use ``expln()`` function instead of ``exp()`` when using gSDE to ensure\n a positive standard deviation (cf paper). It allows to keep variance\n above zero and prevent it from growing too fast. In practice, ``exp()`` is usually enough.\n :param clip_mean: Clip the mean output when using gSDE to avoid numerical instability.\n :param features_extractor_class: Features extractor to use.\n :param normalize_images: Whether to normalize images or not,\n dividing by 255.0 (True by default)\n :param optimizer_class: The optimizer to use,\n ``th.optim.Adam`` by default\n :param optimizer_kwargs: Additional keyword arguments,\n excluding the learning rate, to pass to the optimizer\n :param n_critics: Number of critic networks to create.\n :param share_features_extractor: Whether to share or not the features extractor\n between the actor and the critic (this saves computation time)\n ", "__init__": "<function MultiInputPolicy.__init__ at 0x7bdb487ad7e0>", "__abstractmethods__": "frozenset()", "_abc_impl": "<_abc._abc_data object at 0x7bdb487c0300>"}, "verbose": 0, "policy_kwargs": {"use_sde": false}, "num_timesteps": 7178208, "_total_timesteps": 10000000, "_num_timesteps_at_start": 0, "seed": null, "action_noise": null, "start_time": 1720285323913296925, "learning_rate": 0.0003, "tensorboard_log": null, "_last_obs": {":type:": "<class 'collections.OrderedDict'>", ":serialized:": "gAWVGwQAAAAAAACMC2NvbGxlY3Rpb25zlIwLT3JkZXJlZERpY3SUk5QpUpQojA1hY2hpZXZlZF9nb2FslIwSbnVtcHkuY29yZS5udW1lcmljlIwLX2Zyb21idWZmZXKUk5QolmAAAAAAAAAAIsvGPqNDHb8R+1k81T+hPxqH2b84WFw8KosTv743xL+uSV087jNRvxk2Uz1Lvls8xozCv0DQt76y+Vw8jLfGvyy9wr9Lvls84UH3PtDFvrxLvls8n/7NvZSc2j+to1w8lIwFbnVtcHmUjAVkdHlwZZSTlIwCZjSUiYiHlFKUKEsDjAE8lE5OTkr/////Sv////9LAHSUYksISwOGlIwBQ5R0lFKUjAxkZXNpcmVkX2dvYWyUaAcolmAAAAAAAAAANqLTv0ksmj+duqw/5XWqvs8wvL+DOIq/HUTXPzuzeb+DOIq/f+68vinbqD5Wf4M/cp+9P4J0cb+DOIq/HS4lP9wt+b6DOIq/o1CCPh4AgL+/jD+/L7SHP8Mtx7+DOIq/lGgOSwhLA4aUaBJ0lFKUjAtvYnNlcnZhdGlvbpRoByiWYAIAAAAAAACjzLA//w+HPfQoZT8bu869X3D8v3RDLT53bWO/IsvGPqNDHb8R+1k8nd7yutSLAbviyyG74ijTO21CRrtofO87F05wOuD2UrqOXty5RrKtvI3t5j3Y50m/mu6zPfBaGL4JvqU9scxWP9U/oT8ah9m/OFhcPB7Vfbszn+m6Bx2QO6QcJzyex7e6anzvOwhUcDo871K6gQEMO3UsPj6L3da/9RiZvxXOlj+Rg44+hBXJPvZsY78qixO/vjfEv65JXTw9Sma7qhYhuxodoLtpHgo8QxU8u0Kv8jvZvV46J9qhudRT7DdtW409xUOhv9zeXr8e+ZU+B1QOP1LsS784LZ8/7jNRvxk2Uz1Lvls8vL88u1g1zrrPqZQ8vMZBPCLon7tpfO87dVdwOokDU7qjRF07k0pfPyTYub+fWtW+grWOP4YZrD/Adt6/QW1jv8aMwr9A0Le+svlcPPKzbbtoje26pnoBOyEBAjy+iki7aHzvO/xNcDrI9lK6JzsMOh6IgD/Z8yE/euymvwEY5rzqH6Q/7yuCvmltY7+Mt8a/LL3Cv0u+WzwExTy7+SHOuk3rQzzEy0E8l+qfu2l87zt7V3A6iwNTuup0XTtZYlE/PtUDvyYyPD3JL0U+7m1Yv+i7Yr+KbWO/4UH3PtDFvrxLvls8q8o8u08Nzrp8T687D9FBPCbtn7tpfO87gVdwOo8DU7pMqF0717SCvj0KAMBxaZo9cco0Pwyq4D7x+v49+e2UPZ/+zb2UnNo/raNcPPH1bruT/lW7Pf6MuzBESDzxpZW7IGi+O5o0ETw8a4M8zOj8uZRoDksISxOGlGgSdJRSlHUu", "achieved_goal": "[[ 0.38826853 -0.6143133 0.01330449]\n [ 1.2597605 -1.6994355 0.01344877]\n [-0.5763422 -1.5329511 0.01350634]\n [-0.81719863 0.05156526 0.01341207]\n [-1.5199211 -0.3590107 0.01348727]\n [-1.5524764 -1.5213981 0.01341207]\n [ 0.4829245 -0.02328768 0.01341207]\n [-0.10058331 1.7079034 0.01346676]]", "desired_goal": "[[-1.6533878 1.2044765 1.349445 ]\n [-0.3329307 -1.4702395 -1.0798496 ]\n [ 1.6817662 -0.9753911 -1.0798496 ]\n [-0.36900708 0.32979706 1.0273235 ]\n [ 1.4814284 -0.943184 -1.0798496 ]\n [ 0.6452349 -0.486678 -1.0798496 ]\n [ 0.25452146 -1.0000036 -0.74824136]\n [ 1.0601863 -1.556084 -1.0798496 ]]", "observation": "[[ 1.3812450e+00 6.5948479e-02 8.9515615e-01 -1.0094281e-01\n -1.9721793e+00 1.6920263e-01 -8.8838905e-01 3.8826853e-01\n -6.1431330e-01 1.3304488e-02 -1.8529479e-03 -1.9767182e-03\n -2.4688174e-03 6.4440826e-03 -3.0251995e-03 7.3085316e-03\n 9.1669097e-04 -8.0476515e-04 -4.2032119e-04]\n [-2.1203171e-02 1.1275778e-01 -7.8869390e-01 8.7857440e-02\n -1.4878440e-01 8.0928870e-02 8.3906084e-01 1.2597605e+00\n -1.6994355e+00 1.3448767e-02 -3.8731764e-03 -1.7823934e-03\n 4.3979916e-03 1.0199700e-02 -1.4021283e-03 7.3085325e-03\n 9.1677951e-04 -8.0465130e-04 2.1363201e-03]\n [ 1.8571647e-01 -1.6786360e+00 -1.1960741e+00 1.1781641e+00\n 2.7834752e-01 3.9274228e-01 -8.8838136e-01 -5.7634223e-01\n -1.5329511e+00 1.3506336e-02 -3.5139464e-03 -2.4580159e-03\n -4.8862817e-03 8.4301019e-03 -2.8699196e-03 7.4061463e-03\n 8.4969174e-04 -3.0870849e-04 2.8172428e-05]\n [ 6.9022037e-02 -1.2598807e+00 -8.7058806e-01 2.9291624e-01\n 5.5596966e-01 -7.9657471e-01 1.2435675e+00 -8.1719863e-01\n 5.1565263e-02 1.3412069e-02 -2.8800806e-03 -1.5732450e-03\n 1.8147377e-02 1.1827167e-02 -4.8799673e-03 7.3085320e-03\n 9.1683056e-04 -8.0495380e-04 3.3762835e-03]\n [ 8.7223166e-01 -1.4519086e+00 -4.1670701e-01 1.1149142e+00\n 1.3445289e+00 -1.7379990e+00 -8.8838583e-01 -1.5199211e+00\n -3.5901070e-01 1.3487266e-02 -3.6270586e-03 -1.8123807e-03\n 1.9756942e-03 7.9348395e-03 -3.0600275e-03 7.3085316e-03\n 9.1668940e-04 -8.0476375e-04 5.3493906e-04]\n [ 1.0041540e+00 6.3262707e-01 -1.3040917e+00 -2.8087618e-02\n 1.2822239e+00 -2.5424144e-01 -8.8838822e-01 -1.5524764e+00\n -1.5213981e+00 1.3412069e-02 -2.8803954e-03 -1.5726677e-03\n 1.1957956e-02 1.1828367e-02 -4.8802602e-03 7.3085320e-03\n 9.1683090e-04 -8.0495392e-04 3.3791610e-03]\n [ 8.1790692e-01 -5.1497257e-01 4.5946263e-02 1.9256510e-01\n -8.4542739e-01 -8.8567972e-01 -8.8839018e-01 4.8292449e-01\n -2.3287684e-02 1.3412069e-02 -2.8807323e-03 -1.5720519e-03\n 5.3500514e-03 1.1829629e-02 -4.8805652e-03 7.3085320e-03\n 9.1683125e-04 -8.0495415e-04 3.3822237e-03]\n [-2.5528595e-01 -2.0006249e+00 7.5396426e-02 7.0621401e-01\n 4.3879735e-01 1.2450207e-01 7.2719522e-02 -1.0058331e-01\n 1.7079034e+00 1.3466758e-02 -3.6462510e-03 -3.2652959e-03\n -4.3027685e-03 1.2223288e-02 -4.5669009e-03 5.8107525e-03\n 8.8626388e-03 1.6042344e-02 -4.8238633e-04]]"}, "_last_episode_starts": {":type:": "<class 'numpy.ndarray'>", ":serialized:": "gAWVewAAAAAAAACMEm51bXB5LmNvcmUubnVtZXJpY5SMC19mcm9tYnVmZmVylJOUKJYIAAAAAAAAAAEBAQEBAQEBlIwFbnVtcHmUjAVkdHlwZZSTlIwCYjGUiYiHlFKUKEsDjAF8lE5OTkr/////Sv////9LAHSUYksIhZSMAUOUdJRSlC4="}, "_last_original_obs": {":type:": "<class 'collections.OrderedDict'>", ":serialized:": "gAWVGwQAAAAAAACMC2NvbGxlY3Rpb25zlIwLT3JkZXJlZERpY3SUk5QpUpQojA1hY2hpZXZlZF9nb2FslIwSbnVtcHkuY29yZS5udW1lcmljlIwLX2Zyb21idWZmZXKUk5QolmAAAAAAAAAA6usIPXmxXL3Qv6M8WOvfPaZyGL5hwaM8jTdPvQeGCb4BwqM8rpKSvWmYkDv7wKM8ifYHvuUlAb3MwaM83t0KvuZ8CL77wKM8/7AqPZFBDLv7wKM83+4VvMf/GD6TwaM8lIwFbnVtcHmUjAVkdHlwZZSTlIwCZjSUiYiHlFKUKEsDjAE8lE5OTkr/////Sv////9LAHSUYksISwOGlIwBQ5R0lFKUjAxkZXNpcmVkX2dvYWyUaAcolmAAAAAAAAAAiKcSvn+n1T2S8Dk+v6LrvN2VAr4K16M8PV0VPtRSrb0K16M8QqACvSmD6Tz+/yM+M5UDPiWbp70K16M8cXVlPYUhLb0K16M8Hn21PF6xsb18Qyw9n2O8PYI0Cr4K16M8lGgOSwhLA4aUaBJ0lFKUjAtvYnNlcnZhdGlvbpRoByiWYAIAAAAAAADaZZ4+ihANvZBJ3z49hUq9SSYyv/5FiT1oIpqw6usIPXmxXL3Qv6M8WdiMOJQ6GzdFRGC5bq2pt2TZF7bwjk+sMY5LL3woXC4Hzfu4pIs3PY4trrwCNAM+PTZ2vMsRo70zLDE9ysCEPVjr3z2mchi+YcGjPGz0brcNh2I3i9LIOZDAqDdTEcU3EJpsLS+uZzK5E1sy7/ITOq+2qz3Riwa/0p1bPX4hPD66lYQ9cEgCPlummTSNN0+9B4YJvgHCozx1F3k0/eSqtUNP3rkjnpQ1DRtYNI2trzX91Ci3AjdoOPJO962iQn098rvQvua65z2eG7c8GmAiPuiyRb7O1qM9rpKSvWmYkDv7wKM8+zLYN/Khlzf33M46PbQdOInvBLgoftQswbe1MnBytLIX+Go6XnhaPplp7L6R30g+D1MwPhyl2T7EqOS+xor8M4n2B77lJQG9zMGjPPglkbZqhlc3D9o0OS5djbbk7zy2EHIgrNSwXK6AO10vOkIOORb0cz60FwA+drEKPYsfFL0C3c4+Jo1Avc9F9zLe3Qq+5nwIvvvAozy6F9g3Dr2XN5tXiDoSwh04hvQEuAhGtywGH7YyM5C0ssorazrx+U8+C7tKviTDjz7eA4U7oVGhvopFXr5a4EKz/7AqPZFBDLv7wKM8k/rXN/rZlzd0NvQ5odAdOLn5BLgIC58siZO2MunMtLLQYms6PDorOl3AHb8phZI+NRLIPVil8z3qPGE9hbgTPd/uFbzH/xg+k8GjPN4Yq7ZMx563R7fDuUeNLzjgMuC39Hiot+RunDrsc/Y6wlIPuZRoDksISxOGlGgSdJRSlHUu", "achieved_goal": "[[ 0.03342811 -0.05388019 0.01998892]\n [ 0.1093356 -0.14887485 0.01998967]\n [-0.05059009 -0.13430034 0.01998997]\n [-0.07156883 0.0044127 0.01998948]\n [-0.1327764 -0.03153028 0.01998987]\n [-0.13561198 -0.13328895 0.01998948]\n [ 0.0416727 -0.00214014 0.01998948]\n [-0.00915119 0.14941321 0.01998976]]", "desired_goal": "[[-0.1432172 0.10432338 0.18158177]\n [-0.02876413 -0.12752481 0.02 ]\n [ 0.14586349 -0.08463064 0.02 ]\n [-0.03189112 0.02850492 0.16015622]\n [ 0.12849884 -0.08183888 0.02 ]\n [ 0.0560202 -0.04226829 0.02 ]\n [ 0.02215439 -0.08676408 0.04205655]\n [ 0.09198689 -0.13496593 0.02 ]]", "observation": "[[ 3.09370816e-01 -3.44396010e-02 4.36108112e-01 -4.94434722e-02\n -6.95896685e-01 6.70280308e-02 -1.12147536e-09 3.34281102e-02\n -5.38801886e-02 1.99889243e-02 6.71601811e-05 9.25235872e-06\n -2.13877371e-04 -2.02271294e-05 -2.26272914e-06 -2.94958155e-12\n 1.85132590e-10 5.00581659e-11 -1.20068020e-04]\n [ 4.48109061e-02 -2.12619565e-02 1.28128082e-01 -1.50275799e-02\n -7.96237811e-02 4.32550423e-02 6.48208410e-02 1.09335601e-01\n -1.48874849e-01 1.99896712e-02 -1.42428144e-05 1.35020937e-05\n 3.83038394e-04 2.01168295e-05 2.34922973e-05 1.34492556e-11\n 1.34855744e-08 1.27519622e-08 5.64380491e-04]\n [ 8.38445351e-02 -5.25570929e-01 5.36173061e-02 1.83721513e-01\n 6.47387058e-02 1.27229452e-01 2.86195103e-07 -5.05900867e-02\n -1.34300336e-01 1.99899692e-02 2.31984657e-07 -1.27326314e-06\n -4.24021942e-04 1.10728831e-06 2.01264086e-07 1.30890260e-06\n -1.00631705e-05 5.53643404e-05 -2.81157077e-11]\n [ 6.18311241e-02 -4.07683909e-01 1.13149449e-01 2.23520361e-02\n 1.58569723e-01 -1.93065286e-01 7.99995512e-02 -7.15688318e-02\n 4.41269996e-03 1.99894812e-02 2.57729462e-05 1.80760144e-05\n 1.57824054e-03 3.75995769e-05 -3.16943369e-05 6.03940856e-12\n 2.11547349e-08 -2.10067981e-08 8.96335987e-04]\n [ 2.13349789e-01 -4.61743146e-01 1.96165338e-01 1.72191843e-01\n 4.25087810e-01 -4.46600080e-01 1.17599072e-07 -1.32776394e-01\n -3.15302797e-02 1.99898705e-02 -4.32575689e-06 1.28462943e-05\n 1.72473709e-04 -4.21297500e-06 -2.81538178e-06 -2.28006850e-12\n -5.01792635e-11 2.01209716e-10 1.35668466e-04]\n [ 2.38235801e-01 1.25090420e-01 3.38606462e-02 -3.61628942e-02\n 4.04029906e-01 -4.70096096e-02 2.87863298e-08 -1.35611981e-01\n -1.33288950e-01 1.99894812e-02 2.57602551e-05 1.80886382e-05\n 1.04020850e-03 3.76124590e-05 -3.16989826e-05 5.20894786e-12\n 2.12016964e-08 -2.10203321e-08 8.97106365e-04]\n [ 2.03101888e-01 -1.97979137e-01 2.80785680e-01 4.05929890e-03\n -3.15075904e-01 -2.17062145e-01 -4.53731914e-08 4.16727029e-02\n -2.14013853e-03 1.99894812e-02 2.57466800e-05 1.81021060e-05\n 4.65798774e-04 3.76260177e-05 -3.17038248e-05 4.52027651e-12\n 2.12546798e-08 -2.10479403e-08 8.97926278e-04]\n [ 6.53180992e-04 -6.16216481e-01 2.86172181e-01 9.76909772e-02\n 1.18967712e-01 5.49897328e-02 3.60646434e-02 -9.15118959e-03\n 1.49413213e-01 1.99897643e-02 -5.09909205e-06 -1.89278726e-05\n -3.73298506e-04 4.18548261e-05 -2.67265714e-05 -2.00834838e-05\n 1.19349035e-03 1.88028580e-03 -1.36683724e-04]]"}, "_episode_num": 148229, "use_sde": false, "sde_sample_freq": -1, "_current_progress_remaining": 0.28217919999999996, "_stats_window_size": 100, "ep_info_buffer": {":type:": "<class 'collections.deque'>", ":serialized:": "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"}, "ep_success_buffer": {":type:": "<class 'collections.deque'>", ":serialized:": "gAWVhgAAAAAAAACMC2NvbGxlY3Rpb25zlIwFZGVxdWWUk5QpS2SGlFKUKImJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiImJiYmJiYmJiYmJiYmJiImJiYmJiYmJiYmJiYmJiYmIiYmJiYmJiImIiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYllLg=="}, "_n_updates": 897263, "buffer_size": 1000000, "batch_size": 256, "learning_starts": 100, "tau": 0.005, "gamma": 0.99, "gradient_steps": 1, "optimize_memory_usage": false, "replay_buffer_class": {":type:": "<class 'abc.ABCMeta'>", ":serialized:": "gAWVOQAAAAAAAACMIHN0YWJsZV9iYXNlbGluZXMzLmNvbW1vbi5idWZmZXJzlIwQRGljdFJlcGxheUJ1ZmZlcpSTlC4=", "__module__": "stable_baselines3.common.buffers", "__annotations__": "{'observation_space': <class 'gymnasium.spaces.dict.Dict'>, 'obs_shape': typing.Dict[str, typing.Tuple[int, ...]], 'observations': typing.Dict[str, numpy.ndarray], 'next_observations': typing.Dict[str, numpy.ndarray]}", "__doc__": "\n Dict Replay buffer used in off-policy algorithms like SAC/TD3.\n Extends the ReplayBuffer to use dictionary observations\n\n :param buffer_size: Max number of element in the buffer\n :param observation_space: Observation space\n :param action_space: Action space\n :param device: PyTorch device\n :param n_envs: Number of parallel environments\n :param optimize_memory_usage: Enable a memory efficient variant\n Disabled for now (see https://github.com/DLR-RM/stable-baselines3/pull/243#discussion_r531535702)\n :param handle_timeout_termination: Handle timeout termination (due to timelimit)\n separately and treat the task as infinite horizon task.\n https://github.com/DLR-RM/stable-baselines3/issues/284\n ", "__init__": "<function DictReplayBuffer.__init__ at 0x7bdb48ac8ca0>", "add": "<function DictReplayBuffer.add at 0x7bdb48ac8d30>", "sample": "<function DictReplayBuffer.sample at 0x7bdb48ac8dc0>", "_get_samples": "<function DictReplayBuffer._get_samples at 0x7bdb48ac8e50>", "__abstractmethods__": "frozenset()", "_abc_impl": "<_abc._abc_data object at 0x7bdb48abb6c0>"}, "replay_buffer_kwargs": {}, "train_freq": {":type:": "<class 'stable_baselines3.common.type_aliases.TrainFreq'>", ":serialized:": "gAWVYQAAAAAAAACMJXN0YWJsZV9iYXNlbGluZXMzLmNvbW1vbi50eXBlX2FsaWFzZXOUjAlUcmFpbkZyZXGUk5RLAWgAjBJUcmFpbkZyZXF1ZW5jeVVuaXSUk5SMBHN0ZXCUhZRSlIaUgZQu"}, "use_sde_at_warmup": false, "target_entropy": -8.0, "ent_coef": "auto", "target_update_interval": 1, "observation_space": {":type:": "<class 'gymnasium.spaces.dict.Dict'>", ":serialized:": "gAWVMgQAAAAAAACMFWd5bW5hc2l1bS5zcGFjZXMuZGljdJSMBERpY3SUk5QpgZR9lCiMBnNwYWNlc5SMC2NvbGxlY3Rpb25zlIwLT3JkZXJlZERpY3SUk5QpUpQojA1hY2hpZXZlZF9nb2FslIwUZ3ltbmFzaXVtLnNwYWNlcy5ib3iUjANCb3iUk5QpgZR9lCiMBWR0eXBllIwFbnVtcHmUjAVkdHlwZZSTlIwCZjSUiYiHlFKUKEsDjAE8lE5OTkr/////Sv////9LAHSUYowNYm91bmRlZF9iZWxvd5SMEm51bXB5LmNvcmUubnVtZXJpY5SMC19mcm9tYnVmZmVylJOUKJYDAAAAAAAAAAEBAZRoE4wCYjGUiYiHlFKUKEsDjAF8lE5OTkr/////Sv////9LAHSUYksDhZSMAUOUdJRSlIwNYm91bmRlZF9hYm92ZZRoHCiWAwAAAAAAAAABAQGUaCBLA4WUaCR0lFKUjAZfc2hhcGWUSwOFlIwDbG93lGgcKJYMAAAAAAAAAAAAIMEAACDBAAAgwZRoFksDhZRoJHSUUpSMBGhpZ2iUaBwolgwAAAAAAAAAAAAgQQAAIEEAACBBlGgWSwOFlGgkdJRSlIwIbG93X3JlcHKUjAUtMTAuMJSMCWhpZ2hfcmVwcpSMBDEwLjCUjApfbnBfcmFuZG9tlE51YowMZGVzaXJlZF9nb2FslGgNKYGUfZQoaBBoFmgZaBwolgMAAAAAAAAAAQEBlGggSwOFlGgkdJRSlGgnaBwolgMAAAAAAAAAAQEBlGggSwOFlGgkdJRSlGgsSwOFlGguaBwolgwAAAAAAAAAAAAgwQAAIMEAACDBlGgWSwOFlGgkdJRSlGgzaBwolgwAAAAAAAAAAAAgQQAAIEEAACBBlGgWSwOFlGgkdJRSlGg4jAUtMTAuMJRoOowEMTAuMJRoPE51YowLb2JzZXJ2YXRpb26UaA0pgZR9lChoEGgWaBloHCiWEwAAAAAAAAABAQEBAQEBAQEBAQEBAQEBAQEBlGggSxOFlGgkdJRSlGgnaBwolhMAAAAAAAAAAQEBAQEBAQEBAQEBAQEBAQEBAZRoIEsThZRoJHSUUpRoLEsThZRoLmgcKJZMAAAAAAAAAAAAIMEAACDBAAAgwQAAIMEAACDBAAAgwQAAIMEAACDBAAAgwQAAIMEAACDBAAAgwQAAIMEAACDBAAAgwQAAIMEAACDBAAAgwQAAIMGUaBZLE4WUaCR0lFKUaDNoHCiWTAAAAAAAAAAAACBBAAAgQQAAIEEAACBBAAAgQQAAIEEAACBBAAAgQQAAIEEAACBBAAAgQQAAIEEAACBBAAAgQQAAIEEAACBBAAAgQQAAIEEAACBBlGgWSxOFlGgkdJRSlGg4jAUtMTAuMJRoOowEMTAuMJRoPE51YnVoLE5oEE5oPE51Yi4=", "spaces": "OrderedDict([('achieved_goal', Box(-10.0, 10.0, (3,), float32)), ('desired_goal', Box(-10.0, 10.0, (3,), float32)), ('observation', Box(-10.0, 10.0, (19,), float32))])", "_shape": null, "dtype": null, "_np_random": null}, "action_space": {":type:": "<class 'gymnasium.spaces.box.Box'>", ":serialized:": "gAWVeQIAAAAAAACMFGd5bW5hc2l1bS5zcGFjZXMuYm94lIwDQm94lJOUKYGUfZQojAVkdHlwZZSMBW51bXB5lIwFZHR5cGWUk5SMAmY0lImIh5RSlChLA4wBPJROTk5K/////0r/////SwB0lGKMDWJvdW5kZWRfYmVsb3eUjBJudW1weS5jb3JlLm51bWVyaWOUjAtfZnJvbWJ1ZmZlcpSTlCiWCAAAAAAAAAABAQEBAQEBAZRoCIwCYjGUiYiHlFKUKEsDjAF8lE5OTkr/////Sv////9LAHSUYksIhZSMAUOUdJRSlIwNYm91bmRlZF9hYm92ZZRoESiWCAAAAAAAAAABAQEBAQEBAZRoFUsIhZRoGXSUUpSMBl9zaGFwZZRLCIWUjANsb3eUaBEoliAAAAAAAAAAAACAvwAAgL8AAIC/AACAvwAAgL8AAIC/AACAvwAAgL+UaAtLCIWUaBl0lFKUjARoaWdolGgRKJYgAAAAAAAAAAAAgD8AAIA/AACAPwAAgD8AAIA/AACAPwAAgD8AAIA/lGgLSwiFlGgZdJRSlIwIbG93X3JlcHKUjAQtMS4wlIwJaGlnaF9yZXBylIwDMS4wlIwKX25wX3JhbmRvbZSMFG51bXB5LnJhbmRvbS5fcGlja2xllIwQX19nZW5lcmF0b3JfY3RvcpSTlIwFUENHNjSUhZRSlH2UKIwNYml0X2dlbmVyYXRvcpSMBVBDRzY0lIwFc3RhdGWUfZQoaDuKEeBedL/AZ8rMc0g6LMqWIfAAjANpbmOUihFLBn0NQ3loDa2lHgJrJHW8AHWMCmhhc191aW50MzKUSwCMCHVpbnRlZ2VylEsAdWJ1Yi4=", "dtype": "float32", "bounded_below": "[ True True True True True True True True]", "bounded_above": "[ True True True True True True True True]", "_shape": [8], "low": "[-1. -1. -1. -1. -1. -1. -1. -1.]", "high": "[1. 1. 1. 1. 1. 1. 1. 1.]", "low_repr": "-1.0", "high_repr": "1.0", "_np_random": "Generator(PCG64)"}, "n_envs": 8, "lr_schedule": {":type:": "<class 'function'>", ":serialized:": "gAWVuwMAAAAAAACMF2Nsb3VkcGlja2xlLmNsb3VkcGlja2xllIwOX21ha2VfZnVuY3Rpb26Uk5QoaACMDV9idWlsdGluX3R5cGWUk5SMCENvZGVUeXBllIWUUpQoSwFLAEsASwFLA0sTQwx0AIgAfACDAYMBUwCUToWUjAVmbG9hdJSFlIwScHJvZ3Jlc3NfcmVtYWluaW5nlIWUjGUvaG9tZS9ldmdlbmlpL2FuYWNvbmRhMy9lbnZzL2hmX3VuaXRfNS9saWIvcHl0aG9uMy4xMC9zaXRlLXBhY2thZ2VzL3N0YWJsZV9iYXNlbGluZXMzL2NvbW1vbi91dGlscy5weZSMCDxsYW1iZGE+lEthQwIMAJSMDnZhbHVlX3NjaGVkdWxllIWUKXSUUpR9lCiMC19fcGFja2FnZV9flIwYc3RhYmxlX2Jhc2VsaW5lczMuY29tbW9ulIwIX19uYW1lX1+UjB5zdGFibGVfYmFzZWxpbmVzMy5jb21tb24udXRpbHOUjAhfX2ZpbGVfX5SMZS9ob21lL2V2Z2VuaWkvYW5hY29uZGEzL2VudnMvaGZfdW5pdF81L2xpYi9weXRob24zLjEwL3NpdGUtcGFja2FnZXMvc3RhYmxlX2Jhc2VsaW5lczMvY29tbW9uL3V0aWxzLnB5lHVOTmgAjBBfbWFrZV9lbXB0eV9jZWxslJOUKVKUhZR0lFKUaACMEl9mdW5jdGlvbl9zZXRzdGF0ZZSTlGghfZR9lChoGGgPjAxfX3F1YWxuYW1lX1+UjCFnZXRfc2NoZWR1bGVfZm4uPGxvY2Fscz4uPGxhbWJkYT6UjA9fX2Fubm90YXRpb25zX1+UfZSMDl9fa3dkZWZhdWx0c19flE6MDF9fZGVmYXVsdHNfX5ROjApfX21vZHVsZV9flGgZjAdfX2RvY19flE6MC19fY2xvc3VyZV9flGgAjApfbWFrZV9jZWxslJOUaAIoaAcoSwFLAEsASwFLAUsTQwSIAFMAlGgJKYwBX5SFlGgOjARmdW5jlEuFQwIEAZSMA3ZhbJSFlCl0lFKUaBVOTmgdKVKUhZR0lFKUaCNoPX2UfZQoaBhoNGgmjBljb25zdGFudF9mbi48bG9jYWxzPi5mdW5jlGgofZRoKk5oK05oLGgZaC1OaC5oMEc/M6kqMFUyYYWUUpSFlIwXX2Nsb3VkcGlja2xlX3N1Ym1vZHVsZXOUXZSMC19fZ2xvYmFsc19flH2UdYaUhlIwhZRSlIWUaEVdlGhHfZR1hpSGUjAu"}, "batch_norm_stats": [], "batch_norm_stats_target": [], "system_info": {"OS": "Linux-6.5.0-41-generic-x86_64-with-glibc2.35 # 41~22.04.2-Ubuntu SMP PREEMPT_DYNAMIC Mon Jun 3 11:32:55 UTC 2", "Python": "3.10.5", "Stable-Baselines3": "2.3.2", "PyTorch": "2.3.1+cu121", "GPU Enabled": "True", "Numpy": "1.23.5", "Cloudpickle": "3.0.0", "Gymnasium": "0.29.1", "OpenAI Gym": "0.26.2"}}

replay.mp4 CHANGED Viewed

Binary files a/replay.mp4 and b/replay.mp4 differ

results.json CHANGED Viewed

	@@ -1 +1 @@
1	- {"mean_reward": -10.~~03696055188775~~, "std_reward": 4.~~44461594263392~~, "is_deterministic": true, "n_eval_episodes": 10, "eval_datetime": "2024-07-~~06T17~~:29:59.~~425712~~"}


1	+ {"mean_reward": -10.524940076470376, "std_reward": 2.8419893596037227, "is_deterministic": true, "n_eval_episodes": 10, "eval_datetime": "2024-07-06T22:23:20.182152"}

sac-PandaPickAndPlaceJointsDense-v3.zip CHANGED Viewed

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:27e922327e5236f819c4acb9df1c9dc278cd139a6708a605b00c40d67c9e2583
-size 3368087

 version https://git-lfs.github.com/spec/v1
+oid sha256:e56442cc6b0d283765984971240e92fb721217502267e7ce2ecd472b7b307e2a
+size 3367950

sac-PandaPickAndPlaceJointsDense-v3/actor.optimizer.pth CHANGED Viewed

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1e61e5e1fc3094a58b7fb5052bc532ab9c649ee07033b0c0e60deb486f2617cd
 size 619342

 version https://git-lfs.github.com/spec/v1
+oid sha256:c1eb7324372a108c3d6560b9be6a61eaa16c4a006a34be097ddd7054c6f97860
 size 619342

sac-PandaPickAndPlaceJointsDense-v3/critic.optimizer.pth CHANGED Viewed

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e1d5aa8e7eaed8175812ddeacf5f3d75be79606320f2bbba1db32478f5a14a71
 size 1206186

 version https://git-lfs.github.com/spec/v1
+oid sha256:d3861406632a89142ebe5f04fc33a427ab36663b1e584084af8cbf3a88941b41
 size 1206186

sac-PandaPickAndPlaceJointsDense-v3/data CHANGED Viewed

@@ -4,28 +4,28 @@
         ":serialized:": "gAWVNwAAAAAAAACMHnN0YWJsZV9iYXNlbGluZXMzLnNhYy5wb2xpY2llc5SMEE11bHRpSW5wdXRQb2xpY3mUk5Qu",
         "__module__": "stable_baselines3.sac.policies",
         "__doc__": "\n    Policy class (with both actor and critic) for SAC.\n\n    :param observation_space: Observation space\n    :param action_space: Action space\n    :param lr_schedule: Learning rate schedule (could be constant)\n    :param net_arch: The specification of the policy and value networks.\n    :param activation_fn: Activation function\n    :param use_sde: Whether to use State Dependent Exploration or not\n    :param log_std_init: Initial value for the log standard deviation\n    :param use_expln: Use ``expln()`` function instead of ``exp()`` when using gSDE to ensure\n        a positive standard deviation (cf paper). It allows to keep variance\n        above zero and prevent it from growing too fast. In practice, ``exp()`` is usually enough.\n    :param clip_mean: Clip the mean output when using gSDE to avoid numerical instability.\n    :param features_extractor_class: Features extractor to use.\n    :param normalize_images: Whether to normalize images or not,\n         dividing by 255.0 (True by default)\n    :param optimizer_class: The optimizer to use,\n        ``th.optim.Adam`` by default\n    :param optimizer_kwargs: Additional keyword arguments,\n        excluding the learning rate, to pass to the optimizer\n    :param n_critics: Number of critic networks to create.\n    :param share_features_extractor: Whether to share or not the features extractor\n        between the actor and the critic (this saves computation time)\n    ",
-        "__init__": "<function MultiInputPolicy.__init__ at 0x7ef3104e80d0>",
         "__abstractmethods__": "frozenset()",
-        "_abc_impl": "<_abc._abc_data object at 0x7ef3104e41c0>"
     },
-    "verbose": 1,
     "policy_kwargs": {
         "use_sde": false
     },
-    "num_timesteps": 499592,
-    "_total_timesteps": 1000000,
     "_num_timesteps_at_start": 0,
     "seed": null,
     "action_noise": null,
-    "start_time": 1720282111749259434,
     "learning_rate": 0.0003,
     "tensorboard_log": null,
     "_last_obs": {
         ":type:": "<class 'collections.OrderedDict'>",
-        ":serialized:": "gAWVGwQAAAAAAACMC2NvbGxlY3Rpb25zlIwLT3JkZXJlZERpY3SUk5QpUpQojA1hY2hpZXZlZF9nb2FslIwSbnVtcHkuY29yZS5udW1lcmljlIwLX2Zyb21idWZmZXKUk5QolmAAAAAAAAAAd1ojP94Wj79+7WU9fR4lvjRutr5+7WU9rot8v8vlZb+PGGY9ag7Gvumecj5ZBWY9mCfHP/pwnL+3CGY9cwRFv2/XrL+a+mU9N1piPgzzML9+7WU9IhaHPzN39r4AEmY9lIwFbnVtcHmUjAVkdHlwZZSTlIwCZjSUiYiHlFKUKEsDjAE8lE5OTkr/////Sv////9LAHSUYksISwOGlIwBQ5R0lFKUjAxkZXNpcmVkX2dvYWyUaAcolmAAAAAAAAAAH326vyqu5jxJZy4/Rx83vk/GU78SVeM/4JIvv5O7Mb7+rks/SwSfPwP3zD+lAYS9mvDRvxETqT9bJ9U/jO54P6Yorz/PgIq/aPqfv+F9VD8j7sg/GmWnv/f0rj56iGE/lGgOSwhLA4aUaBJ0lFKUjAtvYnNlcnZhdGlvbpRoByiWYAIAAAAAAACZmEM88SiXP89VBz0ijT67nETYu17iST+CSas/d1ojP94Wj79+7WU9mvqyukdSiDt7UFu84ECpPCnrS7yh9/g8C+8ZPLEUnrtLFLS7rmY+P4Y4K77HxIG+HhbXPogtlD6nteu+3pGnP30eJb40bra+fu1lPaT7srpFUog7OX1QvLtAqTx/60u8gPf4PGPwGTyxFJ67oBK0u+3o/L5F7Ey+Nd96P0uwqr0Z7uq8MzpBvkRGqz+ui3y/y+Vlv48YZj3DLfy6OId3O9xMXrz8ZKc8PC9GvMHq+zzCQek71OkcvIb7urtYn+q+4rGKv4LnjL5Iy1E/SKwzP8WH4b3f/Yo/ag7Gvumecj5ZBWY9hD35um8akzv0Z1i8rOKtPEBOTryh9/g8C+8ZPLAUnrtsLLO7xDf0PUdYC79GBIE/OvZTv/0MIsDk5Us/jkmrP5gnxz/6cJy/twhmPYic27qzy4s7/SMsvK0VtjzqAlS8iPb4PGv3GTz7C567OamMu5sPBj8RJJu9T17JvOZuxT+Av94/+dh9P1b2pj9zBEW/b9esv5r6ZT12ARC7GrKHO0DkS7xyU7M8HPpLvFQH/Dxbf0I8t/iIu76Umbt73fg/2sY1v6bQeT+DH+g930rGvqDcAj91Sas/N1piPgzzML9+7WU9nvqyukdSiDsD7Vi82ECpPC/rS7yh9/g8C+8ZPLEUnrvtE7S7c28gv9Ek7z0cDVC/2irwvjtAX72XboS7PkmrPyIWhz8zd/a+ABJmPYyZ57oAK347qqlhvHKHqDy90lC8off4PCXvGTxoFJ678UnFu5RoDksISxOGlGgSdJRSlHUu",
-        "achieved_goal": "[[ 0.63809913 -1.1178854   0.05613469]\n [-0.16124912 -0.35630953  0.05613469]\n [-0.98650634 -0.8980376   0.05617576]\n [-0.38682872  0.23693432  0.05615744]\n [ 1.5558958  -1.2221978   0.05616065]\n [-0.76959914 -1.3503245   0.0561472 ]\n [ 0.22104727 -0.6912086   0.05613469]\n [ 1.0553629  -0.48137817  0.05616951]]",
-        "desired_goal": "[[-1.4569434   0.02815922  0.6812635 ]\n [-0.17883025 -0.8272447   1.7760336 ]\n [-0.6858349  -0.1735671   0.7956389 ]\n [ 1.2423185   1.6012882  -0.06445626]\n [-1.6401551   1.3208944   1.6652635 ]\n [ 0.97238994  1.368428   -1.0820559 ]\n [-1.2498293   0.83004576  1.5697674 ]\n [-1.3077729   0.34171268  0.8809887 ]]",
-        "observation": "[[ 1.19382376e-02  1.18093693e+00  3.30408178e-02 -2.90758209e-03\n  -6.59997575e-03  7.88610339e-01  1.33818078e+00  6.38099134e-01\n  -1.11788535e+00  5.61346933e-02 -1.36550074e-03  4.16019885e-03\n  -1.33858873e-02  2.06608176e-02 -1.24462033e-02  3.03915162e-02\n   9.39537119e-03 -4.82424395e-03 -5.49558317e-03]\n [ 7.43754268e-01 -1.67207807e-01 -2.53454417e-01  4.20090616e-01\n   2.89409876e-01 -4.60370272e-01  1.30913901e+00 -1.61249116e-01\n  -3.56309533e-01  5.61346933e-02 -1.36553170e-03  4.16019792e-03\n  -1.27251679e-02  2.06607487e-02 -1.24462834e-02  3.03914547e-02\n   9.39569157e-03 -4.82424395e-03 -5.49538434e-03]\n [-4.93964583e-01 -2.00120047e-01  9.79968369e-01 -8.33440647e-02\n  -2.86779869e-02 -1.88698575e-01  1.33808184e+00 -9.86506343e-01\n  -8.98037612e-01  5.61757647e-02 -1.92397123e-03  3.77698056e-03\n  -1.35681294e-02  2.04338953e-02 -1.20962225e-02  3.07515878e-02\n   7.11843465e-03 -9.57723334e-03 -5.70625346e-03]\n [-4.58246946e-01 -1.08355355e+00 -2.75203764e-01  8.19508076e-01\n   7.01847553e-01 -1.10122241e-01  1.08587253e+00 -3.86828721e-01\n   2.36934319e-01  5.61574437e-02 -1.90155255e-03  4.48923511e-03\n  -1.32083781e-02  2.12262496e-02 -1.25918984e-02  3.03915162e-02\n   9.39537119e-03 -4.82424349e-03 -5.46794198e-03]\n [ 1.19246989e-01 -5.44315755e-01  1.00794291e+00 -8.27975869e-01\n  -2.53204274e+00  7.96476603e-01  1.33818221e+00  1.55589581e+00\n  -1.22219777e+00  5.61606549e-02 -1.67550240e-03  4.26622620e-03\n  -1.05066271e-02  2.22271327e-02 -1.29401479e-02  3.03909928e-02\n   9.39736795e-03 -4.82320553e-03 -4.29263385e-03]\n [ 5.23675621e-01 -7.57523850e-02 -2.45811027e-02  1.54244685e+00\n   1.74021912e+00  9.91591990e-01  1.30439258e+00 -7.69599140e-01\n  -1.35032451e+00  5.61471954e-02 -2.19735270e-03  4.14110441e-03\n  -1.24445558e-02  2.18903758e-02 -1.24497674e-02  3.07652131e-02\n   1.18711842e-02 -4.18003974e-03 -4.68692090e-03]\n [ 1.94425905e+00 -7.10065484e-01  9.75839972e-01  1.13341354e-01\n  -3.87289971e-01  5.11178970e-01  1.33817923e+00  2.21047267e-01\n  -6.91208601e-01  5.61346933e-02 -1.36550120e-03  4.16019885e-03\n  -1.32401017e-02  2.06608027e-02 -1.24462089e-02  3.03915162e-02\n   9.39537119e-03 -4.82424395e-03 -5.49553940e-03]\n [-6.26700580e-01  1.16769440e-01 -8.12700033e-01 -4.69076931e-01\n  -5.45046143e-02 -4.04150365e-03  1.33817267e+00  1.05536294e+00\n  -4.81378168e-01  5.61695099e-02 -1.76696619e-03  3.87829542e-03\n  -1.37733612e-02  2.05723979e-02 -1.27455564e-02  3.03915162e-02\n   9.39539541e-03 -4.82420996e-03 -6.02077739e-03]]"
     },
     "_last_episode_starts": {
         ":type:": "<class 'numpy.ndarray'>",
@@ -33,25 +33,25 @@
     },
     "_last_original_obs": {
         ":type:": "<class 'collections.OrderedDict'>",
-        ":serialized:": "gAWVGwQAAAAAAACMC2NvbGxlY3Rpb25zlIwLT3JkZXJlZERpY3SUk5QpUpQojA1hY2hpZXZlZF9nb2FslIwSbnVtcHkuY29yZS5udW1lcmljlIwLX2Zyb21idWZmZXKUk5QolmAAAAAAAAAAZZ5nPVTu273Qv6M8nnOEvMxeCb3Qv6M8tdy6vSdFsL2pwaM8Y0cWvcaFxDzWwKM8SmYPPqGl8L37wKM8inOSvdULBb5gwKM8VXGYPNoxh73Qv6M8K4zBPeoLO71hwaM8lIwFbnVtcHmUjAVkdHlwZZSTlIwCZjSUiYiHlFKUKEsDjAE8lE5OTkr/////Sv////9LAHSUYksISwOGlIwBQ5R0lFKUjAxkZXNpcmVkX2dvYWyUaAcolmAAAAAAAAAAhaQCvjy5Rzsijww++Mp8vB1Kkr1zHFc+TGx1vbfVbbwPWRQ+qcrfPWFgDz6+jbM92hoTvjTB7D1gkU8+lEivPQo79T0K16M8vhDgvbQ6lT2TEEk+cXrqvSGc+Dz6KBo+lGgOSwhLA4aUaBJ0lFKUjAtvYnNlcnZhdGlvbpRoByiWYAIAAAAAAACfQU68jxSfPombUj5LD3m9s6FHuqAbhj4E16M9ZZ5nPVTu273Qv6M8WNiMOJI6GzfCQly5jK2pt+rZF7ZARE+sROdLLwzgWy4Xy/u4sofbPQwRKL3byw0+m/QAPRJj1T13JxW+KsKhPZ5zhLzMXgm90L+jPCDWjDg/Ohs3/iMEuPayqbffKxi27zZnsfScNDSfwNIumnD7uKNdw70VPUu9jAXbPp94oL1kuwy863ppvTPVoz213Lq9J0WwvanBozyQJPu2clS+t3nzh7nU/u+3wB+cN2B4qDffZ5y693f2uoxnnLmSZLe9iGqPvo+SCD7l8vI9JjiAPv9yAL27wZE9Y0cWvcaFxDzWwKM8HJmWtl3WGTjz9Sm53x4xNfrAN7fIv4ys9MaUrucRii+3vsq44AWjO0nEDr6UYd4+z5h2vtxsZb8YbIc+C9ejPUpmDz6hpfC9+8CjPC3N1zeGv5c3/+cUOl7XHTjcDgW49mf6slp6jDXbnNw0GFlrOuvBkT3gqYy8jMREPp5+jT5nXB4/4AWoPhRroT2Kc5K91QsFvmDAozwYpzi46oYAN4DsOTifVNM3RR0mtofYrjcfEao6RJ+FOXzkEzrjfJs+ngw7vqCG2j5PLBG9jP8KvsqBLz791qM9VXGYPNoxh73Qv6M8UNiMOIA6Gzc/8zK5vq6pt0XfF7ZAwE+sdiFML673Wy4ct/u4NtzvvaBoBz0ANO877mkmvrdhkbzhiVU73tajPSuMwT3qCzu9YcGjPGuAYjdt+263ZgeluacTxbeiwai3aN84LeSUXDL1pGYyOPcTupRoDksISxOGlGgSdJRSlHUu",
-        "achieved_goal": "[[ 0.05654754 -0.10738817  0.01998892]\n [-0.01616841 -0.03353767  0.01998892]\n [-0.09124128 -0.0860694   0.01998981]\n [-0.03668917  0.02398957  0.01998941]\n [ 0.14003864 -0.11750341  0.01998948]\n [-0.07150944 -0.12992795  0.01998919]\n [ 0.01860873 -0.06601305  0.01998892]\n [ 0.09450563 -0.04566566  0.01998967]]",
-        "desired_goal": "[[-0.12758072  0.00304754  0.13726476]\n [-0.01542925 -0.07143042  0.21006946]\n [-0.05991773 -0.01451629  0.14487098]\n [ 0.10927326  0.1400161   0.0876727 ]\n [-0.14365712  0.11560288  0.202703  ]\n [ 0.08558765  0.11974151  0.02      ]\n [-0.10940693  0.07286587  0.19635229]\n [-0.11449135  0.03034789  0.15054694]]",
-        "observation": "[[-1.25888875e-02  3.10703725e-01  2.05671445e-01 -6.08056001e-02\n  -7.61534262e-04  2.61929512e-01  7.99999535e-02  5.65475412e-02\n  -1.07388169e-01  1.99889243e-02  6.71601738e-05  9.25235690e-06\n  -2.10057042e-04 -2.02271840e-05 -2.26275961e-06 -2.94543556e-12\n   1.85449045e-10  4.99938285e-11 -1.20064411e-04]\n [ 1.07192412e-01 -4.10318822e-02  1.38472959e-01  3.14832740e-02\n   1.04192868e-01 -1.45658359e-01  7.89836198e-02 -1.61684118e-02\n  -3.35376710e-02  1.99889243e-02  6.71560410e-05  9.25228142e-06\n  -3.15047728e-05 -2.02297051e-05 -2.26753014e-06 -3.36461503e-09\n   1.68209056e-07  9.58391075e-11 -1.19895863e-04]\n [-9.53934416e-02 -4.96187992e-02  4.27776694e-01 -7.83550665e-02\n  -8.58959928e-03 -5.70019893e-02  7.99964890e-02 -9.12412778e-02\n  -8.60693976e-02  1.99898053e-02 -7.48463935e-06 -2.26890879e-05\n  -2.59306078e-04 -2.86096838e-05  1.86114339e-05  2.00832146e-05\n  -1.19328115e-03 -1.88040629e-03 -2.98317871e-04]\n [-8.95472914e-02 -2.80109644e-01  1.33371577e-01  1.18627347e-01\n   2.50428379e-01 -3.13596688e-02  7.11702928e-02 -3.66891734e-02\n   2.39895694e-02  1.99894123e-02 -4.48817264e-06  3.66776840e-05\n  -1.62087192e-04  6.59825616e-07 -1.09525809e-05 -4.00033132e-12\n  -6.76560197e-11  2.51147741e-10 -9.66763400e-05]\n [ 4.97506559e-03 -1.39420643e-01  4.34338212e-01 -2.40817294e-01\n  -8.96192312e-01  2.64496565e-01  8.00000057e-02  1.40038639e-01\n  -1.17503412e-01  1.99894812e-02  2.57255397e-05  1.80897878e-05\n   5.68032207e-04  3.76322932e-05 -3.17235099e-05 -2.91511064e-08\n   1.04664218e-06  4.10923207e-07  8.97781458e-04]\n [ 7.11706504e-02 -1.71708465e-02  1.92156017e-01  2.76356637e-01\n   6.18597448e-01  3.28169823e-01  7.88175166e-02 -7.15094358e-02\n  -1.29927948e-01  1.99891925e-02 -4.40246367e-05  7.66080666e-06\n   4.43276949e-05  2.51925649e-05 -2.47529647e-06  2.08432448e-05\n   1.29750732e-03  2.54863990e-04  5.64165181e-04]\n [ 3.03687185e-01 -1.82665318e-01  4.26808357e-01 -3.54426466e-02\n  -1.35740459e-01  1.71393543e-01  7.99999014e-02  1.86087284e-02\n  -6.60130531e-02  1.99889243e-02  6.71601156e-05  9.25234053e-06\n  -1.70660191e-04 -2.02277406e-05 -2.26307134e-06 -2.95231894e-12\n   1.85655796e-10  5.00148187e-11 -1.20027194e-04]\n [-1.17119238e-01  3.30587626e-02  7.29990005e-03 -1.62513465e-01\n  -1.77467894e-02  3.25834029e-03  7.99996704e-02  9.45056304e-02\n  -4.56656590e-02  1.99896712e-02  1.35005494e-05 -1.42444451e-05\n  -3.14767647e-04 -2.34933814e-05 -2.01173279e-05  1.05087952e-11\n   1.28395392e-08  1.34252689e-08 -5.64444344e-04]]"
     },
-    "_episode_num": 10334,
     "use_sde": false,
     "sde_sample_freq": -1,
-    "_current_progress_remaining": 0.500408,
     "_stats_window_size": 100,
     "ep_info_buffer": {
         ":type:": "<class 'collections.deque'>",
-        ":serialized:": "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"
     },
     "ep_success_buffer": {
         ":type:": "<class 'collections.deque'>",
-        ":serialized:": "gAWVhgAAAAAAAACMC2NvbGxlY3Rpb25zlIwFZGVxdWWUk5QpS2SGlFKUKImJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmIiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiImJiYmJiYllLg=="
     },
-    "_n_updates": 62436,
     "buffer_size": 1000000,
     "batch_size": 256,
     "learning_starts": 100,
@@ -65,12 +65,12 @@
         "__module__": "stable_baselines3.common.buffers",
         "__annotations__": "{'observation_space': <class 'gymnasium.spaces.dict.Dict'>, 'obs_shape': typing.Dict[str, typing.Tuple[int, ...]], 'observations': typing.Dict[str, numpy.ndarray], 'next_observations': typing.Dict[str, numpy.ndarray]}",
         "__doc__": "\n    Dict Replay buffer used in off-policy algorithms like SAC/TD3.\n    Extends the ReplayBuffer to use dictionary observations\n\n    :param buffer_size: Max number of element in the buffer\n    :param observation_space: Observation space\n    :param action_space: Action space\n    :param device: PyTorch device\n    :param n_envs: Number of parallel environments\n    :param optimize_memory_usage: Enable a memory efficient variant\n        Disabled for now (see https://github.com/DLR-RM/stable-baselines3/pull/243#discussion_r531535702)\n    :param handle_timeout_termination: Handle timeout termination (due to timelimit)\n        separately and treat the task as infinite horizon task.\n        https://github.com/DLR-RM/stable-baselines3/issues/284\n    ",
-        "__init__": "<function DictReplayBuffer.__init__ at 0x7ef3107df520>",
-        "add": "<function DictReplayBuffer.add at 0x7ef3107df5b0>",
-        "sample": "<function DictReplayBuffer.sample at 0x7ef3107df640>",
-        "_get_samples": "<function DictReplayBuffer._get_samples at 0x7ef3107df6d0>",
         "__abstractmethods__": "frozenset()",
-        "_abc_impl": "<_abc._abc_data object at 0x7ef3107e3300>"
     },
     "replay_buffer_kwargs": {},
     "train_freq": {
@@ -91,7 +91,7 @@
     },
     "action_space": {
         ":type:": "<class 'gymnasium.spaces.box.Box'>",
-        ":serialized:": "gAWVeQIAAAAAAACMFGd5bW5hc2l1bS5zcGFjZXMuYm94lIwDQm94lJOUKYGUfZQojAVkdHlwZZSMBW51bXB5lIwFZHR5cGWUk5SMAmY0lImIh5RSlChLA4wBPJROTk5K/////0r/////SwB0lGKMDWJvdW5kZWRfYmVsb3eUjBJudW1weS5jb3JlLm51bWVyaWOUjAtfZnJvbWJ1ZmZlcpSTlCiWCAAAAAAAAAABAQEBAQEBAZRoCIwCYjGUiYiHlFKUKEsDjAF8lE5OTkr/////Sv////9LAHSUYksIhZSMAUOUdJRSlIwNYm91bmRlZF9hYm92ZZRoESiWCAAAAAAAAAABAQEBAQEBAZRoFUsIhZRoGXSUUpSMBl9zaGFwZZRLCIWUjANsb3eUaBEoliAAAAAAAAAAAACAvwAAgL8AAIC/AACAvwAAgL8AAIC/AACAvwAAgL+UaAtLCIWUaBl0lFKUjARoaWdolGgRKJYgAAAAAAAAAAAAgD8AAIA/AACAPwAAgD8AAIA/AACAPwAAgD8AAIA/lGgLSwiFlGgZdJRSlIwIbG93X3JlcHKUjAQtMS4wlIwJaGlnaF9yZXBylIwDMS4wlIwKX25wX3JhbmRvbZSMFG51bXB5LnJhbmRvbS5fcGlja2xllIwQX19nZW5lcmF0b3JfY3RvcpSTlIwFUENHNjSUhZRSlH2UKIwNYml0X2dlbmVyYXRvcpSMBVBDRzY0lIwFc3RhdGWUfZQoaDuKEdSPj2pt8rlywbq+2Mb65IkAjANpbmOUihGJzR4iQp/MEExxHhst5jKRAHWMCmhhc191aW50MzKUSwCMCHVpbnRlZ2VylEsAdWJ1Yi4=",
         "dtype": "float32",
         "bounded_below": "[ True  True  True  True  True  True  True  True]",
         "bounded_above": "[ True  True  True  True  True  True  True  True]",

         ":serialized:": "gAWVNwAAAAAAAACMHnN0YWJsZV9iYXNlbGluZXMzLnNhYy5wb2xpY2llc5SMEE11bHRpSW5wdXRQb2xpY3mUk5Qu",
         "__module__": "stable_baselines3.sac.policies",
         "__doc__": "\n    Policy class (with both actor and critic) for SAC.\n\n    :param observation_space: Observation space\n    :param action_space: Action space\n    :param lr_schedule: Learning rate schedule (could be constant)\n    :param net_arch: The specification of the policy and value networks.\n    :param activation_fn: Activation function\n    :param use_sde: Whether to use State Dependent Exploration or not\n    :param log_std_init: Initial value for the log standard deviation\n    :param use_expln: Use ``expln()`` function instead of ``exp()`` when using gSDE to ensure\n        a positive standard deviation (cf paper). It allows to keep variance\n        above zero and prevent it from growing too fast. In practice, ``exp()`` is usually enough.\n    :param clip_mean: Clip the mean output when using gSDE to avoid numerical instability.\n    :param features_extractor_class: Features extractor to use.\n    :param normalize_images: Whether to normalize images or not,\n         dividing by 255.0 (True by default)\n    :param optimizer_class: The optimizer to use,\n        ``th.optim.Adam`` by default\n    :param optimizer_kwargs: Additional keyword arguments,\n        excluding the learning rate, to pass to the optimizer\n    :param n_critics: Number of critic networks to create.\n    :param share_features_extractor: Whether to share or not the features extractor\n        between the actor and the critic (this saves computation time)\n    ",
+        "__init__": "<function MultiInputPolicy.__init__ at 0x7bdb487ad7e0>",
         "__abstractmethods__": "frozenset()",
+        "_abc_impl": "<_abc._abc_data object at 0x7bdb487c0300>"
     },
+    "verbose": 0,
     "policy_kwargs": {
         "use_sde": false
     },
+    "num_timesteps": 7178208,
+    "_total_timesteps": 10000000,
     "_num_timesteps_at_start": 0,
     "seed": null,
     "action_noise": null,
+    "start_time": 1720285323913296925,
     "learning_rate": 0.0003,
     "tensorboard_log": null,
     "_last_obs": {
         ":type:": "<class 'collections.OrderedDict'>",
+        ":serialized:": "gAWVGwQAAAAAAACMC2NvbGxlY3Rpb25zlIwLT3JkZXJlZERpY3SUk5QpUpQojA1hY2hpZXZlZF9nb2FslIwSbnVtcHkuY29yZS5udW1lcmljlIwLX2Zyb21idWZmZXKUk5QolmAAAAAAAAAAIsvGPqNDHb8R+1k81T+hPxqH2b84WFw8KosTv743xL+uSV087jNRvxk2Uz1Lvls8xozCv0DQt76y+Vw8jLfGvyy9wr9Lvls84UH3PtDFvrxLvls8n/7NvZSc2j+to1w8lIwFbnVtcHmUjAVkdHlwZZSTlIwCZjSUiYiHlFKUKEsDjAE8lE5OTkr/////Sv////9LAHSUYksISwOGlIwBQ5R0lFKUjAxkZXNpcmVkX2dvYWyUaAcolmAAAAAAAAAANqLTv0ksmj+duqw/5XWqvs8wvL+DOIq/HUTXPzuzeb+DOIq/f+68vinbqD5Wf4M/cp+9P4J0cb+DOIq/HS4lP9wt+b6DOIq/o1CCPh4AgL+/jD+/L7SHP8Mtx7+DOIq/lGgOSwhLA4aUaBJ0lFKUjAtvYnNlcnZhdGlvbpRoByiWYAIAAAAAAACjzLA//w+HPfQoZT8bu869X3D8v3RDLT53bWO/IsvGPqNDHb8R+1k8nd7yutSLAbviyyG74ijTO21CRrtofO87F05wOuD2UrqOXty5RrKtvI3t5j3Y50m/mu6zPfBaGL4JvqU9scxWP9U/oT8ah9m/OFhcPB7Vfbszn+m6Bx2QO6QcJzyex7e6anzvOwhUcDo871K6gQEMO3UsPj6L3da/9RiZvxXOlj+Rg44+hBXJPvZsY78qixO/vjfEv65JXTw9Sma7qhYhuxodoLtpHgo8QxU8u0Kv8jvZvV46J9qhudRT7DdtW409xUOhv9zeXr8e+ZU+B1QOP1LsS784LZ8/7jNRvxk2Uz1Lvls8vL88u1g1zrrPqZQ8vMZBPCLon7tpfO87dVdwOokDU7qjRF07k0pfPyTYub+fWtW+grWOP4YZrD/Adt6/QW1jv8aMwr9A0Le+svlcPPKzbbtoje26pnoBOyEBAjy+iki7aHzvO/xNcDrI9lK6JzsMOh6IgD/Z8yE/euymvwEY5rzqH6Q/7yuCvmltY7+Mt8a/LL3Cv0u+WzwExTy7+SHOuk3rQzzEy0E8l+qfu2l87zt7V3A6iwNTuup0XTtZYlE/PtUDvyYyPD3JL0U+7m1Yv+i7Yr+KbWO/4UH3PtDFvrxLvls8q8o8u08Nzrp8T687D9FBPCbtn7tpfO87gVdwOo8DU7pMqF0717SCvj0KAMBxaZo9cco0Pwyq4D7x+v49+e2UPZ/+zb2UnNo/raNcPPH1bruT/lW7Pf6MuzBESDzxpZW7IGi+O5o0ETw8a4M8zOj8uZRoDksISxOGlGgSdJRSlHUu",
+        "achieved_goal": "[[ 0.38826853 -0.6143133   0.01330449]\n [ 1.2597605  -1.6994355   0.01344877]\n [-0.5763422  -1.5329511   0.01350634]\n [-0.81719863  0.05156526  0.01341207]\n [-1.5199211  -0.3590107   0.01348727]\n [-1.5524764  -1.5213981   0.01341207]\n [ 0.4829245  -0.02328768  0.01341207]\n [-0.10058331  1.7079034   0.01346676]]",
+        "desired_goal": "[[-1.6533878   1.2044765   1.349445  ]\n [-0.3329307  -1.4702395  -1.0798496 ]\n [ 1.6817662  -0.9753911  -1.0798496 ]\n [-0.36900708  0.32979706  1.0273235 ]\n [ 1.4814284  -0.943184   -1.0798496 ]\n [ 0.6452349  -0.486678   -1.0798496 ]\n [ 0.25452146 -1.0000036  -0.74824136]\n [ 1.0601863  -1.556084   -1.0798496 ]]",
+        "observation": "[[ 1.3812450e+00  6.5948479e-02  8.9515615e-01 -1.0094281e-01\n  -1.9721793e+00  1.6920263e-01 -8.8838905e-01  3.8826853e-01\n  -6.1431330e-01  1.3304488e-02 -1.8529479e-03 -1.9767182e-03\n  -2.4688174e-03  6.4440826e-03 -3.0251995e-03  7.3085316e-03\n   9.1669097e-04 -8.0476515e-04 -4.2032119e-04]\n [-2.1203171e-02  1.1275778e-01 -7.8869390e-01  8.7857440e-02\n  -1.4878440e-01  8.0928870e-02  8.3906084e-01  1.2597605e+00\n  -1.6994355e+00  1.3448767e-02 -3.8731764e-03 -1.7823934e-03\n   4.3979916e-03  1.0199700e-02 -1.4021283e-03  7.3085325e-03\n   9.1677951e-04 -8.0465130e-04  2.1363201e-03]\n [ 1.8571647e-01 -1.6786360e+00 -1.1960741e+00  1.1781641e+00\n   2.7834752e-01  3.9274228e-01 -8.8838136e-01 -5.7634223e-01\n  -1.5329511e+00  1.3506336e-02 -3.5139464e-03 -2.4580159e-03\n  -4.8862817e-03  8.4301019e-03 -2.8699196e-03  7.4061463e-03\n   8.4969174e-04 -3.0870849e-04  2.8172428e-05]\n [ 6.9022037e-02 -1.2598807e+00 -8.7058806e-01  2.9291624e-01\n   5.5596966e-01 -7.9657471e-01  1.2435675e+00 -8.1719863e-01\n   5.1565263e-02  1.3412069e-02 -2.8800806e-03 -1.5732450e-03\n   1.8147377e-02  1.1827167e-02 -4.8799673e-03  7.3085320e-03\n   9.1683056e-04 -8.0495380e-04  3.3762835e-03]\n [ 8.7223166e-01 -1.4519086e+00 -4.1670701e-01  1.1149142e+00\n   1.3445289e+00 -1.7379990e+00 -8.8838583e-01 -1.5199211e+00\n  -3.5901070e-01  1.3487266e-02 -3.6270586e-03 -1.8123807e-03\n   1.9756942e-03  7.9348395e-03 -3.0600275e-03  7.3085316e-03\n   9.1668940e-04 -8.0476375e-04  5.3493906e-04]\n [ 1.0041540e+00  6.3262707e-01 -1.3040917e+00 -2.8087618e-02\n   1.2822239e+00 -2.5424144e-01 -8.8838822e-01 -1.5524764e+00\n  -1.5213981e+00  1.3412069e-02 -2.8803954e-03 -1.5726677e-03\n   1.1957956e-02  1.1828367e-02 -4.8802602e-03  7.3085320e-03\n   9.1683090e-04 -8.0495392e-04  3.3791610e-03]\n [ 8.1790692e-01 -5.1497257e-01  4.5946263e-02  1.9256510e-01\n  -8.4542739e-01 -8.8567972e-01 -8.8839018e-01  4.8292449e-01\n  -2.3287684e-02  1.3412069e-02 -2.8807323e-03 -1.5720519e-03\n   5.3500514e-03  1.1829629e-02 -4.8805652e-03  7.3085320e-03\n   9.1683125e-04 -8.0495415e-04  3.3822237e-03]\n [-2.5528595e-01 -2.0006249e+00  7.5396426e-02  7.0621401e-01\n   4.3879735e-01  1.2450207e-01  7.2719522e-02 -1.0058331e-01\n   1.7079034e+00  1.3466758e-02 -3.6462510e-03 -3.2652959e-03\n  -4.3027685e-03  1.2223288e-02 -4.5669009e-03  5.8107525e-03\n   8.8626388e-03  1.6042344e-02 -4.8238633e-04]]"
     },
     "_last_episode_starts": {
         ":type:": "<class 'numpy.ndarray'>",
     },
     "_last_original_obs": {
         ":type:": "<class 'collections.OrderedDict'>",
+        ":serialized:": "gAWVGwQAAAAAAACMC2NvbGxlY3Rpb25zlIwLT3JkZXJlZERpY3SUk5QpUpQojA1hY2hpZXZlZF9nb2FslIwSbnVtcHkuY29yZS5udW1lcmljlIwLX2Zyb21idWZmZXKUk5QolmAAAAAAAAAA6usIPXmxXL3Qv6M8WOvfPaZyGL5hwaM8jTdPvQeGCb4BwqM8rpKSvWmYkDv7wKM8ifYHvuUlAb3MwaM83t0KvuZ8CL77wKM8/7AqPZFBDLv7wKM83+4VvMf/GD6TwaM8lIwFbnVtcHmUjAVkdHlwZZSTlIwCZjSUiYiHlFKUKEsDjAE8lE5OTkr/////Sv////9LAHSUYksISwOGlIwBQ5R0lFKUjAxkZXNpcmVkX2dvYWyUaAcolmAAAAAAAAAAiKcSvn+n1T2S8Dk+v6LrvN2VAr4K16M8PV0VPtRSrb0K16M8QqACvSmD6Tz+/yM+M5UDPiWbp70K16M8cXVlPYUhLb0K16M8Hn21PF6xsb18Qyw9n2O8PYI0Cr4K16M8lGgOSwhLA4aUaBJ0lFKUjAtvYnNlcnZhdGlvbpRoByiWYAIAAAAAAADaZZ4+ihANvZBJ3z49hUq9SSYyv/5FiT1oIpqw6usIPXmxXL3Qv6M8WdiMOJQ6GzdFRGC5bq2pt2TZF7bwjk+sMY5LL3woXC4Hzfu4pIs3PY4trrwCNAM+PTZ2vMsRo70zLDE9ysCEPVjr3z2mchi+YcGjPGz0brcNh2I3i9LIOZDAqDdTEcU3EJpsLS+uZzK5E1sy7/ITOq+2qz3Riwa/0p1bPX4hPD66lYQ9cEgCPlummTSNN0+9B4YJvgHCozx1F3k0/eSqtUNP3rkjnpQ1DRtYNI2trzX91Ci3AjdoOPJO962iQn098rvQvua65z2eG7c8GmAiPuiyRb7O1qM9rpKSvWmYkDv7wKM8+zLYN/Khlzf33M46PbQdOInvBLgoftQswbe1MnBytLIX+Go6XnhaPplp7L6R30g+D1MwPhyl2T7EqOS+xor8M4n2B77lJQG9zMGjPPglkbZqhlc3D9o0OS5djbbk7zy2EHIgrNSwXK6AO10vOkIOORb0cz60FwA+drEKPYsfFL0C3c4+Jo1Avc9F9zLe3Qq+5nwIvvvAozy6F9g3Dr2XN5tXiDoSwh04hvQEuAhGtywGH7YyM5C0ssorazrx+U8+C7tKviTDjz7eA4U7oVGhvopFXr5a4EKz/7AqPZFBDLv7wKM8k/rXN/rZlzd0NvQ5odAdOLn5BLgIC58siZO2MunMtLLQYms6PDorOl3AHb8phZI+NRLIPVil8z3qPGE9hbgTPd/uFbzH/xg+k8GjPN4Yq7ZMx563R7fDuUeNLzjgMuC39Hiot+RunDrsc/Y6wlIPuZRoDksISxOGlGgSdJRSlHUu",
+        "achieved_goal": "[[ 0.03342811 -0.05388019  0.01998892]\n [ 0.1093356  -0.14887485  0.01998967]\n [-0.05059009 -0.13430034  0.01998997]\n [-0.07156883  0.0044127   0.01998948]\n [-0.1327764  -0.03153028  0.01998987]\n [-0.13561198 -0.13328895  0.01998948]\n [ 0.0416727  -0.00214014  0.01998948]\n [-0.00915119  0.14941321  0.01998976]]",
+        "desired_goal": "[[-0.1432172   0.10432338  0.18158177]\n [-0.02876413 -0.12752481  0.02      ]\n [ 0.14586349 -0.08463064  0.02      ]\n [-0.03189112  0.02850492  0.16015622]\n [ 0.12849884 -0.08183888  0.02      ]\n [ 0.0560202  -0.04226829  0.02      ]\n [ 0.02215439 -0.08676408  0.04205655]\n [ 0.09198689 -0.13496593  0.02      ]]",
+        "observation": "[[ 3.09370816e-01 -3.44396010e-02  4.36108112e-01 -4.94434722e-02\n  -6.95896685e-01  6.70280308e-02 -1.12147536e-09  3.34281102e-02\n  -5.38801886e-02  1.99889243e-02  6.71601811e-05  9.25235872e-06\n  -2.13877371e-04 -2.02271294e-05 -2.26272914e-06 -2.94958155e-12\n   1.85132590e-10  5.00581659e-11 -1.20068020e-04]\n [ 4.48109061e-02 -2.12619565e-02  1.28128082e-01 -1.50275799e-02\n  -7.96237811e-02  4.32550423e-02  6.48208410e-02  1.09335601e-01\n  -1.48874849e-01  1.99896712e-02 -1.42428144e-05  1.35020937e-05\n   3.83038394e-04  2.01168295e-05  2.34922973e-05  1.34492556e-11\n   1.34855744e-08  1.27519622e-08  5.64380491e-04]\n [ 8.38445351e-02 -5.25570929e-01  5.36173061e-02  1.83721513e-01\n   6.47387058e-02  1.27229452e-01  2.86195103e-07 -5.05900867e-02\n  -1.34300336e-01  1.99899692e-02  2.31984657e-07 -1.27326314e-06\n  -4.24021942e-04  1.10728831e-06  2.01264086e-07  1.30890260e-06\n  -1.00631705e-05  5.53643404e-05 -2.81157077e-11]\n [ 6.18311241e-02 -4.07683909e-01  1.13149449e-01  2.23520361e-02\n   1.58569723e-01 -1.93065286e-01  7.99995512e-02 -7.15688318e-02\n   4.41269996e-03  1.99894812e-02  2.57729462e-05  1.80760144e-05\n   1.57824054e-03  3.75995769e-05 -3.16943369e-05  6.03940856e-12\n   2.11547349e-08 -2.10067981e-08  8.96335987e-04]\n [ 2.13349789e-01 -4.61743146e-01  1.96165338e-01  1.72191843e-01\n   4.25087810e-01 -4.46600080e-01  1.17599072e-07 -1.32776394e-01\n  -3.15302797e-02  1.99898705e-02 -4.32575689e-06  1.28462943e-05\n   1.72473709e-04 -4.21297500e-06 -2.81538178e-06 -2.28006850e-12\n  -5.01792635e-11  2.01209716e-10  1.35668466e-04]\n [ 2.38235801e-01  1.25090420e-01  3.38606462e-02 -3.61628942e-02\n   4.04029906e-01 -4.70096096e-02  2.87863298e-08 -1.35611981e-01\n  -1.33288950e-01  1.99894812e-02  2.57602551e-05  1.80886382e-05\n   1.04020850e-03  3.76124590e-05 -3.16989826e-05  5.20894786e-12\n   2.12016964e-08 -2.10203321e-08  8.97106365e-04]\n [ 2.03101888e-01 -1.97979137e-01  2.80785680e-01  4.05929890e-03\n  -3.15075904e-01 -2.17062145e-01 -4.53731914e-08  4.16727029e-02\n  -2.14013853e-03  1.99894812e-02  2.57466800e-05  1.81021060e-05\n   4.65798774e-04  3.76260177e-05 -3.17038248e-05  4.52027651e-12\n   2.12546798e-08 -2.10479403e-08  8.97926278e-04]\n [ 6.53180992e-04 -6.16216481e-01  2.86172181e-01  9.76909772e-02\n   1.18967712e-01  5.49897328e-02  3.60646434e-02 -9.15118959e-03\n   1.49413213e-01  1.99897643e-02 -5.09909205e-06 -1.89278726e-05\n  -3.73298506e-04  4.18548261e-05 -2.67265714e-05 -2.00834838e-05\n   1.19349035e-03  1.88028580e-03 -1.36683724e-04]]"
     },
+    "_episode_num": 148229,
     "use_sde": false,
     "sde_sample_freq": -1,
+    "_current_progress_remaining": 0.28217919999999996,
     "_stats_window_size": 100,
     "ep_info_buffer": {
         ":type:": "<class 'collections.deque'>",
+        ":serialized:": "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"
     },
     "ep_success_buffer": {
         ":type:": "<class 'collections.deque'>",
+        ":serialized:": "gAWVhgAAAAAAAACMC2NvbGxlY3Rpb25zlIwFZGVxdWWUk5QpS2SGlFKUKImJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiImJiYmJiYmJiYmJiYmJiImJiYmJiYmJiYmJiYmJiYmIiYmJiYmJiImIiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYmJiYllLg=="
     },
+    "_n_updates": 897263,
     "buffer_size": 1000000,
     "batch_size": 256,
     "learning_starts": 100,
         "__module__": "stable_baselines3.common.buffers",
         "__annotations__": "{'observation_space': <class 'gymnasium.spaces.dict.Dict'>, 'obs_shape': typing.Dict[str, typing.Tuple[int, ...]], 'observations': typing.Dict[str, numpy.ndarray], 'next_observations': typing.Dict[str, numpy.ndarray]}",
         "__doc__": "\n    Dict Replay buffer used in off-policy algorithms like SAC/TD3.\n    Extends the ReplayBuffer to use dictionary observations\n\n    :param buffer_size: Max number of element in the buffer\n    :param observation_space: Observation space\n    :param action_space: Action space\n    :param device: PyTorch device\n    :param n_envs: Number of parallel environments\n    :param optimize_memory_usage: Enable a memory efficient variant\n        Disabled for now (see https://github.com/DLR-RM/stable-baselines3/pull/243#discussion_r531535702)\n    :param handle_timeout_termination: Handle timeout termination (due to timelimit)\n        separately and treat the task as infinite horizon task.\n        https://github.com/DLR-RM/stable-baselines3/issues/284\n    ",
+        "__init__": "<function DictReplayBuffer.__init__ at 0x7bdb48ac8ca0>",
+        "add": "<function DictReplayBuffer.add at 0x7bdb48ac8d30>",
+        "sample": "<function DictReplayBuffer.sample at 0x7bdb48ac8dc0>",
+        "_get_samples": "<function DictReplayBuffer._get_samples at 0x7bdb48ac8e50>",
         "__abstractmethods__": "frozenset()",
+        "_abc_impl": "<_abc._abc_data object at 0x7bdb48abb6c0>"
     },
     "replay_buffer_kwargs": {},
     "train_freq": {
     },
     "action_space": {
         ":type:": "<class 'gymnasium.spaces.box.Box'>",
+        ":serialized:": "gAWVeQIAAAAAAACMFGd5bW5hc2l1bS5zcGFjZXMuYm94lIwDQm94lJOUKYGUfZQojAVkdHlwZZSMBW51bXB5lIwFZHR5cGWUk5SMAmY0lImIh5RSlChLA4wBPJROTk5K/////0r/////SwB0lGKMDWJvdW5kZWRfYmVsb3eUjBJudW1weS5jb3JlLm51bWVyaWOUjAtfZnJvbWJ1ZmZlcpSTlCiWCAAAAAAAAAABAQEBAQEBAZRoCIwCYjGUiYiHlFKUKEsDjAF8lE5OTkr/////Sv////9LAHSUYksIhZSMAUOUdJRSlIwNYm91bmRlZF9hYm92ZZRoESiWCAAAAAAAAAABAQEBAQEBAZRoFUsIhZRoGXSUUpSMBl9zaGFwZZRLCIWUjANsb3eUaBEoliAAAAAAAAAAAACAvwAAgL8AAIC/AACAvwAAgL8AAIC/AACAvwAAgL+UaAtLCIWUaBl0lFKUjARoaWdolGgRKJYgAAAAAAAAAAAAgD8AAIA/AACAPwAAgD8AAIA/AACAPwAAgD8AAIA/lGgLSwiFlGgZdJRSlIwIbG93X3JlcHKUjAQtMS4wlIwJaGlnaF9yZXBylIwDMS4wlIwKX25wX3JhbmRvbZSMFG51bXB5LnJhbmRvbS5fcGlja2xllIwQX19nZW5lcmF0b3JfY3RvcpSTlIwFUENHNjSUhZRSlH2UKIwNYml0X2dlbmVyYXRvcpSMBVBDRzY0lIwFc3RhdGWUfZQoaDuKEeBedL/AZ8rMc0g6LMqWIfAAjANpbmOUihFLBn0NQ3loDa2lHgJrJHW8AHWMCmhhc191aW50MzKUSwCMCHVpbnRlZ2VylEsAdWJ1Yi4=",
         "dtype": "float32",
         "bounded_below": "[ True  True  True  True  True  True  True  True]",
         "bounded_above": "[ True  True  True  True  True  True  True  True]",

sac-PandaPickAndPlaceJointsDense-v3/ent_coef_optimizer.pth CHANGED Viewed

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:7d5da79a60248bd6e1d264d2c8e05941c706ff9f88be53aa6ed88ae1ec6fb453
 size 1940

 version https://git-lfs.github.com/spec/v1
+oid sha256:24ccfb0f1b4fbaa17a563b91d2fc0f3399fb96e30507fcc3bc022ca2ceac2652
 size 1940

sac-PandaPickAndPlaceJointsDense-v3/policy.pth CHANGED Viewed

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ae685fe93b04aa3e98a715b7931fe89f282374e4afdedcbf578686a7e3bfb49a
 size 1514358

 version https://git-lfs.github.com/spec/v1
+oid sha256:be1b592b79281581decbe584671b6971d9a5e8a9e2c54a585e40a8a2eed6e49b
 size 1514358

sac-PandaPickAndPlaceJointsDense-v3/pytorch_variables.pth CHANGED Viewed

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:87b72782fbed5d94082eae472e24dddb34d36b5e9be5e38867db852207861862
 size 1180

 version https://git-lfs.github.com/spec/v1
+oid sha256:89cb8fb16d5ba0a0b2db8e63e5c5754b4083c6d28088abe78f0190ef104e3cbe
 size 1180

vec_normalize.pkl CHANGED Viewed

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2d9ddbe0dd906616f80d006da58985cc8938a2b48426b540a124edd479fcc3e0
 size 3282

 version https://git-lfs.github.com/spec/v1
+oid sha256:a086e5919cfe30957ef2c91550902c3ca2e984efff34421b4eddc4db2d948558
 size 3282