Upload generalization/full_analysis_20260324_1116/minihack_full_results.json with huggingface_hub

generalization/full_analysis_20260324_1116/minihack_full_results.json

@@ -0,0 +1,2005 @@
+{
+  "run_id": "20260324_1116",
+  "max_iter": 500,
+  "eval_eps": 10,
+  "id_envs": [
+    "MiniHack-Room-Random-5x5-v0",
+    "MiniHack-Room-Random-15x15-v0",
+    "MiniHack-Corridor-R2-v0",
+    "MiniHack-MazeWalk-9x9-v0"
+  ],
+  "ood_envs": [
+    "MiniHack-Room-Dark-15x15-v0",
+    "MiniHack-Corridor-R5-v0",
+    "MiniHack-MazeWalk-45x19-v0"
+  ],
+  "baseline_id": 0.45,
+  "baseline_ood": 0.03333333333333333,
+  "baseline_rl_id": 0.025,
+  "baseline_rl_ood": 0.03333333333333333,
+  "kl_penalty": {
+    "id": 0.425,
+    "ood": 0.10000000000000002
+  },
+  "frozen_backbone": {
+    "id": 0.125,
+    "ood": 0.0
+  },
+  "bc_on_wins": {
+    "id": 0.125,
+    "ood": 0.03333333333333333
+  },
+  "low_t_only": {
+    "id": 0.05,
+    "ood": 0.0
+  },
+  "synthetic": {
+    "id": 0.05
+  },
+  "histories": {
+    "baseline_rl": {
+      "iter": [
+        10,
+        20,
+        30,
+        40,
+        50,
+        60,
+        70,
+        80,
+        90,
+        100,
+        110,
+        120,
+        130,
+        140,
+        150,
+        160,
+        170,
+        180,
+        190,
+        200,
+        210,
+        220,
+        230,
+        240,
+        250,
+        260,
+        270,
+        280,
+        290,
+        300,
+        310,
+        320,
+        330,
+        340,
+        350,
+        360,
+        370,
+        380,
+        390,
+        400,
+        410,
+        420,
+        430,
+        440,
+        450,
+        460,
+        470,
+        480,
+        490,
+        500
+      ],
+      "loss": [
+        0.3538270264863968,
+        0.4377899743616581,
+        0.08652612939476967,
+        0.04114371752366423,
+        0.03957269466482103,
+        0.046368783246725796,
+        0.029016940807923674,
+        0.023031661449931563,
+        0.018955788156017662,
+        0.012367414694745093,
+        0.038063708273693916,
+        0.02385816101450473,
+        0.0201659549260512,
+        0.017254522698931397,
+        0.010255878919269889,
+        0.008153129415586591,
+        0.008980516204610467,
+        0.0018633072701049968,
+        0.005288890225347132,
+        0.0032623883977066725,
+        0.007189091545296833,
+        0.0036865342379314827,
+        0.034503579896409065,
+        0.0024017324147280307,
+        0.008079327135055792,
+        0.005166706864838488,
+        0.004526812941185199,
+        0.005694168864283711,
+        0.005634190852288157,
+        0.025248501528403723,
+        0.014854160777758807,
+        0.011417066992726177,
+        0.02595224802644225,
+        0.0027896528499695705,
+        0.014399234169104602,
+        0.006570604163061944,
+        0.011021597406215732,
+        0.003368453289658646,
+        0.007000996673014015,
+        0.0020966271125871573,
+        0.0012383776893329923,
+        0.0010686448353226297,
+        0.0005573026563070016,
+        0.0013555235869716852,
+        0.003491711810420384,
+        0.0008705336511411587,
+        0.003108983759284456,
+        0.000381374674361723,
+        0.0027816690466352157,
+        0.0010556293743320567
+      ],
+      "mean_return": [
+        2.261000000000013,
+        -4.155999999999993,
+        -4.689999999999982,
+        -3.7719999999999976,
+        -1.9609999999999892,
+        -3.9939999999999976,
+        -3.5319999999999903,
+        1.952000000000006,
+        1.8880000000000041,
+        -3.4559999999999973,
+        5.916000000000009,
+        -1.094999999999996,
+        -4.045999999999998,
+        -1.710999999999991,
+        -0.394999999999999,
+        -1.3489999999999935,
+        -1.7289999999999899,
+        0.892000000000005,
+        -4.261999999999992,
+        -3.395999999999995,
+        -4.481999999999983,
+        -2.3579999999999943,
+        -0.8409999999999996,
+        -4.22599999999999,
+        -3.3879999999999897,
+        -3.4499999999999993,
+        -0.9589999999999945,
+        -2.781999999999993,
+        -3.671999999999991,
+        0.8160000000000072,
+        -0.30299999999999183,
+        -3.2180000000000013,
+        -3.4339999999999895,
+        -2.883999999999995,
+        -4.223999999999992,
+        -1.0749999999999986,
+        -4.053999999999989,
+        -3.3539999999999885,
+        -3.3560000000000003,
+        -1.3789999999999962,
+        -3.493999999999994,
+        0.8280000000000047,
+        -4.401999999999983,
+        1.2080000000000062,
+        1.5699999999999998,
+        -4.139999999999992,
+        -4.19799999999999,
+        -4.13599999999999,
+        -3.729999999999994,
+        -0.9930000000000012
+      ],
+      "win_rate_episode": [
+        0.2,
+        0.0,
+        0.0,
+        0.0,
+        0.1,
+        0.0,
+        0.0,
+        0.2,
+        0.2,
+        0.0,
+        0.4,
+        0.1,
+        0.0,
+        0.1,
+        0.1,
+        0.1,
+        0.1,
+        0.2,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.1,
+        0.0,
+        0.0,
+        0.0,
+        0.1,
+        0.0,
+        0.0,
+        0.2,
+        0.1,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.1,
+        0.0,
+        0.0,
+        0.0,
+        0.1,
+        0.0,
+        0.2,
+        0.0,
+        0.2,
+        0.2,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.1
+      ],
+      "id_winrate": [
+        0.07500000000000001,
+        0.05,
+        0.025,
+        0.075,
+        0.025
+      ],
+      "id_winrate_iter": [
+        100,
+        200,
+        300,
+        400,
+        500
+      ],
+      "ood_winrate": [
+        0.0
+      ],
+      "ood_winrate_iter": [
+        500
+      ],
+      "grad_align_iter": [],
+      "grad_align": [],
+      "rl_grad_norm": [],
+      "bc_grad_norm": [],
+      "repr_drift_iter": [
+        25,
+        50,
+        75,
+        100,
+        125,
+        150,
+        175,
+        200,
+        225,
+        250,
+        275,
+        300,
+        325,
+        350,
+        375,
+        400,
+        425,
+        450,
+        475,
+        500
+      ],
+      "repr_drift": [
+        10.160261154174805,
+        7.573764324188232,
+        9.211956024169922,
+        11.56298828125,
+        9.587845802307129,
+        10.252934455871582,
+        9.261374473571777,
+        8.68515396118164,
+        10.217469215393066,
+        9.4309663772583,
+        9.95379638671875,
+        14.22205638885498,
+        14.815824508666992,
+        16.02154541015625,
+        11.853056907653809,
+        13.566880226135254,
+        13.512826919555664,
+        12.569154739379883,
+        14.0609769821167,
+        11.774737358093262
+      ],
+      "t_analysis_iter": [
+        25,
+        50,
+        75,
+        100,
+        125,
+        150,
+        175,
+        200,
+        225,
+        250,
+        275,
+        300,
+        325,
+        350,
+        375,
+        400,
+        425,
+        450,
+        475,
+        500
+      ],
+      "norm_low_t": [
+        0.5284388065338135,
+        0.2081630975008011,
+        0.17324304580688477,
+        0.017162062227725983,
+        0.0803459957242012,
+        0.008837013505399227,
+        0.2382400929927826,
+        0.10077612847089767,
+        0.17042259871959686,
+        0.17041170597076416,
+        0.032309841364622116,
+        0.38514673709869385,
+        0.05558478832244873,
+        0.00013036349264439195,
+        0.0001973858888959512,
+        0.00022925512166693807,
+        6.406019383575767e-05,
+        0.24417723715305328,
+        0.0019458290189504623,
+        0.002486016834154725
+      ],
+      "norm_high_t": [
+        0.5880557894706726,
+        0.2764274477958679,
+        0.15763837099075317,
+        0.19735455513000488,
+        0.1485709697008133,
+        0.16311271488666534,
+        0.10455828905105591,
+        0.09554796665906906,
+        0.11885329335927963,
+        0.19188638031482697,
+        0.15504693984985352,
+        0.3395625948905945,
+        0.06264150887727737,
+        2.0697410106658936,
+        0.18694882094860077,
+        0.003971199970692396,
+        0.0015933484537526965,
+        0.1253371685743332,
+        0.008088835515081882,
+        0.03807271271944046
+      ],
+      "lowhigh_cos": [
+        0.662343442440033,
+        0.5513224601745605,
+        -0.13289889693260193,
+        0.525389552116394,
+        0.5405603051185608,
+        -0.36270010471343994,
+        0.24438165128231049,
+        -0.5304811000823975,
+        0.7923681735992432,
+        0.1763698160648346,
+        0.41906774044036865,
+        0.47982245683670044,
+        0.5349423885345459,
+        -0.20126745104789734,
+        -0.012673936784267426,
+        0.3375846743583679,
+        0.6472594738006592,
+        0.7772222757339478,
+        0.3886796832084656,
+        0.6496570110321045
+      ]
+    },
+    "kl_penalty": {
+      "iter": [
+        10,
+        20,
+        30,
+        40,
+        50,
+        60,
+        70,
+        80,
+        90,
+        100,
+        110,
+        120,
+        130,
+        140,
+        150,
+        160,
+        170,
+        180,
+        190,
+        200,
+        210,
+        220,
+        230,
+        240,
+        250,
+        260,
+        270,
+        280,
+        290,
+        300,
+        310,
+        320,
+        330,
+        340,
+        350,
+        360,
+        370,
+        380,
+        390,
+        400,
+        410,
+        420,
+        430,
+        440,
+        450,
+        460,
+        470,
+        480,
+        490,
+        500
+      ],
+      "loss": [
+        0.7557014524936676,
+        0.3678558230400085,
+        0.2518810033798218,
+        0.35838921666145324,
+        0.1938560798764229,
+        0.23091877549886702,
+        0.2477170094847679,
+        0.19129770025610923,
+        0.26212684661149976,
+        0.20293212532997132,
+        0.202893528342247,
+        0.2635331779718399,
+        0.19642161577939987,
+        0.3245967239141464,
+        0.2945104017853737,
+        0.23478922098875046,
+        0.23234525918960572,
+        0.3016815945506096,
+        0.32549490183591845,
+        0.2518655315041542,
+        0.2638390526175499,
+        0.243428336083889,
+        0.29855785220861436,
+        0.2755287617444992,
+        0.38007437586784365,
+        0.28243361264467237,
+        0.32891527116298674,
+        0.36257472485303877,
+        0.4055925294756889,
+        0.243349352478981,
+        0.4049526423215866,
+        0.27672329396009443,
+        0.3030186653137207,
+        0.26211272180080414,
+        0.28421989679336546,
+        0.33425604552030563,
+        0.39837211817502977,
+        0.3984354332089424,
+        0.3670164056122303,
+        0.24117564111948014,
+        0.3429794669151306,
+        0.4218721553683281,
+        0.4734982058405876,
+        0.3788636654615402,
+        0.3556398391723633,
+        0.3187734082341194,
+        0.3146557629108429,
+        0.3174664542078972,
+        0.27082621604204177,
+        0.32873593270778656
+      ],
+      "mean_return": [
+        7.125000000000003,
+        15.425,
+        13.065000000000001,
+        9.499000000000006,
+        11.684000000000008,
+        11.327000000000005,
+        11.770000000000007,
+        11.629000000000005,
+        9.21000000000001,
+        10.411999999999999,
+        12.987000000000005,
+        14.014999999999997,
+        10.274,
+        4.512000000000006,
+        7.4760000000000035,
+        9.329000000000004,
+        3.5090000000000154,
+        4.014000000000007,
+        7.037000000000004,
+        6.2900000000000045,
+        4.163000000000007,
+        7.446999999999998,
+        7.409999999999999,
+        -0.7689999999999918,
+        3.015000000000003,
+        10.074000000000003,
+        2.8990000000000054,
+        12.178000000000003,
+        0.8730000000000111,
+        2.228000000000012,
+        4.342000000000007,
+        5.358,
+        7.877000000000001,
+        8.392000000000014,
+        8.838000000000006,
+        3.274000000000008,
+        6.922000000000006,
+        2.493000000000001,
+        9.593,
+        9.479000000000006,
+        0.4620000000000126,
+        7.5969999999999995,
+        15.603,
+        0.6589999999999905,
+        8.977000000000007,
+        12.063999999999998,
+        10.15600000000001,
+        1.462000000000001,
+        3.137000000000004,
+        9.123000000000006
+      ],
+      "win_rate_episode": [
+        0.4,
+        0.7,
+        0.6,
+        0.5,
+        0.6,
+        0.6,
+        0.6,
+        0.6,
+        0.5,
+        0.5,
+        0.6,
+        0.6,
+        0.5,
+        0.3,
+        0.4,
+        0.5,
+        0.3,
+        0.3,
+        0.4,
+        0.3,
+        0.3,
+        0.4,
+        0.4,
+        0.1,
+        0.2,
+        0.6,
+        0.2,
+        0.6,
+        0.2,
+        0.2,
+        0.3,
+        0.3,
+        0.4,
+        0.5,
+        0.5,
+        0.2,
+        0.4,
+        0.2,
+        0.5,
+        0.5,
+        0.2,
+        0.4,
+        0.7,
+        0.2,
+        0.5,
+        0.6,
+        0.5,
+        0.2,
+        0.2,
+        0.5
+      ],
+      "id_winrate": [
+        0.7000000000000001,
+        0.275,
+        0.44999999999999996,
+        0.4,
+        0.525
+      ],
+      "id_winrate_iter": [
+        100,
+        200,
+        300,
+        400,
+        500
+      ],
+      "ood_winrate": [
+        0.03333333333333333
+      ],
+      "ood_winrate_iter": [
+        500
+      ],
+      "grad_align_iter": [],
+      "grad_align": [],
+      "rl_grad_norm": [],
+      "bc_grad_norm": [],
+      "repr_drift_iter": [
+        25,
+        50,
+        75,
+        100,
+        125,
+        150,
+        175,
+        200,
+        225,
+        250,
+        275,
+        300,
+        325,
+        350,
+        375,
+        400,
+        425,
+        450,
+        475,
+        500
+      ],
+      "repr_drift": [
+        0.36094218492507935,
+        0.5449057221412659,
+        0.4667113423347473,
+        0.34563779830932617,
+        0.37591034173965454,
+        0.35121041536331177,
+        0.3511926829814911,
+        0.5004967451095581,
+        0.3912479877471924,
+        0.8314864039421082,
+        0.6106400489807129,
+        0.7350732088088989,
+        0.5971804857254028,
+        0.3814377784729004,
+        0.5749532580375671,
+        0.5550214052200317,
+        0.5665072798728943,
+        0.766390323638916,
+        0.8498607277870178,
+        0.7186318039894104
+      ],
+      "t_analysis_iter": [
+        25,
+        50,
+        75,
+        100,
+        125,
+        150,
+        175,
+        200,
+        225,
+        250,
+        275,
+        300,
+        325,
+        350,
+        375,
+        400,
+        425,
+        450,
+        475,
+        500
+      ],
+      "norm_low_t": [
+        1.0817543268203735,
+        0.7415452003479004,
+        0.31479886174201965,
+        0.40329068899154663,
+        0.7726807594299316,
+        0.8081589937210083,
+        4.519750118255615,
+        0.3104645609855652,
+        0.35659709572792053,
+        5.784140586853027,
+        5.175623416900635,
+        0.3377837836742401,
+        0.35866743326187134,
+        1.6006625890731812,
+        0.39933130145072937,
+        1.962070345878601,
+        0.5190642476081848,
+        4.11475133895874,
+        0.9334627985954285,
+        0.3140447735786438
+      ],
+      "norm_high_t": [
+        1.1227264404296875,
+        0.8195191025733948,
+        3.2485482692718506,
+        0.7025418877601624,
+        5.411553382873535,
+        4.700546741485596,
+        2.057323932647705,
+        0.5917654037475586,
+        3.6300909519195557,
+        2.854146957397461,
+        1.478105068206787,
+        1.4446972608566284,
+        0.6589544415473938,
+        3.9933993816375732,
+        0.5964608192443848,
+        1.9211534261703491,
+        0.6782035827636719,
+        2.1749870777130127,
+        4.211155414581299,
+        0.5032972097396851
+      ],
+      "lowhigh_cos": [
+        0.6076641082763672,
+        0.4695075750350952,
+        0.2275436371564865,
+        0.2731117606163025,
+        0.1992029994726181,
+        0.12773582339286804,
+        0.06728317588567734,
+        0.3145290017127991,
+        0.13208569586277008,
+        0.5987216234207153,
+        0.44497546553611755,
+        -0.15342308580875397,
+        0.1819535493850708,
+        -0.3881320655345917,
+        0.5761399269104004,
+        0.5740898847579956,
+        0.5706593990325928,
+        -0.17910754680633545,
+        0.3718031942844391,
+        -0.12967117130756378
+      ]
+    },
+    "frozen_backbone": {
+      "iter": [
+        10,
+        20,
+        30,
+        40,
+        50,
+        60,
+        70,
+        80,
+        90,
+        100,
+        110,
+        120,
+        130,
+        140,
+        150,
+        160,
+        170,
+        180,
+        190,
+        200,
+        210,
+        220,
+        230,
+        240,
+        250,
+        260,
+        270,
+        280,
+        290,
+        300,
+        310,
+        320,
+        330,
+        340,
+        350,
+        360,
+        370,
+        380,
+        390,
+        400,
+        410,
+        420,
+        430,
+        440,
+        450,
+        460,
+        470,
+        480,
+        490,
+        500
+      ],
+      "loss": [
+        0.6142368137836456,
+        0.7526629269123077,
+        0.5536824703216553,
+        0.8061215162277222,
+        0.6501811683177948,
+        0.9902062594890595,
+        0.8726756662130356,
+        0.8145544409751893,
+        0.7573557883501053,
+        1.2141560435295105,
+        0.5211864888668061,
+        0.5383211493492126,
+        0.8611633062362671,
+        0.6769385233521461,
+        0.8571627408266067,
+        0.7400204911828041,
+        0.35199219882488253,
+        0.5443531692028045,
+        0.48275753408670424,
+        0.4545718625187874,
+        0.5590669482946395,
+        0.2528196260333061,
+        0.2803684830665588,
+        0.2787619173526764,
+        0.3422154411673546,
+        0.35092500075697897,
+        0.29189412444829943,
+        0.3062771186232567,
+        0.1682231456041336,
+        0.4048779964447021,
+        0.15562354549765586,
+        0.15582111850380898,
+        0.27918287068605424,
+        0.2198553279042244,
+        0.22693262323737146,
+        0.16309556886553764,
+        0.20513561218976975,
+        0.1818600483238697,
+        0.12630234509706498,
+        0.13205429986119271,
+        0.1874783955514431,
+        0.1618017990142107,
+        0.2584618657827377,
+        0.1475326895713806,
+        0.11145277582108974,
+        0.08494718745350838,
+        0.08523617647588252,
+        0.07205090895295144,
+        0.10780602172017098,
+        0.0874978668987751
+      ],
+      "mean_return": [
+        7.739,
+        15.176000000000005,
+        12.098000000000004,
+        9.485,
+        5.753000000000002,
+        6.2270000000000145,
+        3.3650000000000135,
+        -3.6669999999999936,
+        5.1389999999999985,
+        3.878000000000001,
+        4.062000000000003,
+        4.0059999999999985,
+        2.6900000000000053,
+        -1.689999999999992,
+        -0.17599999999999225,
+        -4.028999999999995,
+        3.491000000000014,
+        -4.009999999999991,
+        -1.9749999999999854,
+        -2.0819999999999808,
+        -3.917999999999992,
+        1.0160000000000058,
+        -0.7449999999999989,
+        -3.5979999999999968,
+        -3.6459999999999915,
+        0.977000000000008,
+        -1.1679999999999933,
+        -2.884999999999991,
+        -3.520999999999995,
+        -1.124999999999995,
+        -1.0189999999999926,
+        -3.1569999999999947,
+        -3.6679999999999877,
+        -3.6679999999999957,
+        -2.405999999999998,
+        -1.1729999999999934,
+        3.932000000000002,
+        3.8420000000000014,
+        1.9799999999999975,
+        -1.0560000000000005,
+        -0.9879999999999949,
+        -3.5929999999999978,
+        -1.705999999999986,
+        -3.719999999999999,
+        1.8149999999999973,
+        -4.013999999999992,
+        -1.0299999999999927,
+        1.2470000000000023,
+        -2.855999999999998,
+        -1.3749999999999925
+      ],
+      "win_rate_episode": [
+        0.4,
+        0.7,
+        0.6,
+        0.5,
+        0.3,
+        0.4,
+        0.3,
+        0.0,
+        0.3,
+        0.3,
+        0.3,
+        0.3,
+        0.2,
+        0.1,
+        0.1,
+        0.0,
+        0.3,
+        0.0,
+        0.1,
+        0.1,
+        0.0,
+        0.2,
+        0.1,
+        0.0,
+        0.0,
+        0.2,
+        0.1,
+        0.0,
+        0.0,
+        0.1,
+        0.1,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.1,
+        0.3,
+        0.3,
+        0.2,
+        0.1,
+        0.1,
+        0.0,
+        0.1,
+        0.0,
+        0.2,
+        0.0,
+        0.1,
+        0.2,
+        0.0,
+        0.1
+      ],
+      "id_winrate": [
+        0.325,
+        0.175,
+        0.125,
+        0.07500000000000001,
+        0.05
+      ],
+      "id_winrate_iter": [
+        100,
+        200,
+        300,
+        400,
+        500
+      ],
+      "ood_winrate": [
+        0.0
+      ],
+      "ood_winrate_iter": [
+        500
+      ],
+      "grad_align_iter": [],
+      "grad_align": [],
+      "rl_grad_norm": [],
+      "bc_grad_norm": [],
+      "repr_drift_iter": [
+        25,
+        50,
+        75,
+        100,
+        125,
+        150,
+        175,
+        200,
+        225,
+        250,
+        275,
+        300,
+        325,
+        350,
+        375,
+        400,
+        425,
+        450,
+        475,
+        500
+      ],
+      "repr_drift": [
+        0.08099153637886047,
+        0.15414123237133026,
+        0.26784101128578186,
+        0.37351346015930176,
+        0.7241547703742981,
+        1.372012734413147,
+        2.410024404525757,
+        2.198410749435425,
+        3.3474361896514893,
+        2.732609987258911,
+        3.842064380645752,
+        3.5894956588745117,
+        4.261956691741943,
+        3.9535350799560547,
+        4.4761247634887695,
+        4.658817291259766,
+        4.230963706970215,
+        5.274211883544922,
+        5.682961463928223,
+        6.925012111663818
+      ],
+      "t_analysis_iter": [
+        25,
+        50,
+        75,
+        100,
+        125,
+        150,
+        175,
+        200,
+        225,
+        250,
+        275,
+        300,
+        325,
+        350,
+        375,
+        400,
+        425,
+        450,
+        475,
+        500
+      ],
+      "norm_low_t": [
+        0.541771650314331,
+        2.2737488746643066,
+        0.7237007021903992,
+        0.5551862120628357,
+        0.6337419152259827,
+        1.6189945936203003,
+        0.6787412166595459,
+        1.4094318151474,
+        0.3824225664138794,
+        0.2709895372390747,
+        5.846121311187744,
+        2.739320993423462,
+        0.4784424602985382,
+        0.3508293032646179,
+        1.2475589513778687,
+        0.29420673847198486,
+        0.19785211980342865,
+        0.3236626386642456,
+        0.4648295044898987,
+        0.1427985578775406
+      ],
+      "norm_high_t": [
+        0.7055990695953369,
+        2.0272364616394043,
+        13.79667854309082,
+        1.0152698755264282,
+        4.026651859283447,
+        1.9825714826583862,
+        0.7544527053833008,
+        3.5265908241271973,
+        0.6596992015838623,
+        0.5065088868141174,
+        6.615940093994141,
+        1.2570514678955078,
+        0.37380844354629517,
+        1.3679155111312866,
+        0.6957656741142273,
+        0.3654467463493347,
+        0.3122651278972626,
+        0.4366055428981781,
+        1.448127269744873,
+        0.35273078083992004
+      ],
+      "lowhigh_cos": [
+        0.15398365259170532,
+        0.22068777680397034,
+        0.1607862114906311,
+        0.6298431158065796,
+        -0.07700009644031525,
+        -0.09699821472167969,
+        0.7008634805679321,
+        0.3531211018562317,
+        0.5518617630004883,
+        -0.014294017106294632,
+        -0.2129386067390442,
+        -0.516147792339325,
+        0.34591352939605713,
+        0.02539592608809471,
+        0.08920550346374512,
+        0.34271037578582764,
+        -0.05921860411763191,
+        -0.2443743199110031,
+        0.11032988131046295,
+        0.5413148999214172
+      ]
+    },
+    "bc_on_wins": {
+      "iter": [
+        10,
+        20,
+        30,
+        40,
+        50,
+        60,
+        70,
+        80,
+        90,
+        100,
+        110,
+        120,
+        130,
+        140,
+        150,
+        160,
+        170,
+        180,
+        190,
+        200,
+        210,
+        220,
+        230,
+        240,
+        250,
+        260,
+        270,
+        280,
+        290,
+        300,
+        310,
+        320,
+        330,
+        340,
+        350,
+        360,
+        370,
+        380,
+        390,
+        400,
+        410,
+        420,
+        430,
+        440,
+        450,
+        460,
+        470,
+        480,
+        490,
+        500
+      ],
+      "loss": [
+        0.0,
+        0.6147490069270134,
+        0.8275483787059784,
+        0.746899276971817,
+        0.47306891083717345,
+        0.3345955446362495,
+        0.4720501869916916,
+        0.4767592802643776,
+        0.33308539986610414,
+        0.2699266143143177,
+        0.29232263639569284,
+        0.2295227698981762,
+        0.1925523594021797,
+        0.19166812300682068,
+        0.1963917426764965,
+        0.19072676077485085,
+        0.20546746701002122,
+        0.18404317796230316,
+        0.1437509298324585,
+        0.299495330452919,
+        0.34998399317264556,
+        0.2714237794280052,
+        0.21747168600559236,
+        0.22078402191400529,
+        0.24086840748786925,
+        0.2355603113770485,
+        0.2176094949245453,
+        0.20913921892642975,
+        0.1819615826010704,
+        0.15702315866947175,
+        0.2001718044281006,
+        0.22251918762922288,
+        0.19744784608483315,
+        0.1922704681754112,
+        0.21251692175865172,
+        0.1540554977953434,
+        0.18297502249479294,
+        0.1609095260500908,
+        0.1484507754445076,
+        0.21213592402637005,
+        0.15481647998094558,
+        0.1278105281293392,
+        0.16644979417324066,
+        0.10792266763746738,
+        0.1539995450526476,
+        0.15449323505163193,
+        0.12793521136045455,
+        0.16368902325630189,
+        0.13108288422226905,
+        0.08190163783729076
+      ],
+      "mean_return": [
+        9.536000000000008,
+        7.321000000000003,
+        11.018000000000004,
+        12.311000000000002,
+        6.998000000000005,
+        1.7940000000000118,
+        0.9109999999999989,
+        4.902000000000004,
+        15.517999999999997,
+        3.9030000000000085,
+        3.6680000000000126,
+        7.838000000000004,
+        3.2500000000000044,
+        5.024999999999999,
+        -3.6199999999999948,
+        -3.773999999999989,
+        6.5530000000000115,
+        -3.1910000000000007,
+        4.645000000000012,
+        1.4110000000000027,
+        5.860000000000004,
+        -2.7789999999999906,
+        0.795000000000015,
+        -0.11699999999999519,
+        2.393000000000001,
+        -2.870999999999996,
+        -0.9779999999999953,
+        3.761000000000005,
+        7.352000000000006,
+        3.263000000000017,
+        -0.18899999999998957,
+        7.492999999999998,
+        6.823000000000005,
+        2.5690000000000026,
+        5.278000000000002,
+        2.0330000000000057,
+        5.92800000000001,
+        -1.3679999999999892,
+        4.517000000000008,
+        -1.1349999999999885,
+        3.784000000000006,
+        -0.6479999999999938,
+        0.10600000000000223,
+        6.8050000000000095,
+        -2.7379999999999947,
+        -0.2789999999999951,
+        7.730000000000008,
+        3.2180000000000035,
+        5.389000000000003,
+        7.314000000000005
+      ],
+      "win_rate_episode": [
+        0.5,
+        0.4,
+        0.5,
+        0.6,
+        0.4,
+        0.2,
+        0.1,
+        0.3,
+        0.7,
+        0.3,
+        0.3,
+        0.4,
+        0.2,
+        0.3,
+        0.1,
+        0.0,
+        0.4,
+        0.0,
+        0.3,
+        0.2,
+        0.3,
+        0.0,
+        0.2,
+        0.1,
+        0.2,
+        0.0,
+        0.0,
+        0.3,
+        0.4,
+        0.3,
+        0.1,
+        0.4,
+        0.4,
+        0.2,
+        0.3,
+        0.2,
+        0.4,
+        0.1,
+        0.3,
+        0.1,
+        0.2,
+        0.1,
+        0.1,
+        0.4,
+        0.0,
+        0.1,
+        0.4,
+        0.2,
+        0.3,
+        0.4
+      ],
+      "id_winrate": [
+        0.37499999999999994,
+        0.125,
+        0.125,
+        0.07500000000000001,
+        0.07500000000000001
+      ],
+      "id_winrate_iter": [
+        100,
+        200,
+        300,
+        400,
+        500
+      ],
+      "ood_winrate": [
+        0.0
+      ],
+      "ood_winrate_iter": [
+        500
+      ],
+      "grad_align_iter": [],
+      "grad_align": [],
+      "rl_grad_norm": [],
+      "bc_grad_norm": [],
+      "repr_drift_iter": [
+        25,
+        50,
+        75,
+        100,
+        125,
+        150,
+        175,
+        200,
+        225,
+        250,
+        275,
+        300,
+        325,
+        350,
+        375,
+        400,
+        425,
+        450,
+        475,
+        500
+      ],
+      "repr_drift": [
+        0.6298390626907349,
+        1.384177327156067,
+        2.326510429382324,
+        2.968867778778076,
+        4.350086688995361,
+        5.24165678024292,
+        4.392853736877441,
+        4.643966197967529,
+        3.483157157897949,
+        4.787506580352783,
+        4.09738302230835,
+        5.379372596740723,
+        5.29456090927124,
+        4.70228385925293,
+        5.3411946296691895,
+        4.312064170837402,
+        5.200801849365234,
+        5.95058012008667,
+        5.202488899230957,
+        7.007084369659424
+      ],
+      "t_analysis_iter": [
+        25,
+        50,
+        75,
+        100,
+        125,
+        150,
+        175,
+        200,
+        225,
+        250,
+        275,
+        300,
+        325,
+        350,
+        375,
+        400,
+        425,
+        450,
+        475,
+        500
+      ],
+      "norm_low_t": [
+        0.9623110890388489,
+        1.6318888664245605,
+        0.979232132434845,
+        0.6954500675201416,
+        7.221502304077148,
+        3.3638436794281006,
+        2.699252128601074,
+        11.074406623840332,
+        0.7769108414649963,
+        4.699594974517822,
+        0.5511308312416077,
+        0.6783273816108704,
+        2.7332770824432373,
+        0.9369832277297974,
+        5.802252292633057,
+        1.015380859375,
+        0.4822460412979126,
+        0.2590118944644928,
+        2.103935718536377,
+        13.142251968383789
+      ],
+      "norm_high_t": [
+        16.76836395263672,
+        8.49650764465332,
+        4.285837650299072,
+        6.7723870277404785,
+        4.769031047821045,
+        5.21500825881958,
+        3.6925623416900635,
+        7.541281223297119,
+        3.93727970123291,
+        3.2928314208984375,
+        1.8251924514770508,
+        2.1251378059387207,
+        0.7079325914382935,
+        3.325742721557617,
+        2.185340642929077,
+        3.9786763191223145,
+        1.6591521501541138,
+        1.2101223468780518,
+        1.0581400394439697,
+        3.666442394256592
+      ],
+      "lowhigh_cos": [
+        0.45767301321029663,
+        0.2987271547317505,
+        -0.0011283881030976772,
+        -0.015486480668187141,
+        -0.02862636372447014,
+        0.32045242190361023,
+        -0.14974863827228546,
+        0.21088194847106934,
+        0.27803245186805725,
+        0.4605426788330078,
+        0.5095648169517517,
+        -0.3473619818687439,
+        0.32257556915283203,
+        0.21602246165275574,
+        0.5774956941604614,
+        0.028346825391054153,
+        0.04856609180569649,
+        -0.30783888697624207,
+        0.46236172318458557,
+        0.12084074318408966
+      ]
+    },
+    "low_t_only": {
+      "iter": [
+        10,
+        20,
+        30,
+        40,
+        50,
+        60,
+        70,
+        80,
+        90,
+        100,
+        110,
+        120,
+        130,
+        140,
+        150,
+        160,
+        170,
+        180,
+        190,
+        200,
+        210,
+        220,
+        230,
+        240,
+        250,
+        260,
+        270,
+        280,
+        290,
+        300,
+        310,
+        320,
+        330,
+        340,
+        350,
+        360,
+        370,
+        380,
+        390,
+        400,
+        410,
+        420,
+        430,
+        440,
+        450,
+        460,
+        470,
+        480,
+        490,
+        500
+      ],
+      "loss": [
+        0.14241273887455463,
+        0.7457631937228143,
+        0.3223351809661835,
+        0.06391186248511076,
+        0.038416425697505474,
+        0.17279254915192724,
+        0.06769378646276891,
+        0.2095325694506755,
+        0.009423912805505096,
+        0.16590883563039824,
+        0.012637624621856958,
+        0.0877548771444708,
+        0.00813584040151909,
+        0.07707010595477186,
+        0.012053013269905932,
+        0.08658939634333365,
+        0.08423460513586178,
+        0.04880067176418379,
+        0.033953274900704856,
+        0.012992696260334924,
+        0.008944884140510112,
+        0.016019769360718784,
+        0.009055553073994815,
+        0.01699253911792766,
+        0.010762585152770043,
+        0.01595191620872356,
+        0.00753016233938979,
+        0.04689169134071562,
+        0.010906433554191608,
+        0.056269463570788505,
+        0.019366807251935826,
+        0.0062401049741311,
+        0.12801412070384685,
+        0.024806116382751497,
+        0.0007252439007061184,
+        0.004692662098500477,
+        0.055812038857220615,
+        0.008202779742987332,
+        0.11748617056542798,
+        0.060509867762857536,
+        0.005952368767793814,
+        0.003168158449108205,
+        0.11608589614589845,
+        0.02811428838458596,
+        0.05585574175749457,
+        0.2106617392924818,
+        0.0026359208328358362,
+        0.021516407148419604,
+        0.01737550176321747,
+        0.004771639059026711
+      ],
+      "mean_return": [
+        14.21700000000001,
+        3.6380000000000075,
+        9.428000000000003,
+        3.3620000000000103,
+        6.908000000000006,
+        1.692000000000002,
+        2.1159999999999988,
+        -1.5569999999999915,
+        -4.159999999999986,
+        1.2480000000000064,
+        -0.4949999999999973,
+        -1.41099999999999,
+        1.4840000000000066,
+        -3.245999999999995,
+        -0.44900000000000073,
+        -3.377999999999998,
+        1.3000000000000074,
+        -2.1289999999999862,
+        -3.4419999999999917,
+        -1.1989999999999932,
+        -1.7069999999999852,
+        -3.7619999999999933,
+        -3.445999999999999,
+        1.5520000000000038,
+        -4.1519999999999895,
+        -3.561999999999992,
+        -0.9549999999999947,
+        -0.36000000000000204,
+        -3.521999999999997,
+        -4.9099999999999815,
+        -3.213999999999989,
+        -4.34599999999998,
+        -3.564000000000001,
+        1.5640000000000012,
+        -3.1959999999999957,
+        -0.0029999999999990477,
+        -4.325999999999986,
+        -3.403999999999999,
+        1.496000000000005,
+        -3.745999999999995,
+        -3.8859999999999886,
+        -4.101999999999987,
+        -3.7199999999999998,
+        -4.589999999999986,
+        -1.0049999999999926,
+        1.148000000000008,
+        -1.1509999999999867,
+        -4.233999999999988,
+        -1.5789999999999917,
+        -3.0820000000000025
+      ],
+      "win_rate_episode": [
+        0.7,
+        0.3,
+        0.5,
+        0.3,
+        0.4,
+        0.2,
+        0.2,
+        0.1,
+        0.0,
+        0.2,
+        0.1,
+        0.1,
+        0.2,
+        0.0,
+        0.1,
+        0.0,
+        0.2,
+        0.1,
+        0.0,
+        0.1,
+        0.1,
+        0.0,
+        0.0,
+        0.2,
+        0.0,
+        0.0,
+        0.1,
+        0.1,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.2,
+        0.0,
+        0.1,
+        0.0,
+        0.0,
+        0.2,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.1,
+        0.2,
+        0.1,
+        0.0,
+        0.1,
+        0.0
+      ],
+      "id_winrate": [
+        0.1,
+        0.125,
+        0.05,
+        0.07500000000000001,
+        0.05
+      ],
+      "id_winrate_iter": [
+        100,
+        200,
+        300,
+        400,
+        500
+      ],
+      "ood_winrate": [
+        0.03333333333333333
+      ],
+      "ood_winrate_iter": [
+        500
+      ],
+      "grad_align_iter": [],
+      "grad_align": [],
+      "rl_grad_norm": [],
+      "bc_grad_norm": [],
+      "repr_drift_iter": [
+        25,
+        50,
+        75,
+        100,
+        125,
+        150,
+        175,
+        200,
+        225,
+        250,
+        275,
+        300,
+        325,
+        350,
+        375,
+        400,
+        425,
+        450,
+        475,
+        500
+      ],
+      "repr_drift": [
+        2.9462854862213135,
+        4.0175580978393555,
+        2.643015146255493,
+        2.551987648010254,
+        3.312786817550659,
+        2.4359958171844482,
+        2.559072732925415,
+        2.8198697566986084,
+        2.3854217529296875,
+        3.6191952228546143,
+        3.2479796409606934,
+        1.8640403747558594,
+        3.854935646057129,
+        5.600114345550537,
+        4.419790267944336,
+        4.976497650146484,
+        6.506608963012695,
+        5.592122554779053,
+        4.9610466957092285,
+        5.032480716705322
+      ],
+      "t_analysis_iter": [
+        25,
+        50,
+        75,
+        100,
+        125,
+        150,
+        175,
+        200,
+        225,
+        250,
+        275,
+        300,
+        325,
+        350,
+        375,
+        400,
+        425,
+        450,
+        475,
+        500
+      ],
+      "norm_low_t": [
+        0.6796470284461975,
+        0.44823601841926575,
+        0.20644712448120117,
+        0.20466354489326477,
+        0.20883646607398987,
+        0.04532072693109512,
+        10.842145919799805,
+        0.0022803028114140034,
+        6.848348617553711,
+        0.17473728954792023,
+        0.2673734724521637,
+        0.022294767200946808,
+        0.007218019105494022,
+        0.009707015007734299,
+        0.005265683401376009,
+        0.000454531837021932,
+        0.003278611693531275,
+        1.453465223312378,
+        0.03150784596800804,
+        0.011981611140072346
+      ],
+      "norm_high_t": [
+        8.541013717651367,
+        1.5492339134216309,
+        5.437347412109375,
+        2.7614333629608154,
+        0.3078320622444153,
+        0.4148857295513153,
+        2.6177570819854736,
+        0.1941348761320114,
+        2.0243234634399414,
+        4.235574722290039,
+        3.396854877471924,
+        0.6270498037338257,
+        1.0882025957107544,
+        1.689743161201477,
+        2.5909512042999268,
+        6.877161979675293,
+        13.16032886505127,
+        6.755214691162109,
+        0.44843706488609314,
+        4.255799770355225
+      ],
+      "lowhigh_cos": [
+        0.3415203094482422,
+        -0.2844015657901764,
+        -0.1685301512479782,
+        0.32842129468917847,
+        0.2436249852180481,
+        0.06202510744333267,
+        0.46803396940231323,
+        0.45338869094848633,
+        0.6288841962814331,
+        -0.09758282452821732,
+        -0.37640005350112915,
+        0.6257611513137817,
+        0.3929409682750702,
+        0.6832932233810425,
+        0.5705606937408447,
+        -0.521347165107727,
+        -0.25697511434555054,
+        -0.15323932468891144,
+        0.5434814095497131,
+        0.5631635189056396
+      ]
+    },
+    "synthetic": {
+      "iter": [
+        10,
+        20,
+        30,
+        40,
+        50,
+        60,
+        70,
+        80,
+        90,
+        100,
+        110,
+        120,
+        130,
+        140,
+        150,
+        160,
+        170,
+        180,
+        190,
+        200,
+        210,
+        220,
+        230,
+        240,
+        250,
+        260,
+        270,
+        280,
+        290,
+        300,
+        310,
+        320,
+        330,
+        340,
+        350,
+        360,
+        370,
+        380,
+        390,
+        400,
+        410,
+        420,
+        430,
+        440,
+        450,
+        460,
+        470,
+        480,
+        490,
+        500
+      ],
+      "loss": [
+        0.3504294157028198,
+        0.1905498057603836,
+        0.1861506998538971,
+        0.03813919797539711,
+        0.036733027547597885,
+        0.03175725042819977,
+        0.0202049370855093,
+        0.028819330036640167,
+        0.06171034649014473,
+        0.03453705459833145,
+        0.03766682371497154,
+        0.01810506545007229,
+        0.008473776280879974,
+        0.005288878921419382,
+        0.007868476212024689,
+        0.0027722311206161976,
+        0.001476715668104589,
+        0.003148599062114954,
+        0.0027915467508137226,
+        0.001739312196150422,
+        0.004062983673065901,
+        0.0016188174486160278,
+        0.0013000894105061889,
+        0.010563315823674202,
+        0.006723823491483927,
+        0.009215778671205044,
+        0.0025935559533536434,
+        0.00021198474860284477,
+        0.005951723083853722,
+        0.00350300339050591,
+        0.1793643832206726,
+        0.01968010887503624,
+        0.00013353567919693887,
+        0.0026391444262117147,
+        0.0010560411028563976,
+        0.00023656449047848582,
+        0.06821727752685547,
+        0.0002130581415258348,
+        0.044811394065618515,
+        0.0008450949680991471,
+        0.030531035736203194,
+        0.0003115326398983598,
+        0.0006421205471269786,
+        0.0003727397706825286,
+        0.0005728481919504702,
+        0.02530752494931221,
+        3.54906587745063e-05,
+        0.0005603608442470431,
+        9.057774150278419e-05,
+        0.01868569850921631
+      ],
+      "mean_return": [],
+      "win_rate_episode": [],
+      "id_winrate": [
+        0.1,
+        0.15000000000000002,
+        0.0,
+        0.125,
+        0.05
+      ],
+      "id_winrate_iter": [
+        100,
+        200,
+        300,
+        400,
+        500
+      ],
+      "ood_winrate": [],
+      "ood_winrate_iter": [],
+      "grad_align_iter": [],
+      "grad_align": [],
+      "rl_grad_norm": [],
+      "bc_grad_norm": [],
+      "repr_drift_iter": [],
+      "repr_drift": [],
+      "t_analysis_iter": [],
+      "norm_low_t": [],
+      "norm_high_t": [],
+      "lowhigh_cos": []
+    }
+  }
+}