blanchon/MimicKit_Data · Datasets at Hugging Face

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Iteration Wall_Time Samples Test_Return Test_Episode_Length Test_Episodes Train_Return Train_Episode_Length Train_Episodes Loss Critic_Loss Actor_Loss Clip_Frac Imp_Ratio Action_Bound_Loss Disc_Loss Disc_Grad_Penalty Disc_Logit_Loss Disc_Pos_Acc Disc_Neg_Acc Disc_Pos_Logit Disc_Neg_Logit Adv_Mean Adv_Std Disc_Reward_Mean Disc_Reward_Std Exp_Prob
0 0.028616261614693536 131072 0.0 9.871752738952637 5349 0.0 10.069225311279297 10950 63.75310134887695 88.58071899414062 -0.0035271388478577137 0.03718109056353569 1.0001634359359741 0.0 3.8932559490203857 1.7448244094848633 169.2062225341797 0.9000000357627869 0.979534924030304 0.03206445649266243 -3.718812942504883 11.526137351989746 7.441666126251221 2.566030502319336 1.6565037965774536 1.0
100 0.22323716984854805 13238272 0.0 12.353514671325684 4096 0.0 11.28022575378418 1159823 2.9620234966278076 0.14434552192687988 -0.004294421058148146 0.0673065185546875 0.9998884201049805 0.0 0.5788289904594421 0.11142771691083908 26.888418197631836 1.0 0.9854568839073181 1.8758586645126343 -2.4981977939605713 0.010572651401162148 0.3812846541404724 0.3182133436203003 0.36856767535209656 1.0
200 0.4189725743399726 26345472 0.0 25.142333984375 4096 0.0 15.972281455993652 817796 2.32731032371521 0.6326737999916077 -0.004568320233374834 0.09418793022632599 0.9999819993972778 0.00032199188717640936 0.4031083583831787 0.10877616703510284 6.026426315307617 1.0 0.9901520013809204 1.6231292486190796 -1.8504222631454468 0.07859906554222107 0.8004151582717896 0.39791184663772583 0.3137112855911255 1.0
300 0.6148156326346927 39452672 0.0 300.0 4096 0.0 55.79793930053711 224136 3.5874602794647217 3.1400139331817627 -0.024685043841600418 0.04623565822839737 0.9997134208679199 0.0004593929334077984 0.40842753648757935 0.12023288011550903 2.148164987564087 1.0 0.998156726360321 1.4539408683776855 -1.517987608909607 0.2571004331111908 1.7786028385162354 0.47358787059783936 0.2810328006744385 1.0
400 0.7552363191710578 52559872 0.0 300.0 4096 0.0 290.5481262207031 42503 2.6542909145355225 1.0485992431640625 -0.01026387419551611 0.05626373365521431 0.9998571276664734 0.0005524330190382898 0.4280509948730469 0.12246247380971909 1.1807222366333008 1.0 0.9986297488212585 1.3136730194091797 -1.3722220659255981 0.014114098623394966 1.0251327753067017 0.5284664034843445 0.2861057221889496 1.0
500 0.8630532694525189 65667072 0.0 300.0 4096 0.0 295.0498046875 41729 2.479292392730713 0.7815886735916138 -0.004446960054337978 0.04468231275677681 0.9998076558113098 0.0007402346236631274 0.4185890257358551 0.12233473360538483 0.9269855618476868 1.0 0.9987441897392273 1.3377364873886108 -1.4143390655517578 -0.03984037786722183 0.8845535516738892 0.5138722658157349 0.2860660254955292 1.0
600 0.9632135936286714 78774272 0.0 300.0 4096 0.0 296.38055419921875 41510 2.381275177001953 0.707647979259491 -0.0026933476328849792 0.04946289211511612 1.0000126361846924 0.0007408023811876774 0.40602895617485046 0.12104075402021408 0.852405846118927 1.0 0.9985610842704773 1.3811050653457642 -1.4841779470443726 -0.055910348892211914 0.8414674997329712 0.4919288754463196 0.28904563188552856 1.0
700 1.062649889058537 91881472 0.0 300.0 4096 0.0 297.4273376464844 41347 2.271512269973755 0.5949824452400208 0.002515329048037529 0.06372375786304474 0.9996939897537231 0.0008289699326269329 0.394301176071167 0.11959290504455566 0.8282049298286438 1.0 0.9985901117324829 1.4276102781295776 -1.5520975589752197 -0.032017290592193604 0.7714448571205139 0.4729531407356262 0.2911015748977661 1.0
800 1.1598304107454087 104988672 0.0 300.0 4096 0.0 297.19329833984375 41383 2.300818681716919 0.7156096696853638 -0.00036799523513764143 0.05513458326458931 0.9996932148933411 0.0008470415486954153 0.38867631554603577 0.11925783008337021 0.8005344271659851 1.0 0.9985381960868835 1.4463752508163452 -1.583935260772705 -0.031221037730574608 0.8464116454124451 0.4622274339199066 0.28951385617256165 1.0
900 1.2550667319695155 118095872 0.0 300.0 4096 0.0 298.3364562988281 41211 2.2356326580047607 0.5546961426734924 0.0045316219329833984 0.05785369873046875 0.999716579914093 0.0009249625145457685 0.39075061678886414 0.11976003646850586 0.747475266456604 1.0 0.9986587762832642 1.4314428567886353 -1.5687726736068726 -0.029476869851350784 0.7448644042015076 0.4674958884716034 0.29018932580947876 1.0
1000 1.350328924589687 131203072 0.0 300.0 4096 0.0 298.6391296386719 41167 2.2422194480895996 0.56696617603302 0.004925020970404148 0.06734313815832138 0.9996657371520996 0.0008670956012792885 0.3907622992992401 0.11949075758457184 0.6973264217376709 1.0 0.9983307123184204 1.4225188493728638 -1.5679453611373901 -0.05776841193437576 0.7530228495597839 0.4695359170436859 0.29284435510635376 1.0
1100 1.442932095858786 144310272 0.0 300.0 4096 0.0 299.0655212402344 41101 2.235027313232422 0.5341421961784363 0.005651767831295729 0.06766357272863388 0.9997302293777466 0.0009383069700561464 0.39246103167533875 0.12014690786600113 0.65740966796875 1.0 0.9984497427940369 1.4104585647583008 -1.550758719444275 -0.051160506904125214 0.7308138012886047 0.4730185866355896 0.29101788997650146 1.0
1200 1.53428849849436 157417472 0.0 300.0 4096 0.0 299.2747802734375 41069 2.2287380695343018 0.5227355360984802 0.004355944227427244 0.069580078125 0.999851644039154 0.0008312725694850087 0.392602801322937 0.120149627327919 0.6226326823234558 1.0 0.9984359741210938 1.4047807455062866 -1.545628309249878 -0.04819168522953987 0.7230154871940613 0.47525084018707275 0.2927684187889099 1.0
1300 1.624858400689231 170524672 0.0 300.0 4096 0.0 299.28594970703125 41070 2.243553638458252 0.5420295596122742 0.005800712388008833 0.06254120171070099 0.999673068523407 0.0009054558468051255 0.3933475911617279 0.1203157901763916 0.5942240357398987 1.0 0.998687744140625 1.3966995477676392 -1.5390938520431519 -0.05645110458135605 0.7362159490585327 0.4778096675872803 0.2934320867061615 1.0
1400 1.715810115204917 183631872 0.0 300.0 4096 0.0 299.4001159667969 41050 2.2253830432891846 0.5072552561759949 0.005955120082944632 0.08075409382581711 1.0001775026321411 0.0008387008565478027 0.3931600749492645 0.12048407644033432 0.5691403746604919 1.0 0.9983596801757812 1.3931310176849365 -1.5345553159713745 -0.05052560940384865 0.712365448474884 0.47836506366729736 0.29233452677726746 1.0
1500 1.804144906865226 196739072 0.0 300.0 4096 0.0 299.5517883300781 41028 2.2453479766845703 0.5470415949821472 0.0035197448451071978 0.05599670484662056 0.9997920393943787 0.0009808302856981754 0.3936614692211151 0.12038318067789078 0.5529348254203796 1.0 0.9981765747070312 1.3869496583938599 -1.5294331312179565 -0.04736444354057312 0.7395824790000916 0.481566846370697 0.29543405771255493 1.0
1600 1.8928921721378962 209846272 0.0 300.0 4096 0.0 299.5819091796875 41024 2.241072177886963 0.5391611456871033 0.005552554037421942 0.07687530666589737 0.9999869465827942 0.000873916782438755 0.39318785071372986 0.12013369798660278 0.5371009707450867 1.0 0.9983047842979431 1.3830574750900269 -1.5300757884979248 -0.06382102519273758 0.7341734766960144 0.48134279251098633 0.2960141897201538 1.0
1700 1.9805113663276037 222953472 0.0 300.0 4096 0.0 299.7122497558594 41005 2.301175355911255 0.6620385646820068 0.0014461344107985497 0.06263428181409836 0.9995203018188477 0.000881541462149471 0.39374205470085144 0.12020552158355713 0.5257763266563416 1.0 0.99810791015625 1.3775641918182373 -1.5248011350631714 -0.04931333288550377 0.8143126964569092 0.48380807042121887 0.2975172698497772 1.0
1800 2.0678281193971633 236060672 0.0 300.0 4096 0.0 299.7713928222656 40996 2.2223031520843506 0.5016036629676819 0.0055349781177937984 0.07474365085363388 0.9997369647026062 0.0008533018990419805 0.39319324493408203 0.12005221098661423 0.5216838121414185 1.0 0.9982833862304688 1.3754184246063232 -1.5233066082000732 -0.049010537564754486 0.7083248496055603 0.4838034510612488 0.2978464961051941 1.0
1900 2.1539739031924143 249167872 0.0 300.0 4096 0.0 299.8080749511719 40991 2.229712724685669 0.503420352935791 0.007352010812610388 0.08393402397632599 1.0000320672988892 0.000873573764692992 0.39413008093833923 0.12024807184934616 0.5162932276725769 1.0 0.9979645013809204 1.369577407836914 -1.5156044960021973 -0.05110277608036995 0.7097514867782593 0.4871283173561096 0.2978171408176422 1.0
2000 2.2400065775050058 262275072 0.0 300.0 4096 0.0 299.84942626953125 40982 2.2246453762054443 0.5025638341903687 0.004950645379722118 0.07085265964269638 1.0000064373016357 0.0008374391472898424 0.3936826288700104 0.12002313137054443 0.5141798853874207 1.0 0.9981735348701477 1.367624044418335 -1.5188626050949097 -0.052787210792303085 0.7088474631309509 0.4876199960708618 0.2990579307079315 1.0
2100 2.326274251871639 275382272 0.0 300.0 4096 0.0 299.8220520019531 40987 2.238736867904663 0.5280346274375916 0.00591675890609622 0.07218170166015625 0.9998109936714172 0.0008513177745044231 0.3937605917453766 0.11997256428003311 0.5102623105049133 1.0 0.9981765747070312 1.3631963729858398 -1.5144175291061401 -0.04348928481340408 0.7265838980674744 0.4884394407272339 0.2987419366836548 1.0
2200 2.4123960245317884 288489472 0.0 300.0 4096 0.0 299.8348693847656 40984 2.2308990955352783 0.5184658765792847 0.004724904429167509 0.07588654011487961 1.0000503063201904 0.0008274858701042831 0.3933882415294647 0.11988341063261032 0.5089680552482605 1.0 0.997882068157196 1.361751914024353 -1.5139671564102173 -0.06037434563040733 0.7198776006698608 0.48838022351264954 0.29947251081466675 1.0
2300 2.5000807929039 301596672 0.0 300.0 4096 0.0 299.8588562011719 40982 2.270545244216919 0.6101638674736023 0.0029283647891134024 0.07820434868335724 0.9998875856399536 0.000743315031286329 0.39250698685646057 0.1192537173628807 0.5084503889083862 1.0 0.9976745843887329 1.3612052202224731 -1.523603081703186 -0.04577772319316864 0.7816222906112671 0.489248126745224 0.30526894330978394 1.0
Iteration Wall_Time Samples Test_Return Test_Episode_Length Test_Episodes Train_Return Train_Episode_Length Train_Episodes Loss Critic_Loss Actor_Loss Clip_Frac Imp_Ratio Action_Bound_Loss Disc_Loss Disc_Grad_Penalty Disc_Logit_Loss Disc_Pos_Acc Disc_Neg_Acc Disc_Pos_Logit Disc_Neg_Logit Adv_Mean Adv_Std Disc_Reward_Mean Disc_Reward_Std Root_Pos_Err Root_Rot_Err Body_Pos_Err Pose_Err Dof_Vel_Err Root_Vel_Err Root_Ang_Vel_Err Exp_Prob
0 0.038652137253019546 131072 0.0 13.84476375579834 7202 0.0 13.462596893310547 6978 320.0878601074219 296.5191955566406 -0.006051705684512854 0.06574096530675888 0.9999942183494568 0.0 4.714938163757324 2.4971470832824707 171.29757690429688 0.800000011920929 0.9404617547988892 0.009798867627978325 -2.7669026851654053 21.615543365478516 12.978856086730957 3.5232181549072266 2.1641767024993896 0.16193562746047974 0.44903790950775146 0.19175384938716888 0.6614605784416199 0.590805172920227 0.3662238121032715 1.2134007215499878 1.0

2.1 Copyright Grant. Subject to the terms and conditions of

this license, each Licensor grants to you a perpetual,

worldwide, non-exclusive, royalty-free, copyright license to

use, reproduce, prepare derivative works of, publicly

display, publicly perform, sublicense and distribute its

Work and any resulting derivative works in any form.

3. Limitations

3.1 Redistribution. You may reproduce or distribute the Work

only if (a) you do so under this license, (b) you include a

complete copy of this license with your distribution, and (c)

you retain without modification any copyright, patent,

trademark, or attribution notices that are present in the Work.

3.2 Derivative Works. You may specify that additional or

different terms apply to the use, reproduction, and

distribution of your derivative works of the Work

(“Your Terms”) only if (a) Your Terms provide that the use

limitation in Section 3.3 applies to your derivative works,

and (b) you identify the specific derivative works that are

subject to Your Terms. Notwithstanding Your Terms, this

license (including the redistribution requirements in

Section 3.1) will continue to apply to the Work itself.

3.3 Use Limitation. The Work and any derivative works

thereof only may be used or intended for use

non-commercially. Notwithstanding the foregoing, NVIDIA

Corporation and its affiliates may use the Work and any

derivative works commercially. As used herein,

“non-commercially” means for research or evaluation

purposes only.

3.4 Patent Claims. If you bring or threaten to bring a patent

claim against any Licensor (including any claim, cross-claim

or counterclaim in a lawsuit) to enforce any patents that you

allege are infringed by any Work, then your rights under this

license from such Licensor (including the grant in Section 2.1)

will terminate immediately.

3.5 Trademarks. This license does not grant any rights to use

any Licensor’s or its affiliates’ names, logos, or trademarks,

except as necessary to reproduce the notices described in this

license.

3.6 Termination. If you violate any term of this license, then

your rights under this license (including the grant in Section

2.1) will terminate immediately.

4. Disclaimer of Warranty.

THE WORK IS PROVIDED “AS IS” WITHOUT WARRANTIES OR CONDITIONS

OF ANY KIND, EITHER EXPRESS OR IMPLIED, INCLUDING WARRANTIES

OR CONDITIONS OF

MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, TITLE OR

NON-INFRINGEMENT. YOU BEAR THE RISK OF UNDERTAKING ANY

ACTIVITIES UNDER THIS LICENSE.

5. Limitation of Liability.

EXCEPT AS PROHIBITED BY APPLICABLE LAW, IN NO EVENT AND UNDER

NO LEGAL THEORY, WHETHER IN TORT (INCLUDING NEGLIGENCE),

CONTRACT, OR OTHERWISE SHALL ANY LICENSOR BE LIABLE TO YOU

FOR DAMAGES, INCLUDING ANY DIRECT, INDIRECT, SPECIAL,

INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF OR RELATED

TO THIS LICENSE, THE USE OR INABILITY TO USE THE WORK (INCLUDING

BUT NOT LIMITED TO LOSS OF GOODWILL, BUSINESS INTERRUPTION, LOST

PROFITS OR DATA, COMPUTER FAILURE OR MALFUNCTION, OR ANY OTHER

DAMAGES OR LOSSES), EVEN IF THE LICENSOR HAS BEEN ADVISED OF THE

POSSIBILITY OF SUCH DAMAGES.

Iteration Wall_Time Samples Test_Return Test_Episode_Length Test_Episodes Train_Return Train_Episode_Length Train_Episodes Loss Critic_Loss Actor_Loss Clip_Frac Imp_Ratio Action_Bound_Loss Disc_Loss Disc_Grad_Penalty Disc_Logit_Loss Disc_Pos_Acc Disc_Neg_Acc Disc_Pos_Logit Disc_Neg_Logit Adv_Mean Adv_Std Disc_Reward_Mean Disc_Reward_Std Exp_Prob

0 0.028616261614693536 131072 0.0 9.871752738952637 5349 0.0 10.069225311279297 10950 63.75310134887695 88.58071899414062 -0.0035271388478577137 0.03718109056353569 1.0001634359359741 0.0 3.8932559490203857 1.7448244094848633 169.2062225341797 0.9000000357627869 0.979534924030304 0.03206445649266243 -3.718812942504883 11.526137351989746 7.441666126251221 2.566030502319336 1.6565037965774536 1.0

100 0.22323716984854805 13238272 0.0 12.353514671325684 4096 0.0 11.28022575378418 1159823 2.9620234966278076 0.14434552192687988 -0.004294421058148146 0.0673065185546875 0.9998884201049805 0.0 0.5788289904594421 0.11142771691083908 26.888418197631836 1.0 0.9854568839073181 1.8758586645126343 -2.4981977939605713 0.010572651401162148 0.3812846541404724 0.3182133436203003 0.36856767535209656 1.0

200 0.4189725743399726 26345472 0.0 25.142333984375 4096 0.0 15.972281455993652 817796 2.32731032371521 0.6326737999916077 -0.004568320233374834 0.09418793022632599 0.9999819993972778 0.00032199188717640936 0.4031083583831787 0.10877616703510284 6.026426315307617 1.0 0.9901520013809204 1.6231292486190796 -1.8504222631454468 0.07859906554222107 0.8004151582717896 0.39791184663772583 0.3137112855911255 1.0

300 0.6148156326346927 39452672 0.0 300.0 4096 0.0 55.79793930053711 224136 3.5874602794647217 3.1400139331817627 -0.024685043841600418 0.04623565822839737 0.9997134208679199 0.0004593929334077984 0.40842753648757935 0.12023288011550903 2.148164987564087 1.0 0.998156726360321 1.4539408683776855 -1.517987608909607 0.2571004331111908 1.7786028385162354 0.47358787059783936 0.2810328006744385 1.0

400 0.7552363191710578 52559872 0.0 300.0 4096 0.0 290.5481262207031 42503 2.6542909145355225 1.0485992431640625 -0.01026387419551611 0.05626373365521431 0.9998571276664734 0.0005524330190382898 0.4280509948730469 0.12246247380971909 1.1807222366333008 1.0 0.9986297488212585 1.3136730194091797 -1.3722220659255981 0.014114098623394966 1.0251327753067017 0.5284664034843445 0.2861057221889496 1.0

500 0.8630532694525189 65667072 0.0 300.0 4096 0.0 295.0498046875 41729 2.479292392730713 0.7815886735916138 -0.004446960054337978 0.04468231275677681 0.9998076558113098 0.0007402346236631274 0.4185890257358551 0.12233473360538483 0.9269855618476868 1.0 0.9987441897392273 1.3377364873886108 -1.4143390655517578 -0.03984037786722183 0.8845535516738892 0.5138722658157349 0.2860660254955292 1.0

600 0.9632135936286714 78774272 0.0 300.0 4096 0.0 296.38055419921875 41510 2.381275177001953 0.707647979259491 -0.0026933476328849792 0.04946289211511612 1.0000126361846924 0.0007408023811876774 0.40602895617485046 0.12104075402021408 0.852405846118927 1.0 0.9985610842704773 1.3811050653457642 -1.4841779470443726 -0.055910348892211914 0.8414674997329712 0.4919288754463196 0.28904563188552856 1.0

700 1.062649889058537 91881472 0.0 300.0 4096 0.0 297.4273376464844 41347 2.271512269973755 0.5949824452400208 0.002515329048037529 0.06372375786304474 0.9996939897537231 0.0008289699326269329 0.394301176071167 0.11959290504455566 0.8282049298286438 1.0 0.9985901117324829 1.4276102781295776 -1.5520975589752197 -0.032017290592193604 0.7714448571205139 0.4729531407356262 0.2911015748977661 1.0

800 1.1598304107454087 104988672 0.0 300.0 4096 0.0 297.19329833984375 41383 2.300818681716919 0.7156096696853638 -0.00036799523513764143 0.05513458326458931 0.9996932148933411 0.0008470415486954153 0.38867631554603577 0.11925783008337021 0.8005344271659851 1.0 0.9985381960868835 1.4463752508163452 -1.583935260772705 -0.031221037730574608 0.8464116454124451 0.4622274339199066 0.28951385617256165 1.0

900 1.2550667319695155 118095872 0.0 300.0 4096 0.0 298.3364562988281 41211 2.2356326580047607 0.5546961426734924 0.0045316219329833984 0.05785369873046875 0.999716579914093 0.0009249625145457685 0.39075061678886414 0.11976003646850586 0.747475266456604 1.0 0.9986587762832642 1.4314428567886353 -1.5687726736068726 -0.029476869851350784 0.7448644042015076 0.4674958884716034 0.29018932580947876 1.0

1000 1.350328924589687 131203072 0.0 300.0 4096 0.0 298.6391296386719 41167 2.2422194480895996 0.56696617603302 0.004925020970404148 0.06734313815832138 0.9996657371520996 0.0008670956012792885 0.3907622992992401 0.11949075758457184 0.6973264217376709 1.0 0.9983307123184204 1.4225188493728638 -1.5679453611373901 -0.05776841193437576 0.7530228495597839 0.4695359170436859 0.29284435510635376 1.0

1100 1.442932095858786 144310272 0.0 300.0 4096 0.0 299.0655212402344 41101 2.235027313232422 0.5341421961784363 0.005651767831295729 0.06766357272863388 0.9997302293777466 0.0009383069700561464 0.39246103167533875 0.12014690786600113 0.65740966796875 1.0 0.9984497427940369 1.4104585647583008 -1.550758719444275 -0.051160506904125214 0.7308138012886047 0.4730185866355896 0.29101788997650146 1.0

1200 1.53428849849436 157417472 0.0 300.0 4096 0.0 299.2747802734375 41069 2.2287380695343018 0.5227355360984802 0.004355944227427244 0.069580078125 0.999851644039154 0.0008312725694850087 0.392602801322937 0.120149627327919 0.6226326823234558 1.0 0.9984359741210938 1.4047807455062866 -1.545628309249878 -0.04819168522953987 0.7230154871940613 0.47525084018707275 0.2927684187889099 1.0

1300 1.624858400689231 170524672 0.0 300.0 4096 0.0 299.28594970703125 41070 2.243553638458252 0.5420295596122742 0.005800712388008833 0.06254120171070099 0.999673068523407 0.0009054558468051255 0.3933475911617279 0.1203157901763916 0.5942240357398987 1.0 0.998687744140625 1.3966995477676392 -1.5390938520431519 -0.05645110458135605 0.7362159490585327 0.4778096675872803 0.2934320867061615 1.0

1400 1.715810115204917 183631872 0.0 300.0 4096 0.0 299.4001159667969 41050 2.2253830432891846 0.5072552561759949 0.005955120082944632 0.08075409382581711 1.0001775026321411 0.0008387008565478027 0.3931600749492645 0.12048407644033432 0.5691403746604919 1.0 0.9983596801757812 1.3931310176849365 -1.5345553159713745 -0.05052560940384865 0.712365448474884 0.47836506366729736 0.29233452677726746 1.0

1500 1.804144906865226 196739072 0.0 300.0 4096 0.0 299.5517883300781 41028 2.2453479766845703 0.5470415949821472 0.0035197448451071978 0.05599670484662056 0.9997920393943787 0.0009808302856981754 0.3936614692211151 0.12038318067789078 0.5529348254203796 1.0 0.9981765747070312 1.3869496583938599 -1.5294331312179565 -0.04736444354057312 0.7395824790000916 0.481566846370697 0.29543405771255493 1.0

1600 1.8928921721378962 209846272 0.0 300.0 4096 0.0 299.5819091796875 41024 2.241072177886963 0.5391611456871033 0.005552554037421942 0.07687530666589737 0.9999869465827942 0.000873916782438755 0.39318785071372986 0.12013369798660278 0.5371009707450867 1.0 0.9983047842979431 1.3830574750900269 -1.5300757884979248 -0.06382102519273758 0.7341734766960144 0.48134279251098633 0.2960141897201538 1.0

1700 1.9805113663276037 222953472 0.0 300.0 4096 0.0 299.7122497558594 41005 2.301175355911255 0.6620385646820068 0.0014461344107985497 0.06263428181409836 0.9995203018188477 0.000881541462149471 0.39374205470085144 0.12020552158355713 0.5257763266563416 1.0 0.99810791015625 1.3775641918182373 -1.5248011350631714 -0.04931333288550377 0.8143126964569092 0.48380807042121887 0.2975172698497772 1.0

1800 2.0678281193971633 236060672 0.0 300.0 4096 0.0 299.7713928222656 40996 2.2223031520843506 0.5016036629676819 0.0055349781177937984 0.07474365085363388 0.9997369647026062 0.0008533018990419805 0.39319324493408203 0.12005221098661423 0.5216838121414185 1.0 0.9982833862304688 1.3754184246063232 -1.5233066082000732 -0.049010537564754486 0.7083248496055603 0.4838034510612488 0.2978464961051941 1.0

1900 2.1539739031924143 249167872 0.0 300.0 4096 0.0 299.8080749511719 40991 2.229712724685669 0.503420352935791 0.007352010812610388 0.08393402397632599 1.0000320672988892 0.000873573764692992 0.39413008093833923 0.12024807184934616 0.5162932276725769 1.0 0.9979645013809204 1.369577407836914 -1.5156044960021973 -0.05110277608036995 0.7097514867782593 0.4871283173561096 0.2978171408176422 1.0

2000 2.2400065775050058 262275072 0.0 300.0 4096 0.0 299.84942626953125 40982 2.2246453762054443 0.5025638341903687 0.004950645379722118 0.07085265964269638 1.0000064373016357 0.0008374391472898424 0.3936826288700104 0.12002313137054443 0.5141798853874207 1.0 0.9981735348701477 1.367624044418335 -1.5188626050949097 -0.052787210792303085 0.7088474631309509 0.4876199960708618 0.2990579307079315 1.0

2100 2.326274251871639 275382272 0.0 300.0 4096 0.0 299.8220520019531 40987 2.238736867904663 0.5280346274375916 0.00591675890609622 0.07218170166015625 0.9998109936714172 0.0008513177745044231 0.3937605917453766 0.11997256428003311 0.5102623105049133 1.0 0.9981765747070312 1.3631963729858398 -1.5144175291061401 -0.04348928481340408 0.7265838980674744 0.4884394407272339 0.2987419366836548 1.0

2200 2.4123960245317884 288489472 0.0 300.0 4096 0.0 299.8348693847656 40984 2.2308990955352783 0.5184658765792847 0.004724904429167509 0.07588654011487961 1.0000503063201904 0.0008274858701042831 0.3933882415294647 0.11988341063261032 0.5089680552482605 1.0 0.997882068157196 1.361751914024353 -1.5139671564102173 -0.06037434563040733 0.7198776006698608 0.48838022351264954 0.29947251081466675 1.0

2300 2.5000807929039 301596672 0.0 300.0 4096 0.0 299.8588562011719 40982 2.270545244216919 0.6101638674736023 0.0029283647891134024 0.07820434868335724 0.9998875856399536 0.000743315031286329 0.39250698685646057 0.1192537173628807 0.5084503889083862 1.0 0.9976745843887329 1.3612052202224731 -1.523603081703186 -0.04577772319316864 0.7816222906112671 0.489248126745224 0.30526894330978394 1.0

Iteration Wall_Time Samples Test_Return Test_Episode_Length Test_Episodes Train_Return Train_Episode_Length Train_Episodes Loss Critic_Loss Actor_Loss Clip_Frac Imp_Ratio Action_Bound_Loss Disc_Loss Disc_Grad_Penalty Disc_Logit_Loss Disc_Pos_Acc Disc_Neg_Acc Disc_Pos_Logit Disc_Neg_Logit Adv_Mean Adv_Std Disc_Reward_Mean Disc_Reward_Std Root_Pos_Err Root_Rot_Err Body_Pos_Err Pose_Err Dof_Vel_Err Root_Vel_Err Root_Ang_Vel_Err Exp_Prob

0 0.038652137253019546 131072 0.0 13.84476375579834 7202 0.0 13.462596893310547 6978 320.0878601074219 296.5191955566406 -0.006051705684512854 0.06574096530675888 0.9999942183494568 0.0 4.714938163757324 2.4971470832824707 171.29757690429688 0.800000011920929 0.9404617547988892 0.009798867627978325 -2.7669026851654053 21.615543365478516 12.978856086730957 3.5232181549072266 2.1641767024993896 0.16193562746047974 0.44903790950775146 0.19175384938716888 0.6614605784416199 0.590805172920227 0.3662238121032715 1.2134007215499878 1.0