<conda-env>/lib/python3.11/site-packages/torch/jit/_script.py:1491: FutureWarning: `torch.jit.script` is deprecated. Please switch to `torch.compile` or `torch.export`.
  warnings.warn(
<conda-env>/lib/python3.11/site-packages/mujoco_warp/_src/io.py:713: UserWarning: MULTICCD is enabled, but the scene contains CCD pairs without multicontact support: [('CYLINDER', 'CYLINDER'), ('CYLINDER', 'BOX')]. At most 1 contact will be generated for these pairs.
  warnings.warn(
Setting seed: 0
Warp 1.14.0 initialized:
   CUDA Toolkit 12.9, Driver 13.0
   Devices:
     "cpu"      : "x86_64"
     "cuda:0"   : "NVIDIA GeForce RTX 5070 Ti" (15 GiB, sm_120, mempool enabled)
   Kernel cache:
     <warp-cache>/1.14.0
Module mujoco_warp._src.smooth e597d07 load on device 'cuda:0' took 4.41 ms  (cached)
Module _nxn_broadphase__locals__kernel_df6640ed df6640e load on device 'cuda:0' took 0.98 ms  (cached)
Module ccd_kernel_builder__locals__ccd_kernel_f3c975b7 f3c975b load on device 'cuda:0' took 2.00 ms  (cached)
Module ccd_kernel_builder__locals__ccd_kernel_f3c975b7 fa59860 load on device 'cuda:0' took 2.13 ms  (cached)
Module ccd_kernel_builder__locals__ccd_kernel_82ff21e7 82ff21e load on device 'cuda:0' took 1.87 ms  (cached)
Module ccd_kernel_builder__locals__ccd_kernel_82ff21e7 fa618bd load on device 'cuda:0' took 1.87 ms  (cached)
Module ccd_kernel_builder__locals__ccd_kernel_240d51e8 240d51e load on device 'cuda:0' took 2.54 ms  (cached)
Module ccd_kernel_builder__locals__ccd_kernel_240d51e8 a5c9e1e load on device 'cuda:0' took 2.35 ms  (cached)
Module _primitive_narrowphase__locals__primitive_narrowphase_9aaa7d98 9aaa7d9 load on device 'cuda:0' took 0.91 ms  (cached)
Module mujoco_warp._src.constraint 880bd7f load on device 'cuda:0' took 0.70 ms  (cached)
Module _friction_dof__locals__kernel_3c14efda 3c14efd load on device 'cuda:0' took 2.07 ms  (cached)
Module _limit_slide_hinge__locals__kernel_4d6c55ab 4d6c55a load on device 'cuda:0' took 1.11 ms  (cached)
Module _efc_contact_init__locals__kernel_744a1fda 744a1fd load on device 'cuda:0' took 0.84 ms  (cached)
Module _efc_contact_jac_dense__locals__kernel_760e2e1a d6aba00 load on device 'cuda:0' took 0.80 ms  (cached)
Module _efc_contact_update__locals__kernel_c40b0799 c40b079 load on device 'cuda:0' took 1.10 ms  (cached)
Module mujoco_warp._src.forward 687ddb7 load on device 'cuda:0' took 1.62 ms  (cached)
Module mujoco_warp._src.passive 8ff6993 load on device 'cuda:0' took 1.62 ms  (cached)
Module mujoco_warp._src.forward 2190340 load on device 'cuda:0' took 1.60 ms  (cached)
Module _qfrc_smooth__locals__kernel_6eb3d958 6eb3d95 load on device 'cuda:0' took 0.76 ms  (cached)
Module mujoco_warp._src.support d1e71d9 load on device 'cuda:0' took 0.88 ms  (cached)
Module _tile_cholesky_factorize_solve_block__locals__kernel_b44bd18c 0966f64 load on device 'cuda:0' took 19.14 ms  (cached)
Module _solve_init_dof__locals__kernel_99a497d1 99a497d load on device 'cuda:0' took 0.81 ms  (cached)
Module mujoco_warp._src.solver 245b5b3 load on device 'cuda:0' took 2.01 ms  (cached)
Module _solve_init_jaref_kernel__locals__kernel_d620bcf9 d620bcf load on device 'cuda:0' took 0.74 ms  (cached)
Module mul_m_kernel__locals___mul_m_fd2186c4 fd2186c load on device 'cuda:0' took 0.90 ms  (cached)
Module _update_constraint_efc__locals__kernel_4af8f110 4af8f11 load on device 'cuda:0' took 0.74 ms  (cached)
Module _update_constraint_init_qfrc_constraint_dense__locals__kernel_391cb5b4 391cb5b load on device 'cuda:0' took 0.80 ms  (cached)
Module _update_gradient_zero_grad_dot__locals__kernel_cb780630 cb78063 load on device 'cuda:0' took 0.78 ms  (cached)
Module _update_gradient_grad__locals__kernel_0cbf4927 0cbf492 load on device 'cuda:0' took 0.69 ms  (cached)
Module _update_gradient_JTDAJ_dense_tiled__locals__kernel_5d6c5d76 c826079 load on device 'cuda:0' took 1.27 ms  (cached)
Module _update_gradient_cholesky__locals__kernel_b27fc0c0 f9b150c load on device 'cuda:0' took 19.42 ms  (cached)
Module _linesearch_iterative_kernel__locals__kernel_d3ea36af e1537a9 load on device 'cuda:0' took 1.25 ms  (cached)
Module mujoco_warp._src.sensor 42e0a24 load on device 'cuda:0' took 2.53 ms  (cached)
Module _contact_sort__locals__contact_sort_321f5f3e 33ea4e1 load on device 'cuda:0' took 0.99 ms  (cached)
Module mujoco_warp._src.derivative e770e28 load on device 'cuda:0' took 1.36 ms  (cached)
Module _next_time_builder__locals___next_time_95ad6d7a 95ad6d7 load on device 'cuda:0' took 0.98 ms  (cached)
Module reset_data__locals__reset_xfrc_applied_03030511 0303051 load on device 'cuda:0' took 0.69 ms  (cached)
Module reset_data__locals__reset_M_631075dd 631075d load on device 'cuda:0' took 0.90 ms  (cached)
Module reset_data__locals__reset_mocap_6513201c 6513201 load on device 'cuda:0' took 0.69 ms  (cached)
Module reset_data__locals__reset_contact_5c08f689 5c08f68 load on device 'cuda:0' took 0.78 ms  (cached)
Module reset_data__locals__reset_sleep_50b990da 50b990d load on device 'cuda:0' took 0.70 ms  (cached)
Module reset_data__locals__reset_nworld_69a10925 69a1092 load on device 'cuda:0' took 0.81 ms  (cached)

+---------------------------------+
|         Base Environment        |
+------------------------+--------+
| Property               | Value  |
+------------------------+--------+
| Number of environments | 4096   |
| Environment device     | cuda:0 |
| Environment seed       | 0      |
| Physics step-size      | 0.005  |
| Environment step-size  | 0.02   |
+------------------------+--------+

[INFO] <EventManager> contains 2 active terms.
+-------------------------------------+
| Active Event Terms in Mode: 'reset' |
+--------+----------------------------+
| Index  | Name                       |
+--------+----------------------------+
|   0    | reset_base                 |
|   1    | reset_robot_joints         |
+--------+----------------------------+
+---------------------------------------+
| Active Event Terms in Mode: 'startup' |
+-----------+---------------------------+
|   Index   | Name                      |
+-----------+---------------------------+
|     0     | foot_friction             |
|     1     | encoder_bias              |
|     2     | base_com                  |
+-----------+---------------------------+
+-----------------------------+
| Domain Randomization Fields |
+-------+---------------------+
| Index | Field Name          |
+-------+---------------------+
|   0   | geom_friction       |
|   1   | body_ipos           |
|   2   | body_subtreemass    |
|   3   | dof_invweight0      |
|   4   | body_invweight0     |
|   5   | tendon_length0      |
|   6   | tendon_invweight0   |
|   7   | actuator_acc0       |
+-------+---------------------+

Module repeat_array_kernel_4f67a4c3 711f54c load on device 'cuda:0' took 0.87 ms  (cached)
Module repeat_array_kernel_4f67a4c3 7224d07 load on device 'cuda:0' took 0.81 ms  (cached)
Module repeat_array_kernel_4f67a4c3 b2885b0 load on device 'cuda:0' took 0.73 ms  (cached)
[INFO] <CommandManager> contains 1 active terms.
+--------------------------------------+
|         Active Command Terms         |
+-------+-------+----------------------+
| Index | Name  |         Type         |
+-------+-------+----------------------+
|   0   | twist | MixedVelocityCommand |
+-------+-------+----------------------+

[INFO] <ActionManager> contains 2 active terms.
+---------------------------------+
| Active Action Terms (shape: 16) |
+-------+-----------+-------------+
| Index | Name      |   Dimension |
+-------+-----------+-------------+
|   0   | joint_pos |          12 |
|   1   | wheel_vel |           4 |
+-------+-----------+-------------+

[INFO] <ObservationManager> contains 2 groups.
+------------------------------------------------------------+
| Active Observation Terms in Group: 'actor' (shape: (265,)) |
+--------+-------------------------+-------------------------+
| Index  | Name                    |          Shape          |
+--------+-------------------------+-------------------------+
|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
|   5    | actions                 |     (80,)  ← 5×(16,)    |
|   6    | command                 |     (15,)  ← 5×(3,)     |
+--------+-------------------------+-------------------------+
+------------------------------------------------------------+
| Active Observation Terms in Group: 'critic' (shape: (56,)) |
+-----------+----------------------------------+-------------+
|   Index   | Name                             |    Shape    |
+-----------+----------------------------------+-------------+
|     0     | base_ang_vel                     |     (3,)    |
|     1     | projected_gravity                |     (3,)    |
|     2     | joint_pos                        |    (12,)    |
|     3     | joint_vel                        |    (12,)    |
|     4     | wheel_vel                        |     (4,)    |
|     5     | actions                          |    (16,)    |
|     6     | command                          |     (3,)    |
|     7     | base_lin_vel                     |     (3,)    |
+-----------+----------------------------------+-------------+

[INFO] <TerminationManager> contains 3 active terms.
+--------------------------------+
|    Active Termination Terms    |
+-------+-------------+----------+
| Index | Name        | Time Out |
+-------+-------------+----------+
|   0   | time_out    |   True   |
|   1   | fell_over   |  False   |
|   2   | course_exit |   True   |
+-------+-------------+----------+

[INFO] <RewardManager> contains 11 active terms.
+-----------------------------------------+
|           Active Reward Terms           |
+-------+------------------------+--------+
| Index | Name                   | Weight |
+-------+------------------------+--------+
|   0   | track_linear_velocity  |    2.0 |
|   1   | track_angular_velocity |    2.0 |
|   2   | upright                |    1.0 |
|   3   | leg_posture            |   -0.4 |
|   4   | standstill             |   -2.0 |
|   5   | action_rate_l2         |  -0.05 |
|   6   | joint_torques_l2       | -2e-05 |
|   7   | dof_pos_limits         |   -1.0 |
|   8   | terminated             |  -20.0 |
|   9   | unnecessary_wheel_lift |   -0.2 |
|   10  | rolling_leg_motion     |  -0.12 |
+-------+------------------------+--------+

[INFO] <CurriculumManager> contains 1 active terms.
+-------------------------+
| Active Curriculum Terms |
+-----------+-------------+
|   Index   | Name        |
+-----------+-------------+
|     0     | course      |
+-----------+-------------+

[INFO] <MetricsManager> contains 1 active terms.
+-------------------------+
|   Active Metrics Terms  |
+-------+-----------------+
| Index | Name            |
+-------+-----------------+
|   0   | mean_action_acc |
+-------+-----------------+

[INFO] <NullRecorderManager> (inactive)
Module mujoco_warp._src.io 19274fb load on device 'cuda:0' took 1.88 ms  (cached)
Module _tile_cholesky_factorize_block__locals__kernel_ccbdb7fb c86e457 load on device 'cuda:0' took 15.09 ms  (cached)
Module _tile_cholesky_solve_block__locals__kernel_320f9d39 639ca7f load on device 'cuda:0' took 15.19 ms  (cached)
Shared terrain atlas: 21.6 MiB
S10 replay storage: 3344.0 MiB

+---------------------------------+
|         Base Environment        |
+------------------------+--------+
| Property               | Value  |
+------------------------+--------+
| Number of environments | 1      |
| Environment device     | cuda:0 |
| Environment seed       | None   |
| Physics step-size      | 0.005  |
| Environment step-size  | 0.02   |
+------------------------+--------+

[INFO] <EventManager> contains 1 active terms.
+-------------------------------------+
| Active Event Terms in Mode: 'reset' |
+--------+----------------------------+
| Index  | Name                       |
+--------+----------------------------+
|   0    | reset_base                 |
|   1    | reset_robot_joints         |
+--------+----------------------------+

[INFO] <CommandManager> contains 1 active terms.
+----------------------------------------+
|          Active Command Terms          |
+-------+-------+------------------------+
| Index | Name  |          Type          |
+-------+-------+------------------------+
|   0   | twist | UniformVelocityCommand |
+-------+-------+------------------------+

[INFO] <ActionManager> contains 2 active terms.
+---------------------------------+
| Active Action Terms (shape: 16) |
+-------+-----------+-------------+
| Index | Name      |   Dimension |
+-------+-----------+-------------+
|   0   | joint_pos |          12 |
|   1   | wheel_vel |           4 |
+-------+-----------+-------------+

[INFO] <ObservationManager> contains 1 groups.
+------------------------------------------------------------+
| Active Observation Terms in Group: 'actor' (shape: (265,)) |
+--------+-------------------------+-------------------------+
| Index  | Name                    |          Shape          |
+--------+-------------------------+-------------------------+
|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
|   5    | actions                 |     (80,)  ← 5×(16,)    |
|   6    | command                 |     (15,)  ← 5×(3,)     |
+--------+-------------------------+-------------------------+

[INFO] <TerminationManager> contains 3 active terms.
+--------------------------------+
|    Active Termination Terms    |
+-------+-------------+----------+
| Index | Name        | Time Out |
+-------+-------------+----------+
|   0   | time_out    |   True   |
|   1   | fell_over   |  False   |
|   2   | course_exit |   True   |
+-------+-------------+----------+

[INFO] <RewardManager> contains 0 active terms.
+-----------------------+
|  Active Reward Terms  |
+-------+------+--------+
| Index | Name | Weight |
+-------+------+--------+
+-------+------+--------+

[INFO] <NullCurriculumManager> (inactive)
[INFO] <NullMetricsManager> (inactive)
[INFO] <NullRecorderManager> (inactive)
S10 video saved: logs/s10_terrain_v4_50k_full/videos/iteration_020000.mp4
{"step": 20010, "actor_lr": 1.6326254762964657e-05, "archive_windows": 521, "env_steps": 20010, "total_transitions": 81960960, "num_steps_per_env": 1, "wm_loss": 0.21316659450531006, "actor_loss": null, "critic_loss": null, "reward": 0.06422033160924911, "falls": 0, "interval_steps": 10, "velocity_mae": [0.417668879032135, 0.1449698805809021, 0.3302408456802368], "policy_updates": 19950, "skipped_updates": 0, "invalid_env_resets": 0, "elapsed_s": 6.111450314999985, "contact_bce": 0.22499379515647888, "contact_force_loss": 0.030082207173109055, "terrain_level_mean": 2.728759765625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.348876953125, "command_abs_max": [1.9988961219787598, 0.9982041120529175, 2.999654769897461]}
{"step": 20020, "actor_lr": 1.6299886349978423e-05, "archive_windows": 1735, "env_steps": 20020, "total_transitions": 82001920, "num_steps_per_env": 1, "wm_loss": 0.19536051154136658, "actor_loss": null, "critic_loss": null, "reward": 0.0753982737660408, "falls": 0, "interval_steps": 10, "velocity_mae": [0.22319285571575165, 0.1280742585659027, 0.22749905288219452], "policy_updates": 19950, "skipped_updates": 0, "invalid_env_resets": 0, "elapsed_s": 7.782994487999986, "contact_bce": 0.225437194108963, "contact_force_loss": 0.02602911740541458, "terrain_level_mean": 2.728759765625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.348876953125, "command_abs_max": [1.9988961219787598, 0.9982041120529175, 2.999654769897461]}
{"step": 20030, "actor_lr": 1.627353394780695e-05, "archive_windows": 2620, "env_steps": 20030, "total_transitions": 82042880, "num_steps_per_env": 1, "wm_loss": 0.1846635341644287, "actor_loss": null, "critic_loss": null, "reward": 0.07840166985988617, "falls": 0, "interval_steps": 10, "velocity_mae": [0.1614307314157486, 0.113187275826931, 0.20591974258422852], "policy_updates": 19950, "skipped_updates": 0, "invalid_env_resets": 0, "elapsed_s": 9.46057042999999, "contact_bce": 0.23175622522830963, "contact_force_loss": 0.024039845913648605, "terrain_level_mean": 2.728759765625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.348876953125, "command_abs_max": [1.9988961219787598, 0.9982041120529175, 2.999654769897461]}
{"step": 20040, "actor_lr": 1.624719758534885e-05, "archive_windows": 3393, "env_steps": 20040, "total_transitions": 82083840, "num_steps_per_env": 1, "wm_loss": 0.18683867156505585, "actor_loss": null, "critic_loss": null, "reward": 0.0784832164645195, "falls": 0, "interval_steps": 10, "velocity_mae": [0.15102940797805786, 0.11057059466838837, 0.20834259688854218], "policy_updates": 19950, "skipped_updates": 0, "invalid_env_resets": 0, "elapsed_s": 11.14265653199999, "contact_bce": 0.23354536294937134, "contact_force_loss": 0.024231363087892532, "terrain_level_mean": 2.728759765625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.348876953125, "command_abs_max": [1.9988961219787598, 0.9982041120529175, 2.999654769897461]}
{"step": 20050, "actor_lr": 1.6220877291485223e-05, "archive_windows": 4082, "env_steps": 20050, "total_transitions": 82124800, "num_steps_per_env": 1, "wm_loss": 0.20950332283973694, "actor_loss": null, "critic_loss": null, "reward": 0.07697949558496475, "falls": 0, "interval_steps": 10, "velocity_mae": [0.16485223174095154, 0.11597958952188492, 0.2235407829284668], "policy_updates": 19950, "skipped_updates": 0, "invalid_env_resets": 0, "elapsed_s": 12.821831344999993, "contact_bce": 0.23688700795173645, "contact_force_loss": 0.024115249514579773, "terrain_level_mean": 2.728759765625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.348876953125, "command_abs_max": [1.9988961219787598, 0.9982041120529175, 2.999654769897461]}
{"step": 20060, "actor_lr": 1.619457309507945e-05, "archive_windows": 4773, "env_steps": 20060, "total_transitions": 82165760, "num_steps_per_env": 1, "wm_loss": 0.21756643056869507, "actor_loss": -9.057455062866211, "critic_loss": 0.01280834712088108, "reward": 0.07560659945011139, "falls": 0, "interval_steps": 10, "velocity_mae": [0.18705949187278748, 0.12627176940441132, 0.23328562080860138], "policy_updates": 19960, "skipped_updates": 0, "invalid_env_resets": 0, "elapsed_s": 16.464764949, "contact_bce": 0.2409585863351822, "contact_force_loss": 0.024994414299726486, "terrain_level_mean": 2.728759765625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.348876953125, "command_abs_max": [1.9988961219787598, 0.9982041120529175, 2.999654769897461]}
{"step": 20070, "actor_lr": 1.616828502497732e-05, "archive_windows": 5498, "env_steps": 20070, "total_transitions": 82206720, "num_steps_per_env": 1, "wm_loss": 0.2803006172180176, "actor_loss": -8.990995407104492, "critic_loss": 0.014726313762366772, "reward": 0.07512756437063217, "falls": 0, "interval_steps": 10, "velocity_mae": [0.200344517827034, 0.13332810997962952, 0.2382344901561737], "policy_updates": 19970, "skipped_updates": 0, "invalid_env_resets": 0, "elapsed_s": 20.079112973999997, "contact_bce": 0.2511277198791504, "contact_force_loss": 0.025752782821655273, "terrain_level_mean": 2.728759765625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.348876953125, "command_abs_max": [1.9988961219787598, 0.9982041120529175, 2.999654769897461]}
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RECOVERY reset 1 invalid environments; first IDs=[1648]
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RECOVERY reset 1 invalid environments; first IDs=[577]
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RECOVERY reset 1 invalid environments; first IDs=[1589]
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{"step": 21600, "actor_lr": 1.235331001959603e-05, "archive_windows": 100000, "env_steps": 21600, "total_transitions": 88473600, "num_steps_per_env": 1, "wm_loss": 0.5086336135864258, "actor_loss": -8.836373329162598, "critic_loss": 0.022330623120069504, "reward": 0.0717233419418335, "falls": 9, "interval_steps": 10, "velocity_mae": [0.2291228324174881, 0.15900038182735443, 0.25903627276420593], "policy_updates": 21500, "skipped_updates": 0, "invalid_env_resets": 3, "elapsed_s": 580.627108712, "contact_bce": 0.33004337549209595, "contact_force_loss": 0.03255768492817879, "terrain_level_mean": 2.799072265625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.356201171875, "command_abs_max": [1.9987282752990723, 0.9997336864471436, 2.999065637588501]}

+---------------------------------+
|         Base Environment        |
+------------------------+--------+
| Property               | Value  |
+------------------------+--------+
| Number of environments | 1      |
| Environment device     | cuda:0 |
| Environment seed       | None   |
| Physics step-size      | 0.005  |
| Environment step-size  | 0.02   |
+------------------------+--------+

[INFO] <EventManager> contains 1 active terms.
+-------------------------------------+
| Active Event Terms in Mode: 'reset' |
+--------+----------------------------+
| Index  | Name                       |
+--------+----------------------------+
|   0    | reset_base                 |
|   1    | reset_robot_joints         |
+--------+----------------------------+

[INFO] <CommandManager> contains 1 active terms.
+----------------------------------------+
|          Active Command Terms          |
+-------+-------+------------------------+
| Index | Name  |          Type          |
+-------+-------+------------------------+
|   0   | twist | UniformVelocityCommand |
+-------+-------+------------------------+

[INFO] <ActionManager> contains 2 active terms.
+---------------------------------+
| Active Action Terms (shape: 16) |
+-------+-----------+-------------+
| Index | Name      |   Dimension |
+-------+-----------+-------------+
|   0   | joint_pos |          12 |
|   1   | wheel_vel |           4 |
+-------+-----------+-------------+

[INFO] <ObservationManager> contains 1 groups.
+------------------------------------------------------------+
| Active Observation Terms in Group: 'actor' (shape: (265,)) |
+--------+-------------------------+-------------------------+
| Index  | Name                    |          Shape          |
+--------+-------------------------+-------------------------+
|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
|   5    | actions                 |     (80,)  ← 5×(16,)    |
|   6    | command                 |     (15,)  ← 5×(3,)     |
+--------+-------------------------+-------------------------+

[INFO] <TerminationManager> contains 3 active terms.
+--------------------------------+
|    Active Termination Terms    |
+-------+-------------+----------+
| Index | Name        | Time Out |
+-------+-------------+----------+
|   0   | time_out    |   True   |
|   1   | fell_over   |  False   |
|   2   | course_exit |   True   |
+-------+-------------+----------+

[INFO] <RewardManager> contains 0 active terms.
+-----------------------+
|  Active Reward Terms  |
+-------+------+--------+
| Index | Name | Weight |
+-------+------+--------+
+-------+------+--------+

[INFO] <NullCurriculumManager> (inactive)
[INFO] <NullMetricsManager> (inactive)
[INFO] <NullRecorderManager> (inactive)
S10 video saved: logs/s10_terrain_v4_50k_full/videos/iteration_021600.mp4
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RECOVERY reset 1 invalid environments; first IDs=[1685]
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RECOVERY reset 1 invalid environments; first IDs=[576]
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RECOVERY reset 1 invalid environments; first IDs=[885]
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Warning: EPA horizon = 24 isn't large enough.
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{"step": 22990, "actor_lr": 9.29692971019559e-06, "archive_windows": 100000, "env_steps": 22990, "total_transitions": 94167040, "num_steps_per_env": 1, "wm_loss": 0.5124161243438721, "actor_loss": -8.859846115112305, "critic_loss": 0.019261283800005913, "reward": 0.0713118240237236, "falls": 6, "interval_steps": 10, "velocity_mae": [0.2310790717601776, 0.16059309244155884, 0.25716984272003174], "policy_updates": 22890, "skipped_updates": 0, "invalid_env_resets": 6, "elapsed_s": 1082.5796653260002, "contact_bce": 0.33101412653923035, "contact_force_loss": 0.033210061490535736, "terrain_level_mean": 2.861083984375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.342529296875, "command_abs_max": [1.9998289346694946, 0.9999374151229858, 2.9991114139556885]}
Warning: EPA horizon = 24 isn't large enough.
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RECOVERY reset 1 invalid environments; first IDs=[557]
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{"step": 23120, "actor_lr": 9.033521444757737e-06, "archive_windows": 100000, "env_steps": 23120, "total_transitions": 94699520, "num_steps_per_env": 1, "wm_loss": 0.5172333121299744, "actor_loss": -8.844215393066406, "critic_loss": 0.02181140147149563, "reward": 0.07093183696269989, "falls": 6, "interval_steps": 10, "velocity_mae": [0.23872488737106323, 0.16045941412448883, 0.2571466565132141], "policy_updates": 23020, "skipped_updates": 0, "invalid_env_resets": 7, "elapsed_s": 1128.594069957, "contact_bce": 0.3301721513271332, "contact_force_loss": 0.03304881229996681, "terrain_level_mean": 2.86181640625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.341796875, "command_abs_max": [1.996741771697998, 0.9975876808166504, 2.9998035430908203]}
{"step": 23130, "actor_lr": 9.013426505637617e-06, "archive_windows": 100000, "env_steps": 23130, "total_transitions": 94740480, "num_steps_per_env": 1, "wm_loss": 0.5575241446495056, "actor_loss": -8.848665237426758, "critic_loss": 0.021836867555975914, "reward": 0.07103434950113297, "falls": 7, "interval_steps": 10, "velocity_mae": [0.23681828379631042, 0.15960784256458282, 0.2577325999736786], "policy_updates": 23030, "skipped_updates": 0, "invalid_env_resets": 7, "elapsed_s": 1132.105120657, "contact_bce": 0.33008211851119995, "contact_force_loss": 0.032942868769168854, "terrain_level_mean": 2.861572265625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.344482421875, "command_abs_max": [1.996741771697998, 0.9975876808166504, 2.9998035430908203]}
{"step": 23140, "actor_lr": 8.99335556782888e-06, "archive_windows": 100000, "env_steps": 23140, "total_transitions": 94781440, "num_steps_per_env": 1, "wm_loss": 0.5003407597541809, "actor_loss": -8.86792278289795, "critic_loss": 0.02455739676952362, "reward": 0.07098127901554108, "falls": 3, "interval_steps": 10, "velocity_mae": [0.23798519372940063, 0.15846149623394012, 0.25717276334762573], "policy_updates": 23040, "skipped_updates": 0, "invalid_env_resets": 7, "elapsed_s": 1135.625992293, "contact_bce": 0.3337646722793579, "contact_force_loss": 0.03328659012913704, "terrain_level_mean": 2.862548828125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.340576171875, "command_abs_max": [1.996741771697998, 0.9975876808166504, 2.9998035430908203]}
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{"step": 23160, "actor_lr": 8.953285784160146e-06, "archive_windows": 100000, "env_steps": 23160, "total_transitions": 94863360, "num_steps_per_env": 1, "wm_loss": 0.5317621231079102, "actor_loss": -8.863969802856445, "critic_loss": 0.020281683653593063, "reward": 0.07110993564128876, "falls": 8, "interval_steps": 10, "velocity_mae": [0.23481030762195587, 0.16225306689739227, 0.26200070977211], "policy_updates": 23060, "skipped_updates": 0, "invalid_env_resets": 7, "elapsed_s": 1142.645103384, "contact_bce": 0.33541586995124817, "contact_force_loss": 0.03300812840461731, "terrain_level_mean": 2.862060546875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3388671875, "command_abs_max": [1.996741771697998, 0.99699866771698, 2.9998035430908203]}
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{"step": 23190, "actor_lr": 8.89336166789173e-06, "archive_windows": 100000, "env_steps": 23190, "total_transitions": 94986240, "num_steps_per_env": 1, "wm_loss": 0.5230563879013062, "actor_loss": -8.853710174560547, "critic_loss": 0.024068640545010567, "reward": 0.07058173418045044, "falls": 6, "interval_steps": 10, "velocity_mae": [0.23011958599090576, 0.15735922753810883, 0.2544916570186615], "policy_updates": 23090, "skipped_updates": 0, "invalid_env_resets": 7, "elapsed_s": 1153.2022618190001, "contact_bce": 0.3262040913105011, "contact_force_loss": 0.03329255059361458, "terrain_level_mean": 2.865478515625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.344482421875, "command_abs_max": [1.996741771697998, 0.9972668886184692, 2.9998035430908203]}
{"step": 23200, "actor_lr": 8.873435199243447e-06, "archive_windows": 100000, "env_steps": 23200, "total_transitions": 95027200, "num_steps_per_env": 1, "wm_loss": 0.5386614799499512, "actor_loss": -8.850447654724121, "critic_loss": 0.0172408539801836, "reward": 0.07064227014780045, "falls": 5, "interval_steps": 10, "velocity_mae": [0.23498395085334778, 0.15664178133010864, 0.256969153881073], "policy_updates": 23100, "skipped_updates": 0, "invalid_env_resets": 7, "elapsed_s": 1156.730340134, "contact_bce": 0.3342823088169098, "contact_force_loss": 0.03397083654999733, "terrain_level_mean": 2.866455078125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.346435546875, "command_abs_max": [1.996741771697998, 0.9972668886184692, 2.9998035430908203]}
{"step": 23210, "actor_lr": 8.853532885424175e-06, "archive_windows": 100000, "env_steps": 23210, "total_transitions": 95068160, "num_steps_per_env": 1, "wm_loss": 0.5150389671325684, "actor_loss": -8.818889617919922, "critic_loss": 0.022601744160056114, "reward": 0.07043956965208054, "falls": 11, "interval_steps": 10, "velocity_mae": [0.24179042875766754, 0.1589737981557846, 0.2563292384147644], "policy_updates": 23110, "skipped_updates": 0, "invalid_env_resets": 7, "elapsed_s": 1160.252572872, "contact_bce": 0.32569584250450134, "contact_force_loss": 0.03240019455552101, "terrain_level_mean": 2.86669921875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.345703125, "command_abs_max": [1.996741771697998, 0.9972668886184692, 2.9998035430908203]}
{"step": 23220, "actor_lr": 8.833654748259216e-06, "archive_windows": 100000, "env_steps": 23220, "total_transitions": 95109120, "num_steps_per_env": 1, "wm_loss": 0.5444589257240295, "actor_loss": -8.894721984863281, "critic_loss": 0.021904585883021355, "reward": 0.0704682394862175, "falls": 3, "interval_steps": 10, "velocity_mae": [0.2417144626379013, 0.15924072265625, 0.25763848423957825], "policy_updates": 23120, "skipped_updates": 0, "invalid_env_resets": 7, "elapsed_s": 1163.7738763070001, "contact_bce": 0.3339138925075531, "contact_force_loss": 0.03327333182096481, "terrain_level_mean": 2.867919921875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.342529296875, "command_abs_max": [1.996741771697998, 0.9972668886184692, 2.9998035430908203]}
{"step": 23230, "actor_lr": 8.813800809547416e-06, "archive_windows": 100000, "env_steps": 23230, "total_transitions": 95150080, "num_steps_per_env": 1, "wm_loss": 0.5617246627807617, "actor_loss": -8.855400085449219, "critic_loss": 0.028367359191179276, "reward": 0.07022974640130997, "falls": 8, "interval_steps": 10, "velocity_mae": [0.24119023978710175, 0.15957011282444, 0.26230886578559875], "policy_updates": 23130, "skipped_updates": 0, "invalid_env_resets": 7, "elapsed_s": 1167.297692888, "contact_bce": 0.3317491114139557, "contact_force_loss": 0.03356623649597168, "terrain_level_mean": 2.866943359375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.34228515625, "command_abs_max": [1.996741771697998, 0.9973265528678894, 2.997002601623535]}
RECOVERY reset 1 invalid environments; first IDs=[1979]
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{"step": 23250, "actor_lr": 8.77416561454579e-06, "archive_windows": 100000, "env_steps": 23250, "total_transitions": 95232000, "num_steps_per_env": 1, "wm_loss": 0.5195306539535522, "actor_loss": -8.89635181427002, "critic_loss": 0.01713523454964161, "reward": 0.07069973647594452, "falls": 4, "interval_steps": 10, "velocity_mae": [0.23662200570106506, 0.15564677119255066, 0.2581540048122406], "policy_updates": 23150, "skipped_updates": 0, "invalid_env_resets": 8, "elapsed_s": 1174.358505867, "contact_bce": 0.3272831439971924, "contact_force_loss": 0.03323405608534813, "terrain_level_mean": 2.86669921875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3388671875, "command_abs_max": [1.996741771697998, 0.9973265528678894, 2.997002601623535]}
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RECOVERY reset 1 invalid environments; first IDs=[1313]
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RECOVERY reset 1 invalid environments; first IDs=[838]
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{"step": 24270, "actor_lr": 6.885180735219919e-06, "archive_windows": 100000, "env_steps": 24270, "total_transitions": 99409920, "num_steps_per_env": 1, "wm_loss": 0.5287923812866211, "actor_loss": -8.854789733886719, "critic_loss": 0.022309506312012672, "reward": 0.07110408693552017, "falls": 3, "interval_steps": 10, "velocity_mae": [0.23581121861934662, 0.15532562136650085, 0.25642919540405273], "policy_updates": 24170, "skipped_updates": 0, "invalid_env_resets": 10, "elapsed_s": 1534.02826841, "contact_bce": 0.32706576585769653, "contact_force_loss": 0.032927561551332474, "terrain_level_mean": 2.908935546875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.359619140625, "command_abs_max": [1.999701976776123, 0.999030590057373, 2.997731924057007]}
{"step": 24280, "actor_lr": 6.86798355730908e-06, "archive_windows": 100000, "env_steps": 24280, "total_transitions": 99450880, "num_steps_per_env": 1, "wm_loss": 0.49766796827316284, "actor_loss": -8.85623836517334, "critic_loss": 0.020216718316078186, "reward": 0.07107959687709808, "falls": 0, "interval_steps": 10, "velocity_mae": [0.23385636508464813, 0.15456606447696686, 0.2521205544471741], "policy_updates": 24180, "skipped_updates": 0, "invalid_env_resets": 10, "elapsed_s": 1537.5443200930001, "contact_bce": 0.3255710303783417, "contact_force_loss": 0.03364432603120804, "terrain_level_mean": 2.91015625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.356201171875, "command_abs_max": [1.999701976776123, 0.999030590057373, 2.997731924057007]}
{"step": 24290, "actor_lr": 6.85081273345087e-06, "archive_windows": 100000, "env_steps": 24290, "total_transitions": 99491840, "num_steps_per_env": 1, "wm_loss": 0.526408314704895, "actor_loss": -8.82762336730957, "critic_loss": 0.02439970150589943, "reward": 0.07070385664701462, "falls": 9, "interval_steps": 10, "velocity_mae": [0.2359815388917923, 0.15487749874591827, 0.25562724471092224], "policy_updates": 24190, "skipped_updates": 0, "invalid_env_resets": 10, "elapsed_s": 1541.0731779720002, "contact_bce": 0.3251585066318512, "contact_force_loss": 0.03349515423178673, "terrain_level_mean": 2.9091796875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.35595703125, "command_abs_max": [1.999701976776123, 0.999030590057373, 2.997731924057007]}
{"step": 24300, "actor_lr": 6.833668282475197e-06, "archive_windows": 100000, "env_steps": 24300, "total_transitions": 99532800, "num_steps_per_env": 1, "wm_loss": 0.5061514377593994, "actor_loss": -8.826725006103516, "critic_loss": 0.04096605256199837, "reward": 0.07116439193487167, "falls": 6, "interval_steps": 10, "velocity_mae": [0.23670579493045807, 0.15296705067157745, 0.2543136775493622], "policy_updates": 24200, "skipped_updates": 0, "invalid_env_resets": 10, "elapsed_s": 1544.593337123, "contact_bce": 0.33121609687805176, "contact_force_loss": 0.03358549624681473, "terrain_level_mean": 2.909423828125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.357421875, "command_abs_max": [1.999701976776123, 0.999030590057373, 2.997731924057007]}

+---------------------------------+
|         Base Environment        |
+------------------------+--------+
| Property               | Value  |
+------------------------+--------+
| Number of environments | 1      |
| Environment device     | cuda:0 |
| Environment seed       | None   |
| Physics step-size      | 0.005  |
| Environment step-size  | 0.02   |
+------------------------+--------+

[INFO] <EventManager> contains 1 active terms.
+-------------------------------------+
| Active Event Terms in Mode: 'reset' |
+--------+----------------------------+
| Index  | Name                       |
+--------+----------------------------+
|   0    | reset_base                 |
|   1    | reset_robot_joints         |
+--------+----------------------------+

[INFO] <CommandManager> contains 1 active terms.
+----------------------------------------+
|          Active Command Terms          |
+-------+-------+------------------------+
| Index | Name  |          Type          |
+-------+-------+------------------------+
|   0   | twist | UniformVelocityCommand |
+-------+-------+------------------------+

[INFO] <ActionManager> contains 2 active terms.
+---------------------------------+
| Active Action Terms (shape: 16) |
+-------+-----------+-------------+
| Index | Name      |   Dimension |
+-------+-----------+-------------+
|   0   | joint_pos |          12 |
|   1   | wheel_vel |           4 |
+-------+-----------+-------------+

[INFO] <ObservationManager> contains 1 groups.
+------------------------------------------------------------+
| Active Observation Terms in Group: 'actor' (shape: (265,)) |
+--------+-------------------------+-------------------------+
| Index  | Name                    |          Shape          |
+--------+-------------------------+-------------------------+
|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
|   5    | actions                 |     (80,)  ← 5×(16,)    |
|   6    | command                 |     (15,)  ← 5×(3,)     |
+--------+-------------------------+-------------------------+

[INFO] <TerminationManager> contains 3 active terms.
+--------------------------------+
|    Active Termination Terms    |
+-------+-------------+----------+
| Index | Name        | Time Out |
+-------+-------------+----------+
|   0   | time_out    |   True   |
|   1   | fell_over   |  False   |
|   2   | course_exit |   True   |
+-------+-------------+----------+

[INFO] <RewardManager> contains 0 active terms.
+-----------------------+
|  Active Reward Terms  |
+-------+------+--------+
| Index | Name | Weight |
+-------+------+--------+
+-------+------+--------+

[INFO] <NullCurriculumManager> (inactive)
[INFO] <NullMetricsManager> (inactive)
[INFO] <NullRecorderManager> (inactive)
S10 video saved: logs/s10_terrain_v4_50k_full/videos/iteration_024300.mp4
{"step": 24310, "actor_lr": 6.816550223183038e-06, "archive_windows": 100000, "env_steps": 24310, "total_transitions": 99573760, "num_steps_per_env": 1, "wm_loss": 0.5261231660842896, "actor_loss": -8.84506893157959, "critic_loss": 0.025644628331065178, "reward": 0.07133188843727112, "falls": 3, "interval_steps": 10, "velocity_mae": [0.23739339411258698, 0.1535567343235016, 0.2535848319530487], "policy_updates": 24210, "skipped_updates": 0, "invalid_env_resets": 10, "elapsed_s": 1553.8665667070002, "contact_bce": 0.32391977310180664, "contact_force_loss": 0.032864928245544434, "terrain_level_mean": 2.909912109375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.357666015625, "command_abs_max": [1.999701976776123, 0.9997283220291138, 2.997731924057007]}
{"step": 24320, "actor_lr": 6.799458574346462e-06, "archive_windows": 100000, "env_steps": 24320, "total_transitions": 99614720, "num_steps_per_env": 1, "wm_loss": 0.5074530839920044, "actor_loss": -8.877724647521973, "critic_loss": 0.023020340129733086, "reward": 0.07178047299385071, "falls": 3, "interval_steps": 10, "velocity_mae": [0.2364911139011383, 0.15202903747558594, 0.2506747245788574], "policy_updates": 24220, "skipped_updates": 0, "invalid_env_resets": 10, "elapsed_s": 1557.391777081, "contact_bce": 0.3288627564907074, "contact_force_loss": 0.032997388392686844, "terrain_level_mean": 2.910888671875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.354736328125, "command_abs_max": [1.999701976776123, 0.9997283220291138, 2.997731924057007]}
{"step": 24330, "actor_lr": 6.782393354708553e-06, "archive_windows": 100000, "env_steps": 24330, "total_transitions": 99655680, "num_steps_per_env": 1, "wm_loss": 0.502628743648529, "actor_loss": -8.843619346618652, "critic_loss": 0.02306397259235382, "reward": 0.07128799706697464, "falls": 5, "interval_steps": 10, "velocity_mae": [0.23811735212802887, 0.1531558632850647, 0.25525128841400146], "policy_updates": 24230, "skipped_updates": 0, "invalid_env_resets": 10, "elapsed_s": 1560.9125812690002, "contact_bce": 0.32638847827911377, "contact_force_loss": 0.032370567321777344, "terrain_level_mean": 2.91064453125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.35400390625, "command_abs_max": [1.999701976776123, 0.9997283220291138, 2.997731924057007]}
{"step": 24340, "actor_lr": 6.765354582983405e-06, "archive_windows": 100000, "env_steps": 24340, "total_transitions": 99696640, "num_steps_per_env": 1, "wm_loss": 0.5038784146308899, "actor_loss": -8.802696228027344, "critic_loss": 0.041733190417289734, "reward": 0.07117438316345215, "falls": 6, "interval_steps": 10, "velocity_mae": [0.24269622564315796, 0.15244628489017487, 0.25454050302505493], "policy_updates": 24240, "skipped_updates": 0, "invalid_env_resets": 10, "elapsed_s": 1564.506359611, "contact_bce": 0.3257351517677307, "contact_force_loss": 0.032183945178985596, "terrain_level_mean": 2.910888671875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.356689453125, "command_abs_max": [1.999701976776123, 0.9997283220291138, 2.997731924057007]}
{"step": 24350, "actor_lr": 6.748342277856147e-06, "archive_windows": 100000, "env_steps": 24350, "total_transitions": 99737600, "num_steps_per_env": 1, "wm_loss": 0.5000408291816711, "actor_loss": -8.893705368041992, "critic_loss": 0.02478463016450405, "reward": 0.07120699435472488, "falls": 3, "interval_steps": 10, "velocity_mae": [0.24241524934768677, 0.155533105134964, 0.25526174902915955], "policy_updates": 24250, "skipped_updates": 0, "invalid_env_resets": 10, "elapsed_s": 1568.1382810970001, "contact_bce": 0.3294486701488495, "contact_force_loss": 0.03284134715795517, "terrain_level_mean": 2.912353515625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3544921875, "command_abs_max": [1.999701976776123, 0.9997283220291138, 2.997731924057007]}
RECOVERY reset 1 invalid environments; first IDs=[2919]
{"step": 24360, "actor_lr": 6.731356457982829e-06, "archive_windows": 100000, "env_steps": 24360, "total_transitions": 99778560, "num_steps_per_env": 1, "wm_loss": 0.5510674118995667, "actor_loss": -8.883821487426758, "critic_loss": 0.021810371428728104, "reward": 0.07121681421995163, "falls": 4, "interval_steps": 10, "velocity_mae": [0.24023179709911346, 0.1559830904006958, 0.2544238865375519], "policy_updates": 24260, "skipped_updates": 0, "invalid_env_resets": 11, "elapsed_s": 1571.797947428, "contact_bce": 0.3305080831050873, "contact_force_loss": 0.033779796212911606, "terrain_level_mean": 2.913330078125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.353515625, "command_abs_max": [1.999701976776123, 0.9997283220291138, 2.997731924057007]}
{"step": 24370, "actor_lr": 6.714397141990493e-06, "archive_windows": 100000, "env_steps": 24370, "total_transitions": 99819520, "num_steps_per_env": 1, "wm_loss": 0.5099210739135742, "actor_loss": -8.87080192565918, "critic_loss": 0.02530265413224697, "reward": 0.07107865065336227, "falls": 9, "interval_steps": 10, "velocity_mae": [0.2404940277338028, 0.15919695794582367, 0.256854772567749], "policy_updates": 24270, "skipped_updates": 0, "invalid_env_resets": 11, "elapsed_s": 1575.372963145, "contact_bce": 0.32768741250038147, "contact_force_loss": 0.033166926354169846, "terrain_level_mean": 2.911376953125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.35205078125, "command_abs_max": [1.999701976776123, 0.9997283220291138, 2.997731924057007]}
{"step": 24380, "actor_lr": 6.697464348477119e-06, "archive_windows": 100000, "env_steps": 24380, "total_transitions": 99860480, "num_steps_per_env": 1, "wm_loss": 0.5091060996055603, "actor_loss": -8.851005554199219, "critic_loss": 0.017543509602546692, "reward": 0.0714196190237999, "falls": 8, "interval_steps": 10, "velocity_mae": [0.2393854409456253, 0.16039574146270752, 0.2551625669002533], "policy_updates": 24280, "skipped_updates": 0, "invalid_env_resets": 11, "elapsed_s": 1578.91683171, "contact_bce": 0.3292126953601837, "contact_force_loss": 0.03273363038897514, "terrain_level_mean": 2.909912109375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.350830078125, "command_abs_max": [1.9987080097198486, 0.9997283220291138, 2.997731924057007]}
{"step": 24390, "actor_lr": 6.680558096011586e-06, "archive_windows": 100000, "env_steps": 24390, "total_transitions": 99901440, "num_steps_per_env": 1, "wm_loss": 0.5083034634590149, "actor_loss": -8.815398216247559, "critic_loss": 0.024832507595419884, "reward": 0.07156550139188766, "falls": 5, "interval_steps": 10, "velocity_mae": [0.23914867639541626, 0.15819835662841797, 0.2575525939464569], "policy_updates": 24290, "skipped_updates": 0, "invalid_env_resets": 11, "elapsed_s": 1582.453070536, "contact_bce": 0.32564032077789307, "contact_force_loss": 0.03343623876571655, "terrain_level_mean": 2.909423828125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.35107421875, "command_abs_max": [1.9987080097198486, 0.9997283220291138, 2.997731924057007]}
{"step": 24400, "actor_lr": 6.663678403133668e-06, "archive_windows": 100000, "env_steps": 24400, "total_transitions": 99942400, "num_steps_per_env": 1, "wm_loss": 0.5293903350830078, "actor_loss": -8.844274520874023, "critic_loss": 0.024104440584778786, "reward": 0.07128936052322388, "falls": 5, "interval_steps": 10, "velocity_mae": [0.24222126603126526, 0.1587972193956375, 0.25596654415130615], "policy_updates": 24300, "skipped_updates": 0, "invalid_env_resets": 11, "elapsed_s": 1586.0140027930001, "contact_bce": 0.3265700936317444, "contact_force_loss": 0.033816054463386536, "terrain_level_mean": 2.909912109375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.34814453125, "command_abs_max": [1.9987080097198486, 0.9997283220291138, 2.997731924057007]}
{"step": 24410, "actor_lr": 6.646825288354025e-06, "archive_windows": 100000, "env_steps": 24410, "total_transitions": 99983360, "num_steps_per_env": 1, "wm_loss": 0.5000911355018616, "actor_loss": -8.825119018554688, "critic_loss": 0.02382032386958599, "reward": 0.0711071640253067, "falls": 6, "interval_steps": 10, "velocity_mae": [0.24065899848937988, 0.15754340589046478, 0.2574511766433716], "policy_updates": 24310, "skipped_updates": 0, "invalid_env_resets": 11, "elapsed_s": 1589.576041134, "contact_bce": 0.3195672631263733, "contact_force_loss": 0.031724072992801666, "terrain_level_mean": 2.9091796875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.346435546875, "command_abs_max": [1.9967892169952393, 0.9997283220291138, 2.997731924057007]}
{"step": 24420, "actor_lr": 6.629998770154156e-06, "archive_windows": 100000, "env_steps": 24420, "total_transitions": 100024320, "num_steps_per_env": 1, "wm_loss": 0.48838987946510315, "actor_loss": -8.833343505859375, "critic_loss": 0.024539262056350708, "reward": 0.07089116424322128, "falls": 8, "interval_steps": 10, "velocity_mae": [0.24049308896064758, 0.15765318274497986, 0.26069176197052], "policy_updates": 24320, "skipped_updates": 0, "invalid_env_resets": 11, "elapsed_s": 1593.113776528, "contact_bce": 0.3263418674468994, "contact_force_loss": 0.032477203756570816, "terrain_level_mean": 2.908935546875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.34228515625, "command_abs_max": [1.9967892169952393, 0.9997283220291138, 2.997731924057007]}
{"step": 24430, "actor_lr": 6.613198866986398e-06, "archive_windows": 100000, "env_steps": 24430, "total_transitions": 100065280, "num_steps_per_env": 1, "wm_loss": 0.5421789288520813, "actor_loss": -8.880475997924805, "critic_loss": 0.022068936377763748, "reward": 0.07102499902248383, "falls": 3, "interval_steps": 10, "velocity_mae": [0.23953485488891602, 0.16096848249435425, 0.2597646713256836], "policy_updates": 24330, "skipped_updates": 0, "invalid_env_resets": 11, "elapsed_s": 1596.6474927900001, "contact_bce": 0.3322747051715851, "contact_force_loss": 0.03347918763756752, "terrain_level_mean": 2.90966796875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.33935546875, "command_abs_max": [1.9967892169952393, 0.9997283220291138, 2.997731924057007]}
{"step": 24440, "actor_lr": 6.596425597273919e-06, "archive_windows": 100000, "env_steps": 24440, "total_transitions": 100106240, "num_steps_per_env": 1, "wm_loss": 0.5154905319213867, "actor_loss": -8.894956588745117, "critic_loss": 0.022746732458472252, "reward": 0.07087630778551102, "falls": 8, "interval_steps": 10, "velocity_mae": [0.2386644333600998, 0.1598249077796936, 0.26012128591537476], "policy_updates": 24340, "skipped_updates": 0, "invalid_env_resets": 11, "elapsed_s": 1600.1901784620002, "contact_bce": 0.3286573588848114, "contact_force_loss": 0.032929304987192154, "terrain_level_mean": 2.9091796875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.33935546875, "command_abs_max": [1.9967892169952393, 0.9997283220291138, 2.997731924057007]}
{"step": 24450, "actor_lr": 6.579678979410662e-06, "archive_windows": 100000, "env_steps": 24450, "total_transitions": 100147200, "num_steps_per_env": 1, "wm_loss": 0.5110573768615723, "actor_loss": -8.840519905090332, "critic_loss": 0.023453662171959877, "reward": 0.07069481164216995, "falls": 7, "interval_steps": 10, "velocity_mae": [0.2398151159286499, 0.1590319722890854, 0.25821128487586975], "policy_updates": 24350, "skipped_updates": 0, "invalid_env_resets": 11, "elapsed_s": 1603.721298314, "contact_bce": 0.321837455034256, "contact_force_loss": 0.03298880159854889, "terrain_level_mean": 2.9091796875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.337890625, "command_abs_max": [1.9967892169952393, 0.9997283220291138, 2.997731924057007]}
Warning: EPA horizon = 24 isn't large enough.
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RECOVERY reset 1 invalid environments; first IDs=[2101]
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{"step": 26980, "actor_lr": 3.244097589693719e-06, "archive_windows": 100000, "env_steps": 26980, "total_transitions": 110510080, "num_steps_per_env": 1, "wm_loss": 0.4823416769504547, "actor_loss": -8.813390731811523, "critic_loss": 0.03622199967503548, "reward": 0.07088008522987366, "falls": 4, "interval_steps": 10, "velocity_mae": [0.24103312194347382, 0.15796509385108948, 0.2511441707611084], "policy_updates": 26880, "skipped_updates": 0, "invalid_env_resets": 12, "elapsed_s": 2677.385919067, "contact_bce": 0.3248620927333832, "contact_force_loss": 0.03249597176909447, "terrain_level_mean": 3.005126953125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.351806640625, "command_abs_max": [1.9989986419677734, 0.9992921948432922, 2.9981696605682373]}
{"step": 26990, "actor_lr": 3.234632230069112e-06, "archive_windows": 100000, "env_steps": 26990, "total_transitions": 110551040, "num_steps_per_env": 1, "wm_loss": 0.4746033847332001, "actor_loss": -8.797487258911133, "critic_loss": 0.01866004429757595, "reward": 0.0703815296292305, "falls": 8, "interval_steps": 10, "velocity_mae": [0.24163514375686646, 0.15719355642795563, 0.2511156499385834], "policy_updates": 26890, "skipped_updates": 0, "invalid_env_resets": 12, "elapsed_s": 2682.501642556, "contact_bce": 0.32395610213279724, "contact_force_loss": 0.03210347518324852, "terrain_level_mean": 3.0048828125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3544921875, "command_abs_max": [1.9989986419677734, 0.9992921948432922, 2.9981696605682373]}
{"step": 27000, "actor_lr": 3.2251972089123397e-06, "archive_windows": 100000, "env_steps": 27000, "total_transitions": 110592000, "num_steps_per_env": 1, "wm_loss": 0.4692927896976471, "actor_loss": -8.817501068115234, "critic_loss": 0.0254146046936512, "reward": 0.07030834257602692, "falls": 8, "interval_steps": 10, "velocity_mae": [0.24469856917858124, 0.15657682716846466, 0.25001707673072815], "policy_updates": 26900, "skipped_updates": 0, "invalid_env_resets": 12, "elapsed_s": 2687.8514445260003, "contact_bce": 0.322494238615036, "contact_force_loss": 0.031931765377521515, "terrain_level_mean": 3.00537109375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.353271484375, "command_abs_max": [1.9989986419677734, 0.9992921948432922, 2.9981696605682373]}

+---------------------------------+
|         Base Environment        |
+------------------------+--------+
| Property               | Value  |
+------------------------+--------+
| Number of environments | 1      |
| Environment device     | cuda:0 |
| Environment seed       | None   |
| Physics step-size      | 0.005  |
| Environment step-size  | 0.02   |
+------------------------+--------+

[INFO] <EventManager> contains 1 active terms.
+-------------------------------------+
| Active Event Terms in Mode: 'reset' |
+--------+----------------------------+
| Index  | Name                       |
+--------+----------------------------+
|   0    | reset_base                 |
|   1    | reset_robot_joints         |
+--------+----------------------------+

[INFO] <CommandManager> contains 1 active terms.
+----------------------------------------+
|          Active Command Terms          |
+-------+-------+------------------------+
| Index | Name  |          Type          |
+-------+-------+------------------------+
|   0   | twist | UniformVelocityCommand |
+-------+-------+------------------------+

[INFO] <ActionManager> contains 2 active terms.
+---------------------------------+
| Active Action Terms (shape: 16) |
+-------+-----------+-------------+
| Index | Name      |   Dimension |
+-------+-----------+-------------+
|   0   | joint_pos |          12 |
|   1   | wheel_vel |           4 |
+-------+-----------+-------------+

[INFO] <ObservationManager> contains 1 groups.
+------------------------------------------------------------+
| Active Observation Terms in Group: 'actor' (shape: (265,)) |
+--------+-------------------------+-------------------------+
| Index  | Name                    |          Shape          |
+--------+-------------------------+-------------------------+
|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
|   5    | actions                 |     (80,)  ← 5×(16,)    |
|   6    | command                 |     (15,)  ← 5×(3,)     |
+--------+-------------------------+-------------------------+

[INFO] <TerminationManager> contains 3 active terms.
+--------------------------------+
|    Active Termination Terms    |
+-------+-------------+----------+
| Index | Name        | Time Out |
+-------+-------------+----------+
|   0   | time_out    |   True   |
|   1   | fell_over   |  False   |
|   2   | course_exit |   True   |
+-------+-------------+----------+

[INFO] <RewardManager> contains 0 active terms.
+-----------------------+
|  Active Reward Terms  |
+-------+------+--------+
| Index | Name | Weight |
+-------+------+--------+
+-------+------+--------+

[INFO] <NullCurriculumManager> (inactive)
[INFO] <NullMetricsManager> (inactive)
[INFO] <NullRecorderManager> (inactive)
S10 video saved: logs/s10_terrain_v4_50k_full/videos/iteration_027000.mp4
RECOVERY reset 1 invalid environments; first IDs=[2094]
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RECOVERY reset 1 invalid environments; first IDs=[2004]
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{"step": 27660, "actor_lr": 2.6700554804510124e-06, "archive_windows": 100000, "env_steps": 27660, "total_transitions": 113295360, "num_steps_per_env": 1, "wm_loss": 0.5228396654129028, "actor_loss": -8.75795841217041, "critic_loss": 0.039346423000097275, "reward": 0.07041491568088531, "falls": 2, "interval_steps": 10, "velocity_mae": [0.24232958257198334, 0.15682871639728546, 0.25308239459991455], "policy_updates": 27560, "skipped_updates": 0, "invalid_env_resets": 14, "elapsed_s": 3033.24860862, "contact_bce": 0.3263595700263977, "contact_force_loss": 0.033129893243312836, "terrain_level_mean": 3.016845703125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.343017578125, "command_abs_max": [1.9994232654571533, 0.9994828701019287, 2.995911121368408]}
RECOVERY reset 1 invalid environments; first IDs=[42]
{"step": 27670, "actor_lr": 2.662675029576162e-06, "archive_windows": 100000, "env_steps": 27670, "total_transitions": 113336320, "num_steps_per_env": 1, "wm_loss": 0.5157496333122253, "actor_loss": -8.8443021774292, "critic_loss": 0.02309388853609562, "reward": 0.07041019201278687, "falls": 7, "interval_steps": 10, "velocity_mae": [0.24452954530715942, 0.15669037401676178, 0.2536611557006836], "policy_updates": 27570, "skipped_updates": 0, "invalid_env_resets": 15, "elapsed_s": 3038.2286692810003, "contact_bce": 0.3240184485912323, "contact_force_loss": 0.0332813560962677, "terrain_level_mean": 3.016357421875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.346923828125, "command_abs_max": [1.999712586402893, 0.9994828701019287, 2.995911121368408]}
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{"step": 27760, "actor_lr": 2.5976453877274127e-06, "archive_windows": 100000, "env_steps": 27760, "total_transitions": 113704960, "num_steps_per_env": 1, "wm_loss": 0.480903685092926, "actor_loss": -8.8306884765625, "critic_loss": 0.02414877526462078, "reward": 0.06960927695035934, "falls": 5, "interval_steps": 10, "velocity_mae": [0.24707631766796112, 0.1616041511297226, 0.2627502977848053], "policy_updates": 27660, "skipped_updates": 0, "invalid_env_resets": 15, "elapsed_s": 3086.887433018, "contact_bce": 0.3243114948272705, "contact_force_loss": 0.032330647110939026, "terrain_level_mean": 3.016357421875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.34423828125, "command_abs_max": [1.999712586402893, 0.9994828701019287, 2.9909565448760986]}
RECOVERY reset 1 invalid environments; first IDs=[1491]
{"step": 27770, "actor_lr": 2.5905749523476427e-06, "archive_windows": 100000, "env_steps": 27770, "total_transitions": 113745920, "num_steps_per_env": 1, "wm_loss": 0.48922860622406006, "actor_loss": -8.817543983459473, "critic_loss": 0.020457929000258446, "reward": 0.06964591145515442, "falls": 10, "interval_steps": 10, "velocity_mae": [0.24622000753879547, 0.16280335187911987, 0.25793027877807617], "policy_updates": 27670, "skipped_updates": 0, "invalid_env_resets": 16, "elapsed_s": 3092.356557388, "contact_bce": 0.3201519548892975, "contact_force_loss": 0.03253617137670517, "terrain_level_mean": 3.015625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.344482421875, "command_abs_max": [1.999712586402893, 0.9994828701019287, 2.9909565448760986]}
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{"step": 27790, "actor_lr": 2.5765272235744827e-06, "archive_windows": 100000, "env_steps": 27790, "total_transitions": 113827840, "num_steps_per_env": 1, "wm_loss": 0.5169685482978821, "actor_loss": -8.813920021057129, "critic_loss": 0.03352845460176468, "reward": 0.06992712616920471, "falls": 1, "interval_steps": 10, "velocity_mae": [0.243172287940979, 0.1620790660381317, 0.2580367624759674], "policy_updates": 27690, "skipped_updates": 0, "invalid_env_resets": 16, "elapsed_s": 3103.243847435, "contact_bce": 0.3249306380748749, "contact_force_loss": 0.03261584788560867, "terrain_level_mean": 3.015625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.342041015625, "command_abs_max": [1.999712586402893, 0.9994828701019287, 2.9909565448760986]}
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RECOVERY reset 1 invalid environments; first IDs=[1814]
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RECOVERY reset 1 invalid environments; first IDs=[1686]
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RECOVERY reset 1 invalid environments; first IDs=[849]
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{"step": 29160, "actor_lr": 1.912779845768362e-06, "archive_windows": 100000, "env_steps": 29160, "total_transitions": 119439360, "num_steps_per_env": 1, "wm_loss": 0.4668862223625183, "actor_loss": -8.78519344329834, "critic_loss": 0.028268415480852127, "reward": 0.07132529467344284, "falls": 7, "interval_steps": 10, "velocity_mae": [0.2440258264541626, 0.16065652668476105, 0.2580394446849823], "policy_updates": 29060, "skipped_updates": 0, "invalid_env_resets": 19, "elapsed_s": 3701.8432714230003, "contact_bce": 0.3226475417613983, "contact_force_loss": 0.03217567875981331, "terrain_level_mean": 3.04736328125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.334228515625, "command_abs_max": [1.998833417892456, 0.9991205930709839, 2.9994635581970215]}
{"step": 29170, "actor_lr": 1.910115432524863e-06, "archive_windows": 100000, "env_steps": 29170, "total_transitions": 119480320, "num_steps_per_env": 1, "wm_loss": 0.47754141688346863, "actor_loss": -8.793895721435547, "critic_loss": 0.020674491301178932, "reward": 0.07168985903263092, "falls": 2, "interval_steps": 10, "velocity_mae": [0.24294456839561462, 0.1630024015903473, 0.2562396824359894], "policy_updates": 29070, "skipped_updates": 0, "invalid_env_resets": 19, "elapsed_s": 3705.373172618, "contact_bce": 0.32046619057655334, "contact_force_loss": 0.032115064561367035, "terrain_level_mean": 3.0478515625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.337646484375, "command_abs_max": [1.998833417892456, 0.9991205930709839, 2.9994635581970215]}
RECOVERY reset 1 invalid environments; first IDs=[2502]
{"step": 29180, "actor_lr": 1.90748281024427e-06, "archive_windows": 100000, "env_steps": 29180, "total_transitions": 119521280, "num_steps_per_env": 1, "wm_loss": 0.48424169421195984, "actor_loss": -8.825260162353516, "critic_loss": 0.027712160721421242, "reward": 0.07152918726205826, "falls": 6, "interval_steps": 10, "velocity_mae": [0.24339352548122406, 0.16250349581241608, 0.2580699920654297], "policy_updates": 29080, "skipped_updates": 0, "invalid_env_resets": 20, "elapsed_s": 3708.930412838, "contact_bce": 0.32359787821769714, "contact_force_loss": 0.03404676541686058, "terrain_level_mean": 3.047607421875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.337890625, "command_abs_max": [1.998833417892456, 0.9991205930709839, 2.9994635581970215]}
{"step": 29190, "actor_lr": 1.9048819818135774e-06, "archive_windows": 100000, "env_steps": 29190, "total_transitions": 119562240, "num_steps_per_env": 1, "wm_loss": 0.4912397563457489, "actor_loss": -8.866236686706543, "critic_loss": 0.021118924021720886, "reward": 0.07136792689561844, "falls": 8, "interval_steps": 10, "velocity_mae": [0.24808400869369507, 0.16097089648246765, 0.2545730173587799], "policy_updates": 29090, "skipped_updates": 0, "invalid_env_resets": 20, "elapsed_s": 3712.461829061, "contact_bce": 0.3307495713233948, "contact_force_loss": 0.033576712012290955, "terrain_level_mean": 3.047607421875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.34130859375, "command_abs_max": [1.998833417892456, 0.9991205930709839, 2.9994635581970215]}
RECOVERY reset 1 invalid environments; first IDs=[893]
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{"step": 29210, "actor_lr": 1.8997757178755349e-06, "archive_windows": 100000, "env_steps": 29210, "total_transitions": 119644160, "num_steps_per_env": 1, "wm_loss": 0.48565489053726196, "actor_loss": -8.761119842529297, "critic_loss": 0.023639490827918053, "reward": 0.07195142656564713, "falls": 3, "interval_steps": 10, "velocity_mae": [0.2435097098350525, 0.15791304409503937, 0.25470611453056335], "policy_updates": 29110, "skipped_updates": 0, "invalid_env_resets": 21, "elapsed_s": 3719.545288928, "contact_bce": 0.3211023807525635, "contact_force_loss": 0.032897643744945526, "terrain_level_mean": 3.050048828125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.33935546875, "command_abs_max": [1.998833417892456, 0.9991205930709839, 2.9986720085144043]}
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{"step": 29240, "actor_lr": 1.8923548460125996e-06, "archive_windows": 100000, "env_steps": 29240, "total_transitions": 119767040, "num_steps_per_env": 1, "wm_loss": 0.45732057094573975, "actor_loss": -8.763757705688477, "critic_loss": 0.023252395913004875, "reward": 0.0716785117983818, "falls": 7, "interval_steps": 10, "velocity_mae": [0.2428620457649231, 0.1588677316904068, 0.2562791407108307], "policy_updates": 29140, "skipped_updates": 0, "invalid_env_resets": 21, "elapsed_s": 3730.164060433, "contact_bce": 0.3205888867378235, "contact_force_loss": 0.0325830839574337, "terrain_level_mean": 3.049560546875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.348876953125, "command_abs_max": [1.998833417892456, 0.9991205930709839, 2.9986720085144043]}
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{"step": 29260, "actor_lr": 1.887566645780759e-06, "archive_windows": 100000, "env_steps": 29260, "total_transitions": 119848960, "num_steps_per_env": 1, "wm_loss": 0.4834437370300293, "actor_loss": -8.785515785217285, "critic_loss": 0.023811595514416695, "reward": 0.07155134528875351, "falls": 3, "interval_steps": 10, "velocity_mae": [0.24537014961242676, 0.15605051815509796, 0.2519700825214386], "policy_updates": 29160, "skipped_updates": 0, "invalid_env_resets": 21, "elapsed_s": 3737.427899806, "contact_bce": 0.3200571537017822, "contact_force_loss": 0.032467909157276154, "terrain_level_mean": 3.0498046875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3486328125, "command_abs_max": [1.998833417892456, 0.9991205930709839, 2.9986720085144043]}
RECOVERY reset 1 invalid environments; first IDs=[1495]
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{"step": 29300, "actor_lr": 1.8783720539425633e-06, "archive_windows": 100000, "env_steps": 29300, "total_transitions": 120012800, "num_steps_per_env": 1, "wm_loss": 0.4771849811077118, "actor_loss": -8.832091331481934, "critic_loss": 0.02460663951933384, "reward": 0.07142826169729233, "falls": 7, "interval_steps": 10, "velocity_mae": [0.24088215827941895, 0.15932485461235046, 0.2572506368160248], "policy_updates": 29200, "skipped_updates": 0, "invalid_env_resets": 22, "elapsed_s": 3751.959892009, "contact_bce": 0.3212237060070038, "contact_force_loss": 0.032749418169260025, "terrain_level_mean": 3.04931640625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3466796875, "command_abs_max": [1.998833417892456, 0.9995908141136169, 2.9986720085144043]}
{"step": 29310, "actor_lr": 1.8761529642019174e-06, "archive_windows": 100000, "env_steps": 29310, "total_transitions": 120053760, "num_steps_per_env": 1, "wm_loss": 0.5077382922172546, "actor_loss": -8.832315444946289, "critic_loss": 0.027078935876488686, "reward": 0.07090012729167938, "falls": 5, "interval_steps": 10, "velocity_mae": [0.2501625716686249, 0.15984241664409637, 0.25991278886795044], "policy_updates": 29210, "skipped_updates": 0, "invalid_env_resets": 22, "elapsed_s": 3755.586356123, "contact_bce": 0.321686327457428, "contact_force_loss": 0.033046696335077286, "terrain_level_mean": 3.04931640625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.344970703125, "command_abs_max": [1.998833417892456, 0.9995908141136169, 2.9958109855651855]}
{"step": 29320, "actor_lr": 1.8739657026681875e-06, "archive_windows": 100000, "env_steps": 29320, "total_transitions": 120094720, "num_steps_per_env": 1, "wm_loss": 0.4740205407142639, "actor_loss": -8.790061950683594, "critic_loss": 0.0249757319688797, "reward": 0.07103116065263748, "falls": 5, "interval_steps": 10, "velocity_mae": [0.25326016545295715, 0.160086989402771, 0.26259729266166687], "policy_updates": 29220, "skipped_updates": 0, "invalid_env_resets": 22, "elapsed_s": 3759.1212680520002, "contact_bce": 0.3236421048641205, "contact_force_loss": 0.03278917074203491, "terrain_level_mean": 3.04931640625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3486328125, "command_abs_max": [1.998833417892456, 0.9995908141136169, 2.9958109855651855]}
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{"step": 29360, "actor_lr": 1.8655349860508523e-06, "archive_windows": 100000, "env_steps": 29360, "total_transitions": 120258560, "num_steps_per_env": 1, "wm_loss": 0.5294986367225647, "actor_loss": -8.77904987335205, "critic_loss": 0.02619720809161663, "reward": 0.07197865098714828, "falls": 6, "interval_steps": 10, "velocity_mae": [0.24064089357852936, 0.15959404408931732, 0.25399497151374817], "policy_updates": 29260, "skipped_updates": 0, "invalid_env_resets": 22, "elapsed_s": 3773.287651151, "contact_bce": 0.3200353682041168, "contact_force_loss": 0.03350630775094032, "terrain_level_mean": 3.05126953125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.350830078125, "command_abs_max": [1.998477816581726, 0.9995908141136169, 2.9958109855651855]}
{"step": 29370, "actor_lr": 1.8635069008325606e-06, "archive_windows": 100000, "env_steps": 29370, "total_transitions": 120299520, "num_steps_per_env": 1, "wm_loss": 0.4921766519546509, "actor_loss": -8.818380355834961, "critic_loss": 0.01882590912282467, "reward": 0.07193668931722641, "falls": 5, "interval_steps": 10, "velocity_mae": [0.23906677961349487, 0.15603980422019958, 0.2518501877784729], "policy_updates": 29270, "skipped_updates": 0, "invalid_env_resets": 22, "elapsed_s": 3776.812605211, "contact_bce": 0.328164666891098, "contact_force_loss": 0.03352583944797516, "terrain_level_mean": 3.05078125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.347900390625, "command_abs_max": [1.998477816581726, 0.9995908141136169, 2.9958109855651855]}
{"step": 29380, "actor_lr": 1.861510657689143e-06, "archive_windows": 100000, "env_steps": 29380, "total_transitions": 120340480, "num_steps_per_env": 1, "wm_loss": 0.4688335657119751, "actor_loss": -8.792159080505371, "critic_loss": 0.024397743865847588, "reward": 0.07170942425727844, "falls": 6, "interval_steps": 10, "velocity_mae": [0.23800097405910492, 0.15622834861278534, 0.2602190375328064], "policy_updates": 29280, "skipped_updates": 0, "invalid_env_resets": 22, "elapsed_s": 3780.3350947910003, "contact_bce": 0.32248932123184204, "contact_force_loss": 0.033214982599020004, "terrain_level_mean": 3.050537109375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3466796875, "command_abs_max": [1.999758243560791, 0.9995908141136169, 2.9958109855651855]}
{"step": 29390, "actor_lr": 1.8595462588097288e-06, "archive_windows": 100000, "env_steps": 29390, "total_transitions": 120381440, "num_steps_per_env": 1, "wm_loss": 0.46769043803215027, "actor_loss": -8.796844482421875, "critic_loss": 0.025643274188041687, "reward": 0.07143449038267136, "falls": 6, "interval_steps": 10, "velocity_mae": [0.2413564771413803, 0.15728750824928284, 0.2588602602481842], "policy_updates": 29290, "skipped_updates": 0, "invalid_env_resets": 22, "elapsed_s": 3783.867437872, "contact_bce": 0.3261110782623291, "contact_force_loss": 0.033722974359989166, "terrain_level_mean": 3.05029296875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.347900390625, "command_abs_max": [1.999758243560791, 0.9995908141136169, 2.9958109855651855]}
{"step": 29400, "actor_lr": 1.8576137063485233e-06, "archive_windows": 100000, "env_steps": 29400, "total_transitions": 120422400, "num_steps_per_env": 1, "wm_loss": 0.48679396510124207, "actor_loss": -8.770790100097656, "critic_loss": 0.026382988318800926, "reward": 0.07139167934656143, "falls": 4, "interval_steps": 10, "velocity_mae": [0.2391941398382187, 0.1580347865819931, 0.2573413550853729], "policy_updates": 29300, "skipped_updates": 0, "invalid_env_resets": 22, "elapsed_s": 3787.413505559, "contact_bce": 0.3223394751548767, "contact_force_loss": 0.0337512344121933, "terrain_level_mean": 3.05126953125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.348876953125, "command_abs_max": [1.999758243560791, 0.9995908141136169, 2.9958109855651855]}
{"step": 29410, "actor_lr": 1.8557130024248046e-06, "archive_windows": 100000, "env_steps": 29410, "total_transitions": 120463360, "num_steps_per_env": 1, "wm_loss": 0.49780675768852234, "actor_loss": -8.808173179626465, "critic_loss": 0.017245734110474586, "reward": 0.07134523242712021, "falls": 4, "interval_steps": 10, "velocity_mae": [0.2358420044183731, 0.16026879847049713, 0.25745344161987305], "policy_updates": 29310, "skipped_updates": 0, "invalid_env_resets": 22, "elapsed_s": 3791.037741692, "contact_bce": 0.3252238929271698, "contact_force_loss": 0.0336138941347599, "terrain_level_mean": 3.051513671875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.350341796875, "command_abs_max": [1.999758243560791, 0.9995908141136169, 2.9958109855651855]}
RECOVERY reset 1 invalid environments; first IDs=[2762]
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{"step": 29440, "actor_lr": 1.8502020025474767e-06, "archive_windows": 100000, "env_steps": 29440, "total_transitions": 120586240, "num_steps_per_env": 1, "wm_loss": 0.5030298829078674, "actor_loss": -8.799039840698242, "critic_loss": 0.028407800942659378, "reward": 0.07090570777654648, "falls": 8, "interval_steps": 10, "velocity_mae": [0.23677189648151398, 0.16052068769931793, 0.26379239559173584], "policy_updates": 29340, "skipped_updates": 0, "invalid_env_resets": 23, "elapsed_s": 3801.687112747, "contact_bce": 0.32019245624542236, "contact_force_loss": 0.03302357345819473, "terrain_level_mean": 3.050537109375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.352783203125, "command_abs_max": [1.999758243560791, 0.9995908141136169, 2.9958109855651855]}
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{"step": 29460, "actor_lr": 1.8466872825984098e-06, "archive_windows": 100000, "env_steps": 29460, "total_transitions": 120668160, "num_steps_per_env": 1, "wm_loss": 0.500296413898468, "actor_loss": -8.811805725097656, "critic_loss": 0.022055482491850853, "reward": 0.07120802253484726, "falls": 6, "interval_steps": 10, "velocity_mae": [0.2412586510181427, 0.15990391373634338, 0.2588599920272827], "policy_updates": 29360, "skipped_updates": 0, "invalid_env_resets": 23, "elapsed_s": 3808.7263025400002, "contact_bce": 0.32498762011528015, "contact_force_loss": 0.03396904096007347, "terrain_level_mean": 3.048828125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.356201171875, "command_abs_max": [1.999758243560791, 0.9995908141136169, 2.9958109855651855]}
{"step": 29470, "actor_lr": 1.8449777124485058e-06, "archive_windows": 100000, "env_steps": 29470, "total_transitions": 120709120, "num_steps_per_env": 1, "wm_loss": 0.4892573356628418, "actor_loss": -8.840648651123047, "critic_loss": 0.018584920093417168, "reward": 0.07088325172662735, "falls": 10, "interval_steps": 10, "velocity_mae": [0.24093623459339142, 0.15899257361888885, 0.2588958144187927], "policy_updates": 29370, "skipped_updates": 0, "invalid_env_resets": 23, "elapsed_s": 3812.250284871, "contact_bce": 0.32327911257743835, "contact_force_loss": 0.03283725678920746, "terrain_level_mean": 3.0478515625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3525390625, "command_abs_max": [1.999758243560791, 0.9995908141136169, 2.995706796646118]}
RECOVERY reset 1 invalid environments; first IDs=[1499]
{"step": 29480, "actor_lr": 1.843300004693007e-06, "archive_windows": 100000, "env_steps": 29480, "total_transitions": 120750080, "num_steps_per_env": 1, "wm_loss": 0.5229498744010925, "actor_loss": -8.835865020751953, "critic_loss": 0.029397517442703247, "reward": 0.07124263048171997, "falls": 5, "interval_steps": 10, "velocity_mae": [0.23750947415828705, 0.1584208607673645, 0.2559313476085663], "policy_updates": 29380, "skipped_updates": 0, "invalid_env_resets": 24, "elapsed_s": 3815.7873106380002, "contact_bce": 0.32633835077285767, "contact_force_loss": 0.033744070678949356, "terrain_level_mean": 3.046875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.353515625, "command_abs_max": [1.999758243560791, 0.9995908141136169, 2.995706796646118]}
RECOVERY reset 1 invalid environments; first IDs=[2217]
{"step": 29490, "actor_lr": 1.841654161171724e-06, "archive_windows": 100000, "env_steps": 29490, "total_transitions": 120791040, "num_steps_per_env": 1, "wm_loss": 0.5041620135307312, "actor_loss": -8.7727632522583, "critic_loss": 0.019503826275467873, "reward": 0.07102234661579132, "falls": 8, "interval_steps": 10, "velocity_mae": [0.23280945420265198, 0.1591968983411789, 0.258992463350296], "policy_updates": 29390, "skipped_updates": 0, "invalid_env_resets": 25, "elapsed_s": 3819.327752356, "contact_bce": 0.3232938349246979, "contact_force_loss": 0.03313123434782028, "terrain_level_mean": 3.046875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3564453125, "command_abs_max": [1.999758243560791, 0.9995908141136169, 2.9991116523742676]}
{"step": 29500, "actor_lr": 1.840040183689525e-06, "archive_windows": 100000, "env_steps": 29500, "total_transitions": 120832000, "num_steps_per_env": 1, "wm_loss": 0.48406314849853516, "actor_loss": -8.795306205749512, "critic_loss": 0.030189422890543938, "reward": 0.07079004496335983, "falls": 9, "interval_steps": 10, "velocity_mae": [0.23241707682609558, 0.15857359766960144, 0.25721514225006104], "policy_updates": 29400, "skipped_updates": 0, "invalid_env_resets": 25, "elapsed_s": 3822.836703738, "contact_bce": 0.3224497139453888, "contact_force_loss": 0.03339662775397301, "terrain_level_mean": 3.04736328125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.35595703125, "command_abs_max": [1.999758243560791, 0.9995908141136169, 2.9991116523742676]}
{"step": 29510, "actor_lr": 1.83845807401634e-06, "archive_windows": 100000, "env_steps": 29510, "total_transitions": 120872960, "num_steps_per_env": 1, "wm_loss": 0.4804859161376953, "actor_loss": -8.794275283813477, "critic_loss": 0.0261112991720438, "reward": 0.07119324058294296, "falls": 4, "interval_steps": 10, "velocity_mae": [0.23707173764705658, 0.15594303607940674, 0.2546241581439972], "policy_updates": 29410, "skipped_updates": 0, "invalid_env_resets": 25, "elapsed_s": 3826.403626714, "contact_bce": 0.321201354265213, "contact_force_loss": 0.03337820991873741, "terrain_level_mean": 3.048095703125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.359619140625, "command_abs_max": [1.999758243560791, 0.9997456073760986, 2.9991116523742676]}
{"step": 29520, "actor_lr": 1.8369078338871394e-06, "archive_windows": 100000, "env_steps": 29520, "total_transitions": 120913920, "num_steps_per_env": 1, "wm_loss": 0.5037111043930054, "actor_loss": -8.785569190979004, "critic_loss": 0.025323664769530296, "reward": 0.07106765359640121, "falls": 6, "interval_steps": 10, "velocity_mae": [0.2406632900238037, 0.1544986069202423, 0.25398004055023193], "policy_updates": 29420, "skipped_updates": 0, "invalid_env_resets": 25, "elapsed_s": 3829.937156432, "contact_bce": 0.3255251944065094, "contact_force_loss": 0.03285800665616989, "terrain_level_mean": 3.04736328125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.35791015625, "command_abs_max": [1.999758243560791, 0.9997456073760986, 2.9991116523742676]}
{"step": 29530, "actor_lr": 1.835389465001953e-06, "archive_windows": 100000, "env_steps": 29530, "total_transitions": 120954880, "num_steps_per_env": 1, "wm_loss": 0.49968624114990234, "actor_loss": -8.75575065612793, "critic_loss": 0.04374571517109871, "reward": 0.07091977447271347, "falls": 7, "interval_steps": 10, "velocity_mae": [0.2411959320306778, 0.1520315706729889, 0.25707918405532837], "policy_updates": 29430, "skipped_updates": 0, "invalid_env_resets": 25, "elapsed_s": 3833.724229125, "contact_bce": 0.31915244460105896, "contact_force_loss": 0.032976776361465454, "terrain_level_mean": 3.04638671875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.35888671875, "command_abs_max": [1.999758243560791, 0.9997456073760986, 2.9991116523742676]}
{"step": 29540, "actor_lr": 1.8339029690258608e-06, "archive_windows": 100000, "env_steps": 29540, "total_transitions": 120995840, "num_steps_per_env": 1, "wm_loss": 0.4901104271411896, "actor_loss": -8.796813011169434, "critic_loss": 0.035648323595523834, "reward": 0.07099118083715439, "falls": 7, "interval_steps": 10, "velocity_mae": [0.2406197339296341, 0.15190747380256653, 0.2582628130912781], "policy_updates": 29440, "skipped_updates": 0, "invalid_env_resets": 25, "elapsed_s": 3837.248543051, "contact_bce": 0.32121583819389343, "contact_force_loss": 0.03301401808857918, "terrain_level_mean": 3.045654296875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.361572265625, "command_abs_max": [1.999758243560791, 0.9997456073760986, 2.9991116523742676]}
{"step": 29550, "actor_lr": 1.8324483475889881e-06, "archive_windows": 100000, "env_steps": 29550, "total_transitions": 121036800, "num_steps_per_env": 1, "wm_loss": 0.48163318634033203, "actor_loss": -8.782978057861328, "critic_loss": 0.024539712816476822, "reward": 0.07072988897562027, "falls": 6, "interval_steps": 10, "velocity_mae": [0.2427341192960739, 0.15366236865520477, 0.2578482925891876], "policy_updates": 29450, "skipped_updates": 0, "invalid_env_resets": 25, "elapsed_s": 3840.785917083, "contact_bce": 0.32377931475639343, "contact_force_loss": 0.03337983787059784, "terrain_level_mean": 3.04638671875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.359619140625, "command_abs_max": [1.999758243560791, 0.9997456073760986, 2.9991116523742676]}
{"step": 29560, "actor_lr": 1.8310256022865017e-06, "archive_windows": 100000, "env_steps": 29560, "total_transitions": 121077760, "num_steps_per_env": 1, "wm_loss": 0.4765816330909729, "actor_loss": -8.833866119384766, "critic_loss": 0.02690240740776062, "reward": 0.07090049237012863, "falls": 1, "interval_steps": 10, "velocity_mae": [0.2444695085287094, 0.15622210502624512, 0.25744661688804626], "policy_updates": 29460, "skipped_updates": 0, "invalid_env_resets": 25, "elapsed_s": 3844.460570213, "contact_bce": 0.3231920897960663, "contact_force_loss": 0.03314247727394104, "terrain_level_mean": 3.046875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.356689453125, "command_abs_max": [1.999758243560791, 0.9997456073760986, 2.9991116523742676]}
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{"step": 29580, "actor_lr": 1.8282757462906007e-06, "archive_windows": 100000, "env_steps": 29580, "total_transitions": 121159680, "num_steps_per_env": 1, "wm_loss": 0.513917863368988, "actor_loss": -8.787643432617188, "critic_loss": 0.026185914874076843, "reward": 0.07075781375169754, "falls": 5, "interval_steps": 10, "velocity_mae": [0.24644634127616882, 0.15563291311264038, 0.2567903995513916], "policy_updates": 29480, "skipped_updates": 0, "invalid_env_resets": 25, "elapsed_s": 3853.027752784, "contact_bce": 0.3232041895389557, "contact_force_loss": 0.03400612249970436, "terrain_level_mean": 3.047119140625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.353515625, "command_abs_max": [1.9990215301513672, 0.9997456073760986, 2.9991116523742676]}
{"step": 29590, "actor_lr": 1.8269486386127382e-06, "archive_windows": 100000, "env_steps": 29590, "total_transitions": 121200640, "num_steps_per_env": 1, "wm_loss": 0.5080949664115906, "actor_loss": -8.811019897460938, "critic_loss": 0.022340886294841766, "reward": 0.07122313976287842, "falls": 4, "interval_steps": 10, "velocity_mae": [0.24123257398605347, 0.15456104278564453, 0.2579796016216278], "policy_updates": 29490, "skipped_updates": 0, "invalid_env_resets": 25, "elapsed_s": 3857.31456207, "contact_bce": 0.32198819518089294, "contact_force_loss": 0.033191606402397156, "terrain_level_mean": 3.046875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.354248046875, "command_abs_max": [1.9990215301513672, 0.9997456073760986, 2.9991116523742676]}
{"step": 29600, "actor_lr": 1.825653413100369e-06, "archive_windows": 100000, "env_steps": 29600, "total_transitions": 121241600, "num_steps_per_env": 1, "wm_loss": 0.49483567476272583, "actor_loss": -8.776847839355469, "critic_loss": 0.026094594970345497, "reward": 0.07126971334218979, "falls": 4, "interval_steps": 10, "velocity_mae": [0.23985542356967926, 0.1541476547718048, 0.2572229504585266], "policy_updates": 29500, "skipped_updates": 0, "invalid_env_resets": 25, "elapsed_s": 3861.57779716, "contact_bce": 0.32627594470977783, "contact_force_loss": 0.03390786424279213, "terrain_level_mean": 3.046630859375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.351318359375, "command_abs_max": [1.9990215301513672, 0.9997456073760986, 2.9991116523742676]}
{"step": 29610, "actor_lr": 1.8243900711738695e-06, "archive_windows": 100000, "env_steps": 29610, "total_transitions": 121282560, "num_steps_per_env": 1, "wm_loss": 0.4649925231933594, "actor_loss": -8.832659721374512, "critic_loss": 0.021709801629185677, "reward": 0.0715031549334526, "falls": 2, "interval_steps": 10, "velocity_mae": [0.2374948114156723, 0.15468049049377441, 0.25344765186309814], "policy_updates": 29510, "skipped_updates": 0, "invalid_env_resets": 25, "elapsed_s": 3865.893420251, "contact_bce": 0.31993094086647034, "contact_force_loss": 0.03264173865318298, "terrain_level_mean": 3.04833984375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.34912109375, "command_abs_max": [1.9990215301513672, 0.9997456073760986, 2.9991116523742676]}
{"step": 29620, "actor_lr": 1.8231586142186463e-06, "archive_windows": 100000, "env_steps": 29620, "total_transitions": 121323520, "num_steps_per_env": 1, "wm_loss": 0.5050445795059204, "actor_loss": -8.812165260314941, "critic_loss": 0.019653333351016045, "reward": 0.07123857736587524, "falls": 6, "interval_steps": 10, "velocity_mae": [0.23621855676174164, 0.15329718589782715, 0.257802277803421], "policy_updates": 29520, "skipped_updates": 0, "invalid_env_resets": 25, "elapsed_s": 3870.2364337, "contact_bce": 0.32833409309387207, "contact_force_loss": 0.033134911209344864, "terrain_level_mean": 3.047607421875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.34765625, "command_abs_max": [1.9986906051635742, 0.9997456073760986, 2.9991116523742676]}
RECOVERY reset 1 invalid environments; first IDs=[1542]
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+---------------------------------+
|         Base Environment        |
+------------------------+--------+
| Property               | Value  |
+------------------------+--------+
| Number of environments | 1      |
| Environment device     | cuda:0 |
| Environment seed       | None   |
| Physics step-size      | 0.005  |
| Environment step-size  | 0.02   |
+------------------------+--------+

[INFO] <EventManager> contains 1 active terms.
+-------------------------------------+
| Active Event Terms in Mode: 'reset' |
+--------+----------------------------+
| Index  | Name                       |
+--------+----------------------------+
|   0    | reset_base                 |
|   1    | reset_robot_joints         |
+--------+----------------------------+

[INFO] <CommandManager> contains 1 active terms.
+----------------------------------------+
|          Active Command Terms          |
+-------+-------+------------------------+
| Index | Name  |          Type          |
+-------+-------+------------------------+
|   0   | twist | UniformVelocityCommand |
+-------+-------+------------------------+

[INFO] <ActionManager> contains 2 active terms.
+---------------------------------+
| Active Action Terms (shape: 16) |
+-------+-----------+-------------+
| Index | Name      |   Dimension |
+-------+-----------+-------------+
|   0   | joint_pos |          12 |
|   1   | wheel_vel |           4 |
+-------+-----------+-------------+

[INFO] <ObservationManager> contains 1 groups.
+------------------------------------------------------------+
| Active Observation Terms in Group: 'actor' (shape: (265,)) |
+--------+-------------------------+-------------------------+
| Index  | Name                    |          Shape          |
+--------+-------------------------+-------------------------+
|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
|   5    | actions                 |     (80,)  ← 5×(16,)    |
|   6    | command                 |     (15,)  ← 5×(3,)     |
+--------+-------------------------+-------------------------+

[INFO] <TerminationManager> contains 3 active terms.
+--------------------------------+
|    Active Termination Terms    |
+-------+-------------+----------+
| Index | Name        | Time Out |
+-------+-------------+----------+
|   0   | time_out    |   True   |
|   1   | fell_over   |  False   |
|   2   | course_exit |   True   |
+-------+-------------+----------+

[INFO] <RewardManager> contains 0 active terms.
+-----------------------+
|  Active Reward Terms  |
+-------+------+--------+
| Index | Name | Weight |
+-------+------+--------+
+-------+------+--------+

[INFO] <NullCurriculumManager> (inactive)
[INFO] <NullMetricsManager> (inactive)
[INFO] <NullRecorderManager> (inactive)
S10 video saved: logs/s10_terrain_v4_50k_full/videos/iteration_029700.mp4
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RECOVERY reset 1 invalid environments; first IDs=[1999]
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RECOVERY reset 1 invalid environments; first IDs=[485]
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{"step": 30230, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 30230, "total_transitions": 123822080, "num_steps_per_env": 1, "wm_loss": 0.45621877908706665, "actor_loss": -8.702981948852539, "critic_loss": 0.029545513913035393, "reward": 0.07132083922624588, "falls": 2, "interval_steps": 10, "velocity_mae": [0.23919478058815002, 0.15446342527866364, 0.2559741139411926], "policy_updates": 30130, "skipped_updates": 0, "invalid_env_resets": 28, "elapsed_s": 4139.925511398999, "contact_bce": 0.3227274715900421, "contact_force_loss": 0.032488152384757996, "terrain_level_mean": 3.06201171875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.334228515625, "command_abs_max": [1.9993579387664795, 0.9979156851768494, 2.995748996734619]}
{"step": 30240, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 30240, "total_transitions": 123863040, "num_steps_per_env": 1, "wm_loss": 0.48203983902931213, "actor_loss": -8.812276840209961, "critic_loss": 0.023681044578552246, "reward": 0.07094936817884445, "falls": 4, "interval_steps": 10, "velocity_mae": [0.2369631975889206, 0.15481269359588623, 0.25600820779800415], "policy_updates": 30140, "skipped_updates": 0, "invalid_env_resets": 28, "elapsed_s": 4143.451797224, "contact_bce": 0.3190595209598541, "contact_force_loss": 0.032678984105587006, "terrain_level_mean": 3.061767578125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.335693359375, "command_abs_max": [1.9993579387664795, 0.9979848861694336, 2.995748996734619]}
RECOVERY reset 1 invalid environments; first IDs=[977]
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{"step": 30280, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 30280, "total_transitions": 124026880, "num_steps_per_env": 1, "wm_loss": 0.4531181752681732, "actor_loss": -8.801698684692383, "critic_loss": 0.038512103259563446, "reward": 0.07045000046491623, "falls": 6, "interval_steps": 10, "velocity_mae": [0.24413244426250458, 0.1574866771697998, 0.25503280758857727], "policy_updates": 30180, "skipped_updates": 0, "invalid_env_resets": 29, "elapsed_s": 4157.552205821999, "contact_bce": 0.3193395733833313, "contact_force_loss": 0.03273340314626694, "terrain_level_mean": 3.059814453125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.341064453125, "command_abs_max": [1.9993579387664795, 0.9979848861694336, 2.995748996734619]}
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Warning: EPA horizon = 24 isn't large enough.
RECOVERY reset 1 invalid environments; first IDs=[1010]
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RECOVERY reset 1 invalid environments; first IDs=[1685]
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RECOVERY reset 1 invalid environments; first IDs=[2226]
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{"step": 31420, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 31420, "total_transitions": 128696320, "num_steps_per_env": 1, "wm_loss": 0.45439985394477844, "actor_loss": -8.814204216003418, "critic_loss": 0.024039078503847122, "reward": 0.07118622213602066, "falls": 6, "interval_steps": 10, "velocity_mae": [0.23845116794109344, 0.15528419613838196, 0.25399425625801086], "policy_updates": 31320, "skipped_updates": 0, "invalid_env_resets": 32, "elapsed_s": 4559.294366876, "contact_bce": 0.31612786650657654, "contact_force_loss": 0.032646238803863525, "terrain_level_mean": 3.09228515625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.340087890625, "command_abs_max": [1.9996440410614014, 0.9988374710083008, 2.9997668266296387]}
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RECOVERY reset 1 invalid environments; first IDs=[1100]
{"step": 31440, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 31440, "total_transitions": 128778240, "num_steps_per_env": 1, "wm_loss": 0.43515700101852417, "actor_loss": -8.799249649047852, "critic_loss": 0.026533860713243484, "reward": 0.07041824609041214, "falls": 4, "interval_steps": 10, "velocity_mae": [0.24615469574928284, 0.1545913964509964, 0.25393715500831604], "policy_updates": 31340, "skipped_updates": 0, "invalid_env_resets": 33, "elapsed_s": 4566.326050521, "contact_bce": 0.32309433817863464, "contact_force_loss": 0.03300344944000244, "terrain_level_mean": 3.095703125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.333984375, "command_abs_max": [1.9996440410614014, 0.9988374710083008, 2.9997668266296387]}
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{"step": 31600, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 31600, "total_transitions": 129433600, "num_steps_per_env": 1, "wm_loss": 0.478884756565094, "actor_loss": -8.766289710998535, "critic_loss": 0.017101125791668892, "reward": 0.07071175426244736, "falls": 6, "interval_steps": 10, "velocity_mae": [0.24544721841812134, 0.15808264911174774, 0.25304463505744934], "policy_updates": 31500, "skipped_updates": 0, "invalid_env_resets": 33, "elapsed_s": 4622.8608228289995, "contact_bce": 0.32350754737854004, "contact_force_loss": 0.03333896026015282, "terrain_level_mean": 3.0947265625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.33837890625, "command_abs_max": [1.9996440410614014, 0.9989186525344849, 2.9997668266296387]}
RECOVERY reset 1 invalid environments; first IDs=[2203]
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RECOVERY reset 1 invalid environments; first IDs=[2660]
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+---------------------------------+
|         Base Environment        |
+------------------------+--------+
| Property               | Value  |
+------------------------+--------+
| Number of environments | 1      |
| Environment device     | cuda:0 |
| Environment seed       | None   |
| Physics step-size      | 0.005  |
| Environment step-size  | 0.02   |
+------------------------+--------+

[INFO] <EventManager> contains 1 active terms.
+-------------------------------------+
| Active Event Terms in Mode: 'reset' |
+--------+----------------------------+
| Index  | Name                       |
+--------+----------------------------+
|   0    | reset_base                 |
|   1    | reset_robot_joints         |
+--------+----------------------------+

[INFO] <CommandManager> contains 1 active terms.
+----------------------------------------+
|          Active Command Terms          |
+-------+-------+------------------------+
| Index | Name  |          Type          |
+-------+-------+------------------------+
|   0   | twist | UniformVelocityCommand |
+-------+-------+------------------------+

[INFO] <ActionManager> contains 2 active terms.
+---------------------------------+
| Active Action Terms (shape: 16) |
+-------+-----------+-------------+
| Index | Name      |   Dimension |
+-------+-----------+-------------+
|   0   | joint_pos |          12 |
|   1   | wheel_vel |           4 |
+-------+-----------+-------------+

[INFO] <ObservationManager> contains 1 groups.
+------------------------------------------------------------+
| Active Observation Terms in Group: 'actor' (shape: (265,)) |
+--------+-------------------------+-------------------------+
| Index  | Name                    |          Shape          |
+--------+-------------------------+-------------------------+
|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
|   5    | actions                 |     (80,)  ← 5×(16,)    |
|   6    | command                 |     (15,)  ← 5×(3,)     |
+--------+-------------------------+-------------------------+

[INFO] <TerminationManager> contains 3 active terms.
+--------------------------------+
|    Active Termination Terms    |
+-------+-------------+----------+
| Index | Name        | Time Out |
+-------+-------------+----------+
|   0   | time_out    |   True   |
|   1   | fell_over   |  False   |
|   2   | course_exit |   True   |
+-------+-------------+----------+

[INFO] <RewardManager> contains 0 active terms.
+-----------------------+
|  Active Reward Terms  |
+-------+------+--------+
| Index | Name | Weight |
+-------+------+--------+
+-------+------+--------+

[INFO] <NullCurriculumManager> (inactive)
[INFO] <NullMetricsManager> (inactive)
[INFO] <NullRecorderManager> (inactive)
S10 video saved: logs/s10_terrain_v4_50k_full/videos/iteration_032400.mp4
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RECOVERY reset 1 invalid environments; first IDs=[2322]
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RECOVERY reset 1 invalid environments; first IDs=[1606]
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{"step": 32830, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 32830, "total_transitions": 134471680, "num_steps_per_env": 1, "wm_loss": 0.44056832790374756, "actor_loss": -8.72799301147461, "critic_loss": 0.027983535081148148, "reward": 0.07111255079507828, "falls": 4, "interval_steps": 10, "velocity_mae": [0.24276210367679596, 0.1574331820011139, 0.2524675130844116], "policy_updates": 32730, "skipped_updates": 0, "invalid_env_resets": 37, "elapsed_s": 5061.775895918, "contact_bce": 0.3239269554615021, "contact_force_loss": 0.03268669173121452, "terrain_level_mean": 3.125732421875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.33447265625, "command_abs_max": [1.9988059997558594, 0.999733567237854, 2.997880697250366]}
{"step": 32840, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 32840, "total_transitions": 134512640, "num_steps_per_env": 1, "wm_loss": 0.43355467915534973, "actor_loss": -8.757539749145508, "critic_loss": 0.025524070486426353, "reward": 0.07110387086868286, "falls": 6, "interval_steps": 10, "velocity_mae": [0.24132493138313293, 0.1565597504377365, 0.25064778327941895], "policy_updates": 32740, "skipped_updates": 0, "invalid_env_resets": 37, "elapsed_s": 5065.280901579999, "contact_bce": 0.3196742534637451, "contact_force_loss": 0.033310458064079285, "terrain_level_mean": 3.12548828125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.33544921875, "command_abs_max": [1.9988059997558594, 0.999733567237854, 2.997880697250366]}
{"step": 32850, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 32850, "total_transitions": 134553600, "num_steps_per_env": 1, "wm_loss": 0.4437689483165741, "actor_loss": -8.726938247680664, "critic_loss": 0.025764325633645058, "reward": 0.07126043736934662, "falls": 7, "interval_steps": 10, "velocity_mae": [0.2446555644273758, 0.15425659716129303, 0.25095972418785095], "policy_updates": 32750, "skipped_updates": 0, "invalid_env_resets": 37, "elapsed_s": 5068.794392119999, "contact_bce": 0.3152037262916565, "contact_force_loss": 0.0322398915886879, "terrain_level_mean": 3.124755859375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.33349609375, "command_abs_max": [1.9988059997558594, 0.999733567237854, 2.997880697250366]}
RECOVERY reset 1 invalid environments; first IDs=[1040]
{"step": 32860, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 32860, "total_transitions": 134594560, "num_steps_per_env": 1, "wm_loss": 0.4705931544303894, "actor_loss": -8.731762886047363, "critic_loss": 0.027546986937522888, "reward": 0.07118101418018341, "falls": 3, "interval_steps": 10, "velocity_mae": [0.24369622766971588, 0.15490181744098663, 0.25284525752067566], "policy_updates": 32760, "skipped_updates": 0, "invalid_env_resets": 38, "elapsed_s": 5072.318081673, "contact_bce": 0.3224511742591858, "contact_force_loss": 0.03274587541818619, "terrain_level_mean": 3.12548828125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.334228515625, "command_abs_max": [1.9988059997558594, 0.999733567237854, 2.997880697250366]}
{"step": 32870, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 32870, "total_transitions": 134635520, "num_steps_per_env": 1, "wm_loss": 0.44609761238098145, "actor_loss": -8.731759071350098, "critic_loss": 0.024501128122210503, "reward": 0.07108958810567856, "falls": 7, "interval_steps": 10, "velocity_mae": [0.24096913635730743, 0.15414659678936005, 0.25128382444381714], "policy_updates": 32770, "skipped_updates": 0, "invalid_env_resets": 38, "elapsed_s": 5075.837683588999, "contact_bce": 0.3144119679927826, "contact_force_loss": 0.03261135518550873, "terrain_level_mean": 3.12548828125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.333984375, "command_abs_max": [1.9988059997558594, 0.999733567237854, 2.997880697250366]}
{"step": 32880, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 32880, "total_transitions": 134676480, "num_steps_per_env": 1, "wm_loss": 0.47504568099975586, "actor_loss": -8.730053901672363, "critic_loss": 0.02630683220922947, "reward": 0.07172619551420212, "falls": 2, "interval_steps": 10, "velocity_mae": [0.2395373284816742, 0.15512876212596893, 0.2506049573421478], "policy_updates": 32780, "skipped_updates": 0, "invalid_env_resets": 38, "elapsed_s": 5079.346820522999, "contact_bce": 0.31704163551330566, "contact_force_loss": 0.03328896313905716, "terrain_level_mean": 3.125732421875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.33642578125, "command_abs_max": [1.9988059997558594, 0.999733567237854, 2.997880697250366]}
{"step": 32890, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 32890, "total_transitions": 134717440, "num_steps_per_env": 1, "wm_loss": 0.4263950288295746, "actor_loss": -8.731426239013672, "critic_loss": 0.030435537919402122, "reward": 0.07148858159780502, "falls": 2, "interval_steps": 10, "velocity_mae": [0.24076014757156372, 0.15836015343666077, 0.2500920295715332], "policy_updates": 32790, "skipped_updates": 0, "invalid_env_resets": 38, "elapsed_s": 5082.856796599, "contact_bce": 0.3177907168865204, "contact_force_loss": 0.03196090832352638, "terrain_level_mean": 3.126953125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.338623046875, "command_abs_max": [1.9988059997558594, 0.999733567237854, 2.997880697250366]}
{"step": 32900, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 32900, "total_transitions": 134758400, "num_steps_per_env": 1, "wm_loss": 0.47961539030075073, "actor_loss": -8.758162498474121, "critic_loss": 0.03133713826537132, "reward": 0.07134144753217697, "falls": 2, "interval_steps": 10, "velocity_mae": [0.24261198937892914, 0.15784665942192078, 0.24887299537658691], "policy_updates": 32800, "skipped_updates": 0, "invalid_env_resets": 38, "elapsed_s": 5086.36214142, "contact_bce": 0.3242686688899994, "contact_force_loss": 0.032965417951345444, "terrain_level_mean": 3.12744140625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.33984375, "command_abs_max": [1.9988059997558594, 0.999733567237854, 2.997880697250366]}
{"step": 32910, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 32910, "total_transitions": 134799360, "num_steps_per_env": 1, "wm_loss": 0.46187323331832886, "actor_loss": -8.767536163330078, "critic_loss": 0.020730463787913322, "reward": 0.07160314172506332, "falls": 4, "interval_steps": 10, "velocity_mae": [0.23817598819732666, 0.15462973713874817, 0.2507975697517395], "policy_updates": 32810, "skipped_updates": 0, "invalid_env_resets": 38, "elapsed_s": 5089.870336219999, "contact_bce": 0.320745587348938, "contact_force_loss": 0.03370950371026993, "terrain_level_mean": 3.128173828125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3369140625, "command_abs_max": [1.9988059997558594, 0.999733567237854, 2.9868879318237305]}
{"step": 32920, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 32920, "total_transitions": 134840320, "num_steps_per_env": 1, "wm_loss": 0.4873945415019989, "actor_loss": -8.78927230834961, "critic_loss": 0.0221323873847723, "reward": 0.07142747938632965, "falls": 5, "interval_steps": 10, "velocity_mae": [0.24011686444282532, 0.15702393651008606, 0.2531055212020874], "policy_updates": 32820, "skipped_updates": 0, "invalid_env_resets": 38, "elapsed_s": 5093.399475859, "contact_bce": 0.32267507910728455, "contact_force_loss": 0.03391108289361, "terrain_level_mean": 3.128173828125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.335205078125, "command_abs_max": [1.9988059997558594, 0.999733567237854, 2.9868879318237305]}
{"step": 32930, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 32930, "total_transitions": 134881280, "num_steps_per_env": 1, "wm_loss": 0.46411046385765076, "actor_loss": -8.721364974975586, "critic_loss": 0.025793934240937233, "reward": 0.07113564759492874, "falls": 5, "interval_steps": 10, "velocity_mae": [0.24328580498695374, 0.15876176953315735, 0.25477874279022217], "policy_updates": 32830, "skipped_updates": 0, "invalid_env_resets": 38, "elapsed_s": 5096.909417795, "contact_bce": 0.32412126660346985, "contact_force_loss": 0.033786363899707794, "terrain_level_mean": 3.128173828125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.335205078125, "command_abs_max": [1.9988059997558594, 0.999733567237854, 2.9868879318237305]}
{"step": 32940, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 32940, "total_transitions": 134922240, "num_steps_per_env": 1, "wm_loss": 0.43753907084465027, "actor_loss": -8.768644332885742, "critic_loss": 0.018033048138022423, "reward": 0.07100118696689606, "falls": 9, "interval_steps": 10, "velocity_mae": [0.2444552481174469, 0.15519051253795624, 0.2563314735889435], "policy_updates": 32840, "skipped_updates": 0, "invalid_env_resets": 38, "elapsed_s": 5100.415974552, "contact_bce": 0.31503450870513916, "contact_force_loss": 0.03214237466454506, "terrain_level_mean": 3.127197265625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.33447265625, "command_abs_max": [1.9988059997558594, 0.999733567237854, 2.9868879318237305]}
{"step": 32950, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 32950, "total_transitions": 134963200, "num_steps_per_env": 1, "wm_loss": 0.4457338750362396, "actor_loss": -8.79693603515625, "critic_loss": 0.025149276480078697, "reward": 0.0715252012014389, "falls": 1, "interval_steps": 10, "velocity_mae": [0.24493923783302307, 0.15565988421440125, 0.2503371834754944], "policy_updates": 32850, "skipped_updates": 0, "invalid_env_resets": 38, "elapsed_s": 5103.923548952999, "contact_bce": 0.3211210072040558, "contact_force_loss": 0.03263454884290695, "terrain_level_mean": 3.1279296875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.331787109375, "command_abs_max": [1.9988059997558594, 0.999733567237854, 2.9868879318237305]}
{"step": 32960, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 32960, "total_transitions": 135004160, "num_steps_per_env": 1, "wm_loss": 0.4422007203102112, "actor_loss": -8.692533493041992, "critic_loss": 0.024233993142843246, "reward": 0.07156773656606674, "falls": 0, "interval_steps": 10, "velocity_mae": [0.24164855480194092, 0.15600170195102692, 0.2495800256729126], "policy_updates": 32860, "skipped_updates": 0, "invalid_env_resets": 38, "elapsed_s": 5107.419463208, "contact_bce": 0.3157772123813629, "contact_force_loss": 0.032607752829790115, "terrain_level_mean": 3.12841796875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.33203125, "command_abs_max": [1.9988059997558594, 0.999733567237854, 2.9868879318237305]}
RECOVERY reset 1 invalid environments; first IDs=[1091]
{"step": 32970, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 32970, "total_transitions": 135045120, "num_steps_per_env": 1, "wm_loss": 0.4648003876209259, "actor_loss": -8.692770957946777, "critic_loss": 0.04669502377510071, "reward": 0.07140650600194931, "falls": 9, "interval_steps": 10, "velocity_mae": [0.23927435278892517, 0.15281561017036438, 0.25287899374961853], "policy_updates": 32870, "skipped_updates": 0, "invalid_env_resets": 39, "elapsed_s": 5110.939531882, "contact_bce": 0.31894540786743164, "contact_force_loss": 0.032778795808553696, "terrain_level_mean": 3.126708984375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.332763671875, "command_abs_max": [1.9988059997558594, 0.999733567237854, 2.9868879318237305]}
{"step": 32980, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 32980, "total_transitions": 135086080, "num_steps_per_env": 1, "wm_loss": 0.47260165214538574, "actor_loss": -8.80632209777832, "critic_loss": 0.025159094482660294, "reward": 0.07158961147069931, "falls": 4, "interval_steps": 10, "velocity_mae": [0.24062460660934448, 0.15404966473579407, 0.2556856870651245], "policy_updates": 32880, "skipped_updates": 0, "invalid_env_resets": 39, "elapsed_s": 5114.467981993, "contact_bce": 0.3191787004470825, "contact_force_loss": 0.0328214131295681, "terrain_level_mean": 3.126708984375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.333984375, "command_abs_max": [1.9988059997558594, 0.999733567237854, 2.9868879318237305]}
{"step": 32990, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 32990, "total_transitions": 135127040, "num_steps_per_env": 1, "wm_loss": 0.4881804585456848, "actor_loss": -8.780269622802734, "critic_loss": 0.029069123789668083, "reward": 0.07161147892475128, "falls": 1, "interval_steps": 10, "velocity_mae": [0.24111329019069672, 0.156374990940094, 0.2565447986125946], "policy_updates": 32890, "skipped_updates": 0, "invalid_env_resets": 39, "elapsed_s": 5117.987565601999, "contact_bce": 0.3216847777366638, "contact_force_loss": 0.03281324356794357, "terrain_level_mean": 3.127197265625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.33447265625, "command_abs_max": [1.9988059997558594, 0.999733567237854, 2.9868879318237305]}
{"step": 33000, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 33000, "total_transitions": 135168000, "num_steps_per_env": 1, "wm_loss": 0.4565645754337311, "actor_loss": -8.739163398742676, "critic_loss": 0.02600986696779728, "reward": 0.07142486423254013, "falls": 1, "interval_steps": 10, "velocity_mae": [0.24062754213809967, 0.15627555549144745, 0.25592902302742004], "policy_updates": 32900, "skipped_updates": 0, "invalid_env_resets": 39, "elapsed_s": 5121.512500391999, "contact_bce": 0.31507501006126404, "contact_force_loss": 0.03204067796468735, "terrain_level_mean": 3.128662109375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3349609375, "command_abs_max": [1.9988059997558594, 0.999733567237854, 2.9875242710113525]}
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{"step": 33230, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 33230, "total_transitions": 136110080, "num_steps_per_env": 1, "wm_loss": 0.524516224861145, "actor_loss": -8.761171340942383, "critic_loss": 0.030629774555563927, "reward": 0.0712318941950798, "falls": 4, "interval_steps": 10, "velocity_mae": [0.23854444921016693, 0.15551163256168365, 0.24983838200569153], "policy_updates": 33130, "skipped_updates": 0, "invalid_env_resets": 39, "elapsed_s": 5202.524589117, "contact_bce": 0.324099600315094, "contact_force_loss": 0.03340710699558258, "terrain_level_mean": 3.13037109375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.350341796875, "command_abs_max": [1.9992656707763672, 0.9997413158416748, 2.9987194538116455]}
RECOVERY reset 1 invalid environments; first IDs=[1891]
{"step": 33240, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 33240, "total_transitions": 136151040, "num_steps_per_env": 1, "wm_loss": 0.44184809923171997, "actor_loss": -8.794437408447266, "critic_loss": 0.03356785327196121, "reward": 0.07175976037979126, "falls": 3, "interval_steps": 10, "velocity_mae": [0.23552949726581573, 0.15446460247039795, 0.24678556621074677], "policy_updates": 33140, "skipped_updates": 0, "invalid_env_resets": 40, "elapsed_s": 5206.053561754, "contact_bce": 0.31900355219841003, "contact_force_loss": 0.032925549894571304, "terrain_level_mean": 3.130859375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.352294921875, "command_abs_max": [1.9992656707763672, 0.9997413158416748, 2.9987194538116455]}
RECOVERY reset 1 invalid environments; first IDs=[828]
{"step": 33250, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 33250, "total_transitions": 136192000, "num_steps_per_env": 1, "wm_loss": 0.4130110740661621, "actor_loss": -8.768213272094727, "critic_loss": 0.02239193581044674, "reward": 0.07190725952386856, "falls": 5, "interval_steps": 10, "velocity_mae": [0.23535104095935822, 0.15178431570529938, 0.24794676899909973], "policy_updates": 33150, "skipped_updates": 0, "invalid_env_resets": 41, "elapsed_s": 5209.590089824999, "contact_bce": 0.3137982487678528, "contact_force_loss": 0.032159674912691116, "terrain_level_mean": 3.130126953125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.352783203125, "command_abs_max": [1.9992656707763672, 0.9997413158416748, 2.9987194538116455]}
{"step": 33260, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 33260, "total_transitions": 136232960, "num_steps_per_env": 1, "wm_loss": 0.43599197268486023, "actor_loss": -8.76634407043457, "critic_loss": 0.030898749828338623, "reward": 0.07201527804136276, "falls": 5, "interval_steps": 10, "velocity_mae": [0.23363088071346283, 0.15139035880565643, 0.24496014416217804], "policy_updates": 33160, "skipped_updates": 0, "invalid_env_resets": 41, "elapsed_s": 5213.113786303, "contact_bce": 0.3208668828010559, "contact_force_loss": 0.03213956207036972, "terrain_level_mean": 3.130126953125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3515625, "command_abs_max": [1.9992656707763672, 0.9997413158416748, 2.9987194538116455]}
{"step": 33270, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 33270, "total_transitions": 136273920, "num_steps_per_env": 1, "wm_loss": 0.46591198444366455, "actor_loss": -8.7709379196167, "critic_loss": 0.022756870836019516, "reward": 0.07178782671689987, "falls": 3, "interval_steps": 10, "velocity_mae": [0.2307516634464264, 0.1525970995426178, 0.24700725078582764], "policy_updates": 33170, "skipped_updates": 0, "invalid_env_resets": 41, "elapsed_s": 5216.628592128, "contact_bce": 0.3159961402416229, "contact_force_loss": 0.03233051672577858, "terrain_level_mean": 3.13037109375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.354248046875, "command_abs_max": [1.9992656707763672, 0.9997413158416748, 2.9987194538116455]}
{"step": 33280, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 33280, "total_transitions": 136314880, "num_steps_per_env": 1, "wm_loss": 0.46880313754081726, "actor_loss": -8.706642150878906, "critic_loss": 0.03800911456346512, "reward": 0.07168526947498322, "falls": 4, "interval_steps": 10, "velocity_mae": [0.23444023728370667, 0.15172383189201355, 0.2476799488067627], "policy_updates": 33180, "skipped_updates": 0, "invalid_env_resets": 41, "elapsed_s": 5220.146269051999, "contact_bce": 0.3248559534549713, "contact_force_loss": 0.032785117626190186, "terrain_level_mean": 3.130615234375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.354248046875, "command_abs_max": [1.9992656707763672, 0.9997413158416748, 2.9987194538116455]}
{"step": 33290, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 33290, "total_transitions": 136355840, "num_steps_per_env": 1, "wm_loss": 0.46627140045166016, "actor_loss": -8.777058601379395, "critic_loss": 0.031047750264406204, "reward": 0.07180842012166977, "falls": 3, "interval_steps": 10, "velocity_mae": [0.23512162268161774, 0.15139026939868927, 0.24975912272930145], "policy_updates": 33190, "skipped_updates": 0, "invalid_env_resets": 41, "elapsed_s": 5223.6595275459995, "contact_bce": 0.32008036971092224, "contact_force_loss": 0.03269662708044052, "terrain_level_mean": 3.13134765625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.351318359375, "command_abs_max": [1.9992656707763672, 0.9997413158416748, 2.9987194538116455]}
{"step": 33300, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 33300, "total_transitions": 136396800, "num_steps_per_env": 1, "wm_loss": 0.45831242203712463, "actor_loss": -8.80266284942627, "critic_loss": 0.023583298549056053, "reward": 0.07202616333961487, "falls": 1, "interval_steps": 10, "velocity_mae": [0.23416514694690704, 0.15309149026870728, 0.24532780051231384], "policy_updates": 33200, "skipped_updates": 0, "invalid_env_resets": 41, "elapsed_s": 5227.170247614999, "contact_bce": 0.32332107424736023, "contact_force_loss": 0.03278845548629761, "terrain_level_mean": 3.1318359375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.35595703125, "command_abs_max": [1.9992656707763672, 0.9997413158416748, 2.9987194538116455]}
{"step": 33310, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 33310, "total_transitions": 136437760, "num_steps_per_env": 1, "wm_loss": 0.4562888443470001, "actor_loss": -8.790680885314941, "critic_loss": 0.02569056861102581, "reward": 0.07139377295970917, "falls": 2, "interval_steps": 10, "velocity_mae": [0.23920877277851105, 0.15388214588165283, 0.24974757432937622], "policy_updates": 33210, "skipped_updates": 0, "invalid_env_resets": 41, "elapsed_s": 5230.691300414999, "contact_bce": 0.31598982214927673, "contact_force_loss": 0.032378409057855606, "terrain_level_mean": 3.133056640625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.35546875, "command_abs_max": [1.9992656707763672, 0.9997413158416748, 2.9987194538116455]}
{"step": 33320, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 33320, "total_transitions": 136478720, "num_steps_per_env": 1, "wm_loss": 0.44537442922592163, "actor_loss": -8.706079483032227, "critic_loss": 0.031648989766836166, "reward": 0.07129973918199539, "falls": 3, "interval_steps": 10, "velocity_mae": [0.23959609866142273, 0.15497536957263947, 0.2517358958721161], "policy_updates": 33220, "skipped_updates": 0, "invalid_env_resets": 41, "elapsed_s": 5234.205501224999, "contact_bce": 0.3143412470817566, "contact_force_loss": 0.032550133764743805, "terrain_level_mean": 3.13427734375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.356201171875, "command_abs_max": [1.9992656707763672, 0.9997413158416748, 2.9987194538116455]}
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{"step": 33340, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 33340, "total_transitions": 136560640, "num_steps_per_env": 1, "wm_loss": 0.46897220611572266, "actor_loss": -8.765148162841797, "critic_loss": 0.027376556769013405, "reward": 0.0712437778711319, "falls": 5, "interval_steps": 10, "velocity_mae": [0.24184471368789673, 0.15281841158866882, 0.2472059279680252], "policy_updates": 33240, "skipped_updates": 0, "invalid_env_resets": 41, "elapsed_s": 5241.222566992999, "contact_bce": 0.3197714388370514, "contact_force_loss": 0.0324414037168026, "terrain_level_mean": 3.134033203125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.35107421875, "command_abs_max": [1.9992656707763672, 0.9997413158416748, 2.9987194538116455]}
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{"step": 33370, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 33370, "total_transitions": 136683520, "num_steps_per_env": 1, "wm_loss": 0.4429536461830139, "actor_loss": -8.771669387817383, "critic_loss": 0.026122553274035454, "reward": 0.07120823115110397, "falls": 2, "interval_steps": 10, "velocity_mae": [0.23527809977531433, 0.1545831859111786, 0.24789254367351532], "policy_updates": 33270, "skipped_updates": 0, "invalid_env_resets": 41, "elapsed_s": 5251.771750929, "contact_bce": 0.31537356972694397, "contact_force_loss": 0.03170259669423103, "terrain_level_mean": 3.135986328125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.35107421875, "command_abs_max": [1.9972953796386719, 0.9997413158416748, 2.9987194538116455]}
Warning: EPA horizon = 24 isn't large enough.
Warning: EPA horizon = 24 isn't large enough.
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RECOVERY reset 1 invalid environments; first IDs=[1310]
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RECOVERY reset 1 invalid environments; first IDs=[2833]
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RECOVERY reset 1 invalid environments; first IDs=[2202]
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{"step": 33960, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 33960, "total_transitions": 139100160, "num_steps_per_env": 1, "wm_loss": 0.45014458894729614, "actor_loss": -8.720640182495117, "critic_loss": 0.04176187887787819, "reward": 0.07058341056108475, "falls": 7, "interval_steps": 10, "velocity_mae": [0.2467842847108841, 0.1594378501176834, 0.25509804487228394], "policy_updates": 33860, "skipped_updates": 0, "invalid_env_resets": 44, "elapsed_s": 5459.608643297, "contact_bce": 0.31591179966926575, "contact_force_loss": 0.03320826217532158, "terrain_level_mean": 3.135498046875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.341552734375, "command_abs_max": [1.9994242191314697, 0.9995752573013306, 2.9974865913391113]}
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{"step": 34230, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 34230, "total_transitions": 140206080, "num_steps_per_env": 1, "wm_loss": 0.4800827205181122, "actor_loss": -8.72369384765625, "critic_loss": 0.023895535618066788, "reward": 0.07255028188228607, "falls": 4, "interval_steps": 10, "velocity_mae": [0.2395702600479126, 0.1507592350244522, 0.25052738189697266], "policy_updates": 34130, "skipped_updates": 0, "invalid_env_resets": 44, "elapsed_s": 5554.817005368, "contact_bce": 0.31274572014808655, "contact_force_loss": 0.0327400378882885, "terrain_level_mean": 3.135986328125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.33837890625, "command_abs_max": [1.9975165128707886, 0.9983316659927368, 2.995879650115967]}
{"step": 34240, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 34240, "total_transitions": 140247040, "num_steps_per_env": 1, "wm_loss": 0.45051369071006775, "actor_loss": -8.747211456298828, "critic_loss": 0.019527679309248924, "reward": 0.07214684784412384, "falls": 5, "interval_steps": 10, "velocity_mae": [0.2383725792169571, 0.15378159284591675, 0.25077947974205017], "policy_updates": 34140, "skipped_updates": 0, "invalid_env_resets": 44, "elapsed_s": 5558.334332613999, "contact_bce": 0.3214936852455139, "contact_force_loss": 0.03289466351270676, "terrain_level_mean": 3.135986328125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3388671875, "command_abs_max": [1.9975165128707886, 0.9983316659927368, 2.995879650115967]}
{"step": 34250, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 34250, "total_transitions": 140288000, "num_steps_per_env": 1, "wm_loss": 0.44607600569725037, "actor_loss": -8.779533386230469, "critic_loss": 0.022637290880084038, "reward": 0.07197266817092896, "falls": 7, "interval_steps": 10, "velocity_mae": [0.23867622017860413, 0.1546216905117035, 0.2522168755531311], "policy_updates": 34150, "skipped_updates": 0, "invalid_env_resets": 44, "elapsed_s": 5561.844621748, "contact_bce": 0.31653448939323425, "contact_force_loss": 0.03304089605808258, "terrain_level_mean": 3.13623046875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.33642578125, "command_abs_max": [1.9975165128707886, 0.9983316659927368, 2.995879650115967]}
{"step": 34260, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 34260, "total_transitions": 140328960, "num_steps_per_env": 1, "wm_loss": 0.44674134254455566, "actor_loss": -8.749141693115234, "critic_loss": 0.023670969530940056, "reward": 0.07210860401391983, "falls": 2, "interval_steps": 10, "velocity_mae": [0.24090957641601562, 0.15362493693828583, 0.25050821900367737], "policy_updates": 34160, "skipped_updates": 0, "invalid_env_resets": 44, "elapsed_s": 5565.349918229999, "contact_bce": 0.31859520077705383, "contact_force_loss": 0.032849010080099106, "terrain_level_mean": 3.137451171875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.332763671875, "command_abs_max": [1.9975165128707886, 0.9983316659927368, 2.995879650115967]}
{"step": 34270, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 34270, "total_transitions": 140369920, "num_steps_per_env": 1, "wm_loss": 0.4417169988155365, "actor_loss": -8.73841667175293, "critic_loss": 0.03593156859278679, "reward": 0.07206838577985764, "falls": 3, "interval_steps": 10, "velocity_mae": [0.24068717658519745, 0.15331684052944183, 0.2514724135398865], "policy_updates": 34170, "skipped_updates": 0, "invalid_env_resets": 44, "elapsed_s": 5568.865950329, "contact_bce": 0.31533780694007874, "contact_force_loss": 0.032650526612997055, "terrain_level_mean": 3.138671875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.334716796875, "command_abs_max": [1.9984357357025146, 0.9983316659927368, 2.995879650115967]}
{"step": 34280, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 34280, "total_transitions": 140410880, "num_steps_per_env": 1, "wm_loss": 0.41765719652175903, "actor_loss": -8.763311386108398, "critic_loss": 0.045064400881528854, "reward": 0.07195650786161423, "falls": 2, "interval_steps": 10, "velocity_mae": [0.24405503273010254, 0.15575803816318512, 0.25247621536254883], "policy_updates": 34180, "skipped_updates": 0, "invalid_env_resets": 44, "elapsed_s": 5572.378418558, "contact_bce": 0.3178509473800659, "contact_force_loss": 0.032654549926519394, "terrain_level_mean": 3.139404296875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3349609375, "command_abs_max": [1.9984357357025146, 0.9983316659927368, 2.995879650115967]}
{"step": 34290, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 34290, "total_transitions": 140451840, "num_steps_per_env": 1, "wm_loss": 0.45910921692848206, "actor_loss": -8.770291328430176, "critic_loss": 0.02323978953063488, "reward": 0.07193925231695175, "falls": 6, "interval_steps": 10, "velocity_mae": [0.24874930083751678, 0.1546865701675415, 0.2509280741214752], "policy_updates": 34190, "skipped_updates": 0, "invalid_env_resets": 44, "elapsed_s": 5575.8886487849995, "contact_bce": 0.313544899225235, "contact_force_loss": 0.03234933316707611, "terrain_level_mean": 3.138671875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3359375, "command_abs_max": [1.9984357357025146, 0.9983316659927368, 2.995879650115967]}
RECOVERY reset 1 invalid environments; first IDs=[646]
{"step": 34300, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 34300, "total_transitions": 140492800, "num_steps_per_env": 1, "wm_loss": 0.4596375524997711, "actor_loss": -8.763725280761719, "critic_loss": 0.024468321353197098, "reward": 0.07172031700611115, "falls": 3, "interval_steps": 10, "velocity_mae": [0.24745917320251465, 0.15514251589775085, 0.2515025734901428], "policy_updates": 34200, "skipped_updates": 0, "invalid_env_resets": 45, "elapsed_s": 5579.410354975999, "contact_bce": 0.31009015440940857, "contact_force_loss": 0.032672490924596786, "terrain_level_mean": 3.138427734375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3388671875, "command_abs_max": [1.9984357357025146, 0.9983316659927368, 2.995879650115967]}
{"step": 34310, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 34310, "total_transitions": 140533760, "num_steps_per_env": 1, "wm_loss": 0.4444546401500702, "actor_loss": -8.736929893493652, "critic_loss": 0.030260134488344193, "reward": 0.07178274542093277, "falls": 3, "interval_steps": 10, "velocity_mae": [0.24265103042125702, 0.15415740013122559, 0.2484370321035385], "policy_updates": 34210, "skipped_updates": 0, "invalid_env_resets": 45, "elapsed_s": 5582.925923434999, "contact_bce": 0.31839796900749207, "contact_force_loss": 0.03261350840330124, "terrain_level_mean": 3.13818359375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3369140625, "command_abs_max": [1.9984357357025146, 0.9983316659927368, 2.995879650115967]}
RECOVERY reset 1 invalid environments; first IDs=[532]
{"step": 34320, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 34320, "total_transitions": 140574720, "num_steps_per_env": 1, "wm_loss": 0.46470722556114197, "actor_loss": -8.81442642211914, "critic_loss": 0.02476705051958561, "reward": 0.07207097858190536, "falls": 3, "interval_steps": 10, "velocity_mae": [0.23928721249103546, 0.15222138166427612, 0.2512627840042114], "policy_updates": 34220, "skipped_updates": 0, "invalid_env_resets": 46, "elapsed_s": 5586.451222121, "contact_bce": 0.31993234157562256, "contact_force_loss": 0.03207603096961975, "terrain_level_mean": 3.138916015625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.338623046875, "command_abs_max": [1.9984357357025146, 0.9983316659927368, 2.995879650115967]}
{"step": 34330, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 34330, "total_transitions": 140615680, "num_steps_per_env": 1, "wm_loss": 0.40794244408607483, "actor_loss": -8.782130241394043, "critic_loss": 0.027678249403834343, "reward": 0.07184050977230072, "falls": 3, "interval_steps": 10, "velocity_mae": [0.23845726251602173, 0.15306740999221802, 0.24944259226322174], "policy_updates": 34230, "skipped_updates": 0, "invalid_env_resets": 46, "elapsed_s": 5589.972310712, "contact_bce": 0.31472718715667725, "contact_force_loss": 0.03171593323349953, "terrain_level_mean": 3.139892578125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.33935546875, "command_abs_max": [1.9984357357025146, 0.9983316659927368, 2.995879650115967]}
{"step": 34340, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 34340, "total_transitions": 140656640, "num_steps_per_env": 1, "wm_loss": 0.461200088262558, "actor_loss": -8.796442031860352, "critic_loss": 0.025931382551789284, "reward": 0.07197362929582596, "falls": 5, "interval_steps": 10, "velocity_mae": [0.23684468865394592, 0.15228314697742462, 0.24785757064819336], "policy_updates": 34240, "skipped_updates": 0, "invalid_env_resets": 46, "elapsed_s": 5593.4815536569995, "contact_bce": 0.3173668682575226, "contact_force_loss": 0.032632723450660706, "terrain_level_mean": 3.14013671875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3388671875, "command_abs_max": [1.9984357357025146, 0.9983316659927368, 2.995879650115967]}
{"step": 34350, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 34350, "total_transitions": 140697600, "num_steps_per_env": 1, "wm_loss": 0.4501653015613556, "actor_loss": -8.752552032470703, "critic_loss": 0.02540629543364048, "reward": 0.07137518376111984, "falls": 4, "interval_steps": 10, "velocity_mae": [0.24281008541584015, 0.15432974696159363, 0.2527543306350708], "policy_updates": 34250, "skipped_updates": 0, "invalid_env_resets": 46, "elapsed_s": 5596.9929282739995, "contact_bce": 0.3191368579864502, "contact_force_loss": 0.03287787362933159, "terrain_level_mean": 3.139892578125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.34130859375, "command_abs_max": [1.9984357357025146, 0.9983316659927368, 2.995879650115967]}
{"step": 34360, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 34360, "total_transitions": 140738560, "num_steps_per_env": 1, "wm_loss": 0.4423755705356598, "actor_loss": -8.730968475341797, "critic_loss": 0.018815984949469566, "reward": 0.07150710374116898, "falls": 5, "interval_steps": 10, "velocity_mae": [0.2465895414352417, 0.15191935002803802, 0.25138020515441895], "policy_updates": 34260, "skipped_updates": 0, "invalid_env_resets": 46, "elapsed_s": 5600.5010149889995, "contact_bce": 0.3211311399936676, "contact_force_loss": 0.032379698008298874, "terrain_level_mean": 3.139404296875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3427734375, "command_abs_max": [1.9984357357025146, 0.9989240765571594, 2.995879650115967]}
{"step": 34370, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 34370, "total_transitions": 140779520, "num_steps_per_env": 1, "wm_loss": 0.4063153564929962, "actor_loss": -8.77304458618164, "critic_loss": 0.026535356417298317, "reward": 0.07148294150829315, "falls": 3, "interval_steps": 10, "velocity_mae": [0.24362042546272278, 0.15195848047733307, 0.2519327700138092], "policy_updates": 34270, "skipped_updates": 0, "invalid_env_resets": 46, "elapsed_s": 5604.01166347, "contact_bce": 0.3149328827857971, "contact_force_loss": 0.03152075409889221, "terrain_level_mean": 3.139892578125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.342529296875, "command_abs_max": [1.9984357357025146, 0.9989240765571594, 2.995879650115967]}
{"step": 34380, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 34380, "total_transitions": 140820480, "num_steps_per_env": 1, "wm_loss": 0.4248124957084656, "actor_loss": -8.796223640441895, "critic_loss": 0.021857960149645805, "reward": 0.07153701037168503, "falls": 3, "interval_steps": 10, "velocity_mae": [0.24343155324459076, 0.15318217873573303, 0.2558601498603821], "policy_updates": 34280, "skipped_updates": 0, "invalid_env_resets": 46, "elapsed_s": 5607.5228690839995, "contact_bce": 0.3221544325351715, "contact_force_loss": 0.032525915652513504, "terrain_level_mean": 3.139892578125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.34521484375, "command_abs_max": [1.9984357357025146, 0.9989240765571594, 2.995879650115967]}
RECOVERY reset 1 invalid environments; first IDs=[1666]
{"step": 34390, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 34390, "total_transitions": 140861440, "num_steps_per_env": 1, "wm_loss": 0.4577273428440094, "actor_loss": -8.787801742553711, "critic_loss": 0.019488822668790817, "reward": 0.07133612036705017, "falls": 4, "interval_steps": 10, "velocity_mae": [0.245121031999588, 0.15338945388793945, 0.25418198108673096], "policy_updates": 34290, "skipped_updates": 0, "invalid_env_resets": 47, "elapsed_s": 5611.046654094, "contact_bce": 0.32313796877861023, "contact_force_loss": 0.033231399953365326, "terrain_level_mean": 3.140380859375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.345947265625, "command_abs_max": [1.9984357357025146, 0.9989240765571594, 2.995879650115967]}
{"step": 34400, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 34400, "total_transitions": 140902400, "num_steps_per_env": 1, "wm_loss": 0.4295768439769745, "actor_loss": -8.745992660522461, "critic_loss": 0.023348400369286537, "reward": 0.07148849219083786, "falls": 4, "interval_steps": 10, "velocity_mae": [0.2402935028076172, 0.15134157240390778, 0.25176018476486206], "policy_updates": 34300, "skipped_updates": 0, "invalid_env_resets": 47, "elapsed_s": 5614.557113440999, "contact_bce": 0.3161830008029938, "contact_force_loss": 0.03250977396965027, "terrain_level_mean": 3.141357421875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.343505859375, "command_abs_max": [1.9984357357025146, 0.9989240765571594, 2.995879650115967]}
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{"step": 34420, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 34420, "total_transitions": 140984320, "num_steps_per_env": 1, "wm_loss": 0.43539777398109436, "actor_loss": -8.765636444091797, "critic_loss": 0.02498343028128147, "reward": 0.07193080335855484, "falls": 6, "interval_steps": 10, "velocity_mae": [0.24129365384578705, 0.1527334302663803, 0.25229665637016296], "policy_updates": 34320, "skipped_updates": 0, "invalid_env_resets": 47, "elapsed_s": 5621.578001833, "contact_bce": 0.31246915459632874, "contact_force_loss": 0.031858429312705994, "terrain_level_mean": 3.14111328125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.343017578125, "command_abs_max": [1.9984357357025146, 0.9989240765571594, 2.9969136714935303]}
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{"step": 34500, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 34500, "total_transitions": 141312000, "num_steps_per_env": 1, "wm_loss": 0.4395657777786255, "actor_loss": -8.781436920166016, "critic_loss": 0.030613631010055542, "reward": 0.07075848430395126, "falls": 5, "interval_steps": 10, "velocity_mae": [0.24768556654453278, 0.15718171000480652, 0.25239208340644836], "policy_updates": 34400, "skipped_updates": 0, "invalid_env_resets": 47, "elapsed_s": 5649.634163166999, "contact_bce": 0.31623634696006775, "contact_force_loss": 0.03243543580174446, "terrain_level_mean": 3.145263671875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.336669921875, "command_abs_max": [1.9984357357025146, 0.9989240765571594, 2.9969136714935303]}
{"step": 34510, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 34510, "total_transitions": 141352960, "num_steps_per_env": 1, "wm_loss": 0.44085928797721863, "actor_loss": -8.786953926086426, "critic_loss": 0.020898235961794853, "reward": 0.07064139097929001, "falls": 7, "interval_steps": 10, "velocity_mae": [0.2502746284008026, 0.15735533833503723, 0.2565799951553345], "policy_updates": 34410, "skipped_updates": 0, "invalid_env_resets": 47, "elapsed_s": 5653.168574061, "contact_bce": 0.31708863377571106, "contact_force_loss": 0.03215015307068825, "terrain_level_mean": 3.14453125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.33740234375, "command_abs_max": [1.9984357357025146, 0.9989240765571594, 2.9969136714935303]}
{"step": 34520, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 34520, "total_transitions": 141393920, "num_steps_per_env": 1, "wm_loss": 0.4174211919307709, "actor_loss": -8.805915832519531, "critic_loss": 0.0244143046438694, "reward": 0.07074201852083206, "falls": 1, "interval_steps": 10, "velocity_mae": [0.2452901005744934, 0.15854643285274506, 0.25178879499435425], "policy_updates": 34420, "skipped_updates": 0, "invalid_env_resets": 47, "elapsed_s": 5656.682120175, "contact_bce": 0.3171667158603668, "contact_force_loss": 0.031617421656847, "terrain_level_mean": 3.145263671875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.33740234375, "command_abs_max": [1.9984357357025146, 0.9989240765571594, 2.9969136714935303]}
RECOVERY reset 1 invalid environments; first IDs=[2109]
{"step": 34530, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 34530, "total_transitions": 141434880, "num_steps_per_env": 1, "wm_loss": 0.43092799186706543, "actor_loss": -8.824026107788086, "critic_loss": 0.023577868938446045, "reward": 0.07061998546123505, "falls": 5, "interval_steps": 10, "velocity_mae": [0.24302954971790314, 0.15969963371753693, 0.25497305393218994], "policy_updates": 34430, "skipped_updates": 0, "invalid_env_resets": 48, "elapsed_s": 5660.471183844999, "contact_bce": 0.31472674012184143, "contact_force_loss": 0.032555703073740005, "terrain_level_mean": 3.145751953125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.33642578125, "command_abs_max": [1.9990837574005127, 0.9989240765571594, 2.993821620941162]}
RECOVERY reset 1 invalid environments; first IDs=[2148]
{"step": 34540, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 34540, "total_transitions": 141475840, "num_steps_per_env": 1, "wm_loss": 0.4134044051170349, "actor_loss": -8.782007217407227, "critic_loss": 0.015897801145911217, "reward": 0.07050176709890366, "falls": 7, "interval_steps": 10, "velocity_mae": [0.24318186938762665, 0.1610359102487564, 0.2530069351196289], "policy_updates": 34440, "skipped_updates": 0, "invalid_env_resets": 49, "elapsed_s": 5663.9969922949995, "contact_bce": 0.31835460662841797, "contact_force_loss": 0.0327490009367466, "terrain_level_mean": 3.1455078125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.334228515625, "command_abs_max": [1.9990837574005127, 0.9989240765571594, 2.993821620941162]}
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{"step": 34570, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 34570, "total_transitions": 141598720, "num_steps_per_env": 1, "wm_loss": 0.45786523818969727, "actor_loss": -8.80810260772705, "critic_loss": 0.021515363827347755, "reward": 0.07129782438278198, "falls": 3, "interval_steps": 10, "velocity_mae": [0.24103733897209167, 0.1542729288339615, 0.2530568838119507], "policy_updates": 34470, "skipped_updates": 0, "invalid_env_resets": 49, "elapsed_s": 5674.5389273969995, "contact_bce": 0.31917449831962585, "contact_force_loss": 0.0320749431848526, "terrain_level_mean": 3.146484375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.329833984375, "command_abs_max": [1.9990837574005127, 0.9989972114562988, 2.993821620941162]}
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{"step": 34590, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 34590, "total_transitions": 141680640, "num_steps_per_env": 1, "wm_loss": 0.42585548758506775, "actor_loss": -8.75949478149414, "critic_loss": 0.01639666222035885, "reward": 0.07100188732147217, "falls": 6, "interval_steps": 10, "velocity_mae": [0.23938609659671783, 0.15395091474056244, 0.24900275468826294], "policy_updates": 34490, "skipped_updates": 0, "invalid_env_resets": 49, "elapsed_s": 5681.564164246, "contact_bce": 0.31443920731544495, "contact_force_loss": 0.032601214945316315, "terrain_level_mean": 3.14501953125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.325439453125, "command_abs_max": [1.9990837574005127, 0.9989972114562988, 2.997299909591675]}
{"step": 34600, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 34600, "total_transitions": 141721600, "num_steps_per_env": 1, "wm_loss": 0.45700058341026306, "actor_loss": -8.798908233642578, "critic_loss": 0.024071043357253075, "reward": 0.07135334610939026, "falls": 5, "interval_steps": 10, "velocity_mae": [0.2344246506690979, 0.14993226528167725, 0.24832604825496674], "policy_updates": 34500, "skipped_updates": 0, "invalid_env_resets": 49, "elapsed_s": 5685.073965676999, "contact_bce": 0.31981897354125977, "contact_force_loss": 0.03261488303542137, "terrain_level_mean": 3.145263671875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3251953125, "command_abs_max": [1.9990837574005127, 0.9989972114562988, 2.997299909591675]}
RECOVERY reset 1 invalid environments; first IDs=[2212]
{"step": 34610, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 34610, "total_transitions": 141762560, "num_steps_per_env": 1, "wm_loss": 0.4011000692844391, "actor_loss": -8.746996879577637, "critic_loss": 0.018691908568143845, "reward": 0.07131665199995041, "falls": 6, "interval_steps": 10, "velocity_mae": [0.23342929780483246, 0.15087495744228363, 0.251508504152298], "policy_updates": 34510, "skipped_updates": 0, "invalid_env_resets": 50, "elapsed_s": 5688.607925636, "contact_bce": 0.3136521279811859, "contact_force_loss": 0.03139539808034897, "terrain_level_mean": 3.14453125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3251953125, "command_abs_max": [1.9990837574005127, 0.9989972114562988, 2.997299909591675]}
{"step": 34620, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 34620, "total_transitions": 141803520, "num_steps_per_env": 1, "wm_loss": 0.43720534443855286, "actor_loss": -8.800006866455078, "critic_loss": 0.0214630588889122, "reward": 0.0718921422958374, "falls": 4, "interval_steps": 10, "velocity_mae": [0.22999629378318787, 0.151882603764534, 0.251957505941391], "policy_updates": 34520, "skipped_updates": 0, "invalid_env_resets": 50, "elapsed_s": 5692.127526296, "contact_bce": 0.3166908919811249, "contact_force_loss": 0.032517313957214355, "terrain_level_mean": 3.14501953125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.323974609375, "command_abs_max": [1.9990837574005127, 0.9989972114562988, 2.997299909591675]}
{"step": 34630, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 34630, "total_transitions": 141844480, "num_steps_per_env": 1, "wm_loss": 0.44789379835128784, "actor_loss": -8.801551818847656, "critic_loss": 0.028895659372210503, "reward": 0.07175671309232712, "falls": 4, "interval_steps": 10, "velocity_mae": [0.23517662286758423, 0.14980670809745789, 0.25049588084220886], "policy_updates": 34530, "skipped_updates": 0, "invalid_env_resets": 50, "elapsed_s": 5695.63053829, "contact_bce": 0.3206685185432434, "contact_force_loss": 0.031941935420036316, "terrain_level_mean": 3.145263671875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.323486328125, "command_abs_max": [1.9990837574005127, 0.9989972114562988, 2.997299909591675]}
RECOVERY reset 1 invalid environments; first IDs=[1023]
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{"step": 34700, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 34700, "total_transitions": 142131200, "num_steps_per_env": 1, "wm_loss": 0.4254719316959381, "actor_loss": -8.792356491088867, "critic_loss": 0.022900624200701714, "reward": 0.07118476182222366, "falls": 7, "interval_steps": 10, "velocity_mae": [0.23546038568019867, 0.15651315450668335, 0.25312572717666626], "policy_updates": 34600, "skipped_updates": 0, "invalid_env_resets": 51, "elapsed_s": 5720.206496168, "contact_bce": 0.31235775351524353, "contact_force_loss": 0.031749870628118515, "terrain_level_mean": 3.143310546875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.328125, "command_abs_max": [1.9990837574005127, 0.9999018907546997, 2.997299909591675]}
RECOVERY reset 1 invalid environments; first IDs=[751]
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{"step": 34760, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 34760, "total_transitions": 142376960, "num_steps_per_env": 1, "wm_loss": 0.43970516324043274, "actor_loss": -8.721038818359375, "critic_loss": 0.02687698043882847, "reward": 0.0707068145275116, "falls": 7, "interval_steps": 10, "velocity_mae": [0.24751625955104828, 0.15202169120311737, 0.2534514367580414], "policy_updates": 34660, "skipped_updates": 0, "invalid_env_resets": 52, "elapsed_s": 5741.304265952999, "contact_bce": 0.31355151534080505, "contact_force_loss": 0.03166026622056961, "terrain_level_mean": 3.140869140625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3291015625, "command_abs_max": [1.9981458187103271, 0.9999018907546997, 2.997299909591675]}
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RECOVERY reset 1 invalid environments; first IDs=[1293]
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{"step": 35030, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 35030, "total_transitions": 143482880, "num_steps_per_env": 1, "wm_loss": 0.42416998744010925, "actor_loss": -8.787089347839355, "critic_loss": 0.03435736894607544, "reward": 0.07122088968753815, "falls": 12, "interval_steps": 10, "velocity_mae": [0.2401682585477829, 0.16019031405448914, 0.25389233231544495], "policy_updates": 34930, "skipped_updates": 0, "invalid_env_resets": 53, "elapsed_s": 5836.572027405, "contact_bce": 0.3131212592124939, "contact_force_loss": 0.031007234007120132, "terrain_level_mean": 3.146728515625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.343017578125, "command_abs_max": [1.9985475540161133, 0.9988827109336853, 2.9926695823669434]}
{"step": 35040, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 35040, "total_transitions": 143523840, "num_steps_per_env": 1, "wm_loss": 0.43041664361953735, "actor_loss": -8.763126373291016, "critic_loss": 0.02822534739971161, "reward": 0.07128893584012985, "falls": 5, "interval_steps": 10, "velocity_mae": [0.2385670244693756, 0.15727698802947998, 0.2534380257129669], "policy_updates": 34940, "skipped_updates": 0, "invalid_env_resets": 53, "elapsed_s": 5840.102471644999, "contact_bce": 0.31829169392585754, "contact_force_loss": 0.03204584866762161, "terrain_level_mean": 3.147216796875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.34521484375, "command_abs_max": [1.9985475540161133, 0.9988827109336853, 2.9955201148986816]}
RECOVERY reset 1 invalid environments; first IDs=[838]
{"step": 35050, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 35050, "total_transitions": 143564800, "num_steps_per_env": 1, "wm_loss": 0.4530368149280548, "actor_loss": -8.790718078613281, "critic_loss": 0.028191452845931053, "reward": 0.07145025581121445, "falls": 5, "interval_steps": 10, "velocity_mae": [0.23819050192832947, 0.15638865530490875, 0.2560276389122009], "policy_updates": 34950, "skipped_updates": 0, "invalid_env_resets": 54, "elapsed_s": 5843.640876349999, "contact_bce": 0.3174622356891632, "contact_force_loss": 0.032193005084991455, "terrain_level_mean": 3.147705078125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3486328125, "command_abs_max": [1.9985475540161133, 0.9988827109336853, 2.9955201148986816]}
{"step": 35060, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 35060, "total_transitions": 143605760, "num_steps_per_env": 1, "wm_loss": 0.4057184159755707, "actor_loss": -8.776805877685547, "critic_loss": 0.029753481969237328, "reward": 0.07148726284503937, "falls": 4, "interval_steps": 10, "velocity_mae": [0.2442702054977417, 0.15394963324069977, 0.25601884722709656], "policy_updates": 34960, "skipped_updates": 0, "invalid_env_resets": 54, "elapsed_s": 5847.163657864, "contact_bce": 0.31429919600486755, "contact_force_loss": 0.031614888459444046, "terrain_level_mean": 3.148193359375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.345458984375, "command_abs_max": [1.9985475540161133, 0.9988827109336853, 2.9955201148986816]}
{"step": 35070, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 35070, "total_transitions": 143646720, "num_steps_per_env": 1, "wm_loss": 0.43856558203697205, "actor_loss": -8.725232124328613, "critic_loss": 0.031234610825777054, "reward": 0.07143349200487137, "falls": 11, "interval_steps": 10, "velocity_mae": [0.24468611180782318, 0.15603840351104736, 0.25083640217781067], "policy_updates": 34970, "skipped_updates": 0, "invalid_env_resets": 54, "elapsed_s": 5850.684987338999, "contact_bce": 0.310376912355423, "contact_force_loss": 0.03168768435716629, "terrain_level_mean": 3.146240234375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.34765625, "command_abs_max": [1.9985475540161133, 0.9988827109336853, 2.9955201148986816]}
{"step": 35080, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 35080, "total_transitions": 143687680, "num_steps_per_env": 1, "wm_loss": 0.43963587284088135, "actor_loss": -8.813899993896484, "critic_loss": 0.022453442215919495, "reward": 0.07175364345312119, "falls": 5, "interval_steps": 10, "velocity_mae": [0.2432897388935089, 0.15598197281360626, 0.24693360924720764], "policy_updates": 34980, "skipped_updates": 0, "invalid_env_resets": 54, "elapsed_s": 5854.20561862, "contact_bce": 0.3177333474159241, "contact_force_loss": 0.031746506690979004, "terrain_level_mean": 3.14599609375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.350830078125, "command_abs_max": [1.9985475540161133, 0.9988827109336853, 2.9955201148986816]}
RECOVERY reset 1 invalid environments; first IDs=[1004]
{"step": 35090, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 35090, "total_transitions": 143728640, "num_steps_per_env": 1, "wm_loss": 0.41724899411201477, "actor_loss": -8.766433715820312, "critic_loss": 0.03452206030488014, "reward": 0.0714230164885521, "falls": 6, "interval_steps": 10, "velocity_mae": [0.23999661207199097, 0.15833525359630585, 0.2521023452281952], "policy_updates": 34990, "skipped_updates": 0, "invalid_env_resets": 55, "elapsed_s": 5857.729718901, "contact_bce": 0.31214696168899536, "contact_force_loss": 0.03157445043325424, "terrain_level_mean": 3.14599609375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.35205078125, "command_abs_max": [1.9985475540161133, 0.9988827109336853, 2.9955201148986816]}
{"step": 35100, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 35100, "total_transitions": 143769600, "num_steps_per_env": 1, "wm_loss": 0.44603750109672546, "actor_loss": -8.765958786010742, "critic_loss": 0.027723688632249832, "reward": 0.0711018368601799, "falls": 3, "interval_steps": 10, "velocity_mae": [0.24348482489585876, 0.15824341773986816, 0.25227823853492737], "policy_updates": 35000, "skipped_updates": 0, "invalid_env_resets": 55, "elapsed_s": 5861.2337149019995, "contact_bce": 0.3169389069080353, "contact_force_loss": 0.0324442982673645, "terrain_level_mean": 3.1474609375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.35302734375, "command_abs_max": [1.9985475540161133, 0.9988827109336853, 2.9955201148986816]}

+---------------------------------+
|         Base Environment        |
+------------------------+--------+
| Property               | Value  |
+------------------------+--------+
| Number of environments | 1      |
| Environment device     | cuda:0 |
| Environment seed       | None   |
| Physics step-size      | 0.005  |
| Environment step-size  | 0.02   |
+------------------------+--------+

[INFO] <EventManager> contains 1 active terms.
+-------------------------------------+
| Active Event Terms in Mode: 'reset' |
+--------+----------------------------+
| Index  | Name                       |
+--------+----------------------------+
|   0    | reset_base                 |
|   1    | reset_robot_joints         |
+--------+----------------------------+

[INFO] <CommandManager> contains 1 active terms.
+----------------------------------------+
|          Active Command Terms          |
+-------+-------+------------------------+
| Index | Name  |          Type          |
+-------+-------+------------------------+
|   0   | twist | UniformVelocityCommand |
+-------+-------+------------------------+

[INFO] <ActionManager> contains 2 active terms.
+---------------------------------+
| Active Action Terms (shape: 16) |
+-------+-----------+-------------+
| Index | Name      |   Dimension |
+-------+-----------+-------------+
|   0   | joint_pos |          12 |
|   1   | wheel_vel |           4 |
+-------+-----------+-------------+

[INFO] <ObservationManager> contains 1 groups.
+------------------------------------------------------------+
| Active Observation Terms in Group: 'actor' (shape: (265,)) |
+--------+-------------------------+-------------------------+
| Index  | Name                    |          Shape          |
+--------+-------------------------+-------------------------+
|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
|   5    | actions                 |     (80,)  ← 5×(16,)    |
|   6    | command                 |     (15,)  ← 5×(3,)     |
+--------+-------------------------+-------------------------+

[INFO] <TerminationManager> contains 3 active terms.
+--------------------------------+
|    Active Termination Terms    |
+-------+-------------+----------+
| Index | Name        | Time Out |
+-------+-------------+----------+
|   0   | time_out    |   True   |
|   1   | fell_over   |  False   |
|   2   | course_exit |   True   |
+-------+-------------+----------+

[INFO] <RewardManager> contains 0 active terms.
+-----------------------+
|  Active Reward Terms  |
+-------+------+--------+
| Index | Name | Weight |
+-------+------+--------+
+-------+------+--------+

[INFO] <NullCurriculumManager> (inactive)
[INFO] <NullMetricsManager> (inactive)
[INFO] <NullRecorderManager> (inactive)
S10 video saved: logs/s10_terrain_v4_50k_full/videos/iteration_035100.mp4
{"step": 35110, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 35110, "total_transitions": 143810560, "num_steps_per_env": 1, "wm_loss": 0.453825443983078, "actor_loss": -8.779258728027344, "critic_loss": 0.029327070340514183, "reward": 0.0709124431014061, "falls": 4, "interval_steps": 10, "velocity_mae": [0.24799005687236786, 0.15700998902320862, 0.2535083293914795], "policy_updates": 35010, "skipped_updates": 0, "invalid_env_resets": 55, "elapsed_s": 5870.576720532999, "contact_bce": 0.3189007341861725, "contact_force_loss": 0.032153815031051636, "terrain_level_mean": 3.147216796875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.35205078125, "command_abs_max": [1.9985475540161133, 0.9988827109336853, 2.9955201148986816]}
{"step": 35120, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 35120, "total_transitions": 143851520, "num_steps_per_env": 1, "wm_loss": 0.42349910736083984, "actor_loss": -8.808266639709473, "critic_loss": 0.02438543178141117, "reward": 0.07100314646959305, "falls": 6, "interval_steps": 10, "velocity_mae": [0.24567130208015442, 0.1585560292005539, 0.25267672538757324], "policy_updates": 35020, "skipped_updates": 0, "invalid_env_resets": 55, "elapsed_s": 5874.082335806999, "contact_bce": 0.3152136206626892, "contact_force_loss": 0.03232602775096893, "terrain_level_mean": 3.147216796875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.350341796875, "command_abs_max": [1.9985475540161133, 0.9988827109336853, 2.9955201148986816]}
{"step": 35130, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 35130, "total_transitions": 143892480, "num_steps_per_env": 1, "wm_loss": 0.43429121375083923, "actor_loss": -8.693954467773438, "critic_loss": 0.0357038788497448, "reward": 0.07097586244344711, "falls": 9, "interval_steps": 10, "velocity_mae": [0.24566949903964996, 0.15883950889110565, 0.2552836537361145], "policy_updates": 35030, "skipped_updates": 0, "invalid_env_resets": 55, "elapsed_s": 5877.584165087999, "contact_bce": 0.31724849343299866, "contact_force_loss": 0.03172517940402031, "terrain_level_mean": 3.14697265625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.352294921875, "command_abs_max": [1.9985475540161133, 0.9988827109336853, 2.9955201148986816]}
{"step": 35140, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 35140, "total_transitions": 143933440, "num_steps_per_env": 1, "wm_loss": 0.4468405842781067, "actor_loss": -8.784542083740234, "critic_loss": 0.02680286578834057, "reward": 0.07119791954755783, "falls": 4, "interval_steps": 10, "velocity_mae": [0.24695758521556854, 0.1577194482088089, 0.2549320161342621], "policy_updates": 35040, "skipped_updates": 0, "invalid_env_resets": 55, "elapsed_s": 5881.093599105, "contact_bce": 0.3113120198249817, "contact_force_loss": 0.032047152519226074, "terrain_level_mean": 3.14697265625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.355712890625, "command_abs_max": [1.9985475540161133, 0.9988827109336853, 2.9955201148986816]}
{"step": 35150, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 35150, "total_transitions": 143974400, "num_steps_per_env": 1, "wm_loss": 0.4423944354057312, "actor_loss": -8.767513275146484, "critic_loss": 0.024010585620999336, "reward": 0.07165787369012833, "falls": 7, "interval_steps": 10, "velocity_mae": [0.24217304587364197, 0.15779763460159302, 0.24837049841880798], "policy_updates": 35050, "skipped_updates": 0, "invalid_env_resets": 55, "elapsed_s": 5884.610520046, "contact_bce": 0.3116118609905243, "contact_force_loss": 0.032099612057209015, "terrain_level_mean": 3.146240234375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.354248046875, "command_abs_max": [1.9985475540161133, 0.9988827109336853, 2.9958667755126953]}
{"step": 35160, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 35160, "total_transitions": 144015360, "num_steps_per_env": 1, "wm_loss": 0.43918904662132263, "actor_loss": -8.733054161071777, "critic_loss": 0.030162686482071877, "reward": 0.07199501246213913, "falls": 5, "interval_steps": 10, "velocity_mae": [0.23574168980121613, 0.15608611702919006, 0.2512599527835846], "policy_updates": 35060, "skipped_updates": 0, "invalid_env_resets": 55, "elapsed_s": 5888.124468897, "contact_bce": 0.309800386428833, "contact_force_loss": 0.03154764696955681, "terrain_level_mean": 3.145751953125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.357177734375, "command_abs_max": [1.9985475540161133, 0.9988827109336853, 2.9958667755126953]}
{"step": 35170, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 35170, "total_transitions": 144056320, "num_steps_per_env": 1, "wm_loss": 0.4259406626224518, "actor_loss": -8.781241416931152, "critic_loss": 0.03647474944591522, "reward": 0.0721723735332489, "falls": 3, "interval_steps": 10, "velocity_mae": [0.23482495546340942, 0.15633568167686462, 0.2507070302963257], "policy_updates": 35070, "skipped_updates": 0, "invalid_env_resets": 55, "elapsed_s": 5891.6387125579995, "contact_bce": 0.3150536119937897, "contact_force_loss": 0.03244083374738693, "terrain_level_mean": 3.146728515625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.35546875, "command_abs_max": [1.9985475540161133, 0.9982502460479736, 2.9958667755126953]}
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{"step": 35440, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 35440, "total_transitions": 145162240, "num_steps_per_env": 1, "wm_loss": 0.42299941182136536, "actor_loss": -8.7675142288208, "critic_loss": 0.02098430134356022, "reward": 0.07097480446100235, "falls": 7, "interval_steps": 10, "velocity_mae": [0.25137004256248474, 0.16120290756225586, 0.2505982220172882], "policy_updates": 35340, "skipped_updates": 0, "invalid_env_resets": 55, "elapsed_s": 5986.377818207, "contact_bce": 0.3080102801322937, "contact_force_loss": 0.03173327445983887, "terrain_level_mean": 3.146728515625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3486328125, "command_abs_max": [1.999741792678833, 0.9985076189041138, 2.999603033065796]}
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{"step": 35470, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 35470, "total_transitions": 145285120, "num_steps_per_env": 1, "wm_loss": 0.43465280532836914, "actor_loss": -8.741697311401367, "critic_loss": 0.03067420795559883, "reward": 0.07108338922262192, "falls": 3, "interval_steps": 10, "velocity_mae": [0.24376557767391205, 0.1584865152835846, 0.25562041997909546], "policy_updates": 35370, "skipped_updates": 0, "invalid_env_resets": 55, "elapsed_s": 5996.910993259, "contact_bce": 0.3143799901008606, "contact_force_loss": 0.032110102474689484, "terrain_level_mean": 3.14892578125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.34814453125, "command_abs_max": [1.9964669942855835, 0.9985076189041138, 2.999603033065796]}
RECOVERY reset 1 invalid environments; first IDs=[1122]
{"step": 35480, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 35480, "total_transitions": 145326080, "num_steps_per_env": 1, "wm_loss": 0.4460580348968506, "actor_loss": -8.711318969726562, "critic_loss": 0.03622984513640404, "reward": 0.0707385241985321, "falls": 4, "interval_steps": 10, "velocity_mae": [0.2480037659406662, 0.16205176711082458, 0.2584998905658722], "policy_updates": 35380, "skipped_updates": 0, "invalid_env_resets": 56, "elapsed_s": 6000.444576162, "contact_bce": 0.31728580594062805, "contact_force_loss": 0.0318756066262722, "terrain_level_mean": 3.1484375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3466796875, "command_abs_max": [1.9964669942855835, 0.9985076189041138, 2.999603033065796]}
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{"step": 35510, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 35510, "total_transitions": 145448960, "num_steps_per_env": 1, "wm_loss": 0.44198405742645264, "actor_loss": -8.739198684692383, "critic_loss": 0.02783930115401745, "reward": 0.07079456001520157, "falls": 5, "interval_steps": 10, "velocity_mae": [0.24965454638004303, 0.15466530621051788, 0.2560420334339142], "policy_updates": 35410, "skipped_updates": 0, "invalid_env_resets": 56, "elapsed_s": 6011.028992666999, "contact_bce": 0.31307435035705566, "contact_force_loss": 0.031717728823423386, "terrain_level_mean": 3.14794921875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.343994140625, "command_abs_max": [1.9964669942855835, 0.9985076189041138, 2.997452735900879]}
{"step": 35520, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 35520, "total_transitions": 145489920, "num_steps_per_env": 1, "wm_loss": 0.4560960531234741, "actor_loss": -8.749505996704102, "critic_loss": 0.02762208692729473, "reward": 0.07108137756586075, "falls": 7, "interval_steps": 10, "velocity_mae": [0.2474825531244278, 0.15579403936862946, 0.25257089734077454], "policy_updates": 35420, "skipped_updates": 0, "invalid_env_resets": 56, "elapsed_s": 6014.807375621, "contact_bce": 0.31338122487068176, "contact_force_loss": 0.03243013843894005, "terrain_level_mean": 3.14697265625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.347412109375, "command_abs_max": [1.9964669942855835, 0.9985076189041138, 2.997452735900879]}
{"step": 35530, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 35530, "total_transitions": 145530880, "num_steps_per_env": 1, "wm_loss": 0.4477114677429199, "actor_loss": -8.733362197875977, "critic_loss": 0.03459148108959198, "reward": 0.0707816630601883, "falls": 4, "interval_steps": 10, "velocity_mae": [0.24958641827106476, 0.15733365714550018, 0.25734826922416687], "policy_updates": 35430, "skipped_updates": 0, "invalid_env_resets": 56, "elapsed_s": 6018.328060932, "contact_bce": 0.3118025064468384, "contact_force_loss": 0.03220619633793831, "terrain_level_mean": 3.147216796875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.34423828125, "command_abs_max": [1.9964669942855835, 0.9985076189041138, 2.997452735900879]}
{"step": 35540, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 35540, "total_transitions": 145571840, "num_steps_per_env": 1, "wm_loss": 0.4599073529243469, "actor_loss": -8.767688751220703, "critic_loss": 0.024443482980132103, "reward": 0.07113324850797653, "falls": 3, "interval_steps": 10, "velocity_mae": [0.24976906180381775, 0.1567785143852234, 0.2559039294719696], "policy_updates": 35440, "skipped_updates": 0, "invalid_env_resets": 56, "elapsed_s": 6021.851190753, "contact_bce": 0.3126814067363739, "contact_force_loss": 0.03210919350385666, "terrain_level_mean": 3.147705078125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.345458984375, "command_abs_max": [1.9964669942855835, 0.9985076189041138, 2.997452735900879]}
RECOVERY reset 1 invalid environments; first IDs=[1568]
{"step": 35550, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 35550, "total_transitions": 145612800, "num_steps_per_env": 1, "wm_loss": 0.4448089897632599, "actor_loss": -8.729072570800781, "critic_loss": 0.019459323957562447, "reward": 0.07067293673753738, "falls": 4, "interval_steps": 10, "velocity_mae": [0.2514086663722992, 0.15871594846248627, 0.2566027045249939], "policy_updates": 35450, "skipped_updates": 0, "invalid_env_resets": 57, "elapsed_s": 6025.375963232999, "contact_bce": 0.323151171207428, "contact_force_loss": 0.03284125030040741, "terrain_level_mean": 3.14697265625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.346923828125, "command_abs_max": [1.9964669942855835, 0.9985076189041138, 2.997452735900879]}
{"step": 35560, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 35560, "total_transitions": 145653760, "num_steps_per_env": 1, "wm_loss": 0.42717379331588745, "actor_loss": -8.75071907043457, "critic_loss": 0.02569388784468174, "reward": 0.07031425088644028, "falls": 12, "interval_steps": 10, "velocity_mae": [0.2538529932498932, 0.15932874381542206, 0.2591629922389984], "policy_updates": 35460, "skipped_updates": 0, "invalid_env_resets": 57, "elapsed_s": 6028.883877251999, "contact_bce": 0.3122667670249939, "contact_force_loss": 0.03184396028518677, "terrain_level_mean": 3.145751953125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3466796875, "command_abs_max": [1.9964669942855835, 0.9985076189041138, 2.997452735900879]}
{"step": 35570, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 35570, "total_transitions": 145694720, "num_steps_per_env": 1, "wm_loss": 0.42277562618255615, "actor_loss": -8.756121635437012, "critic_loss": 0.0269462950527668, "reward": 0.07043341547250748, "falls": 4, "interval_steps": 10, "velocity_mae": [0.25556680560112, 0.1598527580499649, 0.25678750872612], "policy_updates": 35470, "skipped_updates": 0, "invalid_env_resets": 57, "elapsed_s": 6032.390060809999, "contact_bce": 0.31330209970474243, "contact_force_loss": 0.03206900507211685, "terrain_level_mean": 3.146240234375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.340576171875, "command_abs_max": [1.9954891204833984, 0.9985076189041138, 2.997452735900879]}
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RECOVERY reset 1 invalid environments; first IDs=[2154]
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{"step": 37230, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 37230, "total_transitions": 152494080, "num_steps_per_env": 1, "wm_loss": 0.40788817405700684, "actor_loss": -8.754751205444336, "critic_loss": 0.03135829046368599, "reward": 0.07133075594902039, "falls": 5, "interval_steps": 10, "velocity_mae": [0.24140247702598572, 0.15759778022766113, 0.2578791379928589], "policy_updates": 37130, "skipped_updates": 0, "invalid_env_resets": 58, "elapsed_s": 6616.315737934, "contact_bce": 0.31289762258529663, "contact_force_loss": 0.03228488191962242, "terrain_level_mean": 3.162109375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.350830078125, "command_abs_max": [1.99946928024292, 0.99849534034729, 2.9960222244262695]}
RECOVERY reset 1 invalid environments; first IDs=[657]
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{"step": 37800, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 37800, "total_transitions": 154828800, "num_steps_per_env": 1, "wm_loss": 0.4402683973312378, "actor_loss": -8.724776268005371, "critic_loss": 0.025998203083872795, "reward": 0.07094498723745346, "falls": 3, "interval_steps": 10, "velocity_mae": [0.24081109464168549, 0.161915123462677, 0.2507506012916565], "policy_updates": 37700, "skipped_updates": 0, "invalid_env_resets": 59, "elapsed_s": 6817.182499285999, "contact_bce": 0.3162197172641754, "contact_force_loss": 0.0328107550740242, "terrain_level_mean": 3.167724609375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.33837890625, "command_abs_max": [1.9977445602416992, 0.9985311031341553, 2.995980978012085]}

+---------------------------------+
|         Base Environment        |
+------------------------+--------+
| Property               | Value  |
+------------------------+--------+
| Number of environments | 1      |
| Environment device     | cuda:0 |
| Environment seed       | None   |
| Physics step-size      | 0.005  |
| Environment step-size  | 0.02   |
+------------------------+--------+

[INFO] <EventManager> contains 1 active terms.
+-------------------------------------+
| Active Event Terms in Mode: 'reset' |
+--------+----------------------------+
| Index  | Name                       |
+--------+----------------------------+
|   0    | reset_base                 |
|   1    | reset_robot_joints         |
+--------+----------------------------+

[INFO] <CommandManager> contains 1 active terms.
+----------------------------------------+
|          Active Command Terms          |
+-------+-------+------------------------+
| Index | Name  |          Type          |
+-------+-------+------------------------+
|   0   | twist | UniformVelocityCommand |
+-------+-------+------------------------+

[INFO] <ActionManager> contains 2 active terms.
+---------------------------------+
| Active Action Terms (shape: 16) |
+-------+-----------+-------------+
| Index | Name      |   Dimension |
+-------+-----------+-------------+
|   0   | joint_pos |          12 |
|   1   | wheel_vel |           4 |
+-------+-----------+-------------+

[INFO] <ObservationManager> contains 1 groups.
+------------------------------------------------------------+
| Active Observation Terms in Group: 'actor' (shape: (265,)) |
+--------+-------------------------+-------------------------+
| Index  | Name                    |          Shape          |
+--------+-------------------------+-------------------------+
|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
|   5    | actions                 |     (80,)  ← 5×(16,)    |
|   6    | command                 |     (15,)  ← 5×(3,)     |
+--------+-------------------------+-------------------------+

[INFO] <TerminationManager> contains 3 active terms.
+--------------------------------+
|    Active Termination Terms    |
+-------+-------------+----------+
| Index | Name        | Time Out |
+-------+-------------+----------+
|   0   | time_out    |   True   |
|   1   | fell_over   |  False   |
|   2   | course_exit |   True   |
+-------+-------------+----------+

[INFO] <RewardManager> contains 0 active terms.
+-----------------------+
|  Active Reward Terms  |
+-------+------+--------+
| Index | Name | Weight |
+-------+------+--------+
+-------+------+--------+

[INFO] <NullCurriculumManager> (inactive)
[INFO] <NullMetricsManager> (inactive)
[INFO] <NullRecorderManager> (inactive)
S10 video saved: logs/s10_terrain_v4_50k_full/videos/iteration_037800.mp4
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RECOVERY reset 1 invalid environments; first IDs=[1025]
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RECOVERY reset 1 invalid environments; first IDs=[1036]
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{"step": 38190, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 38190, "total_transitions": 156426240, "num_steps_per_env": 1, "wm_loss": 0.46653085947036743, "actor_loss": -8.711301803588867, "critic_loss": 0.03205287456512451, "reward": 0.07087206840515137, "falls": 7, "interval_steps": 10, "velocity_mae": [0.25275304913520813, 0.16207608580589294, 0.2603801190853119], "policy_updates": 38090, "skipped_updates": 0, "invalid_env_resets": 61, "elapsed_s": 6959.9627400419995, "contact_bce": 0.31212204694747925, "contact_force_loss": 0.032815974205732346, "terrain_level_mean": 3.1767578125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.34765625, "command_abs_max": [1.9996188879013062, 0.9989098310470581, 2.9990320205688477]}
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{"step": 38220, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 38220, "total_transitions": 156549120, "num_steps_per_env": 1, "wm_loss": 0.4189162254333496, "actor_loss": -8.728188514709473, "critic_loss": 0.030950922518968582, "reward": 0.07130157947540283, "falls": 8, "interval_steps": 10, "velocity_mae": [0.2530781030654907, 0.16151854395866394, 0.25662732124328613], "policy_updates": 38120, "skipped_updates": 0, "invalid_env_resets": 61, "elapsed_s": 6970.467383026, "contact_bce": 0.31160008907318115, "contact_force_loss": 0.03279561176896095, "terrain_level_mean": 3.17724609375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.35009765625, "command_abs_max": [1.9972317218780518, 0.9989098310470581, 2.9990320205688477]}
{"step": 38230, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 38230, "total_transitions": 156590080, "num_steps_per_env": 1, "wm_loss": 0.4473641514778137, "actor_loss": -8.717323303222656, "critic_loss": 0.030456608161330223, "reward": 0.07151879370212555, "falls": 7, "interval_steps": 10, "velocity_mae": [0.24391032755374908, 0.1598086804151535, 0.2555657923221588], "policy_updates": 38130, "skipped_updates": 0, "invalid_env_resets": 61, "elapsed_s": 6973.968177821999, "contact_bce": 0.31464624404907227, "contact_force_loss": 0.03306718170642853, "terrain_level_mean": 3.177001953125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.35009765625, "command_abs_max": [1.9972317218780518, 0.9989098310470581, 2.9990320205688477]}
{"step": 38240, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 38240, "total_transitions": 156631040, "num_steps_per_env": 1, "wm_loss": 0.45633336901664734, "actor_loss": -8.765950202941895, "critic_loss": 0.021551696583628654, "reward": 0.07174856960773468, "falls": 10, "interval_steps": 10, "velocity_mae": [0.24006856977939606, 0.15794648230075836, 0.2550163269042969], "policy_updates": 38140, "skipped_updates": 0, "invalid_env_resets": 61, "elapsed_s": 6977.466730802, "contact_bce": 0.31663596630096436, "contact_force_loss": 0.032838333398103714, "terrain_level_mean": 3.17626953125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.349365234375, "command_abs_max": [1.9972317218780518, 0.9989098310470581, 2.9990320205688477]}
{"step": 38250, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 38250, "total_transitions": 156672000, "num_steps_per_env": 1, "wm_loss": 0.443148136138916, "actor_loss": -8.686349868774414, "critic_loss": 0.034648407250642776, "reward": 0.07184242457151413, "falls": 4, "interval_steps": 10, "velocity_mae": [0.24501658976078033, 0.15799392759799957, 0.251571923494339], "policy_updates": 38150, "skipped_updates": 0, "invalid_env_resets": 61, "elapsed_s": 6980.967913676, "contact_bce": 0.314949631690979, "contact_force_loss": 0.032923053950071335, "terrain_level_mean": 3.176025390625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.349365234375, "command_abs_max": [1.9972317218780518, 0.9989098310470581, 2.9990320205688477]}
{"step": 38260, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 38260, "total_transitions": 156712960, "num_steps_per_env": 1, "wm_loss": 0.4298977255821228, "actor_loss": -8.716757774353027, "critic_loss": 0.02562079392373562, "reward": 0.07162477821111679, "falls": 4, "interval_steps": 10, "velocity_mae": [0.2459074705839157, 0.1569761037826538, 0.25142937898635864], "policy_updates": 38160, "skipped_updates": 0, "invalid_env_resets": 61, "elapsed_s": 6984.46666103, "contact_bce": 0.31570255756378174, "contact_force_loss": 0.0322611965239048, "terrain_level_mean": 3.175537109375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.349609375, "command_abs_max": [1.9972317218780518, 0.9989098310470581, 2.9990320205688477]}
{"step": 38270, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 38270, "total_transitions": 156753920, "num_steps_per_env": 1, "wm_loss": 0.43851011991500854, "actor_loss": -8.744876861572266, "critic_loss": 0.023183755576610565, "reward": 0.07180166989564896, "falls": 4, "interval_steps": 10, "velocity_mae": [0.24664904177188873, 0.15574213862419128, 0.24691174924373627], "policy_updates": 38170, "skipped_updates": 0, "invalid_env_resets": 61, "elapsed_s": 6987.9849863809995, "contact_bce": 0.31800562143325806, "contact_force_loss": 0.03261678293347359, "terrain_level_mean": 3.17578125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.348388671875, "command_abs_max": [1.9972317218780518, 0.9989098310470581, 2.9990320205688477]}
{"step": 38280, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 38280, "total_transitions": 156794880, "num_steps_per_env": 1, "wm_loss": 0.438289999961853, "actor_loss": -8.722782135009766, "critic_loss": 0.021628526970744133, "reward": 0.07175488024950027, "falls": 5, "interval_steps": 10, "velocity_mae": [0.24672111868858337, 0.15455913543701172, 0.2506348788738251], "policy_updates": 38180, "skipped_updates": 0, "invalid_env_resets": 61, "elapsed_s": 6991.510610476, "contact_bce": 0.317914754152298, "contact_force_loss": 0.03231845796108246, "terrain_level_mean": 3.17626953125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.345458984375, "command_abs_max": [1.9972317218780518, 0.9989098310470581, 2.9990320205688477]}
{"step": 38290, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 38290, "total_transitions": 156835840, "num_steps_per_env": 1, "wm_loss": 0.42979294061660767, "actor_loss": -8.687650680541992, "critic_loss": 0.03011453151702881, "reward": 0.07160993665456772, "falls": 4, "interval_steps": 10, "velocity_mae": [0.24914774298667908, 0.15523448586463928, 0.24816496670246124], "policy_updates": 38190, "skipped_updates": 0, "invalid_env_resets": 61, "elapsed_s": 6995.020123863, "contact_bce": 0.316121906042099, "contact_force_loss": 0.03201154246926308, "terrain_level_mean": 3.17626953125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.345947265625, "command_abs_max": [1.9972317218780518, 0.9989098310470581, 2.9990320205688477]}
RECOVERY reset 1 invalid environments; first IDs=[2768]
{"step": 38300, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 38300, "total_transitions": 156876800, "num_steps_per_env": 1, "wm_loss": 0.4437069594860077, "actor_loss": -8.738054275512695, "critic_loss": 0.03527432307600975, "reward": 0.07094057649374008, "falls": 7, "interval_steps": 10, "velocity_mae": [0.25129783153533936, 0.1547057032585144, 0.25199657678604126], "policy_updates": 38200, "skipped_updates": 0, "invalid_env_resets": 62, "elapsed_s": 6998.5561585979995, "contact_bce": 0.3177720308303833, "contact_force_loss": 0.03347961604595184, "terrain_level_mean": 3.17626953125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.34375, "command_abs_max": [1.9983714818954468, 0.9989098310470581, 2.9990320205688477]}
{"step": 38310, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 38310, "total_transitions": 156917760, "num_steps_per_env": 1, "wm_loss": 0.43536698818206787, "actor_loss": -8.694709777832031, "critic_loss": 0.024294449016451836, "reward": 0.0710621029138565, "falls": 6, "interval_steps": 10, "velocity_mae": [0.24818487465381622, 0.15807290375232697, 0.2580121159553528], "policy_updates": 38210, "skipped_updates": 0, "invalid_env_resets": 62, "elapsed_s": 7002.061839847, "contact_bce": 0.3098968267440796, "contact_force_loss": 0.032830365002155304, "terrain_level_mean": 3.175537109375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.343017578125, "command_abs_max": [1.9983714818954468, 0.9989098310470581, 2.9990320205688477]}
{"step": 38320, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 38320, "total_transitions": 156958720, "num_steps_per_env": 1, "wm_loss": 0.43579360842704773, "actor_loss": -8.750919342041016, "critic_loss": 0.02857222594320774, "reward": 0.07080619782209396, "falls": 4, "interval_steps": 10, "velocity_mae": [0.2462952435016632, 0.15880084037780762, 0.2570312023162842], "policy_updates": 38220, "skipped_updates": 0, "invalid_env_resets": 62, "elapsed_s": 7005.583913801999, "contact_bce": 0.3149559199810028, "contact_force_loss": 0.03284220024943352, "terrain_level_mean": 3.175537109375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.342529296875, "command_abs_max": [1.9983714818954468, 0.9989098310470581, 2.9990320205688477]}
{"step": 38330, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 38330, "total_transitions": 156999680, "num_steps_per_env": 1, "wm_loss": 0.4164871573448181, "actor_loss": -8.734672546386719, "critic_loss": 0.02485865354537964, "reward": 0.07045543938875198, "falls": 7, "interval_steps": 10, "velocity_mae": [0.24792972207069397, 0.1583983153104782, 0.2525581121444702], "policy_updates": 38230, "skipped_updates": 0, "invalid_env_resets": 62, "elapsed_s": 7009.105931923, "contact_bce": 0.31768032908439636, "contact_force_loss": 0.032071951776742935, "terrain_level_mean": 3.17578125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.340087890625, "command_abs_max": [1.9983714818954468, 0.9989098310470581, 2.9990320205688477]}
RECOVERY reset 1 invalid environments; first IDs=[1689]
{"step": 38340, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 38340, "total_transitions": 157040640, "num_steps_per_env": 1, "wm_loss": 0.4119834303855896, "actor_loss": -8.70947265625, "critic_loss": 0.026799237355589867, "reward": 0.07070757448673248, "falls": 3, "interval_steps": 10, "velocity_mae": [0.24468404054641724, 0.1603262722492218, 0.25186124444007874], "policy_updates": 38240, "skipped_updates": 0, "invalid_env_resets": 63, "elapsed_s": 7012.641815694, "contact_bce": 0.31123778223991394, "contact_force_loss": 0.03298268839716911, "terrain_level_mean": 3.17578125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.33740234375, "command_abs_max": [1.9983714818954468, 0.9990044832229614, 2.9990320205688477]}
{"step": 38350, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 38350, "total_transitions": 157081600, "num_steps_per_env": 1, "wm_loss": 0.4316377341747284, "actor_loss": -8.719642639160156, "critic_loss": 0.030864715576171875, "reward": 0.07061871886253357, "falls": 4, "interval_steps": 10, "velocity_mae": [0.25009456276893616, 0.1614789068698883, 0.25325295329093933], "policy_updates": 38250, "skipped_updates": 0, "invalid_env_resets": 63, "elapsed_s": 7016.1569699619995, "contact_bce": 0.31261104345321655, "contact_force_loss": 0.031864866614341736, "terrain_level_mean": 3.17626953125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.337646484375, "command_abs_max": [1.9983714818954468, 0.9990044832229614, 2.9990320205688477]}
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{"step": 38590, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 38590, "total_transitions": 158064640, "num_steps_per_env": 1, "wm_loss": 0.42077845335006714, "actor_loss": -8.742650985717773, "critic_loss": 0.02338220551609993, "reward": 0.07095454633235931, "falls": 4, "interval_steps": 10, "velocity_mae": [0.24804577231407166, 0.16097241640090942, 0.2565891146659851], "policy_updates": 38490, "skipped_updates": 0, "invalid_env_resets": 63, "elapsed_s": 7100.682384817, "contact_bce": 0.30931657552719116, "contact_force_loss": 0.03189638629555702, "terrain_level_mean": 3.181884765625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.34423828125, "command_abs_max": [1.9989240169525146, 0.9992728233337402, 2.999150276184082]}
{"step": 38600, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 38600, "total_transitions": 158105600, "num_steps_per_env": 1, "wm_loss": 0.44751042127609253, "actor_loss": -8.7652587890625, "critic_loss": 0.018325699493288994, "reward": 0.07103346288204193, "falls": 5, "interval_steps": 10, "velocity_mae": [0.24520869553089142, 0.15736405551433563, 0.2525721788406372], "policy_updates": 38500, "skipped_updates": 0, "invalid_env_resets": 63, "elapsed_s": 7104.190420454, "contact_bce": 0.3183227479457855, "contact_force_loss": 0.032821375876665115, "terrain_level_mean": 3.18115234375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.345947265625, "command_abs_max": [1.9989240169525146, 0.9992728233337402, 2.9986824989318848]}
RECOVERY reset 1 invalid environments; first IDs=[530]
{"step": 38610, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 38610, "total_transitions": 158146560, "num_steps_per_env": 1, "wm_loss": 0.4234814941883087, "actor_loss": -8.742666244506836, "critic_loss": 0.025312235578894615, "reward": 0.07074350118637085, "falls": 4, "interval_steps": 10, "velocity_mae": [0.24689367413520813, 0.15611889958381653, 0.2545056939125061], "policy_updates": 38510, "skipped_updates": 0, "invalid_env_resets": 64, "elapsed_s": 7107.711599939, "contact_bce": 0.32163724303245544, "contact_force_loss": 0.03315958008170128, "terrain_level_mean": 3.18115234375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3486328125, "command_abs_max": [1.9989240169525146, 0.9992728233337402, 2.9986824989318848]}
{"step": 38620, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 38620, "total_transitions": 158187520, "num_steps_per_env": 1, "wm_loss": 0.4489291310310364, "actor_loss": -8.744436264038086, "critic_loss": 0.026467829942703247, "reward": 0.07103174924850464, "falls": 6, "interval_steps": 10, "velocity_mae": [0.2487684190273285, 0.15668043494224548, 0.25623825192451477], "policy_updates": 38520, "skipped_updates": 0, "invalid_env_resets": 64, "elapsed_s": 7111.217124151, "contact_bce": 0.3134961724281311, "contact_force_loss": 0.03265373781323433, "terrain_level_mean": 3.179931640625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.34912109375, "command_abs_max": [1.9989240169525146, 0.9992728233337402, 2.9986824989318848]}
RECOVERY reset 1 invalid environments; first IDs=[978]
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{"step": 38690, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 38690, "total_transitions": 158474240, "num_steps_per_env": 1, "wm_loss": 0.4257676303386688, "actor_loss": -8.7329683303833, "critic_loss": 0.02642253413796425, "reward": 0.07084944099187851, "falls": 4, "interval_steps": 10, "velocity_mae": [0.24829711019992828, 0.16446082293987274, 0.2540753185749054], "policy_updates": 38590, "skipped_updates": 0, "invalid_env_resets": 65, "elapsed_s": 7135.7806266709995, "contact_bce": 0.31845712661743164, "contact_force_loss": 0.03282376751303673, "terrain_level_mean": 3.181396484375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.355224609375, "command_abs_max": [1.9989240169525146, 0.9994900226593018, 2.998267650604248]}
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RECOVERY reset 1 invalid environments; first IDs=[1572]
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RECOVERY reset 1 invalid environments; first IDs=[2590]
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{"step": 39590, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 39590, "total_transitions": 162160640, "num_steps_per_env": 1, "wm_loss": 0.42294153571128845, "actor_loss": -8.720727920532227, "critic_loss": 0.02992265298962593, "reward": 0.07008233666419983, "falls": 4, "interval_steps": 10, "velocity_mae": [0.265292763710022, 0.159601092338562, 0.2577027380466461], "policy_updates": 39490, "skipped_updates": 0, "invalid_env_resets": 67, "elapsed_s": 7452.181104747, "contact_bce": 0.3137798607349396, "contact_force_loss": 0.03256525099277496, "terrain_level_mean": 3.182373046875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.33740234375, "command_abs_max": [1.9993035793304443, 0.9993331432342529, 2.9980573654174805]}
{"step": 39600, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 39600, "total_transitions": 162201600, "num_steps_per_env": 1, "wm_loss": 0.4291203022003174, "actor_loss": -8.746002197265625, "critic_loss": 0.02315930835902691, "reward": 0.0704239085316658, "falls": 3, "interval_steps": 10, "velocity_mae": [0.2598501741886139, 0.15991930663585663, 0.2537177801132202], "policy_updates": 39500, "skipped_updates": 0, "invalid_env_resets": 67, "elapsed_s": 7455.697826414, "contact_bce": 0.3158498704433441, "contact_force_loss": 0.03259817510843277, "terrain_level_mean": 3.1826171875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3388671875, "command_abs_max": [1.9964185953140259, 0.9993331432342529, 2.9980573654174805]}
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{"step": 39620, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 39620, "total_transitions": 162283520, "num_steps_per_env": 1, "wm_loss": 0.4326164424419403, "actor_loss": -8.76266098022461, "critic_loss": 0.02684711292386055, "reward": 0.07070442289113998, "falls": 5, "interval_steps": 10, "velocity_mae": [0.2540903687477112, 0.15839722752571106, 0.25836417078971863], "policy_updates": 39520, "skipped_updates": 0, "invalid_env_resets": 67, "elapsed_s": 7462.703651393999, "contact_bce": 0.3165115714073181, "contact_force_loss": 0.03355097770690918, "terrain_level_mean": 3.1826171875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.340087890625, "command_abs_max": [1.9938310384750366, 0.9993331432342529, 2.9980573654174805]}
{"step": 39630, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 39630, "total_transitions": 162324480, "num_steps_per_env": 1, "wm_loss": 0.4665168225765228, "actor_loss": -8.73293399810791, "critic_loss": 0.021201372146606445, "reward": 0.07041888684034348, "falls": 5, "interval_steps": 10, "velocity_mae": [0.2551872432231903, 0.15757928788661957, 0.25573980808258057], "policy_updates": 39530, "skipped_updates": 0, "invalid_env_resets": 67, "elapsed_s": 7466.217198885, "contact_bce": 0.3176781237125397, "contact_force_loss": 0.033154454082250595, "terrain_level_mean": 3.18408203125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.336669921875, "command_abs_max": [1.9938310384750366, 0.9993331432342529, 2.9980573654174805]}
RECOVERY reset 1 invalid environments; first IDs=[978]
{"step": 39640, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 39640, "total_transitions": 162365440, "num_steps_per_env": 1, "wm_loss": 0.4606066048145294, "actor_loss": -8.703095436096191, "critic_loss": 0.035101424902677536, "reward": 0.07059217989444733, "falls": 5, "interval_steps": 10, "velocity_mae": [0.25501129031181335, 0.15764549374580383, 0.252707839012146], "policy_updates": 39540, "skipped_updates": 0, "invalid_env_resets": 68, "elapsed_s": 7469.75023532, "contact_bce": 0.31293752789497375, "contact_force_loss": 0.03338600695133209, "terrain_level_mean": 3.18408203125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.339599609375, "command_abs_max": [1.9978500604629517, 0.9993331432342529, 2.9980573654174805]}
{"step": 39650, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 39650, "total_transitions": 162406400, "num_steps_per_env": 1, "wm_loss": 0.41578590869903564, "actor_loss": -8.687660217285156, "critic_loss": 0.03646659478545189, "reward": 0.07062874734401703, "falls": 5, "interval_steps": 10, "velocity_mae": [0.25028637051582336, 0.1580490618944168, 0.25583988428115845], "policy_updates": 39550, "skipped_updates": 0, "invalid_env_resets": 68, "elapsed_s": 7473.260762108, "contact_bce": 0.3130430281162262, "contact_force_loss": 0.031955618411302567, "terrain_level_mean": 3.18359375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.340576171875, "command_abs_max": [1.9978500604629517, 0.9993331432342529, 2.9980573654174805]}
{"step": 39660, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 39660, "total_transitions": 162447360, "num_steps_per_env": 1, "wm_loss": 0.42069464921951294, "actor_loss": -8.75634765625, "critic_loss": 0.02508339285850525, "reward": 0.07058828324079514, "falls": 7, "interval_steps": 10, "velocity_mae": [0.250535786151886, 0.157280832529068, 0.26071470975875854], "policy_updates": 39560, "skipped_updates": 0, "invalid_env_resets": 68, "elapsed_s": 7476.776011051999, "contact_bce": 0.31176483631134033, "contact_force_loss": 0.03283597156405449, "terrain_level_mean": 3.182373046875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3427734375, "command_abs_max": [1.9978500604629517, 0.9993331432342529, 2.9980573654174805]}
{"step": 39670, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 39670, "total_transitions": 162488320, "num_steps_per_env": 1, "wm_loss": 0.43112197518348694, "actor_loss": -8.716830253601074, "critic_loss": 0.030887192115187645, "reward": 0.07037654519081116, "falls": 4, "interval_steps": 10, "velocity_mae": [0.2512910068035126, 0.1601293832063675, 0.2612909972667694], "policy_updates": 39570, "skipped_updates": 0, "invalid_env_resets": 68, "elapsed_s": 7480.284412010999, "contact_bce": 0.316589891910553, "contact_force_loss": 0.03310265392065048, "terrain_level_mean": 3.18310546875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.34228515625, "command_abs_max": [1.9978500604629517, 0.9993331432342529, 2.9980573654174805]}
{"step": 39680, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 39680, "total_transitions": 162529280, "num_steps_per_env": 1, "wm_loss": 0.4614851474761963, "actor_loss": -8.690949440002441, "critic_loss": 0.019982069730758667, "reward": 0.07084769755601883, "falls": 2, "interval_steps": 10, "velocity_mae": [0.24968329071998596, 0.15965496003627777, 0.25587373971939087], "policy_updates": 39580, "skipped_updates": 0, "invalid_env_resets": 68, "elapsed_s": 7483.822867964999, "contact_bce": 0.31840723752975464, "contact_force_loss": 0.033896513283252716, "terrain_level_mean": 3.18408203125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.341064453125, "command_abs_max": [1.9978500604629517, 0.9993331432342529, 2.9980573654174805]}
{"step": 39690, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 39690, "total_transitions": 162570240, "num_steps_per_env": 1, "wm_loss": 0.44029131531715393, "actor_loss": -8.742204666137695, "critic_loss": 0.025433287024497986, "reward": 0.07117383182048798, "falls": 3, "interval_steps": 10, "velocity_mae": [0.24733954668045044, 0.15794993937015533, 0.2561417818069458], "policy_updates": 39590, "skipped_updates": 0, "invalid_env_resets": 68, "elapsed_s": 7487.338734217999, "contact_bce": 0.31380346417427063, "contact_force_loss": 0.03312163054943085, "terrain_level_mean": 3.183837890625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.337890625, "command_abs_max": [1.9978500604629517, 0.9993331432342529, 2.9980573654174805]}
{"step": 39700, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 39700, "total_transitions": 162611200, "num_steps_per_env": 1, "wm_loss": 0.4266817569732666, "actor_loss": -8.711051940917969, "critic_loss": 0.022799380123615265, "reward": 0.07123972475528717, "falls": 8, "interval_steps": 10, "velocity_mae": [0.2476746290922165, 0.1579890102148056, 0.2541903555393219], "policy_updates": 39600, "skipped_updates": 0, "invalid_env_resets": 68, "elapsed_s": 7490.860991193999, "contact_bce": 0.31423231959342957, "contact_force_loss": 0.0328514538705349, "terrain_level_mean": 3.182861328125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.341064453125, "command_abs_max": [1.9978500604629517, 0.9987626075744629, 2.9980573654174805]}
{"step": 39710, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 39710, "total_transitions": 162652160, "num_steps_per_env": 1, "wm_loss": 0.43917885422706604, "actor_loss": -8.77657413482666, "critic_loss": 0.022863158956170082, "reward": 0.07177624851465225, "falls": 2, "interval_steps": 10, "velocity_mae": [0.24559436738491058, 0.15524937212467194, 0.2535612881183624], "policy_updates": 39610, "skipped_updates": 0, "invalid_env_resets": 68, "elapsed_s": 7494.378365326, "contact_bce": 0.31342577934265137, "contact_force_loss": 0.03335530310869217, "terrain_level_mean": 3.183349609375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.340576171875, "command_abs_max": [1.9978500604629517, 0.9987626075744629, 2.9980573654174805]}
{"step": 39720, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 39720, "total_transitions": 162693120, "num_steps_per_env": 1, "wm_loss": 0.45338547229766846, "actor_loss": -8.732719421386719, "critic_loss": 0.023457035422325134, "reward": 0.07125096768140793, "falls": 3, "interval_steps": 10, "velocity_mae": [0.24714195728302002, 0.15828661620616913, 0.25403523445129395], "policy_updates": 39620, "skipped_updates": 0, "invalid_env_resets": 68, "elapsed_s": 7497.883350151, "contact_bce": 0.31425657868385315, "contact_force_loss": 0.03363236039876938, "terrain_level_mean": 3.184814453125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.33642578125, "command_abs_max": [1.9978500604629517, 0.9987626075744629, 2.9980573654174805]}
{"step": 39730, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 39730, "total_transitions": 162734080, "num_steps_per_env": 1, "wm_loss": 0.42419081926345825, "actor_loss": -8.652231216430664, "critic_loss": 0.03147614374756813, "reward": 0.07146303355693817, "falls": 4, "interval_steps": 10, "velocity_mae": [0.244760662317276, 0.15975823998451233, 0.25571945309638977], "policy_updates": 39630, "skipped_updates": 0, "invalid_env_resets": 68, "elapsed_s": 7501.393515172999, "contact_bce": 0.313400536775589, "contact_force_loss": 0.032128509134054184, "terrain_level_mean": 3.18505859375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.33837890625, "command_abs_max": [1.9978500604629517, 0.9987626075744629, 2.9980573654174805]}
{"step": 39740, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 39740, "total_transitions": 162775040, "num_steps_per_env": 1, "wm_loss": 0.46580612659454346, "actor_loss": -8.702178955078125, "critic_loss": 0.029379213228821754, "reward": 0.07135728746652603, "falls": 5, "interval_steps": 10, "velocity_mae": [0.24649366736412048, 0.15913470089435577, 0.25799405574798584], "policy_updates": 39640, "skipped_updates": 0, "invalid_env_resets": 68, "elapsed_s": 7504.89773722, "contact_bce": 0.31665170192718506, "contact_force_loss": 0.03315697982907295, "terrain_level_mean": 3.185302734375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3369140625, "command_abs_max": [1.9978500604629517, 0.9989591836929321, 2.9980573654174805]}
RECOVERY reset 1 invalid environments; first IDs=[755]
{"step": 39750, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 39750, "total_transitions": 162816000, "num_steps_per_env": 1, "wm_loss": 0.44981563091278076, "actor_loss": -8.702407836914062, "critic_loss": 0.028856148943305016, "reward": 0.07113034278154373, "falls": 9, "interval_steps": 10, "velocity_mae": [0.2506100833415985, 0.15763363242149353, 0.25568678975105286], "policy_updates": 39650, "skipped_updates": 0, "invalid_env_resets": 69, "elapsed_s": 7508.433274282999, "contact_bce": 0.3159472644329071, "contact_force_loss": 0.033396538347005844, "terrain_level_mean": 3.1845703125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.33935546875, "command_abs_max": [1.9978500604629517, 0.9989591836929321, 2.996657609939575]}
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Warning: EPA horizon = 24 isn't large enough.
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RECOVERY reset 1 invalid environments; first IDs=[1281]
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RECOVERY reset 1 invalid environments; first IDs=[2055]
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{"step": 40370, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 40370, "total_transitions": 165355520, "num_steps_per_env": 1, "wm_loss": 0.42867204546928406, "actor_loss": -8.716795921325684, "critic_loss": 0.0179012268781662, "reward": 0.07157229632139206, "falls": 3, "interval_steps": 10, "velocity_mae": [0.2347635179758072, 0.15293678641319275, 0.251565545797348], "policy_updates": 40270, "skipped_updates": 0, "invalid_env_resets": 71, "elapsed_s": 7726.144955461999, "contact_bce": 0.31100785732269287, "contact_force_loss": 0.03210015967488289, "terrain_level_mean": 3.20458984375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.338134765625, "command_abs_max": [1.9976539611816406, 0.9993643164634705, 2.998311996459961]}
{"step": 40380, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 40380, "total_transitions": 165396480, "num_steps_per_env": 1, "wm_loss": 0.43344613909721375, "actor_loss": -8.723908424377441, "critic_loss": 0.03428628295660019, "reward": 0.07121985405683517, "falls": 6, "interval_steps": 10, "velocity_mae": [0.24035434424877167, 0.15234169363975525, 0.25000157952308655], "policy_updates": 40280, "skipped_updates": 0, "invalid_env_resets": 71, "elapsed_s": 7729.646991893999, "contact_bce": 0.31177273392677307, "contact_force_loss": 0.032652538269758224, "terrain_level_mean": 3.203857421875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.33984375, "command_abs_max": [1.9976539611816406, 0.9993643164634705, 2.998311996459961]}
{"step": 40390, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 40390, "total_transitions": 165437440, "num_steps_per_env": 1, "wm_loss": 0.4239429831504822, "actor_loss": -8.761129379272461, "critic_loss": 0.02223440818488598, "reward": 0.07144426554441452, "falls": 2, "interval_steps": 10, "velocity_mae": [0.23847533762454987, 0.15250848233699799, 0.249379962682724], "policy_updates": 40290, "skipped_updates": 0, "invalid_env_resets": 71, "elapsed_s": 7733.1466021139995, "contact_bce": 0.3190004229545593, "contact_force_loss": 0.03195386007428169, "terrain_level_mean": 3.204345703125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.341552734375, "command_abs_max": [1.9976539611816406, 0.9993643164634705, 2.998311996459961]}
{"step": 40400, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 40400, "total_transitions": 165478400, "num_steps_per_env": 1, "wm_loss": 0.4492908716201782, "actor_loss": -8.738707542419434, "critic_loss": 0.031372617930173874, "reward": 0.07134056836366653, "falls": 3, "interval_steps": 10, "velocity_mae": [0.23819859325885773, 0.1557808369398117, 0.2521471083164215], "policy_updates": 40300, "skipped_updates": 0, "invalid_env_resets": 71, "elapsed_s": 7736.645600063, "contact_bce": 0.3113236129283905, "contact_force_loss": 0.03244074434041977, "terrain_level_mean": 3.203857421875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.341064453125, "command_abs_max": [1.9976539611816406, 0.999946653842926, 2.998311996459961]}
{"step": 40410, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 40410, "total_transitions": 165519360, "num_steps_per_env": 1, "wm_loss": 0.3948345184326172, "actor_loss": -8.71864128112793, "critic_loss": 0.032826948910951614, "reward": 0.0710207000374794, "falls": 3, "interval_steps": 10, "velocity_mae": [0.2420191615819931, 0.1550772786140442, 0.24942803382873535], "policy_updates": 40310, "skipped_updates": 0, "invalid_env_resets": 71, "elapsed_s": 7740.146431444, "contact_bce": 0.3119542598724365, "contact_force_loss": 0.03205502778291702, "terrain_level_mean": 3.204833984375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3408203125, "command_abs_max": [1.9976539611816406, 0.999946653842926, 2.998311996459961]}
RECOVERY reset 1 invalid environments; first IDs=[2001]
{"step": 40420, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 40420, "total_transitions": 165560320, "num_steps_per_env": 1, "wm_loss": 0.41653335094451904, "actor_loss": -8.753351211547852, "critic_loss": 0.029335061088204384, "reward": 0.07062921673059464, "falls": 5, "interval_steps": 10, "velocity_mae": [0.24383048713207245, 0.15476854145526886, 0.25143206119537354], "policy_updates": 40320, "skipped_updates": 0, "invalid_env_resets": 72, "elapsed_s": 7743.660116677999, "contact_bce": 0.3107073903083801, "contact_force_loss": 0.03233490139245987, "terrain_level_mean": 3.20458984375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.340576171875, "command_abs_max": [1.9976539611816406, 0.999946653842926, 2.998311996459961]}
{"step": 40430, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 40430, "total_transitions": 165601280, "num_steps_per_env": 1, "wm_loss": 0.430294007062912, "actor_loss": -8.768696784973145, "critic_loss": 0.01963709108531475, "reward": 0.070684514939785, "falls": 5, "interval_steps": 10, "velocity_mae": [0.24519455432891846, 0.15479141473770142, 0.2594609558582306], "policy_updates": 40330, "skipped_updates": 0, "invalid_env_resets": 72, "elapsed_s": 7747.161392589999, "contact_bce": 0.31570926308631897, "contact_force_loss": 0.0322713628411293, "terrain_level_mean": 3.204833984375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.33837890625, "command_abs_max": [1.9976539611816406, 0.999946653842926, 2.998311996459961]}
{"step": 40440, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 40440, "total_transitions": 165642240, "num_steps_per_env": 1, "wm_loss": 0.43337488174438477, "actor_loss": -8.744083404541016, "critic_loss": 0.02281239628791809, "reward": 0.07057799398899078, "falls": 2, "interval_steps": 10, "velocity_mae": [0.2494802623987198, 0.1579897552728653, 0.25799360871315], "policy_updates": 40340, "skipped_updates": 0, "invalid_env_resets": 72, "elapsed_s": 7750.660551724, "contact_bce": 0.31895941495895386, "contact_force_loss": 0.0316423624753952, "terrain_level_mean": 3.2060546875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.340576171875, "command_abs_max": [1.997166633605957, 0.999946653842926, 2.998311996459961]}
{"step": 40450, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 40450, "total_transitions": 165683200, "num_steps_per_env": 1, "wm_loss": 0.4311915636062622, "actor_loss": -8.7322416305542, "critic_loss": 0.036506976932287216, "reward": 0.07100974023342133, "falls": 5, "interval_steps": 10, "velocity_mae": [0.2487514168024063, 0.15850189328193665, 0.2548999488353729], "policy_updates": 40350, "skipped_updates": 0, "invalid_env_resets": 72, "elapsed_s": 7754.159081154, "contact_bce": 0.31673604249954224, "contact_force_loss": 0.03251286968588829, "terrain_level_mean": 3.205322265625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.339599609375, "command_abs_max": [1.9941411018371582, 0.999946653842926, 2.998311996459961]}
{"step": 40460, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 40460, "total_transitions": 165724160, "num_steps_per_env": 1, "wm_loss": 0.4271332919597626, "actor_loss": -8.718450546264648, "critic_loss": 0.03335059806704521, "reward": 0.07054811716079712, "falls": 5, "interval_steps": 10, "velocity_mae": [0.2499009221792221, 0.16114909946918488, 0.25969916582107544], "policy_updates": 40360, "skipped_updates": 0, "invalid_env_resets": 72, "elapsed_s": 7757.664323293, "contact_bce": 0.3123319447040558, "contact_force_loss": 0.03235134109854698, "terrain_level_mean": 3.205322265625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.34228515625, "command_abs_max": [1.9941411018371582, 0.999946653842926, 2.998311996459961]}
{"step": 40470, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 40470, "total_transitions": 165765120, "num_steps_per_env": 1, "wm_loss": 0.43368667364120483, "actor_loss": -8.676813125610352, "critic_loss": 0.029715700075030327, "reward": 0.07073461264371872, "falls": 10, "interval_steps": 10, "velocity_mae": [0.24830231070518494, 0.1619533747434616, 0.2564067244529724], "policy_updates": 40370, "skipped_updates": 0, "invalid_env_resets": 72, "elapsed_s": 7761.163812092, "contact_bce": 0.3141821324825287, "contact_force_loss": 0.03299781307578087, "terrain_level_mean": 3.2041015625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.33984375, "command_abs_max": [1.9941411018371582, 0.999946653842926, 2.998311996459961]}
{"step": 40480, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 40480, "total_transitions": 165806080, "num_steps_per_env": 1, "wm_loss": 0.4156080484390259, "actor_loss": -8.755788803100586, "critic_loss": 0.026534145697951317, "reward": 0.07103423029184341, "falls": 10, "interval_steps": 10, "velocity_mae": [0.24541334807872772, 0.16006691753864288, 0.2506362497806549], "policy_updates": 40380, "skipped_updates": 0, "invalid_env_resets": 72, "elapsed_s": 7764.665623581, "contact_bce": 0.3156890571117401, "contact_force_loss": 0.032798442989587784, "terrain_level_mean": 3.202880859375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.337890625, "command_abs_max": [1.9967975616455078, 0.999946653842926, 2.998311996459961]}
{"step": 40490, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 40490, "total_transitions": 165847040, "num_steps_per_env": 1, "wm_loss": 0.427477091550827, "actor_loss": -8.810077667236328, "critic_loss": 0.02520088665187359, "reward": 0.07091652601957321, "falls": 3, "interval_steps": 10, "velocity_mae": [0.24701519310474396, 0.15715037286281586, 0.2538204491138458], "policy_updates": 40390, "skipped_updates": 0, "invalid_env_resets": 72, "elapsed_s": 7768.16602465, "contact_bce": 0.31482866406440735, "contact_force_loss": 0.03215060383081436, "terrain_level_mean": 3.203857421875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.33984375, "command_abs_max": [1.9967975616455078, 0.999946653842926, 2.998311996459961]}
{"step": 40500, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 40500, "total_transitions": 165888000, "num_steps_per_env": 1, "wm_loss": 0.4163896441459656, "actor_loss": -8.785111427307129, "critic_loss": 0.02632979117333889, "reward": 0.07101036608219147, "falls": 2, "interval_steps": 10, "velocity_mae": [0.24357403814792633, 0.1565476357936859, 0.2554927170276642], "policy_updates": 40400, "skipped_updates": 0, "invalid_env_resets": 72, "elapsed_s": 7771.682508381, "contact_bce": 0.31141942739486694, "contact_force_loss": 0.031570207327604294, "terrain_level_mean": 3.20458984375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.341064453125, "command_abs_max": [1.9967975616455078, 0.999946653842926, 2.998311996459961]}

+---------------------------------+
|         Base Environment        |
+------------------------+--------+
| Property               | Value  |
+------------------------+--------+
| Number of environments | 1      |
| Environment device     | cuda:0 |
| Environment seed       | None   |
| Physics step-size      | 0.005  |
| Environment step-size  | 0.02   |
+------------------------+--------+

[INFO] <EventManager> contains 1 active terms.
+-------------------------------------+
| Active Event Terms in Mode: 'reset' |
+--------+----------------------------+
| Index  | Name                       |
+--------+----------------------------+
|   0    | reset_base                 |
|   1    | reset_robot_joints         |
+--------+----------------------------+

[INFO] <CommandManager> contains 1 active terms.
+----------------------------------------+
|          Active Command Terms          |
+-------+-------+------------------------+
| Index | Name  |          Type          |
+-------+-------+------------------------+
|   0   | twist | UniformVelocityCommand |
+-------+-------+------------------------+

[INFO] <ActionManager> contains 2 active terms.
+---------------------------------+
| Active Action Terms (shape: 16) |
+-------+-----------+-------------+
| Index | Name      |   Dimension |
+-------+-----------+-------------+
|   0   | joint_pos |          12 |
|   1   | wheel_vel |           4 |
+-------+-----------+-------------+

[INFO] <ObservationManager> contains 1 groups.
+------------------------------------------------------------+
| Active Observation Terms in Group: 'actor' (shape: (265,)) |
+--------+-------------------------+-------------------------+
| Index  | Name                    |          Shape          |
+--------+-------------------------+-------------------------+
|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
|   5    | actions                 |     (80,)  ← 5×(16,)    |
|   6    | command                 |     (15,)  ← 5×(3,)     |
+--------+-------------------------+-------------------------+

[INFO] <TerminationManager> contains 3 active terms.
+--------------------------------+
|    Active Termination Terms    |
+-------+-------------+----------+
| Index | Name        | Time Out |
+-------+-------------+----------+
|   0   | time_out    |   True   |
|   1   | fell_over   |  False   |
|   2   | course_exit |   True   |
+-------+-------------+----------+

[INFO] <RewardManager> contains 0 active terms.
+-----------------------+
|  Active Reward Terms  |
+-------+------+--------+
| Index | Name | Weight |
+-------+------+--------+
+-------+------+--------+

[INFO] <NullCurriculumManager> (inactive)
[INFO] <NullMetricsManager> (inactive)
[INFO] <NullRecorderManager> (inactive)
S10 video saved: logs/s10_terrain_v4_50k_full/videos/iteration_040500.mp4
RECOVERY reset 1 invalid environments; first IDs=[516]
{"step": 40510, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 40510, "total_transitions": 165928960, "num_steps_per_env": 1, "wm_loss": 0.4093402922153473, "actor_loss": -8.726629257202148, "critic_loss": 0.018427977338433266, "reward": 0.07125157862901688, "falls": 3, "interval_steps": 10, "velocity_mae": [0.24390555918216705, 0.1574123054742813, 0.25491201877593994], "policy_updates": 40410, "skipped_updates": 0, "invalid_env_resets": 73, "elapsed_s": 7781.02295172, "contact_bce": 0.3101706802845001, "contact_force_loss": 0.03250116482377052, "terrain_level_mean": 3.205322265625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3447265625, "command_abs_max": [1.9967975616455078, 0.999946653842926, 2.998311996459961]}
{"step": 40520, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 40520, "total_transitions": 165969920, "num_steps_per_env": 1, "wm_loss": 0.4252733290195465, "actor_loss": -8.761026382446289, "critic_loss": 0.019809015095233917, "reward": 0.07139427214860916, "falls": 5, "interval_steps": 10, "velocity_mae": [0.24885916709899902, 0.15897001326084137, 0.2529919743537903], "policy_updates": 40420, "skipped_updates": 0, "invalid_env_resets": 73, "elapsed_s": 7784.534532934, "contact_bce": 0.3123144507408142, "contact_force_loss": 0.03353595361113548, "terrain_level_mean": 3.20556640625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.34765625, "command_abs_max": [1.9967975616455078, 0.999946653842926, 2.998311996459961]}
{"step": 40530, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 40530, "total_transitions": 166010880, "num_steps_per_env": 1, "wm_loss": 0.41395100951194763, "actor_loss": -8.749061584472656, "critic_loss": 0.020428156480193138, "reward": 0.07123640179634094, "falls": 2, "interval_steps": 10, "velocity_mae": [0.2482135146856308, 0.16018101572990417, 0.2535879909992218], "policy_updates": 40430, "skipped_updates": 0, "invalid_env_resets": 73, "elapsed_s": 7788.041230497, "contact_bce": 0.31635814905166626, "contact_force_loss": 0.03214152157306671, "terrain_level_mean": 3.2060546875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.349853515625, "command_abs_max": [1.9967975616455078, 0.999946653842926, 2.998311996459961]}
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RECOVERY reset 1 invalid environments; first IDs=[1142]
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RECOVERY reset 1 invalid environments; first IDs=[1331]
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RECOVERY reset 1 invalid environments; first IDs=[2010]
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RECOVERY reset 1 invalid environments; first IDs=[953]
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{"step": 42010, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 42010, "total_transitions": 172072960, "num_steps_per_env": 1, "wm_loss": 0.42052680253982544, "actor_loss": -8.692035675048828, "critic_loss": 0.027304334565997124, "reward": 0.07039061933755875, "falls": 1, "interval_steps": 10, "velocity_mae": [0.24724318087100983, 0.15570151805877686, 0.2558833658695221], "policy_updates": 41910, "skipped_updates": 0, "invalid_env_resets": 77, "elapsed_s": 8310.645663875, "contact_bce": 0.3038494288921356, "contact_force_loss": 0.032579969614744186, "terrain_level_mean": 3.211181640625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.34033203125, "command_abs_max": [1.993617296218872, 0.9994717240333557, 2.9998371601104736]}
{"step": 42020, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 42020, "total_transitions": 172113920, "num_steps_per_env": 1, "wm_loss": 0.401266485452652, "actor_loss": -8.747793197631836, "critic_loss": 0.026856128126382828, "reward": 0.07054754346609116, "falls": 2, "interval_steps": 10, "velocity_mae": [0.24939072132110596, 0.15514561533927917, 0.254211962223053], "policy_updates": 41920, "skipped_updates": 0, "invalid_env_resets": 77, "elapsed_s": 8314.171253974, "contact_bce": 0.3077287971973419, "contact_force_loss": 0.03196283057332039, "terrain_level_mean": 3.211669921875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3427734375, "command_abs_max": [1.993617296218872, 0.9994717240333557, 2.9998371601104736]}
RECOVERY reset 1 invalid environments; first IDs=[2147]
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{"step": 42170, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 42170, "total_transitions": 172728320, "num_steps_per_env": 1, "wm_loss": 0.40604040026664734, "actor_loss": -8.703144073486328, "critic_loss": 0.03013141267001629, "reward": 0.07120388746261597, "falls": 4, "interval_steps": 10, "velocity_mae": [0.25248613953590393, 0.1559888869524002, 0.2565324306488037], "policy_updates": 42070, "skipped_updates": 0, "invalid_env_resets": 78, "elapsed_s": 8367.083205552, "contact_bce": 0.3131358027458191, "contact_force_loss": 0.03241931274533272, "terrain_level_mean": 3.212158203125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3486328125, "command_abs_max": [1.9990639686584473, 0.9999616146087646, 2.9998371601104736]}
{"step": 42180, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 42180, "total_transitions": 172769280, "num_steps_per_env": 1, "wm_loss": 0.41158348321914673, "actor_loss": -8.75208568572998, "critic_loss": 0.03192353993654251, "reward": 0.07125043123960495, "falls": 5, "interval_steps": 10, "velocity_mae": [0.25312674045562744, 0.15603280067443848, 0.25445806980133057], "policy_updates": 42080, "skipped_updates": 0, "invalid_env_resets": 78, "elapsed_s": 8370.584815869, "contact_bce": 0.3067818284034729, "contact_force_loss": 0.03106953389942646, "terrain_level_mean": 3.21240234375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.348876953125, "command_abs_max": [1.9990639686584473, 0.9999616146087646, 2.9998371601104736]}
RECOVERY reset 1 invalid environments; first IDs=[1538]
{"step": 42190, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 42190, "total_transitions": 172810240, "num_steps_per_env": 1, "wm_loss": 0.4038359522819519, "actor_loss": -8.720818519592285, "critic_loss": 0.028424590826034546, "reward": 0.0710546001791954, "falls": 2, "interval_steps": 10, "velocity_mae": [0.25306227803230286, 0.15801022946834564, 0.2528957724571228], "policy_updates": 42090, "skipped_updates": 0, "invalid_env_resets": 79, "elapsed_s": 8374.099175882, "contact_bce": 0.3111191391944885, "contact_force_loss": 0.03203076124191284, "terrain_level_mean": 3.21337890625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.345947265625, "command_abs_max": [1.9990639686584473, 0.9999616146087646, 2.9986977577209473]}
{"step": 42200, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 42200, "total_transitions": 172851200, "num_steps_per_env": 1, "wm_loss": 0.4087470471858978, "actor_loss": -8.733892440795898, "critic_loss": 0.030229581519961357, "reward": 0.07120257616043091, "falls": 5, "interval_steps": 10, "velocity_mae": [0.24917156994342804, 0.155659019947052, 0.2497524470090866], "policy_updates": 42100, "skipped_updates": 0, "invalid_env_resets": 79, "elapsed_s": 8377.604625459, "contact_bce": 0.31136003136634827, "contact_force_loss": 0.03179354965686798, "terrain_level_mean": 3.213623046875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.344970703125, "command_abs_max": [1.9990639686584473, 0.9999616146087646, 2.9986977577209473]}
{"step": 42210, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 42210, "total_transitions": 172892160, "num_steps_per_env": 1, "wm_loss": 0.40664684772491455, "actor_loss": -8.765388488769531, "critic_loss": 0.021172497421503067, "reward": 0.07108136266469955, "falls": 3, "interval_steps": 10, "velocity_mae": [0.24717481434345245, 0.15634745359420776, 0.2517199218273163], "policy_updates": 42110, "skipped_updates": 0, "invalid_env_resets": 79, "elapsed_s": 8381.113100802, "contact_bce": 0.313920795917511, "contact_force_loss": 0.031893279403448105, "terrain_level_mean": 3.21484375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.344970703125, "command_abs_max": [1.9990639686584473, 0.9999616146087646, 2.9986977577209473]}
{"step": 42220, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 42220, "total_transitions": 172933120, "num_steps_per_env": 1, "wm_loss": 0.43265560269355774, "actor_loss": -8.765499114990234, "critic_loss": 0.024911988526582718, "reward": 0.07117261737585068, "falls": 3, "interval_steps": 10, "velocity_mae": [0.2468455582857132, 0.15842363238334656, 0.25492504239082336], "policy_updates": 42120, "skipped_updates": 0, "invalid_env_resets": 79, "elapsed_s": 8384.611074833001, "contact_bce": 0.3139990568161011, "contact_force_loss": 0.0327407568693161, "terrain_level_mean": 3.21484375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.344970703125, "command_abs_max": [1.9990639686584473, 0.9999616146087646, 2.9986977577209473]}
{"step": 42230, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 42230, "total_transitions": 172974080, "num_steps_per_env": 1, "wm_loss": 0.41212642192840576, "actor_loss": -8.745465278625488, "critic_loss": 0.02462664805352688, "reward": 0.07140770554542542, "falls": 11, "interval_steps": 10, "velocity_mae": [0.24604271352291107, 0.15639488399028778, 0.25508901476860046], "policy_updates": 42130, "skipped_updates": 0, "invalid_env_resets": 79, "elapsed_s": 8388.112456951001, "contact_bce": 0.30876800417900085, "contact_force_loss": 0.031441815197467804, "terrain_level_mean": 3.213623046875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3466796875, "command_abs_max": [1.9990639686584473, 0.999378502368927, 2.9986977577209473]}
{"step": 42240, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 42240, "total_transitions": 173015040, "num_steps_per_env": 1, "wm_loss": 0.43387556076049805, "actor_loss": -8.70199966430664, "critic_loss": 0.03215212747454643, "reward": 0.0713159590959549, "falls": 5, "interval_steps": 10, "velocity_mae": [0.2446736842393875, 0.15570631623268127, 0.2525181174278259], "policy_updates": 42140, "skipped_updates": 0, "invalid_env_resets": 79, "elapsed_s": 8391.629922956, "contact_bce": 0.3127764165401459, "contact_force_loss": 0.032634034752845764, "terrain_level_mean": 3.213623046875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3466796875, "command_abs_max": [1.9990639686584473, 0.999378502368927, 2.9986977577209473]}
{"step": 42250, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 42250, "total_transitions": 173056000, "num_steps_per_env": 1, "wm_loss": 0.38090091943740845, "actor_loss": -8.701956748962402, "critic_loss": 0.02928978018462658, "reward": 0.07104179263114929, "falls": 8, "interval_steps": 10, "velocity_mae": [0.24511906504631042, 0.15546512603759766, 0.24722009897232056], "policy_updates": 42150, "skipped_updates": 0, "invalid_env_resets": 79, "elapsed_s": 8395.141002377, "contact_bce": 0.30384114384651184, "contact_force_loss": 0.03157052770256996, "terrain_level_mean": 3.2119140625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.344970703125, "command_abs_max": [1.9990639686584473, 0.999378502368927, 2.9986977577209473]}
{"step": 42260, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 42260, "total_transitions": 173096960, "num_steps_per_env": 1, "wm_loss": 0.41066405177116394, "actor_loss": -8.753650665283203, "critic_loss": 0.030547117814421654, "reward": 0.0712113007903099, "falls": 2, "interval_steps": 10, "velocity_mae": [0.24316909909248352, 0.15410058200359344, 0.2476533055305481], "policy_updates": 42160, "skipped_updates": 0, "invalid_env_resets": 79, "elapsed_s": 8398.66316057, "contact_bce": 0.3099502623081207, "contact_force_loss": 0.03260643035173416, "terrain_level_mean": 3.21337890625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.344970703125, "command_abs_max": [1.9990639686584473, 0.999378502368927, 2.9986977577209473]}
{"step": 42270, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 42270, "total_transitions": 173137920, "num_steps_per_env": 1, "wm_loss": 0.44863635301589966, "actor_loss": -8.71312141418457, "critic_loss": 0.03762331232428551, "reward": 0.07125328481197357, "falls": 6, "interval_steps": 10, "velocity_mae": [0.24070218205451965, 0.15245667099952698, 0.24623025953769684], "policy_updates": 42170, "skipped_updates": 0, "invalid_env_resets": 79, "elapsed_s": 8402.191161251001, "contact_bce": 0.3165835738182068, "contact_force_loss": 0.03340887278318405, "terrain_level_mean": 3.213134765625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.34619140625, "command_abs_max": [1.9990639686584473, 0.999378502368927, 2.9986977577209473]}
{"step": 42280, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 42280, "total_transitions": 173178880, "num_steps_per_env": 1, "wm_loss": 0.4172433018684387, "actor_loss": -8.766693115234375, "critic_loss": 0.034967295825481415, "reward": 0.0710720643401146, "falls": 3, "interval_steps": 10, "velocity_mae": [0.2405184954404831, 0.15226434171199799, 0.2505970001220703], "policy_updates": 42180, "skipped_updates": 0, "invalid_env_resets": 79, "elapsed_s": 8405.714131861001, "contact_bce": 0.3088054060935974, "contact_force_loss": 0.03207946941256523, "terrain_level_mean": 3.21337890625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.345458984375, "command_abs_max": [1.9979302883148193, 0.999378502368927, 2.9986977577209473]}
{"step": 42290, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 42290, "total_transitions": 173219840, "num_steps_per_env": 1, "wm_loss": 0.42730534076690674, "actor_loss": -8.745922088623047, "critic_loss": 0.02189670316874981, "reward": 0.07118378579616547, "falls": 7, "interval_steps": 10, "velocity_mae": [0.2477293163537979, 0.15413865447044373, 0.2520555555820465], "policy_updates": 42190, "skipped_updates": 0, "invalid_env_resets": 79, "elapsed_s": 8409.237801533001, "contact_bce": 0.3093768060207367, "contact_force_loss": 0.03246837854385376, "terrain_level_mean": 3.21337890625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3466796875, "command_abs_max": [1.9979302883148193, 0.999378502368927, 2.9986977577209473]}
{"step": 42300, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 42300, "total_transitions": 173260800, "num_steps_per_env": 1, "wm_loss": 0.4203183948993683, "actor_loss": -8.792242050170898, "critic_loss": 0.02868984453380108, "reward": 0.07145974785089493, "falls": 3, "interval_steps": 10, "velocity_mae": [0.24890154600143433, 0.15335844457149506, 0.2516772150993347], "policy_updates": 42200, "skipped_updates": 0, "invalid_env_resets": 79, "elapsed_s": 8412.761671072001, "contact_bce": 0.31248608231544495, "contact_force_loss": 0.03246702626347542, "terrain_level_mean": 3.21435546875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.34521484375, "command_abs_max": [1.9979302883148193, 0.999378502368927, 2.9986977577209473]}
{"step": 42310, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 42310, "total_transitions": 173301760, "num_steps_per_env": 1, "wm_loss": 0.4030407667160034, "actor_loss": -8.71561050415039, "critic_loss": 0.027346450835466385, "reward": 0.07107599824666977, "falls": 8, "interval_steps": 10, "velocity_mae": [0.245235413312912, 0.15471622347831726, 0.2523353695869446], "policy_updates": 42210, "skipped_updates": 0, "invalid_env_resets": 79, "elapsed_s": 8416.28419638, "contact_bce": 0.31290730834007263, "contact_force_loss": 0.031750429421663284, "terrain_level_mean": 3.213134765625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.342529296875, "command_abs_max": [1.9979302883148193, 0.999378502368927, 2.9986977577209473]}
{"step": 42320, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 42320, "total_transitions": 173342720, "num_steps_per_env": 1, "wm_loss": 0.40329962968826294, "actor_loss": -8.789304733276367, "critic_loss": 0.028829405084252357, "reward": 0.07089611142873764, "falls": 6, "interval_steps": 10, "velocity_mae": [0.24284763634204865, 0.15330441296100616, 0.2523626685142517], "policy_updates": 42220, "skipped_updates": 0, "invalid_env_resets": 79, "elapsed_s": 8419.802781031001, "contact_bce": 0.30665597319602966, "contact_force_loss": 0.031274907290935516, "terrain_level_mean": 3.21337890625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.34033203125, "command_abs_max": [1.9979302883148193, 0.999378502368927, 2.9986977577209473]}
{"step": 42330, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 42330, "total_transitions": 173383680, "num_steps_per_env": 1, "wm_loss": 0.41439729928970337, "actor_loss": -8.730897903442383, "critic_loss": 0.03557892516255379, "reward": 0.07097143679857254, "falls": 5, "interval_steps": 10, "velocity_mae": [0.24417206645011902, 0.15475629270076752, 0.25044235587120056], "policy_updates": 42230, "skipped_updates": 0, "invalid_env_resets": 79, "elapsed_s": 8423.321462271, "contact_bce": 0.3132053315639496, "contact_force_loss": 0.032244857400655746, "terrain_level_mean": 3.21337890625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.34130859375, "command_abs_max": [1.9979302883148193, 0.998052179813385, 2.998469829559326]}
RECOVERY reset 1 invalid environments; first IDs=[1199]
{"step": 42340, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 42340, "total_transitions": 173424640, "num_steps_per_env": 1, "wm_loss": 0.3991939127445221, "actor_loss": -8.740262985229492, "critic_loss": 0.03121362440288067, "reward": 0.07110830396413803, "falls": 3, "interval_steps": 10, "velocity_mae": [0.24569131433963776, 0.1564706414937973, 0.2510046064853668], "policy_updates": 42240, "skipped_updates": 0, "invalid_env_resets": 80, "elapsed_s": 8426.844385187, "contact_bce": 0.3108189105987549, "contact_force_loss": 0.03138083219528198, "terrain_level_mean": 3.214111328125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.34326171875, "command_abs_max": [1.9979302883148193, 0.998052179813385, 2.998469829559326]}
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RECOVERY reset 1 invalid environments; first IDs=[702]
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RECOVERY reset 1 invalid environments; first IDs=[1323]
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RECOVERY reset 1 invalid environments; first IDs=[1323]
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{"step": 43040, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 43040, "total_transitions": 176291840, "num_steps_per_env": 1, "wm_loss": 0.42118021845817566, "actor_loss": -8.719032287597656, "critic_loss": 0.028500396758317947, "reward": 0.07076989114284515, "falls": 7, "interval_steps": 10, "velocity_mae": [0.2504761517047882, 0.15406915545463562, 0.25508835911750793], "policy_updates": 42940, "skipped_updates": 0, "invalid_env_resets": 83, "elapsed_s": 8673.282393039, "contact_bce": 0.3131002187728882, "contact_force_loss": 0.03189298138022423, "terrain_level_mean": 3.219970703125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.353271484375, "command_abs_max": [1.9991984367370605, 0.9995535612106323, 2.998591423034668]}
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{"step": 43060, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 43060, "total_transitions": 176373760, "num_steps_per_env": 1, "wm_loss": 0.4310479462146759, "actor_loss": -8.73294448852539, "critic_loss": 0.025314508005976677, "reward": 0.07071968913078308, "falls": 6, "interval_steps": 10, "velocity_mae": [0.2506971061229706, 0.15122562646865845, 0.2511298954486847], "policy_updates": 42960, "skipped_updates": 0, "invalid_env_resets": 83, "elapsed_s": 8680.275996864, "contact_bce": 0.31055885553359985, "contact_force_loss": 0.03317190706729889, "terrain_level_mean": 3.22021484375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.357421875, "command_abs_max": [1.9991984367370605, 0.9995535612106323, 2.998591423034668]}
{"step": 43070, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 43070, "total_transitions": 176414720, "num_steps_per_env": 1, "wm_loss": 0.4058241844177246, "actor_loss": -8.680535316467285, "critic_loss": 0.02902657352387905, "reward": 0.07115182280540466, "falls": 2, "interval_steps": 10, "velocity_mae": [0.24700233340263367, 0.14863084256649017, 0.2494106888771057], "policy_updates": 42970, "skipped_updates": 0, "invalid_env_resets": 83, "elapsed_s": 8683.776875014, "contact_bce": 0.31070104241371155, "contact_force_loss": 0.0322016105055809, "terrain_level_mean": 3.22119140625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.353271484375, "command_abs_max": [1.9991984367370605, 0.9995535612106323, 2.998591423034668]}
{"step": 43080, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 43080, "total_transitions": 176455680, "num_steps_per_env": 1, "wm_loss": 0.3959822654724121, "actor_loss": -8.724649429321289, "critic_loss": 0.02784162200987339, "reward": 0.07086871564388275, "falls": 2, "interval_steps": 10, "velocity_mae": [0.2511269152164459, 0.1507047414779663, 0.2517496943473816], "policy_updates": 42980, "skipped_updates": 0, "invalid_env_resets": 83, "elapsed_s": 8687.273840313, "contact_bce": 0.311799019575119, "contact_force_loss": 0.031398434191942215, "terrain_level_mean": 3.22265625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.354736328125, "command_abs_max": [1.9991984367370605, 0.9995535612106323, 2.998591423034668]}
RECOVERY reset 1 invalid environments; first IDs=[1181]
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{"step": 43110, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 43110, "total_transitions": 176578560, "num_steps_per_env": 1, "wm_loss": 0.4095899760723114, "actor_loss": -8.688666343688965, "critic_loss": 0.03212772309780121, "reward": 0.07122509926557541, "falls": 3, "interval_steps": 10, "velocity_mae": [0.25085508823394775, 0.15369874238967896, 0.2534506320953369], "policy_updates": 43010, "skipped_updates": 0, "invalid_env_resets": 84, "elapsed_s": 8697.802780415, "contact_bce": 0.30764368176460266, "contact_force_loss": 0.0322277769446373, "terrain_level_mean": 3.221923828125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.356201171875, "command_abs_max": [1.9991984367370605, 0.9991111159324646, 2.9997706413269043]}
{"step": 43120, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 43120, "total_transitions": 176619520, "num_steps_per_env": 1, "wm_loss": 0.39545533061027527, "actor_loss": -8.72137451171875, "critic_loss": 0.03498021885752678, "reward": 0.07047093659639359, "falls": 1, "interval_steps": 10, "velocity_mae": [0.254968523979187, 0.15523914992809296, 0.2564918100833893], "policy_updates": 43020, "skipped_updates": 0, "invalid_env_resets": 84, "elapsed_s": 8701.304020219, "contact_bce": 0.3050864338874817, "contact_force_loss": 0.03079153224825859, "terrain_level_mean": 3.222900390625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.35498046875, "command_abs_max": [1.999918818473816, 0.9991111159324646, 2.9997706413269043]}
{"step": 43130, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 43130, "total_transitions": 176660480, "num_steps_per_env": 1, "wm_loss": 0.39706113934516907, "actor_loss": -8.73185920715332, "critic_loss": 0.025476723909378052, "reward": 0.07024644315242767, "falls": 2, "interval_steps": 10, "velocity_mae": [0.2551542818546295, 0.15417692065238953, 0.2533766031265259], "policy_updates": 43030, "skipped_updates": 0, "invalid_env_resets": 84, "elapsed_s": 8704.801452166, "contact_bce": 0.3068268299102783, "contact_force_loss": 0.031892552971839905, "terrain_level_mean": 3.223876953125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.354248046875, "command_abs_max": [1.999918818473816, 0.9991111159324646, 2.9997706413269043]}
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+---------------------------------+
|         Base Environment        |
+------------------------+--------+
| Property               | Value  |
+------------------------+--------+
| Number of environments | 1      |
| Environment device     | cuda:0 |
| Environment seed       | None   |
| Physics step-size      | 0.005  |
| Environment step-size  | 0.02   |
+------------------------+--------+

[INFO] <EventManager> contains 1 active terms.
+-------------------------------------+
| Active Event Terms in Mode: 'reset' |
+--------+----------------------------+
| Index  | Name                       |
+--------+----------------------------+
|   0    | reset_base                 |
|   1    | reset_robot_joints         |
+--------+----------------------------+

[INFO] <CommandManager> contains 1 active terms.
+----------------------------------------+
|          Active Command Terms          |
+-------+-------+------------------------+
| Index | Name  |          Type          |
+-------+-------+------------------------+
|   0   | twist | UniformVelocityCommand |
+-------+-------+------------------------+

[INFO] <ActionManager> contains 2 active terms.
+---------------------------------+
| Active Action Terms (shape: 16) |
+-------+-----------+-------------+
| Index | Name      |   Dimension |
+-------+-----------+-------------+
|   0   | joint_pos |          12 |
|   1   | wheel_vel |           4 |
+-------+-----------+-------------+

[INFO] <ObservationManager> contains 1 groups.
+------------------------------------------------------------+
| Active Observation Terms in Group: 'actor' (shape: (265,)) |
+--------+-------------------------+-------------------------+
| Index  | Name                    |          Shape          |
+--------+-------------------------+-------------------------+
|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
|   5    | actions                 |     (80,)  ← 5×(16,)    |
|   6    | command                 |     (15,)  ← 5×(3,)     |
+--------+-------------------------+-------------------------+

[INFO] <TerminationManager> contains 3 active terms.
+--------------------------------+
|    Active Termination Terms    |
+-------+-------------+----------+
| Index | Name        | Time Out |
+-------+-------------+----------+
|   0   | time_out    |   True   |
|   1   | fell_over   |  False   |
|   2   | course_exit |   True   |
+-------+-------------+----------+

[INFO] <RewardManager> contains 0 active terms.
+-----------------------+
|  Active Reward Terms  |
+-------+------+--------+
| Index | Name | Weight |
+-------+------+--------+
+-------+------+--------+

[INFO] <NullCurriculumManager> (inactive)
[INFO] <NullMetricsManager> (inactive)
[INFO] <NullRecorderManager> (inactive)
S10 video saved: logs/s10_terrain_v4_50k_full/videos/iteration_043200.mp4
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RECOVERY reset 1 invalid environments; first IDs=[1462]
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{"step": 43560, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 43560, "total_transitions": 178421760, "num_steps_per_env": 1, "wm_loss": 0.4128919541835785, "actor_loss": -8.674538612365723, "critic_loss": 0.040402788668870926, "reward": 0.06969687342643738, "falls": 5, "interval_steps": 10, "velocity_mae": [0.2531372606754303, 0.16115933656692505, 0.2517921030521393], "policy_updates": 43460, "skipped_updates": 0, "invalid_env_resets": 85, "elapsed_s": 8861.599657829001, "contact_bce": 0.3127174377441406, "contact_force_loss": 0.032166022807359695, "terrain_level_mean": 3.228515625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.341064453125, "command_abs_max": [1.9993221759796143, 0.9999210834503174, 2.9959335327148438]}
RECOVERY reset 1 invalid environments; first IDs=[1314]
{"step": 43570, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 43570, "total_transitions": 178462720, "num_steps_per_env": 1, "wm_loss": 0.423512727022171, "actor_loss": -8.703863143920898, "critic_loss": 0.02389548346400261, "reward": 0.06983204931020737, "falls": 5, "interval_steps": 10, "velocity_mae": [0.24792976677417755, 0.1600310057401657, 0.25084835290908813], "policy_updates": 43470, "skipped_updates": 0, "invalid_env_resets": 86, "elapsed_s": 8865.122713802, "contact_bce": 0.3170105516910553, "contact_force_loss": 0.03264982998371124, "terrain_level_mean": 3.228759765625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.341552734375, "command_abs_max": [1.9993221759796143, 0.9999210834503174, 2.9959335327148438]}
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{"step": 43610, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 43610, "total_transitions": 178626560, "num_steps_per_env": 1, "wm_loss": 0.4243827760219574, "actor_loss": -8.7159423828125, "critic_loss": 0.0330062173306942, "reward": 0.07051918655633926, "falls": 4, "interval_steps": 10, "velocity_mae": [0.24441103637218475, 0.15868856012821198, 0.2530200183391571], "policy_updates": 43510, "skipped_updates": 0, "invalid_env_resets": 86, "elapsed_s": 8879.19566797, "contact_bce": 0.3128884732723236, "contact_force_loss": 0.03289947286248207, "terrain_level_mean": 3.227783203125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.33642578125, "command_abs_max": [1.9993221759796143, 0.9999210834503174, 2.9959335327148438]}
{"step": 43620, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 43620, "total_transitions": 178667520, "num_steps_per_env": 1, "wm_loss": 0.43239960074424744, "actor_loss": -8.778501510620117, "critic_loss": 0.03533051535487175, "reward": 0.07049194723367691, "falls": 12, "interval_steps": 10, "velocity_mae": [0.2440403699874878, 0.15832766890525818, 0.25594815611839294], "policy_updates": 43520, "skipped_updates": 0, "invalid_env_resets": 86, "elapsed_s": 8882.714188059, "contact_bce": 0.3200069069862366, "contact_force_loss": 0.032822806388139725, "terrain_level_mean": 3.22705078125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3359375, "command_abs_max": [1.9993221759796143, 0.9999210834503174, 2.9959335327148438]}
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{"step": 43680, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 43680, "total_transitions": 178913280, "num_steps_per_env": 1, "wm_loss": 0.44593319296836853, "actor_loss": -8.733738899230957, "critic_loss": 0.02966327778995037, "reward": 0.07053154706954956, "falls": 5, "interval_steps": 10, "velocity_mae": [0.24984188377857208, 0.15888391435146332, 0.2585499882698059], "policy_updates": 43580, "skipped_updates": 0, "invalid_env_resets": 86, "elapsed_s": 8903.797589916001, "contact_bce": 0.32337144017219543, "contact_force_loss": 0.033828988671302795, "terrain_level_mean": 3.2265625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.333251953125, "command_abs_max": [1.9993221759796143, 0.9999210834503174, 2.9959335327148438]}
RECOVERY reset 1 invalid environments; first IDs=[1146]
{"step": 43690, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 43690, "total_transitions": 178954240, "num_steps_per_env": 1, "wm_loss": 0.4136486053466797, "actor_loss": -8.69104290008545, "critic_loss": 0.03325005993247032, "reward": 0.07037714868783951, "falls": 6, "interval_steps": 10, "velocity_mae": [0.24837945401668549, 0.15890778601169586, 0.2537969946861267], "policy_updates": 43590, "skipped_updates": 0, "invalid_env_resets": 87, "elapsed_s": 8907.313209858, "contact_bce": 0.3141571879386902, "contact_force_loss": 0.032700520008802414, "terrain_level_mean": 3.226806640625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.33251953125, "command_abs_max": [1.9993221759796143, 0.9999210834503174, 2.9959335327148438]}
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{"step": 43950, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 43950, "total_transitions": 180019200, "num_steps_per_env": 1, "wm_loss": 0.42760294675827026, "actor_loss": -8.719694137573242, "critic_loss": 0.03097023069858551, "reward": 0.06994161009788513, "falls": 8, "interval_steps": 10, "velocity_mae": [0.2534732222557068, 0.1580057591199875, 0.26499637961387634], "policy_updates": 43850, "skipped_updates": 0, "invalid_env_resets": 87, "elapsed_s": 8998.609458579, "contact_bce": 0.31015700101852417, "contact_force_loss": 0.03292544186115265, "terrain_level_mean": 3.2255859375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.33251953125, "command_abs_max": [1.9997413158416748, 0.9991410970687866, 2.997798204421997]}
RECOVERY reset 1 invalid environments; first IDs=[742]
{"step": 43960, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 43960, "total_transitions": 180060160, "num_steps_per_env": 1, "wm_loss": 0.40956589579582214, "actor_loss": -8.692537307739258, "critic_loss": 0.03459827974438667, "reward": 0.07060591131448746, "falls": 5, "interval_steps": 10, "velocity_mae": [0.2528979778289795, 0.15768039226531982, 0.26039862632751465], "policy_updates": 43860, "skipped_updates": 0, "invalid_env_resets": 88, "elapsed_s": 9002.128122853, "contact_bce": 0.31120312213897705, "contact_force_loss": 0.03188125789165497, "terrain_level_mean": 3.224853515625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.33544921875, "command_abs_max": [1.9997413158416748, 0.9991410970687866, 2.997798204421997]}
{"step": 43970, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 43970, "total_transitions": 180101120, "num_steps_per_env": 1, "wm_loss": 0.437923401594162, "actor_loss": -8.695320129394531, "critic_loss": 0.02860129438340664, "reward": 0.07101502269506454, "falls": 4, "interval_steps": 10, "velocity_mae": [0.2501254081726074, 0.15547971427440643, 0.2519444525241852], "policy_updates": 43870, "skipped_updates": 0, "invalid_env_resets": 88, "elapsed_s": 9005.618143198, "contact_bce": 0.31262022256851196, "contact_force_loss": 0.03222518786787987, "terrain_level_mean": 3.225341796875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.333251953125, "command_abs_max": [1.9997413158416748, 0.9991410970687866, 2.997798204421997]}
{"step": 43980, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 43980, "total_transitions": 180142080, "num_steps_per_env": 1, "wm_loss": 0.4440280795097351, "actor_loss": -8.728641510009766, "critic_loss": 0.026433158665895462, "reward": 0.07118921726942062, "falls": 6, "interval_steps": 10, "velocity_mae": [0.2424650937318802, 0.15443070232868195, 0.25392040610313416], "policy_updates": 43880, "skipped_updates": 0, "invalid_env_resets": 88, "elapsed_s": 9009.123566177, "contact_bce": 0.3210250735282898, "contact_force_loss": 0.03318645805120468, "terrain_level_mean": 3.224609375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.337158203125, "command_abs_max": [1.9997413158416748, 0.9991410970687866, 2.9994373321533203]}
{"step": 43990, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 43990, "total_transitions": 180183040, "num_steps_per_env": 1, "wm_loss": 0.4013584852218628, "actor_loss": -8.759434700012207, "critic_loss": 0.03047885000705719, "reward": 0.07075487822294235, "falls": 5, "interval_steps": 10, "velocity_mae": [0.24489375948905945, 0.15598618984222412, 0.25352492928504944], "policy_updates": 43890, "skipped_updates": 0, "invalid_env_resets": 88, "elapsed_s": 9012.649889442, "contact_bce": 0.3136790692806244, "contact_force_loss": 0.03304797410964966, "terrain_level_mean": 3.224365234375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.334716796875, "command_abs_max": [1.9997413158416748, 0.9991410970687866, 2.9994373321533203]}
{"step": 44000, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 44000, "total_transitions": 180224000, "num_steps_per_env": 1, "wm_loss": 0.43076127767562866, "actor_loss": -8.717708587646484, "critic_loss": 0.03697234392166138, "reward": 0.07092194259166718, "falls": 3, "interval_steps": 10, "velocity_mae": [0.2443331480026245, 0.15614672005176544, 0.25385400652885437], "policy_updates": 43900, "skipped_updates": 0, "invalid_env_resets": 88, "elapsed_s": 9016.171047724001, "contact_bce": 0.31094205379486084, "contact_force_loss": 0.032495927065610886, "terrain_level_mean": 3.224609375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.33056640625, "command_abs_max": [1.9997413158416748, 0.9991410970687866, 2.9994373321533203]}
{"step": 44010, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 44010, "total_transitions": 180264960, "num_steps_per_env": 1, "wm_loss": 0.43569478392601013, "actor_loss": -8.690359115600586, "critic_loss": 0.032625894993543625, "reward": 0.0711607038974762, "falls": 3, "interval_steps": 10, "velocity_mae": [0.24206766486167908, 0.15404152870178223, 0.2506820261478424], "policy_updates": 43910, "skipped_updates": 0, "invalid_env_resets": 88, "elapsed_s": 9019.724245523, "contact_bce": 0.3122626543045044, "contact_force_loss": 0.0327882282435894, "terrain_level_mean": 3.22509765625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3291015625, "command_abs_max": [1.9997413158416748, 0.9991410970687866, 2.9994373321533203]}
{"step": 44020, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 44020, "total_transitions": 180305920, "num_steps_per_env": 1, "wm_loss": 0.4108053743839264, "actor_loss": -8.679073333740234, "critic_loss": 0.03533225879073143, "reward": 0.07114405184984207, "falls": 4, "interval_steps": 10, "velocity_mae": [0.24000847339630127, 0.15458334982395172, 0.24568507075309753], "policy_updates": 43920, "skipped_updates": 0, "invalid_env_resets": 88, "elapsed_s": 9023.502099997, "contact_bce": 0.31167474389076233, "contact_force_loss": 0.03275209665298462, "terrain_level_mean": 3.225830078125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.330322265625, "command_abs_max": [1.9997413158416748, 0.9991410970687866, 2.9994373321533203]}
{"step": 44030, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 44030, "total_transitions": 180346880, "num_steps_per_env": 1, "wm_loss": 0.41270074248313904, "actor_loss": -8.768664360046387, "critic_loss": 0.029321247711777687, "reward": 0.07080058008432388, "falls": 5, "interval_steps": 10, "velocity_mae": [0.2384089231491089, 0.15526598691940308, 0.25027623772621155], "policy_updates": 43930, "skipped_updates": 0, "invalid_env_resets": 88, "elapsed_s": 9027.022744376001, "contact_bce": 0.31713366508483887, "contact_force_loss": 0.03273008391261101, "terrain_level_mean": 3.225341796875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.33056640625, "command_abs_max": [1.9997413158416748, 0.9991410970687866, 2.9994373321533203]}
{"step": 44040, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 44040, "total_transitions": 180387840, "num_steps_per_env": 1, "wm_loss": 0.4045741856098175, "actor_loss": -8.727972030639648, "critic_loss": 0.022854004055261612, "reward": 0.07116731256246567, "falls": 6, "interval_steps": 10, "velocity_mae": [0.2372363954782486, 0.15469440817832947, 0.2521206736564636], "policy_updates": 43940, "skipped_updates": 0, "invalid_env_resets": 88, "elapsed_s": 9030.542457875, "contact_bce": 0.3161192536354065, "contact_force_loss": 0.03239445760846138, "terrain_level_mean": 3.225341796875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.333251953125, "command_abs_max": [1.9997413158416748, 0.9991410970687866, 2.9994373321533203]}
{"step": 44050, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 44050, "total_transitions": 180428800, "num_steps_per_env": 1, "wm_loss": 0.42194339632987976, "actor_loss": -8.709296226501465, "critic_loss": 0.01956341229379177, "reward": 0.07086058706045151, "falls": 11, "interval_steps": 10, "velocity_mae": [0.23814360797405243, 0.15707950294017792, 0.25527167320251465], "policy_updates": 43950, "skipped_updates": 0, "invalid_env_resets": 88, "elapsed_s": 9034.061861067, "contact_bce": 0.3141534626483917, "contact_force_loss": 0.033263254910707474, "terrain_level_mean": 3.224365234375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.33642578125, "command_abs_max": [1.9997413158416748, 0.9991410970687866, 2.9994373321533203]}
{"step": 44060, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 44060, "total_transitions": 180469760, "num_steps_per_env": 1, "wm_loss": 0.400799036026001, "actor_loss": -8.737509727478027, "critic_loss": 0.02648370899260044, "reward": 0.07076885551214218, "falls": 3, "interval_steps": 10, "velocity_mae": [0.24050311744213104, 0.15770386159420013, 0.2525007128715515], "policy_updates": 43960, "skipped_updates": 0, "invalid_env_resets": 88, "elapsed_s": 9037.581153111001, "contact_bce": 0.3137262463569641, "contact_force_loss": 0.032642923295497894, "terrain_level_mean": 3.2255859375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.33642578125, "command_abs_max": [1.9997413158416748, 0.9991410970687866, 2.9994373321533203]}
{"step": 44070, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 44070, "total_transitions": 180510720, "num_steps_per_env": 1, "wm_loss": 0.42527270317077637, "actor_loss": -8.775136947631836, "critic_loss": 0.027317721396684647, "reward": 0.07093708217144012, "falls": 5, "interval_steps": 10, "velocity_mae": [0.24319909512996674, 0.1566011607646942, 0.25076475739479065], "policy_updates": 43970, "skipped_updates": 0, "invalid_env_resets": 88, "elapsed_s": 9041.100279075, "contact_bce": 0.30810126662254333, "contact_force_loss": 0.032111894339323044, "terrain_level_mean": 3.2255859375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.33642578125, "command_abs_max": [1.9997413158416748, 0.9994792938232422, 2.9994373321533203]}
{"step": 44080, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 44080, "total_transitions": 180551680, "num_steps_per_env": 1, "wm_loss": 0.40829038619995117, "actor_loss": -8.737974166870117, "critic_loss": 0.03496778756380081, "reward": 0.07124917954206467, "falls": 4, "interval_steps": 10, "velocity_mae": [0.2414923459291458, 0.1552979201078415, 0.251475065946579], "policy_updates": 43980, "skipped_updates": 0, "invalid_env_resets": 88, "elapsed_s": 9044.626003708001, "contact_bce": 0.30949410796165466, "contact_force_loss": 0.0328766405582428, "terrain_level_mean": 3.2255859375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.338623046875, "command_abs_max": [1.9997413158416748, 0.9994792938232422, 2.9994373321533203]}
RECOVERY reset 1 invalid environments; first IDs=[983]
{"step": 44090, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 44090, "total_transitions": 180592640, "num_steps_per_env": 1, "wm_loss": 0.3877731263637543, "actor_loss": -8.706125259399414, "critic_loss": 0.02750704064965248, "reward": 0.07141584157943726, "falls": 6, "interval_steps": 10, "velocity_mae": [0.2389044314622879, 0.1540423035621643, 0.2507765591144562], "policy_updates": 43990, "skipped_updates": 0, "invalid_env_resets": 89, "elapsed_s": 9048.169873581, "contact_bce": 0.3098829686641693, "contact_force_loss": 0.03217571973800659, "terrain_level_mean": 3.224853515625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.33935546875, "command_abs_max": [1.9997413158416748, 0.9994792938232422, 2.9994373321533203]}
{"step": 44100, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 44100, "total_transitions": 180633600, "num_steps_per_env": 1, "wm_loss": 0.4018207788467407, "actor_loss": -8.741997718811035, "critic_loss": 0.03722608461976051, "reward": 0.07174263894557953, "falls": 1, "interval_steps": 10, "velocity_mae": [0.23458325862884521, 0.15279068052768707, 0.25262102484703064], "policy_updates": 44000, "skipped_updates": 0, "invalid_env_resets": 89, "elapsed_s": 9051.700179633, "contact_bce": 0.31392115354537964, "contact_force_loss": 0.03201085329055786, "terrain_level_mean": 3.224853515625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.341552734375, "command_abs_max": [1.9997413158416748, 0.9994792938232422, 2.9994373321533203]}
{"step": 44110, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 44110, "total_transitions": 180674560, "num_steps_per_env": 1, "wm_loss": 0.40716904401779175, "actor_loss": -8.770647048950195, "critic_loss": 0.03873768821358681, "reward": 0.07130813598632812, "falls": 4, "interval_steps": 10, "velocity_mae": [0.23835694789886475, 0.15433119237422943, 0.2532557249069214], "policy_updates": 44010, "skipped_updates": 0, "invalid_env_resets": 89, "elapsed_s": 9055.208887174, "contact_bce": 0.3161379396915436, "contact_force_loss": 0.03190886974334717, "terrain_level_mean": 3.22509765625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3408203125, "command_abs_max": [1.9997413158416748, 0.9994792938232422, 2.9994373321533203]}
{"step": 44120, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 44120, "total_transitions": 180715520, "num_steps_per_env": 1, "wm_loss": 0.4079439342021942, "actor_loss": -8.711248397827148, "critic_loss": 0.04144644737243652, "reward": 0.07100459933280945, "falls": 4, "interval_steps": 10, "velocity_mae": [0.24091647565364838, 0.154618501663208, 0.2522195875644684], "policy_updates": 44020, "skipped_updates": 0, "invalid_env_resets": 89, "elapsed_s": 9058.729536841001, "contact_bce": 0.3137853741645813, "contact_force_loss": 0.032492510974407196, "terrain_level_mean": 3.2255859375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.341796875, "command_abs_max": [1.9997413158416748, 0.9994792938232422, 2.9994373321533203]}
{"step": 44130, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 44130, "total_transitions": 180756480, "num_steps_per_env": 1, "wm_loss": 0.40923362970352173, "actor_loss": -8.695845603942871, "critic_loss": 0.04238468408584595, "reward": 0.07137367874383926, "falls": 5, "interval_steps": 10, "velocity_mae": [0.23619765043258667, 0.155466228723526, 0.25019916892051697], "policy_updates": 44030, "skipped_updates": 0, "invalid_env_resets": 89, "elapsed_s": 9062.249315446, "contact_bce": 0.3144063651561737, "contact_force_loss": 0.03269100934267044, "terrain_level_mean": 3.225830078125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.34423828125, "command_abs_max": [1.9997413158416748, 0.9994792938232422, 2.9994373321533203]}
{"step": 44140, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 44140, "total_transitions": 180797440, "num_steps_per_env": 1, "wm_loss": 0.4354668855667114, "actor_loss": -8.786026000976562, "critic_loss": 0.018992954865098, "reward": 0.07124124467372894, "falls": 5, "interval_steps": 10, "velocity_mae": [0.2374974489212036, 0.15454570949077606, 0.25141528248786926], "policy_updates": 44040, "skipped_updates": 0, "invalid_env_resets": 89, "elapsed_s": 9065.772256251, "contact_bce": 0.31571024656295776, "contact_force_loss": 0.03230489417910576, "terrain_level_mean": 3.22607421875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.346923828125, "command_abs_max": [1.9997413158416748, 0.9994792938232422, 2.9994373321533203]}
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{"step": 44160, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 44160, "total_transitions": 180879360, "num_steps_per_env": 1, "wm_loss": 0.43578606843948364, "actor_loss": -8.723976135253906, "critic_loss": 0.030666504055261612, "reward": 0.07078364491462708, "falls": 4, "interval_steps": 10, "velocity_mae": [0.2381986379623413, 0.1534900665283203, 0.2474893033504486], "policy_updates": 44060, "skipped_updates": 0, "invalid_env_resets": 89, "elapsed_s": 9072.782718433, "contact_bce": 0.31180551648139954, "contact_force_loss": 0.032358407974243164, "terrain_level_mean": 3.2265625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.349853515625, "command_abs_max": [1.9985287189483643, 0.9994792938232422, 2.9994373321533203]}
RECOVERY reset 1 invalid environments; first IDs=[2111]
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RECOVERY reset 1 invalid environments; first IDs=[2260]
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RECOVERY reset 1 invalid environments; first IDs=[1780]
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{"step": 45160, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 45160, "total_transitions": 184975360, "num_steps_per_env": 1, "wm_loss": 0.39529794454574585, "actor_loss": -8.727773666381836, "critic_loss": 0.03223549202084541, "reward": 0.07101774960756302, "falls": 3, "interval_steps": 10, "velocity_mae": [0.24678826332092285, 0.1554608792066574, 0.25407734513282776], "policy_updates": 45060, "skipped_updates": 0, "invalid_env_resets": 92, "elapsed_s": 9424.844123335, "contact_bce": 0.30978161096572876, "contact_force_loss": 0.03208761662244797, "terrain_level_mean": 3.22265625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.347900390625, "command_abs_max": [1.9996323585510254, 0.9993091821670532, 2.9970052242279053]}
{"step": 45170, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 45170, "total_transitions": 185016320, "num_steps_per_env": 1, "wm_loss": 0.41118288040161133, "actor_loss": -8.779609680175781, "critic_loss": 0.022519661113619804, "reward": 0.07068920880556107, "falls": 2, "interval_steps": 10, "velocity_mae": [0.2479800134897232, 0.15557938814163208, 0.2539629638195038], "policy_updates": 45070, "skipped_updates": 0, "invalid_env_resets": 92, "elapsed_s": 9428.344020324, "contact_bce": 0.31269368529319763, "contact_force_loss": 0.033071935176849365, "terrain_level_mean": 3.225341796875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.35302734375, "command_abs_max": [1.9996323585510254, 0.9993091821670532, 2.9970052242279053]}
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{"step": 45220, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 45220, "total_transitions": 185221120, "num_steps_per_env": 1, "wm_loss": 0.4001275300979614, "actor_loss": -8.724984169006348, "critic_loss": 0.028148293495178223, "reward": 0.07096447795629501, "falls": 6, "interval_steps": 10, "velocity_mae": [0.24425621330738068, 0.15814432501792908, 0.25236573815345764], "policy_updates": 45120, "skipped_updates": 0, "invalid_env_resets": 92, "elapsed_s": 9445.896946550001, "contact_bce": 0.31145375967025757, "contact_force_loss": 0.03286084905266762, "terrain_level_mean": 3.227294921875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3515625, "command_abs_max": [1.9996323585510254, 0.9989778995513916, 2.9970052242279053]}
{"step": 45230, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 45230, "total_transitions": 185262080, "num_steps_per_env": 1, "wm_loss": 0.39807581901550293, "actor_loss": -8.726541519165039, "critic_loss": 0.028565583750605583, "reward": 0.07087545841932297, "falls": 8, "interval_steps": 10, "velocity_mae": [0.24524864554405212, 0.15577661991119385, 0.25376781821250916], "policy_updates": 45130, "skipped_updates": 0, "invalid_env_resets": 92, "elapsed_s": 9449.412546001, "contact_bce": 0.3094004690647125, "contact_force_loss": 0.03193386271595955, "terrain_level_mean": 3.226318359375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.351806640625, "command_abs_max": [1.9996323585510254, 0.9989778995513916, 2.9970052242279053]}
Warning: EPA horizon = 24 isn't large enough.
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{"step": 45250, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 45250, "total_transitions": 185344000, "num_steps_per_env": 1, "wm_loss": 0.3942120373249054, "actor_loss": -8.74751091003418, "critic_loss": 0.027414703741669655, "reward": 0.07104963064193726, "falls": 6, "interval_steps": 10, "velocity_mae": [0.2489442527294159, 0.15628162026405334, 0.2545684278011322], "policy_updates": 45150, "skipped_updates": 0, "invalid_env_resets": 92, "elapsed_s": 9456.443352751001, "contact_bce": 0.30776292085647583, "contact_force_loss": 0.03218541666865349, "terrain_level_mean": 3.227783203125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.350341796875, "command_abs_max": [1.9996323585510254, 0.9965218305587769, 2.9970052242279053]}
{"step": 45260, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 45260, "total_transitions": 185384960, "num_steps_per_env": 1, "wm_loss": 0.38234972953796387, "actor_loss": -8.770759582519531, "critic_loss": 0.02706960216164589, "reward": 0.07122274488210678, "falls": 5, "interval_steps": 10, "velocity_mae": [0.2472214549779892, 0.1566469520330429, 0.25193724036216736], "policy_updates": 45160, "skipped_updates": 0, "invalid_env_resets": 92, "elapsed_s": 9459.939180677, "contact_bce": 0.30402103066444397, "contact_force_loss": 0.031224824488162994, "terrain_level_mean": 3.227783203125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.354248046875, "command_abs_max": [1.9996323585510254, 0.9965218305587769, 2.9970052242279053]}
{"step": 45270, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 45270, "total_transitions": 185425920, "num_steps_per_env": 1, "wm_loss": 0.40879225730895996, "actor_loss": -8.711263656616211, "critic_loss": 0.02941809967160225, "reward": 0.07098131626844406, "falls": 5, "interval_steps": 10, "velocity_mae": [0.24481646716594696, 0.15677626430988312, 0.2526971995830536], "policy_updates": 45170, "skipped_updates": 0, "invalid_env_resets": 92, "elapsed_s": 9463.459477913, "contact_bce": 0.3079663813114166, "contact_force_loss": 0.03179645165801048, "terrain_level_mean": 3.228515625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.352783203125, "command_abs_max": [1.9996323585510254, 0.9994045495986938, 2.9970052242279053]}
{"step": 45280, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 45280, "total_transitions": 185466880, "num_steps_per_env": 1, "wm_loss": 0.4054020941257477, "actor_loss": -8.705123901367188, "critic_loss": 0.042716559022665024, "reward": 0.07114876806735992, "falls": 3, "interval_steps": 10, "velocity_mae": [0.24803881347179413, 0.15556323528289795, 0.24801072478294373], "policy_updates": 45180, "skipped_updates": 0, "invalid_env_resets": 92, "elapsed_s": 9466.980713313, "contact_bce": 0.3146568536758423, "contact_force_loss": 0.03249962255358696, "terrain_level_mean": 3.22802734375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.347900390625, "command_abs_max": [1.9996323585510254, 0.9994045495986938, 2.9970052242279053]}
{"step": 45290, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 45290, "total_transitions": 185507840, "num_steps_per_env": 1, "wm_loss": 0.41071265935897827, "actor_loss": -8.727010726928711, "critic_loss": 0.029629284515976906, "reward": 0.0709570050239563, "falls": 2, "interval_steps": 10, "velocity_mae": [0.24877402186393738, 0.15409716963768005, 0.25120702385902405], "policy_updates": 45190, "skipped_updates": 0, "invalid_env_resets": 92, "elapsed_s": 9470.502212332001, "contact_bce": 0.3135363459587097, "contact_force_loss": 0.032981205731630325, "terrain_level_mean": 3.22802734375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.346923828125, "command_abs_max": [1.9996323585510254, 0.9994045495986938, 2.9970052242279053]}
{"step": 45300, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 45300, "total_transitions": 185548800, "num_steps_per_env": 1, "wm_loss": 0.38004055619239807, "actor_loss": -8.759550094604492, "critic_loss": 0.024235105141997337, "reward": 0.07098864763975143, "falls": 1, "interval_steps": 10, "velocity_mae": [0.24735091626644135, 0.1534673273563385, 0.25110840797424316], "policy_updates": 45200, "skipped_updates": 0, "invalid_env_resets": 92, "elapsed_s": 9474.018683073, "contact_bce": 0.3061724603176117, "contact_force_loss": 0.03123757801949978, "terrain_level_mean": 3.228515625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.345703125, "command_abs_max": [1.9996323585510254, 0.9994045495986938, 2.9973790645599365]}
RECOVERY reset 1 invalid environments; first IDs=[858]
{"step": 45310, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 45310, "total_transitions": 185589760, "num_steps_per_env": 1, "wm_loss": 0.39045652747154236, "actor_loss": -8.732975959777832, "critic_loss": 0.029818717390298843, "reward": 0.07062641531229019, "falls": 5, "interval_steps": 10, "velocity_mae": [0.2469479739665985, 0.15366508066654205, 0.24851997196674347], "policy_updates": 45210, "skipped_updates": 0, "invalid_env_resets": 93, "elapsed_s": 9477.558747298, "contact_bce": 0.30899181962013245, "contact_force_loss": 0.03167622908949852, "terrain_level_mean": 3.22802734375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.345947265625, "command_abs_max": [1.9996323585510254, 0.9994045495986938, 2.9973790645599365]}
RECOVERY reset 1 invalid environments; first IDs=[2043]
{"step": 45320, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 45320, "total_transitions": 185630720, "num_steps_per_env": 1, "wm_loss": 0.37941592931747437, "actor_loss": -8.767282485961914, "critic_loss": 0.02248762547969818, "reward": 0.07047706097364426, "falls": 2, "interval_steps": 10, "velocity_mae": [0.24666143953800201, 0.15754784643650055, 0.2535073161125183], "policy_updates": 45220, "skipped_updates": 0, "invalid_env_resets": 94, "elapsed_s": 9481.091362852001, "contact_bce": 0.3091931641101837, "contact_force_loss": 0.031730178743600845, "terrain_level_mean": 3.22802734375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.349609375, "command_abs_max": [1.9996323585510254, 0.9994045495986938, 2.9973790645599365]}
{"step": 45330, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 45330, "total_transitions": 185671680, "num_steps_per_env": 1, "wm_loss": 0.3942851424217224, "actor_loss": -8.730863571166992, "critic_loss": 0.02974245324730873, "reward": 0.07075951248407364, "falls": 6, "interval_steps": 10, "velocity_mae": [0.2459970861673355, 0.15697169303894043, 0.25714945793151855], "policy_updates": 45230, "skipped_updates": 0, "invalid_env_resets": 94, "elapsed_s": 9484.595956729001, "contact_bce": 0.30683261156082153, "contact_force_loss": 0.03180825710296631, "terrain_level_mean": 3.2275390625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.34765625, "command_abs_max": [1.9996323585510254, 0.9994045495986938, 2.9973790645599365]}
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{"step": 45420, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 45420, "total_transitions": 186040320, "num_steps_per_env": 1, "wm_loss": 0.3898714482784271, "actor_loss": -8.747899055480957, "critic_loss": 0.030394170433282852, "reward": 0.07035545259714127, "falls": 8, "interval_steps": 10, "velocity_mae": [0.24962081015110016, 0.16062785685062408, 0.24805374443531036], "policy_updates": 45320, "skipped_updates": 0, "invalid_env_resets": 94, "elapsed_s": 9516.293856229, "contact_bce": 0.30875110626220703, "contact_force_loss": 0.032303787767887115, "terrain_level_mean": 3.227783203125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.346923828125, "command_abs_max": [1.9945136308670044, 0.9994045495986938, 2.9973790645599365]}
RECOVERY reset 1 invalid environments; first IDs=[495]
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RECOVERY reset 1 invalid environments; first IDs=[1276]
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+---------------------------------+
|         Base Environment        |
+------------------------+--------+
| Property               | Value  |
+------------------------+--------+
| Number of environments | 1      |
| Environment device     | cuda:0 |
| Environment seed       | None   |
| Physics step-size      | 0.005  |
| Environment step-size  | 0.02   |
+------------------------+--------+

[INFO] <EventManager> contains 1 active terms.
+-------------------------------------+
| Active Event Terms in Mode: 'reset' |
+--------+----------------------------+
| Index  | Name                       |
+--------+----------------------------+
|   0    | reset_base                 |
|   1    | reset_robot_joints         |
+--------+----------------------------+

[INFO] <CommandManager> contains 1 active terms.
+----------------------------------------+
|          Active Command Terms          |
+-------+-------+------------------------+
| Index | Name  |          Type          |
+-------+-------+------------------------+
|   0   | twist | UniformVelocityCommand |
+-------+-------+------------------------+

[INFO] <ActionManager> contains 2 active terms.
+---------------------------------+
| Active Action Terms (shape: 16) |
+-------+-----------+-------------+
| Index | Name      |   Dimension |
+-------+-----------+-------------+
|   0   | joint_pos |          12 |
|   1   | wheel_vel |           4 |
+-------+-----------+-------------+

[INFO] <ObservationManager> contains 1 groups.
+------------------------------------------------------------+
| Active Observation Terms in Group: 'actor' (shape: (265,)) |
+--------+-------------------------+-------------------------+
| Index  | Name                    |          Shape          |
+--------+-------------------------+-------------------------+
|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
|   5    | actions                 |     (80,)  ← 5×(16,)    |
|   6    | command                 |     (15,)  ← 5×(3,)     |
+--------+-------------------------+-------------------------+

[INFO] <TerminationManager> contains 3 active terms.
+--------------------------------+
|    Active Termination Terms    |
+-------+-------------+----------+
| Index | Name        | Time Out |
+-------+-------------+----------+
|   0   | time_out    |   True   |
|   1   | fell_over   |  False   |
|   2   | course_exit |   True   |
+-------+-------------+----------+

[INFO] <RewardManager> contains 0 active terms.
+-----------------------+
|  Active Reward Terms  |
+-------+------+--------+
| Index | Name | Weight |
+-------+------+--------+
+-------+------+--------+

[INFO] <NullCurriculumManager> (inactive)
[INFO] <NullMetricsManager> (inactive)
[INFO] <NullRecorderManager> (inactive)
S10 video saved: logs/s10_terrain_v4_50k_full/videos/iteration_045900.mp4
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RECOVERY reset 1 invalid environments; first IDs=[1052]
RECOVERY reset 1 invalid environments; first IDs=[1290]
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RECOVERY reset 1 invalid environments; first IDs=[1601]
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{"step": 46550, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 46550, "total_transitions": 190668800, "num_steps_per_env": 1, "wm_loss": 0.417330265045166, "actor_loss": -8.7477445602417, "critic_loss": 0.02657402865588665, "reward": 0.07093848288059235, "falls": 4, "interval_steps": 10, "velocity_mae": [0.25457334518432617, 0.16226612031459808, 0.2568705677986145], "policy_updates": 46450, "skipped_updates": 0, "invalid_env_resets": 99, "elapsed_s": 9920.141868844, "contact_bce": 0.3107614517211914, "contact_force_loss": 0.03236006945371628, "terrain_level_mean": 3.244384765625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.344482421875, "command_abs_max": [1.9983543157577515, 0.999114990234375, 2.9997754096984863]}
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RECOVERY reset 1 invalid environments; first IDs=[2041]
{"step": 46570, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 46570, "total_transitions": 190750720, "num_steps_per_env": 1, "wm_loss": 0.39214450120925903, "actor_loss": -8.690329551696777, "critic_loss": 0.022970378398895264, "reward": 0.07099639624357224, "falls": 6, "interval_steps": 10, "velocity_mae": [0.25158512592315674, 0.16180992126464844, 0.25512510538101196], "policy_updates": 46470, "skipped_updates": 0, "invalid_env_resets": 100, "elapsed_s": 9927.193677209001, "contact_bce": 0.30649471282958984, "contact_force_loss": 0.03123658522963524, "terrain_level_mean": 3.24365234375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.34375, "command_abs_max": [1.9983543157577515, 0.999114990234375, 2.9997754096984863]}
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{"step": 46620, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 46620, "total_transitions": 190955520, "num_steps_per_env": 1, "wm_loss": 0.4269600808620453, "actor_loss": -8.70827865600586, "critic_loss": 0.029204100370407104, "reward": 0.07043502479791641, "falls": 5, "interval_steps": 10, "velocity_mae": [0.246494859457016, 0.15965279936790466, 0.2509241998195648], "policy_updates": 46520, "skipped_updates": 0, "invalid_env_resets": 100, "elapsed_s": 9944.770676829, "contact_bce": 0.3080054819583893, "contact_force_loss": 0.031492672860622406, "terrain_level_mean": 3.2421875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.345947265625, "command_abs_max": [1.995484471321106, 0.999114990234375, 2.9997754096984863]}
{"step": 46630, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 46630, "total_transitions": 190996480, "num_steps_per_env": 1, "wm_loss": 0.4020470678806305, "actor_loss": -8.670637130737305, "critic_loss": 0.09823552519083023, "reward": 0.07025007158517838, "falls": 1, "interval_steps": 10, "velocity_mae": [0.2474120855331421, 0.1597111076116562, 0.2514892518520355], "policy_updates": 46530, "skipped_updates": 0, "invalid_env_resets": 100, "elapsed_s": 9948.282596831, "contact_bce": 0.3123874068260193, "contact_force_loss": 0.03213559091091156, "terrain_level_mean": 3.24267578125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.346435546875, "command_abs_max": [1.995484471321106, 0.999114990234375, 2.9997754096984863]}
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RECOVERY reset 1 invalid environments; first IDs=[705]
{"step": 46650, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 46650, "total_transitions": 191078400, "num_steps_per_env": 1, "wm_loss": 0.40281134843826294, "actor_loss": -8.712770462036133, "critic_loss": 0.026885172352194786, "reward": 0.0705723986029625, "falls": 7, "interval_steps": 10, "velocity_mae": [0.2456495314836502, 0.1588738113641739, 0.24789473414421082], "policy_updates": 46550, "skipped_updates": 0, "invalid_env_resets": 101, "elapsed_s": 9955.336625321, "contact_bce": 0.3070531189441681, "contact_force_loss": 0.032571885734796524, "terrain_level_mean": 3.242919921875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.347412109375, "command_abs_max": [1.995484471321106, 0.999114990234375, 2.9997754096984863]}
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{"step": 46670, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 46670, "total_transitions": 191160320, "num_steps_per_env": 1, "wm_loss": 0.40491604804992676, "actor_loss": -8.715239524841309, "critic_loss": 0.023252874612808228, "reward": 0.07124997675418854, "falls": 8, "interval_steps": 10, "velocity_mae": [0.24666287004947662, 0.1577034592628479, 0.24893641471862793], "policy_updates": 46570, "skipped_updates": 0, "invalid_env_resets": 101, "elapsed_s": 9962.377485509001, "contact_bce": 0.31106626987457275, "contact_force_loss": 0.031941208988428116, "terrain_level_mean": 3.240966796875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.346923828125, "command_abs_max": [1.995484471321106, 0.999114990234375, 2.9997754096984863]}
{"step": 46680, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 46680, "total_transitions": 191201280, "num_steps_per_env": 1, "wm_loss": 0.40954118967056274, "actor_loss": -8.771377563476562, "critic_loss": 0.02897905744612217, "reward": 0.07143241167068481, "falls": 4, "interval_steps": 10, "velocity_mae": [0.24764975905418396, 0.15637901425361633, 0.251329243183136], "policy_updates": 46580, "skipped_updates": 0, "invalid_env_resets": 101, "elapsed_s": 9965.893734702, "contact_bce": 0.3116215467453003, "contact_force_loss": 0.03197192773222923, "terrain_level_mean": 3.24072265625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.344482421875, "command_abs_max": [1.995484471321106, 0.999114990234375, 2.9997754096984863]}
{"step": 46690, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 46690, "total_transitions": 191242240, "num_steps_per_env": 1, "wm_loss": 0.4320334792137146, "actor_loss": -8.696002960205078, "critic_loss": 0.024194179102778435, "reward": 0.07125650346279144, "falls": 5, "interval_steps": 10, "velocity_mae": [0.24907484650611877, 0.15378627181053162, 0.2511967718601227], "policy_updates": 46590, "skipped_updates": 0, "invalid_env_resets": 101, "elapsed_s": 9969.413365975, "contact_bce": 0.31215396523475647, "contact_force_loss": 0.03319958597421646, "terrain_level_mean": 3.240478515625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3447265625, "command_abs_max": [1.995484471321106, 0.999114990234375, 2.9997754096984863]}
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{"step": 46940, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 46940, "total_transitions": 192266240, "num_steps_per_env": 1, "wm_loss": 0.38272783160209656, "actor_loss": -8.743490219116211, "critic_loss": 0.026841459795832634, "reward": 0.07044752687215805, "falls": 3, "interval_steps": 10, "velocity_mae": [0.24955347180366516, 0.1579248160123825, 0.25254741311073303], "policy_updates": 46840, "skipped_updates": 0, "invalid_env_resets": 101, "elapsed_s": 10057.370732129, "contact_bce": 0.3107227683067322, "contact_force_loss": 0.031894948333501816, "terrain_level_mean": 3.2490234375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.348388671875, "command_abs_max": [1.9994590282440186, 0.9985952973365784, 2.999861001968384]}
{"step": 46950, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 46950, "total_transitions": 192307200, "num_steps_per_env": 1, "wm_loss": 0.3957652151584625, "actor_loss": -8.755003929138184, "critic_loss": 0.026574665680527687, "reward": 0.07051923871040344, "falls": 4, "interval_steps": 10, "velocity_mae": [0.2481997311115265, 0.1587841659784317, 0.2526249587535858], "policy_updates": 46850, "skipped_updates": 0, "invalid_env_resets": 101, "elapsed_s": 10060.889322952, "contact_bce": 0.30461451411247253, "contact_force_loss": 0.031181851401925087, "terrain_level_mean": 3.249267578125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.347900390625, "command_abs_max": [1.9994590282440186, 0.9985952973365784, 2.999861001968384]}
{"step": 46960, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 46960, "total_transitions": 192348160, "num_steps_per_env": 1, "wm_loss": 0.4106323719024658, "actor_loss": -8.715652465820312, "critic_loss": 0.03800610825419426, "reward": 0.07067123055458069, "falls": 8, "interval_steps": 10, "velocity_mae": [0.24863530695438385, 0.1570308953523636, 0.25541555881500244], "policy_updates": 46860, "skipped_updates": 0, "invalid_env_resets": 101, "elapsed_s": 10064.405146525001, "contact_bce": 0.31120049953460693, "contact_force_loss": 0.032661762088537216, "terrain_level_mean": 3.248046875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.345947265625, "command_abs_max": [1.9994590282440186, 0.9985952973365784, 2.999861001968384]}
RECOVERY reset 1 invalid environments; first IDs=[1851]
{"step": 46970, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 46970, "total_transitions": 192389120, "num_steps_per_env": 1, "wm_loss": 0.4079868793487549, "actor_loss": -8.733582496643066, "critic_loss": 0.03585286810994148, "reward": 0.07091180235147476, "falls": 6, "interval_steps": 10, "velocity_mae": [0.24533694982528687, 0.15769729018211365, 0.25250673294067383], "policy_updates": 46870, "skipped_updates": 0, "invalid_env_resets": 102, "elapsed_s": 10067.937152777, "contact_bce": 0.30525124073028564, "contact_force_loss": 0.03187766671180725, "terrain_level_mean": 3.248046875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.345458984375, "command_abs_max": [1.9994590282440186, 0.9985952973365784, 2.9993486404418945]}
{"step": 46980, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 46980, "total_transitions": 192430080, "num_steps_per_env": 1, "wm_loss": 0.4119320809841156, "actor_loss": -8.717500686645508, "critic_loss": 0.02145121805369854, "reward": 0.07075764983892441, "falls": 3, "interval_steps": 10, "velocity_mae": [0.24466387927532196, 0.15709371864795685, 0.2487700879573822], "policy_updates": 46880, "skipped_updates": 0, "invalid_env_resets": 102, "elapsed_s": 10071.454659378, "contact_bce": 0.31033360958099365, "contact_force_loss": 0.032392993569374084, "terrain_level_mean": 3.2490234375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.34716796875, "command_abs_max": [1.9994590282440186, 0.9978691339492798, 2.9993486404418945]}
RECOVERY reset 1 invalid environments; first IDs=[1332]
{"step": 46990, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 46990, "total_transitions": 192471040, "num_steps_per_env": 1, "wm_loss": 0.403293639421463, "actor_loss": -8.729175567626953, "critic_loss": 0.029943695291876793, "reward": 0.07094981521368027, "falls": 5, "interval_steps": 10, "velocity_mae": [0.2454066425561905, 0.15757107734680176, 0.24835117161273956], "policy_updates": 46890, "skipped_updates": 0, "invalid_env_resets": 103, "elapsed_s": 10074.977737428, "contact_bce": 0.31014785170555115, "contact_force_loss": 0.033280011266469955, "terrain_level_mean": 3.2490234375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.347412109375, "command_abs_max": [1.9994590282440186, 0.9978691339492798, 2.9993486404418945]}
RECOVERY reset 1 invalid environments; first IDs=[1269]
{"step": 47000, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 47000, "total_transitions": 192512000, "num_steps_per_env": 1, "wm_loss": 0.4069857597351074, "actor_loss": -8.744837760925293, "critic_loss": 0.025380292907357216, "reward": 0.07125654071569443, "falls": 5, "interval_steps": 10, "velocity_mae": [0.24710777401924133, 0.15839692950248718, 0.24897150695323944], "policy_updates": 46900, "skipped_updates": 0, "invalid_env_resets": 104, "elapsed_s": 10078.508626363, "contact_bce": 0.30169156193733215, "contact_force_loss": 0.03172997757792473, "terrain_level_mean": 3.248779296875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.34912109375, "command_abs_max": [1.9994590282440186, 0.9978691339492798, 2.9993486404418945]}
{"step": 47010, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 47010, "total_transitions": 192552960, "num_steps_per_env": 1, "wm_loss": 0.3905705213546753, "actor_loss": -8.677546501159668, "critic_loss": 0.030872324481606483, "reward": 0.07127203792333603, "falls": 2, "interval_steps": 10, "velocity_mae": [0.2500477135181427, 0.1572338044643402, 0.2538039982318878], "policy_updates": 46910, "skipped_updates": 0, "invalid_env_resets": 104, "elapsed_s": 10082.056744079, "contact_bce": 0.3125910460948944, "contact_force_loss": 0.0324288047850132, "terrain_level_mean": 3.2490234375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.34619140625, "command_abs_max": [1.9994590282440186, 0.9978691339492798, 2.9993486404418945]}
RECOVERY reset 1 invalid environments; first IDs=[2239]
{"step": 47020, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 47020, "total_transitions": 192593920, "num_steps_per_env": 1, "wm_loss": 0.40205147862434387, "actor_loss": -8.74290657043457, "critic_loss": 0.02288462594151497, "reward": 0.07060310989618301, "falls": 2, "interval_steps": 10, "velocity_mae": [0.25357845425605774, 0.15715116262435913, 0.25813379883766174], "policy_updates": 46920, "skipped_updates": 0, "invalid_env_resets": 105, "elapsed_s": 10085.845621345, "contact_bce": 0.3102444112300873, "contact_force_loss": 0.032175302505493164, "terrain_level_mean": 3.249267578125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.34326171875, "command_abs_max": [1.9994590282440186, 0.9978691339492798, 2.9993486404418945]}
{"step": 47030, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 47030, "total_transitions": 192634880, "num_steps_per_env": 1, "wm_loss": 0.4041481912136078, "actor_loss": -8.711788177490234, "critic_loss": 0.028499145060777664, "reward": 0.07044880092144012, "falls": 6, "interval_steps": 10, "velocity_mae": [0.25372377038002014, 0.1570015847682953, 0.2571961283683777], "policy_updates": 46930, "skipped_updates": 0, "invalid_env_resets": 105, "elapsed_s": 10089.373762351, "contact_bce": 0.3072171211242676, "contact_force_loss": 0.03223559260368347, "terrain_level_mean": 3.248779296875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.345703125, "command_abs_max": [1.9994590282440186, 0.9980685710906982, 2.9993486404418945]}
{"step": 47040, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 47040, "total_transitions": 192675840, "num_steps_per_env": 1, "wm_loss": 0.37603962421417236, "actor_loss": -8.726997375488281, "critic_loss": 0.02824004553258419, "reward": 0.07114211469888687, "falls": 6, "interval_steps": 10, "velocity_mae": [0.24930648505687714, 0.1573866754770279, 0.25562790036201477], "policy_updates": 46940, "skipped_updates": 0, "invalid_env_resets": 105, "elapsed_s": 10092.897052227001, "contact_bce": 0.304105281829834, "contact_force_loss": 0.03153451904654503, "terrain_level_mean": 3.247802734375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.345947265625, "command_abs_max": [1.9994590282440186, 0.9982898235321045, 2.9993486404418945]}
{"step": 47050, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 47050, "total_transitions": 192716800, "num_steps_per_env": 1, "wm_loss": 0.37754499912261963, "actor_loss": -8.742375373840332, "critic_loss": 0.03449811786413193, "reward": 0.0713074579834938, "falls": 5, "interval_steps": 10, "velocity_mae": [0.24817904829978943, 0.15897725522518158, 0.2521741986274719], "policy_updates": 46950, "skipped_updates": 0, "invalid_env_resets": 105, "elapsed_s": 10096.424751877, "contact_bce": 0.30568060278892517, "contact_force_loss": 0.031430069357156754, "terrain_level_mean": 3.247314453125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.34423828125, "command_abs_max": [1.9994590282440186, 0.9982898235321045, 2.9993486404418945]}
{"step": 47060, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 47060, "total_transitions": 192757760, "num_steps_per_env": 1, "wm_loss": 0.3954589068889618, "actor_loss": -8.730329513549805, "critic_loss": 0.03754475712776184, "reward": 0.07094432413578033, "falls": 8, "interval_steps": 10, "velocity_mae": [0.2518276274204254, 0.16037291288375854, 0.24781742691993713], "policy_updates": 46960, "skipped_updates": 0, "invalid_env_resets": 105, "elapsed_s": 10099.949894947, "contact_bce": 0.307000070810318, "contact_force_loss": 0.03173578903079033, "terrain_level_mean": 3.24658203125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3447265625, "command_abs_max": [1.999820351600647, 0.9982898235321045, 2.9993486404418945]}
{"step": 47070, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 47070, "total_transitions": 192798720, "num_steps_per_env": 1, "wm_loss": 0.3971264362335205, "actor_loss": -8.707013130187988, "critic_loss": 0.027241671457886696, "reward": 0.07044809311628342, "falls": 13, "interval_steps": 10, "velocity_mae": [0.25109508633613586, 0.15979455411434174, 0.2512280344963074], "policy_updates": 46970, "skipped_updates": 0, "invalid_env_resets": 105, "elapsed_s": 10103.473272628, "contact_bce": 0.3079761564731598, "contact_force_loss": 0.03183950483798981, "terrain_level_mean": 3.24462890625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.341064453125, "command_abs_max": [1.999820351600647, 0.9982898235321045, 2.9993486404418945]}
{"step": 47080, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 47080, "total_transitions": 192839680, "num_steps_per_env": 1, "wm_loss": 0.3760768175125122, "actor_loss": -8.703378677368164, "critic_loss": 0.02648906782269478, "reward": 0.07101853936910629, "falls": 4, "interval_steps": 10, "velocity_mae": [0.2491735965013504, 0.159895122051239, 0.2494250237941742], "policy_updates": 46980, "skipped_updates": 0, "invalid_env_resets": 105, "elapsed_s": 10106.980743788, "contact_bce": 0.3129243850708008, "contact_force_loss": 0.032018836587667465, "terrain_level_mean": 3.245361328125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.336669921875, "command_abs_max": [1.9994590282440186, 0.9982898235321045, 2.9944050312042236]}
{"step": 47090, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 47090, "total_transitions": 192880640, "num_steps_per_env": 1, "wm_loss": 0.4029695987701416, "actor_loss": -8.675722122192383, "critic_loss": 0.031082693487405777, "reward": 0.07122185081243515, "falls": 7, "interval_steps": 10, "velocity_mae": [0.24663519859313965, 0.15690253674983978, 0.24957484006881714], "policy_updates": 46990, "skipped_updates": 0, "invalid_env_resets": 105, "elapsed_s": 10110.501621794001, "contact_bce": 0.30576178431510925, "contact_force_loss": 0.031780168414115906, "terrain_level_mean": 3.244873046875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.33984375, "command_abs_max": [1.9994590282440186, 0.9982898235321045, 2.9944050312042236]}
{"step": 47100, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 47100, "total_transitions": 192921600, "num_steps_per_env": 1, "wm_loss": 0.4132806360721588, "actor_loss": -8.691322326660156, "critic_loss": 0.0248925369232893, "reward": 0.07128550857305527, "falls": 2, "interval_steps": 10, "velocity_mae": [0.24659384787082672, 0.15712377429008484, 0.2506529688835144], "policy_updates": 47000, "skipped_updates": 0, "invalid_env_resets": 105, "elapsed_s": 10114.017305790001, "contact_bce": 0.31087997555732727, "contact_force_loss": 0.03283074498176575, "terrain_level_mean": 3.244873046875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3369140625, "command_abs_max": [1.9994590282440186, 0.9982898235321045, 2.9944050312042236]}
{"step": 47110, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 47110, "total_transitions": 192962560, "num_steps_per_env": 1, "wm_loss": 0.404982328414917, "actor_loss": -8.715912818908691, "critic_loss": 0.020763296633958817, "reward": 0.07113268226385117, "falls": 4, "interval_steps": 10, "velocity_mae": [0.2521856427192688, 0.15691092610359192, 0.25400426983833313], "policy_updates": 47010, "skipped_updates": 0, "invalid_env_resets": 105, "elapsed_s": 10117.538077225001, "contact_bce": 0.31255730986595154, "contact_force_loss": 0.03274133801460266, "terrain_level_mean": 3.245361328125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.337158203125, "command_abs_max": [1.9994590282440186, 0.9985353946685791, 2.9944050312042236]}
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{"step": 47210, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 47210, "total_transitions": 193372160, "num_steps_per_env": 1, "wm_loss": 0.40049898624420166, "actor_loss": -8.745271682739258, "critic_loss": 0.02066018432378769, "reward": 0.0717383548617363, "falls": 4, "interval_steps": 10, "velocity_mae": [0.24673683941364288, 0.1575937718153, 0.24751268327236176], "policy_updates": 47110, "skipped_updates": 0, "invalid_env_resets": 105, "elapsed_s": 10152.696659674, "contact_bce": 0.30989283323287964, "contact_force_loss": 0.03183308616280556, "terrain_level_mean": 3.24658203125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.345458984375, "command_abs_max": [1.9994590282440186, 0.9985353946685791, 2.9947383403778076]}
{"step": 47220, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 47220, "total_transitions": 193413120, "num_steps_per_env": 1, "wm_loss": 0.41095662117004395, "actor_loss": -8.724442481994629, "critic_loss": 0.024285748600959778, "reward": 0.07152696698904037, "falls": 6, "interval_steps": 10, "velocity_mae": [0.24430575966835022, 0.15624213218688965, 0.24841025471687317], "policy_updates": 47120, "skipped_updates": 0, "invalid_env_resets": 105, "elapsed_s": 10156.218313462, "contact_bce": 0.3065684139728546, "contact_force_loss": 0.03224324807524681, "terrain_level_mean": 3.24560546875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.34521484375, "command_abs_max": [1.998656988143921, 0.9985353946685791, 2.9947383403778076]}
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{"step": 47240, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 47240, "total_transitions": 193495040, "num_steps_per_env": 1, "wm_loss": 0.4076710641384125, "actor_loss": -8.75710678100586, "critic_loss": 0.02797161601483822, "reward": 0.07115500420331955, "falls": 3, "interval_steps": 10, "velocity_mae": [0.24452635645866394, 0.15805059671401978, 0.2494381070137024], "policy_updates": 47140, "skipped_updates": 0, "invalid_env_resets": 105, "elapsed_s": 10163.250176653, "contact_bce": 0.3121311664581299, "contact_force_loss": 0.032977405935525894, "terrain_level_mean": 3.2470703125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.33984375, "command_abs_max": [1.998656988143921, 0.9985353946685791, 2.9947383403778076]}
{"step": 47250, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 47250, "total_transitions": 193536000, "num_steps_per_env": 1, "wm_loss": 0.397632896900177, "actor_loss": -8.712482452392578, "critic_loss": 0.026417851448059082, "reward": 0.0708656907081604, "falls": 7, "interval_steps": 10, "velocity_mae": [0.244160458445549, 0.1561400443315506, 0.24697920680046082], "policy_updates": 47150, "skipped_updates": 0, "invalid_env_resets": 105, "elapsed_s": 10166.762177544, "contact_bce": 0.3079977035522461, "contact_force_loss": 0.03231482580304146, "terrain_level_mean": 3.246826171875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.336669921875, "command_abs_max": [1.998656988143921, 0.9985353946685791, 2.9947383403778076]}
RECOVERY reset 1 invalid environments; first IDs=[1136]
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{"step": 47270, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 47270, "total_transitions": 193617920, "num_steps_per_env": 1, "wm_loss": 0.4140671193599701, "actor_loss": -8.708916664123535, "critic_loss": 0.02674444392323494, "reward": 0.07091431319713593, "falls": 1, "interval_steps": 10, "velocity_mae": [0.24446868896484375, 0.1582898050546646, 0.247205451130867], "policy_updates": 47170, "skipped_updates": 0, "invalid_env_resets": 106, "elapsed_s": 10173.791810221, "contact_bce": 0.31057414412498474, "contact_force_loss": 0.03279900178313255, "terrain_level_mean": 3.247314453125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.340087890625, "command_abs_max": [1.998656988143921, 0.9985353946685791, 2.9947383403778076]}
{"step": 47280, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 47280, "total_transitions": 193658880, "num_steps_per_env": 1, "wm_loss": 0.38240373134613037, "actor_loss": -8.725923538208008, "critic_loss": 0.021757274866104126, "reward": 0.07074254751205444, "falls": 5, "interval_steps": 10, "velocity_mae": [0.24727383255958557, 0.15725652873516083, 0.24777042865753174], "policy_updates": 47180, "skipped_updates": 0, "invalid_env_resets": 106, "elapsed_s": 10177.288030809, "contact_bce": 0.30418455600738525, "contact_force_loss": 0.0315057709813118, "terrain_level_mean": 3.24853515625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.342529296875, "command_abs_max": [1.998656988143921, 0.9985353946685791, 2.9947383403778076]}
RECOVERY reset 1 invalid environments; first IDs=[1106]
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{"step": 47400, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 47400, "total_transitions": 194150400, "num_steps_per_env": 1, "wm_loss": 0.3947600722312927, "actor_loss": -8.760875701904297, "critic_loss": 0.024058882147073746, "reward": 0.07106372714042664, "falls": 1, "interval_steps": 10, "velocity_mae": [0.2447422295808792, 0.15744006633758545, 0.24931231141090393], "policy_updates": 47300, "skipped_updates": 0, "invalid_env_resets": 107, "elapsed_s": 10219.458532932, "contact_bce": 0.3074745535850525, "contact_force_loss": 0.03231802210211754, "terrain_level_mean": 3.248046875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3447265625, "command_abs_max": [1.999711513519287, 0.9978512525558472, 2.999513626098633]}
RECOVERY reset 1 invalid environments; first IDs=[704]
{"step": 47410, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 47410, "total_transitions": 194191360, "num_steps_per_env": 1, "wm_loss": 0.3794388771057129, "actor_loss": -8.751941680908203, "critic_loss": 0.020749032497406006, "reward": 0.07080124318599701, "falls": 6, "interval_steps": 10, "velocity_mae": [0.2483106255531311, 0.1556394100189209, 0.2568744122982025], "policy_updates": 47310, "skipped_updates": 0, "invalid_env_resets": 108, "elapsed_s": 10222.988331368, "contact_bce": 0.3027184009552002, "contact_force_loss": 0.03134701028466225, "terrain_level_mean": 3.248046875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.344482421875, "command_abs_max": [1.999711513519287, 0.9978512525558472, 2.999513626098633]}
{"step": 47420, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 47420, "total_transitions": 194232320, "num_steps_per_env": 1, "wm_loss": 0.4051137864589691, "actor_loss": -8.752851486206055, "critic_loss": 0.021514853462576866, "reward": 0.07083942741155624, "falls": 2, "interval_steps": 10, "velocity_mae": [0.24886158108711243, 0.15802335739135742, 0.25742584466934204], "policy_updates": 47320, "skipped_updates": 0, "invalid_env_resets": 108, "elapsed_s": 10226.505522020001, "contact_bce": 0.3098251223564148, "contact_force_loss": 0.03289686143398285, "terrain_level_mean": 3.248779296875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.34521484375, "command_abs_max": [1.999711513519287, 0.9978512525558472, 2.999513626098633]}
{"step": 47430, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 47430, "total_transitions": 194273280, "num_steps_per_env": 1, "wm_loss": 0.4041192829608917, "actor_loss": -8.72651481628418, "critic_loss": 0.01816585101187229, "reward": 0.07114099711179733, "falls": 2, "interval_steps": 10, "velocity_mae": [0.24722975492477417, 0.15851299464702606, 0.256305068731308], "policy_updates": 47330, "skipped_updates": 0, "invalid_env_resets": 108, "elapsed_s": 10230.027622003001, "contact_bce": 0.31356504559516907, "contact_force_loss": 0.03221661224961281, "terrain_level_mean": 3.249267578125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.344970703125, "command_abs_max": [1.999711513519287, 0.9978512525558472, 2.999513626098633]}
{"step": 47440, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 47440, "total_transitions": 194314240, "num_steps_per_env": 1, "wm_loss": 0.42223992943763733, "actor_loss": -8.785470962524414, "critic_loss": 0.027780717238783836, "reward": 0.071250319480896, "falls": 3, "interval_steps": 10, "velocity_mae": [0.2447546124458313, 0.1579916924238205, 0.25466224551200867], "policy_updates": 47340, "skipped_updates": 0, "invalid_env_resets": 108, "elapsed_s": 10233.546711242001, "contact_bce": 0.31072598695755005, "contact_force_loss": 0.032903775572776794, "terrain_level_mean": 3.2490234375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.345703125, "command_abs_max": [1.999855875968933, 0.9978512525558472, 2.999513626098633]}
{"step": 47450, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 47450, "total_transitions": 194355200, "num_steps_per_env": 1, "wm_loss": 0.38762983679771423, "actor_loss": -8.718788146972656, "critic_loss": 0.02569097839295864, "reward": 0.07099040597677231, "falls": 3, "interval_steps": 10, "velocity_mae": [0.24419499933719635, 0.15972071886062622, 0.2561211884021759], "policy_updates": 47350, "skipped_updates": 0, "invalid_env_resets": 108, "elapsed_s": 10237.059665062001, "contact_bce": 0.30378833413124084, "contact_force_loss": 0.03154371678829193, "terrain_level_mean": 3.249755859375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.34228515625, "command_abs_max": [1.999855875968933, 0.9978512525558472, 2.999513626098633]}
{"step": 47460, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 47460, "total_transitions": 194396160, "num_steps_per_env": 1, "wm_loss": 0.36494025588035583, "actor_loss": -8.69659423828125, "critic_loss": 0.041287049651145935, "reward": 0.07056628912687302, "falls": 8, "interval_steps": 10, "velocity_mae": [0.24697023630142212, 0.15983137488365173, 0.25899219512939453], "policy_updates": 47360, "skipped_updates": 0, "invalid_env_resets": 108, "elapsed_s": 10240.583756542, "contact_bce": 0.3005635738372803, "contact_force_loss": 0.03090633451938629, "terrain_level_mean": 3.248779296875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.34228515625, "command_abs_max": [1.999855875968933, 0.9978512525558472, 2.999513626098633]}
{"step": 47470, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 47470, "total_transitions": 194437120, "num_steps_per_env": 1, "wm_loss": 0.3960065245628357, "actor_loss": -8.785452842712402, "critic_loss": 0.022232534363865852, "reward": 0.07092057913541794, "falls": 5, "interval_steps": 10, "velocity_mae": [0.24388985335826874, 0.15896104276180267, 0.254249632358551], "policy_updates": 47370, "skipped_updates": 0, "invalid_env_resets": 108, "elapsed_s": 10244.108610471001, "contact_bce": 0.307211309671402, "contact_force_loss": 0.03156145289540291, "terrain_level_mean": 3.247802734375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.344482421875, "command_abs_max": [1.999855875968933, 0.9957664608955383, 2.999513626098633]}
{"step": 47480, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 47480, "total_transitions": 194478080, "num_steps_per_env": 1, "wm_loss": 0.40067023038864136, "actor_loss": -8.693249702453613, "critic_loss": 0.023947371169924736, "reward": 0.07100404798984528, "falls": 2, "interval_steps": 10, "velocity_mae": [0.24347667396068573, 0.158903568983078, 0.24903005361557007], "policy_updates": 47380, "skipped_updates": 0, "invalid_env_resets": 108, "elapsed_s": 10247.630340248, "contact_bce": 0.31072500348091125, "contact_force_loss": 0.03200804069638252, "terrain_level_mean": 3.248046875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.34619140625, "command_abs_max": [1.999855875968933, 0.9957664608955383, 2.999513626098633]}
{"step": 47490, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 47490, "total_transitions": 194519040, "num_steps_per_env": 1, "wm_loss": 0.39037731289863586, "actor_loss": -8.713176727294922, "critic_loss": 0.029990578070282936, "reward": 0.07097485661506653, "falls": 6, "interval_steps": 10, "velocity_mae": [0.24143251776695251, 0.15735146403312683, 0.2472369223833084], "policy_updates": 47390, "skipped_updates": 0, "invalid_env_resets": 108, "elapsed_s": 10251.151004446001, "contact_bce": 0.3070433437824249, "contact_force_loss": 0.032319288700819016, "terrain_level_mean": 3.247314453125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3447265625, "command_abs_max": [1.999855875968933, 0.9961349368095398, 2.999513626098633]}
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{"step": 47520, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 47520, "total_transitions": 194641920, "num_steps_per_env": 1, "wm_loss": 0.38368847966194153, "actor_loss": -8.691458702087402, "critic_loss": 0.032365091145038605, "reward": 0.0710567757487297, "falls": 3, "interval_steps": 10, "velocity_mae": [0.2461092174053192, 0.1565990149974823, 0.24891822040081024], "policy_updates": 47420, "skipped_updates": 0, "invalid_env_resets": 108, "elapsed_s": 10262.007540163, "contact_bce": 0.30749475955963135, "contact_force_loss": 0.03168627992272377, "terrain_level_mean": 3.249267578125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.345703125, "command_abs_max": [1.999855875968933, 0.9961349368095398, 2.999040126800537]}
RECOVERY reset 1 invalid environments; first IDs=[665]
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RECOVERY reset 1 invalid environments; first IDs=[562]
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RECOVERY reset 1 invalid environments; first IDs=[1858]
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{"step": 48400, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 48400, "total_transitions": 198246400, "num_steps_per_env": 1, "wm_loss": 0.42364707589149475, "actor_loss": -8.67776870727539, "critic_loss": 0.032264258712530136, "reward": 0.07090786099433899, "falls": 3, "interval_steps": 10, "velocity_mae": [0.24931474030017853, 0.1574341058731079, 0.2530704140663147], "policy_updates": 48300, "skipped_updates": 0, "invalid_env_resets": 111, "elapsed_s": 10572.084983627, "contact_bce": 0.3133813142776489, "contact_force_loss": 0.03297805041074753, "terrain_level_mean": 3.270751953125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.358154296875, "command_abs_max": [1.9993929862976074, 0.9999192357063293, 2.9975802898406982]}
{"step": 48410, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 48410, "total_transitions": 198287360, "num_steps_per_env": 1, "wm_loss": 0.4193681478500366, "actor_loss": -8.67237377166748, "critic_loss": 0.027012718841433525, "reward": 0.0710393637418747, "falls": 7, "interval_steps": 10, "velocity_mae": [0.24825410544872284, 0.15714925527572632, 0.2532466948032379], "policy_updates": 48310, "skipped_updates": 0, "invalid_env_resets": 111, "elapsed_s": 10575.607592082, "contact_bce": 0.3090430498123169, "contact_force_loss": 0.03253059461712837, "terrain_level_mean": 3.27001953125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.35791015625, "command_abs_max": [1.9993929862976074, 0.9999192357063293, 2.9975802898406982]}
{"step": 48420, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 48420, "total_transitions": 198328320, "num_steps_per_env": 1, "wm_loss": 0.41339224576950073, "actor_loss": -8.705938339233398, "critic_loss": 0.03009445033967495, "reward": 0.07078956812620163, "falls": 6, "interval_steps": 10, "velocity_mae": [0.2455155998468399, 0.1556965857744217, 0.2530355751514435], "policy_updates": 48320, "skipped_updates": 0, "invalid_env_resets": 111, "elapsed_s": 10579.127961597, "contact_bce": 0.31467798352241516, "contact_force_loss": 0.03286879137158394, "terrain_level_mean": 3.26953125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.354248046875, "command_abs_max": [1.9993929862976074, 0.9999192357063293, 2.9959816932678223]}
{"step": 48430, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 48430, "total_transitions": 198369280, "num_steps_per_env": 1, "wm_loss": 0.40660855174064636, "actor_loss": -8.732851028442383, "critic_loss": 0.02089112065732479, "reward": 0.0703640878200531, "falls": 2, "interval_steps": 10, "velocity_mae": [0.25141778588294983, 0.15585680305957794, 0.25470319390296936], "policy_updates": 48330, "skipped_updates": 0, "invalid_env_resets": 111, "elapsed_s": 10582.644528244, "contact_bce": 0.3118784427642822, "contact_force_loss": 0.03202755004167557, "terrain_level_mean": 3.26904296875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3525390625, "command_abs_max": [1.9993929862976074, 0.9999192357063293, 2.9959816932678223]}
{"step": 48440, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 48440, "total_transitions": 198410240, "num_steps_per_env": 1, "wm_loss": 0.39563116431236267, "actor_loss": -8.712764739990234, "critic_loss": 0.027179265394806862, "reward": 0.07035820931196213, "falls": 4, "interval_steps": 10, "velocity_mae": [0.25617149472236633, 0.15921606123447418, 0.26015982031822205], "policy_updates": 48340, "skipped_updates": 0, "invalid_env_resets": 111, "elapsed_s": 10586.14887096, "contact_bce": 0.3060336410999298, "contact_force_loss": 0.03234942629933357, "terrain_level_mean": 3.268798828125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.352783203125, "command_abs_max": [1.9993929862976074, 0.9999192357063293, 2.999605178833008]}
RECOVERY reset 1 invalid environments; first IDs=[1158]
{"step": 48450, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 48450, "total_transitions": 198451200, "num_steps_per_env": 1, "wm_loss": 0.40007397532463074, "actor_loss": -8.742513656616211, "critic_loss": 0.022513801231980324, "reward": 0.07013197988271713, "falls": 2, "interval_steps": 10, "velocity_mae": [0.25682809948921204, 0.16378812491893768, 0.26555266976356506], "policy_updates": 48350, "skipped_updates": 0, "invalid_env_resets": 112, "elapsed_s": 10589.666313425001, "contact_bce": 0.31243500113487244, "contact_force_loss": 0.03199509158730507, "terrain_level_mean": 3.26953125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3505859375, "command_abs_max": [1.9993929862976074, 0.999182939529419, 2.999605178833008]}
{"step": 48460, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 48460, "total_transitions": 198492160, "num_steps_per_env": 1, "wm_loss": 0.4205034077167511, "actor_loss": -8.691202163696289, "critic_loss": 0.025036944076418877, "reward": 0.07059136778116226, "falls": 7, "interval_steps": 10, "velocity_mae": [0.25497952103614807, 0.16202685236930847, 0.25822585821151733], "policy_updates": 48360, "skipped_updates": 0, "invalid_env_resets": 112, "elapsed_s": 10593.187823607, "contact_bce": 0.3106616139411926, "contact_force_loss": 0.03188403695821762, "terrain_level_mean": 3.268798828125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.34765625, "command_abs_max": [1.9993929862976074, 0.9998463988304138, 2.999605178833008]}
{"step": 48470, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 48470, "total_transitions": 198533120, "num_steps_per_env": 1, "wm_loss": 0.44113633036613464, "actor_loss": -8.700032234191895, "critic_loss": 0.03350403532385826, "reward": 0.07077846676111221, "falls": 7, "interval_steps": 10, "velocity_mae": [0.2541066110134125, 0.16234074532985687, 0.2545204758644104], "policy_updates": 48370, "skipped_updates": 0, "invalid_env_resets": 112, "elapsed_s": 10596.707912, "contact_bce": 0.3126984238624573, "contact_force_loss": 0.03208163380622864, "terrain_level_mean": 3.267822265625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3447265625, "command_abs_max": [1.9993929862976074, 0.9998463988304138, 2.999605178833008]}
{"step": 48480, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 48480, "total_transitions": 198574080, "num_steps_per_env": 1, "wm_loss": 0.41792359948158264, "actor_loss": -8.714527130126953, "critic_loss": 0.0162645410746336, "reward": 0.07067693024873734, "falls": 9, "interval_steps": 10, "velocity_mae": [0.2509184181690216, 0.15987654030323029, 0.25351446866989136], "policy_updates": 48380, "skipped_updates": 0, "invalid_env_resets": 112, "elapsed_s": 10600.228387511, "contact_bce": 0.30621060729026794, "contact_force_loss": 0.032172247767448425, "terrain_level_mean": 3.266845703125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.342529296875, "command_abs_max": [1.9993929862976074, 0.9998463988304138, 2.999605178833008]}
{"step": 48490, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 48490, "total_transitions": 198615040, "num_steps_per_env": 1, "wm_loss": 0.4175683856010437, "actor_loss": -8.69261360168457, "critic_loss": 0.02654089964926243, "reward": 0.07093916833400726, "falls": 7, "interval_steps": 10, "velocity_mae": [0.2535179853439331, 0.15673688054084778, 0.2503776252269745], "policy_updates": 48390, "skipped_updates": 0, "invalid_env_resets": 112, "elapsed_s": 10603.745658525, "contact_bce": 0.30921217799186707, "contact_force_loss": 0.03266482055187225, "terrain_level_mean": 3.26611328125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.34521484375, "command_abs_max": [1.9993929862976074, 0.9998463988304138, 2.999605178833008]}
{"step": 48500, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 48500, "total_transitions": 198656000, "num_steps_per_env": 1, "wm_loss": 0.4201186001300812, "actor_loss": -8.6314058303833, "critic_loss": 0.030393658205866814, "reward": 0.07113955914974213, "falls": 3, "interval_steps": 10, "velocity_mae": [0.2537453770637512, 0.15816225111484528, 0.2529503107070923], "policy_updates": 48400, "skipped_updates": 0, "invalid_env_resets": 112, "elapsed_s": 10607.264781303, "contact_bce": 0.3100111782550812, "contact_force_loss": 0.032251957803964615, "terrain_level_mean": 3.2666015625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.339599609375, "command_abs_max": [1.9993929862976074, 0.9998463988304138, 2.999605178833008]}
RECOVERY reset 1 invalid environments; first IDs=[1876]
{"step": 48510, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 48510, "total_transitions": 198696960, "num_steps_per_env": 1, "wm_loss": 0.43755024671554565, "actor_loss": -8.686409950256348, "critic_loss": 0.03178105503320694, "reward": 0.0713406652212143, "falls": 3, "interval_steps": 10, "velocity_mae": [0.2493501901626587, 0.1590038239955902, 0.2522357404232025], "policy_updates": 48410, "skipped_updates": 0, "invalid_env_resets": 113, "elapsed_s": 10610.822989761, "contact_bce": 0.31982165575027466, "contact_force_loss": 0.03315227851271629, "terrain_level_mean": 3.2666015625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.337890625, "command_abs_max": [1.9993929862976074, 0.9998463988304138, 2.999605178833008]}
{"step": 48520, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 48520, "total_transitions": 198737920, "num_steps_per_env": 1, "wm_loss": 0.42149585485458374, "actor_loss": -8.731675148010254, "critic_loss": 0.022208979353308678, "reward": 0.07117991149425507, "falls": 0, "interval_steps": 10, "velocity_mae": [0.2487415224313736, 0.15637925267219543, 0.2549867630004883], "policy_updates": 48420, "skipped_updates": 0, "invalid_env_resets": 113, "elapsed_s": 10614.575722441, "contact_bce": 0.31299254298210144, "contact_force_loss": 0.032762330025434494, "terrain_level_mean": 3.267333984375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3388671875, "command_abs_max": [1.9993929862976074, 0.9998463988304138, 2.999605178833008]}
{"step": 48530, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 48530, "total_transitions": 198778880, "num_steps_per_env": 1, "wm_loss": 0.4027581214904785, "actor_loss": -8.737545013427734, "critic_loss": 0.032048746943473816, "reward": 0.07113543897867203, "falls": 5, "interval_steps": 10, "velocity_mae": [0.25024521350860596, 0.155325785279274, 0.2545826733112335], "policy_updates": 48430, "skipped_updates": 0, "invalid_env_resets": 113, "elapsed_s": 10618.097678505, "contact_bce": 0.3107462525367737, "contact_force_loss": 0.03243550658226013, "terrain_level_mean": 3.266845703125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.337158203125, "command_abs_max": [1.9993929862976074, 0.9998463988304138, 2.999605178833008]}
RECOVERY reset 1 invalid environments; first IDs=[872]
{"step": 48540, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 48540, "total_transitions": 198819840, "num_steps_per_env": 1, "wm_loss": 0.4098770022392273, "actor_loss": -8.706376075744629, "critic_loss": 0.021258393302559853, "reward": 0.07140492647886276, "falls": 4, "interval_steps": 10, "velocity_mae": [0.2490672916173935, 0.15371057391166687, 0.24848872423171997], "policy_updates": 48440, "skipped_updates": 0, "invalid_env_resets": 114, "elapsed_s": 10621.637122221, "contact_bce": 0.3084070086479187, "contact_force_loss": 0.03257416561245918, "terrain_level_mean": 3.266845703125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.33203125, "command_abs_max": [1.9969120025634766, 0.9998463988304138, 2.999605178833008]}
{"step": 48550, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 48550, "total_transitions": 198860800, "num_steps_per_env": 1, "wm_loss": 0.42699626088142395, "actor_loss": -8.721104621887207, "critic_loss": 0.0243561789393425, "reward": 0.07118135690689087, "falls": 7, "interval_steps": 10, "velocity_mae": [0.24692413210868835, 0.15509915351867676, 0.2491464763879776], "policy_updates": 48450, "skipped_updates": 0, "invalid_env_resets": 114, "elapsed_s": 10625.160160517, "contact_bce": 0.31238171458244324, "contact_force_loss": 0.032662149518728256, "terrain_level_mean": 3.266845703125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.330078125, "command_abs_max": [1.9985499382019043, 0.9998463988304138, 2.999605178833008]}
{"step": 48560, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 48560, "total_transitions": 198901760, "num_steps_per_env": 1, "wm_loss": 0.4192313551902771, "actor_loss": -8.6913480758667, "critic_loss": 0.026765814051032066, "reward": 0.07144389301538467, "falls": 4, "interval_steps": 10, "velocity_mae": [0.24385365843772888, 0.1555684357881546, 0.24591973423957825], "policy_updates": 48460, "skipped_updates": 0, "invalid_env_resets": 114, "elapsed_s": 10628.681500029, "contact_bce": 0.3167349100112915, "contact_force_loss": 0.033419329673051834, "terrain_level_mean": 3.266845703125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3271484375, "command_abs_max": [1.9985499382019043, 0.9998463988304138, 2.999605178833008]}
{"step": 48570, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 48570, "total_transitions": 198942720, "num_steps_per_env": 1, "wm_loss": 0.4098951816558838, "actor_loss": -8.683319091796875, "critic_loss": 0.020600125193595886, "reward": 0.07101389020681381, "falls": 8, "interval_steps": 10, "velocity_mae": [0.24476222693920135, 0.15536771714687347, 0.2505955994129181], "policy_updates": 48470, "skipped_updates": 0, "invalid_env_resets": 114, "elapsed_s": 10632.197425244001, "contact_bce": 0.3083387315273285, "contact_force_loss": 0.03234424442052841, "terrain_level_mean": 3.266845703125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.325439453125, "command_abs_max": [1.9985499382019043, 0.9998463988304138, 2.999605178833008]}
{"step": 48580, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 48580, "total_transitions": 198983680, "num_steps_per_env": 1, "wm_loss": 0.40318936109542847, "actor_loss": -8.721353530883789, "critic_loss": 0.024478651583194733, "reward": 0.0715109184384346, "falls": 2, "interval_steps": 10, "velocity_mae": [0.24086429178714752, 0.1541115641593933, 0.2506882846355438], "policy_updates": 48480, "skipped_updates": 0, "invalid_env_resets": 114, "elapsed_s": 10635.713108607, "contact_bce": 0.312008261680603, "contact_force_loss": 0.03250579908490181, "terrain_level_mean": 3.267822265625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.32666015625, "command_abs_max": [1.9985499382019043, 0.9998463988304138, 2.999605178833008]}
RECOVERY reset 1 invalid environments; first IDs=[2237]
{"step": 48590, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 48590, "total_transitions": 199024640, "num_steps_per_env": 1, "wm_loss": 0.4016583561897278, "actor_loss": -8.70656967163086, "critic_loss": 0.02481680177152157, "reward": 0.07174815982580185, "falls": 3, "interval_steps": 10, "velocity_mae": [0.24010364711284637, 0.15143133699893951, 0.24835491180419922], "policy_updates": 48490, "skipped_updates": 0, "invalid_env_resets": 115, "elapsed_s": 10639.25145173, "contact_bce": 0.31159040331840515, "contact_force_loss": 0.03216252848505974, "terrain_level_mean": 3.2685546875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3251953125, "command_abs_max": [1.9985499382019043, 0.9998463988304138, 2.999605178833008]}
{"step": 48600, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 48600, "total_transitions": 199065600, "num_steps_per_env": 1, "wm_loss": 0.4187783896923065, "actor_loss": -8.740106582641602, "critic_loss": 0.023457607254385948, "reward": 0.07154573500156403, "falls": 1, "interval_steps": 10, "velocity_mae": [0.24355271458625793, 0.15314701199531555, 0.24753256142139435], "policy_updates": 48500, "skipped_updates": 0, "invalid_env_resets": 115, "elapsed_s": 10642.766192328001, "contact_bce": 0.3106763958930969, "contact_force_loss": 0.033791281282901764, "terrain_level_mean": 3.269775390625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.322998046875, "command_abs_max": [1.9985499382019043, 0.9998463988304138, 2.999605178833008]}

+---------------------------------+
|         Base Environment        |
+------------------------+--------+
| Property               | Value  |
+------------------------+--------+
| Number of environments | 1      |
| Environment device     | cuda:0 |
| Environment seed       | None   |
| Physics step-size      | 0.005  |
| Environment step-size  | 0.02   |
+------------------------+--------+

[INFO] <EventManager> contains 1 active terms.
+-------------------------------------+
| Active Event Terms in Mode: 'reset' |
+--------+----------------------------+
| Index  | Name                       |
+--------+----------------------------+
|   0    | reset_base                 |
|   1    | reset_robot_joints         |
+--------+----------------------------+

[INFO] <CommandManager> contains 1 active terms.
+----------------------------------------+
|          Active Command Terms          |
+-------+-------+------------------------+
| Index | Name  |          Type          |
+-------+-------+------------------------+
|   0   | twist | UniformVelocityCommand |
+-------+-------+------------------------+

[INFO] <ActionManager> contains 2 active terms.
+---------------------------------+
| Active Action Terms (shape: 16) |
+-------+-----------+-------------+
| Index | Name      |   Dimension |
+-------+-----------+-------------+
|   0   | joint_pos |          12 |
|   1   | wheel_vel |           4 |
+-------+-----------+-------------+

[INFO] <ObservationManager> contains 1 groups.
+------------------------------------------------------------+
| Active Observation Terms in Group: 'actor' (shape: (265,)) |
+--------+-------------------------+-------------------------+
| Index  | Name                    |          Shape          |
+--------+-------------------------+-------------------------+
|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
|   5    | actions                 |     (80,)  ← 5×(16,)    |
|   6    | command                 |     (15,)  ← 5×(3,)     |
+--------+-------------------------+-------------------------+

[INFO] <TerminationManager> contains 3 active terms.
+--------------------------------+
|    Active Termination Terms    |
+-------+-------------+----------+
| Index | Name        | Time Out |
+-------+-------------+----------+
|   0   | time_out    |   True   |
|   1   | fell_over   |  False   |
|   2   | course_exit |   True   |
+-------+-------------+----------+

[INFO] <RewardManager> contains 0 active terms.
+-----------------------+
|  Active Reward Terms  |
+-------+------+--------+
| Index | Name | Weight |
+-------+------+--------+
+-------+------+--------+

[INFO] <NullCurriculumManager> (inactive)
[INFO] <NullMetricsManager> (inactive)
[INFO] <NullRecorderManager> (inactive)
S10 video saved: logs/s10_terrain_v4_50k_full/videos/iteration_048600.mp4
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{"step": 48620, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 48620, "total_transitions": 199147520, "num_steps_per_env": 1, "wm_loss": 0.4163481295108795, "actor_loss": -8.689340591430664, "critic_loss": 0.027708297595381737, "reward": 0.07147979736328125, "falls": 7, "interval_steps": 10, "velocity_mae": [0.24199244379997253, 0.15444272756576538, 0.24716128408908844], "policy_updates": 48520, "skipped_updates": 0, "invalid_env_resets": 115, "elapsed_s": 10655.470012257001, "contact_bce": 0.31019172072410583, "contact_force_loss": 0.031968846917152405, "terrain_level_mean": 3.270751953125, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.323486328125, "command_abs_max": [1.9985499382019043, 0.9998463988304138, 2.999605178833008]}
{"step": 48630, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 48630, "total_transitions": 199188480, "num_steps_per_env": 1, "wm_loss": 0.4033532738685608, "actor_loss": -8.73604965209961, "critic_loss": 0.030765367671847343, "reward": 0.07173066586256027, "falls": 3, "interval_steps": 10, "velocity_mae": [0.24398085474967957, 0.153504878282547, 0.24886009097099304], "policy_updates": 48530, "skipped_updates": 0, "invalid_env_resets": 115, "elapsed_s": 10658.990719298, "contact_bce": 0.3130720555782318, "contact_force_loss": 0.03199553117156029, "terrain_level_mean": 3.27099609375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.32421875, "command_abs_max": [1.9985499382019043, 0.9998463988304138, 2.999605178833008]}
{"step": 48640, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 48640, "total_transitions": 199229440, "num_steps_per_env": 1, "wm_loss": 0.4296225905418396, "actor_loss": -8.732702255249023, "critic_loss": 0.023858562111854553, "reward": 0.07169544696807861, "falls": 4, "interval_steps": 10, "velocity_mae": [0.23989492654800415, 0.15481022000312805, 0.24918018281459808], "policy_updates": 48540, "skipped_updates": 0, "invalid_env_resets": 115, "elapsed_s": 10662.510094529001, "contact_bce": 0.314020574092865, "contact_force_loss": 0.03309324383735657, "terrain_level_mean": 3.271728515625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.326416015625, "command_abs_max": [1.991821050643921, 0.9998463988304138, 2.999605178833008]}
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RECOVERY reset 1 invalid environments; first IDs=[504]
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RECOVERY reset 1 invalid environments; first IDs=[1651]
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RECOVERY reset 1 invalid environments; first IDs=[1193]
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RECOVERY reset 1 invalid environments; first IDs=[1986]
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RECOVERY reset 1 invalid environments; first IDs=[1188]
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{"step": 49940, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 49940, "total_transitions": 204554240, "num_steps_per_env": 1, "wm_loss": 0.38220638036727905, "actor_loss": -8.658956527709961, "critic_loss": 0.036822427064180374, "reward": 0.07103248685598373, "falls": 11, "interval_steps": 10, "velocity_mae": [0.2523346543312073, 0.15608422458171844, 0.2559962868690491], "policy_updates": 49840, "skipped_updates": 0, "invalid_env_resets": 120, "elapsed_s": 11120.098228604, "contact_bce": 0.31259438395500183, "contact_force_loss": 0.0319705493748188, "terrain_level_mean": 3.260498046875, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.3525390625, "command_abs_max": [1.9989352226257324, 0.9979754686355591, 2.9992828369140625]}
{"step": 49950, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 49950, "total_transitions": 204595200, "num_steps_per_env": 1, "wm_loss": 0.38025203347206116, "actor_loss": -8.734837532043457, "critic_loss": 0.023768708109855652, "reward": 0.07107533514499664, "falls": 3, "interval_steps": 10, "velocity_mae": [0.2516796588897705, 0.15708954632282257, 0.25428375601768494], "policy_updates": 49850, "skipped_updates": 0, "invalid_env_resets": 120, "elapsed_s": 11123.624266114, "contact_bce": 0.3089231252670288, "contact_force_loss": 0.031709689646959305, "terrain_level_mean": 3.260009765625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.35302734375, "command_abs_max": [1.9989352226257324, 0.9979754686355591, 2.9992828369140625]}
{"step": 49960, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 49960, "total_transitions": 204636160, "num_steps_per_env": 1, "wm_loss": 0.3983805179595947, "actor_loss": -8.708301544189453, "critic_loss": 0.023865951225161552, "reward": 0.0706491693854332, "falls": 4, "interval_steps": 10, "velocity_mae": [0.25408563017845154, 0.15854115784168243, 0.25572648644447327], "policy_updates": 49860, "skipped_updates": 0, "invalid_env_resets": 120, "elapsed_s": 11127.1459235, "contact_bce": 0.3068126440048218, "contact_force_loss": 0.03247822821140289, "terrain_level_mean": 3.26025390625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.353271484375, "command_abs_max": [1.9989352226257324, 0.9979754686355591, 2.9992828369140625]}
{"step": 49970, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 49970, "total_transitions": 204677120, "num_steps_per_env": 1, "wm_loss": 0.39252668619155884, "actor_loss": -8.745102882385254, "critic_loss": 0.028987431898713112, "reward": 0.07067064940929413, "falls": 7, "interval_steps": 10, "velocity_mae": [0.2538957893848419, 0.15732534229755402, 0.2514655888080597], "policy_updates": 49870, "skipped_updates": 0, "invalid_env_resets": 120, "elapsed_s": 11130.668611998, "contact_bce": 0.3039766550064087, "contact_force_loss": 0.031528424471616745, "terrain_level_mean": 3.25927734375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.35498046875, "command_abs_max": [1.9989352226257324, 0.9977898001670837, 2.9992828369140625]}
{"step": 49980, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 49980, "total_transitions": 204718080, "num_steps_per_env": 1, "wm_loss": 0.3877331614494324, "actor_loss": -8.690896987915039, "critic_loss": 0.029520124197006226, "reward": 0.07103347033262253, "falls": 6, "interval_steps": 10, "velocity_mae": [0.24854716658592224, 0.1536509096622467, 0.25119540095329285], "policy_updates": 49880, "skipped_updates": 0, "invalid_env_resets": 120, "elapsed_s": 11134.191181286, "contact_bce": 0.30310410261154175, "contact_force_loss": 0.0313740074634552, "terrain_level_mean": 3.259521484375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.35205078125, "command_abs_max": [1.9989352226257324, 0.9977898001670837, 2.9992828369140625]}
{"step": 49990, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 49990, "total_transitions": 204759040, "num_steps_per_env": 1, "wm_loss": 0.38850468397140503, "actor_loss": -8.680500030517578, "critic_loss": 0.03492328152060509, "reward": 0.07081657648086548, "falls": 4, "interval_steps": 10, "velocity_mae": [0.24764837324619293, 0.152267724275589, 0.2518332302570343], "policy_updates": 49890, "skipped_updates": 0, "invalid_env_resets": 120, "elapsed_s": 11137.712006557, "contact_bce": 0.30857905745506287, "contact_force_loss": 0.03240996226668358, "terrain_level_mean": 3.260009765625, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.35009765625, "command_abs_max": [1.9989352226257324, 0.9977898001670837, 2.9992828369140625]}
{"step": 50000, "actor_lr": 1.8e-06, "archive_windows": 100000, "env_steps": 50000, "total_transitions": 204800000, "num_steps_per_env": 1, "wm_loss": 0.3964875340461731, "actor_loss": -8.712970733642578, "critic_loss": 0.023709772154688835, "reward": 0.07063455134630203, "falls": 7, "interval_steps": 10, "velocity_mae": [0.2501400411128998, 0.15224096179008484, 0.2536126673221588], "policy_updates": 49900, "skipped_updates": 0, "invalid_env_resets": 120, "elapsed_s": 11141.232798002, "contact_bce": 0.30595290660858154, "contact_force_loss": 0.03146994113922119, "terrain_level_mean": 3.259521484375, "terrain_level_max": 5, "command_stage": 4, "command_ranges": [[-2.0, 2.0], [-1.0, 1.0], [-3.0, 3.0]], "command_negative_vx_fraction": 0.34765625, "command_abs_max": [1.9989352226257324, 0.9978711605072021, 2.9992828369140625]}

+---------------------------------+
|         Base Environment        |
+------------------------+--------+
| Property               | Value  |
+------------------------+--------+
| Number of environments | 1      |
| Environment device     | cuda:0 |
| Environment seed       | None   |
| Physics step-size      | 0.005  |
| Environment step-size  | 0.02   |
+------------------------+--------+

[INFO] <EventManager> contains 1 active terms.
+-------------------------------------+
| Active Event Terms in Mode: 'reset' |
+--------+----------------------------+
| Index  | Name                       |
+--------+----------------------------+
|   0    | reset_base                 |
|   1    | reset_robot_joints         |
+--------+----------------------------+

[INFO] <CommandManager> contains 1 active terms.
+----------------------------------------+
|          Active Command Terms          |
+-------+-------+------------------------+
| Index | Name  |          Type          |
+-------+-------+------------------------+
|   0   | twist | UniformVelocityCommand |
+-------+-------+------------------------+

[INFO] <ActionManager> contains 2 active terms.
+---------------------------------+
| Active Action Terms (shape: 16) |
+-------+-----------+-------------+
| Index | Name      |   Dimension |
+-------+-----------+-------------+
|   0   | joint_pos |          12 |
|   1   | wheel_vel |           4 |
+-------+-----------+-------------+

[INFO] <ObservationManager> contains 1 groups.
+------------------------------------------------------------+
| Active Observation Terms in Group: 'actor' (shape: (265,)) |
+--------+-------------------------+-------------------------+
| Index  | Name                    |          Shape          |
+--------+-------------------------+-------------------------+
|   0    | base_ang_vel            |     (15,)  ← 5×(3,)     |
|   1    | projected_gravity       |     (15,)  ← 5×(3,)     |
|   2    | joint_pos               |     (60,)  ← 5×(12,)    |
|   3    | joint_vel               |     (60,)  ← 5×(12,)    |
|   4    | wheel_vel               |     (20,)  ← 5×(4,)     |
|   5    | actions                 |     (80,)  ← 5×(16,)    |
|   6    | command                 |     (15,)  ← 5×(3,)     |
+--------+-------------------------+-------------------------+

[INFO] <TerminationManager> contains 3 active terms.
+--------------------------------+
|    Active Termination Terms    |
+-------+-------------+----------+
| Index | Name        | Time Out |
+-------+-------------+----------+
|   0   | time_out    |   True   |
|   1   | fell_over   |  False   |
|   2   | course_exit |   True   |
+-------+-------------+----------+

[INFO] <RewardManager> contains 0 active terms.
+-----------------------+
|  Active Reward Terms  |
+-------+------+--------+
| Index | Name | Weight |
+-------+------+--------+
+-------+------+--------+

[INFO] <NullCurriculumManager> (inactive)
[INFO] <NullMetricsManager> (inactive)
[INFO] <NullRecorderManager> (inactive)
S10 video saved: logs/s10_terrain_v4_50k_full/videos/iteration_050000.mp4
S10 training complete: logs/s10_terrain_v4_50k_full