s10-supermimic/logs/s10_terrain_v7_50k_20261101_225518/metrics.jsonl

{"step": 50, "actor_lr": 3e-06, "archive_windows": 2912, "env_steps": 50, "total_transitions": 204800, "num_steps_per_env": 1, "wm_loss": 3.3124568462371826, "actor_loss": null, "critic_loss": null, "reward": 0.06706341356039047, "falls": 11, "interval_steps": 50, "velocity_mae": [0.298298716545105, 0.08891429007053375, 0.24167531728744507], "mean_episode_length": 46.27272727272727, "episode_reward_terms": {"track_linear_velocity": 1.1947407722473145, "track_angular_velocity": 1.5756484270095825, "upright": 0.8977088928222656, "leg_posture": -0.12226258218288422, "standstill": -0.3052459955215454, "action_rate_l2": -0.001675340230576694, "joint_torques_l2": -0.0030712897423654795, "dof_pos_limits": -1.2578882888192311e-05, "terminated": -0.0009941403986886144, "unnecessary_wheel_lift": -0.06051459163427353, "rolling_leg_motion": -0.05844702571630478, "obstacle_progress": 0.0, "wheel_body_intrusion": -0.010758363641798496, "pair_body_intrusion": -0.0019087883410975337}, "weighted_reward_terms": {"track_linear_velocity": 1.2909772396087646, "track_angular_velocity": 1.7025671005249023, "upright": 0.9700194597244263, "leg_posture": -0.1321108490228653, "standstill": -0.3298335671424866, "action_rate_l2": -0.0018102889880537987, "joint_torques_l2": -0.0033186825457960367, "dof_pos_limits": -1.3592113646154758e-05, "terminated": -0.0010742185404524207, "unnecessary_wheel_lift": -0.06538905203342438, "rolling_leg_motion": -0.06315494328737259, "obstacle_progress": 0.0, "wheel_body_intrusion": -0.011624950915575027, "pair_body_intrusion": -0.0020625414326786995}, "episode_termination_rates": {"time_out": 0.0, "fell_over": 0.09090909090909091, "course_exit": 0.0, "illegal_nonwheel_contact": 0.9090909090909091}, "collection_time_s": 0.1035180448408937, "learning_time_s": 0.30738365879748014, "iteration_time_s": 0.5392508128599729, "policy_updates": 0, "skipped_updates": 0, "invalid_env_resets": 0, "elapsed_s": 26.962540642998647, "nonwheel_terminations": 10, "contact_bce": 0.5365463495254517, "contact_force_loss": 0.03201422467827797, "collision_bce": 0.0033911557402461767, "collision_label_rate": 0.0, "collision_prediction_mean": 0.003382233902812004, "collision_label_count": 16384.0, "terrain_level_mean": 0.0, "terrain_level_max": 0, "terrain_details": {"flat": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [1433, 0, 0, 0, 0, 0], "episodes_by_level": [[2.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [614, 0, 0, 0, 0, 0], "episodes_by_level": [[2.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[2.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [819, 0, 0, 0, 0, 0], "episodes_by_level": [[1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 0, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.1826171875, "command_abs_max": [0.7989515066146851, 0.19954589009284973, 0.49993377923965454]}
{"step": 100, "actor_lr": 6e-06, "archive_windows": 3840, "env_steps": 100, "total_transitions": 409600, "num_steps_per_env": 1, "wm_loss": 3.7498462200164795, "actor_loss": null, "critic_loss": null, "reward": 0.049254972487688065, "falls": 1010, "interval_steps": 50, "velocity_mae": [0.32816463708877563, 0.1477912813425064, 0.30782777070999146], "mean_episode_length": 80.02277227722772, "episode_reward_terms": {"track_linear_velocity": 1.8374059200286865, "track_angular_velocity": 2.5339155197143555, "upright": 1.357113003730774, "leg_posture": -0.5663784742355347, "standstill": -0.7668121457099915, "action_rate_l2": -0.0029003149829804897, "joint_torques_l2": -0.01090917456895113, "dof_pos_limits": -0.003260673489421606, "terminated": -0.15785740315914154, "unnecessary_wheel_lift": -0.05350697785615921, "rolling_leg_motion": -0.0484352670609951, "obstacle_progress": -5.967352990410291e-06, "wheel_body_intrusion": -0.13484086096286774, "pair_body_intrusion": -0.04200771078467369}, "weighted_reward_terms": {"track_linear_velocity": 1.1480518579483032, "track_angular_velocity": 1.5832464694976807, "upright": 0.8479542136192322, "leg_posture": -0.35388579964637756, "standstill": -0.47912120819091797, "action_rate_l2": -0.00181218096986413, "joint_torques_l2": -0.00681629404425621, "dof_pos_limits": -0.002037341007962823, "terminated": -0.0986327975988388, "unnecessary_wheel_lift": -0.03343234583735466, "rolling_leg_motion": -0.030263425782322884, "obstacle_progress": -3.7285342386894627e-06, "wheel_body_intrusion": -0.08425155282020569, "pair_body_intrusion": -0.02624734863638878}, "episode_termination_rates": {"time_out": 0.0, "fell_over": 0.299009900990099, "course_exit": 0.0, "illegal_nonwheel_contact": 0.800990099009901}, "collection_time_s": 0.10845522155985236, "learning_time_s": 0.3584361582418205, "iteration_time_s": 0.5031897121400106, "policy_updates": 0, "skipped_updates": 0, "invalid_env_resets": 0, "elapsed_s": 50.31897121400107, "nonwheel_terminations": 819, "contact_bce": 0.6297862529754639, "contact_force_loss": 0.025125645101070404, "collision_bce": 0.023920079693198204, "collision_label_rate": 0.004469551146030426, "collision_prediction_mean": 0.010524270124733448, "collision_label_count": 16109.0, "terrain_level_mean": 0.0, "terrain_level_max": 0, "terrain_details": {"flat": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[98.0, 0.0, 98.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [1433, 0, 0, 0, 0, 0], "episodes_by_level": [[255.0, 0.0, 255.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [614, 0, 0, 0, 0, 0], "episodes_by_level": [[109.0, 0.0, 109.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[103.0, 0.0, 103.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[104.0, 0.0, 104.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [819, 0, 0, 0, 0, 0], "episodes_by_level": [[211.0, 0.0, 211.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 0, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.182861328125, "command_abs_max": [0.7996162176132202, 0.19989840686321259, 0.49993377923965454]}
{"step": 150, "actor_lr": 9e-06, "archive_windows": 4778, "env_steps": 150, "total_transitions": 614400, "num_steps_per_env": 1, "wm_loss": 3.0211236476898193, "actor_loss": null, "critic_loss": null, "reward": 0.04932994395494461, "falls": 1264, "interval_steps": 50, "velocity_mae": [0.31764379143714905, 0.14517949521541595, 0.29026907682418823], "mean_episode_length": 119.76740506329114, "episode_reward_terms": {"track_linear_velocity": 2.80058217048645, "track_angular_velocity": 3.8680570125579834, "upright": 2.0143022537231445, "leg_posture": -0.8256013989448547, "standstill": -1.2031471729278564, "action_rate_l2": -0.004340765532106161, "joint_torques_l2": -0.01576261781156063, "dof_pos_limits": -0.008916339837014675, "terminated": -0.29567572474479675, "unnecessary_wheel_lift": -0.11875730752944946, "rolling_leg_motion": -0.08220311999320984, "obstacle_progress": -0.00010605605348246172, "wheel_body_intrusion": -0.17207159101963043, "pair_body_intrusion": -0.048240482807159424}, "weighted_reward_terms": {"track_linear_velocity": 1.1691755056381226, "track_angular_velocity": 1.6148203611373901, "upright": 0.8409225940704346, "leg_posture": -0.3446686565876007, "standstill": -0.5022848844528198, "action_rate_l2": -0.001812164904549718, "joint_torques_l2": -0.0065805125050246716, "dof_pos_limits": -0.003722356865182519, "terminated": -0.12343748658895493, "unnecessary_wheel_lift": -0.049578312784433365, "rolling_leg_motion": -0.03431782126426697, "obstacle_progress": -4.4275842810748145e-05, "wheel_body_intrusion": -0.07183574140071869, "pair_body_intrusion": -0.020139237865805626}, "episode_termination_rates": {"time_out": 0.0, "fell_over": 0.41060126582278483, "course_exit": 0.0, "illegal_nonwheel_contact": 0.7674050632911392}, "collection_time_s": 0.10883099564060103, "learning_time_s": 0.3545752679009456, "iteration_time_s": 0.4899613530600133, "policy_updates": 0, "skipped_updates": 0, "invalid_env_resets": 1, "elapsed_s": 73.494202959002, "nonwheel_terminations": 1789, "contact_bce": 0.5212234854698181, "contact_force_loss": 0.017551571130752563, "collision_bce": 0.020996585488319397, "collision_label_rate": 0.005612022243440151, "collision_prediction_mean": 0.009626096114516258, "collision_label_count": 16037.0, "terrain_level_mean": 0.0, "terrain_level_max": 0, "terrain_details": {"flat": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[222.0, 0.0, 222.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [1433, 0, 0, 0, 0, 0], "episodes_by_level": [[554.0, 0.0, 554.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [614, 0, 0, 0, 0, 0], "episodes_by_level": [[255.0, 0.0, 255.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[240.0, 0.0, 240.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[231.0, 0.0, 231.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [819, 0, 0, 0, 0, 0], "episodes_by_level": [[463.0, 0.0, 463.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 0, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.182373046875, "command_abs_max": [0.7996162176132202, 0.19989840686321259, 0.49971914291381836]}
{"step": 200, "actor_lr": 1.2e-05, "archive_windows": 5657, "env_steps": 200, "total_transitions": 819200, "num_steps_per_env": 1, "wm_loss": 2.522193670272827, "actor_loss": null, "critic_loss": null, "reward": 0.0500408336520195, "falls": 1162, "interval_steps": 50, "velocity_mae": [0.3225836753845215, 0.1452864110469818, 0.2903567850589752], "mean_episode_length": 139.94578313253012, "episode_reward_terms": {"track_linear_velocity": 3.247487783432007, "track_angular_velocity": 4.519307613372803, "upright": 2.3729944229125977, "leg_posture": -0.9561221599578857, "standstill": -1.3551524877548218, "action_rate_l2": -0.005072117783129215, "joint_torques_l2": -0.018278775736689568, "dof_pos_limits": -0.009497463703155518, "terminated": -0.3176112771034241, "unnecessary_wheel_lift": -0.1257878988981247, "rolling_leg_motion": -0.09441259503364563, "obstacle_progress": 0.00016925136151257902, "wheel_body_intrusion": -0.20214712619781494, "pair_body_intrusion": -0.052873823791742325}, "weighted_reward_terms": {"track_linear_velocity": 1.160266399383545, "track_angular_velocity": 1.61466383934021, "upright": 0.847826361656189, "leg_posture": -0.3416045010089874, "standstill": -0.484170526266098, "action_rate_l2": -0.0018121724715456367, "joint_torques_l2": -0.006530662998557091, "dof_pos_limits": -0.0033932654187083244, "terminated": -0.11347655206918716, "unnecessary_wheel_lift": -0.04494165629148483, "rolling_leg_motion": -0.0337318480014801, "obstacle_progress": 6.0470330936368555e-05, "wheel_body_intrusion": -0.07222337275743484, "pair_body_intrusion": -0.018890824168920517}, "episode_termination_rates": {"time_out": 0.0, "fell_over": 0.39156626506024095, "course_exit": 0.0, "illegal_nonwheel_contact": 0.7814113597246127}, "collection_time_s": 0.1100767856411403, "learning_time_s": 0.35623543469933794, "iteration_time_s": 0.4840814559800492, "policy_updates": 0, "skipped_updates": 0, "invalid_env_resets": 1, "elapsed_s": 96.81629119600984, "nonwheel_terminations": 2697, "contact_bce": 0.4163041114807129, "contact_force_loss": 0.015769239515066147, "collision_bce": 0.017943356186151505, "collision_label_rate": 0.006012400612235069, "collision_prediction_mean": 0.008800561539828777, "collision_label_count": 15967.0, "terrain_level_mean": 0.0, "terrain_level_max": 0, "terrain_details": {"flat": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[355.0, 0.0, 355.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [1433, 0, 0, 0, 0, 0], "episodes_by_level": [[862.0, 0.0, 862.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [614, 0, 0, 0, 0, 0], "episodes_by_level": [[363.0, 0.0, 363.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[359.0, 0.0, 359.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[342.0, 0.0, 342.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [819, 0, 0, 0, 0, 0], "episodes_by_level": [[683.0, 0.0, 683.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 0, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.181640625, "command_abs_max": [0.7996162176132202, 0.19986940920352936, 0.49971914291381836]}
{"step": 250, "actor_lr": 1.5e-05, "archive_windows": 6536, "env_steps": 250, "total_transitions": 1024000, "num_steps_per_env": 1, "wm_loss": 2.1572353839874268, "actor_loss": null, "critic_loss": null, "reward": 0.0504671148955822, "falls": 1204, "interval_steps": 50, "velocity_mae": [0.32194703817367554, 0.14471466839313507, 0.2940317988395691], "mean_episode_length": 148.24335548172758, "episode_reward_terms": {"track_linear_velocity": 3.4519007205963135, "track_angular_velocity": 4.771395683288574, "upright": 2.5069713592529297, "leg_posture": -1.0174447298049927, "standstill": -1.348874807357788, "action_rate_l2": -0.005369372665882111, "joint_torques_l2": -0.019412236288189888, "dof_pos_limits": -0.009819931350648403, "terminated": -0.3486034870147705, "unnecessary_wheel_lift": -0.1346370428800583, "rolling_leg_motion": -0.09874515235424042, "obstacle_progress": -4.56897760159336e-05, "wheel_body_intrusion": -0.20575575530529022, "pair_body_intrusion": -0.060147639364004135}, "weighted_reward_terms": {"track_linear_velocity": 1.1642682552337646, "track_angular_velocity": 1.6093119382858276, "upright": 0.8455594182014465, "leg_posture": -0.3431670367717743, "standstill": -0.45495283603668213, "action_rate_l2": -0.0018109993543475866, "joint_torques_l2": -0.006547422148287296, "dof_pos_limits": -0.003312098328024149, "terminated": -0.11757811158895493, "unnecessary_wheel_lift": -0.045410819351673126, "rolling_leg_motion": -0.0333050861954689, "obstacle_progress": -1.5410396372317336e-05, "wheel_body_intrusion": -0.06939797103404999, "pair_body_intrusion": -0.020286791026592255}, "episode_termination_rates": {"time_out": 0.0, "fell_over": 0.4119601328903654, "course_exit": 0.0, "illegal_nonwheel_contact": 0.7541528239202658}, "collection_time_s": 0.10966061310202349, "learning_time_s": 0.3442717012990033, "iteration_time_s": 0.4780720651440788, "policy_updates": 0, "skipped_updates": 0, "invalid_env_resets": 2, "elapsed_s": 119.5180162860197, "nonwheel_terminations": 3605, "contact_bce": 0.3527418076992035, "contact_force_loss": 0.01392350159585476, "collision_bce": 0.018807556480169296, "collision_label_rate": 0.007457498461008072, "collision_prediction_mean": 0.00972097646445036, "collision_label_count": 15823.0, "terrain_level_mean": 0.0, "terrain_level_max": 0, "terrain_details": {"flat": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[491.0, 0.0, 491.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [1433, 0, 0, 0, 0, 0], "episodes_by_level": [[1171.0, 0.0, 1171.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [614, 0, 0, 0, 0, 0], "episodes_by_level": [[473.0, 0.0, 473.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[474.0, 0.0, 474.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[458.0, 0.0, 458.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [819, 0, 0, 0, 0, 0], "episodes_by_level": [[943.0, 0.0, 943.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 0, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.182861328125, "command_abs_max": [0.7996162176132202, 0.19967791438102722, 0.49971914291381836]}
{"step": 300, "actor_lr": 1.8e-05, "archive_windows": 7412, "env_steps": 300, "total_transitions": 1228800, "num_steps_per_env": 1, "wm_loss": 1.889359712600708, "actor_loss": null, "critic_loss": null, "reward": 0.05073535814881325, "falls": 1139, "interval_steps": 50, "velocity_mae": [0.32084259390830994, 0.14162734150886536, 0.2926056385040283], "mean_episode_length": 155.8375768217735, "episode_reward_terms": {"track_linear_velocity": 3.6528427600860596, "track_angular_velocity": 5.024148464202881, "upright": 2.6621317863464355, "leg_posture": -1.0477254390716553, "standstill": -1.4823483228683472, "action_rate_l2": -0.005640157498419285, "joint_torques_l2": -0.020120350643992424, "dof_pos_limits": -0.009203535504639149, "terminated": -0.34667766094207764, "unnecessary_wheel_lift": -0.1335042268037796, "rolling_leg_motion": -0.1051056832075119, "obstacle_progress": 0.00023085312568582594, "wheel_body_intrusion": -0.22139383852481842, "pair_body_intrusion": -0.0611601248383522}, "weighted_reward_terms": {"track_linear_velocity": 1.1720032691955566, "track_angular_velocity": 1.6119825839996338, "upright": 0.8541367053985596, "leg_posture": -0.33615946769714355, "standstill": -0.4756068289279938, "action_rate_l2": -0.0018096270505338907, "joint_torques_l2": -0.006455551832914352, "dof_pos_limits": -0.0029529258608818054, "terminated": -0.11123045533895493, "unnecessary_wheel_lift": -0.04283441603183746, "rolling_leg_motion": -0.033722832798957825, "obstacle_progress": 7.406851364066824e-05, "wheel_body_intrusion": -0.0710335299372673, "pair_body_intrusion": -0.019623037427663803}, "episode_termination_rates": {"time_out": 0.0, "fell_over": 0.35908691834942935, "course_exit": 0.0, "illegal_nonwheel_contact": 0.8050921861281826}, "collection_time_s": 0.1100696169224102, "learning_time_s": 0.35469425906136165, "iteration_time_s": 0.4758622774066559, "policy_updates": 0, "skipped_updates": 0, "invalid_env_resets": 2, "elapsed_s": 142.75868322199676, "nonwheel_terminations": 4522, "contact_bce": 0.3286377787590027, "contact_force_loss": 0.012948214076459408, "collision_bce": 0.018822642043232918, "collision_label_rate": 0.008466544561088085, "collision_prediction_mean": 0.009590454399585724, "collision_label_count": 15827.0, "terrain_level_mean": 0.0, "terrain_level_max": 0, "terrain_details": {"flat": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[607.0, 0.0, 607.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [1433, 0, 0, 0, 0, 0], "episodes_by_level": [[1478.0, 0.0, 1478.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [614, 0, 0, 0, 0, 0], "episodes_by_level": [[606.0, 0.0, 606.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[580.0, 0.0, 580.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[564.0, 0.0, 564.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [819, 0, 0, 0, 0, 0], "episodes_by_level": [[1160.0, 0.0, 1160.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 0, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.174072265625, "command_abs_max": [0.7986789345741272, 0.19967791438102722, 0.49922454357147217]}
{"step": 350, "actor_lr": 2.1e-05, "archive_windows": 8252, "env_steps": 350, "total_transitions": 1433600, "num_steps_per_env": 1, "wm_loss": 1.7611819505691528, "actor_loss": -1.9025005102157593, "critic_loss": 0.07328549027442932, "reward": 0.05074525251984596, "falls": 1191, "interval_steps": 50, "velocity_mae": [0.318848580121994, 0.14270667731761932, 0.2861708402633667], "mean_episode_length": 160.87321578505458, "episode_reward_terms": {"track_linear_velocity": 3.7772934436798096, "track_angular_velocity": 5.219494819641113, "upright": 2.727196455001831, "leg_posture": -1.096849799156189, "standstill": -1.51065993309021, "action_rate_l2": -0.005835010204464197, "joint_torques_l2": -0.021044088527560234, "dof_pos_limits": -0.011107790283858776, "terminated": -0.3742187023162842, "unnecessary_wheel_lift": -0.14269337058067322, "rolling_leg_motion": -0.10651092231273651, "obstacle_progress": -0.00017409709107596427, "wheel_body_intrusion": -0.22369080781936646, "pair_body_intrusion": -0.06764949858188629}, "weighted_reward_terms": {"track_linear_velocity": 1.1739970445632935, "track_angular_velocity": 1.6222386360168457, "upright": 0.8476229906082153, "leg_posture": -0.3409050405025482, "standstill": -0.4695188105106354, "action_rate_l2": -0.001813543145544827, "joint_torques_l2": -0.006540581583976746, "dof_pos_limits": -0.0034523429349064827, "terminated": -0.11630858480930328, "unnecessary_wheel_lift": -0.044349636882543564, "rolling_leg_motion": -0.03310399502515793, "obstacle_progress": -5.411003076005727e-05, "wheel_body_intrusion": -0.06952394545078278, "pair_body_intrusion": -0.02102571725845337}, "episode_termination_rates": {"time_out": 0.0, "fell_over": 0.3719563392107473, "course_exit": 0.0, "illegal_nonwheel_contact": 0.7850545759865659}, "collection_time_s": 0.11023630544368643, "learning_time_s": 0.8002484541002195, "iteration_time_s": 0.5379644773343378, "policy_updates": 50, "skipped_updates": 0, "invalid_env_resets": 2, "elapsed_s": 188.28756706701824, "nonwheel_terminations": 5457, "contact_bce": 0.3167601227760315, "contact_force_loss": 0.012411446310579777, "collision_bce": 0.017774121835827827, "collision_label_rate": 0.008595626801252365, "collision_prediction_mean": 0.009036960080265999, "collision_label_count": 15822.0, "terrain_level_mean": 0.0, "terrain_level_max": 0, "terrain_details": {"flat": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[721.0, 0.0, 721.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [1433, 0, 0, 0, 0, 0], "episodes_by_level": [[1764.0, 0.0, 1764.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [614, 0, 0, 0, 0, 0], "episodes_by_level": [[731.0, 0.0, 731.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[715.0, 0.0, 715.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[682.0, 0.0, 682.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [819, 0, 0, 0, 0, 0], "episodes_by_level": [[1406.0, 0.0, 1406.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 0, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.17724609375, "command_abs_max": [0.7998354434967041, 0.19967791438102722, 0.49922454357147217]}
{"step": 400, "actor_lr": 2.4e-05, "archive_windows": 9109, "env_steps": 400, "total_transitions": 1638400, "num_steps_per_env": 1, "wm_loss": 1.5992834568023682, "actor_loss": -2.2357072830200195, "critic_loss": 0.058260537683963776, "reward": 0.05310496687889099, "falls": 1045, "interval_steps": 50, "velocity_mae": [0.31398633122444153, 0.13593189418315887, 0.28209418058395386], "mean_episode_length": 169.2688995215311, "episode_reward_terms": {"track_linear_velocity": 4.0489821434021, "track_angular_velocity": 5.518249034881592, "upright": 2.9127817153930664, "leg_posture": -1.1051666736602783, "standstill": -1.4661140441894531, "action_rate_l2": -0.006145516876131296, "joint_torques_l2": -0.02122890204191208, "dof_pos_limits": -0.009842493571341038, "terminated": -0.34548044204711914, "unnecessary_wheel_lift": -0.13892897963523865, "rolling_leg_motion": -0.11047638952732086, "obstacle_progress": 0.00028364293393678963, "wheel_body_intrusion": -0.22172360122203827, "pair_body_intrusion": -0.0661696270108223}, "weighted_reward_terms": {"track_linear_velocity": 1.1960207223892212, "track_angular_velocity": 1.6300244331359863, "upright": 0.8604006767272949, "leg_posture": -0.32645297050476074, "standstill": -0.43307244777679443, "action_rate_l2": -0.0018153117271140218, "joint_torques_l2": -0.006270762532949448, "dof_pos_limits": -0.002907354384660721, "terminated": -0.1020507663488388, "unnecessary_wheel_lift": -0.04103795439004898, "rolling_leg_motion": -0.03263339772820473, "obstacle_progress": 8.378471829928458e-05, "wheel_body_intrusion": -0.06549448519945145, "pair_body_intrusion": -0.01954571343958378}, "episode_termination_rates": {"time_out": 0.0, "fell_over": 0.3722488038277512, "course_exit": 0.0, "illegal_nonwheel_contact": 0.7990430622009569}, "collection_time_s": 0.11002638885751366, "learning_time_s": 0.4298126016021706, "iteration_time_s": 0.5382127890675474, "policy_updates": 100, "skipped_updates": 0, "invalid_env_resets": 2, "elapsed_s": 215.28511562701897, "nonwheel_terminations": 6292, "contact_bce": 0.29795753955841064, "contact_force_loss": 0.012257074005901814, "collision_bce": 0.017575301229953766, "collision_label_rate": 0.009602543897926807, "collision_prediction_mean": 0.011639916338026524, "collision_label_count": 15725.0, "terrain_level_mean": 0.0, "terrain_level_max": 0, "terrain_details": {"flat": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[824.0, 0.0, 824.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [1433, 0, 0, 0, 0, 0], "episodes_by_level": [[2018.0, 0.0, 2018.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [614, 0, 0, 0, 0, 0], "episodes_by_level": [[850.0, 0.0, 850.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[816.0, 0.0, 816.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[789.0, 0.0, 789.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [819, 0, 0, 0, 0, 0], "episodes_by_level": [[1635.0, 0.0, 1635.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 0, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.174560546875, "command_abs_max": [0.7985928654670715, 0.19974704086780548, 0.49922454357147217]}
{"step": 450, "actor_lr": 2.7000000000000002e-05, "archive_windows": 9955, "env_steps": 450, "total_transitions": 1843200, "num_steps_per_env": 1, "wm_loss": 1.4312310218811035, "actor_loss": -2.689427137374878, "critic_loss": 0.054162826389074326, "reward": 0.05445341393351555, "falls": 987, "interval_steps": 50, "velocity_mae": [0.3006787598133087, 0.13153280317783356, 0.272311806678772], "mean_episode_length": 173.29584599797366, "episode_reward_terms": {"track_linear_velocity": 4.283148765563965, "track_angular_velocity": 5.7092132568359375, "upright": 3.035923719406128, "leg_posture": -1.0592485666275024, "standstill": -1.605206847190857, "action_rate_l2": -0.006341142579913139, "joint_torques_l2": -0.020333306863904, "dof_pos_limits": -0.008686497807502747, "terminated": -0.33406832814216614, "unnecessary_wheel_lift": -0.1361009180545807, "rolling_leg_motion": -0.11417502909898758, "obstacle_progress": 0.0010727792978286743, "wheel_body_intrusion": -0.23496977984905243, "pair_body_intrusion": -0.07367706298828125}, "weighted_reward_terms": {"track_linear_velocity": 1.2357909679412842, "track_angular_velocity": 1.6472445726394653, "upright": 0.8759366273880005, "leg_posture": -0.305618554353714, "standstill": -0.4631405770778656, "action_rate_l2": -0.001829571439884603, "joint_torques_l2": -0.005866645369678736, "dof_pos_limits": -0.0025062623899430037, "terminated": -0.09638670831918716, "unnecessary_wheel_lift": -0.0392683744430542, "rolling_leg_motion": -0.03294222801923752, "obstacle_progress": 0.0003095224965363741, "wheel_body_intrusion": -0.06779440492391586, "pair_body_intrusion": -0.021257596090435982}, "episode_termination_rates": {"time_out": 0.0, "fell_over": 0.331306990881459, "course_exit": 0.0, "illegal_nonwheel_contact": 0.8429584599797366}, "collection_time_s": 0.11005880724231247, "learning_time_s": 0.4342819567589322, "iteration_time_s": 0.5388980513666886, "policy_updates": 150, "skipped_updates": 0, "invalid_env_resets": 2, "elapsed_s": 242.50412311500986, "nonwheel_terminations": 7124, "contact_bce": 0.2912084460258484, "contact_force_loss": 0.012036296539008617, "collision_bce": 0.014630110934376717, "collision_label_rate": 0.008470290340483189, "collision_prediction_mean": 0.009646039456129074, "collision_label_count": 15820.0, "terrain_level_mean": 0.0, "terrain_level_max": 0, "terrain_details": {"flat": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[937.0, 0.0, 937.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [1433, 0, 0, 0, 0, 0], "episodes_by_level": [[2285.0, 0.0, 2285.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [614, 0, 0, 0, 0, 0], "episodes_by_level": [[945.0, 0.0, 945.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[908.0, 0.0, 908.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[899.0, 0.0, 899.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [819, 0, 0, 0, 0, 0], "episodes_by_level": [[1811.0, 0.0, 1811.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 0, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.1748046875, "command_abs_max": [0.7985928654670715, 0.19974704086780548, 0.49922454357147217]}
{"step": 500, "actor_lr": 3e-05, "archive_windows": 10754, "env_steps": 500, "total_transitions": 2048000, "num_steps_per_env": 1, "wm_loss": 1.287492036819458, "actor_loss": -3.2401623725891113, "critic_loss": 0.0537882037460804, "reward": 0.05216379463672638, "falls": 824, "interval_steps": 50, "velocity_mae": [0.31529444456100464, 0.12774626910686493, 0.27684128284454346], "mean_episode_length": 184.23543689320388, "episode_reward_terms": {"track_linear_velocity": 4.47920036315918, "track_angular_velocity": 6.043647289276123, "upright": 3.3031468391418457, "leg_posture": -1.032835841178894, "standstill": -2.293461799621582, "action_rate_l2": -0.006873102858662605, "joint_torques_l2": -0.020287230610847473, "dof_pos_limits": -0.007310832850635052, "terminated": -0.29650384187698364, "unnecessary_wheel_lift": -0.13227224349975586, "rolling_leg_motion": -0.1271294206380844, "obstacle_progress": 0.01054344978183508, "wheel_body_intrusion": -0.2197306603193283, "pair_body_intrusion": -0.089712955057621}, "weighted_reward_terms": {"track_linear_velocity": 1.21561861038208, "track_angular_velocity": 1.6401968002319336, "upright": 0.8964471817016602, "leg_posture": -0.2803032398223877, "standstill": -0.6224268674850464, "action_rate_l2": -0.001865304191596806, "joint_torques_l2": -0.005505789536982775, "dof_pos_limits": -0.001984100556001067, "terminated": -0.08046873658895493, "unnecessary_wheel_lift": -0.03589761257171631, "rolling_leg_motion": -0.03450189158320427, "obstacle_progress": 0.0028614066541194916, "wheel_body_intrusion": -0.05963311716914177, "pair_body_intrusion": -0.024347366765141487}, "episode_termination_rates": {"time_out": 0.0, "fell_over": 0.2682038834951456, "course_exit": 0.0, "illegal_nonwheel_contact": 0.8859223300970874}, "collection_time_s": 0.11015930628287605, "learning_time_s": 0.431871813320322, "iteration_time_s": 0.5392223989639897, "policy_updates": 200, "skipped_updates": 0, "invalid_env_resets": 2, "elapsed_s": 269.61119948199484, "nonwheel_terminations": 7854, "contact_bce": 0.28679171204566956, "contact_force_loss": 0.010330275632441044, "collision_bce": 0.014173151925206184, "collision_label_rate": 0.008456926792860031, "collision_prediction_mean": 0.010349036194384098, "collision_label_count": 15845.0, "terrain_level_mean": 0.0, "terrain_level_max": 0, "terrain_details": {"flat": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[1012.0, 0.0, 1012.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [1433, 0, 0, 0, 0, 0], "episodes_by_level": [[2490.0, 0.0, 2490.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [614, 0, 0, 0, 0, 0], "episodes_by_level": [[1038.0, 0.0, 1038.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[1012.0, 0.0, 1012.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[967.0, 0.0, 967.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [819, 0, 0, 0, 0, 0], "episodes_by_level": [[1985.0, 0.0, 1985.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 0, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.182373046875, "command_abs_max": [0.7979406714439392, 0.19974704086780548, 0.49922454357147217]}
{"step": 550, "actor_lr": 3.3e-05, "archive_windows": 11457, "env_steps": 550, "total_transitions": 2252800, "num_steps_per_env": 1, "wm_loss": 1.254083275794983, "actor_loss": -3.537261962890625, "critic_loss": 0.04165307804942131, "reward": 0.055370550602674484, "falls": 736, "interval_steps": 50, "velocity_mae": [0.29623010754585266, 0.12125988304615021, 0.2791230380535126], "mean_episode_length": 190.83423913043478, "episode_reward_terms": {"track_linear_velocity": 4.843610763549805, "track_angular_velocity": 6.249804496765137, "upright": 3.4884707927703857, "leg_posture": -0.9548047780990601, "standstill": -2.17547869682312, "action_rate_l2": -0.00735325925052166, "joint_torques_l2": -0.019433384761214256, "dof_pos_limits": -0.006217720918357372, "terminated": -0.2743241786956787, "unnecessary_wheel_lift": -0.13426348567008972, "rolling_leg_motion": -0.1371077448129654, "obstacle_progress": 0.03850265592336655, "wheel_body_intrusion": -0.22334066033363342, "pair_body_intrusion": -0.12146750092506409}, "weighted_reward_terms": {"track_linear_velocity": 1.2690622806549072, "track_angular_velocity": 1.637495517730713, "upright": 0.91400545835495, "leg_posture": -0.25016599893569946, "standstill": -0.5699917078018188, "action_rate_l2": -0.0019266089657321572, "joint_torques_l2": -0.005091692321002483, "dof_pos_limits": -0.0016290894709527493, "terminated": -0.07187499105930328, "unnecessary_wheel_lift": -0.035178039222955704, "rolling_leg_motion": -0.03592325747013092, "obstacle_progress": 0.010087983682751656, "wheel_body_intrusion": -0.05851692706346512, "pair_body_intrusion": -0.03182539343833923}, "episode_termination_rates": {"time_out": 0.0, "fell_over": 0.1956521739130435, "course_exit": 0.0, "illegal_nonwheel_contact": 0.9320652173913043}, "collection_time_s": 0.11111242285871413, "learning_time_s": 0.4342771029606229, "iteration_time_s": 0.5398424868090925, "policy_updates": 250, "skipped_updates": 0, "invalid_env_resets": 3, "elapsed_s": 296.91336774500087, "nonwheel_terminations": 8540, "contact_bce": 0.30978378653526306, "contact_force_loss": 0.010630181059241295, "collision_bce": 0.013159594498574734, "collision_label_rate": 0.0090004438534379, "collision_prediction_mean": 0.010322616435587406, "collision_label_count": 15777.0, "terrain_level_mean": 0.0, "terrain_level_max": 0, "terrain_details": {"flat": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[1090.0, 0.0, 1090.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [1433, 0, 0, 0, 0, 0], "episodes_by_level": [[2679.0, 0.0, 2679.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [614, 0, 0, 0, 0, 0], "episodes_by_level": [[1117.0, 0.0, 1117.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[1080.0, 0.0, 1080.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[1042.0, 0.0, 1042.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [819, 0, 0, 0, 0, 0], "episodes_by_level": [[2127.0, 0.0, 2127.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 2, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.1787109375, "command_abs_max": [0.7997860312461853, 0.19974704086780548, 0.49946194887161255]}
{"step": 600, "actor_lr": 3.6e-05, "archive_windows": 12202, "env_steps": 600, "total_transitions": 2457600, "num_steps_per_env": 1, "wm_loss": 1.222773551940918, "actor_loss": -4.1601715087890625, "critic_loss": 0.06953024119138718, "reward": 0.05993970111012459, "falls": 407, "interval_steps": 50, "velocity_mae": [0.2655259668827057, 0.125087708234787, 0.2739556133747101], "mean_episode_length": 208.73710073710075, "episode_reward_terms": {"track_linear_velocity": 5.572604179382324, "track_angular_velocity": 6.8743133544921875, "upright": 3.873203754425049, "leg_posture": -0.9659532308578491, "standstill": -2.1802568435668945, "action_rate_l2": -0.00868625845760107, "joint_torques_l2": -0.019910866394639015, "dof_pos_limits": -0.0041016992181539536, "terminated": -0.1659296751022339, "unnecessary_wheel_lift": -0.08940945565700531, "rolling_leg_motion": -0.15827500820159912, "obstacle_progress": 0.06610869616270065, "wheel_body_intrusion": -0.19515344500541687, "pair_body_intrusion": -0.08691108226776123}, "weighted_reward_terms": {"track_linear_velocity": 1.3348379135131836, "track_angular_velocity": 1.6466439962387085, "upright": 0.9277707934379578, "leg_posture": -0.23138035833835602, "standstill": -0.5222494602203369, "action_rate_l2": -0.002080669393762946, "joint_torques_l2": -0.00476936437189579, "dof_pos_limits": -0.0009825036395341158, "terminated": -0.03974609076976776, "unnecessary_wheel_lift": -0.021416760981082916, "rolling_leg_motion": -0.0379125252366066, "obstacle_progress": 0.015835396945476532, "wheel_body_intrusion": -0.04674622789025307, "pair_body_intrusion": -0.020818311721086502}, "episode_termination_rates": {"time_out": 0.0, "fell_over": 0.21375921375921375, "course_exit": 0.0, "illegal_nonwheel_contact": 0.9312039312039312}, "collection_time_s": 0.11041132512094919, "learning_time_s": 0.43378114399674816, "iteration_time_s": 0.540213875126695, "policy_updates": 300, "skipped_updates": 0, "invalid_env_resets": 3, "elapsed_s": 324.12832507601706, "nonwheel_terminations": 8919, "contact_bce": 0.28236305713653564, "contact_force_loss": 0.009488793089985847, "collision_bce": 0.012415469624102116, "collision_label_rate": 0.008396994322538376, "collision_prediction_mean": 0.008425287902355194, "collision_label_count": 15839.0, "terrain_level_mean": 0.0, "terrain_level_max": 0, "terrain_details": {"flat": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[1134.0, 0.0, 1134.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [1433, 0, 0, 0, 0, 0], "episodes_by_level": [[2774.0, 0.0, 2774.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [614, 0, 0, 0, 0, 0], "episodes_by_level": [[1166.0, 0.0, 1166.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[1117.0, 0.0, 1117.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[1077.0, 0.0, 1077.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [819, 0, 0, 0, 0, 0], "episodes_by_level": [[2212.0, 0.0, 2212.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 9, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.177490234375, "command_abs_max": [0.7997860312461853, 0.19974704086780548, 0.49946194887161255]}
{"step": 650, "actor_lr": 3.9e-05, "archive_windows": 12922, "env_steps": 650, "total_transitions": 2662400, "num_steps_per_env": 1, "wm_loss": 1.1958565711975098, "actor_loss": -4.635175704956055, "critic_loss": 0.052336324006319046, "reward": 0.056233927607536316, "falls": 320, "interval_steps": 50, "velocity_mae": [0.2692376375198364, 0.13922928273677826, 0.28579527139663696], "mean_episode_length": 223.21875, "episode_reward_terms": {"track_linear_velocity": 5.8219895362854, "track_angular_velocity": 7.250143051147461, "upright": 4.140377044677734, "leg_posture": -1.029760479927063, "standstill": -2.9595694541931152, "action_rate_l2": -0.010893312282860279, "joint_torques_l2": -0.021409984678030014, "dof_pos_limits": -0.003793556010350585, "terminated": -0.13951170444488525, "unnecessary_wheel_lift": -0.11901617795228958, "rolling_leg_motion": -0.21498672664165497, "obstacle_progress": 0.08175335079431534, "wheel_body_intrusion": -0.1691751927137375, "pair_body_intrusion": -0.0736798420548439}, "weighted_reward_terms": {"track_linear_velocity": 1.304099678993225, "track_angular_velocity": 1.6239994764328003, "upright": 0.9274259209632874, "leg_posture": -0.23066174983978271, "standstill": -0.6629303097724915, "action_rate_l2": -0.0024400532711297274, "joint_torques_l2": -0.004795740824192762, "dof_pos_limits": -0.0008497395319864154, "terminated": -0.0312499962747097, "unnecessary_wheel_lift": -0.02665909193456173, "rolling_leg_motion": -0.04815606400370598, "obstacle_progress": 0.01831238530576229, "wheel_body_intrusion": -0.037894487380981445, "pair_body_intrusion": -0.01650395430624485}, "episode_termination_rates": {"time_out": 0.0, "fell_over": 0.453125, "course_exit": 0.0, "illegal_nonwheel_contact": 0.821875}, "collection_time_s": 0.11018350512138568, "learning_time_s": 0.42998900382139255, "iteration_time_s": 0.5402184753661724, "policy_updates": 350, "skipped_updates": 0, "invalid_env_resets": 3, "elapsed_s": 351.1420089880121, "nonwheel_terminations": 9182, "contact_bce": 0.2963375151157379, "contact_force_loss": 0.009930502623319626, "collision_bce": 0.011806684546172619, "collision_label_rate": 0.00889253243803978, "collision_prediction_mean": 0.008344205096364021, "collision_label_count": 15856.0, "terrain_level_mean": 0.0, "terrain_level_max": 0, "terrain_details": {"flat": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[1178.0, 0.0, 1178.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [1433, 0, 0, 0, 0, 0], "episodes_by_level": [[2856.0, 0.0, 2856.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [614, 0, 0, 0, 0, 0], "episodes_by_level": [[1204.0, 0.0, 1204.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[1154.0, 0.0, 1154.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[1099.0, 0.0, 1099.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [819, 0, 0, 0, 0, 0], "episodes_by_level": [[2275.0, 0.0, 2275.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 28, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.178955078125, "command_abs_max": [0.7997860312461853, 0.1998347043991089, 0.49946194887161255]}
{"step": 700, "actor_lr": 4.2e-05, "archive_windows": 13559, "env_steps": 700, "total_transitions": 2867200, "num_steps_per_env": 1, "wm_loss": 1.1837804317474365, "actor_loss": -5.141373157501221, "critic_loss": 0.06107946112751961, "reward": 0.057008370757102966, "falls": 276, "interval_steps": 50, "velocity_mae": [0.25371089577674866, 0.12735725939273834, 0.280420184135437], "mean_episode_length": 237.47101449275362, "episode_reward_terms": {"track_linear_velocity": 6.477723121643066, "track_angular_velocity": 7.758884429931641, "upright": 4.466265678405762, "leg_posture": -0.9403294324874878, "standstill": -3.580940008163452, "action_rate_l2": -0.01591481640934944, "joint_torques_l2": -0.02033824287354946, "dof_pos_limits": -0.004024865105748177, "terminated": -0.12801170349121094, "unnecessary_wheel_lift": -0.12131348252296448, "rolling_leg_motion": -0.3151847720146179, "obstacle_progress": 0.11651432514190674, "wheel_body_intrusion": -0.10459579527378082, "pair_body_intrusion": -0.05090082436800003}, "weighted_reward_terms": {"track_linear_velocity": 1.363897681236267, "track_angular_velocity": 1.6336487531661987, "upright": 0.9403812885284424, "leg_posture": -0.19798827171325684, "standstill": -0.7539741396903992, "action_rate_l2": -0.003350896993651986, "joint_torques_l2": -0.0042822579853236675, "dof_pos_limits": -0.0008474434143863618, "terminated": -0.02695312164723873, "unnecessary_wheel_lift": -0.02554279938340187, "rolling_leg_motion": -0.06636279076337814, "obstacle_progress": 0.024532325565814972, "wheel_body_intrusion": -0.022022856399416924, "pair_body_intrusion": -0.010717270895838737}, "episode_termination_rates": {"time_out": 0.0, "fell_over": 0.572463768115942, "course_exit": 0.0, "illegal_nonwheel_contact": 0.7318840579710145}, "collection_time_s": 0.10988545571628493, "learning_time_s": 0.4305680664203828, "iteration_time_s": 0.540242963282882, "policy_updates": 400, "skipped_updates": 0, "invalid_env_resets": 3, "elapsed_s": 378.1700742980174, "nonwheel_terminations": 9384, "contact_bce": 0.2923116087913513, "contact_force_loss": 0.010462841019034386, "collision_bce": 0.014411074109375477, "collision_label_rate": 0.010552412830293179, "collision_prediction_mean": 0.010421901941299438, "collision_label_count": 15731.0, "terrain_level_mean": 0.0, "terrain_level_max": 0, "terrain_details": {"flat": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[1204.0, 0.0, 1204.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [1433, 0, 0, 0, 0, 0], "episodes_by_level": [[2933.0, 0.0, 2933.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [614, 0, 0, 0, 0, 0], "episodes_by_level": [[1251.0, 0.0, 1251.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[1188.0, 0.0, 1188.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[1117.0, 0.0, 1117.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [819, 0, 0, 0, 0, 0], "episodes_by_level": [[2326.0, 0.0, 2326.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 44, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.1845703125, "command_abs_max": [0.799434244632721, 0.1998347043991089, 0.49946194887161255]}
{"step": 750, "actor_lr": 4.5e-05, "archive_windows": 14200, "env_steps": 750, "total_transitions": 3072000, "num_steps_per_env": 1, "wm_loss": 1.11137855052948, "actor_loss": -5.5572381019592285, "critic_loss": 0.03780065104365349, "reward": 0.06221320107579231, "falls": 208, "interval_steps": 50, "velocity_mae": [0.22875680029392242, 0.125808984041214, 0.2626643478870392], "mean_episode_length": 285.71153846153845, "episode_reward_terms": {"track_linear_velocity": 8.153738021850586, "track_angular_velocity": 9.530579566955566, "upright": 5.442987442016602, "leg_posture": -1.026759386062622, "standstill": -3.6588244438171387, "action_rate_l2": -0.019913719967007637, "joint_torques_l2": -0.021706221625208855, "dof_pos_limits": -0.004319885745644569, "terminated": -0.11607030034065247, "unnecessary_wheel_lift": -0.13995417952537537, "rolling_leg_motion": -0.3916991651058197, "obstacle_progress": 0.16745980083942413, "wheel_body_intrusion": -0.0822664275765419, "pair_body_intrusion": -0.05822077393531799}, "weighted_reward_terms": {"track_linear_velocity": 1.4269177913665771, "track_angular_velocity": 1.6678675413131714, "upright": 0.9525319933891296, "leg_posture": -0.1796846091747284, "standstill": -0.640300452709198, "action_rate_l2": -0.0034849345684051514, "joint_torques_l2": -0.003798625199124217, "dof_pos_limits": -0.0007559872465208173, "terminated": -0.02031249739229679, "unnecessary_wheel_lift": -0.024492215365171432, "rolling_leg_motion": -0.06854801625013351, "obstacle_progress": 0.029305746778845787, "wheel_body_intrusion": -0.01439676247537136, "pair_body_intrusion": -0.010188733227550983}, "episode_termination_rates": {"time_out": 0.0, "fell_over": 0.6105769230769231, "course_exit": 0.0, "illegal_nonwheel_contact": 0.6153846153846154}, "collection_time_s": 0.10965097522072029, "learning_time_s": 0.4299452594586182, "iteration_time_s": 0.5402072222933251, "policy_updates": 450, "skipped_updates": 0, "invalid_env_resets": 3, "elapsed_s": 405.1554167199938, "nonwheel_terminations": 9512, "contact_bce": 0.29491788148880005, "contact_force_loss": 0.009908224456012249, "collision_bce": 0.012392432428896427, "collision_label_rate": 0.010024108923971653, "collision_prediction_mean": 0.008266350254416466, "collision_label_count": 15762.0, "terrain_level_mean": 0.0, "terrain_level_max": 0, "terrain_details": {"flat": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[1211.0, 0.0, 1211.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [1433, 0, 0, 0, 0, 0], "episodes_by_level": [[2986.0, 0.0, 2986.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [614, 0, 0, 0, 0, 0], "episodes_by_level": [[1288.0, 0.0, 1288.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[1210.0, 0.0, 1210.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[1133.0, 0.0, 1133.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [819, 0, 0, 0, 0, 0], "episodes_by_level": [[2370.0, 0.0, 2370.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 84, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.1904296875, "command_abs_max": [0.799434244632721, 0.1998347043991089, 0.49946194887161255]}
{"step": 800, "actor_lr": 4.8e-05, "archive_windows": 14822, "env_steps": 800, "total_transitions": 3276800, "num_steps_per_env": 1, "wm_loss": 1.0839768648147583, "actor_loss": -5.9100494384765625, "critic_loss": 0.025296945124864578, "reward": 0.06570152193307877, "falls": 143, "interval_steps": 50, "velocity_mae": [0.21799567341804504, 0.11359843611717224, 0.25606217980384827], "mean_episode_length": 300.8531468531468, "episode_reward_terms": {"track_linear_velocity": 8.868349075317383, "track_angular_velocity": 10.115157127380371, "upright": 5.735300540924072, "leg_posture": -1.2377146482467651, "standstill": -3.043794870376587, "action_rate_l2": -0.020182689651846886, "joint_torques_l2": -0.02316264621913433, "dof_pos_limits": -0.004951531533151865, "terminated": -0.08402732759714127, "unnecessary_wheel_lift": -0.1268310248851776, "rolling_leg_motion": -0.3738868534564972, "obstacle_progress": 0.18718858063220978, "wheel_body_intrusion": -0.12066864222288132, "pair_body_intrusion": -0.10426749289035797}, "weighted_reward_terms": {"track_linear_velocity": 1.4738668203353882, "track_angular_velocity": 1.6810787916183472, "upright": 0.9531728625297546, "leg_posture": -0.2057007998228073, "standstill": -0.5058605670928955, "action_rate_l2": -0.0033542427700012922, "joint_torques_l2": -0.003849493805319071, "dof_pos_limits": -0.0008229149971157312, "terminated": -0.013964842073619366, "unnecessary_wheel_lift": -0.0210785623639822, "rolling_leg_motion": -0.06213776767253876, "obstacle_progress": 0.031109627336263657, "wheel_body_intrusion": -0.02005440928041935, "pair_body_intrusion": -0.017328636720776558}, "episode_termination_rates": {"time_out": 0.0, "fell_over": 0.4965034965034965, "course_exit": 0.0, "illegal_nonwheel_contact": 0.7762237762237763}, "collection_time_s": 0.10965341175789944, "learning_time_s": 0.43066335139970763, "iteration_time_s": 0.5402205559550203, "policy_updates": 500, "skipped_updates": 0, "invalid_env_resets": 3, "elapsed_s": 432.1764447640162, "nonwheel_terminations": 9623, "contact_bce": 0.29463472962379456, "contact_force_loss": 0.009741595014929771, "collision_bce": 0.008868914097547531, "collision_label_rate": 0.007407872471958399, "collision_prediction_mean": 0.006784785073250532, "collision_label_count": 15929.0, "terrain_level_mean": 0.0, "terrain_level_max": 0, "terrain_details": {"flat": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[1220.0, 0.0, 1220.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [1433, 0, 0, 0, 0, 0], "episodes_by_level": [[3032.0, 0.0, 3032.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [614, 0, 0, 0, 0, 0], "episodes_by_level": [[1304.0, 0.0, 1304.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[1226.0, 0.0, 1226.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[1148.0, 0.0, 1148.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [819, 0, 0, 0, 0, 0], "episodes_by_level": [[2389.0, 0.0, 2389.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 118, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.197021484375, "command_abs_max": [0.7988982796669006, 0.1998347043991089, 0.49946194887161255]}
{"step": 850, "actor_lr": 5.1e-05, "archive_windows": 15345, "env_steps": 850, "total_transitions": 3481600, "num_steps_per_env": 1, "wm_loss": 1.0935672521591187, "actor_loss": -6.214949607849121, "critic_loss": 0.023407157510519028, "reward": 0.06620340049266815, "falls": 143, "interval_steps": 50, "velocity_mae": [0.20765787363052368, 0.11073537170886993, 0.25105801224708557], "mean_episode_length": 345.06293706293707, "episode_reward_terms": {"track_linear_velocity": 10.39252758026123, "track_angular_velocity": 11.674407958984375, "upright": 6.568523406982422, "leg_posture": -1.5709869861602783, "standstill": -3.3495123386383057, "action_rate_l2": -0.026205522939562798, "joint_torques_l2": -0.02831592597067356, "dof_pos_limits": -0.004248740151524544, "terminated": -0.0963749811053276, "unnecessary_wheel_lift": -0.14191597700119019, "rolling_leg_motion": -0.5352839231491089, "obstacle_progress": 0.23658093810081482, "wheel_body_intrusion": -0.1567234843969345, "pair_body_intrusion": -0.1181335523724556}, "weighted_reward_terms": {"track_linear_velocity": 1.505888819694519, "track_angular_velocity": 1.6916346549987793, "upright": 0.9517863988876343, "leg_posture": -0.22763776779174805, "standstill": -0.48534804582595825, "action_rate_l2": -0.003797209123149514, "joint_torques_l2": -0.00410300912335515, "dof_pos_limits": -0.0006156471790745854, "terminated": -0.013964842073619366, "unnecessary_wheel_lift": -0.020563781261444092, "rolling_leg_motion": -0.07756323367357254, "obstacle_progress": 0.034280840307474136, "wheel_body_intrusion": -0.022709406912326813, "pair_body_intrusion": -0.017117682844400406}, "episode_termination_rates": {"time_out": 0.0, "fell_over": 0.36363636363636365, "course_exit": 0.0, "illegal_nonwheel_contact": 0.7552447552447552}, "collection_time_s": 0.10943970838095993, "learning_time_s": 0.4320109767181566, "iteration_time_s": 0.5402997059246991, "policy_updates": 550, "skipped_updates": 0, "invalid_env_resets": 3, "elapsed_s": 459.2547500359942, "nonwheel_terminations": 9731, "contact_bce": 0.29528534412384033, "contact_force_loss": 0.009692071005702019, "collision_bce": 0.009407888166606426, "collision_label_rate": 0.008064515888690948, "collision_prediction_mean": 0.009452581405639648, "collision_label_count": 15872.0, "terrain_level_mean": 0.0, "terrain_level_max": 0, "terrain_details": {"flat": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[1239.0, 0.0, 1239.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [1433, 0, 0, 0, 0, 0], "episodes_by_level": [[3064.0, 0.0, 3064.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [614, 0, 0, 0, 0, 0], "episodes_by_level": [[1323.0, 0.0, 1323.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[1246.0, 0.0, 1246.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[1157.0, 0.0, 1157.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [819, 0, 0, 0, 0, 0], "episodes_by_level": [[2411.0, 0.0, 2411.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 157, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.195556640625, "command_abs_max": [0.7983834743499756, 0.1998347043991089, 0.49959900975227356]}
{"step": 900, "actor_lr": 5.4000000000000005e-05, "archive_windows": 15836, "env_steps": 900, "total_transitions": 3686400, "num_steps_per_env": 1, "wm_loss": 1.0809043645858765, "actor_loss": -6.606921195983887, "critic_loss": 0.022681949660182, "reward": 0.07163528352975845, "falls": 77, "interval_steps": 50, "velocity_mae": [0.1824852079153061, 0.10176596790552139, 0.228810116648674], "mean_episode_length": 392.55696202531647, "episode_reward_terms": {"track_linear_velocity": 12.417007446289062, "track_angular_velocity": 13.601221084594727, "upright": 7.532979965209961, "leg_posture": -1.6679749488830566, "standstill": -3.001101493835449, "action_rate_l2": -0.03229749575257301, "joint_torques_l2": -0.03367716819047928, "dof_pos_limits": -0.0045156157575547695, "terminated": -0.05903688445687294, "unnecessary_wheel_lift": -0.10618025064468384, "rolling_leg_motion": -0.6175177097320557, "obstacle_progress": 0.290437787771225, "wheel_body_intrusion": -0.1745098978281021, "pair_body_intrusion": -0.023901978507637978}, "weighted_reward_terms": {"track_linear_velocity": 1.581554889678955, "track_angular_velocity": 1.7323881387710571, "upright": 0.9594760537147522, "leg_posture": -0.2124500423669815, "standstill": -0.38225042819976807, "action_rate_l2": -0.004113733768463135, "joint_torques_l2": -0.004289462696760893, "dof_pos_limits": -0.000575154204852879, "terminated": -0.007519530598074198, "unnecessary_wheel_lift": -0.013524183072149754, "rolling_leg_motion": -0.0786532610654831, "obstacle_progress": 0.03699307516217232, "wheel_body_intrusion": -0.0222273338586092, "pair_body_intrusion": -0.003044396173208952}, "episode_termination_rates": {"time_out": 0.0, "fell_over": 0.35443037974683544, "course_exit": 0.02531645569620253, "illegal_nonwheel_contact": 0.7721518987341772}, "collection_time_s": 0.10891838686191477, "learning_time_s": 0.4300962235208135, "iteration_time_s": 0.5402347917911053, "policy_updates": 600, "skipped_updates": 0, "invalid_env_resets": 3, "elapsed_s": 486.2113126119948, "nonwheel_terminations": 9792, "contact_bce": 0.2941513955593109, "contact_force_loss": 0.009680225513875484, "collision_bce": 0.007620719261467457, "collision_label_rate": 0.006853621918708086, "collision_prediction_mean": 0.007469843607395887, "collision_label_count": 15904.0, "terrain_level_mean": 0.00048828125, "terrain_level_max": 1, "terrain_details": {"flat": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[1242.0, 0.0, 1242.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [1433, 0, 0, 0, 0, 0], "episodes_by_level": [[3085.0, 0.0, 3085.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [613, 1, 0, 0, 0, 0], "episodes_by_level": [[1327.0, 0.0, 1327.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [409, 1, 0, 0, 0, 0], "episodes_by_level": [[1253.0, 1.0, 1252.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[1169.0, 0.0, 1169.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [819, 0, 0, 0, 0, 0], "episodes_by_level": [[2430.0, 0.0, 2430.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 196, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.19482421875, "command_abs_max": [0.7983834743499756, 0.19969463348388672, 0.49959900975227356]}
{"step": 950, "actor_lr": 5.6999999999999996e-05, "archive_windows": 16300, "env_steps": 950, "total_transitions": 3891200, "num_steps_per_env": 1, "wm_loss": 1.0747544765472412, "actor_loss": -6.902327537536621, "critic_loss": 0.016340775415301323, "reward": 0.0758487805724144, "falls": 58, "interval_steps": 50, "velocity_mae": [0.1601857990026474, 0.09311804920434952, 0.20591521263122559], "mean_episode_length": 453.2903225806452, "episode_reward_terms": {"track_linear_velocity": 14.94808578491211, "track_angular_velocity": 16.082731246948242, "upright": 8.752084732055664, "leg_posture": -1.8947135210037231, "standstill": -2.740119457244873, "action_rate_l2": -0.03802856430411339, "joint_torques_l2": -0.04005204141139984, "dof_pos_limits": -0.005858568008989096, "terminated": -0.05134928598999977, "unnecessary_wheel_lift": -0.09226793050765991, "rolling_leg_motion": -0.6801710724830627, "obstacle_progress": 0.35039612650871277, "wheel_body_intrusion": -0.1885932832956314, "pair_body_intrusion": -0.02062128856778145}, "weighted_reward_terms": {"track_linear_velocity": 1.6488423347473145, "track_angular_velocity": 1.7739990949630737, "upright": 0.9653950929641724, "leg_posture": -0.20899558067321777, "standstill": -0.3022477626800537, "action_rate_l2": -0.004194724839180708, "joint_torques_l2": -0.004417924210429192, "dof_pos_limits": -0.000646226922981441, "terminated": -0.00566406175494194, "unnecessary_wheel_lift": -0.01017757598310709, "rolling_leg_motion": -0.07502599060535431, "obstacle_progress": 0.03865030035376549, "wheel_body_intrusion": -0.020802704617381096, "pair_body_intrusion": -0.0022746226750314236}, "episode_termination_rates": {"time_out": 0.0, "fell_over": 0.4838709677419355, "course_exit": 0.06451612903225806, "illegal_nonwheel_contact": 0.6935483870967742}, "collection_time_s": 0.10948900244315155, "learning_time_s": 0.4325464528979501, "iteration_time_s": 0.5403360434326245, "policy_updates": 650, "skipped_updates": 0, "invalid_env_resets": 3, "elapsed_s": 513.3192412609933, "nonwheel_terminations": 9835, "contact_bce": 0.2983872890472412, "contact_force_loss": 0.009712965227663517, "collision_bce": 0.007252704352140427, "collision_label_rate": 0.005868764594197273, "collision_prediction_mean": 0.0062447162345051765, "collision_label_count": 16017.0, "terrain_level_mean": 0.00146484375, "terrain_level_max": 1, "terrain_details": {"flat": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[1249.0, 0.0, 1249.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [1432, 1, 0, 0, 0, 0], "episodes_by_level": [[3100.0, 0.0, 3100.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [612, 2, 0, 0, 0, 0], "episodes_by_level": [[1332.0, 0.0, 1332.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [408, 2, 0, 0, 0, 0], "episodes_by_level": [[1261.0, 2.0, 1259.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [409, 1, 0, 0, 0, 0], "episodes_by_level": [[1179.0, 1.0, 1178.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [819, 0, 0, 0, 0, 0], "episodes_by_level": [[2441.0, 0.0, 2441.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 249, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.19287109375, "command_abs_max": [0.7983834743499756, 0.19991517066955566, 0.499885618686676]}
{"step": 1000, "actor_lr": 6e-05, "archive_windows": 16685, "env_steps": 1000, "total_transitions": 4096000, "num_steps_per_env": 1, "wm_loss": 1.0595738887786865, "actor_loss": -7.079590797424316, "critic_loss": 0.012310382910072803, "reward": 0.07734139263629913, "falls": 41, "interval_steps": 50, "velocity_mae": [0.15021447837352753, 0.08796976506710052, 0.19918453693389893], "mean_episode_length": 494.1372549019608, "episode_reward_terms": {"track_linear_velocity": 16.628135681152344, "track_angular_velocity": 17.6545467376709, "upright": 9.562812805175781, "leg_posture": -2.2200374603271484, "standstill": -2.7688071727752686, "action_rate_l2": -0.03690066188573837, "joint_torques_l2": -0.043781574815511703, "dof_pos_limits": -0.0064043705351650715, "terminated": -0.03956957906484604, "unnecessary_wheel_lift": -0.10215388983488083, "rolling_leg_motion": -0.4939735233783722, "obstacle_progress": 0.3647816479206085, "wheel_body_intrusion": -0.24016644060611725, "pair_body_intrusion": -0.04122403636574745}, "weighted_reward_terms": {"track_linear_velocity": 1.6825422048568726, "track_angular_velocity": 1.7864011526107788, "upright": 0.9676271677017212, "leg_posture": -0.2246377319097519, "standstill": -0.28016579151153564, "action_rate_l2": -0.003733847290277481, "joint_torques_l2": -0.004430102650076151, "dof_pos_limits": -0.0006480356096290052, "terminated": -0.004003905691206455, "unnecessary_wheel_lift": -0.010336590930819511, "rolling_leg_motion": -0.0499834343791008, "obstacle_progress": 0.03691096231341362, "wheel_body_intrusion": -0.024301592260599136, "pair_body_intrusion": -0.004171314183622599}, "episode_termination_rates": {"time_out": 0.0, "fell_over": 0.43137254901960786, "course_exit": 0.19607843137254902, "illegal_nonwheel_contact": 0.5294117647058824}, "collection_time_s": 0.10798253840126563, "learning_time_s": 0.43943220155953894, "iteration_time_s": 0.5406960101209989, "policy_updates": 700, "skipped_updates": 0, "invalid_env_resets": 3, "elapsed_s": 540.6960101209988, "nonwheel_terminations": 9862, "contact_bce": 0.3047277331352234, "contact_force_loss": 0.009972630999982357, "collision_bce": 0.006583739537745714, "collision_label_rate": 0.00498628756031394, "collision_prediction_mean": 0.004828509874641895, "collision_label_count": 16044.0, "terrain_level_mean": 0.00390625, "terrain_level_max": 1, "terrain_details": {"flat": {"level_counts": [410, 0, 0, 0, 0, 0], "episodes_by_level": [[1252.0, 0.0, 1252.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [1429, 4, 0, 0, 0, 0], "episodes_by_level": [[3110.0, 0.0, 3110.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [607, 7, 0, 0, 0, 0], "episodes_by_level": [[1339.0, 3.0, 1336.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [406, 4, 0, 0, 0, 0], "episodes_by_level": [[1270.0, 4.0, 1266.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [409, 1, 0, 0, 0, 0], "episodes_by_level": [[1181.0, 1.0, 1180.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [819, 0, 0, 0, 0, 0], "episodes_by_level": [[2453.0, 0.0, 2453.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 310, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.192626953125, "command_abs_max": [0.7988997101783752, 0.19991517066955566, 0.499885618686676]}
{"step": 1050, "actor_lr": 6e-05, "archive_windows": 17041, "env_steps": 1050, "total_transitions": 4300800, "num_steps_per_env": 1, "wm_loss": 1.0179047584533691, "actor_loss": -7.3239030838012695, "critic_loss": 0.01144651509821415, "reward": 0.07617442309856415, "falls": 39, "interval_steps": 50, "velocity_mae": [0.1510823369026184, 0.08633144944906235, 0.19828572869300842], "mean_episode_length": 565.65625, "episode_reward_terms": {"track_linear_velocity": 19.0366153717041, "track_angular_velocity": 20.223922729492188, "upright": 10.889520645141602, "leg_posture": -3.0924453735351562, "standstill": -3.1703433990478516, "action_rate_l2": -0.03955908492207527, "joint_torques_l2": -0.05453316867351532, "dof_pos_limits": -0.007898589596152306, "terminated": -0.04308709502220154, "unnecessary_wheel_lift": -0.10265951603651047, "rolling_leg_motion": -0.4314126670360565, "obstacle_progress": 0.3649284541606903, "wheel_body_intrusion": -0.36431774497032166, "pair_body_intrusion": -0.12019091844558716}, "weighted_reward_terms": {"track_linear_velocity": 1.6827017068862915, "track_angular_velocity": 1.7876513004302979, "upright": 0.9625563621520996, "leg_posture": -0.27335023880004883, "standstill": -0.2802358865737915, "action_rate_l2": -0.003496742807328701, "joint_torques_l2": -0.004820345435291529, "dof_pos_limits": -0.0006981792976148427, "terminated": -0.00380859337747097, "unnecessary_wheel_lift": -0.009074373170733452, "rolling_leg_motion": -0.03813382238149643, "obstacle_progress": 0.0322570875287056, "wheel_body_intrusion": -0.032203104346990585, "pair_body_intrusion": -0.010624025017023087}, "episode_termination_rates": {"time_out": 0.0, "fell_over": 0.359375, "course_exit": 0.390625, "illegal_nonwheel_contact": 0.328125}, "collection_time_s": 0.10795540121966042, "learning_time_s": 0.43465961444191636, "iteration_time_s": 0.5408198963514241, "policy_updates": 750, "skipped_updates": 0, "invalid_env_resets": 3, "elapsed_s": 567.8608911689953, "nonwheel_terminations": 9883, "contact_bce": 0.3006129860877991, "contact_force_loss": 0.009597940370440483, "collision_bce": 0.00531089399009943, "collision_label_rate": 0.0045282552018761635, "collision_prediction_mean": 0.004178412724286318, "collision_label_count": 16121.0, "terrain_level_mean": 0.009765625, "terrain_level_max": 1, "terrain_details": {"flat": {"level_counts": [408, 2, 0, 0, 0, 0], "episodes_by_level": [[1258.0, 2.0, 1256.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [1421, 12, 0, 0, 0, 0], "episodes_by_level": [[3124.0, 5.0, 3119.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [598, 16, 0, 0, 0, 0], "episodes_by_level": [[1350.0, 9.0, 1340.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [404, 6, 0, 0, 0, 0], "episodes_by_level": [[1275.0, 6.0, 1269.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [407, 3, 0, 0, 0, 0], "episodes_by_level": [[1187.0, 3.0, 1184.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [818, 1, 0, 0, 0, 0], "episodes_by_level": [[2463.0, 1.0, 2462.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 364, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.19384765625, "command_abs_max": [0.7988997101783752, 0.1999875009059906, 0.499885618686676]}
{"step": 1100, "actor_lr": 6e-05, "archive_windows": 17374, "env_steps": 1100, "total_transitions": 4505600, "num_steps_per_env": 1, "wm_loss": 1.0230799913406372, "actor_loss": -7.435081958770752, "critic_loss": 0.0117879007011652, "reward": 0.07717268913984299, "falls": 39, "interval_steps": 50, "velocity_mae": [0.14516665041446686, 0.08250019699335098, 0.1850471943616867], "mean_episode_length": 593.0, "episode_reward_terms": {"track_linear_velocity": 20.197643280029297, "track_angular_velocity": 21.484146118164062, "upright": 11.422342300415039, "leg_posture": -3.2361562252044678, "standstill": -3.3757164478302, "action_rate_l2": -0.04421795904636383, "joint_torques_l2": -0.05912373214960098, "dof_pos_limits": -0.010517099872231483, "terminated": -0.04516991972923279, "unnecessary_wheel_lift": -0.10086246579885483, "rolling_leg_motion": -0.422222375869751, "obstacle_progress": 0.35989242792129517, "wheel_body_intrusion": -0.33423277735710144, "pair_body_intrusion": -0.07240630686283112}, "weighted_reward_terms": {"track_linear_velocity": 1.703005313873291, "track_angular_velocity": 1.8114794492721558, "upright": 0.9630980491638184, "leg_posture": -0.27286309003829956, "standstill": -0.2846303880214691, "action_rate_l2": -0.003728326875716448, "joint_torques_l2": -0.004985137842595577, "dof_pos_limits": -0.0008867706637829542, "terminated": -0.00380859337747097, "unnecessary_wheel_lift": -0.00850442424416542, "rolling_leg_motion": -0.03560053929686546, "obstacle_progress": 0.030345061793923378, "wheel_body_intrusion": -0.028181515634059906, "pair_body_intrusion": -0.006105085369199514}, "episode_termination_rates": {"time_out": 0.0, "fell_over": 0.35384615384615387, "course_exit": 0.4, "illegal_nonwheel_contact": 0.4153846153846154}, "collection_time_s": 0.10905764238210396, "learning_time_s": 0.43365858209610453, "iteration_time_s": 0.5409106004890848, "policy_updates": 800, "skipped_updates": 0, "invalid_env_resets": 3, "elapsed_s": 595.0016605379933, "nonwheel_terminations": 9910, "contact_bce": 0.3053834140300751, "contact_force_loss": 0.009776935912668705, "collision_bce": 0.005785087589174509, "collision_label_rate": 0.005231689196079969, "collision_prediction_mean": 0.00648832693696022, "collision_label_count": 16056.0, "terrain_level_mean": 0.015625, "terrain_level_max": 1, "terrain_details": {"flat": {"level_counts": [406, 4, 0, 0, 0, 0], "episodes_by_level": [[1266.0, 4.0, 1262.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [1416, 17, 0, 0, 0, 0], "episodes_by_level": [[3136.0, 9.0, 3127.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [584, 30, 0, 0, 0, 0], "episodes_by_level": [[1362.0, 19.0, 1342.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [403, 7, 0, 0, 0, 0], "episodes_by_level": [[1277.0, 7.0, 1270.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [407, 3, 0, 0, 0, 0], "episodes_by_level": [[1190.0, 3.0, 1187.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [816, 3, 0, 0, 0, 0], "episodes_by_level": [[2470.0, 3.0, 2467.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 424, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.193115234375, "command_abs_max": [0.7999091148376465, 0.1999875009059906, 0.49959900975227356]}
{"step": 1150, "actor_lr": 6e-05, "archive_windows": 17660, "env_steps": 1150, "total_transitions": 4710400, "num_steps_per_env": 1, "wm_loss": 1.0189622640609741, "actor_loss": -7.660633087158203, "critic_loss": 0.006670423783361912, "reward": 0.0783243328332901, "falls": 28, "interval_steps": 50, "velocity_mae": [0.13753704726696014, 0.08232850581407547, 0.17692843079566956], "mean_episode_length": 675.8375, "episode_reward_terms": {"track_linear_velocity": 23.281383514404297, "track_angular_velocity": 24.675914764404297, "upright": 13.03796100616455, "leg_posture": -3.4268605709075928, "standstill": -3.872711420059204, "action_rate_l2": -0.0662265345454216, "joint_torques_l2": -0.06741197407245636, "dof_pos_limits": -0.018081342801451683, "terminated": -0.03695986047387123, "unnecessary_wheel_lift": -0.10314280539751053, "rolling_leg_motion": -0.5566221475601196, "obstacle_progress": 0.41608694195747375, "wheel_body_intrusion": -0.28683599829673767, "pair_body_intrusion": -0.0419560968875885}, "weighted_reward_terms": {"track_linear_velocity": 1.722409725189209, "track_angular_velocity": 1.825580358505249, "upright": 0.9645780920982361, "leg_posture": -0.2535269558429718, "standstill": -0.28651201725006104, "action_rate_l2": -0.0048995898105204105, "joint_torques_l2": -0.0049872915260493755, "dof_pos_limits": -0.0013376990100368857, "terminated": -0.0027343747206032276, "unnecessary_wheel_lift": -0.007630739826709032, "rolling_leg_motion": -0.04118017479777336, "obstacle_progress": 0.03078306093811989, "wheel_body_intrusion": -0.021220780909061432, "pair_body_intrusion": -0.003104007802903652}, "episode_termination_rates": {"time_out": 0.0, "fell_over": 0.15, "course_exit": 0.65, "illegal_nonwheel_contact": 0.2375}, "collection_time_s": 0.10886394013999962, "learning_time_s": 0.43291066856007093, "iteration_time_s": 0.5409530452130433, "policy_updates": 850, "skipped_updates": 0, "invalid_env_resets": 3, "elapsed_s": 622.0960019949998, "nonwheel_terminations": 9929, "contact_bce": 0.2988928258419037, "contact_force_loss": 0.009386470541357994, "collision_bce": 0.005118659231811762, "collision_label_rate": 0.004992199596017599, "collision_prediction_mean": 0.004187786485999823, "collision_label_count": 16025.0, "terrain_level_mean": 0.027099609375, "terrain_level_max": 1, "terrain_details": {"flat": {"level_counts": [404, 6, 0, 0, 0, 0], "episodes_by_level": [[1272.0, 6.0, 1266.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [1394, 39, 0, 0, 0, 0], "episodes_by_level": [[3155.0, 25.0, 3128.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [569, 45, 0, 0, 0, 0], "episodes_by_level": [[1379.0, 33.0, 1344.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [400, 10, 0, 0, 0, 0], "episodes_by_level": [[1282.0, 10.0, 1272.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [407, 3, 0, 0, 0, 0], "episodes_by_level": [[1196.0, 3.0, 1193.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [811, 8, 0, 0, 0, 0], "episodes_by_level": [[2482.0, 8.0, 2474.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 487, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.194091796875, "command_abs_max": [0.7999091148376465, 0.1999875009059906, 0.49946194887161255]}
{"step": 1200, "actor_lr": 6e-05, "archive_windows": 17942, "env_steps": 1200, "total_transitions": 4915200, "num_steps_per_env": 1, "wm_loss": 0.9589332938194275, "actor_loss": -7.78687858581543, "critic_loss": 0.007640059571713209, "reward": 0.07922550290822983, "falls": 31, "interval_steps": 50, "velocity_mae": [0.13205939531326294, 0.08129523694515228, 0.16984274983406067], "mean_episode_length": 700.4216867469879, "episode_reward_terms": {"track_linear_velocity": 24.313650131225586, "track_angular_velocity": 25.729040145874023, "upright": 13.508445739746094, "leg_posture": -3.3915886878967285, "standstill": -3.9057021141052246, "action_rate_l2": -0.06623545289039612, "joint_torques_l2": -0.07012613862752914, "dof_pos_limits": -0.021486908197402954, "terminated": -0.04240833967924118, "unnecessary_wheel_lift": -0.1448475867509842, "rolling_leg_motion": -0.5107202529907227, "obstacle_progress": 0.409507691860199, "wheel_body_intrusion": -0.27612197399139404, "pair_body_intrusion": -0.04013977572321892}, "weighted_reward_terms": {"track_linear_velocity": 1.735643744468689, "track_angular_velocity": 1.8366822004318237, "upright": 0.9643080830574036, "leg_posture": -0.2421104907989502, "standstill": -0.2788107693195343, "action_rate_l2": -0.004728255327790976, "joint_torques_l2": -0.005005994345992804, "dof_pos_limits": -0.0015338552184402943, "terminated": -0.003027343424037099, "unnecessary_wheel_lift": -0.010340027511119843, "rolling_leg_motion": -0.036458056420087814, "obstacle_progress": 0.029232939705252647, "wheel_body_intrusion": -0.019711123779416084, "pair_body_intrusion": -0.0028654008638113737}, "episode_termination_rates": {"time_out": 0.0, "fell_over": 0.1927710843373494, "course_exit": 0.6265060240963856, "illegal_nonwheel_contact": 0.21686746987951808}, "collection_time_s": 0.10957564148236998, "learning_time_s": 0.435745101578068, "iteration_time_s": 0.5411399174550025, "policy_updates": 900, "skipped_updates": 0, "invalid_env_resets": 3, "elapsed_s": 649.3679009460029, "nonwheel_terminations": 9947, "contact_bce": 0.2940332889556885, "contact_force_loss": 0.009060364216566086, "collision_bce": 0.004071596544235945, "collision_label_rate": 0.0038416257593780756, "collision_prediction_mean": 0.003802998224273324, "collision_label_count": 16139.0, "terrain_level_mean": 0.0390625, "terrain_level_max": 1, "terrain_details": {"flat": {"level_counts": [401, 9, 0, 0, 0, 0], "episodes_by_level": [[1280.0, 9.0, 1271.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [1370, 63, 0, 0, 0, 0], "episodes_by_level": [[3179.0, 43.0, 3133.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [559, 55, 0, 0, 0, 0], "episodes_by_level": [[1391.0, 42.0, 1346.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [397, 13, 0, 0, 0, 0], "episodes_by_level": [[1290.0, 13.0, 1277.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [404, 6, 0, 0, 0, 0], "episodes_by_level": [[1203.0, 6.0, 1197.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [805, 14, 0, 0, 0, 0], "episodes_by_level": [[2492.0, 14.0, 2478.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 538, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.19677734375, "command_abs_max": [0.7999091148376465, 0.1999875009059906, 0.49946194887161255]}
{"step": 1250, "actor_lr": 6e-05, "archive_windows": 18200, "env_steps": 1250, "total_transitions": 5120000, "num_steps_per_env": 1, "wm_loss": 0.9402795433998108, "actor_loss": -7.928102016448975, "critic_loss": 0.006665993016213179, "reward": 0.08024889975786209, "falls": 23, "interval_steps": 50, "velocity_mae": [0.12783561646938324, 0.07722450792789459, 0.1621667444705963], "mean_episode_length": 762.7594936708861, "episode_reward_terms": {"track_linear_velocity": 26.711637496948242, "track_angular_velocity": 28.209409713745117, "upright": 14.734391212463379, "leg_posture": -3.681344509124756, "standstill": -3.984222888946533, "action_rate_l2": -0.06161978840827942, "joint_torques_l2": -0.07728634029626846, "dof_pos_limits": -0.01980578899383545, "terminated": -0.03426458314061165, "unnecessary_wheel_lift": -0.1235739141702652, "rolling_leg_motion": -0.49162569642066956, "obstacle_progress": 0.42182937264442444, "wheel_body_intrusion": -0.3088335692882538, "pair_body_intrusion": -0.0840921476483345}, "weighted_reward_terms": {"track_linear_velocity": 1.750986933708191, "track_angular_velocity": 1.8491679430007935, "upright": 0.965860903263092, "leg_posture": -0.2413175106048584, "standstill": -0.2611716389656067, "action_rate_l2": -0.00403926707804203, "joint_torques_l2": -0.00506623275578022, "dof_pos_limits": -0.0012982984771952033, "terminated": -0.0022460934706032276, "unnecessary_wheel_lift": -0.008100450038909912, "rolling_leg_motion": -0.03222678229212761, "obstacle_progress": 0.027651533484458923, "wheel_body_intrusion": -0.02024449221789837, "pair_body_intrusion": -0.005512363277375698}, "episode_termination_rates": {"time_out": 0.0, "fell_over": 0.1518987341772152, "course_exit": 0.7088607594936709, "illegal_nonwheel_contact": 0.1518987341772152}, "collection_time_s": 0.10954974857973866, "learning_time_s": 0.43776703386101873, "iteration_time_s": 0.541391684755194, "policy_updates": 950, "skipped_updates": 0, "invalid_env_resets": 3, "elapsed_s": 676.7396059439925, "nonwheel_terminations": 9959, "contact_bce": 0.2914015054702759, "contact_force_loss": 0.00915452465415001, "collision_bce": 0.0036414521746337414, "collision_label_rate": 0.003460421459749341, "collision_prediction_mean": 0.003612038679420948, "collision_label_count": 16183.0, "terrain_level_mean": 0.05224609375, "terrain_level_max": 1, "terrain_details": {"flat": {"level_counts": [398, 12, 0, 0, 0, 0], "episodes_by_level": [[1284.0, 12.0, 1272.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [1337, 96, 0, 0, 0, 0], "episodes_by_level": [[3211.0, 71.0, 3137.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [550, 64, 0, 0, 0, 0], "episodes_by_level": [[1403.0, 50.0, 1349.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [396, 14, 0, 0, 0, 0], "episodes_by_level": [[1294.0, 14.0, 1280.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [402, 8, 0, 0, 0, 0], "episodes_by_level": [[1208.0, 8.0, 1200.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [799, 20, 0, 0, 0, 0], "episodes_by_level": [[2503.0, 20.0, 2483.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 600, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.19775390625, "command_abs_max": [0.7999091148376465, 0.1999875009059906, 0.49946194887161255]}
{"step": 1300, "actor_lr": 6e-05, "archive_windows": 18405, "env_steps": 1300, "total_transitions": 5324800, "num_steps_per_env": 1, "wm_loss": 0.8892391920089722, "actor_loss": -8.080989837646484, "critic_loss": 0.004751596599817276, "reward": 0.07954276353120804, "falls": 30, "interval_steps": 50, "velocity_mae": [0.12858712673187256, 0.0775405690073967, 0.16470882296562195], "mean_episode_length": 783.2598425196851, "episode_reward_terms": {"track_linear_velocity": 27.385854721069336, "track_angular_velocity": 28.903221130371094, "upright": 15.106590270996094, "leg_posture": -3.9549269676208496, "standstill": -4.107359886169434, "action_rate_l2": -0.05891953408718109, "joint_torques_l2": -0.08348631113767624, "dof_pos_limits": -0.020991630852222443, "terminated": -0.04589411988854408, "unnecessary_wheel_lift": -0.1581559181213379, "rolling_leg_motion": -0.5066859722137451, "obstacle_progress": 0.4149426221847534, "wheel_body_intrusion": -0.3964746594429016, "pair_body_intrusion": -0.17507778108119965}, "weighted_reward_terms": {"track_linear_velocity": 1.7481974363327026, "track_angular_velocity": 1.8450596332550049, "upright": 0.9643409252166748, "leg_posture": -0.2524658441543579, "standstill": -0.26219654083251953, "action_rate_l2": -0.003761174390092492, "joint_torques_l2": -0.005329413339495659, "dof_pos_limits": -0.0013400171883404255, "terminated": -0.0029296870343387127, "unnecessary_wheel_lift": -0.010096006095409393, "rolling_leg_motion": -0.032344695180654526, "obstacle_progress": 0.026488184928894043, "wheel_body_intrusion": -0.02530926838517189, "pair_body_intrusion": -0.011176226660609245}, "episode_termination_rates": {"time_out": 0.0, "fell_over": 0.1732283464566929, "course_exit": 0.7637795275590551, "illegal_nonwheel_contact": 0.13385826771653545}, "collection_time_s": 0.10998061057995073, "learning_time_s": 0.43697662483842575, "iteration_time_s": 0.5416094513999997, "policy_updates": 1000, "skipped_updates": 0, "invalid_env_resets": 3, "elapsed_s": 704.0922868199996, "nonwheel_terminations": 9976, "contact_bce": 0.28829556703567505, "contact_force_loss": 0.008878195658326149, "collision_bce": 0.0043472968973219395, "collision_label_rate": 0.00409251544624567, "collision_prediction_mean": 0.003511974588036537, "collision_label_count": 16127.0, "terrain_level_mean": 0.073974609375, "terrain_level_max": 1, "terrain_details": {"flat": {"level_counts": [389, 21, 0, 0, 0, 0], "episodes_by_level": [[1293.0, 21.0, 1272.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [1293, 140, 0, 0, 0, 0], "episodes_by_level": [[3265.0, 110.0, 3150.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [528, 86, 0, 0, 0, 0], "episodes_by_level": [[1429.0, 72.0, 1352.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [393, 17, 0, 0, 0, 0], "episodes_by_level": [[1300.0, 17.0, 1283.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [398, 12, 0, 0, 0, 0], "episodes_by_level": [[1214.0, 12.0, 1202.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [792, 27, 0, 0, 0, 0], "episodes_by_level": [[2512.0, 27.0, 2485.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 654, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.201416015625, "command_abs_max": [0.7993872761726379, 0.1999875009059906, 0.49946194887161255]}
{"step": 1350, "actor_lr": 6e-05, "archive_windows": 18603, "env_steps": 1350, "total_transitions": 5529600, "num_steps_per_env": 1, "wm_loss": 0.9595111012458801, "actor_loss": -8.165868759155273, "critic_loss": 0.005330274347215891, "reward": 0.07913422584533691, "falls": 36, "interval_steps": 50, "velocity_mae": [0.13119523227214813, 0.07857619971036911, 0.1649765819311142], "mean_episode_length": 787.4672897196261, "episode_reward_terms": {"track_linear_velocity": 27.401134490966797, "track_angular_velocity": 29.040451049804688, "upright": 15.184111595153809, "leg_posture": -3.947965383529663, "standstill": -4.1506242752075195, "action_rate_l2": -0.058088839054107666, "joint_torques_l2": -0.0894886702299118, "dof_pos_limits": -0.022727996110916138, "terminated": -0.05536878481507301, "unnecessary_wheel_lift": -0.20447313785552979, "rolling_leg_motion": -0.4964829385280609, "obstacle_progress": 0.3882744610309601, "wheel_body_intrusion": -0.4051285982131958, "pair_body_intrusion": -0.2680135667324066}, "weighted_reward_terms": {"track_linear_velocity": 1.7398269176483154, "track_angular_velocity": 1.8439147472381592, "upright": 0.9641106724739075, "leg_posture": -0.25067487359046936, "standstill": -0.26354265213012695, "action_rate_l2": -0.0036883337888866663, "joint_torques_l2": -0.005682056304067373, "dof_pos_limits": -0.0014431073796004057, "terminated": -0.003515624674037099, "unnecessary_wheel_lift": -0.012982960790395737, "rolling_leg_motion": -0.03152403607964516, "obstacle_progress": 0.024653371423482895, "wheel_body_intrusion": -0.025723518803715706, "pair_body_intrusion": -0.017017440870404243}, "episode_termination_rates": {"time_out": 0.0, "fell_over": 0.1308411214953271, "course_exit": 0.6635514018691588, "illegal_nonwheel_contact": 0.2523364485981308}, "collection_time_s": 0.11062759519903921, "learning_time_s": 0.43313854081963654, "iteration_time_s": 0.5416936785325891, "policy_updates": 1050, "skipped_updates": 0, "invalid_env_resets": 4, "elapsed_s": 731.2864660189953, "nonwheel_terminations": 10003, "contact_bce": 0.29458722472190857, "contact_force_loss": 0.009241998195648193, "collision_bce": 0.004738197661936283, "collision_label_rate": 0.003975649364292622, "collision_prediction_mean": 0.004206386394798756, "collision_label_count": 16098.0, "terrain_level_mean": 0.090087890625, "terrain_level_max": 1, "terrain_details": {"flat": {"level_counts": [385, 25, 0, 0, 0, 0], "episodes_by_level": [[1298.0, 25.0, 1273.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [1257, 176, 0, 0, 0, 0], "episodes_by_level": [[3305.0, 142.0, 3156.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [510, 104, 0, 0, 0, 0], "episodes_by_level": [[1449.0, 89.0, 1354.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [391, 19, 0, 0, 0, 0], "episodes_by_level": [[1310.0, 19.0, 1291.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [397, 13, 0, 0, 0, 0], "episodes_by_level": [[1220.0, 13.0, 1207.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [787, 32, 0, 0, 0, 0], "episodes_by_level": [[2526.0, 33.0, 2493.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 715, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.20556640625, "command_abs_max": [0.7998002171516418, 0.1999875009059906, 0.49946194887161255]}
{"step": 1400, "actor_lr": 6e-05, "archive_windows": 18798, "env_steps": 1400, "total_transitions": 5734400, "num_steps_per_env": 1, "wm_loss": 0.900153398513794, "actor_loss": -8.246484756469727, "critic_loss": 0.005276934709399939, "reward": 0.07948814332485199, "falls": 41, "interval_steps": 50, "velocity_mae": [0.13114142417907715, 0.0758771002292633, 0.1602182239294052], "mean_episode_length": 841.781954887218, "episode_reward_terms": {"track_linear_velocity": 29.348154067993164, "track_angular_velocity": 31.17052459716797, "upright": 16.248680114746094, "leg_posture": -4.022528648376465, "standstill": -4.484414100646973, "action_rate_l2": -0.0632789358496666, "joint_torques_l2": -0.0966142937541008, "dof_pos_limits": -0.022737868130207062, "terminated": -0.06740831583738327, "unnecessary_wheel_lift": -0.24859783053398132, "rolling_leg_motion": -0.5126951932907104, "obstacle_progress": 0.42000213265419006, "wheel_body_intrusion": -0.42374271154403687, "pair_body_intrusion": -0.33365553617477417}, "weighted_reward_terms": {"track_linear_velocity": 1.7432159185409546, "track_angular_velocity": 1.8514606952667236, "upright": 0.965135931968689, "leg_posture": -0.2389293760061264, "standstill": -0.26636436581611633, "action_rate_l2": -0.003758629783987999, "joint_torques_l2": -0.005738676525652409, "dof_pos_limits": -0.0013505794340744615, "terminated": -0.004003905691206455, "unnecessary_wheel_lift": -0.014766165055334568, "rolling_leg_motion": -0.030452968552708626, "obstacle_progress": 0.02494720369577408, "wheel_body_intrusion": -0.025169385597109795, "pair_body_intrusion": -0.01981840655207634}, "episode_termination_rates": {"time_out": 0.0, "fell_over": 0.09774436090225563, "course_exit": 0.6917293233082706, "illegal_nonwheel_contact": 0.22556390977443608}, "collection_time_s": 0.1112850725412136, "learning_time_s": 0.4339989765780047, "iteration_time_s": 0.541826272866435, "policy_updates": 1100, "skipped_updates": 0, "invalid_env_resets": 5, "elapsed_s": 758.5567820130091, "nonwheel_terminations": 10033, "contact_bce": 0.2904668152332306, "contact_force_loss": 0.0090919379144907, "collision_bce": 0.004041767679154873, "collision_label_rate": 0.0036571002565324306, "collision_prediction_mean": 0.0045250472612679005, "collision_label_count": 16133.0, "terrain_level_mean": 0.1083984375, "terrain_level_max": 1, "terrain_details": {"flat": {"level_counts": [383, 27, 0, 0, 0, 0], "episodes_by_level": [[1301.0, 27.0, 1274.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [1221, 212, 0, 0, 0, 0], "episodes_by_level": [[3348.0, 175.0, 3159.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [497, 117, 0, 0, 0, 0], "episodes_by_level": [[1468.0, 100.0, 1358.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [382, 28, 0, 0, 0, 0], "episodes_by_level": [[1323.0, 28.0, 1295.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [388, 22, 0, 0, 0, 0], "episodes_by_level": [[1232.0, 22.0, 1210.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [781, 38, 0, 0, 0, 0], "episodes_by_level": [[2545.0, 39.0, 2506.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 762, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.211669921875, "command_abs_max": [0.7998002171516418, 0.1999875009059906, 0.4997917413711548]}
{"step": 1450, "actor_lr": 6e-05, "archive_windows": 19025, "env_steps": 1450, "total_transitions": 5939200, "num_steps_per_env": 1, "wm_loss": 0.8788496255874634, "actor_loss": -8.308565139770508, "critic_loss": 0.004144395235925913, "reward": 0.08015687763690948, "falls": 20, "interval_steps": 50, "velocity_mae": [0.12786173820495605, 0.07357222586870193, 0.15815944969654083], "mean_episode_length": 835.6111111111111, "episode_reward_terms": {"track_linear_velocity": 29.301570892333984, "track_angular_velocity": 30.995563507080078, "upright": 16.16706657409668, "leg_posture": -3.957515239715576, "standstill": -4.4285736083984375, "action_rate_l2": -0.06223021820187569, "joint_torques_l2": -0.09332550317049026, "dof_pos_limits": -0.018307309597730637, "terminated": -0.032641053199768066, "unnecessary_wheel_lift": -0.15984950959682465, "rolling_leg_motion": -0.4959508776664734, "obstacle_progress": 0.4400734007358551, "wheel_body_intrusion": -0.3791079521179199, "pair_body_intrusion": -0.29678869247436523}, "weighted_reward_terms": {"track_linear_velocity": 1.753301978111267, "track_angular_velocity": 1.8546645641326904, "upright": 0.9673798680305481, "leg_posture": -0.23680366575717926, "standstill": -0.2649901211261749, "action_rate_l2": -0.003723635571077466, "joint_torques_l2": -0.005584266502410173, "dof_pos_limits": -0.001095444429665804, "terminated": -0.0019531247671693563, "unnecessary_wheel_lift": -0.00956482719630003, "rolling_leg_motion": -0.029675940051674843, "obstacle_progress": 0.02633243054151535, "wheel_body_intrusion": -0.022684475407004356, "pair_body_intrusion": -0.01775878295302391}, "episode_termination_rates": {"time_out": 0.0, "fell_over": 0.05555555555555555, "course_exit": 0.8148148148148148, "illegal_nonwheel_contact": 0.1574074074074074}, "collection_time_s": 0.10964926514017861, "learning_time_s": 0.43336819200136234, "iteration_time_s": 0.5418710628200065, "policy_updates": 1150, "skipped_updates": 0, "invalid_env_resets": 5, "elapsed_s": 785.7130410890095, "nonwheel_terminations": 10050, "contact_bce": 0.2801145911216736, "contact_force_loss": 0.008822398260235786, "collision_bce": 0.003965129144489765, "collision_label_rate": 0.0032270075753331184, "collision_prediction_mean": 0.002921837382018566, "collision_label_count": 16114.0, "terrain_level_mean": 0.12646484375, "terrain_level_max": 1, "terrain_details": {"flat": {"level_counts": [377, 33, 0, 0, 0, 0], "episodes_by_level": [[1310.0, 33.0, 1277.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [1182, 251, 0, 0, 0, 0], "episodes_by_level": [[3395.0, 213.0, 3161.0, 0.0], [2.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [480, 134, 0, 0, 0, 0], "episodes_by_level": [[1484.0, 116.0, 1358.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [382, 28, 0, 0, 0, 0], "episodes_by_level": [[1326.0, 29.0, 1297.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [386, 24, 0, 0, 0, 0], "episodes_by_level": [[1234.0, 24.0, 1210.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [771, 48, 0, 0, 0, 0], "episodes_by_level": [[2560.0, 49.0, 2511.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 813, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.21484375, "command_abs_max": [0.7998002171516418, 0.19957159459590912, 0.4997917413711548]}
{"step": 1500, "actor_lr": 6e-05, "archive_windows": 19231, "env_steps": 1500, "total_transitions": 6144000, "num_steps_per_env": 1, "wm_loss": 0.8954794406890869, "actor_loss": -8.382270812988281, "critic_loss": 0.0033457335084676743, "reward": 0.08104698359966278, "falls": 17, "interval_steps": 50, "velocity_mae": [0.12592075765132904, 0.07382380217313766, 0.15623857080936432], "mean_episode_length": 935.9540229885057, "episode_reward_terms": {"track_linear_velocity": 32.90006637573242, "track_angular_velocity": 34.77487564086914, "upright": 18.164859771728516, "leg_posture": -4.185806751251221, "standstill": -4.775327205657959, "action_rate_l2": -0.06886177510023117, "joint_torques_l2": -0.09979996830224991, "dof_pos_limits": -0.014787350781261921, "terminated": -0.031076593324542046, "unnecessary_wheel_lift": -0.15532280504703522, "rolling_leg_motion": -0.5591540336608887, "obstacle_progress": 0.5039047598838806, "wheel_body_intrusion": -0.3505326807498932, "pair_body_intrusion": -0.24677512049674988}, "weighted_reward_terms": {"track_linear_velocity": 1.7575684785842896, "track_angular_velocity": 1.8577234745025635, "upright": 0.9703927636146545, "leg_posture": -0.2236117720603943, "standstill": -0.25510478019714355, "action_rate_l2": -0.0036786943674087524, "joint_torques_l2": -0.0053314571268856525, "dof_pos_limits": -0.0007899613701738417, "terminated": -0.001660156063735485, "unnecessary_wheel_lift": -0.008297566324472427, "rolling_leg_motion": -0.029870808124542236, "obstacle_progress": 0.02691931277513504, "wheel_body_intrusion": -0.018725955858826637, "pair_body_intrusion": -0.013183079659938812}, "episode_termination_rates": {"time_out": 0.0, "fell_over": 0.08045977011494253, "course_exit": 0.8045977011494253, "illegal_nonwheel_contact": 0.13793103448275862}, "collection_time_s": 0.11052365892159287, "learning_time_s": 0.4326423093187623, "iteration_time_s": 0.541918251045999, "policy_updates": 1200, "skipped_updates": 0, "invalid_env_resets": 5, "elapsed_s": 812.8773765689984, "nonwheel_terminations": 10062, "contact_bce": 0.2893272340297699, "contact_force_loss": 0.008961453102529049, "collision_bce": 0.0054983701556921005, "collision_label_rate": 0.00428491597995162, "collision_prediction_mean": 0.0030461419373750687, "collision_label_count": 16103.0, "terrain_level_mean": 0.141357421875, "terrain_level_max": 1, "terrain_details": {"flat": {"level_counts": [374, 36, 0, 0, 0, 0], "episodes_by_level": [[1313.0, 36.0, 1277.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [1150, 283, 0, 0, 0, 0], "episodes_by_level": [[3432.0, 245.0, 3163.0, 0.0], [2.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [464, 150, 0, 0, 0, 0], "episodes_by_level": [[1502.0, 132.0, 1360.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [382, 28, 0, 0, 0, 0], "episodes_by_level": [[1327.0, 29.0, 1298.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [385, 25, 0, 0, 0, 0], "episodes_by_level": [[1238.0, 25.0, 1213.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [762, 57, 0, 0, 0, 0], "episodes_by_level": [[2575.0, 58.0, 2516.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 851, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.21630859375, "command_abs_max": [0.7998002171516418, 0.19957159459590912, 0.4997917413711548]}
{"step": 1550, "actor_lr": 6e-05, "archive_windows": 19434, "env_steps": 1550, "total_transitions": 6348800, "num_steps_per_env": 1, "wm_loss": 0.8885433077812195, "actor_loss": -8.433975219726562, "critic_loss": 0.00314899324439466, "reward": 0.08130493015050888, "falls": 18, "interval_steps": 50, "velocity_mae": [0.12426520884037018, 0.07492264360189438, 0.15486551821231842], "mean_episode_length": 982.3020833333334, "episode_reward_terms": {"track_linear_velocity": 34.56568145751953, "track_angular_velocity": 36.54141616821289, "upright": 19.077171325683594, "leg_posture": -4.1792893409729, "standstill": -5.117082595825195, "action_rate_l2": -0.07498865574598312, "joint_torques_l2": -0.10340084880590439, "dof_pos_limits": -0.01377793774008751, "terminated": -0.03453405201435089, "unnecessary_wheel_lift": -0.20592263340950012, "rolling_leg_motion": -0.6025723218917847, "obstacle_progress": 0.5385546088218689, "wheel_body_intrusion": -0.32478681206703186, "pair_body_intrusion": -0.20048321783542633}, "weighted_reward_terms": {"track_linear_velocity": 1.7594223022460938, "track_angular_velocity": 1.8599889278411865, "upright": 0.9710440635681152, "leg_posture": -0.2127293199300766, "standstill": -0.26046380400657654, "action_rate_l2": -0.003816985758021474, "joint_torques_l2": -0.005263190250843763, "dof_pos_limits": -0.0007013085996732116, "terminated": -0.0017578123370185494, "unnecessary_wheel_lift": -0.010481635108590126, "rolling_leg_motion": -0.030671438202261925, "obstacle_progress": 0.027412882074713707, "wheel_body_intrusion": -0.016531921923160553, "pair_body_intrusion": -0.01020476408302784}, "episode_termination_rates": {"time_out": 0.0, "fell_over": 0.07291666666666667, "course_exit": 0.8125, "illegal_nonwheel_contact": 0.11458333333333333}, "collection_time_s": 0.11009724338131491, "learning_time_s": 0.440049174578744, "iteration_time_s": 0.5422081685967691, "policy_updates": 1250, "skipped_updates": 0, "invalid_env_resets": 5, "elapsed_s": 840.4226613249921, "nonwheel_terminations": 10073, "contact_bce": 0.2889477014541626, "contact_force_loss": 0.008951163850724697, "collision_bce": 0.004688536282628775, "collision_label_rate": 0.004157617222517729, "collision_prediction_mean": 0.004113156348466873, "collision_label_count": 16115.0, "terrain_level_mean": 0.15625, "terrain_level_max": 2, "terrain_details": {"flat": {"level_counts": [372, 38, 0, 0, 0, 0], "episodes_by_level": [[1317.0, 38.0, 1279.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [1126, 307, 0, 0, 0, 0], "episodes_by_level": [[3462.0, 271.0, 3164.0, 0.0], [4.0, 0.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [439, 174, 1, 0, 0, 0], "episodes_by_level": [[1533.0, 158.0, 1360.0, 0.0], [3.0, 1.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [380, 30, 0, 0, 0, 0], "episodes_by_level": [[1331.0, 31.0, 1300.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [384, 26, 0, 0, 0, 0], "episodes_by_level": [[1240.0, 26.0, 1214.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [756, 63, 0, 0, 0, 0], "episodes_by_level": [[2585.0, 64.0, 2520.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 889, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.21337890625, "command_abs_max": [0.7998002171516418, 0.19957159459590912, 0.4997917413711548]}
{"step": 1600, "actor_lr": 6e-05, "archive_windows": 19614, "env_steps": 1600, "total_transitions": 6553600, "num_steps_per_env": 1, "wm_loss": 0.9072048664093018, "actor_loss": -8.499616622924805, "critic_loss": 0.0033371951431035995, "reward": 0.08202404528856277, "falls": 14, "interval_steps": 50, "velocity_mae": [0.11923776566982269, 0.07186917215585709, 0.15186363458633423], "mean_episode_length": 1003.6631578947369, "episode_reward_terms": {"track_linear_velocity": 35.62372589111328, "track_angular_velocity": 37.43849563598633, "upright": 19.521034240722656, "leg_posture": -4.10288667678833, "standstill": -5.229745388031006, "action_rate_l2": -0.07954562455415726, "joint_torques_l2": -0.10304900258779526, "dof_pos_limits": -0.010372642427682877, "terminated": -0.027443911880254745, "unnecessary_wheel_lift": -0.12466244399547577, "rolling_leg_motion": -0.6162342429161072, "obstacle_progress": 0.5664972066879272, "wheel_body_intrusion": -0.3199014961719513, "pair_body_intrusion": -0.21139580011367798}, "weighted_reward_terms": {"track_linear_velocity": 1.7746853828430176, "track_angular_velocity": 1.8650927543640137, "upright": 0.9724893569946289, "leg_posture": -0.2043956071138382, "standstill": -0.2605329155921936, "action_rate_l2": -0.003962765447795391, "joint_torques_l2": -0.005133644677698612, "dof_pos_limits": -0.0005167392664588988, "terminated": -0.0013671873603016138, "unnecessary_wheel_lift": -0.006210372317582369, "rolling_leg_motion": -0.03069925680756569, "obstacle_progress": 0.028221482411026955, "wheel_body_intrusion": -0.015936696901917458, "pair_body_intrusion": -0.010531212203204632}, "episode_termination_rates": {"time_out": 0.0, "fell_over": 0.021052631578947368, "course_exit": 0.8526315789473684, "illegal_nonwheel_contact": 0.12631578947368421}, "collection_time_s": 0.10997006096120458, "learning_time_s": 0.434102230121498, "iteration_time_s": 0.5422690816700014, "policy_updates": 1300, "skipped_updates": 0, "invalid_env_resets": 5, "elapsed_s": 867.6305306720024, "nonwheel_terminations": 10085, "contact_bce": 0.28902024030685425, "contact_force_loss": 0.009113255888223648, "collision_bce": 0.0039053584914654493, "collision_label_rate": 0.003155745333060622, "collision_prediction_mean": 0.0023396918550133705, "collision_label_count": 16161.0, "terrain_level_mean": 0.172607421875, "terrain_level_max": 2, "terrain_details": {"flat": {"level_counts": [367, 43, 0, 0, 0, 0], "episodes_by_level": [[1326.0, 44.0, 1282.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [1102, 331, 0, 0, 0, 0], "episodes_by_level": [[3491.0, 295.0, 3166.0, 0.0], [5.0, 0.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [419, 191, 4, 0, 0, 0], "episodes_by_level": [[1558.0, 179.0, 1360.0, 0.0], [7.0, 3.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [376, 34, 0, 0, 0, 0], "episodes_by_level": [[1335.0, 35.0, 1300.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [378, 32, 0, 0, 0, 0], "episodes_by_level": [[1247.0, 32.0, 1214.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [751, 68, 0, 0, 0, 0], "episodes_by_level": [[2595.0, 69.0, 2524.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 925, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.213134765625, "command_abs_max": [0.7998002171516418, 0.19957159459590912, 0.4997917413711548]}
{"step": 1650, "actor_lr": 6e-05, "archive_windows": 19805, "env_steps": 1650, "total_transitions": 6758400, "num_steps_per_env": 1, "wm_loss": 0.8903027772903442, "actor_loss": -8.581250190734863, "critic_loss": 0.0024097051937133074, "reward": 0.08194395154714584, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11811218410730362, 0.07089732587337494, 0.14865858852863312], "mean_episode_length": 1089.0898876404494, "episode_reward_terms": {"track_linear_velocity": 38.71613693237305, "track_angular_velocity": 40.73121643066406, "upright": 21.224008560180664, "leg_posture": -4.423787593841553, "standstill": -5.980365753173828, "action_rate_l2": -0.08885537087917328, "joint_torques_l2": -0.1095476970076561, "dof_pos_limits": -0.004733573645353317, "terminated": -0.014889898709952831, "unnecessary_wheel_lift": -0.10057340562343597, "rolling_leg_motion": -0.6738861203193665, "obstacle_progress": 0.6121943593025208, "wheel_body_intrusion": -0.37571990489959717, "pair_body_intrusion": -0.2668978273868561}, "weighted_reward_terms": {"track_linear_velocity": 1.7774537801742554, "track_angular_velocity": 1.8699660301208496, "upright": 0.9743919372558594, "leg_posture": -0.20309564471244812, "standstill": -0.2745579779148102, "action_rate_l2": -0.0040793404914438725, "joint_torques_l2": -0.005029323045164347, "dof_pos_limits": -0.00021731788001488894, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0046173143200576305, "rolling_leg_motion": -0.0309380404651165, "obstacle_progress": 0.028105780482292175, "wheel_body_intrusion": -0.01724926196038723, "pair_body_intrusion": -0.012253250926733017}, "episode_termination_rates": {"time_out": 0.0, "fell_over": 0.02247191011235955, "course_exit": 0.9213483146067416, "illegal_nonwheel_contact": 0.056179775280898875}, "collection_time_s": 0.10982500969897956, "learning_time_s": 0.43498762843897565, "iteration_time_s": 0.5423490966636348, "policy_updates": 1350, "skipped_updates": 0, "invalid_env_resets": 5, "elapsed_s": 894.8760094949976, "nonwheel_terminations": 10090, "contact_bce": 0.2831842303276062, "contact_force_loss": 0.009042063727974892, "collision_bce": 0.002970780711621046, "collision_label_rate": 0.0029719523154199123, "collision_prediction_mean": 0.0027304093819111586, "collision_label_count": 16151.0, "terrain_level_mean": 0.19091796875, "terrain_level_max": 2, "terrain_details": {"flat": {"level_counts": [363, 46, 1, 0, 0, 0], "episodes_by_level": [[1331.0, 48.0, 1283.0, 0.0], [2.0, 1.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [1068, 365, 0, 0, 0, 0], "episodes_by_level": [[3530.0, 329.0, 3168.0, 0.0], [5.0, 0.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [394, 216, 4, 0, 0, 0], "episodes_by_level": [[1583.0, 204.0, 1360.0, 0.0], [8.0, 3.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [373, 37, 0, 0, 0, 0], "episodes_by_level": [[1339.0, 38.0, 1301.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [375, 35, 0, 0, 0, 0], "episodes_by_level": [[1250.0, 35.0, 1214.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [746, 73, 0, 0, 0, 0], "episodes_by_level": [[2600.0, 74.0, 2524.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 970, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.2119140625, "command_abs_max": [0.7998002171516418, 0.19957159459590912, 0.4997917413711548]}
{"step": 1700, "actor_lr": 6e-05, "archive_windows": 19987, "env_steps": 1700, "total_transitions": 6963200, "num_steps_per_env": 1, "wm_loss": 0.8591872453689575, "actor_loss": -8.650677680969238, "critic_loss": 0.002456540009006858, "reward": 0.08255777508020401, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11514352262020111, 0.06925440579652786, 0.1469191312789917], "mean_episode_length": 1074.0842105263157, "episode_reward_terms": {"track_linear_velocity": 38.382568359375, "track_angular_velocity": 40.2217903137207, "upright": 20.947526931762695, "leg_posture": -4.269896984100342, "standstill": -5.570704460144043, "action_rate_l2": -0.08888290822505951, "joint_torques_l2": -0.10862753540277481, "dof_pos_limits": -0.0024686299730092287, "terminated": -0.01468474417924881, "unnecessary_wheel_lift": -0.1299637109041214, "rolling_leg_motion": -0.6345438361167908, "obstacle_progress": 0.6592890024185181, "wheel_body_intrusion": -0.4529637396335602, "pair_body_intrusion": -0.26445820927619934}, "weighted_reward_terms": {"track_linear_velocity": 1.7867579460144043, "track_angular_velocity": 1.8723760843276978, "upright": 0.9751343131065369, "leg_posture": -0.1987691968679428, "standstill": -0.25932344794273376, "action_rate_l2": -0.004137613344937563, "joint_torques_l2": -0.005056751426309347, "dof_pos_limits": -0.00011491790064610541, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.006049977615475655, "rolling_leg_motion": -0.029538830742239952, "obstacle_progress": 0.030690748244524002, "wheel_body_intrusion": -0.02108604460954666, "pair_body_intrusion": -0.012310869060456753}, "episode_termination_rates": {"time_out": 0.0, "fell_over": 0.021052631578947368, "course_exit": 0.9263157894736842, "illegal_nonwheel_contact": 0.06315789473684211}, "collection_time_s": 0.10966231323720421, "learning_time_s": 0.43246143764292355, "iteration_time_s": 0.5423439907170626, "policy_updates": 1400, "skipped_updates": 0, "invalid_env_resets": 5, "elapsed_s": 921.9847842190065, "nonwheel_terminations": 10096, "contact_bce": 0.2753869891166687, "contact_force_loss": 0.008850770071148872, "collision_bce": 0.0032292832620441914, "collision_label_rate": 0.002910757437348366, "collision_prediction_mean": 0.0028226322028785944, "collision_label_count": 16147.0, "terrain_level_mean": 0.209716796875, "terrain_level_max": 2, "terrain_details": {"flat": {"level_counts": [358, 51, 1, 0, 0, 0], "episodes_by_level": [[1337.0, 53.0, 1283.0, 0.0], [2.0, 1.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [1035, 397, 1, 0, 0, 0], "episodes_by_level": [[3566.0, 361.0, 3169.0, 0.0], [7.0, 1.0, 6.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [377, 231, 6, 0, 0, 0], "episodes_by_level": [[1603.0, 221.0, 1361.0, 0.0], [10.0, 5.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [370, 40, 0, 0, 0, 0], "episodes_by_level": [[1342.0, 41.0, 1301.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [367, 43, 0, 0, 0, 0], "episodes_by_level": [[1259.0, 43.0, 1215.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [739, 79, 1, 0, 0, 0], "episodes_by_level": [[2609.0, 82.0, 2525.0, 0.0], [3.0, 1.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 987, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.213623046875, "command_abs_max": [0.7997857928276062, 0.19967924058437347, 0.4997917413711548]}
{"step": 1750, "actor_lr": 6e-05, "archive_windows": 20161, "env_steps": 1750, "total_transitions": 7168000, "num_steps_per_env": 1, "wm_loss": 0.9145210385322571, "actor_loss": -8.717805862426758, "critic_loss": 0.001753338030539453, "reward": 0.0825616642832756, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11531831324100494, 0.06969935446977615, 0.14414413273334503], "mean_episode_length": 1399.96644295302, "episode_reward_terms": {"track_linear_velocity": 49.98282241821289, "track_angular_velocity": 52.56809997558594, "upright": 27.314273834228516, "leg_posture": -5.667438983917236, "standstill": -7.3191351890563965, "action_rate_l2": -0.11803000420331955, "joint_torques_l2": -0.14733357727527618, "dof_pos_limits": -0.002848285250365734, "terminated": -0.013671545311808586, "unnecessary_wheel_lift": -0.14218632876873016, "rolling_leg_motion": -0.8202291131019592, "obstacle_progress": 0.9025648236274719, "wheel_body_intrusion": -0.639680802822113, "pair_body_intrusion": -0.3136718273162842}, "weighted_reward_terms": {"track_linear_velocity": 1.7851437330245972, "track_angular_velocity": 1.8774771690368652, "upright": 0.9755332469940186, "leg_posture": -0.2024133950471878, "standstill": -0.2614039480686188, "action_rate_l2": -0.004215458407998085, "joint_torques_l2": -0.005262039601802826, "dof_pos_limits": -0.0001017269169096835, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.005078205373138189, "rolling_leg_motion": -0.02929460071027279, "obstacle_progress": 0.03223523125052452, "wheel_body_intrusion": -0.022846290841698647, "pair_body_intrusion": -0.01120283454656601}, "episode_termination_rates": {"time_out": 0.3959731543624161, "fell_over": 0.0, "course_exit": 0.5704697986577181, "illegal_nonwheel_contact": 0.03355704697986577}, "collection_time_s": 0.10967290740110912, "learning_time_s": 0.4362275812210282, "iteration_time_s": 0.5424466514822894, "policy_updates": 1450, "skipped_updates": 0, "invalid_env_resets": 5, "elapsed_s": 949.2816400940064, "nonwheel_terminations": 10101, "contact_bce": 0.284930557012558, "contact_force_loss": 0.009235053323209286, "collision_bce": 0.0035195716191083193, "collision_label_rate": 0.0034129691775888205, "collision_prediction_mean": 0.003431667573750019, "collision_label_count": 16115.0, "terrain_level_mean": 0.228759765625, "terrain_level_max": 2, "terrain_details": {"flat": {"level_counts": [352, 57, 1, 0, 0, 0], "episodes_by_level": [[1351.0, 59.0, 1284.0, 0.0], [2.0, 1.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [1000, 432, 1, 0, 0, 0], "episodes_by_level": [[3621.0, 396.0, 3170.0, 0.0], [7.0, 1.0, 6.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [357, 249, 8, 0, 0, 0], "episodes_by_level": [[1627.0, 241.0, 1361.0, 0.0], [12.0, 7.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [369, 41, 0, 0, 0, 0], "episodes_by_level": [[1350.0, 43.0, 1301.0, 0.0], [2.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [364, 46, 0, 0, 0, 0], "episodes_by_level": [[1269.0, 46.0, 1216.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [729, 88, 2, 0, 0, 0], "episodes_by_level": [[2630.0, 92.0, 2525.0, 0.0], [4.0, 2.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 1021, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.216064453125, "command_abs_max": [0.7997857928276062, 0.19999931752681732, 0.49946194887161255]}
{"step": 1800, "actor_lr": 6e-05, "archive_windows": 20392, "env_steps": 1800, "total_transitions": 7372800, "num_steps_per_env": 1, "wm_loss": 0.8743744492530823, "actor_loss": -8.748405456542969, "critic_loss": 0.0019678191747516394, "reward": 0.08268554508686066, "falls": 2, "interval_steps": 50, "velocity_mae": [0.11439883708953857, 0.0688181146979332, 0.14203685522079468], "mean_episode_length": 1192.9651162790697, "episode_reward_terms": {"track_linear_velocity": 42.680091857910156, "track_angular_velocity": 44.87871170043945, "upright": 23.294572830200195, "leg_posture": -4.703901290893555, "standstill": -6.470007419586182, "action_rate_l2": -0.10245909541845322, "joint_torques_l2": -0.1268398016691208, "dof_pos_limits": -0.003214247990399599, "terminated": -0.004660019185394049, "unnecessary_wheel_lift": -0.12907494604587555, "rolling_leg_motion": -0.7031371593475342, "obstacle_progress": 0.7806506752967834, "wheel_body_intrusion": -0.486785888671875, "pair_body_intrusion": -0.26298683881759644}, "weighted_reward_terms": {"track_linear_velocity": 1.7888240814208984, "track_angular_velocity": 1.8809734582901, "upright": 0.9763308763504028, "leg_posture": -0.19715167582035065, "standstill": -0.2711733877658844, "action_rate_l2": -0.004294304177165031, "joint_torques_l2": -0.0053161573596298695, "dof_pos_limits": -0.00013471677084453404, "terminated": -0.0001953124738065526, "unnecessary_wheel_lift": -0.0054098377004265785, "rolling_leg_motion": -0.02947014942765236, "obstacle_progress": 0.032718926668167114, "wheel_body_intrusion": -0.02040235325694084, "pair_body_intrusion": -0.01102240290492773}, "episode_termination_rates": {"time_out": 0.0, "fell_over": 0.0, "course_exit": 0.9767441860465116, "illegal_nonwheel_contact": 0.023255813953488372}, "collection_time_s": 0.1101439784799004, "learning_time_s": 0.43381021967506966, "iteration_time_s": 0.5424917338505555, "policy_updates": 1500, "skipped_updates": 0, "invalid_env_resets": 6, "elapsed_s": 976.485120931, "nonwheel_terminations": 10103, "contact_bce": 0.2864586412906647, "contact_force_loss": 0.00928257592022419, "collision_bce": 0.003115280531346798, "collision_label_rate": 0.003227608511224389, "collision_prediction_mean": 0.0032810575794428587, "collision_label_count": 16111.0, "terrain_level_mean": 0.244873046875, "terrain_level_max": 2, "terrain_details": {"flat": {"level_counts": [347, 62, 1, 0, 0, 0], "episodes_by_level": [[1356.0, 64.0, 1284.0, 0.0], [2.0, 1.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [976, 456, 1, 0, 0, 0], "episodes_by_level": [[3655.0, 420.0, 3171.0, 0.0], [7.0, 1.0, 6.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [336, 267, 11, 0, 0, 0], "episodes_by_level": [[1649.0, 262.0, 1361.0, 0.0], [15.0, 10.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [366, 44, 0, 0, 0, 0], "episodes_by_level": [[1353.0, 46.0, 1301.0, 0.0], [2.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [361, 49, 0, 0, 0, 0], "episodes_by_level": [[1272.0, 49.0, 1216.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [722, 95, 2, 0, 0, 0], "episodes_by_level": [[2639.0, 100.0, 2525.0, 0.0], [5.0, 2.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 1066, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.21484375, "command_abs_max": [0.7996249198913574, 0.19999931752681732, 0.49946194887161255]}
{"step": 1850, "actor_lr": 6e-05, "archive_windows": 20595, "env_steps": 1850, "total_transitions": 7577600, "num_steps_per_env": 1, "wm_loss": 0.859420895576477, "actor_loss": -8.80101490020752, "critic_loss": 0.0020277134608477354, "reward": 0.08251786231994629, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11331279575824738, 0.07019755244255066, 0.1421791911125183], "mean_episode_length": 1257.8785046728972, "episode_reward_terms": {"track_linear_velocity": 45.00785827636719, "track_angular_velocity": 47.29243850708008, "upright": 24.550086975097656, "leg_posture": -5.043188095092773, "standstill": -6.919815540313721, "action_rate_l2": -0.10821127891540527, "joint_torques_l2": -0.13623256981372833, "dof_pos_limits": -0.007970325648784637, "terminated": -0.01474076323211193, "unnecessary_wheel_lift": -0.1541576087474823, "rolling_leg_motion": -0.7277688384056091, "obstacle_progress": 0.8474593758583069, "wheel_body_intrusion": -0.5088340640068054, "pair_body_intrusion": -0.27945610880851746}, "weighted_reward_terms": {"track_linear_velocity": 1.7890383005142212, "track_angular_velocity": 1.8798490762710571, "upright": 0.9758528470993042, "leg_posture": -0.20046405494213104, "standstill": -0.2750589847564697, "action_rate_l2": -0.004301340784877539, "joint_torques_l2": -0.005415171850472689, "dof_pos_limits": -0.00031681617838330567, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.006127682980149984, "rolling_leg_motion": -0.028928421437740326, "obstacle_progress": 0.03368605673313141, "wheel_body_intrusion": -0.020225882530212402, "pair_body_intrusion": -0.011108231730759144}, "episode_termination_rates": {"time_out": 0.14953271028037382, "fell_over": 0.009345794392523364, "course_exit": 0.794392523364486, "illegal_nonwheel_contact": 0.056074766355140186}, "collection_time_s": 0.11050733808020595, "learning_time_s": 0.43452977857959924, "iteration_time_s": 0.5425632352832503, "policy_updates": 1550, "skipped_updates": 0, "invalid_env_resets": 7, "elapsed_s": 1003.7419852740131, "nonwheel_terminations": 10109, "contact_bce": 0.28105416893959045, "contact_force_loss": 0.009239057078957558, "collision_bce": 0.001641309354454279, "collision_label_rate": 0.0018508236389607191, "collision_prediction_mean": 0.0021511767990887165, "collision_label_count": 16209.0, "terrain_level_mean": 0.262939453125, "terrain_level_max": 2, "terrain_details": {"flat": {"level_counts": [341, 68, 1, 0, 0, 0], "episodes_by_level": [[1362.0, 70.0, 1284.0, 0.0], [2.0, 1.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [941, 489, 3, 0, 0, 0], "episodes_by_level": [[3696.0, 455.0, 3172.0, 0.0], [9.0, 2.0, 7.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [322, 278, 14, 0, 0, 0], "episodes_by_level": [[1664.0, 276.0, 1361.0, 0.0], [18.0, 13.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [363, 47, 0, 0, 0, 0], "episodes_by_level": [[1360.0, 49.0, 1302.0, 0.0], [2.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [358, 52, 0, 0, 0, 0], "episodes_by_level": [[1276.0, 52.0, 1216.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [714, 103, 2, 0, 0, 0], "episodes_by_level": [[2651.0, 108.0, 2526.0, 0.0], [5.0, 2.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 1100, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.20947265625, "command_abs_max": [0.7996249198913574, 0.19999931752681732, 0.49946194887161255]}
{"step": 1900, "actor_lr": 6e-05, "archive_windows": 20803, "env_steps": 1900, "total_transitions": 7782400, "num_steps_per_env": 1, "wm_loss": 0.8566769957542419, "actor_loss": -8.839244842529297, "critic_loss": 0.0013574932236224413, "reward": 0.08270491659641266, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11444848775863647, 0.07097237557172775, 0.13898544013500214], "mean_episode_length": 1319.2272727272727, "episode_reward_terms": {"track_linear_velocity": 47.08694076538086, "track_angular_velocity": 49.733734130859375, "upright": 25.757015228271484, "leg_posture": -5.127957820892334, "standstill": -7.2208685874938965, "action_rate_l2": -0.11816282570362091, "joint_torques_l2": -0.14271052181720734, "dof_pos_limits": -0.010988699272274971, "terminated": -0.020612923428416252, "unnecessary_wheel_lift": -0.1797807812690735, "rolling_leg_motion": -0.7788562774658203, "obstacle_progress": 0.8788120746612549, "wheel_body_intrusion": -0.4811970293521881, "pair_body_intrusion": -0.2687927782535553}, "weighted_reward_terms": {"track_linear_velocity": 1.784640908241272, "track_angular_velocity": 1.8849570751190186, "upright": 0.9762160181999207, "leg_posture": -0.1943546086549759, "standstill": -0.2736779749393463, "action_rate_l2": -0.004478486254811287, "joint_torques_l2": -0.005408868193626404, "dof_pos_limits": -0.000416482420405373, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.006813867017626762, "rolling_leg_motion": -0.02951941452920437, "obstacle_progress": 0.03330783545970917, "wheel_body_intrusion": -0.01823783665895462, "pair_body_intrusion": -0.010187508538365364}, "episode_termination_rates": {"time_out": 0.24025974025974026, "fell_over": 0.025974025974025976, "course_exit": 0.7077922077922078, "illegal_nonwheel_contact": 0.025974025974025976}, "collection_time_s": 0.11108798355970066, "learning_time_s": 0.4373024120385526, "iteration_time_s": 0.5427196192626357, "policy_updates": 1600, "skipped_updates": 0, "invalid_env_resets": 7, "elapsed_s": 1031.167276599008, "nonwheel_terminations": 10113, "contact_bce": 0.280425488948822, "contact_force_loss": 0.009010723792016506, "collision_bce": 0.0033976570703089237, "collision_label_rate": 0.003345724893733859, "collision_prediction_mean": 0.0035079040098935366, "collision_label_count": 16140.0, "terrain_level_mean": 0.28759765625, "terrain_level_max": 2, "terrain_details": {"flat": {"level_counts": [339, 70, 1, 0, 0, 0], "episodes_by_level": [[1368.0, 72.0, 1284.0, 0.0], [2.0, 1.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [893, 531, 9, 0, 0, 0], "episodes_by_level": [[3751.0, 504.0, 3172.0, 0.0], [16.0, 6.0, 10.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [301, 295, 18, 0, 0, 0], "episodes_by_level": [[1689.0, 295.0, 1361.0, 0.0], [22.0, 17.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [359, 51, 0, 0, 0, 0], "episodes_by_level": [[1368.0, 53.0, 1302.0, 0.0], [2.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [356, 53, 1, 0, 0, 0], "episodes_by_level": [[1280.0, 54.0, 1217.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [702, 114, 3, 0, 0, 0], "episodes_by_level": [[2678.0, 121.0, 2527.0, 0.0], [7.0, 3.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 1143, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.201904296875, "command_abs_max": [0.7996249198913574, 0.19999931752681732, 0.49946194887161255]}
{"step": 1950, "actor_lr": 6e-05, "archive_windows": 21017, "env_steps": 1950, "total_transitions": 7987200, "num_steps_per_env": 1, "wm_loss": 0.9010007977485657, "actor_loss": -8.906566619873047, "critic_loss": 0.0011778866173699498, "reward": 0.08325157314538956, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11546584218740463, 0.07046885043382645, 0.13491497933864594], "mean_episode_length": 1402.014184397163, "episode_reward_terms": {"track_linear_velocity": 49.99368667602539, "track_angular_velocity": 53.045616149902344, "upright": 27.413869857788086, "leg_posture": -5.023753643035889, "standstill": -7.616215229034424, "action_rate_l2": -0.12905991077423096, "joint_torques_l2": -0.151409313082695, "dof_pos_limits": -0.008520938456058502, "terminated": -0.016429852694272995, "unnecessary_wheel_lift": -0.18222960829734802, "rolling_leg_motion": -0.8462169766426086, "obstacle_progress": 0.9247075915336609, "wheel_body_intrusion": -0.43084093928337097, "pair_body_intrusion": -0.25332409143447876}, "weighted_reward_terms": {"track_linear_velocity": 1.782923698425293, "track_angular_velocity": 1.891764760017395, "upright": 0.9776602983474731, "leg_posture": -0.17916202545166016, "standstill": -0.27161693572998047, "action_rate_l2": -0.004602660890668631, "joint_torques_l2": -0.005399706773459911, "dof_pos_limits": -0.0003038820577785373, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.006498850882053375, "rolling_leg_motion": -0.030178619548678398, "obstacle_progress": 0.03297782689332962, "wheel_body_intrusion": -0.015365070663392544, "pair_body_intrusion": -0.009034290909767151}, "episode_termination_rates": {"time_out": 0.3262411347517731, "fell_over": 0.02127659574468085, "course_exit": 0.6312056737588653, "illegal_nonwheel_contact": 0.02127659574468085}, "collection_time_s": 0.11077369974052999, "learning_time_s": 0.43738000067765825, "iteration_time_s": 0.542860235572309, "policy_updates": 1650, "skipped_updates": 0, "invalid_env_resets": 7, "elapsed_s": 1058.5774593660026, "nonwheel_terminations": 10116, "contact_bce": 0.2837865948677063, "contact_force_loss": 0.009356715716421604, "collision_bce": 0.003007679246366024, "collision_label_rate": 0.0030321781523525715, "collision_prediction_mean": 0.0031761035788804293, "collision_label_count": 16160.0, "terrain_level_mean": 0.30712890625, "terrain_level_max": 2, "terrain_details": {"flat": {"level_counts": [336, 73, 1, 0, 0, 0], "episodes_by_level": [[1375.0, 75.0, 1285.0, 0.0], [2.0, 1.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [853, 570, 10, 0, 0, 0], "episodes_by_level": [[3801.0, 545.0, 3172.0, 0.0], [19.0, 7.0, 11.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [290, 298, 26, 0, 0, 0], "episodes_by_level": [[1703.0, 307.0, 1361.0, 0.0], [31.0, 25.0, 6.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [357, 53, 0, 0, 0, 0], "episodes_by_level": [[1376.0, 55.0, 1302.0, 0.0], [2.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [349, 60, 1, 0, 0, 0], "episodes_by_level": [[1296.0, 61.0, 1218.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [694, 122, 3, 0, 0, 0], "episodes_by_level": [[2697.0, 129.0, 2528.0, 0.0], [7.0, 3.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 1192, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.19287109375, "command_abs_max": [0.7996249198913574, 0.19996774196624756, 0.49946194887161255]}
{"step": 2000, "actor_lr": 6e-05, "archive_windows": 21247, "env_steps": 2000, "total_transitions": 8192000, "num_steps_per_env": 1, "wm_loss": 0.8493946194648743, "actor_loss": -8.932927131652832, "critic_loss": 0.001498543657362461, "reward": 0.08304435759782791, "falls": 12, "interval_steps": 50, "velocity_mae": [0.11813387274742126, 0.07106420397758484, 0.13266322016716003], "mean_episode_length": 1468.5185185185185, "episode_reward_terms": {"track_linear_velocity": 52.13039779663086, "track_angular_velocity": 55.64744567871094, "upright": 28.66637420654297, "leg_posture": -5.192069053649902, "standstill": -8.084840774536133, "action_rate_l2": -0.1411498636007309, "joint_torques_l2": -0.15608765184879303, "dof_pos_limits": -0.02314295805990696, "terminated": -0.03441840037703514, "unnecessary_wheel_lift": -0.29977256059646606, "rolling_leg_motion": -0.8872045278549194, "obstacle_progress": 1.019183874130249, "wheel_body_intrusion": -0.43240272998809814, "pair_body_intrusion": -0.2601308226585388}, "weighted_reward_terms": {"track_linear_velocity": 1.77493155002594, "track_angular_velocity": 1.8946797847747803, "upright": 0.9760303497314453, "leg_posture": -0.1767791509628296, "standstill": -0.275272011756897, "action_rate_l2": -0.004805859178304672, "joint_torques_l2": -0.0053144595585763454, "dof_pos_limits": -0.0007879695622250438, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.010206632316112518, "rolling_leg_motion": -0.030207468196749687, "obstacle_progress": 0.034701090306043625, "wheel_body_intrusion": -0.014722413383424282, "pair_body_intrusion": -0.008856913074851036}, "episode_termination_rates": {"time_out": 0.4012345679012346, "fell_over": 0.030864197530864196, "course_exit": 0.5308641975308642, "illegal_nonwheel_contact": 0.04938271604938271}, "collection_time_s": 0.11054032919870224, "learning_time_s": 0.4334797184204217, "iteration_time_s": 0.5428916742525034, "policy_updates": 1700, "skipped_updates": 0, "invalid_env_resets": 7, "elapsed_s": 1085.7833485050069, "nonwheel_terminations": 10124, "contact_bce": 0.27985459566116333, "contact_force_loss": 0.009245660156011581, "collision_bce": 0.003019899595528841, "collision_label_rate": 0.0029141865670681, "collision_prediction_mean": 0.0031628753058612347, "collision_label_count": 16128.0, "terrain_level_mean": 0.328125, "terrain_level_max": 2, "terrain_details": {"flat": {"level_counts": [329, 80, 1, 0, 0, 0], "episodes_by_level": [[1394.0, 82.0, 1286.0, 0.0], [2.0, 1.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [817, 602, 14, 0, 0, 0], "episodes_by_level": [[3844.0, 580.0, 3173.0, 0.0], [23.0, 11.0, 11.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [276, 306, 32, 0, 0, 0], "episodes_by_level": [[1721.0, 322.0, 1362.0, 0.0], [38.0, 31.0, 6.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [354, 56, 0, 0, 0, 0], "episodes_by_level": [[1388.0, 58.0, 1304.0, 0.0], [2.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [345, 63, 2, 0, 0, 0], "episodes_by_level": [[1309.0, 65.0, 1220.0, 0.0], [2.0, 2.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [683, 133, 3, 0, 0, 0], "episodes_by_level": [[2725.0, 140.0, 2530.0, 0.0], [7.0, 3.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 1223, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.18994140625, "command_abs_max": [0.7996249198913574, 0.19996774196624756, 0.49996352195739746]}
{"step": 2050, "actor_lr": 6e-05, "archive_windows": 21472, "env_steps": 2050, "total_transitions": 8396800, "num_steps_per_env": 1, "wm_loss": 0.8765308260917664, "actor_loss": -8.950879096984863, "critic_loss": 0.0013733146479353309, "reward": 0.08322653919458389, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11518940329551697, 0.07173463702201843, 0.1322479099035263], "mean_episode_length": 1544.7329842931938, "episode_reward_terms": {"track_linear_velocity": 55.01487350463867, "track_angular_velocity": 58.54425048828125, "upright": 30.174135208129883, "leg_posture": -5.3506245613098145, "standstill": -8.702859878540039, "action_rate_l2": -0.15290957689285278, "joint_torques_l2": -0.16023509204387665, "dof_pos_limits": -0.013725786469876766, "terminated": -0.02413644827902317, "unnecessary_wheel_lift": -0.26009809970855713, "rolling_leg_motion": -0.9529901146888733, "obstacle_progress": 1.1555984020233154, "wheel_body_intrusion": -0.45898565649986267, "pair_body_intrusion": -0.24950261414051056}, "weighted_reward_terms": {"track_linear_velocity": 1.7807244062423706, "track_angular_velocity": 1.8949633836746216, "upright": 0.9766780138015747, "leg_posture": -0.17318929731845856, "standstill": -0.281694620847702, "action_rate_l2": -0.004949385300278664, "joint_torques_l2": -0.005186498165130615, "dof_pos_limits": -0.00044427698594518006, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.008418869227170944, "rolling_leg_motion": -0.030846435576677322, "obstacle_progress": 0.03740447014570236, "wheel_body_intrusion": -0.014856472611427307, "pair_body_intrusion": -0.008075913414359093}, "episode_termination_rates": {"time_out": 0.5706806282722513, "fell_over": 0.015706806282722512, "course_exit": 0.387434554973822, "illegal_nonwheel_contact": 0.031413612565445025}, "collection_time_s": 0.11097289232071489, "learning_time_s": 0.431919175737421, "iteration_time_s": 0.5429099275317134, "policy_updates": 1750, "skipped_updates": 0, "invalid_env_resets": 7, "elapsed_s": 1112.9653514400125, "nonwheel_terminations": 10130, "contact_bce": 0.28285154700279236, "contact_force_loss": 0.0096031678840518, "collision_bce": 0.0026224355679005384, "collision_label_rate": 0.0030404566787183285, "collision_prediction_mean": 0.0035915852058678865, "collision_label_count": 16116.0, "terrain_level_mean": 0.3486328125, "terrain_level_max": 2, "terrain_details": {"flat": {"level_counts": [325, 84, 1, 0, 0, 0], "episodes_by_level": [[1405.0, 86.0, 1287.0, 0.0], [2.0, 1.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [779, 635, 19, 0, 0, 0], "episodes_by_level": [[3897.0, 617.0, 3173.0, 0.0], [28.0, 14.0, 13.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [264, 316, 34, 0, 0, 0], "episodes_by_level": [[1734.0, 334.0, 1362.0, 0.0], [40.0, 33.0, 6.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [351, 59, 0, 0, 0, 0], "episodes_by_level": [[1399.0, 61.0, 1305.0, 0.0], [2.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [339, 69, 2, 0, 0, 0], "episodes_by_level": [[1331.0, 71.0, 1220.0, 0.0], [2.0, 2.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [669, 147, 3, 0, 0, 0], "episodes_by_level": [[2765.0, 154.0, 2530.0, 0.0], [7.0, 3.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 1269, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.18701171875, "command_abs_max": [0.7996249198913574, 0.19996774196624756, 0.49996352195739746]}
{"step": 2100, "actor_lr": 6e-05, "archive_windows": 21717, "env_steps": 2100, "total_transitions": 8601600, "num_steps_per_env": 1, "wm_loss": 0.890825092792511, "actor_loss": -8.982237815856934, "critic_loss": 0.003124233102425933, "reward": 0.0832820013165474, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11585501581430435, 0.07142799347639084, 0.13218790292739868], "mean_episode_length": 1547.0442477876106, "episode_reward_terms": {"track_linear_velocity": 55.08372116088867, "track_angular_velocity": 58.65438461303711, "upright": 30.23771858215332, "leg_posture": -5.29269552230835, "standstill": -8.641261100769043, "action_rate_l2": -0.15444079041481018, "joint_torques_l2": -0.16166138648986816, "dof_pos_limits": -0.01207495667040348, "terminated": -0.021150993183255196, "unnecessary_wheel_lift": -0.26362156867980957, "rolling_leg_motion": -0.9721700549125671, "obstacle_progress": 1.147754430770874, "wheel_body_intrusion": -0.4707009494304657, "pair_body_intrusion": -0.2928702235221863}, "weighted_reward_terms": {"track_linear_velocity": 1.7802891731262207, "track_angular_velocity": 1.8956921100616455, "upright": 0.9772740006446838, "leg_posture": -0.1710583120584488, "standstill": -0.27928295731544495, "action_rate_l2": -0.004991479683667421, "joint_torques_l2": -0.005224847234785557, "dof_pos_limits": -0.0003902589378412813, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.008520170114934444, "rolling_leg_motion": -0.03142024204134941, "obstacle_progress": 0.0370950773358345, "wheel_body_intrusion": -0.015212913043797016, "pair_body_intrusion": -0.009465477429330349}, "episode_termination_rates": {"time_out": 0.6194690265486725, "fell_over": 0.01327433628318584, "course_exit": 0.3495575221238938, "illegal_nonwheel_contact": 0.022123893805309734}, "collection_time_s": 0.11069787709624507, "learning_time_s": 0.4333589466218837, "iteration_time_s": 0.5429392873404764, "policy_updates": 1800, "skipped_updates": 0, "invalid_env_resets": 7, "elapsed_s": 1140.1725034150004, "nonwheel_terminations": 10135, "contact_bce": 0.2802176773548126, "contact_force_loss": 0.009548097848892212, "collision_bce": 0.0032002388034015894, "collision_label_rate": 0.0029743462800979614, "collision_prediction_mean": 0.002601762767881155, "collision_label_count": 16138.0, "terrain_level_mean": 0.3671875, "terrain_level_max": 2, "terrain_details": {"flat": {"level_counts": [322, 87, 1, 0, 0, 0], "episodes_by_level": [[1428.0, 90.0, 1288.0, 0.0], [3.0, 1.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [748, 663, 22, 0, 0, 0], "episodes_by_level": [[3948.0, 649.0, 3173.0, 0.0], [32.0, 17.0, 14.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [249, 323, 42, 0, 0, 0], "episodes_by_level": [[1753.0, 348.0, 1362.0, 0.0], [50.0, 42.0, 6.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [351, 59, 0, 0, 0, 0], "episodes_by_level": [[1417.0, 62.0, 1305.0, 0.0], [3.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [333, 74, 3, 0, 0, 0], "episodes_by_level": [[1353.0, 77.0, 1220.0, 0.0], [3.0, 3.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [660, 156, 3, 0, 0, 0], "episodes_by_level": [[2813.0, 163.0, 2530.0, 0.0], [7.0, 3.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 1315, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.1865234375, "command_abs_max": [0.7996249198913574, 0.19996774196624756, 0.49996352195739746]}
{"step": 2150, "actor_lr": 6e-05, "archive_windows": 22004, "env_steps": 2150, "total_transitions": 8806400, "num_steps_per_env": 1, "wm_loss": 0.9039561152458191, "actor_loss": -9.019437789916992, "critic_loss": 0.0014274449786171317, "reward": 0.08305973559617996, "falls": 2, "interval_steps": 50, "velocity_mae": [0.11562260240316391, 0.07283764332532883, 0.13302910327911377], "mean_episode_length": 1618.6691449814127, "episode_reward_terms": {"track_linear_velocity": 57.59028244018555, "track_angular_velocity": 61.31591033935547, "upright": 31.592185974121094, "leg_posture": -5.630712509155273, "standstill": -9.142416954040527, "action_rate_l2": -0.16578325629234314, "joint_torques_l2": -0.174394428730011, "dof_pos_limits": -0.010458685457706451, "terminated": -0.006322925444692373, "unnecessary_wheel_lift": -0.28757229447364807, "rolling_leg_motion": -1.096929669380188, "obstacle_progress": 1.2624952793121338, "wheel_body_intrusion": -0.4594077169895172, "pair_body_intrusion": -0.3406544029712677}, "weighted_reward_terms": {"track_linear_velocity": 1.778939127922058, "track_angular_velocity": 1.8940224647521973, "upright": 0.9758691787719727, "leg_posture": -0.1739303171634674, "standstill": -0.28240537643432617, "action_rate_l2": -0.005120974034070969, "joint_torques_l2": -0.005386969540268183, "dof_pos_limits": -0.00032306433422490954, "terminated": -0.0001953124738065526, "unnecessary_wheel_lift": -0.008882985450327396, "rolling_leg_motion": -0.03388369083404541, "obstacle_progress": 0.038997940719127655, "wheel_body_intrusion": -0.014190908521413803, "pair_body_intrusion": -0.010522669181227684}, "episode_termination_rates": {"time_out": 0.7286245353159851, "fell_over": 0.0, "course_exit": 0.26394052044609667, "illegal_nonwheel_contact": 0.007434944237918215}, "collection_time_s": 0.11035309451748616, "learning_time_s": 0.43044786966114773, "iteration_time_s": 0.5428918544734899, "policy_updates": 1850, "skipped_updates": 0, "invalid_env_resets": 7, "elapsed_s": 1167.2174871180032, "nonwheel_terminations": 10137, "contact_bce": 0.28697529435157776, "contact_force_loss": 0.010003805160522461, "collision_bce": 0.002621757797896862, "collision_label_rate": 0.002412321511656046, "collision_prediction_mean": 0.002400890225544572, "collision_label_count": 16167.0, "terrain_level_mean": 0.386474609375, "terrain_level_max": 2, "terrain_details": {"flat": {"level_counts": [316, 93, 1, 0, 0, 0], "episodes_by_level": [[1456.0, 96.0, 1288.0, 0.0], [3.0, 1.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [711, 693, 29, 0, 0, 0], "episodes_by_level": [[4003.0, 683.0, 3173.0, 0.0], [39.0, 24.0, 14.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [242, 324, 48, 0, 0, 0], "episodes_by_level": [[1763.0, 355.0, 1362.0, 0.0], [56.0, 48.0, 6.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [350, 60, 0, 0, 0, 0], "episodes_by_level": [[1440.0, 63.0, 1305.0, 0.0], [3.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [330, 77, 3, 0, 0, 0], "episodes_by_level": [[1383.0, 80.0, 1220.0, 0.0], [3.0, 3.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [648, 168, 3, 0, 0, 0], "episodes_by_level": [[2874.0, 175.0, 2530.0, 0.0], [7.0, 3.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 1359, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.186279296875, "command_abs_max": [0.7996249198913574, 0.1999293863773346, 0.49996352195739746]}
{"step": 2200, "actor_lr": 6e-05, "archive_windows": 22257, "env_steps": 2200, "total_transitions": 9011200, "num_steps_per_env": 1, "wm_loss": 0.9355120062828064, "actor_loss": -9.041374206542969, "critic_loss": 0.0020419727079570293, "reward": 0.0832761824131012, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11478367447853088, 0.0717608779668808, 0.1286696493625641], "mean_episode_length": 1624.9256965944273, "episode_reward_terms": {"track_linear_velocity": 57.9080924987793, "track_angular_velocity": 61.7684326171875, "upright": 31.70319938659668, "leg_posture": -5.694117546081543, "standstill": -9.189702033996582, "action_rate_l2": -0.16814717650413513, "joint_torques_l2": -0.17836406826972961, "dof_pos_limits": -0.012866090051829815, "terminated": -0.01586841233074665, "unnecessary_wheel_lift": -0.321186900138855, "rolling_leg_motion": -1.108106017112732, "obstacle_progress": 1.3751020431518555, "wheel_body_intrusion": -0.43743696808815, "pair_body_intrusion": -0.3114362061023712}, "weighted_reward_terms": {"track_linear_velocity": 1.7818690538406372, "track_angular_velocity": 1.9006541967391968, "upright": 0.9755277633666992, "leg_posture": -0.17521162331104279, "standstill": -0.2827730178833008, "action_rate_l2": -0.005173996090888977, "joint_torques_l2": -0.005488376598805189, "dof_pos_limits": -0.0003958978340961039, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.009883126243948936, "rolling_leg_motion": -0.03409712761640549, "obstacle_progress": 0.04231276735663414, "wheel_body_intrusion": -0.013460214249789715, "pair_body_intrusion": -0.009583091363310814}, "episode_termination_rates": {"time_out": 0.7770897832817337, "fell_over": 0.006191950464396285, "course_exit": 0.20743034055727555, "illegal_nonwheel_contact": 0.009287925696594427}, "collection_time_s": 0.1107210941996891, "learning_time_s": 0.43239380154001994, "iteration_time_s": 0.5428996365586434, "policy_updates": 1900, "skipped_updates": 0, "invalid_env_resets": 7, "elapsed_s": 1194.3792004290153, "nonwheel_terminations": 10140, "contact_bce": 0.29236528277397156, "contact_force_loss": 0.009908847510814667, "collision_bce": 0.003640394425019622, "collision_label_rate": 0.00310096750035882, "collision_prediction_mean": 0.0021189821418374777, "collision_label_count": 16124.0, "terrain_level_mean": 0.407958984375, "terrain_level_max": 3, "terrain_details": {"flat": {"level_counts": [307, 102, 1, 0, 0, 0], "episodes_by_level": [[1505.0, 105.0, 1288.0, 0.0], [3.0, 1.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [675, 723, 35, 0, 0, 0], "episodes_by_level": [[4055.0, 718.0, 3173.0, 0.0], [47.0, 31.0, 15.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [240, 322, 51, 1, 0, 0], "episodes_by_level": [[1770.0, 358.0, 1362.0, 0.0], [60.0, 52.0, 6.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [343, 66, 1, 0, 0, 0], "episodes_by_level": [[1478.0, 70.0, 1306.0, 0.0], [4.0, 1.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [322, 85, 3, 0, 0, 0], "episodes_by_level": [[1431.0, 88.0, 1220.0, 0.0], [3.0, 3.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [634, 182, 3, 0, 0, 0], "episodes_by_level": [[2940.0, 189.0, 2530.0, 0.0], [8.0, 3.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 1414, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.18310546875, "command_abs_max": [0.7996249198913574, 0.19991528987884521, 0.49996352195739746]}
{"step": 2250, "actor_lr": 6e-05, "archive_windows": 22599, "env_steps": 2250, "total_transitions": 9216000, "num_steps_per_env": 1, "wm_loss": 0.9216936230659485, "actor_loss": -9.088958740234375, "critic_loss": 0.0014519854448735714, "reward": 0.08359789848327637, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11538805812597275, 0.07140129804611206, 0.12714830040931702], "mean_episode_length": 1616.4857142857143, "episode_reward_terms": {"track_linear_velocity": 57.57952117919922, "track_angular_velocity": 61.50899887084961, "upright": 31.581655502319336, "leg_posture": -5.4884185791015625, "standstill": -8.885685920715332, "action_rate_l2": -0.17079925537109375, "joint_torques_l2": -0.17547163367271423, "dof_pos_limits": -0.008708582259714603, "terminated": -0.02525758557021618, "unnecessary_wheel_lift": -0.33627548813819885, "rolling_leg_motion": -1.1126147508621216, "obstacle_progress": 1.4187030792236328, "wheel_body_intrusion": -0.42303335666656494, "pair_body_intrusion": -0.32783055305480957}, "weighted_reward_terms": {"track_linear_velocity": 1.781009316444397, "track_angular_velocity": 1.9025530815124512, "upright": 0.9768615365028381, "leg_posture": -0.16976390779018402, "standstill": -0.27484580874443054, "action_rate_l2": -0.005283042788505554, "joint_torques_l2": -0.005427565425634384, "dof_pos_limits": -0.00026936776703223586, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.010401437059044838, "rolling_leg_motion": -0.034414615482091904, "obstacle_progress": 0.043882325291633606, "wheel_body_intrusion": -0.01308497041463852, "pair_body_intrusion": -0.010140224359929562}, "episode_termination_rates": {"time_out": 0.7968253968253968, "fell_over": 0.006349206349206349, "course_exit": 0.17777777777777778, "illegal_nonwheel_contact": 0.01904761904761905}, "collection_time_s": 0.1105636766779935, "learning_time_s": 0.4318744856823469, "iteration_time_s": 0.5428903539840054, "policy_updates": 1950, "skipped_updates": 0, "invalid_env_resets": 7, "elapsed_s": 1221.5032964640122, "nonwheel_terminations": 10146, "contact_bce": 0.2863541543483734, "contact_force_loss": 0.010136404074728489, "collision_bce": 0.0030775342602282763, "collision_label_rate": 0.003156917402520776, "collision_prediction_mean": 0.0035077035427093506, "collision_label_count": 16155.0, "terrain_level_mean": 0.42724609375, "terrain_level_max": 3, "terrain_details": {"flat": {"level_counts": [302, 107, 1, 0, 0, 0], "episodes_by_level": [[1535.0, 110.0, 1288.0, 0.0], [3.0, 1.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [651, 739, 43, 0, 0, 0], "episodes_by_level": [[4091.0, 742.0, 3173.0, 0.0], [55.0, 39.0, 15.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [227, 325, 61, 1, 0, 0], "episodes_by_level": [[1784.0, 371.0, 1362.0, 0.0], [70.0, 61.0, 6.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [342, 67, 1, 0, 0, 0], "episodes_by_level": [[1529.0, 71.0, 1306.0, 0.0], [4.0, 1.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [318, 89, 3, 0, 0, 0], "episodes_by_level": [[1465.0, 93.0, 1220.0, 0.0], [4.0, 3.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [619, 198, 2, 0, 0, 0], "episodes_by_level": [[3023.0, 204.0, 2532.0, 0.0], [8.0, 3.0, 4.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 1466, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.181884765625, "command_abs_max": [0.7996249198913574, 0.19991528987884521, 0.49996352195739746]}
{"step": 2300, "actor_lr": 6e-05, "archive_windows": 22933, "env_steps": 2300, "total_transitions": 9420800, "num_steps_per_env": 1, "wm_loss": 0.991214394569397, "actor_loss": -9.118483543395996, "critic_loss": 0.0015683763194829226, "reward": 0.0843953862786293, "falls": 2, "interval_steps": 50, "velocity_mae": [0.1121710017323494, 0.07005038857460022, 0.1245126947760582], "mean_episode_length": 1622.2079207920792, "episode_reward_terms": {"track_linear_velocity": 58.097232818603516, "track_angular_velocity": 61.867713928222656, "upright": 31.763076782226562, "leg_posture": -5.242136001586914, "standstill": -8.59078598022461, "action_rate_l2": -0.17270134389400482, "joint_torques_l2": -0.17378324270248413, "dof_pos_limits": -0.005666153505444527, "terminated": -0.0063367486000061035, "unnecessary_wheel_lift": -0.2815505266189575, "rolling_leg_motion": -1.1119425296783447, "obstacle_progress": 1.5172992944717407, "wheel_body_intrusion": -0.40194520354270935, "pair_body_intrusion": -0.3516150414943695}, "weighted_reward_terms": {"track_linear_velocity": 1.7906838655471802, "track_angular_velocity": 1.9068984985351562, "upright": 0.9790076017379761, "leg_posture": -0.161574125289917, "standstill": -0.26478683948516846, "action_rate_l2": -0.005323033779859543, "joint_torques_l2": -0.005356380250304937, "dof_pos_limits": -0.00017464326811023057, "terminated": -0.0001953124738065526, "unnecessary_wheel_lift": -0.008678004145622253, "rolling_leg_motion": -0.03427250683307648, "obstacle_progress": 0.0467664897441864, "wheel_body_intrusion": -0.012388831004500389, "pair_body_intrusion": -0.010837546549737453}, "episode_termination_rates": {"time_out": 0.801980198019802, "fell_over": 0.0, "course_exit": 0.19141914191419143, "illegal_nonwheel_contact": 0.006600660066006601}, "collection_time_s": 0.11078512997773941, "learning_time_s": 0.4340025075216545, "iteration_time_s": 0.5429340649487036, "policy_updates": 2000, "skipped_updates": 0, "invalid_env_resets": 7, "elapsed_s": 1248.7483493820182, "nonwheel_terminations": 10148, "contact_bce": 0.29281383752822876, "contact_force_loss": 0.010749547742307186, "collision_bce": 0.0032033496536314487, "collision_label_rate": 0.0029826632235199213, "collision_prediction_mean": 0.002024768851697445, "collision_label_count": 16093.0, "terrain_level_mean": 0.444580078125, "terrain_level_max": 3, "terrain_details": {"flat": {"level_counts": [295, 114, 1, 0, 0, 0], "episodes_by_level": [[1576.0, 117.0, 1288.0, 0.0], [3.0, 1.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [632, 749, 52, 0, 0, 0], "episodes_by_level": [[4128.0, 762.0, 3173.0, 0.0], [65.0, 47.0, 15.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [224, 317, 71, 2, 0, 0], "episodes_by_level": [[1787.0, 373.0, 1362.0, 0.0], [82.0, 72.0, 6.0, 0.0], [2.0, 2.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [338, 71, 1, 0, 0, 0], "episodes_by_level": [[1562.0, 75.0, 1306.0, 0.0], [4.0, 1.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [311, 96, 3, 0, 0, 0], "episodes_by_level": [[1509.0, 100.0, 1220.0, 0.0], [4.0, 3.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [609, 208, 2, 0, 0, 0], "episodes_by_level": [[3093.0, 214.0, 2532.0, 0.0], [8.0, 3.0, 4.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 1522, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.182861328125, "command_abs_max": [0.7996249198913574, 0.19991528987884521, 0.49823135137557983]}
{"step": 2350, "actor_lr": 6e-05, "archive_windows": 23275, "env_steps": 2350, "total_transitions": 9625600, "num_steps_per_env": 1, "wm_loss": 0.9900012016296387, "actor_loss": -9.146500587463379, "critic_loss": 0.0015409471234306693, "reward": 0.08458440005779266, "falls": 7, "interval_steps": 50, "velocity_mae": [0.1123318076133728, 0.07083799690008163, 0.12604571878910065], "mean_episode_length": 1530.1285714285714, "episode_reward_terms": {"track_linear_velocity": 54.76787185668945, "track_angular_velocity": 58.27201461791992, "upright": 29.924020767211914, "leg_posture": -4.909489631652832, "standstill": -7.676663875579834, "action_rate_l2": -0.16268467903137207, "joint_torques_l2": -0.16597329080104828, "dof_pos_limits": -0.005338719580322504, "terminated": -0.02091972343623638, "unnecessary_wheel_lift": -0.28758132457733154, "rolling_leg_motion": -1.0142985582351685, "obstacle_progress": 1.434574842453003, "wheel_body_intrusion": -0.4102799594402313, "pair_body_intrusion": -0.3202575147151947}, "weighted_reward_terms": {"track_linear_velocity": 1.789649486541748, "track_angular_velocity": 1.9041541814804077, "upright": 0.9778270721435547, "leg_posture": -0.16042736172676086, "standstill": -0.25085029006004333, "action_rate_l2": -0.00531604653224349, "joint_torques_l2": -0.005423508118838072, "dof_pos_limits": -0.00017445330740883946, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0093972934409976, "rolling_leg_motion": -0.03314422816038132, "obstacle_progress": 0.04687759280204773, "wheel_body_intrusion": -0.013406716287136078, "pair_body_intrusion": -0.010465052910149097}, "episode_termination_rates": {"time_out": 0.6952380952380952, "fell_over": 0.01904761904761905, "course_exit": 0.2714285714285714, "illegal_nonwheel_contact": 0.01904761904761905}, "collection_time_s": 0.11085870154143777, "learning_time_s": 0.44313277253997513, "iteration_time_s": 0.5431717504834028, "policy_updates": 2050, "skipped_updates": 0, "invalid_env_resets": 7, "elapsed_s": 1276.4536136359966, "nonwheel_terminations": 10152, "contact_bce": 0.29226088523864746, "contact_force_loss": 0.011017310433089733, "collision_bce": 0.0024682183284312487, "collision_label_rate": 0.0027251332066953182, "collision_prediction_mean": 0.002823764458298683, "collision_label_count": 16146.0, "terrain_level_mean": 0.46142578125, "terrain_level_max": 3, "terrain_details": {"flat": {"level_counts": [292, 117, 1, 0, 0, 0], "episodes_by_level": [[1594.0, 120.0, 1289.0, 0.0], [3.0, 1.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [611, 761, 61, 0, 0, 0], "episodes_by_level": [[4158.0, 783.0, 3174.0, 0.0], [74.0, 56.0, 15.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [219, 308, 82, 5, 0, 0], "episodes_by_level": [[1793.0, 376.0, 1362.0, 0.0], [95.0, 85.0, 6.0, 0.0], [5.0, 5.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [336, 73, 1, 0, 0, 0], "episodes_by_level": [[1584.0, 77.0, 1307.0, 0.0], [4.0, 1.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [306, 101, 3, 0, 0, 0], "episodes_by_level": [[1531.0, 105.0, 1222.0, 0.0], [4.0, 3.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [603, 213, 3, 0, 0, 0], "episodes_by_level": [[3136.0, 220.0, 2532.0, 0.0], [9.0, 4.0, 4.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 1587, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.181884765625, "command_abs_max": [0.7996249198913574, 0.19967949390411377, 0.49823135137557983]}
{"step": 2400, "actor_lr": 6e-05, "archive_windows": 23650, "env_steps": 2400, "total_transitions": 9830400, "num_steps_per_env": 1, "wm_loss": 1.0783997774124146, "actor_loss": -9.187507629394531, "critic_loss": 0.0012069969670847058, "reward": 0.08476707339286804, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11310098320245743, 0.07200900465250015, 0.12584137916564941], "mean_episode_length": 1540.0964467005076, "episode_reward_terms": {"track_linear_velocity": 55.0563850402832, "track_angular_velocity": 58.668983459472656, "upright": 30.11285972595215, "leg_posture": -4.851233005523682, "standstill": -7.55382776260376, "action_rate_l2": -0.16670624911785126, "joint_torques_l2": -0.16628775000572205, "dof_pos_limits": -0.005380392540246248, "terminated": -0.02406400255858898, "unnecessary_wheel_lift": -0.28467562794685364, "rolling_leg_motion": -1.0279431343078613, "obstacle_progress": 1.5256198644638062, "wheel_body_intrusion": -0.3890976011753082, "pair_body_intrusion": -0.3451694846153259}, "weighted_reward_terms": {"track_linear_velocity": 1.7874330282211304, "track_angular_velocity": 1.9047179222106934, "upright": 0.9776290655136108, "leg_posture": -0.15749770402908325, "standstill": -0.24523881077766418, "action_rate_l2": -0.00541220186278224, "joint_torques_l2": -0.005398614797741175, "dof_pos_limits": -0.00017467713041696697, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.009242136031389236, "rolling_leg_motion": -0.03337268903851509, "obstacle_progress": 0.04953001067042351, "wheel_body_intrusion": -0.012632248923182487, "pair_body_intrusion": -0.011206099763512611}, "episode_termination_rates": {"time_out": 0.6751269035532995, "fell_over": 0.015228426395939087, "course_exit": 0.28426395939086296, "illegal_nonwheel_contact": 0.030456852791878174}, "collection_time_s": 0.1112605207390152, "learning_time_s": 0.4313553667580709, "iteration_time_s": 0.5431626831979156, "policy_updates": 2100, "skipped_updates": 0, "invalid_env_resets": 7, "elapsed_s": 1303.5904396749975, "nonwheel_terminations": 10158, "contact_bce": 0.29590702056884766, "contact_force_loss": 0.01095609087496996, "collision_bce": 0.0027235043235123158, "collision_label_rate": 0.0029839612543582916, "collision_prediction_mean": 0.003517842385917902, "collision_label_count": 16086.0, "terrain_level_mean": 0.47509765625, "terrain_level_max": 3, "terrain_details": {"flat": {"level_counts": [289, 120, 1, 0, 0, 0], "episodes_by_level": [[1619.0, 123.0, 1290.0, 0.0], [3.0, 1.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [595, 772, 66, 0, 0, 0], "episodes_by_level": [[4177.0, 798.0, 3175.0, 0.0], [83.0, 62.0, 16.0, 0.0], [2.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [213, 300, 95, 6, 0, 0], "episodes_by_level": [[1799.0, 381.0, 1362.0, 0.0], [110.0, 99.0, 6.0, 0.0], [6.0, 6.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [333, 75, 2, 0, 0, 0], "episodes_by_level": [[1606.0, 80.0, 1307.0, 0.0], [5.0, 2.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [304, 103, 3, 0, 0, 0], "episodes_by_level": [[1543.0, 107.0, 1222.0, 0.0], [5.0, 3.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [598, 218, 3, 0, 0, 0], "episodes_by_level": [[3182.0, 226.0, 2533.0, 0.0], [10.0, 4.0, 5.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 1688, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.179443359375, "command_abs_max": [0.7996249198913574, 0.199501633644104, 0.49823135137557983]}
{"step": 2450, "actor_lr": 6e-05, "archive_windows": 24061, "env_steps": 2450, "total_transitions": 10035200, "num_steps_per_env": 1, "wm_loss": 1.014817476272583, "actor_loss": -9.190084457397461, "critic_loss": 0.0017996076494455338, "reward": 0.08498900383710861, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11114352941513062, 0.0713038519024849, 0.12493409216403961], "mean_episode_length": 1506.4444444444443, "episode_reward_terms": {"track_linear_velocity": 53.999271392822266, "track_angular_velocity": 57.43669891357422, "upright": 29.448776245117188, "leg_posture": -4.637823581695557, "standstill": -7.543507099151611, "action_rate_l2": -0.1665162295103073, "joint_torques_l2": -0.16274656355381012, "dof_pos_limits": -0.004392753820866346, "terminated": -0.02648046426475048, "unnecessary_wheel_lift": -0.2170775979757309, "rolling_leg_motion": -0.9791170954704285, "obstacle_progress": 1.6044306755065918, "wheel_body_intrusion": -0.38277870416641235, "pair_body_intrusion": -0.3375430405139923}, "weighted_reward_terms": {"track_linear_velocity": 1.7922755479812622, "track_angular_velocity": 1.9063663482666016, "upright": 0.9774266481399536, "leg_posture": -0.15393278002738953, "standstill": -0.25037455558776855, "action_rate_l2": -0.005526795983314514, "joint_torques_l2": -0.005401678383350372, "dof_pos_limits": -0.00014579873823095113, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.0072049652226269245, "rolling_leg_motion": -0.03249761834740639, "obstacle_progress": 0.05325223505496979, "wheel_body_intrusion": -0.012704706750810146, "pair_body_intrusion": -0.011203302070498466}, "episode_termination_rates": {"time_out": 0.6993464052287581, "fell_over": 0.026143790849673203, "course_exit": 0.24183006535947713, "illegal_nonwheel_contact": 0.0457516339869281}, "collection_time_s": 0.11005234135780484, "learning_time_s": 0.4315908644994488, "iteration_time_s": 0.5431341243832734, "policy_updates": 2150, "skipped_updates": 0, "invalid_env_resets": 7, "elapsed_s": 1330.6786047390196, "nonwheel_terminations": 10165, "contact_bce": 0.29684537649154663, "contact_force_loss": 0.01129157841205597, "collision_bce": 0.0027624904178082943, "collision_label_rate": 0.0021654395386576653, "collision_prediction_mean": 0.0028959736227989197, "collision_label_count": 16163.0, "terrain_level_mean": 0.485107421875, "terrain_level_max": 3, "terrain_details": {"flat": {"level_counts": [288, 121, 1, 0, 0, 0], "episodes_by_level": [[1631.0, 124.0, 1290.0, 0.0], [3.0, 1.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [589, 774, 70, 0, 0, 0], "episodes_by_level": [[4188.0, 806.0, 3175.0, 0.0], [94.0, 68.0, 19.0, 0.0], [2.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [205, 299, 103, 7, 0, 0], "episodes_by_level": [[1806.0, 387.0, 1363.0, 0.0], [121.0, 109.0, 6.0, 0.0], [8.0, 7.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [332, 75, 3, 0, 0, 0], "episodes_by_level": [[1625.0, 81.0, 1307.0, 0.0], [6.0, 3.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [302, 104, 4, 0, 0, 0], "episodes_by_level": [[1556.0, 109.0, 1222.0, 0.0], [6.0, 4.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [591, 225, 3, 0, 0, 0], "episodes_by_level": [[3216.0, 234.0, 2533.0, 0.0], [11.0, 4.0, 6.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 1778, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.18212890625, "command_abs_max": [0.7996249198913574, 0.199501633644104, 0.4997885227203369]}
{"step": 2500, "actor_lr": 6e-05, "archive_windows": 24431, "env_steps": 2500, "total_transitions": 10240000, "num_steps_per_env": 1, "wm_loss": 1.0289850234985352, "actor_loss": -9.220855712890625, "critic_loss": 0.0014737042365595698, "reward": 0.08495616912841797, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11288172006607056, 0.07074034959077835, 0.12522272765636444], "mean_episode_length": 1344.8837209302326, "episode_reward_terms": {"track_linear_velocity": 48.1263542175293, "track_angular_velocity": 51.266845703125, "upright": 26.315078735351562, "leg_posture": -4.081969261169434, "standstill": -6.696641445159912, "action_rate_l2": -0.1501614898443222, "joint_torques_l2": -0.1439986675977707, "dof_pos_limits": -0.004920574836432934, "terminated": -0.021013803780078888, "unnecessary_wheel_lift": -0.24528251588344574, "rolling_leg_motion": -0.8744388818740845, "obstacle_progress": 1.4175776243209839, "wheel_body_intrusion": -0.34141653776168823, "pair_body_intrusion": -0.30985212326049805}, "weighted_reward_terms": {"track_linear_velocity": 1.7892385721206665, "track_angular_velocity": 1.9059956073760986, "upright": 0.9783403277397156, "leg_posture": -0.15175920724868774, "standstill": -0.24896733462810516, "action_rate_l2": -0.0055826944299042225, "joint_torques_l2": -0.005353573244065046, "dof_pos_limits": -0.00018293682660441846, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.009119098074734211, "rolling_leg_motion": -0.032509833574295044, "obstacle_progress": 0.052702613174915314, "wheel_body_intrusion": -0.012693163007497787, "pair_body_intrusion": -0.011519663035869598}, "episode_termination_rates": {"time_out": 0.5271317829457365, "fell_over": 0.015503875968992248, "course_exit": 0.4108527131782946, "illegal_nonwheel_contact": 0.046511627906976744}, "collection_time_s": 0.11042011401907076, "learning_time_s": 0.4332743999006925, "iteration_time_s": 0.5431475484748022, "policy_updates": 2200, "skipped_updates": 0, "invalid_env_resets": 7, "elapsed_s": 1357.8688711870054, "nonwheel_terminations": 10171, "contact_bce": 0.29740509390830994, "contact_force_loss": 0.011406823992729187, "collision_bce": 0.0025306667666882277, "collision_label_rate": 0.002412172267213464, "collision_prediction_mean": 0.002346558729186654, "collision_label_count": 16168.0, "terrain_level_mean": 0.497802734375, "terrain_level_max": 3, "terrain_details": {"flat": {"level_counts": [286, 122, 2, 0, 0, 0], "episodes_by_level": [[1639.0, 126.0, 1291.0, 0.0], [4.0, 2.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [581, 770, 82, 0, 0, 0], "episodes_by_level": [[4198.0, 814.0, 3175.0, 0.0], [105.0, 79.0, 19.0, 0.0], [2.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [202, 290, 114, 8, 0, 0], "episodes_by_level": [[1810.0, 391.0, 1363.0, 0.0], [136.0, 123.0, 6.0, 0.0], [9.0, 8.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [329, 77, 4, 0, 0, 0], "episodes_by_level": [[1637.0, 84.0, 1307.0, 0.0], [7.0, 4.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [299, 106, 5, 0, 0, 0], "episodes_by_level": [[1567.0, 112.0, 1223.0, 0.0], [8.0, 5.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [587, 228, 4, 0, 0, 0], "episodes_by_level": [[3241.0, 238.0, 2535.0, 0.0], [12.0, 5.0, 6.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 1859, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.1845703125, "command_abs_max": [0.7996249198913574, 0.19995923340320587, 0.4997885227203369]}
{"step": 2550, "actor_lr": 6e-05, "archive_windows": 24893, "env_steps": 2550, "total_transitions": 10444800, "num_steps_per_env": 1, "wm_loss": 1.0852011442184448, "actor_loss": -9.246662139892578, "critic_loss": 0.0019819610752165318, "reward": 0.0851050466299057, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11191318184137344, 0.07220830023288727, 0.12401832640171051], "mean_episode_length": 1277.68, "episode_reward_terms": {"track_linear_velocity": 45.729103088378906, "track_angular_velocity": 48.74378967285156, "upright": 24.97816276550293, "leg_posture": -3.8931186199188232, "standstill": -6.225341796875, "action_rate_l2": -0.1436089724302292, "joint_torques_l2": -0.1368146389722824, "dof_pos_limits": -0.0036089217755943537, "terminated": -0.02495468594133854, "unnecessary_wheel_lift": -0.18210360407829285, "rolling_leg_motion": -0.8361382484436035, "obstacle_progress": 1.3358879089355469, "wheel_body_intrusion": -0.33092084527015686, "pair_body_intrusion": -0.2733272910118103}, "weighted_reward_terms": {"track_linear_velocity": 1.7895365953445435, "track_angular_velocity": 1.9075117111206055, "upright": 0.9774811863899231, "leg_posture": -0.15235108137130737, "standstill": -0.24361898005008698, "action_rate_l2": -0.005619911476969719, "joint_torques_l2": -0.005354025866836309, "dof_pos_limits": -0.00014122948050498962, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.0071263387799263, "rolling_leg_motion": -0.032720956951379776, "obstacle_progress": 0.05227787420153618, "wheel_body_intrusion": -0.012950066477060318, "pair_body_intrusion": -0.010696234181523323}, "episode_termination_rates": {"time_out": 0.408, "fell_over": 0.056, "course_exit": 0.512, "illegal_nonwheel_contact": 0.024}, "collection_time_s": 0.10941944172082003, "learning_time_s": 0.4331139311986044, "iteration_time_s": 0.5431487322384354, "policy_updates": 2250, "skipped_updates": 0, "invalid_env_resets": 7, "elapsed_s": 1385.0292672080104, "nonwheel_terminations": 10174, "contact_bce": 0.30321991443634033, "contact_force_loss": 0.011615462601184845, "collision_bce": 0.00257420283742249, "collision_label_rate": 0.0028512985445559025, "collision_prediction_mean": 0.003066067583858967, "collision_label_count": 16133.0, "terrain_level_mean": 0.510009765625, "terrain_level_max": 3, "terrain_details": {"flat": {"level_counts": [286, 122, 2, 0, 0, 0], "episodes_by_level": [[1645.0, 126.0, 1291.0, 0.0], [4.0, 2.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [569, 773, 91, 0, 0, 0], "episodes_by_level": [[4218.0, 830.0, 3175.0, 0.0], [121.0, 89.0, 22.0, 0.0], [2.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [193, 290, 122, 9, 0, 0], "episodes_by_level": [[1820.0, 401.0, 1363.0, 0.0], [147.0, 134.0, 6.0, 0.0], [10.0, 9.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [323, 83, 4, 0, 0, 0], "episodes_by_level": [[1650.0, 90.0, 1307.0, 0.0], [7.0, 4.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [296, 108, 6, 0, 0, 0], "episodes_by_level": [[1580.0, 115.0, 1224.0, 0.0], [9.0, 6.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [587, 228, 4, 0, 0, 0], "episodes_by_level": [[3253.0, 238.0, 2535.0, 0.0], [12.0, 5.0, 6.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 1943, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.1865234375, "command_abs_max": [0.7996249198913574, 0.19995923340320587, 0.4997885227203369]}
{"step": 2600, "actor_lr": 6e-05, "archive_windows": 25294, "env_steps": 2600, "total_transitions": 10649600, "num_steps_per_env": 1, "wm_loss": 1.0234260559082031, "actor_loss": -9.271344184875488, "critic_loss": 0.001200539176352322, "reward": 0.08505743741989136, "falls": 12, "interval_steps": 50, "velocity_mae": [0.11269662529230118, 0.07260355353355408, 0.12423022836446762], "mean_episode_length": 1284.6037735849056, "episode_reward_terms": {"track_linear_velocity": 45.936988830566406, "track_angular_velocity": 48.994895935058594, "upright": 25.09649658203125, "leg_posture": -3.8452305793762207, "standstill": -6.266604900360107, "action_rate_l2": -0.14532789587974548, "joint_torques_l2": -0.13485990464687347, "dof_pos_limits": -0.005734587088227272, "terminated": -0.030107898637652397, "unnecessary_wheel_lift": -0.246389701962471, "rolling_leg_motion": -0.8508611917495728, "obstacle_progress": 1.3052858114242554, "wheel_body_intrusion": -0.29156455397605896, "pair_body_intrusion": -0.25190305709838867}, "weighted_reward_terms": {"track_linear_velocity": 1.7879829406738281, "track_angular_velocity": 1.9070042371749878, "upright": 0.9768186211585999, "leg_posture": -0.14966602623462677, "standstill": -0.2439119815826416, "action_rate_l2": -0.005656525958329439, "joint_torques_l2": -0.005249085836112499, "dof_pos_limits": -0.00022320450807455927, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.009590105153620243, "rolling_leg_motion": -0.03311765193939209, "obstacle_progress": 0.050804998725652695, "wheel_body_intrusion": -0.011348424479365349, "pair_body_intrusion": -0.009804699569940567}, "episode_termination_rates": {"time_out": 0.4716981132075472, "fell_over": 0.05660377358490566, "course_exit": 0.41509433962264153, "illegal_nonwheel_contact": 0.07547169811320754}, "collection_time_s": 0.10934071003925055, "learning_time_s": 0.432175774560892, "iteration_time_s": 0.5431180872696187, "policy_updates": 2300, "skipped_updates": 0, "invalid_env_resets": 7, "elapsed_s": 1412.1070269010088, "nonwheel_terminations": 10182, "contact_bce": 0.2916954755783081, "contact_force_loss": 0.011300011537969112, "collision_bce": 0.002512153470888734, "collision_label_rate": 0.002543108770623803, "collision_prediction_mean": 0.00201211916282773, "collision_label_count": 16122.0, "terrain_level_mean": 0.51806640625, "terrain_level_max": 3, "terrain_details": {"flat": {"level_counts": [284, 122, 4, 0, 0, 0], "episodes_by_level": [[1657.0, 128.0, 1291.0, 0.0], [6.0, 4.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [567, 763, 103, 0, 0, 0], "episodes_by_level": [[4227.0, 836.0, 3176.0, 0.0], [138.0, 102.0, 25.0, 0.0], [2.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [191, 285, 127, 11, 0, 0], "episodes_by_level": [[1823.0, 404.0, 1363.0, 0.0], [157.0, 142.0, 7.0, 0.0], [13.0, 11.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [322, 84, 4, 0, 0, 0], "episodes_by_level": [[1667.0, 91.0, 1307.0, 0.0], [7.0, 4.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [294, 110, 6, 0, 0, 0], "episodes_by_level": [[1589.0, 119.0, 1224.0, 0.0], [11.0, 6.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [586, 229, 4, 0, 0, 0], "episodes_by_level": [[3261.0, 239.0, 2535.0, 0.0], [12.0, 5.0, 6.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 2036, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.186767578125, "command_abs_max": [0.7996249198913574, 0.19995923340320587, 0.4997885227203369]}
{"step": 2650, "actor_lr": 6e-05, "archive_windows": 25746, "env_steps": 2650, "total_transitions": 10854400, "num_steps_per_env": 1, "wm_loss": 1.0813060998916626, "actor_loss": -9.265026092529297, "critic_loss": 0.0030187859665602446, "reward": 0.08522015064954758, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11098813265562057, 0.07199470698833466, 0.1239565908908844], "mean_episode_length": 1208.7735849056603, "episode_reward_terms": {"track_linear_velocity": 43.313934326171875, "track_angular_velocity": 46.113040924072266, "upright": 23.626087188720703, "leg_posture": -3.637148141860962, "standstill": -5.845938205718994, "action_rate_l2": -0.13997456431388855, "joint_torques_l2": -0.12683150172233582, "dof_pos_limits": -0.0037819198332726955, "terminated": -0.011804427951574326, "unnecessary_wheel_lift": -0.2079460620880127, "rolling_leg_motion": -0.8001222014427185, "obstacle_progress": 1.2498767375946045, "wheel_body_intrusion": -0.2801099121570587, "pair_body_intrusion": -0.23741358518600464}, "weighted_reward_terms": {"track_linear_velocity": 1.791648030281067, "track_angular_velocity": 1.9074310064315796, "upright": 0.9772751331329346, "leg_posture": -0.15044787526130676, "standstill": -0.2418127804994583, "action_rate_l2": -0.005789941642433405, "joint_torques_l2": -0.005246289074420929, "dof_pos_limits": -0.0001564362464705482, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.008601531386375427, "rolling_leg_motion": -0.033096447587013245, "obstacle_progress": 0.051700204610824585, "wheel_body_intrusion": -0.011586533859372139, "pair_body_intrusion": -0.009820433333516121}, "episode_termination_rates": {"time_out": 0.330188679245283, "fell_over": 0.02830188679245283, "course_exit": 0.6226415094339622, "illegal_nonwheel_contact": 0.018867924528301886}, "collection_time_s": 0.1102972718590172, "learning_time_s": 0.4328615997801535, "iteration_time_s": 0.5431195578633979, "policy_updates": 2350, "skipped_updates": 0, "invalid_env_resets": 8, "elapsed_s": 1439.2668283380044, "nonwheel_terminations": 10184, "contact_bce": 0.3036624789237976, "contact_force_loss": 0.011802454479038715, "collision_bce": 0.0024428628385066986, "collision_label_rate": 0.002409340813755989, "collision_prediction_mean": 0.0028477762825787067, "collision_label_count": 16187.0, "terrain_level_mean": 0.532470703125, "terrain_level_max": 3, "terrain_details": {"flat": {"level_counts": [284, 119, 7, 0, 0, 0], "episodes_by_level": [[1660.0, 128.0, 1291.0, 0.0], [9.0, 7.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [554, 763, 116, 0, 0, 0], "episodes_by_level": [[4244.0, 851.0, 3176.0, 0.0], [155.0, 115.0, 26.0, 0.0], [2.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [186, 277, 139, 12, 0, 0], "episodes_by_level": [[1828.0, 409.0, 1363.0, 0.0], [171.0, 155.0, 7.0, 0.0], [15.0, 12.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [321, 85, 4, 0, 0, 0], "episodes_by_level": [[1673.0, 92.0, 1307.0, 0.0], [8.0, 4.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [293, 109, 8, 0, 0, 0], "episodes_by_level": [[1598.0, 121.0, 1224.0, 0.0], [14.0, 8.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [581, 232, 6, 0, 0, 0], "episodes_by_level": [[3275.0, 244.0, 2536.0, 0.0], [14.0, 7.0, 6.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 2126, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.187744140625, "command_abs_max": [0.7996816635131836, 0.19999979436397552, 0.4997885227203369]}
{"step": 2700, "actor_lr": 6e-05, "archive_windows": 26177, "env_steps": 2700, "total_transitions": 11059200, "num_steps_per_env": 1, "wm_loss": 1.078445315361023, "actor_loss": -9.30814266204834, "critic_loss": 0.0023996038362383842, "reward": 0.08508753776550293, "falls": 13, "interval_steps": 50, "velocity_mae": [0.1101122722029686, 0.07200626283884048, 0.12331343442201614], "mean_episode_length": 1143.4907407407406, "episode_reward_terms": {"track_linear_velocity": 41.038265228271484, "track_angular_velocity": 43.64988327026367, "upright": 22.35517120361328, "leg_posture": -3.4108262062072754, "standstill": -5.777624130249023, "action_rate_l2": -0.13363608717918396, "joint_torques_l2": -0.1191171407699585, "dof_pos_limits": -0.003488098969683051, "terminated": -0.02903394028544426, "unnecessary_wheel_lift": -0.20332834124565125, "rolling_leg_motion": -0.770570695400238, "obstacle_progress": 1.17228102684021, "wheel_body_intrusion": -0.25464338064193726, "pair_body_intrusion": -0.21654607355594635}, "weighted_reward_terms": {"track_linear_velocity": 1.7944293022155762, "track_angular_velocity": 1.9086244106292725, "upright": 0.977496862411499, "leg_posture": -0.14914096891880035, "standstill": -0.2526310086250305, "action_rate_l2": -0.005843339487910271, "joint_torques_l2": -0.005208487622439861, "dof_pos_limits": -0.00015251977310981601, "terminated": -0.0012695310870185494, "unnecessary_wheel_lift": -0.008890686556696892, "rolling_leg_motion": -0.033693790435791016, "obstacle_progress": 0.0512588806450367, "wheel_body_intrusion": -0.011134475469589233, "pair_body_intrusion": -0.009468642063438892}, "episode_termination_rates": {"time_out": 0.3055555555555556, "fell_over": 0.06481481481481481, "course_exit": 0.5740740740740741, "illegal_nonwheel_contact": 0.06481481481481481}, "collection_time_s": 0.11053401739744004, "learning_time_s": 0.43551972320128696, "iteration_time_s": 0.5431759765066737, "policy_updates": 2400, "skipped_updates": 0, "invalid_env_resets": 8, "elapsed_s": 1466.575136568019, "nonwheel_terminations": 10191, "contact_bce": 0.29866138100624084, "contact_force_loss": 0.011777312494814396, "collision_bce": 0.0026713612023741007, "collision_label_rate": 0.0026557964738458395, "collision_prediction_mean": 0.0026824637316167355, "collision_label_count": 16191.0, "terrain_level_mean": 0.5439453125, "terrain_level_max": 3, "terrain_details": {"flat": {"level_counts": [282, 121, 7, 0, 0, 0], "episodes_by_level": [[1666.0, 130.0, 1291.0, 0.0], [9.0, 7.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [544, 755, 134, 0, 0, 0], "episodes_by_level": [[4258.0, 864.0, 3176.0, 0.0], [177.0, 133.0, 27.0, 0.0], [2.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [188, 265, 146, 15, 0, 0], "episodes_by_level": [[1830.0, 410.0, 1363.0, 0.0], [182.0, 166.0, 7.0, 0.0], [19.0, 15.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [322, 83, 5, 0, 0, 0], "episodes_by_level": [[1679.0, 92.0, 1307.0, 0.0], [10.0, 5.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [292, 109, 9, 0, 0, 0], "episodes_by_level": [[1607.0, 122.0, 1225.0, 0.0], [16.0, 9.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [578, 234, 7, 0, 0, 0], "episodes_by_level": [[3287.0, 248.0, 2537.0, 0.0], [16.0, 8.0, 7.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 2223, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.183837890625, "command_abs_max": [0.7996816635131836, 0.19999979436397552, 0.4997885227203369]}
{"step": 2750, "actor_lr": 6e-05, "archive_windows": 26602, "env_steps": 2750, "total_transitions": 11264000, "num_steps_per_env": 1, "wm_loss": 1.1428922414779663, "actor_loss": -9.31747055053711, "critic_loss": 0.0038881730288267136, "reward": 0.08501557260751724, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11187510192394257, 0.07199052721261978, 0.12261661887168884], "mean_episode_length": 1072.010752688172, "episode_reward_terms": {"track_linear_velocity": 38.416866302490234, "track_angular_velocity": 40.94190979003906, "upright": 20.960052490234375, "leg_posture": -3.157456159591675, "standstill": -5.483664035797119, "action_rate_l2": -0.12733785808086395, "joint_torques_l2": -0.11004801839590073, "dof_pos_limits": -0.004451139364391565, "terminated": -0.01465639565140009, "unnecessary_wheel_lift": -0.1889539659023285, "rolling_leg_motion": -0.7224122881889343, "obstacle_progress": 1.0590894222259521, "wheel_body_intrusion": -0.23809194564819336, "pair_body_intrusion": -0.19323550164699554}, "weighted_reward_terms": {"track_linear_velocity": 1.7918133735656738, "track_angular_velocity": 1.909584879875183, "upright": 0.9776045680046082, "leg_posture": -0.14726793766021729, "standstill": -0.2557653486728668, "action_rate_l2": -0.005939206574112177, "joint_torques_l2": -0.0051327855326235294, "dof_pos_limits": -0.00020760703773703426, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.008813063614070415, "rolling_leg_motion": -0.03369426354765892, "obstacle_progress": 0.04939733445644379, "wheel_body_intrusion": -0.01110492367297411, "pair_body_intrusion": -0.009012759663164616}, "episode_termination_rates": {"time_out": 0.1935483870967742, "fell_over": 0.043010752688172046, "course_exit": 0.7311827956989247, "illegal_nonwheel_contact": 0.043010752688172046}, "collection_time_s": 0.10825579226016999, "learning_time_s": 0.4295900011388585, "iteration_time_s": 0.5458245715334566, "policy_updates": 2450, "skipped_updates": 0, "invalid_env_resets": 8, "elapsed_s": 1501.017571717006, "nonwheel_terminations": 10195, "contact_bce": 0.3100140392780304, "contact_force_loss": 0.012679380364716053, "collision_bce": 0.002642252715304494, "collision_label_rate": 0.0023535240907222033, "collision_prediction_mean": 0.0018984585767611861, "collision_label_count": 16146.0, "terrain_level_mean": 0.55615234375, "terrain_level_max": 3, "terrain_details": {"flat": {"level_counts": [282, 121, 7, 0, 0, 0], "episodes_by_level": [[1670.0, 130.0, 1292.0, 0.0], [9.0, 7.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [532, 752, 149, 0, 0, 0], "episodes_by_level": [[4274.0, 878.0, 3176.0, 0.0], [200.0, 150.0, 30.0, 0.0], [3.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [185, 260, 151, 18, 0, 0], "episodes_by_level": [[1833.0, 413.0, 1363.0, 0.0], [192.0, 174.0, 7.0, 0.0], [22.0, 18.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [319, 85, 6, 0, 0, 0], "episodes_by_level": [[1685.0, 95.0, 1307.0, 0.0], [12.0, 6.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [291, 108, 11, 0, 0, 0], "episodes_by_level": [[1610.0, 123.0, 1226.0, 0.0], [18.0, 11.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [577, 234, 8, 0, 0, 0], "episodes_by_level": [[3294.0, 249.0, 2537.0, 0.0], [18.0, 9.0, 7.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 2326, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.185546875, "command_abs_max": [0.7996816635131836, 0.19999979436397552, 0.4997885227203369]}
{"step": 2800, "actor_lr": 6e-05, "archive_windows": 27008, "env_steps": 2800, "total_transitions": 11468800, "num_steps_per_env": 1, "wm_loss": 1.1425416469573975, "actor_loss": -9.315095901489258, "critic_loss": 0.0021159856114536524, "reward": 0.08513176441192627, "falls": 14, "interval_steps": 50, "velocity_mae": [0.11058158427476883, 0.07251798361539841, 0.12189371883869171], "mean_episode_length": 1071.5267857142858, "episode_reward_terms": {"track_linear_velocity": 38.401756286621094, "track_angular_velocity": 40.9503059387207, "upright": 20.969924926757812, "leg_posture": -3.1062638759613037, "standstill": -5.367847442626953, "action_rate_l2": -0.13013066351413727, "joint_torques_l2": -0.1096724346280098, "dof_pos_limits": -0.002967318519949913, "terminated": -0.029299555346369743, "unnecessary_wheel_lift": -0.17104996740818024, "rolling_leg_motion": -0.7330734729766846, "obstacle_progress": 0.973028838634491, "wheel_body_intrusion": -0.2203412503004074, "pair_body_intrusion": -0.20340915024280548}, "weighted_reward_terms": {"track_linear_velocity": 1.7919176816940308, "track_angular_velocity": 1.9108392000198364, "upright": 0.9785068035125732, "leg_posture": -0.14494571089744568, "standstill": -0.250476598739624, "action_rate_l2": -0.006072208285331726, "joint_torques_l2": -0.005117578431963921, "dof_pos_limits": -0.00013846218644175678, "terminated": -0.0013671873603016138, "unnecessary_wheel_lift": -0.007981600239872932, "rolling_leg_motion": -0.03420696035027504, "obstacle_progress": 0.045403853058815, "wheel_body_intrusion": -0.010281650349497795, "pair_body_intrusion": -0.009491557255387306}, "episode_termination_rates": {"time_out": 0.21428571428571427, "fell_over": 0.07142857142857142, "course_exit": 0.6607142857142857, "illegal_nonwheel_contact": 0.05357142857142857}, "collection_time_s": 0.10906019767920952, "learning_time_s": 0.43031259248207787, "iteration_time_s": 0.5457103247207123, "policy_updates": 2500, "skipped_updates": 0, "invalid_env_resets": 8, "elapsed_s": 1527.9889092179947, "nonwheel_terminations": 10201, "contact_bce": 0.3064127266407013, "contact_force_loss": 0.012394082732498646, "collision_bce": 0.0018558388110250235, "collision_label_rate": 0.0019742117729038, "collision_prediction_mean": 0.0018632272258400917, "collision_label_count": 16209.0, "terrain_level_mean": 0.568115234375, "terrain_level_max": 3, "terrain_details": {"flat": {"level_counts": [281, 122, 7, 0, 0, 0], "episodes_by_level": [[1677.0, 131.0, 1292.0, 0.0], [10.0, 7.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [521, 755, 157, 0, 0, 0], "episodes_by_level": [[4292.0, 894.0, 3176.0, 0.0], [220.0, 161.0, 34.0, 0.0], [6.0, 0.0, 6.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [177, 258, 156, 23, 0, 0], "episodes_by_level": [[1842.0, 422.0, 1363.0, 0.0], [204.0, 185.0, 7.0, 0.0], [28.0, 23.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [317, 87, 6, 0, 0, 0], "episodes_by_level": [[1690.0, 97.0, 1307.0, 0.0], [13.0, 6.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [289, 110, 11, 0, 0, 0], "episodes_by_level": [[1614.0, 125.0, 1226.0, 0.0], [20.0, 11.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [576, 234, 9, 0, 0, 0], "episodes_by_level": [[3302.0, 251.0, 2537.0, 0.0], [20.0, 10.0, 8.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 2399, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.187255859375, "command_abs_max": [0.7996816635131836, 0.19999979436397552, 0.4997885227203369]}
{"step": 2850, "actor_lr": 6e-05, "archive_windows": 27416, "env_steps": 2850, "total_transitions": 11673600, "num_steps_per_env": 1, "wm_loss": 1.0899465084075928, "actor_loss": -9.343496322631836, "critic_loss": 0.0012419603299349546, "reward": 0.0849064365029335, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11079011857509613, 0.07097643613815308, 0.12065716832876205], "mean_episode_length": 1112.2450980392157, "episode_reward_terms": {"track_linear_velocity": 39.90526580810547, "track_angular_velocity": 42.54059600830078, "upright": 21.784156799316406, "leg_posture": -3.1585240364074707, "standstill": -5.962954521179199, "action_rate_l2": -0.1370859444141388, "joint_torques_l2": -0.11156655848026276, "dof_pos_limits": -0.001801303238607943, "terminated": -0.01955118030309677, "unnecessary_wheel_lift": -0.16284394264221191, "rolling_leg_motion": -0.7550923228263855, "obstacle_progress": 0.9683283567428589, "wheel_body_intrusion": -0.22939655184745789, "pair_body_intrusion": -0.22276322543621063}, "weighted_reward_terms": {"track_linear_velocity": 1.7939062118530273, "track_angular_velocity": 1.9123750925064087, "upright": 0.9792875647544861, "leg_posture": -0.14198867976665497, "standstill": -0.2680593729019165, "action_rate_l2": -0.006162578240036964, "joint_torques_l2": -0.00501537648960948, "dof_pos_limits": -8.097600220935419e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.007320506498217583, "rolling_leg_motion": -0.0339445099234581, "obstacle_progress": 0.04353034868836403, "wheel_body_intrusion": -0.010312320664525032, "pair_body_intrusion": -0.010014125145971775}, "episode_termination_rates": {"time_out": 0.20588235294117646, "fell_over": 0.049019607843137254, "course_exit": 0.7058823529411765, "illegal_nonwheel_contact": 0.0392156862745098}, "collection_time_s": 0.11014285227982328, "learning_time_s": 0.4313112365396228, "iteration_time_s": 0.5456379703375441, "policy_updates": 2550, "skipped_updates": 0, "invalid_env_resets": 8, "elapsed_s": 1555.0682154620008, "nonwheel_terminations": 10205, "contact_bce": 0.29997655749320984, "contact_force_loss": 0.012400592677295208, "collision_bce": 0.0019022058695554733, "collision_label_rate": 0.0024165066424757242, "collision_prediction_mean": 0.0029345278162509203, "collision_label_count": 16139.0, "terrain_level_mean": 0.580810546875, "terrain_level_max": 3, "terrain_details": {"flat": {"level_counts": [280, 123, 7, 0, 0, 0], "episodes_by_level": [[1681.0, 132.0, 1292.0, 0.0], [12.0, 7.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [510, 747, 176, 0, 0, 0], "episodes_by_level": [[4308.0, 907.0, 3176.0, 0.0], [247.0, 180.0, 37.0, 0.0], [6.0, 0.0, 6.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [171, 259, 157, 27, 0, 0], "episodes_by_level": [[1849.0, 428.0, 1363.0, 0.0], [211.0, 191.0, 7.0, 0.0], [34.0, 27.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [315, 89, 6, 0, 0, 0], "episodes_by_level": [[1695.0, 99.0, 1308.0, 0.0], [15.0, 6.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [287, 112, 11, 0, 0, 0], "episodes_by_level": [[1616.0, 127.0, 1226.0, 0.0], [20.0, 11.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [576, 232, 11, 0, 0, 0], "episodes_by_level": [[3308.0, 252.0, 2539.0, 0.0], [25.0, 12.0, 9.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 2473, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.186279296875, "command_abs_max": [0.7996816635131836, 0.19999979436397552, 0.49919360876083374]}
{"step": 2900, "actor_lr": 6e-05, "archive_windows": 27847, "env_steps": 2900, "total_transitions": 11878400, "num_steps_per_env": 1, "wm_loss": 1.103310465812683, "actor_loss": -9.332317352294922, "critic_loss": 0.0024132311809808016, "reward": 0.08500533550977707, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11082816869020462, 0.07159091532230377, 0.11975492537021637], "mean_episode_length": 1165.5081967213114, "episode_reward_terms": {"track_linear_velocity": 41.783180236816406, "track_angular_velocity": 44.61402893066406, "upright": 22.83843994140625, "leg_posture": -3.2703487873077393, "standstill": -6.179047584533691, "action_rate_l2": -0.14585980772972107, "joint_torques_l2": -0.11664930731058121, "dof_pos_limits": -0.000907856214325875, "terminated": -0.02048744633793831, "unnecessary_wheel_lift": -0.19590803980827332, "rolling_leg_motion": -0.7963206768035889, "obstacle_progress": 1.0242220163345337, "wheel_body_intrusion": -0.24707506597042084, "pair_body_intrusion": -0.21287675201892853}, "weighted_reward_terms": {"track_linear_velocity": 1.7924877405166626, "track_angular_velocity": 1.9139302968978882, "upright": 0.9797632098197937, "leg_posture": -0.14029712975025177, "standstill": -0.2650795578956604, "action_rate_l2": -0.006257348693907261, "joint_torques_l2": -0.0050042252987623215, "dof_pos_limits": -3.894679684890434e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.008404403924942017, "rolling_leg_motion": -0.03416195139288902, "obstacle_progress": 0.043938860297203064, "wheel_body_intrusion": -0.01059945672750473, "pair_body_intrusion": -0.009132358245551586}, "episode_termination_rates": {"time_out": 0.27049180327868855, "fell_over": 0.04918032786885246, "course_exit": 0.6557377049180327, "illegal_nonwheel_contact": 0.02459016393442623}, "collection_time_s": 0.10935689461999573, "learning_time_s": 0.43160867020022126, "iteration_time_s": 0.5455591579641372, "policy_updates": 2600, "skipped_updates": 0, "invalid_env_resets": 8, "elapsed_s": 1582.121558095998, "nonwheel_terminations": 10208, "contact_bce": 0.30188024044036865, "contact_force_loss": 0.012256395071744919, "collision_bce": 0.002694007009267807, "collision_label_rate": 0.0027269909624010324, "collision_prediction_mean": 0.0025133213493973017, "collision_label_count": 16135.0, "terrain_level_mean": 0.595703125, "terrain_level_max": 4, "terrain_details": {"flat": {"level_counts": [281, 121, 8, 0, 0, 0], "episodes_by_level": [[1684.0, 132.0, 1292.0, 0.0], [15.0, 8.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [494, 741, 198, 0, 0, 0], "episodes_by_level": [[4330.0, 925.0, 3176.0, 0.0], [281.0, 201.0, 39.0, 0.0], [6.0, 0.0, 6.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [162, 263, 162, 26, 1, 0], "episodes_by_level": [[1858.0, 437.0, 1363.0, 0.0], [217.0, 197.0, 7.0, 0.0], [35.0, 27.0, 6.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [314, 90, 6, 0, 0, 0], "episodes_by_level": [[1698.0, 100.0, 1309.0, 0.0], [16.0, 6.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [284, 115, 11, 0, 0, 0], "episodes_by_level": [[1623.0, 130.0, 1227.0, 0.0], [20.0, 11.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [573, 234, 12, 0, 0, 0], "episodes_by_level": [[3320.0, 255.0, 2541.0, 0.0], [30.0, 13.0, 9.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 2531, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.1826171875, "command_abs_max": [0.7996816635131836, 0.19996389746665955, 0.4989158511161804]}
{"step": 2950, "actor_lr": 6e-05, "archive_windows": 28265, "env_steps": 2950, "total_transitions": 12083200, "num_steps_per_env": 1, "wm_loss": 1.1056079864501953, "actor_loss": -9.353742599487305, "critic_loss": 0.003453034907579422, "reward": 0.085051991045475, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11080478876829147, 0.07200940698385239, 0.12115258723497391], "mean_episode_length": 1159.3809523809523, "episode_reward_terms": {"track_linear_velocity": 41.559051513671875, "track_angular_velocity": 44.33454895019531, "upright": 22.701820373535156, "leg_posture": -3.1951053142547607, "standstill": -6.172008514404297, "action_rate_l2": -0.14560742676258087, "joint_torques_l2": -0.1160246878862381, "dof_pos_limits": -0.0015290739247575402, "terminated": -0.020379740744829178, "unnecessary_wheel_lift": -0.16671815514564514, "rolling_leg_motion": -0.768932580947876, "obstacle_progress": 1.0241652727127075, "wheel_body_intrusion": -0.24596771597862244, "pair_body_intrusion": -0.1796640157699585}, "weighted_reward_terms": {"track_linear_velocity": 1.792294979095459, "track_angular_velocity": 1.9119921922683716, "upright": 0.9790492653846741, "leg_posture": -0.13779358565807343, "standstill": -0.26617687940597534, "action_rate_l2": -0.006279533728957176, "joint_torques_l2": -0.005003734491765499, "dof_pos_limits": -6.594355363631621e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.007189964409917593, "rolling_leg_motion": -0.03316134214401245, "obstacle_progress": 0.0441686250269413, "wheel_body_intrusion": -0.01060771755874157, "pair_body_intrusion": -0.00774827366694808}, "episode_termination_rates": {"time_out": 0.30952380952380953, "fell_over": 0.047619047619047616, "course_exit": 0.6190476190476191, "illegal_nonwheel_contact": 0.047619047619047616}, "collection_time_s": 0.10919178132258821, "learning_time_s": 0.431543824216933, "iteration_time_s": 0.5454794245322089, "policy_updates": 2650, "skipped_updates": 0, "invalid_env_resets": 8, "elapsed_s": 1609.1643023700162, "nonwheel_terminations": 10214, "contact_bce": 0.3066283166408539, "contact_force_loss": 0.012665441259741783, "collision_bce": 0.002635455224663019, "collision_label_rate": 0.002537599764764309, "collision_prediction_mean": 0.0021985340863466263, "collision_label_count": 16157.0, "terrain_level_mean": 0.610107421875, "terrain_level_max": 4, "terrain_details": {"flat": {"level_counts": [281, 121, 8, 0, 0, 0], "episodes_by_level": [[1689.0, 132.0, 1292.0, 0.0], [18.0, 8.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [482, 736, 213, 2, 0, 0], "episodes_by_level": [[4350.0, 941.0, 3176.0, 0.0], [310.0, 220.0, 42.0, 0.0], [7.0, 1.0, 6.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [155, 266, 160, 32, 1, 0], "episodes_by_level": [[1864.0, 443.0, 1363.0, 0.0], [223.0, 202.0, 7.0, 0.0], [42.0, 33.0, 7.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [314, 90, 6, 0, 0, 0], "episodes_by_level": [[1701.0, 100.0, 1309.0, 0.0], [19.0, 6.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [282, 116, 12, 0, 0, 0], "episodes_by_level": [[1627.0, 132.0, 1227.0, 0.0], [23.0, 12.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [568, 236, 15, 0, 0, 0], "episodes_by_level": [[3329.0, 260.0, 2542.0, 0.0], [36.0, 16.0, 9.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 2633, "next_command_stage": 0, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.185302734375, "command_abs_max": [0.7996703386306763, 0.19996389746665955, 0.4989158511161804]}
{"step": 3000, "actor_lr": 6e-05, "archive_windows": 28664, "env_steps": 3000, "total_transitions": 12288000, "num_steps_per_env": 1, "wm_loss": 1.1739493608474731, "actor_loss": -9.36214828491211, "critic_loss": 0.002588717034086585, "reward": 0.08501306176185608, "falls": 7, "interval_steps": 50, "velocity_mae": [0.10951153934001923, 0.07236707210540771, 0.12236601114273071], "mean_episode_length": 1241.0672268907563, "episode_reward_terms": {"track_linear_velocity": 44.537628173828125, "track_angular_velocity": 47.40108871459961, "upright": 24.29158592224121, "leg_posture": -3.4503917694091797, "standstill": -6.647850513458252, "action_rate_l2": -0.15736335515975952, "joint_torques_l2": -0.12618359923362732, "dof_pos_limits": -0.0011810659198090434, "terminated": -0.016967713832855225, "unnecessary_wheel_lift": -0.20106065273284912, "rolling_leg_motion": -0.8201882839202881, "obstacle_progress": 1.1739825010299683, "wheel_body_intrusion": -0.2814429998397827, "pair_body_intrusion": -0.19472011923789978}, "weighted_reward_terms": {"track_linear_velocity": 1.7943278551101685, "track_angular_velocity": 1.909690499305725, "upright": 0.9786571264266968, "leg_posture": -0.13900905847549438, "standstill": -0.26782798767089844, "action_rate_l2": -0.006339840590953827, "joint_torques_l2": -0.0050836727023124695, "dof_pos_limits": -4.758267095894553e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.008100313134491444, "rolling_leg_motion": -0.033043667674064636, "obstacle_progress": 0.047297295182943344, "wheel_body_intrusion": -0.011338748969137669, "pair_body_intrusion": -0.007844865322113037}, "episode_termination_rates": {"time_out": 0.33613445378151263, "fell_over": 0.05042016806722689, "course_exit": 0.6050420168067226, "illegal_nonwheel_contact": 0.008403361344537815}, "collection_time_s": 0.11001626946090255, "learning_time_s": 0.4403757224988658, "iteration_time_s": 0.5455630668213319, "policy_updates": 2700, "skipped_updates": 0, "invalid_env_resets": 8, "elapsed_s": 1636.6892004639958, "nonwheel_terminations": 10215, "contact_bce": 0.3025095760822296, "contact_force_loss": 0.012812955304980278, "collision_bce": 0.002340453676879406, "collision_label_rate": 0.0026025529950857162, "collision_prediction_mean": 0.002383225364610553, "collision_label_count": 16138.0, "terrain_level_mean": 0.625244140625, "terrain_level_max": 4, "terrain_details": {"flat": {"level_counts": [280, 122, 8, 0, 0, 0], "episodes_by_level": [[1691.0, 133.0, 1292.0, 0.0], [21.0, 8.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [471, 728, 231, 3, 0, 0], "episodes_by_level": [[4366.0, 956.0, 3176.0, 0.0], [338.0, 238.0, 45.0, 0.0], [8.0, 2.0, 6.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [149, 260, 170, 34, 1, 0], "episodes_by_level": [[1870.0, 449.0, 1363.0, 0.0], [237.0, 214.0, 7.0, 0.0], [45.0, 35.0, 7.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [311, 93, 6, 0, 0, 0], "episodes_by_level": [[1708.0, 103.0, 1309.0, 0.0], [20.0, 6.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [283, 113, 14, 0, 0, 0], "episodes_by_level": [[1629.0, 132.0, 1227.0, 0.0], [28.0, 14.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [564, 238, 17, 0, 0, 0], "episodes_by_level": [[3337.0, 264.0, 2542.0, 0.0], [41.0, 18.0, 9.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 2707, "next_command_stage": 1, "command_stage": 0, "command_ranges": [[-0.3, 0.8], [-0.2, 0.2], [-0.5, 0.5]], "command_negative_vx_fraction": 0.186767578125, "command_abs_max": [0.7996703386306763, 0.19996389746665955, 0.49742284417152405]}
{"step": 3050, "actor_lr": 6e-05, "archive_windows": 29102, "env_steps": 3050, "total_transitions": 12492800, "num_steps_per_env": 1, "wm_loss": 1.101072072982788, "actor_loss": -9.364785194396973, "critic_loss": 0.006652018520981073, "reward": 0.08508264273405075, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11153136938810349, 0.07323132455348969, 0.1213090792298317], "mean_episode_length": 1284.7235772357724, "episode_reward_terms": {"track_linear_velocity": 45.94091796875, "track_angular_velocity": 49.11316680908203, "upright": 25.1387996673584, "leg_posture": -3.537567138671875, "standstill": -6.713582515716553, "action_rate_l2": -0.16563183069229126, "joint_torques_l2": -0.13053447008132935, "dof_pos_limits": -0.001651793485507369, "terminated": -0.020073803141713142, "unnecessary_wheel_lift": -0.22586360573768616, "rolling_leg_motion": -0.8466159701347351, "obstacle_progress": 1.209839940071106, "wheel_body_intrusion": -0.25562137365341187, "pair_body_intrusion": -0.19789496064186096}, "weighted_reward_terms": {"track_linear_velocity": 1.7879688739776611, "track_angular_velocity": 1.9114292860031128, "upright": 0.9783738255500793, "leg_posture": -0.1376781463623047, "standstill": -0.26128509640693665, "action_rate_l2": -0.006446204613894224, "joint_torques_l2": -0.005080255214124918, "dof_pos_limits": -6.428594497265294e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.00879035796970129, "rolling_leg_motion": -0.03294934332370758, "obstacle_progress": 0.04708561301231384, "wheel_body_intrusion": -0.009948496706783772, "pair_body_intrusion": -0.007701849564909935}, "episode_termination_rates": {"time_out": 0.42276422764227645, "fell_over": 0.04065040650406504, "course_exit": 0.5121951219512195, "illegal_nonwheel_contact": 0.024390243902439025}, "collection_time_s": 0.11073605439974926, "learning_time_s": 0.4371585174585925, "iteration_time_s": 0.5456134841245881, "policy_updates": 2750, "skipped_updates": 0, "invalid_env_resets": 8, "elapsed_s": 1664.1211265799939, "nonwheel_terminations": 10218, "contact_bce": 0.30187714099884033, "contact_force_loss": 0.012605619616806507, "collision_bce": 0.0020825506653636694, "collision_label_rate": 0.00216557364910841, "collision_prediction_mean": 0.002067410619929433, "collision_label_count": 16162.0, "terrain_level_mean": 0.6396484375, "terrain_level_max": 4, "terrain_details": {"flat": {"level_counts": [277, 123, 10, 0, 0, 0], "episodes_by_level": [[3.0, 3.0, 0.0, 0.0], [6.0, 2.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [455, 729, 246, 3, 0, 0], "episodes_by_level": [[20.0, 17.0, 0.0, 0.0], [26.0, 16.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [144, 260, 169, 40, 1, 0], "episodes_by_level": [[5.0, 5.0, 0.0, 0.0], [5.0, 5.0, 0.0, 0.0], [7.0, 7.0, 0.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [308, 96, 6, 0, 0, 0], "episodes_by_level": [[6.0, 3.0, 1.0, 0.0], [2.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [282, 114, 14, 0, 0, 0], "episodes_by_level": [[6.0, 1.0, 2.0, 0.0], [3.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [562, 239, 18, 0, 0, 0], "episodes_by_level": [[8.0, 3.0, 1.0, 0.0], [5.0, 1.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 2781, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.195068359375, "command_abs_max": [0.9989795684814453, 0.397752970457077, 0.6935191750526428]}
{"step": 3100, "actor_lr": 6e-05, "archive_windows": 29539, "env_steps": 3100, "total_transitions": 12697600, "num_steps_per_env": 1, "wm_loss": 1.1943001747131348, "actor_loss": -9.379219055175781, "critic_loss": 0.002582057612016797, "reward": 0.08504853397607803, "falls": 10, "interval_steps": 50, "velocity_mae": [0.1122744083404541, 0.07684595137834549, 0.1228446289896965], "mean_episode_length": 1237.9640287769785, "episode_reward_terms": {"track_linear_velocity": 44.0246696472168, "track_angular_velocity": 47.265235900878906, "upright": 24.192270278930664, "leg_posture": -3.4207000732421875, "standstill": -6.275940895080566, "action_rate_l2": -0.16247253119945526, "joint_torques_l2": -0.12643301486968994, "dof_pos_limits": -0.003718010615557432, "terminated": -0.02417898178100586, "unnecessary_wheel_lift": -0.15950532257556915, "rolling_leg_motion": -0.7975982427597046, "obstacle_progress": 1.1973408460617065, "wheel_body_intrusion": -0.26000282168388367, "pair_body_intrusion": -0.16194309294223785}, "weighted_reward_terms": {"track_linear_velocity": 1.7781078815460205, "track_angular_velocity": 1.908990740776062, "upright": 0.9770991206169128, "leg_posture": -0.13815830647945404, "standstill": -0.2534783184528351, "action_rate_l2": -0.006562086753547192, "joint_torques_l2": -0.005106490105390549, "dof_pos_limits": -0.00015016635006759316, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.006442244630306959, "rolling_leg_motion": -0.03221411257982254, "obstacle_progress": 0.048359278589487076, "wheel_body_intrusion": -0.010501227341592312, "pair_body_intrusion": -0.006540703121572733}, "episode_termination_rates": {"time_out": 0.37410071942446044, "fell_over": 0.03597122302158273, "course_exit": 0.5539568345323741, "illegal_nonwheel_contact": 0.03597122302158273}, "collection_time_s": 0.10961444927728735, "learning_time_s": 0.432569078640081, "iteration_time_s": 0.5455598599825809, "policy_updates": 2800, "skipped_updates": 0, "invalid_env_resets": 8, "elapsed_s": 1691.2355659460009, "nonwheel_terminations": 10223, "contact_bce": 0.3043956458568573, "contact_force_loss": 0.013061749748885632, "collision_bce": 0.0013886319939047098, "collision_label_rate": 0.001476377947255969, "collision_prediction_mean": 0.001526165520772338, "collision_label_count": 16256.0, "terrain_level_mean": 0.654541015625, "terrain_level_max": 4, "terrain_details": {"flat": {"level_counts": [274, 126, 10, 0, 0, 0], "episodes_by_level": [[7.0, 6.0, 1.0, 0.0], [10.0, 2.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [435, 734, 260, 4, 0, 0], "episodes_by_level": [[42.0, 36.0, 0.0, 0.0], [51.0, 34.0, 1.0, 0.0], [4.0, 1.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [139, 265, 163, 46, 1, 0], "episodes_by_level": [[10.0, 10.0, 0.0, 0.0], [10.0, 8.0, 0.0, 0.0], [14.0, 13.0, 1.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [307, 97, 6, 0, 0, 0], "episodes_by_level": [[14.0, 4.0, 1.0, 0.0], [5.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [279, 117, 14, 0, 0, 0], "episodes_by_level": [[15.0, 4.0, 3.0, 0.0], [5.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [555, 246, 18, 0, 0, 0], "episodes_by_level": [[18.0, 10.0, 2.0, 0.0], [11.0, 1.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 2846, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.20166015625, "command_abs_max": [0.9989795684814453, 0.397752970457077, 0.698542594909668]}
{"step": 3150, "actor_lr": 6e-05, "archive_windows": 29959, "env_steps": 3150, "total_transitions": 12902400, "num_steps_per_env": 1, "wm_loss": 1.100779414176941, "actor_loss": -9.38907241821289, "critic_loss": 0.0022540094796568155, "reward": 0.08449632674455643, "falls": 13, "interval_steps": 50, "velocity_mae": [0.1136847510933876, 0.08055230975151062, 0.12360788136720657], "mean_episode_length": 1268.2205882352941, "episode_reward_terms": {"track_linear_velocity": 44.816368103027344, "track_angular_velocity": 48.3917350769043, "upright": 24.773420333862305, "leg_posture": -3.551199436187744, "standstill": -6.641793727874756, "action_rate_l2": -0.17090058326721191, "joint_torques_l2": -0.1304856687784195, "dof_pos_limits": -0.0028092938009649515, "terminated": -0.03220091015100479, "unnecessary_wheel_lift": -0.2060873955488205, "rolling_leg_motion": -0.8237047791481018, "obstacle_progress": 1.220678687095642, "wheel_body_intrusion": -0.274617075920105, "pair_body_intrusion": -0.2084546983242035}, "weighted_reward_terms": {"track_linear_velocity": 1.766899585723877, "track_angular_velocity": 1.9078595638275146, "upright": 0.976699948310852, "leg_posture": -0.1400071680545807, "standstill": -0.2618548274040222, "action_rate_l2": -0.006737809628248215, "joint_torques_l2": -0.005144439171999693, "dof_pos_limits": -0.00011075730435550213, "terminated": -0.0012695310870185494, "unnecessary_wheel_lift": -0.0081250611692667, "rolling_leg_motion": -0.0324748232960701, "obstacle_progress": 0.04812564700841904, "wheel_body_intrusion": -0.010826866142451763, "pair_body_intrusion": -0.008218392729759216}, "episode_termination_rates": {"time_out": 0.39705882352941174, "fell_over": 0.051470588235294115, "course_exit": 0.5073529411764706, "illegal_nonwheel_contact": 0.051470588235294115}, "collection_time_s": 0.11010413779644296, "learning_time_s": 0.43248132240201814, "iteration_time_s": 0.5455144012222225, "policy_updates": 2850, "skipped_updates": 0, "invalid_env_resets": 8, "elapsed_s": 1718.370363850001, "nonwheel_terminations": 10230, "contact_bce": 0.3061647117137909, "contact_force_loss": 0.012283396907150745, "collision_bce": 0.0021874899975955486, "collision_label_rate": 0.0020405638497322798, "collision_prediction_mean": 0.0020124907605350018, "collision_label_count": 16172.0, "terrain_level_mean": 0.6669921875, "terrain_level_max": 4, "terrain_details": {"flat": {"level_counts": [271, 129, 10, 0, 0, 0], "episodes_by_level": [[11.0, 9.0, 1.0, 0.0], [12.0, 2.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [423, 736, 268, 6, 0, 0], "episodes_by_level": [[56.0, 48.0, 0.0, 0.0], [73.0, 47.0, 1.0, 0.0], [9.0, 3.0, 6.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [134, 263, 169, 44, 4, 0], "episodes_by_level": [[18.0, 16.0, 0.0, 0.0], [19.0, 17.0, 0.0, 0.0], [16.0, 15.0, 1.0, 0.0], [5.0, 3.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [305, 99, 6, 0, 0, 0], "episodes_by_level": [[18.0, 6.0, 2.0, 0.0], [11.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [279, 117, 13, 1, 0, 0], "episodes_by_level": [[18.0, 6.0, 4.0, 0.0], [12.0, 0.0, 2.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [551, 249, 19, 0, 0, 0], "episodes_by_level": [[37.0, 14.0, 4.0, 0.0], [19.0, 2.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 2926, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.20068359375, "command_abs_max": [0.99774169921875, 0.3990473747253418, 0.6985981464385986]}
{"step": 3200, "actor_lr": 6e-05, "archive_windows": 30465, "env_steps": 3200, "total_transitions": 13107200, "num_steps_per_env": 1, "wm_loss": 1.116797685623169, "actor_loss": -9.38762092590332, "critic_loss": 0.001663513365201652, "reward": 0.08448543399572372, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11511490494012833, 0.0819251760840416, 0.12537260353565216], "mean_episode_length": 1254.0928571428572, "episode_reward_terms": {"track_linear_velocity": 44.140865325927734, "track_angular_velocity": 47.7854118347168, "upright": 24.48988914489746, "leg_posture": -3.51131272315979, "standstill": -6.439842700958252, "action_rate_l2": -0.17224307358264923, "joint_torques_l2": -0.1289936751127243, "dof_pos_limits": -0.0023725158534944057, "terminated": -0.019595198333263397, "unnecessary_wheel_lift": -0.18183492124080658, "rolling_leg_motion": -0.7905688881874084, "obstacle_progress": 1.2482680082321167, "wheel_body_intrusion": -0.27070581912994385, "pair_body_intrusion": -0.19437934458255768}, "weighted_reward_terms": {"track_linear_velocity": 1.7598721981048584, "track_angular_velocity": 1.9051783084869385, "upright": 0.9763985276222229, "leg_posture": -0.13999412953853607, "standstill": -0.25675302743911743, "action_rate_l2": -0.006867237389087677, "joint_torques_l2": -0.005142907612025738, "dof_pos_limits": -9.45909196161665e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.007249659858644009, "rolling_leg_motion": -0.03151955083012581, "obstacle_progress": 0.049767766147851944, "wheel_body_intrusion": -0.01079289335757494, "pair_body_intrusion": -0.007749798707664013}, "episode_termination_rates": {"time_out": 0.36428571428571427, "fell_over": 0.05, "course_exit": 0.5785714285714286, "illegal_nonwheel_contact": 0.014285714285714285}, "collection_time_s": 0.11047466444142628, "learning_time_s": 0.43300130157673267, "iteration_time_s": 0.545484427758438, "policy_updates": 2900, "skipped_updates": 0, "invalid_env_resets": 8, "elapsed_s": 1745.5501688270015, "nonwheel_terminations": 10232, "contact_bce": 0.30553385615348816, "contact_force_loss": 0.013037826865911484, "collision_bce": 0.001972821308299899, "collision_label_rate": 0.002413366222754121, "collision_prediction_mean": 0.001951028942130506, "collision_label_count": 16160.0, "terrain_level_mean": 0.683349609375, "terrain_level_max": 4, "terrain_details": {"flat": {"level_counts": [270, 129, 11, 0, 0, 0], "episodes_by_level": [[15.0, 10.0, 1.0, 0.0], [18.0, 3.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [409, 732, 282, 10, 0, 0], "episodes_by_level": [[75.0, 63.0, 0.0, 0.0], [97.0, 68.0, 1.0, 0.0], [15.0, 7.0, 8.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [128, 264, 171, 46, 5, 0], "episodes_by_level": [[24.0, 22.0, 0.0, 0.0], [25.0, 21.0, 0.0, 0.0], [19.0, 18.0, 1.0, 0.0], [6.0, 4.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [303, 101, 6, 0, 0, 0], "episodes_by_level": [[23.0, 8.0, 2.0, 0.0], [13.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [274, 122, 13, 1, 0, 0], "episodes_by_level": [[24.0, 11.0, 5.0, 0.0], [12.0, 0.0, 2.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [547, 250, 22, 0, 0, 0], "episodes_by_level": [[48.0, 20.0, 4.0, 0.0], [30.0, 5.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 3008, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2080078125, "command_abs_max": [0.99774169921875, 0.3998662531375885, 0.698940634727478]}
{"step": 3250, "actor_lr": 6e-05, "archive_windows": 30962, "env_steps": 3250, "total_transitions": 13312000, "num_steps_per_env": 1, "wm_loss": 1.1497400999069214, "actor_loss": -9.383249282836914, "critic_loss": 0.005881813820451498, "reward": 0.08431006222963333, "falls": 13, "interval_steps": 50, "velocity_mae": [0.1162649542093277, 0.0846390575170517, 0.12601768970489502], "mean_episode_length": 1234.3389830508474, "episode_reward_terms": {"track_linear_velocity": 43.24007797241211, "track_angular_velocity": 47.008750915527344, "upright": 24.068941116333008, "leg_posture": -3.4462454319000244, "standstill": -6.368452548980713, "action_rate_l2": -0.17217572033405304, "joint_torques_l2": -0.12740305066108704, "dof_pos_limits": -0.0018029888160526752, "terminated": -0.03134063631296158, "unnecessary_wheel_lift": -0.21584343910217285, "rolling_leg_motion": -0.760249674320221, "obstacle_progress": 1.2819939851760864, "wheel_body_intrusion": -0.2447357177734375, "pair_body_intrusion": -0.16432973742485046}, "weighted_reward_terms": {"track_linear_velocity": 1.751547932624817, "track_angular_velocity": 1.9042075872421265, "upright": 0.9749729633331299, "leg_posture": -0.13959883153438568, "standstill": -0.2579701542854309, "action_rate_l2": -0.0069744098000228405, "joint_torques_l2": -0.005160780623555183, "dof_pos_limits": -7.303459278773516e-05, "terminated": -0.0012695310870185494, "unnecessary_wheel_lift": -0.008743280544877052, "rolling_leg_motion": -0.03079582378268242, "obstacle_progress": 0.05193038657307625, "wheel_body_intrusion": -0.009913635440170765, "pair_body_intrusion": -0.006656588986515999}, "episode_termination_rates": {"time_out": 0.2711864406779661, "fell_over": 0.0847457627118644, "course_exit": 0.6186440677966102, "illegal_nonwheel_contact": 0.059322033898305086}, "collection_time_s": 0.11060882393969224, "learning_time_s": 0.43350817873957564, "iteration_time_s": 0.5454641042920009, "policy_updates": 2950, "skipped_updates": 0, "invalid_env_resets": 8, "elapsed_s": 1772.7583389490028, "nonwheel_terminations": 10239, "contact_bce": 0.30467489361763, "contact_force_loss": 0.012823658995330334, "collision_bce": 0.0022305306047201157, "collision_label_rate": 0.0020401854999363422, "collision_prediction_mean": 0.0024195429868996143, "collision_label_count": 16175.0, "terrain_level_mean": 0.697265625, "terrain_level_max": 4, "terrain_details": {"flat": {"level_counts": [268, 129, 13, 0, 0, 0], "episodes_by_level": [[19.0, 13.0, 2.0, 0.0], [22.0, 5.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [393, 741, 288, 11, 0, 0], "episodes_by_level": [[94.0, 78.0, 0.0, 0.0], [110.0, 78.0, 1.0, 0.0], [21.0, 8.0, 12.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [123, 258, 177, 51, 5, 0], "episodes_by_level": [[29.0, 27.0, 0.0, 0.0], [36.0, 30.0, 0.0, 0.0], [26.0, 23.0, 1.0, 0.0], [6.0, 4.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [300, 104, 6, 0, 0, 0], "episodes_by_level": [[26.0, 11.0, 2.0, 0.0], [13.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [274, 122, 13, 1, 0, 0], "episodes_by_level": [[29.0, 13.0, 6.0, 0.0], [14.0, 0.0, 4.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [542, 255, 22, 0, 0, 0], "episodes_by_level": [[58.0, 25.0, 4.0, 0.0], [35.0, 5.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 3090, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.21435546875, "command_abs_max": [0.99774169921875, 0.3998662531375885, 0.698940634727478]}
{"step": 3300, "actor_lr": 6e-05, "archive_windows": 31451, "env_steps": 3300, "total_transitions": 13516800, "num_steps_per_env": 1, "wm_loss": 1.1529817581176758, "actor_loss": -9.378141403198242, "critic_loss": 0.006459550466388464, "reward": 0.08446871489286423, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11722012609243393, 0.08664235472679138, 0.12593510746955872], "mean_episode_length": 1285.075, "episode_reward_terms": {"track_linear_velocity": 44.8314094543457, "track_angular_velocity": 48.93598937988281, "upright": 25.049789428710938, "leg_posture": -3.590092897415161, "standstill": -6.299189567565918, "action_rate_l2": -0.18599344789981842, "joint_torques_l2": -0.13394200801849365, "dof_pos_limits": -0.0011567841283977032, "terminated": -0.01756938174366951, "unnecessary_wheel_lift": -0.1714155077934265, "rolling_leg_motion": -0.7879897952079773, "obstacle_progress": 1.3813248872756958, "wheel_body_intrusion": -0.27719980478286743, "pair_body_intrusion": -0.18533478677272797}, "weighted_reward_terms": {"track_linear_velocity": 1.7443112134933472, "track_angular_velocity": 1.9040130376815796, "upright": 0.9746431708335876, "leg_posture": -0.13968418538570404, "standstill": -0.24509036540985107, "action_rate_l2": -0.0072366767562925816, "joint_torques_l2": -0.005211447831243277, "dof_pos_limits": -4.5008433517068624e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.006669475696980953, "rolling_leg_motion": -0.03065929375588894, "obstacle_progress": 0.05374491587281227, "wheel_body_intrusion": -0.010785355232656002, "pair_body_intrusion": -0.0072110495530068874}, "episode_termination_rates": {"time_out": 0.35, "fell_over": 0.05, "course_exit": 0.5916666666666667, "illegal_nonwheel_contact": 0.008333333333333333}, "collection_time_s": 0.11007349230232649, "learning_time_s": 0.4319452289986657, "iteration_time_s": 0.5454137207154593, "policy_updates": 3000, "skipped_updates": 0, "invalid_env_resets": 8, "elapsed_s": 1799.865278361016, "nonwheel_terminations": 10240, "contact_bce": 0.3060862123966217, "contact_force_loss": 0.013505317270755768, "collision_bce": 0.002002658322453499, "collision_label_rate": 0.002166914287954569, "collision_prediction_mean": 0.0020404711831361055, "collision_label_count": 16152.0, "terrain_level_mean": 0.709716796875, "terrain_level_max": 4, "terrain_details": {"flat": {"level_counts": [268, 129, 13, 0, 0, 0], "episodes_by_level": [[22.0, 14.0, 2.0, 0.0], [26.0, 5.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [384, 738, 298, 13, 0, 0], "episodes_by_level": [[111.0, 90.0, 0.0, 0.0], [135.0, 90.0, 2.0, 0.0], [23.0, 10.0, 12.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [121, 253, 177, 56, 7, 0], "episodes_by_level": [[31.0, 28.0, 0.0, 0.0], [43.0, 37.0, 0.0, 0.0], [34.0, 31.0, 1.0, 0.0], [8.0, 6.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [298, 104, 8, 0, 0, 0], "episodes_by_level": [[32.0, 13.0, 3.0, 0.0], [16.0, 2.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [274, 121, 14, 1, 0, 0], "episodes_by_level": [[31.0, 13.0, 6.0, 0.0], [16.0, 1.0, 4.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [539, 256, 24, 0, 0, 0], "episodes_by_level": [[65.0, 29.0, 4.0, 0.0], [40.0, 7.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 3188, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.21484375, "command_abs_max": [0.9994693994522095, 0.3998662531375885, 0.698940634727478]}
{"step": 3350, "actor_lr": 6e-05, "archive_windows": 31961, "env_steps": 3350, "total_transitions": 13721600, "num_steps_per_env": 1, "wm_loss": 1.1708130836486816, "actor_loss": -9.408916473388672, "critic_loss": 0.0030965860933065414, "reward": 0.08382783085107803, "falls": 11, "interval_steps": 50, "velocity_mae": [0.11918861418962479, 0.08991286158561707, 0.12637722492218018], "mean_episode_length": 1293.1328125, "episode_reward_terms": {"track_linear_velocity": 44.82514953613281, "track_angular_velocity": 49.222957611083984, "upright": 25.157075881958008, "leg_posture": -3.6391892433166504, "standstill": -6.726161956787109, "action_rate_l2": -0.1864425241947174, "joint_torques_l2": -0.1377377063035965, "dof_pos_limits": -0.001674314378760755, "terminated": -0.027782147750258446, "unnecessary_wheel_lift": -0.21294844150543213, "rolling_leg_motion": -0.7894841432571411, "obstacle_progress": 1.4256418943405151, "wheel_body_intrusion": -0.3031329810619354, "pair_body_intrusion": -0.205775186419487}, "weighted_reward_terms": {"track_linear_velocity": 1.7331997156143188, "track_angular_velocity": 1.9032446146011353, "upright": 0.9727182388305664, "leg_posture": -0.14071212708950043, "standstill": -0.26007238030433655, "action_rate_l2": -0.00720894755795598, "joint_torques_l2": -0.005325737409293652, "dof_pos_limits": -6.473868415923789e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.008233819156885147, "rolling_leg_motion": -0.03052602894604206, "obstacle_progress": 0.05512356758117676, "wheel_body_intrusion": -0.011720876209437847, "pair_body_intrusion": -0.007956460118293762}, "episode_termination_rates": {"time_out": 0.328125, "fell_over": 0.0625, "course_exit": 0.5859375, "illegal_nonwheel_contact": 0.0234375}, "collection_time_s": 0.1097369839984458, "learning_time_s": 0.4297064639837481, "iteration_time_s": 0.545326251617612, "policy_updates": 3050, "skipped_updates": 0, "invalid_env_resets": 8, "elapsed_s": 1826.842942919, "nonwheel_terminations": 10243, "contact_bce": 0.31315988302230835, "contact_force_loss": 0.01372421532869339, "collision_bce": 0.0022309261839836836, "collision_label_rate": 0.001727009192109108, "collision_prediction_mean": 0.001236812910065055, "collision_label_count": 16213.0, "terrain_level_mean": 0.722412109375, "terrain_level_max": 4, "terrain_details": {"flat": {"level_counts": [267, 130, 13, 0, 0, 0], "episodes_by_level": [[27.0, 15.0, 2.0, 0.0], [31.0, 5.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [376, 730, 313, 14, 0, 0], "episodes_by_level": [[122.0, 98.0, 0.0, 0.0], [160.0, 106.0, 3.0, 0.0], [24.0, 11.0, 12.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [110, 261, 175, 60, 8, 0], "episodes_by_level": [[42.0, 39.0, 0.0, 0.0], [49.0, 43.0, 0.0, 0.0], [41.0, 36.0, 2.0, 0.0], [9.0, 7.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [296, 105, 9, 0, 0, 0], "episodes_by_level": [[37.0, 15.0, 3.0, 0.0], [21.0, 3.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [273, 120, 16, 1, 0, 0], "episodes_by_level": [[34.0, 14.0, 7.0, 0.0], [22.0, 3.0, 4.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [539, 256, 24, 0, 0, 0], "episodes_by_level": [[75.0, 31.0, 7.0, 0.0], [48.0, 7.0, 6.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 3267, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.217529296875, "command_abs_max": [0.9994693994522095, 0.3998662531375885, 0.698940634727478]}
{"step": 3400, "actor_lr": 6e-05, "archive_windows": 32521, "env_steps": 3400, "total_transitions": 13926400, "num_steps_per_env": 1, "wm_loss": 1.196115493774414, "actor_loss": -9.401683807373047, "critic_loss": 0.001382015529088676, "reward": 0.08395188301801682, "falls": 20, "interval_steps": 50, "velocity_mae": [0.11903081834316254, 0.09124787896871567, 0.12752291560173035], "mean_episode_length": 1243.7769784172663, "episode_reward_terms": {"track_linear_velocity": 43.02806854248047, "track_angular_velocity": 47.31257629394531, "upright": 24.181970596313477, "leg_posture": -3.429464101791382, "standstill": -6.193068981170654, "action_rate_l2": -0.18404743075370789, "joint_torques_l2": -0.13088741898536682, "dof_pos_limits": -0.002181385178118944, "terminated": -0.04858503118157387, "unnecessary_wheel_lift": -0.25267013907432556, "rolling_leg_motion": -0.753791868686676, "obstacle_progress": 1.3718594312667847, "wheel_body_intrusion": -0.27254942059516907, "pair_body_intrusion": -0.20982632040977478}, "weighted_reward_terms": {"track_linear_velocity": 1.729734182357788, "track_angular_velocity": 1.9019720554351807, "upright": 0.9721184372901917, "leg_posture": -0.13786491751670837, "standstill": -0.24896220862865448, "action_rate_l2": -0.007398731540888548, "joint_torques_l2": -0.005261691752821207, "dof_pos_limits": -8.769198029767722e-05, "terminated": -0.0019531247671693563, "unnecessary_wheel_lift": -0.010157372802495956, "rolling_leg_motion": -0.030302533879876137, "obstacle_progress": 0.055148929357528687, "wheel_body_intrusion": -0.01095652300864458, "pair_body_intrusion": -0.008435046300292015}, "episode_termination_rates": {"time_out": 0.2589928057553957, "fell_over": 0.1079136690647482, "course_exit": 0.5971223021582733, "illegal_nonwheel_contact": 0.04316546762589928}, "collection_time_s": 0.11012829092273023, "learning_time_s": 0.4338205018156441, "iteration_time_s": 0.5453075349561763, "policy_updates": 3100, "skipped_updates": 0, "invalid_env_resets": 8, "elapsed_s": 1854.0456188509997, "nonwheel_terminations": 10249, "contact_bce": 0.3112262487411499, "contact_force_loss": 0.013356748968362808, "collision_bce": 0.0017462956020608544, "collision_label_rate": 0.001727328752167523, "collision_prediction_mean": 0.0016254244837909937, "collision_label_count": 16210.0, "terrain_level_mean": 0.73388671875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [267, 129, 14, 0, 0, 0], "episodes_by_level": [[32.0, 16.0, 5.0, 0.0], [37.0, 6.0, 3.0, 0.0], [1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [366, 727, 325, 15, 0, 0], "episodes_by_level": [[147.0, 114.0, 1.0, 0.0], [190.0, 121.0, 5.0, 0.0], [27.0, 12.0, 14.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [105, 261, 175, 64, 8, 1], "episodes_by_level": [[47.0, 44.0, 0.0, 0.0], [57.0, 49.0, 0.0, 0.0], [49.0, 42.0, 3.0, 0.0], [11.0, 8.0, 3.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [295, 106, 9, 0, 0, 0], "episodes_by_level": [[39.0, 16.0, 4.0, 0.0], [24.0, 3.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [272, 121, 16, 1, 0, 0], "episodes_by_level": [[38.0, 16.0, 8.0, 0.0], [26.0, 3.0, 5.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [538, 255, 26, 0, 0, 0], "episodes_by_level": [[79.0, 34.0, 7.0, 0.0], [58.0, 9.0, 8.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 3351, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.21630859375, "command_abs_max": [0.9994693994522095, 0.3998662531375885, 0.6997670531272888]}
{"step": 3450, "actor_lr": 6e-05, "archive_windows": 33106, "env_steps": 3450, "total_transitions": 14131200, "num_steps_per_env": 1, "wm_loss": 1.2701032161712646, "actor_loss": -9.359031677246094, "critic_loss": 0.003323730081319809, "reward": 0.08447034657001495, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11831986159086227, 0.09122123569250107, 0.1255989372730255], "mean_episode_length": 1317.8119658119658, "episode_reward_terms": {"track_linear_velocity": 45.637081146240234, "track_angular_velocity": 50.19751739501953, "upright": 25.602142333984375, "leg_posture": -3.664048910140991, "standstill": -6.044186115264893, "action_rate_l2": -0.19495590031147003, "joint_torques_l2": -0.14054185152053833, "dof_pos_limits": -0.0021229528356343508, "terminated": -0.020590808242559433, "unnecessary_wheel_lift": -0.23036479949951172, "rolling_leg_motion": -0.7870945930480957, "obstacle_progress": 1.4512320756912231, "wheel_body_intrusion": -0.28915074467658997, "pair_body_intrusion": -0.19886817038059235}, "weighted_reward_terms": {"track_linear_velocity": 1.731547474861145, "track_angular_velocity": 1.9045780897140503, "upright": 0.9713882803916931, "leg_posture": -0.1390201598405838, "standstill": -0.22932656109333038, "action_rate_l2": -0.007396954111754894, "joint_torques_l2": -0.005332394037395716, "dof_pos_limits": -8.054839418036863e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.008740427903831005, "rolling_leg_motion": -0.029863692820072174, "obstacle_progress": 0.0550621822476387, "wheel_body_intrusion": -0.010970864444971085, "pair_body_intrusion": -0.007545392494648695}, "episode_termination_rates": {"time_out": 0.3333333333333333, "fell_over": 0.06837606837606838, "course_exit": 0.5982905982905983, "illegal_nonwheel_contact": 0.0}, "collection_time_s": 0.10954159588203766, "learning_time_s": 0.43473239766201005, "iteration_time_s": 0.5452943164269622, "policy_updates": 3150, "skipped_updates": 0, "invalid_env_resets": 8, "elapsed_s": 1881.2653916730196, "nonwheel_terminations": 10249, "contact_bce": 0.3197285234928131, "contact_force_loss": 0.014976274222135544, "collision_bce": 0.002714891918003559, "collision_label_rate": 0.0022910216357558966, "collision_prediction_mean": 0.00145375553984195, "collision_label_count": 16150.0, "terrain_level_mean": 0.74755859375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [267, 126, 17, 0, 0, 0], "episodes_by_level": [[35.0, 17.0, 5.0, 0.0], [44.0, 9.0, 4.0, 0.0], [1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [355, 728, 329, 21, 0, 0], "episodes_by_level": [[162.0, 126.0, 2.0, 0.0], [205.0, 130.0, 5.0, 0.0], [33.0, 18.0, 14.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [103, 258, 175, 69, 8, 1], "episodes_by_level": [[51.0, 46.0, 0.0, 0.0], [65.0, 55.0, 0.0, 0.0], [55.0, 47.0, 4.0, 0.0], [11.0, 8.0, 3.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [294, 106, 10, 0, 0, 0], "episodes_by_level": [[42.0, 17.0, 5.0, 0.0], [28.0, 4.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [270, 122, 17, 1, 0, 0], "episodes_by_level": [[44.0, 18.0, 8.0, 0.0], [32.0, 4.0, 5.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [535, 252, 32, 0, 0, 0], "episodes_by_level": [[89.0, 38.0, 9.0, 0.0], [67.0, 15.0, 9.0, 0.0], [1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 3453, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.224609375, "command_abs_max": [0.9994693994522095, 0.3998662531375885, 0.6997670531272888]}
{"step": 3500, "actor_lr": 6e-05, "archive_windows": 33698, "env_steps": 3500, "total_transitions": 14336000, "num_steps_per_env": 1, "wm_loss": 1.2176181077957153, "actor_loss": -9.394540786743164, "critic_loss": 0.0024547872599214315, "reward": 0.08438258618116379, "falls": 11, "interval_steps": 50, "velocity_mae": [0.11860251426696777, 0.09231244027614594, 0.12633700668811798], "mean_episode_length": 1349.5732484076434, "episode_reward_terms": {"track_linear_velocity": 46.646549224853516, "track_angular_velocity": 51.37565994262695, "upright": 26.196025848388672, "leg_posture": -3.741389513015747, "standstill": -6.1216511726379395, "action_rate_l2": -0.20506927371025085, "joint_torques_l2": -0.14221446216106415, "dof_pos_limits": -0.0015441772993654013, "terminated": -0.028994735330343246, "unnecessary_wheel_lift": -0.22084638476371765, "rolling_leg_motion": -0.8153223395347595, "obstacle_progress": 1.4331876039505005, "wheel_body_intrusion": -0.29121413826942444, "pair_body_intrusion": -0.20268067717552185}, "weighted_reward_terms": {"track_linear_velocity": 1.7281962633132935, "track_angular_velocity": 1.9034039974212646, "upright": 0.9705299735069275, "leg_posture": -0.13861380517482758, "standstill": -0.22679951786994934, "action_rate_l2": -0.007597560063004494, "joint_torques_l2": -0.005268868058919907, "dof_pos_limits": -5.72098397242371e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.008182082325220108, "rolling_leg_motion": -0.030206674709916115, "obstacle_progress": 0.053097810596227646, "wheel_body_intrusion": -0.010789119638502598, "pair_body_intrusion": -0.007509065791964531}, "episode_termination_rates": {"time_out": 0.4394904458598726, "fell_over": 0.050955414012738856, "course_exit": 0.49044585987261147, "illegal_nonwheel_contact": 0.01910828025477707}, "collection_time_s": 0.11087390686094295, "learning_time_s": 0.4325143420789391, "iteration_time_s": 0.5452689471874286, "policy_updates": 3200, "skipped_updates": 0, "invalid_env_resets": 10, "elapsed_s": 1908.4413151560002, "nonwheel_terminations": 10252, "contact_bce": 0.31074872612953186, "contact_force_loss": 0.014118493534624577, "collision_bce": 0.0016456309240311384, "collision_label_rate": 0.0020376660395413637, "collision_prediction_mean": 0.0022356535773724318, "collision_label_count": 16195.0, "terrain_level_mean": 0.762939453125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [266, 126, 18, 0, 0, 0], "episodes_by_level": [[43.0, 18.0, 6.0, 0.0], [50.0, 10.0, 4.0, 0.0], [1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [344, 728, 339, 22, 0, 0], "episodes_by_level": [[181.0, 138.0, 3.0, 0.0], [227.0, 142.0, 6.0, 0.0], [34.0, 19.0, 14.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [97, 254, 179, 74, 9, 1], "episodes_by_level": [[58.0, 52.0, 1.0, 0.0], [75.0, 65.0, 0.0, 0.0], [61.0, 53.0, 4.0, 0.0], [11.0, 8.0, 3.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [292, 107, 11, 0, 0, 0], "episodes_by_level": [[51.0, 19.0, 6.0, 0.0], [31.0, 5.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [267, 123, 19, 1, 0, 0], "episodes_by_level": [[52.0, 22.0, 8.0, 0.0], [38.0, 6.0, 6.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [530, 255, 34, 0, 0, 0], "episodes_by_level": [[106.0, 43.0, 11.0, 0.0], [76.0, 17.0, 9.0, 0.0], [2.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 3526, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.223388671875, "command_abs_max": [0.9994693994522095, 0.39979350566864014, 0.6997670531272888]}
{"step": 3550, "actor_lr": 6e-05, "archive_windows": 34346, "env_steps": 3550, "total_transitions": 14540800, "num_steps_per_env": 1, "wm_loss": 1.250361442565918, "actor_loss": -9.377643585205078, "critic_loss": 0.0018072029342874885, "reward": 0.08432239294052124, "falls": 15, "interval_steps": 50, "velocity_mae": [0.11724599450826645, 0.09272172302007675, 0.12702204287052155], "mean_episode_length": 1218.142857142857, "episode_reward_terms": {"track_linear_velocity": 42.16069030761719, "track_angular_velocity": 46.36674880981445, "upright": 23.648712158203125, "leg_posture": -3.335073471069336, "standstill": -5.675379276275635, "action_rate_l2": -0.19303926825523376, "joint_torques_l2": -0.1273394376039505, "dof_pos_limits": -0.0009541338658891618, "terminated": -0.03568777069449425, "unnecessary_wheel_lift": -0.2337692677974701, "rolling_leg_motion": -0.7520219683647156, "obstacle_progress": 1.3508814573287964, "wheel_body_intrusion": -0.261229008436203, "pair_body_intrusion": -0.1958293467760086}, "weighted_reward_terms": {"track_linear_velocity": 1.7305315732955933, "track_angular_velocity": 1.9031736850738525, "upright": 0.9706871509552002, "leg_posture": -0.13689173758029938, "standstill": -0.23295214772224426, "action_rate_l2": -0.007923507131636143, "joint_torques_l2": -0.005226786248385906, "dof_pos_limits": -3.91634639527183e-05, "terminated": -0.0014648435171693563, "unnecessary_wheel_lift": -0.009595314972102642, "rolling_leg_motion": -0.03086755983531475, "obstacle_progress": 0.05544840171933174, "wheel_body_intrusion": -0.010722429491579533, "pair_body_intrusion": -0.008038029074668884}, "episode_termination_rates": {"time_out": 0.2698412698412698, "fell_over": 0.09523809523809523, "course_exit": 0.6111111111111112, "illegal_nonwheel_contact": 0.023809523809523808}, "collection_time_s": 0.11054582138312981, "learning_time_s": 0.43986070385959464, "iteration_time_s": 0.5453504238709886, "policy_updates": 3250, "skipped_updates": 0, "invalid_env_resets": 10, "elapsed_s": 1935.9940047420096, "nonwheel_terminations": 10255, "contact_bce": 0.3207593262195587, "contact_force_loss": 0.014930319041013718, "collision_bce": 0.00175615178886801, "collision_label_rate": 0.0020349016413092613, "collision_prediction_mean": 0.001860788557678461, "collision_label_count": 16217.0, "terrain_level_mean": 0.77490234375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [264, 127, 17, 2, 0, 0], "episodes_by_level": [[47.0, 21.0, 7.0, 0.0], [57.0, 11.0, 5.0, 0.0], [3.0, 2.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [338, 724, 348, 23, 0, 0], "episodes_by_level": [[197.0, 148.0, 3.0, 0.0], [244.0, 152.0, 7.0, 0.0], [35.0, 20.0, 14.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [94, 247, 183, 77, 12, 1], "episodes_by_level": [[63.0, 55.0, 1.0, 0.0], [85.0, 75.0, 0.0, 0.0], [68.0, 60.0, 4.0, 0.0], [14.0, 10.0, 3.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [293, 105, 12, 0, 0, 0], "episodes_by_level": [[54.0, 19.0, 7.0, 0.0], [34.0, 6.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [267, 123, 19, 1, 0, 0], "episodes_by_level": [[54.0, 24.0, 8.0, 0.0], [47.0, 7.0, 8.0, 0.0], [2.0, 1.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [526, 258, 35, 0, 0, 0], "episodes_by_level": [[115.0, 47.0, 13.0, 0.0], [82.0, 18.0, 9.0, 0.0], [2.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 3609, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23046875, "command_abs_max": [0.9994457960128784, 0.39979350566864014, 0.6998120546340942]}
{"step": 3600, "actor_lr": 6e-05, "archive_windows": 34972, "env_steps": 3600, "total_transitions": 14745600, "num_steps_per_env": 1, "wm_loss": 1.2754720449447632, "actor_loss": -9.35849380493164, "critic_loss": 0.0023116597440093756, "reward": 0.08442480117082596, "falls": 11, "interval_steps": 50, "velocity_mae": [0.11804080754518509, 0.09365414828062057, 0.12689624726772308], "mean_episode_length": 1319.1935483870968, "episode_reward_terms": {"track_linear_velocity": 45.55729293823242, "track_angular_velocity": 50.205047607421875, "upright": 25.617780685424805, "leg_posture": -3.5726780891418457, "standstill": -6.029107570648193, "action_rate_l2": -0.2077871859073639, "joint_torques_l2": -0.13793304562568665, "dof_pos_limits": -0.0011707476805895567, "terminated": -0.028342047706246376, "unnecessary_wheel_lift": -0.2006514072418213, "rolling_leg_motion": -0.7878208756446838, "obstacle_progress": 1.453507661819458, "wheel_body_intrusion": -0.2904426157474518, "pair_body_intrusion": -0.20505212247371674}, "weighted_reward_terms": {"track_linear_velocity": 1.7267098426818848, "track_angular_velocity": 1.9028687477111816, "upright": 0.970963716506958, "leg_posture": -0.13541144132614136, "standstill": -0.2285148948431015, "action_rate_l2": -0.007875538431107998, "joint_torques_l2": -0.005227930378168821, "dof_pos_limits": -4.4373613491188735e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.007605078164488077, "rolling_leg_motion": -0.029859943315386772, "obstacle_progress": 0.0550907664000988, "wheel_body_intrusion": -0.011008339934051037, "pair_body_intrusion": -0.007771873846650124}, "episode_termination_rates": {"time_out": 0.3870967741935484, "fell_over": 0.07258064516129033, "course_exit": 0.5241935483870968, "illegal_nonwheel_contact": 0.016129032258064516}, "collection_time_s": 0.11023971936025191, "learning_time_s": 0.4334089744603261, "iteration_time_s": 0.5453283594052806, "policy_updates": 3300, "skipped_updates": 0, "invalid_env_resets": 11, "elapsed_s": 1963.18209385901, "nonwheel_terminations": 10257, "contact_bce": 0.3144422173500061, "contact_force_loss": 0.015347606502473354, "collision_bce": 0.0021734354086220264, "collision_label_rate": 0.00228917901404202, "collision_prediction_mean": 0.002393109956756234, "collision_label_count": 16163.0, "terrain_level_mean": 0.785400390625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [263, 128, 17, 2, 0, 0], "episodes_by_level": [[50.0, 22.0, 7.0, 0.0], [62.0, 11.0, 5.0, 0.0], [4.0, 2.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [327, 724, 358, 24, 0, 0], "episodes_by_level": [[211.0, 159.0, 3.0, 0.0], [263.0, 163.0, 8.0, 0.0], [38.0, 21.0, 15.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [95, 241, 186, 78, 13, 1], "episodes_by_level": [[64.0, 56.0, 1.0, 0.0], [94.0, 82.0, 1.0, 0.0], [74.0, 64.0, 5.0, 0.0], [17.0, 11.0, 5.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [291, 104, 15, 0, 0, 0], "episodes_by_level": [[60.0, 21.0, 7.0, 0.0], [38.0, 9.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [267, 121, 21, 1, 0, 0], "episodes_by_level": [[55.0, 24.0, 8.0, 0.0], [50.0, 9.0, 8.0, 0.0], [2.0, 1.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [525, 255, 39, 0, 0, 0], "episodes_by_level": [[122.0, 49.0, 14.0, 0.0], [94.0, 22.0, 10.0, 0.0], [2.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 3691, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2314453125, "command_abs_max": [0.9994457960128784, 0.39979350566864014, 0.6998120546340942]}
{"step": 3650, "actor_lr": 6e-05, "archive_windows": 35666, "env_steps": 3650, "total_transitions": 14950400, "num_steps_per_env": 1, "wm_loss": 1.3304084539413452, "actor_loss": -9.375307083129883, "critic_loss": 0.0016259888652712107, "reward": 0.08405277132987976, "falls": 13, "interval_steps": 50, "velocity_mae": [0.1210840567946434, 0.09372194856405258, 0.1264905035495758], "mean_episode_length": 1329.7307692307693, "episode_reward_terms": {"track_linear_velocity": 45.723182678222656, "track_angular_velocity": 50.62638473510742, "upright": 25.829051971435547, "leg_posture": -3.6188511848449707, "standstill": -6.2278523445129395, "action_rate_l2": -0.21525254845619202, "joint_torques_l2": -0.13946501910686493, "dof_pos_limits": -0.0009509016526862979, "terminated": -0.03376268967986107, "unnecessary_wheel_lift": -0.269986629486084, "rolling_leg_motion": -0.8079177141189575, "obstacle_progress": 1.4058996438980103, "wheel_body_intrusion": -0.2870696187019348, "pair_body_intrusion": -0.21585436165332794}, "weighted_reward_terms": {"track_linear_velocity": 1.7192647457122803, "track_angular_velocity": 1.9036331176757812, "upright": 0.9712136387825012, "leg_posture": -0.13607458770275116, "standstill": -0.23417720198631287, "action_rate_l2": -0.008093840442597866, "joint_torques_l2": -0.0052441079169511795, "dof_pos_limits": -3.575542359612882e-05, "terminated": -0.0012695310870185494, "unnecessary_wheel_lift": -0.010151929222047329, "rolling_leg_motion": -0.030378999188542366, "obstacle_progress": 0.05286407843232155, "wheel_body_intrusion": -0.010794277302920818, "pair_body_intrusion": -0.008116468787193298}, "episode_termination_rates": {"time_out": 0.391025641025641, "fell_over": 0.07051282051282051, "course_exit": 0.5256410256410257, "illegal_nonwheel_contact": 0.01282051282051282}, "collection_time_s": 0.11047589324123691, "learning_time_s": 0.43309810997860043, "iteration_time_s": 0.5453048357712376, "policy_updates": 3350, "skipped_updates": 0, "invalid_env_resets": 12, "elapsed_s": 1990.3626505650172, "nonwheel_terminations": 10259, "contact_bce": 0.3257034718990326, "contact_force_loss": 0.015909189358353615, "collision_bce": 0.002571998629719019, "collision_label_rate": 0.0022819784935563803, "collision_prediction_mean": 0.001935237436555326, "collision_label_count": 16214.0, "terrain_level_mean": 0.79931640625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [259, 132, 17, 2, 0, 0], "episodes_by_level": [[58.0, 26.0, 7.0, 0.0], [65.0, 11.0, 5.0, 0.0], [4.0, 2.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [318, 718, 369, 28, 0, 0], "episodes_by_level": [[225.0, 171.0, 3.0, 0.0], [297.0, 183.0, 9.0, 0.0], [48.0, 26.0, 18.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [93, 239, 184, 82, 15, 1], "episodes_by_level": [[66.0, 58.0, 1.0, 0.0], [101.0, 87.0, 1.0, 0.0], [81.0, 71.0, 5.0, 0.0], [19.0, 13.0, 5.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [290, 104, 16, 0, 0, 0], "episodes_by_level": [[67.0, 22.0, 8.0, 0.0], [42.0, 10.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [266, 121, 22, 1, 0, 0], "episodes_by_level": [[58.0, 25.0, 8.0, 0.0], [52.0, 10.0, 8.0, 0.0], [3.0, 1.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [520, 259, 39, 1, 0, 0], "episodes_by_level": [[135.0, 54.0, 14.0, 0.0], [104.0, 23.0, 10.0, 0.0], [3.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 3782, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.229248046875, "command_abs_max": [0.9994457960128784, 0.39979350566864014, 0.6998120546340942]}
{"step": 3700, "actor_lr": 6e-05, "archive_windows": 36337, "env_steps": 3700, "total_transitions": 15155200, "num_steps_per_env": 1, "wm_loss": 1.3059288263320923, "actor_loss": -9.387364387512207, "critic_loss": 0.0018016014946624637, "reward": 0.08427848666906357, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11867768317461014, 0.09341509640216827, 0.126083105802536], "mean_episode_length": 1337.1656804733727, "episode_reward_terms": {"track_linear_velocity": 46.10108947753906, "track_angular_velocity": 50.93072509765625, "upright": 25.99340057373047, "leg_posture": -3.5864357948303223, "standstill": -6.251237392425537, "action_rate_l2": -0.22340968251228333, "joint_torques_l2": -0.13736912608146667, "dof_pos_limits": -0.0004937203484587371, "terminated": -0.026116512715816498, "unnecessary_wheel_lift": -0.2507404088973999, "rolling_leg_motion": -0.8145331740379333, "obstacle_progress": 1.4396374225616455, "wheel_body_intrusion": -0.27957090735435486, "pair_body_intrusion": -0.20063309371471405}, "weighted_reward_terms": {"track_linear_velocity": 1.7238361835479736, "track_angular_velocity": 1.9044283628463745, "upright": 0.9719588756561279, "leg_posture": -0.1341058909893036, "standstill": -0.23374956846237183, "action_rate_l2": -0.008353852666914463, "joint_torques_l2": -0.005136578343808651, "dof_pos_limits": -1.8461450963513926e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.009375817142426968, "rolling_leg_motion": -0.030457453802227974, "obstacle_progress": 0.05383168160915375, "wheel_body_intrusion": -0.010453862138092518, "pair_body_intrusion": -0.007502178195863962}, "episode_termination_rates": {"time_out": 0.40236686390532544, "fell_over": 0.05917159763313609, "course_exit": 0.5384615384615384, "illegal_nonwheel_contact": 0.0}, "collection_time_s": 0.11046410367649515, "learning_time_s": 0.43259485106158535, "iteration_time_s": 0.5452760240108143, "policy_updates": 3400, "skipped_updates": 0, "invalid_env_resets": 13, "elapsed_s": 2017.5212888400129, "nonwheel_terminations": 10259, "contact_bce": 0.3254832625389099, "contact_force_loss": 0.01604577526450157, "collision_bce": 0.002101652789860964, "collision_label_rate": 0.0016026628436520696, "collision_prediction_mean": 0.0025087250396609306, "collision_label_count": 16223.0, "terrain_level_mean": 0.816162109375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [254, 134, 20, 2, 0, 0], "episodes_by_level": [[67.0, 31.0, 8.0, 0.0], [70.0, 14.0, 5.0, 0.0], [4.0, 2.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [315, 697, 390, 31, 0, 0], "episodes_by_level": [[235.0, 176.0, 3.0, 0.0], [328.0, 206.0, 10.0, 0.0], [53.0, 29.0, 18.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [89, 236, 183, 89, 16, 1], "episodes_by_level": [[72.0, 62.0, 2.0, 0.0], [109.0, 94.0, 1.0, 0.0], [93.0, 80.0, 5.0, 0.0], [21.0, 14.0, 5.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [290, 103, 17, 0, 0, 0], "episodes_by_level": [[74.0, 22.0, 10.0, 0.0], [45.0, 11.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [263, 122, 24, 1, 0, 0], "episodes_by_level": [[70.0, 28.0, 9.0, 0.0], [59.0, 12.0, 8.0, 0.0], [3.0, 1.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [516, 262, 40, 1, 0, 0], "episodes_by_level": [[149.0, 59.0, 15.0, 0.0], [114.0, 24.0, 11.0, 0.0], [3.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 3885, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.231201171875, "command_abs_max": [0.99774169921875, 0.39979350566864014, 0.6998120546340942]}
{"step": 3750, "actor_lr": 6e-05, "archive_windows": 37090, "env_steps": 3750, "total_transitions": 15360000, "num_steps_per_env": 1, "wm_loss": 1.3087503910064697, "actor_loss": -9.341936111450195, "critic_loss": 0.0036399306263774633, "reward": 0.08440844714641571, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11984694749116898, 0.09490300714969635, 0.12601932883262634], "mean_episode_length": 1416.1503267973856, "episode_reward_terms": {"track_linear_velocity": 48.699832916259766, "track_angular_velocity": 53.92636489868164, "upright": 27.533283233642578, "leg_posture": -3.7673239707946777, "standstill": -6.306685924530029, "action_rate_l2": -0.24054956436157227, "joint_torques_l2": -0.146145761013031, "dof_pos_limits": -0.0020283798221498728, "terminated": -0.0248932633548975, "unnecessary_wheel_lift": -0.25478559732437134, "rolling_leg_motion": -0.856689453125, "obstacle_progress": 1.4905270338058472, "wheel_body_intrusion": -0.2962311804294586, "pair_body_intrusion": -0.21963971853256226}, "weighted_reward_terms": {"track_linear_velocity": 1.7194445133209229, "track_angular_velocity": 1.9039775133132935, "upright": 0.9721173048019409, "leg_posture": -0.13301286101341248, "standstill": -0.22267009317874908, "action_rate_l2": -0.008493080735206604, "joint_torques_l2": -0.0051599666476249695, "dof_pos_limits": -7.161597750382498e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.00899571180343628, "rolling_leg_motion": -0.030247125774621964, "obstacle_progress": 0.05262602120637894, "wheel_body_intrusion": -0.010459030978381634, "pair_body_intrusion": -0.007754816673696041}, "episode_termination_rates": {"time_out": 0.5490196078431373, "fell_over": 0.0392156862745098, "course_exit": 0.39215686274509803, "illegal_nonwheel_contact": 0.0196078431372549}, "collection_time_s": 0.11124598207941744, "learning_time_s": 0.4345493161014747, "iteration_time_s": 0.5452841511693317, "policy_updates": 3450, "skipped_updates": 0, "invalid_env_resets": 15, "elapsed_s": 2044.815566884994, "nonwheel_terminations": 10262, "contact_bce": 0.32695531845092773, "contact_force_loss": 0.016177374869585037, "collision_bce": 0.0020709114614874125, "collision_label_rate": 0.001537988311611116, "collision_prediction_mean": 0.0014406078262254596, "collision_label_count": 16255.0, "terrain_level_mean": 0.828857421875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [250, 138, 20, 2, 0, 0], "episodes_by_level": [[80.0, 36.0, 8.0, 0.0], [74.0, 14.0, 6.0, 0.0], [4.0, 2.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [308, 692, 401, 32, 0, 0], "episodes_by_level": [[244.0, 184.0, 3.0, 0.0], [349.0, 218.0, 11.0, 0.0], [59.0, 30.0, 19.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [88, 236, 177, 95, 16, 2], "episodes_by_level": [[76.0, 65.0, 2.0, 0.0], [114.0, 97.0, 3.0, 0.0], [101.0, 87.0, 5.0, 0.0], [22.0, 15.0, 5.0, 0.0], [2.0, 2.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "platform": {"level_counts": [287, 106, 17, 0, 0, 0], "episodes_by_level": [[85.0, 25.0, 11.0, 0.0], [47.0, 11.0, 1.0, 0.0], [1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [259, 124, 26, 1, 0, 0], "episodes_by_level": [[79.0, 32.0, 9.0, 0.0], [64.0, 14.0, 8.0, 0.0], [4.0, 1.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [512, 263, 42, 2, 0, 0], "episodes_by_level": [[165.0, 63.0, 15.0, 0.0], [125.0, 27.0, 11.0, 0.0], [4.0, 2.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 3973, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.232666015625, "command_abs_max": [0.99774169921875, 0.39979350566864014, 0.6998120546340942]}
{"step": 3800, "actor_lr": 6e-05, "archive_windows": 37874, "env_steps": 3800, "total_transitions": 15564800, "num_steps_per_env": 1, "wm_loss": 1.2664406299591064, "actor_loss": -9.37762451171875, "critic_loss": 0.004174962639808655, "reward": 0.084650918841362, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11961756646633148, 0.09482131153345108, 0.1261650174856186], "mean_episode_length": 1413.7653631284916, "episode_reward_terms": {"track_linear_velocity": 48.61750793457031, "track_angular_velocity": 53.863609313964844, "upright": 27.511611938476562, "leg_posture": -3.6953859329223633, "standstill": -6.160698413848877, "action_rate_l2": -0.24766622483730316, "joint_torques_l2": -0.14456558227539062, "dof_pos_limits": -0.0013365437043830752, "terminated": -0.016567561775445938, "unnecessary_wheel_lift": -0.2056368738412857, "rolling_leg_motion": -0.8620025515556335, "obstacle_progress": 1.5226670503616333, "wheel_body_intrusion": -0.27611619234085083, "pair_body_intrusion": -0.22887137532234192}, "weighted_reward_terms": {"track_linear_velocity": 1.7194335460662842, "track_angular_velocity": 1.9049699306488037, "upright": 0.9729906916618347, "leg_posture": -0.13069304823875427, "standstill": -0.21788263320922852, "action_rate_l2": -0.008759099058806896, "joint_torques_l2": -0.005112785380333662, "dof_pos_limits": -4.7268935304600745e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.007272666320204735, "rolling_leg_motion": -0.030486052855849266, "obstacle_progress": 0.053851477801799774, "wheel_body_intrusion": -0.00976527575403452, "pair_body_intrusion": -0.00809438992291689}, "episode_termination_rates": {"time_out": 0.5195530726256983, "fell_over": 0.0223463687150838, "course_exit": 0.44692737430167595, "illegal_nonwheel_contact": 0.0111731843575419}, "collection_time_s": 0.11041649656021037, "learning_time_s": 0.43237618445651604, "iteration_time_s": 0.5452529884423711, "policy_updates": 3500, "skipped_updates": 0, "invalid_env_resets": 15, "elapsed_s": 2071.9613560810103, "nonwheel_terminations": 10264, "contact_bce": 0.32146260142326355, "contact_force_loss": 0.01595176011323929, "collision_bce": 0.0019586915150284767, "collision_label_rate": 0.0019136983901262283, "collision_prediction_mean": 0.001574662048369646, "collision_label_count": 16199.0, "terrain_level_mean": 0.84423828125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [248, 138, 22, 2, 0, 0], "episodes_by_level": [[89.0, 38.0, 8.0, 0.0], [79.0, 16.0, 6.0, 0.0], [4.0, 2.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [298, 684, 416, 35, 0, 0], "episodes_by_level": [[256.0, 193.0, 3.0, 0.0], [377.0, 238.0, 11.0, 0.0], [67.0, 33.0, 22.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [86, 235, 170, 103, 19, 1], "episodes_by_level": [[80.0, 67.0, 2.0, 0.0], [117.0, 100.0, 3.0, 0.0], [111.0, 96.0, 5.0, 0.0], [24.0, 17.0, 5.0, 0.0], [2.0, 2.0, 0.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "platform": {"level_counts": [284, 107, 19, 0, 0, 0], "episodes_by_level": [[94.0, 29.0, 11.0, 0.0], [53.0, 13.0, 2.0, 0.0], [2.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [259, 124, 26, 1, 0, 0], "episodes_by_level": [[87.0, 32.0, 9.0, 0.0], [69.0, 14.0, 8.0, 0.0], [4.0, 1.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [507, 266, 44, 2, 0, 0], "episodes_by_level": [[191.0, 69.0, 15.0, 0.0], [142.0, 29.0, 12.0, 0.0], [4.0, 2.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 4067, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234130859375, "command_abs_max": [0.99774169921875, 0.39979350566864014, 0.6998120546340942]}
{"step": 3850, "actor_lr": 6e-05, "archive_windows": 38704, "env_steps": 3850, "total_transitions": 15769600, "num_steps_per_env": 1, "wm_loss": 1.275300145149231, "actor_loss": -9.347442626953125, "critic_loss": 0.003959463443607092, "reward": 0.08472473919391632, "falls": 7, "interval_steps": 50, "velocity_mae": [0.1217121109366417, 0.09327182918787003, 0.12653255462646484], "mean_episode_length": 1478.3141361256544, "episode_reward_terms": {"track_linear_velocity": 50.778221130371094, "track_angular_velocity": 56.291622161865234, "upright": 28.753067016601562, "leg_posture": -3.831331968307495, "standstill": -6.27078914642334, "action_rate_l2": -0.2588455080986023, "joint_torques_l2": -0.1512250453233719, "dof_pos_limits": -0.0005886476719751954, "terminated": -0.020211324095726013, "unnecessary_wheel_lift": -0.22397436201572418, "rolling_leg_motion": -0.8985779285430908, "obstacle_progress": 1.6039000749588013, "wheel_body_intrusion": -0.2965323328971863, "pair_body_intrusion": -0.22495822608470917}, "weighted_reward_terms": {"track_linear_velocity": 1.7174369096755981, "track_angular_velocity": 1.9039127826690674, "upright": 0.9724952578544617, "leg_posture": -0.12958450615406036, "standstill": -0.2120925784111023, "action_rate_l2": -0.00875475350767374, "joint_torques_l2": -0.005114780738949776, "dof_pos_limits": -1.990942473639734e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.007575330790132284, "rolling_leg_motion": -0.030391983687877655, "obstacle_progress": 0.05424760654568672, "wheel_body_intrusion": -0.01002940908074379, "pair_body_intrusion": -0.0076086074113845825}, "episode_termination_rates": {"time_out": 0.612565445026178, "fell_over": 0.03664921465968586, "course_exit": 0.3507853403141361, "illegal_nonwheel_contact": 0.005235602094240838}, "collection_time_s": 0.10979587757668924, "learning_time_s": 0.4293631730414927, "iteration_time_s": 0.545175214827797, "policy_updates": 3550, "skipped_updates": 0, "invalid_env_resets": 15, "elapsed_s": 2098.9245770870184, "nonwheel_terminations": 10265, "contact_bce": 0.32874295115470886, "contact_force_loss": 0.01682448945939541, "collision_bce": 0.0028407813515514135, "collision_label_rate": 0.0021645021624863148, "collision_prediction_mean": 0.00280012097209692, "collision_label_count": 16170.0, "terrain_level_mean": 0.857421875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [246, 140, 22, 2, 0, 0], "episodes_by_level": [[109.0, 40.0, 8.0, 0.0], [82.0, 16.0, 6.0, 0.0], [4.0, 2.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [288, 680, 426, 39, 0, 0], "episodes_by_level": [[270.0, 202.0, 3.0, 0.0], [400.0, 254.0, 11.0, 0.0], [73.0, 37.0, 23.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [85, 229, 170, 109, 19, 2], "episodes_by_level": [[81.0, 68.0, 2.0, 0.0], [125.0, 107.0, 3.0, 0.0], [118.0, 103.0, 5.0, 0.0], [25.0, 18.0, 5.0, 0.0], [3.0, 3.0, 0.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "platform": {"level_counts": [280, 111, 19, 0, 0, 0], "episodes_by_level": [[111.0, 33.0, 11.0, 0.0], [54.0, 13.0, 2.0, 0.0], [2.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [258, 125, 26, 1, 0, 0], "episodes_by_level": [[101.0, 34.0, 9.0, 0.0], [72.0, 14.0, 9.0, 0.0], [4.0, 1.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [505, 268, 44, 2, 0, 0], "episodes_by_level": [[224.0, 72.0, 17.0, 0.0], [151.0, 29.0, 13.0, 0.0], [4.0, 2.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 4163, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2314453125, "command_abs_max": [0.99774169921875, 0.39974647760391235, 0.6998120546340942]}
{"step": 3900, "actor_lr": 6e-05, "archive_windows": 39496, "env_steps": 3900, "total_transitions": 15974400, "num_steps_per_env": 1, "wm_loss": 1.3115520477294922, "actor_loss": -9.379751205444336, "critic_loss": 0.0015138544840738177, "reward": 0.08473902195692062, "falls": 12, "interval_steps": 50, "velocity_mae": [0.1208018884062767, 0.09341618418693542, 0.1261172890663147], "mean_episode_length": 1490.1666666666667, "episode_reward_terms": {"track_linear_velocity": 51.27585220336914, "track_angular_velocity": 56.75637435913086, "upright": 28.957839965820312, "leg_posture": -3.93874192237854, "standstill": -6.29404354095459, "action_rate_l2": -0.2642894983291626, "joint_torques_l2": -0.15492860972881317, "dof_pos_limits": -0.0008762276265770197, "terminated": -0.03492577746510506, "unnecessary_wheel_lift": -0.2264034003019333, "rolling_leg_motion": -0.9286852478981018, "obstacle_progress": 1.6721458435058594, "wheel_body_intrusion": -0.2893086075782776, "pair_body_intrusion": -0.2547505497932434}, "weighted_reward_terms": {"track_linear_velocity": 1.7204737663269043, "track_angular_velocity": 1.9043633937835693, "upright": 0.9716309905052185, "leg_posture": -0.13215777277946472, "standstill": -0.21118588745594025, "action_rate_l2": -0.008867783471941948, "joint_torques_l2": -0.005198365543037653, "dof_pos_limits": -2.9400323910522275e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.007596579845994711, "rolling_leg_motion": -0.031160451471805573, "obstacle_progress": 0.05610600486397743, "wheel_body_intrusion": -0.009707257151603699, "pair_body_intrusion": -0.00854772049933672}, "episode_termination_rates": {"time_out": 0.6359649122807017, "fell_over": 0.05263157894736842, "course_exit": 0.31140350877192985, "illegal_nonwheel_contact": 0.008771929824561403}, "collection_time_s": 0.11049471883685329, "learning_time_s": 0.43355380023946055, "iteration_time_s": 0.5451619543587171, "policy_updates": 3600, "skipped_updates": 0, "invalid_env_resets": 16, "elapsed_s": 2126.1316219989967, "nonwheel_terminations": 10267, "contact_bce": 0.3222334086894989, "contact_force_loss": 0.017165806144475937, "collision_bce": 0.0013035513693466783, "collision_label_rate": 0.0011716100852936506, "collision_prediction_mean": 0.001311939093284309, "collision_label_count": 16217.0, "terrain_level_mean": 0.870849609375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [241, 144, 23, 2, 0, 0], "episodes_by_level": [[130.0, 45.0, 8.0, 0.0], [87.0, 17.0, 6.0, 0.0], [4.0, 2.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [280, 677, 435, 41, 0, 0], "episodes_by_level": [[283.0, 211.0, 3.0, 0.0], [423.0, 269.0, 11.0, 0.0], [81.0, 39.0, 27.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [84, 224, 171, 114, 18, 3], "episodes_by_level": [[83.0, 69.0, 2.0, 0.0], [135.0, 115.0, 3.0, 0.0], [124.0, 108.0, 6.0, 0.0], [26.0, 19.0, 5.0, 0.0], [4.0, 4.0, 0.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "platform": {"level_counts": [280, 111, 19, 0, 0, 0], "episodes_by_level": [[129.0, 33.0, 11.0, 0.0], [55.0, 13.0, 2.0, 0.0], [2.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [255, 127, 27, 1, 0, 0], "episodes_by_level": [[128.0, 37.0, 9.0, 0.0], [74.0, 15.0, 9.0, 0.0], [4.0, 1.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [497, 273, 47, 2, 0, 0], "episodes_by_level": [[272.0, 80.0, 20.0, 0.0], [165.0, 32.0, 13.0, 0.0], [5.0, 2.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 4258, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.229248046875, "command_abs_max": [0.99774169921875, 0.39974647760391235, 0.6998120546340942]}
{"step": 3950, "actor_lr": 6e-05, "archive_windows": 40278, "env_steps": 3950, "total_transitions": 16179200, "num_steps_per_env": 1, "wm_loss": 1.356459617614746, "actor_loss": -9.342208862304688, "critic_loss": 0.0026849645655602217, "reward": 0.08462277054786682, "falls": 6, "interval_steps": 50, "velocity_mae": [0.12208614498376846, 0.09328825771808624, 0.12597152590751648], "mean_episode_length": 1545.8544061302682, "episode_reward_terms": {"track_linear_velocity": 53.101348876953125, "track_angular_velocity": 58.88311767578125, "upright": 30.021652221679688, "leg_posture": -4.123855113983154, "standstill": -6.617807865142822, "action_rate_l2": -0.27769410610198975, "joint_torques_l2": -0.1626143902540207, "dof_pos_limits": -0.0011578467674553394, "terminated": -0.01811547949910164, "unnecessary_wheel_lift": -0.24645711481571198, "rolling_leg_motion": -0.9708054661750793, "obstacle_progress": 1.756581425666809, "wheel_body_intrusion": -0.27540677785873413, "pair_body_intrusion": -0.25428563356399536}, "weighted_reward_terms": {"track_linear_velocity": 1.7175405025482178, "track_angular_velocity": 1.904549241065979, "upright": 0.9710375666618347, "leg_posture": -0.1333843320608139, "standstill": -0.21405018866062164, "action_rate_l2": -0.008981897495687008, "joint_torques_l2": -0.005259693134576082, "dof_pos_limits": -3.745005960809067e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.007971550337970257, "rolling_leg_motion": -0.03140028938651085, "obstacle_progress": 0.056815873831510544, "wheel_body_intrusion": -0.008907915093004704, "pair_body_intrusion": -0.008224761113524437}, "episode_termination_rates": {"time_out": 0.7394636015325671, "fell_over": 0.019157088122605363, "course_exit": 0.23754789272030652, "illegal_nonwheel_contact": 0.0038314176245210726}, "collection_time_s": 0.11149745514325332, "learning_time_s": 0.4317911171197193, "iteration_time_s": 0.5451395925002532, "policy_updates": 3650, "skipped_updates": 0, "invalid_env_resets": 17, "elapsed_s": 2153.301390376, "nonwheel_terminations": 10268, "contact_bce": 0.32891350984573364, "contact_force_loss": 0.017398342490196228, "collision_bce": 0.001609510276466608, "collision_label_rate": 0.001544353784993291, "collision_prediction_mean": 0.0015758756780996919, "collision_label_count": 16188.0, "terrain_level_mean": 0.884033203125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [239, 145, 24, 2, 0, 0], "episodes_by_level": [[164.0, 47.0, 8.0, 0.0], [95.0, 18.0, 6.0, 0.0], [4.0, 2.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [269, 676, 446, 42, 0, 0], "episodes_by_level": [[295.0, 221.0, 3.0, 0.0], [442.0, 282.0, 11.0, 0.0], [82.0, 40.0, 27.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [81, 213, 183, 115, 19, 3], "episodes_by_level": [[86.0, 72.0, 2.0, 0.0], [150.0, 129.0, 3.0, 0.0], [127.0, 111.0, 6.0, 0.0], [28.0, 21.0, 5.0, 0.0], [4.0, 4.0, 0.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "platform": {"level_counts": [279, 111, 20, 0, 0, 0], "episodes_by_level": [[150.0, 34.0, 12.0, 0.0], [61.0, 14.0, 2.0, 0.0], [2.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [254, 128, 27, 1, 0, 0], "episodes_by_level": [[160.0, 38.0, 9.0, 0.0], [78.0, 15.0, 9.0, 0.0], [4.0, 1.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [494, 275, 48, 2, 0, 0], "episodes_by_level": [[315.0, 84.0, 20.0, 0.0], [178.0, 33.0, 14.0, 0.0], [5.0, 2.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 4338, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22705078125, "command_abs_max": [0.99774169921875, 0.39974647760391235, 0.6998120546340942]}
{"step": 4000, "actor_lr": 6e-05, "archive_windows": 41188, "env_steps": 4000, "total_transitions": 16384000, "num_steps_per_env": 1, "wm_loss": 1.3027455806732178, "actor_loss": -9.35407829284668, "critic_loss": 0.003844835329800844, "reward": 0.08445028960704803, "falls": 7, "interval_steps": 50, "velocity_mae": [0.12323018908500671, 0.09270802140235901, 0.12632033228874207], "mean_episode_length": 1493.4752851711028, "episode_reward_terms": {"track_linear_velocity": 51.23404312133789, "track_angular_velocity": 56.86832046508789, "upright": 29.001413345336914, "leg_posture": -4.062901020050049, "standstill": -6.398738861083984, "action_rate_l2": -0.27371659874916077, "joint_torques_l2": -0.15913468599319458, "dof_pos_limits": -0.0010040419874712825, "terminated": -0.02041860669851303, "unnecessary_wheel_lift": -0.2503850758075714, "rolling_leg_motion": -0.9497788548469543, "obstacle_progress": 1.6671918630599976, "wheel_body_intrusion": -0.30006298422813416, "pair_body_intrusion": -0.23039931058883667}, "weighted_reward_terms": {"track_linear_velocity": 1.7152624130249023, "track_angular_velocity": 1.903892159461975, "upright": 0.970937192440033, "leg_posture": -0.1360217034816742, "standstill": -0.21422313153743744, "action_rate_l2": -0.009163747541606426, "joint_torques_l2": -0.005327663850039244, "dof_pos_limits": -3.361428389325738e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.00838263239711523, "rolling_leg_motion": -0.031797610223293304, "obstacle_progress": 0.05581584945321083, "wheel_body_intrusion": -0.010045796632766724, "pair_body_intrusion": -0.007713529281318188}, "episode_termination_rates": {"time_out": 0.6806083650190115, "fell_over": 0.026615969581749048, "course_exit": 0.29277566539923955, "illegal_nonwheel_contact": 0.0076045627376425855}, "collection_time_s": 0.110262039420777, "learning_time_s": 0.4320395209203707, "iteration_time_s": 0.5451052775069984, "policy_updates": 3700, "skipped_updates": 0, "invalid_env_resets": 17, "elapsed_s": 2180.4211100279936, "nonwheel_terminations": 10270, "contact_bce": 0.3323347270488739, "contact_force_loss": 0.017652953043580055, "collision_bce": 0.0016049012774601579, "collision_label_rate": 0.001293740700930357, "collision_prediction_mean": 0.0010807538637891412, "collision_label_count": 16232.0, "terrain_level_mean": 0.900146484375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [234, 149, 25, 1, 1, 0], "episodes_by_level": [[187.0, 52.0, 8.0, 0.0], [102.0, 19.0, 6.0, 0.0], [4.0, 2.0, 0.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [264, 668, 457, 44, 0, 0], "episodes_by_level": [[301.0, 227.0, 3.0, 0.0], [463.0, 295.0, 12.0, 0.0], [87.0, 42.0, 28.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [81, 204, 182, 120, 24, 3], "episodes_by_level": [[86.0, 72.0, 2.0, 0.0], [158.0, 137.0, 3.0, 0.0], [138.0, 121.0, 6.0, 0.0], [34.0, 26.0, 5.0, 0.0], [4.0, 4.0, 0.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "platform": {"level_counts": [275, 115, 20, 0, 0, 0], "episodes_by_level": [[192.0, 39.0, 12.0, 0.0], [62.0, 14.0, 3.0, 0.0], [2.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [253, 127, 29, 1, 0, 0], "episodes_by_level": [[184.0, 39.0, 9.0, 0.0], [84.0, 17.0, 9.0, 0.0], [4.0, 1.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [487, 281, 49, 2, 0, 0], "episodes_by_level": [[374.0, 91.0, 21.0, 0.0], [191.0, 34.0, 14.0, 0.0], [5.0, 2.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 4434, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22802734375, "command_abs_max": [0.9961714744567871, 0.39976269006729126, 0.6998120546340942]}
{"step": 4050, "actor_lr": 6e-05, "archive_windows": 42074, "env_steps": 4050, "total_transitions": 16588800, "num_steps_per_env": 1, "wm_loss": 1.3392698764801025, "actor_loss": -9.387872695922852, "critic_loss": 0.00381152774207294, "reward": 0.08439357578754425, "falls": 10, "interval_steps": 50, "velocity_mae": [0.12363201379776001, 0.09296636283397675, 0.1283562332391739], "mean_episode_length": 1481.813852813853, "episode_reward_terms": {"track_linear_velocity": 50.78498458862305, "track_angular_velocity": 56.33180618286133, "upright": 28.753250122070312, "leg_posture": -3.9531610012054443, "standstill": -6.3908843994140625, "action_rate_l2": -0.27652856707572937, "joint_torques_l2": -0.156791552901268, "dof_pos_limits": -0.0014331357087939978, "terminated": -0.028941674157977104, "unnecessary_wheel_lift": -0.26166900992393494, "rolling_leg_motion": -0.9320700764656067, "obstacle_progress": 1.6832960844039917, "wheel_body_intrusion": -0.2893167734146118, "pair_body_intrusion": -0.20697066187858582}, "weighted_reward_terms": {"track_linear_velocity": 1.7136088609695435, "track_angular_velocity": 1.9007720947265625, "upright": 0.9702045917510986, "leg_posture": -0.13338926434516907, "standstill": -0.215643972158432, "action_rate_l2": -0.009330746717751026, "joint_torques_l2": -0.005290527828037739, "dof_pos_limits": -4.8357484047301114e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.008829348720610142, "rolling_leg_motion": -0.0314503088593483, "obstacle_progress": 0.056798502802848816, "wheel_body_intrusion": -0.009762250818312168, "pair_body_intrusion": -0.006983693223446608}, "episode_termination_rates": {"time_out": 0.6883116883116883, "fell_over": 0.04329004329004329, "course_exit": 0.2683982683982684, "illegal_nonwheel_contact": 0.004329004329004329}, "collection_time_s": 0.1108466106414562, "learning_time_s": 0.43466563630034216, "iteration_time_s": 0.5451186830345699, "policy_updates": 3750, "skipped_updates": 0, "invalid_env_resets": 18, "elapsed_s": 2207.7306662900082, "nonwheel_terminations": 10271, "contact_bce": 0.33186355233192444, "contact_force_loss": 0.018142500892281532, "collision_bce": 0.0017932556802406907, "collision_label_rate": 0.001667696051299572, "collision_prediction_mean": 0.0015377610689029098, "collision_label_count": 16190.0, "terrain_level_mean": 0.91064453125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [233, 148, 27, 1, 1, 0], "episodes_by_level": [[209.0, 53.0, 9.0, 0.0], [110.0, 21.0, 6.0, 0.0], [4.0, 2.0, 0.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [258, 662, 466, 47, 0, 0], "episodes_by_level": [[311.0, 235.0, 3.0, 0.0], [487.0, 307.0, 12.0, 0.0], [92.0, 45.0, 28.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [78, 199, 187, 122, 25, 3], "episodes_by_level": [[89.0, 75.0, 2.0, 0.0], [167.0, 144.0, 3.0, 0.0], [145.0, 126.0, 6.0, 0.0], [37.0, 27.0, 5.0, 0.0], [5.0, 5.0, 0.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "platform": {"level_counts": [276, 114, 20, 0, 0, 0], "episodes_by_level": [[215.0, 39.0, 13.0, 0.0], [67.0, 14.0, 4.0, 0.0], [2.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [250, 129, 30, 1, 0, 0], "episodes_by_level": [[211.0, 42.0, 9.0, 0.0], [88.0, 18.0, 9.0, 0.0], [4.0, 1.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [486, 282, 49, 2, 0, 0], "episodes_by_level": [[420.0, 93.0, 22.0, 0.0], [196.0, 34.0, 15.0, 0.0], [5.0, 2.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 4514, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22607421875, "command_abs_max": [0.9961714744567871, 0.39992448687553406, 0.6998120546340942]}
{"step": 4100, "actor_lr": 6e-05, "archive_windows": 42969, "env_steps": 4100, "total_transitions": 16793600, "num_steps_per_env": 1, "wm_loss": 1.3292912244796753, "actor_loss": -9.367178916931152, "critic_loss": 0.007044604513794184, "reward": 0.08440983295440674, "falls": 7, "interval_steps": 50, "velocity_mae": [0.1243608221411705, 0.093999482691288, 0.12735451757907867], "mean_episode_length": 1380.777142857143, "episode_reward_terms": {"track_linear_velocity": 47.2577018737793, "track_angular_velocity": 52.547637939453125, "upright": 26.800769805908203, "leg_posture": -3.718961000442505, "standstill": -5.9808220863342285, "action_rate_l2": -0.2649024426937103, "joint_torques_l2": -0.14765949547290802, "dof_pos_limits": -0.0011466388823464513, "terminated": -0.01887780986726284, "unnecessary_wheel_lift": -0.19286231696605682, "rolling_leg_motion": -0.852910041809082, "obstacle_progress": 1.6488795280456543, "wheel_body_intrusion": -0.294003963470459, "pair_body_intrusion": -0.23166562616825104}, "weighted_reward_terms": {"track_linear_velocity": 1.71127188205719, "track_angular_velocity": 1.902828335762024, "upright": 0.970495879650116, "leg_posture": -0.13466912508010864, "standstill": -0.2165745049715042, "action_rate_l2": -0.009592512622475624, "joint_torques_l2": -0.005346971098333597, "dof_pos_limits": -4.1521507228026167e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.006983832456171513, "rolling_leg_motion": -0.03088514506816864, "obstacle_progress": 0.05970839038491249, "wheel_body_intrusion": -0.01064632274210453, "pair_body_intrusion": -0.008388957940042019}, "episode_termination_rates": {"time_out": 0.56, "fell_over": 0.03428571428571429, "course_exit": 0.4, "illegal_nonwheel_contact": 0.005714285714285714}, "collection_time_s": 0.11116829015954863, "learning_time_s": 0.43465854618058075, "iteration_time_s": 0.5451279236914636, "policy_updates": 3800, "skipped_updates": 0, "invalid_env_resets": 19, "elapsed_s": 2235.0244871350005, "nonwheel_terminations": 10272, "contact_bce": 0.33382636308670044, "contact_force_loss": 0.017922628670930862, "collision_bce": 0.0014276717556640506, "collision_label_rate": 0.001170238945633173, "collision_prediction_mean": 0.0009363358840346336, "collision_label_count": 16236.0, "terrain_level_mean": 0.9248046875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [231, 150, 27, 1, 1, 0], "episodes_by_level": [[224.0, 55.0, 9.0, 0.0], [114.0, 21.0, 6.0, 0.0], [4.0, 2.0, 0.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [247, 661, 474, 51, 0, 0], "episodes_by_level": [[324.0, 246.0, 3.0, 0.0], [501.0, 318.0, 12.0, 0.0], [98.0, 49.0, 28.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [74, 197, 187, 127, 24, 5], "episodes_by_level": [[94.0, 80.0, 2.0, 0.0], [175.0, 151.0, 3.0, 0.0], [154.0, 132.0, 7.0, 0.0], [39.0, 29.0, 5.0, 0.0], [6.0, 6.0, 0.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "platform": {"level_counts": [276, 112, 22, 0, 0, 0], "episodes_by_level": [[231.0, 39.0, 14.0, 0.0], [69.0, 16.0, 4.0, 0.0], [2.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [248, 130, 31, 1, 0, 0], "episodes_by_level": [[226.0, 44.0, 9.0, 0.0], [91.0, 19.0, 9.0, 0.0], [4.0, 1.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [483, 283, 51, 2, 0, 0], "episodes_by_level": [[455.0, 96.0, 23.0, 0.0], [202.0, 36.0, 15.0, 0.0], [6.0, 2.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 4611, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.224609375, "command_abs_max": [0.9961714744567871, 0.39992448687553406, 0.6998120546340942]}
{"step": 4150, "actor_lr": 6e-05, "archive_windows": 43913, "env_steps": 4150, "total_transitions": 16998400, "num_steps_per_env": 1, "wm_loss": 1.3368816375732422, "actor_loss": -9.375060081481934, "critic_loss": 0.008438254706561565, "reward": 0.08401080220937729, "falls": 8, "interval_steps": 50, "velocity_mae": [0.12508003413677216, 0.09327026456594467, 0.12920056283473969], "mean_episode_length": 1387.8816568047337, "episode_reward_terms": {"track_linear_velocity": 47.48373031616211, "track_angular_velocity": 52.74223327636719, "upright": 26.933530807495117, "leg_posture": -3.7494075298309326, "standstill": -6.382486343383789, "action_rate_l2": -0.2770164906978607, "joint_torques_l2": -0.1500638723373413, "dof_pos_limits": -0.0024855241645127535, "terminated": -0.02168564684689045, "unnecessary_wheel_lift": -0.21230904757976532, "rolling_leg_motion": -0.8678088784217834, "obstacle_progress": 1.6323310136795044, "wheel_body_intrusion": -0.2838604152202606, "pair_body_intrusion": -0.24763517081737518}, "weighted_reward_terms": {"track_linear_velocity": 1.710654854774475, "track_angular_velocity": 1.9000983238220215, "upright": 0.9703107476234436, "leg_posture": -0.1350766271352768, "standstill": -0.22993625700473785, "action_rate_l2": -0.00997983105480671, "joint_torques_l2": -0.005406219977885485, "dof_pos_limits": -8.954380609793589e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.007648672442883253, "rolling_leg_motion": -0.031263791024684906, "obstacle_progress": 0.058806560933589935, "wheel_body_intrusion": -0.010226390324532986, "pair_body_intrusion": -0.008921335451304913}, "episode_termination_rates": {"time_out": 0.5857988165680473, "fell_over": 0.047337278106508875, "course_exit": 0.3668639053254438, "illegal_nonwheel_contact": 0.0}, "collection_time_s": 0.1107553602400003, "learning_time_s": 0.4344663332402706, "iteration_time_s": 0.5451297238942149, "policy_updates": 3850, "skipped_updates": 0, "invalid_env_resets": 20, "elapsed_s": 2262.2883541609917, "nonwheel_terminations": 10272, "contact_bce": 0.34065648913383484, "contact_force_loss": 0.018940037116408348, "collision_bce": 0.001194520271383226, "collision_label_rate": 0.0011689430102705956, "collision_prediction_mean": 0.001357206143438816, "collision_label_count": 16254.0, "terrain_level_mean": 0.93701171875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [226, 154, 28, 1, 1, 0], "episodes_by_level": [[243.0, 60.0, 9.0, 0.0], [117.0, 22.0, 6.0, 0.0], [4.0, 2.0, 0.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [245, 646, 491, 51, 0, 0], "episodes_by_level": [[328.0, 250.0, 3.0, 0.0], [527.0, 337.0, 12.0, 0.0], [105.0, 49.0, 31.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [71, 190, 197, 125, 26, 5], "episodes_by_level": [[97.0, 83.0, 2.0, 0.0], [187.0, 161.0, 3.0, 0.0], [159.0, 135.0, 7.0, 0.0], [42.0, 31.0, 6.0, 0.0], [6.0, 6.0, 0.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "platform": {"level_counts": [276, 111, 23, 0, 0, 0], "episodes_by_level": [[246.0, 39.0, 14.0, 0.0], [72.0, 17.0, 4.0, 0.0], [3.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [246, 132, 29, 3, 0, 0], "episodes_by_level": [[235.0, 46.0, 9.0, 0.0], [93.0, 19.0, 9.0, 0.0], [6.0, 3.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [479, 286, 52, 2, 0, 0], "episodes_by_level": [[483.0, 100.0, 23.0, 0.0], [208.0, 37.0, 15.0, 0.0], [6.0, 2.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 4699, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.227783203125, "command_abs_max": [0.9998903870582581, 0.39992448687553406, 0.6998120546340942]}
{"step": 4200, "actor_lr": 6e-05, "archive_windows": 44908, "env_steps": 4200, "total_transitions": 17203200, "num_steps_per_env": 1, "wm_loss": 1.3954315185546875, "actor_loss": -9.338924407958984, "critic_loss": 0.01149542722851038, "reward": 0.08403830975294113, "falls": 15, "interval_steps": 50, "velocity_mae": [0.12413013726472855, 0.09252696484327316, 0.1309799700975418], "mean_episode_length": 1375.0891719745223, "episode_reward_terms": {"track_linear_velocity": 47.16191864013672, "track_angular_velocity": 52.20137405395508, "upright": 26.69424057006836, "leg_posture": -3.662168502807617, "standstill": -6.432998180389404, "action_rate_l2": -0.3006032109260559, "joint_torques_l2": -0.14735786616802216, "dof_pos_limits": -0.0009195892489515245, "terminated": -0.040285807102918625, "unnecessary_wheel_lift": -0.23669591546058655, "rolling_leg_motion": -0.8846551775932312, "obstacle_progress": 1.696123719215393, "wheel_body_intrusion": -0.2699480950832367, "pair_body_intrusion": -0.21786582469940186}, "weighted_reward_terms": {"track_linear_velocity": 1.7148677110671997, "track_angular_velocity": 1.8981088399887085, "upright": 0.970636785030365, "leg_posture": -0.13316112756729126, "standstill": -0.23391206562519073, "action_rate_l2": -0.01093031745404005, "joint_torques_l2": -0.005358120892196894, "dof_pos_limits": -3.343744174344465e-05, "terminated": -0.0014648435171693563, "unnecessary_wheel_lift": -0.008606567047536373, "rolling_leg_motion": -0.03216719627380371, "obstacle_progress": 0.061673231422901154, "wheel_body_intrusion": -0.009815658442676067, "pair_body_intrusion": -0.00792188011109829}, "episode_termination_rates": {"time_out": 0.554140127388535, "fell_over": 0.08280254777070063, "course_exit": 0.3503184713375796, "illegal_nonwheel_contact": 0.012738853503184714}, "collection_time_s": 0.11043461933964864, "learning_time_s": 0.4353405546594877, "iteration_time_s": 0.5451387651761928, "policy_updates": 3900, "skipped_updates": 0, "invalid_env_resets": 20, "elapsed_s": 2289.5828137400094, "nonwheel_terminations": 10274, "contact_bce": 0.3424617350101471, "contact_force_loss": 0.019705001264810562, "collision_bce": 0.0017101939301937819, "collision_label_rate": 0.0014157331315800548, "collision_prediction_mean": 0.001406806637533009, "collision_label_count": 16246.0, "terrain_level_mean": 0.945556640625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [226, 154, 28, 1, 1, 0], "episodes_by_level": [[251.0, 61.0, 9.0, 0.0], [119.0, 22.0, 7.0, 0.0], [4.0, 2.0, 0.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [246, 634, 500, 53, 0, 0], "episodes_by_level": [[333.0, 254.0, 3.0, 0.0], [546.0, 351.0, 14.0, 0.0], [116.0, 52.0, 33.0, 0.0], [2.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [70, 186, 199, 123, 31, 5], "episodes_by_level": [[99.0, 85.0, 2.0, 0.0], [193.0, 167.0, 3.0, 0.0], [163.0, 138.0, 7.0, 0.0], [48.0, 36.0, 6.0, 0.0], [6.0, 6.0, 0.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "platform": {"level_counts": [276, 111, 23, 0, 0, 0], "episodes_by_level": [[261.0, 40.0, 14.0, 0.0], [73.0, 17.0, 5.0, 0.0], [4.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [243, 135, 29, 3, 0, 0], "episodes_by_level": [[246.0, 49.0, 9.0, 0.0], [95.0, 19.0, 9.0, 0.0], [6.0, 3.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [475, 288, 54, 2, 0, 0], "episodes_by_level": [[508.0, 104.0, 24.0, 0.0], [217.0, 39.0, 15.0, 0.0], [6.0, 2.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 4779, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22705078125, "command_abs_max": [0.9998903870582581, 0.39992448687553406, 0.6998120546340942]}
{"step": 4250, "actor_lr": 6e-05, "archive_windows": 45995, "env_steps": 4250, "total_transitions": 17408000, "num_steps_per_env": 1, "wm_loss": 1.354696273803711, "actor_loss": -9.349040985107422, "critic_loss": 0.010948454029858112, "reward": 0.08382323384284973, "falls": 10, "interval_steps": 50, "velocity_mae": [0.12550842761993408, 0.09269976615905762, 0.13282054662704468], "mean_episode_length": 1314.3677419354838, "episode_reward_terms": {"track_linear_velocity": 45.027286529541016, "track_angular_velocity": 49.828670501708984, "upright": 25.495086669921875, "leg_posture": -3.5171921253204346, "standstill": -6.188507080078125, "action_rate_l2": -0.30297210812568665, "joint_torques_l2": -0.14286984503269196, "dof_pos_limits": -0.0012025698088109493, "terminated": -0.02567124366760254, "unnecessary_wheel_lift": -0.2188195139169693, "rolling_leg_motion": -0.8675490021705627, "obstacle_progress": 1.5793870687484741, "wheel_body_intrusion": -0.2754761576652527, "pair_body_intrusion": -0.21562723815441132}, "weighted_reward_terms": {"track_linear_velocity": 1.7128876447677612, "track_angular_velocity": 1.8955377340316772, "upright": 0.9698612093925476, "leg_posture": -0.13379786908626556, "standstill": -0.23541763424873352, "action_rate_l2": -0.011525393463671207, "joint_torques_l2": -0.005434926599264145, "dof_pos_limits": -4.574708509608172e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.008324136026203632, "rolling_leg_motion": -0.033002521842718124, "obstacle_progress": 0.06008162721991539, "wheel_body_intrusion": -0.010479416698217392, "pair_body_intrusion": -0.008202698081731796}, "episode_termination_rates": {"time_out": 0.4258064516129032, "fell_over": 0.05806451612903226, "course_exit": 0.5096774193548387, "illegal_nonwheel_contact": 0.0064516129032258064}, "collection_time_s": 0.11063101502135396, "learning_time_s": 0.4386352652014466, "iteration_time_s": 0.5451885910079992, "policy_updates": 3950, "skipped_updates": 0, "invalid_env_resets": 20, "elapsed_s": 2317.051511783997, "nonwheel_terminations": 10275, "contact_bce": 0.338914692401886, "contact_force_loss": 0.01897049881517887, "collision_bce": 0.0014657082501798868, "collision_label_rate": 0.0012959763407707214, "collision_prediction_mean": 0.0013688759645447135, "collision_label_count": 16204.0, "terrain_level_mean": 0.959716796875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [227, 151, 30, 1, 1, 0], "episodes_by_level": [[258.0, 61.0, 11.0, 0.0], [123.0, 24.0, 8.0, 0.0], [4.0, 2.0, 0.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [236, 628, 515, 54, 0, 0], "episodes_by_level": [[344.0, 265.0, 3.0, 0.0], [567.0, 365.0, 14.0, 0.0], [124.0, 54.0, 33.0, 0.0], [3.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [70, 177, 204, 121, 36, 6], "episodes_by_level": [[100.0, 86.0, 2.0, 0.0], [204.0, 175.0, 4.0, 0.0], [168.0, 142.0, 7.0, 0.0], [54.0, 42.0, 6.0, 0.0], [7.0, 7.0, 0.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "platform": {"level_counts": [274, 112, 24, 0, 0, 0], "episodes_by_level": [[272.0, 42.0, 15.0, 0.0], [76.0, 18.0, 5.0, 0.0], [5.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [240, 138, 29, 3, 0, 0], "episodes_by_level": [[257.0, 52.0, 10.0, 0.0], [98.0, 19.0, 9.0, 0.0], [7.0, 3.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [472, 291, 53, 3, 0, 0], "episodes_by_level": [[529.0, 108.0, 25.0, 0.0], [223.0, 39.0, 16.0, 0.0], [7.0, 3.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 4867, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.230712890625, "command_abs_max": [0.9998903870582581, 0.39992448687553406, 0.6998120546340942]}
{"step": 4300, "actor_lr": 6e-05, "archive_windows": 47096, "env_steps": 4300, "total_transitions": 17612800, "num_steps_per_env": 1, "wm_loss": 1.4374271631240845, "actor_loss": -9.396032333374023, "critic_loss": 0.0025473388377577066, "reward": 0.08402112126350403, "falls": 13, "interval_steps": 50, "velocity_mae": [0.12506036460399628, 0.09139809757471085, 0.13117296993732452], "mean_episode_length": 1216.9375, "episode_reward_terms": {"track_linear_velocity": 41.78247833251953, "track_angular_velocity": 46.17695999145508, "upright": 23.593338012695312, "leg_posture": -3.202995777130127, "standstill": -5.782199382781982, "action_rate_l2": -0.2856387197971344, "joint_torques_l2": -0.13167814910411835, "dof_pos_limits": -0.0010254366789013147, "terminated": -0.030898800119757652, "unnecessary_wheel_lift": -0.138050377368927, "rolling_leg_motion": -0.7995061874389648, "obstacle_progress": 1.4615046977996826, "wheel_body_intrusion": -0.22963853180408478, "pair_body_intrusion": -0.16422776877880096}, "weighted_reward_terms": {"track_linear_velocity": 1.7167059183120728, "track_angular_velocity": 1.8972610235214233, "upright": 0.9693734645843506, "leg_posture": -0.13160066306591034, "standstill": -0.23757174611091614, "action_rate_l2": -0.011735964566469193, "joint_torques_l2": -0.005410226993262768, "dof_pos_limits": -4.213185820844956e-05, "terminated": -0.0012695310870185494, "unnecessary_wheel_lift": -0.005672040395438671, "rolling_leg_motion": -0.032849106937646866, "obstacle_progress": 0.06004847213625908, "wheel_body_intrusion": -0.009435099549591541, "pair_body_intrusion": -0.0067475843243300915}, "episode_termination_rates": {"time_out": 0.4296875, "fell_over": 0.09375, "course_exit": 0.46875, "illegal_nonwheel_contact": 0.0078125}, "collection_time_s": 0.11062538311758545, "learning_time_s": 0.43623640784004236, "iteration_time_s": 0.5452093967774457, "policy_updates": 4000, "skipped_updates": 0, "invalid_env_resets": 20, "elapsed_s": 2344.400406143017, "nonwheel_terminations": 10276, "contact_bce": 0.3318076729774475, "contact_force_loss": 0.019053099676966667, "collision_bce": 0.0009087104117497802, "collision_label_rate": 0.0012331216130405664, "collision_prediction_mean": 0.0012520001037046313, "collision_label_count": 16219.0, "terrain_level_mean": 0.96875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [227, 151, 29, 2, 1, 0], "episodes_by_level": [[263.0, 61.0, 11.0, 0.0], [123.0, 24.0, 8.0, 0.0], [5.0, 3.0, 0.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [232, 618, 531, 52, 0, 0], "episodes_by_level": [[349.0, 270.0, 3.0, 0.0], [588.0, 381.0, 15.0, 0.0], [134.0, 54.0, 34.0, 0.0], [4.0, 0.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [69, 172, 207, 117, 43, 6], "episodes_by_level": [[101.0, 87.0, 2.0, 0.0], [211.0, 182.0, 4.0, 0.0], [171.0, 145.0, 7.0, 0.0], [62.0, 49.0, 6.0, 0.0], [8.0, 7.0, 1.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "platform": {"level_counts": [274, 112, 24, 0, 0, 0], "episodes_by_level": [[280.0, 43.0, 16.0, 0.0], [81.0, 18.0, 6.0, 0.0], [5.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [237, 142, 28, 3, 0, 0], "episodes_by_level": [[266.0, 55.0, 10.0, 0.0], [102.0, 19.0, 9.0, 0.0], [9.0, 3.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [471, 292, 53, 3, 0, 0], "episodes_by_level": [[539.0, 109.0, 27.0, 0.0], [224.0, 39.0, 16.0, 0.0], [7.0, 3.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 4973, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22802734375, "command_abs_max": [0.9998903870582581, 0.39976269006729126, 0.6998120546340942]}
{"step": 4350, "actor_lr": 6e-05, "archive_windows": 48169, "env_steps": 4350, "total_transitions": 17817600, "num_steps_per_env": 1, "wm_loss": 1.3852187395095825, "actor_loss": -9.410057067871094, "critic_loss": 0.0025865533389151096, "reward": 0.0843731164932251, "falls": 9, "interval_steps": 50, "velocity_mae": [0.12472467869520187, 0.08921203017234802, 0.13208946585655212], "mean_episode_length": 1258.6564885496184, "episode_reward_terms": {"track_linear_velocity": 43.323020935058594, "track_angular_velocity": 47.73224639892578, "upright": 24.447032928466797, "leg_posture": -3.184060573577881, "standstill": -5.853331565856934, "action_rate_l2": -0.3052743375301361, "joint_torques_l2": -0.13410654664039612, "dof_pos_limits": -0.0012937684077769518, "terminated": -0.022124817594885826, "unnecessary_wheel_lift": -0.14446157217025757, "rolling_leg_motion": -0.8116746544837952, "obstacle_progress": 1.5533491373062134, "wheel_body_intrusion": -0.2403242141008377, "pair_body_intrusion": -0.16221024096012115}, "weighted_reward_terms": {"track_linear_velocity": 1.7210025787353516, "track_angular_velocity": 1.8961586952209473, "upright": 0.9711558818817139, "leg_posture": -0.12648648023605347, "standstill": -0.23252300918102264, "action_rate_l2": -0.012126991525292397, "joint_torques_l2": -0.005327369086444378, "dof_pos_limits": -5.1394821639405563e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.00573872122913599, "rolling_leg_motion": -0.03224369138479233, "obstacle_progress": 0.06170663610100746, "wheel_body_intrusion": -0.0095468545332551, "pair_body_intrusion": -0.0064437855035066605}, "episode_termination_rates": {"time_out": 0.4351145038167939, "fell_over": 0.05343511450381679, "course_exit": 0.4961832061068702, "illegal_nonwheel_contact": 0.022900763358778626}, "collection_time_s": 0.11176377095689531, "learning_time_s": 0.44667680412239863, "iteration_time_s": 0.5453619020020699, "policy_updates": 4050, "skipped_updates": 0, "invalid_env_resets": 21, "elapsed_s": 2372.324273709004, "nonwheel_terminations": 10279, "contact_bce": 0.3375053107738495, "contact_force_loss": 0.019917696714401245, "collision_bce": 0.0013166975695639849, "collision_label_rate": 0.0015412119682878256, "collision_prediction_mean": 0.0013133675092831254, "collision_label_count": 16221.0, "terrain_level_mean": 0.981689453125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [227, 151, 29, 2, 1, 0], "episodes_by_level": [[269.0, 61.0, 11.0, 0.0], [124.0, 24.0, 8.0, 0.0], [7.0, 3.0, 0.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [223, 614, 540, 56, 0, 0], "episodes_by_level": [[359.0, 279.0, 4.0, 0.0], [605.0, 396.0, 15.0, 0.0], [148.0, 59.0, 35.0, 0.0], [5.0, 0.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [67, 168, 207, 122, 43, 7], "episodes_by_level": [[103.0, 89.0, 2.0, 0.0], [219.0, 189.0, 4.0, 0.0], [177.0, 151.0, 7.0, 0.0], [64.0, 50.0, 6.0, 0.0], [9.0, 8.0, 1.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "platform": {"level_counts": [271, 114, 25, 0, 0, 0], "episodes_by_level": [[296.0, 46.0, 17.0, 0.0], [85.0, 20.0, 6.0, 0.0], [6.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [236, 142, 29, 3, 0, 0], "episodes_by_level": [[275.0, 57.0, 10.0, 0.0], [107.0, 20.0, 10.0, 0.0], [9.0, 3.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [467, 295, 54, 3, 0, 0], "episodes_by_level": [[550.0, 113.0, 28.0, 0.0], [226.0, 40.0, 16.0, 0.0], [7.0, 3.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 5071, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.231689453125, "command_abs_max": [0.9993607997894287, 0.39967355132102966, 0.6998120546340942]}
{"step": 4400, "actor_lr": 6e-05, "archive_windows": 49344, "env_steps": 4400, "total_transitions": 18022400, "num_steps_per_env": 1, "wm_loss": 1.4562122821807861, "actor_loss": -9.408105850219727, "critic_loss": 0.0034014121629297733, "reward": 0.08416857570409775, "falls": 11, "interval_steps": 50, "velocity_mae": [0.12488804757595062, 0.08988843113183975, 0.1325015127658844], "mean_episode_length": 1202.4890510948906, "episode_reward_terms": {"track_linear_velocity": 41.35369110107422, "track_angular_velocity": 45.588809967041016, "upright": 23.354572296142578, "leg_posture": -3.072291851043701, "standstill": -5.677361965179443, "action_rate_l2": -0.30317550897598267, "joint_torques_l2": -0.12827077507972717, "dof_pos_limits": -0.0009771896293386817, "terminated": -0.025834722444415092, "unnecessary_wheel_lift": -0.1311453878879547, "rolling_leg_motion": -0.7912530899047852, "obstacle_progress": 1.4554591178894043, "wheel_body_intrusion": -0.24231144785881042, "pair_body_intrusion": -0.1681012660264969}, "weighted_reward_terms": {"track_linear_velocity": 1.7195038795471191, "track_angular_velocity": 1.8956018686294556, "upright": 0.971092939376831, "leg_posture": -0.12774719297885895, "standstill": -0.23606710135936737, "action_rate_l2": -0.012606165371835232, "joint_torques_l2": -0.005333553068339825, "dof_pos_limits": -4.0631955926073715e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.005453080404549837, "rolling_leg_motion": -0.03290063887834549, "obstacle_progress": 0.06051860377192497, "wheel_body_intrusion": -0.010075412690639496, "pair_body_intrusion": -0.006989721674472094}, "episode_termination_rates": {"time_out": 0.35766423357664234, "fell_over": 0.051094890510948905, "course_exit": 0.5620437956204379, "illegal_nonwheel_contact": 0.029197080291970802}, "collection_time_s": 0.11036942539794836, "learning_time_s": 0.43744311288231985, "iteration_time_s": 0.5453908792936405, "policy_updates": 4100, "skipped_updates": 0, "invalid_env_resets": 21, "elapsed_s": 2399.719868892018, "nonwheel_terminations": 10283, "contact_bce": 0.34058693051338196, "contact_force_loss": 0.02035268023610115, "collision_bce": 0.0013119607465341687, "collision_label_rate": 0.0015433051157742739, "collision_prediction_mean": 0.0015197989996522665, "collision_label_count": 16199.0, "terrain_level_mean": 0.993896484375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [227, 149, 31, 2, 1, 0], "episodes_by_level": [[271.0, 61.0, 11.0, 0.0], [126.0, 26.0, 8.0, 0.0], [8.0, 3.0, 0.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [219, 613, 542, 59, 0, 0], "episodes_by_level": [[365.0, 283.0, 4.0, 0.0], [618.0, 404.0, 15.0, 0.0], [163.0, 62.0, 37.0, 0.0], [5.0, 0.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [65, 160, 210, 124, 48, 7], "episodes_by_level": [[105.0, 91.0, 2.0, 0.0], [230.0, 199.0, 4.0, 0.0], [188.0, 161.0, 7.0, 0.0], [70.0, 55.0, 7.0, 0.0], [10.0, 9.0, 1.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "platform": {"level_counts": [268, 117, 25, 0, 0, 0], "episodes_by_level": [[304.0, 49.0, 18.0, 0.0], [87.0, 21.0, 6.0, 0.0], [7.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [234, 142, 31, 3, 0, 0], "episodes_by_level": [[284.0, 59.0, 10.0, 0.0], [112.0, 22.0, 10.0, 0.0], [11.0, 3.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [465, 294, 57, 3, 0, 0], "episodes_by_level": [[559.0, 116.0, 28.0, 0.0], [233.0, 43.0, 17.0, 0.0], [8.0, 3.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 5173, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2294921875, "command_abs_max": [0.9993607997894287, 0.39967355132102966, 0.6998120546340942]}
{"step": 4450, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 4450, "total_transitions": 18227200, "num_steps_per_env": 1, "wm_loss": 1.4870867729187012, "actor_loss": -9.373147964477539, "critic_loss": 0.004852770362049341, "reward": 0.08442510664463043, "falls": 6, "interval_steps": 50, "velocity_mae": [0.12503378093242645, 0.08796733617782593, 0.13091076910495758], "mean_episode_length": 1244.0703125, "episode_reward_terms": {"track_linear_velocity": 42.87657928466797, "track_angular_velocity": 47.212100982666016, "upright": 24.174959182739258, "leg_posture": -3.176194667816162, "standstill": -5.768397331237793, "action_rate_l2": -0.3154582977294922, "joint_torques_l2": -0.1330975890159607, "dof_pos_limits": -0.0006699911318719387, "terminated": -0.01457894779741764, "unnecessary_wheel_lift": -0.13533614575862885, "rolling_leg_motion": -0.7980477213859558, "obstacle_progress": 1.519823431968689, "wheel_body_intrusion": -0.24117930233478546, "pair_body_intrusion": -0.1697148084640503}, "weighted_reward_terms": {"track_linear_velocity": 1.7232377529144287, "track_angular_velocity": 1.8974852561950684, "upright": 0.9716073870658875, "leg_posture": -0.1276533454656601, "standstill": -0.23183567821979523, "action_rate_l2": -0.012678475119173527, "joint_torques_l2": -0.005349279381334782, "dof_pos_limits": -2.6927382350550033e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.005439247936010361, "rolling_leg_motion": -0.032074060291051865, "obstacle_progress": 0.06108270213007927, "wheel_body_intrusion": -0.009693154133856297, "pair_body_intrusion": -0.006820949260145426}, "episode_termination_rates": {"time_out": 0.4375, "fell_over": 0.0390625, "course_exit": 0.515625, "illegal_nonwheel_contact": 0.0234375}, "collection_time_s": 0.10345056382007897, "learning_time_s": 0.407302126858267, "iteration_time_s": 0.5450021986307882, "policy_updates": 4150, "skipped_updates": 0, "invalid_env_resets": 22, "elapsed_s": 2425.2597839070077, "nonwheel_terminations": 10286, "contact_bce": 0.34410157799720764, "contact_force_loss": 0.021459953859448433, "collision_bce": 0.001328523037955165, "collision_label_rate": 0.0015438769478350878, "collision_prediction_mean": 0.001818920369260013, "collision_label_count": 16193.0, "terrain_level_mean": 1.00537109375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [227, 148, 32, 2, 1, 0], "episodes_by_level": [[275.0, 61.0, 11.0, 0.0], [129.0, 27.0, 8.0, 0.0], [8.0, 3.0, 0.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [217, 604, 549, 63, 0, 0], "episodes_by_level": [[369.0, 286.0, 4.0, 0.0], [635.0, 413.0, 16.0, 0.0], [179.0, 67.0, 38.0, 0.0], [6.0, 0.0, 6.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [63, 156, 208, 129, 51, 7], "episodes_by_level": [[107.0, 93.0, 2.0, 0.0], [236.0, 205.0, 4.0, 0.0], [197.0, 170.0, 7.0, 0.0], [75.0, 59.0, 8.0, 0.0], [12.0, 9.0, 2.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "platform": {"level_counts": [267, 118, 25, 0, 0, 0], "episodes_by_level": [[311.0, 50.0, 18.0, 0.0], [87.0, 21.0, 6.0, 0.0], [8.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [230, 146, 31, 3, 0, 0], "episodes_by_level": [[292.0, 63.0, 10.0, 0.0], [113.0, 22.0, 10.0, 0.0], [12.0, 3.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [461, 297, 58, 3, 0, 0], "episodes_by_level": [[569.0, 120.0, 28.0, 0.0], [238.0, 44.0, 17.0, 0.0], [9.0, 3.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 5264, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.231201171875, "command_abs_max": [0.9993607997894287, 0.39967355132102966, 0.6998120546340942]}
{"step": 4500, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 4500, "total_transitions": 18432000, "num_steps_per_env": 1, "wm_loss": 1.49647057056427, "actor_loss": -9.384527206420898, "critic_loss": 0.0036498629488050938, "reward": 0.0840311124920845, "falls": 14, "interval_steps": 50, "velocity_mae": [0.1259104311466217, 0.08661273866891861, 0.13085269927978516], "mean_episode_length": 1194.4380165289256, "episode_reward_terms": {"track_linear_velocity": 41.17382049560547, "track_angular_velocity": 45.33903884887695, "upright": 23.195571899414062, "leg_posture": -3.066532850265503, "standstill": -5.896576881408691, "action_rate_l2": -0.31129804253578186, "joint_torques_l2": -0.12838438153266907, "dof_pos_limits": -0.0012979144230484962, "terminated": -0.032660409808158875, "unnecessary_wheel_lift": -0.151983380317688, "rolling_leg_motion": -0.7648367285728455, "obstacle_progress": 1.4283331632614136, "wheel_body_intrusion": -0.2312808334827423, "pair_body_intrusion": -0.18195810914039612}, "weighted_reward_terms": {"track_linear_velocity": 1.723564624786377, "track_angular_velocity": 1.8979235887527466, "upright": 0.9709826707839966, "leg_posture": -0.12836718559265137, "standstill": -0.24683478474617004, "action_rate_l2": -0.013031152077019215, "joint_torques_l2": -0.005374258849769831, "dof_pos_limits": -5.433159458334558e-05, "terminated": -0.0013671873603016138, "unnecessary_wheel_lift": -0.006362129468470812, "rolling_leg_motion": -0.03201659396290779, "obstacle_progress": 0.05979101359844208, "wheel_body_intrusion": -0.009681575931608677, "pair_body_intrusion": -0.007616892457008362}, "episode_termination_rates": {"time_out": 0.32231404958677684, "fell_over": 0.11570247933884298, "course_exit": 0.5619834710743802, "illegal_nonwheel_contact": 0.0}, "collection_time_s": 0.10210343180107884, "learning_time_s": 0.4026590430591023, "iteration_time_s": 0.5445561654220025, "policy_updates": 4200, "skipped_updates": 0, "invalid_env_resets": 23, "elapsed_s": 2450.502744399011, "nonwheel_terminations": 10286, "contact_bce": 0.3529324233531952, "contact_force_loss": 0.02236442267894745, "collision_bce": 0.0011319514596834779, "collision_label_rate": 0.001168583519756794, "collision_prediction_mean": 0.0009049362852238119, "collision_label_count": 16259.0, "terrain_level_mean": 1.0166015625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [224, 149, 34, 2, 1, 0], "episodes_by_level": [[280.0, 64.0, 11.0, 0.0], [131.0, 29.0, 8.0, 0.0], [8.0, 3.0, 0.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [211, 603, 554, 65, 0, 0], "episodes_by_level": [[378.0, 294.0, 4.0, 0.0], [654.0, 425.0, 17.0, 0.0], [193.0, 70.0, 40.0, 0.0], [7.0, 0.0, 7.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [59, 154, 209, 128, 56, 8], "episodes_by_level": [[110.0, 96.0, 2.0, 0.0], [243.0, 211.0, 4.0, 0.0], [203.0, 175.0, 7.0, 0.0], [82.0, 66.0, 8.0, 0.0], [13.0, 9.0, 3.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "platform": {"level_counts": [264, 121, 25, 0, 0, 0], "episodes_by_level": [[316.0, 53.0, 18.0, 0.0], [90.0, 21.0, 6.0, 0.0], [9.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [230, 146, 30, 4, 0, 0], "episodes_by_level": [[293.0, 64.0, 10.0, 0.0], [115.0, 23.0, 11.0, 0.0], [16.0, 4.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [462, 295, 59, 3, 0, 0], "episodes_by_level": [[574.0, 120.0, 29.0, 0.0], [242.0, 45.0, 18.0, 0.0], [10.0, 3.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 5369, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.232421875, "command_abs_max": [0.9996671676635742, 0.39967355132102966, 0.6998120546340942]}
{"step": 4550, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 4550, "total_transitions": 18636800, "num_steps_per_env": 1, "wm_loss": 1.49734628200531, "actor_loss": -9.41397476196289, "critic_loss": 0.0032235567923635244, "reward": 0.0835731104016304, "falls": 14, "interval_steps": 50, "velocity_mae": [0.12676946818828583, 0.08830052614212036, 0.13231082260608673], "mean_episode_length": 1280.7925925925927, "episode_reward_terms": {"track_linear_velocity": 44.062400817871094, "track_angular_velocity": 48.55854797363281, "upright": 24.87611198425293, "leg_posture": -3.3195860385894775, "standstill": -6.701518535614014, "action_rate_l2": -0.33527588844299316, "joint_torques_l2": -0.13755886256694794, "dof_pos_limits": -0.0013141237432137132, "terminated": -0.035021670162677765, "unnecessary_wheel_lift": -0.18754254281520844, "rolling_leg_motion": -0.8225087523460388, "obstacle_progress": 1.5288736820220947, "wheel_body_intrusion": -0.2520830035209656, "pair_body_intrusion": -0.1937021166086197}, "weighted_reward_terms": {"track_linear_velocity": 1.7201224565505981, "track_angular_velocity": 1.8956445455551147, "upright": 0.9711217880249023, "leg_posture": -0.12959107756614685, "standstill": -0.2616160809993744, "action_rate_l2": -0.013088610023260117, "joint_torques_l2": -0.005370067898184061, "dof_pos_limits": -5.1301190978847444e-05, "terminated": -0.0013671873603016138, "unnecessary_wheel_lift": -0.0073213474825024605, "rolling_leg_motion": -0.03210936486721039, "obstacle_progress": 0.059684667736291885, "wheel_body_intrusion": -0.009840899147093296, "pair_body_intrusion": -0.007561807055026293}, "episode_termination_rates": {"time_out": 0.3925925925925926, "fell_over": 0.1037037037037037, "course_exit": 0.5037037037037037, "illegal_nonwheel_contact": 0.0}, "collection_time_s": 0.0983410715206992, "learning_time_s": 0.37333734893938525, "iteration_time_s": 0.5437627990250565, "policy_updates": 4250, "skipped_updates": 0, "invalid_env_resets": 23, "elapsed_s": 2474.120735564007, "nonwheel_terminations": 10286, "contact_bce": 0.3489473760128021, "contact_force_loss": 0.02095179446041584, "collision_bce": 0.0009674303000792861, "collision_label_rate": 0.001106943003833294, "collision_prediction_mean": 0.0009086411446332932, "collision_label_count": 16261.0, "terrain_level_mean": 1.02734375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [223, 150, 34, 2, 1, 0], "episodes_by_level": [[285.0, 65.0, 11.0, 0.0], [134.0, 29.0, 8.0, 0.0], [8.0, 3.0, 0.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [208, 589, 570, 66, 0, 0], "episodes_by_level": [[386.0, 300.0, 4.0, 0.0], [680.0, 444.0, 18.0, 0.0], [201.0, 72.0, 41.0, 0.0], [9.0, 0.0, 9.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [59, 146, 211, 128, 62, 8], "episodes_by_level": [[111.0, 97.0, 2.0, 0.0], [250.0, 218.0, 4.0, 0.0], [208.0, 180.0, 7.0, 0.0], [88.0, 72.0, 8.0, 0.0], [13.0, 9.0, 3.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "platform": {"level_counts": [265, 120, 25, 0, 0, 0], "episodes_by_level": [[319.0, 54.0, 18.0, 0.0], [94.0, 21.0, 8.0, 0.0], [9.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [229, 147, 30, 4, 0, 0], "episodes_by_level": [[297.0, 66.0, 11.0, 0.0], [119.0, 23.0, 12.0, 0.0], [16.0, 4.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [461, 295, 60, 3, 0, 0], "episodes_by_level": [[583.0, 122.0, 29.0, 0.0], [249.0, 47.0, 19.0, 0.0], [12.0, 3.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 5468, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234375, "command_abs_max": [0.9996671676635742, 0.39967355132102966, 0.6998120546340942]}
{"step": 4600, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 4600, "total_transitions": 18841600, "num_steps_per_env": 1, "wm_loss": 1.4364973306655884, "actor_loss": -9.414199829101562, "critic_loss": 0.002455831738188863, "reward": 0.08400412648916245, "falls": 12, "interval_steps": 50, "velocity_mae": [0.1264284998178482, 0.08700041472911835, 0.13217709958553314], "mean_episode_length": 1213.562962962963, "episode_reward_terms": {"track_linear_velocity": 41.779850006103516, "track_angular_velocity": 46.01532745361328, "upright": 23.60223388671875, "leg_posture": -3.096968412399292, "standstill": -5.912210941314697, "action_rate_l2": -0.316496878862381, "joint_torques_l2": -0.1312803477048874, "dof_pos_limits": -0.0005952658248133957, "terminated": -0.028442880138754845, "unnecessary_wheel_lift": -0.200018972158432, "rolling_leg_motion": -0.7684518694877625, "obstacle_progress": 1.4347753524780273, "wheel_body_intrusion": -0.2545718252658844, "pair_body_intrusion": -0.17884846031665802}, "weighted_reward_terms": {"track_linear_velocity": 1.7213714122772217, "track_angular_velocity": 1.8958772420883179, "upright": 0.9724354147911072, "leg_posture": -0.12759818136692047, "standstill": -0.24358896911144257, "action_rate_l2": -0.013039985671639442, "joint_torques_l2": -0.005408880766481161, "dof_pos_limits": -2.4525541448383592e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.008240980096161366, "rolling_leg_motion": -0.031660981476306915, "obstacle_progress": 0.05911417305469513, "wheel_body_intrusion": -0.01048861164599657, "pair_body_intrusion": -0.007368734106421471}, "episode_termination_rates": {"time_out": 0.37777777777777777, "fell_over": 0.07407407407407407, "course_exit": 0.5333333333333333, "illegal_nonwheel_contact": 0.014814814814814815}, "collection_time_s": 0.07744669512030669, "learning_time_s": 0.19362909246236085, "iteration_time_s": 0.5407990712697843, "policy_updates": 4300, "skipped_updates": 0, "invalid_env_resets": 23, "elapsed_s": 2487.6757278410078, "nonwheel_terminations": 10288, "contact_bce": 0.3499627411365509, "contact_force_loss": 0.02211860567331314, "collision_bce": 0.0015225046081468463, "collision_label_rate": 0.0012957364087924361, "collision_prediction_mean": 0.0016826968640089035, "collision_label_count": 16207.0, "terrain_level_mean": 1.038818359375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [223, 150, 34, 2, 1, 0], "episodes_by_level": [[288.0, 65.0, 12.0, 0.0], [138.0, 29.0, 8.0, 0.0], [8.0, 3.0, 0.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [203, 587, 577, 66, 0, 0], "episodes_by_level": [[394.0, 306.0, 4.0, 0.0], [697.0, 453.0, 19.0, 0.0], [209.0, 73.0, 42.0, 0.0], [9.0, 0.0, 9.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [58, 141, 210, 133, 61, 11], "episodes_by_level": [[113.0, 99.0, 2.0, 0.0], [256.0, 224.0, 4.0, 0.0], [215.0, 186.0, 7.0, 0.0], [91.0, 74.0, 8.0, 0.0], [16.0, 12.0, 3.0, 0.0], [4.0, 1.0, 2.0, 0.0]]}, "platform": {"level_counts": [262, 122, 25, 1, 0, 0], "episodes_by_level": [[324.0, 58.0, 18.0, 0.0], [101.0, 22.0, 9.0, 0.0], [10.0, 1.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [227, 150, 28, 5, 0, 0], "episodes_by_level": [[299.0, 68.0, 11.0, 0.0], [121.0, 23.0, 12.0, 0.0], [18.0, 5.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [455, 298, 63, 3, 0, 0], "episodes_by_level": [[597.0, 130.0, 30.0, 0.0], [256.0, 50.0, 21.0, 0.0], [14.0, 3.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 5570, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234130859375, "command_abs_max": [0.9996671676635742, 0.39967355132102966, 0.6998120546340942]}
{"step": 4650, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 4650, "total_transitions": 19046400, "num_steps_per_env": 1, "wm_loss": 1.4178484678268433, "actor_loss": -9.408980369567871, "critic_loss": 0.0033025615848600864, "reward": 0.08386411517858505, "falls": 13, "interval_steps": 50, "velocity_mae": [0.12790094316005707, 0.08620461076498032, 0.13269436359405518], "mean_episode_length": 1267.4274193548388, "episode_reward_terms": {"track_linear_velocity": 43.62141418457031, "track_angular_velocity": 48.038272857666016, "upright": 24.647600173950195, "leg_posture": -3.2162463665008545, "standstill": -6.386265277862549, "action_rate_l2": -0.3467763364315033, "joint_torques_l2": -0.13718196749687195, "dof_pos_limits": -0.001739621628075838, "terminated": -0.03218076750636101, "unnecessary_wheel_lift": -0.20427438616752625, "rolling_leg_motion": -0.8161935806274414, "obstacle_progress": 1.5446319580078125, "wheel_body_intrusion": -0.25498515367507935, "pair_body_intrusion": -0.16437917947769165}, "weighted_reward_terms": {"track_linear_velocity": 1.7208645343780518, "track_angular_velocity": 1.8951095342636108, "upright": 0.972347617149353, "leg_posture": -0.12688089907169342, "standstill": -0.251938134431839, "action_rate_l2": -0.013680323958396912, "joint_torques_l2": -0.005411827936768532, "dof_pos_limits": -6.862806185381487e-05, "terminated": -0.0012695310870185494, "unnecessary_wheel_lift": -0.008058623410761356, "rolling_leg_motion": -0.03219883143901825, "obstacle_progress": 0.060935720801353455, "wheel_body_intrusion": -0.010059162974357605, "pair_body_intrusion": -0.0064847576431930065}, "episode_termination_rates": {"time_out": 0.4596774193548387, "fell_over": 0.0967741935483871, "course_exit": 0.43548387096774194, "illegal_nonwheel_contact": 0.008064516129032258}, "collection_time_s": 0.10174678781942931, "learning_time_s": 0.4049513818789274, "iteration_time_s": 0.5404334986466671, "policy_updates": 4350, "skipped_updates": 0, "invalid_env_resets": 23, "elapsed_s": 2513.0157687070023, "nonwheel_terminations": 10289, "contact_bce": 0.344069242477417, "contact_force_loss": 0.021463152021169662, "collision_bce": 0.0005872495821677148, "collision_label_rate": 0.0006162188947200775, "collision_prediction_mean": 0.000870361109264195, "collision_label_count": 16228.0, "terrain_level_mean": 1.047119140625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [224, 148, 35, 2, 1, 0], "episodes_by_level": [[294.0, 66.0, 12.0, 0.0], [142.0, 30.0, 10.0, 0.0], [9.0, 3.0, 0.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [197, 583, 583, 70, 0, 0], "episodes_by_level": [[401.0, 313.0, 4.0, 0.0], [715.0, 465.0, 20.0, 0.0], [223.0, 77.0, 43.0, 0.0], [9.0, 0.0, 9.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [59, 140, 206, 137, 60, 12], "episodes_by_level": [[113.0, 99.0, 2.0, 0.0], [257.0, 225.0, 4.0, 0.0], [219.0, 189.0, 8.0, 0.0], [94.0, 76.0, 8.0, 0.0], [19.0, 13.0, 5.0, 0.0], [5.0, 2.0, 2.0, 0.0]]}, "platform": {"level_counts": [259, 122, 28, 1, 0, 0], "episodes_by_level": [[329.0, 61.0, 18.0, 0.0], [106.0, 25.0, 9.0, 0.0], [10.0, 1.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [226, 151, 28, 5, 0, 0], "episodes_by_level": [[304.0, 69.0, 11.0, 0.0], [123.0, 23.0, 12.0, 0.0], [18.0, 5.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [457, 292, 66, 4, 0, 0], "episodes_by_level": [[605.0, 130.0, 31.0, 0.0], [265.0, 54.0, 23.0, 0.0], [16.0, 4.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 5671, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234130859375, "command_abs_max": [0.9996671676635742, 0.39967355132102966, 0.6998182535171509]}
{"step": 4700, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 4700, "total_transitions": 19251200, "num_steps_per_env": 1, "wm_loss": 1.4708104133605957, "actor_loss": -9.404764175415039, "critic_loss": 0.0026050496380776167, "reward": 0.08410696685314178, "falls": 7, "interval_steps": 50, "velocity_mae": [0.12696878612041473, 0.08700482547283173, 0.1323973387479782], "mean_episode_length": 1305.0671641791046, "episode_reward_terms": {"track_linear_velocity": 44.8979377746582, "track_angular_velocity": 49.49065399169922, "upright": 25.40370750427246, "leg_posture": -3.258212089538574, "standstill": -6.374754428863525, "action_rate_l2": -0.35273733735084534, "joint_torques_l2": -0.14120391011238098, "dof_pos_limits": -0.001102321082726121, "terminated": -0.017842713743448257, "unnecessary_wheel_lift": -0.11964423954486847, "rolling_leg_motion": -0.826746940612793, "obstacle_progress": 1.5270090103149414, "wheel_body_intrusion": -0.25524356961250305, "pair_body_intrusion": -0.20658695697784424}, "weighted_reward_terms": {"track_linear_velocity": 1.7201390266418457, "track_angular_velocity": 1.8960959911346436, "upright": 0.9732720851898193, "leg_posture": -0.12482929229736328, "standstill": -0.24423089623451233, "action_rate_l2": -0.013514145277440548, "joint_torques_l2": -0.0054098330438137054, "dof_pos_limits": -4.223235009703785e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.004583834670484066, "rolling_leg_motion": -0.031674500554800034, "obstacle_progress": 0.058503083884716034, "wheel_body_intrusion": -0.009778943844139576, "pair_body_intrusion": -0.007914802059531212}, "episode_termination_rates": {"time_out": 0.4253731343283582, "fell_over": 0.05223880597014925, "course_exit": 0.5298507462686567, "illegal_nonwheel_contact": 0.0}, "collection_time_s": 0.10210828962095547, "learning_time_s": 0.40566732362029145, "iteration_time_s": 0.5400871692753231, "policy_updates": 4400, "skipped_updates": 0, "invalid_env_resets": 23, "elapsed_s": 2538.4096955940186, "nonwheel_terminations": 10289, "contact_bce": 0.3422875702381134, "contact_force_loss": 0.02124360017478466, "collision_bce": 0.0013764547184109688, "collision_label_rate": 0.001291274675168097, "collision_prediction_mean": 0.0015128772938624024, "collision_label_count": 16263.0, "terrain_level_mean": 1.05859375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [222, 147, 37, 3, 1, 0], "episodes_by_level": [[300.0, 68.0, 12.0, 0.0], [149.0, 33.0, 10.0, 0.0], [10.0, 4.0, 0.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [196, 575, 590, 72, 0, 0], "episodes_by_level": [[405.0, 314.0, 4.0, 0.0], [734.0, 475.0, 20.0, 0.0], [236.0, 80.0, 43.0, 0.0], [10.0, 0.0, 9.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [58, 134, 208, 136, 65, 13], "episodes_by_level": [[115.0, 100.0, 2.0, 0.0], [265.0, 233.0, 4.0, 0.0], [226.0, 195.0, 9.0, 0.0], [100.0, 82.0, 8.0, 0.0], [21.0, 14.0, 5.0, 0.0], [5.0, 2.0, 2.0, 0.0]]}, "platform": {"level_counts": [257, 124, 28, 1, 0, 0], "episodes_by_level": [[334.0, 63.0, 18.0, 0.0], [108.0, 25.0, 9.0, 0.0], [10.0, 1.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [224, 152, 28, 6, 0, 0], "episodes_by_level": [[309.0, 71.0, 11.0, 0.0], [127.0, 24.0, 12.0, 0.0], [19.0, 6.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [453, 297, 65, 4, 0, 0], "episodes_by_level": [[614.0, 135.0, 31.0, 0.0], [272.0, 54.0, 24.0, 0.0], [20.0, 4.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 5756, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23388671875, "command_abs_max": [0.9996671676635742, 0.39967355132102966, 0.6998182535171509]}
{"step": 4750, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 4750, "total_transitions": 19456000, "num_steps_per_env": 1, "wm_loss": 1.4411816596984863, "actor_loss": -9.40947151184082, "critic_loss": 0.006006625946611166, "reward": 0.08401884883642197, "falls": 18, "interval_steps": 50, "velocity_mae": [0.12554705142974854, 0.0870002806186676, 0.13334700465202332], "mean_episode_length": 1220.6363636363637, "episode_reward_terms": {"track_linear_velocity": 42.047332763671875, "track_angular_velocity": 46.247779846191406, "upright": 23.743976593017578, "leg_posture": -3.110572099685669, "standstill": -5.907229423522949, "action_rate_l2": -0.34152722358703613, "joint_torques_l2": -0.13373170793056488, "dof_pos_limits": -0.0013357017887756228, "terminated": -0.04291298985481262, "unnecessary_wheel_lift": -0.1891278773546219, "rolling_leg_motion": -0.7727778553962708, "obstacle_progress": 1.4766558408737183, "wheel_body_intrusion": -0.2489524781703949, "pair_body_intrusion": -0.21112652122974396}, "weighted_reward_terms": {"track_linear_velocity": 1.7223529815673828, "track_angular_velocity": 1.8944127559661865, "upright": 0.9726065397262573, "leg_posture": -0.1274159997701645, "standstill": -0.24197335541248322, "action_rate_l2": -0.013989720493555069, "joint_torques_l2": -0.005477950908243656, "dof_pos_limits": -5.471333861351013e-05, "terminated": -0.0017578123370185494, "unnecessary_wheel_lift": -0.0077471015974879265, "rolling_leg_motion": -0.031654711812734604, "obstacle_progress": 0.060487132519483566, "wheel_body_intrusion": -0.010197651572525501, "pair_body_intrusion": -0.008648215793073177}, "episode_termination_rates": {"time_out": 0.36363636363636365, "fell_over": 0.14049586776859505, "course_exit": 0.48760330578512395, "illegal_nonwheel_contact": 0.008264462809917356}, "collection_time_s": 0.10188597221975215, "learning_time_s": 0.40570912980125284, "iteration_time_s": 0.5397462582164199, "policy_updates": 4450, "skipped_updates": 0, "invalid_env_resets": 23, "elapsed_s": 2563.7947265279945, "nonwheel_terminations": 10290, "contact_bce": 0.3522403836250305, "contact_force_loss": 0.02170041762292385, "collision_bce": 0.000689128995873034, "collision_label_rate": 0.0007994588231667876, "collision_prediction_mean": 0.0008595205727033317, "collision_label_count": 16261.0, "terrain_level_mean": 1.066650390625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [222, 147, 36, 4, 1, 0], "episodes_by_level": [[300.0, 68.0, 12.0, 0.0], [151.0, 33.0, 10.0, 0.0], [11.0, 5.0, 0.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [192, 576, 593, 72, 0, 0], "episodes_by_level": [[411.0, 319.0, 4.0, 0.0], [749.0, 483.0, 21.0, 0.0], [249.0, 82.0, 46.0, 0.0], [12.0, 0.0, 11.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [55, 133, 205, 141, 67, 13], "episodes_by_level": [[118.0, 103.0, 2.0, 0.0], [273.0, 240.0, 4.0, 0.0], [234.0, 203.0, 9.0, 0.0], [103.0, 85.0, 8.0, 0.0], [22.0, 14.0, 6.0, 0.0], [5.0, 2.0, 2.0, 0.0]]}, "platform": {"level_counts": [252, 129, 28, 1, 0, 0], "episodes_by_level": [[344.0, 68.0, 20.0, 0.0], [111.0, 25.0, 9.0, 0.0], [10.0, 1.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [222, 154, 28, 6, 0, 0], "episodes_by_level": [[313.0, 74.0, 11.0, 0.0], [129.0, 24.0, 13.0, 0.0], [21.0, 6.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [452, 297, 66, 4, 0, 0], "episodes_by_level": [[620.0, 137.0, 31.0, 0.0], [277.0, 55.0, 25.0, 0.0], [22.0, 4.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 5833, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234619140625, "command_abs_max": [0.9996671676635742, 0.39967355132102966, 0.6998182535171509]}
{"step": 4800, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 4800, "total_transitions": 19660800, "num_steps_per_env": 1, "wm_loss": 1.3880821466445923, "actor_loss": -9.410751342773438, "critic_loss": 0.0054449583403766155, "reward": 0.08410701900720596, "falls": 15, "interval_steps": 50, "velocity_mae": [0.1270083785057068, 0.08746160566806793, 0.1332954466342926], "mean_episode_length": 1246.0915032679738, "episode_reward_terms": {"track_linear_velocity": 42.803932189941406, "track_angular_velocity": 47.2138671875, "upright": 24.26500701904297, "leg_posture": -3.1400554180145264, "standstill": -5.9095072746276855, "action_rate_l2": -0.35108381509780884, "joint_torques_l2": -0.1353183090686798, "dof_pos_limits": -0.000757096684537828, "terminated": -0.03650658205151558, "unnecessary_wheel_lift": -0.20859867334365845, "rolling_leg_motion": -0.788196325302124, "obstacle_progress": 1.5237256288528442, "wheel_body_intrusion": -0.2509769797325134, "pair_body_intrusion": -0.18048517405986786}, "weighted_reward_terms": {"track_linear_velocity": 1.7175276279449463, "track_angular_velocity": 1.894478440284729, "upright": 0.9736446738243103, "leg_posture": -0.1259961724281311, "standstill": -0.23712171614170074, "action_rate_l2": -0.014087400399148464, "joint_torques_l2": -0.005429709795862436, "dof_pos_limits": -3.037885471712798e-05, "terminated": -0.0014648435171693563, "unnecessary_wheel_lift": -0.008370118215680122, "rolling_leg_motion": -0.03162674233317375, "obstacle_progress": 0.06114019826054573, "wheel_body_intrusion": -0.010070567019283772, "pair_body_intrusion": -0.0072420514188706875}, "episode_termination_rates": {"time_out": 0.3660130718954248, "fell_over": 0.09803921568627451, "course_exit": 0.5359477124183006, "illegal_nonwheel_contact": 0.0}, "collection_time_s": 0.10257986183918547, "learning_time_s": 0.40567470184061677, "iteration_time_s": 0.539419303883545, "policy_updates": 4500, "skipped_updates": 0, "invalid_env_resets": 23, "elapsed_s": 2589.212658641016, "nonwheel_terminations": 10290, "contact_bce": 0.3353981375694275, "contact_force_loss": 0.020583581179380417, "collision_bce": 0.001350616803392768, "collision_label_rate": 0.0012954167323186994, "collision_prediction_mean": 0.0015477117849513888, "collision_label_count": 16211.0, "terrain_level_mean": 1.07958984375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [223, 145, 36, 5, 1, 0], "episodes_by_level": [[300.0, 68.0, 12.0, 0.0], [158.0, 34.0, 11.0, 0.0], [14.0, 6.0, 0.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [186, 568, 603, 76, 0, 0], "episodes_by_level": [[417.0, 325.0, 4.0, 0.0], [774.0, 499.0, 21.0, 0.0], [269.0, 87.0, 49.0, 0.0], [13.0, 0.0, 12.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [52, 132, 203, 142, 72, 13], "episodes_by_level": [[121.0, 106.0, 2.0, 0.0], [278.0, 244.0, 4.0, 0.0], [240.0, 209.0, 9.0, 0.0], [109.0, 90.0, 8.0, 0.0], [22.0, 14.0, 6.0, 0.0], [5.0, 2.0, 2.0, 0.0]]}, "platform": {"level_counts": [251, 129, 29, 1, 0, 0], "episodes_by_level": [[350.0, 70.0, 22.0, 0.0], [116.0, 26.0, 10.0, 0.0], [10.0, 1.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [222, 154, 28, 6, 0, 0], "episodes_by_level": [[322.0, 76.0, 12.0, 0.0], [133.0, 24.0, 15.0, 0.0], [21.0, 6.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [450, 294, 70, 5, 0, 0], "episodes_by_level": [[631.0, 141.0, 32.0, 0.0], [289.0, 60.0, 27.0, 0.0], [24.0, 5.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 5921, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2353515625, "command_abs_max": [0.9955883026123047, 0.39967355132102966, 0.6998182535171509]}
{"step": 4850, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 4850, "total_transitions": 19865600, "num_steps_per_env": 1, "wm_loss": 1.4552030563354492, "actor_loss": -9.412652015686035, "critic_loss": 0.002348972950130701, "reward": 0.08456049859523773, "falls": 9, "interval_steps": 50, "velocity_mae": [0.12626305222511292, 0.0861772671341896, 0.13266804814338684], "mean_episode_length": 1272.5955882352941, "episode_reward_terms": {"track_linear_velocity": 43.843746185302734, "track_angular_velocity": 48.243980407714844, "upright": 24.816307067871094, "leg_posture": -3.171481132507324, "standstill": -5.7299628257751465, "action_rate_l2": -0.362155556678772, "joint_torques_l2": -0.13937295973300934, "dof_pos_limits": -0.0001807525404728949, "terminated": -0.02236984111368656, "unnecessary_wheel_lift": -0.14193062484264374, "rolling_leg_motion": -0.7988800406455994, "obstacle_progress": 1.5207810401916504, "wheel_body_intrusion": -0.26000040769577026, "pair_body_intrusion": -0.18715636432170868}, "weighted_reward_terms": {"track_linear_velocity": 1.7226110696792603, "track_angular_velocity": 1.8954954147338867, "upright": 0.9750272035598755, "leg_posture": -0.12460679560899734, "standstill": -0.22512899339199066, "action_rate_l2": -0.014229013584554195, "joint_torques_l2": -0.005475933197885752, "dof_pos_limits": -7.1017279879015405e-06, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.005576423369348049, "rolling_leg_motion": -0.0313878208398819, "obstacle_progress": 0.059751156717538834, "wheel_body_intrusion": -0.010215358808636665, "pair_body_intrusion": -0.007353332359343767}, "episode_termination_rates": {"time_out": 0.4264705882352941, "fell_over": 0.0661764705882353, "course_exit": 0.5073529411764706, "illegal_nonwheel_contact": 0.0}, "collection_time_s": 0.1023478963400703, "learning_time_s": 0.4059943202818977, "iteration_time_s": 0.5390999802633023, "policy_updates": 4550, "skipped_updates": 0, "invalid_env_resets": 23, "elapsed_s": 2614.634904277016, "nonwheel_terminations": 10290, "contact_bce": 0.3448766767978668, "contact_force_loss": 0.021997369825839996, "collision_bce": 0.0010413636919111013, "collision_label_rate": 0.0006777572561986744, "collision_prediction_mean": 0.0011367631377652287, "collision_label_count": 16230.0, "terrain_level_mean": 1.09130859375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [221, 145, 38, 5, 1, 0], "episodes_by_level": [[303.0, 70.0, 13.0, 0.0], [165.0, 36.0, 11.0, 0.0], [14.0, 6.0, 0.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [182, 562, 608, 81, 0, 0], "episodes_by_level": [[421.0, 329.0, 4.0, 0.0], [792.0, 512.0, 21.0, 0.0], [287.0, 92.0, 51.0, 0.0], [15.0, 0.0, 12.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [52, 131, 199, 146, 70, 16], "episodes_by_level": [[121.0, 106.0, 2.0, 0.0], [282.0, 248.0, 4.0, 0.0], [246.0, 214.0, 9.0, 0.0], [112.0, 91.0, 8.0, 0.0], [25.0, 17.0, 6.0, 0.0], [6.0, 3.0, 2.0, 0.0]]}, "platform": {"level_counts": [247, 133, 28, 2, 0, 0], "episodes_by_level": [[359.0, 74.0, 22.0, 0.0], [119.0, 26.0, 10.0, 0.0], [11.0, 2.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [219, 156, 29, 6, 0, 0], "episodes_by_level": [[330.0, 79.0, 12.0, 0.0], [138.0, 25.0, 15.0, 0.0], [22.0, 6.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [446, 298, 68, 7, 0, 0], "episodes_by_level": [[638.0, 145.0, 33.0, 0.0], [296.0, 60.0, 27.0, 0.0], [26.0, 7.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 6002, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.236328125, "command_abs_max": [0.9967856407165527, 0.39967355132102966, 0.6998182535171509]}
{"step": 4900, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 4900, "total_transitions": 20070400, "num_steps_per_env": 1, "wm_loss": 1.3693853616714478, "actor_loss": -9.382423400878906, "critic_loss": 0.00502695981413126, "reward": 0.08397989720106125, "falls": 17, "interval_steps": 50, "velocity_mae": [0.12613257765769958, 0.08724238723516464, 0.1335185319185257], "mean_episode_length": 1265.0, "episode_reward_terms": {"track_linear_velocity": 43.540733337402344, "track_angular_velocity": 47.92867660522461, "upright": 24.606142044067383, "leg_posture": -3.1401944160461426, "standstill": -6.24144983291626, "action_rate_l2": -0.3534676134586334, "joint_torques_l2": -0.13897371292114258, "dof_pos_limits": -0.00030158605659380555, "terminated": -0.04200194776058197, "unnecessary_wheel_lift": -0.23039653897285461, "rolling_leg_motion": -0.7936806082725525, "obstacle_progress": 1.5241706371307373, "wheel_body_intrusion": -0.24295035004615784, "pair_body_intrusion": -0.181727796792984}, "weighted_reward_terms": {"track_linear_velocity": 1.720977544784546, "track_angular_velocity": 1.8944140672683716, "upright": 0.9725748300552368, "leg_posture": -0.1241183653473854, "standstill": -0.24669763445854187, "action_rate_l2": -0.013971052132546902, "joint_torques_l2": -0.005493032280355692, "dof_pos_limits": -1.192039781017229e-05, "terminated": -0.001660156063735485, "unnecessary_wheel_lift": -0.009106582961976528, "rolling_leg_motion": -0.031370773911476135, "obstacle_progress": 0.06024390086531639, "wheel_body_intrusion": -0.00960278045386076, "pair_body_intrusion": -0.007182917557656765}, "episode_termination_rates": {"time_out": 0.425531914893617, "fell_over": 0.11347517730496454, "course_exit": 0.45390070921985815, "illegal_nonwheel_contact": 0.0070921985815602835}, "collection_time_s": 0.10635806156031322, "learning_time_s": 0.41484861593868116, "iteration_time_s": 0.5389184800071443, "policy_updates": 4600, "skipped_updates": 0, "invalid_env_resets": 23, "elapsed_s": 2640.7005520350067, "nonwheel_terminations": 10291, "contact_bce": 0.3402491807937622, "contact_force_loss": 0.021643055602908134, "collision_bce": 0.0009693424217402935, "collision_label_rate": 0.0006138735334388912, "collision_prediction_mean": 0.0003552216512616724, "collision_label_count": 16290.0, "terrain_level_mean": 1.10302734375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [222, 143, 39, 5, 1, 0], "episodes_by_level": [[304.0, 70.0, 13.0, 0.0], [170.0, 38.0, 12.0, 0.0], [15.0, 6.0, 1.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [175, 564, 607, 87, 0, 0], "episodes_by_level": [[431.0, 336.0, 4.0, 0.0], [802.0, 518.0, 21.0, 0.0], [299.0, 98.0, 52.0, 0.0], [16.0, 0.0, 12.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [51, 127, 196, 150, 72, 18], "episodes_by_level": [[122.0, 107.0, 2.0, 0.0], [287.0, 253.0, 4.0, 0.0], [257.0, 224.0, 9.0, 0.0], [119.0, 97.0, 9.0, 0.0], [29.0, 19.0, 7.0, 0.0], [7.0, 3.0, 3.0, 0.0]]}, "platform": {"level_counts": [246, 133, 29, 2, 0, 0], "episodes_by_level": [[360.0, 75.0, 22.0, 0.0], [125.0, 27.0, 10.0, 0.0], [11.0, 2.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [218, 156, 30, 5, 1, 0], "episodes_by_level": [[333.0, 80.0, 14.0, 0.0], [143.0, 26.0, 15.0, 0.0], [22.0, 6.0, 4.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [443, 299, 70, 7, 0, 0], "episodes_by_level": [[654.0, 149.0, 35.0, 0.0], [310.0, 63.0, 28.0, 0.0], [29.0, 7.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 6086, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.229736328125, "command_abs_max": [0.9967856407165527, 0.39967355132102966, 0.6998182535171509]}
{"step": 4950, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 4950, "total_transitions": 20275200, "num_steps_per_env": 1, "wm_loss": 1.4784948825836182, "actor_loss": -9.415555000305176, "critic_loss": 0.002848893404006958, "reward": 0.08473031967878342, "falls": 7, "interval_steps": 50, "velocity_mae": [0.12541157007217407, 0.08639056235551834, 0.13277676701545715], "mean_episode_length": 1300.7633587786258, "episode_reward_terms": {"track_linear_velocity": 44.85551452636719, "track_angular_velocity": 49.30519104003906, "upright": 25.32615852355957, "leg_posture": -3.1808841228485107, "standstill": -5.801980972290039, "action_rate_l2": -0.3717990219593048, "joint_torques_l2": -0.14321880042552948, "dof_pos_limits": -0.0003100693866144866, "terminated": -0.017783870920538902, "unnecessary_wheel_lift": -0.15487037599086761, "rolling_leg_motion": -0.8102784156799316, "obstacle_progress": 1.636573314666748, "wheel_body_intrusion": -0.25771671533584595, "pair_body_intrusion": -0.17050263285636902}, "weighted_reward_terms": {"track_linear_velocity": 1.7241997718811035, "track_angular_velocity": 1.8952407836914062, "upright": 0.9735114574432373, "leg_posture": -0.12226991355419159, "standstill": -0.22302216291427612, "action_rate_l2": -0.014291571453213692, "joint_torques_l2": -0.005505182780325413, "dof_pos_limits": -1.1918747986783274e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.005953057669103146, "rolling_leg_motion": -0.03114626742899418, "obstacle_progress": 0.06290819495916367, "wheel_body_intrusion": -0.009906364604830742, "pair_body_intrusion": -0.00655394559726119}, "episode_termination_rates": {"time_out": 0.4732824427480916, "fell_over": 0.05343511450381679, "course_exit": 0.4732824427480916, "illegal_nonwheel_contact": 0.0}, "collection_time_s": 0.1094721997808665, "learning_time_s": 0.42731815807928797, "iteration_time_s": 0.5388974466016152, "policy_updates": 4650, "skipped_updates": 0, "invalid_env_resets": 23, "elapsed_s": 2667.542360677995, "nonwheel_terminations": 10291, "contact_bce": 0.3489503562450409, "contact_force_loss": 0.022166071459650993, "collision_bce": 0.00040526650263927877, "collision_label_rate": 0.00024548915098421276, "collision_prediction_mean": 0.00020480752573348582, "collision_label_count": 16294.0, "terrain_level_mean": 1.113037109375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [222, 141, 40, 6, 1, 0], "episodes_by_level": [[307.0, 71.0, 13.0, 0.0], [178.0, 40.0, 13.0, 0.0], [16.0, 7.0, 1.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [171, 558, 614, 90, 0, 0], "episodes_by_level": [[438.0, 341.0, 4.0, 0.0], [822.0, 529.0, 21.0, 0.0], [312.0, 101.0, 53.0, 0.0], [16.0, 0.0, 12.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [50, 124, 196, 152, 71, 21], "episodes_by_level": [[124.0, 108.0, 2.0, 0.0], [291.0, 257.0, 4.0, 0.0], [262.0, 229.0, 9.0, 0.0], [121.0, 99.0, 9.0, 0.0], [32.0, 22.0, 7.0, 0.0], [7.0, 3.0, 3.0, 0.0]]}, "platform": {"level_counts": [245, 134, 29, 2, 0, 0], "episodes_by_level": [[364.0, 77.0, 22.0, 0.0], [128.0, 27.0, 11.0, 0.0], [11.0, 2.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [214, 159, 30, 6, 1, 0], "episodes_by_level": [[338.0, 84.0, 14.0, 0.0], [146.0, 27.0, 15.0, 0.0], [23.0, 7.0, 4.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [443, 299, 70, 7, 0, 0], "episodes_by_level": [[662.0, 151.0, 35.0, 0.0], [322.0, 63.0, 30.0, 0.0], [30.0, 7.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 6173, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.232177734375, "command_abs_max": [0.9976098537445068, 0.39967355132102966, 0.6998182535171509]}
{"step": 5000, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 5000, "total_transitions": 20480000, "num_steps_per_env": 1, "wm_loss": 1.4712377786636353, "actor_loss": -9.402512550354004, "critic_loss": 0.003042469499632716, "reward": 0.08462651818990707, "falls": 12, "interval_steps": 50, "velocity_mae": [0.12493828684091568, 0.08627156168222427, 0.13366936147212982], "mean_episode_length": 1252.5833333333333, "episode_reward_terms": {"track_linear_velocity": 43.249778747558594, "track_angular_velocity": 47.435943603515625, "upright": 24.357053756713867, "leg_posture": -3.046717643737793, "standstill": -5.759950160980225, "action_rate_l2": -0.3617670238018036, "joint_torques_l2": -0.14238740503787994, "dof_pos_limits": -0.0005099147674627602, "terminated": -0.029357420280575752, "unnecessary_wheel_lift": -0.13303180038928986, "rolling_leg_motion": -0.774019718170166, "obstacle_progress": 1.6314122676849365, "wheel_body_intrusion": -0.2408088594675064, "pair_body_intrusion": -0.18387196958065033}, "weighted_reward_terms": {"track_linear_velocity": 1.7264232635498047, "track_angular_velocity": 1.893524408340454, "upright": 0.9722727537155151, "leg_posture": -0.12161736190319061, "standstill": -0.229922816157341, "action_rate_l2": -0.014440836384892464, "joint_torques_l2": -0.0056837499141693115, "dof_pos_limits": -2.0354524167487398e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.005310297477990389, "rolling_leg_motion": -0.030896935611963272, "obstacle_progress": 0.06512190401554108, "wheel_body_intrusion": -0.009612488560378551, "pair_body_intrusion": -0.0073397099040448666}, "episode_termination_rates": {"time_out": 0.3484848484848485, "fell_over": 0.09090909090909091, "course_exit": 0.5606060606060606, "illegal_nonwheel_contact": 0.0}, "collection_time_s": 0.10677757882047445, "learning_time_s": 0.42194915886211676, "iteration_time_s": 0.5387968240234011, "policy_updates": 4700, "skipped_updates": 0, "invalid_env_resets": 23, "elapsed_s": 2693.9841201170057, "nonwheel_terminations": 10291, "contact_bce": 0.34886500239372253, "contact_force_loss": 0.022783804684877396, "collision_bce": 9.295393829233944e-05, "collision_label_rate": 6.131207919679582e-05, "collision_prediction_mean": 6.860579742351547e-05, "collision_label_count": 16310.0, "terrain_level_mean": 1.1240234375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [220, 143, 40, 6, 1, 0], "episodes_by_level": [[312.0, 73.0, 13.0, 0.0], [180.0, 40.0, 13.0, 0.0], [18.0, 7.0, 1.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [165, 557, 615, 96, 0, 0], "episodes_by_level": [[444.0, 347.0, 4.0, 0.0], [835.0, 537.0, 21.0, 0.0], [329.0, 109.0, 54.0, 0.0], [18.0, 0.0, 13.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [49, 123, 191, 157, 70, 24], "episodes_by_level": [[127.0, 111.0, 2.0, 0.0], [297.0, 261.0, 5.0, 0.0], [270.0, 235.0, 9.0, 0.0], [125.0, 101.0, 9.0, 0.0], [35.0, 25.0, 7.0, 0.0], [7.0, 3.0, 3.0, 0.0]]}, "platform": {"level_counts": [245, 134, 29, 2, 0, 0], "episodes_by_level": [[365.0, 77.0, 23.0, 0.0], [131.0, 27.0, 11.0, 0.0], [11.0, 2.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [212, 158, 33, 6, 1, 0], "episodes_by_level": [[345.0, 86.0, 16.0, 0.0], [150.0, 30.0, 15.0, 0.0], [23.0, 7.0, 4.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [441, 299, 72, 7, 0, 0], "episodes_by_level": [[666.0, 153.0, 35.0, 0.0], [330.0, 65.0, 30.0, 0.0], [30.0, 7.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 6263, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.231201171875, "command_abs_max": [0.9976098537445068, 0.39967355132102966, 0.6998120546340942]}
{"step": 5050, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 5050, "total_transitions": 20684800, "num_steps_per_env": 1, "wm_loss": 1.4425369501113892, "actor_loss": -9.379955291748047, "critic_loss": 0.0037785829044878483, "reward": 0.08449072390794754, "falls": 3, "interval_steps": 50, "velocity_mae": [0.12414704263210297, 0.08743005245923996, 0.13292506337165833], "mean_episode_length": 1248.9833333333333, "episode_reward_terms": {"track_linear_velocity": 43.1158447265625, "track_angular_velocity": 47.33194351196289, "upright": 24.240951538085938, "leg_posture": -3.0728979110717773, "standstill": -5.941251277923584, "action_rate_l2": -0.3630351424217224, "joint_torques_l2": -0.14440658688545227, "dof_pos_limits": -0.000964210950769484, "terminated": -0.00731826014816761, "unnecessary_wheel_lift": -0.12182552367448807, "rolling_leg_motion": -0.7558122873306274, "obstacle_progress": 1.6815258264541626, "wheel_body_intrusion": -0.25008997321128845, "pair_body_intrusion": -0.1851542443037033}, "weighted_reward_terms": {"track_linear_velocity": 1.7260377407073975, "track_angular_velocity": 1.8948190212249756, "upright": 0.970427393913269, "leg_posture": -0.12301598489284515, "standstill": -0.23784351348876953, "action_rate_l2": -0.014533226378262043, "joint_torques_l2": -0.005780966021120548, "dof_pos_limits": -3.859983553411439e-05, "terminated": -0.00029296870343387127, "unnecessary_wheel_lift": -0.004876988008618355, "rolling_leg_motion": -0.030257102102041245, "obstacle_progress": 0.06731578707695007, "wheel_body_intrusion": -0.010011741891503334, "pair_body_intrusion": -0.007412198465317488}, "episode_termination_rates": {"time_out": 0.36666666666666664, "fell_over": 0.025, "course_exit": 0.6083333333333333, "illegal_nonwheel_contact": 0.0}, "collection_time_s": 0.10784933749877382, "learning_time_s": 0.40904755164054224, "iteration_time_s": 0.5385865539279224, "policy_updates": 4750, "skipped_updates": 0, "invalid_env_resets": 25, "elapsed_s": 2719.8620973360084, "nonwheel_terminations": 10291, "contact_bce": 0.3488706052303314, "contact_force_loss": 0.023366838693618774, "collision_bce": 0.00010096406185766682, "collision_label_rate": 0.0, "collision_prediction_mean": 7.352684770012274e-05, "collision_label_count": 16306.0, "terrain_level_mean": 1.1376953125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [217, 145, 41, 6, 1, 0], "episodes_by_level": [[317.0, 76.0, 13.0, 0.0], [182.0, 41.0, 13.0, 0.0], [18.0, 7.0, 1.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [162, 548, 622, 101, 0, 0], "episodes_by_level": [[448.0, 350.0, 4.0, 0.0], [851.0, 550.0, 21.0, 0.0], [340.0, 114.0, 55.0, 0.0], [19.0, 0.0, 13.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [47, 122, 186, 163, 72, 24], "episodes_by_level": [[129.0, 113.0, 2.0, 0.0], [300.0, 264.0, 5.0, 0.0], [279.0, 242.0, 9.0, 0.0], [129.0, 103.0, 9.0, 0.0], [36.0, 25.0, 7.0, 0.0], [9.0, 5.0, 3.0, 0.0]]}, "platform": {"level_counts": [241, 137, 30, 2, 0, 0], "episodes_by_level": [[372.0, 81.0, 24.0, 0.0], [134.0, 28.0, 11.0, 0.0], [13.0, 2.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [209, 160, 33, 7, 1, 0], "episodes_by_level": [[350.0, 89.0, 16.0, 0.0], [152.0, 31.0, 15.0, 0.0], [24.0, 8.0, 4.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [436, 302, 74, 7, 0, 0], "episodes_by_level": [[678.0, 158.0, 36.0, 0.0], [337.0, 67.0, 30.0, 0.0], [32.0, 7.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 6385, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23583984375, "command_abs_max": [0.9979546070098877, 0.39967355132102966, 0.6998120546340942]}
{"step": 5100, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 5100, "total_transitions": 20889600, "num_steps_per_env": 1, "wm_loss": 1.4028135538101196, "actor_loss": -9.431087493896484, "critic_loss": 0.002871143165975809, "reward": 0.08436019718647003, "falls": 12, "interval_steps": 50, "velocity_mae": [0.12327424436807632, 0.08758581429719925, 0.13353672623634338], "mean_episode_length": 1317.530303030303, "episode_reward_terms": {"track_linear_velocity": 45.514427185058594, "track_angular_velocity": 49.89366912841797, "upright": 25.557491302490234, "leg_posture": -3.2320950031280518, "standstill": -6.349551677703857, "action_rate_l2": -0.38506612181663513, "joint_torques_l2": -0.15378473699092865, "dof_pos_limits": -0.0013162646209821105, "terminated": -0.030879613012075424, "unnecessary_wheel_lift": -0.13243886828422546, "rolling_leg_motion": -0.7982656955718994, "obstacle_progress": 1.7542725801467896, "wheel_body_intrusion": -0.26756930351257324, "pair_body_intrusion": -0.22178423404693604}, "weighted_reward_terms": {"track_linear_velocity": 1.72726309299469, "track_angular_velocity": 1.8934545516967773, "upright": 0.9699015021324158, "leg_posture": -0.12265733629465103, "standstill": -0.2409641593694687, "action_rate_l2": -0.014613178558647633, "joint_torques_l2": -0.00583609938621521, "dof_pos_limits": -4.995197014068253e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.00502602756023407, "rolling_leg_motion": -0.030294017866253853, "obstacle_progress": 0.06657428294420242, "wheel_body_intrusion": -0.010154199786484241, "pair_body_intrusion": -0.008416665717959404}, "episode_termination_rates": {"time_out": 0.4090909090909091, "fell_over": 0.08333333333333333, "course_exit": 0.5075757575757576, "illegal_nonwheel_contact": 0.007575757575757576}, "collection_time_s": 0.10408122644061223, "learning_time_s": 0.4103557882201858, "iteration_time_s": 0.5383508029527444, "policy_updates": 4800, "skipped_updates": 0, "invalid_env_resets": 26, "elapsed_s": 2745.5890950589965, "nonwheel_terminations": 10292, "contact_bce": 0.3467506468296051, "contact_force_loss": 0.023014506325125694, "collision_bce": 9.386557394464035e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 9.364272955281194e-06, "collision_label_count": 16340.0, "terrain_level_mean": 1.147705078125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [215, 147, 41, 6, 1, 0], "episodes_by_level": [[325.0, 78.0, 14.0, 0.0], [187.0, 41.0, 13.0, 0.0], [18.0, 7.0, 1.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [158, 546, 626, 103, 0, 0], "episodes_by_level": [[454.0, 354.0, 5.0, 0.0], [865.0, 562.0, 21.0, 0.0], [355.0, 119.0, 58.0, 0.0], [22.0, 0.0, 16.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [45, 120, 183, 165, 77, 24], "episodes_by_level": [[132.0, 115.0, 2.0, 0.0], [306.0, 268.0, 5.0, 0.0], [287.0, 250.0, 9.0, 0.0], [135.0, 108.0, 9.0, 0.0], [36.0, 25.0, 7.0, 0.0], [9.0, 5.0, 3.0, 0.0]]}, "platform": {"level_counts": [239, 138, 31, 2, 0, 0], "episodes_by_level": [[378.0, 83.0, 24.0, 0.0], [139.0, 29.0, 11.0, 0.0], [13.0, 2.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [208, 161, 33, 7, 1, 0], "episodes_by_level": [[353.0, 90.0, 16.0, 0.0], [157.0, 31.0, 15.0, 0.0], [27.0, 8.0, 4.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [434, 302, 75, 8, 0, 0], "episodes_by_level": [[683.0, 160.0, 36.0, 0.0], [346.0, 69.0, 30.0, 0.0], [33.0, 8.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 6488, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.235107421875, "command_abs_max": [0.9979546070098877, 0.39967355132102966, 0.6998120546340942]}
{"step": 5150, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 5150, "total_transitions": 21094400, "num_steps_per_env": 1, "wm_loss": 1.3793528079986572, "actor_loss": -9.422815322875977, "critic_loss": 0.002819849643856287, "reward": 0.08447766304016113, "falls": 15, "interval_steps": 50, "velocity_mae": [0.12217460572719574, 0.08612760901451111, 0.1326850801706314], "mean_episode_length": 1246.7290322580645, "episode_reward_terms": {"track_linear_velocity": 43.19032669067383, "track_angular_velocity": 47.265621185302734, "upright": 24.18290138244629, "leg_posture": -2.97139835357666, "standstill": -6.097156047821045, "action_rate_l2": -0.3699694573879242, "joint_torques_l2": -0.14274249970912933, "dof_pos_limits": -0.0010240337578579783, "terminated": -0.03652525693178177, "unnecessary_wheel_lift": -0.15513122081756592, "rolling_leg_motion": -0.7545201778411865, "obstacle_progress": 1.6767925024032593, "wheel_body_intrusion": -0.24670124053955078, "pair_body_intrusion": -0.2197355329990387}, "weighted_reward_terms": {"track_linear_velocity": 1.7321457862854004, "track_angular_velocity": 1.895585298538208, "upright": 0.9698540568351746, "leg_posture": -0.11916777491569519, "standstill": -0.24452613294124603, "action_rate_l2": -0.014837605878710747, "joint_torques_l2": -0.0057246801443398, "dof_pos_limits": -4.1068818973144516e-05, "terminated": -0.0014648435171693563, "unnecessary_wheel_lift": -0.006221529562026262, "rolling_leg_motion": -0.03025999292731285, "obstacle_progress": 0.067247673869133, "wheel_body_intrusion": -0.009893940761685371, "pair_body_intrusion": -0.008812482468783855}, "episode_termination_rates": {"time_out": 0.3225806451612903, "fell_over": 0.0967741935483871, "course_exit": 0.5806451612903226, "illegal_nonwheel_contact": 0.0064516129032258064}, "collection_time_s": 0.08915546611708124, "learning_time_s": 0.2871264147013426, "iteration_time_s": 0.5367783561137898, "policy_updates": 4850, "skipped_updates": 0, "invalid_env_resets": 26, "elapsed_s": 2764.4085339860176, "nonwheel_terminations": 10293, "contact_bce": 0.34310808777809143, "contact_force_loss": 0.022835267707705498, "collision_bce": 0.0003397400723770261, "collision_label_rate": 0.0001225114829139784, "collision_prediction_mean": 4.28199527959805e-05, "collision_label_count": 16325.0, "terrain_level_mean": 1.16064453125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [213, 149, 41, 6, 1, 0], "episodes_by_level": [[332.0, 80.0, 14.0, 0.0], [191.0, 41.0, 13.0, 0.0], [19.0, 7.0, 1.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [153, 542, 626, 111, 1, 0], "episodes_by_level": [[461.0, 359.0, 5.0, 0.0], [884.0, 575.0, 21.0, 0.0], [378.0, 130.0, 60.0, 0.0], [26.0, 1.0, 18.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [43, 121, 177, 166, 82, 25], "episodes_by_level": [[134.0, 117.0, 2.0, 0.0], [312.0, 273.0, 5.0, 0.0], [295.0, 258.0, 9.0, 0.0], [143.0, 114.0, 9.0, 0.0], [37.0, 26.0, 7.0, 0.0], [10.0, 6.0, 3.0, 0.0]]}, "platform": {"level_counts": [237, 140, 30, 3, 0, 0], "episodes_by_level": [[383.0, 86.0, 24.0, 0.0], [143.0, 29.0, 12.0, 0.0], [14.0, 3.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [208, 157, 38, 6, 1, 0], "episodes_by_level": [[356.0, 90.0, 17.0, 0.0], [164.0, 35.0, 15.0, 0.0], [27.0, 8.0, 4.0, 0.0], [2.0, 1.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [433, 301, 76, 9, 0, 0], "episodes_by_level": [[687.0, 162.0, 36.0, 0.0], [354.0, 71.0, 31.0, 0.0], [36.0, 9.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 6595, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23876953125, "command_abs_max": [0.9955673217773438, 0.39967355132102966, 0.6998120546340942]}
{"step": 5200, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 5200, "total_transitions": 21299200, "num_steps_per_env": 1, "wm_loss": 1.5216233730316162, "actor_loss": -9.431665420532227, "critic_loss": 0.0032890455331653357, "reward": 0.08480170369148254, "falls": 17, "interval_steps": 50, "velocity_mae": [0.12066669762134552, 0.08524226397275925, 0.13161857426166534], "mean_episode_length": 1289.5821917808219, "episode_reward_terms": {"track_linear_velocity": 44.80046463012695, "track_angular_velocity": 48.92741012573242, "upright": 25.047163009643555, "leg_posture": -3.0494472980499268, "standstill": -6.105384826660156, "action_rate_l2": -0.3892112076282501, "joint_torques_l2": -0.1480397880077362, "dof_pos_limits": -0.00086337944958359, "terminated": -0.04281815141439438, "unnecessary_wheel_lift": -0.14346985518932343, "rolling_leg_motion": -0.7885845899581909, "obstacle_progress": 1.7297818660736084, "wheel_body_intrusion": -0.2890471816062927, "pair_body_intrusion": -0.18919481337070465}, "weighted_reward_terms": {"track_linear_velocity": 1.7370147705078125, "track_angular_velocity": 1.89702570438385, "upright": 0.9711349010467529, "leg_posture": -0.11823392659425735, "standstill": -0.2367195039987564, "action_rate_l2": -0.015090594068169594, "joint_torques_l2": -0.0057398355565965176, "dof_pos_limits": -3.3475163945695385e-05, "terminated": -0.001660156063735485, "unnecessary_wheel_lift": -0.005562649108469486, "rolling_leg_motion": -0.03057519905269146, "obstacle_progress": 0.06706753373146057, "wheel_body_intrusion": -0.01120700966566801, "pair_body_intrusion": -0.007335508707910776}, "episode_termination_rates": {"time_out": 0.4178082191780822, "fell_over": 0.1095890410958904, "course_exit": 0.4657534246575342, "illegal_nonwheel_contact": 0.00684931506849315}, "collection_time_s": 0.10374973449856043, "learning_time_s": 0.4113073016010458, "iteration_time_s": 0.536570301015577, "policy_updates": 4900, "skipped_updates": 0, "invalid_env_resets": 26, "elapsed_s": 2790.1655652810005, "nonwheel_terminations": 10294, "contact_bce": 0.34971460700035095, "contact_force_loss": 0.02347685769200325, "collision_bce": 0.00016672973288223147, "collision_label_rate": 6.127451342763379e-05, "collision_prediction_mean": 8.632125536678359e-05, "collision_label_count": 16320.0, "terrain_level_mean": 1.171142578125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [210, 152, 41, 6, 1, 0], "episodes_by_level": [[338.0, 83.0, 14.0, 0.0], [194.0, 41.0, 13.0, 0.0], [21.0, 7.0, 1.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [148, 542, 631, 111, 1, 0], "episodes_by_level": [[467.0, 365.0, 5.0, 0.0], [900.0, 585.0, 21.0, 0.0], [395.0, 135.0, 66.0, 0.0], [32.0, 1.0, 20.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [43, 116, 172, 171, 85, 27], "episodes_by_level": [[135.0, 117.0, 2.0, 0.0], [317.0, 278.0, 5.0, 0.0], [305.0, 268.0, 9.0, 0.0], [148.0, 119.0, 9.0, 0.0], [39.0, 28.0, 7.0, 0.0], [11.0, 7.0, 3.0, 0.0]]}, "platform": {"level_counts": [237, 138, 31, 4, 0, 0], "episodes_by_level": [[385.0, 86.0, 24.0, 0.0], [146.0, 31.0, 12.0, 0.0], [15.0, 4.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [208, 157, 37, 7, 1, 0], "episodes_by_level": [[361.0, 91.0, 18.0, 0.0], [170.0, 35.0, 16.0, 0.0], [29.0, 9.0, 4.0, 0.0], [2.0, 1.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [431, 301, 78, 9, 0, 0], "episodes_by_level": [[697.0, 165.0, 37.0, 0.0], [363.0, 74.0, 32.0, 0.0], [42.0, 9.0, 4.0, 0.0], [1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 6693, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23291015625, "command_abs_max": [0.9984239339828491, 0.39967355132102966, 0.6998120546340942]}
{"step": 5250, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 5250, "total_transitions": 21504000, "num_steps_per_env": 1, "wm_loss": 1.4113377332687378, "actor_loss": -9.414301872253418, "critic_loss": 0.0029287550132721663, "reward": 0.08487699925899506, "falls": 9, "interval_steps": 50, "velocity_mae": [0.12019719928503036, 0.0857548862695694, 0.13123571872711182], "mean_episode_length": 1351.9615384615386, "episode_reward_terms": {"track_linear_velocity": 47.0007438659668, "track_angular_velocity": 51.31037902832031, "upright": 26.27867889404297, "leg_posture": -3.221067190170288, "standstill": -6.374956130981445, "action_rate_l2": -0.40461692214012146, "joint_torques_l2": -0.154229536652565, "dof_pos_limits": -0.0014048070879653096, "terminated": -0.023764945566654205, "unnecessary_wheel_lift": -0.15027213096618652, "rolling_leg_motion": -0.8255927562713623, "obstacle_progress": 1.8379631042480469, "wheel_body_intrusion": -0.28977787494659424, "pair_body_intrusion": -0.2316325157880783}, "weighted_reward_terms": {"track_linear_velocity": 1.738242745399475, "track_angular_velocity": 1.8976272344589233, "upright": 0.9718723297119141, "leg_posture": -0.11912569403648376, "standstill": -0.2357669174671173, "action_rate_l2": -0.014964070171117783, "joint_torques_l2": -0.005703917238861322, "dof_pos_limits": -5.195440098759718e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.005557559430599213, "rolling_leg_motion": -0.030533146113157272, "obstacle_progress": 0.06797394156455994, "wheel_body_intrusion": -0.010716942138969898, "pair_body_intrusion": -0.008566535077989101}, "episode_termination_rates": {"time_out": 0.4807692307692308, "fell_over": 0.05128205128205128, "course_exit": 0.46153846153846156, "illegal_nonwheel_contact": 0.00641025641025641}, "collection_time_s": 0.10967863488185685, "learning_time_s": 0.4305204364168458, "iteration_time_s": 0.5366060043413337, "policy_updates": 4950, "skipped_updates": 0, "invalid_env_resets": 27, "elapsed_s": 2817.1815227920015, "nonwheel_terminations": 10295, "contact_bce": 0.3434780538082123, "contact_force_loss": 0.022654909640550613, "collision_bce": 4.850219556828961e-05, "collision_label_rate": 6.125949585111812e-05, "collision_prediction_mean": 9.395621600560844e-05, "collision_label_count": 16324.0, "terrain_level_mean": 1.1826171875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [210, 150, 43, 6, 1, 0], "episodes_by_level": [[343.0, 83.0, 14.0, 0.0], [201.0, 43.0, 13.0, 0.0], [22.0, 7.0, 1.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [146, 540, 629, 117, 1, 0], "episodes_by_level": [[470.0, 367.0, 5.0, 0.0], [912.0, 594.0, 21.0, 0.0], [412.0, 141.0, 69.0, 0.0], [32.0, 1.0, 20.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [43, 109, 177, 167, 87, 31], "episodes_by_level": [[135.0, 117.0, 2.0, 0.0], [325.0, 285.0, 5.0, 0.0], [309.0, 272.0, 9.0, 0.0], [156.0, 125.0, 9.0, 0.0], [46.0, 33.0, 7.0, 0.0], [12.0, 8.0, 3.0, 0.0]]}, "platform": {"level_counts": [236, 138, 32, 4, 0, 0], "episodes_by_level": [[393.0, 87.0, 24.0, 0.0], [150.0, 32.0, 12.0, 0.0], [15.0, 4.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [207, 158, 35, 8, 2, 0], "episodes_by_level": [[364.0, 92.0, 18.0, 0.0], [178.0, 35.0, 16.0, 0.0], [31.0, 11.0, 4.0, 0.0], [3.0, 2.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [426, 303, 81, 9, 0, 0], "episodes_by_level": [[712.0, 170.0, 38.0, 0.0], [373.0, 77.0, 32.0, 0.0], [45.0, 9.0, 4.0, 0.0], [1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 6814, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.235595703125, "command_abs_max": [0.9984239339828491, 0.39967355132102966, 0.6998120546340942]}
{"step": 5300, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 5300, "total_transitions": 21708800, "num_steps_per_env": 1, "wm_loss": 1.4501979351043701, "actor_loss": -9.412148475646973, "critic_loss": 0.0039008602034300566, "reward": 0.0850372463464737, "falls": 7, "interval_steps": 50, "velocity_mae": [0.12088176608085632, 0.08480048924684525, 0.13022050261497498], "mean_episode_length": 1336.6935483870968, "episode_reward_terms": {"track_linear_velocity": 46.470611572265625, "track_angular_velocity": 50.77014923095703, "upright": 25.972278594970703, "leg_posture": -3.148874282836914, "standstill": -6.124130725860596, "action_rate_l2": -0.4043028652667999, "joint_torques_l2": -0.15168583393096924, "dof_pos_limits": -0.0009117782465182245, "terminated": -0.018275106325745583, "unnecessary_wheel_lift": -0.1538434475660324, "rolling_leg_motion": -0.8044165372848511, "obstacle_progress": 1.7961368560791016, "wheel_body_intrusion": -0.28857776522636414, "pair_body_intrusion": -0.2454349249601364}, "weighted_reward_terms": {"track_linear_velocity": 1.738267183303833, "track_angular_velocity": 1.8990944623947144, "upright": 0.9715120196342468, "leg_posture": -0.11778593808412552, "standstill": -0.22907757759094238, "action_rate_l2": -0.015123244374990463, "joint_torques_l2": -0.005673919338732958, "dof_pos_limits": -3.4105731174349785e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.005754626356065273, "rolling_leg_motion": -0.030089786276221275, "obstacle_progress": 0.06718581169843674, "wheel_body_intrusion": -0.010794462636113167, "pair_body_intrusion": -0.009180672466754913}, "episode_termination_rates": {"time_out": 0.47580645161290325, "fell_over": 0.04838709677419355, "course_exit": 0.46774193548387094, "illegal_nonwheel_contact": 0.008064516129032258}, "collection_time_s": 0.1102776620601071, "learning_time_s": 0.44074301505926994, "iteration_time_s": 0.5367429344194341, "policy_updates": 5000, "skipped_updates": 0, "invalid_env_resets": 27, "elapsed_s": 2844.737552423001, "nonwheel_terminations": 10296, "contact_bce": 0.3551352918148041, "contact_force_loss": 0.02403348684310913, "collision_bce": 4.2854280764004216e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 4.32985734732938e-06, "collision_label_count": 16321.0, "terrain_level_mean": 1.19189453125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [210, 150, 43, 6, 1, 0], "episodes_by_level": [[344.0, 83.0, 14.0, 0.0], [207.0, 43.0, 13.0, 0.0], [23.0, 7.0, 1.0, 0.0], [2.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [143, 539, 628, 122, 1, 0], "episodes_by_level": [[476.0, 372.0, 5.0, 0.0], [926.0, 602.0, 21.0, 0.0], [427.0, 146.0, 71.0, 0.0], [32.0, 1.0, 20.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [44, 104, 175, 167, 89, 35], "episodes_by_level": [[135.0, 117.0, 2.0, 0.0], [329.0, 289.0, 5.0, 0.0], [315.0, 278.0, 9.0, 0.0], [161.0, 130.0, 9.0, 0.0], [49.0, 36.0, 7.0, 0.0], [13.0, 9.0, 3.0, 0.0]]}, "platform": {"level_counts": [234, 139, 33, 4, 0, 0], "episodes_by_level": [[399.0, 89.0, 24.0, 0.0], [153.0, 33.0, 12.0, 0.0], [17.0, 4.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [205, 160, 35, 8, 2, 0], "episodes_by_level": [[368.0, 94.0, 18.0, 0.0], [184.0, 35.0, 16.0, 0.0], [31.0, 11.0, 4.0, 0.0], [3.0, 2.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [424, 305, 81, 9, 0, 0], "episodes_by_level": [[718.0, 172.0, 38.0, 0.0], [379.0, 77.0, 32.0, 0.0], [45.0, 9.0, 4.0, 0.0], [1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 6925, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23291015625, "command_abs_max": [0.9984239339828491, 0.39991500973701477, 0.6997212171554565]}
{"step": 5350, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 5350, "total_transitions": 21913600, "num_steps_per_env": 1, "wm_loss": 1.4284603595733643, "actor_loss": -9.424177169799805, "critic_loss": 0.004494539927691221, "reward": 0.0845923200249672, "falls": 18, "interval_steps": 50, "velocity_mae": [0.12198830395936966, 0.08608991652727127, 0.1318959891796112], "mean_episode_length": 1258.2260273972602, "episode_reward_terms": {"track_linear_velocity": 43.63261795043945, "track_angular_velocity": 47.72517776489258, "upright": 24.43581199645996, "leg_posture": -3.041275978088379, "standstill": -5.982712268829346, "action_rate_l2": -0.3872324228286743, "joint_torques_l2": -0.1450682431459427, "dof_pos_limits": -0.001074442407116294, "terminated": -0.0442345030605793, "unnecessary_wheel_lift": -0.18059827387332916, "rolling_leg_motion": -0.768722414970398, "obstacle_progress": 1.6923285722732544, "wheel_body_intrusion": -0.2768166959285736, "pair_body_intrusion": -0.2219323366880417}, "weighted_reward_terms": {"track_linear_velocity": 1.7338943481445312, "track_angular_velocity": 1.8965263366699219, "upright": 0.9710422158241272, "leg_posture": -0.12085571140050888, "standstill": -0.23774394392967224, "action_rate_l2": -0.01538803055882454, "joint_torques_l2": -0.0057647922076284885, "dof_pos_limits": -4.2696716263890266e-05, "terminated": -0.0017578123370185494, "unnecessary_wheel_lift": -0.007176701910793781, "rolling_leg_motion": -0.030547868460416794, "obstacle_progress": 0.0672505795955658, "wheel_body_intrusion": -0.011000276543200016, "pair_body_intrusion": -0.00881925504654646}, "episode_termination_rates": {"time_out": 0.3493150684931507, "fell_over": 0.11643835616438356, "course_exit": 0.5273972602739726, "illegal_nonwheel_contact": 0.00684931506849315}, "collection_time_s": 0.10999370541947429, "learning_time_s": 0.43459712808195033, "iteration_time_s": 0.5368173609605597, "policy_updates": 5050, "skipped_updates": 0, "invalid_env_resets": 27, "elapsed_s": 2871.972881138994, "nonwheel_terminations": 10297, "contact_bce": 0.3433520495891571, "contact_force_loss": 0.02329295687377453, "collision_bce": 9.172944373858627e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 9.104469427256845e-06, "collision_label_count": 16323.0, "terrain_level_mean": 1.201904296875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [210, 150, 43, 6, 1, 0], "episodes_by_level": [[349.0, 85.0, 15.0, 0.0], [216.0, 43.0, 15.0, 0.0], [24.0, 7.0, 1.0, 0.0], [2.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [137, 534, 634, 127, 1, 0], "episodes_by_level": [[483.0, 379.0, 5.0, 0.0], [948.0, 615.0, 21.0, 0.0], [443.0, 152.0, 74.0, 0.0], [33.0, 1.0, 21.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [41, 105, 175, 165, 92, 36], "episodes_by_level": [[139.0, 121.0, 2.0, 0.0], [333.0, 293.0, 5.0, 0.0], [319.0, 282.0, 9.0, 0.0], [166.0, 135.0, 9.0, 0.0], [50.0, 36.0, 8.0, 0.0], [13.0, 9.0, 3.0, 0.0]]}, "platform": {"level_counts": [230, 144, 33, 3, 0, 0], "episodes_by_level": [[405.0, 93.0, 24.0, 0.0], [156.0, 33.0, 12.0, 0.0], [19.0, 4.0, 3.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [203, 161, 37, 7, 2, 0], "episodes_by_level": [[371.0, 96.0, 18.0, 0.0], [187.0, 36.0, 16.0, 0.0], [32.0, 11.0, 4.0, 0.0], [4.0, 2.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [423, 305, 81, 10, 0, 0], "episodes_by_level": [[725.0, 174.0, 38.0, 0.0], [389.0, 78.0, 33.0, 0.0], [48.0, 10.0, 4.0, 0.0], [1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 7056, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.230224609375, "command_abs_max": [0.9989412426948547, 0.39991500973701477, 0.6997212171554565]}
{"step": 5400, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 5400, "total_transitions": 22118400, "num_steps_per_env": 1, "wm_loss": 1.4730161428451538, "actor_loss": -9.432196617126465, "critic_loss": 0.003088702680543065, "reward": 0.08497728407382965, "falls": 13, "interval_steps": 50, "velocity_mae": [0.12096884846687317, 0.08461274951696396, 0.1312233954668045], "mean_episode_length": 1269.5833333333333, "episode_reward_terms": {"track_linear_velocity": 44.138397216796875, "track_angular_velocity": 48.186954498291016, "upright": 24.682830810546875, "leg_posture": -2.9834139347076416, "standstill": -5.926913738250732, "action_rate_l2": -0.3998580276966095, "joint_torques_l2": -0.14352478086948395, "dof_pos_limits": -0.0005585807957686484, "terminated": -0.032235510647296906, "unnecessary_wheel_lift": -0.13416755199432373, "rolling_leg_motion": -0.7783461809158325, "obstacle_progress": 1.7122327089309692, "wheel_body_intrusion": -0.24777072668075562, "pair_body_intrusion": -0.1878652572631836}, "weighted_reward_terms": {"track_linear_velocity": 1.73830246925354, "track_angular_velocity": 1.8977468013763428, "upright": 0.9720838665962219, "leg_posture": -0.11749578267335892, "standstill": -0.23341964185237885, "action_rate_l2": -0.015747608616948128, "joint_torques_l2": -0.005652436520904303, "dof_pos_limits": -2.199858681706246e-05, "terminated": -0.0012695310870185494, "unnecessary_wheel_lift": -0.005283920560032129, "rolling_leg_motion": -0.030653607100248337, "obstacle_progress": 0.06743285804986954, "wheel_body_intrusion": -0.009757954627275467, "pair_body_intrusion": -0.007398697081953287}, "episode_termination_rates": {"time_out": 0.38461538461538464, "fell_over": 0.08333333333333333, "course_exit": 0.532051282051282, "illegal_nonwheel_contact": 0.0}, "collection_time_s": 0.1101165664830478, "learning_time_s": 0.43247780259815044, "iteration_time_s": 0.5368716454994433, "policy_updates": 5100, "skipped_updates": 0, "invalid_env_resets": 27, "elapsed_s": 2899.106885696994, "nonwheel_terminations": 10297, "contact_bce": 0.3432150185108185, "contact_force_loss": 0.023065239191055298, "collision_bce": 3.307231054350268e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 3.353282636453514e-06, "collision_label_count": 16331.0, "terrain_level_mean": 1.21435546875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [209, 151, 43, 6, 1, 0], "episodes_by_level": [[351.0, 86.0, 15.0, 0.0], [219.0, 43.0, 15.0, 0.0], [25.0, 7.0, 1.0, 0.0], [2.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [133, 535, 630, 134, 1, 0], "episodes_by_level": [[487.0, 383.0, 5.0, 0.0], [975.0, 629.0, 21.0, 0.0], [466.0, 159.0, 82.0, 0.0], [36.0, 1.0, 21.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [40, 101, 172, 168, 93, 40], "episodes_by_level": [[139.0, 121.0, 2.0, 0.0], [338.0, 298.0, 5.0, 0.0], [328.0, 289.0, 9.0, 0.0], [171.0, 140.0, 9.0, 0.0], [56.0, 41.0, 8.0, 0.0], [14.0, 10.0, 3.0, 0.0]]}, "platform": {"level_counts": [230, 144, 33, 3, 0, 0], "episodes_by_level": [[410.0, 93.0, 25.0, 0.0], [160.0, 33.0, 12.0, 0.0], [20.0, 4.0, 3.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [201, 163, 37, 7, 2, 0], "episodes_by_level": [[375.0, 98.0, 18.0, 0.0], [189.0, 36.0, 16.0, 0.0], [32.0, 11.0, 4.0, 0.0], [4.0, 2.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [416, 308, 85, 10, 0, 0], "episodes_by_level": [[740.0, 181.0, 38.0, 0.0], [404.0, 82.0, 33.0, 0.0], [48.0, 10.0, 4.0, 0.0], [2.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 7185, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.232177734375, "command_abs_max": [0.9989412426948547, 0.39991500973701477, 0.6997212171554565]}
{"step": 5450, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 5450, "total_transitions": 22323200, "num_steps_per_env": 1, "wm_loss": 1.3858767747879028, "actor_loss": -9.41823959350586, "critic_loss": 0.0035877525806427, "reward": 0.08504611998796463, "falls": 6, "interval_steps": 50, "velocity_mae": [0.12014444917440414, 0.08412288874387741, 0.13152259588241577], "mean_episode_length": 1381.825, "episode_reward_terms": {"track_linear_velocity": 48.12818145751953, "track_angular_velocity": 52.442474365234375, "upright": 26.880739212036133, "leg_posture": -3.2769837379455566, "standstill": -6.357394695281982, "action_rate_l2": -0.4518696367740631, "joint_torques_l2": -0.15799207985401154, "dof_pos_limits": -0.00015500804875046015, "terminated": -0.01619325950741768, "unnecessary_wheel_lift": -0.13541197776794434, "rolling_leg_motion": -0.8475888967514038, "obstacle_progress": 1.850358009338379, "wheel_body_intrusion": -0.29146188497543335, "pair_body_intrusion": -0.2478478103876114}, "weighted_reward_terms": {"track_linear_velocity": 1.7414716482162476, "track_angular_velocity": 1.8975802659988403, "upright": 0.9726535677909851, "leg_posture": -0.11857449263334274, "standstill": -0.230036199092865, "action_rate_l2": -0.01635046675801277, "joint_torques_l2": -0.005716790445148945, "dof_pos_limits": -5.608816536550876e-06, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.004899751394987106, "rolling_leg_motion": -0.030669186264276505, "obstacle_progress": 0.06695341318845749, "wheel_body_intrusion": -0.010546267032623291, "pair_body_intrusion": -0.008968133479356766}, "episode_termination_rates": {"time_out": 0.50625, "fell_over": 0.0375, "course_exit": 0.45625, "illegal_nonwheel_contact": 0.0}, "collection_time_s": 0.10955863133538514, "learning_time_s": 0.4311204875219846, "iteration_time_s": 0.5382919902866066, "policy_updates": 5150, "skipped_updates": 0, "invalid_env_resets": 27, "elapsed_s": 2933.6913470620057, "nonwheel_terminations": 10297, "contact_bce": 0.34465786814689636, "contact_force_loss": 0.02314293012022972, "collision_bce": 5.294094808050431e-05, "collision_label_rate": 6.120325269876048e-05, "collision_prediction_mean": 3.535458745318465e-05, "collision_label_count": 16339.0, "terrain_level_mean": 1.226318359375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [208, 148, 47, 6, 1, 0], "episodes_by_level": [[356.0, 87.0, 15.0, 0.0], [229.0, 47.0, 15.0, 0.0], [27.0, 7.0, 1.0, 0.0], [2.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [129, 525, 637, 141, 1, 0], "episodes_by_level": [[494.0, 388.0, 5.0, 0.0], [996.0, 643.0, 21.0, 0.0], [485.0, 166.0, 82.0, 0.0], [36.0, 1.0, 21.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [35, 105, 170, 166, 97, 41], "episodes_by_level": [[144.0, 126.0, 2.0, 0.0], [343.0, 301.0, 5.0, 0.0], [335.0, 293.0, 11.0, 0.0], [177.0, 145.0, 9.0, 0.0], [58.0, 42.0, 8.0, 0.0], [16.0, 12.0, 3.0, 0.0]]}, "platform": {"level_counts": [230, 144, 33, 3, 0, 0], "episodes_by_level": [[414.0, 93.0, 25.0, 0.0], [162.0, 33.0, 12.0, 0.0], [21.0, 4.0, 3.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [200, 162, 39, 7, 2, 0], "episodes_by_level": [[382.0, 100.0, 18.0, 0.0], [196.0, 38.0, 17.0, 0.0], [32.0, 11.0, 4.0, 0.0], [4.0, 2.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [416, 307, 86, 10, 0, 0], "episodes_by_level": [[752.0, 182.0, 38.0, 0.0], [419.0, 83.0, 34.0, 0.0], [49.0, 10.0, 4.0, 0.0], [2.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 7295, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23193359375, "command_abs_max": [0.9977680444717407, 0.39967355132102966, 0.6997212171554565]}
{"step": 5500, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 5500, "total_transitions": 22528000, "num_steps_per_env": 1, "wm_loss": 1.417744755744934, "actor_loss": -9.430089950561523, "critic_loss": 0.010494492016732693, "reward": 0.08499684184789658, "falls": 11, "interval_steps": 50, "velocity_mae": [0.11959497630596161, 0.08395634591579437, 0.13101628422737122], "mean_episode_length": 1339.0314465408806, "episode_reward_terms": {"track_linear_velocity": 46.69880676269531, "track_angular_velocity": 50.83574676513672, "upright": 26.062007904052734, "leg_posture": -3.1635444164276123, "standstill": -6.341958522796631, "action_rate_l2": -0.42950865626335144, "joint_torques_l2": -0.1494574397802353, "dof_pos_limits": -0.0006136331357993186, "terminated": -0.028768252581357956, "unnecessary_wheel_lift": -0.13773517310619354, "rolling_leg_motion": -0.8200454115867615, "obstacle_progress": 1.7685537338256836, "wheel_body_intrusion": -0.2531740665435791, "pair_body_intrusion": -0.2268306463956833}, "weighted_reward_terms": {"track_linear_velocity": 1.74375319480896, "track_angular_velocity": 1.8982282876968384, "upright": 0.9731664061546326, "leg_posture": -0.11812808364629745, "standstill": -0.23681139945983887, "action_rate_l2": -0.016038034111261368, "joint_torques_l2": -0.005580803845077753, "dof_pos_limits": -2.29133202083176e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.005143089685589075, "rolling_leg_motion": -0.030620841309428215, "obstacle_progress": 0.06603854149580002, "wheel_body_intrusion": -0.009453626349568367, "pair_body_intrusion": -0.008469952270388603}, "episode_termination_rates": {"time_out": 0.4779874213836478, "fell_over": 0.05660377358490566, "course_exit": 0.4528301886792453, "illegal_nonwheel_contact": 0.012578616352201259}, "collection_time_s": 0.11015053693961818, "learning_time_s": 0.4323844765406102, "iteration_time_s": 0.5383316282060008, "policy_updates": 5200, "skipped_updates": 0, "invalid_env_resets": 27, "elapsed_s": 2960.8239551330043, "nonwheel_terminations": 10299, "contact_bce": 0.3498431146144867, "contact_force_loss": 0.023308534175157547, "collision_bce": 0.00014719483442604542, "collision_label_rate": 6.12557414569892e-05, "collision_prediction_mean": 1.1327424545015674e-05, "collision_label_count": 16325.0, "terrain_level_mean": 1.23974609375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [206, 146, 50, 7, 1, 0], "episodes_by_level": [[366.0, 89.0, 15.0, 0.0], [237.0, 51.0, 15.0, 0.0], [28.0, 8.0, 1.0, 0.0], [2.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [132, 513, 638, 149, 1, 0], "episodes_by_level": [[494.0, 388.0, 5.0, 0.0], [1015.0, 654.0, 23.0, 0.0], [508.0, 176.0, 84.0, 0.0], [36.0, 1.0, 21.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [34, 103, 165, 168, 102, 42], "episodes_by_level": [[145.0, 127.0, 2.0, 0.0], [346.0, 304.0, 5.0, 0.0], [343.0, 300.0, 11.0, 0.0], [185.0, 152.0, 10.0, 0.0], [60.0, 44.0, 8.0, 0.0], [17.0, 12.0, 4.0, 0.0]]}, "platform": {"level_counts": [227, 147, 33, 3, 0, 0], "episodes_by_level": [[422.0, 96.0, 25.0, 0.0], [165.0, 33.0, 12.0, 0.0], [22.0, 4.0, 3.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [199, 163, 39, 7, 2, 0], "episodes_by_level": [[387.0, 101.0, 18.0, 0.0], [203.0, 38.0, 17.0, 0.0], [34.0, 11.0, 4.0, 0.0], [4.0, 2.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [412, 305, 91, 11, 0, 0], "episodes_by_level": [[765.0, 186.0, 39.0, 0.0], [434.0, 89.0, 34.0, 0.0], [52.0, 11.0, 4.0, 0.0], [2.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 7427, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23193359375, "command_abs_max": [0.9977680444717407, 0.39967355132102966, 0.6997212171554565]}
{"step": 5550, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 5550, "total_transitions": 22732800, "num_steps_per_env": 1, "wm_loss": 1.4284167289733887, "actor_loss": -9.400472640991211, "critic_loss": 0.0044594453647732735, "reward": 0.08497430384159088, "falls": 11, "interval_steps": 50, "velocity_mae": [0.1207503005862236, 0.08387990295886993, 0.13078558444976807], "mean_episode_length": 1372.1030303030302, "episode_reward_terms": {"track_linear_velocity": 47.725135803222656, "track_angular_velocity": 52.09165954589844, "upright": 26.717557907104492, "leg_posture": -3.172245502471924, "standstill": -6.444015026092529, "action_rate_l2": -0.4380531907081604, "joint_torques_l2": -0.1512908935546875, "dof_pos_limits": -0.0006106788059696555, "terminated": -0.0294787734746933, "unnecessary_wheel_lift": -0.13870929181575775, "rolling_leg_motion": -0.8326771855354309, "obstacle_progress": 1.7783255577087402, "wheel_body_intrusion": -0.27669277787208557, "pair_body_intrusion": -0.2354263812303543}, "weighted_reward_terms": {"track_linear_velocity": 1.7391237020492554, "track_angular_velocity": 1.898241639137268, "upright": 0.973598837852478, "leg_posture": -0.11559794098138809, "standstill": -0.2348225712776184, "action_rate_l2": -0.015962839126586914, "joint_torques_l2": -0.005513102747499943, "dof_pos_limits": -2.225338903372176e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.005054623819887638, "rolling_leg_motion": -0.030343102291226387, "obstacle_progress": 0.06480291485786438, "wheel_body_intrusion": -0.010082799009978771, "pair_body_intrusion": -0.008579034358263016}, "episode_termination_rates": {"time_out": 0.5515151515151515, "fell_over": 0.06666666666666667, "course_exit": 0.38181818181818183, "illegal_nonwheel_contact": 0.0}, "collection_time_s": 0.11024021229764912, "learning_time_s": 0.4433482196222758, "iteration_time_s": 0.5384753192270275, "policy_updates": 5250, "skipped_updates": 0, "invalid_env_resets": 28, "elapsed_s": 2988.538021710003, "nonwheel_terminations": 10299, "contact_bce": 0.3430977165699005, "contact_force_loss": 0.0232549998909235, "collision_bce": 5.816383782075718e-05, "collision_label_rate": 6.11807918176055e-05, "collision_prediction_mean": 5.081440394860692e-05, "collision_label_count": 16345.0, "terrain_level_mean": 1.2509765625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [204, 147, 51, 7, 1, 0], "episodes_by_level": [[376.0, 91.0, 15.0, 0.0], [239.0, 52.0, 15.0, 0.0], [29.0, 8.0, 1.0, 0.0], [2.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [128, 509, 637, 157, 2, 0], "episodes_by_level": [[499.0, 392.0, 5.0, 0.0], [1029.0, 665.0, 23.0, 0.0], [529.0, 185.0, 87.0, 0.0], [40.0, 2.0, 22.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [34, 101, 166, 164, 108, 41], "episodes_by_level": [[145.0, 127.0, 2.0, 0.0], [349.0, 307.0, 5.0, 0.0], [345.0, 302.0, 11.0, 0.0], [191.0, 158.0, 10.0, 0.0], [64.0, 44.0, 9.0, 0.0], [18.0, 12.0, 5.0, 0.0]]}, "platform": {"level_counts": [225, 148, 34, 3, 0, 0], "episodes_by_level": [[429.0, 98.0, 25.0, 0.0], [170.0, 34.0, 12.0, 0.0], [24.0, 4.0, 3.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [199, 161, 41, 7, 1, 1], "episodes_by_level": [[393.0, 101.0, 18.0, 0.0], [210.0, 40.0, 17.0, 0.0], [34.0, 11.0, 4.0, 0.0], [4.0, 2.0, 2.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [405, 311, 92, 11, 0, 0], "episodes_by_level": [[786.0, 195.0, 40.0, 0.0], [453.0, 90.0, 36.0, 0.0], [54.0, 11.0, 4.0, 0.0], [2.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 7556, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23046875, "command_abs_max": [0.9979264736175537, 0.39967355132102966, 0.6997212171554565]}
{"step": 5600, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 5600, "total_transitions": 22937600, "num_steps_per_env": 1, "wm_loss": 1.407488465309143, "actor_loss": -9.404276847839355, "critic_loss": 0.0034855224657803774, "reward": 0.08483505994081497, "falls": 2, "interval_steps": 50, "velocity_mae": [0.12309011071920395, 0.08302806317806244, 0.13242538273334503], "mean_episode_length": 1431.5642458100558, "episode_reward_terms": {"track_linear_velocity": 49.677127838134766, "track_angular_velocity": 54.274993896484375, "upright": 27.88801383972168, "leg_posture": -3.3615124225616455, "standstill": -6.6982741355896, "action_rate_l2": -0.46290525794029236, "joint_torques_l2": -0.15775349736213684, "dof_pos_limits": -0.0018732434837147593, "terminated": -0.005592046771198511, "unnecessary_wheel_lift": -0.14197677373886108, "rolling_leg_motion": -0.8588942289352417, "obstacle_progress": 1.8604044914245605, "wheel_body_intrusion": -0.28891798853874207, "pair_body_intrusion": -0.27600064873695374}, "weighted_reward_terms": {"track_linear_velocity": 1.7350646257400513, "track_angular_velocity": 1.895653486251831, "upright": 0.9740399122238159, "leg_posture": -0.11740697920322418, "standstill": -0.2339494824409485, "action_rate_l2": -0.016167813912034035, "joint_torques_l2": -0.005509830079972744, "dof_pos_limits": -6.542645860463381e-05, "terminated": -0.0001953124738065526, "unnecessary_wheel_lift": -0.00495879864320159, "rolling_leg_motion": -0.029998455196619034, "obstacle_progress": 0.06497803330421448, "wheel_body_intrusion": -0.010090989992022514, "pair_body_intrusion": -0.009639827534556389}, "episode_termination_rates": {"time_out": 0.5977653631284916, "fell_over": 0.0111731843575419, "course_exit": 0.39106145251396646, "illegal_nonwheel_contact": 0.0}, "collection_time_s": 0.1104431402211776, "learning_time_s": 0.43186534240085167, "iteration_time_s": 0.5385105514189282, "policy_updates": 5300, "skipped_updates": 0, "invalid_env_resets": 28, "elapsed_s": 3015.659087945998, "nonwheel_terminations": 10299, "contact_bce": 0.34574955701828003, "contact_force_loss": 0.023571377620100975, "collision_bce": 2.822129545165808e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 2.8702143026748672e-06, "collision_label_count": 16355.0, "terrain_level_mean": 1.264404296875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [203, 147, 52, 7, 1, 0], "episodes_by_level": [[393.0, 92.0, 15.0, 0.0], [241.0, 53.0, 15.0, 0.0], [29.0, 8.0, 1.0, 0.0], [2.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [125, 506, 629, 171, 2, 0], "episodes_by_level": [[503.0, 395.0, 5.0, 0.0], [1038.0, 671.0, 23.0, 0.0], [548.0, 199.0, 87.0, 0.0], [41.0, 2.0, 22.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [32, 101, 164, 162, 111, 44], "episodes_by_level": [[147.0, 129.0, 2.0, 0.0], [351.0, 309.0, 5.0, 0.0], [350.0, 306.0, 11.0, 0.0], [198.0, 164.0, 10.0, 0.0], [68.0, 47.0, 9.0, 0.0], [21.0, 15.0, 5.0, 0.0]]}, "platform": {"level_counts": [223, 150, 34, 3, 0, 0], "episodes_by_level": [[438.0, 100.0, 25.0, 0.0], [175.0, 34.0, 12.0, 0.0], [24.0, 4.0, 3.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [199, 158, 44, 6, 2, 1], "episodes_by_level": [[402.0, 101.0, 18.0, 0.0], [216.0, 43.0, 17.0, 0.0], [34.0, 11.0, 4.0, 0.0], [5.0, 3.0, 2.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [401, 312, 95, 11, 0, 0], "episodes_by_level": [[817.0, 199.0, 41.0, 0.0], [463.0, 93.0, 36.0, 0.0], [54.0, 11.0, 4.0, 0.0], [2.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 7683, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.228271484375, "command_abs_max": [0.9979264736175537, 0.39972570538520813, 0.6997732520103455]}
{"step": 5650, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 5650, "total_transitions": 23142400, "num_steps_per_env": 1, "wm_loss": 1.3569755554199219, "actor_loss": -9.43674087524414, "critic_loss": 0.002576501341536641, "reward": 0.08417446911334991, "falls": 15, "interval_steps": 50, "velocity_mae": [0.12355667352676392, 0.08379653096199036, 0.13348349928855896], "mean_episode_length": 1444.127358490566, "episode_reward_terms": {"track_linear_velocity": 50.03313446044922, "track_angular_velocity": 54.71303176879883, "upright": 28.11984634399414, "leg_posture": -3.383509397506714, "standstill": -7.426778793334961, "action_rate_l2": -0.49251028895378113, "joint_torques_l2": -0.16036413609981537, "dof_pos_limits": -0.0009172999416477978, "terminated": -0.04230840876698494, "unnecessary_wheel_lift": -0.1620011031627655, "rolling_leg_motion": -0.9031763076782227, "obstacle_progress": 1.8179278373718262, "wheel_body_intrusion": -0.2805720865726471, "pair_body_intrusion": -0.2731679081916809}, "weighted_reward_terms": {"track_linear_velocity": 1.7322964668273926, "track_angular_velocity": 1.8943285942077637, "upright": 0.9735930562019348, "leg_posture": -0.11714720726013184, "standstill": -0.257137268781662, "action_rate_l2": -0.01705217733979225, "joint_torques_l2": -0.005552285350859165, "dof_pos_limits": -3.175966412527487e-05, "terminated": -0.0014648435171693563, "unnecessary_wheel_lift": -0.005608961917459965, "rolling_leg_motion": -0.03127066045999527, "obstacle_progress": 0.06294209510087967, "wheel_body_intrusion": -0.00971424300223589, "pair_body_intrusion": -0.009457889012992382}, "episode_termination_rates": {"time_out": 0.6132075471698113, "fell_over": 0.07075471698113207, "course_exit": 0.3160377358490566, "illegal_nonwheel_contact": 0.0047169811320754715}, "collection_time_s": 0.11013972025946714, "learning_time_s": 0.4315251533413539, "iteration_time_s": 0.5385389223373475, "policy_updates": 5350, "skipped_updates": 0, "invalid_env_resets": 29, "elapsed_s": 3042.744911206013, "nonwheel_terminations": 10300, "contact_bce": 0.34408941864967346, "contact_force_loss": 0.022458963096141815, "collision_bce": 2.6841571525437757e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 2.7329838303558063e-06, "collision_label_count": 16338.0, "terrain_level_mean": 1.27490234375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [202, 146, 53, 8, 1, 0], "episodes_by_level": [[405.0, 93.0, 15.0, 0.0], [250.0, 55.0, 15.0, 0.0], [31.0, 9.0, 1.0, 0.0], [2.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [122, 508, 623, 177, 3, 0], "episodes_by_level": [[507.0, 399.0, 5.0, 0.0], [1052.0, 676.0, 23.0, 0.0], [565.0, 206.0, 89.0, 0.0], [44.0, 3.0, 23.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [32, 96, 166, 158, 117, 45], "episodes_by_level": [[148.0, 130.0, 2.0, 0.0], [358.0, 314.0, 6.0, 0.0], [354.0, 310.0, 11.0, 0.0], [207.0, 170.0, 11.0, 0.0], [70.0, 49.0, 9.0, 0.0], [23.0, 16.0, 6.0, 0.0]]}, "platform": {"level_counts": [219, 154, 34, 3, 0, 0], "episodes_by_level": [[457.0, 104.0, 25.0, 0.0], [177.0, 34.0, 12.0, 0.0], [24.0, 4.0, 3.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [198, 154, 48, 7, 2, 1], "episodes_by_level": [[423.0, 103.0, 18.0, 0.0], [223.0, 48.0, 18.0, 0.0], [35.0, 12.0, 4.0, 0.0], [5.0, 3.0, 2.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [401, 313, 93, 12, 0, 0], "episodes_by_level": [[847.0, 201.0, 41.0, 0.0], [478.0, 94.0, 38.0, 0.0], [59.0, 12.0, 6.0, 0.0], [2.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 7823, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22900390625, "command_abs_max": [0.9979264736175537, 0.39995166659355164, 0.6997732520103455]}
{"step": 5700, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 5700, "total_transitions": 23347200, "num_steps_per_env": 1, "wm_loss": 1.342657446861267, "actor_loss": -9.42225456237793, "critic_loss": 0.0026161118876188993, "reward": 0.08458809554576874, "falls": 14, "interval_steps": 50, "velocity_mae": [0.12344730645418167, 0.08179637789726257, 0.1343788057565689], "mean_episode_length": 1454.2161016949153, "episode_reward_terms": {"track_linear_velocity": 50.479331970214844, "track_angular_velocity": 55.03611373901367, "upright": 28.32274055480957, "leg_posture": -3.316049337387085, "standstill": -6.991678237915039, "action_rate_l2": -0.5173724889755249, "joint_torques_l2": -0.1592440903186798, "dof_pos_limits": -0.00013583262625616044, "terminated": -0.039763715118169785, "unnecessary_wheel_lift": -0.1863759309053421, "rolling_leg_motion": -0.9163328409194946, "obstacle_progress": 1.8283276557922363, "wheel_body_intrusion": -0.27935197949409485, "pair_body_intrusion": -0.25085222721099854}, "weighted_reward_terms": {"track_linear_velocity": 1.7356200218200684, "track_angular_velocity": 1.8922948837280273, "upright": 0.9738147258758545, "leg_posture": -0.11401502043008804, "standstill": -0.24039338529109955, "action_rate_l2": -0.017788708209991455, "joint_torques_l2": -0.005475255660712719, "dof_pos_limits": -4.670303951570531e-06, "terminated": -0.0013671873603016138, "unnecessary_wheel_lift": -0.006408123765140772, "rolling_leg_motion": -0.03150607645511627, "obstacle_progress": 0.06286299973726273, "wheel_body_intrusion": -0.00960489921271801, "pair_body_intrusion": -0.008624998852610588}, "episode_termination_rates": {"time_out": 0.6398305084745762, "fell_over": 0.05508474576271186, "course_exit": 0.3008474576271186, "illegal_nonwheel_contact": 0.00847457627118644}, "collection_time_s": 0.08590758796082809, "learning_time_s": 0.24750513219973072, "iteration_time_s": 0.536739863155087, "policy_updates": 5400, "skipped_updates": 0, "invalid_env_resets": 29, "elapsed_s": 3059.417219983996, "nonwheel_terminations": 10302, "contact_bce": 0.34254205226898193, "contact_force_loss": 0.0240430049598217, "collision_bce": 0.00012685176625382155, "collision_label_rate": 0.00012278978829272091, "collision_prediction_mean": 0.00017736713925842196, "collision_label_count": 16288.0, "terrain_level_mean": 1.28564453125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [198, 150, 53, 8, 1, 0], "episodes_by_level": [[430.0, 97.0, 15.0, 0.0], [257.0, 55.0, 15.0, 0.0], [32.0, 9.0, 1.0, 0.0], [2.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [119, 508, 620, 181, 5, 0], "episodes_by_level": [[510.0, 402.0, 5.0, 0.0], [1065.0, 684.0, 23.0, 0.0], [586.0, 214.0, 91.0, 0.0], [48.0, 5.0, 25.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [31, 96, 158, 163, 119, 47], "episodes_by_level": [[150.0, 132.0, 2.0, 0.0], [359.0, 315.0, 6.0, 0.0], [363.0, 319.0, 11.0, 0.0], [216.0, 176.0, 11.0, 0.0], [72.0, 51.0, 9.0, 0.0], [25.0, 18.0, 6.0, 0.0]]}, "platform": {"level_counts": [219, 154, 34, 3, 0, 0], "episodes_by_level": [[473.0, 106.0, 25.0, 0.0], [184.0, 34.0, 14.0, 0.0], [25.0, 4.0, 3.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [195, 156, 49, 7, 2, 1], "episodes_by_level": [[449.0, 106.0, 18.0, 0.0], [229.0, 49.0, 18.0, 0.0], [35.0, 12.0, 4.0, 0.0], [5.0, 3.0, 2.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [400, 310, 97, 12, 0, 0], "episodes_by_level": [[876.0, 203.0, 41.0, 0.0], [492.0, 98.0, 39.0, 0.0], [60.0, 12.0, 6.0, 0.0], [2.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 7940, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.230224609375, "command_abs_max": [0.9979264736175537, 0.39995166659355164, 0.6997732520103455]}
{"step": 5750, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 5750, "total_transitions": 23552000, "num_steps_per_env": 1, "wm_loss": 1.3875089883804321, "actor_loss": -9.425573348999023, "critic_loss": 0.002682215068489313, "reward": 0.08466261625289917, "falls": 12, "interval_steps": 50, "velocity_mae": [0.12357302010059357, 0.08174770325422287, 0.1348108947277069], "mean_episode_length": 1473.0, "episode_reward_terms": {"track_linear_velocity": 51.140403747558594, "track_angular_velocity": 55.75397872924805, "upright": 28.712404251098633, "leg_posture": -3.3525426387786865, "standstill": -6.969493865966797, "action_rate_l2": -0.5410340428352356, "joint_torques_l2": -0.16022996604442596, "dof_pos_limits": -0.00023823489027563483, "terminated": -0.034523434937000275, "unnecessary_wheel_lift": -0.15954996645450592, "rolling_leg_motion": -0.9418852925300598, "obstacle_progress": 1.839659333229065, "wheel_body_intrusion": -0.33822110295295715, "pair_body_intrusion": -0.24069727957248688}, "weighted_reward_terms": {"track_linear_velocity": 1.7359267473220825, "track_angular_velocity": 1.8925315141677856, "upright": 0.974623441696167, "leg_posture": -0.11379982531070709, "standstill": -0.23657482862472534, "action_rate_l2": -0.01836503855884075, "joint_torques_l2": -0.005438899155706167, "dof_pos_limits": -8.086723937594797e-06, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.00541581679135561, "rolling_leg_motion": -0.03197166696190834, "obstacle_progress": 0.06244600564241409, "wheel_body_intrusion": -0.01148068904876709, "pair_body_intrusion": -0.00817030854523182}, "episode_termination_rates": {"time_out": 0.6637554585152838, "fell_over": 0.039301310043668124, "course_exit": 0.2838427947598253, "illegal_nonwheel_contact": 0.013100436681222707}, "collection_time_s": 0.07567045370291453, "learning_time_s": 0.18306880028103478, "iteration_time_s": 0.5343226595834788, "policy_updates": 5450, "skipped_updates": 0, "invalid_env_resets": 29, "elapsed_s": 3072.3552926050033, "nonwheel_terminations": 10305, "contact_bce": 0.34637826681137085, "contact_force_loss": 0.023643972352147102, "collision_bce": 3.465324198259623e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 3.5059795209235745e-06, "collision_label_count": 16333.0, "terrain_level_mean": 1.296142578125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [198, 148, 54, 9, 1, 0], "episodes_by_level": [[443.0, 97.0, 15.0, 0.0], [265.0, 57.0, 15.0, 0.0], [33.0, 10.0, 1.0, 0.0], [2.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [113, 509, 621, 184, 6, 0], "episodes_by_level": [[517.0, 408.0, 6.0, 0.0], [1079.0, 690.0, 23.0, 0.0], [599.0, 220.0, 91.0, 0.0], [54.0, 7.0, 26.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [30, 95, 155, 164, 122, 48], "episodes_by_level": [[151.0, 133.0, 2.0, 0.0], [363.0, 318.0, 6.0, 0.0], [368.0, 324.0, 11.0, 0.0], [219.0, 179.0, 11.0, 0.0], [77.0, 53.0, 10.0, 0.0], [26.0, 18.0, 7.0, 0.0]]}, "platform": {"level_counts": [215, 157, 35, 3, 0, 0], "episodes_by_level": [[503.0, 111.0, 25.0, 0.0], [189.0, 35.0, 15.0, 0.0], [25.0, 4.0, 3.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [195, 156, 50, 6, 2, 1], "episodes_by_level": [[466.0, 106.0, 18.0, 0.0], [234.0, 49.0, 18.0, 0.0], [37.0, 12.0, 4.0, 0.0], [6.0, 3.0, 3.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [395, 313, 99, 12, 0, 0], "episodes_by_level": [[924.0, 209.0, 42.0, 0.0], [507.0, 100.0, 40.0, 0.0], [61.0, 12.0, 6.0, 0.0], [2.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 8078, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.229736328125, "command_abs_max": [0.9984304904937744, 0.39995166659355164, 0.6997212171554565]}
{"step": 5800, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 5800, "total_transitions": 23756800, "num_steps_per_env": 1, "wm_loss": 1.44711172580719, "actor_loss": -9.426344871520996, "critic_loss": 0.0034747885074466467, "reward": 0.08469253033399582, "falls": 11, "interval_steps": 50, "velocity_mae": [0.12365750223398209, 0.08155296742916107, 0.13612861931324005], "mean_episode_length": 1444.3989898989898, "episode_reward_terms": {"track_linear_velocity": 50.19209289550781, "track_angular_velocity": 54.61678695678711, "upright": 28.187410354614258, "leg_posture": -3.2678897380828857, "standstill": -6.782233715057373, "action_rate_l2": -0.5580350756645203, "joint_torques_l2": -0.15860551595687866, "dof_pos_limits": -0.000155331872520037, "terminated": -0.031032007187604904, "unnecessary_wheel_lift": -0.1449398398399353, "rolling_leg_motion": -0.9335251450538635, "obstacle_progress": 1.8244576454162598, "wheel_body_intrusion": -0.32868432998657227, "pair_body_intrusion": -0.28585293889045715}, "weighted_reward_terms": {"track_linear_velocity": 1.7374731302261353, "track_angular_velocity": 1.8906406164169312, "upright": 0.9757487177848816, "leg_posture": -0.11312282085418701, "standstill": -0.23477701842784882, "action_rate_l2": -0.019317205995321274, "joint_torques_l2": -0.005490363575518131, "dof_pos_limits": -5.377041361498414e-06, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.005017305724322796, "rolling_leg_motion": -0.03231534734368324, "obstacle_progress": 0.06315629184246063, "wheel_body_intrusion": -0.011377892456948757, "pair_body_intrusion": -0.009895220398902893}, "episode_termination_rates": {"time_out": 0.6161616161616161, "fell_over": 0.05555555555555555, "course_exit": 0.3282828282828283, "illegal_nonwheel_contact": 0.0}, "collection_time_s": 0.07556094578059856, "learning_time_s": 0.1829869973595487, "iteration_time_s": 0.5319454839575889, "policy_updates": 5500, "skipped_updates": 0, "invalid_env_resets": 29, "elapsed_s": 3085.2838069540157, "nonwheel_terminations": 10305, "contact_bce": 0.34467852115631104, "contact_force_loss": 0.0240916907787323, "collision_bce": 2.0374836822156794e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.9805342162726447e-05, "collision_label_count": 16351.0, "terrain_level_mean": 1.3076171875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [196, 150, 54, 9, 1, 0], "episodes_by_level": [[462.0, 99.0, 15.0, 0.0], [272.0, 57.0, 15.0, 0.0], [35.0, 10.0, 1.0, 0.0], [2.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [113, 499, 626, 188, 7, 0], "episodes_by_level": [[518.0, 409.0, 6.0, 0.0], [1095.0, 701.0, 24.0, 0.0], [616.0, 226.0, 92.0, 0.0], [58.0, 8.0, 28.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [29, 95, 152, 161, 125, 52], "episodes_by_level": [[152.0, 134.0, 2.0, 0.0], [366.0, 321.0, 6.0, 0.0], [374.0, 330.0, 11.0, 0.0], [226.0, 186.0, 11.0, 0.0], [82.0, 58.0, 10.0, 0.0], [28.0, 19.0, 8.0, 0.0]]}, "platform": {"level_counts": [215, 155, 36, 4, 0, 0], "episodes_by_level": [[521.0, 111.0, 25.0, 0.0], [194.0, 37.0, 15.0, 0.0], [26.0, 5.0, 3.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [193, 156, 52, 6, 2, 1], "episodes_by_level": [[484.0, 108.0, 19.0, 0.0], [241.0, 51.0, 18.0, 0.0], [38.0, 12.0, 4.0, 0.0], [6.0, 3.0, 3.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [391, 316, 100, 12, 0, 0], "episodes_by_level": [[952.0, 213.0, 42.0, 0.0], [514.0, 102.0, 40.0, 0.0], [62.0, 12.0, 7.0, 0.0], [2.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 8191, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.232177734375, "command_abs_max": [0.9984304904937744, 0.39995166659355164, 0.6997212171554565]}
{"step": 5850, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 5850, "total_transitions": 23961600, "num_steps_per_env": 1, "wm_loss": 1.2956434488296509, "actor_loss": -9.434723854064941, "critic_loss": 0.002559119602665305, "reward": 0.08482548594474792, "falls": 8, "interval_steps": 50, "velocity_mae": [0.12499591708183289, 0.0804285854101181, 0.13539357483386993], "mean_episode_length": 1395.987951807229, "episode_reward_terms": {"track_linear_velocity": 48.46749496459961, "track_angular_velocity": 52.81821823120117, "upright": 27.245330810546875, "leg_posture": -3.171964168548584, "standstill": -6.444676399230957, "action_rate_l2": -0.5380213856697083, "joint_torques_l2": -0.15244551002979279, "dof_pos_limits": -0.0006728803855367005, "terminated": -0.021812306717038155, "unnecessary_wheel_lift": -0.1304062306880951, "rolling_leg_motion": -0.894404947757721, "obstacle_progress": 1.7900164127349854, "wheel_body_intrusion": -0.31296929717063904, "pair_body_intrusion": -0.23833690583705902}, "weighted_reward_terms": {"track_linear_velocity": 1.7359567880630493, "track_angular_velocity": 1.8917864561080933, "upright": 0.9758440852165222, "leg_posture": -0.11361001431941986, "standstill": -0.23082852363586426, "action_rate_l2": -0.01927027478814125, "joint_torques_l2": -0.005460130050778389, "dof_pos_limits": -2.4100509108393453e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.004670750815421343, "rolling_leg_motion": -0.03203484043478966, "obstacle_progress": 0.06411289423704147, "wheel_body_intrusion": -0.011209599673748016, "pair_body_intrusion": -0.008536496199667454}, "episode_termination_rates": {"time_out": 0.5662650602409639, "fell_over": 0.03614457831325301, "course_exit": 0.3855421686746988, "illegal_nonwheel_contact": 0.012048192771084338}, "collection_time_s": 0.0756413368601352, "learning_time_s": 0.18299565830209757, "iteration_time_s": 0.5296096935598319, "policy_updates": 5550, "skipped_updates": 0, "invalid_env_resets": 29, "elapsed_s": 3098.2167073250166, "nonwheel_terminations": 10307, "contact_bce": 0.3334260880947113, "contact_force_loss": 0.02266979217529297, "collision_bce": 1.9955673451477196e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 2.0446136659302283e-06, "collision_label_count": 16302.0, "terrain_level_mean": 1.319091796875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [195, 150, 54, 10, 1, 0], "episodes_by_level": [[474.0, 100.0, 15.0, 0.0], [277.0, 58.0, 15.0, 0.0], [36.0, 11.0, 1.0, 0.0], [2.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [110, 492, 629, 193, 9, 0], "episodes_by_level": [[521.0, 412.0, 6.0, 0.0], [1109.0, 712.0, 24.0, 0.0], [634.0, 234.0, 93.0, 0.0], [62.0, 10.0, 29.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [29, 97, 145, 158, 134, 51], "episodes_by_level": [[152.0, 134.0, 2.0, 0.0], [366.0, 321.0, 6.0, 0.0], [380.0, 335.0, 12.0, 0.0], [236.0, 194.0, 11.0, 0.0], [84.0, 60.0, 10.0, 0.0], [32.0, 21.0, 10.0, 0.0]]}, "platform": {"level_counts": [215, 152, 39, 4, 0, 0], "episodes_by_level": [[535.0, 111.0, 25.0, 0.0], [197.0, 40.0, 15.0, 0.0], [28.0, 5.0, 3.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [192, 156, 53, 6, 2, 1], "episodes_by_level": [[493.0, 110.0, 19.0, 0.0], [246.0, 52.0, 19.0, 0.0], [39.0, 12.0, 4.0, 0.0], [6.0, 3.0, 3.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [388, 317, 100, 14, 0, 0], "episodes_by_level": [[978.0, 216.0, 42.0, 0.0], [520.0, 104.0, 40.0, 0.0], [65.0, 14.0, 7.0, 0.0], [2.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 8296, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23681640625, "command_abs_max": [0.9984304904937744, 0.39995166659355164, 0.699768602848053]}
{"step": 5900, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 5900, "total_transitions": 24166400, "num_steps_per_env": 1, "wm_loss": 1.372807502746582, "actor_loss": -9.413040161132812, "critic_loss": 0.002498794812709093, "reward": 0.08460186421871185, "falls": 12, "interval_steps": 50, "velocity_mae": [0.1254214346408844, 0.07968217879533768, 0.13392657041549683], "mean_episode_length": 1370.1042944785277, "episode_reward_terms": {"track_linear_velocity": 47.5816764831543, "track_angular_velocity": 51.88526153564453, "upright": 26.74332618713379, "leg_posture": -3.1098122596740723, "standstill": -6.642708778381348, "action_rate_l2": -0.5265207886695862, "joint_torques_l2": -0.15343445539474487, "dof_pos_limits": -0.0007185964495874941, "terminated": -0.032111816108226776, "unnecessary_wheel_lift": -0.15792950987815857, "rolling_leg_motion": -0.8660792112350464, "obstacle_progress": 1.7421125173568726, "wheel_body_intrusion": -0.3058384954929352, "pair_body_intrusion": -0.2438182681798935}, "weighted_reward_terms": {"track_linear_velocity": 1.7364253997802734, "track_angular_velocity": 1.8934786319732666, "upright": 0.9759595394134521, "leg_posture": -0.11348816007375717, "standstill": -0.24241618812084198, "action_rate_l2": -0.019214626401662827, "joint_torques_l2": -0.005599372088909149, "dof_pos_limits": -2.6224151952192187e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.005763412453234196, "rolling_leg_motion": -0.03160632774233818, "obstacle_progress": 0.06357590854167938, "wheel_body_intrusion": -0.01116114016622305, "pair_body_intrusion": -0.008897799998521805}, "episode_termination_rates": {"time_out": 0.5521472392638037, "fell_over": 0.06134969325153374, "course_exit": 0.37423312883435583, "illegal_nonwheel_contact": 0.018404907975460124}, "collection_time_s": 0.07559862549824174, "learning_time_s": 0.18313869388075546, "iteration_time_s": 0.5273143531884742, "policy_updates": 5600, "skipped_updates": 0, "invalid_env_resets": 29, "elapsed_s": 3111.1546838119975, "nonwheel_terminations": 10310, "contact_bce": 0.34062182903289795, "contact_force_loss": 0.024030815809965134, "collision_bce": 8.70012809173204e-05, "collision_label_rate": 0.00012278978829272091, "collision_prediction_mean": 0.00010413634299766272, "collision_label_count": 16288.0, "terrain_level_mean": 1.328857421875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [195, 150, 53, 11, 1, 0], "episodes_by_level": [[479.0, 100.0, 15.0, 0.0], [284.0, 58.0, 15.0, 0.0], [38.0, 12.0, 1.0, 0.0], [2.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [108, 483, 635, 197, 10, 0], "episodes_by_level": [[523.0, 414.0, 6.0, 0.0], [1128.0, 724.0, 24.0, 0.0], [651.0, 242.0, 93.0, 0.0], [63.0, 11.0, 29.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [27, 97, 143, 165, 128, 54], "episodes_by_level": [[154.0, 136.0, 2.0, 0.0], [368.0, 323.0, 6.0, 0.0], [386.0, 341.0, 12.0, 0.0], [237.0, 195.0, 11.0, 0.0], [88.0, 62.0, 12.0, 0.0], [33.0, 22.0, 10.0, 0.0]]}, "platform": {"level_counts": [213, 153, 40, 4, 0, 0], "episodes_by_level": [[546.0, 113.0, 25.0, 0.0], [200.0, 41.0, 15.0, 0.0], [30.0, 5.0, 3.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [190, 156, 54, 7, 2, 1], "episodes_by_level": [[499.0, 112.0, 19.0, 0.0], [250.0, 54.0, 19.0, 0.0], [40.0, 13.0, 4.0, 0.0], [7.0, 3.0, 3.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [386, 318, 100, 15, 0, 0], "episodes_by_level": [[1000.0, 218.0, 42.0, 0.0], [530.0, 106.0, 40.0, 0.0], [68.0, 15.0, 8.0, 0.0], [2.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 8402, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2353515625, "command_abs_max": [0.9984304904937744, 0.39995166659355164, 0.699768602848053]}
{"step": 5950, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 5950, "total_transitions": 24371200, "num_steps_per_env": 1, "wm_loss": 1.3641165494918823, "actor_loss": -9.427079200744629, "critic_loss": 0.003474978730082512, "reward": 0.08460308611392975, "falls": 18, "interval_steps": 50, "velocity_mae": [0.12468476593494415, 0.08002503961324692, 0.13413043320178986], "mean_episode_length": 1284.4285714285713, "episode_reward_terms": {"track_linear_velocity": 44.62335968017578, "track_angular_velocity": 48.6298828125, "upright": 25.0432071685791, "leg_posture": -2.9206783771514893, "standstill": -6.184333801269531, "action_rate_l2": -0.49561184644699097, "joint_torques_l2": -0.1452847421169281, "dof_pos_limits": -0.0009206229005940259, "terminated": -0.045155685395002365, "unnecessary_wheel_lift": -0.14946489036083221, "rolling_leg_motion": -0.8133664131164551, "obstacle_progress": 1.601639747619629, "wheel_body_intrusion": -0.2753346264362335, "pair_body_intrusion": -0.20131349563598633}, "weighted_reward_terms": {"track_linear_velocity": 1.737089991569519, "track_angular_velocity": 1.8930552005767822, "upright": 0.9748773574829102, "leg_posture": -0.11369562894105911, "standstill": -0.24074260890483856, "action_rate_l2": -0.019293086603283882, "joint_torques_l2": -0.005655617453157902, "dof_pos_limits": -3.5837842006003484e-05, "terminated": -0.0017578123370185494, "unnecessary_wheel_lift": -0.005818341858685017, "rolling_leg_motion": -0.031662579625844955, "obstacle_progress": 0.06234833970665932, "wheel_body_intrusion": -0.010718175210058689, "pair_body_intrusion": -0.007836694829165936}, "episode_termination_rates": {"time_out": 0.44, "fell_over": 0.09714285714285714, "course_exit": 0.45714285714285713, "illegal_nonwheel_contact": 0.011428571428571429}, "collection_time_s": 0.07593908010050654, "learning_time_s": 0.18413775851775427, "iteration_time_s": 0.5250688371179819, "policy_updates": 5650, "skipped_updates": 0, "invalid_env_resets": 30, "elapsed_s": 3124.1595808519924, "nonwheel_terminations": 10312, "contact_bce": 0.33984339237213135, "contact_force_loss": 0.023247553035616875, "collision_bce": 4.251235441188328e-05, "collision_label_rate": 6.137604941613972e-05, "collision_prediction_mean": 8.786865510046482e-05, "collision_label_count": 16293.0, "terrain_level_mean": 1.3388671875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [194, 150, 54, 11, 1, 0], "episodes_by_level": [[484.0, 101.0, 15.0, 0.0], [287.0, 59.0, 15.0, 0.0], [38.0, 12.0, 1.0, 0.0], [2.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [103, 478, 638, 202, 12, 0], "episodes_by_level": [[528.0, 419.0, 6.0, 0.0], [1146.0, 738.0, 24.0, 0.0], [672.0, 252.0, 95.0, 0.0], [70.0, 13.0, 32.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [28, 97, 141, 163, 126, 59], "episodes_by_level": [[155.0, 137.0, 2.0, 0.0], [371.0, 325.0, 7.0, 0.0], [390.0, 344.0, 13.0, 0.0], [241.0, 199.0, 11.0, 0.0], [96.0, 68.0, 12.0, 0.0], [36.0, 25.0, 10.0, 0.0]]}, "platform": {"level_counts": [212, 152, 42, 4, 0, 0], "episodes_by_level": [[556.0, 114.0, 25.0, 0.0], [204.0, 43.0, 15.0, 0.0], [32.0, 5.0, 3.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [188, 157, 55, 7, 2, 1], "episodes_by_level": [[507.0, 115.0, 19.0, 0.0], [259.0, 55.0, 20.0, 0.0], [40.0, 13.0, 4.0, 0.0], [7.0, 3.0, 3.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [387, 315, 101, 16, 0, 0], "episodes_by_level": [[1016.0, 218.0, 42.0, 0.0], [543.0, 108.0, 41.0, 0.0], [70.0, 16.0, 8.0, 0.0], [2.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 8485, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.238037109375, "command_abs_max": [0.9984304904937744, 0.39995166659355164, 0.699768602848053]}
{"step": 6000, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 6000, "total_transitions": 24576000, "num_steps_per_env": 1, "wm_loss": 1.371293544769287, "actor_loss": -9.411056518554688, "critic_loss": 0.002366999164223671, "reward": 0.084261454641819, "falls": 17, "interval_steps": 50, "velocity_mae": [0.12603150308132172, 0.0797504112124443, 0.13457998633384705], "mean_episode_length": 1302.0382165605095, "episode_reward_terms": {"track_linear_velocity": 45.172210693359375, "track_angular_velocity": 49.287593841552734, "upright": 25.379106521606445, "leg_posture": -3.0206544399261475, "standstill": -6.459456920623779, "action_rate_l2": -0.5044870376586914, "joint_torques_l2": -0.14617091417312622, "dof_pos_limits": -0.0014679443556815386, "terminated": -0.04323172941803932, "unnecessary_wheel_lift": -0.1672724336385727, "rolling_leg_motion": -0.8329312205314636, "obstacle_progress": 1.5889040231704712, "wheel_body_intrusion": -0.30988839268684387, "pair_body_intrusion": -0.23060740530490875}, "weighted_reward_terms": {"track_linear_velocity": 1.734673023223877, "track_angular_velocity": 1.8927092552185059, "upright": 0.9745914936065674, "leg_posture": -0.11599715054035187, "standstill": -0.2480517476797104, "action_rate_l2": -0.01937297359108925, "joint_torques_l2": -0.005613157991319895, "dof_pos_limits": -5.637102003674954e-05, "terminated": -0.001660156063735485, "unnecessary_wheel_lift": -0.006423484068363905, "rolling_leg_motion": -0.03198567032814026, "obstacle_progress": 0.0610160306096077, "wheel_body_intrusion": -0.011900126934051514, "pair_body_intrusion": -0.008855631574988365}, "episode_termination_rates": {"time_out": 0.445859872611465, "fell_over": 0.10191082802547771, "course_exit": 0.445859872611465, "illegal_nonwheel_contact": 0.012738853503184714}, "collection_time_s": 0.07590869972133078, "learning_time_s": 0.18484522638027556, "iteration_time_s": 0.5228664304186678, "policy_updates": 5700, "skipped_updates": 0, "invalid_env_resets": 31, "elapsed_s": 3137.1985825120064, "nonwheel_terminations": 10314, "contact_bce": 0.3390364348888397, "contact_force_loss": 0.023392602801322937, "collision_bce": 2.7296819098410197e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 2.7727128326660022e-06, "collision_label_count": 16341.0, "terrain_level_mean": 1.34814453125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [194, 148, 55, 12, 1, 0], "episodes_by_level": [[493.0, 101.0, 17.0, 0.0], [289.0, 61.0, 15.0, 0.0], [41.0, 13.0, 1.0, 0.0], [2.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [101, 466, 652, 202, 12, 0], "episodes_by_level": [[531.0, 421.0, 6.0, 0.0], [1169.0, 754.0, 24.0, 0.0], [683.0, 256.0, 96.0, 0.0], [73.0, 13.0, 35.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [28, 95, 141, 162, 124, 64], "episodes_by_level": [[155.0, 137.0, 2.0, 0.0], [373.0, 327.0, 7.0, 0.0], [397.0, 348.0, 13.0, 0.0], [246.0, 202.0, 12.0, 0.0], [105.0, 74.0, 12.0, 0.0], [38.0, 26.0, 11.0, 0.0]]}, "platform": {"level_counts": [213, 148, 45, 4, 0, 0], "episodes_by_level": [[562.0, 114.0, 26.0, 0.0], [211.0, 46.0, 16.0, 0.0], [34.0, 5.0, 3.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [187, 157, 56, 7, 2, 1], "episodes_by_level": [[519.0, 117.0, 21.0, 0.0], [264.0, 56.0, 21.0, 0.0], [40.0, 13.0, 4.0, 0.0], [7.0, 3.0, 3.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [385, 316, 102, 16, 0, 0], "episodes_by_level": [[1031.0, 221.0, 42.0, 0.0], [551.0, 109.0, 42.0, 0.0], [70.0, 16.0, 8.0, 0.0], [3.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 8575, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.235595703125, "command_abs_max": [0.9984304904937744, 0.3995002806186676, 0.699768602848053]}
{"step": 6050, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 6050, "total_transitions": 24780800, "num_steps_per_env": 1, "wm_loss": 1.3496485948562622, "actor_loss": -9.417232513427734, "critic_loss": 0.004759190138429403, "reward": 0.08445024490356445, "falls": 12, "interval_steps": 50, "velocity_mae": [0.12582427263259888, 0.07882096618413925, 0.13621866703033447], "mean_episode_length": 1298.484375, "episode_reward_terms": {"track_linear_velocity": 45.09916305541992, "track_angular_velocity": 49.09724426269531, "upright": 25.320337295532227, "leg_posture": -2.985532522201538, "standstill": -6.359623432159424, "action_rate_l2": -0.5094833374023438, "joint_torques_l2": -0.14718309044837952, "dof_pos_limits": -0.0012400088598951697, "terminated": -0.030433224514126778, "unnecessary_wheel_lift": -0.13579890131950378, "rolling_leg_motion": -0.8009044528007507, "obstacle_progress": 1.6630570888519287, "wheel_body_intrusion": -0.3076331615447998, "pair_body_intrusion": -0.2446468621492386}, "weighted_reward_terms": {"track_linear_velocity": 1.7366077899932861, "track_angular_velocity": 1.8905597925186157, "upright": 0.9749958515167236, "leg_posture": -0.11496220529079437, "standstill": -0.24488641321659088, "action_rate_l2": -0.019618386402726173, "joint_torques_l2": -0.005667495541274548, "dof_pos_limits": -4.7748319047968835e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.005229131318628788, "rolling_leg_motion": -0.03083997219800949, "obstacle_progress": 0.06403839588165283, "wheel_body_intrusion": -0.011845855042338371, "pair_body_intrusion": -0.009420477785170078}, "episode_termination_rates": {"time_out": 0.4609375, "fell_over": 0.09375, "course_exit": 0.4453125, "illegal_nonwheel_contact": 0.0}, "collection_time_s": 0.07554424671980087, "learning_time_s": 0.18575727313989773, "iteration_time_s": 0.5207089637213219, "policy_updates": 5750, "skipped_updates": 0, "invalid_env_resets": 31, "elapsed_s": 3150.2892305139976, "nonwheel_terminations": 10314, "contact_bce": 0.3390672504901886, "contact_force_loss": 0.02301708236336708, "collision_bce": 5.0839156756410375e-05, "collision_label_rate": 6.115085852798074e-05, "collision_prediction_mean": 7.852927228668705e-05, "collision_label_count": 16353.0, "terrain_level_mean": 1.357421875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [193, 148, 56, 12, 1, 0], "episodes_by_level": [[499.0, 102.0, 18.0, 0.0], [291.0, 62.0, 15.0, 0.0], [41.0, 13.0, 1.0, 0.0], [3.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [101, 459, 652, 209, 12, 0], "episodes_by_level": [[533.0, 422.0, 6.0, 0.0], [1181.0, 761.0, 25.0, 0.0], [702.0, 265.0, 96.0, 0.0], [75.0, 13.0, 37.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [29, 88, 146, 160, 125, 66], "episodes_by_level": [[155.0, 137.0, 2.0, 0.0], [380.0, 333.0, 8.0, 0.0], [400.0, 350.0, 13.0, 0.0], [252.0, 207.0, 12.0, 0.0], [110.0, 76.0, 14.0, 0.0], [40.0, 28.0, 11.0, 0.0]]}, "platform": {"level_counts": [211, 149, 46, 4, 0, 0], "episodes_by_level": [[571.0, 116.0, 27.0, 0.0], [215.0, 47.0, 16.0, 0.0], [34.0, 5.0, 3.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [186, 157, 56, 8, 2, 1], "episodes_by_level": [[525.0, 118.0, 22.0, 0.0], [270.0, 57.0, 21.0, 0.0], [42.0, 14.0, 4.0, 0.0], [7.0, 3.0, 3.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [382, 318, 102, 17, 0, 0], "episodes_by_level": [[1042.0, 224.0, 43.0, 0.0], [555.0, 111.0, 42.0, 0.0], [72.0, 17.0, 9.0, 0.0], [3.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 8665, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.227783203125, "command_abs_max": [0.996845543384552, 0.3995002806186676, 0.6997212171554565]}
{"step": 6100, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 6100, "total_transitions": 24985600, "num_steps_per_env": 1, "wm_loss": 1.3983958959579468, "actor_loss": -9.380626678466797, "critic_loss": 0.006593336351215839, "reward": 0.08406718820333481, "falls": 13, "interval_steps": 50, "velocity_mae": [0.1278553605079651, 0.07937521487474442, 0.1363406628370285], "mean_episode_length": 1342.0069444444443, "episode_reward_terms": {"track_linear_velocity": 46.460140228271484, "track_angular_velocity": 50.73115158081055, "upright": 26.149457931518555, "leg_posture": -3.061892032623291, "standstill": -6.96052360534668, "action_rate_l2": -0.5365188717842102, "joint_torques_l2": -0.15434637665748596, "dof_pos_limits": -0.0004218500398565084, "terminated": -0.034074392169713974, "unnecessary_wheel_lift": -0.11688608676195145, "rolling_leg_motion": -0.8453255891799927, "obstacle_progress": 1.7427424192428589, "wheel_body_intrusion": -0.3258238136768341, "pair_body_intrusion": -0.22891969978809357}, "weighted_reward_terms": {"track_linear_velocity": 1.7309948205947876, "track_angular_velocity": 1.890122652053833, "upright": 0.9742668867111206, "leg_posture": -0.11407884210348129, "standstill": -0.2593326270580292, "action_rate_l2": -0.01998942159116268, "joint_torques_l2": -0.005750580690801144, "dof_pos_limits": -1.5717132555437274e-05, "terminated": -0.0012695310870185494, "unnecessary_wheel_lift": -0.004354898817837238, "rolling_leg_motion": -0.031494829803705215, "obstacle_progress": 0.06493045389652252, "wheel_body_intrusion": -0.012139423750340939, "pair_body_intrusion": -0.008529005572199821}, "episode_termination_rates": {"time_out": 0.4583333333333333, "fell_over": 0.09027777777777778, "course_exit": 0.4513888888888889, "illegal_nonwheel_contact": 0.0}, "collection_time_s": 0.07549808274023234, "learning_time_s": 0.18562811454059555, "iteration_time_s": 0.5185814162557392, "policy_updates": 5800, "skipped_updates": 0, "invalid_env_resets": 31, "elapsed_s": 3163.3466391600086, "nonwheel_terminations": 10314, "contact_bce": 0.33248886466026306, "contact_force_loss": 0.023280976340174675, "collision_bce": 1.2514270565588959e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.2397636055538896e-05, "collision_label_count": 16306.0, "terrain_level_mean": 1.364990234375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [191, 150, 56, 12, 1, 0], "episodes_by_level": [[507.0, 104.0, 18.0, 0.0], [292.0, 62.0, 15.0, 0.0], [43.0, 13.0, 1.0, 0.0], [3.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [98, 459, 650, 212, 14, 0], "episodes_by_level": [[536.0, 425.0, 6.0, 0.0], [1192.0, 768.0, 25.0, 0.0], [724.0, 274.0, 99.0, 0.0], [82.0, 15.0, 40.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [28, 88, 143, 164, 122, 69], "episodes_by_level": [[156.0, 138.0, 2.0, 0.0], [384.0, 337.0, 8.0, 0.0], [407.0, 354.0, 14.0, 0.0], [256.0, 209.0, 12.0, 0.0], [117.0, 78.0, 15.0, 0.0], [40.0, 28.0, 11.0, 0.0]]}, "platform": {"level_counts": [209, 150, 47, 4, 0, 0], "episodes_by_level": [[583.0, 118.0, 27.0, 0.0], [220.0, 48.0, 16.0, 0.0], [35.0, 5.0, 3.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [185, 158, 56, 8, 2, 1], "episodes_by_level": [[530.0, 119.0, 22.0, 0.0], [275.0, 57.0, 21.0, 0.0], [44.0, 14.0, 4.0, 0.0], [7.0, 3.0, 3.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [381, 317, 104, 17, 0, 0], "episodes_by_level": [[1046.0, 225.0, 43.0, 0.0], [562.0, 113.0, 42.0, 0.0], [73.0, 17.0, 9.0, 0.0], [3.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 8772, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.228759765625, "command_abs_max": [0.9998536109924316, 0.3995002806186676, 0.6997212171554565]}
{"step": 6150, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 6150, "total_transitions": 25190400, "num_steps_per_env": 1, "wm_loss": 1.3148566484451294, "actor_loss": -9.403212547302246, "critic_loss": 0.005535812582820654, "reward": 0.08419926464557648, "falls": 8, "interval_steps": 50, "velocity_mae": [0.12662620842456818, 0.07943211495876312, 0.13580851256847382], "mean_episode_length": 1239.421052631579, "episode_reward_terms": {"track_linear_velocity": 42.9730110168457, "track_angular_velocity": 46.88224411010742, "upright": 24.154205322265625, "leg_posture": -2.8225936889648438, "standstill": -6.361751556396484, "action_rate_l2": -0.5007486939430237, "joint_torques_l2": -0.14282798767089844, "dof_pos_limits": -0.00021465301688294858, "terminated": -0.0193659495562315, "unnecessary_wheel_lift": -0.11100630462169647, "rolling_leg_motion": -0.7705675959587097, "obstacle_progress": 1.606946349143982, "wheel_body_intrusion": -0.30792441964149475, "pair_body_intrusion": -0.2210661619901657}, "weighted_reward_terms": {"track_linear_velocity": 1.73359215259552, "track_angular_velocity": 1.891296148300171, "upright": 0.9744148850440979, "leg_posture": -0.11386743932962418, "standstill": -0.25664207339286804, "action_rate_l2": -0.020200911909341812, "joint_torques_l2": -0.005761883221566677, "dof_pos_limits": -8.65940728544956e-06, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.004478151444345713, "rolling_leg_motion": -0.031085791066288948, "obstacle_progress": 0.06482649594545364, "wheel_body_intrusion": -0.012422108091413975, "pair_body_intrusion": -0.00891812238842249}, "episode_termination_rates": {"time_out": 0.42105263157894735, "fell_over": 0.07017543859649122, "course_exit": 0.5087719298245614, "illegal_nonwheel_contact": 0.0}, "collection_time_s": 0.07586644316208549, "learning_time_s": 0.18326864577946253, "iteration_time_s": 0.5164722681164219, "policy_updates": 5850, "skipped_updates": 0, "invalid_env_resets": 32, "elapsed_s": 3176.3044489159947, "nonwheel_terminations": 10314, "contact_bce": 0.3397057354450226, "contact_force_loss": 0.024075539782643318, "collision_bce": 0.00012413736840244383, "collision_label_rate": 0.00012239153147675097, "collision_prediction_mean": 0.00019346758199390024, "collision_label_count": 16341.0, "terrain_level_mean": 1.375244140625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [190, 149, 58, 12, 1, 0], "episodes_by_level": [[510.0, 105.0, 18.0, 0.0], [294.0, 64.0, 15.0, 0.0], [44.0, 13.0, 1.0, 0.0], [3.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [96, 453, 648, 222, 14, 0], "episodes_by_level": [[538.0, 427.0, 6.0, 0.0], [1204.0, 778.0, 25.0, 0.0], [742.0, 286.0, 100.0, 0.0], [84.0, 15.0, 42.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [27, 85, 147, 160, 121, 74], "episodes_by_level": [[157.0, 139.0, 2.0, 0.0], [388.0, 341.0, 8.0, 0.0], [410.0, 355.0, 14.0, 0.0], [261.0, 213.0, 12.0, 0.0], [124.0, 84.0, 15.0, 0.0], [42.0, 30.0, 11.0, 0.0]]}, "platform": {"level_counts": [208, 151, 47, 4, 0, 0], "episodes_by_level": [[586.0, 119.0, 27.0, 0.0], [224.0, 48.0, 16.0, 0.0], [36.0, 5.0, 3.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [185, 158, 54, 10, 2, 1], "episodes_by_level": [[534.0, 120.0, 22.0, 0.0], [277.0, 57.0, 22.0, 0.0], [49.0, 16.0, 4.0, 0.0], [7.0, 3.0, 3.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [380, 317, 105, 17, 0, 0], "episodes_by_level": [[1052.0, 226.0, 43.0, 0.0], [567.0, 114.0, 42.0, 0.0], [77.0, 17.0, 9.0, 0.0], [3.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 8871, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.227783203125, "command_abs_max": [0.9998536109924316, 0.3995002806186676, 0.6998752355575562]}
{"step": 6200, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 6200, "total_transitions": 25395200, "num_steps_per_env": 1, "wm_loss": 1.339048981666565, "actor_loss": -9.418319702148438, "critic_loss": 0.002739628544077277, "reward": 0.08391605317592621, "falls": 11, "interval_steps": 50, "velocity_mae": [0.1289883255958557, 0.08049887418746948, 0.1351400911808014], "mean_episode_length": 1315.3941605839416, "episode_reward_terms": {"track_linear_velocity": 45.40161895751953, "track_angular_velocity": 49.791847229003906, "upright": 25.61893081665039, "leg_posture": -3.005279779434204, "standstill": -6.803831100463867, "action_rate_l2": -0.5328571200370789, "joint_torques_l2": -0.15326474606990814, "dof_pos_limits": -0.0005506245070137084, "terminated": -0.02826041914522648, "unnecessary_wheel_lift": -0.15005548298358917, "rolling_leg_motion": -0.8177619576454163, "obstacle_progress": 1.6680611371994019, "wheel_body_intrusion": -0.33279508352279663, "pair_body_intrusion": -0.27312660217285156}, "weighted_reward_terms": {"track_linear_velocity": 1.7257801294326782, "track_angular_velocity": 1.8926589488983154, "upright": 0.97381192445755, "leg_posture": -0.11423496156930923, "standstill": -0.25862327218055725, "action_rate_l2": -0.020254656672477722, "joint_torques_l2": -0.005825811065733433, "dof_pos_limits": -2.0930019672960043e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.005703822243958712, "rolling_leg_motion": -0.031084293499588966, "obstacle_progress": 0.06340537220239639, "wheel_body_intrusion": -0.012650013901293278, "pair_body_intrusion": -0.010381930507719517}, "episode_termination_rates": {"time_out": 0.45255474452554745, "fell_over": 0.072992700729927, "course_exit": 0.46715328467153283, "illegal_nonwheel_contact": 0.014598540145985401}, "collection_time_s": 0.07539986930089071, "learning_time_s": 0.183408243022277, "iteration_time_s": 0.5143945065708061, "policy_updates": 5900, "skipped_updates": 0, "invalid_env_resets": 32, "elapsed_s": 3189.245940738998, "nonwheel_terminations": 10316, "contact_bce": 0.3453576862812042, "contact_force_loss": 0.024841034784913063, "collision_bce": 6.441326604544884e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 6.462528745032614e-06, "collision_label_count": 16349.0, "terrain_level_mean": 1.383544921875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [189, 150, 58, 12, 1, 0], "episodes_by_level": [[514.0, 106.0, 18.0, 0.0], [296.0, 64.0, 15.0, 0.0], [44.0, 13.0, 1.0, 0.0], [3.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [95, 450, 642, 231, 15, 0], "episodes_by_level": [[543.0, 430.0, 7.0, 0.0], [1215.0, 783.0, 26.0, 0.0], [766.0, 296.0, 100.0, 0.0], [91.0, 16.0, 42.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [26, 85, 143, 160, 127, 73], "episodes_by_level": [[158.0, 140.0, 2.0, 0.0], [389.0, 342.0, 8.0, 0.0], [415.0, 360.0, 14.0, 0.0], [269.0, 220.0, 12.0, 0.0], [130.0, 86.0, 17.0, 0.0], [47.0, 33.0, 12.0, 0.0]]}, "platform": {"level_counts": [207, 151, 47, 5, 0, 0], "episodes_by_level": [[592.0, 120.0, 27.0, 0.0], [226.0, 49.0, 16.0, 0.0], [37.0, 6.0, 3.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [184, 159, 53, 11, 2, 1], "episodes_by_level": [[538.0, 121.0, 22.0, 0.0], [279.0, 57.0, 22.0, 0.0], [50.0, 17.0, 4.0, 0.0], [7.0, 3.0, 3.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [380, 317, 104, 18, 0, 0], "episodes_by_level": [[1060.0, 227.0, 44.0, 0.0], [574.0, 114.0, 43.0, 0.0], [81.0, 18.0, 9.0, 0.0], [3.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 8958, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22705078125, "command_abs_max": [0.9998536109924316, 0.3995002806186676, 0.6998752355575562]}
{"step": 6250, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 6250, "total_transitions": 25600000, "num_steps_per_env": 1, "wm_loss": 1.3734912872314453, "actor_loss": -9.396753311157227, "critic_loss": 0.003028868930414319, "reward": 0.08413771539926529, "falls": 11, "interval_steps": 50, "velocity_mae": [0.12854331731796265, 0.07931298017501831, 0.13598959147930145], "mean_episode_length": 1240.8666666666666, "episode_reward_terms": {"track_linear_velocity": 42.943626403808594, "track_angular_velocity": 46.929931640625, "upright": 24.15657615661621, "leg_posture": -2.786111354827881, "standstill": -6.370041370391846, "action_rate_l2": -0.5168595910072327, "joint_torques_l2": -0.1434076577425003, "dof_pos_limits": -0.00037913938285782933, "terminated": -0.026659242808818817, "unnecessary_wheel_lift": -0.13392776250839233, "rolling_leg_motion": -0.7638048529624939, "obstacle_progress": 1.6629884243011475, "wheel_body_intrusion": -0.30853933095932007, "pair_body_intrusion": -0.23971101641654968}, "weighted_reward_terms": {"track_linear_velocity": 1.7303884029388428, "track_angular_velocity": 1.8910142183303833, "upright": 0.973375141620636, "leg_posture": -0.1122647374868393, "standstill": -0.25667712092399597, "action_rate_l2": -0.020826555788517, "joint_torques_l2": -0.005778527818620205, "dof_pos_limits": -1.527720087324269e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.005396541673690081, "rolling_leg_motion": -0.03077707253396511, "obstacle_progress": 0.06700915098190308, "wheel_body_intrusion": -0.012432413175702095, "pair_body_intrusion": -0.009659015573561192}, "episode_termination_rates": {"time_out": 0.43703703703703706, "fell_over": 0.07407407407407407, "course_exit": 0.48148148148148145, "illegal_nonwheel_contact": 0.014814814814814815}, "collection_time_s": 0.0754963078792207, "learning_time_s": 0.1850203041016357, "iteration_time_s": 0.5123636510703992, "policy_updates": 5950, "skipped_updates": 0, "invalid_env_resets": 32, "elapsed_s": 3202.272819189995, "nonwheel_terminations": 10318, "contact_bce": 0.3405137360095978, "contact_force_loss": 0.024654431268572807, "collision_bce": 3.243975697841961e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 3.2880684557312634e-06, "collision_label_count": 16334.0, "terrain_level_mean": 1.393798828125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [186, 151, 59, 13, 1, 0], "episodes_by_level": [[519.0, 109.0, 18.0, 0.0], [299.0, 66.0, 15.0, 0.0], [46.0, 14.0, 1.0, 0.0], [3.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [93, 448, 644, 234, 14, 0], "episodes_by_level": [[545.0, 432.0, 7.0, 0.0], [1226.0, 789.0, 26.0, 0.0], [781.0, 300.0, 102.0, 0.0], [94.0, 16.0, 43.0, 0.0], [2.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [25, 83, 140, 159, 132, 75], "episodes_by_level": [[159.0, 141.0, 2.0, 0.0], [393.0, 346.0, 8.0, 0.0], [421.0, 366.0, 14.0, 0.0], [277.0, 227.0, 12.0, 0.0], [133.0, 89.0, 17.0, 0.0], [51.0, 35.0, 13.0, 0.0]]}, "platform": {"level_counts": [205, 152, 47, 6, 0, 0], "episodes_by_level": [[597.0, 122.0, 27.0, 0.0], [232.0, 50.0, 16.0, 0.0], [38.0, 7.0, 3.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [185, 157, 54, 11, 2, 1], "episodes_by_level": [[539.0, 122.0, 22.0, 0.0], [285.0, 59.0, 24.0, 0.0], [54.0, 17.0, 5.0, 0.0], [7.0, 3.0, 3.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [376, 320, 104, 19, 0, 0], "episodes_by_level": [[1069.0, 231.0, 44.0, 0.0], [577.0, 115.0, 43.0, 0.0], [84.0, 19.0, 9.0, 0.0], [3.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 9056, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.226806640625, "command_abs_max": [0.9998536109924316, 0.3995002806186676, 0.6998752355575562]}
{"step": 6300, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 6300, "total_transitions": 25804800, "num_steps_per_env": 1, "wm_loss": 1.3106324672698975, "actor_loss": -9.395074844360352, "critic_loss": 0.00448997039347887, "reward": 0.08386306464672089, "falls": 10, "interval_steps": 50, "velocity_mae": [0.1315302848815918, 0.07793138921260834, 0.1370079666376114], "mean_episode_length": 1300.6319444444443, "episode_reward_terms": {"track_linear_velocity": 44.88676452636719, "track_angular_velocity": 49.14802169799805, "upright": 25.30265998840332, "leg_posture": -2.945484161376953, "standstill": -6.781909942626953, "action_rate_l2": -0.5541607737541199, "joint_torques_l2": -0.15123635530471802, "dof_pos_limits": -0.0008501661941409111, "terminated": -0.025402965024113655, "unnecessary_wheel_lift": -0.1282106190919876, "rolling_leg_motion": -0.821746289730072, "obstacle_progress": 1.7117516994476318, "wheel_body_intrusion": -0.3209082782268524, "pair_body_intrusion": -0.2443108707666397}, "weighted_reward_terms": {"track_linear_velocity": 1.7255752086639404, "track_angular_velocity": 1.8893901109695435, "upright": 0.9727063775062561, "leg_posture": -0.1132328137755394, "standstill": -0.26071596145629883, "action_rate_l2": -0.02130351960659027, "joint_torques_l2": -0.00581395672634244, "dof_pos_limits": -3.268281216151081e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.004928781650960445, "rolling_leg_motion": -0.03159027174115181, "obstacle_progress": 0.0658046156167984, "wheel_body_intrusion": -0.012336629442870617, "pair_body_intrusion": -0.009392006322741508}, "episode_termination_rates": {"time_out": 0.4444444444444444, "fell_over": 0.0625, "course_exit": 0.4861111111111111, "illegal_nonwheel_contact": 0.006944444444444444}, "collection_time_s": 0.07560927721962798, "learning_time_s": 0.18470936549885664, "iteration_time_s": 0.5103634735628582, "policy_updates": 6000, "skipped_updates": 0, "invalid_env_resets": 32, "elapsed_s": 3215.2898834460066, "nonwheel_terminations": 10319, "contact_bce": 0.3413192629814148, "contact_force_loss": 0.02445584535598755, "collision_bce": 0.00011464168346719816, "collision_label_rate": 6.124073843238875e-05, "collision_prediction_mean": 1.2805655387637671e-05, "collision_label_count": 16329.0, "terrain_level_mean": 1.404296875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [184, 153, 58, 14, 1, 0], "episodes_by_level": [[524.0, 111.0, 18.0, 0.0], [303.0, 66.0, 15.0, 0.0], [48.0, 15.0, 1.0, 0.0], [3.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [90, 442, 650, 237, 14, 0], "episodes_by_level": [[548.0, 435.0, 7.0, 0.0], [1248.0, 801.0, 26.0, 0.0], [798.0, 304.0, 103.0, 0.0], [96.0, 16.0, 43.0, 0.0], [2.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [23, 82, 140, 154, 138, 77], "episodes_by_level": [[161.0, 143.0, 2.0, 0.0], [396.0, 349.0, 8.0, 0.0], [424.0, 369.0, 14.0, 0.0], [285.0, 235.0, 12.0, 0.0], [141.0, 94.0, 17.0, 0.0], [54.0, 36.0, 14.0, 0.0]]}, "platform": {"level_counts": [202, 155, 47, 6, 0, 0], "episodes_by_level": [[602.0, 125.0, 27.0, 0.0], [234.0, 50.0, 16.0, 0.0], [38.0, 7.0, 3.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [184, 157, 54, 12, 2, 1], "episodes_by_level": [[543.0, 123.0, 22.0, 0.0], [288.0, 60.0, 24.0, 0.0], [55.0, 18.0, 5.0, 0.0], [7.0, 3.0, 3.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [376, 319, 105, 19, 0, 0], "episodes_by_level": [[1077.0, 233.0, 44.0, 0.0], [587.0, 117.0, 45.0, 0.0], [88.0, 19.0, 10.0, 0.0], [3.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 9154, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23388671875, "command_abs_max": [0.9998536109924316, 0.3995002806186676, 0.6998752355575562]}
{"step": 6350, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 6350, "total_transitions": 26009600, "num_steps_per_env": 1, "wm_loss": 1.3167998790740967, "actor_loss": -9.385114669799805, "critic_loss": 0.006495559122413397, "reward": 0.08390788733959198, "falls": 14, "interval_steps": 50, "velocity_mae": [0.13094839453697205, 0.07867919653654099, 0.13534881174564362], "mean_episode_length": 1291.4015748031495, "episode_reward_terms": {"track_linear_velocity": 44.57006072998047, "track_angular_velocity": 48.866127014160156, "upright": 25.113630294799805, "leg_posture": -2.939270257949829, "standstill": -6.748050212860107, "action_rate_l2": -0.5387424230575562, "joint_torques_l2": -0.1504688858985901, "dof_pos_limits": -0.000502918497659266, "terminated": -0.035311758518218994, "unnecessary_wheel_lift": -0.10940473526716232, "rolling_leg_motion": -0.7975340485572815, "obstacle_progress": 1.6740082502365112, "wheel_body_intrusion": -0.3060523271560669, "pair_body_intrusion": -0.23970440030097961}, "weighted_reward_terms": {"track_linear_velocity": 1.72564697265625, "track_angular_velocity": 1.8919804096221924, "upright": 0.9723400473594666, "leg_posture": -0.11380156129598618, "standstill": -0.2612684667110443, "action_rate_l2": -0.020858826115727425, "joint_torques_l2": -0.005825797561556101, "dof_pos_limits": -1.947180862771347e-05, "terminated": -0.0013671873603016138, "unnecessary_wheel_lift": -0.004235891159623861, "rolling_leg_motion": -0.030878622084856033, "obstacle_progress": 0.06481362134218216, "wheel_body_intrusion": -0.011849618516862392, "pair_body_intrusion": -0.009280784986913204}, "episode_termination_rates": {"time_out": 0.4251968503937008, "fell_over": 0.09448818897637795, "course_exit": 0.4645669291338583, "illegal_nonwheel_contact": 0.031496062992125984}, "collection_time_s": 0.07556257395888678, "learning_time_s": 0.1927429954620311, "iteration_time_s": 0.5084576804697647, "policy_updates": 6050, "skipped_updates": 0, "invalid_env_resets": 32, "elapsed_s": 3228.706270983006, "nonwheel_terminations": 10323, "contact_bce": 0.3361371159553528, "contact_force_loss": 0.024082638323307037, "collision_bce": 1.4423476386582479e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.365349453408271e-05, "collision_label_count": 16319.0, "terrain_level_mean": 1.412353515625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [183, 153, 59, 14, 1, 0], "episodes_by_level": [[527.0, 112.0, 19.0, 0.0], [307.0, 67.0, 15.0, 0.0], [48.0, 15.0, 1.0, 0.0], [3.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [87, 443, 651, 239, 13, 0], "episodes_by_level": [[551.0, 438.0, 7.0, 0.0], [1260.0, 805.0, 26.0, 0.0], [809.0, 309.0, 105.0, 0.0], [101.0, 16.0, 46.0, 0.0], [3.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [22, 75, 146, 153, 139, 79], "episodes_by_level": [[162.0, 144.0, 2.0, 0.0], [404.0, 357.0, 8.0, 0.0], [426.0, 371.0, 14.0, 0.0], [290.0, 239.0, 12.0, 0.0], [147.0, 99.0, 18.0, 0.0], [55.0, 36.0, 15.0, 0.0]]}, "platform": {"level_counts": [200, 157, 47, 6, 0, 0], "episodes_by_level": [[605.0, 127.0, 27.0, 0.0], [241.0, 50.0, 16.0, 0.0], [39.0, 7.0, 3.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [184, 156, 54, 13, 2, 1], "episodes_by_level": [[546.0, 125.0, 22.0, 0.0], [294.0, 61.0, 26.0, 0.0], [56.0, 19.0, 5.0, 0.0], [7.0, 3.0, 3.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [375, 315, 110, 19, 0, 0], "episodes_by_level": [[1085.0, 234.0, 44.0, 0.0], [601.0, 122.0, 45.0, 0.0], [91.0, 19.0, 10.0, 0.0], [3.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 9252, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.235595703125, "command_abs_max": [0.9979992508888245, 0.3995002806186676, 0.6998752355575562]}
{"step": 6400, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 6400, "total_transitions": 26214400, "num_steps_per_env": 1, "wm_loss": 1.2763102054595947, "actor_loss": -9.417322158813477, "critic_loss": 0.005695689469575882, "reward": 0.08355037868022919, "falls": 15, "interval_steps": 50, "velocity_mae": [0.13120949268341064, 0.07943826168775558, 0.13462843000888824], "mean_episode_length": 1242.8698630136987, "episode_reward_terms": {"track_linear_velocity": 42.82634353637695, "track_angular_velocity": 47.05192565917969, "upright": 24.1405029296875, "leg_posture": -2.858405351638794, "standstill": -6.778351306915283, "action_rate_l2": -0.5192151665687561, "joint_torques_l2": -0.14648297429084778, "dof_pos_limits": -0.0007307818159461021, "terminated": -0.03641219437122345, "unnecessary_wheel_lift": -0.1350184977054596, "rolling_leg_motion": -0.7627049684524536, "obstacle_progress": 1.6337916851043701, "wheel_body_intrusion": -0.29614076018333435, "pair_body_intrusion": -0.27685216069221497}, "weighted_reward_terms": {"track_linear_velocity": 1.7228813171386719, "track_angular_velocity": 1.8928742408752441, "upright": 0.9711596965789795, "leg_posture": -0.11499214917421341, "standstill": -0.2726895213127136, "action_rate_l2": -0.02088775299489498, "joint_torques_l2": -0.0058929333463311195, "dof_pos_limits": -2.9398968763416633e-05, "terminated": -0.0014648435171693563, "unnecessary_wheel_lift": -0.005431722849607468, "rolling_leg_motion": -0.03068322129547596, "obstacle_progress": 0.06572657823562622, "wheel_body_intrusion": -0.011913587339222431, "pair_body_intrusion": -0.011137616820633411}, "episode_termination_rates": {"time_out": 0.3835616438356164, "fell_over": 0.0958904109589041, "course_exit": 0.5136986301369864, "illegal_nonwheel_contact": 0.0136986301369863}, "collection_time_s": 0.07567209647793788, "learning_time_s": 0.18559511894301978, "iteration_time_s": 0.5065266655757842, "policy_updates": 6100, "skipped_updates": 0, "invalid_env_resets": 32, "elapsed_s": 3241.7706596850185, "nonwheel_terminations": 10325, "contact_bce": 0.3348744809627533, "contact_force_loss": 0.023738695308566093, "collision_bce": 0.00027026215684600174, "collision_label_rate": 6.122948980191723e-05, "collision_prediction_mean": 5.9698691075027455e-06, "collision_label_count": 16332.0, "terrain_level_mean": 1.42236328125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [181, 154, 59, 15, 1, 0], "episodes_by_level": [[534.0, 114.0, 19.0, 0.0], [309.0, 68.0, 15.0, 0.0], [51.0, 16.0, 1.0, 0.0], [3.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [86, 442, 649, 242, 14, 0], "episodes_by_level": [[554.0, 441.0, 7.0, 0.0], [1273.0, 813.0, 27.0, 0.0], [831.0, 315.0, 109.0, 0.0], [105.0, 17.0, 48.0, 0.0], [3.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [22, 73, 145, 149, 141, 84], "episodes_by_level": [[162.0, 144.0, 2.0, 0.0], [406.0, 359.0, 8.0, 0.0], [431.0, 374.0, 14.0, 0.0], [300.0, 247.0, 12.0, 0.0], [156.0, 104.0, 18.0, 0.0], [57.0, 37.0, 16.0, 0.0]]}, "platform": {"level_counts": [199, 155, 52, 4, 0, 0], "episodes_by_level": [[608.0, 128.0, 27.0, 0.0], [247.0, 53.0, 16.0, 0.0], [41.0, 7.0, 3.0, 0.0], [3.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [183, 156, 55, 13, 2, 1], "episodes_by_level": [[551.0, 126.0, 23.0, 0.0], [296.0, 62.0, 26.0, 0.0], [56.0, 19.0, 5.0, 0.0], [7.0, 3.0, 3.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [371, 317, 110, 21, 0, 0], "episodes_by_level": [[1097.0, 238.0, 44.0, 0.0], [606.0, 124.0, 45.0, 0.0], [97.0, 21.0, 10.0, 0.0], [4.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 9345, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.238037109375, "command_abs_max": [0.9979992508888245, 0.3995002806186676, 0.6998752355575562]}
{"step": 6450, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 6450, "total_transitions": 26419200, "num_steps_per_env": 1, "wm_loss": 1.2962251901626587, "actor_loss": -9.402341842651367, "critic_loss": 0.004536233376711607, "reward": 0.08347494900226593, "falls": 17, "interval_steps": 50, "velocity_mae": [0.13186253607273102, 0.08014969527721405, 0.13608497381210327], "mean_episode_length": 1345.3082191780823, "episode_reward_terms": {"track_linear_velocity": 46.29800033569336, "track_angular_velocity": 50.86917495727539, "upright": 26.128801345825195, "leg_posture": -3.0454742908477783, "standstill": -7.370892524719238, "action_rate_l2": -0.58487868309021, "joint_torques_l2": -0.1595793515443802, "dof_pos_limits": -0.0006708677392452955, "terminated": -0.04466842859983444, "unnecessary_wheel_lift": -0.16389162838459015, "rolling_leg_motion": -0.83738112449646, "obstacle_progress": 1.7522293329238892, "wheel_body_intrusion": -0.306100994348526, "pair_body_intrusion": -0.23514816164970398}, "weighted_reward_terms": {"track_linear_velocity": 1.720720887184143, "track_angular_velocity": 1.8906141519546509, "upright": 0.9711083769798279, "leg_posture": -0.1131887212395668, "standstill": -0.2739481031894684, "action_rate_l2": -0.0217377208173275, "joint_torques_l2": -0.005930958781391382, "dof_pos_limits": -2.493360807420686e-05, "terminated": -0.001660156063735485, "unnecessary_wheel_lift": -0.006091229617595673, "rolling_leg_motion": -0.031122278422117233, "obstacle_progress": 0.06512371450662613, "wheel_body_intrusion": -0.011376611888408661, "pair_body_intrusion": -0.008739564567804337}, "episode_termination_rates": {"time_out": 0.4863013698630137, "fell_over": 0.10273972602739725, "course_exit": 0.3972602739726027, "illegal_nonwheel_contact": 0.0136986301369863}, "collection_time_s": 0.07594886482227593, "learning_time_s": 0.1851711196778342, "iteration_time_s": 0.5046244634922491, "policy_updates": 6150, "skipped_updates": 0, "invalid_env_resets": 33, "elapsed_s": 3254.8277895250067, "nonwheel_terminations": 10327, "contact_bce": 0.3374120891094208, "contact_force_loss": 0.023365186527371407, "collision_bce": 3.1737656627228716e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 3.2153075153473765e-06, "collision_label_count": 16331.0, "terrain_level_mean": 1.43017578125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [180, 155, 59, 15, 1, 0], "episodes_by_level": [[538.0, 115.0, 19.0, 0.0], [314.0, 68.0, 15.0, 0.0], [54.0, 16.0, 1.0, 0.0], [4.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [84, 442, 650, 242, 15, 0], "episodes_by_level": [[560.0, 444.0, 7.0, 0.0], [1282.0, 819.0, 27.0, 0.0], [847.0, 318.0, 111.0, 0.0], [110.0, 18.0, 49.0, 0.0], [3.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [19, 77, 139, 147, 147, 85], "episodes_by_level": [[164.0, 146.0, 2.0, 0.0], [406.0, 359.0, 8.0, 0.0], [438.0, 380.0, 15.0, 0.0], [308.0, 255.0, 12.0, 0.0], [161.0, 106.0, 19.0, 0.0], [58.0, 37.0, 17.0, 0.0]]}, "platform": {"level_counts": [197, 157, 52, 4, 0, 0], "episodes_by_level": [[612.0, 130.0, 27.0, 0.0], [251.0, 53.0, 16.0, 0.0], [41.0, 7.0, 3.0, 0.0], [3.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [181, 157, 55, 14, 2, 1], "episodes_by_level": [[556.0, 128.0, 24.0, 0.0], [305.0, 64.0, 26.0, 0.0], [59.0, 20.0, 6.0, 0.0], [7.0, 3.0, 3.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [368, 319, 111, 21, 0, 0], "episodes_by_level": [[1107.0, 243.0, 45.0, 0.0], [617.0, 125.0, 47.0, 0.0], [98.0, 21.0, 10.0, 0.0], [4.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 9439, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23291015625, "command_abs_max": [0.9973539113998413, 0.3995002806186676, 0.6998752355575562]}
{"step": 6500, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 6500, "total_transitions": 26624000, "num_steps_per_env": 1, "wm_loss": 1.2695423364639282, "actor_loss": -9.38778305053711, "critic_loss": 0.008653625845909119, "reward": 0.08383244276046753, "falls": 12, "interval_steps": 50, "velocity_mae": [0.13105469942092896, 0.07905104011297226, 0.1373262256383896], "mean_episode_length": 1201.225, "episode_reward_terms": {"track_linear_velocity": 41.42869186401367, "track_angular_velocity": 45.37584686279297, "upright": 23.32008934020996, "leg_posture": -2.7132434844970703, "standstill": -6.2583465576171875, "action_rate_l2": -0.5565471649169922, "joint_torques_l2": -0.144327774643898, "dof_pos_limits": -0.0008381244842894375, "terminated": -0.028153708204627037, "unnecessary_wheel_lift": -0.11468229442834854, "rolling_leg_motion": -0.7415139675140381, "obstacle_progress": 1.6486454010009766, "wheel_body_intrusion": -0.285780131816864, "pair_body_intrusion": -0.22822146117687225}, "weighted_reward_terms": {"track_linear_velocity": 1.7244352102279663, "track_angular_velocity": 1.8887323141098022, "upright": 0.9706795811653137, "leg_posture": -0.11293653398752213, "standstill": -0.2604985237121582, "action_rate_l2": -0.02316581830382347, "joint_torques_l2": -0.00600752467289567, "dof_pos_limits": -3.4886241337517276e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.004773556254804134, "rolling_leg_motion": -0.030864911153912544, "obstacle_progress": 0.06862351298332214, "wheel_body_intrusion": -0.011895363219082355, "pair_body_intrusion": -0.00949953030794859}, "episode_termination_rates": {"time_out": 0.35, "fell_over": 0.09166666666666666, "course_exit": 0.55, "illegal_nonwheel_contact": 0.03333333333333333}, "collection_time_s": 0.07544356987986248, "learning_time_s": 0.18550800467841327, "iteration_time_s": 0.5027502241346161, "policy_updates": 6200, "skipped_updates": 0, "invalid_env_resets": 33, "elapsed_s": 3267.876456875005, "nonwheel_terminations": 10331, "contact_bce": 0.338034451007843, "contact_force_loss": 0.024147100746631622, "collision_bce": 2.4975281576189445e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 2.538196213208721e-06, "collision_label_count": 16357.0, "terrain_level_mean": 1.438720703125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [180, 156, 56, 17, 1, 0], "episodes_by_level": [[539.0, 115.0, 20.0, 0.0], [316.0, 68.0, 15.0, 0.0], [57.0, 18.0, 2.0, 0.0], [5.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [82, 443, 648, 246, 14, 0], "episodes_by_level": [[562.0, 446.0, 7.0, 0.0], [1291.0, 823.0, 27.0, 0.0], [860.0, 321.0, 113.0, 0.0], [111.0, 18.0, 49.0, 0.0], [3.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [19, 74, 132, 148, 157, 84], "episodes_by_level": [[165.0, 147.0, 2.0, 0.0], [409.0, 362.0, 8.0, 0.0], [448.0, 390.0, 15.0, 0.0], [318.0, 264.0, 12.0, 0.0], [162.0, 107.0, 19.0, 0.0], [65.0, 41.0, 19.0, 0.0]]}, "platform": {"level_counts": [193, 159, 54, 4, 0, 0], "episodes_by_level": [[619.0, 134.0, 27.0, 0.0], [258.0, 55.0, 16.0, 0.0], [41.0, 7.0, 3.0, 0.0], [3.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [179, 159, 55, 14, 2, 1], "episodes_by_level": [[561.0, 130.0, 24.0, 0.0], [307.0, 64.0, 26.0, 0.0], [61.0, 20.0, 6.0, 0.0], [7.0, 3.0, 3.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [370, 315, 113, 21, 0, 0], "episodes_by_level": [[1109.0, 243.0, 45.0, 0.0], [624.0, 128.0, 49.0, 0.0], [102.0, 21.0, 11.0, 0.0], [4.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 9525, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23583984375, "command_abs_max": [0.9971679449081421, 0.3995002806186676, 0.6998752355575562]}
{"step": 6550, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 6550, "total_transitions": 26828800, "num_steps_per_env": 1, "wm_loss": 1.2722331285476685, "actor_loss": -9.387256622314453, "critic_loss": 0.010603544302284718, "reward": 0.08414950966835022, "falls": 17, "interval_steps": 50, "velocity_mae": [0.1287757158279419, 0.07974997907876968, 0.1362886130809784], "mean_episode_length": 1339.9857142857143, "episode_reward_terms": {"track_linear_velocity": 46.322425842285156, "track_angular_velocity": 50.667694091796875, "upright": 26.018062591552734, "leg_posture": -2.9615793228149414, "standstill": -6.914366245269775, "action_rate_l2": -0.6180962920188904, "joint_torques_l2": -0.16063381731510162, "dof_pos_limits": -0.0006257770000956953, "terminated": -0.04449170455336571, "unnecessary_wheel_lift": -0.16856226325035095, "rolling_leg_motion": -0.8232002258300781, "obstacle_progress": 1.9342747926712036, "wheel_body_intrusion": -0.28684186935424805, "pair_body_intrusion": -0.20490287244319916}, "weighted_reward_terms": {"track_linear_velocity": 1.7284671068191528, "track_angular_velocity": 1.8906056880950928, "upright": 0.9708335399627686, "leg_posture": -0.11050787568092346, "standstill": -0.25800150632858276, "action_rate_l2": -0.0230635404586792, "joint_torques_l2": -0.0059938631020486355, "dof_pos_limits": -2.3350137780653313e-05, "terminated": -0.001660156063735485, "unnecessary_wheel_lift": -0.0062897042371332645, "rolling_leg_motion": -0.030716752633452415, "obstacle_progress": 0.07217520475387573, "wheel_body_intrusion": -0.010703169740736485, "pair_body_intrusion": -0.007645711302757263}, "episode_termination_rates": {"time_out": 0.45714285714285713, "fell_over": 0.12142857142857143, "course_exit": 0.42142857142857143, "illegal_nonwheel_contact": 0.0}, "collection_time_s": 0.0756083604414016, "learning_time_s": 0.1854633001802722, "iteration_time_s": 0.5009103581603067, "policy_updates": 6250, "skipped_updates": 0, "invalid_env_resets": 33, "elapsed_s": 3280.962845950009, "nonwheel_terminations": 10331, "contact_bce": 0.3377605080604553, "contact_force_loss": 0.024456698447465897, "collision_bce": 5.7934154028771445e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 4.8444220738019794e-05, "collision_label_count": 16350.0, "terrain_level_mean": 1.44482421875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [176, 160, 55, 18, 1, 0], "episodes_by_level": [[545.0, 119.0, 21.0, 0.0], [322.0, 69.0, 15.0, 0.0], [61.0, 19.0, 3.0, 0.0], [6.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [81, 442, 649, 247, 14, 0], "episodes_by_level": [[564.0, 448.0, 7.0, 0.0], [1300.0, 828.0, 27.0, 0.0], [874.0, 325.0, 114.0, 0.0], [119.0, 18.0, 51.0, 0.0], [3.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [19, 71, 129, 151, 158, 86], "episodes_by_level": [[165.0, 147.0, 2.0, 0.0], [411.0, 364.0, 8.0, 0.0], [455.0, 396.0, 15.0, 0.0], [325.0, 270.0, 12.0, 0.0], [164.0, 109.0, 19.0, 0.0], [67.0, 42.0, 19.0, 0.0]]}, "platform": {"level_counts": [195, 157, 54, 4, 0, 0], "episodes_by_level": [[622.0, 134.0, 27.0, 0.0], [266.0, 55.0, 18.0, 0.0], [42.0, 7.0, 3.0, 0.0], [4.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [178, 159, 56, 14, 2, 1], "episodes_by_level": [[569.0, 131.0, 24.0, 0.0], [311.0, 65.0, 26.0, 0.0], [61.0, 20.0, 6.0, 0.0], [7.0, 3.0, 3.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [370, 313, 115, 21, 0, 0], "episodes_by_level": [[1117.0, 244.0, 46.0, 0.0], [633.0, 131.0, 50.0, 0.0], [106.0, 21.0, 12.0, 0.0], [5.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 9620, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.236328125, "command_abs_max": [0.998410701751709, 0.39957714080810547, 0.6998752355575562]}
{"step": 6600, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 6600, "total_transitions": 27033600, "num_steps_per_env": 1, "wm_loss": 1.2730997800827026, "actor_loss": -9.401771545410156, "critic_loss": 0.0032810561824589968, "reward": 0.0844307392835617, "falls": 12, "interval_steps": 50, "velocity_mae": [0.12938807904720306, 0.07969405502080917, 0.1391724944114685], "mean_episode_length": 1309.6344827586206, "episode_reward_terms": {"track_linear_velocity": 45.272762298583984, "track_angular_velocity": 49.40214538574219, "upright": 25.413667678833008, "leg_posture": -2.910568952560425, "standstill": -6.245748043060303, "action_rate_l2": -0.5893039703369141, "joint_torques_l2": -0.15850210189819336, "dof_pos_limits": -0.0014846506528556347, "terminated": -0.03069455735385418, "unnecessary_wheel_lift": -0.13227401673793793, "rolling_leg_motion": -0.7970442175865173, "obstacle_progress": 1.9104244709014893, "wheel_body_intrusion": -0.30433911085128784, "pair_body_intrusion": -0.25562137365341187}, "weighted_reward_terms": {"track_linear_velocity": 1.7284504175186157, "track_angular_velocity": 1.8861043453216553, "upright": 0.9702579975128174, "leg_posture": -0.11112141609191895, "standstill": -0.23845386505126953, "action_rate_l2": -0.02249879576265812, "joint_torques_l2": -0.006051387172192335, "dof_pos_limits": -5.66818707739003e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.005050035659223795, "rolling_leg_motion": -0.0304300244897604, "obstacle_progress": 0.07293731719255447, "wheel_body_intrusion": -0.011619238182902336, "pair_body_intrusion": -0.009759264066815376}, "episode_termination_rates": {"time_out": 0.4482758620689655, "fell_over": 0.07586206896551724, "course_exit": 0.4689655172413793, "illegal_nonwheel_contact": 0.020689655172413793}, "collection_time_s": 0.0756466642790474, "learning_time_s": 0.18506491522071883, "iteration_time_s": 0.4990908283712148, "policy_updates": 6300, "skipped_updates": 0, "invalid_env_resets": 33, "elapsed_s": 3293.999467250018, "nonwheel_terminations": 10334, "contact_bce": 0.3388451039791107, "contact_force_loss": 0.023868286982178688, "collision_bce": 4.65138946310617e-05, "collision_label_rate": 6.115085852798074e-05, "collision_prediction_mean": 7.556651689810678e-05, "collision_label_count": 16353.0, "terrain_level_mean": 1.4541015625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [175, 160, 54, 20, 1, 0], "episodes_by_level": [[546.0, 120.0, 21.0, 0.0], [329.0, 70.0, 15.0, 0.0], [64.0, 21.0, 3.0, 0.0], [6.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [79, 438, 653, 249, 14, 0], "episodes_by_level": [[568.0, 451.0, 7.0, 0.0], [1316.0, 835.0, 27.0, 0.0], [883.0, 328.0, 115.0, 0.0], [123.0, 18.0, 52.0, 0.0], [3.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [19, 70, 125, 152, 161, 87], "episodes_by_level": [[165.0, 147.0, 2.0, 0.0], [413.0, 366.0, 8.0, 0.0], [461.0, 402.0, 15.0, 0.0], [331.0, 275.0, 12.0, 0.0], [169.0, 112.0, 21.0, 0.0], [75.0, 46.0, 21.0, 0.0]]}, "platform": {"level_counts": [194, 156, 55, 5, 0, 0], "episodes_by_level": [[627.0, 135.0, 28.0, 0.0], [273.0, 57.0, 18.0, 0.0], [43.0, 8.0, 3.0, 0.0], [5.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [178, 159, 56, 14, 2, 1], "episodes_by_level": [[571.0, 131.0, 24.0, 0.0], [319.0, 65.0, 26.0, 0.0], [63.0, 20.0, 6.0, 0.0], [7.0, 3.0, 3.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [365, 314, 119, 21, 0, 0], "episodes_by_level": [[1126.0, 250.0, 47.0, 0.0], [648.0, 135.0, 51.0, 0.0], [106.0, 21.0, 12.0, 0.0], [7.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 9724, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.235107421875, "command_abs_max": [0.998410701751709, 0.39957714080810547, 0.6998752355575562]}
{"step": 6650, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 6650, "total_transitions": 27238400, "num_steps_per_env": 1, "wm_loss": 1.302404522895813, "actor_loss": -9.399173736572266, "critic_loss": 0.007383512798696756, "reward": 0.08452799916267395, "falls": 9, "interval_steps": 50, "velocity_mae": [0.1277955025434494, 0.07969234138727188, 0.13632185757160187], "mean_episode_length": 1344.037037037037, "episode_reward_terms": {"track_linear_velocity": 46.551673889160156, "track_angular_velocity": 50.81965255737305, "upright": 26.099090576171875, "leg_posture": -2.993190288543701, "standstill": -6.552742958068848, "action_rate_l2": -0.6098741292953491, "joint_torques_l2": -0.1643761545419693, "dof_pos_limits": -0.00026722162147052586, "terminated": -0.02362564578652382, "unnecessary_wheel_lift": -0.11711200326681137, "rolling_leg_motion": -0.8203305602073669, "obstacle_progress": 1.9802870750427246, "wheel_body_intrusion": -0.31960487365722656, "pair_body_intrusion": -0.2408599853515625}, "weighted_reward_terms": {"track_linear_velocity": 1.7317854166030884, "track_angular_velocity": 1.8905601501464844, "upright": 0.9709216356277466, "leg_posture": -0.11135074496269226, "standstill": -0.24377094209194183, "action_rate_l2": -0.02268814481794834, "joint_torques_l2": -0.006115016061812639, "dof_pos_limits": -9.941007192537654e-06, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.004356725607067347, "rolling_leg_motion": -0.03051741048693657, "obstacle_progress": 0.07366936653852463, "wheel_body_intrusion": -0.011889735236763954, "pair_body_intrusion": -0.008960318751633167}, "episode_termination_rates": {"time_out": 0.4666666666666667, "fell_over": 0.05925925925925926, "course_exit": 0.4666666666666667, "illegal_nonwheel_contact": 0.022222222222222223}, "collection_time_s": 0.07563308179902378, "learning_time_s": 0.18559582396119367, "iteration_time_s": 0.4973025586387962, "policy_updates": 6350, "skipped_updates": 0, "invalid_env_resets": 33, "elapsed_s": 3307.0620149479946, "nonwheel_terminations": 10337, "contact_bce": 0.34558627009391785, "contact_force_loss": 0.02512126974761486, "collision_bce": 0.00019567747949622571, "collision_label_rate": 0.00012258657079655677, "collision_prediction_mean": 7.901555363787338e-05, "collision_label_count": 16315.0, "terrain_level_mean": 1.462158203125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [174, 161, 52, 22, 1, 0], "episodes_by_level": [[548.0, 121.0, 21.0, 0.0], [333.0, 70.0, 15.0, 0.0], [66.0, 23.0, 3.0, 0.0], [6.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [77, 436, 657, 249, 14, 0], "episodes_by_level": [[571.0, 453.0, 7.0, 0.0], [1322.0, 841.0, 27.0, 0.0], [894.0, 328.0, 117.0, 0.0], [126.0, 18.0, 52.0, 0.0], [3.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [18, 71, 118, 154, 162, 91], "episodes_by_level": [[166.0, 148.0, 2.0, 0.0], [413.0, 366.0, 8.0, 0.0], [470.0, 411.0, 15.0, 0.0], [339.0, 281.0, 13.0, 0.0], [174.0, 116.0, 21.0, 0.0], [82.0, 50.0, 21.0, 0.0]]}, "platform": {"level_counts": [193, 157, 55, 5, 0, 0], "episodes_by_level": [[629.0, 136.0, 28.0, 0.0], [278.0, 57.0, 18.0, 0.0], [43.0, 8.0, 3.0, 0.0], [5.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [178, 158, 56, 14, 3, 1], "episodes_by_level": [[572.0, 131.0, 24.0, 0.0], [324.0, 66.0, 26.0, 0.0], [64.0, 21.0, 6.0, 0.0], [8.0, 4.0, 3.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [364, 314, 119, 22, 0, 0], "episodes_by_level": [[1141.0, 251.0, 49.0, 0.0], [660.0, 137.0, 51.0, 0.0], [112.0, 22.0, 13.0, 0.0], [7.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 9823, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234130859375, "command_abs_max": [0.9998178482055664, 0.39957714080810547, 0.6999707221984863]}
{"step": 6700, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 6700, "total_transitions": 27443200, "num_steps_per_env": 1, "wm_loss": 1.3095643520355225, "actor_loss": -9.425898551940918, "critic_loss": 0.00479882350191474, "reward": 0.08461827784776688, "falls": 7, "interval_steps": 50, "velocity_mae": [0.12654834985733032, 0.0797097459435463, 0.1371888965368271], "mean_episode_length": 1332.3675213675215, "episode_reward_terms": {"track_linear_velocity": 46.22684860229492, "track_angular_velocity": 50.343448638916016, "upright": 25.86206817626953, "leg_posture": -3.00931978225708, "standstill": -6.470856666564941, "action_rate_l2": -0.5776838660240173, "joint_torques_l2": -0.16318655014038086, "dof_pos_limits": -0.00030460453126579523, "terminated": -0.018215959891676903, "unnecessary_wheel_lift": -0.11568167805671692, "rolling_leg_motion": -0.8041784167289734, "obstacle_progress": 1.9884454011917114, "wheel_body_intrusion": -0.31305715441703796, "pair_body_intrusion": -0.205708846449852}, "weighted_reward_terms": {"track_linear_velocity": 1.734763503074646, "track_angular_velocity": 1.8892478942871094, "upright": 0.9705305099487305, "leg_posture": -0.11293129622936249, "standstill": -0.24283303320407867, "action_rate_l2": -0.021678848192095757, "joint_torques_l2": -0.006123931147158146, "dof_pos_limits": -1.1430949598434381e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.004341207444667816, "rolling_leg_motion": -0.030178550630807877, "obstacle_progress": 0.07462075352668762, "wheel_body_intrusion": -0.01174815371632576, "pair_body_intrusion": -0.007719673216342926}, "episode_termination_rates": {"time_out": 0.5042735042735043, "fell_over": 0.05982905982905983, "course_exit": 0.4358974358974359, "illegal_nonwheel_contact": 0.017094017094017096}, "collection_time_s": 0.07588912020088173, "learning_time_s": 0.18487560899870004, "iteration_time_s": 0.4955375162858226, "policy_updates": 6400, "skipped_updates": 0, "invalid_env_resets": 34, "elapsed_s": 3320.1013591150113, "nonwheel_terminations": 10339, "contact_bce": 0.3440070152282715, "contact_force_loss": 0.024943845346570015, "collision_bce": 5.075990702607669e-05, "collision_label_rate": 6.110228423494846e-05, "collision_prediction_mean": 8.999690908240154e-05, "collision_label_count": 16366.0, "terrain_level_mean": 1.468994140625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [173, 160, 53, 23, 1, 0], "episodes_by_level": [[550.0, 122.0, 21.0, 0.0], [340.0, 72.0, 15.0, 0.0], [69.0, 24.0, 3.0, 0.0], [7.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [77, 429, 663, 250, 14, 0], "episodes_by_level": [[573.0, 453.0, 7.0, 0.0], [1335.0, 848.0, 27.0, 0.0], [907.0, 331.0, 117.0, 0.0], [132.0, 18.0, 54.0, 0.0], [3.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [18, 70, 116, 154, 166, 90], "episodes_by_level": [[166.0, 148.0, 2.0, 0.0], [414.0, 367.0, 8.0, 0.0], [473.0, 414.0, 15.0, 0.0], [344.0, 286.0, 13.0, 0.0], [177.0, 117.0, 22.0, 0.0], [85.0, 52.0, 22.0, 0.0]]}, "platform": {"level_counts": [192, 157, 56, 5, 0, 0], "episodes_by_level": [[632.0, 137.0, 28.0, 0.0], [283.0, 58.0, 18.0, 0.0], [43.0, 8.0, 3.0, 0.0], [5.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [177, 158, 57, 13, 4, 1], "episodes_by_level": [[574.0, 132.0, 24.0, 0.0], [327.0, 67.0, 26.0, 0.0], [65.0, 21.0, 6.0, 0.0], [10.0, 5.0, 3.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [362, 312, 124, 21, 0, 0], "episodes_by_level": [[1147.0, 253.0, 49.0, 0.0], [671.0, 141.0, 51.0, 0.0], [112.0, 22.0, 13.0, 0.0], [8.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 9911, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234619140625, "command_abs_max": [0.9998178482055664, 0.39957714080810547, 0.6999707221984863]}
{"step": 6750, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 6750, "total_transitions": 27648000, "num_steps_per_env": 1, "wm_loss": 1.2711458206176758, "actor_loss": -9.417912483215332, "critic_loss": 0.0032065000850707293, "reward": 0.08458282053470612, "falls": 12, "interval_steps": 50, "velocity_mae": [0.12769757211208344, 0.08067308366298676, 0.13746517896652222], "mean_episode_length": 1272.2894736842106, "episode_reward_terms": {"track_linear_velocity": 44.03700637817383, "track_angular_velocity": 48.04935073852539, "upright": 24.70188331604004, "leg_posture": -2.8522677421569824, "standstill": -6.1471710205078125, "action_rate_l2": -0.531543493270874, "joint_torques_l2": -0.15509562194347382, "dof_pos_limits": -0.0001839157339418307, "terminated": -0.02981928177177906, "unnecessary_wheel_lift": -0.11929557472467422, "rolling_leg_motion": -0.7507514953613281, "obstacle_progress": 1.8941463232040405, "wheel_body_intrusion": -0.2811521291732788, "pair_body_intrusion": -0.20129595696926117}, "weighted_reward_terms": {"track_linear_velocity": 1.7306207418441772, "track_angular_velocity": 1.8883026838302612, "upright": 0.9707651138305664, "leg_posture": -0.11209193617105484, "standstill": -0.24157913029193878, "action_rate_l2": -0.020889252424240112, "joint_torques_l2": -0.006095139309763908, "dof_pos_limits": -7.227747573779197e-06, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.004688224755227566, "rolling_leg_motion": -0.02950395829975605, "obstacle_progress": 0.07443850487470627, "wheel_body_intrusion": -0.011049063876271248, "pair_body_intrusion": -0.007910776883363724}, "episode_termination_rates": {"time_out": 0.40350877192982454, "fell_over": 0.10526315789473684, "course_exit": 0.49122807017543857, "illegal_nonwheel_contact": 0.008771929824561403}, "collection_time_s": 0.07605784611718264, "learning_time_s": 0.18435872508212925, "iteration_time_s": 0.4937960420540767, "policy_updates": 6450, "skipped_updates": 0, "invalid_env_resets": 35, "elapsed_s": 3333.1232838650176, "nonwheel_terminations": 10340, "contact_bce": 0.34723374247550964, "contact_force_loss": 0.02546761743724346, "collision_bce": 3.1987219699658453e-05, "collision_label_rate": 6.127075903350487e-05, "collision_prediction_mean": 6.84325277688913e-05, "collision_label_count": 16321.0, "terrain_level_mean": 1.47607421875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [171, 161, 54, 23, 1, 0], "episodes_by_level": [[556.0, 124.0, 22.0, 0.0], [345.0, 73.0, 15.0, 0.0], [70.0, 24.0, 3.0, 0.0], [7.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [76, 429, 662, 252, 14, 0], "episodes_by_level": [[576.0, 456.0, 7.0, 0.0], [1340.0, 849.0, 28.0, 0.0], [917.0, 337.0, 117.0, 0.0], [141.0, 18.0, 56.0, 0.0], [3.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [19, 69, 113, 151, 171, 91], "episodes_by_level": [[166.0, 148.0, 2.0, 0.0], [414.0, 367.0, 8.0, 0.0], [477.0, 417.0, 15.0, 0.0], [353.0, 292.0, 13.0, 0.0], [181.0, 121.0, 22.0, 0.0], [87.0, 53.0, 23.0, 0.0]]}, "platform": {"level_counts": [190, 158, 57, 5, 0, 0], "episodes_by_level": [[635.0, 139.0, 28.0, 0.0], [285.0, 59.0, 18.0, 0.0], [44.0, 8.0, 3.0, 0.0], [5.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [177, 158, 57, 12, 5, 1], "episodes_by_level": [[580.0, 132.0, 24.0, 0.0], [329.0, 67.0, 26.0, 0.0], [67.0, 21.0, 6.0, 0.0], [11.0, 6.0, 3.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [358, 311, 129, 21, 0, 0], "episodes_by_level": [[1151.0, 257.0, 49.0, 0.0], [679.0, 146.0, 51.0, 0.0], [114.0, 22.0, 13.0, 0.0], [8.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 10020, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.24169921875, "command_abs_max": [0.9998178482055664, 0.39957714080810547, 0.6999707221984863]}
{"step": 6800, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 6800, "total_transitions": 27852800, "num_steps_per_env": 1, "wm_loss": 1.3099191188812256, "actor_loss": -9.39731216430664, "critic_loss": 0.00885793101042509, "reward": 0.08464263379573822, "falls": 13, "interval_steps": 50, "velocity_mae": [0.1280764937400818, 0.08054610341787338, 0.13697637617588043], "mean_episode_length": 1238.28, "episode_reward_terms": {"track_linear_velocity": 42.854270935058594, "track_angular_velocity": 46.79118347167969, "upright": 24.042545318603516, "leg_posture": -2.820560932159424, "standstill": -5.761353015899658, "action_rate_l2": -0.5192934274673462, "joint_torques_l2": -0.15276721119880676, "dof_pos_limits": -0.00019605016859713942, "terminated": -0.031440701335668564, "unnecessary_wheel_lift": -0.13060662150382996, "rolling_leg_motion": -0.7444565296173096, "obstacle_progress": 1.8373205661773682, "wheel_body_intrusion": -0.31387656927108765, "pair_body_intrusion": -0.2394746094942093}, "weighted_reward_terms": {"track_linear_velocity": 1.730394959449768, "track_angular_velocity": 1.889362096786499, "upright": 0.9708040952682495, "leg_posture": -0.11389027535915375, "standstill": -0.23263530433177948, "action_rate_l2": -0.02096833474934101, "joint_torques_l2": -0.006168524269014597, "dof_pos_limits": -7.916229151305743e-06, "terminated": -0.0012695310870185494, "unnecessary_wheel_lift": -0.005273710936307907, "rolling_leg_motion": -0.03006010502576828, "obstacle_progress": 0.07418841123580933, "wheel_body_intrusion": -0.012673893943428993, "pair_body_intrusion": -0.009669646620750427}, "episode_termination_rates": {"time_out": 0.36, "fell_over": 0.08, "course_exit": 0.5533333333333333, "illegal_nonwheel_contact": 0.013333333333333334}, "collection_time_s": 0.0755908216763055, "learning_time_s": 0.1845374140009517, "iteration_time_s": 0.49207804514764575, "policy_updates": 6500, "skipped_updates": 0, "invalid_env_resets": 35, "elapsed_s": 3346.130707003991, "nonwheel_terminations": 10342, "contact_bce": 0.3452271521091461, "contact_force_loss": 0.025230446830391884, "collision_bce": 8.72111922944896e-06, "collision_label_rate": 6.11658178968355e-05, "collision_prediction_mean": 5.476675141835585e-05, "collision_label_count": 16349.0, "terrain_level_mean": 1.488037109375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [168, 159, 59, 23, 1, 0], "episodes_by_level": [[561.0, 127.0, 23.0, 0.0], [355.0, 79.0, 15.0, 0.0], [72.0, 24.0, 4.0, 0.0], [7.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [74, 423, 670, 252, 14, 0], "episodes_by_level": [[578.0, 458.0, 7.0, 0.0], [1351.0, 857.0, 29.0, 0.0], [931.0, 339.0, 117.0, 0.0], [148.0, 18.0, 58.0, 0.0], [3.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [16, 70, 110, 148, 176, 94], "episodes_by_level": [[169.0, 151.0, 2.0, 0.0], [416.0, 369.0, 8.0, 0.0], [483.0, 423.0, 15.0, 0.0], [362.0, 300.0, 14.0, 0.0], [188.0, 127.0, 22.0, 0.0], [92.0, 56.0, 24.0, 0.0]]}, "platform": {"level_counts": [189, 157, 59, 5, 0, 0], "episodes_by_level": [[637.0, 140.0, 28.0, 0.0], [289.0, 61.0, 18.0, 0.0], [47.0, 8.0, 3.0, 0.0], [5.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [176, 158, 58, 12, 5, 1], "episodes_by_level": [[584.0, 134.0, 24.0, 0.0], [334.0, 68.0, 27.0, 0.0], [68.0, 21.0, 6.0, 0.0], [12.0, 6.0, 3.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [355, 312, 131, 21, 0, 0], "episodes_by_level": [[1162.0, 261.0, 49.0, 0.0], [689.0, 148.0, 52.0, 0.0], [119.0, 24.0, 13.0, 0.0], [10.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 10127, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.242919921875, "command_abs_max": [0.9998178482055664, 0.3997054994106293, 0.6999707221984863]}
{"step": 6850, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 6850, "total_transitions": 28057600, "num_steps_per_env": 1, "wm_loss": 1.267642855644226, "actor_loss": -9.405853271484375, "critic_loss": 0.012175723910331726, "reward": 0.08482617884874344, "falls": 13, "interval_steps": 50, "velocity_mae": [0.12686346471309662, 0.08085894584655762, 0.1362200826406479], "mean_episode_length": 1249.388888888889, "episode_reward_terms": {"track_linear_velocity": 43.312747955322266, "track_angular_velocity": 47.21931457519531, "upright": 24.24445152282715, "leg_posture": -2.860215663909912, "standstill": -5.701399803161621, "action_rate_l2": -0.5285612940788269, "joint_torques_l2": -0.15201744437217712, "dof_pos_limits": -0.00042803038377314806, "terminated": -0.03172276169061661, "unnecessary_wheel_lift": -0.1176018938422203, "rolling_leg_motion": -0.7479398846626282, "obstacle_progress": 1.860605001449585, "wheel_body_intrusion": -0.3031028211116791, "pair_body_intrusion": -0.21322421729564667}, "weighted_reward_terms": {"track_linear_velocity": 1.733357310295105, "track_angular_velocity": 1.889696478843689, "upright": 0.9702524542808533, "leg_posture": -0.11446458846330643, "standstill": -0.22816753387451172, "action_rate_l2": -0.021152794361114502, "joint_torques_l2": -0.006083671934902668, "dof_pos_limits": -1.7129590560216457e-05, "terminated": -0.0012695310870185494, "unnecessary_wheel_lift": -0.004706376697868109, "rolling_leg_motion": -0.029932226985692978, "obstacle_progress": 0.07446060329675674, "wheel_body_intrusion": -0.012130043469369411, "pair_body_intrusion": -0.008533140644431114}, "episode_termination_rates": {"time_out": 0.4166666666666667, "fell_over": 0.08333333333333333, "course_exit": 0.4930555555555556, "illegal_nonwheel_contact": 0.013888888888888888}, "collection_time_s": 0.07588705088186544, "learning_time_s": 0.1840036785561824, "iteration_time_s": 0.49038340549357745, "policy_updates": 6550, "skipped_updates": 0, "invalid_env_resets": 36, "elapsed_s": 3359.1263276310056, "nonwheel_terminations": 10344, "contact_bce": 0.34977734088897705, "contact_force_loss": 0.02468041516840458, "collision_bce": 1.861643795564305e-05, "collision_label_rate": 6.115085852798074e-05, "collision_prediction_mean": 4.986857311450876e-05, "collision_label_count": 16353.0, "terrain_level_mean": 1.497802734375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [167, 160, 59, 22, 2, 0], "episodes_by_level": [[566.0, 128.0, 23.0, 0.0], [360.0, 79.0, 15.0, 0.0], [73.0, 24.0, 4.0, 0.0], [8.0, 2.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [71, 417, 675, 256, 14, 0], "episodes_by_level": [[582.0, 461.0, 7.0, 0.0], [1369.0, 867.0, 29.0, 0.0], [941.0, 343.0, 118.0, 0.0], [154.0, 18.0, 58.0, 0.0], [3.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [15, 65, 116, 148, 171, 99], "episodes_by_level": [[170.0, 152.0, 2.0, 0.0], [424.0, 377.0, 8.0, 0.0], [486.0, 424.0, 16.0, 0.0], [365.0, 302.0, 14.0, 0.0], [196.0, 133.0, 24.0, 0.0], [97.0, 59.0, 25.0, 0.0]]}, "platform": {"level_counts": [188, 159, 58, 5, 0, 0], "episodes_by_level": [[642.0, 142.0, 28.0, 0.0], [295.0, 62.0, 19.0, 0.0], [50.0, 8.0, 5.0, 0.0], [5.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [174, 159, 59, 12, 5, 1], "episodes_by_level": [[588.0, 137.0, 24.0, 0.0], [341.0, 70.0, 28.0, 0.0], [70.0, 21.0, 7.0, 0.0], [12.0, 6.0, 3.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [352, 313, 131, 23, 0, 0], "episodes_by_level": [[1168.0, 265.0, 49.0, 0.0], [697.0, 150.0, 53.0, 0.0], [123.0, 26.0, 13.0, 0.0], [11.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 10258, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.243408203125, "command_abs_max": [0.9998178482055664, 0.39989155530929565, 0.6999707221984863]}
{"step": 6900, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 6900, "total_transitions": 28262400, "num_steps_per_env": 1, "wm_loss": 1.2629616260528564, "actor_loss": -9.402345657348633, "critic_loss": 0.006399338133633137, "reward": 0.08471854031085968, "falls": 12, "interval_steps": 50, "velocity_mae": [0.12850001454353333, 0.07901575416326523, 0.13487182557582855], "mean_episode_length": 1335.7565789473683, "episode_reward_terms": {"track_linear_velocity": 46.26078796386719, "track_angular_velocity": 50.55144119262695, "upright": 25.949098587036133, "leg_posture": -3.020493268966675, "standstill": -6.242056369781494, "action_rate_l2": -0.5625855922698975, "joint_torques_l2": -0.15975505113601685, "dof_pos_limits": -0.0006270715966820717, "terminated": -0.03130679205060005, "unnecessary_wheel_lift": -0.1448027640581131, "rolling_leg_motion": -0.7904580235481262, "obstacle_progress": 1.9473694562911987, "wheel_body_intrusion": -0.3323550522327423, "pair_body_intrusion": -0.26094383001327515}, "weighted_reward_terms": {"track_linear_velocity": 1.7316324710845947, "track_angular_velocity": 1.892240047454834, "upright": 0.9713258743286133, "leg_posture": -0.1130630150437355, "standstill": -0.23365247249603271, "action_rate_l2": -0.021058686077594757, "joint_torques_l2": -0.005979946348816156, "dof_pos_limits": -2.347252484469209e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.005420252680778503, "rolling_leg_motion": -0.029588401317596436, "obstacle_progress": 0.07289387285709381, "wheel_body_intrusion": -0.012440704740583897, "pair_body_intrusion": -0.009767642244696617}, "episode_termination_rates": {"time_out": 0.46710526315789475, "fell_over": 0.06578947368421052, "course_exit": 0.45394736842105265, "illegal_nonwheel_contact": 0.03289473684210526}, "collection_time_s": 0.07566091336135287, "learning_time_s": 0.18468819185975008, "iteration_time_s": 0.488716647653622, "policy_updates": 6600, "skipped_updates": 0, "invalid_env_resets": 36, "elapsed_s": 3372.1448688099917, "nonwheel_terminations": 10349, "contact_bce": 0.3476879298686981, "contact_force_loss": 0.024847600609064102, "collision_bce": 4.224813892506063e-05, "collision_label_rate": 6.124448555056006e-05, "collision_prediction_mean": 4.313245153753087e-05, "collision_label_count": 16328.0, "terrain_level_mean": 1.505859375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [166, 159, 60, 23, 2, 0], "episodes_by_level": [[571.0, 129.0, 23.0, 0.0], [365.0, 81.0, 15.0, 0.0], [76.0, 25.0, 4.0, 0.0], [8.0, 2.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [67, 417, 677, 258, 14, 0], "episodes_by_level": [[586.0, 465.0, 7.0, 0.0], [1377.0, 872.0, 29.0, 0.0], [963.0, 347.0, 119.0, 0.0], [160.0, 18.0, 59.0, 0.0], [4.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [14, 64, 118, 149, 165, 104], "episodes_by_level": [[171.0, 153.0, 2.0, 0.0], [427.0, 379.0, 8.0, 0.0], [489.0, 427.0, 16.0, 0.0], [371.0, 304.0, 17.0, 0.0], [204.0, 138.0, 26.0, 0.0], [100.0, 62.0, 25.0, 0.0]]}, "platform": {"level_counts": [186, 162, 57, 5, 0, 0], "episodes_by_level": [[647.0, 144.0, 28.0, 0.0], [300.0, 62.0, 19.0, 0.0], [51.0, 8.0, 6.0, 0.0], [5.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [173, 158, 59, 14, 5, 1], "episodes_by_level": [[593.0, 138.0, 25.0, 0.0], [345.0, 72.0, 28.0, 0.0], [75.0, 23.0, 7.0, 0.0], [12.0, 6.0, 3.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [350, 312, 133, 24, 0, 0], "episodes_by_level": [[1174.0, 268.0, 49.0, 0.0], [706.0, 153.0, 54.0, 0.0], [127.0, 27.0, 13.0, 0.0], [12.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 10374, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2392578125, "command_abs_max": [0.9998178482055664, 0.39989155530929565, 0.6999707221984863]}
{"step": 6950, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 6950, "total_transitions": 28467200, "num_steps_per_env": 1, "wm_loss": 1.2549052238464355, "actor_loss": -9.436254501342773, "critic_loss": 0.0036474100779742002, "reward": 0.08477988094091415, "falls": 7, "interval_steps": 50, "velocity_mae": [0.12529289722442627, 0.07961835712194443, 0.13470041751861572], "mean_episode_length": 1349.8, "episode_reward_terms": {"track_linear_velocity": 46.898414611816406, "track_angular_velocity": 51.08877944946289, "upright": 26.243120193481445, "leg_posture": -3.030111312866211, "standstill": -6.511756420135498, "action_rate_l2": -0.5720844268798828, "joint_torques_l2": -0.16131184995174408, "dof_pos_limits": -0.0007212560158222914, "terminated": -0.0184542965143919, "unnecessary_wheel_lift": -0.12601035833358765, "rolling_leg_motion": -0.804718017578125, "obstacle_progress": 1.9916341304779053, "wheel_body_intrusion": -0.3185065686702728, "pair_body_intrusion": -0.24239948391914368}, "weighted_reward_terms": {"track_linear_velocity": 1.73723566532135, "track_angular_velocity": 1.892457365989685, "upright": 0.9721114635467529, "leg_posture": -0.11224297434091568, "standstill": -0.2412119060754776, "action_rate_l2": -0.02119145169854164, "joint_torques_l2": -0.005975398235023022, "dof_pos_limits": -2.6717143555288203e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.00466774171218276, "rolling_leg_motion": -0.029808785766363144, "obstacle_progress": 0.07377515733242035, "wheel_body_intrusion": -0.011798287741839886, "pair_body_intrusion": -0.008979088626801968}, "episode_termination_rates": {"time_out": 0.4357142857142857, "fell_over": 0.05, "course_exit": 0.5142857142857142, "illegal_nonwheel_contact": 0.014285714285714285}, "collection_time_s": 0.07564145392330829, "learning_time_s": 0.18420283099636436, "iteration_time_s": 0.487070243070794, "policy_updates": 6650, "skipped_updates": 0, "invalid_env_resets": 36, "elapsed_s": 3385.1381893420184, "nonwheel_terminations": 10351, "contact_bce": 0.34291407465934753, "contact_force_loss": 0.02465672232210636, "collision_bce": 8.702548370820296e-07, "collision_label_rate": 0.0, "collision_prediction_mean": 9.123145332523563e-07, "collision_label_count": 16331.0, "terrain_level_mean": 1.51513671875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [163, 162, 60, 22, 3, 0], "episodes_by_level": [[577.0, 132.0, 23.0, 0.0], [369.0, 81.0, 15.0, 0.0], [77.0, 25.0, 4.0, 0.0], [9.0, 3.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [67, 408, 683, 261, 14, 0], "episodes_by_level": [[587.0, 466.0, 7.0, 0.0], [1395.0, 881.0, 30.0, 0.0], [978.0, 352.0, 119.0, 0.0], [173.0, 18.0, 61.0, 0.0], [4.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [13, 64, 115, 151, 162, 109], "episodes_by_level": [[172.0, 154.0, 2.0, 0.0], [428.0, 380.0, 8.0, 0.0], [493.0, 431.0, 16.0, 0.0], [375.0, 308.0, 17.0, 0.0], [208.0, 142.0, 26.0, 0.0], [105.0, 65.0, 25.0, 0.0]]}, "platform": {"level_counts": [184, 162, 58, 6, 0, 0], "episodes_by_level": [[649.0, 146.0, 28.0, 0.0], [302.0, 64.0, 19.0, 0.0], [54.0, 9.0, 6.0, 0.0], [5.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [171, 160, 59, 14, 5, 1], "episodes_by_level": [[598.0, 140.0, 25.0, 0.0], [348.0, 72.0, 28.0, 0.0], [75.0, 23.0, 7.0, 0.0], [12.0, 6.0, 3.0, 0.0], [1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [348, 312, 137, 22, 0, 0], "episodes_by_level": [[1184.0, 270.0, 49.0, 0.0], [715.0, 155.0, 54.0, 0.0], [132.0, 27.0, 13.0, 0.0], [15.0, 0.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 10506, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2392578125, "command_abs_max": [0.9997509717941284, 0.39989688992500305, 0.6999707221984863]}
{"step": 7000, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 7000, "total_transitions": 28672000, "num_steps_per_env": 1, "wm_loss": 1.2725521326065063, "actor_loss": -9.423171997070312, "critic_loss": 0.005016569048166275, "reward": 0.08510857075452805, "falls": 12, "interval_steps": 50, "velocity_mae": [0.12574082612991333, 0.07927076518535614, 0.13409243524074554], "mean_episode_length": 1328.44099378882, "episode_reward_terms": {"track_linear_velocity": 46.190887451171875, "track_angular_velocity": 50.29622268676758, "upright": 25.834135055541992, "leg_posture": -2.955606460571289, "standstill": -6.089797496795654, "action_rate_l2": -0.5600814819335938, "joint_torques_l2": -0.158402681350708, "dof_pos_limits": -0.0005664288182742894, "terminated": -0.031135335564613342, "unnecessary_wheel_lift": -0.12010061740875244, "rolling_leg_motion": -0.7998552322387695, "obstacle_progress": 1.9928016662597656, "wheel_body_intrusion": -0.3074187934398651, "pair_body_intrusion": -0.2293751984834671}, "weighted_reward_terms": {"track_linear_velocity": 1.738537311553955, "track_angular_velocity": 1.8930543661117554, "upright": 0.9723478555679321, "leg_posture": -0.11124342679977417, "standstill": -0.22920843958854675, "action_rate_l2": -0.02108040452003479, "joint_torques_l2": -0.005961976479738951, "dof_pos_limits": -2.1319307052181102e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.0045203594490885735, "rolling_leg_motion": -0.03010503388941288, "obstacle_progress": 0.07500527799129486, "wheel_body_intrusion": -0.011570660397410393, "pair_body_intrusion": -0.008633247576653957}, "episode_termination_rates": {"time_out": 0.5217391304347826, "fell_over": 0.07453416149068323, "course_exit": 0.40372670807453415, "illegal_nonwheel_contact": 0.031055900621118012}, "collection_time_s": 0.07566265182103962, "learning_time_s": 0.1912929278810043, "iteration_time_s": 0.48549814530000107, "policy_updates": 6700, "skipped_updates": 0, "invalid_env_resets": 36, "elapsed_s": 3398.4870171000075, "nonwheel_terminations": 10356, "contact_bce": 0.3518539071083069, "contact_force_loss": 0.025688067078590393, "collision_bce": 6.447017221944407e-05, "collision_label_rate": 6.120699981693178e-05, "collision_prediction_mean": 3.552373527782038e-05, "collision_label_count": 16338.0, "terrain_level_mean": 1.52685546875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [160, 165, 60, 22, 3, 0], "episodes_by_level": [[583.0, 135.0, 23.0, 0.0], [373.0, 81.0, 15.0, 0.0], [79.0, 25.0, 4.0, 0.0], [9.0, 3.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [66, 402, 681, 270, 14, 0], "episodes_by_level": [[588.0, 467.0, 7.0, 0.0], [1409.0, 890.0, 30.0, 0.0], [1001.0, 362.0, 120.0, 0.0], [179.0, 18.0, 63.0, 0.0], [4.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [13, 62, 113, 148, 167, 111], "episodes_by_level": [[173.0, 154.0, 2.0, 0.0], [430.0, 382.0, 8.0, 0.0], [497.0, 435.0, 16.0, 0.0], [383.0, 316.0, 17.0, 0.0], [213.0, 146.0, 27.0, 0.0], [107.0, 66.0, 26.0, 0.0]]}, "platform": {"level_counts": [182, 162, 60, 6, 0, 0], "episodes_by_level": [[656.0, 148.0, 28.0, 0.0], [307.0, 67.0, 19.0, 0.0], [55.0, 9.0, 7.0, 0.0], [5.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [171, 159, 59, 15, 5, 1], "episodes_by_level": [[600.0, 141.0, 25.0, 0.0], [358.0, 73.0, 29.0, 0.0], [76.0, 24.0, 7.0, 0.0], [12.0, 6.0, 3.0, 0.0], [2.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [346, 311, 138, 24, 0, 0], "episodes_by_level": [[1196.0, 272.0, 51.0, 0.0], [727.0, 159.0, 54.0, 0.0], [138.0, 29.0, 14.0, 0.0], [15.0, 0.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 10655, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.232421875, "command_abs_max": [0.9997509717941284, 0.39989688992500305, 0.6999707221984863]}
{"step": 7050, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 7050, "total_transitions": 28876800, "num_steps_per_env": 1, "wm_loss": 1.2109664678573608, "actor_loss": -9.416696548461914, "critic_loss": 0.005113679450005293, "reward": 0.08515779674053192, "falls": 8, "interval_steps": 50, "velocity_mae": [0.12628014385700226, 0.07875660806894302, 0.13450582325458527], "mean_episode_length": 1336.9126984126983, "episode_reward_terms": {"track_linear_velocity": 46.49290466308594, "track_angular_velocity": 50.60160446166992, "upright": 26.000179290771484, "leg_posture": -2.974640130996704, "standstill": -6.126556873321533, "action_rate_l2": -0.5630590915679932, "joint_torques_l2": -0.15939390659332275, "dof_pos_limits": -0.00021050720533821732, "terminated": -0.02088925801217556, "unnecessary_wheel_lift": -0.12451392412185669, "rolling_leg_motion": -0.8142897486686707, "obstacle_progress": 2.06355881690979, "wheel_body_intrusion": -0.3239286541938782, "pair_body_intrusion": -0.20223844051361084}, "weighted_reward_terms": {"track_linear_velocity": 1.7388160228729248, "track_angular_velocity": 1.892479658126831, "upright": 0.9723963141441345, "leg_posture": -0.11125034838914871, "standstill": -0.2291307896375656, "action_rate_l2": -0.021058185026049614, "joint_torques_l2": -0.005961268208920956, "dof_pos_limits": -7.87288536230335e-06, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.00465677073225379, "rolling_leg_motion": -0.030454112216830254, "obstacle_progress": 0.07717627286911011, "wheel_body_intrusion": -0.01211480237543583, "pair_body_intrusion": -0.007563636638224125}, "episode_termination_rates": {"time_out": 0.48412698412698413, "fell_over": 0.06349206349206349, "course_exit": 0.4523809523809524, "illegal_nonwheel_contact": 0.007936507936507936}, "collection_time_s": 0.07570899098238443, "learning_time_s": 0.18498303166066762, "iteration_time_s": 0.4839078559373061, "policy_updates": 6750, "skipped_updates": 0, "invalid_env_resets": 36, "elapsed_s": 3411.550384358008, "nonwheel_terminations": 10357, "contact_bce": 0.3448939025402069, "contact_force_loss": 0.024708399549126625, "collision_bce": 1.3898378483645502e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 1.4344152532430599e-06, "collision_label_count": 16366.0, "terrain_level_mean": 1.53466796875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [158, 165, 62, 21, 4, 0], "episodes_by_level": [[586.0, 137.0, 23.0, 0.0], [380.0, 83.0, 15.0, 0.0], [79.0, 25.0, 4.0, 0.0], [11.0, 4.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [64, 400, 681, 274, 14, 0], "episodes_by_level": [[590.0, 469.0, 7.0, 0.0], [1421.0, 895.0, 30.0, 0.0], [1015.0, 366.0, 120.0, 0.0], [184.0, 18.0, 64.0, 0.0], [4.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [12, 63, 114, 144, 169, 112], "episodes_by_level": [[173.0, 154.0, 2.0, 0.0], [431.0, 383.0, 8.0, 0.0], [498.0, 436.0, 16.0, 0.0], [387.0, 319.0, 17.0, 0.0], [220.0, 149.0, 27.0, 0.0], [110.0, 67.0, 27.0, 0.0]]}, "platform": {"level_counts": [181, 161, 61, 7, 0, 0], "episodes_by_level": [[661.0, 150.0, 28.0, 0.0], [314.0, 69.0, 20.0, 0.0], [57.0, 10.0, 7.0, 0.0], [5.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [168, 160, 61, 15, 5, 1], "episodes_by_level": [[605.0, 144.0, 25.0, 0.0], [365.0, 75.0, 29.0, 0.0], [77.0, 24.0, 7.0, 0.0], [12.0, 6.0, 3.0, 0.0], [2.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [343, 313, 139, 24, 0, 0], "episodes_by_level": [[1202.0, 275.0, 51.0, 0.0], [733.0, 160.0, 54.0, 0.0], [138.0, 29.0, 14.0, 0.0], [15.0, 0.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 10783, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.232177734375, "command_abs_max": [0.9992318153381348, 0.39989688992500305, 0.6998752355575562]}
{"step": 7100, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 7100, "total_transitions": 29081600, "num_steps_per_env": 1, "wm_loss": 1.2050632238388062, "actor_loss": -9.374824523925781, "critic_loss": 0.014503717422485352, "reward": 0.08529598265886307, "falls": 10, "interval_steps": 50, "velocity_mae": [0.12536492943763733, 0.07965710014104843, 0.13458804786205292], "mean_episode_length": 1315.2695035460993, "episode_reward_terms": {"track_linear_velocity": 45.707942962646484, "track_angular_velocity": 49.78630828857422, "upright": 25.58244514465332, "leg_posture": -2.9244978427886963, "standstill": -5.811501979827881, "action_rate_l2": -0.5483494400978088, "joint_torques_l2": -0.15620706975460052, "dof_pos_limits": -0.0009812890784814954, "terminated": -0.025688854977488518, "unnecessary_wheel_lift": -0.11639668047428131, "rolling_leg_motion": -0.7761051058769226, "obstacle_progress": 2.0583443641662598, "wheel_body_intrusion": -0.32739153504371643, "pair_body_intrusion": -0.26074135303497314}, "weighted_reward_terms": {"track_linear_velocity": 1.7375884056091309, "track_angular_velocity": 1.8926277160644531, "upright": 0.972517192363739, "leg_posture": -0.11117485165596008, "standstill": -0.22092439234256744, "action_rate_l2": -0.02084551565349102, "joint_torques_l2": -0.005938215181231499, "dof_pos_limits": -3.730372554855421e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.0044248225167393684, "rolling_leg_motion": -0.029503652825951576, "obstacle_progress": 0.07824800908565521, "wheel_body_intrusion": -0.01244579628109932, "pair_body_intrusion": -0.009912088513374329}, "episode_termination_rates": {"time_out": 0.46808510638297873, "fell_over": 0.06382978723404255, "course_exit": 0.46099290780141844, "illegal_nonwheel_contact": 0.02127659574468085}, "collection_time_s": 0.07560900297947228, "learning_time_s": 0.1857037876395043, "iteration_time_s": 0.4823404347664811, "policy_updates": 6800, "skipped_updates": 0, "invalid_env_resets": 36, "elapsed_s": 3424.617086842016, "nonwheel_terminations": 10360, "contact_bce": 0.3463163375854492, "contact_force_loss": 0.024855216965079308, "collision_bce": 2.1672158254659735e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.9345585315022618e-05, "collision_label_count": 16368.0, "terrain_level_mean": 1.544921875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [155, 167, 63, 20, 5, 0], "episodes_by_level": [[590.0, 140.0, 23.0, 0.0], [386.0, 84.0, 15.0, 0.0], [79.0, 25.0, 4.0, 0.0], [12.0, 5.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [62, 396, 687, 274, 14, 0], "episodes_by_level": [[593.0, 471.0, 7.0, 0.0], [1429.0, 901.0, 30.0, 0.0], [1031.0, 371.0, 120.0, 0.0], [192.0, 18.0, 68.0, 0.0], [4.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [11, 61, 111, 145, 167, 119], "episodes_by_level": [[174.0, 155.0, 2.0, 0.0], [434.0, 386.0, 8.0, 0.0], [505.0, 442.0, 16.0, 0.0], [393.0, 325.0, 17.0, 0.0], [230.0, 156.0, 27.0, 0.0], [111.0, 68.0, 27.0, 0.0]]}, "platform": {"level_counts": [182, 159, 62, 7, 0, 0], "episodes_by_level": [[662.0, 150.0, 28.0, 0.0], [321.0, 70.0, 21.0, 0.0], [59.0, 10.0, 7.0, 0.0], [5.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [166, 161, 62, 15, 5, 1], "episodes_by_level": [[608.0, 146.0, 25.0, 0.0], [369.0, 76.0, 29.0, 0.0], [80.0, 24.0, 7.0, 0.0], [12.0, 6.0, 3.0, 0.0], [2.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [341, 313, 141, 24, 0, 0], "episodes_by_level": [[1209.0, 277.0, 51.0, 0.0], [743.0, 164.0, 54.0, 0.0], [144.0, 30.0, 16.0, 0.0], [17.0, 0.0, 6.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 10900, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.230224609375, "command_abs_max": [0.9992318153381348, 0.39989688992500305, 0.6998752355575562]}
{"step": 7150, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 7150, "total_transitions": 29286400, "num_steps_per_env": 1, "wm_loss": 1.196921944618225, "actor_loss": -9.416393280029297, "critic_loss": 0.003371597034856677, "reward": 0.0847831591963768, "falls": 12, "interval_steps": 50, "velocity_mae": [0.12624673545360565, 0.08062774688005447, 0.13519836962223053], "mean_episode_length": 1282.3192771084337, "episode_reward_terms": {"track_linear_velocity": 44.49995803833008, "track_angular_velocity": 48.50325393676758, "upright": 24.952608108520508, "leg_posture": -2.8419933319091797, "standstill": -6.1918721199035645, "action_rate_l2": -0.5369517207145691, "joint_torques_l2": -0.15231932699680328, "dof_pos_limits": -0.0010952440788969398, "terminated": -0.030054356902837753, "unnecessary_wheel_lift": -0.1542639583349228, "rolling_leg_motion": -0.7801447510719299, "obstacle_progress": 2.02274751663208, "wheel_body_intrusion": -0.322483092546463, "pair_body_intrusion": -0.248312845826149}, "weighted_reward_terms": {"track_linear_velocity": 1.735135555267334, "track_angular_velocity": 1.891231656074524, "upright": 0.9729483723640442, "leg_posture": -0.11081457138061523, "standstill": -0.2414325326681137, "action_rate_l2": -0.020936740562319756, "joint_torques_l2": -0.005939212162047625, "dof_pos_limits": -4.270558929420076e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.006015036720782518, "rolling_leg_motion": -0.030419286340475082, "obstacle_progress": 0.07887066900730133, "wheel_body_intrusion": -0.0125742107629776, "pair_body_intrusion": -0.009682176634669304}, "episode_termination_rates": {"time_out": 0.41566265060240964, "fell_over": 0.060240963855421686, "course_exit": 0.5120481927710844, "illegal_nonwheel_contact": 0.03614457831325301}, "collection_time_s": 0.07567813619738445, "learning_time_s": 0.18574024012079463, "iteration_time_s": 0.48079566847874095, "policy_updates": 6850, "skipped_updates": 0, "invalid_env_resets": 36, "elapsed_s": 3437.6890296229976, "nonwheel_terminations": 10366, "contact_bce": 0.3465455174446106, "contact_force_loss": 0.024264348670840263, "collision_bce": 9.311577741755173e-05, "collision_label_rate": 6.113216659286991e-05, "collision_prediction_mean": 0.0001244879822479561, "collision_label_count": 16358.0, "terrain_level_mean": 1.554443359375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [155, 165, 65, 20, 5, 0], "episodes_by_level": [[593.0, 140.0, 23.0, 0.0], [391.0, 86.0, 15.0, 0.0], [81.0, 25.0, 4.0, 0.0], [12.0, 5.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [59, 390, 686, 284, 14, 0], "episodes_by_level": [[596.0, 474.0, 7.0, 0.0], [1443.0, 909.0, 30.0, 0.0], [1055.0, 382.0, 120.0, 0.0], [202.0, 18.0, 69.0, 0.0], [4.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [10, 62, 110, 140, 173, 119], "episodes_by_level": [[175.0, 156.0, 2.0, 0.0], [436.0, 388.0, 8.0, 0.0], [509.0, 445.0, 17.0, 0.0], [400.0, 332.0, 17.0, 0.0], [237.0, 159.0, 28.0, 0.0], [115.0, 70.0, 28.0, 0.0]]}, "platform": {"level_counts": [182, 159, 62, 7, 0, 0], "episodes_by_level": [[666.0, 150.0, 28.0, 0.0], [324.0, 70.0, 21.0, 0.0], [59.0, 10.0, 7.0, 0.0], [5.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [166, 160, 62, 16, 5, 1], "episodes_by_level": [[611.0, 147.0, 26.0, 0.0], [375.0, 77.0, 30.0, 0.0], [81.0, 25.0, 7.0, 0.0], [12.0, 6.0, 3.0, 0.0], [2.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [339, 314, 140, 26, 0, 0], "episodes_by_level": [[1217.0, 279.0, 51.0, 0.0], [760.0, 166.0, 54.0, 0.0], [150.0, 32.0, 17.0, 0.0], [19.0, 0.0, 6.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 11028, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22998046875, "command_abs_max": [0.9992318153381348, 0.39996495842933655, 0.6998752355575562]}
{"step": 7200, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 7200, "total_transitions": 29491200, "num_steps_per_env": 1, "wm_loss": 1.247836709022522, "actor_loss": -9.409242630004883, "critic_loss": 0.010722313076257706, "reward": 0.08495938032865524, "falls": 12, "interval_steps": 50, "velocity_mae": [0.12450981885194778, 0.0799327865242958, 0.1350473016500473], "mean_episode_length": 1374.9716312056737, "episode_reward_terms": {"track_linear_velocity": 47.891204833984375, "track_angular_velocity": 52.02613830566406, "upright": 26.756074905395508, "leg_posture": -3.052189588546753, "standstill": -6.778476238250732, "action_rate_l2": -0.5581480860710144, "joint_torques_l2": -0.1643146425485611, "dof_pos_limits": -0.0005694489809684455, "terminated": -0.032225895673036575, "unnecessary_wheel_lift": -0.1308501660823822, "rolling_leg_motion": -0.8143900632858276, "obstacle_progress": 2.2295241355895996, "wheel_body_intrusion": -0.3274915814399719, "pair_body_intrusion": -0.22755932807922363}, "weighted_reward_terms": {"track_linear_velocity": 1.7415343523025513, "track_angular_velocity": 1.8918986320495605, "upright": 0.9729682803153992, "leg_posture": -0.11099100112915039, "standstill": -0.24649512767791748, "action_rate_l2": -0.02029671147465706, "joint_torques_l2": -0.005975200794637203, "dof_pos_limits": -2.070766277029179e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.004758286289870739, "rolling_leg_motion": -0.029614796862006187, "obstacle_progress": 0.0810752734541893, "wheel_body_intrusion": -0.011909030377864838, "pair_body_intrusion": -0.008275055326521397}, "episode_termination_rates": {"time_out": 0.5106382978723404, "fell_over": 0.07092198581560284, "course_exit": 0.40425531914893614, "illegal_nonwheel_contact": 0.03546099290780142}, "collection_time_s": 0.07570880354032852, "learning_time_s": 0.18589176632172894, "iteration_time_s": 0.4792736364213892, "policy_updates": 6900, "skipped_updates": 0, "invalid_env_resets": 36, "elapsed_s": 3450.7701822340023, "nonwheel_terminations": 10371, "contact_bce": 0.351335346698761, "contact_force_loss": 0.02583722583949566, "collision_bce": 1.5790972611284815e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.4912737242411822e-05, "collision_label_count": 16346.0, "terrain_level_mean": 1.561279296875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [154, 166, 65, 20, 5, 0], "episodes_by_level": [[598.0, 141.0, 24.0, 0.0], [396.0, 86.0, 15.0, 0.0], [85.0, 25.0, 4.0, 0.0], [12.0, 5.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [55, 391, 683, 289, 15, 0], "episodes_by_level": [[600.0, 478.0, 7.0, 0.0], [1453.0, 914.0, 30.0, 0.0], [1071.0, 388.0, 121.0, 0.0], [204.0, 19.0, 69.0, 0.0], [4.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [10, 64, 107, 139, 173, 121], "episodes_by_level": [[175.0, 156.0, 2.0, 0.0], [437.0, 389.0, 8.0, 0.0], [511.0, 447.0, 17.0, 0.0], [403.0, 335.0, 17.0, 0.0], [242.0, 162.0, 28.0, 0.0], [121.0, 74.0, 28.0, 0.0]]}, "platform": {"level_counts": [176, 164, 63, 7, 0, 0], "episodes_by_level": [[677.0, 156.0, 28.0, 0.0], [327.0, 71.0, 21.0, 0.0], [60.0, 10.0, 7.0, 0.0], [5.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [166, 159, 61, 18, 5, 1], "episodes_by_level": [[615.0, 147.0, 26.0, 0.0], [378.0, 78.0, 30.0, 0.0], [85.0, 27.0, 7.0, 0.0], [12.0, 6.0, 3.0, 0.0], [2.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [339, 314, 140, 26, 0, 0], "episodes_by_level": [[1228.0, 281.0, 52.0, 0.0], [773.0, 166.0, 56.0, 0.0], [152.0, 32.0, 17.0, 0.0], [19.0, 0.0, 6.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 11147, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.228759765625, "command_abs_max": [0.9992318153381348, 0.39996495842933655, 0.6998752355575562]}
{"step": 7250, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 7250, "total_transitions": 29696000, "num_steps_per_env": 1, "wm_loss": 1.2293181419372559, "actor_loss": -9.416163444519043, "critic_loss": 0.003984547685831785, "reward": 0.08473899960517883, "falls": 10, "interval_steps": 50, "velocity_mae": [0.1245737075805664, 0.08067692816257477, 0.137200266122818], "mean_episode_length": 1408.076923076923, "episode_reward_terms": {"track_linear_velocity": 48.95866012573242, "track_angular_velocity": 53.19175720214844, "upright": 27.38890266418457, "leg_posture": -3.099123239517212, "standstill": -7.016724586486816, "action_rate_l2": -0.5838232636451721, "joint_torques_l2": -0.16839979588985443, "dof_pos_limits": -0.0007069396669976413, "terminated": -0.02750149928033352, "unnecessary_wheel_lift": -0.13219879567623138, "rolling_leg_motion": -0.8362225890159607, "obstacle_progress": 2.293625831604004, "wheel_body_intrusion": -0.34674546122550964, "pair_body_intrusion": -0.30246078968048096}, "weighted_reward_terms": {"track_linear_velocity": 1.7384939193725586, "track_angular_velocity": 1.8888087272644043, "upright": 0.972564160823822, "leg_posture": -0.1100480854511261, "standstill": -0.24915985763072968, "action_rate_l2": -0.020731229335069656, "joint_torques_l2": -0.0059797796420753, "dof_pos_limits": -2.5103019652306102e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.004694303032010794, "rolling_leg_motion": -0.029693782329559326, "obstacle_progress": 0.08144533634185791, "wheel_body_intrusion": -0.012312731705605984, "pair_body_intrusion": -0.010740208439528942}, "episode_termination_rates": {"time_out": 0.5029585798816568, "fell_over": 0.047337278106508875, "course_exit": 0.4378698224852071, "illegal_nonwheel_contact": 0.01775147928994083}, "collection_time_s": 0.07571613275853452, "learning_time_s": 0.1854483935033204, "iteration_time_s": 0.4777695806663451, "policy_updates": 6950, "skipped_updates": 0, "invalid_env_resets": 36, "elapsed_s": 3463.829459831002, "nonwheel_terminations": 10374, "contact_bce": 0.3442254066467285, "contact_force_loss": 0.024830499663949013, "collision_bce": 2.101394329656614e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 2.1436092083604308e-06, "collision_label_count": 16361.0, "terrain_level_mean": 1.5703125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [154, 165, 64, 22, 5, 0], "episodes_by_level": [[605.0, 141.0, 24.0, 0.0], [402.0, 87.0, 15.0, 0.0], [89.0, 27.0, 4.0, 0.0], [13.0, 5.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [52, 385, 688, 291, 17, 0], "episodes_by_level": [[603.0, 481.0, 7.0, 0.0], [1468.0, 923.0, 30.0, 0.0], [1096.0, 395.0, 121.0, 0.0], [215.0, 21.0, 70.0, 0.0], [4.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [10, 64, 109, 133, 174, 124], "episodes_by_level": [[175.0, 156.0, 2.0, 0.0], [437.0, 389.0, 8.0, 0.0], [512.0, 448.0, 17.0, 0.0], [409.0, 339.0, 18.0, 0.0], [249.0, 167.0, 28.0, 0.0], [126.0, 77.0, 29.0, 0.0]]}, "platform": {"level_counts": [173, 167, 61, 9, 0, 0], "episodes_by_level": [[685.0, 159.0, 28.0, 0.0], [332.0, 71.0, 21.0, 0.0], [63.0, 12.0, 7.0, 0.0], [5.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [165, 156, 65, 18, 5, 1], "episodes_by_level": [[620.0, 148.0, 26.0, 0.0], [388.0, 82.0, 30.0, 0.0], [86.0, 27.0, 7.0, 0.0], [12.0, 6.0, 3.0, 0.0], [2.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [338, 315, 140, 26, 0, 0], "episodes_by_level": [[1237.0, 282.0, 52.0, 0.0], [782.0, 167.0, 56.0, 0.0], [158.0, 32.0, 18.0, 0.0], [20.0, 0.0, 6.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 11265, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.224609375, "command_abs_max": [0.9992318153381348, 0.39996495842933655, 0.6998752355575562]}
{"step": 7300, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 7300, "total_transitions": 29900800, "num_steps_per_env": 1, "wm_loss": 1.252921223640442, "actor_loss": -9.395126342773438, "critic_loss": 0.0033920665737241507, "reward": 0.0845513716340065, "falls": 12, "interval_steps": 50, "velocity_mae": [0.12623141705989838, 0.0804663747549057, 0.13632012903690338], "mean_episode_length": 1382.58, "episode_reward_terms": {"track_linear_velocity": 48.018009185791016, "track_angular_velocity": 52.267005920410156, "upright": 26.881752014160156, "leg_posture": -3.0833992958068848, "standstill": -6.9540791511535645, "action_rate_l2": -0.5669158101081848, "joint_torques_l2": -0.1663196086883545, "dof_pos_limits": -0.000738783972337842, "terminated": -0.03240421414375305, "unnecessary_wheel_lift": -0.1779479682445526, "rolling_leg_motion": -0.8373274803161621, "obstacle_progress": 2.194965124130249, "wheel_body_intrusion": -0.36734408140182495, "pair_body_intrusion": -0.2762506306171417}, "weighted_reward_terms": {"track_linear_velocity": 1.7365363836288452, "track_angular_velocity": 1.8901983499526978, "upright": 0.9721590876579285, "leg_posture": -0.11150889098644257, "standstill": -0.25148922204971313, "action_rate_l2": -0.02050209976732731, "joint_torques_l2": -0.0060148281045258045, "dof_pos_limits": -2.6717587388702668e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.006435359362512827, "rolling_leg_motion": -0.030281338840723038, "obstacle_progress": 0.07937932014465332, "wheel_body_intrusion": -0.013284731656312943, "pair_body_intrusion": -0.009990403428673744}, "episode_termination_rates": {"time_out": 0.52, "fell_over": 0.06, "course_exit": 0.42, "illegal_nonwheel_contact": 0.01}, "collection_time_s": 0.0759363987809047, "learning_time_s": 0.18525574659986888, "iteration_time_s": 0.47628632834109824, "policy_updates": 7000, "skipped_updates": 0, "invalid_env_resets": 36, "elapsed_s": 3476.8901968900173, "nonwheel_terminations": 10376, "contact_bce": 0.3371620178222656, "contact_force_loss": 0.02393411099910736, "collision_bce": 2.9360891858232208e-05, "collision_label_rate": 6.1221988289617e-05, "collision_prediction_mean": 5.0138402002630755e-05, "collision_label_count": 16334.0, "terrain_level_mean": 1.57958984375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [151, 167, 64, 23, 5, 0], "episodes_by_level": [[614.0, 144.0, 24.0, 0.0], [404.0, 88.0, 15.0, 0.0], [92.0, 28.0, 4.0, 0.0], [13.0, 5.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [51, 382, 689, 294, 17, 0], "episodes_by_level": [[604.0, 482.0, 7.0, 0.0], [1483.0, 928.0, 30.0, 0.0], [1124.0, 403.0, 122.0, 0.0], [228.0, 21.0, 74.0, 0.0], [4.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [9, 62, 110, 129, 175, 129], "episodes_by_level": [[176.0, 157.0, 2.0, 0.0], [440.0, 392.0, 8.0, 0.0], [514.0, 450.0, 17.0, 0.0], [418.0, 346.0, 18.0, 0.0], [256.0, 173.0, 28.0, 0.0], [128.0, 79.0, 29.0, 0.0]]}, "platform": {"level_counts": [173, 166, 61, 10, 0, 0], "episodes_by_level": [[691.0, 160.0, 28.0, 0.0], [339.0, 72.0, 22.0, 0.0], [65.0, 13.0, 7.0, 0.0], [5.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [164, 157, 65, 18, 5, 1], "episodes_by_level": [[627.0, 149.0, 26.0, 0.0], [393.0, 83.0, 30.0, 0.0], [88.0, 27.0, 8.0, 0.0], [12.0, 6.0, 3.0, 0.0], [2.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [335, 317, 140, 27, 0, 0], "episodes_by_level": [[1256.0, 285.0, 53.0, 0.0], [804.0, 169.0, 56.0, 0.0], [162.0, 33.0, 19.0, 0.0], [20.0, 0.0, 6.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 11385, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.228759765625, "command_abs_max": [0.9992318153381348, 0.39996495842933655, 0.6998752355575562]}
{"step": 7350, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 7350, "total_transitions": 30105600, "num_steps_per_env": 1, "wm_loss": 1.212398648262024, "actor_loss": -9.425926208496094, "critic_loss": 0.005182147026062012, "reward": 0.08503389358520508, "falls": 12, "interval_steps": 50, "velocity_mae": [0.123667411506176, 0.07955251634120941, 0.13489173352718353], "mean_episode_length": 1372.8444444444444, "episode_reward_terms": {"track_linear_velocity": 47.86351013183594, "track_angular_velocity": 51.939430236816406, "upright": 26.702665328979492, "leg_posture": -3.042057514190674, "standstill": -6.548393249511719, "action_rate_l2": -0.5892030000686646, "joint_torques_l2": -0.16460886597633362, "dof_pos_limits": -0.00026433885795995593, "terminated": -0.03217604011297226, "unnecessary_wheel_lift": -0.16099683940410614, "rolling_leg_motion": -0.8220726251602173, "obstacle_progress": 2.22196626663208, "wheel_body_intrusion": -0.35471150279045105, "pair_body_intrusion": -0.27479904890060425}, "weighted_reward_terms": {"track_linear_velocity": 1.743224024772644, "track_angular_velocity": 1.8916720151901245, "upright": 0.9725306630134583, "leg_posture": -0.11079396307468414, "standstill": -0.2384972721338272, "action_rate_l2": -0.021459205076098442, "joint_torques_l2": -0.005995175801217556, "dof_pos_limits": -9.62741432886105e-06, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.005863622762262821, "rolling_leg_motion": -0.029940487816929817, "obstacle_progress": 0.08092564344406128, "wheel_body_intrusion": -0.01291885320097208, "pair_body_intrusion": -0.010008382610976696}, "episode_termination_rates": {"time_out": 0.5444444444444444, "fell_over": 0.06666666666666667, "course_exit": 0.3888888888888889, "illegal_nonwheel_contact": 0.005555555555555556}, "collection_time_s": 0.07680377593962476, "learning_time_s": 0.18435033776040655, "iteration_time_s": 0.47482299520394555, "policy_updates": 7050, "skipped_updates": 0, "invalid_env_resets": 39, "elapsed_s": 3489.9490147489996, "nonwheel_terminations": 10377, "contact_bce": 0.3389537036418915, "contact_force_loss": 0.02459161914885044, "collision_bce": 0.000144302990520373, "collision_label_rate": 0.00024484298774041235, "collision_prediction_mean": 0.00029586462187580764, "collision_label_count": 16337.0, "terrain_level_mean": 1.5888671875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [151, 166, 65, 23, 5, 0], "episodes_by_level": [[625.0, 144.0, 25.0, 0.0], [406.0, 89.0, 15.0, 0.0], [92.0, 28.0, 4.0, 0.0], [13.0, 5.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [52, 374, 694, 295, 18, 0], "episodes_by_level": [[604.0, 482.0, 7.0, 0.0], [1495.0, 935.0, 31.0, 0.0], [1146.0, 405.0, 123.0, 0.0], [233.0, 22.0, 74.0, 0.0], [4.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [9, 60, 107, 131, 172, 135], "episodes_by_level": [[176.0, 157.0, 2.0, 0.0], [442.0, 394.0, 8.0, 0.0], [520.0, 455.0, 17.0, 0.0], [423.0, 351.0, 18.0, 0.0], [266.0, 181.0, 28.0, 0.0], [133.0, 82.0, 31.0, 0.0]]}, "platform": {"level_counts": [172, 165, 63, 10, 0, 0], "episodes_by_level": [[699.0, 161.0, 28.0, 0.0], [348.0, 74.0, 22.0, 0.0], [65.0, 13.0, 7.0, 0.0], [5.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [164, 157, 65, 17, 6, 1], "episodes_by_level": [[633.0, 150.0, 26.0, 0.0], [396.0, 83.0, 31.0, 0.0], [90.0, 27.0, 8.0, 0.0], [14.0, 7.0, 3.0, 0.0], [3.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [332, 318, 139, 30, 0, 0], "episodes_by_level": [[1282.0, 291.0, 54.0, 0.0], [816.0, 171.0, 59.0, 0.0], [168.0, 36.0, 19.0, 0.0], [20.0, 0.0, 6.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 11515, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22998046875, "command_abs_max": [0.9992318153381348, 0.39996495842933655, 0.6998752355575562]}
{"step": 7400, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 7400, "total_transitions": 30310400, "num_steps_per_env": 1, "wm_loss": 1.2461377382278442, "actor_loss": -9.427101135253906, "critic_loss": 0.0031857378780841827, "reward": 0.08497409522533417, "falls": 13, "interval_steps": 50, "velocity_mae": [0.12497065961360931, 0.07941418141126633, 0.13721714913845062], "mean_episode_length": 1439.295918367347, "episode_reward_terms": {"track_linear_velocity": 50.120147705078125, "track_angular_velocity": 54.35811996459961, "upright": 28.00376319885254, "leg_posture": -3.142045497894287, "standstill": -6.896843910217285, "action_rate_l2": -0.6161451935768127, "joint_torques_l2": -0.1700887531042099, "dof_pos_limits": -0.0008031299803406, "terminated": -0.036544617265462875, "unnecessary_wheel_lift": -0.15565888583660126, "rolling_leg_motion": -0.8582102656364441, "obstacle_progress": 2.3089983463287354, "wheel_body_intrusion": -0.35562193393707275, "pair_body_intrusion": -0.2562071681022644}, "weighted_reward_terms": {"track_linear_velocity": 1.7411341667175293, "track_angular_velocity": 1.8883581161499023, "upright": 0.9728285670280457, "leg_posture": -0.1091521680355072, "standstill": -0.23959091305732727, "action_rate_l2": -0.02140439674258232, "joint_torques_l2": -0.005908748600631952, "dof_pos_limits": -2.7900099667022005e-05, "terminated": -0.0012695310870185494, "unnecessary_wheel_lift": -0.0054074665531516075, "rolling_leg_motion": -0.02981354482471943, "obstacle_progress": 0.0802127793431282, "wheel_body_intrusion": -0.012354024685919285, "pair_body_intrusion": -0.008900433778762817}, "episode_termination_rates": {"time_out": 0.5918367346938775, "fell_over": 0.061224489795918366, "course_exit": 0.34183673469387754, "illegal_nonwheel_contact": 0.015306122448979591}, "collection_time_s": 0.0756478687399067, "learning_time_s": 0.18394103944068774, "iteration_time_s": 0.4733688533851347, "policy_updates": 7100, "skipped_updates": 0, "invalid_env_resets": 39, "elapsed_s": 3502.9295150499966, "nonwheel_terminations": 10380, "contact_bce": 0.34148791432380676, "contact_force_loss": 0.024920441210269928, "collision_bce": 0.000325055472785607, "collision_label_rate": 6.126700463937595e-05, "collision_prediction_mean": 0.00020032539032399654, "collision_label_count": 16322.0, "terrain_level_mean": 1.597900390625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [151, 163, 67, 23, 6, 0], "episodes_by_level": [[637.0, 145.0, 25.0, 0.0], [414.0, 92.0, 16.0, 0.0], [94.0, 29.0, 4.0, 0.0], [14.0, 6.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [51, 368, 692, 304, 18, 0], "episodes_by_level": [[605.0, 483.0, 7.0, 0.0], [1506.0, 942.0, 31.0, 0.0], [1166.0, 416.0, 123.0, 0.0], [237.0, 22.0, 74.0, 0.0], [5.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [10, 57, 109, 127, 172, 139], "episodes_by_level": [[176.0, 157.0, 2.0, 0.0], [445.0, 396.0, 8.0, 0.0], [523.0, 457.0, 17.0, 0.0], [431.0, 357.0, 18.0, 0.0], [271.0, 185.0, 28.0, 0.0], [136.0, 84.0, 31.0, 0.0]]}, "platform": {"level_counts": [170, 167, 63, 10, 0, 0], "episodes_by_level": [[714.0, 163.0, 29.0, 0.0], [355.0, 74.0, 22.0, 0.0], [65.0, 13.0, 7.0, 0.0], [5.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [162, 159, 65, 17, 6, 1], "episodes_by_level": [[650.0, 153.0, 26.0, 0.0], [398.0, 83.0, 32.0, 0.0], [94.0, 27.0, 8.0, 0.0], [14.0, 7.0, 3.0, 0.0], [3.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [332, 318, 137, 32, 0, 0], "episodes_by_level": [[1307.0, 292.0, 54.0, 0.0], [829.0, 172.0, 60.0, 0.0], [171.0, 38.0, 20.0, 0.0], [21.0, 0.0, 6.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 11640, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.229248046875, "command_abs_max": [0.9987099170684814, 0.39996495842933655, 0.6998905539512634]}
{"step": 7450, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 7450, "total_transitions": 30515200, "num_steps_per_env": 1, "wm_loss": 1.2130258083343506, "actor_loss": -9.398896217346191, "critic_loss": 0.007260908372700214, "reward": 0.08546017110347748, "falls": 11, "interval_steps": 50, "velocity_mae": [0.12315785139799118, 0.07855731248855591, 0.1375143676996231], "mean_episode_length": 1443.8457711442786, "episode_reward_terms": {"track_linear_velocity": 50.3943977355957, "track_angular_velocity": 54.512271881103516, "upright": 28.108898162841797, "leg_posture": -3.1752219200134277, "standstill": -6.3288140296936035, "action_rate_l2": -0.6224990487098694, "joint_torques_l2": -0.1718006134033203, "dof_pos_limits": -0.0007381709874607623, "terminated": -0.03102012164890766, "unnecessary_wheel_lift": -0.14223407208919525, "rolling_leg_motion": -0.8613508343696594, "obstacle_progress": 2.3349239826202393, "wheel_body_intrusion": -0.3556063771247864, "pair_body_intrusion": -0.269888699054718}, "weighted_reward_terms": {"track_linear_velocity": 1.7451446056365967, "track_angular_velocity": 1.8877456188201904, "upright": 0.9734037518501282, "leg_posture": -0.10995709896087646, "standstill": -0.2191651612520218, "action_rate_l2": -0.021556977182626724, "joint_torques_l2": -0.005949410144239664, "dof_pos_limits": -2.5562669179635122e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.0049255285412073135, "rolling_leg_motion": -0.029828352853655815, "obstacle_progress": 0.08085779845714569, "wheel_body_intrusion": -0.012314556166529655, "pair_body_intrusion": -0.009346175007522106}, "episode_termination_rates": {"time_out": 0.6218905472636815, "fell_over": 0.03482587064676617, "course_exit": 0.3283582089552239, "illegal_nonwheel_contact": 0.029850746268656716}, "collection_time_s": 0.07576126602070872, "learning_time_s": 0.1834248147381004, "iteration_time_s": 0.4719315279493985, "policy_updates": 7150, "skipped_updates": 0, "invalid_env_resets": 39, "elapsed_s": 3515.889883223019, "nonwheel_terminations": 10386, "contact_bce": 0.3360225558280945, "contact_force_loss": 0.024085547775030136, "collision_bce": 0.0001231534843100235, "collision_label_rate": 0.00012247396807651967, "collision_prediction_mean": 5.682328628608957e-05, "collision_label_count": 16330.0, "terrain_level_mean": 1.607666015625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [151, 163, 66, 24, 6, 0], "episodes_by_level": [[652.0, 145.0, 25.0, 0.0], [422.0, 92.0, 16.0, 0.0], [96.0, 30.0, 4.0, 0.0], [14.0, 6.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [50, 363, 691, 310, 19, 0], "episodes_by_level": [[607.0, 484.0, 7.0, 0.0], [1521.0, 950.0, 31.0, 0.0], [1182.0, 424.0, 125.0, 0.0], [241.0, 23.0, 75.0, 0.0], [5.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [10, 55, 106, 131, 166, 146], "episodes_by_level": [[176.0, 157.0, 2.0, 0.0], [447.0, 398.0, 8.0, 0.0], [528.0, 462.0, 17.0, 0.0], [436.0, 360.0, 19.0, 0.0], [281.0, 193.0, 29.0, 0.0], [141.0, 88.0, 32.0, 0.0]]}, "platform": {"level_counts": [168, 169, 62, 11, 0, 0], "episodes_by_level": [[729.0, 165.0, 30.0, 0.0], [360.0, 74.0, 22.0, 0.0], [67.0, 14.0, 7.0, 0.0], [5.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [159, 161, 66, 17, 6, 1], "episodes_by_level": [[664.0, 156.0, 26.0, 0.0], [406.0, 84.0, 32.0, 0.0], [94.0, 27.0, 8.0, 0.0], [14.0, 7.0, 3.0, 0.0], [3.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [332, 318, 135, 34, 0, 0], "episodes_by_level": [[1330.0, 293.0, 54.0, 0.0], [838.0, 174.0, 61.0, 0.0], [178.0, 40.0, 22.0, 0.0], [21.0, 0.0, 6.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 11755, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2294921875, "command_abs_max": [0.9987099170684814, 0.39996495842933655, 0.6998905539512634]}
{"step": 7500, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 7500, "total_transitions": 30720000, "num_steps_per_env": 1, "wm_loss": 1.228989839553833, "actor_loss": -9.441275596618652, "critic_loss": 0.002439778996631503, "reward": 0.08534293621778488, "falls": 8, "interval_steps": 50, "velocity_mae": [0.12363645434379578, 0.07870752364397049, 0.13656261563301086], "mean_episode_length": 1464.236559139785, "episode_reward_terms": {"track_linear_velocity": 51.03111267089844, "track_angular_velocity": 55.33842086791992, "upright": 28.48277473449707, "leg_posture": -3.148874044418335, "standstill": -6.6255316734313965, "action_rate_l2": -0.6341103911399841, "joint_torques_l2": -0.1729448437690735, "dof_pos_limits": -0.0009202822693623602, "terminated": -0.02287869155406952, "unnecessary_wheel_lift": -0.15763965249061584, "rolling_leg_motion": -0.8715903759002686, "obstacle_progress": 2.3807878494262695, "wheel_body_intrusion": -0.34924083948135376, "pair_body_intrusion": -0.28710490465164185}, "weighted_reward_terms": {"track_linear_velocity": 1.742584228515625, "track_angular_velocity": 1.8896681070327759, "upright": 0.9726151823997498, "leg_posture": -0.10752613842487335, "standstill": -0.22624526917934418, "action_rate_l2": -0.021653275936841965, "joint_torques_l2": -0.005905632395297289, "dof_pos_limits": -3.1425326596945524e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.005382997915148735, "rolling_leg_motion": -0.029762621968984604, "obstacle_progress": 0.08129792660474777, "wheel_body_intrusion": -0.011925697326660156, "pair_body_intrusion": -0.009803911671042442}, "episode_termination_rates": {"time_out": 0.6505376344086021, "fell_over": 0.03225806451612903, "course_exit": 0.3064516129032258, "illegal_nonwheel_contact": 0.021505376344086023}, "collection_time_s": 0.07579496505612042, "learning_time_s": 0.18447992597939447, "iteration_time_s": 0.4705206338141346, "policy_updates": 7200, "skipped_updates": 0, "invalid_env_resets": 39, "elapsed_s": 3528.9047536060098, "nonwheel_terminations": 10390, "contact_bce": 0.3399025499820709, "contact_force_loss": 0.02488286979496479, "collision_bce": 6.488035069196485e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 6.5015947257052176e-06, "collision_label_count": 16354.0, "terrain_level_mean": 1.617919921875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [151, 162, 66, 25, 6, 0], "episodes_by_level": [[661.0, 145.0, 25.0, 0.0], [426.0, 93.0, 16.0, 0.0], [98.0, 31.0, 4.0, 0.0], [15.0, 6.0, 0.0, 0.0], [2.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [49, 358, 689, 318, 19, 0], "episodes_by_level": [[608.0, 485.0, 7.0, 0.0], [1532.0, 956.0, 31.0, 0.0], [1202.0, 432.0, 125.0, 0.0], [249.0, 23.0, 75.0, 0.0], [6.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [11, 53, 103, 134, 162, 151], "episodes_by_level": [[176.0, 157.0, 2.0, 0.0], [450.0, 400.0, 9.0, 0.0], [534.0, 466.0, 18.0, 0.0], [438.0, 361.0, 19.0, 0.0], [289.0, 199.0, 29.0, 0.0], [145.0, 91.0, 33.0, 0.0]]}, "platform": {"level_counts": [168, 168, 64, 10, 0, 0], "episodes_by_level": [[746.0, 166.0, 31.0, 0.0], [367.0, 75.0, 23.0, 0.0], [68.0, 14.0, 7.0, 0.0], [6.0, 0.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [155, 163, 67, 18, 6, 1], "episodes_by_level": [[679.0, 160.0, 26.0, 0.0], [410.0, 86.0, 32.0, 0.0], [97.0, 28.0, 8.0, 0.0], [14.0, 7.0, 3.0, 0.0], [3.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [325, 324, 136, 34, 0, 0], "episodes_by_level": [[1358.0, 300.0, 54.0, 0.0], [849.0, 176.0, 61.0, 0.0], [182.0, 40.0, 23.0, 0.0], [21.0, 0.0, 6.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 11880, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23681640625, "command_abs_max": [0.9987099170684814, 0.3997078537940979, 0.6998905539512634]}
{"step": 7550, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 7550, "total_transitions": 30924800, "num_steps_per_env": 1, "wm_loss": 1.18397057056427, "actor_loss": -9.443062782287598, "critic_loss": 0.003003645222634077, "reward": 0.08523991703987122, "falls": 13, "interval_steps": 50, "velocity_mae": [0.12575148046016693, 0.07930531352758408, 0.13763122260570526], "mean_episode_length": 1402.2931937172775, "episode_reward_terms": {"track_linear_velocity": 48.77153778076172, "track_angular_velocity": 52.94325256347656, "upright": 27.24671745300293, "leg_posture": -3.0322306156158447, "standstill": -6.25009298324585, "action_rate_l2": -0.6093548536300659, "joint_torques_l2": -0.16644585132598877, "dof_pos_limits": -0.000610535906162113, "terminated": -0.03560509532690048, "unnecessary_wheel_lift": -0.14164938032627106, "rolling_leg_motion": -0.8391672372817993, "obstacle_progress": 2.2597744464874268, "wheel_body_intrusion": -0.35440441966056824, "pair_body_intrusion": -0.26036903262138367}, "weighted_reward_terms": {"track_linear_velocity": 1.7389922142028809, "track_angular_velocity": 1.8877383470535278, "upright": 0.9715057015419006, "leg_posture": -0.10811685025691986, "standstill": -0.22285257279872894, "action_rate_l2": -0.02172708511352539, "joint_torques_l2": -0.005934773478657007, "dof_pos_limits": -2.1769195882370695e-05, "terminated": -0.0012695310870185494, "unnecessary_wheel_lift": -0.005050633568316698, "rolling_leg_motion": -0.02992124669253826, "obstacle_progress": 0.08057425171136856, "wheel_body_intrusion": -0.01263660192489624, "pair_body_intrusion": -0.009283686988055706}, "episode_termination_rates": {"time_out": 0.581151832460733, "fell_over": 0.05759162303664921, "course_exit": 0.3507853403141361, "illegal_nonwheel_contact": 0.015706806282722512}, "collection_time_s": 0.07567133959848434, "learning_time_s": 0.19296232978231273, "iteration_time_s": 0.46918771823960287, "policy_updates": 7250, "skipped_updates": 0, "invalid_env_resets": 39, "elapsed_s": 3542.3672727090016, "nonwheel_terminations": 10393, "contact_bce": 0.34425386786460876, "contact_force_loss": 0.02426690049469471, "collision_bce": 0.00024033355293795466, "collision_label_rate": 0.00012247396807651967, "collision_prediction_mean": 3.627282421803102e-05, "collision_label_count": 16330.0, "terrain_level_mean": 1.626708984375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [148, 163, 68, 25, 6, 0], "episodes_by_level": [[672.0, 148.0, 25.0, 0.0], [434.0, 95.0, 16.0, 0.0], [98.0, 31.0, 4.0, 0.0], [15.0, 6.0, 0.0, 0.0], [2.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [49, 354, 683, 328, 19, 0], "episodes_by_level": [[609.0, 485.0, 7.0, 0.0], [1544.0, 961.0, 31.0, 0.0], [1229.0, 443.0, 126.0, 0.0], [256.0, 23.0, 76.0, 0.0], [7.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [11, 55, 98, 131, 170, 149], "episodes_by_level": [[176.0, 157.0, 2.0, 0.0], [453.0, 401.0, 9.0, 0.0], [537.0, 469.0, 18.0, 0.0], [446.0, 368.0, 19.0, 0.0], [295.0, 203.0, 30.0, 0.0], [151.0, 94.0, 35.0, 0.0]]}, "platform": {"level_counts": [167, 168, 65, 10, 0, 0], "episodes_by_level": [[762.0, 167.0, 31.0, 0.0], [369.0, 76.0, 23.0, 0.0], [70.0, 14.0, 7.0, 0.0], [7.0, 0.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [154, 160, 71, 18, 6, 1], "episodes_by_level": [[691.0, 161.0, 26.0, 0.0], [419.0, 90.0, 32.0, 0.0], [98.0, 28.0, 8.0, 0.0], [15.0, 7.0, 3.0, 0.0], [3.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [321, 327, 137, 34, 0, 0], "episodes_by_level": [[1377.0, 305.0, 54.0, 0.0], [858.0, 177.0, 62.0, 0.0], [183.0, 40.0, 23.0, 0.0], [21.0, 0.0, 6.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 12000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234130859375, "command_abs_max": [0.9987099170684814, 0.3997078537940979, 0.6998905539512634]}
{"step": 7600, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 7600, "total_transitions": 31129600, "num_steps_per_env": 1, "wm_loss": 1.15130615234375, "actor_loss": -9.43535041809082, "critic_loss": 0.0034161738585680723, "reward": 0.085304856300354, "falls": 8, "interval_steps": 50, "velocity_mae": [0.12630538642406464, 0.0785917192697525, 0.1375945508480072], "mean_episode_length": 1397.037037037037, "episode_reward_terms": {"track_linear_velocity": 48.60008239746094, "track_angular_velocity": 52.75362777709961, "upright": 27.130327224731445, "leg_posture": -3.0680291652679443, "standstill": -6.104925632476807, "action_rate_l2": -0.601832926273346, "joint_torques_l2": -0.16737176477909088, "dof_pos_limits": -0.0010137301869690418, "terminated": -0.021828697994351387, "unnecessary_wheel_lift": -0.13162893056869507, "rolling_leg_motion": -0.8334251046180725, "obstacle_progress": 2.2731759548187256, "wheel_body_intrusion": -0.35949528217315674, "pair_body_intrusion": -0.293605774641037}, "weighted_reward_terms": {"track_linear_velocity": 1.7393985986709595, "track_angular_velocity": 1.8880540132522583, "upright": 0.9709953665733337, "leg_posture": -0.10980486869812012, "standstill": -0.21849550306797028, "action_rate_l2": -0.02153962105512619, "joint_torques_l2": -0.005990241188555956, "dof_pos_limits": -3.628143895184621e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0047110035084187984, "rolling_leg_motion": -0.02982831373810768, "obstacle_progress": 0.08135704696178436, "wheel_body_intrusion": -0.012866348959505558, "pair_body_intrusion": -0.01050816010683775}, "episode_termination_rates": {"time_out": 0.5617283950617284, "fell_over": 0.043209876543209874, "course_exit": 0.3888888888888889, "illegal_nonwheel_contact": 0.018518518518518517}, "collection_time_s": 0.07598293787916191, "learning_time_s": 0.18375381634104998, "iteration_time_s": 0.46780989963986747, "policy_updates": 7300, "skipped_updates": 0, "invalid_env_resets": 40, "elapsed_s": 3555.355237262993, "nonwheel_terminations": 10396, "contact_bce": 0.3363586962223053, "contact_force_loss": 0.024146366864442825, "collision_bce": 4.847197942581261e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 4.827061275136657e-06, "collision_label_count": 16351.0, "terrain_level_mean": 1.636474609375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [148, 163, 67, 26, 6, 0], "episodes_by_level": [[681.0, 148.0, 26.0, 0.0], [439.0, 95.0, 16.0, 0.0], [99.0, 32.0, 4.0, 0.0], [15.0, 6.0, 0.0, 0.0], [2.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [50, 348, 681, 334, 20, 0], "episodes_by_level": [[610.0, 485.0, 7.0, 0.0], [1554.0, 966.0, 31.0, 0.0], [1248.0, 451.0, 126.0, 0.0], [264.0, 24.0, 77.0, 0.0], [8.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [11, 54, 97, 126, 177, 149], "episodes_by_level": [[176.0, 157.0, 2.0, 0.0], [454.0, 402.0, 9.0, 0.0], [541.0, 472.0, 18.0, 0.0], [453.0, 375.0, 19.0, 0.0], [297.0, 205.0, 30.0, 0.0], [156.0, 95.0, 36.0, 0.0]]}, "platform": {"level_counts": [166, 169, 63, 12, 0, 0], "episodes_by_level": [[771.0, 169.0, 31.0, 0.0], [371.0, 76.0, 24.0, 0.0], [76.0, 16.0, 7.0, 0.0], [7.0, 0.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [153, 159, 71, 20, 6, 1], "episodes_by_level": [[700.0, 162.0, 26.0, 0.0], [424.0, 92.0, 32.0, 0.0], [101.0, 30.0, 8.0, 0.0], [15.0, 7.0, 3.0, 0.0], [3.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [317, 329, 136, 37, 0, 0], "episodes_by_level": [[1397.0, 309.0, 55.0, 0.0], [866.0, 179.0, 62.0, 0.0], [189.0, 43.0, 23.0, 0.0], [22.0, 0.0, 6.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 12137, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.239501953125, "command_abs_max": [0.9987099170684814, 0.3997078537940979, 0.6998905539512634]}
{"step": 7650, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 7650, "total_transitions": 31334400, "num_steps_per_env": 1, "wm_loss": 1.2037885189056396, "actor_loss": -9.436962127685547, "critic_loss": 0.004041743464767933, "reward": 0.08500432968139648, "falls": 9, "interval_steps": 50, "velocity_mae": [0.1261567622423172, 0.07998117059469223, 0.1384344846010208], "mean_episode_length": 1372.8343949044586, "episode_reward_terms": {"track_linear_velocity": 47.705810546875, "track_angular_velocity": 51.79222869873047, "upright": 26.649198532104492, "leg_posture": -2.998615026473999, "standstill": -6.318304061889648, "action_rate_l2": -0.5937411189079285, "joint_torques_l2": -0.16536597907543182, "dof_pos_limits": -0.0008776291506364942, "terminated": -0.02413184940814972, "unnecessary_wheel_lift": -0.13496650755405426, "rolling_leg_motion": -0.8049421906471252, "obstacle_progress": 2.2463622093200684, "wheel_body_intrusion": -0.3486384451389313, "pair_body_intrusion": -0.30715689063072205}, "weighted_reward_terms": {"track_linear_velocity": 1.7374932765960693, "track_angular_velocity": 1.8863247632980347, "upright": 0.9705904722213745, "leg_posture": -0.10921255499124527, "standstill": -0.23011896014213562, "action_rate_l2": -0.021624645218253136, "joint_torques_l2": -0.006022794637829065, "dof_pos_limits": -3.196413308614865e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.004915615078061819, "rolling_leg_motion": -0.029316801577806473, "obstacle_progress": 0.08181476593017578, "wheel_body_intrusion": -0.012697761878371239, "pair_body_intrusion": -0.011186961084604263}, "episode_termination_rates": {"time_out": 0.5222929936305732, "fell_over": 0.044585987261146494, "course_exit": 0.42038216560509556, "illegal_nonwheel_contact": 0.050955414012738856}, "collection_time_s": 0.07560255693853833, "learning_time_s": 0.18615791977965274, "iteration_time_s": 0.46646331193633955, "policy_updates": 7350, "skipped_updates": 0, "invalid_env_resets": 40, "elapsed_s": 3568.4443363129976, "nonwheel_terminations": 10404, "contact_bce": 0.34181246161460876, "contact_force_loss": 0.02514684945344925, "collision_bce": 6.78113428875804e-05, "collision_label_rate": 6.1221988289617e-05, "collision_prediction_mean": 2.292107637913432e-05, "collision_label_count": 16334.0, "terrain_level_mean": 1.644775390625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [148, 162, 68, 26, 5, 1], "episodes_by_level": [[684.0, 148.0, 26.0, 0.0], [445.0, 96.0, 16.0, 0.0], [100.0, 32.0, 4.0, 0.0], [15.0, 6.0, 0.0, 0.0], [3.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [47, 348, 679, 338, 21, 0], "episodes_by_level": [[613.0, 488.0, 7.0, 0.0], [1562.0, 969.0, 31.0, 0.0], [1272.0, 457.0, 126.0, 0.0], [271.0, 25.0, 78.0, 0.0], [9.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [11, 53, 96, 127, 174, 153], "episodes_by_level": [[176.0, 157.0, 2.0, 0.0], [456.0, 404.0, 9.0, 0.0], [544.0, 475.0, 18.0, 0.0], [458.0, 377.0, 20.0, 0.0], [304.0, 210.0, 31.0, 0.0], [159.0, 96.0, 37.0, 0.0]]}, "platform": {"level_counts": [166, 168, 62, 14, 0, 0], "episodes_by_level": [[776.0, 170.0, 31.0, 0.0], [377.0, 77.0, 25.0, 0.0], [79.0, 18.0, 7.0, 0.0], [7.0, 0.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [152, 159, 72, 20, 6, 1], "episodes_by_level": [[706.0, 164.0, 26.0, 0.0], [432.0, 94.0, 33.0, 0.0], [103.0, 30.0, 9.0, 0.0], [16.0, 7.0, 3.0, 0.0], [3.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [313, 330, 139, 37, 0, 0], "episodes_by_level": [[1415.0, 313.0, 55.0, 0.0], [878.0, 182.0, 62.0, 0.0], [190.0, 43.0, 23.0, 0.0], [23.0, 0.0, 6.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 12247, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.236328125, "command_abs_max": [0.9987099170684814, 0.3997078537940979, 0.6998752355575562]}
{"step": 7700, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 7700, "total_transitions": 31539200, "num_steps_per_env": 1, "wm_loss": 1.15485680103302, "actor_loss": -9.41238021850586, "critic_loss": 0.0034042370971292257, "reward": 0.08478935062885284, "falls": 16, "interval_steps": 50, "velocity_mae": [0.1264292597770691, 0.08077424764633179, 0.13926729559898376], "mean_episode_length": 1359.5542857142857, "episode_reward_terms": {"track_linear_velocity": 47.198787689208984, "track_angular_velocity": 51.257041931152344, "upright": 26.38163948059082, "leg_posture": -2.9665024280548096, "standstill": -6.395710468292236, "action_rate_l2": -0.5743825435638428, "joint_torques_l2": -0.16406342387199402, "dof_pos_limits": -0.0006860739667899907, "terminated": -0.04248606413602829, "unnecessary_wheel_lift": -0.13186362385749817, "rolling_leg_motion": -0.8262953758239746, "obstacle_progress": 2.1968801021575928, "wheel_body_intrusion": -0.3541578948497772, "pair_body_intrusion": -0.3025040328502655}, "weighted_reward_terms": {"track_linear_velocity": 1.7358183860778809, "track_angular_velocity": 1.8850678205490112, "upright": 0.9702311754226685, "leg_posture": -0.10909834504127502, "standstill": -0.2352135181427002, "action_rate_l2": -0.02112392708659172, "joint_torques_l2": -0.006033720914274454, "dof_pos_limits": -2.5231576728401706e-05, "terminated": -0.0015624997904524207, "unnecessary_wheel_lift": -0.004849516320973635, "rolling_leg_motion": -0.030388465151190758, "obstacle_progress": 0.08079412579536438, "wheel_body_intrusion": -0.013024779036641121, "pair_body_intrusion": -0.011125117540359497}, "episode_termination_rates": {"time_out": 0.56, "fell_over": 0.08, "course_exit": 0.3485714285714286, "illegal_nonwheel_contact": 0.02857142857142857}, "collection_time_s": 0.07564226419839543, "learning_time_s": 0.18594023918034508, "iteration_time_s": 0.4651330598423374, "policy_updates": 7400, "skipped_updates": 0, "invalid_env_resets": 40, "elapsed_s": 3581.524560785998, "nonwheel_terminations": 10409, "contact_bce": 0.338859498500824, "contact_force_loss": 0.024256058037281036, "collision_bce": 0.0003956315922550857, "collision_label_rate": 6.127826782176271e-05, "collision_prediction_mean": 0.00021494021348189563, "collision_label_count": 16319.0, "terrain_level_mean": 1.65185546875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [147, 163, 69, 25, 5, 1], "episodes_by_level": [[687.0, 149.0, 26.0, 0.0], [448.0, 96.0, 16.0, 0.0], [101.0, 32.0, 4.0, 0.0], [16.0, 6.0, 1.0, 0.0], [3.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [45, 341, 685, 341, 21, 0], "episodes_by_level": [[615.0, 490.0, 7.0, 0.0], [1576.0, 978.0, 31.0, 0.0], [1295.0, 464.0, 126.0, 0.0], [280.0, 25.0, 78.0, 0.0], [9.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [11, 50, 100, 122, 176, 155], "episodes_by_level": [[176.0, 157.0, 2.0, 0.0], [459.0, 407.0, 9.0, 0.0], [545.0, 476.0, 18.0, 0.0], [466.0, 383.0, 20.0, 0.0], [309.0, 214.0, 32.0, 0.0], [162.0, 98.0, 38.0, 0.0]]}, "platform": {"level_counts": [165, 170, 60, 15, 0, 0], "episodes_by_level": [[783.0, 171.0, 31.0, 0.0], [379.0, 77.0, 25.0, 0.0], [84.0, 19.0, 8.0, 0.0], [7.0, 0.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [151, 158, 74, 20, 6, 1], "episodes_by_level": [[712.0, 165.0, 26.0, 0.0], [438.0, 96.0, 33.0, 0.0], [103.0, 30.0, 9.0, 0.0], [16.0, 7.0, 3.0, 0.0], [3.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [315, 324, 142, 38, 0, 0], "episodes_by_level": [[1431.0, 313.0, 56.0, 0.0], [891.0, 186.0, 64.0, 0.0], [194.0, 44.0, 23.0, 0.0], [24.0, 0.0, 6.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 12382, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.24267578125, "command_abs_max": [0.9989060163497925, 0.3997078537940979, 0.6998752355575562]}
{"step": 7750, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 7750, "total_transitions": 31744000, "num_steps_per_env": 1, "wm_loss": 1.1777511835098267, "actor_loss": -9.414751052856445, "critic_loss": 0.004526058677583933, "reward": 0.08493530005216599, "falls": 11, "interval_steps": 50, "velocity_mae": [0.12648798525333405, 0.08001194894313812, 0.1388770490884781], "mean_episode_length": 1315.070588235294, "episode_reward_terms": {"track_linear_velocity": 45.6536979675293, "track_angular_velocity": 49.600643157958984, "upright": 25.535140991210938, "leg_posture": -2.8867056369781494, "standstill": -6.031393051147461, "action_rate_l2": -0.5538696050643921, "joint_torques_l2": -0.15819460153579712, "dof_pos_limits": -0.0003474094846751541, "terminated": -0.0282534658908844, "unnecessary_wheel_lift": -0.1314128041267395, "rolling_leg_motion": -0.7865645885467529, "obstacle_progress": 2.090580940246582, "wheel_body_intrusion": -0.32703664898872375, "pair_body_intrusion": -0.2804196774959564}, "weighted_reward_terms": {"track_linear_velocity": 1.7357889413833618, "track_angular_velocity": 1.885854959487915, "upright": 0.9708658456802368, "leg_posture": -0.1097547858953476, "standstill": -0.22931824624538422, "action_rate_l2": -0.021058551967144012, "joint_torques_l2": -0.006014680955559015, "dof_pos_limits": -1.32087780002621e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.004996416624635458, "rolling_leg_motion": -0.02990579605102539, "obstacle_progress": 0.07948550581932068, "wheel_body_intrusion": -0.012434186413884163, "pair_body_intrusion": -0.010661773383617401}, "episode_termination_rates": {"time_out": 0.48823529411764705, "fell_over": 0.052941176470588235, "course_exit": 0.4470588235294118, "illegal_nonwheel_contact": 0.023529411764705882}, "collection_time_s": 0.07593420025834348, "learning_time_s": 0.18408883918076754, "iteration_time_s": 0.46380990549509654, "policy_updates": 7450, "skipped_updates": 0, "invalid_env_resets": 41, "elapsed_s": 3594.526767586998, "nonwheel_terminations": 10413, "contact_bce": 0.34066319465637207, "contact_force_loss": 0.024220043793320656, "collision_bce": 4.211478881188668e-05, "collision_label_rate": 6.119576573837548e-05, "collision_prediction_mean": 8.066003647400066e-05, "collision_label_count": 16341.0, "terrain_level_mean": 1.660888671875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [146, 163, 69, 26, 5, 1], "episodes_by_level": [[696.0, 151.0, 26.0, 0.0], [450.0, 97.0, 17.0, 0.0], [105.0, 33.0, 4.0, 0.0], [17.0, 6.0, 1.0, 0.0], [3.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [45, 333, 691, 342, 22, 0], "episodes_by_level": [[616.0, 490.0, 7.0, 0.0], [1595.0, 987.0, 31.0, 0.0], [1311.0, 469.0, 126.0, 0.0], [286.0, 26.0, 80.0, 0.0], [9.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [8, 53, 95, 127, 172, 159], "episodes_by_level": [[179.0, 160.0, 2.0, 0.0], [459.0, 407.0, 9.0, 0.0], [550.0, 480.0, 18.0, 0.0], [469.0, 385.0, 20.0, 0.0], [317.0, 221.0, 32.0, 0.0], [171.0, 104.0, 40.0, 0.0]]}, "platform": {"level_counts": [162, 172, 59, 17, 0, 0], "episodes_by_level": [[790.0, 174.0, 31.0, 0.0], [383.0, 78.0, 25.0, 0.0], [90.0, 21.0, 8.0, 0.0], [7.0, 0.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [151, 156, 75, 21, 6, 1], "episodes_by_level": [[720.0, 165.0, 26.0, 0.0], [444.0, 98.0, 33.0, 0.0], [105.0, 31.0, 9.0, 0.0], [16.0, 7.0, 3.0, 0.0], [3.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [314, 325, 141, 39, 0, 0], "episodes_by_level": [[1441.0, 314.0, 56.0, 0.0], [901.0, 187.0, 64.0, 0.0], [196.0, 45.0, 24.0, 0.0], [25.0, 0.0, 6.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 12495, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.244140625, "command_abs_max": [0.9989060163497925, 0.39981260895729065, 0.6998752355575562]}
{"step": 7800, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 7800, "total_transitions": 31948800, "num_steps_per_env": 1, "wm_loss": 1.1576976776123047, "actor_loss": -9.413142204284668, "critic_loss": 0.010157831013202667, "reward": 0.08527644723653793, "falls": 13, "interval_steps": 50, "velocity_mae": [0.12481022626161575, 0.07919255644083023, 0.1360854208469391], "mean_episode_length": 1274.86, "episode_reward_terms": {"track_linear_velocity": 44.37885665893555, "track_angular_velocity": 48.188541412353516, "upright": 24.788101196289062, "leg_posture": -2.7696034908294678, "standstill": -5.722283840179443, "action_rate_l2": -0.5377848744392395, "joint_torques_l2": -0.15143662691116333, "dof_pos_limits": -0.0005065207951702178, "terminated": -0.03236948698759079, "unnecessary_wheel_lift": -0.11656109988689423, "rolling_leg_motion": -0.7641812562942505, "obstacle_progress": 2.0202395915985107, "wheel_body_intrusion": -0.3111373484134674, "pair_body_intrusion": -0.254332959651947}, "weighted_reward_terms": {"track_linear_velocity": 1.7405385971069336, "track_angular_velocity": 1.8899543285369873, "upright": 0.9721892476081848, "leg_posture": -0.10862383246421814, "standstill": -0.2244279384613037, "action_rate_l2": -0.021091919392347336, "joint_torques_l2": -0.005939343478530645, "dof_pos_limits": -1.9865741705871187e-05, "terminated": -0.0012695310870185494, "unnecessary_wheel_lift": -0.0045715258456766605, "rolling_leg_motion": -0.029971184208989143, "obstacle_progress": 0.07923378050327301, "wheel_body_intrusion": -0.012202804908156395, "pair_body_intrusion": -0.009974936954677105}, "episode_termination_rates": {"time_out": 0.4066666666666667, "fell_over": 0.07333333333333333, "course_exit": 0.5066666666666667, "illegal_nonwheel_contact": 0.05333333333333334}, "collection_time_s": 0.07564825320034288, "learning_time_s": 0.1855371500615729, "iteration_time_s": 0.4625111648539762, "policy_updates": 7500, "skipped_updates": 0, "invalid_env_resets": 41, "elapsed_s": 3607.587085861014, "nonwheel_terminations": 10421, "contact_bce": 0.337536484003067, "contact_force_loss": 0.02439379319548607, "collision_bce": 3.494770453471574e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 3.5385144201427465e-06, "collision_label_count": 16322.0, "terrain_level_mean": 1.66943359375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [145, 164, 69, 26, 5, 1], "episodes_by_level": [[700.0, 152.0, 26.0, 0.0], [451.0, 97.0, 17.0, 0.0], [106.0, 33.0, 4.0, 0.0], [18.0, 6.0, 1.0, 0.0], [3.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [46, 324, 693, 346, 24, 0], "episodes_by_level": [[616.0, 490.0, 7.0, 0.0], [1611.0, 995.0, 31.0, 0.0], [1330.0, 477.0, 126.0, 0.0], [295.0, 28.0, 81.0, 0.0], [9.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [8, 51, 95, 130, 164, 166], "episodes_by_level": [[179.0, 160.0, 2.0, 0.0], [461.0, 409.0, 9.0, 0.0], [554.0, 483.0, 18.0, 0.0], [471.0, 387.0, 20.0, 0.0], [324.0, 227.0, 33.0, 0.0], [179.0, 109.0, 40.0, 0.0]]}, "platform": {"level_counts": [161, 172, 60, 17, 0, 0], "episodes_by_level": [[797.0, 175.0, 32.0, 0.0], [388.0, 80.0, 25.0, 0.0], [91.0, 21.0, 9.0, 0.0], [7.0, 0.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [152, 153, 76, 22, 6, 1], "episodes_by_level": [[725.0, 166.0, 26.0, 0.0], [452.0, 100.0, 35.0, 0.0], [108.0, 32.0, 9.0, 0.0], [18.0, 7.0, 3.0, 0.0], [3.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [314, 322, 142, 41, 0, 0], "episodes_by_level": [[1447.0, 316.0, 56.0, 0.0], [912.0, 190.0, 66.0, 0.0], [199.0, 47.0, 24.0, 0.0], [26.0, 0.0, 6.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 12625, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.245361328125, "command_abs_max": [0.9989060163497925, 0.39981260895729065, 0.6998752355575562]}
{"step": 7850, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 7850, "total_transitions": 32153600, "num_steps_per_env": 1, "wm_loss": 1.1332343816757202, "actor_loss": -9.397480964660645, "critic_loss": 0.004001745488494635, "reward": 0.08525668829679489, "falls": 12, "interval_steps": 50, "velocity_mae": [0.1270240992307663, 0.07960245013237, 0.13538500666618347], "mean_episode_length": 1275.75, "episode_reward_terms": {"track_linear_velocity": 44.30668640136719, "track_angular_velocity": 48.25042724609375, "upright": 24.81329917907715, "leg_posture": -2.7291345596313477, "standstill": -5.7623419761657715, "action_rate_l2": -0.5534999966621399, "joint_torques_l2": -0.15031379461288452, "dof_pos_limits": -0.0004841922491323203, "terminated": -0.029900388792157173, "unnecessary_wheel_lift": -0.11054877191781998, "rolling_leg_motion": -0.7599667906761169, "obstacle_progress": 2.028087854385376, "wheel_body_intrusion": -0.31793105602264404, "pair_body_intrusion": -0.2181669920682907}, "weighted_reward_terms": {"track_linear_velocity": 1.7364957332611084, "track_angular_velocity": 1.8910613059997559, "upright": 0.9724985361099243, "leg_posture": -0.10696197301149368, "standstill": -0.22584135830402374, "action_rate_l2": -0.021693121641874313, "joint_torques_l2": -0.005891193635761738, "dof_pos_limits": -1.8976768842549063e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.004332697484642267, "rolling_leg_motion": -0.029785098508000374, "obstacle_progress": 0.07948610186576843, "wheel_body_intrusion": -0.012460554949939251, "pair_body_intrusion": -0.008550538681447506}, "episode_termination_rates": {"time_out": 0.45, "fell_over": 0.06428571428571428, "course_exit": 0.4642857142857143, "illegal_nonwheel_contact": 0.02857142857142857}, "collection_time_s": 0.0760099071165314, "learning_time_s": 0.18518119770102204, "iteration_time_s": 0.4612290144459883, "policy_updates": 7550, "skipped_updates": 0, "invalid_env_resets": 42, "elapsed_s": 3620.647763401008, "nonwheel_terminations": 10425, "contact_bce": 0.33489295840263367, "contact_force_loss": 0.025055119767785072, "collision_bce": 3.126013552900986e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 3.1668355404690374e-06, "collision_label_count": 16348.0, "terrain_level_mean": 1.675048828125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [144, 165, 69, 25, 6, 1], "episodes_by_level": [[705.0, 153.0, 26.0, 0.0], [454.0, 97.0, 17.0, 0.0], [106.0, 33.0, 4.0, 0.0], [19.0, 7.0, 1.0, 0.0], [3.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [47, 322, 688, 351, 25, 0], "episodes_by_level": [[616.0, 490.0, 7.0, 0.0], [1623.0, 999.0, 32.0, 0.0], [1350.0, 485.0, 129.0, 0.0], [307.0, 29.0, 84.0, 0.0], [10.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [8, 51, 89, 136, 163, 167], "episodes_by_level": [[179.0, 160.0, 2.0, 0.0], [461.0, 409.0, 9.0, 0.0], [561.0, 489.0, 18.0, 0.0], [475.0, 389.0, 20.0, 0.0], [329.0, 230.0, 33.0, 0.0], [189.0, 115.0, 41.0, 0.0]]}, "platform": {"level_counts": [161, 169, 63, 17, 0, 0], "episodes_by_level": [[801.0, 175.0, 32.0, 0.0], [396.0, 83.0, 25.0, 0.0], [92.0, 21.0, 9.0, 0.0], [7.0, 0.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [151, 151, 79, 22, 6, 1], "episodes_by_level": [[729.0, 167.0, 26.0, 0.0], [461.0, 103.0, 35.0, 0.0], [110.0, 32.0, 9.0, 0.0], [18.0, 7.0, 3.0, 0.0], [3.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [315, 320, 143, 41, 0, 0], "episodes_by_level": [[1450.0, 316.0, 56.0, 0.0], [918.0, 191.0, 67.0, 0.0], [201.0, 47.0, 24.0, 0.0], [26.0, 0.0, 6.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 12758, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.24462890625, "command_abs_max": [0.9989060163497925, 0.39981260895729065, 0.6998752355575562]}
{"step": 7900, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 7900, "total_transitions": 32358400, "num_steps_per_env": 1, "wm_loss": 1.1452025175094604, "actor_loss": -9.406821250915527, "critic_loss": 0.002523733302950859, "reward": 0.08536716550588608, "falls": 7, "interval_steps": 50, "velocity_mae": [0.12656162679195404, 0.07874319702386856, 0.13521187007427216], "mean_episode_length": 1245.686567164179, "episode_reward_terms": {"track_linear_velocity": 43.2933464050293, "track_angular_velocity": 47.124969482421875, "upright": 24.230131149291992, "leg_posture": -2.651498317718506, "standstill": -5.6673688888549805, "action_rate_l2": -0.5361514687538147, "joint_torques_l2": -0.14780332148075104, "dof_pos_limits": -0.00021470342471729964, "terminated": -0.01703086867928505, "unnecessary_wheel_lift": -0.10324925929307938, "rolling_leg_motion": -0.7334516644477844, "obstacle_progress": 2.051213264465332, "wheel_body_intrusion": -0.2831026315689087, "pair_body_intrusion": -0.21906937658786774}, "weighted_reward_terms": {"track_linear_velocity": 1.7377305030822754, "track_angular_velocity": 1.8915259838104248, "upright": 0.9725614190101624, "leg_posture": -0.10642719268798828, "standstill": -0.2274797409772873, "action_rate_l2": -0.02152032032608986, "joint_torques_l2": -0.005932605359703302, "dof_pos_limits": -8.6178752098931e-06, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.004144271370023489, "rolling_leg_motion": -0.0294396560639143, "obstacle_progress": 0.08233264833688736, "wheel_body_intrusion": -0.011363317258656025, "pair_body_intrusion": -0.00879311840981245}, "episode_termination_rates": {"time_out": 0.44776119402985076, "fell_over": 0.04477611940298507, "course_exit": 0.5, "illegal_nonwheel_contact": 0.014925373134328358}, "collection_time_s": 0.07555537547857966, "learning_time_s": 0.1847316554194549, "iteration_time_s": 0.4599573994475959, "policy_updates": 7600, "skipped_updates": 0, "invalid_env_resets": 42, "elapsed_s": 3633.6634556360077, "nonwheel_terminations": 10427, "contact_bce": 0.33702269196510315, "contact_force_loss": 0.024563606828451157, "collision_bce": 6.813967775087804e-05, "collision_label_rate": 6.116956501500681e-05, "collision_prediction_mean": 0.00010444982763146982, "collision_label_count": 16348.0, "terrain_level_mean": 1.682861328125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [143, 165, 68, 27, 6, 1], "episodes_by_level": [[708.0, 154.0, 26.0, 0.0], [457.0, 98.0, 17.0, 0.0], [109.0, 35.0, 4.0, 0.0], [19.0, 7.0, 1.0, 0.0], [3.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [45, 321, 688, 351, 28, 0], "episodes_by_level": [[619.0, 492.0, 7.0, 0.0], [1630.0, 1002.0, 32.0, 0.0], [1364.0, 489.0, 129.0, 0.0], [318.0, 32.0, 85.0, 0.0], [10.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [8, 49, 88, 138, 162, 169], "episodes_by_level": [[179.0, 160.0, 2.0, 0.0], [463.0, 411.0, 9.0, 0.0], [566.0, 493.0, 18.0, 0.0], [478.0, 391.0, 21.0, 0.0], [336.0, 235.0, 34.0, 0.0], [197.0, 120.0, 42.0, 0.0]]}, "platform": {"level_counts": [161, 169, 63, 17, 0, 0], "episodes_by_level": [[804.0, 175.0, 32.0, 0.0], [399.0, 83.0, 25.0, 0.0], [92.0, 21.0, 9.0, 0.0], [7.0, 0.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [150, 152, 77, 23, 7, 1], "episodes_by_level": [[733.0, 168.0, 26.0, 0.0], [464.0, 103.0, 35.0, 0.0], [115.0, 34.0, 9.0, 0.0], [21.0, 8.0, 3.0, 0.0], [3.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [312, 321, 145, 41, 0, 0], "episodes_by_level": [[1458.0, 319.0, 56.0, 0.0], [924.0, 193.0, 67.0, 0.0], [206.0, 47.0, 24.0, 0.0], [26.0, 0.0, 6.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 12889, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.240966796875, "command_abs_max": [0.997283935546875, 0.3997078537940979, 0.6985939741134644]}
{"step": 7950, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 7950, "total_transitions": 32563200, "num_steps_per_env": 1, "wm_loss": 1.1765892505645752, "actor_loss": -9.402732849121094, "critic_loss": 0.0033739767968654633, "reward": 0.0851532518863678, "falls": 9, "interval_steps": 50, "velocity_mae": [0.12732404470443726, 0.07920705527067184, 0.13639874756336212], "mean_episode_length": 1258.8986486486488, "episode_reward_terms": {"track_linear_velocity": 43.689876556396484, "track_angular_velocity": 47.586517333984375, "upright": 24.49455451965332, "leg_posture": -2.6730854511260986, "standstill": -5.864502429962158, "action_rate_l2": -0.5365781188011169, "joint_torques_l2": -0.14957958459854126, "dof_pos_limits": -0.0002971164067275822, "terminated": -0.022129075601696968, "unnecessary_wheel_lift": -0.11777452379465103, "rolling_leg_motion": -0.7442908883094788, "obstacle_progress": 2.0742580890655518, "wheel_body_intrusion": -0.3078555762767792, "pair_body_intrusion": -0.22976583242416382}, "weighted_reward_terms": {"track_linear_velocity": 1.7352420091629028, "track_angular_velocity": 1.8900059461593628, "upright": 0.9728565216064453, "leg_posture": -0.10616762191057205, "standstill": -0.23292194306850433, "action_rate_l2": -0.021311411634087563, "joint_torques_l2": -0.005940890405327082, "dof_pos_limits": -1.1800648280768655e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.004677680786699057, "rolling_leg_motion": -0.02956119179725647, "obstacle_progress": 0.08238383382558823, "wheel_body_intrusion": -0.012227178551256657, "pair_body_intrusion": -0.009125668555498123}, "episode_termination_rates": {"time_out": 0.42567567567567566, "fell_over": 0.05405405405405406, "course_exit": 0.5135135135135135, "illegal_nonwheel_contact": 0.033783783783783786}, "collection_time_s": 0.07578319587511942, "learning_time_s": 0.18401895588554906, "iteration_time_s": 0.4586986987366057, "policy_updates": 7650, "skipped_updates": 0, "invalid_env_resets": 42, "elapsed_s": 3646.6546549560153, "nonwheel_terminations": 10432, "contact_bce": 0.3394906222820282, "contact_force_loss": 0.024715997278690338, "collision_bce": 2.267625632157433e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 2.311350954187219e-06, "collision_label_count": 16335.0, "terrain_level_mean": 1.69384765625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [142, 162, 71, 28, 6, 1], "episodes_by_level": [[712.0, 155.0, 26.0, 0.0], [465.0, 102.0, 17.0, 0.0], [110.0, 36.0, 4.0, 0.0], [20.0, 7.0, 1.0, 0.0], [3.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [39, 324, 685, 354, 31, 0], "episodes_by_level": [[625.0, 498.0, 7.0, 0.0], [1637.0, 1006.0, 32.0, 0.0], [1387.0, 496.0, 129.0, 0.0], [329.0, 35.0, 86.0, 0.0], [11.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [7, 46, 93, 133, 164, 171], "episodes_by_level": [[180.0, 161.0, 2.0, 0.0], [467.0, 415.0, 9.0, 0.0], [568.0, 494.0, 18.0, 0.0], [481.0, 394.0, 21.0, 0.0], [342.0, 240.0, 34.0, 0.0], [204.0, 125.0, 44.0, 0.0]]}, "platform": {"level_counts": [160, 169, 63, 18, 0, 0], "episodes_by_level": [[809.0, 176.0, 32.0, 0.0], [401.0, 84.0, 25.0, 0.0], [94.0, 22.0, 9.0, 0.0], [7.0, 0.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [149, 152, 77, 24, 7, 1], "episodes_by_level": [[737.0, 169.0, 26.0, 0.0], [467.0, 104.0, 35.0, 0.0], [116.0, 35.0, 9.0, 0.0], [22.0, 8.0, 3.0, 0.0], [3.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [310, 320, 148, 41, 0, 0], "episodes_by_level": [[1465.0, 322.0, 56.0, 0.0], [937.0, 197.0, 68.0, 0.0], [208.0, 47.0, 25.0, 0.0], [27.0, 0.0, 6.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 13020, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.240234375, "command_abs_max": [0.9980267882347107, 0.3997078537940979, 0.6985939741134644]}
{"step": 8000, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 8000, "total_transitions": 32768000, "num_steps_per_env": 1, "wm_loss": 1.1847137212753296, "actor_loss": -9.382377624511719, "critic_loss": 0.0033236858434975147, "reward": 0.08514544367790222, "falls": 6, "interval_steps": 50, "velocity_mae": [0.12434609234333038, 0.07977019250392914, 0.13653592765331268], "mean_episode_length": 1351.5172413793102, "episode_reward_terms": {"track_linear_velocity": 47.03925323486328, "track_angular_velocity": 51.05414581298828, "upright": 26.293703079223633, "leg_posture": -2.8965446949005127, "standstill": -6.378185272216797, "action_rate_l2": -0.569192111492157, "joint_torques_l2": -0.16050030291080475, "dof_pos_limits": -0.0004974132170900702, "terminated": -0.01583809033036232, "unnecessary_wheel_lift": -0.12126076221466064, "rolling_leg_motion": -0.7802836298942566, "obstacle_progress": 2.192347526550293, "wheel_body_intrusion": -0.33347299695014954, "pair_body_intrusion": -0.24814727902412415}, "weighted_reward_terms": {"track_linear_velocity": 1.7402387857437134, "track_angular_velocity": 1.888771653175354, "upright": 0.9727476239204407, "leg_posture": -0.10715900361537933, "standstill": -0.23596389591693878, "action_rate_l2": -0.021057523787021637, "joint_torques_l2": -0.00593778258189559, "dof_pos_limits": -1.8402031855657697e-05, "terminated": -0.0005859374068677425, "unnecessary_wheel_lift": -0.004486097488552332, "rolling_leg_motion": -0.028866952285170555, "obstacle_progress": 0.08110690861940384, "wheel_body_intrusion": -0.012336988002061844, "pair_body_intrusion": -0.009180322289466858}, "episode_termination_rates": {"time_out": 0.4827586206896552, "fell_over": 0.027586206896551724, "course_exit": 0.47586206896551725, "illegal_nonwheel_contact": 0.013793103448275862}, "collection_time_s": 0.0756319532962516, "learning_time_s": 0.18462961530312896, "iteration_time_s": 0.45745860477312456, "policy_updates": 7700, "skipped_updates": 0, "invalid_env_resets": 42, "elapsed_s": 3659.6688381849963, "nonwheel_terminations": 10434, "contact_bce": 0.3405355215072632, "contact_force_loss": 0.02551610954105854, "collision_bce": 3.7784102460136637e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 3.817015567619819e-06, "collision_label_count": 16347.0, "terrain_level_mean": 1.701416015625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [141, 162, 71, 29, 6, 1], "episodes_by_level": [[716.0, 156.0, 26.0, 0.0], [469.0, 103.0, 17.0, 0.0], [114.0, 37.0, 4.0, 0.0], [21.0, 7.0, 1.0, 0.0], [3.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [40, 317, 682, 362, 32, 0], "episodes_by_level": [[626.0, 498.0, 7.0, 0.0], [1653.0, 1013.0, 33.0, 0.0], [1414.0, 504.0, 130.0, 0.0], [336.0, 35.0, 86.0, 0.0], [11.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [7, 44, 95, 131, 164, 173], "episodes_by_level": [[180.0, 161.0, 2.0, 0.0], [469.0, 417.0, 9.0, 0.0], [569.0, 495.0, 18.0, 0.0], [486.0, 397.0, 21.0, 0.0], [347.0, 243.0, 34.0, 0.0], [206.0, 127.0, 44.0, 0.0]]}, "platform": {"level_counts": [161, 167, 63, 19, 0, 0], "episodes_by_level": [[812.0, 176.0, 32.0, 0.0], [409.0, 85.0, 26.0, 0.0], [96.0, 23.0, 9.0, 0.0], [8.0, 0.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [149, 151, 78, 24, 7, 1], "episodes_by_level": [[738.0, 169.0, 26.0, 0.0], [473.0, 105.0, 35.0, 0.0], [120.0, 35.0, 9.0, 0.0], [22.0, 8.0, 3.0, 0.0], [4.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [308, 319, 151, 41, 0, 0], "episodes_by_level": [[1471.0, 324.0, 56.0, 0.0], [941.0, 200.0, 68.0, 0.0], [212.0, 47.0, 25.0, 0.0], [27.0, 0.0, 6.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 13145, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.238037109375, "command_abs_max": [0.9980267882347107, 0.3997078537940979, 0.6985939741134644]}
{"step": 8050, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 8050, "total_transitions": 32972800, "num_steps_per_env": 1, "wm_loss": 1.1413267850875854, "actor_loss": -9.428437232971191, "critic_loss": 0.002909035189077258, "reward": 0.08524861186742783, "falls": 8, "interval_steps": 50, "velocity_mae": [0.12622712552547455, 0.07916545122861862, 0.1367986798286438], "mean_episode_length": 1321.9626865671642, "episode_reward_terms": {"track_linear_velocity": 45.89497756958008, "track_angular_velocity": 49.937477111816406, "upright": 25.727684020996094, "leg_posture": -2.807772397994995, "standstill": -5.971834182739258, "action_rate_l2": -0.5678251385688782, "joint_torques_l2": -0.15676692128181458, "dof_pos_limits": -0.00021278455096762627, "terminated": -0.020655661821365356, "unnecessary_wheel_lift": -0.12256932258605957, "rolling_leg_motion": -0.7575029134750366, "obstacle_progress": 2.157639980316162, "wheel_body_intrusion": -0.32208576798439026, "pair_body_intrusion": -0.2950897514820099}, "weighted_reward_terms": {"track_linear_velocity": 1.7358652353286743, "track_angular_velocity": 1.8887628316879272, "upright": 0.9730865955352783, "leg_posture": -0.10619711875915527, "standstill": -0.2258700132369995, "action_rate_l2": -0.02147659659385681, "joint_torques_l2": -0.005929325241595507, "dof_pos_limits": -8.048054951359518e-06, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.004635884426534176, "rolling_leg_motion": -0.028650693595409393, "obstacle_progress": 0.08160745352506638, "wheel_body_intrusion": -0.012182106263935566, "pair_body_intrusion": -0.011161047033965588}, "episode_termination_rates": {"time_out": 0.47761194029850745, "fell_over": 0.05970149253731343, "course_exit": 0.4626865671641791, "illegal_nonwheel_contact": 0.029850746268656716}, "collection_time_s": 0.0757828332396457, "learning_time_s": 0.18617881278158166, "iteration_time_s": 0.4562477836885738, "policy_updates": 7750, "skipped_updates": 0, "invalid_env_resets": 42, "elapsed_s": 3672.7946586930193, "nonwheel_terminations": 10438, "contact_bce": 0.3403604030609131, "contact_force_loss": 0.02470492012798786, "collision_bce": 2.5268782337661833e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 2.572535322542535e-06, "collision_label_count": 16351.0, "terrain_level_mean": 1.709228515625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [142, 161, 71, 28, 7, 1], "episodes_by_level": [[721.0, 156.0, 26.0, 0.0], [475.0, 103.0, 18.0, 0.0], [114.0, 37.0, 4.0, 0.0], [23.0, 8.0, 1.0, 0.0], [3.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [39, 312, 682, 368, 32, 0], "episodes_by_level": [[627.0, 499.0, 7.0, 0.0], [1664.0, 1019.0, 33.0, 0.0], [1434.0, 513.0, 130.0, 0.0], [343.0, 36.0, 88.0, 0.0], [11.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [7, 44, 95, 128, 164, 176], "episodes_by_level": [[180.0, 161.0, 2.0, 0.0], [470.0, 418.0, 9.0, 0.0], [570.0, 496.0, 18.0, 0.0], [490.0, 400.0, 21.0, 0.0], [349.0, 245.0, 34.0, 0.0], [209.0, 130.0, 44.0, 0.0]]}, "platform": {"level_counts": [159, 168, 64, 19, 0, 0], "episodes_by_level": [[817.0, 178.0, 32.0, 0.0], [413.0, 86.0, 26.0, 0.0], [96.0, 23.0, 9.0, 0.0], [8.0, 0.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [148, 151, 78, 24, 8, 1], "episodes_by_level": [[741.0, 170.0, 27.0, 0.0], [477.0, 106.0, 35.0, 0.0], [122.0, 36.0, 9.0, 0.0], [23.0, 9.0, 3.0, 0.0], [4.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [307, 315, 156, 41, 0, 0], "episodes_by_level": [[1480.0, 325.0, 56.0, 0.0], [951.0, 205.0, 68.0, 0.0], [216.0, 47.0, 25.0, 0.0], [27.0, 0.0, 6.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 13277, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.243408203125, "command_abs_max": [0.9980267882347107, 0.3997078537940979, 0.6985939741134644]}
{"step": 8100, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 8100, "total_transitions": 33177600, "num_steps_per_env": 1, "wm_loss": 1.14430832862854, "actor_loss": -9.41842269897461, "critic_loss": 0.002763502998277545, "reward": 0.08501223474740982, "falls": 8, "interval_steps": 50, "velocity_mae": [0.12665656208992004, 0.07876766473054886, 0.13629484176635742], "mean_episode_length": 1323.941605839416, "episode_reward_terms": {"track_linear_velocity": 45.981048583984375, "track_angular_velocity": 50.034324645996094, "upright": 25.773334503173828, "leg_posture": -2.853637933731079, "standstill": -6.20645809173584, "action_rate_l2": -0.5729536414146423, "joint_torques_l2": -0.1572955697774887, "dof_pos_limits": -0.00036421665572561324, "terminated": -0.02068658359348774, "unnecessary_wheel_lift": -0.11767352372407913, "rolling_leg_motion": -0.7589288353919983, "obstacle_progress": 2.1406848430633545, "wheel_body_intrusion": -0.3741159439086914, "pair_body_intrusion": -0.31605011224746704}, "weighted_reward_terms": {"track_linear_velocity": 1.7365210056304932, "track_angular_velocity": 1.8895971775054932, "upright": 0.9733561277389526, "leg_posture": -0.10777053236961365, "standstill": -0.2343931943178177, "action_rate_l2": -0.02163817547261715, "joint_torques_l2": -0.0059404270723462105, "dof_pos_limits": -1.3755011423199903e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.004444059915840626, "rolling_leg_motion": -0.02866171859204769, "obstacle_progress": 0.08084513247013092, "wheel_body_intrusion": -0.014128868468105793, "pair_body_intrusion": -0.011935953050851822}, "episode_termination_rates": {"time_out": 0.45255474452554745, "fell_over": 0.043795620437956206, "course_exit": 0.48905109489051096, "illegal_nonwheel_contact": 0.043795620437956206}, "collection_time_s": 0.07583448537916411, "learning_time_s": 0.1850044829165563, "iteration_time_s": 0.4550416937483946, "policy_updates": 7800, "skipped_updates": 0, "invalid_env_resets": 42, "elapsed_s": 3685.8377193619963, "nonwheel_terminations": 10444, "contact_bce": 0.34183934330940247, "contact_force_loss": 0.025425897911190987, "collision_bce": 0.0004016854800283909, "collision_label_rate": 6.11359064350836e-05, "collision_prediction_mean": 3.181629381288076e-06, "collision_label_count": 16357.0, "terrain_level_mean": 1.71826171875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [140, 161, 72, 29, 7, 1], "episodes_by_level": [[724.0, 158.0, 26.0, 0.0], [479.0, 105.0, 18.0, 0.0], [116.0, 38.0, 4.0, 0.0], [23.0, 8.0, 1.0, 0.0], [3.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [38, 309, 682, 370, 34, 0], "episodes_by_level": [[628.0, 500.0, 7.0, 0.0], [1671.0, 1024.0, 33.0, 0.0], [1450.0, 518.0, 131.0, 0.0], [352.0, 38.0, 89.0, 0.0], [11.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [7, 42, 92, 132, 163, 178], "episodes_by_level": [[180.0, 161.0, 2.0, 0.0], [472.0, 420.0, 9.0, 0.0], [573.0, 499.0, 18.0, 0.0], [492.0, 401.0, 21.0, 0.0], [353.0, 249.0, 34.0, 0.0], [216.0, 137.0, 44.0, 0.0]]}, "platform": {"level_counts": [158, 167, 67, 18, 0, 0], "episodes_by_level": [[818.0, 179.0, 32.0, 0.0], [423.0, 88.0, 26.0, 0.0], [96.0, 23.0, 9.0, 0.0], [9.0, 0.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [147, 151, 79, 24, 8, 1], "episodes_by_level": [[746.0, 172.0, 27.0, 0.0], [485.0, 107.0, 36.0, 0.0], [122.0, 36.0, 9.0, 0.0], [24.0, 9.0, 3.0, 0.0], [4.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [302, 318, 158, 41, 0, 0], "episodes_by_level": [[1494.0, 330.0, 57.0, 0.0], [961.0, 208.0, 68.0, 0.0], [222.0, 47.0, 26.0, 0.0], [27.0, 0.0, 6.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 13402, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.240966796875, "command_abs_max": [0.9980267882347107, 0.3997078537940979, 0.6985939741134644]}
{"step": 8150, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 8150, "total_transitions": 33382400, "num_steps_per_env": 1, "wm_loss": 1.192684531211853, "actor_loss": -9.394216537475586, "critic_loss": 0.006702677812427282, "reward": 0.08514872193336487, "falls": 10, "interval_steps": 50, "velocity_mae": [0.12774308025836945, 0.07853463292121887, 0.13579533994197845], "mean_episode_length": 1294.1145038167938, "episode_reward_terms": {"track_linear_velocity": 44.89845275878906, "track_angular_velocity": 48.931114196777344, "upright": 25.184675216674805, "leg_posture": -2.8376123905181885, "standstill": -5.778423309326172, "action_rate_l2": -0.5529049038887024, "joint_torques_l2": -0.15405046939849854, "dof_pos_limits": -0.0003142896166536957, "terminated": -0.02527567185461521, "unnecessary_wheel_lift": -0.1329178363084793, "rolling_leg_motion": -0.7393279075622559, "obstacle_progress": 2.0631797313690186, "wheel_body_intrusion": -0.3693163990974426, "pair_body_intrusion": -0.29507744312286377}, "weighted_reward_terms": {"track_linear_velocity": 1.7347172498703003, "track_angular_velocity": 1.890524983406067, "upright": 0.9730467200279236, "leg_posture": -0.10963530093431473, "standstill": -0.22325782477855682, "action_rate_l2": -0.021362287923693657, "joint_torques_l2": -0.005951964296400547, "dof_pos_limits": -1.2143037565692794e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.005135474726557732, "rolling_leg_motion": -0.02856501005589962, "obstacle_progress": 0.07971395552158356, "wheel_body_intrusion": -0.014269077219069004, "pair_body_intrusion": -0.011400747112929821}, "episode_termination_rates": {"time_out": 0.4351145038167939, "fell_over": 0.061068702290076333, "course_exit": 0.48854961832061067, "illegal_nonwheel_contact": 0.061068702290076333}, "collection_time_s": 0.07582066362025217, "learning_time_s": 0.1849078315409133, "iteration_time_s": 0.45458061686564494, "policy_updates": 7850, "skipped_updates": 0, "invalid_env_resets": 42, "elapsed_s": 3704.832027455006, "nonwheel_terminations": 10452, "contact_bce": 0.33693045377731323, "contact_force_loss": 0.02429790422320366, "collision_bce": 0.00014842982636764646, "collision_label_rate": 6.120325269876048e-05, "collision_prediction_mean": 0.00014594546519219875, "collision_label_count": 16339.0, "terrain_level_mean": 1.72509765625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [140, 160, 73, 28, 8, 1], "episodes_by_level": [[728.0, 158.0, 26.0, 0.0], [483.0, 106.0, 18.0, 0.0], [119.0, 38.0, 4.0, 0.0], [24.0, 9.0, 1.0, 0.0], [3.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [38, 307, 681, 371, 36, 0], "episodes_by_level": [[628.0, 500.0, 7.0, 0.0], [1680.0, 1027.0, 33.0, 0.0], [1470.0, 524.0, 132.0, 0.0], [358.0, 40.0, 89.0, 0.0], [12.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [7, 40, 95, 128, 159, 185], "episodes_by_level": [[180.0, 161.0, 2.0, 0.0], [474.0, 422.0, 9.0, 0.0], [573.0, 499.0, 18.0, 0.0], [495.0, 404.0, 21.0, 0.0], [364.0, 257.0, 34.0, 0.0], [219.0, 138.0, 45.0, 0.0]]}, "platform": {"level_counts": [156, 169, 67, 18, 0, 0], "episodes_by_level": [[823.0, 181.0, 33.0, 0.0], [425.0, 88.0, 26.0, 0.0], [101.0, 23.0, 9.0, 0.0], [9.0, 0.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [146, 151, 80, 24, 8, 1], "episodes_by_level": [[748.0, 173.0, 27.0, 0.0], [488.0, 109.0, 36.0, 0.0], [125.0, 36.0, 10.0, 0.0], [24.0, 9.0, 3.0, 0.0], [5.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [301, 316, 161, 41, 0, 0], "episodes_by_level": [[1502.0, 331.0, 58.0, 0.0], [968.0, 211.0, 68.0, 0.0], [225.0, 48.0, 26.0, 0.0], [29.0, 0.0, 7.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 13523, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23876953125, "command_abs_max": [0.9980267882347107, 0.3997078537940979, 0.6985939741134644]}
{"step": 8200, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 8200, "total_transitions": 33587200, "num_steps_per_env": 1, "wm_loss": 1.1374657154083252, "actor_loss": -9.430086135864258, "critic_loss": 0.003524320898577571, "reward": 0.08527440577745438, "falls": 12, "interval_steps": 50, "velocity_mae": [0.12733572721481323, 0.07834433764219284, 0.13338562846183777], "mean_episode_length": 1317.910447761194, "episode_reward_terms": {"track_linear_velocity": 45.744510650634766, "track_angular_velocity": 49.93825912475586, "upright": 25.650074005126953, "leg_posture": -2.904275417327881, "standstill": -5.868266582489014, "action_rate_l2": -0.5584149956703186, "joint_torques_l2": -0.15579739212989807, "dof_pos_limits": -0.0003348782192915678, "terminated": -0.030888522043824196, "unnecessary_wheel_lift": -0.12115298211574554, "rolling_leg_motion": -0.7490761876106262, "obstacle_progress": 2.12339186668396, "wheel_body_intrusion": -0.3688708245754242, "pair_body_intrusion": -0.31507793068885803}, "weighted_reward_terms": {"track_linear_velocity": 1.7354940176010132, "track_angular_velocity": 1.8945999145507812, "upright": 0.9731342196464539, "leg_posture": -0.11018485575914383, "standstill": -0.22263528406620026, "action_rate_l2": -0.02118562161922455, "joint_torques_l2": -0.005910773295909166, "dof_pos_limits": -1.2704894288617652e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.004596404265612364, "rolling_leg_motion": -0.02841908670961857, "obstacle_progress": 0.08055904507637024, "wheel_body_intrusion": -0.013994533568620682, "pair_body_intrusion": -0.011953693814575672}, "episode_termination_rates": {"time_out": 0.47761194029850745, "fell_over": 0.06716417910447761, "course_exit": 0.43283582089552236, "illegal_nonwheel_contact": 0.05970149253731343}, "collection_time_s": 0.07566627899708692, "learning_time_s": 0.1857555301208049, "iteration_time_s": 0.45340297502134047, "policy_updates": 7900, "skipped_updates": 0, "invalid_env_resets": 42, "elapsed_s": 3717.904395174992, "nonwheel_terminations": 10460, "contact_bce": 0.33850404620170593, "contact_force_loss": 0.025296833366155624, "collision_bce": 0.0004526512639131397, "collision_label_rate": 6.11807918176055e-05, "collision_prediction_mean": 2.2372475996235153e-06, "collision_label_count": 16345.0, "terrain_level_mean": 1.732421875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [140, 158, 74, 29, 8, 1], "episodes_by_level": [[733.0, 160.0, 26.0, 0.0], [491.0, 108.0, 20.0, 0.0], [121.0, 39.0, 4.0, 0.0], [24.0, 9.0, 1.0, 0.0], [3.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [38, 304, 683, 369, 39, 0], "episodes_by_level": [[629.0, 500.0, 7.0, 0.0], [1687.0, 1030.0, 33.0, 0.0], [1483.0, 527.0, 132.0, 0.0], [366.0, 44.0, 90.0, 0.0], [13.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [7, 36, 96, 132, 149, 194], "episodes_by_level": [[180.0, 161.0, 2.0, 0.0], [477.0, 425.0, 9.0, 0.0], [578.0, 503.0, 18.0, 0.0], [496.0, 405.0, 21.0, 0.0], [376.0, 266.0, 35.0, 0.0], [225.0, 142.0, 45.0, 0.0]]}, "platform": {"level_counts": [155, 171, 66, 18, 0, 0], "episodes_by_level": [[825.0, 182.0, 33.0, 0.0], [431.0, 88.0, 26.0, 0.0], [102.0, 23.0, 10.0, 0.0], [9.0, 0.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [145, 152, 80, 24, 8, 1], "episodes_by_level": [[750.0, 174.0, 27.0, 0.0], [496.0, 109.0, 36.0, 0.0], [127.0, 36.0, 10.0, 0.0], [25.0, 9.0, 3.0, 0.0], [5.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [300, 313, 166, 40, 0, 0], "episodes_by_level": [[1507.0, 333.0, 58.0, 0.0], [981.0, 216.0, 69.0, 0.0], [228.0, 48.0, 27.0, 0.0], [30.0, 0.0, 8.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 13631, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.247314453125, "command_abs_max": [0.9989755153656006, 0.3997078537940979, 0.6977365612983704]}
{"step": 8250, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 8250, "total_transitions": 33792000, "num_steps_per_env": 1, "wm_loss": 1.1247438192367554, "actor_loss": -9.414473533630371, "critic_loss": 0.0028054178692400455, "reward": 0.08520166575908661, "falls": 10, "interval_steps": 50, "velocity_mae": [0.1287558227777481, 0.08003029972314835, 0.13535742461681366], "mean_episode_length": 1282.0725806451612, "episode_reward_terms": {"track_linear_velocity": 44.35459899902344, "track_angular_velocity": 48.49504089355469, "upright": 24.958179473876953, "leg_posture": -2.7776355743408203, "standstill": -5.63101053237915, "action_rate_l2": -0.5582780838012695, "joint_torques_l2": -0.15129941701889038, "dof_pos_limits": -0.000557231658603996, "terminated": -0.025040477514266968, "unnecessary_wheel_lift": -0.1329922080039978, "rolling_leg_motion": -0.7388163208961487, "obstacle_progress": 2.061764717102051, "wheel_body_intrusion": -0.34207502007484436, "pair_body_intrusion": -0.27716532349586487}, "weighted_reward_terms": {"track_linear_velocity": 1.7298005819320679, "track_angular_velocity": 1.89127516746521, "upright": 0.97335284948349, "leg_posture": -0.10832598805427551, "standstill": -0.21960575878620148, "action_rate_l2": -0.021772483363747597, "joint_torques_l2": -0.005900579039007425, "dof_pos_limits": -2.173167376895435e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.005186609923839569, "rolling_leg_motion": -0.028813356533646584, "obstacle_progress": 0.08040748536586761, "wheel_body_intrusion": -0.013340704143047333, "pair_body_intrusion": -0.010809267871081829}, "episode_termination_rates": {"time_out": 0.4274193548387097, "fell_over": 0.04032258064516129, "course_exit": 0.49193548387096775, "illegal_nonwheel_contact": 0.06451612903225806}, "collection_time_s": 0.0757810241781408, "learning_time_s": 0.1853316709003411, "iteration_time_s": 0.4522377165929718, "policy_updates": 7950, "skipped_updates": 0, "invalid_env_resets": 43, "elapsed_s": 3730.961161892017, "nonwheel_terminations": 10468, "contact_bce": 0.34154272079467773, "contact_force_loss": 0.025076936930418015, "collision_bce": 6.867582123959437e-05, "collision_label_rate": 6.115085852798074e-05, "collision_prediction_mean": 3.293107874924317e-05, "collision_label_count": 16353.0, "terrain_level_mean": 1.739990234375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [139, 159, 73, 30, 8, 1], "episodes_by_level": [[735.0, 161.0, 26.0, 0.0], [493.0, 108.0, 20.0, 0.0], [123.0, 41.0, 4.0, 0.0], [26.0, 9.0, 2.0, 0.0], [3.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [38, 298, 685, 374, 38, 0], "episodes_by_level": [[629.0, 500.0, 7.0, 0.0], [1699.0, 1037.0, 33.0, 0.0], [1499.0, 532.0, 133.0, 0.0], [370.0, 44.0, 91.0, 0.0], [14.0, 0.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [7, 34, 94, 134, 145, 200], "episodes_by_level": [[180.0, 161.0, 2.0, 0.0], [479.0, 427.0, 9.0, 0.0], [582.0, 507.0, 18.0, 0.0], [503.0, 409.0, 21.0, 0.0], [385.0, 272.0, 36.0, 0.0], [231.0, 146.0, 46.0, 0.0]]}, "platform": {"level_counts": [155, 171, 66, 18, 0, 0], "episodes_by_level": [[828.0, 182.0, 33.0, 0.0], [436.0, 88.0, 26.0, 0.0], [103.0, 23.0, 10.0, 0.0], [9.0, 0.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [142, 155, 80, 24, 8, 1], "episodes_by_level": [[754.0, 177.0, 27.0, 0.0], [501.0, 109.0, 36.0, 0.0], [129.0, 36.0, 10.0, 0.0], [25.0, 9.0, 3.0, 0.0], [5.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [300, 311, 167, 41, 0, 0], "episodes_by_level": [[1510.0, 335.0, 58.0, 0.0], [987.0, 218.0, 71.0, 0.0], [235.0, 49.0, 27.0, 0.0], [30.0, 0.0, 8.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 13746, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.243896484375, "command_abs_max": [0.9989755153656006, 0.3997078537940979, 0.6977365612983704]}
{"step": 8300, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 8300, "total_transitions": 33996800, "num_steps_per_env": 1, "wm_loss": 1.1215193271636963, "actor_loss": -9.384553909301758, "critic_loss": 0.0031045719515532255, "reward": 0.08517060428857803, "falls": 11, "interval_steps": 50, "velocity_mae": [0.1291535645723343, 0.07826177775859833, 0.13496360182762146], "mean_episode_length": 1333.8590604026845, "episode_reward_terms": {"track_linear_velocity": 46.1995735168457, "track_angular_velocity": 50.478309631347656, "upright": 25.986534118652344, "leg_posture": -2.912043809890747, "standstill": -5.880306243896484, "action_rate_l2": -0.5710527300834656, "joint_torques_l2": -0.1582086980342865, "dof_pos_limits": -0.0011118293041363358, "terminated": -0.028657125309109688, "unnecessary_wheel_lift": -0.12182293832302094, "rolling_leg_motion": -0.7852243185043335, "obstacle_progress": 2.0672311782836914, "wheel_body_intrusion": -0.3755858838558197, "pair_body_intrusion": -0.2920730710029602}, "weighted_reward_terms": {"track_linear_velocity": 1.7318012714385986, "track_angular_velocity": 1.89219069480896, "upright": 0.974111020565033, "leg_posture": -0.10915860533714294, "standstill": -0.2204245924949646, "action_rate_l2": -0.021406039595603943, "joint_torques_l2": -0.005930488463491201, "dof_pos_limits": -4.16771654272452e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.004566560033708811, "rolling_leg_motion": -0.029434308409690857, "obstacle_progress": 0.07749062031507492, "wheel_body_intrusion": -0.014078919775784016, "pair_body_intrusion": -0.010948424227535725}, "episode_termination_rates": {"time_out": 0.48322147651006714, "fell_over": 0.053691275167785234, "course_exit": 0.4429530201342282, "illegal_nonwheel_contact": 0.026845637583892617}, "collection_time_s": 0.07629738316056318, "learning_time_s": 0.1855837748001795, "iteration_time_s": 0.45109112509192845, "policy_updates": 8000, "skipped_updates": 0, "invalid_env_resets": 45, "elapsed_s": 3744.056338263006, "nonwheel_terminations": 10472, "contact_bce": 0.33689332008361816, "contact_force_loss": 0.02519962005317211, "collision_bce": 7.21655524102971e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 4.809871825273149e-05, "collision_label_count": 16343.0, "terrain_level_mean": 1.746826171875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [139, 154, 77, 31, 8, 1], "episodes_by_level": [[736.0, 161.0, 26.0, 0.0], [508.0, 113.0, 20.0, 0.0], [125.0, 42.0, 4.0, 0.0], [28.0, 9.0, 2.0, 0.0], [3.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [38, 295, 683, 380, 37, 0], "episodes_by_level": [[630.0, 501.0, 7.0, 0.0], [1710.0, 1040.0, 34.0, 0.0], [1516.0, 537.0, 133.0, 0.0], [376.0, 44.0, 91.0, 0.0], [15.0, 0.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [6, 36, 91, 135, 147, 199], "episodes_by_level": [[181.0, 162.0, 2.0, 0.0], [479.0, 427.0, 9.0, 0.0], [585.0, 510.0, 18.0, 0.0], [507.0, 412.0, 21.0, 0.0], [392.0, 274.0, 38.0, 0.0], [237.0, 150.0, 47.0, 0.0]]}, "platform": {"level_counts": [154, 170, 68, 18, 0, 0], "episodes_by_level": [[833.0, 184.0, 33.0, 0.0], [444.0, 90.0, 27.0, 0.0], [104.0, 23.0, 10.0, 0.0], [10.0, 0.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [140, 156, 81, 24, 8, 1], "episodes_by_level": [[759.0, 179.0, 27.0, 0.0], [505.0, 110.0, 36.0, 0.0], [129.0, 36.0, 10.0, 0.0], [25.0, 9.0, 3.0, 0.0], [5.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [296, 313, 168, 42, 0, 0], "episodes_by_level": [[1519.0, 339.0, 58.0, 0.0], [995.0, 220.0, 71.0, 0.0], [242.0, 51.0, 27.0, 0.0], [31.0, 0.0, 9.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 13867, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23974609375, "command_abs_max": [0.9989755153656006, 0.3997078537940979, 0.6981800198554993]}
{"step": 8350, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 8350, "total_transitions": 34201600, "num_steps_per_env": 1, "wm_loss": 1.1053032875061035, "actor_loss": -9.405864715576172, "critic_loss": 0.022610513493418694, "reward": 0.08509443700313568, "falls": 11, "interval_steps": 50, "velocity_mae": [0.1286071538925171, 0.07998896390199661, 0.13348595798015594], "mean_episode_length": 1332.4930555555557, "episode_reward_terms": {"track_linear_velocity": 46.06700134277344, "track_angular_velocity": 50.46759033203125, "upright": 25.943134307861328, "leg_posture": -2.907949209213257, "standstill": -5.955356597900391, "action_rate_l2": -0.5724303126335144, "joint_torques_l2": -0.15821926295757294, "dof_pos_limits": -0.0008695519063621759, "terminated": -0.028627777472138405, "unnecessary_wheel_lift": -0.12490331381559372, "rolling_leg_motion": -0.7818341255187988, "obstacle_progress": 2.1007916927337646, "wheel_body_intrusion": -0.34717854857444763, "pair_body_intrusion": -0.31339597702026367}, "weighted_reward_terms": {"track_linear_velocity": 1.7286019325256348, "track_angular_velocity": 1.8937281370162964, "upright": 0.9734810590744019, "leg_posture": -0.10911685973405838, "standstill": -0.22346670925617218, "action_rate_l2": -0.02147967368364334, "joint_torques_l2": -0.005936963949352503, "dof_pos_limits": -3.262875907239504e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.00468682823702693, "rolling_leg_motion": -0.029337270185351372, "obstacle_progress": 0.07882937043905258, "wheel_body_intrusion": -0.013027406297624111, "pair_body_intrusion": -0.011759759858250618}, "episode_termination_rates": {"time_out": 0.4513888888888889, "fell_over": 0.05555555555555555, "course_exit": 0.4722222222222222, "illegal_nonwheel_contact": 0.020833333333333332}, "collection_time_s": 0.07556671296129934, "learning_time_s": 0.19319774609757587, "iteration_time_s": 0.44999947629772435, "policy_updates": 8050, "skipped_updates": 0, "invalid_env_resets": 45, "elapsed_s": 3757.4956270859984, "nonwheel_terminations": 10475, "contact_bce": 0.3368503153324127, "contact_force_loss": 0.02486233040690422, "collision_bce": 1.6946831237873994e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.662101385591086e-05, "collision_label_count": 16355.0, "terrain_level_mean": 1.75341796875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [138, 155, 77, 31, 8, 1], "episodes_by_level": [[737.0, 162.0, 26.0, 0.0], [513.0, 113.0, 20.0, 0.0], [127.0, 42.0, 4.0, 0.0], [30.0, 9.0, 2.0, 0.0], [3.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [36, 292, 685, 382, 38, 0], "episodes_by_level": [[632.0, 503.0, 7.0, 0.0], [1719.0, 1047.0, 34.0, 0.0], [1534.0, 542.0, 134.0, 0.0], [386.0, 45.0, 92.0, 0.0], [15.0, 0.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [5, 35, 92, 133, 149, 200], "episodes_by_level": [[182.0, 163.0, 2.0, 0.0], [481.0, 429.0, 9.0, 0.0], [587.0, 512.0, 18.0, 0.0], [512.0, 416.0, 21.0, 0.0], [395.0, 276.0, 38.0, 0.0], [242.0, 153.0, 47.0, 0.0]]}, "platform": {"level_counts": [152, 171, 69, 18, 0, 0], "episodes_by_level": [[839.0, 186.0, 33.0, 0.0], [449.0, 91.0, 27.0, 0.0], [106.0, 23.0, 10.0, 0.0], [11.0, 0.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [140, 156, 80, 25, 8, 1], "episodes_by_level": [[763.0, 179.0, 28.0, 0.0], [510.0, 110.0, 36.0, 0.0], [133.0, 37.0, 10.0, 0.0], [25.0, 9.0, 3.0, 0.0], [5.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [295, 312, 170, 42, 0, 0], "episodes_by_level": [[1524.0, 341.0, 58.0, 0.0], [1013.0, 223.0, 72.0, 0.0], [247.0, 52.0, 28.0, 0.0], [33.0, 0.0, 10.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 13973, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.239501953125, "command_abs_max": [0.9993589520454407, 0.3997078537940979, 0.6996189951896667]}
{"step": 8400, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 8400, "total_transitions": 34406400, "num_steps_per_env": 1, "wm_loss": 1.1678532361984253, "actor_loss": -9.389819145202637, "critic_loss": 0.005389137659221888, "reward": 0.08470342308282852, "falls": 6, "interval_steps": 50, "velocity_mae": [0.12916310131549835, 0.0804542824625969, 0.1345565766096115], "mean_episode_length": 1251.0125, "episode_reward_terms": {"track_linear_velocity": 43.2232666015625, "track_angular_velocity": 47.34788513183594, "upright": 24.331445693969727, "leg_posture": -2.7517709732055664, "standstill": -5.968242645263672, "action_rate_l2": -0.5435819625854492, "joint_torques_l2": -0.15004824101924896, "dof_pos_limits": -0.0007461383938789368, "terminated": -0.014660300686955452, "unnecessary_wheel_lift": -0.13197822868824005, "rolling_leg_motion": -0.7410834431648254, "obstacle_progress": 1.9436304569244385, "wheel_body_intrusion": -0.3133082091808319, "pair_body_intrusion": -0.26579785346984863}, "weighted_reward_terms": {"track_linear_velocity": 1.7275315523147583, "track_angular_velocity": 1.8923826217651367, "upright": 0.972470223903656, "leg_posture": -0.10998176038265228, "standstill": -0.2385365068912506, "action_rate_l2": -0.02172568067908287, "joint_torques_l2": -0.00599707243964076, "dof_pos_limits": -2.982138357765507e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.005274856463074684, "rolling_leg_motion": -0.02961934730410576, "obstacle_progress": 0.07768230140209198, "wheel_body_intrusion": -0.012522186152637005, "pair_body_intrusion": -0.010623309761285782}, "episode_termination_rates": {"time_out": 0.36875, "fell_over": 0.025, "course_exit": 0.59375, "illegal_nonwheel_contact": 0.01875}, "collection_time_s": 0.07605901128146797, "learning_time_s": 0.18575474937912076, "iteration_time_s": 0.4488794613678571, "policy_updates": 8100, "skipped_updates": 0, "invalid_env_resets": 46, "elapsed_s": 3770.5874754899996, "nonwheel_terminations": 10478, "contact_bce": 0.3370843529701233, "contact_force_loss": 0.024891285225749016, "collision_bce": 0.00012046602205373347, "collision_label_rate": 6.117704469943419e-05, "collision_prediction_mean": 1.335185606876621e-05, "collision_label_count": 16346.0, "terrain_level_mean": 1.76611328125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [136, 157, 73, 35, 8, 1], "episodes_by_level": [[740.0, 164.0, 27.0, 0.0], [517.0, 113.0, 20.0, 0.0], [132.0, 46.0, 4.0, 0.0], [31.0, 9.0, 2.0, 0.0], [3.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [34, 288, 686, 386, 39, 0], "episodes_by_level": [[634.0, 505.0, 7.0, 0.0], [1726.0, 1053.0, 34.0, 0.0], [1555.0, 547.0, 134.0, 0.0], [391.0, 46.0, 92.0, 0.0], [15.0, 0.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [5, 33, 90, 126, 156, 204], "episodes_by_level": [[182.0, 163.0, 2.0, 0.0], [482.0, 430.0, 9.0, 0.0], [591.0, 516.0, 18.0, 0.0], [524.0, 427.0, 21.0, 0.0], [404.0, 282.0, 38.0, 0.0], [253.0, 162.0, 48.0, 0.0]]}, "platform": {"level_counts": [151, 172, 69, 18, 0, 0], "episodes_by_level": [[841.0, 187.0, 33.0, 0.0], [454.0, 91.0, 27.0, 0.0], [106.0, 23.0, 10.0, 0.0], [11.0, 0.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [141, 154, 79, 26, 9, 1], "episodes_by_level": [[766.0, 179.0, 28.0, 0.0], [516.0, 111.0, 37.0, 0.0], [137.0, 39.0, 10.0, 0.0], [26.0, 10.0, 3.0, 0.0], [5.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [291, 316, 167, 45, 0, 0], "episodes_by_level": [[1537.0, 345.0, 59.0, 0.0], [1025.0, 224.0, 72.0, 0.0], [253.0, 55.0, 29.0, 0.0], [34.0, 0.0, 10.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 14090, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.236083984375, "command_abs_max": [0.9993589520454407, 0.3997078537940979, 0.6996189951896667]}
{"step": 8450, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 8450, "total_transitions": 34611200, "num_steps_per_env": 1, "wm_loss": 1.1435743570327759, "actor_loss": -9.427525520324707, "critic_loss": 0.0025535346940159798, "reward": 0.08515409380197525, "falls": 7, "interval_steps": 50, "velocity_mae": [0.12776532769203186, 0.08060804754495621, 0.1347762495279312], "mean_episode_length": 1311.1278195488721, "episode_reward_terms": {"track_linear_velocity": 45.37489318847656, "track_angular_velocity": 49.62660598754883, "upright": 25.513996124267578, "leg_posture": -2.8997528553009033, "standstill": -5.751016616821289, "action_rate_l2": -0.5626410841941833, "joint_torques_l2": -0.15745967626571655, "dof_pos_limits": -0.0015887883491814137, "terminated": -0.017925573512911797, "unnecessary_wheel_lift": -0.139404758810997, "rolling_leg_motion": -0.7668099999427795, "obstacle_progress": 2.0422911643981934, "wheel_body_intrusion": -0.330871045589447, "pair_body_intrusion": -0.2824118137359619}, "weighted_reward_terms": {"track_linear_velocity": 1.7303766012191772, "track_angular_velocity": 1.892516016960144, "upright": 0.972978949546814, "leg_posture": -0.1105823889374733, "standstill": -0.21931563317775726, "action_rate_l2": -0.02145637944340706, "joint_torques_l2": -0.006004741881042719, "dof_pos_limits": -6.058861981728114e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.005316215567290783, "rolling_leg_motion": -0.02924238331615925, "obstacle_progress": 0.07788299769163132, "wheel_body_intrusion": -0.012617803178727627, "pair_body_intrusion": -0.010769804939627647}, "episode_termination_rates": {"time_out": 0.42105263157894735, "fell_over": 0.05263157894736842, "course_exit": 0.5263157894736842, "illegal_nonwheel_contact": 0.022556390977443608}, "collection_time_s": 0.0757300513208611, "learning_time_s": 0.18451529564335942, "iteration_time_s": 0.4477634101084016, "policy_updates": 8150, "skipped_updates": 0, "invalid_env_resets": 46, "elapsed_s": 3783.6008154159936, "nonwheel_terminations": 10481, "contact_bce": 0.3389396667480469, "contact_force_loss": 0.025291135534644127, "collision_bce": 0.0002554919046815485, "collision_label_rate": 0.0, "collision_prediction_mean": 0.00015309698937926441, "collision_label_count": 16321.0, "terrain_level_mean": 1.77294921875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [135, 157, 74, 35, 8, 1], "episodes_by_level": [[742.0, 165.0, 27.0, 0.0], [522.0, 114.0, 20.0, 0.0], [134.0, 46.0, 4.0, 0.0], [33.0, 9.0, 2.0, 0.0], [3.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [34, 283, 683, 393, 40, 0], "episodes_by_level": [[634.0, 505.0, 7.0, 0.0], [1734.0, 1059.0, 34.0, 0.0], [1584.0, 556.0, 135.0, 0.0], [404.0, 47.0, 93.0, 0.0], [15.0, 0.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [5, 31, 91, 127, 153, 207], "episodes_by_level": [[182.0, 163.0, 2.0, 0.0], [484.0, 432.0, 9.0, 0.0], [593.0, 518.0, 18.0, 0.0], [525.0, 427.0, 21.0, 0.0], [409.0, 286.0, 38.0, 0.0], [265.0, 171.0, 49.0, 0.0]]}, "platform": {"level_counts": [150, 172, 70, 18, 0, 0], "episodes_by_level": [[843.0, 188.0, 33.0, 0.0], [458.0, 92.0, 27.0, 0.0], [107.0, 23.0, 10.0, 0.0], [11.0, 0.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [141, 153, 81, 25, 9, 1], "episodes_by_level": [[768.0, 179.0, 28.0, 0.0], [518.0, 112.0, 37.0, 0.0], [138.0, 39.0, 10.0, 0.0], [28.0, 10.0, 4.0, 0.0], [5.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [288, 318, 168, 45, 0, 0], "episodes_by_level": [[1545.0, 348.0, 60.0, 0.0], [1033.0, 226.0, 72.0, 0.0], [259.0, 55.0, 30.0, 0.0], [34.0, 0.0, 10.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 14204, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23291015625, "command_abs_max": [0.9993589520454407, 0.3997078537940979, 0.6998647451400757]}
{"step": 8500, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 8500, "total_transitions": 34816000, "num_steps_per_env": 1, "wm_loss": 1.0838751792907715, "actor_loss": -9.411966323852539, "critic_loss": 0.004322147462517023, "reward": 0.0846729651093483, "falls": 14, "interval_steps": 50, "velocity_mae": [0.12864068150520325, 0.08077328652143478, 0.1346902847290039], "mean_episode_length": 1209.7835820895523, "episode_reward_terms": {"track_linear_velocity": 41.820533752441406, "track_angular_velocity": 45.78301239013672, "upright": 23.533884048461914, "leg_posture": -2.6446385383605957, "standstill": -5.85650634765625, "action_rate_l2": -0.5293563008308411, "joint_torques_l2": -0.14448150992393494, "dof_pos_limits": -0.0008513786015100777, "terminated": -0.03308001533150673, "unnecessary_wheel_lift": -0.14254598319530487, "rolling_leg_motion": -0.7006848454475403, "obstacle_progress": 1.905543327331543, "wheel_body_intrusion": -0.3045477867126465, "pair_body_intrusion": -0.25033074617385864}, "weighted_reward_terms": {"track_linear_velocity": 1.7284303903579712, "track_angular_velocity": 1.8921984434127808, "upright": 0.9726485013961792, "leg_posture": -0.10930213332176208, "standstill": -0.24204768240451813, "action_rate_l2": -0.021878140047192574, "joint_torques_l2": -0.005971378646790981, "dof_pos_limits": -3.518722951412201e-05, "terminated": -0.0013671873603016138, "unnecessary_wheel_lift": -0.005891383625566959, "rolling_leg_motion": -0.02895910106599331, "obstacle_progress": 0.07875555008649826, "wheel_body_intrusion": -0.012586871162056923, "pair_body_intrusion": -0.010346096940338612}, "episode_termination_rates": {"time_out": 0.3582089552238806, "fell_over": 0.08955223880597014, "course_exit": 0.5373134328358209, "illegal_nonwheel_contact": 0.06716417910447761}, "collection_time_s": 0.07565950490126852, "learning_time_s": 0.18433677427994552, "iteration_time_s": 0.44665902988400025, "policy_updates": 8200, "skipped_updates": 0, "invalid_env_resets": 46, "elapsed_s": 3796.601754014002, "nonwheel_terminations": 10490, "contact_bce": 0.3433617055416107, "contact_force_loss": 0.024517973884940147, "collision_bce": 4.489926141104661e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 4.2724412196548656e-05, "collision_label_count": 16363.0, "terrain_level_mean": 1.781982421875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [133, 158, 75, 35, 8, 1], "episodes_by_level": [[746.0, 167.0, 27.0, 0.0], [529.0, 115.0, 20.0, 0.0], [135.0, 46.0, 4.0, 0.0], [33.0, 9.0, 2.0, 0.0], [3.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [34, 278, 682, 397, 42, 0], "episodes_by_level": [[634.0, 505.0, 7.0, 0.0], [1741.0, 1065.0, 34.0, 0.0], [1598.0, 563.0, 136.0, 0.0], [413.0, 49.0, 94.0, 0.0], [15.0, 0.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [5, 30, 86, 124, 165, 204], "episodes_by_level": [[182.0, 163.0, 2.0, 0.0], [485.0, 433.0, 9.0, 0.0], [600.0, 524.0, 18.0, 0.0], [536.0, 437.0, 21.0, 0.0], [416.0, 288.0, 39.0, 0.0], [273.0, 176.0, 50.0, 0.0]]}, "platform": {"level_counts": [149, 173, 70, 18, 0, 0], "episodes_by_level": [[846.0, 189.0, 35.0, 0.0], [459.0, 92.0, 27.0, 0.0], [109.0, 23.0, 10.0, 0.0], [11.0, 0.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [139, 153, 83, 24, 10, 1], "episodes_by_level": [[775.0, 181.0, 28.0, 0.0], [520.0, 114.0, 37.0, 0.0], [139.0, 39.0, 10.0, 0.0], [29.0, 11.0, 4.0, 0.0], [6.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [286, 321, 166, 46, 0, 0], "episodes_by_level": [[1548.0, 350.0, 61.0, 0.0], [1042.0, 228.0, 72.0, 0.0], [267.0, 56.0, 33.0, 0.0], [34.0, 0.0, 10.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 14312, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2314453125, "command_abs_max": [0.9993589520454407, 0.3997078537940979, 0.6998647451400757]}
{"step": 8550, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 8550, "total_transitions": 35020800, "num_steps_per_env": 1, "wm_loss": 1.088484764099121, "actor_loss": -9.37259292602539, "critic_loss": 0.004761864431202412, "reward": 0.08490338921546936, "falls": 13, "interval_steps": 50, "velocity_mae": [0.12652328610420227, 0.08071377873420715, 0.13565833866596222], "mean_episode_length": 1313.4012738853503, "episode_reward_terms": {"track_linear_velocity": 45.503875732421875, "track_angular_velocity": 49.661521911621094, "upright": 25.519174575805664, "leg_posture": -2.805466890335083, "standstill": -6.224289417266846, "action_rate_l2": -0.5807215571403503, "joint_torques_l2": -0.15886101126670837, "dof_pos_limits": -0.0008875967469066381, "terminated": -0.03334807604551315, "unnecessary_wheel_lift": -0.1275409609079361, "rolling_leg_motion": -0.7604917287826538, "obstacle_progress": 2.2001090049743652, "wheel_body_intrusion": -0.3495074212551117, "pair_body_intrusion": -0.33135905861854553}, "weighted_reward_terms": {"track_linear_velocity": 1.732291579246521, "track_angular_velocity": 1.8905694484710693, "upright": 0.9714919328689575, "leg_posture": -0.1068015918135643, "standstill": -0.23695307970046997, "action_rate_l2": -0.022107545286417007, "joint_torques_l2": -0.006047695875167847, "dof_pos_limits": -3.379000918357633e-05, "terminated": -0.0012695310870185494, "unnecessary_wheel_lift": -0.004855369683355093, "rolling_leg_motion": -0.028951233252882957, "obstacle_progress": 0.08375617116689682, "wheel_body_intrusion": -0.013305431231856346, "pair_body_intrusion": -0.012614539824426174}, "episode_termination_rates": {"time_out": 0.43312101910828027, "fell_over": 0.06369426751592357, "course_exit": 0.4840764331210191, "illegal_nonwheel_contact": 0.044585987261146494}, "collection_time_s": 0.07553044060070534, "learning_time_s": 0.18528567703906446, "iteration_time_s": 0.44557539001508883, "policy_updates": 8250, "skipped_updates": 0, "invalid_env_resets": 46, "elapsed_s": 3809.6695846290095, "nonwheel_terminations": 10497, "contact_bce": 0.33465343713760376, "contact_force_loss": 0.024570826441049576, "collision_bce": 0.00013046282401774079, "collision_label_rate": 0.00012239902571309358, "collision_prediction_mean": 8.32902587717399e-05, "collision_label_count": 16340.0, "terrain_level_mean": 1.789306640625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [131, 155, 80, 35, 8, 1], "episodes_by_level": [[749.0, 169.0, 27.0, 0.0], [537.0, 120.0, 20.0, 0.0], [139.0, 46.0, 4.0, 0.0], [33.0, 9.0, 2.0, 0.0], [3.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [34, 276, 676, 405, 42, 0], "episodes_by_level": [[634.0, 505.0, 7.0, 0.0], [1747.0, 1068.0, 34.0, 0.0], [1619.0, 571.0, 136.0, 0.0], [423.0, 49.0, 94.0, 0.0], [15.0, 0.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [6, 28, 82, 128, 167, 203], "episodes_by_level": [[182.0, 163.0, 2.0, 0.0], [486.0, 434.0, 9.0, 0.0], [606.0, 529.0, 18.0, 0.0], [539.0, 440.0, 21.0, 0.0], [420.0, 291.0, 39.0, 0.0], [285.0, 184.0, 51.0, 0.0]]}, "platform": {"level_counts": [148, 173, 71, 18, 0, 0], "episodes_by_level": [[849.0, 190.0, 35.0, 0.0], [463.0, 93.0, 27.0, 0.0], [112.0, 23.0, 10.0, 0.0], [11.0, 0.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [139, 153, 82, 25, 10, 1], "episodes_by_level": [[783.0, 181.0, 31.0, 0.0], [524.0, 114.0, 37.0, 0.0], [143.0, 40.0, 10.0, 0.0], [30.0, 11.0, 4.0, 0.0], [6.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [283, 325, 163, 47, 1, 0], "episodes_by_level": [[1558.0, 354.0, 61.0, 0.0], [1050.0, 228.0, 73.0, 0.0], [275.0, 58.0, 34.0, 0.0], [36.0, 1.0, 10.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 14434, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.232421875, "command_abs_max": [0.9993589520454407, 0.3997078537940979, 0.6998647451400757]}
{"step": 8600, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 8600, "total_transitions": 35225600, "num_steps_per_env": 1, "wm_loss": 1.1142325401306152, "actor_loss": -9.395275115966797, "critic_loss": 0.0058611491695046425, "reward": 0.08445573598146439, "falls": 11, "interval_steps": 50, "velocity_mae": [0.12950019538402557, 0.08104316145181656, 0.1374308168888092], "mean_episode_length": 1322.7622377622379, "episode_reward_terms": {"track_linear_velocity": 45.64842224121094, "track_angular_velocity": 49.93623352050781, "upright": 25.68831443786621, "leg_posture": -2.776233434677124, "standstill": -6.702747344970703, "action_rate_l2": -0.584680438041687, "joint_torques_l2": -0.1607489436864853, "dof_pos_limits": -0.0007066646940074861, "terminated": -0.02841871604323387, "unnecessary_wheel_lift": -0.1281387358903885, "rolling_leg_motion": -0.7582101225852966, "obstacle_progress": 2.2242815494537354, "wheel_body_intrusion": -0.34416449069976807, "pair_body_intrusion": -0.29834526777267456}, "weighted_reward_terms": {"track_linear_velocity": 1.7254962921142578, "track_angular_velocity": 1.8875740766525269, "upright": 0.9710103273391724, "leg_posture": -0.10494076460599899, "standstill": -0.2533617615699768, "action_rate_l2": -0.022100739181041718, "joint_torques_l2": -0.006076260004192591, "dof_pos_limits": -2.6711706595961004e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.004843604750931263, "rolling_leg_motion": -0.028660109266638756, "obstacle_progress": 0.0840771496295929, "wheel_body_intrusion": -0.013009310699999332, "pair_body_intrusion": -0.011277358047664165}, "episode_termination_rates": {"time_out": 0.46853146853146854, "fell_over": 0.06993006993006994, "course_exit": 0.45454545454545453, "illegal_nonwheel_contact": 0.027972027972027972}, "collection_time_s": 0.07562711116217542, "learning_time_s": 0.18385403801919892, "iteration_time_s": 0.444493581311629, "policy_updates": 8300, "skipped_updates": 0, "invalid_env_resets": 46, "elapsed_s": 3822.6447992800095, "nonwheel_terminations": 10501, "contact_bce": 0.3292770981788635, "contact_force_loss": 0.024709153920412064, "collision_bce": 0.000956317933741957, "collision_label_rate": 0.00018358729721512645, "collision_prediction_mean": 0.00030061654979363084, "collision_label_count": 16341.0, "terrain_level_mean": 1.79541015625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [132, 153, 81, 35, 8, 1], "episodes_by_level": [[753.0, 169.0, 27.0, 0.0], [546.0, 121.0, 21.0, 0.0], [140.0, 46.0, 4.0, 0.0], [33.0, 9.0, 2.0, 0.0], [4.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [33, 274, 673, 409, 44, 0], "episodes_by_level": [[636.0, 506.0, 7.0, 0.0], [1756.0, 1072.0, 34.0, 0.0], [1635.0, 577.0, 137.0, 0.0], [437.0, 51.0, 94.0, 0.0], [15.0, 0.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [5, 29, 82, 129, 163, 206], "episodes_by_level": [[183.0, 164.0, 2.0, 0.0], [488.0, 435.0, 9.0, 0.0], [606.0, 529.0, 18.0, 0.0], [543.0, 443.0, 21.0, 0.0], [428.0, 296.0, 41.0, 0.0], [292.0, 190.0, 51.0, 0.0]]}, "platform": {"level_counts": [145, 176, 71, 18, 0, 0], "episodes_by_level": [[855.0, 193.0, 35.0, 0.0], [471.0, 94.0, 27.0, 0.0], [115.0, 23.0, 11.0, 0.0], [11.0, 0.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [138, 153, 82, 26, 10, 1], "episodes_by_level": [[785.0, 182.0, 31.0, 0.0], [528.0, 115.0, 37.0, 0.0], [145.0, 41.0, 10.0, 0.0], [30.0, 11.0, 4.0, 0.0], [6.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [282, 324, 164, 48, 1, 0], "episodes_by_level": [[1561.0, 355.0, 61.0, 0.0], [1058.0, 231.0, 73.0, 0.0], [280.0, 59.0, 35.0, 0.0], [38.0, 1.0, 10.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 14560, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.230712890625, "command_abs_max": [0.9993589520454407, 0.3997078537940979, 0.6996189951896667]}
{"step": 8650, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 8650, "total_transitions": 35430400, "num_steps_per_env": 1, "wm_loss": 1.063349962234497, "actor_loss": -9.403851509094238, "critic_loss": 0.006435600109398365, "reward": 0.08489085733890533, "falls": 9, "interval_steps": 50, "velocity_mae": [0.12634995579719543, 0.08189263194799423, 0.13464689254760742], "mean_episode_length": 1266.5974025974026, "episode_reward_terms": {"track_linear_velocity": 43.851341247558594, "track_angular_velocity": 47.916500091552734, "upright": 24.60502052307129, "leg_posture": -2.672255754470825, "standstill": -6.1476311683654785, "action_rate_l2": -0.5490058064460754, "joint_torques_l2": -0.15545684099197388, "dof_pos_limits": -0.0004366848152130842, "terminated": -0.022264404222369194, "unnecessary_wheel_lift": -0.12489116936922073, "rolling_leg_motion": -0.7197606563568115, "obstacle_progress": 2.1203196048736572, "wheel_body_intrusion": -0.3138577342033386, "pair_body_intrusion": -0.2650916874408722}, "weighted_reward_terms": {"track_linear_velocity": 1.731068730354309, "track_angular_velocity": 1.8915443420410156, "upright": 0.9713039398193359, "leg_posture": -0.10548954457044601, "standstill": -0.24268293380737305, "action_rate_l2": -0.02167246676981449, "joint_torques_l2": -0.006136790383607149, "dof_pos_limits": -1.7238502550753765e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.004930184222757816, "rolling_leg_motion": -0.028413159772753716, "obstacle_progress": 0.08370140939950943, "wheel_body_intrusion": -0.012389798648655415, "pair_body_intrusion": -0.01046471856534481}, "episode_termination_rates": {"time_out": 0.461038961038961, "fell_over": 0.03896103896103896, "course_exit": 0.4805194805194805, "illegal_nonwheel_contact": 0.032467532467532464}, "collection_time_s": 0.07562455089762807, "learning_time_s": 0.18495113806100563, "iteration_time_s": 0.4434306036957238, "policy_updates": 8350, "skipped_updates": 0, "invalid_env_resets": 46, "elapsed_s": 3835.674721968011, "nonwheel_terminations": 10506, "contact_bce": 0.33028295636177063, "contact_force_loss": 0.024104293435811996, "collision_bce": 6.127639062469825e-05, "collision_label_rate": 6.119201862020418e-05, "collision_prediction_mean": 6.705473060719669e-05, "collision_label_count": 16342.0, "terrain_level_mean": 1.806640625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [131, 152, 81, 36, 9, 1], "episodes_by_level": [[756.0, 170.0, 27.0, 0.0], [553.0, 124.0, 21.0, 0.0], [146.0, 48.0, 5.0, 0.0], [35.0, 10.0, 2.0, 0.0], [4.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [33, 266, 673, 414, 47, 0], "episodes_by_level": [[638.0, 507.0, 7.0, 0.0], [1766.0, 1080.0, 34.0, 0.0], [1656.0, 584.0, 137.0, 0.0], [444.0, 54.0, 94.0, 0.0], [16.0, 0.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [5, 29, 76, 132, 162, 210], "episodes_by_level": [[183.0, 164.0, 2.0, 0.0], [489.0, 436.0, 9.0, 0.0], [613.0, 535.0, 19.0, 0.0], [548.0, 447.0, 21.0, 0.0], [434.0, 302.0, 41.0, 0.0], [294.0, 192.0, 51.0, 0.0]]}, "platform": {"level_counts": [142, 176, 72, 20, 0, 0], "episodes_by_level": [[859.0, 196.0, 35.0, 0.0], [482.0, 97.0, 27.0, 0.0], [117.0, 25.0, 11.0, 0.0], [11.0, 0.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [140, 151, 82, 26, 10, 1], "episodes_by_level": [[788.0, 182.0, 31.0, 0.0], [533.0, 115.0, 39.0, 0.0], [150.0, 41.0, 10.0, 0.0], [30.0, 11.0, 4.0, 0.0], [6.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [280, 325, 166, 47, 1, 0], "episodes_by_level": [[1567.0, 357.0, 61.0, 0.0], [1065.0, 232.0, 73.0, 0.0], [285.0, 59.0, 35.0, 0.0], [40.0, 1.0, 11.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 14677, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234375, "command_abs_max": [0.9998849630355835, 0.3997078537940979, 0.6996189951896667]}
{"step": 8700, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 8700, "total_transitions": 35635200, "num_steps_per_env": 1, "wm_loss": 1.0930269956588745, "actor_loss": -9.40998363494873, "critic_loss": 0.004683183506131172, "reward": 0.08470266312360764, "falls": 7, "interval_steps": 50, "velocity_mae": [0.1277269721031189, 0.08204200863838196, 0.13466444611549377], "mean_episode_length": 1318.5350318471337, "episode_reward_terms": {"track_linear_velocity": 45.56077194213867, "track_angular_velocity": 49.900150299072266, "upright": 25.611051559448242, "leg_posture": -2.788107395172119, "standstill": -6.579556465148926, "action_rate_l2": -0.5713123083114624, "joint_torques_l2": -0.1613328605890274, "dof_pos_limits": -0.00023300416069105268, "terminated": -0.018026843667030334, "unnecessary_wheel_lift": -0.13713109493255615, "rolling_leg_motion": -0.7535386681556702, "obstacle_progress": 2.1996450424194336, "wheel_body_intrusion": -0.31238242983818054, "pair_body_intrusion": -0.2665868103504181}, "weighted_reward_terms": {"track_linear_velocity": 1.727704405784607, "track_angular_velocity": 1.8922573328018188, "upright": 0.9711934328079224, "leg_posture": -0.10572747141122818, "standstill": -0.2495025396347046, "action_rate_l2": -0.021664662286639214, "joint_torques_l2": -0.006117882672697306, "dof_pos_limits": -8.835721018840559e-06, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.005200130864977837, "rolling_leg_motion": -0.02857484482228756, "obstacle_progress": 0.08341246098279953, "wheel_body_intrusion": -0.011845814995467663, "pair_body_intrusion": -0.010109204798936844}, "episode_termination_rates": {"time_out": 0.4394904458598726, "fell_over": 0.044585987261146494, "course_exit": 0.5159235668789809, "illegal_nonwheel_contact": 0.006369426751592357}, "collection_time_s": 0.07564671223983169, "learning_time_s": 0.18510077042214107, "iteration_time_s": 0.4423808300343674, "policy_updates": 8400, "skipped_updates": 0, "invalid_env_resets": 46, "elapsed_s": 3848.7132212989964, "nonwheel_terminations": 10507, "contact_bce": 0.33768877387046814, "contact_force_loss": 0.025444135069847107, "collision_bce": 1.0215327165497001e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.0136809578398243e-05, "collision_label_count": 16377.0, "terrain_level_mean": 1.817138671875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [130, 152, 82, 35, 10, 1], "episodes_by_level": [[762.0, 172.0, 27.0, 0.0], [560.0, 125.0, 22.0, 0.0], [147.0, 48.0, 5.0, 0.0], [36.0, 11.0, 2.0, 0.0], [5.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [33, 260, 677, 414, 49, 0], "episodes_by_level": [[639.0, 508.0, 7.0, 0.0], [1778.0, 1086.0, 34.0, 0.0], [1669.0, 586.0, 137.0, 0.0], [458.0, 56.0, 94.0, 0.0], [16.0, 0.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [5, 27, 77, 130, 157, 218], "episodes_by_level": [[184.0, 164.0, 2.0, 0.0], [492.0, 438.0, 9.0, 0.0], [615.0, 537.0, 19.0, 0.0], [553.0, 451.0, 21.0, 0.0], [443.0, 310.0, 42.0, 0.0], [304.0, 197.0, 51.0, 0.0]]}, "platform": {"level_counts": [141, 176, 73, 19, 1, 0], "episodes_by_level": [[861.0, 197.0, 35.0, 0.0], [485.0, 98.0, 27.0, 0.0], [120.0, 25.0, 11.0, 0.0], [13.0, 1.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [138, 152, 83, 26, 10, 1], "episodes_by_level": [[792.0, 184.0, 31.0, 0.0], [537.0, 116.0, 39.0, 0.0], [150.0, 41.0, 10.0, 0.0], [30.0, 11.0, 4.0, 0.0], [6.0, 1.0, 0.0, 0.0], [2.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [275, 326, 169, 48, 1, 0], "episodes_by_level": [[1580.0, 362.0, 62.0, 0.0], [1078.0, 237.0, 73.0, 0.0], [293.0, 60.0, 36.0, 0.0], [41.0, 1.0, 11.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 14796, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.231201171875, "command_abs_max": [0.9998849630355835, 0.3997078537940979, 0.6994151473045349]}
{"step": 8750, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 8750, "total_transitions": 35840000, "num_steps_per_env": 1, "wm_loss": 1.0823203325271606, "actor_loss": -9.419639587402344, "critic_loss": 0.0030132983811199665, "reward": 0.08424435555934906, "falls": 16, "interval_steps": 50, "velocity_mae": [0.12781758606433868, 0.08088130503892899, 0.1362084299325943], "mean_episode_length": 1298.2614379084966, "episode_reward_terms": {"track_linear_velocity": 44.947105407714844, "track_angular_velocity": 49.072601318359375, "upright": 25.212488174438477, "leg_posture": -2.738487958908081, "standstill": -7.022972106933594, "action_rate_l2": -0.5620808601379395, "joint_torques_l2": -0.1578441709280014, "dof_pos_limits": -0.0008789915591478348, "terminated": -0.040570665150880814, "unnecessary_wheel_lift": -0.12035667896270752, "rolling_leg_motion": -0.7467565536499023, "obstacle_progress": 2.1537041664123535, "wheel_body_intrusion": -0.32940396666526794, "pair_body_intrusion": -0.2953452169895172}, "weighted_reward_terms": {"track_linear_velocity": 1.7310497760772705, "track_angular_velocity": 1.8899351358413696, "upright": 0.9710097312927246, "leg_posture": -0.10546750575304031, "standstill": -0.2704760432243347, "action_rate_l2": -0.021647445857524872, "joint_torques_l2": -0.006079059559851885, "dof_pos_limits": -3.385264062671922e-05, "terminated": -0.0015624997904524207, "unnecessary_wheel_lift": -0.004635301884263754, "rolling_leg_motion": -0.028759866952896118, "obstacle_progress": 0.08294570446014404, "wheel_body_intrusion": -0.012686350382864475, "pair_body_intrusion": -0.011374644003808498}, "episode_termination_rates": {"time_out": 0.43790849673202614, "fell_over": 0.0784313725490196, "course_exit": 0.45751633986928103, "illegal_nonwheel_contact": 0.06535947712418301}, "collection_time_s": 0.07565139423939399, "learning_time_s": 0.18379659483965952, "iteration_time_s": 0.44133563098628736, "policy_updates": 8450, "skipped_updates": 0, "invalid_env_resets": 46, "elapsed_s": 3861.6867711300147, "nonwheel_terminations": 10517, "contact_bce": 0.3323454260826111, "contact_force_loss": 0.02401614934206009, "collision_bce": 2.9739005640294636e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 3.018475581484381e-06, "collision_label_count": 16361.0, "terrain_level_mean": 1.821044921875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [130, 151, 83, 35, 10, 1], "episodes_by_level": [[765.0, 173.0, 27.0, 0.0], [569.0, 126.0, 23.0, 0.0], [149.0, 48.0, 5.0, 0.0], [36.0, 11.0, 2.0, 0.0], [5.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [32, 258, 679, 415, 49, 0], "episodes_by_level": [[640.0, 509.0, 7.0, 0.0], [1782.0, 1089.0, 34.0, 0.0], [1685.0, 589.0, 137.0, 0.0], [468.0, 56.0, 95.0, 0.0], [16.0, 0.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [5, 24, 80, 129, 155, 221], "episodes_by_level": [[184.0, 164.0, 2.0, 0.0], [495.0, 441.0, 9.0, 0.0], [616.0, 538.0, 19.0, 0.0], [557.0, 454.0, 21.0, 0.0], [452.0, 317.0, 42.0, 0.0], [319.0, 206.0, 55.0, 0.0]]}, "platform": {"level_counts": [141, 176, 73, 19, 1, 0], "episodes_by_level": [[867.0, 197.0, 35.0, 0.0], [491.0, 100.0, 27.0, 0.0], [125.0, 25.0, 13.0, 0.0], [13.0, 1.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [138, 153, 82, 26, 10, 1], "episodes_by_level": [[796.0, 184.0, 31.0, 0.0], [543.0, 116.0, 39.0, 0.0], [151.0, 41.0, 11.0, 0.0], [30.0, 11.0, 4.0, 0.0], [7.0, 1.0, 0.0, 0.0], [2.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [274, 326, 168, 50, 1, 0], "episodes_by_level": [[1585.0, 364.0, 62.0, 0.0], [1087.0, 239.0, 74.0, 0.0], [300.0, 63.0, 37.0, 0.0], [44.0, 1.0, 12.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 14900, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2294921875, "command_abs_max": [0.9998849630355835, 0.3997078537940979, 0.6994151473045349]}
{"step": 8800, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 8800, "total_transitions": 36044800, "num_steps_per_env": 1, "wm_loss": 1.092115879058838, "actor_loss": -9.378342628479004, "critic_loss": 0.004947369452565908, "reward": 0.08459099382162094, "falls": 13, "interval_steps": 50, "velocity_mae": [0.1286783665418625, 0.08125542104244232, 0.13488483428955078], "mean_episode_length": 1328.96875, "episode_reward_terms": {"track_linear_velocity": 45.93154525756836, "track_angular_velocity": 50.28632354736328, "upright": 25.804210662841797, "leg_posture": -2.796611785888672, "standstill": -6.691267967224121, "action_rate_l2": -0.5789604783058167, "joint_torques_l2": -0.1613004207611084, "dof_pos_limits": -0.0010930164717137814, "terminated": -0.033743344247341156, "unnecessary_wheel_lift": -0.1257028877735138, "rolling_leg_motion": -0.7536942362785339, "obstacle_progress": 2.1403801441192627, "wheel_body_intrusion": -0.3210979998111725, "pair_body_intrusion": -0.28019338846206665}, "weighted_reward_terms": {"track_linear_velocity": 1.728089690208435, "track_angular_velocity": 1.8919302225112915, "upright": 0.9708359241485596, "leg_posture": -0.10521736741065979, "standstill": -0.25174662470817566, "action_rate_l2": -0.021782321855425835, "joint_torques_l2": -0.006068631075322628, "dof_pos_limits": -4.112273018108681e-05, "terminated": -0.0012695310870185494, "unnecessary_wheel_lift": -0.004729339387267828, "rolling_leg_motion": -0.028356356546282768, "obstacle_progress": 0.08052786439657211, "wheel_body_intrusion": -0.012080720625817776, "pair_body_intrusion": -0.010541760362684727}, "episode_termination_rates": {"time_out": 0.453125, "fell_over": 0.0859375, "course_exit": 0.4453125, "illegal_nonwheel_contact": 0.0390625}, "collection_time_s": 0.075623814961873, "learning_time_s": 0.18434620390005876, "iteration_time_s": 0.4403052699786382, "policy_updates": 8500, "skipped_updates": 0, "invalid_env_resets": 46, "elapsed_s": 3874.686375812016, "nonwheel_terminations": 10522, "contact_bce": 0.33253830671310425, "contact_force_loss": 0.024097932502627373, "collision_bce": 0.0004649637558031827, "collision_label_rate": 0.00012231667642481625, "collision_prediction_mean": 9.64802093221806e-05, "collision_label_count": 16351.0, "terrain_level_mean": 1.828125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [130, 150, 83, 35, 11, 1], "episodes_by_level": [[767.0, 173.0, 28.0, 0.0], [573.0, 127.0, 23.0, 0.0], [152.0, 49.0, 5.0, 0.0], [37.0, 12.0, 2.0, 0.0], [6.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [31, 253, 683, 417, 49, 0], "episodes_by_level": [[642.0, 511.0, 7.0, 0.0], [1793.0, 1099.0, 34.0, 0.0], [1698.0, 592.0, 140.0, 0.0], [474.0, 57.0, 96.0, 0.0], [17.0, 0.0, 6.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [5, 25, 77, 131, 151, 225], "episodes_by_level": [[184.0, 164.0, 2.0, 0.0], [495.0, 441.0, 9.0, 0.0], [619.0, 540.0, 20.0, 0.0], [559.0, 455.0, 21.0, 0.0], [460.0, 323.0, 43.0, 0.0], [330.0, 214.0, 57.0, 0.0]]}, "platform": {"level_counts": [141, 176, 72, 20, 1, 0], "episodes_by_level": [[872.0, 198.0, 35.0, 0.0], [497.0, 100.0, 28.0, 0.0], [128.0, 26.0, 13.0, 0.0], [14.0, 1.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [136, 154, 81, 28, 10, 1], "episodes_by_level": [[799.0, 186.0, 31.0, 0.0], [551.0, 117.0, 39.0, 0.0], [155.0, 43.0, 11.0, 0.0], [30.0, 11.0, 4.0, 0.0], [7.0, 1.0, 0.0, 0.0], [2.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [271, 327, 169, 51, 1, 0], "episodes_by_level": [[1591.0, 367.0, 62.0, 0.0], [1093.0, 241.0, 74.0, 0.0], [301.0, 64.0, 37.0, 0.0], [44.0, 1.0, 12.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 15016, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22802734375, "command_abs_max": [0.9998849630355835, 0.3997078537940979, 0.6994151473045349]}
{"step": 8850, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 8850, "total_transitions": 36249600, "num_steps_per_env": 1, "wm_loss": 1.0741277933120728, "actor_loss": -9.412333488464355, "critic_loss": 0.0029380538035184145, "reward": 0.08411137759685516, "falls": 13, "interval_steps": 50, "velocity_mae": [0.1278858482837677, 0.08190382272005081, 0.13605470955371857], "mean_episode_length": 1317.2312925170068, "episode_reward_terms": {"track_linear_velocity": 45.533668518066406, "track_angular_velocity": 49.80678176879883, "upright": 25.579496383666992, "leg_posture": -2.7826077938079834, "standstill": -7.223404407501221, "action_rate_l2": -0.5609802007675171, "joint_torques_l2": -0.15898418426513672, "dof_pos_limits": -0.0007766324561089277, "terminated": -0.0334453210234642, "unnecessary_wheel_lift": -0.14919908344745636, "rolling_leg_motion": -0.7527210116386414, "obstacle_progress": 2.166410207748413, "wheel_body_intrusion": -0.33717039227485657, "pair_body_intrusion": -0.29294708371162415}, "weighted_reward_terms": {"track_linear_velocity": 1.7283854484558105, "track_angular_velocity": 1.890586018562317, "upright": 0.9709568619728088, "leg_posture": -0.10562335699796677, "standstill": -0.27418890595436096, "action_rate_l2": -0.021293913945555687, "joint_torques_l2": -0.006034786347299814, "dof_pos_limits": -2.947973189293407e-05, "terminated": -0.0012695310870185494, "unnecessary_wheel_lift": -0.005663359072059393, "rolling_leg_motion": -0.028572088107466698, "obstacle_progress": 0.0822334811091423, "wheel_body_intrusion": -0.012798450887203217, "pair_body_intrusion": -0.011119804345071316}, "episode_termination_rates": {"time_out": 0.43537414965986393, "fell_over": 0.061224489795918366, "course_exit": 0.47619047619047616, "illegal_nonwheel_contact": 0.047619047619047616}, "collection_time_s": 0.07572266658185982, "learning_time_s": 0.18542811465857084, "iteration_time_s": 0.4392932157305077, "policy_updates": 8550, "skipped_updates": 0, "invalid_env_resets": 46, "elapsed_s": 3887.7449592149933, "nonwheel_terminations": 10529, "contact_bce": 0.33162665367126465, "contact_force_loss": 0.024459438398480415, "collision_bce": 0.00025221912073902786, "collision_label_rate": 0.00012245897960383445, "collision_prediction_mean": 4.30396685260348e-05, "collision_label_count": 16332.0, "terrain_level_mean": 1.833984375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [130, 150, 83, 35, 11, 1], "episodes_by_level": [[769.0, 173.0, 28.0, 0.0], [579.0, 127.0, 23.0, 0.0], [152.0, 49.0, 5.0, 0.0], [37.0, 12.0, 2.0, 0.0], [6.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [30, 250, 683, 421, 49, 0], "episodes_by_level": [[643.0, 512.0, 7.0, 0.0], [1804.0, 1104.0, 34.0, 0.0], [1723.0, 597.0, 141.0, 0.0], [483.0, 57.0, 97.0, 0.0], [17.0, 0.0, 6.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [5, 24, 75, 133, 148, 229], "episodes_by_level": [[184.0, 164.0, 2.0, 0.0], [495.0, 441.0, 9.0, 0.0], [622.0, 543.0, 20.0, 0.0], [564.0, 459.0, 21.0, 0.0], [465.0, 327.0, 44.0, 0.0], [339.0, 219.0, 58.0, 0.0]]}, "platform": {"level_counts": [141, 176, 71, 21, 1, 0], "episodes_by_level": [[873.0, 198.0, 35.0, 0.0], [500.0, 100.0, 28.0, 0.0], [131.0, 27.0, 13.0, 0.0], [14.0, 1.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [137, 152, 81, 29, 10, 1], "episodes_by_level": [[801.0, 186.0, 31.0, 0.0], [558.0, 118.0, 40.0, 0.0], [160.0, 44.0, 11.0, 0.0], [30.0, 11.0, 4.0, 0.0], [7.0, 1.0, 0.0, 0.0], [2.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [269, 328, 169, 52, 1, 0], "episodes_by_level": [[1601.0, 369.0, 65.0, 0.0], [1102.0, 242.0, 74.0, 0.0], [309.0, 66.0, 37.0, 0.0], [48.0, 2.0, 13.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 15154, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22607421875, "command_abs_max": [0.9993149042129517, 0.3997078537940979, 0.6987864375114441]}
{"step": 8900, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 8900, "total_transitions": 36454400, "num_steps_per_env": 1, "wm_loss": 1.1000761985778809, "actor_loss": -9.370528221130371, "critic_loss": 0.016680875793099403, "reward": 0.08456404507160187, "falls": 12, "interval_steps": 50, "velocity_mae": [0.127853661775589, 0.08074218034744263, 0.13516730070114136], "mean_episode_length": 1385.388888888889, "episode_reward_terms": {"track_linear_velocity": 47.94786071777344, "track_angular_velocity": 52.39541244506836, "upright": 26.940147399902344, "leg_posture": -2.905787706375122, "standstill": -7.15527868270874, "action_rate_l2": -0.589946448802948, "joint_torques_l2": -0.1668725311756134, "dof_pos_limits": -0.0012224226957187057, "terminated": -0.03247005119919777, "unnecessary_wheel_lift": -0.13792435824871063, "rolling_leg_motion": -0.788571298122406, "obstacle_progress": 2.3017630577087402, "wheel_body_intrusion": -0.3692912459373474, "pair_body_intrusion": -0.28371572494506836}, "weighted_reward_terms": {"track_linear_velocity": 1.7304837703704834, "track_angular_velocity": 1.8910001516342163, "upright": 0.9722955226898193, "leg_posture": -0.10487263649702072, "standstill": -0.25824081897735596, "action_rate_l2": -0.02129172720015049, "joint_torques_l2": -0.006022587884217501, "dof_pos_limits": -4.411839472595602e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.004977820906788111, "rolling_leg_motion": -0.028460286557674408, "obstacle_progress": 0.08307281136512756, "wheel_body_intrusion": -0.013328071683645248, "pair_body_intrusion": -0.01023956947028637}, "episode_termination_rates": {"time_out": 0.5185185185185185, "fell_over": 0.06172839506172839, "course_exit": 0.4074074074074074, "illegal_nonwheel_contact": 0.024691358024691357}, "collection_time_s": 0.07584289683552925, "learning_time_s": 0.18533777258591727, "iteration_time_s": 0.43829270094269795, "policy_updates": 8600, "skipped_updates": 0, "invalid_env_resets": 46, "elapsed_s": 3900.8050383900118, "nonwheel_terminations": 10533, "contact_bce": 0.3401487469673157, "contact_force_loss": 0.025094708427786827, "collision_bce": 9.254283213522285e-05, "collision_label_rate": 6.11359064350836e-05, "collision_prediction_mean": 2.8960936106159352e-05, "collision_label_count": 16357.0, "terrain_level_mean": 1.841552734375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [127, 153, 83, 35, 11, 1], "episodes_by_level": [[774.0, 176.0, 28.0, 0.0], [582.0, 127.0, 23.0, 0.0], [155.0, 49.0, 5.0, 0.0], [37.0, 12.0, 2.0, 0.0], [6.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [30, 251, 676, 426, 50, 0], "episodes_by_level": [[643.0, 512.0, 7.0, 0.0], [1806.0, 1105.0, 34.0, 0.0], [1744.0, 604.0, 143.0, 0.0], [496.0, 59.0, 98.0, 0.0], [18.0, 0.0, 7.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [5, 24, 73, 129, 153, 230], "episodes_by_level": [[184.0, 164.0, 2.0, 0.0], [495.0, 441.0, 9.0, 0.0], [625.0, 546.0, 20.0, 0.0], [571.0, 464.0, 21.0, 0.0], [471.0, 331.0, 44.0, 0.0], [347.0, 226.0, 58.0, 0.0]]}, "platform": {"level_counts": [140, 175, 73, 21, 1, 0], "episodes_by_level": [[879.0, 199.0, 35.0, 0.0], [504.0, 102.0, 28.0, 0.0], [131.0, 27.0, 13.0, 0.0], [14.0, 1.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [136, 153, 78, 32, 10, 1], "episodes_by_level": [[806.0, 187.0, 31.0, 0.0], [562.0, 118.0, 40.0, 0.0], [164.0, 47.0, 11.0, 0.0], [32.0, 11.0, 4.0, 0.0], [7.0, 1.0, 0.0, 0.0], [2.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [270, 323, 172, 51, 3, 0], "episodes_by_level": [[1605.0, 369.0, 65.0, 0.0], [1122.0, 248.0, 75.0, 0.0], [317.0, 68.0, 39.0, 0.0], [51.0, 4.0, 14.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 15278, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23388671875, "command_abs_max": [0.9993149042129517, 0.3996164798736572, 0.6987864375114441]}
{"step": 8950, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 8950, "total_transitions": 36659200, "num_steps_per_env": 1, "wm_loss": 1.086290955543518, "actor_loss": -9.351984024047852, "critic_loss": 0.008934500627219677, "reward": 0.08475440740585327, "falls": 12, "interval_steps": 50, "velocity_mae": [0.1295056790113449, 0.08050242066383362, 0.13507495820522308], "mean_episode_length": 1339.1914893617022, "episode_reward_terms": {"track_linear_velocity": 46.23828125, "track_angular_velocity": 50.6495475769043, "upright": 26.036937713623047, "leg_posture": -2.858883857727051, "standstill": -6.473448753356934, "action_rate_l2": -0.5758812427520752, "joint_torques_l2": -0.1608578860759735, "dof_pos_limits": -0.0012769309105351567, "terminated": -0.03138729929924011, "unnecessary_wheel_lift": -0.14534403383731842, "rolling_leg_motion": -0.7517959475517273, "obstacle_progress": 2.234079360961914, "wheel_body_intrusion": -0.35794302821159363, "pair_body_intrusion": -0.2996704578399658}, "weighted_reward_terms": {"track_linear_velocity": 1.7263506650924683, "track_angular_velocity": 1.8910495042800903, "upright": 0.972114086151123, "leg_posture": -0.10673917829990387, "standstill": -0.2416924238204956, "action_rate_l2": -0.021501077339053154, "joint_torques_l2": -0.006005783565342426, "dof_pos_limits": -4.7675439418526366e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.005426559131592512, "rolling_leg_motion": -0.02806902304291725, "obstacle_progress": 0.08341149985790253, "wheel_body_intrusion": -0.013364145532250404, "pair_body_intrusion": -0.01118848379701376}, "episode_termination_rates": {"time_out": 0.5035460992907801, "fell_over": 0.06382978723404255, "course_exit": 0.41134751773049644, "illegal_nonwheel_contact": 0.05673758865248227}, "collection_time_s": 0.07574291376280598, "learning_time_s": 0.18481409623927902, "iteration_time_s": 0.4372998839365377, "policy_updates": 8650, "skipped_updates": 0, "invalid_env_resets": 46, "elapsed_s": 3913.8339612320124, "nonwheel_terminations": 10541, "contact_bce": 0.3322319984436035, "contact_force_loss": 0.024025753140449524, "collision_bce": 2.107241925841663e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 2.156433993150131e-06, "collision_label_count": 16338.0, "terrain_level_mean": 1.848388671875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [127, 153, 82, 36, 11, 1], "episodes_by_level": [[779.0, 176.0, 28.0, 0.0], [584.0, 127.0, 23.0, 0.0], [159.0, 50.0, 5.0, 0.0], [37.0, 12.0, 2.0, 0.0], [6.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [29, 243, 685, 425, 51, 0], "episodes_by_level": [[644.0, 513.0, 7.0, 0.0], [1818.0, 1114.0, 34.0, 0.0], [1757.0, 607.0, 143.0, 0.0], [507.0, 60.0, 101.0, 0.0], [18.0, 0.0, 7.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [5, 23, 71, 129, 154, 232], "episodes_by_level": [[184.0, 164.0, 2.0, 0.0], [496.0, 442.0, 9.0, 0.0], [628.0, 549.0, 20.0, 0.0], [577.0, 468.0, 21.0, 0.0], [476.0, 336.0, 44.0, 0.0], [351.0, 229.0, 58.0, 0.0]]}, "platform": {"level_counts": [139, 176, 72, 22, 1, 0], "episodes_by_level": [[883.0, 200.0, 36.0, 0.0], [508.0, 102.0, 28.0, 0.0], [133.0, 28.0, 13.0, 0.0], [14.0, 1.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [135, 155, 76, 32, 11, 1], "episodes_by_level": [[810.0, 188.0, 31.0, 0.0], [565.0, 118.0, 40.0, 0.0], [169.0, 48.0, 12.0, 0.0], [33.0, 12.0, 4.0, 0.0], [7.0, 1.0, 0.0, 0.0], [2.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [269, 323, 172, 52, 3, 0], "episodes_by_level": [[1615.0, 371.0, 65.0, 0.0], [1136.0, 250.0, 76.0, 0.0], [319.0, 69.0, 40.0, 0.0], [51.0, 4.0, 14.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 15389, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23486328125, "command_abs_max": [0.9993149042129517, 0.3996164798736572, 0.6981800198554993]}
{"step": 9000, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 9000, "total_transitions": 36864000, "num_steps_per_env": 1, "wm_loss": 1.0923373699188232, "actor_loss": -9.370796203613281, "critic_loss": 0.004085909109562635, "reward": 0.08460037410259247, "falls": 12, "interval_steps": 50, "velocity_mae": [0.12952516973018646, 0.07962494343519211, 0.13443045318126678], "mean_episode_length": 1367.8789808917197, "episode_reward_terms": {"track_linear_velocity": 47.29337692260742, "track_angular_velocity": 51.76386642456055, "upright": 26.60808563232422, "leg_posture": -2.89967679977417, "standstill": -6.956521987915039, "action_rate_l2": -0.5985149145126343, "joint_torques_l2": -0.16255004703998566, "dof_pos_limits": -0.001498933881521225, "terminated": -0.03205966204404831, "unnecessary_wheel_lift": -0.13708259165287018, "rolling_leg_motion": -0.7737848162651062, "obstacle_progress": 2.2786223888397217, "wheel_body_intrusion": -0.33208727836608887, "pair_body_intrusion": -0.3271055221557617}, "weighted_reward_terms": {"track_linear_velocity": 1.7287120819091797, "track_angular_velocity": 1.8921215534210205, "upright": 0.9726037383079529, "leg_posture": -0.10599171370267868, "standstill": -0.25428134202957153, "action_rate_l2": -0.021877480670809746, "joint_torques_l2": -0.005941682495176792, "dof_pos_limits": -5.4790438298368827e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.005010772030800581, "rolling_leg_motion": -0.028284110128879547, "obstacle_progress": 0.08329035341739655, "wheel_body_intrusion": -0.012138767167925835, "pair_body_intrusion": -0.011956668458878994}, "episode_termination_rates": {"time_out": 0.5286624203821656, "fell_over": 0.05732484076433121, "course_exit": 0.39490445859872614, "illegal_nonwheel_contact": 0.05732484076433121}, "collection_time_s": 0.07573444296082016, "learning_time_s": 0.1925477353401948, "iteration_time_s": 0.43636102093299917, "policy_updates": 8700, "skipped_updates": 0, "invalid_env_resets": 46, "elapsed_s": 3927.2491883969924, "nonwheel_terminations": 10550, "contact_bce": 0.3350377380847931, "contact_force_loss": 0.02512190118432045, "collision_bce": 3.316631045890972e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 2.801106165861711e-05, "collision_label_count": 16343.0, "terrain_level_mean": 1.85498046875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [127, 150, 83, 38, 11, 1], "episodes_by_level": [[784.0, 176.0, 28.0, 0.0], [591.0, 130.0, 23.0, 0.0], [163.0, 52.0, 5.0, 0.0], [38.0, 12.0, 2.0, 0.0], [6.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [30, 240, 684, 426, 53, 0], "episodes_by_level": [[644.0, 513.0, 7.0, 0.0], [1824.0, 1117.0, 34.0, 0.0], [1778.0, 610.0, 144.0, 0.0], [522.0, 62.0, 101.0, 0.0], [19.0, 0.0, 7.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [5, 22, 71, 128, 158, 230], "episodes_by_level": [[184.0, 164.0, 2.0, 0.0], [497.0, 443.0, 9.0, 0.0], [631.0, 552.0, 20.0, 0.0], [581.0, 470.0, 21.0, 0.0], [479.0, 339.0, 44.0, 0.0], [355.0, 231.0, 59.0, 0.0]]}, "platform": {"level_counts": [139, 174, 73, 21, 3, 0], "episodes_by_level": [[887.0, 200.0, 36.0, 0.0], [515.0, 104.0, 28.0, 0.0], [135.0, 29.0, 13.0, 0.0], [17.0, 3.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [134, 154, 78, 32, 11, 1], "episodes_by_level": [[813.0, 189.0, 32.0, 0.0], [571.0, 120.0, 40.0, 0.0], [170.0, 48.0, 12.0, 0.0], [33.0, 12.0, 4.0, 0.0], [7.0, 1.0, 0.0, 0.0], [2.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [265, 327, 170, 54, 3, 0], "episodes_by_level": [[1627.0, 375.0, 66.0, 0.0], [1141.0, 251.0, 76.0, 0.0], [326.0, 71.0, 41.0, 0.0], [52.0, 4.0, 14.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 15510, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.237060546875, "command_abs_max": [0.9982608556747437, 0.3996164798736572, 0.6981800198554993]}
{"step": 9050, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 9050, "total_transitions": 37068800, "num_steps_per_env": 1, "wm_loss": 1.063722848892212, "actor_loss": -9.40203857421875, "critic_loss": 0.004402555525302887, "reward": 0.08403382450342178, "falls": 16, "interval_steps": 50, "velocity_mae": [0.13049456477165222, 0.07908301055431366, 0.13396139442920685], "mean_episode_length": 1367.7055555555555, "episode_reward_terms": {"track_linear_velocity": 47.25896453857422, "track_angular_velocity": 51.782508850097656, "upright": 26.598201751708984, "leg_posture": -2.939377784729004, "standstill": -7.429638385772705, "action_rate_l2": -0.599378228187561, "joint_torques_l2": -0.16193820536136627, "dof_pos_limits": -0.001771276001818478, "terminated": -0.04274079203605652, "unnecessary_wheel_lift": -0.16409383714199066, "rolling_leg_motion": -0.8033834099769592, "obstacle_progress": 2.1849536895751953, "wheel_body_intrusion": -0.35757535696029663, "pair_body_intrusion": -0.391186386346817}, "weighted_reward_terms": {"track_linear_velocity": 1.7276731729507446, "track_angular_velocity": 1.893043041229248, "upright": 0.9723657965660095, "leg_posture": -0.1074565201997757, "standstill": -0.2716095745563507, "action_rate_l2": -0.02191181667149067, "joint_torques_l2": -0.005920068360865116, "dof_pos_limits": -6.475355621660128e-05, "terminated": -0.0015624997904524207, "unnecessary_wheel_lift": -0.0059988731518387794, "rolling_leg_motion": -0.029369749128818512, "obstacle_progress": 0.079876609146595, "wheel_body_intrusion": -0.013072088360786438, "pair_body_intrusion": -0.014300826005637646}, "episode_termination_rates": {"time_out": 0.5444444444444444, "fell_over": 0.06666666666666667, "course_exit": 0.36666666666666664, "illegal_nonwheel_contact": 0.03888888888888889}, "collection_time_s": 0.07580211903899908, "learning_time_s": 0.1858772268233588, "iteration_time_s": 0.4353991820546959, "policy_updates": 8750, "skipped_updates": 0, "invalid_env_resets": 46, "elapsed_s": 3940.362597594998, "nonwheel_terminations": 10557, "contact_bce": 0.32977837324142456, "contact_force_loss": 0.02428586035966873, "collision_bce": 4.6903562179068103e-05, "collision_label_rate": 6.122948980191723e-05, "collision_prediction_mean": 6.644224777119234e-05, "collision_label_count": 16332.0, "terrain_level_mean": 1.861572265625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [124, 150, 84, 40, 11, 1], "episodes_by_level": [[792.0, 179.0, 28.0, 0.0], [595.0, 133.0, 23.0, 0.0], [166.0, 54.0, 5.0, 0.0], [38.0, 12.0, 2.0, 0.0], [6.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [29, 239, 684, 427, 54, 0], "episodes_by_level": [[645.0, 514.0, 7.0, 0.0], [1833.0, 1122.0, 34.0, 0.0], [1798.0, 614.0, 147.0, 0.0], [538.0, 63.0, 102.0, 0.0], [20.0, 0.0, 7.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [5, 21, 69, 127, 164, 228], "episodes_by_level": [[184.0, 164.0, 2.0, 0.0], [498.0, 444.0, 9.0, 0.0], [636.0, 556.0, 20.0, 0.0], [585.0, 474.0, 21.0, 0.0], [484.0, 342.0, 44.0, 0.0], [360.0, 233.0, 60.0, 0.0]]}, "platform": {"level_counts": [139, 174, 73, 21, 3, 0], "episodes_by_level": [[894.0, 201.0, 37.0, 0.0], [522.0, 104.0, 29.0, 0.0], [136.0, 29.0, 13.0, 0.0], [18.0, 3.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [133, 153, 79, 33, 11, 1], "episodes_by_level": [[818.0, 190.0, 32.0, 0.0], [577.0, 122.0, 40.0, 0.0], [173.0, 49.0, 12.0, 0.0], [33.0, 12.0, 4.0, 0.0], [7.0, 1.0, 0.0, 0.0], [2.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [265, 324, 173, 54, 3, 0], "episodes_by_level": [[1641.0, 375.0, 67.0, 0.0], [1164.0, 255.0, 76.0, 0.0], [330.0, 71.0, 42.0, 0.0], [53.0, 4.0, 14.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 15636, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234619140625, "command_abs_max": [0.9982608556747437, 0.39935940504074097, 0.6994364857673645]}
{"step": 9100, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 9100, "total_transitions": 37273600, "num_steps_per_env": 1, "wm_loss": 1.1050515174865723, "actor_loss": -9.36686897277832, "critic_loss": 0.024682922288775444, "reward": 0.08448472619056702, "falls": 12, "interval_steps": 50, "velocity_mae": [0.12841951847076416, 0.07863331586122513, 0.1336512416601181], "mean_episode_length": 1377.8047337278106, "episode_reward_terms": {"track_linear_velocity": 47.70228576660156, "track_angular_velocity": 52.16029739379883, "upright": 26.82358169555664, "leg_posture": -2.9659247398376465, "standstill": -7.072054386138916, "action_rate_l2": -0.5969589352607727, "joint_torques_l2": -0.16354982554912567, "dof_pos_limits": -0.0017127952305600047, "terminated": -0.03229229524731636, "unnecessary_wheel_lift": -0.14685434103012085, "rolling_leg_motion": -0.8042839169502258, "obstacle_progress": 2.2200446128845215, "wheel_body_intrusion": -0.3560152053833008, "pair_body_intrusion": -0.36311212182044983}, "weighted_reward_terms": {"track_linear_velocity": 1.7310975790023804, "track_angular_velocity": 1.8928771018981934, "upright": 0.9734174013137817, "leg_posture": -0.10763226449489594, "standstill": -0.2566421329975128, "action_rate_l2": -0.02166340872645378, "joint_torques_l2": -0.00593516044318676, "dof_pos_limits": -6.215667963260785e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.005329287610948086, "rolling_leg_motion": -0.029187152162194252, "obstacle_progress": 0.08056456595659256, "wheel_body_intrusion": -0.01291965413838625, "pair_body_intrusion": -0.01317719928920269}, "episode_termination_rates": {"time_out": 0.5384615384615384, "fell_over": 0.029585798816568046, "course_exit": 0.3905325443786982, "illegal_nonwheel_contact": 0.0650887573964497}, "collection_time_s": 0.07582003385992721, "learning_time_s": 0.1848320630803937, "iteration_time_s": 0.4344391550501114, "policy_updates": 8800, "skipped_updates": 0, "invalid_env_resets": 46, "elapsed_s": 3953.3963109560136, "nonwheel_terminations": 10568, "contact_bce": 0.3362507224082947, "contact_force_loss": 0.024350259453058243, "collision_bce": 8.718101889826357e-05, "collision_label_rate": 6.115459837019444e-05, "collision_prediction_mean": 3.899214061675593e-05, "collision_label_count": 16352.0, "terrain_level_mean": 1.8681640625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [125, 148, 85, 40, 11, 1], "episodes_by_level": [[800.0, 180.0, 28.0, 0.0], [600.0, 134.0, 25.0, 0.0], [166.0, 54.0, 5.0, 0.0], [38.0, 12.0, 2.0, 0.0], [6.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [27, 236, 689, 426, 55, 0], "episodes_by_level": [[647.0, 516.0, 7.0, 0.0], [1839.0, 1127.0, 34.0, 0.0], [1816.0, 616.0, 147.0, 0.0], [554.0, 64.0, 104.0, 0.0], [20.0, 0.0, 7.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [5, 21, 68, 127, 160, 233], "episodes_by_level": [[184.0, 164.0, 2.0, 0.0], [499.0, 445.0, 9.0, 0.0], [637.0, 557.0, 20.0, 0.0], [589.0, 477.0, 21.0, 0.0], [492.0, 346.0, 45.0, 0.0], [372.0, 244.0, 60.0, 0.0]]}, "platform": {"level_counts": [138, 173, 74, 22, 3, 0], "episodes_by_level": [[900.0, 202.0, 38.0, 0.0], [530.0, 106.0, 29.0, 0.0], [138.0, 30.0, 13.0, 0.0], [18.0, 3.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [133, 152, 80, 33, 11, 1], "episodes_by_level": [[823.0, 190.0, 33.0, 0.0], [581.0, 123.0, 40.0, 0.0], [176.0, 49.0, 12.0, 0.0], [34.0, 12.0, 4.0, 0.0], [9.0, 1.0, 0.0, 0.0], [2.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [262, 324, 175, 55, 3, 0], "episodes_by_level": [[1660.0, 378.0, 68.0, 0.0], [1173.0, 260.0, 76.0, 0.0], [335.0, 72.0, 44.0, 0.0], [56.0, 4.0, 14.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 15761, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23876953125, "command_abs_max": [0.9982608556747437, 0.39935940504074097, 0.6994364857673645]}
{"step": 9150, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 9150, "total_transitions": 37478400, "num_steps_per_env": 1, "wm_loss": 1.087683081626892, "actor_loss": -9.404000282287598, "critic_loss": 0.004653859417885542, "reward": 0.08453627675771713, "falls": 13, "interval_steps": 50, "velocity_mae": [0.1287907510995865, 0.07873932272195816, 0.1346953958272934], "mean_episode_length": 1373.625730994152, "episode_reward_terms": {"track_linear_velocity": 47.54833984375, "track_angular_velocity": 51.9683723449707, "upright": 26.736263275146484, "leg_posture": -2.924046754837036, "standstill": -7.027046203613281, "action_rate_l2": -0.60002601146698, "joint_torques_l2": -0.161058247089386, "dof_pos_limits": -0.0014525173464789987, "terminated": -0.03487721085548401, "unnecessary_wheel_lift": -0.14500819146633148, "rolling_leg_motion": -0.7990069389343262, "obstacle_progress": 2.224907875061035, "wheel_body_intrusion": -0.32637542486190796, "pair_body_intrusion": -0.3378034830093384}, "weighted_reward_terms": {"track_linear_velocity": 1.7307603359222412, "track_angular_velocity": 1.8916497230529785, "upright": 0.9732004404067993, "leg_posture": -0.10643535107374191, "standstill": -0.2557846009731293, "action_rate_l2": -0.021840957924723625, "joint_torques_l2": -0.005862523335963488, "dof_pos_limits": -5.287165549816564e-05, "terminated": -0.0012695310870185494, "unnecessary_wheel_lift": -0.005278300493955612, "rolling_leg_motion": -0.029083864763379097, "obstacle_progress": 0.08098668605089188, "wheel_body_intrusion": -0.01188007090240717, "pair_body_intrusion": -0.012296052649617195}, "episode_termination_rates": {"time_out": 0.5497076023391813, "fell_over": 0.05847953216374269, "course_exit": 0.3742690058479532, "illegal_nonwheel_contact": 0.05263157894736842}, "collection_time_s": 0.07573315332119819, "learning_time_s": 0.18432627186295578, "iteration_time_s": 0.4334863824304925, "policy_updates": 8850, "skipped_updates": 0, "invalid_env_resets": 46, "elapsed_s": 3966.400399239006, "nonwheel_terminations": 10577, "contact_bce": 0.3332468867301941, "contact_force_loss": 0.024844933301210403, "collision_bce": 1.0952172488032375e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.0917628969764337e-05, "collision_label_count": 16345.0, "terrain_level_mean": 1.874267578125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [124, 148, 86, 40, 11, 1], "episodes_by_level": [[807.0, 181.0, 28.0, 0.0], [603.0, 135.0, 25.0, 0.0], [170.0, 54.0, 5.0, 0.0], [39.0, 12.0, 2.0, 0.0], [7.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [27, 234, 689, 426, 57, 0], "episodes_by_level": [[648.0, 517.0, 7.0, 0.0], [1847.0, 1130.0, 35.0, 0.0], [1832.0, 620.0, 147.0, 0.0], [564.0, 66.0, 105.0, 0.0], [21.0, 0.0, 7.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [5, 21, 66, 128, 156, 238], "episodes_by_level": [[184.0, 164.0, 2.0, 0.0], [500.0, 446.0, 9.0, 0.0], [639.0, 559.0, 20.0, 0.0], [596.0, 480.0, 21.0, 0.0], [500.0, 352.0, 46.0, 0.0], [379.0, 248.0, 61.0, 0.0]]}, "platform": {"level_counts": [137, 175, 72, 23, 3, 0], "episodes_by_level": [[911.0, 203.0, 38.0, 0.0], [535.0, 106.0, 29.0, 0.0], [140.0, 31.0, 14.0, 0.0], [18.0, 3.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [131, 153, 80, 33, 12, 1], "episodes_by_level": [[836.0, 192.0, 34.0, 0.0], [584.0, 124.0, 40.0, 0.0], [180.0, 50.0, 12.0, 0.0], [35.0, 13.0, 4.0, 0.0], [9.0, 1.0, 0.0, 0.0], [2.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [259, 327, 175, 55, 3, 0], "episodes_by_level": [[1678.0, 382.0, 68.0, 0.0], [1186.0, 261.0, 77.0, 0.0], [337.0, 72.0, 45.0, 0.0], [59.0, 4.0, 14.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 15863, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2353515625, "command_abs_max": [0.9982608556747437, 0.39935940504074097, 0.6998493671417236]}
{"step": 9200, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 9200, "total_transitions": 37683200, "num_steps_per_env": 1, "wm_loss": 1.1103814840316772, "actor_loss": -9.416818618774414, "critic_loss": 0.004313552286475897, "reward": 0.08496628701686859, "falls": 7, "interval_steps": 50, "velocity_mae": [0.12902528047561646, 0.07860984653234482, 0.1334230750799179], "mean_episode_length": 1486.8275862068965, "episode_reward_terms": {"track_linear_velocity": 51.41767883300781, "track_angular_velocity": 56.29417419433594, "upright": 28.974437713623047, "leg_posture": -3.156808376312256, "standstill": -7.101475715637207, "action_rate_l2": -0.6348667144775391, "joint_torques_l2": -0.1738021820783615, "dof_pos_limits": -0.0008037988445721567, "terminated": -0.020327718928456306, "unnecessary_wheel_lift": -0.13492125272750854, "rolling_leg_motion": -0.8449875712394714, "obstacle_progress": 2.3827319145202637, "wheel_body_intrusion": -0.33921605348587036, "pair_body_intrusion": -0.3315528929233551}, "weighted_reward_terms": {"track_linear_velocity": 1.7291069030761719, "track_angular_velocity": 1.893096923828125, "upright": 0.974371075630188, "leg_posture": -0.10615919530391693, "standstill": -0.23881301283836365, "action_rate_l2": -0.0213497094810009, "joint_torques_l2": -0.005844732280820608, "dof_pos_limits": -2.703066638787277e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.00453721871599555, "rolling_leg_motion": -0.02841578610241413, "obstacle_progress": 0.08012805134057999, "wheel_body_intrusion": -0.011407377198338509, "pair_body_intrusion": -0.011149674654006958}, "episode_termination_rates": {"time_out": 0.6264367816091954, "fell_over": 0.022988505747126436, "course_exit": 0.3333333333333333, "illegal_nonwheel_contact": 0.040229885057471264}, "collection_time_s": 0.07583946147700772, "learning_time_s": 0.185032227600459, "iteration_time_s": 0.43254837731847856, "policy_updates": 8900, "skipped_updates": 0, "invalid_env_resets": 46, "elapsed_s": 3979.445071330003, "nonwheel_terminations": 10584, "contact_bce": 0.33708956837654114, "contact_force_loss": 0.02467663772404194, "collision_bce": 7.228775939438492e-05, "collision_label_rate": 6.116207805462182e-05, "collision_prediction_mean": 7.55044020479545e-05, "collision_label_count": 16350.0, "terrain_level_mean": 1.879638671875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [124, 146, 88, 40, 11, 1], "episodes_by_level": [[820.0, 181.0, 28.0, 0.0], [611.0, 137.0, 25.0, 0.0], [171.0, 54.0, 5.0, 0.0], [40.0, 12.0, 2.0, 0.0], [8.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [27, 235, 681, 432, 58, 0], "episodes_by_level": [[648.0, 517.0, 7.0, 0.0], [1852.0, 1132.0, 35.0, 0.0], [1855.0, 626.0, 147.0, 0.0], [573.0, 67.0, 105.0, 0.0], [21.0, 0.0, 7.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [5, 21, 65, 126, 157, 240], "episodes_by_level": [[184.0, 164.0, 2.0, 0.0], [500.0, 446.0, 9.0, 0.0], [640.0, 560.0, 20.0, 0.0], [598.0, 482.0, 21.0, 0.0], [506.0, 355.0, 46.0, 0.0], [384.0, 251.0, 61.0, 0.0]]}, "platform": {"level_counts": [137, 174, 73, 23, 3, 0], "episodes_by_level": [[919.0, 203.0, 38.0, 0.0], [542.0, 107.0, 29.0, 0.0], [140.0, 31.0, 14.0, 0.0], [19.0, 3.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [131, 153, 79, 33, 13, 1], "episodes_by_level": [[843.0, 192.0, 35.0, 0.0], [591.0, 124.0, 40.0, 0.0], [182.0, 51.0, 12.0, 0.0], [36.0, 14.0, 4.0, 0.0], [9.0, 1.0, 0.0, 0.0], [2.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [258, 325, 177, 57, 2, 0], "episodes_by_level": [[1699.0, 384.0, 68.0, 0.0], [1197.0, 264.0, 78.0, 0.0], [340.0, 73.0, 45.0, 0.0], [61.0, 4.0, 14.0, 0.0], [2.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 15998, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2333984375, "command_abs_max": [0.9979051351547241, 0.39935940504074097, 0.6998493671417236]}
{"step": 9250, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 9250, "total_transitions": 37888000, "num_steps_per_env": 1, "wm_loss": 1.029637098312378, "actor_loss": -9.403950691223145, "critic_loss": 0.004418560303747654, "reward": 0.08486161381006241, "falls": 10, "interval_steps": 50, "velocity_mae": [0.12731416523456573, 0.0780147910118103, 0.1334594488143921], "mean_episode_length": 1390.4224598930482, "episode_reward_terms": {"track_linear_velocity": 48.20360565185547, "track_angular_velocity": 52.64604949951172, "upright": 27.079532623291016, "leg_posture": -2.943676710128784, "standstill": -6.8836989402771, "action_rate_l2": -0.6003474593162537, "joint_torques_l2": -0.16401882469654083, "dof_pos_limits": -0.0008423687540926039, "terminated": -0.027156686410307884, "unnecessary_wheel_lift": -0.1419413685798645, "rolling_leg_motion": -0.7920803427696228, "obstacle_progress": 2.2859277725219727, "wheel_body_intrusion": -0.335981547832489, "pair_body_intrusion": -0.3318919837474823}, "weighted_reward_terms": {"track_linear_velocity": 1.7334158420562744, "track_angular_velocity": 1.893167495727539, "upright": 0.9737879037857056, "leg_posture": -0.10585547983646393, "standstill": -0.24753983318805695, "action_rate_l2": -0.02158867008984089, "joint_torques_l2": -0.005898165050894022, "dof_pos_limits": -3.029182698810473e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.005104253068566322, "rolling_leg_motion": -0.028483441099524498, "obstacle_progress": 0.08220263570547104, "wheel_body_intrusion": -0.012081995606422424, "pair_body_intrusion": -0.011934933252632618}, "episode_termination_rates": {"time_out": 0.5775401069518716, "fell_over": 0.0481283422459893, "course_exit": 0.3689839572192513, "illegal_nonwheel_contact": 0.03208556149732621}, "collection_time_s": 0.0757527585409116, "learning_time_s": 0.1848397617402952, "iteration_time_s": 0.43161900632313416, "policy_updates": 8950, "skipped_updates": 0, "invalid_env_resets": 46, "elapsed_s": 3992.475808488991, "nonwheel_terminations": 10590, "contact_bce": 0.3310866057872772, "contact_force_loss": 0.024640049785375595, "collision_bce": 3.985816420026822e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 4.027263912576018e-06, "collision_label_count": 16360.0, "terrain_level_mean": 1.8876953125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [123, 148, 87, 40, 11, 1], "episodes_by_level": [[828.0, 182.0, 28.0, 0.0], [612.0, 137.0, 25.0, 0.0], [174.0, 54.0, 6.0, 0.0], [42.0, 12.0, 2.0, 0.0], [8.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [26, 235, 679, 430, 63, 0], "episodes_by_level": [[649.0, 518.0, 7.0, 0.0], [1855.0, 1133.0, 35.0, 0.0], [1873.0, 630.0, 147.0, 0.0], [588.0, 72.0, 106.0, 0.0], [22.0, 0.0, 7.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [5, 20, 62, 128, 158, 241], "episodes_by_level": [[184.0, 164.0, 2.0, 0.0], [502.0, 448.0, 9.0, 0.0], [644.0, 564.0, 20.0, 0.0], [602.0, 485.0, 21.0, 0.0], [511.0, 360.0, 46.0, 0.0], [394.0, 258.0, 62.0, 0.0]]}, "platform": {"level_counts": [136, 175, 73, 23, 3, 0], "episodes_by_level": [[933.0, 204.0, 38.0, 0.0], [547.0, 107.0, 29.0, 0.0], [143.0, 31.0, 14.0, 0.0], [19.0, 3.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [129, 150, 83, 34, 13, 1], "episodes_by_level": [[852.0, 194.0, 35.0, 0.0], [600.0, 129.0, 40.0, 0.0], [185.0, 52.0, 12.0, 0.0], [37.0, 14.0, 4.0, 0.0], [9.0, 1.0, 0.0, 0.0], [2.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [256, 325, 177, 59, 2, 0], "episodes_by_level": [[1719.0, 386.0, 69.0, 0.0], [1212.0, 267.0, 78.0, 0.0], [347.0, 75.0, 46.0, 0.0], [61.0, 4.0, 14.0, 0.0], [2.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 16127, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.235595703125, "command_abs_max": [0.9979051351547241, 0.39935940504074097, 0.6998493671417236]}
{"step": 9300, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 9300, "total_transitions": 38092800, "num_steps_per_env": 1, "wm_loss": 1.1142300367355347, "actor_loss": -9.410776138305664, "critic_loss": 0.00392853282392025, "reward": 0.08512164652347565, "falls": 10, "interval_steps": 50, "velocity_mae": [0.12844668328762054, 0.07841953635215759, 0.13144387304782867], "mean_episode_length": 1412.8848484848486, "episode_reward_terms": {"track_linear_velocity": 48.9203987121582, "track_angular_velocity": 53.59484100341797, "upright": 27.513946533203125, "leg_posture": -3.0428402423858643, "standstill": -6.632928371429443, "action_rate_l2": -0.5917038917541504, "joint_torques_l2": -0.1658276617527008, "dof_pos_limits": -0.0011008664732798934, "terminated": -0.027595404535531998, "unnecessary_wheel_lift": -0.14009641110897064, "rolling_leg_motion": -0.7930795550346375, "obstacle_progress": 2.3338825702667236, "wheel_body_intrusion": -0.3416312038898468, "pair_body_intrusion": -0.3592090308666229}, "weighted_reward_terms": {"track_linear_velocity": 1.7312238216400146, "track_angular_velocity": 1.8966456651687622, "upright": 0.9736796617507935, "leg_posture": -0.10768181830644608, "standstill": -0.23472997546195984, "action_rate_l2": -0.02093956619501114, "joint_torques_l2": -0.005868406966328621, "dof_pos_limits": -3.89581109629944e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.004957814235240221, "rolling_leg_motion": -0.028065966442227364, "obstacle_progress": 0.08259280771017075, "wheel_body_intrusion": -0.012089845724403858, "pair_body_intrusion": -0.012711900286376476}, "episode_termination_rates": {"time_out": 0.5636363636363636, "fell_over": 0.03636363636363636, "course_exit": 0.37575757575757573, "illegal_nonwheel_contact": 0.04242424242424243}, "collection_time_s": 0.07609837076393887, "learning_time_s": 0.18562428219709545, "iteration_time_s": 0.4307057052549483, "policy_updates": 9000, "skipped_updates": 0, "invalid_env_resets": 47, "elapsed_s": 4005.563058871019, "nonwheel_terminations": 10597, "contact_bce": 0.33038291335105896, "contact_force_loss": 0.023118024691939354, "collision_bce": 5.245850843493827e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 5.285435236146441e-06, "collision_label_count": 16341.0, "terrain_level_mean": 1.8935546875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [123, 147, 87, 40, 12, 1], "episodes_by_level": [[835.0, 182.0, 29.0, 0.0], [618.0, 138.0, 25.0, 0.0], [175.0, 55.0, 6.0, 0.0], [43.0, 13.0, 2.0, 0.0], [8.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [26, 234, 674, 434, 65, 0], "episodes_by_level": [[649.0, 518.0, 7.0, 0.0], [1864.0, 1135.0, 35.0, 0.0], [1898.0, 637.0, 148.0, 0.0], [598.0, 74.0, 106.0, 0.0], [22.0, 0.0, 7.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [5, 19, 62, 128, 157, 243], "episodes_by_level": [[184.0, 164.0, 2.0, 0.0], [504.0, 450.0, 9.0, 0.0], [645.0, 565.0, 20.0, 0.0], [603.0, 486.0, 21.0, 0.0], [515.0, 364.0, 46.0, 0.0], [407.0, 268.0, 63.0, 0.0]]}, "platform": {"level_counts": [136, 174, 74, 24, 2, 0], "episodes_by_level": [[942.0, 204.0, 38.0, 0.0], [550.0, 108.0, 29.0, 0.0], [147.0, 31.0, 14.0, 0.0], [19.0, 3.0, 5.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [129, 150, 83, 33, 14, 1], "episodes_by_level": [[858.0, 194.0, 35.0, 0.0], [603.0, 129.0, 40.0, 0.0], [189.0, 52.0, 12.0, 0.0], [39.0, 15.0, 4.0, 0.0], [9.0, 1.0, 0.0, 0.0], [2.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [256, 322, 178, 60, 3, 0], "episodes_by_level": [[1730.0, 386.0, 69.0, 0.0], [1227.0, 272.0, 78.0, 0.0], [352.0, 77.0, 48.0, 0.0], [62.0, 5.0, 14.0, 0.0], [2.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 16251, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23193359375, "command_abs_max": [0.9982715845108032, 0.39895182847976685, 0.6998493671417236]}
{"step": 9350, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 9350, "total_transitions": 38297600, "num_steps_per_env": 1, "wm_loss": 1.0517274141311646, "actor_loss": -9.382591247558594, "critic_loss": 0.00361696258187294, "reward": 0.08478424698114395, "falls": 19, "interval_steps": 50, "velocity_mae": [0.1299053132534027, 0.07847951352596283, 0.13150523602962494], "mean_episode_length": 1352.006134969325, "episode_reward_terms": {"track_linear_velocity": 46.68437194824219, "track_angular_velocity": 51.27043151855469, "upright": 26.330358505249023, "leg_posture": -2.8793129920959473, "standstill": -6.656353950500488, "action_rate_l2": -0.5781010985374451, "joint_torques_l2": -0.1586967557668686, "dof_pos_limits": -0.0010846008080989122, "terminated": -0.050172094255685806, "unnecessary_wheel_lift": -0.15899786353111267, "rolling_leg_motion": -0.7723507285118103, "obstacle_progress": 2.159756898880005, "wheel_body_intrusion": -0.29114899039268494, "pair_body_intrusion": -0.26986822485923767}, "weighted_reward_terms": {"track_linear_velocity": 1.726485252380371, "track_angular_velocity": 1.8960872888565063, "upright": 0.9737514853477478, "leg_posture": -0.10648299008607864, "standstill": -0.24616582691669464, "action_rate_l2": -0.02137938141822815, "joint_torques_l2": -0.00586893642321229, "dof_pos_limits": -4.011079727206379e-05, "terminated": -0.0018554686103016138, "unnecessary_wheel_lift": -0.00588007178157568, "rolling_leg_motion": -0.028563136234879494, "obstacle_progress": 0.07987230271100998, "wheel_body_intrusion": -0.010767295956611633, "pair_body_intrusion": -0.00998028926551342}, "episode_termination_rates": {"time_out": 0.5276073619631901, "fell_over": 0.08588957055214724, "course_exit": 0.3558282208588957, "illegal_nonwheel_contact": 0.06134969325153374}, "collection_time_s": 0.0757556880195625, "learning_time_s": 0.18572184480144643, "iteration_time_s": 0.4298008610820335, "policy_updates": 9050, "skipped_updates": 0, "invalid_env_resets": 47, "elapsed_s": 4018.6380511170137, "nonwheel_terminations": 10607, "contact_bce": 0.3334645926952362, "contact_force_loss": 0.02404382824897766, "collision_bce": 0.0003538766468409449, "collision_label_rate": 0.00018374471983406693, "collision_prediction_mean": 0.00023287776275537908, "collision_label_count": 16327.0, "terrain_level_mean": 1.896240234375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [123, 147, 86, 41, 12, 1], "episodes_by_level": [[843.0, 182.0, 29.0, 0.0], [620.0, 138.0, 25.0, 0.0], [176.0, 56.0, 6.0, 0.0], [43.0, 13.0, 2.0, 0.0], [8.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [26, 233, 673, 437, 64, 0], "episodes_by_level": [[649.0, 518.0, 7.0, 0.0], [1869.0, 1138.0, 35.0, 0.0], [1912.0, 639.0, 149.0, 0.0], [611.0, 75.0, 106.0, 0.0], [26.0, 0.0, 8.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [4, 19, 64, 125, 156, 246], "episodes_by_level": [[185.0, 165.0, 2.0, 0.0], [506.0, 452.0, 9.0, 0.0], [646.0, 566.0, 20.0, 0.0], [608.0, 488.0, 21.0, 0.0], [524.0, 371.0, 46.0, 0.0], [414.0, 273.0, 64.0, 0.0]]}, "platform": {"level_counts": [136, 173, 75, 24, 2, 0], "episodes_by_level": [[950.0, 204.0, 39.0, 0.0], [555.0, 110.0, 29.0, 0.0], [149.0, 31.0, 15.0, 0.0], [21.0, 3.0, 5.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [129, 147, 86, 32, 15, 1], "episodes_by_level": [[865.0, 194.0, 35.0, 0.0], [609.0, 132.0, 40.0, 0.0], [192.0, 52.0, 12.0, 0.0], [42.0, 16.0, 4.0, 0.0], [9.0, 1.0, 0.0, 0.0], [2.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [258, 321, 177, 60, 3, 0], "episodes_by_level": [[1741.0, 387.0, 69.0, 0.0], [1238.0, 273.0, 81.0, 0.0], [357.0, 77.0, 50.0, 0.0], [64.0, 5.0, 14.0, 0.0], [2.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 16361, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2294921875, "command_abs_max": [0.9982715845108032, 0.39882394671440125, 0.6994346976280212]}
{"step": 9400, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 9400, "total_transitions": 38502400, "num_steps_per_env": 1, "wm_loss": 1.0000953674316406, "actor_loss": -9.421954154968262, "critic_loss": 0.0026353306602686644, "reward": 0.08477228134870529, "falls": 11, "interval_steps": 50, "velocity_mae": [0.1285150945186615, 0.0784541592001915, 0.1332230269908905], "mean_episode_length": 1359.1646341463415, "episode_reward_terms": {"track_linear_velocity": 47.06153869628906, "track_angular_velocity": 51.48945236206055, "upright": 26.470020294189453, "leg_posture": -2.8908803462982178, "standstill": -6.786258697509766, "action_rate_l2": -0.5786547660827637, "joint_torques_l2": -0.15908455848693848, "dof_pos_limits": -0.0003979698522016406, "terminated": -0.029200801625847816, "unnecessary_wheel_lift": -0.13140209019184113, "rolling_leg_motion": -0.763576865196228, "obstacle_progress": 2.167954683303833, "wheel_body_intrusion": -0.31538745760917664, "pair_body_intrusion": -0.3146688938140869}, "weighted_reward_terms": {"track_linear_velocity": 1.7312670946121216, "track_angular_velocity": 1.8941580057144165, "upright": 0.9737606048583984, "leg_posture": -0.1063476949930191, "standstill": -0.24964813888072968, "action_rate_l2": -0.02128714695572853, "joint_torques_l2": -0.005852291360497475, "dof_pos_limits": -1.4640237168350723e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.004833928309381008, "rolling_leg_motion": -0.02808993309736252, "obstacle_progress": 0.07975320518016815, "wheel_body_intrusion": -0.011602253653109074, "pair_body_intrusion": -0.011575819924473763}, "episode_termination_rates": {"time_out": 0.5121951219512195, "fell_over": 0.06097560975609756, "course_exit": 0.42073170731707316, "illegal_nonwheel_contact": 0.024390243902439025}, "collection_time_s": 0.07573444929963444, "learning_time_s": 0.18573996972001625, "iteration_time_s": 0.4289056207064912, "policy_updates": 9100, "skipped_updates": 0, "invalid_env_resets": 47, "elapsed_s": 4031.7128346410173, "nonwheel_terminations": 10611, "contact_bce": 0.327738493680954, "contact_force_loss": 0.022966483607888222, "collision_bce": 3.180745989084244e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 2.6903877369477414e-05, "collision_label_count": 16357.0, "terrain_level_mean": 1.9033203125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [125, 143, 88, 41, 12, 1], "episodes_by_level": [[845.0, 182.0, 29.0, 0.0], [627.0, 140.0, 27.0, 0.0], [177.0, 56.0, 6.0, 0.0], [43.0, 13.0, 2.0, 0.0], [8.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [25, 229, 671, 443, 65, 0], "episodes_by_level": [[650.0, 519.0, 7.0, 0.0], [1880.0, 1144.0, 35.0, 0.0], [1938.0, 645.0, 150.0, 0.0], [621.0, 76.0, 106.0, 0.0], [26.0, 0.0, 8.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [3, 18, 66, 121, 159, 247], "episodes_by_level": [[186.0, 166.0, 2.0, 0.0], [508.0, 454.0, 9.0, 0.0], [647.0, 567.0, 20.0, 0.0], [612.0, 492.0, 21.0, 0.0], [527.0, 373.0, 46.0, 0.0], [424.0, 281.0, 64.0, 0.0]]}, "platform": {"level_counts": [134, 173, 77, 24, 2, 0], "episodes_by_level": [[956.0, 206.0, 39.0, 0.0], [560.0, 112.0, 29.0, 0.0], [151.0, 31.0, 15.0, 0.0], [23.0, 3.0, 5.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [129, 148, 85, 32, 15, 1], "episodes_by_level": [[871.0, 195.0, 35.0, 0.0], [614.0, 132.0, 41.0, 0.0], [195.0, 52.0, 13.0, 0.0], [42.0, 16.0, 4.0, 0.0], [9.0, 1.0, 0.0, 0.0], [2.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [257, 319, 180, 60, 3, 0], "episodes_by_level": [[1752.0, 388.0, 69.0, 0.0], [1249.0, 276.0, 81.0, 0.0], [360.0, 80.0, 50.0, 0.0], [68.0, 5.0, 17.0, 0.0], [2.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 16486, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22998046875, "command_abs_max": [0.9979051351547241, 0.3995225429534912, 0.6986448764801025]}
{"step": 9450, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 9450, "total_transitions": 38707200, "num_steps_per_env": 1, "wm_loss": 0.9962520003318787, "actor_loss": -9.416019439697266, "critic_loss": 0.00789810623973608, "reward": 0.08487968146800995, "falls": 15, "interval_steps": 50, "velocity_mae": [0.12917689979076385, 0.0770917758345604, 0.13198865950107574], "mean_episode_length": 1351.3333333333333, "episode_reward_terms": {"track_linear_velocity": 46.79326629638672, "track_angular_velocity": 51.236995697021484, "upright": 26.331443786621094, "leg_posture": -2.901540517807007, "standstill": -6.564667224884033, "action_rate_l2": -0.583405613899231, "joint_torques_l2": -0.1582680344581604, "dof_pos_limits": -0.0003559051256161183, "terminated": -0.039589837193489075, "unnecessary_wheel_lift": -0.1450595110654831, "rolling_leg_motion": -0.7834680676460266, "obstacle_progress": 2.143798589706421, "wheel_body_intrusion": -0.3302592933177948, "pair_body_intrusion": -0.29815882444381714}, "weighted_reward_terms": {"track_linear_velocity": 1.731373906135559, "track_angular_velocity": 1.895794153213501, "upright": 0.9742764234542847, "leg_posture": -0.1073584333062172, "standstill": -0.2428959161043167, "action_rate_l2": -0.02158629521727562, "joint_torques_l2": -0.00585599523037672, "dof_pos_limits": -1.3168665645935107e-05, "terminated": -0.0014648435171693563, "unnecessary_wheel_lift": -0.005367273464798927, "rolling_leg_motion": -0.028988704085350037, "obstacle_progress": 0.07932160794734955, "wheel_body_intrusion": -0.012219756841659546, "pair_body_intrusion": -0.011032023467123508}, "episode_termination_rates": {"time_out": 0.5256410256410257, "fell_over": 0.09615384615384616, "course_exit": 0.3782051282051282, "illegal_nonwheel_contact": 0.0641025641025641}, "collection_time_s": 0.07611601777956821, "learning_time_s": 0.18526839337835554, "iteration_time_s": 0.42801938639534576, "policy_updates": 9150, "skipped_updates": 0, "invalid_env_resets": 48, "elapsed_s": 4044.7832014360174, "nonwheel_terminations": 10621, "contact_bce": 0.31982892751693726, "contact_force_loss": 0.021914413198828697, "collision_bce": 0.00011082979472121224, "collision_label_rate": 0.0, "collision_prediction_mean": 6.164898513816297e-05, "collision_label_count": 16340.0, "terrain_level_mean": 1.91064453125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [125, 142, 89, 40, 13, 1], "episodes_by_level": [[849.0, 182.0, 31.0, 0.0], [630.0, 141.0, 27.0, 0.0], [179.0, 56.0, 6.0, 0.0], [44.0, 14.0, 2.0, 0.0], [8.0, 1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [26, 223, 675, 444, 65, 0], "episodes_by_level": [[650.0, 519.0, 7.0, 0.0], [1890.0, 1149.0, 36.0, 0.0], [1952.0, 647.0, 150.0, 0.0], [633.0, 76.0, 107.0, 0.0], [26.0, 0.0, 8.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [3, 17, 63, 117, 167, 247], "episodes_by_level": [[186.0, 166.0, 2.0, 0.0], [508.0, 454.0, 9.0, 0.0], [651.0, 570.0, 20.0, 0.0], [624.0, 502.0, 21.0, 0.0], [531.0, 377.0, 46.0, 0.0], [435.0, 288.0, 66.0, 0.0]]}, "platform": {"level_counts": [133, 172, 78, 25, 2, 0], "episodes_by_level": [[962.0, 207.0, 39.0, 0.0], [563.0, 114.0, 29.0, 0.0], [154.0, 32.0, 15.0, 0.0], [23.0, 3.0, 5.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [128, 148, 86, 32, 15, 1], "episodes_by_level": [[875.0, 197.0, 35.0, 0.0], [619.0, 133.0, 42.0, 0.0], [196.0, 52.0, 13.0, 0.0], [42.0, 16.0, 4.0, 0.0], [9.0, 1.0, 0.0, 0.0], [2.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [256, 317, 183, 60, 3, 0], "episodes_by_level": [[1764.0, 390.0, 69.0, 0.0], [1257.0, 280.0, 82.0, 0.0], [366.0, 80.0, 51.0, 0.0], [70.0, 5.0, 17.0, 0.0], [2.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 16636, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2265625, "command_abs_max": [0.9979051351547241, 0.3995225429534912, 0.6986448764801025]}
{"step": 9500, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 9500, "total_transitions": 38912000, "num_steps_per_env": 1, "wm_loss": 1.025768756866455, "actor_loss": -9.408733367919922, "critic_loss": 0.0038072846364229918, "reward": 0.08453040570020676, "falls": 11, "interval_steps": 50, "velocity_mae": [0.1303267627954483, 0.07752101868391037, 0.13393142819404602], "mean_episode_length": 1397.871951219512, "episode_reward_terms": {"track_linear_velocity": 48.34095764160156, "track_angular_velocity": 52.918609619140625, "upright": 27.222949981689453, "leg_posture": -3.0100464820861816, "standstill": -7.073718070983887, "action_rate_l2": -0.6095743775367737, "joint_torques_l2": -0.1665012538433075, "dof_pos_limits": -0.000717753719072789, "terminated": -0.030032401904463768, "unnecessary_wheel_lift": -0.12587644159793854, "rolling_leg_motion": -0.7878808975219727, "obstacle_progress": 2.1624178886413574, "wheel_body_intrusion": -0.36248764395713806, "pair_body_intrusion": -0.3153979480266571}, "weighted_reward_terms": {"track_linear_velocity": 1.7290910482406616, "track_angular_velocity": 1.8928275108337402, "upright": 0.9737282991409302, "leg_posture": -0.10766531527042389, "standstill": -0.253017395734787, "action_rate_l2": -0.021803656592965126, "joint_torques_l2": -0.005955526139587164, "dof_pos_limits": -2.5673087293398567e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.004502431023865938, "rolling_leg_motion": -0.028181441128253937, "obstacle_progress": 0.07734677940607071, "wheel_body_intrusion": -0.012965695932507515, "pair_body_intrusion": -0.011281360872089863}, "episode_termination_rates": {"time_out": 0.5182926829268293, "fell_over": 0.04878048780487805, "course_exit": 0.4146341463414634, "illegal_nonwheel_contact": 0.042682926829268296}, "collection_time_s": 0.07582988875976299, "learning_time_s": 0.18474553834297694, "iteration_time_s": 0.4271382204298953, "policy_updates": 9200, "skipped_updates": 0, "invalid_env_resets": 48, "elapsed_s": 4057.8130940840056, "nonwheel_terminations": 10628, "contact_bce": 0.32862842082977295, "contact_force_loss": 0.02303917147219181, "collision_bce": 0.00036776551860384643, "collision_label_rate": 0.00024482799926772714, "collision_prediction_mean": 0.00022051995620131493, "collision_label_count": 16338.0, "terrain_level_mean": 1.916259765625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [124, 143, 89, 39, 13, 2], "episodes_by_level": [[856.0, 183.0, 31.0, 0.0], [635.0, 141.0, 27.0, 0.0], [183.0, 56.0, 6.0, 0.0], [47.0, 15.0, 2.0, 0.0], [9.0, 2.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [26, 221, 675, 445, 66, 0], "episodes_by_level": [[650.0, 519.0, 7.0, 0.0], [1897.0, 1152.0, 36.0, 0.0], [1970.0, 650.0, 150.0, 0.0], [649.0, 77.0, 108.0, 0.0], [27.0, 0.0, 8.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [3, 17, 64, 114, 168, 248], "episodes_by_level": [[186.0, 166.0, 2.0, 0.0], [508.0, 454.0, 9.0, 0.0], [652.0, 571.0, 20.0, 0.0], [628.0, 505.0, 22.0, 0.0], [536.0, 382.0, 46.0, 0.0], [446.0, 295.0, 68.0, 0.0]]}, "platform": {"level_counts": [133, 170, 78, 27, 2, 0], "episodes_by_level": [[966.0, 207.0, 39.0, 0.0], [570.0, 116.0, 29.0, 0.0], [158.0, 34.0, 15.0, 0.0], [24.0, 3.0, 5.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [126, 150, 85, 33, 14, 2], "episodes_by_level": [[883.0, 199.0, 36.0, 0.0], [622.0, 133.0, 42.0, 0.0], [198.0, 53.0, 13.0, 0.0], [43.0, 16.0, 4.0, 0.0], [10.0, 2.0, 0.0, 0.0], [2.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [253, 319, 183, 61, 3, 0], "episodes_by_level": [[1774.0, 393.0, 69.0, 0.0], [1270.0, 282.0, 82.0, 0.0], [369.0, 81.0, 52.0, 0.0], [72.0, 5.0, 17.0, 0.0], [2.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 16761, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.226318359375, "command_abs_max": [0.9981659650802612, 0.3995225429534912, 0.6986448764801025]}
{"step": 9550, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 9550, "total_transitions": 39116800, "num_steps_per_env": 1, "wm_loss": 0.9874505400657654, "actor_loss": -9.395687103271484, "critic_loss": 0.0034009271766990423, "reward": 0.08485284447669983, "falls": 6, "interval_steps": 50, "velocity_mae": [0.1289074867963791, 0.07745356857776642, 0.1334991604089737], "mean_episode_length": 1356.3973509933776, "episode_reward_terms": {"track_linear_velocity": 46.92510986328125, "track_angular_velocity": 51.36967086791992, "upright": 26.40629768371582, "leg_posture": -2.971367835998535, "standstill": -6.481541156768799, "action_rate_l2": -0.5807697772979736, "joint_torques_l2": -0.160077765583992, "dof_pos_limits": -0.0008223467157222331, "terminated": -0.015895280987024307, "unnecessary_wheel_lift": -0.1102079451084137, "rolling_leg_motion": -0.7736730575561523, "obstacle_progress": 2.179699182510376, "wheel_body_intrusion": -0.36501285433769226, "pair_body_intrusion": -0.3272453844547272}, "weighted_reward_terms": {"track_linear_velocity": 1.7297700643539429, "track_angular_velocity": 1.8936070203781128, "upright": 0.9733983874320984, "leg_posture": -0.10953161865472794, "standstill": -0.23892487585544586, "action_rate_l2": -0.02140854299068451, "joint_torques_l2": -0.005900843534618616, "dof_pos_limits": -3.031363849004265e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.004062524531036615, "rolling_leg_motion": -0.028519412502646446, "obstacle_progress": 0.08034884929656982, "wheel_body_intrusion": -0.013455233536660671, "pair_body_intrusion": -0.012063035741448402}, "episode_termination_rates": {"time_out": 0.5033112582781457, "fell_over": 0.019867549668874173, "course_exit": 0.45695364238410596, "illegal_nonwheel_contact": 0.026490066225165563}, "collection_time_s": 0.0758152300590882, "learning_time_s": 0.19156966502137948, "iteration_time_s": 0.4263045231389529, "policy_updates": 9250, "skipped_updates": 0, "invalid_env_resets": 48, "elapsed_s": 4071.2081959770003, "nonwheel_terminations": 10632, "contact_bce": 0.32620835304260254, "contact_force_loss": 0.02275591343641281, "collision_bce": 2.360485632380005e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 2.306102578586433e-05, "collision_label_count": 16323.0, "terrain_level_mean": 1.92529296875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [123, 144, 87, 41, 13, 2], "episodes_by_level": [[859.0, 184.0, 31.0, 0.0], [638.0, 141.0, 27.0, 0.0], [187.0, 58.0, 6.0, 0.0], [47.0, 15.0, 2.0, 0.0], [9.0, 2.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [25, 212, 683, 447, 66, 0], "episodes_by_level": [[653.0, 520.0, 7.0, 0.0], [1908.0, 1162.0, 36.0, 0.0], [1983.0, 652.0, 150.0, 0.0], [656.0, 78.0, 108.0, 0.0], [28.0, 0.0, 8.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [3, 16, 63, 115, 164, 253], "episodes_by_level": [[186.0, 166.0, 2.0, 0.0], [509.0, 455.0, 9.0, 0.0], [656.0, 575.0, 20.0, 0.0], [629.0, 506.0, 22.0, 0.0], [543.0, 388.0, 46.0, 0.0], [454.0, 301.0, 68.0, 0.0]]}, "platform": {"level_counts": [132, 171, 78, 27, 2, 0], "episodes_by_level": [[969.0, 208.0, 39.0, 0.0], [574.0, 117.0, 29.0, 0.0], [161.0, 34.0, 16.0, 0.0], [24.0, 3.0, 5.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [125, 148, 87, 34, 14, 2], "episodes_by_level": [[889.0, 200.0, 36.0, 0.0], [627.0, 136.0, 42.0, 0.0], [203.0, 54.0, 13.0, 0.0], [46.0, 16.0, 4.0, 0.0], [10.0, 2.0, 0.0, 0.0], [2.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [248, 324, 183, 60, 4, 0], "episodes_by_level": [[1781.0, 398.0, 69.0, 0.0], [1280.0, 283.0, 82.0, 0.0], [374.0, 81.0, 53.0, 0.0], [75.0, 6.0, 17.0, 0.0], [2.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 16876, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22998046875, "command_abs_max": [0.9981659650802612, 0.3995225429534912, 0.6986448764801025]}
{"step": 9600, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 9600, "total_transitions": 39321600, "num_steps_per_env": 1, "wm_loss": 1.0201020240783691, "actor_loss": -9.402729988098145, "critic_loss": 0.0038033821620047092, "reward": 0.08466597646474838, "falls": 9, "interval_steps": 50, "velocity_mae": [0.12883056700229645, 0.07607541233301163, 0.13345091044902802], "mean_episode_length": 1335.4931506849316, "episode_reward_terms": {"track_linear_velocity": 46.30451583862305, "track_angular_velocity": 50.58235549926758, "upright": 25.99835205078125, "leg_posture": -2.9027481079101562, "standstill": -6.746182441711426, "action_rate_l2": -0.5826791524887085, "joint_torques_l2": -0.15724290907382965, "dof_pos_limits": -0.0004497110203374177, "terminated": -0.023475462570786476, "unnecessary_wheel_lift": -0.13350452482700348, "rolling_leg_motion": -0.7538663744926453, "obstacle_progress": 2.128554344177246, "wheel_body_intrusion": -0.3304561376571655, "pair_body_intrusion": -0.3123287260532379}, "weighted_reward_terms": {"track_linear_velocity": 1.7336111068725586, "track_angular_velocity": 1.8937708139419556, "upright": 0.9733614921569824, "leg_posture": -0.10867701470851898, "standstill": -0.2525727152824402, "action_rate_l2": -0.02181513048708439, "joint_torques_l2": -0.005887072999030352, "dof_pos_limits": -1.683688969933428e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.004998323041945696, "rolling_leg_motion": -0.028224268928170204, "obstacle_progress": 0.07969170063734055, "wheel_body_intrusion": -0.012372064404189587, "pair_body_intrusion": -0.011693386361002922}, "episode_termination_rates": {"time_out": 0.4520547945205479, "fell_over": 0.03424657534246575, "course_exit": 0.4863013698630137, "illegal_nonwheel_contact": 0.04794520547945205}, "collection_time_s": 0.07603169278125278, "learning_time_s": 0.18512123553839047, "iteration_time_s": 0.425444474894166, "policy_updates": 9300, "skipped_updates": 0, "invalid_env_resets": 49, "elapsed_s": 4084.2669589839934, "nonwheel_terminations": 10639, "contact_bce": 0.3321714699268341, "contact_force_loss": 0.023725291714072227, "collision_bce": 0.00014898896915838122, "collision_label_rate": 6.126700463937595e-05, "collision_prediction_mean": 9.719035733724013e-05, "collision_label_count": 16322.0, "terrain_level_mean": 1.931884765625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [123, 144, 87, 40, 13, 3], "episodes_by_level": [[863.0, 184.0, 31.0, 0.0], [644.0, 142.0, 27.0, 0.0], [188.0, 58.0, 7.0, 0.0], [48.0, 16.0, 2.0, 0.0], [11.0, 3.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [25, 210, 684, 446, 68, 0], "episodes_by_level": [[653.0, 520.0, 7.0, 0.0], [1914.0, 1166.0, 36.0, 0.0], [1996.0, 653.0, 150.0, 0.0], [674.0, 80.0, 108.0, 0.0], [31.0, 0.0, 8.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [3, 16, 62, 107, 166, 260], "episodes_by_level": [[186.0, 166.0, 2.0, 0.0], [509.0, 455.0, 9.0, 0.0], [658.0, 576.0, 20.0, 0.0], [639.0, 515.0, 22.0, 0.0], [552.0, 397.0, 46.0, 0.0], [464.0, 310.0, 69.0, 0.0]]}, "platform": {"level_counts": [132, 170, 80, 26, 2, 0], "episodes_by_level": [[973.0, 208.0, 39.0, 0.0], [580.0, 118.0, 29.0, 0.0], [166.0, 34.0, 16.0, 0.0], [25.0, 3.0, 6.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [123, 149, 88, 34, 14, 2], "episodes_by_level": [[893.0, 202.0, 36.0, 0.0], [633.0, 137.0, 42.0, 0.0], [205.0, 54.0, 13.0, 0.0], [46.0, 16.0, 4.0, 0.0], [10.0, 2.0, 0.0, 0.0], [2.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [246, 328, 181, 60, 4, 0], "episodes_by_level": [[1788.0, 400.0, 70.0, 0.0], [1286.0, 283.0, 82.0, 0.0], [378.0, 81.0, 55.0, 0.0], [75.0, 6.0, 17.0, 0.0], [2.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 16990, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.231201171875, "command_abs_max": [0.9981659650802612, 0.3995225429534912, 0.6986448764801025]}
{"step": 9650, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 9650, "total_transitions": 39526400, "num_steps_per_env": 1, "wm_loss": 1.0063396692276, "actor_loss": -9.398890495300293, "critic_loss": 0.002681802259758115, "reward": 0.08497343212366104, "falls": 7, "interval_steps": 50, "velocity_mae": [0.128899484872818, 0.07703987509012222, 0.13387201726436615], "mean_episode_length": 1370.3423423423424, "episode_reward_terms": {"track_linear_velocity": 47.45533752441406, "track_angular_velocity": 51.886966705322266, "upright": 26.660024642944336, "leg_posture": -2.976580858230591, "standstill": -6.458992004394531, "action_rate_l2": -0.5876029133796692, "joint_torques_l2": -0.16082164645195007, "dof_pos_limits": -0.0006976602016948164, "terminated": -0.018735146149992943, "unnecessary_wheel_lift": -0.1177980974316597, "rolling_leg_motion": -0.7539405226707458, "obstacle_progress": 2.1640520095825195, "wheel_body_intrusion": -0.3307042717933655, "pair_body_intrusion": -0.31781938672065735}, "weighted_reward_terms": {"track_linear_velocity": 1.7315140962600708, "track_angular_velocity": 1.8932119607925415, "upright": 0.9727506041526794, "leg_posture": -0.1086072102189064, "standstill": -0.2356707751750946, "action_rate_l2": -0.02144000492990017, "joint_torques_l2": -0.005867937114089727, "dof_pos_limits": -2.5455690774833784e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.004298126790672541, "rolling_leg_motion": -0.027509206905961037, "obstacle_progress": 0.07896027714014053, "wheel_body_intrusion": -0.012066484428942204, "pair_body_intrusion": -0.011596349999308586}, "episode_termination_rates": {"time_out": 0.4864864864864865, "fell_over": 0.04504504504504504, "course_exit": 0.45045045045045046, "illegal_nonwheel_contact": 0.05405405405405406}, "collection_time_s": 0.07554649626370519, "learning_time_s": 0.18384052057750522, "iteration_time_s": 0.42458420723689044, "policy_updates": 9350, "skipped_updates": 0, "invalid_env_resets": 49, "elapsed_s": 4097.237599835993, "nonwheel_terminations": 10645, "contact_bce": 0.3290860950946808, "contact_force_loss": 0.023118745535612106, "collision_bce": 2.8631227451114682e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 2.908341684815241e-06, "collision_label_count": 16350.0, "terrain_level_mean": 1.9365234375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [123, 144, 87, 40, 13, 3], "episodes_by_level": [[865.0, 185.0, 31.0, 0.0], [646.0, 142.0, 28.0, 0.0], [189.0, 58.0, 7.0, 0.0], [49.0, 16.0, 2.0, 0.0], [11.0, 3.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [24, 209, 681, 450, 69, 0], "episodes_by_level": [[654.0, 521.0, 7.0, 0.0], [1917.0, 1168.0, 36.0, 0.0], [2008.0, 658.0, 150.0, 0.0], [677.0, 81.0, 108.0, 0.0], [31.0, 0.0, 8.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [3, 16, 58, 109, 167, 261], "episodes_by_level": [[186.0, 166.0, 2.0, 0.0], [509.0, 455.0, 9.0, 0.0], [660.0, 578.0, 20.0, 0.0], [643.0, 517.0, 22.0, 0.0], [560.0, 401.0, 46.0, 0.0], [475.0, 317.0, 71.0, 0.0]]}, "platform": {"level_counts": [131, 170, 81, 26, 2, 0], "episodes_by_level": [[977.0, 209.0, 39.0, 0.0], [583.0, 119.0, 29.0, 0.0], [166.0, 34.0, 16.0, 0.0], [25.0, 3.0, 6.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [123, 148, 89, 33, 15, 2], "episodes_by_level": [[894.0, 202.0, 36.0, 0.0], [639.0, 138.0, 42.0, 0.0], [207.0, 54.0, 13.0, 0.0], [49.0, 17.0, 4.0, 0.0], [11.0, 2.0, 0.0, 0.0], [2.0, 0.0, 0.0, 0.0]]}, "rubble": {"level_counts": [245, 329, 183, 58, 4, 0], "episodes_by_level": [[1791.0, 401.0, 70.0, 0.0], [1292.0, 284.0, 82.0, 0.0], [385.0, 81.0, 56.0, 0.0], [77.0, 6.0, 19.0, 0.0], [2.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 17108, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22705078125, "command_abs_max": [0.9981659650802612, 0.3995225429534912, 0.6986448764801025]}
{"step": 9700, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 9700, "total_transitions": 39731200, "num_steps_per_env": 1, "wm_loss": 1.0088083744049072, "actor_loss": -9.392583847045898, "critic_loss": 0.008504810743033886, "reward": 0.08437565714120865, "falls": 13, "interval_steps": 50, "velocity_mae": [0.12932054698467255, 0.07821036875247955, 0.13240382075309753], "mean_episode_length": 1334.6802721088436, "episode_reward_terms": {"track_linear_velocity": 46.151424407958984, "track_angular_velocity": 50.587642669677734, "upright": 25.943172454833984, "leg_posture": -2.8776638507843018, "standstill": -7.006735324859619, "action_rate_l2": -0.5679999589920044, "joint_torques_l2": -0.15591302514076233, "dof_pos_limits": -0.0007980703376233578, "terminated": -0.03388836234807968, "unnecessary_wheel_lift": -0.1545579582452774, "rolling_leg_motion": -0.7426804304122925, "obstacle_progress": 2.1562139987945557, "wheel_body_intrusion": -0.320090651512146, "pair_body_intrusion": -0.36360472440719604}, "weighted_reward_terms": {"track_linear_velocity": 1.7289319038391113, "track_angular_velocity": 1.8951221704483032, "upright": 0.9718871712684631, "leg_posture": -0.10780349373817444, "standstill": -0.26248741149902344, "action_rate_l2": -0.0212785042822361, "joint_torques_l2": -0.0058408379554748535, "dof_pos_limits": -2.9897437343606725e-05, "terminated": -0.0012695310870185494, "unnecessary_wheel_lift": -0.005790074355900288, "rolling_leg_motion": -0.027822408825159073, "obstacle_progress": 0.08077642321586609, "wheel_body_intrusion": -0.011991285718977451, "pair_body_intrusion": -0.013621415942907333}, "episode_termination_rates": {"time_out": 0.4421768707482993, "fell_over": 0.07482993197278912, "course_exit": 0.46938775510204084, "illegal_nonwheel_contact": 0.047619047619047616}, "collection_time_s": 0.07585035509837326, "learning_time_s": 0.18475576358265244, "iteration_time_s": 0.42373907106845415, "policy_updates": 9400, "skipped_updates": 0, "invalid_env_resets": 49, "elapsed_s": 4110.268989364005, "nonwheel_terminations": 10652, "contact_bce": 0.32965341210365295, "contact_force_loss": 0.0240837000310421, "collision_bce": 0.0002022715052589774, "collision_label_rate": 0.00012240650539752096, "collision_prediction_mean": 0.0001159228922915645, "collision_label_count": 16339.0, "terrain_level_mean": 1.942138671875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [122, 144, 87, 41, 13, 3], "episodes_by_level": [[868.0, 187.0, 31.0, 0.0], [651.0, 143.0, 29.0, 0.0], [193.0, 59.0, 7.0, 0.0], [51.0, 16.0, 2.0, 0.0], [11.0, 3.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [24, 210, 674, 453, 72, 0], "episodes_by_level": [[655.0, 522.0, 7.0, 0.0], [1930.0, 1171.0, 36.0, 0.0], [2032.0, 665.0, 152.0, 0.0], [686.0, 83.0, 109.0, 0.0], [33.0, 0.0, 8.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [3, 17, 55, 112, 160, 267], "episodes_by_level": [[186.0, 166.0, 2.0, 0.0], [509.0, 455.0, 9.0, 0.0], [662.0, 580.0, 20.0, 0.0], [644.0, 517.0, 22.0, 0.0], [567.0, 408.0, 46.0, 0.0], [485.0, 321.0, 71.0, 0.0]]}, "platform": {"level_counts": [129, 172, 81, 26, 2, 0], "episodes_by_level": [[982.0, 211.0, 39.0, 0.0], [586.0, 119.0, 29.0, 0.0], [167.0, 34.0, 16.0, 0.0], [25.0, 3.0, 6.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [122, 150, 88, 33, 15, 2], "episodes_by_level": [[898.0, 203.0, 36.0, 0.0], [641.0, 138.0, 42.0, 0.0], [209.0, 54.0, 14.0, 0.0], [50.0, 17.0, 4.0, 0.0], [12.0, 2.0, 0.0, 0.0], [3.0, 1.0, 0.0, 0.0]]}, "rubble": {"level_counts": [243, 331, 181, 60, 4, 0], "episodes_by_level": [[1797.0, 403.0, 71.0, 0.0], [1302.0, 285.0, 82.0, 0.0], [391.0, 83.0, 57.0, 0.0], [77.0, 6.0, 19.0, 0.0], [2.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 17230, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.229736328125, "command_abs_max": [0.9981659650802612, 0.3995225429534912, 0.6981800198554993]}
{"step": 9750, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 9750, "total_transitions": 39936000, "num_steps_per_env": 1, "wm_loss": 0.9432961940765381, "actor_loss": -9.39128303527832, "critic_loss": 0.004362986423075199, "reward": 0.08481305837631226, "falls": 8, "interval_steps": 50, "velocity_mae": [0.1293713003396988, 0.07713606208562851, 0.1334703117609024], "mean_episode_length": 1332.6181818181817, "episode_reward_terms": {"track_linear_velocity": 46.1245002746582, "track_angular_velocity": 50.468605041503906, "upright": 25.91343879699707, "leg_posture": -2.8196260929107666, "standstill": -6.577868461608887, "action_rate_l2": -0.5663445591926575, "joint_torques_l2": -0.15624387562274933, "dof_pos_limits": -0.0005157017731107771, "terminated": -0.020822154358029366, "unnecessary_wheel_lift": -0.11658398807048798, "rolling_leg_motion": -0.73285311460495, "obstacle_progress": 2.178966760635376, "wheel_body_intrusion": -0.34507808089256287, "pair_body_intrusion": -0.3261438012123108}, "weighted_reward_terms": {"track_linear_velocity": 1.7305970191955566, "track_angular_velocity": 1.8935884237289429, "upright": 0.97227543592453, "leg_posture": -0.10579273104667664, "standstill": -0.2468024343252182, "action_rate_l2": -0.0212493184953928, "joint_torques_l2": -0.005862289573997259, "dof_pos_limits": -1.9349194189999253e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.004374245647341013, "rolling_leg_motion": -0.027496742084622383, "obstacle_progress": 0.08175510913133621, "wheel_body_intrusion": -0.01294737309217453, "pair_body_intrusion": -0.012236956506967545}, "episode_termination_rates": {"time_out": 0.503030303030303, "fell_over": 0.024242424242424242, "course_exit": 0.4484848484848485, "illegal_nonwheel_contact": 0.03636363636363636}, "collection_time_s": 0.07577622001874261, "learning_time_s": 0.1855988668423379, "iteration_time_s": 0.42290655136461525, "policy_updates": 9450, "skipped_updates": 0, "invalid_env_resets": 49, "elapsed_s": 4123.338875804999, "nonwheel_terminations": 10658, "contact_bce": 0.33245861530303955, "contact_force_loss": 0.02334997057914734, "collision_bce": 4.055710633110721e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 4.099330453755101e-06, "collision_label_count": 16356.0, "terrain_level_mean": 1.9521484375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [122, 143, 88, 41, 13, 3], "episodes_by_level": [[871.0, 187.0, 31.0, 0.0], [655.0, 144.0, 29.0, 0.0], [198.0, 59.0, 7.0, 0.0], [53.0, 16.0, 2.0, 0.0], [11.0, 3.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [21, 209, 675, 453, 75, 0], "episodes_by_level": [[658.0, 525.0, 7.0, 0.0], [1936.0, 1175.0, 36.0, 0.0], [2047.0, 669.0, 152.0, 0.0], [697.0, 86.0, 110.0, 0.0], [33.0, 0.0, 8.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [2, 16, 56, 109, 155, 276], "episodes_by_level": [[187.0, 167.0, 2.0, 0.0], [510.0, 456.0, 9.0, 0.0], [663.0, 581.0, 20.0, 0.0], [650.0, 523.0, 22.0, 0.0], [578.0, 417.0, 47.0, 0.0], [489.0, 324.0, 71.0, 0.0]]}, "platform": {"level_counts": [129, 171, 82, 26, 2, 0], "episodes_by_level": [[987.0, 211.0, 39.0, 0.0], [596.0, 120.0, 29.0, 0.0], [170.0, 34.0, 16.0, 0.0], [27.0, 3.0, 6.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [120, 152, 88, 33, 15, 2], "episodes_by_level": [[901.0, 205.0, 36.0, 0.0], [644.0, 138.0, 42.0, 0.0], [211.0, 54.0, 14.0, 0.0], [50.0, 17.0, 4.0, 0.0], [13.0, 2.0, 0.0, 0.0], [3.0, 1.0, 0.0, 0.0]]}, "rubble": {"level_counts": [242, 328, 184, 60, 5, 0], "episodes_by_level": [[1802.0, 405.0, 72.0, 0.0], [1312.0, 291.0, 83.0, 0.0], [399.0, 84.0, 59.0, 0.0], [79.0, 7.0, 19.0, 0.0], [2.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 17336, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.232421875, "command_abs_max": [0.9992058873176575, 0.39959993958473206, 0.6981800198554993]}
{"step": 9800, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 9800, "total_transitions": 40140800, "num_steps_per_env": 1, "wm_loss": 1.0166219472885132, "actor_loss": -9.404682159423828, "critic_loss": 0.0023590063210576773, "reward": 0.08460182696580887, "falls": 7, "interval_steps": 50, "velocity_mae": [0.13197113573551178, 0.07741224765777588, 0.13491106033325195], "mean_episode_length": 1335.5984251968505, "episode_reward_terms": {"track_linear_velocity": 46.06159973144531, "track_angular_velocity": 50.52265167236328, "upright": 25.97701072692871, "leg_posture": -2.8628628253936768, "standstill": -6.571996212005615, "action_rate_l2": -0.5775387287139893, "joint_torques_l2": -0.15762993693351746, "dof_pos_limits": -0.00046731680049560964, "terminated": -0.018260132521390915, "unnecessary_wheel_lift": -0.10343149304389954, "rolling_leg_motion": -0.7286474704742432, "obstacle_progress": 2.142058849334717, "wheel_body_intrusion": -0.33132117986679077, "pair_body_intrusion": -0.3571016788482666}, "weighted_reward_terms": {"track_linear_velocity": 1.7243807315826416, "track_angular_velocity": 1.8913863897323608, "upright": 0.9724858403205872, "leg_posture": -0.10717528313398361, "standstill": -0.24603191018104553, "action_rate_l2": -0.021620972082018852, "joint_torques_l2": -0.0059010982513427734, "dof_pos_limits": -1.749466173350811e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0038721030578017235, "rolling_leg_motion": -0.02727794088423252, "obstacle_progress": 0.0801909789443016, "wheel_body_intrusion": -0.012403473258018494, "pair_body_intrusion": -0.013368602842092514}, "episode_termination_rates": {"time_out": 0.48031496062992124, "fell_over": 0.03937007874015748, "course_exit": 0.4645669291338583, "illegal_nonwheel_contact": 0.015748031496062992}, "collection_time_s": 0.07595582076406572, "learning_time_s": 0.1856544654769823, "iteration_time_s": 0.4220837187905094, "policy_updates": 9500, "skipped_updates": 0, "invalid_env_resets": 50, "elapsed_s": 4136.420444146992, "nonwheel_terminations": 10660, "contact_bce": 0.3354717791080475, "contact_force_loss": 0.02421293780207634, "collision_bce": 1.5196620552160311e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.477949172112858e-05, "collision_label_count": 16345.0, "terrain_level_mean": 1.95703125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [122, 143, 88, 41, 13, 3], "episodes_by_level": [[874.0, 187.0, 31.0, 0.0], [657.0, 144.0, 29.0, 0.0], [198.0, 59.0, 7.0, 0.0], [54.0, 16.0, 2.0, 0.0], [12.0, 3.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [19, 209, 673, 458, 74, 0], "episodes_by_level": [[660.0, 527.0, 7.0, 0.0], [1942.0, 1177.0, 36.0, 0.0], [2069.0, 673.0, 152.0, 0.0], [709.0, 87.0, 110.0, 0.0], [36.0, 0.0, 10.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [2, 16, 53, 109, 157, 277], "episodes_by_level": [[187.0, 167.0, 2.0, 0.0], [510.0, 456.0, 9.0, 0.0], [666.0, 584.0, 20.0, 0.0], [654.0, 526.0, 22.0, 0.0], [583.0, 419.0, 47.0, 0.0], [494.0, 329.0, 71.0, 0.0]]}, "platform": {"level_counts": [130, 169, 82, 27, 2, 0], "episodes_by_level": [[988.0, 211.0, 39.0, 0.0], [601.0, 121.0, 30.0, 0.0], [172.0, 35.0, 16.0, 0.0], [27.0, 3.0, 6.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [119, 152, 87, 35, 15, 2], "episodes_by_level": [[905.0, 206.0, 36.0, 0.0], [650.0, 139.0, 42.0, 0.0], [213.0, 56.0, 14.0, 0.0], [51.0, 17.0, 4.0, 0.0], [13.0, 2.0, 0.0, 0.0], [3.0, 1.0, 0.0, 0.0]]}, "rubble": {"level_counts": [239, 333, 182, 60, 5, 0], "episodes_by_level": [[1809.0, 408.0, 72.0, 0.0], [1316.0, 291.0, 83.0, 0.0], [407.0, 85.0, 61.0, 0.0], [80.0, 7.0, 20.0, 0.0], [2.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 17455, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.235595703125, "command_abs_max": [0.9992058873176575, 0.39976152777671814, 0.699550211429596]}
{"step": 9850, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 9850, "total_transitions": 40345600, "num_steps_per_env": 1, "wm_loss": 0.9879783987998962, "actor_loss": -9.39609146118164, "critic_loss": 0.0028193320613354445, "reward": 0.08432453870773315, "falls": 12, "interval_steps": 50, "velocity_mae": [0.13178911805152893, 0.07726749032735825, 0.1343257874250412], "mean_episode_length": 1329.2205882352941, "episode_reward_terms": {"track_linear_velocity": 45.855201721191406, "track_angular_velocity": 50.2937126159668, "upright": 25.845117568969727, "leg_posture": -2.828960657119751, "standstill": -6.918885707855225, "action_rate_l2": -0.5755653381347656, "joint_torques_l2": -0.15586747229099274, "dof_pos_limits": -0.0009895176626741886, "terminated": -0.031153604388237, "unnecessary_wheel_lift": -0.14808788895606995, "rolling_leg_motion": -0.7380198240280151, "obstacle_progress": 2.1664674282073975, "wheel_body_intrusion": -0.3190458416938782, "pair_body_intrusion": -0.35803574323654175}, "weighted_reward_terms": {"track_linear_velocity": 1.7248905897140503, "track_angular_velocity": 1.8918498754501343, "upright": 0.9721906781196594, "leg_posture": -0.10641426593065262, "standstill": -0.26026099920272827, "action_rate_l2": -0.021650483831763268, "joint_torques_l2": -0.005863115657120943, "dof_pos_limits": -3.7221725506242365e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.0055704787373542786, "rolling_leg_motion": -0.02776137739419937, "obstacle_progress": 0.08149390667676926, "wheel_body_intrusion": -0.012001237832009792, "pair_body_intrusion": -0.013467883691191673}, "episode_termination_rates": {"time_out": 0.4852941176470588, "fell_over": 0.058823529411764705, "course_exit": 0.4264705882352941, "illegal_nonwheel_contact": 0.08823529411764706}, "collection_time_s": 0.07576758737792261, "learning_time_s": 0.1861886785988463, "iteration_time_s": 0.4212710036502544, "policy_updates": 9550, "skipped_updates": 0, "invalid_env_resets": 50, "elapsed_s": 4149.519385955005, "nonwheel_terminations": 10672, "contact_bce": 0.3256656229496002, "contact_force_loss": 0.023057226091623306, "collision_bce": 3.668214412755333e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 3.5166645830031484e-05, "collision_label_count": 16312.0, "terrain_level_mean": 1.963623046875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [122, 141, 90, 39, 15, 3], "episodes_by_level": [[875.0, 187.0, 31.0, 0.0], [661.0, 146.0, 29.0, 0.0], [200.0, 59.0, 7.0, 0.0], [56.0, 18.0, 2.0, 0.0], [12.0, 3.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [19, 210, 668, 461, 75, 0], "episodes_by_level": [[660.0, 527.0, 7.0, 0.0], [1945.0, 1178.0, 36.0, 0.0], [2085.0, 678.0, 153.0, 0.0], [718.0, 88.0, 110.0, 0.0], [38.0, 0.0, 10.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [2, 16, 51, 106, 158, 281], "episodes_by_level": [[187.0, 167.0, 2.0, 0.0], [510.0, 456.0, 9.0, 0.0], [668.0, 586.0, 20.0, 0.0], [660.0, 532.0, 22.0, 0.0], [592.0, 426.0, 47.0, 0.0], [504.0, 336.0, 73.0, 0.0]]}, "platform": {"level_counts": [129, 170, 82, 27, 2, 0], "episodes_by_level": [[990.0, 212.0, 40.0, 0.0], [607.0, 122.0, 30.0, 0.0], [175.0, 35.0, 17.0, 0.0], [28.0, 3.0, 6.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [120, 151, 86, 36, 15, 2], "episodes_by_level": [[909.0, 206.0, 36.0, 0.0], [659.0, 139.0, 43.0, 0.0], [215.0, 57.0, 14.0, 0.0], [51.0, 17.0, 4.0, 0.0], [13.0, 2.0, 0.0, 0.0], [3.0, 1.0, 0.0, 0.0]]}, "rubble": {"level_counts": [233, 340, 179, 62, 5, 0], "episodes_by_level": [[1821.0, 414.0, 72.0, 0.0], [1324.0, 292.0, 83.0, 0.0], [416.0, 87.0, 63.0, 0.0], [80.0, 7.0, 20.0, 0.0], [2.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 17566, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23681640625, "command_abs_max": [0.9992058873176575, 0.39976152777671814, 0.699550211429596]}
{"step": 9900, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 9900, "total_transitions": 40550400, "num_steps_per_env": 1, "wm_loss": 1.0220528841018677, "actor_loss": -9.3692045211792, "critic_loss": 0.004924212582409382, "reward": 0.0843355730175972, "falls": 13, "interval_steps": 50, "velocity_mae": [0.13158994913101196, 0.0782720297574997, 0.1352558732032776], "mean_episode_length": 1329.9724137931034, "episode_reward_terms": {"track_linear_velocity": 45.87820053100586, "track_angular_velocity": 50.28062438964844, "upright": 25.844680786132812, "leg_posture": -2.8329708576202393, "standstill": -6.821634292602539, "action_rate_l2": -0.5677589178085327, "joint_torques_l2": -0.15570157766342163, "dof_pos_limits": -0.0008531380444765091, "terminated": -0.033768825232982635, "unnecessary_wheel_lift": -0.15191563963890076, "rolling_leg_motion": -0.7419443130493164, "obstacle_progress": 2.145925521850586, "wheel_body_intrusion": -0.3179989159107208, "pair_body_intrusion": -0.3609013259410858}, "weighted_reward_terms": {"track_linear_velocity": 1.7247802019119263, "track_angular_velocity": 1.8902883529663086, "upright": 0.9716247320175171, "leg_posture": -0.1065048798918724, "standstill": -0.25645774602890015, "action_rate_l2": -0.021344764158129692, "joint_torques_l2": -0.005853564012795687, "dof_pos_limits": -3.207352347089909e-05, "terminated": -0.0012695310870185494, "unnecessary_wheel_lift": -0.005711232777684927, "rolling_leg_motion": -0.027893221005797386, "obstacle_progress": 0.08067556470632553, "wheel_body_intrusion": -0.011955094523727894, "pair_body_intrusion": -0.013568000867962837}, "episode_termination_rates": {"time_out": 0.47586206896551725, "fell_over": 0.07586206896551724, "course_exit": 0.43448275862068964, "illegal_nonwheel_contact": 0.06206896551724138}, "collection_time_s": 0.07596625621954445, "learning_time_s": 0.18565884640207514, "iteration_time_s": 0.4204648222196982, "policy_updates": 9600, "skipped_updates": 0, "invalid_env_resets": 51, "elapsed_s": 4162.601739975013, "nonwheel_terminations": 10681, "contact_bce": 0.3275243937969208, "contact_force_loss": 0.02354966290295124, "collision_bce": 0.0001289017964154482, "collision_label_rate": 6.116207805462182e-05, "collision_prediction_mean": 5.5104243074310943e-05, "collision_label_count": 16350.0, "terrain_level_mean": 1.968017578125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [122, 140, 92, 38, 15, 3], "episodes_by_level": [[879.0, 187.0, 31.0, 0.0], [665.0, 147.0, 29.0, 0.0], [204.0, 59.0, 7.0, 0.0], [58.0, 18.0, 3.0, 0.0], [12.0, 3.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [18, 208, 670, 462, 75, 0], "episodes_by_level": [[661.0, 528.0, 7.0, 0.0], [1950.0, 1182.0, 36.0, 0.0], [2103.0, 680.0, 154.0, 0.0], [730.0, 89.0, 111.0, 0.0], [41.0, 0.0, 10.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [2, 14, 53, 104, 157, 284], "episodes_by_level": [[187.0, 167.0, 2.0, 0.0], [513.0, 459.0, 9.0, 0.0], [669.0, 587.0, 20.0, 0.0], [664.0, 534.0, 23.0, 0.0], [599.0, 431.0, 47.0, 0.0], [513.0, 342.0, 73.0, 0.0]]}, "platform": {"level_counts": [128, 169, 83, 28, 2, 0], "episodes_by_level": [[995.0, 213.0, 40.0, 0.0], [612.0, 124.0, 30.0, 0.0], [179.0, 36.0, 17.0, 0.0], [28.0, 3.0, 6.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [120, 151, 85, 37, 15, 2], "episodes_by_level": [[911.0, 206.0, 36.0, 0.0], [662.0, 140.0, 43.0, 0.0], [219.0, 58.0, 15.0, 0.0], [51.0, 17.0, 4.0, 0.0], [14.0, 2.0, 0.0, 0.0], [3.0, 1.0, 0.0, 0.0]]}, "rubble": {"level_counts": [232, 339, 183, 60, 5, 0], "episodes_by_level": [[1829.0, 416.0, 72.0, 0.0], [1332.0, 295.0, 84.0, 0.0], [421.0, 87.0, 64.0, 0.0], [83.0, 7.0, 22.0, 0.0], [2.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 17684, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2431640625, "command_abs_max": [0.9992058873176575, 0.39976152777671814, 0.699550211429596]}
{"step": 9950, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 9950, "total_transitions": 40755200, "num_steps_per_env": 1, "wm_loss": 0.9693081378936768, "actor_loss": -9.37246322631836, "critic_loss": 0.004021856468170881, "reward": 0.08430453389883041, "falls": 14, "interval_steps": 50, "velocity_mae": [0.12971998751163483, 0.0773833617568016, 0.13453036546707153], "mean_episode_length": 1279.704918032787, "episode_reward_terms": {"track_linear_velocity": 44.25648880004883, "track_angular_velocity": 48.40994644165039, "upright": 24.883031845092773, "leg_posture": -2.719465732574463, "standstill": -6.7445244789123535, "action_rate_l2": -0.548432469367981, "joint_torques_l2": -0.15063786506652832, "dof_pos_limits": -0.0005327365943230689, "terminated": -0.034991927444934845, "unnecessary_wheel_lift": -0.1341305524110794, "rolling_leg_motion": -0.7017752528190613, "obstacle_progress": 2.073333740234375, "wheel_body_intrusion": -0.3320973515510559, "pair_body_intrusion": -0.37126922607421875}, "weighted_reward_terms": {"track_linear_velocity": 1.7291675806045532, "track_angular_velocity": 1.8914495706558228, "upright": 0.9722175598144531, "leg_posture": -0.10625362396240234, "standstill": -0.26351872086524963, "action_rate_l2": -0.021428082138299942, "joint_torques_l2": -0.00588564807549119, "dof_pos_limits": -2.081482125504408e-05, "terminated": -0.0013671873603016138, "unnecessary_wheel_lift": -0.005240682978183031, "rolling_leg_motion": -0.02741941809654236, "obstacle_progress": 0.08100827038288116, "wheel_body_intrusion": -0.012975544668734074, "pair_body_intrusion": -0.014506048522889614}, "episode_termination_rates": {"time_out": 0.45081967213114754, "fell_over": 0.09836065573770492, "course_exit": 0.4344262295081967, "illegal_nonwheel_contact": 0.07377049180327869}, "collection_time_s": 0.07558398570050485, "learning_time_s": 0.18589239178050776, "iteration_time_s": 0.4196659966188936, "policy_updates": 9650, "skipped_updates": 0, "invalid_env_resets": 51, "elapsed_s": 4175.676666357991, "nonwheel_terminations": 10690, "contact_bce": 0.33041077852249146, "contact_force_loss": 0.022793646901845932, "collision_bce": 4.696183168562129e-05, "collision_label_rate": 6.118827877799049e-05, "collision_prediction_mean": 5.787506597698666e-05, "collision_label_count": 16343.0, "terrain_level_mean": 1.97216796875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [122, 141, 89, 39, 16, 3], "episodes_by_level": [[882.0, 187.0, 31.0, 0.0], [670.0, 147.0, 29.0, 0.0], [210.0, 61.0, 8.0, 0.0], [59.0, 19.0, 3.0, 0.0], [12.0, 3.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [17, 205, 673, 461, 77, 0], "episodes_by_level": [[662.0, 529.0, 7.0, 0.0], [1956.0, 1186.0, 36.0, 0.0], [2110.0, 683.0, 154.0, 0.0], [737.0, 90.0, 112.0, 0.0], [43.0, 0.0, 10.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [2, 13, 53, 103, 158, 285], "episodes_by_level": [[187.0, 167.0, 2.0, 0.0], [514.0, 460.0, 9.0, 0.0], [671.0, 589.0, 20.0, 0.0], [668.0, 538.0, 23.0, 0.0], [605.0, 435.0, 47.0, 0.0], [518.0, 345.0, 74.0, 0.0]]}, "platform": {"level_counts": [128, 168, 84, 28, 2, 0], "episodes_by_level": [[996.0, 213.0, 40.0, 0.0], [619.0, 125.0, 30.0, 0.0], [179.0, 36.0, 17.0, 0.0], [28.0, 3.0, 6.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [121, 148, 87, 37, 15, 2], "episodes_by_level": [[912.0, 206.0, 36.0, 0.0], [670.0, 142.0, 44.0, 0.0], [222.0, 59.0, 15.0, 0.0], [52.0, 17.0, 5.0, 0.0], [14.0, 2.0, 0.0, 0.0], [3.0, 1.0, 0.0, 0.0]]}, "rubble": {"level_counts": [232, 339, 183, 60, 5, 0], "episodes_by_level": [[1836.0, 418.0, 72.0, 0.0], [1340.0, 296.0, 86.0, 0.0], [426.0, 87.0, 65.0, 0.0], [83.0, 7.0, 22.0, 0.0], [2.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 17789, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.236328125, "command_abs_max": [0.9992058873176575, 0.39976152777671814, 0.699550211429596]}
{"step": 10000, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 10000, "total_transitions": 40960000, "num_steps_per_env": 1, "wm_loss": 0.9849462509155273, "actor_loss": -9.403717041015625, "critic_loss": 0.003782988293096423, "reward": 0.08454181253910065, "falls": 11, "interval_steps": 50, "velocity_mae": [0.1295994520187378, 0.07700105756521225, 0.13295133411884308], "mean_episode_length": 1232.6691729323309, "episode_reward_terms": {"track_linear_velocity": 42.64980697631836, "track_angular_velocity": 46.70280456542969, "upright": 23.976152420043945, "leg_posture": -2.597308397293091, "standstill": -6.389183521270752, "action_rate_l2": -0.5218049883842468, "joint_torques_l2": -0.14439968764781952, "dof_pos_limits": -0.0005090241320431232, "terminated": -0.026483124122023582, "unnecessary_wheel_lift": -0.11130168288946152, "rolling_leg_motion": -0.6803068518638611, "obstacle_progress": 2.025418758392334, "wheel_body_intrusion": -0.32505515217781067, "pair_body_intrusion": -0.3457353711128235}, "weighted_reward_terms": {"track_linear_velocity": 1.7299779653549194, "track_angular_velocity": 1.8943771123886108, "upright": 0.9725298881530762, "leg_posture": -0.10535302013158798, "standstill": -0.25916051864624023, "action_rate_l2": -0.021165654063224792, "joint_torques_l2": -0.0058571957051754, "dof_pos_limits": -2.064723230432719e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.004514661617577076, "rolling_leg_motion": -0.02759486623108387, "obstacle_progress": 0.08215581625699997, "wheel_body_intrusion": -0.013185011222958565, "pair_body_intrusion": -0.014023850671947002}, "episode_termination_rates": {"time_out": 0.42105263157894735, "fell_over": 0.06766917293233082, "course_exit": 0.5037593984962406, "illegal_nonwheel_contact": 0.045112781954887216}, "collection_time_s": 0.07565786909894086, "learning_time_s": 0.1854860315384576, "iteration_time_s": 0.41887350088359965, "policy_updates": 9700, "skipped_updates": 0, "invalid_env_resets": 51, "elapsed_s": 4188.735008835996, "nonwheel_terminations": 10696, "contact_bce": 0.33331406116485596, "contact_force_loss": 0.023593807592988014, "collision_bce": 0.00019237544620409608, "collision_label_rate": 0.0001222718128701672, "collision_prediction_mean": 5.462586341309361e-05, "collision_label_count": 16357.0, "terrain_level_mean": 1.9765625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [122, 140, 90, 39, 16, 3], "episodes_by_level": [[884.0, 187.0, 31.0, 0.0], [673.0, 148.0, 29.0, 0.0], [211.0, 61.0, 8.0, 0.0], [60.0, 19.0, 3.0, 0.0], [12.0, 3.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [18, 198, 680, 457, 80, 0], "episodes_by_level": [[662.0, 529.0, 7.0, 0.0], [1965.0, 1193.0, 36.0, 0.0], [2120.0, 684.0, 154.0, 0.0], [749.0, 93.0, 114.0, 0.0], [43.0, 0.0, 10.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [2, 13, 52, 106, 154, 287], "episodes_by_level": [[187.0, 167.0, 2.0, 0.0], [514.0, 460.0, 9.0, 0.0], [672.0, 590.0, 20.0, 0.0], [670.0, 539.0, 23.0, 0.0], [608.0, 437.0, 48.0, 0.0], [529.0, 354.0, 74.0, 0.0]]}, "platform": {"level_counts": [129, 167, 84, 28, 2, 0], "episodes_by_level": [[999.0, 213.0, 40.0, 0.0], [624.0, 126.0, 31.0, 0.0], [181.0, 36.0, 18.0, 0.0], [28.0, 3.0, 6.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [121, 147, 87, 37, 16, 2], "episodes_by_level": [[914.0, 206.0, 36.0, 0.0], [675.0, 143.0, 44.0, 0.0], [227.0, 61.0, 15.0, 0.0], [54.0, 18.0, 6.0, 0.0], [14.0, 2.0, 0.0, 0.0], [3.0, 1.0, 0.0, 0.0]]}, "rubble": {"level_counts": [231, 338, 181, 64, 5, 0], "episodes_by_level": [[1840.0, 419.0, 72.0, 0.0], [1344.0, 299.0, 86.0, 0.0], [436.0, 91.0, 66.0, 0.0], [83.0, 7.0, 22.0, 0.0], [2.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 17895, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234130859375, "command_abs_max": [0.9992058873176575, 0.39976152777671814, 0.699550211429596]}
{"step": 10050, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 10050, "total_transitions": 41164800, "num_steps_per_env": 1, "wm_loss": 0.988449215888977, "actor_loss": -9.381631851196289, "critic_loss": 0.007486461196094751, "reward": 0.08436562120914459, "falls": 11, "interval_steps": 50, "velocity_mae": [0.1292506605386734, 0.0762827917933464, 0.13418398797512054], "mean_episode_length": 1336.8282208588957, "episode_reward_terms": {"track_linear_velocity": 46.30892562866211, "track_angular_velocity": 50.57759094238281, "upright": 25.987062454223633, "leg_posture": -2.8272202014923096, "standstill": -7.13953971862793, "action_rate_l2": -0.5623621344566345, "joint_torques_l2": -0.15763315558433533, "dof_pos_limits": -0.000731399399228394, "terminated": -0.02872091718018055, "unnecessary_wheel_lift": -0.13414621353149414, "rolling_leg_motion": -0.7425943613052368, "obstacle_progress": 2.2147469520568848, "wheel_body_intrusion": -0.37679192423820496, "pair_body_intrusion": -0.33624762296676636}, "weighted_reward_terms": {"track_linear_velocity": 1.7320446968078613, "track_angular_velocity": 1.891701102256775, "upright": 0.9719672203063965, "leg_posture": -0.10574358701705933, "standstill": -0.26703280210494995, "action_rate_l2": -0.021033447235822678, "joint_torques_l2": -0.005895789247006178, "dof_pos_limits": -2.735577436396852e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.005017331801354885, "rolling_leg_motion": -0.02777448669075966, "obstacle_progress": 0.08283588290214539, "wheel_body_intrusion": -0.014092757366597652, "pair_body_intrusion": -0.012576321139931679}, "episode_termination_rates": {"time_out": 0.4785276073619632, "fell_over": 0.049079754601226995, "course_exit": 0.4539877300613497, "illegal_nonwheel_contact": 0.03680981595092025}, "collection_time_s": 0.07567142992047593, "learning_time_s": 0.1853877871594159, "iteration_time_s": 0.4180909800927377, "policy_updates": 9750, "skipped_updates": 0, "invalid_env_resets": 51, "elapsed_s": 4201.814349932014, "nonwheel_terminations": 10702, "contact_bce": 0.3286716639995575, "contact_force_loss": 0.022660965099930763, "collision_bce": 4.02325349568855e-05, "collision_label_rate": 6.125198706286028e-05, "collision_prediction_mean": 5.2653176680905744e-05, "collision_label_count": 16326.0, "terrain_level_mean": 1.9853515625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [121, 140, 90, 40, 16, 3], "episodes_by_level": [[887.0, 188.0, 32.0, 0.0], [680.0, 149.0, 29.0, 0.0], [216.0, 62.0, 8.0, 0.0], [63.0, 19.0, 3.0, 0.0], [12.0, 3.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [18, 194, 677, 462, 82, 0], "episodes_by_level": [[663.0, 530.0, 7.0, 0.0], [1974.0, 1198.0, 36.0, 0.0], [2145.0, 691.0, 155.0, 0.0], [760.0, 96.0, 114.0, 0.0], [44.0, 0.0, 11.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [2, 12, 50, 106, 156, 288], "episodes_by_level": [[187.0, 167.0, 2.0, 0.0], [515.0, 461.0, 9.0, 0.0], [675.0, 593.0, 20.0, 0.0], [674.0, 543.0, 23.0, 0.0], [611.0, 440.0, 48.0, 0.0], [537.0, 360.0, 74.0, 0.0]]}, "platform": {"level_counts": [128, 164, 87, 29, 2, 0], "episodes_by_level": [[1003.0, 214.0, 41.0, 0.0], [635.0, 130.0, 31.0, 0.0], [183.0, 37.0, 18.0, 0.0], [29.0, 3.0, 6.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [120, 148, 87, 37, 15, 3], "episodes_by_level": [[918.0, 208.0, 36.0, 0.0], [679.0, 143.0, 45.0, 0.0], [229.0, 61.0, 15.0, 0.0], [54.0, 18.0, 6.0, 0.0], [15.0, 3.0, 0.0, 0.0], [3.0, 1.0, 0.0, 0.0]]}, "rubble": {"level_counts": [230, 337, 182, 65, 5, 0], "episodes_by_level": [[1848.0, 421.0, 72.0, 0.0], [1353.0, 301.0, 87.0, 0.0], [441.0, 93.0, 66.0, 0.0], [86.0, 7.0, 23.0, 0.0], [2.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 18017, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23828125, "command_abs_max": [0.9992488622665405, 0.3997002840042114, 0.699550211429596]}
{"step": 10100, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 10100, "total_transitions": 41369600, "num_steps_per_env": 1, "wm_loss": 1.0160194635391235, "actor_loss": -9.345096588134766, "critic_loss": 0.011904909275472164, "reward": 0.08449932932853699, "falls": 6, "interval_steps": 50, "velocity_mae": [0.13259665668010712, 0.0763297751545906, 0.13519611954689026], "mean_episode_length": 1331.9315068493152, "episode_reward_terms": {"track_linear_velocity": 45.963321685791016, "track_angular_velocity": 50.36187744140625, "upright": 25.89206314086914, "leg_posture": -2.7806854248046875, "standstill": -6.7765631675720215, "action_rate_l2": -0.5730466246604919, "joint_torques_l2": -0.15628008544445038, "dof_pos_limits": -0.00076821050606668, "terminated": -0.015608571469783783, "unnecessary_wheel_lift": -0.12936384975910187, "rolling_leg_motion": -0.7468510270118713, "obstacle_progress": 2.1801538467407227, "wheel_body_intrusion": -0.3419758379459381, "pair_body_intrusion": -0.32895129919052124}, "weighted_reward_terms": {"track_linear_velocity": 1.7254385948181152, "track_angular_velocity": 1.8905580043792725, "upright": 0.9719743132591248, "leg_posture": -0.10438545793294907, "standstill": -0.25438857078552246, "action_rate_l2": -0.0215118657797575, "joint_torques_l2": -0.005866671446710825, "dof_pos_limits": -2.8838214348070323e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.004856250248849392, "rolling_leg_motion": -0.028036389499902725, "obstacle_progress": 0.08184181898832321, "wheel_body_intrusion": -0.012837590649724007, "pair_body_intrusion": -0.012348656542599201}, "episode_termination_rates": {"time_out": 0.4794520547945205, "fell_over": 0.03424657534246575, "course_exit": 0.4794520547945205, "illegal_nonwheel_contact": 0.02054794520547945}, "collection_time_s": 0.07555024031724315, "learning_time_s": 0.18555350842012558, "iteration_time_s": 0.4173139210483163, "policy_updates": 9800, "skipped_updates": 0, "invalid_env_resets": 51, "elapsed_s": 4214.870602587995, "nonwheel_terminations": 10705, "contact_bce": 0.3290591537952423, "contact_force_loss": 0.022996162995696068, "collision_bce": 0.0003468850045464933, "collision_label_rate": 0.00012232415610924363, "collision_prediction_mean": 2.781326293188613e-05, "collision_label_count": 16350.0, "terrain_level_mean": 1.99267578125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [119, 141, 91, 40, 16, 3], "episodes_by_level": [[890.0, 190.0, 33.0, 0.0], [684.0, 150.0, 29.0, 0.0], [218.0, 62.0, 8.0, 0.0], [65.0, 19.0, 3.0, 0.0], [12.0, 3.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [16, 191, 678, 465, 83, 0], "episodes_by_level": [[665.0, 532.0, 7.0, 0.0], [1982.0, 1203.0, 36.0, 0.0], [2163.0, 696.0, 155.0, 0.0], [771.0, 97.0, 115.0, 0.0], [45.0, 0.0, 11.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [2, 13, 48, 106, 153, 292], "episodes_by_level": [[187.0, 167.0, 2.0, 0.0], [516.0, 461.0, 9.0, 0.0], [677.0, 594.0, 21.0, 0.0], [675.0, 544.0, 23.0, 0.0], [616.0, 444.0, 48.0, 0.0], [551.0, 372.0, 74.0, 0.0]]}, "platform": {"level_counts": [128, 164, 86, 30, 2, 0], "episodes_by_level": [[1007.0, 214.0, 42.0, 0.0], [640.0, 130.0, 31.0, 0.0], [186.0, 38.0, 18.0, 0.0], [30.0, 3.0, 6.0, 0.0], [1.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [120, 146, 88, 38, 15, 3], "episodes_by_level": [[922.0, 209.0, 36.0, 0.0], [685.0, 145.0, 46.0, 0.0], [233.0, 62.0, 15.0, 0.0], [54.0, 18.0, 6.0, 0.0], [15.0, 3.0, 0.0, 0.0], [3.0, 1.0, 0.0, 0.0]]}, "rubble": {"level_counts": [227, 336, 187, 64, 5, 0], "episodes_by_level": [[1854.0, 424.0, 72.0, 0.0], [1370.0, 305.0, 87.0, 0.0], [446.0, 93.0, 66.0, 0.0], [89.0, 7.0, 24.0, 0.0], [2.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 18122, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.235107421875, "command_abs_max": [0.9992488622665405, 0.3997002840042114, 0.6993638873100281]}
{"step": 10150, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 10150, "total_transitions": 41574400, "num_steps_per_env": 1, "wm_loss": 0.9982662796974182, "actor_loss": -9.366825103759766, "critic_loss": 0.01194184273481369, "reward": 0.08440358191728592, "falls": 14, "interval_steps": 50, "velocity_mae": [0.13255071640014648, 0.07689736783504486, 0.13468629121780396], "mean_episode_length": 1315.1858974358975, "episode_reward_terms": {"track_linear_velocity": 45.34135437011719, "track_angular_velocity": 49.75602340698242, "upright": 25.58235740661621, "leg_posture": -2.7681379318237305, "standstill": -6.7917256355285645, "action_rate_l2": -0.5646890997886658, "joint_torques_l2": -0.1529664695262909, "dof_pos_limits": -0.0007089748396538198, "terminated": -0.03596211224794388, "unnecessary_wheel_lift": -0.1164480671286583, "rolling_leg_motion": -0.738394021987915, "obstacle_progress": 2.1533262729644775, "wheel_body_intrusion": -0.34025225043296814, "pair_body_intrusion": -0.31737393140792847}, "weighted_reward_terms": {"track_linear_velocity": 1.7237622737884521, "track_angular_velocity": 1.8915966749191284, "upright": 0.9725757241249084, "leg_posture": -0.10523752123117447, "standstill": -0.25820401310920715, "action_rate_l2": -0.021468034014105797, "joint_torques_l2": -0.005815393291413784, "dof_pos_limits": -2.6953408450935967e-05, "terminated": -0.0013671873603016138, "unnecessary_wheel_lift": -0.004427057225257158, "rolling_leg_motion": -0.028071848675608635, "obstacle_progress": 0.08186395466327667, "wheel_body_intrusion": -0.012935519218444824, "pair_body_intrusion": -0.012065744027495384}, "episode_termination_rates": {"time_out": 0.47435897435897434, "fell_over": 0.07051282051282051, "course_exit": 0.4358974358974359, "illegal_nonwheel_contact": 0.04487179487179487}, "collection_time_s": 0.07593964242143557, "learning_time_s": 0.18574333781958557, "iteration_time_s": 0.41654737918285867, "policy_updates": 9850, "skipped_updates": 0, "invalid_env_resets": 52, "elapsed_s": 4227.955898706015, "nonwheel_terminations": 10712, "contact_bce": 0.33173710107803345, "contact_force_loss": 0.0230995062738657, "collision_bce": 0.00012168007378932089, "collision_label_rate": 6.119576573837548e-05, "collision_prediction_mean": 0.0001267685875063762, "collision_label_count": 16341.0, "terrain_level_mean": 1.997802734375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [117, 142, 92, 38, 18, 3], "episodes_by_level": [[893.0, 192.0, 33.0, 0.0], [689.0, 151.0, 29.0, 0.0], [218.0, 62.0, 8.0, 0.0], [71.0, 21.0, 3.0, 0.0], [12.0, 3.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [16, 189, 678, 467, 83, 0], "episodes_by_level": [[665.0, 532.0, 7.0, 0.0], [1986.0, 1205.0, 36.0, 0.0], [2184.0, 699.0, 155.0, 0.0], [779.0, 98.0, 115.0, 0.0], [46.0, 0.0, 12.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [2, 14, 47, 105, 148, 298], "episodes_by_level": [[187.0, 167.0, 2.0, 0.0], [516.0, 461.0, 9.0, 0.0], [678.0, 595.0, 21.0, 0.0], [679.0, 547.0, 23.0, 0.0], [625.0, 452.0, 48.0, 0.0], [564.0, 381.0, 74.0, 0.0]]}, "platform": {"level_counts": [128, 163, 87, 30, 1, 1], "episodes_by_level": [[1009.0, 216.0, 42.0, 0.0], [648.0, 131.0, 33.0, 0.0], [186.0, 38.0, 18.0, 0.0], [30.0, 3.0, 6.0, 0.0], [2.0, 1.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [119, 146, 87, 39, 16, 3], "episodes_by_level": [[924.0, 211.0, 36.0, 0.0], [690.0, 146.0, 47.0, 0.0], [239.0, 64.0, 15.0, 0.0], [56.0, 19.0, 6.0, 0.0], [16.0, 3.0, 0.0, 0.0], [3.0, 1.0, 0.0, 0.0]]}, "rubble": {"level_counts": [227, 336, 188, 63, 5, 0], "episodes_by_level": [[1861.0, 424.0, 73.0, 0.0], [1382.0, 306.0, 87.0, 0.0], [449.0, 93.0, 67.0, 0.0], [93.0, 7.0, 25.0, 0.0], [2.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 18226, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.237060546875, "command_abs_max": [0.9994375705718994, 0.3997002840042114, 0.6993638873100281]}
{"step": 10200, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 10200, "total_transitions": 41779200, "num_steps_per_env": 1, "wm_loss": 1.063994288444519, "actor_loss": -9.387261390686035, "critic_loss": 0.010700642131268978, "reward": 0.08382760733366013, "falls": 12, "interval_steps": 50, "velocity_mae": [0.13339866697788239, 0.07644927501678467, 0.1344074010848999], "mean_episode_length": 1378.1386861313867, "episode_reward_terms": {"track_linear_velocity": 47.470985412597656, "track_angular_velocity": 52.156768798828125, "upright": 26.788713455200195, "leg_posture": -2.9050698280334473, "standstill": -7.794861793518066, "action_rate_l2": -0.5925954580307007, "joint_torques_l2": -0.159339040517807, "dof_pos_limits": -0.0005346370162442327, "terminated": -0.03230012208223343, "unnecessary_wheel_lift": -0.12828022241592407, "rolling_leg_motion": -0.7817074060440063, "obstacle_progress": 2.211622953414917, "wheel_body_intrusion": -0.3636241853237152, "pair_body_intrusion": -0.3437160849571228}, "weighted_reward_terms": {"track_linear_velocity": 1.722286343574524, "track_angular_velocity": 1.8922903537750244, "upright": 0.9719165563583374, "leg_posture": -0.10539831221103668, "standstill": -0.2828039824962616, "action_rate_l2": -0.02149984799325466, "joint_torques_l2": -0.005780951119959354, "dof_pos_limits": -1.939706999110058e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.004654111340641975, "rolling_leg_motion": -0.028360985219478607, "obstacle_progress": 0.08023949712514877, "wheel_body_intrusion": -0.013192583806812763, "pair_body_intrusion": -0.012470301240682602}, "episode_termination_rates": {"time_out": 0.46715328467153283, "fell_over": 0.051094890510948905, "course_exit": 0.44525547445255476, "illegal_nonwheel_contact": 0.058394160583941604}, "collection_time_s": 0.07550138180202338, "learning_time_s": 0.1849911359604448, "iteration_time_s": 0.41578251471402017, "policy_updates": 9900, "skipped_updates": 0, "invalid_env_resets": 52, "elapsed_s": 4240.981650083006, "nonwheel_terminations": 10720, "contact_bce": 0.33519843220710754, "contact_force_loss": 0.024335632100701332, "collision_bce": 0.00020502354891505092, "collision_label_rate": 0.00012241399963386357, "collision_prediction_mean": 0.00023399284691549838, "collision_label_count": 16338.0, "terrain_level_mean": 2.001708984375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [115, 144, 91, 39, 18, 3], "episodes_by_level": [[898.0, 195.0, 33.0, 0.0], [694.0, 151.0, 30.0, 0.0], [221.0, 63.0, 8.0, 0.0], [72.0, 21.0, 3.0, 0.0], [12.0, 3.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [16, 187, 679, 469, 82, 0], "episodes_by_level": [[665.0, 532.0, 7.0, 0.0], [1989.0, 1207.0, 36.0, 0.0], [2196.0, 701.0, 155.0, 0.0], [790.0, 98.0, 115.0, 0.0], [49.0, 0.0, 13.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [2, 14, 42, 107, 149, 300], "episodes_by_level": [[187.0, 167.0, 2.0, 0.0], [516.0, 461.0, 9.0, 0.0], [684.0, 601.0, 21.0, 0.0], [682.0, 550.0, 23.0, 0.0], [631.0, 456.0, 48.0, 0.0], [579.0, 389.0, 74.0, 0.0]]}, "platform": {"level_counts": [128, 163, 87, 30, 1, 1], "episodes_by_level": [[1010.0, 216.0, 43.0, 0.0], [653.0, 131.0, 33.0, 0.0], [186.0, 38.0, 18.0, 0.0], [30.0, 3.0, 6.0, 0.0], [2.0, 1.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [119, 146, 86, 40, 16, 3], "episodes_by_level": [[926.0, 211.0, 36.0, 0.0], [690.0, 146.0, 47.0, 0.0], [241.0, 65.0, 15.0, 0.0], [57.0, 19.0, 6.0, 0.0], [16.0, 3.0, 0.0, 0.0], [3.0, 1.0, 0.0, 0.0]]}, "rubble": {"level_counts": [228, 336, 185, 65, 5, 0], "episodes_by_level": [[1866.0, 424.0, 73.0, 0.0], [1393.0, 308.0, 88.0, 0.0], [461.0, 95.0, 70.0, 0.0], [93.0, 7.0, 25.0, 0.0], [2.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 18320, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.244873046875, "command_abs_max": [0.9994375705718994, 0.39902353286743164, 0.6993638873100281]}
{"step": 10250, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 10250, "total_transitions": 41984000, "num_steps_per_env": 1, "wm_loss": 0.9794473648071289, "actor_loss": -9.39569091796875, "critic_loss": 0.004938193596899509, "reward": 0.08371466398239136, "falls": 9, "interval_steps": 50, "velocity_mae": [0.13472437858581543, 0.0773441344499588, 0.13483980298042297], "mean_episode_length": 1370.3385826771653, "episode_reward_terms": {"track_linear_velocity": 47.115177154541016, "track_angular_velocity": 51.82150650024414, "upright": 26.61199378967285, "leg_posture": -2.907413959503174, "standstill": -7.781813621520996, "action_rate_l2": -0.582003653049469, "joint_torques_l2": -0.15985438227653503, "dof_pos_limits": -0.000706987630110234, "terminated": -0.024087980389595032, "unnecessary_wheel_lift": -0.13115249574184418, "rolling_leg_motion": -0.7623287439346313, "obstacle_progress": 2.2274010181427, "wheel_body_intrusion": -0.36984342336654663, "pair_body_intrusion": -0.3394497334957123}, "weighted_reward_terms": {"track_linear_velocity": 1.7191071510314941, "track_angular_velocity": 1.8908284902572632, "upright": 0.9710006713867188, "leg_posture": -0.10608377307653427, "standstill": -0.28393763303756714, "action_rate_l2": -0.021235760301351547, "joint_torques_l2": -0.005832660011947155, "dof_pos_limits": -2.5796092813834548e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.0047854045405983925, "rolling_leg_motion": -0.02781534381210804, "obstacle_progress": 0.08127192407846451, "wheel_body_intrusion": -0.013494599610567093, "pair_body_intrusion": -0.012385616078972816}, "episode_termination_rates": {"time_out": 0.4881889763779528, "fell_over": 0.047244094488188976, "course_exit": 0.4409448818897638, "illegal_nonwheel_contact": 0.03937007874015748}, "collection_time_s": 0.07559694258030504, "learning_time_s": 0.18489050986070651, "iteration_time_s": 0.41502508767287916, "policy_updates": 9950, "skipped_updates": 0, "invalid_env_resets": 52, "elapsed_s": 4254.0071486470115, "nonwheel_terminations": 10725, "contact_bce": 0.32979801297187805, "contact_force_loss": 0.02288084663450718, "collision_bce": 0.00013547948037739843, "collision_label_rate": 6.124073843238875e-05, "collision_prediction_mean": 3.1566301913699135e-05, "collision_label_count": 16329.0, "terrain_level_mean": 2.008056640625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [112, 145, 93, 39, 18, 3], "episodes_by_level": [[904.0, 198.0, 34.0, 0.0], [700.0, 153.0, 30.0, 0.0], [223.0, 63.0, 8.0, 0.0], [72.0, 21.0, 3.0, 0.0], [12.0, 3.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [16, 185, 679, 471, 82, 0], "episodes_by_level": [[665.0, 532.0, 7.0, 0.0], [1993.0, 1210.0, 36.0, 0.0], [2206.0, 704.0, 155.0, 0.0], [799.0, 98.0, 116.0, 0.0], [50.0, 0.0, 13.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [2, 13, 43, 105, 145, 306], "episodes_by_level": [[187.0, 167.0, 2.0, 0.0], [517.0, 462.0, 9.0, 0.0], [685.0, 602.0, 21.0, 0.0], [686.0, 553.0, 23.0, 0.0], [637.0, 462.0, 48.0, 0.0], [586.0, 395.0, 74.0, 0.0]]}, "platform": {"level_counts": [127, 163, 87, 31, 1, 1], "episodes_by_level": [[1015.0, 218.0, 44.0, 0.0], [656.0, 132.0, 34.0, 0.0], [190.0, 39.0, 18.0, 0.0], [30.0, 3.0, 6.0, 0.0], [2.0, 1.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [118, 146, 87, 39, 17, 3], "episodes_by_level": [[932.0, 212.0, 36.0, 0.0], [693.0, 147.0, 47.0, 0.0], [243.0, 65.0, 15.0, 0.0], [58.0, 20.0, 6.0, 0.0], [18.0, 3.0, 0.0, 0.0], [3.0, 1.0, 0.0, 0.0]]}, "rubble": {"level_counts": [228, 335, 186, 64, 6, 0], "episodes_by_level": [[1867.0, 424.0, 73.0, 0.0], [1407.0, 309.0, 88.0, 0.0], [468.0, 96.0, 70.0, 0.0], [95.0, 8.0, 26.0, 0.0], [2.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 18417, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.248046875, "command_abs_max": [0.9998190402984619, 0.39902353286743164, 0.6982225179672241]}
{"step": 10300, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 10300, "total_transitions": 42188800, "num_steps_per_env": 1, "wm_loss": 1.0019670724868774, "actor_loss": -9.376484870910645, "critic_loss": 0.00457964651286602, "reward": 0.08405588567256927, "falls": 15, "interval_steps": 50, "velocity_mae": [0.13203498721122742, 0.07683765888214111, 0.13590887188911438], "mean_episode_length": 1319.7777777777778, "episode_reward_terms": {"track_linear_velocity": 45.526611328125, "track_angular_velocity": 49.879539489746094, "upright": 25.648225784301758, "leg_posture": -2.7459540367126465, "standstill": -7.263335704803467, "action_rate_l2": -0.5677121877670288, "joint_torques_l2": -0.15293140709400177, "dof_pos_limits": -0.0007510680006816983, "terminated": -0.03866535797715187, "unnecessary_wheel_lift": -0.13204436004161835, "rolling_leg_motion": -0.7380219101905823, "obstacle_progress": 2.220506429672241, "wheel_body_intrusion": -0.33865636587142944, "pair_body_intrusion": -0.36173558235168457}, "weighted_reward_terms": {"track_linear_velocity": 1.724783182144165, "track_angular_velocity": 1.8896945714950562, "upright": 0.9716871976852417, "leg_posture": -0.10403092205524445, "standstill": -0.2751726806163788, "action_rate_l2": -0.0215078704059124, "joint_torques_l2": -0.0057938313111662865, "dof_pos_limits": -2.8454334824346006e-05, "terminated": -0.0014648435171693563, "unnecessary_wheel_lift": -0.005002522375434637, "rolling_leg_motion": -0.02796008251607418, "obstacle_progress": 0.08412425965070724, "wheel_body_intrusion": -0.012830053456127644, "pair_body_intrusion": -0.013704412616789341}, "episode_termination_rates": {"time_out": 0.4691358024691358, "fell_over": 0.06172839506172839, "course_exit": 0.4382716049382716, "illegal_nonwheel_contact": 0.05555555555555555}, "collection_time_s": 0.07571249805914704, "learning_time_s": 0.18415684256120585, "iteration_time_s": 0.41427201283912546, "policy_updates": 10000, "skipped_updates": 0, "invalid_env_resets": 52, "elapsed_s": 4267.001732242992, "nonwheel_terminations": 10734, "contact_bce": 0.32473230361938477, "contact_force_loss": 0.023235678672790527, "collision_bce": 0.00033249755506403744, "collision_label_rate": 0.00012247396807651967, "collision_prediction_mean": 8.15967214293778e-05, "collision_label_count": 16330.0, "terrain_level_mean": 2.012451171875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [111, 147, 93, 38, 18, 3], "episodes_by_level": [[906.0, 199.0, 34.0, 0.0], [705.0, 154.0, 30.0, 0.0], [231.0, 63.0, 10.0, 0.0], [73.0, 21.0, 4.0, 0.0], [12.0, 3.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [16, 182, 678, 473, 84, 0], "episodes_by_level": [[665.0, 532.0, 7.0, 0.0], [1998.0, 1214.0, 36.0, 0.0], [2224.0, 709.0, 156.0, 0.0], [818.0, 100.0, 116.0, 0.0], [50.0, 0.0, 13.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [2, 13, 41, 104, 147, 307], "episodes_by_level": [[187.0, 167.0, 2.0, 0.0], [517.0, 462.0, 9.0, 0.0], [688.0, 604.0, 21.0, 0.0], [693.0, 558.0, 23.0, 0.0], [644.0, 467.0, 48.0, 0.0], [596.0, 404.0, 75.0, 0.0]]}, "platform": {"level_counts": [127, 162, 88, 31, 1, 1], "episodes_by_level": [[1017.0, 218.0, 44.0, 0.0], [660.0, 133.0, 34.0, 0.0], [193.0, 39.0, 18.0, 0.0], [30.0, 3.0, 6.0, 0.0], [2.0, 1.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [118, 145, 88, 39, 17, 3], "episodes_by_level": [[937.0, 212.0, 36.0, 0.0], [699.0, 148.0, 47.0, 0.0], [246.0, 65.0, 15.0, 0.0], [59.0, 20.0, 6.0, 0.0], [18.0, 3.0, 0.0, 0.0], [3.0, 1.0, 0.0, 0.0]]}, "rubble": {"level_counts": [228, 333, 188, 64, 6, 0], "episodes_by_level": [[1874.0, 425.0, 74.0, 0.0], [1419.0, 312.0, 89.0, 0.0], [475.0, 97.0, 71.0, 0.0], [98.0, 8.0, 27.0, 0.0], [2.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 18539, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.250732421875, "command_abs_max": [0.9998190402984619, 0.39902353286743164, 0.6997988820075989]}
{"step": 10350, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 10350, "total_transitions": 42393600, "num_steps_per_env": 1, "wm_loss": 0.9538715481758118, "actor_loss": -9.370040893554688, "critic_loss": 0.005477366037666798, "reward": 0.08446738868951797, "falls": 7, "interval_steps": 50, "velocity_mae": [0.13350115716457367, 0.07590198516845703, 0.13469506800174713], "mean_episode_length": 1334.2262773722628, "episode_reward_terms": {"track_linear_velocity": 45.99121856689453, "track_angular_velocity": 50.46672821044922, "upright": 25.919919967651367, "leg_posture": -2.769493818283081, "standstill": -6.805532932281494, "action_rate_l2": -0.5725144147872925, "joint_torques_l2": -0.15447454154491425, "dof_pos_limits": -0.00025844256742857397, "terminated": -0.01824137382209301, "unnecessary_wheel_lift": -0.10279551148414612, "rolling_leg_motion": -0.7508797645568848, "obstacle_progress": 2.1629559993743896, "wheel_body_intrusion": -0.34394577145576477, "pair_body_intrusion": -0.32406729459762573}, "weighted_reward_terms": {"track_linear_velocity": 1.7235163450241089, "track_angular_velocity": 1.891235589981079, "upright": 0.9713464379310608, "leg_posture": -0.10378651320934296, "standstill": -0.25503668189048767, "action_rate_l2": -0.02145492099225521, "joint_torques_l2": -0.0057889181189239025, "dof_pos_limits": -9.68510994425742e-06, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.003852251684293151, "rolling_leg_motion": -0.0281391479074955, "obstacle_progress": 0.08105656504631042, "wheel_body_intrusion": -0.012889334000647068, "pair_body_intrusion": -0.012144390493631363}, "episode_termination_rates": {"time_out": 0.48905109489051096, "fell_over": 0.043795620437956206, "course_exit": 0.45985401459854014, "illegal_nonwheel_contact": 0.014598540145985401}, "collection_time_s": 0.07558922568161507, "learning_time_s": 0.1915848041389836, "iteration_time_s": 0.4135614964094689, "policy_updates": 10050, "skipped_updates": 0, "invalid_env_resets": 52, "elapsed_s": 4280.361487838003, "nonwheel_terminations": 10736, "contact_bce": 0.32056140899658203, "contact_force_loss": 0.022913670167326927, "collision_bce": 3.3716987672960386e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 3.417296056795749e-06, "collision_label_count": 16318.0, "terrain_level_mean": 2.01953125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [111, 147, 93, 38, 18, 3], "episodes_by_level": [[909.0, 199.0, 34.0, 0.0], [711.0, 154.0, 30.0, 0.0], [235.0, 63.0, 10.0, 0.0], [73.0, 21.0, 4.0, 0.0], [12.0, 3.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [16, 177, 677, 476, 87, 0], "episodes_by_level": [[665.0, 532.0, 7.0, 0.0], [2005.0, 1219.0, 36.0, 0.0], [2240.0, 715.0, 156.0, 0.0], [831.0, 102.0, 116.0, 0.0], [52.0, 0.0, 14.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [2, 12, 41, 102, 148, 309], "episodes_by_level": [[187.0, 167.0, 2.0, 0.0], [518.0, 463.0, 9.0, 0.0], [688.0, 604.0, 21.0, 0.0], [696.0, 561.0, 23.0, 0.0], [648.0, 471.0, 48.0, 0.0], [603.0, 409.0, 76.0, 0.0]]}, "platform": {"level_counts": [123, 165, 89, 32, 0, 1], "episodes_by_level": [[1022.0, 222.0, 44.0, 0.0], [667.0, 135.0, 34.0, 0.0], [196.0, 39.0, 19.0, 0.0], [30.0, 3.0, 6.0, 0.0], [3.0, 1.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [118, 144, 89, 39, 17, 3], "episodes_by_level": [[938.0, 212.0, 36.0, 0.0], [702.0, 149.0, 47.0, 0.0], [248.0, 65.0, 15.0, 0.0], [60.0, 20.0, 6.0, 0.0], [18.0, 3.0, 0.0, 0.0], [3.0, 1.0, 0.0, 0.0]]}, "rubble": {"level_counts": [227, 331, 192, 63, 6, 0], "episodes_by_level": [[1880.0, 426.0, 74.0, 0.0], [1430.0, 315.0, 89.0, 0.0], [480.0, 97.0, 71.0, 0.0], [101.0, 8.0, 28.0, 0.0], [2.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 18648, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2509765625, "command_abs_max": [0.9998190402984619, 0.39902353286743164, 0.6997988820075989]}
{"step": 10400, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 10400, "total_transitions": 42598400, "num_steps_per_env": 1, "wm_loss": 0.9785709977149963, "actor_loss": -9.396568298339844, "critic_loss": 0.004429768770933151, "reward": 0.08485844731330872, "falls": 10, "interval_steps": 50, "velocity_mae": [0.1326448768377304, 0.07465757429599762, 0.13519160449504852], "mean_episode_length": 1400.6291390728477, "episode_reward_terms": {"track_linear_velocity": 48.41958236694336, "track_angular_velocity": 52.96933364868164, "upright": 27.21761703491211, "leg_posture": -2.870147466659546, "standstill": -6.757162570953369, "action_rate_l2": -0.5961055755615234, "joint_torques_l2": -0.1600511372089386, "dof_pos_limits": -0.0006277863867580891, "terminated": -0.027356034144759178, "unnecessary_wheel_lift": -0.1199662908911705, "rolling_leg_motion": -0.7985582947731018, "obstacle_progress": 2.2868595123291016, "wheel_body_intrusion": -0.34175029397010803, "pair_body_intrusion": -0.3664378225803375}, "weighted_reward_terms": {"track_linear_velocity": 1.7284940481185913, "track_angular_velocity": 1.8909121751785278, "upright": 0.9716211557388306, "leg_posture": -0.10245922207832336, "standstill": -0.24121883511543274, "action_rate_l2": -0.021279921755194664, "joint_torques_l2": -0.00571354478597641, "dof_pos_limits": -2.241087167931255e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.004282585810869932, "rolling_leg_motion": -0.028507130220532417, "obstacle_progress": 0.08163686841726303, "wheel_body_intrusion": -0.012199885211884975, "pair_body_intrusion": -0.013081186451017857}, "episode_termination_rates": {"time_out": 0.543046357615894, "fell_over": 0.039735099337748346, "course_exit": 0.39072847682119205, "illegal_nonwheel_contact": 0.046357615894039736}, "collection_time_s": 0.07579191801953129, "learning_time_s": 0.18385890310106334, "iteration_time_s": 0.41282165736057674, "policy_updates": 10100, "skipped_updates": 0, "invalid_env_resets": 52, "elapsed_s": 4293.345236549998, "nonwheel_terminations": 10743, "contact_bce": 0.33032411336898804, "contact_force_loss": 0.02295544371008873, "collision_bce": 6.29450732958503e-05, "collision_label_rate": 6.121449405327439e-05, "collision_prediction_mean": 0.00010160310193896294, "collision_label_count": 16336.0, "terrain_level_mean": 2.025390625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [110, 147, 94, 38, 18, 3], "episodes_by_level": [[911.0, 200.0, 34.0, 0.0], [717.0, 155.0, 30.0, 0.0], [239.0, 63.0, 10.0, 0.0], [75.0, 21.0, 4.0, 0.0], [13.0, 3.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [16, 173, 679, 478, 87, 0], "episodes_by_level": [[665.0, 532.0, 7.0, 0.0], [2011.0, 1223.0, 36.0, 0.0], [2259.0, 718.0, 156.0, 0.0], [842.0, 103.0, 118.0, 0.0], [54.0, 0.0, 15.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [2, 13, 38, 105, 145, 311], "episodes_by_level": [[187.0, 167.0, 2.0, 0.0], [518.0, 463.0, 9.0, 0.0], [691.0, 607.0, 21.0, 0.0], [697.0, 562.0, 23.0, 0.0], [651.0, 474.0, 48.0, 0.0], [611.0, 414.0, 77.0, 0.0]]}, "platform": {"level_counts": [122, 162, 93, 32, 0, 1], "episodes_by_level": [[1024.0, 223.0, 44.0, 0.0], [677.0, 139.0, 34.0, 0.0], [198.0, 39.0, 19.0, 0.0], [32.0, 3.0, 6.0, 0.0], [3.0, 1.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [117, 143, 89, 41, 17, 3], "episodes_by_level": [[942.0, 213.0, 36.0, 0.0], [707.0, 151.0, 47.0, 0.0], [253.0, 67.0, 15.0, 0.0], [60.0, 20.0, 6.0, 0.0], [18.0, 3.0, 0.0, 0.0], [3.0, 1.0, 0.0, 0.0]]}, "rubble": {"level_counts": [224, 333, 193, 63, 6, 0], "episodes_by_level": [[1887.0, 429.0, 74.0, 0.0], [1439.0, 316.0, 89.0, 0.0], [484.0, 97.0, 71.0, 0.0], [102.0, 8.0, 28.0, 0.0], [2.0, 0.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 18762, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.24853515625, "command_abs_max": [0.9998190402984619, 0.39902353286743164, 0.6997988820075989]}
{"step": 10450, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 10450, "total_transitions": 42803200, "num_steps_per_env": 1, "wm_loss": 0.9775723814964294, "actor_loss": -9.380016326904297, "critic_loss": 0.0055943080224096775, "reward": 0.08478271216154099, "falls": 13, "interval_steps": 50, "velocity_mae": [0.13099373877048492, 0.07564648985862732, 0.1351713389158249], "mean_episode_length": 1366.7857142857142, "episode_reward_terms": {"track_linear_velocity": 47.24525833129883, "track_angular_velocity": 51.69200134277344, "upright": 26.583009719848633, "leg_posture": -2.8842103481292725, "standstill": -6.604886531829834, "action_rate_l2": -0.5758776068687439, "joint_torques_l2": -0.15688221156597137, "dof_pos_limits": -0.0011021331883966923, "terminated": -0.03470354154706001, "unnecessary_wheel_lift": -0.13358193635940552, "rolling_leg_motion": -0.7779086232185364, "obstacle_progress": 2.2080588340759277, "wheel_body_intrusion": -0.3312358856201172, "pair_body_intrusion": -0.3481464087963104}, "weighted_reward_terms": {"track_linear_velocity": 1.7283344268798828, "track_angular_velocity": 1.8910059928894043, "upright": 0.9724644422531128, "leg_posture": -0.10551069676876068, "standstill": -0.24162115156650543, "action_rate_l2": -0.021066857501864433, "joint_torques_l2": -0.005739093292504549, "dof_pos_limits": -4.0318431274499744e-05, "terminated": -0.0012695310870185494, "unnecessary_wheel_lift": -0.004886718466877937, "rolling_leg_motion": -0.02845759317278862, "obstacle_progress": 0.08077560365200043, "wheel_body_intrusion": -0.012117329984903336, "pair_body_intrusion": -0.012735954485833645}, "episode_termination_rates": {"time_out": 0.5324675324675324, "fell_over": 0.03896103896103896, "course_exit": 0.38311688311688313, "illegal_nonwheel_contact": 0.05194805194805195}, "collection_time_s": 0.07562568238005042, "learning_time_s": 0.18358220656285995, "iteration_time_s": 0.4120867671407665, "policy_updates": 10150, "skipped_updates": 0, "invalid_env_resets": 52, "elapsed_s": 4306.306716621009, "nonwheel_terminations": 10751, "contact_bce": 0.32785099744796753, "contact_force_loss": 0.022907109931111336, "collision_bce": 0.00039424386341124773, "collision_label_rate": 0.000122443976579234, "collision_prediction_mean": 5.6035649322438985e-05, "collision_label_count": 16334.0, "terrain_level_mean": 2.029541015625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [109, 148, 94, 38, 18, 3], "episodes_by_level": [[916.0, 201.0, 34.0, 0.0], [722.0, 155.0, 30.0, 0.0], [241.0, 63.0, 10.0, 0.0], [75.0, 21.0, 4.0, 0.0], [15.0, 3.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [16, 168, 682, 478, 89, 0], "episodes_by_level": [[665.0, 532.0, 7.0, 0.0], [2018.0, 1229.0, 36.0, 0.0], [2272.0, 721.0, 156.0, 0.0], [858.0, 105.0, 118.0, 0.0], [55.0, 0.0, 15.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [2, 13, 38, 104, 144, 313], "episodes_by_level": [[187.0, 167.0, 2.0, 0.0], [518.0, 463.0, 9.0, 0.0], [691.0, 607.0, 21.0, 0.0], [700.0, 565.0, 23.0, 0.0], [658.0, 480.0, 49.0, 0.0], [619.0, 418.0, 78.0, 0.0]]}, "platform": {"level_counts": [120, 165, 92, 32, 0, 1], "episodes_by_level": [[1027.0, 225.0, 44.0, 0.0], [679.0, 139.0, 34.0, 0.0], [202.0, 39.0, 20.0, 0.0], [33.0, 3.0, 6.0, 0.0], [3.0, 1.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [117, 142, 89, 42, 17, 3], "episodes_by_level": [[945.0, 213.0, 36.0, 0.0], [713.0, 152.0, 47.0, 0.0], [255.0, 68.0, 15.0, 0.0], [60.0, 20.0, 6.0, 0.0], [18.0, 3.0, 0.0, 0.0], [3.0, 1.0, 0.0, 0.0]]}, "rubble": {"level_counts": [224, 330, 197, 63, 5, 0], "episodes_by_level": [[1896.0, 431.0, 74.0, 0.0], [1455.0, 319.0, 91.0, 0.0], [490.0, 97.0, 71.0, 0.0], [105.0, 8.0, 29.0, 0.0], [3.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 18885, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.252197265625, "command_abs_max": [0.9998190402984619, 0.39902353286743164, 0.6997988820075989]}
{"step": 10500, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 10500, "total_transitions": 43008000, "num_steps_per_env": 1, "wm_loss": 1.0401126146316528, "actor_loss": -9.354476928710938, "critic_loss": 0.0054767741821706295, "reward": 0.08478119969367981, "falls": 4, "interval_steps": 50, "velocity_mae": [0.13123629987239838, 0.0740554928779602, 0.13468749821186066], "mean_episode_length": 1390.3169014084508, "episode_reward_terms": {"track_linear_velocity": 48.1200065612793, "track_angular_velocity": 52.60045623779297, "upright": 27.02305793762207, "leg_posture": -2.979116916656494, "standstill": -6.778235912322998, "action_rate_l2": -0.5775027871131897, "joint_torques_l2": -0.15991653501987457, "dof_pos_limits": -0.0008023774134926498, "terminated": -0.01086184848099947, "unnecessary_wheel_lift": -0.12128236144781113, "rolling_leg_motion": -0.767295777797699, "obstacle_progress": 2.290773391723633, "wheel_body_intrusion": -0.3870704472064972, "pair_body_intrusion": -0.37950512766838074}, "weighted_reward_terms": {"track_linear_velocity": 1.7305409908294678, "track_angular_velocity": 1.8916715383529663, "upright": 0.9718309640884399, "leg_posture": -0.10713806003332138, "standstill": -0.24376586079597473, "action_rate_l2": -0.020768746733665466, "joint_torques_l2": -0.005751082673668861, "dof_pos_limits": -2.885592039092444e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.004361680708825588, "rolling_leg_motion": -0.027594275772571564, "obstacle_progress": 0.08238314092159271, "wheel_body_intrusion": -0.013920224271714687, "pair_body_intrusion": -0.013648152351379395}, "episode_termination_rates": {"time_out": 0.5704225352112676, "fell_over": 0.02112676056338028, "course_exit": 0.4014084507042254, "illegal_nonwheel_contact": 0.02112676056338028}, "collection_time_s": 0.07605267495848239, "learning_time_s": 0.18425106307899114, "iteration_time_s": 0.41136410005000096, "policy_updates": 10200, "skipped_updates": 0, "invalid_env_resets": 53, "elapsed_s": 4319.32305052501, "nonwheel_terminations": 10754, "contact_bce": 0.32816725969314575, "contact_force_loss": 0.02303236350417137, "collision_bce": 8.97053541848436e-05, "collision_label_rate": 6.122948980191723e-05, "collision_prediction_mean": 7.392153202090412e-05, "collision_label_count": 16332.0, "terrain_level_mean": 2.03662109375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [107, 147, 95, 40, 18, 3], "episodes_by_level": [[921.0, 203.0, 34.0, 0.0], [731.0, 158.0, 30.0, 0.0], [244.0, 65.0, 10.0, 0.0], [75.0, 21.0, 4.0, 0.0], [15.0, 3.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [16, 167, 678, 480, 92, 0], "episodes_by_level": [[665.0, 532.0, 7.0, 0.0], [2021.0, 1230.0, 36.0, 0.0], [2290.0, 726.0, 156.0, 0.0], [868.0, 107.0, 118.0, 0.0], [56.0, 0.0, 15.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [2, 13, 37, 103, 146, 313], "episodes_by_level": [[187.0, 167.0, 2.0, 0.0], [518.0, 463.0, 9.0, 0.0], [692.0, 608.0, 21.0, 0.0], [703.0, 567.0, 23.0, 0.0], [661.0, 483.0, 49.0, 0.0], [634.0, 428.0, 80.0, 0.0]]}, "platform": {"level_counts": [120, 165, 91, 32, 1, 1], "episodes_by_level": [[1033.0, 225.0, 44.0, 0.0], [685.0, 139.0, 34.0, 0.0], [207.0, 40.0, 20.0, 0.0], [34.0, 4.0, 6.0, 0.0], [3.0, 1.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [116, 142, 88, 44, 17, 3], "episodes_by_level": [[946.0, 214.0, 36.0, 0.0], [719.0, 153.0, 47.0, 0.0], [257.0, 70.0, 15.0, 0.0], [60.0, 20.0, 6.0, 0.0], [19.0, 3.0, 0.0, 0.0], [3.0, 1.0, 0.0, 0.0]]}, "rubble": {"level_counts": [221, 331, 200, 62, 5, 0], "episodes_by_level": [[1903.0, 434.0, 74.0, 0.0], [1462.0, 321.0, 91.0, 0.0], [493.0, 97.0, 71.0, 0.0], [109.0, 8.0, 30.0, 0.0], [3.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 18997, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.24609375, "command_abs_max": [0.9998190402984619, 0.39878758788108826, 0.6997988820075989]}
{"step": 10550, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 10550, "total_transitions": 43212800, "num_steps_per_env": 1, "wm_loss": 0.9004918336868286, "actor_loss": -9.377439498901367, "critic_loss": 0.004227098543196917, "reward": 0.08464699238538742, "falls": 7, "interval_steps": 50, "velocity_mae": [0.13228702545166016, 0.0750395655632019, 0.13436247408390045], "mean_episode_length": 1340.7737226277372, "episode_reward_terms": {"track_linear_velocity": 46.29161834716797, "track_angular_velocity": 50.73766326904297, "upright": 26.06100845336914, "leg_posture": -2.896852493286133, "standstill": -6.5180864334106445, "action_rate_l2": -0.5526763200759888, "joint_torques_l2": -0.15272922813892365, "dof_pos_limits": -0.0014365088427439332, "terminated": -0.01833088882267475, "unnecessary_wheel_lift": -0.12624496221542358, "rolling_leg_motion": -0.727598249912262, "obstacle_progress": 2.1025583744049072, "wheel_body_intrusion": -0.3507726788520813, "pair_body_intrusion": -0.355660617351532}, "weighted_reward_terms": {"track_linear_velocity": 1.7263026237487793, "track_angular_velocity": 1.8921040296554565, "upright": 0.9718645811080933, "leg_posture": -0.10802913457155228, "standstill": -0.24307183921337128, "action_rate_l2": -0.020610352978110313, "joint_torques_l2": -0.0056955632753670216, "dof_pos_limits": -5.3570147429127246e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.004707914777100086, "rolling_leg_motion": -0.0271335206925869, "obstacle_progress": 0.07840840518474579, "wheel_body_intrusion": -0.013080979697406292, "pair_body_intrusion": -0.013263260945677757}, "episode_termination_rates": {"time_out": 0.5109489051094891, "fell_over": 0.029197080291970802, "course_exit": 0.43795620437956206, "illegal_nonwheel_contact": 0.0364963503649635}, "collection_time_s": 0.07583253274031448, "learning_time_s": 0.18514709988143296, "iteration_time_s": 0.4106539810697633, "policy_updates": 10250, "skipped_updates": 0, "invalid_env_resets": 53, "elapsed_s": 4332.399500286003, "nonwheel_terminations": 10759, "contact_bce": 0.3204743564128876, "contact_force_loss": 0.02239128015935421, "collision_bce": 2.9649838779732818e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 3.0104833967925515e-06, "collision_label_count": 16347.0, "terrain_level_mean": 2.04345703125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [107, 146, 97, 39, 16, 5], "episodes_by_level": [[923.0, 203.0, 34.0, 0.0], [733.0, 159.0, 30.0, 0.0], [246.0, 65.0, 10.0, 0.0], [77.0, 21.0, 5.0, 0.0], [19.0, 5.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [15, 165, 676, 484, 93, 0], "episodes_by_level": [[666.0, 533.0, 7.0, 0.0], [2025.0, 1234.0, 36.0, 0.0], [2311.0, 731.0, 156.0, 0.0], [873.0, 108.0, 118.0, 0.0], [58.0, 0.0, 15.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [2, 12, 37, 101, 148, 314], "episodes_by_level": [[187.0, 167.0, 2.0, 0.0], [519.0, 464.0, 9.0, 0.0], [694.0, 610.0, 21.0, 0.0], [707.0, 570.0, 23.0, 0.0], [665.0, 485.0, 49.0, 0.0], [646.0, 439.0, 80.0, 0.0]]}, "platform": {"level_counts": [117, 168, 90, 33, 1, 1], "episodes_by_level": [[1040.0, 228.0, 44.0, 0.0], [687.0, 139.0, 34.0, 0.0], [209.0, 41.0, 20.0, 0.0], [36.0, 4.0, 6.0, 0.0], [3.0, 1.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [117, 140, 88, 44, 17, 4], "episodes_by_level": [[948.0, 214.0, 36.0, 0.0], [730.0, 154.0, 48.0, 0.0], [262.0, 71.0, 15.0, 0.0], [63.0, 21.0, 6.0, 0.0], [20.0, 4.0, 0.0, 0.0], [3.0, 1.0, 0.0, 0.0]]}, "rubble": {"level_counts": [220, 331, 201, 61, 6, 0], "episodes_by_level": [[1907.0, 435.0, 75.0, 0.0], [1468.0, 322.0, 91.0, 0.0], [495.0, 98.0, 71.0, 0.0], [112.0, 9.0, 31.0, 0.0], [3.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 19102, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.24658203125, "command_abs_max": [0.9988301992416382, 0.39961522817611694, 0.6997988820075989]}
{"step": 10600, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 10600, "total_transitions": 43417600, "num_steps_per_env": 1, "wm_loss": 0.9334223866462708, "actor_loss": -9.378721237182617, "critic_loss": 0.003907689359039068, "reward": 0.08491493761539459, "falls": 6, "interval_steps": 50, "velocity_mae": [0.1324392557144165, 0.07406185567378998, 0.13358831405639648], "mean_episode_length": 1352.1768707482993, "episode_reward_terms": {"track_linear_velocity": 46.71149444580078, "track_angular_velocity": 51.21242904663086, "upright": 26.31599998474121, "leg_posture": -2.8680834770202637, "standstill": -6.354240894317627, "action_rate_l2": -0.5636274814605713, "joint_torques_l2": -0.15253138542175293, "dof_pos_limits": -0.0007290052599273622, "terminated": -0.015845822170376778, "unnecessary_wheel_lift": -0.11376116424798965, "rolling_leg_motion": -0.7511353492736816, "obstacle_progress": 2.0903098583221436, "wheel_body_intrusion": -0.35538989305496216, "pair_body_intrusion": -0.3348860442638397}, "weighted_reward_terms": {"track_linear_velocity": 1.7272701263427734, "track_angular_velocity": 1.8937031030654907, "upright": 0.973097562789917, "leg_posture": -0.10605430603027344, "standstill": -0.23496337234973907, "action_rate_l2": -0.020841486752033234, "joint_torques_l2": -0.005640215706080198, "dof_pos_limits": -2.695672810659744e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.004206593614071608, "rolling_leg_motion": -0.02777504175901413, "obstacle_progress": 0.0772942453622818, "wheel_body_intrusion": -0.013141398318111897, "pair_body_intrusion": -0.012383218854665756}, "episode_termination_rates": {"time_out": 0.4897959183673469, "fell_over": 0.027210884353741496, "course_exit": 0.46938775510204084, "illegal_nonwheel_contact": 0.027210884353741496}, "collection_time_s": 0.07565358096035198, "learning_time_s": 0.1846205813798588, "iteration_time_s": 0.4099447468227354, "policy_updates": 10300, "skipped_updates": 0, "invalid_env_resets": 53, "elapsed_s": 4345.414316320996, "nonwheel_terminations": 10763, "contact_bce": 0.3280767500400543, "contact_force_loss": 0.02298830822110176, "collision_bce": 0.0005890045431442559, "collision_label_rate": 6.1221988289617e-05, "collision_prediction_mean": 3.2454902338940883e-06, "collision_label_count": 16334.0, "terrain_level_mean": 2.049560546875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [106, 147, 97, 39, 16, 5], "episodes_by_level": [[924.0, 204.0, 34.0, 0.0], [739.0, 159.0, 30.0, 0.0], [246.0, 65.0, 10.0, 0.0], [77.0, 21.0, 5.0, 0.0], [19.0, 5.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [14, 166, 670, 490, 93, 0], "episodes_by_level": [[667.0, 534.0, 7.0, 0.0], [2026.0, 1235.0, 36.0, 0.0], [2329.0, 737.0, 156.0, 0.0], [887.0, 109.0, 118.0, 0.0], [61.0, 0.0, 16.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [2, 12, 36, 99, 148, 317], "episodes_by_level": [[187.0, 167.0, 2.0, 0.0], [519.0, 464.0, 9.0, 0.0], [696.0, 612.0, 21.0, 0.0], [710.0, 572.0, 23.0, 0.0], [668.0, 487.0, 49.0, 0.0], [661.0, 449.0, 80.0, 0.0]]}, "platform": {"level_counts": [117, 167, 91, 33, 1, 1], "episodes_by_level": [[1040.0, 228.0, 44.0, 0.0], [690.0, 140.0, 34.0, 0.0], [210.0, 41.0, 20.0, 0.0], [37.0, 4.0, 6.0, 0.0], [3.0, 1.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [114, 142, 89, 43, 18, 4], "episodes_by_level": [[954.0, 217.0, 37.0, 0.0], [734.0, 155.0, 48.0, 0.0], [265.0, 71.0, 15.0, 0.0], [65.0, 22.0, 6.0, 0.0], [20.0, 4.0, 0.0, 0.0], [3.0, 1.0, 0.0, 0.0]]}, "rubble": {"level_counts": [221, 328, 200, 64, 6, 0], "episodes_by_level": [[1914.0, 435.0, 75.0, 0.0], [1480.0, 324.0, 92.0, 0.0], [501.0, 101.0, 71.0, 0.0], [116.0, 9.0, 31.0, 0.0], [3.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 19215, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.250244140625, "command_abs_max": [0.9979667663574219, 0.39961522817611694, 0.6997988820075989]}
{"step": 10650, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 10650, "total_transitions": 43622400, "num_steps_per_env": 1, "wm_loss": 0.8993887901306152, "actor_loss": -9.372516632080078, "critic_loss": 0.003394957398995757, "reward": 0.08464799076318741, "falls": 6, "interval_steps": 50, "velocity_mae": [0.1334650069475174, 0.0744607150554657, 0.13421641290187836], "mean_episode_length": 1419.4303797468353, "episode_reward_terms": {"track_linear_velocity": 48.95118713378906, "track_angular_velocity": 53.728355407714844, "upright": 27.64792823791504, "leg_posture": -3.0499558448791504, "standstill": -6.772359371185303, "action_rate_l2": -0.5955370664596558, "joint_torques_l2": -0.15981069207191467, "dof_pos_limits": -0.0005116963293403387, "terminated": -0.01663394831120968, "unnecessary_wheel_lift": -0.15626290440559387, "rolling_leg_motion": -0.8127833008766174, "obstacle_progress": 2.132276773452759, "wheel_body_intrusion": -0.37574413418769836, "pair_body_intrusion": -0.3681934177875519}, "weighted_reward_terms": {"track_linear_velocity": 1.7243249416351318, "track_angular_velocity": 1.8926026821136475, "upright": 0.9739092588424683, "leg_posture": -0.10743590444326401, "standstill": -0.2385590523481369, "action_rate_l2": -0.020978029817342758, "joint_torques_l2": -0.005629395600408316, "dof_pos_limits": -1.8024706150754355e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.0055044228211045265, "rolling_leg_motion": -0.028630614280700684, "obstacle_progress": 0.0751103013753891, "wheel_body_intrusion": -0.013235737569630146, "pair_body_intrusion": -0.012969759292900562}, "episode_termination_rates": {"time_out": 0.569620253164557, "fell_over": 0.012658227848101266, "course_exit": 0.3924050632911392, "illegal_nonwheel_contact": 0.03164556962025317}, "collection_time_s": 0.07585833074408584, "learning_time_s": 0.18492927845858503, "iteration_time_s": 0.40924457935117375, "policy_updates": 10350, "skipped_updates": 0, "invalid_env_resets": 53, "elapsed_s": 4358.45477009, "nonwheel_terminations": 10768, "contact_bce": 0.3274270296096802, "contact_force_loss": 0.02332160621881485, "collision_bce": 3.863553502014838e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 3.901752734236652e-06, "collision_label_count": 16348.0, "terrain_level_mean": 2.057861328125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [106, 146, 97, 40, 16, 5], "episodes_by_level": [[927.0, 205.0, 34.0, 0.0], [745.0, 160.0, 31.0, 0.0], [250.0, 66.0, 10.0, 0.0], [77.0, 21.0, 5.0, 0.0], [19.0, 5.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [14, 161, 665, 495, 98, 0], "episodes_by_level": [[667.0, 534.0, 7.0, 0.0], [2033.0, 1241.0, 36.0, 0.0], [2352.0, 747.0, 156.0, 0.0], [906.0, 114.0, 118.0, 0.0], [63.0, 0.0, 16.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [2, 11, 37, 97, 149, 318], "episodes_by_level": [[187.0, 167.0, 2.0, 0.0], [520.0, 465.0, 9.0, 0.0], [697.0, 612.0, 21.0, 0.0], [712.0, 574.0, 23.0, 0.0], [674.0, 489.0, 49.0, 0.0], [666.0, 452.0, 82.0, 0.0]]}, "platform": {"level_counts": [116, 169, 89, 34, 1, 1], "episodes_by_level": [[1044.0, 229.0, 44.0, 0.0], [695.0, 140.0, 34.0, 0.0], [213.0, 42.0, 21.0, 0.0], [37.0, 4.0, 6.0, 0.0], [3.0, 1.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [113, 143, 89, 43, 18, 4], "episodes_by_level": [[958.0, 218.0, 37.0, 0.0], [736.0, 155.0, 48.0, 0.0], [266.0, 71.0, 15.0, 0.0], [70.0, 22.0, 6.0, 0.0], [20.0, 4.0, 0.0, 0.0], [3.0, 1.0, 0.0, 0.0]]}, "rubble": {"level_counts": [220, 324, 206, 62, 7, 0], "episodes_by_level": [[1920.0, 436.0, 75.0, 0.0], [1494.0, 329.0, 92.0, 0.0], [509.0, 101.0, 71.0, 0.0], [118.0, 10.0, 32.0, 0.0], [4.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 19306, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.246337890625, "command_abs_max": [0.9990973472595215, 0.39961522817611694, 0.6997988820075989]}
{"step": 10700, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 10700, "total_transitions": 43827200, "num_steps_per_env": 1, "wm_loss": 0.9739176630973816, "actor_loss": -9.367532730102539, "critic_loss": 0.007389294449239969, "reward": 0.08447439968585968, "falls": 6, "interval_steps": 50, "velocity_mae": [0.13267190754413605, 0.07582823932170868, 0.1335342675447464], "mean_episode_length": 1372.5942028985507, "episode_reward_terms": {"track_linear_velocity": 47.337703704833984, "track_angular_velocity": 51.97518539428711, "upright": 26.718915939331055, "leg_posture": -2.949280023574829, "standstill": -6.927191257476807, "action_rate_l2": -0.5787128210067749, "joint_torques_l2": -0.15227632224559784, "dof_pos_limits": -0.00038790612597949803, "terminated": -0.01608508825302124, "unnecessary_wheel_lift": -0.1284480094909668, "rolling_leg_motion": -0.7804977297782898, "obstacle_progress": 2.1430892944335938, "wheel_body_intrusion": -0.36880940198898315, "pair_body_intrusion": -0.32412657141685486}, "weighted_reward_terms": {"track_linear_velocity": 1.7243881225585938, "track_angular_velocity": 1.8933194875717163, "upright": 0.9732999205589294, "leg_posture": -0.10743452608585358, "standstill": -0.25233936309814453, "action_rate_l2": -0.0210809875279665, "joint_torques_l2": -0.005547026172280312, "dof_pos_limits": -1.413040081388317e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.004679023753851652, "rolling_leg_motion": -0.02843148075044155, "obstacle_progress": 0.0780671164393425, "wheel_body_intrusion": -0.013434757478535175, "pair_body_intrusion": -0.011807079426944256}, "episode_termination_rates": {"time_out": 0.4855072463768116, "fell_over": 0.021739130434782608, "course_exit": 0.47101449275362317, "illegal_nonwheel_contact": 0.036231884057971016}, "collection_time_s": 0.0756333731021732, "learning_time_s": 0.18559665175911505, "iteration_time_s": 0.4085530596245793, "policy_updates": 10400, "skipped_updates": 0, "invalid_env_resets": 53, "elapsed_s": 4371.517737982998, "nonwheel_terminations": 10773, "contact_bce": 0.32144874334335327, "contact_force_loss": 0.02261088415980339, "collision_bce": 7.517514859500807e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 7.4664944804681e-06, "collision_label_count": 16362.0, "terrain_level_mean": 2.064208984375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [106, 145, 98, 40, 16, 5], "episodes_by_level": [[931.0, 205.0, 34.0, 0.0], [748.0, 161.0, 31.0, 0.0], [251.0, 66.0, 10.0, 0.0], [77.0, 21.0, 5.0, 0.0], [19.0, 5.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [14, 158, 663, 499, 99, 0], "episodes_by_level": [[667.0, 534.0, 7.0, 0.0], [2043.0, 1245.0, 36.0, 0.0], [2371.0, 752.0, 157.0, 0.0], [912.0, 115.0, 118.0, 0.0], [65.0, 0.0, 16.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [2, 9, 39, 92, 153, 319], "episodes_by_level": [[187.0, 167.0, 2.0, 0.0], [522.0, 467.0, 9.0, 0.0], [699.0, 613.0, 21.0, 0.0], [717.0, 579.0, 23.0, 0.0], [679.0, 493.0, 49.0, 0.0], [674.0, 459.0, 82.0, 0.0]]}, "platform": {"level_counts": [115, 170, 89, 34, 1, 1], "episodes_by_level": [[1046.0, 230.0, 44.0, 0.0], [698.0, 140.0, 34.0, 0.0], [214.0, 42.0, 21.0, 0.0], [38.0, 4.0, 6.0, 0.0], [3.0, 1.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [113, 141, 91, 42, 19, 4], "episodes_by_level": [[961.0, 218.0, 37.0, 0.0], [739.0, 157.0, 48.0, 0.0], [267.0, 71.0, 15.0, 0.0], [73.0, 23.0, 6.0, 0.0], [21.0, 4.0, 0.0, 0.0], [3.0, 1.0, 0.0, 0.0]]}, "rubble": {"level_counts": [219, 324, 205, 64, 7, 0], "episodes_by_level": [[1929.0, 438.0, 75.0, 0.0], [1507.0, 330.0, 93.0, 0.0], [514.0, 103.0, 71.0, 0.0], [120.0, 10.0, 32.0, 0.0], [4.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 19413, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.242919921875, "command_abs_max": [0.9990973472595215, 0.39961522817611694, 0.6991801261901855]}
{"step": 10750, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 10750, "total_transitions": 44032000, "num_steps_per_env": 1, "wm_loss": 0.9158951640129089, "actor_loss": -9.371550559997559, "critic_loss": 0.0036574997939169407, "reward": 0.0843636691570282, "falls": 4, "interval_steps": 50, "velocity_mae": [0.13508370518684387, 0.07399453967809677, 0.13248415291309357], "mean_episode_length": 1406.5032679738563, "episode_reward_terms": {"track_linear_velocity": 48.387855529785156, "track_angular_velocity": 53.305870056152344, "upright": 27.372419357299805, "leg_posture": -3.026949882507324, "standstill": -7.054481506347656, "action_rate_l2": -0.5858466029167175, "joint_torques_l2": -0.15487973392009735, "dof_pos_limits": -0.0006823457079008222, "terminated": -0.010988305322825909, "unnecessary_wheel_lift": -0.13757959008216858, "rolling_leg_motion": -0.783211350440979, "obstacle_progress": 2.101503849029541, "wheel_body_intrusion": -0.36487719416618347, "pair_body_intrusion": -0.39037078619003296}, "weighted_reward_terms": {"track_linear_velocity": 1.7201472520828247, "track_angular_velocity": 1.894978404045105, "upright": 0.9730663299560547, "leg_posture": -0.10760550200939178, "standstill": -0.25078085064888, "action_rate_l2": -0.020826350897550583, "joint_torques_l2": -0.005505843553692102, "dof_pos_limits": -2.425681122986134e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.004890837706625462, "rolling_leg_motion": -0.027842499315738678, "obstacle_progress": 0.07470668107271194, "wheel_body_intrusion": -0.012971075251698494, "pair_body_intrusion": -0.013877351768314838}, "episode_termination_rates": {"time_out": 0.5686274509803921, "fell_over": 0.026143790849673203, "course_exit": 0.40522875816993464, "illegal_nonwheel_contact": 0.0}, "collection_time_s": 0.0757946516002994, "learning_time_s": 0.1856105642800685, "iteration_time_s": 0.4078687504366511, "policy_updates": 10450, "skipped_updates": 0, "invalid_env_resets": 53, "elapsed_s": 4384.589067194, "nonwheel_terminations": 10773, "contact_bce": 0.31943830847740173, "contact_force_loss": 0.022692270576953888, "collision_bce": 2.66233164438745e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 2.5497762180748396e-05, "collision_label_count": 16337.0, "terrain_level_mean": 2.072509765625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [106, 144, 99, 40, 16, 5], "episodes_by_level": [[935.0, 205.0, 34.0, 0.0], [752.0, 162.0, 31.0, 0.0], [255.0, 66.0, 10.0, 0.0], [80.0, 21.0, 5.0, 0.0], [19.0, 5.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]}, "up": {"level_counts": [14, 153, 659, 508, 99, 0], "episodes_by_level": [[667.0, 534.0, 7.0, 0.0], [2051.0, 1250.0, 36.0, 0.0], [2391.0, 761.0, 157.0, 0.0], [920.0, 115.0, 118.0, 0.0], [67.0, 0.0, 16.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [2, 8, 37, 89, 160, 318], "episodes_by_level": [[187.0, 167.0, 2.0, 0.0], [523.0, 468.0, 9.0, 0.0], [702.0, 616.0, 21.0, 0.0], [723.0, 584.0, 23.0, 0.0], [682.0, 495.0, 49.0, 0.0], [685.0, 467.0, 83.0, 0.0]]}, "platform": {"level_counts": [114, 171, 88, 35, 1, 1], "episodes_by_level": [[1049.0, 231.0, 44.0, 0.0], [702.0, 140.0, 34.0, 0.0], [218.0, 43.0, 21.0, 0.0], [39.0, 4.0, 6.0, 0.0], [3.0, 1.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [111, 143, 88, 45, 19, 4], "episodes_by_level": [[965.0, 220.0, 37.0, 0.0], [743.0, 157.0, 48.0, 0.0], [273.0, 74.0, 15.0, 0.0], [73.0, 23.0, 6.0, 0.0], [21.0, 4.0, 0.0, 0.0], [3.0, 1.0, 0.0, 0.0]]}, "rubble": {"level_counts": [218, 323, 207, 64, 7, 0], "episodes_by_level": [[1936.0, 439.0, 75.0, 0.0], [1518.0, 333.0, 93.0, 0.0], [518.0, 103.0, 72.0, 0.0], [123.0, 10.0, 32.0, 0.0], [4.0, 0.0, 3.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 19524, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.24267578125, "command_abs_max": [0.9999603033065796, 0.39961522817611694, 0.6991801261901855]}
{"step": 10800, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 10800, "total_transitions": 44236800, "num_steps_per_env": 1, "wm_loss": 0.9249860048294067, "actor_loss": -9.360352516174316, "critic_loss": 0.0035891865845769644, "reward": 0.08466203510761261, "falls": 9, "interval_steps": 50, "velocity_mae": [0.1328783631324768, 0.07395520061254501, 0.13351741433143616], "mean_episode_length": 1404.1358695652175, "episode_reward_terms": {"track_linear_velocity": 48.43293762207031, "track_angular_velocity": 53.176536560058594, "upright": 27.341449737548828, "leg_posture": -3.020174503326416, "standstill": -6.747852802276611, "action_rate_l2": -0.590371310710907, "joint_torques_l2": -0.1553455889225006, "dof_pos_limits": -0.000845329079311341, "terminated": -0.024682072922587395, "unnecessary_wheel_lift": -0.13141131401062012, "rolling_leg_motion": -0.7961484789848328, "obstacle_progress": 2.1275362968444824, "wheel_body_intrusion": -0.3541748821735382, "pair_body_intrusion": -0.3804592788219452}, "weighted_reward_terms": {"track_linear_velocity": 1.7246527671813965, "track_angular_velocity": 1.8935680389404297, "upright": 0.9736042022705078, "leg_posture": -0.10754565894603729, "standstill": -0.24028491973876953, "action_rate_l2": -0.021022586151957512, "joint_torques_l2": -0.005531715229153633, "dof_pos_limits": -3.010139880643692e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.004679437261074781, "rolling_leg_motion": -0.02835012413561344, "obstacle_progress": 0.0757596343755722, "wheel_body_intrusion": -0.012611845508217812, "pair_body_intrusion": -0.013547808863222599}, "episode_termination_rates": {"time_out": 0.5652173913043478, "fell_over": 0.021739130434782608, "course_exit": 0.3858695652173913, "illegal_nonwheel_contact": 0.03804347826086957}, "collection_time_s": 0.07574095215939451, "learning_time_s": 0.1857365757378284, "iteration_time_s": 0.4071911190518532, "policy_updates": 10500, "skipped_updates": 0, "invalid_env_resets": 53, "elapsed_s": 4397.664085760014, "nonwheel_terminations": 10780, "contact_bce": 0.32151177525520325, "contact_force_loss": 0.02283957600593567, "collision_bce": 0.0008261021575890481, "collision_label_rate": 0.00012236906331963837, "collision_prediction_mean": 2.878274244721979e-05, "collision_label_count": 16344.0, "terrain_level_mean": 2.079833984375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [105, 145, 99, 39, 17, 5], "episodes_by_level": [[940.0, 206.0, 34.0, 0.0], [757.0, 163.0, 31.0, 0.0], [259.0, 66.0, 11.0, 0.0], [84.0, 22.0, 5.0, 0.0], [19.0, 5.0, 0.0, 0.0], [2.0, 1.0, 0.0, 0.0]]}, "up": {"level_counts": [13, 150, 661, 507, 102, 0], "episodes_by_level": [[669.0, 535.0, 7.0, 0.0], [2058.0, 1255.0, 36.0, 0.0], [2402.0, 764.0, 157.0, 0.0], [937.0, 118.0, 119.0, 0.0], [68.0, 0.0, 16.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [2, 8, 35, 86, 165, 318], "episodes_by_level": [[187.0, 167.0, 2.0, 0.0], [523.0, 468.0, 9.0, 0.0], [704.0, 618.0, 21.0, 0.0], [728.0, 588.0, 23.0, 0.0], [685.0, 496.0, 49.0, 0.0], [700.0, 480.0, 83.0, 0.0]]}, "platform": {"level_counts": [113, 170, 90, 35, 1, 1], "episodes_by_level": [[1057.0, 232.0, 44.0, 0.0], [710.0, 143.0, 34.0, 0.0], [219.0, 43.0, 22.0, 0.0], [40.0, 4.0, 6.0, 0.0], [3.0, 1.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [110, 144, 88, 43, 21, 4], "episodes_by_level": [[969.0, 221.0, 37.0, 0.0], [746.0, 157.0, 48.0, 0.0], [276.0, 74.0, 15.0, 0.0], [76.0, 25.0, 6.0, 0.0], [21.0, 4.0, 0.0, 0.0], [3.0, 1.0, 0.0, 0.0]]}, "rubble": {"level_counts": [217, 322, 206, 68, 6, 0], "episodes_by_level": [[1946.0, 441.0, 75.0, 0.0], [1540.0, 336.0, 94.0, 0.0], [528.0, 106.0, 73.0, 0.0], [123.0, 10.0, 32.0, 0.0], [5.0, 0.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 19625, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.239990234375, "command_abs_max": [0.9999603033065796, 0.39961522817611694, 0.6991801261901855]}
{"step": 10850, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 10850, "total_transitions": 44441600, "num_steps_per_env": 1, "wm_loss": 0.9453631639480591, "actor_loss": -9.398690223693848, "critic_loss": 0.002509814454242587, "reward": 0.08426942676305771, "falls": 4, "interval_steps": 50, "velocity_mae": [0.1341918408870697, 0.07425665110349655, 0.13446101546287537], "mean_episode_length": 1369.095541401274, "episode_reward_terms": {"track_linear_velocity": 47.133140563964844, "track_angular_velocity": 51.8014030456543, "upright": 26.631311416625977, "leg_posture": -2.9918994903564453, "standstill": -6.88308572769165, "action_rate_l2": -0.570530116558075, "joint_torques_l2": -0.1528124064207077, "dof_pos_limits": -0.0006355644436553121, "terminated": -0.010696057230234146, "unnecessary_wheel_lift": -0.15942589938640594, "rolling_leg_motion": -0.7553309798240662, "obstacle_progress": 2.1034343242645264, "wheel_body_intrusion": -0.38385477662086487, "pair_body_intrusion": -0.38814279437065125}, "weighted_reward_terms": {"track_linear_velocity": 1.72132408618927, "track_angular_velocity": 1.8918110132217407, "upright": 0.9725877642631531, "leg_posture": -0.10926554352045059, "standstill": -0.2513734698295593, "action_rate_l2": -0.02083602175116539, "joint_torques_l2": -0.005580779165029526, "dof_pos_limits": -2.321110514458269e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.005822307430207729, "rolling_leg_motion": -0.027585037052631378, "obstacle_progress": 0.07681838423013687, "wheel_body_intrusion": -0.01401855330914259, "pair_body_intrusion": -0.014175153337419033}, "episode_termination_rates": {"time_out": 0.5031847133757962, "fell_over": 0.006369426751592357, "course_exit": 0.4713375796178344, "illegal_nonwheel_contact": 0.01910828025477707}, "collection_time_s": 0.07571944837865885, "learning_time_s": 0.1853027676808415, "iteration_time_s": 0.40706250320940035, "policy_updates": 10550, "skipped_updates": 0, "invalid_env_resets": 53, "elapsed_s": 4416.628159821994, "nonwheel_terminations": 10783, "contact_bce": 0.329257994890213, "contact_force_loss": 0.023248590528964996, "collision_bce": 0.0001374881248921156, "collision_label_rate": 0.000122361583635211, "collision_prediction_mean": 6.448903877753764e-05, "collision_label_count": 16345.0, "terrain_level_mean": 2.089111328125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [104, 145, 100, 39, 17, 5], "episodes_by_level": [[947.0, 207.0, 34.0, 0.0], [759.0, 164.0, 31.0, 0.0], [260.0, 66.0, 11.0, 0.0], [85.0, 22.0, 5.0, 0.0], [19.0, 5.0, 0.0, 0.0], [2.0, 1.0, 0.0, 0.0]]}, "up": {"level_counts": [13, 147, 661, 509, 103, 0], "episodes_by_level": [[669.0, 535.0, 7.0, 0.0], [2064.0, 1259.0, 36.0, 0.0], [2420.0, 768.0, 157.0, 0.0], [948.0, 119.0, 119.0, 0.0], [69.0, 0.0, 16.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [2, 8, 36, 82, 167, 319], "episodes_by_level": [[187.0, 167.0, 2.0, 0.0], [523.0, 468.0, 9.0, 0.0], [704.0, 618.0, 21.0, 0.0], [731.0, 591.0, 23.0, 0.0], [687.0, 497.0, 49.0, 0.0], [713.0, 490.0, 83.0, 0.0]]}, "platform": {"level_counts": [112, 168, 93, 34, 2, 1], "episodes_by_level": [[1063.0, 233.0, 44.0, 0.0], [719.0, 146.0, 34.0, 0.0], [221.0, 43.0, 22.0, 0.0], [42.0, 5.0, 6.0, 0.0], [3.0, 1.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [108, 144, 90, 43, 20, 5], "episodes_by_level": [[975.0, 223.0, 37.0, 0.0], [748.0, 159.0, 48.0, 0.0], [276.0, 74.0, 15.0, 0.0], [76.0, 25.0, 6.0, 0.0], [22.0, 5.0, 0.0, 0.0], [3.0, 1.0, 0.0, 0.0]]}, "rubble": {"level_counts": [210, 322, 211, 70, 6, 0], "episodes_by_level": [[1967.0, 449.0, 75.0, 0.0], [1554.0, 343.0, 95.0, 0.0], [535.0, 108.0, 73.0, 0.0], [125.0, 10.0, 32.0, 0.0], [5.0, 0.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 19745, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.239013671875, "command_abs_max": [0.9999603033065796, 0.39961522817611694, 0.6965442299842834]}
{"step": 10900, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 10900, "total_transitions": 44646400, "num_steps_per_env": 1, "wm_loss": 0.9058575630187988, "actor_loss": -9.39101505279541, "critic_loss": 0.0032461383379995823, "reward": 0.0846511647105217, "falls": 9, "interval_steps": 50, "velocity_mae": [0.1330568790435791, 0.07502797991037369, 0.13434870541095734], "mean_episode_length": 1392.0490797546013, "episode_reward_terms": {"track_linear_velocity": 47.95438766479492, "track_angular_velocity": 52.6641845703125, "upright": 27.072664260864258, "leg_posture": -3.0183706283569336, "standstill": -6.580175876617432, "action_rate_l2": -0.5949792861938477, "joint_torques_l2": -0.15281005203723907, "dof_pos_limits": -0.0009713065810501575, "terminated": -0.024469608440995216, "unnecessary_wheel_lift": -0.13129577040672302, "rolling_leg_motion": -0.7698742151260376, "obstacle_progress": 2.1699068546295166, "wheel_body_intrusion": -0.36958256363868713, "pair_body_intrusion": -0.38002368807792664}, "weighted_reward_terms": {"track_linear_velocity": 1.7224388122558594, "track_angular_velocity": 1.8916068077087402, "upright": 0.9724034667015076, "leg_posture": -0.1084146648645401, "standstill": -0.23634855449199677, "action_rate_l2": -0.021370630711317062, "joint_torques_l2": -0.0054886736907064915, "dof_pos_limits": -3.4887656511273235e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.004715917631983757, "rolling_leg_motion": -0.027652554214000702, "obstacle_progress": 0.07793930917978287, "wheel_body_intrusion": -0.013274767436087132, "pair_body_intrusion": -0.01364979613572359}, "episode_termination_rates": {"time_out": 0.5766871165644172, "fell_over": 0.03067484662576687, "course_exit": 0.36809815950920244, "illegal_nonwheel_contact": 0.04294478527607362}, "collection_time_s": 0.07572216861939524, "learning_time_s": 0.18561288492113817, "iteration_time_s": 0.40639412914587286, "policy_updates": 10600, "skipped_updates": 0, "invalid_env_resets": 53, "elapsed_s": 4429.696007690014, "nonwheel_terminations": 10790, "contact_bce": 0.3239883482456207, "contact_force_loss": 0.022985713556408882, "collision_bce": 0.0003119802859146148, "collision_label_rate": 0.00012224192323628813, "collision_prediction_mean": 0.00010570778249530122, "collision_label_count": 16361.0, "terrain_level_mean": 2.09716796875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [104, 141, 103, 40, 17, 5], "episodes_by_level": [[951.0, 207.0, 34.0, 0.0], [766.0, 168.0, 31.0, 0.0], [267.0, 67.0, 11.0, 0.0], [86.0, 22.0, 5.0, 0.0], [20.0, 5.0, 0.0, 0.0], [2.0, 1.0, 0.0, 0.0]]}, "up": {"level_counts": [11, 148, 658, 512, 104, 0], "episodes_by_level": [[671.0, 537.0, 7.0, 0.0], [2067.0, 1260.0, 36.0, 0.0], [2427.0, 771.0, 157.0, 0.0], [957.0, 120.0, 119.0, 0.0], [70.0, 0.0, 16.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [2, 8, 35, 80, 165, 324], "episodes_by_level": [[187.0, 167.0, 2.0, 0.0], [523.0, 468.0, 9.0, 0.0], [705.0, 619.0, 21.0, 0.0], [736.0, 594.0, 23.0, 0.0], [694.0, 504.0, 49.0, 0.0], [722.0, 498.0, 83.0, 0.0]]}, "platform": {"level_counts": [112, 169, 91, 35, 2, 1], "episodes_by_level": [[1069.0, 233.0, 44.0, 0.0], [725.0, 146.0, 34.0, 0.0], [223.0, 44.0, 23.0, 0.0], [43.0, 5.0, 6.0, 0.0], [3.0, 1.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [108, 143, 90, 43, 20, 6], "episodes_by_level": [[983.0, 224.0, 37.0, 0.0], [754.0, 160.0, 49.0, 0.0], [280.0, 75.0, 15.0, 0.0], [78.0, 26.0, 6.0, 0.0], [24.0, 6.0, 0.0, 0.0], [3.0, 1.0, 0.0, 0.0]]}, "rubble": {"level_counts": [208, 323, 210, 70, 8, 0], "episodes_by_level": [[1980.0, 452.0, 75.0, 0.0], [1570.0, 347.0, 96.0, 0.0], [543.0, 111.0, 76.0, 0.0], [128.0, 12.0, 33.0, 0.0], [5.0, 0.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 19847, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.237548828125, "command_abs_max": [0.999967634677887, 0.39961522817611694, 0.6979426145553589]}
{"step": 10950, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 10950, "total_transitions": 44851200, "num_steps_per_env": 1, "wm_loss": 0.9322484731674194, "actor_loss": -9.352651596069336, "critic_loss": 0.006185214966535568, "reward": 0.08454620093107224, "falls": 11, "interval_steps": 50, "velocity_mae": [0.13422268629074097, 0.07566304504871368, 0.1341133862733841], "mean_episode_length": 1425.9520958083833, "episode_reward_terms": {"track_linear_velocity": 49.03871154785156, "track_angular_velocity": 53.96940612792969, "upright": 27.759111404418945, "leg_posture": -3.0865416526794434, "standstill": -6.712231159210205, "action_rate_l2": -0.6111014485359192, "joint_torques_l2": -0.1552102267742157, "dof_pos_limits": -0.0007861621561460197, "terminated": -0.030635688453912735, "unnecessary_wheel_lift": -0.16088606417179108, "rolling_leg_motion": -0.811273455619812, "obstacle_progress": 2.1585640907287598, "wheel_body_intrusion": -0.3701803982257843, "pair_body_intrusion": -0.4281114935874939}, "weighted_reward_terms": {"track_linear_velocity": 1.7195076942443848, "track_angular_velocity": 1.8923989534378052, "upright": 0.9733535647392273, "leg_posture": -0.10822739452123642, "standstill": -0.23535963892936707, "action_rate_l2": -0.021427838131785393, "joint_torques_l2": -0.005442336201667786, "dof_pos_limits": -2.7566220524022356e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.005641356110572815, "rolling_leg_motion": -0.028446728363633156, "obstacle_progress": 0.07568852603435516, "wheel_body_intrusion": -0.012980113737285137, "pair_body_intrusion": -0.01501142606139183}, "episode_termination_rates": {"time_out": 0.592814371257485, "fell_over": 0.04790419161676647, "course_exit": 0.3413173652694611, "illegal_nonwheel_contact": 0.03592814371257485}, "collection_time_s": 0.07592171776166651, "learning_time_s": 0.18560413097729905, "iteration_time_s": 0.4057327294655726, "policy_updates": 10650, "skipped_updates": 0, "invalid_env_resets": 54, "elapsed_s": 4442.77338764802, "nonwheel_terminations": 10796, "contact_bce": 0.31840693950653076, "contact_force_loss": 0.022511407732963562, "collision_bce": 8.834553227643482e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 8.815351975499652e-06, "collision_label_count": 16332.0, "terrain_level_mean": 2.1025390625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [103, 142, 102, 41, 17, 5], "episodes_by_level": [[960.0, 208.0, 34.0, 0.0], [771.0, 168.0, 31.0, 0.0], [271.0, 68.0, 11.0, 0.0], [87.0, 22.0, 5.0, 0.0], [21.0, 5.0, 0.0, 0.0], [2.0, 1.0, 0.0, 0.0]]}, "up": {"level_counts": [10, 147, 657, 514, 105, 0], "episodes_by_level": [[673.0, 539.0, 7.0, 0.0], [2073.0, 1262.0, 37.0, 0.0], [2443.0, 774.0, 157.0, 0.0], [971.0, 121.0, 119.0, 0.0], [72.0, 0.0, 16.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [2, 8, 33, 79, 170, 322], "episodes_by_level": [[187.0, 167.0, 2.0, 0.0], [523.0, 468.0, 9.0, 0.0], [707.0, 621.0, 21.0, 0.0], [740.0, 598.0, 23.0, 0.0], [699.0, 509.0, 49.0, 0.0], [733.0, 504.0, 86.0, 0.0]]}, "platform": {"level_counts": [110, 171, 91, 35, 2, 1], "episodes_by_level": [[1079.0, 235.0, 44.0, 0.0], [729.0, 146.0, 34.0, 0.0], [225.0, 44.0, 23.0, 0.0], [44.0, 5.0, 6.0, 0.0], [3.0, 1.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [107, 143, 91, 44, 19, 6], "episodes_by_level": [[988.0, 225.0, 37.0, 0.0], [762.0, 161.0, 49.0, 0.0], [280.0, 75.0, 15.0, 0.0], [78.0, 26.0, 6.0, 0.0], [25.0, 6.0, 1.0, 0.0], [3.0, 1.0, 0.0, 0.0]]}, "rubble": {"level_counts": [204, 326, 209, 72, 8, 0], "episodes_by_level": [[1995.0, 456.0, 76.0, 0.0], [1581.0, 348.0, 96.0, 0.0], [549.0, 113.0, 76.0, 0.0], [129.0, 12.0, 33.0, 0.0], [5.0, 0.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 19957, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2392578125, "command_abs_max": [0.999967634677887, 0.39961522817611694, 0.6979426145553589]}
{"step": 11000, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 11000, "total_transitions": 45056000, "num_steps_per_env": 1, "wm_loss": 0.9513131976127625, "actor_loss": -9.359357833862305, "critic_loss": 0.00450366735458374, "reward": 0.08460336178541183, "falls": 10, "interval_steps": 50, "velocity_mae": [0.13567319512367249, 0.0763297900557518, 0.1352919489145279], "mean_episode_length": 1381.5301204819277, "episode_reward_terms": {"track_linear_velocity": 47.399349212646484, "track_angular_velocity": 52.23664474487305, "upright": 26.873897552490234, "leg_posture": -3.0053155422210693, "standstill": -6.362188339233398, "action_rate_l2": -0.5971106886863708, "joint_torques_l2": -0.1520872861146927, "dof_pos_limits": -0.0009133708663284779, "terminated": -0.026983007788658142, "unnecessary_wheel_lift": -0.13749465346336365, "rolling_leg_motion": -0.7741414308547974, "obstacle_progress": 2.1546664237976074, "wheel_body_intrusion": -0.3703162372112274, "pair_body_intrusion": -0.3559061586856842}, "weighted_reward_terms": {"track_linear_velocity": 1.7154656648635864, "track_angular_velocity": 1.8905359506607056, "upright": 0.9726135730743408, "leg_posture": -0.10876764357089996, "standstill": -0.2302587628364563, "action_rate_l2": -0.021610483527183533, "joint_torques_l2": -0.005504305940121412, "dof_pos_limits": -3.305649443063885e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.004976172931492329, "rolling_leg_motion": -0.02801753766834736, "obstacle_progress": 0.07798115909099579, "wheel_body_intrusion": -0.013402394950389862, "pair_body_intrusion": -0.012880868278443813}, "episode_termination_rates": {"time_out": 0.5602409638554217, "fell_over": 0.012048192771084338, "course_exit": 0.3795180722891566, "illegal_nonwheel_contact": 0.060240963855421686}, "collection_time_s": 0.07567412996140774, "learning_time_s": 0.1923844464396825, "iteration_time_s": 0.40510705715472894, "policy_updates": 10700, "skipped_updates": 0, "invalid_env_resets": 54, "elapsed_s": 4456.177628702018, "nonwheel_terminations": 10806, "contact_bce": 0.32572516798973083, "contact_force_loss": 0.022573594003915787, "collision_bce": 9.372275235364214e-05, "collision_label_rate": 0.00012248897110112011, "collision_prediction_mean": 0.0001248955086339265, "collision_label_count": 16328.0, "terrain_level_mean": 2.108154296875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [102, 142, 103, 41, 17, 5], "episodes_by_level": [[965.0, 209.0, 34.0, 0.0], [775.0, 169.0, 31.0, 0.0], [273.0, 68.0, 11.0, 0.0], [89.0, 22.0, 5.0, 0.0], [21.0, 5.0, 0.0, 0.0], [2.0, 1.0, 0.0, 0.0]]}, "up": {"level_counts": [9, 146, 651, 520, 107, 0], "episodes_by_level": [[674.0, 540.0, 7.0, 0.0], [2078.0, 1265.0, 37.0, 0.0], [2462.0, 783.0, 157.0, 0.0], [982.0, 123.0, 119.0, 0.0], [74.0, 0.0, 16.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [2, 7, 35, 74, 176, 320], "episodes_by_level": [[187.0, 167.0, 2.0, 0.0], [524.0, 469.0, 9.0, 0.0], [707.0, 621.0, 21.0, 0.0], [744.0, 600.0, 24.0, 0.0], [703.0, 511.0, 49.0, 0.0], [748.0, 514.0, 87.0, 0.0]]}, "platform": {"level_counts": [110, 169, 92, 36, 2, 1], "episodes_by_level": [[1087.0, 237.0, 44.0, 0.0], [738.0, 148.0, 36.0, 0.0], [228.0, 45.0, 23.0, 0.0], [44.0, 5.0, 6.0, 0.0], [3.0, 1.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [107, 143, 90, 45, 19, 6], "episodes_by_level": [[994.0, 225.0, 37.0, 0.0], [767.0, 161.0, 49.0, 0.0], [283.0, 76.0, 15.0, 0.0], [79.0, 26.0, 6.0, 0.0], [25.0, 6.0, 1.0, 0.0], [3.0, 1.0, 0.0, 0.0]]}, "rubble": {"level_counts": [202, 328, 209, 72, 8, 0], "episodes_by_level": [[2009.0, 458.0, 76.0, 0.0], [1590.0, 349.0, 96.0, 0.0], [552.0, 113.0, 77.0, 0.0], [129.0, 12.0, 33.0, 0.0], [5.0, 0.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 20074, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.240966796875, "command_abs_max": [0.999967634677887, 0.39961522817611694, 0.6979426145553589]}
{"step": 11050, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 11050, "total_transitions": 45260800, "num_steps_per_env": 1, "wm_loss": 0.9377984404563904, "actor_loss": -9.339130401611328, "critic_loss": 0.011143914423882961, "reward": 0.08463451266288757, "falls": 8, "interval_steps": 50, "velocity_mae": [0.13421353697776794, 0.07498008012771606, 0.13366159796714783], "mean_episode_length": 1381.1935483870968, "episode_reward_terms": {"track_linear_velocity": 47.509742736816406, "track_angular_velocity": 52.298423767089844, "upright": 26.900909423828125, "leg_posture": -2.978050708770752, "standstill": -6.613254070281982, "action_rate_l2": -0.5923373103141785, "joint_torques_l2": -0.1514502316713333, "dof_pos_limits": -0.0009506492060609162, "terminated": -0.021581146866083145, "unnecessary_wheel_lift": -0.13249188661575317, "rolling_leg_motion": -0.7755094766616821, "obstacle_progress": 2.133584499359131, "wheel_body_intrusion": -0.34406778216362, "pair_body_intrusion": -0.3363303244113922}, "weighted_reward_terms": {"track_linear_velocity": 1.7198799848556519, "track_angular_velocity": 1.8932329416275024, "upright": 0.9738283157348633, "leg_posture": -0.10780714452266693, "standstill": -0.2394035905599594, "action_rate_l2": -0.021442949771881104, "joint_torques_l2": -0.005482585169374943, "dof_pos_limits": -3.4414046240272e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.004796282388269901, "rolling_leg_motion": -0.028073886409401894, "obstacle_progress": 0.07723698019981384, "wheel_body_intrusion": -0.012455451302230358, "pair_body_intrusion": -0.01217535138130188}, "episode_termination_rates": {"time_out": 0.5032258064516129, "fell_over": 0.03870967741935484, "course_exit": 0.44516129032258067, "illegal_nonwheel_contact": 0.03225806451612903}, "collection_time_s": 0.07563831191975623, "learning_time_s": 0.1847527675994206, "iteration_time_s": 0.40445479274760326, "policy_updates": 10750, "skipped_updates": 0, "invalid_env_resets": 54, "elapsed_s": 4469.225459861016, "nonwheel_terminations": 10811, "contact_bce": 0.3239707052707672, "contact_force_loss": 0.023230385035276413, "collision_bce": 0.0002862490655388683, "collision_label_rate": 6.120699981693178e-05, "collision_prediction_mean": 6.002330337651074e-05, "collision_label_count": 16338.0, "terrain_level_mean": 2.11572265625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [101, 143, 102, 42, 17, 5], "episodes_by_level": [[970.0, 210.0, 34.0, 0.0], [780.0, 169.0, 31.0, 0.0], [275.0, 69.0, 11.0, 0.0], [90.0, 22.0, 5.0, 0.0], [22.0, 5.0, 0.0, 0.0], [2.0, 1.0, 0.0, 0.0]]}, "up": {"level_counts": [9, 144, 651, 518, 111, 0], "episodes_by_level": [[674.0, 540.0, 7.0, 0.0], [2082.0, 1268.0, 37.0, 0.0], [2474.0, 788.0, 157.0, 0.0], [994.0, 127.0, 119.0, 0.0], [76.0, 0.0, 16.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [1, 8, 36, 73, 170, 326], "episodes_by_level": [[188.0, 168.0, 2.0, 0.0], [524.0, 469.0, 9.0, 0.0], [707.0, 621.0, 21.0, 0.0], [746.0, 602.0, 24.0, 0.0], [713.0, 518.0, 50.0, 0.0], [769.0, 529.0, 87.0, 0.0]]}, "platform": {"level_counts": [110, 168, 92, 37, 2, 1], "episodes_by_level": [[1093.0, 237.0, 44.0, 0.0], [741.0, 149.0, 36.0, 0.0], [232.0, 46.0, 23.0, 0.0], [45.0, 5.0, 6.0, 0.0], [3.0, 1.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [107, 143, 89, 45, 19, 7], "episodes_by_level": [[999.0, 225.0, 37.0, 0.0], [769.0, 161.0, 49.0, 0.0], [286.0, 77.0, 15.0, 0.0], [80.0, 27.0, 6.0, 0.0], [27.0, 7.0, 1.0, 0.0], [3.0, 1.0, 0.0, 0.0]]}, "rubble": {"level_counts": [197, 330, 210, 74, 8, 0], "episodes_by_level": [[2018.0, 463.0, 76.0, 0.0], [1602.0, 352.0, 96.0, 0.0], [558.0, 115.0, 77.0, 0.0], [130.0, 12.0, 33.0, 0.0], [6.0, 0.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 20168, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.247314453125, "command_abs_max": [0.9978711605072021, 0.39961522817611694, 0.6979426145553589]}
{"step": 11100, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 11100, "total_transitions": 45465600, "num_steps_per_env": 1, "wm_loss": 0.9002770185470581, "actor_loss": -9.363116264343262, "critic_loss": 0.006516037974506617, "reward": 0.08488040417432785, "falls": 6, "interval_steps": 50, "velocity_mae": [0.13263733685016632, 0.07399285584688187, 0.13200978934764862], "mean_episode_length": 1412.9154929577464, "episode_reward_terms": {"track_linear_velocity": 48.733951568603516, "track_angular_velocity": 53.57734298706055, "upright": 27.54422950744629, "leg_posture": -3.017618417739868, "standstill": -6.71863317489624, "action_rate_l2": -0.5864154100418091, "joint_torques_l2": -0.15478473901748657, "dof_pos_limits": -0.0009441826259717345, "terminated": -0.016557602211833, "unnecessary_wheel_lift": -0.12917032837867737, "rolling_leg_motion": -0.7853153944015503, "obstacle_progress": 2.186823844909668, "wheel_body_intrusion": -0.35052919387817383, "pair_body_intrusion": -0.3535545766353607}, "weighted_reward_terms": {"track_linear_velocity": 1.7245882749557495, "track_angular_velocity": 1.8959853649139404, "upright": 0.9747301936149597, "leg_posture": -0.10678694397211075, "standstill": -0.23775778710842133, "action_rate_l2": -0.020751962438225746, "joint_torques_l2": -0.005477494560182095, "dof_pos_limits": -3.341256524436176e-05, "terminated": -0.0005859374068677425, "unnecessary_wheel_lift": -0.004571056459099054, "rolling_leg_motion": -0.027790598571300507, "obstacle_progress": 0.07738693058490753, "wheel_body_intrusion": -0.012404464185237885, "pair_body_intrusion": -0.012511526234447956}, "episode_termination_rates": {"time_out": 0.6056338028169014, "fell_over": 0.014084507042253521, "course_exit": 0.352112676056338, "illegal_nonwheel_contact": 0.035211267605633804}, "collection_time_s": 0.07616126727953088, "learning_time_s": 0.1851464314229088, "iteration_time_s": 0.4038100838876588, "policy_updates": 10800, "skipped_updates": 0, "invalid_env_resets": 55, "elapsed_s": 4482.291931153013, "nonwheel_terminations": 10816, "contact_bce": 0.323483407497406, "contact_force_loss": 0.022237403318285942, "collision_bce": 0.00011651642853394151, "collision_label_rate": 6.121449405327439e-05, "collision_prediction_mean": 6.033800673321821e-05, "collision_label_count": 16336.0, "terrain_level_mean": 2.122314453125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [100, 143, 103, 42, 15, 7], "episodes_by_level": [[977.0, 211.0, 34.0, 0.0], [782.0, 170.0, 31.0, 0.0], [275.0, 69.0, 11.0, 0.0], [91.0, 22.0, 5.0, 0.0], [24.0, 7.0, 0.0, 0.0], [2.0, 1.0, 0.0, 0.0]]}, "up": {"level_counts": [10, 143, 643, 526, 110, 1], "episodes_by_level": [[674.0, 540.0, 7.0, 0.0], [2084.0, 1268.0, 37.0, 0.0], [2487.0, 796.0, 157.0, 0.0], [1006.0, 127.0, 119.0, 0.0], [77.0, 1.0, 16.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [1, 8, 35, 71, 170, 329], "episodes_by_level": [[188.0, 168.0, 2.0, 0.0], [524.0, 469.0, 9.0, 0.0], [708.0, 622.0, 21.0, 0.0], [749.0, 605.0, 24.0, 0.0], [718.0, 523.0, 50.0, 0.0], [780.0, 537.0, 88.0, 0.0]]}, "platform": {"level_counts": [110, 168, 92, 37, 2, 1], "episodes_by_level": [[1100.0, 238.0, 44.0, 0.0], [746.0, 149.0, 37.0, 0.0], [232.0, 46.0, 23.0, 0.0], [47.0, 5.0, 6.0, 0.0], [3.0, 1.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [107, 141, 91, 46, 18, 7], "episodes_by_level": [[1005.0, 225.0, 37.0, 0.0], [773.0, 163.0, 49.0, 0.0], [291.0, 77.0, 15.0, 0.0], [81.0, 27.0, 6.0, 0.0], [29.0, 7.0, 2.0, 0.0], [4.0, 2.0, 0.0, 0.0]]}, "rubble": {"level_counts": [194, 331, 210, 76, 8, 0], "episodes_by_level": [[2029.0, 466.0, 76.0, 0.0], [1613.0, 355.0, 96.0, 0.0], [563.0, 117.0, 78.0, 0.0], [132.0, 12.0, 33.0, 0.0], [6.0, 0.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 20265, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.247314453125, "command_abs_max": [0.9978711605072021, 0.39961522817611694, 0.6980533599853516]}
{"step": 11150, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 11150, "total_transitions": 45670400, "num_steps_per_env": 1, "wm_loss": 0.9451016783714294, "actor_loss": -9.399419784545898, "critic_loss": 0.0029108577873557806, "reward": 0.08481823652982712, "falls": 8, "interval_steps": 50, "velocity_mae": [0.13422417640686035, 0.07436513155698776, 0.1328200250864029], "mean_episode_length": 1437.658536585366, "episode_reward_terms": {"track_linear_velocity": 49.457672119140625, "track_angular_velocity": 54.47466278076172, "upright": 28.007829666137695, "leg_posture": -3.0511655807495117, "standstill": -6.789062976837158, "action_rate_l2": -0.5981490015983582, "joint_torques_l2": -0.1557694673538208, "dof_pos_limits": -0.0012661581858992577, "terminated": -0.02246341109275818, "unnecessary_wheel_lift": -0.14174731075763702, "rolling_leg_motion": -0.7775725722312927, "obstacle_progress": 2.3284287452697754, "wheel_body_intrusion": -0.37374672293663025, "pair_body_intrusion": -0.41799622774124146}, "weighted_reward_terms": {"track_linear_velocity": 1.7200772762298584, "track_angular_velocity": 1.894562005996704, "upright": 0.9740779399871826, "leg_posture": -0.10611579567193985, "standstill": -0.23611529171466827, "action_rate_l2": -0.02080288901925087, "joint_torques_l2": -0.005417470820248127, "dof_pos_limits": -4.403542698128149e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.004929797723889351, "rolling_leg_motion": -0.027043020352721214, "obstacle_progress": 0.08097989112138748, "wheel_body_intrusion": -0.012998451478779316, "pair_body_intrusion": -0.014537395909428596}, "episode_termination_rates": {"time_out": 0.573170731707317, "fell_over": 0.03048780487804878, "course_exit": 0.3780487804878049, "illegal_nonwheel_contact": 0.042682926829268296}, "collection_time_s": 0.07577201833948494, "learning_time_s": 0.18496216284343972, "iteration_time_s": 0.40316858643766923, "policy_updates": 10850, "skipped_updates": 0, "invalid_env_resets": 56, "elapsed_s": 4495.329738780012, "nonwheel_terminations": 10823, "contact_bce": 0.3222963213920593, "contact_force_loss": 0.022564338520169258, "collision_bce": 5.85940942983143e-05, "collision_label_rate": 6.119951285654679e-05, "collision_prediction_mean": 9.958154987543821e-05, "collision_label_count": 16340.0, "terrain_level_mean": 2.129150390625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [100, 143, 102, 43, 15, 7], "episodes_by_level": [[982.0, 211.0, 35.0, 0.0], [785.0, 170.0, 31.0, 0.0], [279.0, 70.0, 11.0, 0.0], [92.0, 22.0, 5.0, 0.0], [24.0, 7.0, 0.0, 0.0], [2.0, 1.0, 0.0, 0.0]]}, "up": {"level_counts": [10, 143, 637, 529, 113, 1], "episodes_by_level": [[674.0, 540.0, 7.0, 0.0], [2086.0, 1270.0, 37.0, 0.0], [2510.0, 804.0, 158.0, 0.0], [1018.0, 130.0, 121.0, 0.0], [78.0, 1.0, 16.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [1, 8, 31, 74, 164, 336], "episodes_by_level": [[188.0, 168.0, 2.0, 0.0], [524.0, 469.0, 9.0, 0.0], [711.0, 625.0, 21.0, 0.0], [750.0, 606.0, 24.0, 0.0], [726.0, 528.0, 50.0, 0.0], [791.0, 545.0, 88.0, 0.0]]}, "platform": {"level_counts": [108, 169, 93, 37, 2, 1], "episodes_by_level": [[1106.0, 240.0, 44.0, 0.0], [751.0, 150.0, 37.0, 0.0], [236.0, 46.0, 23.0, 0.0], [49.0, 5.0, 6.0, 0.0], [3.0, 1.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [107, 140, 92, 46, 18, 7], "episodes_by_level": [[1009.0, 225.0, 37.0, 0.0], [779.0, 164.0, 49.0, 0.0], [293.0, 77.0, 15.0, 0.0], [81.0, 27.0, 6.0, 0.0], [29.0, 7.0, 2.0, 0.0], [4.0, 2.0, 0.0, 0.0]]}, "rubble": {"level_counts": [194, 330, 211, 75, 9, 0], "episodes_by_level": [[2039.0, 467.0, 76.0, 0.0], [1621.0, 356.0, 97.0, 0.0], [570.0, 118.0, 78.0, 0.0], [136.0, 13.0, 34.0, 0.0], [6.0, 0.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 20365, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.24462890625, "command_abs_max": [0.9978711605072021, 0.39961522817611694, 0.6980533599853516]}
{"step": 11200, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 11200, "total_transitions": 45875200, "num_steps_per_env": 1, "wm_loss": 0.8684461116790771, "actor_loss": -9.359931945800781, "critic_loss": 0.006818078458309174, "reward": 0.08442492038011551, "falls": 10, "interval_steps": 50, "velocity_mae": [0.13558591902256012, 0.07600852102041245, 0.13408046960830688], "mean_episode_length": 1352.2556390977443, "episode_reward_terms": {"track_linear_velocity": 46.359310150146484, "track_angular_velocity": 51.16697692871094, "upright": 26.31148910522461, "leg_posture": -2.9209706783294678, "standstill": -6.631850719451904, "action_rate_l2": -0.5605247616767883, "joint_torques_l2": -0.14784201979637146, "dof_pos_limits": -0.0007943311356939375, "terminated": -0.026411239057779312, "unnecessary_wheel_lift": -0.11979902535676956, "rolling_leg_motion": -0.7213709950447083, "obstacle_progress": 2.16815447807312, "wheel_body_intrusion": -0.36722221970558167, "pair_body_intrusion": -0.3450845181941986}, "weighted_reward_terms": {"track_linear_velocity": 1.7141474485397339, "track_angular_velocity": 1.8919122219085693, "upright": 0.972874104976654, "leg_posture": -0.1080036461353302, "standstill": -0.24521440267562866, "action_rate_l2": -0.020725548267364502, "joint_torques_l2": -0.005466497037559748, "dof_pos_limits": -2.9370599804678932e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.0044295997358858585, "rolling_leg_motion": -0.026672879233956337, "obstacle_progress": 0.08016807585954666, "wheel_body_intrusion": -0.013578136451542377, "pair_body_intrusion": -0.012759589590132236}, "episode_termination_rates": {"time_out": 0.518796992481203, "fell_over": 0.022556390977443608, "course_exit": 0.40601503759398494, "illegal_nonwheel_contact": 0.06766917293233082}, "collection_time_s": 0.07597143161983695, "learning_time_s": 0.18481148368155118, "iteration_time_s": 0.4025330578198217, "policy_updates": 10900, "skipped_updates": 0, "invalid_env_resets": 57, "elapsed_s": 4508.370247582003, "nonwheel_terminations": 10832, "contact_bce": 0.3251638114452362, "contact_force_loss": 0.02193356305360794, "collision_bce": 0.000206548604182899, "collision_label_rate": 0.0, "collision_prediction_mean": 0.00011334462760714814, "collision_label_count": 16350.0, "terrain_level_mean": 2.135498046875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [98, 145, 102, 43, 14, 8], "episodes_by_level": [[986.0, 213.0, 35.0, 0.0], [787.0, 170.0, 31.0, 0.0], [280.0, 70.0, 11.0, 0.0], [92.0, 22.0, 5.0, 0.0], [25.0, 8.0, 0.0, 0.0], [2.0, 1.0, 0.0, 0.0]]}, "up": {"level_counts": [12, 140, 632, 537, 111, 1], "episodes_by_level": [[674.0, 540.0, 7.0, 0.0], [2088.0, 1271.0, 37.0, 0.0], [2522.0, 810.0, 158.0, 0.0], [1027.0, 130.0, 121.0, 0.0], [80.0, 1.0, 18.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [1, 6, 30, 72, 168, 337], "episodes_by_level": [[188.0, 168.0, 2.0, 0.0], [526.0, 471.0, 9.0, 0.0], [714.0, 628.0, 21.0, 0.0], [754.0, 610.0, 24.0, 0.0], [729.0, 530.0, 50.0, 0.0], [800.0, 551.0, 88.0, 0.0]]}, "platform": {"level_counts": [108, 166, 96, 37, 2, 1], "episodes_by_level": [[1112.0, 241.0, 44.0, 0.0], [757.0, 153.0, 38.0, 0.0], [239.0, 46.0, 23.0, 0.0], [50.0, 5.0, 6.0, 0.0], [3.0, 1.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [108, 137, 94, 46, 17, 8], "episodes_by_level": [[1012.0, 225.0, 37.0, 0.0], [786.0, 166.0, 50.0, 0.0], [294.0, 77.0, 15.0, 0.0], [81.0, 27.0, 6.0, 0.0], [30.0, 8.0, 2.0, 0.0], [4.0, 2.0, 0.0, 0.0]]}, "rubble": {"level_counts": [193, 330, 211, 75, 10, 0], "episodes_by_level": [[2049.0, 469.0, 77.0, 0.0], [1624.0, 357.0, 98.0, 0.0], [577.0, 119.0, 78.0, 0.0], [137.0, 14.0, 34.0, 0.0], [6.0, 0.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 20465, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.245849609375, "command_abs_max": [0.9992489814758301, 0.39961522817611694, 0.6980533599853516]}
{"step": 11250, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 11250, "total_transitions": 46080000, "num_steps_per_env": 1, "wm_loss": 0.9202181696891785, "actor_loss": -9.354543685913086, "critic_loss": 0.004983724560588598, "reward": 0.08470310270786285, "falls": 5, "interval_steps": 50, "velocity_mae": [0.13517530262470245, 0.07445291429758072, 0.13304200768470764], "mean_episode_length": 1381.6346153846155, "episode_reward_terms": {"track_linear_velocity": 47.428810119628906, "track_angular_velocity": 52.347808837890625, "upright": 26.914485931396484, "leg_posture": -2.958641529083252, "standstill": -6.5637054443359375, "action_rate_l2": -0.5790848135948181, "joint_torques_l2": -0.15052571892738342, "dof_pos_limits": -0.0005064907600171864, "terminated": -0.01349252462387085, "unnecessary_wheel_lift": -0.12345179170370102, "rolling_leg_motion": -0.7565802931785583, "obstacle_progress": 2.187191963195801, "wheel_body_intrusion": -0.35952311754226685, "pair_body_intrusion": -0.3440577983856201}, "weighted_reward_terms": {"track_linear_velocity": 1.7164020538330078, "track_angular_velocity": 1.8944158554077148, "upright": 0.9740088582038879, "leg_posture": -0.10707032680511475, "standstill": -0.2375340610742569, "action_rate_l2": -0.020956510677933693, "joint_torques_l2": -0.0054473779164254665, "dof_pos_limits": -1.8329403246752918e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.004467599093914032, "rolling_leg_motion": -0.027379898354411125, "obstacle_progress": 0.07915233075618744, "wheel_body_intrusion": -0.013010789640247822, "pair_body_intrusion": -0.0124511132016778}, "episode_termination_rates": {"time_out": 0.5833333333333334, "fell_over": 0.019230769230769232, "course_exit": 0.38461538461538464, "illegal_nonwheel_contact": 0.03205128205128205}, "collection_time_s": 0.07560767627961468, "learning_time_s": 0.18499335183994844, "iteration_time_s": 0.40190234835013333, "policy_updates": 10950, "skipped_updates": 0, "invalid_env_resets": 57, "elapsed_s": 4521.401418939, "nonwheel_terminations": 10837, "contact_bce": 0.3207660913467407, "contact_force_loss": 0.02258736453950405, "collision_bce": 6.132659473223612e-05, "collision_label_rate": 6.131959526101127e-05, "collision_prediction_mean": 8.939154213294387e-05, "collision_label_count": 16308.0, "terrain_level_mean": 2.142333984375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [98, 145, 102, 43, 14, 8], "episodes_by_level": [[990.0, 213.0, 35.0, 0.0], [792.0, 170.0, 31.0, 0.0], [284.0, 70.0, 11.0, 0.0], [94.0, 22.0, 5.0, 0.0], [26.0, 8.0, 0.0, 0.0], [3.0, 1.0, 0.0, 0.0]]}, "up": {"level_counts": [12, 137, 629, 542, 112, 1], "episodes_by_level": [[674.0, 540.0, 7.0, 0.0], [2090.0, 1273.0, 37.0, 0.0], [2535.0, 817.0, 158.0, 0.0], [1041.0, 131.0, 121.0, 0.0], [80.0, 1.0, 18.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [1, 6, 30, 71, 164, 342], "episodes_by_level": [[188.0, 168.0, 2.0, 0.0], [526.0, 471.0, 9.0, 0.0], [714.0, 628.0, 21.0, 0.0], [755.0, 610.0, 24.0, 0.0], [736.0, 537.0, 50.0, 0.0], [811.0, 560.0, 88.0, 0.0]]}, "platform": {"level_counts": [105, 169, 96, 36, 3, 1], "episodes_by_level": [[1119.0, 244.0, 44.0, 0.0], [762.0, 153.0, 38.0, 0.0], [243.0, 47.0, 23.0, 0.0], [53.0, 6.0, 7.0, 0.0], [3.0, 1.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [108, 136, 95, 46, 16, 9], "episodes_by_level": [[1017.0, 225.0, 37.0, 0.0], [790.0, 167.0, 50.0, 0.0], [295.0, 77.0, 15.0, 0.0], [82.0, 27.0, 6.0, 0.0], [31.0, 9.0, 2.0, 0.0], [5.0, 2.0, 0.0, 0.0]]}, "rubble": {"level_counts": [192, 328, 212, 77, 10, 0], "episodes_by_level": [[2054.0, 471.0, 77.0, 0.0], [1637.0, 360.0, 99.0, 0.0], [582.0, 121.0, 78.0, 0.0], [140.0, 14.0, 34.0, 0.0], [6.0, 0.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 20565, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.245849609375, "command_abs_max": [0.9992489814758301, 0.39961522817611694, 0.6980533599853516]}
{"step": 11300, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 11300, "total_transitions": 46284800, "num_steps_per_env": 1, "wm_loss": 0.8939247727394104, "actor_loss": -9.334697723388672, "critic_loss": 0.011399625800549984, "reward": 0.08476844429969788, "falls": 11, "interval_steps": 50, "velocity_mae": [0.13442425429821014, 0.07538814842700958, 0.1333313286304474], "mean_episode_length": 1391.774647887324, "episode_reward_terms": {"track_linear_velocity": 47.83435821533203, "track_angular_velocity": 52.71908187866211, "upright": 27.102359771728516, "leg_posture": -2.986933946609497, "standstill": -6.518479824066162, "action_rate_l2": -0.5949093699455261, "joint_torques_l2": -0.14991691708564758, "dof_pos_limits": -0.0008978770929388702, "terminated": -0.029901405796408653, "unnecessary_wheel_lift": -0.15170757472515106, "rolling_leg_motion": -0.7526751756668091, "obstacle_progress": 2.2240021228790283, "wheel_body_intrusion": -0.36230114102363586, "pair_body_intrusion": -0.35351070761680603}, "weighted_reward_terms": {"track_linear_velocity": 1.7184664011001587, "track_angular_velocity": 1.8939517736434937, "upright": 0.9736619591712952, "leg_posture": -0.10730666667222977, "standstill": -0.23417870700359344, "action_rate_l2": -0.02137233130633831, "joint_torques_l2": -0.005385818425565958, "dof_pos_limits": -3.225655382266268e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.005450148601084948, "rolling_leg_motion": -0.02704012580215931, "obstacle_progress": 0.07989806681871414, "wheel_body_intrusion": -0.013015798293054104, "pair_body_intrusion": -0.01269999798387289}, "episode_termination_rates": {"time_out": 0.5422535211267606, "fell_over": 0.04929577464788732, "course_exit": 0.38028169014084506, "illegal_nonwheel_contact": 0.056338028169014086}, "collection_time_s": 0.07563719453872181, "learning_time_s": 0.184954092061962, "iteration_time_s": 0.4012771763254871, "policy_updates": 11000, "skipped_updates": 0, "invalid_env_resets": 57, "elapsed_s": 4534.432092478004, "nonwheel_terminations": 10845, "contact_bce": 0.3203926384449005, "contact_force_loss": 0.022678738459944725, "collision_bce": 7.119392103049904e-05, "collision_label_rate": 6.124073843238875e-05, "collision_prediction_mean": 8.961159619502723e-05, "collision_label_count": 16329.0, "terrain_level_mean": 2.148681640625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [98, 145, 102, 43, 14, 8], "episodes_by_level": [[993.0, 213.0, 36.0, 0.0], [794.0, 170.0, 31.0, 0.0], [285.0, 70.0, 11.0, 0.0], [95.0, 22.0, 5.0, 0.0], [26.0, 8.0, 0.0, 0.0], [3.0, 1.0, 0.0, 0.0]]}, "up": {"level_counts": [12, 132, 624, 552, 112, 1], "episodes_by_level": [[674.0, 540.0, 7.0, 0.0], [2096.0, 1279.0, 37.0, 0.0], [2561.0, 827.0, 158.0, 0.0], [1051.0, 133.0, 121.0, 0.0], [83.0, 1.0, 20.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [1, 5, 30, 68, 165, 345], "episodes_by_level": [[188.0, 168.0, 2.0, 0.0], [527.0, 472.0, 9.0, 0.0], [715.0, 629.0, 21.0, 0.0], [759.0, 614.0, 24.0, 0.0], [742.0, 543.0, 50.0, 0.0], [823.0, 568.0, 90.0, 0.0]]}, "platform": {"level_counts": [107, 167, 95, 37, 3, 1], "episodes_by_level": [[1120.0, 244.0, 45.0, 0.0], [766.0, 153.0, 40.0, 0.0], [245.0, 48.0, 23.0, 0.0], [53.0, 6.0, 7.0, 0.0], [3.0, 1.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [107, 137, 95, 46, 16, 9], "episodes_by_level": [[1022.0, 226.0, 37.0, 0.0], [793.0, 167.0, 50.0, 0.0], [300.0, 77.0, 15.0, 0.0], [85.0, 27.0, 6.0, 0.0], [32.0, 9.0, 2.0, 0.0], [5.0, 2.0, 0.0, 0.0]]}, "rubble": {"level_counts": [190, 330, 212, 77, 10, 0], "episodes_by_level": [[2057.0, 473.0, 77.0, 0.0], [1647.0, 361.0, 99.0, 0.0], [586.0, 121.0, 79.0, 0.0], [142.0, 14.0, 34.0, 0.0], [7.0, 0.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 20668, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2431640625, "command_abs_max": [0.9992489814758301, 0.39961522817611694, 0.6980533599853516]}
{"step": 11350, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 11350, "total_transitions": 46489600, "num_steps_per_env": 1, "wm_loss": 0.94484543800354, "actor_loss": -9.379268646240234, "critic_loss": 0.0032086761202663183, "reward": 0.08481349050998688, "falls": 17, "interval_steps": 50, "velocity_mae": [0.13412809371948242, 0.07445374876260757, 0.13276737928390503], "mean_episode_length": 1336.3239436619717, "episode_reward_terms": {"track_linear_velocity": 45.97304153442383, "track_angular_velocity": 50.62653350830078, "upright": 26.017839431762695, "leg_posture": -2.8661603927612305, "standstill": -6.288015842437744, "action_rate_l2": -0.5639013051986694, "joint_torques_l2": -0.1457706093788147, "dof_pos_limits": -0.0007386378129012883, "terminated": -0.044370125979185104, "unnecessary_wheel_lift": -0.12763601541519165, "rolling_leg_motion": -0.7234932780265808, "obstacle_progress": 2.1515307426452637, "wheel_body_intrusion": -0.3561125695705414, "pair_body_intrusion": -0.31446361541748047}, "weighted_reward_terms": {"track_linear_velocity": 1.7201309204101562, "track_angular_velocity": 1.894246220588684, "upright": 0.97348552942276, "leg_posture": -0.1072404757142067, "standstill": -0.23527288436889648, "action_rate_l2": -0.021098975092172623, "joint_torques_l2": -0.0054541644640266895, "dof_pos_limits": -2.7636930099106394e-05, "terminated": -0.001660156063735485, "unnecessary_wheel_lift": -0.004775639157742262, "rolling_leg_motion": -0.02707028016448021, "obstacle_progress": 0.08050183951854706, "wheel_body_intrusion": -0.013324334286153316, "pair_body_intrusion": -0.011765995062887669}, "episode_termination_rates": {"time_out": 0.5140845070422535, "fell_over": 0.07746478873239436, "course_exit": 0.36619718309859156, "illegal_nonwheel_contact": 0.09154929577464789}, "collection_time_s": 0.07562362286029384, "learning_time_s": 0.1851507375604706, "iteration_time_s": 0.40065831716343686, "policy_updates": 11050, "skipped_updates": 0, "invalid_env_resets": 57, "elapsed_s": 4547.471899805008, "nonwheel_terminations": 10858, "contact_bce": 0.3266920745372772, "contact_force_loss": 0.023052794858813286, "collision_bce": 0.0004155177157372236, "collision_label_rate": 0.00018347501463722438, "collision_prediction_mean": 0.00026763262576423585, "collision_label_count": 16351.0, "terrain_level_mean": 2.15185546875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [98, 144, 102, 43, 15, 8], "episodes_by_level": [[995.0, 213.0, 36.0, 0.0], [800.0, 171.0, 31.0, 0.0], [287.0, 71.0, 11.0, 0.0], [96.0, 23.0, 5.0, 0.0], [26.0, 8.0, 0.0, 0.0], [4.0, 1.0, 0.0, 0.0]]}, "up": {"level_counts": [12, 132, 618, 557, 113, 1], "episodes_by_level": [[674.0, 540.0, 7.0, 0.0], [2098.0, 1281.0, 37.0, 0.0], [2578.0, 835.0, 158.0, 0.0], [1064.0, 134.0, 121.0, 0.0], [85.0, 1.0, 20.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [1, 5, 30, 66, 171, 341], "episodes_by_level": [[188.0, 168.0, 2.0, 0.0], [527.0, 472.0, 9.0, 0.0], [715.0, 629.0, 21.0, 0.0], [763.0, 618.0, 24.0, 0.0], [747.0, 545.0, 51.0, 0.0], [833.0, 574.0, 91.0, 0.0]]}, "platform": {"level_counts": [108, 166, 95, 37, 3, 1], "episodes_by_level": [[1121.0, 244.0, 45.0, 0.0], [772.0, 153.0, 41.0, 0.0], [252.0, 48.0, 23.0, 0.0], [53.0, 6.0, 7.0, 0.0], [3.0, 1.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [106, 138, 95, 45, 17, 9], "episodes_by_level": [[1025.0, 227.0, 37.0, 0.0], [797.0, 167.0, 50.0, 0.0], [303.0, 77.0, 15.0, 0.0], [86.0, 28.0, 6.0, 0.0], [32.0, 9.0, 2.0, 0.0], [5.0, 2.0, 0.0, 0.0]]}, "rubble": {"level_counts": [191, 325, 216, 76, 11, 0], "episodes_by_level": [[2060.0, 473.0, 79.0, 0.0], [1661.0, 365.0, 100.0, 0.0], [588.0, 121.0, 79.0, 0.0], [143.0, 15.0, 34.0, 0.0], [7.0, 0.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 20772, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.242431640625, "command_abs_max": [0.9992489814758301, 0.39961522817611694, 0.6980533599853516]}
{"step": 11400, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 11400, "total_transitions": 46694400, "num_steps_per_env": 1, "wm_loss": 0.8620239496231079, "actor_loss": -9.318830490112305, "critic_loss": 0.0038202665746212006, "reward": 0.08483242988586426, "falls": 9, "interval_steps": 50, "velocity_mae": [0.13393396139144897, 0.0742064043879509, 0.13558684289455414], "mean_episode_length": 1363.182608695652, "episode_reward_terms": {"track_linear_velocity": 46.94111251831055, "track_angular_velocity": 51.537742614746094, "upright": 26.527803421020508, "leg_posture": -2.9602293968200684, "standstill": -6.273977279663086, "action_rate_l2": -0.5835298895835876, "joint_torques_l2": -0.14965172111988068, "dof_pos_limits": -0.0007883473881520331, "terminated": -0.023962190374732018, "unnecessary_wheel_lift": -0.1078440323472023, "rolling_leg_motion": -0.7362486124038696, "obstacle_progress": 2.256899833679199, "wheel_body_intrusion": -0.3937443196773529, "pair_body_intrusion": -0.39150485396385193}, "weighted_reward_terms": {"track_linear_velocity": 1.7217470407485962, "track_angular_velocity": 1.8903462886810303, "upright": 0.9730099439620972, "leg_posture": -0.10857786983251572, "standstill": -0.2301224023103714, "action_rate_l2": -0.021403217688202858, "joint_torques_l2": -0.005489056464284658, "dof_pos_limits": -2.891569420171436e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.003955597523599863, "rolling_leg_motion": -0.027004770934581757, "obstacle_progress": 0.08278053998947144, "wheel_body_intrusion": -0.014442097395658493, "pair_body_intrusion": -0.014359956607222557}, "episode_termination_rates": {"time_out": 0.4782608695652174, "fell_over": 0.05217391304347826, "course_exit": 0.4434782608695652, "illegal_nonwheel_contact": 0.06086956521739131}, "collection_time_s": 0.07536596525693312, "learning_time_s": 0.1829676491417922, "iteration_time_s": 0.40003418351307085, "policy_updates": 11100, "skipped_updates": 0, "invalid_env_resets": 57, "elapsed_s": 4560.389692049008, "nonwheel_terminations": 10865, "contact_bce": 0.3170078992843628, "contact_force_loss": 0.021792571991682053, "collision_bce": 2.3372147552436218e-05, "collision_label_rate": 6.11733048572205e-05, "collision_prediction_mean": 5.828966823173687e-05, "collision_label_count": 16347.0, "terrain_level_mean": 2.158447265625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [96, 144, 103, 44, 15, 8], "episodes_by_level": [[998.0, 215.0, 36.0, 0.0], [803.0, 173.0, 31.0, 0.0], [289.0, 72.0, 11.0, 0.0], [96.0, 23.0, 5.0, 0.0], [26.0, 8.0, 0.0, 0.0], [4.0, 1.0, 0.0, 0.0]]}, "up": {"level_counts": [12, 133, 612, 559, 116, 1], "episodes_by_level": [[674.0, 540.0, 7.0, 0.0], [2098.0, 1281.0, 37.0, 0.0], [2589.0, 842.0, 158.0, 0.0], [1075.0, 138.0, 123.0, 0.0], [87.0, 1.0, 21.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "down": {"level_counts": [1, 5, 30, 67, 166, 345], "episodes_by_level": [[188.0, 168.0, 2.0, 0.0], [527.0, 472.0, 9.0, 0.0], [715.0, 629.0, 21.0, 0.0], [765.0, 619.0, 24.0, 0.0], [752.0, 550.0, 51.0, 0.0], [842.0, 583.0, 91.0, 0.0]]}, "platform": {"level_counts": [106, 166, 97, 37, 3, 1], "episodes_by_level": [[1125.0, 246.0, 45.0, 0.0], [777.0, 155.0, 41.0, 0.0], [253.0, 48.0, 23.0, 0.0], [53.0, 6.0, 7.0, 0.0], [3.0, 1.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [106, 136, 96, 46, 17, 9], "episodes_by_level": [[1027.0, 228.0, 37.0, 0.0], [804.0, 169.0, 51.0, 0.0], [305.0, 78.0, 15.0, 0.0], [88.0, 28.0, 6.0, 0.0], [34.0, 9.0, 2.0, 0.0], [5.0, 2.0, 0.0, 0.0]]}, "rubble": {"level_counts": [189, 326, 215, 78, 11, 0], "episodes_by_level": [[2065.0, 475.0, 79.0, 0.0], [1669.0, 367.0, 100.0, 0.0], [598.0, 123.0, 80.0, 0.0], [143.0, 15.0, 34.0, 0.0], [7.0, 0.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 20877, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.24609375, "command_abs_max": [0.9956279993057251, 0.39961522817611694, 0.699144721031189]}
{"step": 11450, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 11450, "total_transitions": 46899200, "num_steps_per_env": 1, "wm_loss": 0.9197184443473816, "actor_loss": -9.362741470336914, "critic_loss": 0.004035033285617828, "reward": 0.08490367978811264, "falls": 7, "interval_steps": 50, "velocity_mae": [0.1366426646709442, 0.07349053025245667, 0.1356506496667862], "mean_episode_length": 1380.6569343065694, "episode_reward_terms": {"track_linear_velocity": 47.399574279785156, "track_angular_velocity": 52.19706726074219, "upright": 26.8607177734375, "leg_posture": -2.975775957107544, "standstill": -6.03956937789917, "action_rate_l2": -0.582062304019928, "joint_torques_l2": -0.15051740407943726, "dof_pos_limits": -0.0009311707108281553, "terminated": -0.01887616701424122, "unnecessary_wheel_lift": -0.1258048415184021, "rolling_leg_motion": -0.7539085745811462, "obstacle_progress": 2.2020535469055176, "wheel_body_intrusion": -0.3556778132915497, "pair_body_intrusion": -0.4334509074687958}, "weighted_reward_terms": {"track_linear_velocity": 1.7165586948394775, "track_angular_velocity": 1.8902982473373413, "upright": 0.9727513790130615, "leg_posture": -0.10776666551828384, "standstill": -0.21872085332870483, "action_rate_l2": -0.021079178899526596, "joint_torques_l2": -0.005450934171676636, "dof_pos_limits": -3.3722015359671786e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.004555977415293455, "rolling_leg_motion": -0.027302531525492668, "obstacle_progress": 0.07974658161401749, "wheel_body_intrusion": -0.012880746275186539, "pair_body_intrusion": -0.01569727063179016}, "episode_termination_rates": {"time_out": 0.5328467153284672, "fell_over": 0.043795620437956206, "course_exit": 0.41605839416058393, "illegal_nonwheel_contact": 0.029197080291970802}, "collection_time_s": 0.07587893606163561, "learning_time_s": 0.18315417359874117, "iteration_time_s": 0.3994185541362444, "policy_updates": 11150, "skipped_updates": 0, "invalid_env_resets": 58, "elapsed_s": 4573.342444859998, "nonwheel_terminations": 10869, "contact_bce": 0.32235971093177795, "contact_force_loss": 0.022170549258589745, "collision_bce": 3.498642399790697e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 3.5425255191512406e-06, "collision_label_count": 16356.0, "terrain_level_mean": 2.1650390625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [96, 142, 105, 44, 15, 8], "episodes_by_level": [[1000.0, 215.0, 36.0, 0.0], [808.0, 175.0, 31.0, 0.0], [292.0, 72.0, 11.0, 0.0], [99.0, 23.0, 5.0, 0.0], [27.0, 8.0, 0.0, 0.0], [4.0, 1.0, 0.0, 0.0]]}, "up": {"level_counts": [11, 131, 612, 559, 120, 0], "episodes_by_level": [[675.0, 541.0, 7.0, 0.0], [2106.0, 1285.0, 37.0, 0.0], [2607.0, 846.0, 158.0, 0.0], [1085.0, 142.0, 124.0, 0.0], [92.0, 1.0, 22.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [1, 5, 30, 67, 161, 350], "episodes_by_level": [[188.0, 168.0, 2.0, 0.0], [527.0, 472.0, 9.0, 0.0], [715.0, 629.0, 21.0, 0.0], [767.0, 620.0, 24.0, 0.0], [759.0, 556.0, 51.0, 0.0], [851.0, 587.0, 91.0, 0.0]]}, "platform": {"level_counts": [105, 167, 97, 37, 3, 1], "episodes_by_level": [[1127.0, 247.0, 45.0, 0.0], [781.0, 155.0, 41.0, 0.0], [254.0, 48.0, 23.0, 0.0], [53.0, 6.0, 7.0, 0.0], [3.0, 1.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [104, 137, 96, 47, 17, 9], "episodes_by_level": [[1029.0, 230.0, 37.0, 0.0], [807.0, 170.0, 51.0, 0.0], [307.0, 79.0, 15.0, 0.0], [88.0, 28.0, 6.0, 0.0], [35.0, 9.0, 2.0, 0.0], [5.0, 2.0, 0.0, 0.0]]}, "rubble": {"level_counts": [188, 325, 214, 81, 11, 0], "episodes_by_level": [[2068.0, 476.0, 79.0, 0.0], [1680.0, 370.0, 100.0, 0.0], [604.0, 126.0, 81.0, 0.0], [144.0, 15.0, 34.0, 0.0], [7.0, 0.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 20992, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.244873046875, "command_abs_max": [0.9956279993057251, 0.39961522817611694, 0.699144721031189]}
{"step": 11500, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 11500, "total_transitions": 47104000, "num_steps_per_env": 1, "wm_loss": 0.8988447189331055, "actor_loss": -9.37027645111084, "critic_loss": 0.0037964351940900087, "reward": 0.08481547981500626, "falls": 10, "interval_steps": 50, "velocity_mae": [0.13474933803081512, 0.07466346025466919, 0.1347244530916214], "mean_episode_length": 1405.2894736842106, "episode_reward_terms": {"track_linear_velocity": 48.298988342285156, "track_angular_velocity": 53.16654586791992, "upright": 27.36288833618164, "leg_posture": -3.0220065116882324, "standstill": -6.363611698150635, "action_rate_l2": -0.6039837002754211, "joint_torques_l2": -0.1520414650440216, "dof_pos_limits": -0.0012567718513309956, "terminated": -0.027447056025266647, "unnecessary_wheel_lift": -0.1327555626630783, "rolling_leg_motion": -0.7826464772224426, "obstacle_progress": 2.2211620807647705, "wheel_body_intrusion": -0.3714863955974579, "pair_body_intrusion": -0.40204593539237976}, "weighted_reward_terms": {"track_linear_velocity": 1.7184712886810303, "track_angular_velocity": 1.8916583061218262, "upright": 0.9735677242279053, "leg_posture": -0.10752256959676743, "standstill": -0.2264164239168167, "action_rate_l2": -0.02148965559899807, "joint_torques_l2": -0.005409614183008671, "dof_pos_limits": -4.471576539799571e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.004723424091935158, "rolling_leg_motion": -0.027846451848745346, "obstacle_progress": 0.07902863621711731, "wheel_body_intrusion": -0.013217433355748653, "pair_body_intrusion": -0.014304738491773605}, "episode_termination_rates": {"time_out": 0.5921052631578947, "fell_over": 0.039473684210526314, "course_exit": 0.34210526315789475, "illegal_nonwheel_contact": 0.046052631578947366}, "collection_time_s": 0.07554394839913585, "learning_time_s": 0.1830962616589386, "iteration_time_s": 0.39880659243443467, "policy_updates": 11200, "skipped_updates": 0, "invalid_env_resets": 58, "elapsed_s": 4586.275812995998, "nonwheel_terminations": 10876, "contact_bce": 0.32176461815834045, "contact_force_loss": 0.02205631509423256, "collision_bce": 6.220664363354445e-05, "collision_label_rate": 6.123323692008853e-05, "collision_prediction_mean": 7.333376561291516e-05, "collision_label_count": 16331.0, "terrain_level_mean": 2.1708984375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [96, 141, 105, 45, 15, 8], "episodes_by_level": [[1002.0, 215.0, 36.0, 0.0], [812.0, 176.0, 31.0, 0.0], [299.0, 73.0, 11.0, 0.0], [101.0, 23.0, 5.0, 0.0], [27.0, 8.0, 0.0, 0.0], [4.0, 1.0, 0.0, 0.0]]}, "up": {"level_counts": [11, 130, 612, 557, 123, 0], "episodes_by_level": [[675.0, 541.0, 7.0, 0.0], [2111.0, 1287.0, 37.0, 0.0], [2623.0, 851.0, 158.0, 0.0], [1097.0, 145.0, 127.0, 0.0], [96.0, 1.0, 22.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [1, 3, 32, 69, 153, 356], "episodes_by_level": [[188.0, 168.0, 2.0, 0.0], [528.0, 473.0, 9.0, 0.0], [715.0, 629.0, 21.0, 0.0], [767.0, 620.0, 24.0, 0.0], [768.0, 563.0, 51.0, 0.0], [862.0, 595.0, 91.0, 0.0]]}, "platform": {"level_counts": [105, 167, 97, 36, 4, 1], "episodes_by_level": [[1130.0, 247.0, 45.0, 0.0], [787.0, 155.0, 41.0, 0.0], [256.0, 48.0, 23.0, 0.0], [56.0, 7.0, 7.0, 0.0], [3.0, 1.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [104, 135, 98, 46, 18, 9], "episodes_by_level": [[1030.0, 230.0, 37.0, 0.0], [811.0, 172.0, 51.0, 0.0], [308.0, 79.0, 15.0, 0.0], [90.0, 29.0, 6.0, 0.0], [36.0, 9.0, 2.0, 0.0], [5.0, 2.0, 0.0, 0.0]]}, "rubble": {"level_counts": [187, 322, 216, 83, 11, 0], "episodes_by_level": [[2073.0, 479.0, 79.0, 0.0], [1690.0, 374.0, 102.0, 0.0], [616.0, 128.0, 81.0, 0.0], [145.0, 15.0, 34.0, 0.0], [7.0, 0.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 21092, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.24853515625, "command_abs_max": [0.997776985168457, 0.39961522817611694, 0.699144721031189]}
{"step": 11550, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 11550, "total_transitions": 47308800, "num_steps_per_env": 1, "wm_loss": 0.9160225987434387, "actor_loss": -9.338035583496094, "critic_loss": 0.005854935850948095, "reward": 0.08464726060628891, "falls": 7, "interval_steps": 50, "velocity_mae": [0.1338549554347992, 0.07459519058465958, 0.13529489934444427], "mean_episode_length": 1321.5039370078741, "episode_reward_terms": {"track_linear_velocity": 45.49455261230469, "track_angular_velocity": 49.96848678588867, "upright": 25.725866317749023, "leg_posture": -2.8657758235931396, "standstill": -6.284553527832031, "action_rate_l2": -0.5654609799385071, "joint_torques_l2": -0.14440935850143433, "dof_pos_limits": -0.000834326259791851, "terminated": -0.018067434430122375, "unnecessary_wheel_lift": -0.12786084413528442, "rolling_leg_motion": -0.7306397557258606, "obstacle_progress": 2.1702301502227783, "wheel_body_intrusion": -0.3759554922580719, "pair_body_intrusion": -0.38390234112739563}, "weighted_reward_terms": {"track_linear_velocity": 1.7213172912597656, "track_angular_velocity": 1.8905917406082153, "upright": 0.9733557105064392, "leg_posture": -0.10842858254909515, "standstill": -0.23778036236763, "action_rate_l2": -0.021394601091742516, "joint_torques_l2": -0.005463826470077038, "dof_pos_limits": -3.1567302357871085e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.00483770202845335, "rolling_leg_motion": -0.02764425426721573, "obstacle_progress": 0.0821121409535408, "wheel_body_intrusion": -0.014224532060325146, "pair_body_intrusion": -0.014525206759572029}, "episode_termination_rates": {"time_out": 0.4645669291338583, "fell_over": 0.023622047244094488, "course_exit": 0.48031496062992124, "illegal_nonwheel_contact": 0.05511811023622047}, "collection_time_s": 0.07594816282158717, "learning_time_s": 0.1921400907583302, "iteration_time_s": 0.39824295575212176, "policy_updates": 11250, "skipped_updates": 0, "invalid_env_resets": 59, "elapsed_s": 4599.7061389370065, "nonwheel_terminations": 10883, "contact_bce": 0.32116732001304626, "contact_force_loss": 0.022327903658151627, "collision_bce": 7.287554035428911e-05, "collision_label_rate": 6.115459837019444e-05, "collision_prediction_mean": 0.0001189605172839947, "collision_label_count": 16352.0, "terrain_level_mean": 2.17626953125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [96, 140, 105, 46, 15, 8], "episodes_by_level": [[1006.0, 215.0, 37.0, 0.0], [817.0, 177.0, 31.0, 0.0], [301.0, 74.0, 11.0, 0.0], [102.0, 23.0, 5.0, 0.0], [28.0, 8.0, 0.0, 0.0], [4.0, 1.0, 0.0, 0.0]]}, "up": {"level_counts": [11, 129, 606, 565, 122, 0], "episodes_by_level": [[675.0, 541.0, 7.0, 0.0], [2112.0, 1288.0, 37.0, 0.0], [2644.0, 859.0, 158.0, 0.0], [1109.0, 146.0, 128.0, 0.0], [101.0, 1.0, 24.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [1, 3, 32, 65, 152, 361], "episodes_by_level": [[188.0, 168.0, 2.0, 0.0], [528.0, 473.0, 9.0, 0.0], [715.0, 629.0, 21.0, 0.0], [772.0, 625.0, 24.0, 0.0], [773.0, 567.0, 52.0, 0.0], [874.0, 605.0, 91.0, 0.0]]}, "platform": {"level_counts": [105, 167, 97, 36, 4, 1], "episodes_by_level": [[1130.0, 247.0, 45.0, 0.0], [788.0, 155.0, 41.0, 0.0], [258.0, 48.0, 23.0, 0.0], [57.0, 7.0, 7.0, 0.0], [3.0, 1.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [104, 134, 99, 46, 18, 9], "episodes_by_level": [[1033.0, 230.0, 37.0, 0.0], [816.0, 173.0, 51.0, 0.0], [309.0, 79.0, 15.0, 0.0], [93.0, 29.0, 6.0, 0.0], [36.0, 9.0, 2.0, 0.0], [5.0, 2.0, 0.0, 0.0]]}, "rubble": {"level_counts": [187, 321, 216, 83, 12, 0], "episodes_by_level": [[2078.0, 479.0, 80.0, 0.0], [1699.0, 376.0, 102.0, 0.0], [620.0, 129.0, 82.0, 0.0], [147.0, 16.0, 34.0, 0.0], [7.0, 0.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 21221, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.25, "command_abs_max": [0.997776985168457, 0.39961522817611694, 0.699144721031189]}
{"step": 11600, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 11600, "total_transitions": 47513600, "num_steps_per_env": 1, "wm_loss": 0.8769114017486572, "actor_loss": -9.326614379882812, "critic_loss": 0.004481317941099405, "reward": 0.0851120576262474, "falls": 7, "interval_steps": 50, "velocity_mae": [0.13199980556964874, 0.07376357913017273, 0.1330760419368744], "mean_episode_length": 1321.8345323741007, "episode_reward_terms": {"track_linear_velocity": 45.62302780151367, "track_angular_velocity": 50.081214904785156, "upright": 25.749364852905273, "leg_posture": -2.816629648208618, "standstill": -6.000566005706787, "action_rate_l2": -0.5435840487480164, "joint_torques_l2": -0.14397364854812622, "dof_pos_limits": -0.0014852165477350354, "terminated": -0.01807195320725441, "unnecessary_wheel_lift": -0.11269291490316391, "rolling_leg_motion": -0.70578533411026, "obstacle_progress": 2.1525352001190186, "wheel_body_intrusion": -0.3595336377620697, "pair_body_intrusion": -0.3997720181941986}, "weighted_reward_terms": {"track_linear_velocity": 1.725746750831604, "track_angular_velocity": 1.8943830728530884, "upright": 0.9740011096000671, "leg_posture": -0.10654245316982269, "standstill": -0.22697871923446655, "action_rate_l2": -0.02056172862648964, "joint_torques_l2": -0.005445978604257107, "dof_pos_limits": -5.6180128012783825e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.004262746777385473, "rolling_leg_motion": -0.02669719234108925, "obstacle_progress": 0.08142226934432983, "wheel_body_intrusion": -0.013599798083305359, "pair_body_intrusion": -0.015121864154934883}, "episode_termination_rates": {"time_out": 0.48201438848920863, "fell_over": 0.03597122302158273, "course_exit": 0.4676258992805755, "illegal_nonwheel_contact": 0.02877697841726619}, "collection_time_s": 0.07570909164089244, "learning_time_s": 0.18458379191870336, "iteration_time_s": 0.39764843930025906, "policy_updates": 11300, "skipped_updates": 0, "invalid_env_resets": 59, "elapsed_s": 4612.721895883005, "nonwheel_terminations": 10887, "contact_bce": 0.3202916979789734, "contact_force_loss": 0.021969502791762352, "collision_bce": 0.0001147094153566286, "collision_label_rate": 6.129704706836492e-05, "collision_prediction_mean": 3.355664375703782e-05, "collision_label_count": 16314.0, "terrain_level_mean": 2.1845703125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [95, 141, 104, 46, 16, 8], "episodes_by_level": [[1008.0, 216.0, 37.0, 0.0], [818.0, 177.0, 31.0, 0.0], [305.0, 75.0, 11.0, 0.0], [103.0, 24.0, 5.0, 0.0], [29.0, 8.0, 0.0, 0.0], [4.0, 1.0, 0.0, 0.0]]}, "up": {"level_counts": [11, 127, 603, 564, 128, 0], "episodes_by_level": [[675.0, 541.0, 7.0, 0.0], [2115.0, 1290.0, 37.0, 0.0], [2657.0, 864.0, 158.0, 0.0], [1123.0, 152.0, 128.0, 0.0], [102.0, 1.0, 24.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [1, 3, 30, 64, 153, 363], "episodes_by_level": [[188.0, 168.0, 2.0, 0.0], [528.0, 473.0, 9.0, 0.0], [717.0, 631.0, 21.0, 0.0], [774.0, 627.0, 24.0, 0.0], [779.0, 571.0, 52.0, 0.0], [886.0, 615.0, 91.0, 0.0]]}, "platform": {"level_counts": [105, 167, 95, 38, 4, 1], "episodes_by_level": [[1132.0, 248.0, 45.0, 0.0], [795.0, 155.0, 42.0, 0.0], [261.0, 50.0, 23.0, 0.0], [58.0, 7.0, 7.0, 0.0], [3.0, 1.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [100, 139, 98, 46, 18, 9], "episodes_by_level": [[1040.0, 234.0, 37.0, 0.0], [822.0, 173.0, 51.0, 0.0], [311.0, 79.0, 16.0, 0.0], [94.0, 29.0, 6.0, 0.0], [36.0, 9.0, 2.0, 0.0], [5.0, 2.0, 0.0, 0.0]]}, "rubble": {"level_counts": [185, 321, 216, 85, 12, 0], "episodes_by_level": [[2086.0, 481.0, 81.0, 0.0], [1709.0, 379.0, 102.0, 0.0], [628.0, 131.0, 83.0, 0.0], [148.0, 16.0, 34.0, 0.0], [7.0, 0.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 21322, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.25048828125, "command_abs_max": [0.997776985168457, 0.39961522817611694, 0.6996663808822632]}
{"step": 11650, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 11650, "total_transitions": 47718400, "num_steps_per_env": 1, "wm_loss": 0.88332599401474, "actor_loss": -9.385791778564453, "critic_loss": 0.009355826303362846, "reward": 0.08474678546190262, "falls": 10, "interval_steps": 50, "velocity_mae": [0.13333047926425934, 0.07490178942680359, 0.13558553159236908], "mean_episode_length": 1329.9803921568628, "episode_reward_terms": {"track_linear_velocity": 45.77458572387695, "track_angular_velocity": 50.27524185180664, "upright": 25.888343811035156, "leg_posture": -2.86869740486145, "standstill": -6.206403732299805, "action_rate_l2": -0.5585638284683228, "joint_torques_l2": -0.14582742750644684, "dof_pos_limits": -0.0012795794755220413, "terminated": -0.02597617544233799, "unnecessary_wheel_lift": -0.13481539487838745, "rolling_leg_motion": -0.7334128022193909, "obstacle_progress": 2.176651954650879, "wheel_body_intrusion": -0.36200469732284546, "pair_body_intrusion": -0.3662819564342499}, "weighted_reward_terms": {"track_linear_velocity": 1.720874547958374, "track_angular_velocity": 1.8900747299194336, "upright": 0.9732604622840881, "leg_posture": -0.10784736275672913, "standstill": -0.23332691192626953, "action_rate_l2": -0.02099895104765892, "joint_torques_l2": -0.005482315085828304, "dof_pos_limits": -4.810520476894453e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.0050683231092989445, "rolling_leg_motion": -0.02757231704890728, "obstacle_progress": 0.081830233335495, "wheel_body_intrusion": -0.013609400950372219, "pair_body_intrusion": -0.013770202174782753}, "episode_termination_rates": {"time_out": 0.5228758169934641, "fell_over": 0.0457516339869281, "course_exit": 0.4117647058823529, "illegal_nonwheel_contact": 0.0392156862745098}, "collection_time_s": 0.07560611886030529, "learning_time_s": 0.185200620299438, "iteration_time_s": 0.3970612299673823, "policy_updates": 11350, "skipped_updates": 0, "invalid_env_resets": 59, "elapsed_s": 4625.763329120004, "nonwheel_terminations": 10893, "contact_bce": 0.31969237327575684, "contact_force_loss": 0.02195075899362564, "collision_bce": 0.00012238119961693883, "collision_label_rate": 6.116207805462182e-05, "collision_prediction_mean": 2.605828376545105e-05, "collision_label_count": 16350.0, "terrain_level_mean": 2.189453125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [94, 142, 103, 46, 17, 8], "episodes_by_level": [[1011.0, 217.0, 37.0, 0.0], [820.0, 177.0, 31.0, 0.0], [309.0, 76.0, 11.0, 0.0], [104.0, 25.0, 5.0, 0.0], [29.0, 8.0, 0.0, 0.0], [4.0, 1.0, 0.0, 0.0]]}, "up": {"level_counts": [11, 124, 605, 561, 132, 0], "episodes_by_level": [[675.0, 541.0, 7.0, 0.0], [2120.0, 1293.0, 37.0, 0.0], [2671.0, 868.0, 158.0, 0.0], [1137.0, 157.0, 129.0, 0.0], [108.0, 1.0, 25.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [1, 3, 27, 68, 151, 364], "episodes_by_level": [[188.0, 168.0, 2.0, 0.0], [528.0, 473.0, 9.0, 0.0], [720.0, 634.0, 21.0, 0.0], [776.0, 627.0, 24.0, 0.0], [784.0, 574.0, 52.0, 0.0], [903.0, 628.0, 92.0, 0.0]]}, "platform": {"level_counts": [105, 167, 95, 38, 4, 1], "episodes_by_level": [[1136.0, 248.0, 45.0, 0.0], [796.0, 155.0, 42.0, 0.0], [267.0, 50.0, 23.0, 0.0], [59.0, 7.0, 7.0, 0.0], [3.0, 1.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [100, 138, 99, 46, 18, 9], "episodes_by_level": [[1042.0, 234.0, 37.0, 0.0], [824.0, 174.0, 51.0, 0.0], [311.0, 79.0, 16.0, 0.0], [94.0, 29.0, 6.0, 0.0], [36.0, 9.0, 2.0, 0.0], [5.0, 2.0, 0.0, 0.0]]}, "rubble": {"level_counts": [182, 323, 216, 86, 12, 0], "episodes_by_level": [[2096.0, 485.0, 81.0, 0.0], [1716.0, 381.0, 103.0, 0.0], [640.0, 132.0, 84.0, 0.0], [149.0, 16.0, 34.0, 0.0], [7.0, 0.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 21427, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.248291015625, "command_abs_max": [0.9991129040718079, 0.39961522817611694, 0.6996663808822632]}
{"step": 11700, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 11700, "total_transitions": 47923200, "num_steps_per_env": 1, "wm_loss": 0.906917154788971, "actor_loss": -9.358774185180664, "critic_loss": 0.004157375078648329, "reward": 0.08510566502809525, "falls": 8, "interval_steps": 50, "velocity_mae": [0.1315329372882843, 0.07398287951946259, 0.13496601581573486], "mean_episode_length": 1365.6444444444444, "episode_reward_terms": {"track_linear_velocity": 47.2238883972168, "track_angular_velocity": 51.65697479248047, "upright": 26.594343185424805, "leg_posture": -2.916778802871704, "standstill": -6.227832794189453, "action_rate_l2": -0.5819478631019592, "joint_torques_l2": -0.1492418348789215, "dof_pos_limits": -0.0013033131835982203, "terminated": -0.021338189020752907, "unnecessary_wheel_lift": -0.12961028516292572, "rolling_leg_motion": -0.7434101104736328, "obstacle_progress": 2.320310115814209, "wheel_body_intrusion": -0.3962293267250061, "pair_body_intrusion": -0.4037289619445801}, "weighted_reward_terms": {"track_linear_velocity": 1.7289963960647583, "track_angular_velocity": 1.8913040161132812, "upright": 0.9736921191215515, "leg_posture": -0.10679130256175995, "standstill": -0.228018119931221, "action_rate_l2": -0.021306714043021202, "joint_torques_l2": -0.0054641542956233025, "dof_pos_limits": -4.7717883717268705e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.004745389334857464, "rolling_leg_motion": -0.0272182896733284, "obstacle_progress": 0.0849529430270195, "wheel_body_intrusion": -0.014507046900689602, "pair_body_intrusion": -0.014781629666686058}, "episode_termination_rates": {"time_out": 0.5407407407407407, "fell_over": 0.022222222222222223, "course_exit": 0.4, "illegal_nonwheel_contact": 0.044444444444444446}, "collection_time_s": 0.07552581047872081, "learning_time_s": 0.18524763494031504, "iteration_time_s": 0.3964788967514541, "policy_updates": 11400, "skipped_updates": 0, "invalid_env_resets": 59, "elapsed_s": 4638.803091992013, "nonwheel_terminations": 10899, "contact_bce": 0.32066166400909424, "contact_force_loss": 0.022146619856357574, "collision_bce": 5.23841408721637e-05, "collision_label_rate": 6.12557414569892e-05, "collision_prediction_mean": 3.4491535188863054e-05, "collision_label_count": 16325.0, "terrain_level_mean": 2.19482421875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [94, 141, 104, 46, 17, 8], "episodes_by_level": [[1012.0, 217.0, 37.0, 0.0], [827.0, 179.0, 31.0, 0.0], [313.0, 76.0, 12.0, 0.0], [105.0, 25.0, 5.0, 0.0], [29.0, 8.0, 0.0, 0.0], [4.0, 1.0, 0.0, 0.0]]}, "up": {"level_counts": [11, 123, 606, 558, 135, 0], "episodes_by_level": [[675.0, 541.0, 7.0, 0.0], [2123.0, 1294.0, 37.0, 0.0], [2683.0, 869.0, 158.0, 0.0], [1152.0, 161.0, 130.0, 0.0], [112.0, 1.0, 25.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [1, 4, 26, 66, 150, 367], "episodes_by_level": [[188.0, 168.0, 2.0, 0.0], [528.0, 473.0, 9.0, 0.0], [720.0, 634.0, 21.0, 0.0], [780.0, 630.0, 24.0, 0.0], [790.0, 579.0, 52.0, 0.0], [910.0, 635.0, 92.0, 0.0]]}, "platform": {"level_counts": [105, 165, 97, 38, 4, 1], "episodes_by_level": [[1136.0, 248.0, 45.0, 0.0], [801.0, 157.0, 42.0, 0.0], [267.0, 50.0, 23.0, 0.0], [59.0, 7.0, 7.0, 0.0], [3.0, 1.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [100, 133, 102, 48, 18, 9], "episodes_by_level": [[1044.0, 234.0, 37.0, 0.0], [832.0, 179.0, 51.0, 0.0], [318.0, 81.0, 16.0, 0.0], [95.0, 29.0, 6.0, 0.0], [36.0, 9.0, 2.0, 0.0], [5.0, 2.0, 0.0, 0.0]]}, "rubble": {"level_counts": [182, 322, 215, 87, 13, 0], "episodes_by_level": [[2102.0, 485.0, 81.0, 0.0], [1726.0, 383.0, 103.0, 0.0], [645.0, 134.0, 85.0, 0.0], [150.0, 17.0, 34.0, 0.0], [7.0, 0.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 21536, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.24365234375, "command_abs_max": [0.9991129040718079, 0.39961522817611694, 0.6996663808822632]}
{"step": 11750, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 11750, "total_transitions": 48128000, "num_steps_per_env": 1, "wm_loss": 0.8897053599357605, "actor_loss": -9.362899780273438, "critic_loss": 0.0026256295386701822, "reward": 0.08483335375785828, "falls": 7, "interval_steps": 50, "velocity_mae": [0.13276751339435577, 0.07503566145896912, 0.13711225986480713], "mean_episode_length": 1360.6666666666667, "episode_reward_terms": {"track_linear_velocity": 46.88457489013672, "track_angular_velocity": 51.36631774902344, "upright": 26.509321212768555, "leg_posture": -2.8847029209136963, "standstill": -6.345104694366455, "action_rate_l2": -0.5914492011070251, "joint_torques_l2": -0.14801271259784698, "dof_pos_limits": -0.0012551784748211503, "terminated": -0.01860286295413971, "unnecessary_wheel_lift": -0.12214839458465576, "rolling_leg_motion": -0.7422718405723572, "obstacle_progress": 2.353292226791382, "wheel_body_intrusion": -0.37300172448158264, "pair_body_intrusion": -0.45706552267074585}, "weighted_reward_terms": {"track_linear_velocity": 1.722853183746338, "track_angular_velocity": 1.887542486190796, "upright": 0.9741299152374268, "leg_posture": -0.1060032993555069, "standstill": -0.23316161334514618, "action_rate_l2": -0.021733803674578667, "joint_torques_l2": -0.005438977852463722, "dof_pos_limits": -4.6123659558361396e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0044885496608912945, "rolling_leg_motion": -0.027276039123535156, "obstacle_progress": 0.08647571504116058, "wheel_body_intrusion": -0.013706579804420471, "pair_body_intrusion": -0.016795648261904716}, "episode_termination_rates": {"time_out": 0.49645390070921985, "fell_over": 0.0425531914893617, "course_exit": 0.45390070921985815, "illegal_nonwheel_contact": 0.0425531914893617}, "collection_time_s": 0.07569304122065659, "learning_time_s": 0.18546416573866736, "iteration_time_s": 0.3959031515240848, "policy_updates": 11450, "skipped_updates": 0, "invalid_env_resets": 59, "elapsed_s": 4651.862030407996, "nonwheel_terminations": 10905, "contact_bce": 0.31816816329956055, "contact_force_loss": 0.021868323907256126, "collision_bce": 0.00015557929873466492, "collision_label_rate": 6.118453165981919e-05, "collision_prediction_mean": 0.00014541186101268977, "collision_label_count": 16344.0, "terrain_level_mean": 2.203125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [94, 139, 105, 46, 18, 8], "episodes_by_level": [[1014.0, 217.0, 37.0, 0.0], [831.0, 181.0, 31.0, 0.0], [315.0, 77.0, 12.0, 0.0], [106.0, 26.0, 5.0, 0.0], [30.0, 8.0, 0.0, 0.0], [4.0, 1.0, 0.0, 0.0]]}, "up": {"level_counts": [12, 119, 606, 557, 139, 0], "episodes_by_level": [[675.0, 541.0, 7.0, 0.0], [2127.0, 1297.0, 37.0, 0.0], [2695.0, 872.0, 158.0, 0.0], [1160.0, 165.0, 130.0, 0.0], [114.0, 1.0, 25.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [1, 5, 23, 66, 151, 368], "episodes_by_level": [[188.0, 168.0, 2.0, 0.0], [528.0, 473.0, 9.0, 0.0], [722.0, 636.0, 21.0, 0.0], [782.0, 632.0, 24.0, 0.0], [793.0, 582.0, 52.0, 0.0], [924.0, 647.0, 92.0, 0.0]]}, "platform": {"level_counts": [104, 162, 98, 41, 4, 1], "episodes_by_level": [[1143.0, 249.0, 47.0, 0.0], [808.0, 161.0, 42.0, 0.0], [272.0, 53.0, 23.0, 0.0], [59.0, 7.0, 7.0, 0.0], [3.0, 1.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [100, 134, 101, 47, 18, 10], "episodes_by_level": [[1046.0, 234.0, 37.0, 0.0], [836.0, 179.0, 51.0, 0.0], [323.0, 81.0, 17.0, 0.0], [98.0, 30.0, 6.0, 0.0], [39.0, 10.0, 2.0, 0.0], [5.0, 2.0, 0.0, 0.0]]}, "rubble": {"level_counts": [181, 317, 220, 88, 13, 0], "episodes_by_level": [[2104.0, 486.0, 81.0, 0.0], [1737.0, 389.0, 103.0, 0.0], [652.0, 135.0, 85.0, 0.0], [152.0, 17.0, 34.0, 0.0], [7.0, 0.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 21642, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.246337890625, "command_abs_max": [0.9991129040718079, 0.39961522817611694, 0.6996663808822632]}
{"step": 11800, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 11800, "total_transitions": 48332800, "num_steps_per_env": 1, "wm_loss": 0.8697676658630371, "actor_loss": -9.36719799041748, "critic_loss": 0.0035694115795195103, "reward": 0.08470796048641205, "falls": 8, "interval_steps": 50, "velocity_mae": [0.13421060144901276, 0.07600372284650803, 0.13711349666118622], "mean_episode_length": 1368.907514450867, "episode_reward_terms": {"track_linear_velocity": 47.03584289550781, "track_angular_velocity": 51.69095993041992, "upright": 26.68478775024414, "leg_posture": -2.900524377822876, "standstill": -6.415948390960693, "action_rate_l2": -0.5798661112785339, "joint_torques_l2": -0.14900454878807068, "dof_pos_limits": -0.001510224537923932, "terminated": -0.021389175206422806, "unnecessary_wheel_lift": -0.12492765486240387, "rolling_leg_motion": -0.732683002948761, "obstacle_progress": 2.2811532020568848, "wheel_body_intrusion": -0.36943989992141724, "pair_body_intrusion": -0.44011929631233215}, "weighted_reward_terms": {"track_linear_velocity": 1.7180067300796509, "track_angular_velocity": 1.8880372047424316, "upright": 0.974674642086029, "leg_posture": -0.10594303905963898, "standstill": -0.23434558510780334, "action_rate_l2": -0.021179888397455215, "joint_torques_l2": -0.005442462395876646, "dof_pos_limits": -5.51616758457385e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.004563042428344488, "rolling_leg_motion": -0.026761598885059357, "obstacle_progress": 0.08332021534442902, "wheel_body_intrusion": -0.013493969105184078, "pair_body_intrusion": -0.01607556827366352}, "episode_termination_rates": {"time_out": 0.5317919075144508, "fell_over": 0.028901734104046242, "course_exit": 0.42196531791907516, "illegal_nonwheel_contact": 0.023121387283236993}, "collection_time_s": 0.07575128877768293, "learning_time_s": 0.18532002028194255, "iteration_time_s": 0.3953319225947459, "policy_updates": 11500, "skipped_updates": 0, "invalid_env_resets": 59, "elapsed_s": 4664.916686618002, "nonwheel_terminations": 10909, "contact_bce": 0.3175918757915497, "contact_force_loss": 0.021817177534103394, "collision_bce": 4.994494702259544e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 5.0382241170154884e-06, "collision_label_count": 16366.0, "terrain_level_mean": 2.21142578125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [94, 139, 105, 44, 20, 8], "episodes_by_level": [[1016.0, 217.0, 37.0, 0.0], [838.0, 181.0, 31.0, 0.0], [319.0, 77.0, 12.0, 0.0], [109.0, 28.0, 5.0, 0.0], [30.0, 8.0, 0.0, 0.0], [4.0, 1.0, 0.0, 0.0]]}, "up": {"level_counts": [12, 114, 602, 565, 140, 0], "episodes_by_level": [[675.0, 541.0, 7.0, 0.0], [2135.0, 1303.0, 37.0, 0.0], [2717.0, 881.0, 158.0, 0.0], [1171.0, 167.0, 130.0, 0.0], [116.0, 1.0, 26.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [1, 5, 22, 64, 150, 372], "episodes_by_level": [[188.0, 168.0, 2.0, 0.0], [528.0, 473.0, 9.0, 0.0], [723.0, 637.0, 21.0, 0.0], [787.0, 637.0, 24.0, 0.0], [799.0, 587.0, 52.0, 0.0], [941.0, 662.0, 92.0, 0.0]]}, "platform": {"level_counts": [104, 161, 96, 44, 4, 1], "episodes_by_level": [[1144.0, 249.0, 47.0, 0.0], [818.0, 162.0, 42.0, 0.0], [279.0, 56.0, 23.0, 0.0], [61.0, 7.0, 7.0, 0.0], [3.0, 1.0, 2.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}, "slope": {"level_counts": [98, 134, 102, 48, 18, 10], "episodes_by_level": [[1051.0, 236.0, 37.0, 0.0], [843.0, 181.0, 51.0, 0.0], [326.0, 82.0, 17.0, 0.0], [98.0, 30.0, 6.0, 0.0], [39.0, 10.0, 2.0, 0.0], [6.0, 2.0, 0.0, 0.0]]}, "rubble": {"level_counts": [181, 318, 219, 87, 14, 0], "episodes_by_level": [[2112.0, 487.0, 81.0, 0.0], [1746.0, 389.0, 104.0, 0.0], [656.0, 135.0, 86.0, 0.0], [158.0, 18.0, 34.0, 0.0], [7.0, 0.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 21755, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.243408203125, "command_abs_max": [0.9991129040718079, 0.3998216986656189, 0.6996663808822632]}
{"step": 11850, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 11850, "total_transitions": 48537600, "num_steps_per_env": 1, "wm_loss": 0.9104832410812378, "actor_loss": -9.338935852050781, "critic_loss": 0.005670738872140646, "reward": 0.08464429527521133, "falls": 5, "interval_steps": 50, "velocity_mae": [0.13402318954467773, 0.07582441717386246, 0.13774517178535461], "mean_episode_length": 1417.3513513513512, "episode_reward_terms": {"track_linear_velocity": 48.75981140136719, "track_angular_velocity": 53.49403762817383, "upright": 27.607397079467773, "leg_posture": -3.0145633220672607, "standstill": -6.703170299530029, "action_rate_l2": -0.6051644682884216, "joint_torques_l2": -0.1562105119228363, "dof_pos_limits": -0.0017888231668621302, "terminated": -0.01384131982922554, "unnecessary_wheel_lift": -0.12988120317459106, "rolling_leg_motion": -0.7803182601928711, "obstacle_progress": 2.4061243534088135, "wheel_body_intrusion": -0.4106452465057373, "pair_body_intrusion": -0.48107606172561646}, "weighted_reward_terms": {"track_linear_velocity": 1.7201032638549805, "track_angular_velocity": 1.8871128559112549, "upright": 0.9739080667495728, "leg_posture": -0.10634495317935944, "standstill": -0.23646821081638336, "action_rate_l2": -0.02134842984378338, "joint_torques_l2": -0.005510649178177118, "dof_pos_limits": -6.310443859547377e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.004581828601658344, "rolling_leg_motion": -0.02752734161913395, "obstacle_progress": 0.0848810151219368, "wheel_body_intrusion": -0.014486361294984818, "pair_body_intrusion": -0.016970952972769737}, "episode_termination_rates": {"time_out": 0.5472972972972973, "fell_over": 0.013513513513513514, "course_exit": 0.4189189189189189, "illegal_nonwheel_contact": 0.02702702702702703}, "collection_time_s": 0.07565509557782207, "learning_time_s": 0.1855166207998991, "iteration_time_s": 0.39476593560759493, "policy_updates": 11550, "skipped_updates": 0, "invalid_env_resets": 59, "elapsed_s": 4677.97633695, "nonwheel_terminations": 10913, "contact_bce": 0.3224213123321533, "contact_force_loss": 0.02276945486664772, "collision_bce": 0.00016238665557466447, "collision_label_rate": 0.0001836547307902947, "collision_prediction_mean": 0.00013486589887179434, "collision_label_count": 16335.0, "terrain_level_mean": 2.217529296875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [94, 138, 104, 46, 20, 8], "episodes_by_level": [[1018.0, 217.0, 37.0, 0.0], [843.0, 182.0, 31.0, 0.0], [323.0, 79.0, 12.0, 0.0], [110.0, 28.0, 5.0, 0.0], [30.0, 8.0, 0.0, 0.0], [4.0, 1.0, 0.0, 0.0]]}, "up": {"level_counts": [11, 115, 600, 563, 144, 0], "episodes_by_level": [[676.0, 542.0, 7.0, 0.0], [2138.0, 1304.0, 37.0, 0.0], [2734.0, 884.0, 159.0, 0.0], [1188.0, 171.0, 131.0, 0.0], [116.0, 1.0, 26.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [1, 5, 21, 64, 143, 380], "episodes_by_level": [[188.0, 168.0, 2.0, 0.0], [528.0, 473.0, 9.0, 0.0], [724.0, 638.0, 21.0, 0.0], [788.0, 638.0, 24.0, 0.0], [807.0, 595.0, 52.0, 0.0], [957.0, 676.0, 92.0, 0.0]]}, "platform": {"level_counts": [103, 158, 100, 44, 5, 0], "episodes_by_level": [[1148.0, 250.0, 47.0, 0.0], [826.0, 166.0, 42.0, 0.0], [281.0, 56.0, 23.0, 0.0], [63.0, 7.0, 7.0, 0.0], [3.0, 1.0, 2.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [98, 134, 102, 48, 18, 10], "episodes_by_level": [[1054.0, 236.0, 37.0, 0.0], [847.0, 181.0, 51.0, 0.0], [330.0, 82.0, 17.0, 0.0], [98.0, 30.0, 6.0, 0.0], [39.0, 10.0, 2.0, 0.0], [6.0, 2.0, 0.0, 0.0]]}, "rubble": {"level_counts": [180, 319, 220, 85, 15, 0], "episodes_by_level": [[2113.0, 488.0, 81.0, 0.0], [1756.0, 389.0, 104.0, 0.0], [663.0, 135.0, 86.0, 0.0], [162.0, 19.0, 35.0, 0.0], [7.0, 0.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 21860, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.243896484375, "command_abs_max": [0.9991129040718079, 0.3998216986656189, 0.6996663808822632]}
{"step": 11900, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 11900, "total_transitions": 48742400, "num_steps_per_env": 1, "wm_loss": 0.8746323585510254, "actor_loss": -9.375070571899414, "critic_loss": 0.002359662903472781, "reward": 0.08503951877355576, "falls": 12, "interval_steps": 50, "velocity_mae": [0.13212762773036957, 0.07578525692224503, 0.1378067433834076], "mean_episode_length": 1369.4556962025317, "episode_reward_terms": {"track_linear_velocity": 47.231597900390625, "track_angular_velocity": 51.68499755859375, "upright": 26.680912017822266, "leg_posture": -2.9158105850219727, "standstill": -6.02218770980835, "action_rate_l2": -0.5788331627845764, "joint_torques_l2": -0.15101777017116547, "dof_pos_limits": -0.0022503668442368507, "terminated": -0.03209661692380905, "unnecessary_wheel_lift": -0.12702322006225586, "rolling_leg_motion": -0.7511646747589111, "obstacle_progress": 2.2884442806243896, "wheel_body_intrusion": -0.418262779712677, "pair_body_intrusion": -0.42947888374328613}, "weighted_reward_terms": {"track_linear_velocity": 1.7244662046432495, "track_angular_velocity": 1.8870635032653809, "upright": 0.9741429686546326, "leg_posture": -0.10645874589681625, "standstill": -0.21987523138523102, "action_rate_l2": -0.021133694797754288, "joint_torques_l2": -0.00551378820091486, "dof_pos_limits": -8.216282003559172e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.004637726582586765, "rolling_leg_motion": -0.027425667271018028, "obstacle_progress": 0.08355306088924408, "wheel_body_intrusion": -0.015271131880581379, "pair_body_intrusion": -0.015680642798542976}, "episode_termination_rates": {"time_out": 0.5189873417721519, "fell_over": 0.02531645569620253, "course_exit": 0.4050632911392405, "illegal_nonwheel_contact": 0.06962025316455696}, "collection_time_s": 0.07594519631937147, "learning_time_s": 0.18552879244089127, "iteration_time_s": 0.3942059774227742, "policy_updates": 11600, "skipped_updates": 0, "invalid_env_resets": 60, "elapsed_s": 4691.051131331013, "nonwheel_terminations": 10924, "contact_bce": 0.32289525866508484, "contact_force_loss": 0.02204599604010582, "collision_bce": 0.00017493641644250602, "collision_label_rate": 0.0001222718128701672, "collision_prediction_mean": 9.843263978837058e-05, "collision_label_count": 16357.0, "terrain_level_mean": 2.222412109375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [95, 135, 106, 46, 20, 8], "episodes_by_level": [[1019.0, 217.0, 37.0, 0.0], [851.0, 184.0, 32.0, 0.0], [324.0, 79.0, 12.0, 0.0], [113.0, 28.0, 5.0, 0.0], [32.0, 8.0, 0.0, 0.0], [4.0, 1.0, 0.0, 0.0]]}, "up": {"level_counts": [9, 116, 598, 562, 148, 0], "episodes_by_level": [[678.0, 544.0, 7.0, 0.0], [2142.0, 1306.0, 37.0, 0.0], [2751.0, 887.0, 159.0, 0.0], [1203.0, 176.0, 131.0, 0.0], [117.0, 1.0, 27.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [1, 5, 18, 65, 146, 379], "episodes_by_level": [[188.0, 168.0, 2.0, 0.0], [528.0, 473.0, 9.0, 0.0], [727.0, 641.0, 21.0, 0.0], [792.0, 642.0, 24.0, 0.0], [811.0, 597.0, 52.0, 0.0], [972.0, 686.0, 94.0, 0.0]]}, "platform": {"level_counts": [102, 162, 97, 44, 5, 0], "episodes_by_level": [[1151.0, 251.0, 47.0, 0.0], [833.0, 167.0, 42.0, 0.0], [285.0, 56.0, 27.0, 0.0], [63.0, 7.0, 7.0, 0.0], [3.0, 1.0, 2.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [96, 134, 103, 49, 18, 10], "episodes_by_level": [[1056.0, 238.0, 37.0, 0.0], [854.0, 183.0, 51.0, 0.0], [335.0, 83.0, 17.0, 0.0], [100.0, 30.0, 6.0, 0.0], [40.0, 10.0, 2.0, 0.0], [6.0, 2.0, 0.0, 0.0]]}, "rubble": {"level_counts": [180, 317, 222, 85, 15, 0], "episodes_by_level": [[2118.0, 488.0, 81.0, 0.0], [1767.0, 391.0, 104.0, 0.0], [667.0, 135.0, 86.0, 0.0], [165.0, 19.0, 35.0, 0.0], [7.0, 0.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 21983, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.238525390625, "command_abs_max": [0.9981561899185181, 0.3998216986656189, 0.6996663808822632]}
{"step": 11950, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 11950, "total_transitions": 48947200, "num_steps_per_env": 1, "wm_loss": 0.8824185132980347, "actor_loss": -9.413482666015625, "critic_loss": 0.003907259088009596, "reward": 0.0851283073425293, "falls": 12, "interval_steps": 50, "velocity_mae": [0.1318805068731308, 0.07486962527036667, 0.13724647462368011], "mean_episode_length": 1336.1285714285714, "episode_reward_terms": {"track_linear_velocity": 46.12516784667969, "track_angular_velocity": 50.441078186035156, "upright": 26.031587600708008, "leg_posture": -2.851579427719116, "standstill": -5.819719314575195, "action_rate_l2": -0.5690581202507019, "joint_torques_l2": -0.1461678147315979, "dof_pos_limits": -0.002017006976529956, "terminated": -0.03131550922989845, "unnecessary_wheel_lift": -0.12055833637714386, "rolling_leg_motion": -0.743823766708374, "obstacle_progress": 2.2135918140411377, "wheel_body_intrusion": -0.38465139269828796, "pair_body_intrusion": -0.40018972754478455}, "weighted_reward_terms": {"track_linear_velocity": 1.726075291633606, "track_angular_velocity": 1.8875833749771118, "upright": 0.9741424322128296, "leg_posture": -0.1067105233669281, "standstill": -0.21778292953968048, "action_rate_l2": -0.021295037120580673, "joint_torques_l2": -0.005469826515763998, "dof_pos_limits": -7.54795255488716e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.004511479754000902, "rolling_leg_motion": -0.02783503755927086, "obstacle_progress": 0.08283603191375732, "wheel_body_intrusion": -0.014394251629710197, "pair_body_intrusion": -0.014975719153881073}, "episode_termination_rates": {"time_out": 0.5428571428571428, "fell_over": 0.05, "course_exit": 0.37142857142857144, "illegal_nonwheel_contact": 0.06428571428571428}, "collection_time_s": 0.07568304504093248, "learning_time_s": 0.18589568926021457, "iteration_time_s": 0.39365114116527344, "policy_updates": 11650, "skipped_updates": 0, "invalid_env_resets": 60, "elapsed_s": 4704.131136925018, "nonwheel_terminations": 10933, "contact_bce": 0.32450273633003235, "contact_force_loss": 0.02210443653166294, "collision_bce": 4.458644525584532e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 4.506529421632877e-06, "collision_label_count": 16353.0, "terrain_level_mean": 2.22705078125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [95, 134, 106, 45, 22, 8], "episodes_by_level": [[1021.0, 217.0, 37.0, 0.0], [857.0, 185.0, 32.0, 0.0], [326.0, 80.0, 12.0, 0.0], [117.0, 30.0, 5.0, 0.0], [32.0, 8.0, 0.0, 0.0], [4.0, 1.0, 0.0, 0.0]]}, "up": {"level_counts": [9, 116, 596, 563, 149, 0], "episodes_by_level": [[678.0, 544.0, 7.0, 0.0], [2144.0, 1307.0, 37.0, 0.0], [2765.0, 891.0, 159.0, 0.0], [1214.0, 180.0, 133.0, 0.0], [121.0, 1.0, 29.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [1, 5, 17, 63, 149, 379], "episodes_by_level": [[188.0, 168.0, 2.0, 0.0], [528.0, 473.0, 9.0, 0.0], [728.0, 642.0, 21.0, 0.0], [795.0, 645.0, 24.0, 0.0], [816.0, 602.0, 52.0, 0.0], [985.0, 695.0, 95.0, 0.0]]}, "platform": {"level_counts": [101, 163, 97, 44, 5, 0], "episodes_by_level": [[1153.0, 252.0, 47.0, 0.0], [837.0, 167.0, 42.0, 0.0], [286.0, 56.0, 27.0, 0.0], [63.0, 7.0, 7.0, 0.0], [3.0, 1.0, 2.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [95, 135, 101, 51, 18, 10], "episodes_by_level": [[1059.0, 239.0, 37.0, 0.0], [855.0, 183.0, 51.0, 0.0], [338.0, 85.0, 17.0, 0.0], [102.0, 30.0, 6.0, 0.0], [40.0, 10.0, 2.0, 0.0], [6.0, 2.0, 0.0, 0.0]]}, "rubble": {"level_counts": [178, 319, 220, 87, 15, 0], "episodes_by_level": [[2123.0, 490.0, 81.0, 0.0], [1778.0, 391.0, 104.0, 0.0], [676.0, 137.0, 86.0, 0.0], [166.0, 19.0, 35.0, 0.0], [7.0, 0.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 22095, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.236572265625, "command_abs_max": [0.9981561899185181, 0.3998216986656189, 0.6996663808822632]}
{"step": 12000, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 12000, "total_transitions": 49152000, "num_steps_per_env": 1, "wm_loss": 0.8583604097366333, "actor_loss": -9.36935043334961, "critic_loss": 0.004606324713677168, "reward": 0.08479278534650803, "falls": 9, "interval_steps": 50, "velocity_mae": [0.13289958238601685, 0.07453823834657669, 0.13638609647750854], "mean_episode_length": 1348.1278195488721, "episode_reward_terms": {"track_linear_velocity": 46.455711364746094, "track_angular_velocity": 50.93297576904297, "upright": 26.260358810424805, "leg_posture": -2.836970567703247, "standstill": -6.333972454071045, "action_rate_l2": -0.5730932354927063, "joint_torques_l2": -0.1482517421245575, "dof_pos_limits": -0.002703302074223757, "terminated": -0.02369755506515503, "unnecessary_wheel_lift": -0.11498736590147018, "rolling_leg_motion": -0.7345691919326782, "obstacle_progress": 2.204204559326172, "wheel_body_intrusion": -0.3977132737636566, "pair_body_intrusion": -0.37580403685569763}, "weighted_reward_terms": {"track_linear_velocity": 1.7229714393615723, "track_angular_velocity": 1.8890262842178345, "upright": 0.9739565849304199, "leg_posture": -0.10521890223026276, "standstill": -0.23491737246513367, "action_rate_l2": -0.02125515416264534, "joint_torques_l2": -0.0054984306916594505, "dof_pos_limits": -0.00010026134987128899, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.004264705814421177, "rolling_leg_motion": -0.027244050055742264, "obstacle_progress": 0.08175057917833328, "wheel_body_intrusion": -0.014750578440725803, "pair_body_intrusion": -0.01393799763172865}, "episode_termination_rates": {"time_out": 0.45864661654135336, "fell_over": 0.022556390977443608, "course_exit": 0.47368421052631576, "illegal_nonwheel_contact": 0.05263157894736842}, "collection_time_s": 0.07590293754066807, "learning_time_s": 0.185346902878955, "iteration_time_s": 0.3930995754686664, "policy_updates": 11700, "skipped_updates": 0, "invalid_env_resets": 61, "elapsed_s": 4717.194905623997, "nonwheel_terminations": 10940, "contact_bce": 0.32013675570487976, "contact_force_loss": 0.02231774479150772, "collision_bce": 0.0001029721533996053, "collision_label_rate": 0.0, "collision_prediction_mean": 6.204655801411718e-05, "collision_label_count": 16354.0, "terrain_level_mean": 2.233154296875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [93, 136, 106, 44, 22, 9], "episodes_by_level": [[1027.0, 219.0, 37.0, 0.0], [863.0, 185.0, 32.0, 0.0], [329.0, 80.0, 12.0, 0.0], [118.0, 31.0, 5.0, 0.0], [33.0, 9.0, 0.0, 0.0], [4.0, 1.0, 0.0, 0.0]]}, "up": {"level_counts": [8, 116, 597, 564, 148, 0], "episodes_by_level": [[680.0, 545.0, 7.0, 0.0], [2147.0, 1308.0, 37.0, 0.0], [2777.0, 893.0, 159.0, 0.0], [1226.0, 183.0, 135.0, 0.0], [125.0, 1.0, 32.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [0, 5, 16, 64, 146, 383], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [529.0, 474.0, 9.0, 0.0], [730.0, 644.0, 21.0, 0.0], [798.0, 647.0, 24.0, 0.0], [823.0, 608.0, 53.0, 0.0], [997.0, 704.0, 95.0, 0.0]]}, "platform": {"level_counts": [100, 162, 98, 45, 5, 0], "episodes_by_level": [[1156.0, 253.0, 47.0, 0.0], [843.0, 169.0, 42.0, 0.0], [290.0, 57.0, 27.0, 0.0], [64.0, 7.0, 7.0, 0.0], [3.0, 1.0, 2.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [94, 135, 101, 52, 18, 10], "episodes_by_level": [[1064.0, 240.0, 37.0, 0.0], [858.0, 184.0, 51.0, 0.0], [341.0, 86.0, 17.0, 0.0], [102.0, 30.0, 6.0, 0.0], [42.0, 10.0, 2.0, 0.0], [6.0, 2.0, 0.0, 0.0]]}, "rubble": {"level_counts": [176, 320, 221, 86, 16, 0], "episodes_by_level": [[2125.0, 492.0, 81.0, 0.0], [1790.0, 392.0, 104.0, 0.0], [681.0, 137.0, 86.0, 0.0], [168.0, 20.0, 35.0, 0.0], [8.0, 0.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 22227, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.239013671875, "command_abs_max": [0.9998578429222107, 0.3998216986656189, 0.6996663808822632]}
{"step": 12050, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 12050, "total_transitions": 49356800, "num_steps_per_env": 1, "wm_loss": 0.8571163415908813, "actor_loss": -9.369706153869629, "critic_loss": 0.0045687975361943245, "reward": 0.08493031561374664, "falls": 8, "interval_steps": 50, "velocity_mae": [0.13384097814559937, 0.0749955102801323, 0.1367812305688858], "mean_episode_length": 1440.4064516129033, "episode_reward_terms": {"track_linear_velocity": 49.60620880126953, "track_angular_velocity": 54.396507263183594, "upright": 28.02445411682129, "leg_posture": -3.0508317947387695, "standstill": -6.473445892333984, "action_rate_l2": -0.614712119102478, "joint_torques_l2": -0.15859895944595337, "dof_pos_limits": -0.002041440922766924, "terminated": -0.0225063469260931, "unnecessary_wheel_lift": -0.1397957056760788, "rolling_leg_motion": -0.7938172221183777, "obstacle_progress": 2.3925654888153076, "wheel_body_intrusion": -0.4132729470729828, "pair_body_intrusion": -0.41657111048698425}, "weighted_reward_terms": {"track_linear_velocity": 1.7219518423080444, "track_angular_velocity": 1.8882344961166382, "upright": 0.9727966785430908, "leg_posture": -0.10590176284313202, "standstill": -0.22470900416374207, "action_rate_l2": -0.021338148042559624, "joint_torques_l2": -0.005505354143679142, "dof_pos_limits": -7.086335972417146e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.004852647893130779, "rolling_leg_motion": -0.027555322274565697, "obstacle_progress": 0.08305174857378006, "wheel_body_intrusion": -0.014345705509185791, "pair_body_intrusion": -0.014460193924605846}, "episode_termination_rates": {"time_out": 0.567741935483871, "fell_over": 0.012903225806451613, "course_exit": 0.38064516129032255, "illegal_nonwheel_contact": 0.05161290322580645}, "collection_time_s": 0.07586048689845484, "learning_time_s": 0.18335442638082897, "iteration_time_s": 0.39254634452829884, "policy_updates": 11750, "skipped_updates": 0, "invalid_env_resets": 62, "elapsed_s": 4730.183451566001, "nonwheel_terminations": 10948, "contact_bce": 0.32380884885787964, "contact_force_loss": 0.022023679688572884, "collision_bce": 2.7339909138390794e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 2.645895983732771e-05, "collision_label_count": 16359.0, "terrain_level_mean": 2.239013671875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [92, 134, 107, 46, 22, 9], "episodes_by_level": [[1028.0, 220.0, 37.0, 0.0], [872.0, 188.0, 32.0, 0.0], [339.0, 82.0, 12.0, 0.0], [118.0, 31.0, 5.0, 0.0], [33.0, 9.0, 0.0, 0.0], [5.0, 1.0, 0.0, 0.0]]}, "up": {"level_counts": [8, 114, 594, 569, 148, 0], "episodes_by_level": [[680.0, 545.0, 7.0, 0.0], [2150.0, 1310.0, 37.0, 0.0], [2789.0, 899.0, 159.0, 0.0], [1243.0, 187.0, 136.0, 0.0], [131.0, 1.0, 36.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [0, 5, 16, 62, 143, 388], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [529.0, 474.0, 9.0, 0.0], [730.0, 644.0, 21.0, 0.0], [801.0, 650.0, 24.0, 0.0], [828.0, 613.0, 53.0, 0.0], [1010.0, 714.0, 95.0, 0.0]]}, "platform": {"level_counts": [99, 163, 97, 46, 5, 0], "episodes_by_level": [[1159.0, 254.0, 47.0, 0.0], [845.0, 169.0, 42.0, 0.0], [294.0, 58.0, 27.0, 0.0], [64.0, 7.0, 7.0, 0.0], [3.0, 1.0, 2.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [93, 133, 104, 52, 18, 10], "episodes_by_level": [[1070.0, 241.0, 37.0, 0.0], [863.0, 187.0, 51.0, 0.0], [345.0, 86.0, 17.0, 0.0], [102.0, 30.0, 6.0, 0.0], [42.0, 10.0, 2.0, 0.0], [7.0, 2.0, 0.0, 0.0]]}, "rubble": {"level_counts": [177, 320, 220, 86, 16, 0], "episodes_by_level": [[2130.0, 492.0, 81.0, 0.0], [1799.0, 392.0, 105.0, 0.0], [691.0, 137.0, 87.0, 0.0], [171.0, 20.0, 35.0, 0.0], [8.0, 0.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 22343, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.24169921875, "command_abs_max": [0.9998578429222107, 0.3998216986656189, 0.6996663808822632]}
{"step": 12100, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 12100, "total_transitions": 49561600, "num_steps_per_env": 1, "wm_loss": 0.8546136021614075, "actor_loss": -9.405725479125977, "critic_loss": 0.002937164157629013, "reward": 0.08435175567865372, "falls": 11, "interval_steps": 50, "velocity_mae": [0.13626724481582642, 0.07593870908021927, 0.13798606395721436], "mean_episode_length": 1356.188679245283, "episode_reward_terms": {"track_linear_velocity": 46.54787826538086, "track_angular_velocity": 51.162742614746094, "upright": 26.363332748413086, "leg_posture": -2.9048526287078857, "standstill": -6.630629062652588, "action_rate_l2": -0.5877836346626282, "joint_torques_l2": -0.15217968821525574, "dof_pos_limits": -0.0008368603303097188, "terminated": -0.029136858880519867, "unnecessary_wheel_lift": -0.1556907743215561, "rolling_leg_motion": -0.75323486328125, "obstacle_progress": 2.3377645015716553, "wheel_body_intrusion": -0.4000272750854492, "pair_body_intrusion": -0.4004448354244232}, "weighted_reward_terms": {"track_linear_velocity": 1.7161283493041992, "track_angular_velocity": 1.8862693309783936, "upright": 0.9719640016555786, "leg_posture": -0.10709618031978607, "standstill": -0.24445821344852448, "action_rate_l2": -0.021670421585440636, "joint_torques_l2": -0.005610564723610878, "dof_pos_limits": -3.0853389034746215e-05, "terminated": -0.0010742185404524207, "unnecessary_wheel_lift": -0.00574001157656312, "rolling_leg_motion": -0.027770282700657845, "obstacle_progress": 0.08618876338005066, "wheel_body_intrusion": -0.014748216606676579, "pair_body_intrusion": -0.014763610437512398}, "episode_termination_rates": {"time_out": 0.49056603773584906, "fell_over": 0.03773584905660377, "course_exit": 0.44025157232704404, "illegal_nonwheel_contact": 0.0440251572327044}, "collection_time_s": 0.07561409842048306, "learning_time_s": 0.18324753814027644, "iteration_time_s": 0.3919940172341337, "policy_updates": 11800, "skipped_updates": 0, "invalid_env_resets": 62, "elapsed_s": 4743.127608533017, "nonwheel_terminations": 10955, "contact_bce": 0.32019010186195374, "contact_force_loss": 0.021999379619956017, "collision_bce": 0.00010135933553101495, "collision_label_rate": 0.00012231667642481625, "collision_prediction_mean": 0.0001508397253928706, "collision_label_count": 16351.0, "terrain_level_mean": 2.246337890625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [92, 135, 104, 43, 27, 9], "episodes_by_level": [[1030.0, 220.0, 37.0, 0.0], [876.0, 188.0, 32.0, 0.0], [344.0, 84.0, 13.0, 0.0], [123.0, 36.0, 5.0, 0.0], [33.0, 9.0, 0.0, 0.0], [5.0, 1.0, 0.0, 0.0]]}, "up": {"level_counts": [8, 112, 592, 570, 151, 0], "episodes_by_level": [[680.0, 545.0, 7.0, 0.0], [2155.0, 1313.0, 37.0, 0.0], [2808.0, 903.0, 160.0, 0.0], [1259.0, 191.0, 136.0, 0.0], [136.0, 1.0, 37.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [0, 5, 15, 64, 136, 394], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [529.0, 474.0, 9.0, 0.0], [731.0, 645.0, 21.0, 0.0], [803.0, 651.0, 24.0, 0.0], [835.0, 620.0, 53.0, 0.0], [1020.0, 722.0, 95.0, 0.0]]}, "platform": {"level_counts": [99, 162, 98, 46, 5, 0], "episodes_by_level": [[1160.0, 255.0, 47.0, 0.0], [854.0, 170.0, 43.0, 0.0], [300.0, 59.0, 27.0, 0.0], [66.0, 7.0, 8.0, 0.0], [3.0, 1.0, 2.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [92, 131, 107, 51, 19, 10], "episodes_by_level": [[1072.0, 242.0, 37.0, 0.0], [867.0, 191.0, 51.0, 0.0], [350.0, 86.0, 18.0, 0.0], [104.0, 31.0, 6.0, 0.0], [42.0, 10.0, 2.0, 0.0], [7.0, 2.0, 0.0, 0.0]]}, "rubble": {"level_counts": [177, 318, 221, 87, 16, 0], "episodes_by_level": [[2136.0, 492.0, 82.0, 0.0], [1806.0, 394.0, 105.0, 0.0], [701.0, 139.0, 87.0, 0.0], [172.0, 20.0, 36.0, 0.0], [8.0, 0.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 22458, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.247314453125, "command_abs_max": [0.9998578429222107, 0.3998216986656189, 0.6996663808822632]}
{"step": 12150, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 12150, "total_transitions": 49766400, "num_steps_per_env": 1, "wm_loss": 0.8748070001602173, "actor_loss": -9.377885818481445, "critic_loss": 0.0032761103939265013, "reward": 0.08463386446237564, "falls": 14, "interval_steps": 50, "velocity_mae": [0.13531270623207092, 0.07516591250896454, 0.1376047432422638], "mean_episode_length": 1338.167701863354, "episode_reward_terms": {"track_linear_velocity": 46.007164001464844, "track_angular_velocity": 50.49226379394531, "upright": 26.008047103881836, "leg_posture": -2.83650803565979, "standstill": -6.246917247772217, "action_rate_l2": -0.5874947905540466, "joint_torques_l2": -0.15009073913097382, "dof_pos_limits": -0.000948806875385344, "terminated": -0.03659052029252052, "unnecessary_wheel_lift": -0.1565561592578888, "rolling_leg_motion": -0.7341368794441223, "obstacle_progress": 2.2421791553497314, "wheel_body_intrusion": -0.4072653651237488, "pair_body_intrusion": -0.3388277292251587}, "weighted_reward_terms": {"track_linear_velocity": 1.7190358638763428, "track_angular_velocity": 1.8866195678710938, "upright": 0.9717783331871033, "leg_posture": -0.10598477721214294, "standstill": -0.23341310024261475, "action_rate_l2": -0.02195146307349205, "joint_torques_l2": -0.0056080687791109085, "dof_pos_limits": -3.545171784935519e-05, "terminated": -0.0013671873603016138, "unnecessary_wheel_lift": -0.005849646404385567, "rolling_leg_motion": -0.02743067406117916, "obstacle_progress": 0.08377795666456223, "wheel_body_intrusion": -0.015217277221381664, "pair_body_intrusion": -0.012660137377679348}, "episode_termination_rates": {"time_out": 0.484472049689441, "fell_over": 0.031055900621118012, "course_exit": 0.42857142857142855, "illegal_nonwheel_contact": 0.06832298136645963}, "collection_time_s": 0.07557181632029825, "learning_time_s": 0.1844004900607979, "iteration_time_s": 0.39145080430954865, "policy_updates": 11850, "skipped_updates": 0, "invalid_env_resets": 62, "elapsed_s": 4756.127272361016, "nonwheel_terminations": 10966, "contact_bce": 0.315802663564682, "contact_force_loss": 0.02163035422563553, "collision_bce": 1.4379169442690909e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.4343998373078648e-05, "collision_label_count": 16339.0, "terrain_level_mean": 2.24951171875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [90, 138, 103, 43, 27, 9], "episodes_by_level": [[1033.0, 222.0, 37.0, 0.0], [880.0, 188.0, 32.0, 0.0], [348.0, 84.0, 14.0, 0.0], [123.0, 36.0, 5.0, 0.0], [34.0, 9.0, 0.0, 0.0], [5.0, 1.0, 0.0, 0.0]]}, "up": {"level_counts": [8, 113, 588, 569, 155, 0], "episodes_by_level": [[680.0, 545.0, 7.0, 0.0], [2159.0, 1313.0, 37.0, 0.0], [2831.0, 908.0, 160.0, 0.0], [1279.0, 196.0, 138.0, 0.0], [139.0, 1.0, 38.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [0, 5, 14, 63, 136, 396], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [529.0, 474.0, 9.0, 0.0], [732.0, 646.0, 21.0, 0.0], [805.0, 653.0, 24.0, 0.0], [841.0, 626.0, 53.0, 0.0], [1039.0, 737.0, 96.0, 0.0]]}, "platform": {"level_counts": [99, 163, 96, 47, 5, 0], "episodes_by_level": [[1162.0, 256.0, 47.0, 0.0], [859.0, 170.0, 44.0, 0.0], [304.0, 60.0, 28.0, 0.0], [68.0, 7.0, 8.0, 0.0], [3.0, 1.0, 2.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [92, 130, 107, 52, 20, 9], "episodes_by_level": [[1075.0, 242.0, 37.0, 0.0], [871.0, 192.0, 51.0, 0.0], [355.0, 87.0, 18.0, 0.0], [105.0, 31.0, 6.0, 0.0], [42.0, 10.0, 2.0, 0.0], [8.0, 2.0, 1.0, 0.0]]}, "rubble": {"level_counts": [177, 318, 221, 87, 16, 0], "episodes_by_level": [[2140.0, 493.0, 82.0, 0.0], [1816.0, 394.0, 106.0, 0.0], [707.0, 140.0, 87.0, 0.0], [174.0, 20.0, 37.0, 0.0], [8.0, 0.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 22548, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.247314453125, "command_abs_max": [0.9988861083984375, 0.3998216986656189, 0.6996663808822632]}
{"step": 12200, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 12200, "total_transitions": 49971200, "num_steps_per_env": 1, "wm_loss": 0.9150170683860779, "actor_loss": -9.41528034210205, "critic_loss": 0.004683132749050856, "reward": 0.08459343016147614, "falls": 15, "interval_steps": 50, "velocity_mae": [0.1338578760623932, 0.07389487326145172, 0.13714028894901276], "mean_episode_length": 1380.0931677018634, "episode_reward_terms": {"track_linear_velocity": 47.62434387207031, "track_angular_velocity": 52.10658645629883, "upright": 26.83298110961914, "leg_posture": -2.9452590942382812, "standstill": -6.773658752441406, "action_rate_l2": -0.5986784100532532, "joint_torques_l2": -0.15265533328056335, "dof_pos_limits": -0.0014193158131092787, "terminated": -0.040432408452034, "unnecessary_wheel_lift": -0.13246585428714752, "rolling_leg_motion": -0.7570962905883789, "obstacle_progress": 2.3593177795410156, "wheel_body_intrusion": -0.4234064817428589, "pair_body_intrusion": -0.3513430953025818}, "weighted_reward_terms": {"track_linear_velocity": 1.7254033088684082, "track_angular_velocity": 1.8877923488616943, "upright": 0.9721438884735107, "leg_posture": -0.10670509189367294, "standstill": -0.24540585279464722, "action_rate_l2": -0.02168978378176689, "joint_torques_l2": -0.0055306171998381615, "dof_pos_limits": -5.142101872479543e-05, "terminated": -0.0014648435171693563, "unnecessary_wheel_lift": -0.0047991639003157616, "rolling_leg_motion": -0.02742917463183403, "obstacle_progress": 0.08547675609588623, "wheel_body_intrusion": -0.015339779667556286, "pair_body_intrusion": -0.012728963047266006}, "episode_termination_rates": {"time_out": 0.5403726708074534, "fell_over": 0.062111801242236024, "course_exit": 0.36645962732919257, "illegal_nonwheel_contact": 0.062111801242236024}, "collection_time_s": 0.07563474670052528, "learning_time_s": 0.18544575487845577, "iteration_time_s": 0.3909165889460672, "policy_updates": 11900, "skipped_updates": 0, "invalid_env_resets": 62, "elapsed_s": 4769.1823851420195, "nonwheel_terminations": 10976, "contact_bce": 0.3160659968852997, "contact_force_loss": 0.02165471762418747, "collision_bce": 0.00020097648666705936, "collision_label_rate": 0.0001837672316469252, "collision_prediction_mean": 0.00020645874610636383, "collision_label_count": 16325.0, "terrain_level_mean": 2.25341796875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [90, 137, 103, 42, 29, 9], "episodes_by_level": [[1037.0, 222.0, 37.0, 0.0], [884.0, 189.0, 32.0, 0.0], [351.0, 85.0, 14.0, 0.0], [125.0, 38.0, 5.0, 0.0], [35.0, 9.0, 0.0, 0.0], [5.0, 1.0, 0.0, 0.0]]}, "up": {"level_counts": [8, 113, 580, 579, 153, 0], "episodes_by_level": [[680.0, 545.0, 7.0, 0.0], [2159.0, 1313.0, 37.0, 0.0], [2853.0, 916.0, 160.0, 0.0], [1289.0, 197.0, 138.0, 0.0], [144.0, 1.0, 41.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [0, 5, 12, 65, 139, 393], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [529.0, 474.0, 9.0, 0.0], [734.0, 648.0, 21.0, 0.0], [807.0, 654.0, 24.0, 0.0], [845.0, 629.0, 53.0, 0.0], [1056.0, 750.0, 99.0, 0.0]]}, "platform": {"level_counts": [96, 165, 97, 47, 5, 0], "episodes_by_level": [[1165.0, 259.0, 47.0, 0.0], [865.0, 171.0, 44.0, 0.0], [306.0, 60.0, 28.0, 0.0], [69.0, 7.0, 8.0, 0.0], [3.0, 1.0, 2.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [91, 131, 106, 52, 21, 9], "episodes_by_level": [[1078.0, 243.0, 37.0, 0.0], [874.0, 192.0, 51.0, 0.0], [357.0, 88.0, 18.0, 0.0], [107.0, 32.0, 6.0, 0.0], [42.0, 10.0, 2.0, 0.0], [8.0, 2.0, 1.0, 0.0]]}, "rubble": {"level_counts": [175, 320, 224, 83, 17, 0], "episodes_by_level": [[2149.0, 495.0, 82.0, 0.0], [1828.0, 396.0, 106.0, 0.0], [718.0, 140.0, 89.0, 0.0], [181.0, 21.0, 40.0, 0.0], [8.0, 0.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 22654, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.245361328125, "command_abs_max": [0.9988861083984375, 0.39961522817611694, 0.6996663808822632]}
{"step": 12250, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 12250, "total_transitions": 50176000, "num_steps_per_env": 1, "wm_loss": 0.9034940004348755, "actor_loss": -9.399391174316406, "critic_loss": 0.0037508532404899597, "reward": 0.08484649658203125, "falls": 9, "interval_steps": 50, "velocity_mae": [0.13190974295139313, 0.07386723160743713, 0.1365327388048172], "mean_episode_length": 1351.7692307692307, "episode_reward_terms": {"track_linear_velocity": 46.72587585449219, "track_angular_velocity": 51.071964263916016, "upright": 26.302736282348633, "leg_posture": -2.8946640491485596, "standstill": -6.432906150817871, "action_rate_l2": -0.590672492980957, "joint_torques_l2": -0.1517425775527954, "dof_pos_limits": -0.0008203033357858658, "terminated": -0.0237615667283535, "unnecessary_wheel_lift": -0.14087197184562683, "rolling_leg_motion": -0.7375762462615967, "obstacle_progress": 2.3896565437316895, "wheel_body_intrusion": -0.4210960865020752, "pair_body_intrusion": -0.4032558798789978}, "weighted_reward_terms": {"track_linear_velocity": 1.728322982788086, "track_angular_velocity": 1.8890786170959473, "upright": 0.972900390625, "leg_posture": -0.1070694550871849, "standstill": -0.23794394731521606, "action_rate_l2": -0.021848125383257866, "joint_torques_l2": -0.0056127398274838924, "dof_pos_limits": -3.0341840101755224e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.00521065155044198, "rolling_leg_motion": -0.027281884104013443, "obstacle_progress": 0.08838995546102524, "wheel_body_intrusion": -0.015575738623738289, "pair_body_intrusion": -0.014915854670107365}, "episode_termination_rates": {"time_out": 0.5, "fell_over": 0.02564102564102564, "course_exit": 0.4423076923076923, "illegal_nonwheel_contact": 0.038461538461538464}, "collection_time_s": 0.07600829013856128, "learning_time_s": 0.18425305047945584, "iteration_time_s": 0.3903833901977965, "policy_updates": 11950, "skipped_updates": 0, "invalid_env_resets": 63, "elapsed_s": 4782.196529923007, "nonwheel_terminations": 10982, "contact_bce": 0.3200794756412506, "contact_force_loss": 0.02157450281083584, "collision_bce": 0.00016671849880367517, "collision_label_rate": 6.12182411714457e-05, "collision_prediction_mean": 8.307265670737252e-05, "collision_label_count": 16335.0, "terrain_level_mean": 2.259765625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [90, 136, 104, 42, 30, 8], "episodes_by_level": [[1039.0, 222.0, 37.0, 0.0], [891.0, 190.0, 32.0, 0.0], [355.0, 85.0, 14.0, 0.0], [125.0, 38.0, 5.0, 0.0], [35.0, 9.0, 0.0, 0.0], [6.0, 1.0, 1.0, 0.0]]}, "up": {"level_counts": [8, 111, 579, 576, 159, 0], "episodes_by_level": [[680.0, 545.0, 7.0, 0.0], [2164.0, 1315.0, 37.0, 0.0], [2868.0, 920.0, 160.0, 0.0], [1309.0, 203.0, 139.0, 0.0], [147.0, 1.0, 41.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [0, 5, 11, 66, 135, 397], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [529.0, 474.0, 9.0, 0.0], [735.0, 649.0, 21.0, 0.0], [808.0, 655.0, 24.0, 0.0], [853.0, 636.0, 54.0, 0.0], [1075.0, 764.0, 100.0, 0.0]]}, "platform": {"level_counts": [93, 168, 96, 46, 7, 0], "episodes_by_level": [[1172.0, 262.0, 47.0, 0.0], [869.0, 171.0, 44.0, 0.0], [310.0, 61.0, 28.0, 0.0], [72.0, 9.0, 8.0, 0.0], [4.0, 1.0, 2.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [90, 131, 107, 52, 21, 9], "episodes_by_level": [[1079.0, 244.0, 37.0, 0.0], [878.0, 193.0, 51.0, 0.0], [359.0, 88.0, 18.0, 0.0], [109.0, 32.0, 6.0, 0.0], [42.0, 10.0, 2.0, 0.0], [8.0, 2.0, 1.0, 0.0]]}, "rubble": {"level_counts": [175, 318, 226, 83, 17, 0], "episodes_by_level": [[2153.0, 496.0, 82.0, 0.0], [1837.0, 399.0, 107.0, 0.0], [722.0, 140.0, 90.0, 0.0], [184.0, 21.0, 40.0, 0.0], [8.0, 0.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 22743, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.245361328125, "command_abs_max": [0.9988861083984375, 0.39970436692237854, 0.6996663808822632]}
{"step": 12300, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 12300, "total_transitions": 50380800, "num_steps_per_env": 1, "wm_loss": 0.8778713941574097, "actor_loss": -9.34853744506836, "critic_loss": 0.005788968876004219, "reward": 0.08452124148607254, "falls": 12, "interval_steps": 50, "velocity_mae": [0.13446074724197388, 0.0737786516547203, 0.1369248926639557], "mean_episode_length": 1384.4054054054054, "episode_reward_terms": {"track_linear_velocity": 47.703277587890625, "track_angular_velocity": 52.28236389160156, "upright": 26.94925308227539, "leg_posture": -2.8966026306152344, "standstill": -6.837428092956543, "action_rate_l2": -0.6127862334251404, "joint_torques_l2": -0.1547970026731491, "dof_pos_limits": -0.001504699233919382, "terminated": -0.03244699910283089, "unnecessary_wheel_lift": -0.15680742263793945, "rolling_leg_motion": -0.760528564453125, "obstacle_progress": 2.3688912391662598, "wheel_body_intrusion": -0.402240127325058, "pair_body_intrusion": -0.4369823932647705}, "weighted_reward_terms": {"track_linear_velocity": 1.7228797674179077, "track_angular_velocity": 1.8882607221603394, "upright": 0.9733151197433472, "leg_posture": -0.10461541265249252, "standstill": -0.2469445765018463, "action_rate_l2": -0.022131748497486115, "joint_torques_l2": -0.005590739659965038, "dof_pos_limits": -5.4344607633538544e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.0056633492931723595, "rolling_leg_motion": -0.027467697858810425, "obstacle_progress": 0.0855562761425972, "wheel_body_intrusion": -0.014527540653944016, "pair_body_intrusion": -0.0157823134213686}, "episode_termination_rates": {"time_out": 0.49324324324324326, "fell_over": 0.033783783783783786, "course_exit": 0.42567567567567566, "illegal_nonwheel_contact": 0.06756756756756757}, "collection_time_s": 0.07565625732240733, "learning_time_s": 0.1854632493382087, "iteration_time_s": 0.3898580152384546, "policy_updates": 12000, "skipped_updates": 0, "invalid_env_resets": 63, "elapsed_s": 4795.2535874329915, "nonwheel_terminations": 10992, "contact_bce": 0.32096073031425476, "contact_force_loss": 0.022418571636080742, "collision_bce": 0.000334820564603433, "collision_label_rate": 6.119951285654679e-05, "collision_prediction_mean": 2.6232519303448498e-05, "collision_label_count": 16340.0, "terrain_level_mean": 2.26611328125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [90, 136, 103, 43, 30, 8], "episodes_by_level": [[1042.0, 222.0, 39.0, 0.0], [892.0, 191.0, 32.0, 0.0], [359.0, 86.0, 15.0, 0.0], [126.0, 38.0, 5.0, 0.0], [37.0, 9.0, 0.0, 0.0], [7.0, 2.0, 1.0, 0.0]]}, "up": {"level_counts": [7, 111, 578, 579, 158, 0], "episodes_by_level": [[681.0, 546.0, 7.0, 0.0], [2168.0, 1317.0, 37.0, 0.0], [2878.0, 923.0, 160.0, 0.0], [1324.0, 205.0, 139.0, 0.0], [151.0, 1.0, 43.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [0, 5, 11, 65, 128, 405], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [529.0, 474.0, 9.0, 0.0], [735.0, 649.0, 21.0, 0.0], [810.0, 657.0, 24.0, 0.0], [862.0, 644.0, 54.0, 0.0], [1091.0, 778.0, 100.0, 0.0]]}, "platform": {"level_counts": [92, 168, 96, 47, 7, 0], "episodes_by_level": [[1176.0, 263.0, 47.0, 0.0], [876.0, 173.0, 44.0, 0.0], [313.0, 62.0, 29.0, 0.0], [75.0, 9.0, 8.0, 0.0], [4.0, 1.0, 2.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [89, 130, 110, 49, 23, 9], "episodes_by_level": [[1082.0, 245.0, 37.0, 0.0], [887.0, 195.0, 51.0, 0.0], [363.0, 88.0, 18.0, 0.0], [114.0, 34.0, 7.0, 0.0], [42.0, 10.0, 2.0, 0.0], [8.0, 2.0, 1.0, 0.0]]}, "rubble": {"level_counts": [175, 314, 228, 85, 17, 0], "episodes_by_level": [[2155.0, 496.0, 82.0, 0.0], [1846.0, 403.0, 107.0, 0.0], [726.0, 143.0, 90.0, 0.0], [187.0, 21.0, 41.0, 0.0], [9.0, 0.0, 4.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 22854, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.24267578125, "command_abs_max": [0.998458743095398, 0.39970436692237854, 0.6996663808822632]}
{"step": 12350, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 12350, "total_transitions": 50585600, "num_steps_per_env": 1, "wm_loss": 0.8595796227455139, "actor_loss": -9.392485618591309, "critic_loss": 0.004019681364297867, "reward": 0.08460162580013275, "falls": 10, "interval_steps": 50, "velocity_mae": [0.1349315196275711, 0.07474247366189957, 0.13944420218467712], "mean_episode_length": 1385.3466666666666, "episode_reward_terms": {"track_linear_velocity": 47.710941314697266, "track_angular_velocity": 52.192420959472656, "upright": 26.927928924560547, "leg_posture": -2.9095842838287354, "standstill": -6.708624362945557, "action_rate_l2": -0.6143019199371338, "joint_torques_l2": -0.15464890003204346, "dof_pos_limits": -0.0012769299792125821, "terminated": -0.027057548984885216, "unnecessary_wheel_lift": -0.14165635406970978, "rolling_leg_motion": -0.7520726323127747, "obstacle_progress": 2.492449998855591, "wheel_body_intrusion": -0.3862304091453552, "pair_body_intrusion": -0.42566418647766113}, "weighted_reward_terms": {"track_linear_velocity": 1.7219856977462769, "track_angular_velocity": 1.8837313652038574, "upright": 0.9718840718269348, "leg_posture": -0.10501286387443542, "standstill": -0.24212799966335297, "action_rate_l2": -0.022171415388584137, "joint_torques_l2": -0.0055815959349274635, "dof_pos_limits": -4.6087021473795176e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.0051126680336892605, "rolling_leg_motion": -0.027143843472003937, "obstacle_progress": 0.08995762467384338, "wheel_body_intrusion": -0.013939847238361835, "pair_body_intrusion": -0.01536309253424406}, "episode_termination_rates": {"time_out": 0.54, "fell_over": 0.02, "course_exit": 0.3933333333333333, "illegal_nonwheel_contact": 0.05333333333333334}, "collection_time_s": 0.07564166172174737, "learning_time_s": 0.19183590863947755, "iteration_time_s": 0.389362634981135, "policy_updates": 12050, "skipped_updates": 0, "invalid_env_resets": 63, "elapsed_s": 4808.628542017017, "nonwheel_terminations": 11000, "contact_bce": 0.32195237278938293, "contact_force_loss": 0.022368639707565308, "collision_bce": 8.683560008648783e-05, "collision_label_rate": 6.115833821240813e-05, "collision_prediction_mean": 8.803806122159585e-05, "collision_label_count": 16351.0, "terrain_level_mean": 2.271240234375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [88, 137, 103, 44, 30, 8], "episodes_by_level": [[1044.0, 224.0, 39.0, 0.0], [898.0, 192.0, 32.0, 0.0], [360.0, 87.0, 15.0, 0.0], [127.0, 38.0, 5.0, 0.0], [37.0, 9.0, 0.0, 0.0], [7.0, 2.0, 1.0, 0.0]]}, "up": {"level_counts": [8, 108, 574, 586, 157, 0], "episodes_by_level": [[681.0, 546.0, 7.0, 0.0], [2171.0, 1319.0, 37.0, 0.0], [2892.0, 928.0, 160.0, 0.0], [1341.0, 207.0, 139.0, 0.0], [158.0, 1.0, 47.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [0, 5, 11, 64, 125, 409], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [529.0, 474.0, 9.0, 0.0], [735.0, 649.0, 21.0, 0.0], [815.0, 660.0, 24.0, 0.0], [867.0, 648.0, 55.0, 0.0], [1102.0, 785.0, 100.0, 0.0]]}, "platform": {"level_counts": [91, 168, 97, 47, 7, 0], "episodes_by_level": [[1179.0, 264.0, 47.0, 0.0], [880.0, 174.0, 44.0, 0.0], [316.0, 62.0, 29.0, 0.0], [76.0, 9.0, 8.0, 0.0], [4.0, 1.0, 2.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [88, 131, 110, 49, 23, 9], "episodes_by_level": [[1086.0, 246.0, 37.0, 0.0], [893.0, 196.0, 51.0, 0.0], [368.0, 88.0, 19.0, 0.0], [114.0, 34.0, 7.0, 0.0], [43.0, 10.0, 2.0, 0.0], [8.0, 2.0, 1.0, 0.0]]}, "rubble": {"level_counts": [173, 315, 229, 85, 17, 0], "episodes_by_level": [[2165.0, 498.0, 82.0, 0.0], [1851.0, 405.0, 107.0, 0.0], [731.0, 143.0, 91.0, 0.0], [193.0, 22.0, 41.0, 0.0], [10.0, 0.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 22977, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.238525390625, "command_abs_max": [0.9967168569564819, 0.39970436692237854, 0.6996663808822632]}
{"step": 12400, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 12400, "total_transitions": 50790400, "num_steps_per_env": 1, "wm_loss": 0.8744668960571289, "actor_loss": -9.375957489013672, "critic_loss": 0.00534478947520256, "reward": 0.08441880345344543, "falls": 10, "interval_steps": 50, "velocity_mae": [0.13389372825622559, 0.07597685605287552, 0.1385791301727295], "mean_episode_length": 1404.5244755244755, "episode_reward_terms": {"track_linear_velocity": 48.35560607910156, "track_angular_velocity": 52.96012496948242, "upright": 27.30378532409668, "leg_posture": -2.936973810195923, "standstill": -7.154283046722412, "action_rate_l2": -0.6167008280754089, "joint_torques_l2": -0.1575087308883667, "dof_pos_limits": -0.0014619476860389113, "terminated": -0.027432115748524666, "unnecessary_wheel_lift": -0.13210000097751617, "rolling_leg_motion": -0.7542665600776672, "obstacle_progress": 2.4742095470428467, "wheel_body_intrusion": -0.3593059480190277, "pair_body_intrusion": -0.38542473316192627}, "weighted_reward_terms": {"track_linear_velocity": 1.721422553062439, "track_angular_velocity": 1.8853400945663452, "upright": 0.9719939231872559, "leg_posture": -0.10455401986837387, "standstill": -0.25468701124191284, "action_rate_l2": -0.02195407822728157, "joint_torques_l2": -0.005607190541923046, "dof_pos_limits": -5.204421904636547e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.004702659323811531, "rolling_leg_motion": -0.026851315051317215, "obstacle_progress": 0.08807997405529022, "wheel_body_intrusion": -0.01279101800173521, "pair_body_intrusion": -0.013720827177166939}, "episode_termination_rates": {"time_out": 0.5524475524475524, "fell_over": 0.03496503496503497, "course_exit": 0.3776223776223776, "illegal_nonwheel_contact": 0.055944055944055944}, "collection_time_s": 0.07592385107884184, "learning_time_s": 0.18553082402271684, "iteration_time_s": 0.3888469639905651, "policy_updates": 12100, "skipped_updates": 0, "invalid_env_resets": 64, "elapsed_s": 4821.702353483008, "nonwheel_terminations": 11008, "contact_bce": 0.3201187551021576, "contact_force_loss": 0.02154104970395565, "collision_bce": 0.00028116980683989823, "collision_label_rate": 6.122948980191723e-05, "collision_prediction_mean": 2.333309021196328e-05, "collision_label_count": 16332.0, "terrain_level_mean": 2.276611328125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [87, 135, 106, 44, 30, 8], "episodes_by_level": [[1046.0, 225.0, 39.0, 0.0], [904.0, 195.0, 32.0, 0.0], [363.0, 87.0, 15.0, 0.0], [128.0, 38.0, 5.0, 0.0], [37.0, 9.0, 0.0, 0.0], [7.0, 2.0, 1.0, 0.0]]}, "up": {"level_counts": [8, 108, 566, 591, 160, 0], "episodes_by_level": [[681.0, 546.0, 7.0, 0.0], [2172.0, 1320.0, 37.0, 0.0], [2907.0, 936.0, 160.0, 0.0], [1354.0, 210.0, 139.0, 0.0], [164.0, 1.0, 48.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [0, 5, 13, 61, 127, 408], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [529.0, 474.0, 9.0, 0.0], [735.0, 649.0, 21.0, 0.0], [817.0, 661.0, 25.0, 0.0], [870.0, 651.0, 55.0, 0.0], [1115.0, 794.0, 100.0, 0.0]]}, "platform": {"level_counts": [91, 166, 99, 47, 7, 0], "episodes_by_level": [[1181.0, 264.0, 47.0, 0.0], [886.0, 176.0, 44.0, 0.0], [317.0, 62.0, 29.0, 0.0], [77.0, 9.0, 8.0, 0.0], [4.0, 1.0, 2.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [88, 130, 111, 49, 23, 9], "episodes_by_level": [[1089.0, 246.0, 37.0, 0.0], [898.0, 197.0, 51.0, 0.0], [370.0, 88.0, 19.0, 0.0], [117.0, 34.0, 7.0, 0.0], [43.0, 10.0, 2.0, 0.0], [9.0, 3.0, 1.0, 0.0]]}, "rubble": {"level_counts": [170, 317, 228, 87, 17, 0], "episodes_by_level": [[2173.0, 501.0, 83.0, 0.0], [1861.0, 407.0, 107.0, 0.0], [742.0, 145.0, 92.0, 0.0], [193.0, 22.0, 41.0, 0.0], [12.0, 0.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 23109, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2353515625, "command_abs_max": [0.9979712963104248, 0.39970436692237854, 0.6996663808822632]}
{"step": 12450, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 12450, "total_transitions": 50995200, "num_steps_per_env": 1, "wm_loss": 0.8959384560585022, "actor_loss": -9.367208480834961, "critic_loss": 0.004485148936510086, "reward": 0.0846257358789444, "falls": 7, "interval_steps": 50, "velocity_mae": [0.13269831240177155, 0.07469476759433746, 0.13742458820343018], "mean_episode_length": 1380.1304347826087, "episode_reward_terms": {"track_linear_velocity": 47.67161560058594, "track_angular_velocity": 52.0971794128418, "upright": 26.84638023376465, "leg_posture": -2.9295127391815186, "standstill": -6.918459415435791, "action_rate_l2": -0.5906892418861389, "joint_torques_l2": -0.15554216504096985, "dof_pos_limits": -0.0012118435697630048, "terminated": -0.01886896975338459, "unnecessary_wheel_lift": -0.11863875389099121, "rolling_leg_motion": -0.7261989712715149, "obstacle_progress": 2.41938853263855, "wheel_body_intrusion": -0.3700380027294159, "pair_body_intrusion": -0.41083040833473206}, "weighted_reward_terms": {"track_linear_velocity": 1.7270692586898804, "track_angular_velocity": 1.887400507926941, "upright": 0.9726029634475708, "leg_posture": -0.10613173246383667, "standstill": -0.25064513087272644, "action_rate_l2": -0.021399760618805885, "joint_torques_l2": -0.005635052919387817, "dof_pos_limits": -4.390322646941058e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0042980993166565895, "rolling_leg_motion": -0.026309069246053696, "obstacle_progress": 0.08765071630477905, "wheel_body_intrusion": -0.013405906967818737, "pair_body_intrusion": -0.014883752912282944}, "episode_termination_rates": {"time_out": 0.5391304347826087, "fell_over": 0.034782608695652174, "course_exit": 0.4, "illegal_nonwheel_contact": 0.034782608695652174}, "collection_time_s": 0.07574177223956212, "learning_time_s": 0.18565257582056802, "iteration_time_s": 0.38833519183044335, "policy_updates": 12150, "skipped_updates": 0, "invalid_env_resets": 65, "elapsed_s": 4834.77313828902, "nonwheel_terminations": 11012, "contact_bce": 0.3209857940673828, "contact_force_loss": 0.022572271525859833, "collision_bce": 0.00019498064648360014, "collision_label_rate": 6.110228423494846e-05, "collision_prediction_mean": 4.114874900551513e-05, "collision_label_count": 16366.0, "terrain_level_mean": 2.28076171875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [87, 134, 107, 44, 29, 9], "episodes_by_level": [[1050.0, 225.0, 39.0, 0.0], [905.0, 196.0, 32.0, 0.0], [364.0, 87.0, 15.0, 0.0], [128.0, 38.0, 5.0, 0.0], [38.0, 10.0, 0.0, 0.0], [7.0, 2.0, 1.0, 0.0]]}, "up": {"level_counts": [8, 107, 566, 587, 165, 0], "episodes_by_level": [[681.0, 546.0, 7.0, 0.0], [2174.0, 1321.0, 37.0, 0.0], [2919.0, 939.0, 160.0, 0.0], [1362.0, 215.0, 140.0, 0.0], [165.0, 1.0, 48.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [0, 5, 14, 58, 131, 406], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [529.0, 474.0, 9.0, 0.0], [735.0, 649.0, 21.0, 0.0], [819.0, 663.0, 25.0, 0.0], [871.0, 652.0, 55.0, 0.0], [1128.0, 805.0, 100.0, 0.0]]}, "platform": {"level_counts": [91, 164, 100, 48, 7, 0], "episodes_by_level": [[1183.0, 265.0, 47.0, 0.0], [892.0, 178.0, 45.0, 0.0], [319.0, 63.0, 29.0, 0.0], [77.0, 9.0, 8.0, 0.0], [4.0, 1.0, 2.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [88, 130, 111, 49, 23, 9], "episodes_by_level": [[1090.0, 246.0, 37.0, 0.0], [899.0, 197.0, 51.0, 0.0], [372.0, 88.0, 19.0, 0.0], [119.0, 34.0, 7.0, 0.0], [43.0, 10.0, 2.0, 0.0], [9.0, 3.0, 1.0, 0.0]]}, "rubble": {"level_counts": [169, 313, 233, 87, 17, 0], "episodes_by_level": [[2179.0, 502.0, 83.0, 0.0], [1874.0, 412.0, 107.0, 0.0], [744.0, 145.0, 92.0, 0.0], [196.0, 22.0, 41.0, 0.0], [12.0, 0.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 23214, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.233642578125, "command_abs_max": [0.9979712963104248, 0.39970436692237854, 0.6996663808822632]}
{"step": 12500, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 12500, "total_transitions": 51200000, "num_steps_per_env": 1, "wm_loss": 0.919977068901062, "actor_loss": -9.373347282409668, "critic_loss": 0.00840393453836441, "reward": 0.08472321927547455, "falls": 15, "interval_steps": 50, "velocity_mae": [0.13326214253902435, 0.07428786158561707, 0.13682270050048828], "mean_episode_length": 1373.6975308641975, "episode_reward_terms": {"track_linear_velocity": 47.42245864868164, "track_angular_velocity": 51.86915969848633, "upright": 26.715736389160156, "leg_posture": -2.9199414253234863, "standstill": -6.7750678062438965, "action_rate_l2": -0.5775812268257141, "joint_torques_l2": -0.15463218092918396, "dof_pos_limits": -0.001225382904522121, "terminated": -0.04024503752589226, "unnecessary_wheel_lift": -0.12635625898838043, "rolling_leg_motion": -0.7399463057518005, "obstacle_progress": 2.4301412105560303, "wheel_body_intrusion": -0.3467152416706085, "pair_body_intrusion": -0.37170910835266113}, "weighted_reward_terms": {"track_linear_velocity": 1.7260881662368774, "track_angular_velocity": 1.887939691543579, "upright": 0.9724024534225464, "leg_posture": -0.1062803640961647, "standstill": -0.2465997040271759, "action_rate_l2": -0.021022869274020195, "joint_torques_l2": -0.005628319922834635, "dof_pos_limits": -4.4601627450902015e-05, "terminated": -0.0014648435171693563, "unnecessary_wheel_lift": -0.004599129781126976, "rolling_leg_motion": -0.026932649314403534, "obstacle_progress": 0.08845256268978119, "wheel_body_intrusion": -0.012619782239198685, "pair_body_intrusion": -0.013529511168599129}, "episode_termination_rates": {"time_out": 0.5308641975308642, "fell_over": 0.037037037037037035, "course_exit": 0.3765432098765432, "illegal_nonwheel_contact": 0.07407407407407407}, "collection_time_s": 0.07564787469862494, "learning_time_s": 0.18484995814156718, "iteration_time_s": 0.38782394822600064, "policy_updates": 12200, "skipped_updates": 0, "invalid_env_resets": 65, "elapsed_s": 4847.799352825008, "nonwheel_terminations": 11024, "contact_bce": 0.32521986961364746, "contact_force_loss": 0.022894255816936493, "collision_bce": 0.0001455420278944075, "collision_label_rate": 0.0, "collision_prediction_mean": 0.00010907722753472626, "collision_label_count": 16352.0, "terrain_level_mean": 2.285888671875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [87, 132, 109, 41, 32, 9], "episodes_by_level": [[1052.0, 225.0, 39.0, 0.0], [909.0, 198.0, 32.0, 0.0], [367.0, 87.0, 15.0, 0.0], [133.0, 41.0, 5.0, 0.0], [38.0, 10.0, 0.0, 0.0], [7.0, 2.0, 1.0, 0.0]]}, "up": {"level_counts": [8, 107, 558, 596, 164, 0], "episodes_by_level": [[681.0, 546.0, 7.0, 0.0], [2176.0, 1321.0, 37.0, 0.0], [2939.0, 948.0, 160.0, 0.0], [1382.0, 218.0, 140.0, 0.0], [171.0, 1.0, 52.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [0, 5, 14, 55, 136, 404], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [529.0, 474.0, 9.0, 0.0], [735.0, 649.0, 21.0, 0.0], [822.0, 666.0, 25.0, 0.0], [877.0, 656.0, 55.0, 0.0], [1141.0, 813.0, 103.0, 0.0]]}, "platform": {"level_counts": [92, 162, 100, 49, 7, 0], "episodes_by_level": [[1186.0, 265.0, 47.0, 0.0], [898.0, 179.0, 46.0, 0.0], [321.0, 64.0, 29.0, 0.0], [77.0, 9.0, 8.0, 0.0], [4.0, 1.0, 2.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [88, 128, 111, 50, 24, 9], "episodes_by_level": [[1091.0, 246.0, 37.0, 0.0], [905.0, 199.0, 51.0, 0.0], [376.0, 90.0, 19.0, 0.0], [123.0, 35.0, 7.0, 0.0], [43.0, 10.0, 2.0, 0.0], [9.0, 3.0, 1.0, 0.0]]}, "rubble": {"level_counts": [167, 316, 231, 88, 17, 0], "episodes_by_level": [[2186.0, 504.0, 83.0, 0.0], [1883.0, 412.0, 107.0, 0.0], [752.0, 147.0, 93.0, 0.0], [199.0, 22.0, 42.0, 0.0], [12.0, 0.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 23333, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.231689453125, "command_abs_max": [0.9973980784416199, 0.39970436692237854, 0.6996663808822632]}
{"step": 12550, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 12550, "total_transitions": 51404800, "num_steps_per_env": 1, "wm_loss": 0.8780519962310791, "actor_loss": -9.375715255737305, "critic_loss": 0.004512660205364227, "reward": 0.08486400544643402, "falls": 9, "interval_steps": 50, "velocity_mae": [0.13132530450820923, 0.07508909702301025, 0.13605332374572754], "mean_episode_length": 1386.1444444444444, "episode_reward_terms": {"track_linear_velocity": 47.95988082885742, "track_angular_velocity": 52.379966735839844, "upright": 26.973085403442383, "leg_posture": -2.9146907329559326, "standstill": -6.774319171905518, "action_rate_l2": -0.5974037647247314, "joint_torques_l2": -0.1546221375465393, "dof_pos_limits": -0.000533664075192064, "terminated": -0.02436581626534462, "unnecessary_wheel_lift": -0.14688169956207275, "rolling_leg_motion": -0.7507039904594421, "obstacle_progress": 2.37315034866333, "wheel_body_intrusion": -0.3415204584598541, "pair_body_intrusion": -0.34729519486427307}, "weighted_reward_terms": {"track_linear_velocity": 1.7299742698669434, "track_angular_velocity": 1.8894122838974, "upright": 0.9729536771774292, "leg_posture": -0.10513661801815033, "standstill": -0.2443583458662033, "action_rate_l2": -0.02154911682009697, "joint_torques_l2": -0.0055774180218577385, "dof_pos_limits": -1.9249946490162984e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.005298210773617029, "rolling_leg_motion": -0.02707885392010212, "obstacle_progress": 0.08560256659984589, "wheel_body_intrusion": -0.012319079600274563, "pair_body_intrusion": -0.012527382001280785}, "episode_termination_rates": {"time_out": 0.5666666666666667, "fell_over": 0.027777777777777776, "course_exit": 0.38333333333333336, "illegal_nonwheel_contact": 0.03333333333333333}, "collection_time_s": 0.07560171470046044, "learning_time_s": 0.18521895716025027, "iteration_time_s": 0.38732028046438277, "policy_updates": 12250, "skipped_updates": 0, "invalid_env_resets": 65, "elapsed_s": 4860.869519828004, "nonwheel_terminations": 11030, "contact_bce": 0.3150347173213959, "contact_force_loss": 0.022470051422715187, "collision_bce": 2.4064145691227168e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 2.3949925889610313e-05, "collision_label_count": 16362.0, "terrain_level_mean": 2.294189453125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [86, 133, 107, 42, 33, 9], "episodes_by_level": [[1057.0, 226.0, 39.0, 0.0], [913.0, 198.0, 32.0, 0.0], [371.0, 89.0, 15.0, 0.0], [135.0, 42.0, 5.0, 0.0], [38.0, 10.0, 0.0, 0.0], [8.0, 2.0, 1.0, 0.0]]}, "up": {"level_counts": [8, 105, 548, 607, 165, 0], "episodes_by_level": [[681.0, 546.0, 7.0, 0.0], [2181.0, 1324.0, 37.0, 0.0], [2966.0, 961.0, 161.0, 0.0], [1396.0, 221.0, 140.0, 0.0], [172.0, 1.0, 53.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [0, 5, 14, 55, 136, 404], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [529.0, 474.0, 9.0, 0.0], [735.0, 649.0, 21.0, 0.0], [824.0, 667.0, 25.0, 0.0], [880.0, 659.0, 55.0, 0.0], [1158.0, 827.0, 104.0, 0.0]]}, "platform": {"level_counts": [90, 162, 100, 51, 7, 0], "episodes_by_level": [[1192.0, 267.0, 47.0, 0.0], [905.0, 181.0, 46.0, 0.0], [326.0, 66.0, 29.0, 0.0], [78.0, 9.0, 8.0, 0.0], [4.0, 1.0, 2.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [88, 128, 108, 52, 25, 9], "episodes_by_level": [[1092.0, 246.0, 37.0, 0.0], [908.0, 199.0, 51.0, 0.0], [381.0, 93.0, 19.0, 0.0], [126.0, 36.0, 7.0, 0.0], [44.0, 10.0, 2.0, 0.0], [9.0, 3.0, 1.0, 0.0]]}, "rubble": {"level_counts": [165, 315, 234, 88, 17, 0], "episodes_by_level": [[2193.0, 506.0, 83.0, 0.0], [1904.0, 416.0, 107.0, 0.0], [759.0, 147.0, 94.0, 0.0], [202.0, 22.0, 42.0, 0.0], [12.0, 0.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 23462, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.229248046875, "command_abs_max": [0.9995810985565186, 0.39970436692237854, 0.6996663808822632]}
{"step": 12600, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 12600, "total_transitions": 51609600, "num_steps_per_env": 1, "wm_loss": 0.8789147138595581, "actor_loss": -9.373184204101562, "critic_loss": 0.0042420197278261185, "reward": 0.08463403582572937, "falls": 10, "interval_steps": 50, "velocity_mae": [0.13087128102779388, 0.07467532902956009, 0.1357010304927826], "mean_episode_length": 1359.0479041916167, "episode_reward_terms": {"track_linear_velocity": 47.03875732421875, "track_angular_velocity": 51.3487548828125, "upright": 26.470279693603516, "leg_posture": -2.8823375701904297, "standstill": -6.918822765350342, "action_rate_l2": -0.5816319584846497, "joint_torques_l2": -0.15265217423439026, "dof_pos_limits": -0.0010213818168267608, "terminated": -0.02654390037059784, "unnecessary_wheel_lift": -0.13935181498527527, "rolling_leg_motion": -0.7326658368110657, "obstacle_progress": 2.3061397075653076, "wheel_body_intrusion": -0.35298407077789307, "pair_body_intrusion": -0.3542224168777466}, "weighted_reward_terms": {"track_linear_velocity": 1.7305777072906494, "track_angular_velocity": 1.8891445398330688, "upright": 0.9738538265228271, "leg_posture": -0.1060425341129303, "standstill": -0.2545467019081116, "action_rate_l2": -0.021398508921265602, "joint_torques_l2": -0.005616144277155399, "dof_pos_limits": -3.757711237994954e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.005126818083226681, "rolling_leg_motion": -0.02695511467754841, "obstacle_progress": 0.0848439484834671, "wheel_body_intrusion": -0.012986448593437672, "pair_body_intrusion": -0.013032007031142712}, "episode_termination_rates": {"time_out": 0.5089820359281437, "fell_over": 0.029940119760479042, "course_exit": 0.4311377245508982, "illegal_nonwheel_contact": 0.05389221556886228}, "collection_time_s": 0.07570216410211288, "learning_time_s": 0.185585662497906, "iteration_time_s": 0.38682024835960455, "policy_updates": 12300, "skipped_updates": 0, "invalid_env_resets": 65, "elapsed_s": 4873.935129331017, "nonwheel_terminations": 11039, "contact_bce": 0.3186643421649933, "contact_force_loss": 0.022549819201231003, "collision_bce": 5.476769365486689e-05, "collision_label_rate": 6.128202221589163e-05, "collision_prediction_mean": 7.04381091054529e-05, "collision_label_count": 16318.0, "terrain_level_mean": 2.29931640625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [86, 131, 105, 46, 32, 10], "episodes_by_level": [[1064.0, 226.0, 40.0, 0.0], [918.0, 200.0, 32.0, 0.0], [376.0, 93.0, 15.0, 0.0], [135.0, 42.0, 5.0, 0.0], [39.0, 11.0, 0.0, 0.0], [8.0, 2.0, 1.0, 0.0]]}, "up": {"level_counts": [8, 105, 543, 610, 167, 0], "episodes_by_level": [[681.0, 546.0, 7.0, 0.0], [2184.0, 1324.0, 37.0, 0.0], [2990.0, 969.0, 161.0, 0.0], [1411.0, 224.0, 142.0, 0.0], [176.0, 1.0, 53.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [0, 4, 15, 53, 137, 405], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [530.0, 475.0, 9.0, 0.0], [735.0, 649.0, 21.0, 0.0], [826.0, 669.0, 25.0, 0.0], [884.0, 663.0, 55.0, 0.0], [1180.0, 845.0, 104.0, 0.0]]}, "platform": {"level_counts": [90, 162, 100, 52, 6, 0], "episodes_by_level": [[1196.0, 267.0, 47.0, 0.0], [909.0, 181.0, 46.0, 0.0], [330.0, 66.0, 29.0, 0.0], [79.0, 9.0, 8.0, 0.0], [6.0, 1.0, 3.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [88, 128, 108, 51, 26, 9], "episodes_by_level": [[1095.0, 246.0, 37.0, 0.0], [910.0, 199.0, 51.0, 0.0], [382.0, 93.0, 19.0, 0.0], [127.0, 37.0, 7.0, 0.0], [44.0, 10.0, 2.0, 0.0], [9.0, 3.0, 1.0, 0.0]]}, "rubble": {"level_counts": [165, 312, 237, 88, 17, 0], "episodes_by_level": [[2203.0, 506.0, 83.0, 0.0], [1915.0, 419.0, 107.0, 0.0], [767.0, 148.0, 94.0, 0.0], [207.0, 22.0, 43.0, 0.0], [12.0, 0.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 23570, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.228271484375, "command_abs_max": [0.9982381463050842, 0.3996395766735077, 0.6996663808822632]}
{"step": 12650, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 12650, "total_transitions": 51814400, "num_steps_per_env": 1, "wm_loss": 0.8820163607597351, "actor_loss": -9.410943984985352, "critic_loss": 0.0034775303211063147, "reward": 0.08466657251119614, "falls": 14, "interval_steps": 50, "velocity_mae": [0.13151530921459198, 0.07379142194986343, 0.13727834820747375], "mean_episode_length": 1346.0714285714287, "episode_reward_terms": {"track_linear_velocity": 46.62077713012695, "track_angular_velocity": 50.814674377441406, "upright": 26.186933517456055, "leg_posture": -2.8282034397125244, "standstill": -6.732927322387695, "action_rate_l2": -0.5772737860679626, "joint_torques_l2": -0.15104809403419495, "dof_pos_limits": -0.0017395233735442162, "terminated": -0.036806635558605194, "unnecessary_wheel_lift": -0.1521216481924057, "rolling_leg_motion": -0.7206838726997375, "obstacle_progress": 2.2847137451171875, "wheel_body_intrusion": -0.3469519317150116, "pair_body_intrusion": -0.39208534359931946}, "weighted_reward_terms": {"track_linear_velocity": 1.7317349910736084, "track_angular_velocity": 1.8875178098678589, "upright": 0.9727170467376709, "leg_posture": -0.10505399107933044, "standstill": -0.2500954866409302, "action_rate_l2": -0.02144291065633297, "joint_torques_l2": -0.005610701162368059, "dof_pos_limits": -6.461482553277165e-05, "terminated": -0.0013671873603016138, "unnecessary_wheel_lift": -0.005650578532367945, "rolling_leg_motion": -0.02676989883184433, "obstacle_progress": 0.0848659947514534, "wheel_body_intrusion": -0.012887575663626194, "pair_body_intrusion": -0.014564062468707561}, "episode_termination_rates": {"time_out": 0.5476190476190477, "fell_over": 0.03571428571428571, "course_exit": 0.36904761904761907, "illegal_nonwheel_contact": 0.05357142857142857}, "collection_time_s": 0.0760063139750855, "learning_time_s": 0.18517033604322933, "iteration_time_s": 0.3863237199522536, "policy_updates": 12350, "skipped_updates": 0, "invalid_env_resets": 66, "elapsed_s": 4886.995057396009, "nonwheel_terminations": 11048, "contact_bce": 0.31828710436820984, "contact_force_loss": 0.02210395038127899, "collision_bce": 5.3068837587488815e-05, "collision_label_rate": 6.112469418440014e-05, "collision_prediction_mean": 8.010537567315623e-05, "collision_label_count": 16360.0, "terrain_level_mean": 2.304443359375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [86, 131, 104, 47, 32, 10], "episodes_by_level": [[1068.0, 226.0, 40.0, 0.0], [920.0, 200.0, 32.0, 0.0], [383.0, 94.0, 15.0, 0.0], [136.0, 42.0, 5.0, 0.0], [40.0, 11.0, 0.0, 0.0], [8.0, 2.0, 1.0, 0.0]]}, "up": {"level_counts": [7, 106, 538, 614, 168, 0], "episodes_by_level": [[682.0, 547.0, 7.0, 0.0], [2187.0, 1326.0, 37.0, 0.0], [3003.0, 974.0, 162.0, 0.0], [1425.0, 228.0, 142.0, 0.0], [180.0, 1.0, 56.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [0, 4, 15, 49, 141, 405], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [530.0, 475.0, 9.0, 0.0], [735.0, 649.0, 21.0, 0.0], [832.0, 673.0, 25.0, 0.0], [889.0, 668.0, 55.0, 0.0], [1193.0, 853.0, 105.0, 0.0]]}, "platform": {"level_counts": [90, 161, 100, 53, 6, 0], "episodes_by_level": [[1201.0, 268.0, 47.0, 0.0], [914.0, 182.0, 47.0, 0.0], [331.0, 67.0, 29.0, 0.0], [81.0, 9.0, 8.0, 0.0], [6.0, 1.0, 3.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [88, 128, 108, 51, 26, 9], "episodes_by_level": [[1102.0, 246.0, 37.0, 0.0], [916.0, 199.0, 51.0, 0.0], [385.0, 93.0, 19.0, 0.0], [129.0, 37.0, 7.0, 0.0], [45.0, 10.0, 2.0, 0.0], [10.0, 3.0, 1.0, 0.0]]}, "rubble": {"level_counts": [162, 313, 237, 90, 17, 0], "episodes_by_level": [[2216.0, 509.0, 83.0, 0.0], [1929.0, 422.0, 107.0, 0.0], [775.0, 151.0, 95.0, 0.0], [210.0, 22.0, 44.0, 0.0], [14.0, 0.0, 5.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 23681, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23193359375, "command_abs_max": [0.9982381463050842, 0.3996395766735077, 0.6996747851371765]}
{"step": 12700, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 12700, "total_transitions": 52019200, "num_steps_per_env": 1, "wm_loss": 0.8414250016212463, "actor_loss": -9.379183769226074, "critic_loss": 0.004395218100398779, "reward": 0.08472675085067749, "falls": 8, "interval_steps": 50, "velocity_mae": [0.13200241327285767, 0.07496986538171768, 0.1385432332754135], "mean_episode_length": 1392.70625, "episode_reward_terms": {"track_linear_velocity": 48.10310745239258, "track_angular_velocity": 52.515541076660156, "upright": 27.085613250732422, "leg_posture": -2.8977606296539307, "standstill": -6.830090522766113, "action_rate_l2": -0.6130210161209106, "joint_torques_l2": -0.15319404006004333, "dof_pos_limits": -0.00038035426405258477, "terminated": -0.021761031821370125, "unnecessary_wheel_lift": -0.14548371732234955, "rolling_leg_motion": -0.7554727792739868, "obstacle_progress": 2.415255546569824, "wheel_body_intrusion": -0.3377096951007843, "pair_body_intrusion": -0.36517930030822754}, "weighted_reward_terms": {"track_linear_velocity": 1.7269651889801025, "track_angular_velocity": 1.8853774070739746, "upright": 0.9724094271659851, "leg_posture": -0.1040334478020668, "standstill": -0.24520929157733917, "action_rate_l2": -0.022008266299962997, "joint_torques_l2": -0.005499868653714657, "dof_pos_limits": -1.365522257401608e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0052230581641197205, "rolling_leg_motion": -0.02712247520685196, "obstacle_progress": 0.0867108702659607, "wheel_body_intrusion": -0.012124225497245789, "pair_body_intrusion": -0.013110420666635036}, "episode_termination_rates": {"time_out": 0.575, "fell_over": 0.01875, "course_exit": 0.375, "illegal_nonwheel_contact": 0.04375}, "collection_time_s": 0.0756241742207203, "learning_time_s": 0.18547616655472665, "iteration_time_s": 0.38583080285078913, "policy_updates": 12400, "skipped_updates": 0, "invalid_env_resets": 66, "elapsed_s": 4900.051196205022, "nonwheel_terminations": 11055, "contact_bce": 0.3163299262523651, "contact_force_loss": 0.021785512566566467, "collision_bce": 9.387510363012552e-05, "collision_label_rate": 6.119201862020418e-05, "collision_prediction_mean": 7.602863479405642e-05, "collision_label_count": 16342.0, "terrain_level_mean": 2.3095703125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [85, 131, 105, 46, 32, 11], "episodes_by_level": [[1074.0, 227.0, 40.0, 0.0], [926.0, 201.0, 32.0, 0.0], [385.0, 94.0, 15.0, 0.0], [138.0, 43.0, 5.0, 0.0], [42.0, 12.0, 0.0, 0.0], [8.0, 2.0, 1.0, 0.0]]}, "up": {"level_counts": [7, 104, 538, 615, 169, 0], "episodes_by_level": [[682.0, 547.0, 7.0, 0.0], [2191.0, 1328.0, 37.0, 0.0], [3022.0, 978.0, 162.0, 0.0], [1445.0, 231.0, 143.0, 0.0], [185.0, 1.0, 58.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [0, 4, 15, 47, 143, 405], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [530.0, 475.0, 9.0, 0.0], [735.0, 649.0, 21.0, 0.0], [834.0, 675.0, 25.0, 0.0], [890.0, 668.0, 55.0, 0.0], [1205.0, 864.0, 105.0, 0.0]]}, "platform": {"level_counts": [87, 162, 102, 52, 7, 0], "episodes_by_level": [[1209.0, 271.0, 47.0, 0.0], [919.0, 184.0, 47.0, 0.0], [332.0, 67.0, 29.0, 0.0], [83.0, 10.0, 8.0, 0.0], [6.0, 1.0, 3.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [87, 128, 109, 51, 26, 9], "episodes_by_level": [[1106.0, 247.0, 37.0, 0.0], [923.0, 200.0, 51.0, 0.0], [386.0, 93.0, 19.0, 0.0], [129.0, 37.0, 7.0, 0.0], [45.0, 10.0, 2.0, 0.0], [10.0, 3.0, 1.0, 0.0]]}, "rubble": {"level_counts": [161, 312, 238, 93, 15, 0], "episodes_by_level": [[2227.0, 510.0, 84.0, 0.0], [1939.0, 424.0, 107.0, 0.0], [780.0, 152.0, 95.0, 0.0], [212.0, 22.0, 44.0, 0.0], [16.0, 0.0, 7.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 23803, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.232177734375, "command_abs_max": [0.9986347556114197, 0.3996395766735077, 0.6996747851371765]}
{"step": 12750, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 12750, "total_transitions": 52224000, "num_steps_per_env": 1, "wm_loss": 0.8965966105461121, "actor_loss": -9.361640930175781, "critic_loss": 0.005455203354358673, "reward": 0.0849529281258583, "falls": 10, "interval_steps": 50, "velocity_mae": [0.12979558110237122, 0.07474243640899658, 0.13621415197849274], "mean_episode_length": 1395.006289308176, "episode_reward_terms": {"track_linear_velocity": 48.35906219482422, "track_angular_velocity": 52.70064926147461, "upright": 27.162353515625, "leg_posture": -2.876985788345337, "standstill": -6.9254889488220215, "action_rate_l2": -0.5980624556541443, "joint_torques_l2": -0.15411944687366486, "dof_pos_limits": -0.00129524408839643, "terminated": -0.02724621444940567, "unnecessary_wheel_lift": -0.12830998003482819, "rolling_leg_motion": -0.7443830966949463, "obstacle_progress": 2.470810651779175, "wheel_body_intrusion": -0.3339621424674988, "pair_body_intrusion": -0.39316222071647644}, "weighted_reward_terms": {"track_linear_velocity": 1.7332918643951416, "track_angular_velocity": 1.8889036178588867, "upright": 0.973556637763977, "leg_posture": -0.10311730951070786, "standstill": -0.24822430312633514, "action_rate_l2": -0.021435832604765892, "joint_torques_l2": -0.005523969419300556, "dof_pos_limits": -4.642430940293707e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.004598903004080057, "rolling_leg_motion": -0.026680277660489082, "obstacle_progress": 0.0885591208934784, "wheel_body_intrusion": -0.011969915591180325, "pair_body_intrusion": -0.014091772958636284}, "episode_termination_rates": {"time_out": 0.5786163522012578, "fell_over": 0.025157232704402517, "course_exit": 0.3584905660377358, "illegal_nonwheel_contact": 0.050314465408805034}, "collection_time_s": 0.07567845042678528, "learning_time_s": 0.18505232183728368, "iteration_time_s": 0.385340299822979, "policy_updates": 12450, "skipped_updates": 0, "invalid_env_resets": 66, "elapsed_s": 4913.088822742982, "nonwheel_terminations": 11063, "contact_bce": 0.32046371698379517, "contact_force_loss": 0.022487899288535118, "collision_bce": 0.00019288877956569195, "collision_label_rate": 6.120699981693178e-05, "collision_prediction_mean": 3.919625305570662e-05, "collision_label_count": 16338.0, "terrain_level_mean": 2.312255859375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [85, 129, 107, 46, 32, 11], "episodes_by_level": [[1077.0, 227.0, 40.0, 0.0], [931.0, 203.0, 32.0, 0.0], [388.0, 94.0, 15.0, 0.0], [139.0, 43.0, 5.0, 0.0], [42.0, 12.0, 0.0, 0.0], [8.0, 2.0, 1.0, 0.0]]}, "up": {"level_counts": [7, 104, 535, 620, 167, 0], "episodes_by_level": [[682.0, 547.0, 7.0, 0.0], [2194.0, 1328.0, 37.0, 0.0], [3038.0, 983.0, 162.0, 0.0], [1460.0, 232.0, 144.0, 0.0], [190.0, 1.0, 60.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [0, 4, 16, 46, 140, 408], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [530.0, 475.0, 9.0, 0.0], [735.0, 649.0, 21.0, 0.0], [835.0, 675.0, 25.0, 0.0], [896.0, 672.0, 55.0, 0.0], [1224.0, 876.0, 107.0, 0.0]]}, "platform": {"level_counts": [87, 161, 103, 52, 7, 0], "episodes_by_level": [[1212.0, 271.0, 47.0, 0.0], [925.0, 185.0, 47.0, 0.0], [334.0, 67.0, 29.0, 0.0], [84.0, 10.0, 8.0, 0.0], [6.0, 1.0, 3.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [87, 126, 110, 52, 26, 9], "episodes_by_level": [[1111.0, 247.0, 37.0, 0.0], [929.0, 202.0, 51.0, 0.0], [389.0, 94.0, 19.0, 0.0], [131.0, 37.0, 7.0, 0.0], [46.0, 10.0, 2.0, 0.0], [10.0, 3.0, 1.0, 0.0]]}, "rubble": {"level_counts": [161, 312, 236, 95, 15, 0], "episodes_by_level": [[2237.0, 510.0, 85.0, 0.0], [1949.0, 425.0, 107.0, 0.0], [786.0, 154.0, 96.0, 0.0], [212.0, 22.0, 44.0, 0.0], [16.0, 0.0, 7.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 23915, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22900390625, "command_abs_max": [0.9986347556114197, 0.39914825558662415, 0.6996747851371765]}
{"step": 12800, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 12800, "total_transitions": 52428800, "num_steps_per_env": 1, "wm_loss": 0.8493539094924927, "actor_loss": -9.420890808105469, "critic_loss": 0.007235886063426733, "reward": 0.08498699218034744, "falls": 5, "interval_steps": 50, "velocity_mae": [0.12902772426605225, 0.07457052171230316, 0.13762658834457397], "mean_episode_length": 1381.5555555555557, "episode_reward_terms": {"track_linear_velocity": 47.93388748168945, "track_angular_velocity": 52.128196716308594, "upright": 26.862380981445312, "leg_posture": -2.880338430404663, "standstill": -6.759621620178223, "action_rate_l2": -0.5823137164115906, "joint_torques_l2": -0.15366609394550323, "dof_pos_limits": -0.0004155603237450123, "terminated": -0.013491751626133919, "unnecessary_wheel_lift": -0.11048886924982071, "rolling_leg_motion": -0.7186659574508667, "obstacle_progress": 2.4638359546661377, "wheel_body_intrusion": -0.36138567328453064, "pair_body_intrusion": -0.3936922550201416}, "weighted_reward_terms": {"track_linear_velocity": 1.7347795963287354, "track_angular_velocity": 1.8865762948989868, "upright": 0.9721788763999939, "leg_posture": -0.10424259305000305, "standstill": -0.24463807046413422, "action_rate_l2": -0.0210745669901371, "joint_torques_l2": -0.005561343394219875, "dof_pos_limits": -1.5039580830489285e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.003998712636530399, "rolling_leg_motion": -0.02600930631160736, "obstacle_progress": 0.08916890621185303, "wheel_body_intrusion": -0.013078941032290459, "pair_body_intrusion": -0.014248152263462543}, "episode_termination_rates": {"time_out": 0.5694444444444444, "fell_over": 0.020833333333333332, "course_exit": 0.3958333333333333, "illegal_nonwheel_contact": 0.013888888888888888}, "collection_time_s": 0.07590072798077017, "learning_time_s": 0.18524243271909654, "iteration_time_s": 0.38485523746906436, "policy_updates": 12500, "skipped_updates": 0, "invalid_env_resets": 67, "elapsed_s": 4926.147039604024, "nonwheel_terminations": 11065, "contact_bce": 0.3178727924823761, "contact_force_loss": 0.02209318056702614, "collision_bce": 1.4131152966001537e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.4153125448501669e-05, "collision_label_count": 16327.0, "terrain_level_mean": 2.31884765625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [85, 129, 105, 48, 32, 11], "episodes_by_level": [[1082.0, 227.0, 40.0, 0.0], [937.0, 203.0, 32.0, 0.0], [391.0, 96.0, 15.0, 0.0], [141.0, 43.0, 5.0, 0.0], [43.0, 12.0, 0.0, 0.0], [8.0, 2.0, 1.0, 0.0]]}, "up": {"level_counts": [7, 102, 531, 621, 172, 0], "episodes_by_level": [[682.0, 547.0, 7.0, 0.0], [2196.0, 1330.0, 37.0, 0.0], [3049.0, 990.0, 162.0, 0.0], [1475.0, 237.0, 146.0, 0.0], [191.0, 1.0, 60.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [0, 4, 16, 43, 137, 414], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [531.0, 475.0, 9.0, 0.0], [735.0, 649.0, 21.0, 0.0], [838.0, 678.0, 25.0, 0.0], [904.0, 679.0, 55.0, 0.0], [1238.0, 887.0, 107.0, 0.0]]}, "platform": {"level_counts": [88, 159, 104, 52, 7, 0], "episodes_by_level": [[1218.0, 271.0, 47.0, 0.0], [928.0, 186.0, 48.0, 0.0], [338.0, 67.0, 29.0, 0.0], [87.0, 10.0, 8.0, 0.0], [6.0, 1.0, 3.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [87, 125, 111, 52, 25, 10], "episodes_by_level": [[1114.0, 247.0, 37.0, 0.0], [933.0, 203.0, 51.0, 0.0], [390.0, 94.0, 19.0, 0.0], [132.0, 37.0, 7.0, 0.0], [49.0, 11.0, 2.0, 0.0], [11.0, 3.0, 1.0, 0.0]]}, "rubble": {"level_counts": [161, 310, 239, 94, 15, 0], "episodes_by_level": [[2241.0, 510.0, 85.0, 0.0], [1960.0, 427.0, 107.0, 0.0], [792.0, 154.0, 96.0, 0.0], [216.0, 22.0, 45.0, 0.0], [17.0, 0.0, 7.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 24036, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.230224609375, "command_abs_max": [0.9986347556114197, 0.3986387550830841, 0.6996747851371765]}
{"step": 12850, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 12850, "total_transitions": 52633600, "num_steps_per_env": 1, "wm_loss": 0.8819378614425659, "actor_loss": -9.375553131103516, "critic_loss": 0.0043014646507799625, "reward": 0.08497066050767899, "falls": 8, "interval_steps": 50, "velocity_mae": [0.13010753691196442, 0.07417554408311844, 0.1367720663547516], "mean_episode_length": 1389.774647887324, "episode_reward_terms": {"track_linear_velocity": 48.20854568481445, "track_angular_velocity": 52.48346710205078, "upright": 27.015533447265625, "leg_posture": -2.9332051277160645, "standstill": -6.793036460876465, "action_rate_l2": -0.5841821432113647, "joint_torques_l2": -0.15510191023349762, "dof_pos_limits": -0.0007897006580606103, "terminated": -0.021715225651860237, "unnecessary_wheel_lift": -0.12049378454685211, "rolling_leg_motion": -0.7484940886497498, "obstacle_progress": 2.4989805221557617, "wheel_body_intrusion": -0.35278671979904175, "pair_body_intrusion": -0.4066540598869324}, "weighted_reward_terms": {"track_linear_velocity": 1.7344014644622803, "track_angular_velocity": 1.8882007598876953, "upright": 0.9719393849372864, "leg_posture": -0.1055280864238739, "standstill": -0.244393453001976, "action_rate_l2": -0.021017154678702354, "joint_torques_l2": -0.0055801100097596645, "dof_pos_limits": -2.841110654117074e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.004335011821240187, "rolling_leg_motion": -0.0269286148250103, "obstacle_progress": 0.08990596234798431, "wheel_body_intrusion": -0.012692227959632874, "pair_body_intrusion": -0.014630216173827648}, "episode_termination_rates": {"time_out": 0.5211267605633803, "fell_over": 0.035211267605633804, "course_exit": 0.4225352112676056, "illegal_nonwheel_contact": 0.035211267605633804}, "collection_time_s": 0.07540388790075667, "learning_time_s": 0.1849741650465876, "iteration_time_s": 0.38437097315315033, "policy_updates": 12550, "skipped_updates": 0, "invalid_env_resets": 67, "elapsed_s": 4939.167005017982, "nonwheel_terminations": 11070, "contact_bce": 0.31970518827438354, "contact_force_loss": 0.02299669198691845, "collision_bce": 0.00017858123464975506, "collision_label_rate": 0.00012254902685526758, "collision_prediction_mean": 6.190800195327029e-05, "collision_label_count": 16320.0, "terrain_level_mean": 2.32470703125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [83, 130, 106, 48, 32, 11], "episodes_by_level": [[1087.0, 229.0, 40.0, 0.0], [940.0, 204.0, 32.0, 0.0], [392.0, 96.0, 15.0, 0.0], [142.0, 43.0, 5.0, 0.0], [43.0, 12.0, 0.0, 0.0], [9.0, 2.0, 1.0, 0.0]]}, "up": {"level_counts": [7, 100, 526, 626, 174, 0], "episodes_by_level": [[682.0, 547.0, 7.0, 0.0], [2200.0, 1332.0, 37.0, 0.0], [3062.0, 997.0, 162.0, 0.0], [1489.0, 239.0, 146.0, 0.0], [191.0, 1.0, 60.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [0, 4, 13, 46, 135, 416], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [531.0, 475.0, 9.0, 0.0], [738.0, 652.0, 21.0, 0.0], [839.0, 679.0, 25.0, 0.0], [911.0, 685.0, 55.0, 0.0], [1251.0, 898.0, 108.0, 0.0]]}, "platform": {"level_counts": [88, 159, 102, 54, 7, 0], "episodes_by_level": [[1222.0, 271.0, 47.0, 0.0], [933.0, 187.0, 48.0, 0.0], [342.0, 69.0, 30.0, 0.0], [89.0, 10.0, 8.0, 0.0], [6.0, 1.0, 3.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [87, 124, 112, 52, 25, 10], "episodes_by_level": [[1120.0, 247.0, 37.0, 0.0], [936.0, 204.0, 51.0, 0.0], [396.0, 94.0, 19.0, 0.0], [132.0, 37.0, 7.0, 0.0], [49.0, 11.0, 2.0, 0.0], [12.0, 3.0, 1.0, 0.0]]}, "rubble": {"level_counts": [160, 311, 238, 95, 15, 0], "episodes_by_level": [[2250.0, 511.0, 85.0, 0.0], [1971.0, 428.0, 107.0, 0.0], [800.0, 156.0, 97.0, 0.0], [218.0, 22.0, 46.0, 0.0], [17.0, 0.0, 7.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 24139, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.228759765625, "command_abs_max": [0.9993939399719238, 0.399950236082077, 0.6996747851371765]}
{"step": 12900, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 12900, "total_transitions": 52838400, "num_steps_per_env": 1, "wm_loss": 0.8984333276748657, "actor_loss": -9.425053596496582, "critic_loss": 0.00417764438316226, "reward": 0.08513012528419495, "falls": 5, "interval_steps": 50, "velocity_mae": [0.12951381504535675, 0.07377006858587265, 0.1377275586128235], "mean_episode_length": 1441.9594594594594, "episode_reward_terms": {"track_linear_velocity": 50.06836700439453, "track_angular_velocity": 54.41051483154297, "upright": 28.013126373291016, "leg_posture": -3.0708911418914795, "standstill": -6.767611503601074, "action_rate_l2": -0.5963414907455444, "joint_torques_l2": -0.16173236072063446, "dof_pos_limits": -0.0008716202573850751, "terminated": -0.014081633649766445, "unnecessary_wheel_lift": -0.11974263936281204, "rolling_leg_motion": -0.7761338949203491, "obstacle_progress": 2.5834290981292725, "wheel_body_intrusion": -0.38199523091316223, "pair_body_intrusion": -0.4318270981311798}, "weighted_reward_terms": {"track_linear_velocity": 1.7361226081848145, "track_angular_velocity": 1.8866866827011108, "upright": 0.9713562726974487, "leg_posture": -0.10648327320814133, "standstill": -0.23466719686985016, "action_rate_l2": -0.020678164437413216, "joint_torques_l2": -0.005608075764030218, "dof_pos_limits": -3.0223467547330074e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.00415208050981164, "rolling_leg_motion": -0.026912473142147064, "obstacle_progress": 0.08958050608634949, "wheel_body_intrusion": -0.013245698995888233, "pair_body_intrusion": -0.014973621815443039}, "episode_termination_rates": {"time_out": 0.6283783783783784, "fell_over": 0.013513513513513514, "course_exit": 0.33783783783783783, "illegal_nonwheel_contact": 0.033783783783783786}, "collection_time_s": 0.0755316244403366, "learning_time_s": 0.18524153556209058, "iteration_time_s": 0.38389199504015564, "policy_updates": 12600, "skipped_updates": 0, "invalid_env_resets": 67, "elapsed_s": 4952.206736018008, "nonwheel_terminations": 11075, "contact_bce": 0.32090723514556885, "contact_force_loss": 0.022209448739886284, "collision_bce": 0.0006872968515381217, "collision_label_rate": 0.0001225114829139784, "collision_prediction_mean": 5.1912440540036187e-05, "collision_label_count": 16325.0, "terrain_level_mean": 2.32861328125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [83, 130, 106, 48, 32, 11], "episodes_by_level": [[1094.0, 229.0, 40.0, 0.0], [944.0, 204.0, 32.0, 0.0], [394.0, 96.0, 15.0, 0.0], [143.0, 43.0, 5.0, 0.0], [43.0, 12.0, 0.0, 0.0], [9.0, 2.0, 1.0, 0.0]]}, "up": {"level_counts": [7, 99, 519, 632, 176, 0], "episodes_by_level": [[682.0, 547.0, 7.0, 0.0], [2203.0, 1333.0, 37.0, 0.0], [3081.0, 1005.0, 162.0, 0.0], [1500.0, 241.0, 146.0, 0.0], [196.0, 1.0, 60.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [0, 4, 12, 47, 138, 413], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [531.0, 475.0, 9.0, 0.0], [739.0, 653.0, 21.0, 0.0], [839.0, 679.0, 25.0, 0.0], [912.0, 685.0, 55.0, 0.0], [1265.0, 907.0, 109.0, 0.0]]}, "platform": {"level_counts": [88, 159, 101, 55, 7, 0], "episodes_by_level": [[1225.0, 271.0, 47.0, 0.0], [938.0, 187.0, 48.0, 0.0], [344.0, 70.0, 30.0, 0.0], [89.0, 10.0, 8.0, 0.0], [6.0, 1.0, 3.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [88, 122, 113, 52, 25, 10], "episodes_by_level": [[1123.0, 247.0, 37.0, 0.0], [942.0, 205.0, 52.0, 0.0], [400.0, 94.0, 19.0, 0.0], [132.0, 37.0, 7.0, 0.0], [50.0, 11.0, 2.0, 0.0], [12.0, 3.0, 1.0, 0.0]]}, "rubble": {"level_counts": [159, 309, 239, 97, 15, 0], "episodes_by_level": [[2257.0, 512.0, 85.0, 0.0], [1980.0, 431.0, 107.0, 0.0], [810.0, 159.0, 97.0, 0.0], [221.0, 22.0, 47.0, 0.0], [18.0, 0.0, 7.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 24278, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2275390625, "command_abs_max": [0.9993939399719238, 0.399950236082077, 0.6996747851371765]}
{"step": 12950, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 12950, "total_transitions": 53043200, "num_steps_per_env": 1, "wm_loss": 0.8799179792404175, "actor_loss": -9.402883529663086, "critic_loss": 0.005385667085647583, "reward": 0.08496394008398056, "falls": 10, "interval_steps": 50, "velocity_mae": [0.12647059559822083, 0.0747654065489769, 0.13761700689792633], "mean_episode_length": 1312.9183673469388, "episode_reward_terms": {"track_linear_velocity": 45.769622802734375, "track_angular_velocity": 49.553199768066406, "upright": 25.484750747680664, "leg_posture": -2.772794008255005, "standstill": -6.593332767486572, "action_rate_l2": -0.5569012761116028, "joint_torques_l2": -0.14615140855312347, "dof_pos_limits": -0.0005724281072616577, "terminated": -0.025642933323979378, "unnecessary_wheel_lift": -0.1101885586977005, "rolling_leg_motion": -0.7180452942848206, "obstacle_progress": 2.3595688343048096, "wheel_body_intrusion": -0.3268551826477051, "pair_body_intrusion": -0.3659498989582062}, "weighted_reward_terms": {"track_linear_velocity": 1.743049144744873, "track_angular_velocity": 1.8871395587921143, "upright": 0.970538318157196, "leg_posture": -0.10559659451246262, "standstill": -0.2510945498943329, "action_rate_l2": -0.02120852656662464, "joint_torques_l2": -0.005565898958593607, "dof_pos_limits": -2.1799836758873425e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.0041963220573961735, "rolling_leg_motion": -0.02734539285302162, "obstacle_progress": 0.08985969424247742, "wheel_body_intrusion": -0.01244765892624855, "pair_body_intrusion": -0.01393650658428669}, "episode_termination_rates": {"time_out": 0.41496598639455784, "fell_over": 0.04081632653061224, "course_exit": 0.5170068027210885, "illegal_nonwheel_contact": 0.04081632653061224}, "collection_time_s": 0.07589620070299134, "learning_time_s": 0.18499052383587697, "iteration_time_s": 0.38341715628980627, "policy_updates": 12650, "skipped_updates": 0, "invalid_env_resets": 68, "elapsed_s": 4965.252173952991, "nonwheel_terminations": 11081, "contact_bce": 0.3166767656803131, "contact_force_loss": 0.022217988967895508, "collision_bce": 0.0003271804307587445, "collision_label_rate": 6.118453165981919e-05, "collision_prediction_mean": 1.861934651969932e-05, "collision_label_count": 16344.0, "terrain_level_mean": 2.3330078125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [83, 129, 107, 48, 32, 11], "episodes_by_level": [[1096.0, 229.0, 40.0, 0.0], [946.0, 205.0, 32.0, 0.0], [394.0, 96.0, 15.0, 0.0], [143.0, 43.0, 5.0, 0.0], [43.0, 12.0, 0.0, 0.0], [10.0, 2.0, 1.0, 0.0]]}, "up": {"level_counts": [8, 99, 517, 625, 184, 0], "episodes_by_level": [[682.0, 547.0, 7.0, 0.0], [2206.0, 1334.0, 37.0, 0.0], [3094.0, 1009.0, 162.0, 0.0], [1528.0, 249.0, 149.0, 0.0], [199.0, 1.0, 61.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [0, 4, 11, 48, 133, 418], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [531.0, 475.0, 9.0, 0.0], [740.0, 654.0, 21.0, 0.0], [839.0, 679.0, 25.0, 0.0], [919.0, 691.0, 55.0, 0.0], [1286.0, 924.0, 109.0, 0.0]]}, "platform": {"level_counts": [88, 158, 102, 55, 7, 0], "episodes_by_level": [[1229.0, 271.0, 47.0, 0.0], [942.0, 188.0, 48.0, 0.0], [349.0, 70.0, 30.0, 0.0], [90.0, 10.0, 8.0, 0.0], [6.0, 1.0, 3.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [88, 121, 114, 52, 25, 10], "episodes_by_level": [[1127.0, 247.0, 37.0, 0.0], [946.0, 206.0, 52.0, 0.0], [401.0, 94.0, 19.0, 0.0], [134.0, 37.0, 7.0, 0.0], [50.0, 11.0, 2.0, 0.0], [12.0, 3.0, 1.0, 0.0]]}, "rubble": {"level_counts": [159, 308, 240, 96, 16, 0], "episodes_by_level": [[2261.0, 513.0, 85.0, 0.0], [1986.0, 433.0, 108.0, 0.0], [815.0, 159.0, 98.0, 0.0], [223.0, 23.0, 47.0, 0.0], [18.0, 0.0, 7.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 24384, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22607421875, "command_abs_max": [0.9993939399719238, 0.399950236082077, 0.6996747851371765]}
{"step": 13000, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 13000, "total_transitions": 53248000, "num_steps_per_env": 1, "wm_loss": 0.9042726159095764, "actor_loss": -9.407304763793945, "critic_loss": 0.005002281162887812, "reward": 0.08505193889141083, "falls": 10, "interval_steps": 50, "velocity_mae": [0.12478771805763245, 0.07456814497709274, 0.13891419768333435], "mean_episode_length": 1316.3591549295775, "episode_reward_terms": {"track_linear_velocity": 46.01041793823242, "track_angular_velocity": 49.64114761352539, "upright": 25.544954299926758, "leg_posture": -2.810572385787964, "standstill": -6.417646408081055, "action_rate_l2": -0.5608648061752319, "joint_torques_l2": -0.1480131596326828, "dof_pos_limits": -0.0007518830825574696, "terminated": -0.02571013569831848, "unnecessary_wheel_lift": -0.11909587681293488, "rolling_leg_motion": -0.7293419241905212, "obstacle_progress": 2.363255262374878, "wheel_body_intrusion": -0.3410107493400574, "pair_body_intrusion": -0.4478929936885834}, "weighted_reward_terms": {"track_linear_velocity": 1.7476394176483154, "track_angular_velocity": 1.8855472803115845, "upright": 0.9702882170677185, "leg_posture": -0.10675553232431412, "standstill": -0.24376502633094788, "action_rate_l2": -0.02130364067852497, "joint_torques_l2": -0.005622066091746092, "dof_pos_limits": -2.8559194106492214e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.004523684736341238, "rolling_leg_motion": -0.027703000232577324, "obstacle_progress": 0.08976483345031738, "wheel_body_intrusion": -0.012952801771461964, "pair_body_intrusion": -0.017012568190693855}, "episode_termination_rates": {"time_out": 0.4859154929577465, "fell_over": 0.035211267605633804, "course_exit": 0.44366197183098594, "illegal_nonwheel_contact": 0.056338028169014086}, "collection_time_s": 0.07565146797569469, "learning_time_s": 0.19210025681881235, "iteration_time_s": 0.382972372560538, "policy_updates": 12700, "skipped_updates": 0, "invalid_env_resets": 68, "elapsed_s": 4978.640843286994, "nonwheel_terminations": 11089, "contact_bce": 0.3186430037021637, "contact_force_loss": 0.02278091385960579, "collision_bce": 0.00020471065363381058, "collision_label_rate": 0.00012236906331963837, "collision_prediction_mean": 0.00015067150525283068, "collision_label_count": 16344.0, "terrain_level_mean": 2.338623046875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [83, 130, 106, 47, 33, 11], "episodes_by_level": [[1098.0, 229.0, 40.0, 0.0], [949.0, 205.0, 32.0, 0.0], [398.0, 96.0, 16.0, 0.0], [145.0, 44.0, 5.0, 0.0], [44.0, 12.0, 0.0, 0.0], [11.0, 2.0, 1.0, 0.0]]}, "up": {"level_counts": [8, 96, 516, 623, 189, 1], "episodes_by_level": [[682.0, 547.0, 7.0, 0.0], [2208.0, 1336.0, 37.0, 0.0], [3106.0, 1015.0, 162.0, 0.0], [1544.0, 255.0, 150.0, 0.0], [203.0, 2.0, 61.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [0, 4, 11, 48, 134, 417], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [531.0, 475.0, 9.0, 0.0], [740.0, 654.0, 21.0, 0.0], [841.0, 680.0, 25.0, 0.0], [920.0, 691.0, 55.0, 0.0], [1302.0, 936.0, 109.0, 0.0]]}, "platform": {"level_counts": [87, 158, 100, 58, 7, 0], "episodes_by_level": [[1232.0, 272.0, 47.0, 0.0], [947.0, 189.0, 48.0, 0.0], [354.0, 73.0, 30.0, 0.0], [91.0, 10.0, 8.0, 0.0], [7.0, 1.0, 3.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [87, 122, 112, 53, 24, 12], "episodes_by_level": [[1130.0, 248.0, 37.0, 0.0], [948.0, 206.0, 52.0, 0.0], [403.0, 96.0, 19.0, 0.0], [136.0, 38.0, 7.0, 0.0], [52.0, 13.0, 2.0, 0.0], [14.0, 3.0, 1.0, 0.0]]}, "rubble": {"level_counts": [157, 312, 238, 97, 15, 0], "episodes_by_level": [[2265.0, 515.0, 85.0, 0.0], [1995.0, 433.0, 108.0, 0.0], [822.0, 161.0, 100.0, 0.0], [228.0, 23.0, 49.0, 0.0], [19.0, 0.0, 8.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 24511, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.228759765625, "command_abs_max": [0.9994999170303345, 0.399950236082077, 0.6996747851371765]}
{"step": 13050, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 13050, "total_transitions": 53452800, "num_steps_per_env": 1, "wm_loss": 0.9093213081359863, "actor_loss": -9.421534538269043, "critic_loss": 0.005442318972200155, "reward": 0.08526306599378586, "falls": 7, "interval_steps": 50, "velocity_mae": [0.12448902428150177, 0.07630518078804016, 0.13917215168476105], "mean_episode_length": 1338.8333333333333, "episode_reward_terms": {"track_linear_velocity": 46.75395965576172, "track_angular_velocity": 50.47104263305664, "upright": 25.986530303955078, "leg_posture": -2.8427069187164307, "standstill": -6.339789867401123, "action_rate_l2": -0.5832855701446533, "joint_torques_l2": -0.1521397978067398, "dof_pos_limits": -0.0009072132525034249, "terminated": -0.018304361030459404, "unnecessary_wheel_lift": -0.11947529762983322, "rolling_leg_motion": -0.7371545433998108, "obstacle_progress": 2.4877703189849854, "wheel_body_intrusion": -0.33852583169937134, "pair_body_intrusion": -0.41395890712738037}, "weighted_reward_terms": {"track_linear_velocity": 1.7460709810256958, "track_angular_velocity": 1.8848888874053955, "upright": 0.9704915881156921, "leg_posture": -0.10616358369588852, "standstill": -0.23676545917987823, "action_rate_l2": -0.02178335376083851, "joint_torques_l2": -0.005681804846972227, "dof_pos_limits": -3.38807403750252e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0044619180262088776, "rolling_leg_motion": -0.02752973698079586, "obstacle_progress": 0.09290814399719238, "wheel_body_intrusion": -0.012642567977309227, "pair_body_intrusion": -0.015459687449038029}, "episode_termination_rates": {"time_out": 0.5158730158730159, "fell_over": 0.007936507936507936, "course_exit": 0.42857142857142855, "illegal_nonwheel_contact": 0.05555555555555555}, "collection_time_s": 0.07552346703363583, "learning_time_s": 0.18455996406497432, "iteration_time_s": 0.3825036659670487, "policy_updates": 12750, "skipped_updates": 0, "invalid_env_resets": 68, "elapsed_s": 4991.6728408699855, "nonwheel_terminations": 11096, "contact_bce": 0.3170284032821655, "contact_force_loss": 0.022532442584633827, "collision_bce": 6.27094559604302e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 5.752746437792666e-05, "collision_label_count": 16364.0, "terrain_level_mean": 2.343017578125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [83, 130, 105, 47, 34, 11], "episodes_by_level": [[1099.0, 229.0, 40.0, 0.0], [952.0, 205.0, 32.0, 0.0], [401.0, 97.0, 16.0, 0.0], [146.0, 45.0, 5.0, 0.0], [44.0, 12.0, 0.0, 0.0], [11.0, 2.0, 1.0, 0.0]]}, "up": {"level_counts": [8, 94, 516, 620, 193, 2], "episodes_by_level": [[682.0, 547.0, 7.0, 0.0], [2214.0, 1338.0, 37.0, 0.0], [3120.0, 1020.0, 162.0, 0.0], [1558.0, 260.0, 152.0, 0.0], [204.0, 3.0, 61.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [0, 4, 11, 47, 132, 420], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [531.0, 475.0, 9.0, 0.0], [740.0, 654.0, 21.0, 0.0], [843.0, 682.0, 25.0, 0.0], [926.0, 695.0, 55.0, 0.0], [1312.0, 946.0, 109.0, 0.0]]}, "platform": {"level_counts": [88, 155, 102, 58, 7, 0], "episodes_by_level": [[1235.0, 272.0, 47.0, 0.0], [951.0, 191.0, 49.0, 0.0], [356.0, 73.0, 30.0, 0.0], [92.0, 10.0, 8.0, 0.0], [7.0, 1.0, 3.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [86, 123, 112, 53, 24, 12], "episodes_by_level": [[1133.0, 249.0, 37.0, 0.0], [950.0, 206.0, 52.0, 0.0], [406.0, 96.0, 19.0, 0.0], [139.0, 38.0, 7.0, 0.0], [53.0, 13.0, 2.0, 0.0], [14.0, 3.0, 1.0, 0.0]]}, "rubble": {"level_counts": [157, 312, 238, 97, 15, 0], "episodes_by_level": [[2267.0, 516.0, 85.0, 0.0], [2007.0, 433.0, 109.0, 0.0], [826.0, 161.0, 100.0, 0.0], [230.0, 23.0, 49.0, 0.0], [20.0, 0.0, 8.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 24650, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.225830078125, "command_abs_max": [0.9994999170303345, 0.399950236082077, 0.6996663808822632]}
{"step": 13100, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 13100, "total_transitions": 53657600, "num_steps_per_env": 1, "wm_loss": 0.9340793490409851, "actor_loss": -9.427143096923828, "critic_loss": 0.0067328498698771, "reward": 0.08487220853567123, "falls": 7, "interval_steps": 50, "velocity_mae": [0.12901227176189423, 0.07751619815826416, 0.140899196267128], "mean_episode_length": 1392.7364341085272, "episode_reward_terms": {"track_linear_velocity": 48.330116271972656, "track_angular_velocity": 52.4423942565918, "upright": 26.987945556640625, "leg_posture": -2.9315409660339355, "standstill": -6.7649970054626465, "action_rate_l2": -0.6187874674797058, "joint_torques_l2": -0.15929237008094788, "dof_pos_limits": -0.00027854047948494554, "terminated": -0.019041316583752632, "unnecessary_wheel_lift": -0.1301726996898651, "rolling_leg_motion": -0.7809423208236694, "obstacle_progress": 2.622431516647339, "wheel_body_intrusion": -0.32868507504463196, "pair_body_intrusion": -0.44454142451286316}, "weighted_reward_terms": {"track_linear_velocity": 1.7350777387619019, "track_angular_velocity": 1.8827106952667236, "upright": 0.9688820242881775, "leg_posture": -0.10524392127990723, "standstill": -0.24286708235740662, "action_rate_l2": -0.02221480943262577, "joint_torques_l2": -0.005718683358281851, "dof_pos_limits": -9.999756002798676e-06, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.00467327143996954, "rolling_leg_motion": -0.02803625725209713, "obstacle_progress": 0.094146728515625, "wheel_body_intrusion": -0.011799974367022514, "pair_body_intrusion": -0.015959281474351883}, "episode_termination_rates": {"time_out": 0.5348837209302325, "fell_over": 0.03875968992248062, "course_exit": 0.4108527131782946, "illegal_nonwheel_contact": 0.031007751937984496}, "collection_time_s": 0.07553196434280834, "learning_time_s": 0.18415098156081514, "iteration_time_s": 0.38203496712923785, "policy_updates": 12800, "skipped_updates": 0, "invalid_env_resets": 68, "elapsed_s": 5004.6580693930155, "nonwheel_terminations": 11100, "contact_bce": 0.3246092200279236, "contact_force_loss": 0.023196885362267494, "collision_bce": 4.24503450631164e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 3.912513784598559e-05, "collision_label_count": 16365.0, "terrain_level_mean": 2.3466796875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [82, 131, 103, 49, 34, 11], "episodes_by_level": [[1103.0, 230.0, 40.0, 0.0], [956.0, 206.0, 32.0, 0.0], [405.0, 99.0, 17.0, 0.0], [147.0, 45.0, 5.0, 0.0], [45.0, 12.0, 0.0, 0.0], [12.0, 2.0, 1.0, 0.0]]}, "up": {"level_counts": [8, 95, 512, 619, 197, 2], "episodes_by_level": [[682.0, 547.0, 7.0, 0.0], [2215.0, 1338.0, 37.0, 0.0], [3131.0, 1023.0, 163.0, 0.0], [1576.0, 265.0, 152.0, 0.0], [208.0, 3.0, 62.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [0, 4, 11, 46, 131, 422], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [531.0, 475.0, 9.0, 0.0], [740.0, 654.0, 21.0, 0.0], [844.0, 683.0, 25.0, 0.0], [931.0, 699.0, 55.0, 0.0], [1326.0, 957.0, 109.0, 0.0]]}, "platform": {"level_counts": [89, 153, 103, 58, 7, 0], "episodes_by_level": [[1236.0, 272.0, 47.0, 0.0], [960.0, 192.0, 50.0, 0.0], [363.0, 73.0, 30.0, 0.0], [92.0, 10.0, 8.0, 0.0], [7.0, 1.0, 3.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [86, 121, 113, 54, 24, 12], "episodes_by_level": [[1134.0, 249.0, 37.0, 0.0], [953.0, 208.0, 52.0, 0.0], [409.0, 97.0, 19.0, 0.0], [140.0, 38.0, 7.0, 0.0], [54.0, 13.0, 2.0, 0.0], [14.0, 3.0, 1.0, 0.0]]}, "rubble": {"level_counts": [158, 311, 237, 98, 15, 0], "episodes_by_level": [[2269.0, 516.0, 85.0, 0.0], [2012.0, 433.0, 110.0, 0.0], [831.0, 162.0, 100.0, 0.0], [230.0, 23.0, 49.0, 0.0], [21.0, 0.0, 8.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 24766, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22412109375, "command_abs_max": [0.9994999170303345, 0.399950236082077, 0.6996663808822632]}
{"step": 13150, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 13150, "total_transitions": 53862400, "num_steps_per_env": 1, "wm_loss": 0.9052678346633911, "actor_loss": -9.393811225891113, "critic_loss": 0.009334971196949482, "reward": 0.08507239073514938, "falls": 7, "interval_steps": 50, "velocity_mae": [0.1262979954481125, 0.07623180747032166, 0.14057664573192596], "mean_episode_length": 1324.7985611510792, "episode_reward_terms": {"track_linear_velocity": 46.16316223144531, "track_angular_velocity": 49.89037322998047, "upright": 25.66526985168457, "leg_posture": -2.783047676086426, "standstill": -6.488144397735596, "action_rate_l2": -0.5913376808166504, "joint_torques_l2": -0.15141500532627106, "dof_pos_limits": -0.0006671609007753432, "terminated": -0.018112478777766228, "unnecessary_wheel_lift": -0.10577663034200668, "rolling_leg_motion": -0.7425845861434937, "obstacle_progress": 2.5269763469696045, "wheel_body_intrusion": -0.317771852016449, "pair_body_intrusion": -0.3431311249732971}, "weighted_reward_terms": {"track_linear_velocity": 1.742271065711975, "track_angular_velocity": 1.8829418420791626, "upright": 0.9686480760574341, "leg_posture": -0.10503663867712021, "standstill": -0.24487285315990448, "action_rate_l2": -0.022318022325634956, "joint_torques_l2": -0.0057146428152918816, "dof_pos_limits": -2.5179710064549e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.00399217801168561, "rolling_leg_motion": -0.028026320040225983, "obstacle_progress": 0.09537210315465927, "wheel_body_intrusion": -0.01199321448802948, "pair_body_intrusion": -0.012950312346220016}, "episode_termination_rates": {"time_out": 0.460431654676259, "fell_over": 0.03597122302158273, "course_exit": 0.4892086330935252, "illegal_nonwheel_contact": 0.02158273381294964}, "collection_time_s": 0.07548181153833866, "learning_time_s": 0.18429125109687447, "iteration_time_s": 0.3815701769902672, "policy_updates": 12850, "skipped_updates": 0, "invalid_env_resets": 68, "elapsed_s": 5017.6478274220135, "nonwheel_terminations": 11103, "contact_bce": 0.3148568272590637, "contact_force_loss": 0.02278684824705124, "collision_bce": 0.00028447952354326844, "collision_label_rate": 0.00018377848027739674, "collision_prediction_mean": 0.0001391898695146665, "collision_label_count": 16324.0, "terrain_level_mean": 2.3544921875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [82, 130, 103, 50, 34, 11], "episodes_by_level": [[1104.0, 230.0, 40.0, 0.0], [958.0, 207.0, 32.0, 0.0], [408.0, 100.0, 17.0, 0.0], [149.0, 45.0, 5.0, 0.0], [45.0, 12.0, 0.0, 0.0], [12.0, 2.0, 1.0, 0.0]]}, "up": {"level_counts": [8, 91, 511, 619, 202, 2], "episodes_by_level": [[682.0, 547.0, 7.0, 0.0], [2221.0, 1342.0, 37.0, 0.0], [3141.0, 1028.0, 163.0, 0.0], [1593.0, 271.0, 152.0, 0.0], [211.0, 3.0, 63.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [0, 4, 11, 43, 131, 425], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [531.0, 475.0, 9.0, 0.0], [740.0, 654.0, 21.0, 0.0], [846.0, 685.0, 25.0, 0.0], [941.0, 705.0, 55.0, 0.0], [1340.0, 969.0, 109.0, 0.0]]}, "platform": {"level_counts": [89, 152, 103, 59, 7, 0], "episodes_by_level": [[1238.0, 272.0, 47.0, 0.0], [964.0, 193.0, 50.0, 0.0], [367.0, 74.0, 30.0, 0.0], [92.0, 10.0, 8.0, 0.0], [7.0, 1.0, 3.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [86, 121, 112, 55, 24, 12], "episodes_by_level": [[1136.0, 249.0, 37.0, 0.0], [957.0, 208.0, 52.0, 0.0], [413.0, 98.0, 19.0, 0.0], [142.0, 38.0, 7.0, 0.0], [56.0, 13.0, 2.0, 0.0], [14.0, 3.0, 1.0, 0.0]]}, "rubble": {"level_counts": [158, 309, 236, 100, 15, 1], "episodes_by_level": [[2273.0, 517.0, 85.0, 0.0], [2023.0, 436.0, 111.0, 0.0], [840.0, 165.0, 101.0, 0.0], [231.0, 24.0, 49.0, 0.0], [22.0, 1.0, 8.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 24887, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.226806640625, "command_abs_max": [0.9994999170303345, 0.399950236082077, 0.6998510360717773]}
{"step": 13200, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 13200, "total_transitions": 54067200, "num_steps_per_env": 1, "wm_loss": 0.9226402044296265, "actor_loss": -9.440284729003906, "critic_loss": 0.004144526552408934, "reward": 0.08518695831298828, "falls": 10, "interval_steps": 50, "velocity_mae": [0.12551015615463257, 0.07630939781665802, 0.14100080728530884], "mean_episode_length": 1387.9722222222222, "episode_reward_terms": {"track_linear_velocity": 48.438232421875, "track_angular_velocity": 52.24151611328125, "upright": 26.872928619384766, "leg_posture": -2.9395062923431396, "standstill": -6.654454708099365, "action_rate_l2": -0.6199765205383301, "joint_torques_l2": -0.15973298251628876, "dof_pos_limits": -0.0009810624178498983, "terminated": -0.027108827605843544, "unnecessary_wheel_lift": -0.1275957077741623, "rolling_leg_motion": -0.8001681566238403, "obstacle_progress": 2.716658353805542, "wheel_body_intrusion": -0.3377785384654999, "pair_body_intrusion": -0.3649218678474426}, "weighted_reward_terms": {"track_linear_velocity": 1.7449281215667725, "track_angular_velocity": 1.88193678855896, "upright": 0.9680644273757935, "leg_posture": -0.1058921292424202, "standstill": -0.23971858620643616, "action_rate_l2": -0.022333895787596703, "joint_torques_l2": -0.00575418584048748, "dof_pos_limits": -3.534157440299168e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.00459647923707962, "rolling_leg_motion": -0.028825081884860992, "obstacle_progress": 0.0978642925620079, "wheel_body_intrusion": -0.01216805912554264, "pair_body_intrusion": -0.013145864009857178}, "episode_termination_rates": {"time_out": 0.5347222222222222, "fell_over": 0.041666666666666664, "course_exit": 0.3958333333333333, "illegal_nonwheel_contact": 0.04861111111111111}, "collection_time_s": 0.07620630136108958, "learning_time_s": 0.18545174801838585, "iteration_time_s": 0.3811160494026527, "policy_updates": 12900, "skipped_updates": 0, "invalid_env_resets": 70, "elapsed_s": 5030.7318521150155, "nonwheel_terminations": 11110, "contact_bce": 0.31946423649787903, "contact_force_loss": 0.02393992245197296, "collision_bce": 3.724074122146703e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 3.5943005059380084e-05, "collision_label_count": 16347.0, "terrain_level_mean": 2.358642578125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [80, 131, 104, 50, 34, 11], "episodes_by_level": [[1107.0, 232.0, 40.0, 0.0], [963.0, 209.0, 32.0, 0.0], [413.0, 100.0, 18.0, 0.0], [151.0, 45.0, 5.0, 0.0], [46.0, 12.0, 0.0, 0.0], [12.0, 2.0, 1.0, 0.0]]}, "up": {"level_counts": [7, 90, 510, 620, 204, 2], "episodes_by_level": [[683.0, 548.0, 7.0, 0.0], [2225.0, 1344.0, 37.0, 0.0], [3161.0, 1034.0, 163.0, 0.0], [1605.0, 274.0, 153.0, 0.0], [218.0, 3.0, 64.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [0, 4, 10, 44, 128, 428], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [531.0, 475.0, 9.0, 0.0], [742.0, 655.0, 21.0, 0.0], [847.0, 686.0, 25.0, 0.0], [947.0, 711.0, 55.0, 0.0], [1355.0, 981.0, 110.0, 0.0]]}, "platform": {"level_counts": [90, 151, 102, 60, 7, 0], "episodes_by_level": [[1239.0, 272.0, 47.0, 0.0], [968.0, 193.0, 51.0, 0.0], [368.0, 75.0, 30.0, 0.0], [92.0, 10.0, 8.0, 0.0], [7.0, 1.0, 3.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [85, 122, 112, 55, 24, 12], "episodes_by_level": [[1138.0, 250.0, 37.0, 0.0], [958.0, 208.0, 52.0, 0.0], [414.0, 98.0, 19.0, 0.0], [143.0, 38.0, 7.0, 0.0], [57.0, 13.0, 2.0, 0.0], [14.0, 3.0, 1.0, 0.0]]}, "rubble": {"level_counts": [158, 309, 235, 101, 15, 1], "episodes_by_level": [[2274.0, 517.0, 85.0, 0.0], [2032.0, 436.0, 111.0, 0.0], [844.0, 166.0, 101.0, 0.0], [234.0, 24.0, 49.0, 0.0], [22.0, 1.0, 8.0, 0.0], [0.0, 0.0, 0.0, 0.0]]}}, "success_archive_windows": 25026, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.226318359375, "command_abs_max": [0.9994999170303345, 0.39980602264404297, 0.6998510360717773]}
{"step": 13250, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 13250, "total_transitions": 54272000, "num_steps_per_env": 1, "wm_loss": 0.919770359992981, "actor_loss": -9.40084457397461, "critic_loss": 0.00619237357750535, "reward": 0.08542157709598541, "falls": 6, "interval_steps": 50, "velocity_mae": [0.12325442582368851, 0.07612455636262894, 0.13971945643424988], "mean_episode_length": 1409.1310344827587, "episode_reward_terms": {"track_linear_velocity": 49.315704345703125, "track_angular_velocity": 53.1146240234375, "upright": 27.31305694580078, "leg_posture": -2.993457555770874, "standstill": -6.705376625061035, "action_rate_l2": -0.6378645896911621, "joint_torques_l2": -0.16088669002056122, "dof_pos_limits": -0.0008280295296572149, "terminated": -0.01651325263082981, "unnecessary_wheel_lift": -0.12479382008314133, "rolling_leg_motion": -0.798921525478363, "obstacle_progress": 2.8012454509735107, "wheel_body_intrusion": -0.3555462062358856, "pair_body_intrusion": -0.38025179505348206}, "weighted_reward_terms": {"track_linear_velocity": 1.7498624324798584, "track_angular_velocity": 1.8846588134765625, "upright": 0.9691454768180847, "leg_posture": -0.1062164455652237, "standstill": -0.2379259616136551, "action_rate_l2": -0.02263326197862625, "joint_torques_l2": -0.005708720535039902, "dof_pos_limits": -2.9380857085925527e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.004428042098879814, "rolling_leg_motion": -0.02834802307188511, "obstacle_progress": 0.09939620643854141, "wheel_body_intrusion": -0.01261579804122448, "pair_body_intrusion": -0.013492422178387642}, "episode_termination_rates": {"time_out": 0.5724137931034483, "fell_over": 0.034482758620689655, "course_exit": 0.38620689655172413, "illegal_nonwheel_contact": 0.027586206896551724}, "collection_time_s": 0.07544686241657474, "learning_time_s": 0.1852671662834473, "iteration_time_s": 0.3806617853255099, "policy_updates": 12950, "skipped_updates": 0, "invalid_env_resets": 70, "elapsed_s": 5043.768655563006, "nonwheel_terminations": 11114, "contact_bce": 0.32348981499671936, "contact_force_loss": 0.024023588746786118, "collision_bce": 9.957504516933113e-05, "collision_label_rate": 6.127075903350487e-05, "collision_prediction_mean": 7.362442556768656e-05, "collision_label_count": 16321.0, "terrain_level_mean": 2.364990234375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [80, 131, 103, 51, 34, 11], "episodes_by_level": [[1108.0, 232.0, 40.0, 0.0], [966.0, 209.0, 32.0, 0.0], [420.0, 101.0, 18.0, 0.0], [151.0, 45.0, 5.0, 0.0], [47.0, 12.0, 0.0, 0.0], [12.0, 2.0, 1.0, 0.0]]}, "up": {"level_counts": [7, 87, 502, 628, 207, 2], "episodes_by_level": [[683.0, 548.0, 7.0, 0.0], [2231.0, 1347.0, 37.0, 0.0], [3175.0, 1045.0, 163.0, 0.0], [1617.0, 279.0, 153.0, 0.0], [223.0, 3.0, 66.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [0, 4, 10, 44, 128, 428], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [531.0, 475.0, 9.0, 0.0], [742.0, 655.0, 21.0, 0.0], [847.0, 686.0, 25.0, 0.0], [949.0, 713.0, 55.0, 0.0], [1374.0, 996.0, 112.0, 0.0]]}, "platform": {"level_counts": [90, 151, 100, 61, 8, 0], "episodes_by_level": [[1242.0, 272.0, 47.0, 0.0], [973.0, 193.0, 51.0, 0.0], [371.0, 77.0, 30.0, 0.0], [94.0, 11.0, 8.0, 0.0], [8.0, 1.0, 3.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [85, 121, 112, 57, 23, 12], "episodes_by_level": [[1139.0, 250.0, 37.0, 0.0], [960.0, 209.0, 52.0, 0.0], [419.0, 99.0, 19.0, 0.0], [144.0, 38.0, 7.0, 0.0], [59.0, 13.0, 3.0, 0.0], [14.0, 3.0, 1.0, 0.0]]}, "rubble": {"level_counts": [156, 310, 234, 103, 16, 0], "episodes_by_level": [[2279.0, 519.0, 85.0, 0.0], [2039.0, 437.0, 111.0, 0.0], [854.0, 168.0, 101.0, 0.0], [236.0, 24.0, 49.0, 0.0], [22.0, 1.0, 8.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 25173, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.227294921875, "command_abs_max": [0.9994999170303345, 0.39980602264404297, 0.6998510360717773]}
{"step": 13300, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 13300, "total_transitions": 54476800, "num_steps_per_env": 1, "wm_loss": 0.9434829354286194, "actor_loss": -9.450194358825684, "critic_loss": 0.006890812423080206, "reward": 0.08539402484893799, "falls": 7, "interval_steps": 50, "velocity_mae": [0.12250056117773056, 0.07642035186290741, 0.13913138210773468], "mean_episode_length": 1320.6756756756756, "episode_reward_terms": {"track_linear_velocity": 46.236385345458984, "track_angular_velocity": 49.806583404541016, "upright": 25.581523895263672, "leg_posture": -2.797138214111328, "standstill": -6.383928298950195, "action_rate_l2": -0.5863178372383118, "joint_torques_l2": -0.1510881781578064, "dof_pos_limits": -0.000637482909951359, "terminated": -0.0180561114102602, "unnecessary_wheel_lift": -0.10718905180692673, "rolling_leg_motion": -0.749457061290741, "obstacle_progress": 2.664808988571167, "wheel_body_intrusion": -0.33189907670021057, "pair_body_intrusion": -0.38577136397361755}, "weighted_reward_terms": {"track_linear_velocity": 1.7504823207855225, "track_angular_velocity": 1.8856478929519653, "upright": 0.9685013294219971, "leg_posture": -0.10589800775051117, "standstill": -0.24169176816940308, "action_rate_l2": -0.022197647020220757, "joint_torques_l2": -0.005720109678804874, "dof_pos_limits": -2.4134726118063554e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.004058114252984524, "rolling_leg_motion": -0.028374003246426582, "obstacle_progress": 0.10088808834552765, "wheel_body_intrusion": -0.01256550382822752, "pair_body_intrusion": -0.014605076052248478}, "episode_termination_rates": {"time_out": 0.4527027027027027, "fell_over": 0.02702702702702703, "course_exit": 0.5, "illegal_nonwheel_contact": 0.033783783783783786}, "collection_time_s": 0.0756303984101396, "learning_time_s": 0.18521082843188197, "iteration_time_s": 0.38021141655300655, "policy_updates": 13000, "skipped_updates": 0, "invalid_env_resets": 70, "elapsed_s": 5056.811840154987, "nonwheel_terminations": 11119, "contact_bce": 0.32815343141555786, "contact_force_loss": 0.024206221103668213, "collision_bce": 7.653477950952947e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 7.702240509388503e-06, "collision_label_count": 16374.0, "terrain_level_mean": 2.37353515625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [79, 130, 104, 52, 34, 11], "episodes_by_level": [[1110.0, 233.0, 40.0, 0.0], [971.0, 211.0, 32.0, 0.0], [423.0, 102.0, 18.0, 0.0], [151.0, 45.0, 5.0, 0.0], [48.0, 12.0, 0.0, 0.0], [12.0, 2.0, 1.0, 0.0]]}, "up": {"level_counts": [7, 84, 498, 631, 211, 2], "episodes_by_level": [[683.0, 548.0, 7.0, 0.0], [2234.0, 1350.0, 37.0, 0.0], [3189.0, 1053.0, 163.0, 0.0], [1631.0, 282.0, 154.0, 0.0], [228.0, 3.0, 67.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [0, 4, 10, 43, 121, 436], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [531.0, 475.0, 9.0, 0.0], [742.0, 655.0, 21.0, 0.0], [849.0, 687.0, 25.0, 0.0], [958.0, 721.0, 55.0, 0.0], [1389.0, 1007.0, 112.0, 0.0]]}, "platform": {"level_counts": [89, 151, 101, 60, 9, 0], "episodes_by_level": [[1243.0, 273.0, 47.0, 0.0], [976.0, 194.0, 51.0, 0.0], [372.0, 77.0, 30.0, 0.0], [95.0, 12.0, 8.0, 0.0], [8.0, 1.0, 3.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [85, 122, 110, 58, 23, 12], "episodes_by_level": [[1142.0, 251.0, 37.0, 0.0], [966.0, 209.0, 53.0, 0.0], [423.0, 100.0, 20.0, 0.0], [147.0, 38.0, 7.0, 0.0], [59.0, 13.0, 3.0, 0.0], [14.0, 3.0, 1.0, 0.0]]}, "rubble": {"level_counts": [153, 313, 232, 105, 16, 0], "episodes_by_level": [[2286.0, 522.0, 85.0, 0.0], [2047.0, 439.0, 111.0, 0.0], [861.0, 170.0, 103.0, 0.0], [238.0, 24.0, 49.0, 0.0], [23.0, 1.0, 8.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 25325, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2333984375, "command_abs_max": [0.9986809492111206, 0.39980602264404297, 0.6996663808822632]}
{"step": 13350, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 13350, "total_transitions": 54681600, "num_steps_per_env": 1, "wm_loss": 0.9432651400566101, "actor_loss": -9.444786071777344, "critic_loss": 0.0032005005050450563, "reward": 0.08484236896038055, "falls": 16, "interval_steps": 50, "velocity_mae": [0.12242349237203598, 0.07810560613870621, 0.14080384373664856], "mean_episode_length": 1375.027027027027, "episode_reward_terms": {"track_linear_velocity": 48.07931137084961, "track_angular_velocity": 51.774986267089844, "upright": 26.624731063842773, "leg_posture": -2.949721574783325, "standstill": -7.027561664581299, "action_rate_l2": -0.615389347076416, "joint_torques_l2": -0.1572774052619934, "dof_pos_limits": -0.000988353625871241, "terminated": -0.042969584465026855, "unnecessary_wheel_lift": -0.11679503321647644, "rolling_leg_motion": -0.7767546772956848, "obstacle_progress": 2.6438851356506348, "wheel_body_intrusion": -0.3418132960796356, "pair_body_intrusion": -0.4330838918685913}, "weighted_reward_terms": {"track_linear_velocity": 1.7483043670654297, "track_angular_velocity": 1.8826898336410522, "upright": 0.9681530594825745, "leg_posture": -0.10726051032543182, "standstill": -0.25554269552230835, "action_rate_l2": -0.02237735502421856, "joint_torques_l2": -0.005719066131860018, "dof_pos_limits": -3.5939425288233906e-05, "terminated": -0.0015624997904524207, "unnecessary_wheel_lift": -0.004247008822858334, "rolling_leg_motion": -0.028245070949196815, "obstacle_progress": 0.09613939374685287, "wheel_body_intrusion": -0.012429330497980118, "pair_body_intrusion": -0.015748197212815285}, "episode_termination_rates": {"time_out": 0.47297297297297297, "fell_over": 0.05405405405405406, "course_exit": 0.4189189189189189, "illegal_nonwheel_contact": 0.07432432432432433}, "collection_time_s": 0.0754040929407347, "learning_time_s": 0.18500320413848384, "iteration_time_s": 0.3797627892211247, "policy_updates": 13050, "skipped_updates": 0, "invalid_env_resets": 70, "elapsed_s": 5069.833236102015, "nonwheel_terminations": 11130, "contact_bce": 0.32154661417007446, "contact_force_loss": 0.02410813979804516, "collision_bce": 6.730689347023144e-05, "collision_label_rate": 6.113964627729729e-05, "collision_prediction_mean": 0.0001049498823704198, "collision_label_count": 16356.0, "terrain_level_mean": 2.3798828125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [79, 130, 104, 52, 34, 11], "episodes_by_level": [[1111.0, 233.0, 40.0, 0.0], [972.0, 211.0, 32.0, 0.0], [426.0, 102.0, 18.0, 0.0], [152.0, 45.0, 5.0, 0.0], [49.0, 12.0, 0.0, 0.0], [12.0, 2.0, 1.0, 0.0]]}, "up": {"level_counts": [7, 84, 490, 636, 214, 2], "episodes_by_level": [[683.0, 548.0, 7.0, 0.0], [2234.0, 1350.0, 37.0, 0.0], [3206.0, 1063.0, 163.0, 0.0], [1644.0, 286.0, 156.0, 0.0], [232.0, 3.0, 68.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [0, 4, 9, 43, 119, 439], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [531.0, 475.0, 9.0, 0.0], [743.0, 656.0, 21.0, 0.0], [851.0, 689.0, 25.0, 0.0], [965.0, 726.0, 56.0, 0.0], [1398.0, 1012.0, 112.0, 0.0]]}, "platform": {"level_counts": [88, 152, 99, 61, 10, 0], "episodes_by_level": [[1244.0, 274.0, 47.0, 0.0], [983.0, 196.0, 51.0, 0.0], [377.0, 80.0, 32.0, 0.0], [101.0, 13.0, 9.0, 0.0], [8.0, 1.0, 3.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [85, 121, 108, 61, 23, 12], "episodes_by_level": [[1144.0, 251.0, 37.0, 0.0], [974.0, 211.0, 53.0, 0.0], [427.0, 103.0, 21.0, 0.0], [148.0, 38.0, 7.0, 0.0], [59.0, 13.0, 3.0, 0.0], [14.0, 3.0, 1.0, 0.0]]}, "rubble": {"level_counts": [154, 308, 236, 106, 15, 0], "episodes_by_level": [[2287.0, 522.0, 85.0, 0.0], [2061.0, 445.0, 112.0, 0.0], [873.0, 171.0, 105.0, 0.0], [240.0, 24.0, 50.0, 0.0], [24.0, 1.0, 9.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 25470, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.235107421875, "command_abs_max": [0.9986809492111206, 0.39980602264404297, 0.6996141672134399]}
{"step": 13400, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 13400, "total_transitions": 54886400, "num_steps_per_env": 1, "wm_loss": 0.9223862886428833, "actor_loss": -9.431182861328125, "critic_loss": 0.0047972253523766994, "reward": 0.08540013432502747, "falls": 9, "interval_steps": 50, "velocity_mae": [0.12159016728401184, 0.07696159183979034, 0.1399325579404831], "mean_episode_length": 1397.855172413793, "episode_reward_terms": {"track_linear_velocity": 48.991146087646484, "track_angular_velocity": 52.675662994384766, "upright": 27.08005714416504, "leg_posture": -2.9313101768493652, "standstill": -6.754228591918945, "action_rate_l2": -0.6239081025123596, "joint_torques_l2": -0.15976949036121368, "dof_pos_limits": -0.001211703522130847, "terminated": -0.024571670219302177, "unnecessary_wheel_lift": -0.13304761052131653, "rolling_leg_motion": -0.7961098551750183, "obstacle_progress": 2.7086288928985596, "wheel_body_intrusion": -0.30793240666389465, "pair_body_intrusion": -0.34639424085617065}, "weighted_reward_terms": {"track_linear_velocity": 1.752368450164795, "track_angular_velocity": 1.8841602802276611, "upright": 0.9686288237571716, "leg_posture": -0.10485027730464935, "standstill": -0.24159257113933563, "action_rate_l2": -0.022316621616482735, "joint_torques_l2": -0.005714808125048876, "dof_pos_limits": -4.334152617957443e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.004758991301059723, "rolling_leg_motion": -0.02847612090408802, "obstacle_progress": 0.09688517451286316, "wheel_body_intrusion": -0.011014459654688835, "pair_body_intrusion": -0.012390205636620522}, "episode_termination_rates": {"time_out": 0.5448275862068965, "fell_over": 0.04827586206896552, "course_exit": 0.3931034482758621, "illegal_nonwheel_contact": 0.041379310344827586}, "collection_time_s": 0.07580766850034706, "learning_time_s": 0.18402251495979727, "iteration_time_s": 0.3793153625551512, "policy_updates": 13100, "skipped_updates": 0, "invalid_env_resets": 71, "elapsed_s": 5082.825858239026, "nonwheel_terminations": 11136, "contact_bce": 0.3284124433994293, "contact_force_loss": 0.0245144534856081, "collision_bce": 7.4847162068181206e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 7.539854323113104e-06, "collision_label_count": 16354.0, "terrain_level_mean": 2.386474609375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [79, 128, 105, 53, 34, 11], "episodes_by_level": [[1112.0, 233.0, 40.0, 0.0], [977.0, 213.0, 32.0, 0.0], [430.0, 103.0, 18.0, 0.0], [153.0, 45.0, 5.0, 0.0], [49.0, 12.0, 0.0, 0.0], [12.0, 2.0, 1.0, 0.0]]}, "up": {"level_counts": [7, 83, 483, 639, 219, 2], "episodes_by_level": [[683.0, 548.0, 7.0, 0.0], [2237.0, 1351.0, 37.0, 0.0], [3223.0, 1073.0, 163.0, 0.0], [1657.0, 292.0, 158.0, 0.0], [236.0, 3.0, 68.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [0, 4, 10, 43, 120, 437], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [531.0, 475.0, 9.0, 0.0], [743.0, 656.0, 21.0, 0.0], [851.0, 689.0, 25.0, 0.0], [966.0, 726.0, 57.0, 0.0], [1413.0, 1022.0, 113.0, 0.0]]}, "platform": {"level_counts": [85, 154, 98, 63, 10, 0], "episodes_by_level": [[1251.0, 278.0, 47.0, 0.0], [986.0, 197.0, 52.0, 0.0], [383.0, 82.0, 32.0, 0.0], [102.0, 13.0, 9.0, 0.0], [8.0, 1.0, 3.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [84, 122, 105, 62, 25, 12], "episodes_by_level": [[1147.0, 252.0, 37.0, 0.0], [976.0, 211.0, 53.0, 0.0], [431.0, 106.0, 21.0, 0.0], [150.0, 40.0, 7.0, 0.0], [59.0, 13.0, 3.0, 0.0], [14.0, 3.0, 1.0, 0.0]]}, "rubble": {"level_counts": [154, 306, 238, 106, 15, 0], "episodes_by_level": [[2293.0, 522.0, 85.0, 0.0], [2075.0, 448.0, 112.0, 0.0], [883.0, 171.0, 106.0, 0.0], [242.0, 24.0, 50.0, 0.0], [24.0, 1.0, 9.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 25598, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23583984375, "command_abs_max": [0.9989144802093506, 0.39943727850914, 0.6996141672134399]}
{"step": 13450, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 13450, "total_transitions": 55091200, "num_steps_per_env": 1, "wm_loss": 0.942950427532196, "actor_loss": -9.461145401000977, "critic_loss": 0.00327308033592999, "reward": 0.08512788265943527, "falls": 12, "interval_steps": 50, "velocity_mae": [0.12170103937387466, 0.07759765535593033, 0.14081673324108124], "mean_episode_length": 1358.4857142857143, "episode_reward_terms": {"track_linear_velocity": 47.581119537353516, "track_angular_velocity": 51.16048049926758, "upright": 26.3276424407959, "leg_posture": -2.8514459133148193, "standstill": -6.868428707122803, "action_rate_l2": -0.617340087890625, "joint_torques_l2": -0.15497498214244843, "dof_pos_limits": -0.0010541421361267567, "terminated": -0.03183950483798981, "unnecessary_wheel_lift": -0.12512582540512085, "rolling_leg_motion": -0.7640300989151001, "obstacle_progress": 2.657639980316162, "wheel_body_intrusion": -0.31780123710632324, "pair_body_intrusion": -0.3498102128505707}, "weighted_reward_terms": {"track_linear_velocity": 1.7512558698654175, "track_angular_velocity": 1.882996678352356, "upright": 0.9690069556236267, "leg_posture": -0.10494942218065262, "standstill": -0.2527972459793091, "action_rate_l2": -0.022721625864505768, "joint_torques_l2": -0.005703961011022329, "dof_pos_limits": -3.879842915921472e-05, "terminated": -0.001171874813735485, "unnecessary_wheel_lift": -0.004605341702699661, "rolling_leg_motion": -0.028120653703808784, "obstacle_progress": 0.09781626611948013, "wheel_body_intrusion": -0.01169689279049635, "pair_body_intrusion": -0.012875004671514034}, "episode_termination_rates": {"time_out": 0.5142857142857142, "fell_over": 0.05714285714285714, "course_exit": 0.4, "illegal_nonwheel_contact": 0.06428571428571428}, "collection_time_s": 0.07544667119742371, "learning_time_s": 0.18367305672145448, "iteration_time_s": 0.3788686206257256, "policy_updates": 13150, "skipped_updates": 0, "invalid_env_resets": 71, "elapsed_s": 5095.78294741601, "nonwheel_terminations": 11145, "contact_bce": 0.33064955472946167, "contact_force_loss": 0.024663418531417847, "collision_bce": 8.988829904410522e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 9.021287951327395e-06, "collision_label_count": 16346.0, "terrain_level_mean": 2.39208984375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [78, 128, 106, 53, 33, 12], "episodes_by_level": [[1113.0, 234.0, 40.0, 0.0], [983.0, 214.0, 32.0, 0.0], [434.0, 103.0, 18.0, 0.0], [154.0, 45.0, 5.0, 0.0], [51.0, 13.0, 0.0, 0.0], [13.0, 3.0, 1.0, 0.0]]}, "up": {"level_counts": [5, 82, 486, 633, 225, 2], "episodes_by_level": [[685.0, 550.0, 7.0, 0.0], [2240.0, 1354.0, 37.0, 0.0], [3232.0, 1076.0, 163.0, 0.0], [1671.0, 300.0, 159.0, 0.0], [240.0, 3.0, 69.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [0, 3, 11, 42, 123, 435], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [532.0, 476.0, 9.0, 0.0], [743.0, 656.0, 21.0, 0.0], [852.0, 690.0, 25.0, 0.0], [973.0, 730.0, 57.0, 0.0], [1427.0, 1027.0, 117.0, 0.0]]}, "platform": {"level_counts": [85, 153, 99, 63, 10, 0], "episodes_by_level": [[1251.0, 278.0, 47.0, 0.0], [991.0, 199.0, 52.0, 0.0], [385.0, 82.0, 33.0, 0.0], [102.0, 13.0, 9.0, 0.0], [8.0, 1.0, 3.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [84, 122, 102, 65, 24, 13], "episodes_by_level": [[1149.0, 252.0, 37.0, 0.0], [980.0, 211.0, 53.0, 0.0], [441.0, 109.0, 21.0, 0.0], [150.0, 40.0, 7.0, 0.0], [60.0, 14.0, 3.0, 0.0], [14.0, 3.0, 1.0, 0.0]]}, "rubble": {"level_counts": [154, 304, 238, 108, 15, 0], "episodes_by_level": [[2300.0, 522.0, 85.0, 0.0], [2083.0, 450.0, 112.0, 0.0], [889.0, 173.0, 106.0, 0.0], [244.0, 24.0, 50.0, 0.0], [25.0, 1.0, 9.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 25745, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.239501953125, "command_abs_max": [0.9989144802093506, 0.39943727850914, 0.6996141672134399]}
{"step": 13500, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 13500, "total_transitions": 55296000, "num_steps_per_env": 1, "wm_loss": 0.9626798629760742, "actor_loss": -9.441534042358398, "critic_loss": 0.004293378908187151, "reward": 0.08564572781324387, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11763991415500641, 0.07622480392456055, 0.13825389742851257], "mean_episode_length": 1355.0657894736842, "episode_reward_terms": {"track_linear_velocity": 47.73484420776367, "track_angular_velocity": 51.12835693359375, "upright": 26.301179885864258, "leg_posture": -2.8333802223205566, "standstill": -6.61871862411499, "action_rate_l2": -0.6018118262290955, "joint_torques_l2": -0.1540222018957138, "dof_pos_limits": -0.0004907658440060914, "terminated": -0.023819511756300926, "unnecessary_wheel_lift": -0.11216865479946136, "rolling_leg_motion": -0.7704514861106873, "obstacle_progress": 2.704840660095215, "wheel_body_intrusion": -0.3056248426437378, "pair_body_intrusion": -0.3931349217891693}, "weighted_reward_terms": {"track_linear_velocity": 1.761347770690918, "track_angular_velocity": 1.8865636587142944, "upright": 0.9704761505126953, "leg_posture": -0.10454770177602768, "standstill": -0.24422131478786469, "action_rate_l2": -0.022206000983715057, "joint_torques_l2": -0.005683200433850288, "dof_pos_limits": -1.810856156225782e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.004138863645493984, "rolling_leg_motion": -0.028428563848137856, "obstacle_progress": 0.09980477392673492, "wheel_body_intrusion": -0.011277122423052788, "pair_body_intrusion": -0.014506119303405285}, "episode_termination_rates": {"time_out": 0.5460526315789473, "fell_over": 0.03289473684210526, "course_exit": 0.39473684210526316, "illegal_nonwheel_contact": 0.02631578947368421}, "collection_time_s": 0.07560197083977982, "learning_time_s": 0.18370304801966994, "iteration_time_s": 0.37842587646096515, "policy_updates": 13200, "skipped_updates": 0, "invalid_env_resets": 71, "elapsed_s": 5108.749332223029, "nonwheel_terminations": 11149, "contact_bce": 0.33353370428085327, "contact_force_loss": 0.02613489329814911, "collision_bce": 0.000929006957449019, "collision_label_rate": 0.00024511307128705084, "collision_prediction_mean": 0.00010907569958362728, "collision_label_count": 16319.0, "terrain_level_mean": 2.39794921875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [78, 127, 106, 53, 34, 12], "episodes_by_level": [[1115.0, 234.0, 40.0, 0.0], [985.0, 215.0, 32.0, 0.0], [437.0, 104.0, 18.0, 0.0], [156.0, 46.0, 5.0, 0.0], [53.0, 13.0, 0.0, 0.0], [13.0, 3.0, 1.0, 0.0]]}, "up": {"level_counts": [5, 81, 481, 636, 228, 2], "episodes_by_level": [[685.0, 550.0, 7.0, 0.0], [2243.0, 1356.0, 37.0, 0.0], [3246.0, 1083.0, 163.0, 0.0], [1684.0, 303.0, 160.0, 0.0], [244.0, 3.0, 70.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [0, 3, 11, 42, 121, 437], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [532.0, 476.0, 9.0, 0.0], [743.0, 656.0, 21.0, 0.0], [852.0, 690.0, 25.0, 0.0], [981.0, 736.0, 57.0, 0.0], [1445.0, 1042.0, 118.0, 0.0]]}, "platform": {"level_counts": [84, 154, 98, 64, 10, 0], "episodes_by_level": [[1256.0, 279.0, 47.0, 0.0], [995.0, 199.0, 52.0, 0.0], [389.0, 83.0, 33.0, 0.0], [104.0, 13.0, 9.0, 0.0], [8.0, 1.0, 3.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [83, 123, 100, 66, 25, 13], "episodes_by_level": [[1151.0, 253.0, 37.0, 0.0], [983.0, 211.0, 53.0, 0.0], [447.0, 111.0, 21.0, 0.0], [153.0, 41.0, 7.0, 0.0], [61.0, 14.0, 3.0, 0.0], [15.0, 3.0, 1.0, 0.0]]}, "rubble": {"level_counts": [154, 302, 239, 109, 15, 0], "episodes_by_level": [[2301.0, 522.0, 85.0, 0.0], [2091.0, 454.0, 112.0, 0.0], [903.0, 174.0, 108.0, 0.0], [247.0, 24.0, 50.0, 0.0], [25.0, 1.0, 9.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 25903, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2353515625, "command_abs_max": [0.9989144802093506, 0.39943727850914, 0.6996141672134399]}
{"step": 13550, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 13550, "total_transitions": 55500800, "num_steps_per_env": 1, "wm_loss": 0.9217868447303772, "actor_loss": -9.448741912841797, "critic_loss": 0.004188730381429195, "reward": 0.08548600226640701, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11886543780565262, 0.07505534589290619, 0.13969089090824127], "mean_episode_length": 1435.9285714285713, "episode_reward_terms": {"track_linear_velocity": 50.5911865234375, "track_angular_velocity": 54.119747161865234, "upright": 27.858152389526367, "leg_posture": -3.0574681758880615, "standstill": -6.9641923904418945, "action_rate_l2": -0.6305535435676575, "joint_torques_l2": -0.16378289461135864, "dof_pos_limits": -0.00035958245280198753, "terminated": -0.016827287152409554, "unnecessary_wheel_lift": -0.12721630930900574, "rolling_leg_motion": -0.837924599647522, "obstacle_progress": 2.7997043132781982, "wheel_body_intrusion": -0.35740968585014343, "pair_body_intrusion": -0.4612654745578766}, "weighted_reward_terms": {"track_linear_velocity": 1.761619210243225, "track_angular_velocity": 1.8844860792160034, "upright": 0.9700396656990051, "leg_posture": -0.10646311193704605, "standstill": -0.24249787628650665, "action_rate_l2": -0.021956300362944603, "joint_torques_l2": -0.0057030306197702885, "dof_pos_limits": -1.2520902600954287e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.004429757595062256, "rolling_leg_motion": -0.029177099466323853, "obstacle_progress": 0.09748759120702744, "wheel_body_intrusion": -0.012445246800780296, "pair_body_intrusion": -0.01606157422065735}, "episode_termination_rates": {"time_out": 0.577922077922078, "fell_over": 0.01948051948051948, "course_exit": 0.38311688311688313, "illegal_nonwheel_contact": 0.025974025974025976}, "collection_time_s": 0.07568217054358684, "learning_time_s": 0.19179558383882978, "iteration_time_s": 0.378447775463986, "policy_updates": 13250, "skipped_updates": 0, "invalid_env_resets": 71, "elapsed_s": 5127.967357537011, "nonwheel_terminations": 11153, "contact_bce": 0.3281250298023224, "contact_force_loss": 0.024604497477412224, "collision_bce": 0.0002584932080935687, "collision_label_rate": 0.00012226433318573982, "collision_prediction_mean": 6.175610906211659e-05, "collision_label_count": 16358.0, "terrain_level_mean": 2.404052734375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [78, 125, 108, 53, 34, 12], "episodes_by_level": [[1117.0, 234.0, 40.0, 0.0], [995.0, 217.0, 32.0, 0.0], [440.0, 104.0, 18.0, 0.0], [157.0, 46.0, 5.0, 0.0], [53.0, 13.0, 0.0, 0.0], [13.0, 3.0, 1.0, 0.0]]}, "up": {"level_counts": [5, 80, 471, 644, 231, 2], "episodes_by_level": [[685.0, 550.0, 7.0, 0.0], [2245.0, 1357.0, 37.0, 0.0], [3269.0, 1096.0, 163.0, 0.0], [1702.0, 307.0, 161.0, 0.0], [248.0, 3.0, 71.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [0, 3, 10, 40, 123, 438], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [532.0, 476.0, 9.0, 0.0], [744.0, 657.0, 21.0, 0.0], [855.0, 693.0, 25.0, 0.0], [984.0, 739.0, 57.0, 0.0], [1455.0, 1051.0, 118.0, 0.0]]}, "platform": {"level_counts": [84, 155, 97, 64, 10, 0], "episodes_by_level": [[1257.0, 279.0, 47.0, 0.0], [1003.0, 199.0, 52.0, 0.0], [392.0, 83.0, 34.0, 0.0], [109.0, 13.0, 9.0, 0.0], [8.0, 1.0, 3.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [83, 123, 99, 67, 25, 13], "episodes_by_level": [[1153.0, 253.0, 37.0, 0.0], [989.0, 211.0, 53.0, 0.0], [451.0, 112.0, 21.0, 0.0], [154.0, 41.0, 7.0, 0.0], [61.0, 14.0, 3.0, 0.0], [17.0, 4.0, 1.0, 0.0]]}, "rubble": {"level_counts": [152, 303, 240, 109, 15, 0], "episodes_by_level": [[2309.0, 524.0, 85.0, 0.0], [2100.0, 455.0, 112.0, 0.0], [906.0, 174.0, 108.0, 0.0], [252.0, 24.0, 50.0, 0.0], [25.0, 1.0, 9.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 26049, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.233642578125, "command_abs_max": [0.9989144802093506, 0.3995321989059448, 0.6996141672134399]}
{"step": 13600, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 13600, "total_transitions": 55705600, "num_steps_per_env": 1, "wm_loss": 0.9412547945976257, "actor_loss": -9.457402229309082, "critic_loss": 0.006569856312125921, "reward": 0.0855671688914299, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11915905028581619, 0.07519599795341492, 0.1384899765253067], "mean_episode_length": 1364.831081081081, "episode_reward_terms": {"track_linear_velocity": 48.04639434814453, "track_angular_velocity": 51.490745544433594, "upright": 26.485258102416992, "leg_posture": -2.8560945987701416, "standstill": -6.706640720367432, "action_rate_l2": -0.6054118275642395, "joint_torques_l2": -0.1547907590866089, "dof_pos_limits": -0.0002986141771543771, "terminated": -0.013328426517546177, "unnecessary_wheel_lift": -0.13041238486766815, "rolling_leg_motion": -0.7803962230682373, "obstacle_progress": 2.6677286624908447, "wheel_body_intrusion": -0.31468260288238525, "pair_body_intrusion": -0.3433431386947632}, "weighted_reward_terms": {"track_linear_velocity": 1.7601591348648071, "track_angular_velocity": 1.8863414525985718, "upright": 0.9702760577201843, "leg_posture": -0.10463179647922516, "standstill": -0.24569490551948547, "action_rate_l2": -0.022179003804922104, "joint_torques_l2": -0.00567069323733449, "dof_pos_limits": -1.0939602361759171e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.004777601920068264, "rolling_leg_motion": -0.028589481487870216, "obstacle_progress": 0.0977310985326767, "wheel_body_intrusion": -0.011528262868523598, "pair_body_intrusion": -0.012578228488564491}, "episode_termination_rates": {"time_out": 0.4797297297297297, "fell_over": 0.02702702702702703, "course_exit": 0.4864864864864865, "illegal_nonwheel_contact": 0.02027027027027027}, "collection_time_s": 0.07561729384120554, "learning_time_s": 0.18514859637944028, "iteration_time_s": 0.3780152015199265, "policy_updates": 13300, "skipped_updates": 0, "invalid_env_resets": 71, "elapsed_s": 5141.006740671, "nonwheel_terminations": 11156, "contact_bce": 0.3216097354888916, "contact_force_loss": 0.024020636454224586, "collision_bce": 0.00036606198409572244, "collision_label_rate": 0.0001837672316469252, "collision_prediction_mean": 0.00016187489381991327, "collision_label_count": 16325.0, "terrain_level_mean": 2.41162109375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [76, 124, 111, 54, 33, 12], "episodes_by_level": [[1120.0, 236.0, 40.0, 0.0], [1001.0, 220.0, 32.0, 0.0], [442.0, 104.0, 18.0, 0.0], [160.0, 46.0, 5.0, 0.0], [54.0, 13.0, 1.0, 0.0], [13.0, 3.0, 1.0, 0.0]]}, "up": {"level_counts": [4, 80, 468, 640, 239, 2], "episodes_by_level": [[686.0, 551.0, 7.0, 0.0], [2246.0, 1358.0, 37.0, 0.0], [3283.0, 1101.0, 163.0, 0.0], [1721.0, 315.0, 162.0, 0.0], [250.0, 3.0, 71.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [0, 3, 10, 40, 118, 443], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [532.0, 476.0, 9.0, 0.0], [744.0, 657.0, 21.0, 0.0], [856.0, 694.0, 25.0, 0.0], [989.0, 743.0, 57.0, 0.0], [1473.0, 1066.0, 118.0, 0.0]]}, "platform": {"level_counts": [83, 153, 99, 65, 10, 0], "episodes_by_level": [[1259.0, 280.0, 47.0, 0.0], [1010.0, 202.0, 52.0, 0.0], [397.0, 84.0, 34.0, 0.0], [111.0, 13.0, 9.0, 0.0], [9.0, 1.0, 3.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [82, 123, 100, 67, 25, 13], "episodes_by_level": [[1156.0, 254.0, 37.0, 0.0], [993.0, 212.0, 53.0, 0.0], [452.0, 112.0, 21.0, 0.0], [155.0, 41.0, 7.0, 0.0], [61.0, 14.0, 3.0, 0.0], [17.0, 4.0, 1.0, 0.0]]}, "rubble": {"level_counts": [151, 303, 242, 108, 15, 0], "episodes_by_level": [[2310.0, 525.0, 85.0, 0.0], [2108.0, 457.0, 112.0, 0.0], [915.0, 174.0, 109.0, 0.0], [255.0, 24.0, 51.0, 0.0], [26.0, 1.0, 9.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 26169, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.233154296875, "command_abs_max": [0.9989144802093506, 0.3995321989059448, 0.6996141672134399]}
{"step": 13650, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 13650, "total_transitions": 55910400, "num_steps_per_env": 1, "wm_loss": 0.9045454859733582, "actor_loss": -9.452489852905273, "critic_loss": 0.004430008120834827, "reward": 0.08540700376033783, "falls": 11, "interval_steps": 50, "velocity_mae": [0.1179119199514389, 0.07639758288860321, 0.139761283993721], "mean_episode_length": 1370.7735849056603, "episode_reward_terms": {"track_linear_velocity": 48.301414489746094, "track_angular_velocity": 51.65108108520508, "upright": 26.578346252441406, "leg_posture": -2.881761074066162, "standstill": -6.888615131378174, "action_rate_l2": -0.6183715462684631, "joint_torques_l2": -0.1560385823249817, "dof_pos_limits": -0.0006044250330887735, "terminated": -0.02945020981132984, "unnecessary_wheel_lift": -0.13542824983596802, "rolling_leg_motion": -0.8072724342346191, "obstacle_progress": 2.7166337966918945, "wheel_body_intrusion": -0.29372382164001465, "pair_body_intrusion": -0.36256346106529236}, "weighted_reward_terms": {"track_linear_velocity": 1.7618306875228882, "track_angular_velocity": 1.884012222290039, "upright": 0.9694653153419495, "leg_posture": -0.1051144078373909, "standstill": -0.2512674331665039, "action_rate_l2": -0.02255556918680668, "joint_torques_l2": -0.00569162517786026, "dof_pos_limits": -2.204685915785376e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.0049398476257920265, "rolling_leg_motion": -0.029445869848132133, "obstacle_progress": 0.09909126907587051, "wheel_body_intrusion": -0.010713797993957996, "pair_body_intrusion": -0.013224775902926922}, "episode_termination_rates": {"time_out": 0.5094339622641509, "fell_over": 0.050314465408805034, "course_exit": 0.42138364779874216, "illegal_nonwheel_contact": 0.03773584905660377}, "collection_time_s": 0.07545576178119517, "learning_time_s": 0.1854081899218727, "iteration_time_s": 0.37758615597604517, "policy_updates": 13350, "skipped_updates": 0, "invalid_env_resets": 71, "elapsed_s": 5154.051029073016, "nonwheel_terminations": 11162, "contact_bce": 0.32216593623161316, "contact_force_loss": 0.02428336814045906, "collision_bce": 1.844718099164311e-05, "collision_label_rate": 6.122948980191723e-05, "collision_prediction_mean": 6.822121940786019e-05, "collision_label_count": 16332.0, "terrain_level_mean": 2.417724609375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [77, 121, 112, 55, 33, 12], "episodes_by_level": [[1122.0, 236.0, 40.0, 0.0], [1007.0, 222.0, 33.0, 0.0], [445.0, 105.0, 18.0, 0.0], [162.0, 46.0, 5.0, 0.0], [57.0, 13.0, 1.0, 0.0], [13.0, 3.0, 1.0, 0.0]]}, "up": {"level_counts": [4, 79, 465, 643, 240, 2], "episodes_by_level": [[686.0, 551.0, 7.0, 0.0], [2248.0, 1360.0, 37.0, 0.0], [3300.0, 1106.0, 163.0, 0.0], [1732.0, 318.0, 162.0, 0.0], [256.0, 3.0, 72.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [0, 3, 10, 36, 121, 444], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [532.0, 476.0, 9.0, 0.0], [745.0, 657.0, 21.0, 0.0], [859.0, 697.0, 25.0, 0.0], [994.0, 748.0, 57.0, 0.0], [1485.0, 1076.0, 118.0, 0.0]]}, "platform": {"level_counts": [83, 153, 98, 66, 10, 0], "episodes_by_level": [[1260.0, 281.0, 47.0, 0.0], [1020.0, 202.0, 53.0, 0.0], [400.0, 85.0, 34.0, 0.0], [111.0, 13.0, 9.0, 0.0], [9.0, 1.0, 3.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [82, 122, 100, 68, 25, 13], "episodes_by_level": [[1157.0, 254.0, 37.0, 0.0], [1000.0, 213.0, 53.0, 0.0], [457.0, 113.0, 21.0, 0.0], [156.0, 41.0, 7.0, 0.0], [62.0, 14.0, 3.0, 0.0], [17.0, 4.0, 1.0, 0.0]]}, "rubble": {"level_counts": [148, 302, 245, 108, 16, 0], "episodes_by_level": [[2317.0, 528.0, 85.0, 0.0], [2121.0, 461.0, 112.0, 0.0], [923.0, 176.0, 109.0, 0.0], [260.0, 25.0, 52.0, 0.0], [26.0, 1.0, 9.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 26299, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.236083984375, "command_abs_max": [0.9989144802093506, 0.3995321989059448, 0.6996141672134399]}
{"step": 13700, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 13700, "total_transitions": 56115200, "num_steps_per_env": 1, "wm_loss": 0.9292218089103699, "actor_loss": -9.423949241638184, "critic_loss": 0.003909523133188486, "reward": 0.08555685728788376, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11834347993135452, 0.07610809803009033, 0.13778352737426758], "mean_episode_length": 1368.2189781021898, "episode_reward_terms": {"track_linear_velocity": 48.17509078979492, "track_angular_velocity": 51.631351470947266, "upright": 26.51535987854004, "leg_posture": -2.8827459812164307, "standstill": -6.800220489501953, "action_rate_l2": -0.5940819978713989, "joint_torques_l2": -0.15757983922958374, "dof_pos_limits": -0.0006822436698712409, "terminated": -0.021378418430685997, "unnecessary_wheel_lift": -0.12391339987516403, "rolling_leg_motion": -0.7904917001724243, "obstacle_progress": 2.776395797729492, "wheel_body_intrusion": -0.3000764846801758, "pair_body_intrusion": -0.3665107786655426}, "weighted_reward_terms": {"track_linear_velocity": 1.7605037689208984, "track_angular_velocity": 1.8868087530136108, "upright": 0.9689735770225525, "leg_posture": -0.10534665733575821, "standstill": -0.24850629270076752, "action_rate_l2": -0.021710049360990524, "joint_torques_l2": -0.005758575163781643, "dof_pos_limits": -2.4931816369644366e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.004528273828327656, "rolling_leg_motion": -0.028887616470456123, "obstacle_progress": 0.10146021842956543, "wheel_body_intrusion": -0.010965952649712563, "pair_body_intrusion": -0.01339371781796217}, "episode_termination_rates": {"time_out": 0.48905109489051096, "fell_over": 0.0364963503649635, "course_exit": 0.45255474452554745, "illegal_nonwheel_contact": 0.021897810218978103}, "collection_time_s": 0.07547067091916687, "learning_time_s": 0.1849702441797126, "iteration_time_s": 0.37715869990766326, "policy_updates": 13400, "skipped_updates": 0, "invalid_env_resets": 71, "elapsed_s": 5167.074188734987, "nonwheel_terminations": 11165, "contact_bce": 0.33363765478134155, "contact_force_loss": 0.025916937738656998, "collision_bce": 8.957718091551214e-05, "collision_label_rate": 6.123323692008853e-05, "collision_prediction_mean": 8.374867320526391e-05, "collision_label_count": 16331.0, "terrain_level_mean": 2.42138671875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [77, 121, 113, 53, 34, 12], "episodes_by_level": [[1124.0, 236.0, 40.0, 0.0], [1011.0, 222.0, 33.0, 0.0], [447.0, 105.0, 18.0, 0.0], [167.0, 47.0, 6.0, 0.0], [58.0, 13.0, 1.0, 0.0], [13.0, 3.0, 1.0, 0.0]]}, "up": {"level_counts": [4, 80, 460, 644, 243, 2], "episodes_by_level": [[686.0, 551.0, 7.0, 0.0], [2250.0, 1361.0, 37.0, 0.0], [3314.0, 1112.0, 163.0, 0.0], [1748.0, 322.0, 163.0, 0.0], [261.0, 3.0, 73.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [0, 3, 10, 36, 120, 445], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [532.0, 476.0, 9.0, 0.0], [745.0, 657.0, 21.0, 0.0], [859.0, 697.0, 25.0, 0.0], [997.0, 751.0, 57.0, 0.0], [1505.0, 1090.0, 119.0, 0.0]]}, "platform": {"level_counts": [83, 152, 99, 66, 10, 0], "episodes_by_level": [[1261.0, 281.0, 47.0, 0.0], [1025.0, 203.0, 53.0, 0.0], [401.0, 85.0, 34.0, 0.0], [111.0, 13.0, 9.0, 0.0], [9.0, 1.0, 3.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [82, 121, 100, 69, 25, 13], "episodes_by_level": [[1160.0, 254.0, 37.0, 0.0], [1003.0, 214.0, 53.0, 0.0], [459.0, 114.0, 21.0, 0.0], [160.0, 41.0, 7.0, 0.0], [62.0, 14.0, 3.0, 0.0], [17.0, 4.0, 1.0, 0.0]]}, "rubble": {"level_counts": [148, 299, 246, 110, 16, 0], "episodes_by_level": [[2320.0, 528.0, 85.0, 0.0], [2133.0, 464.0, 112.0, 0.0], [929.0, 178.0, 109.0, 0.0], [261.0, 25.0, 52.0, 0.0], [26.0, 1.0, 9.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 26430, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234619140625, "command_abs_max": [0.9989144802093506, 0.3995321989059448, 0.6996141672134399]}
{"step": 13750, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 13750, "total_transitions": 56320000, "num_steps_per_env": 1, "wm_loss": 0.9018898010253906, "actor_loss": -9.466300010681152, "critic_loss": 0.0032219705171883106, "reward": 0.08550106734037399, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11791400611400604, 0.07614535093307495, 0.138011172413826], "mean_episode_length": 1328.1052631578948, "episode_reward_terms": {"track_linear_velocity": 46.810604095458984, "track_angular_velocity": 50.10523986816406, "upright": 25.724063873291016, "leg_posture": -2.811178684234619, "standstill": -6.677656173706055, "action_rate_l2": -0.5809229016304016, "joint_torques_l2": -0.15269140899181366, "dof_pos_limits": -0.0007617281517013907, "terminated": -0.015563732013106346, "unnecessary_wheel_lift": -0.14042459428310394, "rolling_leg_motion": -0.7754348516464233, "obstacle_progress": 2.6603505611419678, "wheel_body_intrusion": -0.28595203161239624, "pair_body_intrusion": -0.3052820563316345}, "weighted_reward_terms": {"track_linear_velocity": 1.76230788230896, "track_angular_velocity": 1.886343002319336, "upright": 0.9684497714042664, "leg_posture": -0.10583417862653732, "standstill": -0.25139787793159485, "action_rate_l2": -0.021870365366339684, "joint_torques_l2": -0.005748467985540628, "dof_pos_limits": -2.8677253794739954e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.005286651663482189, "rolling_leg_motion": -0.029193274676799774, "obstacle_progress": 0.10015586763620377, "wheel_body_intrusion": -0.010765413753688335, "pair_body_intrusion": -0.011493142694234848}, "episode_termination_rates": {"time_out": 0.48026315789473684, "fell_over": 0.03289473684210526, "course_exit": 0.48026315789473684, "illegal_nonwheel_contact": 0.019736842105263157}, "collection_time_s": 0.07586019292124548, "learning_time_s": 0.18586880255839788, "iteration_time_s": 0.37673903276116416, "policy_updates": 13450, "skipped_updates": 0, "invalid_env_resets": 71, "elapsed_s": 5180.1617004660075, "nonwheel_terminations": 11168, "contact_bce": 0.31987157464027405, "contact_force_loss": 0.023607322946190834, "collision_bce": 5.061306001152843e-05, "collision_label_rate": 6.113964627729729e-05, "collision_prediction_mean": 6.348787428578362e-05, "collision_label_count": 16356.0, "terrain_level_mean": 2.428955078125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [76, 122, 113, 53, 34, 12], "episodes_by_level": [[1126.0, 237.0, 40.0, 0.0], [1018.0, 222.0, 33.0, 0.0], [450.0, 105.0, 18.0, 0.0], [167.0, 47.0, 6.0, 0.0], [59.0, 13.0, 1.0, 0.0], [14.0, 3.0, 1.0, 0.0]]}, "up": {"level_counts": [3, 80, 452, 647, 249, 2], "episodes_by_level": [[687.0, 552.0, 7.0, 0.0], [2254.0, 1362.0, 37.0, 0.0], [3334.0, 1124.0, 163.0, 0.0], [1766.0, 330.0, 165.0, 0.0], [265.0, 3.0, 75.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [0, 3, 10, 36, 115, 450], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [532.0, 476.0, 9.0, 0.0], [745.0, 657.0, 21.0, 0.0], [859.0, 697.0, 25.0, 0.0], [1004.0, 756.0, 57.0, 0.0], [1522.0, 1102.0, 119.0, 0.0]]}, "platform": {"level_counts": [83, 152, 99, 65, 11, 0], "episodes_by_level": [[1263.0, 281.0, 47.0, 0.0], [1029.0, 203.0, 53.0, 0.0], [406.0, 85.0, 34.0, 0.0], [114.0, 14.0, 9.0, 0.0], [9.0, 1.0, 3.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [80, 123, 99, 69, 26, 13], "episodes_by_level": [[1165.0, 256.0, 37.0, 0.0], [1005.0, 214.0, 53.0, 0.0], [461.0, 115.0, 21.0, 0.0], [162.0, 42.0, 7.0, 0.0], [64.0, 14.0, 3.0, 0.0], [17.0, 4.0, 1.0, 0.0]]}, "rubble": {"level_counts": [147, 300, 244, 112, 16, 0], "episodes_by_level": [[2323.0, 529.0, 86.0, 0.0], [2144.0, 464.0, 112.0, 0.0], [938.0, 180.0, 109.0, 0.0], [263.0, 25.0, 52.0, 0.0], [27.0, 1.0, 9.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 26565, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23095703125, "command_abs_max": [0.9985629320144653, 0.3995321989059448, 0.6996141672134399]}
{"step": 13800, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 13800, "total_transitions": 56524800, "num_steps_per_env": 1, "wm_loss": 0.8918824791908264, "actor_loss": -9.479301452636719, "critic_loss": 0.004529175814241171, "reward": 0.08545219898223877, "falls": 14, "interval_steps": 50, "velocity_mae": [0.11789584904909134, 0.07632052898406982, 0.13774509727954865], "mean_episode_length": 1381.105882352941, "episode_reward_terms": {"track_linear_velocity": 48.70533752441406, "track_angular_velocity": 52.127281188964844, "upright": 26.737018585205078, "leg_posture": -2.9498043060302734, "standstill": -7.012040615081787, "action_rate_l2": -0.6099759936332703, "joint_torques_l2": -0.1578410565853119, "dof_pos_limits": -0.0008254358544945717, "terminated": -0.03776460886001587, "unnecessary_wheel_lift": -0.14959663152694702, "rolling_leg_motion": -0.7985163927078247, "obstacle_progress": 2.7789666652679443, "wheel_body_intrusion": -0.3057631552219391, "pair_body_intrusion": -0.30793485045433044}, "weighted_reward_terms": {"track_linear_velocity": 1.7632732391357422, "track_angular_velocity": 1.8871574401855469, "upright": 0.9679569005966187, "leg_posture": -0.10679139941930771, "standstill": -0.25385603308677673, "action_rate_l2": -0.02208288386464119, "joint_torques_l2": -0.005714300088584423, "dof_pos_limits": -2.9883151000831276e-05, "terminated": -0.0013671873603016138, "unnecessary_wheel_lift": -0.005415827967226505, "rolling_leg_motion": -0.028908587992191315, "obstacle_progress": 0.10060658305883408, "wheel_body_intrusion": -0.011069504544138908, "pair_body_intrusion": -0.011148126795887947}, "episode_termination_rates": {"time_out": 0.5, "fell_over": 0.03529411764705882, "course_exit": 0.4294117647058823, "illegal_nonwheel_contact": 0.06470588235294118}, "collection_time_s": 0.07552069816621952, "learning_time_s": 0.18583127117948606, "iteration_time_s": 0.3763210408107978, "policy_updates": 13500, "skipped_updates": 0, "invalid_env_resets": 71, "elapsed_s": 5193.23036318901, "nonwheel_terminations": 11179, "contact_bce": 0.32343095541000366, "contact_force_loss": 0.024819735437631607, "collision_bce": 0.0007919083582237363, "collision_label_rate": 0.00012254902685526758, "collision_prediction_mean": 2.203725125582423e-05, "collision_label_count": 16320.0, "terrain_level_mean": 2.43359375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [76, 122, 113, 54, 32, 13], "episodes_by_level": [[1128.0, 237.0, 42.0, 0.0], [1022.0, 222.0, 33.0, 0.0], [460.0, 105.0, 18.0, 0.0], [169.0, 47.0, 6.0, 0.0], [61.0, 14.0, 2.0, 0.0], [15.0, 3.0, 1.0, 0.0]]}, "up": {"level_counts": [3, 79, 445, 650, 254, 2], "episodes_by_level": [[687.0, 552.0, 7.0, 0.0], [2256.0, 1364.0, 37.0, 0.0], [3356.0, 1134.0, 163.0, 0.0], [1780.0, 336.0, 166.0, 0.0], [272.0, 3.0, 76.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [0, 3, 10, 34, 116, 451], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [532.0, 476.0, 9.0, 0.0], [746.0, 657.0, 21.0, 0.0], [861.0, 699.0, 25.0, 0.0], [1009.0, 759.0, 57.0, 0.0], [1538.0, 1112.0, 120.0, 0.0]]}, "platform": {"level_counts": [82, 153, 98, 66, 11, 0], "episodes_by_level": [[1265.0, 282.0, 47.0, 0.0], [1032.0, 203.0, 53.0, 0.0], [409.0, 86.0, 34.0, 0.0], [116.0, 14.0, 9.0, 0.0], [9.0, 1.0, 3.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [79, 124, 99, 69, 26, 13], "episodes_by_level": [[1170.0, 257.0, 37.0, 0.0], [1008.0, 214.0, 53.0, 0.0], [466.0, 115.0, 21.0, 0.0], [162.0, 42.0, 7.0, 0.0], [64.0, 14.0, 3.0, 0.0], [18.0, 4.0, 1.0, 0.0]]}, "rubble": {"level_counts": [147, 303, 239, 114, 16, 0], "episodes_by_level": [[2325.0, 529.0, 86.0, 0.0], [2151.0, 465.0, 112.0, 0.0], [951.0, 182.0, 113.0, 0.0], [267.0, 26.0, 52.0, 0.0], [28.0, 1.0, 10.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 26708, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.228759765625, "command_abs_max": [0.9991329312324524, 0.3995321989059448, 0.6996240615844727]}
{"step": 13850, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 13850, "total_transitions": 56729600, "num_steps_per_env": 1, "wm_loss": 0.9087539315223694, "actor_loss": -9.491609573364258, "critic_loss": 0.0042353542521595955, "reward": 0.08562669903039932, "falls": 13, "interval_steps": 50, "velocity_mae": [0.11735415458679199, 0.07538437098264694, 0.1365644335746765], "mean_episode_length": 1320.9454545454546, "episode_reward_terms": {"track_linear_velocity": 46.63138198852539, "track_angular_velocity": 49.90591049194336, "upright": 25.567670822143555, "leg_posture": -2.752565860748291, "standstill": -6.578056335449219, "action_rate_l2": -0.5995478630065918, "joint_torques_l2": -0.15085670351982117, "dof_pos_limits": -0.0005261035985313356, "terminated": -0.033539626747369766, "unnecessary_wheel_lift": -0.14017212390899658, "rolling_leg_motion": -0.7892888784408569, "obstacle_progress": 2.6445746421813965, "wheel_body_intrusion": -0.2836844325065613, "pair_body_intrusion": -0.3131072223186493}, "weighted_reward_terms": {"track_linear_velocity": 1.7650761604309082, "track_angular_velocity": 1.8890224695205688, "upright": 0.9677792191505432, "leg_posture": -0.10418923944234848, "standstill": -0.2489904761314392, "action_rate_l2": -0.022693892940878868, "joint_torques_l2": -0.005710179451853037, "dof_pos_limits": -1.9913904907298274e-05, "terminated": -0.0012695310870185494, "unnecessary_wheel_lift": -0.005305750295519829, "rolling_leg_motion": -0.02987590990960598, "obstacle_progress": 0.10010159015655518, "wheel_body_intrusion": -0.010737931355834007, "pair_body_intrusion": -0.01185163389891386}, "episode_termination_rates": {"time_out": 0.46060606060606063, "fell_over": 0.048484848484848485, "course_exit": 0.4666666666666667, "illegal_nonwheel_contact": 0.05454545454545454}, "collection_time_s": 0.0756295624456834, "learning_time_s": 0.18543981357710437, "iteration_time_s": 0.3759050472163165, "policy_updates": 13550, "skipped_updates": 0, "invalid_env_resets": 71, "elapsed_s": 5206.284903945983, "nonwheel_terminations": 11188, "contact_bce": 0.32329949736595154, "contact_force_loss": 0.02414456196129322, "collision_bce": 1.2907466953038238e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.2700725164904725e-05, "collision_label_count": 16345.0, "terrain_level_mean": 2.441162109375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [76, 121, 114, 53, 33, 13], "episodes_by_level": [[1130.0, 237.0, 42.0, 0.0], [1026.0, 223.0, 33.0, 0.0], [461.0, 105.0, 18.0, 0.0], [172.0, 48.0, 6.0, 0.0], [64.0, 14.0, 2.0, 0.0], [15.0, 3.0, 1.0, 0.0]]}, "up": {"level_counts": [2, 79, 435, 656, 259, 2], "episodes_by_level": [[688.0, 553.0, 7.0, 0.0], [2257.0, 1365.0, 37.0, 0.0], [3377.0, 1149.0, 163.0, 0.0], [1800.0, 341.0, 170.0, 0.0], [277.0, 3.0, 77.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "down": {"level_counts": [0, 3, 10, 33, 118, 450], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [532.0, 476.0, 9.0, 0.0], [746.0, 657.0, 21.0, 0.0], [863.0, 700.0, 25.0, 0.0], [1011.0, 761.0, 57.0, 0.0], [1556.0, 1125.0, 121.0, 0.0]]}, "platform": {"level_counts": [82, 152, 98, 68, 10, 0], "episodes_by_level": [[1267.0, 282.0, 47.0, 0.0], [1038.0, 204.0, 53.0, 0.0], [411.0, 87.0, 34.0, 0.0], [117.0, 14.0, 9.0, 0.0], [10.0, 1.0, 4.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [79, 124, 97, 69, 28, 13], "episodes_by_level": [[1172.0, 257.0, 37.0, 0.0], [1010.0, 214.0, 53.0, 0.0], [474.0, 117.0, 21.0, 0.0], [165.0, 44.0, 7.0, 0.0], [65.0, 14.0, 3.0, 0.0], [18.0, 4.0, 1.0, 0.0]]}, "rubble": {"level_counts": [147, 300, 240, 115, 17, 0], "episodes_by_level": [[2333.0, 531.0, 86.0, 0.0], [2160.0, 468.0, 114.0, 0.0], [961.0, 185.0, 113.0, 0.0], [271.0, 27.0, 53.0, 0.0], [28.0, 1.0, 10.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 26856, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.227294921875, "command_abs_max": [0.9991329312324524, 0.399330198764801, 0.6996240615844727]}
{"step": 13900, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 13900, "total_transitions": 56934400, "num_steps_per_env": 1, "wm_loss": 0.8977355360984802, "actor_loss": -9.47607421875, "critic_loss": 0.004438191186636686, "reward": 0.08612237125635147, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11444618552923203, 0.07416865229606628, 0.1361437886953354], "mean_episode_length": 1405.6691176470588, "episode_reward_terms": {"track_linear_velocity": 49.82236862182617, "track_angular_velocity": 53.125404357910156, "upright": 27.228973388671875, "leg_posture": -2.9384922981262207, "standstill": -6.650815963745117, "action_rate_l2": -0.6253831386566162, "joint_torques_l2": -0.16062457859516144, "dof_pos_limits": -0.000786640914157033, "terminated": -0.01921813003718853, "unnecessary_wheel_lift": -0.12515155971050262, "rolling_leg_motion": -0.8014724850654602, "obstacle_progress": 2.8633873462677, "wheel_body_intrusion": -0.30213436484336853, "pair_body_intrusion": -0.35649189352989197}, "weighted_reward_terms": {"track_linear_velocity": 1.7721941471099854, "track_angular_velocity": 1.8896838426589966, "upright": 0.9685413837432861, "leg_posture": -0.10452290624380112, "standstill": -0.23657119274139404, "action_rate_l2": -0.02224503457546234, "joint_torques_l2": -0.005713456775993109, "dof_pos_limits": -2.7981013772659935e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.004451672546565533, "rolling_leg_motion": -0.02850857749581337, "obstacle_progress": 0.10185140371322632, "wheel_body_intrusion": -0.010746994987130165, "pair_body_intrusion": -0.012680506333708763}, "episode_termination_rates": {"time_out": 0.5147058823529411, "fell_over": 0.03676470588235294, "course_exit": 0.4338235294117647, "illegal_nonwheel_contact": 0.022058823529411766}, "collection_time_s": 0.07583036238327623, "learning_time_s": 0.18478248447761872, "iteration_time_s": 0.3754904074064019, "policy_updates": 13600, "skipped_updates": 0, "invalid_env_resets": 72, "elapsed_s": 5219.316662948986, "nonwheel_terminations": 11191, "contact_bce": 0.3230355978012085, "contact_force_loss": 0.02416926994919777, "collision_bce": 0.00023321951448451728, "collision_label_rate": 0.00012233913003001362, "collision_prediction_mean": 8.934600919019431e-05, "collision_label_count": 16348.0, "terrain_level_mean": 2.444091796875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [74, 123, 114, 53, 33, 13], "episodes_by_level": [[1133.0, 239.0, 42.0, 0.0], [1031.0, 223.0, 33.0, 0.0], [463.0, 105.0, 18.0, 0.0], [172.0, 48.0, 6.0, 0.0], [65.0, 14.0, 2.0, 0.0], [15.0, 3.0, 1.0, 0.0]]}, "up": {"level_counts": [1, 78, 435, 656, 262, 1], "episodes_by_level": [[689.0, 554.0, 7.0, 0.0], [2261.0, 1367.0, 37.0, 0.0], [3389.0, 1153.0, 163.0, 0.0], [1818.0, 344.0, 172.0, 0.0], [279.0, 3.0, 77.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "down": {"level_counts": [0, 3, 10, 33, 119, 449], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [532.0, 476.0, 9.0, 0.0], [746.0, 657.0, 21.0, 0.0], [863.0, 700.0, 25.0, 0.0], [1013.0, 762.0, 57.0, 0.0], [1574.0, 1138.0, 121.0, 0.0]]}, "platform": {"level_counts": [82, 152, 99, 67, 10, 0], "episodes_by_level": [[1268.0, 282.0, 47.0, 0.0], [1042.0, 204.0, 53.0, 0.0], [412.0, 87.0, 34.0, 0.0], [120.0, 14.0, 10.0, 0.0], [10.0, 1.0, 4.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [79, 123, 97, 69, 29, 13], "episodes_by_level": [[1176.0, 257.0, 37.0, 0.0], [1013.0, 215.0, 53.0, 0.0], [477.0, 118.0, 21.0, 0.0], [168.0, 45.0, 7.0, 0.0], [65.0, 14.0, 3.0, 0.0], [18.0, 4.0, 1.0, 0.0]]}, "rubble": {"level_counts": [146, 301, 240, 113, 19, 0], "episodes_by_level": [[2337.0, 532.0, 86.0, 0.0], [2169.0, 468.0, 114.0, 0.0], [966.0, 185.0, 113.0, 0.0], [275.0, 29.0, 53.0, 0.0], [28.0, 1.0, 10.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 26999, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22607421875, "command_abs_max": [0.9991329312324524, 0.399330198764801, 0.6996240615844727]}
{"step": 13950, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 13950, "total_transitions": 57139200, "num_steps_per_env": 1, "wm_loss": 0.8533638119697571, "actor_loss": -9.44931411743164, "critic_loss": 0.0034016973804682493, "reward": 0.08561785519123077, "falls": 12, "interval_steps": 50, "velocity_mae": [0.11662639677524567, 0.07442640513181686, 0.13884225487709045], "mean_episode_length": 1385.5341614906831, "episode_reward_terms": {"track_linear_velocity": 48.962547302246094, "track_angular_velocity": 52.25094985961914, "upright": 26.850849151611328, "leg_posture": -2.8815524578094482, "standstill": -6.991342544555664, "action_rate_l2": -0.6002559661865234, "joint_torques_l2": -0.1573142558336258, "dof_pos_limits": -0.0007576221833005548, "terminated": -0.03247345611453056, "unnecessary_wheel_lift": -0.14833857119083405, "rolling_leg_motion": -0.7995318174362183, "obstacle_progress": 2.7766506671905518, "wheel_body_intrusion": -0.2951854169368744, "pair_body_intrusion": -0.3077778220176697}, "weighted_reward_terms": {"track_linear_velocity": 1.766919493675232, "track_angular_velocity": 1.8855886459350586, "upright": 0.9689710736274719, "leg_posture": -0.10398706048727036, "standstill": -0.2522977292537689, "action_rate_l2": -0.021661536768078804, "joint_torques_l2": -0.005677025765180588, "dof_pos_limits": -2.7340436645317823e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.005353118758648634, "rolling_leg_motion": -0.028852837160229683, "obstacle_progress": 0.10020145773887634, "wheel_body_intrusion": -0.010652405209839344, "pair_body_intrusion": -0.011106829158961773}, "episode_termination_rates": {"time_out": 0.5093167701863354, "fell_over": 0.043478260869565216, "course_exit": 0.4161490683229814, "illegal_nonwheel_contact": 0.037267080745341616}, "collection_time_s": 0.07551237037638202, "learning_time_s": 0.1839466449804604, "iteration_time_s": 0.3750746044675998, "policy_updates": 13650, "skipped_updates": 0, "invalid_env_resets": 72, "elapsed_s": 5232.290732323017, "nonwheel_terminations": 11197, "contact_bce": 0.3189254105091095, "contact_force_loss": 0.023383326828479767, "collision_bce": 5.392277671489865e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 5.455312475532992e-06, "collision_label_count": 16367.0, "terrain_level_mean": 2.4482421875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [73, 125, 111, 54, 34, 13], "episodes_by_level": [[1137.0, 240.0, 42.0, 0.0], [1033.0, 223.0, 33.0, 0.0], [469.0, 107.0, 19.0, 0.0], [173.0, 49.0, 6.0, 0.0], [67.0, 14.0, 2.0, 0.0], [15.0, 3.0, 1.0, 0.0]]}, "up": {"level_counts": [1, 76, 437, 653, 265, 1], "episodes_by_level": [[689.0, 554.0, 7.0, 0.0], [2264.0, 1369.0, 37.0, 0.0], [3398.0, 1157.0, 163.0, 0.0], [1842.0, 349.0, 176.0, 0.0], [283.0, 3.0, 77.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "down": {"level_counts": [0, 3, 10, 33, 115, 453], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [532.0, 476.0, 9.0, 0.0], [746.0, 657.0, 21.0, 0.0], [864.0, 701.0, 25.0, 0.0], [1018.0, 766.0, 57.0, 0.0], [1591.0, 1150.0, 121.0, 0.0]]}, "platform": {"level_counts": [82, 152, 99, 66, 11, 0], "episodes_by_level": [[1270.0, 282.0, 47.0, 0.0], [1049.0, 205.0, 53.0, 0.0], [415.0, 87.0, 35.0, 0.0], [121.0, 15.0, 10.0, 0.0], [10.0, 1.0, 4.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [79, 123, 97, 68, 30, 13], "episodes_by_level": [[1178.0, 257.0, 37.0, 0.0], [1017.0, 215.0, 53.0, 0.0], [478.0, 118.0, 21.0, 0.0], [170.0, 46.0, 7.0, 0.0], [65.0, 14.0, 3.0, 0.0], [18.0, 4.0, 1.0, 0.0]]}, "rubble": {"level_counts": [144, 303, 239, 114, 19, 0], "episodes_by_level": [[2345.0, 534.0, 86.0, 0.0], [2183.0, 469.0, 114.0, 0.0], [974.0, 187.0, 114.0, 0.0], [279.0, 29.0, 54.0, 0.0], [28.0, 1.0, 10.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 27135, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22607421875, "command_abs_max": [0.9991329312324524, 0.399330198764801, 0.6996240615844727]}
{"step": 14000, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 14000, "total_transitions": 57344000, "num_steps_per_env": 1, "wm_loss": 0.90232253074646, "actor_loss": -9.47922134399414, "critic_loss": 0.007263645064085722, "reward": 0.08606888353824615, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11326663941144943, 0.07307059317827225, 0.13708871603012085], "mean_episode_length": 1420.4516129032259, "episode_reward_terms": {"track_linear_velocity": 50.45587921142578, "track_angular_velocity": 53.6508674621582, "upright": 27.549463272094727, "leg_posture": -2.9551093578338623, "standstill": -6.872018814086914, "action_rate_l2": -0.6151759624481201, "joint_torques_l2": -0.16052228212356567, "dof_pos_limits": -0.0010016532614827156, "terminated": -0.019420236349105835, "unnecessary_wheel_lift": -0.13084179162979126, "rolling_leg_motion": -0.8235634565353394, "obstacle_progress": 2.8600146770477295, "wheel_body_intrusion": -0.31413906812667847, "pair_body_intrusion": -0.367698609828949}, "weighted_reward_terms": {"track_linear_velocity": 1.7760505676269531, "track_angular_velocity": 1.8885143995285034, "upright": 0.9697430729866028, "leg_posture": -0.10402006655931473, "standstill": -0.24189555644989014, "action_rate_l2": -0.021654238924384117, "joint_torques_l2": -0.00565039599314332, "dof_pos_limits": -3.525826832628809e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.004605640657246113, "rolling_leg_motion": -0.02898949384689331, "obstacle_progress": 0.10067272186279297, "wheel_body_intrusion": -0.01105771865695715, "pair_body_intrusion": -0.012943017296493053}, "episode_termination_rates": {"time_out": 0.5419354838709678, "fell_over": 0.025806451612903226, "course_exit": 0.4129032258064516, "illegal_nonwheel_contact": 0.03870967741935484}, "collection_time_s": 0.07555621554492972, "learning_time_s": 0.18562399211456068, "iteration_time_s": 0.37466791780385705, "policy_updates": 13700, "skipped_updates": 0, "invalid_env_resets": 72, "elapsed_s": 5245.350849253999, "nonwheel_terminations": 11203, "contact_bce": 0.31697750091552734, "contact_force_loss": 0.023345256224274635, "collision_bce": 0.0003749262250494212, "collision_label_rate": 0.000122331635793671, "collision_prediction_mean": 4.778416405315511e-05, "collision_label_count": 16349.0, "terrain_level_mean": 2.45361328125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [73, 124, 111, 55, 34, 13], "episodes_by_level": [[1138.0, 240.0, 42.0, 0.0], [1039.0, 224.0, 33.0, 0.0], [473.0, 108.0, 19.0, 0.0], [173.0, 49.0, 6.0, 0.0], [68.0, 14.0, 2.0, 0.0], [15.0, 3.0, 1.0, 0.0]]}, "up": {"level_counts": [1, 76, 432, 653, 269, 2], "episodes_by_level": [[689.0, 554.0, 7.0, 0.0], [2265.0, 1369.0, 37.0, 0.0], [3415.0, 1164.0, 163.0, 0.0], [1860.0, 355.0, 178.0, 0.0], [295.0, 4.0, 78.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "down": {"level_counts": [0, 3, 10, 33, 114, 454], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [532.0, 476.0, 9.0, 0.0], [746.0, 657.0, 21.0, 0.0], [864.0, 701.0, 25.0, 0.0], [1022.0, 769.0, 57.0, 0.0], [1604.0, 1157.0, 121.0, 0.0]]}, "platform": {"level_counts": [82, 150, 101, 66, 11, 0], "episodes_by_level": [[1275.0, 283.0, 47.0, 0.0], [1059.0, 207.0, 54.0, 0.0], [417.0, 87.0, 35.0, 0.0], [123.0, 15.0, 10.0, 0.0], [12.0, 1.0, 4.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [80, 120, 99, 67, 31, 13], "episodes_by_level": [[1178.0, 257.0, 37.0, 0.0], [1022.0, 217.0, 54.0, 0.0], [481.0, 118.0, 21.0, 0.0], [173.0, 47.0, 7.0, 0.0], [66.0, 14.0, 3.0, 0.0], [18.0, 4.0, 1.0, 0.0]]}, "rubble": {"level_counts": [143, 303, 238, 116, 19, 0], "episodes_by_level": [[2349.0, 535.0, 86.0, 0.0], [2193.0, 470.0, 114.0, 0.0], [982.0, 189.0, 114.0, 0.0], [282.0, 29.0, 54.0, 0.0], [28.0, 1.0, 10.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 27265, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.227783203125, "command_abs_max": [0.9992947578430176, 0.399330198764801, 0.6996240615844727]}
{"step": 14050, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 14050, "total_transitions": 57548800, "num_steps_per_env": 1, "wm_loss": 0.9050964713096619, "actor_loss": -9.459210395812988, "critic_loss": 0.010828587226569653, "reward": 0.08614044636487961, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11294975131750107, 0.07357088476419449, 0.13679176568984985], "mean_episode_length": 1349.532894736842, "episode_reward_terms": {"track_linear_velocity": 47.948028564453125, "track_angular_velocity": 50.97793197631836, "upright": 26.224143981933594, "leg_posture": -2.797278881072998, "standstill": -6.45546817779541, "action_rate_l2": -0.5831255912780762, "joint_torques_l2": -0.14972122013568878, "dof_pos_limits": -0.00041908392449840903, "terminated": -0.018450642004609108, "unnecessary_wheel_lift": -0.11571908742189407, "rolling_leg_motion": -0.7755364179611206, "obstacle_progress": 2.6629185676574707, "wheel_body_intrusion": -0.3087006211280823, "pair_body_intrusion": -0.35925745964050293}, "weighted_reward_terms": {"track_linear_velocity": 1.7764676809310913, "track_angular_velocity": 1.8887252807617188, "upright": 0.9716007709503174, "leg_posture": -0.10363879054784775, "standstill": -0.23917418718338013, "action_rate_l2": -0.021604720503091812, "joint_torques_l2": -0.0055471500381827354, "dof_pos_limits": -1.552700086904224e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.004287376068532467, "rolling_leg_motion": -0.0287335142493248, "obstacle_progress": 0.09866075217723846, "wheel_body_intrusion": -0.011437314562499523, "pair_body_intrusion": -0.013310437090694904}, "episode_termination_rates": {"time_out": 0.4407894736842105, "fell_over": 0.02631578947368421, "course_exit": 0.5131578947368421, "illegal_nonwheel_contact": 0.019736842105263157}, "collection_time_s": 0.07557823678362183, "learning_time_s": 0.1837388250255026, "iteration_time_s": 0.37425976561686913, "policy_updates": 13750, "skipped_updates": 0, "invalid_env_resets": 72, "elapsed_s": 5258.349706917012, "nonwheel_terminations": 11206, "contact_bce": 0.31441301107406616, "contact_force_loss": 0.02413043938577175, "collision_bce": 0.00010860482871066779, "collision_label_rate": 6.11733048572205e-05, "collision_prediction_mean": 4.028833063784987e-05, "collision_label_count": 16347.0, "terrain_level_mean": 2.460205078125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [72, 123, 112, 56, 33, 14], "episodes_by_level": [[1142.0, 241.0, 42.0, 0.0], [1042.0, 226.0, 33.0, 0.0], [476.0, 109.0, 19.0, 0.0], [176.0, 49.0, 6.0, 0.0], [71.0, 15.0, 2.0, 0.0], [16.0, 3.0, 1.0, 0.0]]}, "up": {"level_counts": [1, 75, 428, 651, 275, 3], "episodes_by_level": [[689.0, 554.0, 7.0, 0.0], [2267.0, 1370.0, 37.0, 0.0], [3430.0, 1171.0, 163.0, 0.0], [1881.0, 362.0, 180.0, 0.0], [300.0, 5.0, 78.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "down": {"level_counts": [0, 3, 10, 31, 116, 454], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [532.0, 476.0, 9.0, 0.0], [746.0, 657.0, 21.0, 0.0], [866.0, 703.0, 25.0, 0.0], [1026.0, 772.0, 57.0, 0.0], [1620.0, 1167.0, 121.0, 0.0]]}, "platform": {"level_counts": [82, 149, 102, 66, 11, 0], "episodes_by_level": [[1277.0, 283.0, 47.0, 0.0], [1064.0, 208.0, 54.0, 0.0], [419.0, 87.0, 35.0, 0.0], [126.0, 15.0, 10.0, 0.0], [12.0, 1.0, 4.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [80, 119, 99, 67, 32, 13], "episodes_by_level": [[1179.0, 257.0, 37.0, 0.0], [1029.0, 218.0, 54.0, 0.0], [487.0, 119.0, 21.0, 0.0], [175.0, 48.0, 7.0, 0.0], [67.0, 14.0, 3.0, 0.0], [18.0, 4.0, 1.0, 0.0]]}, "rubble": {"level_counts": [142, 304, 238, 115, 20, 0], "episodes_by_level": [[2352.0, 536.0, 87.0, 0.0], [2197.0, 470.0, 114.0, 0.0], [987.0, 190.0, 114.0, 0.0], [287.0, 30.0, 55.0, 0.0], [28.0, 1.0, 10.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 27395, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22998046875, "command_abs_max": [0.9992947578430176, 0.399330198764801, 0.6979891657829285]}
{"step": 14100, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 14100, "total_transitions": 57753600, "num_steps_per_env": 1, "wm_loss": 0.8783971071243286, "actor_loss": -9.466059684753418, "critic_loss": 0.005678009707480669, "reward": 0.0858258530497551, "falls": 11, "interval_steps": 50, "velocity_mae": [0.11449573189020157, 0.07466182112693787, 0.13679558038711548], "mean_episode_length": 1330.8859060402685, "episode_reward_terms": {"track_linear_velocity": 47.19609832763672, "track_angular_velocity": 50.281009674072266, "upright": 25.831830978393555, "leg_posture": -2.796593427658081, "standstill": -6.555951118469238, "action_rate_l2": -0.5849516987800598, "joint_torques_l2": -0.1491880863904953, "dof_pos_limits": -0.00034143676748499274, "terminated": -0.02859324775636196, "unnecessary_wheel_lift": -0.13420580327510834, "rolling_leg_motion": -0.778236448764801, "obstacle_progress": 2.5776519775390625, "wheel_body_intrusion": -0.3103257715702057, "pair_body_intrusion": -0.3238052427768707}, "weighted_reward_terms": {"track_linear_velocity": 1.7731084823608398, "track_angular_velocity": 1.889005422592163, "upright": 0.9704751372337341, "leg_posture": -0.10506511479616165, "standstill": -0.24630026519298553, "action_rate_l2": -0.021976027637720108, "joint_torques_l2": -0.005604841746389866, "dof_pos_limits": -1.282742596231401e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.005041972734034061, "rolling_leg_motion": -0.02923753671348095, "obstacle_progress": 0.09683971107006073, "wheel_body_intrusion": -0.011658617295324802, "pair_body_intrusion": -0.012165027670562267}, "episode_termination_rates": {"time_out": 0.4899328859060403, "fell_over": 0.04697986577181208, "course_exit": 0.436241610738255, "illegal_nonwheel_contact": 0.04697986577181208}, "collection_time_s": 0.07558953518164344, "learning_time_s": 0.18572950779809616, "iteration_time_s": 0.37385934047687863, "policy_updates": 13800, "skipped_updates": 0, "invalid_env_resets": 72, "elapsed_s": 5271.4167007239885, "nonwheel_terminations": 11213, "contact_bce": 0.31558454036712646, "contact_force_loss": 0.022745812311768532, "collision_bce": 0.0002831951424013823, "collision_label_rate": 0.00012232415610924363, "collision_prediction_mean": 8.100050035864115e-05, "collision_label_count": 16350.0, "terrain_level_mean": 2.465576171875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [71, 123, 113, 55, 34, 14], "episodes_by_level": [[1143.0, 242.0, 42.0, 0.0], [1049.0, 227.0, 33.0, 0.0], [476.0, 109.0, 19.0, 0.0], [178.0, 50.0, 6.0, 0.0], [71.0, 15.0, 2.0, 0.0], [16.0, 3.0, 1.0, 0.0]]}, "up": {"level_counts": [1, 75, 421, 654, 279, 3], "episodes_by_level": [[689.0, 554.0, 7.0, 0.0], [2271.0, 1371.0, 37.0, 0.0], [3445.0, 1179.0, 164.0, 0.0], [1894.0, 368.0, 181.0, 0.0], [310.0, 5.0, 79.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "down": {"level_counts": [0, 3, 9, 28, 120, 454], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [532.0, 476.0, 9.0, 0.0], [747.0, 658.0, 21.0, 0.0], [869.0, 706.0, 25.0, 0.0], [1030.0, 775.0, 57.0, 0.0], [1635.0, 1176.0, 122.0, 0.0]]}, "platform": {"level_counts": [82, 149, 101, 67, 11, 0], "episodes_by_level": [[1280.0, 283.0, 47.0, 0.0], [1066.0, 208.0, 54.0, 0.0], [424.0, 88.0, 35.0, 0.0], [127.0, 15.0, 10.0, 0.0], [12.0, 1.0, 4.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [80, 119, 98, 67, 33, 13], "episodes_by_level": [[1182.0, 257.0, 37.0, 0.0], [1032.0, 218.0, 54.0, 0.0], [491.0, 120.0, 21.0, 0.0], [176.0, 49.0, 7.0, 0.0], [67.0, 14.0, 3.0, 0.0], [18.0, 4.0, 1.0, 0.0]]}, "rubble": {"level_counts": [141, 308, 233, 117, 20, 0], "episodes_by_level": [[2360.0, 538.0, 87.0, 0.0], [2202.0, 470.0, 115.0, 0.0], [996.0, 192.0, 117.0, 0.0], [288.0, 30.0, 55.0, 0.0], [28.0, 1.0, 10.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 27518, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2294921875, "command_abs_max": [0.9992947578430176, 0.399330198764801, 0.6979891657829285]}
{"step": 14150, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 14150, "total_transitions": 57958400, "num_steps_per_env": 1, "wm_loss": 0.8249073624610901, "actor_loss": -9.497589111328125, "critic_loss": 0.0038175799418240786, "reward": 0.08596421033143997, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11489202082157135, 0.07306718081235886, 0.13543784618377686], "mean_episode_length": 1415.8841463414635, "episode_reward_terms": {"track_linear_velocity": 50.20726776123047, "track_angular_velocity": 53.541316986083984, "upright": 27.51263427734375, "leg_posture": -2.9438276290893555, "standstill": -6.88624906539917, "action_rate_l2": -0.6195284724235535, "joint_torques_l2": -0.15671175718307495, "dof_pos_limits": -0.0008441656245850027, "terminated": -0.0221231859177351, "unnecessary_wheel_lift": -0.14206193387508392, "rolling_leg_motion": -0.8321979641914368, "obstacle_progress": 2.7037353515625, "wheel_body_intrusion": -0.3105962872505188, "pair_body_intrusion": -0.3354513347148895}, "weighted_reward_terms": {"track_linear_velocity": 1.7730004787445068, "track_angular_velocity": 1.8907380104064941, "upright": 0.9715707898139954, "leg_posture": -0.10395722091197968, "standstill": -0.24317841231822968, "action_rate_l2": -0.021877795457839966, "joint_torques_l2": -0.005534060299396515, "dof_pos_limits": -2.9810547857778147e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.005016721785068512, "rolling_leg_motion": -0.029387926682829857, "obstacle_progress": 0.09547869116067886, "wheel_body_intrusion": -0.010968280956149101, "pair_body_intrusion": -0.011846003122627735}, "episode_termination_rates": {"time_out": 0.5060975609756098, "fell_over": 0.024390243902439025, "course_exit": 0.4451219512195122, "illegal_nonwheel_contact": 0.024390243902439025}, "collection_time_s": 0.0755870478018187, "learning_time_s": 0.1857883121049963, "iteration_time_s": 0.3734619471679858, "policy_updates": 13850, "skipped_updates": 0, "invalid_env_resets": 72, "elapsed_s": 5284.486552426999, "nonwheel_terminations": 11217, "contact_bce": 0.31493520736694336, "contact_force_loss": 0.02272127941250801, "collision_bce": 4.566544248518767e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 4.628857368516037e-06, "collision_label_count": 16361.0, "terrain_level_mean": 2.472412109375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [71, 123, 113, 54, 34, 15], "episodes_by_level": [[1145.0, 242.0, 42.0, 0.0], [1052.0, 227.0, 33.0, 0.0], [481.0, 110.0, 19.0, 0.0], [181.0, 51.0, 7.0, 0.0], [72.0, 16.0, 2.0, 0.0], [16.0, 3.0, 1.0, 0.0]]}, "up": {"level_counts": [1, 76, 412, 656, 285, 3], "episodes_by_level": [[689.0, 554.0, 7.0, 0.0], [2272.0, 1371.0, 37.0, 0.0], [3465.0, 1188.0, 164.0, 0.0], [1912.0, 373.0, 181.0, 0.0], [316.0, 5.0, 79.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "down": {"level_counts": [0, 2, 10, 27, 124, 451], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [533.0, 477.0, 9.0, 0.0], [747.0, 658.0, 21.0, 0.0], [870.0, 707.0, 25.0, 0.0], [1031.0, 776.0, 57.0, 0.0], [1650.0, 1188.0, 123.0, 0.0]]}, "platform": {"level_counts": [81, 149, 102, 64, 14, 0], "episodes_by_level": [[1283.0, 284.0, 47.0, 0.0], [1071.0, 209.0, 54.0, 0.0], [427.0, 88.0, 35.0, 0.0], [130.0, 18.0, 10.0, 0.0], [12.0, 1.0, 4.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [79, 120, 98, 67, 33, 13], "episodes_by_level": [[1186.0, 258.0, 37.0, 0.0], [1036.0, 218.0, 54.0, 0.0], [494.0, 120.0, 21.0, 0.0], [178.0, 49.0, 7.0, 0.0], [68.0, 14.0, 3.0, 0.0], [19.0, 4.0, 1.0, 0.0]]}, "rubble": {"level_counts": [140, 304, 236, 119, 20, 0], "episodes_by_level": [[2366.0, 539.0, 87.0, 0.0], [2217.0, 475.0, 115.0, 0.0], [1006.0, 195.0, 117.0, 0.0], [290.0, 30.0, 56.0, 0.0], [30.0, 1.0, 10.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 27659, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.230224609375, "command_abs_max": [0.9992947578430176, 0.399330198764801, 0.6989103555679321]}
{"step": 14200, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 14200, "total_transitions": 58163200, "num_steps_per_env": 1, "wm_loss": 0.8659762740135193, "actor_loss": -9.48990535736084, "critic_loss": 0.0065857707522809505, "reward": 0.08564417064189911, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11556760221719742, 0.0731237381696701, 0.13547730445861816], "mean_episode_length": 1370.1965811965813, "episode_reward_terms": {"track_linear_velocity": 48.57423400878906, "track_angular_velocity": 51.8021240234375, "upright": 26.578500747680664, "leg_posture": -2.8773186206817627, "standstill": -7.0216193199157715, "action_rate_l2": -0.5880995988845825, "joint_torques_l2": -0.1533118486404419, "dof_pos_limits": -0.0008270677062682807, "terminated": -0.01605699025094509, "unnecessary_wheel_lift": -0.14461025595664978, "rolling_leg_motion": -0.7970423698425293, "obstacle_progress": 2.625598907470703, "wheel_body_intrusion": -0.3039161264896393, "pair_body_intrusion": -0.32830318808555603}, "weighted_reward_terms": {"track_linear_velocity": 1.772528052330017, "track_angular_velocity": 1.8903173208236694, "upright": 0.969879150390625, "leg_posture": -0.10499656200408936, "standstill": -0.25622671842575073, "action_rate_l2": -0.021460410207509995, "joint_torques_l2": -0.00559452036395669, "dof_pos_limits": -3.018062488990836e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.005276989657431841, "rolling_leg_motion": -0.02908496744930744, "obstacle_progress": 0.09581103175878525, "wheel_body_intrusion": -0.011090238578617573, "pair_body_intrusion": -0.011980149894952774}, "episode_termination_rates": {"time_out": 0.48717948717948717, "fell_over": 0.03418803418803419, "course_exit": 0.46153846153846156, "illegal_nonwheel_contact": 0.042735042735042736}, "collection_time_s": 0.0754295315768104, "learning_time_s": 0.18578723628073932, "iteration_time_s": 0.37306679308119733, "policy_updates": 13900, "skipped_updates": 0, "invalid_env_resets": 73, "elapsed_s": 5297.548461753002, "nonwheel_terminations": 11222, "contact_bce": 0.3167450726032257, "contact_force_loss": 0.024681294336915016, "collision_bce": 0.00012022582086501643, "collision_label_rate": 6.121449405327439e-05, "collision_prediction_mean": 0.00013222360576037318, "collision_label_count": 16336.0, "terrain_level_mean": 2.478271484375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [71, 121, 114, 55, 34, 15], "episodes_by_level": [[1148.0, 242.0, 42.0, 0.0], [1054.0, 229.0, 33.0, 0.0], [483.0, 111.0, 19.0, 0.0], [181.0, 51.0, 7.0, 0.0], [72.0, 16.0, 2.0, 0.0], [17.0, 3.0, 1.0, 0.0]]}, "up": {"level_counts": [1, 74, 407, 665, 282, 4], "episodes_by_level": [[689.0, 554.0, 7.0, 0.0], [2274.0, 1373.0, 37.0, 0.0], [3478.0, 1196.0, 164.0, 0.0], [1923.0, 374.0, 181.0, 0.0], [326.0, 5.0, 82.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "down": {"level_counts": [0, 2, 8, 30, 118, 456], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [533.0, 477.0, 9.0, 0.0], [748.0, 659.0, 21.0, 0.0], [870.0, 707.0, 25.0, 0.0], [1037.0, 782.0, 57.0, 0.0], [1661.0, 1197.0, 123.0, 0.0]]}, "platform": {"level_counts": [81, 149, 102, 64, 13, 1], "episodes_by_level": [[1285.0, 284.0, 47.0, 0.0], [1074.0, 209.0, 54.0, 0.0], [427.0, 88.0, 35.0, 0.0], [130.0, 18.0, 10.0, 0.0], [13.0, 2.0, 4.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [78, 119, 100, 66, 34, 13], "episodes_by_level": [[1187.0, 259.0, 37.0, 0.0], [1040.0, 220.0, 54.0, 0.0], [496.0, 120.0, 21.0, 0.0], [180.0, 50.0, 7.0, 0.0], [68.0, 14.0, 3.0, 0.0], [19.0, 4.0, 1.0, 0.0]]}, "rubble": {"level_counts": [139, 304, 237, 119, 20, 0], "episodes_by_level": [[2372.0, 540.0, 87.0, 0.0], [2223.0, 476.0, 115.0, 0.0], [1011.0, 195.0, 117.0, 0.0], [292.0, 30.0, 56.0, 0.0], [30.0, 1.0, 10.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 27807, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.230224609375, "command_abs_max": [0.9992947578430176, 0.399330198764801, 0.699883222579956]}
{"step": 14250, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 14250, "total_transitions": 58368000, "num_steps_per_env": 1, "wm_loss": 0.8444308638572693, "actor_loss": -9.47380542755127, "critic_loss": 0.003898391267284751, "reward": 0.08555174618959427, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11567074805498123, 0.07305192947387695, 0.13515205681324005], "mean_episode_length": 1384.9745222929937, "episode_reward_terms": {"track_linear_velocity": 49.08061981201172, "track_angular_velocity": 52.38938522338867, "upright": 26.891254425048828, "leg_posture": -2.870325803756714, "standstill": -7.291244029998779, "action_rate_l2": -0.6136715412139893, "joint_torques_l2": -0.1553197205066681, "dof_pos_limits": -0.00086609908612445, "terminated": -0.02434525080025196, "unnecessary_wheel_lift": -0.1326238512992859, "rolling_leg_motion": -0.8140037655830383, "obstacle_progress": 2.630230665206909, "wheel_body_intrusion": -0.2861330807209015, "pair_body_intrusion": -0.3159662187099457}, "weighted_reward_terms": {"track_linear_velocity": 1.7718961238861084, "track_angular_velocity": 1.8913483619689941, "upright": 0.9708212614059448, "leg_posture": -0.10362377762794495, "standstill": -0.2632266581058502, "action_rate_l2": -0.022154616191983223, "joint_torques_l2": -0.005607313476502895, "dof_pos_limits": -3.126769297523424e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.004787953104823828, "rolling_leg_motion": -0.029386959969997406, "obstacle_progress": 0.0949559286236763, "wheel_body_intrusion": -0.010329904034733772, "pair_body_intrusion": -0.011406932957470417}, "episode_termination_rates": {"time_out": 0.5159235668789809, "fell_over": 0.025477707006369428, "course_exit": 0.4267515923566879, "illegal_nonwheel_contact": 0.03184713375796178}, "collection_time_s": 0.07540099806385114, "learning_time_s": 0.18588474851683714, "iteration_time_s": 0.37267465807207073, "policy_updates": 13950, "skipped_updates": 0, "invalid_env_resets": 73, "elapsed_s": 5310.613877527008, "nonwheel_terminations": 11227, "contact_bce": 0.30903005599975586, "contact_force_loss": 0.0230998694896698, "collision_bce": 0.0002477295056451112, "collision_label_rate": 0.00012224192323628813, "collision_prediction_mean": 4.337127029430121e-05, "collision_label_count": 16361.0, "terrain_level_mean": 2.485595703125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [69, 122, 113, 57, 33, 16], "episodes_by_level": [[1152.0, 244.0, 42.0, 0.0], [1056.0, 230.0, 33.0, 0.0], [490.0, 113.0, 19.0, 0.0], [184.0, 51.0, 7.0, 0.0], [75.0, 17.0, 2.0, 0.0], [17.0, 3.0, 1.0, 0.0]]}, "up": {"level_counts": [1, 71, 406, 662, 289, 4], "episodes_by_level": [[689.0, 554.0, 7.0, 0.0], [2277.0, 1376.0, 37.0, 0.0], [3489.0, 1201.0, 164.0, 0.0], [1939.0, 384.0, 181.0, 0.0], [331.0, 5.0, 83.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "down": {"level_counts": [0, 2, 8, 29, 115, 460], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [533.0, 477.0, 9.0, 0.0], [748.0, 659.0, 21.0, 0.0], [871.0, 708.0, 25.0, 0.0], [1043.0, 787.0, 57.0, 0.0], [1679.0, 1210.0, 123.0, 0.0]]}, "platform": {"level_counts": [81, 149, 100, 66, 13, 1], "episodes_by_level": [[1289.0, 284.0, 47.0, 0.0], [1076.0, 209.0, 54.0, 0.0], [430.0, 90.0, 35.0, 0.0], [131.0, 18.0, 10.0, 0.0], [13.0, 2.0, 4.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [78, 119, 100, 65, 35, 13], "episodes_by_level": [[1188.0, 259.0, 37.0, 0.0], [1040.0, 220.0, 54.0, 0.0], [500.0, 120.0, 21.0, 0.0], [185.0, 51.0, 7.0, 0.0], [69.0, 14.0, 3.0, 0.0], [19.0, 4.0, 1.0, 0.0]]}, "rubble": {"level_counts": [138, 303, 239, 120, 19, 0], "episodes_by_level": [[2377.0, 541.0, 87.0, 0.0], [2233.0, 478.0, 115.0, 0.0], [1017.0, 197.0, 117.0, 0.0], [298.0, 30.0, 58.0, 0.0], [31.0, 1.0, 11.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 27956, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22265625, "command_abs_max": [0.9992947578430176, 0.399330198764801, 0.699883222579956]}
{"step": 14300, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 14300, "total_transitions": 58572800, "num_steps_per_env": 1, "wm_loss": 0.8593134880065918, "actor_loss": -9.499429702758789, "critic_loss": 0.005718314554542303, "reward": 0.0858057513833046, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11730216443538666, 0.07367967814207077, 0.13510361313819885], "mean_episode_length": 1416.5722543352601, "episode_reward_terms": {"track_linear_velocity": 50.068538665771484, "track_angular_velocity": 53.58555603027344, "upright": 27.51654624938965, "leg_posture": -2.978175640106201, "standstill": -6.974341869354248, "action_rate_l2": -0.6222217082977295, "joint_torques_l2": -0.1596125364303589, "dof_pos_limits": -0.0011203141184523702, "terminated": -0.019367197528481483, "unnecessary_wheel_lift": -0.13926291465759277, "rolling_leg_motion": -0.8372948169708252, "obstacle_progress": 2.7260937690734863, "wheel_body_intrusion": -0.31456679105758667, "pair_body_intrusion": -0.30074790120124817}, "weighted_reward_terms": {"track_linear_velocity": 1.767242670059204, "track_angular_velocity": 1.8913809061050415, "upright": 0.9712369441986084, "leg_posture": -0.10511909425258636, "standstill": -0.24616965651512146, "action_rate_l2": -0.021962229162454605, "joint_torques_l2": -0.0056337593123316765, "dof_pos_limits": -3.9543134334962815e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.004915489349514246, "rolling_leg_motion": -0.029553551226854324, "obstacle_progress": 0.09622149169445038, "wheel_body_intrusion": -0.011103097349405289, "pair_body_intrusion": -0.010615339502692223}, "episode_termination_rates": {"time_out": 0.5375722543352601, "fell_over": 0.028901734104046242, "course_exit": 0.42196531791907516, "illegal_nonwheel_contact": 0.017341040462427744}, "collection_time_s": 0.0755774187820498, "learning_time_s": 0.18434509547427297, "iteration_time_s": 0.37228049812580366, "policy_updates": 14000, "skipped_updates": 0, "invalid_env_resets": 73, "elapsed_s": 5323.611123198993, "nonwheel_terminations": 11230, "contact_bce": 0.314218670129776, "contact_force_loss": 0.02390146255493164, "collision_bce": 7.322770670725731e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 7.378956524917157e-06, "collision_label_count": 16335.0, "terrain_level_mean": 2.4931640625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [69, 119, 115, 56, 35, 16], "episodes_by_level": [[1155.0, 244.0, 42.0, 0.0], [1063.0, 233.0, 33.0, 0.0], [492.0, 114.0, 19.0, 0.0], [187.0, 53.0, 7.0, 0.0], [75.0, 17.0, 2.0, 0.0], [18.0, 3.0, 1.0, 0.0]]}, "up": {"level_counts": [1, 71, 399, 667, 290, 5], "episodes_by_level": [[689.0, 554.0, 7.0, 0.0], [2279.0, 1377.0, 37.0, 0.0], [3498.0, 1207.0, 164.0, 0.0], [1954.0, 388.0, 181.0, 0.0], [336.0, 6.0, 85.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "down": {"level_counts": [0, 2, 8, 28, 113, 463], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [533.0, 477.0, 9.0, 0.0], [748.0, 659.0, 21.0, 0.0], [874.0, 710.0, 25.0, 0.0], [1047.0, 791.0, 57.0, 0.0], [1700.0, 1220.0, 123.0, 0.0]]}, "platform": {"level_counts": [81, 148, 100, 66, 14, 1], "episodes_by_level": [[1293.0, 284.0, 47.0, 0.0], [1082.0, 210.0, 54.0, 0.0], [436.0, 91.0, 35.0, 0.0], [135.0, 19.0, 10.0, 0.0], [14.0, 2.0, 4.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [78, 119, 99, 64, 37, 13], "episodes_by_level": [[1190.0, 259.0, 37.0, 0.0], [1044.0, 220.0, 54.0, 0.0], [503.0, 121.0, 21.0, 0.0], [190.0, 53.0, 7.0, 0.0], [71.0, 14.0, 3.0, 0.0], [19.0, 4.0, 1.0, 0.0]]}, "rubble": {"level_counts": [137, 302, 238, 124, 18, 0], "episodes_by_level": [[2381.0, 542.0, 87.0, 0.0], [2249.0, 481.0, 115.0, 0.0], [1028.0, 200.0, 118.0, 0.0], [299.0, 30.0, 58.0, 0.0], [32.0, 1.0, 12.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 28096, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2216796875, "command_abs_max": [0.9985744953155518, 0.39957618713378906, 0.699883222579956]}
{"step": 14350, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 14350, "total_transitions": 58777600, "num_steps_per_env": 1, "wm_loss": 0.7983720898628235, "actor_loss": -9.491354942321777, "critic_loss": 0.005241068545728922, "reward": 0.08595013618469238, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11524507403373718, 0.0727517157793045, 0.13721276819705963], "mean_episode_length": 1378.4295302013422, "episode_reward_terms": {"track_linear_velocity": 48.86276626586914, "track_angular_velocity": 52.054019927978516, "upright": 26.771135330200195, "leg_posture": -2.8396430015563965, "standstill": -6.7777099609375, "action_rate_l2": -0.61781245470047, "joint_torques_l2": -0.15287625789642334, "dof_pos_limits": -0.0009902624879032373, "terminated": -0.01884571462869644, "unnecessary_wheel_lift": -0.11981241405010223, "rolling_leg_motion": -0.7896209359169006, "obstacle_progress": 2.709613800048828, "wheel_body_intrusion": -0.29877886176109314, "pair_body_intrusion": -0.3052581250667572}, "weighted_reward_terms": {"track_linear_velocity": 1.7724071741104126, "track_angular_velocity": 1.8881639242172241, "upright": 0.9710737466812134, "leg_posture": -0.10300283133983612, "standstill": -0.24584896862506866, "action_rate_l2": -0.022410012781620026, "joint_torques_l2": -0.0055453055538237095, "dof_pos_limits": -3.591995482565835e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.00434597535058856, "rolling_leg_motion": -0.028642049059271812, "obstacle_progress": 0.09828626364469528, "wheel_body_intrusion": -0.010837654583156109, "pair_body_intrusion": -0.011072677560150623}, "episode_termination_rates": {"time_out": 0.5369127516778524, "fell_over": 0.020134228187919462, "course_exit": 0.4161073825503356, "illegal_nonwheel_contact": 0.040268456375838924}, "collection_time_s": 0.07544934616074897, "learning_time_s": 0.19273261364200153, "iteration_time_s": 0.3719178647397229, "policy_updates": 14050, "skipped_updates": 0, "invalid_env_resets": 73, "elapsed_s": 5337.021359015023, "nonwheel_terminations": 11236, "contact_bce": 0.3045260012149811, "contact_force_loss": 0.0223388671875, "collision_bce": 0.00012155689182691276, "collision_label_rate": 6.122574268374592e-05, "collision_prediction_mean": 1.5893256204435602e-05, "collision_label_count": 16333.0, "terrain_level_mean": 2.4990234375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [68, 118, 117, 56, 35, 16], "episodes_by_level": [[1164.0, 245.0, 42.0, 0.0], [1067.0, 235.0, 33.0, 0.0], [494.0, 114.0, 19.0, 0.0], [190.0, 53.0, 7.0, 0.0], [75.0, 17.0, 2.0, 0.0], [19.0, 3.0, 1.0, 0.0]]}, "up": {"level_counts": [1, 68, 400, 662, 297, 5], "episodes_by_level": [[689.0, 554.0, 7.0, 0.0], [2282.0, 1380.0, 37.0, 0.0], [3504.0, 1211.0, 164.0, 0.0], [1975.0, 396.0, 181.0, 0.0], [341.0, 6.0, 86.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "down": {"level_counts": [0, 1, 9, 27, 112, 465], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [534.0, 478.0, 9.0, 0.0], [748.0, 659.0, 21.0, 0.0], [875.0, 711.0, 25.0, 0.0], [1049.0, 793.0, 57.0, 0.0], [1717.0, 1231.0, 124.0, 0.0]]}, "platform": {"level_counts": [81, 146, 103, 65, 14, 1], "episodes_by_level": [[1295.0, 284.0, 47.0, 0.0], [1086.0, 212.0, 54.0, 0.0], [440.0, 91.0, 35.0, 0.0], [137.0, 19.0, 11.0, 0.0], [14.0, 2.0, 4.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}, "slope": {"level_counts": [77, 120, 99, 63, 37, 14], "episodes_by_level": [[1194.0, 260.0, 37.0, 0.0], [1045.0, 220.0, 54.0, 0.0], [504.0, 121.0, 21.0, 0.0], [191.0, 54.0, 7.0, 0.0], [72.0, 15.0, 3.0, 0.0], [19.0, 4.0, 1.0, 0.0]]}, "rubble": {"level_counts": [137, 300, 241, 123, 18, 0], "episodes_by_level": [[2389.0, 542.0, 87.0, 0.0], [2258.0, 484.0, 115.0, 0.0], [1037.0, 200.0, 119.0, 0.0], [304.0, 30.0, 59.0, 0.0], [32.0, 1.0, 12.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 28261, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22412109375, "command_abs_max": [0.9985744953155518, 0.39957618713378906, 0.6995733976364136]}
{"step": 14400, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 14400, "total_transitions": 58982400, "num_steps_per_env": 1, "wm_loss": 0.8269281387329102, "actor_loss": -9.492382049560547, "critic_loss": 0.002753813285380602, "reward": 0.08619706332683563, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11517556011676788, 0.07394599169492722, 0.13749220967292786], "mean_episode_length": 1299.7929292929293, "episode_reward_terms": {"track_linear_velocity": 46.021873474121094, "track_angular_velocity": 49.08085632324219, "upright": 25.235525131225586, "leg_posture": -2.6686456203460693, "standstill": -6.05184268951416, "action_rate_l2": -0.5987500548362732, "joint_torques_l2": -0.14336031675338745, "dof_pos_limits": -0.00022796921257395297, "terminated": -0.022847920656204224, "unnecessary_wheel_lift": -0.13195878267288208, "rolling_leg_motion": -0.7503578066825867, "obstacle_progress": 2.622363567352295, "wheel_body_intrusion": -0.27163639664649963, "pair_body_intrusion": -0.2826707363128662}, "weighted_reward_terms": {"track_linear_velocity": 1.770354151725769, "track_angular_velocity": 1.8880258798599243, "upright": 0.9707517623901367, "leg_posture": -0.10265657305717468, "standstill": -0.23280027508735657, "action_rate_l2": -0.02303251624107361, "joint_torques_l2": -0.005514736752957106, "dof_pos_limits": -8.76944341143826e-06, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.0050761462189257145, "rolling_leg_motion": -0.028864512220025063, "obstacle_progress": 0.10087621212005615, "wheel_body_intrusion": -0.01044921763241291, "pair_body_intrusion": -0.010873683728277683}, "episode_termination_rates": {"time_out": 0.4595959595959596, "fell_over": 0.020202020202020204, "course_exit": 0.494949494949495, "illegal_nonwheel_contact": 0.04040404040404041}, "collection_time_s": 0.07550177826080472, "learning_time_s": 0.18560560562182218, "iteration_time_s": 0.371533181850488, "policy_updates": 14100, "skipped_updates": 0, "invalid_env_resets": 73, "elapsed_s": 5350.077818647027, "nonwheel_terminations": 11244, "contact_bce": 0.3099116384983063, "contact_force_loss": 0.022524476051330566, "collision_bce": 0.00028374374960549176, "collision_label_rate": 6.109855166869238e-05, "collision_prediction_mean": 2.2385267584468238e-05, "collision_label_count": 16367.0, "terrain_level_mean": 2.509033203125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [67, 119, 116, 57, 33, 18], "episodes_by_level": [[1168.0, 246.0, 42.0, 0.0], [1068.0, 235.0, 33.0, 0.0], [500.0, 115.0, 19.0, 0.0], [191.0, 53.0, 7.0, 0.0], [79.0, 19.0, 2.0, 0.0], [19.0, 3.0, 1.0, 0.0]]}, "up": {"level_counts": [1, 68, 387, 663, 309, 5], "episodes_by_level": [[689.0, 554.0, 7.0, 0.0], [2282.0, 1380.0, 37.0, 0.0], [3523.0, 1225.0, 164.0, 0.0], [2002.0, 411.0, 181.0, 0.0], [347.0, 6.0, 87.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "down": {"level_counts": [0, 1, 8, 27, 111, 467], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [534.0, 478.0, 9.0, 0.0], [749.0, 660.0, 21.0, 0.0], [877.0, 712.0, 25.0, 0.0], [1057.0, 796.0, 57.0, 0.0], [1740.0, 1250.0, 124.0, 0.0]]}, "platform": {"level_counts": [81, 145, 104, 64, 16, 0], "episodes_by_level": [[1298.0, 284.0, 47.0, 0.0], [1093.0, 213.0, 54.0, 0.0], [441.0, 91.0, 35.0, 0.0], [140.0, 20.0, 11.0, 0.0], [14.0, 2.0, 4.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [77, 118, 101, 61, 39, 14], "episodes_by_level": [[1200.0, 260.0, 37.0, 0.0], [1052.0, 222.0, 54.0, 0.0], [506.0, 121.0, 21.0, 0.0], [195.0, 56.0, 7.0, 0.0], [73.0, 15.0, 3.0, 0.0], [19.0, 4.0, 1.0, 0.0]]}, "rubble": {"level_counts": [134, 303, 241, 123, 18, 0], "episodes_by_level": [[2400.0, 546.0, 87.0, 0.0], [2268.0, 485.0, 116.0, 0.0], [1045.0, 201.0, 120.0, 0.0], [310.0, 30.0, 60.0, 0.0], [33.0, 1.0, 12.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 28399, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.226318359375, "command_abs_max": [0.9999754428863525, 0.39957618713378906, 0.6995733976364136]}
{"step": 14450, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 14450, "total_transitions": 59187200, "num_steps_per_env": 1, "wm_loss": 0.8417145013809204, "actor_loss": -9.485690116882324, "critic_loss": 0.003812428331002593, "reward": 0.08634623140096664, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11520358920097351, 0.07425018399953842, 0.13766774535179138], "mean_episode_length": 1389.927374301676, "episode_reward_terms": {"track_linear_velocity": 49.19981002807617, "track_angular_velocity": 52.4670524597168, "upright": 26.997228622436523, "leg_posture": -2.827238082885742, "standstill": -6.273857116699219, "action_rate_l2": -0.6267548203468323, "joint_torques_l2": -0.15314501523971558, "dof_pos_limits": -0.0004807687655556947, "terminated": -0.013573507778346539, "unnecessary_wheel_lift": -0.14622722566127777, "rolling_leg_motion": -0.8135069608688354, "obstacle_progress": 2.830963134765625, "wheel_body_intrusion": -0.2858097553253174, "pair_body_intrusion": -0.3394709527492523}, "weighted_reward_terms": {"track_linear_velocity": 1.7698698043823242, "track_angular_velocity": 1.8874027729034424, "upright": 0.9711741209030151, "leg_posture": -0.10170453041791916, "standstill": -0.225690096616745, "action_rate_l2": -0.0225463155657053, "joint_torques_l2": -0.005509101785719395, "dof_pos_limits": -1.7294743884122e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.0052602472715079784, "rolling_leg_motion": -0.02926436997950077, "obstacle_progress": 0.10183853656053543, "wheel_body_intrusion": -0.010281464084982872, "pair_body_intrusion": -0.012211822904646397}, "episode_termination_rates": {"time_out": 0.49162011173184356, "fell_over": 0.0111731843575419, "course_exit": 0.48044692737430167, "illegal_nonwheel_contact": 0.027932960893854747}, "collection_time_s": 0.07544639291940257, "learning_time_s": 0.18581414002226665, "iteration_time_s": 0.3711516922889285, "policy_updates": 14150, "skipped_updates": 0, "invalid_env_resets": 73, "elapsed_s": 5363.141953575017, "nonwheel_terminations": 11249, "contact_bce": 0.30933332443237305, "contact_force_loss": 0.02235356718301773, "collision_bce": 0.0001469396083848551, "collision_label_rate": 6.119576573837548e-05, "collision_prediction_mean": 3.515494245220907e-05, "collision_label_count": 16341.0, "terrain_level_mean": 2.518310546875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [66, 119, 115, 59, 33, 18], "episodes_by_level": [[1173.0, 247.0, 42.0, 0.0], [1074.0, 236.0, 33.0, 0.0], [505.0, 117.0, 19.0, 0.0], [193.0, 53.0, 7.0, 0.0], [80.0, 19.0, 2.0, 0.0], [19.0, 3.0, 1.0, 0.0]]}, "up": {"level_counts": [1, 64, 383, 663, 316, 6], "episodes_by_level": [[689.0, 554.0, 7.0, 0.0], [2288.0, 1384.0, 37.0, 0.0], [3538.0, 1234.0, 164.0, 0.0], [2019.0, 419.0, 181.0, 0.0], [356.0, 7.0, 87.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "down": {"level_counts": [0, 1, 8, 27, 108, 470], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [534.0, 478.0, 9.0, 0.0], [749.0, 660.0, 21.0, 0.0], [877.0, 712.0, 25.0, 0.0], [1066.0, 801.0, 57.0, 0.0], [1758.0, 1263.0, 124.0, 0.0]]}, "platform": {"level_counts": [82, 144, 102, 64, 18, 0], "episodes_by_level": [[1303.0, 284.0, 47.0, 0.0], [1099.0, 213.0, 55.0, 0.0], [444.0, 93.0, 35.0, 0.0], [142.0, 22.0, 11.0, 0.0], [15.0, 2.0, 4.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [76, 119, 100, 62, 39, 14], "episodes_by_level": [[1205.0, 261.0, 37.0, 0.0], [1058.0, 222.0, 54.0, 0.0], [509.0, 122.0, 21.0, 0.0], [195.0, 56.0, 7.0, 0.0], [73.0, 15.0, 3.0, 0.0], [21.0, 6.0, 1.0, 0.0]]}, "rubble": {"level_counts": [134, 299, 245, 122, 19, 0], "episodes_by_level": [[2407.0, 547.0, 87.0, 0.0], [2279.0, 489.0, 117.0, 0.0], [1049.0, 201.0, 120.0, 0.0], [315.0, 31.0, 60.0, 0.0], [33.0, 1.0, 12.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 28555, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2265625, "command_abs_max": [0.9999754428863525, 0.39957618713378906, 0.6995733976364136]}
{"step": 14500, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 14500, "total_transitions": 59392000, "num_steps_per_env": 1, "wm_loss": 0.8357454538345337, "actor_loss": -9.506355285644531, "critic_loss": 0.003062328090891242, "reward": 0.08656653016805649, "falls": 1, "interval_steps": 50, "velocity_mae": [0.1151181161403656, 0.07276074588298798, 0.13496263325214386], "mean_episode_length": 1353.7394366197184, "episode_reward_terms": {"track_linear_velocity": 48.01658248901367, "track_angular_velocity": 51.21708297729492, "upright": 26.28620719909668, "leg_posture": -2.7803544998168945, "standstill": -6.115511894226074, "action_rate_l2": -0.5941823720932007, "joint_torques_l2": -0.14845333993434906, "dof_pos_limits": -0.0007356383721344173, "terminated": -0.002644021762534976, "unnecessary_wheel_lift": -0.11092959344387054, "rolling_leg_motion": -0.7505660057067871, "obstacle_progress": 2.781033754348755, "wheel_body_intrusion": -0.2850571274757385, "pair_body_intrusion": -0.3239416182041168}, "weighted_reward_terms": {"track_linear_velocity": 1.7734795808792114, "track_angular_velocity": 1.8916893005371094, "upright": 0.970874011516571, "leg_posture": -0.102691650390625, "standstill": -0.22587479650974274, "action_rate_l2": -0.02194596640765667, "joint_torques_l2": -0.005483084358274937, "dof_pos_limits": -2.7170606699655764e-05, "terminated": -9.76562369032763e-05, "unnecessary_wheel_lift": -0.004097154829651117, "rolling_leg_motion": -0.027721954509615898, "obstacle_progress": 0.10271672904491425, "wheel_body_intrusion": -0.010528508573770523, "pair_body_intrusion": -0.01196469645947218}, "episode_termination_rates": {"time_out": 0.5211267605633803, "fell_over": 0.007042253521126761, "course_exit": 0.47183098591549294, "illegal_nonwheel_contact": 0.0}, "collection_time_s": 0.0754685344407335, "learning_time_s": 0.18560033284011296, "iteration_time_s": 0.37077216881200076, "policy_updates": 14200, "skipped_updates": 0, "invalid_env_resets": 73, "elapsed_s": 5376.196447774011, "nonwheel_terminations": 11249, "contact_bce": 0.30759698152542114, "contact_force_loss": 0.022368619218468666, "collision_bce": 4.6088134695310146e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 4.6727222979825456e-06, "collision_label_count": 16350.0, "terrain_level_mean": 2.527587890625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [66, 117, 116, 59, 33, 19], "episodes_by_level": [[1175.0, 247.0, 42.0, 0.0], [1079.0, 238.0, 33.0, 0.0], [508.0, 118.0, 19.0, 0.0], [194.0, 54.0, 7.0, 0.0], [81.0, 20.0, 2.0, 0.0], [19.0, 3.0, 1.0, 0.0]]}, "up": {"level_counts": [1, 61, 380, 657, 327, 7], "episodes_by_level": [[689.0, 554.0, 7.0, 0.0], [2291.0, 1387.0, 37.0, 0.0], [3545.0, 1240.0, 164.0, 0.0], [2038.0, 431.0, 181.0, 0.0], [361.0, 8.0, 87.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "down": {"level_counts": [0, 1, 8, 26, 110, 469], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [534.0, 478.0, 9.0, 0.0], [749.0, 660.0, 21.0, 0.0], [878.0, 713.0, 25.0, 0.0], [1069.0, 801.0, 57.0, 0.0], [1776.0, 1273.0, 124.0, 0.0]]}, "platform": {"level_counts": [82, 142, 104, 64, 18, 0], "episodes_by_level": [[1305.0, 284.0, 47.0, 0.0], [1106.0, 215.0, 55.0, 0.0], [447.0, 93.0, 35.0, 0.0], [143.0, 22.0, 11.0, 0.0], [15.0, 2.0, 4.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [76, 118, 101, 60, 41, 14], "episodes_by_level": [[1209.0, 261.0, 37.0, 0.0], [1063.0, 223.0, 54.0, 0.0], [511.0, 122.0, 21.0, 0.0], [198.0, 58.0, 7.0, 0.0], [74.0, 15.0, 3.0, 0.0], [21.0, 6.0, 1.0, 0.0]]}, "rubble": {"level_counts": [132, 300, 244, 123, 20, 0], "episodes_by_level": [[2418.0, 549.0, 87.0, 0.0], [2288.0, 490.0, 117.0, 0.0], [1053.0, 203.0, 120.0, 0.0], [318.0, 32.0, 60.0, 0.0], [33.0, 1.0, 12.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 28704, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.229248046875, "command_abs_max": [0.9999754428863525, 0.3999611437320709, 0.6995733976364136]}
{"step": 14550, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 14550, "total_transitions": 59596800, "num_steps_per_env": 1, "wm_loss": 0.8378010392189026, "actor_loss": -9.468690872192383, "critic_loss": 0.004745142068713903, "reward": 0.08631141483783722, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11845831573009491, 0.07384929060935974, 0.13510383665561676], "mean_episode_length": 1306.0864197530864, "episode_reward_terms": {"track_linear_velocity": 46.0784912109375, "track_angular_velocity": 49.4083366394043, "upright": 25.345399856567383, "leg_posture": -2.6942431926727295, "standstill": -5.816567420959473, "action_rate_l2": -0.5896015763282776, "joint_torques_l2": -0.1446714699268341, "dof_pos_limits": -0.0007146795396693051, "terminated": -0.02295854687690735, "unnecessary_wheel_lift": -0.13315412402153015, "rolling_leg_motion": -0.7513074278831482, "obstacle_progress": 2.663205862045288, "wheel_body_intrusion": -0.2831242084503174, "pair_body_intrusion": -0.32894277572631836}, "weighted_reward_terms": {"track_linear_velocity": 1.763990879058838, "track_angular_velocity": 1.8914650678634644, "upright": 0.9702803492546082, "leg_posture": -0.10314185172319412, "standstill": -0.22267161309719086, "action_rate_l2": -0.02257130853831768, "joint_torques_l2": -0.005538357421755791, "dof_pos_limits": -2.7359583327779546e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.00509744742885232, "rolling_leg_motion": -0.028761783614754677, "obstacle_progress": 0.1019536629319191, "wheel_body_intrusion": -0.010838647373020649, "pair_body_intrusion": -0.012592687271535397}, "episode_termination_rates": {"time_out": 0.4444444444444444, "fell_over": 0.030864197530864196, "course_exit": 0.5, "illegal_nonwheel_contact": 0.04938271604938271}, "collection_time_s": 0.0754572058818303, "learning_time_s": 0.18549719998380168, "iteration_time_s": 0.37039679119642666, "policy_updates": 14250, "skipped_updates": 0, "invalid_env_resets": 73, "elapsed_s": 5389.273311908008, "nonwheel_terminations": 11257, "contact_bce": 0.3146057724952698, "contact_force_loss": 0.02251344732940197, "collision_bce": 0.00030947159393690526, "collision_label_rate": 6.122574268374592e-05, "collision_prediction_mean": 4.781448296853341e-05, "collision_label_count": 16333.0, "terrain_level_mean": 2.5361328125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [66, 117, 116, 58, 34, 19], "episodes_by_level": [[1178.0, 247.0, 42.0, 0.0], [1083.0, 238.0, 33.0, 0.0], [510.0, 118.0, 19.0, 0.0], [197.0, 55.0, 7.0, 0.0], [83.0, 20.0, 2.0, 0.0], [19.0, 3.0, 1.0, 0.0]]}, "up": {"level_counts": [1, 61, 370, 659, 332, 10], "episodes_by_level": [[689.0, 554.0, 7.0, 0.0], [2291.0, 1387.0, 37.0, 0.0], [3560.0, 1251.0, 164.0, 0.0], [2062.0, 441.0, 182.0, 0.0], [370.0, 11.0, 89.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "down": {"level_counts": [0, 1, 8, 25, 111, 469], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [534.0, 478.0, 9.0, 0.0], [749.0, 660.0, 21.0, 0.0], [879.0, 714.0, 25.0, 0.0], [1072.0, 803.0, 57.0, 0.0], [1798.0, 1290.0, 125.0, 0.0]]}, "platform": {"level_counts": [80, 143, 104, 65, 18, 0], "episodes_by_level": [[1313.0, 286.0, 47.0, 0.0], [1107.0, 216.0, 55.0, 0.0], [450.0, 94.0, 35.0, 0.0], [145.0, 22.0, 11.0, 0.0], [15.0, 2.0, 4.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [76, 118, 101, 59, 40, 16], "episodes_by_level": [[1211.0, 261.0, 37.0, 0.0], [1066.0, 224.0, 54.0, 0.0], [513.0, 122.0, 22.0, 0.0], [200.0, 59.0, 7.0, 0.0], [76.0, 17.0, 3.0, 0.0], [23.0, 6.0, 1.0, 0.0]]}, "rubble": {"level_counts": [133, 294, 248, 124, 20, 0], "episodes_by_level": [[2423.0, 550.0, 87.0, 0.0], [2303.0, 496.0, 119.0, 0.0], [1058.0, 204.0, 121.0, 0.0], [320.0, 32.0, 60.0, 0.0], [34.0, 1.0, 12.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 28874, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.229736328125, "command_abs_max": [0.9999754428863525, 0.3999611437320709, 0.6995733976364136]}
{"step": 14600, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 14600, "total_transitions": 59801600, "num_steps_per_env": 1, "wm_loss": 0.8469576835632324, "actor_loss": -9.464150428771973, "critic_loss": 0.006283634342253208, "reward": 0.08615735918283463, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11891151964664459, 0.07425036281347275, 0.13659988343715668], "mean_episode_length": 1328.7361963190185, "episode_reward_terms": {"track_linear_velocity": 46.80828094482422, "track_angular_velocity": 50.20634460449219, "upright": 25.77222442626953, "leg_posture": -2.6608731746673584, "standstill": -6.122971534729004, "action_rate_l2": -0.6167649626731873, "joint_torques_l2": -0.14550499618053436, "dof_pos_limits": -0.0013180269161239266, "terminated": -0.012975937686860561, "unnecessary_wheel_lift": -0.12001712620258331, "rolling_leg_motion": -0.7550903558731079, "obstacle_progress": 2.67861270904541, "wheel_body_intrusion": -0.2660651206970215, "pair_body_intrusion": -0.28349635004997253}, "weighted_reward_terms": {"track_linear_velocity": 1.7613835334777832, "track_angular_velocity": 1.889251708984375, "upright": 0.9698021411895752, "leg_posture": -0.10012797266244888, "standstill": -0.23040583729743958, "action_rate_l2": -0.023208707571029663, "joint_torques_l2": -0.005475315265357494, "dof_pos_limits": -4.95970161864534e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.004516213666647673, "rolling_leg_motion": -0.02841385453939438, "obstacle_progress": 0.10079550743103027, "wheel_body_intrusion": -0.010011961683630943, "pair_body_intrusion": -0.010667894035577774}, "episode_termination_rates": {"time_out": 0.43558282208588955, "fell_over": 0.012269938650306749, "course_exit": 0.5337423312883436, "illegal_nonwheel_contact": 0.018404907975460124}, "collection_time_s": 0.0754293688002508, "learning_time_s": 0.1853907176828943, "iteration_time_s": 0.3700216013640413, "policy_updates": 14300, "skipped_updates": 0, "invalid_env_resets": 73, "elapsed_s": 5402.315379915002, "nonwheel_terminations": 11260, "contact_bce": 0.30565473437309265, "contact_force_loss": 0.022649595513939857, "collision_bce": 1.298432380281156e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.2863814845331945e-05, "collision_label_count": 16345.0, "terrain_level_mean": 2.546875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [65, 118, 116, 58, 33, 20], "episodes_by_level": [[1180.0, 248.0, 42.0, 0.0], [1086.0, 238.0, 33.0, 0.0], [511.0, 118.0, 19.0, 0.0], [198.0, 55.0, 7.0, 0.0], [84.0, 21.0, 2.0, 0.0], [20.0, 4.0, 1.0, 0.0]]}, "up": {"level_counts": [1, 59, 363, 659, 340, 11], "episodes_by_level": [[689.0, 554.0, 7.0, 0.0], [2294.0, 1389.0, 37.0, 0.0], [3579.0, 1261.0, 164.0, 0.0], [2082.0, 450.0, 182.0, 0.0], [378.0, 12.0, 89.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "down": {"level_counts": [0, 1, 8, 25, 107, 473], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [534.0, 478.0, 9.0, 0.0], [749.0, 660.0, 21.0, 0.0], [880.0, 715.0, 25.0, 0.0], [1076.0, 807.0, 57.0, 0.0], [1816.0, 1303.0, 125.0, 0.0]]}, "platform": {"level_counts": [79, 141, 105, 67, 18, 0], "episodes_by_level": [[1318.0, 287.0, 47.0, 0.0], [1113.0, 219.0, 55.0, 0.0], [453.0, 96.0, 35.0, 0.0], [149.0, 23.0, 11.0, 0.0], [16.0, 2.0, 5.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [76, 117, 100, 61, 40, 16], "episodes_by_level": [[1215.0, 261.0, 38.0, 0.0], [1070.0, 225.0, 54.0, 0.0], [521.0, 124.0, 22.0, 0.0], [200.0, 59.0, 7.0, 0.0], [76.0, 17.0, 3.0, 0.0], [24.0, 6.0, 1.0, 0.0]]}, "rubble": {"level_counts": [132, 290, 251, 126, 20, 0], "episodes_by_level": [[2430.0, 551.0, 87.0, 0.0], [2314.0, 501.0, 119.0, 0.0], [1065.0, 206.0, 121.0, 0.0], [324.0, 33.0, 60.0, 0.0], [35.0, 1.0, 13.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 29015, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23486328125, "command_abs_max": [0.9973093271255493, 0.3999611437320709, 0.6995733976364136]}
{"step": 14650, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 14650, "total_transitions": 60006400, "num_steps_per_env": 1, "wm_loss": 0.8296535611152649, "actor_loss": -9.476173400878906, "critic_loss": 0.003650086000561714, "reward": 0.08621644973754883, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11918812245130539, 0.07393733412027359, 0.13641488552093506], "mean_episode_length": 1342.132450331126, "episode_reward_terms": {"track_linear_velocity": 47.36488342285156, "track_angular_velocity": 50.71356201171875, "upright": 26.038476943969727, "leg_posture": -2.7281906604766846, "standstill": -6.171319961547852, "action_rate_l2": -0.6043023467063904, "joint_torques_l2": -0.14786113798618317, "dof_pos_limits": -0.0010612747864797711, "terminated": -0.02359216846525669, "unnecessary_wheel_lift": -0.123284250497818, "rolling_leg_motion": -0.7640711665153503, "obstacle_progress": 2.7592251300811768, "wheel_body_intrusion": -0.280383825302124, "pair_body_intrusion": -0.3181726038455963}, "weighted_reward_terms": {"track_linear_velocity": 1.764538288116455, "track_angular_velocity": 1.889290452003479, "upright": 0.9700413346290588, "leg_posture": -0.10163642466068268, "standstill": -0.22990727424621582, "action_rate_l2": -0.02251276932656765, "joint_torques_l2": -0.005508440546691418, "dof_pos_limits": -3.953688792535104e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.004592849873006344, "rolling_leg_motion": -0.028464822098612785, "obstacle_progress": 0.10279257595539093, "wheel_body_intrusion": -0.010445460677146912, "pair_body_intrusion": -0.011853248812258244}, "episode_termination_rates": {"time_out": 0.47019867549668876, "fell_over": 0.039735099337748346, "course_exit": 0.47019867549668876, "illegal_nonwheel_contact": 0.039735099337748346}, "collection_time_s": 0.07541377916117199, "learning_time_s": 0.1855268425203394, "iteration_time_s": 0.3696493861245058, "policy_updates": 14350, "skipped_updates": 0, "invalid_env_resets": 73, "elapsed_s": 5415.36350672401, "nonwheel_terminations": 11266, "contact_bce": 0.31027379631996155, "contact_force_loss": 0.022345446050167084, "collision_bce": 8.437747965217568e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 8.474136848235503e-06, "collision_label_count": 16344.0, "terrain_level_mean": 2.552490234375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [65, 117, 117, 58, 32, 21], "episodes_by_level": [[1186.0, 248.0, 42.0, 0.0], [1091.0, 239.0, 33.0, 0.0], [511.0, 118.0, 19.0, 0.0], [198.0, 55.0, 7.0, 0.0], [85.0, 22.0, 2.0, 0.0], [20.0, 4.0, 1.0, 0.0]]}, "up": {"level_counts": [1, 58, 356, 664, 343, 11], "episodes_by_level": [[689.0, 554.0, 7.0, 0.0], [2295.0, 1390.0, 37.0, 0.0], [3594.0, 1271.0, 164.0, 0.0], [2096.0, 453.0, 182.0, 0.0], [384.0, 12.0, 89.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "down": {"level_counts": [0, 1, 8, 25, 109, 471], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [534.0, 478.0, 9.0, 0.0], [749.0, 660.0, 21.0, 0.0], [880.0, 715.0, 25.0, 0.0], [1080.0, 810.0, 57.0, 0.0], [1834.0, 1317.0, 128.0, 0.0]]}, "platform": {"level_counts": [78, 142, 102, 70, 18, 0], "episodes_by_level": [[1322.0, 288.0, 47.0, 0.0], [1117.0, 219.0, 55.0, 0.0], [457.0, 99.0, 35.0, 0.0], [150.0, 23.0, 11.0, 0.0], [16.0, 2.0, 5.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [75, 118, 99, 61, 41, 16], "episodes_by_level": [[1219.0, 262.0, 38.0, 0.0], [1073.0, 225.0, 54.0, 0.0], [526.0, 125.0, 22.0, 0.0], [201.0, 60.0, 7.0, 0.0], [78.0, 17.0, 3.0, 0.0], [24.0, 6.0, 1.0, 0.0]]}, "rubble": {"level_counts": [132, 286, 255, 126, 20, 0], "episodes_by_level": [[2436.0, 551.0, 87.0, 0.0], [2324.0, 505.0, 119.0, 0.0], [1074.0, 207.0, 121.0, 0.0], [330.0, 33.0, 61.0, 0.0], [35.0, 1.0, 13.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 29170, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.232421875, "command_abs_max": [0.9973093271255493, 0.399707168340683, 0.6987449526786804]}
{"step": 14700, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 14700, "total_transitions": 60211200, "num_steps_per_env": 1, "wm_loss": 0.8190374374389648, "actor_loss": -9.456820487976074, "critic_loss": 0.0077299620024859905, "reward": 0.08621624857187271, "falls": 11, "interval_steps": 50, "velocity_mae": [0.11859723925590515, 0.07448288798332214, 0.13553749024868011], "mean_episode_length": 1319.781690140845, "episode_reward_terms": {"track_linear_velocity": 46.521549224853516, "track_angular_velocity": 49.891746520996094, "upright": 25.613712310791016, "leg_posture": -2.6999809741973877, "standstill": -5.961185932159424, "action_rate_l2": -0.590506911277771, "joint_torques_l2": -0.14495208859443665, "dof_pos_limits": -0.0010354425758123398, "terminated": -0.02835468389093876, "unnecessary_wheel_lift": -0.11471781879663467, "rolling_leg_motion": -0.7479724884033203, "obstacle_progress": 2.6467878818511963, "wheel_body_intrusion": -0.26520273089408875, "pair_body_intrusion": -0.3332540690898895}, "weighted_reward_terms": {"track_linear_velocity": 1.762471318244934, "track_angular_velocity": 1.8901513814926147, "upright": 0.9703768491744995, "leg_posture": -0.10228892415761948, "standstill": -0.22583983838558197, "action_rate_l2": -0.022371385246515274, "joint_torques_l2": -0.00549151748418808, "dof_pos_limits": -3.9227794331964105e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.004346090834587812, "rolling_leg_motion": -0.02833697758615017, "obstacle_progress": 0.10027369856834412, "wheel_body_intrusion": -0.010047219693660736, "pair_body_intrusion": -0.012625347822904587}, "episode_termination_rates": {"time_out": 0.4647887323943662, "fell_over": 0.028169014084507043, "course_exit": 0.45774647887323944, "illegal_nonwheel_contact": 0.07042253521126761}, "collection_time_s": 0.07555047484114766, "learning_time_s": 0.18510576849919744, "iteration_time_s": 0.36927873121680244, "policy_updates": 14400, "skipped_updates": 0, "invalid_env_resets": 73, "elapsed_s": 5428.397348886996, "nonwheel_terminations": 11276, "contact_bce": 0.30552253127098083, "contact_force_loss": 0.021896399557590485, "collision_bce": 1.1627043022599537e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.1457069376774598e-05, "collision_label_count": 16351.0, "terrain_level_mean": 2.556396484375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [64, 118, 118, 57, 32, 21], "episodes_by_level": [[1189.0, 249.0, 42.0, 0.0], [1092.0, 239.0, 33.0, 0.0], [512.0, 118.0, 19.0, 0.0], [199.0, 55.0, 8.0, 0.0], [85.0, 22.0, 2.0, 0.0], [21.0, 4.0, 1.0, 0.0]]}, "up": {"level_counts": [2, 56, 355, 660, 349, 11], "episodes_by_level": [[689.0, 554.0, 7.0, 0.0], [2296.0, 1391.0, 37.0, 0.0], [3602.0, 1275.0, 164.0, 0.0], [2112.0, 460.0, 182.0, 0.0], [390.0, 12.0, 89.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "down": {"level_counts": [0, 1, 8, 24, 112, 469], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [534.0, 478.0, 9.0, 0.0], [749.0, 660.0, 21.0, 0.0], [881.0, 716.0, 25.0, 0.0], [1082.0, 811.0, 57.0, 0.0], [1855.0, 1335.0, 128.0, 0.0]]}, "platform": {"level_counts": [79, 140, 103, 70, 18, 0], "episodes_by_level": [[1326.0, 288.0, 47.0, 0.0], [1121.0, 220.0, 56.0, 0.0], [462.0, 99.0, 35.0, 0.0], [152.0, 23.0, 11.0, 0.0], [16.0, 2.0, 5.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [75, 117, 100, 60, 42, 16], "episodes_by_level": [[1221.0, 262.0, 38.0, 0.0], [1077.0, 226.0, 54.0, 0.0], [528.0, 125.0, 22.0, 0.0], [203.0, 61.0, 7.0, 0.0], [78.0, 17.0, 3.0, 0.0], [24.0, 6.0, 1.0, 0.0]]}, "rubble": {"level_counts": [132, 283, 255, 128, 21, 0], "episodes_by_level": [[2437.0, 551.0, 87.0, 0.0], [2331.0, 508.0, 119.0, 0.0], [1083.0, 211.0, 121.0, 0.0], [333.0, 34.0, 62.0, 0.0], [35.0, 1.0, 13.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 29312, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22802734375, "command_abs_max": [0.9973093271255493, 0.399707168340683, 0.6979389786720276]}
{"step": 14750, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 14750, "total_transitions": 60416000, "num_steps_per_env": 1, "wm_loss": 0.8109121918678284, "actor_loss": -9.499988555908203, "critic_loss": 0.002896458376199007, "reward": 0.08626243472099304, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11868085712194443, 0.07491699606180191, 0.13557672500610352], "mean_episode_length": 1440.8287671232877, "episode_reward_terms": {"track_linear_velocity": 50.71752166748047, "track_angular_velocity": 54.468177795410156, "upright": 27.952756881713867, "leg_posture": -2.9439823627471924, "standstill": -6.42834997177124, "action_rate_l2": -0.6446495652198792, "joint_torques_l2": -0.15765653550624847, "dof_pos_limits": -0.0009129526442848146, "terminated": -0.01969882845878601, "unnecessary_wheel_lift": -0.12051381170749664, "rolling_leg_motion": -0.7906783819198608, "obstacle_progress": 2.8902556896209717, "wheel_body_intrusion": -0.285239577293396, "pair_body_intrusion": -0.3476499319076538}, "weighted_reward_terms": {"track_linear_velocity": 1.760012149810791, "track_angular_velocity": 1.8901684284210205, "upright": 0.9700236320495605, "leg_posture": -0.10216282308101654, "standstill": -0.22307822108268738, "action_rate_l2": -0.02237079106271267, "joint_torques_l2": -0.005471036769449711, "dof_pos_limits": -3.168151306454092e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.004182100296020508, "rolling_leg_motion": -0.027438322082161903, "obstacle_progress": 0.10029837489128113, "wheel_body_intrusion": -0.009898455813527107, "pair_body_intrusion": -0.012064235284924507}, "episode_termination_rates": {"time_out": 0.5, "fell_over": 0.0273972602739726, "course_exit": 0.4520547945205479, "illegal_nonwheel_contact": 0.0410958904109589}, "collection_time_s": 0.0755721455195453, "learning_time_s": 0.18448802070110104, "iteration_time_s": 0.3689085718273911, "policy_updates": 14450, "skipped_updates": 0, "invalid_env_resets": 73, "elapsed_s": 5441.401434454019, "nonwheel_terminations": 11282, "contact_bce": 0.30645138025283813, "contact_force_loss": 0.02159781940281391, "collision_bce": 0.00010870573169086128, "collision_label_rate": 6.11807918176055e-05, "collision_prediction_mean": 3.247797576477751e-05, "collision_label_count": 16345.0, "terrain_level_mean": 2.562744140625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [64, 117, 119, 56, 33, 21], "episodes_by_level": [[1191.0, 249.0, 43.0, 0.0], [1096.0, 240.0, 33.0, 0.0], [516.0, 118.0, 19.0, 0.0], [201.0, 56.0, 8.0, 0.0], [86.0, 22.0, 2.0, 0.0], [22.0, 4.0, 1.0, 0.0]]}, "up": {"level_counts": [2, 55, 347, 662, 355, 12], "episodes_by_level": [[689.0, 554.0, 7.0, 0.0], [2300.0, 1392.0, 37.0, 0.0], [3619.0, 1285.0, 164.0, 0.0], [2128.0, 465.0, 182.0, 0.0], [398.0, 13.0, 89.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "down": {"level_counts": [0, 1, 7, 25, 110, 471], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [534.0, 478.0, 9.0, 0.0], [750.0, 661.0, 21.0, 0.0], [881.0, 716.0, 25.0, 0.0], [1084.0, 813.0, 57.0, 0.0], [1862.0, 1342.0, 128.0, 0.0]]}, "platform": {"level_counts": [79, 139, 104, 69, 19, 0], "episodes_by_level": [[1327.0, 289.0, 47.0, 0.0], [1126.0, 221.0, 57.0, 0.0], [466.0, 99.0, 35.0, 0.0], [157.0, 24.0, 11.0, 0.0], [17.0, 2.0, 5.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [75, 117, 100, 58, 44, 16], "episodes_by_level": [[1222.0, 262.0, 38.0, 0.0], [1082.0, 226.0, 54.0, 0.0], [528.0, 125.0, 22.0, 0.0], [207.0, 63.0, 7.0, 0.0], [79.0, 17.0, 3.0, 0.0], [27.0, 6.0, 1.0, 0.0]]}, "rubble": {"level_counts": [133, 282, 255, 128, 21, 0], "episodes_by_level": [[2439.0, 551.0, 87.0, 0.0], [2342.0, 508.0, 120.0, 0.0], [1089.0, 213.0, 121.0, 0.0], [338.0, 34.0, 64.0, 0.0], [35.0, 1.0, 13.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 29459, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22900390625, "command_abs_max": [0.9968963861465454, 0.399707168340683, 0.6979389786720276]}
{"step": 14800, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 14800, "total_transitions": 60620800, "num_steps_per_env": 1, "wm_loss": 0.8367511034011841, "actor_loss": -9.465352058410645, "critic_loss": 0.003602258861064911, "reward": 0.08614932745695114, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11980587989091873, 0.07565755397081375, 0.13608992099761963], "mean_episode_length": 1273.3225806451612, "episode_reward_terms": {"track_linear_velocity": 44.745113372802734, "track_angular_velocity": 48.11247634887695, "upright": 24.665664672851562, "leg_posture": -2.5901029109954834, "standstill": -5.766264915466309, "action_rate_l2": -0.5765714645385742, "joint_torques_l2": -0.1385010927915573, "dof_pos_limits": -0.0008567844633944333, "terminated": -0.014921749010682106, "unnecessary_wheel_lift": -0.09857124835252762, "rolling_leg_motion": -0.7014360427856445, "obstacle_progress": 2.6088225841522217, "wheel_body_intrusion": -0.2511255443096161, "pair_body_intrusion": -0.29783567786216736}, "weighted_reward_terms": {"track_linear_velocity": 1.7570217847824097, "track_angular_velocity": 1.889249324798584, "upright": 0.9685551524162292, "leg_posture": -0.10170647501945496, "standstill": -0.2264259308576584, "action_rate_l2": -0.02264043129980564, "joint_torques_l2": -0.005438570398837328, "dof_pos_limits": -3.364365329616703e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.0038706311024725437, "rolling_leg_motion": -0.027543529868125916, "obstacle_progress": 0.10244153439998627, "wheel_body_intrusion": -0.009861034341156483, "pair_body_intrusion": -0.011695216409862041}, "episode_termination_rates": {"time_out": 0.3629032258064516, "fell_over": 0.024193548387096774, "course_exit": 0.5887096774193549, "illegal_nonwheel_contact": 0.03225806451612903}, "collection_time_s": 0.07536924038198776, "learning_time_s": 0.18441940627759323, "iteration_time_s": 0.368540010855744, "policy_updates": 14500, "skipped_updates": 0, "invalid_env_resets": 73, "elapsed_s": 5454.392160665011, "nonwheel_terminations": 11286, "contact_bce": 0.3029153048992157, "contact_force_loss": 0.02206037938594818, "collision_bce": 0.00041758359293453395, "collision_label_rate": 0.00012240650539752096, "collision_prediction_mean": 8.554519445169717e-05, "collision_label_count": 16339.0, "terrain_level_mean": 2.570556640625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [64, 117, 119, 55, 34, 21], "episodes_by_level": [[1192.0, 249.0, 43.0, 0.0], [1097.0, 240.0, 33.0, 0.0], [518.0, 118.0, 19.0, 0.0], [202.0, 57.0, 8.0, 0.0], [86.0, 22.0, 2.0, 0.0], [22.0, 4.0, 1.0, 0.0]]}, "up": {"level_counts": [2, 54, 336, 666, 363, 12], "episodes_by_level": [[689.0, 554.0, 7.0, 0.0], [2301.0, 1393.0, 37.0, 0.0], [3636.0, 1298.0, 164.0, 0.0], [2147.0, 473.0, 182.0, 0.0], [403.0, 14.0, 89.0, 0.0], [3.0, 0.0, 3.0, 0.0]]}, "down": {"level_counts": [0, 1, 6, 26, 109, 472], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [534.0, 478.0, 9.0, 0.0], [751.0, 662.0, 21.0, 0.0], [881.0, 716.0, 25.0, 0.0], [1086.0, 815.0, 57.0, 0.0], [1879.0, 1358.0, 128.0, 0.0]]}, "platform": {"level_counts": [77, 140, 105, 68, 20, 0], "episodes_by_level": [[1332.0, 292.0, 47.0, 0.0], [1128.0, 222.0, 58.0, 0.0], [469.0, 99.0, 35.0, 0.0], [159.0, 25.0, 11.0, 0.0], [17.0, 2.0, 5.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [75, 117, 100, 58, 44, 16], "episodes_by_level": [[1223.0, 262.0, 38.0, 0.0], [1084.0, 226.0, 54.0, 0.0], [530.0, 125.0, 22.0, 0.0], [209.0, 63.0, 7.0, 0.0], [80.0, 17.0, 3.0, 0.0], [27.0, 6.0, 1.0, 0.0]]}, "rubble": {"level_counts": [134, 276, 260, 128, 21, 0], "episodes_by_level": [[2440.0, 551.0, 87.0, 0.0], [2353.0, 513.0, 121.0, 0.0], [1094.0, 214.0, 121.0, 0.0], [341.0, 34.0, 65.0, 0.0], [36.0, 1.0, 13.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 29614, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.225341796875, "command_abs_max": [0.9950734972953796, 0.3995755612850189, 0.6976981163024902]}
{"step": 14850, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 14850, "total_transitions": 60825600, "num_steps_per_env": 1, "wm_loss": 0.8322768211364746, "actor_loss": -9.462730407714844, "critic_loss": 0.003970898222178221, "reward": 0.08625690639019012, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11816128343343735, 0.07450883835554123, 0.13578881323337555], "mean_episode_length": 1371.2517985611512, "episode_reward_terms": {"track_linear_velocity": 48.29331970214844, "track_angular_velocity": 51.83623123168945, "upright": 26.572826385498047, "leg_posture": -2.779082775115967, "standstill": -6.192137718200684, "action_rate_l2": -0.6171122193336487, "joint_torques_l2": -0.14935335516929626, "dof_pos_limits": -0.000422449316829443, "terminated": -0.016069356352090836, "unnecessary_wheel_lift": -0.10642700642347336, "rolling_leg_motion": -0.7542839050292969, "obstacle_progress": 2.760464668273926, "wheel_body_intrusion": -0.2582732141017914, "pair_body_intrusion": -0.3097310960292816}, "weighted_reward_terms": {"track_linear_velocity": 1.7609210014343262, "track_angular_velocity": 1.890106201171875, "upright": 0.9689258933067322, "leg_posture": -0.10133378952741623, "standstill": -0.22578412294387817, "action_rate_l2": -0.022501783445477486, "joint_torques_l2": -0.005445876624435186, "dof_pos_limits": -1.5403784345835447e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.0038806514348834753, "rolling_leg_motion": -0.027503477409482002, "obstacle_progress": 0.10065491497516632, "wheel_body_intrusion": -0.009417424909770489, "pair_body_intrusion": -0.011293735355138779}, "episode_termination_rates": {"time_out": 0.4892086330935252, "fell_over": 0.03597122302158273, "course_exit": 0.4676258992805755, "illegal_nonwheel_contact": 0.02158273381294964}, "collection_time_s": 0.07545432953629642, "learning_time_s": 0.1840803244023118, "iteration_time_s": 0.3681730651586538, "policy_updates": 14550, "skipped_updates": 0, "invalid_env_resets": 73, "elapsed_s": 5467.370017606008, "nonwheel_terminations": 11289, "contact_bce": 0.30771052837371826, "contact_force_loss": 0.0221926998347044, "collision_bce": 7.083845957822632e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 7.139689387258841e-06, "collision_label_count": 16350.0, "terrain_level_mean": 2.5771484375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [64, 117, 117, 57, 34, 21], "episodes_by_level": [[1194.0, 249.0, 43.0, 0.0], [1100.0, 240.0, 33.0, 0.0], [522.0, 120.0, 19.0, 0.0], [205.0, 57.0, 8.0, 0.0], [86.0, 22.0, 2.0, 0.0], [23.0, 5.0, 1.0, 0.0]]}, "up": {"level_counts": [2, 54, 331, 665, 369, 12], "episodes_by_level": [[689.0, 554.0, 7.0, 0.0], [2303.0, 1393.0, 37.0, 0.0], [3644.0, 1303.0, 164.0, 0.0], [2166.0, 482.0, 182.0, 0.0], [413.0, 14.0, 90.0, 0.0], [3.0, 0.0, 3.0, 0.0]]}, "down": {"level_counts": [0, 1, 6, 27, 105, 475], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [534.0, 478.0, 9.0, 0.0], [751.0, 662.0, 21.0, 0.0], [881.0, 716.0, 25.0, 0.0], [1091.0, 819.0, 57.0, 0.0], [1890.0, 1369.0, 128.0, 0.0]]}, "platform": {"level_counts": [77, 138, 107, 66, 22, 0], "episodes_by_level": [[1333.0, 292.0, 47.0, 0.0], [1134.0, 224.0, 58.0, 0.0], [475.0, 99.0, 35.0, 0.0], [161.0, 27.0, 11.0, 0.0], [17.0, 2.0, 5.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [75, 117, 100, 57, 45, 16], "episodes_by_level": [[1223.0, 262.0, 38.0, 0.0], [1085.0, 226.0, 54.0, 0.0], [534.0, 125.0, 22.0, 0.0], [211.0, 64.0, 7.0, 0.0], [80.0, 17.0, 3.0, 0.0], [27.0, 6.0, 1.0, 0.0]]}, "rubble": {"level_counts": [133, 274, 261, 129, 22, 0], "episodes_by_level": [[2445.0, 553.0, 87.0, 0.0], [2361.0, 516.0, 122.0, 0.0], [1100.0, 216.0, 121.0, 0.0], [343.0, 35.0, 65.0, 0.0], [37.0, 1.0, 13.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 29744, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2294921875, "command_abs_max": [0.9943235516548157, 0.3995755612850189, 0.6976981163024902]}
{"step": 14900, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 14900, "total_transitions": 61030400, "num_steps_per_env": 1, "wm_loss": 0.8869932293891907, "actor_loss": -9.46469497680664, "critic_loss": 0.004956408869475126, "reward": 0.08603216707706451, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11839359998703003, 0.0762396976351738, 0.1380770057439804], "mean_episode_length": 1271.9586206896552, "episode_reward_terms": {"track_linear_velocity": 44.73106384277344, "track_angular_velocity": 47.993160247802734, "upright": 24.6376895904541, "leg_posture": -2.6218366622924805, "standstill": -5.724819660186768, "action_rate_l2": -0.5738130807876587, "joint_torques_l2": -0.1382104754447937, "dof_pos_limits": -0.0002712761051952839, "terminated": -0.01739005744457245, "unnecessary_wheel_lift": -0.10147538036108017, "rolling_leg_motion": -0.7067421674728394, "obstacle_progress": 2.4945175647735596, "wheel_body_intrusion": -0.26071134209632874, "pair_body_intrusion": -0.28179606795310974}, "weighted_reward_terms": {"track_linear_velocity": 1.75835382938385, "track_angular_velocity": 1.886584997177124, "upright": 0.968494176864624, "leg_posture": -0.10306297987699509, "standstill": -0.225039541721344, "action_rate_l2": -0.022556280717253685, "joint_torques_l2": -0.005432978272438049, "dof_pos_limits": -1.066371623892337e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.003988942131400108, "rolling_leg_motion": -0.027781648561358452, "obstacle_progress": 0.09805813431739807, "wheel_body_intrusion": -0.010248420760035515, "pair_body_intrusion": -0.011077250353991985}, "episode_termination_rates": {"time_out": 0.4068965517241379, "fell_over": 0.013793103448275862, "course_exit": 0.5448275862068965, "illegal_nonwheel_contact": 0.041379310344827586}, "collection_time_s": 0.07554721532156691, "learning_time_s": 0.185103912538616, "iteration_time_s": 0.36781234171147764, "policy_updates": 14600, "skipped_updates": 0, "invalid_env_resets": 73, "elapsed_s": 5480.403891501017, "nonwheel_terminations": 11295, "contact_bce": 0.3144108057022095, "contact_force_loss": 0.02342149056494236, "collision_bce": 0.0004002950736321509, "collision_label_rate": 0.0002449929597787559, "collision_prediction_mean": 0.00029172570793889463, "collision_label_count": 16327.0, "terrain_level_mean": 2.58447265625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [63, 116, 119, 57, 34, 21], "episodes_by_level": [[1195.0, 250.0, 43.0, 0.0], [1103.0, 242.0, 33.0, 0.0], [523.0, 120.0, 19.0, 0.0], [207.0, 57.0, 8.0, 0.0], [86.0, 22.0, 2.0, 0.0], [23.0, 5.0, 1.0, 0.0]]}, "up": {"level_counts": [2, 53, 321, 671, 374, 12], "episodes_by_level": [[689.0, 554.0, 7.0, 0.0], [2304.0, 1394.0, 37.0, 0.0], [3659.0, 1314.0, 164.0, 0.0], [2191.0, 489.0, 182.0, 0.0], [418.0, 14.0, 92.0, 0.0], [3.0, 0.0, 3.0, 0.0]]}, "down": {"level_counts": [0, 1, 6, 28, 104, 475], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [534.0, 478.0, 9.0, 0.0], [751.0, 662.0, 21.0, 0.0], [882.0, 716.0, 25.0, 0.0], [1096.0, 823.0, 57.0, 0.0], [1911.0, 1388.0, 128.0, 0.0]]}, "platform": {"level_counts": [76, 139, 107, 66, 22, 0], "episodes_by_level": [[1336.0, 293.0, 47.0, 0.0], [1137.0, 224.0, 58.0, 0.0], [478.0, 99.0, 35.0, 0.0], [162.0, 27.0, 11.0, 0.0], [17.0, 2.0, 5.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [75, 117, 98, 59, 45, 16], "episodes_by_level": [[1225.0, 262.0, 38.0, 0.0], [1090.0, 226.0, 54.0, 0.0], [536.0, 127.0, 22.0, 0.0], [214.0, 64.0, 7.0, 0.0], [82.0, 17.0, 3.0, 0.0], [27.0, 6.0, 1.0, 0.0]]}, "rubble": {"level_counts": [132, 271, 263, 130, 23, 0], "episodes_by_level": [[2449.0, 554.0, 87.0, 0.0], [2371.0, 520.0, 122.0, 0.0], [1106.0, 218.0, 121.0, 0.0], [345.0, 36.0, 65.0, 0.0], [38.0, 1.0, 13.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 29879, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.226806640625, "command_abs_max": [0.9943235516548157, 0.3995755612850189, 0.6976981163024902]}
{"step": 14950, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 14950, "total_transitions": 61235200, "num_steps_per_env": 1, "wm_loss": 0.8135395646095276, "actor_loss": -9.443681716918945, "critic_loss": 0.004816258326172829, "reward": 0.08608216792345047, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11931409686803818, 0.07550473511219025, 0.13603651523590088], "mean_episode_length": 1259.5524475524476, "episode_reward_terms": {"track_linear_velocity": 44.29209899902344, "track_angular_velocity": 47.59805679321289, "upright": 24.41374397277832, "leg_posture": -2.5819969177246094, "standstill": -5.691553592681885, "action_rate_l2": -0.5554916858673096, "joint_torques_l2": -0.1370629519224167, "dof_pos_limits": -0.0002964471059385687, "terminated": -0.019680503755807877, "unnecessary_wheel_lift": -0.11990264803171158, "rolling_leg_motion": -0.7090310454368591, "obstacle_progress": 2.4379847049713135, "wheel_body_intrusion": -0.24705106019973755, "pair_body_intrusion": -0.2548154294490814}, "weighted_reward_terms": {"track_linear_velocity": 1.7582473754882812, "track_angular_velocity": 1.889482855796814, "upright": 0.9691435694694519, "leg_posture": -0.10249660164117813, "standstill": -0.22593554854393005, "action_rate_l2": -0.02205115184187889, "joint_torques_l2": -0.005440938752144575, "dof_pos_limits": -1.1767954674724024e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0047597321681678295, "rolling_leg_motion": -0.028146149590611458, "obstacle_progress": 0.09677980095148087, "wheel_body_intrusion": -0.009807096794247627, "pair_body_intrusion": -0.01011531613767147}, "episode_termination_rates": {"time_out": 0.4125874125874126, "fell_over": 0.03496503496503497, "course_exit": 0.5314685314685315, "illegal_nonwheel_contact": 0.04895104895104895}, "collection_time_s": 0.07556865420076064, "learning_time_s": 0.18516987345996314, "iteration_time_s": 0.36745430831538506, "policy_updates": 14650, "skipped_updates": 0, "invalid_env_resets": 73, "elapsed_s": 5493.441909315006, "nonwheel_terminations": 11302, "contact_bce": 0.30718451738357544, "contact_force_loss": 0.021589022129774094, "collision_bce": 5.0213898248330224e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 5.089013029646594e-06, "collision_label_count": 16347.0, "terrain_level_mean": 2.59326171875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [61, 118, 117, 58, 35, 21], "episodes_by_level": [[1197.0, 252.0, 43.0, 0.0], [1110.0, 242.0, 33.0, 0.0], [530.0, 122.0, 19.0, 0.0], [209.0, 58.0, 8.0, 0.0], [86.0, 22.0, 2.0, 0.0], [23.0, 5.0, 1.0, 0.0]]}, "up": {"level_counts": [2, 50, 314, 673, 382, 12], "episodes_by_level": [[689.0, 554.0, 7.0, 0.0], [2307.0, 1397.0, 37.0, 0.0], [3673.0, 1324.0, 164.0, 0.0], [2209.0, 497.0, 182.0, 0.0], [420.0, 14.0, 92.0, 0.0], [3.0, 0.0, 3.0, 0.0]]}, "down": {"level_counts": [0, 1, 6, 26, 103, 478], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [534.0, 478.0, 9.0, 0.0], [751.0, 662.0, 21.0, 0.0], [885.0, 718.0, 25.0, 0.0], [1102.0, 828.0, 57.0, 0.0], [1927.0, 1401.0, 128.0, 0.0]]}, "platform": {"level_counts": [77, 136, 109, 67, 21, 0], "episodes_by_level": [[1338.0, 293.0, 47.0, 0.0], [1142.0, 226.0, 59.0, 0.0], [478.0, 99.0, 35.0, 0.0], [163.0, 27.0, 11.0, 0.0], [18.0, 2.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [75, 116, 97, 61, 44, 17], "episodes_by_level": [[1226.0, 262.0, 39.0, 0.0], [1093.0, 227.0, 54.0, 0.0], [539.0, 129.0, 22.0, 0.0], [215.0, 64.0, 7.0, 0.0], [83.0, 18.0, 3.0, 0.0], [28.0, 7.0, 1.0, 0.0]]}, "rubble": {"level_counts": [134, 267, 264, 131, 23, 0], "episodes_by_level": [[2449.0, 554.0, 87.0, 0.0], [2380.0, 522.0, 124.0, 0.0], [1111.0, 220.0, 121.0, 0.0], [349.0, 36.0, 66.0, 0.0], [38.0, 1.0, 13.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 30031, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23486328125, "command_abs_max": [0.9943235516548157, 0.3995755612850189, 0.6966814994812012]}
{"step": 15000, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 15000, "total_transitions": 61440000, "num_steps_per_env": 1, "wm_loss": 0.7894533276557922, "actor_loss": -9.485700607299805, "critic_loss": 0.0026943860575556755, "reward": 0.08610133826732635, "falls": 9, "interval_steps": 50, "velocity_mae": [0.1188277006149292, 0.07544767111539841, 0.13626055419445038], "mean_episode_length": 1279.46875, "episode_reward_terms": {"track_linear_velocity": 45.006126403808594, "track_angular_velocity": 48.3497200012207, "upright": 24.810386657714844, "leg_posture": -2.5938851833343506, "standstill": -5.810717582702637, "action_rate_l2": -0.5697668790817261, "joint_torques_l2": -0.1378161460161209, "dof_pos_limits": -0.0006432469235733151, "terminated": -0.02249065786600113, "unnecessary_wheel_lift": -0.11267390102148056, "rolling_leg_motion": -0.7211941480636597, "obstacle_progress": 2.474522829055786, "wheel_body_intrusion": -0.25155505537986755, "pair_body_intrusion": -0.25605401396751404}, "weighted_reward_terms": {"track_linear_velocity": 1.758781909942627, "track_angular_velocity": 1.889445185661316, "upright": 0.9695581793785095, "leg_posture": -0.10136570781469345, "standstill": -0.22707539796829224, "action_rate_l2": -0.022265760228037834, "joint_torques_l2": -0.005385678727179766, "dof_pos_limits": -2.513726576580666e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.004403151571750641, "rolling_leg_motion": -0.02818334475159645, "obstacle_progress": 0.09670118242502213, "wheel_body_intrusion": -0.009830448776483536, "pair_body_intrusion": -0.010006262920796871}, "episode_termination_rates": {"time_out": 0.4375, "fell_over": 0.025, "course_exit": 0.50625, "illegal_nonwheel_contact": 0.04375}, "collection_time_s": 0.07584861421724781, "learning_time_s": 0.19108403504127636, "iteration_time_s": 0.367119307595732, "policy_updates": 14700, "skipped_updates": 0, "invalid_env_resets": 74, "elapsed_s": 5506.78961393598, "nonwheel_terminations": 11309, "contact_bce": 0.3021993041038513, "contact_force_loss": 0.021995369344949722, "collision_bce": 7.908152474556118e-05, "collision_label_rate": 6.116956501500681e-05, "collision_prediction_mean": 3.815731542999856e-05, "collision_label_count": 16348.0, "terrain_level_mean": 2.60205078125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [61, 116, 118, 59, 34, 22], "episodes_by_level": [[1197.0, 252.0, 43.0, 0.0], [1115.0, 244.0, 33.0, 0.0], [535.0, 123.0, 19.0, 0.0], [210.0, 58.0, 8.0, 0.0], [89.0, 23.0, 2.0, 0.0], [23.0, 5.0, 1.0, 0.0]]}, "up": {"level_counts": [2, 49, 311, 664, 394, 13], "episodes_by_level": [[689.0, 554.0, 7.0, 0.0], [2308.0, 1398.0, 37.0, 0.0], [3680.0, 1329.0, 164.0, 0.0], [2229.0, 511.0, 182.0, 0.0], [430.0, 15.0, 93.0, 0.0], [3.0, 0.0, 3.0, 0.0]]}, "down": {"level_counts": [0, 1, 6, 26, 102, 479], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [534.0, 478.0, 9.0, 0.0], [751.0, 662.0, 21.0, 0.0], [885.0, 718.0, 25.0, 0.0], [1108.0, 832.0, 57.0, 0.0], [1950.0, 1422.0, 129.0, 0.0]]}, "platform": {"level_counts": [76, 135, 111, 67, 21, 0], "episodes_by_level": [[1341.0, 294.0, 47.0, 0.0], [1148.0, 228.0, 59.0, 0.0], [479.0, 99.0, 35.0, 0.0], [164.0, 27.0, 11.0, 0.0], [20.0, 2.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [74, 116, 95, 63, 45, 17], "episodes_by_level": [[1228.0, 263.0, 39.0, 0.0], [1095.0, 228.0, 54.0, 0.0], [545.0, 132.0, 22.0, 0.0], [219.0, 65.0, 7.0, 0.0], [84.0, 18.0, 3.0, 0.0], [28.0, 7.0, 1.0, 0.0]]}, "rubble": {"level_counts": [133, 266, 267, 129, 24, 0], "episodes_by_level": [[2451.0, 555.0, 87.0, 0.0], [2389.0, 525.0, 124.0, 0.0], [1118.0, 221.0, 122.0, 0.0], [354.0, 37.0, 68.0, 0.0], [39.0, 1.0, 13.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 30156, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.242919921875, "command_abs_max": [0.9946014881134033, 0.3995755612850189, 0.6966814994812012]}
{"step": 15050, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 15050, "total_transitions": 61644800, "num_steps_per_env": 1, "wm_loss": 0.8664380311965942, "actor_loss": -9.479812622070312, "critic_loss": 0.003009689273312688, "reward": 0.08608749508857727, "falls": 5, "interval_steps": 50, "velocity_mae": [0.12046906352043152, 0.07529207319021225, 0.1356913149356842], "mean_episode_length": 1344.78, "episode_reward_terms": {"track_linear_velocity": 47.21277618408203, "track_angular_velocity": 50.83741760253906, "upright": 26.05240821838379, "leg_posture": -2.765597343444824, "standstill": -5.948533535003662, "action_rate_l2": -0.5962583422660828, "joint_torques_l2": -0.14584387838840485, "dof_pos_limits": -0.0008410076261498034, "terminated": -0.013132615946233273, "unnecessary_wheel_lift": -0.11667300015687943, "rolling_leg_motion": -0.7459867596626282, "obstacle_progress": 2.589090585708618, "wheel_body_intrusion": -0.25834202766418457, "pair_body_intrusion": -0.3317145109176636}, "weighted_reward_terms": {"track_linear_velocity": 1.7554090023040771, "track_angular_velocity": 1.8901759386062622, "upright": 0.9686494469642639, "leg_posture": -0.10282712429761887, "standstill": -0.22117125988006592, "action_rate_l2": -0.022169362753629684, "joint_torques_l2": -0.0054225921630859375, "dof_pos_limits": -3.1269337341655046e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.004337995778769255, "rolling_leg_motion": -0.02773638628423214, "obstacle_progress": 0.09626446664333344, "wheel_body_intrusion": -0.009605363942682743, "pair_body_intrusion": -0.01233341172337532}, "episode_termination_rates": {"time_out": 0.44, "fell_over": 0.013333333333333334, "course_exit": 0.5266666666666666, "illegal_nonwheel_contact": 0.03333333333333333}, "collection_time_s": 0.07562046655686572, "learning_time_s": 0.185427955922205, "iteration_time_s": 0.36676908369514893, "policy_updates": 14750, "skipped_updates": 0, "invalid_env_resets": 74, "elapsed_s": 5519.874709611991, "nonwheel_terminations": 11314, "contact_bce": 0.312161386013031, "contact_force_loss": 0.02243560366332531, "collision_bce": 0.00010766407649498433, "collision_label_rate": 0.00012252650049049407, "collision_prediction_mean": 0.00017044304695446044, "collision_label_count": 16323.0, "terrain_level_mean": 2.610595703125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [60, 116, 116, 62, 34, 22], "episodes_by_level": [[1200.0, 253.0, 43.0, 0.0], [1119.0, 245.0, 33.0, 0.0], [540.0, 126.0, 19.0, 0.0], [211.0, 58.0, 8.0, 0.0], [90.0, 23.0, 2.0, 0.0], [24.0, 6.0, 1.0, 0.0]]}, "up": {"level_counts": [2, 46, 309, 658, 403, 15], "episodes_by_level": [[689.0, 554.0, 7.0, 0.0], [2313.0, 1401.0, 37.0, 0.0], [3688.0, 1334.0, 164.0, 0.0], [2250.0, 524.0, 182.0, 0.0], [440.0, 17.0, 94.0, 0.0], [3.0, 0.0, 3.0, 0.0]]}, "down": {"level_counts": [0, 1, 5, 26, 104, 478], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [534.0, 478.0, 9.0, 0.0], [752.0, 663.0, 21.0, 0.0], [886.0, 719.0, 25.0, 0.0], [1111.0, 833.0, 57.0, 0.0], [1967.0, 1436.0, 130.0, 0.0]]}, "platform": {"level_counts": [75, 136, 111, 67, 21, 0], "episodes_by_level": [[1344.0, 295.0, 48.0, 0.0], [1152.0, 228.0, 59.0, 0.0], [481.0, 99.0, 35.0, 0.0], [164.0, 27.0, 11.0, 0.0], [20.0, 2.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [74, 116, 94, 64, 43, 19], "episodes_by_level": [[1231.0, 263.0, 39.0, 0.0], [1101.0, 228.0, 54.0, 0.0], [547.0, 133.0, 22.0, 0.0], [220.0, 65.0, 7.0, 0.0], [86.0, 20.0, 3.0, 0.0], [28.0, 7.0, 1.0, 0.0]]}, "rubble": {"level_counts": [133, 263, 269, 130, 24, 0], "episodes_by_level": [[2453.0, 555.0, 87.0, 0.0], [2398.0, 528.0, 124.0, 0.0], [1122.0, 222.0, 122.0, 0.0], [356.0, 37.0, 68.0, 0.0], [40.0, 1.0, 13.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 30271, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.243896484375, "command_abs_max": [0.9958750009536743, 0.3995755612850189, 0.6997659206390381]}
{"step": 15100, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 15100, "total_transitions": 61849600, "num_steps_per_env": 1, "wm_loss": 0.8013091087341309, "actor_loss": -9.46772575378418, "critic_loss": 0.004559557419270277, "reward": 0.0860888734459877, "falls": 10, "interval_steps": 50, "velocity_mae": [0.12082570791244507, 0.0740755945444107, 0.1360035389661789], "mean_episode_length": 1368.3617021276596, "episode_reward_terms": {"track_linear_velocity": 48.041866302490234, "track_angular_velocity": 51.731529235839844, "upright": 26.50784683227539, "leg_posture": -2.841625213623047, "standstill": -6.022512435913086, "action_rate_l2": -0.5884580612182617, "joint_torques_l2": -0.15003634989261627, "dof_pos_limits": -0.0007697970722801983, "terminated": -0.026725811883807182, "unnecessary_wheel_lift": -0.11309956014156342, "rolling_leg_motion": -0.7565450668334961, "obstacle_progress": 2.6918718814849854, "wheel_body_intrusion": -0.2943357527256012, "pair_body_intrusion": -0.3782713711261749}, "weighted_reward_terms": {"track_linear_velocity": 1.7554519176483154, "track_angular_velocity": 1.8902724981307983, "upright": 0.968597948551178, "leg_posture": -0.10383311659097672, "standstill": -0.22006288170814514, "action_rate_l2": -0.021502286195755005, "joint_torques_l2": -0.005482335574924946, "dof_pos_limits": -2.8128421035944484e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.004132663365453482, "rolling_leg_motion": -0.027644192799925804, "obstacle_progress": 0.09836111962795258, "wheel_body_intrusion": -0.010755042545497417, "pair_body_intrusion": -0.013822054490447044}, "episode_termination_rates": {"time_out": 0.5106382978723404, "fell_over": 0.04964539007092199, "course_exit": 0.41843971631205673, "illegal_nonwheel_contact": 0.03546099290780142}, "collection_time_s": 0.07575746204121969, "learning_time_s": 0.1860683318786323, "iteration_time_s": 0.36642166424556155, "policy_updates": 14800, "skipped_updates": 0, "invalid_env_resets": 75, "elapsed_s": 5532.96713010798, "nonwheel_terminations": 11319, "contact_bce": 0.3059841990470886, "contact_force_loss": 0.020895015448331833, "collision_bce": 1.5593450370943174e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.5484198229387403e-05, "collision_label_count": 16345.0, "terrain_level_mean": 2.61572265625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [58, 118, 116, 62, 34, 22], "episodes_by_level": [[1202.0, 255.0, 43.0, 0.0], [1120.0, 245.0, 33.0, 0.0], [541.0, 126.0, 19.0, 0.0], [211.0, 58.0, 8.0, 0.0], [90.0, 23.0, 2.0, 0.0], [24.0, 6.0, 1.0, 0.0]]}, "up": {"level_counts": [2, 46, 301, 663, 406, 15], "episodes_by_level": [[689.0, 554.0, 7.0, 0.0], [2315.0, 1403.0, 37.0, 0.0], [3698.0, 1342.0, 164.0, 0.0], [2266.0, 530.0, 182.0, 0.0], [447.0, 17.0, 96.0, 0.0], [3.0, 0.0, 3.0, 0.0]]}, "down": {"level_counts": [0, 1, 4, 26, 102, 481], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [534.0, 478.0, 9.0, 0.0], [753.0, 664.0, 21.0, 0.0], [887.0, 720.0, 25.0, 0.0], [1115.0, 837.0, 57.0, 0.0], [1983.0, 1449.0, 131.0, 0.0]]}, "platform": {"level_counts": [75, 136, 110, 68, 21, 0], "episodes_by_level": [[1344.0, 295.0, 48.0, 0.0], [1158.0, 228.0, 59.0, 0.0], [484.0, 100.0, 35.0, 0.0], [167.0, 27.0, 11.0, 0.0], [21.0, 2.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [74, 115, 94, 65, 43, 19], "episodes_by_level": [[1232.0, 263.0, 39.0, 0.0], [1109.0, 229.0, 54.0, 0.0], [549.0, 134.0, 22.0, 0.0], [222.0, 65.0, 7.0, 0.0], [86.0, 20.0, 3.0, 0.0], [28.0, 7.0, 1.0, 0.0]]}, "rubble": {"level_counts": [131, 265, 271, 128, 24, 0], "episodes_by_level": [[2456.0, 557.0, 87.0, 0.0], [2408.0, 530.0, 124.0, 0.0], [1140.0, 222.0, 124.0, 0.0], [360.0, 37.0, 70.0, 0.0], [40.0, 1.0, 13.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 30398, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.24462890625, "command_abs_max": [0.9958750009536743, 0.3995755612850189, 0.6997659206390381]}
{"step": 15150, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 15150, "total_transitions": 62054400, "num_steps_per_env": 1, "wm_loss": 0.8547869324684143, "actor_loss": -9.452300071716309, "critic_loss": 0.003438010811805725, "reward": 0.0860711857676506, "falls": 6, "interval_steps": 50, "velocity_mae": [0.12042151391506195, 0.07498282939195633, 0.1370282769203186], "mean_episode_length": 1330.6571428571428, "episode_reward_terms": {"track_linear_velocity": 46.70539093017578, "track_angular_velocity": 50.246917724609375, "upright": 25.749366760253906, "leg_posture": -2.7757914066314697, "standstill": -5.837235927581787, "action_rate_l2": -0.5917317867279053, "joint_torques_l2": -0.14555014669895172, "dof_pos_limits": -0.0003044522018171847, "terminated": -0.01559363678097725, "unnecessary_wheel_lift": -0.10632675886154175, "rolling_leg_motion": -0.7489035725593567, "obstacle_progress": 2.639326810836792, "wheel_body_intrusion": -0.2778830826282501, "pair_body_intrusion": -0.3104643225669861}, "weighted_reward_terms": {"track_linear_velocity": 1.7549748420715332, "track_angular_velocity": 1.8880491256713867, "upright": 0.9675433039665222, "leg_posture": -0.10430152714252472, "standstill": -0.219336599111557, "action_rate_l2": -0.02223457209765911, "joint_torques_l2": -0.005469108000397682, "dof_pos_limits": -1.1439919944677968e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.003995272796601057, "rolling_leg_motion": -0.028140366077423096, "obstacle_progress": 0.09917382150888443, "wheel_body_intrusion": -0.010441573336720467, "pair_body_intrusion": -0.011665827594697475}, "episode_termination_rates": {"time_out": 0.5357142857142857, "fell_over": 0.02142857142857143, "course_exit": 0.42142857142857143, "illegal_nonwheel_contact": 0.02142857142857143}, "collection_time_s": 0.0754686038417276, "learning_time_s": 0.18591605211840942, "iteration_time_s": 0.36607507824752533, "policy_updates": 14850, "skipped_updates": 0, "invalid_env_resets": 75, "elapsed_s": 5546.037435450009, "nonwheel_terminations": 11322, "contact_bce": 0.3127528429031372, "contact_force_loss": 0.023015856742858887, "collision_bce": 0.00038873800076544285, "collision_label_rate": 0.00012249647988937795, "collision_prediction_mean": 2.3827431505196728e-05, "collision_label_count": 16327.0, "terrain_level_mean": 2.62353515625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [57, 118, 114, 65, 34, 22], "episodes_by_level": [[1203.0, 256.0, 43.0, 0.0], [1124.0, 246.0, 33.0, 0.0], [546.0, 129.0, 19.0, 0.0], [213.0, 58.0, 8.0, 0.0], [90.0, 23.0, 2.0, 0.0], [24.0, 6.0, 1.0, 0.0]]}, "up": {"level_counts": [2, 47, 296, 654, 417, 17], "episodes_by_level": [[689.0, 554.0, 7.0, 0.0], [2315.0, 1403.0, 37.0, 0.0], [3705.0, 1346.0, 165.0, 0.0], [2280.0, 542.0, 182.0, 0.0], [453.0, 19.0, 96.0, 0.0], [3.0, 0.0, 3.0, 0.0]]}, "down": {"level_counts": [0, 1, 4, 25, 102, 482], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [534.0, 478.0, 9.0, 0.0], [753.0, 664.0, 21.0, 0.0], [888.0, 721.0, 25.0, 0.0], [1118.0, 840.0, 57.0, 0.0], [1996.0, 1459.0, 131.0, 0.0]]}, "platform": {"level_counts": [75, 136, 109, 69, 21, 0], "episodes_by_level": [[1347.0, 295.0, 48.0, 0.0], [1162.0, 229.0, 59.0, 0.0], [490.0, 101.0, 36.0, 0.0], [169.0, 27.0, 11.0, 0.0], [21.0, 2.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [74, 115, 95, 64, 43, 19], "episodes_by_level": [[1235.0, 263.0, 39.0, 0.0], [1110.0, 229.0, 54.0, 0.0], [550.0, 134.0, 22.0, 0.0], [227.0, 65.0, 8.0, 0.0], [87.0, 20.0, 3.0, 0.0], [28.0, 7.0, 1.0, 0.0]]}, "rubble": {"level_counts": [130, 263, 272, 129, 25, 0], "episodes_by_level": [[2462.0, 558.0, 87.0, 0.0], [2420.0, 533.0, 124.0, 0.0], [1152.0, 225.0, 124.0, 0.0], [364.0, 38.0, 71.0, 0.0], [40.0, 1.0, 13.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 30542, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.25048828125, "command_abs_max": [0.9958750009536743, 0.3995755612850189, 0.6997659206390381]}
{"step": 15200, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 15200, "total_transitions": 62259200, "num_steps_per_env": 1, "wm_loss": 0.8148890733718872, "actor_loss": -9.460275650024414, "critic_loss": 0.005425564479082823, "reward": 0.08579553663730621, "falls": 7, "interval_steps": 50, "velocity_mae": [0.1215982437133789, 0.07576178759336472, 0.1374666690826416], "mean_episode_length": 1368.7639751552795, "episode_reward_terms": {"track_linear_velocity": 47.960975646972656, "track_angular_velocity": 51.67068099975586, "upright": 26.477075576782227, "leg_posture": -2.8476057052612305, "standstill": -6.24455451965332, "action_rate_l2": -0.6101351380348206, "joint_torques_l2": -0.14816194772720337, "dof_pos_limits": -0.000271903641987592, "terminated": -0.018713567405939102, "unnecessary_wheel_lift": -0.13880476355552673, "rolling_leg_motion": -0.784237265586853, "obstacle_progress": 2.7087910175323486, "wheel_body_intrusion": -0.281394898891449, "pair_body_intrusion": -0.30980783700942993}, "weighted_reward_terms": {"track_linear_velocity": 1.751981258392334, "track_angular_velocity": 1.8874943256378174, "upright": 0.9671893119812012, "leg_posture": -0.10402107238769531, "standstill": -0.22810925543308258, "action_rate_l2": -0.022287815809249878, "joint_torques_l2": -0.005412253551185131, "dof_pos_limits": -9.932452485372778e-06, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.005070442333817482, "rolling_leg_motion": -0.02864764630794525, "obstacle_progress": 0.09895026683807373, "wheel_body_intrusion": -0.010279161855578423, "pair_body_intrusion": -0.011317065916955471}, "episode_termination_rates": {"time_out": 0.4968944099378882, "fell_over": 0.037267080745341616, "course_exit": 0.45962732919254656, "illegal_nonwheel_contact": 0.031055900621118012}, "collection_time_s": 0.07591053839772939, "learning_time_s": 0.18578614922123962, "iteration_time_s": 0.3657317995952632, "policy_updates": 14900, "skipped_updates": 0, "invalid_env_resets": 76, "elapsed_s": 5559.123353848001, "nonwheel_terminations": 11327, "contact_bce": 0.3057742416858673, "contact_force_loss": 0.022038551047444344, "collision_bce": 0.00024541825405322015, "collision_label_rate": 6.108735396992415e-05, "collision_prediction_mean": 7.42727115721209e-06, "collision_label_count": 16370.0, "terrain_level_mean": 2.6318359375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [56, 118, 111, 69, 34, 22], "episodes_by_level": [[1205.0, 257.0, 44.0, 0.0], [1131.0, 247.0, 33.0, 0.0], [555.0, 133.0, 19.0, 0.0], [215.0, 58.0, 8.0, 0.0], [92.0, 23.0, 2.0, 0.0], [26.0, 6.0, 1.0, 0.0]]}, "up": {"level_counts": [2, 46, 291, 653, 423, 18], "episodes_by_level": [[689.0, 554.0, 7.0, 0.0], [2316.0, 1404.0, 37.0, 0.0], [3713.0, 1352.0, 165.0, 0.0], [2296.0, 550.0, 182.0, 0.0], [458.0, 19.0, 96.0, 0.0], [3.0, 0.0, 3.0, 0.0]]}, "down": {"level_counts": [0, 1, 4, 24, 104, 481], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [534.0, 478.0, 9.0, 0.0], [753.0, 664.0, 21.0, 0.0], [889.0, 722.0, 25.0, 0.0], [1121.0, 842.0, 57.0, 0.0], [2018.0, 1474.0, 132.0, 0.0]]}, "platform": {"level_counts": [76, 133, 110, 69, 22, 0], "episodes_by_level": [[1347.0, 295.0, 48.0, 0.0], [1169.0, 231.0, 60.0, 0.0], [492.0, 102.0, 36.0, 0.0], [171.0, 28.0, 11.0, 0.0], [21.0, 2.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [73, 115, 96, 62, 45, 19], "episodes_by_level": [[1238.0, 264.0, 39.0, 0.0], [1116.0, 230.0, 54.0, 0.0], [555.0, 134.0, 22.0, 0.0], [229.0, 67.0, 8.0, 0.0], [88.0, 20.0, 3.0, 0.0], [28.0, 7.0, 1.0, 0.0]]}, "rubble": {"level_counts": [128, 264, 272, 128, 27, 0], "episodes_by_level": [[2468.0, 560.0, 87.0, 0.0], [2427.0, 535.0, 124.0, 0.0], [1158.0, 226.0, 125.0, 0.0], [369.0, 40.0, 71.0, 0.0], [41.0, 1.0, 13.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 30684, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2529296875, "command_abs_max": [0.9958750009536743, 0.3995755612850189, 0.6999082565307617]}
{"step": 15250, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 15250, "total_transitions": 62464000, "num_steps_per_env": 1, "wm_loss": 0.8130893707275391, "actor_loss": -9.474769592285156, "critic_loss": 0.007577076554298401, "reward": 0.08622334897518158, "falls": 8, "interval_steps": 50, "velocity_mae": [0.1187017560005188, 0.07413891702890396, 0.13584217429161072], "mean_episode_length": 1344.9548387096775, "episode_reward_terms": {"track_linear_velocity": 47.35851287841797, "track_angular_velocity": 50.8437614440918, "upright": 26.045055389404297, "leg_posture": -2.750261068344116, "standstill": -6.056527614593506, "action_rate_l2": -0.5946137309074402, "joint_torques_l2": -0.14512230455875397, "dof_pos_limits": -0.0006819178233854473, "terminated": -0.02101491577923298, "unnecessary_wheel_lift": -0.1260286569595337, "rolling_leg_motion": -0.749796450138092, "obstacle_progress": 2.715872049331665, "wheel_body_intrusion": -0.2605369985103607, "pair_body_intrusion": -0.292113333940506}, "weighted_reward_terms": {"track_linear_velocity": 1.7605986595153809, "track_angular_velocity": 1.890166163444519, "upright": 0.9682501554489136, "leg_posture": -0.10224362462759018, "standstill": -0.22515729069709778, "action_rate_l2": -0.022105343639850616, "joint_torques_l2": -0.005395062267780304, "dof_pos_limits": -2.5350958821945824e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.004685237538069487, "rolling_leg_motion": -0.027874410152435303, "obstacle_progress": 0.10096517950296402, "wheel_body_intrusion": -0.009685715660452843, "pair_body_intrusion": -0.01085959654301405}, "episode_termination_rates": {"time_out": 0.47096774193548385, "fell_over": 0.03870967741935484, "course_exit": 0.4774193548387097, "illegal_nonwheel_contact": 0.03225806451612903}, "collection_time_s": 0.07563558495719917, "learning_time_s": 0.1859627302980516, "iteration_time_s": 0.3653904500198703, "policy_updates": 14950, "skipped_updates": 0, "invalid_env_resets": 76, "elapsed_s": 5572.204362803022, "nonwheel_terminations": 11332, "contact_bce": 0.3073500096797943, "contact_force_loss": 0.021392423659563065, "collision_bce": 9.463659807806835e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 6.49203357170336e-05, "collision_label_count": 16348.0, "terrain_level_mean": 2.6396484375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [55, 117, 112, 69, 35, 22], "episodes_by_level": [[1208.0, 258.0, 46.0, 0.0], [1133.0, 249.0, 33.0, 0.0], [560.0, 134.0, 19.0, 0.0], [217.0, 59.0, 8.0, 0.0], [95.0, 23.0, 2.0, 0.0], [26.0, 6.0, 1.0, 0.0]]}, "up": {"level_counts": [2, 44, 287, 651, 430, 19], "episodes_by_level": [[689.0, 554.0, 7.0, 0.0], [2320.0, 1406.0, 37.0, 0.0], [3719.0, 1358.0, 165.0, 0.0], [2312.0, 560.0, 182.0, 0.0], [466.0, 20.0, 98.0, 0.0], [3.0, 0.0, 3.0, 0.0]]}, "down": {"level_counts": [0, 1, 4, 22, 103, 484], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [534.0, 478.0, 9.0, 0.0], [753.0, 664.0, 21.0, 0.0], [891.0, 724.0, 25.0, 0.0], [1127.0, 847.0, 57.0, 0.0], [2041.0, 1494.0, 133.0, 0.0]]}, "platform": {"level_counts": [75, 133, 111, 69, 22, 0], "episodes_by_level": [[1350.0, 296.0, 48.0, 0.0], [1173.0, 233.0, 60.0, 0.0], [495.0, 102.0, 37.0, 0.0], [173.0, 28.0, 11.0, 0.0], [21.0, 2.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [73, 115, 95, 63, 45, 19], "episodes_by_level": [[1239.0, 264.0, 39.0, 0.0], [1118.0, 230.0, 54.0, 0.0], [560.0, 135.0, 22.0, 0.0], [231.0, 67.0, 8.0, 0.0], [90.0, 20.0, 3.0, 0.0], [29.0, 7.0, 1.0, 0.0]]}, "rubble": {"level_counts": [128, 262, 274, 128, 27, 0], "episodes_by_level": [[2469.0, 560.0, 87.0, 0.0], [2435.0, 538.0, 124.0, 0.0], [1171.0, 226.0, 126.0, 0.0], [371.0, 40.0, 71.0, 0.0], [41.0, 1.0, 13.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 30819, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.24560546875, "command_abs_max": [0.9966971278190613, 0.3995755612850189, 0.6999082565307617]}
{"step": 15300, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 15300, "total_transitions": 62668800, "num_steps_per_env": 1, "wm_loss": 0.8311226963996887, "actor_loss": -9.49581527709961, "critic_loss": 0.0030363884288817644, "reward": 0.08632214367389679, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11779844760894775, 0.07263313978910446, 0.13442356884479523], "mean_episode_length": 1325.3985507246377, "episode_reward_terms": {"track_linear_velocity": 46.790672302246094, "track_angular_velocity": 50.1600456237793, "upright": 25.69409942626953, "leg_posture": -2.7355666160583496, "standstill": -6.071595668792725, "action_rate_l2": -0.5741370320320129, "joint_torques_l2": -0.1423410177230835, "dof_pos_limits": -0.00029133708449080586, "terminated": -0.015532013028860092, "unnecessary_wheel_lift": -0.10625176131725311, "rolling_leg_motion": -0.7298551797866821, "obstacle_progress": 2.6839468479156494, "wheel_body_intrusion": -0.25325530767440796, "pair_body_intrusion": -0.28869321942329407}, "weighted_reward_terms": {"track_linear_velocity": 1.7651548385620117, "track_angular_velocity": 1.8922626972198486, "upright": 0.9692971110343933, "leg_posture": -0.10319789499044418, "standstill": -0.22904790937900543, "action_rate_l2": -0.021659033372998238, "joint_torques_l2": -0.005369744263589382, "dof_pos_limits": -1.099054679798428e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.004008295014500618, "rolling_leg_motion": -0.02753342315554619, "obstacle_progress": 0.10125056654214859, "wheel_body_intrusion": -0.009553929790854454, "pair_body_intrusion": -0.010890807956457138}, "episode_termination_rates": {"time_out": 0.45652173913043476, "fell_over": 0.043478260869565216, "course_exit": 0.5, "illegal_nonwheel_contact": 0.014492753623188406}, "collection_time_s": 0.07562566227745265, "learning_time_s": 0.1862091987230815, "iteration_time_s": 0.36505210298385543, "policy_updates": 15000, "skipped_updates": 0, "invalid_env_resets": 76, "elapsed_s": 5585.297175652988, "nonwheel_terminations": 11334, "contact_bce": 0.3079289495944977, "contact_force_loss": 0.021329430863261223, "collision_bce": 4.6772443056397606e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 4.744171292259125e-06, "collision_label_count": 16352.0, "terrain_level_mean": 2.646240234375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [55, 116, 113, 68, 36, 22], "episodes_by_level": [[1210.0, 258.0, 46.0, 0.0], [1139.0, 250.0, 33.0, 0.0], [564.0, 134.0, 19.0, 0.0], [219.0, 60.0, 8.0, 0.0], [95.0, 23.0, 2.0, 0.0], [26.0, 6.0, 1.0, 0.0]]}, "up": {"level_counts": [2, 43, 285, 644, 440, 19], "episodes_by_level": [[689.0, 554.0, 7.0, 0.0], [2321.0, 1407.0, 37.0, 0.0], [3724.0, 1362.0, 165.0, 0.0], [2333.0, 570.0, 182.0, 0.0], [469.0, 20.0, 98.0, 0.0], [3.0, 0.0, 3.0, 0.0]]}, "down": {"level_counts": [0, 1, 5, 21, 101, 486], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [534.0, 478.0, 9.0, 0.0], [753.0, 664.0, 21.0, 0.0], [891.0, 724.0, 25.0, 0.0], [1133.0, 852.0, 57.0, 0.0], [2065.0, 1512.0, 133.0, 0.0]]}, "platform": {"level_counts": [74, 132, 112, 70, 22, 0], "episodes_by_level": [[1351.0, 297.0, 48.0, 0.0], [1180.0, 235.0, 60.0, 0.0], [497.0, 103.0, 37.0, 0.0], [176.0, 28.0, 11.0, 0.0], [21.0, 2.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [73, 113, 97, 62, 46, 19], "episodes_by_level": [[1241.0, 264.0, 39.0, 0.0], [1125.0, 232.0, 54.0, 0.0], [561.0, 135.0, 22.0, 0.0], [234.0, 68.0, 8.0, 0.0], [90.0, 20.0, 3.0, 0.0], [31.0, 7.0, 1.0, 0.0]]}, "rubble": {"level_counts": [126, 262, 277, 127, 27, 0], "episodes_by_level": [[2472.0, 562.0, 87.0, 0.0], [2442.0, 540.0, 124.0, 0.0], [1172.0, 226.0, 126.0, 0.0], [376.0, 40.0, 72.0, 0.0], [41.0, 1.0, 13.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 30979, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.244873046875, "command_abs_max": [0.9966971278190613, 0.3995755612850189, 0.6999082565307617]}
{"step": 15350, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 15350, "total_transitions": 62873600, "num_steps_per_env": 1, "wm_loss": 0.8515757322311401, "actor_loss": -9.444591522216797, "critic_loss": 0.0062646688893437386, "reward": 0.0862778052687645, "falls": 2, "interval_steps": 50, "velocity_mae": [0.11789011210203171, 0.07309050112962723, 0.13453814387321472], "mean_episode_length": 1365.5857142857142, "episode_reward_terms": {"track_linear_velocity": 48.173580169677734, "track_angular_velocity": 51.672874450683594, "upright": 26.458112716674805, "leg_posture": -2.8321681022644043, "standstill": -6.237101078033447, "action_rate_l2": -0.5955186486244202, "joint_torques_l2": -0.14748580753803253, "dof_pos_limits": -0.0004029369738418609, "terminated": -0.005334318149834871, "unnecessary_wheel_lift": -0.10463418066501617, "rolling_leg_motion": -0.7541669607162476, "obstacle_progress": 2.7526283264160156, "wheel_body_intrusion": -0.2750888764858246, "pair_body_intrusion": -0.2855813205242157}, "weighted_reward_terms": {"track_linear_velocity": 1.7638431787490845, "track_angular_velocity": 1.891967535018921, "upright": 0.9687460064888, "leg_posture": -0.10369792580604553, "standstill": -0.22836726903915405, "action_rate_l2": -0.02180451527237892, "joint_torques_l2": -0.005400093737989664, "dof_pos_limits": -1.4753266441402957e-05, "terminated": -0.0001953124738065526, "unnecessary_wheel_lift": -0.0038311101961880922, "rolling_leg_motion": -0.027613317593932152, "obstacle_progress": 0.10078563541173935, "wheel_body_intrusion": -0.010072194039821625, "pair_body_intrusion": -0.010456367395818233}, "episode_termination_rates": {"time_out": 0.4785714285714286, "fell_over": 0.007142857142857143, "course_exit": 0.5071428571428571, "illegal_nonwheel_contact": 0.007142857142857143}, "collection_time_s": 0.07557200595620088, "learning_time_s": 0.185694834246533, "iteration_time_s": 0.3647141124970046, "policy_updates": 15050, "skipped_updates": 0, "invalid_env_resets": 76, "elapsed_s": 5598.361626829021, "nonwheel_terminations": 11335, "contact_bce": 0.30161622166633606, "contact_force_loss": 0.02134164236485958, "collision_bce": 3.883464523823932e-05, "collision_label_rate": 6.119576573837548e-05, "collision_prediction_mean": 7.297553383978084e-05, "collision_label_count": 16341.0, "terrain_level_mean": 2.65234375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [55, 115, 114, 68, 36, 22], "episodes_by_level": [[1210.0, 258.0, 46.0, 0.0], [1143.0, 251.0, 33.0, 0.0], [569.0, 134.0, 19.0, 0.0], [222.0, 60.0, 8.0, 0.0], [95.0, 23.0, 2.0, 0.0], [26.0, 6.0, 1.0, 0.0]]}, "up": {"level_counts": [2, 43, 281, 639, 446, 22], "episodes_by_level": [[689.0, 554.0, 7.0, 0.0], [2321.0, 1407.0, 37.0, 0.0], [3731.0, 1366.0, 165.0, 0.0], [2350.0, 579.0, 182.0, 0.0], [481.0, 23.0, 98.0, 0.0], [3.0, 0.0, 3.0, 0.0]]}, "down": {"level_counts": [0, 1, 5, 22, 101, 485], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [534.0, 478.0, 9.0, 0.0], [753.0, 664.0, 21.0, 0.0], [891.0, 724.0, 25.0, 0.0], [1133.0, 852.0, 57.0, 0.0], [2081.0, 1527.0, 133.0, 0.0]]}, "platform": {"level_counts": [73, 133, 111, 71, 22, 0], "episodes_by_level": [[1354.0, 298.0, 48.0, 0.0], [1185.0, 235.0, 60.0, 0.0], [505.0, 104.0, 37.0, 0.0], [180.0, 28.0, 11.0, 0.0], [21.0, 2.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [73, 112, 98, 61, 47, 19], "episodes_by_level": [[1242.0, 264.0, 39.0, 0.0], [1131.0, 233.0, 54.0, 0.0], [563.0, 135.0, 22.0, 0.0], [236.0, 69.0, 8.0, 0.0], [90.0, 20.0, 3.0, 0.0], [31.0, 7.0, 1.0, 0.0]]}, "rubble": {"level_counts": [124, 262, 277, 129, 27, 0], "episodes_by_level": [[2474.0, 564.0, 87.0, 0.0], [2450.0, 542.0, 124.0, 0.0], [1181.0, 228.0, 126.0, 0.0], [378.0, 40.0, 72.0, 0.0], [42.0, 1.0, 13.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 31111, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.24169921875, "command_abs_max": [0.9991773366928101, 0.3995755612850189, 0.6999082565307617]}
{"step": 15400, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 15400, "total_transitions": 63078400, "num_steps_per_env": 1, "wm_loss": 0.8336211442947388, "actor_loss": -9.458749771118164, "critic_loss": 0.002679011784493923, "reward": 0.08598238974809647, "falls": 2, "interval_steps": 50, "velocity_mae": [0.11888987571001053, 0.07357537001371384, 0.13579420745372772], "mean_episode_length": 1449.9424460431655, "episode_reward_terms": {"track_linear_velocity": 51.0894660949707, "track_angular_velocity": 54.812339782714844, "upright": 28.054336547851562, "leg_posture": -2.9895119667053223, "standstill": -6.934511661529541, "action_rate_l2": -0.6279199123382568, "joint_torques_l2": -0.15611837804317474, "dof_pos_limits": -0.0006149656255729496, "terminated": -0.005663836840540171, "unnecessary_wheel_lift": -0.13081000745296478, "rolling_leg_motion": -0.8115706443786621, "obstacle_progress": 2.9457085132598877, "wheel_body_intrusion": -0.2821072041988373, "pair_body_intrusion": -0.2934887707233429}, "weighted_reward_terms": {"track_linear_velocity": 1.7617757320404053, "track_angular_velocity": 1.8901557922363281, "upright": 0.9674292802810669, "leg_posture": -0.10309071093797684, "standstill": -0.23913058638572693, "action_rate_l2": -0.021653270348906517, "joint_torques_l2": -0.005383606068789959, "dof_pos_limits": -2.1206551537034102e-05, "terminated": -0.0001953124738065526, "unnecessary_wheel_lift": -0.004510868806391954, "rolling_leg_motion": -0.027986304834485054, "obstacle_progress": 0.1015801802277565, "wheel_body_intrusion": -0.009728220291435719, "pair_body_intrusion": -0.010120703838765621}, "episode_termination_rates": {"time_out": 0.5683453237410072, "fell_over": 0.014388489208633094, "course_exit": 0.4172661870503597, "illegal_nonwheel_contact": 0.007194244604316547}, "collection_time_s": 0.07558818202116527, "learning_time_s": 0.1856813317129854, "iteration_time_s": 0.36437832986513025, "policy_updates": 15100, "skipped_updates": 0, "invalid_env_resets": 76, "elapsed_s": 5611.4262799230055, "nonwheel_terminations": 11336, "contact_bce": 0.30554404854774475, "contact_force_loss": 0.021542025730013847, "collision_bce": 5.229863745626062e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 5.295861683407566e-06, "collision_label_count": 16345.0, "terrain_level_mean": 2.657958984375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [55, 115, 114, 68, 36, 22], "episodes_by_level": [[1211.0, 258.0, 46.0, 0.0], [1144.0, 251.0, 33.0, 0.0], [573.0, 134.0, 19.0, 0.0], [224.0, 60.0, 8.0, 0.0], [98.0, 23.0, 2.0, 0.0], [26.0, 6.0, 1.0, 0.0]]}, "up": {"level_counts": [2, 41, 278, 637, 453, 22], "episodes_by_level": [[689.0, 554.0, 7.0, 0.0], [2323.0, 1409.0, 37.0, 0.0], [3738.0, 1371.0, 165.0, 0.0], [2365.0, 586.0, 182.0, 0.0], [486.0, 23.0, 98.0, 0.0], [4.0, 0.0, 3.0, 0.0]]}, "down": {"level_counts": [0, 1, 5, 22, 98, 488], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [534.0, 478.0, 9.0, 0.0], [753.0, 664.0, 21.0, 0.0], [891.0, 724.0, 25.0, 0.0], [1138.0, 855.0, 57.0, 0.0], [2096.0, 1539.0, 134.0, 0.0]]}, "platform": {"level_counts": [71, 135, 111, 71, 22, 0], "episodes_by_level": [[1357.0, 300.0, 48.0, 0.0], [1192.0, 235.0, 60.0, 0.0], [505.0, 104.0, 37.0, 0.0], [181.0, 28.0, 11.0, 0.0], [21.0, 2.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [73, 111, 98, 62, 47, 19], "episodes_by_level": [[1243.0, 264.0, 39.0, 0.0], [1136.0, 234.0, 54.0, 0.0], [567.0, 136.0, 22.0, 0.0], [237.0, 69.0, 8.0, 0.0], [91.0, 20.0, 3.0, 0.0], [32.0, 8.0, 1.0, 0.0]]}, "rubble": {"level_counts": [123, 264, 274, 131, 27, 0], "episodes_by_level": [[2480.0, 565.0, 87.0, 0.0], [2462.0, 542.0, 124.0, 0.0], [1191.0, 230.0, 127.0, 0.0], [383.0, 40.0, 72.0, 0.0], [43.0, 1.0, 13.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 31250, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2421875, "command_abs_max": [0.9991773366928101, 0.3995755612850189, 0.6999082565307617]}
{"step": 15450, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 15450, "total_transitions": 63283200, "num_steps_per_env": 1, "wm_loss": 0.8014250993728638, "actor_loss": -9.469133377075195, "critic_loss": 0.0036213116254657507, "reward": 0.0859784483909607, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11936542391777039, 0.07475846260786057, 0.13546735048294067], "mean_episode_length": 1337.9632352941176, "episode_reward_terms": {"track_linear_velocity": 47.061676025390625, "track_angular_velocity": 50.59085464477539, "upright": 25.870393753051758, "leg_posture": -2.781292676925659, "standstill": -6.286940097808838, "action_rate_l2": -0.5792959928512573, "joint_torques_l2": -0.14402784407138824, "dof_pos_limits": -0.00041634292574599385, "terminated": -0.018292464315891266, "unnecessary_wheel_lift": -0.12298634648323059, "rolling_leg_motion": -0.7430605292320251, "obstacle_progress": 2.7256417274475098, "wheel_body_intrusion": -0.2646335959434509, "pair_body_intrusion": -0.2716214060783386}, "weighted_reward_terms": {"track_linear_velocity": 1.7587058544158936, "track_angular_velocity": 1.890592098236084, "upright": 0.9667827486991882, "leg_posture": -0.1039375588297844, "standstill": -0.2349444329738617, "action_rate_l2": -0.021648427471518517, "joint_torques_l2": -0.005382354371249676, "dof_pos_limits": -1.5558833183604293e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0045960284769535065, "rolling_leg_motion": -0.027768347412347794, "obstacle_progress": 0.10185786336660385, "wheel_body_intrusion": -0.009889419190585613, "pair_body_intrusion": -0.010150555521249771}, "episode_termination_rates": {"time_out": 0.5, "fell_over": 0.029411764705882353, "course_exit": 0.4485294117647059, "illegal_nonwheel_contact": 0.03676470588235294}, "collection_time_s": 0.07564417812041939, "learning_time_s": 0.18577502381638625, "iteration_time_s": 0.36404521332874, "policy_updates": 15150, "skipped_updates": 0, "invalid_env_resets": 77, "elapsed_s": 5624.498545929033, "nonwheel_terminations": 11341, "contact_bce": 0.3023218512535095, "contact_force_loss": 0.02132793888449669, "collision_bce": 0.00011541324784047902, "collision_label_rate": 0.00012242149387020618, "collision_prediction_mean": 0.00018153364362660795, "collision_label_count": 16337.0, "terrain_level_mean": 2.6640625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [55, 115, 113, 69, 36, 22], "episodes_by_level": [[1212.0, 258.0, 46.0, 0.0], [1148.0, 252.0, 33.0, 0.0], [578.0, 135.0, 20.0, 0.0], [225.0, 60.0, 8.0, 0.0], [99.0, 23.0, 2.0, 0.0], [27.0, 6.0, 1.0, 0.0]]}, "up": {"level_counts": [2, 42, 276, 630, 459, 24], "episodes_by_level": [[689.0, 554.0, 7.0, 0.0], [2323.0, 1409.0, 37.0, 0.0], [3742.0, 1374.0, 165.0, 0.0], [2379.0, 594.0, 182.0, 0.0], [496.0, 26.0, 98.0, 0.0], [5.0, 0.0, 4.0, 0.0]]}, "down": {"level_counts": [0, 0, 6, 21, 93, 494], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [753.0, 664.0, 21.0, 0.0], [892.0, 725.0, 25.0, 0.0], [1144.0, 861.0, 57.0, 0.0], [2112.0, 1552.0, 134.0, 0.0]]}, "platform": {"level_counts": [71, 134, 112, 71, 22, 0], "episodes_by_level": [[1357.0, 300.0, 48.0, 0.0], [1195.0, 236.0, 60.0, 0.0], [507.0, 104.0, 37.0, 0.0], [181.0, 28.0, 11.0, 0.0], [21.0, 2.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [72, 112, 98, 62, 47, 19], "episodes_by_level": [[1248.0, 265.0, 39.0, 0.0], [1137.0, 234.0, 54.0, 0.0], [569.0, 136.0, 22.0, 0.0], [240.0, 69.0, 8.0, 0.0], [91.0, 20.0, 3.0, 0.0], [32.0, 8.0, 1.0, 0.0]]}, "rubble": {"level_counts": [122, 262, 276, 133, 26, 0], "episodes_by_level": [[2484.0, 566.0, 87.0, 0.0], [2471.0, 545.0, 124.0, 0.0], [1196.0, 231.0, 127.0, 0.0], [386.0, 40.0, 72.0, 0.0], [44.0, 1.0, 14.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 31383, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.24365234375, "command_abs_max": [0.9991773366928101, 0.3995755612850189, 0.6999082565307617]}
{"step": 15500, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 15500, "total_transitions": 63488000, "num_steps_per_env": 1, "wm_loss": 0.8203505873680115, "actor_loss": -9.466058731079102, "critic_loss": 0.004116493742913008, "reward": 0.08595450967550278, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11837252974510193, 0.07506106048822403, 0.13688836991786957], "mean_episode_length": 1370.7122302158273, "episode_reward_terms": {"track_linear_velocity": 48.22714614868164, "track_angular_velocity": 51.77260208129883, "upright": 26.51113510131836, "leg_posture": -2.886664867401123, "standstill": -6.308173179626465, "action_rate_l2": -0.593220055103302, "joint_torques_l2": -0.14660663902759552, "dof_pos_limits": -0.00032598504913039505, "terminated": -0.018740205094218254, "unnecessary_wheel_lift": -0.12297628074884415, "rolling_leg_motion": -0.7873803377151489, "obstacle_progress": 2.7007341384887695, "wheel_body_intrusion": -0.2654547691345215, "pair_body_intrusion": -0.2631901800632477}, "weighted_reward_terms": {"track_linear_velocity": 1.7592002153396606, "track_angular_velocity": 1.8885293006896973, "upright": 0.9670568704605103, "leg_posture": -0.1052979826927185, "standstill": -0.2301056683063507, "action_rate_l2": -0.02163911610841751, "joint_torques_l2": -0.005347826983779669, "dof_pos_limits": -1.1891082067450043e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.004485853016376495, "rolling_leg_motion": -0.028721574693918228, "obstacle_progress": 0.09851572662591934, "wheel_body_intrusion": -0.00968309585005045, "pair_body_intrusion": -0.00960049033164978}, "episode_termination_rates": {"time_out": 0.5035971223021583, "fell_over": 0.02877697841726619, "course_exit": 0.4460431654676259, "illegal_nonwheel_contact": 0.050359712230215826}, "collection_time_s": 0.07555459474097007, "learning_time_s": 0.1857743179774843, "iteration_time_s": 0.36371394026348547, "policy_updates": 15200, "skipped_updates": 0, "invalid_env_resets": 77, "elapsed_s": 5637.566074084025, "nonwheel_terminations": 11348, "contact_bce": 0.29851508140563965, "contact_force_loss": 0.02081783302128315, "collision_bce": 7.5656880653696135e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 7.625971193192527e-06, "collision_label_count": 16347.0, "terrain_level_mean": 2.66943359375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [54, 115, 114, 68, 36, 23], "episodes_by_level": [[1213.0, 259.0, 46.0, 0.0], [1154.0, 253.0, 33.0, 0.0], [579.0, 135.0, 20.0, 0.0], [226.0, 61.0, 8.0, 0.0], [100.0, 24.0, 2.0, 0.0], [29.0, 8.0, 1.0, 0.0]]}, "up": {"level_counts": [2, 42, 271, 629, 465, 24], "episodes_by_level": [[689.0, 554.0, 7.0, 0.0], [2324.0, 1409.0, 37.0, 0.0], [3754.0, 1379.0, 165.0, 0.0], [2393.0, 600.0, 182.0, 0.0], [503.0, 26.0, 98.0, 0.0], [5.0, 0.0, 4.0, 0.0]]}, "down": {"level_counts": [0, 0, 6, 21, 93, 494], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [753.0, 664.0, 21.0, 0.0], [892.0, 725.0, 25.0, 0.0], [1147.0, 864.0, 57.0, 0.0], [2131.0, 1565.0, 136.0, 0.0]]}, "platform": {"level_counts": [70, 134, 112, 72, 22, 0], "episodes_by_level": [[1360.0, 301.0, 48.0, 0.0], [1200.0, 237.0, 60.0, 0.0], [512.0, 105.0, 37.0, 0.0], [184.0, 28.0, 11.0, 0.0], [22.0, 2.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [70, 114, 97, 63, 47, 19], "episodes_by_level": [[1254.0, 267.0, 40.0, 0.0], [1142.0, 235.0, 54.0, 0.0], [571.0, 137.0, 23.0, 0.0], [241.0, 69.0, 8.0, 0.0], [93.0, 20.0, 3.0, 0.0], [32.0, 8.0, 1.0, 0.0]]}, "rubble": {"level_counts": [122, 264, 272, 134, 27, 0], "episodes_by_level": [[2485.0, 566.0, 87.0, 0.0], [2480.0, 545.0, 124.0, 0.0], [1205.0, 233.0, 129.0, 0.0], [389.0, 41.0, 72.0, 0.0], [45.0, 1.0, 14.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 31528, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.244140625, "command_abs_max": [0.9991773366928101, 0.39995238184928894, 0.6997525095939636]}
{"step": 15550, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 15550, "total_transitions": 63692800, "num_steps_per_env": 1, "wm_loss": 0.8402968645095825, "actor_loss": -9.463663101196289, "critic_loss": 0.0051788389682769775, "reward": 0.08621601015329361, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11861931532621384, 0.07389985769987106, 0.1356351524591446], "mean_episode_length": 1373.601226993865, "episode_reward_terms": {"track_linear_velocity": 48.385581970214844, "track_angular_velocity": 51.936241149902344, "upright": 26.58028793334961, "leg_posture": -2.851680278778076, "standstill": -6.088831424713135, "action_rate_l2": -0.6114931106567383, "joint_torques_l2": -0.14533594250679016, "dof_pos_limits": -0.00023200285795610398, "terminated": -0.01609688811004162, "unnecessary_wheel_lift": -0.11061941087245941, "rolling_leg_motion": -0.7737603783607483, "obstacle_progress": 2.672447919845581, "wheel_body_intrusion": -0.2702922523021698, "pair_body_intrusion": -0.27980056405067444}, "weighted_reward_terms": {"track_linear_velocity": 1.7612675428390503, "track_angular_velocity": 1.8905138969421387, "upright": 0.9675402045249939, "leg_posture": -0.10380306094884872, "standstill": -0.2216375321149826, "action_rate_l2": -0.022258758544921875, "joint_torques_l2": -0.00529032526537776, "dof_pos_limits": -8.44505939312512e-06, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.004026620648801327, "rolling_leg_motion": -0.028165394440293312, "obstacle_progress": 0.0972788855433464, "wheel_body_intrusion": -0.009838818572461605, "pair_body_intrusion": -0.01018492691218853}, "episode_termination_rates": {"time_out": 0.4785276073619632, "fell_over": 0.018404907975460124, "course_exit": 0.48466257668711654, "illegal_nonwheel_contact": 0.024539877300613498}, "collection_time_s": 0.07563183807535097, "learning_time_s": 0.1909514129254967, "iteration_time_s": 0.363403366622253, "policy_updates": 15250, "skipped_updates": 0, "invalid_env_resets": 77, "elapsed_s": 5650.922350976034, "nonwheel_terminations": 11352, "contact_bce": 0.30834755301475525, "contact_force_loss": 0.021830810233950615, "collision_bce": 2.4670785933267325e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 2.4081695300992578e-05, "collision_label_count": 16341.0, "terrain_level_mean": 2.678466796875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [54, 113, 114, 69, 36, 24], "episodes_by_level": [[1214.0, 259.0, 46.0, 0.0], [1158.0, 255.0, 33.0, 0.0], [587.0, 137.0, 20.0, 0.0], [229.0, 62.0, 8.0, 0.0], [101.0, 25.0, 2.0, 0.0], [30.0, 8.0, 1.0, 0.0]]}, "up": {"level_counts": [2, 42, 264, 625, 475, 25], "episodes_by_level": [[689.0, 554.0, 7.0, 0.0], [2325.0, 1409.0, 37.0, 0.0], [3764.0, 1387.0, 165.0, 0.0], [2411.0, 611.0, 182.0, 0.0], [511.0, 27.0, 98.0, 0.0], [5.0, 0.0, 4.0, 0.0]]}, "down": {"level_counts": [0, 0, 6, 20, 91, 497], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [753.0, 664.0, 21.0, 0.0], [893.0, 726.0, 25.0, 0.0], [1152.0, 869.0, 57.0, 0.0], [2147.0, 1578.0, 136.0, 0.0]]}, "platform": {"level_counts": [70, 134, 112, 70, 24, 0], "episodes_by_level": [[1361.0, 301.0, 48.0, 0.0], [1202.0, 237.0, 60.0, 0.0], [514.0, 105.0, 37.0, 0.0], [188.0, 30.0, 11.0, 0.0], [22.0, 2.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [69, 115, 97, 63, 47, 19], "episodes_by_level": [[1257.0, 268.0, 40.0, 0.0], [1146.0, 235.0, 54.0, 0.0], [574.0, 137.0, 23.0, 0.0], [242.0, 69.0, 8.0, 0.0], [93.0, 20.0, 3.0, 0.0], [33.0, 9.0, 1.0, 0.0]]}, "rubble": {"level_counts": [121, 263, 272, 136, 27, 0], "episodes_by_level": [[2490.0, 568.0, 87.0, 0.0], [2492.0, 547.0, 125.0, 0.0], [1214.0, 235.0, 129.0, 0.0], [396.0, 43.0, 72.0, 0.0], [48.0, 1.0, 16.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 31665, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.245361328125, "command_abs_max": [0.9978354573249817, 0.39995238184928894, 0.6997525095939636]}
{"step": 15600, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 15600, "total_transitions": 63897600, "num_steps_per_env": 1, "wm_loss": 0.780890166759491, "actor_loss": -9.483999252319336, "critic_loss": 0.0027782164979726076, "reward": 0.08591778576374054, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11826421320438385, 0.07394640147686005, 0.13648368418216705], "mean_episode_length": 1343.5, "episode_reward_terms": {"track_linear_velocity": 47.344825744628906, "track_angular_velocity": 50.750892639160156, "upright": 26.003774642944336, "leg_posture": -2.785108804702759, "standstill": -6.406503677368164, "action_rate_l2": -0.6077997088432312, "joint_torques_l2": -0.1426815241575241, "dof_pos_limits": -0.0003937307628802955, "terminated": -0.013120115734636784, "unnecessary_wheel_lift": -0.12511180341243744, "rolling_leg_motion": -0.760003387928009, "obstacle_progress": 2.7199807167053223, "wheel_body_intrusion": -0.26432451605796814, "pair_body_intrusion": -0.28388649225234985}, "weighted_reward_terms": {"track_linear_velocity": 1.761995792388916, "track_angular_velocity": 1.8887566328048706, "upright": 0.9677623510360718, "leg_posture": -0.1036512479186058, "standstill": -0.23842589557170868, "action_rate_l2": -0.02262001298367977, "joint_torques_l2": -0.005310067906975746, "dof_pos_limits": -1.465317382098874e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.0046561891213059425, "rolling_leg_motion": -0.028284460306167603, "obstacle_progress": 0.10122742503881454, "wheel_body_intrusion": -0.00983716081827879, "pair_body_intrusion": -0.01056518405675888}, "episode_termination_rates": {"time_out": 0.46111111111111114, "fell_over": 0.011111111111111112, "course_exit": 0.5111111111111111, "illegal_nonwheel_contact": 0.016666666666666666}, "collection_time_s": 0.0758181143796537, "learning_time_s": 0.18593014920479617, "iteration_time_s": 0.3630776197584615, "policy_updates": 15300, "skipped_updates": 0, "invalid_env_resets": 77, "elapsed_s": 5664.010868231999, "nonwheel_terminations": 11355, "contact_bce": 0.30524271726608276, "contact_force_loss": 0.021784501150250435, "collision_bce": 0.00023562430578749627, "collision_label_rate": 0.0, "collision_prediction_mean": 0.00011391195585019886, "collision_label_count": 16323.0, "terrain_level_mean": 2.688232421875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [54, 114, 113, 67, 38, 24], "episodes_by_level": [[1216.0, 259.0, 46.0, 0.0], [1162.0, 255.0, 33.0, 0.0], [589.0, 137.0, 21.0, 0.0], [233.0, 64.0, 8.0, 0.0], [104.0, 25.0, 2.0, 0.0], [30.0, 8.0, 1.0, 0.0]]}, "up": {"level_counts": [2, 41, 256, 623, 483, 28], "episodes_by_level": [[689.0, 554.0, 7.0, 0.0], [2326.0, 1410.0, 37.0, 0.0], [3776.0, 1396.0, 165.0, 0.0], [2437.0, 623.0, 182.0, 0.0], [525.0, 30.0, 99.0, 0.0], [5.0, 0.0, 4.0, 0.0]]}, "down": {"level_counts": [0, 0, 6, 19, 87, 502], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [753.0, 664.0, 21.0, 0.0], [895.0, 727.0, 25.0, 0.0], [1158.0, 875.0, 57.0, 0.0], [2171.0, 1596.0, 136.0, 0.0]]}, "platform": {"level_counts": [70, 133, 113, 70, 24, 0], "episodes_by_level": [[1363.0, 301.0, 48.0, 0.0], [1208.0, 238.0, 60.0, 0.0], [516.0, 105.0, 37.0, 0.0], [190.0, 30.0, 11.0, 0.0], [22.0, 2.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [68, 116, 95, 65, 46, 20], "episodes_by_level": [[1259.0, 269.0, 40.0, 0.0], [1148.0, 235.0, 54.0, 0.0], [580.0, 139.0, 23.0, 0.0], [244.0, 69.0, 8.0, 0.0], [97.0, 21.0, 3.0, 0.0], [33.0, 9.0, 1.0, 0.0]]}, "rubble": {"level_counts": [118, 267, 269, 138, 27, 0], "episodes_by_level": [[2499.0, 571.0, 87.0, 0.0], [2498.0, 547.0, 125.0, 0.0], [1222.0, 238.0, 130.0, 0.0], [401.0, 43.0, 73.0, 0.0], [49.0, 1.0, 16.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 31808, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.241943359375, "command_abs_max": [0.9978354573249817, 0.39995238184928894, 0.6997525095939636]}
{"step": 15650, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 15650, "total_transitions": 64102400, "num_steps_per_env": 1, "wm_loss": 0.822043776512146, "actor_loss": -9.470075607299805, "critic_loss": 0.010245890356600285, "reward": 0.08588068187236786, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11805891245603561, 0.07458723336458206, 0.13633540272712708], "mean_episode_length": 1314.0405405405406, "episode_reward_terms": {"track_linear_velocity": 46.29018783569336, "track_angular_velocity": 49.63886260986328, "upright": 25.401044845581055, "leg_posture": -2.748502731323242, "standstill": -6.2141876220703125, "action_rate_l2": -0.5886309146881104, "joint_torques_l2": -0.14019379019737244, "dof_pos_limits": -0.0006682752864435315, "terminated": -0.02566485106945038, "unnecessary_wheel_lift": -0.14383718371391296, "rolling_leg_motion": -0.7279052138328552, "obstacle_progress": 2.6800003051757812, "wheel_body_intrusion": -0.26272037625312805, "pair_body_intrusion": -0.3070773482322693}, "weighted_reward_terms": {"track_linear_velocity": 1.7613683938980103, "track_angular_velocity": 1.8887873888015747, "upright": 0.9665244817733765, "leg_posture": -0.10458210855722427, "standstill": -0.23645342886447906, "action_rate_l2": -0.02239774726331234, "joint_torques_l2": -0.0053344545885920525, "dof_pos_limits": -2.5428260414628312e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.0054730880074203014, "rolling_leg_motion": -0.027697214856743813, "obstacle_progress": 0.10197556018829346, "wheel_body_intrusion": -0.00999666191637516, "pair_body_intrusion": -0.011684470809996128}, "episode_termination_rates": {"time_out": 0.4594594594594595, "fell_over": 0.033783783783783786, "course_exit": 0.47297297297297297, "illegal_nonwheel_contact": 0.060810810810810814}, "collection_time_s": 0.07536228436045349, "learning_time_s": 0.18563859869842417, "iteration_time_s": 0.3627515645683059, "policy_updates": 15350, "skipped_updates": 0, "invalid_env_resets": 77, "elapsed_s": 5677.061985493987, "nonwheel_terminations": 11364, "contact_bce": 0.303033709526062, "contact_force_loss": 0.02134147472679615, "collision_bce": 0.00021289185679052025, "collision_label_rate": 0.00012239153147675097, "collision_prediction_mean": 7.353528053499758e-05, "collision_label_count": 16341.0, "terrain_level_mean": 2.69384765625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [54, 113, 112, 69, 37, 25], "episodes_by_level": [[1217.0, 259.0, 46.0, 0.0], [1168.0, 257.0, 33.0, 0.0], [594.0, 139.0, 22.0, 0.0], [233.0, 64.0, 8.0, 0.0], [106.0, 26.0, 2.0, 0.0], [32.0, 10.0, 1.0, 0.0]]}, "up": {"level_counts": [2, 41, 252, 622, 485, 31], "episodes_by_level": [[689.0, 554.0, 7.0, 0.0], [2326.0, 1410.0, 37.0, 0.0], [3790.0, 1401.0, 165.0, 0.0], [2456.0, 629.0, 182.0, 0.0], [536.0, 33.0, 99.0, 0.0], [5.0, 0.0, 4.0, 0.0]]}, "down": {"level_counts": [0, 0, 5, 19, 90, 500], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [753.0, 664.0, 21.0, 0.0], [896.0, 728.0, 25.0, 0.0], [1159.0, 876.0, 57.0, 0.0], [2188.0, 1610.0, 137.0, 0.0]]}, "platform": {"level_counts": [71, 133, 110, 72, 24, 0], "episodes_by_level": [[1364.0, 301.0, 48.0, 0.0], [1210.0, 238.0, 61.0, 0.0], [521.0, 107.0, 38.0, 0.0], [192.0, 30.0, 11.0, 0.0], [22.0, 2.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [66, 118, 95, 64, 47, 20], "episodes_by_level": [[1263.0, 271.0, 40.0, 0.0], [1151.0, 236.0, 54.0, 0.0], [584.0, 139.0, 24.0, 0.0], [248.0, 70.0, 8.0, 0.0], [98.0, 21.0, 3.0, 0.0], [33.0, 9.0, 1.0, 0.0]]}, "rubble": {"level_counts": [117, 269, 265, 140, 28, 0], "episodes_by_level": [[2503.0, 572.0, 87.0, 0.0], [2507.0, 547.0, 125.0, 0.0], [1230.0, 241.0, 131.0, 0.0], [404.0, 44.0, 73.0, 0.0], [50.0, 1.0, 16.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 31940, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.239501953125, "command_abs_max": [0.9978354573249817, 0.39995238184928894, 0.6995365023612976]}
{"step": 15700, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 15700, "total_transitions": 64307200, "num_steps_per_env": 1, "wm_loss": 0.822041928768158, "actor_loss": -9.478534698486328, "critic_loss": 0.003154986072331667, "reward": 0.08619186282157898, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11956347525119781, 0.07280802726745605, 0.13486211001873016], "mean_episode_length": 1386.0, "episode_reward_terms": {"track_linear_velocity": 48.801971435546875, "track_angular_velocity": 52.43317413330078, "upright": 26.8148250579834, "leg_posture": -2.8707799911499023, "standstill": -6.182919979095459, "action_rate_l2": -0.6144534945487976, "joint_torques_l2": -0.14878498017787933, "dof_pos_limits": -0.000569678086321801, "terminated": -0.018949216231703758, "unnecessary_wheel_lift": -0.1272374838590622, "rolling_leg_motion": -0.7816372513771057, "obstacle_progress": 2.7911758422851562, "wheel_body_intrusion": -0.273551344871521, "pair_body_intrusion": -0.36034488677978516}, "weighted_reward_terms": {"track_linear_velocity": 1.7605329751968384, "track_angular_velocity": 1.8915287256240845, "upright": 0.9673457741737366, "leg_posture": -0.10356348752975464, "standstill": -0.22304905951023102, "action_rate_l2": -0.022166432812809944, "joint_torques_l2": -0.005367423873394728, "dof_pos_limits": -2.0551156922010705e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0045900968834757805, "rolling_leg_motion": -0.028197593986988068, "obstacle_progress": 0.1006917655467987, "wheel_body_intrusion": -0.009868375025689602, "pair_body_intrusion": -0.012999454513192177}, "episode_termination_rates": {"time_out": 0.4899328859060403, "fell_over": 0.026845637583892617, "course_exit": 0.46308724832214765, "illegal_nonwheel_contact": 0.026845637583892617}, "collection_time_s": 0.07546456014271825, "learning_time_s": 0.18385041788220405, "iteration_time_s": 0.3624222152370694, "policy_updates": 15400, "skipped_updates": 0, "invalid_env_resets": 77, "elapsed_s": 5690.02877922199, "nonwheel_terminations": 11368, "contact_bce": 0.3065564036369324, "contact_force_loss": 0.022009268403053284, "collision_bce": 0.00028213835321366787, "collision_label_rate": 0.0001224364823428914, "collision_prediction_mean": 0.00011980844283243641, "collision_label_count": 16335.0, "terrain_level_mean": 2.701416015625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [52, 115, 111, 69, 36, 27], "episodes_by_level": [[1221.0, 261.0, 46.0, 0.0], [1172.0, 257.0, 33.0, 0.0], [598.0, 140.0, 22.0, 0.0], [234.0, 65.0, 8.0, 0.0], [109.0, 28.0, 2.0, 0.0], [32.0, 10.0, 1.0, 0.0]]}, "up": {"level_counts": [2, 40, 248, 616, 495, 32], "episodes_by_level": [[689.0, 554.0, 7.0, 0.0], [2327.0, 1411.0, 37.0, 0.0], [3797.0, 1406.0, 165.0, 0.0], [2475.0, 640.0, 182.0, 0.0], [543.0, 34.0, 99.0, 0.0], [5.0, 0.0, 4.0, 0.0]]}, "down": {"level_counts": [0, 0, 5, 18, 90, 501], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [753.0, 664.0, 21.0, 0.0], [897.0, 729.0, 25.0, 0.0], [1163.0, 880.0, 57.0, 0.0], [2203.0, 1623.0, 138.0, 0.0]]}, "platform": {"level_counts": [71, 133, 110, 72, 24, 0], "episodes_by_level": [[1365.0, 301.0, 48.0, 0.0], [1215.0, 238.0, 61.0, 0.0], [524.0, 107.0, 38.0, 0.0], [193.0, 30.0, 11.0, 0.0], [23.0, 2.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [65, 119, 94, 65, 47, 20], "episodes_by_level": [[1266.0, 272.0, 40.0, 0.0], [1155.0, 237.0, 54.0, 0.0], [588.0, 141.0, 25.0, 0.0], [249.0, 70.0, 9.0, 0.0], [99.0, 21.0, 3.0, 0.0], [34.0, 9.0, 1.0, 0.0]]}, "rubble": {"level_counts": [117, 267, 268, 137, 30, 0], "episodes_by_level": [[2506.0, 572.0, 87.0, 0.0], [2522.0, 549.0, 125.0, 0.0], [1238.0, 242.0, 131.0, 0.0], [411.0, 46.0, 75.0, 0.0], [50.0, 1.0, 16.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 32058, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234375, "command_abs_max": [0.9995514154434204, 0.39995238184928894, 0.6974819302558899]}
{"step": 15750, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 15750, "total_transitions": 64512000, "num_steps_per_env": 1, "wm_loss": 0.7804818153381348, "actor_loss": -9.46877384185791, "critic_loss": 0.004505944438278675, "reward": 0.08567395061254501, "falls": 9, "interval_steps": 50, "velocity_mae": [0.1220843568444252, 0.07462386041879654, 0.13645856082439423], "mean_episode_length": 1357.942196531792, "episode_reward_terms": {"track_linear_velocity": 47.56282424926758, "track_angular_velocity": 51.30325698852539, "upright": 26.26220703125, "leg_posture": -2.858181953430176, "standstill": -6.3537468910217285, "action_rate_l2": -0.5878469347953796, "joint_torques_l2": -0.14732778072357178, "dof_pos_limits": -0.0008443332626484334, "terminated": -0.0238700732588768, "unnecessary_wheel_lift": -0.12089259922504425, "rolling_leg_motion": -0.7517952919006348, "obstacle_progress": 2.671215295791626, "wheel_body_intrusion": -0.2932928204536438, "pair_body_intrusion": -0.32145848870277405}, "weighted_reward_terms": {"track_linear_velocity": 1.7512831687927246, "track_angular_velocity": 1.889007568359375, "upright": 0.9669855833053589, "leg_posture": -0.10523946583271027, "standstill": -0.23394761979579926, "action_rate_l2": -0.021644772961735725, "joint_torques_l2": -0.005424670875072479, "dof_pos_limits": -3.1088708055904135e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.004451316315680742, "rolling_leg_motion": -0.027681417763233185, "obstacle_progress": 0.0983552634716034, "wheel_body_intrusion": -0.0107991648837924, "pair_body_intrusion": -0.011836237274110317}, "episode_termination_rates": {"time_out": 0.5144508670520231, "fell_over": 0.023121387283236993, "course_exit": 0.43352601156069365, "illegal_nonwheel_contact": 0.04046242774566474}, "collection_time_s": 0.07564949387684465, "learning_time_s": 0.184549329202855, "iteration_time_s": 0.36209776637707985, "policy_updates": 15450, "skipped_updates": 0, "invalid_env_resets": 77, "elapsed_s": 5703.039820439008, "nonwheel_terminations": 11375, "contact_bce": 0.2994711101055145, "contact_force_loss": 0.020868243649601936, "collision_bce": 0.0002797780034597963, "collision_label_rate": 6.122948980191723e-05, "collision_prediction_mean": 6.270531594054773e-05, "collision_label_count": 16332.0, "terrain_level_mean": 2.707275390625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [51, 115, 111, 70, 36, 27], "episodes_by_level": [[1223.0, 262.0, 46.0, 0.0], [1177.0, 258.0, 33.0, 0.0], [602.0, 141.0, 22.0, 0.0], [236.0, 65.0, 8.0, 0.0], [109.0, 28.0, 2.0, 0.0], [32.0, 10.0, 1.0, 0.0]]}, "up": {"level_counts": [2, 40, 242, 613, 502, 34], "episodes_by_level": [[689.0, 554.0, 7.0, 0.0], [2327.0, 1411.0, 37.0, 0.0], [3812.0, 1413.0, 165.0, 0.0], [2492.0, 649.0, 182.0, 0.0], [556.0, 36.0, 99.0, 0.0], [6.0, 0.0, 4.0, 0.0]]}, "down": {"level_counts": [0, 0, 5, 16, 94, 499], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [753.0, 664.0, 21.0, 0.0], [899.0, 731.0, 25.0, 0.0], [1164.0, 880.0, 57.0, 0.0], [2220.0, 1637.0, 139.0, 0.0]]}, "platform": {"level_counts": [71, 134, 108, 73, 24, 0], "episodes_by_level": [[1368.0, 301.0, 48.0, 0.0], [1223.0, 238.0, 61.0, 0.0], [530.0, 109.0, 39.0, 0.0], [199.0, 30.0, 12.0, 0.0], [25.0, 2.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [64, 119, 93, 67, 45, 22], "episodes_by_level": [[1268.0, 273.0, 40.0, 0.0], [1157.0, 238.0, 54.0, 0.0], [596.0, 143.0, 25.0, 0.0], [250.0, 70.0, 9.0, 0.0], [103.0, 23.0, 3.0, 0.0], [35.0, 10.0, 1.0, 0.0]]}, "rubble": {"level_counts": [117, 269, 266, 137, 30, 0], "episodes_by_level": [[2508.0, 572.0, 87.0, 0.0], [2529.0, 550.0, 125.0, 0.0], [1246.0, 243.0, 134.0, 0.0], [415.0, 46.0, 76.0, 0.0], [50.0, 1.0, 16.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 32184, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.237060546875, "command_abs_max": [0.9995514154434204, 0.39995238184928894, 0.6974819302558899]}
{"step": 15800, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 15800, "total_transitions": 64716800, "num_steps_per_env": 1, "wm_loss": 0.8144226670265198, "actor_loss": -9.461626052856445, "critic_loss": 0.0035299265291541815, "reward": 0.08575242757797241, "falls": 6, "interval_steps": 50, "velocity_mae": [0.119911327958107, 0.07447471469640732, 0.1366559863090515], "mean_episode_length": 1351.268456375839, "episode_reward_terms": {"track_linear_velocity": 47.511390686035156, "track_angular_velocity": 51.03925704956055, "upright": 26.105674743652344, "leg_posture": -2.8442537784576416, "standstill": -6.373551845550537, "action_rate_l2": -0.5806218981742859, "joint_torques_l2": -0.1444290280342102, "dof_pos_limits": -0.0017426327103748918, "terminated": -0.015835175290703773, "unnecessary_wheel_lift": -0.11596377193927765, "rolling_leg_motion": -0.7444032430648804, "obstacle_progress": 2.670858144760132, "wheel_body_intrusion": -0.28409865498542786, "pair_body_intrusion": -0.347731351852417}, "weighted_reward_terms": {"track_linear_velocity": 1.7580293416976929, "track_angular_velocity": 1.88856840133667, "upright": 0.9659692645072937, "leg_posture": -0.10524385422468185, "standstill": -0.23583589494228363, "action_rate_l2": -0.02148432843387127, "joint_torques_l2": -0.005344202276319265, "dof_pos_limits": -6.44813699182123e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.00429092301055789, "rolling_leg_motion": -0.02754461206495762, "obstacle_progress": 0.09882781654596329, "wheel_body_intrusion": -0.010512296110391617, "pair_body_intrusion": -0.012866850942373276}, "episode_termination_rates": {"time_out": 0.436241610738255, "fell_over": 0.020134228187919462, "course_exit": 0.5234899328859061, "illegal_nonwheel_contact": 0.040268456375838924}, "collection_time_s": 0.07549516152241267, "learning_time_s": 0.18462929767672903, "iteration_time_s": 0.36177513588455656, "policy_updates": 15500, "skipped_updates": 0, "invalid_env_resets": 77, "elapsed_s": 5716.047146975994, "nonwheel_terminations": 11381, "contact_bce": 0.3096184730529785, "contact_force_loss": 0.021686775609850883, "collision_bce": 0.0002774239401333034, "collision_label_rate": 0.00012263919052202255, "collision_prediction_mean": 0.00014192290836945176, "collision_label_count": 16308.0, "terrain_level_mean": 2.713134765625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [51, 115, 110, 70, 37, 27], "episodes_by_level": [[1226.0, 262.0, 46.0, 0.0], [1179.0, 258.0, 33.0, 0.0], [608.0, 142.0, 22.0, 0.0], [239.0, 66.0, 8.0, 0.0], [110.0, 28.0, 2.0, 0.0], [34.0, 10.0, 1.0, 0.0]]}, "up": {"level_counts": [2, 40, 238, 609, 508, 36], "episodes_by_level": [[690.0, 554.0, 7.0, 0.0], [2327.0, 1411.0, 37.0, 0.0], [3819.0, 1417.0, 165.0, 0.0], [2512.0, 659.0, 182.0, 0.0], [569.0, 38.0, 99.0, 0.0], [6.0, 0.0, 4.0, 0.0]]}, "down": {"level_counts": [0, 0, 5, 16, 93, 500], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [753.0, 664.0, 21.0, 0.0], [899.0, 731.0, 25.0, 0.0], [1167.0, 883.0, 57.0, 0.0], [2237.0, 1651.0, 139.0, 0.0]]}, "platform": {"level_counts": [70, 135, 107, 74, 24, 0], "episodes_by_level": [[1371.0, 302.0, 48.0, 0.0], [1226.0, 238.0, 61.0, 0.0], [534.0, 110.0, 39.0, 0.0], [201.0, 30.0, 12.0, 0.0], [26.0, 2.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [64, 119, 93, 66, 45, 23], "episodes_by_level": [[1269.0, 273.0, 40.0, 0.0], [1160.0, 238.0, 54.0, 0.0], [601.0, 143.0, 25.0, 0.0], [254.0, 71.0, 9.0, 0.0], [106.0, 24.0, 3.0, 0.0], [35.0, 10.0, 1.0, 0.0]]}, "rubble": {"level_counts": [117, 267, 267, 138, 30, 0], "episodes_by_level": [[2510.0, 572.0, 87.0, 0.0], [2534.0, 553.0, 125.0, 0.0], [1257.0, 245.0, 135.0, 0.0], [417.0, 46.0, 77.0, 0.0], [50.0, 1.0, 16.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 32316, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22998046875, "command_abs_max": [0.9995514154434204, 0.3995755612850189, 0.6992737650871277]}
{"step": 15850, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 15850, "total_transitions": 64921600, "num_steps_per_env": 1, "wm_loss": 0.7896630764007568, "actor_loss": -9.454496383666992, "critic_loss": 0.003040387062355876, "reward": 0.08562108874320984, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11932740360498428, 0.07515855133533478, 0.13655225932598114], "mean_episode_length": 1336.5, "episode_reward_terms": {"track_linear_velocity": 46.98379898071289, "track_angular_velocity": 50.48640441894531, "upright": 25.81256675720215, "leg_posture": -2.8687078952789307, "standstill": -6.405374526977539, "action_rate_l2": -0.5749968886375427, "joint_torques_l2": -0.14553993940353394, "dof_pos_limits": -0.0006645358516834676, "terminated": -0.018272459506988525, "unnecessary_wheel_lift": -0.13557443022727966, "rolling_leg_motion": -0.7574524283409119, "obstacle_progress": 2.684424638748169, "wheel_body_intrusion": -0.27910104393959045, "pair_body_intrusion": -0.3489365875720978}, "weighted_reward_terms": {"track_linear_velocity": 1.7577178478240967, "track_angular_velocity": 1.8887543678283691, "upright": 0.965677797794342, "leg_posture": -0.10732165724039078, "standstill": -0.23963242769241333, "action_rate_l2": -0.021511293947696686, "joint_torques_l2": -0.005444816313683987, "dof_pos_limits": -2.4861050405888818e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.005071995314210653, "rolling_leg_motion": -0.02833716571331024, "obstacle_progress": 0.10042741894721985, "wheel_body_intrusion": -0.010441490449011326, "pair_body_intrusion": -0.013054119423031807}, "episode_termination_rates": {"time_out": 0.4620253164556962, "fell_over": 0.02531645569620253, "course_exit": 0.4936708860759494, "illegal_nonwheel_contact": 0.02531645569620253}, "collection_time_s": 0.07543705869466066, "learning_time_s": 0.18535718222032302, "iteration_time_s": 0.3614566544217663, "policy_updates": 15550, "skipped_updates": 0, "invalid_env_resets": 77, "elapsed_s": 5729.087972584995, "nonwheel_terminations": 11385, "contact_bce": 0.3034507632255554, "contact_force_loss": 0.02135206013917923, "collision_bce": 6.18856938672252e-05, "collision_label_rate": 6.110228423494846e-05, "collision_prediction_mean": 5.953315849183127e-05, "collision_label_count": 16366.0, "terrain_level_mean": 2.720703125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [51, 115, 110, 70, 37, 27], "episodes_by_level": [[1226.0, 262.0, 46.0, 0.0], [1184.0, 258.0, 33.0, 0.0], [608.0, 142.0, 22.0, 0.0], [241.0, 66.0, 8.0, 0.0], [111.0, 28.0, 2.0, 0.0], [34.0, 10.0, 1.0, 0.0]]}, "up": {"level_counts": [2, 38, 234, 606, 514, 39], "episodes_by_level": [[690.0, 554.0, 7.0, 0.0], [2330.0, 1413.0, 37.0, 0.0], [3827.0, 1424.0, 165.0, 0.0], [2529.0, 669.0, 182.0, 0.0], [586.0, 41.0, 99.0, 0.0], [6.0, 0.0, 4.0, 0.0]]}, "down": {"level_counts": [0, 0, 4, 15, 95, 500], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [754.0, 665.0, 21.0, 0.0], [901.0, 733.0, 25.0, 0.0], [1171.0, 887.0, 57.0, 0.0], [2259.0, 1673.0, 139.0, 0.0]]}, "platform": {"level_counts": [70, 131, 110, 75, 24, 0], "episodes_by_level": [[1372.0, 302.0, 48.0, 0.0], [1233.0, 242.0, 61.0, 0.0], [538.0, 111.0, 39.0, 0.0], [203.0, 30.0, 12.0, 0.0], [26.0, 2.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [63, 120, 94, 65, 45, 23], "episodes_by_level": [[1271.0, 274.0, 40.0, 0.0], [1164.0, 238.0, 54.0, 0.0], [602.0, 143.0, 25.0, 0.0], [256.0, 71.0, 10.0, 0.0], [107.0, 24.0, 3.0, 0.0], [35.0, 10.0, 1.0, 0.0]]}, "rubble": {"level_counts": [116, 268, 265, 140, 30, 0], "episodes_by_level": [[2518.0, 573.0, 87.0, 0.0], [2539.0, 553.0, 125.0, 0.0], [1263.0, 247.0, 135.0, 0.0], [420.0, 46.0, 77.0, 0.0], [50.0, 1.0, 16.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 32452, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2314453125, "command_abs_max": [0.9995514154434204, 0.3995755612850189, 0.6992737650871277]}
{"step": 15900, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 15900, "total_transitions": 65126400, "num_steps_per_env": 1, "wm_loss": 0.7712867259979248, "actor_loss": -9.454553604125977, "critic_loss": 0.002710114000365138, "reward": 0.08598164469003677, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11820216476917267, 0.07483697682619095, 0.13549278676509857], "mean_episode_length": 1396.7908496732025, "episode_reward_terms": {"track_linear_velocity": 49.17656707763672, "track_angular_velocity": 52.805625915527344, "upright": 27.017404556274414, "leg_posture": -2.927694082260132, "standstill": -6.53125, "action_rate_l2": -0.5996516942977905, "joint_torques_l2": -0.1517665982246399, "dof_pos_limits": -0.0004554007900878787, "terminated": -0.02728106826543808, "unnecessary_wheel_lift": -0.13388440012931824, "rolling_leg_motion": -0.7643668055534363, "obstacle_progress": 2.8623433113098145, "wheel_body_intrusion": -0.2855069935321808, "pair_body_intrusion": -0.3416755497455597}, "weighted_reward_terms": {"track_linear_velocity": 1.7603411674499512, "track_angular_velocity": 1.89024817943573, "upright": 0.9671242237091064, "leg_posture": -0.10480073094367981, "standstill": -0.23379485309123993, "action_rate_l2": -0.02146533504128456, "joint_torques_l2": -0.005432688631117344, "dof_pos_limits": -1.6301681171171367e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.004792571533471346, "rolling_leg_motion": -0.027361534535884857, "obstacle_progress": 0.10246141254901886, "wheel_body_intrusion": -0.01022010575979948, "pair_body_intrusion": -0.012230734340846539}, "episode_termination_rates": {"time_out": 0.5294117647058824, "fell_over": 0.0457516339869281, "course_exit": 0.40522875816993464, "illegal_nonwheel_contact": 0.0457516339869281}, "collection_time_s": 0.07564165356336161, "learning_time_s": 0.18439002525643444, "iteration_time_s": 0.3611377775275482, "policy_updates": 15600, "skipped_updates": 0, "invalid_env_resets": 77, "elapsed_s": 5742.090662688017, "nonwheel_terminations": 11392, "contact_bce": 0.3034689426422119, "contact_force_loss": 0.020716730505228043, "collision_bce": 0.00012241050717420876, "collision_label_rate": 6.130456313258037e-05, "collision_prediction_mean": 2.9518183509935625e-05, "collision_label_count": 16312.0, "terrain_level_mean": 2.7255859375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [50, 114, 112, 70, 37, 27], "episodes_by_level": [[1227.0, 263.0, 46.0, 0.0], [1189.0, 260.0, 33.0, 0.0], [614.0, 142.0, 22.0, 0.0], [243.0, 66.0, 8.0, 0.0], [112.0, 28.0, 2.0, 0.0], [35.0, 10.0, 1.0, 0.0]]}, "up": {"level_counts": [2, 39, 230, 602, 519, 41], "episodes_by_level": [[690.0, 554.0, 7.0, 0.0], [2331.0, 1413.0, 37.0, 0.0], [3834.0, 1428.0, 165.0, 0.0], [2545.0, 676.0, 182.0, 0.0], [591.0, 43.0, 99.0, 0.0], [6.0, 0.0, 4.0, 0.0]]}, "down": {"level_counts": [0, 0, 4, 14, 97, 499], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [754.0, 665.0, 21.0, 0.0], [903.0, 735.0, 25.0, 0.0], [1175.0, 890.0, 57.0, 0.0], [2280.0, 1686.0, 141.0, 0.0]]}, "platform": {"level_counts": [70, 131, 110, 74, 25, 0], "episodes_by_level": [[1374.0, 302.0, 48.0, 0.0], [1238.0, 242.0, 61.0, 0.0], [541.0, 111.0, 39.0, 0.0], [204.0, 31.0, 12.0, 0.0], [27.0, 2.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [62, 120, 95, 64, 46, 23], "episodes_by_level": [[1274.0, 275.0, 40.0, 0.0], [1169.0, 239.0, 54.0, 0.0], [605.0, 143.0, 25.0, 0.0], [257.0, 72.0, 10.0, 0.0], [107.0, 24.0, 3.0, 0.0], [36.0, 10.0, 1.0, 0.0]]}, "rubble": {"level_counts": [116, 267, 265, 141, 30, 0], "episodes_by_level": [[2523.0, 574.0, 87.0, 0.0], [2547.0, 554.0, 126.0, 0.0], [1274.0, 249.0, 135.0, 0.0], [426.0, 47.0, 78.0, 0.0], [52.0, 1.0, 17.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 32571, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.233642578125, "command_abs_max": [0.9992716312408447, 0.3995755612850189, 0.6992737650871277]}
{"step": 15950, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 15950, "total_transitions": 65331200, "num_steps_per_env": 1, "wm_loss": 0.7728055715560913, "actor_loss": -9.475591659545898, "critic_loss": 0.003228765679523349, "reward": 0.08595742285251617, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11819148063659668, 0.07329164445400238, 0.13396702706813812], "mean_episode_length": 1315.4109589041095, "episode_reward_terms": {"track_linear_velocity": 46.354896545410156, "track_angular_velocity": 49.79381561279297, "upright": 25.445573806762695, "leg_posture": -2.7226057052612305, "standstill": -6.344298362731934, "action_rate_l2": -0.5621103644371033, "joint_torques_l2": -0.14132268726825714, "dof_pos_limits": -0.0006918202270753682, "terminated": -0.015414971858263016, "unnecessary_wheel_lift": -0.12663884460926056, "rolling_leg_motion": -0.7107768654823303, "obstacle_progress": 2.6951286792755127, "wheel_body_intrusion": -0.2635825574398041, "pair_body_intrusion": -0.33265188336372375}, "weighted_reward_terms": {"track_linear_velocity": 1.7619929313659668, "track_angular_velocity": 1.892709493637085, "upright": 0.9672099947929382, "leg_posture": -0.10348878800868988, "standstill": -0.24115271866321564, "action_rate_l2": -0.021366341039538383, "joint_torques_l2": -0.005371807608753443, "dof_pos_limits": -2.6296733267372474e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.004813660867512226, "rolling_leg_motion": -0.027017291635274887, "obstacle_progress": 0.1024443507194519, "wheel_body_intrusion": -0.01001901924610138, "pair_body_intrusion": -0.012644408270716667}, "episode_termination_rates": {"time_out": 0.3835616438356164, "fell_over": 0.0273972602739726, "course_exit": 0.5753424657534246, "illegal_nonwheel_contact": 0.03424657534246575}, "collection_time_s": 0.07562726918375119, "learning_time_s": 0.1853731239330955, "iteration_time_s": 0.3608239355330395, "policy_updates": 15650, "skipped_updates": 0, "invalid_env_resets": 77, "elapsed_s": 5755.14177175198, "nonwheel_terminations": 11397, "contact_bce": 0.3046671152114868, "contact_force_loss": 0.02132786065340042, "collision_bce": 6.160075372463325e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 6.21053550275974e-06, "collision_label_count": 16342.0, "terrain_level_mean": 2.732177734375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [49, 114, 113, 69, 38, 27], "episodes_by_level": [[1231.0, 264.0, 46.0, 0.0], [1191.0, 261.0, 33.0, 0.0], [617.0, 142.0, 22.0, 0.0], [246.0, 67.0, 8.0, 0.0], [112.0, 28.0, 2.0, 0.0], [35.0, 10.0, 1.0, 0.0]]}, "up": {"level_counts": [2, 38, 227, 598, 526, 42], "episodes_by_level": [[690.0, 554.0, 7.0, 0.0], [2332.0, 1414.0, 37.0, 0.0], [3843.0, 1434.0, 165.0, 0.0], [2565.0, 684.0, 183.0, 0.0], [599.0, 44.0, 99.0, 0.0], [7.0, 0.0, 4.0, 0.0]]}, "down": {"level_counts": [0, 0, 4, 13, 92, 505], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [754.0, 665.0, 21.0, 0.0], [904.0, 736.0, 25.0, 0.0], [1181.0, 896.0, 57.0, 0.0], [2301.0, 1705.0, 141.0, 0.0]]}, "platform": {"level_counts": [70, 131, 110, 74, 25, 0], "episodes_by_level": [[1376.0, 302.0, 48.0, 0.0], [1241.0, 242.0, 61.0, 0.0], [541.0, 111.0, 39.0, 0.0], [205.0, 31.0, 12.0, 0.0], [27.0, 2.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [62, 119, 94, 66, 45, 24], "episodes_by_level": [[1276.0, 275.0, 40.0, 0.0], [1170.0, 240.0, 54.0, 0.0], [611.0, 145.0, 25.0, 0.0], [257.0, 72.0, 10.0, 0.0], [109.0, 25.0, 3.0, 0.0], [36.0, 10.0, 1.0, 0.0]]}, "rubble": {"level_counts": [116, 266, 267, 141, 29, 0], "episodes_by_level": [[2529.0, 575.0, 87.0, 0.0], [2556.0, 556.0, 127.0, 0.0], [1280.0, 249.0, 136.0, 0.0], [429.0, 47.0, 79.0, 0.0], [53.0, 1.0, 18.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 32703, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22607421875, "command_abs_max": [0.9992716312408447, 0.3999069333076477, 0.6992737650871277]}
{"step": 16000, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 16000, "total_transitions": 65536000, "num_steps_per_env": 1, "wm_loss": 0.8369858264923096, "actor_loss": -9.4903564453125, "critic_loss": 0.002718660980463028, "reward": 0.08555345982313156, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11886433511972427, 0.07456640154123306, 0.13649016618728638], "mean_episode_length": 1386.5675675675675, "episode_reward_terms": {"track_linear_velocity": 48.8118896484375, "track_angular_velocity": 52.381004333496094, "upright": 26.81591033935547, "leg_posture": -2.9016575813293457, "standstill": -7.033915996551514, "action_rate_l2": -0.5917595028877258, "joint_torques_l2": -0.15035051107406616, "dof_pos_limits": -0.0006611499702557921, "terminated": -0.02708139643073082, "unnecessary_wheel_lift": -0.141411691904068, "rolling_leg_motion": -0.7662108540534973, "obstacle_progress": 2.853086471557617, "wheel_body_intrusion": -0.27744609117507935, "pair_body_intrusion": -0.345731645822525}, "weighted_reward_terms": {"track_linear_velocity": 1.7601699829101562, "track_angular_velocity": 1.8888731002807617, "upright": 0.9669888615608215, "leg_posture": -0.10463455319404602, "standstill": -0.2536448836326599, "action_rate_l2": -0.02133900672197342, "joint_torques_l2": -0.005421679932624102, "dof_pos_limits": -2.3841244910727255e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.005099343601614237, "rolling_leg_motion": -0.02762976847589016, "obstacle_progress": 0.10288306325674057, "wheel_body_intrusion": -0.010004780255258083, "pair_body_intrusion": -0.012467176653444767}, "episode_termination_rates": {"time_out": 0.5202702702702703, "fell_over": 0.02702702702702703, "course_exit": 0.41216216216216217, "illegal_nonwheel_contact": 0.06756756756756757}, "collection_time_s": 0.07584477011812851, "learning_time_s": 0.18558068171842024, "iteration_time_s": 0.3605133826761885, "policy_updates": 15700, "skipped_updates": 0, "invalid_env_resets": 78, "elapsed_s": 5768.214122819016, "nonwheel_terminations": 11407, "contact_bce": 0.30458691716194153, "contact_force_loss": 0.021894820034503937, "collision_bce": 4.962653838447295e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 4.813988198293373e-05, "collision_label_count": 16366.0, "terrain_level_mean": 2.73681640625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [49, 114, 111, 71, 38, 27], "episodes_by_level": [[1233.0, 264.0, 46.0, 0.0], [1194.0, 261.0, 33.0, 0.0], [622.0, 144.0, 22.0, 0.0], [250.0, 67.0, 8.0, 0.0], [113.0, 28.0, 2.0, 0.0], [36.0, 10.0, 1.0, 0.0]]}, "up": {"level_counts": [2, 37, 220, 602, 527, 45], "episodes_by_level": [[690.0, 554.0, 7.0, 0.0], [2333.0, 1415.0, 37.0, 0.0], [3853.0, 1442.0, 165.0, 0.0], [2583.0, 692.0, 183.0, 0.0], [608.0, 48.0, 99.0, 0.0], [8.0, 0.0, 5.0, 0.0]]}, "down": {"level_counts": [0, 0, 4, 11, 94, 505], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [754.0, 665.0, 21.0, 0.0], [906.0, 738.0, 25.0, 0.0], [1183.0, 898.0, 57.0, 0.0], [2316.0, 1717.0, 142.0, 0.0]]}, "platform": {"level_counts": [70, 132, 109, 74, 25, 0], "episodes_by_level": [[1379.0, 302.0, 48.0, 0.0], [1243.0, 242.0, 61.0, 0.0], [543.0, 111.0, 40.0, 0.0], [208.0, 31.0, 12.0, 0.0], [27.0, 2.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [62, 119, 94, 65, 46, 24], "episodes_by_level": [[1276.0, 275.0, 40.0, 0.0], [1170.0, 240.0, 54.0, 0.0], [614.0, 145.0, 25.0, 0.0], [259.0, 73.0, 10.0, 0.0], [110.0, 25.0, 3.0, 0.0], [36.0, 10.0, 1.0, 0.0]]}, "rubble": {"level_counts": [117, 266, 266, 140, 30, 0], "episodes_by_level": [[2533.0, 575.0, 87.0, 0.0], [2564.0, 556.0, 128.0, 0.0], [1291.0, 249.0, 137.0, 0.0], [435.0, 48.0, 79.0, 0.0], [53.0, 1.0, 18.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 32845, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.227294921875, "command_abs_max": [0.9992716312408447, 0.3999069333076477, 0.6998887658119202]}
{"step": 16050, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 16050, "total_transitions": 65740800, "num_steps_per_env": 1, "wm_loss": 0.8072380423545837, "actor_loss": -9.449942588806152, "critic_loss": 0.0027935754042118788, "reward": 0.085691899061203, "falls": 7, "interval_steps": 50, "velocity_mae": [0.12026805430650711, 0.07443436980247498, 0.13592997193336487], "mean_episode_length": 1413.8471337579617, "episode_reward_terms": {"track_linear_velocity": 49.6533088684082, "track_angular_velocity": 53.43136215209961, "upright": 27.33170509338379, "leg_posture": -2.970397710800171, "standstill": -6.7647271156311035, "action_rate_l2": -0.615738570690155, "joint_torques_l2": -0.15413638949394226, "dof_pos_limits": -0.0009432588121853769, "terminated": -0.019329939037561417, "unnecessary_wheel_lift": -0.14991514384746552, "rolling_leg_motion": -0.780571460723877, "obstacle_progress": 2.8742339611053467, "wheel_body_intrusion": -0.2960798144340515, "pair_body_intrusion": -0.38350358605384827}, "weighted_reward_terms": {"track_linear_velocity": 1.7559645175933838, "track_angular_velocity": 1.8895734548568726, "upright": 0.9665721654891968, "leg_posture": -0.10504662990570068, "standstill": -0.23923121392726898, "action_rate_l2": -0.02177528850734234, "joint_torques_l2": -0.0054509565234184265, "dof_pos_limits": -3.3357879146933556e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.005301674362272024, "rolling_leg_motion": -0.027604520320892334, "obstacle_progress": 0.10164584964513779, "wheel_body_intrusion": -0.01047071535140276, "pair_body_intrusion": -0.013562412932515144}, "episode_termination_rates": {"time_out": 0.535031847133758, "fell_over": 0.03184713375796178, "course_exit": 0.42038216560509556, "illegal_nonwheel_contact": 0.03184713375796178}, "collection_time_s": 0.07552497638505884, "learning_time_s": 0.18449997709598392, "iteration_time_s": 0.36020232793663604, "policy_updates": 15750, "skipped_updates": 0, "invalid_env_resets": 78, "elapsed_s": 5781.247363383009, "nonwheel_terminations": 11412, "contact_bce": 0.3084835410118103, "contact_force_loss": 0.021298766136169434, "collision_bce": 0.0005011767498217523, "collision_label_rate": 0.00012251899170223624, "collision_prediction_mean": 7.146949792513624e-05, "collision_label_count": 16324.0, "terrain_level_mean": 2.743408203125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [48, 115, 108, 74, 38, 27], "episodes_by_level": [[1236.0, 265.0, 46.0, 0.0], [1197.0, 261.0, 33.0, 0.0], [626.0, 147.0, 22.0, 0.0], [252.0, 67.0, 8.0, 0.0], [114.0, 28.0, 2.0, 0.0], [37.0, 10.0, 1.0, 0.0]]}, "up": {"level_counts": [2, 38, 214, 599, 531, 49], "episodes_by_level": [[690.0, 554.0, 7.0, 0.0], [2333.0, 1415.0, 37.0, 0.0], [3861.0, 1448.0, 165.0, 0.0], [2605.0, 701.0, 183.0, 0.0], [618.0, 52.0, 100.0, 0.0], [9.0, 0.0, 5.0, 0.0]]}, "down": {"level_counts": [0, 0, 4, 12, 92, 506], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [754.0, 665.0, 21.0, 0.0], [906.0, 738.0, 25.0, 0.0], [1184.0, 899.0, 57.0, 0.0], [2334.0, 1733.0, 142.0, 0.0]]}, "platform": {"level_counts": [70, 132, 109, 73, 26, 0], "episodes_by_level": [[1381.0, 302.0, 48.0, 0.0], [1245.0, 242.0, 61.0, 0.0], [548.0, 111.0, 40.0, 0.0], [212.0, 32.0, 12.0, 0.0], [29.0, 2.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [62, 118, 95, 65, 45, 25], "episodes_by_level": [[1277.0, 275.0, 40.0, 0.0], [1175.0, 241.0, 54.0, 0.0], [615.0, 145.0, 25.0, 0.0], [261.0, 73.0, 10.0, 0.0], [113.0, 26.0, 3.0, 0.0], [36.0, 10.0, 1.0, 0.0]]}, "rubble": {"level_counts": [116, 267, 264, 141, 31, 0], "episodes_by_level": [[2537.0, 576.0, 89.0, 0.0], [2576.0, 557.0, 128.0, 0.0], [1303.0, 251.0, 138.0, 0.0], [441.0, 49.0, 79.0, 0.0], [53.0, 1.0, 18.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 32979, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2275390625, "command_abs_max": [0.9992716312408447, 0.3995755612850189, 0.6998887658119202]}
{"step": 16100, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 16100, "total_transitions": 65945600, "num_steps_per_env": 1, "wm_loss": 0.8245800137519836, "actor_loss": -9.461758613586426, "critic_loss": 0.005277773831039667, "reward": 0.08570778369903564, "falls": 12, "interval_steps": 50, "velocity_mae": [0.12088067084550858, 0.0744805857539177, 0.13678017258644104], "mean_episode_length": 1324.3926380368098, "episode_reward_terms": {"track_linear_velocity": 46.475929260253906, "track_angular_velocity": 50.00588607788086, "upright": 25.56987762451172, "leg_posture": -2.7201414108276367, "standstill": -6.422945976257324, "action_rate_l2": -0.5628986358642578, "joint_torques_l2": -0.14410574734210968, "dof_pos_limits": -0.0004670947673730552, "terminated": -0.03104044869542122, "unnecessary_wheel_lift": -0.1364239901304245, "rolling_leg_motion": -0.7149317264556885, "obstacle_progress": 2.768620252609253, "wheel_body_intrusion": -0.27416670322418213, "pair_body_intrusion": -0.30243778228759766}, "weighted_reward_terms": {"track_linear_velocity": 1.7546131610870361, "track_angular_velocity": 1.8878802061080933, "upright": 0.9653436541557312, "leg_posture": -0.10269393026828766, "standstill": -0.24248647689819336, "action_rate_l2": -0.021251201629638672, "joint_torques_l2": -0.005440447013825178, "dof_pos_limits": -1.763430191203952e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.005150436423718929, "rolling_leg_motion": -0.02699092961847782, "obstacle_progress": 0.1045241504907608, "wheel_body_intrusion": -0.010350658558309078, "pair_body_intrusion": -0.01141798123717308}, "episode_termination_rates": {"time_out": 0.4539877300613497, "fell_over": 0.05521472392638037, "course_exit": 0.4723926380368098, "illegal_nonwheel_contact": 0.04294478527607362}, "collection_time_s": 0.07580179253825918, "learning_time_s": 0.18442149286158382, "iteration_time_s": 0.3598919010717387, "policy_updates": 15800, "skipped_updates": 0, "invalid_env_resets": 78, "elapsed_s": 5794.259607254993, "nonwheel_terminations": 11419, "contact_bce": 0.30288153886795044, "contact_force_loss": 0.021547682583332062, "collision_bce": 0.0002578727144282311, "collision_label_rate": 6.120699981693178e-05, "collision_prediction_mean": 7.733437087154016e-05, "collision_label_count": 16338.0, "terrain_level_mean": 2.747802734375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [48, 115, 108, 74, 37, 28], "episodes_by_level": [[1242.0, 265.0, 46.0, 0.0], [1198.0, 261.0, 33.0, 0.0], [628.0, 147.0, 22.0, 0.0], [255.0, 68.0, 8.0, 0.0], [116.0, 29.0, 3.0, 0.0], [38.0, 10.0, 1.0, 0.0]]}, "up": {"level_counts": [2, 38, 215, 591, 536, 51], "episodes_by_level": [[690.0, 554.0, 7.0, 0.0], [2334.0, 1415.0, 37.0, 0.0], [3865.0, 1449.0, 165.0, 0.0], [2618.0, 709.0, 183.0, 0.0], [631.0, 55.0, 100.0, 0.0], [10.0, 0.0, 6.0, 0.0]]}, "down": {"level_counts": [0, 0, 3, 14, 91, 506], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [755.0, 666.0, 21.0, 0.0], [906.0, 738.0, 25.0, 0.0], [1186.0, 900.0, 57.0, 0.0], [2362.0, 1751.0, 143.0, 0.0]]}, "platform": {"level_counts": [70, 131, 111, 72, 26, 0], "episodes_by_level": [[1382.0, 302.0, 48.0, 0.0], [1247.0, 243.0, 61.0, 0.0], [553.0, 112.0, 40.0, 0.0], [215.0, 32.0, 14.0, 0.0], [29.0, 2.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [62, 117, 93, 67, 45, 26], "episodes_by_level": [[1279.0, 275.0, 40.0, 0.0], [1178.0, 243.0, 54.0, 0.0], [620.0, 148.0, 26.0, 0.0], [262.0, 74.0, 10.0, 0.0], [115.0, 27.0, 3.0, 0.0], [37.0, 10.0, 1.0, 0.0]]}, "rubble": {"level_counts": [116, 267, 263, 140, 33, 0], "episodes_by_level": [[2544.0, 577.0, 89.0, 0.0], [2583.0, 558.0, 129.0, 0.0], [1312.0, 252.0, 139.0, 0.0], [446.0, 51.0, 79.0, 0.0], [53.0, 1.0, 18.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 33128, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22412109375, "command_abs_max": [0.9992716312408447, 0.3995755612850189, 0.6992737650871277]}
{"step": 16150, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 16150, "total_transitions": 66150400, "num_steps_per_env": 1, "wm_loss": 0.7972911596298218, "actor_loss": -9.470714569091797, "critic_loss": 0.007390299346297979, "reward": 0.08617483824491501, "falls": 1, "interval_steps": 50, "velocity_mae": [0.1201607882976532, 0.07329336553812027, 0.13487517833709717], "mean_episode_length": 1451.0880503144654, "episode_reward_terms": {"track_linear_velocity": 51.00716018676758, "track_angular_velocity": 54.885841369628906, "upright": 28.049102783203125, "leg_posture": -3.002922534942627, "standstill": -6.694490432739258, "action_rate_l2": -0.6160691976547241, "joint_torques_l2": -0.1574326604604721, "dof_pos_limits": -0.0007787556387484074, "terminated": -0.0028341556899249554, "unnecessary_wheel_lift": -0.11848360300064087, "rolling_leg_motion": -0.757034182548523, "obstacle_progress": 3.072374105453491, "wheel_body_intrusion": -0.2788237929344177, "pair_body_intrusion": -0.3383345603942871}, "weighted_reward_terms": {"track_linear_velocity": 1.7575488090515137, "track_angular_velocity": 1.8911962509155273, "upright": 0.9664852023124695, "leg_posture": -0.10347141325473785, "standstill": -0.23067142069339752, "action_rate_l2": -0.021227838471531868, "joint_torques_l2": -0.0054246424697339535, "dof_pos_limits": -2.683350794541184e-05, "terminated": -9.76562369032763e-05, "unnecessary_wheel_lift": -0.004082578234374523, "rolling_leg_motion": -0.026085052639245987, "obstacle_progress": 0.1058645024895668, "wheel_body_intrusion": -0.009607404470443726, "pair_body_intrusion": -0.011657961644232273}, "episode_termination_rates": {"time_out": 0.6163522012578616, "fell_over": 0.006289308176100629, "course_exit": 0.37735849056603776, "illegal_nonwheel_contact": 0.006289308176100629}, "collection_time_s": 0.07595164208207279, "learning_time_s": 0.18441227633855306, "iteration_time_s": 0.35958383041523373, "policy_updates": 15850, "skipped_updates": 0, "invalid_env_resets": 79, "elapsed_s": 5807.278861206025, "nonwheel_terminations": 11420, "contact_bce": 0.29955536127090454, "contact_force_loss": 0.02143975906074047, "collision_bce": 6.27980989520438e-05, "collision_label_rate": 6.118453165981919e-05, "collision_prediction_mean": 0.0001034775996231474, "collision_label_count": 16344.0, "terrain_level_mean": 2.753662109375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [48, 115, 104, 77, 37, 29], "episodes_by_level": [[1244.0, 265.0, 46.0, 0.0], [1200.0, 261.0, 33.0, 0.0], [634.0, 151.0, 22.0, 0.0], [258.0, 69.0, 8.0, 0.0], [118.0, 30.0, 3.0, 0.0], [40.0, 10.0, 1.0, 0.0]]}, "up": {"level_counts": [2, 38, 214, 585, 539, 55], "episodes_by_level": [[690.0, 554.0, 7.0, 0.0], [2334.0, 1415.0, 37.0, 0.0], [3867.0, 1450.0, 165.0, 0.0], [2631.0, 716.0, 183.0, 0.0], [646.0, 59.0, 100.0, 0.0], [10.0, 0.0, 6.0, 0.0]]}, "down": {"level_counts": [0, 0, 3, 14, 90, 507], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [755.0, 666.0, 21.0, 0.0], [906.0, 738.0, 25.0, 0.0], [1187.0, 901.0, 57.0, 0.0], [2379.0, 1766.0, 143.0, 0.0]]}, "platform": {"level_counts": [70, 131, 111, 72, 26, 0], "episodes_by_level": [[1384.0, 302.0, 48.0, 0.0], [1253.0, 243.0, 61.0, 0.0], [554.0, 112.0, 40.0, 0.0], [216.0, 32.0, 14.0, 0.0], [30.0, 2.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [60, 119, 93, 66, 45, 27], "episodes_by_level": [[1285.0, 277.0, 40.0, 0.0], [1183.0, 243.0, 54.0, 0.0], [625.0, 148.0, 26.0, 0.0], [266.0, 75.0, 10.0, 0.0], [116.0, 28.0, 3.0, 0.0], [37.0, 10.0, 1.0, 0.0]]}, "rubble": {"level_counts": [116, 266, 264, 140, 33, 0], "episodes_by_level": [[2549.0, 577.0, 89.0, 0.0], [2596.0, 559.0, 129.0, 0.0], [1319.0, 252.0, 139.0, 0.0], [451.0, 52.0, 79.0, 0.0], [54.0, 1.0, 19.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 33260, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.228759765625, "command_abs_max": [0.9988936185836792, 0.3995755612850189, 0.6998643279075623]}
{"step": 16200, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 16200, "total_transitions": 66355200, "num_steps_per_env": 1, "wm_loss": 0.783686637878418, "actor_loss": -9.437520980834961, "critic_loss": 0.004231067840009928, "reward": 0.08575490117073059, "falls": 8, "interval_steps": 50, "velocity_mae": [0.12148711830377579, 0.07450482994318008, 0.13631929457187653], "mean_episode_length": 1375.0710059171597, "episode_reward_terms": {"track_linear_velocity": 48.22267532348633, "track_angular_velocity": 51.9483528137207, "upright": 26.576261520385742, "leg_posture": -2.8411166667938232, "standstill": -6.620629787445068, "action_rate_l2": -0.5986201167106628, "joint_torques_l2": -0.14883224666118622, "dof_pos_limits": -0.0008560193236917257, "terminated": -0.021485481411218643, "unnecessary_wheel_lift": -0.12477052956819534, "rolling_leg_motion": -0.750953197479248, "obstacle_progress": 2.88230299949646, "wheel_body_intrusion": -0.27463576197624207, "pair_body_intrusion": -0.3286193907260895}, "weighted_reward_terms": {"track_linear_velocity": 1.753461241722107, "track_angular_velocity": 1.8889334201812744, "upright": 0.9663596153259277, "leg_posture": -0.10330799221992493, "standstill": -0.24073773622512817, "action_rate_l2": -0.02176688052713871, "joint_torques_l2": -0.00541180232539773, "dof_pos_limits": -3.112636841251515e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.004536875989288092, "rolling_leg_motion": -0.027305979281663895, "obstacle_progress": 0.1048056036233902, "wheel_body_intrusion": -0.009986239485442638, "pair_body_intrusion": -0.011949178762733936}, "episode_termination_rates": {"time_out": 0.48520710059171596, "fell_over": 0.04142011834319527, "course_exit": 0.46745562130177515, "illegal_nonwheel_contact": 0.01775147928994083}, "collection_time_s": 0.07549933511880226, "learning_time_s": 0.1832231295015663, "iteration_time_s": 0.3592725998762978, "policy_updates": 15900, "skipped_updates": 0, "invalid_env_resets": 79, "elapsed_s": 5820.216117996024, "nonwheel_terminations": 11423, "contact_bce": 0.3089696168899536, "contact_force_loss": 0.02217131108045578, "collision_bce": 0.00014045160787645727, "collision_label_rate": 6.119576573837548e-05, "collision_prediction_mean": 1.2904522009193897e-05, "collision_label_count": 16341.0, "terrain_level_mean": 2.7607421875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [48, 115, 104, 77, 37, 29], "episodes_by_level": [[1247.0, 265.0, 46.0, 0.0], [1205.0, 261.0, 33.0, 0.0], [638.0, 151.0, 22.0, 0.0], [261.0, 69.0, 8.0, 0.0], [118.0, 30.0, 3.0, 0.0], [40.0, 10.0, 1.0, 0.0]]}, "up": {"level_counts": [2, 35, 209, 586, 542, 59], "episodes_by_level": [[690.0, 554.0, 7.0, 0.0], [2337.0, 1418.0, 37.0, 0.0], [3879.0, 1458.0, 165.0, 0.0], [2649.0, 726.0, 183.0, 0.0], [659.0, 63.0, 100.0, 0.0], [11.0, 0.0, 6.0, 0.0]]}, "down": {"level_counts": [0, 0, 3, 14, 89, 508], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [755.0, 666.0, 21.0, 0.0], [906.0, 738.0, 25.0, 0.0], [1189.0, 903.0, 57.0, 0.0], [2402.0, 1786.0, 143.0, 0.0]]}, "platform": {"level_counts": [70, 130, 112, 72, 26, 0], "episodes_by_level": [[1387.0, 302.0, 48.0, 0.0], [1261.0, 244.0, 61.0, 0.0], [556.0, 113.0, 40.0, 0.0], [218.0, 32.0, 15.0, 0.0], [34.0, 2.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [60, 119, 93, 66, 44, 28], "episodes_by_level": [[1289.0, 277.0, 40.0, 0.0], [1188.0, 243.0, 54.0, 0.0], [625.0, 148.0, 26.0, 0.0], [268.0, 75.0, 10.0, 0.0], [117.0, 29.0, 3.0, 0.0], [38.0, 10.0, 1.0, 0.0]]}, "rubble": {"level_counts": [115, 265, 265, 141, 33, 0], "episodes_by_level": [[2554.0, 578.0, 89.0, 0.0], [2603.0, 561.0, 129.0, 0.0], [1328.0, 255.0, 139.0, 0.0], [455.0, 53.0, 81.0, 0.0], [56.0, 1.0, 20.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 33389, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22802734375, "command_abs_max": [0.9988936185836792, 0.3995755612850189, 0.6998643279075623]}
{"step": 16250, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 16250, "total_transitions": 66560000, "num_steps_per_env": 1, "wm_loss": 0.80313640832901, "actor_loss": -9.431007385253906, "critic_loss": 0.0073529439978301525, "reward": 0.08594395220279694, "falls": 8, "interval_steps": 50, "velocity_mae": [0.12153903394937515, 0.07389174401760101, 0.13607989251613617], "mean_episode_length": 1322.9013157894738, "episode_reward_terms": {"track_linear_velocity": 46.39422607421875, "track_angular_velocity": 49.99278259277344, "upright": 25.58150291442871, "leg_posture": -2.7224950790405273, "standstill": -6.155817031860352, "action_rate_l2": -0.5738422274589539, "joint_torques_l2": -0.14250829815864563, "dof_pos_limits": -0.000718682655133307, "terminated": -0.02067033015191555, "unnecessary_wheel_lift": -0.11565282195806503, "rolling_leg_motion": -0.7197966575622559, "obstacle_progress": 2.7469351291656494, "wheel_body_intrusion": -0.25150999426841736, "pair_body_intrusion": -0.31707584857940674}, "weighted_reward_terms": {"track_linear_velocity": 1.7535029649734497, "track_angular_velocity": 1.8895128965377808, "upright": 0.9668711423873901, "leg_posture": -0.10289864242076874, "standstill": -0.23266349732875824, "action_rate_l2": -0.021688777953386307, "joint_torques_l2": -0.005386202596127987, "dof_pos_limits": -2.7163121558260173e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.004371180664747953, "rolling_leg_motion": -0.027205228805541992, "obstacle_progress": 0.10382237285375595, "wheel_body_intrusion": -0.009505999274551868, "pair_body_intrusion": -0.01198410801589489}, "episode_termination_rates": {"time_out": 0.506578947368421, "fell_over": 0.019736842105263157, "course_exit": 0.4407894736842105, "illegal_nonwheel_contact": 0.03289473684210526}, "collection_time_s": 0.07554853850626386, "learning_time_s": 0.18501378189888784, "iteration_time_s": 0.3593252387395702, "policy_updates": 15950, "skipped_updates": 0, "invalid_env_resets": 79, "elapsed_s": 5839.035129518015, "nonwheel_terminations": 11428, "contact_bce": 0.3008647859096527, "contact_force_loss": 0.02117374911904335, "collision_bce": 0.0003205710381735116, "collision_label_rate": 0.00012265423720236868, "collision_prediction_mean": 9.291199967265129e-05, "collision_label_count": 16306.0, "terrain_level_mean": 2.766845703125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [48, 113, 103, 80, 37, 29], "episodes_by_level": [[1248.0, 265.0, 46.0, 0.0], [1208.0, 263.0, 33.0, 0.0], [645.0, 154.0, 22.0, 0.0], [262.0, 69.0, 8.0, 0.0], [118.0, 30.0, 3.0, 0.0], [41.0, 11.0, 1.0, 0.0]]}, "up": {"level_counts": [2, 34, 208, 577, 550, 62], "episodes_by_level": [[690.0, 554.0, 7.0, 0.0], [2338.0, 1419.0, 37.0, 0.0], [3884.0, 1460.0, 165.0, 0.0], [2665.0, 737.0, 183.0, 0.0], [670.0, 66.0, 100.0, 0.0], [12.0, 0.0, 6.0, 0.0]]}, "down": {"level_counts": [0, 0, 3, 14, 90, 507], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [755.0, 666.0, 21.0, 0.0], [906.0, 738.0, 25.0, 0.0], [1193.0, 905.0, 57.0, 0.0], [2425.0, 1803.0, 146.0, 0.0]]}, "platform": {"level_counts": [71, 127, 114, 72, 26, 0], "episodes_by_level": [[1389.0, 302.0, 48.0, 0.0], [1269.0, 246.0, 62.0, 0.0], [560.0, 113.0, 40.0, 0.0], [219.0, 32.0, 15.0, 0.0], [34.0, 2.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [60, 119, 92, 67, 44, 28], "episodes_by_level": [[1294.0, 277.0, 40.0, 0.0], [1192.0, 243.0, 54.0, 0.0], [628.0, 149.0, 26.0, 0.0], [268.0, 75.0, 10.0, 0.0], [118.0, 29.0, 3.0, 0.0], [38.0, 10.0, 1.0, 0.0]]}, "rubble": {"level_counts": [113, 265, 269, 139, 33, 0], "episodes_by_level": [[2564.0, 580.0, 89.0, 0.0], [2613.0, 563.0, 129.0, 0.0], [1330.0, 255.0, 139.0, 0.0], [460.0, 53.0, 83.0, 0.0], [57.0, 1.0, 20.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 33529, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.230224609375, "command_abs_max": [0.9949665069580078, 0.3991335928440094, 0.6998643279075623]}
{"step": 16300, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 16300, "total_transitions": 66764800, "num_steps_per_env": 1, "wm_loss": 0.7832838296890259, "actor_loss": -9.456201553344727, "critic_loss": 0.003375834319740534, "reward": 0.08572234213352203, "falls": 11, "interval_steps": 50, "velocity_mae": [0.12204287946224213, 0.07372835278511047, 0.13738355040550232], "mean_episode_length": 1292.9936305732483, "episode_reward_terms": {"track_linear_velocity": 45.34760284423828, "track_angular_velocity": 48.80379867553711, "upright": 24.984922409057617, "leg_posture": -2.6812779903411865, "standstill": -6.165445327758789, "action_rate_l2": -0.5510446429252625, "joint_torques_l2": -0.1390763223171234, "dof_pos_limits": -0.0004543818940874189, "terminated": -0.02777915820479393, "unnecessary_wheel_lift": -0.13115033507347107, "rolling_leg_motion": -0.7109065055847168, "obstacle_progress": 2.6869144439697266, "wheel_body_intrusion": -0.24860693514347076, "pair_body_intrusion": -0.32904982566833496}, "weighted_reward_terms": {"track_linear_velocity": 1.7535896301269531, "track_angular_velocity": 1.8872404098510742, "upright": 0.9661657214164734, "leg_posture": -0.10368488729000092, "standstill": -0.23841746151447296, "action_rate_l2": -0.021308869123458862, "joint_torques_l2": -0.00537807447835803, "dof_pos_limits": -1.7570924683241174e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.005071576684713364, "rolling_leg_motion": -0.02749071829020977, "obstacle_progress": 0.10390285402536392, "wheel_body_intrusion": -0.00961361825466156, "pair_body_intrusion": -0.012724339962005615}, "episode_termination_rates": {"time_out": 0.4713375796178344, "fell_over": 0.025477707006369428, "course_exit": 0.4585987261146497, "illegal_nonwheel_contact": 0.05732484076433121}, "collection_time_s": 0.075514174165437, "learning_time_s": 0.18568953856010922, "iteration_time_s": 0.3590243204199406, "policy_updates": 16000, "skipped_updates": 0, "invalid_env_resets": 79, "elapsed_s": 5852.096422845032, "nonwheel_terminations": 11437, "contact_bce": 0.3080899119377136, "contact_force_loss": 0.021563535556197166, "collision_bce": 0.00024765668786130846, "collision_label_rate": 0.00012236906331963837, "collision_prediction_mean": 0.00010591246973490342, "collision_label_count": 16344.0, "terrain_level_mean": 2.77392578125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [47, 112, 105, 79, 37, 30], "episodes_by_level": [[1249.0, 266.0, 46.0, 0.0], [1211.0, 265.0, 33.0, 0.0], [646.0, 154.0, 22.0, 0.0], [265.0, 70.0, 8.0, 0.0], [121.0, 31.0, 3.0, 0.0], [41.0, 11.0, 1.0, 0.0]]}, "up": {"level_counts": [2, 31, 206, 575, 553, 66], "episodes_by_level": [[690.0, 554.0, 7.0, 0.0], [2341.0, 1422.0, 37.0, 0.0], [3891.0, 1465.0, 165.0, 0.0], [2685.0, 748.0, 183.0, 0.0], [689.0, 71.0, 104.0, 0.0], [13.0, 0.0, 6.0, 0.0]]}, "down": {"level_counts": [0, 0, 3, 14, 91, 506], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [755.0, 666.0, 21.0, 0.0], [906.0, 738.0, 25.0, 0.0], [1194.0, 906.0, 57.0, 0.0], [2441.0, 1814.0, 147.0, 0.0]]}, "platform": {"level_counts": [71, 126, 115, 72, 26, 0], "episodes_by_level": [[1393.0, 302.0, 48.0, 0.0], [1270.0, 247.0, 62.0, 0.0], [564.0, 113.0, 40.0, 0.0], [221.0, 32.0, 15.0, 0.0], [34.0, 2.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [60, 119, 89, 69, 44, 29], "episodes_by_level": [[1295.0, 277.0, 40.0, 0.0], [1196.0, 243.0, 54.0, 0.0], [631.0, 152.0, 26.0, 0.0], [270.0, 76.0, 10.0, 0.0], [119.0, 30.0, 3.0, 0.0], [42.0, 10.0, 1.0, 0.0]]}, "rubble": {"level_counts": [113, 266, 268, 138, 34, 0], "episodes_by_level": [[2568.0, 581.0, 89.0, 0.0], [2621.0, 564.0, 130.0, 0.0], [1341.0, 256.0, 141.0, 0.0], [464.0, 54.0, 84.0, 0.0], [58.0, 1.0, 20.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 33666, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2275390625, "command_abs_max": [0.9997798204421997, 0.39959198236465454, 0.6998643279075623]}
{"step": 16350, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 16350, "total_transitions": 66969600, "num_steps_per_env": 1, "wm_loss": 0.7731325626373291, "actor_loss": -9.454679489135742, "critic_loss": 0.006909601390361786, "reward": 0.08592129498720169, "falls": 5, "interval_steps": 50, "velocity_mae": [0.12236626446247101, 0.0719575583934784, 0.13509820401668549], "mean_episode_length": 1384.3706293706293, "episode_reward_terms": {"track_linear_velocity": 48.599300384521484, "track_angular_velocity": 52.361572265625, "upright": 26.765941619873047, "leg_posture": -2.903449535369873, "standstill": -6.413646221160889, "action_rate_l2": -0.590194582939148, "joint_torques_l2": -0.14854885637760162, "dof_pos_limits": -0.000512079568579793, "terminated": -0.013519242405891418, "unnecessary_wheel_lift": -0.11857223510742188, "rolling_leg_motion": -0.7672674059867859, "obstacle_progress": 2.790846109390259, "wheel_body_intrusion": -0.282973051071167, "pair_body_intrusion": -0.3320642411708832}, "weighted_reward_terms": {"track_linear_velocity": 1.7552851438522339, "track_angular_velocity": 1.8911689519882202, "upright": 0.966718852519989, "leg_posture": -0.10486532747745514, "standstill": -0.23164485394954681, "action_rate_l2": -0.021316351369023323, "joint_torques_l2": -0.0053652129136025906, "dof_pos_limits": -1.8495031326892786e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.004282532259821892, "rolling_leg_motion": -0.0277117770165205, "obstacle_progress": 0.10079837590456009, "wheel_body_intrusion": -0.010220278054475784, "pair_body_intrusion": -0.011993329040706158}, "episode_termination_rates": {"time_out": 0.5524475524475524, "fell_over": 0.013986013986013986, "course_exit": 0.4125874125874126, "illegal_nonwheel_contact": 0.027972027972027972}, "collection_time_s": 0.07546556643908843, "learning_time_s": 0.19269382076105102, "iteration_time_s": 0.35874651341394675, "policy_updates": 16050, "skipped_updates": 0, "invalid_env_resets": 79, "elapsed_s": 5865.505494318029, "nonwheel_terminations": 11441, "contact_bce": 0.3018662631511688, "contact_force_loss": 0.021429387852549553, "collision_bce": 0.00013700105773750693, "collision_label_rate": 6.114711868576705e-05, "collision_prediction_mean": 0.00016006674559321254, "collision_label_count": 16354.0, "terrain_level_mean": 2.78076171875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [46, 114, 104, 79, 37, 30], "episodes_by_level": [[1250.0, 267.0, 46.0, 0.0], [1216.0, 265.0, 33.0, 0.0], [647.0, 154.0, 23.0, 0.0], [266.0, 70.0, 8.0, 0.0], [121.0, 31.0, 3.0, 0.0], [43.0, 11.0, 1.0, 0.0]]}, "up": {"level_counts": [2, 29, 203, 573, 560, 66], "episodes_by_level": [[690.0, 554.0, 7.0, 0.0], [2343.0, 1424.0, 37.0, 0.0], [3897.0, 1470.0, 165.0, 0.0], [2697.0, 755.0, 183.0, 0.0], [698.0, 73.0, 104.0, 0.0], [14.0, 0.0, 6.0, 0.0]]}, "down": {"level_counts": [0, 0, 3, 14, 88, 509], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [755.0, 666.0, 21.0, 0.0], [906.0, 738.0, 25.0, 0.0], [1198.0, 910.0, 57.0, 0.0], [2458.0, 1827.0, 147.0, 0.0]]}, "platform": {"level_counts": [71, 126, 114, 73, 26, 0], "episodes_by_level": [[1397.0, 302.0, 48.0, 0.0], [1273.0, 247.0, 62.0, 0.0], [569.0, 114.0, 40.0, 0.0], [225.0, 32.0, 15.0, 0.0], [35.0, 2.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [58, 120, 89, 69, 45, 29], "episodes_by_level": [[1300.0, 279.0, 40.0, 0.0], [1198.0, 244.0, 54.0, 0.0], [638.0, 153.0, 26.0, 0.0], [272.0, 77.0, 10.0, 0.0], [119.0, 30.0, 3.0, 0.0], [43.0, 10.0, 1.0, 0.0]]}, "rubble": {"level_counts": [113, 266, 267, 135, 38, 0], "episodes_by_level": [[2572.0, 581.0, 89.0, 0.0], [2628.0, 565.0, 130.0, 0.0], [1349.0, 257.0, 142.0, 0.0], [472.0, 58.0, 84.0, 0.0], [59.0, 1.0, 20.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 33804, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23486328125, "command_abs_max": [0.9997798204421997, 0.39959198236465454, 0.6998643279075623]}
{"step": 16400, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 16400, "total_transitions": 67174400, "num_steps_per_env": 1, "wm_loss": 0.8190612196922302, "actor_loss": -9.436482429504395, "critic_loss": 0.005329465959221125, "reward": 0.08601387590169907, "falls": 8, "interval_steps": 50, "velocity_mae": [0.12189841270446777, 0.07360615581274033, 0.13433045148849487], "mean_episode_length": 1367.2910447761194, "episode_reward_terms": {"track_linear_velocity": 47.95610427856445, "track_angular_velocity": 51.73872756958008, "upright": 26.40510368347168, "leg_posture": -2.8269145488739014, "standstill": -6.292263031005859, "action_rate_l2": -0.5850450992584229, "joint_torques_l2": -0.14811952412128448, "dof_pos_limits": -0.0004444094083737582, "terminated": -0.021363917738199234, "unnecessary_wheel_lift": -0.12433319538831711, "rolling_leg_motion": -0.7483649253845215, "obstacle_progress": 2.8053982257843018, "wheel_body_intrusion": -0.26969215273857117, "pair_body_intrusion": -0.2827751338481903}, "weighted_reward_terms": {"track_linear_velocity": 1.753690481185913, "track_angular_velocity": 1.8920159339904785, "upright": 0.9655992388725281, "leg_posture": -0.10337647795677185, "standstill": -0.2300996482372284, "action_rate_l2": -0.021394316107034683, "joint_torques_l2": -0.005416532512754202, "dof_pos_limits": -1.6251457054750063e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.004546698182821274, "rolling_leg_motion": -0.027366701513528824, "obstacle_progress": 0.10258965194225311, "wheel_body_intrusion": -0.009862280450761318, "pair_body_intrusion": -0.010340707376599312}, "episode_termination_rates": {"time_out": 0.4925373134328358, "fell_over": 0.03731343283582089, "course_exit": 0.44776119402985076, "illegal_nonwheel_contact": 0.03731343283582089}, "collection_time_s": 0.07525584979681298, "learning_time_s": 0.18495052582002244, "iteration_time_s": 0.358446154977804, "policy_updates": 16100, "skipped_updates": 0, "invalid_env_resets": 79, "elapsed_s": 5878.516941635986, "nonwheel_terminations": 11446, "contact_bce": 0.30712127685546875, "contact_force_loss": 0.022267676889896393, "collision_bce": 8.752702706260607e-05, "collision_label_rate": 6.115833821240813e-05, "collision_prediction_mean": 4.90549391543027e-05, "collision_label_count": 16351.0, "terrain_level_mean": 2.784912109375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [46, 114, 104, 79, 37, 30], "episodes_by_level": [[1255.0, 267.0, 46.0, 0.0], [1218.0, 265.0, 33.0, 0.0], [649.0, 154.0, 23.0, 0.0], [266.0, 70.0, 8.0, 0.0], [121.0, 31.0, 3.0, 0.0], [44.0, 11.0, 1.0, 0.0]]}, "up": {"level_counts": [2, 29, 200, 573, 558, 71], "episodes_by_level": [[690.0, 554.0, 7.0, 0.0], [2343.0, 1424.0, 37.0, 0.0], [3904.0, 1473.0, 165.0, 0.0], [2709.0, 760.0, 183.0, 0.0], [710.0, 79.0, 104.0, 0.0], [15.0, 0.0, 7.0, 0.0]]}, "down": {"level_counts": [0, 0, 3, 13, 85, 513], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [755.0, 666.0, 21.0, 0.0], [907.0, 739.0, 25.0, 0.0], [1203.0, 915.0, 57.0, 0.0], [2472.0, 1837.0, 147.0, 0.0]]}, "platform": {"level_counts": [71, 126, 113, 74, 26, 0], "episodes_by_level": [[1400.0, 302.0, 48.0, 0.0], [1276.0, 247.0, 62.0, 0.0], [572.0, 115.0, 40.0, 0.0], [227.0, 32.0, 15.0, 0.0], [35.0, 2.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [58, 119, 91, 68, 45, 29], "episodes_by_level": [[1301.0, 279.0, 40.0, 0.0], [1201.0, 245.0, 54.0, 0.0], [641.0, 153.0, 26.0, 0.0], [274.0, 77.0, 11.0, 0.0], [122.0, 30.0, 3.0, 0.0], [43.0, 10.0, 1.0, 0.0]]}, "rubble": {"level_counts": [113, 266, 266, 137, 37, 0], "episodes_by_level": [[2577.0, 581.0, 89.0, 0.0], [2636.0, 567.0, 130.0, 0.0], [1359.0, 258.0, 144.0, 0.0], [477.0, 58.0, 84.0, 0.0], [60.0, 1.0, 21.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 33931, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23486328125, "command_abs_max": [0.9997798204421997, 0.39959198236465454, 0.6998643279075623]}
{"step": 16450, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 16450, "total_transitions": 67379200, "num_steps_per_env": 1, "wm_loss": 0.7400617599487305, "actor_loss": -9.430124282836914, "critic_loss": 0.002885228954255581, "reward": 0.08581700176000595, "falls": 9, "interval_steps": 50, "velocity_mae": [0.12121976166963577, 0.07261939346790314, 0.1345583200454712], "mean_episode_length": 1369.458904109589, "episode_reward_terms": {"track_linear_velocity": 48.14201736450195, "track_angular_velocity": 51.82864761352539, "upright": 26.467622756958008, "leg_posture": -2.8518099784851074, "standstill": -6.649348258972168, "action_rate_l2": -0.5776745080947876, "joint_torques_l2": -0.14774349331855774, "dof_pos_limits": -0.0003852503141388297, "terminated": -0.024072514846920967, "unnecessary_wheel_lift": -0.11047755926847458, "rolling_leg_motion": -0.7543523907661438, "obstacle_progress": 2.779930591583252, "wheel_body_intrusion": -0.27894988656044006, "pair_body_intrusion": -0.3005572259426117}, "weighted_reward_terms": {"track_linear_velocity": 1.757702350616455, "track_angular_velocity": 1.8923038244247437, "upright": 0.9663533568382263, "leg_posture": -0.10412178933620453, "standstill": -0.24277284741401672, "action_rate_l2": -0.021091341972351074, "joint_torques_l2": -0.00539422919973731, "dof_pos_limits": -1.4065785762795713e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.004033620934933424, "rolling_leg_motion": -0.027541987597942352, "obstacle_progress": 0.10149741172790527, "wheel_body_intrusion": -0.010184675455093384, "pair_body_intrusion": -0.010973576456308365}, "episode_termination_rates": {"time_out": 0.4931506849315068, "fell_over": 0.0410958904109589, "course_exit": 0.4452054794520548, "illegal_nonwheel_contact": 0.0273972602739726}, "collection_time_s": 0.07583499657805078, "learning_time_s": 0.18605276989983394, "iteration_time_s": 0.3581527370668093, "policy_updates": 16150, "skipped_updates": 0, "invalid_env_resets": 80, "elapsed_s": 5891.612524749013, "nonwheel_terminations": 11450, "contact_bce": 0.29835245013237, "contact_force_loss": 0.020496129989624023, "collision_bce": 8.095930752460845e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 8.158522177836858e-06, "collision_label_count": 16341.0, "terrain_level_mean": 2.790283203125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [45, 115, 103, 80, 37, 30], "episodes_by_level": [[1257.0, 268.0, 46.0, 0.0], [1219.0, 265.0, 33.0, 0.0], [652.0, 155.0, 23.0, 0.0], [266.0, 70.0, 8.0, 0.0], [121.0, 31.0, 3.0, 0.0], [45.0, 11.0, 1.0, 0.0]]}, "up": {"level_counts": [2, 29, 197, 569, 565, 71], "episodes_by_level": [[690.0, 554.0, 7.0, 0.0], [2344.0, 1425.0, 37.0, 0.0], [3911.0, 1477.0, 165.0, 0.0], [2723.0, 768.0, 183.0, 0.0], [721.0, 80.0, 104.0, 0.0], [16.0, 0.0, 8.0, 0.0]]}, "down": {"level_counts": [0, 0, 3, 14, 82, 515], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [755.0, 666.0, 21.0, 0.0], [907.0, 739.0, 25.0, 0.0], [1206.0, 918.0, 57.0, 0.0], [2488.0, 1850.0, 147.0, 0.0]]}, "platform": {"level_counts": [71, 127, 113, 73, 26, 0], "episodes_by_level": [[1405.0, 302.0, 48.0, 0.0], [1278.0, 247.0, 62.0, 0.0], [579.0, 115.0, 41.0, 0.0], [231.0, 32.0, 16.0, 0.0], [35.0, 2.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [58, 118, 92, 67, 45, 30], "episodes_by_level": [[1304.0, 279.0, 40.0, 0.0], [1204.0, 246.0, 54.0, 0.0], [644.0, 153.0, 26.0, 0.0], [276.0, 78.0, 11.0, 0.0], [125.0, 31.0, 3.0, 0.0], [43.0, 10.0, 1.0, 0.0]]}, "rubble": {"level_counts": [112, 264, 268, 137, 36, 2], "episodes_by_level": [[2579.0, 582.0, 89.0, 0.0], [2642.0, 570.0, 130.0, 0.0], [1368.0, 259.0, 144.0, 0.0], [483.0, 60.0, 84.0, 0.0], [64.0, 3.0, 22.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 34072, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2353515625, "command_abs_max": [0.9999798536300659, 0.39959198236465454, 0.6996234655380249]}
{"step": 16500, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 16500, "total_transitions": 67584000, "num_steps_per_env": 1, "wm_loss": 0.8047472834587097, "actor_loss": -9.423628807067871, "critic_loss": 0.0037197903729975224, "reward": 0.08599147945642471, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11952748149633408, 0.07256273925304413, 0.13356703519821167], "mean_episode_length": 1363.1780821917807, "episode_reward_terms": {"track_linear_velocity": 47.98013687133789, "track_angular_velocity": 51.618289947509766, "upright": 26.32048797607422, "leg_posture": -2.9298369884490967, "standstill": -6.240226745605469, "action_rate_l2": -0.5756321549415588, "joint_torques_l2": -0.14588706195354462, "dof_pos_limits": -0.00042839584057219326, "terminated": -0.026624569669365883, "unnecessary_wheel_lift": -0.10824346542358398, "rolling_leg_motion": -0.7704495191574097, "obstacle_progress": 2.7015514373779297, "wheel_body_intrusion": -0.2779276967048645, "pair_body_intrusion": -0.32350626587867737}, "weighted_reward_terms": {"track_linear_velocity": 1.7598631381988525, "track_angular_velocity": 1.8933069705963135, "upright": 0.9654090404510498, "leg_posture": -0.10746347904205322, "standstill": -0.2288852483034134, "action_rate_l2": -0.02111360803246498, "joint_torques_l2": -0.00535099022090435, "dof_pos_limits": -1.571312895976007e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.003970261197537184, "rolling_leg_motion": -0.028259312734007835, "obstacle_progress": 0.09909018129110336, "wheel_body_intrusion": -0.01019410789012909, "pair_body_intrusion": -0.011865884065628052}, "episode_termination_rates": {"time_out": 0.5342465753424658, "fell_over": 0.06164383561643835, "course_exit": 0.3972602739726027, "illegal_nonwheel_contact": 0.0410958904109589}, "collection_time_s": 0.07544850570033304, "learning_time_s": 0.18401516856043598, "iteration_time_s": 0.35785374535339404, "policy_updates": 16200, "skipped_updates": 0, "invalid_env_resets": 80, "elapsed_s": 5904.586798331002, "nonwheel_terminations": 11456, "contact_bce": 0.30774566531181335, "contact_force_loss": 0.022096876055002213, "collision_bce": 0.0002777937042992562, "collision_label_rate": 6.119201862020418e-05, "collision_prediction_mean": 2.7599835448199883e-05, "collision_label_count": 16342.0, "terrain_level_mean": 2.796142578125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [45, 114, 101, 81, 39, 30], "episodes_by_level": [[1259.0, 268.0, 46.0, 0.0], [1222.0, 266.0, 33.0, 0.0], [658.0, 158.0, 23.0, 0.0], [268.0, 72.0, 8.0, 0.0], [123.0, 31.0, 3.0, 0.0], [45.0, 11.0, 1.0, 0.0]]}, "up": {"level_counts": [2, 29, 194, 560, 577, 71], "episodes_by_level": [[690.0, 554.0, 7.0, 0.0], [2344.0, 1425.0, 37.0, 0.0], [3915.0, 1480.0, 165.0, 0.0], [2740.0, 780.0, 183.0, 0.0], [733.0, 81.0, 105.0, 0.0], [16.0, 0.0, 8.0, 0.0]]}, "down": {"level_counts": [0, 0, 4, 12, 86, 512], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [755.0, 666.0, 21.0, 0.0], [908.0, 740.0, 25.0, 0.0], [1208.0, 920.0, 57.0, 0.0], [2504.0, 1862.0, 148.0, 0.0]]}, "platform": {"level_counts": [71, 126, 114, 73, 25, 1], "episodes_by_level": [[1406.0, 302.0, 48.0, 0.0], [1281.0, 248.0, 62.0, 0.0], [582.0, 115.0, 41.0, 0.0], [234.0, 32.0, 16.0, 0.0], [36.0, 3.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [58, 118, 92, 66, 46, 30], "episodes_by_level": [[1305.0, 279.0, 40.0, 0.0], [1208.0, 246.0, 54.0, 0.0], [644.0, 153.0, 26.0, 0.0], [278.0, 79.0, 11.0, 0.0], [128.0, 31.0, 3.0, 0.0], [45.0, 10.0, 1.0, 0.0]]}, "rubble": {"level_counts": [111, 264, 268, 138, 36, 2], "episodes_by_level": [[2582.0, 583.0, 89.0, 0.0], [2650.0, 572.0, 130.0, 0.0], [1375.0, 261.0, 145.0, 0.0], [487.0, 60.0, 85.0, 0.0], [64.0, 3.0, 22.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 34208, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.238037109375, "command_abs_max": [0.9999798536300659, 0.39873549342155457, 0.6996234655380249]}
{"step": 16550, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 16550, "total_transitions": 67788800, "num_steps_per_env": 1, "wm_loss": 0.7656486630439758, "actor_loss": -9.442947387695312, "critic_loss": 0.0064525725319981575, "reward": 0.08577565848827362, "falls": 8, "interval_steps": 50, "velocity_mae": [0.12076196074485779, 0.07207803428173065, 0.13534048199653625], "mean_episode_length": 1320.6014492753623, "episode_reward_terms": {"track_linear_velocity": 46.437252044677734, "track_angular_velocity": 49.94904708862305, "upright": 25.49775505065918, "leg_posture": -2.8608713150024414, "standstill": -6.187534809112549, "action_rate_l2": -0.553783655166626, "joint_torques_l2": -0.13999636471271515, "dof_pos_limits": -0.0018156315200030804, "terminated": -0.020634394139051437, "unnecessary_wheel_lift": -0.1172565221786499, "rolling_leg_motion": -0.7459002137184143, "obstacle_progress": 2.562305450439453, "wheel_body_intrusion": -0.26071202754974365, "pair_body_intrusion": -0.2824033796787262}, "weighted_reward_terms": {"track_linear_velocity": 1.7581857442855835, "track_angular_velocity": 1.8911477327346802, "upright": 0.9653842449188232, "leg_posture": -0.10831698775291443, "standstill": -0.23426958918571472, "action_rate_l2": -0.02096710167825222, "joint_torques_l2": -0.005300477612763643, "dof_pos_limits": -6.874259997857735e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.004439512267708778, "rolling_leg_motion": -0.028240928426384926, "obstacle_progress": 0.09701282531023026, "wheel_body_intrusion": -0.009870958514511585, "pair_body_intrusion": -0.010692226700484753}, "episode_termination_rates": {"time_out": 0.45652173913043476, "fell_over": 0.028985507246376812, "course_exit": 0.4855072463768116, "illegal_nonwheel_contact": 0.028985507246376812}, "collection_time_s": 0.07534264671849086, "learning_time_s": 0.18457916620071046, "iteration_time_s": 0.3575594925555278, "policy_updates": 16250, "skipped_updates": 0, "invalid_env_resets": 80, "elapsed_s": 5917.609601793985, "nonwheel_terminations": 11460, "contact_bce": 0.30247762799263, "contact_force_loss": 0.021104317158460617, "collision_bce": 0.0003269585140515119, "collision_label_rate": 0.00018355359497945756, "collision_prediction_mean": 7.478919724235311e-05, "collision_label_count": 16344.0, "terrain_level_mean": 2.8037109375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [45, 114, 101, 81, 38, 31], "episodes_by_level": [[1260.0, 268.0, 46.0, 0.0], [1224.0, 266.0, 33.0, 0.0], [660.0, 158.0, 23.0, 0.0], [268.0, 72.0, 8.0, 0.0], [124.0, 32.0, 3.0, 0.0], [45.0, 11.0, 1.0, 0.0]]}, "up": {"level_counts": [2, 28, 192, 554, 583, 74], "episodes_by_level": [[690.0, 554.0, 7.0, 0.0], [2345.0, 1426.0, 37.0, 0.0], [3921.0, 1484.0, 165.0, 0.0], [2762.0, 790.0, 184.0, 0.0], [742.0, 85.0, 105.0, 0.0], [17.0, 0.0, 9.0, 0.0]]}, "down": {"level_counts": [0, 0, 4, 11, 83, 516], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [755.0, 666.0, 21.0, 0.0], [909.0, 741.0, 25.0, 0.0], [1215.0, 927.0, 57.0, 0.0], [2524.0, 1880.0, 149.0, 0.0]]}, "platform": {"level_counts": [71, 124, 116, 73, 24, 2], "episodes_by_level": [[1409.0, 302.0, 48.0, 0.0], [1285.0, 250.0, 62.0, 0.0], [585.0, 115.0, 41.0, 0.0], [235.0, 32.0, 16.0, 0.0], [38.0, 4.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [57, 119, 92, 66, 46, 30], "episodes_by_level": [[1306.0, 280.0, 40.0, 0.0], [1211.0, 247.0, 54.0, 0.0], [645.0, 153.0, 27.0, 0.0], [279.0, 79.0, 11.0, 0.0], [131.0, 31.0, 3.0, 0.0], [45.0, 10.0, 1.0, 0.0]]}, "rubble": {"level_counts": [111, 259, 274, 136, 37, 2], "episodes_by_level": [[2583.0, 583.0, 89.0, 0.0], [2658.0, 577.0, 130.0, 0.0], [1383.0, 261.0, 145.0, 0.0], [492.0, 61.0, 86.0, 0.0], [64.0, 3.0, 22.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 34345, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2412109375, "command_abs_max": [0.9999798536300659, 0.39873549342155457, 0.6996234655380249]}
{"step": 16600, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 16600, "total_transitions": 67993600, "num_steps_per_env": 1, "wm_loss": 0.7921535968780518, "actor_loss": -9.423880577087402, "critic_loss": 0.0059965187683701515, "reward": 0.0855117216706276, "falls": 5, "interval_steps": 50, "velocity_mae": [0.12151480466127396, 0.07174969464540482, 0.13595369458198547], "mean_episode_length": 1364.5796178343949, "episode_reward_terms": {"track_linear_velocity": 47.9579963684082, "track_angular_velocity": 51.571372985839844, "upright": 26.359468460083008, "leg_posture": -2.92726469039917, "standstill": -6.713295936584473, "action_rate_l2": -0.5740674138069153, "joint_torques_l2": -0.1465054601430893, "dof_pos_limits": -0.0003808705077972263, "terminated": -0.013325970619916916, "unnecessary_wheel_lift": -0.11455722153186798, "rolling_leg_motion": -0.7512583136558533, "obstacle_progress": 2.6850266456604004, "wheel_body_intrusion": -0.31130948662757874, "pair_body_intrusion": -0.33436641097068787}, "weighted_reward_terms": {"track_linear_velocity": 1.757244348526001, "track_angular_velocity": 1.8896433115005493, "upright": 0.9658458232879639, "leg_posture": -0.10725884884595871, "standstill": -0.2459840327501297, "action_rate_l2": -0.021034589037299156, "joint_torques_l2": -0.005368154030293226, "dof_pos_limits": -1.395559957018122e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.0041975281201303005, "rolling_leg_motion": -0.0275270976126194, "obstacle_progress": 0.09838292747735977, "wheel_body_intrusion": -0.011406791396439075, "pair_body_intrusion": -0.012251627631485462}, "episode_termination_rates": {"time_out": 0.49044585987261147, "fell_over": 0.01910828025477707, "course_exit": 0.47770700636942676, "illegal_nonwheel_contact": 0.01910828025477707}, "collection_time_s": 0.07554931607563048, "learning_time_s": 0.1834695652849041, "iteration_time_s": 0.3572627506268082, "policy_updates": 16300, "skipped_updates": 0, "invalid_env_resets": 80, "elapsed_s": 5930.561660405016, "nonwheel_terminations": 11463, "contact_bce": 0.3087857663631439, "contact_force_loss": 0.022170228883624077, "collision_bce": 4.533218998403754e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 4.6065829337749165e-06, "collision_label_count": 16352.0, "terrain_level_mean": 2.810546875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [44, 115, 99, 82, 39, 31], "episodes_by_level": [[1263.0, 269.0, 46.0, 0.0], [1228.0, 266.0, 33.0, 0.0], [664.0, 160.0, 23.0, 0.0], [272.0, 73.0, 8.0, 0.0], [124.0, 32.0, 3.0, 0.0], [46.0, 11.0, 1.0, 0.0]]}, "up": {"level_counts": [2, 28, 187, 548, 594, 74], "episodes_by_level": [[690.0, 554.0, 7.0, 0.0], [2345.0, 1426.0, 37.0, 0.0], [3929.0, 1489.0, 165.0, 0.0], [2779.0, 801.0, 184.0, 0.0], [764.0, 87.0, 105.0, 0.0], [20.0, 0.0, 11.0, 0.0]]}, "down": {"level_counts": [0, 0, 4, 11, 82, 517], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [755.0, 666.0, 21.0, 0.0], [909.0, 741.0, 25.0, 0.0], [1217.0, 929.0, 57.0, 0.0], [2540.0, 1890.0, 149.0, 0.0]]}, "platform": {"level_counts": [71, 123, 118, 72, 24, 2], "episodes_by_level": [[1410.0, 302.0, 48.0, 0.0], [1288.0, 251.0, 62.0, 0.0], [592.0, 115.0, 41.0, 0.0], [236.0, 32.0, 17.0, 0.0], [40.0, 4.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [57, 118, 92, 67, 46, 30], "episodes_by_level": [[1306.0, 280.0, 40.0, 0.0], [1212.0, 248.0, 54.0, 0.0], [650.0, 154.0, 27.0, 0.0], [280.0, 79.0, 11.0, 0.0], [131.0, 31.0, 3.0, 0.0], [45.0, 10.0, 1.0, 0.0]]}, "rubble": {"level_counts": [112, 256, 273, 139, 36, 3], "episodes_by_level": [[2587.0, 583.0, 89.0, 0.0], [2666.0, 579.0, 131.0, 0.0], [1392.0, 264.0, 145.0, 0.0], [495.0, 61.0, 86.0, 0.0], [66.0, 4.0, 22.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 34484, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.24462890625, "command_abs_max": [0.9997798204421997, 0.39873549342155457, 0.6996234655380249]}
{"step": 16650, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 16650, "total_transitions": 68198400, "num_steps_per_env": 1, "wm_loss": 0.8066635727882385, "actor_loss": -9.458576202392578, "critic_loss": 0.0030865762382745743, "reward": 0.08574333786964417, "falls": 6, "interval_steps": 50, "velocity_mae": [0.12066313624382019, 0.0711631029844284, 0.1344042271375656], "mean_episode_length": 1314.3971631205675, "episode_reward_terms": {"track_linear_velocity": 46.28413009643555, "track_angular_velocity": 49.73579406738281, "upright": 25.39258575439453, "leg_posture": -2.826382875442505, "standstill": -6.283481597900391, "action_rate_l2": -0.5625301003456116, "joint_torques_l2": -0.13942153751850128, "dof_pos_limits": -0.000556156737729907, "terminated": -0.015403090976178646, "unnecessary_wheel_lift": -0.10836214572191238, "rolling_leg_motion": -0.737000584602356, "obstacle_progress": 2.5571603775024414, "wheel_body_intrusion": -0.2599923014640808, "pair_body_intrusion": -0.3357516825199127}, "weighted_reward_terms": {"track_linear_velocity": 1.7606600522994995, "track_angular_velocity": 1.8919620513916016, "upright": 0.9659402966499329, "leg_posture": -0.1075163185596466, "standstill": -0.23902522027492523, "action_rate_l2": -0.021398786455392838, "joint_torques_l2": -0.005303630605340004, "dof_pos_limits": -2.1156341972528026e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.004122123122215271, "rolling_leg_motion": -0.028035687282681465, "obstacle_progress": 0.0972750186920166, "wheel_body_intrusion": -0.009890172630548477, "pair_body_intrusion": -0.01277207862585783}, "episode_termination_rates": {"time_out": 0.45390070921985815, "fell_over": 0.02127659574468085, "course_exit": 0.5035460992907801, "illegal_nonwheel_contact": 0.028368794326241134}, "collection_time_s": 0.07539159369538538, "learning_time_s": 0.18480528663727455, "iteration_time_s": 0.3569713285929725, "policy_updates": 16350, "skipped_updates": 0, "invalid_env_resets": 80, "elapsed_s": 5943.572621072992, "nonwheel_terminations": 11467, "contact_bce": 0.3103243112564087, "contact_force_loss": 0.022093717008829117, "collision_bce": 1.468957998440601e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.4383224879566114e-05, "collision_label_count": 16333.0, "terrain_level_mean": 2.8154296875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [44, 115, 98, 80, 42, 31], "episodes_by_level": [[1263.0, 269.0, 46.0, 0.0], [1232.0, 266.0, 33.0, 0.0], [667.0, 161.0, 23.0, 0.0], [276.0, 76.0, 8.0, 0.0], [124.0, 32.0, 3.0, 0.0], [46.0, 11.0, 1.0, 0.0]]}, "up": {"level_counts": [2, 28, 183, 552, 593, 75], "episodes_by_level": [[690.0, 554.0, 7.0, 0.0], [2345.0, 1426.0, 37.0, 0.0], [3938.0, 1493.0, 165.0, 0.0], [2789.0, 804.0, 184.0, 0.0], [778.0, 89.0, 107.0, 0.0], [21.0, 0.0, 12.0, 0.0]]}, "down": {"level_counts": [0, 0, 3, 13, 80, 518], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [756.0, 667.0, 21.0, 0.0], [909.0, 741.0, 25.0, 0.0], [1218.0, 930.0, 57.0, 0.0], [2566.0, 1911.0, 149.0, 0.0]]}, "platform": {"level_counts": [71, 123, 118, 72, 24, 2], "episodes_by_level": [[1413.0, 302.0, 48.0, 0.0], [1291.0, 251.0, 62.0, 0.0], [593.0, 115.0, 41.0, 0.0], [237.0, 32.0, 17.0, 0.0], [40.0, 4.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [55, 118, 93, 67, 47, 30], "episodes_by_level": [[1310.0, 282.0, 40.0, 0.0], [1219.0, 250.0, 54.0, 0.0], [651.0, 155.0, 27.0, 0.0], [285.0, 80.0, 11.0, 0.0], [133.0, 31.0, 3.0, 0.0], [45.0, 10.0, 1.0, 0.0]]}, "rubble": {"level_counts": [113, 252, 274, 141, 36, 3], "episodes_by_level": [[2588.0, 583.0, 89.0, 0.0], [2675.0, 582.0, 132.0, 0.0], [1402.0, 266.0, 145.0, 0.0], [496.0, 61.0, 86.0, 0.0], [67.0, 4.0, 22.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 34619, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2421875, "command_abs_max": [0.9980580806732178, 0.39873549342155457, 0.6996234655380249]}
{"step": 16700, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 16700, "total_transitions": 68403200, "num_steps_per_env": 1, "wm_loss": 0.7974078059196472, "actor_loss": -9.439742088317871, "critic_loss": 0.006077309139072895, "reward": 0.08550794422626495, "falls": 7, "interval_steps": 50, "velocity_mae": [0.12013333290815353, 0.07358569651842117, 0.13665463030338287], "mean_episode_length": 1314.6478873239437, "episode_reward_terms": {"track_linear_velocity": 46.23833465576172, "track_angular_velocity": 49.684356689453125, "upright": 25.33380126953125, "leg_posture": -2.7764811515808105, "standstill": -6.455723762512207, "action_rate_l2": -0.5759856700897217, "joint_torques_l2": -0.14127014577388763, "dof_pos_limits": -0.0006302398396655917, "terminated": -0.017973698675632477, "unnecessary_wheel_lift": -0.1204533651471138, "rolling_leg_motion": -0.7325252890586853, "obstacle_progress": 2.5789482593536377, "wheel_body_intrusion": -0.27666884660720825, "pair_body_intrusion": -0.3248954117298126}, "weighted_reward_terms": {"track_linear_velocity": 1.7585824728012085, "track_angular_velocity": 1.8896452188491821, "upright": 0.9635204672813416, "leg_posture": -0.10559790581464767, "standstill": -0.24553053081035614, "action_rate_l2": -0.02190646342933178, "joint_torques_l2": -0.005372927524149418, "dof_pos_limits": -2.396991112618707e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.004581202752888203, "rolling_leg_motion": -0.027860134840011597, "obstacle_progress": 0.09808513522148132, "wheel_body_intrusion": -0.010522546246647835, "pair_body_intrusion": -0.01235674787312746}, "episode_termination_rates": {"time_out": 0.44366197183098594, "fell_over": 0.028169014084507043, "course_exit": 0.5070422535211268, "illegal_nonwheel_contact": 0.04225352112676056}, "collection_time_s": 0.07565749930450692, "learning_time_s": 0.18565119540435263, "iteration_time_s": 0.3566849805693411, "policy_updates": 16400, "skipped_updates": 0, "invalid_env_resets": 81, "elapsed_s": 5956.639175507997, "nonwheel_terminations": 11473, "contact_bce": 0.3046029210090637, "contact_force_loss": 0.021005021408200264, "collision_bce": 0.00020407639385666698, "collision_label_rate": 6.11359064350836e-05, "collision_prediction_mean": 4.022278153570369e-05, "collision_label_count": 16357.0, "terrain_level_mean": 2.819580078125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [44, 115, 97, 81, 42, 31], "episodes_by_level": [[1263.0, 269.0, 46.0, 0.0], [1240.0, 266.0, 33.0, 0.0], [671.0, 162.0, 23.0, 0.0], [277.0, 76.0, 8.0, 0.0], [125.0, 32.0, 3.0, 0.0], [46.0, 11.0, 1.0, 0.0]]}, "up": {"level_counts": [2, 28, 184, 543, 600, 76], "episodes_by_level": [[690.0, 554.0, 7.0, 0.0], [2346.0, 1426.0, 37.0, 0.0], [3939.0, 1493.0, 165.0, 0.0], [2806.0, 812.0, 184.0, 0.0], [793.0, 92.0, 107.0, 0.0], [23.0, 0.0, 13.0, 0.0]]}, "down": {"level_counts": [0, 0, 3, 13, 79, 519], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [756.0, 667.0, 21.0, 0.0], [909.0, 741.0, 25.0, 0.0], [1220.0, 931.0, 57.0, 0.0], [2590.0, 1930.0, 149.0, 0.0]]}, "platform": {"level_counts": [70, 123, 118, 73, 24, 2], "episodes_by_level": [[1417.0, 303.0, 48.0, 0.0], [1293.0, 252.0, 62.0, 0.0], [595.0, 116.0, 41.0, 0.0], [239.0, 32.0, 17.0, 0.0], [40.0, 4.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [55, 117, 94, 67, 47, 30], "episodes_by_level": [[1311.0, 282.0, 40.0, 0.0], [1222.0, 251.0, 54.0, 0.0], [652.0, 155.0, 27.0, 0.0], [287.0, 80.0, 11.0, 0.0], [133.0, 31.0, 3.0, 0.0], [46.0, 10.0, 1.0, 0.0]]}, "rubble": {"level_counts": [113, 251, 272, 145, 35, 3], "episodes_by_level": [[2591.0, 584.0, 89.0, 0.0], [2682.0, 583.0, 133.0, 0.0], [1410.0, 270.0, 145.0, 0.0], [500.0, 61.0, 87.0, 0.0], [68.0, 4.0, 23.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 34760, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.241455078125, "command_abs_max": [0.9980580806732178, 0.3999274969100952, 0.6998242735862732]}
{"step": 16750, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 16750, "total_transitions": 68608000, "num_steps_per_env": 1, "wm_loss": 0.7960956692695618, "actor_loss": -9.471830368041992, "critic_loss": 0.003543766215443611, "reward": 0.08568253368139267, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11891169100999832, 0.07340117543935776, 0.1371404081583023], "mean_episode_length": 1340.2285714285715, "episode_reward_terms": {"track_linear_velocity": 47.23862075805664, "track_angular_velocity": 50.619625091552734, "upright": 25.788532257080078, "leg_posture": -2.8818178176879883, "standstill": -6.315615653991699, "action_rate_l2": -0.5936086773872375, "joint_torques_l2": -0.14673784375190735, "dof_pos_limits": -0.000541209417860955, "terminated": -0.01832343451678753, "unnecessary_wheel_lift": -0.13085134327411652, "rolling_leg_motion": -0.7343965768814087, "obstacle_progress": 2.670633316040039, "wheel_body_intrusion": -0.31489285826683044, "pair_body_intrusion": -0.3464442491531372}, "weighted_reward_terms": {"track_linear_velocity": 1.7623345851898193, "track_angular_velocity": 1.8884700536727905, "upright": 0.9620946049690247, "leg_posture": -0.10751218348741531, "standstill": -0.23561713099479675, "action_rate_l2": -0.022145802155137062, "joint_torques_l2": -0.005474358797073364, "dof_pos_limits": -2.0190938812447712e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.004881680011749268, "rolling_leg_motion": -0.027398185804486275, "obstacle_progress": 0.09963350743055344, "wheel_body_intrusion": -0.01174772996455431, "pair_body_intrusion": -0.012924820184707642}, "episode_termination_rates": {"time_out": 0.4742857142857143, "fell_over": 0.022857142857142857, "course_exit": 0.4857142857142857, "illegal_nonwheel_contact": 0.02857142857142857}, "collection_time_s": 0.07540710275992751, "learning_time_s": 0.18359034303575755, "iteration_time_s": 0.35639343950883556, "policy_updates": 16450, "skipped_updates": 0, "invalid_env_resets": 81, "elapsed_s": 5969.590111772995, "nonwheel_terminations": 11478, "contact_bce": 0.3017260432243347, "contact_force_loss": 0.02085251361131668, "collision_bce": 2.079747719108127e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 2.061279519693926e-05, "collision_label_count": 16355.0, "terrain_level_mean": 2.82763671875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [45, 113, 97, 82, 42, 31], "episodes_by_level": [[1263.0, 269.0, 46.0, 0.0], [1245.0, 267.0, 34.0, 0.0], [676.0, 163.0, 23.0, 0.0], [279.0, 76.0, 8.0, 0.0], [127.0, 32.0, 3.0, 0.0], [47.0, 11.0, 1.0, 0.0]]}, "up": {"level_counts": [2, 27, 177, 543, 606, 78], "episodes_by_level": [[690.0, 554.0, 7.0, 0.0], [2349.0, 1427.0, 37.0, 0.0], [3948.0, 1501.0, 165.0, 0.0], [2821.0, 820.0, 184.0, 0.0], [809.0, 95.0, 107.0, 0.0], [27.0, 0.0, 14.0, 0.0]]}, "down": {"level_counts": [0, 0, 3, 12, 78, 521], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [756.0, 667.0, 21.0, 0.0], [910.0, 742.0, 25.0, 0.0], [1226.0, 937.0, 57.0, 0.0], [2611.0, 1949.0, 150.0, 0.0]]}, "platform": {"level_counts": [69, 121, 120, 74, 24, 2], "episodes_by_level": [[1420.0, 304.0, 48.0, 0.0], [1301.0, 255.0, 62.0, 0.0], [598.0, 117.0, 41.0, 0.0], [240.0, 32.0, 17.0, 0.0], [42.0, 4.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [54, 118, 94, 66, 48, 30], "episodes_by_level": [[1313.0, 283.0, 40.0, 0.0], [1225.0, 251.0, 54.0, 0.0], [652.0, 155.0, 27.0, 0.0], [293.0, 81.0, 11.0, 0.0], [134.0, 31.0, 3.0, 0.0], [46.0, 10.0, 1.0, 0.0]]}, "rubble": {"level_counts": [113, 250, 271, 147, 35, 3], "episodes_by_level": [[2592.0, 584.0, 89.0, 0.0], [2691.0, 584.0, 133.0, 0.0], [1421.0, 272.0, 145.0, 0.0], [504.0, 62.0, 87.0, 0.0], [71.0, 4.0, 24.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 34869, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.236083984375, "command_abs_max": [0.9996454119682312, 0.3999274969100952, 0.6998242735862732]}
{"step": 16800, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 16800, "total_transitions": 68812800, "num_steps_per_env": 1, "wm_loss": 0.7505717873573303, "actor_loss": -9.424322128295898, "critic_loss": 0.004012780729681253, "reward": 0.08595586568117142, "falls": 2, "interval_steps": 50, "velocity_mae": [0.1179012805223465, 0.07252246141433716, 0.13540802896022797], "mean_episode_length": 1361.758389261745, "episode_reward_terms": {"track_linear_velocity": 48.105613708496094, "track_angular_velocity": 51.519508361816406, "upright": 26.229406356811523, "leg_posture": -2.8680431842803955, "standstill": -6.562771797180176, "action_rate_l2": -0.5961596965789795, "joint_torques_l2": -0.14930738508701324, "dof_pos_limits": -0.0003411492798477411, "terminated": -0.005319367628544569, "unnecessary_wheel_lift": -0.10170192271471024, "rolling_leg_motion": -0.7256953716278076, "obstacle_progress": 2.8660318851470947, "wheel_body_intrusion": -0.3042435050010681, "pair_body_intrusion": -0.35585734248161316}, "weighted_reward_terms": {"track_linear_velocity": 1.7663050889968872, "track_angular_velocity": 1.8916538953781128, "upright": 0.9630711674690247, "leg_posture": -0.10530661046504974, "standstill": -0.2409668266773224, "action_rate_l2": -0.021889332681894302, "joint_torques_l2": -0.005482153967022896, "dof_pos_limits": -1.2526056707429234e-05, "terminated": -0.0001953124738065526, "unnecessary_wheel_lift": -0.003734213300049305, "rolling_leg_motion": -0.02664552628993988, "obstacle_progress": 0.10523276031017303, "wheel_body_intrusion": -0.011170979589223862, "pair_body_intrusion": -0.013066096231341362}, "episode_termination_rates": {"time_out": 0.4899328859060403, "fell_over": 0.006711409395973154, "course_exit": 0.4966442953020134, "illegal_nonwheel_contact": 0.006711409395973154}, "collection_time_s": 0.07556853350484743, "learning_time_s": 0.18369763949653134, "iteration_time_s": 0.35610443612166687, "policy_updates": 16500, "skipped_updates": 0, "invalid_env_resets": 81, "elapsed_s": 5982.554526844004, "nonwheel_terminations": 11479, "contact_bce": 0.2990102469921112, "contact_force_loss": 0.02071743831038475, "collision_bce": 0.0003908650833182037, "collision_label_rate": 0.00012239153147675097, "collision_prediction_mean": 9.670404688222334e-05, "collision_label_count": 16341.0, "terrain_level_mean": 2.83447265625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [45, 112, 97, 82, 43, 31], "episodes_by_level": [[1264.0, 269.0, 46.0, 0.0], [1249.0, 268.0, 34.0, 0.0], [680.0, 164.0, 23.0, 0.0], [282.0, 77.0, 8.0, 0.0], [127.0, 32.0, 3.0, 0.0], [47.0, 11.0, 1.0, 0.0]]}, "up": {"level_counts": [2, 26, 173, 541, 611, 80], "episodes_by_level": [[690.0, 554.0, 7.0, 0.0], [2351.0, 1428.0, 37.0, 0.0], [3953.0, 1506.0, 165.0, 0.0], [2837.0, 827.0, 184.0, 0.0], [829.0, 97.0, 107.0, 0.0], [28.0, 0.0, 14.0, 0.0]]}, "down": {"level_counts": [0, 0, 3, 10, 79, 522], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [756.0, 667.0, 21.0, 0.0], [912.0, 744.0, 25.0, 0.0], [1228.0, 939.0, 57.0, 0.0], [2636.0, 1971.0, 151.0, 0.0]]}, "platform": {"level_counts": [68, 121, 121, 74, 24, 2], "episodes_by_level": [[1423.0, 305.0, 48.0, 0.0], [1304.0, 256.0, 62.0, 0.0], [600.0, 117.0, 41.0, 0.0], [240.0, 32.0, 17.0, 0.0], [42.0, 4.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [53, 117, 96, 65, 48, 31], "episodes_by_level": [[1316.0, 284.0, 40.0, 0.0], [1230.0, 253.0, 54.0, 0.0], [653.0, 155.0, 27.0, 0.0], [294.0, 82.0, 11.0, 0.0], [135.0, 32.0, 3.0, 0.0], [48.0, 10.0, 1.0, 0.0]]}, "rubble": {"level_counts": [113, 250, 271, 147, 35, 3], "episodes_by_level": [[2594.0, 584.0, 89.0, 0.0], [2696.0, 584.0, 133.0, 0.0], [1429.0, 273.0, 145.0, 0.0], [507.0, 62.0, 88.0, 0.0], [72.0, 4.0, 24.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 34987, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.235595703125, "command_abs_max": [0.9996454119682312, 0.3999274969100952, 0.6998242735862732]}
{"step": 16850, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 16850, "total_transitions": 69017600, "num_steps_per_env": 1, "wm_loss": 0.7635531425476074, "actor_loss": -9.46526050567627, "critic_loss": 0.003154198406264186, "reward": 0.08562051504850388, "falls": 5, "interval_steps": 50, "velocity_mae": [0.12041473388671875, 0.07457287609577179, 0.13614854216575623], "mean_episode_length": 1358.9027777777778, "episode_reward_terms": {"track_linear_velocity": 47.76069641113281, "track_angular_velocity": 51.35540008544922, "upright": 26.14698600769043, "leg_posture": -2.8267064094543457, "standstill": -6.688543319702148, "action_rate_l2": -0.609776496887207, "joint_torques_l2": -0.14949487149715424, "dof_pos_limits": -0.0002030164614552632, "terminated": -0.01327053364366293, "unnecessary_wheel_lift": -0.10737443715333939, "rolling_leg_motion": -0.72784823179245, "obstacle_progress": 2.8524224758148193, "wheel_body_intrusion": -0.2859441936016083, "pair_body_intrusion": -0.35639336705207825}, "weighted_reward_terms": {"track_linear_velocity": 1.7573256492614746, "track_angular_velocity": 1.8895906209945679, "upright": 0.962062418460846, "leg_posture": -0.10400694608688354, "standstill": -0.24610087275505066, "action_rate_l2": -0.02243635430932045, "joint_torques_l2": -0.005500572267919779, "dof_pos_limits": -7.469866886822274e-06, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.003950776997953653, "rolling_leg_motion": -0.026780731976032257, "obstacle_progress": 0.10495314002037048, "wheel_body_intrusion": -0.010521141812205315, "pair_body_intrusion": -0.013113277032971382}, "episode_termination_rates": {"time_out": 0.5069444444444444, "fell_over": 0.020833333333333332, "course_exit": 0.4583333333333333, "illegal_nonwheel_contact": 0.013888888888888888}, "collection_time_s": 0.0754473929211963, "learning_time_s": 0.18473275513621046, "iteration_time_s": 0.3558198611299716, "policy_updates": 16550, "skipped_updates": 0, "invalid_env_resets": 81, "elapsed_s": 5995.564660040021, "nonwheel_terminations": 11481, "contact_bce": 0.30303484201431274, "contact_force_loss": 0.02112068235874176, "collision_bce": 0.00029898196225985885, "collision_label_rate": 0.00012231667642481625, "collision_prediction_mean": 7.661582640139386e-05, "collision_label_count": 16351.0, "terrain_level_mean": 2.841796875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [45, 111, 95, 85, 42, 32], "episodes_by_level": [[1264.0, 269.0, 46.0, 0.0], [1252.0, 269.0, 34.0, 0.0], [683.0, 167.0, 23.0, 0.0], [282.0, 77.0, 8.0, 0.0], [128.0, 33.0, 3.0, 0.0], [48.0, 11.0, 1.0, 0.0]]}, "up": {"level_counts": [2, 25, 172, 533, 620, 81], "episodes_by_level": [[690.0, 554.0, 7.0, 0.0], [2352.0, 1429.0, 37.0, 0.0], [3960.0, 1508.0, 165.0, 0.0], [2854.0, 837.0, 184.0, 0.0], [837.0, 99.0, 107.0, 0.0], [29.0, 0.0, 14.0, 0.0]]}, "down": {"level_counts": [0, 0, 3, 10, 78, 523], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [756.0, 667.0, 21.0, 0.0], [912.0, 744.0, 25.0, 0.0], [1229.0, 940.0, 57.0, 0.0], [2656.0, 1991.0, 151.0, 0.0]]}, "platform": {"level_counts": [68, 121, 120, 74, 25, 2], "episodes_by_level": [[1423.0, 305.0, 48.0, 0.0], [1309.0, 256.0, 62.0, 0.0], [603.0, 118.0, 41.0, 0.0], [245.0, 33.0, 17.0, 0.0], [43.0, 4.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [53, 116, 96, 65, 49, 31], "episodes_by_level": [[1317.0, 284.0, 41.0, 0.0], [1237.0, 254.0, 54.0, 0.0], [655.0, 156.0, 27.0, 0.0], [297.0, 83.0, 11.0, 0.0], [135.0, 32.0, 3.0, 0.0], [48.0, 10.0, 1.0, 0.0]]}, "rubble": {"level_counts": [114, 246, 271, 150, 35, 3], "episodes_by_level": [[2595.0, 584.0, 89.0, 0.0], [2707.0, 587.0, 134.0, 0.0], [1445.0, 278.0, 145.0, 0.0], [510.0, 62.0, 90.0, 0.0], [72.0, 4.0, 24.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 35106, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.235107421875, "command_abs_max": [0.9996454119682312, 0.3999274969100952, 0.6998242735862732]}
{"step": 16900, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 16900, "total_transitions": 69222400, "num_steps_per_env": 1, "wm_loss": 0.8122687935829163, "actor_loss": -9.486828804016113, "critic_loss": 0.0042085847817361355, "reward": 0.08550654351711273, "falls": 10, "interval_steps": 50, "velocity_mae": [0.12015349417924881, 0.07718174904584885, 0.13731810450553894], "mean_episode_length": 1326.032258064516, "episode_reward_terms": {"track_linear_velocity": 46.53436279296875, "track_angular_velocity": 50.069190979003906, "upright": 25.512374877929688, "leg_posture": -2.7679107189178467, "standstill": -6.529427528381348, "action_rate_l2": -0.6071740388870239, "joint_torques_l2": -0.14499813318252563, "dof_pos_limits": -0.0006708837463520467, "terminated": -0.025899063795804977, "unnecessary_wheel_lift": -0.11023004353046417, "rolling_leg_motion": -0.717337429523468, "obstacle_progress": 2.773836851119995, "wheel_body_intrusion": -0.25860029458999634, "pair_body_intrusion": -0.3430763781070709}, "weighted_reward_terms": {"track_linear_velocity": 1.7546467781066895, "track_angular_velocity": 1.8879326581954956, "upright": 0.9619817137718201, "leg_posture": -0.10436815023422241, "standstill": -0.24620169401168823, "action_rate_l2": -0.022894393652677536, "joint_torques_l2": -0.0054673682898283005, "dof_pos_limits": -2.529666198824998e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.0041563864797353745, "rolling_leg_motion": -0.02704826556146145, "obstacle_progress": 0.10459160804748535, "wheel_body_intrusion": -0.009750906378030777, "pair_body_intrusion": -0.012936200015246868}, "episode_termination_rates": {"time_out": 0.45161290322580644, "fell_over": 0.03225806451612903, "course_exit": 0.4838709677419355, "illegal_nonwheel_contact": 0.03870967741935484}, "collection_time_s": 0.07549976090085693, "learning_time_s": 0.1830197547795251, "iteration_time_s": 0.35553205661686443, "policy_updates": 16600, "skipped_updates": 0, "invalid_env_resets": 81, "elapsed_s": 6008.491756825009, "nonwheel_terminations": 11487, "contact_bce": 0.3049687445163727, "contact_force_loss": 0.021387634798884392, "collision_bce": 0.00017578492406755686, "collision_label_rate": 6.118453165981919e-05, "collision_prediction_mean": 9.713010513223708e-06, "collision_label_count": 16344.0, "terrain_level_mean": 2.848388671875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [45, 111, 95, 85, 42, 32], "episodes_by_level": [[1264.0, 269.0, 46.0, 0.0], [1254.0, 269.0, 34.0, 0.0], [685.0, 167.0, 23.0, 0.0], [284.0, 77.0, 8.0, 0.0], [128.0, 33.0, 3.0, 0.0], [48.0, 11.0, 1.0, 0.0]]}, "up": {"level_counts": [2, 24, 168, 529, 629, 81], "episodes_by_level": [[690.0, 554.0, 7.0, 0.0], [2353.0, 1430.0, 37.0, 0.0], [3969.0, 1513.0, 165.0, 0.0], [2870.0, 847.0, 184.0, 0.0], [855.0, 101.0, 107.0, 0.0], [30.0, 0.0, 14.0, 0.0]]}, "down": {"level_counts": [0, 0, 3, 8, 79, 524], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [756.0, 667.0, 21.0, 0.0], [914.0, 746.0, 25.0, 0.0], [1235.0, 945.0, 57.0, 0.0], [2673.0, 2003.0, 153.0, 0.0]]}, "platform": {"level_counts": [67, 120, 122, 74, 25, 2], "episodes_by_level": [[1427.0, 306.0, 48.0, 0.0], [1316.0, 258.0, 62.0, 0.0], [607.0, 118.0, 41.0, 0.0], [248.0, 33.0, 17.0, 0.0], [43.0, 4.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [53, 116, 95, 66, 49, 31], "episodes_by_level": [[1318.0, 284.0, 41.0, 0.0], [1239.0, 254.0, 54.0, 0.0], [657.0, 157.0, 27.0, 0.0], [299.0, 83.0, 11.0, 0.0], [135.0, 32.0, 3.0, 0.0], [48.0, 10.0, 1.0, 0.0]]}, "rubble": {"level_counts": [115, 244, 269, 152, 35, 4], "episodes_by_level": [[2598.0, 584.0, 89.0, 0.0], [2715.0, 589.0, 135.0, 0.0], [1459.0, 282.0, 146.0, 0.0], [514.0, 63.0, 91.0, 0.0], [73.0, 5.0, 24.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 35225, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.237548828125, "command_abs_max": [0.9996454119682312, 0.3999274969100952, 0.6996234655380249]}
{"step": 16950, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 16950, "total_transitions": 69427200, "num_steps_per_env": 1, "wm_loss": 0.7840896844863892, "actor_loss": -9.455192565917969, "critic_loss": 0.00550450524315238, "reward": 0.08575066179037094, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11944679915904999, 0.07532237470149994, 0.13736669719219208], "mean_episode_length": 1381.9108280254777, "episode_reward_terms": {"track_linear_velocity": 48.575355529785156, "track_angular_velocity": 52.16376495361328, "upright": 26.609174728393555, "leg_posture": -2.8721725940704346, "standstill": -6.549430847167969, "action_rate_l2": -0.628459095954895, "joint_torques_l2": -0.15082266926765442, "dof_pos_limits": -0.0007944363751448691, "terminated": -0.024291398003697395, "unnecessary_wheel_lift": -0.11829277127981186, "rolling_leg_motion": -0.7597722411155701, "obstacle_progress": 2.8833370208740234, "wheel_body_intrusion": -0.2693321704864502, "pair_body_intrusion": -0.35849857330322266}, "weighted_reward_terms": {"track_linear_velocity": 1.7575429677963257, "track_angular_velocity": 1.887378215789795, "upright": 0.9627673625946045, "leg_posture": -0.10392032563686371, "standstill": -0.23697009682655334, "action_rate_l2": -0.02273877151310444, "joint_torques_l2": -0.0054570334032177925, "dof_pos_limits": -2.874412530218251e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.004280043765902519, "rolling_leg_motion": -0.0274899173527956, "obstacle_progress": 0.10432428121566772, "wheel_body_intrusion": -0.009744917973876, "pair_body_intrusion": -0.012971118092536926}, "episode_termination_rates": {"time_out": 0.5159235668789809, "fell_over": 0.025477707006369428, "course_exit": 0.4267515923566879, "illegal_nonwheel_contact": 0.050955414012738856}, "collection_time_s": 0.07556279052281752, "learning_time_s": 0.1840545826102607, "iteration_time_s": 0.35524918970749453, "policy_updates": 16650, "skipped_updates": 0, "invalid_env_resets": 81, "elapsed_s": 6021.473765542032, "nonwheel_terminations": 11495, "contact_bce": 0.302110880613327, "contact_force_loss": 0.020915761590003967, "collision_bce": 0.0001869556144811213, "collision_label_rate": 0.00012221203360240906, "collision_prediction_mean": 7.946747064124793e-05, "collision_label_count": 16365.0, "terrain_level_mean": 2.8544921875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [45, 111, 94, 85, 43, 32], "episodes_by_level": [[1265.0, 269.0, 46.0, 0.0], [1261.0, 269.0, 34.0, 0.0], [689.0, 168.0, 23.0, 0.0], [289.0, 78.0, 8.0, 0.0], [128.0, 33.0, 3.0, 0.0], [48.0, 11.0, 1.0, 0.0]]}, "up": {"level_counts": [2, 22, 171, 523, 632, 83], "episodes_by_level": [[690.0, 554.0, 7.0, 0.0], [2355.0, 1432.0, 37.0, 0.0], [3971.0, 1515.0, 165.0, 0.0], [2890.0, 855.0, 186.0, 0.0], [868.0, 103.0, 109.0, 0.0], [30.0, 0.0, 14.0, 0.0]]}, "down": {"level_counts": [0, 0, 3, 8, 78, 525], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [756.0, 667.0, 21.0, 0.0], [914.0, 746.0, 25.0, 0.0], [1238.0, 948.0, 57.0, 0.0], [2693.0, 2022.0, 153.0, 0.0]]}, "platform": {"level_counts": [66, 122, 121, 74, 24, 3], "episodes_by_level": [[1429.0, 307.0, 48.0, 0.0], [1319.0, 258.0, 62.0, 0.0], [610.0, 118.0, 42.0, 0.0], [249.0, 33.0, 17.0, 0.0], [45.0, 5.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [52, 116, 94, 68, 48, 32], "episodes_by_level": [[1320.0, 285.0, 41.0, 0.0], [1243.0, 255.0, 54.0, 0.0], [663.0, 159.0, 27.0, 0.0], [299.0, 83.0, 11.0, 0.0], [139.0, 33.0, 3.0, 0.0], [48.0, 10.0, 1.0, 0.0]]}, "rubble": {"level_counts": [112, 245, 271, 149, 38, 4], "episodes_by_level": [[2605.0, 587.0, 89.0, 0.0], [2723.0, 591.0, 135.0, 0.0], [1464.0, 282.0, 146.0, 0.0], [519.0, 66.0, 91.0, 0.0], [73.0, 5.0, 24.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 35354, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.239013671875, "command_abs_max": [0.9996454119682312, 0.3999274969100952, 0.6996234655380249]}
{"step": 17000, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 17000, "total_transitions": 69632000, "num_steps_per_env": 1, "wm_loss": 0.8144071698188782, "actor_loss": -9.480515480041504, "critic_loss": 0.009952396154403687, "reward": 0.08593519777059555, "falls": 8, "interval_steps": 50, "velocity_mae": [0.1181575283408165, 0.07518143951892853, 0.13743385672569275], "mean_episode_length": 1364.7709923664122, "episode_reward_terms": {"track_linear_velocity": 48.107215881347656, "track_angular_velocity": 51.525264739990234, "upright": 26.274383544921875, "leg_posture": -2.814621925354004, "standstill": -6.5673394203186035, "action_rate_l2": -0.6057153344154358, "joint_torques_l2": -0.14955852925777435, "dof_pos_limits": -0.0006735131610184908, "terminated": -0.02132454328238964, "unnecessary_wheel_lift": -0.10147452354431152, "rolling_leg_motion": -0.7296326160430908, "obstacle_progress": 2.9693543910980225, "wheel_body_intrusion": -0.26763153076171875, "pair_body_intrusion": -0.33639347553253174}, "weighted_reward_terms": {"track_linear_velocity": 1.7624648809432983, "track_angular_velocity": 1.8876889944076538, "upright": 0.962593138217926, "leg_posture": -0.10311700403690338, "standstill": -0.2406022548675537, "action_rate_l2": -0.02219109795987606, "joint_torques_l2": -0.005479253828525543, "dof_pos_limits": -2.467495323799085e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0037176392506808043, "rolling_leg_motion": -0.02673095464706421, "obstacle_progress": 0.10878581553697586, "wheel_body_intrusion": -0.009804997593164444, "pair_body_intrusion": -0.012324173003435135}, "episode_termination_rates": {"time_out": 0.5190839694656488, "fell_over": 0.04580152671755725, "course_exit": 0.4198473282442748, "illegal_nonwheel_contact": 0.030534351145038167}, "collection_time_s": 0.07544153035851195, "learning_time_s": 0.19274703874019905, "iteration_time_s": 0.35499319400753043, "policy_updates": 16700, "skipped_updates": 0, "invalid_env_resets": 81, "elapsed_s": 6034.884298128018, "nonwheel_terminations": 11499, "contact_bce": 0.312489777803421, "contact_force_loss": 0.022153187543153763, "collision_bce": 6.357357051456347e-05, "collision_label_rate": 6.120325269876048e-05, "collision_prediction_mean": 3.233997995266691e-05, "collision_label_count": 16339.0, "terrain_level_mean": 2.859375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [44, 111, 95, 85, 41, 34], "episodes_by_level": [[1266.0, 270.0, 46.0, 0.0], [1263.0, 270.0, 34.0, 0.0], [692.0, 168.0, 23.0, 0.0], [291.0, 78.0, 8.0, 0.0], [131.0, 35.0, 3.0, 0.0], [48.0, 11.0, 1.0, 0.0]]}, "up": {"level_counts": [2, 21, 170, 517, 637, 86], "episodes_by_level": [[690.0, 554.0, 7.0, 0.0], [2356.0, 1433.0, 37.0, 0.0], [3976.0, 1517.0, 165.0, 0.0], [2902.0, 863.0, 186.0, 0.0], [882.0, 107.0, 109.0, 0.0], [31.0, 0.0, 15.0, 0.0]]}, "down": {"level_counts": [0, 0, 3, 8, 79, 524], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [756.0, 667.0, 21.0, 0.0], [914.0, 746.0, 25.0, 0.0], [1239.0, 949.0, 57.0, 0.0], [2708.0, 2033.0, 154.0, 0.0]]}, "platform": {"level_counts": [65, 122, 122, 74, 24, 3], "episodes_by_level": [[1432.0, 308.0, 48.0, 0.0], [1322.0, 259.0, 62.0, 0.0], [613.0, 118.0, 42.0, 0.0], [251.0, 33.0, 17.0, 0.0], [45.0, 5.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [52, 116, 94, 68, 48, 32], "episodes_by_level": [[1322.0, 285.0, 42.0, 0.0], [1245.0, 255.0, 54.0, 0.0], [666.0, 159.0, 27.0, 0.0], [301.0, 83.0, 11.0, 0.0], [141.0, 33.0, 3.0, 0.0], [50.0, 10.0, 1.0, 0.0]]}, "rubble": {"level_counts": [112, 246, 268, 151, 38, 4], "episodes_by_level": [[2607.0, 587.0, 89.0, 0.0], [2728.0, 593.0, 135.0, 0.0], [1477.0, 284.0, 149.0, 0.0], [520.0, 66.0, 91.0, 0.0], [73.0, 5.0, 24.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 35469, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2392578125, "command_abs_max": [0.9996454119682312, 0.3988320529460907, 0.6996234655380249]}
{"step": 17050, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 17050, "total_transitions": 69836800, "num_steps_per_env": 1, "wm_loss": 0.7886955738067627, "actor_loss": -9.459742546081543, "critic_loss": 0.0031944189686328173, "reward": 0.08552873134613037, "falls": 8, "interval_steps": 50, "velocity_mae": [0.12206646800041199, 0.07504129409790039, 0.13728377223014832], "mean_episode_length": 1355.1608391608393, "episode_reward_terms": {"track_linear_velocity": 47.57582092285156, "track_angular_velocity": 51.16643524169922, "upright": 26.07632827758789, "leg_posture": -2.8731091022491455, "standstill": -6.800089359283447, "action_rate_l2": -0.6015191674232483, "joint_torques_l2": -0.15124967694282532, "dof_pos_limits": -0.0012044605100527406, "terminated": -0.021174384281039238, "unnecessary_wheel_lift": -0.11673246324062347, "rolling_leg_motion": -0.7038830518722534, "obstacle_progress": 2.9818689823150635, "wheel_body_intrusion": -0.28407230973243713, "pair_body_intrusion": -0.34223368763923645}, "weighted_reward_terms": {"track_linear_velocity": 1.755357027053833, "track_angular_velocity": 1.8878360986709595, "upright": 0.9621118903160095, "leg_posture": -0.1060061976313591, "standstill": -0.25089603662490845, "action_rate_l2": -0.02219364419579506, "joint_torques_l2": -0.005580506287515163, "dof_pos_limits": -4.4439759221859276e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.004306959453970194, "rolling_leg_motion": -0.02597046084702015, "obstacle_progress": 0.11001899838447571, "wheel_body_intrusion": -0.010481128469109535, "pair_body_intrusion": -0.012627050280570984}, "episode_termination_rates": {"time_out": 0.4405594405594406, "fell_over": 0.027972027972027972, "course_exit": 0.5104895104895105, "illegal_nonwheel_contact": 0.04195804195804196}, "collection_time_s": 0.07558518559904769, "learning_time_s": 0.18550707029993646, "iteration_time_s": 0.3547193963296781, "policy_updates": 16750, "skipped_updates": 0, "invalid_env_resets": 81, "elapsed_s": 6047.965707421012, "nonwheel_terminations": 11505, "contact_bce": 0.3062181770801544, "contact_force_loss": 0.02081511914730072, "collision_bce": 1.1469456694612745e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.1467563126643654e-05, "collision_label_count": 16346.0, "terrain_level_mean": 2.866455078125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [43, 111, 96, 85, 41, 34], "episodes_by_level": [[1268.0, 271.0, 46.0, 0.0], [1268.0, 271.0, 34.0, 0.0], [694.0, 168.0, 23.0, 0.0], [292.0, 78.0, 8.0, 0.0], [131.0, 35.0, 3.0, 0.0], [48.0, 11.0, 1.0, 0.0]]}, "up": {"level_counts": [1, 22, 169, 509, 643, 89], "episodes_by_level": [[691.0, 555.0, 7.0, 0.0], [2356.0, 1433.0, 37.0, 0.0], [3979.0, 1518.0, 165.0, 0.0], [2922.0, 873.0, 186.0, 0.0], [896.0, 111.0, 109.0, 0.0], [33.0, 0.0, 16.0, 0.0]]}, "down": {"level_counts": [0, 0, 3, 7, 78, 526], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [756.0, 667.0, 21.0, 0.0], [915.0, 747.0, 25.0, 0.0], [1244.0, 954.0, 57.0, 0.0], [2724.0, 2042.0, 156.0, 0.0]]}, "platform": {"level_counts": [65, 121, 125, 71, 25, 3], "episodes_by_level": [[1432.0, 308.0, 48.0, 0.0], [1328.0, 260.0, 62.0, 0.0], [616.0, 118.0, 42.0, 0.0], [256.0, 34.0, 19.0, 0.0], [45.0, 5.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [52, 116, 94, 67, 49, 32], "episodes_by_level": [[1323.0, 285.0, 42.0, 0.0], [1249.0, 255.0, 54.0, 0.0], [669.0, 159.0, 27.0, 0.0], [303.0, 84.0, 11.0, 0.0], [141.0, 33.0, 3.0, 0.0], [51.0, 10.0, 1.0, 0.0]]}, "rubble": {"level_counts": [111, 242, 270, 154, 38, 4], "episodes_by_level": [[2610.0, 589.0, 89.0, 0.0], [2738.0, 598.0, 136.0, 0.0], [1483.0, 287.0, 149.0, 0.0], [525.0, 66.0, 91.0, 0.0], [73.0, 5.0, 24.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 35593, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.248046875, "command_abs_max": [0.9996454119682312, 0.3988320529460907, 0.6996234655380249]}
{"step": 17100, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 17100, "total_transitions": 70041600, "num_steps_per_env": 1, "wm_loss": 0.8144142031669617, "actor_loss": -9.42081069946289, "critic_loss": 0.005590417422354221, "reward": 0.08576994389295578, "falls": 9, "interval_steps": 50, "velocity_mae": [0.12005475163459778, 0.07422278821468353, 0.13764169812202454], "mean_episode_length": 1310.3488372093022, "episode_reward_terms": {"track_linear_velocity": 46.13296890258789, "track_angular_velocity": 49.45987319946289, "upright": 25.21462631225586, "leg_posture": -2.771672248840332, "standstill": -6.307146072387695, "action_rate_l2": -0.5878636240959167, "joint_torques_l2": -0.1460709124803543, "dof_pos_limits": -0.0005818451172672212, "terminated": -0.023033473640680313, "unnecessary_wheel_lift": -0.12510281801223755, "rolling_leg_motion": -0.7074397802352905, "obstacle_progress": 2.85376238822937, "wheel_body_intrusion": -0.26997166872024536, "pair_body_intrusion": -0.33380040526390076}, "weighted_reward_terms": {"track_linear_velocity": 1.7603315114974976, "track_angular_velocity": 1.8872789144515991, "upright": 0.9621341228485107, "leg_posture": -0.105760857462883, "standstill": -0.2406666874885559, "action_rate_l2": -0.022431569173932076, "joint_torques_l2": -0.005573741160333157, "dof_pos_limits": -2.220191527158022e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.0047736456617712975, "rolling_leg_motion": -0.026994330808520317, "obstacle_progress": 0.10889323055744171, "wheel_body_intrusion": -0.010301518253982067, "pair_body_intrusion": -0.012737082317471504}, "episode_termination_rates": {"time_out": 0.4728682170542636, "fell_over": 0.03875968992248062, "course_exit": 0.4573643410852713, "illegal_nonwheel_contact": 0.046511627906976744}, "collection_time_s": 0.0754213357414119, "learning_time_s": 0.18533543634577654, "iteration_time_s": 0.35444471572093494, "policy_updates": 16800, "skipped_updates": 0, "invalid_env_resets": 81, "elapsed_s": 6061.004638827988, "nonwheel_terminations": 11511, "contact_bce": 0.3101244568824768, "contact_force_loss": 0.02186366356909275, "collision_bce": 0.00023100948601495475, "collision_label_rate": 0.00012241399963386357, "collision_prediction_mean": 0.00012382768909446895, "collision_label_count": 16338.0, "terrain_level_mean": 2.87109375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [43, 109, 98, 83, 43, 34], "episodes_by_level": [[1268.0, 271.0, 46.0, 0.0], [1272.0, 273.0, 34.0, 0.0], [695.0, 168.0, 23.0, 0.0], [295.0, 80.0, 8.0, 0.0], [131.0, 35.0, 3.0, 0.0], [48.0, 11.0, 1.0, 0.0]]}, "up": {"level_counts": [1, 23, 165, 505, 648, 91], "episodes_by_level": [[691.0, 555.0, 7.0, 0.0], [2357.0, 1434.0, 37.0, 0.0], [3983.0, 1522.0, 165.0, 0.0], [2933.0, 880.0, 186.0, 0.0], [905.0, 113.0, 109.0, 0.0], [36.0, 0.0, 16.0, 0.0]]}, "down": {"level_counts": [0, 0, 3, 7, 79, 525], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [756.0, 667.0, 21.0, 0.0], [915.0, 747.0, 25.0, 0.0], [1247.0, 957.0, 57.0, 0.0], [2745.0, 2061.0, 157.0, 0.0]]}, "platform": {"level_counts": [65, 119, 127, 71, 24, 4], "episodes_by_level": [[1434.0, 308.0, 48.0, 0.0], [1334.0, 262.0, 62.0, 0.0], [620.0, 118.0, 42.0, 0.0], [260.0, 34.0, 19.0, 0.0], [46.0, 6.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [52, 117, 93, 67, 49, 32], "episodes_by_level": [[1324.0, 285.0, 42.0, 0.0], [1253.0, 255.0, 54.0, 0.0], [673.0, 159.0, 28.0, 0.0], [304.0, 84.0, 11.0, 0.0], [141.0, 33.0, 3.0, 0.0], [51.0, 10.0, 1.0, 0.0]]}, "rubble": {"level_counts": [111, 242, 268, 156, 37, 5], "episodes_by_level": [[2611.0, 589.0, 89.0, 0.0], [2744.0, 598.0, 136.0, 0.0], [1491.0, 290.0, 149.0, 0.0], [530.0, 66.0, 92.0, 0.0], [75.0, 6.0, 24.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 35725, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2431640625, "command_abs_max": [0.9996454119682312, 0.39973440766334534, 0.6996234655380249]}
{"step": 17150, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 17150, "total_transitions": 70246400, "num_steps_per_env": 1, "wm_loss": 0.7523316144943237, "actor_loss": -9.469812393188477, "critic_loss": 0.004595319274812937, "reward": 0.08622167259454727, "falls": 11, "interval_steps": 50, "velocity_mae": [0.11911752820014954, 0.07326949387788773, 0.13637813925743103], "mean_episode_length": 1330.6785714285713, "episode_reward_terms": {"track_linear_velocity": 46.8686408996582, "track_angular_velocity": 50.28555679321289, "upright": 25.616901397705078, "leg_posture": -2.8076729774475098, "standstill": -5.94521427154541, "action_rate_l2": -0.5815420746803284, "joint_torques_l2": -0.14726895093917847, "dof_pos_limits": -0.000597578939050436, "terminated": -0.0285887960344553, "unnecessary_wheel_lift": -0.11084330826997757, "rolling_leg_motion": -0.705925703048706, "obstacle_progress": 2.858163833618164, "wheel_body_intrusion": -0.25579509139060974, "pair_body_intrusion": -0.31247052550315857}, "weighted_reward_terms": {"track_linear_velocity": 1.7610806226730347, "track_angular_velocity": 1.8894704580307007, "upright": 0.9625502824783325, "leg_posture": -0.10549778491258621, "standstill": -0.22339031100273132, "action_rate_l2": -0.02185133472084999, "joint_torques_l2": -0.005533603485673666, "dof_pos_limits": -2.245391624455806e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.004164916928857565, "rolling_leg_motion": -0.02652502804994583, "obstacle_progress": 0.10739497095346451, "wheel_body_intrusion": -0.009611453860998154, "pair_body_intrusion": -0.01174102257937193}, "episode_termination_rates": {"time_out": 0.4785714285714286, "fell_over": 0.02857142857142857, "course_exit": 0.44285714285714284, "illegal_nonwheel_contact": 0.06428571428571428}, "collection_time_s": 0.07556684759445488, "learning_time_s": 0.18441298660472966, "iteration_time_s": 0.3541693703458901, "policy_updates": 16850, "skipped_updates": 0, "invalid_env_resets": 81, "elapsed_s": 6074.004701432015, "nonwheel_terminations": 11520, "contact_bce": 0.30072757601737976, "contact_force_loss": 0.0209877360612154, "collision_bce": 0.00020677834982052445, "collision_label_rate": 6.118453165981919e-05, "collision_prediction_mean": 0.00016237481031566858, "collision_label_count": 16344.0, "terrain_level_mean": 2.87744140625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [43, 104, 101, 84, 43, 35], "episodes_by_level": [[1269.0, 271.0, 46.0, 0.0], [1277.0, 278.0, 34.0, 0.0], [700.0, 170.0, 23.0, 0.0], [298.0, 81.0, 8.0, 0.0], [135.0, 36.0, 3.0, 0.0], [48.0, 11.0, 1.0, 0.0]]}, "up": {"level_counts": [1, 21, 165, 504, 647, 95], "episodes_by_level": [[691.0, 555.0, 7.0, 0.0], [2359.0, 1436.0, 37.0, 0.0], [3986.0, 1525.0, 165.0, 0.0], [2946.0, 888.0, 186.0, 0.0], [926.0, 117.0, 114.0, 0.0], [37.0, 0.0, 16.0, 0.0]]}, "down": {"level_counts": [0, 0, 3, 6, 81, 524], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [756.0, 667.0, 21.0, 0.0], [916.0, 748.0, 25.0, 0.0], [1248.0, 958.0, 57.0, 0.0], [2755.0, 2069.0, 158.0, 0.0]]}, "platform": {"level_counts": [65, 116, 129, 72, 24, 4], "episodes_by_level": [[1435.0, 308.0, 48.0, 0.0], [1341.0, 265.0, 62.0, 0.0], [621.0, 119.0, 42.0, 0.0], [261.0, 34.0, 19.0, 0.0], [46.0, 6.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [51, 118, 93, 67, 49, 32], "episodes_by_level": [[1326.0, 286.0, 42.0, 0.0], [1258.0, 255.0, 54.0, 0.0], [675.0, 159.0, 28.0, 0.0], [305.0, 84.0, 11.0, 0.0], [142.0, 33.0, 3.0, 0.0], [51.0, 10.0, 1.0, 0.0]]}, "rubble": {"level_counts": [110, 242, 271, 153, 38, 5], "episodes_by_level": [[2616.0, 590.0, 89.0, 0.0], [2753.0, 599.0, 136.0, 0.0], [1495.0, 291.0, 149.0, 0.0], [540.0, 67.0, 95.0, 0.0], [76.0, 6.0, 24.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 35847, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2421875, "command_abs_max": [0.9989018440246582, 0.39973440766334534, 0.6996234655380249]}
{"step": 17200, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 17200, "total_transitions": 70451200, "num_steps_per_env": 1, "wm_loss": 0.7920072078704834, "actor_loss": -9.467479705810547, "critic_loss": 0.006899022497236729, "reward": 0.08616525679826736, "falls": 4, "interval_steps": 50, "velocity_mae": [0.11851766705513, 0.07416379451751709, 0.1369953602552414], "mean_episode_length": 1356.8962962962962, "episode_reward_terms": {"track_linear_velocity": 47.806175231933594, "track_angular_velocity": 51.261409759521484, "upright": 26.104766845703125, "leg_posture": -2.8971357345581055, "standstill": -6.113800048828125, "action_rate_l2": -0.5907323360443115, "joint_torques_l2": -0.1506536453962326, "dof_pos_limits": -0.0007222947315312922, "terminated": -0.010600750334560871, "unnecessary_wheel_lift": -0.11069488525390625, "rolling_leg_motion": -0.7435603737831116, "obstacle_progress": 2.9430878162384033, "wheel_body_intrusion": -0.2784935534000397, "pair_body_intrusion": -0.30174165964126587}, "weighted_reward_terms": {"track_linear_velocity": 1.761600136756897, "track_angular_velocity": 1.8889214992523193, "upright": 0.961929440498352, "leg_posture": -0.10675598680973053, "standstill": -0.22528621554374695, "action_rate_l2": -0.02176778018474579, "joint_torques_l2": -0.0055514066480100155, "dof_pos_limits": -2.6615694878273644e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.004078974016010761, "rolling_leg_motion": -0.02739931084215641, "obstacle_progress": 0.10844925791025162, "wheel_body_intrusion": -0.010262154042720795, "pair_body_intrusion": -0.011118819005787373}, "episode_termination_rates": {"time_out": 0.48148148148148145, "fell_over": 0.022222222222222223, "course_exit": 0.4888888888888889, "illegal_nonwheel_contact": 0.014814814814814815}, "collection_time_s": 0.07546256019966677, "learning_time_s": 0.18562392172752878, "iteration_time_s": 0.35389884427162754, "policy_updates": 16900, "skipped_updates": 0, "invalid_env_resets": 81, "elapsed_s": 6087.060121471994, "nonwheel_terminations": 11522, "contact_bce": 0.30455467104911804, "contact_force_loss": 0.021352272480726242, "collision_bce": 8.371379954041913e-05, "collision_label_rate": 6.122574268374592e-05, "collision_prediction_mean": 0.0001114000697270967, "collision_label_count": 16333.0, "terrain_level_mean": 2.8837890625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [43, 104, 99, 83, 46, 35], "episodes_by_level": [[1270.0, 271.0, 46.0, 0.0], [1280.0, 278.0, 34.0, 0.0], [704.0, 172.0, 23.0, 0.0], [303.0, 84.0, 8.0, 0.0], [136.0, 36.0, 3.0, 0.0], [50.0, 12.0, 1.0, 0.0]]}, "up": {"level_counts": [1, 21, 160, 506, 645, 100], "episodes_by_level": [[691.0, 555.0, 7.0, 0.0], [2359.0, 1436.0, 37.0, 0.0], [3996.0, 1530.0, 165.0, 0.0], [2958.0, 892.0, 186.0, 0.0], [945.0, 122.0, 115.0, 0.0], [38.0, 0.0, 16.0, 0.0]]}, "down": {"level_counts": [0, 0, 3, 6, 81, 524], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [756.0, 667.0, 21.0, 0.0], [916.0, 748.0, 25.0, 0.0], [1250.0, 959.0, 57.0, 0.0], [2774.0, 2086.0, 158.0, 0.0]]}, "platform": {"level_counts": [65, 115, 128, 73, 25, 4], "episodes_by_level": [[1435.0, 308.0, 48.0, 0.0], [1344.0, 266.0, 62.0, 0.0], [626.0, 121.0, 42.0, 0.0], [262.0, 35.0, 19.0, 0.0], [46.0, 6.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [51, 118, 93, 67, 49, 32], "episodes_by_level": [[1330.0, 286.0, 43.0, 0.0], [1260.0, 255.0, 54.0, 0.0], [676.0, 159.0, 28.0, 0.0], [307.0, 84.0, 11.0, 0.0], [142.0, 33.0, 3.0, 0.0], [51.0, 10.0, 1.0, 0.0]]}, "rubble": {"level_counts": [108, 242, 273, 153, 38, 5], "episodes_by_level": [[2621.0, 592.0, 89.0, 0.0], [2758.0, 601.0, 136.0, 0.0], [1497.0, 292.0, 149.0, 0.0], [544.0, 67.0, 96.0, 0.0], [76.0, 6.0, 24.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 35997, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23388671875, "command_abs_max": [0.9989018440246582, 0.39973440766334534, 0.6996234655380249]}
{"step": 17250, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 17250, "total_transitions": 70656000, "num_steps_per_env": 1, "wm_loss": 0.8192238807678223, "actor_loss": -9.461579322814941, "critic_loss": 0.005130214150995016, "reward": 0.0858568623661995, "falls": 10, "interval_steps": 50, "velocity_mae": [0.12012259662151337, 0.07431856542825699, 0.1376769095659256], "mean_episode_length": 1398.3522012578617, "episode_reward_terms": {"track_linear_velocity": 49.14431381225586, "track_angular_velocity": 52.79670333862305, "upright": 26.905818939208984, "leg_posture": -2.9116079807281494, "standstill": -6.676051616668701, "action_rate_l2": -0.6110408306121826, "joint_torques_l2": -0.1543351262807846, "dof_pos_limits": -0.0004067189584020525, "terminated": -0.02731156349182129, "unnecessary_wheel_lift": -0.1299428641796112, "rolling_leg_motion": -0.7441456913948059, "obstacle_progress": 3.0465991497039795, "wheel_body_intrusion": -0.2803246080875397, "pair_body_intrusion": -0.3001410961151123}, "weighted_reward_terms": {"track_linear_velocity": 1.7572224140167236, "track_angular_velocity": 1.8878185749053955, "upright": 0.9620544910430908, "leg_posture": -0.1041085422039032, "standstill": -0.2387113869190216, "action_rate_l2": -0.02184860222041607, "joint_torques_l2": -0.005518464371562004, "dof_pos_limits": -1.4542794815497473e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.0046462854370474815, "rolling_leg_motion": -0.026607951149344444, "obstacle_progress": 0.10893533378839493, "wheel_body_intrusion": -0.010023391805589199, "pair_body_intrusion": -0.010731956921517849}, "episode_termination_rates": {"time_out": 0.5157232704402516, "fell_over": 0.031446540880503145, "course_exit": 0.42138364779874216, "illegal_nonwheel_contact": 0.03773584905660377}, "collection_time_s": 0.07573353681713342, "learning_time_s": 0.18551577455946244, "iteration_time_s": 0.35363036006208565, "policy_updates": 16950, "skipped_updates": 0, "invalid_env_resets": 82, "elapsed_s": 6100.123711070977, "nonwheel_terminations": 11528, "contact_bce": 0.30594927072525024, "contact_force_loss": 0.021213233470916748, "collision_bce": 0.00012395433441270143, "collision_label_rate": 6.12182411714457e-05, "collision_prediction_mean": 0.00014882344112265855, "collision_label_count": 16335.0, "terrain_level_mean": 2.88916015625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [43, 104, 98, 84, 46, 35], "episodes_by_level": [[1270.0, 271.0, 46.0, 0.0], [1283.0, 278.0, 34.0, 0.0], [706.0, 173.0, 23.0, 0.0], [303.0, 84.0, 8.0, 0.0], [137.0, 36.0, 3.0, 0.0], [53.0, 14.0, 1.0, 0.0]]}, "up": {"level_counts": [1, 21, 153, 507, 650, 101], "episodes_by_level": [[691.0, 555.0, 7.0, 0.0], [2360.0, 1436.0, 37.0, 0.0], [4004.0, 1537.0, 165.0, 0.0], [2972.0, 901.0, 186.0, 0.0], [959.0, 124.0, 116.0, 0.0], [40.0, 0.0, 17.0, 0.0]]}, "down": {"level_counts": [0, 0, 3, 6, 80, 525], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [756.0, 667.0, 21.0, 0.0], [916.0, 748.0, 25.0, 0.0], [1253.0, 962.0, 57.0, 0.0], [2793.0, 2103.0, 158.0, 0.0]]}, "platform": {"level_counts": [65, 116, 126, 74, 24, 5], "episodes_by_level": [[1437.0, 308.0, 48.0, 0.0], [1349.0, 266.0, 62.0, 0.0], [632.0, 122.0, 43.0, 0.0], [265.0, 35.0, 19.0, 0.0], [48.0, 7.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [51, 117, 93, 67, 50, 32], "episodes_by_level": [[1333.0, 286.0, 43.0, 0.0], [1268.0, 256.0, 54.0, 0.0], [678.0, 160.0, 28.0, 0.0], [310.0, 85.0, 11.0, 0.0], [144.0, 33.0, 3.0, 0.0], [51.0, 10.0, 1.0, 0.0]]}, "rubble": {"level_counts": [110, 239, 271, 156, 38, 5], "episodes_by_level": [[2622.0, 592.0, 89.0, 0.0], [2773.0, 603.0, 138.0, 0.0], [1504.0, 295.0, 150.0, 0.0], [548.0, 67.0, 96.0, 0.0], [78.0, 6.0, 24.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 36150, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23046875, "command_abs_max": [0.9989018440246582, 0.39973440766334534, 0.6996234655380249]}
{"step": 17300, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 17300, "total_transitions": 70860800, "num_steps_per_env": 1, "wm_loss": 0.7968835830688477, "actor_loss": -9.468944549560547, "critic_loss": 0.0041311015374958515, "reward": 0.0858679786324501, "falls": 9, "interval_steps": 50, "velocity_mae": [0.12002643942832947, 0.07511494308710098, 0.13786281645298004], "mean_episode_length": 1399.379746835443, "episode_reward_terms": {"track_linear_velocity": 49.173919677734375, "track_angular_velocity": 52.81111526489258, "upright": 26.93506622314453, "leg_posture": -2.9461331367492676, "standstill": -6.552826881408691, "action_rate_l2": -0.6280109286308289, "joint_torques_l2": -0.15550735592842102, "dof_pos_limits": -0.0004979959921911359, "terminated": -0.024598468095064163, "unnecessary_wheel_lift": -0.1357758790254593, "rolling_leg_motion": -0.772700846195221, "obstacle_progress": 3.0634820461273193, "wheel_body_intrusion": -0.2945837080478668, "pair_body_intrusion": -0.31104570627212524}, "weighted_reward_terms": {"track_linear_velocity": 1.7569897174835205, "track_angular_velocity": 1.8869472742080688, "upright": 0.9623929858207703, "leg_posture": -0.10526568442583084, "standstill": -0.2341332733631134, "action_rate_l2": -0.022438902407884598, "joint_torques_l2": -0.005556296091526747, "dof_pos_limits": -1.7793454389902763e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.004851288162171841, "rolling_leg_motion": -0.02760869264602661, "obstacle_progress": 0.1094585657119751, "wheel_body_intrusion": -0.010525509715080261, "pair_body_intrusion": -0.011113698594272137}, "episode_termination_rates": {"time_out": 0.5253164556962026, "fell_over": 0.05063291139240506, "course_exit": 0.4177215189873418, "illegal_nonwheel_contact": 0.0379746835443038}, "collection_time_s": 0.07571180536062457, "learning_time_s": 0.18567370665841737, "iteration_time_s": 0.35336381887659063, "policy_updates": 17000, "skipped_updates": 0, "invalid_env_resets": 82, "elapsed_s": 6113.194066565018, "nonwheel_terminations": 11534, "contact_bce": 0.3084878623485565, "contact_force_loss": 0.021942313760519028, "collision_bce": 6.43103430775227e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 6.479657258751104e-06, "collision_label_count": 16358.0, "terrain_level_mean": 2.89404296875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [43, 103, 98, 85, 46, 35], "episodes_by_level": [[1271.0, 272.0, 46.0, 0.0], [1286.0, 279.0, 35.0, 0.0], [711.0, 174.0, 23.0, 0.0], [306.0, 84.0, 8.0, 0.0], [138.0, 36.0, 3.0, 0.0], [55.0, 14.0, 1.0, 0.0]]}, "up": {"level_counts": [1, 21, 153, 500, 654, 104], "episodes_by_level": [[691.0, 555.0, 7.0, 0.0], [2360.0, 1436.0, 37.0, 0.0], [4006.0, 1538.0, 165.0, 0.0], [2991.0, 909.0, 186.0, 0.0], [977.0, 127.0, 117.0, 0.0], [42.0, 0.0, 17.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 8, 79, 525], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [757.0, 668.0, 21.0, 0.0], [916.0, 748.0, 25.0, 0.0], [1256.0, 964.0, 57.0, 0.0], [2811.0, 2119.0, 159.0, 0.0]]}, "platform": {"level_counts": [65, 113, 129, 73, 25, 5], "episodes_by_level": [[1439.0, 308.0, 48.0, 0.0], [1353.0, 269.0, 62.0, 0.0], [634.0, 122.0, 43.0, 0.0], [268.0, 36.0, 19.0, 0.0], [50.0, 7.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [51, 115, 95, 67, 50, 32], "episodes_by_level": [[1335.0, 287.0, 43.0, 0.0], [1274.0, 258.0, 55.0, 0.0], [681.0, 160.0, 28.0, 0.0], [311.0, 85.0, 11.0, 0.0], [144.0, 33.0, 3.0, 0.0], [52.0, 10.0, 1.0, 0.0]]}, "rubble": {"level_counts": [111, 238, 268, 159, 38, 5], "episodes_by_level": [[2625.0, 592.0, 89.0, 0.0], [2784.0, 604.0, 139.0, 0.0], [1514.0, 298.0, 151.0, 0.0], [553.0, 67.0, 96.0, 0.0], [80.0, 6.0, 24.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 36294, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.232666015625, "command_abs_max": [0.9989018440246582, 0.39973440766334534, 0.6996234655380249]}
{"step": 17350, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 17350, "total_transitions": 71065600, "num_steps_per_env": 1, "wm_loss": 0.7693185806274414, "actor_loss": -9.470088005065918, "critic_loss": 0.0036610111128538847, "reward": 0.08630175143480301, "falls": 7, "interval_steps": 50, "velocity_mae": [0.12029418349266052, 0.07328905165195465, 0.1369527280330658], "mean_episode_length": 1418.2732919254659, "episode_reward_terms": {"track_linear_velocity": 49.868690490722656, "track_angular_velocity": 53.55121612548828, "upright": 27.33300018310547, "leg_posture": -2.99187970161438, "standstill": -6.0809125900268555, "action_rate_l2": -0.6321872472763062, "joint_torques_l2": -0.15715999901294708, "dof_pos_limits": -0.000746667617931962, "terminated": -0.019390452653169632, "unnecessary_wheel_lift": -0.1262536197900772, "rolling_leg_motion": -0.7618120908737183, "obstacle_progress": 3.027448892593384, "wheel_body_intrusion": -0.30793386697769165, "pair_body_intrusion": -0.3026125133037567}, "weighted_reward_terms": {"track_linear_velocity": 1.758077621459961, "track_angular_velocity": 1.8879019021987915, "upright": 0.9636013507843018, "leg_posture": -0.10547614097595215, "standstill": -0.21437732875347137, "action_rate_l2": -0.022287216037511826, "joint_torques_l2": -0.005540539976209402, "dof_pos_limits": -2.6323121346649714e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.004450962413102388, "rolling_leg_motion": -0.026857025921344757, "obstacle_progress": 0.10673009604215622, "wheel_body_intrusion": -0.010855942964553833, "pair_body_intrusion": -0.010668342933058739}, "episode_termination_rates": {"time_out": 0.5279503105590062, "fell_over": 0.031055900621118012, "course_exit": 0.42857142857142855, "illegal_nonwheel_contact": 0.024844720496894408}, "collection_time_s": 0.0757356091204565, "learning_time_s": 0.18407541661872528, "iteration_time_s": 0.35309429054103875, "policy_updates": 17050, "skipped_updates": 0, "invalid_env_resets": 82, "elapsed_s": 6126.185940887022, "nonwheel_terminations": 11538, "contact_bce": 0.3103954493999481, "contact_force_loss": 0.02123964950442314, "collision_bce": 9.642136319598649e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 9.553914424031973e-06, "collision_label_count": 16351.0, "terrain_level_mean": 2.90087890625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [42, 104, 97, 86, 45, 36], "episodes_by_level": [[1273.0, 273.0, 46.0, 0.0], [1291.0, 279.0, 35.0, 0.0], [713.0, 175.0, 23.0, 0.0], [308.0, 84.0, 8.0, 0.0], [143.0, 37.0, 3.0, 0.0], [55.0, 14.0, 1.0, 0.0]]}, "up": {"level_counts": [1, 20, 151, 494, 661, 106], "episodes_by_level": [[691.0, 555.0, 7.0, 0.0], [2361.0, 1437.0, 37.0, 0.0], [4011.0, 1541.0, 165.0, 0.0], [3008.0, 918.0, 186.0, 0.0], [988.0, 131.0, 117.0, 0.0], [45.0, 0.0, 18.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 7, 78, 527], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [757.0, 668.0, 21.0, 0.0], [916.0, 748.0, 25.0, 0.0], [1258.0, 966.0, 57.0, 0.0], [2828.0, 2132.0, 160.0, 0.0]]}, "platform": {"level_counts": [64, 112, 130, 74, 25, 5], "episodes_by_level": [[1441.0, 309.0, 48.0, 0.0], [1357.0, 271.0, 62.0, 0.0], [638.0, 123.0, 43.0, 0.0], [271.0, 36.0, 19.0, 0.0], [50.0, 7.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [51, 114, 96, 67, 50, 32], "episodes_by_level": [[1336.0, 287.0, 43.0, 0.0], [1278.0, 259.0, 55.0, 0.0], [684.0, 160.0, 28.0, 0.0], [314.0, 85.0, 11.0, 0.0], [147.0, 33.0, 3.0, 0.0], [55.0, 11.0, 1.0, 0.0]]}, "rubble": {"level_counts": [111, 239, 267, 156, 41, 5], "episodes_by_level": [[2629.0, 592.0, 89.0, 0.0], [2792.0, 606.0, 139.0, 0.0], [1524.0, 299.0, 154.0, 0.0], [562.0, 70.0, 97.0, 0.0], [81.0, 6.0, 24.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 36465, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234375, "command_abs_max": [0.9989018440246582, 0.39973440766334534, 0.6996234655380249]}
{"step": 17400, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 17400, "total_transitions": 71270400, "num_steps_per_env": 1, "wm_loss": 0.7704244256019592, "actor_loss": -9.478211402893066, "critic_loss": 0.0037279289681464434, "reward": 0.0862865149974823, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11794252693653107, 0.07424812018871307, 0.13588190078735352], "mean_episode_length": 1359.1597222222222, "episode_reward_terms": {"track_linear_velocity": 47.918575286865234, "track_angular_velocity": 51.36717224121094, "upright": 26.20020294189453, "leg_posture": -2.8397750854492188, "standstill": -6.1484503746032715, "action_rate_l2": -0.6124358177185059, "joint_torques_l2": -0.15019366145133972, "dof_pos_limits": -0.0005034165224060416, "terminated": -0.015927651897072792, "unnecessary_wheel_lift": -0.12944212555885315, "rolling_leg_motion": -0.7201279401779175, "obstacle_progress": 2.989198684692383, "wheel_body_intrusion": -0.26270025968551636, "pair_body_intrusion": -0.31843361258506775}, "weighted_reward_terms": {"track_linear_velocity": 1.7628016471862793, "track_angular_velocity": 1.8896665573120117, "upright": 0.9638383388519287, "leg_posture": -0.10446804761886597, "standstill": -0.22618572413921356, "action_rate_l2": -0.02252994477748871, "joint_torques_l2": -0.005525240208953619, "dof_pos_limits": -1.8519403965910897e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.00476184394210577, "rolling_leg_motion": -0.026491660624742508, "obstacle_progress": 0.10996495932340622, "wheel_body_intrusion": -0.009664068929851055, "pair_body_intrusion": -0.011714356020092964}, "episode_termination_rates": {"time_out": 0.4791666666666667, "fell_over": 0.013888888888888888, "course_exit": 0.4791666666666667, "illegal_nonwheel_contact": 0.034722222222222224}, "collection_time_s": 0.07560913625755347, "learning_time_s": 0.18486841098521836, "iteration_time_s": 0.3528282123256338, "policy_updates": 17100, "skipped_updates": 0, "invalid_env_resets": 82, "elapsed_s": 6139.210894466029, "nonwheel_terminations": 11543, "contact_bce": 0.30453649163246155, "contact_force_loss": 0.021011224016547203, "collision_bce": 1.2954592421010602e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.2677733138843905e-05, "collision_label_count": 16325.0, "terrain_level_mean": 2.906982421875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [42, 104, 97, 86, 45, 36], "episodes_by_level": [[1274.0, 273.0, 46.0, 0.0], [1295.0, 279.0, 35.0, 0.0], [718.0, 175.0, 23.0, 0.0], [309.0, 84.0, 8.0, 0.0], [145.0, 37.0, 3.0, 0.0], [59.0, 15.0, 1.0, 0.0]]}, "up": {"level_counts": [1, 18, 147, 489, 667, 111], "episodes_by_level": [[691.0, 555.0, 7.0, 0.0], [2363.0, 1439.0, 37.0, 0.0], [4021.0, 1547.0, 165.0, 0.0], [3023.0, 929.0, 186.0, 0.0], [1005.0, 137.0, 117.0, 0.0], [50.0, 0.0, 20.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 7, 77, 528], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [757.0, 668.0, 21.0, 0.0], [916.0, 748.0, 25.0, 0.0], [1261.0, 968.0, 57.0, 0.0], [2840.0, 2142.0, 160.0, 0.0]]}, "platform": {"level_counts": [64, 112, 130, 73, 26, 5], "episodes_by_level": [[1442.0, 309.0, 48.0, 0.0], [1359.0, 271.0, 62.0, 0.0], [640.0, 123.0, 43.0, 0.0], [273.0, 37.0, 19.0, 0.0], [51.0, 7.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [51, 114, 95, 68, 50, 32], "episodes_by_level": [[1337.0, 287.0, 43.0, 0.0], [1284.0, 259.0, 55.0, 0.0], [689.0, 161.0, 28.0, 0.0], [317.0, 85.0, 11.0, 0.0], [149.0, 33.0, 3.0, 0.0], [56.0, 12.0, 1.0, 0.0]]}, "rubble": {"level_counts": [111, 238, 271, 153, 41, 5], "episodes_by_level": [[2631.0, 592.0, 89.0, 0.0], [2803.0, 607.0, 139.0, 0.0], [1525.0, 299.0, 154.0, 0.0], [569.0, 70.0, 100.0, 0.0], [82.0, 6.0, 24.0, 0.0], [1.0, 0.0, 1.0, 0.0]]}}, "success_archive_windows": 36613, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23193359375, "command_abs_max": [0.9989018440246582, 0.39973440766334534, 0.6996234655380249]}
{"step": 17450, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 17450, "total_transitions": 71475200, "num_steps_per_env": 1, "wm_loss": 0.7757374048233032, "actor_loss": -9.484355926513672, "critic_loss": 0.007599348668009043, "reward": 0.08602574467658997, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11967816948890686, 0.07387752085924149, 0.1371578425168991], "mean_episode_length": 1361.4391891891892, "episode_reward_terms": {"track_linear_velocity": 47.895687103271484, "track_angular_velocity": 51.41781997680664, "upright": 26.2172794342041, "leg_posture": -2.868830919265747, "standstill": -6.2208075523376465, "action_rate_l2": -0.6029440760612488, "joint_torques_l2": -0.1508459746837616, "dof_pos_limits": -0.0006244914256967604, "terminated": -0.013295303098857403, "unnecessary_wheel_lift": -0.12788815796375275, "rolling_leg_motion": -0.7306470274925232, "obstacle_progress": 2.8933889865875244, "wheel_body_intrusion": -0.2682776153087616, "pair_body_intrusion": -0.3212277591228485}, "weighted_reward_terms": {"track_linear_velocity": 1.7590094804763794, "track_angular_velocity": 1.8883626461029053, "upright": 0.9628516435623169, "leg_posture": -0.1053602397441864, "standstill": -0.22846440970897675, "action_rate_l2": -0.02214362844824791, "joint_torques_l2": -0.00553994532674551, "dof_pos_limits": -2.293497345817741e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.004696800373494625, "rolling_leg_motion": -0.026833627372980118, "obstacle_progress": 0.10626214742660522, "wheel_body_intrusion": -0.00985272042453289, "pair_body_intrusion": -0.011797360144555569}, "episode_termination_rates": {"time_out": 0.5337837837837838, "fell_over": 0.013513513513513514, "course_exit": 0.43243243243243246, "illegal_nonwheel_contact": 0.02702702702702703}, "collection_time_s": 0.07558829003828578, "learning_time_s": 0.1848463200230617, "iteration_time_s": 0.3525635366135258, "policy_updates": 17150, "skipped_updates": 0, "invalid_env_resets": 82, "elapsed_s": 6152.2337139060255, "nonwheel_terminations": 11547, "contact_bce": 0.30470919609069824, "contact_force_loss": 0.021083582192659378, "collision_bce": 6.003801445331192e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 6.071882580727106e-06, "collision_label_count": 16323.0, "terrain_level_mean": 2.91064453125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [41, 102, 100, 87, 44, 36], "episodes_by_level": [[1277.0, 274.0, 46.0, 0.0], [1302.0, 282.0, 35.0, 0.0], [719.0, 175.0, 23.0, 0.0], [310.0, 84.0, 8.0, 0.0], [148.0, 37.0, 4.0, 0.0], [60.0, 15.0, 1.0, 0.0]]}, "up": {"level_counts": [1, 18, 145, 489, 668, 112], "episodes_by_level": [[691.0, 555.0, 7.0, 0.0], [2363.0, 1439.0, 37.0, 0.0], [4025.0, 1549.0, 165.0, 0.0], [3030.0, 932.0, 186.0, 0.0], [1013.0, 138.0, 117.0, 0.0], [52.0, 0.0, 20.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 7, 76, 529], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [757.0, 668.0, 21.0, 0.0], [916.0, 748.0, 25.0, 0.0], [1264.0, 970.0, 57.0, 0.0], [2868.0, 2166.0, 160.0, 0.0]]}, "platform": {"level_counts": [64, 112, 130, 73, 26, 5], "episodes_by_level": [[1443.0, 309.0, 48.0, 0.0], [1363.0, 271.0, 62.0, 0.0], [643.0, 123.0, 43.0, 0.0], [274.0, 37.0, 19.0, 0.0], [52.0, 7.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [51, 114, 93, 70, 50, 32], "episodes_by_level": [[1338.0, 287.0, 43.0, 0.0], [1288.0, 259.0, 55.0, 0.0], [694.0, 163.0, 28.0, 0.0], [320.0, 85.0, 11.0, 0.0], [149.0, 33.0, 3.0, 0.0], [58.0, 12.0, 1.0, 0.0]]}, "rubble": {"level_counts": [110, 237, 271, 155, 42, 4], "episodes_by_level": [[2635.0, 593.0, 89.0, 0.0], [2815.0, 609.0, 139.0, 0.0], [1536.0, 301.0, 154.0, 0.0], [572.0, 71.0, 100.0, 0.0], [84.0, 6.0, 25.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}}, "success_archive_windows": 36774, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23486328125, "command_abs_max": [0.9989018440246582, 0.39973440766334534, 0.6996234655380249]}
{"step": 17500, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 17500, "total_transitions": 71680000, "num_steps_per_env": 1, "wm_loss": 0.7972052097320557, "actor_loss": -9.443696022033691, "critic_loss": 0.004159373231232166, "reward": 0.08621025830507278, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11815381795167923, 0.0734986886382103, 0.13584764301776886], "mean_episode_length": 1420.2638036809815, "episode_reward_terms": {"track_linear_velocity": 50.08432388305664, "track_angular_velocity": 53.68645095825195, "upright": 27.35869598388672, "leg_posture": -2.9885387420654297, "standstill": -6.378450870513916, "action_rate_l2": -0.6355528235435486, "joint_torques_l2": -0.1564556360244751, "dof_pos_limits": -0.0008285970543511212, "terminated": -0.022191617637872696, "unnecessary_wheel_lift": -0.11379656940698624, "rolling_leg_motion": -0.7933693528175354, "obstacle_progress": 3.01570200920105, "wheel_body_intrusion": -0.29266369342803955, "pair_body_intrusion": -0.3219986855983734}, "weighted_reward_terms": {"track_linear_velocity": 1.7632051706314087, "track_angular_velocity": 1.890017032623291, "upright": 0.9631554484367371, "leg_posture": -0.10521069914102554, "standstill": -0.22455163300037384, "action_rate_l2": -0.022374464198946953, "joint_torques_l2": -0.005507978145033121, "dof_pos_limits": -2.917053279816173e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.004006177186965942, "rolling_leg_motion": -0.027930352836847305, "obstacle_progress": 0.10616697371006012, "wheel_body_intrusion": -0.010303146205842495, "pair_body_intrusion": -0.011335876770317554}, "episode_termination_rates": {"time_out": 0.5398773006134969, "fell_over": 0.024539877300613498, "course_exit": 0.4110429447852761, "illegal_nonwheel_contact": 0.03067484662576687}, "collection_time_s": 0.07558827480184846, "learning_time_s": 0.1839544480573386, "iteration_time_s": 0.3522978254129711, "policy_updates": 17200, "skipped_updates": 0, "invalid_env_resets": 82, "elapsed_s": 6165.211944726994, "nonwheel_terminations": 11552, "contact_bce": 0.3085806965827942, "contact_force_loss": 0.0217707771807909, "collision_bce": 7.129011646611616e-05, "collision_label_rate": 6.11359064350836e-05, "collision_prediction_mean": 5.4512263886863366e-05, "collision_label_count": 16357.0, "terrain_level_mean": 2.9189453125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [40, 103, 99, 87, 45, 36], "episodes_by_level": [[1278.0, 275.0, 46.0, 0.0], [1304.0, 282.0, 35.0, 0.0], [723.0, 176.0, 23.0, 0.0], [313.0, 85.0, 8.0, 0.0], [148.0, 37.0, 4.0, 0.0], [60.0, 15.0, 1.0, 0.0]]}, "up": {"level_counts": [1, 17, 144, 480, 673, 118], "episodes_by_level": [[691.0, 555.0, 7.0, 0.0], [2364.0, 1440.0, 37.0, 0.0], [4030.0, 1552.0, 165.0, 0.0], [3045.0, 944.0, 186.0, 0.0], [1037.0, 145.0, 118.0, 0.0], [54.0, 0.0, 20.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 7, 78, 527], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [757.0, 668.0, 21.0, 0.0], [916.0, 748.0, 25.0, 0.0], [1264.0, 970.0, 57.0, 0.0], [2885.0, 2178.0, 161.0, 0.0]]}, "platform": {"level_counts": [64, 110, 132, 72, 27, 5], "episodes_by_level": [[1445.0, 309.0, 48.0, 0.0], [1370.0, 273.0, 62.0, 0.0], [646.0, 124.0, 43.0, 0.0], [281.0, 38.0, 20.0, 0.0], [53.0, 7.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [51, 112, 95, 69, 50, 33], "episodes_by_level": [[1339.0, 287.0, 43.0, 0.0], [1291.0, 261.0, 55.0, 0.0], [698.0, 163.0, 28.0, 0.0], [325.0, 86.0, 11.0, 0.0], [151.0, 34.0, 3.0, 0.0], [61.0, 12.0, 1.0, 0.0]]}, "rubble": {"level_counts": [110, 235, 268, 160, 43, 3], "episodes_by_level": [[2637.0, 593.0, 89.0, 0.0], [2823.0, 611.0, 139.0, 0.0], [1548.0, 307.0, 154.0, 0.0], [577.0, 71.0, 101.0, 0.0], [84.0, 6.0, 25.0, 0.0], [3.0, 0.0, 3.0, 0.0]]}}, "success_archive_windows": 36908, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23681640625, "command_abs_max": [0.9989018440246582, 0.39963698387145996, 0.6996234655380249]}
{"step": 17550, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 17550, "total_transitions": 71884800, "num_steps_per_env": 1, "wm_loss": 0.7916961312294006, "actor_loss": -9.456151962280273, "critic_loss": 0.005498462822288275, "reward": 0.08631237596273422, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11589966714382172, 0.07279492169618607, 0.13491588830947876], "mean_episode_length": 1381.6209150326797, "episode_reward_terms": {"track_linear_velocity": 48.862548828125, "track_angular_velocity": 52.25691604614258, "upright": 26.628156661987305, "leg_posture": -2.878811836242676, "standstill": -6.178235054016113, "action_rate_l2": -0.6061097383499146, "joint_torques_l2": -0.15343476831912994, "dof_pos_limits": -0.0010764820035547018, "terminated": -0.016190869733691216, "unnecessary_wheel_lift": -0.13432443141937256, "rolling_leg_motion": -0.7678819894790649, "obstacle_progress": 2.8583598136901855, "wheel_body_intrusion": -0.2892107367515564, "pair_body_intrusion": -0.3297092914581299}, "weighted_reward_terms": {"track_linear_velocity": 1.7683051824569702, "track_angular_velocity": 1.89114511013031, "upright": 0.9636563062667847, "leg_posture": -0.1041823998093605, "standstill": -0.22358648478984833, "action_rate_l2": -0.021934732794761658, "joint_torques_l2": -0.005552708171308041, "dof_pos_limits": -3.8957212382229045e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.004861117340624332, "rolling_leg_motion": -0.027789169922471046, "obstacle_progress": 0.10344225913286209, "wheel_body_intrusion": -0.010466355830430984, "pair_body_intrusion": -0.01193197350949049}, "episode_termination_rates": {"time_out": 0.477124183006536, "fell_over": 0.0196078431372549, "course_exit": 0.48366013071895425, "illegal_nonwheel_contact": 0.026143790849673203}, "collection_time_s": 0.07554525057552382, "learning_time_s": 0.19091853750287555, "iteration_time_s": 0.35205478769281956, "policy_updates": 17250, "skipped_updates": 0, "invalid_env_resets": 82, "elapsed_s": 6178.561524008983, "nonwheel_terminations": 11556, "contact_bce": 0.3063383996486664, "contact_force_loss": 0.021382534876465797, "collision_bce": 4.850327968597412e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 4.412548150867224e-05, "collision_label_count": 16353.0, "terrain_level_mean": 2.925537109375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [39, 104, 99, 85, 47, 36], "episodes_by_level": [[1283.0, 276.0, 46.0, 0.0], [1305.0, 282.0, 35.0, 0.0], [727.0, 176.0, 23.0, 0.0], [318.0, 87.0, 8.0, 0.0], [150.0, 37.0, 4.0, 0.0], [62.0, 15.0, 1.0, 0.0]]}, "up": {"level_counts": [1, 17, 142, 472, 677, 124], "episodes_by_level": [[691.0, 555.0, 7.0, 0.0], [2364.0, 1440.0, 37.0, 0.0], [4032.0, 1554.0, 165.0, 0.0], [3065.0, 954.0, 186.0, 0.0], [1051.0, 151.0, 118.0, 0.0], [55.0, 0.0, 20.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 6, 80, 526], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [757.0, 668.0, 21.0, 0.0], [917.0, 749.0, 25.0, 0.0], [1265.0, 971.0, 57.0, 0.0], [2910.0, 2198.0, 162.0, 0.0]]}, "platform": {"level_counts": [63, 111, 131, 73, 27, 5], "episodes_by_level": [[1448.0, 310.0, 48.0, 0.0], [1373.0, 273.0, 62.0, 0.0], [649.0, 125.0, 43.0, 0.0], [283.0, 38.0, 20.0, 0.0], [54.0, 7.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [51, 111, 95, 70, 50, 33], "episodes_by_level": [[1340.0, 287.0, 43.0, 0.0], [1293.0, 262.0, 55.0, 0.0], [702.0, 164.0, 28.0, 0.0], [328.0, 86.0, 11.0, 0.0], [153.0, 34.0, 3.0, 0.0], [63.0, 13.0, 1.0, 0.0]]}, "rubble": {"level_counts": [109, 239, 264, 159, 44, 4], "episodes_by_level": [[2638.0, 594.0, 89.0, 0.0], [2826.0, 611.0, 139.0, 0.0], [1559.0, 308.0, 157.0, 0.0], [582.0, 73.0, 101.0, 0.0], [85.0, 7.0, 25.0, 0.0], [3.0, 0.0, 3.0, 0.0]]}}, "success_archive_windows": 37058, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234619140625, "command_abs_max": [0.9989018440246582, 0.39913153648376465, 0.6996234655380249]}
{"step": 17600, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 17600, "total_transitions": 72089600, "num_steps_per_env": 1, "wm_loss": 0.7882404923439026, "actor_loss": -9.485237121582031, "critic_loss": 0.0036222964990884066, "reward": 0.08615871518850327, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11596312373876572, 0.07264445722103119, 0.1347988098859787], "mean_episode_length": 1351.34, "episode_reward_terms": {"track_linear_velocity": 47.77992248535156, "track_angular_velocity": 51.127994537353516, "upright": 26.036136627197266, "leg_posture": -2.7835514545440674, "standstill": -6.3520684242248535, "action_rate_l2": -0.5902460217475891, "joint_torques_l2": -0.1484423279762268, "dof_pos_limits": -0.0004324832116253674, "terminated": -0.013196677900850773, "unnecessary_wheel_lift": -0.11047016829252243, "rolling_leg_motion": -0.7301323413848877, "obstacle_progress": 2.784444808959961, "wheel_body_intrusion": -0.26424112915992737, "pair_body_intrusion": -0.3060050308704376}, "weighted_reward_terms": {"track_linear_velocity": 1.7678720951080322, "track_angular_velocity": 1.891751766204834, "upright": 0.9633451700210571, "leg_posture": -0.10299228131771088, "standstill": -0.23502853512763977, "action_rate_l2": -0.021839287132024765, "joint_torques_l2": -0.005492412950843573, "dof_pos_limits": -1.600201358087361e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.004087430890649557, "rolling_leg_motion": -0.02701512537896633, "obstacle_progress": 0.10302533209323883, "wheel_body_intrusion": -0.009777003899216652, "pair_body_intrusion": -0.011322282254695892}, "episode_termination_rates": {"time_out": 0.47333333333333333, "fell_over": 0.02, "course_exit": 0.49333333333333335, "illegal_nonwheel_contact": 0.02}, "collection_time_s": 0.07549188399803825, "learning_time_s": 0.18427786620217376, "iteration_time_s": 0.35179267929386365, "policy_updates": 17300, "skipped_updates": 0, "invalid_env_resets": 82, "elapsed_s": 6191.551155572, "nonwheel_terminations": 11559, "contact_bce": 0.3085991442203522, "contact_force_loss": 0.022427795454859734, "collision_bce": 3.7616620829794556e-05, "collision_label_rate": 6.111722177593037e-05, "collision_prediction_mean": 5.02623624925036e-05, "collision_label_count": 16362.0, "terrain_level_mean": 2.932373046875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [39, 104, 99, 82, 50, 36], "episodes_by_level": [[1283.0, 276.0, 46.0, 0.0], [1309.0, 282.0, 35.0, 0.0], [727.0, 176.0, 23.0, 0.0], [323.0, 90.0, 8.0, 0.0], [151.0, 37.0, 4.0, 0.0], [62.0, 15.0, 1.0, 0.0]]}, "up": {"level_counts": [1, 16, 141, 467, 678, 130], "episodes_by_level": [[691.0, 555.0, 7.0, 0.0], [2365.0, 1441.0, 37.0, 0.0], [4039.0, 1558.0, 165.0, 0.0], [3081.0, 961.0, 186.0, 0.0], [1068.0, 157.0, 118.0, 0.0], [55.0, 0.0, 20.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 6, 80, 526], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [757.0, 668.0, 21.0, 0.0], [917.0, 749.0, 25.0, 0.0], [1266.0, 972.0, 57.0, 0.0], [2933.0, 2218.0, 162.0, 0.0]]}, "platform": {"level_counts": [62, 110, 132, 73, 28, 5], "episodes_by_level": [[1450.0, 311.0, 48.0, 0.0], [1377.0, 276.0, 62.0, 0.0], [656.0, 126.0, 44.0, 0.0], [287.0, 39.0, 20.0, 0.0], [54.0, 7.0, 6.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [51, 110, 96, 70, 50, 33], "episodes_by_level": [[1340.0, 287.0, 43.0, 0.0], [1299.0, 263.0, 55.0, 0.0], [704.0, 164.0, 28.0, 0.0], [329.0, 86.0, 11.0, 0.0], [154.0, 34.0, 3.0, 0.0], [63.0, 13.0, 1.0, 0.0]]}, "rubble": {"level_counts": [108, 241, 261, 160, 45, 4], "episodes_by_level": [[2648.0, 595.0, 89.0, 0.0], [2832.0, 611.0, 139.0, 0.0], [1563.0, 310.0, 158.0, 0.0], [585.0, 74.0, 101.0, 0.0], [85.0, 7.0, 25.0, 0.0], [3.0, 0.0, 3.0, 0.0]]}}, "success_archive_windows": 37205, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23193359375, "command_abs_max": [0.9989018440246582, 0.39913153648376465, 0.6996234655380249]}
{"step": 17650, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 17650, "total_transitions": 72294400, "num_steps_per_env": 1, "wm_loss": 0.7718991637229919, "actor_loss": -9.499395370483398, "critic_loss": 0.004307021386921406, "reward": 0.08600093424320221, "falls": 11, "interval_steps": 50, "velocity_mae": [0.11557029187679291, 0.07386796921491623, 0.1358109414577484], "mean_episode_length": 1322.6540880503144, "episode_reward_terms": {"track_linear_velocity": 46.74354553222656, "track_angular_velocity": 50.00039291381836, "upright": 25.464088439941406, "leg_posture": -2.716756820678711, "standstill": -6.402759075164795, "action_rate_l2": -0.5861794352531433, "joint_torques_l2": -0.14625951647758484, "dof_pos_limits": -0.0008022237452678382, "terminated": -0.02841639332473278, "unnecessary_wheel_lift": -0.11154933273792267, "rolling_leg_motion": -0.72018963098526, "obstacle_progress": 2.8287086486816406, "wheel_body_intrusion": -0.2536204159259796, "pair_body_intrusion": -0.32069867849349976}, "weighted_reward_terms": {"track_linear_velocity": 1.767035961151123, "track_angular_velocity": 1.8901537656784058, "upright": 0.9626134037971497, "leg_posture": -0.10270096361637115, "standstill": -0.24204210937023163, "action_rate_l2": -0.022159211337566376, "joint_torques_l2": -0.0055290162563323975, "dof_pos_limits": -3.0326287742354907e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.004216874949634075, "rolling_leg_motion": -0.02722517028450966, "obstacle_progress": 0.10693304985761642, "wheel_body_intrusion": -0.009587557055056095, "pair_body_intrusion": -0.01212330162525177}, "episode_termination_rates": {"time_out": 0.4779874213836478, "fell_over": 0.06289308176100629, "course_exit": 0.4528301886792453, "illegal_nonwheel_contact": 0.03773584905660377}, "collection_time_s": 0.07592419488239102, "learning_time_s": 0.18405122974072582, "iteration_time_s": 0.3515326380845893, "policy_updates": 17350, "skipped_updates": 0, "invalid_env_resets": 83, "elapsed_s": 6204.551062193001, "nonwheel_terminations": 11565, "contact_bce": 0.30402055382728577, "contact_force_loss": 0.021199798211455345, "collision_bce": 0.00035984799615107477, "collision_label_rate": 6.121449405327439e-05, "collision_prediction_mean": 7.842959348636214e-06, "collision_label_count": 16336.0, "terrain_level_mean": 2.938232421875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [39, 103, 100, 81, 51, 36], "episodes_by_level": [[1283.0, 276.0, 46.0, 0.0], [1312.0, 283.0, 35.0, 0.0], [734.0, 176.0, 23.0, 0.0], [326.0, 91.0, 8.0, 0.0], [152.0, 37.0, 4.0, 0.0], [63.0, 15.0, 1.0, 0.0]]}, "up": {"level_counts": [1, 14, 139, 466, 681, 132], "episodes_by_level": [[691.0, 555.0, 7.0, 0.0], [2368.0, 1443.0, 37.0, 0.0], [4046.0, 1563.0, 165.0, 0.0], [3093.0, 966.0, 187.0, 0.0], [1079.0, 159.0, 118.0, 0.0], [57.0, 0.0, 20.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 6, 79, 527], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [757.0, 668.0, 21.0, 0.0], [917.0, 749.0, 25.0, 0.0], [1270.0, 976.0, 57.0, 0.0], [2953.0, 2236.0, 162.0, 0.0]]}, "platform": {"level_counts": [61, 111, 129, 77, 27, 5], "episodes_by_level": [[1451.0, 312.0, 48.0, 0.0], [1381.0, 276.0, 62.0, 0.0], [661.0, 129.0, 44.0, 0.0], [287.0, 39.0, 20.0, 0.0], [56.0, 7.0, 7.0, 0.0], [2.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [50, 112, 94, 71, 50, 33], "episodes_by_level": [[1341.0, 288.0, 43.0, 0.0], [1304.0, 263.0, 55.0, 0.0], [709.0, 165.0, 29.0, 0.0], [329.0, 86.0, 11.0, 0.0], [155.0, 34.0, 3.0, 0.0], [63.0, 13.0, 1.0, 0.0]]}, "rubble": {"level_counts": [107, 242, 259, 162, 44, 5], "episodes_by_level": [[2652.0, 596.0, 89.0, 0.0], [2840.0, 613.0, 139.0, 0.0], [1578.0, 314.0, 160.0, 0.0], [590.0, 74.0, 103.0, 0.0], [87.0, 8.0, 25.0, 0.0], [3.0, 0.0, 3.0, 0.0]]}}, "success_archive_windows": 37323, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23486328125, "command_abs_max": [0.9989018440246582, 0.39913153648376465, 0.6996234655380249]}
{"step": 17700, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 17700, "total_transitions": 72499200, "num_steps_per_env": 1, "wm_loss": 0.767016589641571, "actor_loss": -9.460550308227539, "critic_loss": 0.008147782646119595, "reward": 0.08595272898674011, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11824393272399902, 0.07388174533843994, 0.13599154353141785], "mean_episode_length": 1314.6607142857142, "episode_reward_terms": {"track_linear_velocity": 46.32257080078125, "track_angular_velocity": 49.6954231262207, "upright": 25.2788143157959, "leg_posture": -2.747202157974243, "standstill": -6.134222030639648, "action_rate_l2": -0.5736066699028015, "joint_torques_l2": -0.14523403346538544, "dof_pos_limits": -0.0005784207605756819, "terminated": -0.012838482856750488, "unnecessary_wheel_lift": -0.11593285202980042, "rolling_leg_motion": -0.7217410206794739, "obstacle_progress": 2.7417361736297607, "wheel_body_intrusion": -0.26827728748321533, "pair_body_intrusion": -0.3202582597732544}, "weighted_reward_terms": {"track_linear_velocity": 1.7617690563201904, "track_angular_velocity": 1.890047550201416, "upright": 0.9614196419715881, "leg_posture": -0.10448331385850906, "standstill": -0.23330058157444, "action_rate_l2": -0.021815767511725426, "joint_torques_l2": -0.005523631814867258, "dof_pos_limits": -2.1998861484462395e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.004409230779856443, "rolling_leg_motion": -0.027449704706668854, "obstacle_progress": 0.10427543520927429, "wheel_body_intrusion": -0.010203289799392223, "pair_body_intrusion": -0.012180262245237827}, "episode_termination_rates": {"time_out": 0.42857142857142855, "fell_over": 0.017857142857142856, "course_exit": 0.5416666666666666, "illegal_nonwheel_contact": 0.017857142857142856}, "collection_time_s": 0.0755768508813344, "learning_time_s": 0.18521453887573444, "iteration_time_s": 0.3512763666233908, "policy_updates": 17400, "skipped_updates": 0, "invalid_env_resets": 83, "elapsed_s": 6217.591689234017, "nonwheel_terminations": 11568, "contact_bce": 0.29843661189079285, "contact_force_loss": 0.020498359575867653, "collision_bce": 0.00042114409734494984, "collision_label_rate": 0.000183812269824557, "collision_prediction_mean": 0.00013889094407204539, "collision_label_count": 16321.0, "terrain_level_mean": 2.946533203125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [39, 102, 99, 83, 51, 36], "episodes_by_level": [[1286.0, 276.0, 46.0, 0.0], [1314.0, 284.0, 35.0, 0.0], [740.0, 178.0, 23.0, 0.0], [327.0, 91.0, 8.0, 0.0], [153.0, 37.0, 4.0, 0.0], [64.0, 16.0, 1.0, 0.0]]}, "up": {"level_counts": [1, 13, 136, 462, 683, 138], "episodes_by_level": [[691.0, 555.0, 7.0, 0.0], [2370.0, 1444.0, 37.0, 0.0], [4050.0, 1567.0, 165.0, 0.0], [3110.0, 975.0, 187.0, 0.0], [1096.0, 164.0, 119.0, 0.0], [59.0, 0.0, 20.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 7, 78, 527], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [757.0, 668.0, 21.0, 0.0], [917.0, 749.0, 25.0, 0.0], [1274.0, 977.0, 57.0, 0.0], [2981.0, 2261.0, 163.0, 0.0]]}, "platform": {"level_counts": [59, 112, 130, 77, 27, 5], "episodes_by_level": [[1454.0, 314.0, 48.0, 0.0], [1385.0, 277.0, 62.0, 0.0], [661.0, 129.0, 44.0, 0.0], [287.0, 39.0, 20.0, 0.0], [56.0, 7.0, 7.0, 0.0], [3.0, 0.0, 2.0, 0.0]]}, "slope": {"level_counts": [50, 111, 95, 69, 52, 33], "episodes_by_level": [[1345.0, 288.0, 43.0, 0.0], [1305.0, 264.0, 55.0, 0.0], [713.0, 165.0, 29.0, 0.0], [332.0, 88.0, 11.0, 0.0], [156.0, 34.0, 3.0, 0.0], [65.0, 14.0, 1.0, 0.0]]}, "rubble": {"level_counts": [106, 240, 261, 161, 46, 5], "episodes_by_level": [[2659.0, 597.0, 89.0, 0.0], [2852.0, 617.0, 139.0, 0.0], [1588.0, 316.0, 161.0, 0.0], [595.0, 76.0, 104.0, 0.0], [87.0, 8.0, 25.0, 0.0], [3.0, 0.0, 3.0, 0.0]]}}, "success_archive_windows": 37458, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.235107421875, "command_abs_max": [0.9989018440246582, 0.39908671379089355, 0.6996234655380249]}
{"step": 17750, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 17750, "total_transitions": 72704000, "num_steps_per_env": 1, "wm_loss": 0.7815921902656555, "actor_loss": -9.449088096618652, "critic_loss": 0.006810784339904785, "reward": 0.08589871972799301, "falls": 7, "interval_steps": 50, "velocity_mae": [0.12034451961517334, 0.07304792106151581, 0.13532035052776337], "mean_episode_length": 1371.796052631579, "episode_reward_terms": {"track_linear_velocity": 48.23802185058594, "track_angular_velocity": 51.879844665527344, "upright": 26.412540435791016, "leg_posture": -2.827075958251953, "standstill": -6.336549282073975, "action_rate_l2": -0.6256573796272278, "joint_torques_l2": -0.15177476406097412, "dof_pos_limits": -0.0008329897536896169, "terminated": -0.018755022436380386, "unnecessary_wheel_lift": -0.1335602104663849, "rolling_leg_motion": -0.759657621383667, "obstacle_progress": 2.778681755065918, "wheel_body_intrusion": -0.2874816358089447, "pair_body_intrusion": -0.33222004771232605}, "weighted_reward_terms": {"track_linear_velocity": 1.758206844329834, "track_angular_velocity": 1.8909460306167603, "upright": 0.9626993536949158, "leg_posture": -0.10304287075996399, "standstill": -0.23095814883708954, "action_rate_l2": -0.022804316133260727, "joint_torques_l2": -0.005531972739845514, "dof_pos_limits": -3.036128509847913e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.004868078511208296, "rolling_leg_motion": -0.027688434347510338, "obstacle_progress": 0.10127896815538406, "wheel_body_intrusion": -0.01047829445451498, "pair_body_intrusion": -0.012108945287764072}, "episode_termination_rates": {"time_out": 0.4934210526315789, "fell_over": 0.019736842105263157, "course_exit": 0.4605263157894737, "illegal_nonwheel_contact": 0.02631578947368421}, "collection_time_s": 0.07539203464053572, "learning_time_s": 0.18531524204066954, "iteration_time_s": 0.3510213019976353, "policy_updates": 17450, "skipped_updates": 0, "invalid_env_resets": 83, "elapsed_s": 6230.628110458027, "nonwheel_terminations": 11572, "contact_bce": 0.30646777153015137, "contact_force_loss": 0.021630018949508667, "collision_bce": 6.5885146796063054e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 6.631262294831686e-06, "collision_label_count": 16352.0, "terrain_level_mean": 2.951904296875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [39, 102, 99, 83, 51, 36], "episodes_by_level": [[1288.0, 276.0, 46.0, 0.0], [1316.0, 284.0, 35.0, 0.0], [743.0, 178.0, 23.0, 0.0], [332.0, 91.0, 8.0, 0.0], [154.0, 37.0, 4.0, 0.0], [65.0, 16.0, 1.0, 0.0]]}, "up": {"level_counts": [1, 13, 131, 461, 684, 143], "episodes_by_level": [[691.0, 555.0, 7.0, 0.0], [2370.0, 1444.0, 37.0, 0.0], [4056.0, 1573.0, 165.0, 0.0], [3123.0, 982.0, 187.0, 0.0], [1118.0, 170.0, 120.0, 0.0], [61.0, 0.0, 21.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 7, 78, 527], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [757.0, 668.0, 21.0, 0.0], [917.0, 749.0, 25.0, 0.0], [1277.0, 979.0, 57.0, 0.0], [3004.0, 2278.0, 163.0, 0.0]]}, "platform": {"level_counts": [58, 112, 131, 77, 27, 5], "episodes_by_level": [[1458.0, 315.0, 48.0, 0.0], [1389.0, 278.0, 62.0, 0.0], [662.0, 129.0, 44.0, 0.0], [289.0, 39.0, 20.0, 0.0], [56.0, 7.0, 7.0, 0.0], [4.0, 1.0, 2.0, 0.0]]}, "slope": {"level_counts": [50, 111, 94, 70, 52, 33], "episodes_by_level": [[1345.0, 288.0, 43.0, 0.0], [1305.0, 264.0, 55.0, 0.0], [717.0, 166.0, 29.0, 0.0], [333.0, 88.0, 11.0, 0.0], [158.0, 34.0, 3.0, 0.0], [65.0, 14.0, 1.0, 0.0]]}, "rubble": {"level_counts": [104, 241, 263, 160, 45, 6], "episodes_by_level": [[2664.0, 599.0, 89.0, 0.0], [2857.0, 618.0, 139.0, 0.0], [1592.0, 316.0, 161.0, 0.0], [600.0, 77.0, 105.0, 0.0], [89.0, 9.0, 26.0, 0.0], [3.0, 0.0, 3.0, 0.0]]}}, "success_archive_windows": 37580, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.230712890625, "command_abs_max": [0.9989018440246582, 0.39908671379089355, 0.6996234655380249]}
{"step": 17800, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 17800, "total_transitions": 72908800, "num_steps_per_env": 1, "wm_loss": 0.7798317074775696, "actor_loss": -9.481559753417969, "critic_loss": 0.0067987763322889805, "reward": 0.08608344197273254, "falls": 2, "interval_steps": 50, "velocity_mae": [0.11776892840862274, 0.07201449573040009, 0.13606266677379608], "mean_episode_length": 1354.125, "episode_reward_terms": {"track_linear_velocity": 47.808921813964844, "track_angular_velocity": 51.169342041015625, "upright": 26.085588455200195, "leg_posture": -2.7755072116851807, "standstill": -6.322904109954834, "action_rate_l2": -0.6016222834587097, "joint_torques_l2": -0.15045855939388275, "dof_pos_limits": -0.0001905260724015534, "terminated": -0.0052895499393343925, "unnecessary_wheel_lift": -0.0936388224363327, "rolling_leg_motion": -0.7232059240341187, "obstacle_progress": 2.814209461212158, "wheel_body_intrusion": -0.2802005112171173, "pair_body_intrusion": -0.3573169410228729}, "weighted_reward_terms": {"track_linear_velocity": 1.7653069496154785, "track_angular_velocity": 1.8893877267837524, "upright": 0.9631898403167725, "leg_posture": -0.10248342156410217, "standstill": -0.23346826434135437, "action_rate_l2": -0.022214429453015327, "joint_torques_l2": -0.005555564071983099, "dof_pos_limits": -7.035025646473514e-06, "terminated": -0.0001953124738065526, "unnecessary_wheel_lift": -0.0034575399477034807, "rolling_leg_motion": -0.026703808456659317, "obstacle_progress": 0.10391247272491455, "wheel_body_intrusion": -0.01034618355333805, "pair_body_intrusion": -0.0131936464458704}, "episode_termination_rates": {"time_out": 0.515625, "fell_over": 0.0, "course_exit": 0.46875, "illegal_nonwheel_contact": 0.015625}, "collection_time_s": 0.07546742578386328, "learning_time_s": 0.18551679591881112, "iteration_time_s": 0.3507684500717978, "policy_updates": 17500, "skipped_updates": 0, "invalid_env_resets": 83, "elapsed_s": 6243.678411278001, "nonwheel_terminations": 11574, "contact_bce": 0.2972950041294098, "contact_force_loss": 0.020981086418032646, "collision_bce": 0.0007344298646785319, "collision_label_rate": 0.000122361583635211, "collision_prediction_mean": 2.2929642000235617e-05, "collision_label_count": 16345.0, "terrain_level_mean": 2.958984375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [39, 101, 99, 84, 51, 36], "episodes_by_level": [[1290.0, 276.0, 46.0, 0.0], [1320.0, 285.0, 35.0, 0.0], [744.0, 179.0, 23.0, 0.0], [334.0, 91.0, 8.0, 0.0], [155.0, 37.0, 4.0, 0.0], [67.0, 17.0, 1.0, 0.0]]}, "up": {"level_counts": [1, 12, 130, 453, 691, 146], "episodes_by_level": [[691.0, 555.0, 7.0, 0.0], [2371.0, 1445.0, 37.0, 0.0], [4059.0, 1575.0, 165.0, 0.0], [3139.0, 992.0, 187.0, 0.0], [1128.0, 173.0, 120.0, 0.0], [61.0, 0.0, 21.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 8, 76, 529], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [758.0, 669.0, 21.0, 0.0], [917.0, 749.0, 25.0, 0.0], [1279.0, 981.0, 57.0, 0.0], [3019.0, 2291.0, 163.0, 0.0]]}, "platform": {"level_counts": [57, 113, 131, 77, 27, 5], "episodes_by_level": [[1460.0, 316.0, 48.0, 0.0], [1390.0, 278.0, 62.0, 0.0], [667.0, 129.0, 44.0, 0.0], [292.0, 39.0, 20.0, 0.0], [57.0, 7.0, 7.0, 0.0], [4.0, 1.0, 2.0, 0.0]]}, "slope": {"level_counts": [50, 111, 93, 71, 52, 33], "episodes_by_level": [[1346.0, 288.0, 43.0, 0.0], [1308.0, 264.0, 55.0, 0.0], [720.0, 167.0, 29.0, 0.0], [335.0, 88.0, 11.0, 0.0], [159.0, 34.0, 3.0, 0.0], [65.0, 14.0, 1.0, 0.0]]}, "rubble": {"level_counts": [103, 240, 263, 160, 48, 5], "episodes_by_level": [[2666.0, 600.0, 89.0, 0.0], [2868.0, 620.0, 139.0, 0.0], [1603.0, 319.0, 161.0, 0.0], [607.0, 79.0, 106.0, 0.0], [89.0, 9.0, 26.0, 0.0], [4.0, 0.0, 4.0, 0.0]]}}, "success_archive_windows": 37721, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234375, "command_abs_max": [0.9989018440246582, 0.39908671379089355, 0.6996234655380249]}
{"step": 17850, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 17850, "total_transitions": 73113600, "num_steps_per_env": 1, "wm_loss": 0.7714017033576965, "actor_loss": -9.483060836791992, "critic_loss": 0.0038858563639223576, "reward": 0.08582586795091629, "falls": 7, "interval_steps": 50, "velocity_mae": [0.12094235420227051, 0.07388604432344437, 0.13660481572151184], "mean_episode_length": 1359.6451612903227, "episode_reward_terms": {"track_linear_velocity": 47.752681732177734, "track_angular_velocity": 51.356632232666016, "upright": 26.162935256958008, "leg_posture": -2.811790943145752, "standstill": -6.365721702575684, "action_rate_l2": -0.6102933883666992, "joint_torques_l2": -0.15209197998046875, "dof_pos_limits": -0.00034908202360384166, "terminated": -0.018588896840810776, "unnecessary_wheel_lift": -0.11566244065761566, "rolling_leg_motion": -0.7319764494895935, "obstacle_progress": 2.8274571895599365, "wheel_body_intrusion": -0.2778845429420471, "pair_body_intrusion": -0.3226369619369507}, "weighted_reward_terms": {"track_linear_velocity": 1.7560714483261108, "track_angular_velocity": 1.8886042833328247, "upright": 0.9621236324310303, "leg_posture": -0.10340164601802826, "standstill": -0.23409496247768402, "action_rate_l2": -0.02244311198592186, "joint_torques_l2": -0.0055930763483047485, "dof_pos_limits": -1.2837247595598456e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.00425340561196208, "rolling_leg_motion": -0.026917925104498863, "obstacle_progress": 0.10397776961326599, "wheel_body_intrusion": -0.010219009593129158, "pair_body_intrusion": -0.011864748783409595}, "episode_termination_rates": {"time_out": 0.535483870967742, "fell_over": 0.0064516129032258064, "course_exit": 0.41935483870967744, "illegal_nonwheel_contact": 0.04516129032258064}, "collection_time_s": 0.07551762957591564, "learning_time_s": 0.18414670532220043, "iteration_time_s": 0.3505133165896372, "policy_updates": 17550, "skipped_updates": 0, "invalid_env_resets": 83, "elapsed_s": 6256.662701125024, "nonwheel_terminations": 11581, "contact_bce": 0.30382612347602844, "contact_force_loss": 0.02156514674425125, "collision_bce": 0.00020179802959319204, "collision_label_rate": 0.00018348623416386545, "collision_prediction_mean": 0.0001255857350770384, "collision_label_count": 16350.0, "terrain_level_mean": 2.964111328125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [39, 101, 99, 83, 51, 37], "episodes_by_level": [[1295.0, 276.0, 46.0, 0.0], [1320.0, 285.0, 35.0, 0.0], [748.0, 179.0, 23.0, 0.0], [338.0, 92.0, 8.0, 0.0], [156.0, 38.0, 4.0, 0.0], [69.0, 17.0, 1.0, 0.0]]}, "up": {"level_counts": [1, 12, 126, 457, 689, 148], "episodes_by_level": [[691.0, 555.0, 7.0, 0.0], [2371.0, 1445.0, 37.0, 0.0], [4062.0, 1578.0, 165.0, 0.0], [3149.0, 995.0, 187.0, 0.0], [1149.0, 177.0, 121.0, 0.0], [63.0, 0.0, 21.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 8, 73, 532], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [758.0, 669.0, 21.0, 0.0], [917.0, 749.0, 25.0, 0.0], [1283.0, 985.0, 57.0, 0.0], [3032.0, 2300.0, 163.0, 0.0]]}, "platform": {"level_counts": [56, 113, 129, 79, 29, 4], "episodes_by_level": [[1462.0, 317.0, 48.0, 0.0], [1392.0, 279.0, 62.0, 0.0], [676.0, 132.0, 44.0, 0.0], [294.0, 40.0, 20.0, 0.0], [57.0, 7.0, 7.0, 0.0], [5.0, 1.0, 3.0, 0.0]]}, "slope": {"level_counts": [50, 110, 94, 71, 52, 33], "episodes_by_level": [[1348.0, 288.0, 43.0, 0.0], [1311.0, 265.0, 55.0, 0.0], [722.0, 167.0, 29.0, 0.0], [337.0, 88.0, 11.0, 0.0], [161.0, 34.0, 3.0, 0.0], [67.0, 14.0, 1.0, 0.0]]}, "rubble": {"level_counts": [102, 241, 261, 161, 49, 5], "episodes_by_level": [[2672.0, 601.0, 89.0, 0.0], [2873.0, 620.0, 139.0, 0.0], [1613.0, 321.0, 161.0, 0.0], [611.0, 80.0, 106.0, 0.0], [91.0, 9.0, 26.0, 0.0], [4.0, 0.0, 4.0, 0.0]]}}, "success_archive_windows": 37845, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.237060546875, "command_abs_max": [0.9999977350234985, 0.3987685441970825, 0.6996234655380249]}
{"step": 17900, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 17900, "total_transitions": 73318400, "num_steps_per_env": 1, "wm_loss": 0.8081620335578918, "actor_loss": -9.471457481384277, "critic_loss": 0.003842417150735855, "reward": 0.08567199856042862, "falls": 10, "interval_steps": 50, "velocity_mae": [0.12026594579219818, 0.07349323481321335, 0.13553768396377563], "mean_episode_length": 1388.813253012048, "episode_reward_terms": {"track_linear_velocity": 48.82578659057617, "track_angular_velocity": 52.48585510253906, "upright": 26.707120895385742, "leg_posture": -2.9337823390960693, "standstill": -6.588230133056641, "action_rate_l2": -0.6178761720657349, "joint_torques_l2": -0.1543409675359726, "dof_pos_limits": -0.0008688837406225502, "terminated": -0.02712525613605976, "unnecessary_wheel_lift": -0.12594187259674072, "rolling_leg_motion": -0.7425102591514587, "obstacle_progress": 2.778093099594116, "wheel_body_intrusion": -0.28822705149650574, "pair_body_intrusion": -0.33557799458503723}, "weighted_reward_terms": {"track_linear_velocity": 1.7578240633010864, "track_angular_velocity": 1.8895937204360962, "upright": 0.9615086913108826, "leg_posture": -0.10562191903591156, "standstill": -0.23718921840190887, "action_rate_l2": -0.022244753316044807, "joint_torques_l2": -0.005556577816605568, "dof_pos_limits": -3.1281520932679996e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.004534154664725065, "rolling_leg_motion": -0.02673182636499405, "obstacle_progress": 0.10001680254936218, "wheel_body_intrusion": -0.01037673931568861, "pair_body_intrusion": -0.012081466615200043}, "episode_termination_rates": {"time_out": 0.4819277108433735, "fell_over": 0.04216867469879518, "course_exit": 0.4578313253012048, "illegal_nonwheel_contact": 0.03614457831325301}, "collection_time_s": 0.07546836261637509, "learning_time_s": 0.1829477351589594, "iteration_time_s": 0.35025613578178855, "policy_updates": 17600, "skipped_updates": 0, "invalid_env_resets": 83, "elapsed_s": 6269.5848304940155, "nonwheel_terminations": 11587, "contact_bce": 0.30134543776512146, "contact_force_loss": 0.020883362740278244, "collision_bce": 2.3623055312782526e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 2.2750089556211606e-05, "collision_label_count": 16336.0, "terrain_level_mean": 2.96923828125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [39, 101, 99, 83, 51, 37], "episodes_by_level": [[1297.0, 276.0, 46.0, 0.0], [1322.0, 285.0, 35.0, 0.0], [749.0, 179.0, 23.0, 0.0], [341.0, 92.0, 8.0, 0.0], [158.0, 38.0, 4.0, 0.0], [73.0, 19.0, 1.0, 0.0]]}, "up": {"level_counts": [1, 14, 124, 452, 688, 154], "episodes_by_level": [[691.0, 555.0, 7.0, 0.0], [2371.0, 1445.0, 37.0, 0.0], [4066.0, 1579.0, 165.0, 0.0], [3162.0, 1001.0, 187.0, 0.0], [1169.0, 183.0, 122.0, 0.0], [64.0, 0.0, 21.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 8, 72, 533], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [758.0, 669.0, 21.0, 0.0], [917.0, 749.0, 25.0, 0.0], [1285.0, 987.0, 57.0, 0.0], [3048.0, 2312.0, 163.0, 0.0]]}, "platform": {"level_counts": [57, 110, 130, 79, 30, 4], "episodes_by_level": [[1464.0, 317.0, 48.0, 0.0], [1400.0, 281.0, 63.0, 0.0], [678.0, 133.0, 44.0, 0.0], [296.0, 41.0, 20.0, 0.0], [59.0, 7.0, 7.0, 0.0], [5.0, 1.0, 3.0, 0.0]]}, "slope": {"level_counts": [49, 109, 95, 72, 51, 34], "episodes_by_level": [[1351.0, 289.0, 43.0, 0.0], [1317.0, 267.0, 55.0, 0.0], [725.0, 168.0, 29.0, 0.0], [339.0, 88.0, 11.0, 0.0], [163.0, 35.0, 3.0, 0.0], [68.0, 14.0, 1.0, 0.0]]}, "rubble": {"level_counts": [103, 240, 258, 163, 50, 5], "episodes_by_level": [[2675.0, 601.0, 89.0, 0.0], [2885.0, 622.0, 140.0, 0.0], [1625.0, 325.0, 163.0, 0.0], [617.0, 81.0, 107.0, 0.0], [92.0, 9.0, 26.0, 0.0], [4.0, 0.0, 4.0, 0.0]]}}, "success_archive_windows": 37979, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.236083984375, "command_abs_max": [0.9999977350234985, 0.3976210355758667, 0.6996253728866577]}
{"step": 17950, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 17950, "total_transitions": 73523200, "num_steps_per_env": 1, "wm_loss": 0.7329440712928772, "actor_loss": -9.455968856811523, "critic_loss": 0.002934866352006793, "reward": 0.08603179454803467, "falls": 10, "interval_steps": 50, "velocity_mae": [0.12027951329946518, 0.07350663840770721, 0.13437874615192413], "mean_episode_length": 1399.24, "episode_reward_terms": {"track_linear_velocity": 49.22377395629883, "track_angular_velocity": 52.941951751708984, "upright": 26.8981876373291, "leg_posture": -2.9586403369903564, "standstill": -6.3082146644592285, "action_rate_l2": -0.6121789813041687, "joint_torques_l2": -0.15537258982658386, "dof_pos_limits": -0.0006849477649666369, "terminated": -0.02732890285551548, "unnecessary_wheel_lift": -0.11766767501831055, "rolling_leg_motion": -0.7505691051483154, "obstacle_progress": 2.855682373046875, "wheel_body_intrusion": -0.28858867287635803, "pair_body_intrusion": -0.3212234079837799}, "weighted_reward_terms": {"track_linear_velocity": 1.7589468955993652, "track_angular_velocity": 1.8918111324310303, "upright": 0.9611713886260986, "leg_posture": -0.10572312772274017, "standstill": -0.22541576623916626, "action_rate_l2": -0.02187541127204895, "joint_torques_l2": -0.005552035290747881, "dof_pos_limits": -2.447570841468405e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.004204699769616127, "rolling_leg_motion": -0.026820601895451546, "obstacle_progress": 0.10204404592514038, "wheel_body_intrusion": -0.0103123364970088, "pair_body_intrusion": -0.01147849578410387}, "episode_termination_rates": {"time_out": 0.52, "fell_over": 0.04, "course_exit": 0.42857142857142855, "illegal_nonwheel_contact": 0.02857142857142857}, "collection_time_s": 0.07562987693934702, "learning_time_s": 0.18488645865465514, "iteration_time_s": 0.35000622787721347, "policy_updates": 17650, "skipped_updates": 0, "invalid_env_resets": 83, "elapsed_s": 6282.611790395982, "nonwheel_terminations": 11592, "contact_bce": 0.3012358546257019, "contact_force_loss": 0.021377887576818466, "collision_bce": 9.698962094262242e-05, "collision_label_rate": 0.00012239902571309358, "collision_prediction_mean": 0.00016656093066558242, "collision_label_count": 16340.0, "terrain_level_mean": 2.97509765625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [39, 98, 101, 83, 52, 37], "episodes_by_level": [[1299.0, 276.0, 46.0, 0.0], [1330.0, 288.0, 35.0, 0.0], [752.0, 180.0, 23.0, 0.0], [344.0, 93.0, 8.0, 0.0], [158.0, 38.0, 4.0, 0.0], [73.0, 19.0, 1.0, 0.0]]}, "up": {"level_counts": [1, 14, 121, 448, 687, 162], "episodes_by_level": [[691.0, 555.0, 7.0, 0.0], [2372.0, 1445.0, 37.0, 0.0], [4073.0, 1583.0, 165.0, 0.0], [3179.0, 1009.0, 188.0, 0.0], [1188.0, 190.0, 123.0, 0.0], [67.0, 0.0, 21.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 8, 73, 532], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [758.0, 669.0, 21.0, 0.0], [917.0, 749.0, 25.0, 0.0], [1285.0, 987.0, 57.0, 0.0], [3075.0, 2332.0, 163.0, 0.0]]}, "platform": {"level_counts": [57, 111, 129, 79, 30, 4], "episodes_by_level": [[1467.0, 318.0, 48.0, 0.0], [1407.0, 281.0, 64.0, 0.0], [680.0, 133.0, 45.0, 0.0], [298.0, 42.0, 20.0, 0.0], [63.0, 7.0, 8.0, 0.0], [5.0, 1.0, 3.0, 0.0]]}, "slope": {"level_counts": [49, 108, 96, 72, 51, 34], "episodes_by_level": [[1355.0, 289.0, 43.0, 0.0], [1320.0, 268.0, 55.0, 0.0], [726.0, 168.0, 29.0, 0.0], [341.0, 88.0, 11.0, 0.0], [163.0, 35.0, 3.0, 0.0], [71.0, 15.0, 1.0, 0.0]]}, "rubble": {"level_counts": [102, 243, 255, 162, 52, 5], "episodes_by_level": [[2679.0, 602.0, 89.0, 0.0], [2891.0, 622.0, 140.0, 0.0], [1638.0, 327.0, 165.0, 0.0], [625.0, 83.0, 108.0, 0.0], [93.0, 9.0, 26.0, 0.0], [4.0, 0.0, 4.0, 0.0]]}}, "success_archive_windows": 38103, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23193359375, "command_abs_max": [0.9999977350234985, 0.3999806046485901, 0.6996253728866577]}
{"step": 18000, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 18000, "total_transitions": 73728000, "num_steps_per_env": 1, "wm_loss": 0.7970695495605469, "actor_loss": -9.465239524841309, "critic_loss": 0.0031597658526152372, "reward": 0.08574744313955307, "falls": 7, "interval_steps": 50, "velocity_mae": [0.12009134888648987, 0.07397564500570297, 0.1367902308702469], "mean_episode_length": 1410.237037037037, "episode_reward_terms": {"track_linear_velocity": 49.57343673706055, "track_angular_velocity": 53.2454833984375, "upright": 27.126968383789062, "leg_posture": -3.0164895057678223, "standstill": -6.488668441772461, "action_rate_l2": -0.6059669256210327, "joint_torques_l2": -0.15716423094272614, "dof_pos_limits": -0.0005661608884111047, "terminated": -0.019280582666397095, "unnecessary_wheel_lift": -0.12184327840805054, "rolling_leg_motion": -0.7754433155059814, "obstacle_progress": 2.830209970474243, "wheel_body_intrusion": -0.2972404360771179, "pair_body_intrusion": -0.36921218037605286}, "weighted_reward_terms": {"track_linear_velocity": 1.7576278448104858, "track_angular_velocity": 1.8878203630447388, "upright": 0.9617875218391418, "leg_posture": -0.10694973915815353, "standstill": -0.23005595803260803, "action_rate_l2": -0.021484578028321266, "joint_torques_l2": -0.0055722626857459545, "dof_pos_limits": -2.00732520170277e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.004319957457482815, "rolling_leg_motion": -0.027493368834257126, "obstacle_progress": 0.1003451868891716, "wheel_body_intrusion": -0.010538669303059578, "pair_body_intrusion": -0.013090429827570915}, "episode_termination_rates": {"time_out": 0.5333333333333333, "fell_over": 0.044444444444444446, "course_exit": 0.4148148148148148, "illegal_nonwheel_contact": 0.014814814814814815}, "collection_time_s": 0.07547738661873155, "learning_time_s": 0.18524296341696755, "iteration_time_s": 0.34975827410855626, "policy_updates": 17700, "skipped_updates": 0, "invalid_env_resets": 83, "elapsed_s": 6295.648933954013, "nonwheel_terminations": 11594, "contact_bce": 0.30879777669906616, "contact_force_loss": 0.021958161145448685, "collision_bce": 5.967973720544251e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 6.036852028046269e-06, "collision_label_count": 16351.0, "terrain_level_mean": 2.981201171875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [39, 98, 101, 82, 53, 37], "episodes_by_level": [[1299.0, 276.0, 46.0, 0.0], [1331.0, 288.0, 35.0, 0.0], [757.0, 180.0, 23.0, 0.0], [349.0, 94.0, 8.0, 0.0], [158.0, 38.0, 4.0, 0.0], [74.0, 19.0, 1.0, 0.0]]}, "up": {"level_counts": [1, 13, 120, 445, 687, 167], "episodes_by_level": [[691.0, 555.0, 7.0, 0.0], [2373.0, 1446.0, 37.0, 0.0], [4075.0, 1585.0, 165.0, 0.0], [3187.0, 1014.0, 188.0, 0.0], [1206.0, 196.0, 123.0, 0.0], [68.0, 0.0, 22.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 8, 73, 532], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [758.0, 669.0, 21.0, 0.0], [917.0, 749.0, 25.0, 0.0], [1286.0, 988.0, 57.0, 0.0], [3086.0, 2341.0, 163.0, 0.0]]}, "platform": {"level_counts": [56, 111, 130, 79, 30, 4], "episodes_by_level": [[1469.0, 319.0, 48.0, 0.0], [1413.0, 282.0, 64.0, 0.0], [683.0, 134.0, 45.0, 0.0], [300.0, 42.0, 21.0, 0.0], [63.0, 7.0, 8.0, 0.0], [5.0, 1.0, 3.0, 0.0]]}, "slope": {"level_counts": [49, 107, 96, 72, 51, 35], "episodes_by_level": [[1360.0, 289.0, 43.0, 0.0], [1324.0, 269.0, 55.0, 0.0], [729.0, 169.0, 29.0, 0.0], [342.0, 89.0, 11.0, 0.0], [165.0, 36.0, 3.0, 0.0], [71.0, 15.0, 1.0, 0.0]]}, "rubble": {"level_counts": [101, 240, 259, 162, 52, 5], "episodes_by_level": [[2684.0, 603.0, 89.0, 0.0], [2903.0, 626.0, 140.0, 0.0], [1644.0, 329.0, 165.0, 0.0], [629.0, 83.0, 110.0, 0.0], [94.0, 9.0, 26.0, 0.0], [4.0, 0.0, 4.0, 0.0]]}}, "success_archive_windows": 38235, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.235107421875, "command_abs_max": [0.9999977350234985, 0.3999806046485901, 0.6996253728866577]}
{"step": 18050, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 18050, "total_transitions": 73932800, "num_steps_per_env": 1, "wm_loss": 0.7711288928985596, "actor_loss": -9.458975791931152, "critic_loss": 0.003123106202110648, "reward": 0.08579578250646591, "falls": 6, "interval_steps": 50, "velocity_mae": [0.1199270486831665, 0.07259849458932877, 0.13710613548755646], "mean_episode_length": 1346.635761589404, "episode_reward_terms": {"track_linear_velocity": 47.41000747680664, "track_angular_velocity": 50.83283233642578, "upright": 25.930910110473633, "leg_posture": -2.8523504734039307, "standstill": -6.3736443519592285, "action_rate_l2": -0.5928781032562256, "joint_torques_l2": -0.14942437410354614, "dof_pos_limits": -0.00025687681045383215, "terminated": -0.015780886635184288, "unnecessary_wheel_lift": -0.10953430831432343, "rolling_leg_motion": -0.7331233024597168, "obstacle_progress": 2.7604894638061523, "wheel_body_intrusion": -0.278670072555542, "pair_body_intrusion": -0.29293182492256165}, "weighted_reward_terms": {"track_linear_velocity": 1.7603130340576172, "track_angular_velocity": 1.8874011039733887, "upright": 0.9628034830093384, "leg_posture": -0.10590653866529465, "standstill": -0.23665064573287964, "action_rate_l2": -0.022013306617736816, "joint_torques_l2": -0.005548062268644571, "dof_pos_limits": -9.537724508845713e-06, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.0040669613517820835, "rolling_leg_motion": -0.027220550924539566, "obstacle_progress": 0.10249577462673187, "wheel_body_intrusion": -0.01034689974039793, "pair_body_intrusion": -0.010876432061195374}, "episode_termination_rates": {"time_out": 0.4966887417218543, "fell_over": 0.013245033112582781, "course_exit": 0.46357615894039733, "illegal_nonwheel_contact": 0.033112582781456956}, "collection_time_s": 0.07587258013780229, "learning_time_s": 0.1853178195259534, "iteration_time_s": 0.3495144632694742, "policy_updates": 17750, "skipped_updates": 0, "invalid_env_resets": 84, "elapsed_s": 6308.73606201401, "nonwheel_terminations": 11599, "contact_bce": 0.29871803522109985, "contact_force_loss": 0.02101217582821846, "collision_bce": 0.0002305421221535653, "collision_label_rate": 6.112096161814407e-05, "collision_prediction_mean": 1.594601599208545e-05, "collision_label_count": 16361.0, "terrain_level_mean": 2.989501953125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [39, 96, 102, 83, 52, 38], "episodes_by_level": [[1299.0, 276.0, 46.0, 0.0], [1334.0, 290.0, 35.0, 0.0], [758.0, 181.0, 23.0, 0.0], [351.0, 94.0, 8.0, 0.0], [160.0, 39.0, 4.0, 0.0], [76.0, 20.0, 1.0, 0.0]]}, "up": {"level_counts": [1, 12, 123, 433, 688, 176], "episodes_by_level": [[691.0, 555.0, 7.0, 0.0], [2374.0, 1447.0, 37.0, 0.0], [4076.0, 1586.0, 165.0, 0.0], [3203.0, 1024.0, 188.0, 0.0], [1231.0, 205.0, 123.0, 0.0], [74.0, 0.0, 22.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 8, 71, 534], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [758.0, 669.0, 21.0, 0.0], [917.0, 749.0, 25.0, 0.0], [1290.0, 992.0, 57.0, 0.0], [3096.0, 2350.0, 163.0, 0.0]]}, "platform": {"level_counts": [56, 112, 129, 79, 30, 4], "episodes_by_level": [[1470.0, 319.0, 48.0, 0.0], [1413.0, 282.0, 64.0, 0.0], [688.0, 134.0, 46.0, 0.0], [302.0, 42.0, 21.0, 0.0], [64.0, 7.0, 8.0, 0.0], [5.0, 1.0, 3.0, 0.0]]}, "slope": {"level_counts": [49, 107, 95, 73, 51, 35], "episodes_by_level": [[1360.0, 289.0, 43.0, 0.0], [1326.0, 269.0, 55.0, 0.0], [730.0, 170.0, 29.0, 0.0], [344.0, 89.0, 11.0, 0.0], [166.0, 36.0, 3.0, 0.0], [73.0, 15.0, 1.0, 0.0]]}, "rubble": {"level_counts": [98, 240, 260, 163, 52, 6], "episodes_by_level": [[2688.0, 606.0, 89.0, 0.0], [2911.0, 629.0, 140.0, 0.0], [1650.0, 331.0, 165.0, 0.0], [631.0, 84.0, 110.0, 0.0], [97.0, 10.0, 26.0, 0.0], [4.0, 0.0, 4.0, 0.0]]}}, "success_archive_windows": 38389, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23388671875, "command_abs_max": [0.9999977350234985, 0.3999806046485901, 0.6996253728866577]}
{"step": 18100, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 18100, "total_transitions": 74137600, "num_steps_per_env": 1, "wm_loss": 0.7482799887657166, "actor_loss": -9.465238571166992, "critic_loss": 0.006088444031774998, "reward": 0.08580783009529114, "falls": 11, "interval_steps": 50, "velocity_mae": [0.1213093250989914, 0.07389980554580688, 0.13776718080043793], "mean_episode_length": 1351.3703703703704, "episode_reward_terms": {"track_linear_velocity": 47.4545783996582, "track_angular_velocity": 50.98560333251953, "upright": 25.994333267211914, "leg_posture": -2.8414151668548584, "standstill": -6.192287921905518, "action_rate_l2": -0.5832461714744568, "joint_torques_l2": -0.1518251746892929, "dof_pos_limits": -0.0008528797188773751, "terminated": -0.029033344238996506, "unnecessary_wheel_lift": -0.12259955704212189, "rolling_leg_motion": -0.7161692380905151, "obstacle_progress": 2.7165372371673584, "wheel_body_intrusion": -0.2684127986431122, "pair_body_intrusion": -0.2870462238788605}, "weighted_reward_terms": {"track_linear_velocity": 1.7557947635650635, "track_angular_velocity": 1.8864408731460571, "upright": 0.961776852607727, "leg_posture": -0.1051308810710907, "standstill": -0.2291114330291748, "action_rate_l2": -0.0215798057615757, "joint_torques_l2": -0.005617452785372734, "dof_pos_limits": -3.1556108297081664e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.004536119755357504, "rolling_leg_motion": -0.026497887447476387, "obstacle_progress": 0.10051046311855316, "wheel_body_intrusion": -0.009931134060025215, "pair_body_intrusion": -0.010620560497045517}, "episode_termination_rates": {"time_out": 0.47530864197530864, "fell_over": 0.04938271604938271, "course_exit": 0.4567901234567901, "illegal_nonwheel_contact": 0.05555555555555555}, "collection_time_s": 0.07553136517992243, "learning_time_s": 0.1847460678394418, "iteration_time_s": 0.34926801221486364, "policy_updates": 17800, "skipped_updates": 0, "invalid_env_resets": 84, "elapsed_s": 6321.751021089032, "nonwheel_terminations": 11608, "contact_bce": 0.30259039998054504, "contact_force_loss": 0.021235136315226555, "collision_bce": 7.71380218793638e-05, "collision_label_rate": 6.112843402661383e-05, "collision_prediction_mean": 6.296624633250758e-05, "collision_label_count": 16359.0, "terrain_level_mean": 2.9970703125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [39, 95, 102, 83, 53, 38], "episodes_by_level": [[1299.0, 276.0, 46.0, 0.0], [1341.0, 291.0, 35.0, 0.0], [759.0, 182.0, 23.0, 0.0], [353.0, 95.0, 8.0, 0.0], [160.0, 39.0, 4.0, 0.0], [78.0, 21.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 13, 119, 430, 688, 183], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2374.0, 1447.0, 37.0, 0.0], [4081.0, 1590.0, 165.0, 0.0], [3213.0, 1033.0, 188.0, 0.0], [1246.0, 212.0, 124.0, 0.0], [77.0, 0.0, 22.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 8, 67, 538], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [758.0, 669.0, 21.0, 0.0], [918.0, 749.0, 25.0, 0.0], [1295.0, 997.0, 57.0, 0.0], [3112.0, 2365.0, 163.0, 0.0]]}, "platform": {"level_counts": [55, 112, 129, 80, 30, 4], "episodes_by_level": [[1475.0, 320.0, 49.0, 0.0], [1417.0, 283.0, 64.0, 0.0], [692.0, 135.0, 46.0, 0.0], [307.0, 42.0, 21.0, 0.0], [65.0, 7.0, 8.0, 0.0], [5.0, 1.0, 3.0, 0.0]]}, "slope": {"level_counts": [49, 107, 95, 72, 51, 36], "episodes_by_level": [[1362.0, 289.0, 43.0, 0.0], [1330.0, 269.0, 55.0, 0.0], [734.0, 170.0, 29.0, 0.0], [347.0, 90.0, 11.0, 0.0], [168.0, 37.0, 3.0, 0.0], [74.0, 15.0, 1.0, 0.0]]}, "rubble": {"level_counts": [98, 240, 261, 163, 49, 8], "episodes_by_level": [[2691.0, 606.0, 89.0, 0.0], [2920.0, 632.0, 140.0, 0.0], [1658.0, 332.0, 168.0, 0.0], [637.0, 84.0, 112.0, 0.0], [102.0, 12.0, 27.0, 0.0], [4.0, 0.0, 4.0, 0.0]]}}, "success_archive_windows": 38532, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.233642578125, "command_abs_max": [0.9999977350234985, 0.3999806046485901, 0.6996253728866577]}
{"step": 18150, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 18150, "total_transitions": 74342400, "num_steps_per_env": 1, "wm_loss": 0.8017691969871521, "actor_loss": -9.466008186340332, "critic_loss": 0.004398963879793882, "reward": 0.08626270294189453, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11833662539720535, 0.07238250970840454, 0.13733606040477753], "mean_episode_length": 1385.4264705882354, "episode_reward_terms": {"track_linear_velocity": 48.883365631103516, "track_angular_velocity": 52.290714263916016, "upright": 26.682729721069336, "leg_posture": -2.9277491569519043, "standstill": -6.101603031158447, "action_rate_l2": -0.5951440334320068, "joint_torques_l2": -0.1528290957212448, "dof_pos_limits": -0.0004451978311408311, "terminated": -0.018941376358270645, "unnecessary_wheel_lift": -0.11185890436172485, "rolling_leg_motion": -0.7429462671279907, "obstacle_progress": 2.9113528728485107, "wheel_body_intrusion": -0.27869516611099243, "pair_body_intrusion": -0.32731199264526367}, "weighted_reward_terms": {"track_linear_velocity": 1.764199137687683, "track_angular_velocity": 1.8871701955795288, "upright": 0.9629788994789124, "leg_posture": -0.10566238313913345, "standstill": -0.22020666301250458, "action_rate_l2": -0.02147872932255268, "joint_torques_l2": -0.00551559729501605, "dof_pos_limits": -1.6067177057266235e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.004036984406411648, "rolling_leg_motion": -0.026812907308340073, "obstacle_progress": 0.10507064312696457, "wheel_body_intrusion": -0.010058100335299969, "pair_body_intrusion": -0.011812679469585419}, "episode_termination_rates": {"time_out": 0.5147058823529411, "fell_over": 0.04411764705882353, "course_exit": 0.4338235294117647, "illegal_nonwheel_contact": 0.022058823529411766}, "collection_time_s": 0.0759879370604176, "learning_time_s": 0.18564639626420104, "iteration_time_s": 0.34902665574920105, "policy_updates": 17850, "skipped_updates": 0, "invalid_env_resets": 86, "elapsed_s": 6334.833801847999, "nonwheel_terminations": 11611, "contact_bce": 0.3025863468647003, "contact_force_loss": 0.021457018330693245, "collision_bce": 2.1679203200619668e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 2.1096650016261265e-05, "collision_label_count": 16348.0, "terrain_level_mean": 3.0009765625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [39, 95, 100, 85, 53, 38], "episodes_by_level": [[1303.0, 276.0, 46.0, 0.0], [1343.0, 291.0, 35.0, 0.0], [762.0, 184.0, 23.0, 0.0], [353.0, 95.0, 8.0, 0.0], [160.0, 39.0, 4.0, 0.0], [79.0, 21.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 12, 118, 431, 686, 186], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2375.0, 1448.0, 37.0, 0.0], [4083.0, 1592.0, 165.0, 0.0], [3222.0, 1034.0, 188.0, 0.0], [1257.0, 216.0, 124.0, 0.0], [78.0, 0.0, 22.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 8, 68, 537], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [758.0, 669.0, 21.0, 0.0], [918.0, 749.0, 25.0, 0.0], [1298.0, 999.0, 57.0, 0.0], [3131.0, 2379.0, 163.0, 0.0]]}, "platform": {"level_counts": [55, 112, 129, 80, 31, 3], "episodes_by_level": [[1478.0, 320.0, 49.0, 0.0], [1420.0, 283.0, 64.0, 0.0], [695.0, 135.0, 46.0, 0.0], [309.0, 42.0, 21.0, 0.0], [65.0, 7.0, 8.0, 0.0], [6.0, 1.0, 4.0, 0.0]]}, "slope": {"level_counts": [47, 109, 93, 74, 51, 36], "episodes_by_level": [[1365.0, 291.0, 43.0, 0.0], [1332.0, 269.0, 55.0, 0.0], [739.0, 172.0, 29.0, 0.0], [348.0, 90.0, 11.0, 0.0], [171.0, 37.0, 3.0, 0.0], [74.0, 15.0, 1.0, 0.0]]}, "rubble": {"level_counts": [99, 237, 261, 163, 51, 8], "episodes_by_level": [[2696.0, 606.0, 89.0, 0.0], [2928.0, 634.0, 141.0, 0.0], [1671.0, 335.0, 168.0, 0.0], [645.0, 86.0, 113.0, 0.0], [102.0, 12.0, 27.0, 0.0], [4.0, 0.0, 4.0, 0.0]]}}, "success_archive_windows": 38655, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23828125, "command_abs_max": [0.9989018440246582, 0.3999806046485901, 0.6996253728866577]}
{"step": 18200, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 18200, "total_transitions": 74547200, "num_steps_per_env": 1, "wm_loss": 0.7681971788406372, "actor_loss": -9.466306686401367, "critic_loss": 0.0034162637311965227, "reward": 0.08601529151201248, "falls": 3, "interval_steps": 50, "velocity_mae": [0.11924427002668381, 0.07254183292388916, 0.13762067258358002], "mean_episode_length": 1365.6666666666667, "episode_reward_terms": {"track_linear_velocity": 48.11159896850586, "track_angular_velocity": 51.544097900390625, "upright": 26.30247688293457, "leg_posture": -2.8266525268554688, "standstill": -6.280605792999268, "action_rate_l2": -0.5836560726165771, "joint_torques_l2": -0.1498718410730362, "dof_pos_limits": -0.0001874220761237666, "terminated": -0.00800195150077343, "unnecessary_wheel_lift": -0.0980505421757698, "rolling_leg_motion": -0.7282520532608032, "obstacle_progress": 2.843111515045166, "wheel_body_intrusion": -0.27069446444511414, "pair_body_intrusion": -0.38711681962013245}, "weighted_reward_terms": {"track_linear_velocity": 1.7614694833755493, "track_angular_velocity": 1.8871406316757202, "upright": 0.9629904627799988, "leg_posture": -0.10348984599113464, "standstill": -0.2299465388059616, "action_rate_l2": -0.021368907764554024, "joint_torques_l2": -0.005487131420522928, "dof_pos_limits": -6.861926522105932e-06, "terminated": -0.00029296870343387127, "unnecessary_wheel_lift": -0.00358984200283885, "rolling_leg_motion": -0.026662878692150116, "obstacle_progress": 0.10409244894981384, "wheel_body_intrusion": -0.009910708293318748, "pair_body_intrusion": -0.014173181727528572}, "episode_termination_rates": {"time_out": 0.48299319727891155, "fell_over": 0.0, "course_exit": 0.4965986394557823, "illegal_nonwheel_contact": 0.02040816326530612}, "collection_time_s": 0.07572712048189714, "learning_time_s": 0.18404353842022828, "iteration_time_s": 0.34878150798148505, "policy_updates": 17900, "skipped_updates": 0, "invalid_env_resets": 86, "elapsed_s": 6347.823445263028, "nonwheel_terminations": 11614, "contact_bce": 0.30346569418907166, "contact_force_loss": 0.02133224532008171, "collision_bce": 0.0001291049411520362, "collision_label_rate": 0.0, "collision_prediction_mean": 9.841963037615642e-05, "collision_label_count": 16354.0, "terrain_level_mean": 3.009033203125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [39, 94, 99, 87, 53, 38], "episodes_by_level": [[1304.0, 276.0, 46.0, 0.0], [1346.0, 292.0, 35.0, 0.0], [768.0, 186.0, 23.0, 0.0], [354.0, 95.0, 8.0, 0.0], [160.0, 39.0, 4.0, 0.0], [79.0, 21.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 12, 117, 422, 689, 193], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2376.0, 1448.0, 37.0, 0.0], [4084.0, 1593.0, 165.0, 0.0], [3241.0, 1044.0, 188.0, 0.0], [1273.0, 223.0, 124.0, 0.0], [78.0, 0.0, 22.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 8, 65, 540], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [758.0, 669.0, 21.0, 0.0], [918.0, 749.0, 25.0, 0.0], [1302.0, 1003.0, 57.0, 0.0], [3150.0, 2396.0, 163.0, 0.0]]}, "platform": {"level_counts": [55, 111, 129, 81, 31, 3], "episodes_by_level": [[1483.0, 320.0, 49.0, 0.0], [1423.0, 284.0, 64.0, 0.0], [700.0, 136.0, 46.0, 0.0], [312.0, 42.0, 21.0, 0.0], [65.0, 7.0, 8.0, 0.0], [6.0, 1.0, 4.0, 0.0]]}, "slope": {"level_counts": [47, 109, 93, 74, 50, 37], "episodes_by_level": [[1366.0, 291.0, 43.0, 0.0], [1334.0, 269.0, 55.0, 0.0], [742.0, 172.0, 29.0, 0.0], [349.0, 90.0, 11.0, 0.0], [174.0, 38.0, 3.0, 0.0], [76.0, 16.0, 1.0, 0.0]]}, "rubble": {"level_counts": [97, 239, 259, 163, 53, 8], "episodes_by_level": [[2698.0, 608.0, 89.0, 0.0], [2932.0, 634.0, 141.0, 0.0], [1680.0, 337.0, 168.0, 0.0], [651.0, 89.0, 113.0, 0.0], [106.0, 12.0, 28.0, 0.0], [5.0, 0.0, 4.0, 0.0]]}}, "success_archive_windows": 38789, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2373046875, "command_abs_max": [0.9989018440246582, 0.3999806046485901, 0.6996253728866577]}
{"step": 18250, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 18250, "total_transitions": 74752000, "num_steps_per_env": 1, "wm_loss": 0.760204017162323, "actor_loss": -9.486553192138672, "critic_loss": 0.002738956129178405, "reward": 0.08598672598600388, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11890395730733871, 0.07175372540950775, 0.13631393015384674], "mean_episode_length": 1370.1944444444443, "episode_reward_terms": {"track_linear_velocity": 48.3399658203125, "track_angular_velocity": 51.7568359375, "upright": 26.378700256347656, "leg_posture": -2.8987209796905518, "standstill": -6.393090724945068, "action_rate_l2": -0.5900281071662903, "joint_torques_l2": -0.15051907300949097, "dof_pos_limits": -0.0007713923114351928, "terminated": -0.021409284323453903, "unnecessary_wheel_lift": -0.11710095405578613, "rolling_leg_motion": -0.742644727230072, "obstacle_progress": 2.8736703395843506, "wheel_body_intrusion": -0.27631452679634094, "pair_body_intrusion": -0.3400244116783142}, "weighted_reward_terms": {"track_linear_velocity": 1.7639819383621216, "track_angular_velocity": 1.8886675834655762, "upright": 0.962589681148529, "leg_posture": -0.10577771812677383, "standstill": -0.2332913726568222, "action_rate_l2": -0.021530818194150925, "joint_torques_l2": -0.005492617376148701, "dof_pos_limits": -2.814901017700322e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.00427315104752779, "rolling_leg_motion": -0.0270999763160944, "obstacle_progress": 0.10486359149217606, "wheel_body_intrusion": -0.010083041153848171, "pair_body_intrusion": -0.012407888658344746}, "episode_termination_rates": {"time_out": 0.4791666666666667, "fell_over": 0.027777777777777776, "course_exit": 0.4652777777777778, "illegal_nonwheel_contact": 0.041666666666666664}, "collection_time_s": 0.07559012701618485, "learning_time_s": 0.18555685666040517, "iteration_time_s": 0.3485414836206569, "policy_updates": 17950, "skipped_updates": 0, "invalid_env_resets": 86, "elapsed_s": 6360.882076076989, "nonwheel_terminations": 11620, "contact_bce": 0.3024263381958008, "contact_force_loss": 0.021344805136322975, "collision_bce": 5.776743364549475e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 5.849058197782142e-06, "collision_label_count": 16337.0, "terrain_level_mean": 3.01318359375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [39, 94, 96, 90, 53, 38], "episodes_by_level": [[1307.0, 276.0, 46.0, 0.0], [1349.0, 292.0, 35.0, 0.0], [774.0, 189.0, 23.0, 0.0], [356.0, 95.0, 8.0, 0.0], [164.0, 39.0, 4.0, 0.0], [79.0, 21.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 12, 116, 417, 691, 197], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2376.0, 1448.0, 37.0, 0.0], [4085.0, 1594.0, 165.0, 0.0], [3254.0, 1050.0, 188.0, 0.0], [1284.0, 228.0, 125.0, 0.0], [79.0, 0.0, 22.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 8, 65, 540], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [758.0, 669.0, 21.0, 0.0], [918.0, 749.0, 25.0, 0.0], [1305.0, 1006.0, 57.0, 0.0], [3172.0, 2412.0, 164.0, 0.0]]}, "platform": {"level_counts": [55, 110, 129, 82, 31, 3], "episodes_by_level": [[1483.0, 320.0, 49.0, 0.0], [1425.0, 285.0, 64.0, 0.0], [705.0, 137.0, 46.0, 0.0], [314.0, 42.0, 21.0, 0.0], [65.0, 7.0, 8.0, 0.0], [6.0, 1.0, 4.0, 0.0]]}, "slope": {"level_counts": [47, 109, 93, 74, 49, 38], "episodes_by_level": [[1366.0, 291.0, 43.0, 0.0], [1337.0, 269.0, 55.0, 0.0], [742.0, 172.0, 29.0, 0.0], [350.0, 90.0, 11.0, 0.0], [178.0, 39.0, 3.0, 0.0], [77.0, 16.0, 1.0, 0.0]]}, "rubble": {"level_counts": [97, 239, 259, 163, 53, 8], "episodes_by_level": [[2701.0, 609.0, 89.0, 0.0], [2942.0, 635.0, 142.0, 0.0], [1689.0, 338.0, 169.0, 0.0], [655.0, 89.0, 114.0, 0.0], [106.0, 12.0, 28.0, 0.0], [5.0, 0.0, 4.0, 0.0]]}}, "success_archive_windows": 38931, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.235595703125, "command_abs_max": [0.9987295866012573, 0.3999277651309967, 0.6996253728866577]}
{"step": 18300, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 18300, "total_transitions": 74956800, "num_steps_per_env": 1, "wm_loss": 0.7660152912139893, "actor_loss": -9.461313247680664, "critic_loss": 0.00347108650021255, "reward": 0.08659029752016068, "falls": 7, "interval_steps": 50, "velocity_mae": [0.1175142228603363, 0.07151172310113907, 0.1345406174659729], "mean_episode_length": 1339.25, "episode_reward_terms": {"track_linear_velocity": 47.34208679199219, "track_angular_velocity": 50.67022705078125, "upright": 25.808486938476562, "leg_posture": -2.7937841415405273, "standstill": -5.830294609069824, "action_rate_l2": -0.5738885402679443, "joint_torques_l2": -0.1459880769252777, "dof_pos_limits": -0.00036656708107329905, "terminated": -0.018310056999325752, "unnecessary_wheel_lift": -0.10117010027170181, "rolling_leg_motion": -0.6951538920402527, "obstacle_progress": 2.876343250274658, "wheel_body_intrusion": -0.2638932764530182, "pair_body_intrusion": -0.30822300910949707}, "weighted_reward_terms": {"track_linear_velocity": 1.7674850225448608, "track_angular_velocity": 1.8917388916015625, "upright": 0.9635425209999084, "leg_posture": -0.10430405288934708, "standstill": -0.21767014265060425, "action_rate_l2": -0.021425744518637657, "joint_torques_l2": -0.005450366996228695, "dof_pos_limits": -1.3685536941920873e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0037771177012473345, "rolling_leg_motion": -0.025953106582164764, "obstacle_progress": 0.10738635063171387, "wheel_body_intrusion": -0.009852278977632523, "pair_body_intrusion": -0.011507298797369003}, "episode_termination_rates": {"time_out": 0.4276315789473684, "fell_over": 0.019736842105263157, "course_exit": 0.5263157894736842, "illegal_nonwheel_contact": 0.03289473684210526}, "collection_time_s": 0.07570172085077502, "learning_time_s": 0.18484925364493393, "iteration_time_s": 0.34830113158355175, "policy_updates": 18000, "skipped_updates": 0, "invalid_env_resets": 86, "elapsed_s": 6373.910707978997, "nonwheel_terminations": 11625, "contact_bce": 0.3058193027973175, "contact_force_loss": 0.020967645570635796, "collision_bce": 6.741691322531551e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 6.788864993723109e-06, "collision_label_count": 16328.0, "terrain_level_mean": 3.02099609375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [39, 91, 98, 91, 53, 38], "episodes_by_level": [[1308.0, 276.0, 46.0, 0.0], [1353.0, 295.0, 35.0, 0.0], [775.0, 190.0, 23.0, 0.0], [356.0, 95.0, 8.0, 0.0], [164.0, 39.0, 4.0, 0.0], [80.0, 21.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 13, 111, 409, 698, 202], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2376.0, 1448.0, 37.0, 0.0], [4091.0, 1598.0, 165.0, 0.0], [3274.0, 1062.0, 188.0, 0.0], [1302.0, 234.0, 125.0, 0.0], [83.0, 0.0, 23.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 8, 66, 539], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [758.0, 669.0, 21.0, 0.0], [918.0, 749.0, 25.0, 0.0], [1308.0, 1008.0, 57.0, 0.0], [3193.0, 2427.0, 165.0, 0.0]]}, "platform": {"level_counts": [55, 110, 127, 82, 33, 3], "episodes_by_level": [[1483.0, 320.0, 49.0, 0.0], [1427.0, 285.0, 64.0, 0.0], [711.0, 139.0, 46.0, 0.0], [316.0, 44.0, 21.0, 0.0], [66.0, 7.0, 8.0, 0.0], [6.0, 1.0, 4.0, 0.0]]}, "slope": {"level_counts": [47, 109, 92, 75, 49, 38], "episodes_by_level": [[1366.0, 291.0, 43.0, 0.0], [1340.0, 269.0, 55.0, 0.0], [744.0, 173.0, 29.0, 0.0], [351.0, 90.0, 11.0, 0.0], [181.0, 39.0, 3.0, 0.0], [77.0, 16.0, 1.0, 0.0]]}, "rubble": {"level_counts": [97, 240, 254, 166, 54, 8], "episodes_by_level": [[2702.0, 609.0, 89.0, 0.0], [2946.0, 636.0, 142.0, 0.0], [1702.0, 342.0, 171.0, 0.0], [657.0, 90.0, 114.0, 0.0], [107.0, 12.0, 28.0, 0.0], [5.0, 0.0, 4.0, 0.0]]}}, "success_archive_windows": 39079, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.236328125, "command_abs_max": [0.9987295866012573, 0.3999277651309967, 0.6995950937271118]}
{"step": 18350, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 18350, "total_transitions": 75161600, "num_steps_per_env": 1, "wm_loss": 0.740704357624054, "actor_loss": -9.459063529968262, "critic_loss": 0.006274787243455648, "reward": 0.08637040853500366, "falls": 9, "interval_steps": 50, "velocity_mae": [0.1180751696228981, 0.07218145579099655, 0.13538911938667297], "mean_episode_length": 1424.5569620253164, "episode_reward_terms": {"track_linear_velocity": 50.2845573425293, "track_angular_velocity": 53.84505844116211, "upright": 27.43306541442871, "leg_posture": -2.997506618499756, "standstill": -6.357024192810059, "action_rate_l2": -0.610443651676178, "joint_torques_l2": -0.15600687265396118, "dof_pos_limits": -0.0006672664894722402, "terminated": -0.025041038170456886, "unnecessary_wheel_lift": -0.1181669682264328, "rolling_leg_motion": -0.7432020306587219, "obstacle_progress": 3.075232982635498, "wheel_body_intrusion": -0.29170358180999756, "pair_body_intrusion": -0.2985728085041046}, "weighted_reward_terms": {"track_linear_velocity": 1.7649190425872803, "track_angular_velocity": 1.889887809753418, "upright": 0.9628630876541138, "leg_posture": -0.1052083820104599, "standstill": -0.22312283515930176, "action_rate_l2": -0.02142573706805706, "joint_torques_l2": -0.005475627724081278, "dof_pos_limits": -2.342013976885937e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.004147498868405819, "rolling_leg_motion": -0.026085373014211655, "obstacle_progress": 0.10793647170066833, "wheel_body_intrusion": -0.010238396935164928, "pair_body_intrusion": -0.010479496791958809}, "episode_termination_rates": {"time_out": 0.5569620253164557, "fell_over": 0.03164556962025317, "course_exit": 0.3860759493670886, "illegal_nonwheel_contact": 0.03164556962025317}, "collection_time_s": 0.07576614944031462, "learning_time_s": 0.19203140814206562, "iteration_time_s": 0.34808183480103627, "policy_updates": 18050, "skipped_updates": 0, "invalid_env_resets": 86, "elapsed_s": 6387.301668599015, "nonwheel_terminations": 11630, "contact_bce": 0.3014935553073883, "contact_force_loss": 0.020394455641508102, "collision_bce": 0.00018057780107483268, "collision_label_rate": 6.1221988289617e-05, "collision_prediction_mean": 3.426035982556641e-05, "collision_label_count": 16334.0, "terrain_level_mean": 3.02392578125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [39, 90, 99, 91, 53, 38], "episodes_by_level": [[1310.0, 276.0, 46.0, 0.0], [1359.0, 296.0, 35.0, 0.0], [777.0, 190.0, 23.0, 0.0], [361.0, 95.0, 8.0, 0.0], [165.0, 39.0, 4.0, 0.0], [81.0, 21.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 13, 110, 411, 691, 208], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2376.0, 1448.0, 37.0, 0.0], [4096.0, 1601.0, 165.0, 0.0], [3285.0, 1065.0, 188.0, 0.0], [1321.0, 239.0, 127.0, 0.0], [87.0, 0.0, 23.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 8, 65, 540], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [758.0, 669.0, 21.0, 0.0], [919.0, 749.0, 25.0, 0.0], [1310.0, 1009.0, 57.0, 0.0], [3216.0, 2448.0, 165.0, 0.0]]}, "platform": {"level_counts": [55, 111, 123, 85, 33, 3], "episodes_by_level": [[1483.0, 320.0, 49.0, 0.0], [1429.0, 285.0, 64.0, 0.0], [720.0, 142.0, 47.0, 0.0], [316.0, 44.0, 21.0, 0.0], [68.0, 7.0, 8.0, 0.0], [6.0, 1.0, 4.0, 0.0]]}, "slope": {"level_counts": [47, 108, 93, 75, 48, 39], "episodes_by_level": [[1366.0, 291.0, 43.0, 0.0], [1342.0, 270.0, 55.0, 0.0], [748.0, 173.0, 29.0, 0.0], [353.0, 90.0, 11.0, 0.0], [182.0, 40.0, 3.0, 0.0], [77.0, 16.0, 1.0, 0.0]]}, "rubble": {"level_counts": [98, 239, 253, 167, 54, 8], "episodes_by_level": [[2706.0, 609.0, 89.0, 0.0], [2951.0, 636.0, 143.0, 0.0], [1711.0, 343.0, 171.0, 0.0], [661.0, 90.0, 114.0, 0.0], [108.0, 12.0, 28.0, 0.0], [5.0, 0.0, 4.0, 0.0]]}}, "success_archive_windows": 39221, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.237548828125, "command_abs_max": [0.9987295866012573, 0.3999277651309967, 0.6995950937271118]}
{"step": 18400, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 18400, "total_transitions": 75366400, "num_steps_per_env": 1, "wm_loss": 0.7800660133361816, "actor_loss": -9.443513870239258, "critic_loss": 0.00674848398193717, "reward": 0.08645374327898026, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11869203299283981, 0.07138264924287796, 0.1351567655801773], "mean_episode_length": 1404.3819444444443, "episode_reward_terms": {"track_linear_velocity": 49.535926818847656, "track_angular_velocity": 53.100364685058594, "upright": 27.055267333984375, "leg_posture": -2.9110240936279297, "standstill": -6.197041034698486, "action_rate_l2": -0.6157183051109314, "joint_torques_l2": -0.15310071408748627, "dof_pos_limits": -0.000737025635316968, "terminated": -0.013714665547013283, "unnecessary_wheel_lift": -0.10932417213916779, "rolling_leg_motion": -0.7358853220939636, "obstacle_progress": 3.0533745288848877, "wheel_body_intrusion": -0.273928165435791, "pair_body_intrusion": -0.3203885555267334}, "weighted_reward_terms": {"track_linear_velocity": 1.7636202573776245, "track_angular_velocity": 1.8905242681503296, "upright": 0.963244616985321, "leg_posture": -0.10364075750112534, "standstill": -0.22063231468200684, "action_rate_l2": -0.021921327337622643, "joint_torques_l2": -0.005450821481645107, "dof_pos_limits": -2.6240213628625497e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.0038922519888728857, "rolling_leg_motion": -0.026199616491794586, "obstacle_progress": 0.10870883613824844, "wheel_body_intrusion": -0.009752623736858368, "pair_body_intrusion": -0.01140674576163292}, "episode_termination_rates": {"time_out": 0.5138888888888888, "fell_over": 0.027777777777777776, "course_exit": 0.4513888888888889, "illegal_nonwheel_contact": 0.020833333333333332}, "collection_time_s": 0.07562499543768354, "learning_time_s": 0.18481634697993285, "iteration_time_s": 0.34784374084717495, "policy_updates": 18100, "skipped_updates": 0, "invalid_env_resets": 86, "elapsed_s": 6400.324831588019, "nonwheel_terminations": 11633, "contact_bce": 0.30350425839424133, "contact_force_loss": 0.020960943773388863, "collision_bce": 0.0003029461076948792, "collision_label_rate": 0.00012247396807651967, "collision_prediction_mean": 3.317745358799584e-05, "collision_label_count": 16330.0, "terrain_level_mean": 3.0283203125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [39, 90, 99, 91, 52, 39], "episodes_by_level": [[1311.0, 276.0, 46.0, 0.0], [1362.0, 296.0, 35.0, 0.0], [779.0, 190.0, 23.0, 0.0], [363.0, 95.0, 8.0, 0.0], [168.0, 40.0, 4.0, 0.0], [81.0, 21.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 13, 105, 412, 695, 208], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2377.0, 1448.0, 37.0, 0.0], [4101.0, 1606.0, 165.0, 0.0], [3294.0, 1070.0, 188.0, 0.0], [1337.0, 240.0, 127.0, 0.0], [90.0, 0.0, 24.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 8, 66, 539], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [758.0, 669.0, 21.0, 0.0], [919.0, 749.0, 25.0, 0.0], [1310.0, 1009.0, 57.0, 0.0], [3235.0, 2463.0, 165.0, 0.0]]}, "platform": {"level_counts": [54, 111, 124, 84, 34, 3], "episodes_by_level": [[1487.0, 321.0, 49.0, 0.0], [1433.0, 286.0, 64.0, 0.0], [722.0, 142.0, 47.0, 0.0], [317.0, 45.0, 21.0, 0.0], [68.0, 7.0, 8.0, 0.0], [6.0, 1.0, 4.0, 0.0]]}, "slope": {"level_counts": [47, 105, 96, 75, 48, 39], "episodes_by_level": [[1368.0, 291.0, 43.0, 0.0], [1350.0, 273.0, 55.0, 0.0], [750.0, 173.0, 29.0, 0.0], [359.0, 90.0, 11.0, 0.0], [184.0, 40.0, 3.0, 0.0], [77.0, 16.0, 1.0, 0.0]]}, "rubble": {"level_counts": [99, 236, 252, 171, 53, 8], "episodes_by_level": [[2708.0, 609.0, 89.0, 0.0], [2959.0, 638.0, 144.0, 0.0], [1721.0, 346.0, 171.0, 0.0], [662.0, 90.0, 114.0, 0.0], [110.0, 12.0, 29.0, 0.0], [5.0, 0.0, 4.0, 0.0]]}}, "success_archive_windows": 39390, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23681640625, "command_abs_max": [0.9987295866012573, 0.39982619881629944, 0.6995950937271118]}
{"step": 18450, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 18450, "total_transitions": 75571200, "num_steps_per_env": 1, "wm_loss": 0.7874869108200073, "actor_loss": -9.45848560333252, "critic_loss": 0.010308235883712769, "reward": 0.0855807214975357, "falls": 8, "interval_steps": 50, "velocity_mae": [0.1210465133190155, 0.0727282389998436, 0.13701097667217255], "mean_episode_length": 1372.75, "episode_reward_terms": {"track_linear_velocity": 48.2481575012207, "track_angular_velocity": 51.821598052978516, "upright": 26.416715621948242, "leg_posture": -2.8577942848205566, "standstill": -6.88469934463501, "action_rate_l2": -0.6195639371871948, "joint_torques_l2": -0.15003453195095062, "dof_pos_limits": -0.0007462010253220797, "terminated": -0.021449213847517967, "unnecessary_wheel_lift": -0.12404017150402069, "rolling_leg_motion": -0.7205485105514526, "obstacle_progress": 2.961085796356201, "wheel_body_intrusion": -0.27004602551460266, "pair_body_intrusion": -0.31767481565475464}, "weighted_reward_terms": {"track_linear_velocity": 1.7573541402816772, "track_angular_velocity": 1.8875102996826172, "upright": 0.962182343006134, "leg_posture": -0.1040901243686676, "standstill": -0.25076305866241455, "action_rate_l2": -0.022566525265574455, "joint_torques_l2": -0.005464743357151747, "dof_pos_limits": -2.7179057724424638e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.004517944995313883, "rolling_leg_motion": -0.026244711130857468, "obstacle_progress": 0.10785233229398727, "wheel_body_intrusion": -0.00983595009893179, "pair_body_intrusion": -0.011570745147764683}, "episode_termination_rates": {"time_out": 0.5075757575757576, "fell_over": 0.03787878787878788, "course_exit": 0.4318181818181818, "illegal_nonwheel_contact": 0.03787878787878788}, "collection_time_s": 0.07558862310717814, "learning_time_s": 0.18464299789862706, "iteration_time_s": 0.34760636733658423, "policy_updates": 18150, "skipped_updates": 0, "invalid_env_resets": 86, "elapsed_s": 6413.337477359979, "nonwheel_terminations": 11638, "contact_bce": 0.3074987828731537, "contact_force_loss": 0.02153426967561245, "collision_bce": 4.051098949275911e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 3.788684625760652e-05, "collision_label_count": 16336.0, "terrain_level_mean": 3.03173828125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [39, 87, 102, 91, 52, 39], "episodes_by_level": [[1311.0, 276.0, 46.0, 0.0], [1367.0, 299.0, 35.0, 0.0], [781.0, 190.0, 23.0, 0.0], [366.0, 95.0, 8.0, 0.0], [169.0, 40.0, 4.0, 0.0], [81.0, 21.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 13, 104, 410, 696, 210], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2377.0, 1448.0, 37.0, 0.0], [4104.0, 1608.0, 165.0, 0.0], [3298.0, 1074.0, 188.0, 0.0], [1353.0, 244.0, 127.0, 0.0], [94.0, 0.0, 24.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 9, 68, 537], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [759.0, 670.0, 21.0, 0.0], [919.0, 749.0, 25.0, 0.0], [1311.0, 1010.0, 57.0, 0.0], [3257.0, 2482.0, 166.0, 0.0]]}, "platform": {"level_counts": [53, 113, 122, 84, 35, 3], "episodes_by_level": [[1490.0, 322.0, 49.0, 0.0], [1433.0, 286.0, 64.0, 0.0], [725.0, 143.0, 48.0, 0.0], [321.0, 46.0, 21.0, 0.0], [68.0, 7.0, 8.0, 0.0], [6.0, 1.0, 4.0, 0.0]]}, "slope": {"level_counts": [47, 105, 96, 75, 48, 39], "episodes_by_level": [[1369.0, 291.0, 43.0, 0.0], [1351.0, 273.0, 55.0, 0.0], [751.0, 173.0, 29.0, 0.0], [360.0, 90.0, 11.0, 0.0], [184.0, 40.0, 3.0, 0.0], [78.0, 16.0, 1.0, 0.0]]}, "rubble": {"level_counts": [99, 235, 250, 174, 53, 8], "episodes_by_level": [[2711.0, 609.0, 89.0, 0.0], [2963.0, 639.0, 144.0, 0.0], [1728.0, 349.0, 171.0, 0.0], [668.0, 90.0, 114.0, 0.0], [110.0, 12.0, 29.0, 0.0], [5.0, 0.0, 4.0, 0.0]]}}, "success_archive_windows": 39535, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.238525390625, "command_abs_max": [0.9985147714614868, 0.39982619881629944, 0.6995950937271118]}
{"step": 18500, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 18500, "total_transitions": 75776000, "num_steps_per_env": 1, "wm_loss": 0.7675467133522034, "actor_loss": -9.455124855041504, "critic_loss": 0.005411605350673199, "reward": 0.08630906790494919, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11948910355567932, 0.07102225720882416, 0.13490413129329681], "mean_episode_length": 1353.4709302325582, "episode_reward_terms": {"track_linear_velocity": 47.73564147949219, "track_angular_velocity": 51.18949508666992, "upright": 26.06375503540039, "leg_posture": -2.7913658618927, "standstill": -6.195417881011963, "action_rate_l2": -0.5897238254547119, "joint_torques_l2": -0.14915089309215546, "dof_pos_limits": -0.000532429781742394, "terminated": -0.02643497660756111, "unnecessary_wheel_lift": -0.10825508087873459, "rolling_leg_motion": -0.7078536152839661, "obstacle_progress": 2.966495990753174, "wheel_body_intrusion": -0.25754761695861816, "pair_body_intrusion": -0.3123129904270172}, "weighted_reward_terms": {"track_linear_velocity": 1.7634528875350952, "track_angular_velocity": 1.891045331954956, "upright": 0.9628487229347229, "leg_posture": -0.10311879962682724, "standstill": -0.22887147963047028, "action_rate_l2": -0.021785611286759377, "joint_torques_l2": -0.005509940441697836, "dof_pos_limits": -1.9669050743686967e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.0039991652593016624, "rolling_leg_motion": -0.02614956721663475, "obstacle_progress": 0.10958845913410187, "wheel_body_intrusion": -0.009514338336884975, "pair_body_intrusion": -0.01153748482465744}, "episode_termination_rates": {"time_out": 0.4883720930232558, "fell_over": 0.029069767441860465, "course_exit": 0.45348837209302323, "illegal_nonwheel_contact": 0.040697674418604654}, "collection_time_s": 0.07579249389353208, "learning_time_s": 0.1837252269824967, "iteration_time_s": 0.34736835962200124, "policy_updates": 18200, "skipped_updates": 0, "invalid_env_resets": 86, "elapsed_s": 6426.314653007023, "nonwheel_terminations": 11645, "contact_bce": 0.3079685568809509, "contact_force_loss": 0.021688954904675484, "collision_bce": 0.0003407950862310827, "collision_label_rate": 0.0001835199072957039, "collision_prediction_mean": 8.814387547317892e-05, "collision_label_count": 16347.0, "terrain_level_mean": 3.038330078125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [39, 86, 102, 91, 51, 41], "episodes_by_level": [[1312.0, 276.0, 46.0, 0.0], [1370.0, 300.0, 35.0, 0.0], [786.0, 191.0, 23.0, 0.0], [371.0, 96.0, 8.0, 0.0], [173.0, 42.0, 4.0, 0.0], [83.0, 22.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 12, 103, 407, 698, 213], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2378.0, 1449.0, 37.0, 0.0], [4106.0, 1610.0, 165.0, 0.0], [3310.0, 1080.0, 188.0, 0.0], [1369.0, 248.0, 127.0, 0.0], [100.0, 0.0, 24.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 9, 66, 539], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [759.0, 670.0, 21.0, 0.0], [920.0, 750.0, 25.0, 0.0], [1317.0, 1014.0, 58.0, 0.0], [3274.0, 2496.0, 166.0, 0.0]]}, "platform": {"level_counts": [53, 111, 123, 85, 35, 3], "episodes_by_level": [[1492.0, 322.0, 49.0, 0.0], [1439.0, 288.0, 64.0, 0.0], [730.0, 145.0, 48.0, 0.0], [324.0, 46.0, 22.0, 0.0], [69.0, 7.0, 8.0, 0.0], [6.0, 1.0, 4.0, 0.0]]}, "slope": {"level_counts": [47, 105, 95, 75, 49, 39], "episodes_by_level": [[1369.0, 291.0, 43.0, 0.0], [1355.0, 273.0, 55.0, 0.0], [753.0, 174.0, 29.0, 0.0], [364.0, 91.0, 11.0, 0.0], [185.0, 40.0, 3.0, 0.0], [78.0, 16.0, 1.0, 0.0]]}, "rubble": {"level_counts": [100, 229, 255, 174, 53, 8], "episodes_by_level": [[2712.0, 609.0, 89.0, 0.0], [2977.0, 645.0, 145.0, 0.0], [1736.0, 351.0, 172.0, 0.0], [673.0, 90.0, 116.0, 0.0], [110.0, 12.0, 29.0, 0.0], [5.0, 0.0, 4.0, 0.0]]}}, "success_archive_windows": 39676, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.24169921875, "command_abs_max": [0.9985147714614868, 0.39982619881629944, 0.6995950937271118]}
{"step": 18550, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 18550, "total_transitions": 75980800, "num_steps_per_env": 1, "wm_loss": 0.7236764430999756, "actor_loss": -9.481765747070312, "critic_loss": 0.005478176753968, "reward": 0.0859263464808464, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11997481435537338, 0.07170209288597107, 0.1371086984872818], "mean_episode_length": 1308.1972789115646, "episode_reward_terms": {"track_linear_velocity": 46.08049011230469, "track_angular_velocity": 49.37333297729492, "upright": 25.1776123046875, "leg_posture": -2.7113912105560303, "standstill": -6.304079055786133, "action_rate_l2": -0.5776883363723755, "joint_torques_l2": -0.14383414387702942, "dof_pos_limits": -0.0005443517584353685, "terminated": -0.02555072493851185, "unnecessary_wheel_lift": -0.1012645736336708, "rolling_leg_motion": -0.6917871236801147, "obstacle_progress": 2.9132511615753174, "wheel_body_intrusion": -0.2657473087310791, "pair_body_intrusion": -0.3141687512397766}, "weighted_reward_terms": {"track_linear_velocity": 1.761220932006836, "track_angular_velocity": 1.8870751857757568, "upright": 0.9623017907142639, "leg_posture": -0.10363082587718964, "standstill": -0.24094529449939728, "action_rate_l2": -0.022079557180404663, "joint_torques_l2": -0.0054974183440208435, "dof_pos_limits": -2.0805415260838345e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.0038703863974660635, "rolling_leg_motion": -0.02644047513604164, "obstacle_progress": 0.11134601384401321, "wheel_body_intrusion": -0.010157003998756409, "pair_body_intrusion": -0.0120076984167099}, "episode_termination_rates": {"time_out": 0.42857142857142855, "fell_over": 0.027210884353741496, "course_exit": 0.5034013605442177, "illegal_nonwheel_contact": 0.05442176870748299}, "collection_time_s": 0.07597126505686902, "learning_time_s": 0.18334344276459888, "iteration_time_s": 0.34713281786851863, "policy_updates": 18250, "skipped_updates": 0, "invalid_env_resets": 87, "elapsed_s": 6439.31377146102, "nonwheel_terminations": 11653, "contact_bce": 0.3016563355922699, "contact_force_loss": 0.020275786519050598, "collision_bce": 6.678327190456912e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 5.6028482504189014e-05, "collision_label_count": 16354.0, "terrain_level_mean": 3.0439453125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [39, 84, 102, 90, 53, 42], "episodes_by_level": [[1313.0, 276.0, 46.0, 0.0], [1373.0, 302.0, 35.0, 0.0], [792.0, 193.0, 23.0, 0.0], [376.0, 99.0, 8.0, 0.0], [175.0, 43.0, 4.0, 0.0], [83.0, 22.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 12, 101, 404, 702, 214], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2378.0, 1449.0, 37.0, 0.0], [4108.0, 1612.0, 165.0, 0.0], [3323.0, 1086.0, 188.0, 0.0], [1388.0, 252.0, 127.0, 0.0], [106.0, 0.0, 26.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 8, 65, 541], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [759.0, 670.0, 21.0, 0.0], [921.0, 751.0, 25.0, 0.0], [1320.0, 1017.0, 58.0, 0.0], [3293.0, 2513.0, 166.0, 0.0]]}, "platform": {"level_counts": [53, 111, 122, 86, 35, 3], "episodes_by_level": [[1494.0, 322.0, 49.0, 0.0], [1441.0, 288.0, 64.0, 0.0], [734.0, 146.0, 48.0, 0.0], [324.0, 46.0, 22.0, 0.0], [69.0, 7.0, 8.0, 0.0], [6.0, 1.0, 4.0, 0.0]]}, "slope": {"level_counts": [47, 106, 94, 75, 46, 42], "episodes_by_level": [[1370.0, 291.0, 43.0, 0.0], [1358.0, 273.0, 55.0, 0.0], [757.0, 174.0, 30.0, 0.0], [364.0, 91.0, 11.0, 0.0], [189.0, 43.0, 3.0, 0.0], [81.0, 16.0, 1.0, 0.0]]}, "rubble": {"level_counts": [101, 227, 254, 176, 54, 7], "episodes_by_level": [[2714.0, 609.0, 89.0, 0.0], [2984.0, 647.0, 146.0, 0.0], [1745.0, 353.0, 173.0, 0.0], [677.0, 91.0, 116.0, 0.0], [112.0, 12.0, 30.0, 0.0], [6.0, 0.0, 5.0, 0.0]]}}, "success_archive_windows": 39836, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.240234375, "command_abs_max": [0.9985147714614868, 0.3991283178329468, 0.6995950937271118]}
{"step": 18600, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 18600, "total_transitions": 76185600, "num_steps_per_env": 1, "wm_loss": 0.7989355325698853, "actor_loss": -9.498149871826172, "critic_loss": 0.0027960108127444983, "reward": 0.0861966609954834, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11955806612968445, 0.07196545600891113, 0.13685496151447296], "mean_episode_length": 1322.3716216216217, "episode_reward_terms": {"track_linear_velocity": 46.56256866455078, "track_angular_velocity": 49.912017822265625, "upright": 25.466453552246094, "leg_posture": -2.743953227996826, "standstill": -6.140309810638428, "action_rate_l2": -0.5716322660446167, "joint_torques_l2": -0.145607590675354, "dof_pos_limits": -0.0003381803981028497, "terminated": -0.015496540814638138, "unnecessary_wheel_lift": -0.09268052130937576, "rolling_leg_motion": -0.674522876739502, "obstacle_progress": 3.0025594234466553, "wheel_body_intrusion": -0.2766374945640564, "pair_body_intrusion": -0.298422634601593}, "weighted_reward_terms": {"track_linear_velocity": 1.7605706453323364, "track_angular_velocity": 1.8872160911560059, "upright": 0.9629083871841431, "leg_posture": -0.10375122725963593, "standstill": -0.23217037320137024, "action_rate_l2": -0.02161390520632267, "joint_torques_l2": -0.005505547393113375, "dof_pos_limits": -1.278688978345599e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.003504329826682806, "rolling_leg_motion": -0.025504285469651222, "obstacle_progress": 0.11352933943271637, "wheel_body_intrusion": -0.01045989990234375, "pair_body_intrusion": -0.011283615604043007}, "episode_termination_rates": {"time_out": 0.4594594594594595, "fell_over": 0.02027027027027027, "course_exit": 0.5, "illegal_nonwheel_contact": 0.033783783783783786}, "collection_time_s": 0.07574815656291321, "learning_time_s": 0.18488987565971912, "iteration_time_s": 0.34690036471876484, "policy_updates": 18300, "skipped_updates": 0, "invalid_env_resets": 87, "elapsed_s": 6452.346783769026, "nonwheel_terminations": 11658, "contact_bce": 0.302102655172348, "contact_force_loss": 0.020972376689314842, "collision_bce": 2.8852276955149136e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 2.8685286451946013e-05, "collision_label_count": 16358.0, "terrain_level_mean": 3.050537109375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [37, 86, 102, 89, 54, 42], "episodes_by_level": [[1315.0, 278.0, 46.0, 0.0], [1375.0, 302.0, 35.0, 0.0], [793.0, 193.0, 23.0, 0.0], [378.0, 100.0, 8.0, 0.0], [175.0, 43.0, 4.0, 0.0], [84.0, 22.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 12, 100, 399, 702, 220], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2378.0, 1449.0, 37.0, 0.0], [4109.0, 1613.0, 165.0, 0.0], [3336.0, 1092.0, 188.0, 0.0], [1406.0, 260.0, 127.0, 0.0], [110.0, 0.0, 28.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 8, 66, 540], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [759.0, 670.0, 21.0, 0.0], [922.0, 751.0, 25.0, 0.0], [1321.0, 1018.0, 58.0, 0.0], [3316.0, 2534.0, 167.0, 0.0]]}, "platform": {"level_counts": [53, 112, 121, 86, 35, 3], "episodes_by_level": [[1495.0, 322.0, 49.0, 0.0], [1444.0, 288.0, 64.0, 0.0], [737.0, 146.0, 49.0, 0.0], [328.0, 46.0, 22.0, 0.0], [71.0, 7.0, 8.0, 0.0], [6.0, 1.0, 4.0, 0.0]]}, "slope": {"level_counts": [47, 105, 93, 77, 46, 42], "episodes_by_level": [[1371.0, 291.0, 43.0, 0.0], [1362.0, 274.0, 55.0, 0.0], [761.0, 176.0, 30.0, 0.0], [367.0, 91.0, 11.0, 0.0], [190.0, 43.0, 3.0, 0.0], [81.0, 16.0, 1.0, 0.0]]}, "rubble": {"level_counts": [98, 229, 252, 177, 55, 8], "episodes_by_level": [[2719.0, 612.0, 89.0, 0.0], [2992.0, 648.0, 146.0, 0.0], [1758.0, 356.0, 173.0, 0.0], [684.0, 94.0, 116.0, 0.0], [114.0, 13.0, 31.0, 0.0], [6.0, 0.0, 5.0, 0.0]]}}, "success_archive_windows": 39975, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23681640625, "command_abs_max": [0.9985147714614868, 0.3991283178329468, 0.6995950937271118]}
{"step": 18650, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 18650, "total_transitions": 76390400, "num_steps_per_env": 1, "wm_loss": 0.7597619891166687, "actor_loss": -9.47652530670166, "critic_loss": 0.0033017031382769346, "reward": 0.08614243566989899, "falls": 10, "interval_steps": 50, "velocity_mae": [0.12077976018190384, 0.07145875692367554, 0.1369621455669403], "mean_episode_length": 1350.3649635036497, "episode_reward_terms": {"track_linear_velocity": 47.535247802734375, "track_angular_velocity": 50.9775276184082, "upright": 25.981502532958984, "leg_posture": -2.771127223968506, "standstill": -6.341665267944336, "action_rate_l2": -0.5862390398979187, "joint_torques_l2": -0.14895518124103546, "dof_pos_limits": -0.0007415448781102896, "terminated": -0.026374313980340958, "unnecessary_wheel_lift": -0.10044664889574051, "rolling_leg_motion": -0.7002819776535034, "obstacle_progress": 3.101651668548584, "wheel_body_intrusion": -0.2634908854961395, "pair_body_intrusion": -0.3328842520713806}, "weighted_reward_terms": {"track_linear_velocity": 1.7600889205932617, "track_angular_velocity": 1.8875463008880615, "upright": 0.9620177745819092, "leg_posture": -0.10260660946369171, "standstill": -0.23481300473213196, "action_rate_l2": -0.021706687286496162, "joint_torques_l2": -0.005515367724001408, "dof_pos_limits": -2.745720121311024e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.0037192408926784992, "rolling_leg_motion": -0.02592935971915722, "obstacle_progress": 0.11484494060277939, "wheel_body_intrusion": -0.009756284765899181, "pair_body_intrusion": -0.012325714342296124}, "episode_termination_rates": {"time_out": 0.5182481751824818, "fell_over": 0.021897810218978103, "course_exit": 0.40875912408759124, "illegal_nonwheel_contact": 0.058394160583941604}, "collection_time_s": 0.0757163769111503, "learning_time_s": 0.18511064946185798, "iteration_time_s": 0.34666966494187795, "policy_updates": 18350, "skipped_updates": 0, "invalid_env_resets": 87, "elapsed_s": 6465.389251166023, "nonwheel_terminations": 11666, "contact_bce": 0.3073539137840271, "contact_force_loss": 0.021194281056523323, "collision_bce": 1.1767687283281703e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.1753994840546511e-05, "collision_label_count": 16344.0, "terrain_level_mean": 3.053466796875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [37, 84, 104, 89, 54, 42], "episodes_by_level": [[1316.0, 278.0, 46.0, 0.0], [1378.0, 304.0, 35.0, 0.0], [795.0, 193.0, 23.0, 0.0], [380.0, 100.0, 8.0, 0.0], [175.0, 43.0, 4.0, 0.0], [84.0, 22.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 12, 97, 402, 699, 223], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2379.0, 1450.0, 37.0, 0.0], [4113.0, 1617.0, 165.0, 0.0], [3340.0, 1093.0, 188.0, 0.0], [1420.0, 265.0, 128.0, 0.0], [115.0, 0.0, 29.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 7, 69, 538], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [759.0, 670.0, 21.0, 0.0], [923.0, 752.0, 25.0, 0.0], [1323.0, 1019.0, 58.0, 0.0], [3334.0, 2546.0, 167.0, 0.0]]}, "platform": {"level_counts": [52, 112, 121, 87, 35, 3], "episodes_by_level": [[1500.0, 323.0, 49.0, 0.0], [1450.0, 289.0, 64.0, 0.0], [742.0, 147.0, 49.0, 0.0], [330.0, 46.0, 22.0, 0.0], [71.0, 7.0, 8.0, 0.0], [6.0, 1.0, 4.0, 0.0]]}, "slope": {"level_counts": [47, 105, 93, 77, 46, 42], "episodes_by_level": [[1372.0, 291.0, 43.0, 0.0], [1365.0, 274.0, 55.0, 0.0], [762.0, 176.0, 30.0, 0.0], [370.0, 91.0, 11.0, 0.0], [190.0, 43.0, 3.0, 0.0], [81.0, 16.0, 1.0, 0.0]]}, "rubble": {"level_counts": [97, 232, 248, 178, 56, 8], "episodes_by_level": [[2723.0, 613.0, 89.0, 0.0], [2996.0, 648.0, 146.0, 0.0], [1769.0, 358.0, 175.0, 0.0], [690.0, 95.0, 116.0, 0.0], [115.0, 13.0, 31.0, 0.0], [7.0, 0.0, 5.0, 0.0]]}}, "success_archive_windows": 40127, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2353515625, "command_abs_max": [0.9993188977241516, 0.3991283178329468, 0.6998779773712158]}
{"step": 18700, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 18700, "total_transitions": 76595200, "num_steps_per_env": 1, "wm_loss": 0.7755737900733948, "actor_loss": -9.457622528076172, "critic_loss": 0.0036308623384684324, "reward": 0.08657197654247284, "falls": 11, "interval_steps": 50, "velocity_mae": [0.11732961237430573, 0.07056545466184616, 0.13463401794433594], "mean_episode_length": 1335.446153846154, "episode_reward_terms": {"track_linear_velocity": 47.2274055480957, "track_angular_velocity": 50.51073455810547, "upright": 25.7205810546875, "leg_posture": -2.729903221130371, "standstill": -6.058773994445801, "action_rate_l2": -0.5837407112121582, "joint_torques_l2": -0.1453036665916443, "dof_pos_limits": -0.00097962049767375, "terminated": -0.02869122289121151, "unnecessary_wheel_lift": -0.0870552659034729, "rolling_leg_motion": -0.6690237522125244, "obstacle_progress": 3.0223770141601562, "wheel_body_intrusion": -0.2727311849594116, "pair_body_intrusion": -0.2926728427410126}, "weighted_reward_terms": {"track_linear_velocity": 1.7682257890701294, "track_angular_velocity": 1.8911558389663696, "upright": 0.9629958271980286, "leg_posture": -0.1022094115614891, "standstill": -0.22684457898139954, "action_rate_l2": -0.02185564488172531, "joint_torques_l2": -0.00544026680290699, "dof_pos_limits": -3.6677647585747764e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.00325940758921206, "rolling_leg_motion": -0.025048699229955673, "obstacle_progress": 0.11315982788801193, "wheel_body_intrusion": -0.010211239568889141, "pair_body_intrusion": -0.010957867838442326}, "episode_termination_rates": {"time_out": 0.5230769230769231, "fell_over": 0.023076923076923078, "course_exit": 0.3923076923076923, "illegal_nonwheel_contact": 0.07692307692307693}, "collection_time_s": 0.0755902480345685, "learning_time_s": 0.18540979716344735, "iteration_time_s": 0.34644066055652367, "policy_updates": 18400, "skipped_updates": 0, "invalid_env_resets": 87, "elapsed_s": 6478.440352406993, "nonwheel_terminations": 11676, "contact_bce": 0.30396783351898193, "contact_force_loss": 0.02118159458041191, "collision_bce": 0.00026436190819367766, "collision_label_rate": 6.114711868576705e-05, "collision_prediction_mean": 4.324190376792103e-05, "collision_label_count": 16354.0, "terrain_level_mean": 3.056640625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [37, 83, 106, 88, 53, 43], "episodes_by_level": [[1316.0, 278.0, 46.0, 0.0], [1384.0, 305.0, 35.0, 0.0], [797.0, 193.0, 23.0, 0.0], [383.0, 100.0, 9.0, 0.0], [177.0, 44.0, 4.0, 0.0], [84.0, 22.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 11, 97, 397, 703, 225], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2380.0, 1451.0, 37.0, 0.0], [4115.0, 1618.0, 165.0, 0.0], [3348.0, 1099.0, 188.0, 0.0], [1433.0, 269.0, 128.0, 0.0], [119.0, 0.0, 30.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 7, 72, 535], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [759.0, 670.0, 21.0, 0.0], [923.0, 752.0, 25.0, 0.0], [1324.0, 1020.0, 58.0, 0.0], [3355.0, 2562.0, 169.0, 0.0]]}, "platform": {"level_counts": [52, 111, 121, 88, 35, 3], "episodes_by_level": [[1501.0, 323.0, 49.0, 0.0], [1455.0, 290.0, 64.0, 0.0], [745.0, 148.0, 49.0, 0.0], [331.0, 46.0, 22.0, 0.0], [71.0, 7.0, 8.0, 0.0], [6.0, 1.0, 4.0, 0.0]]}, "slope": {"level_counts": [47, 105, 93, 77, 46, 42], "episodes_by_level": [[1373.0, 291.0, 43.0, 0.0], [1369.0, 274.0, 55.0, 0.0], [764.0, 176.0, 30.0, 0.0], [372.0, 91.0, 11.0, 0.0], [193.0, 43.0, 3.0, 0.0], [82.0, 16.0, 1.0, 0.0]]}, "rubble": {"level_counts": [95, 230, 252, 181, 53, 8], "episodes_by_level": [[2729.0, 615.0, 89.0, 0.0], [3004.0, 652.0, 146.0, 0.0], [1772.0, 359.0, 175.0, 0.0], [691.0, 95.0, 117.0, 0.0], [120.0, 13.0, 34.0, 0.0], [7.0, 0.0, 5.0, 0.0]]}}, "success_archive_windows": 40273, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234375, "command_abs_max": [0.9993188977241516, 0.39979586005210876, 0.6998779773712158]}
{"step": 18750, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 18750, "total_transitions": 76800000, "num_steps_per_env": 1, "wm_loss": 0.7217614054679871, "actor_loss": -9.461688995361328, "critic_loss": 0.005325117148458958, "reward": 0.08621963113546371, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11864591389894485, 0.07114750891923904, 0.1352776288986206], "mean_episode_length": 1330.7027027027027, "episode_reward_terms": {"track_linear_velocity": 46.95084762573242, "track_angular_velocity": 50.308048248291016, "upright": 25.615264892578125, "leg_posture": -2.743886947631836, "standstill": -6.132753372192383, "action_rate_l2": -0.5718465447425842, "joint_torques_l2": -0.1450129598379135, "dof_pos_limits": -0.00046325603034347296, "terminated": -0.015594172291457653, "unnecessary_wheel_lift": -0.10444101691246033, "rolling_leg_motion": -0.6931837797164917, "obstacle_progress": 2.8575797080993652, "wheel_body_intrusion": -0.2592952847480774, "pair_body_intrusion": -0.33254826068878174}, "weighted_reward_terms": {"track_linear_velocity": 1.7641373872756958, "track_angular_velocity": 1.8902812004089355, "upright": 0.9624713063240051, "leg_posture": -0.10309917479753494, "standstill": -0.2304328829050064, "action_rate_l2": -0.021486636251211166, "joint_torques_l2": -0.005448735784739256, "dof_pos_limits": -1.740644256642554e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.003924280405044556, "rolling_leg_motion": -0.026045778766274452, "obstacle_progress": 0.10737107694149017, "wheel_body_intrusion": -0.00974279548972845, "pair_body_intrusion": -0.012495212256908417}, "episode_termination_rates": {"time_out": 0.4189189189189189, "fell_over": 0.02702702702702703, "course_exit": 0.5405405405405406, "illegal_nonwheel_contact": 0.033783783783783786}, "collection_time_s": 0.07577505913679489, "learning_time_s": 0.18537032402469777, "iteration_time_s": 0.3462132633953076, "policy_updates": 18450, "skipped_updates": 0, "invalid_env_resets": 87, "elapsed_s": 6491.498688662017, "nonwheel_terminations": 11681, "contact_bce": 0.30085185170173645, "contact_force_loss": 0.0205160453915596, "collision_bce": 0.0003275472263339907, "collision_label_rate": 6.114337884355336e-05, "collision_prediction_mean": 2.0595842215698212e-05, "collision_label_count": 16355.0, "terrain_level_mean": 3.066162109375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [36, 83, 106, 88, 54, 43], "episodes_by_level": [[1317.0, 279.0, 46.0, 0.0], [1387.0, 306.0, 35.0, 0.0], [803.0, 194.0, 23.0, 0.0], [385.0, 101.0, 9.0, 0.0], [177.0, 44.0, 4.0, 0.0], [86.0, 22.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 11, 91, 392, 708, 231], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2380.0, 1451.0, 37.0, 0.0], [4121.0, 1624.0, 165.0, 0.0], [3366.0, 1110.0, 188.0, 0.0], [1458.0, 276.0, 128.0, 0.0], [124.0, 0.0, 31.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 7, 72, 535], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [759.0, 670.0, 21.0, 0.0], [923.0, 752.0, 25.0, 0.0], [1326.0, 1022.0, 58.0, 0.0], [3371.0, 2574.0, 169.0, 0.0]]}, "platform": {"level_counts": [53, 108, 121, 90, 35, 3], "episodes_by_level": [[1502.0, 323.0, 49.0, 0.0], [1458.0, 292.0, 65.0, 0.0], [751.0, 150.0, 49.0, 0.0], [332.0, 46.0, 22.0, 0.0], [71.0, 7.0, 8.0, 0.0], [6.0, 1.0, 4.0, 0.0]]}, "slope": {"level_counts": [47, 104, 94, 77, 46, 42], "episodes_by_level": [[1375.0, 291.0, 43.0, 0.0], [1370.0, 275.0, 55.0, 0.0], [766.0, 176.0, 30.0, 0.0], [374.0, 91.0, 11.0, 0.0], [194.0, 43.0, 3.0, 0.0], [83.0, 16.0, 1.0, 0.0]]}, "rubble": {"level_counts": [95, 227, 253, 181, 54, 9], "episodes_by_level": [[2731.0, 615.0, 89.0, 0.0], [3012.0, 656.0, 146.0, 0.0], [1781.0, 362.0, 176.0, 0.0], [697.0, 97.0, 118.0, 0.0], [121.0, 14.0, 34.0, 0.0], [7.0, 0.0, 5.0, 0.0]]}}, "success_archive_windows": 40427, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.239990234375, "command_abs_max": [0.9993188977241516, 0.39979586005210876, 0.6998779773712158]}
{"step": 18800, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 18800, "total_transitions": 77004800, "num_steps_per_env": 1, "wm_loss": 0.7470266222953796, "actor_loss": -9.456777572631836, "critic_loss": 0.0053662750869989395, "reward": 0.08600759506225586, "falls": 13, "interval_steps": 50, "velocity_mae": [0.1178373470902443, 0.07148025929927826, 0.13560132682323456], "mean_episode_length": 1296.289156626506, "episode_reward_terms": {"track_linear_velocity": 45.782135009765625, "track_angular_velocity": 48.99387741088867, "upright": 24.962560653686523, "leg_posture": -2.6659746170043945, "standstill": -6.2706708908081055, "action_rate_l2": -0.5765343904495239, "joint_torques_l2": -0.14155013859272003, "dof_pos_limits": -0.0006979300524108112, "terminated": -0.03291358798742294, "unnecessary_wheel_lift": -0.11815433204174042, "rolling_leg_motion": -0.6970393657684326, "obstacle_progress": 2.8098866939544678, "wheel_body_intrusion": -0.2439100742340088, "pair_body_intrusion": -0.3103195130825043}, "weighted_reward_terms": {"track_linear_velocity": 1.7658921480178833, "track_angular_velocity": 1.8897743225097656, "upright": 0.9628469347953796, "leg_posture": -0.10283102095127106, "standstill": -0.24187007546424866, "action_rate_l2": -0.022237876430153847, "joint_torques_l2": -0.005459821317344904, "dof_pos_limits": -2.6920308300759643e-05, "terminated": -0.0012695310870185494, "unnecessary_wheel_lift": -0.004557406529784203, "rolling_leg_motion": -0.026885952800512314, "obstacle_progress": 0.10838194936513901, "wheel_body_intrusion": -0.00940801203250885, "pair_body_intrusion": -0.011969532817602158}, "episode_termination_rates": {"time_out": 0.42771084337349397, "fell_over": 0.03614457831325301, "course_exit": 0.4939759036144578, "illegal_nonwheel_contact": 0.060240963855421686}, "collection_time_s": 0.07565227197599597, "learning_time_s": 0.18545586549909784, "iteration_time_s": 0.34598697610132884, "policy_updates": 18500, "skipped_updates": 0, "invalid_env_resets": 87, "elapsed_s": 6504.555150704982, "nonwheel_terminations": 11691, "contact_bce": 0.29954031109809875, "contact_force_loss": 0.020378360524773598, "collision_bce": 4.822367827728158e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 4.8885572141443845e-06, "collision_label_count": 16346.0, "terrain_level_mean": 3.072021484375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [36, 83, 106, 87, 55, 43], "episodes_by_level": [[1318.0, 279.0, 46.0, 0.0], [1392.0, 306.0, 35.0, 0.0], [805.0, 194.0, 23.0, 0.0], [388.0, 102.0, 9.0, 0.0], [177.0, 44.0, 4.0, 0.0], [86.0, 22.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 11, 90, 388, 703, 241], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2380.0, 1451.0, 37.0, 0.0], [4122.0, 1625.0, 165.0, 0.0], [3378.0, 1116.0, 188.0, 0.0], [1477.0, 289.0, 129.0, 0.0], [131.0, 0.0, 33.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 6, 75, 533], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [759.0, 670.0, 21.0, 0.0], [924.0, 753.0, 25.0, 0.0], [1329.0, 1024.0, 58.0, 0.0], [3394.0, 2593.0, 170.0, 0.0]]}, "platform": {"level_counts": [53, 107, 122, 90, 34, 4], "episodes_by_level": [[1502.0, 323.0, 49.0, 0.0], [1463.0, 293.0, 65.0, 0.0], [756.0, 150.0, 49.0, 0.0], [335.0, 46.0, 22.0, 0.0], [72.0, 8.0, 8.0, 0.0], [6.0, 1.0, 4.0, 0.0]]}, "slope": {"level_counts": [47, 102, 96, 76, 47, 42], "episodes_by_level": [[1376.0, 291.0, 43.0, 0.0], [1376.0, 277.0, 55.0, 0.0], [769.0, 176.0, 30.0, 0.0], [376.0, 92.0, 11.0, 0.0], [195.0, 43.0, 3.0, 0.0], [85.0, 16.0, 1.0, 0.0]]}, "rubble": {"level_counts": [96, 226, 250, 183, 55, 9], "episodes_by_level": [[2732.0, 615.0, 89.0, 0.0], [3021.0, 658.0, 147.0, 0.0], [1790.0, 366.0, 178.0, 0.0], [708.0, 98.0, 119.0, 0.0], [121.0, 14.0, 34.0, 0.0], [7.0, 0.0, 5.0, 0.0]]}}, "success_archive_windows": 40577, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.233642578125, "command_abs_max": [0.9993188977241516, 0.39979586005210876, 0.6998779773712158]}
{"step": 18850, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 18850, "total_transitions": 77209600, "num_steps_per_env": 1, "wm_loss": 0.7632026672363281, "actor_loss": -9.4433012008667, "critic_loss": 0.006381880026310682, "reward": 0.08586759120225906, "falls": 11, "interval_steps": 50, "velocity_mae": [0.11706773936748505, 0.07016114145517349, 0.1352148950099945], "mean_episode_length": 1309.373015873016, "episode_reward_terms": {"track_linear_velocity": 46.3266487121582, "track_angular_velocity": 49.490718841552734, "upright": 25.217466354370117, "leg_posture": -2.71094012260437, "standstill": -6.581608295440674, "action_rate_l2": -0.561332643032074, "joint_torques_l2": -0.14364896714687347, "dof_pos_limits": -0.0003916241112165153, "terminated": -0.02813105843961239, "unnecessary_wheel_lift": -0.10235577821731567, "rolling_leg_motion": -0.6792907118797302, "obstacle_progress": 2.826150417327881, "wheel_body_intrusion": -0.2711349129676819, "pair_body_intrusion": -0.34943240880966187}, "weighted_reward_terms": {"track_linear_velocity": 1.7690393924713135, "track_angular_velocity": 1.8898632526397705, "upright": 0.9629596471786499, "leg_posture": -0.10352054238319397, "standstill": -0.25132670998573303, "action_rate_l2": -0.021435169503092766, "joint_torques_l2": -0.005485410336405039, "dof_pos_limits": -1.495464221079601e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.003908579703420401, "rolling_leg_motion": -0.025939540937542915, "obstacle_progress": 0.10791998356580734, "wheel_body_intrusion": -0.010353616438806057, "pair_body_intrusion": -0.013343501836061478}, "episode_termination_rates": {"time_out": 0.4365079365079365, "fell_over": 0.05555555555555555, "course_exit": 0.47619047619047616, "illegal_nonwheel_contact": 0.05555555555555555}, "collection_time_s": 0.0755764096963685, "learning_time_s": 0.1850928830821067, "iteration_time_s": 0.345760725822015, "policy_updates": 18550, "skipped_updates": 0, "invalid_env_resets": 87, "elapsed_s": 6517.589681744983, "nonwheel_terminations": 11698, "contact_bce": 0.30473682284355164, "contact_force_loss": 0.021599475294351578, "collision_bce": 8.07192554930225e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 8.13305359770311e-06, "collision_label_count": 16332.0, "terrain_level_mean": 3.07470703125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [36, 82, 107, 87, 55, 43], "episodes_by_level": [[1318.0, 279.0, 46.0, 0.0], [1394.0, 307.0, 35.0, 0.0], [807.0, 194.0, 23.0, 0.0], [389.0, 102.0, 9.0, 0.0], [178.0, 44.0, 4.0, 0.0], [86.0, 22.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 11, 88, 388, 702, 244], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2380.0, 1451.0, 37.0, 0.0], [4124.0, 1627.0, 165.0, 0.0], [3385.0, 1119.0, 188.0, 0.0], [1490.0, 293.0, 129.0, 0.0], [139.0, 0.0, 33.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 6, 77, 531], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [759.0, 670.0, 21.0, 0.0], [924.0, 753.0, 25.0, 0.0], [1330.0, 1025.0, 58.0, 0.0], [3415.0, 2609.0, 172.0, 0.0]]}, "platform": {"level_counts": [53, 108, 116, 95, 34, 4], "episodes_by_level": [[1504.0, 323.0, 49.0, 0.0], [1464.0, 293.0, 65.0, 0.0], [763.0, 155.0, 50.0, 0.0], [338.0, 46.0, 22.0, 0.0], [72.0, 8.0, 8.0, 0.0], [8.0, 1.0, 4.0, 0.0]]}, "slope": {"level_counts": [46, 103, 96, 75, 48, 42], "episodes_by_level": [[1377.0, 292.0, 43.0, 0.0], [1380.0, 277.0, 55.0, 0.0], [772.0, 176.0, 30.0, 0.0], [379.0, 93.0, 11.0, 0.0], [195.0, 43.0, 3.0, 0.0], [85.0, 16.0, 1.0, 0.0]]}, "rubble": {"level_counts": [97, 227, 248, 182, 55, 10], "episodes_by_level": [[2733.0, 615.0, 89.0, 0.0], [3025.0, 658.0, 148.0, 0.0], [1797.0, 367.0, 180.0, 0.0], [715.0, 100.0, 120.0, 0.0], [124.0, 15.0, 35.0, 0.0], [7.0, 0.0, 5.0, 0.0]]}}, "success_archive_windows": 40730, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.231201171875, "command_abs_max": [0.9993188977241516, 0.39979586005210876, 0.6998779773712158]}
{"step": 18900, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 18900, "total_transitions": 77414400, "num_steps_per_env": 1, "wm_loss": 0.7607739567756653, "actor_loss": -9.516534805297852, "critic_loss": 0.0027114897966384888, "reward": 0.0858619287610054, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11975347250699997, 0.07275424152612686, 0.13683511316776276], "mean_episode_length": 1337.5986394557824, "episode_reward_terms": {"track_linear_velocity": 47.08494186401367, "track_angular_velocity": 50.481895446777344, "upright": 25.76288604736328, "leg_posture": -2.760103940963745, "standstill": -6.471279144287109, "action_rate_l2": -0.5786487460136414, "joint_torques_l2": -0.14690469205379486, "dof_pos_limits": -0.0005361100775189698, "terminated": -0.018287479877471924, "unnecessary_wheel_lift": -0.09609702974557877, "rolling_leg_motion": -0.6977739930152893, "obstacle_progress": 2.9339911937713623, "wheel_body_intrusion": -0.2762327492237091, "pair_body_intrusion": -0.36905214190483093}, "weighted_reward_terms": {"track_linear_velocity": 1.7600549459457397, "track_angular_velocity": 1.88703453540802, "upright": 0.9630274772644043, "leg_posture": -0.10317385196685791, "standstill": -0.24189914762973785, "action_rate_l2": -0.02163013257086277, "joint_torques_l2": -0.0054913596250116825, "dof_pos_limits": -2.004002089961432e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0035921474918723106, "rolling_leg_motion": -0.02608308754861355, "obstacle_progress": 0.10967382788658142, "wheel_body_intrusion": -0.01032569631934166, "pair_body_intrusion": -0.01379532553255558}, "episode_termination_rates": {"time_out": 0.46258503401360546, "fell_over": 0.013605442176870748, "course_exit": 0.4897959183673469, "illegal_nonwheel_contact": 0.034013605442176874}, "collection_time_s": 0.07584580137976445, "learning_time_s": 0.1853709396230988, "iteration_time_s": 0.3455371248168272, "policy_updates": 18600, "skipped_updates": 0, "invalid_env_resets": 88, "elapsed_s": 6530.651659038034, "nonwheel_terminations": 11703, "contact_bce": 0.30180639028549194, "contact_force_loss": 0.02007017470896244, "collision_bce": 1.5164488104346674e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.513002371211769e-05, "collision_label_count": 16358.0, "terrain_level_mean": 3.0810546875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [36, 82, 106, 88, 55, 43], "episodes_by_level": [[1319.0, 279.0, 46.0, 0.0], [1395.0, 307.0, 35.0, 0.0], [812.0, 195.0, 23.0, 0.0], [392.0, 102.0, 9.0, 0.0], [182.0, 44.0, 4.0, 0.0], [90.0, 24.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 11, 84, 390, 697, 251], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2380.0, 1451.0, 37.0, 0.0], [4129.0, 1631.0, 165.0, 0.0], [3396.0, 1123.0, 188.0, 0.0], [1508.0, 300.0, 129.0, 0.0], [143.0, 0.0, 33.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 6, 74, 534], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [759.0, 670.0, 21.0, 0.0], [924.0, 753.0, 25.0, 0.0], [1334.0, 1029.0, 58.0, 0.0], [3429.0, 2620.0, 172.0, 0.0]]}, "platform": {"level_counts": [53, 106, 119, 93, 35, 4], "episodes_by_level": [[1504.0, 323.0, 49.0, 0.0], [1468.0, 295.0, 65.0, 0.0], [766.0, 155.0, 50.0, 0.0], [341.0, 47.0, 23.0, 0.0], [72.0, 8.0, 8.0, 0.0], [8.0, 1.0, 4.0, 0.0]]}, "slope": {"level_counts": [46, 103, 96, 72, 51, 42], "episodes_by_level": [[1378.0, 292.0, 43.0, 0.0], [1385.0, 277.0, 55.0, 0.0], [774.0, 176.0, 30.0, 0.0], [382.0, 96.0, 11.0, 0.0], [196.0, 43.0, 3.0, 0.0], [85.0, 16.0, 1.0, 0.0]]}, "rubble": {"level_counts": [96, 227, 248, 182, 56, 10], "episodes_by_level": [[2738.0, 616.0, 89.0, 0.0], [3036.0, 661.0, 148.0, 0.0], [1807.0, 368.0, 182.0, 0.0], [720.0, 102.0, 120.0, 0.0], [127.0, 15.0, 36.0, 0.0], [7.0, 0.0, 5.0, 0.0]]}}, "success_archive_windows": 40870, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.236572265625, "command_abs_max": [0.9993188977241516, 0.39979586005210876, 0.6998779773712158]}
{"step": 18950, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 18950, "total_transitions": 77619200, "num_steps_per_env": 1, "wm_loss": 0.7347818613052368, "actor_loss": -9.469132423400879, "critic_loss": 0.01060070376843214, "reward": 0.08538703620433807, "falls": 13, "interval_steps": 50, "velocity_mae": [0.1211664229631424, 0.07350193709135056, 0.13782788813114166], "mean_episode_length": 1305.1438356164383, "episode_reward_terms": {"track_linear_velocity": 45.8292236328125, "track_angular_velocity": 49.2210807800293, "upright": 25.086936950683594, "leg_posture": -2.726762056350708, "standstill": -6.658392429351807, "action_rate_l2": -0.5738202333450317, "joint_torques_l2": -0.14587244391441345, "dof_pos_limits": -0.00169909349642694, "terminated": -0.03313841298222542, "unnecessary_wheel_lift": -0.10644273459911346, "rolling_leg_motion": -0.6857858300209045, "obstacle_progress": 2.842933177947998, "wheel_body_intrusion": -0.2605401873588562, "pair_body_intrusion": -0.3453679382801056}, "weighted_reward_terms": {"track_linear_velocity": 1.7557156085968018, "track_angular_velocity": 1.8856574296951294, "upright": 0.961079478263855, "leg_posture": -0.10446213185787201, "standstill": -0.25508272647857666, "action_rate_l2": -0.021983029320836067, "joint_torques_l2": -0.005588366650044918, "dof_pos_limits": -6.509219383588061e-05, "terminated": -0.0012695310870185494, "unnecessary_wheel_lift": -0.004077816382050514, "rolling_leg_motion": -0.026272423565387726, "obstacle_progress": 0.1089126467704773, "wheel_body_intrusion": -0.009981282986700535, "pair_body_intrusion": -0.013231031596660614}, "episode_termination_rates": {"time_out": 0.4657534246575342, "fell_over": 0.06164383561643835, "course_exit": 0.4452054794520548, "illegal_nonwheel_contact": 0.0410958904109589}, "collection_time_s": 0.0756246549403295, "learning_time_s": 0.18439070717664435, "iteration_time_s": 0.34562109889725523, "policy_updates": 18650, "skipped_updates": 0, "invalid_env_resets": 88, "elapsed_s": 6549.519824102987, "nonwheel_terminations": 11709, "contact_bce": 0.30738475918769836, "contact_force_loss": 0.02084020897746086, "collision_bce": 8.991446520667523e-05, "collision_label_rate": 6.119201862020418e-05, "collision_prediction_mean": 3.502069739624858e-05, "collision_label_count": 16342.0, "terrain_level_mean": 3.08544921875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [35, 83, 106, 87, 55, 44], "episodes_by_level": [[1321.0, 280.0, 46.0, 0.0], [1397.0, 307.0, 35.0, 0.0], [812.0, 195.0, 23.0, 0.0], [396.0, 103.0, 9.0, 0.0], [186.0, 45.0, 4.0, 0.0], [91.0, 24.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 11, 81, 389, 696, 256], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2380.0, 1451.0, 37.0, 0.0], [4133.0, 1634.0, 165.0, 0.0], [3405.0, 1128.0, 188.0, 0.0], [1524.0, 307.0, 130.0, 0.0], [148.0, 0.0, 35.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 6, 76, 532], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [759.0, 670.0, 21.0, 0.0], [924.0, 753.0, 25.0, 0.0], [1336.0, 1031.0, 58.0, 0.0], [3445.0, 2631.0, 173.0, 0.0]]}, "platform": {"level_counts": [52, 107, 119, 92, 36, 4], "episodes_by_level": [[1506.0, 324.0, 49.0, 0.0], [1470.0, 295.0, 65.0, 0.0], [770.0, 155.0, 50.0, 0.0], [344.0, 48.0, 23.0, 0.0], [73.0, 8.0, 8.0, 0.0], [8.0, 1.0, 4.0, 0.0]]}, "slope": {"level_counts": [46, 103, 93, 74, 52, 42], "episodes_by_level": [[1381.0, 292.0, 43.0, 0.0], [1386.0, 277.0, 55.0, 0.0], [779.0, 179.0, 30.0, 0.0], [385.0, 97.0, 11.0, 0.0], [196.0, 43.0, 3.0, 0.0], [86.0, 17.0, 1.0, 0.0]]}, "rubble": {"level_counts": [96, 227, 248, 182, 57, 9], "episodes_by_level": [[2741.0, 616.0, 89.0, 0.0], [3043.0, 663.0, 148.0, 0.0], [1812.0, 370.0, 184.0, 0.0], [726.0, 103.0, 122.0, 0.0], [128.0, 15.0, 37.0, 0.0], [8.0, 0.0, 6.0, 0.0]]}}, "success_archive_windows": 41032, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.236572265625, "command_abs_max": [0.998875617980957, 0.39979586005210876, 0.6998380422592163]}
{"step": 19000, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 19000, "total_transitions": 77824000, "num_steps_per_env": 1, "wm_loss": 0.7316870093345642, "actor_loss": -9.464771270751953, "critic_loss": 0.0034101444762200117, "reward": 0.08592016994953156, "falls": 12, "interval_steps": 50, "velocity_mae": [0.11916137486696243, 0.07270772755146027, 0.13742554187774658], "mean_episode_length": 1395.4906832298136, "episode_reward_terms": {"track_linear_velocity": 49.17253494262695, "track_angular_velocity": 52.6483268737793, "upright": 26.820846557617188, "leg_posture": -2.936979055404663, "standstill": -6.524718284606934, "action_rate_l2": -0.6111277937889099, "joint_torques_l2": -0.15406787395477295, "dof_pos_limits": -0.0010417965240776539, "terminated": -0.032706812024116516, "unnecessary_wheel_lift": -0.119113489985466, "rolling_leg_motion": -0.7320342063903809, "obstacle_progress": 3.016300678253174, "wheel_body_intrusion": -0.26555365324020386, "pair_body_intrusion": -0.379855751991272}, "weighted_reward_terms": {"track_linear_velocity": 1.7618367671966553, "track_angular_velocity": 1.8863732814788818, "upright": 0.960982620716095, "leg_posture": -0.10523104667663574, "standstill": -0.23377864062786102, "action_rate_l2": -0.021896520629525185, "joint_torques_l2": -0.005520204547792673, "dof_pos_limits": -3.732724871952087e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.0042677996680140495, "rolling_leg_motion": -0.026228560134768486, "obstacle_progress": 0.10807311534881592, "wheel_body_intrusion": -0.009514705277979374, "pair_body_intrusion": -0.013610114343464375}, "episode_termination_rates": {"time_out": 0.4720496894409938, "fell_over": 0.055900621118012424, "course_exit": 0.453416149068323, "illegal_nonwheel_contact": 0.055900621118012424}, "collection_time_s": 0.0756113025348168, "learning_time_s": 0.19241169398650526, "iteration_time_s": 0.34541695130426486, "policy_updates": 18700, "skipped_updates": 0, "invalid_env_resets": 88, "elapsed_s": 6562.922074781032, "nonwheel_terminations": 11718, "contact_bce": 0.29718559980392456, "contact_force_loss": 0.02042429707944393, "collision_bce": 0.00018248027481604367, "collision_label_rate": 6.124448555056006e-05, "collision_prediction_mean": 0.00013315764954313636, "collision_label_count": 16328.0, "terrain_level_mean": 3.08740234375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [35, 81, 106, 89, 55, 44], "episodes_by_level": [[1322.0, 280.0, 46.0, 0.0], [1401.0, 309.0, 35.0, 0.0], [815.0, 197.0, 23.0, 0.0], [397.0, 103.0, 9.0, 0.0], [187.0, 45.0, 4.0, 0.0], [94.0, 25.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 10, 79, 394, 691, 259], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2382.0, 1452.0, 37.0, 0.0], [4138.0, 1637.0, 165.0, 0.0], [3416.0, 1129.0, 188.0, 0.0], [1545.0, 311.0, 132.0, 0.0], [153.0, 0.0, 36.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 6, 78, 530], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [759.0, 670.0, 21.0, 0.0], [924.0, 753.0, 25.0, 0.0], [1337.0, 1032.0, 58.0, 0.0], [3463.0, 2644.0, 174.0, 0.0]]}, "platform": {"level_counts": [52, 107, 118, 92, 37, 4], "episodes_by_level": [[1507.0, 324.0, 49.0, 0.0], [1476.0, 295.0, 65.0, 0.0], [773.0, 156.0, 50.0, 0.0], [347.0, 49.0, 23.0, 0.0], [75.0, 8.0, 8.0, 0.0], [8.0, 1.0, 4.0, 0.0]]}, "slope": {"level_counts": [46, 103, 91, 76, 52, 42], "episodes_by_level": [[1384.0, 292.0, 43.0, 0.0], [1392.0, 278.0, 55.0, 0.0], [782.0, 181.0, 31.0, 0.0], [388.0, 97.0, 11.0, 0.0], [199.0, 43.0, 3.0, 0.0], [86.0, 17.0, 1.0, 0.0]]}, "rubble": {"level_counts": [96, 230, 245, 182, 57, 9], "episodes_by_level": [[2743.0, 616.0, 89.0, 0.0], [3052.0, 663.0, 148.0, 0.0], [1822.0, 371.0, 187.0, 0.0], [728.0, 103.0, 123.0, 0.0], [130.0, 15.0, 37.0, 0.0], [8.0, 0.0, 6.0, 0.0]]}}, "success_archive_windows": 41167, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23828125, "command_abs_max": [0.998875617980957, 0.39979586005210876, 0.6998380422592163]}
{"step": 19050, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 19050, "total_transitions": 78028800, "num_steps_per_env": 1, "wm_loss": 0.8034610748291016, "actor_loss": -9.464463233947754, "critic_loss": 0.003134406404569745, "reward": 0.08609608560800552, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11711890995502472, 0.07213077694177628, 0.13552707433700562], "mean_episode_length": 1366.8807947019868, "episode_reward_terms": {"track_linear_velocity": 48.270721435546875, "track_angular_velocity": 51.65829849243164, "upright": 26.336034774780273, "leg_posture": -2.8512349128723145, "standstill": -6.504025936126709, "action_rate_l2": -0.5736349821090698, "joint_torques_l2": -0.15145772695541382, "dof_pos_limits": -0.0008084237342700362, "terminated": -0.02135750837624073, "unnecessary_wheel_lift": -0.11312240362167358, "rolling_leg_motion": -0.7064157128334045, "obstacle_progress": 2.970140218734741, "wheel_body_intrusion": -0.2766307294368744, "pair_body_intrusion": -0.35343730449676514}, "weighted_reward_terms": {"track_linear_velocity": 1.7657253742218018, "track_angular_velocity": 1.8896418809890747, "upright": 0.9633625745773315, "leg_posture": -0.10429714620113373, "standstill": -0.23791490495204926, "action_rate_l2": -0.020983358845114708, "joint_torques_l2": -0.005540268495678902, "dof_pos_limits": -2.957184551632963e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.004137976560741663, "rolling_leg_motion": -0.025840431451797485, "obstacle_progress": 0.10864664614200592, "wheel_body_intrusion": -0.010119051672518253, "pair_body_intrusion": -0.012928608804941177}, "episode_termination_rates": {"time_out": 0.5231788079470199, "fell_over": 0.013245033112582781, "course_exit": 0.423841059602649, "illegal_nonwheel_contact": 0.052980132450331126}, "collection_time_s": 0.07609554710099474, "learning_time_s": 0.18402192258043215, "iteration_time_s": 0.3451945944708128, "policy_updates": 18750, "skipped_updates": 0, "invalid_env_resets": 89, "elapsed_s": 6575.957024668984, "nonwheel_terminations": 11726, "contact_bce": 0.305256724357605, "contact_force_loss": 0.020980261266231537, "collision_bce": 0.000499990361277014, "collision_label_rate": 0.0001837897434597835, "collision_prediction_mean": 0.00012134127609897405, "collision_label_count": 16323.0, "terrain_level_mean": 3.091552734375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [35, 81, 106, 89, 55, 44], "episodes_by_level": [[1322.0, 280.0, 46.0, 0.0], [1403.0, 309.0, 35.0, 0.0], [820.0, 197.0, 23.0, 0.0], [400.0, 103.0, 9.0, 0.0], [188.0, 45.0, 4.0, 0.0], [95.0, 25.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 10, 77, 390, 688, 268], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2382.0, 1452.0, 37.0, 0.0], [4140.0, 1639.0, 165.0, 0.0], [3429.0, 1136.0, 188.0, 0.0], [1569.0, 320.0, 132.0, 0.0], [158.0, 0.0, 36.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 6, 83, 525], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [759.0, 670.0, 21.0, 0.0], [924.0, 753.0, 25.0, 0.0], [1337.0, 1032.0, 58.0, 0.0], [3480.0, 2655.0, 177.0, 0.0]]}, "platform": {"level_counts": [51, 108, 117, 93, 37, 4], "episodes_by_level": [[1510.0, 325.0, 49.0, 0.0], [1477.0, 295.0, 65.0, 0.0], [776.0, 157.0, 50.0, 0.0], [350.0, 49.0, 23.0, 0.0], [77.0, 8.0, 8.0, 0.0], [8.0, 1.0, 4.0, 0.0]]}, "slope": {"level_counts": [46, 102, 91, 77, 52, 42], "episodes_by_level": [[1386.0, 292.0, 43.0, 0.0], [1396.0, 279.0, 55.0, 0.0], [788.0, 182.0, 31.0, 0.0], [388.0, 97.0, 11.0, 0.0], [199.0, 43.0, 3.0, 0.0], [88.0, 17.0, 1.0, 0.0]]}, "rubble": {"level_counts": [95, 231, 246, 181, 56, 10], "episodes_by_level": [[2748.0, 617.0, 89.0, 0.0], [3059.0, 664.0, 148.0, 0.0], [1826.0, 371.0, 188.0, 0.0], [735.0, 103.0, 124.0, 0.0], [133.0, 16.0, 37.0, 0.0], [8.0, 0.0, 6.0, 0.0]]}}, "success_archive_windows": 41292, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23876953125, "command_abs_max": [0.998875617980957, 0.3997620940208435, 0.6995950937271118]}
{"step": 19100, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 19100, "total_transitions": 78233600, "num_steps_per_env": 1, "wm_loss": 0.7566056251525879, "actor_loss": -9.470544815063477, "critic_loss": 0.003722028573974967, "reward": 0.08619282394647598, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11724694073200226, 0.0706842765212059, 0.13441842794418335], "mean_episode_length": 1346.210843373494, "episode_reward_terms": {"track_linear_velocity": 47.583805084228516, "track_angular_velocity": 50.92007827758789, "upright": 25.9327392578125, "leg_posture": -2.7911736965179443, "standstill": -6.297389507293701, "action_rate_l2": -0.586625337600708, "joint_torques_l2": -0.15021492540836334, "dof_pos_limits": -8.405072730965912e-05, "terminated": -0.015775907784700394, "unnecessary_wheel_lift": -0.13350225985050201, "rolling_leg_motion": -0.7218469977378845, "obstacle_progress": 2.880124092102051, "wheel_body_intrusion": -0.2594682574272156, "pair_body_intrusion": -0.32698044180870056}, "weighted_reward_terms": {"track_linear_velocity": 1.7673238515853882, "track_angular_velocity": 1.8912372589111328, "upright": 0.963175356388092, "leg_posture": -0.10366777330636978, "standstill": -0.23389315605163574, "action_rate_l2": -0.021788019686937332, "joint_torques_l2": -0.005579175427556038, "dof_pos_limits": -3.1217521154758288e-06, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.00495844567194581, "rolling_leg_motion": -0.02681032568216324, "obstacle_progress": 0.10697151720523834, "wheel_body_intrusion": -0.009636985138058662, "pair_body_intrusion": -0.012144474312663078}, "episode_termination_rates": {"time_out": 0.5301204819277109, "fell_over": 0.018072289156626505, "course_exit": 0.43373493975903615, "illegal_nonwheel_contact": 0.024096385542168676}, "collection_time_s": 0.0756864046806004, "learning_time_s": 0.18566266058012842, "iteration_time_s": 0.3449751712934569, "policy_updates": 18800, "skipped_updates": 0, "invalid_env_resets": 89, "elapsed_s": 6589.025771705026, "nonwheel_terminations": 11730, "contact_bce": 0.2990533113479614, "contact_force_loss": 0.02074297145009041, "collision_bce": 0.0001416547893313691, "collision_label_rate": 6.121449405327439e-05, "collision_prediction_mean": 0.0001088231147150509, "collision_label_count": 16336.0, "terrain_level_mean": 3.097900390625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [35, 80, 106, 90, 53, 46], "episodes_by_level": [[1324.0, 280.0, 46.0, 0.0], [1408.0, 310.0, 35.0, 0.0], [823.0, 198.0, 23.0, 0.0], [403.0, 103.0, 9.0, 0.0], [193.0, 47.0, 4.0, 0.0], [96.0, 25.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 10, 75, 387, 689, 272], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2382.0, 1452.0, 37.0, 0.0], [4143.0, 1641.0, 165.0, 0.0], [3441.0, 1142.0, 188.0, 0.0], [1586.0, 324.0, 133.0, 0.0], [164.0, 0.0, 36.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 7, 80, 527], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [759.0, 670.0, 21.0, 0.0], [924.0, 753.0, 25.0, 0.0], [1341.0, 1036.0, 58.0, 0.0], [3504.0, 2674.0, 178.0, 0.0]]}, "platform": {"level_counts": [51, 108, 116, 93, 38, 4], "episodes_by_level": [[1511.0, 325.0, 49.0, 0.0], [1481.0, 296.0, 65.0, 0.0], [781.0, 158.0, 51.0, 0.0], [351.0, 50.0, 23.0, 0.0], [77.0, 8.0, 8.0, 0.0], [8.0, 1.0, 4.0, 0.0]]}, "slope": {"level_counts": [46, 102, 90, 77, 53, 42], "episodes_by_level": [[1387.0, 292.0, 43.0, 0.0], [1398.0, 279.0, 55.0, 0.0], [793.0, 183.0, 31.0, 0.0], [391.0, 98.0, 11.0, 0.0], [201.0, 43.0, 3.0, 0.0], [91.0, 17.0, 1.0, 0.0]]}, "rubble": {"level_counts": [94, 230, 248, 179, 57, 11], "episodes_by_level": [[2751.0, 618.0, 89.0, 0.0], [3066.0, 666.0, 148.0, 0.0], [1833.0, 372.0, 188.0, 0.0], [743.0, 105.0, 125.0, 0.0], [136.0, 17.0, 37.0, 0.0], [8.0, 0.0, 6.0, 0.0]]}}, "success_archive_windows": 41421, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.239013671875, "command_abs_max": [0.998875617980957, 0.39979374408721924, 0.6995950937271118]}
{"step": 19150, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 19150, "total_transitions": 78438400, "num_steps_per_env": 1, "wm_loss": 0.7588769793510437, "actor_loss": -9.435233116149902, "critic_loss": 0.005707358941435814, "reward": 0.08613858371973038, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11742553114891052, 0.07101769000291824, 0.13449278473854065], "mean_episode_length": 1409.2101910828026, "episode_reward_terms": {"track_linear_velocity": 49.818973541259766, "track_angular_velocity": 53.30586242675781, "upright": 27.128190994262695, "leg_posture": -2.908552646636963, "standstill": -6.765052318572998, "action_rate_l2": -0.6070287823677063, "joint_torques_l2": -0.1548565924167633, "dof_pos_limits": -0.0004418334865476936, "terminated": -0.016514180228114128, "unnecessary_wheel_lift": -0.13313280045986176, "rolling_leg_motion": -0.7619898915290833, "obstacle_progress": 3.0866024494171143, "wheel_body_intrusion": -0.279759019613266, "pair_body_intrusion": -0.3249211311340332}, "weighted_reward_terms": {"track_linear_velocity": 1.76762056350708, "track_angular_velocity": 1.8913383483886719, "upright": 0.9625318050384521, "leg_posture": -0.10319796949625015, "standstill": -0.2400299459695816, "action_rate_l2": -0.021537907421588898, "joint_torques_l2": -0.0054944464936852455, "dof_pos_limits": -1.567663457535673e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.004723667167127132, "rolling_leg_motion": -0.027036063373088837, "obstacle_progress": 0.10951532423496246, "wheel_body_intrusion": -0.009926092810928822, "pair_body_intrusion": -0.011528483591973782}, "episode_termination_rates": {"time_out": 0.5286624203821656, "fell_over": 0.01910828025477707, "course_exit": 0.43312101910828027, "illegal_nonwheel_contact": 0.025477707006369428}, "collection_time_s": 0.07567274841945619, "learning_time_s": 0.18477068500360475, "iteration_time_s": 0.34475451681394237, "policy_updates": 18850, "skipped_updates": 0, "invalid_env_resets": 89, "elapsed_s": 6602.048996986996, "nonwheel_terminations": 11734, "contact_bce": 0.3012271821498871, "contact_force_loss": 0.021077444776892662, "collision_bce": 8.787407568888739e-05, "collision_label_rate": 6.116956501500681e-05, "collision_prediction_mean": 9.684986434876919e-05, "collision_label_count": 16348.0, "terrain_level_mean": 3.104248046875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [35, 79, 106, 89, 55, 46], "episodes_by_level": [[1324.0, 280.0, 46.0, 0.0], [1410.0, 311.0, 35.0, 0.0], [829.0, 199.0, 23.0, 0.0], [405.0, 105.0, 9.0, 0.0], [195.0, 47.0, 4.0, 0.0], [101.0, 25.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 11, 68, 390, 684, 280], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2382.0, 1452.0, 37.0, 0.0], [4150.0, 1647.0, 165.0, 0.0], [3447.0, 1146.0, 188.0, 0.0], [1608.0, 332.0, 134.0, 0.0], [169.0, 0.0, 36.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 7, 80, 527], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [759.0, 670.0, 21.0, 0.0], [925.0, 754.0, 25.0, 0.0], [1342.0, 1037.0, 58.0, 0.0], [3527.0, 2691.0, 178.0, 0.0]]}, "platform": {"level_counts": [51, 108, 112, 97, 37, 5], "episodes_by_level": [[1513.0, 325.0, 49.0, 0.0], [1483.0, 296.0, 65.0, 0.0], [786.0, 162.0, 51.0, 0.0], [352.0, 50.0, 23.0, 0.0], [80.0, 9.0, 8.0, 0.0], [8.0, 1.0, 4.0, 0.0]]}, "slope": {"level_counts": [46, 101, 91, 77, 53, 42], "episodes_by_level": [[1388.0, 292.0, 43.0, 0.0], [1405.0, 280.0, 55.0, 0.0], [795.0, 183.0, 31.0, 0.0], [394.0, 98.0, 11.0, 0.0], [203.0, 43.0, 3.0, 0.0], [92.0, 17.0, 1.0, 0.0]]}, "rubble": {"level_counts": [95, 228, 250, 177, 58, 11], "episodes_by_level": [[2754.0, 618.0, 89.0, 0.0], [3076.0, 667.0, 149.0, 0.0], [1837.0, 372.0, 188.0, 0.0], [749.0, 106.0, 126.0, 0.0], [136.0, 17.0, 37.0, 0.0], [8.0, 0.0, 6.0, 0.0]]}}, "success_archive_windows": 41553, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234619140625, "command_abs_max": [0.998875617980957, 0.39979374408721924, 0.6992195248603821]}
{"step": 19200, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 19200, "total_transitions": 78643200, "num_steps_per_env": 1, "wm_loss": 0.782430112361908, "actor_loss": -9.45698070526123, "critic_loss": 0.005273440387099981, "reward": 0.0858117863535881, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11964716762304306, 0.07078275829553604, 0.13507585227489471], "mean_episode_length": 1362.1783439490446, "episode_reward_terms": {"track_linear_velocity": 48.027427673339844, "track_angular_velocity": 51.495025634765625, "upright": 26.201398849487305, "leg_posture": -2.8585572242736816, "standstill": -6.664779186248779, "action_rate_l2": -0.592891275882721, "joint_torques_l2": -0.15197786688804626, "dof_pos_limits": -0.0005534284864552319, "terminated": -0.021284032613039017, "unnecessary_wheel_lift": -0.11780282109975815, "rolling_leg_motion": -0.7270644307136536, "obstacle_progress": 2.9789481163024902, "wheel_body_intrusion": -0.2841646671295166, "pair_body_intrusion": -0.3927890956401825}, "weighted_reward_terms": {"track_linear_velocity": 1.7628906965255737, "track_angular_velocity": 1.8901718854904175, "upright": 0.961746335029602, "leg_posture": -0.1049259603023529, "standstill": -0.24463681876659393, "action_rate_l2": -0.02176261693239212, "joint_torques_l2": -0.00557848671451211, "dof_pos_limits": -2.0314098946982995e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.004324060399085283, "rolling_leg_motion": -0.026687564328312874, "obstacle_progress": 0.10934501141309738, "wheel_body_intrusion": -0.010430524125695229, "pair_body_intrusion": -0.014417682774364948}, "episode_termination_rates": {"time_out": 0.47770700636942676, "fell_over": 0.03821656050955414, "course_exit": 0.4713375796178344, "illegal_nonwheel_contact": 0.03184713375796178}, "collection_time_s": 0.07573804349987767, "learning_time_s": 0.18445239348220638, "iteration_time_s": 0.34453435648541625, "policy_updates": 18900, "skipped_updates": 0, "invalid_env_resets": 89, "elapsed_s": 6615.059644519992, "nonwheel_terminations": 11739, "contact_bce": 0.3041479289531708, "contact_force_loss": 0.02110619656741619, "collision_bce": 3.9607904909644276e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 3.686138370539993e-05, "collision_label_count": 16356.0, "terrain_level_mean": 3.108642578125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [34, 79, 107, 89, 55, 46], "episodes_by_level": [[1327.0, 281.0, 46.0, 0.0], [1414.0, 312.0, 35.0, 0.0], [832.0, 199.0, 23.0, 0.0], [406.0, 105.0, 9.0, 0.0], [197.0, 47.0, 4.0, 0.0], [102.0, 26.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 11, 68, 378, 695, 281], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2382.0, 1452.0, 37.0, 0.0], [4151.0, 1648.0, 165.0, 0.0], [3467.0, 1159.0, 189.0, 0.0], [1622.0, 334.0, 134.0, 0.0], [175.0, 0.0, 37.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 7, 78, 529], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [759.0, 670.0, 21.0, 0.0], [925.0, 754.0, 25.0, 0.0], [1345.0, 1040.0, 58.0, 0.0], [3550.0, 2714.0, 178.0, 0.0]]}, "platform": {"level_counts": [51, 106, 114, 96, 38, 5], "episodes_by_level": [[1514.0, 325.0, 49.0, 0.0], [1488.0, 298.0, 65.0, 0.0], [789.0, 162.0, 51.0, 0.0], [353.0, 51.0, 23.0, 0.0], [81.0, 9.0, 8.0, 0.0], [8.0, 1.0, 4.0, 0.0]]}, "slope": {"level_counts": [46, 100, 92, 78, 52, 42], "episodes_by_level": [[1389.0, 292.0, 43.0, 0.0], [1410.0, 281.0, 55.0, 0.0], [797.0, 183.0, 31.0, 0.0], [396.0, 98.0, 11.0, 0.0], [204.0, 43.0, 4.0, 0.0], [94.0, 17.0, 1.0, 0.0]]}, "rubble": {"level_counts": [95, 228, 249, 180, 57, 10], "episodes_by_level": [[2756.0, 618.0, 89.0, 0.0], [3085.0, 667.0, 149.0, 0.0], [1845.0, 373.0, 188.0, 0.0], [753.0, 106.0, 126.0, 0.0], [141.0, 17.0, 39.0, 0.0], [9.0, 0.0, 7.0, 0.0]]}}, "success_archive_windows": 41688, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.228515625, "command_abs_max": [0.998875617980957, 0.39979374408721924, 0.6992195248603821]}
{"step": 19250, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 19250, "total_transitions": 78848000, "num_steps_per_env": 1, "wm_loss": 0.7588920593261719, "actor_loss": -9.466596603393555, "critic_loss": 0.0071889981627464294, "reward": 0.08605488389730453, "falls": 11, "interval_steps": 50, "velocity_mae": [0.11660593748092651, 0.07128064334392548, 0.13564880192279816], "mean_episode_length": 1337.0949720670392, "episode_reward_terms": {"track_linear_velocity": 47.29905700683594, "track_angular_velocity": 50.53326416015625, "upright": 25.694385528564453, "leg_posture": -2.7655556201934814, "standstill": -6.484651565551758, "action_rate_l2": -0.5822391510009766, "joint_torques_l2": -0.14901137351989746, "dof_pos_limits": -0.0008256278233602643, "terminated": -0.028726646676659584, "unnecessary_wheel_lift": -0.11896619945764542, "rolling_leg_motion": -0.7112168073654175, "obstacle_progress": 2.959721326828003, "wheel_body_intrusion": -0.2456243336200714, "pair_body_intrusion": -0.3360520005226135}, "weighted_reward_terms": {"track_linear_velocity": 1.7687246799468994, "track_angular_velocity": 1.889666199684143, "upright": 0.9608287811279297, "leg_posture": -0.1034165769815445, "standstill": -0.24249032139778137, "action_rate_l2": -0.021772542968392372, "joint_torques_l2": -0.00557220634073019, "dof_pos_limits": -3.0873939977027476e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.004448681604117155, "rolling_leg_motion": -0.026595599949359894, "obstacle_progress": 0.1106773093342781, "wheel_body_intrusion": -0.009184999391436577, "pair_body_intrusion": -0.01256649661809206}, "episode_termination_rates": {"time_out": 0.45251396648044695, "fell_over": 0.0223463687150838, "course_exit": 0.4860335195530726, "illegal_nonwheel_contact": 0.05027932960893855}, "collection_time_s": 0.07557273017941042, "learning_time_s": 0.185171692998847, "iteration_time_s": 0.3443167757189095, "policy_updates": 18950, "skipped_updates": 0, "invalid_env_resets": 89, "elapsed_s": 6628.0979325890075, "nonwheel_terminations": 11748, "contact_bce": 0.29829418659210205, "contact_force_loss": 0.020741572603583336, "collision_bce": 6.998770004429389e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 7.063588782330044e-06, "collision_label_count": 16331.0, "terrain_level_mean": 3.11474609375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [34, 79, 105, 90, 54, 48], "episodes_by_level": [[1328.0, 281.0, 46.0, 0.0], [1415.0, 312.0, 35.0, 0.0], [836.0, 201.0, 23.0, 0.0], [407.0, 106.0, 9.0, 0.0], [199.0, 49.0, 4.0, 0.0], [103.0, 27.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 10, 69, 373, 695, 286], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2383.0, 1453.0, 37.0, 0.0], [4151.0, 1648.0, 165.0, 0.0], [3478.0, 1165.0, 189.0, 0.0], [1642.0, 339.0, 135.0, 0.0], [184.0, 0.0, 37.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 6, 80, 528], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [759.0, 670.0, 21.0, 0.0], [926.0, 755.0, 25.0, 0.0], [1349.0, 1044.0, 58.0, 0.0], [3575.0, 2733.0, 180.0, 0.0]]}, "platform": {"level_counts": [50, 107, 113, 97, 37, 6], "episodes_by_level": [[1518.0, 327.0, 49.0, 0.0], [1493.0, 298.0, 66.0, 0.0], [794.0, 163.0, 51.0, 0.0], [358.0, 51.0, 23.0, 0.0], [84.0, 10.0, 8.0, 0.0], [9.0, 2.0, 4.0, 0.0]]}, "slope": {"level_counts": [45, 101, 92, 77, 53, 42], "episodes_by_level": [[1393.0, 293.0, 43.0, 0.0], [1411.0, 281.0, 55.0, 0.0], [802.0, 183.0, 31.0, 0.0], [400.0, 99.0, 11.0, 0.0], [205.0, 43.0, 4.0, 0.0], [97.0, 17.0, 1.0, 0.0]]}, "rubble": {"level_counts": [95, 227, 250, 177, 60, 10], "episodes_by_level": [[2758.0, 618.0, 89.0, 0.0], [3093.0, 669.0, 149.0, 0.0], [1857.0, 376.0, 189.0, 0.0], [767.0, 109.0, 129.0, 0.0], [141.0, 17.0, 39.0, 0.0], [9.0, 0.0, 7.0, 0.0]]}}, "success_archive_windows": 41827, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22412109375, "command_abs_max": [0.998875617980957, 0.39979374408721924, 0.699766218662262]}
{"step": 19300, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 19300, "total_transitions": 79052800, "num_steps_per_env": 1, "wm_loss": 0.7699057459831238, "actor_loss": -9.467080116271973, "critic_loss": 0.003452662378549576, "reward": 0.08578896522521973, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11846137791872025, 0.07113718241453171, 0.13506349921226501], "mean_episode_length": 1353.9328859060402, "episode_reward_terms": {"track_linear_velocity": 47.834041595458984, "track_angular_velocity": 51.19380187988281, "upright": 26.046852111816406, "leg_posture": -2.8173587322235107, "standstill": -6.919568061828613, "action_rate_l2": -0.5808621644973755, "joint_torques_l2": -0.15150830149650574, "dof_pos_limits": -0.00032196883694268763, "terminated": -0.02115519717335701, "unnecessary_wheel_lift": -0.11872643977403641, "rolling_leg_motion": -0.7085123658180237, "obstacle_progress": 3.0177009105682373, "wheel_body_intrusion": -0.2707872688770294, "pair_body_intrusion": -0.3510744273662567}, "weighted_reward_terms": {"track_linear_velocity": 1.7664849758148193, "track_angular_velocity": 1.8905590772628784, "upright": 0.9618960618972778, "leg_posture": -0.10404352098703384, "standstill": -0.25553587079048157, "action_rate_l2": -0.02145092375576496, "joint_torques_l2": -0.00559511873871088, "dof_pos_limits": -1.1890132554981392e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0043845027685165405, "rolling_leg_motion": -0.026164976879954338, "obstacle_progress": 0.11144205182790756, "wheel_body_intrusion": -0.010000025853514671, "pair_body_intrusion": -0.012964987196028233}, "episode_termination_rates": {"time_out": 0.48322147651006714, "fell_over": 0.040268456375838924, "course_exit": 0.46308724832214765, "illegal_nonwheel_contact": 0.026845637583892617}, "collection_time_s": 0.07591142239747568, "learning_time_s": 0.18568639595992864, "iteration_time_s": 0.3441025358509849, "policy_updates": 19000, "skipped_updates": 0, "invalid_env_resets": 90, "elapsed_s": 6641.1789419240085, "nonwheel_terminations": 11752, "contact_bce": 0.29975730180740356, "contact_force_loss": 0.020738737657666206, "collision_bce": 0.00038866515387780964, "collision_label_rate": 0.000122361583635211, "collision_prediction_mean": 0.0001285168546019122, "collision_label_count": 16345.0, "terrain_level_mean": 3.12158203125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [34, 80, 103, 90, 55, 48], "episodes_by_level": [[1333.0, 281.0, 47.0, 0.0], [1416.0, 312.0, 35.0, 0.0], [841.0, 202.0, 24.0, 0.0], [411.0, 108.0, 9.0, 0.0], [203.0, 49.0, 5.0, 0.0], [104.0, 27.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 10, 68, 362, 700, 293], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2383.0, 1453.0, 37.0, 0.0], [4153.0, 1649.0, 165.0, 0.0], [3493.0, 1177.0, 189.0, 0.0], [1657.0, 348.0, 135.0, 0.0], [193.0, 0.0, 39.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 7, 79, 528], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [759.0, 670.0, 21.0, 0.0], [926.0, 755.0, 25.0, 0.0], [1351.0, 1046.0, 58.0, 0.0], [3595.0, 2751.0, 180.0, 0.0]]}, "platform": {"level_counts": [49, 108, 113, 96, 38, 6], "episodes_by_level": [[1520.0, 328.0, 49.0, 0.0], [1495.0, 298.0, 66.0, 0.0], [796.0, 163.0, 51.0, 0.0], [362.0, 52.0, 23.0, 0.0], [84.0, 10.0, 8.0, 0.0], [9.0, 2.0, 4.0, 0.0]]}, "slope": {"level_counts": [45, 101, 92, 77, 51, 44], "episodes_by_level": [[1395.0, 293.0, 43.0, 0.0], [1412.0, 281.0, 55.0, 0.0], [805.0, 183.0, 31.0, 0.0], [405.0, 99.0, 11.0, 0.0], [209.0, 45.0, 4.0, 0.0], [100.0, 18.0, 1.0, 0.0]]}, "rubble": {"level_counts": [93, 228, 250, 178, 60, 10], "episodes_by_level": [[2761.0, 620.0, 89.0, 0.0], [3097.0, 670.0, 149.0, 0.0], [1860.0, 377.0, 189.0, 0.0], [769.0, 109.0, 129.0, 0.0], [142.0, 17.0, 39.0, 0.0], [10.0, 0.0, 7.0, 0.0]]}}, "success_archive_windows": 41970, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22705078125, "command_abs_max": [0.998875617980957, 0.3999027907848358, 0.699766218662262]}
{"step": 19350, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 19350, "total_transitions": 79257600, "num_steps_per_env": 1, "wm_loss": 0.7033200860023499, "actor_loss": -9.477542877197266, "critic_loss": 0.0036726363468915224, "reward": 0.08605513721704483, "falls": 2, "interval_steps": 50, "velocity_mae": [0.11750571429729462, 0.07139632105827332, 0.13369576632976532], "mean_episode_length": 1386.1751824817518, "episode_reward_terms": {"track_linear_velocity": 48.98554229736328, "track_angular_velocity": 52.473567962646484, "upright": 26.66425132751465, "leg_posture": -2.8348805904388428, "standstill": -6.926770210266113, "action_rate_l2": -0.6099694967269897, "joint_torques_l2": -0.1519714742898941, "dof_pos_limits": -0.0006688290741294622, "terminated": -0.005414745770394802, "unnecessary_wheel_lift": -0.09843507409095764, "rolling_leg_motion": -0.7222117185592651, "obstacle_progress": 3.108112096786499, "wheel_body_intrusion": -0.26050400733947754, "pair_body_intrusion": -0.333145409822464}, "weighted_reward_terms": {"track_linear_velocity": 1.7669318914413452, "track_angular_velocity": 1.8927465677261353, "upright": 0.9617922902107239, "leg_posture": -0.10225549340248108, "standstill": -0.24985191226005554, "action_rate_l2": -0.02200189232826233, "joint_torques_l2": -0.005481683649122715, "dof_pos_limits": -2.4124983610818163e-05, "terminated": -0.0001953124738065526, "unnecessary_wheel_lift": -0.0035506002604961395, "rolling_leg_motion": -0.026050521060824394, "obstacle_progress": 0.11211109161376953, "wheel_body_intrusion": -0.009396503679454327, "pair_body_intrusion": -0.012016714550554752}, "episode_termination_rates": {"time_out": 0.5474452554744526, "fell_over": 0.014598540145985401, "course_exit": 0.43795620437956206, "illegal_nonwheel_contact": 0.0}, "collection_time_s": 0.07555248363874853, "learning_time_s": 0.18565460716257803, "iteration_time_s": 0.3438883900484768, "policy_updates": 19050, "skipped_updates": 0, "invalid_env_resets": 90, "elapsed_s": 6654.240347438026, "nonwheel_terminations": 11752, "contact_bce": 0.2931213080883026, "contact_force_loss": 0.019976163282990456, "collision_bce": 0.0002383597457082942, "collision_label_rate": 0.00012251899170223624, "collision_prediction_mean": 0.00024055691028479487, "collision_label_count": 16324.0, "terrain_level_mean": 3.127197265625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [34, 79, 103, 91, 55, 48], "episodes_by_level": [[1333.0, 281.0, 47.0, 0.0], [1419.0, 313.0, 35.0, 0.0], [843.0, 203.0, 24.0, 0.0], [413.0, 108.0, 9.0, 0.0], [207.0, 49.0, 5.0, 0.0], [104.0, 27.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 10, 66, 364, 692, 301], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2383.0, 1453.0, 37.0, 0.0], [4156.0, 1651.0, 165.0, 0.0], [3498.0, 1177.0, 189.0, 0.0], [1681.0, 356.0, 135.0, 0.0], [196.0, 0.0, 39.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 7, 75, 531], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [759.0, 670.0, 21.0, 0.0], [926.0, 755.0, 25.0, 0.0], [1356.0, 1049.0, 58.0, 0.0], [3608.0, 2762.0, 180.0, 0.0]]}, "platform": {"level_counts": [49, 107, 113, 97, 37, 7], "episodes_by_level": [[1521.0, 328.0, 49.0, 0.0], [1498.0, 299.0, 66.0, 0.0], [802.0, 164.0, 51.0, 0.0], [366.0, 52.0, 23.0, 0.0], [86.0, 11.0, 8.0, 0.0], [9.0, 2.0, 4.0, 0.0]]}, "slope": {"level_counts": [45, 101, 91, 78, 51, 44], "episodes_by_level": [[1395.0, 293.0, 43.0, 0.0], [1416.0, 281.0, 55.0, 0.0], [808.0, 184.0, 31.0, 0.0], [406.0, 99.0, 11.0, 0.0], [209.0, 45.0, 4.0, 0.0], [100.0, 18.0, 1.0, 0.0]]}, "rubble": {"level_counts": [92, 227, 250, 179, 61, 10], "episodes_by_level": [[2768.0, 621.0, 89.0, 0.0], [3107.0, 672.0, 149.0, 0.0], [1862.0, 379.0, 189.0, 0.0], [771.0, 110.0, 129.0, 0.0], [142.0, 17.0, 39.0, 0.0], [10.0, 0.0, 7.0, 0.0]]}}, "success_archive_windows": 42106, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.232421875, "command_abs_max": [0.9982398748397827, 0.3999027907848358, 0.699766218662262]}
{"step": 19400, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 19400, "total_transitions": 79462400, "num_steps_per_env": 1, "wm_loss": 0.7240581512451172, "actor_loss": -9.501884460449219, "critic_loss": 0.003581759287044406, "reward": 0.08617629110813141, "falls": 3, "interval_steps": 50, "velocity_mae": [0.1185803934931755, 0.07223868370056152, 0.13536681234836578], "mean_episode_length": 1361.5064935064936, "episode_reward_terms": {"track_linear_velocity": 48.034423828125, "track_angular_velocity": 51.47184753417969, "upright": 26.158586502075195, "leg_posture": -2.7868001461029053, "standstill": -6.449458599090576, "action_rate_l2": -0.6060048341751099, "joint_torques_l2": -0.14913737773895264, "dof_pos_limits": -0.00111795321572572, "terminated": -0.007977575995028019, "unnecessary_wheel_lift": -0.11068985611200333, "rolling_leg_motion": -0.7159720063209534, "obstacle_progress": 3.0525858402252197, "wheel_body_intrusion": -0.2501826584339142, "pair_body_intrusion": -0.31052762269973755}, "weighted_reward_terms": {"track_linear_velocity": 1.7640175819396973, "track_angular_velocity": 1.8902535438537598, "upright": 0.9606486558914185, "leg_posture": -0.10234252363443375, "standstill": -0.2368500977754593, "action_rate_l2": -0.022254938259720802, "joint_torques_l2": -0.005476925056427717, "dof_pos_limits": -4.105574407731183e-05, "terminated": -0.00029296870343387127, "unnecessary_wheel_lift": -0.004064977169036865, "rolling_leg_motion": -0.026293376460671425, "obstacle_progress": 0.11210323870182037, "wheel_body_intrusion": -0.009187715128064156, "pair_body_intrusion": -0.011403825134038925}, "episode_termination_rates": {"time_out": 0.5064935064935064, "fell_over": 0.0, "course_exit": 0.474025974025974, "illegal_nonwheel_contact": 0.01948051948051948}, "collection_time_s": 0.07559062104206532, "learning_time_s": 0.18577817849698477, "iteration_time_s": 0.34367576765917546, "policy_updates": 19100, "skipped_updates": 0, "invalid_env_resets": 90, "elapsed_s": 6667.309892588004, "nonwheel_terminations": 11755, "contact_bce": 0.30001676082611084, "contact_force_loss": 0.02057109773159027, "collision_bce": 0.00040801253635436296, "collision_label_rate": 6.128577661002055e-05, "collision_prediction_mean": 1.5570109098916873e-05, "collision_label_count": 16317.0, "terrain_level_mean": 3.134521484375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [34, 79, 102, 92, 55, 48], "episodes_by_level": [[1333.0, 281.0, 47.0, 0.0], [1421.0, 313.0, 35.0, 0.0], [849.0, 204.0, 24.0, 0.0], [415.0, 108.0, 9.0, 0.0], [208.0, 49.0, 5.0, 0.0], [104.0, 27.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 10, 65, 358, 694, 306], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2383.0, 1453.0, 37.0, 0.0], [4160.0, 1652.0, 165.0, 0.0], [3514.0, 1185.0, 189.0, 0.0], [1699.0, 362.0, 136.0, 0.0], [201.0, 0.0, 40.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 7, 73, 533], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [759.0, 670.0, 21.0, 0.0], [926.0, 755.0, 25.0, 0.0], [1359.0, 1052.0, 58.0, 0.0], [3630.0, 2779.0, 181.0, 0.0]]}, "platform": {"level_counts": [49, 106, 114, 95, 39, 7], "episodes_by_level": [[1521.0, 328.0, 49.0, 0.0], [1502.0, 300.0, 66.0, 0.0], [804.0, 164.0, 51.0, 0.0], [369.0, 54.0, 23.0, 0.0], [87.0, 11.0, 8.0, 0.0], [9.0, 2.0, 4.0, 0.0]]}, "slope": {"level_counts": [45, 100, 91, 79, 51, 44], "episodes_by_level": [[1395.0, 293.0, 43.0, 0.0], [1424.0, 282.0, 55.0, 0.0], [812.0, 185.0, 31.0, 0.0], [407.0, 99.0, 11.0, 0.0], [210.0, 45.0, 4.0, 0.0], [100.0, 18.0, 1.0, 0.0]]}, "rubble": {"level_counts": [92, 225, 247, 183, 61, 11], "episodes_by_level": [[2768.0, 621.0, 89.0, 0.0], [3116.0, 674.0, 149.0, 0.0], [1874.0, 384.0, 189.0, 0.0], [777.0, 111.0, 129.0, 0.0], [143.0, 18.0, 39.0, 0.0], [10.0, 0.0, 7.0, 0.0]]}}, "success_archive_windows": 42269, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.232666015625, "command_abs_max": [0.9987397193908691, 0.3999027907848358, 0.699766218662262]}
{"step": 19450, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 19450, "total_transitions": 79667200, "num_steps_per_env": 1, "wm_loss": 0.7374587655067444, "actor_loss": -9.443511962890625, "critic_loss": 0.006100078579038382, "reward": 0.08624105900526047, "falls": 12, "interval_steps": 50, "velocity_mae": [0.11875150352716446, 0.07199309021234512, 0.13747309148311615], "mean_episode_length": 1373.0613496932515, "episode_reward_terms": {"track_linear_velocity": 48.44461441040039, "track_angular_velocity": 51.818641662597656, "upright": 26.390365600585938, "leg_posture": -2.784982919692993, "standstill": -6.3498101234436035, "action_rate_l2": -0.6131417751312256, "joint_torques_l2": -0.15118880569934845, "dof_pos_limits": -0.0007976305205374956, "terminated": -0.03218112513422966, "unnecessary_wheel_lift": -0.12005311250686646, "rolling_leg_motion": -0.7162067294120789, "obstacle_progress": 3.116166591644287, "wheel_body_intrusion": -0.2558343708515167, "pair_body_intrusion": -0.3313213884830475}, "weighted_reward_terms": {"track_linear_velocity": 1.7641096115112305, "track_angular_velocity": 1.8869746923446655, "upright": 0.9610046148300171, "leg_posture": -0.10141509771347046, "standstill": -0.23122818768024445, "action_rate_l2": -0.022327546030282974, "joint_torques_l2": -0.005505537148565054, "dof_pos_limits": -2.904569737438578e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.0043717315420508385, "rolling_leg_motion": -0.026080653071403503, "obstacle_progress": 0.11347513645887375, "wheel_body_intrusion": -0.00931620318442583, "pair_body_intrusion": -0.012065061368048191}, "episode_termination_rates": {"time_out": 0.5153374233128835, "fell_over": 0.03680981595092025, "course_exit": 0.4110429447852761, "illegal_nonwheel_contact": 0.06134969325153374}, "collection_time_s": 0.07540850795921869, "learning_time_s": 0.1857066259207204, "iteration_time_s": 0.34346358738508936, "policy_updates": 19150, "skipped_updates": 0, "invalid_env_resets": 90, "elapsed_s": 6680.366774639988, "nonwheel_terminations": 11765, "contact_bce": 0.29288655519485474, "contact_force_loss": 0.0201836246997118, "collision_bce": 0.00021759459923487157, "collision_label_rate": 0.00012224938836880028, "collision_prediction_mean": 6.698018842143938e-05, "collision_label_count": 16360.0, "terrain_level_mean": 3.13916015625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [34, 78, 103, 90, 57, 48], "episodes_by_level": [[1334.0, 281.0, 47.0, 0.0], [1423.0, 314.0, 35.0, 0.0], [851.0, 204.0, 24.0, 0.0], [418.0, 110.0, 9.0, 0.0], [208.0, 49.0, 5.0, 0.0], [104.0, 27.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 10, 61, 358, 691, 313], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2383.0, 1453.0, 37.0, 0.0], [4165.0, 1656.0, 165.0, 0.0], [3525.0, 1191.0, 189.0, 0.0], [1719.0, 371.0, 138.0, 0.0], [204.0, 0.0, 40.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 7, 76, 530], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [759.0, 670.0, 21.0, 0.0], [926.0, 755.0, 25.0, 0.0], [1361.0, 1053.0, 58.0, 0.0], [3649.0, 2793.0, 181.0, 0.0]]}, "platform": {"level_counts": [48, 107, 113, 97, 38, 7], "episodes_by_level": [[1526.0, 329.0, 50.0, 0.0], [1506.0, 300.0, 66.0, 0.0], [806.0, 165.0, 51.0, 0.0], [370.0, 54.0, 23.0, 0.0], [88.0, 11.0, 9.0, 0.0], [9.0, 2.0, 4.0, 0.0]]}, "slope": {"level_counts": [45, 100, 90, 80, 51, 44], "episodes_by_level": [[1398.0, 293.0, 43.0, 0.0], [1425.0, 282.0, 55.0, 0.0], [816.0, 186.0, 31.0, 0.0], [408.0, 99.0, 11.0, 0.0], [212.0, 45.0, 4.0, 0.0], [102.0, 18.0, 1.0, 0.0]]}, "rubble": {"level_counts": [92, 225, 246, 183, 62, 11], "episodes_by_level": [[2773.0, 621.0, 89.0, 0.0], [3125.0, 675.0, 149.0, 0.0], [1886.0, 386.0, 190.0, 0.0], [783.0, 112.0, 130.0, 0.0], [144.0, 18.0, 39.0, 0.0], [10.0, 0.0, 7.0, 0.0]]}}, "success_archive_windows": 42402, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2392578125, "command_abs_max": [0.9987397193908691, 0.3999027907848358, 0.699766218662262]}
{"step": 19500, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 19500, "total_transitions": 79872000, "num_steps_per_env": 1, "wm_loss": 0.7813540101051331, "actor_loss": -9.473305702209473, "critic_loss": 0.0053535946644842625, "reward": 0.08626318722963333, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11882807314395905, 0.07220315933227539, 0.13527758419513702], "mean_episode_length": 1392.7664233576643, "episode_reward_terms": {"track_linear_velocity": 49.081478118896484, "track_angular_velocity": 52.641990661621094, "upright": 26.785873413085938, "leg_posture": -2.8317551612854004, "standstill": -6.409677028656006, "action_rate_l2": -0.6269846558570862, "joint_torques_l2": -0.1525810956954956, "dof_pos_limits": -0.0005099180270917714, "terminated": -0.013601233251392841, "unnecessary_wheel_lift": -0.11395308375358582, "rolling_leg_motion": -0.7331357002258301, "obstacle_progress": 3.1286845207214355, "wheel_body_intrusion": -0.2579062879085541, "pair_body_intrusion": -0.35346344113349915}, "weighted_reward_terms": {"track_linear_velocity": 1.7620139122009277, "track_angular_velocity": 1.8898354768753052, "upright": 0.9616068005561829, "leg_posture": -0.1016593649983406, "standstill": -0.2301059514284134, "action_rate_l2": -0.02250860631465912, "joint_torques_l2": -0.00547762680798769, "dof_pos_limits": -1.8305941921425983e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.004090889822691679, "rolling_leg_motion": -0.026319406926631927, "obstacle_progress": 0.11231905966997147, "wheel_body_intrusion": -0.009258776903152466, "pair_body_intrusion": -0.012689257971942425}, "episode_termination_rates": {"time_out": 0.5109489051094891, "fell_over": 0.021897810218978103, "course_exit": 0.45255474452554745, "illegal_nonwheel_contact": 0.021897810218978103}, "collection_time_s": 0.07612166704260744, "learning_time_s": 0.18557137819938363, "iteration_time_s": 0.34325397537082125, "policy_updates": 19200, "skipped_updates": 0, "invalid_env_resets": 92, "elapsed_s": 6693.452519731014, "nonwheel_terminations": 11768, "contact_bce": 0.3066882789134979, "contact_force_loss": 0.0209201630204916, "collision_bce": 9.391202183905989e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 9.449250683246646e-06, "collision_label_count": 16339.0, "terrain_level_mean": 3.143310546875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [33, 78, 102, 92, 57, 48], "episodes_by_level": [[1336.0, 282.0, 47.0, 0.0], [1426.0, 315.0, 35.0, 0.0], [856.0, 206.0, 24.0, 0.0], [421.0, 110.0, 9.0, 0.0], [208.0, 49.0, 5.0, 0.0], [104.0, 27.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 10, 61, 356, 690, 316], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2383.0, 1453.0, 37.0, 0.0], [4167.0, 1657.0, 165.0, 0.0], [3533.0, 1193.0, 189.0, 0.0], [1734.0, 374.0, 138.0, 0.0], [215.0, 0.0, 41.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 6, 73, 533], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [759.0, 670.0, 21.0, 0.0], [926.0, 755.0, 25.0, 0.0], [1366.0, 1057.0, 58.0, 0.0], [3669.0, 2808.0, 181.0, 0.0]]}, "platform": {"level_counts": [47, 107, 114, 97, 38, 7], "episodes_by_level": [[1528.0, 330.0, 50.0, 0.0], [1509.0, 301.0, 66.0, 0.0], [808.0, 165.0, 51.0, 0.0], [372.0, 54.0, 23.0, 0.0], [88.0, 11.0, 9.0, 0.0], [9.0, 2.0, 4.0, 0.0]]}, "slope": {"level_counts": [45, 100, 89, 80, 51, 45], "episodes_by_level": [[1398.0, 293.0, 43.0, 0.0], [1425.0, 282.0, 55.0, 0.0], [819.0, 187.0, 31.0, 0.0], [411.0, 100.0, 11.0, 0.0], [215.0, 46.0, 4.0, 0.0], [102.0, 18.0, 1.0, 0.0]]}, "rubble": {"level_counts": [92, 224, 246, 185, 61, 11], "episodes_by_level": [[2776.0, 621.0, 89.0, 0.0], [3132.0, 676.0, 149.0, 0.0], [1891.0, 387.0, 190.0, 0.0], [785.0, 112.0, 130.0, 0.0], [146.0, 18.0, 40.0, 0.0], [11.0, 0.0, 7.0, 0.0]]}}, "success_archive_windows": 42538, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2373046875, "command_abs_max": [0.9999877214431763, 0.3991283178329468, 0.6998917460441589]}
{"step": 19550, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 19550, "total_transitions": 80076800, "num_steps_per_env": 1, "wm_loss": 0.7657933831214905, "actor_loss": -9.455026626586914, "critic_loss": 0.0040470450185239315, "reward": 0.08647169172763824, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11908819526433945, 0.07226405292749405, 0.13484437763690948], "mean_episode_length": 1361.7214285714285, "episode_reward_terms": {"track_linear_velocity": 47.98163986206055, "track_angular_velocity": 51.4942626953125, "upright": 26.189809799194336, "leg_posture": -2.8125221729278564, "standstill": -6.044857978820801, "action_rate_l2": -0.599461555480957, "joint_torques_l2": -0.15105260908603668, "dof_pos_limits": -0.0005526944296434522, "terminated": -0.023936506360769272, "unnecessary_wheel_lift": -0.12353102117776871, "rolling_leg_motion": -0.6872540712356567, "obstacle_progress": 3.1212170124053955, "wheel_body_intrusion": -0.26309940218925476, "pair_body_intrusion": -0.33032697439193726}, "weighted_reward_terms": {"track_linear_velocity": 1.761800765991211, "track_angular_velocity": 1.8907783031463623, "upright": 0.9616435170173645, "leg_posture": -0.10327083617448807, "standstill": -0.22195647656917572, "action_rate_l2": -0.0220111683011055, "joint_torques_l2": -0.0055463844910264015, "dof_pos_limits": -2.029396091529634e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.004535840358585119, "rolling_leg_motion": -0.025234753265976906, "obstacle_progress": 0.11460556834936142, "wheel_body_intrusion": -0.00966054480522871, "pair_body_intrusion": -0.012129021808505058}, "episode_termination_rates": {"time_out": 0.4642857142857143, "fell_over": 0.03571428571428571, "course_exit": 0.4714285714285714, "illegal_nonwheel_contact": 0.05}, "collection_time_s": 0.07558066310361028, "learning_time_s": 0.19280079018091784, "iteration_time_s": 0.3430638292408191, "policy_updates": 19250, "skipped_updates": 0, "invalid_env_resets": 92, "elapsed_s": 6706.897861658013, "nonwheel_terminations": 11775, "contact_bce": 0.3016224801540375, "contact_force_loss": 0.020985404029488564, "collision_bce": 0.0006697415956296027, "collision_label_rate": 0.0001837897434597835, "collision_prediction_mean": 0.00011426732817199081, "collision_label_count": 16323.0, "terrain_level_mean": 3.14794921875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [33, 75, 105, 91, 58, 48], "episodes_by_level": [[1338.0, 282.0, 47.0, 0.0], [1430.0, 318.0, 35.0, 0.0], [858.0, 206.0, 24.0, 0.0], [426.0, 111.0, 9.0, 0.0], [208.0, 49.0, 5.0, 0.0], [106.0, 27.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 9, 60, 353, 691, 320], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2384.0, 1454.0, 37.0, 0.0], [4171.0, 1659.0, 165.0, 0.0], [3544.0, 1198.0, 189.0, 0.0], [1748.0, 379.0, 138.0, 0.0], [221.0, 0.0, 41.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 7, 73, 532], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [759.0, 670.0, 21.0, 0.0], [926.0, 755.0, 25.0, 0.0], [1368.0, 1059.0, 58.0, 0.0], [3689.0, 2823.0, 183.0, 0.0]]}, "platform": {"level_counts": [47, 108, 113, 95, 40, 7], "episodes_by_level": [[1528.0, 330.0, 50.0, 0.0], [1511.0, 302.0, 66.0, 0.0], [813.0, 165.0, 53.0, 0.0], [377.0, 56.0, 23.0, 0.0], [89.0, 11.0, 9.0, 0.0], [9.0, 2.0, 4.0, 0.0]]}, "slope": {"level_counts": [45, 99, 90, 79, 52, 45], "episodes_by_level": [[1399.0, 293.0, 43.0, 0.0], [1429.0, 283.0, 55.0, 0.0], [820.0, 187.0, 31.0, 0.0], [414.0, 101.0, 11.0, 0.0], [215.0, 46.0, 4.0, 0.0], [102.0, 18.0, 1.0, 0.0]]}, "rubble": {"level_counts": [92, 224, 246, 183, 63, 11], "episodes_by_level": [[2777.0, 621.0, 89.0, 0.0], [3138.0, 677.0, 149.0, 0.0], [1899.0, 388.0, 191.0, 0.0], [795.0, 114.0, 131.0, 0.0], [147.0, 18.0, 40.0, 0.0], [11.0, 0.0, 7.0, 0.0]]}}, "success_archive_windows": 42666, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.238037109375, "command_abs_max": [0.9999877214431763, 0.3991283178329468, 0.6998917460441589]}
{"step": 19600, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 19600, "total_transitions": 80281600, "num_steps_per_env": 1, "wm_loss": 0.7710379958152771, "actor_loss": -9.45934009552002, "critic_loss": 0.004220169968903065, "reward": 0.08614060282707214, "falls": 5, "interval_steps": 50, "velocity_mae": [0.12070256471633911, 0.07191340625286102, 0.13516780734062195], "mean_episode_length": 1378.2777777777778, "episode_reward_terms": {"track_linear_velocity": 48.47838592529297, "track_angular_velocity": 52.10940170288086, "upright": 26.504343032836914, "leg_posture": -2.850860834121704, "standstill": -6.442786693572998, "action_rate_l2": -0.6013511419296265, "joint_torques_l2": -0.15161019563674927, "dof_pos_limits": -0.0005551577196456492, "terminated": -0.01345974300056696, "unnecessary_wheel_lift": -0.09412049502134323, "rolling_leg_motion": -0.706661581993103, "obstacle_progress": 3.1488497257232666, "wheel_body_intrusion": -0.282694935798645, "pair_body_intrusion": -0.37121519446372986}, "weighted_reward_terms": {"track_linear_velocity": 1.7586580514907837, "track_angular_velocity": 1.890380859375, "upright": 0.961502194404602, "leg_posture": -0.10342112928628922, "standstill": -0.23372597992420197, "action_rate_l2": -0.021815309301018715, "joint_torques_l2": -0.005499986931681633, "dof_pos_limits": -2.0139543266850524e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.00341442390345037, "rolling_leg_motion": -0.025635672733187675, "obstacle_progress": 0.11423131078481674, "wheel_body_intrusion": -0.010255368426442146, "pair_body_intrusion": -0.01346663199365139}, "episode_termination_rates": {"time_out": 0.5208333333333334, "fell_over": 0.020833333333333332, "course_exit": 0.4513888888888889, "illegal_nonwheel_contact": 0.027777777777777776}, "collection_time_s": 0.07552771304384805, "learning_time_s": 0.18536609345697797, "iteration_time_s": 0.34285426568331695, "policy_updates": 19300, "skipped_updates": 0, "invalid_env_resets": 92, "elapsed_s": 6719.943607393012, "nonwheel_terminations": 11779, "contact_bce": 0.2967996895313263, "contact_force_loss": 0.0198566522449255, "collision_bce": 0.0001105987757910043, "collision_label_rate": 0.00012247396807651967, "collision_prediction_mean": 0.00014612311497330666, "collision_label_count": 16330.0, "terrain_level_mean": 3.154541015625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [33, 74, 106, 91, 58, 48], "episodes_by_level": [[1341.0, 282.0, 47.0, 0.0], [1431.0, 319.0, 35.0, 0.0], [860.0, 206.0, 24.0, 0.0], [427.0, 111.0, 9.0, 0.0], [209.0, 49.0, 5.0, 0.0], [112.0, 30.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 9, 59, 349, 693, 323], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2384.0, 1454.0, 37.0, 0.0], [4173.0, 1660.0, 165.0, 0.0], [3555.0, 1205.0, 189.0, 0.0], [1766.0, 382.0, 139.0, 0.0], [223.0, 0.0, 41.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 7, 73, 532], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [759.0, 670.0, 21.0, 0.0], [926.0, 755.0, 25.0, 0.0], [1369.0, 1060.0, 58.0, 0.0], [3707.0, 2838.0, 183.0, 0.0]]}, "platform": {"level_counts": [44, 110, 114, 95, 40, 7], "episodes_by_level": [[1531.0, 333.0, 50.0, 0.0], [1513.0, 303.0, 66.0, 0.0], [817.0, 166.0, 53.0, 0.0], [381.0, 56.0, 24.0, 0.0], [90.0, 11.0, 9.0, 0.0], [9.0, 2.0, 4.0, 0.0]]}, "slope": {"level_counts": [43, 101, 87, 81, 53, 45], "episodes_by_level": [[1402.0, 295.0, 43.0, 0.0], [1431.0, 283.0, 55.0, 0.0], [826.0, 190.0, 31.0, 0.0], [417.0, 102.0, 11.0, 0.0], [216.0, 46.0, 4.0, 0.0], [102.0, 18.0, 1.0, 0.0]]}, "rubble": {"level_counts": [89, 225, 247, 183, 64, 11], "episodes_by_level": [[2783.0, 624.0, 89.0, 0.0], [3144.0, 679.0, 149.0, 0.0], [1906.0, 389.0, 191.0, 0.0], [799.0, 115.0, 131.0, 0.0], [149.0, 18.0, 40.0, 0.0], [11.0, 0.0, 7.0, 0.0]]}}, "success_archive_windows": 42814, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.233154296875, "command_abs_max": [0.999626636505127, 0.3996315598487854, 0.6998917460441589]}
{"step": 19650, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 19650, "total_transitions": 80486400, "num_steps_per_env": 1, "wm_loss": 0.7410097122192383, "actor_loss": -9.441099166870117, "critic_loss": 0.009274001233279705, "reward": 0.08637366443872452, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11921992152929306, 0.07267820090055466, 0.13598254323005676], "mean_episode_length": 1357.8282208588957, "episode_reward_terms": {"track_linear_velocity": 47.84905242919922, "track_angular_velocity": 51.291175842285156, "upright": 26.074918746948242, "leg_posture": -2.801285743713379, "standstill": -6.058760643005371, "action_rate_l2": -0.6033971905708313, "joint_torques_l2": -0.14904721081256866, "dof_pos_limits": -0.0008977825054898858, "terminated": -0.02121606282889843, "unnecessary_wheel_lift": -0.1014079749584198, "rolling_leg_motion": -0.6895495653152466, "obstacle_progress": 3.1250689029693604, "wheel_body_intrusion": -0.27791231870651245, "pair_body_intrusion": -0.35614269971847534}, "weighted_reward_terms": {"track_linear_velocity": 1.761970043182373, "track_angular_velocity": 1.8887211084365845, "upright": 0.9601700305938721, "leg_posture": -0.10315316915512085, "standstill": -0.2231048196554184, "action_rate_l2": -0.022219201549887657, "joint_torques_l2": -0.005488441325724125, "dof_pos_limits": -3.3059503039112315e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0037341974675655365, "rolling_leg_motion": -0.025391634553670883, "obstacle_progress": 0.11507600545883179, "wheel_body_intrusion": -0.010233706794679165, "pair_body_intrusion": -0.013114423491060734}, "episode_termination_rates": {"time_out": 0.5030674846625767, "fell_over": 0.012269938650306749, "course_exit": 0.44785276073619634, "illegal_nonwheel_contact": 0.03680981595092025}, "collection_time_s": 0.07621113626286387, "learning_time_s": 0.18532016301644036, "iteration_time_s": 0.3426474038640194, "policy_updates": 19350, "skipped_updates": 0, "invalid_env_resets": 94, "elapsed_s": 6733.02148592798, "nonwheel_terminations": 11785, "contact_bce": 0.3035019636154175, "contact_force_loss": 0.020511893555521965, "collision_bce": 0.0001446382811991498, "collision_label_rate": 6.112096161814407e-05, "collision_prediction_mean": 5.086998862680048e-05, "collision_label_count": 16361.0, "terrain_level_mean": 3.161376953125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [32, 73, 107, 91, 59, 48], "episodes_by_level": [[1343.0, 283.0, 47.0, 0.0], [1434.0, 321.0, 35.0, 0.0], [861.0, 207.0, 24.0, 0.0], [431.0, 112.0, 9.0, 0.0], [211.0, 49.0, 5.0, 0.0], [115.0, 31.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 9, 56, 346, 694, 328], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2384.0, 1454.0, 37.0, 0.0], [4176.0, 1663.0, 165.0, 0.0], [3563.0, 1211.0, 189.0, 0.0], [1785.0, 388.0, 139.0, 0.0], [227.0, 0.0, 42.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 7, 76, 529], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [759.0, 670.0, 21.0, 0.0], [926.0, 755.0, 25.0, 0.0], [1370.0, 1060.0, 58.0, 0.0], [3728.0, 2858.0, 183.0, 0.0]]}, "platform": {"level_counts": [44, 109, 115, 95, 40, 7], "episodes_by_level": [[1531.0, 333.0, 50.0, 0.0], [1517.0, 304.0, 66.0, 0.0], [820.0, 166.0, 53.0, 0.0], [384.0, 57.0, 24.0, 0.0], [94.0, 11.0, 10.0, 0.0], [9.0, 2.0, 4.0, 0.0]]}, "slope": {"level_counts": [43, 100, 86, 82, 54, 45], "episodes_by_level": [[1404.0, 295.0, 43.0, 0.0], [1435.0, 284.0, 55.0, 0.0], [830.0, 192.0, 31.0, 0.0], [421.0, 103.0, 11.0, 0.0], [217.0, 46.0, 4.0, 0.0], [104.0, 18.0, 1.0, 0.0]]}, "rubble": {"level_counts": [89, 222, 246, 187, 64, 11], "episodes_by_level": [[2786.0, 625.0, 89.0, 0.0], [3158.0, 682.0, 150.0, 0.0], [1916.0, 393.0, 191.0, 0.0], [805.0, 116.0, 131.0, 0.0], [150.0, 18.0, 41.0, 0.0], [11.0, 0.0, 7.0, 0.0]]}}, "success_archive_windows": 42967, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2314453125, "command_abs_max": [0.999626636505127, 0.3997861444950104, 0.6998917460441589]}
{"step": 19700, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 19700, "total_transitions": 80691200, "num_steps_per_env": 1, "wm_loss": 0.7208836674690247, "actor_loss": -9.473908424377441, "critic_loss": 0.0037611115258187056, "reward": 0.0863635241985321, "falls": 7, "interval_steps": 50, "velocity_mae": [0.12032531946897507, 0.07205028831958771, 0.1358674317598343], "mean_episode_length": 1423.371951219512, "episode_reward_terms": {"track_linear_velocity": 50.106536865234375, "track_angular_velocity": 53.7726936340332, "upright": 27.374975204467773, "leg_posture": -2.908686876296997, "standstill": -6.4196672439575195, "action_rate_l2": -0.6280451416969299, "joint_torques_l2": -0.15699851512908936, "dof_pos_limits": -0.0008587718475610018, "terminated": -0.0194601621478796, "unnecessary_wheel_lift": -0.12552501261234283, "rolling_leg_motion": -0.7236046195030212, "obstacle_progress": 3.26766037940979, "wheel_body_intrusion": -0.2700711488723755, "pair_body_intrusion": -0.34153252840042114}, "weighted_reward_terms": {"track_linear_velocity": 1.7601350545883179, "track_angular_velocity": 1.8889192342758179, "upright": 0.9616241455078125, "leg_posture": -0.10217592120170593, "standstill": -0.2255091369152069, "action_rate_l2": -0.022061878815293312, "joint_torques_l2": -0.005515020806342363, "dof_pos_limits": -3.016681148437783e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.004409424494951963, "rolling_leg_motion": -0.025418678298592567, "obstacle_progress": 0.11478589475154877, "wheel_body_intrusion": -0.00948701985180378, "pair_body_intrusion": -0.011997303925454617}, "episode_termination_rates": {"time_out": 0.573170731707317, "fell_over": 0.012195121951219513, "course_exit": 0.38414634146341464, "illegal_nonwheel_contact": 0.03048780487804878}, "collection_time_s": 0.07550490071764215, "learning_time_s": 0.18564602676313371, "iteration_time_s": 0.3424406126476641, "policy_updates": 19400, "skipped_updates": 0, "invalid_env_resets": 94, "elapsed_s": 6746.080069158983, "nonwheel_terminations": 11790, "contact_bce": 0.30310121178627014, "contact_force_loss": 0.02052629552781582, "collision_bce": 3.972310514654964e-05, "collision_label_rate": 6.122574268374592e-05, "collision_prediction_mean": 5.498153041116893e-05, "collision_label_count": 16333.0, "terrain_level_mean": 3.165771484375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [31, 73, 107, 91, 60, 48], "episodes_by_level": [[1345.0, 284.0, 47.0, 0.0], [1438.0, 322.0, 35.0, 0.0], [865.0, 208.0, 24.0, 0.0], [436.0, 113.0, 9.0, 0.0], [212.0, 49.0, 5.0, 0.0], [115.0, 31.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 9, 57, 341, 693, 333], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2384.0, 1454.0, 37.0, 0.0], [4176.0, 1663.0, 165.0, 0.0], [3577.0, 1215.0, 189.0, 0.0], [1804.0, 394.0, 139.0, 0.0], [236.0, 0.0, 43.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 8, 75, 529], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [759.0, 670.0, 21.0, 0.0], [927.0, 756.0, 25.0, 0.0], [1373.0, 1063.0, 58.0, 0.0], [3744.0, 2869.0, 185.0, 0.0]]}, "platform": {"level_counts": [44, 108, 115, 96, 39, 8], "episodes_by_level": [[1535.0, 333.0, 50.0, 0.0], [1526.0, 305.0, 66.0, 0.0], [822.0, 167.0, 53.0, 0.0], [386.0, 57.0, 24.0, 0.0], [99.0, 12.0, 10.0, 0.0], [9.0, 2.0, 4.0, 0.0]]}, "slope": {"level_counts": [43, 99, 87, 81, 55, 45], "episodes_by_level": [[1407.0, 295.0, 43.0, 0.0], [1436.0, 285.0, 55.0, 0.0], [832.0, 192.0, 31.0, 0.0], [424.0, 104.0, 11.0, 0.0], [218.0, 46.0, 4.0, 0.0], [107.0, 18.0, 1.0, 0.0]]}, "rubble": {"level_counts": [88, 222, 247, 187, 64, 11], "episodes_by_level": [[2790.0, 626.0, 89.0, 0.0], [3168.0, 683.0, 150.0, 0.0], [1921.0, 393.0, 191.0, 0.0], [810.0, 116.0, 131.0, 0.0], [152.0, 18.0, 41.0, 0.0], [11.0, 0.0, 7.0, 0.0]]}}, "success_archive_windows": 43130, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.233642578125, "command_abs_max": [0.999626636505127, 0.3997861444950104, 0.6998917460441589]}
{"step": 19750, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 19750, "total_transitions": 80896000, "num_steps_per_env": 1, "wm_loss": 0.7221157550811768, "actor_loss": -9.472907066345215, "critic_loss": 0.004750525578856468, "reward": 0.08650261908769608, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11792861670255661, 0.07208406180143356, 0.1356557309627533], "mean_episode_length": 1372.4758620689656, "episode_reward_terms": {"track_linear_velocity": 48.4033088684082, "track_angular_velocity": 51.87261199951172, "upright": 26.408491134643555, "leg_posture": -2.830716133117676, "standstill": -6.012719631195068, "action_rate_l2": -0.6120378971099854, "joint_torques_l2": -0.14958710968494415, "dof_pos_limits": -0.000775307766161859, "terminated": -0.02412554807960987, "unnecessary_wheel_lift": -0.11061064153909683, "rolling_leg_motion": -0.7119051218032837, "obstacle_progress": 3.0916051864624023, "wheel_body_intrusion": -0.26018068194389343, "pair_body_intrusion": -0.34061720967292786}, "weighted_reward_terms": {"track_linear_velocity": 1.763357400894165, "track_angular_velocity": 1.8897459506988525, "upright": 0.9620749354362488, "leg_posture": -0.10312444716691971, "standstill": -0.2190464586019516, "action_rate_l2": -0.022296855226159096, "joint_torques_l2": -0.005449535325169563, "dof_pos_limits": -2.824486182362307e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.0040296027436852455, "rolling_leg_motion": -0.02593507058918476, "obstacle_progress": 0.1126287654042244, "wheel_body_intrusion": -0.009478515945374966, "pair_body_intrusion": -0.012408860959112644}, "episode_termination_rates": {"time_out": 0.4827586206896552, "fell_over": 0.041379310344827586, "course_exit": 0.45517241379310347, "illegal_nonwheel_contact": 0.05517241379310345}, "collection_time_s": 0.07542607815819792, "learning_time_s": 0.18559139841701836, "iteration_time_s": 0.34223453227696127, "policy_updates": 19450, "skipped_updates": 0, "invalid_env_resets": 94, "elapsed_s": 6759.132012469985, "nonwheel_terminations": 11798, "contact_bce": 0.304654985666275, "contact_force_loss": 0.020896170288324356, "collision_bce": 1.1698662092385348e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.1750275916710962e-05, "collision_label_count": 16341.0, "terrain_level_mean": 3.170654296875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [31, 73, 107, 92, 59, 48], "episodes_by_level": [[1345.0, 284.0, 47.0, 0.0], [1440.0, 322.0, 35.0, 0.0], [872.0, 209.0, 24.0, 0.0], [440.0, 113.0, 10.0, 0.0], [214.0, 49.0, 6.0, 0.0], [115.0, 31.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 9, 56, 336, 689, 343], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2384.0, 1454.0, 37.0, 0.0], [4177.0, 1664.0, 165.0, 0.0], [3584.0, 1221.0, 189.0, 0.0], [1828.0, 404.0, 139.0, 0.0], [243.0, 0.0, 43.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 8, 72, 532], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [759.0, 670.0, 21.0, 0.0], [927.0, 756.0, 25.0, 0.0], [1377.0, 1067.0, 58.0, 0.0], [3759.0, 2881.0, 185.0, 0.0]]}, "platform": {"level_counts": [43, 109, 115, 96, 39, 8], "episodes_by_level": [[1537.0, 334.0, 51.0, 0.0], [1532.0, 305.0, 66.0, 0.0], [824.0, 167.0, 53.0, 0.0], [388.0, 57.0, 24.0, 0.0], [99.0, 12.0, 10.0, 0.0], [9.0, 2.0, 4.0, 0.0]]}, "slope": {"level_counts": [43, 99, 86, 82, 55, 45], "episodes_by_level": [[1412.0, 295.0, 43.0, 0.0], [1437.0, 285.0, 55.0, 0.0], [834.0, 193.0, 31.0, 0.0], [426.0, 104.0, 11.0, 0.0], [220.0, 46.0, 4.0, 0.0], [109.0, 19.0, 1.0, 0.0]]}, "rubble": {"level_counts": [89, 223, 243, 189, 64, 11], "episodes_by_level": [[2793.0, 627.0, 89.0, 0.0], [3177.0, 683.0, 152.0, 0.0], [1933.0, 396.0, 193.0, 0.0], [814.0, 116.0, 132.0, 0.0], [153.0, 18.0, 41.0, 0.0], [11.0, 0.0, 7.0, 0.0]]}}, "success_archive_windows": 43262, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.226806640625, "command_abs_max": [0.999626636505127, 0.3999415338039398, 0.6998917460441589]}
{"step": 19800, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 19800, "total_transitions": 81100800, "num_steps_per_env": 1, "wm_loss": 0.7159028649330139, "actor_loss": -9.458392143249512, "critic_loss": 0.003947087563574314, "reward": 0.08609547466039658, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11880780011415482, 0.07265125215053558, 0.1361369788646698], "mean_episode_length": 1355.1241379310345, "episode_reward_terms": {"track_linear_velocity": 47.735801696777344, "track_angular_velocity": 51.189510345458984, "upright": 26.024160385131836, "leg_posture": -2.7884299755096436, "standstill": -6.265444278717041, "action_rate_l2": -0.6012712717056274, "joint_torques_l2": -0.14980900287628174, "dof_pos_limits": -0.0009083425393328071, "terminated": -0.013233632780611515, "unnecessary_wheel_lift": -0.10451622307300568, "rolling_leg_motion": -0.7288650870323181, "obstacle_progress": 2.9627466201782227, "wheel_body_intrusion": -0.2727355360984802, "pair_body_intrusion": -0.316986620426178}, "weighted_reward_terms": {"track_linear_velocity": 1.7613074779510498, "track_angular_velocity": 1.8887388706207275, "upright": 0.9602131247520447, "leg_posture": -0.1028846725821495, "standstill": -0.23117604851722717, "action_rate_l2": -0.022185100242495537, "joint_torques_l2": -0.005527500994503498, "dof_pos_limits": -3.3515105315018445e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.003856333903968334, "rolling_leg_motion": -0.026892926543951035, "obstacle_progress": 0.10931643843650818, "wheel_body_intrusion": -0.010063120163977146, "pair_body_intrusion": -0.01169585157185793}, "episode_termination_rates": {"time_out": 0.47586206896551725, "fell_over": 0.013793103448275862, "course_exit": 0.4896551724137931, "illegal_nonwheel_contact": 0.027586206896551724}, "collection_time_s": 0.07618123371736146, "learning_time_s": 0.18535250802407974, "iteration_time_s": 0.34203079801388825, "policy_updates": 19500, "skipped_updates": 0, "invalid_env_resets": 96, "elapsed_s": 6772.2098006749875, "nonwheel_terminations": 11802, "contact_bce": 0.30518949031829834, "contact_force_loss": 0.02054332010447979, "collision_bce": 5.856919233337976e-05, "collision_label_rate": 6.114711868576705e-05, "collision_prediction_mean": 9.903316822601482e-05, "collision_label_count": 16354.0, "terrain_level_mean": 3.175537109375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [31, 73, 106, 93, 58, 49], "episodes_by_level": [[1345.0, 284.0, 47.0, 0.0], [1442.0, 322.0, 35.0, 0.0], [876.0, 210.0, 24.0, 0.0], [443.0, 113.0, 10.0, 0.0], [216.0, 50.0, 6.0, 0.0], [119.0, 32.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 9, 54, 332, 691, 347], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2385.0, 1454.0, 37.0, 0.0], [4179.0, 1666.0, 165.0, 0.0], [3593.0, 1227.0, 189.0, 0.0], [1844.0, 408.0, 139.0, 0.0], [252.0, 0.0, 43.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 8, 71, 533], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [759.0, 670.0, 21.0, 0.0], [927.0, 756.0, 25.0, 0.0], [1378.0, 1068.0, 58.0, 0.0], [3782.0, 2900.0, 185.0, 0.0]]}, "platform": {"level_counts": [43, 109, 115, 95, 39, 9], "episodes_by_level": [[1539.0, 334.0, 51.0, 0.0], [1533.0, 305.0, 66.0, 0.0], [828.0, 167.0, 53.0, 0.0], [391.0, 58.0, 24.0, 0.0], [100.0, 13.0, 10.0, 0.0], [9.0, 2.0, 4.0, 0.0]]}, "slope": {"level_counts": [43, 99, 87, 81, 55, 45], "episodes_by_level": [[1412.0, 295.0, 43.0, 0.0], [1440.0, 285.0, 55.0, 0.0], [834.0, 193.0, 31.0, 0.0], [428.0, 104.0, 12.0, 0.0], [221.0, 46.0, 4.0, 0.0], [111.0, 19.0, 1.0, 0.0]]}, "rubble": {"level_counts": [88, 220, 247, 191, 61, 12], "episodes_by_level": [[2795.0, 628.0, 89.0, 0.0], [3184.0, 687.0, 152.0, 0.0], [1941.0, 398.0, 193.0, 0.0], [818.0, 116.0, 134.0, 0.0], [158.0, 19.0, 43.0, 0.0], [11.0, 0.0, 7.0, 0.0]]}}, "success_archive_windows": 43413, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2275390625, "command_abs_max": [0.999626636505127, 0.3999415338039398, 0.699766218662262]}
{"step": 19850, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 19850, "total_transitions": 81305600, "num_steps_per_env": 1, "wm_loss": 0.7461137175559998, "actor_loss": -9.440613746643066, "critic_loss": 0.005705708172172308, "reward": 0.08613748103380203, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11765775829553604, 0.07078112661838531, 0.1359224021434784], "mean_episode_length": 1372.1454545454546, "episode_reward_terms": {"track_linear_velocity": 48.5070915222168, "track_angular_velocity": 51.867027282714844, "upright": 26.366825103759766, "leg_posture": -2.8374972343444824, "standstill": -6.447165489196777, "action_rate_l2": -0.609045684337616, "joint_torques_l2": -0.15070608258247375, "dof_pos_limits": -0.0006630594725720584, "terminated": -0.02679971419274807, "unnecessary_wheel_lift": -0.1132357120513916, "rolling_leg_motion": -0.7389876246452332, "obstacle_progress": 2.9806416034698486, "wheel_body_intrusion": -0.27788010239601135, "pair_body_intrusion": -0.32644692063331604}, "weighted_reward_terms": {"track_linear_velocity": 1.7675635814666748, "track_angular_velocity": 1.8899974822998047, "upright": 0.9607882499694824, "leg_posture": -0.10339636355638504, "standstill": -0.2349301129579544, "action_rate_l2": -0.022193189710378647, "joint_torques_l2": -0.005491621792316437, "dof_pos_limits": -2.4161412511602975e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.004126228392124176, "rolling_leg_motion": -0.02692818082869053, "obstacle_progress": 0.10861244797706604, "wheel_body_intrusion": -0.010125752538442612, "pair_body_intrusion": -0.011895492672920227}, "episode_termination_rates": {"time_out": 0.5151515151515151, "fell_over": 0.03636363636363636, "course_exit": 0.42424242424242425, "illegal_nonwheel_contact": 0.05454545454545454}, "collection_time_s": 0.07593282666173763, "learning_time_s": 0.18555531862191857, "iteration_time_s": 0.3418279765509814, "policy_updates": 19550, "skipped_updates": 0, "invalid_env_resets": 97, "elapsed_s": 6785.28533453698, "nonwheel_terminations": 11811, "contact_bce": 0.3000866770744324, "contact_force_loss": 0.02039314992725849, "collision_bce": 1.2752156180795282e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.267657626158325e-05, "collision_label_count": 16348.0, "terrain_level_mean": 3.178955078125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [31, 71, 107, 93, 59, 49], "episodes_by_level": [[1345.0, 284.0, 47.0, 0.0], [1447.0, 324.0, 35.0, 0.0], [878.0, 211.0, 24.0, 0.0], [445.0, 114.0, 10.0, 0.0], [217.0, 50.0, 6.0, 0.0], [121.0, 32.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 9, 54, 329, 691, 350], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2385.0, 1454.0, 37.0, 0.0], [4180.0, 1667.0, 165.0, 0.0], [3601.0, 1232.0, 189.0, 0.0], [1861.0, 411.0, 139.0, 0.0], [256.0, 0.0, 43.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 8, 72, 532], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [759.0, 670.0, 21.0, 0.0], [927.0, 756.0, 25.0, 0.0], [1380.0, 1070.0, 58.0, 0.0], [3807.0, 2916.0, 187.0, 0.0]]}, "platform": {"level_counts": [43, 109, 114, 96, 39, 9], "episodes_by_level": [[1541.0, 334.0, 51.0, 0.0], [1536.0, 305.0, 66.0, 0.0], [833.0, 168.0, 53.0, 0.0], [396.0, 58.0, 24.0, 0.0], [101.0, 13.0, 10.0, 0.0], [9.0, 2.0, 4.0, 0.0]]}, "slope": {"level_counts": [42, 100, 85, 83, 55, 45], "episodes_by_level": [[1414.0, 296.0, 43.0, 0.0], [1444.0, 285.0, 55.0, 0.0], [839.0, 195.0, 31.0, 0.0], [430.0, 104.0, 12.0, 0.0], [225.0, 46.0, 4.0, 0.0], [113.0, 19.0, 1.0, 0.0]]}, "rubble": {"level_counts": [89, 218, 249, 188, 63, 12], "episodes_by_level": [[2798.0, 628.0, 89.0, 0.0], [3193.0, 688.0, 153.0, 0.0], [1945.0, 398.0, 193.0, 0.0], [828.0, 120.0, 135.0, 0.0], [162.0, 19.0, 45.0, 0.0], [13.0, 0.0, 7.0, 0.0]]}}, "success_archive_windows": 43558, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.226806640625, "command_abs_max": [0.999626636505127, 0.3999415338039398, 0.699766218662262]}
{"step": 19900, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 19900, "total_transitions": 81510400, "num_steps_per_env": 1, "wm_loss": 0.700047492980957, "actor_loss": -9.462340354919434, "critic_loss": 0.008584900759160519, "reward": 0.08587940782308578, "falls": 4, "interval_steps": 50, "velocity_mae": [0.11999310553073883, 0.07140951603651047, 0.13640381395816803], "mean_episode_length": 1350.3066666666666, "episode_reward_terms": {"track_linear_velocity": 47.53391647338867, "track_angular_velocity": 51.00482177734375, "upright": 25.935832977294922, "leg_posture": -2.78349232673645, "standstill": -6.476703643798828, "action_rate_l2": -0.5990912318229675, "joint_torques_l2": -0.14828282594680786, "dof_pos_limits": -0.0006095979479141533, "terminated": -0.010549268685281277, "unnecessary_wheel_lift": -0.09696939587593079, "rolling_leg_motion": -0.7249186038970947, "obstacle_progress": 2.9534757137298584, "wheel_body_intrusion": -0.2644228935241699, "pair_body_intrusion": -0.3594673275947571}, "weighted_reward_terms": {"track_linear_velocity": 1.760115623474121, "track_angular_velocity": 1.8886386156082153, "upright": 0.9603683352470398, "leg_posture": -0.10306890308856964, "standstill": -0.23982344567775726, "action_rate_l2": -0.022183524444699287, "joint_torques_l2": -0.005490709561854601, "dof_pos_limits": -2.257257619930897e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.0035906436387449503, "rolling_leg_motion": -0.026842741295695305, "obstacle_progress": 0.10936315357685089, "wheel_body_intrusion": -0.009791216813027859, "pair_body_intrusion": -0.013310582377016544}, "episode_termination_rates": {"time_out": 0.48, "fell_over": 0.0, "course_exit": 0.49333333333333335, "illegal_nonwheel_contact": 0.02666666666666667}, "collection_time_s": 0.07591411322122439, "learning_time_s": 0.18561662109917962, "iteration_time_s": 0.3416262764985417, "policy_updates": 19600, "skipped_updates": 0, "invalid_env_resets": 98, "elapsed_s": 6798.36290232098, "nonwheel_terminations": 11815, "contact_bce": 0.2952229380607605, "contact_force_loss": 0.020057855173945427, "collision_bce": 0.0007414981373585761, "collision_label_rate": 0.00012242898810654879, "collision_prediction_mean": 8.434108895016834e-05, "collision_label_count": 16336.0, "terrain_level_mean": 3.18798828125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [30, 72, 106, 94, 58, 50], "episodes_by_level": [[1350.0, 285.0, 47.0, 0.0], [1449.0, 324.0, 35.0, 0.0], [879.0, 212.0, 24.0, 0.0], [448.0, 114.0, 10.0, 0.0], [218.0, 51.0, 6.0, 0.0], [121.0, 32.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 8, 55, 320, 696, 354], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2386.0, 1455.0, 37.0, 0.0], [4181.0, 1667.0, 165.0, 0.0], [3614.0, 1241.0, 189.0, 0.0], [1872.0, 417.0, 139.0, 0.0], [264.0, 0.0, 44.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 8, 66, 538], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [759.0, 670.0, 21.0, 0.0], [927.0, 756.0, 25.0, 0.0], [1386.0, 1076.0, 58.0, 0.0], [3825.0, 2930.0, 187.0, 0.0]]}, "platform": {"level_counts": [41, 111, 113, 97, 38, 10], "episodes_by_level": [[1543.0, 336.0, 51.0, 0.0], [1539.0, 305.0, 66.0, 0.0], [835.0, 169.0, 53.0, 0.0], [398.0, 58.0, 24.0, 0.0], [103.0, 14.0, 10.0, 0.0], [9.0, 2.0, 4.0, 0.0]]}, "slope": {"level_counts": [41, 100, 85, 84, 55, 45], "episodes_by_level": [[1415.0, 297.0, 43.0, 0.0], [1450.0, 286.0, 55.0, 0.0], [843.0, 196.0, 31.0, 0.0], [433.0, 104.0, 12.0, 0.0], [228.0, 46.0, 4.0, 0.0], [116.0, 20.0, 1.0, 0.0]]}, "rubble": {"level_counts": [90, 214, 246, 195, 62, 12], "episodes_by_level": [[2802.0, 628.0, 89.0, 0.0], [3199.0, 691.0, 154.0, 0.0], [1960.0, 404.0, 193.0, 0.0], [835.0, 120.0, 135.0, 0.0], [164.0, 19.0, 46.0, 0.0], [13.0, 0.0, 7.0, 0.0]]}}, "success_archive_windows": 43733, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.225830078125, "command_abs_max": [0.9960126280784607, 0.3999415338039398, 0.699766218662262]}
{"step": 19950, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 19950, "total_transitions": 81715200, "num_steps_per_env": 1, "wm_loss": 0.7323766350746155, "actor_loss": -9.4730224609375, "critic_loss": 0.0037341099232435226, "reward": 0.08615187555551529, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11985550075769424, 0.07169376313686371, 0.13576272130012512], "mean_episode_length": 1356.5724137931034, "episode_reward_terms": {"track_linear_velocity": 47.76763916015625, "track_angular_velocity": 51.26478576660156, "upright": 26.07857894897461, "leg_posture": -2.7798590660095215, "standstill": -6.270820140838623, "action_rate_l2": -0.6082531809806824, "joint_torques_l2": -0.1482410579919815, "dof_pos_limits": -0.0007047925610095263, "terminated": -0.021196439862251282, "unnecessary_wheel_lift": -0.09911084175109863, "rolling_leg_motion": -0.7248090505599976, "obstacle_progress": 2.9821529388427734, "wheel_body_intrusion": -0.2633536756038666, "pair_body_intrusion": -0.30555078387260437}, "weighted_reward_terms": {"track_linear_velocity": 1.7606005668640137, "track_angular_velocity": 1.889496922492981, "upright": 0.9611937999725342, "leg_posture": -0.10245893150568008, "standstill": -0.23112736642360687, "action_rate_l2": -0.022418750450015068, "joint_torques_l2": -0.005463809706270695, "dof_pos_limits": -2.597696402517613e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0036529877688735723, "rolling_leg_motion": -0.02671472169458866, "obstacle_progress": 0.10991499572992325, "wheel_body_intrusion": -0.009706584736704826, "pair_body_intrusion": -0.01126186829060316}, "episode_termination_rates": {"time_out": 0.503448275862069, "fell_over": 0.020689655172413793, "course_exit": 0.4413793103448276, "illegal_nonwheel_contact": 0.04827586206896552}, "collection_time_s": 0.07599358140141703, "learning_time_s": 0.18486675028223545, "iteration_time_s": 0.34142391048867216, "policy_updates": 19650, "skipped_updates": 0, "invalid_env_resets": 99, "elapsed_s": 6811.407014249009, "nonwheel_terminations": 11822, "contact_bce": 0.3044380247592926, "contact_force_loss": 0.020529815927147865, "collision_bce": 0.0006873814854770899, "collision_label_rate": 0.00018356482905801386, "collision_prediction_mean": 6.428319466067478e-05, "collision_label_count": 16343.0, "terrain_level_mean": 3.19140625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [30, 72, 105, 93, 60, 50], "episodes_by_level": [[1350.0, 285.0, 47.0, 0.0], [1453.0, 324.0, 35.0, 0.0], [883.0, 213.0, 24.0, 0.0], [453.0, 116.0, 10.0, 0.0], [218.0, 51.0, 6.0, 0.0], [121.0, 32.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 8, 56, 317, 692, 360], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2386.0, 1455.0, 37.0, 0.0], [4181.0, 1667.0, 165.0, 0.0], [3621.0, 1244.0, 189.0, 0.0], [1895.0, 426.0, 140.0, 0.0], [275.0, 0.0, 47.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 9, 65, 539], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [760.0, 671.0, 21.0, 0.0], [927.0, 756.0, 25.0, 0.0], [1387.0, 1077.0, 58.0, 0.0], [3843.0, 2946.0, 187.0, 0.0]]}, "platform": {"level_counts": [41, 111, 112, 98, 39, 9], "episodes_by_level": [[1547.0, 336.0, 51.0, 0.0], [1541.0, 305.0, 66.0, 0.0], [840.0, 170.0, 53.0, 0.0], [401.0, 58.0, 24.0, 0.0], [103.0, 14.0, 10.0, 0.0], [10.0, 2.0, 5.0, 0.0]]}, "slope": {"level_counts": [41, 100, 85, 83, 56, 45], "episodes_by_level": [[1416.0, 297.0, 43.0, 0.0], [1450.0, 286.0, 55.0, 0.0], [846.0, 196.0, 31.0, 0.0], [435.0, 105.0, 12.0, 0.0], [228.0, 46.0, 4.0, 0.0], [118.0, 20.0, 1.0, 0.0]]}, "rubble": {"level_counts": [89, 216, 244, 196, 62, 12], "episodes_by_level": [[2804.0, 629.0, 89.0, 0.0], [3203.0, 691.0, 154.0, 0.0], [1969.0, 406.0, 194.0, 0.0], [841.0, 120.0, 136.0, 0.0], [167.0, 19.0, 46.0, 0.0], [14.0, 0.0, 7.0, 0.0]]}}, "success_archive_windows": 43868, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.228759765625, "command_abs_max": [0.9960126280784607, 0.3991283178329468, 0.6999346613883972]}
{"step": 20000, "actor_lr": 6e-05, "archive_windows": 50000, "env_steps": 20000, "total_transitions": 81920000, "num_steps_per_env": 1, "wm_loss": 0.7247850894927979, "actor_loss": -9.476729393005371, "critic_loss": 0.005239283200353384, "reward": 0.08608515560626984, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11990441381931305, 0.07184527814388275, 0.13646405935287476], "mean_episode_length": 1380.140625, "episode_reward_terms": {"track_linear_velocity": 48.6077880859375, "track_angular_velocity": 52.119659423828125, "upright": 26.497339248657227, "leg_posture": -2.859905242919922, "standstill": -6.279086589813232, "action_rate_l2": -0.6178299784660339, "joint_torques_l2": -0.152126282453537, "dof_pos_limits": -0.0009995645377784967, "terminated": -0.01617352105677128, "unnecessary_wheel_lift": -0.1000683456659317, "rolling_leg_motion": -0.7357637286186218, "obstacle_progress": 3.002311944961548, "wheel_body_intrusion": -0.3044569492340088, "pair_body_intrusion": -0.3510536253452301}, "weighted_reward_terms": {"track_linear_velocity": 1.760972261428833, "track_angular_velocity": 1.8882009983062744, "upright": 0.9599507451057434, "leg_posture": -0.10360919684171677, "standstill": -0.2274799644947052, "action_rate_l2": -0.022382862865924835, "joint_torques_l2": -0.005511260125786066, "dof_pos_limits": -3.621241921791807e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.0036252953577786684, "rolling_leg_motion": -0.02665538899600506, "obstacle_progress": 0.10876833647489548, "wheel_body_intrusion": -0.0110299251973629, "pair_body_intrusion": -0.012718038633465767}, "episode_termination_rates": {"time_out": 0.5234375, "fell_over": 0.0234375, "course_exit": 0.4296875, "illegal_nonwheel_contact": 0.0390625}, "collection_time_s": 0.07577204266097397, "learning_time_s": 0.18377578332205302, "iteration_time_s": 0.3412192866885016, "policy_updates": 19700, "skipped_updates": 0, "invalid_env_resets": 100, "elapsed_s": 6824.385733770032, "nonwheel_terminations": 11827, "contact_bce": 0.30144232511520386, "contact_force_loss": 0.021343231201171875, "collision_bce": 0.0006142641650512815, "collision_label_rate": 0.00030592267285101116, "collision_prediction_mean": 0.0001781550672603771, "collision_label_count": 16344.0, "terrain_level_mean": 3.19482421875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [30, 72, 103, 95, 60, 50], "episodes_by_level": [[1352.0, 285.0, 47.0, 0.0], [1455.0, 324.0, 35.0, 0.0], [889.0, 215.0, 24.0, 0.0], [456.0, 116.0, 10.0, 0.0], [221.0, 51.0, 6.0, 0.0], [123.0, 33.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 8, 54, 315, 691, 365], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2386.0, 1455.0, 37.0, 0.0], [4184.0, 1669.0, 165.0, 0.0], [3628.0, 1248.0, 189.0, 0.0], [1911.0, 433.0, 140.0, 0.0], [281.0, 0.0, 48.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 9, 63, 541], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [760.0, 671.0, 21.0, 0.0], [927.0, 756.0, 25.0, 0.0], [1391.0, 1080.0, 58.0, 0.0], [3855.0, 2953.0, 187.0, 0.0]]}, "platform": {"level_counts": [42, 110, 112, 98, 39, 9], "episodes_by_level": [[1547.0, 336.0, 51.0, 0.0], [1543.0, 305.0, 67.0, 0.0], [843.0, 170.0, 53.0, 0.0], [403.0, 58.0, 24.0, 0.0], [104.0, 14.0, 10.0, 0.0], [10.0, 2.0, 5.0, 0.0]]}, "slope": {"level_counts": [41, 100, 85, 82, 57, 45], "episodes_by_level": [[1416.0, 297.0, 43.0, 0.0], [1452.0, 286.0, 55.0, 0.0], [846.0, 196.0, 31.0, 0.0], [436.0, 106.0, 12.0, 0.0], [230.0, 46.0, 4.0, 0.0], [122.0, 22.0, 1.0, 0.0]]}, "rubble": {"level_counts": [89, 217, 243, 196, 62, 12], "episodes_by_level": [[2805.0, 629.0, 89.0, 0.0], [3209.0, 691.0, 154.0, 0.0], [1979.0, 407.0, 195.0, 0.0], [845.0, 120.0, 137.0, 0.0], [167.0, 19.0, 46.0, 0.0], [14.0, 0.0, 7.0, 0.0]]}}, "success_archive_windows": 44012, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234130859375, "command_abs_max": [0.9981650114059448, 0.3991283178329468, 0.6999346613883972]}
{"step": 20050, "actor_lr": 5.999928909590464e-05, "archive_windows": 50000, "env_steps": 20050, "total_transitions": 82124800, "num_steps_per_env": 1, "wm_loss": 0.745972216129303, "actor_loss": -9.43225383758545, "critic_loss": 0.0061106011271476746, "reward": 0.0861215591430664, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11977051198482513, 0.07261303812265396, 0.13659396767616272], "mean_episode_length": 1301.5507246376812, "episode_reward_terms": {"track_linear_velocity": 45.803367614746094, "track_angular_velocity": 49.145179748535156, "upright": 24.988582611083984, "leg_posture": -2.6880924701690674, "standstill": -5.964211940765381, "action_rate_l2": -0.5695777535438538, "joint_torques_l2": -0.14373242855072021, "dof_pos_limits": -0.001575289759784937, "terminated": -0.020336726680397987, "unnecessary_wheel_lift": -0.09608279168605804, "rolling_leg_motion": -0.6788235902786255, "obstacle_progress": 2.8813486099243164, "wheel_body_intrusion": -0.2654065191745758, "pair_body_intrusion": -0.29905784130096436}, "weighted_reward_terms": {"track_linear_velocity": 1.7595689296722412, "track_angular_velocity": 1.8879472017288208, "upright": 0.9599542021751404, "leg_posture": -0.10326499491930008, "standstill": -0.2291194349527359, "action_rate_l2": -0.0218807365745306, "joint_torques_l2": -0.005521583836525679, "dof_pos_limits": -6.051588206901215e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0036910888738930225, "rolling_leg_motion": -0.02607749216258526, "obstacle_progress": 0.11068905889987946, "wheel_body_intrusion": -0.010195780545473099, "pair_body_intrusion": -0.011488519608974457}, "episode_termination_rates": {"time_out": 0.463768115942029, "fell_over": 0.028985507246376812, "course_exit": 0.4782608695652174, "illegal_nonwheel_contact": 0.043478260869565216}, "collection_time_s": 0.07595754316309467, "learning_time_s": 0.18480500587960705, "iteration_time_s": 0.3410200055555627, "policy_updates": 19750, "skipped_updates": 0, "invalid_env_resets": 101, "elapsed_s": 6837.451111389033, "nonwheel_terminations": 11833, "contact_bce": 0.30181822180747986, "contact_force_loss": 0.020867984741926193, "collision_bce": 0.00033842926495708525, "collision_label_rate": 6.120325269876048e-05, "collision_prediction_mean": 2.4695733372936957e-05, "collision_label_count": 16339.0, "terrain_level_mean": 3.1982421875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [30, 72, 103, 95, 59, 51], "episodes_by_level": [[1352.0, 285.0, 47.0, 0.0], [1455.0, 324.0, 35.0, 0.0], [892.0, 215.0, 24.0, 0.0], [456.0, 116.0, 10.0, 0.0], [223.0, 52.0, 6.0, 0.0], [125.0, 34.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 8, 53, 313, 691, 368], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2386.0, 1455.0, 37.0, 0.0], [4186.0, 1671.0, 165.0, 0.0], [3636.0, 1251.0, 189.0, 0.0], [1928.0, 436.0, 140.0, 0.0], [287.0, 0.0, 48.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 10, 62, 541], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [760.0, 671.0, 21.0, 0.0], [927.0, 756.0, 25.0, 0.0], [1393.0, 1082.0, 58.0, 0.0], [3878.0, 2972.0, 187.0, 0.0]]}, "platform": {"level_counts": [42, 108, 114, 97, 40, 9], "episodes_by_level": [[1548.0, 336.0, 51.0, 0.0], [1547.0, 307.0, 67.0, 0.0], [846.0, 170.0, 53.0, 0.0], [405.0, 59.0, 24.0, 0.0], [105.0, 14.0, 10.0, 0.0], [10.0, 2.0, 5.0, 0.0]]}, "slope": {"level_counts": [41, 99, 85, 83, 56, 46], "episodes_by_level": [[1416.0, 297.0, 43.0, 0.0], [1456.0, 287.0, 55.0, 0.0], [849.0, 197.0, 31.0, 0.0], [438.0, 106.0, 12.0, 0.0], [234.0, 47.0, 4.0, 0.0], [122.0, 22.0, 1.0, 0.0]]}, "rubble": {"level_counts": [88, 217, 244, 197, 61, 12], "episodes_by_level": [[2807.0, 630.0, 89.0, 0.0], [3214.0, 693.0, 154.0, 0.0], [1986.0, 408.0, 196.0, 0.0], [850.0, 121.0, 138.0, 0.0], [171.0, 19.0, 48.0, 0.0], [14.0, 0.0, 7.0, 0.0]]}}, "success_archive_windows": 44137, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23876953125, "command_abs_max": [0.9960126280784607, 0.39878222346305847, 0.6999346613883972]}
{"step": 20100, "actor_lr": 5.999709809869922e-05, "archive_windows": 50000, "env_steps": 20100, "total_transitions": 82329600, "num_steps_per_env": 1, "wm_loss": 0.7786006331443787, "actor_loss": -9.476585388183594, "critic_loss": 0.004035254940390587, "reward": 0.08625960350036621, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11839695274829865, 0.07162334769964218, 0.13582511246204376], "mean_episode_length": 1357.3825503355704, "episode_reward_terms": {"track_linear_velocity": 47.85441589355469, "track_angular_velocity": 51.29446792602539, "upright": 26.06499481201172, "leg_posture": -2.7970709800720215, "standstill": -6.161098480224609, "action_rate_l2": -0.5920448899269104, "joint_torques_l2": -0.1495506912469864, "dof_pos_limits": -0.0007464920054189861, "terminated": -0.013255687430500984, "unnecessary_wheel_lift": -0.10492203384637833, "rolling_leg_motion": -0.7149221897125244, "obstacle_progress": 2.9493613243103027, "wheel_body_intrusion": -0.2520774304866791, "pair_body_intrusion": -0.29029780626296997}, "weighted_reward_terms": {"track_linear_velocity": 1.7627462148666382, "track_angular_velocity": 1.8894623517990112, "upright": 0.9601197838783264, "leg_posture": -0.10303179174661636, "standstill": -0.22694775462150574, "action_rate_l2": -0.021808328106999397, "joint_torques_l2": -0.005508789326995611, "dof_pos_limits": -2.7497480914462358e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.003864866215735674, "rolling_leg_motion": -0.02633458562195301, "obstacle_progress": 0.10864149779081345, "wheel_body_intrusion": -0.00928542297333479, "pair_body_intrusion": -0.010693293996155262}, "episode_termination_rates": {"time_out": 0.5033557046979866, "fell_over": 0.020134228187919462, "course_exit": 0.46308724832214765, "illegal_nonwheel_contact": 0.013422818791946308}, "collection_time_s": 0.07539335577283054, "learning_time_s": 0.18530566946254112, "iteration_time_s": 0.34082025696298474, "policy_updates": 19800, "skipped_updates": 0, "invalid_env_resets": 101, "elapsed_s": 6850.487164955994, "nonwheel_terminations": 11835, "contact_bce": 0.3002818822860718, "contact_force_loss": 0.021237872540950775, "collision_bce": 0.00021021348948124796, "collision_label_rate": 0.0001222942373715341, "collision_prediction_mean": 5.929511462454684e-05, "collision_label_count": 16354.0, "terrain_level_mean": 3.203857421875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [29, 72, 104, 94, 59, 52], "episodes_by_level": [[1353.0, 286.0, 47.0, 0.0], [1458.0, 325.0, 35.0, 0.0], [894.0, 215.0, 24.0, 0.0], [461.0, 117.0, 10.0, 0.0], [225.0, 53.0, 6.0, 0.0], [127.0, 35.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 8, 50, 314, 689, 372], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2386.0, 1455.0, 37.0, 0.0], [4189.0, 1674.0, 165.0, 0.0], [3648.0, 1254.0, 189.0, 0.0], [1947.0, 441.0, 141.0, 0.0], [296.0, 0.0, 49.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 9, 60, 544], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [760.0, 671.0, 21.0, 0.0], [928.0, 757.0, 25.0, 0.0], [1398.0, 1086.0, 58.0, 0.0], [3893.0, 2984.0, 187.0, 0.0]]}, "platform": {"level_counts": [42, 108, 113, 98, 40, 9], "episodes_by_level": [[1548.0, 336.0, 51.0, 0.0], [1549.0, 307.0, 67.0, 0.0], [851.0, 171.0, 53.0, 0.0], [409.0, 59.0, 24.0, 0.0], [105.0, 14.0, 10.0, 0.0], [10.0, 2.0, 5.0, 0.0]]}, "slope": {"level_counts": [41, 99, 85, 83, 56, 46], "episodes_by_level": [[1416.0, 297.0, 43.0, 0.0], [1457.0, 287.0, 55.0, 0.0], [854.0, 197.0, 31.0, 0.0], [440.0, 106.0, 12.0, 0.0], [234.0, 47.0, 4.0, 0.0], [124.0, 23.0, 1.0, 0.0]]}, "rubble": {"level_counts": [87, 216, 246, 196, 61, 13], "episodes_by_level": [[2810.0, 631.0, 89.0, 0.0], [3219.0, 695.0, 154.0, 0.0], [1996.0, 410.0, 196.0, 0.0], [858.0, 122.0, 140.0, 0.0], [173.0, 20.0, 48.0, 0.0], [14.0, 0.0, 7.0, 0.0]]}}, "success_archive_windows": 44276, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.239990234375, "command_abs_max": [0.9960126280784607, 0.39947178959846497, 0.699766218662262]}
{"step": 20150, "actor_lr": 5.999342684744665e-05, "archive_windows": 50000, "env_steps": 20150, "total_transitions": 82534400, "num_steps_per_env": 1, "wm_loss": 0.7186434268951416, "actor_loss": -9.494210243225098, "critic_loss": 0.0035327610094100237, "reward": 0.08660716563463211, "falls": 5, "interval_steps": 50, "velocity_mae": [0.1187724694609642, 0.07082585245370865, 0.13457892835140228], "mean_episode_length": 1370.5035460992908, "episode_reward_terms": {"track_linear_velocity": 48.343936920166016, "track_angular_velocity": 51.831539154052734, "upright": 26.337732315063477, "leg_posture": -2.7292392253875732, "standstill": -6.0096893310546875, "action_rate_l2": -0.6078614592552185, "joint_torques_l2": -0.15012706816196442, "dof_pos_limits": -0.0008055349462665617, "terminated": -0.01338382251560688, "unnecessary_wheel_lift": -0.10894819349050522, "rolling_leg_motion": -0.7157111167907715, "obstacle_progress": 3.0632636547088623, "wheel_body_intrusion": -0.2500217854976654, "pair_body_intrusion": -0.2952256500720978}, "weighted_reward_terms": {"track_linear_velocity": 1.7637290954589844, "track_angular_velocity": 1.8909670114517212, "upright": 0.9608778953552246, "leg_posture": -0.09957068413496017, "standstill": -0.21925115585327148, "action_rate_l2": -0.022176574915647507, "joint_torques_l2": -0.005477077327668667, "dof_pos_limits": -2.9388284019660205e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.003974750638008118, "rolling_leg_motion": -0.026111247017979622, "obstacle_progress": 0.11175686866044998, "wheel_body_intrusion": -0.009121530689299107, "pair_body_intrusion": -0.010770700871944427}, "episode_termination_rates": {"time_out": 0.48936170212765956, "fell_over": 0.014184397163120567, "course_exit": 0.475177304964539, "illegal_nonwheel_contact": 0.03546099290780142}, "collection_time_s": 0.07552934950217605, "learning_time_s": 0.18436214311281218, "iteration_time_s": 0.34061949568540933, "policy_updates": 19850, "skipped_updates": 0, "invalid_env_resets": 101, "elapsed_s": 6863.482838060998, "nonwheel_terminations": 11840, "contact_bce": 0.29627928137779236, "contact_force_loss": 0.020192649215459824, "collision_bce": 1.6708578186808154e-05, "collision_label_rate": 6.114337884355336e-05, "collision_prediction_mean": 5.783087544841692e-05, "collision_label_count": 16355.0, "terrain_level_mean": 3.208984375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [29, 71, 105, 94, 59, 52], "episodes_by_level": [[1354.0, 286.0, 47.0, 0.0], [1461.0, 326.0, 35.0, 0.0], [896.0, 215.0, 24.0, 0.0], [464.0, 117.0, 10.0, 0.0], [226.0, 53.0, 6.0, 0.0], [129.0, 36.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 8, 50, 313, 679, 383], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2386.0, 1455.0, 37.0, 0.0], [4189.0, 1674.0, 165.0, 0.0], [3653.0, 1255.0, 189.0, 0.0], [1972.0, 451.0, 141.0, 0.0], [299.0, 0.0, 49.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 9, 59, 545], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [760.0, 671.0, 21.0, 0.0], [928.0, 757.0, 25.0, 0.0], [1400.0, 1088.0, 58.0, 0.0], [3915.0, 3000.0, 189.0, 0.0]]}, "platform": {"level_counts": [42, 109, 112, 98, 40, 9], "episodes_by_level": [[1551.0, 336.0, 51.0, 0.0], [1552.0, 307.0, 67.0, 0.0], [857.0, 171.0, 54.0, 0.0], [409.0, 59.0, 24.0, 0.0], [105.0, 14.0, 10.0, 0.0], [10.0, 2.0, 5.0, 0.0]]}, "slope": {"level_counts": [40, 99, 86, 82, 57, 46], "episodes_by_level": [[1418.0, 298.0, 43.0, 0.0], [1459.0, 288.0, 55.0, 0.0], [857.0, 197.0, 31.0, 0.0], [445.0, 107.0, 12.0, 0.0], [236.0, 47.0, 4.0, 0.0], [124.0, 23.0, 1.0, 0.0]]}, "rubble": {"level_counts": [85, 218, 246, 193, 64, 13], "episodes_by_level": [[2814.0, 633.0, 89.0, 0.0], [3224.0, 697.0, 154.0, 0.0], [2006.0, 410.0, 198.0, 0.0], [863.0, 125.0, 140.0, 0.0], [173.0, 20.0, 48.0, 0.0], [14.0, 0.0, 7.0, 0.0]]}}, "success_archive_windows": 44421, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.24072265625, "command_abs_max": [0.9960126280784607, 0.39947178959846497, 0.699766218662262]}
{"step": 20200, "actor_lr": 5.9988275568607005e-05, "archive_windows": 50000, "env_steps": 20200, "total_transitions": 82739200, "num_steps_per_env": 1, "wm_loss": 0.7724884152412415, "actor_loss": -9.434045791625977, "critic_loss": 0.00803536456078291, "reward": 0.08624821156263351, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11974447220563889, 0.07325928658246994, 0.13576090335845947], "mean_episode_length": 1304.340579710145, "episode_reward_terms": {"track_linear_velocity": 45.893829345703125, "track_angular_velocity": 49.28467559814453, "upright": 25.034181594848633, "leg_posture": -2.634774684906006, "standstill": -5.985535621643066, "action_rate_l2": -0.5762335658073425, "joint_torques_l2": -0.14303043484687805, "dof_pos_limits": -0.001006182748824358, "terminated": -0.02292785793542862, "unnecessary_wheel_lift": -0.09027669578790665, "rolling_leg_motion": -0.6584451794624329, "obstacle_progress": 2.9477286338806152, "wheel_body_intrusion": -0.2500515580177307, "pair_body_intrusion": -0.30107828974723816}, "weighted_reward_terms": {"track_linear_velocity": 1.7592731714248657, "track_angular_velocity": 1.8892563581466675, "upright": 0.9596489667892456, "leg_posture": -0.10100025683641434, "standstill": -0.22944681346416473, "action_rate_l2": -0.022089077159762383, "joint_torques_l2": -0.00548286410048604, "dof_pos_limits": -3.857055344269611e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.003460625885054469, "rolling_leg_motion": -0.025240540504455566, "obstacle_progress": 0.1129968911409378, "wheel_body_intrusion": -0.009585362859070301, "pair_body_intrusion": -0.011541398242115974}, "episode_termination_rates": {"time_out": 0.41304347826086957, "fell_over": 0.043478260869565216, "course_exit": 0.5217391304347826, "illegal_nonwheel_contact": 0.050724637681159424}, "collection_time_s": 0.07566514534293674, "learning_time_s": 0.184131670196075, "iteration_time_s": 0.34041949157673396, "policy_updates": 19900, "skipped_updates": 0, "invalid_env_resets": 101, "elapsed_s": 6876.473729850026, "nonwheel_terminations": 11847, "contact_bce": 0.30581581592559814, "contact_force_loss": 0.02123882807791233, "collision_bce": 0.0001331440289504826, "collision_label_rate": 0.000122346609714441, "collision_prediction_mean": 0.00014894666674081236, "collision_label_count": 16347.0, "terrain_level_mean": 3.214599609375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [29, 70, 104, 94, 61, 52], "episodes_by_level": [[1354.0, 286.0, 47.0, 0.0], [1463.0, 327.0, 35.0, 0.0], [901.0, 217.0, 24.0, 0.0], [469.0, 119.0, 10.0, 0.0], [227.0, 53.0, 6.0, 0.0], [129.0, 36.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 8, 49, 304, 684, 388], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2386.0, 1455.0, 37.0, 0.0], [4190.0, 1675.0, 165.0, 0.0], [3666.0, 1265.0, 189.0, 0.0], [1991.0, 458.0, 141.0, 0.0], [306.0, 0.0, 51.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 7, 57, 548], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [760.0, 671.0, 21.0, 0.0], [930.0, 758.0, 26.0, 0.0], [1402.0, 1090.0, 58.0, 0.0], [3935.0, 3017.0, 189.0, 0.0]]}, "platform": {"level_counts": [42, 110, 110, 99, 40, 9], "episodes_by_level": [[1554.0, 336.0, 51.0, 0.0], [1555.0, 308.0, 67.0, 0.0], [862.0, 172.0, 56.0, 0.0], [413.0, 59.0, 24.0, 0.0], [106.0, 14.0, 10.0, 0.0], [10.0, 2.0, 5.0, 0.0]]}, "slope": {"level_counts": [40, 99, 85, 83, 57, 46], "episodes_by_level": [[1419.0, 298.0, 43.0, 0.0], [1460.0, 288.0, 55.0, 0.0], [859.0, 198.0, 31.0, 0.0], [445.0, 107.0, 12.0, 0.0], [236.0, 47.0, 4.0, 0.0], [125.0, 24.0, 1.0, 0.0]]}, "rubble": {"level_counts": [86, 217, 247, 191, 66, 12], "episodes_by_level": [[2817.0, 633.0, 89.0, 0.0], [3227.0, 698.0, 155.0, 0.0], [2009.0, 410.0, 199.0, 0.0], [871.0, 126.0, 141.0, 0.0], [173.0, 20.0, 48.0, 0.0], [15.0, 0.0, 8.0, 0.0]]}}, "success_archive_windows": 44556, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.239990234375, "command_abs_max": [0.9960126280784607, 0.39947178959846497, 0.699766218662262]}
{"step": 20250, "actor_lr": 5.998164457993541e-05, "archive_windows": 50000, "env_steps": 20250, "total_transitions": 82944000, "num_steps_per_env": 1, "wm_loss": 0.7243737578392029, "actor_loss": -9.47096061706543, "critic_loss": 0.00465950695797801, "reward": 0.08629585057497025, "falls": 6, "interval_steps": 50, "velocity_mae": [0.12010014802217484, 0.07276155054569244, 0.1360490471124649], "mean_episode_length": 1413.7771084337348, "episode_reward_terms": {"track_linear_velocity": 49.67983627319336, "track_angular_velocity": 53.41044616699219, "upright": 27.16619110107422, "leg_posture": -2.86672043800354, "standstill": -6.364198684692383, "action_rate_l2": -0.641137421131134, "joint_torques_l2": -0.15764114260673523, "dof_pos_limits": -0.0013774847611784935, "terminated": -0.01656769961118698, "unnecessary_wheel_lift": -0.12878812849521637, "rolling_leg_motion": -0.7247818112373352, "obstacle_progress": 3.2375869750976562, "wheel_body_intrusion": -0.27551689743995667, "pair_body_intrusion": -0.31423988938331604}, "weighted_reward_terms": {"track_linear_velocity": 1.75698983669281, "track_angular_velocity": 1.8889274597167969, "upright": 0.9607664942741394, "leg_posture": -0.10138516873121262, "standstill": -0.22507786750793457, "action_rate_l2": -0.02267462946474552, "joint_torques_l2": -0.005575176794081926, "dof_pos_limits": -4.871647615800612e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.00455475365743041, "rolling_leg_motion": -0.025632819160819054, "obstacle_progress": 0.11450132727622986, "wheel_body_intrusion": -0.009744000621140003, "pair_body_intrusion": -0.011113488115370274}, "episode_termination_rates": {"time_out": 0.536144578313253, "fell_over": 0.018072289156626505, "course_exit": 0.42771084337349397, "illegal_nonwheel_contact": 0.030120481927710843}, "collection_time_s": 0.07575325090670958, "learning_time_s": 0.18446588865597732, "iteration_time_s": 0.34022152164869046, "policy_updates": 19950, "skipped_updates": 0, "invalid_env_resets": 101, "elapsed_s": 6889.485813385982, "nonwheel_terminations": 11852, "contact_bce": 0.29966044425964355, "contact_force_loss": 0.0214206762611866, "collision_bce": 6.214199856913183e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 6.280138677539071e-06, "collision_label_count": 16344.0, "terrain_level_mean": 3.22021484375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [29, 70, 104, 92, 62, 53], "episodes_by_level": [[1355.0, 286.0, 47.0, 0.0], [1466.0, 327.0, 35.0, 0.0], [903.0, 217.0, 24.0, 0.0], [474.0, 121.0, 10.0, 0.0], [230.0, 54.0, 6.0, 0.0], [131.0, 36.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 8, 48, 301, 681, 395], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2386.0, 1455.0, 37.0, 0.0], [4191.0, 1676.0, 165.0, 0.0], [3676.0, 1270.0, 189.0, 0.0], [2011.0, 465.0, 141.0, 0.0], [313.0, 0.0, 51.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 7, 57, 549], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [931.0, 759.0, 26.0, 0.0], [1403.0, 1091.0, 58.0, 0.0], [3953.0, 3033.0, 189.0, 0.0]]}, "platform": {"level_counts": [41, 111, 109, 100, 40, 9], "episodes_by_level": [[1557.0, 337.0, 51.0, 0.0], [1559.0, 308.0, 67.0, 0.0], [868.0, 173.0, 56.0, 0.0], [420.0, 59.0, 24.0, 0.0], [106.0, 14.0, 10.0, 0.0], [10.0, 2.0, 5.0, 0.0]]}, "slope": {"level_counts": [41, 98, 85, 83, 57, 46], "episodes_by_level": [[1420.0, 298.0, 43.0, 0.0], [1465.0, 288.0, 56.0, 0.0], [860.0, 198.0, 31.0, 0.0], [448.0, 107.0, 12.0, 0.0], [237.0, 47.0, 4.0, 0.0], [125.0, 24.0, 1.0, 0.0]]}, "rubble": {"level_counts": [85, 215, 249, 193, 65, 12], "episodes_by_level": [[2819.0, 634.0, 89.0, 0.0], [3237.0, 701.0, 155.0, 0.0], [2018.0, 411.0, 199.0, 0.0], [874.0, 127.0, 141.0, 0.0], [175.0, 20.0, 50.0, 0.0], [15.0, 0.0, 8.0, 0.0]]}}, "success_archive_windows": 44710, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23583984375, "command_abs_max": [0.9960126280784607, 0.39947178959846497, 0.699766218662262]}
{"step": 20300, "actor_lr": 5.9973534290462496e-05, "archive_windows": 50000, "env_steps": 20300, "total_transitions": 83148800, "num_steps_per_env": 1, "wm_loss": 0.7246052026748657, "actor_loss": -9.487564086914062, "critic_loss": 0.0037640915252268314, "reward": 0.08616422116756439, "falls": 11, "interval_steps": 50, "velocity_mae": [0.11799945682287216, 0.07209642976522446, 0.13523449003696442], "mean_episode_length": 1357.2987012987012, "episode_reward_terms": {"track_linear_velocity": 47.882232666015625, "track_angular_velocity": 51.306053161621094, "upright": 26.040990829467773, "leg_posture": -2.733370780944824, "standstill": -6.590710163116455, "action_rate_l2": -0.6062413454055786, "joint_torques_l2": -0.15001271665096283, "dof_pos_limits": -0.0013534727040678263, "terminated": -0.02916071191430092, "unnecessary_wheel_lift": -0.12765558063983917, "rolling_leg_motion": -0.6806636452674866, "obstacle_progress": 3.2019400596618652, "wheel_body_intrusion": -0.26878929138183594, "pair_body_intrusion": -0.2926662564277649}, "weighted_reward_terms": {"track_linear_velocity": 1.763879656791687, "track_angular_velocity": 1.8900059461593628, "upright": 0.9592947959899902, "leg_posture": -0.10069157183170319, "standstill": -0.24278776347637177, "action_rate_l2": -0.02233264222741127, "joint_torques_l2": -0.005526150111109018, "dof_pos_limits": -4.985905979992822e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.004702560603618622, "rolling_leg_motion": -0.025074202567338943, "obstacle_progress": 0.11795267462730408, "wheel_body_intrusion": -0.009901626035571098, "pair_body_intrusion": -0.010781203396618366}, "episode_termination_rates": {"time_out": 0.5194805194805194, "fell_over": 0.032467532467532464, "course_exit": 0.4090909090909091, "illegal_nonwheel_contact": 0.05194805194805195}, "collection_time_s": 0.07563674735603854, "learning_time_s": 0.18388580169994384, "iteration_time_s": 0.34002280982571376, "policy_updates": 20000, "skipped_updates": 0, "invalid_env_resets": 101, "elapsed_s": 6902.463039461989, "nonwheel_terminations": 11860, "contact_bce": 0.2977745532989502, "contact_force_loss": 0.020707957446575165, "collision_bce": 0.00022105481184553355, "collision_label_rate": 0.00018384605937171727, "collision_prediction_mean": 0.00025847600772976875, "collision_label_count": 16318.0, "terrain_level_mean": 3.22412109375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [29, 70, 104, 92, 62, 53], "episodes_by_level": [[1355.0, 286.0, 47.0, 0.0], [1467.0, 327.0, 35.0, 0.0], [907.0, 217.0, 24.0, 0.0], [478.0, 121.0, 10.0, 0.0], [235.0, 54.0, 6.0, 0.0], [132.0, 36.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 8, 46, 303, 675, 401], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2386.0, 1455.0, 37.0, 0.0], [4193.0, 1678.0, 165.0, 0.0], [3680.0, 1270.0, 189.0, 0.0], [2031.0, 473.0, 141.0, 0.0], [323.0, 1.0, 53.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 6, 58, 549], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [932.0, 760.0, 26.0, 0.0], [1405.0, 1093.0, 58.0, 0.0], [3969.0, 3048.0, 190.0, 0.0]]}, "platform": {"level_counts": [41, 108, 112, 99, 40, 10], "episodes_by_level": [[1559.0, 337.0, 51.0, 0.0], [1563.0, 311.0, 67.0, 0.0], [871.0, 174.0, 56.0, 0.0], [423.0, 60.0, 25.0, 0.0], [107.0, 15.0, 10.0, 0.0], [10.0, 2.0, 5.0, 0.0]]}, "slope": {"level_counts": [41, 96, 87, 83, 56, 47], "episodes_by_level": [[1420.0, 298.0, 43.0, 0.0], [1470.0, 290.0, 56.0, 0.0], [862.0, 198.0, 31.0, 0.0], [450.0, 107.0, 12.0, 0.0], [239.0, 48.0, 4.0, 0.0], [130.0, 24.0, 1.0, 0.0]]}, "rubble": {"level_counts": [86, 214, 249, 193, 65, 12], "episodes_by_level": [[2822.0, 634.0, 89.0, 0.0], [3243.0, 702.0, 156.0, 0.0], [2028.0, 413.0, 200.0, 0.0], [882.0, 128.0, 143.0, 0.0], [178.0, 20.0, 51.0, 0.0], [15.0, 0.0, 8.0, 0.0]]}}, "success_archive_windows": 44848, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23291015625, "command_abs_max": [0.9960126280784607, 0.3995246887207031, 0.699766218662262]}
{"step": 20350, "actor_lr": 5.996394520046913e-05, "archive_windows": 50000, "env_steps": 20350, "total_transitions": 83353600, "num_steps_per_env": 1, "wm_loss": 0.7827711701393127, "actor_loss": -9.481864929199219, "critic_loss": 0.004086298402398825, "reward": 0.0861024335026741, "falls": 9, "interval_steps": 50, "velocity_mae": [0.1187521293759346, 0.0729057788848877, 0.1368888020515442], "mean_episode_length": 1400.376712328767, "episode_reward_terms": {"track_linear_velocity": 49.33393096923828, "track_angular_velocity": 52.86139678955078, "upright": 26.870391845703125, "leg_posture": -2.8515312671661377, "standstill": -6.708400249481201, "action_rate_l2": -0.602743923664093, "joint_torques_l2": -0.1539430171251297, "dof_pos_limits": -0.0008098403923213482, "terminated": -0.024615993723273277, "unnecessary_wheel_lift": -0.10337856411933899, "rolling_leg_motion": -0.6979358792304993, "obstacle_progress": 3.262662172317505, "wheel_body_intrusion": -0.2828834652900696, "pair_body_intrusion": -0.3263075053691864}, "weighted_reward_terms": {"track_linear_velocity": 1.7614521980285645, "track_angular_velocity": 1.8873991966247559, "upright": 0.9593986868858337, "leg_posture": -0.10181301087141037, "standstill": -0.23952126502990723, "action_rate_l2": -0.02152077853679657, "joint_torques_l2": -0.005496486090123653, "dof_pos_limits": -2.8915090297232382e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.003691098652780056, "rolling_leg_motion": -0.024919576942920685, "obstacle_progress": 0.11649230867624283, "wheel_body_intrusion": -0.01010026317089796, "pair_body_intrusion": -0.01165070477873087}, "episode_termination_rates": {"time_out": 0.4931506849315068, "fell_over": 0.02054794520547945, "course_exit": 0.4452054794520548, "illegal_nonwheel_contact": 0.04794520547945205}, "collection_time_s": 0.07553196396213024, "learning_time_s": 0.191829244379187, "iteration_time_s": 0.33984433219877086, "policy_updates": 20050, "skipped_updates": 0, "invalid_env_resets": 101, "elapsed_s": 6915.832160244987, "nonwheel_terminations": 11867, "contact_bce": 0.30359968543052673, "contact_force_loss": 0.021228231489658356, "collision_bce": 0.00018284736142959446, "collision_label_rate": 0.00012236906331963837, "collision_prediction_mean": 0.00010524530080147088, "collision_label_count": 16344.0, "terrain_level_mean": 3.2265625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [29, 69, 105, 91, 63, 53], "episodes_by_level": [[1355.0, 286.0, 47.0, 0.0], [1470.0, 328.0, 35.0, 0.0], [907.0, 217.0, 24.0, 0.0], [480.0, 122.0, 10.0, 0.0], [235.0, 54.0, 6.0, 0.0], [134.0, 36.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 8, 43, 304, 679, 399], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2386.0, 1455.0, 37.0, 0.0], [4196.0, 1681.0, 165.0, 0.0], [3690.0, 1273.0, 189.0, 0.0], [2050.0, 476.0, 142.0, 0.0], [332.0, 1.0, 56.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 6, 58, 549], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [932.0, 760.0, 26.0, 0.0], [1406.0, 1094.0, 58.0, 0.0], [3982.0, 3058.0, 190.0, 0.0]]}, "platform": {"level_counts": [41, 108, 113, 98, 39, 11], "episodes_by_level": [[1560.0, 337.0, 51.0, 0.0], [1566.0, 311.0, 67.0, 0.0], [872.0, 174.0, 56.0, 0.0], [428.0, 60.0, 26.0, 0.0], [110.0, 16.0, 10.0, 0.0], [10.0, 2.0, 5.0, 0.0]]}, "slope": {"level_counts": [41, 95, 88, 83, 56, 47], "episodes_by_level": [[1421.0, 298.0, 43.0, 0.0], [1473.0, 291.0, 56.0, 0.0], [864.0, 198.0, 31.0, 0.0], [455.0, 107.0, 12.0, 0.0], [240.0, 48.0, 4.0, 0.0], [131.0, 25.0, 1.0, 0.0]]}, "rubble": {"level_counts": [87, 211, 249, 194, 66, 12], "episodes_by_level": [[2823.0, 634.0, 89.0, 0.0], [3255.0, 704.0, 157.0, 0.0], [2040.0, 415.0, 200.0, 0.0], [888.0, 129.0, 143.0, 0.0], [181.0, 20.0, 51.0, 0.0], [16.0, 0.0, 8.0, 0.0]]}}, "success_archive_windows": 44995, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.232666015625, "command_abs_max": [0.9963984489440918, 0.3995246887207031, 0.699766218662262]}
{"step": 20400, "actor_lr": 5.995287790145552e-05, "archive_windows": 50000, "env_steps": 20400, "total_transitions": 83558400, "num_steps_per_env": 1, "wm_loss": 0.7845633625984192, "actor_loss": -9.498027801513672, "critic_loss": 0.004504943732172251, "reward": 0.08603096008300781, "falls": 14, "interval_steps": 50, "velocity_mae": [0.11885342746973038, 0.07254603505134583, 0.1349422186613083], "mean_episode_length": 1338.1390728476822, "episode_reward_terms": {"track_linear_velocity": 47.114219665527344, "track_angular_velocity": 50.601585388183594, "upright": 25.68291664123535, "leg_posture": -2.7823567390441895, "standstill": -6.354369163513184, "action_rate_l2": -0.576409637928009, "joint_torques_l2": -0.14825840294361115, "dof_pos_limits": -0.001225824118591845, "terminated": -0.03658973425626755, "unnecessary_wheel_lift": -0.10155241191387177, "rolling_leg_motion": -0.6761521697044373, "obstacle_progress": 3.0181334018707275, "wheel_body_intrusion": -0.290775865316391, "pair_body_intrusion": -0.327784925699234}, "weighted_reward_terms": {"track_linear_velocity": 1.760438084602356, "track_angular_velocity": 1.890744686126709, "upright": 0.9596505761146545, "leg_posture": -0.10396366566419601, "standstill": -0.23743309080600739, "action_rate_l2": -0.02153773419559002, "joint_torques_l2": -0.005539723671972752, "dof_pos_limits": -4.5803317334502935e-05, "terminated": -0.0013671873603016138, "unnecessary_wheel_lift": -0.003794538788497448, "rolling_leg_motion": -0.025264646857976913, "obstacle_progress": 0.11277353763580322, "wheel_body_intrusion": -0.010864934884011745, "pair_body_intrusion": -0.012247789651155472}, "episode_termination_rates": {"time_out": 0.423841059602649, "fell_over": 0.06622516556291391, "course_exit": 0.48344370860927155, "illegal_nonwheel_contact": 0.059602649006622516}, "collection_time_s": 0.0756076416221913, "learning_time_s": 0.1830625851196237, "iteration_time_s": 0.3396454279356854, "policy_updates": 20100, "skipped_updates": 0, "invalid_env_resets": 101, "elapsed_s": 6928.766729887982, "nonwheel_terminations": 11876, "contact_bce": 0.30294373631477356, "contact_force_loss": 0.021106716245412827, "collision_bce": 0.00016074285667855293, "collision_label_rate": 0.00012247396807651967, "collision_prediction_mean": 0.00012644096568692476, "collision_label_count": 16330.0, "terrain_level_mean": 3.2294921875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [29, 68, 103, 94, 63, 53], "episodes_by_level": [[1356.0, 286.0, 47.0, 0.0], [1471.0, 329.0, 35.0, 0.0], [912.0, 220.0, 24.0, 0.0], [482.0, 122.0, 10.0, 0.0], [236.0, 54.0, 6.0, 0.0], [135.0, 37.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 7, 44, 301, 678, 403], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2387.0, 1456.0, 37.0, 0.0], [4197.0, 1681.0, 165.0, 0.0], [3699.0, 1277.0, 189.0, 0.0], [2063.0, 482.0, 142.0, 0.0], [342.0, 1.0, 58.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 4, 63, 546], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [934.0, 762.0, 26.0, 0.0], [1406.0, 1094.0, 58.0, 0.0], [3997.0, 3070.0, 190.0, 0.0]]}, "platform": {"level_counts": [41, 109, 112, 97, 40, 11], "episodes_by_level": [[1563.0, 337.0, 51.0, 0.0], [1571.0, 311.0, 67.0, 0.0], [877.0, 174.0, 57.0, 0.0], [431.0, 61.0, 26.0, 0.0], [110.0, 16.0, 10.0, 0.0], [10.0, 2.0, 5.0, 0.0]]}, "slope": {"level_counts": [41, 95, 88, 83, 55, 48], "episodes_by_level": [[1422.0, 298.0, 43.0, 0.0], [1475.0, 291.0, 56.0, 0.0], [865.0, 198.0, 31.0, 0.0], [456.0, 107.0, 12.0, 0.0], [242.0, 49.0, 4.0, 0.0], [131.0, 25.0, 1.0, 0.0]]}, "rubble": {"level_counts": [87, 211, 249, 194, 66, 12], "episodes_by_level": [[2827.0, 635.0, 89.0, 0.0], [3263.0, 706.0, 158.0, 0.0], [2049.0, 417.0, 202.0, 0.0], [898.0, 131.0, 145.0, 0.0], [184.0, 20.0, 53.0, 0.0], [17.0, 0.0, 8.0, 0.0]]}}, "success_archive_windows": 45129, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2333984375, "command_abs_max": [0.9963984489440918, 0.3995246887207031, 0.699766218662262]}
{"step": 20450, "actor_lr": 5.994033307610482e-05, "archive_windows": 50000, "env_steps": 20450, "total_transitions": 83763200, "num_steps_per_env": 1, "wm_loss": 0.7242535948753357, "actor_loss": -9.44826602935791, "critic_loss": 0.007405061274766922, "reward": 0.08601304888725281, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11941856145858765, 0.07217150181531906, 0.1358199417591095], "mean_episode_length": 1393.310606060606, "episode_reward_terms": {"track_linear_velocity": 49.06486129760742, "track_angular_velocity": 52.65062713623047, "upright": 26.74537467956543, "leg_posture": -2.89852237701416, "standstill": -6.649993896484375, "action_rate_l2": -0.5956519842147827, "joint_torques_l2": -0.15336942672729492, "dof_pos_limits": -0.0010009543038904667, "terminated": -0.021770473569631577, "unnecessary_wheel_lift": -0.10319657623767853, "rolling_leg_motion": -0.6900848150253296, "obstacle_progress": 3.1161415576934814, "wheel_body_intrusion": -0.2988482117652893, "pair_body_intrusion": -0.3216789960861206}, "weighted_reward_terms": {"track_linear_velocity": 1.7607296705245972, "track_angular_velocity": 1.8894075155258179, "upright": 0.9597779512405396, "leg_posture": -0.10401565581560135, "standstill": -0.23864005506038666, "action_rate_l2": -0.021375421434640884, "joint_torques_l2": -0.005503777880221605, "dof_pos_limits": -3.5919998481404036e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0037032871041446924, "rolling_leg_motion": -0.02476421557366848, "obstacle_progress": 0.11182509362697601, "wheel_body_intrusion": -0.010724393650889397, "pair_body_intrusion": -0.011543693020939827}, "episode_termination_rates": {"time_out": 0.5075757575757576, "fell_over": 0.045454545454545456, "course_exit": 0.4318181818181818, "illegal_nonwheel_contact": 0.030303030303030304}, "collection_time_s": 0.0755403330270201, "learning_time_s": 0.18353710707859136, "iteration_time_s": 0.339448491869586, "policy_updates": 20150, "skipped_updates": 0, "invalid_env_resets": 101, "elapsed_s": 6941.721658733033, "nonwheel_terminations": 11880, "contact_bce": 0.2993154227733612, "contact_force_loss": 0.02078537829220295, "collision_bce": 0.00018823775462806225, "collision_label_rate": 0.00012230919674038887, "collision_prediction_mean": 9.017375850817189e-05, "collision_label_count": 16352.0, "terrain_level_mean": 3.232177734375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [29, 68, 103, 94, 63, 53], "episodes_by_level": [[1356.0, 286.0, 47.0, 0.0], [1474.0, 329.0, 35.0, 0.0], [916.0, 220.0, 24.0, 0.0], [483.0, 122.0, 10.0, 0.0], [237.0, 54.0, 6.0, 0.0], [135.0, 37.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 7, 43, 302, 673, 408], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2387.0, 1456.0, 37.0, 0.0], [4198.0, 1682.0, 165.0, 0.0], [3702.0, 1278.0, 189.0, 0.0], [2081.0, 488.0, 142.0, 0.0], [351.0, 1.0, 59.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 4, 63, 546], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [934.0, 762.0, 26.0, 0.0], [1406.0, 1094.0, 58.0, 0.0], [4011.0, 3082.0, 190.0, 0.0]]}, "platform": {"level_counts": [42, 108, 110, 99, 40, 11], "episodes_by_level": [[1563.0, 337.0, 51.0, 0.0], [1575.0, 311.0, 68.0, 0.0], [883.0, 176.0, 57.0, 0.0], [432.0, 61.0, 26.0, 0.0], [110.0, 16.0, 10.0, 0.0], [10.0, 2.0, 5.0, 0.0]]}, "slope": {"level_counts": [41, 93, 91, 80, 57, 48], "episodes_by_level": [[1423.0, 298.0, 43.0, 0.0], [1479.0, 293.0, 56.0, 0.0], [867.0, 198.0, 31.0, 0.0], [461.0, 109.0, 13.0, 0.0], [245.0, 49.0, 4.0, 0.0], [132.0, 25.0, 1.0, 0.0]]}, "rubble": {"level_counts": [86, 213, 248, 193, 67, 12], "episodes_by_level": [[2832.0, 637.0, 89.0, 0.0], [3268.0, 706.0, 159.0, 0.0], [2059.0, 419.0, 203.0, 0.0], [905.0, 132.0, 147.0, 0.0], [186.0, 20.0, 53.0, 0.0], [17.0, 0.0, 8.0, 0.0]]}}, "success_archive_windows": 45273, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234130859375, "command_abs_max": [0.9985700845718384, 0.3995246887207031, 0.699766218662262]}
{"step": 20500, "actor_lr": 5.992631149824096e-05, "archive_windows": 50000, "env_steps": 20500, "total_transitions": 83968000, "num_steps_per_env": 1, "wm_loss": 0.7165912389755249, "actor_loss": -9.468761444091797, "critic_loss": 0.004984751343727112, "reward": 0.08595994114875793, "falls": 9, "interval_steps": 50, "velocity_mae": [0.1188981831073761, 0.07235301285982132, 0.13511234521865845], "mean_episode_length": 1421.9299363057326, "episode_reward_terms": {"track_linear_velocity": 50.1456184387207, "track_angular_velocity": 53.745914459228516, "upright": 27.26024627685547, "leg_posture": -2.920776605606079, "standstill": -6.980082988739014, "action_rate_l2": -0.6112852692604065, "joint_torques_l2": -0.15632976591587067, "dof_pos_limits": -0.0007346413331106305, "terminated": -0.024994857609272003, "unnecessary_wheel_lift": -0.14655232429504395, "rolling_leg_motion": -0.7135365009307861, "obstacle_progress": 3.2054636478424072, "wheel_body_intrusion": -0.27903375029563904, "pair_body_intrusion": -0.29492315649986267}, "weighted_reward_terms": {"track_linear_velocity": 1.7632942199707031, "track_angular_velocity": 1.8898932933807373, "upright": 0.9585651159286499, "leg_posture": -0.10270465910434723, "standstill": -0.24544398486614227, "action_rate_l2": -0.021494915708899498, "joint_torques_l2": -0.005497097969055176, "dof_pos_limits": -2.5832543542492203e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.005153289530426264, "rolling_leg_motion": -0.025090424343943596, "obstacle_progress": 0.11271525174379349, "wheel_body_intrusion": -0.009811797179281712, "pair_body_intrusion": -0.010370523668825626}, "episode_termination_rates": {"time_out": 0.4968152866242038, "fell_over": 0.03821656050955414, "course_exit": 0.445859872611465, "illegal_nonwheel_contact": 0.044585987261146494}, "collection_time_s": 0.0753878674376756, "learning_time_s": 0.18544796842266806, "iteration_time_s": 0.3392568047679506, "policy_updates": 20200, "skipped_updates": 0, "invalid_env_resets": 101, "elapsed_s": 6954.764497742988, "nonwheel_terminations": 11887, "contact_bce": 0.2974623441696167, "contact_force_loss": 0.020207442343235016, "collision_bce": 8.389738650294021e-05, "collision_label_rate": 6.122948980191723e-05, "collision_prediction_mean": 5.793055970571004e-05, "collision_label_count": 16332.0, "terrain_level_mean": 3.238037109375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [29, 68, 102, 95, 61, 55], "episodes_by_level": [[1356.0, 286.0, 47.0, 0.0], [1478.0, 329.0, 35.0, 0.0], [921.0, 221.0, 24.0, 0.0], [483.0, 122.0, 10.0, 0.0], [240.0, 56.0, 6.0, 0.0], [138.0, 38.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 7, 42, 298, 671, 415], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2387.0, 1456.0, 37.0, 0.0], [4200.0, 1684.0, 165.0, 0.0], [3713.0, 1283.0, 189.0, 0.0], [2098.0, 495.0, 142.0, 0.0], [359.0, 2.0, 59.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 4, 64, 545], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [934.0, 762.0, 26.0, 0.0], [1409.0, 1097.0, 58.0, 0.0], [4033.0, 3098.0, 192.0, 0.0]]}, "platform": {"level_counts": [43, 107, 110, 98, 41, 11], "episodes_by_level": [[1564.0, 337.0, 51.0, 0.0], [1576.0, 311.0, 69.0, 0.0], [888.0, 176.0, 57.0, 0.0], [436.0, 62.0, 26.0, 0.0], [110.0, 16.0, 10.0, 0.0], [10.0, 2.0, 5.0, 0.0]]}, "slope": {"level_counts": [41, 92, 91, 80, 57, 49], "episodes_by_level": [[1425.0, 298.0, 43.0, 0.0], [1481.0, 294.0, 56.0, 0.0], [870.0, 199.0, 31.0, 0.0], [464.0, 110.0, 13.0, 0.0], [247.0, 50.0, 4.0, 0.0], [133.0, 25.0, 1.0, 0.0]]}, "rubble": {"level_counts": [85, 212, 249, 193, 68, 12], "episodes_by_level": [[2835.0, 638.0, 90.0, 0.0], [3273.0, 708.0, 159.0, 0.0], [2069.0, 422.0, 203.0, 0.0], [912.0, 133.0, 149.0, 0.0], [188.0, 20.0, 53.0, 0.0], [17.0, 0.0, 8.0, 0.0]]}}, "success_archive_windows": 45424, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23095703125, "command_abs_max": [0.9985700845718384, 0.3995246887207031, 0.699766218662262]}
{"step": 20550, "actor_lr": 5.99108140327809e-05, "archive_windows": 50000, "env_steps": 20550, "total_transitions": 84172800, "num_steps_per_env": 1, "wm_loss": 0.7316017150878906, "actor_loss": -9.481767654418945, "critic_loss": 0.005131568294018507, "reward": 0.08624488860368729, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11729231476783752, 0.07170665264129639, 0.13471540808677673], "mean_episode_length": 1391.3271604938273, "episode_reward_terms": {"track_linear_velocity": 49.13727951049805, "track_angular_velocity": 52.605079650878906, "upright": 26.71429443359375, "leg_posture": -2.8101015090942383, "standstill": -6.596771240234375, "action_rate_l2": -0.6114965677261353, "joint_torques_l2": -0.1516711264848709, "dof_pos_limits": -0.0006022710003890097, "terminated": -0.016304614022374153, "unnecessary_wheel_lift": -0.11096522212028503, "rolling_leg_motion": -0.7196326851844788, "obstacle_progress": 3.127443790435791, "wheel_body_intrusion": -0.24686194956302643, "pair_body_intrusion": -0.32482966780662537}, "weighted_reward_terms": {"track_linear_velocity": 1.7658419609069824, "track_angular_velocity": 1.890464186668396, "upright": 0.9600291848182678, "leg_posture": -0.10098637640476227, "standstill": -0.2370675802230835, "action_rate_l2": -0.02197529748082161, "joint_torques_l2": -0.0054505919106304646, "dof_pos_limits": -2.1643758373102173e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.003987747244536877, "rolling_leg_motion": -0.025861375033855438, "obstacle_progress": 0.1123906746506691, "wheel_body_intrusion": -0.008871455676853657, "pair_body_intrusion": -0.011673375964164734}, "episode_termination_rates": {"time_out": 0.5, "fell_over": 0.006172839506172839, "course_exit": 0.46296296296296297, "illegal_nonwheel_contact": 0.030864197530864196}, "collection_time_s": 0.07564290912239813, "learning_time_s": 0.18546110040158964, "iteration_time_s": 0.3390682234498785, "policy_updates": 20250, "skipped_updates": 0, "invalid_env_resets": 101, "elapsed_s": 6967.851991895004, "nonwheel_terminations": 11892, "contact_bce": 0.30270007252693176, "contact_force_loss": 0.02128457836806774, "collision_bce": 0.00019344675820320845, "collision_label_rate": 6.1221988289617e-05, "collision_prediction_mean": 1.2955884812981822e-05, "collision_label_count": 16334.0, "terrain_level_mean": 3.241943359375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [29, 68, 102, 95, 61, 55], "episodes_by_level": [[1357.0, 286.0, 47.0, 0.0], [1483.0, 329.0, 35.0, 0.0], [922.0, 221.0, 24.0, 0.0], [484.0, 122.0, 10.0, 0.0], [241.0, 56.0, 6.0, 0.0], [139.0, 38.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 7, 41, 296, 668, 421], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2387.0, 1456.0, 37.0, 0.0], [4202.0, 1685.0, 165.0, 0.0], [3723.0, 1286.0, 189.0, 0.0], [2118.0, 503.0, 142.0, 0.0], [370.0, 3.0, 59.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 4, 64, 545], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [934.0, 762.0, 26.0, 0.0], [1411.0, 1098.0, 58.0, 0.0], [4061.0, 3117.0, 193.0, 0.0]]}, "platform": {"level_counts": [43, 105, 112, 97, 42, 11], "episodes_by_level": [[1564.0, 337.0, 51.0, 0.0], [1583.0, 313.0, 69.0, 0.0], [893.0, 176.0, 57.0, 0.0], [440.0, 63.0, 26.0, 0.0], [110.0, 16.0, 10.0, 0.0], [11.0, 2.0, 5.0, 0.0]]}, "slope": {"level_counts": [41, 91, 93, 79, 58, 48], "episodes_by_level": [[1425.0, 298.0, 43.0, 0.0], [1485.0, 295.0, 56.0, 0.0], [872.0, 199.0, 31.0, 0.0], [466.0, 110.0, 14.0, 0.0], [249.0, 50.0, 4.0, 0.0], [137.0, 25.0, 2.0, 0.0]]}, "rubble": {"level_counts": [85, 212, 245, 197, 68, 12], "episodes_by_level": [[2837.0, 638.0, 90.0, 0.0], [3279.0, 709.0, 159.0, 0.0], [2080.0, 426.0, 204.0, 0.0], [921.0, 133.0, 149.0, 0.0], [189.0, 20.0, 53.0, 0.0], [17.0, 0.0, 8.0, 0.0]]}}, "success_archive_windows": 45543, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234619140625, "command_abs_max": [0.9985700845718384, 0.3995246887207031, 0.699766218662262]}
{"step": 20600, "actor_lr": 5.9893841635681304e-05, "archive_windows": 50000, "env_steps": 20600, "total_transitions": 84377600, "num_steps_per_env": 1, "wm_loss": 0.7249073386192322, "actor_loss": -9.479965209960938, "critic_loss": 0.004264866001904011, "reward": 0.08657173812389374, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11639875173568726, 0.07181169837713242, 0.1349964141845703], "mean_episode_length": 1359.5968992248063, "episode_reward_terms": {"track_linear_velocity": 48.06439208984375, "track_angular_velocity": 51.39875411987305, "upright": 26.100582122802734, "leg_posture": -2.7451367378234863, "standstill": -6.114612579345703, "action_rate_l2": -0.5901097059249878, "joint_torques_l2": -0.14867782592773438, "dof_pos_limits": -0.0006766666192561388, "terminated": -0.02389916032552719, "unnecessary_wheel_lift": -0.0949614942073822, "rolling_leg_motion": -0.6846053004264832, "obstacle_progress": 3.1264424324035645, "wheel_body_intrusion": -0.24686063826084137, "pair_body_intrusion": -0.337968647480011}, "weighted_reward_terms": {"track_linear_velocity": 1.7675971984863281, "track_angular_velocity": 1.8902204036712646, "upright": 0.9598647356033325, "leg_posture": -0.10095406323671341, "standstill": -0.22486859560012817, "action_rate_l2": -0.021701641380786896, "joint_torques_l2": -0.005467717070132494, "dof_pos_limits": -2.4884824597393163e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.0034922664053738117, "rolling_leg_motion": -0.025176774710416794, "obstacle_progress": 0.11497681587934494, "wheel_body_intrusion": -0.009078449569642544, "pair_body_intrusion": -0.012429002672433853}, "episode_termination_rates": {"time_out": 0.4263565891472868, "fell_over": 0.007751937984496124, "course_exit": 0.5038759689922481, "illegal_nonwheel_contact": 0.06201550387596899}, "collection_time_s": 0.07560359038296155, "learning_time_s": 0.1854740934597794, "iteration_time_s": 0.33887897740582457, "policy_updates": 20300, "skipped_updates": 0, "invalid_env_resets": 101, "elapsed_s": 6980.9069345599855, "nonwheel_terminations": 11900, "contact_bce": 0.3023093640804291, "contact_force_loss": 0.020041322335600853, "collision_bce": 4.285261184122646e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 4.357033958513057e-06, "collision_label_count": 16343.0, "terrain_level_mean": 3.24462890625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [28, 69, 101, 96, 61, 55], "episodes_by_level": [[1358.0, 287.0, 47.0, 0.0], [1484.0, 329.0, 35.0, 0.0], [924.0, 222.0, 24.0, 0.0], [485.0, 122.0, 10.0, 0.0], [242.0, 56.0, 6.0, 0.0], [140.0, 39.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 7, 39, 292, 672, 423], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2387.0, 1456.0, 37.0, 0.0], [4206.0, 1688.0, 165.0, 0.0], [3733.0, 1292.0, 189.0, 0.0], [2129.0, 505.0, 142.0, 0.0], [376.0, 3.0, 59.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 4, 64, 545], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [935.0, 762.0, 26.0, 0.0], [1412.0, 1099.0, 58.0, 0.0], [4077.0, 3130.0, 193.0, 0.0]]}, "platform": {"level_counts": [44, 105, 111, 96, 43, 11], "episodes_by_level": [[1564.0, 337.0, 51.0, 0.0], [1585.0, 313.0, 70.0, 0.0], [895.0, 176.0, 58.0, 0.0], [448.0, 64.0, 26.0, 0.0], [110.0, 16.0, 10.0, 0.0], [13.0, 2.0, 5.0, 0.0]]}, "slope": {"level_counts": [42, 89, 93, 80, 57, 49], "episodes_by_level": [[1425.0, 298.0, 43.0, 0.0], [1492.0, 296.0, 57.0, 0.0], [876.0, 200.0, 31.0, 0.0], [467.0, 110.0, 14.0, 0.0], [252.0, 51.0, 4.0, 0.0], [137.0, 25.0, 2.0, 0.0]]}, "rubble": {"level_counts": [85, 212, 246, 197, 67, 12], "episodes_by_level": [[2841.0, 638.0, 90.0, 0.0], [3283.0, 710.0, 159.0, 0.0], [2084.0, 427.0, 205.0, 0.0], [926.0, 133.0, 151.0, 0.0], [192.0, 20.0, 54.0, 0.0], [18.0, 0.0, 8.0, 0.0]]}}, "success_archive_windows": 45696, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.236083984375, "command_abs_max": [0.9985700845718384, 0.39927390217781067, 0.699766218662262]}
{"step": 20650, "actor_lr": 5.987539535387956e-05, "archive_windows": 50000, "env_steps": 20650, "total_transitions": 84582400, "num_steps_per_env": 1, "wm_loss": 0.7715692520141602, "actor_loss": -9.451640129089355, "critic_loss": 0.01015614252537489, "reward": 0.08628128468990326, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11905303597450256, 0.0729784294962883, 0.1362486332654953], "mean_episode_length": 1352.027972027972, "episode_reward_terms": {"track_linear_velocity": 47.599857330322266, "track_angular_velocity": 51.053497314453125, "upright": 25.925806045532227, "leg_posture": -2.7261648178100586, "standstill": -6.183409690856934, "action_rate_l2": -0.5909205079078674, "joint_torques_l2": -0.1472543627023697, "dof_pos_limits": -0.0007738621206954122, "terminated": -0.015844076871871948, "unnecessary_wheel_lift": -0.09757506847381592, "rolling_leg_motion": -0.6699026226997375, "obstacle_progress": 3.1046218872070312, "wheel_body_intrusion": -0.26631495356559753, "pair_body_intrusion": -0.3309248983860016}, "weighted_reward_terms": {"track_linear_velocity": 1.7603132724761963, "track_angular_velocity": 1.8880342245101929, "upright": 0.9587748646736145, "leg_posture": -0.10081762820482254, "standstill": -0.22867165505886078, "action_rate_l2": -0.021853117272257805, "joint_torques_l2": -0.005445684771984816, "dof_pos_limits": -2.8618569558602758e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.003608470782637596, "rolling_leg_motion": -0.024773992598056793, "obstacle_progress": 0.11481353640556335, "wheel_body_intrusion": -0.009848722256720066, "pair_body_intrusion": -0.012238094583153725}, "episode_termination_rates": {"time_out": 0.48951048951048953, "fell_over": 0.03496503496503497, "course_exit": 0.46853146853146854, "illegal_nonwheel_contact": 0.02097902097902098}, "collection_time_s": 0.07549320461810566, "learning_time_s": 0.18504902989952826, "iteration_time_s": 0.33868935240750575, "policy_updates": 20350, "skipped_updates": 0, "invalid_env_resets": 101, "elapsed_s": 6993.935127214994, "nonwheel_terminations": 11903, "contact_bce": 0.2996787130832672, "contact_force_loss": 0.02144133299589157, "collision_bce": 0.0004589887976180762, "collision_label_rate": 0.00012247396807651967, "collision_prediction_mean": 4.707174957729876e-05, "collision_label_count": 16330.0, "terrain_level_mean": 3.25, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [28, 69, 100, 97, 60, 56], "episodes_by_level": [[1359.0, 287.0, 47.0, 0.0], [1485.0, 329.0, 35.0, 0.0], [928.0, 223.0, 24.0, 0.0], [487.0, 122.0, 10.0, 0.0], [244.0, 57.0, 6.0, 0.0], [144.0, 39.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 7, 37, 286, 678, 425], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2387.0, 1456.0, 37.0, 0.0], [4208.0, 1690.0, 165.0, 0.0], [3746.0, 1300.0, 189.0, 0.0], [2147.0, 507.0, 142.0, 0.0], [384.0, 3.0, 59.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 5, 60, 548], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [935.0, 762.0, 26.0, 0.0], [1416.0, 1103.0, 58.0, 0.0], [4093.0, 3142.0, 193.0, 0.0]]}, "platform": {"level_counts": [44, 104, 113, 94, 44, 11], "episodes_by_level": [[1564.0, 337.0, 51.0, 0.0], [1587.0, 314.0, 70.0, 0.0], [898.0, 176.0, 58.0, 0.0], [450.0, 65.0, 27.0, 0.0], [111.0, 16.0, 10.0, 0.0], [13.0, 2.0, 5.0, 0.0]]}, "slope": {"level_counts": [41, 90, 93, 80, 57, 49], "episodes_by_level": [[1426.0, 299.0, 43.0, 0.0], [1497.0, 296.0, 57.0, 0.0], [878.0, 200.0, 31.0, 0.0], [467.0, 110.0, 14.0, 0.0], [255.0, 51.0, 4.0, 0.0], [139.0, 25.0, 2.0, 0.0]]}, "rubble": {"level_counts": [85, 211, 246, 197, 67, 13], "episodes_by_level": [[2845.0, 638.0, 91.0, 0.0], [3292.0, 712.0, 159.0, 0.0], [2094.0, 429.0, 206.0, 0.0], [929.0, 134.0, 152.0, 0.0], [196.0, 21.0, 54.0, 0.0], [18.0, 0.0, 8.0, 0.0]]}}, "success_archive_windows": 45859, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23974609375, "command_abs_max": [0.9961717128753662, 0.39972999691963196, 0.699766218662262]}
{"step": 20700, "actor_lr": 5.9855476325229255e-05, "archive_windows": 50000, "env_steps": 20700, "total_transitions": 84787200, "num_steps_per_env": 1, "wm_loss": 0.7406821250915527, "actor_loss": -9.443570137023926, "critic_loss": 0.0036748144775629044, "reward": 0.0862746611237526, "falls": 4, "interval_steps": 50, "velocity_mae": [0.11741447448730469, 0.07050134986639023, 0.13451741635799408], "mean_episode_length": 1381.0785714285714, "episode_reward_terms": {"track_linear_velocity": 48.823699951171875, "track_angular_velocity": 52.227603912353516, "upright": 26.48304557800293, "leg_posture": -2.7903926372528076, "standstill": -6.622246742248535, "action_rate_l2": -0.5949238538742065, "joint_torques_l2": -0.15011709928512573, "dof_pos_limits": -0.0005490137846209109, "terminated": -0.010789674706757069, "unnecessary_wheel_lift": -0.09363365173339844, "rolling_leg_motion": -0.6767913699150085, "obstacle_progress": 3.160263776779175, "wheel_body_intrusion": -0.2456325739622116, "pair_body_intrusion": -0.3574458062648773}, "weighted_reward_terms": {"track_linear_velocity": 1.7675931453704834, "track_angular_velocity": 1.8908265829086304, "upright": 0.9587812423706055, "leg_posture": -0.10102222114801407, "standstill": -0.23974908888339996, "action_rate_l2": -0.021538376808166504, "joint_torques_l2": -0.005434777587652206, "dof_pos_limits": -1.987627001653891e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.003389874007552862, "rolling_leg_motion": -0.024502277374267578, "obstacle_progress": 0.11441288888454437, "wheel_body_intrusion": -0.008892780169844627, "pair_body_intrusion": -0.01294082123786211}, "episode_termination_rates": {"time_out": 0.5, "fell_over": 0.02857142857142857, "course_exit": 0.4714285714285714, "illegal_nonwheel_contact": 0.014285714285714285}, "collection_time_s": 0.07552430763957091, "learning_time_s": 0.18540616510086694, "iteration_time_s": 0.3385015845042513, "policy_updates": 20400, "skipped_updates": 0, "invalid_env_resets": 101, "elapsed_s": 7006.9827992380015, "nonwheel_terminations": 11905, "contact_bce": 0.30080199241638184, "contact_force_loss": 0.020135100930929184, "collision_bce": 0.00020777196914423257, "collision_label_rate": 0.0, "collision_prediction_mean": 0.0001036678659147583, "collision_label_count": 16348.0, "terrain_level_mean": 3.255615234375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [27, 69, 100, 98, 60, 56], "episodes_by_level": [[1360.0, 288.0, 47.0, 0.0], [1488.0, 330.0, 35.0, 0.0], [930.0, 224.0, 24.0, 0.0], [490.0, 122.0, 10.0, 0.0], [248.0, 57.0, 6.0, 0.0], [146.0, 39.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 5, 39, 284, 672, 433], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2389.0, 1458.0, 37.0, 0.0], [4209.0, 1690.0, 165.0, 0.0], [3751.0, 1302.0, 189.0, 0.0], [2166.0, 515.0, 142.0, 0.0], [389.0, 3.0, 59.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 5, 60, 548], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [935.0, 762.0, 26.0, 0.0], [1418.0, 1105.0, 58.0, 0.0], [4111.0, 3158.0, 193.0, 0.0]]}, "platform": {"level_counts": [44, 104, 111, 95, 44, 12], "episodes_by_level": [[1564.0, 337.0, 51.0, 0.0], [1590.0, 314.0, 70.0, 0.0], [904.0, 178.0, 58.0, 0.0], [452.0, 66.0, 27.0, 0.0], [113.0, 17.0, 10.0, 0.0], [13.0, 2.0, 5.0, 0.0]]}, "slope": {"level_counts": [41, 90, 93, 80, 56, 50], "episodes_by_level": [[1429.0, 299.0, 43.0, 0.0], [1497.0, 296.0, 57.0, 0.0], [880.0, 200.0, 31.0, 0.0], [471.0, 110.0, 14.0, 0.0], [257.0, 52.0, 4.0, 0.0], [140.0, 25.0, 2.0, 0.0]]}, "rubble": {"level_counts": [84, 212, 244, 199, 67, 13], "episodes_by_level": [[2850.0, 640.0, 91.0, 0.0], [3303.0, 713.0, 160.0, 0.0], [2100.0, 431.0, 207.0, 0.0], [932.0, 134.0, 152.0, 0.0], [198.0, 21.0, 54.0, 0.0], [19.0, 1.0, 8.0, 0.0]]}}, "success_archive_windows": 45983, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.236328125, "command_abs_max": [0.9999221563339233, 0.39972999691963196, 0.699766218662262]}
{"step": 20750, "actor_lr": 5.9834085778429874e-05, "archive_windows": 50000, "env_steps": 20750, "total_transitions": 84992000, "num_steps_per_env": 1, "wm_loss": 0.7108257412910461, "actor_loss": -9.445432662963867, "critic_loss": 0.005803355481475592, "reward": 0.08606360107660294, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11905422061681747, 0.0721079632639885, 0.13426725566387177], "mean_episode_length": 1333.855421686747, "episode_reward_terms": {"track_linear_velocity": 46.993003845214844, "track_angular_velocity": 50.44863510131836, "upright": 25.5670223236084, "leg_posture": -2.7469899654388428, "standstill": -6.353849411010742, "action_rate_l2": -0.5800249576568604, "joint_torques_l2": -0.145806223154068, "dof_pos_limits": -0.00041000416968017817, "terminated": -0.015631116926670074, "unnecessary_wheel_lift": -0.10433774441480637, "rolling_leg_motion": -0.6706886887550354, "obstacle_progress": 2.978639602661133, "wheel_body_intrusion": -0.2728012502193451, "pair_body_intrusion": -0.3003750145435333}, "weighted_reward_terms": {"track_linear_velocity": 1.7615478038787842, "track_angular_velocity": 1.8910833597183228, "upright": 0.9583880305290222, "leg_posture": -0.10297179967164993, "standstill": -0.23817609250545502, "action_rate_l2": -0.02174242213368416, "joint_torques_l2": -0.005465593189001083, "dof_pos_limits": -1.536913805466611e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.003911133855581284, "rolling_leg_motion": -0.025140980258584023, "obstacle_progress": 0.11165526509284973, "wheel_body_intrusion": -0.01022604200989008, "pair_body_intrusion": -0.011259653605520725}, "episode_termination_rates": {"time_out": 0.46987951807228917, "fell_over": 0.024096385542168676, "course_exit": 0.4939759036144578, "illegal_nonwheel_contact": 0.030120481927710843}, "collection_time_s": 0.07559610449825413, "learning_time_s": 0.18537652702536433, "iteration_time_s": 0.33831482210289127, "policy_updates": 20450, "skipped_updates": 0, "invalid_env_resets": 101, "elapsed_s": 7020.032558634994, "nonwheel_terminations": 11910, "contact_bce": 0.30393916368484497, "contact_force_loss": 0.020564844831824303, "collision_bce": 0.00020136465900577605, "collision_label_rate": 0.0001222269784193486, "collision_prediction_mean": 0.00019117780902888626, "collision_label_count": 16363.0, "terrain_level_mean": 3.261962890625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [26, 69, 99, 98, 62, 56], "episodes_by_level": [[1361.0, 289.0, 47.0, 0.0], [1491.0, 331.0, 35.0, 0.0], [934.0, 226.0, 24.0, 0.0], [495.0, 124.0, 10.0, 0.0], [249.0, 57.0, 6.0, 0.0], [146.0, 39.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 5, 39, 278, 675, 436], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2389.0, 1458.0, 37.0, 0.0], [4210.0, 1691.0, 165.0, 0.0], [3762.0, 1309.0, 189.0, 0.0], [2185.0, 519.0, 142.0, 0.0], [394.0, 3.0, 59.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 4, 63, 546], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [936.0, 763.0, 26.0, 0.0], [1419.0, 1106.0, 58.0, 0.0], [4146.0, 3191.0, 194.0, 0.0]]}, "platform": {"level_counts": [44, 101, 113, 96, 44, 12], "episodes_by_level": [[1565.0, 337.0, 51.0, 0.0], [1597.0, 317.0, 70.0, 0.0], [907.0, 179.0, 58.0, 0.0], [455.0, 66.0, 27.0, 0.0], [115.0, 17.0, 10.0, 0.0], [13.0, 2.0, 5.0, 0.0]]}, "slope": {"level_counts": [41, 87, 96, 80, 56, 50], "episodes_by_level": [[1432.0, 299.0, 43.0, 0.0], [1505.0, 299.0, 57.0, 0.0], [881.0, 200.0, 31.0, 0.0], [473.0, 110.0, 14.0, 0.0], [260.0, 52.0, 4.0, 0.0], [140.0, 25.0, 2.0, 0.0]]}, "rubble": {"level_counts": [82, 212, 246, 198, 68, 13], "episodes_by_level": [[2853.0, 642.0, 91.0, 0.0], [3312.0, 715.0, 160.0, 0.0], [2107.0, 431.0, 207.0, 0.0], [933.0, 135.0, 152.0, 0.0], [200.0, 21.0, 54.0, 0.0], [19.0, 1.0, 8.0, 0.0]]}}, "success_archive_windows": 46132, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23681640625, "command_abs_max": [0.9999221563339233, 0.39972999691963196, 0.699766218662262]}
{"step": 20800, "actor_lr": 5.9811225032951116e-05, "archive_windows": 50000, "env_steps": 20800, "total_transitions": 85196800, "num_steps_per_env": 1, "wm_loss": 0.7592484951019287, "actor_loss": -9.436101913452148, "critic_loss": 0.004550581332296133, "reward": 0.08586736768484116, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11897356063127518, 0.07108605653047562, 0.1340109407901764], "mean_episode_length": 1361.0608108108108, "episode_reward_terms": {"track_linear_velocity": 48.00224685668945, "track_angular_velocity": 51.50069046020508, "upright": 26.075319290161133, "leg_posture": -2.7939231395721436, "standstill": -6.76179838180542, "action_rate_l2": -0.6046212911605835, "joint_torques_l2": -0.14884069561958313, "dof_pos_limits": -0.000515379011631012, "terminated": -0.015949929133057594, "unnecessary_wheel_lift": -0.1092417985200882, "rolling_leg_motion": -0.6961531043052673, "obstacle_progress": 3.0005557537078857, "wheel_body_intrusion": -0.26447877287864685, "pair_body_intrusion": -0.3125806748867035}, "weighted_reward_terms": {"track_linear_velocity": 1.7634131908416748, "track_angular_velocity": 1.8919321298599243, "upright": 0.9579043388366699, "leg_posture": -0.10263771563768387, "standstill": -0.24840179085731506, "action_rate_l2": -0.02221139892935753, "joint_torques_l2": -0.005467819515615702, "dof_pos_limits": -1.893298940558452e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.0040131122805178165, "rolling_leg_motion": -0.025573916733264923, "obstacle_progress": 0.11022857576608658, "wheel_body_intrusion": -0.009715906344354153, "pair_body_intrusion": -0.011482980102300644}, "episode_termination_rates": {"time_out": 0.527027027027027, "fell_over": 0.02027027027027027, "course_exit": 0.43243243243243246, "illegal_nonwheel_contact": 0.02702702702702703}, "collection_time_s": 0.0755938651203178, "learning_time_s": 0.185200385741191, "iteration_time_s": 0.33812852806024096, "policy_updates": 20500, "skipped_updates": 0, "invalid_env_resets": 101, "elapsed_s": 7033.073383653013, "nonwheel_terminations": 11914, "contact_bce": 0.30059418082237244, "contact_force_loss": 0.02142465114593506, "collision_bce": 0.00013855438737664372, "collision_label_rate": 6.126700463937595e-05, "collision_prediction_mean": 8.229024388128892e-05, "collision_label_count": 16322.0, "terrain_level_mean": 3.266845703125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [26, 67, 101, 98, 62, 56], "episodes_by_level": [[1361.0, 289.0, 47.0, 0.0], [1494.0, 333.0, 35.0, 0.0], [937.0, 226.0, 24.0, 0.0], [498.0, 124.0, 10.0, 0.0], [250.0, 57.0, 6.0, 0.0], [147.0, 39.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 5, 40, 272, 676, 440], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2389.0, 1458.0, 37.0, 0.0], [4211.0, 1691.0, 165.0, 0.0], [3770.0, 1314.0, 189.0, 0.0], [2202.0, 526.0, 142.0, 0.0], [405.0, 4.0, 61.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 4, 64, 545], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [936.0, 763.0, 26.0, 0.0], [1419.0, 1106.0, 58.0, 0.0], [4162.0, 3207.0, 194.0, 0.0]]}, "platform": {"level_counts": [44, 100, 113, 97, 44, 12], "episodes_by_level": [[1566.0, 337.0, 51.0, 0.0], [1600.0, 318.0, 70.0, 0.0], [909.0, 180.0, 58.0, 0.0], [458.0, 66.0, 27.0, 0.0], [115.0, 17.0, 10.0, 0.0], [13.0, 2.0, 5.0, 0.0]]}, "slope": {"level_counts": [41, 86, 96, 81, 55, 51], "episodes_by_level": [[1434.0, 299.0, 43.0, 0.0], [1508.0, 300.0, 57.0, 0.0], [887.0, 201.0, 31.0, 0.0], [474.0, 110.0, 14.0, 0.0], [262.0, 53.0, 4.0, 0.0], [142.0, 25.0, 2.0, 0.0]]}, "rubble": {"level_counts": [82, 211, 245, 198, 69, 14], "episodes_by_level": [[2856.0, 642.0, 91.0, 0.0], [3321.0, 717.0, 160.0, 0.0], [2115.0, 433.0, 208.0, 0.0], [941.0, 137.0, 152.0, 0.0], [201.0, 22.0, 54.0, 0.0], [20.0, 1.0, 8.0, 0.0]]}}, "success_archive_windows": 46299, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.236083984375, "command_abs_max": [0.9999221563339233, 0.39972999691963196, 0.699766218662262]}
{"step": 20850, "actor_lr": 5.978689549895144e-05, "archive_windows": 50000, "env_steps": 20850, "total_transitions": 85401600, "num_steps_per_env": 1, "wm_loss": 0.7012016773223877, "actor_loss": -9.465526580810547, "critic_loss": 0.004043426364660263, "reward": 0.08578263223171234, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11904968321323395, 0.07214832305908203, 0.13383866846561432], "mean_episode_length": 1342.3116883116884, "episode_reward_terms": {"track_linear_velocity": 47.27211380004883, "track_angular_velocity": 50.78828430175781, "upright": 25.684301376342773, "leg_posture": -2.7388498783111572, "standstill": -6.70922327041626, "action_rate_l2": -0.592985987663269, "joint_torques_l2": -0.14635635912418365, "dof_pos_limits": -0.00039467914029955864, "terminated": -0.02359531819820404, "unnecessary_wheel_lift": -0.10832937806844711, "rolling_leg_motion": -0.6789973378181458, "obstacle_progress": 2.9687039852142334, "wheel_body_intrusion": -0.2521016299724579, "pair_body_intrusion": -0.3155612647533417}, "weighted_reward_terms": {"track_linear_velocity": 1.7608470916748047, "track_angular_velocity": 1.8918217420578003, "upright": 0.9567189812660217, "leg_posture": -0.10201989859342575, "standstill": -0.2499130368232727, "action_rate_l2": -0.02208823896944523, "joint_torques_l2": -0.005451653618365526, "dof_pos_limits": -1.4701472537126392e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.00403517996892333, "rolling_leg_motion": -0.025292091071605682, "obstacle_progress": 0.11058177053928375, "wheel_body_intrusion": -0.009390577673912048, "pair_body_intrusion": -0.011754397302865982}, "episode_termination_rates": {"time_out": 0.461038961038961, "fell_over": 0.032467532467532464, "course_exit": 0.4805194805194805, "illegal_nonwheel_contact": 0.045454545454545456}, "collection_time_s": 0.07556198508362286, "learning_time_s": 0.18553998280316591, "iteration_time_s": 0.3379438660180808, "policy_updates": 20550, "skipped_updates": 0, "invalid_env_resets": 101, "elapsed_s": 7046.129606476985, "nonwheel_terminations": 11921, "contact_bce": 0.3026514947414398, "contact_force_loss": 0.020835669711232185, "collision_bce": 6.587983079953119e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 6.659864538960392e-06, "collision_label_count": 16348.0, "terrain_level_mean": 3.2705078125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [26, 67, 101, 98, 61, 57], "episodes_by_level": [[1362.0, 289.0, 47.0, 0.0], [1495.0, 333.0, 35.0, 0.0], [939.0, 226.0, 24.0, 0.0], [502.0, 124.0, 10.0, 0.0], [252.0, 58.0, 6.0, 0.0], [151.0, 40.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 4, 38, 273, 671, 447], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2390.0, 1459.0, 37.0, 0.0], [4214.0, 1694.0, 165.0, 0.0], [3783.0, 1318.0, 189.0, 0.0], [2223.0, 534.0, 143.0, 0.0], [411.0, 5.0, 62.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 4, 64, 545], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [936.0, 763.0, 26.0, 0.0], [1420.0, 1107.0, 58.0, 0.0], [4185.0, 3228.0, 194.0, 0.0]]}, "platform": {"level_counts": [44, 100, 112, 97, 45, 12], "episodes_by_level": [[1567.0, 337.0, 51.0, 0.0], [1604.0, 319.0, 70.0, 0.0], [913.0, 181.0, 59.0, 0.0], [462.0, 67.0, 27.0, 0.0], [116.0, 17.0, 10.0, 0.0], [13.0, 2.0, 5.0, 0.0]]}, "slope": {"level_counts": [42, 85, 95, 82, 55, 51], "episodes_by_level": [[1435.0, 299.0, 43.0, 0.0], [1510.0, 300.0, 58.0, 0.0], [888.0, 202.0, 31.0, 0.0], [477.0, 110.0, 14.0, 0.0], [264.0, 53.0, 4.0, 0.0], [144.0, 26.0, 2.0, 0.0]]}, "rubble": {"level_counts": [82, 211, 246, 197, 69, 14], "episodes_by_level": [[2857.0, 642.0, 91.0, 0.0], [3324.0, 718.0, 160.0, 0.0], [2123.0, 434.0, 209.0, 0.0], [948.0, 137.0, 154.0, 0.0], [203.0, 22.0, 54.0, 0.0], [20.0, 1.0, 8.0, 0.0]]}}, "success_archive_windows": 46433, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.233642578125, "command_abs_max": [0.9999221563339233, 0.39997467398643494, 0.699766218662262]}
{"step": 20900, "actor_lr": 5.9761098677191106e-05, "archive_windows": 50000, "env_steps": 20900, "total_transitions": 85606400, "num_steps_per_env": 1, "wm_loss": 0.7111462354660034, "actor_loss": -9.445633888244629, "critic_loss": 0.0077595398761332035, "reward": 0.08572731167078018, "falls": 11, "interval_steps": 50, "velocity_mae": [0.11995350569486618, 0.0727224126458168, 0.13356269896030426], "mean_episode_length": 1372.0602409638554, "episode_reward_terms": {"track_linear_velocity": 48.27616500854492, "track_angular_velocity": 51.934574127197266, "upright": 26.225154876708984, "leg_posture": -2.8236122131347656, "standstill": -6.847599029541016, "action_rate_l2": -0.600814700126648, "joint_torques_l2": -0.1493903249502182, "dof_pos_limits": -0.000517945911269635, "terminated": -0.029477853327989578, "unnecessary_wheel_lift": -0.11619232594966888, "rolling_leg_motion": -0.700236976146698, "obstacle_progress": 3.030162811279297, "wheel_body_intrusion": -0.2678673267364502, "pair_body_intrusion": -0.3073381185531616}, "weighted_reward_terms": {"track_linear_velocity": 1.7592583894729614, "track_angular_velocity": 1.8925764560699463, "upright": 0.9556853771209717, "leg_posture": -0.1028968095779419, "standstill": -0.2495371252298355, "action_rate_l2": -0.02189461886882782, "joint_torques_l2": -0.00544401491060853, "dof_pos_limits": -1.8874752640840597e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.004234228748828173, "rolling_leg_motion": -0.025517720729112625, "obstacle_progress": 0.11042383313179016, "wheel_body_intrusion": -0.009761501103639603, "pair_body_intrusion": -0.01119987852871418}, "episode_termination_rates": {"time_out": 0.5180722891566265, "fell_over": 0.030120481927710843, "course_exit": 0.41566265060240964, "illegal_nonwheel_contact": 0.04819277108433735}, "collection_time_s": 0.07563569864607417, "learning_time_s": 0.18540723241632803, "iteration_time_s": 0.33775994546435445, "policy_updates": 20600, "skipped_updates": 0, "invalid_env_resets": 101, "elapsed_s": 7059.182860205008, "nonwheel_terminations": 11929, "contact_bce": 0.302569717168808, "contact_force_loss": 0.02022932469844818, "collision_bce": 2.8387303245835938e-05, "collision_label_rate": 6.113216659286991e-05, "collision_prediction_mean": 5.707039963454008e-05, "collision_label_count": 16358.0, "terrain_level_mean": 3.27392578125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [26, 67, 101, 98, 60, 58], "episodes_by_level": [[1362.0, 289.0, 47.0, 0.0], [1497.0, 333.0, 35.0, 0.0], [944.0, 226.0, 24.0, 0.0], [503.0, 124.0, 10.0, 0.0], [255.0, 59.0, 6.0, 0.0], [156.0, 40.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 4, 37, 271, 672, 449], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2390.0, 1459.0, 37.0, 0.0], [4215.0, 1695.0, 165.0, 0.0], [3789.0, 1323.0, 189.0, 0.0], [2248.0, 540.0, 143.0, 0.0], [418.0, 5.0, 65.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 4, 63, 546], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [936.0, 763.0, 26.0, 0.0], [1423.0, 1110.0, 58.0, 0.0], [4203.0, 3242.0, 194.0, 0.0]]}, "platform": {"level_counts": [42, 101, 113, 97, 45, 12], "episodes_by_level": [[1569.0, 339.0, 51.0, 0.0], [1606.0, 320.0, 70.0, 0.0], [913.0, 181.0, 59.0, 0.0], [467.0, 67.0, 27.0, 0.0], [118.0, 17.0, 10.0, 0.0], [13.0, 2.0, 5.0, 0.0]]}, "slope": {"level_counts": [42, 84, 96, 81, 56, 51], "episodes_by_level": [[1436.0, 299.0, 43.0, 0.0], [1516.0, 301.0, 58.0, 0.0], [891.0, 202.0, 31.0, 0.0], [481.0, 111.0, 14.0, 0.0], [266.0, 53.0, 4.0, 0.0], [144.0, 26.0, 2.0, 0.0]]}, "rubble": {"level_counts": [82, 210, 248, 195, 70, 14], "episodes_by_level": [[2861.0, 642.0, 91.0, 0.0], [3332.0, 720.0, 160.0, 0.0], [2131.0, 435.0, 210.0, 0.0], [953.0, 138.0, 156.0, 0.0], [204.0, 22.0, 54.0, 0.0], [20.0, 1.0, 8.0, 0.0]]}}, "success_archive_windows": 46577, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.230224609375, "command_abs_max": [0.9997573494911194, 0.39997467398643494, 0.699766218662262]}
{"step": 20950, "actor_lr": 5.9733836158939606e-05, "archive_windows": 50000, "env_steps": 20950, "total_transitions": 85811200, "num_steps_per_env": 1, "wm_loss": 0.761687159538269, "actor_loss": -9.447531700134277, "critic_loss": 0.005631288047879934, "reward": 0.08617393672466278, "falls": 16, "interval_steps": 50, "velocity_mae": [0.11893828213214874, 0.07103654742240906, 0.1329825222492218], "mean_episode_length": 1336.2645161290322, "episode_reward_terms": {"track_linear_velocity": 47.13113784790039, "track_angular_velocity": 50.616111755371094, "upright": 25.59164810180664, "leg_posture": -2.7270002365112305, "standstill": -6.338940143585205, "action_rate_l2": -0.5947375893592834, "joint_torques_l2": -0.14446866512298584, "dof_pos_limits": -0.0008059388492256403, "terminated": -0.041758257895708084, "unnecessary_wheel_lift": -0.10908812284469604, "rolling_leg_motion": -0.6778846383094788, "obstacle_progress": 2.9992141723632812, "wheel_body_intrusion": -0.25887757539749146, "pair_body_intrusion": -0.2933836877346039}, "weighted_reward_terms": {"track_linear_velocity": 1.7635407447814941, "track_angular_velocity": 1.8939406871795654, "upright": 0.9575816988945007, "leg_posture": -0.1020381897687912, "standstill": -0.23718883097171783, "action_rate_l2": -0.02225373685359955, "joint_torques_l2": -0.005405690986663103, "dof_pos_limits": -3.015641232195776e-05, "terminated": -0.0015624997904524207, "unnecessary_wheel_lift": -0.0040818313136696815, "rolling_leg_motion": -0.025364911183714867, "obstacle_progress": 0.11222382634878159, "wheel_body_intrusion": -0.009686614386737347, "pair_body_intrusion": -0.010977755300700665}, "episode_termination_rates": {"time_out": 0.5096774193548387, "fell_over": 0.06451612903225806, "course_exit": 0.3870967741935484, "illegal_nonwheel_contact": 0.06451612903225806}, "collection_time_s": 0.07562430172343738, "learning_time_s": 0.18565577385714277, "iteration_time_s": 0.3375774679446303, "policy_updates": 20650, "skipped_updates": 0, "invalid_env_resets": 101, "elapsed_s": 7072.2479534400045, "nonwheel_terminations": 11939, "contact_bce": 0.30804765224456787, "contact_force_loss": 0.021641848608851433, "collision_bce": 0.00022640674433205277, "collision_label_rate": 0.00018354236090090126, "collision_prediction_mean": 0.0001684693415882066, "collision_label_count": 16345.0, "terrain_level_mean": 3.277099609375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [23, 70, 101, 96, 60, 60], "episodes_by_level": [[1366.0, 292.0, 47.0, 0.0], [1501.0, 333.0, 35.0, 0.0], [947.0, 226.0, 24.0, 0.0], [506.0, 126.0, 10.0, 0.0], [258.0, 61.0, 6.0, 0.0], [157.0, 40.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 3, 37, 271, 672, 450], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2391.0, 1460.0, 37.0, 0.0], [4216.0, 1696.0, 165.0, 0.0], [3797.0, 1325.0, 189.0, 0.0], [2266.0, 546.0, 143.0, 0.0], [425.0, 5.0, 66.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 5, 63, 545], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [936.0, 763.0, 26.0, 0.0], [1425.0, 1112.0, 58.0, 0.0], [4220.0, 3257.0, 194.0, 0.0]]}, "platform": {"level_counts": [41, 102, 111, 99, 45, 12], "episodes_by_level": [[1571.0, 340.0, 51.0, 0.0], [1609.0, 320.0, 70.0, 0.0], [918.0, 183.0, 59.0, 0.0], [467.0, 67.0, 27.0, 0.0], [120.0, 17.0, 10.0, 0.0], [13.0, 2.0, 5.0, 0.0]]}, "slope": {"level_counts": [42, 84, 96, 80, 56, 52], "episodes_by_level": [[1436.0, 299.0, 43.0, 0.0], [1519.0, 302.0, 58.0, 0.0], [895.0, 202.0, 32.0, 0.0], [483.0, 112.0, 14.0, 0.0], [267.0, 54.0, 4.0, 0.0], [146.0, 26.0, 2.0, 0.0]]}, "rubble": {"level_counts": [83, 209, 246, 199, 68, 14], "episodes_by_level": [[2863.0, 642.0, 92.0, 0.0], [3339.0, 720.0, 161.0, 0.0], [2137.0, 437.0, 210.0, 0.0], [958.0, 138.0, 156.0, 0.0], [210.0, 22.0, 56.0, 0.0], [20.0, 1.0, 8.0, 0.0]]}}, "success_archive_windows": 46725, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.228759765625, "command_abs_max": [0.9997573494911194, 0.39997467398643494, 0.699766218662262]}
{"step": 21000, "actor_lr": 5.970510962587746e-05, "archive_windows": 50000, "env_steps": 21000, "total_transitions": 86016000, "num_steps_per_env": 1, "wm_loss": 0.7485392689704895, "actor_loss": -9.43619155883789, "critic_loss": 0.004695430863648653, "reward": 0.08610982447862625, "falls": 4, "interval_steps": 50, "velocity_mae": [0.118403859436512, 0.07177507877349854, 0.13336794078350067], "mean_episode_length": 1455.7350993377484, "episode_reward_terms": {"track_linear_velocity": 51.335716247558594, "track_angular_velocity": 55.11744689941406, "upright": 27.920076370239258, "leg_posture": -2.9975953102111816, "standstill": -6.97880744934082, "action_rate_l2": -0.6431357264518738, "joint_torques_l2": -0.156644806265831, "dof_pos_limits": -0.0006892802193760872, "terminated": -0.011372928507626057, "unnecessary_wheel_lift": -0.11528029292821884, "rolling_leg_motion": -0.7472502589225769, "obstacle_progress": 3.2816500663757324, "wheel_body_intrusion": -0.2900857627391815, "pair_body_intrusion": -0.36095958948135376}, "weighted_reward_terms": {"track_linear_velocity": 1.7632231712341309, "track_angular_velocity": 1.8931139707565308, "upright": 0.9589683413505554, "leg_posture": -0.10295813530683517, "standstill": -0.23970046639442444, "action_rate_l2": -0.022089723497629166, "joint_torques_l2": -0.005380264949053526, "dof_pos_limits": -2.3674645490245894e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.003959521651268005, "rolling_leg_motion": -0.025665737688541412, "obstacle_progress": 0.11271454393863678, "wheel_body_intrusion": -0.009963548742234707, "pair_body_intrusion": -0.012397847138345242}, "episode_termination_rates": {"time_out": 0.5894039735099338, "fell_over": 0.026490066225165563, "course_exit": 0.3841059602649007, "illegal_nonwheel_contact": 0.019867549668874173}, "collection_time_s": 0.07588025491801091, "learning_time_s": 0.19247880566399544, "iteration_time_s": 0.3374127136032857, "policy_updates": 20700, "skipped_updates": 0, "invalid_env_resets": 102, "elapsed_s": 7085.666985668999, "nonwheel_terminations": 11942, "contact_bce": 0.3035070300102234, "contact_force_loss": 0.02074582129716873, "collision_bce": 0.0005530937341973186, "collision_label_rate": 0.0001837897434597835, "collision_prediction_mean": 6.084766209824011e-05, "collision_label_count": 16323.0, "terrain_level_mean": 3.281494140625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [23, 71, 100, 96, 60, 60], "episodes_by_level": [[1367.0, 292.0, 47.0, 0.0], [1502.0, 333.0, 35.0, 0.0], [950.0, 226.0, 25.0, 0.0], [508.0, 126.0, 10.0, 0.0], [259.0, 61.0, 6.0, 0.0], [158.0, 40.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 3, 35, 268, 675, 452], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2391.0, 1460.0, 37.0, 0.0], [4219.0, 1698.0, 165.0, 0.0], [3807.0, 1330.0, 189.0, 0.0], [2285.0, 550.0, 143.0, 0.0], [437.0, 6.0, 68.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 5, 63, 545], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [936.0, 763.0, 26.0, 0.0], [1425.0, 1112.0, 58.0, 0.0], [4234.0, 3269.0, 194.0, 0.0]]}, "platform": {"level_counts": [40, 103, 111, 98, 46, 12], "episodes_by_level": [[1572.0, 341.0, 51.0, 0.0], [1613.0, 321.0, 70.0, 0.0], [923.0, 183.0, 60.0, 0.0], [471.0, 68.0, 27.0, 0.0], [122.0, 17.0, 10.0, 0.0], [15.0, 2.0, 5.0, 0.0]]}, "slope": {"level_counts": [42, 83, 96, 80, 57, 52], "episodes_by_level": [[1439.0, 299.0, 43.0, 0.0], [1524.0, 303.0, 58.0, 0.0], [900.0, 203.0, 32.0, 0.0], [486.0, 113.0, 14.0, 0.0], [267.0, 54.0, 4.0, 0.0], [148.0, 26.0, 2.0, 0.0]]}, "rubble": {"level_counts": [83, 207, 246, 200, 69, 14], "episodes_by_level": [[2865.0, 642.0, 92.0, 0.0], [3346.0, 722.0, 161.0, 0.0], [2149.0, 439.0, 210.0, 0.0], [967.0, 139.0, 156.0, 0.0], [210.0, 22.0, 56.0, 0.0], [20.0, 1.0, 8.0, 0.0]]}}, "success_archive_windows": 46873, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23193359375, "command_abs_max": [0.9997573494911194, 0.39997467398643494, 0.6995640397071838]}
{"step": 21050, "actor_lr": 5.967492084999255e-05, "archive_windows": 50000, "env_steps": 21050, "total_transitions": 86220800, "num_steps_per_env": 1, "wm_loss": 0.7141718864440918, "actor_loss": -9.462697982788086, "critic_loss": 0.0038746462669223547, "reward": 0.08666403591632843, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11520445346832275, 0.07095170021057129, 0.13234998285770416], "mean_episode_length": 1348.2042253521126, "episode_reward_terms": {"track_linear_velocity": 47.74897003173828, "track_angular_velocity": 51.076419830322266, "upright": 25.857946395874023, "leg_posture": -2.7350995540618896, "standstill": -6.090396881103516, "action_rate_l2": -0.5973237156867981, "joint_torques_l2": -0.14497259259223938, "dof_pos_limits": -0.0003673762548714876, "terminated": -0.0157992672175169, "unnecessary_wheel_lift": -0.09366126358509064, "rolling_leg_motion": -0.6656382083892822, "obstacle_progress": 3.0585672855377197, "wheel_body_intrusion": -0.2543622851371765, "pair_body_intrusion": -0.3034665584564209}, "weighted_reward_terms": {"track_linear_velocity": 1.7708359956741333, "track_angular_velocity": 1.8942389488220215, "upright": 0.9589774012565613, "leg_posture": -0.10143491625785828, "standstill": -0.22587071359157562, "action_rate_l2": -0.022152569144964218, "joint_torques_l2": -0.00537650752812624, "dof_pos_limits": -1.3624651728605386e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.0034735563676804304, "rolling_leg_motion": -0.02468610554933548, "obstacle_progress": 0.11343115568161011, "wheel_body_intrusion": -0.009433373808860779, "pair_body_intrusion": -0.011254473589360714}, "episode_termination_rates": {"time_out": 0.4647887323943662, "fell_over": 0.02112676056338028, "course_exit": 0.49295774647887325, "illegal_nonwheel_contact": 0.035211267605633804}, "collection_time_s": 0.07569961761357263, "learning_time_s": 0.18504063738742843, "iteration_time_s": 0.3372319072873648, "policy_updates": 20750, "skipped_updates": 0, "invalid_env_resets": 102, "elapsed_s": 7098.731648399029, "nonwheel_terminations": 11947, "contact_bce": 0.30000239610671997, "contact_force_loss": 0.020703136920928955, "collision_bce": 6.57884229440242e-05, "collision_label_rate": 6.115833821240813e-05, "collision_prediction_mean": 4.721627556136809e-05, "collision_label_count": 16351.0, "terrain_level_mean": 3.286865234375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [21, 73, 100, 96, 59, 61], "episodes_by_level": [[1372.0, 294.0, 47.0, 0.0], [1503.0, 333.0, 35.0, 0.0], [952.0, 226.0, 25.0, 0.0], [511.0, 126.0, 10.0, 0.0], [265.0, 62.0, 6.0, 0.0], [159.0, 40.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 3, 34, 268, 671, 457], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2391.0, 1460.0, 37.0, 0.0], [4221.0, 1699.0, 165.0, 0.0], [3816.0, 1332.0, 189.0, 0.0], [2296.0, 556.0, 143.0, 0.0], [450.0, 8.0, 68.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 4, 63, 546], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [937.0, 764.0, 26.0, 0.0], [1427.0, 1114.0, 58.0, 0.0], [4253.0, 3287.0, 194.0, 0.0]]}, "platform": {"level_counts": [40, 102, 111, 99, 46, 12], "episodes_by_level": [[1572.0, 341.0, 51.0, 0.0], [1618.0, 322.0, 70.0, 0.0], [927.0, 184.0, 60.0, 0.0], [472.0, 68.0, 27.0, 0.0], [123.0, 17.0, 10.0, 0.0], [15.0, 2.0, 5.0, 0.0]]}, "slope": {"level_counts": [41, 83, 97, 80, 57, 52], "episodes_by_level": [[1442.0, 300.0, 43.0, 0.0], [1525.0, 304.0, 58.0, 0.0], [903.0, 203.0, 32.0, 0.0], [489.0, 113.0, 14.0, 0.0], [269.0, 54.0, 4.0, 0.0], [149.0, 26.0, 2.0, 0.0]]}, "rubble": {"level_counts": [83, 205, 244, 203, 71, 13], "episodes_by_level": [[2866.0, 642.0, 92.0, 0.0], [3352.0, 724.0, 161.0, 0.0], [2155.0, 444.0, 210.0, 0.0], [972.0, 141.0, 157.0, 0.0], [212.0, 22.0, 57.0, 0.0], [22.0, 1.0, 9.0, 0.0]]}}, "success_archive_windows": 47008, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.236083984375, "command_abs_max": [0.9996518492698669, 0.39997467398643494, 0.6995640397071838]}
{"step": 21100, "actor_lr": 5.964327169347078e-05, "archive_windows": 50000, "env_steps": 21100, "total_transitions": 86425600, "num_steps_per_env": 1, "wm_loss": 0.7241318821907043, "actor_loss": -9.440315246582031, "critic_loss": 0.00857508834451437, "reward": 0.08648674190044403, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11702262610197067, 0.0716671571135521, 0.13241639733314514], "mean_episode_length": 1401.1544715447155, "episode_reward_terms": {"track_linear_velocity": 49.507537841796875, "track_angular_velocity": 53.089534759521484, "upright": 26.89958953857422, "leg_posture": -2.8557379245758057, "standstill": -6.479352951049805, "action_rate_l2": -0.6059871315956116, "joint_torques_l2": -0.15199248492717743, "dof_pos_limits": -0.0007152780308388174, "terminated": -0.013683146797120571, "unnecessary_wheel_lift": -0.0998283326625824, "rolling_leg_motion": -0.683735191822052, "obstacle_progress": 3.1842844486236572, "wheel_body_intrusion": -0.2836022675037384, "pair_body_intrusion": -0.32501867413520813}, "weighted_reward_terms": {"track_linear_velocity": 1.7666696310043335, "track_angular_velocity": 1.8944926261901855, "upright": 0.959908127784729, "leg_posture": -0.10190661251544952, "standstill": -0.23121480643749237, "action_rate_l2": -0.021624566987156868, "joint_torques_l2": -0.005423830822110176, "dof_pos_limits": -2.5524595912429504e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.003562360070645809, "rolling_leg_motion": -0.02439899556338787, "obstacle_progress": 0.1136307567358017, "wheel_body_intrusion": -0.010120307095348835, "pair_body_intrusion": -0.011598246172070503}, "episode_termination_rates": {"time_out": 0.5365853658536586, "fell_over": 0.024390243902439025, "course_exit": 0.42276422764227645, "illegal_nonwheel_contact": 0.024390243902439025}, "collection_time_s": 0.07555783409974538, "learning_time_s": 0.18539977367734536, "iteration_time_s": 0.3370512143842174, "policy_updates": 20800, "skipped_updates": 0, "invalid_env_resets": 102, "elapsed_s": 7111.7806235069875, "nonwheel_terminations": 11950, "contact_bce": 0.2988584041595459, "contact_force_loss": 0.020439591258764267, "collision_bce": 6.933983968337998e-05, "collision_label_rate": 6.124448555056006e-05, "collision_prediction_mean": 0.00010318508429918438, "collision_label_count": 16328.0, "terrain_level_mean": 3.291259765625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [20, 74, 99, 97, 59, 61], "episodes_by_level": [[1374.0, 295.0, 47.0, 0.0], [1504.0, 333.0, 35.0, 0.0], [954.0, 227.0, 25.0, 0.0], [513.0, 126.0, 10.0, 0.0], [268.0, 62.0, 6.0, 0.0], [160.0, 41.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 3, 35, 263, 667, 465], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2391.0, 1460.0, 37.0, 0.0], [4221.0, 1699.0, 165.0, 0.0], [3822.0, 1335.0, 189.0, 0.0], [2310.0, 564.0, 143.0, 0.0], [459.0, 9.0, 68.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 4, 63, 546], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [937.0, 764.0, 26.0, 0.0], [1429.0, 1116.0, 58.0, 0.0], [4267.0, 3298.0, 195.0, 0.0]]}, "platform": {"level_counts": [40, 102, 109, 101, 45, 13], "episodes_by_level": [[1573.0, 341.0, 51.0, 0.0], [1619.0, 322.0, 70.0, 0.0], [932.0, 186.0, 60.0, 0.0], [475.0, 68.0, 27.0, 0.0], [125.0, 18.0, 10.0, 0.0], [16.0, 2.0, 5.0, 0.0]]}, "slope": {"level_counts": [41, 83, 97, 80, 57, 52], "episodes_by_level": [[1442.0, 300.0, 43.0, 0.0], [1530.0, 305.0, 58.0, 0.0], [904.0, 203.0, 33.0, 0.0], [490.0, 113.0, 14.0, 0.0], [269.0, 54.0, 4.0, 0.0], [149.0, 26.0, 2.0, 0.0]]}, "rubble": {"level_counts": [83, 205, 242, 204, 73, 12], "episodes_by_level": [[2871.0, 642.0, 92.0, 0.0], [3361.0, 724.0, 161.0, 0.0], [2159.0, 446.0, 210.0, 0.0], [976.0, 142.0, 157.0, 0.0], [213.0, 22.0, 57.0, 0.0], [23.0, 1.0, 10.0, 0.0]]}}, "success_archive_windows": 47130, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23828125, "command_abs_max": [0.9974724650382996, 0.39997467398643494, 0.6995640397071838]}
{"step": 21150, "actor_lr": 5.961016410858121e-05, "archive_windows": 50000, "env_steps": 21150, "total_transitions": 86630400, "num_steps_per_env": 1, "wm_loss": 0.6962144374847412, "actor_loss": -9.449477195739746, "critic_loss": 0.0038366231601685286, "reward": 0.08622752875089645, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11926637589931488, 0.0712955892086029, 0.13480283319950104], "mean_episode_length": 1369.446540880503, "episode_reward_terms": {"track_linear_velocity": 48.22433853149414, "track_angular_velocity": 51.78457260131836, "upright": 26.26152992248535, "leg_posture": -2.793287515640259, "standstill": -6.320860385894775, "action_rate_l2": -0.60223388671875, "joint_torques_l2": -0.14827501773834229, "dof_pos_limits": -0.0005379157955758274, "terminated": -0.01872289925813675, "unnecessary_wheel_lift": -0.11617406457662582, "rolling_leg_motion": -0.6777665615081787, "obstacle_progress": 3.0714919567108154, "wheel_body_intrusion": -0.27426475286483765, "pair_body_intrusion": -0.30581262707710266}, "weighted_reward_terms": {"track_linear_velocity": 1.7607237100601196, "track_angular_velocity": 1.890711784362793, "upright": 0.9588373899459839, "leg_posture": -0.10198600590229034, "standstill": -0.23078157007694244, "action_rate_l2": -0.021988222375512123, "joint_torques_l2": -0.0054136840626597404, "dof_pos_limits": -1.9639897800516337e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0042416430078446865, "rolling_leg_motion": -0.0247460026293993, "obstacle_progress": 0.11214355379343033, "wheel_body_intrusion": -0.010013707913458347, "pair_body_intrusion": -0.011165555566549301}, "episode_termination_rates": {"time_out": 0.4968553459119497, "fell_over": 0.031446540880503145, "course_exit": 0.4591194968553459, "illegal_nonwheel_contact": 0.025157232704402517}, "collection_time_s": 0.07571406892035157, "learning_time_s": 0.18439036916126497, "iteration_time_s": 0.33686936010146706, "policy_updates": 20850, "skipped_updates": 0, "invalid_env_resets": 102, "elapsed_s": 7124.786966146028, "nonwheel_terminations": 11954, "contact_bce": 0.29246124625205994, "contact_force_loss": 0.02030499279499054, "collision_bce": 0.00026733771665021777, "collision_label_rate": 6.122574268374592e-05, "collision_prediction_mean": 1.1045892279071268e-05, "collision_label_count": 16333.0, "terrain_level_mean": 3.299560546875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [20, 74, 98, 98, 59, 61], "episodes_by_level": [[1374.0, 295.0, 47.0, 0.0], [1506.0, 333.0, 35.0, 0.0], [960.0, 228.0, 25.0, 0.0], [515.0, 126.0, 10.0, 0.0], [269.0, 62.0, 6.0, 0.0], [160.0, 41.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 2, 37, 261, 659, 474], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2392.0, 1461.0, 37.0, 0.0], [4221.0, 1699.0, 165.0, 0.0], [3828.0, 1338.0, 189.0, 0.0], [2328.0, 575.0, 143.0, 0.0], [466.0, 10.0, 69.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 4, 60, 549], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [937.0, 764.0, 26.0, 0.0], [1432.0, 1119.0, 58.0, 0.0], [4290.0, 3319.0, 195.0, 0.0]]}, "platform": {"level_counts": [40, 99, 112, 98, 48, 13], "episodes_by_level": [[1574.0, 341.0, 51.0, 0.0], [1624.0, 325.0, 70.0, 0.0], [935.0, 186.0, 60.0, 0.0], [480.0, 71.0, 27.0, 0.0], [128.0, 18.0, 10.0, 0.0], [16.0, 2.0, 5.0, 0.0]]}, "slope": {"level_counts": [40, 84, 95, 80, 59, 52], "episodes_by_level": [[1443.0, 301.0, 43.0, 0.0], [1534.0, 305.0, 58.0, 0.0], [909.0, 205.0, 33.0, 0.0], [492.0, 115.0, 14.0, 0.0], [270.0, 54.0, 4.0, 0.0], [150.0, 26.0, 2.0, 0.0]]}, "rubble": {"level_counts": [82, 202, 243, 207, 72, 13], "episodes_by_level": [[2872.0, 643.0, 92.0, 0.0], [3369.0, 728.0, 161.0, 0.0], [2169.0, 450.0, 210.0, 0.0], [982.0, 142.0, 158.0, 0.0], [215.0, 23.0, 57.0, 0.0], [24.0, 1.0, 10.0, 0.0]]}}, "success_archive_windows": 47269, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.235107421875, "command_abs_max": [0.9974724650382996, 0.39997467398643494, 0.6995640397071838]}
{"step": 21200, "actor_lr": 5.9575600137555616e-05, "archive_windows": 50000, "env_steps": 21200, "total_transitions": 86835200, "num_steps_per_env": 1, "wm_loss": 0.7501949071884155, "actor_loss": -9.409049987792969, "critic_loss": 0.01796082593500614, "reward": 0.08650586009025574, "falls": 11, "interval_steps": 50, "velocity_mae": [0.1173415333032608, 0.070854552090168, 0.13391892611980438], "mean_episode_length": 1383.720207253886, "episode_reward_terms": {"track_linear_velocity": 48.886260986328125, "track_angular_velocity": 52.351314544677734, "upright": 26.535057067871094, "leg_posture": -2.8184895515441895, "standstill": -6.20357084274292, "action_rate_l2": -0.6102614998817444, "joint_torques_l2": -0.1496630162000656, "dof_pos_limits": -0.0003865051839966327, "terminated": -0.02972836047410965, "unnecessary_wheel_lift": -0.12423045188188553, "rolling_leg_motion": -0.7127446532249451, "obstacle_progress": 3.203702926635742, "wheel_body_intrusion": -0.2721540331840515, "pair_body_intrusion": -0.3552250266075134}, "weighted_reward_terms": {"track_linear_velocity": 1.766479253768921, "track_angular_velocity": 1.891687273979187, "upright": 0.9588302969932556, "leg_posture": -0.10184463113546371, "standstill": -0.224162757396698, "action_rate_l2": -0.022051477804780006, "joint_torques_l2": -0.005407994147390127, "dof_pos_limits": -1.396616153215291e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.00448900181800127, "rolling_leg_motion": -0.0257546529173851, "obstacle_progress": 0.11576411873102188, "wheel_body_intrusion": -0.00983414240181446, "pair_body_intrusion": -0.012835868634283543}, "episode_termination_rates": {"time_out": 0.49740932642487046, "fell_over": 0.031088082901554404, "course_exit": 0.44559585492227977, "illegal_nonwheel_contact": 0.05181347150259067}, "collection_time_s": 0.07638640495715662, "learning_time_s": 0.18486231060582214, "iteration_time_s": 0.3366910604790555, "policy_updates": 20900, "skipped_updates": 0, "invalid_env_resets": 104, "elapsed_s": 7137.850482155976, "nonwheel_terminations": 11964, "contact_bce": 0.30188384652137756, "contact_force_loss": 0.02161545865237713, "collision_bce": 0.00017272282275371253, "collision_label_rate": 6.130456313258037e-05, "collision_prediction_mean": 1.1086534868809395e-05, "collision_label_count": 16312.0, "terrain_level_mean": 3.304443359375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [20, 74, 99, 97, 59, 61], "episodes_by_level": [[1374.0, 295.0, 47.0, 0.0], [1509.0, 333.0, 35.0, 0.0], [964.0, 228.0, 25.0, 0.0], [517.0, 126.0, 11.0, 0.0], [270.0, 62.0, 6.0, 0.0], [161.0, 42.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 1, 38, 261, 652, 481], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2393.0, 1462.0, 37.0, 0.0], [4221.0, 1699.0, 165.0, 0.0], [3839.0, 1340.0, 189.0, 0.0], [2353.0, 582.0, 143.0, 0.0], [482.0, 12.0, 69.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 4, 61, 548], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [937.0, 764.0, 26.0, 0.0], [1436.0, 1122.0, 58.0, 0.0], [4310.0, 3337.0, 196.0, 0.0]]}, "platform": {"level_counts": [39, 98, 113, 98, 50, 12], "episodes_by_level": [[1579.0, 342.0, 51.0, 0.0], [1628.0, 327.0, 70.0, 0.0], [938.0, 187.0, 60.0, 0.0], [483.0, 72.0, 27.0, 0.0], [129.0, 18.0, 10.0, 0.0], [17.0, 2.0, 6.0, 0.0]]}, "slope": {"level_counts": [40, 83, 96, 79, 60, 52], "episodes_by_level": [[1446.0, 302.0, 43.0, 0.0], [1538.0, 306.0, 59.0, 0.0], [913.0, 205.0, 33.0, 0.0], [495.0, 116.0, 14.0, 0.0], [272.0, 54.0, 4.0, 0.0], [152.0, 26.0, 2.0, 0.0]]}, "rubble": {"level_counts": [82, 201, 242, 205, 75, 14], "episodes_by_level": [[2876.0, 643.0, 92.0, 0.0], [3381.0, 731.0, 161.0, 0.0], [2181.0, 452.0, 212.0, 0.0], [990.0, 146.0, 158.0, 0.0], [218.0, 24.0, 57.0, 0.0], [24.0, 1.0, 10.0, 0.0]]}}, "success_archive_windows": 47398, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.240478515625, "command_abs_max": [0.9974724650382996, 0.39997467398643494, 0.6995640397071838]}
{"step": 21250, "actor_lr": 5.953958191246254e-05, "archive_windows": 50000, "env_steps": 21250, "total_transitions": 87040000, "num_steps_per_env": 1, "wm_loss": 0.7035338282585144, "actor_loss": -9.463797569274902, "critic_loss": 0.004111255519092083, "reward": 0.0865844115614891, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11707872152328491, 0.07168086618185043, 0.13478811085224152], "mean_episode_length": 1348.6774193548388, "episode_reward_terms": {"track_linear_velocity": 47.61943817138672, "track_angular_velocity": 50.97463607788086, "upright": 25.87879753112793, "leg_posture": -2.735971212387085, "standstill": -5.907148361206055, "action_rate_l2": -0.5812781453132629, "joint_torques_l2": -0.14514581859111786, "dof_pos_limits": -0.0005399415967985988, "terminated": -0.01580481231212616, "unnecessary_wheel_lift": -0.13760550320148468, "rolling_leg_motion": -0.6731249690055847, "obstacle_progress": 3.14300274848938, "wheel_body_intrusion": -0.26774489879608154, "pair_body_intrusion": -0.3770856559276581}, "weighted_reward_terms": {"track_linear_velocity": 1.7654125690460205, "track_angular_velocity": 1.889801025390625, "upright": 0.9594139456748962, "leg_posture": -0.10143165290355682, "standstill": -0.21899782121181488, "action_rate_l2": -0.021549932658672333, "joint_torques_l2": -0.005381043069064617, "dof_pos_limits": -2.001744906010572e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.00510149821639061, "rolling_leg_motion": -0.024955004453659058, "obstacle_progress": 0.1165216714143753, "wheel_body_intrusion": -0.009926202706992626, "pair_body_intrusion": -0.013979831710457802}, "episode_termination_rates": {"time_out": 0.43548387096774194, "fell_over": 0.016129032258064516, "course_exit": 0.5161290322580645, "illegal_nonwheel_contact": 0.04032258064516129}, "collection_time_s": 0.07552168806083501, "learning_time_s": 0.18533821017947047, "iteration_time_s": 0.33651268516108396, "policy_updates": 20950, "skipped_updates": 0, "invalid_env_resets": 104, "elapsed_s": 7150.894559673034, "nonwheel_terminations": 11969, "contact_bce": 0.3050309121608734, "contact_force_loss": 0.020951945334672928, "collision_bce": 9.631360626372043e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 9.682747077022213e-06, "collision_label_count": 16341.0, "terrain_level_mean": 3.309814453125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [20, 73, 100, 97, 58, 62], "episodes_by_level": [[1375.0, 295.0, 47.0, 0.0], [1513.0, 334.0, 35.0, 0.0], [968.0, 228.0, 25.0, 0.0], [522.0, 126.0, 11.0, 0.0], [272.0, 63.0, 6.0, 0.0], [161.0, 42.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 1, 36, 256, 651, 489], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2393.0, 1462.0, 37.0, 0.0], [4223.0, 1701.0, 165.0, 0.0], [3851.0, 1348.0, 189.0, 0.0], [2375.0, 590.0, 144.0, 0.0], [494.0, 12.0, 69.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 4, 58, 551], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [937.0, 764.0, 26.0, 0.0], [1439.0, 1125.0, 58.0, 0.0], [4324.0, 3350.0, 196.0, 0.0]]}, "platform": {"level_counts": [38, 98, 114, 98, 50, 12], "episodes_by_level": [[1581.0, 343.0, 51.0, 0.0], [1632.0, 328.0, 70.0, 0.0], [941.0, 187.0, 60.0, 0.0], [485.0, 72.0, 27.0, 0.0], [129.0, 18.0, 10.0, 0.0], [17.0, 2.0, 6.0, 0.0]]}, "slope": {"level_counts": [40, 83, 96, 79, 59, 53], "episodes_by_level": [[1446.0, 302.0, 43.0, 0.0], [1538.0, 306.0, 59.0, 0.0], [914.0, 205.0, 33.0, 0.0], [497.0, 116.0, 14.0, 0.0], [274.0, 55.0, 4.0, 0.0], [153.0, 26.0, 2.0, 0.0]]}, "rubble": {"level_counts": [81, 204, 242, 203, 75, 14], "episodes_by_level": [[2878.0, 644.0, 92.0, 0.0], [3384.0, 731.0, 161.0, 0.0], [2187.0, 453.0, 214.0, 0.0], [994.0, 146.0, 161.0, 0.0], [218.0, 24.0, 57.0, 0.0], [25.0, 1.0, 10.0, 0.0]]}}, "success_archive_windows": 47535, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.238525390625, "command_abs_max": [0.9974724650382996, 0.3997921943664551, 0.6995640397071838]}
{"step": 21300, "actor_lr": 5.950211165507579e-05, "archive_windows": 50000, "env_steps": 21300, "total_transitions": 87244800, "num_steps_per_env": 1, "wm_loss": 0.7100155353546143, "actor_loss": -9.42844295501709, "critic_loss": 0.00860406644642353, "reward": 0.08674526959657669, "falls": 6, "interval_steps": 50, "velocity_mae": [0.1180444285273552, 0.0714937299489975, 0.13480915129184723], "mean_episode_length": 1421.3488372093022, "episode_reward_terms": {"track_linear_velocity": 50.14728927612305, "track_angular_velocity": 53.745784759521484, "upright": 27.248849868774414, "leg_posture": -2.860938549041748, "standstill": -6.230626106262207, "action_rate_l2": -0.6247251033782959, "joint_torques_l2": -0.15458901226520538, "dof_pos_limits": -0.00036326402914710343, "terminated": -0.016656430438160896, "unnecessary_wheel_lift": -0.10714877396821976, "rolling_leg_motion": -0.692278265953064, "obstacle_progress": 3.472838878631592, "wheel_body_intrusion": -0.2940411865711212, "pair_body_intrusion": -0.33814311027526855}, "weighted_reward_terms": {"track_linear_velocity": 1.7640740871429443, "track_angular_velocity": 1.8906612396240234, "upright": 0.958556056022644, "leg_posture": -0.10064167529344559, "standstill": -0.21918003261089325, "action_rate_l2": -0.021976487711071968, "joint_torques_l2": -0.005438109394162893, "dof_pos_limits": -1.2778848940797616e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.0037692636251449585, "rolling_leg_motion": -0.02435286156833172, "obstacle_progress": 0.12216700613498688, "wheel_body_intrusion": -0.010343736968934536, "pair_body_intrusion": -0.01189514808356762}, "episode_termination_rates": {"time_out": 0.5271317829457365, "fell_over": 0.007751937984496124, "course_exit": 0.4263565891472868, "illegal_nonwheel_contact": 0.046511627906976744}, "collection_time_s": 0.07548153631971218, "learning_time_s": 0.184668478614185, "iteration_time_s": 0.3363334793600466, "policy_updates": 21000, "skipped_updates": 0, "invalid_env_resets": 104, "elapsed_s": 7163.903110368992, "nonwheel_terminations": 11975, "contact_bce": 0.30159813165664673, "contact_force_loss": 0.020814402028918266, "collision_bce": 4.9024874897440895e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 4.248134428053163e-05, "collision_label_count": 16361.0, "terrain_level_mean": 3.31396484375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [20, 73, 100, 96, 59, 62], "episodes_by_level": [[1377.0, 295.0, 47.0, 0.0], [1514.0, 334.0, 35.0, 0.0], [971.0, 228.0, 25.0, 0.0], [525.0, 127.0, 11.0, 0.0], [272.0, 63.0, 6.0, 0.0], [162.0, 42.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 1, 36, 251, 651, 494], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2393.0, 1462.0, 37.0, 0.0], [4224.0, 1701.0, 165.0, 0.0], [3860.0, 1353.0, 189.0, 0.0], [2387.0, 596.0, 144.0, 0.0], [504.0, 14.0, 70.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 4, 58, 551], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [937.0, 764.0, 26.0, 0.0], [1442.0, 1127.0, 58.0, 0.0], [4337.0, 3361.0, 197.0, 0.0]]}, "platform": {"level_counts": [38, 97, 114, 99, 49, 13], "episodes_by_level": [[1581.0, 343.0, 51.0, 0.0], [1636.0, 329.0, 70.0, 0.0], [944.0, 188.0, 60.0, 0.0], [486.0, 72.0, 27.0, 0.0], [132.0, 19.0, 10.0, 0.0], [18.0, 2.0, 6.0, 0.0]]}, "slope": {"level_counts": [38, 86, 95, 79, 59, 53], "episodes_by_level": [[1448.0, 304.0, 43.0, 0.0], [1541.0, 306.0, 59.0, 0.0], [915.0, 205.0, 34.0, 0.0], [499.0, 116.0, 14.0, 0.0], [275.0, 55.0, 4.0, 0.0], [154.0, 27.0, 2.0, 0.0]]}, "rubble": {"level_counts": [81, 203, 242, 204, 75, 14], "episodes_by_level": [[2880.0, 644.0, 92.0, 0.0], [3388.0, 733.0, 161.0, 0.0], [2193.0, 455.0, 215.0, 0.0], [1002.0, 146.0, 162.0, 0.0], [220.0, 24.0, 57.0, 0.0], [25.0, 1.0, 10.0, 0.0]]}}, "success_archive_windows": 47685, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.238037109375, "command_abs_max": [0.9974724650382996, 0.3997921943664551, 0.6992843151092529]}
{"step": 21350, "actor_lr": 5.946319167673731e-05, "archive_windows": 50000, "env_steps": 21350, "total_transitions": 87449600, "num_steps_per_env": 1, "wm_loss": 0.7198457717895508, "actor_loss": -9.480913162231445, "critic_loss": 0.005931462626904249, "reward": 0.08644846081733704, "falls": 7, "interval_steps": 50, "velocity_mae": [0.1181120052933693, 0.07067734003067017, 0.13517291843891144], "mean_episode_length": 1292.2794117647059, "episode_reward_terms": {"track_linear_velocity": 45.641117095947266, "track_angular_velocity": 48.84035873413086, "upright": 24.733304977416992, "leg_posture": -2.607025146484375, "standstill": -6.048771381378174, "action_rate_l2": -0.5467636585235596, "joint_torques_l2": -0.14283840358257294, "dof_pos_limits": -0.00032640795689076185, "terminated": -0.017667880281805992, "unnecessary_wheel_lift": -0.0873861312866211, "rolling_leg_motion": -0.622610867023468, "obstacle_progress": 3.156874418258667, "wheel_body_intrusion": -0.2564951777458191, "pair_body_intrusion": -0.3262239098548889}, "weighted_reward_terms": {"track_linear_velocity": 1.7659151554107666, "track_angular_velocity": 1.8896980285644531, "upright": 0.956964373588562, "leg_posture": -0.10086925327777863, "standstill": -0.2340349555015564, "action_rate_l2": -0.021155010908842087, "joint_torques_l2": -0.005526606924831867, "dof_pos_limits": -1.262915520783281e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0033810853492468596, "rolling_leg_motion": -0.024089638143777847, "obstacle_progress": 0.12214364856481552, "wheel_body_intrusion": -0.009924137964844704, "pair_body_intrusion": -0.012622034177184105}, "episode_termination_rates": {"time_out": 0.4632352941176471, "fell_over": 0.014705882352941176, "course_exit": 0.4852941176470588, "illegal_nonwheel_contact": 0.04411764705882353}, "collection_time_s": 0.07553261014632881, "learning_time_s": 0.18508421359816565, "iteration_time_s": 0.3361562057926927, "policy_updates": 21050, "skipped_updates": 0, "invalid_env_resets": 104, "elapsed_s": 7176.934993673989, "nonwheel_terminations": 11981, "contact_bce": 0.3045191168785095, "contact_force_loss": 0.020006325095891953, "collision_bce": 1.1045876817661338e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.109657659981167e-05, "collision_label_count": 16351.0, "terrain_level_mean": 3.3173828125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [20, 72, 101, 96, 58, 63], "episodes_by_level": [[1379.0, 295.0, 47.0, 0.0], [1515.0, 335.0, 35.0, 0.0], [973.0, 228.0, 25.0, 0.0], [526.0, 127.0, 11.0, 0.0], [274.0, 64.0, 6.0, 0.0], [166.0, 43.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 1, 35, 248, 652, 497], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2393.0, 1462.0, 37.0, 0.0], [4225.0, 1702.0, 165.0, 0.0], [3866.0, 1359.0, 189.0, 0.0], [2399.0, 599.0, 146.0, 0.0], [507.0, 14.0, 70.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 4, 56, 553], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [937.0, 764.0, 26.0, 0.0], [1445.0, 1130.0, 58.0, 0.0], [4371.0, 3390.0, 197.0, 0.0]]}, "platform": {"level_counts": [39, 96, 113, 100, 50, 12], "episodes_by_level": [[1581.0, 343.0, 51.0, 0.0], [1639.0, 329.0, 71.0, 0.0], [948.0, 189.0, 60.0, 0.0], [487.0, 72.0, 27.0, 0.0], [133.0, 19.0, 10.0, 0.0], [19.0, 2.0, 7.0, 0.0]]}, "slope": {"level_counts": [38, 85, 95, 80, 59, 53], "episodes_by_level": [[1449.0, 304.0, 43.0, 0.0], [1545.0, 307.0, 59.0, 0.0], [918.0, 206.0, 34.0, 0.0], [502.0, 116.0, 14.0, 0.0], [275.0, 55.0, 4.0, 0.0], [154.0, 27.0, 2.0, 0.0]]}, "rubble": {"level_counts": [80, 204, 241, 206, 74, 14], "episodes_by_level": [[2883.0, 645.0, 92.0, 0.0], [3392.0, 733.0, 161.0, 0.0], [2201.0, 456.0, 215.0, 0.0], [1007.0, 146.0, 162.0, 0.0], [224.0, 24.0, 58.0, 0.0], [25.0, 1.0, 10.0, 0.0]]}}, "success_archive_windows": 47825, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.240234375, "command_abs_max": [0.9974724650382996, 0.3997921943664551, 0.6992843151092529]}
{"step": 21400, "actor_lr": 5.9422824378214714e-05, "archive_windows": 50000, "env_steps": 21400, "total_transitions": 87654400, "num_steps_per_env": 1, "wm_loss": 0.7303349375724792, "actor_loss": -9.454503059387207, "critic_loss": 0.004029316361993551, "reward": 0.08644995838403702, "falls": 3, "interval_steps": 50, "velocity_mae": [0.11823790520429611, 0.07103028148412704, 0.13595271110534668], "mean_episode_length": 1374.8159509202453, "episode_reward_terms": {"track_linear_velocity": 48.52783966064453, "track_angular_velocity": 51.94619369506836, "upright": 26.315622329711914, "leg_posture": -2.7195727825164795, "standstill": -6.373451232910156, "action_rate_l2": -0.5922719836235046, "joint_torques_l2": -0.15081392228603363, "dof_pos_limits": -0.0004891676944680512, "terminated": -0.00805556122213602, "unnecessary_wheel_lift": -0.09954937547445297, "rolling_leg_motion": -0.678288459777832, "obstacle_progress": 3.3133819103240967, "wheel_body_intrusion": -0.27860191464424133, "pair_body_intrusion": -0.34916532039642334}, "weighted_reward_terms": {"track_linear_velocity": 1.7648849487304688, "track_angular_velocity": 1.8892053365707397, "upright": 0.9570598602294922, "leg_posture": -0.09890680015087128, "standstill": -0.2317928969860077, "action_rate_l2": -0.021540047600865364, "joint_torques_l2": -0.0054848771542310715, "dof_pos_limits": -1.779029844328761e-05, "terminated": -0.00029296870343387127, "unnecessary_wheel_lift": -0.0036204620264470577, "rolling_leg_motion": -0.024668337777256966, "obstacle_progress": 0.12050274759531021, "wheel_body_intrusion": -0.010132336057722569, "pair_body_intrusion": -0.012698621489107609}, "episode_termination_rates": {"time_out": 0.5214723926380368, "fell_over": 0.018404907975460124, "course_exit": 0.4601226993865031, "illegal_nonwheel_contact": 0.0}, "collection_time_s": 0.07545992498169653, "learning_time_s": 0.18520892411703244, "iteration_time_s": 0.33597988542523477, "policy_updates": 21100, "skipped_updates": 0, "invalid_env_resets": 104, "elapsed_s": 7189.9695481000235, "nonwheel_terminations": 11981, "contact_bce": 0.30455195903778076, "contact_force_loss": 0.020912960171699524, "collision_bce": 0.00012100736785214394, "collision_label_rate": 6.128577661002055e-05, "collision_prediction_mean": 3.190729330526665e-05, "collision_label_count": 16317.0, "terrain_level_mean": 3.324462890625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [19, 73, 101, 95, 57, 65], "episodes_by_level": [[1380.0, 296.0, 47.0, 0.0], [1516.0, 335.0, 35.0, 0.0], [974.0, 228.0, 25.0, 0.0], [529.0, 128.0, 11.0, 0.0], [278.0, 66.0, 6.0, 0.0], [167.0, 44.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 1, 34, 246, 646, 506], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2393.0, 1462.0, 37.0, 0.0], [4226.0, 1703.0, 165.0, 0.0], [3871.0, 1362.0, 189.0, 0.0], [2422.0, 608.0, 146.0, 0.0], [520.0, 16.0, 70.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 4, 56, 553], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [937.0, 764.0, 26.0, 0.0], [1447.0, 1132.0, 58.0, 0.0], [4395.0, 3411.0, 198.0, 0.0]]}, "platform": {"level_counts": [38, 97, 111, 102, 50, 12], "episodes_by_level": [[1582.0, 344.0, 51.0, 0.0], [1642.0, 329.0, 71.0, 0.0], [953.0, 191.0, 60.0, 0.0], [489.0, 72.0, 27.0, 0.0], [135.0, 19.0, 10.0, 0.0], [19.0, 2.0, 7.0, 0.0]]}, "slope": {"level_counts": [37, 83, 96, 82, 58, 54], "episodes_by_level": [[1452.0, 305.0, 43.0, 0.0], [1550.0, 310.0, 59.0, 0.0], [923.0, 208.0, 34.0, 0.0], [507.0, 116.0, 14.0, 0.0], [277.0, 56.0, 4.0, 0.0], [156.0, 28.0, 2.0, 0.0]]}, "rubble": {"level_counts": [79, 205, 241, 205, 75, 14], "episodes_by_level": [[2886.0, 646.0, 92.0, 0.0], [3401.0, 734.0, 161.0, 0.0], [2207.0, 456.0, 216.0, 0.0], [1014.0, 147.0, 162.0, 0.0], [224.0, 24.0, 58.0, 0.0], [25.0, 1.0, 10.0, 0.0]]}}, "success_archive_windows": 47970, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.24072265625, "command_abs_max": [0.9972494840621948, 0.3997921943664551, 0.6992843151092529]}
{"step": 21450, "actor_lr": 5.938101224955312e-05, "archive_windows": 50000, "env_steps": 21450, "total_transitions": 87859200, "num_steps_per_env": 1, "wm_loss": 0.7106031775474548, "actor_loss": -9.4533109664917, "critic_loss": 0.007876045070588589, "reward": 0.0866398811340332, "falls": 5, "interval_steps": 50, "velocity_mae": [0.1161138266324997, 0.07128894329071045, 0.13424403965473175], "mean_episode_length": 1401.5802469135801, "episode_reward_terms": {"track_linear_velocity": 49.571598052978516, "track_angular_velocity": 53.021949768066406, "upright": 26.87268829345703, "leg_posture": -2.745232582092285, "standstill": -6.511939525604248, "action_rate_l2": -0.6052643060684204, "joint_torques_l2": -0.1514754295349121, "dof_pos_limits": -0.00037962672649882734, "terminated": -0.01368730515241623, "unnecessary_wheel_lift": -0.10547930747270584, "rolling_leg_motion": -0.6838085651397705, "obstacle_progress": 3.346879482269287, "wheel_body_intrusion": -0.2497379034757614, "pair_body_intrusion": -0.3134002089500427}, "weighted_reward_terms": {"track_linear_velocity": 1.7684181928634644, "track_angular_velocity": 1.8915061950683594, "upright": 0.9586568474769592, "leg_posture": -0.09793347865343094, "standstill": -0.2323070615530014, "action_rate_l2": -0.021592212840914726, "joint_torques_l2": -0.005403737537562847, "dof_pos_limits": -1.354281175736105e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.003762871026992798, "rolling_leg_motion": -0.02439420111477375, "obstacle_progress": 0.11939665675163269, "wheel_body_intrusion": -0.008909154683351517, "pair_body_intrusion": -0.011180245317518711}, "episode_termination_rates": {"time_out": 0.5555555555555556, "fell_over": 0.030864197530864196, "course_exit": 0.41358024691358025, "illegal_nonwheel_contact": 0.012345679012345678}, "collection_time_s": 0.07554291953449138, "learning_time_s": 0.18407971782027743, "iteration_time_s": 0.3358019467144537, "policy_updates": 21150, "skipped_updates": 0, "invalid_env_resets": 104, "elapsed_s": 7202.951757025032, "nonwheel_terminations": 11983, "contact_bce": 0.3022610545158386, "contact_force_loss": 0.020669208839535713, "collision_bce": 8.49306961754337e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 6.555964500876144e-05, "collision_label_count": 16350.0, "terrain_level_mean": 3.33056640625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [19, 72, 101, 93, 60, 65], "episodes_by_level": [[1380.0, 296.0, 47.0, 0.0], [1521.0, 336.0, 35.0, 0.0], [979.0, 229.0, 25.0, 0.0], [535.0, 131.0, 11.0, 0.0], [278.0, 66.0, 6.0, 0.0], [168.0, 45.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 1, 34, 244, 641, 513], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2393.0, 1462.0, 37.0, 0.0], [4226.0, 1703.0, 165.0, 0.0], [3876.0, 1364.0, 189.0, 0.0], [2445.0, 615.0, 146.0, 0.0], [530.0, 16.0, 70.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 4, 54, 555], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [937.0, 764.0, 26.0, 0.0], [1451.0, 1136.0, 58.0, 0.0], [4412.0, 3428.0, 198.0, 0.0]]}, "platform": {"level_counts": [38, 96, 112, 102, 50, 12], "episodes_by_level": [[1584.0, 344.0, 51.0, 0.0], [1648.0, 330.0, 71.0, 0.0], [954.0, 191.0, 60.0, 0.0], [492.0, 72.0, 27.0, 0.0], [139.0, 19.0, 10.0, 0.0], [19.0, 2.0, 7.0, 0.0]]}, "slope": {"level_counts": [36, 84, 95, 83, 58, 54], "episodes_by_level": [[1455.0, 306.0, 43.0, 0.0], [1550.0, 310.0, 59.0, 0.0], [926.0, 209.0, 34.0, 0.0], [509.0, 116.0, 14.0, 0.0], [279.0, 56.0, 4.0, 0.0], [159.0, 28.0, 2.0, 0.0]]}, "rubble": {"level_counts": [78, 204, 243, 202, 78, 14], "episodes_by_level": [[2890.0, 648.0, 92.0, 0.0], [3412.0, 736.0, 162.0, 0.0], [2212.0, 458.0, 216.0, 0.0], [1020.0, 150.0, 164.0, 0.0], [226.0, 24.0, 58.0, 0.0], [25.0, 1.0, 10.0, 0.0]]}}, "success_archive_windows": 48123, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.239990234375, "command_abs_max": [0.9960126280784607, 0.3997921943664551, 0.6992843151092529]}
{"step": 21500, "actor_lr": 5.9337757869921555e-05, "archive_windows": 50000, "env_steps": 21500, "total_transitions": 88064000, "num_steps_per_env": 1, "wm_loss": 0.683434009552002, "actor_loss": -9.457999229431152, "critic_loss": 0.011648315005004406, "reward": 0.08700399100780487, "falls": 5, "interval_steps": 50, "velocity_mae": [0.1152634397149086, 0.07071417570114136, 0.13419093191623688], "mean_episode_length": 1354.5917159763314, "episode_reward_terms": {"track_linear_velocity": 47.96286392211914, "track_angular_velocity": 51.2303352355957, "upright": 25.972766876220703, "leg_posture": -2.6065216064453125, "standstill": -5.855301856994629, "action_rate_l2": -0.6011066436767578, "joint_torques_l2": -0.14663177728652954, "dof_pos_limits": -0.00034094759030267596, "terminated": -0.013228433206677437, "unnecessary_wheel_lift": -0.09384938329458237, "rolling_leg_motion": -0.664750874042511, "obstacle_progress": 3.2434756755828857, "wheel_body_intrusion": -0.2480088323354721, "pair_body_intrusion": -0.3248276710510254}, "weighted_reward_terms": {"track_linear_velocity": 1.7703808546066284, "track_angular_velocity": 1.8909881114959717, "upright": 0.9586936235427856, "leg_posture": -0.09621059894561768, "standstill": -0.21612794697284698, "action_rate_l2": -0.022187743335962296, "joint_torques_l2": -0.0054123979061841965, "dof_pos_limits": -1.258488464372931e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.0034641209058463573, "rolling_leg_motion": -0.024536946788430214, "obstacle_progress": 0.11972153186798096, "wheel_body_intrusion": -0.009154376573860645, "pair_body_intrusion": -0.011989873833954334}, "episode_termination_rates": {"time_out": 0.47337278106508873, "fell_over": 0.0, "course_exit": 0.4970414201183432, "illegal_nonwheel_contact": 0.029585798816568046}, "collection_time_s": 0.07556006847764365, "learning_time_s": 0.1850352237781044, "iteration_time_s": 0.33562709985325534, "policy_updates": 21200, "skipped_updates": 0, "invalid_env_resets": 104, "elapsed_s": 7215.98264684499, "nonwheel_terminations": 11988, "contact_bce": 0.29511988162994385, "contact_force_loss": 0.019828448072075844, "collision_bce": 0.0006171810673549771, "collision_label_rate": 6.119951285654679e-05, "collision_prediction_mean": 8.909072676033247e-06, "collision_label_count": 16340.0, "terrain_level_mean": 3.3359375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [19, 71, 100, 92, 62, 66], "episodes_by_level": [[1380.0, 296.0, 47.0, 0.0], [1522.0, 337.0, 35.0, 0.0], [986.0, 231.0, 25.0, 0.0], [542.0, 134.0, 11.0, 0.0], [280.0, 67.0, 6.0, 0.0], [169.0, 46.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 1, 34, 243, 637, 518], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2393.0, 1462.0, 37.0, 0.0], [4226.0, 1703.0, 165.0, 0.0], [3881.0, 1365.0, 189.0, 0.0], [2468.0, 621.0, 146.0, 0.0], [548.0, 17.0, 71.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 4, 54, 555], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [937.0, 764.0, 26.0, 0.0], [1451.0, 1136.0, 58.0, 0.0], [4435.0, 3446.0, 198.0, 0.0]]}, "platform": {"level_counts": [38, 95, 112, 104, 49, 12], "episodes_by_level": [[1585.0, 344.0, 51.0, 0.0], [1654.0, 332.0, 71.0, 0.0], [958.0, 192.0, 61.0, 0.0], [493.0, 72.0, 27.0, 0.0], [140.0, 19.0, 11.0, 0.0], [19.0, 2.0, 7.0, 0.0]]}, "slope": {"level_counts": [35, 84, 95, 84, 58, 54], "episodes_by_level": [[1460.0, 307.0, 43.0, 0.0], [1551.0, 311.0, 59.0, 0.0], [928.0, 210.0, 34.0, 0.0], [512.0, 116.0, 14.0, 0.0], [281.0, 56.0, 4.0, 0.0], [160.0, 28.0, 2.0, 0.0]]}, "rubble": {"level_counts": [77, 204, 245, 197, 82, 14], "episodes_by_level": [[2893.0, 649.0, 92.0, 0.0], [3420.0, 737.0, 162.0, 0.0], [2217.0, 458.0, 216.0, 0.0], [1032.0, 155.0, 165.0, 0.0], [228.0, 24.0, 59.0, 0.0], [25.0, 1.0, 10.0, 0.0]]}}, "success_archive_windows": 48272, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.24609375, "command_abs_max": [0.9960126280784607, 0.3997921943664551, 0.6999039649963379]}
{"step": 21550, "actor_lr": 5.929306390745394e-05, "archive_windows": 50000, "env_steps": 21550, "total_transitions": 88268800, "num_steps_per_env": 1, "wm_loss": 0.7112634181976318, "actor_loss": -9.469436645507812, "critic_loss": 0.004721280187368393, "reward": 0.0866776555776596, "falls": 4, "interval_steps": 50, "velocity_mae": [0.11721315234899521, 0.07142798602581024, 0.13415175676345825], "mean_episode_length": 1393.606896551724, "episode_reward_terms": {"track_linear_velocity": 49.21537399291992, "track_angular_velocity": 52.716129302978516, "upright": 26.702035903930664, "leg_posture": -2.7563562393188477, "standstill": -6.265751838684082, "action_rate_l2": -0.6149131655693054, "joint_torques_l2": -0.1518617570400238, "dof_pos_limits": -0.0003717381041496992, "terminated": -0.010887552052736282, "unnecessary_wheel_lift": -0.10183153301477432, "rolling_leg_motion": -0.690548300743103, "obstacle_progress": 3.344367265701294, "wheel_body_intrusion": -0.2563103437423706, "pair_body_intrusion": -0.3345012366771698}, "weighted_reward_terms": {"track_linear_velocity": 1.765755295753479, "track_angular_velocity": 1.8913558721542358, "upright": 0.958018958568573, "leg_posture": -0.09889288991689682, "standstill": -0.22480341792106628, "action_rate_l2": -0.02206193096935749, "joint_torques_l2": -0.005448514595627785, "dof_pos_limits": -1.3337265045265667e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.003653524210676551, "rolling_leg_motion": -0.02477557584643364, "obstacle_progress": 0.11998961865901947, "wheel_body_intrusion": -0.009195934049785137, "pair_body_intrusion": -0.012001276016235352}, "episode_termination_rates": {"time_out": 0.503448275862069, "fell_over": 0.013793103448275862, "course_exit": 0.4689655172413793, "illegal_nonwheel_contact": 0.013793103448275862}, "collection_time_s": 0.07554170611780137, "learning_time_s": 0.19245533360284753, "iteration_time_s": 0.3354714025952664, "policy_updates": 21250, "skipped_updates": 0, "invalid_env_resets": 104, "elapsed_s": 7229.408725927991, "nonwheel_terminations": 11990, "contact_bce": 0.30097997188568115, "contact_force_loss": 0.021337715908885002, "collision_bce": 1.0630840733938385e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.0671787094906904e-05, "collision_label_count": 16330.0, "terrain_level_mean": 3.3408203125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [19, 69, 102, 92, 62, 66], "episodes_by_level": [[1380.0, 296.0, 47.0, 0.0], [1526.0, 339.0, 35.0, 0.0], [988.0, 231.0, 25.0, 0.0], [546.0, 134.0, 11.0, 0.0], [281.0, 67.0, 6.0, 0.0], [173.0, 47.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 1, 34, 239, 634, 525], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2393.0, 1462.0, 37.0, 0.0], [4226.0, 1703.0, 165.0, 0.0], [3893.0, 1370.0, 189.0, 0.0], [2488.0, 628.0, 146.0, 0.0], [557.0, 17.0, 71.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 4, 53, 556], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [937.0, 764.0, 26.0, 0.0], [1452.0, 1137.0, 58.0, 0.0], [4449.0, 3456.0, 199.0, 0.0]]}, "platform": {"level_counts": [38, 95, 111, 105, 49, 12], "episodes_by_level": [[1586.0, 344.0, 51.0, 0.0], [1654.0, 332.0, 71.0, 0.0], [963.0, 193.0, 61.0, 0.0], [496.0, 72.0, 27.0, 0.0], [141.0, 19.0, 11.0, 0.0], [20.0, 2.0, 7.0, 0.0]]}, "slope": {"level_counts": [36, 83, 93, 86, 58, 54], "episodes_by_level": [[1460.0, 307.0, 43.0, 0.0], [1553.0, 311.0, 60.0, 0.0], [931.0, 212.0, 34.0, 0.0], [512.0, 116.0, 14.0, 0.0], [282.0, 56.0, 4.0, 0.0], [162.0, 28.0, 2.0, 0.0]]}, "rubble": {"level_counts": [77, 203, 245, 196, 84, 14], "episodes_by_level": [[2893.0, 649.0, 92.0, 0.0], [3425.0, 739.0, 162.0, 0.0], [2225.0, 459.0, 217.0, 0.0], [1041.0, 157.0, 165.0, 0.0], [230.0, 24.0, 59.0, 0.0], [26.0, 1.0, 10.0, 0.0]]}}, "success_archive_windows": 48427, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.244140625, "command_abs_max": [0.9960126280784607, 0.3997921943664551, 0.6999039649963379]}
{"step": 21600, "actor_lr": 5.924693311908436e-05, "archive_windows": 50000, "env_steps": 21600, "total_transitions": 88473600, "num_steps_per_env": 1, "wm_loss": 0.7090561985969543, "actor_loss": -9.47702407836914, "critic_loss": 0.00373619026504457, "reward": 0.08669781684875488, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11735063791275024, 0.07124020159244537, 0.13580429553985596], "mean_episode_length": 1373.0481927710844, "episode_reward_terms": {"track_linear_velocity": 48.507354736328125, "track_angular_velocity": 51.8778190612793, "upright": 26.29852294921875, "leg_posture": -2.7293953895568848, "standstill": -5.955190658569336, "action_rate_l2": -0.6092849373817444, "joint_torques_l2": -0.15018576383590698, "dof_pos_limits": -0.00033059914130717516, "terminated": -0.01340867206454277, "unnecessary_wheel_lift": -0.11168188601732254, "rolling_leg_motion": -0.6892437934875488, "obstacle_progress": 3.2422726154327393, "wheel_body_intrusion": -0.2794009745121002, "pair_body_intrusion": -0.3475962281227112}, "weighted_reward_terms": {"track_linear_velocity": 1.766411304473877, "track_angular_velocity": 1.8891477584838867, "upright": 0.9576693773269653, "leg_posture": -0.09939183294773102, "standstill": -0.21686021983623505, "action_rate_l2": -0.022187309339642525, "joint_torques_l2": -0.005469063762575388, "dof_pos_limits": -1.2038876775477547e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.00406693248078227, "rolling_leg_motion": -0.02509903907775879, "obstacle_progress": 0.11806841939687729, "wheel_body_intrusion": -0.010174478404223919, "pair_body_intrusion": -0.012657830491662025}, "episode_termination_rates": {"time_out": 0.5, "fell_over": 0.030120481927710843, "course_exit": 0.46987951807228917, "illegal_nonwheel_contact": 0.018072289156626505}, "collection_time_s": 0.0753785568557214, "learning_time_s": 0.18458694768836723, "iteration_time_s": 0.33529667077481495, "policy_updates": 21300, "skipped_updates": 0, "invalid_env_resets": 104, "elapsed_s": 7242.408088736003, "nonwheel_terminations": 11993, "contact_bce": 0.2941356897354126, "contact_force_loss": 0.020227527245879173, "collision_bce": 0.0002922697749454528, "collision_label_rate": 0.00012239902571309358, "collision_prediction_mean": 0.0001046925171976909, "collision_label_count": 16340.0, "terrain_level_mean": 3.345703125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [19, 69, 102, 92, 61, 67], "episodes_by_level": [[1380.0, 296.0, 47.0, 0.0], [1528.0, 339.0, 35.0, 0.0], [992.0, 231.0, 25.0, 0.0], [550.0, 134.0, 11.0, 0.0], [283.0, 68.0, 6.0, 0.0], [175.0, 47.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 1, 33, 235, 635, 529], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2393.0, 1462.0, 37.0, 0.0], [4227.0, 1704.0, 165.0, 0.0], [3904.0, 1375.0, 189.0, 0.0], [2506.0, 633.0, 146.0, 0.0], [570.0, 18.0, 71.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 4, 52, 557], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [937.0, 764.0, 26.0, 0.0], [1453.0, 1138.0, 58.0, 0.0], [4475.0, 3478.0, 199.0, 0.0]]}, "platform": {"level_counts": [38, 95, 111, 103, 52, 11], "episodes_by_level": [[1588.0, 344.0, 51.0, 0.0], [1655.0, 332.0, 71.0, 0.0], [965.0, 193.0, 61.0, 0.0], [504.0, 74.0, 27.0, 0.0], [143.0, 19.0, 11.0, 0.0], [21.0, 2.0, 8.0, 0.0]]}, "slope": {"level_counts": [36, 81, 94, 87, 57, 55], "episodes_by_level": [[1461.0, 307.0, 43.0, 0.0], [1560.0, 313.0, 60.0, 0.0], [934.0, 213.0, 34.0, 0.0], [515.0, 116.0, 14.0, 0.0], [286.0, 57.0, 4.0, 0.0], [163.0, 29.0, 2.0, 0.0]]}, "rubble": {"level_counts": [76, 204, 245, 196, 82, 16], "episodes_by_level": [[2897.0, 650.0, 92.0, 0.0], [3431.0, 741.0, 162.0, 0.0], [2232.0, 460.0, 219.0, 0.0], [1045.0, 157.0, 166.0, 0.0], [236.0, 26.0, 59.0, 0.0], [27.0, 1.0, 10.0, 0.0]]}}, "success_archive_windows": 48566, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.24755859375, "command_abs_max": [0.999763011932373, 0.39972999691963196, 0.6999039649963379]}
{"step": 21650, "actor_lr": 5.919936835037718e-05, "archive_windows": 50000, "env_steps": 21650, "total_transitions": 88678400, "num_steps_per_env": 1, "wm_loss": 0.7342278957366943, "actor_loss": -9.454267501831055, "critic_loss": 0.009962051175534725, "reward": 0.08651390671730042, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11854102462530136, 0.07148037105798721, 0.13648316264152527], "mean_episode_length": 1448.5942028985507, "episode_reward_terms": {"track_linear_velocity": 51.12432861328125, "track_angular_velocity": 54.70198059082031, "upright": 27.76715660095215, "leg_posture": -2.9255309104919434, "standstill": -6.4043354988098145, "action_rate_l2": -0.6434462070465088, "joint_torques_l2": -0.16069160401821136, "dof_pos_limits": -0.00034962641075253487, "terminated": -0.016975712031126022, "unnecessary_wheel_lift": -0.1024547666311264, "rolling_leg_motion": -0.7174868583679199, "obstacle_progress": 3.418046474456787, "wheel_body_intrusion": -0.3117033839225769, "pair_body_intrusion": -0.4049614667892456}, "weighted_reward_terms": {"track_linear_velocity": 1.7646186351776123, "track_angular_velocity": 1.8881056308746338, "upright": 0.9584173560142517, "leg_posture": -0.10097827762365341, "standstill": -0.22105346620082855, "action_rate_l2": -0.02220933325588703, "joint_torques_l2": -0.005546467378735542, "dof_pos_limits": -1.2067782336089294e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.00353635149076581, "rolling_leg_motion": -0.024764934554696083, "obstacle_progress": 0.1179780438542366, "wheel_body_intrusion": -0.010758823715150356, "pair_body_intrusion": -0.013977739959955215}, "episode_termination_rates": {"time_out": 0.572463768115942, "fell_over": 0.0, "course_exit": 0.38405797101449274, "illegal_nonwheel_contact": 0.043478260869565216}, "collection_time_s": 0.07566488327807747, "learning_time_s": 0.1854805042222142, "iteration_time_s": 0.33539716934498914, "policy_updates": 21350, "skipped_updates": 0, "invalid_env_resets": 104, "elapsed_s": 7261.348716319015, "nonwheel_terminations": 11999, "contact_bce": 0.30912789702415466, "contact_force_loss": 0.021406808868050575, "collision_bce": 8.942134627432097e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 8.993097253551241e-06, "collision_label_count": 16337.0, "terrain_level_mean": 3.349853515625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [18, 70, 101, 93, 60, 68], "episodes_by_level": [[1382.0, 297.0, 47.0, 0.0], [1529.0, 339.0, 35.0, 0.0], [993.0, 232.0, 25.0, 0.0], [552.0, 134.0, 11.0, 0.0], [284.0, 69.0, 6.0, 0.0], [176.0, 48.0, 1.0, 0.0]]}, "up": {"level_counts": [0, 1, 31, 237, 633, 531], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2393.0, 1462.0, 37.0, 0.0], [4229.0, 1706.0, 165.0, 0.0], [3910.0, 1376.0, 189.0, 0.0], [2514.0, 636.0, 146.0, 0.0], [578.0, 18.0, 72.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 3, 50, 560], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [938.0, 765.0, 26.0, 0.0], [1456.0, 1141.0, 58.0, 0.0], [4490.0, 3492.0, 199.0, 0.0]]}, "platform": {"level_counts": [38, 94, 112, 103, 51, 12], "episodes_by_level": [[1588.0, 344.0, 51.0, 0.0], [1659.0, 333.0, 71.0, 0.0], [966.0, 193.0, 61.0, 0.0], [507.0, 74.0, 27.0, 0.0], [145.0, 20.0, 11.0, 0.0], [22.0, 2.0, 8.0, 0.0]]}, "slope": {"level_counts": [36, 79, 95, 89, 56, 55], "episodes_by_level": [[1461.0, 307.0, 43.0, 0.0], [1566.0, 315.0, 60.0, 0.0], [938.0, 214.0, 34.0, 0.0], [519.0, 116.0, 14.0, 0.0], [289.0, 57.0, 5.0, 0.0], [168.0, 29.0, 2.0, 0.0]]}, "rubble": {"level_counts": [75, 204, 246, 196, 82, 16], "episodes_by_level": [[2901.0, 651.0, 92.0, 0.0], [3434.0, 742.0, 162.0, 0.0], [2240.0, 461.0, 219.0, 0.0], [1057.0, 159.0, 167.0, 0.0], [239.0, 26.0, 61.0, 0.0], [27.0, 1.0, 10.0, 0.0]]}}, "success_archive_windows": 48712, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.24658203125, "command_abs_max": [0.999763011932373, 0.39972999691963196, 0.6999039649963379]}
{"step": 21700, "actor_lr": 5.915037253535137e-05, "archive_windows": 50000, "env_steps": 21700, "total_transitions": 88883200, "num_steps_per_env": 1, "wm_loss": 0.7551833987236023, "actor_loss": -9.462149620056152, "critic_loss": 0.01068416703492403, "reward": 0.08675235509872437, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11816038936376572, 0.07203724980354309, 0.1365887075662613], "mean_episode_length": 1360.8940397350993, "episode_reward_terms": {"track_linear_velocity": 48.00440979003906, "track_angular_velocity": 51.372764587402344, "upright": 26.07060432434082, "leg_posture": -2.729749917984009, "standstill": -5.7690534591674805, "action_rate_l2": -0.5966981053352356, "joint_torques_l2": -0.15006855130195618, "dof_pos_limits": -0.0014217494754120708, "terminated": -0.01594797521829605, "unnecessary_wheel_lift": -0.11562793701887131, "rolling_leg_motion": -0.659663736820221, "obstacle_progress": 3.2807421684265137, "wheel_body_intrusion": -0.2611381411552429, "pair_body_intrusion": -0.36839279532432556}, "weighted_reward_terms": {"track_linear_velocity": 1.763708472251892, "track_angular_velocity": 1.8874638080596924, "upright": 0.9578484296798706, "leg_posture": -0.10029251873493195, "standstill": -0.21195821464061737, "action_rate_l2": -0.021923018619418144, "joint_torques_l2": -0.005513601936399937, "dof_pos_limits": -5.2235864131944254e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.0042482344433665276, "rolling_leg_motion": -0.024236410856246948, "obstacle_progress": 0.12053629010915756, "wheel_body_intrusion": -0.009594360366463661, "pair_body_intrusion": -0.013534954749047756}, "episode_termination_rates": {"time_out": 0.5099337748344371, "fell_over": 0.019867549668874173, "course_exit": 0.4503311258278146, "illegal_nonwheel_contact": 0.033112582781456956}, "collection_time_s": 0.07553870240226387, "learning_time_s": 0.185204493078636, "iteration_time_s": 0.33522520657387095, "policy_updates": 21400, "skipped_updates": 0, "invalid_env_resets": 104, "elapsed_s": 7274.386982652999, "nonwheel_terminations": 12004, "contact_bce": 0.3005470335483551, "contact_force_loss": 0.02068035863339901, "collision_bce": 9.422314178664237e-05, "collision_label_rate": 6.115085852798074e-05, "collision_prediction_mean": 3.527949229464866e-05, "collision_label_count": 16353.0, "terrain_level_mean": 3.35400390625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [18, 70, 99, 94, 62, 67], "episodes_by_level": [[1382.0, 297.0, 47.0, 0.0], [1534.0, 339.0, 35.0, 0.0], [998.0, 234.0, 25.0, 0.0], [556.0, 135.0, 11.0, 0.0], [286.0, 69.0, 6.0, 0.0], [177.0, 48.0, 2.0, 0.0]]}, "up": {"level_counts": [0, 1, 30, 238, 629, 535], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2393.0, 1462.0, 37.0, 0.0], [4231.0, 1707.0, 165.0, 0.0], [3913.0, 1377.0, 189.0, 0.0], [2527.0, 641.0, 146.0, 0.0], [592.0, 20.0, 73.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 3, 48, 562], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [938.0, 765.0, 26.0, 0.0], [1458.0, 1143.0, 58.0, 0.0], [4512.0, 3513.0, 199.0, 0.0]]}, "platform": {"level_counts": [38, 94, 111, 102, 53, 12], "episodes_by_level": [[1591.0, 344.0, 51.0, 0.0], [1661.0, 333.0, 71.0, 0.0], [971.0, 194.0, 61.0, 0.0], [512.0, 76.0, 27.0, 0.0], [146.0, 20.0, 11.0, 0.0], [22.0, 2.0, 8.0, 0.0]]}, "slope": {"level_counts": [36, 78, 96, 89, 56, 55], "episodes_by_level": [[1461.0, 307.0, 43.0, 0.0], [1567.0, 316.0, 60.0, 0.0], [941.0, 214.0, 34.0, 0.0], [521.0, 116.0, 14.0, 0.0], [289.0, 57.0, 5.0, 0.0], [171.0, 31.0, 2.0, 0.0]]}, "rubble": {"level_counts": [74, 202, 249, 196, 82, 16], "episodes_by_level": [[2904.0, 652.0, 92.0, 0.0], [3442.0, 745.0, 162.0, 0.0], [2246.0, 463.0, 219.0, 0.0], [1068.0, 160.0, 169.0, 0.0], [241.0, 26.0, 62.0, 0.0], [27.0, 1.0, 10.0, 0.0]]}}, "success_archive_windows": 48852, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.244140625, "command_abs_max": [0.999763011932373, 0.39972999691963196, 0.6994149684906006]}
{"step": 21750, "actor_lr": 5.909994869629957e-05, "archive_windows": 50000, "env_steps": 21750, "total_transitions": 89088000, "num_steps_per_env": 1, "wm_loss": 0.7616221904754639, "actor_loss": -9.493049621582031, "critic_loss": 0.003716579871252179, "reward": 0.08633774518966675, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11956983804702759, 0.07374060153961182, 0.13477548956871033], "mean_episode_length": 1323.745341614907, "episode_reward_terms": {"track_linear_velocity": 46.538124084472656, "track_angular_velocity": 50.04646301269531, "upright": 25.327486038208008, "leg_posture": -2.639195203781128, "standstill": -6.061387538909912, "action_rate_l2": -0.5828777551651001, "joint_torques_l2": -0.14535583555698395, "dof_pos_limits": -0.0006565232761204243, "terminated": -0.02585439942777157, "unnecessary_wheel_lift": -0.1137942522764206, "rolling_leg_motion": -0.6416049003601074, "obstacle_progress": 3.170362949371338, "wheel_body_intrusion": -0.24477863311767578, "pair_body_intrusion": -0.33775219321250916}, "weighted_reward_terms": {"track_linear_velocity": 1.7578202486038208, "track_angular_velocity": 1.8903357982635498, "upright": 0.9566600322723389, "leg_posture": -0.09968666732311249, "standstill": -0.2289484143257141, "action_rate_l2": -0.022016234695911407, "joint_torques_l2": -0.005490324459969997, "dof_pos_limits": -2.4797946025501005e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.004298192914575338, "rolling_leg_motion": -0.024234453216195107, "obstacle_progress": 0.11974973231554031, "wheel_body_intrusion": -0.009245684370398521, "pair_body_intrusion": -0.012757446616888046}, "episode_termination_rates": {"time_out": 0.43478260869565216, "fell_over": 0.049689440993788817, "course_exit": 0.5031055900621118, "illegal_nonwheel_contact": 0.043478260869565216}, "collection_time_s": 0.07550011765910312, "learning_time_s": 0.18523506956058555, "iteration_time_s": 0.33505401681710417, "policy_updates": 21450, "skipped_updates": 0, "invalid_env_resets": 104, "elapsed_s": 7287.424865772016, "nonwheel_terminations": 12011, "contact_bce": 0.299855500459671, "contact_force_loss": 0.020861869677901268, "collision_bce": 0.00010199323151027784, "collision_label_rate": 6.123323692008853e-05, "collision_prediction_mean": 0.00012145466462243348, "collision_label_count": 16331.0, "terrain_level_mean": 3.358154296875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [17, 71, 100, 93, 62, 67], "episodes_by_level": [[1384.0, 298.0, 47.0, 0.0], [1535.0, 339.0, 35.0, 0.0], [1001.0, 234.0, 25.0, 0.0], [562.0, 135.0, 12.0, 0.0], [289.0, 69.0, 6.0, 0.0], [179.0, 48.0, 2.0, 0.0]]}, "up": {"level_counts": [0, 1, 29, 232, 633, 538], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2393.0, 1462.0, 37.0, 0.0], [4232.0, 1708.0, 165.0, 0.0], [3923.0, 1384.0, 189.0, 0.0], [2547.0, 647.0, 146.0, 0.0], [606.0, 21.0, 76.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 3, 49, 561], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [938.0, 765.0, 26.0, 0.0], [1461.0, 1145.0, 58.0, 0.0], [4534.0, 3531.0, 200.0, 0.0]]}, "platform": {"level_counts": [38, 93, 111, 100, 56, 12], "episodes_by_level": [[1592.0, 344.0, 51.0, 0.0], [1663.0, 334.0, 71.0, 0.0], [975.0, 195.0, 61.0, 0.0], [516.0, 79.0, 27.0, 0.0], [147.0, 20.0, 11.0, 0.0], [22.0, 2.0, 8.0, 0.0]]}, "slope": {"level_counts": [35, 79, 96, 89, 56, 55], "episodes_by_level": [[1462.0, 308.0, 43.0, 0.0], [1569.0, 316.0, 60.0, 0.0], [942.0, 214.0, 34.0, 0.0], [521.0, 116.0, 14.0, 0.0], [292.0, 57.0, 5.0, 0.0], [173.0, 31.0, 2.0, 0.0]]}, "rubble": {"level_counts": [74, 201, 249, 198, 81, 16], "episodes_by_level": [[2905.0, 652.0, 92.0, 0.0], [3452.0, 748.0, 162.0, 0.0], [2256.0, 464.0, 221.0, 0.0], [1071.0, 160.0, 169.0, 0.0], [242.0, 26.0, 63.0, 0.0], [28.0, 2.0, 10.0, 0.0]]}}, "success_archive_windows": 48979, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.244140625, "command_abs_max": [0.999763011932373, 0.39972999691963196, 0.6994149684906006]}
{"step": 21800, "actor_lr": 5.904809994360173e-05, "archive_windows": 50000, "env_steps": 21800, "total_transitions": 89292800, "num_steps_per_env": 1, "wm_loss": 0.7005563378334045, "actor_loss": -9.449148178100586, "critic_loss": 0.004424197133630514, "reward": 0.08597264438867569, "falls": 11, "interval_steps": 50, "velocity_mae": [0.11914287507534027, 0.07449989765882492, 0.1366828978061676], "mean_episode_length": 1339.4924242424242, "episode_reward_terms": {"track_linear_velocity": 47.07075881958008, "track_angular_velocity": 50.56149673461914, "upright": 25.623693466186523, "leg_posture": -2.695363998413086, "standstill": -6.484971046447754, "action_rate_l2": -0.5829456448554993, "joint_torques_l2": -0.14846274256706238, "dof_pos_limits": -0.000985816353932023, "terminated": -0.028778154402971268, "unnecessary_wheel_lift": -0.11460904031991959, "rolling_leg_motion": -0.6490901708602905, "obstacle_progress": 3.196077823638916, "wheel_body_intrusion": -0.26261916756629944, "pair_body_intrusion": -0.3244786858558655}, "weighted_reward_terms": {"track_linear_velocity": 1.7570370435714722, "track_angular_velocity": 1.8873379230499268, "upright": 0.956470251083374, "leg_posture": -0.10061139613389969, "standstill": -0.24206823110580444, "action_rate_l2": -0.021759945899248123, "joint_torques_l2": -0.005541753489524126, "dof_pos_limits": -3.6798133805859834e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.004278077278286219, "rolling_leg_motion": -0.024228960275650024, "obstacle_progress": 0.11930183321237564, "wheel_body_intrusion": -0.009802935644984245, "pair_body_intrusion": -0.01211200188845396}, "episode_termination_rates": {"time_out": 0.4166666666666667, "fell_over": 0.06060606060606061, "course_exit": 0.5, "illegal_nonwheel_contact": 0.045454545454545456}, "collection_time_s": 0.07541517445701175, "learning_time_s": 0.1849390731099993, "iteration_time_s": 0.33488273783036615, "policy_updates": 21500, "skipped_updates": 0, "invalid_env_resets": 104, "elapsed_s": 7300.443684701982, "nonwheel_terminations": 12017, "contact_bce": 0.30223169922828674, "contact_force_loss": 0.020435340702533722, "collision_bce": 0.00023921071260701865, "collision_label_rate": 6.11359064350836e-05, "collision_prediction_mean": 1.057749250321649e-05, "collision_label_count": 16357.0, "terrain_level_mean": 3.361572265625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [17, 71, 99, 93, 62, 68], "episodes_by_level": [[1384.0, 298.0, 47.0, 0.0], [1535.0, 339.0, 35.0, 0.0], [1004.0, 235.0, 25.0, 0.0], [563.0, 136.0, 12.0, 0.0], [291.0, 70.0, 6.0, 0.0], [182.0, 49.0, 2.0, 0.0]]}, "up": {"level_counts": [0, 1, 29, 226, 635, 542], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2393.0, 1462.0, 37.0, 0.0], [4232.0, 1708.0, 165.0, 0.0], [3934.0, 1392.0, 189.0, 0.0], [2564.0, 652.0, 146.0, 0.0], [622.0, 23.0, 77.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 3, 52, 558], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [938.0, 765.0, 26.0, 0.0], [1461.0, 1145.0, 58.0, 0.0], [4552.0, 3548.0, 200.0, 0.0]]}, "platform": {"level_counts": [37, 93, 111, 101, 56, 12], "episodes_by_level": [[1594.0, 345.0, 51.0, 0.0], [1665.0, 335.0, 71.0, 0.0], [978.0, 196.0, 61.0, 0.0], [516.0, 79.0, 27.0, 0.0], [149.0, 20.0, 11.0, 0.0], [22.0, 2.0, 8.0, 0.0]]}, "slope": {"level_counts": [35, 79, 95, 89, 57, 55], "episodes_by_level": [[1462.0, 308.0, 43.0, 0.0], [1570.0, 316.0, 60.0, 0.0], [945.0, 215.0, 34.0, 0.0], [525.0, 117.0, 14.0, 0.0], [294.0, 57.0, 5.0, 0.0], [174.0, 31.0, 2.0, 0.0]]}, "rubble": {"level_counts": [75, 202, 247, 196, 83, 16], "episodes_by_level": [[2905.0, 652.0, 92.0, 0.0], [3458.0, 749.0, 163.0, 0.0], [2264.0, 465.0, 224.0, 0.0], [1077.0, 162.0, 170.0, 0.0], [244.0, 26.0, 63.0, 0.0], [28.0, 2.0, 10.0, 0.0]]}}, "success_archive_windows": 49116, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.238037109375, "command_abs_max": [0.999763011932373, 0.39998260140419006, 0.6998457908630371]}
{"step": 21850, "actor_lr": 5.899482947553312e-05, "archive_windows": 50000, "env_steps": 21850, "total_transitions": 89497600, "num_steps_per_env": 1, "wm_loss": 0.7397568225860596, "actor_loss": -9.46369743347168, "critic_loss": 0.007049966137856245, "reward": 0.086336649954319, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11793775856494904, 0.07220596820116043, 0.1350073218345642], "mean_episode_length": 1375.2356687898089, "episode_reward_terms": {"track_linear_velocity": 48.49951934814453, "track_angular_velocity": 51.98705291748047, "upright": 26.286930084228516, "leg_posture": -2.7238731384277344, "standstill": -6.575125217437744, "action_rate_l2": -0.6032407879829407, "joint_torques_l2": -0.15328344702720642, "dof_pos_limits": -0.0006363975699059665, "terminated": -0.0134300347417593, "unnecessary_wheel_lift": -0.10400956869125366, "rolling_leg_motion": -0.6703838109970093, "obstacle_progress": 3.35783052444458, "wheel_body_intrusion": -0.26846009492874146, "pair_body_intrusion": -0.2856483459472656}, "weighted_reward_terms": {"track_linear_velocity": 1.7633166313171387, "track_angular_velocity": 1.890114426612854, "upright": 0.9557245969772339, "leg_posture": -0.09903295338153839, "standstill": -0.23905448615550995, "action_rate_l2": -0.021932270377874374, "joint_torques_l2": -0.00557298818603158, "dof_pos_limits": -2.313776349183172e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.0037815177347511053, "rolling_leg_motion": -0.024373415857553482, "obstacle_progress": 0.12208200246095657, "wheel_body_intrusion": -0.009760512039065361, "pair_body_intrusion": -0.010385433211922646}, "episode_termination_rates": {"time_out": 0.49044585987261147, "fell_over": 0.012738853503184714, "course_exit": 0.47770700636942676, "illegal_nonwheel_contact": 0.03184713375796178}, "collection_time_s": 0.07551622467814013, "learning_time_s": 0.18484656478045508, "iteration_time_s": 0.33471226063643017, "policy_updates": 21550, "skipped_updates": 0, "invalid_env_resets": 104, "elapsed_s": 7313.462894905999, "nonwheel_terminations": 12022, "contact_bce": 0.30295220017433167, "contact_force_loss": 0.021152790635824203, "collision_bce": 1.7131194908870384e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.7112985005951487e-05, "collision_label_count": 16328.0, "terrain_level_mean": 3.367919921875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [17, 71, 96, 96, 62, 68], "episodes_by_level": [[1384.0, 298.0, 47.0, 0.0], [1538.0, 339.0, 35.0, 0.0], [1009.0, 238.0, 25.0, 0.0], [568.0, 136.0, 12.0, 0.0], [292.0, 70.0, 6.0, 0.0], [186.0, 50.0, 2.0, 0.0]]}, "up": {"level_counts": [0, 1, 27, 224, 632, 549], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2393.0, 1462.0, 37.0, 0.0], [4234.0, 1710.0, 165.0, 0.0], [3940.0, 1396.0, 189.0, 0.0], [2584.0, 661.0, 146.0, 0.0], [639.0, 26.0, 79.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 2, 53, 558], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [939.0, 766.0, 26.0, 0.0], [1461.0, 1145.0, 58.0, 0.0], [4567.0, 3562.0, 200.0, 0.0]]}, "platform": {"level_counts": [36, 92, 113, 101, 55, 13], "episodes_by_level": [[1595.0, 346.0, 51.0, 0.0], [1668.0, 337.0, 71.0, 0.0], [982.0, 196.0, 61.0, 0.0], [524.0, 80.0, 27.0, 0.0], [151.0, 21.0, 12.0, 0.0], [22.0, 2.0, 8.0, 0.0]]}, "slope": {"level_counts": [34, 79, 96, 89, 56, 56], "episodes_by_level": [[1463.0, 309.0, 43.0, 0.0], [1572.0, 317.0, 60.0, 0.0], [949.0, 215.0, 34.0, 0.0], [527.0, 117.0, 14.0, 0.0], [295.0, 58.0, 5.0, 0.0], [176.0, 31.0, 2.0, 0.0]]}, "rubble": {"level_counts": [75, 203, 245, 196, 83, 17], "episodes_by_level": [[2906.0, 652.0, 92.0, 0.0], [3461.0, 749.0, 163.0, 0.0], [2273.0, 466.0, 225.0, 0.0], [1084.0, 164.0, 170.0, 0.0], [248.0, 27.0, 64.0, 0.0], [29.0, 2.0, 10.0, 0.0]]}}, "success_archive_windows": 49275, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.236572265625, "command_abs_max": [0.9984003305435181, 0.39998260140419006, 0.6994149684906006]}
{"step": 21900, "actor_lr": 5.894014057806713e-05, "archive_windows": 50000, "env_steps": 21900, "total_transitions": 89702400, "num_steps_per_env": 1, "wm_loss": 0.7177786827087402, "actor_loss": -9.481513977050781, "critic_loss": 0.004887162242084742, "reward": 0.08665122836828232, "falls": 4, "interval_steps": 50, "velocity_mae": [0.11743635684251785, 0.07137659192085266, 0.1342802345752716], "mean_episode_length": 1394.6611570247933, "episode_reward_terms": {"track_linear_velocity": 49.271427154541016, "track_angular_velocity": 52.75508117675781, "upright": 26.72566795349121, "leg_posture": -2.754728078842163, "standstill": -6.407867431640625, "action_rate_l2": -0.5880922079086304, "joint_torques_l2": -0.15349039435386658, "dof_pos_limits": -0.0009472064557485282, "terminated": -0.010895787738263607, "unnecessary_wheel_lift": -0.08568365126848221, "rolling_leg_motion": -0.6740670204162598, "obstacle_progress": 3.367192506790161, "wheel_body_intrusion": -0.27728939056396484, "pair_body_intrusion": -0.3171950876712799}, "weighted_reward_terms": {"track_linear_velocity": 1.7664300203323364, "track_angular_velocity": 1.8913227319717407, "upright": 0.9581419825553894, "leg_posture": -0.09875976294279099, "standstill": -0.22972849011421204, "action_rate_l2": -0.02108369581401348, "joint_torques_l2": -0.005502784624695778, "dof_pos_limits": -3.395830208319239e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.003071845043450594, "rolling_leg_motion": -0.024165978655219078, "obstacle_progress": 0.12071723490953445, "wheel_body_intrusion": -0.0099411029368639, "pair_body_intrusion": -0.011371762491762638}, "episode_termination_rates": {"time_out": 0.4793388429752066, "fell_over": 0.01652892561983471, "course_exit": 0.48760330578512395, "illegal_nonwheel_contact": 0.01652892561983471}, "collection_time_s": 0.07619017498218454, "learning_time_s": 0.1850151244807057, "iteration_time_s": 0.3345444863705022, "policy_updates": 21600, "skipped_updates": 0, "invalid_env_resets": 106, "elapsed_s": 7326.524251513998, "nonwheel_terminations": 12024, "contact_bce": 0.30034416913986206, "contact_force_loss": 0.02088805101811886, "collision_bce": 1.2564432836370543e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.2605682968569454e-05, "collision_label_count": 16345.0, "terrain_level_mean": 3.3720703125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [16, 72, 96, 96, 62, 68], "episodes_by_level": [[1385.0, 299.0, 47.0, 0.0], [1539.0, 339.0, 35.0, 0.0], [1010.0, 238.0, 25.0, 0.0], [569.0, 136.0, 12.0, 0.0], [293.0, 70.0, 6.0, 0.0], [187.0, 50.0, 2.0, 0.0]]}, "up": {"level_counts": [0, 1, 26, 221, 630, 555], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2393.0, 1462.0, 37.0, 0.0], [4236.0, 1711.0, 165.0, 0.0], [3947.0, 1399.0, 189.0, 0.0], [2597.0, 667.0, 146.0, 0.0], [648.0, 27.0, 79.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 2, 53, 558], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [939.0, 766.0, 26.0, 0.0], [1463.0, 1147.0, 58.0, 0.0], [4581.0, 3575.0, 201.0, 0.0]]}, "platform": {"level_counts": [36, 91, 114, 101, 56, 12], "episodes_by_level": [[1597.0, 346.0, 51.0, 0.0], [1674.0, 338.0, 71.0, 0.0], [985.0, 196.0, 61.0, 0.0], [525.0, 80.0, 27.0, 0.0], [151.0, 21.0, 12.0, 0.0], [23.0, 2.0, 9.0, 0.0]]}, "slope": {"level_counts": [34, 79, 96, 88, 58, 55], "episodes_by_level": [[1463.0, 309.0, 43.0, 0.0], [1573.0, 317.0, 60.0, 0.0], [953.0, 215.0, 34.0, 0.0], [531.0, 118.0, 14.0, 0.0], [297.0, 58.0, 5.0, 0.0], [177.0, 31.0, 3.0, 0.0]]}, "rubble": {"level_counts": [73, 204, 246, 195, 83, 18], "episodes_by_level": [[2910.0, 654.0, 92.0, 0.0], [3469.0, 750.0, 163.0, 0.0], [2280.0, 466.0, 225.0, 0.0], [1086.0, 165.0, 170.0, 0.0], [250.0, 28.0, 64.0, 0.0], [29.0, 2.0, 10.0, 0.0]]}}, "success_archive_windows": 49412, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.232421875, "command_abs_max": [0.9984003305435181, 0.39998260140419006, 0.6999995112419128]}
{"step": 21950, "actor_lr": 5.888403662467258e-05, "archive_windows": 50000, "env_steps": 21950, "total_transitions": 89907200, "num_steps_per_env": 1, "wm_loss": 0.7588613629341125, "actor_loss": -9.462800979614258, "critic_loss": 0.005134470760822296, "reward": 0.08687813580036163, "falls": 4, "interval_steps": 50, "velocity_mae": [0.11743997037410736, 0.0716942697763443, 0.13615114986896515], "mean_episode_length": 1353.2700729927008, "episode_reward_terms": {"track_linear_velocity": 47.763824462890625, "track_angular_velocity": 51.109317779541016, "upright": 25.924354553222656, "leg_posture": -2.6898274421691895, "standstill": -5.735906600952148, "action_rate_l2": -0.5846378803253174, "joint_torques_l2": -0.15095031261444092, "dof_pos_limits": -0.0007285274332389235, "terminated": -0.010572420433163643, "unnecessary_wheel_lift": -0.09718777984380722, "rolling_leg_motion": -0.6514955163002014, "obstacle_progress": 3.282867670059204, "wheel_body_intrusion": -0.2692429721355438, "pair_body_intrusion": -0.32024139165878296}, "weighted_reward_terms": {"track_linear_velocity": 1.7647558450698853, "track_angular_velocity": 1.8883635997772217, "upright": 0.957841157913208, "leg_posture": -0.09938251972198486, "standstill": -0.2119276374578476, "action_rate_l2": -0.021600931882858276, "joint_torques_l2": -0.005577242933213711, "dof_pos_limits": -2.6917297873296775e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.0035908494610339403, "rolling_leg_motion": -0.024071158841252327, "obstacle_progress": 0.12129389494657516, "wheel_body_intrusion": -0.009947866201400757, "pair_body_intrusion": -0.011832132935523987}, "episode_termination_rates": {"time_out": 0.46715328467153283, "fell_over": 0.021897810218978103, "course_exit": 0.5036496350364964, "illegal_nonwheel_contact": 0.021897810218978103}, "collection_time_s": 0.07563005384989083, "learning_time_s": 0.1852661778521724, "iteration_time_s": 0.3343767690436903, "policy_updates": 21650, "skipped_updates": 0, "invalid_env_resets": 106, "elapsed_s": 7339.570080509002, "nonwheel_terminations": 12027, "contact_bce": 0.30313920974731445, "contact_force_loss": 0.021484147757291794, "collision_bce": 0.00032386844395659864, "collision_label_rate": 6.119951285654679e-05, "collision_prediction_mean": 1.810017965908628e-05, "collision_label_count": 16340.0, "terrain_level_mean": 3.378173828125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [16, 71, 97, 95, 62, 69], "episodes_by_level": [[1385.0, 299.0, 47.0, 0.0], [1541.0, 340.0, 35.0, 0.0], [1012.0, 238.0, 25.0, 0.0], [576.0, 137.0, 12.0, 0.0], [296.0, 71.0, 6.0, 0.0], [188.0, 51.0, 2.0, 0.0]]}, "up": {"level_counts": [0, 1, 26, 216, 624, 566], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2393.0, 1462.0, 37.0, 0.0], [4238.0, 1711.0, 165.0, 0.0], [3953.0, 1404.0, 189.0, 0.0], [2620.0, 679.0, 146.0, 0.0], [657.0, 28.0, 79.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 2, 53, 558], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [939.0, 766.0, 26.0, 0.0], [1463.0, 1147.0, 58.0, 0.0], [4600.0, 3590.0, 201.0, 0.0]]}, "platform": {"level_counts": [37, 89, 115, 100, 57, 12], "episodes_by_level": [[1600.0, 346.0, 51.0, 0.0], [1679.0, 339.0, 72.0, 0.0], [988.0, 197.0, 61.0, 0.0], [531.0, 81.0, 28.0, 0.0], [152.0, 21.0, 12.0, 0.0], [23.0, 2.0, 9.0, 0.0]]}, "slope": {"level_counts": [33, 80, 96, 88, 58, 55], "episodes_by_level": [[1465.0, 310.0, 43.0, 0.0], [1574.0, 317.0, 60.0, 0.0], [954.0, 215.0, 34.0, 0.0], [532.0, 118.0, 14.0, 0.0], [297.0, 58.0, 5.0, 0.0], [179.0, 32.0, 3.0, 0.0]]}, "rubble": {"level_counts": [73, 202, 246, 197, 83, 18], "episodes_by_level": [[2914.0, 654.0, 92.0, 0.0], [3472.0, 752.0, 163.0, 0.0], [2286.0, 468.0, 225.0, 0.0], [1090.0, 165.0, 170.0, 0.0], [252.0, 28.0, 64.0, 0.0], [29.0, 2.0, 10.0, 0.0]]}}, "success_archive_windows": 49563, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.228515625, "command_abs_max": [0.9984003305435181, 0.39998260140419006, 0.6999995112419128]}
{"step": 22000, "actor_lr": 5.882652107610559e-05, "archive_windows": 50000, "env_steps": 22000, "total_transitions": 90112000, "num_steps_per_env": 1, "wm_loss": 0.7359514236450195, "actor_loss": -9.490596771240234, "critic_loss": 0.0033460252452641726, "reward": 0.08690078556537628, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11613444983959198, 0.07126931846141815, 0.1364559382200241], "mean_episode_length": 1410.9808917197452, "episode_reward_terms": {"track_linear_velocity": 49.93091583251953, "track_angular_velocity": 53.28672790527344, "upright": 27.086849212646484, "leg_posture": -2.750396251678467, "standstill": -6.20429801940918, "action_rate_l2": -0.618668258190155, "joint_torques_l2": -0.15564894676208496, "dof_pos_limits": -0.0014267534716054797, "terminated": -0.0137791084125638, "unnecessary_wheel_lift": -0.10982766002416611, "rolling_leg_motion": -0.6968352794647217, "obstacle_progress": 3.4456658363342285, "wheel_body_intrusion": -0.26439398527145386, "pair_body_intrusion": -0.31954216957092285}, "weighted_reward_terms": {"track_linear_velocity": 1.769369125366211, "track_angular_velocity": 1.888286828994751, "upright": 0.9598588347434998, "leg_posture": -0.09746398776769638, "standstill": -0.2198576182126999, "action_rate_l2": -0.02192334085702896, "joint_torques_l2": -0.005515629425644875, "dof_pos_limits": -5.055892688687891e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.003891890635713935, "rolling_leg_motion": -0.02469329535961151, "obstacle_progress": 0.1221017986536026, "wheel_body_intrusion": -0.009369155392050743, "pair_body_intrusion": -0.011323405429720879}, "episode_termination_rates": {"time_out": 0.5668789808917197, "fell_over": 0.01910828025477707, "course_exit": 0.4012738853503185, "illegal_nonwheel_contact": 0.012738853503184714}, "collection_time_s": 0.07561830921913497, "learning_time_s": 0.18540178684168496, "iteration_time_s": 0.33421009787509154, "policy_updates": 21700, "skipped_updates": 0, "invalid_env_resets": 106, "elapsed_s": 7352.622153252014, "nonwheel_terminations": 12029, "contact_bce": 0.30075204372406006, "contact_force_loss": 0.020846271887421608, "collision_bce": 0.0006812670617364347, "collision_label_rate": 0.00012228675768710673, "collision_prediction_mean": 2.318802035006229e-05, "collision_label_count": 16355.0, "terrain_level_mean": 3.382080078125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [16, 71, 97, 95, 62, 69], "episodes_by_level": [[1386.0, 299.0, 47.0, 0.0], [1544.0, 340.0, 35.0, 0.0], [1014.0, 238.0, 25.0, 0.0], [578.0, 137.0, 12.0, 0.0], [297.0, 71.0, 6.0, 0.0], [191.0, 51.0, 2.0, 0.0]]}, "up": {"level_counts": [0, 1, 25, 214, 621, 572], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2393.0, 1462.0, 37.0, 0.0], [4239.0, 1712.0, 165.0, 0.0], [3962.0, 1407.0, 189.0, 0.0], [2639.0, 688.0, 146.0, 0.0], [673.0, 29.0, 81.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 2, 50, 561], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [939.0, 766.0, 26.0, 0.0], [1467.0, 1150.0, 58.0, 0.0], [4618.0, 3606.0, 201.0, 0.0]]}, "platform": {"level_counts": [37, 89, 115, 100, 57, 12], "episodes_by_level": [[1603.0, 346.0, 51.0, 0.0], [1682.0, 339.0, 72.0, 0.0], [992.0, 197.0, 61.0, 0.0], [538.0, 81.0, 28.0, 0.0], [152.0, 21.0, 12.0, 0.0], [23.0, 2.0, 9.0, 0.0]]}, "slope": {"level_counts": [33, 80, 95, 89, 58, 55], "episodes_by_level": [[1467.0, 310.0, 43.0, 0.0], [1576.0, 317.0, 60.0, 0.0], [956.0, 216.0, 34.0, 0.0], [534.0, 118.0, 14.0, 0.0], [298.0, 58.0, 5.0, 0.0], [180.0, 33.0, 3.0, 0.0]]}, "rubble": {"level_counts": [71, 204, 246, 197, 83, 18], "episodes_by_level": [[2917.0, 656.0, 92.0, 0.0], [3478.0, 752.0, 163.0, 0.0], [2296.0, 469.0, 225.0, 0.0], [1097.0, 166.0, 171.0, 0.0], [254.0, 28.0, 65.0, 0.0], [29.0, 2.0, 10.0, 0.0]]}}, "success_archive_windows": 49711, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23291015625, "command_abs_max": [0.9984003305435181, 0.39998260140419006, 0.6999995112419128]}
{"step": 22050, "actor_lr": 5.8767597480196105e-05, "archive_windows": 50000, "env_steps": 22050, "total_transitions": 90316800, "num_steps_per_env": 1, "wm_loss": 0.7369130849838257, "actor_loss": -9.496134757995605, "critic_loss": 0.00467481417581439, "reward": 0.08690288662910461, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11411086469888687, 0.07016617804765701, 0.13560369610786438], "mean_episode_length": 1438.0454545454545, "episode_reward_terms": {"track_linear_velocity": 51.056392669677734, "track_angular_velocity": 54.3388557434082, "upright": 27.60053062438965, "leg_posture": -2.8476064205169678, "standstill": -6.418803691864014, "action_rate_l2": -0.6149001121520996, "joint_torques_l2": -0.1589650958776474, "dof_pos_limits": -0.0009695899789221585, "terminated": -0.025278137996792793, "unnecessary_wheel_lift": -0.10403691232204437, "rolling_leg_motion": -0.7140268683433533, "obstacle_progress": 3.468224287033081, "wheel_body_intrusion": -0.28086981177330017, "pair_body_intrusion": -0.3282645046710968}, "weighted_reward_terms": {"track_linear_velocity": 1.7752010822296143, "track_angular_velocity": 1.8893303871154785, "upright": 0.9596543908119202, "leg_posture": -0.09900961071252823, "standstill": -0.22317807376384735, "action_rate_l2": -0.02137971855700016, "joint_torques_l2": -0.005527123808860779, "dof_pos_limits": -3.371208003954962e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.0036173027474433184, "rolling_leg_motion": -0.024826299399137497, "obstacle_progress": 0.12058813869953156, "wheel_body_intrusion": -0.009765679016709328, "pair_body_intrusion": -0.011413565836846828}, "episode_termination_rates": {"time_out": 0.577922077922078, "fell_over": 0.045454545454545456, "course_exit": 0.36363636363636365, "illegal_nonwheel_contact": 0.032467532467532464}, "collection_time_s": 0.07561550100450404, "learning_time_s": 0.18542304565547965, "iteration_time_s": 0.3340454552826301, "policy_updates": 21750, "skipped_updates": 0, "invalid_env_resets": 106, "elapsed_s": 7365.702288981993, "nonwheel_terminations": 12034, "contact_bce": 0.30717694759368896, "contact_force_loss": 0.02196391671895981, "collision_bce": 0.00019572135352063924, "collision_label_rate": 0.00012236906331963837, "collision_prediction_mean": 0.00016758123820181936, "collision_label_count": 16344.0, "terrain_level_mean": 3.38330078125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [16, 70, 98, 95, 62, 69], "episodes_by_level": [[1386.0, 299.0, 47.0, 0.0], [1546.0, 342.0, 35.0, 0.0], [1018.0, 238.0, 26.0, 0.0], [581.0, 137.0, 12.0, 0.0], [300.0, 71.0, 6.0, 0.0], [192.0, 51.0, 2.0, 0.0]]}, "up": {"level_counts": [0, 1, 25, 215, 618, 574], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2393.0, 1462.0, 37.0, 0.0], [4239.0, 1712.0, 165.0, 0.0], [3963.0, 1407.0, 189.0, 0.0], [2653.0, 690.0, 147.0, 0.0], [684.0, 30.0, 81.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 2, 51, 560], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [939.0, 766.0, 26.0, 0.0], [1468.0, 1151.0, 58.0, 0.0], [4637.0, 3623.0, 201.0, 0.0]]}, "platform": {"level_counts": [37, 89, 115, 100, 56, 13], "episodes_by_level": [[1604.0, 346.0, 51.0, 0.0], [1682.0, 339.0, 72.0, 0.0], [996.0, 197.0, 61.0, 0.0], [541.0, 82.0, 28.0, 0.0], [155.0, 22.0, 13.0, 0.0], [24.0, 2.0, 9.0, 0.0]]}, "slope": {"level_counts": [32, 81, 95, 88, 58, 56], "episodes_by_level": [[1468.0, 311.0, 43.0, 0.0], [1578.0, 317.0, 60.0, 0.0], [961.0, 216.0, 34.0, 0.0], [537.0, 119.0, 14.0, 0.0], [300.0, 59.0, 5.0, 0.0], [185.0, 33.0, 3.0, 0.0]]}, "rubble": {"level_counts": [71, 205, 245, 197, 82, 19], "episodes_by_level": [[2921.0, 656.0, 93.0, 0.0], [3482.0, 752.0, 163.0, 0.0], [2308.0, 471.0, 226.0, 0.0], [1106.0, 166.0, 173.0, 0.0], [257.0, 29.0, 65.0, 0.0], [29.0, 2.0, 10.0, 0.0]]}}, "success_archive_windows": 49855, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.237548828125, "command_abs_max": [0.9944164752960205, 0.39998260140419006, 0.6999995112419128]}
{"step": 22100, "actor_lr": 5.870726947162908e-05, "archive_windows": 50000, "env_steps": 22100, "total_transitions": 90521600, "num_steps_per_env": 1, "wm_loss": 0.7623134851455688, "actor_loss": -9.457452774047852, "critic_loss": 0.006525327451527119, "reward": 0.08709097653627396, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11379154026508331, 0.07046596705913544, 0.1336454302072525], "mean_episode_length": 1396.3521126760563, "episode_reward_terms": {"track_linear_velocity": 49.60124588012695, "track_angular_velocity": 52.85627746582031, "upright": 26.833162307739258, "leg_posture": -2.8253989219665527, "standstill": -6.076613426208496, "action_rate_l2": -0.5811218023300171, "joint_torques_l2": -0.15521091222763062, "dof_pos_limits": -0.0012129070237278938, "terminated": -0.01636349968612194, "unnecessary_wheel_lift": -0.09382863342761993, "rolling_leg_motion": -0.6811920404434204, "obstacle_progress": 3.326298475265503, "wheel_body_intrusion": -0.2706650495529175, "pair_body_intrusion": -0.30575618147850037}, "weighted_reward_terms": {"track_linear_velocity": 1.776100993156433, "track_angular_velocity": 1.8926557302474976, "upright": 0.960830807685852, "leg_posture": -0.10117071866989136, "standstill": -0.2175888568162918, "action_rate_l2": -0.020808568224310875, "joint_torques_l2": -0.005557728465646505, "dof_pos_limits": -4.3431271478766575e-05, "terminated": -0.0005859374068677425, "unnecessary_wheel_lift": -0.0033597766887396574, "rolling_leg_motion": -0.024391843006014824, "obstacle_progress": 0.1191067174077034, "wheel_body_intrusion": -0.009691862389445305, "pair_body_intrusion": -0.010948390699923038}, "episode_termination_rates": {"time_out": 0.4859154929577465, "fell_over": 0.014084507042253521, "course_exit": 0.47183098591549294, "illegal_nonwheel_contact": 0.035211267605633804}, "collection_time_s": 0.07551688517676666, "learning_time_s": 0.1852187247585971, "iteration_time_s": 0.3338796465228969, "policy_updates": 21800, "skipped_updates": 0, "invalid_env_resets": 106, "elapsed_s": 7378.740188156022, "nonwheel_terminations": 12039, "contact_bce": 0.3061021566390991, "contact_force_loss": 0.021642128005623817, "collision_bce": 9.696187771623954e-05, "collision_label_rate": 6.125198706286028e-05, "collision_prediction_mean": 2.7152276743436232e-05, "collision_label_count": 16326.0, "terrain_level_mean": 3.38720703125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [15, 70, 98, 96, 62, 69], "episodes_by_level": [[1387.0, 300.0, 47.0, 0.0], [1547.0, 343.0, 35.0, 0.0], [1021.0, 239.0, 26.0, 0.0], [582.0, 137.0, 12.0, 0.0], [301.0, 71.0, 6.0, 0.0], [193.0, 51.0, 2.0, 0.0]]}, "up": {"level_counts": [0, 1, 25, 208, 622, 577], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2393.0, 1462.0, 37.0, 0.0], [4240.0, 1712.0, 165.0, 0.0], [3975.0, 1414.0, 189.0, 0.0], [2665.0, 694.0, 147.0, 0.0], [692.0, 30.0, 81.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 2, 51, 560], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [939.0, 766.0, 26.0, 0.0], [1469.0, 1152.0, 58.0, 0.0], [4657.0, 3640.0, 201.0, 0.0]]}, "platform": {"level_counts": [37, 89, 115, 100, 56, 13], "episodes_by_level": [[1604.0, 346.0, 51.0, 0.0], [1683.0, 339.0, 72.0, 0.0], [996.0, 197.0, 61.0, 0.0], [545.0, 82.0, 28.0, 0.0], [156.0, 22.0, 13.0, 0.0], [25.0, 2.0, 9.0, 0.0]]}, "slope": {"level_counts": [31, 79, 98, 87, 59, 56], "episodes_by_level": [[1470.0, 312.0, 43.0, 0.0], [1581.0, 320.0, 60.0, 0.0], [963.0, 216.0, 34.0, 0.0], [544.0, 120.0, 14.0, 0.0], [301.0, 59.0, 5.0, 0.0], [185.0, 33.0, 3.0, 0.0]]}, "rubble": {"level_counts": [71, 205, 248, 193, 83, 19], "episodes_by_level": [[2921.0, 656.0, 93.0, 0.0], [3490.0, 753.0, 163.0, 0.0], [2318.0, 471.0, 227.0, 0.0], [1115.0, 167.0, 176.0, 0.0], [260.0, 29.0, 65.0, 0.0], [30.0, 2.0, 10.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.239501953125, "command_abs_max": [0.9964404106140137, 0.39998260140419006, 0.6999995112419128]}
{"step": 22150, "actor_lr": 5.8645540771720255e-05, "archive_windows": 50000, "env_steps": 22150, "total_transitions": 90726400, "num_steps_per_env": 1, "wm_loss": 0.726811408996582, "actor_loss": -9.472379684448242, "critic_loss": 0.006574959959834814, "reward": 0.08693783730268478, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11604061722755432, 0.07136767357587814, 0.13407230377197266], "mean_episode_length": 1329.1146496815286, "episode_reward_terms": {"track_linear_velocity": 47.03971862792969, "track_angular_velocity": 50.271705627441406, "upright": 25.533397674560547, "leg_posture": -2.6669535636901855, "standstill": -5.686050891876221, "action_rate_l2": -0.5567413568496704, "joint_torques_l2": -0.14777220785617828, "dof_pos_limits": -0.0008529209881089628, "terminated": -0.018171487376093864, "unnecessary_wheel_lift": -0.08523253351449966, "rolling_leg_motion": -0.6405057907104492, "obstacle_progress": 3.1381330490112305, "wheel_body_intrusion": -0.26027587056159973, "pair_body_intrusion": -0.3700419068336487}, "weighted_reward_terms": {"track_linear_velocity": 1.7695884704589844, "track_angular_velocity": 1.8911727666854858, "upright": 0.9605416655540466, "leg_posture": -0.10032820701599121, "standstill": -0.21390369534492493, "action_rate_l2": -0.02094406820833683, "joint_torques_l2": -0.005559047218412161, "dof_pos_limits": -3.208605994586833e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.00320636504329741, "rolling_leg_motion": -0.0240952055901289, "obstacle_progress": 0.11805352568626404, "wheel_body_intrusion": -0.009791325777769089, "pair_body_intrusion": -0.0139206163585186}, "episode_termination_rates": {"time_out": 0.4585987261146497, "fell_over": 0.03184713375796178, "course_exit": 0.4968152866242038, "illegal_nonwheel_contact": 0.01910828025477707}, "collection_time_s": 0.07570142688113264, "learning_time_s": 0.1851262575609144, "iteration_time_s": 0.3337147914590976, "policy_updates": 21850, "skipped_updates": 0, "invalid_env_resets": 106, "elapsed_s": 7391.782630819012, "nonwheel_terminations": 12042, "contact_bce": 0.30603843927383423, "contact_force_loss": 0.020707029849290848, "collision_bce": 0.0003898714203387499, "collision_label_rate": 0.00012233913003001362, "collision_prediction_mean": 0.0002839490189217031, "collision_label_count": 16348.0, "terrain_level_mean": 3.390380859375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [15, 70, 98, 96, 62, 69], "episodes_by_level": [[1387.0, 300.0, 47.0, 0.0], [1547.0, 343.0, 35.0, 0.0], [1024.0, 239.0, 26.0, 0.0], [587.0, 137.0, 12.0, 0.0], [302.0, 71.0, 6.0, 0.0], [195.0, 51.0, 2.0, 0.0]]}, "up": {"level_counts": [0, 1, 24, 207, 621, 580], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2394.0, 1462.0, 37.0, 0.0], [4243.0, 1713.0, 165.0, 0.0], [3978.0, 1416.0, 189.0, 0.0], [2683.0, 699.0, 147.0, 0.0], [707.0, 31.0, 83.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 2, 54, 557], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [939.0, 766.0, 26.0, 0.0], [1470.0, 1153.0, 58.0, 0.0], [4685.0, 3664.0, 201.0, 0.0]]}, "platform": {"level_counts": [37, 88, 115, 100, 57, 13], "episodes_by_level": [[1607.0, 346.0, 51.0, 0.0], [1689.0, 340.0, 72.0, 0.0], [999.0, 198.0, 61.0, 0.0], [547.0, 83.0, 28.0, 0.0], [157.0, 22.0, 13.0, 0.0], [25.0, 2.0, 9.0, 0.0]]}, "slope": {"level_counts": [31, 79, 98, 87, 59, 56], "episodes_by_level": [[1470.0, 312.0, 43.0, 0.0], [1582.0, 320.0, 60.0, 0.0], [964.0, 216.0, 34.0, 0.0], [544.0, 120.0, 14.0, 0.0], [301.0, 59.0, 5.0, 0.0], [185.0, 33.0, 3.0, 0.0]]}, "rubble": {"level_counts": [70, 203, 250, 192, 85, 19], "episodes_by_level": [[2924.0, 657.0, 93.0, 0.0], [3499.0, 756.0, 163.0, 0.0], [2326.0, 473.0, 227.0, 0.0], [1121.0, 169.0, 177.0, 0.0], [262.0, 29.0, 65.0, 0.0], [31.0, 2.0, 10.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.237548828125, "command_abs_max": [0.9994697570800781, 0.39972999691963196, 0.6999995112419128]}
{"step": 22200, "actor_lr": 5.8582415188186615e-05, "archive_windows": 50000, "env_steps": 22200, "total_transitions": 90931200, "num_steps_per_env": 1, "wm_loss": 0.7309791445732117, "actor_loss": -9.502405166625977, "critic_loss": 0.006181939039379358, "reward": 0.08680129796266556, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11560063809156418, 0.07006166875362396, 0.13348786532878876], "mean_episode_length": 1342.8287671232877, "episode_reward_terms": {"track_linear_velocity": 47.58592987060547, "track_angular_velocity": 50.835330963134766, "upright": 25.789670944213867, "leg_posture": -2.6804676055908203, "standstill": -6.135259628295898, "action_rate_l2": -0.5651358366012573, "joint_torques_l2": -0.14803120493888855, "dof_pos_limits": -0.0009175434242933989, "terminated": -0.020981695502996445, "unnecessary_wheel_lift": -0.12192048877477646, "rolling_leg_motion": -0.6433985233306885, "obstacle_progress": 3.2488019466400146, "wheel_body_intrusion": -0.25463658571243286, "pair_body_intrusion": -0.3297022581100464}, "weighted_reward_terms": {"track_linear_velocity": 1.7718541622161865, "track_angular_velocity": 1.8928449153900146, "upright": 0.9602741003036499, "leg_posture": -0.0998067557811737, "standstill": -0.22844535112380981, "action_rate_l2": -0.02104273810982704, "joint_torques_l2": -0.00551191670820117, "dof_pos_limits": -3.416457548155449e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.00453968858346343, "rolling_leg_motion": -0.02395683526992798, "obstacle_progress": 0.12096859514713287, "wheel_body_intrusion": -0.009481350891292095, "pair_body_intrusion": -0.012276407331228256}, "episode_termination_rates": {"time_out": 0.4315068493150685, "fell_over": 0.02054794520547945, "course_exit": 0.5136986301369864, "illegal_nonwheel_contact": 0.04794520547945205}, "collection_time_s": 0.0756934915157035, "learning_time_s": 0.18496981535921805, "iteration_time_s": 0.3335503112724332, "policy_updates": 21900, "skipped_updates": 0, "invalid_env_resets": 106, "elapsed_s": 7404.816910248017, "nonwheel_terminations": 12049, "contact_bce": 0.3050626218318939, "contact_force_loss": 0.021070072427392006, "collision_bce": 9.206607501255348e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 9.215995305567048e-06, "collision_label_count": 16343.0, "terrain_level_mean": 3.39501953125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [14, 70, 98, 96, 63, 69], "episodes_by_level": [[1388.0, 301.0, 47.0, 0.0], [1550.0, 344.0, 35.0, 0.0], [1028.0, 240.0, 26.0, 0.0], [590.0, 138.0, 12.0, 0.0], [302.0, 71.0, 6.0, 0.0], [195.0, 51.0, 2.0, 0.0]]}, "up": {"level_counts": [0, 1, 23, 207, 619, 583], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2394.0, 1462.0, 37.0, 0.0], [4244.0, 1714.0, 165.0, 0.0], [3981.0, 1418.0, 189.0, 0.0], [2704.0, 704.0, 147.0, 0.0], [722.0, 32.0, 85.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 2, 52, 559], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [939.0, 766.0, 26.0, 0.0], [1472.0, 1155.0, 58.0, 0.0], [4706.0, 3681.0, 201.0, 0.0]]}, "platform": {"level_counts": [38, 87, 114, 99, 59, 13], "episodes_by_level": [[1608.0, 346.0, 51.0, 0.0], [1693.0, 340.0, 73.0, 0.0], [1003.0, 199.0, 61.0, 0.0], [551.0, 85.0, 28.0, 0.0], [157.0, 22.0, 13.0, 0.0], [25.0, 2.0, 9.0, 0.0]]}, "slope": {"level_counts": [30, 77, 102, 85, 60, 56], "episodes_by_level": [[1471.0, 313.0, 43.0, 0.0], [1586.0, 323.0, 60.0, 0.0], [969.0, 216.0, 34.0, 0.0], [548.0, 121.0, 15.0, 0.0], [307.0, 59.0, 5.0, 0.0], [185.0, 33.0, 3.0, 0.0]]}, "rubble": {"level_counts": [71, 201, 248, 196, 84, 19], "episodes_by_level": [[2927.0, 658.0, 93.0, 0.0], [3506.0, 757.0, 165.0, 0.0], [2333.0, 476.0, 227.0, 0.0], [1128.0, 169.0, 177.0, 0.0], [264.0, 29.0, 66.0, 0.0], [31.0, 2.0, 10.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.236328125, "command_abs_max": [0.9994697570800781, 0.39972999691963196, 0.6999995112419128]}
{"step": 22250, "actor_lr": 5.851789661491149e-05, "archive_windows": 50000, "env_steps": 22250, "total_transitions": 91136000, "num_steps_per_env": 1, "wm_loss": 0.6860529184341431, "actor_loss": -9.502466201782227, "critic_loss": 0.003179029328748584, "reward": 0.08720315992832184, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11447673290967941, 0.06951460242271423, 0.13240496814250946], "mean_episode_length": 1414.3714285714286, "episode_reward_terms": {"track_linear_velocity": 50.22602081298828, "track_angular_velocity": 53.58140182495117, "upright": 27.16478729248047, "leg_posture": -2.822044610977173, "standstill": -5.963850975036621, "action_rate_l2": -0.6043376326560974, "joint_torques_l2": -0.15510809421539307, "dof_pos_limits": -0.0008237678557634354, "terminated": -0.019337108358740807, "unnecessary_wheel_lift": -0.11437613517045975, "rolling_leg_motion": -0.7040441632270813, "obstacle_progress": 3.395399332046509, "wheel_body_intrusion": -0.2826712727546692, "pair_body_intrusion": -0.36336538195610046}, "weighted_reward_terms": {"track_linear_velocity": 1.7755597829818726, "track_angular_velocity": 1.8941771984100342, "upright": 0.960313081741333, "leg_posture": -0.09976320713758469, "standstill": -0.2108304351568222, "action_rate_l2": -0.021364176645874977, "joint_torques_l2": -0.005483287386596203, "dof_pos_limits": -2.912134186772164e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.004043355584144592, "rolling_leg_motion": -0.024888940155506134, "obstacle_progress": 0.12003209441900253, "wheel_body_intrusion": -0.009992823004722595, "pair_body_intrusion": -0.012845471501350403}, "episode_termination_rates": {"time_out": 0.5428571428571428, "fell_over": 0.02857142857142857, "course_exit": 0.40714285714285714, "illegal_nonwheel_contact": 0.02142857142857143}, "collection_time_s": 0.07589838354149833, "learning_time_s": 0.18344346910365858, "iteration_time_s": 0.33338360029586667, "policy_updates": 21950, "skipped_updates": 0, "invalid_env_resets": 106, "elapsed_s": 7417.785106583033, "nonwheel_terminations": 12052, "contact_bce": 0.2957400977611542, "contact_force_loss": 0.02042722888290882, "collision_bce": 0.0002526510215830058, "collision_label_rate": 0.00012260912626516074, "collision_prediction_mean": 6.996448064455763e-05, "collision_label_count": 16312.0, "terrain_level_mean": 3.399169921875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [14, 69, 98, 97, 62, 70], "episodes_by_level": [[1388.0, 301.0, 47.0, 0.0], [1554.0, 345.0, 35.0, 0.0], [1033.0, 241.0, 26.0, 0.0], [591.0, 138.0, 12.0, 0.0], [303.0, 72.0, 6.0, 0.0], [198.0, 51.0, 2.0, 0.0]]}, "up": {"level_counts": [0, 1, 21, 207, 622, 582], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2394.0, 1462.0, 37.0, 0.0], [4246.0, 1716.0, 165.0, 0.0], [3990.0, 1421.0, 189.0, 0.0], [2716.0, 708.0, 147.0, 0.0], [736.0, 32.0, 87.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 3, 49, 561], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [939.0, 766.0, 26.0, 0.0], [1473.0, 1156.0, 58.0, 0.0], [4721.0, 3695.0, 201.0, 0.0]]}, "platform": {"level_counts": [38, 87, 113, 98, 60, 14], "episodes_by_level": [[1608.0, 346.0, 51.0, 0.0], [1693.0, 340.0, 73.0, 0.0], [1008.0, 200.0, 61.0, 0.0], [553.0, 87.0, 28.0, 0.0], [160.0, 23.0, 13.0, 0.0], [25.0, 2.0, 9.0, 0.0]]}, "slope": {"level_counts": [30, 77, 101, 86, 59, 57], "episodes_by_level": [[1473.0, 313.0, 43.0, 0.0], [1588.0, 323.0, 60.0, 0.0], [973.0, 217.0, 34.0, 0.0], [551.0, 121.0, 15.0, 0.0], [311.0, 60.0, 5.0, 0.0], [187.0, 34.0, 3.0, 0.0]]}, "rubble": {"level_counts": [71, 200, 247, 197, 85, 19], "episodes_by_level": [[2929.0, 658.0, 93.0, 0.0], [3509.0, 758.0, 165.0, 0.0], [2341.0, 478.0, 227.0, 0.0], [1132.0, 170.0, 177.0, 0.0], [265.0, 29.0, 66.0, 0.0], [31.0, 2.0, 10.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.236328125, "command_abs_max": [0.9994697570800781, 0.39972999691963196, 0.6992961168289185]}
{"step": 22300, "actor_lr": 5.8451989031704394e-05, "archive_windows": 50000, "env_steps": 22300, "total_transitions": 91340800, "num_steps_per_env": 1, "wm_loss": 0.7358366250991821, "actor_loss": -9.499531745910645, "critic_loss": 0.0037279643584042788, "reward": 0.08720432221889496, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11675410717725754, 0.06966033577919006, 0.13314847648143768], "mean_episode_length": 1398.5670731707316, "episode_reward_terms": {"track_linear_velocity": 49.515403747558594, "track_angular_velocity": 52.952735900878906, "upright": 26.852493286132812, "leg_posture": -2.7510478496551514, "standstill": -5.770054817199707, "action_rate_l2": -0.6078843474388123, "joint_torques_l2": -0.15443143248558044, "dof_pos_limits": -0.0007397944573312998, "terminated": -0.021852605044841766, "unnecessary_wheel_lift": -0.11109162867069244, "rolling_leg_motion": -0.6904687285423279, "obstacle_progress": 3.3809549808502197, "wheel_body_intrusion": -0.273586243391037, "pair_body_intrusion": -0.3593645393848419}, "weighted_reward_terms": {"track_linear_velocity": 1.7702192068099976, "track_angular_velocity": 1.8931069374084473, "upright": 0.960000216960907, "leg_posture": -0.09835238009691238, "standstill": -0.2062845230102539, "action_rate_l2": -0.021732399240136147, "joint_torques_l2": -0.00552105950191617, "dof_pos_limits": -2.6448302378412336e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.003971623256802559, "rolling_leg_motion": -0.024684865027666092, "obstacle_progress": 0.12087211012840271, "wheel_body_intrusion": -0.009780948981642723, "pair_body_intrusion": -0.01284759771078825}, "episode_termination_rates": {"time_out": 0.49390243902439024, "fell_over": 0.006097560975609756, "course_exit": 0.4573170731707317, "illegal_nonwheel_contact": 0.042682926829268296}, "collection_time_s": 0.07595241840463132, "learning_time_s": 0.1840836335811764, "iteration_time_s": 0.3332191919075349, "policy_updates": 22000, "skipped_updates": 0, "invalid_env_resets": 107, "elapsed_s": 7430.787979538029, "nonwheel_terminations": 12059, "contact_bce": 0.3007400333881378, "contact_force_loss": 0.01990586519241333, "collision_bce": 0.0006928701768629253, "collision_label_rate": 0.000183812269824557, "collision_prediction_mean": 0.00023400226200465113, "collision_label_count": 16321.0, "terrain_level_mean": 3.40478515625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [14, 68, 99, 96, 61, 72], "episodes_by_level": [[1389.0, 301.0, 47.0, 0.0], [1559.0, 346.0, 35.0, 0.0], [1035.0, 241.0, 26.0, 0.0], [593.0, 139.0, 12.0, 0.0], [307.0, 74.0, 6.0, 0.0], [199.0, 51.0, 2.0, 0.0]]}, "up": {"level_counts": [0, 1, 19, 204, 620, 589], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2394.0, 1462.0, 37.0, 0.0], [4248.0, 1718.0, 165.0, 0.0], [3997.0, 1426.0, 189.0, 0.0], [2740.0, 718.0, 147.0, 0.0], [760.0, 38.0, 89.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 3, 48, 562], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [939.0, 766.0, 26.0, 0.0], [1474.0, 1157.0, 58.0, 0.0], [4742.0, 3710.0, 201.0, 0.0]]}, "platform": {"level_counts": [38, 87, 111, 100, 59, 15], "episodes_by_level": [[1608.0, 346.0, 51.0, 0.0], [1696.0, 340.0, 73.0, 0.0], [1015.0, 202.0, 61.0, 0.0], [554.0, 87.0, 28.0, 0.0], [162.0, 24.0, 13.0, 0.0], [26.0, 2.0, 9.0, 0.0]]}, "slope": {"level_counts": [30, 77, 101, 86, 60, 56], "episodes_by_level": [[1473.0, 313.0, 43.0, 0.0], [1591.0, 324.0, 60.0, 0.0], [977.0, 217.0, 35.0, 0.0], [552.0, 121.0, 15.0, 0.0], [314.0, 60.0, 5.0, 0.0], [190.0, 34.0, 4.0, 0.0]]}, "rubble": {"level_counts": [71, 199, 245, 202, 83, 19], "episodes_by_level": [[2931.0, 659.0, 93.0, 0.0], [3516.0, 759.0, 166.0, 0.0], [2347.0, 481.0, 227.0, 0.0], [1141.0, 170.0, 177.0, 0.0], [267.0, 29.0, 68.0, 0.0], [31.0, 2.0, 10.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2294921875, "command_abs_max": [0.9994697570800781, 0.3999395966529846, 0.6995892524719238]}
{"step": 22350, "actor_lr": 5.8384696504055516e-05, "archive_windows": 50000, "env_steps": 22350, "total_transitions": 91545600, "num_steps_per_env": 1, "wm_loss": 0.6739461421966553, "actor_loss": -9.498207092285156, "critic_loss": 0.0036695064045488834, "reward": 0.08711422979831696, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11568765342235565, 0.0707189217209816, 0.13489946722984314], "mean_episode_length": 1255.9930555555557, "episode_reward_terms": {"track_linear_velocity": 44.4904899597168, "track_angular_velocity": 47.47422409057617, "upright": 24.10143280029297, "leg_posture": -2.483023166656494, "standstill": -5.346101760864258, "action_rate_l2": -0.5433533191680908, "joint_torques_l2": -0.1404704749584198, "dof_pos_limits": -0.00024098297581076622, "terminated": -0.01717177778482437, "unnecessary_wheel_lift": -0.0817440077662468, "rolling_leg_motion": -0.6107366681098938, "obstacle_progress": 3.1053268909454346, "wheel_body_intrusion": -0.23991484940052032, "pair_body_intrusion": -0.29385820031166077}, "weighted_reward_terms": {"track_linear_velocity": 1.7711280584335327, "track_angular_velocity": 1.889907956123352, "upright": 0.959457278251648, "leg_posture": -0.09884701669216156, "standstill": -0.21282368898391724, "action_rate_l2": -0.02163042686879635, "joint_torques_l2": -0.005592008586972952, "dof_pos_limits": -9.593324648449197e-06, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.003254158655181527, "rolling_leg_motion": -0.024312900379300117, "obstacle_progress": 0.12362039089202881, "wheel_body_intrusion": -0.00955080334097147, "pair_body_intrusion": -0.011698241345584393}, "episode_termination_rates": {"time_out": 0.3958333333333333, "fell_over": 0.034722222222222224, "course_exit": 0.5555555555555556, "illegal_nonwheel_contact": 0.020833333333333332}, "collection_time_s": 0.07560868684202432, "learning_time_s": 0.19291539133759217, "iteration_time_s": 0.33307450995445087, "policy_updates": 22050, "skipped_updates": 0, "invalid_env_resets": 107, "elapsed_s": 7444.215297481976, "nonwheel_terminations": 12062, "contact_bce": 0.2979365289211273, "contact_force_loss": 0.02019187994301319, "collision_bce": 5.088827947474783e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 5.150453944224864e-06, "collision_label_count": 16359.0, "terrain_level_mean": 3.40966796875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [14, 68, 98, 96, 62, 72], "episodes_by_level": [[1389.0, 301.0, 47.0, 0.0], [1562.0, 346.0, 35.0, 0.0], [1037.0, 242.0, 26.0, 0.0], [596.0, 140.0, 12.0, 0.0], [308.0, 74.0, 6.0, 0.0], [200.0, 51.0, 2.0, 0.0]]}, "up": {"level_counts": [0, 1, 19, 200, 619, 594], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2394.0, 1462.0, 37.0, 0.0], [4248.0, 1718.0, 165.0, 0.0], [4003.0, 1430.0, 189.0, 0.0], [2754.0, 724.0, 147.0, 0.0], [782.0, 39.0, 90.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 3, 51, 559], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [939.0, 766.0, 26.0, 0.0], [1474.0, 1157.0, 58.0, 0.0], [4770.0, 3734.0, 203.0, 0.0]]}, "platform": {"level_counts": [38, 85, 114, 99, 59, 15], "episodes_by_level": [[1609.0, 346.0, 51.0, 0.0], [1700.0, 342.0, 73.0, 0.0], [1015.0, 202.0, 61.0, 0.0], [560.0, 87.0, 29.0, 0.0], [163.0, 24.0, 13.0, 0.0], [27.0, 2.0, 9.0, 0.0]]}, "slope": {"level_counts": [30, 74, 102, 88, 60, 56], "episodes_by_level": [[1474.0, 314.0, 43.0, 0.0], [1596.0, 327.0, 61.0, 0.0], [984.0, 219.0, 35.0, 0.0], [553.0, 121.0, 15.0, 0.0], [315.0, 60.0, 5.0, 0.0], [191.0, 34.0, 4.0, 0.0]]}, "rubble": {"level_counts": [71, 197, 248, 197, 86, 20], "episodes_by_level": [[2935.0, 659.0, 93.0, 0.0], [3520.0, 761.0, 166.0, 0.0], [2351.0, 481.0, 227.0, 0.0], [1148.0, 174.0, 178.0, 0.0], [270.0, 30.0, 68.0, 0.0], [32.0, 2.0, 10.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22802734375, "command_abs_max": [0.9994697570800781, 0.3999395966529846, 0.6995892524719238]}
{"step": 22400, "actor_lr": 5.8316023182884935e-05, "archive_windows": 50000, "env_steps": 22400, "total_transitions": 91750400, "num_steps_per_env": 1, "wm_loss": 0.7200252413749695, "actor_loss": -9.490689277648926, "critic_loss": 0.0074552991427481174, "reward": 0.08710156381130219, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11763422191143036, 0.07127337902784348, 0.13493794202804565], "mean_episode_length": 1321.2530864197531, "episode_reward_terms": {"track_linear_velocity": 46.651973724365234, "track_angular_velocity": 49.95330810546875, "upright": 25.35652732849121, "leg_posture": -2.6552226543426514, "standstill": -5.4490885734558105, "action_rate_l2": -0.5641046166419983, "joint_torques_l2": -0.14765897393226624, "dof_pos_limits": -0.0006396393291652203, "terminated": -0.012902860529720783, "unnecessary_wheel_lift": -0.09136855602264404, "rolling_leg_motion": -0.6327620148658752, "obstacle_progress": 3.2454569339752197, "wheel_body_intrusion": -0.25990545749664307, "pair_body_intrusion": -0.3104005455970764}, "weighted_reward_terms": {"track_linear_velocity": 1.7654443979263306, "track_angular_velocity": 1.8903762102127075, "upright": 0.959563672542572, "leg_posture": -0.10048123449087143, "standstill": -0.20620912313461304, "action_rate_l2": -0.02134733460843563, "joint_torques_l2": -0.005587838590145111, "dof_pos_limits": -2.420578312012367e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.003457647981122136, "rolling_leg_motion": -0.023945527151226997, "obstacle_progress": 0.12281738221645355, "wheel_body_intrusion": -0.009835567325353622, "pair_body_intrusion": -0.011746445670723915}, "episode_termination_rates": {"time_out": 0.4444444444444444, "fell_over": 0.018518518518518517, "course_exit": 0.5246913580246914, "illegal_nonwheel_contact": 0.018518518518518517}, "collection_time_s": 0.0759516649635043, "learning_time_s": 0.18525766959646717, "iteration_time_s": 0.33291414577732215, "policy_updates": 22100, "skipped_updates": 0, "invalid_env_resets": 108, "elapsed_s": 7457.2768654120155, "nonwheel_terminations": 12065, "contact_bce": 0.29687854647636414, "contact_force_loss": 0.021295057609677315, "collision_bce": 8.675969183968846e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 8.693235031387303e-06, "collision_label_count": 16371.0, "terrain_level_mean": 3.417236328125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [14, 68, 96, 98, 60, 74], "episodes_by_level": [[1389.0, 301.0, 47.0, 0.0], [1563.0, 346.0, 35.0, 0.0], [1041.0, 244.0, 26.0, 0.0], [599.0, 140.0, 12.0, 0.0], [311.0, 76.0, 6.0, 0.0], [204.0, 52.0, 2.0, 0.0]]}, "up": {"level_counts": [0, 1, 18, 197, 614, 603], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2394.0, 1462.0, 37.0, 0.0], [4249.0, 1719.0, 165.0, 0.0], [4008.0, 1434.0, 189.0, 0.0], [2773.0, 735.0, 147.0, 0.0], [801.0, 40.0, 90.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 3, 46, 564], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [939.0, 766.0, 26.0, 0.0], [1480.0, 1162.0, 58.0, 0.0], [4797.0, 3758.0, 203.0, 0.0]]}, "platform": {"level_counts": [38, 85, 114, 99, 59, 15], "episodes_by_level": [[1609.0, 346.0, 51.0, 0.0], [1701.0, 342.0, 73.0, 0.0], [1021.0, 202.0, 61.0, 0.0], [560.0, 87.0, 29.0, 0.0], [165.0, 24.0, 13.0, 0.0], [27.0, 2.0, 9.0, 0.0]]}, "slope": {"level_counts": [30, 73, 101, 89, 61, 56], "episodes_by_level": [[1475.0, 314.0, 43.0, 0.0], [1601.0, 328.0, 61.0, 0.0], [987.0, 221.0, 35.0, 0.0], [554.0, 122.0, 15.0, 0.0], [316.0, 60.0, 5.0, 0.0], [192.0, 34.0, 4.0, 0.0]]}, "rubble": {"level_counts": [69, 200, 247, 195, 87, 21], "episodes_by_level": [[2938.0, 661.0, 93.0, 0.0], [3524.0, 761.0, 166.0, 0.0], [2363.0, 483.0, 228.0, 0.0], [1153.0, 176.0, 180.0, 0.0], [273.0, 31.0, 68.0, 0.0], [33.0, 2.0, 10.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2294921875, "command_abs_max": [0.9964404106140137, 0.3999395966529846, 0.6995892524719238]}
{"step": 22450, "actor_lr": 5.824597330428657e-05, "archive_windows": 50000, "env_steps": 22450, "total_transitions": 91955200, "num_steps_per_env": 1, "wm_loss": 0.7246516942977905, "actor_loss": -9.506959915161133, "critic_loss": 0.00353066623210907, "reward": 0.08643724024295807, "falls": 4, "interval_steps": 50, "velocity_mae": [0.1179375946521759, 0.07331180572509766, 0.13688737154006958], "mean_episode_length": 1366.4931506849316, "episode_reward_terms": {"track_linear_velocity": 48.15980911254883, "track_angular_velocity": 51.56422805786133, "upright": 26.191598892211914, "leg_posture": -2.755939483642578, "standstill": -6.27105188369751, "action_rate_l2": -0.5861825942993164, "joint_torques_l2": -0.15461817383766174, "dof_pos_limits": -0.0012367591261863708, "terminated": -0.010675725527107716, "unnecessary_wheel_lift": -0.1079467311501503, "rolling_leg_motion": -0.6683310270309448, "obstacle_progress": 3.353327751159668, "wheel_body_intrusion": -0.27068161964416504, "pair_body_intrusion": -0.32641780376434326}, "weighted_reward_terms": {"track_linear_velocity": 1.7621679306030273, "track_angular_velocity": 1.8867356777191162, "upright": 0.9583508968353271, "leg_posture": -0.10083986073732376, "standstill": -0.22945787012577057, "action_rate_l2": -0.021448427811264992, "joint_torques_l2": -0.005657481029629707, "dof_pos_limits": -4.5253033022163436e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.003949772100895643, "rolling_leg_motion": -0.024454239755868912, "obstacle_progress": 0.12269830703735352, "wheel_body_intrusion": -0.009904243983328342, "pair_body_intrusion": -0.011943631805479527}, "episode_termination_rates": {"time_out": 0.5, "fell_over": 0.0273972602739726, "course_exit": 0.4726027397260274, "illegal_nonwheel_contact": 0.00684931506849315}, "collection_time_s": 0.07565633692429401, "learning_time_s": 0.18534656075527892, "iteration_time_s": 0.3327540374671281, "policy_updates": 22150, "skipped_updates": 0, "invalid_env_resets": 108, "elapsed_s": 7470.328141137026, "nonwheel_terminations": 12066, "contact_bce": 0.30395635962486267, "contact_force_loss": 0.020785752683877945, "collision_bce": 5.00121768709505e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 5.065267487225356e-06, "collision_label_count": 16344.0, "terrain_level_mean": 3.422607421875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [14, 68, 94, 100, 58, 76], "episodes_by_level": [[1389.0, 301.0, 47.0, 0.0], [1565.0, 346.0, 35.0, 0.0], [1045.0, 246.0, 26.0, 0.0], [605.0, 140.0, 12.0, 0.0], [314.0, 78.0, 6.0, 0.0], [206.0, 52.0, 2.0, 0.0]]}, "up": {"level_counts": [0, 1, 17, 195, 612, 608], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2394.0, 1462.0, 37.0, 0.0], [4250.0, 1720.0, 165.0, 0.0], [4014.0, 1437.0, 189.0, 0.0], [2791.0, 741.0, 147.0, 0.0], [813.0, 41.0, 90.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 3, 46, 564], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [939.0, 766.0, 26.0, 0.0], [1481.0, 1163.0, 58.0, 0.0], [4820.0, 3774.0, 203.0, 0.0]]}, "platform": {"level_counts": [38, 85, 112, 100, 59, 16], "episodes_by_level": [[1609.0, 346.0, 51.0, 0.0], [1706.0, 342.0, 73.0, 0.0], [1025.0, 204.0, 61.0, 0.0], [562.0, 88.0, 29.0, 0.0], [167.0, 25.0, 13.0, 0.0], [28.0, 2.0, 9.0, 0.0]]}, "slope": {"level_counts": [30, 73, 99, 90, 61, 57], "episodes_by_level": [[1477.0, 314.0, 43.0, 0.0], [1601.0, 328.0, 61.0, 0.0], [990.0, 223.0, 35.0, 0.0], [559.0, 123.0, 15.0, 0.0], [318.0, 61.0, 5.0, 0.0], [193.0, 34.0, 4.0, 0.0]]}, "rubble": {"level_counts": [69, 200, 246, 196, 87, 21], "episodes_by_level": [[2942.0, 662.0, 93.0, 0.0], [3534.0, 762.0, 167.0, 0.0], [2366.0, 484.0, 229.0, 0.0], [1158.0, 176.0, 180.0, 0.0], [275.0, 31.0, 68.0, 0.0], [33.0, 2.0, 10.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22998046875, "command_abs_max": [0.9956753253936768, 0.3999395966529846, 0.6995892524719238]}
{"step": 22500, "actor_lr": 5.817455118926691e-05, "archive_windows": 50000, "env_steps": 22500, "total_transitions": 92160000, "num_steps_per_env": 1, "wm_loss": 0.7551831603050232, "actor_loss": -9.493791580200195, "critic_loss": 0.003493664553388953, "reward": 0.08662241697311401, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11694488674402237, 0.07327985763549805, 0.1362173855304718], "mean_episode_length": 1394.462962962963, "episode_reward_terms": {"track_linear_velocity": 49.20353698730469, "track_angular_velocity": 52.66228103637695, "upright": 26.717058181762695, "leg_posture": -2.7654759883880615, "standstill": -6.421292304992676, "action_rate_l2": -0.6254690885543823, "joint_torques_l2": -0.15658222138881683, "dof_pos_limits": -0.0009286440326832235, "terminated": -0.019064921885728836, "unnecessary_wheel_lift": -0.10781598836183548, "rolling_leg_motion": -0.6734693050384521, "obstacle_progress": 3.5186750888824463, "wheel_body_intrusion": -0.2442469447851181, "pair_body_intrusion": -0.29545894265174866}, "weighted_reward_terms": {"track_linear_velocity": 1.764246940612793, "track_angular_velocity": 1.8882638216018677, "upright": 0.9579694271087646, "leg_posture": -0.09915917366743088, "standstill": -0.23024249076843262, "action_rate_l2": -0.022426879033446312, "joint_torques_l2": -0.005614427383989096, "dof_pos_limits": -3.3297550544375554e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.003865860402584076, "rolling_leg_motion": -0.02414797991514206, "obstacle_progress": 0.1261659562587738, "wheel_body_intrusion": -0.008757742121815681, "pair_body_intrusion": -0.010594003833830357}, "episode_termination_rates": {"time_out": 0.5061728395061729, "fell_over": 0.037037037037037035, "course_exit": 0.4506172839506173, "illegal_nonwheel_contact": 0.024691358024691357}, "collection_time_s": 0.07558717112173326, "learning_time_s": 0.18452361869742162, "iteration_time_s": 0.33259265602004406, "policy_updates": 22200, "skipped_updates": 0, "invalid_env_resets": 108, "elapsed_s": 7483.334760450991, "nonwheel_terminations": 12070, "contact_bce": 0.3097831904888153, "contact_force_loss": 0.021634342148900032, "collision_bce": 5.928299651714042e-05, "collision_label_rate": 6.122948980191723e-05, "collision_prediction_mean": 3.1475512514589354e-05, "collision_label_count": 16332.0, "terrain_level_mean": 3.427490234375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [14, 67, 95, 100, 56, 78], "episodes_by_level": [[1389.0, 301.0, 47.0, 0.0], [1567.0, 347.0, 35.0, 0.0], [1048.0, 246.0, 26.0, 0.0], [609.0, 141.0, 12.0, 0.0], [320.0, 80.0, 7.0, 0.0], [208.0, 53.0, 2.0, 0.0]]}, "up": {"level_counts": [0, 1, 17, 194, 607, 614], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2394.0, 1462.0, 37.0, 0.0], [4250.0, 1720.0, 165.0, 0.0], [4022.0, 1439.0, 189.0, 0.0], [2804.0, 747.0, 147.0, 0.0], [825.0, 43.0, 90.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 3, 45, 565], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [939.0, 766.0, 26.0, 0.0], [1484.0, 1166.0, 58.0, 0.0], [4843.0, 3796.0, 203.0, 0.0]]}, "platform": {"level_counts": [39, 84, 110, 102, 58, 17], "episodes_by_level": [[1610.0, 346.0, 51.0, 0.0], [1711.0, 342.0, 74.0, 0.0], [1031.0, 206.0, 61.0, 0.0], [566.0, 88.0, 29.0, 0.0], [169.0, 26.0, 13.0, 0.0], [28.0, 2.0, 9.0, 0.0]]}, "slope": {"level_counts": [28, 74, 99, 91, 59, 59], "episodes_by_level": [[1482.0, 316.0, 43.0, 0.0], [1606.0, 329.0, 61.0, 0.0], [995.0, 224.0, 35.0, 0.0], [561.0, 123.0, 15.0, 0.0], [323.0, 63.0, 5.0, 0.0], [193.0, 34.0, 4.0, 0.0]]}, "rubble": {"level_counts": [71, 197, 245, 198, 87, 21], "episodes_by_level": [[2943.0, 662.0, 93.0, 0.0], [3543.0, 763.0, 169.0, 0.0], [2375.0, 486.0, 229.0, 0.0], [1158.0, 176.0, 180.0, 0.0], [278.0, 31.0, 68.0, 0.0], [33.0, 2.0, 10.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.230712890625, "command_abs_max": [0.9956753253936768, 0.3999395966529846, 0.6995892524719238]}
{"step": 22550, "actor_lr": 5.810176124347843e-05, "archive_windows": 50000, "env_steps": 22550, "total_transitions": 92364800, "num_steps_per_env": 1, "wm_loss": 0.7309507131576538, "actor_loss": -9.52896499633789, "critic_loss": 0.005488957744091749, "reward": 0.08703698962926865, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11540256440639496, 0.07175140082836151, 0.13544483482837677], "mean_episode_length": 1390.4315068493152, "episode_reward_terms": {"track_linear_velocity": 49.20908737182617, "track_angular_velocity": 52.543174743652344, "upright": 26.659725189208984, "leg_posture": -2.7547011375427246, "standstill": -6.041992664337158, "action_rate_l2": -0.5999170541763306, "joint_torques_l2": -0.15550832450389862, "dof_pos_limits": -0.00144129095133394, "terminated": -0.016294116154313087, "unnecessary_wheel_lift": -0.08972446620464325, "rolling_leg_motion": -0.6715378165245056, "obstacle_progress": 3.4668097496032715, "wheel_body_intrusion": -0.24599909782409668, "pair_body_intrusion": -0.2826806902885437}, "weighted_reward_terms": {"track_linear_velocity": 1.769561767578125, "track_angular_velocity": 1.8894556760787964, "upright": 0.9586853384971619, "leg_posture": -0.09905922412872314, "standstill": -0.2172704041004181, "action_rate_l2": -0.021573053672909737, "joint_torques_l2": -0.005592088680714369, "dof_pos_limits": -5.1828908908646554e-05, "terminated": -0.0005859374068677425, "unnecessary_wheel_lift": -0.003226497443392873, "rolling_leg_motion": -0.024148540571331978, "obstacle_progress": 0.12466669082641602, "wheel_body_intrusion": -0.008846142329275608, "pair_body_intrusion": -0.010165215469896793}, "episode_termination_rates": {"time_out": 0.4657534246575342, "fell_over": 0.02054794520547945, "course_exit": 0.4931506849315068, "illegal_nonwheel_contact": 0.0410958904109589}, "collection_time_s": 0.07586153678363189, "learning_time_s": 0.18360433229594492, "iteration_time_s": 0.33243172803791726, "policy_updates": 22250, "skipped_updates": 0, "invalid_env_resets": 109, "elapsed_s": 7496.335467255034, "nonwheel_terminations": 12076, "contact_bce": 0.3026510775089264, "contact_force_loss": 0.021151194348931313, "collision_bce": 0.0007098917267285287, "collision_label_rate": 6.116956501500681e-05, "collision_prediction_mean": 5.3569074225379154e-05, "collision_label_count": 16348.0, "terrain_level_mean": 3.431884765625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [14, 67, 94, 100, 55, 80], "episodes_by_level": [[1389.0, 301.0, 47.0, 0.0], [1567.0, 347.0, 35.0, 0.0], [1052.0, 247.0, 26.0, 0.0], [612.0, 142.0, 12.0, 0.0], [322.0, 82.0, 7.0, 0.0], [210.0, 54.0, 2.0, 0.0]]}, "up": {"level_counts": [0, 1, 16, 191, 609, 616], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2394.0, 1462.0, 37.0, 0.0], [4251.0, 1721.0, 165.0, 0.0], [4030.0, 1443.0, 189.0, 0.0], [2820.0, 749.0, 147.0, 0.0], [835.0, 44.0, 90.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 2, 46, 565], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [940.0, 767.0, 26.0, 0.0], [1486.0, 1168.0, 58.0, 0.0], [4862.0, 3815.0, 203.0, 0.0]]}, "platform": {"level_counts": [39, 84, 109, 103, 58, 17], "episodes_by_level": [[1611.0, 346.0, 51.0, 0.0], [1713.0, 342.0, 74.0, 0.0], [1036.0, 207.0, 61.0, 0.0], [571.0, 89.0, 29.0, 0.0], [170.0, 26.0, 14.0, 0.0], [28.0, 2.0, 9.0, 0.0]]}, "slope": {"level_counts": [28, 73, 100, 90, 58, 61], "episodes_by_level": [[1482.0, 316.0, 43.0, 0.0], [1609.0, 330.0, 61.0, 0.0], [998.0, 224.0, 35.0, 0.0], [563.0, 124.0, 15.0, 0.0], [326.0, 65.0, 5.0, 0.0], [197.0, 34.0, 4.0, 0.0]]}, "rubble": {"level_counts": [71, 197, 246, 195, 89, 21], "episodes_by_level": [[2946.0, 662.0, 93.0, 0.0], [3548.0, 764.0, 169.0, 0.0], [2380.0, 487.0, 230.0, 0.0], [1169.0, 178.0, 182.0, 0.0], [278.0, 31.0, 68.0, 0.0], [35.0, 2.0, 10.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22900390625, "command_abs_max": [0.9984237551689148, 0.3999395966529846, 0.6995892524719238]}
{"step": 22600, "actor_lr": 5.8027607956947865e-05, "archive_windows": 50000, "env_steps": 22600, "total_transitions": 92569600, "num_steps_per_env": 1, "wm_loss": 0.6906514167785645, "actor_loss": -9.505754470825195, "critic_loss": 0.00730317085981369, "reward": 0.08667279779911041, "falls": 3, "interval_steps": 50, "velocity_mae": [0.11833193153142929, 0.07171072065830231, 0.13545918464660645], "mean_episode_length": 1362.2435897435898, "episode_reward_terms": {"track_linear_velocity": 48.059837341308594, "track_angular_velocity": 51.47598648071289, "upright": 26.098186492919922, "leg_posture": -2.7239227294921875, "standstill": -6.124527454376221, "action_rate_l2": -0.5998610258102417, "joint_torques_l2": -0.15301117300987244, "dof_pos_limits": -0.001634288695640862, "terminated": -0.007981894537806511, "unnecessary_wheel_lift": -0.09448321908712387, "rolling_leg_motion": -0.662338137626648, "obstacle_progress": 3.3945915699005127, "wheel_body_intrusion": -0.2718222141265869, "pair_body_intrusion": -0.3195635676383972}, "weighted_reward_terms": {"track_linear_velocity": 1.7639957666397095, "track_angular_velocity": 1.8893827199935913, "upright": 0.9579119682312012, "leg_posture": -0.09997928142547607, "standstill": -0.2247956246137619, "action_rate_l2": -0.02201739512383938, "joint_torques_l2": -0.0056161461398005486, "dof_pos_limits": -5.9985191910527647e-05, "terminated": -0.00029296870343387127, "unnecessary_wheel_lift": -0.003467926988378167, "rolling_leg_motion": -0.024310564622282982, "obstacle_progress": 0.12459561973810196, "wheel_body_intrusion": -0.009977005422115326, "pair_body_intrusion": -0.011729312129318714}, "episode_termination_rates": {"time_out": 0.46153846153846156, "fell_over": 0.019230769230769232, "course_exit": 0.5192307692307693, "illegal_nonwheel_contact": 0.01282051282051282}, "collection_time_s": 0.07602679329924285, "learning_time_s": 0.18289710196084344, "iteration_time_s": 0.33226914915796557, "policy_updates": 22300, "skipped_updates": 0, "invalid_env_resets": 111, "elapsed_s": 7509.282770970021, "nonwheel_terminations": 12078, "contact_bce": 0.2980496883392334, "contact_force_loss": 0.020892934873700142, "collision_bce": 1.392855938320281e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.3835278878104873e-05, "collision_label_count": 16350.0, "terrain_level_mean": 3.43896484375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [14, 65, 96, 100, 54, 81], "episodes_by_level": [[1390.0, 301.0, 47.0, 0.0], [1570.0, 349.0, 35.0, 0.0], [1053.0, 247.0, 26.0, 0.0], [613.0, 142.0, 12.0, 0.0], [323.0, 83.0, 7.0, 0.0], [214.0, 54.0, 2.0, 0.0]]}, "up": {"level_counts": [0, 1, 15, 188, 607, 622], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2394.0, 1462.0, 37.0, 0.0], [4252.0, 1722.0, 165.0, 0.0], [4036.0, 1446.0, 189.0, 0.0], [2835.0, 755.0, 147.0, 0.0], [847.0, 46.0, 90.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 2, 45, 566], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [940.0, 767.0, 26.0, 0.0], [1489.0, 1171.0, 58.0, 0.0], [4890.0, 3837.0, 204.0, 0.0]]}, "platform": {"level_counts": [39, 84, 106, 105, 59, 17], "episodes_by_level": [[1612.0, 346.0, 51.0, 0.0], [1718.0, 342.0, 74.0, 0.0], [1042.0, 210.0, 61.0, 0.0], [572.0, 90.0, 29.0, 0.0], [172.0, 26.0, 14.0, 0.0], [28.0, 2.0, 9.0, 0.0]]}, "slope": {"level_counts": [27, 74, 100, 90, 55, 64], "episodes_by_level": [[1485.0, 318.0, 43.0, 0.0], [1610.0, 330.0, 62.0, 0.0], [998.0, 224.0, 35.0, 0.0], [566.0, 124.0, 15.0, 0.0], [329.0, 68.0, 5.0, 0.0], [199.0, 34.0, 4.0, 0.0]]}, "rubble": {"level_counts": [71, 195, 245, 197, 90, 21], "episodes_by_level": [[2948.0, 662.0, 93.0, 0.0], [3554.0, 766.0, 169.0, 0.0], [2388.0, 490.0, 230.0, 0.0], [1174.0, 179.0, 182.0, 0.0], [280.0, 31.0, 68.0, 0.0], [35.0, 2.0, 10.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.228759765625, "command_abs_max": [0.9984237551689148, 0.3996681272983551, 0.6987352967262268]}
{"step": 22650, "actor_lr": 5.795209590379922e-05, "archive_windows": 50000, "env_steps": 22650, "total_transitions": 92774400, "num_steps_per_env": 1, "wm_loss": 0.7114599943161011, "actor_loss": -9.465413093566895, "critic_loss": 0.007255537901073694, "reward": 0.08671934902667999, "falls": 8, "interval_steps": 50, "velocity_mae": [0.1172390952706337, 0.07222823053598404, 0.13465192914009094], "mean_episode_length": 1400.6733333333334, "episode_reward_terms": {"track_linear_velocity": 49.467262268066406, "track_angular_velocity": 52.96657943725586, "upright": 26.875125885009766, "leg_posture": -2.832212448120117, "standstill": -6.300438404083252, "action_rate_l2": -0.61583012342453, "joint_torques_l2": -0.1568671613931656, "dof_pos_limits": -0.001725716982036829, "terminated": -0.021885516121983528, "unnecessary_wheel_lift": -0.12148084491491318, "rolling_leg_motion": -0.682874858379364, "obstacle_progress": 3.4888811111450195, "wheel_body_intrusion": -0.28164365887641907, "pair_body_intrusion": -0.3174173831939697}, "weighted_reward_terms": {"track_linear_velocity": 1.7658387422561646, "track_angular_velocity": 1.8907541036605835, "upright": 0.9593645334243774, "leg_posture": -0.1011018231511116, "standstill": -0.2249075025320053, "action_rate_l2": -0.02198336087167263, "joint_torques_l2": -0.0055997055023908615, "dof_pos_limits": -6.160312477732077e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.004336515907198191, "rolling_leg_motion": -0.02437666431069374, "obstacle_progress": 0.12454299628734589, "wheel_body_intrusion": -0.010053866542875767, "pair_body_intrusion": -0.01133088581264019}, "episode_termination_rates": {"time_out": 0.4866666666666667, "fell_over": 0.04666666666666667, "course_exit": 0.46, "illegal_nonwheel_contact": 0.03333333333333333}, "collection_time_s": 0.07560554013587534, "learning_time_s": 0.18407823076006025, "iteration_time_s": 0.33210896572525506, "policy_updates": 22350, "skipped_updates": 0, "invalid_env_resets": 111, "elapsed_s": 7522.268073677027, "nonwheel_terminations": 12083, "contact_bce": 0.306007444858551, "contact_force_loss": 0.021592658013105392, "collision_bce": 0.00019004005298484117, "collision_label_rate": 0.00012247396807651967, "collision_prediction_mean": 0.00014382197696249932, "collision_label_count": 16330.0, "terrain_level_mean": 3.44287109375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [14, 64, 94, 102, 54, 82], "episodes_by_level": [[1390.0, 301.0, 47.0, 0.0], [1572.0, 350.0, 35.0, 0.0], [1060.0, 250.0, 26.0, 0.0], [614.0, 143.0, 12.0, 0.0], [326.0, 84.0, 7.0, 0.0], [218.0, 54.0, 2.0, 0.0]]}, "up": {"level_counts": [0, 1, 15, 187, 606, 624], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2394.0, 1462.0, 37.0, 0.0], [4252.0, 1722.0, 165.0, 0.0], [4041.0, 1448.0, 189.0, 0.0], [2849.0, 758.0, 147.0, 0.0], [863.0, 51.0, 91.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 2, 45, 566], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [940.0, 767.0, 26.0, 0.0], [1491.0, 1173.0, 58.0, 0.0], [4901.0, 3846.0, 204.0, 0.0]]}, "platform": {"level_counts": [39, 83, 106, 105, 59, 18], "episodes_by_level": [[1612.0, 346.0, 51.0, 0.0], [1720.0, 343.0, 74.0, 0.0], [1045.0, 211.0, 61.0, 0.0], [576.0, 91.0, 29.0, 0.0], [175.0, 27.0, 14.0, 0.0], [28.0, 2.0, 9.0, 0.0]]}, "slope": {"level_counts": [27, 73, 101, 90, 55, 64], "episodes_by_level": [[1486.0, 318.0, 43.0, 0.0], [1614.0, 331.0, 62.0, 0.0], [1003.0, 224.0, 35.0, 0.0], [569.0, 124.0, 15.0, 0.0], [330.0, 68.0, 5.0, 0.0], [199.0, 34.0, 4.0, 0.0]]}, "rubble": {"level_counts": [70, 197, 245, 194, 91, 22], "episodes_by_level": [[2951.0, 663.0, 93.0, 0.0], [3562.0, 766.0, 169.0, 0.0], [2400.0, 492.0, 231.0, 0.0], [1180.0, 181.0, 185.0, 0.0], [282.0, 32.0, 68.0, 0.0], [35.0, 2.0, 10.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2265625, "command_abs_max": [0.9984237551689148, 0.3996681272983551, 0.6989861726760864]}
{"step": 22700, "actor_lr": 5.787522974197162e-05, "archive_windows": 50000, "env_steps": 22700, "total_transitions": 92979200, "num_steps_per_env": 1, "wm_loss": 0.747498095035553, "actor_loss": -9.488256454467773, "critic_loss": 0.004597063641995192, "reward": 0.0869923010468483, "falls": 11, "interval_steps": 50, "velocity_mae": [0.11717204004526138, 0.07201981544494629, 0.13605044782161713], "mean_episode_length": 1361.7534246575342, "episode_reward_terms": {"track_linear_velocity": 48.08565902709961, "track_angular_velocity": 51.455562591552734, "upright": 26.118701934814453, "leg_posture": -2.687988519668579, "standstill": -5.854488372802734, "action_rate_l2": -0.5907272100448608, "joint_torques_l2": -0.15103425085544586, "dof_pos_limits": -0.0021748251747339964, "terminated": -0.029256418347358704, "unnecessary_wheel_lift": -0.10232602804899216, "rolling_leg_motion": -0.6534139513969421, "obstacle_progress": 3.455305576324463, "wheel_body_intrusion": -0.26119452714920044, "pair_body_intrusion": -0.3205816149711609}, "weighted_reward_terms": {"track_linear_velocity": 1.7655787467956543, "track_angular_velocity": 1.8893128633499146, "upright": 0.9590100049972534, "leg_posture": -0.09869585931301117, "standstill": -0.21496140956878662, "action_rate_l2": -0.021689947694540024, "joint_torques_l2": -0.005545580293983221, "dof_pos_limits": -7.985385309439152e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.0037571422290056944, "rolling_leg_motion": -0.023991640657186508, "obstacle_progress": 0.12686972320079803, "wheel_body_intrusion": -0.009590375237166882, "pair_body_intrusion": -0.011770913377404213}, "episode_termination_rates": {"time_out": 0.4452054794520548, "fell_over": 0.04794520547945205, "course_exit": 0.4794520547945205, "illegal_nonwheel_contact": 0.04794520547945205}, "collection_time_s": 0.07550400277948938, "learning_time_s": 0.18530336851719767, "iteration_time_s": 0.3319519613642299, "policy_updates": 22400, "skipped_updates": 0, "invalid_env_resets": 111, "elapsed_s": 7535.309522968018, "nonwheel_terminations": 12090, "contact_bce": 0.30369430780410767, "contact_force_loss": 0.021994678303599358, "collision_bce": 0.00013314708485268056, "collision_label_rate": 6.115085852798074e-05, "collision_prediction_mean": 9.896926349028945e-05, "collision_label_count": 16353.0, "terrain_level_mean": 3.44677734375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [14, 64, 94, 102, 52, 84], "episodes_by_level": [[1390.0, 301.0, 47.0, 0.0], [1577.0, 350.0, 35.0, 0.0], [1062.0, 250.0, 26.0, 0.0], [616.0, 144.0, 12.0, 0.0], [329.0, 86.0, 8.0, 0.0], [220.0, 54.0, 2.0, 0.0]]}, "up": {"level_counts": [0, 2, 14, 184, 605, 628], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2394.0, 1462.0, 37.0, 0.0], [4253.0, 1722.0, 165.0, 0.0], [4046.0, 1452.0, 189.0, 0.0], [2863.0, 764.0, 148.0, 0.0], [884.0, 53.0, 93.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 2, 44, 567], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [940.0, 767.0, 26.0, 0.0], [1492.0, 1174.0, 58.0, 0.0], [4916.0, 3859.0, 204.0, 0.0]]}, "platform": {"level_counts": [39, 83, 106, 104, 60, 18], "episodes_by_level": [[1614.0, 346.0, 51.0, 0.0], [1722.0, 343.0, 74.0, 0.0], [1047.0, 211.0, 61.0, 0.0], [578.0, 92.0, 29.0, 0.0], [177.0, 27.0, 14.0, 0.0], [28.0, 2.0, 9.0, 0.0]]}, "slope": {"level_counts": [27, 73, 99, 91, 55, 65], "episodes_by_level": [[1486.0, 318.0, 43.0, 0.0], [1615.0, 331.0, 62.0, 0.0], [1009.0, 226.0, 35.0, 0.0], [571.0, 125.0, 15.0, 0.0], [332.0, 69.0, 5.0, 0.0], [202.0, 34.0, 4.0, 0.0]]}, "rubble": {"level_counts": [69, 197, 245, 196, 90, 22], "episodes_by_level": [[2952.0, 664.0, 93.0, 0.0], [3568.0, 768.0, 169.0, 0.0], [2407.0, 495.0, 232.0, 0.0], [1185.0, 181.0, 187.0, 0.0], [286.0, 33.0, 69.0, 0.0], [36.0, 2.0, 11.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22998046875, "command_abs_max": [0.9984237551689148, 0.3996681272983551, 0.6989861726760864]}
{"step": 22750, "actor_lr": 5.7797014212932015e-05, "archive_windows": 50000, "env_steps": 22750, "total_transitions": 93184000, "num_steps_per_env": 1, "wm_loss": 0.7153853178024292, "actor_loss": -9.485147476196289, "critic_loss": 0.005152493715286255, "reward": 0.08676475286483765, "falls": 14, "interval_steps": 50, "velocity_mae": [0.1175311952829361, 0.07378631830215454, 0.13585668802261353], "mean_episode_length": 1399.0176470588235, "episode_reward_terms": {"track_linear_velocity": 49.30276107788086, "track_angular_velocity": 52.84846115112305, "upright": 26.84022331237793, "leg_posture": -2.803072690963745, "standstill": -6.101450443267822, "action_rate_l2": -0.6097993850708008, "joint_torques_l2": -0.15438690781593323, "dof_pos_limits": -0.0008747433312237263, "terminated": -0.03825438767671585, "unnecessary_wheel_lift": -0.1325480341911316, "rolling_leg_motion": -0.6920840740203857, "obstacle_progress": 3.529881715774536, "wheel_body_intrusion": -0.27004027366638184, "pair_body_intrusion": -0.3334411382675171}, "weighted_reward_terms": {"track_linear_velocity": 1.7620493173599243, "track_angular_velocity": 1.8887702226638794, "upright": 0.9592525362968445, "leg_posture": -0.10018002986907959, "standstill": -0.21806195378303528, "action_rate_l2": -0.021793842315673828, "joint_torques_l2": -0.005517689511179924, "dof_pos_limits": -3.1262770789908245e-05, "terminated": -0.0013671873603016138, "unnecessary_wheel_lift": -0.004737182054668665, "rolling_leg_motion": -0.02473464421927929, "obstacle_progress": 0.12615571916103363, "wheel_body_intrusion": -0.009651066735386848, "pair_body_intrusion": -0.011916973628103733}, "episode_termination_rates": {"time_out": 0.48823529411764705, "fell_over": 0.029411764705882353, "course_exit": 0.4294117647058823, "illegal_nonwheel_contact": 0.07058823529411765}, "collection_time_s": 0.07591940650134348, "learning_time_s": 0.1852180031593889, "iteration_time_s": 0.3317963751648798, "policy_updates": 22450, "skipped_updates": 0, "invalid_env_resets": 112, "elapsed_s": 7548.367535001016, "nonwheel_terminations": 12102, "contact_bce": 0.29616689682006836, "contact_force_loss": 0.020543353632092476, "collision_bce": 0.00027438258985057473, "collision_label_rate": 0.00012268433056306094, "collision_prediction_mean": 4.478646587813273e-05, "collision_label_count": 16302.0, "terrain_level_mean": 3.448486328125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [14, 64, 93, 104, 49, 86], "episodes_by_level": [[1391.0, 301.0, 47.0, 0.0], [1579.0, 350.0, 35.0, 0.0], [1063.0, 251.0, 26.0, 0.0], [617.0, 144.0, 12.0, 0.0], [333.0, 88.0, 9.0, 0.0], [221.0, 54.0, 2.0, 0.0]]}, "up": {"level_counts": [0, 2, 14, 183, 598, 636], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2394.0, 1462.0, 37.0, 0.0], [4253.0, 1722.0, 165.0, 0.0], [4052.0, 1454.0, 189.0, 0.0], [2882.0, 772.0, 149.0, 0.0], [902.0, 56.0, 93.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 2, 46, 565], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [940.0, 767.0, 26.0, 0.0], [1494.0, 1175.0, 58.0, 0.0], [4935.0, 3876.0, 204.0, 0.0]]}, "platform": {"level_counts": [39, 83, 106, 103, 60, 19], "episodes_by_level": [[1614.0, 346.0, 51.0, 0.0], [1728.0, 344.0, 74.0, 0.0], [1050.0, 211.0, 62.0, 0.0], [581.0, 93.0, 29.0, 0.0], [179.0, 28.0, 14.0, 0.0], [30.0, 2.0, 9.0, 0.0]]}, "slope": {"level_counts": [26, 74, 99, 91, 56, 64], "episodes_by_level": [[1488.0, 319.0, 43.0, 0.0], [1617.0, 331.0, 62.0, 0.0], [1012.0, 226.0, 35.0, 0.0], [574.0, 125.0, 15.0, 0.0], [332.0, 69.0, 5.0, 0.0], [205.0, 34.0, 5.0, 0.0]]}, "rubble": {"level_counts": [70, 198, 243, 196, 91, 21], "episodes_by_level": [[2954.0, 664.0, 93.0, 0.0], [3574.0, 768.0, 170.0, 0.0], [2423.0, 496.0, 234.0, 0.0], [1197.0, 183.0, 188.0, 0.0], [290.0, 33.0, 71.0, 0.0], [37.0, 2.0, 12.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.228271484375, "command_abs_max": [0.9984237551689148, 0.3996681272983551, 0.6989861726760864]}
{"step": 22800, "actor_lr": 5.771745414138264e-05, "archive_windows": 50000, "env_steps": 22800, "total_transitions": 93388800, "num_steps_per_env": 1, "wm_loss": 0.7120288014411926, "actor_loss": -9.495237350463867, "critic_loss": 0.007354521658271551, "reward": 0.08710368722677231, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11600357294082642, 0.07271100580692291, 0.1336572766304016], "mean_episode_length": 1341.2937062937062, "episode_reward_terms": {"track_linear_velocity": 47.40023422241211, "track_angular_velocity": 50.749332427978516, "upright": 25.750246047973633, "leg_posture": -2.665043830871582, "standstill": -5.6157917976379395, "action_rate_l2": -0.5777140259742737, "joint_torques_l2": -0.14836397767066956, "dof_pos_limits": -0.00029310162062756717, "terminated": -0.023577425628900528, "unnecessary_wheel_lift": -0.09516140073537827, "rolling_leg_motion": -0.6554046869277954, "obstacle_progress": 3.2686071395874023, "wheel_body_intrusion": -0.2357509434223175, "pair_body_intrusion": -0.31970325112342834}, "weighted_reward_terms": {"track_linear_velocity": 1.7669596672058105, "track_angular_velocity": 1.8918054103851318, "upright": 0.9599034190177917, "leg_posture": -0.09934601932764053, "standstill": -0.209342360496521, "action_rate_l2": -0.021535702049732208, "joint_torques_l2": -0.005530630238354206, "dof_pos_limits": -1.092607908503851e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.003547373926267028, "rolling_leg_motion": -0.024431811645627022, "obstacle_progress": 0.1218453198671341, "wheel_body_intrusion": -0.00878819264471531, "pair_body_intrusion": -0.011917719617486}, "episode_termination_rates": {"time_out": 0.44755244755244755, "fell_over": 0.027972027972027972, "course_exit": 0.48951048951048953, "illegal_nonwheel_contact": 0.055944055944055944}, "collection_time_s": 0.07554703006055206, "learning_time_s": 0.18532100652344524, "iteration_time_s": 0.33164087751872884, "policy_updates": 22500, "skipped_updates": 0, "invalid_env_resets": 112, "elapsed_s": 7561.412007427018, "nonwheel_terminations": 12110, "contact_bce": 0.3003319799900055, "contact_force_loss": 0.02118065021932125, "collision_bce": 7.845467735023703e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 7.869052751630079e-06, "collision_label_count": 16367.0, "terrain_level_mean": 3.451904296875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [14, 64, 91, 106, 49, 86], "episodes_by_level": [[1395.0, 301.0, 48.0, 0.0], [1581.0, 350.0, 35.0, 0.0], [1066.0, 253.0, 26.0, 0.0], [621.0, 144.0, 12.0, 0.0], [336.0, 88.0, 9.0, 0.0], [224.0, 55.0, 2.0, 0.0]]}, "up": {"level_counts": [0, 2, 14, 176, 602, 639], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2394.0, 1462.0, 37.0, 0.0], [4254.0, 1722.0, 165.0, 0.0], [4062.0, 1461.0, 189.0, 0.0], [2900.0, 779.0, 149.0, 0.0], [918.0, 56.0, 96.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 2, 47, 564], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [940.0, 767.0, 26.0, 0.0], [1494.0, 1175.0, 58.0, 0.0], [4955.0, 3895.0, 204.0, 0.0]]}, "platform": {"level_counts": [39, 82, 107, 104, 59, 19], "episodes_by_level": [[1614.0, 346.0, 51.0, 0.0], [1732.0, 345.0, 74.0, 0.0], [1052.0, 211.0, 62.0, 0.0], [584.0, 93.0, 29.0, 0.0], [181.0, 28.0, 15.0, 0.0], [30.0, 2.0, 9.0, 0.0]]}, "slope": {"level_counts": [26, 74, 99, 91, 55, 65], "episodes_by_level": [[1489.0, 319.0, 43.0, 0.0], [1617.0, 331.0, 62.0, 0.0], [1016.0, 226.0, 35.0, 0.0], [578.0, 125.0, 15.0, 0.0], [336.0, 71.0, 5.0, 0.0], [206.0, 34.0, 6.0, 0.0]]}, "rubble": {"level_counts": [70, 198, 241, 198, 91, 21], "episodes_by_level": [[2956.0, 664.0, 94.0, 0.0], [3578.0, 768.0, 170.0, 0.0], [2429.0, 498.0, 234.0, 0.0], [1202.0, 183.0, 188.0, 0.0], [293.0, 33.0, 71.0, 0.0], [38.0, 3.0, 12.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.226806640625, "command_abs_max": [0.9987999796867371, 0.3996681272983551, 0.6989861726760864]}
{"step": 22850, "actor_lr": 5.7636554434963484e-05, "archive_windows": 50000, "env_steps": 22850, "total_transitions": 93593600, "num_steps_per_env": 1, "wm_loss": 0.7052165865898132, "actor_loss": -9.509848594665527, "critic_loss": 0.0030581720639020205, "reward": 0.08743736892938614, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11588223278522491, 0.07267731428146362, 0.13335463404655457], "mean_episode_length": 1318.4710144927535, "episode_reward_terms": {"track_linear_velocity": 46.63481903076172, "track_angular_velocity": 49.9145393371582, "upright": 25.303974151611328, "leg_posture": -2.568411350250244, "standstill": -5.344318866729736, "action_rate_l2": -0.5721061825752258, "joint_torques_l2": -0.14542046189308167, "dof_pos_limits": -0.0005988988559693098, "terminated": -0.02060110680758953, "unnecessary_wheel_lift": -0.08959151804447174, "rolling_leg_motion": -0.626733660697937, "obstacle_progress": 3.3116888999938965, "wheel_body_intrusion": -0.23221589624881744, "pair_body_intrusion": -0.281393826007843}, "weighted_reward_terms": {"track_linear_velocity": 1.7685188055038452, "track_angular_velocity": 1.8928947448730469, "upright": 0.9595953822135925, "leg_posture": -0.09740112721920013, "standstill": -0.202671080827713, "action_rate_l2": -0.0216958187520504, "joint_torques_l2": -0.005514738615602255, "dof_pos_limits": -2.27118689508643e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0033975534606724977, "rolling_leg_motion": -0.023767441511154175, "obstacle_progress": 0.12558823823928833, "wheel_body_intrusion": -0.008806256577372551, "pair_body_intrusion": -0.010671216994524002}, "episode_termination_rates": {"time_out": 0.45652173913043476, "fell_over": 0.028985507246376812, "course_exit": 0.4855072463768116, "illegal_nonwheel_contact": 0.050724637681159424}, "collection_time_s": 0.07555134594324045, "learning_time_s": 0.18481360843754374, "iteration_time_s": 0.331484961263327, "policy_updates": 22550, "skipped_updates": 0, "invalid_env_resets": 112, "elapsed_s": 7574.431364867021, "nonwheel_terminations": 12117, "contact_bce": 0.292843759059906, "contact_force_loss": 0.020578335970640182, "collision_bce": 7.068035483825952e-05, "collision_label_rate": 6.1221988289617e-05, "collision_prediction_mean": 8.70736621436663e-05, "collision_label_count": 16334.0, "terrain_level_mean": 3.4560546875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [14, 63, 92, 106, 48, 87], "episodes_by_level": [[1396.0, 301.0, 48.0, 0.0], [1582.0, 351.0, 35.0, 0.0], [1068.0, 253.0, 26.0, 0.0], [622.0, 144.0, 12.0, 0.0], [339.0, 89.0, 9.0, 0.0], [225.0, 55.0, 2.0, 0.0]]}, "up": {"level_counts": [0, 2, 15, 175, 595, 646], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2394.0, 1462.0, 37.0, 0.0], [4255.0, 1723.0, 165.0, 0.0], [4064.0, 1462.0, 190.0, 0.0], [2912.0, 786.0, 149.0, 0.0], [938.0, 57.0, 96.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 4, 45, 564], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [940.0, 767.0, 26.0, 0.0], [1496.0, 1176.0, 59.0, 0.0], [4974.0, 3912.0, 204.0, 0.0]]}, "platform": {"level_counts": [39, 81, 108, 104, 58, 20], "episodes_by_level": [[1615.0, 346.0, 51.0, 0.0], [1735.0, 346.0, 74.0, 0.0], [1055.0, 211.0, 62.0, 0.0], [588.0, 93.0, 29.0, 0.0], [183.0, 29.0, 15.0, 0.0], [31.0, 2.0, 9.0, 0.0]]}, "slope": {"level_counts": [26, 72, 101, 91, 54, 66], "episodes_by_level": [[1489.0, 319.0, 43.0, 0.0], [1624.0, 333.0, 62.0, 0.0], [1017.0, 226.0, 35.0, 0.0], [580.0, 125.0, 15.0, 0.0], [337.0, 72.0, 5.0, 0.0], [206.0, 34.0, 6.0, 0.0]]}, "rubble": {"level_counts": [70, 197, 239, 199, 93, 21], "episodes_by_level": [[2959.0, 664.0, 94.0, 0.0], [3585.0, 769.0, 170.0, 0.0], [2434.0, 501.0, 234.0, 0.0], [1207.0, 186.0, 188.0, 0.0], [296.0, 33.0, 72.0, 0.0], [38.0, 3.0, 12.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.227294921875, "command_abs_max": [0.9950996041297913, 0.3996681272983551, 0.6998692154884338]}
{"step": 22900, "actor_lr": 5.755432008394951e-05, "archive_windows": 50000, "env_steps": 22900, "total_transitions": 93798400, "num_steps_per_env": 1, "wm_loss": 0.7616044878959656, "actor_loss": -9.484651565551758, "critic_loss": 0.006323480047285557, "reward": 0.08743119239807129, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11649483442306519, 0.07212220132350922, 0.134206622838974], "mean_episode_length": 1367.3214285714287, "episode_reward_terms": {"track_linear_velocity": 48.32292175292969, "track_angular_velocity": 51.735416412353516, "upright": 26.247787475585938, "leg_posture": -2.6554665565490723, "standstill": -5.406867027282715, "action_rate_l2": -0.5959932208061218, "joint_torques_l2": -0.15056666731834412, "dof_pos_limits": -0.0010730390204116702, "terminated": -0.021364392712712288, "unnecessary_wheel_lift": -0.09698795527219772, "rolling_leg_motion": -0.6644037365913391, "obstacle_progress": 3.3838582038879395, "wheel_body_intrusion": -0.25296148657798767, "pair_body_intrusion": -0.29773181676864624}, "weighted_reward_terms": {"track_linear_velocity": 1.7670652866363525, "track_angular_velocity": 1.8918527364730835, "upright": 0.9598250389099121, "leg_posture": -0.09710469096899033, "standstill": -0.19771748781204224, "action_rate_l2": -0.021794190630316734, "joint_torques_l2": -0.005505898967385292, "dof_pos_limits": -3.923873009625822e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.003546640742570162, "rolling_leg_motion": -0.024295814335346222, "obstacle_progress": 0.12374040484428406, "wheel_body_intrusion": -0.009250257164239883, "pair_body_intrusion": -0.010887411423027515}, "episode_termination_rates": {"time_out": 0.4583333333333333, "fell_over": 0.023809523809523808, "course_exit": 0.49404761904761907, "illegal_nonwheel_contact": 0.02976190476190476}, "collection_time_s": 0.07585107930004596, "learning_time_s": 0.1831623732764274, "iteration_time_s": 0.3313267742727088, "policy_updates": 22600, "skipped_updates": 0, "invalid_env_resets": 113, "elapsed_s": 7587.383130845032, "nonwheel_terminations": 12122, "contact_bce": 0.3070938289165497, "contact_force_loss": 0.02227162756025791, "collision_bce": 0.0001799089804990217, "collision_label_rate": 6.124073843238875e-05, "collision_prediction_mean": 4.90814090881031e-05, "collision_label_count": 16329.0, "terrain_level_mean": 3.461181640625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [14, 62, 92, 106, 49, 87], "episodes_by_level": [[1396.0, 301.0, 48.0, 0.0], [1585.0, 352.0, 35.0, 0.0], [1074.0, 254.0, 26.0, 0.0], [626.0, 145.0, 12.0, 0.0], [340.0, 89.0, 9.0, 0.0], [225.0, 55.0, 2.0, 0.0]]}, "up": {"level_counts": [0, 2, 15, 171, 590, 655], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2394.0, 1462.0, 37.0, 0.0], [4255.0, 1723.0, 165.0, 0.0], [4070.0, 1466.0, 190.0, 0.0], [2931.0, 795.0, 149.0, 0.0], [951.0, 58.0, 96.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 5, 45, 563], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [940.0, 767.0, 26.0, 0.0], [1498.0, 1177.0, 60.0, 0.0], [4995.0, 3928.0, 204.0, 0.0]]}, "platform": {"level_counts": [38, 81, 108, 105, 58, 20], "episodes_by_level": [[1618.0, 347.0, 51.0, 0.0], [1738.0, 347.0, 74.0, 0.0], [1060.0, 212.0, 62.0, 0.0], [588.0, 93.0, 29.0, 0.0], [185.0, 29.0, 15.0, 0.0], [32.0, 3.0, 9.0, 0.0]]}, "slope": {"level_counts": [25, 71, 104, 89, 55, 66], "episodes_by_level": [[1491.0, 320.0, 43.0, 0.0], [1629.0, 335.0, 62.0, 0.0], [1019.0, 226.0, 35.0, 0.0], [585.0, 126.0, 16.0, 0.0], [339.0, 72.0, 5.0, 0.0], [207.0, 34.0, 6.0, 0.0]]}, "rubble": {"level_counts": [70, 196, 239, 200, 94, 20], "episodes_by_level": [[2959.0, 664.0, 94.0, 0.0], [3593.0, 771.0, 170.0, 0.0], [2446.0, 503.0, 235.0, 0.0], [1216.0, 186.0, 189.0, 0.0], [298.0, 34.0, 72.0, 0.0], [42.0, 3.0, 14.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.229736328125, "command_abs_max": [0.9970976710319519, 0.3996681272983551, 0.6998692154884338]}
{"step": 22950, "actor_lr": 5.747075616094283e-05, "archive_windows": 50000, "env_steps": 22950, "total_transitions": 94003200, "num_steps_per_env": 1, "wm_loss": 0.7192670106887817, "actor_loss": -9.496156692504883, "critic_loss": 0.0033240243792533875, "reward": 0.08718834072351456, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11828583478927612, 0.07253711670637131, 0.1341957449913025], "mean_episode_length": 1378.5357142857142, "episode_reward_terms": {"track_linear_velocity": 48.58102035522461, "track_angular_velocity": 52.13789749145508, "upright": 26.46575164794922, "leg_posture": -2.694535493850708, "standstill": -5.546403408050537, "action_rate_l2": -0.6131226420402527, "joint_torques_l2": -0.15194855630397797, "dof_pos_limits": -0.0007659097900614142, "terminated": -0.016154715791344643, "unnecessary_wheel_lift": -0.10040853172540665, "rolling_leg_motion": -0.6676856279373169, "obstacle_progress": 3.3357949256896973, "wheel_body_intrusion": -0.2370980829000473, "pair_body_intrusion": -0.30012935400009155}, "weighted_reward_terms": {"track_linear_velocity": 1.7620514631271362, "track_angular_velocity": 1.891060709953308, "upright": 0.9599225521087646, "leg_posture": -0.09773179143667221, "standstill": -0.20117010176181793, "action_rate_l2": -0.02223818562924862, "joint_torques_l2": -0.005511230323463678, "dof_pos_limits": -2.7779829906648956e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.0036418545059859753, "rolling_leg_motion": -0.024217205122113228, "obstacle_progress": 0.12099051475524902, "wheel_body_intrusion": -0.00859963521361351, "pair_body_intrusion": -0.010885803028941154}, "episode_termination_rates": {"time_out": 0.4880952380952381, "fell_over": 0.011904761904761904, "course_exit": 0.47619047619047616, "illegal_nonwheel_contact": 0.02976190476190476}, "collection_time_s": 0.07557716659386643, "learning_time_s": 0.18458936410374008, "iteration_time_s": 0.3311718006638358, "policy_updates": 22650, "skipped_updates": 0, "invalid_env_resets": 113, "elapsed_s": 7600.392825235031, "nonwheel_terminations": 12127, "contact_bce": 0.3015168309211731, "contact_force_loss": 0.02106303907930851, "collision_bce": 4.8020706344686914e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 4.870335033047013e-06, "collision_label_count": 16343.0, "terrain_level_mean": 3.4677734375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [14, 60, 93, 107, 48, 88], "episodes_by_level": [[1396.0, 301.0, 48.0, 0.0], [1588.0, 354.0, 35.0, 0.0], [1080.0, 255.0, 26.0, 0.0], [626.0, 145.0, 12.0, 0.0], [341.0, 90.0, 9.0, 0.0], [229.0, 57.0, 2.0, 0.0]]}, "up": {"level_counts": [0, 2, 15, 165, 593, 658], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2394.0, 1462.0, 37.0, 0.0], [4255.0, 1723.0, 165.0, 0.0], [4079.0, 1474.0, 190.0, 0.0], [2948.0, 798.0, 150.0, 0.0], [964.0, 62.0, 96.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 4, 44, 565], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [941.0, 768.0, 26.0, 0.0], [1500.0, 1179.0, 60.0, 0.0], [5018.0, 3947.0, 204.0, 0.0]]}, "platform": {"level_counts": [38, 81, 107, 106, 57, 21], "episodes_by_level": [[1622.0, 347.0, 51.0, 0.0], [1741.0, 347.0, 74.0, 0.0], [1063.0, 213.0, 62.0, 0.0], [591.0, 93.0, 29.0, 0.0], [187.0, 30.0, 15.0, 0.0], [32.0, 3.0, 9.0, 0.0]]}, "slope": {"level_counts": [25, 70, 104, 88, 54, 69], "episodes_by_level": [[1492.0, 320.0, 43.0, 0.0], [1632.0, 336.0, 62.0, 0.0], [1022.0, 227.0, 35.0, 0.0], [588.0, 128.0, 16.0, 0.0], [343.0, 75.0, 5.0, 0.0], [209.0, 34.0, 6.0, 0.0]]}, "rubble": {"level_counts": [70, 196, 238, 200, 95, 20], "episodes_by_level": [[2961.0, 664.0, 94.0, 0.0], [3602.0, 773.0, 170.0, 0.0], [2456.0, 505.0, 237.0, 0.0], [1221.0, 187.0, 190.0, 0.0], [301.0, 34.0, 72.0, 0.0], [42.0, 3.0, 14.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2314453125, "command_abs_max": [0.9970976710319519, 0.3996681272983551, 0.6998692154884338]}
{"step": 23000, "actor_lr": 5.738586782055988e-05, "archive_windows": 50000, "env_steps": 23000, "total_transitions": 94208000, "num_steps_per_env": 1, "wm_loss": 0.7191222906112671, "actor_loss": -9.507650375366211, "critic_loss": 0.002861662534996867, "reward": 0.08709179610013962, "falls": 11, "interval_steps": 50, "velocity_mae": [0.1161128357052803, 0.07344481348991394, 0.1355990469455719], "mean_episode_length": 1222.109589041096, "episode_reward_terms": {"track_linear_velocity": 43.185333251953125, "track_angular_velocity": 46.17826843261719, "upright": 23.436431884765625, "leg_posture": -2.3791615962982178, "standstill": -5.1744465827941895, "action_rate_l2": -0.5378386974334717, "joint_torques_l2": -0.1350393444299698, "dof_pos_limits": -0.0006547481752932072, "terminated": -0.0262562595307827, "unnecessary_wheel_lift": -0.0956481471657753, "rolling_leg_motion": -0.5766966938972473, "obstacle_progress": 3.0614349842071533, "wheel_body_intrusion": -0.2267790138721466, "pair_body_intrusion": -0.2732175290584564}, "weighted_reward_terms": {"track_linear_velocity": 1.7668355703353882, "track_angular_velocity": 1.8892850875854492, "upright": 0.9588514566421509, "leg_posture": -0.09733830392360687, "standstill": -0.2117014080286026, "action_rate_l2": -0.022004520520567894, "joint_torques_l2": -0.005524845793843269, "dof_pos_limits": -2.678762211871799e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.003913239110261202, "rolling_leg_motion": -0.023594312369823456, "obstacle_progress": 0.12525206804275513, "wheel_body_intrusion": -0.009278178215026855, "pair_body_intrusion": -0.011178111657500267}, "episode_termination_rates": {"time_out": 0.3493150684931507, "fell_over": 0.04794520547945205, "course_exit": 0.5753424657534246, "illegal_nonwheel_contact": 0.04794520547945205}, "collection_time_s": 0.07561362056643701, "learning_time_s": 0.19159574643475935, "iteration_time_s": 0.3310328000655661, "policy_updates": 22700, "skipped_updates": 0, "invalid_env_resets": 113, "elapsed_s": 7613.75440150802, "nonwheel_terminations": 12134, "contact_bce": 0.3044685423374176, "contact_force_loss": 0.021112117916345596, "collision_bce": 1.639350739424117e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.633812462387141e-05, "collision_label_count": 16327.0, "terrain_level_mean": 3.4697265625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [14, 58, 95, 106, 49, 88], "episodes_by_level": [[1397.0, 301.0, 48.0, 0.0], [1593.0, 356.0, 35.0, 0.0], [1083.0, 255.0, 26.0, 0.0], [631.0, 146.0, 12.0, 0.0], [342.0, 90.0, 9.0, 0.0], [232.0, 58.0, 2.0, 0.0]]}, "up": {"level_counts": [0, 2, 15, 163, 593, 660], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2394.0, 1462.0, 37.0, 0.0], [4255.0, 1723.0, 165.0, 0.0], [4086.0, 1477.0, 190.0, 0.0], [2970.0, 802.0, 151.0, 0.0], [977.0, 62.0, 98.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 6, 42, 565], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [941.0, 768.0, 26.0, 0.0], [1502.0, 1180.0, 61.0, 0.0], [5046.0, 3974.0, 204.0, 0.0]]}, "platform": {"level_counts": [38, 81, 107, 106, 56, 22], "episodes_by_level": [[1623.0, 347.0, 51.0, 0.0], [1745.0, 348.0, 74.0, 0.0], [1067.0, 213.0, 63.0, 0.0], [592.0, 93.0, 29.0, 0.0], [188.0, 31.0, 15.0, 0.0], [32.0, 3.0, 9.0, 0.0]]}, "slope": {"level_counts": [26, 68, 105, 88, 54, 69], "episodes_by_level": [[1492.0, 320.0, 43.0, 0.0], [1634.0, 337.0, 63.0, 0.0], [1023.0, 227.0, 35.0, 0.0], [590.0, 128.0, 16.0, 0.0], [344.0, 75.0, 5.0, 0.0], [211.0, 35.0, 6.0, 0.0]]}, "rubble": {"level_counts": [70, 195, 237, 204, 92, 21], "episodes_by_level": [[2961.0, 664.0, 94.0, 0.0], [3608.0, 774.0, 170.0, 0.0], [2462.0, 507.0, 237.0, 0.0], [1222.0, 187.0, 190.0, 0.0], [304.0, 35.0, 74.0, 0.0], [42.0, 3.0, 14.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.230224609375, "command_abs_max": [0.9970976710319519, 0.3997804820537567, 0.6995166540145874]}
{"step": 23050, "actor_lr": 5.729966029911331e-05, "archive_windows": 50000, "env_steps": 23050, "total_transitions": 94412800, "num_steps_per_env": 1, "wm_loss": 0.7191115617752075, "actor_loss": -9.475187301635742, "critic_loss": 0.003764340654015541, "reward": 0.08672748506069183, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11927685141563416, 0.07421330362558365, 0.13633103668689728], "mean_episode_length": 1339.6482758620689, "episode_reward_terms": {"track_linear_velocity": 47.1180305480957, "track_angular_velocity": 50.56317901611328, "upright": 25.6706600189209, "leg_posture": -2.59548282623291, "standstill": -5.800771236419678, "action_rate_l2": -0.6021819710731506, "joint_torques_l2": -0.14792747795581818, "dof_pos_limits": -0.0006006242474541068, "terminated": -0.020932000130414963, "unnecessary_wheel_lift": -0.08579809963703156, "rolling_leg_motion": -0.6369391083717346, "obstacle_progress": 3.301111936569214, "wheel_body_intrusion": -0.25027453899383545, "pair_body_intrusion": -0.32775455713272095}, "weighted_reward_terms": {"track_linear_velocity": 1.7585970163345337, "track_angular_velocity": 1.887181043624878, "upright": 0.9581119418144226, "leg_posture": -0.09687180072069168, "standstill": -0.21650351583957672, "action_rate_l2": -0.02247537486255169, "joint_torques_l2": -0.0055211312137544155, "dof_pos_limits": -2.2417236323235556e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.003202262334525585, "rolling_leg_motion": -0.023772623389959335, "obstacle_progress": 0.12320815771818161, "wheel_body_intrusion": -0.00934105459600687, "pair_body_intrusion": -0.012232857756316662}, "episode_termination_rates": {"time_out": 0.4206896551724138, "fell_over": 0.027586206896551724, "course_exit": 0.5241379310344828, "illegal_nonwheel_contact": 0.04827586206896552}, "collection_time_s": 0.07585191361489706, "learning_time_s": 0.18488844442763366, "iteration_time_s": 0.3308814951745337, "policy_updates": 22750, "skipped_updates": 0, "invalid_env_resets": 114, "elapsed_s": 7626.818463773001, "nonwheel_terminations": 12141, "contact_bce": 0.3067615032196045, "contact_force_loss": 0.021713677793741226, "collision_bce": 9.133431376540102e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 9.188255717162974e-06, "collision_label_count": 16343.0, "terrain_level_mean": 3.4736328125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [14, 58, 95, 106, 49, 88], "episodes_by_level": [[1397.0, 301.0, 48.0, 0.0], [1594.0, 356.0, 35.0, 0.0], [1085.0, 255.0, 26.0, 0.0], [632.0, 146.0, 12.0, 0.0], [343.0, 90.0, 9.0, 0.0], [234.0, 59.0, 2.0, 0.0]]}, "up": {"level_counts": [0, 2, 15, 161, 593, 662], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2394.0, 1462.0, 37.0, 0.0], [4255.0, 1723.0, 165.0, 0.0], [4095.0, 1481.0, 190.0, 0.0], [2989.0, 807.0, 151.0, 0.0], [999.0, 67.0, 101.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 5, 43, 565], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [942.0, 769.0, 26.0, 0.0], [1504.0, 1182.0, 61.0, 0.0], [5062.0, 3988.0, 205.0, 0.0]]}, "platform": {"level_counts": [38, 81, 107, 105, 57, 22], "episodes_by_level": [[1623.0, 347.0, 51.0, 0.0], [1746.0, 348.0, 74.0, 0.0], [1068.0, 213.0, 63.0, 0.0], [594.0, 94.0, 29.0, 0.0], [190.0, 31.0, 15.0, 0.0], [33.0, 3.0, 9.0, 0.0]]}, "slope": {"level_counts": [26, 67, 104, 89, 55, 69], "episodes_by_level": [[1492.0, 320.0, 43.0, 0.0], [1639.0, 338.0, 63.0, 0.0], [1026.0, 229.0, 35.0, 0.0], [594.0, 129.0, 16.0, 0.0], [345.0, 75.0, 5.0, 0.0], [211.0, 35.0, 6.0, 0.0]]}, "rubble": {"level_counts": [70, 195, 231, 210, 92, 21], "episodes_by_level": [[2963.0, 664.0, 94.0, 0.0], [3611.0, 775.0, 170.0, 0.0], [2474.0, 513.0, 238.0, 0.0], [1230.0, 187.0, 190.0, 0.0], [305.0, 35.0, 74.0, 0.0], [42.0, 3.0, 14.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23046875, "command_abs_max": [0.9970976710319519, 0.3997804820537567, 0.6995166540145874]}
{"step": 23100, "actor_lr": 5.721213891428913e-05, "archive_windows": 50000, "env_steps": 23100, "total_transitions": 94617600, "num_steps_per_env": 1, "wm_loss": 0.7093878984451294, "actor_loss": -9.496238708496094, "critic_loss": 0.003966671880334616, "reward": 0.08699499815702438, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11851365864276886, 0.07408610731363297, 0.13727593421936035], "mean_episode_length": 1293.4492753623188, "episode_reward_terms": {"track_linear_velocity": 45.538089752197266, "track_angular_velocity": 48.79499816894531, "upright": 24.789793014526367, "leg_posture": -2.5098938941955566, "standstill": -5.348284721374512, "action_rate_l2": -0.5795191526412964, "joint_torques_l2": -0.14507362246513367, "dof_pos_limits": -0.0007988103898242116, "terminated": -0.01515760738402605, "unnecessary_wheel_lift": -0.08397040516138077, "rolling_leg_motion": -0.6086443066596985, "obstacle_progress": 3.249720335006714, "wheel_body_intrusion": -0.23510392010211945, "pair_body_intrusion": -0.3225516378879547}, "weighted_reward_terms": {"track_linear_velocity": 1.7603354454040527, "track_angular_velocity": 1.8862355947494507, "upright": 0.958282470703125, "leg_posture": -0.09702328592538834, "standstill": -0.20674507319927216, "action_rate_l2": -0.02240208350121975, "joint_torques_l2": -0.005608013831079006, "dof_pos_limits": -3.0879080441081896e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.003245987929403782, "rolling_leg_motion": -0.023527955636382103, "obstacle_progress": 0.12562225759029388, "wheel_body_intrusion": -0.009088254533708096, "pair_body_intrusion": -0.012468663975596428}, "episode_termination_rates": {"time_out": 0.427536231884058, "fell_over": 0.014492753623188406, "course_exit": 0.5289855072463768, "illegal_nonwheel_contact": 0.036231884057971016}, "collection_time_s": 0.07547094975947402, "learning_time_s": 0.185148043819936, "iteration_time_s": 0.3307294564604763, "policy_updates": 22800, "skipped_updates": 0, "invalid_env_resets": 114, "elapsed_s": 7639.850444237003, "nonwheel_terminations": 12146, "contact_bce": 0.2999861240386963, "contact_force_loss": 0.021247828379273415, "collision_bce": 0.0002989675849676132, "collision_label_rate": 0.00018393623759038746, "collision_prediction_mean": 6.40628786641173e-05, "collision_label_count": 16310.0, "terrain_level_mean": 3.476806640625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [14, 58, 94, 106, 50, 88], "episodes_by_level": [[1399.0, 301.0, 48.0, 0.0], [1594.0, 356.0, 35.0, 0.0], [1089.0, 256.0, 26.0, 0.0], [634.0, 147.0, 12.0, 0.0], [344.0, 90.0, 9.0, 0.0], [239.0, 61.0, 2.0, 0.0]]}, "up": {"level_counts": [0, 2, 15, 161, 586, 669], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2394.0, 1462.0, 37.0, 0.0], [4256.0, 1723.0, 165.0, 0.0], [4096.0, 1481.0, 190.0, 0.0], [3005.0, 816.0, 151.0, 0.0], [1012.0, 70.0, 102.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 5, 43, 565], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [942.0, 769.0, 26.0, 0.0], [1505.0, 1183.0, 61.0, 0.0], [5089.0, 4014.0, 205.0, 0.0]]}, "platform": {"level_counts": [38, 80, 108, 104, 58, 22], "episodes_by_level": [[1624.0, 347.0, 51.0, 0.0], [1748.0, 349.0, 74.0, 0.0], [1071.0, 213.0, 63.0, 0.0], [596.0, 95.0, 29.0, 0.0], [192.0, 31.0, 15.0, 0.0], [33.0, 3.0, 9.0, 0.0]]}, "slope": {"level_counts": [26, 67, 104, 89, 55, 69], "episodes_by_level": [[1493.0, 320.0, 43.0, 0.0], [1642.0, 339.0, 63.0, 0.0], [1028.0, 229.0, 36.0, 0.0], [597.0, 129.0, 16.0, 0.0], [347.0, 75.0, 5.0, 0.0], [213.0, 36.0, 6.0, 0.0]]}, "rubble": {"level_counts": [71, 191, 234, 210, 92, 21], "episodes_by_level": [[2965.0, 664.0, 94.0, 0.0], [3619.0, 778.0, 171.0, 0.0], [2479.0, 513.0, 238.0, 0.0], [1237.0, 188.0, 190.0, 0.0], [308.0, 35.0, 75.0, 0.0], [42.0, 3.0, 14.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22412109375, "command_abs_max": [0.9979749917984009, 0.39989057183265686, 0.6995166540145874]}
{"step": 23150, "actor_lr": 5.712330906481862e-05, "archive_windows": 50000, "env_steps": 23150, "total_transitions": 94822400, "num_steps_per_env": 1, "wm_loss": 0.7002046704292297, "actor_loss": -9.483875274658203, "critic_loss": 0.004104848951101303, "reward": 0.08686331659555435, "falls": 11, "interval_steps": 50, "velocity_mae": [0.1191418245434761, 0.0749637708067894, 0.1383538693189621], "mean_episode_length": 1382.3443708609273, "episode_reward_terms": {"track_linear_velocity": 48.58503723144531, "track_angular_velocity": 52.10158157348633, "upright": 26.499670028686523, "leg_posture": -2.634385824203491, "standstill": -5.89323091506958, "action_rate_l2": -0.6219971179962158, "joint_torques_l2": -0.1528070718050003, "dof_pos_limits": -0.0012479721335694194, "terminated": -0.029698802158236504, "unnecessary_wheel_lift": -0.09955905377864838, "rolling_leg_motion": -0.6468517780303955, "obstacle_progress": 3.527387857437134, "wheel_body_intrusion": -0.24476416409015656, "pair_body_intrusion": -0.31410378217697144}, "weighted_reward_terms": {"track_linear_velocity": 1.757341980934143, "track_angular_velocity": 1.8845369815826416, "upright": 0.9585046172142029, "leg_posture": -0.09528688341379166, "standstill": -0.21316073834896088, "action_rate_l2": -0.022497909143567085, "joint_torques_l2": -0.005527098663151264, "dof_pos_limits": -4.513969906838611e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.003601094475015998, "rolling_leg_motion": -0.023396912962198257, "obstacle_progress": 0.12758716940879822, "wheel_body_intrusion": -0.008853226900100708, "pair_body_intrusion": -0.011361271142959595}, "episode_termination_rates": {"time_out": 0.4900662251655629, "fell_over": 0.013245033112582781, "course_exit": 0.4370860927152318, "illegal_nonwheel_contact": 0.06622516556291391}, "collection_time_s": 0.07581774579710326, "learning_time_s": 0.18519160784198901, "iteration_time_s": 0.33057891959874874, "policy_updates": 22850, "skipped_updates": 0, "invalid_env_resets": 115, "elapsed_s": 7652.9019887110335, "nonwheel_terminations": 12156, "contact_bce": 0.30199506878852844, "contact_force_loss": 0.021495213732123375, "collision_bce": 1.158381473942427e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.1621795238170307e-05, "collision_label_count": 16347.0, "terrain_level_mean": 3.4794921875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [14, 58, 92, 106, 52, 88], "episodes_by_level": [[1399.0, 301.0, 48.0, 0.0], [1596.0, 356.0, 35.0, 0.0], [1092.0, 258.0, 26.0, 0.0], [637.0, 149.0, 12.0, 0.0], [347.0, 90.0, 9.0, 0.0], [240.0, 61.0, 2.0, 0.0]]}, "up": {"level_counts": [0, 2, 15, 161, 583, 672], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2394.0, 1462.0, 37.0, 0.0], [4257.0, 1723.0, 165.0, 0.0], [4097.0, 1481.0, 190.0, 0.0], [3020.0, 822.0, 151.0, 0.0], [1026.0, 76.0, 103.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 4, 41, 567], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [942.0, 769.0, 26.0, 0.0], [1507.0, 1185.0, 61.0, 0.0], [5106.0, 4028.0, 205.0, 0.0]]}, "platform": {"level_counts": [38, 80, 108, 103, 60, 21], "episodes_by_level": [[1624.0, 347.0, 51.0, 0.0], [1753.0, 349.0, 74.0, 0.0], [1075.0, 214.0, 63.0, 0.0], [600.0, 96.0, 30.0, 0.0], [193.0, 31.0, 15.0, 0.0], [34.0, 3.0, 10.0, 0.0]]}, "slope": {"level_counts": [26, 64, 106, 89, 56, 69], "episodes_by_level": [[1495.0, 320.0, 43.0, 0.0], [1646.0, 342.0, 63.0, 0.0], [1035.0, 230.0, 36.0, 0.0], [602.0, 130.0, 16.0, 0.0], [348.0, 75.0, 5.0, 0.0], [214.0, 36.0, 6.0, 0.0]]}, "rubble": {"level_counts": [72, 190, 232, 214, 91, 20], "episodes_by_level": [[2967.0, 664.0, 94.0, 0.0], [3629.0, 779.0, 172.0, 0.0], [2489.0, 515.0, 239.0, 0.0], [1241.0, 188.0, 190.0, 0.0], [311.0, 35.0, 77.0, 0.0], [43.0, 3.0, 15.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2236328125, "command_abs_max": [0.9979749917984009, 0.39989057183265686, 0.6995166540145874]}
{"step": 23200, "actor_lr": 5.703317623014533e-05, "archive_windows": 50000, "env_steps": 23200, "total_transitions": 95027200, "num_steps_per_env": 1, "wm_loss": 0.731018602848053, "actor_loss": -9.475800514221191, "critic_loss": 0.0052389539778232574, "reward": 0.08722253888845444, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11808723211288452, 0.07410678267478943, 0.13687145709991455], "mean_episode_length": 1422.2387096774194, "episode_reward_terms": {"track_linear_velocity": 50.12382888793945, "track_angular_velocity": 53.66649627685547, "upright": 27.28651237487793, "leg_posture": -2.6635546684265137, "standstill": -5.843672752380371, "action_rate_l2": -0.6365115642547607, "joint_torques_l2": -0.1552739143371582, "dof_pos_limits": -0.0020039856899529696, "terminated": -0.019444668665528297, "unnecessary_wheel_lift": -0.09653755277395248, "rolling_leg_motion": -0.6621146202087402, "obstacle_progress": 3.616863965988159, "wheel_body_intrusion": -0.2523287534713745, "pair_body_intrusion": -0.3109755516052246}, "weighted_reward_terms": {"track_linear_velocity": 1.7621454000473022, "track_angular_velocity": 1.8866907358169556, "upright": 0.9592803120613098, "leg_posture": -0.09363950788974762, "standstill": -0.2054392397403717, "action_rate_l2": -0.022377099841833115, "joint_torques_l2": -0.005458785220980644, "dof_pos_limits": -7.045180245768279e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.003393858904018998, "rolling_leg_motion": -0.023277197033166885, "obstacle_progress": 0.1271538883447647, "wheel_body_intrusion": -0.008870829828083515, "pair_body_intrusion": -0.01093260757625103}, "episode_termination_rates": {"time_out": 0.5548387096774193, "fell_over": 0.01935483870967742, "course_exit": 0.4, "illegal_nonwheel_contact": 0.03225806451612903}, "collection_time_s": 0.07550684894551524, "learning_time_s": 0.18521245075389742, "iteration_time_s": 0.3304284052246557, "policy_updates": 22900, "skipped_updates": 0, "invalid_env_resets": 115, "elapsed_s": 7665.939001212013, "nonwheel_terminations": 12161, "contact_bce": 0.29970481991767883, "contact_force_loss": 0.020992008969187737, "collision_bce": 0.000423200661316514, "collision_label_rate": 6.115459837019444e-05, "collision_prediction_mean": 8.660384992253967e-06, "collision_label_count": 16352.0, "terrain_level_mean": 3.48291015625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [14, 58, 92, 104, 54, 88], "episodes_by_level": [[1399.0, 301.0, 48.0, 0.0], [1600.0, 356.0, 35.0, 0.0], [1094.0, 258.0, 26.0, 0.0], [641.0, 151.0, 12.0, 0.0], [348.0, 90.0, 9.0, 0.0], [241.0, 61.0, 2.0, 0.0]]}, "up": {"level_counts": [0, 2, 16, 159, 582, 674], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2394.0, 1462.0, 37.0, 0.0], [4257.0, 1723.0, 165.0, 0.0], [4100.0, 1482.0, 191.0, 0.0], [3036.0, 824.0, 151.0, 0.0], [1042.0, 80.0, 103.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 4, 40, 568], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [942.0, 769.0, 26.0, 0.0], [1508.0, 1186.0, 61.0, 0.0], [5123.0, 4045.0, 205.0, 0.0]]}, "platform": {"level_counts": [38, 81, 106, 103, 60, 22], "episodes_by_level": [[1626.0, 348.0, 51.0, 0.0], [1756.0, 349.0, 75.0, 0.0], [1079.0, 215.0, 64.0, 0.0], [603.0, 97.0, 30.0, 0.0], [196.0, 32.0, 15.0, 0.0], [34.0, 3.0, 10.0, 0.0]]}, "slope": {"level_counts": [26, 63, 107, 87, 58, 69], "episodes_by_level": [[1496.0, 320.0, 43.0, 0.0], [1648.0, 343.0, 63.0, 0.0], [1036.0, 230.0, 36.0, 0.0], [606.0, 132.0, 16.0, 0.0], [349.0, 75.0, 5.0, 0.0], [217.0, 37.0, 6.0, 0.0]]}, "rubble": {"level_counts": [70, 191, 234, 211, 93, 20], "episodes_by_level": [[2972.0, 666.0, 94.0, 0.0], [3641.0, 781.0, 172.0, 0.0], [2493.0, 515.0, 240.0, 0.0], [1249.0, 191.0, 191.0, 0.0], [317.0, 35.0, 78.0, 0.0], [43.0, 3.0, 15.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2236328125, "command_abs_max": [0.9979749917984009, 0.39989057183265686, 0.6994197368621826]}
{"step": 23250, "actor_lr": 5.694174597008706e-05, "archive_windows": 50000, "env_steps": 23250, "total_transitions": 95232000, "num_steps_per_env": 1, "wm_loss": 0.7242043614387512, "actor_loss": -9.458684921264648, "critic_loss": 0.01080974843353033, "reward": 0.0872090607881546, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11677393317222595, 0.07330858707427979, 0.1376151442527771], "mean_episode_length": 1400.5949367088608, "episode_reward_terms": {"track_linear_velocity": 49.44235610961914, "track_angular_velocity": 52.83497619628906, "upright": 26.9189395904541, "leg_posture": -2.660205602645874, "standstill": -5.848870277404785, "action_rate_l2": -0.6232662200927734, "joint_torques_l2": -0.15425734221935272, "dof_pos_limits": -0.0015083270845934749, "terminated": -0.021884292364120483, "unnecessary_wheel_lift": -0.10939677804708481, "rolling_leg_motion": -0.6698811054229736, "obstacle_progress": 3.608516216278076, "wheel_body_intrusion": -0.2653038799762726, "pair_body_intrusion": -0.3056528568267822}, "weighted_reward_terms": {"track_linear_velocity": 1.7650483846664429, "track_angular_velocity": 1.8861619234085083, "upright": 0.9609823226928711, "leg_posture": -0.09496698528528214, "standstill": -0.20879949629306793, "action_rate_l2": -0.02225005254149437, "joint_torques_l2": -0.005506850313395262, "dof_pos_limits": -5.384594260249287e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.003905368270352483, "rolling_leg_motion": -0.023914162069559097, "obstacle_progress": 0.12882083654403687, "wheel_body_intrusion": -0.009471113793551922, "pair_body_intrusion": -0.010911536403000355}, "episode_termination_rates": {"time_out": 0.5126582278481012, "fell_over": 0.04430379746835443, "course_exit": 0.43670886075949367, "illegal_nonwheel_contact": 0.0379746835443038}, "collection_time_s": 0.07554222969803959, "learning_time_s": 0.18524356334353798, "iteration_time_s": 0.33027868496189244, "policy_updates": 22950, "skipped_updates": 0, "invalid_env_resets": 115, "elapsed_s": 7678.979425363999, "nonwheel_terminations": 12167, "contact_bce": 0.30167311429977417, "contact_force_loss": 0.021451741456985474, "collision_bce": 9.519647392153274e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 9.575651347404346e-06, "collision_label_count": 16345.0, "terrain_level_mean": 3.484619140625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [14, 58, 92, 104, 54, 88], "episodes_by_level": [[1399.0, 301.0, 48.0, 0.0], [1600.0, 356.0, 35.0, 0.0], [1098.0, 258.0, 26.0, 0.0], [647.0, 151.0, 12.0, 0.0], [350.0, 90.0, 9.0, 0.0], [243.0, 61.0, 2.0, 0.0]]}, "up": {"level_counts": [0, 2, 15, 160, 577, 679], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2394.0, 1462.0, 37.0, 0.0], [4258.0, 1724.0, 165.0, 0.0], [4103.0, 1483.0, 191.0, 0.0], [3057.0, 829.0, 151.0, 0.0], [1058.0, 82.0, 103.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 4, 43, 565], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [942.0, 769.0, 26.0, 0.0], [1508.0, 1186.0, 61.0, 0.0], [5137.0, 4059.0, 205.0, 0.0]]}, "platform": {"level_counts": [39, 80, 105, 102, 62, 22], "episodes_by_level": [[1628.0, 348.0, 51.0, 0.0], [1760.0, 349.0, 76.0, 0.0], [1084.0, 216.0, 64.0, 0.0], [607.0, 99.0, 30.0, 0.0], [197.0, 32.0, 15.0, 0.0], [35.0, 3.0, 10.0, 0.0]]}, "slope": {"level_counts": [25, 64, 106, 88, 58, 69], "episodes_by_level": [[1499.0, 321.0, 43.0, 0.0], [1649.0, 343.0, 63.0, 0.0], [1038.0, 231.0, 36.0, 0.0], [608.0, 132.0, 16.0, 0.0], [351.0, 75.0, 5.0, 0.0], [218.0, 38.0, 6.0, 0.0]]}, "rubble": {"level_counts": [70, 193, 230, 214, 91, 21], "episodes_by_level": [[2973.0, 666.0, 94.0, 0.0], [3647.0, 781.0, 172.0, 0.0], [2501.0, 517.0, 242.0, 0.0], [1256.0, 191.0, 191.0, 0.0], [324.0, 36.0, 79.0, 0.0], [43.0, 3.0, 15.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.225341796875, "command_abs_max": [0.9996496438980103, 0.39989057183265686, 0.6994542479515076]}
{"step": 23300, "actor_lr": 5.684902392449292e-05, "archive_windows": 50000, "env_steps": 23300, "total_transitions": 95436800, "num_steps_per_env": 1, "wm_loss": 0.7390404939651489, "actor_loss": -9.506442070007324, "critic_loss": 0.0032076467759907246, "reward": 0.0875542163848877, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11513826996088028, 0.07202392816543579, 0.13574855029582977], "mean_episode_length": 1262.9323308270677, "episode_reward_terms": {"track_linear_velocity": 44.738433837890625, "track_angular_velocity": 47.7023811340332, "upright": 24.29345703125, "leg_posture": -2.4178051948547363, "standstill": -5.0652570724487305, "action_rate_l2": -0.5594546794891357, "joint_torques_l2": -0.1386391669511795, "dof_pos_limits": -0.0012472193920984864, "terminated": -0.012333322316408157, "unnecessary_wheel_lift": -0.09164696931838989, "rolling_leg_motion": -0.6009558439254761, "obstacle_progress": 3.252319574356079, "wheel_body_intrusion": -0.2522095739841461, "pair_body_intrusion": -0.2719804346561432}, "weighted_reward_terms": {"track_linear_velocity": 1.7712125778198242, "track_angular_velocity": 1.8885563611984253, "upright": 0.9617877006530762, "leg_posture": -0.09572187811136246, "standstill": -0.20053556561470032, "action_rate_l2": -0.022149035707116127, "joint_torques_l2": -0.005488780792802572, "dof_pos_limits": -4.9377915274817497e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.0036283403169363737, "rolling_leg_motion": -0.0237920843064785, "obstacle_progress": 0.12876065075397491, "wheel_body_intrusion": -0.009985078126192093, "pair_body_intrusion": -0.010767814703285694}, "episode_termination_rates": {"time_out": 0.43609022556390975, "fell_over": 0.03007518796992481, "course_exit": 0.5263157894736842, "illegal_nonwheel_contact": 0.022556390977443608}, "collection_time_s": 0.07585112333763391, "learning_time_s": 0.1850548353570048, "iteration_time_s": 0.3301298654201723, "policy_updates": 23000, "skipped_updates": 0, "invalid_env_resets": 116, "elapsed_s": 7692.025864290015, "nonwheel_terminations": 12170, "contact_bce": 0.30382415652275085, "contact_force_loss": 0.02088315784931183, "collision_bce": 0.0001686067262198776, "collision_label_rate": 0.0, "collision_prediction_mean": 0.0001239831035491079, "collision_label_count": 16339.0, "terrain_level_mean": 3.487060546875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [14, 57, 92, 105, 54, 88], "episodes_by_level": [[1399.0, 301.0, 48.0, 0.0], [1601.0, 357.0, 35.0, 0.0], [1101.0, 259.0, 26.0, 0.0], [651.0, 151.0, 12.0, 0.0], [350.0, 90.0, 9.0, 0.0], [246.0, 61.0, 2.0, 0.0]]}, "up": {"level_counts": [0, 2, 14, 160, 576, 681], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2394.0, 1462.0, 37.0, 0.0], [4259.0, 1725.0, 165.0, 0.0], [4107.0, 1484.0, 191.0, 0.0], [3066.0, 831.0, 151.0, 0.0], [1076.0, 86.0, 103.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 4, 46, 562], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [942.0, 769.0, 26.0, 0.0], [1509.0, 1187.0, 61.0, 0.0], [5167.0, 4087.0, 205.0, 0.0]]}, "platform": {"level_counts": [38, 80, 106, 102, 62, 22], "episodes_by_level": [[1630.0, 349.0, 51.0, 0.0], [1761.0, 350.0, 76.0, 0.0], [1088.0, 216.0, 64.0, 0.0], [611.0, 99.0, 30.0, 0.0], [197.0, 32.0, 15.0, 0.0], [36.0, 3.0, 10.0, 0.0]]}, "slope": {"level_counts": [25, 64, 106, 88, 58, 69], "episodes_by_level": [[1500.0, 321.0, 43.0, 0.0], [1649.0, 343.0, 63.0, 0.0], [1041.0, 231.0, 36.0, 0.0], [610.0, 132.0, 16.0, 0.0], [351.0, 75.0, 5.0, 0.0], [220.0, 38.0, 6.0, 0.0]]}, "rubble": {"level_counts": [69, 193, 229, 215, 92, 21], "episodes_by_level": [[2974.0, 667.0, 94.0, 0.0], [3652.0, 782.0, 172.0, 0.0], [2505.0, 519.0, 242.0, 0.0], [1262.0, 193.0, 191.0, 0.0], [328.0, 36.0, 80.0, 0.0], [43.0, 3.0, 15.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23095703125, "command_abs_max": [0.9996496438980103, 0.39989057183265686, 0.6999155282974243]}
{"step": 23350, "actor_lr": 5.675501581289544e-05, "archive_windows": 50000, "env_steps": 23350, "total_transitions": 95641600, "num_steps_per_env": 1, "wm_loss": 0.7126291990280151, "actor_loss": -9.470027923583984, "critic_loss": 0.0040148780681192875, "reward": 0.0874655693769455, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11519898474216461, 0.071647509932518, 0.13505913317203522], "mean_episode_length": 1324.032894736842, "episode_reward_terms": {"track_linear_velocity": 46.94197463989258, "track_angular_velocity": 50.036991119384766, "upright": 25.44697380065918, "leg_posture": -2.5156099796295166, "standstill": -5.413322925567627, "action_rate_l2": -0.576722264289856, "joint_torques_l2": -0.14477306604385376, "dof_pos_limits": -0.0005437362124212086, "terminated": -0.02586001344025135, "unnecessary_wheel_lift": -0.11145292222499847, "rolling_leg_motion": -0.637892484664917, "obstacle_progress": 3.36116886138916, "wheel_body_intrusion": -0.24927201867103577, "pair_body_intrusion": -0.3043518662452698}, "weighted_reward_terms": {"track_linear_velocity": 1.7726892232894897, "track_angular_velocity": 1.8895677328109741, "upright": 0.9609646201133728, "leg_posture": -0.09499802440404892, "standstill": -0.20442555844783783, "action_rate_l2": -0.021779002621769905, "joint_torques_l2": -0.005467125680297613, "dof_pos_limits": -2.0533336282824166e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.004208842758089304, "rolling_leg_motion": -0.02408899925649166, "obstacle_progress": 0.12692920863628387, "wheel_body_intrusion": -0.009413362480700016, "pair_body_intrusion": -0.011493365280330181}, "episode_termination_rates": {"time_out": 0.46710526315789475, "fell_over": 0.03289473684210526, "course_exit": 0.46710526315789475, "illegal_nonwheel_contact": 0.06578947368421052}, "collection_time_s": 0.0754576183622703, "learning_time_s": 0.18532315526157617, "iteration_time_s": 0.32998141467884357, "policy_updates": 23050, "skipped_updates": 0, "invalid_env_resets": 116, "elapsed_s": 7705.066032750998, "nonwheel_terminations": 12180, "contact_bce": 0.297163724899292, "contact_force_loss": 0.020657652989029884, "collision_bce": 0.00023472282919101417, "collision_label_rate": 0.000122443976579234, "collision_prediction_mean": 0.00016135313489940017, "collision_label_count": 16334.0, "terrain_level_mean": 3.488037109375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [14, 57, 92, 105, 55, 87], "episodes_by_level": [[1399.0, 301.0, 48.0, 0.0], [1603.0, 357.0, 35.0, 0.0], [1103.0, 259.0, 26.0, 0.0], [655.0, 151.0, 12.0, 0.0], [351.0, 90.0, 9.0, 0.0], [251.0, 62.0, 3.0, 0.0]]}, "up": {"level_counts": [0, 2, 14, 156, 583, 678], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2394.0, 1462.0, 37.0, 0.0], [4259.0, 1725.0, 165.0, 0.0], [4115.0, 1488.0, 191.0, 0.0], [3072.0, 832.0, 151.0, 0.0], [1094.0, 87.0, 105.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 4, 45, 563], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [942.0, 769.0, 26.0, 0.0], [1513.0, 1190.0, 61.0, 0.0], [5196.0, 4112.0, 207.0, 0.0]]}, "platform": {"level_counts": [37, 81, 106, 102, 62, 22], "episodes_by_level": [[1632.0, 350.0, 51.0, 0.0], [1763.0, 351.0, 76.0, 0.0], [1091.0, 216.0, 65.0, 0.0], [617.0, 99.0, 30.0, 0.0], [201.0, 32.0, 15.0, 0.0], [36.0, 3.0, 10.0, 0.0]]}, "slope": {"level_counts": [25, 63, 107, 88, 57, 70], "episodes_by_level": [[1500.0, 321.0, 43.0, 0.0], [1653.0, 344.0, 63.0, 0.0], [1043.0, 231.0, 36.0, 0.0], [613.0, 132.0, 16.0, 0.0], [355.0, 76.0, 5.0, 0.0], [222.0, 38.0, 6.0, 0.0]]}, "rubble": {"level_counts": [67, 195, 231, 213, 92, 21], "episodes_by_level": [[2977.0, 669.0, 94.0, 0.0], [3657.0, 782.0, 172.0, 0.0], [2510.0, 519.0, 242.0, 0.0], [1269.0, 193.0, 193.0, 0.0], [329.0, 36.0, 80.0, 0.0], [43.0, 3.0, 15.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.229248046875, "command_abs_max": [0.9996496438980103, 0.39989057183265686, 0.6999155282974243]}
{"step": 23400, "actor_lr": 5.665972743415778e-05, "archive_windows": 50000, "env_steps": 23400, "total_transitions": 95846400, "num_steps_per_env": 1, "wm_loss": 0.6721361875534058, "actor_loss": -9.485639572143555, "critic_loss": 0.008833418600261211, "reward": 0.08707153797149658, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11371178925037384, 0.07343397289514542, 0.13616220653057098], "mean_episode_length": 1360.4437086092714, "episode_reward_terms": {"track_linear_velocity": 48.223392486572266, "track_angular_velocity": 51.36429977416992, "upright": 26.101591110229492, "leg_posture": -2.595008611679077, "standstill": -6.102266788482666, "action_rate_l2": -0.5931361317634583, "joint_torques_l2": -0.1512092798948288, "dof_pos_limits": -0.00037589919520542026, "terminated": -0.01594269834458828, "unnecessary_wheel_lift": -0.09743095189332962, "rolling_leg_motion": -0.6376761794090271, "obstacle_progress": 3.5027477741241455, "wheel_body_intrusion": -0.2610226273536682, "pair_body_intrusion": -0.28205254673957825}, "weighted_reward_terms": {"track_linear_velocity": 1.7723406553268433, "track_angular_velocity": 1.88777756690979, "upright": 0.9593043923377991, "leg_posture": -0.09537361562252045, "standstill": -0.22427485883235931, "action_rate_l2": -0.02179936319589615, "joint_torques_l2": -0.005557351745665073, "dof_pos_limits": -1.3815315469400957e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.0035808521788567305, "rolling_leg_motion": -0.023436332121491432, "obstacle_progress": 0.1287354826927185, "wheel_body_intrusion": -0.009593290276825428, "pair_body_intrusion": -0.010366197675466537}, "episode_termination_rates": {"time_out": 0.47019867549668876, "fell_over": 0.019867549668874173, "course_exit": 0.4900662251655629, "illegal_nonwheel_contact": 0.019867549668874173}, "collection_time_s": 0.07578643287881277, "learning_time_s": 0.18393156244885175, "iteration_time_s": 0.3298313262544868, "policy_updates": 23100, "skipped_updates": 0, "invalid_env_resets": 117, "elapsed_s": 7718.053034354991, "nonwheel_terminations": 12183, "contact_bce": 0.3019145131111145, "contact_force_loss": 0.020566871389746666, "collision_bce": 4.008548057754524e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 3.95357892557513e-05, "collision_label_count": 16343.0, "terrain_level_mean": 3.490966796875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [14, 57, 92, 103, 57, 87], "episodes_by_level": [[1400.0, 301.0, 48.0, 0.0], [1605.0, 357.0, 35.0, 0.0], [1103.0, 259.0, 26.0, 0.0], [658.0, 153.0, 12.0, 0.0], [351.0, 90.0, 9.0, 0.0], [254.0, 62.0, 3.0, 0.0]]}, "up": {"level_counts": [0, 2, 14, 154, 581, 682], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2394.0, 1462.0, 37.0, 0.0], [4259.0, 1725.0, 165.0, 0.0], [4118.0, 1490.0, 191.0, 0.0], [3086.0, 837.0, 151.0, 0.0], [1113.0, 91.0, 105.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 4, 45, 563], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [942.0, 769.0, 26.0, 0.0], [1514.0, 1191.0, 61.0, 0.0], [5218.0, 4131.0, 207.0, 0.0]]}, "platform": {"level_counts": [38, 79, 106, 103, 61, 23], "episodes_by_level": [[1632.0, 350.0, 51.0, 0.0], [1766.0, 352.0, 77.0, 0.0], [1093.0, 217.0, 65.0, 0.0], [620.0, 99.0, 30.0, 0.0], [203.0, 33.0, 15.0, 0.0], [38.0, 4.0, 10.0, 0.0]]}, "slope": {"level_counts": [25, 63, 106, 87, 59, 70], "episodes_by_level": [[1500.0, 321.0, 43.0, 0.0], [1656.0, 344.0, 63.0, 0.0], [1048.0, 232.0, 36.0, 0.0], [620.0, 134.0, 16.0, 0.0], [355.0, 76.0, 5.0, 0.0], [227.0, 38.0, 6.0, 0.0]]}, "rubble": {"level_counts": [68, 194, 232, 211, 93, 21], "episodes_by_level": [[2980.0, 669.0, 94.0, 0.0], [3660.0, 782.0, 173.0, 0.0], [2518.0, 520.0, 242.0, 0.0], [1280.0, 194.0, 195.0, 0.0], [332.0, 36.0, 80.0, 0.0], [44.0, 3.0, 15.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2216796875, "command_abs_max": [0.9996496438980103, 0.3997804820537567, 0.6999155282974243]}
{"step": 23450, "actor_lr": 5.656316466611597e-05, "archive_windows": 50000, "env_steps": 23450, "total_transitions": 96051200, "num_steps_per_env": 1, "wm_loss": 0.7431038022041321, "actor_loss": -9.512165069580078, "critic_loss": 0.003020979231223464, "reward": 0.08707398921251297, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11584016680717468, 0.07252026349306107, 0.13626745343208313], "mean_episode_length": 1338.0191082802548, "episode_reward_terms": {"track_linear_velocity": 47.32929229736328, "track_angular_velocity": 50.485313415527344, "upright": 25.681594848632812, "leg_posture": -2.5728156566619873, "standstill": -5.95681095123291, "action_rate_l2": -0.5688353180885315, "joint_torques_l2": -0.1477900892496109, "dof_pos_limits": -0.0005261010956019163, "terminated": -0.026133183389902115, "unnecessary_wheel_lift": -0.10229934751987457, "rolling_leg_motion": -0.6204286217689514, "obstacle_progress": 3.516881227493286, "wheel_body_intrusion": -0.24521887302398682, "pair_body_intrusion": -0.26556238532066345}, "weighted_reward_terms": {"track_linear_velocity": 1.7686327695846558, "track_angular_velocity": 1.8865691423416138, "upright": 0.9596871733665466, "leg_posture": -0.0961427092552185, "standstill": -0.2225981056690216, "action_rate_l2": -0.021256621927022934, "joint_torques_l2": -0.005522719584405422, "dof_pos_limits": -1.9659699319163337e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.003822790924459696, "rolling_leg_motion": -0.02318459376692772, "obstacle_progress": 0.13142119348049164, "wheel_body_intrusion": -0.009163504466414452, "pair_body_intrusion": -0.009923714213073254}, "episode_termination_rates": {"time_out": 0.445859872611465, "fell_over": 0.025477707006369428, "course_exit": 0.49044585987261147, "illegal_nonwheel_contact": 0.044585987261146494}, "collection_time_s": 0.07569652634323575, "learning_time_s": 0.18315791053697467, "iteration_time_s": 0.3296800384878902, "policy_updates": 23150, "skipped_updates": 0, "invalid_env_resets": 117, "elapsed_s": 7730.996902541025, "nonwheel_terminations": 12190, "contact_bce": 0.3036200702190399, "contact_force_loss": 0.021465003490447998, "collision_bce": 0.0002135026443284005, "collision_label_rate": 0.00012242149387020618, "collision_prediction_mean": 0.00011638800788205117, "collision_label_count": 16337.0, "terrain_level_mean": 3.494873046875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [13, 58, 91, 104, 57, 87], "episodes_by_level": [[1401.0, 302.0, 48.0, 0.0], [1610.0, 357.0, 35.0, 0.0], [1109.0, 260.0, 26.0, 0.0], [660.0, 153.0, 12.0, 0.0], [352.0, 90.0, 9.0, 0.0], [254.0, 62.0, 3.0, 0.0]]}, "up": {"level_counts": [0, 2, 14, 151, 578, 688], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2394.0, 1462.0, 37.0, 0.0], [4259.0, 1725.0, 165.0, 0.0], [4124.0, 1494.0, 191.0, 0.0], [3100.0, 843.0, 151.0, 0.0], [1130.0, 94.0, 105.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 4, 46, 562], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [942.0, 769.0, 26.0, 0.0], [1516.0, 1193.0, 61.0, 0.0], [5245.0, 4153.0, 208.0, 0.0]]}, "platform": {"level_counts": [38, 79, 105, 103, 63, 22], "episodes_by_level": [[1633.0, 350.0, 51.0, 0.0], [1768.0, 352.0, 77.0, 0.0], [1097.0, 218.0, 65.0, 0.0], [623.0, 100.0, 30.0, 0.0], [207.0, 33.0, 15.0, 0.0], [39.0, 4.0, 11.0, 0.0]]}, "slope": {"level_counts": [25, 62, 106, 86, 60, 71], "episodes_by_level": [[1500.0, 321.0, 43.0, 0.0], [1657.0, 345.0, 63.0, 0.0], [1050.0, 233.0, 36.0, 0.0], [623.0, 136.0, 16.0, 0.0], [356.0, 77.0, 5.0, 0.0], [230.0, 39.0, 6.0, 0.0]]}, "rubble": {"level_counts": [67, 196, 233, 207, 95, 21], "episodes_by_level": [[2983.0, 671.0, 94.0, 0.0], [3664.0, 783.0, 174.0, 0.0], [2528.0, 520.0, 244.0, 0.0], [1293.0, 196.0, 197.0, 0.0], [333.0, 36.0, 80.0, 0.0], [44.0, 3.0, 15.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22412109375, "command_abs_max": [0.9996496438980103, 0.3997804820537567, 0.6999155282974243]}
{"step": 23500, "actor_lr": 5.6465333465216387e-05, "archive_windows": 50000, "env_steps": 23500, "total_transitions": 96256000, "num_steps_per_env": 1, "wm_loss": 0.7644472718238831, "actor_loss": -9.48994255065918, "critic_loss": 0.0038915618788450956, "reward": 0.08749455213546753, "falls": 13, "interval_steps": 50, "velocity_mae": [0.11548542976379395, 0.07261139154434204, 0.13508205115795135], "mean_episode_length": 1354.1176470588234, "episode_reward_terms": {"track_linear_velocity": 47.942657470703125, "track_angular_velocity": 51.15642547607422, "upright": 26.02045249938965, "leg_posture": -2.567126989364624, "standstill": -5.587039470672607, "action_rate_l2": -0.581283450126648, "joint_torques_l2": -0.1485380083322525, "dof_pos_limits": -0.0007950174622237682, "terminated": -0.034381888806819916, "unnecessary_wheel_lift": -0.10284033417701721, "rolling_leg_motion": -0.6313474774360657, "obstacle_progress": 3.496412992477417, "wheel_body_intrusion": -0.24362601339817047, "pair_body_intrusion": -0.24107424914836884}, "weighted_reward_terms": {"track_linear_velocity": 1.770254373550415, "track_angular_velocity": 1.8889209032058716, "upright": 0.9607899188995361, "leg_posture": -0.09478966146707535, "standstill": -0.20629814267158508, "action_rate_l2": -0.021463550627231598, "joint_torques_l2": -0.005484678782522678, "dof_pos_limits": -2.93555531243328e-05, "terminated": -0.0012695310870185494, "unnecessary_wheel_lift": -0.0037973192520439625, "rolling_leg_motion": -0.02331213466823101, "obstacle_progress": 0.12910300493240356, "wheel_body_intrusion": -0.008995747193694115, "pair_body_intrusion": -0.008901525288820267}, "episode_termination_rates": {"time_out": 0.5163398692810458, "fell_over": 0.0392156862745098, "course_exit": 0.40522875816993464, "illegal_nonwheel_contact": 0.0718954248366013}, "collection_time_s": 0.07584710705908947, "learning_time_s": 0.18277766770333984, "iteration_time_s": 0.3295289050388507, "policy_updates": 23200, "skipped_updates": 0, "invalid_env_resets": 118, "elapsed_s": 7743.9292684129905, "nonwheel_terminations": 12201, "contact_bce": 0.3000917136669159, "contact_force_loss": 0.021530870348215103, "collision_bce": 8.952705684350803e-05, "collision_label_rate": 6.115459837019444e-05, "collision_prediction_mean": 0.00011704718781402335, "collision_label_count": 16352.0, "terrain_level_mean": 3.49609375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [13, 57, 92, 104, 57, 87], "episodes_by_level": [[1402.0, 302.0, 48.0, 0.0], [1612.0, 358.0, 35.0, 0.0], [1113.0, 260.0, 26.0, 0.0], [666.0, 153.0, 12.0, 0.0], [354.0, 90.0, 9.0, 0.0], [257.0, 64.0, 3.0, 0.0]]}, "up": {"level_counts": [0, 2, 14, 151, 573, 693], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2394.0, 1462.0, 37.0, 0.0], [4259.0, 1725.0, 165.0, 0.0], [4124.0, 1494.0, 191.0, 0.0], [3117.0, 848.0, 151.0, 0.0], [1140.0, 96.0, 105.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 3, 49, 560], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [943.0, 770.0, 26.0, 0.0], [1518.0, 1194.0, 61.0, 0.0], [5264.0, 4169.0, 209.0, 0.0]]}, "platform": {"level_counts": [38, 79, 107, 101, 64, 21], "episodes_by_level": [[1635.0, 350.0, 51.0, 0.0], [1768.0, 352.0, 77.0, 0.0], [1101.0, 218.0, 65.0, 0.0], [625.0, 100.0, 32.0, 0.0], [209.0, 33.0, 15.0, 0.0], [41.0, 4.0, 12.0, 0.0]]}, "slope": {"level_counts": [25, 62, 107, 84, 60, 72], "episodes_by_level": [[1500.0, 321.0, 43.0, 0.0], [1659.0, 345.0, 63.0, 0.0], [1051.0, 233.0, 36.0, 0.0], [626.0, 137.0, 17.0, 0.0], [359.0, 78.0, 5.0, 0.0], [233.0, 40.0, 6.0, 0.0]]}, "rubble": {"level_counts": [67, 194, 235, 207, 95, 21], "episodes_by_level": [[2984.0, 671.0, 94.0, 0.0], [3673.0, 786.0, 174.0, 0.0], [2537.0, 523.0, 245.0, 0.0], [1300.0, 197.0, 200.0, 0.0], [335.0, 37.0, 81.0, 0.0], [46.0, 3.0, 16.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22216796875, "command_abs_max": [0.9996496438980103, 0.3997804820537567, 0.6994542479515076]}
{"step": 23550, "actor_lr": 5.636623986614836e-05, "archive_windows": 50000, "env_steps": 23550, "total_transitions": 96460800, "num_steps_per_env": 1, "wm_loss": 0.7224249243736267, "actor_loss": -9.509830474853516, "critic_loss": 0.0038314617704600096, "reward": 0.08787442743778229, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11446831375360489, 0.07169567048549652, 0.13417741656303406], "mean_episode_length": 1261.3766233766235, "episode_reward_terms": {"track_linear_velocity": 44.76985168457031, "track_angular_velocity": 47.6992301940918, "upright": 24.237586975097656, "leg_posture": -2.3702030181884766, "standstill": -5.01425313949585, "action_rate_l2": -0.5377024412155151, "joint_torques_l2": -0.13822270929813385, "dof_pos_limits": -0.0005468931631185114, "terminated": -0.022172631695866585, "unnecessary_wheel_lift": -0.09598454087972641, "rolling_leg_motion": -0.5892525911331177, "obstacle_progress": 3.3617005348205566, "wheel_body_intrusion": -0.20911245048046112, "pair_body_intrusion": -0.2481868416070938}, "weighted_reward_terms": {"track_linear_velocity": 1.7746427059173584, "track_angular_velocity": 1.890760898590088, "upright": 0.9607594013214111, "leg_posture": -0.09395302832126617, "standstill": -0.19876113533973694, "action_rate_l2": -0.021314112469553947, "joint_torques_l2": -0.0054790424183011055, "dof_pos_limits": -2.167842467315495e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.0038047535344958305, "rolling_leg_motion": -0.02335752174258232, "obstacle_progress": 0.1332552284002304, "wheel_body_intrusion": -0.008289056830108166, "pair_body_intrusion": -0.00983793567866087}, "episode_termination_rates": {"time_out": 0.4090909090909091, "fell_over": 0.03896103896103896, "course_exit": 0.5324675324675324, "illegal_nonwheel_contact": 0.032467532467532464}, "collection_time_s": 0.07556485008681194, "learning_time_s": 0.19199499387294053, "iteration_time_s": 0.32939849684216604, "policy_updates": 23250, "skipped_updates": 0, "invalid_env_resets": 118, "elapsed_s": 7757.33460063301, "nonwheel_terminations": 12206, "contact_bce": 0.3037932813167572, "contact_force_loss": 0.02156764827668667, "collision_bce": 1.567286926729139e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.5655152310500853e-05, "collision_label_count": 16351.0, "terrain_level_mean": 3.498291015625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [13, 56, 93, 103, 57, 88], "episodes_by_level": [[1402.0, 302.0, 48.0, 0.0], [1613.0, 359.0, 35.0, 0.0], [1116.0, 260.0, 26.0, 0.0], [668.0, 154.0, 12.0, 0.0], [359.0, 91.0, 9.0, 0.0], [261.0, 65.0, 3.0, 0.0]]}, "up": {"level_counts": [0, 2, 14, 151, 570, 696], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2394.0, 1462.0, 37.0, 0.0], [4260.0, 1726.0, 165.0, 0.0], [4128.0, 1496.0, 191.0, 0.0], [3134.0, 852.0, 152.0, 0.0], [1160.0, 102.0, 106.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 4, 49, 559], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [943.0, 770.0, 26.0, 0.0], [1518.0, 1194.0, 61.0, 0.0], [5294.0, 4196.0, 209.0, 0.0]]}, "platform": {"level_counts": [38, 78, 108, 101, 64, 21], "episodes_by_level": [[1636.0, 350.0, 51.0, 0.0], [1772.0, 353.0, 77.0, 0.0], [1103.0, 218.0, 65.0, 0.0], [627.0, 101.0, 32.0, 0.0], [211.0, 33.0, 16.0, 0.0], [41.0, 4.0, 12.0, 0.0]]}, "slope": {"level_counts": [25, 62, 106, 85, 60, 72], "episodes_by_level": [[1500.0, 321.0, 43.0, 0.0], [1659.0, 345.0, 63.0, 0.0], [1054.0, 234.0, 36.0, 0.0], [629.0, 137.0, 17.0, 0.0], [361.0, 78.0, 5.0, 0.0], [234.0, 41.0, 6.0, 0.0]]}, "rubble": {"level_counts": [67, 192, 237, 206, 96, 21], "episodes_by_level": [[2985.0, 671.0, 94.0, 0.0], [3680.0, 788.0, 174.0, 0.0], [2544.0, 524.0, 245.0, 0.0], [1304.0, 199.0, 201.0, 0.0], [338.0, 37.0, 82.0, 0.0], [46.0, 3.0, 16.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.221923828125, "command_abs_max": [0.9996496438980103, 0.3997804820537567, 0.6994542479515076]}
{"step": 23600, "actor_lr": 5.626588998147183e-05, "archive_windows": 50000, "env_steps": 23600, "total_transitions": 96665600, "num_steps_per_env": 1, "wm_loss": 0.7382259368896484, "actor_loss": -9.526365280151367, "critic_loss": 0.006335559766739607, "reward": 0.08779676258563995, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11404629796743393, 0.07114028930664062, 0.13429830968379974], "mean_episode_length": 1382.2432432432433, "episode_reward_terms": {"track_linear_velocity": 49.077762603759766, "track_angular_velocity": 52.27475357055664, "upright": 26.578353881835938, "leg_posture": -2.621974468231201, "standstill": -5.584409236907959, "action_rate_l2": -0.6011534929275513, "joint_torques_l2": -0.1517512947320938, "dof_pos_limits": -0.000480611837701872, "terminated": -0.016198161989450455, "unnecessary_wheel_lift": -0.09012041240930557, "rolling_leg_motion": -0.6339941024780273, "obstacle_progress": 3.6860008239746094, "wheel_body_intrusion": -0.25811833143234253, "pair_body_intrusion": -0.3021438419818878}, "weighted_reward_terms": {"track_linear_velocity": 1.7752939462661743, "track_angular_velocity": 1.8909388780593872, "upright": 0.961421012878418, "leg_posture": -0.09484490007162094, "standstill": -0.2020052820444107, "action_rate_l2": -0.021745575591921806, "joint_torques_l2": -0.00548931211233139, "dof_pos_limits": -1.7385211322107352e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.0032599333208054304, "rolling_leg_motion": -0.02293352223932743, "obstacle_progress": 0.13333401083946228, "wheel_body_intrusion": -0.009336935356259346, "pair_body_intrusion": -0.010929473675787449}, "episode_termination_rates": {"time_out": 0.5135135135135135, "fell_over": 0.033783783783783786, "course_exit": 0.44594594594594594, "illegal_nonwheel_contact": 0.013513513513513514}, "collection_time_s": 0.07548399847815744, "learning_time_s": 0.1848876270186156, "iteration_time_s": 0.32925230012495776, "policy_updates": 23300, "skipped_updates": 0, "invalid_env_resets": 118, "elapsed_s": 7770.354282949003, "nonwheel_terminations": 12208, "contact_bce": 0.3005990982055664, "contact_force_loss": 0.02123817428946495, "collision_bce": 1.8829628970706835e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.8844737496692687e-05, "collision_label_count": 16353.0, "terrain_level_mean": 3.50244140625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [13, 55, 94, 103, 55, 90], "episodes_by_level": [[1402.0, 302.0, 48.0, 0.0], [1616.0, 360.0, 35.0, 0.0], [1117.0, 260.0, 26.0, 0.0], [674.0, 154.0, 12.0, 0.0], [362.0, 93.0, 9.0, 0.0], [264.0, 65.0, 3.0, 0.0]]}, "up": {"level_counts": [0, 2, 13, 153, 562, 703], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2394.0, 1462.0, 37.0, 0.0], [4261.0, 1727.0, 165.0, 0.0], [4130.0, 1496.0, 191.0, 0.0], [3150.0, 859.0, 153.0, 0.0], [1176.0, 105.0, 106.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 6, 47, 559], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [943.0, 770.0, 26.0, 0.0], [1520.0, 1196.0, 61.0, 0.0], [5310.0, 4211.0, 209.0, 0.0]]}, "platform": {"level_counts": [37, 77, 109, 102, 64, 21], "episodes_by_level": [[1637.0, 351.0, 51.0, 0.0], [1774.0, 355.0, 77.0, 0.0], [1107.0, 219.0, 65.0, 0.0], [634.0, 101.0, 32.0, 0.0], [212.0, 33.0, 16.0, 0.0], [41.0, 4.0, 12.0, 0.0]]}, "slope": {"level_counts": [25, 61, 106, 86, 59, 73], "episodes_by_level": [[1500.0, 321.0, 43.0, 0.0], [1662.0, 346.0, 63.0, 0.0], [1059.0, 235.0, 36.0, 0.0], [630.0, 137.0, 17.0, 0.0], [362.0, 79.0, 5.0, 0.0], [238.0, 41.0, 6.0, 0.0]]}, "rubble": {"level_counts": [67, 191, 238, 206, 95, 22], "episodes_by_level": [[2987.0, 671.0, 94.0, 0.0], [3686.0, 789.0, 174.0, 0.0], [2549.0, 525.0, 245.0, 0.0], [1312.0, 199.0, 202.0, 0.0], [342.0, 38.0, 82.0, 0.0], [48.0, 3.0, 16.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22314453125, "command_abs_max": [0.9996496438980103, 0.3997804820537567, 0.6989861726760864]}
{"step": 23650, "actor_lr": 5.616429000124037e-05, "archive_windows": 50000, "env_steps": 23650, "total_transitions": 96870400, "num_steps_per_env": 1, "wm_loss": 0.6697341203689575, "actor_loss": -9.493791580200195, "critic_loss": 0.005414590239524841, "reward": 0.08761069923639297, "falls": 7, "interval_steps": 50, "velocity_mae": [0.1131831556558609, 0.07166130095720291, 0.1337628960609436], "mean_episode_length": 1300.5539568345323, "episode_reward_terms": {"track_linear_velocity": 46.18158721923828, "track_angular_velocity": 49.208778381347656, "upright": 24.994491577148438, "leg_posture": -2.4531044960021973, "standstill": -5.5544915199279785, "action_rate_l2": -0.5589909553527832, "joint_torques_l2": -0.1422102004289627, "dof_pos_limits": -0.0006404468440450728, "terminated": -0.017781009897589684, "unnecessary_wheel_lift": -0.088071309030056, "rolling_leg_motion": -0.5799891948699951, "obstacle_progress": 3.4752962589263916, "wheel_body_intrusion": -0.23921644687652588, "pair_body_intrusion": -0.28322020173072815}, "weighted_reward_terms": {"track_linear_velocity": 1.7754582166671753, "track_angular_velocity": 1.8918392658233643, "upright": 0.9609171152114868, "leg_posture": -0.0943099856376648, "standstill": -0.21354329586029053, "action_rate_l2": -0.021490495651960373, "joint_torques_l2": -0.005467293318361044, "dof_pos_limits": -2.462208067299798e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.003385915420949459, "rolling_leg_motion": -0.022297775372862816, "obstacle_progress": 0.13360831141471863, "wheel_body_intrusion": -0.00919671356678009, "pair_body_intrusion": -0.010888445191085339}, "episode_termination_rates": {"time_out": 0.4028776978417266, "fell_over": 0.014388489208633094, "course_exit": 0.5467625899280576, "illegal_nonwheel_contact": 0.04316546762589928}, "collection_time_s": 0.07552511373651213, "learning_time_s": 0.18508344692527318, "iteration_time_s": 0.3291072214830861, "policy_updates": 23350, "skipped_updates": 0, "invalid_env_resets": 118, "elapsed_s": 7783.385788074986, "nonwheel_terminations": 12214, "contact_bce": 0.29911008477211, "contact_force_loss": 0.020735055208206177, "collision_bce": 8.988050467451103e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 8.98200596566312e-06, "collision_label_count": 16348.0, "terrain_level_mean": 3.506103515625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [13, 55, 93, 104, 54, 91], "episodes_by_level": [[1402.0, 302.0, 48.0, 0.0], [1617.0, 360.0, 35.0, 0.0], [1119.0, 261.0, 26.0, 0.0], [675.0, 154.0, 12.0, 0.0], [363.0, 94.0, 9.0, 0.0], [265.0, 66.0, 3.0, 0.0]]}, "up": {"level_counts": [0, 2, 13, 154, 556, 708], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2394.0, 1462.0, 37.0, 0.0], [4261.0, 1727.0, 165.0, 0.0], [4133.0, 1497.0, 191.0, 0.0], [3171.0, 865.0, 154.0, 0.0], [1191.0, 107.0, 107.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 6, 46, 560], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [943.0, 770.0, 26.0, 0.0], [1522.0, 1198.0, 61.0, 0.0], [5330.0, 4229.0, 210.0, 0.0]]}, "platform": {"level_counts": [37, 76, 110, 101, 65, 21], "episodes_by_level": [[1638.0, 351.0, 51.0, 0.0], [1780.0, 356.0, 77.0, 0.0], [1110.0, 220.0, 65.0, 0.0], [637.0, 102.0, 33.0, 0.0], [213.0, 33.0, 16.0, 0.0], [41.0, 4.0, 12.0, 0.0]]}, "slope": {"level_counts": [25, 60, 106, 85, 60, 74], "episodes_by_level": [[1500.0, 321.0, 43.0, 0.0], [1663.0, 347.0, 63.0, 0.0], [1062.0, 236.0, 36.0, 0.0], [635.0, 139.0, 17.0, 0.0], [366.0, 80.0, 5.0, 0.0], [239.0, 42.0, 6.0, 0.0]]}, "rubble": {"level_counts": [67, 191, 238, 205, 96, 22], "episodes_by_level": [[2988.0, 671.0, 94.0, 0.0], [3693.0, 790.0, 174.0, 0.0], [2560.0, 526.0, 246.0, 0.0], [1315.0, 200.0, 203.0, 0.0], [343.0, 38.0, 82.0, 0.0], [48.0, 3.0, 16.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.226806640625, "command_abs_max": [0.9996496438980103, 0.3997804820537567, 0.6998881101608276]}
{"step": 23700, "actor_lr": 5.606144619261935e-05, "archive_windows": 50000, "env_steps": 23700, "total_transitions": 97075200, "num_steps_per_env": 1, "wm_loss": 0.7112680077552795, "actor_loss": -9.500157356262207, "critic_loss": 0.004387693013995886, "reward": 0.08721572905778885, "falls": 12, "interval_steps": 50, "velocity_mae": [0.11360003799200058, 0.07117057591676712, 0.13351672887802124], "mean_episode_length": 1306.6626506024097, "episode_reward_terms": {"track_linear_velocity": 46.40678405761719, "track_angular_velocity": 49.43879318237305, "upright": 25.11392593383789, "leg_posture": -2.4332008361816406, "standstill": -6.017984390258789, "action_rate_l2": -0.5853128433227539, "joint_torques_l2": -0.14292968809604645, "dof_pos_limits": -0.00060077611124143, "terminated": -0.03062490187585354, "unnecessary_wheel_lift": -0.10949412733316422, "rolling_leg_motion": -0.6033721566200256, "obstacle_progress": 3.433094024658203, "wheel_body_intrusion": -0.24294759333133698, "pair_body_intrusion": -0.26459547877311707}, "weighted_reward_terms": {"track_linear_velocity": 1.7757753133773804, "track_angular_velocity": 1.8917964696884155, "upright": 0.9609951376914978, "leg_posture": -0.09310746937990189, "standstill": -0.23028074204921722, "action_rate_l2": -0.022397246211767197, "joint_torques_l2": -0.005469265393912792, "dof_pos_limits": -2.2988953787717037e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.0041898395866155624, "rolling_leg_motion": -0.02308829315006733, "obstacle_progress": 0.13136880099773407, "wheel_body_intrusion": -0.009296493604779243, "pair_body_intrusion": -0.01012485846877098}, "episode_termination_rates": {"time_out": 0.43373493975903615, "fell_over": 0.04819277108433735, "course_exit": 0.4939759036144578, "illegal_nonwheel_contact": 0.03614457831325301}, "collection_time_s": 0.07559339577797801, "learning_time_s": 0.18524533567600884, "iteration_time_s": 0.32896324204219324, "policy_updates": 23400, "skipped_updates": 0, "invalid_env_resets": 118, "elapsed_s": 7796.42883639998, "nonwheel_terminations": 12220, "contact_bce": 0.29672878980636597, "contact_force_loss": 0.0204271599650383, "collision_bce": 0.00030720722861588, "collision_label_rate": 6.124448555056006e-05, "collision_prediction_mean": 1.1988621736236382e-05, "collision_label_count": 16328.0, "terrain_level_mean": 3.50927734375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [13, 56, 92, 103, 55, 91], "episodes_by_level": [[1402.0, 302.0, 48.0, 0.0], [1618.0, 360.0, 35.0, 0.0], [1122.0, 261.0, 27.0, 0.0], [680.0, 155.0, 12.0, 0.0], [364.0, 94.0, 9.0, 0.0], [267.0, 66.0, 3.0, 0.0]]}, "up": {"level_counts": [0, 2, 13, 152, 557, 709], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2394.0, 1462.0, 37.0, 0.0], [4262.0, 1727.0, 165.0, 0.0], [4136.0, 1499.0, 191.0, 0.0], [3187.0, 871.0, 154.0, 0.0], [1212.0, 113.0, 108.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 5, 48, 559], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [944.0, 771.0, 26.0, 0.0], [1524.0, 1200.0, 61.0, 0.0], [5356.0, 4253.0, 211.0, 0.0]]}, "platform": {"level_counts": [36, 77, 110, 101, 65, 21], "episodes_by_level": [[1642.0, 352.0, 51.0, 0.0], [1783.0, 356.0, 77.0, 0.0], [1114.0, 220.0, 65.0, 0.0], [642.0, 103.0, 33.0, 0.0], [216.0, 33.0, 17.0, 0.0], [41.0, 4.0, 12.0, 0.0]]}, "slope": {"level_counts": [25, 59, 107, 85, 59, 75], "episodes_by_level": [[1501.0, 321.0, 43.0, 0.0], [1665.0, 348.0, 63.0, 0.0], [1064.0, 236.0, 36.0, 0.0], [636.0, 139.0, 17.0, 0.0], [368.0, 81.0, 5.0, 0.0], [242.0, 42.0, 6.0, 0.0]]}, "rubble": {"level_counts": [68, 188, 237, 206, 97, 23], "episodes_by_level": [[2992.0, 671.0, 94.0, 0.0], [3697.0, 792.0, 175.0, 0.0], [2568.0, 530.0, 246.0, 0.0], [1321.0, 202.0, 204.0, 0.0], [345.0, 39.0, 82.0, 0.0], [48.0, 3.0, 16.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22802734375, "command_abs_max": [0.9994712471961975, 0.3997804820537567, 0.6998881101608276]}
{"step": 23750, "actor_lr": 5.595736489949932e-05, "archive_windows": 50000, "env_steps": 23750, "total_transitions": 97280000, "num_steps_per_env": 1, "wm_loss": 0.7454425692558289, "actor_loss": -9.529458999633789, "critic_loss": 0.008722752332687378, "reward": 0.0871305763721466, "falls": 6, "interval_steps": 50, "velocity_mae": [0.1136862114071846, 0.07078084349632263, 0.13434050977230072], "mean_episode_length": 1366.9939393939394, "episode_reward_terms": {"track_linear_velocity": 48.559364318847656, "track_angular_velocity": 51.694923400878906, "upright": 26.282373428344727, "leg_posture": -2.5622503757476807, "standstill": -6.2886738777160645, "action_rate_l2": -0.5978297591209412, "joint_torques_l2": -0.14853709936141968, "dof_pos_limits": -0.0002612643002066761, "terminated": -0.016019457951188087, "unnecessary_wheel_lift": -0.10173512995243073, "rolling_leg_motion": -0.6310080289840698, "obstacle_progress": 3.4958691596984863, "wheel_body_intrusion": -0.25154149532318115, "pair_body_intrusion": -0.32772907614707947}, "weighted_reward_terms": {"track_linear_velocity": 1.776136875152588, "track_angular_velocity": 1.8908250331878662, "upright": 0.961320161819458, "leg_posture": -0.09371843189001083, "standstill": -0.23001836240291595, "action_rate_l2": -0.021866584196686745, "joint_torques_l2": -0.00543298339471221, "dof_pos_limits": -9.556162694934756e-06, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.003721125889569521, "rolling_leg_motion": -0.023080134764313698, "obstacle_progress": 0.12786704301834106, "wheel_body_intrusion": -0.009200534783303738, "pair_body_intrusion": -0.011987218633294106}, "episode_termination_rates": {"time_out": 0.46060606060606063, "fell_over": 0.012121212121212121, "course_exit": 0.503030303030303, "illegal_nonwheel_contact": 0.030303030303030304}, "collection_time_s": 0.07567831874242983, "learning_time_s": 0.18529275422217326, "iteration_time_s": 0.3288201466970955, "policy_updates": 23450, "skipped_updates": 0, "invalid_env_resets": 118, "elapsed_s": 7809.478484056017, "nonwheel_terminations": 12225, "contact_bce": 0.30752497911453247, "contact_force_loss": 0.021401595324277878, "collision_bce": 0.0001372510305372998, "collision_label_rate": 6.125949585111812e-05, "collision_prediction_mean": 2.2270156478043646e-05, "collision_label_count": 16324.0, "terrain_level_mean": 3.51318359375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [13, 55, 91, 104, 56, 91], "episodes_by_level": [[1403.0, 302.0, 48.0, 0.0], [1623.0, 361.0, 35.0, 0.0], [1126.0, 263.0, 27.0, 0.0], [682.0, 156.0, 12.0, 0.0], [364.0, 94.0, 9.0, 0.0], [271.0, 67.0, 3.0, 0.0]]}, "up": {"level_counts": [0, 2, 14, 146, 557, 714], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2394.0, 1462.0, 37.0, 0.0], [4262.0, 1727.0, 165.0, 0.0], [4140.0, 1503.0, 191.0, 0.0], [3202.0, 876.0, 154.0, 0.0], [1228.0, 114.0, 108.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 7, 46, 559], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [944.0, 771.0, 26.0, 0.0], [1529.0, 1202.0, 63.0, 0.0], [5383.0, 4276.0, 211.0, 0.0]]}, "platform": {"level_counts": [36, 77, 110, 101, 65, 21], "episodes_by_level": [[1643.0, 352.0, 51.0, 0.0], [1786.0, 356.0, 77.0, 0.0], [1117.0, 220.0, 65.0, 0.0], [648.0, 104.0, 33.0, 0.0], [217.0, 33.0, 18.0, 0.0], [41.0, 4.0, 12.0, 0.0]]}, "slope": {"level_counts": [25, 59, 107, 85, 59, 75], "episodes_by_level": [[1501.0, 321.0, 43.0, 0.0], [1666.0, 348.0, 63.0, 0.0], [1065.0, 236.0, 36.0, 0.0], [640.0, 139.0, 17.0, 0.0], [369.0, 81.0, 5.0, 0.0], [244.0, 43.0, 6.0, 0.0]]}, "rubble": {"level_counts": [68, 186, 238, 205, 99, 23], "episodes_by_level": [[2993.0, 671.0, 94.0, 0.0], [3704.0, 794.0, 175.0, 0.0], [2578.0, 531.0, 246.0, 0.0], [1329.0, 204.0, 204.0, 0.0], [347.0, 39.0, 82.0, 0.0], [48.0, 3.0, 16.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22705078125, "command_abs_max": [0.9990782141685486, 0.3997804820537567, 0.6998881101608276]}
{"step": 23800, "actor_lr": 5.5852052542104714e-05, "archive_windows": 50000, "env_steps": 23800, "total_transitions": 97484800, "num_steps_per_env": 1, "wm_loss": 0.752318263053894, "actor_loss": -9.507481575012207, "critic_loss": 0.005105302669107914, "reward": 0.08744536340236664, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11296463757753372, 0.06977810710668564, 0.1326233595609665], "mean_episode_length": 1362.0, "episode_reward_terms": {"track_linear_velocity": 48.44032287597656, "track_angular_velocity": 51.5689811706543, "upright": 26.194644927978516, "leg_posture": -2.582103967666626, "standstill": -5.861349105834961, "action_rate_l2": -0.5954476594924927, "joint_torques_l2": -0.1488247662782669, "dof_pos_limits": -0.00039722639485262334, "terminated": -0.0159609355032444, "unnecessary_wheel_lift": -0.10466808080673218, "rolling_leg_motion": -0.6370664834976196, "obstacle_progress": 3.4232442378997803, "wheel_body_intrusion": -0.2588576674461365, "pair_body_intrusion": -0.32193905115127563}, "weighted_reward_terms": {"track_linear_velocity": 1.7782790660858154, "track_angular_velocity": 1.8931344747543335, "upright": 0.9616243243217468, "leg_posture": -0.09479089826345444, "standstill": -0.2151743620634079, "action_rate_l2": -0.021859312430024147, "joint_torques_l2": -0.005463464185595512, "dof_pos_limits": -1.458246788388351e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.003842440666630864, "rolling_leg_motion": -0.02338716946542263, "obstacle_progress": 0.12566976249217987, "wheel_body_intrusion": -0.009502851404249668, "pair_body_intrusion": -0.011818613857030869}, "episode_termination_rates": {"time_out": 0.4968152866242038, "fell_over": 0.03184713375796178, "course_exit": 0.46496815286624205, "illegal_nonwheel_contact": 0.01910828025477707}, "collection_time_s": 0.07564181614317932, "learning_time_s": 0.18513164665782825, "iteration_time_s": 0.32867723882550515, "policy_updates": 23500, "skipped_updates": 0, "invalid_env_resets": 118, "elapsed_s": 7822.5182840470225, "nonwheel_terminations": 12228, "contact_bce": 0.3003499209880829, "contact_force_loss": 0.02120169810950756, "collision_bce": 8.000948582775891e-05, "collision_label_rate": 6.127451342763379e-05, "collision_prediction_mean": 4.147441723034717e-05, "collision_label_count": 16320.0, "terrain_level_mean": 3.51806640625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [11, 57, 88, 105, 58, 91], "episodes_by_level": [[1405.0, 304.0, 48.0, 0.0], [1624.0, 361.0, 35.0, 0.0], [1132.0, 266.0, 27.0, 0.0], [686.0, 158.0, 12.0, 0.0], [367.0, 94.0, 9.0, 0.0], [272.0, 68.0, 3.0, 0.0]]}, "up": {"level_counts": [0, 2, 14, 142, 555, 720], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2394.0, 1462.0, 37.0, 0.0], [4262.0, 1727.0, 165.0, 0.0], [4147.0, 1507.0, 191.0, 0.0], [3220.0, 883.0, 154.0, 0.0], [1246.0, 115.0, 109.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 7, 48, 557], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [944.0, 771.0, 26.0, 0.0], [1529.0, 1202.0, 63.0, 0.0], [5402.0, 4294.0, 211.0, 0.0]]}, "platform": {"level_counts": [36, 77, 110, 101, 66, 20], "episodes_by_level": [[1644.0, 352.0, 51.0, 0.0], [1786.0, 356.0, 77.0, 0.0], [1121.0, 220.0, 65.0, 0.0], [651.0, 104.0, 33.0, 0.0], [219.0, 33.0, 18.0, 0.0], [44.0, 4.0, 13.0, 0.0]]}, "slope": {"level_counts": [25, 59, 107, 85, 58, 76], "episodes_by_level": [[1501.0, 321.0, 43.0, 0.0], [1667.0, 348.0, 63.0, 0.0], [1069.0, 236.0, 36.0, 0.0], [641.0, 139.0, 17.0, 0.0], [371.0, 82.0, 5.0, 0.0], [248.0, 43.0, 6.0, 0.0]]}, "rubble": {"level_counts": [67, 187, 237, 203, 102, 23], "episodes_by_level": [[2997.0, 672.0, 94.0, 0.0], [3709.0, 794.0, 175.0, 0.0], [2589.0, 533.0, 246.0, 0.0], [1340.0, 207.0, 205.0, 0.0], [349.0, 40.0, 82.0, 0.0], [50.0, 3.0, 17.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.228759765625, "command_abs_max": [0.9990782141685486, 0.3997804820537567, 0.6998881101608276]}
{"step": 23850, "actor_lr": 5.574551561659779e-05, "archive_windows": 50000, "env_steps": 23850, "total_transitions": 97689600, "num_steps_per_env": 1, "wm_loss": 0.7005158066749573, "actor_loss": -9.506587982177734, "critic_loss": 0.004066573455929756, "reward": 0.0873635932803154, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11423558741807938, 0.0704808309674263, 0.13369432091712952], "mean_episode_length": 1331.7215189873418, "episode_reward_terms": {"track_linear_velocity": 47.27381896972656, "track_angular_velocity": 50.3839225769043, "upright": 25.591196060180664, "leg_posture": -2.5064024925231934, "standstill": -5.752756118774414, "action_rate_l2": -0.5809652805328369, "joint_torques_l2": -0.14445067942142487, "dof_pos_limits": -0.0002590029616840184, "terminated": -0.02601018361747265, "unnecessary_wheel_lift": -0.09714540094137192, "rolling_leg_motion": -0.6149369478225708, "obstacle_progress": 3.3654897212982178, "wheel_body_intrusion": -0.24743878841400146, "pair_body_intrusion": -0.30008620023727417}, "weighted_reward_terms": {"track_linear_velocity": 1.7749137878417969, "track_angular_velocity": 1.89168381690979, "upright": 0.9608314037322998, "leg_posture": -0.0941038504242897, "standstill": -0.21598945558071136, "action_rate_l2": -0.021812565624713898, "joint_torques_l2": -0.005423456896096468, "dof_pos_limits": -9.724366464070044e-06, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.0036473616492003202, "rolling_leg_motion": -0.02308804541826248, "obstacle_progress": 0.12635861337184906, "wheel_body_intrusion": -0.009290184825658798, "pair_body_intrusion": -0.011266852729022503}, "episode_termination_rates": {"time_out": 0.44936708860759494, "fell_over": 0.04430379746835443, "course_exit": 0.4873417721518987, "illegal_nonwheel_contact": 0.04430379746835443}, "collection_time_s": 0.0755803893180564, "learning_time_s": 0.1850371913413983, "iteration_time_s": 0.32853460285274716, "policy_updates": 23550, "skipped_updates": 0, "invalid_env_resets": 118, "elapsed_s": 7835.550278038019, "nonwheel_terminations": 12235, "contact_bce": 0.2998891770839691, "contact_force_loss": 0.021402888000011444, "collision_bce": 0.00045299637713469565, "collision_label_rate": 0.000244723167270422, "collision_prediction_mean": 0.00018412720237392932, "collision_label_count": 16345.0, "terrain_level_mean": 3.5224609375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [12, 56, 88, 103, 60, 91], "episodes_by_level": [[1405.0, 304.0, 48.0, 0.0], [1626.0, 361.0, 36.0, 0.0], [1134.0, 266.0, 27.0, 0.0], [690.0, 160.0, 12.0, 0.0], [368.0, 94.0, 9.0, 0.0], [274.0, 69.0, 3.0, 0.0]]}, "up": {"level_counts": [0, 1, 16, 137, 557, 722], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2395.0, 1463.0, 37.0, 0.0], [4262.0, 1727.0, 165.0, 0.0], [4153.0, 1511.0, 192.0, 0.0], [3242.0, 887.0, 154.0, 0.0], [1260.0, 118.0, 109.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 7, 48, 557], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [944.0, 771.0, 26.0, 0.0], [1532.0, 1205.0, 63.0, 0.0], [5416.0, 4307.0, 211.0, 0.0]]}, "platform": {"level_counts": [36, 77, 110, 100, 67, 20], "episodes_by_level": [[1644.0, 352.0, 51.0, 0.0], [1787.0, 356.0, 77.0, 0.0], [1121.0, 220.0, 65.0, 0.0], [656.0, 105.0, 33.0, 0.0], [220.0, 33.0, 18.0, 0.0], [44.0, 4.0, 13.0, 0.0]]}, "slope": {"level_counts": [25, 58, 108, 83, 59, 77], "episodes_by_level": [[1503.0, 321.0, 43.0, 0.0], [1669.0, 349.0, 63.0, 0.0], [1073.0, 237.0, 36.0, 0.0], [650.0, 141.0, 18.0, 0.0], [373.0, 83.0, 5.0, 0.0], [248.0, 43.0, 6.0, 0.0]]}, "rubble": {"level_counts": [67, 186, 235, 204, 104, 23], "episodes_by_level": [[2997.0, 672.0, 94.0, 0.0], [3717.0, 795.0, 175.0, 0.0], [2603.0, 537.0, 246.0, 0.0], [1347.0, 210.0, 206.0, 0.0], [353.0, 40.0, 83.0, 0.0], [50.0, 3.0, 17.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22705078125, "command_abs_max": [0.9990782141685486, 0.3997804820537567, 0.6998881101608276]}
{"step": 23900, "actor_lr": 5.563776069467795e-05, "archive_windows": 50000, "env_steps": 23900, "total_transitions": 97894400, "num_steps_per_env": 1, "wm_loss": 0.7168006300926208, "actor_loss": -9.51331901550293, "critic_loss": 0.005723302718251944, "reward": 0.08738572150468826, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11337557435035706, 0.07122569531202316, 0.13386067748069763], "mean_episode_length": 1355.351851851852, "episode_reward_terms": {"track_linear_velocity": 48.14651870727539, "track_angular_velocity": 51.26453399658203, "upright": 26.02404022216797, "leg_posture": -2.5850324630737305, "standstill": -5.777816295623779, "action_rate_l2": -0.5861958861351013, "joint_torques_l2": -0.14876611530780792, "dof_pos_limits": -0.0005090522463433444, "terminated": -0.021177368238568306, "unnecessary_wheel_lift": -0.09371445327997208, "rolling_leg_motion": -0.6277813911437988, "obstacle_progress": 3.4079036712646484, "wheel_body_intrusion": -0.25799137353897095, "pair_body_intrusion": -0.30565208196640015}, "weighted_reward_terms": {"track_linear_velocity": 1.776163101196289, "track_angular_velocity": 1.8911893367767334, "upright": 0.9600474834442139, "leg_posture": -0.09536389261484146, "standstill": -0.21314822137355804, "action_rate_l2": -0.021625230088829994, "joint_torques_l2": -0.005488099996000528, "dof_pos_limits": -1.8779339370667003e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0034572004806250334, "rolling_leg_motion": -0.02315935119986534, "obstacle_progress": 0.12572026252746582, "wheel_body_intrusion": -0.009517506696283817, "pair_body_intrusion": -0.01127574685961008}, "episode_termination_rates": {"time_out": 0.49382716049382713, "fell_over": 0.043209876543209874, "course_exit": 0.4567901234567901, "illegal_nonwheel_contact": 0.018518518518518517}, "collection_time_s": 0.07568095911527052, "learning_time_s": 0.1852965153264813, "iteration_time_s": 0.3283933162974889, "policy_updates": 23600, "skipped_updates": 0, "invalid_env_resets": 118, "elapsed_s": 7848.600259509985, "nonwheel_terminations": 12238, "contact_bce": 0.2948336899280548, "contact_force_loss": 0.020658334717154503, "collision_bce": 3.409514101804234e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 3.35130825988017e-05, "collision_label_count": 16329.0, "terrain_level_mean": 3.525146484375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [12, 56, 86, 103, 61, 92], "episodes_by_level": [[1405.0, 304.0, 48.0, 0.0], [1626.0, 361.0, 36.0, 0.0], [1139.0, 268.0, 27.0, 0.0], [696.0, 162.0, 12.0, 0.0], [370.0, 95.0, 9.0, 0.0], [275.0, 69.0, 3.0, 0.0]]}, "up": {"level_counts": [0, 1, 16, 138, 550, 728], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2396.0, 1463.0, 37.0, 0.0], [4263.0, 1727.0, 165.0, 0.0], [4158.0, 1511.0, 192.0, 0.0], [3266.0, 894.0, 154.0, 0.0], [1280.0, 124.0, 110.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 7, 52, 553], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [944.0, 771.0, 26.0, 0.0], [1532.0, 1205.0, 63.0, 0.0], [5440.0, 4328.0, 213.0, 0.0]]}, "platform": {"level_counts": [35, 78, 108, 102, 67, 20], "episodes_by_level": [[1646.0, 353.0, 51.0, 0.0], [1791.0, 356.0, 77.0, 0.0], [1124.0, 222.0, 65.0, 0.0], [658.0, 105.0, 33.0, 0.0], [221.0, 33.0, 18.0, 0.0], [44.0, 4.0, 13.0, 0.0]]}, "slope": {"level_counts": [25, 59, 107, 83, 59, 77], "episodes_by_level": [[1503.0, 321.0, 43.0, 0.0], [1669.0, 349.0, 63.0, 0.0], [1076.0, 237.0, 37.0, 0.0], [650.0, 141.0, 18.0, 0.0], [374.0, 83.0, 5.0, 0.0], [250.0, 45.0, 6.0, 0.0]]}, "rubble": {"level_counts": [67, 185, 237, 200, 107, 23], "episodes_by_level": [[2999.0, 672.0, 94.0, 0.0], [3723.0, 796.0, 175.0, 0.0], [2613.0, 537.0, 246.0, 0.0], [1354.0, 213.0, 207.0, 0.0], [357.0, 40.0, 83.0, 0.0], [51.0, 3.0, 17.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.232421875, "command_abs_max": [0.9990782141685486, 0.3999490439891815, 0.6989861726760864]}
{"step": 23950, "actor_lr": 5.552879442317635e-05, "archive_windows": 50000, "env_steps": 23950, "total_transitions": 98099200, "num_steps_per_env": 1, "wm_loss": 0.6914082169532776, "actor_loss": -9.507699966430664, "critic_loss": 0.004275703337043524, "reward": 0.08745881170034409, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11375558376312256, 0.0706208348274231, 0.13366658985614777], "mean_episode_length": 1398.4788732394366, "episode_reward_terms": {"track_linear_velocity": 49.68061447143555, "track_angular_velocity": 52.90685272216797, "upright": 26.83197593688965, "leg_posture": -2.707555055618286, "standstill": -5.835488319396973, "action_rate_l2": -0.6064480543136597, "joint_torques_l2": -0.15291230380535126, "dof_pos_limits": -0.0004990624729543924, "terminated": -0.013657018542289734, "unnecessary_wheel_lift": -0.09133832901716232, "rolling_leg_motion": -0.6395478844642639, "obstacle_progress": 3.5521836280822754, "wheel_body_intrusion": -0.27872201800346375, "pair_body_intrusion": -0.3361455500125885}, "weighted_reward_terms": {"track_linear_velocity": 1.7762377262115479, "track_angular_velocity": 1.8915857076644897, "upright": 0.9593271613121033, "leg_posture": -0.09680357575416565, "standstill": -0.20863698422908783, "action_rate_l2": -0.021682418882846832, "joint_torques_l2": -0.005467094015330076, "dof_pos_limits": -1.7843045498011634e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.0032656313851475716, "rolling_leg_motion": -0.022865841165184975, "obstacle_progress": 0.12700168788433075, "wheel_body_intrusion": -0.009965185075998306, "pair_body_intrusion": -0.012018256820738316}, "episode_termination_rates": {"time_out": 0.5070422535211268, "fell_over": 0.028169014084507043, "course_exit": 0.45774647887323944, "illegal_nonwheel_contact": 0.02112676056338028}, "collection_time_s": 0.0756554383202456, "learning_time_s": 0.18539312784094364, "iteration_time_s": 0.32825276882530363, "policy_updates": 23650, "skipped_updates": 0, "invalid_env_resets": 118, "elapsed_s": 7861.6538133660215, "nonwheel_terminations": 12241, "contact_bce": 0.30082523822784424, "contact_force_loss": 0.021177217364311218, "collision_bce": 5.3373492846731097e-05, "collision_label_rate": 6.120325269876048e-05, "collision_prediction_mean": 8.703121420694515e-05, "collision_label_count": 16339.0, "terrain_level_mean": 3.52978515625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [12, 56, 85, 103, 62, 92], "episodes_by_level": [[1405.0, 304.0, 48.0, 0.0], [1629.0, 361.0, 36.0, 0.0], [1143.0, 270.0, 27.0, 0.0], [701.0, 163.0, 13.0, 0.0], [370.0, 95.0, 9.0, 0.0], [275.0, 69.0, 3.0, 0.0]]}, "up": {"level_counts": [0, 1, 16, 137, 544, 735], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2396.0, 1463.0, 37.0, 0.0], [4263.0, 1727.0, 165.0, 0.0], [4160.0, 1512.0, 192.0, 0.0], [3282.0, 901.0, 154.0, 0.0], [1298.0, 127.0, 110.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 7, 51, 554], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [944.0, 771.0, 26.0, 0.0], [1534.0, 1207.0, 63.0, 0.0], [5453.0, 4339.0, 213.0, 0.0]]}, "platform": {"level_counts": [34, 78, 107, 103, 68, 20], "episodes_by_level": [[1649.0, 354.0, 51.0, 0.0], [1793.0, 357.0, 77.0, 0.0], [1129.0, 224.0, 65.0, 0.0], [662.0, 106.0, 33.0, 0.0], [224.0, 33.0, 18.0, 0.0], [44.0, 4.0, 13.0, 0.0]]}, "slope": {"level_counts": [25, 59, 107, 83, 58, 78], "episodes_by_level": [[1503.0, 321.0, 43.0, 0.0], [1670.0, 349.0, 63.0, 0.0], [1080.0, 237.0, 37.0, 0.0], [651.0, 141.0, 18.0, 0.0], [378.0, 84.0, 5.0, 0.0], [252.0, 47.0, 6.0, 0.0]]}, "rubble": {"level_counts": [67, 183, 239, 200, 107, 23], "episodes_by_level": [[3003.0, 672.0, 94.0, 0.0], [3730.0, 798.0, 175.0, 0.0], [2617.0, 539.0, 246.0, 0.0], [1366.0, 214.0, 209.0, 0.0], [359.0, 40.0, 84.0, 0.0], [51.0, 3.0, 17.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.232421875, "command_abs_max": [0.9990782141685486, 0.3999490439891815, 0.6989861726760864]}
{"step": 24000, "actor_lr": 5.5418623523645886e-05, "archive_windows": 50000, "env_steps": 24000, "total_transitions": 98304000, "num_steps_per_env": 1, "wm_loss": 0.6925209760665894, "actor_loss": -9.522819519042969, "critic_loss": 0.002723951358348131, "reward": 0.08717828243970871, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11567746847867966, 0.07169725745916367, 0.13487368822097778], "mean_episode_length": 1357.9795918367347, "episode_reward_terms": {"track_linear_velocity": 48.05928039550781, "track_angular_velocity": 51.334930419921875, "upright": 26.065021514892578, "leg_posture": -2.581331729888916, "standstill": -5.75919771194458, "action_rate_l2": -0.608636736869812, "joint_torques_l2": -0.14782953262329102, "dof_pos_limits": -0.00029433672898449004, "terminated": -0.021218428388237953, "unnecessary_wheel_lift": -0.10451953113079071, "rolling_leg_motion": -0.6437303423881531, "obstacle_progress": 3.425902843475342, "wheel_body_intrusion": -0.262437641620636, "pair_body_intrusion": -0.3696003556251526}, "weighted_reward_terms": {"track_linear_velocity": 1.7695139646530151, "track_angular_velocity": 1.890121579170227, "upright": 0.9596985578536987, "leg_posture": -0.09504310041666031, "standstill": -0.21205024421215057, "action_rate_l2": -0.02240964211523533, "joint_torques_l2": -0.005442995112389326, "dof_pos_limits": -1.0837303307198454e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.003848346881568432, "rolling_leg_motion": -0.02370176650583744, "obstacle_progress": 0.12613970041275024, "wheel_body_intrusion": -0.009662797674536705, "pair_body_intrusion": -0.013608465902507305}, "episode_termination_rates": {"time_out": 0.48299319727891155, "fell_over": 0.04081632653061224, "course_exit": 0.46258503401360546, "illegal_nonwheel_contact": 0.027210884353741496}, "collection_time_s": 0.07562610587920063, "learning_time_s": 0.1855738012411166, "iteration_time_s": 0.3281131310702913, "policy_updates": 23700, "skipped_updates": 0, "invalid_env_resets": 118, "elapsed_s": 7874.715145686991, "nonwheel_terminations": 12245, "contact_bce": 0.29475757479667664, "contact_force_loss": 0.02102092280983925, "collision_bce": 0.0001854713336797431, "collision_label_rate": 0.00012230919674038887, "collision_prediction_mean": 0.00022689653269480914, "collision_label_count": 16352.0, "terrain_level_mean": 3.53173828125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [12, 56, 84, 103, 63, 92], "episodes_by_level": [[1405.0, 304.0, 48.0, 0.0], [1631.0, 361.0, 36.0, 0.0], [1147.0, 271.0, 27.0, 0.0], [704.0, 164.0, 13.0, 0.0], [370.0, 95.0, 9.0, 0.0], [281.0, 70.0, 3.0, 0.0]]}, "up": {"level_counts": [0, 1, 17, 137, 538, 740], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2396.0, 1463.0, 37.0, 0.0], [4263.0, 1727.0, 165.0, 0.0], [4164.0, 1513.0, 192.0, 0.0], [3301.0, 906.0, 154.0, 0.0], [1315.0, 129.0, 110.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 7, 51, 554], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [944.0, 771.0, 26.0, 0.0], [1535.0, 1208.0, 63.0, 0.0], [5473.0, 4357.0, 213.0, 0.0]]}, "platform": {"level_counts": [34, 78, 106, 102, 70, 20], "episodes_by_level": [[1650.0, 354.0, 51.0, 0.0], [1793.0, 357.0, 77.0, 0.0], [1134.0, 225.0, 65.0, 0.0], [666.0, 108.0, 33.0, 0.0], [226.0, 33.0, 18.0, 0.0], [45.0, 4.0, 13.0, 0.0]]}, "slope": {"level_counts": [25, 58, 108, 82, 59, 78], "episodes_by_level": [[1506.0, 321.0, 43.0, 0.0], [1673.0, 350.0, 63.0, 0.0], [1082.0, 237.0, 37.0, 0.0], [653.0, 142.0, 18.0, 0.0], [380.0, 84.0, 5.0, 0.0], [254.0, 47.0, 6.0, 0.0]]}, "rubble": {"level_counts": [67, 184, 239, 199, 107, 23], "episodes_by_level": [[3004.0, 672.0, 94.0, 0.0], [3734.0, 798.0, 175.0, 0.0], [2626.0, 540.0, 247.0, 0.0], [1374.0, 215.0, 211.0, 0.0], [364.0, 40.0, 85.0, 0.0], [51.0, 3.0, 17.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.230712890625, "command_abs_max": [0.9990782141685486, 0.3999490439891815, 0.6998592615127563]}
{"step": 24050, "actor_lr": 5.530725479194661e-05, "archive_windows": 50000, "env_steps": 24050, "total_transitions": 98508800, "num_steps_per_env": 1, "wm_loss": 0.659260094165802, "actor_loss": -9.48847770690918, "critic_loss": 0.005778492894023657, "reward": 0.08729416877031326, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11574678868055344, 0.07220330089330673, 0.13559120893478394], "mean_episode_length": 1352.48, "episode_reward_terms": {"track_linear_velocity": 47.85866928100586, "track_angular_velocity": 51.09606170654297, "upright": 25.959766387939453, "leg_posture": -2.589398145675659, "standstill": -5.562551021575928, "action_rate_l2": -0.6000670790672302, "joint_torques_l2": -0.14906255900859833, "dof_pos_limits": -0.0008455619099549949, "terminated": -0.013207810930907726, "unnecessary_wheel_lift": -0.08975831419229507, "rolling_leg_motion": -0.6283716559410095, "obstacle_progress": 3.425095558166504, "wheel_body_intrusion": -0.26446643471717834, "pair_body_intrusion": -0.37827518582344055}, "weighted_reward_terms": {"track_linear_velocity": 1.769293189048767, "track_angular_velocity": 1.8889766931533813, "upright": 0.9597098231315613, "leg_posture": -0.09572777897119522, "standstill": -0.20564264059066772, "action_rate_l2": -0.02218395471572876, "joint_torques_l2": -0.005510712042450905, "dof_pos_limits": -3.1259682145901024e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.003318286268040538, "rolling_leg_motion": -0.023230349645018578, "obstacle_progress": 0.1266227811574936, "wheel_body_intrusion": -0.009777093306183815, "pair_body_intrusion": -0.013984502293169498}, "episode_termination_rates": {"time_out": 0.49333333333333335, "fell_over": 0.013333333333333334, "course_exit": 0.47333333333333333, "illegal_nonwheel_contact": 0.02}, "collection_time_s": 0.07565703259198926, "learning_time_s": 0.18519363504834474, "iteration_time_s": 0.3279745928656548, "policy_updates": 23750, "skipped_updates": 0, "invalid_env_resets": 118, "elapsed_s": 7887.788958418998, "nonwheel_terminations": 12248, "contact_bce": 0.2954931855201721, "contact_force_loss": 0.02005321905016899, "collision_bce": 1.9263485228293575e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.9108658307231963e-05, "collision_label_count": 16323.0, "terrain_level_mean": 3.536865234375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [12, 56, 82, 105, 63, 92], "episodes_by_level": [[1406.0, 304.0, 48.0, 0.0], [1636.0, 361.0, 36.0, 0.0], [1150.0, 273.0, 27.0, 0.0], [705.0, 164.0, 13.0, 0.0], [372.0, 95.0, 9.0, 0.0], [283.0, 71.0, 3.0, 0.0]]}, "up": {"level_counts": [0, 1, 16, 134, 536, 746], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2396.0, 1463.0, 37.0, 0.0], [4264.0, 1728.0, 165.0, 0.0], [4170.0, 1517.0, 192.0, 0.0], [3320.0, 915.0, 154.0, 0.0], [1331.0, 135.0, 112.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 7, 51, 554], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [944.0, 771.0, 26.0, 0.0], [1537.0, 1210.0, 63.0, 0.0], [5496.0, 4377.0, 213.0, 0.0]]}, "platform": {"level_counts": [34, 78, 105, 103, 70, 20], "episodes_by_level": [[1650.0, 354.0, 51.0, 0.0], [1795.0, 357.0, 77.0, 0.0], [1139.0, 226.0, 65.0, 0.0], [670.0, 108.0, 33.0, 0.0], [227.0, 33.0, 18.0, 0.0], [47.0, 4.0, 13.0, 0.0]]}, "slope": {"level_counts": [25, 58, 106, 84, 59, 78], "episodes_by_level": [[1506.0, 321.0, 43.0, 0.0], [1675.0, 350.0, 63.0, 0.0], [1088.0, 239.0, 37.0, 0.0], [653.0, 142.0, 18.0, 0.0], [382.0, 84.0, 5.0, 0.0], [256.0, 47.0, 6.0, 0.0]]}, "rubble": {"level_counts": [66, 184, 240, 197, 108, 24], "episodes_by_level": [[3006.0, 673.0, 94.0, 0.0], [3740.0, 799.0, 175.0, 0.0], [2630.0, 540.0, 247.0, 0.0], [1385.0, 217.0, 211.0, 0.0], [365.0, 41.0, 85.0, 0.0], [51.0, 3.0, 17.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2333984375, "command_abs_max": [0.9989118576049805, 0.3999490439891815, 0.6998592615127563]}
{"step": 24100, "actor_lr": 5.5194695097826466e-05, "archive_windows": 50000, "env_steps": 24100, "total_transitions": 98713600, "num_steps_per_env": 1, "wm_loss": 0.7058656215667725, "actor_loss": -9.515939712524414, "critic_loss": 0.0043864320032298565, "reward": 0.08735835552215576, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11444950848817825, 0.07228690385818481, 0.13624553382396698], "mean_episode_length": 1384.9797297297298, "episode_reward_terms": {"track_linear_velocity": 49.07223129272461, "track_angular_velocity": 52.2939453125, "upright": 26.569414138793945, "leg_posture": -2.638592481613159, "standstill": -5.5970072746276855, "action_rate_l2": -0.6270037293434143, "joint_torques_l2": -0.15260425209999084, "dof_pos_limits": -0.0006083030020818114, "terminated": -0.018935268744826317, "unnecessary_wheel_lift": -0.11015348136425018, "rolling_leg_motion": -0.6753078103065491, "obstacle_progress": 3.4696927070617676, "wheel_body_intrusion": -0.2588578462600708, "pair_body_intrusion": -0.3366776704788208}, "weighted_reward_terms": {"track_linear_velocity": 1.771586537361145, "track_angular_velocity": 1.8878958225250244, "upright": 0.9591986536979675, "leg_posture": -0.09525743871927261, "standstill": -0.2020609825849533, "action_rate_l2": -0.022635845467448235, "joint_torques_l2": -0.005509259644895792, "dof_pos_limits": -2.1960719095659442e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.00397671852260828, "rolling_leg_motion": -0.024379700422286987, "obstacle_progress": 0.12526150047779083, "wheel_body_intrusion": -0.009345185942947865, "pair_body_intrusion": -0.012154607102274895}, "episode_termination_rates": {"time_out": 0.4594594594594595, "fell_over": 0.02027027027027027, "course_exit": 0.49324324324324326, "illegal_nonwheel_contact": 0.04054054054054054}, "collection_time_s": 0.07549086323822848, "learning_time_s": 0.18494436556356958, "iteration_time_s": 0.32783451580041556, "policy_updates": 23800, "skipped_updates": 0, "invalid_env_resets": 118, "elapsed_s": 7900.811830790015, "nonwheel_terminations": 12254, "contact_bce": 0.2959548234939575, "contact_force_loss": 0.020813848823308945, "collision_bce": 0.00017642606690060347, "collision_label_rate": 0.0001225340092787519, "collision_prediction_mean": 0.0001417394378222525, "collision_label_count": 16322.0, "terrain_level_mean": 3.540283203125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [12, 55, 83, 106, 62, 92], "episodes_by_level": [[1406.0, 304.0, 48.0, 0.0], [1639.0, 362.0, 36.0, 0.0], [1151.0, 273.0, 27.0, 0.0], [705.0, 164.0, 13.0, 0.0], [375.0, 95.0, 10.0, 0.0], [283.0, 71.0, 3.0, 0.0]]}, "up": {"level_counts": [0, 1, 16, 129, 538, 749], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2396.0, 1463.0, 37.0, 0.0], [4265.0, 1729.0, 165.0, 0.0], [4178.0, 1522.0, 193.0, 0.0], [3333.0, 919.0, 154.0, 0.0], [1352.0, 138.0, 112.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 7, 51, 554], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [944.0, 771.0, 26.0, 0.0], [1538.0, 1211.0, 63.0, 0.0], [5514.0, 4395.0, 213.0, 0.0]]}, "platform": {"level_counts": [35, 74, 108, 103, 70, 20], "episodes_by_level": [[1650.0, 354.0, 51.0, 0.0], [1799.0, 360.0, 78.0, 0.0], [1142.0, 226.0, 65.0, 0.0], [673.0, 108.0, 33.0, 0.0], [228.0, 33.0, 18.0, 0.0], [47.0, 4.0, 13.0, 0.0]]}, "slope": {"level_counts": [25, 58, 106, 84, 59, 78], "episodes_by_level": [[1507.0, 321.0, 43.0, 0.0], [1676.0, 350.0, 63.0, 0.0], [1095.0, 239.0, 37.0, 0.0], [655.0, 142.0, 18.0, 0.0], [383.0, 84.0, 5.0, 0.0], [257.0, 47.0, 6.0, 0.0]]}, "rubble": {"level_counts": [65, 184, 241, 195, 110, 24], "episodes_by_level": [[3011.0, 674.0, 94.0, 0.0], [3741.0, 800.0, 175.0, 0.0], [2637.0, 542.0, 247.0, 0.0], [1393.0, 219.0, 213.0, 0.0], [371.0, 41.0, 85.0, 0.0], [53.0, 3.0, 17.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23974609375, "command_abs_max": [0.9997032880783081, 0.39997678995132446, 0.6998592615127563]}
{"step": 24150, "actor_lr": 5.508095138449762e-05, "archive_windows": 50000, "env_steps": 24150, "total_transitions": 98918400, "num_steps_per_env": 1, "wm_loss": 0.7213371396064758, "actor_loss": -9.474004745483398, "critic_loss": 0.006528735160827637, "reward": 0.0874866470694542, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11403516680002213, 0.07139787077903748, 0.1363607496023178], "mean_episode_length": 1409.6301369863013, "episode_reward_terms": {"track_linear_velocity": 50.003761291503906, "track_angular_velocity": 53.206199645996094, "upright": 27.070114135742188, "leg_posture": -2.7047741413116455, "standstill": -5.6489667892456055, "action_rate_l2": -0.6226711273193359, "joint_torques_l2": -0.1544678658246994, "dof_pos_limits": -0.0007720157154835761, "terminated": -0.01927228458225727, "unnecessary_wheel_lift": -0.10740978270769119, "rolling_leg_motion": -0.6659919023513794, "obstacle_progress": 3.53511905670166, "wheel_body_intrusion": -0.25565043091773987, "pair_body_intrusion": -0.31139183044433594}, "weighted_reward_terms": {"track_linear_velocity": 1.7736483812332153, "track_angular_velocity": 1.887239694595337, "upright": 0.9601849913597107, "leg_posture": -0.09593914449214935, "standstill": -0.20037053525447845, "action_rate_l2": -0.022086331620812416, "joint_torques_l2": -0.005479020997881889, "dof_pos_limits": -2.7383626729715616e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0038098569493740797, "rolling_leg_motion": -0.02362293004989624, "obstacle_progress": 0.12539172172546387, "wheel_body_intrusion": -0.009067997336387634, "pair_body_intrusion": -0.011045161634683609}, "episode_termination_rates": {"time_out": 0.541095890410959, "fell_over": 0.03424657534246575, "course_exit": 0.410958904109589, "illegal_nonwheel_contact": 0.03424657534246575}, "collection_time_s": 0.07609551103669218, "learning_time_s": 0.18513172850362025, "iteration_time_s": 0.3276966562063345, "policy_updates": 23850, "skipped_updates": 0, "invalid_env_resets": 120, "elapsed_s": 7913.874247382977, "nonwheel_terminations": 12259, "contact_bce": 0.30623674392700195, "contact_force_loss": 0.021460697054862976, "collision_bce": 0.0002584777830634266, "collision_label_rate": 0.00012226433318573982, "collision_prediction_mean": 8.504487777827308e-05, "collision_label_count": 16358.0, "terrain_level_mean": 3.54345703125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [12, 55, 83, 105, 61, 94], "episodes_by_level": [[1406.0, 304.0, 48.0, 0.0], [1640.0, 362.0, 36.0, 0.0], [1153.0, 274.0, 27.0, 0.0], [712.0, 165.0, 14.0, 0.0], [378.0, 97.0, 10.0, 0.0], [288.0, 71.0, 3.0, 0.0]]}, "up": {"level_counts": [0, 1, 16, 124, 540, 752], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2396.0, 1463.0, 37.0, 0.0], [4265.0, 1729.0, 165.0, 0.0], [4190.0, 1527.0, 193.0, 0.0], [3345.0, 923.0, 154.0, 0.0], [1378.0, 140.0, 112.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 7, 51, 554], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [944.0, 771.0, 26.0, 0.0], [1540.0, 1213.0, 63.0, 0.0], [5524.0, 4405.0, 213.0, 0.0]]}, "platform": {"level_counts": [35, 73, 109, 103, 70, 20], "episodes_by_level": [[1650.0, 354.0, 51.0, 0.0], [1801.0, 361.0, 78.0, 0.0], [1146.0, 226.0, 65.0, 0.0], [675.0, 109.0, 33.0, 0.0], [230.0, 33.0, 19.0, 0.0], [47.0, 4.0, 13.0, 0.0]]}, "slope": {"level_counts": [25, 58, 106, 84, 59, 78], "episodes_by_level": [[1508.0, 321.0, 43.0, 0.0], [1680.0, 350.0, 63.0, 0.0], [1096.0, 239.0, 37.0, 0.0], [657.0, 142.0, 18.0, 0.0], [384.0, 84.0, 5.0, 0.0], [258.0, 47.0, 6.0, 0.0]]}, "rubble": {"level_counts": [65, 184, 242, 192, 112, 24], "episodes_by_level": [[3012.0, 674.0, 94.0, 0.0], [3747.0, 801.0, 175.0, 0.0], [2644.0, 542.0, 248.0, 0.0], [1399.0, 221.0, 214.0, 0.0], [374.0, 41.0, 85.0, 0.0], [55.0, 3.0, 17.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.240478515625, "command_abs_max": [0.9997032880783081, 0.39997678995132446, 0.6998592615127563]}
{"step": 24200, "actor_lr": 5.496603066820806e-05, "archive_windows": 50000, "env_steps": 24200, "total_transitions": 99123200, "num_steps_per_env": 1, "wm_loss": 0.7311828136444092, "actor_loss": -9.501309394836426, "critic_loss": 0.003924869466573, "reward": 0.0874350443482399, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11488956958055496, 0.07048943638801575, 0.13628466427326202], "mean_episode_length": 1412.2727272727273, "episode_reward_terms": {"track_linear_velocity": 50.101585388183594, "track_angular_velocity": 53.303279876708984, "upright": 27.142562866210938, "leg_posture": -2.7309234142303467, "standstill": -5.7058916091918945, "action_rate_l2": -0.610474169254303, "joint_torques_l2": -0.1567012071609497, "dof_pos_limits": -0.000795708445366472, "terminated": -0.01655006967484951, "unnecessary_wheel_lift": -0.10672720521688461, "rolling_leg_motion": -0.6506150960922241, "obstacle_progress": 3.5083224773406982, "wheel_body_intrusion": -0.2618849277496338, "pair_body_intrusion": -0.333042174577713}, "weighted_reward_terms": {"track_linear_velocity": 1.7737929821014404, "track_angular_velocity": 1.8871455192565918, "upright": 0.9609533548355103, "leg_posture": -0.09668541699647903, "standstill": -0.20201097428798676, "action_rate_l2": -0.021613184362649918, "joint_torques_l2": -0.005547838285565376, "dof_pos_limits": -2.8171203666715883e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.0037785624153912067, "rolling_leg_motion": -0.02303432859480381, "obstacle_progress": 0.12420839816331863, "wheel_body_intrusion": -0.009271754883229733, "pair_body_intrusion": -0.011791001074016094}, "episode_termination_rates": {"time_out": 0.4805194805194805, "fell_over": 0.01948051948051948, "course_exit": 0.4805194805194805, "illegal_nonwheel_contact": 0.032467532467532464}, "collection_time_s": 0.07546552561805583, "learning_time_s": 0.18518582212273033, "iteration_time_s": 0.3275581795991324, "policy_updates": 23900, "skipped_updates": 0, "invalid_env_resets": 120, "elapsed_s": 7926.907946299005, "nonwheel_terminations": 12264, "contact_bce": 0.3032267689704895, "contact_force_loss": 0.02133040502667427, "collision_bce": 1.0327356903871987e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.0381908396084327e-05, "collision_label_count": 16338.0, "terrain_level_mean": 3.546630859375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [12, 55, 82, 105, 62, 94], "episodes_by_level": [[1406.0, 304.0, 48.0, 0.0], [1641.0, 362.0, 36.0, 0.0], [1155.0, 275.0, 27.0, 0.0], [721.0, 166.0, 14.0, 0.0], [378.0, 97.0, 10.0, 0.0], [293.0, 71.0, 3.0, 0.0]]}, "up": {"level_counts": [0, 1, 16, 123, 542, 751], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2396.0, 1463.0, 37.0, 0.0], [4265.0, 1729.0, 165.0, 0.0], [4192.0, 1529.0, 193.0, 0.0], [3361.0, 925.0, 154.0, 0.0], [1397.0, 143.0, 113.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 6, 50, 556], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [945.0, 772.0, 26.0, 0.0], [1543.0, 1215.0, 63.0, 0.0], [5545.0, 4423.0, 213.0, 0.0]]}, "platform": {"level_counts": [35, 73, 109, 102, 70, 21], "episodes_by_level": [[1650.0, 354.0, 51.0, 0.0], [1806.0, 361.0, 78.0, 0.0], [1147.0, 226.0, 65.0, 0.0], [678.0, 110.0, 33.0, 0.0], [232.0, 34.0, 19.0, 0.0], [48.0, 4.0, 13.0, 0.0]]}, "slope": {"level_counts": [25, 57, 107, 84, 59, 78], "episodes_by_level": [[1509.0, 321.0, 43.0, 0.0], [1681.0, 351.0, 63.0, 0.0], [1097.0, 239.0, 37.0, 0.0], [662.0, 142.0, 18.0, 0.0], [385.0, 84.0, 5.0, 0.0], [260.0, 47.0, 6.0, 0.0]]}, "rubble": {"level_counts": [65, 182, 241, 195, 112, 24], "episodes_by_level": [[3016.0, 674.0, 94.0, 0.0], [3757.0, 803.0, 175.0, 0.0], [2650.0, 545.0, 248.0, 0.0], [1404.0, 222.0, 214.0, 0.0], [377.0, 42.0, 86.0, 0.0], [56.0, 3.0, 18.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.238525390625, "command_abs_max": [0.9997032880783081, 0.39997678995132446, 0.6989861726760864]}
{"step": 24250, "actor_lr": 5.48499400378089e-05, "archive_windows": 50000, "env_steps": 24250, "total_transitions": 99328000, "num_steps_per_env": 1, "wm_loss": 0.7014479041099548, "actor_loss": -9.503307342529297, "critic_loss": 0.004429411143064499, "reward": 0.0872378796339035, "falls": 11, "interval_steps": 50, "velocity_mae": [0.11338415741920471, 0.07080531865358353, 0.1364997923374176], "mean_episode_length": 1331.8709677419354, "episode_reward_terms": {"track_linear_velocity": 47.29525375366211, "track_angular_velocity": 50.2476806640625, "upright": 25.599658966064453, "leg_posture": -2.529613971710205, "standstill": -5.633298397064209, "action_rate_l2": -0.5733269453048706, "joint_torques_l2": -0.14692524075508118, "dof_pos_limits": -0.0011150558711960912, "terminated": -0.028614412993192673, "unnecessary_wheel_lift": -0.09652818739414215, "rolling_leg_motion": -0.635563850402832, "obstacle_progress": 3.2869036197662354, "wheel_body_intrusion": -0.24653086066246033, "pair_body_intrusion": -0.34835320711135864}, "weighted_reward_terms": {"track_linear_velocity": 1.7755194902420044, "track_angular_velocity": 1.886357069015503, "upright": 0.9610413312911987, "leg_posture": -0.09496467560529709, "standstill": -0.21148063242435455, "action_rate_l2": -0.021523367613554, "joint_torques_l2": -0.005515746306627989, "dof_pos_limits": -4.1860505007207394e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.0036237817257642746, "rolling_leg_motion": -0.023859811946749687, "obstacle_progress": 0.12339422851800919, "wheel_body_intrusion": -0.009255058132112026, "pair_body_intrusion": -0.013077588751912117}, "episode_termination_rates": {"time_out": 0.4731182795698925, "fell_over": 0.03763440860215054, "course_exit": 0.46774193548387094, "illegal_nonwheel_contact": 0.021505376344086023}, "collection_time_s": 0.07564798535895534, "learning_time_s": 0.18548611773992887, "iteration_time_s": 0.32742127602317456, "policy_updates": 23950, "skipped_updates": 0, "invalid_env_resets": 120, "elapsed_s": 7939.965943561983, "nonwheel_terminations": 12268, "contact_bce": 0.29769769310951233, "contact_force_loss": 0.02103862725198269, "collision_bce": 0.00015486267511732876, "collision_label_rate": 6.116207805462182e-05, "collision_prediction_mean": 1.9265455193817616e-05, "collision_label_count": 16350.0, "terrain_level_mean": 3.54931640625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [12, 54, 83, 104, 62, 95], "episodes_by_level": [[1406.0, 304.0, 48.0, 0.0], [1643.0, 363.0, 36.0, 0.0], [1158.0, 275.0, 27.0, 0.0], [726.0, 167.0, 14.0, 0.0], [383.0, 98.0, 10.0, 0.0], [297.0, 72.0, 3.0, 0.0]]}, "up": {"level_counts": [0, 1, 16, 120, 544, 752], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2396.0, 1463.0, 37.0, 0.0], [4265.0, 1729.0, 165.0, 0.0], [4198.0, 1531.0, 193.0, 0.0], [3372.0, 928.0, 154.0, 0.0], [1422.0, 148.0, 114.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 6, 51, 555], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [945.0, 772.0, 26.0, 0.0], [1546.0, 1217.0, 63.0, 0.0], [5566.0, 4441.0, 213.0, 0.0]]}, "platform": {"level_counts": [34, 72, 111, 103, 68, 22], "episodes_by_level": [[1655.0, 355.0, 51.0, 0.0], [1809.0, 363.0, 78.0, 0.0], [1151.0, 226.0, 65.0, 0.0], [683.0, 110.0, 33.0, 0.0], [235.0, 35.0, 20.0, 0.0], [49.0, 4.0, 13.0, 0.0]]}, "slope": {"level_counts": [25, 57, 107, 83, 60, 78], "episodes_by_level": [[1511.0, 321.0, 43.0, 0.0], [1687.0, 351.0, 63.0, 0.0], [1102.0, 239.0, 37.0, 0.0], [665.0, 143.0, 18.0, 0.0], [386.0, 84.0, 5.0, 0.0], [263.0, 47.0, 6.0, 0.0]]}, "rubble": {"level_counts": [65, 181, 244, 192, 112, 25], "episodes_by_level": [[3019.0, 674.0, 94.0, 0.0], [3766.0, 806.0, 175.0, 0.0], [2660.0, 545.0, 250.0, 0.0], [1410.0, 224.0, 216.0, 0.0], [380.0, 43.0, 87.0, 0.0], [56.0, 3.0, 18.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.242919921875, "command_abs_max": [0.9997032880783081, 0.39997678995132446, 0.6989861726760864]}
{"step": 24300, "actor_lr": 5.473268665431707e-05, "archive_windows": 50000, "env_steps": 24300, "total_transitions": 99532800, "num_steps_per_env": 1, "wm_loss": 0.6963528990745544, "actor_loss": -9.467561721801758, "critic_loss": 0.005565214902162552, "reward": 0.08748401701450348, "falls": 3, "interval_steps": 50, "velocity_mae": [0.11234082281589508, 0.07012227922677994, 0.13563784956932068], "mean_episode_length": 1437.8031496062993, "episode_reward_terms": {"track_linear_velocity": 51.185794830322266, "track_angular_velocity": 54.28273010253906, "upright": 27.62020492553711, "leg_posture": -2.7489402294158936, "standstill": -5.9878034591674805, "action_rate_l2": -0.6052682399749756, "joint_torques_l2": -0.15761026740074158, "dof_pos_limits": -0.0011643406469374895, "terminated": -0.008424626663327217, "unnecessary_wheel_lift": -0.08797885477542877, "rolling_leg_motion": -0.6569591760635376, "obstacle_progress": 3.576293706893921, "wheel_body_intrusion": -0.2832777500152588, "pair_body_intrusion": -0.34286239743232727}, "weighted_reward_terms": {"track_linear_velocity": 1.7800002098083496, "track_angular_velocity": 1.8876969814300537, "upright": 0.9605002403259277, "leg_posture": -0.09559515863656998, "standstill": -0.20822753012180328, "action_rate_l2": -0.021048370748758316, "joint_torques_l2": -0.005480940919369459, "dof_pos_limits": -4.049027120345272e-05, "terminated": -0.00029296870343387127, "unnecessary_wheel_lift": -0.0030594889540225267, "rolling_leg_motion": -0.022845936939120293, "obstacle_progress": 0.12436660379171371, "wheel_body_intrusion": -0.0098510617390275, "pair_body_intrusion": -0.011923134326934814}, "episode_termination_rates": {"time_out": 0.5590551181102362, "fell_over": 0.007874015748031496, "course_exit": 0.41732283464566927, "illegal_nonwheel_contact": 0.023622047244094488}, "collection_time_s": 0.07545186030562036, "learning_time_s": 0.184986876193434, "iteration_time_s": 0.3272834977826751, "policy_updates": 24000, "skipped_updates": 0, "invalid_env_resets": 120, "elapsed_s": 7952.988996119006, "nonwheel_terminations": 12271, "contact_bce": 0.2973885238170624, "contact_force_loss": 0.02090429700911045, "collision_bce": 8.570483623770997e-05, "collision_label_rate": 6.116956501500681e-05, "collision_prediction_mean": 4.613666169461794e-05, "collision_label_count": 16348.0, "terrain_level_mean": 3.552978515625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [12, 52, 85, 104, 62, 95], "episodes_by_level": [[1406.0, 304.0, 48.0, 0.0], [1645.0, 365.0, 36.0, 0.0], [1161.0, 275.0, 27.0, 0.0], [727.0, 167.0, 14.0, 0.0], [383.0, 98.0, 10.0, 0.0], [302.0, 72.0, 3.0, 0.0]]}, "up": {"level_counts": [0, 1, 16, 119, 541, 756], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2396.0, 1463.0, 37.0, 0.0], [4265.0, 1729.0, 165.0, 0.0], [4199.0, 1532.0, 193.0, 0.0], [3385.0, 933.0, 154.0, 0.0], [1435.0, 153.0, 114.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 6, 51, 555], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [945.0, 772.0, 26.0, 0.0], [1546.0, 1217.0, 63.0, 0.0], [5581.0, 4454.0, 213.0, 0.0]]}, "platform": {"level_counts": [34, 71, 112, 103, 68, 22], "episodes_by_level": [[1656.0, 355.0, 51.0, 0.0], [1811.0, 364.0, 78.0, 0.0], [1155.0, 226.0, 65.0, 0.0], [688.0, 110.0, 33.0, 0.0], [236.0, 35.0, 20.0, 0.0], [49.0, 4.0, 13.0, 0.0]]}, "slope": {"level_counts": [25, 55, 108, 85, 59, 78], "episodes_by_level": [[1511.0, 321.0, 43.0, 0.0], [1691.0, 353.0, 63.0, 0.0], [1107.0, 240.0, 37.0, 0.0], [667.0, 143.0, 18.0, 0.0], [388.0, 84.0, 6.0, 0.0], [269.0, 47.0, 6.0, 0.0]]}, "rubble": {"level_counts": [64, 182, 243, 191, 113, 26], "episodes_by_level": [[3022.0, 675.0, 94.0, 0.0], [3770.0, 806.0, 175.0, 0.0], [2666.0, 547.0, 250.0, 0.0], [1416.0, 226.0, 217.0, 0.0], [382.0, 44.0, 87.0, 0.0], [57.0, 3.0, 18.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.244140625, "command_abs_max": [0.9997032880783081, 0.39997678995132446, 0.6989861726760864]}
{"step": 24350, "actor_lr": 5.461427775047356e-05, "archive_windows": 50000, "env_steps": 24350, "total_transitions": 99737600, "num_steps_per_env": 1, "wm_loss": 0.6853539347648621, "actor_loss": -9.508098602294922, "critic_loss": 0.004680207464843988, "reward": 0.08721566200256348, "falls": 4, "interval_steps": 50, "velocity_mae": [0.1148059070110321, 0.0697145015001297, 0.1358727514743805], "mean_episode_length": 1281.4110429447853, "episode_reward_terms": {"track_linear_velocity": 45.48844528198242, "track_angular_velocity": 48.385902404785156, "upright": 24.630495071411133, "leg_posture": -2.458994150161743, "standstill": -5.487153053283691, "action_rate_l2": -0.5519965291023254, "joint_torques_l2": -0.1410580426454544, "dof_pos_limits": -0.0013782345922663808, "terminated": -0.010011021979153156, "unnecessary_wheel_lift": -0.10409519821405411, "rolling_leg_motion": -0.6131620407104492, "obstacle_progress": 3.1845197677612305, "wheel_body_intrusion": -0.24517691135406494, "pair_body_intrusion": -0.3172295391559601}, "weighted_reward_terms": {"track_linear_velocity": 1.7749358415603638, "track_angular_velocity": 1.8879932165145874, "upright": 0.9610692858695984, "leg_posture": -0.09594869613647461, "standstill": -0.21410590410232544, "action_rate_l2": -0.021538622677326202, "joint_torques_l2": -0.005504012573510408, "dof_pos_limits": -5.3778010624228045e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.004061741288751364, "rolling_leg_motion": -0.02392526902258396, "obstacle_progress": 0.12425833195447922, "wheel_body_intrusion": -0.00956667773425579, "pair_body_intrusion": -0.01237813476473093}, "episode_termination_rates": {"time_out": 0.38650306748466257, "fell_over": 0.0, "course_exit": 0.588957055214724, "illegal_nonwheel_contact": 0.024539877300613498}, "collection_time_s": 0.07557824497693218, "learning_time_s": 0.19234543200815096, "iteration_time_s": 0.32740216049347054, "policy_updates": 24050, "skipped_updates": 0, "invalid_env_resets": 120, "elapsed_s": 7972.242608016008, "nonwheel_terminations": 12275, "contact_bce": 0.3010352551937103, "contact_force_loss": 0.021267293021082878, "collision_bce": 8.640654414193705e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 8.700541002326645e-06, "collision_label_count": 16354.0, "terrain_level_mean": 3.55908203125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [12, 52, 83, 106, 61, 96], "episodes_by_level": [[1407.0, 304.0, 48.0, 0.0], [1645.0, 365.0, 36.0, 0.0], [1165.0, 277.0, 27.0, 0.0], [727.0, 167.0, 14.0, 0.0], [384.0, 99.0, 10.0, 0.0], [308.0, 74.0, 3.0, 0.0]]}, "up": {"level_counts": [0, 1, 15, 119, 535, 763], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2396.0, 1463.0, 37.0, 0.0], [4266.0, 1730.0, 165.0, 0.0], [4206.0, 1533.0, 193.0, 0.0], [3401.0, 942.0, 154.0, 0.0], [1451.0, 154.0, 114.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 5, 50, 557], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [946.0, 773.0, 26.0, 0.0], [1548.0, 1219.0, 63.0, 0.0], [5610.0, 4482.0, 213.0, 0.0]]}, "platform": {"level_counts": [32, 73, 110, 104, 69, 22], "episodes_by_level": [[1658.0, 357.0, 51.0, 0.0], [1814.0, 364.0, 78.0, 0.0], [1160.0, 228.0, 65.0, 0.0], [689.0, 111.0, 33.0, 0.0], [239.0, 35.0, 20.0, 0.0], [49.0, 4.0, 13.0, 0.0]]}, "slope": {"level_counts": [25, 54, 109, 84, 60, 78], "episodes_by_level": [[1513.0, 321.0, 43.0, 0.0], [1694.0, 354.0, 63.0, 0.0], [1108.0, 240.0, 37.0, 0.0], [669.0, 144.0, 18.0, 0.0], [389.0, 84.0, 6.0, 0.0], [272.0, 47.0, 6.0, 0.0]]}, "rubble": {"level_counts": [64, 181, 243, 192, 112, 27], "episodes_by_level": [[3024.0, 675.0, 94.0, 0.0], [3775.0, 807.0, 175.0, 0.0], [2673.0, 549.0, 250.0, 0.0], [1423.0, 227.0, 218.0, 0.0], [386.0, 45.0, 88.0, 0.0], [57.0, 3.0, 18.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.251708984375, "command_abs_max": [0.9997032880783081, 0.3997804820537567, 0.6989861726760864]}
{"step": 24400, "actor_lr": 5.4494720630297335e-05, "archive_windows": 50000, "env_steps": 24400, "total_transitions": 99942400, "num_steps_per_env": 1, "wm_loss": 0.7197082042694092, "actor_loss": -9.510086059570312, "critic_loss": 0.00304625416174531, "reward": 0.08722652494907379, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11355600506067276, 0.07036235183477402, 0.13448940217494965], "mean_episode_length": 1350.736111111111, "episode_reward_terms": {"track_linear_velocity": 48.0019645690918, "track_angular_velocity": 51.057472229003906, "upright": 25.936187744140625, "leg_posture": -2.629044532775879, "standstill": -5.880886077880859, "action_rate_l2": -0.5798922777175903, "joint_torques_l2": -0.14808997511863708, "dof_pos_limits": -0.001394570921547711, "terminated": -0.013190780766308308, "unnecessary_wheel_lift": -0.10964678972959518, "rolling_leg_motion": -0.6315619349479675, "obstacle_progress": 3.420811176300049, "wheel_body_intrusion": -0.2501694858074188, "pair_body_intrusion": -0.35255828499794006}, "weighted_reward_terms": {"track_linear_velocity": 1.7768816947937012, "track_angular_velocity": 1.8899868726730347, "upright": 0.9600760340690613, "leg_posture": -0.09731895476579666, "standstill": -0.21769189834594727, "action_rate_l2": -0.021465787664055824, "joint_torques_l2": -0.0054818252101540565, "dof_pos_limits": -5.162262823432684e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.004058779217302799, "rolling_leg_motion": -0.023378435522317886, "obstacle_progress": 0.12662766873836517, "wheel_body_intrusion": -0.009260487742722034, "pair_body_intrusion": -0.01305059902369976}, "episode_termination_rates": {"time_out": 0.4583333333333333, "fell_over": 0.020833333333333332, "course_exit": 0.5069444444444444, "illegal_nonwheel_contact": 0.020833333333333332}, "collection_time_s": 0.07568083418882451, "learning_time_s": 0.18441705367295072, "iteration_time_s": 0.32726428762491944, "policy_updates": 24100, "skipped_updates": 0, "invalid_env_resets": 120, "elapsed_s": 7985.248618048034, "nonwheel_terminations": 12278, "contact_bce": 0.2931392192840576, "contact_force_loss": 0.020649835467338562, "collision_bce": 1.699059794191271e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.6884669093997218e-05, "collision_label_count": 16331.0, "terrain_level_mean": 3.561767578125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [12, 52, 83, 105, 62, 96], "episodes_by_level": [[1407.0, 304.0, 48.0, 0.0], [1646.0, 365.0, 36.0, 0.0], [1168.0, 277.0, 27.0, 0.0], [731.0, 168.0, 14.0, 0.0], [387.0, 99.0, 10.0, 0.0], [311.0, 74.0, 3.0, 0.0]]}, "up": {"level_counts": [0, 1, 15, 116, 538, 763], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2396.0, 1463.0, 37.0, 0.0], [4266.0, 1730.0, 165.0, 0.0], [4209.0, 1536.0, 193.0, 0.0], [3413.0, 943.0, 154.0, 0.0], [1469.0, 160.0, 115.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 5, 50, 557], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [946.0, 773.0, 26.0, 0.0], [1549.0, 1220.0, 63.0, 0.0], [5631.0, 4497.0, 214.0, 0.0]]}, "platform": {"level_counts": [32, 73, 109, 105, 68, 23], "episodes_by_level": [[1659.0, 357.0, 51.0, 0.0], [1815.0, 364.0, 78.0, 0.0], [1166.0, 230.0, 65.0, 0.0], [693.0, 111.0, 34.0, 0.0], [242.0, 36.0, 20.0, 0.0], [50.0, 5.0, 13.0, 0.0]]}, "slope": {"level_counts": [25, 54, 105, 87, 61, 78], "episodes_by_level": [[1514.0, 321.0, 43.0, 0.0], [1695.0, 354.0, 63.0, 0.0], [1115.0, 244.0, 37.0, 0.0], [672.0, 145.0, 18.0, 0.0], [391.0, 84.0, 6.0, 0.0], [272.0, 47.0, 6.0, 0.0]]}, "rubble": {"level_counts": [64, 180, 244, 193, 111, 27], "episodes_by_level": [[3026.0, 675.0, 94.0, 0.0], [3782.0, 808.0, 175.0, 0.0], [2680.0, 550.0, 250.0, 0.0], [1427.0, 227.0, 219.0, 0.0], [387.0, 45.0, 89.0, 0.0], [58.0, 3.0, 18.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.25048828125, "command_abs_max": [0.9997032880783081, 0.3997804820537567, 0.6953940987586975]}
{"step": 24450, "actor_lr": 5.437402266863471e-05, "archive_windows": 50000, "env_steps": 24450, "total_transitions": 100147200, "num_steps_per_env": 1, "wm_loss": 0.7198877930641174, "actor_loss": -9.505180358886719, "critic_loss": 0.004238130524754524, "reward": 0.08714430779218674, "falls": 13, "interval_steps": 50, "velocity_mae": [0.11376143246889114, 0.07090349495410919, 0.13607612252235413], "mean_episode_length": 1298.0422535211267, "episode_reward_terms": {"track_linear_velocity": 46.099246978759766, "track_angular_velocity": 49.00746536254883, "upright": 24.90382194519043, "leg_posture": -2.5016703605651855, "standstill": -5.6923747062683105, "action_rate_l2": -0.5605435371398926, "joint_torques_l2": -0.1419582962989807, "dof_pos_limits": -0.0019192880718037486, "terminated": -0.032958097755908966, "unnecessary_wheel_lift": -0.09185222536325455, "rolling_leg_motion": -0.5859676003456116, "obstacle_progress": 3.3421542644500732, "wheel_body_intrusion": -0.2548240125179291, "pair_body_intrusion": -0.37162649631500244}, "weighted_reward_terms": {"track_linear_velocity": 1.7757222652435303, "track_angular_velocity": 1.8877454996109009, "upright": 0.9592840075492859, "leg_posture": -0.09636320918798447, "standstill": -0.21926771104335785, "action_rate_l2": -0.02159188501536846, "joint_torques_l2": -0.00546816922724247, "dof_pos_limits": -7.393011037493125e-05, "terminated": -0.0012695310870185494, "unnecessary_wheel_lift": -0.0035381061024963856, "rolling_leg_motion": -0.022571207955479622, "obstacle_progress": 0.12873826920986176, "wheel_body_intrusion": -0.009815705940127373, "pair_body_intrusion": -0.014314885251224041}, "episode_termination_rates": {"time_out": 0.4507042253521127, "fell_over": 0.056338028169014086, "course_exit": 0.45774647887323944, "illegal_nonwheel_contact": 0.07042253521126761}, "collection_time_s": 0.07574230686179362, "learning_time_s": 0.18468225987511688, "iteration_time_s": 0.3271276462069119, "policy_updates": 24150, "skipped_updates": 0, "invalid_env_resets": 120, "elapsed_s": 7998.270949758997, "nonwheel_terminations": 12288, "contact_bce": 0.3030834197998047, "contact_force_loss": 0.02153850346803665, "collision_bce": 0.0002177880669478327, "collision_label_rate": 6.117704469943419e-05, "collision_prediction_mean": 2.1418858523247764e-05, "collision_label_count": 16346.0, "terrain_level_mean": 3.563232421875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [13, 50, 84, 105, 60, 98], "episodes_by_level": [[1407.0, 304.0, 48.0, 0.0], [1651.0, 366.0, 37.0, 0.0], [1168.0, 277.0, 27.0, 0.0], [732.0, 168.0, 14.0, 0.0], [390.0, 101.0, 10.0, 0.0], [313.0, 74.0, 3.0, 0.0]]}, "up": {"level_counts": [0, 1, 14, 118, 538, 762], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2396.0, 1463.0, 37.0, 0.0], [4267.0, 1731.0, 165.0, 0.0], [4209.0, 1536.0, 193.0, 0.0], [3423.0, 946.0, 154.0, 0.0], [1490.0, 166.0, 118.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 5, 51, 556], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [946.0, 773.0, 26.0, 0.0], [1551.0, 1222.0, 63.0, 0.0], [5657.0, 4517.0, 215.0, 0.0]]}, "platform": {"level_counts": [32, 74, 107, 107, 66, 24], "episodes_by_level": [[1660.0, 357.0, 51.0, 0.0], [1816.0, 364.0, 78.0, 0.0], [1170.0, 232.0, 66.0, 0.0], [696.0, 111.0, 35.0, 0.0], [246.0, 37.0, 21.0, 0.0], [50.0, 5.0, 13.0, 0.0]]}, "slope": {"level_counts": [25, 54, 105, 87, 61, 78], "episodes_by_level": [[1514.0, 321.0, 43.0, 0.0], [1695.0, 354.0, 63.0, 0.0], [1117.0, 244.0, 37.0, 0.0], [674.0, 145.0, 18.0, 0.0], [393.0, 84.0, 6.0, 0.0], [276.0, 47.0, 6.0, 0.0]]}, "rubble": {"level_counts": [64, 179, 242, 194, 113, 27], "episodes_by_level": [[3026.0, 675.0, 94.0, 0.0], [3786.0, 809.0, 175.0, 0.0], [2688.0, 554.0, 250.0, 0.0], [1434.0, 229.0, 220.0, 0.0], [389.0, 45.0, 89.0, 0.0], [59.0, 3.0, 18.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2470703125, "command_abs_max": [0.9977515935897827, 0.3997804820537567, 0.6956014633178711]}
{"step": 24500, "actor_lr": 5.4252191310704523e-05, "archive_windows": 50000, "env_steps": 24500, "total_transitions": 100352000, "num_steps_per_env": 1, "wm_loss": 0.7134020924568176, "actor_loss": -9.530603408813477, "critic_loss": 0.005245832726359367, "reward": 0.08717425167560577, "falls": 13, "interval_steps": 50, "velocity_mae": [0.1140407919883728, 0.07017379254102707, 0.13537821173667908], "mean_episode_length": 1325.3921568627452, "episode_reward_terms": {"track_linear_velocity": 47.05467987060547, "track_angular_velocity": 50.07638168334961, "upright": 25.476573944091797, "leg_posture": -2.578857421875, "standstill": -5.767129898071289, "action_rate_l2": -0.5682084560394287, "joint_torques_l2": -0.14508864283561707, "dof_pos_limits": -0.0011887102155014873, "terminated": -0.03365253284573555, "unnecessary_wheel_lift": -0.09917190670967102, "rolling_leg_motion": -0.6086163520812988, "obstacle_progress": 3.352339267730713, "wheel_body_intrusion": -0.2507491111755371, "pair_body_intrusion": -0.3672540783882141}, "weighted_reward_terms": {"track_linear_velocity": 1.7751227617263794, "track_angular_velocity": 1.889115571975708, "upright": 0.9610956907272339, "leg_posture": -0.09728658199310303, "standstill": -0.21756315231323242, "action_rate_l2": -0.021435484290122986, "joint_torques_l2": -0.005473422817885876, "dof_pos_limits": -4.4843713112641126e-05, "terminated": -0.0012695310870185494, "unnecessary_wheel_lift": -0.0037412287201732397, "rolling_leg_motion": -0.022959858179092407, "obstacle_progress": 0.12646593153476715, "wheel_body_intrusion": -0.009459431283175945, "pair_body_intrusion": -0.01385454460978508}, "episode_termination_rates": {"time_out": 0.46405228758169936, "fell_over": 0.0718954248366013, "course_exit": 0.45098039215686275, "illegal_nonwheel_contact": 0.032679738562091505}, "collection_time_s": 0.07573692301521077, "learning_time_s": 0.18526104290387593, "iteration_time_s": 0.3269927435286524, "policy_updates": 24200, "skipped_updates": 0, "invalid_env_resets": 120, "elapsed_s": 8011.322216451983, "nonwheel_terminations": 12293, "contact_bce": 0.30291497707366943, "contact_force_loss": 0.021211452782154083, "collision_bce": 0.0007447723182849586, "collision_label_rate": 0.00012218217307236046, "collision_prediction_mean": 1.2149466783739626e-05, "collision_label_count": 16369.0, "terrain_level_mean": 3.567138671875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [13, 49, 84, 106, 60, 98], "episodes_by_level": [[1407.0, 304.0, 48.0, 0.0], [1653.0, 367.0, 37.0, 0.0], [1169.0, 278.0, 27.0, 0.0], [735.0, 168.0, 14.0, 0.0], [391.0, 101.0, 10.0, 0.0], [315.0, 75.0, 3.0, 0.0]]}, "up": {"level_counts": [0, 1, 15, 114, 537, 766], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2396.0, 1463.0, 37.0, 0.0], [4267.0, 1731.0, 165.0, 0.0], [4215.0, 1539.0, 194.0, 0.0], [3432.0, 952.0, 154.0, 0.0], [1507.0, 168.0, 118.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 5, 52, 555], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [946.0, 773.0, 26.0, 0.0], [1554.0, 1225.0, 63.0, 0.0], [5676.0, 4533.0, 216.0, 0.0]]}, "platform": {"level_counts": [32, 73, 106, 109, 65, 25], "episodes_by_level": [[1661.0, 357.0, 51.0, 0.0], [1822.0, 365.0, 78.0, 0.0], [1176.0, 235.0, 66.0, 0.0], [699.0, 111.0, 36.0, 0.0], [249.0, 38.0, 21.0, 0.0], [53.0, 5.0, 13.0, 0.0]]}, "slope": {"level_counts": [25, 54, 105, 85, 64, 77], "episodes_by_level": [[1515.0, 321.0, 43.0, 0.0], [1697.0, 354.0, 63.0, 0.0], [1120.0, 245.0, 37.0, 0.0], [678.0, 147.0, 19.0, 0.0], [394.0, 84.0, 6.0, 0.0], [280.0, 48.0, 7.0, 0.0]]}, "rubble": {"level_counts": [64, 180, 239, 195, 112, 29], "episodes_by_level": [[3028.0, 675.0, 94.0, 0.0], [3791.0, 810.0, 175.0, 0.0], [2699.0, 556.0, 252.0, 0.0], [1439.0, 230.0, 220.0, 0.0], [392.0, 47.0, 89.0, 0.0], [59.0, 3.0, 18.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.25, "command_abs_max": [0.9977515935897827, 0.3999539613723755, 0.6970289349555969]}
{"step": 24550, "actor_lr": 5.412923407163879e-05, "archive_windows": 50000, "env_steps": 24550, "total_transitions": 100556800, "num_steps_per_env": 1, "wm_loss": 0.700393557548523, "actor_loss": -9.492042541503906, "critic_loss": 0.0059685963205993176, "reward": 0.08723165094852448, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11368684470653534, 0.07131795585155487, 0.13409937918186188], "mean_episode_length": 1386.275590551181, "episode_reward_terms": {"track_linear_velocity": 49.18648147583008, "track_angular_velocity": 52.40623092651367, "upright": 26.616548538208008, "leg_posture": -2.667268753051758, "standstill": -6.099111080169678, "action_rate_l2": -0.6039901971817017, "joint_torques_l2": -0.15214858949184418, "dof_pos_limits": -0.0008633536053821445, "terminated": -0.016245417296886444, "unnecessary_wheel_lift": -0.0784134715795517, "rolling_leg_motion": -0.6289036273956299, "obstacle_progress": 3.5615832805633545, "wheel_body_intrusion": -0.26291877031326294, "pair_body_intrusion": -0.3338690400123596}, "weighted_reward_terms": {"track_linear_velocity": 1.7740511894226074, "track_angular_velocity": 1.8901809453964233, "upright": 0.960002064704895, "leg_posture": -0.09620268642902374, "standstill": -0.21998190879821777, "action_rate_l2": -0.02178463712334633, "joint_torques_l2": -0.005487674847245216, "dof_pos_limits": -3.1139319617068395e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.0028282064013183117, "rolling_leg_motion": -0.02268321067094803, "obstacle_progress": 0.12845869362354279, "wheel_body_intrusion": -0.009482918307185173, "pair_body_intrusion": -0.012041943147778511}, "episode_termination_rates": {"time_out": 0.5118110236220472, "fell_over": 0.023622047244094488, "course_exit": 0.4409448818897638, "illegal_nonwheel_contact": 0.023622047244094488}, "collection_time_s": 0.07537380776600912, "learning_time_s": 0.1848253070167266, "iteration_time_s": 0.3268578733407343, "policy_updates": 24250, "skipped_updates": 0, "invalid_env_resets": 120, "elapsed_s": 8024.3607905150275, "nonwheel_terminations": 12296, "contact_bce": 0.30269280076026917, "contact_force_loss": 0.021702628582715988, "collision_bce": 0.0003275132621638477, "collision_label_rate": 0.0001225340092787519, "collision_prediction_mean": 2.6310790417483076e-05, "collision_label_count": 16322.0, "terrain_level_mean": 3.56884765625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [12, 49, 85, 105, 61, 98], "episodes_by_level": [[1411.0, 305.0, 48.0, 0.0], [1655.0, 368.0, 37.0, 0.0], [1169.0, 278.0, 27.0, 0.0], [739.0, 169.0, 14.0, 0.0], [394.0, 101.0, 10.0, 0.0], [316.0, 75.0, 3.0, 0.0]]}, "up": {"level_counts": [0, 1, 15, 113, 537, 767], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2396.0, 1463.0, 37.0, 0.0], [4267.0, 1731.0, 165.0, 0.0], [4217.0, 1540.0, 194.0, 0.0], [3445.0, 955.0, 154.0, 0.0], [1523.0, 169.0, 118.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 5, 53, 554], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [946.0, 773.0, 26.0, 0.0], [1555.0, 1226.0, 63.0, 0.0], [5694.0, 4548.0, 216.0, 0.0]]}, "platform": {"level_counts": [32, 72, 106, 110, 65, 25], "episodes_by_level": [[1661.0, 357.0, 51.0, 0.0], [1824.0, 366.0, 78.0, 0.0], [1179.0, 236.0, 66.0, 0.0], [702.0, 112.0, 36.0, 0.0], [251.0, 38.0, 22.0, 0.0], [53.0, 5.0, 13.0, 0.0]]}, "slope": {"level_counts": [25, 53, 106, 85, 64, 77], "episodes_by_level": [[1516.0, 321.0, 43.0, 0.0], [1698.0, 355.0, 63.0, 0.0], [1123.0, 245.0, 37.0, 0.0], [681.0, 147.0, 19.0, 0.0], [397.0, 84.0, 6.0, 0.0], [280.0, 48.0, 7.0, 0.0]]}, "rubble": {"level_counts": [64, 180, 240, 193, 113, 29], "episodes_by_level": [[3030.0, 675.0, 94.0, 0.0], [3794.0, 810.0, 175.0, 0.0], [2703.0, 556.0, 252.0, 0.0], [1444.0, 231.0, 221.0, 0.0], [393.0, 47.0, 89.0, 0.0], [60.0, 3.0, 18.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2470703125, "command_abs_max": [0.9977515935897827, 0.3999539613723755, 0.6983262300491333]}
{"step": 24600, "actor_lr": 5.4005158536019194e-05, "archive_windows": 50000, "env_steps": 24600, "total_transitions": 100761600, "num_steps_per_env": 1, "wm_loss": 0.6939535140991211, "actor_loss": -9.494375228881836, "critic_loss": 0.0037141942884773016, "reward": 0.08687727898359299, "falls": 12, "interval_steps": 50, "velocity_mae": [0.11740303784608841, 0.07174817472696304, 0.1348772943019867], "mean_episode_length": 1292.7911392405063, "episode_reward_terms": {"track_linear_velocity": 45.66706085205078, "track_angular_velocity": 48.836883544921875, "upright": 24.816246032714844, "leg_posture": -2.5263423919677734, "standstill": -5.865341663360596, "action_rate_l2": -0.5663071274757385, "joint_torques_l2": -0.14334164559841156, "dof_pos_limits": -0.0008568807388655841, "terminated": -0.03029979020357132, "unnecessary_wheel_lift": -0.08776695281267166, "rolling_leg_motion": -0.5919958353042603, "obstacle_progress": 3.289998769760132, "wheel_body_intrusion": -0.22645646333694458, "pair_body_intrusion": -0.25728318095207214}, "weighted_reward_terms": {"track_linear_velocity": 1.7662194967269897, "track_angular_velocity": 1.8888157606124878, "upright": 0.9597932696342468, "leg_posture": -0.09770883619785309, "standstill": -0.22684800624847412, "action_rate_l2": -0.021902497857809067, "joint_torques_l2": -0.005543882492929697, "dof_pos_limits": -3.3140724553959444e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.0033944754395633936, "rolling_leg_motion": -0.022896036505699158, "obstacle_progress": 0.1272440254688263, "wheel_body_intrusion": -0.008758432231843472, "pair_body_intrusion": -0.009950686246156693}, "episode_termination_rates": {"time_out": 0.4240506329113924, "fell_over": 0.056962025316455694, "course_exit": 0.5063291139240507, "illegal_nonwheel_contact": 0.0379746835443038}, "collection_time_s": 0.0757580341421999, "learning_time_s": 0.1847334854421206, "iteration_time_s": 0.32672302663138153, "policy_updates": 24300, "skipped_updates": 0, "invalid_env_resets": 120, "elapsed_s": 8037.386455131986, "nonwheel_terminations": 12302, "contact_bce": 0.30084219574928284, "contact_force_loss": 0.02145455591380596, "collision_bce": 0.00034158388734795153, "collision_label_rate": 6.121449405327439e-05, "collision_prediction_mean": 0.00012669747229665518, "collision_label_count": 16336.0, "terrain_level_mean": 3.57080078125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [12, 49, 84, 106, 61, 98], "episodes_by_level": [[1411.0, 305.0, 48.0, 0.0], [1655.0, 368.0, 37.0, 0.0], [1172.0, 279.0, 27.0, 0.0], [740.0, 169.0, 14.0, 0.0], [395.0, 101.0, 10.0, 0.0], [318.0, 76.0, 3.0, 0.0]]}, "up": {"level_counts": [0, 1, 15, 113, 533, 771], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2396.0, 1463.0, 37.0, 0.0], [4268.0, 1731.0, 165.0, 0.0], [4217.0, 1540.0, 194.0, 0.0], [3466.0, 964.0, 154.0, 0.0], [1547.0, 170.0, 122.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 5, 54, 553], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [946.0, 773.0, 26.0, 0.0], [1558.0, 1229.0, 63.0, 0.0], [5718.0, 4568.0, 217.0, 0.0]]}, "platform": {"level_counts": [32, 73, 104, 111, 65, 25], "episodes_by_level": [[1664.0, 357.0, 51.0, 0.0], [1826.0, 366.0, 78.0, 0.0], [1185.0, 237.0, 67.0, 0.0], [706.0, 112.0, 36.0, 0.0], [253.0, 38.0, 22.0, 0.0], [54.0, 5.0, 13.0, 0.0]]}, "slope": {"level_counts": [24, 54, 105, 85, 65, 77], "episodes_by_level": [[1517.0, 322.0, 43.0, 0.0], [1701.0, 355.0, 63.0, 0.0], [1127.0, 247.0, 37.0, 0.0], [685.0, 148.0, 20.0, 0.0], [397.0, 84.0, 6.0, 0.0], [283.0, 49.0, 7.0, 0.0]]}, "rubble": {"level_counts": [64, 180, 240, 192, 114, 29], "episodes_by_level": [[3032.0, 675.0, 94.0, 0.0], [3801.0, 810.0, 175.0, 0.0], [2708.0, 557.0, 252.0, 0.0], [1450.0, 232.0, 222.0, 0.0], [398.0, 47.0, 89.0, 0.0], [60.0, 3.0, 18.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.240234375, "command_abs_max": [0.9977515935897827, 0.3999539613723755, 0.6983262300491333]}
{"step": 24650, "actor_lr": 5.3879972357409234e-05, "archive_windows": 50000, "env_steps": 24650, "total_transitions": 100966400, "num_steps_per_env": 1, "wm_loss": 0.7092549800872803, "actor_loss": -9.490850448608398, "critic_loss": 0.005525293760001659, "reward": 0.08687032759189606, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11735633760690689, 0.07140111923217773, 0.13541390001773834], "mean_episode_length": 1407.79754601227, "episode_reward_terms": {"track_linear_velocity": 49.72947311401367, "track_angular_velocity": 53.17667770385742, "upright": 27.027929306030273, "leg_posture": -2.736707925796509, "standstill": -6.259443759918213, "action_rate_l2": -0.6264826655387878, "joint_torques_l2": -0.1550343632698059, "dof_pos_limits": -0.0008779322379268706, "terminated": -0.027496041730046272, "unnecessary_wheel_lift": -0.10302557051181793, "rolling_leg_motion": -0.6644967794418335, "obstacle_progress": 3.521465539932251, "wheel_body_intrusion": -0.27251142263412476, "pair_body_intrusion": -0.3136534094810486}, "weighted_reward_terms": {"track_linear_velocity": 1.766215443611145, "track_angular_velocity": 1.8886480331420898, "upright": 0.9599367380142212, "leg_posture": -0.09719821065664291, "standstill": -0.22231335937976837, "action_rate_l2": -0.022250453010201454, "joint_torques_l2": -0.005506273824721575, "dof_pos_limits": -3.118105814792216e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.003659105161204934, "rolling_leg_motion": -0.023600582033395767, "obstacle_progress": 0.12507003545761108, "wheel_body_intrusion": -0.009678644128143787, "pair_body_intrusion": -0.01113986223936081}, "episode_termination_rates": {"time_out": 0.5460122699386503, "fell_over": 0.024539877300613498, "course_exit": 0.39263803680981596, "illegal_nonwheel_contact": 0.03680981595092025}, "collection_time_s": 0.07561680838349276, "learning_time_s": 0.18523351737530902, "iteration_time_s": 0.3265894537282759, "policy_updates": 24350, "skipped_updates": 0, "invalid_env_resets": 120, "elapsed_s": 8050.430034402001, "nonwheel_terminations": 12308, "contact_bce": 0.3022252321243286, "contact_force_loss": 0.021632332354784012, "collision_bce": 7.895355338405352e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 7.96366930444492e-06, "collision_label_count": 16326.0, "terrain_level_mean": 3.57421875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [12, 48, 84, 105, 63, 98], "episodes_by_level": [[1412.0, 305.0, 48.0, 0.0], [1658.0, 369.0, 37.0, 0.0], [1178.0, 280.0, 27.0, 0.0], [743.0, 171.0, 14.0, 0.0], [397.0, 101.0, 10.0, 0.0], [319.0, 76.0, 3.0, 0.0]]}, "up": {"level_counts": [0, 1, 15, 112, 531, 774], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2396.0, 1463.0, 37.0, 0.0], [4268.0, 1731.0, 165.0, 0.0], [4221.0, 1542.0, 194.0, 0.0], [3480.0, 968.0, 154.0, 0.0], [1558.0, 172.0, 123.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 5, 52, 555], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [946.0, 773.0, 26.0, 0.0], [1560.0, 1231.0, 63.0, 0.0], [5737.0, 4586.0, 217.0, 0.0]]}, "platform": {"level_counts": [32, 73, 103, 112, 64, 26], "episodes_by_level": [[1666.0, 357.0, 51.0, 0.0], [1829.0, 366.0, 78.0, 0.0], [1188.0, 238.0, 67.0, 0.0], [707.0, 112.0, 36.0, 0.0], [256.0, 39.0, 22.0, 0.0], [55.0, 5.0, 13.0, 0.0]]}, "slope": {"level_counts": [25, 53, 104, 85, 67, 76], "episodes_by_level": [[1517.0, 322.0, 43.0, 0.0], [1704.0, 355.0, 64.0, 0.0], [1133.0, 248.0, 37.0, 0.0], [688.0, 149.0, 20.0, 0.0], [400.0, 84.0, 6.0, 0.0], [285.0, 49.0, 8.0, 0.0]]}, "rubble": {"level_counts": [63, 179, 243, 193, 110, 31], "episodes_by_level": [[3033.0, 676.0, 94.0, 0.0], [3809.0, 812.0, 175.0, 0.0], [2722.0, 559.0, 252.0, 0.0], [1458.0, 233.0, 225.0, 0.0], [406.0, 49.0, 92.0, 0.0], [63.0, 3.0, 18.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23974609375, "command_abs_max": [0.9968736171722412, 0.3999539613723755, 0.6983262300491333]}
{"step": 24700, "actor_lr": 5.3753683257882074e-05, "archive_windows": 50000, "env_steps": 24700, "total_transitions": 101171200, "num_steps_per_env": 1, "wm_loss": 0.7062392234802246, "actor_loss": -9.512033462524414, "critic_loss": 0.004639273975044489, "reward": 0.087152861058712, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11500999331474304, 0.07047534734010696, 0.1346099078655243], "mean_episode_length": 1332.8238993710693, "episode_reward_terms": {"track_linear_velocity": 47.27041244506836, "track_angular_velocity": 50.37495040893555, "upright": 25.604808807373047, "leg_posture": -2.6026089191436768, "standstill": -5.855961799621582, "action_rate_l2": -0.5804593563079834, "joint_torques_l2": -0.14407940208911896, "dof_pos_limits": -0.0008854144252836704, "terminated": -0.015619027428328991, "unnecessary_wheel_lift": -0.08832709491252899, "rolling_leg_motion": -0.6293445229530334, "obstacle_progress": 3.3998448848724365, "wheel_body_intrusion": -0.2644335925579071, "pair_body_intrusion": -0.3088644742965698}, "weighted_reward_terms": {"track_linear_velocity": 1.7733181715011597, "track_angular_velocity": 1.8897827863693237, "upright": 0.9605474472045898, "leg_posture": -0.09763514250516891, "standstill": -0.219682514667511, "action_rate_l2": -0.021775545552372932, "joint_torques_l2": -0.005405043251812458, "dof_pos_limits": -3.321573240100406e-05, "terminated": -0.0005859374068677425, "unnecessary_wheel_lift": -0.003313532331958413, "rolling_leg_motion": -0.02360944263637066, "obstacle_progress": 0.1275429129600525, "wheel_body_intrusion": -0.009920050390064716, "pair_body_intrusion": -0.011586845852434635}, "episode_termination_rates": {"time_out": 0.4528301886792453, "fell_over": 0.018867924528301886, "course_exit": 0.5094339622641509, "illegal_nonwheel_contact": 0.031446540880503145}, "collection_time_s": 0.07565531780128368, "learning_time_s": 0.1836268408584874, "iteration_time_s": 0.32645324816044535, "policy_updates": 24400, "skipped_updates": 0, "invalid_env_resets": 120, "elapsed_s": 8063.395229563001, "nonwheel_terminations": 12313, "contact_bce": 0.30354994535446167, "contact_force_loss": 0.021391848102211952, "collision_bce": 5.338135451893322e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 5.403555405791849e-06, "collision_label_count": 16333.0, "terrain_level_mean": 3.579833984375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [12, 48, 84, 105, 62, 99], "episodes_by_level": [[1412.0, 305.0, 48.0, 0.0], [1659.0, 369.0, 37.0, 0.0], [1183.0, 280.0, 27.0, 0.0], [744.0, 171.0, 14.0, 0.0], [398.0, 102.0, 10.0, 0.0], [322.0, 76.0, 3.0, 0.0]]}, "up": {"level_counts": [0, 1, 15, 108, 530, 779], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2396.0, 1463.0, 37.0, 0.0], [4269.0, 1732.0, 165.0, 0.0], [4225.0, 1546.0, 194.0, 0.0], [3500.0, 975.0, 154.0, 0.0], [1574.0, 175.0, 124.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 4, 51, 557], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [947.0, 774.0, 26.0, 0.0], [1563.0, 1234.0, 63.0, 0.0], [5761.0, 4606.0, 218.0, 0.0]]}, "platform": {"level_counts": [32, 73, 103, 112, 62, 28], "episodes_by_level": [[1668.0, 357.0, 51.0, 0.0], [1831.0, 366.0, 78.0, 0.0], [1189.0, 238.0, 67.0, 0.0], [707.0, 112.0, 36.0, 0.0], [260.0, 41.0, 22.0, 0.0], [55.0, 5.0, 13.0, 0.0]]}, "slope": {"level_counts": [24, 54, 104, 85, 66, 77], "episodes_by_level": [[1519.0, 323.0, 43.0, 0.0], [1706.0, 355.0, 64.0, 0.0], [1136.0, 248.0, 37.0, 0.0], [690.0, 149.0, 20.0, 0.0], [402.0, 85.0, 6.0, 0.0], [288.0, 50.0, 8.0, 0.0]]}, "rubble": {"level_counts": [61, 178, 246, 192, 111, 31], "episodes_by_level": [[3037.0, 678.0, 94.0, 0.0], [3816.0, 815.0, 175.0, 0.0], [2731.0, 561.0, 252.0, 0.0], [1463.0, 234.0, 227.0, 0.0], [409.0, 49.0, 92.0, 0.0], [63.0, 3.0, 18.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.237548828125, "command_abs_max": [0.997983455657959, 0.3999539613723755, 0.6983262300491333]}
{"step": 24750, "actor_lr": 5.3626299027544254e-05, "archive_windows": 50000, "env_steps": 24750, "total_transitions": 101376000, "num_steps_per_env": 1, "wm_loss": 0.6810998916625977, "actor_loss": -9.509675979614258, "critic_loss": 0.002933810232207179, "reward": 0.0870232880115509, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11677687615156174, 0.0702921599149704, 0.13490362465381622], "mean_episode_length": 1329.4817518248176, "episode_reward_terms": {"track_linear_velocity": 47.058326721191406, "track_angular_velocity": 50.24287033081055, "upright": 25.5440673828125, "leg_posture": -2.6080641746520996, "standstill": -5.854001522064209, "action_rate_l2": -0.582650899887085, "joint_torques_l2": -0.1448061615228653, "dof_pos_limits": -0.0008572152000851929, "terminated": -0.023369794711470604, "unnecessary_wheel_lift": -0.10976681858301163, "rolling_leg_motion": -0.6210965514183044, "obstacle_progress": 3.359020233154297, "wheel_body_intrusion": -0.25205978751182556, "pair_body_intrusion": -0.31175497174263}, "weighted_reward_terms": {"track_linear_velocity": 1.7697995901107788, "track_angular_velocity": 1.8895659446716309, "upright": 0.9606775641441345, "leg_posture": -0.09808574616909027, "standstill": -0.22016102075576782, "action_rate_l2": -0.021912707015872, "joint_torques_l2": -0.005445962306112051, "dof_pos_limits": -3.2238698622677475e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.00412818044424057, "rolling_leg_motion": -0.023358594626188278, "obstacle_progress": 0.12632818520069122, "wheel_body_intrusion": -0.009479625150561333, "pair_body_intrusion": -0.011724680662155151}, "episode_termination_rates": {"time_out": 0.4306569343065693, "fell_over": 0.0364963503649635, "course_exit": 0.5036496350364964, "illegal_nonwheel_contact": 0.043795620437956206}, "collection_time_s": 0.07556848908076062, "learning_time_s": 0.1827893260214478, "iteration_time_s": 0.3263157375228281, "policy_updates": 24450, "skipped_updates": 0, "invalid_env_resets": 120, "elapsed_s": 8076.314503689995, "nonwheel_terminations": 12319, "contact_bce": 0.3054456412792206, "contact_force_loss": 0.021450163796544075, "collision_bce": 0.0005405152915045619, "collision_label_rate": 0.00012235408939886838, "collision_prediction_mean": 1.3259141269372776e-05, "collision_label_count": 16346.0, "terrain_level_mean": 3.583251953125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [12, 48, 82, 108, 62, 98], "episodes_by_level": [[1412.0, 305.0, 48.0, 0.0], [1659.0, 369.0, 37.0, 0.0], [1188.0, 282.0, 27.0, 0.0], [747.0, 171.0, 14.0, 0.0], [402.0, 102.0, 11.0, 0.0], [325.0, 76.0, 4.0, 0.0]]}, "up": {"level_counts": [0, 1, 15, 108, 528, 781], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2396.0, 1463.0, 37.0, 0.0], [4270.0, 1733.0, 165.0, 0.0], [4228.0, 1547.0, 194.0, 0.0], [3515.0, 978.0, 154.0, 0.0], [1586.0, 177.0, 124.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 4, 51, 557], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [947.0, 774.0, 26.0, 0.0], [1564.0, 1235.0, 63.0, 0.0], [5777.0, 4622.0, 218.0, 0.0]]}, "platform": {"level_counts": [31, 73, 104, 111, 63, 28], "episodes_by_level": [[1669.0, 358.0, 51.0, 0.0], [1834.0, 367.0, 78.0, 0.0], [1191.0, 238.0, 67.0, 0.0], [709.0, 113.0, 36.0, 0.0], [260.0, 41.0, 22.0, 0.0], [56.0, 5.0, 13.0, 0.0]]}, "slope": {"level_counts": [23, 55, 104, 83, 67, 78], "episodes_by_level": [[1521.0, 324.0, 43.0, 0.0], [1707.0, 355.0, 64.0, 0.0], [1138.0, 248.0, 37.0, 0.0], [693.0, 151.0, 20.0, 0.0], [406.0, 86.0, 6.0, 0.0], [290.0, 51.0, 8.0, 0.0]]}, "rubble": {"level_counts": [60, 178, 245, 194, 110, 32], "episodes_by_level": [[3038.0, 679.0, 94.0, 0.0], [3820.0, 817.0, 175.0, 0.0], [2739.0, 564.0, 253.0, 0.0], [1468.0, 235.0, 228.0, 0.0], [412.0, 50.0, 93.0, 0.0], [64.0, 3.0, 18.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.236328125, "command_abs_max": [0.997983455657959, 0.3999539613723755, 0.6998630166053772]}
{"step": 24800, "actor_lr": 5.349782752405514e-05, "archive_windows": 50000, "env_steps": 24800, "total_transitions": 101580800, "num_steps_per_env": 1, "wm_loss": 0.7112679481506348, "actor_loss": -9.508733749389648, "critic_loss": 0.004022137727588415, "reward": 0.08707548677921295, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11557676643133163, 0.07004448026418686, 0.1345379650592804], "mean_episode_length": 1349.7928571428572, "episode_reward_terms": {"track_linear_velocity": 47.87033462524414, "track_angular_velocity": 51.031280517578125, "upright": 25.91542625427246, "leg_posture": -2.616434097290039, "standstill": -6.0735249519348145, "action_rate_l2": -0.5908854603767395, "joint_torques_l2": -0.14923228323459625, "dof_pos_limits": -0.0007723121671006083, "terminated": -0.021090509369969368, "unnecessary_wheel_lift": -0.09088502824306488, "rolling_leg_motion": -0.6145592331886292, "obstacle_progress": 3.477442741394043, "wheel_body_intrusion": -0.2672845423221588, "pair_body_intrusion": -0.3359512984752655}, "weighted_reward_terms": {"track_linear_velocity": 1.773247480392456, "track_angular_velocity": 1.890337586402893, "upright": 0.9599778652191162, "leg_posture": -0.09691984206438065, "standstill": -0.22497989237308502, "action_rate_l2": -0.0218880046159029, "joint_torques_l2": -0.005527969915419817, "dof_pos_limits": -2.860854692698922e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.003366628894582391, "rolling_leg_motion": -0.02276494726538658, "obstacle_progress": 0.1288139373064041, "wheel_body_intrusion": -0.009900947101414204, "pair_body_intrusion": -0.012444551102817059}, "episode_termination_rates": {"time_out": 0.45, "fell_over": 0.03571428571428571, "course_exit": 0.4928571428571429, "illegal_nonwheel_contact": 0.03571428571428571}, "collection_time_s": 0.07537980029941536, "learning_time_s": 0.18472206815611572, "iteration_time_s": 0.32618228761108886, "policy_updates": 24500, "skipped_updates": 0, "invalid_env_resets": 120, "elapsed_s": 8089.320732755004, "nonwheel_terminations": 12324, "contact_bce": 0.30344849824905396, "contact_force_loss": 0.020797429606318474, "collision_bce": 0.00017158202535938472, "collision_label_rate": 0.000122346609714441, "collision_prediction_mean": 7.76851738919504e-05, "collision_label_count": 16347.0, "terrain_level_mean": 3.583984375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [12, 48, 82, 107, 63, 98], "episodes_by_level": [[1412.0, 305.0, 48.0, 0.0], [1659.0, 369.0, 37.0, 0.0], [1190.0, 282.0, 27.0, 0.0], [750.0, 172.0, 14.0, 0.0], [402.0, 102.0, 11.0, 0.0], [327.0, 77.0, 4.0, 0.0]]}, "up": {"level_counts": [0, 1, 15, 107, 530, 780], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2396.0, 1463.0, 37.0, 0.0], [4270.0, 1733.0, 165.0, 0.0], [4229.0, 1548.0, 194.0, 0.0], [3535.0, 980.0, 154.0, 0.0], [1608.0, 182.0, 126.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 4, 49, 559], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [947.0, 774.0, 26.0, 0.0], [1566.0, 1237.0, 63.0, 0.0], [5797.0, 4641.0, 218.0, 0.0]]}, "platform": {"level_counts": [31, 73, 104, 111, 63, 28], "episodes_by_level": [[1669.0, 358.0, 51.0, 0.0], [1835.0, 367.0, 78.0, 0.0], [1192.0, 238.0, 67.0, 0.0], [711.0, 113.0, 36.0, 0.0], [262.0, 41.0, 22.0, 0.0], [57.0, 5.0, 13.0, 0.0]]}, "slope": {"level_counts": [23, 55, 103, 84, 66, 79], "episodes_by_level": [[1521.0, 324.0, 43.0, 0.0], [1710.0, 355.0, 64.0, 0.0], [1141.0, 249.0, 37.0, 0.0], [695.0, 151.0, 20.0, 0.0], [408.0, 87.0, 6.0, 0.0], [290.0, 51.0, 8.0, 0.0]]}, "rubble": {"level_counts": [61, 179, 242, 196, 108, 33], "episodes_by_level": [[3040.0, 679.0, 94.0, 0.0], [3824.0, 817.0, 176.0, 0.0], [2748.0, 566.0, 255.0, 0.0], [1478.0, 235.0, 229.0, 0.0], [415.0, 51.0, 94.0, 0.0], [64.0, 3.0, 18.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.232177734375, "command_abs_max": [0.9999769330024719, 0.3999539613723755, 0.6998630166053772]}
{"step": 24850, "actor_lr": 5.336827667214221e-05, "archive_windows": 50000, "env_steps": 24850, "total_transitions": 101785600, "num_steps_per_env": 1, "wm_loss": 0.7022696733474731, "actor_loss": -9.521595001220703, "critic_loss": 0.004680468235164881, "reward": 0.08690325170755386, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11482759565114975, 0.07016601413488388, 0.13478237390518188], "mean_episode_length": 1344.8985507246377, "episode_reward_terms": {"track_linear_velocity": 47.717716217041016, "track_angular_velocity": 50.84056091308594, "upright": 25.819778442382812, "leg_posture": -2.631767988204956, "standstill": -6.261756896972656, "action_rate_l2": -0.5884631872177124, "joint_torques_l2": -0.14682136476039886, "dof_pos_limits": -0.0007817493169568479, "terminated": -0.018387282267212868, "unnecessary_wheel_lift": -0.10000275820493698, "rolling_leg_motion": -0.620195746421814, "obstacle_progress": 3.4326589107513428, "wheel_body_intrusion": -0.25838759541511536, "pair_body_intrusion": -0.3080943822860718}, "weighted_reward_terms": {"track_linear_velocity": 1.7740267515182495, "track_angular_velocity": 1.890126347541809, "upright": 0.9599154591560364, "leg_posture": -0.09784262627363205, "standstill": -0.23279662430286407, "action_rate_l2": -0.021877605468034744, "joint_torques_l2": -0.005458455067127943, "dof_pos_limits": -2.9063505280646496e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0037178550846874714, "rolling_leg_motion": -0.023057343438267708, "obstacle_progress": 0.1276177614927292, "wheel_body_intrusion": -0.009606212377548218, "pair_body_intrusion": -0.011454186402261257}, "episode_termination_rates": {"time_out": 0.43478260869565216, "fell_over": 0.036231884057971016, "course_exit": 0.5144927536231884, "illegal_nonwheel_contact": 0.028985507246376812}, "collection_time_s": 0.07549850436160341, "learning_time_s": 0.184909636201337, "iteration_time_s": 0.32604998986237455, "policy_updates": 24550, "skipped_updates": 0, "invalid_env_resets": 120, "elapsed_s": 8102.342248080007, "nonwheel_terminations": 12328, "contact_bce": 0.30777645111083984, "contact_force_loss": 0.02117413841187954, "collision_bce": 0.0001197443634737283, "collision_label_rate": 6.1221988289617e-05, "collision_prediction_mean": 2.1579568056040443e-05, "collision_label_count": 16334.0, "terrain_level_mean": 3.58642578125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [12, 47, 83, 107, 62, 99], "episodes_by_level": [[1414.0, 305.0, 48.0, 0.0], [1660.0, 370.0, 37.0, 0.0], [1192.0, 282.0, 27.0, 0.0], [752.0, 172.0, 14.0, 0.0], [404.0, 103.0, 11.0, 0.0], [331.0, 79.0, 4.0, 0.0]]}, "up": {"level_counts": [0, 1, 15, 105, 528, 784], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2396.0, 1463.0, 37.0, 0.0], [4270.0, 1733.0, 165.0, 0.0], [4234.0, 1550.0, 194.0, 0.0], [3550.0, 985.0, 154.0, 0.0], [1625.0, 185.0, 127.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 4, 49, 559], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [947.0, 774.0, 26.0, 0.0], [1568.0, 1238.0, 63.0, 0.0], [5820.0, 4661.0, 218.0, 0.0]]}, "platform": {"level_counts": [31, 71, 105, 112, 63, 28], "episodes_by_level": [[1669.0, 358.0, 51.0, 0.0], [1838.0, 369.0, 78.0, 0.0], [1196.0, 239.0, 67.0, 0.0], [712.0, 113.0, 36.0, 0.0], [264.0, 41.0, 22.0, 0.0], [57.0, 5.0, 13.0, 0.0]]}, "slope": {"level_counts": [23, 55, 103, 84, 66, 79], "episodes_by_level": [[1522.0, 324.0, 43.0, 0.0], [1712.0, 355.0, 64.0, 0.0], [1144.0, 250.0, 37.0, 0.0], [698.0, 151.0, 21.0, 0.0], [408.0, 87.0, 6.0, 0.0], [292.0, 51.0, 8.0, 0.0]]}, "rubble": {"level_counts": [62, 179, 240, 197, 108, 33], "episodes_by_level": [[3042.0, 679.0, 94.0, 0.0], [3830.0, 819.0, 177.0, 0.0], [2756.0, 567.0, 258.0, 0.0], [1482.0, 235.0, 229.0, 0.0], [416.0, 51.0, 94.0, 0.0], [64.0, 3.0, 18.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.232421875, "command_abs_max": [0.9999769330024719, 0.3999539613723755, 0.6998630166053772]}
{"step": 24900, "actor_lr": 5.323765446311224e-05, "archive_windows": 50000, "env_steps": 24900, "total_transitions": 101990400, "num_steps_per_env": 1, "wm_loss": 0.682704508304596, "actor_loss": -9.521432876586914, "critic_loss": 0.003847027663141489, "reward": 0.08697506785392761, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11458352208137512, 0.06938833743333817, 0.13436193764209747], "mean_episode_length": 1424.7122302158273, "episode_reward_terms": {"track_linear_velocity": 50.585784912109375, "track_angular_velocity": 53.87498092651367, "upright": 27.355358123779297, "leg_posture": -2.7760989665985107, "standstill": -6.615082263946533, "action_rate_l2": -0.6138420701026917, "joint_torques_l2": -0.15751022100448608, "dof_pos_limits": -0.00027288091951049864, "terminated": -0.022261125966906548, "unnecessary_wheel_lift": -0.09917721897363663, "rolling_leg_motion": -0.6494097709655762, "obstacle_progress": 3.6050865650177, "wheel_body_intrusion": -0.26891767978668213, "pair_body_intrusion": -0.3041971027851105}, "weighted_reward_terms": {"track_linear_velocity": 1.7752982378005981, "track_angular_velocity": 1.8907320499420166, "upright": 0.9600310325622559, "leg_posture": -0.09742666035890579, "standstill": -0.23215502500534058, "action_rate_l2": -0.021542668342590332, "joint_torques_l2": -0.0055277906358242035, "dof_pos_limits": -9.576702723279595e-06, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0034806053154170513, "rolling_leg_motion": -0.022790908813476562, "obstacle_progress": 0.1265198141336441, "wheel_body_intrusion": -0.009437614120543003, "pair_body_intrusion": -0.010675737634301186}, "episode_termination_rates": {"time_out": 0.5539568345323741, "fell_over": 0.02877697841726619, "course_exit": 0.38848920863309355, "illegal_nonwheel_contact": 0.050359712230215826}, "collection_time_s": 0.0756135626800824, "learning_time_s": 0.1849653387593571, "iteration_time_s": 0.3259185673859032, "policy_updates": 24600, "skipped_updates": 0, "invalid_env_resets": 121, "elapsed_s": 8115.37232790899, "nonwheel_terminations": 12335, "contact_bce": 0.30220845341682434, "contact_force_loss": 0.02065816894173622, "collision_bce": 0.00014397819177247584, "collision_label_rate": 0.00012233913003001362, "collision_prediction_mean": 7.044464291539043e-05, "collision_label_count": 16348.0, "terrain_level_mean": 3.589111328125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [12, 46, 84, 107, 62, 99], "episodes_by_level": [[1414.0, 305.0, 48.0, 0.0], [1663.0, 371.0, 37.0, 0.0], [1193.0, 282.0, 27.0, 0.0], [755.0, 172.0, 14.0, 0.0], [407.0, 103.0, 11.0, 0.0], [332.0, 79.0, 4.0, 0.0]]}, "up": {"level_counts": [0, 1, 15, 105, 523, 789], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2396.0, 1463.0, 37.0, 0.0], [4270.0, 1733.0, 165.0, 0.0], [4236.0, 1550.0, 194.0, 0.0], [3568.0, 991.0, 154.0, 0.0], [1641.0, 186.0, 127.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 4, 49, 560], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [948.0, 775.0, 26.0, 0.0], [1570.0, 1240.0, 63.0, 0.0], [5833.0, 4670.0, 219.0, 0.0]]}, "platform": {"level_counts": [31, 71, 105, 111, 64, 28], "episodes_by_level": [[1669.0, 358.0, 51.0, 0.0], [1841.0, 369.0, 78.0, 0.0], [1197.0, 239.0, 67.0, 0.0], [713.0, 114.0, 36.0, 0.0], [265.0, 41.0, 22.0, 0.0], [57.0, 5.0, 13.0, 0.0]]}, "slope": {"level_counts": [23, 54, 104, 83, 65, 81], "episodes_by_level": [[1523.0, 324.0, 43.0, 0.0], [1713.0, 356.0, 64.0, 0.0], [1151.0, 250.0, 37.0, 0.0], [702.0, 152.0, 21.0, 0.0], [411.0, 89.0, 6.0, 0.0], [293.0, 51.0, 8.0, 0.0]]}, "rubble": {"level_counts": [64, 177, 239, 198, 110, 31], "episodes_by_level": [[3045.0, 679.0, 94.0, 0.0], [3841.0, 820.0, 179.0, 0.0], [2764.0, 569.0, 259.0, 0.0], [1488.0, 235.0, 230.0, 0.0], [417.0, 51.0, 94.0, 0.0], [66.0, 3.0, 20.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2265625, "command_abs_max": [0.9999769330024719, 0.39976710081100464, 0.6998630166053772]}
{"step": 24950, "actor_lr": 5.3105968954358414e-05, "archive_windows": 50000, "env_steps": 24950, "total_transitions": 102195200, "num_steps_per_env": 1, "wm_loss": 0.6940001249313354, "actor_loss": -9.505945205688477, "critic_loss": 0.0044878385961055756, "reward": 0.08676205575466156, "falls": 3, "interval_steps": 50, "velocity_mae": [0.11692081391811371, 0.07037096470594406, 0.13399548828601837], "mean_episode_length": 1403.4718309859154, "episode_reward_terms": {"track_linear_velocity": 49.65673828125, "track_angular_velocity": 53.087188720703125, "upright": 26.95578384399414, "leg_posture": -2.755103826522827, "standstill": -6.630112648010254, "action_rate_l2": -0.611421525478363, "joint_torques_l2": -0.1555662304162979, "dof_pos_limits": -0.0010848493548110127, "terminated": -0.008223466575145721, "unnecessary_wheel_lift": -0.11183854192495346, "rolling_leg_motion": -0.6487734913825989, "obstacle_progress": 3.525273084640503, "wheel_body_intrusion": -0.25705060362815857, "pair_body_intrusion": -0.277715265750885}, "weighted_reward_terms": {"track_linear_velocity": 1.7690680027008057, "track_angular_velocity": 1.8912808895111084, "upright": 0.9603251218795776, "leg_posture": -0.09815315902233124, "standstill": -0.23620398342609406, "action_rate_l2": -0.021782465279102325, "joint_torques_l2": -0.0055421930737793446, "dof_pos_limits": -3.8648777263006195e-05, "terminated": -0.00029296870343387127, "unnecessary_wheel_lift": -0.003984353039413691, "rolling_leg_motion": -0.02311316505074501, "obstacle_progress": 0.12559117376804352, "wheel_body_intrusion": -0.009157669730484486, "pair_body_intrusion": -0.009893867187201977}, "episode_termination_rates": {"time_out": 0.5422535211267606, "fell_over": 0.014084507042253521, "course_exit": 0.43661971830985913, "illegal_nonwheel_contact": 0.014084507042253521}, "collection_time_s": 0.07553640647674911, "learning_time_s": 0.18532563390210272, "iteration_time_s": 0.3257882375670536, "policy_updates": 24650, "skipped_updates": 0, "invalid_env_resets": 121, "elapsed_s": 8128.416527297988, "nonwheel_terminations": 12337, "contact_bce": 0.2982611656188965, "contact_force_loss": 0.02111215330660343, "collision_bce": 0.00022989435819908977, "collision_label_rate": 6.11658178968355e-05, "collision_prediction_mean": 1.6116158803924918e-05, "collision_label_count": 16349.0, "terrain_level_mean": 3.594970703125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [12, 46, 83, 107, 61, 101], "episodes_by_level": [[1414.0, 305.0, 48.0, 0.0], [1666.0, 371.0, 37.0, 0.0], [1196.0, 283.0, 27.0, 0.0], [758.0, 173.0, 14.0, 0.0], [412.0, 106.0, 11.0, 0.0], [334.0, 79.0, 5.0, 0.0]]}, "up": {"level_counts": [0, 1, 15, 106, 519, 792], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2396.0, 1463.0, 37.0, 0.0], [4270.0, 1733.0, 165.0, 0.0], [4237.0, 1550.0, 194.0, 0.0], [3580.0, 994.0, 155.0, 0.0], [1656.0, 192.0, 127.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 4, 45, 564], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [948.0, 775.0, 26.0, 0.0], [1574.0, 1244.0, 63.0, 0.0], [5851.0, 4685.0, 219.0, 0.0]]}, "platform": {"level_counts": [30, 71, 105, 111, 65, 28], "episodes_by_level": [[1670.0, 359.0, 51.0, 0.0], [1845.0, 370.0, 78.0, 0.0], [1200.0, 240.0, 67.0, 0.0], [717.0, 115.0, 36.0, 0.0], [269.0, 41.0, 22.0, 0.0], [58.0, 5.0, 13.0, 0.0]]}, "slope": {"level_counts": [22, 55, 103, 84, 65, 81], "episodes_by_level": [[1525.0, 325.0, 43.0, 0.0], [1714.0, 356.0, 64.0, 0.0], [1154.0, 251.0, 37.0, 0.0], [704.0, 152.0, 21.0, 0.0], [414.0, 89.0, 6.0, 0.0], [295.0, 51.0, 8.0, 0.0]]}, "rubble": {"level_counts": [61, 176, 243, 198, 109, 32], "episodes_by_level": [[3049.0, 682.0, 94.0, 0.0], [3851.0, 824.0, 179.0, 0.0], [2768.0, 570.0, 259.0, 0.0], [1491.0, 235.0, 231.0, 0.0], [425.0, 52.0, 94.0, 0.0], [66.0, 3.0, 20.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2236328125, "command_abs_max": [0.9999769330024719, 0.39976710081100464, 0.6998630166053772]}
{"step": 25000, "actor_lr": 5.297322826886315e-05, "archive_windows": 50000, "env_steps": 25000, "total_transitions": 102400000, "num_steps_per_env": 1, "wm_loss": 0.6712545156478882, "actor_loss": -9.488777160644531, "critic_loss": 0.0037687316071242094, "reward": 0.08645737171173096, "falls": 12, "interval_steps": 50, "velocity_mae": [0.11622817814350128, 0.07076029479503632, 0.13601675629615784], "mean_episode_length": 1353.0064935064936, "episode_reward_terms": {"track_linear_velocity": 47.92451858520508, "track_angular_velocity": 51.09421157836914, "upright": 25.94744300842285, "leg_posture": -2.692967414855957, "standstill": -6.6228861808776855, "action_rate_l2": -0.6023074388504028, "joint_torques_l2": -0.14970842003822327, "dof_pos_limits": -0.000945787294767797, "terminated": -0.03171108663082123, "unnecessary_wheel_lift": -0.0937768816947937, "rolling_leg_motion": -0.6241767406463623, "obstacle_progress": 3.4218404293060303, "wheel_body_intrusion": -0.26728323101997375, "pair_body_intrusion": -0.32485026121139526}, "weighted_reward_terms": {"track_linear_velocity": 1.7710380554199219, "track_angular_velocity": 1.8881733417510986, "upright": 0.9588809609413147, "leg_posture": -0.09951790422201157, "standstill": -0.24474702775478363, "action_rate_l2": -0.02225811406970024, "joint_torques_l2": -0.005532435607165098, "dof_pos_limits": -3.495132114039734e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.003465500194579363, "rolling_leg_motion": -0.023066289722919464, "obstacle_progress": 0.1264532208442688, "wheel_body_intrusion": -0.009877381846308708, "pair_body_intrusion": -0.01200475636869669}, "episode_termination_rates": {"time_out": 0.461038961038961, "fell_over": 0.045454545454545456, "course_exit": 0.461038961038961, "illegal_nonwheel_contact": 0.05194805194805195}, "collection_time_s": 0.07596543212304824, "learning_time_s": 0.19224646594026126, "iteration_time_s": 0.3256731322600809, "policy_updates": 24700, "skipped_updates": 0, "invalid_env_resets": 122, "elapsed_s": 8141.828306502022, "nonwheel_terminations": 12345, "contact_bce": 0.29665109515190125, "contact_force_loss": 0.021039769053459167, "collision_bce": 0.0003479926963336766, "collision_label_rate": 6.115085852798074e-05, "collision_prediction_mean": 3.0005478038219735e-05, "collision_label_count": 16353.0, "terrain_level_mean": 3.597412109375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [12, 46, 81, 110, 60, 101], "episodes_by_level": [[1415.0, 305.0, 49.0, 0.0], [1666.0, 371.0, 37.0, 0.0], [1203.0, 285.0, 27.0, 0.0], [763.0, 173.0, 14.0, 0.0], [414.0, 106.0, 12.0, 0.0], [337.0, 80.0, 5.0, 0.0]]}, "up": {"level_counts": [0, 1, 15, 106, 518, 793], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2396.0, 1463.0, 37.0, 0.0], [4270.0, 1733.0, 165.0, 0.0], [4240.0, 1552.0, 194.0, 0.0], [3593.0, 996.0, 155.0, 0.0], [1678.0, 194.0, 128.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 4, 44, 565], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [948.0, 775.0, 26.0, 0.0], [1576.0, 1246.0, 63.0, 0.0], [5863.0, 4696.0, 219.0, 0.0]]}, "platform": {"level_counts": [30, 71, 105, 110, 66, 28], "episodes_by_level": [[1672.0, 359.0, 51.0, 0.0], [1848.0, 371.0, 78.0, 0.0], [1204.0, 240.0, 68.0, 0.0], [720.0, 116.0, 36.0, 0.0], [272.0, 41.0, 22.0, 0.0], [60.0, 5.0, 13.0, 0.0]]}, "slope": {"level_counts": [23, 53, 104, 84, 63, 83], "episodes_by_level": [[1527.0, 325.0, 43.0, 0.0], [1717.0, 357.0, 65.0, 0.0], [1155.0, 251.0, 37.0, 0.0], [706.0, 152.0, 21.0, 0.0], [417.0, 91.0, 6.0, 0.0], [298.0, 52.0, 8.0, 0.0]]}, "rubble": {"level_counts": [60, 177, 241, 199, 110, 32], "episodes_by_level": [[3050.0, 683.0, 94.0, 0.0], [3859.0, 826.0, 179.0, 0.0], [2776.0, 573.0, 261.0, 0.0], [1496.0, 236.0, 232.0, 0.0], [428.0, 53.0, 94.0, 0.0], [68.0, 3.0, 21.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.225830078125, "command_abs_max": [0.9999769330024719, 0.39976710081100464, 0.6983924508094788]}
{"step": 25050, "actor_lr": 5.283944059469723e-05, "archive_windows": 50000, "env_steps": 25050, "total_transitions": 102604800, "num_steps_per_env": 1, "wm_loss": 0.6640961170196533, "actor_loss": -9.491209030151367, "critic_loss": 0.005778850521892309, "reward": 0.08677288144826889, "falls": 14, "interval_steps": 50, "velocity_mae": [0.11710292845964432, 0.07063473016023636, 0.13568860292434692], "mean_episode_length": 1295.2328767123288, "episode_reward_terms": {"track_linear_velocity": 45.80363845825195, "track_angular_velocity": 48.91648483276367, "upright": 24.856494903564453, "leg_posture": -2.548675060272217, "standstill": -5.8360490798950195, "action_rate_l2": -0.5681469440460205, "joint_torques_l2": -0.14408303797245026, "dof_pos_limits": -0.0010970666771754622, "terminated": -0.03541652113199234, "unnecessary_wheel_lift": -0.08304200321435928, "rolling_leg_motion": -0.6041595339775085, "obstacle_progress": 3.225207805633545, "wheel_body_intrusion": -0.2544836699962616, "pair_body_intrusion": -0.3355797529220581}, "weighted_reward_terms": {"track_linear_velocity": 1.7681623697280884, "track_angular_velocity": 1.888327717781067, "upright": 0.9595376253128052, "leg_posture": -0.098386749625206, "standstill": -0.22528956830501556, "action_rate_l2": -0.02193223126232624, "joint_torques_l2": -0.005562051199376583, "dof_pos_limits": -4.235017331666313e-05, "terminated": -0.0013671873603016138, "unnecessary_wheel_lift": -0.0032056786585599184, "rolling_leg_motion": -0.02332242764532566, "obstacle_progress": 0.1245030090212822, "wheel_body_intrusion": -0.009823857806622982, "pair_body_intrusion": -0.012954418547451496}, "episode_termination_rates": {"time_out": 0.4315068493150685, "fell_over": 0.04794520547945205, "course_exit": 0.4726027397260274, "illegal_nonwheel_contact": 0.07534246575342465}, "collection_time_s": 0.07561000647605397, "learning_time_s": 0.18409307702211664, "iteration_time_s": 0.32554271117796396, "policy_updates": 24750, "skipped_updates": 0, "invalid_env_resets": 122, "elapsed_s": 8154.844915007998, "nonwheel_terminations": 12356, "contact_bce": 0.29711583256721497, "contact_force_loss": 0.020769845694303513, "collision_bce": 1.827618143579457e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.8087002899846993e-05, "collision_label_count": 16354.0, "terrain_level_mean": 3.5986328125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [12, 45, 81, 111, 59, 102], "episodes_by_level": [[1415.0, 305.0, 49.0, 0.0], [1667.0, 372.0, 37.0, 0.0], [1206.0, 286.0, 27.0, 0.0], [768.0, 173.0, 14.0, 0.0], [415.0, 107.0, 12.0, 0.0], [341.0, 81.0, 5.0, 0.0]]}, "up": {"level_counts": [0, 1, 15, 106, 517, 794], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2396.0, 1463.0, 37.0, 0.0], [4270.0, 1733.0, 165.0, 0.0], [4243.0, 1553.0, 194.0, 0.0], [3604.0, 1001.0, 155.0, 0.0], [1699.0, 196.0, 129.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 4, 43, 566], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [948.0, 775.0, 26.0, 0.0], [1578.0, 1248.0, 63.0, 0.0], [5883.0, 4713.0, 219.0, 0.0]]}, "platform": {"level_counts": [30, 71, 105, 111, 65, 28], "episodes_by_level": [[1673.0, 359.0, 51.0, 0.0], [1849.0, 371.0, 78.0, 0.0], [1207.0, 240.0, 68.0, 0.0], [724.0, 116.0, 36.0, 0.0], [274.0, 42.0, 23.0, 0.0], [61.0, 5.0, 14.0, 0.0]]}, "slope": {"level_counts": [23, 51, 106, 83, 64, 83], "episodes_by_level": [[1527.0, 325.0, 43.0, 0.0], [1720.0, 359.0, 65.0, 0.0], [1158.0, 251.0, 37.0, 0.0], [708.0, 153.0, 21.0, 0.0], [417.0, 91.0, 6.0, 0.0], [301.0, 52.0, 8.0, 0.0]]}, "rubble": {"level_counts": [61, 176, 239, 202, 111, 30], "episodes_by_level": [[3050.0, 683.0, 94.0, 0.0], [3866.0, 827.0, 180.0, 0.0], [2782.0, 575.0, 262.0, 0.0], [1501.0, 236.0, 232.0, 0.0], [433.0, 53.0, 95.0, 0.0], [70.0, 3.0, 23.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.232177734375, "command_abs_max": [0.9998511075973511, 0.39953723549842834, 0.6999768614768982]}
{"step": 25100, "actor_lr": 5.270461418451457e-05, "archive_windows": 50000, "env_steps": 25100, "total_transitions": 102809600, "num_steps_per_env": 1, "wm_loss": 0.6755303740501404, "actor_loss": -9.477397918701172, "critic_loss": 0.011039161123335361, "reward": 0.08685239404439926, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11710001528263092, 0.07164690643548965, 0.1359422653913498], "mean_episode_length": 1327.3375796178343, "episode_reward_terms": {"track_linear_velocity": 46.91667556762695, "track_angular_velocity": 50.110252380371094, "upright": 25.46676254272461, "leg_posture": -2.6136868000030518, "standstill": -5.895449638366699, "action_rate_l2": -0.5719040036201477, "joint_torques_l2": -0.1470137983560562, "dof_pos_limits": -0.000642173457890749, "terminated": -0.020739644765853882, "unnecessary_wheel_lift": -0.09609311819076538, "rolling_leg_motion": -0.6076651811599731, "obstacle_progress": 3.3225386142730713, "wheel_body_intrusion": -0.25150975584983826, "pair_body_intrusion": -0.3290610611438751}, "weighted_reward_terms": {"track_linear_velocity": 1.7673227787017822, "track_angular_velocity": 1.8876229524612427, "upright": 0.9593175053596497, "leg_posture": -0.0984560027718544, "standstill": -0.22207802534103394, "action_rate_l2": -0.02154327742755413, "joint_torques_l2": -0.005537921097129583, "dof_pos_limits": -2.419028533040546e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0036197698209434748, "rolling_leg_motion": -0.022890379652380943, "obstacle_progress": 0.12515802681446075, "wheel_body_intrusion": -0.009474220685660839, "pair_body_intrusion": -0.012395531870424747}, "episode_termination_rates": {"time_out": 0.4267515923566879, "fell_over": 0.025477707006369428, "course_exit": 0.5222929936305732, "illegal_nonwheel_contact": 0.03821656050955414}, "collection_time_s": 0.07601391943637281, "learning_time_s": 0.1830521275056526, "iteration_time_s": 0.3254103322167727, "policy_updates": 24800, "skipped_updates": 0, "invalid_env_resets": 123, "elapsed_s": 8167.799338640994, "nonwheel_terminations": 12362, "contact_bce": 0.29935896396636963, "contact_force_loss": 0.0210789255797863, "collision_bce": 0.0005182819440960884, "collision_label_rate": 6.120325269876048e-05, "collision_prediction_mean": 6.539990863529965e-06, "collision_label_count": 16339.0, "terrain_level_mean": 3.602294921875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [12, 44, 81, 111, 60, 102], "episodes_by_level": [[1415.0, 305.0, 49.0, 0.0], [1670.0, 373.0, 37.0, 0.0], [1209.0, 287.0, 27.0, 0.0], [770.0, 174.0, 14.0, 0.0], [417.0, 107.0, 12.0, 0.0], [346.0, 81.0, 5.0, 0.0]]}, "up": {"level_counts": [0, 1, 14, 106, 515, 797], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2396.0, 1463.0, 37.0, 0.0], [4271.0, 1734.0, 165.0, 0.0], [4245.0, 1554.0, 194.0, 0.0], [3614.0, 1006.0, 155.0, 0.0], [1731.0, 202.0, 130.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 4, 43, 566], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [948.0, 775.0, 26.0, 0.0], [1581.0, 1250.0, 63.0, 0.0], [5900.0, 4728.0, 219.0, 0.0]]}, "platform": {"level_counts": [30, 71, 105, 110, 66, 28], "episodes_by_level": [[1674.0, 359.0, 51.0, 0.0], [1852.0, 371.0, 78.0, 0.0], [1211.0, 240.0, 68.0, 0.0], [730.0, 117.0, 36.0, 0.0], [277.0, 42.0, 23.0, 0.0], [63.0, 7.0, 14.0, 0.0]]}, "slope": {"level_counts": [23, 51, 106, 83, 64, 83], "episodes_by_level": [[1528.0, 325.0, 44.0, 0.0], [1721.0, 359.0, 65.0, 0.0], [1162.0, 251.0, 37.0, 0.0], [709.0, 153.0, 21.0, 0.0], [419.0, 91.0, 6.0, 0.0], [303.0, 52.0, 8.0, 0.0]]}, "rubble": {"level_counts": [61, 173, 241, 202, 111, 31], "episodes_by_level": [[3050.0, 683.0, 94.0, 0.0], [3877.0, 831.0, 180.0, 0.0], [2789.0, 577.0, 263.0, 0.0], [1508.0, 238.0, 233.0, 0.0], [436.0, 54.0, 96.0, 0.0], [70.0, 3.0, 23.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23486328125, "command_abs_max": [0.9996875524520874, 0.3998776972293854, 0.6999768614768982]}
{"step": 25150, "actor_lr": 5.256875735504327e-05, "archive_windows": 50000, "env_steps": 25150, "total_transitions": 103014400, "num_steps_per_env": 1, "wm_loss": 0.7525295615196228, "actor_loss": -9.512782096862793, "critic_loss": 0.003635154804214835, "reward": 0.08678356558084488, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11645320057868958, 0.07192996144294739, 0.13664080202579498], "mean_episode_length": 1331.497005988024, "episode_reward_terms": {"track_linear_velocity": 47.0690803527832, "track_angular_velocity": 50.23979568481445, "upright": 25.543058395385742, "leg_posture": -2.649730920791626, "standstill": -5.889584541320801, "action_rate_l2": -0.5828779339790344, "joint_torques_l2": -0.14740042388439178, "dof_pos_limits": -0.0009579148609191179, "terminated": -0.02600579708814621, "unnecessary_wheel_lift": -0.10731793940067291, "rolling_leg_motion": -0.6150156259536743, "obstacle_progress": 3.339528799057007, "wheel_body_intrusion": -0.26443925499916077, "pair_body_intrusion": -0.35607412457466125}, "weighted_reward_terms": {"track_linear_velocity": 1.7675248384475708, "track_angular_velocity": 1.8865907192230225, "upright": 0.9591858386993408, "leg_posture": -0.09950195997953415, "standstill": -0.2211640477180481, "action_rate_l2": -0.021888069808483124, "joint_torques_l2": -0.005535139236599207, "dof_pos_limits": -3.597135219024494e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.0040299734100699425, "rolling_leg_motion": -0.023094894364476204, "obstacle_progress": 0.12540505826473236, "wheel_body_intrusion": -0.009930149652063847, "pair_body_intrusion": -0.013371196575462818}, "episode_termination_rates": {"time_out": 0.4431137724550898, "fell_over": 0.029940119760479042, "course_exit": 0.49700598802395207, "illegal_nonwheel_contact": 0.03592814371257485}, "collection_time_s": 0.07562585901934654, "learning_time_s": 0.18519583765417338, "iteration_time_s": 0.325281969272644, "policy_updates": 24850, "skipped_updates": 0, "invalid_env_resets": 123, "elapsed_s": 8180.841527206998, "nonwheel_terminations": 12368, "contact_bce": 0.30107271671295166, "contact_force_loss": 0.02112743631005287, "collision_bce": 3.3939450077014044e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 3.353210195200518e-05, "collision_label_count": 16366.0, "terrain_level_mean": 3.603515625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [12, 43, 82, 110, 60, 103], "episodes_by_level": [[1416.0, 305.0, 49.0, 0.0], [1672.0, 374.0, 37.0, 0.0], [1209.0, 287.0, 27.0, 0.0], [773.0, 175.0, 14.0, 0.0], [420.0, 108.0, 12.0, 0.0], [350.0, 82.0, 5.0, 0.0]]}, "up": {"level_counts": [0, 2, 14, 103, 516, 798], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2396.0, 1463.0, 37.0, 0.0], [4271.0, 1734.0, 165.0, 0.0], [4249.0, 1556.0, 194.0, 0.0], [3630.0, 1008.0, 155.0, 0.0], [1757.0, 208.0, 131.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 4, 43, 566], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [948.0, 775.0, 26.0, 0.0], [1583.0, 1251.0, 63.0, 0.0], [5919.0, 4746.0, 219.0, 0.0]]}, "platform": {"level_counts": [29, 71, 106, 109, 67, 28], "episodes_by_level": [[1676.0, 360.0, 51.0, 0.0], [1854.0, 372.0, 78.0, 0.0], [1211.0, 240.0, 68.0, 0.0], [735.0, 118.0, 36.0, 0.0], [277.0, 42.0, 23.0, 0.0], [67.0, 8.0, 14.0, 0.0]]}, "slope": {"level_counts": [24, 50, 107, 82, 64, 83], "episodes_by_level": [[1529.0, 325.0, 44.0, 0.0], [1725.0, 359.0, 66.0, 0.0], [1165.0, 251.0, 37.0, 0.0], [716.0, 154.0, 22.0, 0.0], [421.0, 91.0, 7.0, 0.0], [306.0, 52.0, 8.0, 0.0]]}, "rubble": {"level_counts": [61, 174, 240, 202, 109, 33], "episodes_by_level": [[3052.0, 683.0, 94.0, 0.0], [3879.0, 831.0, 180.0, 0.0], [2797.0, 577.0, 264.0, 0.0], [1515.0, 239.0, 233.0, 0.0], [442.0, 56.0, 97.0, 0.0], [71.0, 3.0, 23.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.245361328125, "command_abs_max": [0.9996875524520874, 0.3998776972293854, 0.6999768614768982]}
{"step": 25200, "actor_lr": 5.243187848657249e-05, "archive_windows": 50000, "env_steps": 25200, "total_transitions": 103219200, "num_steps_per_env": 1, "wm_loss": 0.6472916603088379, "actor_loss": -9.504009246826172, "critic_loss": 0.006070194765925407, "reward": 0.08668909966945648, "falls": 7, "interval_steps": 50, "velocity_mae": [0.1173873171210289, 0.07141543924808502, 0.13589105010032654], "mean_episode_length": 1326.3856209150326, "episode_reward_terms": {"track_linear_velocity": 46.84940719604492, "track_angular_velocity": 50.087440490722656, "upright": 25.463043212890625, "leg_posture": -2.6149346828460693, "standstill": -6.044575214385986, "action_rate_l2": -0.585841715335846, "joint_torques_l2": -0.1470830738544464, "dof_pos_limits": -0.00033325180993415415, "terminated": -0.01813417673110962, "unnecessary_wheel_lift": -0.10585477203130722, "rolling_leg_motion": -0.6350383758544922, "obstacle_progress": 3.3110873699188232, "wheel_body_intrusion": -0.2633790075778961, "pair_body_intrusion": -0.31261688470840454}, "weighted_reward_terms": {"track_linear_velocity": 1.7660552263259888, "track_angular_velocity": 1.8881176710128784, "upright": 0.9598657488822937, "leg_posture": -0.098573699593544, "standstill": -0.22785890102386475, "action_rate_l2": -0.02208414115011692, "joint_torques_l2": -0.005544506944715977, "dof_pos_limits": -1.2562402844196185e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.003990347031503916, "rolling_leg_motion": -0.023938680067658424, "obstacle_progress": 0.1248161643743515, "wheel_body_intrusion": -0.00992844719439745, "pair_body_intrusion": -0.011784540489315987}, "episode_termination_rates": {"time_out": 0.49019607843137253, "fell_over": 0.0392156862745098, "course_exit": 0.46405228758169936, "illegal_nonwheel_contact": 0.0392156862745098}, "collection_time_s": 0.07555106568033806, "learning_time_s": 0.18532072314061224, "iteration_time_s": 0.32515421465896893, "policy_updates": 24900, "skipped_updates": 0, "invalid_env_resets": 123, "elapsed_s": 8193.886209406017, "nonwheel_terminations": 12374, "contact_bce": 0.2961519658565521, "contact_force_loss": 0.020381540060043335, "collision_bce": 0.00024715138715691864, "collision_label_rate": 6.128202221589163e-05, "collision_prediction_mean": 3.66286767530255e-05, "collision_label_count": 16318.0, "terrain_level_mean": 3.60693359375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [12, 42, 83, 109, 60, 104], "episodes_by_level": [[1416.0, 305.0, 49.0, 0.0], [1676.0, 375.0, 37.0, 0.0], [1214.0, 287.0, 27.0, 0.0], [778.0, 176.0, 14.0, 0.0], [421.0, 109.0, 12.0, 0.0], [350.0, 82.0, 5.0, 0.0]]}, "up": {"level_counts": [0, 2, 15, 99, 516, 801], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2396.0, 1463.0, 37.0, 0.0], [4271.0, 1734.0, 165.0, 0.0], [4252.0, 1559.0, 194.0, 0.0], [3640.0, 1012.0, 155.0, 0.0], [1779.0, 213.0, 131.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 4, 42, 567], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [948.0, 775.0, 26.0, 0.0], [1584.0, 1252.0, 63.0, 0.0], [5942.0, 4766.0, 219.0, 0.0]]}, "platform": {"level_counts": [29, 70, 107, 109, 67, 28], "episodes_by_level": [[1677.0, 360.0, 51.0, 0.0], [1857.0, 373.0, 78.0, 0.0], [1212.0, 240.0, 68.0, 0.0], [738.0, 118.0, 36.0, 0.0], [280.0, 42.0, 23.0, 0.0], [67.0, 8.0, 14.0, 0.0]]}, "slope": {"level_counts": [25, 49, 106, 83, 64, 83], "episodes_by_level": [[1530.0, 325.0, 45.0, 0.0], [1726.0, 359.0, 67.0, 0.0], [1168.0, 252.0, 37.0, 0.0], [717.0, 154.0, 22.0, 0.0], [422.0, 91.0, 7.0, 0.0], [309.0, 52.0, 8.0, 0.0]]}, "rubble": {"level_counts": [61, 173, 239, 203, 110, 33], "episodes_by_level": [[3054.0, 683.0, 94.0, 0.0], [3886.0, 833.0, 180.0, 0.0], [2808.0, 580.0, 265.0, 0.0], [1522.0, 240.0, 234.0, 0.0], [443.0, 56.0, 97.0, 0.0], [71.0, 3.0, 23.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2431640625, "command_abs_max": [0.9996875524520874, 0.3998776972293854, 0.6999768614768982]}
{"step": 25250, "actor_lr": 5.2293986022435585e-05, "archive_windows": 50000, "env_steps": 25250, "total_transitions": 103424000, "num_steps_per_env": 1, "wm_loss": 0.677790105342865, "actor_loss": -9.457021713256836, "critic_loss": 0.009396343491971493, "reward": 0.0868806466460228, "falls": 4, "interval_steps": 50, "velocity_mae": [0.11565050482749939, 0.07174113392829895, 0.13566194474697113], "mean_episode_length": 1393.8375, "episode_reward_terms": {"track_linear_velocity": 49.34323501586914, "track_angular_velocity": 52.64564895629883, "upright": 26.756832122802734, "leg_posture": -2.68746018409729, "standstill": -6.378359317779541, "action_rate_l2": -0.6135951280593872, "joint_torques_l2": -0.15423324704170227, "dof_pos_limits": -0.00042605798807926476, "terminated": -0.010889353230595589, "unnecessary_wheel_lift": -0.09926120191812515, "rolling_leg_motion": -0.6480939984321594, "obstacle_progress": 3.5127689838409424, "wheel_body_intrusion": -0.26128166913986206, "pair_body_intrusion": -0.30737051367759705}, "weighted_reward_terms": {"track_linear_velocity": 1.770049810409546, "track_angular_velocity": 1.888514518737793, "upright": 0.9598260521888733, "leg_posture": -0.09640507400035858, "standstill": -0.22880570590496063, "action_rate_l2": -0.02201099880039692, "joint_torques_l2": -0.0055326842702925205, "dof_pos_limits": -1.528363281977363e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.0035607167519629, "rolling_leg_motion": -0.023248549550771713, "obstacle_progress": 0.1260107010602951, "wheel_body_intrusion": -0.009372745640575886, "pair_body_intrusion": -0.011026052758097649}, "episode_termination_rates": {"time_out": 0.4875, "fell_over": 0.01875, "course_exit": 0.4875, "illegal_nonwheel_contact": 0.0125}, "collection_time_s": 0.0757322174240835, "learning_time_s": 0.185160743156448, "iteration_time_s": 0.32502700934118806, "policy_updates": 24950, "skipped_updates": 0, "invalid_env_resets": 123, "elapsed_s": 8206.931985864998, "nonwheel_terminations": 12376, "contact_bce": 0.29733404517173767, "contact_force_loss": 0.02103123627603054, "collision_bce": 0.00026999731198884547, "collision_label_rate": 0.00012242149387020618, "collision_prediction_mean": 0.00015340112440753728, "collision_label_count": 16337.0, "terrain_level_mean": 3.609375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [12, 42, 83, 110, 59, 104], "episodes_by_level": [[1417.0, 305.0, 49.0, 0.0], [1677.0, 375.0, 37.0, 0.0], [1218.0, 287.0, 27.0, 0.0], [781.0, 176.0, 14.0, 0.0], [424.0, 109.0, 13.0, 0.0], [353.0, 83.0, 5.0, 0.0]]}, "up": {"level_counts": [0, 2, 15, 96, 517, 803], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2396.0, 1463.0, 37.0, 0.0], [4272.0, 1734.0, 165.0, 0.0], [4256.0, 1562.0, 194.0, 0.0], [3651.0, 1015.0, 155.0, 0.0], [1809.0, 219.0, 132.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 4, 42, 567], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [948.0, 775.0, 26.0, 0.0], [1586.0, 1254.0, 63.0, 0.0], [5966.0, 4787.0, 221.0, 0.0]]}, "platform": {"level_counts": [29, 70, 106, 110, 67, 28], "episodes_by_level": [[1678.0, 360.0, 51.0, 0.0], [1858.0, 373.0, 78.0, 0.0], [1216.0, 241.0, 68.0, 0.0], [739.0, 118.0, 36.0, 0.0], [283.0, 42.0, 23.0, 0.0], [67.0, 8.0, 14.0, 0.0]]}, "slope": {"level_counts": [24, 50, 105, 84, 64, 83], "episodes_by_level": [[1531.0, 326.0, 45.0, 0.0], [1728.0, 359.0, 67.0, 0.0], [1169.0, 253.0, 37.0, 0.0], [719.0, 154.0, 22.0, 0.0], [425.0, 91.0, 7.0, 0.0], [312.0, 52.0, 8.0, 0.0]]}, "rubble": {"level_counts": [61, 173, 238, 202, 112, 33], "episodes_by_level": [[3055.0, 683.0, 94.0, 0.0], [3893.0, 833.0, 180.0, 0.0], [2817.0, 581.0, 265.0, 0.0], [1529.0, 242.0, 234.0, 0.0], [445.0, 56.0, 97.0, 0.0], [73.0, 3.0, 23.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.24365234375, "command_abs_max": [0.9996875524520874, 0.3998776972293854, 0.6999768614768982]}
{"step": 25300, "actor_lr": 5.21550884684893e-05, "archive_windows": 50000, "env_steps": 25300, "total_transitions": 103628800, "num_steps_per_env": 1, "wm_loss": 0.7106553316116333, "actor_loss": -9.499858856201172, "critic_loss": 0.005041423253715038, "reward": 0.08693570643663406, "falls": 4, "interval_steps": 50, "velocity_mae": [0.11745264381170273, 0.07163183391094208, 0.13373811542987823], "mean_episode_length": 1346.0211267605634, "episode_reward_terms": {"track_linear_velocity": 47.54829406738281, "track_angular_velocity": 50.927101135253906, "upright": 25.842906951904297, "leg_posture": -2.613988161087036, "standstill": -5.899720191955566, "action_rate_l2": -0.5850293636322021, "joint_torques_l2": -0.14866425096988678, "dof_pos_limits": -0.0013022706843912601, "terminated": -0.01051578763872385, "unnecessary_wheel_lift": -0.09456740319728851, "rolling_leg_motion": -0.6405014991760254, "obstacle_progress": 3.2642853260040283, "wheel_body_intrusion": -0.24939210712909698, "pair_body_intrusion": -0.3216019868850708}, "weighted_reward_terms": {"track_linear_velocity": 1.7662535905838013, "track_angular_velocity": 1.8917646408081055, "upright": 0.9599740505218506, "leg_posture": -0.09710056334733963, "standstill": -0.21915408968925476, "action_rate_l2": -0.021731805056333542, "joint_torques_l2": -0.005522359628230333, "dof_pos_limits": -4.837482265429571e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.0035128500312566757, "rolling_leg_motion": -0.02379240281879902, "obstacle_progress": 0.12125683575868607, "wheel_body_intrusion": -0.009264049120247364, "pair_body_intrusion": -0.01194639503955841}, "episode_termination_rates": {"time_out": 0.4295774647887324, "fell_over": 0.02112676056338028, "course_exit": 0.5422535211267606, "illegal_nonwheel_contact": 0.014084507042253521}, "collection_time_s": 0.0759048228210304, "learning_time_s": 0.18523654352291488, "iteration_time_s": 0.32490079441423003, "policy_updates": 25000, "skipped_updates": 0, "invalid_env_resets": 124, "elapsed_s": 8219.99009868002, "nonwheel_terminations": 12378, "contact_bce": 0.30604812502861023, "contact_force_loss": 0.02185339294373989, "collision_bce": 0.0003089138481300324, "collision_label_rate": 0.00018335167260374874, "collision_prediction_mean": 0.000194124600966461, "collision_label_count": 16362.0, "terrain_level_mean": 3.615234375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [12, 42, 82, 110, 60, 104], "episodes_by_level": [[1417.0, 305.0, 49.0, 0.0], [1677.0, 375.0, 37.0, 0.0], [1223.0, 288.0, 27.0, 0.0], [783.0, 177.0, 14.0, 0.0], [427.0, 109.0, 13.0, 0.0], [357.0, 83.0, 5.0, 0.0]]}, "up": {"level_counts": [0, 2, 15, 91, 518, 807], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2396.0, 1463.0, 37.0, 0.0], [4272.0, 1734.0, 165.0, 0.0], [4262.0, 1567.0, 194.0, 0.0], [3660.0, 1020.0, 155.0, 0.0], [1829.0, 222.0, 132.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 3, 39, 571], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [949.0, 776.0, 26.0, 0.0], [1592.0, 1260.0, 63.0, 0.0], [5987.0, 4804.0, 221.0, 0.0]]}, "platform": {"level_counts": [29, 70, 105, 110, 68, 28], "episodes_by_level": [[1679.0, 360.0, 51.0, 0.0], [1861.0, 373.0, 78.0, 0.0], [1220.0, 242.0, 68.0, 0.0], [740.0, 119.0, 36.0, 0.0], [284.0, 42.0, 23.0, 0.0], [68.0, 9.0, 14.0, 0.0]]}, "slope": {"level_counts": [24, 50, 105, 82, 66, 83], "episodes_by_level": [[1531.0, 326.0, 45.0, 0.0], [1728.0, 359.0, 67.0, 0.0], [1171.0, 253.0, 37.0, 0.0], [725.0, 156.0, 22.0, 0.0], [427.0, 91.0, 7.0, 0.0], [313.0, 53.0, 8.0, 0.0]]}, "rubble": {"level_counts": [59, 175, 236, 204, 112, 33], "episodes_by_level": [[3057.0, 685.0, 94.0, 0.0], [3894.0, 833.0, 180.0, 0.0], [2823.0, 584.0, 265.0, 0.0], [1536.0, 242.0, 235.0, 0.0], [449.0, 56.0, 97.0, 0.0], [74.0, 3.0, 23.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.24560546875, "command_abs_max": [0.9996875524520874, 0.3998776972293854, 0.6999768614768982]}
{"step": 25350, "actor_lr": 5.2015194392589024e-05, "archive_windows": 50000, "env_steps": 25350, "total_transitions": 103833600, "num_steps_per_env": 1, "wm_loss": 0.6360501050949097, "actor_loss": -9.47341537475586, "critic_loss": 0.004130270332098007, "reward": 0.08709303289651871, "falls": 12, "interval_steps": 50, "velocity_mae": [0.11705010384321213, 0.07045230269432068, 0.1334763914346695], "mean_episode_length": 1331.0064516129032, "episode_reward_terms": {"track_linear_velocity": 47.09877014160156, "track_angular_velocity": 50.360862731933594, "upright": 25.537723541259766, "leg_posture": -2.5756943225860596, "standstill": -5.768082618713379, "action_rate_l2": -0.575171172618866, "joint_torques_l2": -0.14680644869804382, "dof_pos_limits": -0.0011533460346981883, "terminated": -0.031195461750030518, "unnecessary_wheel_lift": -0.08612575381994247, "rolling_leg_motion": -0.622169554233551, "obstacle_progress": 3.2734899520874023, "wheel_body_intrusion": -0.27974382042884827, "pair_body_intrusion": -0.2633078098297119}, "weighted_reward_terms": {"track_linear_velocity": 1.769291639328003, "track_angular_velocity": 1.8918339014053345, "upright": 0.9593388438224792, "leg_posture": -0.09675738960504532, "standstill": -0.21668122708797455, "action_rate_l2": -0.021606625989079475, "joint_torques_l2": -0.005514866206794977, "dof_pos_limits": -4.332609023549594e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.0032353620044887066, "rolling_leg_motion": -0.023372147232294083, "obstacle_progress": 0.12297047674655914, "wheel_body_intrusion": -0.010508732870221138, "pair_body_intrusion": -0.009891304187476635}, "episode_termination_rates": {"time_out": 0.44516129032258067, "fell_over": 0.05161290322580645, "course_exit": 0.4774193548387097, "illegal_nonwheel_contact": 0.03870967741935484}, "collection_time_s": 0.07601930461707525, "learning_time_s": 0.18535793017828836, "iteration_time_s": 0.3247755459960159, "policy_updates": 25050, "skipped_updates": 0, "invalid_env_resets": 125, "elapsed_s": 8233.060090999003, "nonwheel_terminations": 12384, "contact_bce": 0.29228416085243225, "contact_force_loss": 0.020556055009365082, "collision_bce": 5.3851214033784345e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 4.927834015688859e-05, "collision_label_count": 16336.0, "terrain_level_mean": 3.617919921875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [12, 42, 83, 107, 62, 104], "episodes_by_level": [[1417.0, 305.0, 49.0, 0.0], [1679.0, 375.0, 37.0, 0.0], [1225.0, 288.0, 27.0, 0.0], [790.0, 179.0, 15.0, 0.0], [428.0, 109.0, 13.0, 0.0], [360.0, 83.0, 5.0, 0.0]]}, "up": {"level_counts": [0, 2, 13, 94, 515, 809], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2396.0, 1463.0, 37.0, 0.0], [4275.0, 1736.0, 165.0, 0.0], [4267.0, 1568.0, 194.0, 0.0], [3670.0, 1024.0, 157.0, 0.0], [1850.0, 224.0, 133.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 3, 41, 569], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [949.0, 776.0, 26.0, 0.0], [1594.0, 1262.0, 63.0, 0.0], [6006.0, 4821.0, 223.0, 0.0]]}, "platform": {"level_counts": [28, 71, 104, 109, 70, 28], "episodes_by_level": [[1680.0, 361.0, 51.0, 0.0], [1862.0, 373.0, 78.0, 0.0], [1225.0, 243.0, 68.0, 0.0], [751.0, 121.0, 36.0, 0.0], [285.0, 42.0, 23.0, 0.0], [68.0, 9.0, 14.0, 0.0]]}, "slope": {"level_counts": [24, 50, 102, 84, 67, 83], "episodes_by_level": [[1532.0, 326.0, 45.0, 0.0], [1730.0, 359.0, 67.0, 0.0], [1177.0, 256.0, 37.0, 0.0], [726.0, 157.0, 22.0, 0.0], [427.0, 91.0, 7.0, 0.0], [318.0, 53.0, 8.0, 0.0]]}, "rubble": {"level_counts": [59, 173, 240, 201, 113, 33], "episodes_by_level": [[3059.0, 685.0, 94.0, 0.0], [3896.0, 835.0, 180.0, 0.0], [2829.0, 585.0, 265.0, 0.0], [1544.0, 243.0, 238.0, 0.0], [450.0, 56.0, 97.0, 0.0], [76.0, 3.0, 23.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.244873046875, "command_abs_max": [0.9996875524520874, 0.3997146487236023, 0.6999768614768982]}
{"step": 25400, "actor_lr": 5.1874312424060294e-05, "archive_windows": 50000, "env_steps": 25400, "total_transitions": 104038400, "num_steps_per_env": 1, "wm_loss": 0.6759328246116638, "actor_loss": -9.47294807434082, "critic_loss": 0.004079339560121298, "reward": 0.08685797452926636, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11628028750419617, 0.07159071415662766, 0.1346408873796463], "mean_episode_length": 1352.1293103448277, "episode_reward_terms": {"track_linear_velocity": 47.8443603515625, "track_angular_velocity": 51.10488510131836, "upright": 25.959495544433594, "leg_posture": -2.6217920780181885, "standstill": -6.184507369995117, "action_rate_l2": -0.5727039575576782, "joint_torques_l2": -0.14892436563968658, "dof_pos_limits": -0.0014109021285548806, "terminated": -0.01320438552647829, "unnecessary_wheel_lift": -0.07695315778255463, "rolling_leg_motion": -0.6151825785636902, "obstacle_progress": 3.341992139816284, "wheel_body_intrusion": -0.2735830247402191, "pair_body_intrusion": -0.29925915598869324}, "weighted_reward_terms": {"track_linear_velocity": 1.7692228555679321, "track_angular_velocity": 1.889792799949646, "upright": 0.959948718547821, "leg_posture": -0.09695049375295639, "standstill": -0.22869513928890228, "action_rate_l2": -0.021177856251597404, "joint_torques_l2": -0.0055070314556360245, "dof_pos_limits": -5.217334546614438e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.002845628885552287, "rolling_leg_motion": -0.022748660296201706, "obstacle_progress": 0.12358257919549942, "wheel_body_intrusion": -0.01011674851179123, "pair_body_intrusion": -0.01106621790677309}, "episode_termination_rates": {"time_out": 0.47413793103448276, "fell_over": 0.02586206896551724, "course_exit": 0.4827586206896552, "illegal_nonwheel_contact": 0.04310344827586207}, "collection_time_s": 0.07561790470033884, "learning_time_s": 0.18520674949511887, "iteration_time_s": 0.3246497030638197, "policy_updates": 25100, "skipped_updates": 0, "invalid_env_resets": 125, "elapsed_s": 8246.10245782102, "nonwheel_terminations": 12389, "contact_bce": 0.29384845495224, "contact_force_loss": 0.02104024589061737, "collision_bce": 2.5561674192431383e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 2.5278899556724355e-05, "collision_label_count": 16338.0, "terrain_level_mean": 3.620849609375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [12, 41, 84, 107, 62, 104], "episodes_by_level": [[1417.0, 305.0, 49.0, 0.0], [1680.0, 376.0, 37.0, 0.0], [1225.0, 288.0, 27.0, 0.0], [790.0, 179.0, 15.0, 0.0], [428.0, 109.0, 13.0, 0.0], [363.0, 84.0, 5.0, 0.0]]}, "up": {"level_counts": [0, 2, 13, 94, 514, 810], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2396.0, 1463.0, 37.0, 0.0], [4275.0, 1736.0, 165.0, 0.0], [4268.0, 1568.0, 194.0, 0.0], [3676.0, 1026.0, 157.0, 0.0], [1866.0, 226.0, 133.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 3, 42, 568], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [949.0, 776.0, 26.0, 0.0], [1594.0, 1262.0, 63.0, 0.0], [6025.0, 4837.0, 223.0, 0.0]]}, "platform": {"level_counts": [28, 71, 103, 110, 70, 28], "episodes_by_level": [[1680.0, 361.0, 51.0, 0.0], [1864.0, 373.0, 78.0, 0.0], [1229.0, 244.0, 68.0, 0.0], [753.0, 121.0, 36.0, 0.0], [286.0, 42.0, 23.0, 0.0], [68.0, 9.0, 14.0, 0.0]]}, "slope": {"level_counts": [24, 50, 102, 82, 68, 84], "episodes_by_level": [[1532.0, 326.0, 45.0, 0.0], [1730.0, 359.0, 67.0, 0.0], [1179.0, 256.0, 37.0, 0.0], [729.0, 159.0, 22.0, 0.0], [433.0, 92.0, 7.0, 0.0], [320.0, 53.0, 8.0, 0.0]]}, "rubble": {"level_counts": [57, 174, 242, 196, 116, 34], "episodes_by_level": [[3061.0, 687.0, 94.0, 0.0], [3903.0, 837.0, 180.0, 0.0], [2838.0, 586.0, 266.0, 0.0], [1550.0, 247.0, 240.0, 0.0], [453.0, 57.0, 97.0, 0.0], [76.0, 3.0, 23.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.240966796875, "command_abs_max": [0.9996875524520874, 0.3997146487236023, 0.6982697248458862]}
{"step": 25450, "actor_lr": 5.173245125316657e-05, "archive_windows": 50000, "env_steps": 25450, "total_transitions": 104243200, "num_steps_per_env": 1, "wm_loss": 0.6698815822601318, "actor_loss": -9.478475570678711, "critic_loss": 0.006020556204020977, "reward": 0.0872441902756691, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11446923762559891, 0.07089176028966904, 0.1345488429069519], "mean_episode_length": 1396.8285714285714, "episode_reward_terms": {"track_linear_velocity": 49.538429260253906, "track_angular_velocity": 52.79324722290039, "upright": 26.791011810302734, "leg_posture": -2.71938419342041, "standstill": -5.991121768951416, "action_rate_l2": -0.5899128317832947, "joint_torques_l2": -0.1527751386165619, "dof_pos_limits": -0.0008950334740802646, "terminated": -0.019097264856100082, "unnecessary_wheel_lift": -0.09314901381731033, "rolling_leg_motion": -0.647321879863739, "obstacle_progress": 3.54699444770813, "wheel_body_intrusion": -0.2797427177429199, "pair_body_intrusion": -0.31109049916267395}, "weighted_reward_terms": {"track_linear_velocity": 1.7732465267181396, "track_angular_velocity": 1.8897539377212524, "upright": 0.9589942693710327, "leg_posture": -0.0973413735628128, "standstill": -0.21445444226264954, "action_rate_l2": -0.02111615054309368, "joint_torques_l2": -0.005468642804771662, "dof_pos_limits": -3.203805681550875e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.003334303619340062, "rolling_leg_motion": -0.02317112870514393, "obstacle_progress": 0.1269659847021103, "wheel_body_intrusion": -0.010013495571911335, "pair_body_intrusion": -0.011135600507259369}, "episode_termination_rates": {"time_out": 0.4928571428571429, "fell_over": 0.04285714285714286, "course_exit": 0.45714285714285713, "illegal_nonwheel_contact": 0.02142857142857143}, "collection_time_s": 0.07565113400109112, "learning_time_s": 0.18520778568228707, "iteration_time_s": 0.32452441892455824, "policy_updates": 25150, "skipped_updates": 0, "invalid_env_resets": 125, "elapsed_s": 8259.146461630007, "nonwheel_terminations": 12392, "contact_bce": 0.29844236373901367, "contact_force_loss": 0.020902464166283607, "collision_bce": 1.4611255210184027e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.4581765753973741e-05, "collision_label_count": 16346.0, "terrain_level_mean": 3.6240234375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [12, 40, 85, 106, 62, 105], "episodes_by_level": [[1417.0, 305.0, 49.0, 0.0], [1682.0, 377.0, 37.0, 0.0], [1227.0, 288.0, 27.0, 0.0], [794.0, 180.0, 15.0, 0.0], [431.0, 110.0, 13.0, 0.0], [366.0, 85.0, 5.0, 0.0]]}, "up": {"level_counts": [0, 2, 13, 93, 512, 813], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2396.0, 1463.0, 37.0, 0.0], [4276.0, 1736.0, 165.0, 0.0], [4269.0, 1569.0, 194.0, 0.0], [3690.0, 1031.0, 157.0, 0.0], [1895.0, 229.0, 135.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 3, 41, 569], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [949.0, 776.0, 26.0, 0.0], [1596.0, 1264.0, 63.0, 0.0], [6041.0, 4851.0, 224.0, 0.0]]}, "platform": {"level_counts": [27, 71, 104, 110, 70, 28], "episodes_by_level": [[1681.0, 362.0, 51.0, 0.0], [1868.0, 374.0, 78.0, 0.0], [1232.0, 244.0, 68.0, 0.0], [759.0, 122.0, 36.0, 0.0], [290.0, 42.0, 24.0, 0.0], [68.0, 9.0, 14.0, 0.0]]}, "slope": {"level_counts": [24, 50, 102, 81, 69, 84], "episodes_by_level": [[1532.0, 326.0, 45.0, 0.0], [1731.0, 359.0, 67.0, 0.0], [1180.0, 256.0, 37.0, 0.0], [730.0, 160.0, 22.0, 0.0], [434.0, 92.0, 7.0, 0.0], [322.0, 53.0, 8.0, 0.0]]}, "rubble": {"level_counts": [56, 174, 243, 196, 116, 34], "episodes_by_level": [[3066.0, 688.0, 94.0, 0.0], [3906.0, 838.0, 180.0, 0.0], [2842.0, 587.0, 266.0, 0.0], [1559.0, 249.0, 241.0, 0.0], [458.0, 57.0, 99.0, 0.0], [76.0, 3.0, 23.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.244384765625, "command_abs_max": [0.9996875524520874, 0.3997146487236023, 0.6982697248458862]}
{"step": 25500, "actor_lr": 5.158961963057309e-05, "archive_windows": 50000, "env_steps": 25500, "total_transitions": 104448000, "num_steps_per_env": 1, "wm_loss": 0.7030629515647888, "actor_loss": -9.501018524169922, "critic_loss": 0.0036073282826691866, "reward": 0.08690095692873001, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11628574132919312, 0.07125891745090485, 0.13567548990249634], "mean_episode_length": 1370.526627218935, "episode_reward_terms": {"track_linear_velocity": 48.480445861816406, "track_angular_velocity": 51.76421356201172, "upright": 26.26595115661621, "leg_posture": -2.665416717529297, "standstill": -6.160534858703613, "action_rate_l2": -0.6021610498428345, "joint_torques_l2": -0.15078768134117126, "dof_pos_limits": -0.00036175892455503345, "terminated": -0.013384046964347363, "unnecessary_wheel_lift": -0.09764629602432251, "rolling_leg_motion": -0.6416481137275696, "obstacle_progress": 3.5172910690307617, "wheel_body_intrusion": -0.2658735513687134, "pair_body_intrusion": -0.3299750089645386}, "weighted_reward_terms": {"track_linear_velocity": 1.7686796188354492, "track_angular_velocity": 1.8884789943695068, "upright": 0.9582430124282837, "leg_posture": -0.09724060446023941, "standstill": -0.22475065290927887, "action_rate_l2": -0.021968236193060875, "joint_torques_l2": -0.005501085892319679, "dof_pos_limits": -1.3197807675169315e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.003562364261597395, "rolling_leg_motion": -0.023408817127346992, "obstacle_progress": 0.12831896543502808, "wheel_body_intrusion": -0.009699685499072075, "pair_body_intrusion": -0.012038256973028183}, "episode_termination_rates": {"time_out": 0.47928994082840237, "fell_over": 0.005917159763313609, "course_exit": 0.4911242603550296, "illegal_nonwheel_contact": 0.029585798816568046}, "collection_time_s": 0.07563167933840305, "learning_time_s": 0.18506876477738843, "iteration_time_s": 0.32439931693701896, "policy_updates": 25200, "skipped_updates": 0, "invalid_env_resets": 125, "elapsed_s": 8272.182581893983, "nonwheel_terminations": 12397, "contact_bce": 0.29603874683380127, "contact_force_loss": 0.022013159468770027, "collision_bce": 0.00023705870262347162, "collision_label_rate": 0.0, "collision_prediction_mean": 0.0001828929380280897, "collision_label_count": 16361.0, "terrain_level_mean": 3.6298828125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [11, 40, 85, 106, 63, 105], "episodes_by_level": [[1419.0, 306.0, 49.0, 0.0], [1686.0, 378.0, 37.0, 0.0], [1230.0, 289.0, 27.0, 0.0], [798.0, 181.0, 15.0, 0.0], [432.0, 110.0, 13.0, 0.0], [372.0, 87.0, 5.0, 0.0]]}, "up": {"level_counts": [0, 2, 12, 94, 510, 815], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2396.0, 1463.0, 37.0, 0.0], [4277.0, 1737.0, 165.0, 0.0], [4270.0, 1569.0, 194.0, 0.0], [3702.0, 1035.0, 157.0, 0.0], [1917.0, 238.0, 136.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 3, 43, 567], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [949.0, 776.0, 26.0, 0.0], [1596.0, 1264.0, 63.0, 0.0], [6062.0, 4871.0, 224.0, 0.0]]}, "platform": {"level_counts": [27, 67, 107, 110, 70, 29], "episodes_by_level": [[1682.0, 362.0, 51.0, 0.0], [1873.0, 378.0, 78.0, 0.0], [1235.0, 245.0, 68.0, 0.0], [766.0, 123.0, 36.0, 0.0], [292.0, 43.0, 24.0, 0.0], [68.0, 9.0, 14.0, 0.0]]}, "slope": {"level_counts": [23, 50, 103, 81, 67, 86], "episodes_by_level": [[1533.0, 327.0, 45.0, 0.0], [1733.0, 360.0, 67.0, 0.0], [1183.0, 256.0, 37.0, 0.0], [732.0, 160.0, 22.0, 0.0], [437.0, 94.0, 7.0, 0.0], [323.0, 53.0, 8.0, 0.0]]}, "rubble": {"level_counts": [56, 171, 243, 197, 118, 34], "episodes_by_level": [[3067.0, 688.0, 94.0, 0.0], [3913.0, 841.0, 180.0, 0.0], [2855.0, 591.0, 266.0, 0.0], [1567.0, 251.0, 242.0, 0.0], [462.0, 57.0, 99.0, 0.0], [76.0, 3.0, 23.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.243896484375, "command_abs_max": [0.9996875524520874, 0.3997146487236023, 0.6982697248458862]}
{"step": 25550, "actor_lr": 5.1445826366807136e-05, "archive_windows": 50000, "env_steps": 25550, "total_transitions": 104652800, "num_steps_per_env": 1, "wm_loss": 0.6446947455406189, "actor_loss": -9.520593643188477, "critic_loss": 0.0031488758977502584, "reward": 0.08684775233268738, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11699459701776505, 0.07069870829582214, 0.13375331461429596], "mean_episode_length": 1358.685393258427, "episode_reward_terms": {"track_linear_velocity": 48.05668258666992, "track_angular_velocity": 51.393672943115234, "upright": 26.04543685913086, "leg_posture": -2.6657986640930176, "standstill": -6.153271675109863, "action_rate_l2": -0.5869213342666626, "joint_torques_l2": -0.14893969893455505, "dof_pos_limits": -0.0004976936616003513, "terminated": -0.023883137851953506, "unnecessary_wheel_lift": -0.09771537780761719, "rolling_leg_motion": -0.6293630599975586, "obstacle_progress": 3.3845930099487305, "wheel_body_intrusion": -0.2533031702041626, "pair_body_intrusion": -0.32192155718803406}, "weighted_reward_terms": {"track_linear_velocity": 1.7684992551803589, "track_angular_velocity": 1.8913015127182007, "upright": 0.9584792852401733, "leg_posture": -0.0981021299958229, "standstill": -0.2264420986175537, "action_rate_l2": -0.02159886807203293, "joint_torques_l2": -0.005481022410094738, "dof_pos_limits": -1.8315264242119156e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.003595953108742833, "rolling_leg_motion": -0.02316073514521122, "obstacle_progress": 0.12455397099256516, "wheel_body_intrusion": -0.009321627207100391, "pair_body_intrusion": -0.01184680312871933}, "episode_termination_rates": {"time_out": 0.5168539325842697, "fell_over": 0.033707865168539325, "course_exit": 0.43258426966292135, "illegal_nonwheel_contact": 0.016853932584269662}, "collection_time_s": 0.07561526785837486, "learning_time_s": 0.19219359871698544, "iteration_time_s": 0.32428983890046886, "policy_updates": 25250, "skipped_updates": 0, "invalid_env_resets": 125, "elapsed_s": 8285.60538390698, "nonwheel_terminations": 12400, "contact_bce": 0.29487040638923645, "contact_force_loss": 0.020808903500437737, "collision_bce": 0.0001657038665143773, "collision_label_rate": 6.1221988289617e-05, "collision_prediction_mean": 3.468018985586241e-05, "collision_label_count": 16334.0, "terrain_level_mean": 3.63232421875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [10, 41, 82, 108, 63, 106], "episodes_by_level": [[1420.0, 307.0, 49.0, 0.0], [1688.0, 378.0, 37.0, 0.0], [1236.0, 292.0, 27.0, 0.0], [803.0, 182.0, 15.0, 0.0], [436.0, 111.0, 13.0, 0.0], [374.0, 88.0, 5.0, 0.0]]}, "up": {"level_counts": [0, 3, 11, 95, 507, 817], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2396.0, 1463.0, 37.0, 0.0], [4277.0, 1737.0, 165.0, 0.0], [4273.0, 1569.0, 194.0, 0.0], [3713.0, 1039.0, 157.0, 0.0], [1938.0, 239.0, 136.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 3, 44, 566], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [949.0, 776.0, 26.0, 0.0], [1597.0, 1264.0, 63.0, 0.0], [6092.0, 4898.0, 224.0, 0.0]]}, "platform": {"level_counts": [27, 66, 108, 110, 70, 29], "episodes_by_level": [[1683.0, 362.0, 51.0, 0.0], [1874.0, 379.0, 78.0, 0.0], [1239.0, 245.0, 68.0, 0.0], [769.0, 123.0, 36.0, 0.0], [292.0, 43.0, 24.0, 0.0], [70.0, 9.0, 14.0, 0.0]]}, "slope": {"level_counts": [23, 50, 103, 81, 67, 86], "episodes_by_level": [[1533.0, 327.0, 45.0, 0.0], [1734.0, 360.0, 67.0, 0.0], [1187.0, 256.0, 37.0, 0.0], [733.0, 160.0, 22.0, 0.0], [439.0, 94.0, 7.0, 0.0], [329.0, 54.0, 8.0, 0.0]]}, "rubble": {"level_counts": [53, 173, 243, 199, 117, 34], "episodes_by_level": [[3072.0, 691.0, 94.0, 0.0], [3920.0, 843.0, 180.0, 0.0], [2866.0, 593.0, 267.0, 0.0], [1578.0, 252.0, 243.0, 0.0], [467.0, 57.0, 101.0, 0.0], [77.0, 3.0, 23.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.241455078125, "command_abs_max": [0.9996875524520874, 0.3997146487236023, 0.6995313167572021]}
{"step": 25600, "actor_lr": 5.130108033171454e-05, "archive_windows": 50000, "env_steps": 25600, "total_transitions": 104857600, "num_steps_per_env": 1, "wm_loss": 0.7005716562271118, "actor_loss": -9.501466751098633, "critic_loss": 0.003608179045841098, "reward": 0.08710400015115738, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11533215641975403, 0.0702134519815445, 0.13464292883872986], "mean_episode_length": 1386.736111111111, "episode_reward_terms": {"track_linear_velocity": 49.17988967895508, "track_angular_velocity": 52.42927932739258, "upright": 26.62335777282715, "leg_posture": -2.7114038467407227, "standstill": -6.11690092086792, "action_rate_l2": -0.5834975838661194, "joint_torques_l2": -0.1520552933216095, "dof_pos_limits": -0.0009834456723183393, "terminated": -0.016250811517238617, "unnecessary_wheel_lift": -0.08706986159086227, "rolling_leg_motion": -0.6324604153633118, "obstacle_progress": 3.4702794551849365, "wheel_body_intrusion": -0.2662850320339203, "pair_body_intrusion": -0.34561747312545776}, "weighted_reward_terms": {"track_linear_velocity": 1.7732245922088623, "track_angular_velocity": 1.890384316444397, "upright": 0.9599288105964661, "leg_posture": -0.09776207059621811, "standstill": -0.2205502986907959, "action_rate_l2": -0.021038522943854332, "joint_torques_l2": -0.00548248877748847, "dof_pos_limits": -3.5459004720905796e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.0031393812969326973, "rolling_leg_motion": -0.02280392311513424, "obstacle_progress": 0.1251240074634552, "wheel_body_intrusion": -0.009601143188774586, "pair_body_intrusion": -0.012461544014513493}, "episode_termination_rates": {"time_out": 0.5347222222222222, "fell_over": 0.034722222222222224, "course_exit": 0.4236111111111111, "illegal_nonwheel_contact": 0.027777777777777776}, "collection_time_s": 0.07574403558508493, "learning_time_s": 0.1844624257599935, "iteration_time_s": 0.3241647280621873, "policy_updates": 25300, "skipped_updates": 0, "invalid_env_resets": 125, "elapsed_s": 8298.617038391996, "nonwheel_terminations": 12404, "contact_bce": 0.30013731122016907, "contact_force_loss": 0.02161562442779541, "collision_bce": 8.907321898732334e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 8.954280929174274e-06, "collision_label_count": 16341.0, "terrain_level_mean": 3.635986328125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [10, 41, 81, 109, 62, 107], "episodes_by_level": [[1420.0, 307.0, 49.0, 0.0], [1689.0, 378.0, 37.0, 0.0], [1238.0, 293.0, 27.0, 0.0], [804.0, 182.0, 15.0, 0.0], [441.0, 112.0, 13.0, 0.0], [376.0, 88.0, 5.0, 0.0]]}, "up": {"level_counts": [0, 3, 11, 93, 507, 819], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2396.0, 1463.0, 37.0, 0.0], [4277.0, 1737.0, 165.0, 0.0], [4277.0, 1571.0, 194.0, 0.0], [3727.0, 1043.0, 157.0, 0.0], [1951.0, 239.0, 137.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 3, 44, 566], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [949.0, 776.0, 26.0, 0.0], [1598.0, 1265.0, 63.0, 0.0], [6113.0, 4917.0, 225.0, 0.0]]}, "platform": {"level_counts": [27, 66, 109, 106, 73, 29], "episodes_by_level": [[1683.0, 362.0, 51.0, 0.0], [1875.0, 379.0, 78.0, 0.0], [1239.0, 245.0, 68.0, 0.0], [776.0, 126.0, 37.0, 0.0], [294.0, 43.0, 24.0, 0.0], [70.0, 9.0, 14.0, 0.0]]}, "slope": {"level_counts": [23, 50, 102, 80, 69, 86], "episodes_by_level": [[1534.0, 327.0, 45.0, 0.0], [1736.0, 360.0, 67.0, 0.0], [1193.0, 257.0, 37.0, 0.0], [742.0, 162.0, 22.0, 0.0], [441.0, 94.0, 7.0, 0.0], [331.0, 55.0, 8.0, 0.0]]}, "rubble": {"level_counts": [54, 171, 242, 199, 119, 34], "episodes_by_level": [[3073.0, 691.0, 95.0, 0.0], [3924.0, 844.0, 181.0, 0.0], [2875.0, 595.0, 267.0, 0.0], [1584.0, 254.0, 243.0, 0.0], [471.0, 57.0, 101.0, 0.0], [77.0, 3.0, 23.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23828125, "command_abs_max": [0.9996875524520874, 0.3997146487236023, 0.6995313167572021]}
{"step": 25650, "actor_lr": 5.115539045391254e-05, "archive_windows": 50000, "env_steps": 25650, "total_transitions": 105062400, "num_steps_per_env": 1, "wm_loss": 0.6680694222450256, "actor_loss": -9.462071418762207, "critic_loss": 0.006928708404302597, "reward": 0.08681859821081161, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11553187668323517, 0.06994837522506714, 0.13425341248512268], "mean_episode_length": 1459.0915032679738, "episode_reward_terms": {"track_linear_velocity": 51.69704055786133, "track_angular_velocity": 55.181175231933594, "upright": 27.990039825439453, "leg_posture": -2.8627240657806396, "standstill": -6.720930099487305, "action_rate_l2": -0.6350252032279968, "joint_torques_l2": -0.15975400805473328, "dof_pos_limits": -0.0006129341199994087, "terminated": -0.01709872856736183, "unnecessary_wheel_lift": -0.091667041182518, "rolling_leg_motion": -0.6715675592422485, "obstacle_progress": 3.654228687286377, "wheel_body_intrusion": -0.3006282448768616, "pair_body_intrusion": -0.3861902058124542}, "weighted_reward_terms": {"track_linear_velocity": 1.7715489864349365, "track_angular_velocity": 1.8909428119659424, "upright": 0.9591598510742188, "leg_posture": -0.09809953719377518, "standstill": -0.23031215369701385, "action_rate_l2": -0.021760979667305946, "joint_torques_l2": -0.005474434234201908, "dof_pos_limits": -2.1003963411203586e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.003141236724331975, "rolling_leg_motion": -0.02301320992410183, "obstacle_progress": 0.12522274255752563, "wheel_body_intrusion": -0.010301897302269936, "pair_body_intrusion": -0.013233926147222519}, "episode_termination_rates": {"time_out": 0.5490196078431373, "fell_over": 0.026143790849673203, "course_exit": 0.4117647058823529, "illegal_nonwheel_contact": 0.026143790849673203}, "collection_time_s": 0.0757131545979064, "learning_time_s": 0.18452595520298928, "iteration_time_s": 0.32404016079719233, "policy_updates": 25350, "skipped_updates": 0, "invalid_env_resets": 125, "elapsed_s": 8311.630124447984, "nonwheel_terminations": 12408, "contact_bce": 0.29577165842056274, "contact_force_loss": 0.020754585042595863, "collision_bce": 0.00042100585415028036, "collision_label_rate": 0.00012245897960383445, "collision_prediction_mean": 0.00010706519242376089, "collision_label_count": 16332.0, "terrain_level_mean": 3.638427734375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [10, 40, 82, 109, 62, 107], "episodes_by_level": [[1420.0, 307.0, 49.0, 0.0], [1690.0, 379.0, 37.0, 0.0], [1239.0, 293.0, 27.0, 0.0], [810.0, 182.0, 15.0, 0.0], [444.0, 112.0, 13.0, 0.0], [379.0, 88.0, 5.0, 0.0]]}, "up": {"level_counts": [0, 3, 10, 95, 502, 823], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2397.0, 1463.0, 37.0, 0.0], [4278.0, 1738.0, 165.0, 0.0], [4281.0, 1571.0, 194.0, 0.0], [3743.0, 1047.0, 157.0, 0.0], [1971.0, 244.0, 137.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 3, 44, 566], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [949.0, 776.0, 26.0, 0.0], [1598.0, 1265.0, 63.0, 0.0], [6131.0, 4934.0, 225.0, 0.0]]}, "platform": {"level_counts": [26, 68, 108, 106, 73, 29], "episodes_by_level": [[1684.0, 363.0, 51.0, 0.0], [1878.0, 379.0, 78.0, 0.0], [1241.0, 245.0, 69.0, 0.0], [778.0, 126.0, 37.0, 0.0], [294.0, 43.0, 24.0, 0.0], [70.0, 9.0, 14.0, 0.0]]}, "slope": {"level_counts": [23, 50, 102, 79, 70, 86], "episodes_by_level": [[1534.0, 327.0, 45.0, 0.0], [1737.0, 360.0, 67.0, 0.0], [1195.0, 257.0, 37.0, 0.0], [743.0, 163.0, 22.0, 0.0], [442.0, 94.0, 7.0, 0.0], [334.0, 56.0, 8.0, 0.0]]}, "rubble": {"level_counts": [55, 164, 249, 198, 119, 34], "episodes_by_level": [[3075.0, 691.0, 95.0, 0.0], [3933.0, 851.0, 182.0, 0.0], [2885.0, 596.0, 268.0, 0.0], [1590.0, 254.0, 245.0, 0.0], [477.0, 57.0, 101.0, 0.0], [78.0, 3.0, 23.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2353515625, "command_abs_max": [0.9996875524520874, 0.3997146487236023, 0.6995313167572021]}
{"step": 25700, "actor_lr": 5.1008765720239104e-05, "archive_windows": 50000, "env_steps": 25700, "total_transitions": 105267200, "num_steps_per_env": 1, "wm_loss": 0.6582056879997253, "actor_loss": -9.477807998657227, "critic_loss": 0.004219727125018835, "reward": 0.0869114100933075, "falls": 4, "interval_steps": 50, "velocity_mae": [0.11650744825601578, 0.06935037672519684, 0.13483603298664093], "mean_episode_length": 1383.4926470588234, "episode_reward_terms": {"track_linear_velocity": 49.00381088256836, "track_angular_velocity": 52.29505920410156, "upright": 26.534530639648438, "leg_posture": -2.7208473682403564, "standstill": -6.226424694061279, "action_rate_l2": -0.5788283348083496, "joint_torques_l2": -0.1520407795906067, "dof_pos_limits": -0.0005097552784718573, "terminated": -0.010808534920215607, "unnecessary_wheel_lift": -0.08495336771011353, "rolling_leg_motion": -0.636849045753479, "obstacle_progress": 3.4691030979156494, "wheel_body_intrusion": -0.28453993797302246, "pair_body_intrusion": -0.36541590094566345}, "weighted_reward_terms": {"track_linear_velocity": 1.771018147468567, "track_angular_velocity": 1.8899651765823364, "upright": 0.958968997001648, "leg_posture": -0.09833255410194397, "standstill": -0.22502559423446655, "action_rate_l2": -0.02091909572482109, "joint_torques_l2": -0.0054948171600699425, "dof_pos_limits": -1.842276833485812e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.003070250153541565, "rolling_leg_motion": -0.023015988990664482, "obstacle_progress": 0.12537483870983124, "wheel_body_intrusion": -0.010283390991389751, "pair_body_intrusion": -0.013206282630562782}, "episode_termination_rates": {"time_out": 0.5220588235294118, "fell_over": 0.007352941176470588, "course_exit": 0.4485294117647059, "illegal_nonwheel_contact": 0.022058823529411766}, "collection_time_s": 0.07572320100152866, "learning_time_s": 0.1850221156945918, "iteration_time_s": 0.3239170705745538, "policy_updates": 25400, "skipped_updates": 0, "invalid_env_resets": 125, "elapsed_s": 8324.668713766034, "nonwheel_terminations": 12411, "contact_bce": 0.3044695258140564, "contact_force_loss": 0.021435845643281937, "collision_bce": 0.0003908122016582638, "collision_label_rate": 0.00012238403724040836, "collision_prediction_mean": 7.695341628277674e-05, "collision_label_count": 16342.0, "terrain_level_mean": 3.641845703125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [10, 40, 82, 108, 61, 109], "episodes_by_level": [[1420.0, 307.0, 49.0, 0.0], [1691.0, 379.0, 37.0, 0.0], [1241.0, 293.0, 27.0, 0.0], [816.0, 183.0, 15.0, 0.0], [446.0, 114.0, 13.0, 0.0], [379.0, 88.0, 5.0, 0.0]]}, "up": {"level_counts": [0, 3, 10, 94, 499, 827], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2397.0, 1463.0, 37.0, 0.0], [4278.0, 1738.0, 165.0, 0.0], [4282.0, 1572.0, 194.0, 0.0], [3755.0, 1052.0, 157.0, 0.0], [1988.0, 246.0, 137.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 3, 44, 566], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [949.0, 776.0, 26.0, 0.0], [1600.0, 1267.0, 63.0, 0.0], [6154.0, 4955.0, 226.0, 0.0]]}, "platform": {"level_counts": [26, 68, 107, 107, 73, 29], "episodes_by_level": [[1685.0, 363.0, 51.0, 0.0], [1879.0, 379.0, 78.0, 0.0], [1246.0, 246.0, 69.0, 0.0], [783.0, 126.0, 37.0, 0.0], [297.0, 43.0, 24.0, 0.0], [70.0, 9.0, 14.0, 0.0]]}, "slope": {"level_counts": [23, 50, 102, 79, 68, 88], "episodes_by_level": [[1535.0, 327.0, 45.0, 0.0], [1738.0, 360.0, 67.0, 0.0], [1199.0, 257.0, 37.0, 0.0], [745.0, 163.0, 22.0, 0.0], [445.0, 96.0, 7.0, 0.0], [337.0, 56.0, 8.0, 0.0]]}, "rubble": {"level_counts": [54, 164, 250, 198, 118, 35], "episodes_by_level": [[3080.0, 693.0, 95.0, 0.0], [3937.0, 852.0, 183.0, 0.0], [2890.0, 596.0, 268.0, 0.0], [1598.0, 254.0, 245.0, 0.0], [480.0, 58.0, 101.0, 0.0], [78.0, 3.0, 23.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23583984375, "command_abs_max": [0.9996875524520874, 0.39960870146751404, 0.6995313167572021]}
{"step": 25750, "actor_lr": 5.086121517519843e-05, "archive_windows": 50000, "env_steps": 25750, "total_transitions": 105472000, "num_steps_per_env": 1, "wm_loss": 0.6483908295631409, "actor_loss": -9.49112319946289, "critic_loss": 0.003557927208021283, "reward": 0.08688194304704666, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11710318922996521, 0.06955881416797638, 0.13443435728549957], "mean_episode_length": 1371.7278481012659, "episode_reward_terms": {"track_linear_velocity": 48.56650161743164, "track_angular_velocity": 51.87262725830078, "upright": 26.275815963745117, "leg_posture": -2.6612563133239746, "standstill": -6.319347381591797, "action_rate_l2": -0.5735068917274475, "joint_torques_l2": -0.1506689339876175, "dof_pos_limits": -0.0004065919783897698, "terminated": -0.01875409111380577, "unnecessary_wheel_lift": -0.10012557357549667, "rolling_leg_motion": -0.6187896728515625, "obstacle_progress": 3.549698829650879, "wheel_body_intrusion": -0.2843763828277588, "pair_body_intrusion": -0.359037309885025}, "weighted_reward_terms": {"track_linear_velocity": 1.7702672481536865, "track_angular_velocity": 1.8907769918441772, "upright": 0.9577634334564209, "leg_posture": -0.09700380265712738, "standstill": -0.23034259676933289, "action_rate_l2": -0.0209045447409153, "joint_torques_l2": -0.005491939838975668, "dof_pos_limits": -1.4820431715634186e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0036496149841696024, "rolling_leg_motion": -0.022555116564035416, "obstacle_progress": 0.12938787043094635, "wheel_body_intrusion": -0.010365626774728298, "pair_body_intrusion": -0.013087045401334763}, "episode_termination_rates": {"time_out": 0.5063291139240507, "fell_over": 0.0189873417721519, "course_exit": 0.44936708860759494, "illegal_nonwheel_contact": 0.0379746835443038}, "collection_time_s": 0.07559584657661617, "learning_time_s": 0.18456189931952394, "iteration_time_s": 0.3238753318329708, "policy_updates": 25450, "skipped_updates": 0, "invalid_env_resets": 125, "elapsed_s": 8339.789794698998, "nonwheel_terminations": 12417, "contact_bce": 0.29175424575805664, "contact_force_loss": 0.020591482520103455, "collision_bce": 0.00017130871128756553, "collision_label_rate": 6.127075903350487e-05, "collision_prediction_mean": 3.5232955269748345e-05, "collision_label_count": 16321.0, "terrain_level_mean": 3.6455078125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [10, 40, 82, 107, 62, 109], "episodes_by_level": [[1420.0, 307.0, 49.0, 0.0], [1693.0, 379.0, 37.0, 0.0], [1243.0, 293.0, 27.0, 0.0], [819.0, 184.0, 15.0, 0.0], [447.0, 114.0, 13.0, 0.0], [384.0, 89.0, 5.0, 0.0]]}, "up": {"level_counts": [0, 3, 10, 95, 492, 833], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2397.0, 1463.0, 37.0, 0.0], [4279.0, 1738.0, 165.0, 0.0], [4284.0, 1573.0, 194.0, 0.0], [3767.0, 1059.0, 157.0, 0.0], [2007.0, 247.0, 138.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 3, 44, 566], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [949.0, 776.0, 26.0, 0.0], [1602.0, 1269.0, 63.0, 0.0], [6181.0, 4977.0, 227.0, 0.0]]}, "platform": {"level_counts": [26, 66, 108, 107, 74, 29], "episodes_by_level": [[1686.0, 363.0, 51.0, 0.0], [1881.0, 381.0, 78.0, 0.0], [1252.0, 248.0, 69.0, 0.0], [789.0, 127.0, 38.0, 0.0], [301.0, 43.0, 24.0, 0.0], [70.0, 9.0, 14.0, 0.0]]}, "slope": {"level_counts": [23, 50, 102, 78, 69, 88], "episodes_by_level": [[1536.0, 327.0, 45.0, 0.0], [1740.0, 360.0, 67.0, 0.0], [1201.0, 257.0, 37.0, 0.0], [746.0, 164.0, 22.0, 0.0], [448.0, 96.0, 7.0, 0.0], [339.0, 56.0, 8.0, 0.0]]}, "rubble": {"level_counts": [53, 165, 249, 198, 118, 36], "episodes_by_level": [[3082.0, 694.0, 95.0, 0.0], [3941.0, 852.0, 183.0, 0.0], [2899.0, 597.0, 268.0, 0.0], [1603.0, 256.0, 245.0, 0.0], [485.0, 59.0, 102.0, 0.0], [79.0, 3.0, 23.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.241943359375, "command_abs_max": [0.9996875524520874, 0.39960870146751404, 0.6981561779975891]}
{"step": 25800, "actor_lr": 5.071274792040318e-05, "archive_windows": 50000, "env_steps": 25800, "total_transitions": 105676800, "num_steps_per_env": 1, "wm_loss": 0.672498881816864, "actor_loss": -9.498281478881836, "critic_loss": 0.007288526277989149, "reward": 0.08730520308017731, "falls": 3, "interval_steps": 50, "velocity_mae": [0.1167115569114685, 0.0699535459280014, 0.13376589119434357], "mean_episode_length": 1390.621794871795, "episode_reward_terms": {"track_linear_velocity": 49.204471588134766, "track_angular_velocity": 52.6044807434082, "upright": 26.666324615478516, "leg_posture": -2.671055555343628, "standstill": -5.918576717376709, "action_rate_l2": -0.5913484692573547, "joint_torques_l2": -0.15233798325061798, "dof_pos_limits": -0.0008867310825735331, "terminated": -0.008148173801600933, "unnecessary_wheel_lift": -0.08351387083530426, "rolling_leg_motion": -0.6168451309204102, "obstacle_progress": 3.62052845954895, "wheel_body_intrusion": -0.2925189137458801, "pair_body_intrusion": -0.3520643711090088}, "weighted_reward_terms": {"track_linear_velocity": 1.7691535949707031, "track_angular_velocity": 1.8914015293121338, "upright": 0.9587914347648621, "leg_posture": -0.09603817760944366, "standstill": -0.21280324459075928, "action_rate_l2": -0.021262016147375107, "joint_torques_l2": -0.005477333441376686, "dof_pos_limits": -3.1882540497463197e-05, "terminated": -0.00029296870343387127, "unnecessary_wheel_lift": -0.003002752782776952, "rolling_leg_motion": -0.022178752347826958, "obstacle_progress": 0.1301766037940979, "wheel_body_intrusion": -0.010517558082938194, "pair_body_intrusion": -0.01265852339565754}, "episode_termination_rates": {"time_out": 0.48717948717948717, "fell_over": 0.019230769230769232, "course_exit": 0.4935897435897436, "illegal_nonwheel_contact": 0.00641025641025641}, "collection_time_s": 0.07604573817458003, "learning_time_s": 0.18542149752378465, "iteration_time_s": 0.3237544296979462, "policy_updates": 25500, "skipped_updates": 0, "invalid_env_resets": 126, "elapsed_s": 8352.864286207012, "nonwheel_terminations": 12418, "contact_bce": 0.30121150612831116, "contact_force_loss": 0.021109052002429962, "collision_bce": 2.2175787307787687e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 2.1659663616446778e-05, "collision_label_count": 16338.0, "terrain_level_mean": 3.64990234375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [10, 39, 83, 105, 64, 109], "episodes_by_level": [[1421.0, 307.0, 49.0, 0.0], [1697.0, 380.0, 37.0, 0.0], [1244.0, 293.0, 27.0, 0.0], [823.0, 186.0, 15.0, 0.0], [448.0, 114.0, 13.0, 0.0], [386.0, 89.0, 5.0, 0.0]]}, "up": {"level_counts": [0, 3, 10, 93, 491, 836], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2397.0, 1463.0, 37.0, 0.0], [4279.0, 1738.0, 165.0, 0.0], [4287.0, 1575.0, 194.0, 0.0], [3785.0, 1063.0, 157.0, 0.0], [2034.0, 255.0, 139.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 3, 44, 566], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [949.0, 776.0, 26.0, 0.0], [1603.0, 1270.0, 63.0, 0.0], [6200.0, 4996.0, 227.0, 0.0]]}, "platform": {"level_counts": [26, 66, 106, 109, 74, 29], "episodes_by_level": [[1686.0, 363.0, 51.0, 0.0], [1882.0, 381.0, 78.0, 0.0], [1259.0, 250.0, 69.0, 0.0], [789.0, 127.0, 38.0, 0.0], [302.0, 43.0, 24.0, 0.0], [71.0, 10.0, 14.0, 0.0]]}, "slope": {"level_counts": [23, 50, 102, 78, 68, 89], "episodes_by_level": [[1536.0, 327.0, 45.0, 0.0], [1741.0, 360.0, 67.0, 0.0], [1202.0, 257.0, 37.0, 0.0], [748.0, 164.0, 22.0, 0.0], [450.0, 97.0, 7.0, 0.0], [340.0, 56.0, 8.0, 0.0]]}, "rubble": {"level_counts": [52, 164, 248, 201, 117, 37], "episodes_by_level": [[3084.0, 695.0, 95.0, 0.0], [3946.0, 854.0, 183.0, 0.0], [2907.0, 600.0, 268.0, 0.0], [1612.0, 257.0, 245.0, 0.0], [488.0, 60.0, 103.0, 0.0], [80.0, 3.0, 23.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.242431640625, "command_abs_max": [0.9996875524520874, 0.3993927240371704, 0.6981561779975891]}
{"step": 25850, "actor_lr": 5.0563373114012976e-05, "archive_windows": 50000, "env_steps": 25850, "total_transitions": 105881600, "num_steps_per_env": 1, "wm_loss": 0.669674277305603, "actor_loss": -9.530563354492188, "critic_loss": 0.0034540791530162096, "reward": 0.08735013008117676, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11765781790018082, 0.0700252428650856, 0.13445472717285156], "mean_episode_length": 1371.2558139534883, "episode_reward_terms": {"track_linear_velocity": 48.501121520996094, "track_angular_velocity": 51.834991455078125, "upright": 26.290996551513672, "leg_posture": -2.5911788940429688, "standstill": -5.863158702850342, "action_rate_l2": -0.5791416168212891, "joint_torques_l2": -0.15125469863414764, "dof_pos_limits": -0.0005787273985333741, "terminated": -0.018747637048363686, "unnecessary_wheel_lift": -0.07728821039199829, "rolling_leg_motion": -0.6066142320632935, "obstacle_progress": 3.6578328609466553, "wheel_body_intrusion": -0.2789864242076874, "pair_body_intrusion": -0.3386259973049164}, "weighted_reward_terms": {"track_linear_velocity": 1.7684926986694336, "track_angular_velocity": 1.890055537223816, "upright": 0.9586466550827026, "leg_posture": -0.09448195993900299, "standstill": -0.21378791332244873, "action_rate_l2": -0.02111719734966755, "joint_torques_l2": -0.0055151889100670815, "dof_pos_limits": -2.1102094251546077e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.002818154403939843, "rolling_leg_motion": -0.022118929773569107, "obstacle_progress": 0.13337528705596924, "wheel_body_intrusion": -0.010172661393880844, "pair_body_intrusion": -0.012347294948995113}, "episode_termination_rates": {"time_out": 0.4883720930232558, "fell_over": 0.007751937984496124, "course_exit": 0.4573643410852713, "illegal_nonwheel_contact": 0.046511627906976744}, "collection_time_s": 0.07541726680123247, "learning_time_s": 0.18509987950092183, "iteration_time_s": 0.3236321546812384, "policy_updates": 25550, "skipped_updates": 0, "invalid_env_resets": 126, "elapsed_s": 8365.891198510013, "nonwheel_terminations": 12424, "contact_bce": 0.29708021879196167, "contact_force_loss": 0.020876741036772728, "collision_bce": 1.4765356354473624e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.4762070350116119e-05, "collision_label_count": 16349.0, "terrain_level_mean": 3.64990234375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [10, 39, 83, 105, 64, 109], "episodes_by_level": [[1421.0, 307.0, 49.0, 0.0], [1699.0, 380.0, 37.0, 0.0], [1244.0, 293.0, 27.0, 0.0], [824.0, 186.0, 15.0, 0.0], [449.0, 114.0, 13.0, 0.0], [386.0, 89.0, 5.0, 0.0]]}, "up": {"level_counts": [0, 3, 11, 90, 490, 839], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2397.0, 1463.0, 37.0, 0.0], [4279.0, 1738.0, 165.0, 0.0], [4292.0, 1577.0, 195.0, 0.0], [3806.0, 1066.0, 157.0, 0.0], [2048.0, 256.0, 139.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 3, 43, 567], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [949.0, 776.0, 26.0, 0.0], [1604.0, 1271.0, 63.0, 0.0], [6216.0, 5007.0, 227.0, 0.0]]}, "platform": {"level_counts": [26, 66, 106, 109, 75, 28], "episodes_by_level": [[1687.0, 363.0, 51.0, 0.0], [1882.0, 381.0, 78.0, 0.0], [1261.0, 250.0, 69.0, 0.0], [793.0, 128.0, 38.0, 0.0], [304.0, 43.0, 25.0, 0.0], [72.0, 10.0, 15.0, 0.0]]}, "slope": {"level_counts": [23, 50, 102, 78, 68, 89], "episodes_by_level": [[1537.0, 327.0, 45.0, 0.0], [1741.0, 360.0, 67.0, 0.0], [1209.0, 257.0, 37.0, 0.0], [750.0, 164.0, 22.0, 0.0], [452.0, 97.0, 7.0, 0.0], [342.0, 57.0, 8.0, 0.0]]}, "rubble": {"level_counts": [52, 166, 247, 200, 118, 36], "episodes_by_level": [[3089.0, 695.0, 95.0, 0.0], [3947.0, 854.0, 183.0, 0.0], [2915.0, 600.0, 270.0, 0.0], [1618.0, 257.0, 246.0, 0.0], [492.0, 60.0, 103.0, 0.0], [83.0, 3.0, 24.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23876953125, "command_abs_max": [0.9996875524520874, 0.39973583817481995, 0.6981561779975891]}
{"step": 25900, "actor_lr": 5.041309997016947e-05, "archive_windows": 50000, "env_steps": 25900, "total_transitions": 106086400, "num_steps_per_env": 1, "wm_loss": 0.6722862720489502, "actor_loss": -9.507258415222168, "critic_loss": 0.0034384154714643955, "reward": 0.08739036321640015, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11598388105630875, 0.07096321135759354, 0.135585755109787], "mean_episode_length": 1415.0597014925372, "episode_reward_terms": {"track_linear_velocity": 50.11278533935547, "track_angular_velocity": 53.4505500793457, "upright": 27.14436149597168, "leg_posture": -2.649589776992798, "standstill": -6.085183143615723, "action_rate_l2": -0.6121663451194763, "joint_torques_l2": -0.15638895332813263, "dof_pos_limits": -0.00048249546671286225, "terminated": -0.019346516579389572, "unnecessary_wheel_lift": -0.08249072730541229, "rolling_leg_motion": -0.6298699975013733, "obstacle_progress": 3.853447675704956, "wheel_body_intrusion": -0.26966583728790283, "pair_body_intrusion": -0.3933738172054291}, "weighted_reward_terms": {"track_linear_velocity": 1.7706952095031738, "track_angular_velocity": 1.8886324167251587, "upright": 0.9591242671012878, "leg_posture": -0.0936211347579956, "standstill": -0.21501506865024567, "action_rate_l2": -0.021630408242344856, "joint_torques_l2": -0.005525878630578518, "dof_pos_limits": -1.704859096207656e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0029147437307983637, "rolling_leg_motion": -0.022255951538681984, "obstacle_progress": 0.13615849614143372, "wheel_body_intrusion": -0.009528426453471184, "pair_body_intrusion": -0.013899548910558224}, "episode_termination_rates": {"time_out": 0.5298507462686567, "fell_over": 0.022388059701492536, "course_exit": 0.417910447761194, "illegal_nonwheel_contact": 0.03731343283582089}, "collection_time_s": 0.07558246831758879, "learning_time_s": 0.18503345765988344, "iteration_time_s": 0.32351054435826226, "policy_updates": 25600, "skipped_updates": 0, "invalid_env_resets": 126, "elapsed_s": 8378.923098878993, "nonwheel_terminations": 12429, "contact_bce": 0.2970542013645172, "contact_force_loss": 0.020888714119791985, "collision_bce": 0.00015748491568956524, "collision_label_rate": 0.00012233913003001362, "collision_prediction_mean": 0.0001783923653420061, "collision_label_count": 16348.0, "terrain_level_mean": 3.65185546875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [10, 39, 82, 106, 63, 110], "episodes_by_level": [[1422.0, 307.0, 49.0, 0.0], [1700.0, 380.0, 37.0, 0.0], [1246.0, 294.0, 27.0, 0.0], [830.0, 186.0, 15.0, 0.0], [451.0, 115.0, 13.0, 0.0], [392.0, 90.0, 5.0, 0.0]]}, "up": {"level_counts": [0, 3, 11, 89, 488, 842], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2397.0, 1463.0, 37.0, 0.0], [4279.0, 1738.0, 165.0, 0.0], [4294.0, 1578.0, 195.0, 0.0], [3820.0, 1071.0, 157.0, 0.0], [2073.0, 257.0, 139.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 3, 44, 566], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [949.0, 776.0, 26.0, 0.0], [1604.0, 1271.0, 63.0, 0.0], [6226.0, 5017.0, 227.0, 0.0]]}, "platform": {"level_counts": [26, 66, 106, 109, 76, 27], "episodes_by_level": [[1687.0, 363.0, 51.0, 0.0], [1882.0, 381.0, 78.0, 0.0], [1265.0, 250.0, 69.0, 0.0], [793.0, 128.0, 38.0, 0.0], [305.0, 43.0, 25.0, 0.0], [73.0, 10.0, 16.0, 0.0]]}, "slope": {"level_counts": [23, 50, 100, 79, 68, 90], "episodes_by_level": [[1537.0, 327.0, 45.0, 0.0], [1744.0, 360.0, 67.0, 0.0], [1211.0, 259.0, 37.0, 0.0], [753.0, 165.0, 22.0, 0.0], [454.0, 98.0, 7.0, 0.0], [344.0, 58.0, 8.0, 0.0]]}, "rubble": {"level_counts": [52, 165, 248, 199, 121, 34], "episodes_by_level": [[3090.0, 695.0, 95.0, 0.0], [3954.0, 855.0, 183.0, 0.0], [2919.0, 600.0, 270.0, 0.0], [1621.0, 258.0, 246.0, 0.0], [495.0, 60.0, 103.0, 0.0], [87.0, 3.0, 26.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.237060546875, "command_abs_max": [0.9996875524520874, 0.39973583817481995, 0.6981561779975891]}
{"step": 25950, "actor_lr": 5.026193775842806e-05, "archive_windows": 50000, "env_steps": 25950, "total_transitions": 106291200, "num_steps_per_env": 1, "wm_loss": 0.6615237593650818, "actor_loss": -9.48020076751709, "critic_loss": 0.005218353122472763, "reward": 0.08707761764526367, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11883391439914703, 0.07074948400259018, 0.13654367625713348], "mean_episode_length": 1380.5507246376812, "episode_reward_terms": {"track_linear_velocity": 48.71767807006836, "track_angular_velocity": 52.10505676269531, "upright": 26.480878829956055, "leg_posture": -2.630279541015625, "standstill": -5.884263515472412, "action_rate_l2": -0.5803893804550171, "joint_torques_l2": -0.15517692267894745, "dof_pos_limits": -0.0007745698094367981, "terminated": -0.018874716013669968, "unnecessary_wheel_lift": -0.08795249462127686, "rolling_leg_motion": -0.6206745505332947, "obstacle_progress": 3.583834171295166, "wheel_body_intrusion": -0.30928945541381836, "pair_body_intrusion": -0.3847181499004364}, "weighted_reward_terms": {"track_linear_velocity": 1.7644290924072266, "track_angular_velocity": 1.8871111869812012, "upright": 0.9590693712234497, "leg_posture": -0.09526196867227554, "standstill": -0.21311290562152863, "action_rate_l2": -0.021020211279392242, "joint_torques_l2": -0.005620109383016825, "dof_pos_limits": -2.8052925699739717e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0031854130793362856, "rolling_leg_motion": -0.022479237988591194, "obstacle_progress": 0.12979726493358612, "wheel_body_intrusion": -0.011201669462025166, "pair_body_intrusion": -0.01393350213766098}, "episode_termination_rates": {"time_out": 0.5217391304347826, "fell_over": 0.021739130434782608, "course_exit": 0.427536231884058, "illegal_nonwheel_contact": 0.028985507246376812}, "collection_time_s": 0.07592957196175121, "learning_time_s": 0.18499739957856945, "iteration_time_s": 0.3233900122214261, "policy_updates": 25650, "skipped_updates": 0, "invalid_env_resets": 127, "elapsed_s": 8391.970817146008, "nonwheel_terminations": 12433, "contact_bce": 0.2970033884048462, "contact_force_loss": 0.020501628518104553, "collision_bce": 1.7017484424286522e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.70020321093034e-05, "collision_label_count": 16353.0, "terrain_level_mean": 3.655517578125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [10, 39, 81, 106, 63, 111], "episodes_by_level": [[1422.0, 307.0, 49.0, 0.0], [1701.0, 380.0, 37.0, 0.0], [1248.0, 295.0, 27.0, 0.0], [839.0, 187.0, 15.0, 0.0], [452.0, 116.0, 13.0, 0.0], [398.0, 92.0, 5.0, 0.0]]}, "up": {"level_counts": [0, 3, 11, 87, 486, 846], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2397.0, 1463.0, 37.0, 0.0], [4279.0, 1738.0, 165.0, 0.0], [4298.0, 1580.0, 195.0, 0.0], [3831.0, 1075.0, 157.0, 0.0], [2086.0, 259.0, 139.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 2, 45, 566], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [950.0, 777.0, 26.0, 0.0], [1606.0, 1272.0, 63.0, 0.0], [6244.0, 5033.0, 227.0, 0.0]]}, "platform": {"level_counts": [26, 64, 107, 110, 76, 27], "episodes_by_level": [[1687.0, 363.0, 51.0, 0.0], [1887.0, 383.0, 78.0, 0.0], [1267.0, 251.0, 69.0, 0.0], [793.0, 128.0, 38.0, 0.0], [306.0, 43.0, 25.0, 0.0], [75.0, 10.0, 16.0, 0.0]]}, "slope": {"level_counts": [23, 49, 101, 79, 68, 90], "episodes_by_level": [[1538.0, 327.0, 45.0, 0.0], [1745.0, 361.0, 67.0, 0.0], [1213.0, 259.0, 37.0, 0.0], [757.0, 165.0, 22.0, 0.0], [455.0, 98.0, 7.0, 0.0], [344.0, 58.0, 8.0, 0.0]]}, "rubble": {"level_counts": [52, 164, 248, 203, 116, 36], "episodes_by_level": [[3092.0, 696.0, 95.0, 0.0], [3963.0, 857.0, 184.0, 0.0], [2925.0, 601.0, 271.0, 0.0], [1627.0, 259.0, 246.0, 0.0], [502.0, 62.0, 107.0, 0.0], [88.0, 3.0, 26.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234619140625, "command_abs_max": [0.9996875524520874, 0.3997420370578766, 0.6981561779975891]}
{"step": 26000, "actor_lr": 5.010989580318597e-05, "archive_windows": 50000, "env_steps": 26000, "total_transitions": 106496000, "num_steps_per_env": 1, "wm_loss": 0.6879156827926636, "actor_loss": -9.50303840637207, "critic_loss": 0.004746736027300358, "reward": 0.08687206357717514, "falls": 12, "interval_steps": 50, "velocity_mae": [0.1180231124162674, 0.07165694981813431, 0.13697318732738495], "mean_episode_length": 1379.5513513513513, "episode_reward_terms": {"track_linear_velocity": 48.70793914794922, "track_angular_velocity": 52.034847259521484, "upright": 26.485332489013672, "leg_posture": -2.6435177326202393, "standstill": -6.172182559967041, "action_rate_l2": -0.5944826602935791, "joint_torques_l2": -0.15450139343738556, "dof_pos_limits": -0.0006449237116612494, "terminated": -0.03233323246240616, "unnecessary_wheel_lift": -0.10407595336437225, "rolling_leg_motion": -0.6397114992141724, "obstacle_progress": 3.555004358291626, "wheel_body_intrusion": -0.29707953333854675, "pair_body_intrusion": -0.30013373494148254}, "weighted_reward_terms": {"track_linear_velocity": 1.7653543949127197, "track_angular_velocity": 1.8859336376190186, "upright": 0.9599255919456482, "leg_posture": -0.09581077098846436, "standstill": -0.22370252013206482, "action_rate_l2": -0.02154623158276081, "joint_torques_l2": -0.005599696654826403, "dof_pos_limits": -2.337440128030721e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.0037720941472798586, "rolling_leg_motion": -0.02318549156188965, "obstacle_progress": 0.12884639203548431, "wheel_body_intrusion": -0.010767251253128052, "pair_body_intrusion": -0.010877947323024273}, "episode_termination_rates": {"time_out": 0.5351351351351351, "fell_over": 0.04864864864864865, "course_exit": 0.4, "illegal_nonwheel_contact": 0.032432432432432434}, "collection_time_s": 0.07589982403558679, "learning_time_s": 0.18494114250526764, "iteration_time_s": 0.3232697680271163, "policy_updates": 25700, "skipped_updates": 0, "invalid_env_resets": 128, "elapsed_s": 8405.013968705025, "nonwheel_terminations": 12439, "contact_bce": 0.2976754307746887, "contact_force_loss": 0.02125033177435398, "collision_bce": 8.169345164787956e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 8.237104339059442e-06, "collision_label_count": 16357.0, "terrain_level_mean": 3.657958984375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [10, 39, 81, 106, 61, 113], "episodes_by_level": [[1422.0, 307.0, 49.0, 0.0], [1702.0, 380.0, 37.0, 0.0], [1251.0, 295.0, 27.0, 0.0], [842.0, 187.0, 15.0, 0.0], [458.0, 118.0, 13.0, 0.0], [404.0, 93.0, 5.0, 0.0]]}, "up": {"level_counts": [0, 3, 11, 86, 483, 850], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2397.0, 1463.0, 37.0, 0.0], [4279.0, 1738.0, 165.0, 0.0], [4300.0, 1581.0, 195.0, 0.0], [3854.0, 1080.0, 157.0, 0.0], [2102.0, 261.0, 140.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 2, 49, 562], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1609.0, 1274.0, 64.0, 0.0], [6268.0, 5053.0, 228.0, 0.0]]}, "platform": {"level_counts": [26, 62, 109, 111, 74, 28], "episodes_by_level": [[1690.0, 363.0, 51.0, 0.0], [1890.0, 385.0, 78.0, 0.0], [1270.0, 251.0, 69.0, 0.0], [797.0, 128.0, 38.0, 0.0], [308.0, 44.0, 26.0, 0.0], [77.0, 10.0, 16.0, 0.0]]}, "slope": {"level_counts": [23, 48, 101, 80, 68, 90], "episodes_by_level": [[1539.0, 327.0, 45.0, 0.0], [1750.0, 362.0, 67.0, 0.0], [1219.0, 260.0, 37.0, 0.0], [759.0, 165.0, 22.0, 0.0], [456.0, 98.0, 7.0, 0.0], [348.0, 58.0, 8.0, 0.0]]}, "rubble": {"level_counts": [53, 162, 248, 202, 118, 36], "episodes_by_level": [[3094.0, 696.0, 95.0, 0.0], [3970.0, 859.0, 185.0, 0.0], [2934.0, 602.0, 272.0, 0.0], [1632.0, 261.0, 246.0, 0.0], [505.0, 63.0, 107.0, 0.0], [90.0, 3.0, 27.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22998046875, "command_abs_max": [0.9996875524520874, 0.39991897344589233, 0.6981561779975891]}
{"step": 26050, "actor_lr": 4.995698348310721e-05, "archive_windows": 50000, "env_steps": 26050, "total_transitions": 106700800, "num_steps_per_env": 1, "wm_loss": 0.6491713523864746, "actor_loss": -9.506317138671875, "critic_loss": 0.004692380782216787, "reward": 0.08712537586688995, "falls": 12, "interval_steps": 50, "velocity_mae": [0.11642717570066452, 0.07114157825708389, 0.134829580783844], "mean_episode_length": 1350.6209150326797, "episode_reward_terms": {"track_linear_velocity": 47.78887176513672, "track_angular_velocity": 51.0391731262207, "upright": 25.937841415405273, "leg_posture": -2.5721726417541504, "standstill": -5.960506439208984, "action_rate_l2": -0.5831234455108643, "joint_torques_l2": -0.1499617099761963, "dof_pos_limits": -0.0005018993397243321, "terminated": -0.03165517747402191, "unnecessary_wheel_lift": -0.09341896325349808, "rolling_leg_motion": -0.6194077730178833, "obstacle_progress": 3.444777011871338, "wheel_body_intrusion": -0.24667026102542877, "pair_body_intrusion": -0.27988749742507935}, "weighted_reward_terms": {"track_linear_velocity": 1.7691445350646973, "track_angular_velocity": 1.8894705772399902, "upright": 0.9602190852165222, "leg_posture": -0.0952218547463417, "standstill": -0.22065800428390503, "action_rate_l2": -0.02158723585307598, "joint_torques_l2": -0.00555158406496048, "dof_pos_limits": -1.858031828305684e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.0034583706874400377, "rolling_leg_motion": -0.022930480539798737, "obstacle_progress": 0.1275256723165512, "wheel_body_intrusion": -0.009131735190749168, "pair_body_intrusion": -0.010361437685787678}, "episode_termination_rates": {"time_out": 0.46405228758169936, "fell_over": 0.05228758169934641, "course_exit": 0.45751633986928103, "illegal_nonwheel_contact": 0.058823529411764705}, "collection_time_s": 0.07563452005852014, "learning_time_s": 0.1848323081829585, "iteration_time_s": 0.3231504752800774, "policy_updates": 25750, "skipped_updates": 0, "invalid_env_resets": 128, "elapsed_s": 8418.069881046016, "nonwheel_terminations": 12448, "contact_bce": 0.2928471863269806, "contact_force_loss": 0.02109360322356224, "collision_bce": 8.032715413719416e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 6.763083365513012e-05, "collision_label_count": 16339.0, "terrain_level_mean": 3.66015625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [10, 40, 79, 105, 61, 115], "episodes_by_level": [[1422.0, 307.0, 49.0, 0.0], [1702.0, 380.0, 37.0, 0.0], [1257.0, 296.0, 28.0, 0.0], [846.0, 189.0, 15.0, 0.0], [460.0, 120.0, 13.0, 0.0], [411.0, 94.0, 5.0, 0.0]]}, "up": {"level_counts": [0, 3, 10, 86, 480, 854], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2397.0, 1463.0, 37.0, 0.0], [4281.0, 1739.0, 165.0, 0.0], [4302.0, 1582.0, 195.0, 0.0], [3873.0, 1085.0, 157.0, 0.0], [2117.0, 265.0, 140.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 2, 55, 556], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1610.0, 1275.0, 64.0, 0.0], [6288.0, 5070.0, 230.0, 0.0]]}, "platform": {"level_counts": [25, 63, 109, 111, 74, 28], "episodes_by_level": [[1691.0, 364.0, 51.0, 0.0], [1891.0, 385.0, 78.0, 0.0], [1274.0, 251.0, 69.0, 0.0], [802.0, 128.0, 38.0, 0.0], [309.0, 44.0, 26.0, 0.0], [77.0, 10.0, 16.0, 0.0]]}, "slope": {"level_counts": [23, 48, 100, 81, 68, 90], "episodes_by_level": [[1539.0, 327.0, 45.0, 0.0], [1752.0, 362.0, 67.0, 0.0], [1223.0, 261.0, 37.0, 0.0], [763.0, 165.0, 22.0, 0.0], [457.0, 98.0, 7.0, 0.0], [354.0, 58.0, 8.0, 0.0]]}, "rubble": {"level_counts": [53, 162, 245, 206, 116, 37], "episodes_by_level": [[3096.0, 696.0, 95.0, 0.0], [3977.0, 861.0, 185.0, 0.0], [2944.0, 605.0, 274.0, 0.0], [1636.0, 261.0, 246.0, 0.0], [509.0, 64.0, 108.0, 0.0], [92.0, 3.0, 27.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22607421875, "command_abs_max": [0.9996875524520874, 0.39991897344589233, 0.6981561779975891]}
{"step": 26100, "actor_lr": 4.980321023054393e-05, "archive_windows": 50000, "env_steps": 26100, "total_transitions": 106905600, "num_steps_per_env": 1, "wm_loss": 0.6703577041625977, "actor_loss": -9.497859954833984, "critic_loss": 0.004605409689247608, "reward": 0.08728960156440735, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11506233364343643, 0.0702635794878006, 0.13489793241024017], "mean_episode_length": 1362.9113924050632, "episode_reward_terms": {"track_linear_velocity": 48.38845443725586, "track_angular_velocity": 51.502315521240234, "upright": 26.196380615234375, "leg_posture": -2.589618682861328, "standstill": -6.078220367431641, "action_rate_l2": -0.6023616194725037, "joint_torques_l2": -0.15166576206684113, "dof_pos_limits": -0.0002974516246467829, "terminated": -0.021295486018061638, "unnecessary_wheel_lift": -0.07313693314790726, "rolling_leg_motion": -0.6135826706886292, "obstacle_progress": 3.533186197280884, "wheel_body_intrusion": -0.2463928461074829, "pair_body_intrusion": -0.27578386664390564}, "weighted_reward_terms": {"track_linear_velocity": 1.7751871347427368, "track_angular_velocity": 1.8894227743148804, "upright": 0.9610449075698853, "leg_posture": -0.09500319510698318, "standstill": -0.22298663854599, "action_rate_l2": -0.022098341956734657, "joint_torques_l2": -0.005564036313444376, "dof_pos_limits": -1.0912361176451668e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0026831142604351044, "rolling_leg_motion": -0.022509999573230743, "obstacle_progress": 0.1296190768480301, "wheel_body_intrusion": -0.00903921015560627, "pair_body_intrusion": -0.010117454454302788}, "episode_termination_rates": {"time_out": 0.4810126582278481, "fell_over": 0.02531645569620253, "course_exit": 0.46835443037974683, "illegal_nonwheel_contact": 0.03164556962025317}, "collection_time_s": 0.07569497882504947, "learning_time_s": 0.18421610147343018, "iteration_time_s": 0.3230293702474332, "policy_updates": 25800, "skipped_updates": 0, "invalid_env_resets": 128, "elapsed_s": 8431.066563458007, "nonwheel_terminations": 12453, "contact_bce": 0.29327717423439026, "contact_force_loss": 0.02045975998044014, "collision_bce": 2.2725742383045144e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 2.2668795281788334e-05, "collision_label_count": 16324.0, "terrain_level_mean": 3.663330078125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [9, 41, 78, 105, 62, 115], "episodes_by_level": [[1423.0, 308.0, 49.0, 0.0], [1702.0, 380.0, 37.0, 0.0], [1259.0, 297.0, 28.0, 0.0], [850.0, 190.0, 15.0, 0.0], [460.0, 120.0, 13.0, 0.0], [416.0, 95.0, 5.0, 0.0]]}, "up": {"level_counts": [0, 2, 11, 87, 474, 859], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2398.0, 1464.0, 37.0, 0.0], [4281.0, 1739.0, 165.0, 0.0], [4305.0, 1582.0, 195.0, 0.0], [3887.0, 1091.0, 158.0, 0.0], [2136.0, 271.0, 140.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 2, 55, 556], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1611.0, 1276.0, 64.0, 0.0], [6313.0, 5090.0, 231.0, 0.0]]}, "platform": {"level_counts": [25, 62, 111, 110, 73, 29], "episodes_by_level": [[1691.0, 364.0, 51.0, 0.0], [1896.0, 386.0, 78.0, 0.0], [1275.0, 251.0, 69.0, 0.0], [805.0, 128.0, 39.0, 0.0], [314.0, 45.0, 26.0, 0.0], [77.0, 10.0, 16.0, 0.0]]}, "slope": {"level_counts": [23, 47, 100, 82, 68, 90], "episodes_by_level": [[1541.0, 327.0, 45.0, 0.0], [1754.0, 363.0, 67.0, 0.0], [1225.0, 262.0, 37.0, 0.0], [764.0, 165.0, 22.0, 0.0], [459.0, 98.0, 7.0, 0.0], [357.0, 58.0, 8.0, 0.0]]}, "rubble": {"level_counts": [53, 159, 247, 208, 116, 36], "episodes_by_level": [[3098.0, 696.0, 95.0, 0.0], [3983.0, 864.0, 185.0, 0.0], [2951.0, 608.0, 274.0, 0.0], [1645.0, 261.0, 248.0, 0.0], [513.0, 64.0, 109.0, 0.0], [93.0, 3.0, 28.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.232177734375, "command_abs_max": [0.9996875524520874, 0.39991897344589233, 0.6981561779975891]}
{"step": 26150, "actor_lr": 4.964858553095472e-05, "archive_windows": 50000, "env_steps": 26150, "total_transitions": 107110400, "num_steps_per_env": 1, "wm_loss": 0.6858626008033752, "actor_loss": -9.485475540161133, "critic_loss": 0.00571679649874568, "reward": 0.0872744470834732, "falls": 5, "interval_steps": 50, "velocity_mae": [0.1141183003783226, 0.0700584203004837, 0.13441556692123413], "mean_episode_length": 1360.1805555555557, "episode_reward_terms": {"track_linear_velocity": 48.33707809448242, "track_angular_velocity": 51.43050765991211, "upright": 26.16128921508789, "leg_posture": -2.5883638858795166, "standstill": -6.096339702606201, "action_rate_l2": -0.5861971378326416, "joint_torques_l2": -0.15119051933288574, "dof_pos_limits": -0.00024208988179452717, "terminated": -0.013283011503517628, "unnecessary_wheel_lift": -0.08794515579938889, "rolling_leg_motion": -0.6238197684288025, "obstacle_progress": 3.4596176147460938, "wheel_body_intrusion": -0.2671094238758087, "pair_body_intrusion": -0.2650024890899658}, "weighted_reward_terms": {"track_linear_velocity": 1.776862621307373, "track_angular_velocity": 1.8905764818191528, "upright": 0.9616844654083252, "leg_posture": -0.09514781087636948, "standstill": -0.22410038113594055, "action_rate_l2": -0.021548504009842873, "joint_torques_l2": -0.005557737313210964, "dof_pos_limits": -8.899181921151467e-06, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.0032328488305211067, "rolling_leg_motion": -0.022931506857275963, "obstacle_progress": 0.12717494368553162, "wheel_body_intrusion": -0.009818896651268005, "pair_body_intrusion": -0.009741446003317833}, "episode_termination_rates": {"time_out": 0.4513888888888889, "fell_over": 0.027777777777777776, "course_exit": 0.5138888888888888, "illegal_nonwheel_contact": 0.020833333333333332}, "collection_time_s": 0.07582210627617314, "learning_time_s": 0.18496117369970308, "iteration_time_s": 0.3229104018165199, "policy_updates": 25850, "skipped_updates": 0, "invalid_env_resets": 129, "elapsed_s": 8444.107007501996, "nonwheel_terminations": 12456, "contact_bce": 0.2977480888366699, "contact_force_loss": 0.021109307184815407, "collision_bce": 9.582499478710815e-05, "collision_label_rate": 6.128577661002055e-05, "collision_prediction_mean": 4.0441544115310535e-05, "collision_label_count": 16317.0, "terrain_level_mean": 3.665771484375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [9, 41, 78, 105, 61, 116], "episodes_by_level": [[1423.0, 308.0, 49.0, 0.0], [1703.0, 380.0, 37.0, 0.0], [1261.0, 297.0, 28.0, 0.0], [853.0, 190.0, 15.0, 0.0], [462.0, 121.0, 13.0, 0.0], [419.0, 95.0, 5.0, 0.0]]}, "up": {"level_counts": [0, 2, 11, 84, 476, 860], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2398.0, 1464.0, 37.0, 0.0], [4281.0, 1739.0, 165.0, 0.0], [4310.0, 1585.0, 195.0, 0.0], [3899.0, 1092.0, 158.0, 0.0], [2160.0, 275.0, 140.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 2, 55, 556], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1613.0, 1278.0, 64.0, 0.0], [6334.0, 5110.0, 231.0, 0.0]]}, "platform": {"level_counts": [25, 61, 113, 108, 73, 30], "episodes_by_level": [[1691.0, 364.0, 51.0, 0.0], [1898.0, 387.0, 78.0, 0.0], [1279.0, 251.0, 69.0, 0.0], [811.0, 129.0, 40.0, 0.0], [317.0, 46.0, 26.0, 0.0], [78.0, 10.0, 16.0, 0.0]]}, "slope": {"level_counts": [23, 47, 100, 82, 69, 89], "episodes_by_level": [[1543.0, 327.0, 45.0, 0.0], [1755.0, 363.0, 67.0, 0.0], [1227.0, 262.0, 37.0, 0.0], [768.0, 165.0, 22.0, 0.0], [461.0, 98.0, 7.0, 0.0], [358.0, 58.0, 9.0, 0.0]]}, "rubble": {"level_counts": [53, 158, 245, 211, 116, 36], "episodes_by_level": [[3100.0, 696.0, 95.0, 0.0], [3989.0, 865.0, 185.0, 0.0], [2959.0, 612.0, 274.0, 0.0], [1651.0, 261.0, 249.0, 0.0], [513.0, 64.0, 109.0, 0.0], [93.0, 3.0, 28.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.231689453125, "command_abs_max": [0.9996875524520874, 0.39991897344589233, 0.6996274590492249]}
{"step": 26200, "actor_lr": 4.949311892231938e-05, "archive_windows": 50000, "env_steps": 26200, "total_transitions": 107315200, "num_steps_per_env": 1, "wm_loss": 0.6651723980903625, "actor_loss": -9.477704048156738, "critic_loss": 0.0097739789634943, "reward": 0.08717963844537735, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11517805606126785, 0.0699833333492279, 0.13554230332374573], "mean_episode_length": 1372.9027777777778, "episode_reward_terms": {"track_linear_velocity": 48.69016647338867, "track_angular_velocity": 51.85602569580078, "upright": 26.366331100463867, "leg_posture": -2.6225056648254395, "standstill": -6.026392936706543, "action_rate_l2": -0.593100368976593, "joint_torques_l2": -0.1533920019865036, "dof_pos_limits": -0.0006832234794273973, "terminated": -0.026814505457878113, "unnecessary_wheel_lift": -0.09220889955759048, "rolling_leg_motion": -0.641501247882843, "obstacle_progress": 3.5197458267211914, "wheel_body_intrusion": -0.26100942492485046, "pair_body_intrusion": -0.32547035813331604}, "weighted_reward_terms": {"track_linear_velocity": 1.7732560634613037, "track_angular_velocity": 1.8885542154312134, "upright": 0.9602402448654175, "leg_posture": -0.09550951421260834, "standstill": -0.21947632730007172, "action_rate_l2": -0.021600231528282166, "joint_torques_l2": -0.0055864118039608, "dof_pos_limits": -2.488244354026392e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.0033581729512661695, "rolling_leg_motion": -0.02336295135319233, "obstacle_progress": 0.12818627059459686, "wheel_body_intrusion": -0.009505750611424446, "pair_body_intrusion": -0.01185336522758007}, "episode_termination_rates": {"time_out": 0.4652777777777778, "fell_over": 0.04861111111111111, "course_exit": 0.4652777777777778, "illegal_nonwheel_contact": 0.041666666666666664}, "collection_time_s": 0.07556037022382953, "learning_time_s": 0.18513602441758847, "iteration_time_s": 0.3227917161050012, "policy_updates": 25900, "skipped_updates": 0, "invalid_env_resets": 129, "elapsed_s": 8457.14296195103, "nonwheel_terminations": 12462, "contact_bce": 0.2982322871685028, "contact_force_loss": 0.020830871537327766, "collision_bce": 0.0005113201914355159, "collision_label_rate": 0.0001836547307902947, "collision_prediction_mean": 0.00013954941823612899, "collision_label_count": 16335.0, "terrain_level_mean": 3.669189453125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [8, 42, 78, 104, 61, 117], "episodes_by_level": [[1424.0, 309.0, 49.0, 0.0], [1705.0, 380.0, 37.0, 0.0], [1262.0, 297.0, 28.0, 0.0], [855.0, 191.0, 15.0, 0.0], [464.0, 122.0, 13.0, 0.0], [421.0, 95.0, 5.0, 0.0]]}, "up": {"level_counts": [0, 2, 11, 84, 475, 861], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2398.0, 1464.0, 37.0, 0.0], [4281.0, 1739.0, 165.0, 0.0], [4311.0, 1585.0, 195.0, 0.0], [3905.0, 1094.0, 158.0, 0.0], [2176.0, 279.0, 141.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 2, 56, 555], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1615.0, 1280.0, 64.0, 0.0], [6355.0, 5128.0, 231.0, 0.0]]}, "platform": {"level_counts": [25, 61, 111, 109, 74, 30], "episodes_by_level": [[1693.0, 365.0, 51.0, 0.0], [1902.0, 387.0, 79.0, 0.0], [1284.0, 253.0, 69.0, 0.0], [817.0, 130.0, 40.0, 0.0], [320.0, 47.0, 26.0, 0.0], [79.0, 10.0, 17.0, 0.0]]}, "slope": {"level_counts": [22, 48, 99, 83, 67, 91], "episodes_by_level": [[1544.0, 328.0, 45.0, 0.0], [1755.0, 363.0, 67.0, 0.0], [1230.0, 263.0, 37.0, 0.0], [769.0, 165.0, 22.0, 0.0], [465.0, 100.0, 7.0, 0.0], [362.0, 58.0, 9.0, 0.0]]}, "rubble": {"level_counts": [53, 159, 242, 210, 119, 36], "episodes_by_level": [[3100.0, 696.0, 95.0, 0.0], [3992.0, 865.0, 185.0, 0.0], [2967.0, 616.0, 275.0, 0.0], [1660.0, 265.0, 251.0, 0.0], [517.0, 64.0, 110.0, 0.0], [94.0, 3.0, 28.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.230712890625, "command_abs_max": [0.9996875524520874, 0.39991897344589233, 0.6996274590492249]}
{"step": 26250, "actor_lr": 4.933681999455065e-05, "archive_windows": 50000, "env_steps": 26250, "total_transitions": 107520000, "num_steps_per_env": 1, "wm_loss": 0.6667028665542603, "actor_loss": -9.503779411315918, "critic_loss": 0.008086456917226315, "reward": 0.08734975755214691, "falls": 4, "interval_steps": 50, "velocity_mae": [0.11416469514369965, 0.06930950284004211, 0.13487431406974792], "mean_episode_length": 1366.2941176470588, "episode_reward_terms": {"track_linear_velocity": 48.54640579223633, "track_angular_velocity": 51.6374397277832, "upright": 26.255617141723633, "leg_posture": -2.5705037117004395, "standstill": -6.042646884918213, "action_rate_l2": -0.5841367840766907, "joint_torques_l2": -0.15152479708194733, "dof_pos_limits": -0.0007638346287421882, "terminated": -0.010674170218408108, "unnecessary_wheel_lift": -0.07921076565980911, "rolling_leg_motion": -0.6240224838256836, "obstacle_progress": 3.519535779953003, "wheel_body_intrusion": -0.2574899196624756, "pair_body_intrusion": -0.29253995418548584}, "weighted_reward_terms": {"track_linear_velocity": 1.776572346687317, "track_angular_velocity": 1.8896899223327637, "upright": 0.9608333110809326, "leg_posture": -0.09406846761703491, "standstill": -0.22113275527954102, "action_rate_l2": -0.021376686170697212, "joint_torques_l2": -0.005545102059841156, "dof_pos_limits": -2.795279215206392e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.0028987452387809753, "rolling_leg_motion": -0.022836318239569664, "obstacle_progress": 0.12879861891269684, "wheel_body_intrusion": -0.00942293182015419, "pair_body_intrusion": -0.010705599561333656}, "episode_termination_rates": {"time_out": 0.46405228758169936, "fell_over": 0.0196078431372549, "course_exit": 0.5098039215686274, "illegal_nonwheel_contact": 0.0196078431372549}, "collection_time_s": 0.07582266014418565, "learning_time_s": 0.1846714016236365, "iteration_time_s": 0.322673098145942, "policy_updates": 25950, "skipped_updates": 0, "invalid_env_resets": 130, "elapsed_s": 8470.168826330977, "nonwheel_terminations": 12465, "contact_bce": 0.2950121760368347, "contact_force_loss": 0.02065248414874077, "collision_bce": 7.544126219727332e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 7.609498879901366e-06, "collision_label_count": 16346.0, "terrain_level_mean": 3.672607421875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [8, 42, 78, 103, 62, 117], "episodes_by_level": [[1424.0, 309.0, 49.0, 0.0], [1707.0, 380.0, 37.0, 0.0], [1263.0, 297.0, 28.0, 0.0], [856.0, 192.0, 15.0, 0.0], [465.0, 122.0, 13.0, 0.0], [425.0, 97.0, 5.0, 0.0]]}, "up": {"level_counts": [0, 2, 11, 83, 470, 867], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2398.0, 1464.0, 37.0, 0.0], [4281.0, 1739.0, 165.0, 0.0], [4313.0, 1586.0, 195.0, 0.0], [3923.0, 1100.0, 158.0, 0.0], [2195.0, 284.0, 141.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 2, 56, 555], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1615.0, 1280.0, 64.0, 0.0], [6380.0, 5151.0, 231.0, 0.0]]}, "platform": {"level_counts": [25, 59, 113, 109, 74, 30], "episodes_by_level": [[1694.0, 365.0, 51.0, 0.0], [1907.0, 389.0, 79.0, 0.0], [1289.0, 253.0, 69.0, 0.0], [822.0, 131.0, 40.0, 0.0], [323.0, 47.0, 27.0, 0.0], [82.0, 10.0, 17.0, 0.0]]}, "slope": {"level_counts": [22, 48, 98, 84, 67, 91], "episodes_by_level": [[1544.0, 328.0, 45.0, 0.0], [1757.0, 363.0, 67.0, 0.0], [1234.0, 264.0, 37.0, 0.0], [771.0, 165.0, 22.0, 0.0], [468.0, 100.0, 7.0, 0.0], [367.0, 59.0, 9.0, 0.0]]}, "rubble": {"level_counts": [53, 157, 243, 212, 117, 37], "episodes_by_level": [[3101.0, 696.0, 95.0, 0.0], [3998.0, 868.0, 185.0, 0.0], [2975.0, 618.0, 276.0, 0.0], [1665.0, 265.0, 252.0, 0.0], [520.0, 65.0, 111.0, 0.0], [96.0, 3.0, 28.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.229248046875, "command_abs_max": [0.9996875524520874, 0.39991897344589233, 0.6996274590492249]}
{"step": 26300, "actor_lr": 4.9179698388902615e-05, "archive_windows": 50000, "env_steps": 26300, "total_transitions": 107724800, "num_steps_per_env": 1, "wm_loss": 0.6484238505363464, "actor_loss": -9.516271591186523, "critic_loss": 0.0033395872451364994, "reward": 0.08735830336809158, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11314759403467178, 0.06940286606550217, 0.13317017257213593], "mean_episode_length": 1294.3958333333333, "episode_reward_terms": {"track_linear_velocity": 46.06203842163086, "track_angular_velocity": 48.98750305175781, "upright": 24.89080238342285, "leg_posture": -2.486748456954956, "standstill": -5.759161472320557, "action_rate_l2": -0.5482566952705383, "joint_torques_l2": -0.1415327489376068, "dof_pos_limits": -0.0005524501320905983, "terminated": -0.020224932581186295, "unnecessary_wheel_lift": -0.08287391066551208, "rolling_leg_motion": -0.6007188558578491, "obstacle_progress": 3.3447940349578857, "wheel_body_intrusion": -0.25885069370269775, "pair_body_intrusion": -0.3100058436393738}, "weighted_reward_terms": {"track_linear_velocity": 1.7792870998382568, "track_angular_velocity": 1.8922922611236572, "upright": 0.9614834189414978, "leg_posture": -0.09605826437473297, "standstill": -0.22246524691581726, "action_rate_l2": -0.021178092807531357, "joint_torques_l2": -0.005467135924845934, "dof_pos_limits": -2.134007627319079e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0032012586016207933, "rolling_leg_motion": -0.023204604163765907, "obstacle_progress": 0.12920290231704712, "wheel_body_intrusion": -0.009998900815844536, "pair_body_intrusion": -0.011974924243986607}, "episode_termination_rates": {"time_out": 0.4305555555555556, "fell_over": 0.027777777777777776, "course_exit": 0.5138888888888888, "illegal_nonwheel_contact": 0.04861111111111111}, "collection_time_s": 0.0755676431604661, "learning_time_s": 0.18520297479932196, "iteration_time_s": 0.3225554564523957, "policy_updates": 26000, "skipped_updates": 0, "invalid_env_resets": 130, "elapsed_s": 8483.208504698006, "nonwheel_terminations": 12472, "contact_bce": 0.2906937301158905, "contact_force_loss": 0.020251136273145676, "collision_bce": 0.0008025337010622025, "collision_label_rate": 0.00018336287757847458, "collision_prediction_mean": 0.00012897912529297173, "collision_label_count": 16361.0, "terrain_level_mean": 3.67333984375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [9, 40, 78, 104, 61, 118], "episodes_by_level": [[1425.0, 309.0, 49.0, 0.0], [1710.0, 381.0, 38.0, 0.0], [1265.0, 298.0, 28.0, 0.0], [859.0, 192.0, 15.0, 0.0], [468.0, 123.0, 13.0, 0.0], [425.0, 97.0, 5.0, 0.0]]}, "up": {"level_counts": [0, 2, 11, 83, 470, 867], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2398.0, 1464.0, 37.0, 0.0], [4281.0, 1739.0, 165.0, 0.0], [4316.0, 1586.0, 195.0, 0.0], [3936.0, 1103.0, 158.0, 0.0], [2224.0, 288.0, 143.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 2, 56, 555], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1616.0, 1281.0, 64.0, 0.0], [6404.0, 5172.0, 231.0, 0.0]]}, "platform": {"level_counts": [25, 59, 113, 109, 74, 30], "episodes_by_level": [[1694.0, 365.0, 51.0, 0.0], [1907.0, 389.0, 79.0, 0.0], [1292.0, 253.0, 69.0, 0.0], [824.0, 131.0, 40.0, 0.0], [324.0, 47.0, 27.0, 0.0], [82.0, 10.0, 17.0, 0.0]]}, "slope": {"level_counts": [22, 46, 99, 85, 67, 91], "episodes_by_level": [[1545.0, 328.0, 45.0, 0.0], [1759.0, 365.0, 67.0, 0.0], [1238.0, 265.0, 37.0, 0.0], [772.0, 165.0, 22.0, 0.0], [470.0, 100.0, 7.0, 0.0], [367.0, 59.0, 9.0, 0.0]]}, "rubble": {"level_counts": [53, 157, 244, 212, 116, 37], "episodes_by_level": [[3102.0, 696.0, 95.0, 0.0], [4001.0, 868.0, 185.0, 0.0], [2979.0, 618.0, 276.0, 0.0], [1671.0, 266.0, 253.0, 0.0], [524.0, 65.0, 113.0, 0.0], [96.0, 3.0, 28.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23486328125, "command_abs_max": [0.9996875524520874, 0.39951324462890625, 0.699910581111908]}
{"step": 26350, "actor_lr": 4.9021763797376045e-05, "archive_windows": 50000, "env_steps": 26350, "total_transitions": 107929600, "num_steps_per_env": 1, "wm_loss": 0.6590005159378052, "actor_loss": -9.48689079284668, "critic_loss": 0.006110211368650198, "reward": 0.08731935173273087, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11280975490808487, 0.06950204074382782, 0.13368619978427887], "mean_episode_length": 1390.371794871795, "episode_reward_terms": {"track_linear_velocity": 49.50969314575195, "track_angular_velocity": 52.60426330566406, "upright": 26.733665466308594, "leg_posture": -2.6835687160491943, "standstill": -6.275181293487549, "action_rate_l2": -0.598350465297699, "joint_torques_l2": -0.15264037251472473, "dof_pos_limits": -0.000788795470725745, "terminated": -0.021724555641412735, "unnecessary_wheel_lift": -0.08691997081041336, "rolling_leg_motion": -0.637857973575592, "obstacle_progress": 3.6117000579833984, "wheel_body_intrusion": -0.2913607358932495, "pair_body_intrusion": -0.30455711483955383}, "weighted_reward_terms": {"track_linear_velocity": 1.7804479598999023, "track_angular_velocity": 1.8917337656021118, "upright": 0.9613854885101318, "leg_posture": -0.09650543332099915, "standstill": -0.22566558420658112, "action_rate_l2": -0.021517641842365265, "joint_torques_l2": -0.005489192437380552, "dof_pos_limits": -2.8366350306896493e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0031257816590368748, "rolling_leg_motion": -0.022938396781682968, "obstacle_progress": 0.12988252937793732, "wheel_body_intrusion": -0.01047779992222786, "pair_body_intrusion": -0.010952362790703773}, "episode_termination_rates": {"time_out": 0.532051282051282, "fell_over": 0.038461538461538464, "course_exit": 0.4166666666666667, "illegal_nonwheel_contact": 0.01282051282051282}, "collection_time_s": 0.07553110656095668, "learning_time_s": 0.19193541862186975, "iteration_time_s": 0.3224509640550285, "policy_updates": 26050, "skipped_updates": 0, "invalid_env_resets": 130, "elapsed_s": 8496.582902850001, "nonwheel_terminations": 12474, "contact_bce": 0.29635536670684814, "contact_force_loss": 0.020752813667058945, "collision_bce": 0.00021179774194024503, "collision_label_rate": 0.0001224814768647775, "collision_prediction_mean": 0.00013361728633753955, "collision_label_count": 16329.0, "terrain_level_mean": 3.674560546875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [9, 40, 78, 104, 61, 118], "episodes_by_level": [[1425.0, 309.0, 49.0, 0.0], [1710.0, 381.0, 38.0, 0.0], [1265.0, 298.0, 28.0, 0.0], [861.0, 192.0, 15.0, 0.0], [469.0, 123.0, 13.0, 0.0], [428.0, 99.0, 5.0, 0.0]]}, "up": {"level_counts": [0, 1, 12, 82, 470, 868], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2399.0, 1465.0, 37.0, 0.0], [4282.0, 1739.0, 165.0, 0.0], [4318.0, 1587.0, 195.0, 0.0], [3948.0, 1108.0, 158.0, 0.0], [2250.0, 292.0, 146.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 2, 56, 555], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1618.0, 1283.0, 64.0, 0.0], [6426.0, 5194.0, 231.0, 0.0]]}, "platform": {"level_counts": [25, 59, 113, 107, 76, 30], "episodes_by_level": [[1697.0, 365.0, 51.0, 0.0], [1910.0, 389.0, 79.0, 0.0], [1297.0, 253.0, 69.0, 0.0], [829.0, 133.0, 40.0, 0.0], [325.0, 47.0, 27.0, 0.0], [83.0, 10.0, 17.0, 0.0]]}, "slope": {"level_counts": [22, 46, 99, 85, 67, 91], "episodes_by_level": [[1545.0, 328.0, 45.0, 0.0], [1762.0, 365.0, 67.0, 0.0], [1241.0, 265.0, 37.0, 0.0], [776.0, 165.0, 22.0, 0.0], [471.0, 100.0, 7.0, 0.0], [372.0, 59.0, 9.0, 0.0]]}, "rubble": {"level_counts": [53, 157, 242, 216, 114, 37], "episodes_by_level": [[3105.0, 696.0, 95.0, 0.0], [4005.0, 868.0, 185.0, 0.0], [2985.0, 620.0, 276.0, 0.0], [1675.0, 266.0, 253.0, 0.0], [531.0, 65.0, 115.0, 0.0], [96.0, 3.0, 28.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234375, "command_abs_max": [0.9996875524520874, 0.39951324462890625, 0.699910581111908]}
{"step": 26400, "actor_lr": 4.886302596212045e-05, "archive_windows": 50000, "env_steps": 26400, "total_transitions": 108134400, "num_steps_per_env": 1, "wm_loss": 0.6488983035087585, "actor_loss": -9.503297805786133, "critic_loss": 0.00560482544824481, "reward": 0.08695990592241287, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11380007863044739, 0.07014038413763046, 0.13295690715312958], "mean_episode_length": 1411.9303797468353, "episode_reward_terms": {"track_linear_velocity": 50.174095153808594, "track_angular_velocity": 53.44268798828125, "upright": 27.12813949584961, "leg_posture": -2.707127094268799, "standstill": -6.759779930114746, "action_rate_l2": -0.6141203045845032, "joint_torques_l2": -0.1544831246137619, "dof_pos_limits": -0.0012737791985273361, "terminated": -0.022061409428715706, "unnecessary_wheel_lift": -0.10641048848628998, "rolling_leg_motion": -0.6467928290367126, "obstacle_progress": 3.6767592430114746, "wheel_body_intrusion": -0.29728493094444275, "pair_body_intrusion": -0.3310229182243347}, "weighted_reward_terms": {"track_linear_velocity": 1.7767906188964844, "track_angular_velocity": 1.8925397396087646, "upright": 0.9606755375862122, "leg_posture": -0.09586616605520248, "standstill": -0.23938077688217163, "action_rate_l2": -0.021747540682554245, "joint_torques_l2": -0.005470635369420052, "dof_pos_limits": -4.5107717596692964e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.003768262453377247, "rolling_leg_motion": -0.02290455810725689, "obstacle_progress": 0.1302032768726349, "wheel_body_intrusion": -0.01052760612219572, "pair_body_intrusion": -0.011722352355718613}, "episode_termination_rates": {"time_out": 0.5443037974683544, "fell_over": 0.03164556962025317, "course_exit": 0.4050632911392405, "illegal_nonwheel_contact": 0.0379746835443038}, "collection_time_s": 0.07556565972045064, "learning_time_s": 0.18480684709968045, "iteration_time_s": 0.3223334324907575, "policy_updates": 26100, "skipped_updates": 0, "invalid_env_resets": 130, "elapsed_s": 8509.602617755998, "nonwheel_terminations": 12480, "contact_bce": 0.2972257435321808, "contact_force_loss": 0.020935598760843277, "collision_bce": 1.3560107618104666e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.3603258594230283e-05, "collision_label_count": 16372.0, "terrain_level_mean": 3.676025390625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [9, 40, 80, 102, 61, 118], "episodes_by_level": [[1425.0, 309.0, 49.0, 0.0], [1712.0, 381.0, 38.0, 0.0], [1270.0, 298.0, 28.0, 0.0], [866.0, 192.0, 17.0, 0.0], [470.0, 123.0, 13.0, 0.0], [430.0, 99.0, 5.0, 0.0]]}, "up": {"level_counts": [0, 1, 12, 82, 467, 871], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2399.0, 1465.0, 37.0, 0.0], [4282.0, 1739.0, 165.0, 0.0], [4320.0, 1587.0, 195.0, 0.0], [3964.0, 1111.0, 158.0, 0.0], [2278.0, 300.0, 146.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 2, 59, 552], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1618.0, 1283.0, 64.0, 0.0], [6441.0, 5205.0, 234.0, 0.0]]}, "platform": {"level_counts": [25, 58, 115, 105, 77, 30], "episodes_by_level": [[1699.0, 365.0, 51.0, 0.0], [1913.0, 390.0, 79.0, 0.0], [1299.0, 253.0, 69.0, 0.0], [832.0, 134.0, 41.0, 0.0], [326.0, 47.0, 27.0, 0.0], [84.0, 10.0, 17.0, 0.0]]}, "slope": {"level_counts": [22, 45, 100, 84, 68, 91], "episodes_by_level": [[1545.0, 328.0, 45.0, 0.0], [1764.0, 366.0, 67.0, 0.0], [1246.0, 265.0, 37.0, 0.0], [781.0, 166.0, 22.0, 0.0], [475.0, 100.0, 7.0, 0.0], [374.0, 60.0, 9.0, 0.0]]}, "rubble": {"level_counts": [53, 156, 239, 220, 114, 37], "episodes_by_level": [[3105.0, 696.0, 95.0, 0.0], [4011.0, 869.0, 185.0, 0.0], [3000.0, 624.0, 276.0, 0.0], [1679.0, 267.0, 253.0, 0.0], [535.0, 65.0, 116.0, 0.0], [98.0, 3.0, 28.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.236083984375, "command_abs_max": [0.9996875524520874, 0.3993927240371704, 0.699910581111908]}
{"step": 26450, "actor_lr": 4.870349467483325e-05, "archive_windows": 50000, "env_steps": 26450, "total_transitions": 108339200, "num_steps_per_env": 1, "wm_loss": 0.6444581747055054, "actor_loss": -9.504508018493652, "critic_loss": 0.004725998733192682, "reward": 0.0873851403594017, "falls": 11, "interval_steps": 50, "velocity_mae": [0.11540055274963379, 0.0695682093501091, 0.1329335868358612], "mean_episode_length": 1407.1409395973155, "episode_reward_terms": {"track_linear_velocity": 49.94578552246094, "track_angular_velocity": 53.25792694091797, "upright": 27.076702117919922, "leg_posture": -2.64548397064209, "standstill": -6.1471405029296875, "action_rate_l2": -0.5989605784416199, "joint_torques_l2": -0.15321433544158936, "dof_pos_limits": -0.0014092607889324427, "terminated": -0.030231542885303497, "unnecessary_wheel_lift": -0.08695158362388611, "rolling_leg_motion": -0.6409519910812378, "obstacle_progress": 3.5897269248962402, "wheel_body_intrusion": -0.2806870639324188, "pair_body_intrusion": -0.3218877613544464}, "weighted_reward_terms": {"track_linear_velocity": 1.7747257947921753, "track_angular_velocity": 1.89241623878479, "upright": 0.962117612361908, "leg_posture": -0.09400209039449692, "standstill": -0.21842660009860992, "action_rate_l2": -0.021282892674207687, "joint_torques_l2": -0.005444171838462353, "dof_pos_limits": -5.007532308809459e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.003089654492214322, "rolling_leg_motion": -0.02277497388422489, "obstacle_progress": 0.12755392491817474, "wheel_body_intrusion": -0.009973665699362755, "pair_body_intrusion": -0.011437651701271534}, "episode_termination_rates": {"time_out": 0.5100671140939598, "fell_over": 0.04697986577181208, "course_exit": 0.4161073825503356, "illegal_nonwheel_contact": 0.053691275167785234}, "collection_time_s": 0.07589166621328332, "learning_time_s": 0.18486686766613275, "iteration_time_s": 0.3222170765471463, "policy_updates": 26150, "skipped_updates": 0, "invalid_env_resets": 131, "elapsed_s": 8522.64167467202, "nonwheel_terminations": 12488, "contact_bce": 0.2991519868373871, "contact_force_loss": 0.021127179265022278, "collision_bce": 0.00021808064775541425, "collision_label_rate": 6.121074693510309e-05, "collision_prediction_mean": 3.09891693177633e-05, "collision_label_count": 16337.0, "terrain_level_mean": 3.677978515625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [9, 39, 80, 102, 62, 118], "episodes_by_level": [[1425.0, 309.0, 49.0, 0.0], [1714.0, 382.0, 38.0, 0.0], [1275.0, 299.0, 28.0, 0.0], [868.0, 193.0, 17.0, 0.0], [470.0, 123.0, 13.0, 0.0], [432.0, 99.0, 5.0, 0.0]]}, "up": {"level_counts": [0, 0, 12, 81, 470, 870], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4283.0, 1740.0, 165.0, 0.0], [4323.0, 1589.0, 195.0, 0.0], [3973.0, 1113.0, 158.0, 0.0], [2304.0, 302.0, 147.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 2, 61, 550], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1619.0, 1284.0, 64.0, 0.0], [6450.0, 5212.0, 234.0, 0.0]]}, "platform": {"level_counts": [25, 58, 115, 104, 77, 31], "episodes_by_level": [[1701.0, 365.0, 51.0, 0.0], [1914.0, 390.0, 79.0, 0.0], [1301.0, 253.0, 69.0, 0.0], [833.0, 135.0, 41.0, 0.0], [328.0, 48.0, 27.0, 0.0], [85.0, 10.0, 17.0, 0.0]]}, "slope": {"level_counts": [22, 45, 100, 83, 68, 92], "episodes_by_level": [[1546.0, 328.0, 45.0, 0.0], [1765.0, 366.0, 67.0, 0.0], [1249.0, 265.0, 37.0, 0.0], [785.0, 167.0, 22.0, 0.0], [477.0, 101.0, 7.0, 0.0], [379.0, 61.0, 9.0, 0.0]]}, "rubble": {"level_counts": [55, 153, 239, 220, 116, 36], "episodes_by_level": [[3108.0, 696.0, 95.0, 0.0], [4018.0, 871.0, 187.0, 0.0], [3010.0, 626.0, 277.0, 0.0], [1685.0, 268.0, 254.0, 0.0], [539.0, 65.0, 116.0, 0.0], [99.0, 3.0, 29.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234375, "command_abs_max": [0.9996875524520874, 0.3993927240371704, 0.699910581111908]}
{"step": 26500, "actor_lr": 4.8543179776155726e-05, "archive_windows": 50000, "env_steps": 26500, "total_transitions": 108544000, "num_steps_per_env": 1, "wm_loss": 0.6600109934806824, "actor_loss": -9.503040313720703, "critic_loss": 0.0037951753474771976, "reward": 0.08764081448316574, "falls": 8, "interval_steps": 50, "velocity_mae": [0.1138862818479538, 0.06986062228679657, 0.13302955031394958], "mean_episode_length": 1355.5827338129495, "episode_reward_terms": {"track_linear_velocity": 48.19614028930664, "track_angular_velocity": 51.30983352661133, "upright": 26.1237735748291, "leg_posture": -2.559300184249878, "standstill": -5.739039421081543, "action_rate_l2": -0.5706325173377991, "joint_torques_l2": -0.14597997069358826, "dof_pos_limits": -0.00044376650475896895, "terminated": -0.021180976182222366, "unnecessary_wheel_lift": -0.07250361889600754, "rolling_leg_motion": -0.5888952612876892, "obstacle_progress": 3.478294610977173, "wheel_body_intrusion": -0.27772197127342224, "pair_body_intrusion": -0.3279746472835541}, "weighted_reward_terms": {"track_linear_velocity": 1.7776908874511719, "track_angular_velocity": 1.8925378322601318, "upright": 0.9635624289512634, "leg_posture": -0.09439852833747864, "standstill": -0.21168163418769836, "action_rate_l2": -0.021047499030828476, "joint_torques_l2": -0.005384399089962244, "dof_pos_limits": -1.6368108845199458e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.002674260176718235, "rolling_leg_motion": -0.021721111610531807, "obstacle_progress": 0.1282951831817627, "wheel_body_intrusion": -0.01024363748729229, "pair_body_intrusion": -0.012097183614969254}, "episode_termination_rates": {"time_out": 0.4748201438848921, "fell_over": 0.04316546762589928, "course_exit": 0.4676258992805755, "illegal_nonwheel_contact": 0.03597122302158273}, "collection_time_s": 0.07590145187801682, "learning_time_s": 0.18496491614496335, "iteration_time_s": 0.3221013625404525, "policy_updates": 26200, "skipped_updates": 0, "invalid_env_resets": 132, "elapsed_s": 8535.686107321992, "nonwheel_terminations": 12493, "contact_bce": 0.30314502120018005, "contact_force_loss": 0.021415073424577713, "collision_bce": 9.281246457248926e-05, "collision_label_rate": 6.118827877799049e-05, "collision_prediction_mean": 9.32661205297336e-05, "collision_label_count": 16343.0, "terrain_level_mean": 3.6806640625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [9, 39, 79, 102, 63, 118], "episodes_by_level": [[1425.0, 309.0, 49.0, 0.0], [1714.0, 382.0, 38.0, 0.0], [1279.0, 300.0, 28.0, 0.0], [874.0, 194.0, 17.0, 0.0], [473.0, 123.0, 13.0, 0.0], [434.0, 99.0, 5.0, 0.0]]}, "up": {"level_counts": [0, 0, 12, 80, 474, 867], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4283.0, 1740.0, 165.0, 0.0], [4327.0, 1591.0, 195.0, 0.0], [3984.0, 1113.0, 158.0, 0.0], [2326.0, 307.0, 148.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 2, 58, 553], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1622.0, 1287.0, 64.0, 0.0], [6466.0, 5228.0, 234.0, 0.0]]}, "platform": {"level_counts": [24, 58, 113, 106, 78, 31], "episodes_by_level": [[1702.0, 366.0, 51.0, 0.0], [1918.0, 391.0, 79.0, 0.0], [1307.0, 256.0, 69.0, 0.0], [835.0, 136.0, 41.0, 0.0], [329.0, 48.0, 27.0, 0.0], [86.0, 10.0, 17.0, 0.0]]}, "slope": {"level_counts": [22, 45, 99, 84, 68, 92], "episodes_by_level": [[1546.0, 328.0, 45.0, 0.0], [1766.0, 366.0, 67.0, 0.0], [1251.0, 266.0, 37.0, 0.0], [785.0, 167.0, 22.0, 0.0], [482.0, 101.0, 7.0, 0.0], [381.0, 61.0, 9.0, 0.0]]}, "rubble": {"level_counts": [54, 155, 238, 218, 119, 35], "episodes_by_level": [[3109.0, 697.0, 95.0, 0.0], [4022.0, 871.0, 187.0, 0.0], [3018.0, 628.0, 278.0, 0.0], [1694.0, 270.0, 256.0, 0.0], [540.0, 65.0, 116.0, 0.0], [102.0, 3.0, 30.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.233642578125, "command_abs_max": [0.9996875524520874, 0.3993927240371704, 0.6993341445922852]}
{"step": 26550, "actor_lr": 4.8382091155065936e-05, "archive_windows": 50000, "env_steps": 26550, "total_transitions": 108748800, "num_steps_per_env": 1, "wm_loss": 0.6349313259124756, "actor_loss": -9.549192428588867, "critic_loss": 0.005674605257809162, "reward": 0.08719602227210999, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11595506966114044, 0.06941594928503036, 0.13336016237735748], "mean_episode_length": 1340.22, "episode_reward_terms": {"track_linear_velocity": 47.53605651855469, "track_angular_velocity": 50.69449996948242, "upright": 25.800626754760742, "leg_posture": -2.5833849906921387, "standstill": -5.9663214683532715, "action_rate_l2": -0.5658499598503113, "joint_torques_l2": -0.14500799775123596, "dof_pos_limits": -0.0005805015680380166, "terminated": -0.018323317170143127, "unnecessary_wheel_lift": -0.07759223133325577, "rolling_leg_motion": -0.5973366498947144, "obstacle_progress": 3.4320068359375, "wheel_body_intrusion": -0.28708416223526, "pair_body_intrusion": -0.359866201877594}, "weighted_reward_terms": {"track_linear_velocity": 1.7734423875808716, "track_angular_velocity": 1.891275405883789, "upright": 0.9625519514083862, "leg_posture": -0.09637913852930069, "standstill": -0.22258740663528442, "action_rate_l2": -0.02111033909022808, "joint_torques_l2": -0.00540985818952322, "dof_pos_limits": -2.165695150324609e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.002894757315516472, "rolling_leg_motion": -0.02228502370417118, "obstacle_progress": 0.1280389428138733, "wheel_body_intrusion": -0.0107103381305933, "pair_body_intrusion": -0.01342563983052969}, "episode_termination_rates": {"time_out": 0.4066666666666667, "fell_over": 0.02, "course_exit": 0.5466666666666666, "illegal_nonwheel_contact": 0.04666666666666667}, "collection_time_s": 0.07579851752147078, "learning_time_s": 0.18496355110313745, "iteration_time_s": 0.3219868672235778, "policy_updates": 26250, "skipped_updates": 0, "invalid_env_resets": 132, "elapsed_s": 8548.75132478599, "nonwheel_terminations": 12500, "contact_bce": 0.2906375527381897, "contact_force_loss": 0.019985439255833626, "collision_bce": 8.86591078597121e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 8.927421731641516e-06, "collision_label_count": 16353.0, "terrain_level_mean": 3.684326171875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [9, 38, 80, 101, 64, 118], "episodes_by_level": [[1426.0, 309.0, 49.0, 0.0], [1715.0, 383.0, 38.0, 0.0], [1281.0, 300.0, 28.0, 0.0], [877.0, 195.0, 17.0, 0.0], [474.0, 123.0, 13.0, 0.0], [436.0, 99.0, 5.0, 0.0]]}, "up": {"level_counts": [0, 0, 12, 81, 465, 875], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4283.0, 1740.0, 165.0, 0.0], [4330.0, 1591.0, 195.0, 0.0], [4002.0, 1122.0, 158.0, 0.0], [2352.0, 315.0, 148.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 2, 55, 556], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1625.0, 1290.0, 64.0, 0.0], [6485.0, 5245.0, 234.0, 0.0]]}, "platform": {"level_counts": [23, 59, 113, 104, 79, 32], "episodes_by_level": [[1704.0, 367.0, 51.0, 0.0], [1918.0, 391.0, 79.0, 0.0], [1308.0, 256.0, 69.0, 0.0], [837.0, 138.0, 41.0, 0.0], [334.0, 49.0, 27.0, 0.0], [87.0, 10.0, 17.0, 0.0]]}, "slope": {"level_counts": [22, 45, 99, 84, 69, 91], "episodes_by_level": [[1546.0, 328.0, 45.0, 0.0], [1768.0, 366.0, 67.0, 0.0], [1254.0, 266.0, 37.0, 0.0], [788.0, 167.0, 22.0, 0.0], [482.0, 101.0, 7.0, 0.0], [384.0, 62.0, 10.0, 0.0]]}, "rubble": {"level_counts": [55, 154, 237, 218, 121, 34], "episodes_by_level": [[3110.0, 697.0, 95.0, 0.0], [4026.0, 872.0, 188.0, 0.0], [3024.0, 630.0, 279.0, 0.0], [1704.0, 271.0, 257.0, 0.0], [542.0, 65.0, 116.0, 0.0], [104.0, 3.0, 31.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.228515625, "command_abs_max": [0.9951798915863037, 0.399549275636673, 0.6993341445922852]}
{"step": 26600, "actor_lr": 4.822023874826885e-05, "archive_windows": 50000, "env_steps": 26600, "total_transitions": 108953600, "num_steps_per_env": 1, "wm_loss": 0.632219672203064, "actor_loss": -9.493621826171875, "critic_loss": 0.006435306277126074, "reward": 0.08726447820663452, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11565355956554413, 0.07021008431911469, 0.13551180064678192], "mean_episode_length": 1325.1167883211679, "episode_reward_terms": {"track_linear_velocity": 46.96024703979492, "track_angular_velocity": 50.041648864746094, "upright": 25.494659423828125, "leg_posture": -2.5379414558410645, "standstill": -5.730839729309082, "action_rate_l2": -0.5658248662948608, "joint_torques_l2": -0.14494089782238007, "dof_pos_limits": -0.0003743741544894874, "terminated": -0.01552871149033308, "unnecessary_wheel_lift": -0.08548249304294586, "rolling_leg_motion": -0.5961573719978333, "obstacle_progress": 3.4290478229522705, "wheel_body_intrusion": -0.2938738763332367, "pair_body_intrusion": -0.31899911165237427}, "weighted_reward_terms": {"track_linear_velocity": 1.7719285488128662, "track_angular_velocity": 1.8881977796554565, "upright": 0.9619778394699097, "leg_posture": -0.09576293081045151, "standstill": -0.2162390500307083, "action_rate_l2": -0.02135000005364418, "joint_torques_l2": -0.00546898553147912, "dof_pos_limits": -1.4126081623544451e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.003225470194593072, "rolling_leg_motion": -0.022494520992040634, "obstacle_progress": 0.12938661873340607, "wheel_body_intrusion": -0.011088603176176548, "pair_body_intrusion": -0.012036641128361225}, "episode_termination_rates": {"time_out": 0.43795620437956206, "fell_over": 0.021897810218978103, "course_exit": 0.5182481751824818, "illegal_nonwheel_contact": 0.029197080291970802}, "collection_time_s": 0.0761587875999976, "learning_time_s": 0.18504529174417259, "iteration_time_s": 0.321872656715903, "policy_updates": 26300, "skipped_updates": 0, "invalid_env_resets": 133, "elapsed_s": 8561.812668643019, "nonwheel_terminations": 12504, "contact_bce": 0.2928527593612671, "contact_force_loss": 0.02053268998861313, "collision_bce": 1.4905552234267816e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.4931961231923196e-05, "collision_label_count": 16342.0, "terrain_level_mean": 3.687255859375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [7, 40, 80, 100, 64, 119], "episodes_by_level": [[1428.0, 311.0, 49.0, 0.0], [1716.0, 383.0, 38.0, 0.0], [1284.0, 300.0, 28.0, 0.0], [878.0, 196.0, 17.0, 0.0], [475.0, 124.0, 13.0, 0.0], [442.0, 100.0, 5.0, 0.0]]}, "up": {"level_counts": [0, 0, 12, 80, 466, 875], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4283.0, 1740.0, 165.0, 0.0], [4331.0, 1592.0, 195.0, 0.0], [4012.0, 1123.0, 158.0, 0.0], [2373.0, 320.0, 148.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 3, 50, 560], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1630.0, 1295.0, 64.0, 0.0], [6506.0, 5265.0, 234.0, 0.0]]}, "platform": {"level_counts": [23, 59, 111, 107, 78, 32], "episodes_by_level": [[1704.0, 367.0, 51.0, 0.0], [1919.0, 391.0, 79.0, 0.0], [1314.0, 258.0, 69.0, 0.0], [840.0, 138.0, 41.0, 0.0], [337.0, 49.0, 28.0, 0.0], [87.0, 10.0, 17.0, 0.0]]}, "slope": {"level_counts": [22, 45, 97, 86, 69, 91], "episodes_by_level": [[1547.0, 328.0, 45.0, 0.0], [1769.0, 366.0, 67.0, 0.0], [1258.0, 268.0, 37.0, 0.0], [790.0, 167.0, 22.0, 0.0], [482.0, 101.0, 7.0, 0.0], [385.0, 63.0, 10.0, 0.0]]}, "rubble": {"level_counts": [55, 152, 239, 219, 120, 34], "episodes_by_level": [[3112.0, 697.0, 95.0, 0.0], [4031.0, 875.0, 188.0, 0.0], [3028.0, 630.0, 280.0, 0.0], [1708.0, 271.0, 257.0, 0.0], [544.0, 65.0, 117.0, 0.0], [104.0, 3.0, 31.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.222900390625, "command_abs_max": [0.9971209764480591, 0.399549275636673, 0.6993341445922852]}
{"step": 26650, "actor_lr": 4.805763253958332e-05, "archive_windows": 50000, "env_steps": 26650, "total_transitions": 109158400, "num_steps_per_env": 1, "wm_loss": 0.6318126320838928, "actor_loss": -9.506175994873047, "critic_loss": 0.004642119165509939, "reward": 0.08715599775314331, "falls": 4, "interval_steps": 50, "velocity_mae": [0.11771850287914276, 0.07104294747114182, 0.13498443365097046], "mean_episode_length": 1339.496551724138, "episode_reward_terms": {"track_linear_velocity": 47.325050354003906, "track_angular_velocity": 50.601951599121094, "upright": 25.75067138671875, "leg_posture": -2.542093276977539, "standstill": -5.812606334686279, "action_rate_l2": -0.5824458599090576, "joint_torques_l2": -0.14664460718631744, "dof_pos_limits": -0.0009318037773482502, "terminated": -0.01046481542289257, "unnecessary_wheel_lift": -0.08812098950147629, "rolling_leg_motion": -0.5989866256713867, "obstacle_progress": 3.4539716243743896, "wheel_body_intrusion": -0.2790418863296509, "pair_body_intrusion": -0.3251381516456604}, "weighted_reward_terms": {"track_linear_velocity": 1.7665237188339233, "track_angular_velocity": 1.8888421058654785, "upright": 0.9612070918083191, "leg_posture": -0.09488987922668457, "standstill": -0.2169698029756546, "action_rate_l2": -0.021741222590208054, "joint_torques_l2": -0.005473869852721691, "dof_pos_limits": -3.4781867725541815e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.0032893323805183172, "rolling_leg_motion": -0.022358646616339684, "obstacle_progress": 0.12892797589302063, "wheel_body_intrusion": -0.010415923781692982, "pair_body_intrusion": -0.012136580422520638}, "episode_termination_rates": {"time_out": 0.4482758620689655, "fell_over": 0.013793103448275862, "course_exit": 0.5241379310344828, "illegal_nonwheel_contact": 0.020689655172413793}, "collection_time_s": 0.07572556388098746, "learning_time_s": 0.18517926710192115, "iteration_time_s": 0.32175831263200827, "policy_updates": 26350, "skipped_updates": 0, "invalid_env_resets": 133, "elapsed_s": 8574.85903164302, "nonwheel_terminations": 12507, "contact_bce": 0.29363295435905457, "contact_force_loss": 0.020065976306796074, "collision_bce": 0.000223432551138103, "collision_label_rate": 0.00012262415839359164, "collision_prediction_mean": 7.987895514816046e-05, "collision_label_count": 16310.0, "terrain_level_mean": 3.69287109375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [7, 39, 81, 100, 63, 120], "episodes_by_level": [[1428.0, 311.0, 49.0, 0.0], [1718.0, 384.0, 38.0, 0.0], [1286.0, 300.0, 28.0, 0.0], [880.0, 196.0, 17.0, 0.0], [477.0, 125.0, 13.0, 0.0], [443.0, 101.0, 5.0, 0.0]]}, "up": {"level_counts": [0, 0, 12, 79, 462, 880], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4283.0, 1740.0, 165.0, 0.0], [4333.0, 1593.0, 195.0, 0.0], [4024.0, 1129.0, 158.0, 0.0], [2394.0, 325.0, 148.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 3, 45, 565], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1636.0, 1301.0, 64.0, 0.0], [6527.0, 5283.0, 234.0, 0.0]]}, "platform": {"level_counts": [23, 59, 111, 106, 79, 32], "episodes_by_level": [[1704.0, 367.0, 51.0, 0.0], [1920.0, 391.0, 79.0, 0.0], [1315.0, 258.0, 69.0, 0.0], [842.0, 140.0, 41.0, 0.0], [340.0, 49.0, 29.0, 0.0], [87.0, 10.0, 17.0, 0.0]]}, "slope": {"level_counts": [22, 45, 95, 88, 69, 91], "episodes_by_level": [[1547.0, 328.0, 45.0, 0.0], [1769.0, 366.0, 67.0, 0.0], [1264.0, 270.0, 37.0, 0.0], [793.0, 167.0, 22.0, 0.0], [483.0, 101.0, 7.0, 0.0], [387.0, 63.0, 10.0, 0.0]]}, "rubble": {"level_counts": [55, 151, 238, 218, 122, 35], "episodes_by_level": [[3114.0, 697.0, 95.0, 0.0], [4037.0, 876.0, 188.0, 0.0], [3037.0, 632.0, 280.0, 0.0], [1716.0, 275.0, 257.0, 0.0], [548.0, 66.0, 118.0, 0.0], [104.0, 3.0, 31.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.221435546875, "command_abs_max": [0.999808132648468, 0.399549275636673, 0.699292004108429]}
{"step": 26700, "actor_lr": 4.78942825593262e-05, "archive_windows": 50000, "env_steps": 26700, "total_transitions": 109363200, "num_steps_per_env": 1, "wm_loss": 0.608171820640564, "actor_loss": -9.512603759765625, "critic_loss": 0.003860023571178317, "reward": 0.08705392479896545, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11763213574886322, 0.07158834487199783, 0.13622041046619415], "mean_episode_length": 1349.4415584415585, "episode_reward_terms": {"track_linear_velocity": 47.63787078857422, "track_angular_velocity": 50.94208526611328, "upright": 25.9099178314209, "leg_posture": -2.550029993057251, "standstill": -5.857565879821777, "action_rate_l2": -0.5876925587654114, "joint_torques_l2": -0.146853506565094, "dof_pos_limits": -0.0007494697929359972, "terminated": -0.013178138062357903, "unnecessary_wheel_lift": -0.08877509832382202, "rolling_leg_motion": -0.6138761043548584, "obstacle_progress": 3.456352949142456, "wheel_body_intrusion": -0.2741542458534241, "pair_body_intrusion": -0.339189738035202}, "weighted_reward_terms": {"track_linear_velocity": 1.765095829963684, "track_angular_velocity": 1.8875247240066528, "upright": 0.9600237607955933, "leg_posture": -0.09448464214801788, "standstill": -0.2170366793870926, "action_rate_l2": -0.021775398403406143, "joint_torques_l2": -0.005441269837319851, "dof_pos_limits": -2.7769627195084468e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.0032893274910748005, "rolling_leg_motion": -0.022745562717318535, "obstacle_progress": 0.1280660480260849, "wheel_body_intrusion": -0.010158063843846321, "pair_body_intrusion": -0.01256778184324503}, "episode_termination_rates": {"time_out": 0.474025974025974, "fell_over": 0.01948051948051948, "course_exit": 0.4935064935064935, "illegal_nonwheel_contact": 0.01948051948051948}, "collection_time_s": 0.07590073883766309, "learning_time_s": 0.18487413784256204, "iteration_time_s": 0.3216441635309748, "policy_updates": 26400, "skipped_updates": 0, "invalid_env_resets": 134, "elapsed_s": 8587.899166277028, "nonwheel_terminations": 12510, "contact_bce": 0.2917290925979614, "contact_force_loss": 0.019976241514086723, "collision_bce": 3.072863182751462e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 2.9117025405867025e-05, "collision_label_count": 16332.0, "terrain_level_mean": 3.69580078125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [7, 39, 81, 100, 62, 121], "episodes_by_level": [[1429.0, 311.0, 49.0, 0.0], [1719.0, 384.0, 38.0, 0.0], [1288.0, 300.0, 28.0, 0.0], [883.0, 196.0, 17.0, 0.0], [480.0, 126.0, 13.0, 0.0], [447.0, 103.0, 5.0, 0.0]]}, "up": {"level_counts": [0, 0, 12, 80, 457, 884], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4283.0, 1740.0, 165.0, 0.0], [4334.0, 1593.0, 195.0, 0.0], [4038.0, 1133.0, 158.0, 0.0], [2415.0, 327.0, 148.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 3, 44, 566], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1639.0, 1304.0, 64.0, 0.0], [6550.0, 5304.0, 234.0, 0.0]]}, "platform": {"level_counts": [22, 60, 110, 106, 80, 32], "episodes_by_level": [[1705.0, 368.0, 51.0, 0.0], [1921.0, 391.0, 79.0, 0.0], [1317.0, 259.0, 69.0, 0.0], [846.0, 141.0, 41.0, 0.0], [344.0, 49.0, 29.0, 0.0], [88.0, 10.0, 17.0, 0.0]]}, "slope": {"level_counts": [22, 45, 94, 87, 71, 91], "episodes_by_level": [[1548.0, 328.0, 45.0, 0.0], [1771.0, 366.0, 67.0, 0.0], [1268.0, 272.0, 37.0, 0.0], [798.0, 169.0, 23.0, 0.0], [486.0, 101.0, 7.0, 0.0], [389.0, 63.0, 10.0, 0.0]]}, "rubble": {"level_counts": [55, 151, 238, 217, 123, 35], "episodes_by_level": [[3115.0, 697.0, 95.0, 0.0], [4043.0, 876.0, 188.0, 0.0], [3044.0, 633.0, 280.0, 0.0], [1719.0, 276.0, 258.0, 0.0], [555.0, 66.0, 118.0, 0.0], [105.0, 3.0, 31.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.221923828125, "command_abs_max": [0.999808132648468, 0.399549275636673, 0.699292004108429]}
{"step": 26750, "actor_lr": 4.7730198883693774e-05, "archive_windows": 50000, "env_steps": 26750, "total_transitions": 109568000, "num_steps_per_env": 1, "wm_loss": 0.6438223719596863, "actor_loss": -9.479669570922852, "critic_loss": 0.008083570748567581, "reward": 0.087142214179039, "falls": 9, "interval_steps": 50, "velocity_mae": [0.1161666214466095, 0.07114624232053757, 0.13567431271076202], "mean_episode_length": 1392.433962264151, "episode_reward_terms": {"track_linear_velocity": 49.27294921875, "track_angular_velocity": 52.570106506347656, "upright": 26.7119197845459, "leg_posture": -2.6278624534606934, "standstill": -6.0578742027282715, "action_rate_l2": -0.605177640914917, "joint_torques_l2": -0.15195202827453613, "dof_pos_limits": -0.0007886232924647629, "terminated": -0.024476375430822372, "unnecessary_wheel_lift": -0.09161151200532913, "rolling_leg_motion": -0.6303731799125671, "obstacle_progress": 3.621429920196533, "wheel_body_intrusion": -0.28633153438568115, "pair_body_intrusion": -0.3601910173892975}, "weighted_reward_terms": {"track_linear_velocity": 1.7693101167678833, "track_angular_velocity": 1.887705683708191, "upright": 0.9591808915138245, "leg_posture": -0.09436219185590744, "standstill": -0.21752823889255524, "action_rate_l2": -0.021730927750468254, "joint_torques_l2": -0.005456346087157726, "dof_pos_limits": -2.8318159820628352e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.0032896180637180805, "rolling_leg_motion": -0.02263565920293331, "obstacle_progress": 0.13003955781459808, "wheel_body_intrusion": -0.010281691327691078, "pair_body_intrusion": -0.012933863326907158}, "episode_termination_rates": {"time_out": 0.5094339622641509, "fell_over": 0.03773584905660377, "course_exit": 0.4339622641509434, "illegal_nonwheel_contact": 0.050314465408805034}, "collection_time_s": 0.07565880557871424, "learning_time_s": 0.18507027148269117, "iteration_time_s": 0.3215303453478884, "policy_updates": 26450, "skipped_updates": 0, "invalid_env_resets": 134, "elapsed_s": 8600.936738056014, "nonwheel_terminations": 12518, "contact_bce": 0.3012329936027527, "contact_force_loss": 0.02023056522011757, "collision_bce": 0.00019835626881103963, "collision_label_rate": 0.00012254151806700975, "collision_prediction_mean": 0.00010741580626927316, "collision_label_count": 16321.0, "terrain_level_mean": 3.697998046875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [7, 39, 80, 101, 62, 121], "episodes_by_level": [[1429.0, 311.0, 49.0, 0.0], [1719.0, 384.0, 38.0, 0.0], [1293.0, 301.0, 28.0, 0.0], [890.0, 196.0, 17.0, 0.0], [481.0, 126.0, 13.0, 0.0], [450.0, 103.0, 5.0, 0.0]]}, "up": {"level_counts": [0, 0, 12, 80, 455, 886], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4283.0, 1740.0, 165.0, 0.0], [4336.0, 1594.0, 195.0, 0.0], [4053.0, 1138.0, 158.0, 0.0], [2434.0, 331.0, 148.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 3, 44, 566], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1639.0, 1304.0, 64.0, 0.0], [6576.0, 5328.0, 234.0, 0.0]]}, "platform": {"level_counts": [22, 59, 110, 104, 83, 32], "episodes_by_level": [[1706.0, 368.0, 51.0, 0.0], [1925.0, 392.0, 79.0, 0.0], [1321.0, 260.0, 69.0, 0.0], [851.0, 144.0, 41.0, 0.0], [347.0, 49.0, 29.0, 0.0], [89.0, 10.0, 17.0, 0.0]]}, "slope": {"level_counts": [22, 45, 94, 87, 71, 91], "episodes_by_level": [[1551.0, 328.0, 45.0, 0.0], [1772.0, 366.0, 67.0, 0.0], [1269.0, 272.0, 37.0, 0.0], [799.0, 169.0, 23.0, 0.0], [487.0, 101.0, 7.0, 0.0], [392.0, 63.0, 10.0, 0.0]]}, "rubble": {"level_counts": [55, 150, 240, 215, 124, 35], "episodes_by_level": [[3115.0, 697.0, 95.0, 0.0], [4052.0, 877.0, 188.0, 0.0], [3047.0, 634.0, 280.0, 0.0], [1729.0, 278.0, 260.0, 0.0], [558.0, 66.0, 119.0, 0.0], [106.0, 3.0, 31.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22412109375, "command_abs_max": [0.999808132648468, 0.399549275636673, 0.699292004108429]}
{"step": 26800, "actor_lr": 4.756539163414003e-05, "archive_windows": 50000, "env_steps": 26800, "total_transitions": 109772800, "num_steps_per_env": 1, "wm_loss": 0.6429009437561035, "actor_loss": -9.505338668823242, "critic_loss": 0.00523614976555109, "reward": 0.08748781681060791, "falls": 4, "interval_steps": 50, "velocity_mae": [0.11508500576019287, 0.07032294571399689, 0.13375182449817657], "mean_episode_length": 1386.9765625, "episode_reward_terms": {"track_linear_velocity": 49.184818267822266, "track_angular_velocity": 52.46846389770508, "upright": 26.641460418701172, "leg_posture": -2.652270793914795, "standstill": -5.931623458862305, "action_rate_l2": -0.5821546912193298, "joint_torques_l2": -0.1513502150774002, "dof_pos_limits": -0.0007825510110706091, "terminated": -0.010835752822458744, "unnecessary_wheel_lift": -0.07115206122398376, "rolling_leg_motion": -0.6083368062973022, "obstacle_progress": 3.6842055320739746, "wheel_body_intrusion": -0.28526729345321655, "pair_body_intrusion": -0.3416125178337097}, "weighted_reward_terms": {"track_linear_velocity": 1.7730947732925415, "track_angular_velocity": 1.891469120979309, "upright": 0.9604149460792542, "leg_posture": -0.09561339765787125, "standstill": -0.21383287012577057, "action_rate_l2": -0.020986465737223625, "joint_torques_l2": -0.005456120241433382, "dof_pos_limits": -2.821067755576223e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.0025650060269981623, "rolling_leg_motion": -0.02193032205104828, "obstacle_progress": 0.13281427323818207, "wheel_body_intrusion": -0.01028378214687109, "pair_body_intrusion": -0.01231500692665577}, "episode_termination_rates": {"time_out": 0.4921875, "fell_over": 0.0078125, "course_exit": 0.484375, "illegal_nonwheel_contact": 0.0234375}, "collection_time_s": 0.07564869469963015, "learning_time_s": 0.18398266529897228, "iteration_time_s": 0.3214149047407094, "policy_updates": 26500, "skipped_updates": 0, "invalid_env_resets": 134, "elapsed_s": 8613.919447051012, "nonwheel_terminations": 12521, "contact_bce": 0.29278573393821716, "contact_force_loss": 0.020487509667873383, "collision_bce": 7.185296453826595e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 7.2506977630837355e-06, "collision_label_count": 16327.0, "terrain_level_mean": 3.701171875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [7, 39, 80, 101, 61, 122], "episodes_by_level": [[1429.0, 311.0, 49.0, 0.0], [1719.0, 384.0, 38.0, 0.0], [1295.0, 301.0, 28.0, 0.0], [894.0, 196.0, 17.0, 0.0], [482.0, 127.0, 13.0, 0.0], [456.0, 105.0, 5.0, 0.0]]}, "up": {"level_counts": [0, 0, 12, 77, 455, 889], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4283.0, 1740.0, 165.0, 0.0], [4341.0, 1597.0, 195.0, 0.0], [4063.0, 1141.0, 158.0, 0.0], [2456.0, 334.0, 148.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 3, 44, 566], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1640.0, 1305.0, 64.0, 0.0], [6591.0, 5341.0, 234.0, 0.0]]}, "platform": {"level_counts": [22, 59, 110, 105, 82, 32], "episodes_by_level": [[1707.0, 368.0, 51.0, 0.0], [1925.0, 392.0, 79.0, 0.0], [1324.0, 260.0, 69.0, 0.0], [853.0, 144.0, 41.0, 0.0], [349.0, 49.0, 30.0, 0.0], [90.0, 10.0, 17.0, 0.0]]}, "slope": {"level_counts": [20, 47, 94, 86, 70, 93], "episodes_by_level": [[1553.0, 330.0, 45.0, 0.0], [1772.0, 366.0, 67.0, 0.0], [1274.0, 272.0, 37.0, 0.0], [800.0, 170.0, 23.0, 0.0], [489.0, 103.0, 7.0, 0.0], [396.0, 63.0, 10.0, 0.0]]}, "rubble": {"level_counts": [55, 150, 241, 211, 127, 35], "episodes_by_level": [[3117.0, 697.0, 95.0, 0.0], [4057.0, 877.0, 188.0, 0.0], [3051.0, 635.0, 280.0, 0.0], [1737.0, 281.0, 262.0, 0.0], [562.0, 66.0, 119.0, 0.0], [106.0, 3.0, 31.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22900390625, "command_abs_max": [0.999808132648468, 0.39947810769081116, 0.699292004108429]}
{"step": 26850, "actor_lr": 4.739987097675242e-05, "archive_windows": 50000, "env_steps": 26850, "total_transitions": 109977600, "num_steps_per_env": 1, "wm_loss": 0.6854940056800842, "actor_loss": -9.513572692871094, "critic_loss": 0.0036164596676826477, "reward": 0.08714082837104797, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11692139506340027, 0.0710030198097229, 0.1344701647758484], "mean_episode_length": 1370.3469387755101, "episode_reward_terms": {"track_linear_velocity": 48.460880279541016, "track_angular_velocity": 51.79579544067383, "upright": 26.31161880493164, "leg_posture": -2.597161054611206, "standstill": -6.127533435821533, "action_rate_l2": -0.5770009160041809, "joint_torques_l2": -0.1482216715812683, "dof_pos_limits": -0.0013131906744092703, "terminated": -0.018735209479928017, "unnecessary_wheel_lift": -0.08495400846004486, "rolling_leg_motion": -0.6041989922523499, "obstacle_progress": 3.586319923400879, "wheel_body_intrusion": -0.2784096300601959, "pair_body_intrusion": -0.303946852684021}, "weighted_reward_terms": {"track_linear_velocity": 1.7681975364685059, "track_angular_velocity": 1.8898789882659912, "upright": 0.9600350260734558, "leg_posture": -0.0947629064321518, "standstill": -0.22357599437236786, "action_rate_l2": -0.021053096279501915, "joint_torques_l2": -0.00540818041190505, "dof_pos_limits": -4.791453466168605e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.003099726280197501, "rolling_leg_motion": -0.022045476362109184, "obstacle_progress": 0.13085445761680603, "wheel_body_intrusion": -0.010158363729715347, "pair_body_intrusion": -0.011090142652392387}, "episode_termination_rates": {"time_out": 0.48299319727891155, "fell_over": 0.034013605442176874, "course_exit": 0.46938775510204084, "illegal_nonwheel_contact": 0.027210884353741496}, "collection_time_s": 0.07573068938450887, "learning_time_s": 0.1831216344574932, "iteration_time_s": 0.3212984432064424, "policy_updates": 26550, "skipped_updates": 0, "invalid_env_resets": 134, "elapsed_s": 8626.86320009298, "nonwheel_terminations": 12525, "contact_bce": 0.29937490820884705, "contact_force_loss": 0.021619658917188644, "collision_bce": 0.0001261703291675076, "collision_label_rate": 6.113964627729729e-05, "collision_prediction_mean": 0.0001089407378458418, "collision_label_count": 16356.0, "terrain_level_mean": 3.704345703125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [7, 39, 80, 101, 59, 124], "episodes_by_level": [[1429.0, 311.0, 49.0, 0.0], [1720.0, 384.0, 38.0, 0.0], [1298.0, 302.0, 28.0, 0.0], [897.0, 196.0, 18.0, 0.0], [486.0, 129.0, 13.0, 0.0], [461.0, 106.0, 5.0, 0.0]]}, "up": {"level_counts": [0, 0, 12, 77, 453, 891], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4283.0, 1740.0, 165.0, 0.0], [4342.0, 1597.0, 195.0, 0.0], [4076.0, 1147.0, 158.0, 0.0], [2480.0, 338.0, 151.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 3, 42, 568], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1642.0, 1307.0, 64.0, 0.0], [6613.0, 5361.0, 234.0, 0.0]]}, "platform": {"level_counts": [21, 60, 110, 105, 82, 32], "episodes_by_level": [[1708.0, 369.0, 51.0, 0.0], [1928.0, 392.0, 79.0, 0.0], [1327.0, 260.0, 69.0, 0.0], [855.0, 144.0, 41.0, 0.0], [353.0, 49.0, 30.0, 0.0], [92.0, 10.0, 17.0, 0.0]]}, "slope": {"level_counts": [20, 47, 94, 84, 71, 94], "episodes_by_level": [[1554.0, 330.0, 45.0, 0.0], [1773.0, 366.0, 67.0, 0.0], [1277.0, 272.0, 37.0, 0.0], [802.0, 172.0, 23.0, 0.0], [491.0, 104.0, 7.0, 0.0], [396.0, 63.0, 10.0, 0.0]]}, "rubble": {"level_counts": [53, 151, 242, 211, 127, 35], "episodes_by_level": [[3119.0, 699.0, 95.0, 0.0], [4066.0, 879.0, 188.0, 0.0], [3059.0, 636.0, 281.0, 0.0], [1740.0, 281.0, 263.0, 0.0], [564.0, 66.0, 119.0, 0.0], [107.0, 3.0, 31.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.232666015625, "command_abs_max": [0.999808132648468, 0.39947810769081116, 0.699292004108429]}
{"step": 26900, "actor_lr": 4.723364712162478e-05, "archive_windows": 50000, "env_steps": 26900, "total_transitions": 110182400, "num_steps_per_env": 1, "wm_loss": 0.6657167673110962, "actor_loss": -9.506129264831543, "critic_loss": 0.007565358188003302, "reward": 0.08691421896219254, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11609616130590439, 0.07176531106233597, 0.135667085647583], "mean_episode_length": 1338.0985915492959, "episode_reward_terms": {"track_linear_velocity": 47.327980041503906, "track_angular_velocity": 50.530364990234375, "upright": 25.670740127563477, "leg_posture": -2.5265870094299316, "standstill": -6.2325358390808105, "action_rate_l2": -0.5866450667381287, "joint_torques_l2": -0.14573919773101807, "dof_pos_limits": -0.001255096634849906, "terminated": -0.02090778760612011, "unnecessary_wheel_lift": -0.07505019754171371, "rolling_leg_motion": -0.5912553668022156, "obstacle_progress": 3.5002341270446777, "wheel_body_intrusion": -0.2602165937423706, "pair_body_intrusion": -0.28933000564575195}, "weighted_reward_terms": {"track_linear_velocity": 1.7684788703918457, "track_angular_velocity": 1.8881405591964722, "upright": 0.9592245221138, "leg_posture": -0.09440959990024567, "standstill": -0.23288775980472565, "action_rate_l2": -0.02192084677517414, "joint_torques_l2": -0.005445756949484348, "dof_pos_limits": -4.689850902650505e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0028043596539646387, "rolling_leg_motion": -0.022093117237091064, "obstacle_progress": 0.1307913362979889, "wheel_body_intrusion": -0.009723370894789696, "pair_body_intrusion": -0.010811236687004566}, "episode_termination_rates": {"time_out": 0.5, "fell_over": 0.04225352112676056, "course_exit": 0.44366197183098594, "illegal_nonwheel_contact": 0.02112676056338028}, "collection_time_s": 0.07572180514340289, "learning_time_s": 0.18382996183470823, "iteration_time_s": 0.3211837150714491, "policy_updates": 26600, "skipped_updates": 0, "invalid_env_resets": 134, "elapsed_s": 8639.84193542198, "nonwheel_terminations": 12528, "contact_bce": 0.2900756895542145, "contact_force_loss": 0.020296871662139893, "collision_bce": 0.0003259082150179893, "collision_label_rate": 0.0001223017170559615, "collision_prediction_mean": 4.7825462388573214e-05, "collision_label_count": 16353.0, "terrain_level_mean": 3.706787109375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [7, 39, 80, 101, 59, 124], "episodes_by_level": [[1429.0, 311.0, 49.0, 0.0], [1720.0, 384.0, 38.0, 0.0], [1299.0, 302.0, 28.0, 0.0], [898.0, 196.0, 18.0, 0.0], [487.0, 129.0, 13.0, 0.0], [467.0, 108.0, 5.0, 0.0]]}, "up": {"level_counts": [0, 0, 12, 75, 449, 897], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4283.0, 1740.0, 165.0, 0.0], [4346.0, 1599.0, 195.0, 0.0], [4088.0, 1153.0, 158.0, 0.0], [2498.0, 342.0, 151.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 3, 43, 567], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1643.0, 1308.0, 64.0, 0.0], [6633.0, 5378.0, 234.0, 0.0]]}, "platform": {"level_counts": [20, 61, 110, 105, 82, 32], "episodes_by_level": [[1710.0, 370.0, 51.0, 0.0], [1929.0, 392.0, 79.0, 0.0], [1328.0, 260.0, 69.0, 0.0], [859.0, 144.0, 41.0, 0.0], [353.0, 49.0, 30.0, 0.0], [95.0, 10.0, 17.0, 0.0]]}, "slope": {"level_counts": [20, 47, 93, 84, 72, 94], "episodes_by_level": [[1555.0, 330.0, 45.0, 0.0], [1776.0, 366.0, 67.0, 0.0], [1281.0, 273.0, 37.0, 0.0], [807.0, 173.0, 23.0, 0.0], [492.0, 104.0, 7.0, 0.0], [397.0, 63.0, 10.0, 0.0]]}, "rubble": {"level_counts": [54, 150, 242, 210, 128, 35], "episodes_by_level": [[3121.0, 700.0, 95.0, 0.0], [4070.0, 880.0, 190.0, 0.0], [3067.0, 638.0, 282.0, 0.0], [1747.0, 282.0, 265.0, 0.0], [568.0, 67.0, 119.0, 0.0], [109.0, 3.0, 32.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.232666015625, "command_abs_max": [0.999808132648468, 0.39947810769081116, 0.6991676092147827]}
{"step": 26950, "actor_lr": 4.706673032222748e-05, "archive_windows": 50000, "env_steps": 26950, "total_transitions": 110387200, "num_steps_per_env": 1, "wm_loss": 0.6565853953361511, "actor_loss": -9.51462459564209, "critic_loss": 0.003692760830745101, "reward": 0.08750151097774506, "falls": 2, "interval_steps": 50, "velocity_mae": [0.11633235961198807, 0.07092221826314926, 0.13489404320716858], "mean_episode_length": 1416.4626865671642, "episode_reward_terms": {"track_linear_velocity": 50.11216735839844, "track_angular_velocity": 53.52299118041992, "upright": 27.195960998535156, "leg_posture": -2.6723124980926514, "standstill": -5.886968612670898, "action_rate_l2": -0.6120124459266663, "joint_torques_l2": -0.15250493586063385, "dof_pos_limits": -0.000689587788656354, "terminated": -0.005533056333661079, "unnecessary_wheel_lift": -0.08212585747241974, "rolling_leg_motion": -0.6333878040313721, "obstacle_progress": 3.7614810466766357, "wheel_body_intrusion": -0.25634846091270447, "pair_body_intrusion": -0.34810909628868103}, "weighted_reward_terms": {"track_linear_velocity": 1.7689194679260254, "track_angular_velocity": 1.889318823814392, "upright": 0.959995687007904, "leg_posture": -0.09433049708604813, "standstill": -0.20780529081821442, "action_rate_l2": -0.021603550761938095, "joint_torques_l2": -0.005383302457630634, "dof_pos_limits": -2.434189991618041e-05, "terminated": -0.0001953124738065526, "unnecessary_wheel_lift": -0.0028989773709326982, "rolling_leg_motion": -0.022358084097504616, "obstacle_progress": 0.13277727365493774, "wheel_body_intrusion": -0.00904889591038227, "pair_body_intrusion": -0.01228797435760498}, "episode_termination_rates": {"time_out": 0.5373134328358209, "fell_over": 0.014925373134328358, "course_exit": 0.44776119402985076, "illegal_nonwheel_contact": 0.0}, "collection_time_s": 0.07560911161708646, "learning_time_s": 0.18398820665548554, "iteration_time_s": 0.3210694958621153, "policy_updates": 26650, "skipped_updates": 0, "invalid_env_resets": 134, "elapsed_s": 8652.822913484008, "nonwheel_terminations": 12528, "contact_bce": 0.30058810114860535, "contact_force_loss": 0.021152131259441376, "collision_bce": 0.00010221623233519495, "collision_label_rate": 0.0, "collision_prediction_mean": 8.427436114288867e-05, "collision_label_count": 16341.0, "terrain_level_mean": 3.7109375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [7, 39, 79, 100, 60, 125], "episodes_by_level": [[1429.0, 311.0, 49.0, 0.0], [1722.0, 384.0, 38.0, 0.0], [1302.0, 303.0, 28.0, 0.0], [903.0, 198.0, 18.0, 0.0], [489.0, 130.0, 13.0, 0.0], [468.0, 109.0, 5.0, 0.0]]}, "up": {"level_counts": [0, 0, 11, 76, 447, 899], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4284.0, 1741.0, 165.0, 0.0], [4348.0, 1600.0, 195.0, 0.0], [4098.0, 1155.0, 159.0, 0.0], [2521.0, 345.0, 151.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 3, 43, 567], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1644.0, 1309.0, 64.0, 0.0], [6649.0, 5394.0, 234.0, 0.0]]}, "platform": {"level_counts": [19, 62, 109, 106, 81, 33], "episodes_by_level": [[1711.0, 371.0, 51.0, 0.0], [1931.0, 392.0, 79.0, 0.0], [1331.0, 261.0, 69.0, 0.0], [860.0, 144.0, 41.0, 0.0], [357.0, 50.0, 30.0, 0.0], [95.0, 10.0, 17.0, 0.0]]}, "slope": {"level_counts": [20, 47, 93, 84, 72, 94], "episodes_by_level": [[1556.0, 330.0, 45.0, 0.0], [1776.0, 366.0, 67.0, 0.0], [1283.0, 273.0, 37.0, 0.0], [809.0, 173.0, 23.0, 0.0], [492.0, 104.0, 7.0, 0.0], [399.0, 63.0, 10.0, 0.0]]}, "rubble": {"level_counts": [53, 151, 239, 210, 131, 35], "episodes_by_level": [[3122.0, 701.0, 95.0, 0.0], [4076.0, 880.0, 190.0, 0.0], [3076.0, 641.0, 282.0, 0.0], [1755.0, 285.0, 265.0, 0.0], [569.0, 67.0, 119.0, 0.0], [109.0, 3.0, 32.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.236572265625, "command_abs_max": [0.999808132648468, 0.39947810769081116, 0.6982709765434265]}
{"step": 27000, "actor_lr": 4.689913087477495e-05, "archive_windows": 50000, "env_steps": 27000, "total_transitions": 110592000, "num_steps_per_env": 1, "wm_loss": 0.697394847869873, "actor_loss": -9.494062423706055, "critic_loss": 0.005297710653394461, "reward": 0.08763383328914642, "falls": 7, "interval_steps": 50, "velocity_mae": [0.1159927099943161, 0.0696338340640068, 0.1345362663269043], "mean_episode_length": 1401.25, "episode_reward_terms": {"track_linear_velocity": 49.6658821105957, "track_angular_velocity": 52.963356018066406, "upright": 26.932199478149414, "leg_posture": -2.638428211212158, "standstill": -5.8486104011535645, "action_rate_l2": -0.6023343801498413, "joint_torques_l2": -0.1517030894756317, "dof_pos_limits": -0.0011065362486988306, "terminated": -0.019157713279128075, "unnecessary_wheel_lift": -0.10213498026132584, "rolling_leg_motion": -0.6231867074966431, "obstacle_progress": 3.8053648471832275, "wheel_body_intrusion": -0.26750123500823975, "pair_body_intrusion": -0.31574127078056335}, "weighted_reward_terms": {"track_linear_velocity": 1.7721991539001465, "track_angular_velocity": 1.8898611068725586, "upright": 0.9610062837600708, "leg_posture": -0.0941455215215683, "standstill": -0.20869261026382446, "action_rate_l2": -0.02149275317788124, "joint_torques_l2": -0.005413134582340717, "dof_pos_limits": -3.948390076402575e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0036444237921386957, "rolling_leg_motion": -0.022236814722418785, "obstacle_progress": 0.13578465580940247, "wheel_body_intrusion": -0.009545093402266502, "pair_body_intrusion": -0.011266415007412434}, "episode_termination_rates": {"time_out": 0.5416666666666666, "fell_over": 0.041666666666666664, "course_exit": 0.4097222222222222, "illegal_nonwheel_contact": 0.041666666666666664}, "collection_time_s": 0.07597560464288108, "learning_time_s": 0.1923027100437321, "iteration_time_s": 0.3209717751475918, "policy_updates": 26700, "skipped_updates": 0, "invalid_env_resets": 135, "elapsed_s": 8666.237928984978, "nonwheel_terminations": 12534, "contact_bce": 0.29488974809646606, "contact_force_loss": 0.0202843826264143, "collision_bce": 8.410376722167712e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 8.465222890663426e-06, "collision_label_count": 16338.0, "terrain_level_mean": 3.7138671875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [7, 39, 77, 102, 60, 125], "episodes_by_level": [[1429.0, 311.0, 49.0, 0.0], [1723.0, 384.0, 38.0, 0.0], [1306.0, 305.0, 28.0, 0.0], [907.0, 198.0, 18.0, 0.0], [491.0, 130.0, 13.0, 0.0], [470.0, 109.0, 5.0, 0.0]]}, "up": {"level_counts": [0, 0, 12, 75, 446, 900], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4284.0, 1741.0, 165.0, 0.0], [4349.0, 1600.0, 195.0, 0.0], [4111.0, 1158.0, 159.0, 0.0], [2541.0, 347.0, 152.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 3, 44, 566], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1645.0, 1310.0, 64.0, 0.0], [6663.0, 5408.0, 234.0, 0.0]]}, "platform": {"level_counts": [19, 61, 110, 105, 82, 33], "episodes_by_level": [[1711.0, 371.0, 51.0, 0.0], [1932.0, 393.0, 79.0, 0.0], [1334.0, 261.0, 69.0, 0.0], [863.0, 145.0, 41.0, 0.0], [359.0, 50.0, 30.0, 0.0], [95.0, 10.0, 17.0, 0.0]]}, "slope": {"level_counts": [20, 47, 90, 87, 72, 94], "episodes_by_level": [[1556.0, 330.0, 45.0, 0.0], [1780.0, 367.0, 67.0, 0.0], [1287.0, 276.0, 38.0, 0.0], [811.0, 173.0, 23.0, 0.0], [494.0, 104.0, 7.0, 0.0], [403.0, 64.0, 10.0, 0.0]]}, "rubble": {"level_counts": [53, 147, 241, 212, 131, 35], "episodes_by_level": [[3123.0, 701.0, 95.0, 0.0], [4086.0, 884.0, 190.0, 0.0], [3085.0, 644.0, 282.0, 0.0], [1762.0, 285.0, 266.0, 0.0], [571.0, 67.0, 119.0, 0.0], [110.0, 3.0, 32.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2373046875, "command_abs_max": [0.9965019226074219, 0.39947810769081116, 0.6982709765434265]}
{"step": 27050, "actor_lr": 4.673085911759057e-05, "archive_windows": 50000, "env_steps": 27050, "total_transitions": 110796800, "num_steps_per_env": 1, "wm_loss": 0.6410092711448669, "actor_loss": -9.509204864501953, "critic_loss": 0.0053909472189843655, "reward": 0.0876181572675705, "falls": 4, "interval_steps": 50, "velocity_mae": [0.11600328981876373, 0.07084284722805023, 0.13547830283641815], "mean_episode_length": 1451.709219858156, "episode_reward_terms": {"track_linear_velocity": 51.40127944946289, "track_angular_velocity": 54.83248519897461, "upright": 27.863935470581055, "leg_posture": -2.782447576522827, "standstill": -5.801568984985352, "action_rate_l2": -0.612486720085144, "joint_torques_l2": -0.15946100652217865, "dof_pos_limits": -0.0010200623655691743, "terminated": -0.011341475881636143, "unnecessary_wheel_lift": -0.09144221991300583, "rolling_leg_motion": -0.6517683863639832, "obstacle_progress": 3.8225975036621094, "wheel_body_intrusion": -0.2901704013347626, "pair_body_intrusion": -0.3225139081478119}, "weighted_reward_terms": {"track_linear_velocity": 1.7703710794448853, "track_angular_velocity": 1.8885492086410522, "upright": 0.9596940875053406, "leg_posture": -0.09583350270986557, "standstill": -0.19981856644153595, "action_rate_l2": -0.021095365285873413, "joint_torques_l2": -0.005492181517183781, "dof_pos_limits": -3.513315095915459e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.003149467520415783, "rolling_leg_motion": -0.022448310628533363, "obstacle_progress": 0.13165850937366486, "wheel_body_intrusion": -0.00999409519135952, "pair_body_intrusion": -0.011108075268566608}, "episode_termination_rates": {"time_out": 0.5673758865248227, "fell_over": 0.02127659574468085, "course_exit": 0.40425531914893614, "illegal_nonwheel_contact": 0.014184397163120567}, "collection_time_s": 0.07583187614218331, "learning_time_s": 0.18520580859621988, "iteration_time_s": 0.32108469850136884, "policy_updates": 26750, "skipped_updates": 0, "invalid_env_resets": 136, "elapsed_s": 8685.341094462026, "nonwheel_terminations": 12536, "contact_bce": 0.29540008306503296, "contact_force_loss": 0.020712129771709442, "collision_bce": 0.00028455525171011686, "collision_label_rate": 0.00012245148536749184, "collision_prediction_mean": 6.744633719790727e-05, "collision_label_count": 16333.0, "terrain_level_mean": 3.716552734375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [7, 39, 77, 100, 61, 126], "episodes_by_level": [[1429.0, 311.0, 49.0, 0.0], [1723.0, 384.0, 38.0, 0.0], [1310.0, 305.0, 28.0, 0.0], [909.0, 200.0, 18.0, 0.0], [495.0, 131.0, 13.0, 0.0], [474.0, 109.0, 5.0, 0.0]]}, "up": {"level_counts": [0, 0, 12, 74, 444, 903], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4284.0, 1741.0, 165.0, 0.0], [4351.0, 1601.0, 195.0, 0.0], [4123.0, 1161.0, 159.0, 0.0], [2569.0, 354.0, 153.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 3, 42, 568], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1647.0, 1312.0, 64.0, 0.0], [6673.0, 5417.0, 234.0, 0.0]]}, "platform": {"level_counts": [20, 59, 111, 105, 82, 33], "episodes_by_level": [[1712.0, 371.0, 51.0, 0.0], [1936.0, 394.0, 80.0, 0.0], [1339.0, 261.0, 69.0, 0.0], [865.0, 145.0, 41.0, 0.0], [359.0, 50.0, 30.0, 0.0], [96.0, 10.0, 17.0, 0.0]]}, "slope": {"level_counts": [20, 47, 90, 87, 72, 94], "episodes_by_level": [[1556.0, 330.0, 45.0, 0.0], [1780.0, 367.0, 67.0, 0.0], [1289.0, 276.0, 38.0, 0.0], [814.0, 173.0, 23.0, 0.0], [497.0, 104.0, 7.0, 0.0], [405.0, 65.0, 10.0, 0.0]]}, "rubble": {"level_counts": [53, 144, 245, 211, 131, 35], "episodes_by_level": [[3123.0, 701.0, 95.0, 0.0], [4091.0, 887.0, 190.0, 0.0], [3090.0, 645.0, 282.0, 0.0], [1769.0, 285.0, 268.0, 0.0], [575.0, 67.0, 119.0, 0.0], [111.0, 3.0, 32.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234375, "command_abs_max": [0.9965019226074219, 0.3996496796607971, 0.6990044116973877]}
{"step": 27100, "actor_lr": 4.656192543046896e-05, "archive_windows": 50000, "env_steps": 27100, "total_transitions": 111001600, "num_steps_per_env": 1, "wm_loss": 0.6498745083808899, "actor_loss": -9.48663330078125, "critic_loss": 0.00483839912340045, "reward": 0.08752871304750443, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11550979316234589, 0.07022567838430405, 0.13515470921993256], "mean_episode_length": 1438.6129032258063, "episode_reward_terms": {"track_linear_velocity": 51.01884460449219, "track_angular_velocity": 54.3521614074707, "upright": 27.62729835510254, "leg_posture": -2.792832136154175, "standstill": -5.929452896118164, "action_rate_l2": -0.6265691518783569, "joint_torques_l2": -0.15678618848323822, "dof_pos_limits": -0.0005223273183219135, "terminated": -0.014048952609300613, "unnecessary_wheel_lift": -0.09623461216688156, "rolling_leg_motion": -0.6667512655258179, "obstacle_progress": 3.8122808933258057, "wheel_body_intrusion": -0.2890099883079529, "pair_body_intrusion": -0.3184499740600586}, "weighted_reward_terms": {"track_linear_velocity": 1.773195743560791, "track_angular_velocity": 1.8890475034713745, "upright": 0.9602062106132507, "leg_posture": -0.09706684201955795, "standstill": -0.2060822993516922, "action_rate_l2": -0.021776849403977394, "joint_torques_l2": -0.005449214018881321, "dof_pos_limits": -1.8153850760427304e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.0033447013702243567, "rolling_leg_motion": -0.023173408582806587, "obstacle_progress": 0.13249850273132324, "wheel_body_intrusion": -0.010044745169579983, "pair_body_intrusion": -0.011067952960729599}, "episode_termination_rates": {"time_out": 0.5161290322580645, "fell_over": 0.01935483870967742, "course_exit": 0.45161290322580644, "illegal_nonwheel_contact": 0.025806451612903226}, "collection_time_s": 0.07557445106212982, "learning_time_s": 0.18399677646229975, "iteration_time_s": 0.3209712449194089, "policy_updates": 26800, "skipped_updates": 0, "invalid_env_resets": 136, "elapsed_s": 8698.320737315982, "nonwheel_terminations": 12540, "contact_bce": 0.2980439364910126, "contact_force_loss": 0.021454835310578346, "collision_bce": 0.0002986627514474094, "collision_label_rate": 6.115833821240813e-05, "collision_prediction_mean": 9.14467527763918e-05, "collision_label_count": 16351.0, "terrain_level_mean": 3.718994140625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [7, 37, 77, 102, 61, 126], "episodes_by_level": [[1429.0, 311.0, 49.0, 0.0], [1726.0, 386.0, 38.0, 0.0], [1314.0, 307.0, 28.0, 0.0], [910.0, 200.0, 18.0, 0.0], [498.0, 131.0, 13.0, 0.0], [476.0, 109.0, 5.0, 0.0]]}, "up": {"level_counts": [0, 0, 12, 73, 444, 904], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4284.0, 1741.0, 165.0, 0.0], [4357.0, 1602.0, 195.0, 0.0], [4136.0, 1162.0, 159.0, 0.0], [2590.0, 357.0, 153.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 3, 45, 565], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1647.0, 1312.0, 64.0, 0.0], [6691.0, 5432.0, 235.0, 0.0]]}, "platform": {"level_counts": [20, 58, 111, 107, 81, 33], "episodes_by_level": [[1712.0, 371.0, 51.0, 0.0], [1939.0, 395.0, 80.0, 0.0], [1343.0, 262.0, 69.0, 0.0], [873.0, 145.0, 41.0, 0.0], [363.0, 50.0, 31.0, 0.0], [96.0, 10.0, 17.0, 0.0]]}, "slope": {"level_counts": [20, 47, 89, 88, 72, 94], "episodes_by_level": [[1557.0, 330.0, 45.0, 0.0], [1783.0, 367.0, 67.0, 0.0], [1292.0, 277.0, 38.0, 0.0], [816.0, 173.0, 23.0, 0.0], [498.0, 104.0, 7.0, 0.0], [412.0, 66.0, 10.0, 0.0]]}, "rubble": {"level_counts": [50, 147, 243, 214, 129, 36], "episodes_by_level": [[3127.0, 704.0, 95.0, 0.0], [4092.0, 887.0, 190.0, 0.0], [3103.0, 647.0, 282.0, 0.0], [1774.0, 285.0, 268.0, 0.0], [579.0, 68.0, 120.0, 0.0], [113.0, 3.0, 32.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.233154296875, "command_abs_max": [0.9965019226074219, 0.3996496796607971, 0.6995944976806641]}
{"step": 27150, "actor_lr": 4.639234023403569e-05, "archive_windows": 50000, "env_steps": 27150, "total_transitions": 111206400, "num_steps_per_env": 1, "wm_loss": 0.6421705484390259, "actor_loss": -9.502870559692383, "critic_loss": 0.0029496036004275084, "reward": 0.087274931371212, "falls": 0, "interval_steps": 50, "velocity_mae": [0.11628293991088867, 0.07052648812532425, 0.13533717393875122], "mean_episode_length": 1350.2898550724638, "episode_reward_terms": {"track_linear_velocity": 47.799346923828125, "track_angular_velocity": 51.00145721435547, "upright": 25.93613624572754, "leg_posture": -2.5859427452087402, "standstill": -5.823948383331299, "action_rate_l2": -0.5728869438171387, "joint_torques_l2": -0.14687249064445496, "dof_pos_limits": -0.0008670848910696805, "terminated": 0.0, "unnecessary_wheel_lift": -0.08713614195585251, "rolling_leg_motion": -0.6185020208358765, "obstacle_progress": 3.534973621368408, "wheel_body_intrusion": -0.27507513761520386, "pair_body_intrusion": -0.31422603130340576}, "weighted_reward_terms": {"track_linear_velocity": 1.7699663639068604, "track_angular_velocity": 1.8885375261306763, "upright": 0.9603914618492126, "leg_posture": -0.09575510770082474, "standstill": -0.21565549075603485, "action_rate_l2": -0.021213481202721596, "joint_torques_l2": -0.0054385545663535595, "dof_pos_limits": -3.210736394976266e-05, "terminated": 0.0, "unnecessary_wheel_lift": -0.0032265717163681984, "rolling_leg_motion": -0.02290256693959236, "obstacle_progress": 0.13089685142040253, "wheel_body_intrusion": -0.010185781866312027, "pair_body_intrusion": -0.011635503731667995}, "episode_termination_rates": {"time_out": 0.39855072463768115, "fell_over": 0.0, "course_exit": 0.6014492753623188, "illegal_nonwheel_contact": 0.0}, "collection_time_s": 0.07575292687513865, "learning_time_s": 0.18298130298033358, "iteration_time_s": 0.3208566745834251, "policy_updates": 26850, "skipped_updates": 0, "invalid_env_resets": 137, "elapsed_s": 8711.258714939991, "nonwheel_terminations": 12540, "contact_bce": 0.29924824833869934, "contact_force_loss": 0.020777808502316475, "collision_bce": 1.0518071576370858e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.0554087566561066e-05, "collision_label_count": 16355.0, "terrain_level_mean": 3.723388671875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [7, 37, 77, 100, 63, 126], "episodes_by_level": [[1429.0, 311.0, 49.0, 0.0], [1726.0, 386.0, 38.0, 0.0], [1315.0, 307.0, 28.0, 0.0], [912.0, 202.0, 18.0, 0.0], [498.0, 131.0, 13.0, 0.0], [481.0, 111.0, 5.0, 0.0]]}, "up": {"level_counts": [0, 0, 11, 74, 442, 906], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4285.0, 1742.0, 165.0, 0.0], [4360.0, 1602.0, 195.0, 0.0], [4147.0, 1164.0, 159.0, 0.0], [2618.0, 361.0, 153.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 3, 43, 567], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1649.0, 1314.0, 64.0, 0.0], [6715.0, 5453.0, 235.0, 0.0]]}, "platform": {"level_counts": [20, 57, 112, 106, 82, 33], "episodes_by_level": [[1712.0, 371.0, 51.0, 0.0], [1942.0, 396.0, 80.0, 0.0], [1345.0, 262.0, 69.0, 0.0], [876.0, 146.0, 41.0, 0.0], [364.0, 50.0, 31.0, 0.0], [96.0, 10.0, 17.0, 0.0]]}, "slope": {"level_counts": [20, 47, 88, 88, 72, 95], "episodes_by_level": [[1557.0, 330.0, 45.0, 0.0], [1783.0, 367.0, 67.0, 0.0], [1295.0, 278.0, 38.0, 0.0], [818.0, 174.0, 23.0, 0.0], [506.0, 105.0, 7.0, 0.0], [414.0, 67.0, 10.0, 0.0]]}, "rubble": {"level_counts": [50, 147, 238, 218, 130, 36], "episodes_by_level": [[3127.0, 704.0, 95.0, 0.0], [4098.0, 887.0, 190.0, 0.0], [3118.0, 652.0, 282.0, 0.0], [1775.0, 286.0, 268.0, 0.0], [584.0, 68.0, 120.0, 0.0], [115.0, 3.0, 32.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22607421875, "command_abs_max": [0.9939289093017578, 0.3996496796607971, 0.6995944976806641]}
{"step": 27200, "actor_lr": 4.622211398910448e-05, "archive_windows": 50000, "env_steps": 27200, "total_transitions": 111411200, "num_steps_per_env": 1, "wm_loss": 0.6473572254180908, "actor_loss": -9.503684997558594, "critic_loss": 0.002943977015092969, "reward": 0.08764968812465668, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11472221463918686, 0.06958777457475662, 0.13435420393943787], "mean_episode_length": 1334.4041095890411, "episode_reward_terms": {"track_linear_velocity": 47.37324905395508, "track_angular_velocity": 50.44440841674805, "upright": 25.64371681213379, "leg_posture": -2.5871126651763916, "standstill": -5.441371917724609, "action_rate_l2": -0.5647076964378357, "joint_torques_l2": -0.14616940915584564, "dof_pos_limits": -0.0008173047099262476, "terminated": -0.02345631830394268, "unnecessary_wheel_lift": -0.08501295000314713, "rolling_leg_motion": -0.5971415042877197, "obstacle_progress": 3.518883228302002, "wheel_body_intrusion": -0.27344202995300293, "pair_body_intrusion": -0.3009324073791504}, "weighted_reward_terms": {"track_linear_velocity": 1.775071382522583, "track_angular_velocity": 1.8901475667953491, "upright": 0.9608677625656128, "leg_posture": -0.09693888574838638, "standstill": -0.2038877308368683, "action_rate_l2": -0.021159546449780464, "joint_torques_l2": -0.005476954858750105, "dof_pos_limits": -3.0624334613094106e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.003185427747666836, "rolling_leg_motion": -0.022374838590621948, "obstacle_progress": 0.13185223937034607, "wheel_body_intrusion": -0.010245848447084427, "pair_body_intrusion": -0.011275910772383213}, "episode_termination_rates": {"time_out": 0.4726027397260274, "fell_over": 0.03424657534246575, "course_exit": 0.4657534246575342, "illegal_nonwheel_contact": 0.04794520547945205}, "collection_time_s": 0.07552162848412991, "learning_time_s": 0.18264020526083186, "iteration_time_s": 0.32074146502051437, "policy_updates": 26900, "skipped_updates": 0, "invalid_env_resets": 137, "elapsed_s": 8724.16784855799, "nonwheel_terminations": 12547, "contact_bce": 0.29625457525253296, "contact_force_loss": 0.021329190582036972, "collision_bce": 0.0003684235271066427, "collision_label_rate": 0.00012254151806700975, "collision_prediction_mean": 2.1712910893256776e-05, "collision_label_count": 16321.0, "terrain_level_mean": 3.725341796875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [7, 37, 77, 100, 61, 128], "episodes_by_level": [[1429.0, 311.0, 49.0, 0.0], [1727.0, 386.0, 38.0, 0.0], [1318.0, 307.0, 28.0, 0.0], [913.0, 202.0, 18.0, 0.0], [503.0, 133.0, 13.0, 0.0], [483.0, 111.0, 5.0, 0.0]]}, "up": {"level_counts": [0, 0, 11, 74, 438, 910], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4285.0, 1742.0, 165.0, 0.0], [4361.0, 1603.0, 195.0, 0.0], [4166.0, 1171.0, 159.0, 0.0], [2633.0, 365.0, 154.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 3, 45, 565], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1649.0, 1314.0, 64.0, 0.0], [6737.0, 5472.0, 235.0, 0.0]]}, "platform": {"level_counts": [19, 58, 112, 105, 83, 33], "episodes_by_level": [[1713.0, 372.0, 51.0, 0.0], [1945.0, 396.0, 80.0, 0.0], [1349.0, 262.0, 69.0, 0.0], [879.0, 147.0, 41.0, 0.0], [367.0, 50.0, 31.0, 0.0], [96.0, 10.0, 17.0, 0.0]]}, "slope": {"level_counts": [20, 47, 88, 87, 73, 95], "episodes_by_level": [[1557.0, 330.0, 45.0, 0.0], [1784.0, 367.0, 67.0, 0.0], [1296.0, 278.0, 38.0, 0.0], [819.0, 175.0, 23.0, 0.0], [508.0, 105.0, 7.0, 0.0], [415.0, 67.0, 10.0, 0.0]]}, "rubble": {"level_counts": [50, 147, 237, 219, 130, 36], "episodes_by_level": [[3130.0, 705.0, 95.0, 0.0], [4102.0, 888.0, 191.0, 0.0], [3124.0, 654.0, 283.0, 0.0], [1783.0, 286.0, 269.0, 0.0], [589.0, 68.0, 120.0, 0.0], [115.0, 3.0, 32.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2265625, "command_abs_max": [0.998477578163147, 0.3996496796607971, 0.6995944976806641]}
{"step": 27250, "actor_lr": 4.605125719603198e-05, "archive_windows": 50000, "env_steps": 27250, "total_transitions": 111616000, "num_steps_per_env": 1, "wm_loss": 0.6677844524383545, "actor_loss": -9.507987976074219, "critic_loss": 0.00339095969684422, "reward": 0.08754488825798035, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11452394723892212, 0.07006459683179855, 0.13513745367527008], "mean_episode_length": 1447.3037974683543, "episode_reward_terms": {"track_linear_velocity": 51.38418197631836, "track_angular_velocity": 54.66764831542969, "upright": 27.827219009399414, "leg_posture": -2.7641727924346924, "standstill": -6.137823581695557, "action_rate_l2": -0.6231090426445007, "joint_torques_l2": -0.15645554661750793, "dof_pos_limits": -0.00038233090890571475, "terminated": -0.014133824966847897, "unnecessary_wheel_lift": -0.08588913828134537, "rolling_leg_motion": -0.6639182567596436, "obstacle_progress": 3.8447728157043457, "wheel_body_intrusion": -0.27253982424736023, "pair_body_intrusion": -0.30135682225227356}, "weighted_reward_terms": {"track_linear_velocity": 1.7751691341400146, "track_angular_velocity": 1.8886029720306396, "upright": 0.9613468647003174, "leg_posture": -0.0954938679933548, "standstill": -0.21204335987567902, "action_rate_l2": -0.02152654528617859, "joint_torques_l2": -0.005405069328844547, "dof_pos_limits": -1.3208384189056233e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.0029672118835151196, "rolling_leg_motion": -0.0229363813996315, "obstacle_progress": 0.1328253597021103, "wheel_body_intrusion": -0.009415432810783386, "pair_body_intrusion": -0.010410972870886326}, "episode_termination_rates": {"time_out": 0.5759493670886076, "fell_over": 0.012658227848101266, "course_exit": 0.3924050632911392, "illegal_nonwheel_contact": 0.0189873417721519}, "collection_time_s": 0.0756183197372593, "learning_time_s": 0.18263880438404156, "iteration_time_s": 0.3206268537937249, "policy_updates": 26950, "skipped_updates": 0, "invalid_env_resets": 138, "elapsed_s": 8737.081765879004, "nonwheel_terminations": 12550, "contact_bce": 0.2968426048755646, "contact_force_loss": 0.020472638309001923, "collision_bce": 0.0001399294997099787, "collision_label_rate": 6.125198706286028e-05, "collision_prediction_mean": 1.5292698662960902e-05, "collision_label_count": 16326.0, "terrain_level_mean": 3.7294921875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [7, 36, 76, 102, 61, 128], "episodes_by_level": [[1430.0, 311.0, 49.0, 0.0], [1731.0, 387.0, 38.0, 0.0], [1323.0, 309.0, 28.0, 0.0], [916.0, 202.0, 18.0, 0.0], [504.0, 133.0, 13.0, 0.0], [487.0, 111.0, 5.0, 0.0]]}, "up": {"level_counts": [0, 0, 11, 74, 434, 914], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4285.0, 1742.0, 165.0, 0.0], [4361.0, 1603.0, 195.0, 0.0], [4180.0, 1177.0, 159.0, 0.0], [2653.0, 366.0, 155.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 3, 44, 566], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1650.0, 1315.0, 64.0, 0.0], [6756.0, 5490.0, 235.0, 0.0]]}, "platform": {"level_counts": [19, 58, 111, 106, 83, 33], "episodes_by_level": [[1714.0, 372.0, 51.0, 0.0], [1945.0, 396.0, 80.0, 0.0], [1354.0, 263.0, 69.0, 0.0], [883.0, 147.0, 41.0, 0.0], [369.0, 50.0, 31.0, 0.0], [97.0, 10.0, 17.0, 0.0]]}, "slope": {"level_counts": [20, 46, 88, 88, 73, 95], "episodes_by_level": [[1557.0, 330.0, 45.0, 0.0], [1787.0, 368.0, 67.0, 0.0], [1301.0, 279.0, 38.0, 0.0], [822.0, 175.0, 23.0, 0.0], [511.0, 105.0, 7.0, 0.0], [418.0, 68.0, 10.0, 0.0]]}, "rubble": {"level_counts": [50, 146, 235, 220, 132, 36], "episodes_by_level": [[3131.0, 705.0, 95.0, 0.0], [4108.0, 890.0, 191.0, 0.0], [3135.0, 659.0, 284.0, 0.0], [1794.0, 288.0, 271.0, 0.0], [593.0, 68.0, 120.0, 0.0], [115.0, 3.0, 32.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.229736328125, "command_abs_max": [0.998477578163147, 0.3996496796607971, 0.6995944976806641]}
{"step": 27300, "actor_lr": 4.587978039406997e-05, "archive_windows": 50000, "env_steps": 27300, "total_transitions": 111820800, "num_steps_per_env": 1, "wm_loss": 0.6563027501106262, "actor_loss": -9.463741302490234, "critic_loss": 0.004108828958123922, "reward": 0.08733770251274109, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11617065966129303, 0.07007254660129547, 0.13505297899246216], "mean_episode_length": 1425.1829268292684, "episode_reward_terms": {"track_linear_velocity": 50.46889114379883, "track_angular_velocity": 53.840946197509766, "upright": 27.38582420349121, "leg_posture": -2.7621076107025146, "standstill": -6.1851115226745605, "action_rate_l2": -0.6013884544372559, "joint_torques_l2": -0.15554523468017578, "dof_pos_limits": -0.0006138714961707592, "terminated": -0.016701361164450645, "unnecessary_wheel_lift": -0.0861508697271347, "rolling_leg_motion": -0.6431267857551575, "obstacle_progress": 3.8205015659332275, "wheel_body_intrusion": -0.2837545573711395, "pair_body_intrusion": -0.30946141481399536}, "weighted_reward_terms": {"track_linear_velocity": 1.7706109285354614, "track_angular_velocity": 1.8889135122299194, "upright": 0.9607827663421631, "leg_posture": -0.09690361469984055, "standstill": -0.21699360013008118, "action_rate_l2": -0.02109863981604576, "joint_torques_l2": -0.00545702688395977, "dof_pos_limits": -2.1536585336434655e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.003022449556738138, "rolling_leg_motion": -0.02256295643746853, "obstacle_progress": 0.13403548300266266, "wheel_body_intrusion": -0.009955022484064102, "pair_body_intrusion": -0.010856901295483112}, "episode_termination_rates": {"time_out": 0.5426829268292683, "fell_over": 0.018292682926829267, "course_exit": 0.42073170731707316, "illegal_nonwheel_contact": 0.036585365853658534}, "collection_time_s": 0.07552232311922126, "learning_time_s": 0.18266827587853185, "iteration_time_s": 0.32051254174289345, "policy_updates": 27000, "skipped_updates": 0, "invalid_env_resets": 138, "elapsed_s": 8749.992389580992, "nonwheel_terminations": 12556, "contact_bce": 0.29963716864585876, "contact_force_loss": 0.02091170661151409, "collision_bce": 2.9863535019103438e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 2.911310366471298e-05, "collision_label_count": 16341.0, "terrain_level_mean": 3.73095703125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [7, 36, 75, 103, 62, 127], "episodes_by_level": [[1430.0, 311.0, 49.0, 0.0], [1734.0, 387.0, 38.0, 0.0], [1326.0, 310.0, 28.0, 0.0], [923.0, 202.0, 18.0, 0.0], [507.0, 133.0, 13.0, 0.0], [491.0, 111.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 0, 11, 73, 435, 914], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4285.0, 1742.0, 165.0, 0.0], [4363.0, 1604.0, 195.0, 0.0], [4185.0, 1178.0, 159.0, 0.0], [2681.0, 371.0, 155.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 3, 44, 566], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1651.0, 1316.0, 64.0, 0.0], [6780.0, 5513.0, 235.0, 0.0]]}, "platform": {"level_counts": [19, 57, 111, 107, 83, 33], "episodes_by_level": [[1715.0, 372.0, 51.0, 0.0], [1946.0, 397.0, 80.0, 0.0], [1360.0, 264.0, 69.0, 0.0], [886.0, 147.0, 41.0, 0.0], [369.0, 50.0, 31.0, 0.0], [99.0, 10.0, 17.0, 0.0]]}, "slope": {"level_counts": [20, 46, 88, 88, 73, 95], "episodes_by_level": [[1557.0, 330.0, 45.0, 0.0], [1787.0, 368.0, 67.0, 0.0], [1303.0, 279.0, 38.0, 0.0], [823.0, 175.0, 23.0, 0.0], [514.0, 105.0, 7.0, 0.0], [424.0, 68.0, 10.0, 0.0]]}, "rubble": {"level_counts": [49, 145, 236, 222, 131, 36], "episodes_by_level": [[3133.0, 706.0, 95.0, 0.0], [4116.0, 892.0, 191.0, 0.0], [3143.0, 661.0, 284.0, 0.0], [1805.0, 288.0, 272.0, 0.0], [598.0, 68.0, 121.0, 0.0], [116.0, 3.0, 32.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23046875, "command_abs_max": [0.998477578163147, 0.3996496796607971, 0.6999220252037048]}
{"step": 27350, "actor_lr": 4.570769416071533e-05, "archive_windows": 50000, "env_steps": 27350, "total_transitions": 112025600, "num_steps_per_env": 1, "wm_loss": 0.6722392439842224, "actor_loss": -9.526613235473633, "critic_loss": 0.0030672696884721518, "reward": 0.08739282190799713, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11701090633869171, 0.07012633979320526, 0.13456404209136963], "mean_episode_length": 1374.1020408163265, "episode_reward_terms": {"track_linear_velocity": 48.6507453918457, "track_angular_velocity": 51.94273376464844, "upright": 26.41205406188965, "leg_posture": -2.615755558013916, "standstill": -5.966446399688721, "action_rate_l2": -0.5868494510650635, "joint_torques_l2": -0.14777861535549164, "dof_pos_limits": -0.0007341719465330243, "terminated": -0.02415413409471512, "unnecessary_wheel_lift": -0.09122777730226517, "rolling_leg_motion": -0.6125845313072205, "obstacle_progress": 3.6841299533843994, "wheel_body_intrusion": -0.2693466246128082, "pair_body_intrusion": -0.2881547808647156}, "weighted_reward_terms": {"track_linear_velocity": 1.77027428150177, "track_angular_velocity": 1.8900611400604248, "upright": 0.9610660076141357, "leg_posture": -0.09518054127693176, "standstill": -0.2171034812927246, "action_rate_l2": -0.02135392464697361, "joint_torques_l2": -0.005377279594540596, "dof_pos_limits": -2.671460788405966e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.003319541458040476, "rolling_leg_motion": -0.022290358319878578, "obstacle_progress": 0.13405591249465942, "wheel_body_intrusion": -0.009800823405385017, "pair_body_intrusion": -0.010485203005373478}, "episode_termination_rates": {"time_out": 0.47619047619047616, "fell_over": 0.047619047619047616, "course_exit": 0.46258503401360546, "illegal_nonwheel_contact": 0.047619047619047616}, "collection_time_s": 0.07554432072443888, "learning_time_s": 0.18500987513689324, "iteration_time_s": 0.32040297074482643, "policy_updates": 27050, "skipped_updates": 0, "invalid_env_resets": 138, "elapsed_s": 8763.021249871003, "nonwheel_terminations": 12563, "contact_bce": 0.2996053099632263, "contact_force_loss": 0.021066566929221153, "collision_bce": 6.746868166374043e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 6.808258603996364e-06, "collision_label_count": 16353.0, "terrain_level_mean": 3.733642578125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [7, 36, 75, 103, 61, 128], "episodes_by_level": [[1430.0, 311.0, 49.0, 0.0], [1735.0, 387.0, 38.0, 0.0], [1326.0, 310.0, 28.0, 0.0], [925.0, 202.0, 18.0, 0.0], [511.0, 134.0, 13.0, 0.0], [494.0, 111.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 0, 11, 71, 437, 914], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4285.0, 1742.0, 165.0, 0.0], [4365.0, 1606.0, 195.0, 0.0], [4196.0, 1181.0, 159.0, 0.0], [2702.0, 375.0, 156.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 3, 45, 565], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1653.0, 1318.0, 64.0, 0.0], [6801.0, 5531.0, 235.0, 0.0]]}, "platform": {"level_counts": [19, 57, 111, 106, 83, 34], "episodes_by_level": [[1715.0, 372.0, 51.0, 0.0], [1946.0, 397.0, 80.0, 0.0], [1361.0, 264.0, 69.0, 0.0], [889.0, 148.0, 41.0, 0.0], [373.0, 51.0, 31.0, 0.0], [99.0, 10.0, 17.0, 0.0]]}, "slope": {"level_counts": [20, 46, 88, 86, 74, 96], "episodes_by_level": [[1559.0, 330.0, 45.0, 0.0], [1790.0, 368.0, 67.0, 0.0], [1306.0, 279.0, 38.0, 0.0], [831.0, 177.0, 23.0, 0.0], [517.0, 106.0, 7.0, 0.0], [425.0, 68.0, 10.0, 0.0]]}, "rubble": {"level_counts": [49, 145, 235, 221, 132, 37], "episodes_by_level": [[3134.0, 706.0, 95.0, 0.0], [4121.0, 893.0, 191.0, 0.0], [3151.0, 663.0, 285.0, 0.0], [1813.0, 291.0, 273.0, 0.0], [604.0, 69.0, 122.0, 0.0], [116.0, 3.0, 32.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2294921875, "command_abs_max": [0.998477578163147, 0.3997875154018402, 0.6999220252037048]}
{"step": 27400, "actor_lr": 4.553500911105755e-05, "archive_windows": 50000, "env_steps": 27400, "total_transitions": 112230400, "num_steps_per_env": 1, "wm_loss": 0.6467331051826477, "actor_loss": -9.540929794311523, "critic_loss": 0.0033456203527748585, "reward": 0.08739615976810455, "falls": 4, "interval_steps": 50, "velocity_mae": [0.11683788150548935, 0.07086265832185745, 0.13586100935935974], "mean_episode_length": 1378.2631578947369, "episode_reward_terms": {"track_linear_velocity": 48.77743911743164, "track_angular_velocity": 52.02860641479492, "upright": 26.46993064880371, "leg_posture": -2.6174190044403076, "standstill": -5.905141830444336, "action_rate_l2": -0.5866823792457581, "joint_torques_l2": -0.14870184659957886, "dof_pos_limits": -0.0005420689121820033, "terminated": -0.0107676787301898, "unnecessary_wheel_lift": -0.07771997153759003, "rolling_leg_motion": -0.599107027053833, "obstacle_progress": 3.697333335876465, "wheel_body_intrusion": -0.26498016715049744, "pair_body_intrusion": -0.3073221445083618}, "weighted_reward_terms": {"track_linear_velocity": 1.7695255279541016, "track_angular_velocity": 1.8874698877334595, "upright": 0.9602639675140381, "leg_posture": -0.0949535220861435, "standstill": -0.21422402560710907, "action_rate_l2": -0.02128339558839798, "joint_torques_l2": -0.005394537467509508, "dof_pos_limits": -1.966492891369853e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.0028194894548505545, "rolling_leg_motion": -0.021734129637479782, "obstacle_progress": 0.13413016498088837, "wheel_body_intrusion": -0.009612828493118286, "pair_body_intrusion": -0.011148892343044281}, "episode_termination_rates": {"time_out": 0.518796992481203, "fell_over": 0.022556390977443608, "course_exit": 0.45112781954887216, "illegal_nonwheel_contact": 0.015037593984962405}, "collection_time_s": 0.0757612379011698, "learning_time_s": 0.18589157787617297, "iteration_time_s": 0.3202958010683575, "policy_updates": 27100, "skipped_updates": 0, "invalid_env_resets": 138, "elapsed_s": 8776.104949272994, "nonwheel_terminations": 12565, "contact_bce": 0.29418039321899414, "contact_force_loss": 0.02122330665588379, "collision_bce": 2.9828623155481182e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 2.8168626158731058e-05, "collision_label_count": 16335.0, "terrain_level_mean": 3.737060546875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [7, 35, 76, 100, 64, 128], "episodes_by_level": [[1430.0, 311.0, 49.0, 0.0], [1736.0, 388.0, 38.0, 0.0], [1328.0, 310.0, 28.0, 0.0], [931.0, 205.0, 18.0, 0.0], [512.0, 134.0, 13.0, 0.0], [497.0, 112.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 0, 11, 71, 435, 916], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4285.0, 1742.0, 165.0, 0.0], [4366.0, 1607.0, 195.0, 0.0], [4207.0, 1183.0, 159.0, 0.0], [2725.0, 379.0, 156.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 3, 46, 564], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1653.0, 1318.0, 64.0, 0.0], [6815.0, 5542.0, 235.0, 0.0]]}, "platform": {"level_counts": [19, 57, 110, 107, 81, 36], "episodes_by_level": [[1715.0, 372.0, 51.0, 0.0], [1951.0, 397.0, 80.0, 0.0], [1362.0, 265.0, 69.0, 0.0], [890.0, 148.0, 41.0, 0.0], [375.0, 53.0, 31.0, 0.0], [99.0, 10.0, 17.0, 0.0]]}, "slope": {"level_counts": [19, 46, 88, 87, 74, 96], "episodes_by_level": [[1560.0, 331.0, 45.0, 0.0], [1792.0, 369.0, 67.0, 0.0], [1309.0, 280.0, 38.0, 0.0], [831.0, 177.0, 23.0, 0.0], [518.0, 106.0, 7.0, 0.0], [427.0, 68.0, 10.0, 0.0]]}, "rubble": {"level_counts": [49, 144, 234, 222, 134, 36], "episodes_by_level": [[3137.0, 706.0, 95.0, 0.0], [4124.0, 894.0, 191.0, 0.0], [3164.0, 666.0, 285.0, 0.0], [1817.0, 292.0, 274.0, 0.0], [610.0, 69.0, 122.0, 0.0], [118.0, 3.0, 33.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2294921875, "command_abs_max": [0.9962318539619446, 0.3997875154018402, 0.6999220252037048]}
{"step": 27450, "actor_lr": 4.5361735897123886e-05, "archive_windows": 50000, "env_steps": 27450, "total_transitions": 112435200, "num_steps_per_env": 1, "wm_loss": 0.6464412212371826, "actor_loss": -9.492959976196289, "critic_loss": 0.005113869905471802, "reward": 0.0873389020562172, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11558326333761215, 0.07127057015895844, 0.1338752806186676], "mean_episode_length": 1436.2014925373135, "episode_reward_terms": {"track_linear_velocity": 50.864315032958984, "track_angular_velocity": 54.310096740722656, "upright": 27.5524959564209, "leg_posture": -2.7614099979400635, "standstill": -6.245042324066162, "action_rate_l2": -0.6178973317146301, "joint_torques_l2": -0.1565760374069214, "dof_pos_limits": -0.0003424733004067093, "terminated": -0.014025404118001461, "unnecessary_wheel_lift": -0.09815328568220139, "rolling_leg_motion": -0.6444708108901978, "obstacle_progress": 3.8447775840759277, "wheel_body_intrusion": -0.2794508934020996, "pair_body_intrusion": -0.3180534839630127}, "weighted_reward_terms": {"track_linear_velocity": 1.770793080329895, "track_angular_velocity": 1.8907546997070312, "upright": 0.9592141509056091, "leg_posture": -0.09613588452339172, "standstill": -0.21741525828838348, "action_rate_l2": -0.021511513739824295, "joint_torques_l2": -0.005451046861708164, "dof_pos_limits": -1.1922884368686937e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.0034171140287071466, "rolling_leg_motion": -0.02243664301931858, "obstacle_progress": 0.1338523030281067, "wheel_body_intrusion": -0.009728819131851196, "pair_body_intrusion": -0.011072731576859951}, "episode_termination_rates": {"time_out": 0.5746268656716418, "fell_over": 0.014925373134328358, "course_exit": 0.3880597014925373, "illegal_nonwheel_contact": 0.029850746268656716}, "collection_time_s": 0.07560885170241818, "learning_time_s": 0.18508167971507647, "iteration_time_s": 0.3201872708079429, "policy_updates": 27150, "skipped_updates": 0, "invalid_env_resets": 138, "elapsed_s": 8789.140583678032, "nonwheel_terminations": 12569, "contact_bce": 0.2996206283569336, "contact_force_loss": 0.020629791542887688, "collision_bce": 0.00026826985413208604, "collision_label_rate": 6.118827877799049e-05, "collision_prediction_mean": 0.00010371585813118145, "collision_label_count": 16343.0, "terrain_level_mean": 3.73828125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [7, 35, 76, 99, 64, 129], "episodes_by_level": [[1430.0, 311.0, 49.0, 0.0], [1737.0, 388.0, 38.0, 0.0], [1330.0, 310.0, 28.0, 0.0], [936.0, 206.0, 18.0, 0.0], [514.0, 135.0, 13.0, 0.0], [499.0, 112.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 0, 11, 70, 435, 917], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4286.0, 1742.0, 165.0, 0.0], [4369.0, 1608.0, 195.0, 0.0], [4217.0, 1185.0, 159.0, 0.0], [2744.0, 382.0, 156.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 3, 47, 563], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1653.0, 1318.0, 64.0, 0.0], [6831.0, 5556.0, 235.0, 0.0]]}, "platform": {"level_counts": [19, 57, 110, 107, 82, 35], "episodes_by_level": [[1715.0, 372.0, 51.0, 0.0], [1952.0, 397.0, 80.0, 0.0], [1366.0, 265.0, 69.0, 0.0], [894.0, 148.0, 41.0, 0.0], [377.0, 53.0, 31.0, 0.0], [100.0, 10.0, 18.0, 0.0]]}, "slope": {"level_counts": [19, 46, 88, 86, 75, 96], "episodes_by_level": [[1561.0, 331.0, 45.0, 0.0], [1792.0, 369.0, 67.0, 0.0], [1312.0, 280.0, 38.0, 0.0], [834.0, 178.0, 23.0, 0.0], [518.0, 106.0, 7.0, 0.0], [432.0, 69.0, 10.0, 0.0]]}, "rubble": {"level_counts": [49, 144, 232, 224, 134, 36], "episodes_by_level": [[3140.0, 706.0, 95.0, 0.0], [4126.0, 895.0, 191.0, 0.0], [3175.0, 669.0, 286.0, 0.0], [1823.0, 292.0, 275.0, 0.0], [612.0, 69.0, 122.0, 0.0], [119.0, 3.0, 33.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2255859375, "command_abs_max": [0.9972507953643799, 0.3997875154018402, 0.6999220252037048]}
{"step": 27500, "actor_lr": 4.5187885207222376e-05, "archive_windows": 50000, "env_steps": 27500, "total_transitions": 112640000, "num_steps_per_env": 1, "wm_loss": 0.6692685484886169, "actor_loss": -9.515181541442871, "critic_loss": 0.0031861804891377687, "reward": 0.08769597858190536, "falls": 2, "interval_steps": 50, "velocity_mae": [0.11516758799552917, 0.07143300771713257, 0.13326981663703918], "mean_episode_length": 1368.1724137931035, "episode_reward_terms": {"track_linear_velocity": 48.4718017578125, "track_angular_velocity": 51.75520706176758, "upright": 26.265607833862305, "leg_posture": -2.614107131958008, "standstill": -5.617545127868652, "action_rate_l2": -0.5848539471626282, "joint_torques_l2": -0.15026509761810303, "dof_pos_limits": -0.0003591447602957487, "terminated": -0.005344422534108162, "unnecessary_wheel_lift": -0.07856340706348419, "rolling_leg_motion": -0.6054132580757141, "obstacle_progress": 3.6864728927612305, "wheel_body_intrusion": -0.26303207874298096, "pair_body_intrusion": -0.27641183137893677}, "weighted_reward_terms": {"track_linear_velocity": 1.771407127380371, "track_angular_velocity": 1.8913993835449219, "upright": 0.9598793387413025, "leg_posture": -0.09553281217813492, "standstill": -0.20529375970363617, "action_rate_l2": -0.021373547613620758, "joint_torques_l2": -0.005491453688591719, "dof_pos_limits": -1.3124981705914252e-05, "terminated": -0.0001953124738065526, "unnecessary_wheel_lift": -0.0028711077757179737, "rolling_leg_motion": -0.022124890238046646, "obstacle_progress": 0.1347225308418274, "wheel_body_intrusion": -0.009612534195184708, "pair_body_intrusion": -0.010101499035954475}, "episode_termination_rates": {"time_out": 0.503448275862069, "fell_over": 0.006896551724137931, "course_exit": 0.4827586206896552, "illegal_nonwheel_contact": 0.013793103448275862}, "collection_time_s": 0.07551640229648911, "learning_time_s": 0.18503553113900126, "iteration_time_s": 0.3200788836129814, "policy_updates": 27200, "skipped_updates": 0, "invalid_env_resets": 138, "elapsed_s": 8802.169299356989, "nonwheel_terminations": 12571, "contact_bce": 0.2908458113670349, "contact_force_loss": 0.020551195368170738, "collision_bce": 7.564416591776535e-05, "collision_label_rate": 6.12182411714457e-05, "collision_prediction_mean": 5.3101197408977896e-05, "collision_label_count": 16335.0, "terrain_level_mean": 3.741943359375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [7, 35, 76, 99, 64, 129], "episodes_by_level": [[1430.0, 311.0, 49.0, 0.0], [1739.0, 388.0, 38.0, 0.0], [1332.0, 310.0, 28.0, 0.0], [938.0, 206.0, 18.0, 0.0], [516.0, 135.0, 13.0, 0.0], [504.0, 113.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 0, 11, 70, 431, 921], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4286.0, 1742.0, 165.0, 0.0], [4370.0, 1608.0, 195.0, 0.0], [4227.0, 1189.0, 159.0, 0.0], [2763.0, 388.0, 156.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 3, 45, 565], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1655.0, 1320.0, 64.0, 0.0], [6855.0, 5578.0, 235.0, 0.0]]}, "platform": {"level_counts": [19, 57, 110, 107, 82, 35], "episodes_by_level": [[1716.0, 372.0, 51.0, 0.0], [1952.0, 397.0, 80.0, 0.0], [1371.0, 265.0, 69.0, 0.0], [899.0, 148.0, 41.0, 0.0], [381.0, 53.0, 31.0, 0.0], [100.0, 10.0, 18.0, 0.0]]}, "slope": {"level_counts": [19, 46, 88, 85, 75, 97], "episodes_by_level": [[1561.0, 331.0, 45.0, 0.0], [1794.0, 369.0, 67.0, 0.0], [1314.0, 280.0, 38.0, 0.0], [835.0, 179.0, 23.0, 0.0], [524.0, 108.0, 7.0, 0.0], [436.0, 70.0, 11.0, 0.0]]}, "rubble": {"level_counts": [47, 145, 230, 227, 133, 37], "episodes_by_level": [[3144.0, 708.0, 95.0, 0.0], [4132.0, 897.0, 191.0, 0.0], [3184.0, 672.0, 287.0, 0.0], [1826.0, 292.0, 275.0, 0.0], [617.0, 70.0, 122.0, 0.0], [120.0, 3.0, 33.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.227783203125, "command_abs_max": [0.9972507953643799, 0.3997875154018402, 0.6999220252037048]}
{"step": 27550, "actor_lr": 4.5013467765282486e-05, "archive_windows": 50000, "env_steps": 27550, "total_transitions": 112844800, "num_steps_per_env": 1, "wm_loss": 0.6233473420143127, "actor_loss": -9.510139465332031, "critic_loss": 0.0033750191796571016, "reward": 0.08770561218261719, "falls": 4, "interval_steps": 50, "velocity_mae": [0.11420212686061859, 0.07179177552461624, 0.13410620391368866], "mean_episode_length": 1358.6415094339623, "episode_reward_terms": {"track_linear_velocity": 48.198158264160156, "track_angular_velocity": 51.358245849609375, "upright": 26.1018123626709, "leg_posture": -2.5683131217956543, "standstill": -5.63385009765625, "action_rate_l2": -0.5838838815689087, "joint_torques_l2": -0.14681687951087952, "dof_pos_limits": -0.0008618517895229161, "terminated": -0.010614384897053242, "unnecessary_wheel_lift": -0.08208227157592773, "rolling_leg_motion": -0.6116563677787781, "obstacle_progress": 3.666630506515503, "wheel_body_intrusion": -0.25721657276153564, "pair_body_intrusion": -0.2690736651420593}, "weighted_reward_terms": {"track_linear_velocity": 1.7737629413604736, "track_angular_velocity": 1.8900588750839233, "upright": 0.9605849981307983, "leg_posture": -0.09451769292354584, "standstill": -0.20733393728733063, "action_rate_l2": -0.021487785503268242, "joint_torques_l2": -0.0054030767641961575, "dof_pos_limits": -3.1717412639409304e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.0030207480303943157, "rolling_leg_motion": -0.022509852424263954, "obstacle_progress": 0.13493739068508148, "wheel_body_intrusion": -0.00946594774723053, "pair_body_intrusion": -0.009902305901050568}, "episode_termination_rates": {"time_out": 0.4716981132075472, "fell_over": 0.006289308176100629, "course_exit": 0.5031446540880503, "illegal_nonwheel_contact": 0.025157232704402517}, "collection_time_s": 0.07594507216126659, "learning_time_s": 0.19216406876104883, "iteration_time_s": 0.31998555940083406, "policy_updates": 27250, "skipped_updates": 0, "invalid_env_resets": 138, "elapsed_s": 8815.602161492978, "nonwheel_terminations": 12575, "contact_bce": 0.29424071311950684, "contact_force_loss": 0.02087271772325039, "collision_bce": 9.262117600883357e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 9.320416211267002e-06, "collision_label_count": 16337.0, "terrain_level_mean": 3.745849609375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [7, 35, 75, 100, 63, 130], "episodes_by_level": [[1431.0, 311.0, 49.0, 0.0], [1741.0, 388.0, 38.0, 0.0], [1334.0, 311.0, 28.0, 0.0], [940.0, 206.0, 18.0, 0.0], [519.0, 136.0, 13.0, 0.0], [507.0, 114.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 0, 11, 70, 427, 925], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4286.0, 1742.0, 165.0, 0.0], [4371.0, 1608.0, 195.0, 0.0], [4244.0, 1193.0, 159.0, 0.0], [2798.0, 396.0, 156.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 3, 43, 567], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1657.0, 1322.0, 64.0, 0.0], [6873.0, 5594.0, 235.0, 0.0]]}, "platform": {"level_counts": [19, 56, 110, 107, 83, 35], "episodes_by_level": [[1716.0, 372.0, 51.0, 0.0], [1954.0, 398.0, 80.0, 0.0], [1374.0, 266.0, 69.0, 0.0], [903.0, 149.0, 41.0, 0.0], [382.0, 53.0, 31.0, 0.0], [102.0, 11.0, 18.0, 0.0]]}, "slope": {"level_counts": [18, 47, 87, 86, 74, 98], "episodes_by_level": [[1562.0, 332.0, 45.0, 0.0], [1795.0, 369.0, 67.0, 0.0], [1317.0, 281.0, 38.0, 0.0], [837.0, 179.0, 23.0, 0.0], [526.0, 109.0, 7.0, 0.0], [437.0, 70.0, 11.0, 0.0]]}, "rubble": {"level_counts": [47, 143, 231, 229, 132, 37], "episodes_by_level": [[3145.0, 708.0, 95.0, 0.0], [4136.0, 899.0, 191.0, 0.0], [3188.0, 673.0, 287.0, 0.0], [1835.0, 293.0, 275.0, 0.0], [621.0, 71.0, 124.0, 0.0], [122.0, 3.0, 34.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.228271484375, "command_abs_max": [0.9991791248321533, 0.3997875154018402, 0.6995944976806641]}
{"step": 27600, "actor_lr": 4.48384943301936e-05, "archive_windows": 50000, "env_steps": 27600, "total_transitions": 113049600, "num_steps_per_env": 1, "wm_loss": 0.6841123104095459, "actor_loss": -9.520317077636719, "critic_loss": 0.0045133247040212154, "reward": 0.08763716369867325, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11563048511743546, 0.07206051051616669, 0.13476340472698212], "mean_episode_length": 1349.2027027027027, "episode_reward_terms": {"track_linear_velocity": 47.74570846557617, "track_angular_velocity": 50.989315032958984, "upright": 25.903759002685547, "leg_posture": -2.5951273441314697, "standstill": -5.392362594604492, "action_rate_l2": -0.5893480181694031, "joint_torques_l2": -0.14606492221355438, "dof_pos_limits": -0.0008654113626107574, "terminated": -0.023716451600193977, "unnecessary_wheel_lift": -0.08258697390556335, "rolling_leg_motion": -0.6037664413452148, "obstacle_progress": 3.5950381755828857, "wheel_body_intrusion": -0.26980480551719666, "pair_body_intrusion": -0.28986790776252747}, "weighted_reward_terms": {"track_linear_velocity": 1.7694045305252075, "track_angular_velocity": 1.8896089792251587, "upright": 0.9599654674530029, "leg_posture": -0.09617262333631516, "standstill": -0.1998351365327835, "action_rate_l2": -0.021840602159500122, "joint_torques_l2": -0.005413008853793144, "dof_pos_limits": -3.207121335435659e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.0030605841893702745, "rolling_leg_motion": -0.022374935448169708, "obstacle_progress": 0.13322824239730835, "wheel_body_intrusion": -0.009998675435781479, "pair_body_intrusion": -0.010742192156612873}, "episode_termination_rates": {"time_out": 0.43243243243243246, "fell_over": 0.033783783783783786, "course_exit": 0.5067567567567568, "illegal_nonwheel_contact": 0.033783783783783786}, "collection_time_s": 0.07564143944182433, "learning_time_s": 0.1830457550950814, "iteration_time_s": 0.31987456047898616, "policy_updates": 27300, "skipped_updates": 0, "invalid_env_resets": 138, "elapsed_s": 8828.537869220017, "nonwheel_terminations": 12580, "contact_bce": 0.298300176858902, "contact_force_loss": 0.021132804453372955, "collision_bce": 8.819242793833837e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 8.86477209860459e-06, "collision_label_count": 16358.0, "terrain_level_mean": 3.748779296875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [7, 35, 74, 102, 62, 130], "episodes_by_level": [[1431.0, 311.0, 49.0, 0.0], [1741.0, 388.0, 38.0, 0.0], [1335.0, 312.0, 28.0, 0.0], [941.0, 206.0, 18.0, 0.0], [521.0, 136.0, 14.0, 0.0], [507.0, 114.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 0, 11, 69, 423, 930], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4287.0, 1743.0, 165.0, 0.0], [4372.0, 1609.0, 195.0, 0.0], [4258.0, 1198.0, 159.0, 0.0], [2824.0, 401.0, 156.0, 0.0]]}, "down": {"level_counts": [0, 1, 0, 3, 42, 568], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1659.0, 1324.0, 64.0, 0.0], [6898.0, 5615.0, 236.0, 0.0]]}, "platform": {"level_counts": [19, 55, 111, 107, 83, 35], "episodes_by_level": [[1716.0, 372.0, 51.0, 0.0], [1955.0, 399.0, 80.0, 0.0], [1375.0, 266.0, 69.0, 0.0], [909.0, 150.0, 41.0, 0.0], [385.0, 53.0, 32.0, 0.0], [102.0, 11.0, 18.0, 0.0]]}, "slope": {"level_counts": [18, 46, 86, 88, 75, 97], "episodes_by_level": [[1563.0, 332.0, 45.0, 0.0], [1796.0, 370.0, 67.0, 0.0], [1325.0, 283.0, 38.0, 0.0], [840.0, 179.0, 23.0, 0.0], [529.0, 109.0, 7.0, 0.0], [440.0, 70.0, 12.0, 0.0]]}, "rubble": {"level_counts": [44, 147, 230, 228, 134, 36], "episodes_by_level": [[3149.0, 711.0, 95.0, 0.0], [4138.0, 899.0, 191.0, 0.0], [3196.0, 675.0, 288.0, 0.0], [1841.0, 294.0, 277.0, 0.0], [624.0, 71.0, 124.0, 0.0], [125.0, 3.0, 35.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2314453125, "command_abs_max": [0.9991791248321533, 0.3996496796607971, 0.6995944976806641]}
{"step": 27650, "actor_lr": 4.4662975695141414e-05, "archive_windows": 50000, "env_steps": 27650, "total_transitions": 113254400, "num_steps_per_env": 1, "wm_loss": 0.6709481477737427, "actor_loss": -9.51065444946289, "critic_loss": 0.004569710697978735, "reward": 0.08749605715274811, "falls": 7, "interval_steps": 50, "velocity_mae": [0.1175154596567154, 0.0718746930360794, 0.13612022995948792], "mean_episode_length": 1322.4759036144578, "episode_reward_terms": {"track_linear_velocity": 46.71687316894531, "track_angular_velocity": 49.93533706665039, "upright": 25.41922950744629, "leg_posture": -2.527142286300659, "standstill": -5.317087173461914, "action_rate_l2": -0.5906820297241211, "joint_torques_l2": -0.14494536817073822, "dof_pos_limits": -0.000660513062030077, "terminated": -0.01808072440326214, "unnecessary_wheel_lift": -0.09840604662895203, "rolling_leg_motion": -0.62636798620224, "obstacle_progress": 3.502281427383423, "wheel_body_intrusion": -0.25753524899482727, "pair_body_intrusion": -0.28136762976646423}, "weighted_reward_terms": {"track_linear_velocity": 1.766265630722046, "track_angular_velocity": 1.8879488706588745, "upright": 0.9610469341278076, "leg_posture": -0.09554587304592133, "standstill": -0.2010277509689331, "action_rate_l2": -0.022332429885864258, "joint_torques_l2": -0.005480075720697641, "dof_pos_limits": -2.4972592655103654e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0037205233238637447, "rolling_leg_motion": -0.023681640625, "obstacle_progress": 0.1324138045310974, "wheel_body_intrusion": -0.009736859239637852, "pair_body_intrusion": -0.010637911036610603}, "episode_termination_rates": {"time_out": 0.4036144578313253, "fell_over": 0.030120481927710843, "course_exit": 0.5542168674698795, "illegal_nonwheel_contact": 0.012048192771084338}, "collection_time_s": 0.07586835719645023, "learning_time_s": 0.18410320092225446, "iteration_time_s": 0.31976627766141025, "policy_updates": 27350, "skipped_updates": 0, "invalid_env_resets": 139, "elapsed_s": 8841.537577337993, "nonwheel_terminations": 12582, "contact_bce": 0.29754671454429626, "contact_force_loss": 0.020967701449990273, "collision_bce": 9.882935046334751e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 9.933532055583782e-06, "collision_label_count": 16355.0, "terrain_level_mean": 3.751708984375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [7, 36, 72, 102, 63, 130], "episodes_by_level": [[1432.0, 311.0, 49.0, 0.0], [1742.0, 388.0, 38.0, 0.0], [1337.0, 313.0, 29.0, 0.0], [948.0, 207.0, 18.0, 0.0], [522.0, 136.0, 14.0, 0.0], [514.0, 115.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 0, 11, 68, 421, 933], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4287.0, 1743.0, 165.0, 0.0], [4374.0, 1610.0, 195.0, 0.0], [4277.0, 1201.0, 159.0, 0.0], [2857.0, 406.0, 156.0, 0.0]]}, "down": {"level_counts": [0, 1, 1, 2, 41, 569], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1662.0, 1327.0, 64.0, 0.0], [6922.0, 5635.0, 237.0, 0.0]]}, "platform": {"level_counts": [19, 54, 110, 108, 84, 35], "episodes_by_level": [[1716.0, 372.0, 51.0, 0.0], [1956.0, 400.0, 80.0, 0.0], [1378.0, 268.0, 69.0, 0.0], [911.0, 152.0, 41.0, 0.0], [388.0, 53.0, 33.0, 0.0], [103.0, 11.0, 18.0, 0.0]]}, "slope": {"level_counts": [18, 45, 87, 88, 75, 97], "episodes_by_level": [[1563.0, 332.0, 45.0, 0.0], [1800.0, 371.0, 67.0, 0.0], [1325.0, 283.0, 38.0, 0.0], [843.0, 179.0, 23.0, 0.0], [531.0, 109.0, 7.0, 0.0], [443.0, 71.0, 12.0, 0.0]]}, "rubble": {"level_counts": [44, 146, 230, 229, 134, 36], "episodes_by_level": [[3150.0, 711.0, 95.0, 0.0], [4145.0, 900.0, 191.0, 0.0], [3201.0, 677.0, 288.0, 0.0], [1844.0, 294.0, 278.0, 0.0], [628.0, 72.0, 124.0, 0.0], [128.0, 3.0, 36.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234375, "command_abs_max": [0.9991791248321533, 0.39965304732322693, 0.6995944976806641]}
{"step": 27700, "actor_lr": 4.448692268694208e-05, "archive_windows": 50000, "env_steps": 27700, "total_transitions": 113459200, "num_steps_per_env": 1, "wm_loss": 0.6419260501861572, "actor_loss": -9.50536823272705, "critic_loss": 0.0028710239566862583, "reward": 0.08738209307193756, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11629239469766617, 0.07192361354827881, 0.13568812608718872], "mean_episode_length": 1365.20625, "episode_reward_terms": {"track_linear_velocity": 48.32297897338867, "track_angular_velocity": 51.55623245239258, "upright": 26.233413696289062, "leg_posture": -2.6076173782348633, "standstill": -5.79706335067749, "action_rate_l2": -0.5981840491294861, "joint_torques_l2": -0.1497652679681778, "dof_pos_limits": -0.0006991773843765259, "terminated": -0.026664182543754578, "unnecessary_wheel_lift": -0.09017233550548553, "rolling_leg_motion": -0.6302474141120911, "obstacle_progress": 3.6510446071624756, "wheel_body_intrusion": -0.2740563452243805, "pair_body_intrusion": -0.2946013808250427}, "weighted_reward_terms": {"track_linear_velocity": 1.7698049545288086, "track_angular_velocity": 1.8882213830947876, "upright": 0.9607857465744019, "leg_posture": -0.09550268948078156, "standstill": -0.21231457591056824, "action_rate_l2": -0.021908191964030266, "joint_torques_l2": -0.005485078785568476, "dof_pos_limits": -2.560702159826178e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.003302516881376505, "rolling_leg_motion": -0.023082496598362923, "obstacle_progress": 0.13371768593788147, "wheel_body_intrusion": -0.010037177242338657, "pair_body_intrusion": -0.010789629071950912}, "episode_termination_rates": {"time_out": 0.45, "fell_over": 0.03125, "course_exit": 0.4875, "illegal_nonwheel_contact": 0.05}, "collection_time_s": 0.07577631024061703, "learning_time_s": 0.18537897794740274, "iteration_time_s": 0.31966052168057746, "policy_updates": 27400, "skipped_updates": 0, "invalid_env_resets": 139, "elapsed_s": 8854.596450551995, "nonwheel_terminations": 12590, "contact_bce": 0.29589560627937317, "contact_force_loss": 0.020818782970309258, "collision_bce": 3.047616883122828e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 2.9518419978558086e-05, "collision_label_count": 16340.0, "terrain_level_mean": 3.75390625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [7, 36, 71, 100, 64, 132], "episodes_by_level": [[1432.0, 311.0, 49.0, 0.0], [1743.0, 388.0, 38.0, 0.0], [1338.0, 314.0, 29.0, 0.0], [957.0, 210.0, 18.0, 0.0], [524.0, 138.0, 14.0, 0.0], [521.0, 118.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 0, 10, 68, 423, 932], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4288.0, 1744.0, 165.0, 0.0], [4376.0, 1611.0, 195.0, 0.0], [4286.0, 1202.0, 159.0, 0.0], [2883.0, 410.0, 158.0, 0.0]]}, "down": {"level_counts": [0, 1, 1, 2, 43, 567], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1663.0, 1328.0, 64.0, 0.0], [6944.0, 5656.0, 238.0, 0.0]]}, "platform": {"level_counts": [19, 54, 108, 110, 83, 36], "episodes_by_level": [[1716.0, 372.0, 51.0, 0.0], [1959.0, 401.0, 80.0, 0.0], [1383.0, 270.0, 70.0, 0.0], [912.0, 152.0, 41.0, 0.0], [389.0, 54.0, 33.0, 0.0], [106.0, 12.0, 18.0, 0.0]]}, "slope": {"level_counts": [18, 44, 88, 87, 75, 98], "episodes_by_level": [[1563.0, 332.0, 45.0, 0.0], [1802.0, 372.0, 67.0, 0.0], [1326.0, 283.0, 38.0, 0.0], [845.0, 180.0, 23.0, 0.0], [532.0, 110.0, 7.0, 0.0], [445.0, 73.0, 12.0, 0.0]]}, "rubble": {"level_counts": [44, 147, 229, 230, 133, 36], "episodes_by_level": [[3152.0, 711.0, 95.0, 0.0], [4152.0, 901.0, 191.0, 0.0], [3208.0, 677.0, 290.0, 0.0], [1851.0, 295.0, 278.0, 0.0], [631.0, 72.0, 126.0, 0.0], [130.0, 4.0, 36.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.233154296875, "command_abs_max": [0.9991791248321533, 0.39965304732322693, 0.6995944976806641]}
{"step": 27750, "actor_lr": 4.4310346165374456e-05, "archive_windows": 50000, "env_steps": 27750, "total_transitions": 113664000, "num_steps_per_env": 1, "wm_loss": 0.6406862735748291, "actor_loss": -9.508533477783203, "critic_loss": 0.004848838783800602, "reward": 0.08748786896467209, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11406222730875015, 0.07242554426193237, 0.1350271850824356], "mean_episode_length": 1398.6163522012578, "episode_reward_terms": {"track_linear_velocity": 49.58628845214844, "track_angular_velocity": 52.84443283081055, "upright": 26.89537239074707, "leg_posture": -2.654548406600952, "standstill": -6.050588130950928, "action_rate_l2": -0.6098787188529968, "joint_torques_l2": -0.15110285580158234, "dof_pos_limits": -0.0009546885848976672, "terminated": -0.01365836150944233, "unnecessary_wheel_lift": -0.08448100090026855, "rolling_leg_motion": -0.6245399713516235, "obstacle_progress": 3.7898778915405273, "wheel_body_intrusion": -0.2819945812225342, "pair_body_intrusion": -0.2822585701942444}, "weighted_reward_terms": {"track_linear_velocity": 1.7726908922195435, "track_angular_velocity": 1.889168381690979, "upright": 0.9614993333816528, "leg_posture": -0.09489909559488297, "standstill": -0.21630620956420898, "action_rate_l2": -0.021802932024002075, "joint_torques_l2": -0.005401869770139456, "dof_pos_limits": -3.412975274841301e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.0030201636254787445, "rolling_leg_motion": -0.022327067330479622, "obstacle_progress": 0.1354866921901703, "wheel_body_intrusion": -0.010081198997795582, "pair_body_intrusion": -0.01009063608944416}, "episode_termination_rates": {"time_out": 0.5031446540880503, "fell_over": 0.025157232704402517, "course_exit": 0.46540880503144655, "illegal_nonwheel_contact": 0.025157232704402517}, "collection_time_s": 0.07569473534356802, "learning_time_s": 0.18518973787664436, "iteration_time_s": 0.3195546611304865, "policy_updates": 27450, "skipped_updates": 0, "invalid_env_resets": 139, "elapsed_s": 8867.641846371, "nonwheel_terminations": 12594, "contact_bce": 0.2940477132797241, "contact_force_loss": 0.02050698548555374, "collision_bce": 1.0151415153814014e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.0163098522752989e-05, "collision_label_count": 16353.0, "terrain_level_mean": 3.756103515625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [7, 36, 70, 100, 65, 132], "episodes_by_level": [[1432.0, 311.0, 49.0, 0.0], [1744.0, 388.0, 38.0, 0.0], [1341.0, 316.0, 29.0, 0.0], [961.0, 211.0, 19.0, 0.0], [526.0, 138.0, 14.0, 0.0], [524.0, 119.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 0, 10, 69, 422, 932], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4288.0, 1744.0, 165.0, 0.0], [4377.0, 1611.0, 195.0, 0.0], [4291.0, 1203.0, 159.0, 0.0], [2917.0, 416.0, 159.0, 0.0]]}, "down": {"level_counts": [0, 1, 1, 1, 43, 568], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1663.0, 1328.0, 64.0, 0.0], [6965.0, 5673.0, 238.0, 0.0]]}, "platform": {"level_counts": [18, 55, 107, 110, 82, 38], "episodes_by_level": [[1719.0, 373.0, 51.0, 0.0], [1960.0, 401.0, 80.0, 0.0], [1386.0, 271.0, 70.0, 0.0], [919.0, 153.0, 41.0, 0.0], [391.0, 56.0, 33.0, 0.0], [109.0, 12.0, 18.0, 0.0]]}, "slope": {"level_counts": [18, 45, 87, 87, 75, 98], "episodes_by_level": [[1564.0, 332.0, 45.0, 0.0], [1803.0, 372.0, 67.0, 0.0], [1331.0, 283.0, 39.0, 0.0], [847.0, 180.0, 23.0, 0.0], [533.0, 110.0, 7.0, 0.0], [450.0, 74.0, 12.0, 0.0]]}, "rubble": {"level_counts": [44, 147, 228, 230, 134, 36], "episodes_by_level": [[3153.0, 711.0, 95.0, 0.0], [4156.0, 901.0, 191.0, 0.0], [3215.0, 678.0, 290.0, 0.0], [1856.0, 297.0, 278.0, 0.0], [636.0, 72.0, 127.0, 0.0], [132.0, 4.0, 36.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.236328125, "command_abs_max": [0.9991791248321533, 0.39965304732322693, 0.6995944976806641]}
{"step": 27800, "actor_lr": 4.413325702251011e-05, "archive_windows": 50000, "env_steps": 27800, "total_transitions": 113868800, "num_steps_per_env": 1, "wm_loss": 0.6450279355049133, "actor_loss": -9.490200996398926, "critic_loss": 0.008776105009019375, "reward": 0.08732745796442032, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11588049679994583, 0.07112444937229156, 0.1338602602481842], "mean_episode_length": 1378.4201183431953, "episode_reward_terms": {"track_linear_velocity": 48.838993072509766, "track_angular_velocity": 52.13361740112305, "upright": 26.490522384643555, "leg_posture": -2.6001458168029785, "standstill": -6.151456356048584, "action_rate_l2": -0.5939817428588867, "joint_torques_l2": -0.14867573976516724, "dof_pos_limits": -0.0009923570323735476, "terminated": -0.018845586106181145, "unnecessary_wheel_lift": -0.08609525859355927, "rolling_leg_motion": -0.6123101115226746, "obstacle_progress": 3.689164400100708, "wheel_body_intrusion": -0.26356062293052673, "pair_body_intrusion": -0.30232182145118713}, "weighted_reward_terms": {"track_linear_velocity": 1.7715568542480469, "track_angular_velocity": 1.8910640478134155, "upright": 0.9609015583992004, "leg_posture": -0.09431615471839905, "standstill": -0.22313430905342102, "action_rate_l2": -0.021545743569731712, "joint_torques_l2": -0.005392976105213165, "dof_pos_limits": -3.599617411964573e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0031229685992002487, "rolling_leg_motion": -0.02221057564020157, "obstacle_progress": 0.133818581700325, "wheel_body_intrusion": -0.009560243226587772, "pair_body_intrusion": -0.010966243222355843}, "episode_termination_rates": {"time_out": 0.5266272189349113, "fell_over": 0.023668639053254437, "course_exit": 0.4319526627218935, "illegal_nonwheel_contact": 0.023668639053254437}, "collection_time_s": 0.07557053431635723, "learning_time_s": 0.18532589860376902, "iteration_time_s": 0.3194491998832371, "policy_updates": 27500, "skipped_updates": 0, "invalid_env_resets": 139, "elapsed_s": 8880.687756753992, "nonwheel_terminations": 12598, "contact_bce": 0.300506055355072, "contact_force_loss": 0.02144850790500641, "collision_bce": 5.32580706931185e-05, "collision_label_rate": 6.120699981693178e-05, "collision_prediction_mean": 7.370250386884436e-05, "collision_label_count": 16338.0, "terrain_level_mean": 3.7587890625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [7, 37, 68, 101, 65, 132], "episodes_by_level": [[1432.0, 311.0, 49.0, 0.0], [1745.0, 388.0, 38.0, 0.0], [1346.0, 317.0, 30.0, 0.0], [962.0, 211.0, 19.0, 0.0], [526.0, 138.0, 14.0, 0.0], [536.0, 122.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 0, 10, 69, 416, 938], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4288.0, 1744.0, 165.0, 0.0], [4378.0, 1611.0, 195.0, 0.0], [4303.0, 1209.0, 159.0, 0.0], [2934.0, 419.0, 159.0, 0.0]]}, "down": {"level_counts": [0, 1, 1, 1, 45, 566], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1664.0, 1329.0, 64.0, 0.0], [6987.0, 5693.0, 238.0, 0.0]]}, "platform": {"level_counts": [18, 53, 108, 109, 84, 38], "episodes_by_level": [[1719.0, 373.0, 51.0, 0.0], [1963.0, 403.0, 80.0, 0.0], [1390.0, 272.0, 70.0, 0.0], [922.0, 155.0, 41.0, 0.0], [393.0, 56.0, 33.0, 0.0], [109.0, 12.0, 18.0, 0.0]]}, "slope": {"level_counts": [18, 45, 87, 87, 75, 98], "episodes_by_level": [[1564.0, 332.0, 45.0, 0.0], [1805.0, 372.0, 67.0, 0.0], [1333.0, 283.0, 39.0, 0.0], [851.0, 180.0, 23.0, 0.0], [533.0, 110.0, 7.0, 0.0], [456.0, 74.0, 12.0, 0.0]]}, "rubble": {"level_counts": [43, 148, 229, 227, 136, 36], "episodes_by_level": [[3155.0, 712.0, 95.0, 0.0], [4161.0, 902.0, 191.0, 0.0], [3222.0, 679.0, 291.0, 0.0], [1868.0, 299.0, 280.0, 0.0], [638.0, 72.0, 127.0, 0.0], [134.0, 4.0, 36.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23828125, "command_abs_max": [0.9991791248321533, 0.3995952010154724, 0.6995944976806641]}
{"step": 27850, "actor_lr": 4.395566618204156e-05, "archive_windows": 50000, "env_steps": 27850, "total_transitions": 114073600, "num_steps_per_env": 1, "wm_loss": 0.6652540564537048, "actor_loss": -9.497526168823242, "critic_loss": 0.00570514053106308, "reward": 0.0877716913819313, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11629734188318253, 0.0718376561999321, 0.13586683571338654], "mean_episode_length": 1435.7483870967742, "episode_reward_terms": {"track_linear_velocity": 50.817909240722656, "track_angular_velocity": 54.20735549926758, "upright": 27.565641403198242, "leg_posture": -2.6757776737213135, "standstill": -5.668300151824951, "action_rate_l2": -0.6114476323127747, "joint_torques_l2": -0.15581214427947998, "dof_pos_limits": -0.0011677483562380075, "terminated": -0.01962937042117119, "unnecessary_wheel_lift": -0.08827173709869385, "rolling_leg_motion": -0.6468685269355774, "obstacle_progress": 3.8380489349365234, "wheel_body_intrusion": -0.2693721652030945, "pair_body_intrusion": -0.27424538135528564}, "weighted_reward_terms": {"track_linear_velocity": 1.7697358131408691, "track_angular_velocity": 1.8877735137939453, "upright": 0.9599746465682983, "leg_posture": -0.09318406879901886, "standstill": -0.1973988115787506, "action_rate_l2": -0.02129369042813778, "joint_torques_l2": -0.0054261647164821625, "dof_pos_limits": -4.066688779857941e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.003074066946282983, "rolling_leg_motion": -0.02252722531557083, "obstacle_progress": 0.1336602121591568, "wheel_body_intrusion": -0.009380897507071495, "pair_body_intrusion": -0.009550606831908226}, "episode_termination_rates": {"time_out": 0.5483870967741935, "fell_over": 0.01935483870967742, "course_exit": 0.4064516129032258, "illegal_nonwheel_contact": 0.03225806451612903}, "collection_time_s": 0.07558226802269928, "learning_time_s": 0.18516658069449476, "iteration_time_s": 0.3193438513927108, "policy_updates": 27550, "skipped_updates": 0, "invalid_env_resets": 139, "elapsed_s": 8893.726261286996, "nonwheel_terminations": 12603, "contact_bce": 0.29890066385269165, "contact_force_loss": 0.021248018369078636, "collision_bce": 0.00021326552086975425, "collision_label_rate": 0.0001222942373715341, "collision_prediction_mean": 0.00010348595242248848, "collision_label_count": 16354.0, "terrain_level_mean": 3.7607421875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [7, 37, 68, 101, 65, 132], "episodes_by_level": [[1432.0, 311.0, 49.0, 0.0], [1745.0, 388.0, 38.0, 0.0], [1346.0, 317.0, 30.0, 0.0], [965.0, 211.0, 19.0, 0.0], [527.0, 138.0, 14.0, 0.0], [542.0, 123.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 0, 11, 66, 415, 941], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4288.0, 1744.0, 165.0, 0.0], [4384.0, 1613.0, 195.0, 0.0], [4315.0, 1213.0, 159.0, 0.0], [2951.0, 421.0, 159.0, 0.0]]}, "down": {"level_counts": [0, 1, 1, 2, 44, 566], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1664.0, 1329.0, 64.0, 0.0], [7006.0, 5710.0, 238.0, 0.0]]}, "platform": {"level_counts": [18, 53, 108, 108, 85, 38], "episodes_by_level": [[1719.0, 373.0, 51.0, 0.0], [1965.0, 403.0, 80.0, 0.0], [1394.0, 272.0, 70.0, 0.0], [924.0, 156.0, 41.0, 0.0], [396.0, 56.0, 33.0, 0.0], [110.0, 12.0, 18.0, 0.0]]}, "slope": {"level_counts": [18, 45, 87, 87, 73, 100], "episodes_by_level": [[1565.0, 332.0, 45.0, 0.0], [1806.0, 372.0, 67.0, 0.0], [1335.0, 284.0, 39.0, 0.0], [855.0, 180.0, 24.0, 0.0], [537.0, 112.0, 7.0, 0.0], [459.0, 74.0, 12.0, 0.0]]}, "rubble": {"level_counts": [42, 148, 232, 223, 138, 36], "episodes_by_level": [[3158.0, 713.0, 95.0, 0.0], [4164.0, 903.0, 191.0, 0.0], [3230.0, 679.0, 291.0, 0.0], [1883.0, 302.0, 282.0, 0.0], [643.0, 72.0, 128.0, 0.0], [135.0, 5.0, 36.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.233154296875, "command_abs_max": [0.9996253848075867, 0.39955177903175354, 0.6995944976806641]}
{"step": 27900, "actor_lr": 4.377758459860837e-05, "archive_windows": 50000, "env_steps": 27900, "total_transitions": 114278400, "num_steps_per_env": 1, "wm_loss": 0.6470007300376892, "actor_loss": -9.511194229125977, "critic_loss": 0.004750496242195368, "reward": 0.08765783160924911, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11603410542011261, 0.0730338841676712, 0.1347644180059433], "mean_episode_length": 1424.2826086956522, "episode_reward_terms": {"track_linear_velocity": 50.376407623291016, "track_angular_velocity": 53.82680130004883, "upright": 27.33840560913086, "leg_posture": -2.6585769653320312, "standstill": -5.832043647766113, "action_rate_l2": -0.6082265973091125, "joint_torques_l2": -0.15633919835090637, "dof_pos_limits": -0.0008617208222858608, "terminated": -0.0166908111423254, "unnecessary_wheel_lift": -0.09597863256931305, "rolling_leg_motion": -0.632194459438324, "obstacle_progress": 3.8723819255828857, "wheel_body_intrusion": -0.26349806785583496, "pair_body_intrusion": -0.30007103085517883}, "weighted_reward_terms": {"track_linear_velocity": 1.7684836387634277, "track_angular_velocity": 1.889611005783081, "upright": 0.959725558757782, "leg_posture": -0.09333039075136185, "standstill": -0.20473618805408478, "action_rate_l2": -0.02135203406214714, "joint_torques_l2": -0.005488349124789238, "dof_pos_limits": -3.0251047064666636e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.0033693676814436913, "rolling_leg_motion": -0.022193435579538345, "obstacle_progress": 0.1359414905309677, "wheel_body_intrusion": -0.009250203147530556, "pair_body_intrusion": -0.01053411141037941}, "episode_termination_rates": {"time_out": 0.5362318840579711, "fell_over": 0.021739130434782608, "course_exit": 0.42028985507246375, "illegal_nonwheel_contact": 0.043478260869565216}, "collection_time_s": 0.07591684382990933, "learning_time_s": 0.18559285206836648, "iteration_time_s": 0.31924024679129115, "policy_updates": 27600, "skipped_updates": 0, "invalid_env_resets": 140, "elapsed_s": 8906.802885477024, "nonwheel_terminations": 12609, "contact_bce": 0.29689306020736694, "contact_force_loss": 0.020263105630874634, "collision_bce": 0.00035606720484793186, "collision_label_rate": 0.00012233913003001362, "collision_prediction_mean": 6.408620538422838e-05, "collision_label_count": 16348.0, "terrain_level_mean": 3.761962890625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [7, 37, 67, 102, 65, 132], "episodes_by_level": [[1432.0, 311.0, 49.0, 0.0], [1746.0, 388.0, 38.0, 0.0], [1348.0, 318.0, 30.0, 0.0], [968.0, 211.0, 19.0, 0.0], [528.0, 138.0, 14.0, 0.0], [545.0, 123.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 0, 11, 65, 414, 943], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4288.0, 1744.0, 165.0, 0.0], [4385.0, 1614.0, 195.0, 0.0], [4323.0, 1216.0, 159.0, 0.0], [2971.0, 426.0, 159.0, 0.0]]}, "down": {"level_counts": [0, 1, 1, 2, 47, 563], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1664.0, 1329.0, 64.0, 0.0], [7026.0, 5728.0, 240.0, 0.0]]}, "platform": {"level_counts": [18, 52, 109, 109, 84, 38], "episodes_by_level": [[1719.0, 373.0, 51.0, 0.0], [1968.0, 404.0, 80.0, 0.0], [1398.0, 272.0, 70.0, 0.0], [928.0, 156.0, 41.0, 0.0], [400.0, 56.0, 34.0, 0.0], [111.0, 12.0, 18.0, 0.0]]}, "slope": {"level_counts": [18, 45, 86, 87, 74, 100], "episodes_by_level": [[1566.0, 332.0, 45.0, 0.0], [1808.0, 372.0, 67.0, 0.0], [1337.0, 285.0, 39.0, 0.0], [860.0, 181.0, 24.0, 0.0], [540.0, 112.0, 7.0, 0.0], [459.0, 74.0, 12.0, 0.0]]}, "rubble": {"level_counts": [41, 150, 229, 225, 138, 36], "episodes_by_level": [[3160.0, 714.0, 95.0, 0.0], [4169.0, 903.0, 191.0, 0.0], [3237.0, 681.0, 292.0, 0.0], [1889.0, 302.0, 282.0, 0.0], [643.0, 72.0, 128.0, 0.0], [135.0, 5.0, 36.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.227783203125, "command_abs_max": [0.9996253848075867, 0.39955177903175354, 0.6995944976806641]}
{"step": 27950, "actor_lr": 4.359902325712144e-05, "archive_windows": 50000, "env_steps": 27950, "total_transitions": 114483200, "num_steps_per_env": 1, "wm_loss": 0.6705570816993713, "actor_loss": -9.509272575378418, "critic_loss": 0.0042385137639939785, "reward": 0.08741655200719833, "falls": 12, "interval_steps": 50, "velocity_mae": [0.11603137850761414, 0.07226555049419403, 0.135045126080513], "mean_episode_length": 1331.111111111111, "episode_reward_terms": {"track_linear_velocity": 47.08384323120117, "track_angular_velocity": 50.29030227661133, "upright": 25.554040908813477, "leg_posture": -2.5025603771209717, "standstill": -5.757143497467041, "action_rate_l2": -0.5674482583999634, "joint_torques_l2": -0.1438971906900406, "dof_pos_limits": -0.001544614089652896, "terminated": -0.031197912991046906, "unnecessary_wheel_lift": -0.084832102060318, "rolling_leg_motion": -0.5875846743583679, "obstacle_progress": 3.6314477920532227, "wheel_body_intrusion": -0.24810780584812164, "pair_body_intrusion": -0.27419453859329224}, "weighted_reward_terms": {"track_linear_velocity": 1.7685918807983398, "track_angular_velocity": 1.8890348672866821, "upright": 0.9598763585090637, "leg_posture": -0.09400269389152527, "standstill": -0.21625331044197083, "action_rate_l2": -0.02131483517587185, "joint_torques_l2": -0.00540515361353755, "dof_pos_limits": -5.801973384222947e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.0031865148339420557, "rolling_leg_motion": -0.02207121253013611, "obstacle_progress": 0.13640664517879486, "wheel_body_intrusion": -0.009319575503468513, "pair_body_intrusion": -0.010299461893737316}, "episode_termination_rates": {"time_out": 0.4666666666666667, "fell_over": 0.06666666666666667, "course_exit": 0.4444444444444444, "illegal_nonwheel_contact": 0.037037037037037035}, "collection_time_s": 0.07563711959635838, "learning_time_s": 0.1849796911631711, "iteration_time_s": 0.31913541426751363, "policy_updates": 27650, "skipped_updates": 0, "invalid_env_resets": 140, "elapsed_s": 8919.834828777006, "nonwheel_terminations": 12614, "contact_bce": 0.29780662059783936, "contact_force_loss": 0.02084428071975708, "collision_bce": 2.418177973595448e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 2.2608401195611805e-05, "collision_label_count": 16334.0, "terrain_level_mean": 3.764892578125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [7, 36, 68, 101, 66, 132], "episodes_by_level": [[1432.0, 311.0, 49.0, 0.0], [1749.0, 389.0, 38.0, 0.0], [1349.0, 318.0, 30.0, 0.0], [969.0, 212.0, 19.0, 0.0], [529.0, 138.0, 14.0, 0.0], [549.0, 126.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 0, 12, 63, 413, 945], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4288.0, 1744.0, 165.0, 0.0], [4389.0, 1616.0, 195.0, 0.0], [4334.0, 1222.0, 159.0, 0.0], [2986.0, 428.0, 162.0, 0.0]]}, "down": {"level_counts": [0, 1, 1, 2, 46, 564], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1666.0, 1331.0, 64.0, 0.0], [7043.0, 5741.0, 240.0, 0.0]]}, "platform": {"level_counts": [18, 51, 110, 107, 85, 39], "episodes_by_level": [[1721.0, 373.0, 51.0, 0.0], [1971.0, 405.0, 80.0, 0.0], [1401.0, 272.0, 70.0, 0.0], [935.0, 158.0, 41.0, 0.0], [403.0, 57.0, 34.0, 0.0], [112.0, 12.0, 18.0, 0.0]]}, "slope": {"level_counts": [18, 44, 87, 86, 75, 100], "episodes_by_level": [[1566.0, 332.0, 45.0, 0.0], [1810.0, 373.0, 67.0, 0.0], [1337.0, 285.0, 39.0, 0.0], [863.0, 182.0, 24.0, 0.0], [543.0, 112.0, 7.0, 0.0], [463.0, 74.0, 12.0, 0.0]]}, "rubble": {"level_counts": [42, 147, 231, 225, 138, 36], "episodes_by_level": [[3160.0, 714.0, 95.0, 0.0], [4172.0, 905.0, 192.0, 0.0], [3244.0, 683.0, 292.0, 0.0], [1895.0, 303.0, 284.0, 0.0], [648.0, 72.0, 129.0, 0.0], [136.0, 6.0, 36.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23193359375, "command_abs_max": [0.9996253848075867, 0.39955177903175354, 0.6995944976806641]}
{"step": 28000, "actor_lr": 4.3419993172085425e-05, "archive_windows": 50000, "env_steps": 28000, "total_transitions": 114688000, "num_steps_per_env": 1, "wm_loss": 0.6449785828590393, "actor_loss": -9.487543106079102, "critic_loss": 0.006106667220592499, "reward": 0.08753016591072083, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11753824353218079, 0.07143129408359528, 0.13504287600517273], "mean_episode_length": 1401.5460122699387, "episode_reward_terms": {"track_linear_velocity": 49.50568771362305, "track_angular_velocity": 52.9376335144043, "upright": 26.928844451904297, "leg_posture": -2.6473495960235596, "standstill": -5.82547664642334, "action_rate_l2": -0.6051707863807678, "joint_torques_l2": -0.15231376886367798, "dof_pos_limits": -0.0004431620182003826, "terminated": -0.013686971738934517, "unnecessary_wheel_lift": -0.09159673750400543, "rolling_leg_motion": -0.6218262314796448, "obstacle_progress": 3.8380730152130127, "wheel_body_intrusion": -0.27948373556137085, "pair_body_intrusion": -0.2953623831272125}, "weighted_reward_terms": {"track_linear_velocity": 1.7661100625991821, "track_angular_velocity": 1.8885443210601807, "upright": 0.9606835842132568, "leg_posture": -0.0944439098238945, "standstill": -0.207823246717453, "action_rate_l2": -0.021589400246739388, "joint_torques_l2": -0.005433776881545782, "dof_pos_limits": -1.5809757314855233e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.003267703577876091, "rolling_leg_motion": -0.022183582186698914, "obstacle_progress": 0.13692283630371094, "wheel_body_intrusion": -0.009970552287995815, "pair_body_intrusion": -0.010537019930779934}, "episode_termination_rates": {"time_out": 0.5337423312883436, "fell_over": 0.012269938650306749, "course_exit": 0.43558282208588955, "illegal_nonwheel_contact": 0.024539877300613498}, "collection_time_s": 0.07559028298244812, "learning_time_s": 0.1852645757375285, "iteration_time_s": 0.3190313817684655, "policy_updates": 27700, "skipped_updates": 0, "invalid_env_resets": 140, "elapsed_s": 8932.878689517034, "nonwheel_terminations": 12618, "contact_bce": 0.2966989278793335, "contact_force_loss": 0.020613690838217735, "collision_bce": 9.32287221075967e-05, "collision_label_rate": 6.116207805462182e-05, "collision_prediction_mean": 3.155958256684244e-05, "collision_label_count": 16350.0, "terrain_level_mean": 3.7666015625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [7, 35, 69, 100, 67, 132], "episodes_by_level": [[1432.0, 311.0, 49.0, 0.0], [1752.0, 390.0, 38.0, 0.0], [1350.0, 318.0, 30.0, 0.0], [970.0, 213.0, 19.0, 0.0], [530.0, 138.0, 14.0, 0.0], [555.0, 126.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 0, 11, 64, 410, 948], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4289.0, 1745.0, 165.0, 0.0], [4390.0, 1616.0, 195.0, 0.0], [4343.0, 1225.0, 159.0, 0.0], [3010.0, 435.0, 162.0, 0.0]]}, "down": {"level_counts": [0, 1, 1, 2, 46, 564], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [535.0, 479.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1668.0, 1333.0, 64.0, 0.0], [7066.0, 5762.0, 240.0, 0.0]]}, "platform": {"level_counts": [18, 51, 110, 106, 87, 38], "episodes_by_level": [[1722.0, 373.0, 51.0, 0.0], [1973.0, 405.0, 80.0, 0.0], [1406.0, 272.0, 70.0, 0.0], [940.0, 159.0, 41.0, 0.0], [405.0, 57.0, 34.0, 0.0], [116.0, 12.0, 19.0, 0.0]]}, "slope": {"level_counts": [19, 43, 87, 86, 75, 100], "episodes_by_level": [[1566.0, 332.0, 45.0, 0.0], [1813.0, 373.0, 68.0, 0.0], [1341.0, 285.0, 39.0, 0.0], [866.0, 182.0, 24.0, 0.0], [546.0, 112.0, 7.0, 0.0], [467.0, 74.0, 12.0, 0.0]]}, "rubble": {"level_counts": [42, 147, 229, 227, 138, 36], "episodes_by_level": [[3161.0, 714.0, 95.0, 0.0], [4176.0, 905.0, 192.0, 0.0], [3251.0, 685.0, 292.0, 0.0], [1903.0, 304.0, 284.0, 0.0], [649.0, 72.0, 130.0, 0.0], [138.0, 6.0, 36.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.231689453125, "command_abs_max": [0.9995367527008057, 0.39955177903175354, 0.6995944976806641]}
{"step": 28050, "actor_lr": 4.324050538691927e-05, "archive_windows": 50000, "env_steps": 28050, "total_transitions": 114892800, "num_steps_per_env": 1, "wm_loss": 0.625794529914856, "actor_loss": -9.521953582763672, "critic_loss": 0.007504673209041357, "reward": 0.0875883400440216, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11685283482074738, 0.07149830460548401, 0.13434544205665588], "mean_episode_length": 1306.0939597315437, "episode_reward_terms": {"track_linear_velocity": 46.208290100097656, "track_angular_velocity": 49.373291015625, "upright": 25.109058380126953, "leg_posture": -2.459547281265259, "standstill": -5.411869525909424, "action_rate_l2": -0.5547958016395569, "joint_torques_l2": -0.1424388736486435, "dof_pos_limits": -0.0008939388208091259, "terminated": -0.02040771394968033, "unnecessary_wheel_lift": -0.08421628922224045, "rolling_leg_motion": -0.5818766355514526, "obstacle_progress": 3.537269353866577, "wheel_body_intrusion": -0.2667871415615082, "pair_body_intrusion": -0.30646976828575134}, "weighted_reward_terms": {"track_linear_velocity": 1.7689497470855713, "track_angular_velocity": 1.8901125192642212, "upright": 0.9612271189689636, "leg_posture": -0.09415660053491592, "standstill": -0.20717763900756836, "action_rate_l2": -0.021238738670945168, "joint_torques_l2": -0.005452856887131929, "dof_pos_limits": -3.4221840905956924e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0032239751890301704, "rolling_leg_motion": -0.022275451570749283, "obstacle_progress": 0.13541404902935028, "wheel_body_intrusion": -0.01021316833794117, "pair_body_intrusion": -0.01173230167478323}, "episode_termination_rates": {"time_out": 0.4228187919463087, "fell_over": 0.020134228187919462, "course_exit": 0.5234899328859061, "illegal_nonwheel_contact": 0.03355704697986577}, "collection_time_s": 0.07580984473577701, "learning_time_s": 0.18554265723912977, "iteration_time_s": 0.31892952120399315, "policy_updates": 27750, "skipped_updates": 0, "invalid_env_resets": 140, "elapsed_s": 8945.973069772008, "nonwheel_terminations": 12623, "contact_bce": 0.2957971692085266, "contact_force_loss": 0.020538968965411186, "collision_bce": 0.0010719855781644583, "collision_label_rate": 0.0001839024043874815, "collision_prediction_mean": 4.485691533773206e-05, "collision_label_count": 16313.0, "terrain_level_mean": 3.768798828125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [7, 35, 69, 98, 68, 133], "episodes_by_level": [[1434.0, 311.0, 49.0, 0.0], [1753.0, 390.0, 38.0, 0.0], [1351.0, 318.0, 30.0, 0.0], [976.0, 215.0, 19.0, 0.0], [531.0, 139.0, 14.0, 0.0], [558.0, 128.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 0, 11, 63, 413, 946], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4289.0, 1745.0, 165.0, 0.0], [4393.0, 1617.0, 195.0, 0.0], [4355.0, 1228.0, 159.0, 0.0], [3043.0, 437.0, 164.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 2, 45, 565], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1670.0, 1335.0, 64.0, 0.0], [7084.0, 5778.0, 240.0, 0.0]]}, "platform": {"level_counts": [18, 51, 110, 106, 87, 38], "episodes_by_level": [[1722.0, 373.0, 51.0, 0.0], [1973.0, 405.0, 80.0, 0.0], [1410.0, 272.0, 70.0, 0.0], [942.0, 159.0, 41.0, 0.0], [407.0, 57.0, 34.0, 0.0], [117.0, 13.0, 19.0, 0.0]]}, "slope": {"level_counts": [19, 43, 86, 86, 75, 101], "episodes_by_level": [[1567.0, 332.0, 45.0, 0.0], [1813.0, 373.0, 68.0, 0.0], [1346.0, 286.0, 39.0, 0.0], [869.0, 183.0, 24.0, 0.0], [549.0, 113.0, 7.0, 0.0], [467.0, 74.0, 12.0, 0.0]]}, "rubble": {"level_counts": [42, 146, 229, 228, 138, 36], "episodes_by_level": [[3162.0, 714.0, 95.0, 0.0], [4178.0, 906.0, 192.0, 0.0], [3256.0, 686.0, 292.0, 0.0], [1908.0, 306.0, 284.0, 0.0], [653.0, 72.0, 132.0, 0.0], [138.0, 6.0, 36.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.233154296875, "command_abs_max": [0.9995367527008057, 0.39955177903175354, 0.6995944976806641]}
{"step": 28100, "actor_lr": 4.3060570973275006e-05, "archive_windows": 50000, "env_steps": 28100, "total_transitions": 115097600, "num_steps_per_env": 1, "wm_loss": 0.6463330984115601, "actor_loss": -9.522494316101074, "critic_loss": 0.003888457315042615, "reward": 0.08759620785713196, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11616003513336182, 0.07092586159706116, 0.1324242353439331], "mean_episode_length": 1411.451388888889, "episode_reward_terms": {"track_linear_velocity": 49.96855163574219, "track_angular_velocity": 53.43125534057617, "upright": 27.13637351989746, "leg_posture": -2.680011510848999, "standstill": -5.964970111846924, "action_rate_l2": -0.5964635014533997, "joint_torques_l2": -0.1522604525089264, "dof_pos_limits": -0.0008352069417014718, "terminated": -0.022053923457860947, "unnecessary_wheel_lift": -0.08372220396995544, "rolling_leg_motion": -0.6126784086227417, "obstacle_progress": 3.7880687713623047, "wheel_body_intrusion": -0.27344706654548645, "pair_body_intrusion": -0.30003905296325684}, "weighted_reward_terms": {"track_linear_velocity": 1.7701122760772705, "track_angular_velocity": 1.8927770853042603, "upright": 0.9612932205200195, "leg_posture": -0.09493814408779144, "standstill": -0.21130624413490295, "action_rate_l2": -0.021129438653588295, "joint_torques_l2": -0.005393754690885544, "dof_pos_limits": -2.958681398013141e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0029658195562660694, "rolling_leg_motion": -0.021703843027353287, "obstacle_progress": 0.13419054448604584, "wheel_body_intrusion": -0.009686733596026897, "pair_body_intrusion": -0.010628742165863514}, "episode_termination_rates": {"time_out": 0.5347222222222222, "fell_over": 0.027777777777777776, "course_exit": 0.4097222222222222, "illegal_nonwheel_contact": 0.034722222222222224}, "collection_time_s": 0.0756081144581549, "learning_time_s": 0.18495411706040613, "iteration_time_s": 0.3188257025329175, "policy_updates": 27800, "skipped_updates": 0, "invalid_env_resets": 140, "elapsed_s": 8959.002241174981, "nonwheel_terminations": 12628, "contact_bce": 0.29574206471443176, "contact_force_loss": 0.021501533687114716, "collision_bce": 0.00027069213683716953, "collision_label_rate": 0.00012246647384017706, "collision_prediction_mean": 6.954892887733877e-05, "collision_label_count": 16331.0, "terrain_level_mean": 3.76904296875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [7, 35, 69, 97, 68, 134], "episodes_by_level": [[1434.0, 311.0, 49.0, 0.0], [1753.0, 390.0, 38.0, 0.0], [1351.0, 318.0, 30.0, 0.0], [978.0, 216.0, 19.0, 0.0], [533.0, 140.0, 14.0, 0.0], [560.0, 129.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 0, 11, 63, 414, 945], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4289.0, 1745.0, 165.0, 0.0], [4394.0, 1617.0, 195.0, 0.0], [4369.0, 1231.0, 159.0, 0.0], [3065.0, 441.0, 165.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 2, 45, 565], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1670.0, 1335.0, 64.0, 0.0], [7106.0, 5799.0, 240.0, 0.0]]}, "platform": {"level_counts": [18, 52, 109, 106, 87, 38], "episodes_by_level": [[1723.0, 373.0, 51.0, 0.0], [1976.0, 405.0, 80.0, 0.0], [1416.0, 272.0, 71.0, 0.0], [944.0, 159.0, 41.0, 0.0], [410.0, 57.0, 34.0, 0.0], [117.0, 13.0, 19.0, 0.0]]}, "slope": {"level_counts": [19, 43, 86, 85, 77, 100], "episodes_by_level": [[1567.0, 332.0, 45.0, 0.0], [1815.0, 373.0, 68.0, 0.0], [1349.0, 286.0, 39.0, 0.0], [872.0, 184.0, 24.0, 0.0], [550.0, 113.0, 7.0, 0.0], [472.0, 74.0, 13.0, 0.0]]}, "rubble": {"level_counts": [41, 148, 228, 227, 139, 36], "episodes_by_level": [[3164.0, 715.0, 95.0, 0.0], [4182.0, 906.0, 192.0, 0.0], [3261.0, 686.0, 293.0, 0.0], [1913.0, 307.0, 284.0, 0.0], [658.0, 72.0, 132.0, 0.0], [138.0, 6.0, 36.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23388671875, "command_abs_max": [0.9995367527008057, 0.39955177903175354, 0.6995944976806641]}
{"step": 28150, "actor_lr": 4.288020103035486e-05, "archive_windows": 50000, "env_steps": 28150, "total_transitions": 115302400, "num_steps_per_env": 1, "wm_loss": 0.6398041248321533, "actor_loss": -9.527665138244629, "critic_loss": 0.004987945314496756, "reward": 0.08760903030633926, "falls": 11, "interval_steps": 50, "velocity_mae": [0.11552723497152328, 0.07045517861843109, 0.13393276929855347], "mean_episode_length": 1313.20987654321, "episode_reward_terms": {"track_linear_velocity": 46.54179763793945, "track_angular_velocity": 49.647098541259766, "upright": 25.231603622436523, "leg_posture": -2.4253039360046387, "standstill": -5.563255310058594, "action_rate_l2": -0.54923415184021, "joint_torques_l2": -0.14266566932201385, "dof_pos_limits": -0.0012158320751041174, "terminated": -0.028213489800691605, "unnecessary_wheel_lift": -0.07981891930103302, "rolling_leg_motion": -0.5668091177940369, "obstacle_progress": 3.538133382797241, "wheel_body_intrusion": -0.2531559467315674, "pair_body_intrusion": -0.2999202013015747}, "weighted_reward_terms": {"track_linear_velocity": 1.7720625400543213, "track_angular_velocity": 1.8902958631515503, "upright": 0.9606844186782837, "leg_posture": -0.09234259277582169, "standstill": -0.21181897819042206, "action_rate_l2": -0.020911896601319313, "joint_torques_l2": -0.0054319449700415134, "dof_pos_limits": -4.629237810149789e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.0030390771571546793, "rolling_leg_motion": -0.021581057459115982, "obstacle_progress": 0.13471318781375885, "wheel_body_intrusion": -0.009638822637498379, "pair_body_intrusion": -0.011419355869293213}, "episode_termination_rates": {"time_out": 0.4567901234567901, "fell_over": 0.043209876543209874, "course_exit": 0.47530864197530864, "illegal_nonwheel_contact": 0.04938271604938271}, "collection_time_s": 0.07572855221689678, "learning_time_s": 0.18526254816795698, "iteration_time_s": 0.318723016645541, "policy_updates": 27850, "skipped_updates": 0, "invalid_env_resets": 140, "elapsed_s": 8972.052918571979, "nonwheel_terminations": 12636, "contact_bce": 0.29663825035095215, "contact_force_loss": 0.020569710060954094, "collision_bce": 5.214427346800221e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 5.280250661598984e-06, "collision_label_count": 16343.0, "terrain_level_mean": 3.77099609375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [7, 35, 67, 98, 69, 134], "episodes_by_level": [[1434.0, 311.0, 49.0, 0.0], [1754.0, 390.0, 38.0, 0.0], [1359.0, 320.0, 30.0, 0.0], [982.0, 217.0, 19.0, 0.0], [533.0, 140.0, 14.0, 0.0], [561.0, 130.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 0, 12, 61, 419, 941], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4289.0, 1745.0, 165.0, 0.0], [4397.0, 1618.0, 195.0, 0.0], [4381.0, 1231.0, 159.0, 0.0], [3088.0, 445.0, 168.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 2, 44, 566], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1673.0, 1337.0, 64.0, 0.0], [7130.0, 5821.0, 240.0, 0.0]]}, "platform": {"level_counts": [18, 51, 111, 104, 88, 38], "episodes_by_level": [[1724.0, 373.0, 51.0, 0.0], [1978.0, 406.0, 80.0, 0.0], [1420.0, 272.0, 71.0, 0.0], [947.0, 160.0, 42.0, 0.0], [411.0, 57.0, 34.0, 0.0], [118.0, 13.0, 19.0, 0.0]]}, "slope": {"level_counts": [19, 43, 85, 84, 79, 100], "episodes_by_level": [[1567.0, 332.0, 45.0, 0.0], [1815.0, 373.0, 68.0, 0.0], [1354.0, 287.0, 39.0, 0.0], [877.0, 186.0, 24.0, 0.0], [555.0, 113.0, 7.0, 0.0], [475.0, 74.0, 13.0, 0.0]]}, "rubble": {"level_counts": [39, 151, 225, 227, 142, 35], "episodes_by_level": [[3166.0, 717.0, 95.0, 0.0], [4186.0, 907.0, 192.0, 0.0], [3272.0, 688.0, 295.0, 0.0], [1923.0, 310.0, 284.0, 0.0], [662.0, 72.0, 133.0, 0.0], [140.0, 6.0, 37.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.237060546875, "command_abs_max": [0.996880054473877, 0.39955177903175354, 0.6995944976806641]}
{"step": 28200, "actor_lr": 4.2699406684226516e-05, "archive_windows": 50000, "env_steps": 28200, "total_transitions": 115507200, "num_steps_per_env": 1, "wm_loss": 0.6503374576568604, "actor_loss": -9.491827011108398, "critic_loss": 0.00893386360257864, "reward": 0.08727005124092102, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11680898815393448, 0.07109632343053818, 0.13420088589191437], "mean_episode_length": 1427.116129032258, "episode_reward_terms": {"track_linear_velocity": 50.442771911621094, "track_angular_velocity": 53.92705535888672, "upright": 27.392488479614258, "leg_posture": -2.717712163925171, "standstill": -6.118732929229736, "action_rate_l2": -0.5980801582336426, "joint_torques_l2": -0.15697087347507477, "dof_pos_limits": -0.001754264929331839, "terminated": -0.016724014654755592, "unnecessary_wheel_lift": -0.09282710403203964, "rolling_leg_motion": -0.6216675639152527, "obstacle_progress": 3.770487070083618, "wheel_body_intrusion": -0.2971126437187195, "pair_body_intrusion": -0.36673566699028015}, "weighted_reward_terms": {"track_linear_velocity": 1.7672975063323975, "track_angular_velocity": 1.8893717527389526, "upright": 0.9597147703170776, "leg_posture": -0.09521692991256714, "standstill": -0.21437403559684753, "action_rate_l2": -0.020954152569174767, "joint_torques_l2": -0.005499583203345537, "dof_pos_limits": -6.146188388811424e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.003252261783927679, "rolling_leg_motion": -0.021780554205179214, "obstacle_progress": 0.1321016252040863, "wheel_body_intrusion": -0.01040954701602459, "pair_body_intrusion": -0.012848838232457638}, "episode_termination_rates": {"time_out": 0.4838709677419355, "fell_over": 0.01935483870967742, "course_exit": 0.4774193548387097, "illegal_nonwheel_contact": 0.025806451612903226}, "collection_time_s": 0.07580598482047207, "learning_time_s": 0.1850177909026388, "iteration_time_s": 0.31862039794056785, "policy_updates": 27900, "skipped_updates": 0, "invalid_env_resets": 140, "elapsed_s": 8985.095221924013, "nonwheel_terminations": 12640, "contact_bce": 0.29487890005111694, "contact_force_loss": 0.020617198199033737, "collision_bce": 5.628415965475142e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 4.954115502187051e-05, "collision_label_count": 16343.0, "terrain_level_mean": 3.773681640625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [7, 34, 68, 98, 69, 134], "episodes_by_level": [[1434.0, 311.0, 49.0, 0.0], [1756.0, 391.0, 38.0, 0.0], [1363.0, 320.0, 30.0, 0.0], [982.0, 217.0, 19.0, 0.0], [534.0, 140.0, 14.0, 0.0], [564.0, 130.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 0, 12, 60, 419, 942], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4289.0, 1745.0, 165.0, 0.0], [4401.0, 1619.0, 195.0, 0.0], [4393.0, 1233.0, 159.0, 0.0], [3124.0, 453.0, 169.0, 0.0]]}, "down": {"level_counts": [0, 0, 2, 2, 43, 567], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [761.0, 672.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1676.0, 1340.0, 64.0, 0.0], [7141.0, 5829.0, 241.0, 0.0]]}, "platform": {"level_counts": [18, 50, 112, 104, 87, 39], "episodes_by_level": [[1726.0, 373.0, 51.0, 0.0], [1980.0, 407.0, 80.0, 0.0], [1422.0, 272.0, 71.0, 0.0], [947.0, 160.0, 42.0, 0.0], [414.0, 58.0, 34.0, 0.0], [121.0, 13.0, 19.0, 0.0]]}, "slope": {"level_counts": [19, 41, 86, 84, 80, 100], "episodes_by_level": [[1568.0, 332.0, 45.0, 0.0], [1818.0, 375.0, 68.0, 0.0], [1358.0, 288.0, 39.0, 0.0], [880.0, 187.0, 24.0, 0.0], [555.0, 113.0, 7.0, 0.0], [482.0, 75.0, 13.0, 0.0]]}, "rubble": {"level_counts": [39, 151, 222, 230, 144, 33], "episodes_by_level": [[3169.0, 717.0, 95.0, 0.0], [4190.0, 907.0, 192.0, 0.0], [3282.0, 691.0, 295.0, 0.0], [1928.0, 310.0, 284.0, 0.0], [668.0, 72.0, 133.0, 0.0], [142.0, 6.0, 39.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23779296875, "command_abs_max": [0.9998337030410767, 0.39955177903175354, 0.6995944976806641]}
{"step": 28250, "actor_lr": 4.251819908713688e-05, "archive_windows": 50000, "env_steps": 28250, "total_transitions": 115712000, "num_steps_per_env": 1, "wm_loss": 0.6335747241973877, "actor_loss": -9.528828620910645, "critic_loss": 0.0037069350946694613, "reward": 0.08760068565607071, "falls": 4, "interval_steps": 50, "velocity_mae": [0.11516455560922623, 0.06984301656484604, 0.13334321975708008], "mean_episode_length": 1370.7241379310344, "episode_reward_terms": {"track_linear_velocity": 48.576683044433594, "track_angular_velocity": 51.84832763671875, "upright": 26.302335739135742, "leg_posture": -2.561105966567993, "standstill": -5.801591396331787, "action_rate_l2": -0.5733194947242737, "joint_torques_l2": -0.15010355412960052, "dof_pos_limits": -0.0015965382335707545, "terminated": -0.010708780027925968, "unnecessary_wheel_lift": -0.07907762378454208, "rolling_leg_motion": -0.5852566957473755, "obstacle_progress": 3.660717010498047, "wheel_body_intrusion": -0.25750935077667236, "pair_body_intrusion": -0.29139819741249084}, "weighted_reward_terms": {"track_linear_velocity": 1.7719351053237915, "track_angular_velocity": 1.89127516746521, "upright": 0.9594321250915527, "leg_posture": -0.09342164546251297, "standstill": -0.21162505447864532, "action_rate_l2": -0.020913016051054, "joint_torques_l2": -0.005475338082760572, "dof_pos_limits": -5.823703759233467e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.002884519984945655, "rolling_leg_motion": -0.02134845033288002, "obstacle_progress": 0.13353222608566284, "wheel_body_intrusion": -0.009393187239766121, "pair_body_intrusion": -0.010629353113472462}, "episode_termination_rates": {"time_out": 0.503448275862069, "fell_over": 0.013793103448275862, "course_exit": 0.4689655172413793, "illegal_nonwheel_contact": 0.013793103448275862}, "collection_time_s": 0.07599853051942773, "learning_time_s": 0.1846140481776092, "iteration_time_s": 0.3185177688686738, "policy_updates": 27950, "skipped_updates": 0, "invalid_env_resets": 141, "elapsed_s": 8998.126970540034, "nonwheel_terminations": 12642, "contact_bce": 0.2934432029724121, "contact_force_loss": 0.02052352949976921, "collision_bce": 6.983517232583836e-05, "collision_label_rate": 6.115833821240813e-05, "collision_prediction_mean": 5.1772567530861124e-05, "collision_label_count": 16351.0, "terrain_level_mean": 3.7763671875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [7, 34, 68, 97, 69, 135], "episodes_by_level": [[1434.0, 311.0, 49.0, 0.0], [1756.0, 391.0, 38.0, 0.0], [1364.0, 320.0, 30.0, 0.0], [987.0, 218.0, 19.0, 0.0], [539.0, 141.0, 14.0, 0.0], [566.0, 130.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 0, 12, 59, 418, 944], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4289.0, 1745.0, 165.0, 0.0], [4404.0, 1620.0, 195.0, 0.0], [4402.0, 1236.0, 159.0, 0.0], [3150.0, 455.0, 170.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 3, 44, 566], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [762.0, 673.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1676.0, 1340.0, 64.0, 0.0], [7163.0, 5849.0, 241.0, 0.0]]}, "platform": {"level_counts": [18, 48, 113, 104, 87, 40], "episodes_by_level": [[1726.0, 373.0, 51.0, 0.0], [1985.0, 409.0, 80.0, 0.0], [1427.0, 273.0, 71.0, 0.0], [951.0, 161.0, 42.0, 0.0], [417.0, 59.0, 34.0, 0.0], [122.0, 13.0, 19.0, 0.0]]}, "slope": {"level_counts": [19, 40, 87, 84, 80, 100], "episodes_by_level": [[1569.0, 332.0, 45.0, 0.0], [1819.0, 376.0, 68.0, 0.0], [1358.0, 288.0, 39.0, 0.0], [880.0, 187.0, 24.0, 0.0], [559.0, 113.0, 7.0, 0.0], [483.0, 76.0, 13.0, 0.0]]}, "rubble": {"level_counts": [40, 148, 224, 231, 143, 33], "episodes_by_level": [[3169.0, 717.0, 95.0, 0.0], [4196.0, 909.0, 193.0, 0.0], [3288.0, 691.0, 295.0, 0.0], [1937.0, 310.0, 284.0, 0.0], [673.0, 72.0, 134.0, 0.0], [143.0, 6.0, 39.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.24169921875, "command_abs_max": [0.999866247177124, 0.39955177903175354, 0.6995944976806641]}
{"step": 28300, "actor_lr": 4.233658941682407e-05, "archive_windows": 50000, "env_steps": 28300, "total_transitions": 115916800, "num_steps_per_env": 1, "wm_loss": 0.6555597186088562, "actor_loss": -9.522714614868164, "critic_loss": 0.004348452668637037, "reward": 0.08761665225028992, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11531530320644379, 0.07103263586759567, 0.1334134042263031], "mean_episode_length": 1321.7083333333333, "episode_reward_terms": {"track_linear_velocity": 46.80236053466797, "track_angular_velocity": 49.97822570800781, "upright": 25.34495735168457, "leg_posture": -2.5081703662872314, "standstill": -5.480871200561523, "action_rate_l2": -0.5504119992256165, "joint_torques_l2": -0.14447708427906036, "dof_pos_limits": -0.00118967704474926, "terminated": -0.01807023026049137, "unnecessary_wheel_lift": -0.07329355180263519, "rolling_leg_motion": -0.5628769397735596, "obstacle_progress": 3.5752739906311035, "wheel_body_intrusion": -0.2631544768810272, "pair_body_intrusion": -0.29465529322624207}, "weighted_reward_terms": {"track_linear_velocity": 1.770525336265564, "track_angular_velocity": 1.8906677961349487, "upright": 0.9587953686714172, "leg_posture": -0.09488365799188614, "standstill": -0.20734041929244995, "action_rate_l2": -0.020821992307901382, "joint_torques_l2": -0.0054655433632433414, "dof_pos_limits": -4.5005279389442876e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0027726825792342424, "rolling_leg_motion": -0.021293537691235542, "obstacle_progress": 0.1352519989013672, "wheel_body_intrusion": -0.0099550886079669, "pair_body_intrusion": -0.011146759614348412}, "episode_termination_rates": {"time_out": 0.4513888888888889, "fell_over": 0.034722222222222224, "course_exit": 0.5, "illegal_nonwheel_contact": 0.013888888888888888}, "collection_time_s": 0.07555093518109061, "learning_time_s": 0.1840344357001595, "iteration_time_s": 0.3184136955918026, "policy_updates": 28000, "skipped_updates": 0, "invalid_env_resets": 141, "elapsed_s": 9011.107585248013, "nonwheel_terminations": 12644, "contact_bce": 0.290439248085022, "contact_force_loss": 0.020218821242451668, "collision_bce": 0.0003356115776114166, "collision_label_rate": 6.120699981693178e-05, "collision_prediction_mean": 8.549143240088597e-05, "collision_label_count": 16338.0, "terrain_level_mean": 3.778076171875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [7, 34, 68, 97, 69, 135], "episodes_by_level": [[1435.0, 311.0, 49.0, 0.0], [1756.0, 391.0, 38.0, 0.0], [1367.0, 320.0, 30.0, 0.0], [988.0, 218.0, 19.0, 0.0], [541.0, 141.0, 14.0, 0.0], [570.0, 131.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 0, 12, 59, 415, 947], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4289.0, 1745.0, 165.0, 0.0], [4406.0, 1620.0, 195.0, 0.0], [4410.0, 1238.0, 159.0, 0.0], [3172.0, 457.0, 170.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 3, 45, 565], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [762.0, 673.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1678.0, 1342.0, 64.0, 0.0], [7191.0, 5873.0, 242.0, 0.0]]}, "platform": {"level_counts": [18, 48, 111, 106, 87, 40], "episodes_by_level": [[1727.0, 373.0, 51.0, 0.0], [1987.0, 409.0, 80.0, 0.0], [1429.0, 275.0, 71.0, 0.0], [951.0, 161.0, 42.0, 0.0], [421.0, 59.0, 34.0, 0.0], [123.0, 13.0, 19.0, 0.0]]}, "slope": {"level_counts": [19, 40, 87, 83, 81, 100], "episodes_by_level": [[1569.0, 332.0, 45.0, 0.0], [1820.0, 376.0, 68.0, 0.0], [1363.0, 288.0, 39.0, 0.0], [885.0, 188.0, 24.0, 0.0], [559.0, 113.0, 7.0, 0.0], [484.0, 76.0, 13.0, 0.0]]}, "rubble": {"level_counts": [40, 148, 223, 230, 146, 32], "episodes_by_level": [[3170.0, 717.0, 95.0, 0.0], [4199.0, 910.0, 193.0, 0.0], [3297.0, 694.0, 296.0, 0.0], [1948.0, 312.0, 286.0, 0.0], [677.0, 72.0, 134.0, 0.0], [145.0, 6.0, 40.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.242431640625, "command_abs_max": [0.999866247177124, 0.39955177903175354, 0.6995944976806641]}
{"step": 28350, "actor_lr": 4.215458887582804e-05, "archive_windows": 50000, "env_steps": 28350, "total_transitions": 116121600, "num_steps_per_env": 1, "wm_loss": 0.6642136573791504, "actor_loss": -9.512685775756836, "critic_loss": 0.005164157133549452, "reward": 0.08769996464252472, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11450520157814026, 0.07080359011888504, 0.13562482595443726], "mean_episode_length": 1323.2430555555557, "episode_reward_terms": {"track_linear_velocity": 46.92988204956055, "track_angular_velocity": 49.954498291015625, "upright": 25.397308349609375, "leg_posture": -2.4732227325439453, "standstill": -5.360565662384033, "action_rate_l2": -0.5642069578170776, "joint_torques_l2": -0.14486676454544067, "dof_pos_limits": -0.0007454888545908034, "terminated": -0.020675668492913246, "unnecessary_wheel_lift": -0.07577892392873764, "rolling_leg_motion": -0.5802142024040222, "obstacle_progress": 3.547266960144043, "wheel_body_intrusion": -0.2562825083732605, "pair_body_intrusion": -0.3040430545806885}, "weighted_reward_terms": {"track_linear_velocity": 1.7732903957366943, "track_angular_velocity": 1.8875783681869507, "upright": 0.9596615433692932, "leg_posture": -0.09345307946205139, "standstill": -0.2025541067123413, "action_rate_l2": -0.02131909877061844, "joint_torques_l2": -0.005473928991705179, "dof_pos_limits": -2.8169008146505803e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0028633789625018835, "rolling_leg_motion": -0.02192394621670246, "obstacle_progress": 0.1340368688106537, "wheel_body_intrusion": -0.009683879092335701, "pair_body_intrusion": -0.011488556861877441}, "episode_termination_rates": {"time_out": 0.4166666666666667, "fell_over": 0.034722222222222224, "course_exit": 0.5277777777777778, "illegal_nonwheel_contact": 0.041666666666666664}, "collection_time_s": 0.07545882499427535, "learning_time_s": 0.1921694550581742, "iteration_time_s": 0.31832416615121617, "policy_updates": 28050, "skipped_updates": 0, "invalid_env_resets": 141, "elapsed_s": 9024.490110386978, "nonwheel_terminations": 12650, "contact_bce": 0.2938825488090515, "contact_force_loss": 0.02060024067759514, "collision_bce": 3.182703221682459e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 3.073756306548603e-05, "collision_label_count": 16327.0, "terrain_level_mean": 3.781494140625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [7, 34, 65, 98, 71, 135], "episodes_by_level": [[1435.0, 311.0, 49.0, 0.0], [1758.0, 391.0, 38.0, 0.0], [1372.0, 323.0, 30.0, 0.0], [990.0, 220.0, 19.0, 0.0], [542.0, 141.0, 14.0, 0.0], [576.0, 132.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 0, 10, 62, 410, 951], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4291.0, 1747.0, 165.0, 0.0], [4407.0, 1620.0, 195.0, 0.0], [4421.0, 1244.0, 159.0, 0.0], [3196.0, 459.0, 171.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 3, 44, 566], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [762.0, 673.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1679.0, 1343.0, 64.0, 0.0], [7215.0, 5897.0, 242.0, 0.0]]}, "platform": {"level_counts": [18, 48, 109, 108, 87, 40], "episodes_by_level": [[1728.0, 373.0, 51.0, 0.0], [1988.0, 409.0, 80.0, 0.0], [1433.0, 277.0, 71.0, 0.0], [957.0, 162.0, 42.0, 0.0], [422.0, 59.0, 35.0, 0.0], [124.0, 14.0, 19.0, 0.0]]}, "slope": {"level_counts": [19, 40, 87, 83, 81, 100], "episodes_by_level": [[1570.0, 332.0, 45.0, 0.0], [1821.0, 376.0, 68.0, 0.0], [1365.0, 288.0, 39.0, 0.0], [888.0, 188.0, 24.0, 0.0], [559.0, 113.0, 7.0, 0.0], [485.0, 76.0, 13.0, 0.0]]}, "rubble": {"level_counts": [40, 150, 220, 229, 148, 32], "episodes_by_level": [[3171.0, 717.0, 95.0, 0.0], [4201.0, 911.0, 193.0, 0.0], [3305.0, 696.0, 299.0, 0.0], [1954.0, 314.0, 287.0, 0.0], [678.0, 72.0, 134.0, 0.0], [145.0, 6.0, 40.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.240234375, "command_abs_max": [0.999866247177124, 0.39955177903175354, 0.6995944976806641]}
{"step": 28400, "actor_lr": 4.197220869079944e-05, "archive_windows": 50000, "env_steps": 28400, "total_transitions": 116326400, "num_steps_per_env": 1, "wm_loss": 0.6478108167648315, "actor_loss": -9.542827606201172, "critic_loss": 0.004369079601019621, "reward": 0.08748862147331238, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11595545709133148, 0.07171396911144257, 0.13647368550300598], "mean_episode_length": 1329.3072289156626, "episode_reward_terms": {"track_linear_velocity": 47.01461410522461, "track_angular_velocity": 50.14606475830078, "upright": 25.539207458496094, "leg_posture": -2.4726147651672363, "standstill": -5.527358055114746, "action_rate_l2": -0.566047728061676, "joint_torques_l2": -0.14532192051410675, "dof_pos_limits": -0.0012014292879030108, "terminated": -0.02336672507226467, "unnecessary_wheel_lift": -0.09864447265863419, "rolling_leg_motion": -0.5860918760299683, "obstacle_progress": 3.574695587158203, "wheel_body_intrusion": -0.26275721192359924, "pair_body_intrusion": -0.291911244392395}, "weighted_reward_terms": {"track_linear_velocity": 1.7683879137039185, "track_angular_velocity": 1.8861727714538574, "upright": 0.9606209993362427, "leg_posture": -0.09300388395786285, "standstill": -0.2079036980867386, "action_rate_l2": -0.021291078999638557, "joint_torques_l2": -0.005466077011078596, "dof_pos_limits": -4.5190052333055064e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.0037103714421391487, "rolling_leg_motion": -0.022045012563467026, "obstacle_progress": 0.13445709645748138, "wheel_body_intrusion": -0.009883238933980465, "pair_body_intrusion": -0.01097982656210661}, "episode_termination_rates": {"time_out": 0.4397590361445783, "fell_over": 0.018072289156626505, "course_exit": 0.5060240963855421, "illegal_nonwheel_contact": 0.04216867469879518}, "collection_time_s": 0.07603787746280431, "learning_time_s": 0.18517526871175505, "iteration_time_s": 0.31822365787735946, "policy_updates": 28100, "skipped_updates": 0, "invalid_env_resets": 142, "elapsed_s": 9037.55188371701, "nonwheel_terminations": 12657, "contact_bce": 0.29206332564353943, "contact_force_loss": 0.02062722109258175, "collision_bce": 1.5015427379694302e-05, "collision_label_rate": 6.11733048572205e-05, "collision_prediction_mean": 7.177890802267939e-05, "collision_label_count": 16347.0, "terrain_level_mean": 3.782958984375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [7, 34, 64, 98, 72, 135], "episodes_by_level": [[1435.0, 311.0, 49.0, 0.0], [1759.0, 391.0, 38.0, 0.0], [1374.0, 324.0, 30.0, 0.0], [993.0, 221.0, 19.0, 0.0], [543.0, 141.0, 14.0, 0.0], [580.0, 134.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 0, 10, 61, 411, 951], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4291.0, 1747.0, 165.0, 0.0], [4409.0, 1621.0, 195.0, 0.0], [4433.0, 1247.0, 159.0, 0.0], [3230.0, 461.0, 174.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 3, 46, 564], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [762.0, 673.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1679.0, 1343.0, 64.0, 0.0], [7239.0, 5918.0, 243.0, 0.0]]}, "platform": {"level_counts": [18, 46, 111, 108, 87, 40], "episodes_by_level": [[1728.0, 373.0, 51.0, 0.0], [1991.0, 411.0, 80.0, 0.0], [1434.0, 277.0, 71.0, 0.0], [959.0, 162.0, 42.0, 0.0], [426.0, 59.0, 35.0, 0.0], [124.0, 14.0, 19.0, 0.0]]}, "slope": {"level_counts": [19, 40, 88, 81, 81, 101], "episodes_by_level": [[1570.0, 332.0, 45.0, 0.0], [1821.0, 376.0, 68.0, 0.0], [1369.0, 288.0, 39.0, 0.0], [893.0, 189.0, 25.0, 0.0], [561.0, 114.0, 7.0, 0.0], [488.0, 78.0, 13.0, 0.0]]}, "rubble": {"level_counts": [39, 149, 223, 229, 146, 33], "episodes_by_level": [[3174.0, 718.0, 95.0, 0.0], [4208.0, 913.0, 193.0, 0.0], [3311.0, 697.0, 299.0, 0.0], [1960.0, 314.0, 289.0, 0.0], [685.0, 73.0, 135.0, 0.0], [146.0, 7.0, 40.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.24072265625, "command_abs_max": [0.999866247177124, 0.39955177903175354, 0.6995944976806641]}
{"step": 28450, "actor_lr": 4.178946011180719e-05, "archive_windows": 50000, "env_steps": 28450, "total_transitions": 116531200, "num_steps_per_env": 1, "wm_loss": 0.6323931813240051, "actor_loss": -9.529825210571289, "critic_loss": 0.003520763013511896, "reward": 0.08762163668870926, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11526566743850708, 0.07263748347759247, 0.1352224349975586], "mean_episode_length": 1409.4140127388534, "episode_reward_terms": {"track_linear_velocity": 49.87637710571289, "track_angular_velocity": 53.2225456237793, "upright": 27.063844680786133, "leg_posture": -2.5940988063812256, "standstill": -5.8981194496154785, "action_rate_l2": -0.5808817744255066, "joint_torques_l2": -0.1537136286497116, "dof_pos_limits": -0.0004729328502435237, "terminated": -0.01651657000184059, "unnecessary_wheel_lift": -0.0947561115026474, "rolling_leg_motion": -0.6183716058731079, "obstacle_progress": 3.8154990673065186, "wheel_body_intrusion": -0.25943723320961, "pair_body_intrusion": -0.266703724861145}, "weighted_reward_terms": {"track_linear_velocity": 1.7694011926651, "track_angular_velocity": 1.8881089687347412, "upright": 0.9601097702980042, "leg_posture": -0.09202756732702255, "standstill": -0.2092401385307312, "action_rate_l2": -0.02060720883309841, "joint_torques_l2": -0.00545310415327549, "dof_pos_limits": -1.6777641576481983e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.003361542709171772, "rolling_leg_motion": -0.021937187761068344, "obstacle_progress": 0.13535763323307037, "wheel_body_intrusion": -0.00920372735708952, "pair_body_intrusion": -0.009461510926485062}, "episode_termination_rates": {"time_out": 0.5095541401273885, "fell_over": 0.01910828025477707, "course_exit": 0.45222929936305734, "illegal_nonwheel_contact": 0.03184713375796178}, "collection_time_s": 0.07581103486358189, "learning_time_s": 0.18542820967966692, "iteration_time_s": 0.3181235475604228, "policy_updates": 28150, "skipped_updates": 0, "invalid_env_resets": 142, "elapsed_s": 9050.61492809403, "nonwheel_terminations": 12662, "contact_bce": 0.2961699962615967, "contact_force_loss": 0.020716592669487, "collision_bce": 0.0001668674376560375, "collision_label_rate": 6.119201862020418e-05, "collision_prediction_mean": 1.4532162822433747e-05, "collision_label_count": 16342.0, "terrain_level_mean": 3.784912109375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [7, 34, 64, 96, 73, 136], "episodes_by_level": [[1436.0, 311.0, 49.0, 0.0], [1761.0, 391.0, 38.0, 0.0], [1376.0, 324.0, 30.0, 0.0], [999.0, 223.0, 19.0, 0.0], [546.0, 142.0, 14.0, 0.0], [588.0, 136.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 0, 10, 61, 408, 954], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4291.0, 1747.0, 165.0, 0.0], [4411.0, 1621.0, 195.0, 0.0], [4448.0, 1250.0, 159.0, 0.0], [3246.0, 464.0, 174.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 3, 47, 563], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [762.0, 673.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1680.0, 1344.0, 64.0, 0.0], [7263.0, 5938.0, 244.0, 0.0]]}, "platform": {"level_counts": [18, 46, 110, 108, 88, 40], "episodes_by_level": [[1728.0, 373.0, 51.0, 0.0], [1991.0, 411.0, 80.0, 0.0], [1436.0, 278.0, 71.0, 0.0], [964.0, 163.0, 42.0, 0.0], [431.0, 60.0, 35.0, 0.0], [126.0, 15.0, 20.0, 0.0]]}, "slope": {"level_counts": [19, 39, 89, 81, 81, 101], "episodes_by_level": [[1571.0, 332.0, 45.0, 0.0], [1824.0, 377.0, 68.0, 0.0], [1372.0, 288.0, 39.0, 0.0], [897.0, 189.0, 25.0, 0.0], [567.0, 114.0, 7.0, 0.0], [490.0, 78.0, 13.0, 0.0]]}, "rubble": {"level_counts": [39, 150, 221, 231, 144, 34], "episodes_by_level": [[3175.0, 718.0, 95.0, 0.0], [4214.0, 913.0, 193.0, 0.0], [3317.0, 699.0, 300.0, 0.0], [1963.0, 314.0, 290.0, 0.0], [693.0, 74.0, 136.0, 0.0], [146.0, 7.0, 40.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.243408203125, "command_abs_max": [0.999866247177124, 0.39955177903175354, 0.6995944976806641]}
{"step": 28500, "actor_lr": 4.160635441164445e-05, "archive_windows": 50000, "env_steps": 28500, "total_transitions": 116736000, "num_steps_per_env": 1, "wm_loss": 0.6271249055862427, "actor_loss": -9.549346923828125, "critic_loss": 0.004930607974529266, "reward": 0.08767890930175781, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11556124687194824, 0.07225097715854645, 0.1352146714925766], "mean_episode_length": 1406.9727891156463, "episode_reward_terms": {"track_linear_velocity": 49.79969787597656, "track_angular_velocity": 53.130165100097656, "upright": 26.989553451538086, "leg_posture": -2.627322196960449, "standstill": -5.779171943664551, "action_rate_l2": -0.5928850173950195, "joint_torques_l2": -0.15397465229034424, "dof_pos_limits": -0.0006446949555538595, "terminated": -0.024731939658522606, "unnecessary_wheel_lift": -0.094821996986866, "rolling_leg_motion": -0.6168226003646851, "obstacle_progress": 3.888300657272339, "wheel_body_intrusion": -0.27095475792884827, "pair_body_intrusion": -0.2845350205898285}, "weighted_reward_terms": {"track_linear_velocity": 1.7697463035583496, "track_angular_velocity": 1.8881021738052368, "upright": 0.9591356515884399, "leg_posture": -0.09336791187524796, "standstill": -0.20537611842155457, "action_rate_l2": -0.02106952667236328, "joint_torques_l2": -0.005471842363476753, "dof_pos_limits": -2.2910711777512915e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.003369716927409172, "rolling_leg_motion": -0.021920204162597656, "obstacle_progress": 0.13817967474460602, "wheel_body_intrusion": -0.00962899811565876, "pair_body_intrusion": -0.010111603885889053}, "episode_termination_rates": {"time_out": 0.54421768707483, "fell_over": 0.027210884353741496, "course_exit": 0.3945578231292517, "illegal_nonwheel_contact": 0.05442176870748299}, "collection_time_s": 0.07572736464440823, "learning_time_s": 0.18492512267665007, "iteration_time_s": 0.3180227601306672, "policy_updates": 28200, "skipped_updates": 0, "invalid_env_resets": 143, "elapsed_s": 9063.648663724016, "nonwheel_terminations": 12670, "contact_bce": 0.29475462436676025, "contact_force_loss": 0.020264461636543274, "collision_bce": 0.00024254698655568063, "collision_label_rate": 0.00012242898810654879, "collision_prediction_mean": 7.723790622549132e-05, "collision_label_count": 16336.0, "terrain_level_mean": 3.78466796875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [7, 34, 62, 98, 73, 136], "episodes_by_level": [[1436.0, 311.0, 49.0, 0.0], [1761.0, 391.0, 38.0, 0.0], [1380.0, 326.0, 30.0, 0.0], [1005.0, 223.0, 19.0, 0.0], [547.0, 142.0, 14.0, 0.0], [591.0, 137.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 0, 10, 61, 410, 952], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4291.0, 1747.0, 165.0, 0.0], [4411.0, 1621.0, 195.0, 0.0], [4454.0, 1250.0, 159.0, 0.0], [3276.0, 469.0, 176.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 3, 47, 563], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [762.0, 673.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1681.0, 1345.0, 64.0, 0.0], [7282.0, 5956.0, 244.0, 0.0]]}, "platform": {"level_counts": [18, 46, 109, 109, 89, 39], "episodes_by_level": [[1729.0, 373.0, 51.0, 0.0], [1992.0, 411.0, 80.0, 0.0], [1440.0, 279.0, 71.0, 0.0], [967.0, 163.0, 42.0, 0.0], [435.0, 60.0, 35.0, 0.0], [129.0, 16.0, 21.0, 0.0]]}, "slope": {"level_counts": [19, 39, 89, 81, 80, 102], "episodes_by_level": [[1574.0, 332.0, 45.0, 0.0], [1825.0, 377.0, 68.0, 0.0], [1373.0, 288.0, 39.0, 0.0], [898.0, 189.0, 25.0, 0.0], [568.0, 115.0, 7.0, 0.0], [494.0, 79.0, 13.0, 0.0]]}, "rubble": {"level_counts": [40, 150, 219, 233, 143, 34], "episodes_by_level": [[3175.0, 718.0, 95.0, 0.0], [4220.0, 913.0, 194.0, 0.0], [3323.0, 701.0, 301.0, 0.0], [1971.0, 315.0, 291.0, 0.0], [698.0, 74.0, 138.0, 0.0], [147.0, 7.0, 40.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.241943359375, "command_abs_max": [0.999866247177124, 0.39955177903175354, 0.6995944976806641]}
{"step": 28550, "actor_lr": 4.142290288513331e-05, "archive_windows": 50000, "env_steps": 28550, "total_transitions": 116940800, "num_steps_per_env": 1, "wm_loss": 0.6257246732711792, "actor_loss": -9.49910831451416, "critic_loss": 0.006249201949685812, "reward": 0.08733411878347397, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11652067303657532, 0.07269348949193954, 0.1349063664674759], "mean_episode_length": 1372.9714285714285, "episode_reward_terms": {"track_linear_velocity": 48.52384948730469, "track_angular_velocity": 51.86302185058594, "upright": 26.34735870361328, "leg_posture": -2.5661823749542236, "standstill": -6.023473262786865, "action_rate_l2": -0.5878065824508667, "joint_torques_l2": -0.15039683878421783, "dof_pos_limits": -0.0005175168043933809, "terminated": -0.018771091476082802, "unnecessary_wheel_lift": -0.07677428424358368, "rolling_leg_motion": -0.5884203314781189, "obstacle_progress": 3.772723436355591, "wheel_body_intrusion": -0.2736101448535919, "pair_body_intrusion": -0.3137392997741699}, "weighted_reward_terms": {"track_linear_velocity": 1.7671105861663818, "track_angular_velocity": 1.8887145519256592, "upright": 0.959501326084137, "leg_posture": -0.09345359355211258, "standstill": -0.21935901045799255, "action_rate_l2": -0.02140636555850506, "joint_torques_l2": -0.005477056372910738, "dof_pos_limits": -1.8846598322852515e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0027959169819951057, "rolling_leg_motion": -0.02142871730029583, "obstacle_progress": 0.13739264011383057, "wheel_body_intrusion": -0.00996416062116623, "pair_body_intrusion": -0.011425558477640152}, "episode_termination_rates": {"time_out": 0.4714285714285714, "fell_over": 0.03571428571428571, "course_exit": 0.4785714285714286, "illegal_nonwheel_contact": 0.03571428571428571}, "collection_time_s": 0.075824457956478, "learning_time_s": 0.18539255560492165, "iteration_time_s": 0.31792445769628724, "policy_updates": 28250, "skipped_updates": 0, "invalid_env_resets": 143, "elapsed_s": 9076.743267229002, "nonwheel_terminations": 12675, "contact_bce": 0.2950259745121002, "contact_force_loss": 0.020629147067666054, "collision_bce": 0.0006675451877526939, "collision_label_rate": 0.000122346609714441, "collision_prediction_mean": 2.1378775272751227e-05, "collision_label_count": 16347.0, "terrain_level_mean": 3.78662109375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [7, 34, 62, 98, 73, 136], "episodes_by_level": [[1436.0, 311.0, 49.0, 0.0], [1761.0, 391.0, 38.0, 0.0], [1381.0, 326.0, 30.0, 0.0], [1008.0, 223.0, 19.0, 0.0], [547.0, 142.0, 14.0, 0.0], [597.0, 138.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 0, 10, 59, 410, 954], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4291.0, 1747.0, 165.0, 0.0], [4414.0, 1624.0, 195.0, 0.0], [4464.0, 1253.0, 159.0, 0.0], [3308.0, 476.0, 176.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 3, 46, 564], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [762.0, 673.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1683.0, 1347.0, 64.0, 0.0], [7298.0, 5968.0, 244.0, 0.0]]}, "platform": {"level_counts": [18, 46, 108, 110, 89, 39], "episodes_by_level": [[1730.0, 373.0, 51.0, 0.0], [1993.0, 411.0, 80.0, 0.0], [1443.0, 280.0, 71.0, 0.0], [970.0, 163.0, 42.0, 0.0], [435.0, 60.0, 35.0, 0.0], [129.0, 16.0, 21.0, 0.0]]}, "slope": {"level_counts": [19, 39, 88, 82, 80, 102], "episodes_by_level": [[1575.0, 332.0, 46.0, 0.0], [1826.0, 377.0, 68.0, 0.0], [1377.0, 289.0, 39.0, 0.0], [898.0, 189.0, 25.0, 0.0], [569.0, 115.0, 7.0, 0.0], [498.0, 79.0, 13.0, 0.0]]}, "rubble": {"level_counts": [40, 147, 224, 231, 143, 34], "episodes_by_level": [[3176.0, 718.0, 95.0, 0.0], [4228.0, 916.0, 194.0, 0.0], [3327.0, 701.0, 301.0, 0.0], [1978.0, 316.0, 293.0, 0.0], [704.0, 74.0, 139.0, 0.0], [147.0, 7.0, 40.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.242919921875, "command_abs_max": [0.999866247177124, 0.39955177903175354, 0.6995944976806641]}
{"step": 28600, "actor_lr": 4.123911684842805e-05, "archive_windows": 50000, "env_steps": 28600, "total_transitions": 117145600, "num_steps_per_env": 1, "wm_loss": 0.6550087332725525, "actor_loss": -9.516557693481445, "critic_loss": 0.005615219473838806, "reward": 0.0876774936914444, "falls": 13, "interval_steps": 50, "velocity_mae": [0.11504602432250977, 0.07329778373241425, 0.1359880566596985], "mean_episode_length": 1293.0632911392406, "episode_reward_terms": {"track_linear_velocity": 45.75083923339844, "track_angular_velocity": 48.80554962158203, "upright": 24.790388107299805, "leg_posture": -2.3764231204986572, "standstill": -5.308419227600098, "action_rate_l2": -0.5562298893928528, "joint_torques_l2": -0.1408403217792511, "dof_pos_limits": -0.0010832055704668164, "terminated": -0.03283168002963066, "unnecessary_wheel_lift": -0.09311439841985703, "rolling_leg_motion": -0.5706978440284729, "obstacle_progress": 3.5727734565734863, "wheel_body_intrusion": -0.23720242083072662, "pair_body_intrusion": -0.23019978404045105}, "weighted_reward_terms": {"track_linear_velocity": 1.7690874338150024, "track_angular_velocity": 1.8872066736221313, "upright": 0.9585915803909302, "leg_posture": -0.09189122170209885, "standstill": -0.20526526868343353, "action_rate_l2": -0.021508226171135902, "joint_torques_l2": -0.00544599536806345, "dof_pos_limits": -4.188525053905323e-05, "terminated": -0.0012695310870185494, "unnecessary_wheel_lift": -0.0036005352158099413, "rolling_leg_motion": -0.02206766977906227, "obstacle_progress": 0.13815154135227203, "wheel_body_intrusion": -0.009172112680971622, "pair_body_intrusion": -0.008901335299015045}, "episode_termination_rates": {"time_out": 0.3987341772151899, "fell_over": 0.05063291139240506, "course_exit": 0.5189873417721519, "illegal_nonwheel_contact": 0.056962025316455694}, "collection_time_s": 0.07573696178384125, "learning_time_s": 0.18548103230423293, "iteration_time_s": 0.31782535715136306, "policy_updates": 28300, "skipped_updates": 0, "invalid_env_resets": 143, "elapsed_s": 9089.805214528984, "nonwheel_terminations": 12684, "contact_bce": 0.29860591888427734, "contact_force_loss": 0.021228792145848274, "collision_bce": 9.592297283234075e-05, "collision_label_rate": 6.118827877799049e-05, "collision_prediction_mean": 4.399931276566349e-05, "collision_label_count": 16343.0, "terrain_level_mean": 3.79052734375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [7, 32, 63, 98, 73, 137], "episodes_by_level": [[1436.0, 311.0, 49.0, 0.0], [1763.0, 393.0, 38.0, 0.0], [1384.0, 327.0, 30.0, 0.0], [1011.0, 224.0, 19.0, 0.0], [550.0, 143.0, 14.0, 0.0], [603.0, 140.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 1, 8, 60, 408, 956], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4292.0, 1748.0, 165.0, 0.0], [4417.0, 1624.0, 195.0, 0.0], [4478.0, 1257.0, 159.0, 0.0], [3343.0, 484.0, 177.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 3, 46, 564], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [762.0, 673.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1686.0, 1349.0, 64.0, 0.0], [7311.0, 5979.0, 244.0, 0.0]]}, "platform": {"level_counts": [18, 46, 107, 112, 88, 39], "episodes_by_level": [[1730.0, 373.0, 51.0, 0.0], [1996.0, 411.0, 80.0, 0.0], [1448.0, 282.0, 71.0, 0.0], [971.0, 163.0, 43.0, 0.0], [441.0, 60.0, 36.0, 0.0], [131.0, 16.0, 21.0, 0.0]]}, "slope": {"level_counts": [18, 40, 87, 81, 79, 105], "episodes_by_level": [[1576.0, 333.0, 46.0, 0.0], [1826.0, 377.0, 68.0, 0.0], [1380.0, 290.0, 39.0, 0.0], [900.0, 191.0, 25.0, 0.0], [573.0, 118.0, 7.0, 0.0], [499.0, 80.0, 13.0, 0.0]]}, "rubble": {"level_counts": [40, 144, 226, 235, 139, 35], "episodes_by_level": [[3176.0, 718.0, 95.0, 0.0], [4234.0, 920.0, 194.0, 0.0], [3334.0, 704.0, 302.0, 0.0], [1982.0, 316.0, 295.0, 0.0], [709.0, 75.0, 142.0, 0.0], [148.0, 7.0, 40.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23974609375, "command_abs_max": [0.999866247177124, 0.39955177903175354, 0.699828565120697]}
{"step": 28650, "actor_lr": 4.1055007638317156e-05, "archive_windows": 50000, "env_steps": 28650, "total_transitions": 117350400, "num_steps_per_env": 1, "wm_loss": 0.6546773314476013, "actor_loss": -9.52177906036377, "critic_loss": 0.003779338439926505, "reward": 0.08760190010070801, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11566544324159622, 0.07230309396982193, 0.13466259837150574], "mean_episode_length": 1314.1748251748252, "episode_reward_terms": {"track_linear_velocity": 46.46897888183594, "track_angular_velocity": 49.657039642333984, "upright": 25.23086929321289, "leg_posture": -2.4265220165252686, "standstill": -5.415441989898682, "action_rate_l2": -0.5629105567932129, "joint_torques_l2": -0.1436663717031479, "dof_pos_limits": -0.0012281197123229504, "terminated": -0.025667473673820496, "unnecessary_wheel_lift": -0.08952466398477554, "rolling_leg_motion": -0.5794556736946106, "obstacle_progress": 3.5501880645751953, "wheel_body_intrusion": -0.26609566807746887, "pair_body_intrusion": -0.27236080169677734}, "weighted_reward_terms": {"track_linear_velocity": 1.7679907083511353, "track_angular_velocity": 1.8892860412597656, "upright": 0.9599511027336121, "leg_posture": -0.09232112765312195, "standstill": -0.2060396373271942, "action_rate_l2": -0.021416883915662766, "joint_torques_l2": -0.005466029979288578, "dof_pos_limits": -4.672588693210855e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.0034061172045767307, "rolling_leg_motion": -0.022046370431780815, "obstacle_progress": 0.13507290184497833, "wheel_body_intrusion": -0.01012405939400196, "pair_body_intrusion": -0.01036242675036192}, "episode_termination_rates": {"time_out": 0.4405594405594406, "fell_over": 0.02097902097902098, "course_exit": 0.48951048951048953, "illegal_nonwheel_contact": 0.055944055944055944}, "collection_time_s": 0.0754734409309458, "learning_time_s": 0.185446767359972, "iteration_time_s": 0.3177260847350446, "policy_updates": 28350, "skipped_updates": 0, "invalid_env_resets": 143, "elapsed_s": 9102.852327659028, "nonwheel_terminations": 12692, "contact_bce": 0.29723456501960754, "contact_force_loss": 0.021131647750735283, "collision_bce": 2.391697489656508e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 2.3647135094506666e-05, "collision_label_count": 16346.0, "terrain_level_mean": 3.792724609375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [7, 31, 64, 97, 73, 138], "episodes_by_level": [[1436.0, 311.0, 49.0, 0.0], [1764.0, 394.0, 38.0, 0.0], [1385.0, 327.0, 30.0, 0.0], [1012.0, 225.0, 19.0, 0.0], [551.0, 144.0, 14.0, 0.0], [606.0, 140.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 1, 8, 60, 408, 956], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4293.0, 1748.0, 165.0, 0.0], [4419.0, 1624.0, 195.0, 0.0], [4492.0, 1260.0, 159.0, 0.0], [3357.0, 487.0, 178.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 3, 44, 566], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [762.0, 673.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1689.0, 1351.0, 64.0, 0.0], [7327.0, 5993.0, 244.0, 0.0]]}, "platform": {"level_counts": [18, 45, 109, 110, 88, 40], "episodes_by_level": [[1731.0, 373.0, 51.0, 0.0], [1998.0, 412.0, 80.0, 0.0], [1449.0, 282.0, 71.0, 0.0], [976.0, 164.0, 44.0, 0.0], [443.0, 61.0, 36.0, 0.0], [133.0, 16.0, 21.0, 0.0]]}, "slope": {"level_counts": [18, 38, 88, 82, 79, 105], "episodes_by_level": [[1577.0, 333.0, 46.0, 0.0], [1829.0, 379.0, 68.0, 0.0], [1383.0, 291.0, 39.0, 0.0], [904.0, 191.0, 25.0, 0.0], [574.0, 118.0, 7.0, 0.0], [504.0, 82.0, 13.0, 0.0]]}, "rubble": {"level_counts": [40, 144, 225, 237, 139, 34], "episodes_by_level": [[3180.0, 718.0, 96.0, 0.0], [4237.0, 921.0, 194.0, 0.0], [3343.0, 706.0, 303.0, 0.0], [1989.0, 317.0, 296.0, 0.0], [716.0, 75.0, 144.0, 0.0], [151.0, 7.0, 41.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23828125, "command_abs_max": [0.9992700815200806, 0.39955177903175354, 0.699828565120697]}
{"step": 28700, "actor_lr": 4.08705866115239e-05, "archive_windows": 50000, "env_steps": 28700, "total_transitions": 117555200, "num_steps_per_env": 1, "wm_loss": 0.679290771484375, "actor_loss": -9.49984359741211, "critic_loss": 0.004836699925363064, "reward": 0.08775847405195236, "falls": 6, "interval_steps": 50, "velocity_mae": [0.1145959347486496, 0.07220125943422318, 0.13445354998111725], "mean_episode_length": 1305.5833333333333, "episode_reward_terms": {"track_linear_velocity": 46.23659896850586, "track_angular_velocity": 49.340694427490234, "upright": 25.063867568969727, "leg_posture": -2.4515750408172607, "standstill": -5.2002458572387695, "action_rate_l2": -0.5391989350318909, "joint_torques_l2": -0.1437128484249115, "dof_pos_limits": -0.0007638046517968178, "terminated": -0.015299802646040916, "unnecessary_wheel_lift": -0.08796893805265427, "rolling_leg_motion": -0.5707002878189087, "obstacle_progress": 3.513461112976074, "wheel_body_intrusion": -0.2789270877838135, "pair_body_intrusion": -0.2902301549911499}, "weighted_reward_terms": {"track_linear_velocity": 1.7707257270812988, "track_angular_velocity": 1.8896034955978394, "upright": 0.9598724246025085, "leg_posture": -0.09388811141252518, "standstill": -0.1991541087627411, "action_rate_l2": -0.020649731159210205, "joint_torques_l2": -0.00550377881154418, "dof_pos_limits": -2.9251470550661907e-05, "terminated": -0.0005859374068677425, "unnecessary_wheel_lift": -0.003368951380252838, "rolling_leg_motion": -0.021856142207980156, "obstacle_progress": 0.13455522060394287, "wheel_body_intrusion": -0.01068208646029234, "pair_body_intrusion": -0.011114961467683315}, "episode_termination_rates": {"time_out": 0.4583333333333333, "fell_over": 0.020833333333333332, "course_exit": 0.5, "illegal_nonwheel_contact": 0.027777777777777776}, "collection_time_s": 0.07565738625940867, "learning_time_s": 0.18534645961830393, "iteration_time_s": 0.3176273025663769, "policy_updates": 28400, "skipped_updates": 0, "invalid_env_resets": 143, "elapsed_s": 9115.903583655017, "nonwheel_terminations": 12696, "contact_bce": 0.2995480000972748, "contact_force_loss": 0.021209748461842537, "collision_bce": 0.0006213787710294127, "collision_label_rate": 0.00018380100664217025, "collision_prediction_mean": 0.00010152860340895131, "collision_label_count": 16322.0, "terrain_level_mean": 3.794921875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [7, 29, 66, 97, 73, 138], "episodes_by_level": [[1436.0, 311.0, 49.0, 0.0], [1767.0, 396.0, 38.0, 0.0], [1386.0, 327.0, 30.0, 0.0], [1016.0, 225.0, 19.0, 0.0], [554.0, 144.0, 14.0, 0.0], [610.0, 141.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 1, 8, 57, 411, 956], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4294.0, 1749.0, 165.0, 0.0], [4424.0, 1627.0, 196.0, 0.0], [4495.0, 1261.0, 159.0, 0.0], [3384.0, 492.0, 179.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 3, 43, 567], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [762.0, 673.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1690.0, 1352.0, 64.0, 0.0], [7352.0, 6016.0, 244.0, 0.0]]}, "platform": {"level_counts": [18, 45, 109, 110, 87, 41], "episodes_by_level": [[1731.0, 373.0, 51.0, 0.0], [2002.0, 412.0, 80.0, 0.0], [1452.0, 282.0, 71.0, 0.0], [977.0, 164.0, 44.0, 0.0], [447.0, 62.0, 36.0, 0.0], [133.0, 16.0, 21.0, 0.0]]}, "slope": {"level_counts": [18, 38, 86, 84, 79, 105], "episodes_by_level": [[1578.0, 333.0, 46.0, 0.0], [1829.0, 379.0, 68.0, 0.0], [1386.0, 293.0, 39.0, 0.0], [906.0, 191.0, 25.0, 0.0], [576.0, 118.0, 7.0, 0.0], [508.0, 84.0, 13.0, 0.0]]}, "rubble": {"level_counts": [40, 145, 225, 234, 141, 34], "episodes_by_level": [[3180.0, 718.0, 96.0, 0.0], [4243.0, 921.0, 194.0, 0.0], [3348.0, 707.0, 304.0, 0.0], [2003.0, 319.0, 298.0, 0.0], [719.0, 76.0, 144.0, 0.0], [152.0, 7.0, 42.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23828125, "command_abs_max": [0.9992700815200806, 0.39955177903175354, 0.699828565120697]}
{"step": 28750, "actor_lr": 4.068586514400594e-05, "archive_windows": 50000, "env_steps": 28750, "total_transitions": 117760000, "num_steps_per_env": 1, "wm_loss": 0.6196210980415344, "actor_loss": -9.535536766052246, "critic_loss": 0.005015995353460312, "reward": 0.08742772787809372, "falls": 4, "interval_steps": 50, "velocity_mae": [0.1161891296505928, 0.07243291288614273, 0.13555285334587097], "mean_episode_length": 1393.838028169014, "episode_reward_terms": {"track_linear_velocity": 49.26331329345703, "track_angular_velocity": 52.62612533569336, "upright": 26.7393798828125, "leg_posture": -2.6136903762817383, "standstill": -5.964925765991211, "action_rate_l2": -0.5889245867729187, "joint_torques_l2": -0.1529231071472168, "dof_pos_limits": -0.0005996645777486265, "terminated": -0.010889357887208462, "unnecessary_wheel_lift": -0.09129056334495544, "rolling_leg_motion": -0.6109280586242676, "obstacle_progress": 3.8072152137756348, "wheel_body_intrusion": -0.27136361598968506, "pair_body_intrusion": -0.27039283514022827}, "weighted_reward_terms": {"track_linear_velocity": 1.7671821117401123, "track_angular_velocity": 1.8878135681152344, "upright": 0.9591996669769287, "leg_posture": -0.09375875443220139, "standstill": -0.21397484838962555, "action_rate_l2": -0.021126005798578262, "joint_torques_l2": -0.005485684610903263, "dof_pos_limits": -2.151127227989491e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.003274790942668915, "rolling_leg_motion": -0.021915316581726074, "obstacle_progress": 0.13657309114933014, "wheel_body_intrusion": -0.009734402410686016, "pair_body_intrusion": -0.009699578396975994}, "episode_termination_rates": {"time_out": 0.5, "fell_over": 0.014084507042253521, "course_exit": 0.47183098591549294, "illegal_nonwheel_contact": 0.014084507042253521}, "collection_time_s": 0.0755802306998521, "learning_time_s": 0.18547168012242765, "iteration_time_s": 0.3175289489948879, "policy_updates": 28450, "skipped_updates": 0, "invalid_env_resets": 143, "elapsed_s": 9128.957283603027, "nonwheel_terminations": 12698, "contact_bce": 0.29734447598457336, "contact_force_loss": 0.020289886742830276, "collision_bce": 0.0001137074941652827, "collision_label_rate": 6.124073843238875e-05, "collision_prediction_mean": 5.442545807454735e-05, "collision_label_count": 16329.0, "terrain_level_mean": 3.797607421875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [6, 30, 66, 96, 74, 138], "episodes_by_level": [[1437.0, 312.0, 49.0, 0.0], [1767.0, 396.0, 38.0, 0.0], [1388.0, 327.0, 30.0, 0.0], [1023.0, 226.0, 19.0, 0.0], [555.0, 144.0, 14.0, 0.0], [612.0, 141.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 1, 8, 56, 412, 956], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4294.0, 1749.0, 165.0, 0.0], [4426.0, 1628.0, 196.0, 0.0], [4501.0, 1262.0, 159.0, 0.0], [3403.0, 496.0, 180.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 3, 44, 566], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [762.0, 673.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1690.0, 1352.0, 64.0, 0.0], [7378.0, 6041.0, 244.0, 0.0]]}, "platform": {"level_counts": [16, 47, 107, 112, 87, 41], "episodes_by_level": [[1733.0, 375.0, 51.0, 0.0], [2002.0, 412.0, 80.0, 0.0], [1457.0, 284.0, 71.0, 0.0], [978.0, 164.0, 44.0, 0.0], [448.0, 62.0, 36.0, 0.0], [133.0, 16.0, 21.0, 0.0]]}, "slope": {"level_counts": [18, 38, 86, 84, 78, 106], "episodes_by_level": [[1578.0, 333.0, 46.0, 0.0], [1833.0, 379.0, 68.0, 0.0], [1387.0, 293.0, 39.0, 0.0], [909.0, 191.0, 25.0, 0.0], [578.0, 119.0, 7.0, 0.0], [511.0, 84.0, 13.0, 0.0]]}, "rubble": {"level_counts": [40, 144, 225, 233, 143, 34], "episodes_by_level": [[3182.0, 718.0, 96.0, 0.0], [4250.0, 922.0, 194.0, 0.0], [3358.0, 710.0, 304.0, 0.0], [2015.0, 321.0, 300.0, 0.0], [721.0, 76.0, 144.0, 0.0], [153.0, 7.0, 42.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23779296875, "command_abs_max": [0.9992700815200806, 0.39955177903175354, 0.699828565120697]}
{"step": 28800, "actor_lr": 4.050085463025352e-05, "archive_windows": 50000, "env_steps": 28800, "total_transitions": 117964800, "num_steps_per_env": 1, "wm_loss": 0.6523687243461609, "actor_loss": -9.545074462890625, "critic_loss": 0.003934381064027548, "reward": 0.08739593625068665, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11611861735582352, 0.07145967334508896, 0.13557912409305573], "mean_episode_length": 1361.7592592592594, "episode_reward_terms": {"track_linear_velocity": 48.18122863769531, "track_angular_velocity": 51.41305923461914, "upright": 26.0965633392334, "leg_posture": -2.5470800399780273, "standstill": -5.8608784675598145, "action_rate_l2": -0.5749475359916687, "joint_torques_l2": -0.14897845685482025, "dof_pos_limits": -0.0007082636002451181, "terminated": -0.013298428617417812, "unnecessary_wheel_lift": -0.09334023296833038, "rolling_leg_motion": -0.6053867936134338, "obstacle_progress": 3.659543991088867, "wheel_body_intrusion": -0.24968545138835907, "pair_body_intrusion": -0.2438654750585556}, "weighted_reward_terms": {"track_linear_velocity": 1.7690801620483398, "track_angular_velocity": 1.8877440690994263, "upright": 0.9581930041313171, "leg_posture": -0.09352167695760727, "standstill": -0.21519510447978973, "action_rate_l2": -0.021110469475388527, "joint_torques_l2": -0.005470073316246271, "dof_pos_limits": -2.6005463951150887e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.003427193034440279, "rolling_leg_motion": -0.022228114306926727, "obstacle_progress": 0.13436824083328247, "wheel_body_intrusion": -0.009167753159999847, "pair_body_intrusion": -0.008954060263931751}, "episode_termination_rates": {"time_out": 0.48148148148148145, "fell_over": 0.030864197530864196, "course_exit": 0.4876543209876543, "illegal_nonwheel_contact": 0.018518518518518517}, "collection_time_s": 0.07553281430038623, "learning_time_s": 0.18539891472319142, "iteration_time_s": 0.3174307285523274, "policy_updates": 28500, "skipped_updates": 0, "invalid_env_resets": 143, "elapsed_s": 9142.00498230703, "nonwheel_terminations": 12701, "contact_bce": 0.2995116114616394, "contact_force_loss": 0.020961420610547066, "collision_bce": 0.0003073288535233587, "collision_label_rate": 6.122948980191723e-05, "collision_prediction_mean": 2.132276313204784e-05, "collision_label_count": 16332.0, "terrain_level_mean": 3.800537109375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [6, 30, 65, 97, 74, 138], "episodes_by_level": [[1437.0, 312.0, 49.0, 0.0], [1767.0, 396.0, 38.0, 0.0], [1393.0, 328.0, 30.0, 0.0], [1023.0, 226.0, 19.0, 0.0], [559.0, 144.0, 14.0, 0.0], [615.0, 141.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 1, 8, 56, 412, 956], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4294.0, 1749.0, 165.0, 0.0], [4427.0, 1628.0, 196.0, 0.0], [4514.0, 1263.0, 159.0, 0.0], [3432.0, 499.0, 180.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 4, 44, 565], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [762.0, 673.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1691.0, 1353.0, 64.0, 0.0], [7397.0, 6058.0, 244.0, 0.0]]}, "platform": {"level_counts": [17, 45, 106, 114, 86, 42], "episodes_by_level": [[1733.0, 375.0, 51.0, 0.0], [2007.0, 413.0, 81.0, 0.0], [1462.0, 286.0, 71.0, 0.0], [981.0, 164.0, 44.0, 0.0], [449.0, 63.0, 36.0, 0.0], [134.0, 16.0, 21.0, 0.0]]}, "slope": {"level_counts": [18, 38, 85, 85, 76, 108], "episodes_by_level": [[1578.0, 333.0, 46.0, 0.0], [1833.0, 379.0, 68.0, 0.0], [1389.0, 294.0, 39.0, 0.0], [911.0, 191.0, 25.0, 0.0], [583.0, 121.0, 7.0, 0.0], [513.0, 85.0, 13.0, 0.0]]}, "rubble": {"level_counts": [39, 143, 226, 232, 144, 35], "episodes_by_level": [[3183.0, 719.0, 96.0, 0.0], [4253.0, 924.0, 194.0, 0.0], [3366.0, 711.0, 304.0, 0.0], [2019.0, 323.0, 300.0, 0.0], [725.0, 77.0, 144.0, 0.0], [153.0, 7.0, 42.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.239990234375, "command_abs_max": [0.9992700815200806, 0.39961859583854675, 0.699828565120697]}
{"step": 28850, "actor_lr": 4.031556648258656e-05, "archive_windows": 50000, "env_steps": 28850, "total_transitions": 118169600, "num_steps_per_env": 1, "wm_loss": 0.6265341639518738, "actor_loss": -9.529544830322266, "critic_loss": 0.005144844297319651, "reward": 0.08762255311012268, "falls": 0, "interval_steps": 50, "velocity_mae": [0.11286719143390656, 0.07138178497552872, 0.13395380973815918], "mean_episode_length": 1402.5405405405406, "episode_reward_terms": {"track_linear_velocity": 49.81810760498047, "track_angular_velocity": 53.02511215209961, "upright": 26.918434143066406, "leg_posture": -2.6045525074005127, "standstill": -6.070461273193359, "action_rate_l2": -0.5938594341278076, "joint_torques_l2": -0.15314562618732452, "dof_pos_limits": -0.00044305186020210385, "terminated": 0.0, "unnecessary_wheel_lift": -0.0798196867108345, "rolling_leg_motion": -0.6134104132652283, "obstacle_progress": 3.7868683338165283, "wheel_body_intrusion": -0.267564058303833, "pair_body_intrusion": -0.27108728885650635}, "weighted_reward_terms": {"track_linear_velocity": 1.7759952545166016, "track_angular_velocity": 1.8903237581253052, "upright": 0.9596312642097473, "leg_posture": -0.09285123646259308, "standstill": -0.21640947461128235, "action_rate_l2": -0.02117084711790085, "joint_torques_l2": -0.005459579173475504, "dof_pos_limits": -1.5794619685038924e-05, "terminated": 0.0, "unnecessary_wheel_lift": -0.002845539478585124, "rolling_leg_motion": -0.02186783216893673, "obstacle_progress": 0.1350003182888031, "wheel_body_intrusion": -0.009538549929857254, "pair_body_intrusion": -0.009664151817560196}, "episode_termination_rates": {"time_out": 0.5202702702702703, "fell_over": 0.0, "course_exit": 0.4797297297297297, "illegal_nonwheel_contact": 0.0}, "collection_time_s": 0.0755813381448388, "learning_time_s": 0.18544893607497215, "iteration_time_s": 0.3173330191295676, "policy_updates": 28550, "skipped_updates": 0, "invalid_env_resets": 143, "elapsed_s": 9155.057601888024, "nonwheel_terminations": 12701, "contact_bce": 0.2870028018951416, "contact_force_loss": 0.020186306908726692, "collision_bce": 7.491462747566402e-05, "collision_label_rate": 6.112096161814407e-05, "collision_prediction_mean": 0.00011380606883903965, "collision_label_count": 16361.0, "terrain_level_mean": 3.80419921875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [6, 30, 63, 99, 74, 138], "episodes_by_level": [[1437.0, 312.0, 49.0, 0.0], [1768.0, 396.0, 38.0, 0.0], [1399.0, 330.0, 30.0, 0.0], [1024.0, 226.0, 19.0, 0.0], [562.0, 144.0, 14.0, 0.0], [618.0, 143.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 1, 8, 56, 410, 958], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4294.0, 1749.0, 165.0, 0.0], [4427.0, 1628.0, 196.0, 0.0], [4524.0, 1265.0, 159.0, 0.0], [3461.0, 504.0, 180.0, 0.0]]}, "down": {"level_counts": [0, 0, 1, 4, 43, 566], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [762.0, 673.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1692.0, 1354.0, 64.0, 0.0], [7417.0, 6076.0, 244.0, 0.0]]}, "platform": {"level_counts": [17, 45, 106, 112, 88, 42], "episodes_by_level": [[1733.0, 375.0, 51.0, 0.0], [2009.0, 413.0, 81.0, 0.0], [1465.0, 286.0, 71.0, 0.0], [991.0, 166.0, 44.0, 0.0], [451.0, 63.0, 36.0, 0.0], [135.0, 16.0, 21.0, 0.0]]}, "slope": {"level_counts": [18, 38, 83, 87, 76, 108], "episodes_by_level": [[1578.0, 333.0, 46.0, 0.0], [1834.0, 379.0, 68.0, 0.0], [1391.0, 296.0, 39.0, 0.0], [914.0, 191.0, 25.0, 0.0], [583.0, 121.0, 7.0, 0.0], [518.0, 85.0, 13.0, 0.0]]}, "rubble": {"level_counts": [39, 141, 226, 232, 146, 35], "episodes_by_level": [[3184.0, 719.0, 96.0, 0.0], [4258.0, 926.0, 194.0, 0.0], [3376.0, 713.0, 304.0, 0.0], [2025.0, 325.0, 300.0, 0.0], [727.0, 77.0, 144.0, 0.0], [155.0, 7.0, 42.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2421875, "command_abs_max": [0.9998621940612793, 0.39961859583854675, 0.6998537182807922]}
{"step": 28900, "actor_lr": 4.013001213045083e-05, "archive_windows": 50000, "env_steps": 28900, "total_transitions": 118374400, "num_steps_per_env": 1, "wm_loss": 0.6438727378845215, "actor_loss": -9.537726402282715, "critic_loss": 0.0039013491477817297, "reward": 0.08756989240646362, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11378134042024612, 0.07224244624376297, 0.13547532260417938], "mean_episode_length": 1302.2857142857142, "episode_reward_terms": {"track_linear_velocity": 46.19685363769531, "track_angular_velocity": 49.184165954589844, "upright": 24.96097183227539, "leg_posture": -2.4201297760009766, "standstill": -5.527204990386963, "action_rate_l2": -0.5569252371788025, "joint_torques_l2": -0.14225035905838013, "dof_pos_limits": -0.00040478864684700966, "terminated": -0.015261159278452396, "unnecessary_wheel_lift": -0.08200328052043915, "rolling_leg_motion": -0.5692170858383179, "obstacle_progress": 3.5038697719573975, "wheel_body_intrusion": -0.24535046517848969, "pair_body_intrusion": -0.24609005451202393}, "weighted_reward_terms": {"track_linear_velocity": 1.7736834287643433, "track_angular_velocity": 1.888378381729126, "upright": 0.9583523273468018, "leg_posture": -0.09291853755712509, "standstill": -0.21221166849136353, "action_rate_l2": -0.021382605656981468, "joint_torques_l2": -0.005461564753204584, "dof_pos_limits": -1.5541469110758044e-05, "terminated": -0.0005859374068677425, "unnecessary_wheel_lift": -0.0031484365463256836, "rolling_leg_motion": -0.021854540333151817, "obstacle_progress": 0.13452768325805664, "wheel_body_intrusion": -0.009419993497431278, "pair_body_intrusion": -0.009448389522731304}, "episode_termination_rates": {"time_out": 0.42857142857142855, "fell_over": 0.027210884353741496, "course_exit": 0.5306122448979592, "illegal_nonwheel_contact": 0.02040816326530612}, "collection_time_s": 0.075525843485957, "learning_time_s": 0.18515409791492857, "iteration_time_s": 0.3172350499191693, "policy_updates": 28600, "skipped_updates": 0, "invalid_env_resets": 143, "elapsed_s": 9168.092942663992, "nonwheel_terminations": 12704, "contact_bce": 0.29454928636550903, "contact_force_loss": 0.020083097741007805, "collision_bce": 6.494907211163081e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 6.555764684890164e-06, "collision_label_count": 16340.0, "terrain_level_mean": 3.806884765625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [6, 30, 63, 99, 73, 139], "episodes_by_level": [[1437.0, 312.0, 49.0, 0.0], [1769.0, 396.0, 38.0, 0.0], [1400.0, 330.0, 30.0, 0.0], [1024.0, 226.0, 19.0, 0.0], [566.0, 145.0, 14.0, 0.0], [622.0, 144.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 1, 8, 54, 409, 961], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4294.0, 1749.0, 165.0, 0.0], [4430.0, 1630.0, 196.0, 0.0], [4536.0, 1270.0, 159.0, 0.0], [3486.0, 506.0, 180.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 5, 45, 564], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1692.0, 1354.0, 64.0, 0.0], [7441.0, 6097.0, 244.0, 0.0]]}, "platform": {"level_counts": [17, 45, 106, 112, 86, 44], "episodes_by_level": [[1733.0, 375.0, 51.0, 0.0], [2010.0, 413.0, 81.0, 0.0], [1469.0, 286.0, 71.0, 0.0], [994.0, 167.0, 44.0, 0.0], [455.0, 65.0, 37.0, 0.0], [135.0, 16.0, 21.0, 0.0]]}, "slope": {"level_counts": [18, 38, 82, 87, 76, 109], "episodes_by_level": [[1578.0, 333.0, 46.0, 0.0], [1834.0, 379.0, 68.0, 0.0], [1394.0, 297.0, 39.0, 0.0], [917.0, 192.0, 25.0, 0.0], [589.0, 122.0, 7.0, 0.0], [521.0, 86.0, 13.0, 0.0]]}, "rubble": {"level_counts": [40, 140, 225, 232, 147, 35], "episodes_by_level": [[3184.0, 719.0, 96.0, 0.0], [4265.0, 926.0, 195.0, 0.0], [3384.0, 714.0, 304.0, 0.0], [2029.0, 326.0, 300.0, 0.0], [732.0, 77.0, 144.0, 0.0], [157.0, 7.0, 42.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2421875, "command_abs_max": [0.9998621940612793, 0.39961859583854675, 0.6998537182807922]}
{"step": 28950, "actor_lr": 3.99442030197128e-05, "archive_windows": 50000, "env_steps": 28950, "total_transitions": 118579200, "num_steps_per_env": 1, "wm_loss": 0.6846783757209778, "actor_loss": -9.511707305908203, "critic_loss": 0.003826452884823084, "reward": 0.08716573566198349, "falls": 12, "interval_steps": 50, "velocity_mae": [0.11307474225759506, 0.07256116718053818, 0.13521170616149902], "mean_episode_length": 1305.28125, "episode_reward_terms": {"track_linear_velocity": 46.32109069824219, "track_angular_velocity": 49.30183029174805, "upright": 24.989469528198242, "leg_posture": -2.4856414794921875, "standstill": -5.910027027130127, "action_rate_l2": -0.557745099067688, "joint_torques_l2": -0.14255674183368683, "dof_pos_limits": -0.00040756771340966225, "terminated": -0.030592527240514755, "unnecessary_wheel_lift": -0.08178555220365524, "rolling_leg_motion": -0.5784143209457397, "obstacle_progress": 3.4787395000457764, "wheel_body_intrusion": -0.2647290825843811, "pair_body_intrusion": -0.2634260654449463}, "weighted_reward_terms": {"track_linear_velocity": 1.7743721008300781, "track_angular_velocity": 1.8885520696640015, "upright": 0.9572446942329407, "leg_posture": -0.09521479159593582, "standstill": -0.22638903558254242, "action_rate_l2": -0.021364938467741013, "joint_torques_l2": -0.005460767075419426, "dof_pos_limits": -1.5612256902386434e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.0031328711193054914, "rolling_leg_motion": -0.022156693041324615, "obstacle_progress": 0.13325633108615875, "wheel_body_intrusion": -0.010140691883862019, "pair_body_intrusion": -0.010090778581798077}, "episode_termination_rates": {"time_out": 0.390625, "fell_over": 0.0625, "course_exit": 0.515625, "illegal_nonwheel_contact": 0.0625}, "collection_time_s": 0.07565135464421474, "learning_time_s": 0.18537081533810124, "iteration_time_s": 0.31713800084825633, "policy_updates": 28650, "skipped_updates": 0, "invalid_env_resets": 143, "elapsed_s": 9181.14512455702, "nonwheel_terminations": 12712, "contact_bce": 0.2994636595249176, "contact_force_loss": 0.020922644063830376, "collision_bce": 1.5283916582120582e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.5147545127547346e-05, "collision_label_count": 16339.0, "terrain_level_mean": 3.80712890625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [6, 30, 62, 100, 73, 139], "episodes_by_level": [[1437.0, 312.0, 49.0, 0.0], [1770.0, 396.0, 38.0, 0.0], [1404.0, 331.0, 30.0, 0.0], [1025.0, 226.0, 19.0, 0.0], [567.0, 145.0, 14.0, 0.0], [624.0, 144.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 1, 8, 55, 408, 961], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4294.0, 1749.0, 165.0, 0.0], [4430.0, 1630.0, 196.0, 0.0], [4548.0, 1273.0, 159.0, 0.0], [3503.0, 508.0, 181.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 5, 43, 566], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1695.0, 1357.0, 64.0, 0.0], [7455.0, 6110.0, 244.0, 0.0]]}, "platform": {"level_counts": [17, 45, 106, 112, 85, 45], "episodes_by_level": [[1733.0, 375.0, 51.0, 0.0], [2013.0, 413.0, 81.0, 0.0], [1473.0, 287.0, 71.0, 0.0], [996.0, 167.0, 45.0, 0.0], [462.0, 66.0, 37.0, 0.0], [135.0, 16.0, 21.0, 0.0]]}, "slope": {"level_counts": [18, 38, 82, 87, 76, 109], "episodes_by_level": [[1578.0, 333.0, 46.0, 0.0], [1835.0, 379.0, 68.0, 0.0], [1395.0, 297.0, 39.0, 0.0], [917.0, 192.0, 25.0, 0.0], [591.0, 122.0, 7.0, 0.0], [522.0, 87.0, 13.0, 0.0]]}, "rubble": {"level_counts": [41, 137, 228, 233, 145, 35], "episodes_by_level": [[3186.0, 719.0, 96.0, 0.0], [4270.0, 928.0, 196.0, 0.0], [3391.0, 715.0, 304.0, 0.0], [2034.0, 326.0, 302.0, 0.0], [738.0, 78.0, 146.0, 0.0], [158.0, 7.0, 43.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.244140625, "command_abs_max": [0.9998621940612793, 0.39961859583854675, 0.6998537182807922]}
{"step": 29000, "actor_lr": 3.975815061195366e-05, "archive_windows": 50000, "env_steps": 29000, "total_transitions": 118784000, "num_steps_per_env": 1, "wm_loss": 0.6651080846786499, "actor_loss": -9.5642671585083, "critic_loss": 0.004138231743127108, "reward": 0.08742861449718475, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11343710124492645, 0.07169747352600098, 0.1352171152830124], "mean_episode_length": 1336.1666666666667, "episode_reward_terms": {"track_linear_velocity": 47.41990661621094, "track_angular_velocity": 50.47929763793945, "upright": 25.657400131225586, "leg_posture": -2.5537190437316895, "standstill": -5.742672443389893, "action_rate_l2": -0.563568115234375, "joint_torques_l2": -0.1448564976453781, "dof_pos_limits": -0.0006414098315872252, "terminated": -0.020877599716186523, "unnecessary_wheel_lift": -0.08618979901075363, "rolling_leg_motion": -0.5922467112541199, "obstacle_progress": 3.5335657596588135, "wheel_body_intrusion": -0.2678832709789276, "pair_body_intrusion": -0.29831740260124207}, "weighted_reward_terms": {"track_linear_velocity": 1.7744756937026978, "track_angular_velocity": 1.8889597654342651, "upright": 0.9601122736930847, "leg_posture": -0.09556140750646591, "standstill": -0.21489357948303223, "action_rate_l2": -0.021088991314172745, "joint_torques_l2": -0.005420600064098835, "dof_pos_limits": -2.4001867132028565e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0032252641394734383, "rolling_leg_motion": -0.02216215804219246, "obstacle_progress": 0.13222773373126984, "wheel_body_intrusion": -0.010024321265518665, "pair_body_intrusion": -0.011163181625306606}, "episode_termination_rates": {"time_out": 0.4888888888888889, "fell_over": 0.022222222222222223, "course_exit": 0.4666666666666667, "illegal_nonwheel_contact": 0.027777777777777776}, "collection_time_s": 0.0757292708393652, "learning_time_s": 0.19073814039933495, "iteration_time_s": 0.3170506776659649, "policy_updates": 28700, "skipped_updates": 0, "invalid_env_resets": 143, "elapsed_s": 9194.469652312982, "nonwheel_terminations": 12717, "contact_bce": 0.3002671003341675, "contact_force_loss": 0.021901438012719154, "collision_bce": 0.0003954161948058754, "collision_label_rate": 6.114711868576705e-05, "collision_prediction_mean": 6.31019429420121e-05, "collision_label_count": 16354.0, "terrain_level_mean": 3.810791015625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [6, 30, 62, 100, 71, 141], "episodes_by_level": [[1438.0, 312.0, 49.0, 0.0], [1773.0, 396.0, 38.0, 0.0], [1407.0, 331.0, 30.0, 0.0], [1030.0, 226.0, 19.0, 0.0], [569.0, 147.0, 14.0, 0.0], [629.0, 147.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 1, 8, 56, 403, 965], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4294.0, 1749.0, 165.0, 0.0], [4431.0, 1631.0, 196.0, 0.0], [4568.0, 1279.0, 159.0, 0.0], [3533.0, 513.0, 183.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 5, 43, 566], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1696.0, 1358.0, 64.0, 0.0], [7479.0, 6132.0, 245.0, 0.0]]}, "platform": {"level_counts": [17, 45, 105, 113, 86, 44], "episodes_by_level": [[1735.0, 375.0, 51.0, 0.0], [2013.0, 413.0, 81.0, 0.0], [1476.0, 288.0, 71.0, 0.0], [1001.0, 167.0, 45.0, 0.0], [463.0, 66.0, 37.0, 0.0], [138.0, 17.0, 22.0, 0.0]]}, "slope": {"level_counts": [18, 38, 82, 87, 76, 109], "episodes_by_level": [[1578.0, 333.0, 46.0, 0.0], [1836.0, 379.0, 68.0, 0.0], [1398.0, 297.0, 39.0, 0.0], [919.0, 192.0, 25.0, 0.0], [595.0, 123.0, 7.0, 0.0], [525.0, 87.0, 14.0, 0.0]]}, "rubble": {"level_counts": [40, 137, 227, 230, 149, 36], "episodes_by_level": [[3188.0, 720.0, 96.0, 0.0], [4275.0, 929.0, 196.0, 0.0], [3399.0, 717.0, 304.0, 0.0], [2048.0, 331.0, 302.0, 0.0], [746.0, 80.0, 146.0, 0.0], [159.0, 7.0, 44.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.240966796875, "command_abs_max": [0.9998621940612793, 0.39961859583854675, 0.6998537182807922]}
{"step": 29050, "actor_lr": 3.957186638376231e-05, "archive_windows": 50000, "env_steps": 29050, "total_transitions": 118988800, "num_steps_per_env": 1, "wm_loss": 0.6314089894294739, "actor_loss": -9.555778503417969, "critic_loss": 0.004153238143771887, "reward": 0.08761321753263474, "falls": 3, "interval_steps": 50, "velocity_mae": [0.11326668411493301, 0.07114877551794052, 0.13463805615901947], "mean_episode_length": 1374.3086419753085, "episode_reward_terms": {"track_linear_velocity": 48.80393600463867, "track_angular_velocity": 51.936073303222656, "upright": 26.396146774291992, "leg_posture": -2.6141586303710938, "standstill": -5.720095157623291, "action_rate_l2": -0.5847418308258057, "joint_torques_l2": -0.14911067485809326, "dof_pos_limits": -0.0006882934249006212, "terminated": -0.008052588440477848, "unnecessary_wheel_lift": -0.09023307263851166, "rolling_leg_motion": -0.6192986965179443, "obstacle_progress": 3.6070210933685303, "wheel_body_intrusion": -0.27125439047813416, "pair_body_intrusion": -0.2779389023780823}, "weighted_reward_terms": {"track_linear_velocity": 1.7755813598632812, "track_angular_velocity": 1.8895347118377686, "upright": 0.9603427648544312, "leg_posture": -0.09510814398527145, "standstill": -0.2081080973148346, "action_rate_l2": -0.021274037659168243, "joint_torques_l2": -0.005424934439361095, "dof_pos_limits": -2.504144504200667e-05, "terminated": -0.00029296870343387127, "unnecessary_wheel_lift": -0.003282853402197361, "rolling_leg_motion": -0.022531284019351006, "obstacle_progress": 0.1312303990125656, "wheel_body_intrusion": -0.009868758730590343, "pair_body_intrusion": -0.010111954063177109}, "episode_termination_rates": {"time_out": 0.47530864197530864, "fell_over": 0.006172839506172839, "course_exit": 0.5061728395061729, "illegal_nonwheel_contact": 0.012345679012345678}, "collection_time_s": 0.07568609756301158, "learning_time_s": 0.18430110445711761, "iteration_time_s": 0.3169536102565227, "policy_updates": 28750, "skipped_updates": 0, "invalid_env_resets": 143, "elapsed_s": 9207.502377951983, "nonwheel_terminations": 12719, "contact_bce": 0.2961881756782532, "contact_force_loss": 0.020956475287675858, "collision_bce": 7.184510650404263e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 7.225793979159789e-06, "collision_label_count": 16363.0, "terrain_level_mean": 3.814697265625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [5, 31, 62, 96, 75, 141], "episodes_by_level": [[1439.0, 313.0, 49.0, 0.0], [1775.0, 396.0, 38.0, 0.0], [1408.0, 331.0, 30.0, 0.0], [1038.0, 230.0, 19.0, 0.0], [573.0, 147.0, 14.0, 0.0], [637.0, 151.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 1, 8, 55, 403, 966], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4294.0, 1749.0, 165.0, 0.0], [4432.0, 1632.0, 196.0, 0.0], [4584.0, 1281.0, 159.0, 0.0], [3556.0, 519.0, 183.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 5, 43, 566], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [951.0, 778.0, 26.0, 0.0], [1697.0, 1359.0, 64.0, 0.0], [7495.0, 6146.0, 245.0, 0.0]]}, "platform": {"level_counts": [17, 45, 103, 115, 85, 45], "episodes_by_level": [[1736.0, 375.0, 51.0, 0.0], [2013.0, 413.0, 81.0, 0.0], [1481.0, 290.0, 71.0, 0.0], [1004.0, 167.0, 45.0, 0.0], [464.0, 67.0, 37.0, 0.0], [140.0, 17.0, 22.0, 0.0]]}, "slope": {"level_counts": [17, 38, 83, 87, 75, 110], "episodes_by_level": [[1579.0, 334.0, 46.0, 0.0], [1837.0, 380.0, 68.0, 0.0], [1400.0, 297.0, 39.0, 0.0], [919.0, 192.0, 25.0, 0.0], [598.0, 124.0, 7.0, 0.0], [531.0, 89.0, 14.0, 0.0]]}, "rubble": {"level_counts": [39, 139, 225, 230, 149, 37], "episodes_by_level": [[3190.0, 721.0, 96.0, 0.0], [4278.0, 929.0, 196.0, 0.0], [3409.0, 718.0, 305.0, 0.0], [2056.0, 332.0, 302.0, 0.0], [752.0, 81.0, 146.0, 0.0], [160.0, 8.0, 44.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.246826171875, "command_abs_max": [0.9995191693305969, 0.39961859583854675, 0.6998537182807922]}
{"step": 29100, "actor_lr": 3.938536182602741e-05, "archive_windows": 50000, "env_steps": 29100, "total_transitions": 119193600, "num_steps_per_env": 1, "wm_loss": 0.6933118104934692, "actor_loss": -9.522794723510742, "critic_loss": 0.005570090841501951, "reward": 0.087896928191185, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11216048151254654, 0.06991728395223618, 0.1352710723876953], "mean_episode_length": 1335.9829545454545, "episode_reward_terms": {"track_linear_velocity": 47.57233810424805, "track_angular_velocity": 50.459266662597656, "upright": 25.659997940063477, "leg_posture": -2.4895594120025635, "standstill": -5.450427055358887, "action_rate_l2": -0.5746203064918518, "joint_torques_l2": -0.14497220516204834, "dof_pos_limits": -0.0013237603707239032, "terminated": -0.02087472938001156, "unnecessary_wheel_lift": -0.07580450922250748, "rolling_leg_motion": -0.585853099822998, "obstacle_progress": 3.605757236480713, "wheel_body_intrusion": -0.2511765956878662, "pair_body_intrusion": -0.273966908454895}, "weighted_reward_terms": {"track_linear_velocity": 1.78042471408844, "track_angular_velocity": 1.8884698152542114, "upright": 0.9603415727615356, "leg_posture": -0.09317333251237869, "standstill": -0.20398564636707306, "action_rate_l2": -0.021505527198314667, "joint_torques_l2": -0.005425675772130489, "dof_pos_limits": -4.954256291966885e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0028370313812047243, "rolling_leg_motion": -0.021925920620560646, "obstacle_progress": 0.13494773209095, "wheel_body_intrusion": -0.009400442242622375, "pair_body_intrusion": -0.010253384709358215}, "episode_termination_rates": {"time_out": 0.4318181818181818, "fell_over": 0.011363636363636364, "course_exit": 0.5227272727272727, "illegal_nonwheel_contact": 0.03409090909090909}, "collection_time_s": 0.07571887703961692, "learning_time_s": 0.18523991414229385, "iteration_time_s": 0.31685743769195934, "policy_updates": 28800, "skipped_updates": 0, "invalid_env_resets": 143, "elapsed_s": 9220.551436836016, "nonwheel_terminations": 12725, "contact_bce": 0.3002500832080841, "contact_force_loss": 0.021734541282057762, "collision_bce": 9.760020475368947e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 9.792363016458694e-06, "collision_label_count": 16345.0, "terrain_level_mean": 3.817626953125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [5, 31, 62, 96, 75, 141], "episodes_by_level": [[1439.0, 313.0, 49.0, 0.0], [1776.0, 396.0, 38.0, 0.0], [1408.0, 331.0, 30.0, 0.0], [1039.0, 230.0, 19.0, 0.0], [575.0, 147.0, 14.0, 0.0], [642.0, 154.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 1, 7, 56, 404, 965], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4295.0, 1750.0, 165.0, 0.0], [4432.0, 1632.0, 196.0, 0.0], [4598.0, 1285.0, 159.0, 0.0], [3591.0, 526.0, 186.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 4, 43, 567], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [952.0, 779.0, 26.0, 0.0], [1698.0, 1360.0, 64.0, 0.0], [7519.0, 6167.0, 245.0, 0.0]]}, "platform": {"level_counts": [17, 45, 103, 113, 87, 45], "episodes_by_level": [[1736.0, 375.0, 51.0, 0.0], [2014.0, 414.0, 81.0, 0.0], [1484.0, 290.0, 72.0, 0.0], [1008.0, 169.0, 45.0, 0.0], [467.0, 67.0, 37.0, 0.0], [141.0, 17.0, 22.0, 0.0]]}, "slope": {"level_counts": [16, 38, 83, 88, 74, 111], "episodes_by_level": [[1582.0, 335.0, 46.0, 0.0], [1839.0, 381.0, 68.0, 0.0], [1405.0, 298.0, 39.0, 0.0], [923.0, 192.0, 25.0, 0.0], [601.0, 125.0, 7.0, 0.0], [535.0, 91.0, 14.0, 0.0]]}, "rubble": {"level_counts": [38, 139, 224, 233, 147, 38], "episodes_by_level": [[3192.0, 722.0, 96.0, 0.0], [4282.0, 930.0, 196.0, 0.0], [3415.0, 720.0, 305.0, 0.0], [2064.0, 333.0, 302.0, 0.0], [759.0, 82.0, 148.0, 0.0], [160.0, 8.0, 44.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.24853515625, "command_abs_max": [0.9995191693305969, 0.39961859583854675, 0.6998537182807922]}
{"step": 29150, "actor_lr": 3.91986484432286e-05, "archive_windows": 50000, "env_steps": 29150, "total_transitions": 119398400, "num_steps_per_env": 1, "wm_loss": 0.6153034567832947, "actor_loss": -9.518396377563477, "critic_loss": 0.00542354304343462, "reward": 0.08756540715694427, "falls": 7, "interval_steps": 50, "velocity_mae": [0.1130887046456337, 0.07040131837129593, 0.1346530020236969], "mean_episode_length": 1319.56050955414, "episode_reward_terms": {"track_linear_velocity": 46.89942932128906, "track_angular_velocity": 49.85213851928711, "upright": 25.33631134033203, "leg_posture": -2.5182125568389893, "standstill": -5.718616008758545, "action_rate_l2": -0.5647183060646057, "joint_torques_l2": -0.14393267035484314, "dof_pos_limits": -0.0010634841164574027, "terminated": -0.018040865659713745, "unnecessary_wheel_lift": -0.07869724184274673, "rolling_leg_motion": -0.5782769918441772, "obstacle_progress": 3.61968731880188, "wheel_body_intrusion": -0.269301176071167, "pair_body_intrusion": -0.2688593864440918}, "weighted_reward_terms": {"track_linear_velocity": 1.7770850658416748, "track_angular_velocity": 1.888967514038086, "upright": 0.960028350353241, "leg_posture": -0.09541860967874527, "standstill": -0.21668638288974762, "action_rate_l2": -0.021397968754172325, "joint_torques_l2": -0.005453811027109623, "dof_pos_limits": -4.029690535389818e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.002981949131935835, "rolling_leg_motion": -0.021911727264523506, "obstacle_progress": 0.13715502619743347, "wheel_body_intrusion": -0.010204199701547623, "pair_body_intrusion": -0.010187460109591484}, "episode_termination_rates": {"time_out": 0.43312101910828027, "fell_over": 0.025477707006369428, "course_exit": 0.5222929936305732, "illegal_nonwheel_contact": 0.01910828025477707}, "collection_time_s": 0.07557223561801947, "learning_time_s": 0.18504202169948258, "iteration_time_s": 0.31676100332188695, "policy_updates": 28850, "skipped_updates": 0, "invalid_env_resets": 143, "elapsed_s": 9233.583246833005, "nonwheel_terminations": 12728, "contact_bce": 0.29359281063079834, "contact_force_loss": 0.020465875044465065, "collision_bce": 4.994938080926659e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 5.049389073974453e-06, "collision_label_count": 16294.0, "terrain_level_mean": 3.8212890625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [5, 31, 62, 95, 74, 143], "episodes_by_level": [[1439.0, 313.0, 49.0, 0.0], [1776.0, 396.0, 38.0, 0.0], [1411.0, 331.0, 30.0, 0.0], [1042.0, 231.0, 19.0, 0.0], [581.0, 149.0, 14.0, 0.0], [648.0, 157.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 1, 5, 57, 403, 967], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4297.0, 1752.0, 165.0, 0.0], [4435.0, 1633.0, 196.0, 0.0], [4612.0, 1287.0, 159.0, 0.0], [3611.0, 529.0, 186.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 4, 43, 567], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [952.0, 779.0, 26.0, 0.0], [1700.0, 1362.0, 64.0, 0.0], [7545.0, 6192.0, 245.0, 0.0]]}, "platform": {"level_counts": [16, 44, 105, 113, 87, 45], "episodes_by_level": [[1737.0, 376.0, 51.0, 0.0], [2017.0, 416.0, 81.0, 0.0], [1484.0, 290.0, 72.0, 0.0], [1009.0, 169.0, 45.0, 0.0], [468.0, 67.0, 37.0, 0.0], [143.0, 17.0, 22.0, 0.0]]}, "slope": {"level_counts": [14, 40, 82, 89, 74, 111], "episodes_by_level": [[1584.0, 337.0, 46.0, 0.0], [1842.0, 381.0, 68.0, 0.0], [1408.0, 299.0, 39.0, 0.0], [924.0, 192.0, 25.0, 0.0], [603.0, 125.0, 7.0, 0.0], [537.0, 91.0, 14.0, 0.0]]}, "rubble": {"level_counts": [38, 139, 226, 230, 146, 40], "episodes_by_level": [[3193.0, 722.0, 96.0, 0.0], [4286.0, 931.0, 196.0, 0.0], [3425.0, 722.0, 306.0, 0.0], [2073.0, 334.0, 306.0, 0.0], [767.0, 84.0, 148.0, 0.0], [160.0, 8.0, 44.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.245361328125, "command_abs_max": [0.9995191693305969, 0.39932820200920105, 0.6998537182807922]}
{"step": 29200, "actor_lr": 3.9011737752726846e-05, "archive_windows": 50000, "env_steps": 29200, "total_transitions": 119603200, "num_steps_per_env": 1, "wm_loss": 0.6834934949874878, "actor_loss": -9.529230117797852, "critic_loss": 0.0031063694041222334, "reward": 0.08759938925504684, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11440937966108322, 0.07065147161483765, 0.13478145003318787], "mean_episode_length": 1387.4538461538461, "episode_reward_terms": {"track_linear_velocity": 49.20503616333008, "track_angular_velocity": 52.43513870239258, "upright": 26.670806884765625, "leg_posture": -2.618818998336792, "standstill": -5.937016010284424, "action_rate_l2": -0.6035923361778259, "joint_torques_l2": -0.15035571157932281, "dof_pos_limits": -0.001268222345970571, "terminated": -0.02167896181344986, "unnecessary_wheel_lift": -0.07514476031064987, "rolling_leg_motion": -0.594903826713562, "obstacle_progress": 3.8066112995147705, "wheel_body_intrusion": -0.26032528281211853, "pair_body_intrusion": -0.3144126832485199}, "weighted_reward_terms": {"track_linear_velocity": 1.773213505744934, "track_angular_velocity": 1.8896174430847168, "upright": 0.9611421823501587, "leg_posture": -0.09437499195337296, "standstill": -0.2139536440372467, "action_rate_l2": -0.021751798689365387, "joint_torques_l2": -0.005418404005467892, "dof_pos_limits": -4.570322562358342e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0027080094441771507, "rolling_leg_motion": -0.021438688039779663, "obstacle_progress": 0.13717974722385406, "wheel_body_intrusion": -0.009381403215229511, "pair_body_intrusion": -0.011330563575029373}, "episode_termination_rates": {"time_out": 0.5, "fell_over": 0.046153846153846156, "course_exit": 0.43846153846153846, "illegal_nonwheel_contact": 0.023076923076923078}, "collection_time_s": 0.07579779735882766, "learning_time_s": 0.18508092480245977, "iteration_time_s": 0.31666535285441844, "policy_updates": 28900, "skipped_updates": 0, "invalid_env_resets": 144, "elapsed_s": 9246.628303349018, "nonwheel_terminations": 12731, "contact_bce": 0.29840949177742004, "contact_force_loss": 0.02103969268500805, "collision_bce": 0.0005590146756730974, "collision_label_rate": 0.0001836547307902947, "collision_prediction_mean": 4.037261169287376e-05, "collision_label_count": 16335.0, "terrain_level_mean": 3.822021484375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [5, 31, 61, 94, 76, 143], "episodes_by_level": [[1439.0, 313.0, 49.0, 0.0], [1776.0, 396.0, 38.0, 0.0], [1413.0, 332.0, 30.0, 0.0], [1046.0, 233.0, 19.0, 0.0], [583.0, 149.0, 14.0, 0.0], [650.0, 157.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 1, 5, 57, 404, 966], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4297.0, 1752.0, 165.0, 0.0], [4436.0, 1633.0, 196.0, 0.0], [4621.0, 1287.0, 159.0, 0.0], [3628.0, 531.0, 186.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 4, 44, 566], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [952.0, 779.0, 26.0, 0.0], [1700.0, 1362.0, 64.0, 0.0], [7565.0, 6211.0, 245.0, 0.0]]}, "platform": {"level_counts": [16, 44, 106, 111, 88, 45], "episodes_by_level": [[1737.0, 376.0, 51.0, 0.0], [2017.0, 416.0, 81.0, 0.0], [1487.0, 290.0, 72.0, 0.0], [1014.0, 170.0, 46.0, 0.0], [472.0, 67.0, 37.0, 0.0], [143.0, 17.0, 22.0, 0.0]]}, "slope": {"level_counts": [14, 40, 82, 88, 74, 112], "episodes_by_level": [[1584.0, 337.0, 46.0, 0.0], [1842.0, 381.0, 68.0, 0.0], [1412.0, 299.0, 39.0, 0.0], [927.0, 193.0, 25.0, 0.0], [605.0, 126.0, 7.0, 0.0], [541.0, 91.0, 14.0, 0.0]]}, "rubble": {"level_counts": [38, 139, 226, 229, 148, 39], "episodes_by_level": [[3196.0, 722.0, 96.0, 0.0], [4288.0, 932.0, 196.0, 0.0], [3433.0, 723.0, 307.0, 0.0], [2083.0, 336.0, 307.0, 0.0], [769.0, 84.0, 149.0, 0.0], [162.0, 8.0, 45.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2451171875, "command_abs_max": [0.9989686012268066, 0.39932820200920105, 0.6998537182807922]}
{"step": 29250, "actor_lr": 3.8824641284053935e-05, "archive_windows": 50000, "env_steps": 29250, "total_transitions": 119808000, "num_steps_per_env": 1, "wm_loss": 0.6019317507743835, "actor_loss": -9.508602142333984, "critic_loss": 0.006058322731405497, "reward": 0.08736921846866608, "falls": 12, "interval_steps": 50, "velocity_mae": [0.11502651870250702, 0.07059803605079651, 0.13364362716674805], "mean_episode_length": 1409.8079470198675, "episode_reward_terms": {"track_linear_velocity": 50.011905670166016, "track_angular_velocity": 53.329200744628906, "upright": 27.035425186157227, "leg_posture": -2.6476051807403564, "standstill": -6.350397109985352, "action_rate_l2": -0.6112216711044312, "joint_torques_l2": -0.15296319127082825, "dof_pos_limits": -0.0008821432129479945, "terminated": -0.03304237127304077, "unnecessary_wheel_lift": -0.08542512357234955, "rolling_leg_motion": -0.6224947571754456, "obstacle_progress": 3.906297445297241, "wheel_body_intrusion": -0.28544852137565613, "pair_body_intrusion": -0.3195245563983917}, "weighted_reward_terms": {"track_linear_velocity": 1.7737133502960205, "track_angular_velocity": 1.8913639783859253, "upright": 0.9588335752487183, "leg_posture": -0.09389950335025787, "standstill": -0.22522206604480743, "action_rate_l2": -0.021677479147911072, "joint_torques_l2": -0.005424965638667345, "dof_pos_limits": -3.1285937438951805e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.0030296724289655685, "rolling_leg_motion": -0.0220772884786129, "obstacle_progress": 0.13854005932807922, "wheel_body_intrusion": -0.010123667307198048, "pair_body_intrusion": -0.011332201771438122}, "episode_termination_rates": {"time_out": 0.4966887417218543, "fell_over": 0.026490066225165563, "course_exit": 0.423841059602649, "illegal_nonwheel_contact": 0.0728476821192053}, "collection_time_s": 0.07563093694276177, "learning_time_s": 0.1852249643986579, "iteration_time_s": 0.3165699903361706, "policy_updates": 28950, "skipped_updates": 0, "invalid_env_resets": 144, "elapsed_s": 9259.67221733299, "nonwheel_terminations": 12742, "contact_bce": 0.29260390996932983, "contact_force_loss": 0.020245999097824097, "collision_bce": 0.0001352726249024272, "collision_label_rate": 6.119951285654679e-05, "collision_prediction_mean": 2.0343984942883253e-05, "collision_label_count": 16340.0, "terrain_level_mean": 3.822509765625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [5, 31, 61, 93, 75, 145], "episodes_by_level": [[1439.0, 313.0, 49.0, 0.0], [1778.0, 396.0, 38.0, 0.0], [1415.0, 332.0, 30.0, 0.0], [1049.0, 234.0, 19.0, 0.0], [586.0, 151.0, 14.0, 0.0], [657.0, 159.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 1, 5, 59, 402, 966], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4297.0, 1752.0, 165.0, 0.0], [4438.0, 1633.0, 196.0, 0.0], [4628.0, 1288.0, 159.0, 0.0], [3649.0, 534.0, 187.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 5, 45, 564], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [952.0, 779.0, 26.0, 0.0], [1700.0, 1362.0, 64.0, 0.0], [7577.0, 6221.0, 245.0, 0.0]]}, "platform": {"level_counts": [16, 43, 107, 109, 90, 45], "episodes_by_level": [[1738.0, 376.0, 51.0, 0.0], [2018.0, 417.0, 81.0, 0.0], [1492.0, 290.0, 72.0, 0.0], [1021.0, 172.0, 46.0, 0.0], [476.0, 68.0, 37.0, 0.0], [144.0, 17.0, 23.0, 0.0]]}, "slope": {"level_counts": [14, 40, 82, 88, 72, 114], "episodes_by_level": [[1584.0, 337.0, 46.0, 0.0], [1844.0, 381.0, 68.0, 0.0], [1413.0, 299.0, 39.0, 0.0], [927.0, 193.0, 25.0, 0.0], [611.0, 128.0, 7.0, 0.0], [544.0, 91.0, 14.0, 0.0]]}, "rubble": {"level_counts": [38, 139, 226, 229, 149, 38], "episodes_by_level": [[3197.0, 722.0, 96.0, 0.0], [4293.0, 932.0, 196.0, 0.0], [3439.0, 726.0, 307.0, 0.0], [2094.0, 337.0, 310.0, 0.0], [772.0, 84.0, 150.0, 0.0], [165.0, 8.0, 46.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.247802734375, "command_abs_max": [0.9989686012268066, 0.39932820200920105, 0.699828565120697]}
{"step": 29300, "actor_lr": 3.8637370578201395e-05, "archive_windows": 50000, "env_steps": 29300, "total_transitions": 120012800, "num_steps_per_env": 1, "wm_loss": 0.646426796913147, "actor_loss": -9.516019821166992, "critic_loss": 0.003526814980432391, "reward": 0.08748897165060043, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11559635400772095, 0.0697682723402977, 0.1335272490978241], "mean_episode_length": 1426.9929078014184, "episode_reward_terms": {"track_linear_velocity": 50.615238189697266, "track_angular_velocity": 53.983463287353516, "upright": 27.358360290527344, "leg_posture": -2.664660930633545, "standstill": -6.305003643035889, "action_rate_l2": -0.6149330139160156, "joint_torques_l2": -0.15522602200508118, "dof_pos_limits": -0.00036256384919397533, "terminated": -0.013935476541519165, "unnecessary_wheel_lift": -0.08751880377531052, "rolling_leg_motion": -0.6362765431404114, "obstacle_progress": 3.9615166187286377, "wheel_body_intrusion": -0.27967244386672974, "pair_body_intrusion": -0.31480032205581665}, "weighted_reward_terms": {"track_linear_velocity": 1.7734930515289307, "track_angular_velocity": 1.89151132106781, "upright": 0.9586018323898315, "leg_posture": -0.09336630254983902, "standstill": -0.22091923654079437, "action_rate_l2": -0.021546464413404465, "joint_torques_l2": -0.005438920576125383, "dof_pos_limits": -1.2703771972155664e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.003066546516492963, "rolling_leg_motion": -0.022294312715530396, "obstacle_progress": 0.13880646228790283, "wheel_body_intrusion": -0.00979936309158802, "pair_body_intrusion": -0.011030199006199837}, "episode_termination_rates": {"time_out": 0.5390070921985816, "fell_over": 0.0070921985815602835, "course_exit": 0.425531914893617, "illegal_nonwheel_contact": 0.028368794326241134}, "collection_time_s": 0.07571466975496151, "learning_time_s": 0.18504415812203662, "iteration_time_s": 0.3164747862358031, "policy_updates": 29000, "skipped_updates": 0, "invalid_env_resets": 144, "elapsed_s": 9272.71123670903, "nonwheel_terminations": 12746, "contact_bce": 0.29125452041625977, "contact_force_loss": 0.01994430460035801, "collision_bce": 8.032140613067895e-05, "collision_label_rate": 6.117704469943419e-05, "collision_prediction_mean": 3.860666765831411e-05, "collision_label_count": 16346.0, "terrain_level_mean": 3.823974609375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [5, 31, 61, 92, 76, 145], "episodes_by_level": [[1440.0, 313.0, 49.0, 0.0], [1780.0, 396.0, 38.0, 0.0], [1416.0, 332.0, 30.0, 0.0], [1053.0, 235.0, 19.0, 0.0], [587.0, 151.0, 14.0, 0.0], [663.0, 162.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 1, 5, 59, 398, 970], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4297.0, 1752.0, 165.0, 0.0], [4438.0, 1633.0, 196.0, 0.0], [4645.0, 1292.0, 159.0, 0.0], [3674.0, 541.0, 187.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 5, 45, 564], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [952.0, 779.0, 26.0, 0.0], [1700.0, 1362.0, 64.0, 0.0], [7596.0, 6237.0, 245.0, 0.0]]}, "platform": {"level_counts": [16, 43, 106, 110, 90, 45], "episodes_by_level": [[1738.0, 376.0, 51.0, 0.0], [2018.0, 417.0, 81.0, 0.0], [1497.0, 292.0, 72.0, 0.0], [1026.0, 172.0, 47.0, 0.0], [478.0, 68.0, 37.0, 0.0], [145.0, 17.0, 23.0, 0.0]]}, "slope": {"level_counts": [14, 40, 81, 87, 74, 114], "episodes_by_level": [[1584.0, 337.0, 46.0, 0.0], [1845.0, 381.0, 68.0, 0.0], [1416.0, 300.0, 39.0, 0.0], [931.0, 195.0, 25.0, 0.0], [613.0, 128.0, 7.0, 0.0], [546.0, 91.0, 14.0, 0.0]]}, "rubble": {"level_counts": [37, 140, 229, 227, 148, 38], "episodes_by_level": [[3199.0, 723.0, 96.0, 0.0], [4294.0, 932.0, 196.0, 0.0], [3443.0, 726.0, 307.0, 0.0], [2105.0, 337.0, 313.0, 0.0], [775.0, 84.0, 151.0, 0.0], [165.0, 8.0, 46.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.246826171875, "command_abs_max": [0.9987196922302246, 0.39932820200920105, 0.699828565120697]}
{"step": 29350, "actor_lr": 3.8449937186908445e-05, "archive_windows": 50000, "env_steps": 29350, "total_transitions": 120217600, "num_steps_per_env": 1, "wm_loss": 0.6557685732841492, "actor_loss": -9.505655288696289, "critic_loss": 0.0070647443644702435, "reward": 0.08732578158378601, "falls": 10, "interval_steps": 50, "velocity_mae": [0.1171615868806839, 0.07070272415876389, 0.13508403301239014], "mean_episode_length": 1316.9805194805194, "episode_reward_terms": {"track_linear_velocity": 46.59074020385742, "track_angular_velocity": 49.75785827636719, "upright": 25.24021339416504, "leg_posture": -2.517247438430786, "standstill": -5.6966328620910645, "action_rate_l2": -0.5665478706359863, "joint_torques_l2": -0.14363503456115723, "dof_pos_limits": -0.0008368060225620866, "terminated": -0.02572227269411087, "unnecessary_wheel_lift": -0.08315904438495636, "rolling_leg_motion": -0.5815248489379883, "obstacle_progress": 3.606964588165283, "wheel_body_intrusion": -0.27316731214523315, "pair_body_intrusion": -0.3009593188762665}, "weighted_reward_terms": {"track_linear_velocity": 1.768847107887268, "track_angular_velocity": 1.8890888690948486, "upright": 0.9582607746124268, "leg_posture": -0.09556889533996582, "standstill": -0.21627630293369293, "action_rate_l2": -0.021509351208806038, "joint_torques_l2": -0.005453195422887802, "dof_pos_limits": -3.1769872293807566e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.003157186321914196, "rolling_leg_motion": -0.022077960893511772, "obstacle_progress": 0.13694070279598236, "wheel_body_intrusion": -0.010370970703661442, "pair_body_intrusion": -0.011426112614572048}, "episode_termination_rates": {"time_out": 0.38311688311688313, "fell_over": 0.05194805194805195, "course_exit": 0.551948051948052, "illegal_nonwheel_contact": 0.05194805194805195}, "collection_time_s": 0.07561812780215404, "learning_time_s": 0.18521621947526, "iteration_time_s": 0.3163800341613968, "policy_updates": 29050, "skipped_updates": 0, "invalid_env_resets": 144, "elapsed_s": 9285.754002636997, "nonwheel_terminations": 12754, "contact_bce": 0.29245510697364807, "contact_force_loss": 0.021377915516495705, "collision_bce": 0.0010326365008950233, "collision_label_rate": 0.0001225340092787519, "collision_prediction_mean": 9.140429756371304e-05, "collision_label_count": 16322.0, "terrain_level_mean": 3.82470703125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [5, 31, 61, 92, 76, 145], "episodes_by_level": [[1440.0, 313.0, 49.0, 0.0], [1780.0, 396.0, 38.0, 0.0], [1416.0, 332.0, 30.0, 0.0], [1055.0, 235.0, 19.0, 0.0], [588.0, 151.0, 14.0, 0.0], [664.0, 162.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 1, 5, 59, 394, 974], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4297.0, 1752.0, 165.0, 0.0], [4441.0, 1633.0, 196.0, 0.0], [4658.0, 1296.0, 159.0, 0.0], [3707.0, 546.0, 187.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 4, 46, 564], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [953.0, 780.0, 26.0, 0.0], [1701.0, 1363.0, 64.0, 0.0], [7613.0, 6252.0, 245.0, 0.0]]}, "platform": {"level_counts": [16, 42, 106, 111, 90, 45], "episodes_by_level": [[1738.0, 376.0, 51.0, 0.0], [2019.0, 418.0, 81.0, 0.0], [1499.0, 293.0, 72.0, 0.0], [1028.0, 173.0, 47.0, 0.0], [484.0, 69.0, 38.0, 0.0], [148.0, 17.0, 24.0, 0.0]]}, "slope": {"level_counts": [14, 40, 80, 88, 74, 114], "episodes_by_level": [[1585.0, 337.0, 46.0, 0.0], [1845.0, 381.0, 68.0, 0.0], [1421.0, 301.0, 39.0, 0.0], [937.0, 195.0, 25.0, 0.0], [616.0, 128.0, 7.0, 0.0], [548.0, 91.0, 14.0, 0.0]]}, "rubble": {"level_counts": [37, 141, 229, 229, 145, 38], "episodes_by_level": [[3201.0, 723.0, 97.0, 0.0], [4298.0, 932.0, 196.0, 0.0], [3449.0, 727.0, 308.0, 0.0], [2113.0, 337.0, 315.0, 0.0], [780.0, 84.0, 154.0, 0.0], [166.0, 8.0, 46.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.247314453125, "command_abs_max": [0.9998418092727661, 0.39932820200920105, 0.699828565120697]}
{"step": 29400, "actor_lr": 3.826235267194959e-05, "archive_windows": 50000, "env_steps": 29400, "total_transitions": 120422400, "num_steps_per_env": 1, "wm_loss": 0.6609334945678711, "actor_loss": -9.515371322631836, "critic_loss": 0.003938404377549887, "reward": 0.08736754208803177, "falls": 4, "interval_steps": 50, "velocity_mae": [0.11450571566820145, 0.06951542943716049, 0.1362038105726242], "mean_episode_length": 1369.848275862069, "episode_reward_terms": {"track_linear_velocity": 48.64801025390625, "track_angular_velocity": 51.69931411743164, "upright": 26.290836334228516, "leg_posture": -2.617316484451294, "standstill": -5.988122940063477, "action_rate_l2": -0.5646071434020996, "joint_torques_l2": -0.14692695438861847, "dof_pos_limits": -0.00017649284563958645, "terminated": -0.010701937600970268, "unnecessary_wheel_lift": -0.08442987501621246, "rolling_leg_motion": -0.6282456517219543, "obstacle_progress": 3.652149200439453, "wheel_body_intrusion": -0.28437069058418274, "pair_body_intrusion": -0.28517112135887146}, "weighted_reward_terms": {"track_linear_velocity": 1.7756716012954712, "track_angular_velocity": 1.8870452642440796, "upright": 0.9596258997917175, "leg_posture": -0.09553308039903641, "standstill": -0.2185688316822052, "action_rate_l2": -0.020608384162187576, "joint_torques_l2": -0.0053628915920853615, "dof_pos_limits": -6.44205829303246e-06, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.0030817235819995403, "rolling_leg_motion": -0.022931212559342384, "obstacle_progress": 0.1333048790693283, "wheel_body_intrusion": -0.010379642248153687, "pair_body_intrusion": -0.010408858768641949}, "episode_termination_rates": {"time_out": 0.4689655172413793, "fell_over": 0.006896551724137931, "course_exit": 0.503448275862069, "illegal_nonwheel_contact": 0.027586206896551724}, "collection_time_s": 0.07565555872046388, "learning_time_s": 0.18517938774079085, "iteration_time_s": 0.3162856064842171, "policy_updates": 29100, "skipped_updates": 0, "invalid_env_resets": 144, "elapsed_s": 9298.796830635983, "nonwheel_terminations": 12758, "contact_bce": 0.2957203984260559, "contact_force_loss": 0.020801445469260216, "collision_bce": 0.00013248338655102998, "collision_label_rate": 6.122574268374592e-05, "collision_prediction_mean": 2.97340884571895e-05, "collision_label_count": 16333.0, "terrain_level_mean": 3.82861328125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [5, 31, 60, 92, 76, 146], "episodes_by_level": [[1440.0, 313.0, 49.0, 0.0], [1781.0, 396.0, 38.0, 0.0], [1417.0, 333.0, 30.0, 0.0], [1061.0, 237.0, 19.0, 0.0], [591.0, 152.0, 15.0, 0.0], [669.0, 164.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 1, 5, 59, 390, 978], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4297.0, 1752.0, 165.0, 0.0], [4442.0, 1633.0, 196.0, 0.0], [4670.0, 1300.0, 159.0, 0.0], [3731.0, 550.0, 187.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 4, 42, 568], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [953.0, 780.0, 26.0, 0.0], [1705.0, 1367.0, 64.0, 0.0], [7631.0, 6268.0, 245.0, 0.0]]}, "platform": {"level_counts": [15, 43, 105, 111, 91, 45], "episodes_by_level": [[1739.0, 377.0, 51.0, 0.0], [2019.0, 418.0, 81.0, 0.0], [1501.0, 294.0, 72.0, 0.0], [1031.0, 174.0, 47.0, 0.0], [485.0, 69.0, 38.0, 0.0], [150.0, 18.0, 24.0, 0.0]]}, "slope": {"level_counts": [14, 39, 80, 89, 73, 115], "episodes_by_level": [[1585.0, 337.0, 46.0, 0.0], [1849.0, 382.0, 68.0, 0.0], [1422.0, 302.0, 39.0, 0.0], [939.0, 195.0, 25.0, 0.0], [618.0, 129.0, 7.0, 0.0], [550.0, 91.0, 14.0, 0.0]]}, "rubble": {"level_counts": [38, 139, 232, 226, 146, 38], "episodes_by_level": [[3201.0, 723.0, 97.0, 0.0], [4305.0, 933.0, 197.0, 0.0], [3454.0, 727.0, 308.0, 0.0], [2120.0, 338.0, 317.0, 0.0], [783.0, 84.0, 154.0, 0.0], [168.0, 8.0, 46.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.244873046875, "command_abs_max": [0.9998418092727661, 0.39965155720710754, 0.699828565120697]}
{"step": 29450, "actor_lr": 3.807462860442128e-05, "archive_windows": 50000, "env_steps": 29450, "total_transitions": 120627200, "num_steps_per_env": 1, "wm_loss": 0.6148339509963989, "actor_loss": -9.524087905883789, "critic_loss": 0.009501992724835873, "reward": 0.08755803108215332, "falls": 8, "interval_steps": 50, "velocity_mae": [0.1136796772480011, 0.0695934146642685, 0.1333272010087967], "mean_episode_length": 1404.0608108108108, "episode_reward_terms": {"track_linear_velocity": 49.87528610229492, "track_angular_velocity": 53.12376022338867, "upright": 26.958866119384766, "leg_posture": -2.721616744995117, "standstill": -5.951581954956055, "action_rate_l2": -0.5763075351715088, "joint_torques_l2": -0.15149015188217163, "dof_pos_limits": -0.00037570029962807894, "terminated": -0.021938445046544075, "unnecessary_wheel_lift": -0.08278560638427734, "rolling_leg_motion": -0.6141752004623413, "obstacle_progress": 3.6450424194335938, "wheel_body_intrusion": -0.291595458984375, "pair_body_intrusion": -0.25431475043296814}, "weighted_reward_terms": {"track_linear_velocity": 1.7761085033416748, "track_angular_velocity": 1.8917899131774902, "upright": 0.960032045841217, "leg_posture": -0.0969194769859314, "standstill": -0.21194174885749817, "action_rate_l2": -0.020522883161902428, "joint_torques_l2": -0.005394714884459972, "dof_pos_limits": -1.3379060874285642e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.002948077628389001, "rolling_leg_motion": -0.02187138982117176, "obstacle_progress": 0.1298035830259323, "wheel_body_intrusion": -0.01038400363177061, "pair_body_intrusion": -0.009056400507688522}, "episode_termination_rates": {"time_out": 0.5135135135135135, "fell_over": 0.02702702702702703, "course_exit": 0.43243243243243246, "illegal_nonwheel_contact": 0.033783783783783786}, "collection_time_s": 0.0756766541604884, "learning_time_s": 0.18469212750322186, "iteration_time_s": 0.3161907075756547, "policy_updates": 29150, "skipped_updates": 0, "invalid_env_resets": 144, "elapsed_s": 9311.816338103032, "nonwheel_terminations": 12763, "contact_bce": 0.2917240262031555, "contact_force_loss": 0.020468000322580338, "collision_bce": 0.0002235940337413922, "collision_label_rate": 0.00018387986347079277, "collision_prediction_mean": 0.00020122493151575327, "collision_label_count": 16315.0, "terrain_level_mean": 3.8310546875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [5, 31, 60, 92, 76, 146], "episodes_by_level": [[1440.0, 313.0, 49.0, 0.0], [1782.0, 396.0, 38.0, 0.0], [1417.0, 333.0, 30.0, 0.0], [1063.0, 237.0, 19.0, 0.0], [595.0, 152.0, 15.0, 0.0], [678.0, 169.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 1, 5, 58, 385, 984], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4297.0, 1752.0, 165.0, 0.0], [4444.0, 1634.0, 196.0, 0.0], [4681.0, 1306.0, 159.0, 0.0], [3754.0, 554.0, 187.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 4, 43, 567], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [953.0, 780.0, 26.0, 0.0], [1707.0, 1369.0, 64.0, 0.0], [7650.0, 6286.0, 245.0, 0.0]]}, "platform": {"level_counts": [15, 43, 104, 112, 91, 45], "episodes_by_level": [[1739.0, 377.0, 51.0, 0.0], [2022.0, 418.0, 81.0, 0.0], [1504.0, 295.0, 72.0, 0.0], [1034.0, 174.0, 47.0, 0.0], [486.0, 69.0, 38.0, 0.0], [152.0, 18.0, 24.0, 0.0]]}, "slope": {"level_counts": [14, 39, 80, 89, 73, 115], "episodes_by_level": [[1585.0, 337.0, 46.0, 0.0], [1850.0, 382.0, 68.0, 0.0], [1423.0, 303.0, 39.0, 0.0], [941.0, 195.0, 26.0, 0.0], [618.0, 129.0, 7.0, 0.0], [553.0, 91.0, 14.0, 0.0]]}, "rubble": {"level_counts": [38, 138, 233, 224, 148, 38], "episodes_by_level": [[3203.0, 723.0, 97.0, 0.0], [4312.0, 934.0, 197.0, 0.0], [3460.0, 729.0, 308.0, 0.0], [2130.0, 342.0, 319.0, 0.0], [786.0, 84.0, 156.0, 0.0], [170.0, 8.0, 46.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.24853515625, "command_abs_max": [0.9998418092727661, 0.39965155720710754, 0.699828565120697]}
{"step": 29500, "actor_lr": 3.7886776564028295e-05, "archive_windows": 50000, "env_steps": 29500, "total_transitions": 120832000, "num_steps_per_env": 1, "wm_loss": 0.6030299067497253, "actor_loss": -9.510639190673828, "critic_loss": 0.01111843902617693, "reward": 0.08739493787288666, "falls": 6, "interval_steps": 50, "velocity_mae": [0.1138460636138916, 0.0708068311214447, 0.1329730749130249], "mean_episode_length": 1380.9477124183006, "episode_reward_terms": {"track_linear_velocity": 49.021522521972656, "track_angular_velocity": 52.249656677246094, "upright": 26.498992919921875, "leg_posture": -2.6532132625579834, "standstill": -6.057905197143555, "action_rate_l2": -0.5687531232833862, "joint_torques_l2": -0.14860571920871735, "dof_pos_limits": -0.0001654006919125095, "terminated": -0.016182979568839073, "unnecessary_wheel_lift": -0.0804981216788292, "rolling_leg_motion": -0.603969156742096, "obstacle_progress": 3.611454486846924, "wheel_body_intrusion": -0.2809247374534607, "pair_body_intrusion": -0.2835649251937866}, "weighted_reward_terms": {"track_linear_velocity": 1.7749232053756714, "track_angular_velocity": 1.8918043375015259, "upright": 0.9594495296478271, "leg_posture": -0.09606494009494781, "standstill": -0.21933870017528534, "action_rate_l2": -0.020592855289578438, "joint_torques_l2": -0.0053805699571967125, "dof_pos_limits": -5.9886660892516375e-06, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.0029145970474928617, "rolling_leg_motion": -0.021867923438549042, "obstacle_progress": 0.13075999915599823, "wheel_body_intrusion": -0.010171446949243546, "pair_body_intrusion": -0.010267040692269802}, "episode_termination_rates": {"time_out": 0.5163398692810458, "fell_over": 0.032679738562091505, "course_exit": 0.4444444444444444, "illegal_nonwheel_contact": 0.013071895424836602}, "collection_time_s": 0.0756122202030383, "learning_time_s": 0.18308928863611074, "iteration_time_s": 0.31609330639861116, "policy_updates": 29200, "skipped_updates": 0, "invalid_env_resets": 144, "elapsed_s": 9324.752538759029, "nonwheel_terminations": 12765, "contact_bce": 0.28690069913864136, "contact_force_loss": 0.019304150715470314, "collision_bce": 6.979531463002786e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 5.149878415977582e-05, "collision_label_count": 16328.0, "terrain_level_mean": 3.835205078125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [4, 33, 59, 90, 78, 146], "episodes_by_level": [[1441.0, 314.0, 49.0, 0.0], [1782.0, 396.0, 38.0, 0.0], [1420.0, 333.0, 31.0, 0.0], [1067.0, 239.0, 19.0, 0.0], [597.0, 152.0, 15.0, 0.0], [682.0, 170.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 1, 5, 58, 383, 986], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4297.0, 1752.0, 165.0, 0.0], [4444.0, 1634.0, 196.0, 0.0], [4692.0, 1309.0, 159.0, 0.0], [3786.0, 558.0, 189.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 43, 568], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [954.0, 781.0, 26.0, 0.0], [1708.0, 1370.0, 64.0, 0.0], [7665.0, 6299.0, 245.0, 0.0]]}, "platform": {"level_counts": [15, 41, 104, 110, 95, 45], "episodes_by_level": [[1740.0, 377.0, 51.0, 0.0], [2025.0, 420.0, 81.0, 0.0], [1508.0, 297.0, 72.0, 0.0], [1044.0, 178.0, 47.0, 0.0], [487.0, 69.0, 38.0, 0.0], [155.0, 18.0, 24.0, 0.0]]}, "slope": {"level_counts": [14, 39, 79, 90, 73, 115], "episodes_by_level": [[1586.0, 337.0, 46.0, 0.0], [1852.0, 382.0, 68.0, 0.0], [1426.0, 304.0, 39.0, 0.0], [941.0, 195.0, 26.0, 0.0], [619.0, 129.0, 7.0, 0.0], [559.0, 94.0, 14.0, 0.0]]}, "rubble": {"level_counts": [38, 139, 230, 225, 149, 38], "episodes_by_level": [[3203.0, 723.0, 97.0, 0.0], [4317.0, 935.0, 197.0, 0.0], [3469.0, 731.0, 310.0, 0.0], [2133.0, 343.0, 319.0, 0.0], [792.0, 85.0, 156.0, 0.0], [173.0, 8.0, 47.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.241455078125, "command_abs_max": [0.9998418092727661, 0.3998825252056122, 0.699828565120697]}
{"step": 29550, "actor_lr": 3.769880813836932e-05, "archive_windows": 50000, "env_steps": 29550, "total_transitions": 121036800, "num_steps_per_env": 1, "wm_loss": 0.6345139145851135, "actor_loss": -9.552316665649414, "critic_loss": 0.005811076611280441, "reward": 0.08737733960151672, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11342520266771317, 0.07019694894552231, 0.13376086950302124], "mean_episode_length": 1344.1, "episode_reward_terms": {"track_linear_velocity": 47.74005126953125, "track_angular_velocity": 50.823272705078125, "upright": 25.790128707885742, "leg_posture": -2.5705084800720215, "standstill": -5.96933126449585, "action_rate_l2": -0.5622804164886475, "joint_torques_l2": -0.14526796340942383, "dof_pos_limits": -0.0006752415210939944, "terminated": -0.021001558750867844, "unnecessary_wheel_lift": -0.08368588238954544, "rolling_leg_motion": -0.5840449333190918, "obstacle_progress": 3.5884482860565186, "wheel_body_intrusion": -0.28013089299201965, "pair_body_intrusion": -0.2810738682746887}, "weighted_reward_terms": {"track_linear_velocity": 1.775911569595337, "track_angular_velocity": 1.8906060457229614, "upright": 0.9593828916549683, "leg_posture": -0.09562192112207413, "standstill": -0.22205683588981628, "action_rate_l2": -0.020916614681482315, "joint_torques_l2": -0.0054039121605455875, "dof_pos_limits": -2.5118722987826914e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0031130826100707054, "rolling_leg_motion": -0.021726245060563087, "obstacle_progress": 0.13348889350891113, "wheel_body_intrusion": -0.010420761071145535, "pair_body_intrusion": -0.010455839335918427}, "episode_termination_rates": {"time_out": 0.48125, "fell_over": 0.03125, "course_exit": 0.46875, "illegal_nonwheel_contact": 0.03125}, "collection_time_s": 0.07574082554318011, "learning_time_s": 0.19061092360178009, "iteration_time_s": 0.3160100307840954, "policy_updates": 29250, "skipped_updates": 0, "invalid_env_resets": 144, "elapsed_s": 9338.096409670019, "nonwheel_terminations": 12770, "contact_bce": 0.29954794049263, "contact_force_loss": 0.020786592736840248, "collision_bce": 8.193223038688302e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 8.209633961087093e-06, "collision_label_count": 16332.0, "terrain_level_mean": 3.837890625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [4, 33, 58, 91, 78, 146], "episodes_by_level": [[1441.0, 314.0, 49.0, 0.0], [1784.0, 396.0, 38.0, 0.0], [1423.0, 334.0, 31.0, 0.0], [1069.0, 239.0, 19.0, 0.0], [597.0, 152.0, 15.0, 0.0], [693.0, 173.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 1, 5, 58, 382, 987], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4297.0, 1752.0, 165.0, 0.0], [4445.0, 1634.0, 196.0, 0.0], [4703.0, 1313.0, 159.0, 0.0], [3801.0, 560.0, 189.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 40, 571], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [954.0, 781.0, 26.0, 0.0], [1711.0, 1373.0, 64.0, 0.0], [7692.0, 6324.0, 245.0, 0.0]]}, "platform": {"level_counts": [15, 41, 104, 109, 96, 45], "episodes_by_level": [[1740.0, 377.0, 51.0, 0.0], [2025.0, 420.0, 81.0, 0.0], [1511.0, 297.0, 72.0, 0.0], [1047.0, 179.0, 47.0, 0.0], [490.0, 69.0, 38.0, 0.0], [155.0, 18.0, 24.0, 0.0]]}, "slope": {"level_counts": [13, 40, 77, 89, 76, 115], "episodes_by_level": [[1587.0, 338.0, 46.0, 0.0], [1854.0, 382.0, 68.0, 0.0], [1429.0, 306.0, 39.0, 0.0], [946.0, 198.0, 26.0, 0.0], [619.0, 129.0, 7.0, 0.0], [566.0, 95.0, 14.0, 0.0]]}, "rubble": {"level_counts": [38, 139, 233, 221, 149, 39], "episodes_by_level": [[3204.0, 723.0, 97.0, 0.0], [4321.0, 935.0, 197.0, 0.0], [3477.0, 733.0, 310.0, 0.0], [2145.0, 344.0, 324.0, 0.0], [796.0, 86.0, 156.0, 0.0], [175.0, 8.0, 47.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.237548828125, "command_abs_max": [0.9996218681335449, 0.3998825252056122, 0.699828565120697]}
{"step": 29600, "actor_lr": 3.7510734922222266e-05, "archive_windows": 50000, "env_steps": 29600, "total_transitions": 121241600, "num_steps_per_env": 1, "wm_loss": 0.6017661690711975, "actor_loss": -9.538777351379395, "critic_loss": 0.006155169568955898, "reward": 0.08746390789747238, "falls": 3, "interval_steps": 50, "velocity_mae": [0.11358943581581116, 0.07161623984575272, 0.1344260424375534], "mean_episode_length": 1372.7412587412587, "episode_reward_terms": {"track_linear_velocity": 48.70630645751953, "track_angular_velocity": 51.86223602294922, "upright": 26.378406524658203, "leg_posture": -2.564992666244507, "standstill": -6.1328253746032715, "action_rate_l2": -0.5791420340538025, "joint_torques_l2": -0.14690420031547546, "dof_pos_limits": -0.0006912079988978803, "terminated": -0.008043404668569565, "unnecessary_wheel_lift": -0.07931201905012131, "rolling_leg_motion": -0.5992735028266907, "obstacle_progress": 3.7507314682006836, "wheel_body_intrusion": -0.25635358691215515, "pair_body_intrusion": -0.2648027837276459}, "weighted_reward_terms": {"track_linear_velocity": 1.7740527391433716, "track_angular_velocity": 1.889002799987793, "upright": 0.9607931971549988, "leg_posture": -0.0934259369969368, "standstill": -0.22337879240512848, "action_rate_l2": -0.021094363182783127, "joint_torques_l2": -0.0053507606498897076, "dof_pos_limits": -2.5176193958031945e-05, "terminated": -0.00029296870343387127, "unnecessary_wheel_lift": -0.00288881896995008, "rolling_leg_motion": -0.02182762138545513, "obstacle_progress": 0.13661466538906097, "wheel_body_intrusion": -0.00933728739619255, "pair_body_intrusion": -0.009645036421716213}, "episode_termination_rates": {"time_out": 0.48951048951048953, "fell_over": 0.02097902097902098, "course_exit": 0.48951048951048953, "illegal_nonwheel_contact": 0.013986013986013986}, "collection_time_s": 0.07579801566665992, "learning_time_s": 0.18391958973836153, "iteration_time_s": 0.31591497758459464, "policy_updates": 29300, "skipped_updates": 0, "invalid_env_resets": 145, "elapsed_s": 9351.083336504002, "nonwheel_terminations": 12772, "contact_bce": 0.29116886854171753, "contact_force_loss": 0.020679360255599022, "collision_bce": 0.0006972085102461278, "collision_label_rate": 0.00012251899170223624, "collision_prediction_mean": 9.124620191869326e-06, "collision_label_count": 16324.0, "terrain_level_mean": 3.841064453125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [4, 33, 58, 90, 79, 146], "episodes_by_level": [[1441.0, 314.0, 49.0, 0.0], [1784.0, 396.0, 38.0, 0.0], [1423.0, 334.0, 31.0, 0.0], [1072.0, 240.0, 19.0, 0.0], [597.0, 152.0, 15.0, 0.0], [699.0, 174.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 1, 5, 56, 382, 989], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4297.0, 1752.0, 165.0, 0.0], [4448.0, 1636.0, 196.0, 0.0], [4713.0, 1315.0, 159.0, 0.0], [3827.0, 566.0, 189.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 40, 571], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [954.0, 781.0, 26.0, 0.0], [1714.0, 1376.0, 64.0, 0.0], [7713.0, 6343.0, 245.0, 0.0]]}, "platform": {"level_counts": [15, 40, 105, 108, 97, 45], "episodes_by_level": [[1740.0, 377.0, 51.0, 0.0], [2028.0, 421.0, 81.0, 0.0], [1514.0, 297.0, 72.0, 0.0], [1048.0, 180.0, 47.0, 0.0], [492.0, 69.0, 38.0, 0.0], [156.0, 18.0, 24.0, 0.0]]}, "slope": {"level_counts": [13, 40, 77, 89, 75, 116], "episodes_by_level": [[1587.0, 338.0, 46.0, 0.0], [1854.0, 382.0, 68.0, 0.0], [1430.0, 306.0, 39.0, 0.0], [949.0, 198.0, 26.0, 0.0], [622.0, 130.0, 7.0, 0.0], [567.0, 95.0, 14.0, 0.0]]}, "rubble": {"level_counts": [38, 138, 232, 221, 151, 39], "episodes_by_level": [[3205.0, 723.0, 97.0, 0.0], [4323.0, 936.0, 197.0, 0.0], [3488.0, 735.0, 310.0, 0.0], [2154.0, 346.0, 324.0, 0.0], [800.0, 86.0, 156.0, 0.0], [176.0, 8.0, 47.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.24072265625, "command_abs_max": [0.9996235966682434, 0.3998825252056122, 0.699828565120697]}
{"step": 29650, "actor_lr": 3.732256851682901e-05, "archive_windows": 50000, "env_steps": 29650, "total_transitions": 121446400, "num_steps_per_env": 1, "wm_loss": 0.6581196188926697, "actor_loss": -9.538813591003418, "critic_loss": 0.004176419693976641, "reward": 0.08703909069299698, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11486422270536423, 0.07247200608253479, 0.1347484141588211], "mean_episode_length": 1324.2805755395684, "episode_reward_terms": {"track_linear_velocity": 46.86091232299805, "track_angular_velocity": 50.029361724853516, "upright": 25.409584045410156, "leg_posture": -2.5364041328430176, "standstill": -6.252620697021484, "action_rate_l2": -0.5430349111557007, "joint_torques_l2": -0.14522352814674377, "dof_pos_limits": -0.0004978439537808299, "terminated": -0.025864850729703903, "unnecessary_wheel_lift": -0.07843532413244247, "rolling_leg_motion": -0.5608921647071838, "obstacle_progress": 3.6651148796081543, "wheel_body_intrusion": -0.26839396357536316, "pair_body_intrusion": -0.28943774104118347}, "weighted_reward_terms": {"track_linear_velocity": 1.7692970037460327, "track_angular_velocity": 1.8889261484146118, "upright": 0.9593731760978699, "leg_posture": -0.0957653671503067, "standstill": -0.23607614636421204, "action_rate_l2": -0.02050301805138588, "joint_torques_l2": -0.005483110435307026, "dof_pos_limits": -1.8796770746121183e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.0029614316299557686, "rolling_leg_motion": -0.021177241578698158, "obstacle_progress": 0.13838137686252594, "wheel_body_intrusion": -0.010133576579391956, "pair_body_intrusion": -0.010928113013505936}, "episode_termination_rates": {"time_out": 0.43884892086330934, "fell_over": 0.04316546762589928, "course_exit": 0.49640287769784175, "illegal_nonwheel_contact": 0.05755395683453238}, "collection_time_s": 0.07538939583930188, "learning_time_s": 0.18505635087843986, "iteration_time_s": 0.31582147441369374, "policy_updates": 29350, "skipped_updates": 0, "invalid_env_resets": 145, "elapsed_s": 9364.10671636602, "nonwheel_terminations": 12780, "contact_bce": 0.2962005138397217, "contact_force_loss": 0.020545100793242455, "collision_bce": 5.6940840295283124e-05, "collision_label_rate": 6.115085852798074e-05, "collision_prediction_mean": 7.560570520581678e-05, "collision_label_count": 16353.0, "terrain_level_mean": 3.841796875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [4, 33, 58, 88, 79, 148], "episodes_by_level": [[1441.0, 314.0, 49.0, 0.0], [1785.0, 396.0, 38.0, 0.0], [1423.0, 334.0, 31.0, 0.0], [1077.0, 242.0, 19.0, 0.0], [600.0, 154.0, 15.0, 0.0], [702.0, 174.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 1, 5, 56, 387, 984], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4297.0, 1752.0, 165.0, 0.0], [4448.0, 1636.0, 196.0, 0.0], [4721.0, 1316.0, 159.0, 0.0], [3857.0, 574.0, 190.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 40, 571], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [954.0, 781.0, 26.0, 0.0], [1716.0, 1378.0, 64.0, 0.0], [7733.0, 6356.0, 245.0, 0.0]]}, "platform": {"level_counts": [14, 41, 105, 108, 97, 45], "episodes_by_level": [[1741.0, 378.0, 51.0, 0.0], [2029.0, 421.0, 81.0, 0.0], [1519.0, 297.0, 72.0, 0.0], [1050.0, 180.0, 47.0, 0.0], [494.0, 69.0, 38.0, 0.0], [156.0, 18.0, 24.0, 0.0]]}, "slope": {"level_counts": [13, 39, 78, 89, 72, 119], "episodes_by_level": [[1587.0, 338.0, 46.0, 0.0], [1857.0, 383.0, 68.0, 0.0], [1430.0, 306.0, 39.0, 0.0], [955.0, 198.0, 26.0, 0.0], [627.0, 133.0, 7.0, 0.0], [567.0, 95.0, 14.0, 0.0]]}, "rubble": {"level_counts": [38, 138, 233, 220, 151, 39], "episodes_by_level": [[3205.0, 723.0, 97.0, 0.0], [4329.0, 936.0, 197.0, 0.0], [3491.0, 735.0, 310.0, 0.0], [2160.0, 347.0, 325.0, 0.0], [801.0, 86.0, 157.0, 0.0], [176.0, 8.0, 47.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23876953125, "command_abs_max": [0.9996235966682434, 0.3997350037097931, 0.699828565120697]}
{"step": 29700, "actor_lr": 3.713432052917979e-05, "archive_windows": 50000, "env_steps": 29700, "total_transitions": 121651200, "num_steps_per_env": 1, "wm_loss": 0.6111887693405151, "actor_loss": -9.51553726196289, "critic_loss": 0.0039002448320388794, "reward": 0.0873827114701271, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11313078552484512, 0.07121650129556656, 0.1351672112941742], "mean_episode_length": 1294.076388888889, "episode_reward_terms": {"track_linear_velocity": 45.959285736083984, "track_angular_velocity": 48.878822326660156, "upright": 24.833288192749023, "leg_posture": -2.449181079864502, "standstill": -5.8736982345581055, "action_rate_l2": -0.5308086276054382, "joint_torques_l2": -0.14192147552967072, "dof_pos_limits": -0.0004468452534638345, "terminated": -0.01769244857132435, "unnecessary_wheel_lift": -0.08165726810693741, "rolling_leg_motion": -0.5648862719535828, "obstacle_progress": 3.613536834716797, "wheel_body_intrusion": -0.2736324071884155, "pair_body_intrusion": -0.2710873782634735}, "weighted_reward_terms": {"track_linear_velocity": 1.7757562398910522, "track_angular_velocity": 1.888560175895691, "upright": 0.9594985842704773, "leg_posture": -0.09463046491146088, "standstill": -0.22694557905197144, "action_rate_l2": -0.02050917036831379, "joint_torques_l2": -0.005483504384756088, "dof_pos_limits": -1.726502705423627e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.003155040554702282, "rolling_leg_motion": -0.021825846284627914, "obstacle_progress": 0.139618381857872, "wheel_body_intrusion": -0.010572497732937336, "pair_body_intrusion": -0.01047416403889656}, "episode_termination_rates": {"time_out": 0.3958333333333333, "fell_over": 0.0, "course_exit": 0.5555555555555556, "illegal_nonwheel_contact": 0.04861111111111111}, "collection_time_s": 0.07562077376409433, "learning_time_s": 0.1850432287354488, "iteration_time_s": 0.3157286545196967, "policy_updates": 29400, "skipped_updates": 0, "invalid_env_resets": 145, "elapsed_s": 9377.141039234994, "nonwheel_terminations": 12787, "contact_bce": 0.28654715418815613, "contact_force_loss": 0.019915439188480377, "collision_bce": 1.5907115084701218e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.587696715432685e-05, "collision_label_count": 16340.0, "terrain_level_mean": 3.8447265625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [4, 33, 55, 91, 79, 148], "episodes_by_level": [[1441.0, 314.0, 49.0, 0.0], [1786.0, 396.0, 38.0, 0.0], [1426.0, 337.0, 31.0, 0.0], [1077.0, 242.0, 19.0, 0.0], [601.0, 154.0, 15.0, 0.0], [702.0, 174.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 1, 5, 55, 387, 985], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4297.0, 1752.0, 165.0, 0.0], [4452.0, 1637.0, 196.0, 0.0], [4729.0, 1320.0, 159.0, 0.0], [3886.0, 579.0, 192.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 40, 571], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [954.0, 781.0, 26.0, 0.0], [1716.0, 1378.0, 64.0, 0.0], [7752.0, 6372.0, 245.0, 0.0]]}, "platform": {"level_counts": [14, 41, 104, 108, 98, 45], "episodes_by_level": [[1743.0, 378.0, 51.0, 0.0], [2030.0, 421.0, 81.0, 0.0], [1524.0, 298.0, 72.0, 0.0], [1056.0, 181.0, 47.0, 0.0], [497.0, 69.0, 38.0, 0.0], [158.0, 18.0, 24.0, 0.0]]}, "slope": {"level_counts": [13, 39, 77, 88, 73, 120], "episodes_by_level": [[1587.0, 338.0, 46.0, 0.0], [1860.0, 383.0, 68.0, 0.0], [1431.0, 307.0, 39.0, 0.0], [959.0, 200.0, 26.0, 0.0], [629.0, 134.0, 7.0, 0.0], [570.0, 95.0, 14.0, 0.0]]}, "rubble": {"level_counts": [37, 138, 234, 221, 150, 39], "episodes_by_level": [[3207.0, 724.0, 97.0, 0.0], [4330.0, 937.0, 197.0, 0.0], [3497.0, 736.0, 310.0, 0.0], [2163.0, 348.0, 326.0, 0.0], [807.0, 87.0, 159.0, 0.0], [178.0, 8.0, 48.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.239013671875, "command_abs_max": [0.9996235966682434, 0.3997350037097931, 0.699828565120697]}
{"step": 29750, "actor_lr": 3.69460025712972e-05, "archive_windows": 50000, "env_steps": 29750, "total_transitions": 121856000, "num_steps_per_env": 1, "wm_loss": 0.629813551902771, "actor_loss": -9.502352714538574, "critic_loss": 0.0037833836395293474, "reward": 0.08739939332008362, "falls": 11, "interval_steps": 50, "velocity_mae": [0.11296126991510391, 0.07098672538995743, 0.13512775301933289], "mean_episode_length": 1425.0479452054794, "episode_reward_terms": {"track_linear_velocity": 50.6367073059082, "track_angular_velocity": 53.82394027709961, "upright": 27.35892677307129, "leg_posture": -2.7535369396209717, "standstill": -6.460702419281006, "action_rate_l2": -0.5855237245559692, "joint_torques_l2": -0.15471211075782776, "dof_pos_limits": -0.0006654299213550985, "terminated": -0.030616262927651405, "unnecessary_wheel_lift": -0.07776203751564026, "rolling_leg_motion": -0.6025686264038086, "obstacle_progress": 3.9826853275299072, "wheel_body_intrusion": -0.3118361830711365, "pair_body_intrusion": -0.2760011553764343}, "weighted_reward_terms": {"track_linear_velocity": 1.7766668796539307, "track_angular_velocity": 1.8884958028793335, "upright": 0.9599300026893616, "leg_posture": -0.09661208093166351, "standstill": -0.22668369114398956, "action_rate_l2": -0.02054399996995926, "joint_torques_l2": -0.005428312346339226, "dof_pos_limits": -2.334763303224463e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.0027284007519483566, "rolling_leg_motion": -0.02114204689860344, "obstacle_progress": 0.13973864912986755, "wheel_body_intrusion": -0.01094125211238861, "pair_body_intrusion": -0.009683924727141857}, "episode_termination_rates": {"time_out": 0.5342465753424658, "fell_over": 0.04794520547945205, "course_exit": 0.3904109589041096, "illegal_nonwheel_contact": 0.04794520547945205}, "collection_time_s": 0.07605266063823364, "learning_time_s": 0.18485667620319873, "iteration_time_s": 0.3158365847774793, "policy_updates": 29450, "skipped_updates": 0, "invalid_env_resets": 146, "elapsed_s": 9396.13839713001, "nonwheel_terminations": 12794, "contact_bce": 0.28750792145729065, "contact_force_loss": 0.020365677773952484, "collision_bce": 2.761749601631891e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 2.7279531423118897e-05, "collision_label_count": 16316.0, "terrain_level_mean": 3.84423828125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [4, 33, 55, 91, 79, 148], "episodes_by_level": [[1441.0, 314.0, 49.0, 0.0], [1788.0, 396.0, 38.0, 0.0], [1428.0, 337.0, 31.0, 0.0], [1078.0, 242.0, 19.0, 0.0], [603.0, 154.0, 15.0, 0.0], [707.0, 174.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 1, 5, 55, 388, 984], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4297.0, 1752.0, 165.0, 0.0], [4455.0, 1637.0, 196.0, 0.0], [4737.0, 1322.0, 159.0, 0.0], [3914.0, 586.0, 194.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 42, 569], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [954.0, 781.0, 26.0, 0.0], [1716.0, 1378.0, 64.0, 0.0], [7761.0, 6381.0, 245.0, 0.0]]}, "platform": {"level_counts": [14, 41, 103, 109, 98, 45], "episodes_by_level": [[1744.0, 378.0, 51.0, 0.0], [2030.0, 421.0, 81.0, 0.0], [1531.0, 299.0, 72.0, 0.0], [1060.0, 181.0, 47.0, 0.0], [500.0, 69.0, 38.0, 0.0], [161.0, 19.0, 24.0, 0.0]]}, "slope": {"level_counts": [13, 39, 77, 89, 70, 122], "episodes_by_level": [[1588.0, 338.0, 46.0, 0.0], [1862.0, 383.0, 68.0, 0.0], [1435.0, 307.0, 39.0, 0.0], [962.0, 200.0, 26.0, 0.0], [635.0, 136.0, 8.0, 0.0], [575.0, 95.0, 14.0, 0.0]]}, "rubble": {"level_counts": [37, 139, 233, 220, 152, 38], "episodes_by_level": [[3208.0, 725.0, 97.0, 0.0], [4334.0, 938.0, 198.0, 0.0], [3503.0, 736.0, 312.0, 0.0], [2169.0, 350.0, 326.0, 0.0], [809.0, 87.0, 160.0, 0.0], [181.0, 8.0, 49.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.236083984375, "command_abs_max": [0.9996235966682434, 0.3997350037097931, 0.699828565120697]}
{"step": 29800, "actor_lr": 3.6757626259519944e-05, "archive_windows": 50000, "env_steps": 29800, "total_transitions": 122060800, "num_steps_per_env": 1, "wm_loss": 0.6847593188285828, "actor_loss": -9.531810760498047, "critic_loss": 0.005556761287152767, "reward": 0.08693764358758926, "falls": 12, "interval_steps": 50, "velocity_mae": [0.11332403123378754, 0.0724291056394577, 0.1361956000328064], "mean_episode_length": 1290.2335329341317, "episode_reward_terms": {"track_linear_velocity": 45.768409729003906, "track_angular_velocity": 48.68330383300781, "upright": 24.791261672973633, "leg_posture": -2.4975666999816895, "standstill": -6.251236915588379, "action_rate_l2": -0.545069694519043, "joint_torques_l2": -0.1404172033071518, "dof_pos_limits": -0.0006533926352858543, "terminated": -0.03023984655737877, "unnecessary_wheel_lift": -0.08376094698905945, "rolling_leg_motion": -0.5679718255996704, "obstacle_progress": 3.625070333480835, "wheel_body_intrusion": -0.2848740518093109, "pair_body_intrusion": -0.2963848412036896}, "weighted_reward_terms": {"track_linear_velocity": 1.7736483812332153, "track_angular_velocity": 1.8866082429885864, "upright": 0.9607276916503906, "leg_posture": -0.09678739309310913, "standstill": -0.2422521561384201, "action_rate_l2": -0.02112290821969509, "joint_torques_l2": -0.005441542249172926, "dof_pos_limits": -2.5320714485133067e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.0032459606882184744, "rolling_leg_motion": -0.022010428830981255, "obstacle_progress": 0.14048117399215698, "wheel_body_intrusion": -0.011039631441235542, "pair_body_intrusion": -0.011485706083476543}, "episode_termination_rates": {"time_out": 0.38922155688622756, "fell_over": 0.04790419161676647, "course_exit": 0.5389221556886228, "illegal_nonwheel_contact": 0.029940119760479042}, "collection_time_s": 0.07563705576350913, "learning_time_s": 0.18506744119687937, "iteration_time_s": 0.3157441190029526, "policy_updates": 29500, "skipped_updates": 0, "invalid_env_resets": 146, "elapsed_s": 9409.174746287987, "nonwheel_terminations": 12799, "contact_bce": 0.3005107045173645, "contact_force_loss": 0.020972613245248795, "collision_bce": 5.277231684885919e-05, "collision_label_rate": 6.11733048572205e-05, "collision_prediction_mean": 7.542878302047029e-05, "collision_label_count": 16347.0, "terrain_level_mean": 3.8447265625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [4, 33, 55, 90, 77, 151], "episodes_by_level": [[1441.0, 314.0, 49.0, 0.0], [1789.0, 396.0, 38.0, 0.0], [1429.0, 337.0, 31.0, 0.0], [1081.0, 243.0, 19.0, 0.0], [607.0, 157.0, 15.0, 0.0], [712.0, 175.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 1, 5, 55, 388, 984], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4297.0, 1752.0, 165.0, 0.0], [4456.0, 1637.0, 196.0, 0.0], [4748.0, 1324.0, 159.0, 0.0], [3953.0, 598.0, 195.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 45, 566], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [954.0, 781.0, 26.0, 0.0], [1716.0, 1378.0, 64.0, 0.0], [7787.0, 6403.0, 245.0, 0.0]]}, "platform": {"level_counts": [13, 42, 103, 109, 99, 44], "episodes_by_level": [[1745.0, 379.0, 51.0, 0.0], [2030.0, 421.0, 81.0, 0.0], [1536.0, 299.0, 72.0, 0.0], [1062.0, 181.0, 47.0, 0.0], [502.0, 69.0, 38.0, 0.0], [162.0, 19.0, 25.0, 0.0]]}, "slope": {"level_counts": [13, 39, 78, 88, 69, 123], "episodes_by_level": [[1589.0, 338.0, 46.0, 0.0], [1864.0, 383.0, 68.0, 0.0], [1439.0, 307.0, 39.0, 0.0], [965.0, 200.0, 27.0, 0.0], [638.0, 137.0, 8.0, 0.0], [577.0, 95.0, 14.0, 0.0]]}, "rubble": {"level_counts": [37, 140, 231, 220, 153, 38], "episodes_by_level": [[3209.0, 725.0, 97.0, 0.0], [4336.0, 939.0, 198.0, 0.0], [3511.0, 737.0, 314.0, 0.0], [2176.0, 353.0, 326.0, 0.0], [814.0, 87.0, 162.0, 0.0], [181.0, 8.0, 49.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.233642578125, "command_abs_max": [0.9996235966682434, 0.39940088987350464, 0.699828565120697]}
{"step": 29850, "actor_lr": 3.656920321378626e-05, "archive_windows": 50000, "env_steps": 29850, "total_transitions": 122265600, "num_steps_per_env": 1, "wm_loss": 0.607201874256134, "actor_loss": -9.498380661010742, "critic_loss": 0.004906550049781799, "reward": 0.08737855404615402, "falls": 6, "interval_steps": 50, "velocity_mae": [0.112594835460186, 0.07113576680421829, 0.1337752342224121], "mean_episode_length": 1401.7333333333333, "episode_reward_terms": {"track_linear_velocity": 49.84632110595703, "track_angular_velocity": 52.99526596069336, "upright": 26.95134162902832, "leg_posture": -2.6721956729888916, "standstill": -6.4835920333862305, "action_rate_l2": -0.5735415816307068, "joint_torques_l2": -0.1514798253774643, "dof_pos_limits": -0.0006205194513313472, "terminated": -0.016426559537649155, "unnecessary_wheel_lift": -0.08156359940767288, "rolling_leg_motion": -0.6046832799911499, "obstacle_progress": 3.8874335289001465, "wheel_body_intrusion": -0.29216575622558594, "pair_body_intrusion": -0.3226553201675415}, "weighted_reward_terms": {"track_linear_velocity": 1.778024435043335, "track_angular_velocity": 1.8903478384017944, "upright": 0.9613577127456665, "leg_posture": -0.0953175500035286, "standstill": -0.23127055168151855, "action_rate_l2": -0.020458299666643143, "joint_torques_l2": -0.005403304006904364, "dof_pos_limits": -2.2134006940177642e-05, "terminated": -0.0005859374068677425, "unnecessary_wheel_lift": -0.002909383736550808, "rolling_leg_motion": -0.021569127216935158, "obstacle_progress": 0.13866524398326874, "wheel_body_intrusion": -0.010421589016914368, "pair_body_intrusion": -0.011509155854582787}, "episode_termination_rates": {"time_out": 0.48333333333333334, "fell_over": 0.03333333333333333, "course_exit": 0.4666666666666667, "illegal_nonwheel_contact": 0.041666666666666664}, "collection_time_s": 0.07584399245912209, "learning_time_s": 0.18514861543779262, "iteration_time_s": 0.3156524459346743, "policy_updates": 29550, "skipped_updates": 0, "invalid_env_resets": 147, "elapsed_s": 9422.225511150027, "nonwheel_terminations": 12804, "contact_bce": 0.28733187913894653, "contact_force_loss": 0.02023354358971119, "collision_bce": 0.0005219552549533546, "collision_label_rate": 6.120699981693178e-05, "collision_prediction_mean": 1.3332938578969333e-05, "collision_label_count": 16338.0, "terrain_level_mean": 3.845458984375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [4, 33, 55, 90, 77, 151], "episodes_by_level": [[1441.0, 314.0, 49.0, 0.0], [1789.0, 396.0, 38.0, 0.0], [1429.0, 337.0, 31.0, 0.0], [1082.0, 243.0, 19.0, 0.0], [609.0, 157.0, 15.0, 0.0], [712.0, 175.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 1, 5, 55, 387, 985], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4297.0, 1752.0, 165.0, 0.0], [4456.0, 1637.0, 196.0, 0.0], [4757.0, 1326.0, 159.0, 0.0], [3971.0, 601.0, 195.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 45, 566], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [954.0, 781.0, 26.0, 0.0], [1717.0, 1379.0, 64.0, 0.0], [7804.0, 6417.0, 245.0, 0.0]]}, "platform": {"level_counts": [13, 42, 102, 110, 98, 45], "episodes_by_level": [[1745.0, 379.0, 51.0, 0.0], [2033.0, 421.0, 81.0, 0.0], [1540.0, 300.0, 72.0, 0.0], [1063.0, 181.0, 47.0, 0.0], [506.0, 70.0, 38.0, 0.0], [162.0, 19.0, 25.0, 0.0]]}, "slope": {"level_counts": [13, 39, 78, 88, 69, 123], "episodes_by_level": [[1589.0, 338.0, 46.0, 0.0], [1865.0, 383.0, 68.0, 0.0], [1442.0, 307.0, 39.0, 0.0], [967.0, 200.0, 27.0, 0.0], [639.0, 137.0, 8.0, 0.0], [581.0, 95.0, 14.0, 0.0]]}, "rubble": {"level_counts": [37, 140, 232, 219, 152, 39], "episodes_by_level": [[3210.0, 725.0, 97.0, 0.0], [4343.0, 940.0, 198.0, 0.0], [3517.0, 738.0, 315.0, 0.0], [2181.0, 353.0, 328.0, 0.0], [820.0, 88.0, 162.0, 0.0], [181.0, 8.0, 49.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.235595703125, "command_abs_max": [0.9999598264694214, 0.39911365509033203, 0.699828565120697]}
{"step": 29900, "actor_lr": 3.6380745056917164e-05, "archive_windows": 50000, "env_steps": 29900, "total_transitions": 122470400, "num_steps_per_env": 1, "wm_loss": 0.650648295879364, "actor_loss": -9.544066429138184, "critic_loss": 0.005307166837155819, "reward": 0.08741286396980286, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11404211819171906, 0.07169926166534424, 0.13462167978286743], "mean_episode_length": 1395.74213836478, "episode_reward_terms": {"track_linear_velocity": 49.543861389160156, "track_angular_velocity": 52.744956970214844, "upright": 26.820253372192383, "leg_posture": -2.621335983276367, "standstill": -6.276055335998535, "action_rate_l2": -0.5805160403251648, "joint_torques_l2": -0.1505238562822342, "dof_pos_limits": -0.0006838239496573806, "terminated": -0.02180846780538559, "unnecessary_wheel_lift": -0.0888511911034584, "rolling_leg_motion": -0.6065398454666138, "obstacle_progress": 3.837925672531128, "wheel_body_intrusion": -0.27427104115486145, "pair_body_intrusion": -0.32058483362197876}, "weighted_reward_terms": {"track_linear_velocity": 1.774821400642395, "track_angular_velocity": 1.8894950151443481, "upright": 0.9607882499694824, "leg_posture": -0.09390474110841751, "standstill": -0.22482861578464508, "action_rate_l2": -0.02079596184194088, "joint_torques_l2": -0.0053922515362501144, "dof_pos_limits": -2.4496785044902936e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.003182937391102314, "rolling_leg_motion": -0.021728219464421272, "obstacle_progress": 0.13748691976070404, "wheel_body_intrusion": -0.009825276210904121, "pair_body_intrusion": -0.011484385468065739}, "episode_termination_rates": {"time_out": 0.5094339622641509, "fell_over": 0.025157232704402517, "course_exit": 0.44025157232704404, "illegal_nonwheel_contact": 0.031446540880503145}, "collection_time_s": 0.07575969691737555, "learning_time_s": 0.18503204132546672, "iteration_time_s": 0.3155607436209361, "policy_updates": 29600, "skipped_updates": 0, "invalid_env_resets": 147, "elapsed_s": 9435.26623426599, "nonwheel_terminations": 12809, "contact_bce": 0.2925085425376892, "contact_force_loss": 0.021138068288564682, "collision_bce": 1.7030648450599983e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.7051937902579084e-05, "collision_label_count": 16337.0, "terrain_level_mean": 3.84765625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [4, 33, 55, 90, 77, 151], "episodes_by_level": [[1441.0, 314.0, 49.0, 0.0], [1790.0, 396.0, 38.0, 0.0], [1434.0, 337.0, 31.0, 0.0], [1085.0, 244.0, 19.0, 0.0], [612.0, 157.0, 16.0, 0.0], [713.0, 176.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 1, 5, 54, 385, 988], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4297.0, 1752.0, 165.0, 0.0], [4458.0, 1638.0, 196.0, 0.0], [4769.0, 1333.0, 159.0, 0.0], [3999.0, 608.0, 197.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 44, 567], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [954.0, 781.0, 26.0, 0.0], [1719.0, 1381.0, 64.0, 0.0], [7832.0, 6441.0, 245.0, 0.0]]}, "platform": {"level_counts": [13, 42, 101, 109, 100, 45], "episodes_by_level": [[1746.0, 379.0, 51.0, 0.0], [2034.0, 421.0, 81.0, 0.0], [1544.0, 301.0, 72.0, 0.0], [1066.0, 183.0, 47.0, 0.0], [508.0, 70.0, 38.0, 0.0], [164.0, 20.0, 25.0, 0.0]]}, "slope": {"level_counts": [13, 39, 77, 89, 69, 123], "episodes_by_level": [[1589.0, 338.0, 46.0, 0.0], [1865.0, 383.0, 68.0, 0.0], [1446.0, 308.0, 39.0, 0.0], [969.0, 200.0, 27.0, 0.0], [643.0, 137.0, 8.0, 0.0], [585.0, 97.0, 14.0, 0.0]]}, "rubble": {"level_counts": [37, 140, 232, 220, 150, 40], "episodes_by_level": [[3211.0, 725.0, 97.0, 0.0], [4348.0, 940.0, 198.0, 0.0], [3521.0, 739.0, 315.0, 0.0], [2187.0, 353.0, 329.0, 0.0], [826.0, 89.0, 163.0, 0.0], [182.0, 8.0, 49.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234375, "command_abs_max": [0.9999598264694214, 0.39931055903434753, 0.699828565120697]}
{"step": 29950, "actor_lr": 3.619226341389949e-05, "archive_windows": 50000, "env_steps": 29950, "total_transitions": 122675200, "num_steps_per_env": 1, "wm_loss": 0.6536434292793274, "actor_loss": -9.52943229675293, "critic_loss": 0.007078234106302261, "reward": 0.08765459805727005, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11288215219974518, 0.07066012918949127, 0.1335170567035675], "mean_episode_length": 1340.0887573964496, "episode_reward_terms": {"track_linear_velocity": 47.68526840209961, "track_angular_velocity": 50.69505310058594, "upright": 25.751554489135742, "leg_posture": -2.5777509212493896, "standstill": -5.803828239440918, "action_rate_l2": -0.560176432132721, "joint_torques_l2": -0.14471805095672607, "dof_pos_limits": -0.0007772609824314713, "terminated": -0.026173604652285576, "unnecessary_wheel_lift": -0.09344583004713058, "rolling_leg_motion": -0.5888564586639404, "obstacle_progress": 3.686166286468506, "wheel_body_intrusion": -0.2761508822441101, "pair_body_intrusion": -0.28122246265411377}, "weighted_reward_terms": {"track_linear_velocity": 1.779183268547058, "track_angular_velocity": 1.8914811611175537, "upright": 0.9608152508735657, "leg_posture": -0.09617836773395538, "standstill": -0.216546431183815, "action_rate_l2": -0.020900722593069077, "joint_torques_l2": -0.005399569869041443, "dof_pos_limits": -2.9000355425523594e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.0034865536727011204, "rolling_leg_motion": -0.021970802918076515, "obstacle_progress": 0.13753440976142883, "wheel_body_intrusion": -0.010303455404937267, "pair_body_intrusion": -0.010492680594325066}, "episode_termination_rates": {"time_out": 0.40828402366863903, "fell_over": 0.029585798816568046, "course_exit": 0.5325443786982249, "illegal_nonwheel_contact": 0.04142011834319527}, "collection_time_s": 0.07569717978592962, "learning_time_s": 0.1850544254714623, "iteration_time_s": 0.3154692776427384, "policy_updates": 29650, "skipped_updates": 0, "invalid_env_resets": 147, "elapsed_s": 9448.304865400016, "nonwheel_terminations": 12816, "contact_bce": 0.29944875836372375, "contact_force_loss": 0.021349698305130005, "collision_bce": 6.117532757343724e-05, "collision_label_rate": 6.125949585111812e-05, "collision_prediction_mean": 0.00010218156967312098, "collision_label_count": 16324.0, "terrain_level_mean": 3.849853515625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [4, 33, 52, 92, 78, 151], "episodes_by_level": [[1441.0, 314.0, 49.0, 0.0], [1790.0, 396.0, 38.0, 0.0], [1441.0, 340.0, 31.0, 0.0], [1086.0, 245.0, 19.0, 0.0], [613.0, 157.0, 16.0, 0.0], [716.0, 177.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 1, 5, 55, 379, 993], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4297.0, 1752.0, 165.0, 0.0], [4458.0, 1638.0, 196.0, 0.0], [4787.0, 1339.0, 160.0, 0.0], [4041.0, 612.0, 197.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 45, 566], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [954.0, 781.0, 26.0, 0.0], [1720.0, 1382.0, 64.0, 0.0], [7851.0, 6459.0, 245.0, 0.0]]}, "platform": {"level_counts": [12, 43, 100, 111, 100, 44], "episodes_by_level": [[1748.0, 380.0, 51.0, 0.0], [2035.0, 421.0, 81.0, 0.0], [1547.0, 302.0, 72.0, 0.0], [1067.0, 183.0, 47.0, 0.0], [511.0, 70.0, 39.0, 0.0], [167.0, 20.0, 26.0, 0.0]]}, "slope": {"level_counts": [13, 39, 76, 90, 68, 124], "episodes_by_level": [[1590.0, 338.0, 46.0, 0.0], [1866.0, 383.0, 68.0, 0.0], [1450.0, 309.0, 39.0, 0.0], [972.0, 200.0, 27.0, 0.0], [644.0, 138.0, 8.0, 0.0], [591.0, 97.0, 14.0, 0.0]]}, "rubble": {"level_counts": [37, 140, 232, 220, 150, 40], "episodes_by_level": [[3214.0, 725.0, 97.0, 0.0], [4352.0, 941.0, 198.0, 0.0], [3530.0, 740.0, 316.0, 0.0], [2194.0, 355.0, 330.0, 0.0], [834.0, 89.0, 165.0, 0.0], [182.0, 8.0, 49.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23779296875, "command_abs_max": [0.9999598264694214, 0.39998868107795715, 0.699828565120697]}
{"step": 30000, "actor_lr": 3.60037699111688e-05, "archive_windows": 50000, "env_steps": 30000, "total_transitions": 122880000, "num_steps_per_env": 1, "wm_loss": 0.6237511038780212, "actor_loss": -9.52147102355957, "critic_loss": 0.00617364514619112, "reward": 0.087247334420681, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11280009150505066, 0.07154778391122818, 0.13381816446781158], "mean_episode_length": 1368.8255033557048, "episode_reward_terms": {"track_linear_velocity": 48.65891647338867, "track_angular_velocity": 51.762046813964844, "upright": 26.306636810302734, "leg_posture": -2.64373517036438, "standstill": -6.3179779052734375, "action_rate_l2": -0.5805885791778564, "joint_torques_l2": -0.14866401255130768, "dof_pos_limits": -0.0007117520435713232, "terminated": -0.024061383679509163, "unnecessary_wheel_lift": -0.09898143261671066, "rolling_leg_motion": -0.623826265335083, "obstacle_progress": 3.695347309112549, "wheel_body_intrusion": -0.27061471343040466, "pair_body_intrusion": -0.28739556670188904}, "weighted_reward_terms": {"track_linear_velocity": 1.777396559715271, "track_angular_velocity": 1.8907467126846313, "upright": 0.9609200358390808, "leg_posture": -0.0965694710612297, "standstill": -0.2307809740304947, "action_rate_l2": -0.021207544952630997, "joint_torques_l2": -0.00543034914880991, "dof_pos_limits": -2.5998639102908783e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.0036155607085675, "rolling_leg_motion": -0.02278691716492176, "obstacle_progress": 0.1349824070930481, "wheel_body_intrusion": -0.009884923696517944, "pair_body_intrusion": -0.010497888550162315}, "episode_termination_rates": {"time_out": 0.48322147651006714, "fell_over": 0.026845637583892617, "course_exit": 0.4563758389261745, "illegal_nonwheel_contact": 0.04697986577181208}, "collection_time_s": 0.07608720704214647, "learning_time_s": 0.1850847133831121, "iteration_time_s": 0.3153788243467997, "policy_updates": 29700, "skipped_updates": 0, "invalid_env_resets": 148, "elapsed_s": 9461.364730403991, "nonwheel_terminations": 12823, "contact_bce": 0.29040393233299255, "contact_force_loss": 0.019988955929875374, "collision_bce": 0.0002347862027818337, "collision_label_rate": 6.119951285654679e-05, "collision_prediction_mean": 2.2939924747333862e-05, "collision_label_count": 16340.0, "terrain_level_mean": 3.8515625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [4, 33, 53, 91, 78, 151], "episodes_by_level": [[1441.0, 314.0, 49.0, 0.0], [1790.0, 396.0, 38.0, 0.0], [1441.0, 340.0, 31.0, 0.0], [1090.0, 245.0, 20.0, 0.0], [615.0, 157.0, 16.0, 0.0], [721.0, 179.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 1, 5, 54, 381, 992], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4297.0, 1752.0, 165.0, 0.0], [4460.0, 1640.0, 196.0, 0.0], [4793.0, 1340.0, 160.0, 0.0], [4069.0, 618.0, 197.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 46, 565], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [954.0, 781.0, 26.0, 0.0], [1721.0, 1383.0, 64.0, 0.0], [7866.0, 6470.0, 246.0, 0.0]]}, "platform": {"level_counts": [12, 43, 100, 109, 101, 45], "episodes_by_level": [[1748.0, 380.0, 51.0, 0.0], [2039.0, 422.0, 81.0, 0.0], [1552.0, 302.0, 73.0, 0.0], [1073.0, 185.0, 47.0, 0.0], [515.0, 71.0, 39.0, 0.0], [169.0, 21.0, 26.0, 0.0]]}, "slope": {"level_counts": [13, 39, 76, 90, 66, 126], "episodes_by_level": [[1591.0, 338.0, 46.0, 0.0], [1866.0, 383.0, 68.0, 0.0], [1451.0, 309.0, 39.0, 0.0], [972.0, 200.0, 27.0, 0.0], [649.0, 140.0, 8.0, 0.0], [593.0, 97.0, 14.0, 0.0]]}, "rubble": {"level_counts": [36, 140, 231, 223, 148, 41], "episodes_by_level": [[3216.0, 726.0, 97.0, 0.0], [4355.0, 942.0, 198.0, 0.0], [3540.0, 743.0, 316.0, 0.0], [2203.0, 355.0, 331.0, 0.0], [840.0, 90.0, 166.0, 0.0], [183.0, 8.0, 49.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23779296875, "command_abs_max": [0.9999598264694214, 0.39998868107795715, 0.699828565120697]}
{"step": 30050, "actor_lr": 3.581527617589224e-05, "archive_windows": 50000, "env_steps": 30050, "total_transitions": 123084800, "num_steps_per_env": 1, "wm_loss": 0.6710444092750549, "actor_loss": -9.534294128417969, "critic_loss": 0.004748858045786619, "reward": 0.08723820745944977, "falls": 13, "interval_steps": 50, "velocity_mae": [0.11164844781160355, 0.07141108065843582, 0.135414257645607], "mean_episode_length": 1344.25, "episode_reward_terms": {"track_linear_velocity": 47.87232971191406, "track_angular_velocity": 50.763092041015625, "upright": 25.819150924682617, "leg_posture": -2.5557010173797607, "standstill": -6.32744026184082, "action_rate_l2": -0.5784479975700378, "joint_torques_l2": -0.14347369968891144, "dof_pos_limits": -0.0011213823454454541, "terminated": -0.03413134440779686, "unnecessary_wheel_lift": -0.09433542937040329, "rolling_leg_motion": -0.5996369123458862, "obstacle_progress": 3.6852774620056152, "wheel_body_intrusion": -0.2534816563129425, "pair_body_intrusion": -0.2821069359779358}, "weighted_reward_terms": {"track_linear_velocity": 1.7806334495544434, "track_angular_velocity": 1.8881566524505615, "upright": 0.960355281829834, "leg_posture": -0.09506048262119293, "standstill": -0.2353520542383194, "action_rate_l2": -0.02151564136147499, "joint_torques_l2": -0.005336570553481579, "dof_pos_limits": -4.171033651800826e-05, "terminated": -0.0012695310870185494, "unnecessary_wheel_lift": -0.0035088497679680586, "rolling_leg_motion": -0.02230377122759819, "obstacle_progress": 0.13707560300827026, "wheel_body_intrusion": -0.009428367018699646, "pair_body_intrusion": -0.010493097826838493}, "episode_termination_rates": {"time_out": 0.43243243243243246, "fell_over": 0.05405405405405406, "course_exit": 0.4797297297297297, "illegal_nonwheel_contact": 0.06756756756756757}, "collection_time_s": 0.07624676124309189, "learning_time_s": 0.18521025617839768, "iteration_time_s": 0.3152899833328456, "policy_updates": 29750, "skipped_updates": 0, "invalid_env_resets": 150, "elapsed_s": 9474.463999152009, "nonwheel_terminations": 12833, "contact_bce": 0.30140286684036255, "contact_force_loss": 0.02147083729505539, "collision_bce": 6.826798198744655e-05, "collision_label_rate": 6.127075903350487e-05, "collision_prediction_mean": 0.00010146605927729979, "collision_label_count": 16321.0, "terrain_level_mean": 3.851806640625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [4, 32, 54, 91, 78, 151], "episodes_by_level": [[1442.0, 314.0, 49.0, 0.0], [1791.0, 397.0, 38.0, 0.0], [1443.0, 340.0, 31.0, 0.0], [1091.0, 245.0, 20.0, 0.0], [617.0, 157.0, 16.0, 0.0], [723.0, 180.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 1, 5, 56, 380, 991], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4297.0, 1752.0, 165.0, 0.0], [4462.0, 1641.0, 196.0, 0.0], [4805.0, 1342.0, 160.0, 0.0], [4097.0, 625.0, 198.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 47, 564], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [954.0, 781.0, 26.0, 0.0], [1722.0, 1384.0, 64.0, 0.0], [7884.0, 6488.0, 246.0, 0.0]]}, "platform": {"level_counts": [13, 41, 101, 108, 101, 46], "episodes_by_level": [[1748.0, 380.0, 51.0, 0.0], [2043.0, 423.0, 82.0, 0.0], [1553.0, 302.0, 73.0, 0.0], [1075.0, 186.0, 47.0, 0.0], [519.0, 72.0, 39.0, 0.0], [169.0, 21.0, 26.0, 0.0]]}, "slope": {"level_counts": [13, 39, 76, 90, 67, 125], "episodes_by_level": [[1591.0, 338.0, 46.0, 0.0], [1866.0, 383.0, 68.0, 0.0], [1455.0, 309.0, 39.0, 0.0], [976.0, 200.0, 27.0, 0.0], [650.0, 140.0, 8.0, 0.0], [596.0, 97.0, 15.0, 0.0]]}, "rubble": {"level_counts": [37, 139, 228, 225, 149, 41], "episodes_by_level": [[3217.0, 726.0, 97.0, 0.0], [4360.0, 943.0, 199.0, 0.0], [3547.0, 746.0, 317.0, 0.0], [2210.0, 356.0, 331.0, 0.0], [846.0, 91.0, 166.0, 0.0], [185.0, 8.0, 50.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23828125, "command_abs_max": [0.9987424612045288, 0.39998868107795715, 0.699828565120697]}
{"step": 30100, "actor_lr": 3.562679383525127e-05, "archive_windows": 50000, "env_steps": 30100, "total_transitions": 123289600, "num_steps_per_env": 1, "wm_loss": 0.6579495668411255, "actor_loss": -9.535184860229492, "critic_loss": 0.0030696725007146597, "reward": 0.0868627205491066, "falls": 8, "interval_steps": 50, "velocity_mae": [0.1139342188835144, 0.0718204453587532, 0.1349085420370102], "mean_episode_length": 1332.9933774834437, "episode_reward_terms": {"track_linear_velocity": 47.28144073486328, "track_angular_velocity": 50.356201171875, "upright": 25.564176559448242, "leg_posture": -2.5336201190948486, "standstill": -6.375741481781006, "action_rate_l2": -0.5651401877403259, "joint_torques_l2": -0.14301806688308716, "dof_pos_limits": -0.0009612541180104017, "terminated": -0.020828017964959145, "unnecessary_wheel_lift": -0.10139229893684387, "rolling_leg_motion": -0.6080830693244934, "obstacle_progress": 3.5385043621063232, "wheel_body_intrusion": -0.26469212770462036, "pair_body_intrusion": -0.33942484855651855}, "weighted_reward_terms": {"track_linear_velocity": 1.7735062837600708, "track_angular_velocity": 1.8888392448425293, "upright": 0.9589011073112488, "leg_posture": -0.09503498673439026, "standstill": -0.23915128409862518, "action_rate_l2": -0.02119816094636917, "joint_torques_l2": -0.005364545620977879, "dof_pos_limits": -3.6056222597835585e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0038031809963285923, "rolling_leg_motion": -0.022808929905295372, "obstacle_progress": 0.1327277570962906, "wheel_body_intrusion": -0.009928486309945583, "pair_body_intrusion": -0.01273167785257101}, "episode_termination_rates": {"time_out": 0.4370860927152318, "fell_over": 0.026490066225165563, "course_exit": 0.5099337748344371, "illegal_nonwheel_contact": 0.046357615894039736}, "collection_time_s": 0.07595974240452051, "learning_time_s": 0.18478833917528392, "iteration_time_s": 0.3151994196585715, "policy_updates": 29800, "skipped_updates": 0, "invalid_env_resets": 151, "elapsed_s": 9487.502531723003, "nonwheel_terminations": 12840, "contact_bce": 0.2895843982696533, "contact_force_loss": 0.02075931616127491, "collision_bce": 5.543775841942988e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 5.44139402336441e-05, "collision_label_count": 16350.0, "terrain_level_mean": 3.8525390625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [3, 32, 55, 90, 78, 152], "episodes_by_level": [[1443.0, 315.0, 49.0, 0.0], [1794.0, 398.0, 38.0, 0.0], [1445.0, 340.0, 31.0, 0.0], [1094.0, 246.0, 20.0, 0.0], [623.0, 158.0, 16.0, 0.0], [729.0, 181.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 1, 5, 56, 381, 990], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4297.0, 1752.0, 165.0, 0.0], [4465.0, 1641.0, 196.0, 0.0], [4815.0, 1343.0, 160.0, 0.0], [4123.0, 630.0, 198.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 4, 49, 561], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [954.0, 781.0, 26.0, 0.0], [1722.0, 1384.0, 64.0, 0.0], [7908.0, 6511.0, 247.0, 0.0]]}, "platform": {"level_counts": [13, 41, 100, 108, 102, 46], "episodes_by_level": [[1748.0, 380.0, 51.0, 0.0], [2044.0, 423.0, 82.0, 0.0], [1555.0, 303.0, 73.0, 0.0], [1083.0, 187.0, 47.0, 0.0], [520.0, 72.0, 39.0, 0.0], [170.0, 21.0, 26.0, 0.0]]}, "slope": {"level_counts": [12, 40, 76, 89, 68, 125], "episodes_by_level": [[1592.0, 339.0, 46.0, 0.0], [1866.0, 383.0, 68.0, 0.0], [1457.0, 309.0, 39.0, 0.0], [978.0, 201.0, 27.0, 0.0], [650.0, 140.0, 8.0, 0.0], [598.0, 98.0, 15.0, 0.0]]}, "rubble": {"level_counts": [37, 138, 228, 228, 147, 41], "episodes_by_level": [[3218.0, 726.0, 97.0, 0.0], [4363.0, 944.0, 199.0, 0.0], [3553.0, 747.0, 317.0, 0.0], [2213.0, 356.0, 331.0, 0.0], [851.0, 91.0, 168.0, 0.0], [185.0, 8.0, 50.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.239013671875, "command_abs_max": [0.9987424612045288, 0.39998868107795715, 0.699828565120697]}
{"step": 30150, "actor_lr": 3.5438334515724516e-05, "archive_windows": 50000, "env_steps": 30150, "total_transitions": 123494400, "num_steps_per_env": 1, "wm_loss": 0.6261651515960693, "actor_loss": -9.525324821472168, "critic_loss": 0.006617291364818811, "reward": 0.08713208884000778, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11342086642980576, 0.07015452533960342, 0.13418908417224884], "mean_episode_length": 1377.948717948718, "episode_reward_terms": {"track_linear_velocity": 48.987850189208984, "track_angular_velocity": 52.103370666503906, "upright": 26.450777053833008, "leg_posture": -2.614450216293335, "standstill": -6.461201190948486, "action_rate_l2": -0.5926867127418518, "joint_torques_l2": -0.14837975800037384, "dof_pos_limits": -0.0009951046667993069, "terminated": -0.026913058012723923, "unnecessary_wheel_lift": -0.11366434395313263, "rolling_leg_motion": -0.628330647945404, "obstacle_progress": 3.6842141151428223, "wheel_body_intrusion": -0.2654106020927429, "pair_body_intrusion": -0.3106086552143097}, "weighted_reward_terms": {"track_linear_velocity": 1.7775644063949585, "track_angular_velocity": 1.8906135559082031, "upright": 0.9597882032394409, "leg_posture": -0.09486746788024902, "standstill": -0.23444999754428864, "action_rate_l2": -0.02150612324476242, "joint_torques_l2": -0.0053840815089643, "dof_pos_limits": -3.6108187487116084e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.004124403931200504, "rolling_leg_motion": -0.022799493744969368, "obstacle_progress": 0.13368473947048187, "wheel_body_intrusion": -0.009630641900002956, "pair_body_intrusion": -0.011270689778029919}, "episode_termination_rates": {"time_out": 0.46153846153846156, "fell_over": 0.02564102564102564, "course_exit": 0.47435897435897434, "illegal_nonwheel_contact": 0.04487179487179487}, "collection_time_s": 0.07560865286155603, "learning_time_s": 0.18528437214437873, "iteration_time_s": 0.31510939686975187, "policy_updates": 29850, "skipped_updates": 0, "invalid_env_resets": 151, "elapsed_s": 9500.548315623018, "nonwheel_terminations": 12847, "contact_bce": 0.29539889097213745, "contact_force_loss": 0.021210676059126854, "collision_bce": 1.1913741218450014e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.194374908664031e-05, "collision_label_count": 16353.0, "terrain_level_mean": 3.854248046875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [3, 32, 54, 91, 77, 153], "episodes_by_level": [[1443.0, 315.0, 49.0, 0.0], [1795.0, 398.0, 38.0, 0.0], [1447.0, 341.0, 31.0, 0.0], [1096.0, 246.0, 20.0, 0.0], [626.0, 159.0, 16.0, 0.0], [732.0, 181.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 1, 4, 58, 381, 989], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4298.0, 1753.0, 165.0, 0.0], [4467.0, 1641.0, 196.0, 0.0], [4828.0, 1344.0, 160.0, 0.0], [4152.0, 633.0, 198.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 4, 48, 562], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [954.0, 781.0, 26.0, 0.0], [1724.0, 1386.0, 64.0, 0.0], [7922.0, 6525.0, 247.0, 0.0]]}, "platform": {"level_counts": [13, 41, 98, 107, 105, 46], "episodes_by_level": [[1748.0, 380.0, 51.0, 0.0], [2046.0, 424.0, 82.0, 0.0], [1560.0, 305.0, 74.0, 0.0], [1086.0, 190.0, 47.0, 0.0], [525.0, 72.0, 39.0, 0.0], [170.0, 21.0, 26.0, 0.0]]}, "slope": {"level_counts": [12, 40, 74, 90, 68, 126], "episodes_by_level": [[1592.0, 339.0, 46.0, 0.0], [1866.0, 383.0, 68.0, 0.0], [1461.0, 311.0, 39.0, 0.0], [982.0, 202.0, 27.0, 0.0], [654.0, 141.0, 8.0, 0.0], [600.0, 99.0, 15.0, 0.0]]}, "rubble": {"level_counts": [38, 137, 230, 227, 146, 41], "episodes_by_level": [[3219.0, 726.0, 97.0, 0.0], [4369.0, 944.0, 200.0, 0.0], [3560.0, 747.0, 317.0, 0.0], [2218.0, 356.0, 333.0, 0.0], [857.0, 92.0, 169.0, 0.0], [187.0, 8.0, 51.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.239990234375, "command_abs_max": [0.9987424612045288, 0.39998868107795715, 0.699828565120697]}
{"step": 30200, "actor_lr": 3.524990984237049e-05, "archive_windows": 50000, "env_steps": 30200, "total_transitions": 123699200, "num_steps_per_env": 1, "wm_loss": 0.631848931312561, "actor_loss": -9.51930046081543, "critic_loss": 0.004150717053562403, "reward": 0.08729582279920578, "falls": 12, "interval_steps": 50, "velocity_mae": [0.11492088437080383, 0.07121429592370987, 0.13479261100292206], "mean_episode_length": 1319.9281437125749, "episode_reward_terms": {"track_linear_velocity": 46.818782806396484, "track_angular_velocity": 49.870845794677734, "upright": 25.334291458129883, "leg_posture": -2.4787826538085938, "standstill": -5.933598518371582, "action_rate_l2": -0.5631279349327087, "joint_torques_l2": -0.1426650732755661, "dof_pos_limits": -0.0009492486133240163, "terminated": -0.03093581274151802, "unnecessary_wheel_lift": -0.09597408026456833, "rolling_leg_motion": -0.5790597200393677, "obstacle_progress": 3.5523593425750732, "wheel_body_intrusion": -0.2484462410211563, "pair_body_intrusion": -0.2785334289073944}, "weighted_reward_terms": {"track_linear_velocity": 1.7735353708267212, "track_angular_velocity": 1.8891500234603882, "upright": 0.9596844911575317, "leg_posture": -0.09389840066432953, "standstill": -0.22476977109909058, "action_rate_l2": -0.02133176475763321, "joint_torques_l2": -0.005404274445027113, "dof_pos_limits": -3.595834641600959e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.003635579952970147, "rolling_leg_motion": -0.021935276687145233, "obstacle_progress": 0.13456639647483826, "wheel_body_intrusion": -0.00941135548055172, "pair_body_intrusion": -0.010551082901656628}, "episode_termination_rates": {"time_out": 0.4431137724550898, "fell_over": 0.029940119760479042, "course_exit": 0.48502994011976047, "illegal_nonwheel_contact": 0.05389221556886228}, "collection_time_s": 0.0763958564994391, "learning_time_s": 0.1853266829776112, "iteration_time_s": 0.3150210451885105, "policy_updates": 29900, "skipped_updates": 0, "invalid_env_resets": 153, "elapsed_s": 9513.635564693017, "nonwheel_terminations": 12856, "contact_bce": 0.28671109676361084, "contact_force_loss": 0.02049747295677662, "collision_bce": 3.657522756839171e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 3.5617231333162636e-05, "collision_label_count": 16345.0, "terrain_level_mean": 3.856201171875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [3, 32, 54, 89, 77, 155], "episodes_by_level": [[1444.0, 315.0, 49.0, 0.0], [1797.0, 398.0, 38.0, 0.0], [1448.0, 341.0, 31.0, 0.0], [1101.0, 248.0, 20.0, 0.0], [629.0, 161.0, 16.0, 0.0], [738.0, 182.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 1, 5, 57, 386, 984], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4298.0, 1753.0, 165.0, 0.0], [4467.0, 1641.0, 196.0, 0.0], [4833.0, 1345.0, 160.0, 0.0], [4184.0, 638.0, 201.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 4, 46, 564], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [954.0, 781.0, 26.0, 0.0], [1727.0, 1389.0, 64.0, 0.0], [7950.0, 6549.0, 247.0, 0.0]]}, "platform": {"level_counts": [13, 42, 96, 107, 106, 46], "episodes_by_level": [[1748.0, 380.0, 51.0, 0.0], [2046.0, 424.0, 82.0, 0.0], [1563.0, 306.0, 75.0, 0.0], [1091.0, 191.0, 47.0, 0.0], [530.0, 73.0, 39.0, 0.0], [173.0, 21.0, 27.0, 0.0]]}, "slope": {"level_counts": [12, 40, 74, 89, 69, 126], "episodes_by_level": [[1593.0, 339.0, 46.0, 0.0], [1866.0, 383.0, 68.0, 0.0], [1465.0, 311.0, 39.0, 0.0], [987.0, 203.0, 27.0, 0.0], [660.0, 141.0, 8.0, 0.0], [604.0, 100.0, 15.0, 0.0]]}, "rubble": {"level_counts": [37, 138, 227, 229, 146, 42], "episodes_by_level": [[3222.0, 728.0, 97.0, 0.0], [4375.0, 944.0, 201.0, 0.0], [3567.0, 750.0, 317.0, 0.0], [2224.0, 357.0, 333.0, 0.0], [861.0, 94.0, 169.0, 0.0], [189.0, 8.0, 52.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.240234375, "command_abs_max": [0.99872887134552, 0.39998868107795715, 0.699828565120697]}
{"step": 30250, "actor_lr": 3.506153143811064e-05, "archive_windows": 50000, "env_steps": 30250, "total_transitions": 123904000, "num_steps_per_env": 1, "wm_loss": 0.6003693342208862, "actor_loss": -9.506559371948242, "critic_loss": 0.006267160177230835, "reward": 0.08712060004472733, "falls": 12, "interval_steps": 50, "velocity_mae": [0.114374078810215, 0.07119575142860413, 0.13493375480175018], "mean_episode_length": 1338.8333333333333, "episode_reward_terms": {"track_linear_velocity": 47.506404876708984, "track_angular_velocity": 50.60089874267578, "upright": 25.67916488647461, "leg_posture": -2.506256103515625, "standstill": -6.208672523498535, "action_rate_l2": -0.5757126808166504, "joint_torques_l2": -0.14468100666999817, "dof_pos_limits": -0.001295409514568746, "terminated": -0.03137890622019768, "unnecessary_wheel_lift": -0.09472130984067917, "rolling_leg_motion": -0.606217622756958, "obstacle_progress": 3.58762264251709, "wheel_body_intrusion": -0.2601723372936249, "pair_body_intrusion": -0.30501675605773926}, "weighted_reward_terms": {"track_linear_velocity": 1.7741717100143433, "track_angular_velocity": 1.8897384405136108, "upright": 0.9590127468109131, "leg_posture": -0.09359850734472275, "standstill": -0.23186875879764557, "action_rate_l2": -0.021500535309314728, "joint_torques_l2": -0.005403249524533749, "dof_pos_limits": -4.8378296924056485e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.0035374572034925222, "rolling_leg_motion": -0.022639771923422813, "obstacle_progress": 0.13398316502571106, "wheel_body_intrusion": -0.009716382250189781, "pair_body_intrusion": -0.011391139589250088}, "episode_termination_rates": {"time_out": 0.47333333333333333, "fell_over": 0.04666666666666667, "course_exit": 0.44666666666666666, "illegal_nonwheel_contact": 0.05333333333333334}, "collection_time_s": 0.0759177927125711, "learning_time_s": 0.18516200749902054, "iteration_time_s": 0.3149319235759341, "policy_updates": 29950, "skipped_updates": 0, "invalid_env_resets": 154, "elapsed_s": 9526.690688172006, "nonwheel_terminations": 12864, "contact_bce": 0.29008516669273376, "contact_force_loss": 0.019766446202993393, "collision_bce": 0.0003690213488880545, "collision_label_rate": 0.000122331635793671, "collision_prediction_mean": 6.382344145094976e-05, "collision_label_count": 16349.0, "terrain_level_mean": 3.857421875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [3, 32, 54, 87, 78, 156], "episodes_by_level": [[1444.0, 315.0, 49.0, 0.0], [1797.0, 398.0, 38.0, 0.0], [1449.0, 341.0, 31.0, 0.0], [1111.0, 250.0, 20.0, 0.0], [631.0, 162.0, 16.0, 0.0], [740.0, 183.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 1, 5, 57, 387, 983], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4298.0, 1753.0, 165.0, 0.0], [4468.0, 1641.0, 196.0, 0.0], [4850.0, 1349.0, 160.0, 0.0], [4199.0, 640.0, 204.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 4, 49, 561], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [954.0, 781.0, 26.0, 0.0], [1728.0, 1390.0, 64.0, 0.0], [7973.0, 6569.0, 249.0, 0.0]]}, "platform": {"level_counts": [13, 42, 96, 107, 105, 47], "episodes_by_level": [[1749.0, 380.0, 51.0, 0.0], [2047.0, 424.0, 82.0, 0.0], [1565.0, 306.0, 75.0, 0.0], [1094.0, 191.0, 47.0, 0.0], [535.0, 75.0, 39.0, 0.0], [175.0, 21.0, 28.0, 0.0]]}, "slope": {"level_counts": [12, 39, 76, 87, 70, 126], "episodes_by_level": [[1594.0, 339.0, 46.0, 0.0], [1868.0, 384.0, 68.0, 0.0], [1467.0, 311.0, 39.0, 0.0], [991.0, 204.0, 28.0, 0.0], [660.0, 141.0, 8.0, 0.0], [609.0, 100.0, 15.0, 0.0]]}, "rubble": {"level_counts": [37, 138, 225, 229, 148, 42], "episodes_by_level": [[3223.0, 728.0, 97.0, 0.0], [4380.0, 944.0, 201.0, 0.0], [3574.0, 752.0, 317.0, 0.0], [2232.0, 360.0, 333.0, 0.0], [863.0, 94.0, 170.0, 0.0], [190.0, 8.0, 52.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.232421875, "command_abs_max": [0.99872887134552, 0.39998868107795715, 0.699828565120697]}
{"step": 30300, "actor_lr": 3.487321092301226e-05, "archive_windows": 50000, "env_steps": 30300, "total_transitions": 124108800, "num_steps_per_env": 1, "wm_loss": 0.6081146001815796, "actor_loss": -9.540349960327148, "critic_loss": 0.0076821306720376015, "reward": 0.08726237714290619, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11259625852108002, 0.07053375989198685, 0.13406500220298767], "mean_episode_length": 1318.4172661870505, "episode_reward_terms": {"track_linear_velocity": 46.89421081542969, "track_angular_velocity": 49.843116760253906, "upright": 25.262258529663086, "leg_posture": -2.4988510608673096, "standstill": -6.091091632843018, "action_rate_l2": -0.5529953837394714, "joint_torques_l2": -0.14274051785469055, "dof_pos_limits": -0.001309797284193337, "terminated": -0.02060026489198208, "unnecessary_wheel_lift": -0.08078750222921371, "rolling_leg_motion": -0.5737650394439697, "obstacle_progress": 3.53817081451416, "wheel_body_intrusion": -0.24132533371448517, "pair_body_intrusion": -0.2860732078552246}, "weighted_reward_terms": {"track_linear_velocity": 1.778428316116333, "track_angular_velocity": 1.890263319015503, "upright": 0.9580525159835815, "leg_posture": -0.09476707875728607, "standstill": -0.231000155210495, "action_rate_l2": -0.020971940830349922, "joint_torques_l2": -0.005413328763097525, "dof_pos_limits": -4.967309723724611e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0030638063326478004, "rolling_leg_motion": -0.02175961621105671, "obstacle_progress": 0.13418251276016235, "wheel_body_intrusion": -0.009152085520327091, "pair_body_intrusion": -0.010849115438759327}, "episode_termination_rates": {"time_out": 0.4748201438848921, "fell_over": 0.02877697841726619, "course_exit": 0.4676258992805755, "illegal_nonwheel_contact": 0.04316546762589928}, "collection_time_s": 0.07623820595792495, "learning_time_s": 0.18517798004089855, "iteration_time_s": 0.31484364985686414, "policy_updates": 30000, "skipped_updates": 0, "invalid_env_resets": 156, "elapsed_s": 9539.762590662984, "nonwheel_terminations": 12870, "contact_bce": 0.2877715826034546, "contact_force_loss": 0.020725464448332787, "collision_bce": 1.0055284292320721e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.0093977834912948e-05, "collision_label_count": 16362.0, "terrain_level_mean": 3.8583984375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [3, 32, 54, 87, 76, 158], "episodes_by_level": [[1444.0, 315.0, 49.0, 0.0], [1797.0, 398.0, 38.0, 0.0], [1450.0, 341.0, 31.0, 0.0], [1112.0, 250.0, 20.0, 0.0], [634.0, 164.0, 16.0, 0.0], [745.0, 183.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 1, 5, 57, 388, 982], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4298.0, 1753.0, 165.0, 0.0], [4468.0, 1641.0, 196.0, 0.0], [4857.0, 1351.0, 160.0, 0.0], [4230.0, 644.0, 205.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 4, 47, 563], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [954.0, 781.0, 26.0, 0.0], [1731.0, 1393.0, 64.0, 0.0], [7989.0, 6584.0, 250.0, 0.0]]}, "platform": {"level_counts": [12, 43, 97, 106, 105, 47], "episodes_by_level": [[1750.0, 381.0, 51.0, 0.0], [2048.0, 424.0, 82.0, 0.0], [1569.0, 307.0, 75.0, 0.0], [1099.0, 191.0, 49.0, 0.0], [536.0, 75.0, 39.0, 0.0], [175.0, 21.0, 28.0, 0.0]]}, "slope": {"level_counts": [12, 39, 76, 87, 70, 126], "episodes_by_level": [[1595.0, 339.0, 46.0, 0.0], [1869.0, 384.0, 68.0, 0.0], [1469.0, 311.0, 39.0, 0.0], [992.0, 204.0, 28.0, 0.0], [660.0, 141.0, 8.0, 0.0], [612.0, 100.0, 15.0, 0.0]]}, "rubble": {"level_counts": [37, 137, 226, 229, 148, 42], "episodes_by_level": [[3224.0, 728.0, 97.0, 0.0], [4386.0, 945.0, 201.0, 0.0], [3580.0, 752.0, 317.0, 0.0], [2236.0, 361.0, 333.0, 0.0], [871.0, 95.0, 171.0, 0.0], [191.0, 8.0, 53.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.232666015625, "command_abs_max": [0.99872887134552, 0.3994888961315155, 0.699828565120697]}
{"step": 30350, "actor_lr": 3.4684959913571816e-05, "archive_windows": 50000, "env_steps": 30350, "total_transitions": 124313600, "num_steps_per_env": 1, "wm_loss": 0.6255176067352295, "actor_loss": -9.501338958740234, "critic_loss": 0.012574783526360989, "reward": 0.08724093437194824, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11319255083799362, 0.07115660607814789, 0.1348208636045456], "mean_episode_length": 1380.0258064516129, "episode_reward_terms": {"track_linear_velocity": 49.00816345214844, "track_angular_velocity": 52.1324462890625, "upright": 26.461063385009766, "leg_posture": -2.6172122955322266, "standstill": -6.308593273162842, "action_rate_l2": -0.5831363797187805, "joint_torques_l2": -0.1496068686246872, "dof_pos_limits": -0.0014687300426885486, "terminated": -0.01886753737926483, "unnecessary_wheel_lift": -0.0880059003829956, "rolling_leg_motion": -0.5891356468200684, "obstacle_progress": 3.7197346687316895, "wheel_body_intrusion": -0.26631343364715576, "pair_body_intrusion": -0.3043394684791565}, "weighted_reward_terms": {"track_linear_velocity": 1.7756249904632568, "track_angular_velocity": 1.8888214826583862, "upright": 0.9587163329124451, "leg_posture": -0.09482476115226746, "standstill": -0.228567972779274, "action_rate_l2": -0.021127736195921898, "joint_torques_l2": -0.005420438013970852, "dof_pos_limits": -5.3213865612633526e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.003188560251146555, "rolling_leg_motion": -0.021345097571611404, "obstacle_progress": 0.1347704827785492, "wheel_body_intrusion": -0.00964885763823986, "pair_body_intrusion": -0.011026586405932903}, "episode_termination_rates": {"time_out": 0.4774193548387097, "fell_over": 0.03225806451612903, "course_exit": 0.4774193548387097, "illegal_nonwheel_contact": 0.025806451612903226}, "collection_time_s": 0.07574110943824053, "learning_time_s": 0.192555082218023, "iteration_time_s": 0.3147670038966397, "policy_updates": 30050, "skipped_updates": 0, "invalid_env_resets": 156, "elapsed_s": 9553.178568263014, "nonwheel_terminations": 12874, "contact_bce": 0.28926393389701843, "contact_force_loss": 0.020684920251369476, "collision_bce": 4.563363836496137e-05, "collision_label_rate": 6.120699981693178e-05, "collision_prediction_mean": 7.325397746171802e-05, "collision_label_count": 16338.0, "terrain_level_mean": 3.861083984375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [3, 32, 54, 87, 74, 160], "episodes_by_level": [[1444.0, 315.0, 49.0, 0.0], [1797.0, 398.0, 38.0, 0.0], [1454.0, 341.0, 31.0, 0.0], [1115.0, 250.0, 20.0, 0.0], [639.0, 166.0, 16.0, 0.0], [752.0, 184.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 1, 4, 58, 385, 985], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4299.0, 1754.0, 165.0, 0.0], [4469.0, 1641.0, 196.0, 0.0], [4870.0, 1357.0, 160.0, 0.0], [4257.0, 646.0, 206.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 4, 45, 565], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [954.0, 781.0, 26.0, 0.0], [1733.0, 1395.0, 64.0, 0.0], [8002.0, 6597.0, 250.0, 0.0]]}, "platform": {"level_counts": [12, 42, 98, 106, 105, 47], "episodes_by_level": [[1750.0, 381.0, 51.0, 0.0], [2052.0, 425.0, 82.0, 0.0], [1572.0, 307.0, 75.0, 0.0], [1101.0, 191.0, 49.0, 0.0], [540.0, 76.0, 39.0, 0.0], [178.0, 22.0, 29.0, 0.0]]}, "slope": {"level_counts": [12, 39, 76, 87, 69, 127], "episodes_by_level": [[1595.0, 339.0, 46.0, 0.0], [1870.0, 384.0, 68.0, 0.0], [1474.0, 311.0, 39.0, 0.0], [994.0, 204.0, 28.0, 0.0], [664.0, 142.0, 8.0, 0.0], [616.0, 100.0, 15.0, 0.0]]}, "rubble": {"level_counts": [37, 137, 224, 232, 147, 42], "episodes_by_level": [[3225.0, 728.0, 97.0, 0.0], [4389.0, 945.0, 201.0, 0.0], [3591.0, 755.0, 317.0, 0.0], [2242.0, 362.0, 334.0, 0.0], [873.0, 95.0, 173.0, 0.0], [192.0, 8.0, 53.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234619140625, "command_abs_max": [0.99872887134552, 0.3994888961315155, 0.6992522478103638]}
{"step": 30400, "actor_lr": 3.449679002199827e-05, "archive_windows": 50000, "env_steps": 30400, "total_transitions": 124518400, "num_steps_per_env": 1, "wm_loss": 0.6156261563301086, "actor_loss": -9.51801872253418, "critic_loss": 0.004367280751466751, "reward": 0.08727679401636124, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11326901614665985, 0.0706283301115036, 0.13453534245491028], "mean_episode_length": 1314.5792682926829, "episode_reward_terms": {"track_linear_velocity": 46.711669921875, "track_angular_velocity": 49.67727279663086, "upright": 25.207244873046875, "leg_posture": -2.448261260986328, "standstill": -6.090460300445557, "action_rate_l2": -0.5635614395141602, "joint_torques_l2": -0.14374838769435883, "dof_pos_limits": -0.001147064263932407, "terminated": -0.017972761765122414, "unnecessary_wheel_lift": -0.08606399595737457, "rolling_leg_motion": -0.5956652760505676, "obstacle_progress": 3.5512149333953857, "wheel_body_intrusion": -0.23200005292892456, "pair_body_intrusion": -0.2362474799156189}, "weighted_reward_terms": {"track_linear_velocity": 1.7766776084899902, "track_angular_velocity": 1.8894743919372559, "upright": 0.958757221698761, "leg_posture": -0.09311958402395248, "standstill": -0.23165056109428406, "action_rate_l2": -0.021435050293803215, "joint_torques_l2": -0.005467467941343784, "dof_pos_limits": -4.362857362139039e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.003273442853242159, "rolling_leg_motion": -0.022656118497252464, "obstacle_progress": 0.13507039844989777, "wheel_body_intrusion": -0.008824118413031101, "pair_body_intrusion": -0.0089856693521142}, "episode_termination_rates": {"time_out": 0.42073170731707316, "fell_over": 0.03048780487804878, "course_exit": 0.5365853658536586, "illegal_nonwheel_contact": 0.024390243902439025}, "collection_time_s": 0.07584447368397378, "learning_time_s": 0.18495684547582641, "iteration_time_s": 0.314678287114343, "policy_updates": 30100, "skipped_updates": 0, "invalid_env_resets": 157, "elapsed_s": 9566.219928276027, "nonwheel_terminations": 12878, "contact_bce": 0.2898251712322235, "contact_force_loss": 0.020455168560147285, "collision_bce": 2.8314363589743152e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 2.789775317069143e-05, "collision_label_count": 16327.0, "terrain_level_mean": 3.863037109375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [3, 32, 54, 85, 76, 160], "episodes_by_level": [[1444.0, 315.0, 49.0, 0.0], [1797.0, 398.0, 38.0, 0.0], [1456.0, 341.0, 31.0, 0.0], [1117.0, 252.0, 20.0, 0.0], [639.0, 166.0, 16.0, 0.0], [759.0, 186.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 1, 4, 58, 384, 986], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4299.0, 1754.0, 165.0, 0.0], [4469.0, 1641.0, 196.0, 0.0], [4883.0, 1359.0, 160.0, 0.0], [4284.0, 652.0, 206.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 4, 44, 566], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [954.0, 781.0, 26.0, 0.0], [1736.0, 1398.0, 64.0, 0.0], [8031.0, 6622.0, 250.0, 0.0]]}, "platform": {"level_counts": [12, 42, 98, 106, 106, 46], "episodes_by_level": [[1751.0, 381.0, 51.0, 0.0], [2052.0, 425.0, 82.0, 0.0], [1574.0, 307.0, 75.0, 0.0], [1104.0, 191.0, 49.0, 0.0], [543.0, 76.0, 39.0, 0.0], [182.0, 22.0, 30.0, 0.0]]}, "slope": {"level_counts": [12, 38, 77, 87, 68, 128], "episodes_by_level": [[1596.0, 339.0, 46.0, 0.0], [1871.0, 385.0, 68.0, 0.0], [1478.0, 311.0, 39.0, 0.0], [999.0, 204.0, 28.0, 0.0], [665.0, 143.0, 8.0, 0.0], [624.0, 103.0, 15.0, 0.0]]}, "rubble": {"level_counts": [35, 139, 224, 231, 148, 42], "episodes_by_level": [[3229.0, 730.0, 97.0, 0.0], [4392.0, 946.0, 201.0, 0.0], [3598.0, 756.0, 318.0, 0.0], [2253.0, 364.0, 335.0, 0.0], [879.0, 95.0, 174.0, 0.0], [194.0, 8.0, 53.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23681640625, "command_abs_max": [0.99872887134552, 0.3994888961315155, 0.6992522478103638]}
{"step": 30450, "actor_lr": 3.430871285549694e-05, "archive_windows": 50000, "env_steps": 30450, "total_transitions": 124723200, "num_steps_per_env": 1, "wm_loss": 0.6205552220344543, "actor_loss": -9.535313606262207, "critic_loss": 0.004998361226171255, "reward": 0.08730456233024597, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11325841397047043, 0.07026736438274384, 0.1351654827594757], "mean_episode_length": 1370.3175675675675, "episode_reward_terms": {"track_linear_velocity": 48.718284606933594, "track_angular_velocity": 51.74455642700195, "upright": 26.296239852905273, "leg_posture": -2.5772883892059326, "standstill": -6.24483585357666, "action_rate_l2": -0.5677066445350647, "joint_torques_l2": -0.1479102224111557, "dof_pos_limits": -0.0019182526739314198, "terminated": -0.016058407723903656, "unnecessary_wheel_lift": -0.0923645868897438, "rolling_leg_motion": -0.6077976226806641, "obstacle_progress": 3.6600983142852783, "wheel_body_intrusion": -0.2587216794490814, "pair_body_intrusion": -0.26960882544517517}, "weighted_reward_terms": {"track_linear_velocity": 1.7776274681091309, "track_angular_velocity": 1.8880497217178345, "upright": 0.9594943523406982, "leg_posture": -0.09403982013463974, "standstill": -0.22786089777946472, "action_rate_l2": -0.020714418962597847, "joint_torques_l2": -0.005396932363510132, "dof_pos_limits": -6.999299512244761e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.003370189107954502, "rolling_leg_motion": -0.022177252918481827, "obstacle_progress": 0.1335492730140686, "wheel_body_intrusion": -0.009440207853913307, "pair_body_intrusion": -0.009837457910180092}, "episode_termination_rates": {"time_out": 0.4594594594594595, "fell_over": 0.02702702702702703, "course_exit": 0.5, "illegal_nonwheel_contact": 0.02027027027027027}, "collection_time_s": 0.07607864314224572, "learning_time_s": 0.18493940037791617, "iteration_time_s": 0.31459021272847343, "policy_updates": 30150, "skipped_updates": 0, "invalid_env_resets": 158, "elapsed_s": 9579.271977582015, "nonwheel_terminations": 12881, "contact_bce": 0.28920963406562805, "contact_force_loss": 0.020449131727218628, "collision_bce": 0.00023827598488423973, "collision_label_rate": 0.00012238403724040836, "collision_prediction_mean": 9.852515358943492e-05, "collision_label_count": 16342.0, "terrain_level_mean": 3.864990234375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [3, 31, 55, 85, 76, 160], "episodes_by_level": [[1444.0, 315.0, 49.0, 0.0], [1799.0, 399.0, 38.0, 0.0], [1458.0, 341.0, 31.0, 0.0], [1121.0, 252.0, 20.0, 0.0], [640.0, 166.0, 16.0, 0.0], [762.0, 187.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 1, 4, 58, 382, 988], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4300.0, 1754.0, 165.0, 0.0], [4471.0, 1641.0, 196.0, 0.0], [4892.0, 1361.0, 160.0, 0.0], [4303.0, 655.0, 206.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 4, 44, 566], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [954.0, 781.0, 26.0, 0.0], [1737.0, 1399.0, 64.0, 0.0], [8061.0, 6648.0, 250.0, 0.0]]}, "platform": {"level_counts": [12, 41, 98, 106, 107, 46], "episodes_by_level": [[1751.0, 381.0, 51.0, 0.0], [2055.0, 426.0, 82.0, 0.0], [1575.0, 308.0, 75.0, 0.0], [1107.0, 193.0, 49.0, 0.0], [546.0, 76.0, 40.0, 0.0], [183.0, 22.0, 30.0, 0.0]]}, "slope": {"level_counts": [11, 38, 78, 87, 68, 128], "episodes_by_level": [[1598.0, 340.0, 46.0, 0.0], [1872.0, 386.0, 68.0, 0.0], [1479.0, 311.0, 39.0, 0.0], [1002.0, 204.0, 28.0, 0.0], [666.0, 143.0, 8.0, 0.0], [628.0, 103.0, 15.0, 0.0]]}, "rubble": {"level_counts": [36, 140, 220, 231, 151, 41], "episodes_by_level": [[3229.0, 730.0, 97.0, 0.0], [4398.0, 946.0, 202.0, 0.0], [3606.0, 758.0, 320.0, 0.0], [2264.0, 366.0, 335.0, 0.0], [882.0, 95.0, 174.0, 0.0], [195.0, 8.0, 54.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.239990234375, "command_abs_max": [0.99872887134552, 0.3994888961315155, 0.6992522478103638]}
{"step": 30500, "actor_lr": 3.4120740015553344e-05, "archive_windows": 50000, "env_steps": 30500, "total_transitions": 124928000, "num_steps_per_env": 1, "wm_loss": 0.6356603503227234, "actor_loss": -9.517841339111328, "critic_loss": 0.00616761390119791, "reward": 0.08709695935249329, "falls": 3, "interval_steps": 50, "velocity_mae": [0.1145048588514328, 0.07034928351640701, 0.13425356149673462], "mean_episode_length": 1327.1333333333334, "episode_reward_terms": {"track_linear_velocity": 47.126529693603516, "track_angular_velocity": 50.17283248901367, "upright": 25.441770553588867, "leg_posture": -2.5567591190338135, "standstill": -6.153657913208008, "action_rate_l2": -0.5613580346107483, "joint_torques_l2": -0.14395758509635925, "dof_pos_limits": -0.0011752453865483403, "terminated": -0.007776170503348112, "unnecessary_wheel_lift": -0.10207895934581757, "rolling_leg_motion": -0.594736635684967, "obstacle_progress": 3.5477371215820312, "wheel_body_intrusion": -0.2713273763656616, "pair_body_intrusion": -0.30678898096084595}, "weighted_reward_terms": {"track_linear_velocity": 1.775501012802124, "track_angular_velocity": 1.8902709484100342, "upright": 0.9585235118865967, "leg_posture": -0.09632638841867447, "standstill": -0.23184023797512054, "action_rate_l2": -0.021149270236492157, "joint_torques_l2": -0.005423629656434059, "dof_pos_limits": -4.427759631653316e-05, "terminated": -0.00029296870343387127, "unnecessary_wheel_lift": -0.0038458441849797964, "rolling_leg_motion": -0.022406816482543945, "obstacle_progress": 0.1336616724729538, "wheel_body_intrusion": -0.01022231113165617, "pair_body_intrusion": -0.011558334343135357}, "episode_termination_rates": {"time_out": 0.42424242424242425, "fell_over": 0.012121212121212121, "course_exit": 0.5575757575757576, "illegal_nonwheel_contact": 0.01818181818181818}, "collection_time_s": 0.07558285907376558, "learning_time_s": 0.1849944983597379, "iteration_time_s": 0.3145017034917379, "policy_updates": 30200, "skipped_updates": 0, "invalid_env_resets": 158, "elapsed_s": 9592.301956498006, "nonwheel_terminations": 12884, "contact_bce": 0.29278939962387085, "contact_force_loss": 0.02061181515455246, "collision_bce": 8.879292727215216e-05, "collision_label_rate": 6.110975664341822e-05, "collision_prediction_mean": 4.396635267767124e-05, "collision_label_count": 16364.0, "terrain_level_mean": 3.871337890625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [3, 30, 54, 85, 77, 161], "episodes_by_level": [[1444.0, 315.0, 49.0, 0.0], [1801.0, 400.0, 38.0, 0.0], [1461.0, 343.0, 31.0, 0.0], [1127.0, 254.0, 20.0, 0.0], [643.0, 167.0, 16.0, 0.0], [766.0, 189.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 1, 4, 57, 376, 995], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4300.0, 1754.0, 165.0, 0.0], [4473.0, 1642.0, 196.0, 0.0], [4906.0, 1368.0, 160.0, 0.0], [4329.0, 661.0, 206.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 4, 44, 566], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [954.0, 781.0, 26.0, 0.0], [1740.0, 1402.0, 64.0, 0.0], [8084.0, 6668.0, 250.0, 0.0]]}, "platform": {"level_counts": [12, 40, 99, 106, 107, 46], "episodes_by_level": [[1751.0, 381.0, 51.0, 0.0], [2059.0, 427.0, 82.0, 0.0], [1578.0, 308.0, 75.0, 0.0], [1109.0, 193.0, 49.0, 0.0], [546.0, 76.0, 40.0, 0.0], [183.0, 22.0, 30.0, 0.0]]}, "slope": {"level_counts": [11, 37, 78, 85, 71, 128], "episodes_by_level": [[1598.0, 340.0, 46.0, 0.0], [1876.0, 387.0, 68.0, 0.0], [1481.0, 312.0, 39.0, 0.0], [1009.0, 207.0, 28.0, 0.0], [666.0, 143.0, 8.0, 0.0], [633.0, 104.0, 15.0, 0.0]]}, "rubble": {"level_counts": [36, 139, 221, 226, 156, 41], "episodes_by_level": [[3229.0, 730.0, 97.0, 0.0], [4404.0, 947.0, 202.0, 0.0], [3611.0, 758.0, 320.0, 0.0], [2274.0, 371.0, 335.0, 0.0], [885.0, 95.0, 174.0, 0.0], [196.0, 8.0, 54.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23876953125, "command_abs_max": [0.99872887134552, 0.3994888961315155, 0.6993729472160339]}
{"step": 30550, "actor_lr": 3.393288309721771e-05, "archive_windows": 50000, "env_steps": 30550, "total_transitions": 125132800, "num_steps_per_env": 1, "wm_loss": 0.6149484515190125, "actor_loss": -9.530804634094238, "critic_loss": 0.0055436925031244755, "reward": 0.08751102536916733, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11384434252977371, 0.07000195235013962, 0.13392937183380127], "mean_episode_length": 1372.2230769230769, "episode_reward_terms": {"track_linear_velocity": 48.79683303833008, "track_angular_velocity": 51.88663101196289, "upright": 26.348087310791016, "leg_posture": -2.6133079528808594, "standstill": -6.077742576599121, "action_rate_l2": -0.5710079669952393, "joint_torques_l2": -0.14857320487499237, "dof_pos_limits": -0.0005246495129540563, "terminated": -0.018760859966278076, "unnecessary_wheel_lift": -0.07923804968595505, "rolling_leg_motion": -0.5859087705612183, "obstacle_progress": 3.7127320766448975, "wheel_body_intrusion": -0.2677212655544281, "pair_body_intrusion": -0.2968505024909973}, "weighted_reward_terms": {"track_linear_velocity": 1.7780213356018066, "track_angular_velocity": 1.8906049728393555, "upright": 0.9600512385368347, "leg_posture": -0.09522169083356857, "standstill": -0.22145608067512512, "action_rate_l2": -0.020805947482585907, "joint_torques_l2": -0.005413595121353865, "dof_pos_limits": -1.911677281896118e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0028872147668153048, "rolling_leg_motion": -0.02134888991713524, "obstacle_progress": 0.13528166711330414, "wheel_body_intrusion": -0.009755020029842854, "pair_body_intrusion": -0.01081640925258398}, "episode_termination_rates": {"time_out": 0.4846153846153846, "fell_over": 0.015384615384615385, "course_exit": 0.46153846153846156, "illegal_nonwheel_contact": 0.046153846153846156}, "collection_time_s": 0.0756129238230642, "learning_time_s": 0.18489570266217925, "iteration_time_s": 0.3144142060858272, "policy_updates": 30250, "skipped_updates": 0, "invalid_env_resets": 158, "elapsed_s": 9605.353995922022, "nonwheel_terminations": 12890, "contact_bce": 0.2890221178531647, "contact_force_loss": 0.021294834092259407, "collision_bce": 1.7096779629355296e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.7104772268794477e-05, "collision_label_count": 16335.0, "terrain_level_mean": 3.872314453125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [3, 30, 54, 84, 78, 161], "episodes_by_level": [[1444.0, 315.0, 49.0, 0.0], [1801.0, 400.0, 38.0, 0.0], [1465.0, 343.0, 31.0, 0.0], [1128.0, 255.0, 20.0, 0.0], [646.0, 167.0, 16.0, 0.0], [770.0, 191.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 1, 4, 57, 374, 997], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4300.0, 1754.0, 165.0, 0.0], [4473.0, 1642.0, 196.0, 0.0], [4915.0, 1371.0, 160.0, 0.0], [4354.0, 669.0, 206.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 4, 47, 563], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [954.0, 781.0, 26.0, 0.0], [1740.0, 1402.0, 64.0, 0.0], [8102.0, 6685.0, 250.0, 0.0]]}, "platform": {"level_counts": [12, 41, 97, 108, 105, 47], "episodes_by_level": [[1751.0, 381.0, 51.0, 0.0], [2061.0, 427.0, 82.0, 0.0], [1583.0, 309.0, 76.0, 0.0], [1112.0, 193.0, 49.0, 0.0], [549.0, 77.0, 41.0, 0.0], [184.0, 22.0, 30.0, 0.0]]}, "slope": {"level_counts": [11, 36, 80, 84, 70, 129], "episodes_by_level": [[1598.0, 340.0, 46.0, 0.0], [1877.0, 388.0, 68.0, 0.0], [1482.0, 312.0, 39.0, 0.0], [1010.0, 207.0, 29.0, 0.0], [669.0, 144.0, 8.0, 0.0], [637.0, 104.0, 15.0, 0.0]]}, "rubble": {"level_counts": [36, 139, 220, 226, 156, 42], "episodes_by_level": [[3229.0, 730.0, 97.0, 0.0], [4406.0, 947.0, 202.0, 0.0], [3617.0, 759.0, 320.0, 0.0], [2277.0, 372.0, 335.0, 0.0], [889.0, 96.0, 174.0, 0.0], [197.0, 8.0, 54.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2392578125, "command_abs_max": [0.99872887134552, 0.3994888961315155, 0.6998581886291504]}
{"step": 30600, "actor_lr": 3.374515368838961e-05, "archive_windows": 50000, "env_steps": 30600, "total_transitions": 125337600, "num_steps_per_env": 1, "wm_loss": 0.5796562433242798, "actor_loss": -9.512289047241211, "critic_loss": 0.004039648920297623, "reward": 0.08749939501285553, "falls": 4, "interval_steps": 50, "velocity_mae": [0.112735815346241, 0.06970391422510147, 0.13330058753490448], "mean_episode_length": 1369.861111111111, "episode_reward_terms": {"track_linear_velocity": 48.761966705322266, "track_angular_velocity": 51.83004379272461, "upright": 26.31369400024414, "leg_posture": -2.588409662246704, "standstill": -6.295717239379883, "action_rate_l2": -0.5737099647521973, "joint_torques_l2": -0.14732703566551208, "dof_pos_limits": -0.0002320381172467023, "terminated": -0.010702038183808327, "unnecessary_wheel_lift": -0.09208902716636658, "rolling_leg_motion": -0.5905038714408875, "obstacle_progress": 3.790318727493286, "wheel_body_intrusion": -0.26028352975845337, "pair_body_intrusion": -0.2750298082828522}, "weighted_reward_terms": {"track_linear_velocity": 1.77981436252594, "track_angular_velocity": 1.8917993307113647, "upright": 0.9604512453079224, "leg_posture": -0.0944770872592926, "standstill": -0.2297939956188202, "action_rate_l2": -0.020940443500876427, "joint_torques_l2": -0.005377444438636303, "dof_pos_limits": -8.469402928312775e-06, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.003361254232004285, "rolling_leg_motion": -0.02155342325568199, "obstacle_progress": 0.1383468359708786, "wheel_body_intrusion": -0.009500362910330296, "pair_body_intrusion": -0.010038602165877819}, "episode_termination_rates": {"time_out": 0.5277777777777778, "fell_over": 0.006944444444444444, "course_exit": 0.4444444444444444, "illegal_nonwheel_contact": 0.020833333333333332}, "collection_time_s": 0.07541365581797436, "learning_time_s": 0.18347426014137455, "iteration_time_s": 0.3143235129763082, "policy_updates": 30300, "skipped_updates": 0, "invalid_env_resets": 158, "elapsed_s": 9618.29949707503, "nonwheel_terminations": 12893, "contact_bce": 0.2921827733516693, "contact_force_loss": 0.020484713837504387, "collision_bce": 0.00022046471713110805, "collision_label_rate": 6.115459837019444e-05, "collision_prediction_mean": 1.5012077710707672e-05, "collision_label_count": 16352.0, "terrain_level_mean": 3.873291015625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [3, 30, 54, 84, 78, 161], "episodes_by_level": [[1444.0, 315.0, 49.0, 0.0], [1802.0, 400.0, 38.0, 0.0], [1469.0, 343.0, 31.0, 0.0], [1131.0, 255.0, 20.0, 0.0], [648.0, 167.0, 16.0, 0.0], [774.0, 192.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 1, 4, 57, 375, 996], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4300.0, 1754.0, 165.0, 0.0], [4475.0, 1642.0, 196.0, 0.0], [4924.0, 1373.0, 160.0, 0.0], [4382.0, 678.0, 209.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 4, 48, 562], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [954.0, 781.0, 26.0, 0.0], [1740.0, 1402.0, 64.0, 0.0], [8123.0, 6706.0, 250.0, 0.0]]}, "platform": {"level_counts": [12, 41, 97, 108, 105, 47], "episodes_by_level": [[1751.0, 381.0, 51.0, 0.0], [2062.0, 427.0, 82.0, 0.0], [1585.0, 309.0, 76.0, 0.0], [1117.0, 193.0, 49.0, 0.0], [553.0, 77.0, 41.0, 0.0], [186.0, 22.0, 30.0, 0.0]]}, "slope": {"level_counts": [11, 36, 80, 83, 71, 129], "episodes_by_level": [[1598.0, 340.0, 46.0, 0.0], [1878.0, 388.0, 68.0, 0.0], [1482.0, 312.0, 39.0, 0.0], [1014.0, 208.0, 29.0, 0.0], [669.0, 144.0, 8.0, 0.0], [642.0, 105.0, 15.0, 0.0]]}, "rubble": {"level_counts": [36, 138, 219, 227, 156, 43], "episodes_by_level": [[3230.0, 730.0, 97.0, 0.0], [4411.0, 948.0, 202.0, 0.0], [3624.0, 761.0, 320.0, 0.0], [2283.0, 373.0, 335.0, 0.0], [895.0, 97.0, 174.0, 0.0], [198.0, 8.0, 54.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23779296875, "command_abs_max": [0.99872887134552, 0.3994888961315155, 0.6998581886291504]}
{"step": 30650, "actor_lr": 3.355756336910329e-05, "archive_windows": 50000, "env_steps": 30650, "total_transitions": 125542400, "num_steps_per_env": 1, "wm_loss": 0.6319490671157837, "actor_loss": -9.51034927368164, "critic_loss": 0.0039013251662254333, "reward": 0.0873870998620987, "falls": 3, "interval_steps": 50, "velocity_mae": [0.11399320513010025, 0.06992451846599579, 0.1341256946325302], "mean_episode_length": 1433.5725190839694, "episode_reward_terms": {"track_linear_velocity": 50.936824798583984, "track_angular_velocity": 54.20740509033203, "upright": 27.489398956298828, "leg_posture": -2.751494884490967, "standstill": -6.555953502655029, "action_rate_l2": -0.5974081158638, "joint_torques_l2": -0.15548068284988403, "dof_pos_limits": -0.0004823512281291187, "terminated": -0.008399837650358677, "unnecessary_wheel_lift": -0.0810440182685852, "rolling_leg_motion": -0.6073507070541382, "obstacle_progress": 4.033551216125488, "wheel_body_intrusion": -0.2979247570037842, "pair_body_intrusion": -0.33589285612106323}, "weighted_reward_terms": {"track_linear_velocity": 1.7765696048736572, "track_angular_velocity": 1.8906406164169312, "upright": 0.9587725400924683, "leg_posture": -0.09596636891365051, "standstill": -0.22865790128707886, "action_rate_l2": -0.02083634026348591, "joint_torques_l2": -0.005422839894890785, "dof_pos_limits": -1.682339825492818e-05, "terminated": -0.00029296870343387127, "unnecessary_wheel_lift": -0.0028266452718526125, "rolling_leg_motion": -0.021183118224143982, "obstacle_progress": 0.14068180322647095, "wheel_body_intrusion": -0.010390990413725376, "pair_body_intrusion": -0.011715237982571125}, "episode_termination_rates": {"time_out": 0.549618320610687, "fell_over": 0.0, "course_exit": 0.42748091603053434, "illegal_nonwheel_contact": 0.022900763358778626}, "collection_time_s": 0.07596329501946457, "learning_time_s": 0.1849079513794277, "iteration_time_s": 0.3142363596469168, "policy_updates": 30350, "skipped_updates": 0, "invalid_env_resets": 159, "elapsed_s": 9631.344423178001, "nonwheel_terminations": 12896, "contact_bce": 0.29378584027290344, "contact_force_loss": 0.020947379991412163, "collision_bce": 9.827016765484586e-05, "collision_label_rate": 6.116956501500681e-05, "collision_prediction_mean": 4.2787072743522e-05, "collision_label_count": 16348.0, "terrain_level_mean": 3.877685546875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [3, 30, 54, 84, 78, 161], "episodes_by_level": [[1444.0, 315.0, 49.0, 0.0], [1803.0, 400.0, 38.0, 0.0], [1470.0, 343.0, 31.0, 0.0], [1132.0, 255.0, 20.0, 0.0], [650.0, 167.0, 16.0, 0.0], [779.0, 192.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 1, 4, 56, 373, 999], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4300.0, 1754.0, 165.0, 0.0], [4476.0, 1643.0, 196.0, 0.0], [4933.0, 1376.0, 160.0, 0.0], [4401.0, 681.0, 209.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 4, 46, 564], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [954.0, 781.0, 26.0, 0.0], [1743.0, 1405.0, 64.0, 0.0], [8137.0, 6718.0, 250.0, 0.0]]}, "platform": {"level_counts": [12, 41, 97, 104, 110, 46], "episodes_by_level": [[1751.0, 381.0, 51.0, 0.0], [2063.0, 427.0, 82.0, 0.0], [1588.0, 309.0, 76.0, 0.0], [1122.0, 197.0, 49.0, 0.0], [555.0, 77.0, 41.0, 0.0], [189.0, 22.0, 31.0, 0.0]]}, "slope": {"level_counts": [11, 36, 79, 84, 69, 131], "episodes_by_level": [[1598.0, 340.0, 46.0, 0.0], [1878.0, 388.0, 68.0, 0.0], [1485.0, 313.0, 39.0, 0.0], [1016.0, 208.0, 29.0, 0.0], [673.0, 146.0, 8.0, 0.0], [646.0, 105.0, 15.0, 0.0]]}, "rubble": {"level_counts": [36, 138, 214, 233, 153, 45], "episodes_by_level": [[3231.0, 730.0, 97.0, 0.0], [4416.0, 948.0, 202.0, 0.0], [3631.0, 766.0, 320.0, 0.0], [2284.0, 373.0, 335.0, 0.0], [902.0, 99.0, 175.0, 0.0], [200.0, 8.0, 54.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.236328125, "command_abs_max": [0.99872887134552, 0.3994888961315155, 0.6998581886291504]}
{"step": 30700, "actor_lr": 3.337012371081327e-05, "archive_windows": 50000, "env_steps": 30700, "total_transitions": 125747200, "num_steps_per_env": 1, "wm_loss": 0.6104030013084412, "actor_loss": -9.526680946350098, "critic_loss": 0.004425917752087116, "reward": 0.08720013499259949, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11598951369524002, 0.06975466012954712, 0.13378548622131348], "mean_episode_length": 1330.950354609929, "episode_reward_terms": {"track_linear_velocity": 47.171451568603516, "track_angular_velocity": 50.337310791015625, "upright": 25.526153564453125, "leg_posture": -2.487994909286499, "standstill": -6.292495250701904, "action_rate_l2": -0.5547694563865662, "joint_torques_l2": -0.1430961638689041, "dof_pos_limits": -0.0006237682537175715, "terminated": -0.012997560203075409, "unnecessary_wheel_lift": -0.07831989228725433, "rolling_leg_motion": -0.5594987273216248, "obstacle_progress": 3.7100095748901367, "wheel_body_intrusion": -0.2749895453453064, "pair_body_intrusion": -0.28111597895622253}, "weighted_reward_terms": {"track_linear_velocity": 1.7720966339111328, "track_angular_velocity": 1.8910290002822876, "upright": 0.9589447379112244, "leg_posture": -0.0934668630361557, "standstill": -0.236391082406044, "action_rate_l2": -0.020841103047132492, "joint_torques_l2": -0.005375714041292667, "dof_pos_limits": -2.3433191017829813e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.0029422547668218613, "rolling_leg_motion": -0.02101876772940159, "obstacle_progress": 0.13937446475028992, "wheel_body_intrusion": -0.010330571793019772, "pair_body_intrusion": -0.010560724884271622}, "episode_termination_rates": {"time_out": 0.41134751773049644, "fell_over": 0.028368794326241134, "course_exit": 0.5531914893617021, "illegal_nonwheel_contact": 0.014184397163120567}, "collection_time_s": 0.0760142104246188, "learning_time_s": 0.1850130985956639, "iteration_time_s": 0.31414973500153054, "policy_updates": 30400, "skipped_updates": 0, "invalid_env_resets": 160, "elapsed_s": 9644.396864546987, "nonwheel_terminations": 12898, "contact_bce": 0.2942666709423065, "contact_force_loss": 0.020438509061932564, "collision_bce": 9.379848052049056e-05, "collision_label_rate": 6.123323692008853e-05, "collision_prediction_mean": 8.612395322415978e-05, "collision_label_count": 16331.0, "terrain_level_mean": 3.880126953125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [3, 29, 55, 85, 76, 162], "episodes_by_level": [[1444.0, 315.0, 49.0, 0.0], [1804.0, 401.0, 38.0, 0.0], [1472.0, 344.0, 31.0, 0.0], [1135.0, 255.0, 21.0, 0.0], [653.0, 168.0, 17.0, 0.0], [783.0, 194.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 1, 4, 56, 371, 1001], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4300.0, 1754.0, 165.0, 0.0], [4476.0, 1643.0, 196.0, 0.0], [4944.0, 1378.0, 160.0, 0.0], [4427.0, 688.0, 209.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 4, 42, 568], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [954.0, 781.0, 26.0, 0.0], [1748.0, 1409.0, 64.0, 0.0], [8158.0, 6737.0, 250.0, 0.0]]}, "platform": {"level_counts": [12, 40, 98, 104, 110, 46], "episodes_by_level": [[1751.0, 381.0, 51.0, 0.0], [2065.0, 428.0, 82.0, 0.0], [1590.0, 309.0, 76.0, 0.0], [1123.0, 197.0, 49.0, 0.0], [559.0, 77.0, 41.0, 0.0], [190.0, 22.0, 31.0, 0.0]]}, "slope": {"level_counts": [11, 36, 78, 86, 67, 132], "episodes_by_level": [[1598.0, 340.0, 46.0, 0.0], [1880.0, 388.0, 68.0, 0.0], [1486.0, 314.0, 39.0, 0.0], [1016.0, 208.0, 29.0, 0.0], [677.0, 147.0, 9.0, 0.0], [650.0, 106.0, 15.0, 0.0]]}, "rubble": {"level_counts": [36, 136, 217, 232, 153, 45], "episodes_by_level": [[3233.0, 730.0, 97.0, 0.0], [4419.0, 950.0, 202.0, 0.0], [3637.0, 766.0, 320.0, 0.0], [2291.0, 374.0, 336.0, 0.0], [905.0, 99.0, 176.0, 0.0], [200.0, 8.0, 54.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.233642578125, "command_abs_max": [0.9985202550888062, 0.3994888961315155, 0.6998581886291504]}
{"step": 30750, "actor_lr": 3.31828462756806e-05, "archive_windows": 50000, "env_steps": 30750, "total_transitions": 125952000, "num_steps_per_env": 1, "wm_loss": 0.6130557060241699, "actor_loss": -9.537637710571289, "critic_loss": 0.0035791031550616026, "reward": 0.08752266317605972, "falls": 4, "interval_steps": 50, "velocity_mae": [0.1140630915760994, 0.06940745562314987, 0.13289868831634521], "mean_episode_length": 1443.55421686747, "episode_reward_terms": {"track_linear_velocity": 51.297332763671875, "track_angular_velocity": 54.6297607421875, "upright": 27.718019485473633, "leg_posture": -2.694296360015869, "standstill": -6.460763454437256, "action_rate_l2": -0.5994689464569092, "joint_torques_l2": -0.15425492823123932, "dof_pos_limits": -0.0005522596766240895, "terminated": -0.011277765035629272, "unnecessary_wheel_lift": -0.09394612908363342, "rolling_leg_motion": -0.6190075874328613, "obstacle_progress": 3.952622652053833, "wheel_body_intrusion": -0.2852459251880646, "pair_body_intrusion": -0.3352014124393463}, "weighted_reward_terms": {"track_linear_velocity": 1.7767720222473145, "track_angular_velocity": 1.8921964168548584, "upright": 0.9600616097450256, "leg_posture": -0.09332162886857986, "standstill": -0.22377973794937134, "action_rate_l2": -0.020763646811246872, "joint_torques_l2": -0.005342886783182621, "dof_pos_limits": -1.9128470739815384e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.0032539868261665106, "rolling_leg_motion": -0.021440399810671806, "obstacle_progress": 0.13690593838691711, "wheel_body_intrusion": -0.009879986755549908, "pair_body_intrusion": -0.011610281653702259}, "episode_termination_rates": {"time_out": 0.5662650602409639, "fell_over": 0.012048192771084338, "course_exit": 0.40963855421686746, "illegal_nonwheel_contact": 0.012048192771084338}, "collection_time_s": 0.07631284637376666, "learning_time_s": 0.18391680260072463, "iteration_time_s": 0.314062095101724, "policy_updates": 30450, "skipped_updates": 0, "invalid_env_resets": 162, "elapsed_s": 9657.409424378013, "nonwheel_terminations": 12900, "contact_bce": 0.29175812005996704, "contact_force_loss": 0.020242612808942795, "collision_bce": 0.00034779575071297586, "collision_label_rate": 0.00012224938836880028, "collision_prediction_mean": 3.1310006306739524e-05, "collision_label_count": 16360.0, "terrain_level_mean": 3.883544921875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [3, 28, 55, 86, 76, 162], "episodes_by_level": [[1445.0, 315.0, 49.0, 0.0], [1807.0, 402.0, 38.0, 0.0], [1474.0, 345.0, 31.0, 0.0], [1140.0, 255.0, 21.0, 0.0], [653.0, 168.0, 17.0, 0.0], [791.0, 194.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 1, 4, 56, 371, 1001], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4300.0, 1754.0, 165.0, 0.0], [4476.0, 1643.0, 196.0, 0.0], [4953.0, 1379.0, 160.0, 0.0], [4456.0, 695.0, 209.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 4, 41, 569], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [954.0, 781.0, 26.0, 0.0], [1750.0, 1411.0, 64.0, 0.0], [8173.0, 6750.0, 251.0, 0.0]]}, "platform": {"level_counts": [12, 40, 97, 105, 110, 46], "episodes_by_level": [[1753.0, 381.0, 51.0, 0.0], [2065.0, 428.0, 82.0, 0.0], [1591.0, 310.0, 76.0, 0.0], [1125.0, 197.0, 49.0, 0.0], [561.0, 77.0, 41.0, 0.0], [191.0, 22.0, 31.0, 0.0]]}, "slope": {"level_counts": [11, 36, 78, 85, 67, 133], "episodes_by_level": [[1598.0, 340.0, 46.0, 0.0], [1882.0, 388.0, 68.0, 0.0], [1488.0, 314.0, 39.0, 0.0], [1019.0, 209.0, 29.0, 0.0], [681.0, 148.0, 9.0, 0.0], [653.0, 106.0, 15.0, 0.0]]}, "rubble": {"level_counts": [34, 137, 215, 233, 155, 45], "episodes_by_level": [[3236.0, 732.0, 97.0, 0.0], [4422.0, 951.0, 202.0, 0.0], [3647.0, 770.0, 320.0, 0.0], [2305.0, 377.0, 337.0, 0.0], [915.0, 99.0, 177.0, 0.0], [201.0, 8.0, 54.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22900390625, "command_abs_max": [0.9985202550888062, 0.3995867073535919, 0.6998581886291504]}
{"step": 30800, "actor_lr": 3.2995742615859605e-05, "archive_windows": 50000, "env_steps": 30800, "total_transitions": 126156800, "num_steps_per_env": 1, "wm_loss": 0.61913001537323, "actor_loss": -9.496792793273926, "critic_loss": 0.005806424655020237, "reward": 0.08718464523553848, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11326038837432861, 0.06946328282356262, 0.131292924284935], "mean_episode_length": 1370.2694610778442, "episode_reward_terms": {"track_linear_velocity": 48.7254638671875, "track_angular_velocity": 51.91813659667969, "upright": 26.30803108215332, "leg_posture": -2.5919857025146484, "standstill": -6.588165283203125, "action_rate_l2": -0.5567054748535156, "joint_torques_l2": -0.14714451134204865, "dof_pos_limits": -0.0009549267124384642, "terminated": -0.0267630722373724, "unnecessary_wheel_lift": -0.08711814135313034, "rolling_leg_motion": -0.582730233669281, "obstacle_progress": 3.6772267818450928, "wheel_body_intrusion": -0.2781102657318115, "pair_body_intrusion": -0.30273640155792236}, "weighted_reward_terms": {"track_linear_velocity": 1.7779520750045776, "track_angular_velocity": 1.894450068473816, "upright": 0.9599583148956299, "leg_posture": -0.09457942098379135, "standstill": -0.24039672315120697, "action_rate_l2": -0.020313724875450134, "joint_torques_l2": -0.005369182210415602, "dof_pos_limits": -3.4844488254748285e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.00317886914126575, "rolling_leg_motion": -0.021263346076011658, "obstacle_progress": 0.1341789811849594, "wheel_body_intrusion": -0.01014801487326622, "pair_body_intrusion": -0.01104660239070654}, "episode_termination_rates": {"time_out": 0.47305389221556887, "fell_over": 0.017964071856287425, "course_exit": 0.46706586826347307, "illegal_nonwheel_contact": 0.04790419161676647}, "collection_time_s": 0.07566578504047357, "learning_time_s": 0.1829594010359142, "iteration_time_s": 0.31397213611522745, "policy_updates": 30500, "skipped_updates": 0, "invalid_env_resets": 162, "elapsed_s": 9670.341792349005, "nonwheel_terminations": 12908, "contact_bce": 0.2977653443813324, "contact_force_loss": 0.020972300320863724, "collision_bce": 0.0006078306469134986, "collision_label_rate": 0.00012257906200829893, "collision_prediction_mean": 8.237831207225099e-05, "collision_label_count": 16316.0, "terrain_level_mean": 3.885986328125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [3, 28, 55, 85, 77, 162], "episodes_by_level": [[1445.0, 315.0, 49.0, 0.0], [1810.0, 402.0, 38.0, 0.0], [1475.0, 345.0, 31.0, 0.0], [1143.0, 256.0, 21.0, 0.0], [658.0, 168.0, 17.0, 0.0], [800.0, 198.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 1, 4, 56, 373, 999], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4300.0, 1754.0, 165.0, 0.0], [4476.0, 1643.0, 196.0, 0.0], [4960.0, 1380.0, 160.0, 0.0], [4491.0, 699.0, 210.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 4, 38, 572], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [954.0, 781.0, 26.0, 0.0], [1753.0, 1414.0, 64.0, 0.0], [8191.0, 6766.0, 251.0, 0.0]]}, "platform": {"level_counts": [13, 39, 98, 104, 110, 46], "episodes_by_level": [[1754.0, 381.0, 51.0, 0.0], [2066.0, 428.0, 83.0, 0.0], [1593.0, 310.0, 76.0, 0.0], [1129.0, 197.0, 50.0, 0.0], [562.0, 77.0, 41.0, 0.0], [192.0, 22.0, 31.0, 0.0]]}, "slope": {"level_counts": [11, 36, 76, 87, 66, 134], "episodes_by_level": [[1598.0, 340.0, 46.0, 0.0], [1882.0, 388.0, 68.0, 0.0], [1491.0, 316.0, 39.0, 0.0], [1019.0, 209.0, 29.0, 0.0], [683.0, 149.0, 9.0, 0.0], [661.0, 108.0, 15.0, 0.0]]}, "rubble": {"level_counts": [32, 138, 213, 237, 152, 47], "episodes_by_level": [[3238.0, 734.0, 97.0, 0.0], [4427.0, 953.0, 202.0, 0.0], [3657.0, 773.0, 321.0, 0.0], [2316.0, 379.0, 337.0, 0.0], [925.0, 101.0, 180.0, 0.0], [202.0, 9.0, 54.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.232666015625, "command_abs_max": [0.9985202550888062, 0.3995867073535919, 0.6993729472160339]}
{"step": 30850, "actor_lr": 3.28088242727854e-05, "archive_windows": 50000, "env_steps": 30850, "total_transitions": 126361600, "num_steps_per_env": 1, "wm_loss": 0.6265903115272522, "actor_loss": -9.533720016479492, "critic_loss": 0.0036960968282073736, "reward": 0.08707255125045776, "falls": 15, "interval_steps": 50, "velocity_mae": [0.11458583921194077, 0.0699806809425354, 0.13161319494247437], "mean_episode_length": 1357.4736842105262, "episode_reward_terms": {"track_linear_velocity": 48.187957763671875, "track_angular_velocity": 51.40369415283203, "upright": 26.04808807373047, "leg_posture": -2.551180601119995, "standstill": -6.518603324890137, "action_rate_l2": -0.5779957175254822, "joint_torques_l2": -0.14544285833835602, "dof_pos_limits": -0.0008612559176981449, "terminated": -0.0397697277367115, "unnecessary_wheel_lift": -0.10435900092124939, "rolling_leg_motion": -0.6043827533721924, "obstacle_progress": 3.643181085586548, "wheel_body_intrusion": -0.25210049748420715, "pair_body_intrusion": -0.289544016122818}, "weighted_reward_terms": {"track_linear_velocity": 1.7749133110046387, "track_angular_velocity": 1.893358826637268, "upright": 0.9594326019287109, "leg_posture": -0.093967966735363, "standstill": -0.24010054767131805, "action_rate_l2": -0.021289391443133354, "joint_torques_l2": -0.005357115529477596, "dof_pos_limits": -3.172274955431931e-05, "terminated": -0.0014648435171693563, "unnecessary_wheel_lift": -0.0038438683841377497, "rolling_leg_motion": -0.022261308506131172, "obstacle_progress": 0.13418975472450256, "wheel_body_intrusion": -0.009285650216042995, "pair_body_intrusion": -0.010664812289178371}, "episode_termination_rates": {"time_out": 0.47368421052631576, "fell_over": 0.04678362573099415, "course_exit": 0.43859649122807015, "illegal_nonwheel_contact": 0.06432748538011696}, "collection_time_s": 0.07567589162616059, "learning_time_s": 0.18446995561593213, "iteration_time_s": 0.31388493191824984, "policy_updates": 30550, "skipped_updates": 0, "invalid_env_resets": 162, "elapsed_s": 9683.350149678008, "nonwheel_terminations": 12919, "contact_bce": 0.2924734055995941, "contact_force_loss": 0.020678043365478516, "collision_bce": 0.0002149759093299508, "collision_label_rate": 6.11807918176055e-05, "collision_prediction_mean": 1.5239620552165434e-05, "collision_label_count": 16345.0, "terrain_level_mean": 3.887451171875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [3, 28, 55, 84, 76, 164], "episodes_by_level": [[1445.0, 315.0, 49.0, 0.0], [1811.0, 402.0, 38.0, 0.0], [1475.0, 345.0, 31.0, 0.0], [1145.0, 257.0, 21.0, 0.0], [662.0, 170.0, 17.0, 0.0], [805.0, 199.0, 6.0, 0.0]]}, "up": {"level_counts": [0, 1, 4, 57, 374, 997], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4300.0, 1754.0, 165.0, 0.0], [4479.0, 1643.0, 196.0, 0.0], [4968.0, 1383.0, 161.0, 0.0], [4528.0, 705.0, 213.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 5, 38, 571], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [954.0, 781.0, 26.0, 0.0], [1756.0, 1417.0, 64.0, 0.0], [8209.0, 6782.0, 252.0, 0.0]]}, "platform": {"level_counts": [13, 40, 97, 104, 108, 48], "episodes_by_level": [[1754.0, 381.0, 51.0, 0.0], [2068.0, 428.0, 83.0, 0.0], [1597.0, 310.0, 77.0, 0.0], [1131.0, 197.0, 50.0, 0.0], [569.0, 79.0, 41.0, 0.0], [193.0, 22.0, 31.0, 0.0]]}, "slope": {"level_counts": [11, 35, 76, 87, 66, 135], "episodes_by_level": [[1599.0, 340.0, 46.0, 0.0], [1885.0, 389.0, 68.0, 0.0], [1497.0, 317.0, 39.0, 0.0], [1023.0, 210.0, 29.0, 0.0], [685.0, 150.0, 9.0, 0.0], [663.0, 108.0, 15.0, 0.0]]}, "rubble": {"level_counts": [31, 139, 213, 235, 154, 47], "episodes_by_level": [[3241.0, 735.0, 97.0, 0.0], [4430.0, 954.0, 202.0, 0.0], [3663.0, 774.0, 322.0, 0.0], [2325.0, 381.0, 338.0, 0.0], [929.0, 102.0, 180.0, 0.0], [204.0, 9.0, 55.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.235107421875, "command_abs_max": [0.9972957968711853, 0.3995867073535919, 0.6992522478103638]}
{"step": 30900, "actor_lr": 3.2622102776461814e-05, "archive_windows": 50000, "env_steps": 30900, "total_transitions": 126566400, "num_steps_per_env": 1, "wm_loss": 0.6296603083610535, "actor_loss": -9.514223098754883, "critic_loss": 0.004540454596281052, "reward": 0.08741052448749542, "falls": 14, "interval_steps": 50, "velocity_mae": [0.1111968383193016, 0.06968270242214203, 0.13151533901691437], "mean_episode_length": 1333.2256097560976, "episode_reward_terms": {"track_linear_velocity": 47.544960021972656, "track_angular_velocity": 50.5008659362793, "upright": 25.615285873413086, "leg_posture": -2.5274648666381836, "standstill": -6.152227878570557, "action_rate_l2": -0.5566344857215881, "joint_torques_l2": -0.14393554627895355, "dof_pos_limits": -0.001047894125804305, "terminated": -0.03645538166165352, "unnecessary_wheel_lift": -0.09818641096353531, "rolling_leg_motion": -0.5978190898895264, "obstacle_progress": 3.5696310997009277, "wheel_body_intrusion": -0.2631571292877197, "pair_body_intrusion": -0.315860390663147}, "weighted_reward_terms": {"track_linear_velocity": 1.783079981803894, "track_angular_velocity": 1.8939355611801147, "upright": 0.9606508612632751, "leg_posture": -0.09478759765625, "standstill": -0.2307271957397461, "action_rate_l2": -0.0208754800260067, "joint_torques_l2": -0.005398019216954708, "dof_pos_limits": -3.9299207855947316e-05, "terminated": -0.0013671873603016138, "unnecessary_wheel_lift": -0.00368228810839355, "rolling_leg_motion": -0.02242002822458744, "obstacle_progress": 0.13387198746204376, "wheel_body_intrusion": -0.00986918993294239, "pair_body_intrusion": -0.011845721863210201}, "episode_termination_rates": {"time_out": 0.4695121951219512, "fell_over": 0.036585365853658534, "course_exit": 0.4451219512195122, "illegal_nonwheel_contact": 0.06097560975609756}, "collection_time_s": 0.07575805431813933, "learning_time_s": 0.18532939336495474, "iteration_time_s": 0.3137995337941748, "policy_updates": 30600, "skipped_updates": 0, "invalid_env_resets": 162, "elapsed_s": 9696.405594240001, "nonwheel_terminations": 12929, "contact_bce": 0.29338738322257996, "contact_force_loss": 0.02051571197807789, "collision_bce": 1.9598503058659844e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.951029298652429e-05, "collision_label_count": 16340.0, "terrain_level_mean": 3.887939453125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [3, 28, 55, 83, 76, 165], "episodes_by_level": [[1445.0, 315.0, 49.0, 0.0], [1811.0, 402.0, 38.0, 0.0], [1476.0, 345.0, 31.0, 0.0], [1147.0, 258.0, 21.0, 0.0], [666.0, 172.0, 17.0, 0.0], [813.0, 199.0, 7.0, 0.0]]}, "up": {"level_counts": [0, 1, 4, 56, 377, 995], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4300.0, 1754.0, 165.0, 0.0], [4481.0, 1645.0, 196.0, 0.0], [4978.0, 1385.0, 161.0, 0.0], [4549.0, 708.0, 214.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 5, 41, 568], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [954.0, 781.0, 26.0, 0.0], [1757.0, 1418.0, 64.0, 0.0], [8236.0, 6806.0, 252.0, 0.0]]}, "platform": {"level_counts": [13, 40, 96, 104, 108, 49], "episodes_by_level": [[1754.0, 381.0, 51.0, 0.0], [2069.0, 428.0, 83.0, 0.0], [1600.0, 311.0, 77.0, 0.0], [1133.0, 198.0, 50.0, 0.0], [571.0, 80.0, 41.0, 0.0], [195.0, 22.0, 31.0, 0.0]]}, "slope": {"level_counts": [11, 35, 76, 87, 66, 135], "episodes_by_level": [[1599.0, 340.0, 46.0, 0.0], [1887.0, 389.0, 68.0, 0.0], [1499.0, 317.0, 39.0, 0.0], [1023.0, 210.0, 29.0, 0.0], [687.0, 150.0, 9.0, 0.0], [666.0, 109.0, 15.0, 0.0]]}, "rubble": {"level_counts": [31, 137, 216, 235, 152, 48], "episodes_by_level": [[3241.0, 735.0, 97.0, 0.0], [4434.0, 956.0, 202.0, 0.0], [3673.0, 775.0, 322.0, 0.0], [2334.0, 382.0, 340.0, 0.0], [937.0, 103.0, 182.0, 0.0], [206.0, 9.0, 55.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.239990234375, "command_abs_max": [0.9995611906051636, 0.3994888961315155, 0.6992522478103638]}
{"step": 30950, "actor_lr": 3.243558964475029e-05, "archive_windows": 50000, "env_steps": 30950, "total_transitions": 126771200, "num_steps_per_env": 1, "wm_loss": 0.6052199602127075, "actor_loss": -9.508421897888184, "critic_loss": 0.005024371203035116, "reward": 0.08769006282091141, "falls": 6, "interval_steps": 50, "velocity_mae": [0.1106359139084816, 0.06891462951898575, 0.1304679960012436], "mean_episode_length": 1336.359375, "episode_reward_terms": {"track_linear_velocity": 47.732627868652344, "track_angular_velocity": 50.67763137817383, "upright": 25.655433654785156, "leg_posture": -2.544173240661621, "standstill": -6.051374912261963, "action_rate_l2": -0.5564533472061157, "joint_torques_l2": -0.14449813961982727, "dof_pos_limits": -0.0004705055325757712, "terminated": -0.01566046103835106, "unnecessary_wheel_lift": -0.08202560991048813, "rolling_leg_motion": -0.5852655172348022, "obstacle_progress": 3.655177116394043, "wheel_body_intrusion": -0.2683800458908081, "pair_body_intrusion": -0.2871195673942566}, "weighted_reward_terms": {"track_linear_velocity": 1.78592050075531, "track_angular_velocity": 1.8961079120635986, "upright": 0.9599002599716187, "leg_posture": -0.09519045799970627, "standstill": -0.22641272842884064, "action_rate_l2": -0.02081974968314171, "joint_torques_l2": -0.0054064104333519936, "dof_pos_limits": -1.760400482453406e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.0030689951963722706, "rolling_leg_motion": -0.021897759288549423, "obstacle_progress": 0.13675875961780548, "wheel_body_intrusion": -0.010041462257504463, "pair_body_intrusion": -0.010742602869868279}, "episode_termination_rates": {"time_out": 0.4296875, "fell_over": 0.0234375, "course_exit": 0.5234375, "illegal_nonwheel_contact": 0.03125}, "collection_time_s": 0.07566090225591324, "learning_time_s": 0.18380011258414014, "iteration_time_s": 0.3137117839758326, "policy_updates": 30650, "skipped_updates": 0, "invalid_env_resets": 162, "elapsed_s": 9709.379714052018, "nonwheel_terminations": 12933, "contact_bce": 0.29446083307266235, "contact_force_loss": 0.020171329379081726, "collision_bce": 0.0001771593961166218, "collision_label_rate": 0.0001224814768647775, "collision_prediction_mean": 9.845434396993369e-05, "collision_label_count": 16329.0, "terrain_level_mean": 3.8916015625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [3, 28, 54, 84, 75, 166], "episodes_by_level": [[1445.0, 315.0, 49.0, 0.0], [1811.0, 402.0, 38.0, 0.0], [1477.0, 346.0, 31.0, 0.0], [1149.0, 258.0, 21.0, 0.0], [669.0, 173.0, 17.0, 0.0], [817.0, 200.0, 7.0, 0.0]]}, "up": {"level_counts": [0, 1, 3, 57, 371, 1001], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4301.0, 1755.0, 165.0, 0.0], [4481.0, 1645.0, 196.0, 0.0], [4991.0, 1391.0, 161.0, 0.0], [4573.0, 715.0, 214.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 5, 41, 568], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [954.0, 781.0, 26.0, 0.0], [1758.0, 1419.0, 64.0, 0.0], [8255.0, 6822.0, 252.0, 0.0]]}, "platform": {"level_counts": [13, 40, 93, 108, 107, 49], "episodes_by_level": [[1754.0, 381.0, 51.0, 0.0], [2069.0, 428.0, 83.0, 0.0], [1604.0, 314.0, 77.0, 0.0], [1135.0, 198.0, 50.0, 0.0], [574.0, 80.0, 42.0, 0.0], [195.0, 22.0, 31.0, 0.0]]}, "slope": {"level_counts": [11, 35, 74, 89, 66, 135], "episodes_by_level": [[1599.0, 340.0, 46.0, 0.0], [1888.0, 389.0, 68.0, 0.0], [1501.0, 319.0, 39.0, 0.0], [1023.0, 210.0, 29.0, 0.0], [690.0, 150.0, 9.0, 0.0], [671.0, 110.0, 15.0, 0.0]]}, "rubble": {"level_counts": [32, 136, 214, 238, 149, 50], "episodes_by_level": [[3242.0, 735.0, 97.0, 0.0], [4438.0, 956.0, 203.0, 0.0], [3681.0, 777.0, 322.0, 0.0], [2341.0, 384.0, 340.0, 0.0], [943.0, 105.0, 185.0, 0.0], [207.0, 9.0, 55.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.240966796875, "command_abs_max": [0.9995611906051636, 0.3998434543609619, 0.6992522478103638]}
{"step": 31000, "actor_lr": 3.224929638265936e-05, "archive_windows": 50000, "env_steps": 31000, "total_transitions": 126976000, "num_steps_per_env": 1, "wm_loss": 0.6175224184989929, "actor_loss": -9.517675399780273, "critic_loss": 0.00495592225342989, "reward": 0.08740276098251343, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11368729174137115, 0.07072696834802628, 0.13153167068958282], "mean_episode_length": 1335.787234042553, "episode_reward_terms": {"track_linear_velocity": 47.45243453979492, "track_angular_velocity": 50.627601623535156, "upright": 25.607057571411133, "leg_posture": -2.52765154838562, "standstill": -6.168895721435547, "action_rate_l2": -0.5635117888450623, "joint_torques_l2": -0.14469844102859497, "dof_pos_limits": -0.0007801213068887591, "terminated": -0.023480631411075592, "unnecessary_wheel_lift": -0.08236658573150635, "rolling_leg_motion": -0.5710430145263672, "obstacle_progress": 3.6894381046295166, "wheel_body_intrusion": -0.25499317049980164, "pair_body_intrusion": -0.2876072824001312}, "weighted_reward_terms": {"track_linear_velocity": 1.7761974334716797, "track_angular_velocity": 1.8950474262237549, "upright": 0.9585006237030029, "leg_posture": -0.09461280703544617, "standstill": -0.23090863227844238, "action_rate_l2": -0.021092873066663742, "joint_torques_l2": -0.005416223779320717, "dof_pos_limits": -2.9200808057794347e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.0030830728355795145, "rolling_leg_motion": -0.0213747750967741, "obstacle_progress": 0.1380997747182846, "wheel_body_intrusion": -0.009544678032398224, "pair_body_intrusion": -0.010765460319817066}, "episode_termination_rates": {"time_out": 0.46099290780141844, "fell_over": 0.03546099290780142, "course_exit": 0.475177304964539, "illegal_nonwheel_contact": 0.028368794326241134}, "collection_time_s": 0.07566604471532629, "learning_time_s": 0.1923843064950779, "iteration_time_s": 0.31363817148325746, "policy_updates": 30700, "skipped_updates": 0, "invalid_env_resets": 162, "elapsed_s": 9722.783315980982, "nonwheel_terminations": 12937, "contact_bce": 0.2871485948562622, "contact_force_loss": 0.019918527454137802, "collision_bce": 0.00048032504855655134, "collision_label_rate": 0.00012248897110112011, "collision_prediction_mean": 8.669649105286226e-05, "collision_label_count": 16328.0, "terrain_level_mean": 3.892578125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [3, 28, 54, 83, 76, 166], "episodes_by_level": [[1445.0, 315.0, 49.0, 0.0], [1812.0, 402.0, 38.0, 0.0], [1478.0, 346.0, 31.0, 0.0], [1152.0, 259.0, 21.0, 0.0], [672.0, 173.0, 17.0, 0.0], [822.0, 200.0, 7.0, 0.0]]}, "up": {"level_counts": [0, 1, 3, 57, 371, 1001], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4301.0, 1755.0, 165.0, 0.0], [4482.0, 1645.0, 196.0, 0.0], [5000.0, 1394.0, 161.0, 0.0], [4595.0, 719.0, 215.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 4, 45, 565], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [955.0, 782.0, 26.0, 0.0], [1758.0, 1419.0, 64.0, 0.0], [8275.0, 6842.0, 252.0, 0.0]]}, "platform": {"level_counts": [13, 40, 93, 107, 108, 49], "episodes_by_level": [[1755.0, 381.0, 51.0, 0.0], [2070.0, 429.0, 83.0, 0.0], [1610.0, 314.0, 78.0, 0.0], [1138.0, 199.0, 50.0, 0.0], [578.0, 80.0, 42.0, 0.0], [197.0, 22.0, 31.0, 0.0]]}, "slope": {"level_counts": [11, 35, 74, 88, 67, 135], "episodes_by_level": [[1599.0, 340.0, 46.0, 0.0], [1889.0, 389.0, 68.0, 0.0], [1502.0, 319.0, 39.0, 0.0], [1024.0, 211.0, 29.0, 0.0], [691.0, 150.0, 9.0, 0.0], [677.0, 112.0, 15.0, 0.0]]}, "rubble": {"level_counts": [31, 138, 210, 241, 149, 50], "episodes_by_level": [[3243.0, 736.0, 97.0, 0.0], [4442.0, 956.0, 203.0, 0.0], [3688.0, 780.0, 323.0, 0.0], [2349.0, 384.0, 340.0, 0.0], [946.0, 106.0, 185.0, 0.0], [209.0, 9.0, 56.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.240234375, "command_abs_max": [0.9995611906051636, 0.3998434543609619, 0.6992522478103638]}
{"step": 31050, "actor_lr": 3.206323448163494e-05, "archive_windows": 50000, "env_steps": 31050, "total_transitions": 127180800, "num_steps_per_env": 1, "wm_loss": 0.6084731221199036, "actor_loss": -9.512627601623535, "critic_loss": 0.005922773852944374, "reward": 0.08731361478567123, "falls": 4, "interval_steps": 50, "velocity_mae": [0.11385557800531387, 0.07201690971851349, 0.13236485421657562], "mean_episode_length": 1338.4161073825503, "episode_reward_terms": {"track_linear_velocity": 47.45058059692383, "track_angular_velocity": 50.680023193359375, "upright": 25.605791091918945, "leg_posture": -2.531360387802124, "standstill": -6.052000045776367, "action_rate_l2": -0.5688954591751099, "joint_torques_l2": -0.14383792877197266, "dof_pos_limits": -0.000570222910027951, "terminated": -0.010456373915076256, "unnecessary_wheel_lift": -0.08313718438148499, "rolling_leg_motion": -0.5729792714118958, "obstacle_progress": 3.6156229972839355, "wheel_body_intrusion": -0.23964940011501312, "pair_body_intrusion": -0.28718939423561096}, "weighted_reward_terms": {"track_linear_velocity": 1.7726393938064575, "track_angular_velocity": 1.893283486366272, "upright": 0.9565706253051758, "leg_posture": -0.09456552565097809, "standstill": -0.22608813643455505, "action_rate_l2": -0.02125256322324276, "joint_torques_l2": -0.0053734383545815945, "dof_pos_limits": -2.1302153982105665e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.0031058047898113728, "rolling_leg_motion": -0.02140512503683567, "obstacle_progress": 0.13507096469402313, "wheel_body_intrusion": -0.008952723816037178, "pair_body_intrusion": -0.010728703811764717}, "episode_termination_rates": {"time_out": 0.4161073825503356, "fell_over": 0.013422818791946308, "course_exit": 0.5570469798657718, "illegal_nonwheel_contact": 0.013422818791946308}, "collection_time_s": 0.07577292186208069, "learning_time_s": 0.18485702824196779, "iteration_time_s": 0.313553690237262, "policy_updates": 30750, "skipped_updates": 0, "invalid_env_resets": 162, "elapsed_s": 9735.842081866984, "nonwheel_terminations": 12939, "contact_bce": 0.2934807538986206, "contact_force_loss": 0.020887069404125214, "collision_bce": 6.807885802118108e-05, "collision_label_rate": 6.115085852798074e-05, "collision_prediction_mean": 9.413281077286229e-05, "collision_label_count": 16353.0, "terrain_level_mean": 3.89501953125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [3, 28, 52, 85, 74, 168], "episodes_by_level": [[1445.0, 315.0, 49.0, 0.0], [1815.0, 402.0, 38.0, 0.0], [1481.0, 348.0, 31.0, 0.0], [1153.0, 259.0, 21.0, 0.0], [675.0, 175.0, 17.0, 0.0], [827.0, 203.0, 7.0, 0.0]]}, "up": {"level_counts": [0, 1, 3, 57, 371, 1001], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4301.0, 1755.0, 165.0, 0.0], [4482.0, 1645.0, 196.0, 0.0], [5017.0, 1395.0, 161.0, 0.0], [4615.0, 722.0, 216.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 4, 46, 564], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [955.0, 782.0, 26.0, 0.0], [1758.0, 1419.0, 64.0, 0.0], [8301.0, 6866.0, 252.0, 0.0]]}, "platform": {"level_counts": [13, 40, 92, 107, 107, 51], "episodes_by_level": [[1755.0, 381.0, 51.0, 0.0], [2071.0, 429.0, 83.0, 0.0], [1614.0, 315.0, 78.0, 0.0], [1145.0, 200.0, 50.0, 0.0], [583.0, 82.0, 42.0, 0.0], [198.0, 22.0, 31.0, 0.0]]}, "slope": {"level_counts": [11, 35, 74, 88, 66, 136], "episodes_by_level": [[1599.0, 340.0, 46.0, 0.0], [1890.0, 389.0, 68.0, 0.0], [1505.0, 319.0, 39.0, 0.0], [1028.0, 211.0, 29.0, 0.0], [695.0, 151.0, 9.0, 0.0], [680.0, 112.0, 15.0, 0.0]]}, "rubble": {"level_counts": [30, 139, 209, 241, 151, 49], "episodes_by_level": [[3245.0, 737.0, 97.0, 0.0], [4444.0, 956.0, 203.0, 0.0], [3695.0, 782.0, 323.0, 0.0], [2357.0, 385.0, 341.0, 0.0], [947.0, 106.0, 185.0, 0.0], [210.0, 9.0, 57.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.243896484375, "command_abs_max": [0.9995611906051636, 0.3994888961315155, 0.6992522478103638]}
{"step": 31100, "actor_lr": 3.1877415418851506e-05, "archive_windows": 50000, "env_steps": 31100, "total_transitions": 127385600, "num_steps_per_env": 1, "wm_loss": 0.6000041365623474, "actor_loss": -9.495849609375, "critic_loss": 0.0036589193623512983, "reward": 0.087290458381176, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11498729139566422, 0.0727401003241539, 0.13308027386665344], "mean_episode_length": 1370.3809523809523, "episode_reward_terms": {"track_linear_velocity": 48.5065803527832, "track_angular_velocity": 51.86296081542969, "upright": 26.213380813598633, "leg_posture": -2.5678720474243164, "standstill": -6.100316524505615, "action_rate_l2": -0.5739782452583313, "joint_torques_l2": -0.14718469977378845, "dof_pos_limits": -0.0008155167452059686, "terminated": -0.02141219936311245, "unnecessary_wheel_lift": -0.08193124830722809, "rolling_leg_motion": -0.5778371691703796, "obstacle_progress": 3.6343882083892822, "wheel_body_intrusion": -0.2369944006204605, "pair_body_intrusion": -0.28780436515808105}, "weighted_reward_terms": {"track_linear_velocity": 1.7698209285736084, "track_angular_velocity": 1.8922827243804932, "upright": 0.956426739692688, "leg_posture": -0.09369190782308578, "standstill": -0.22257739305496216, "action_rate_l2": -0.020942287519574165, "joint_torques_l2": -0.005370211321860552, "dof_pos_limits": -2.975511051772628e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0029893601313233376, "rolling_leg_motion": -0.021083084866404533, "obstacle_progress": 0.13260503113269806, "wheel_body_intrusion": -0.008647026494145393, "pair_body_intrusion": -0.010500888340175152}, "episode_termination_rates": {"time_out": 0.5034013605442177, "fell_over": 0.04081632653061224, "course_exit": 0.4421768707482993, "illegal_nonwheel_contact": 0.013605442176870748}, "collection_time_s": 0.07560005718260072, "learning_time_s": 0.18516981874126942, "iteration_time_s": 0.31346886515778144, "policy_updates": 30800, "skipped_updates": 0, "invalid_env_resets": 162, "elapsed_s": 9748.881706407003, "nonwheel_terminations": 12941, "contact_bce": 0.29316896200180054, "contact_force_loss": 0.02047424204647541, "collision_bce": 6.356889207381755e-05, "collision_label_rate": 6.119576573837548e-05, "collision_prediction_mean": 6.85081395204179e-05, "collision_label_count": 16341.0, "terrain_level_mean": 3.8974609375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [3, 28, 52, 84, 75, 168], "episodes_by_level": [[1445.0, 315.0, 49.0, 0.0], [1815.0, 402.0, 38.0, 0.0], [1482.0, 348.0, 31.0, 0.0], [1156.0, 260.0, 21.0, 0.0], [676.0, 175.0, 17.0, 0.0], [830.0, 204.0, 7.0, 0.0]]}, "up": {"level_counts": [0, 1, 3, 55, 371, 1003], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2400.0, 1466.0, 37.0, 0.0], [4301.0, 1755.0, 165.0, 0.0], [4487.0, 1647.0, 196.0, 0.0], [5027.0, 1399.0, 161.0, 0.0], [4643.0, 731.0, 216.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 51, 560], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [955.0, 782.0, 26.0, 0.0], [1758.0, 1419.0, 64.0, 0.0], [8313.0, 6876.0, 252.0, 0.0]]}, "platform": {"level_counts": [13, 40, 92, 105, 109, 51], "episodes_by_level": [[1755.0, 381.0, 51.0, 0.0], [2071.0, 429.0, 83.0, 0.0], [1616.0, 315.0, 78.0, 0.0], [1151.0, 202.0, 50.0, 0.0], [587.0, 82.0, 42.0, 0.0], [200.0, 22.0, 31.0, 0.0]]}, "slope": {"level_counts": [11, 34, 75, 86, 66, 138], "episodes_by_level": [[1600.0, 340.0, 46.0, 0.0], [1891.0, 390.0, 68.0, 0.0], [1507.0, 319.0, 39.0, 0.0], [1037.0, 213.0, 29.0, 0.0], [699.0, 153.0, 9.0, 0.0], [683.0, 112.0, 15.0, 0.0]]}, "rubble": {"level_counts": [30, 138, 209, 243, 150, 49], "episodes_by_level": [[3245.0, 737.0, 97.0, 0.0], [4448.0, 957.0, 203.0, 0.0], [3703.0, 783.0, 323.0, 0.0], [2364.0, 385.0, 341.0, 0.0], [949.0, 107.0, 186.0, 0.0], [211.0, 9.0, 58.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.244873046875, "command_abs_max": [0.9995611906051636, 0.3994888961315155, 0.6992522478103638]}
{"step": 31150, "actor_lr": 3.169185065650415e-05, "archive_windows": 50000, "env_steps": 31150, "total_transitions": 127590400, "num_steps_per_env": 1, "wm_loss": 0.6225983500480652, "actor_loss": -9.52450942993164, "critic_loss": 0.004082712344825268, "reward": 0.08721194416284561, "falls": 2, "interval_steps": 50, "velocity_mae": [0.11372729390859604, 0.072574183344841, 0.13147379457950592], "mean_episode_length": 1332.6554054054054, "episode_reward_terms": {"track_linear_velocity": 47.24692916870117, "track_angular_velocity": 50.498191833496094, "upright": 25.506378173828125, "leg_posture": -2.5568132400512695, "standstill": -6.100958824157715, "action_rate_l2": -0.5546239614486694, "joint_torques_l2": -0.14413094520568848, "dof_pos_limits": -0.0009114848216995597, "terminated": -0.005205684341490269, "unnecessary_wheel_lift": -0.09505637735128403, "rolling_leg_motion": -0.582851231098175, "obstacle_progress": 3.5598888397216797, "wheel_body_intrusion": -0.24953635036945343, "pair_body_intrusion": -0.29784321784973145}, "weighted_reward_terms": {"track_linear_velocity": 1.7726612091064453, "track_angular_velocity": 1.8946456909179688, "upright": 0.9569757580757141, "leg_posture": -0.09592927992343903, "standstill": -0.22890235483646393, "action_rate_l2": -0.020808979868888855, "joint_torques_l2": -0.00540765980258584, "dof_pos_limits": -3.419807035243139e-05, "terminated": -0.0001953124738065526, "unnecessary_wheel_lift": -0.0035664273891597986, "rolling_leg_motion": -0.021868040785193443, "obstacle_progress": 0.13356374204158783, "wheel_body_intrusion": -0.009362373501062393, "pair_body_intrusion": -0.011174802668392658}, "episode_termination_rates": {"time_out": 0.47297297297297297, "fell_over": 0.006756756756756757, "course_exit": 0.5135135135135135, "illegal_nonwheel_contact": 0.013513513513513514}, "collection_time_s": 0.07596876068739221, "learning_time_s": 0.1852796534774825, "iteration_time_s": 0.3133850790747351, "policy_updates": 30850, "skipped_updates": 0, "invalid_env_resets": 163, "elapsed_s": 9761.945213177998, "nonwheel_terminations": 12943, "contact_bce": 0.2940658926963806, "contact_force_loss": 0.020433010533452034, "collision_bce": 0.0006187692051753402, "collision_label_rate": 0.00012248897110112011, "collision_prediction_mean": 8.45843242132105e-05, "collision_label_count": 16328.0, "terrain_level_mean": 3.90185546875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [3, 27, 53, 83, 76, 168], "episodes_by_level": [[1445.0, 315.0, 49.0, 0.0], [1816.0, 403.0, 38.0, 0.0], [1482.0, 348.0, 31.0, 0.0], [1160.0, 261.0, 21.0, 0.0], [677.0, 175.0, 17.0, 0.0], [838.0, 207.0, 7.0, 0.0]]}, "up": {"level_counts": [0, 0, 4, 55, 366, 1008], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4301.0, 1755.0, 165.0, 0.0], [4488.0, 1647.0, 196.0, 0.0], [5039.0, 1404.0, 161.0, 0.0], [4674.0, 737.0, 216.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 50, 561], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [955.0, 782.0, 26.0, 0.0], [1761.0, 1422.0, 64.0, 0.0], [8333.0, 6894.0, 252.0, 0.0]]}, "platform": {"level_counts": [13, 40, 91, 106, 108, 52], "episodes_by_level": [[1755.0, 381.0, 51.0, 0.0], [2072.0, 429.0, 83.0, 0.0], [1618.0, 316.0, 78.0, 0.0], [1152.0, 202.0, 50.0, 0.0], [588.0, 83.0, 42.0, 0.0], [200.0, 22.0, 31.0, 0.0]]}, "slope": {"level_counts": [11, 33, 76, 84, 68, 138], "episodes_by_level": [[1600.0, 340.0, 46.0, 0.0], [1893.0, 391.0, 68.0, 0.0], [1507.0, 319.0, 39.0, 0.0], [1042.0, 215.0, 29.0, 0.0], [700.0, 153.0, 9.0, 0.0], [685.0, 113.0, 15.0, 0.0]]}, "rubble": {"level_counts": [30, 137, 208, 244, 151, 49], "episodes_by_level": [[3246.0, 737.0, 97.0, 0.0], [4455.0, 958.0, 203.0, 0.0], [3710.0, 785.0, 323.0, 0.0], [2368.0, 386.0, 341.0, 0.0], [951.0, 107.0, 186.0, 0.0], [213.0, 9.0, 58.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2421875, "command_abs_max": [0.9970382452011108, 0.3994888961315155, 0.6992522478103638]}
{"step": 31200, "actor_lr": 3.15065516411015e-05, "archive_windows": 50000, "env_steps": 31200, "total_transitions": 127795200, "num_steps_per_env": 1, "wm_loss": 0.6073896884918213, "actor_loss": -9.512166976928711, "critic_loss": 0.004867676645517349, "reward": 0.08721809089183807, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11237188428640366, 0.07134503871202469, 0.13354577124118805], "mean_episode_length": 1324.1216216216217, "episode_reward_terms": {"track_linear_velocity": 47.061126708984375, "track_angular_velocity": 50.09190368652344, "upright": 25.386606216430664, "leg_posture": -2.5294246673583984, "standstill": -6.139226913452148, "action_rate_l2": -0.5548561215400696, "joint_torques_l2": -0.14252814650535583, "dof_pos_limits": -0.000613163283560425, "terminated": -0.0181032232940197, "unnecessary_wheel_lift": -0.09381494671106339, "rolling_leg_motion": -0.5876208543777466, "obstacle_progress": 3.5113043785095215, "wheel_body_intrusion": -0.2455914169549942, "pair_body_intrusion": -0.2518162429332733}, "weighted_reward_terms": {"track_linear_velocity": 1.7770696878433228, "track_angular_velocity": 1.891514539718628, "upright": 0.9586207270622253, "leg_posture": -0.09551330655813217, "standstill": -0.23182262480258942, "action_rate_l2": -0.020951857790350914, "joint_torques_l2": -0.005381988827139139, "dof_pos_limits": -2.3153586880653165e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.003542535472661257, "rolling_leg_motion": -0.022189084440469742, "obstacle_progress": 0.13258995115756989, "wheel_body_intrusion": -0.009273748844861984, "pair_body_intrusion": -0.00950880441814661}, "episode_termination_rates": {"time_out": 0.4594594594594595, "fell_over": 0.033783783783783786, "course_exit": 0.49324324324324326, "illegal_nonwheel_contact": 0.02702702702702703}, "collection_time_s": 0.07561089664581232, "learning_time_s": 0.1838418989337515, "iteration_time_s": 0.3132986850257051, "policy_updates": 30900, "skipped_updates": 0, "invalid_env_resets": 163, "elapsed_s": 9774.918972802, "nonwheel_terminations": 12947, "contact_bce": 0.292877197265625, "contact_force_loss": 0.02012939564883709, "collision_bce": 3.107491284026764e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 3.0836188670946285e-05, "collision_label_count": 16340.0, "terrain_level_mean": 3.903564453125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [3, 26, 54, 83, 74, 170], "episodes_by_level": [[1445.0, 315.0, 49.0, 0.0], [1818.0, 404.0, 38.0, 0.0], [1482.0, 348.0, 31.0, 0.0], [1162.0, 261.0, 21.0, 0.0], [682.0, 177.0, 17.0, 0.0], [844.0, 209.0, 7.0, 0.0]]}, "up": {"level_counts": [0, 0, 4, 55, 366, 1008], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4301.0, 1755.0, 165.0, 0.0], [4490.0, 1648.0, 196.0, 0.0], [5046.0, 1406.0, 161.0, 0.0], [4704.0, 743.0, 216.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 50, 561], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [955.0, 782.0, 26.0, 0.0], [1764.0, 1424.0, 64.0, 0.0], [8353.0, 6913.0, 252.0, 0.0]]}, "platform": {"level_counts": [13, 40, 91, 106, 107, 53], "episodes_by_level": [[1755.0, 381.0, 51.0, 0.0], [2073.0, 429.0, 83.0, 0.0], [1620.0, 316.0, 78.0, 0.0], [1155.0, 202.0, 50.0, 0.0], [590.0, 84.0, 42.0, 0.0], [200.0, 22.0, 31.0, 0.0]]}, "slope": {"level_counts": [11, 33, 75, 85, 66, 140], "episodes_by_level": [[1600.0, 340.0, 46.0, 0.0], [1894.0, 391.0, 68.0, 0.0], [1509.0, 320.0, 39.0, 0.0], [1043.0, 215.0, 29.0, 0.0], [702.0, 155.0, 9.0, 0.0], [688.0, 113.0, 15.0, 0.0]]}, "rubble": {"level_counts": [30, 137, 208, 245, 149, 50], "episodes_by_level": [[3247.0, 737.0, 97.0, 0.0], [4459.0, 958.0, 203.0, 0.0], [3716.0, 786.0, 323.0, 0.0], [2377.0, 386.0, 342.0, 0.0], [957.0, 108.0, 187.0, 0.0], [215.0, 9.0, 58.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2421875, "command_abs_max": [0.9970382452011108, 0.3994888961315155, 0.6992522478103638]}
{"step": 31250, "actor_lr": 3.132152980275965e-05, "archive_windows": 50000, "env_steps": 31250, "total_transitions": 128000000, "num_steps_per_env": 1, "wm_loss": 0.6129299998283386, "actor_loss": -9.522459983825684, "critic_loss": 0.004010008182376623, "reward": 0.08742795884609222, "falls": 5, "interval_steps": 50, "velocity_mae": [0.1117917001247406, 0.07034662365913391, 0.13202372193336487], "mean_episode_length": 1304.9207317073171, "episode_reward_terms": {"track_linear_velocity": 46.47426223754883, "track_angular_velocity": 49.42092514038086, "upright": 25.023727416992188, "leg_posture": -2.481844902038574, "standstill": -5.938601493835449, "action_rate_l2": -0.5397090911865234, "joint_torques_l2": -0.14021249115467072, "dof_pos_limits": -0.001262449542991817, "terminated": -0.01274336501955986, "unnecessary_wheel_lift": -0.0959407314658165, "rolling_leg_motion": -0.5726951360702515, "obstacle_progress": 3.498943567276001, "wheel_body_intrusion": -0.24384455382823944, "pair_body_intrusion": -0.30443713068962097}, "weighted_reward_terms": {"track_linear_velocity": 1.7807313203811646, "track_angular_velocity": 1.89363694190979, "upright": 0.958821713924408, "leg_posture": -0.09509561955928802, "standstill": -0.22754643857479095, "action_rate_l2": -0.020679764449596405, "joint_torques_l2": -0.005372452083975077, "dof_pos_limits": -4.837265078094788e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.0036761134397238493, "rolling_leg_motion": -0.021943675354123116, "obstacle_progress": 0.13406728208065033, "wheel_body_intrusion": -0.00934327021241188, "pair_body_intrusion": -0.01166496705263853}, "episode_termination_rates": {"time_out": 0.4451219512195122, "fell_over": 0.018292682926829267, "course_exit": 0.524390243902439, "illegal_nonwheel_contact": 0.024390243902439025}, "collection_time_s": 0.07598100219736807, "learning_time_s": 0.1841136968205683, "iteration_time_s": 0.31321359227724743, "policy_updates": 30950, "skipped_updates": 0, "invalid_env_resets": 164, "elapsed_s": 9787.924758663983, "nonwheel_terminations": 12951, "contact_bce": 0.2894476354122162, "contact_force_loss": 0.019818156957626343, "collision_bce": 1.469302242185222e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.4734079741174355e-05, "collision_label_count": 16338.0, "terrain_level_mean": 3.90625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [3, 26, 54, 81, 76, 170], "episodes_by_level": [[1445.0, 315.0, 49.0, 0.0], [1819.0, 404.0, 38.0, 0.0], [1484.0, 348.0, 31.0, 0.0], [1166.0, 263.0, 21.0, 0.0], [685.0, 177.0, 17.0, 0.0], [848.0, 209.0, 7.0, 0.0]]}, "up": {"level_counts": [0, 0, 4, 55, 365, 1009], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4301.0, 1755.0, 165.0, 0.0], [4493.0, 1649.0, 196.0, 0.0], [5053.0, 1408.0, 161.0, 0.0], [4737.0, 749.0, 216.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 52, 559], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [955.0, 782.0, 26.0, 0.0], [1765.0, 1424.0, 64.0, 0.0], [8382.0, 6937.0, 254.0, 0.0]]}, "platform": {"level_counts": [13, 40, 91, 105, 108, 53], "episodes_by_level": [[1756.0, 381.0, 51.0, 0.0], [2073.0, 429.0, 83.0, 0.0], [1623.0, 316.0, 78.0, 0.0], [1162.0, 203.0, 50.0, 0.0], [595.0, 84.0, 42.0, 0.0], [204.0, 22.0, 31.0, 0.0]]}, "slope": {"level_counts": [11, 33, 75, 85, 65, 141], "episodes_by_level": [[1600.0, 340.0, 46.0, 0.0], [1896.0, 391.0, 68.0, 0.0], [1511.0, 320.0, 39.0, 0.0], [1044.0, 215.0, 29.0, 0.0], [703.0, 156.0, 9.0, 0.0], [695.0, 116.0, 15.0, 0.0]]}, "rubble": {"level_counts": [30, 135, 206, 247, 151, 50], "episodes_by_level": [[3247.0, 737.0, 97.0, 0.0], [4467.0, 960.0, 203.0, 0.0], [3723.0, 790.0, 323.0, 0.0], [2380.0, 388.0, 342.0, 0.0], [962.0, 108.0, 187.0, 0.0], [216.0, 9.0, 58.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2392578125, "command_abs_max": [0.9939956068992615, 0.3994888961315155, 0.6992522478103638]}
{"step": 31300, "actor_lr": 3.1136796554497134e-05, "archive_windows": 50000, "env_steps": 31300, "total_transitions": 128204800, "num_steps_per_env": 1, "wm_loss": 0.6025918126106262, "actor_loss": -9.493908882141113, "critic_loss": 0.004538107197731733, "reward": 0.08716154098510742, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11293677985668182, 0.07024737447500229, 0.13216082751750946], "mean_episode_length": 1392.2266666666667, "episode_reward_terms": {"track_linear_velocity": 49.51044845581055, "track_angular_velocity": 52.727203369140625, "upright": 26.716625213623047, "leg_posture": -2.678626537322998, "standstill": -6.564127445220947, "action_rate_l2": -0.5741960406303406, "joint_torques_l2": -0.14988097548484802, "dof_pos_limits": -0.0007423713686875999, "terminated": -0.02175353839993477, "unnecessary_wheel_lift": -0.08825543522834778, "rolling_leg_motion": -0.6106171011924744, "obstacle_progress": 3.667067050933838, "wheel_body_intrusion": -0.26084041595458984, "pair_body_intrusion": -0.32368725538253784}, "weighted_reward_terms": {"track_linear_velocity": 1.7781031131744385, "track_angular_velocity": 1.8936285972595215, "upright": 0.9594926834106445, "leg_posture": -0.09619937092065811, "standstill": -0.23574206233024597, "action_rate_l2": -0.02062149904668331, "joint_torques_l2": -0.0053827790543437, "dof_pos_limits": -2.6661296942620538e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0031695787329226732, "rolling_leg_motion": -0.021929513663053513, "obstacle_progress": 0.13169792294502258, "wheel_body_intrusion": -0.009367742575705051, "pair_body_intrusion": -0.011624804697930813}, "episode_termination_rates": {"time_out": 0.5066666666666667, "fell_over": 0.02666666666666667, "course_exit": 0.44, "illegal_nonwheel_contact": 0.03333333333333333}, "collection_time_s": 0.07599565720767715, "learning_time_s": 0.18425673686317168, "iteration_time_s": 0.3131290233839945, "policy_updates": 31000, "skipped_updates": 0, "invalid_env_resets": 165, "elapsed_s": 9800.938431919029, "nonwheel_terminations": 12956, "contact_bce": 0.2901214063167572, "contact_force_loss": 0.01974285952746868, "collision_bce": 0.00012922982568852603, "collision_label_rate": 6.115833821240813e-05, "collision_prediction_mean": 2.5065904992516153e-05, "collision_label_count": 16351.0, "terrain_level_mean": 3.908447265625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [3, 26, 54, 81, 76, 170], "episodes_by_level": [[1445.0, 315.0, 49.0, 0.0], [1821.0, 404.0, 38.0, 0.0], [1485.0, 348.0, 31.0, 0.0], [1168.0, 263.0, 21.0, 0.0], [685.0, 177.0, 17.0, 0.0], [856.0, 209.0, 7.0, 0.0]]}, "up": {"level_counts": [0, 0, 4, 55, 363, 1011], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4301.0, 1755.0, 165.0, 0.0], [4493.0, 1649.0, 196.0, 0.0], [5065.0, 1412.0, 161.0, 0.0], [4755.0, 753.0, 218.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 52, 559], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [955.0, 782.0, 26.0, 0.0], [1767.0, 1426.0, 64.0, 0.0], [8405.0, 6957.0, 255.0, 0.0]]}, "platform": {"level_counts": [13, 40, 91, 105, 105, 56], "episodes_by_level": [[1756.0, 381.0, 51.0, 0.0], [2073.0, 429.0, 83.0, 0.0], [1626.0, 316.0, 78.0, 0.0], [1165.0, 203.0, 50.0, 0.0], [599.0, 87.0, 42.0, 0.0], [204.0, 22.0, 31.0, 0.0]]}, "slope": {"level_counts": [11, 33, 75, 83, 66, 142], "episodes_by_level": [[1600.0, 340.0, 46.0, 0.0], [1898.0, 391.0, 68.0, 0.0], [1512.0, 320.0, 39.0, 0.0], [1050.0, 217.0, 29.0, 0.0], [706.0, 157.0, 9.0, 0.0], [699.0, 117.0, 15.0, 0.0]]}, "rubble": {"level_counts": [29, 136, 204, 251, 149, 50], "episodes_by_level": [[3248.0, 738.0, 97.0, 0.0], [4471.0, 961.0, 203.0, 0.0], [3737.0, 793.0, 324.0, 0.0], [2388.0, 388.0, 343.0, 0.0], [967.0, 108.0, 189.0, 0.0], [219.0, 10.0, 58.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.243408203125, "command_abs_max": [0.9939956068992615, 0.3994888961315155, 0.6992522478103638]}
{"step": 31350, "actor_lr": 3.095236329153086e-05, "archive_windows": 50000, "env_steps": 31350, "total_transitions": 128409600, "num_steps_per_env": 1, "wm_loss": 0.6422905921936035, "actor_loss": -9.543083190917969, "critic_loss": 0.005081713665276766, "reward": 0.08695121854543686, "falls": 3, "interval_steps": 50, "velocity_mae": [0.1137375757098198, 0.0699939876794815, 0.13280463218688965], "mean_episode_length": 1410.9568345323742, "episode_reward_terms": {"track_linear_velocity": 50.162845611572266, "track_angular_velocity": 53.411651611328125, "upright": 27.078163146972656, "leg_posture": -2.7334258556365967, "standstill": -6.833707809448242, "action_rate_l2": -0.5814467072486877, "joint_torques_l2": -0.15117298066616058, "dof_pos_limits": -0.00026845315005630255, "terminated": -0.008267323486506939, "unnecessary_wheel_lift": -0.0871807113289833, "rolling_leg_motion": -0.6313546895980835, "obstacle_progress": 3.7231574058532715, "wheel_body_intrusion": -0.3068321645259857, "pair_body_intrusion": -0.3577764332294464}, "weighted_reward_terms": {"track_linear_velocity": 1.7776180505752563, "track_angular_velocity": 1.8927459716796875, "upright": 0.9595674872398376, "leg_posture": -0.09686426818370819, "standstill": -0.24216574430465698, "action_rate_l2": -0.0206046961247921, "joint_torques_l2": -0.005357108544558287, "dof_pos_limits": -9.513159966445528e-06, "terminated": -0.00029296870343387127, "unnecessary_wheel_lift": -0.003089418401941657, "rolling_leg_motion": -0.02237328328192234, "obstacle_progress": 0.13193732500076294, "wheel_body_intrusion": -0.010873195715248585, "pair_body_intrusion": -0.012678504921495914}, "episode_termination_rates": {"time_out": 0.4676258992805755, "fell_over": 0.0, "course_exit": 0.5107913669064749, "illegal_nonwheel_contact": 0.02158273381294964}, "collection_time_s": 0.07629337207647041, "learning_time_s": 0.18522270670277066, "iteration_time_s": 0.3130467416597137, "policy_updates": 31050, "skipped_updates": 0, "invalid_env_resets": 167, "elapsed_s": 9814.015351032023, "nonwheel_terminations": 12959, "contact_bce": 0.2901363670825958, "contact_force_loss": 0.020414989441633224, "collision_bce": 2.831468009389937e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 2.8013762857881375e-05, "collision_label_count": 16359.0, "terrain_level_mean": 3.912841796875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [2, 27, 54, 81, 73, 173], "episodes_by_level": [[1446.0, 316.0, 49.0, 0.0], [1821.0, 404.0, 38.0, 0.0], [1485.0, 348.0, 31.0, 0.0], [1170.0, 263.0, 21.0, 0.0], [688.0, 180.0, 17.0, 0.0], [862.0, 210.0, 7.0, 0.0]]}, "up": {"level_counts": [0, 0, 4, 54, 362, 1013], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4301.0, 1755.0, 165.0, 0.0], [4495.0, 1650.0, 196.0, 0.0], [5074.0, 1415.0, 161.0, 0.0], [4775.0, 755.0, 218.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 52, 559], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [955.0, 782.0, 26.0, 0.0], [1767.0, 1426.0, 64.0, 0.0], [8423.0, 6975.0, 255.0, 0.0]]}, "platform": {"level_counts": [13, 40, 89, 106, 107, 55], "episodes_by_level": [[1756.0, 381.0, 51.0, 0.0], [2075.0, 429.0, 83.0, 0.0], [1633.0, 318.0, 78.0, 0.0], [1166.0, 204.0, 50.0, 0.0], [603.0, 87.0, 42.0, 0.0], [205.0, 22.0, 32.0, 0.0]]}, "slope": {"level_counts": [11, 33, 74, 85, 65, 142], "episodes_by_level": [[1600.0, 340.0, 46.0, 0.0], [1898.0, 391.0, 68.0, 0.0], [1514.0, 321.0, 39.0, 0.0], [1052.0, 217.0, 29.0, 0.0], [709.0, 157.0, 10.0, 0.0], [702.0, 118.0, 15.0, 0.0]]}, "rubble": {"level_counts": [28, 135, 206, 247, 151, 52], "episodes_by_level": [[3249.0, 739.0, 97.0, 0.0], [4475.0, 963.0, 203.0, 0.0], [3744.0, 793.0, 324.0, 0.0], [2400.0, 392.0, 343.0, 0.0], [973.0, 110.0, 189.0, 0.0], [219.0, 10.0, 58.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.238525390625, "command_abs_max": [0.9999829530715942, 0.3997981548309326, 0.6992522478103638]}
{"step": 31400, "actor_lr": 3.076824139057327e-05, "archive_windows": 50000, "env_steps": 31400, "total_transitions": 128614400, "num_steps_per_env": 1, "wm_loss": 0.6141341328620911, "actor_loss": -9.549962997436523, "critic_loss": 0.0033542278688400984, "reward": 0.08712810277938843, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11428969353437424, 0.07024021446704865, 0.13300594687461853], "mean_episode_length": 1317.8333333333333, "episode_reward_terms": {"track_linear_velocity": 46.81514358520508, "track_angular_velocity": 49.86968994140625, "upright": 25.26241111755371, "leg_posture": -2.537446975708008, "standstill": -6.145021915435791, "action_rate_l2": -0.5438535809516907, "joint_torques_l2": -0.1408912092447281, "dof_pos_limits": -0.0005670301616191864, "terminated": -0.015443358570337296, "unnecessary_wheel_lift": -0.08223362267017365, "rolling_leg_motion": -0.5715568661689758, "obstacle_progress": 3.504349946975708, "wheel_body_intrusion": -0.2699107229709625, "pair_body_intrusion": -0.3243306577205658}, "weighted_reward_terms": {"track_linear_velocity": 1.7762163877487183, "track_angular_velocity": 1.8921091556549072, "upright": 0.9584828019142151, "leg_posture": -0.09627343714237213, "standstill": -0.23314867913722992, "action_rate_l2": -0.020634382963180542, "joint_torques_l2": -0.005345562472939491, "dof_pos_limits": -2.1513727915589698e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.0031200312077999115, "rolling_leg_motion": -0.02168547734618187, "obstacle_progress": 0.1329587697982788, "wheel_body_intrusion": -0.010240700095891953, "pair_body_intrusion": -0.01230545062571764}, "episode_termination_rates": {"time_out": 0.4097222222222222, "fell_over": 0.020833333333333332, "course_exit": 0.5486111111111112, "illegal_nonwheel_contact": 0.034722222222222224}, "collection_time_s": 0.0755409186356701, "learning_time_s": 0.18545560728409327, "iteration_time_s": 0.31296389311191125, "policy_updates": 31100, "skipped_updates": 0, "invalid_env_resets": 167, "elapsed_s": 9827.066243714013, "nonwheel_terminations": 12964, "contact_bce": 0.29020050168037415, "contact_force_loss": 0.01999863237142563, "collision_bce": 0.000865266949404031, "collision_label_rate": 0.0001835311413742602, "collision_prediction_mean": 6.141134508652613e-05, "collision_label_count": 16346.0, "terrain_level_mean": 3.9150390625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [2, 27, 53, 82, 72, 174], "episodes_by_level": [[1446.0, 316.0, 49.0, 0.0], [1821.0, 404.0, 38.0, 0.0], [1486.0, 349.0, 31.0, 0.0], [1173.0, 263.0, 21.0, 0.0], [689.0, 181.0, 17.0, 0.0], [870.0, 212.0, 7.0, 0.0]]}, "up": {"level_counts": [0, 0, 4, 54, 360, 1015], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4301.0, 1755.0, 165.0, 0.0], [4496.0, 1650.0, 196.0, 0.0], [5085.0, 1418.0, 161.0, 0.0], [4807.0, 762.0, 218.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 52, 559], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [956.0, 783.0, 26.0, 0.0], [1768.0, 1427.0, 64.0, 0.0], [8447.0, 6995.0, 256.0, 0.0]]}, "platform": {"level_counts": [12, 40, 89, 106, 108, 55], "episodes_by_level": [[1757.0, 382.0, 51.0, 0.0], [2077.0, 431.0, 83.0, 0.0], [1638.0, 319.0, 79.0, 0.0], [1168.0, 205.0, 50.0, 0.0], [603.0, 87.0, 42.0, 0.0], [205.0, 22.0, 32.0, 0.0]]}, "slope": {"level_counts": [11, 33, 74, 85, 65, 142], "episodes_by_level": [[1600.0, 340.0, 46.0, 0.0], [1900.0, 391.0, 68.0, 0.0], [1514.0, 321.0, 39.0, 0.0], [1058.0, 217.0, 29.0, 0.0], [711.0, 157.0, 10.0, 0.0], [704.0, 119.0, 15.0, 0.0]]}, "rubble": {"level_counts": [27, 135, 208, 245, 153, 51], "episodes_by_level": [[3250.0, 740.0, 97.0, 0.0], [4481.0, 964.0, 203.0, 0.0], [3746.0, 793.0, 324.0, 0.0], [2405.0, 393.0, 344.0, 0.0], [974.0, 110.0, 189.0, 0.0], [220.0, 10.0, 59.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.239013671875, "command_abs_max": [0.9999829530715942, 0.3997981548309326, 0.6992522478103638]}
{"step": 31450, "actor_lr": 3.0584442209130476e-05, "archive_windows": 50000, "env_steps": 31450, "total_transitions": 128819200, "num_steps_per_env": 1, "wm_loss": 0.5804158449172974, "actor_loss": -9.50814437866211, "critic_loss": 0.005011920351535082, "reward": 0.08717786520719528, "falls": 4, "interval_steps": 50, "velocity_mae": [0.11372537165880203, 0.07158184051513672, 0.1326204538345337], "mean_episode_length": 1400.661971830986, "episode_reward_terms": {"track_linear_velocity": 49.7117919921875, "track_angular_velocity": 53.010475158691406, "upright": 26.8575382232666, "leg_posture": -2.6853973865509033, "standstill": -6.51495361328125, "action_rate_l2": -0.5848966836929321, "joint_torques_l2": -0.15052664279937744, "dof_pos_limits": -0.0007463420042768121, "terminated": -0.010942669585347176, "unnecessary_wheel_lift": -0.097478948533535, "rolling_leg_motion": -0.626327395439148, "obstacle_progress": 3.754971742630005, "wheel_body_intrusion": -0.26517242193222046, "pair_body_intrusion": -0.2916077971458435}, "weighted_reward_terms": {"track_linear_velocity": 1.774582028388977, "track_angular_velocity": 1.8923364877700806, "upright": 0.958744466304779, "leg_posture": -0.09586172550916672, "standstill": -0.2325669378042221, "action_rate_l2": -0.020879294723272324, "joint_torques_l2": -0.005373410880565643, "dof_pos_limits": -2.6642474040272646e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.0034797457046806812, "rolling_leg_motion": -0.02235826477408409, "obstacle_progress": 0.13404275476932526, "wheel_body_intrusion": -0.009465968236327171, "pair_body_intrusion": -0.0104096420109272}, "episode_termination_rates": {"time_out": 0.4859154929577465, "fell_over": 0.02112676056338028, "course_exit": 0.4859154929577465, "illegal_nonwheel_contact": 0.014084507042253521}, "collection_time_s": 0.07561778001952917, "learning_time_s": 0.18522172892116942, "iteration_time_s": 0.31288105820438716, "policy_updates": 31150, "skipped_updates": 0, "invalid_env_resets": 167, "elapsed_s": 9840.109280527977, "nonwheel_terminations": 12966, "contact_bce": 0.2840525507926941, "contact_force_loss": 0.019504016265273094, "collision_bce": 1.645518932491541e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.6464273357996717e-05, "collision_label_count": 16330.0, "terrain_level_mean": 3.917236328125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [2, 26, 54, 79, 75, 174], "episodes_by_level": [[1446.0, 316.0, 49.0, 0.0], [1823.0, 405.0, 38.0, 0.0], [1486.0, 349.0, 31.0, 0.0], [1178.0, 266.0, 21.0, 0.0], [690.0, 181.0, 17.0, 0.0], [872.0, 213.0, 7.0, 0.0]]}, "up": {"level_counts": [0, 0, 4, 53, 360, 1016], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4301.0, 1755.0, 165.0, 0.0], [4497.0, 1651.0, 196.0, 0.0], [5092.0, 1420.0, 161.0, 0.0], [4839.0, 770.0, 219.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 52, 559], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [956.0, 783.0, 26.0, 0.0], [1769.0, 1428.0, 64.0, 0.0], [8465.0, 7009.0, 256.0, 0.0]]}, "platform": {"level_counts": [12, 40, 88, 107, 108, 55], "episodes_by_level": [[1758.0, 382.0, 51.0, 0.0], [2077.0, 431.0, 83.0, 0.0], [1641.0, 320.0, 79.0, 0.0], [1174.0, 205.0, 50.0, 0.0], [606.0, 87.0, 42.0, 0.0], [206.0, 22.0, 32.0, 0.0]]}, "slope": {"level_counts": [11, 33, 74, 84, 66, 142], "episodes_by_level": [[1600.0, 340.0, 46.0, 0.0], [1903.0, 391.0, 68.0, 0.0], [1514.0, 321.0, 39.0, 0.0], [1061.0, 218.0, 29.0, 0.0], [712.0, 157.0, 10.0, 0.0], [706.0, 119.0, 15.0, 0.0]]}, "rubble": {"level_counts": [27, 135, 209, 243, 153, 52], "episodes_by_level": [[3251.0, 740.0, 97.0, 0.0], [4482.0, 964.0, 203.0, 0.0], [3752.0, 793.0, 324.0, 0.0], [2413.0, 395.0, 345.0, 0.0], [979.0, 111.0, 190.0, 0.0], [222.0, 10.0, 59.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23193359375, "command_abs_max": [0.9999829530715942, 0.3997981548309326, 0.6992522478103638]}
{"step": 31500, "actor_lr": 3.0400977084801797e-05, "archive_windows": 50000, "env_steps": 31500, "total_transitions": 129024000, "num_steps_per_env": 1, "wm_loss": 0.6032464504241943, "actor_loss": -9.517755508422852, "critic_loss": 0.004243888892233372, "reward": 0.08683904260396957, "falls": 15, "interval_steps": 50, "velocity_mae": [0.11514687538146973, 0.07330408692359924, 0.13540896773338318], "mean_episode_length": 1326.3509933774835, "episode_reward_terms": {"track_linear_velocity": 46.904083251953125, "track_angular_velocity": 50.085121154785156, "upright": 25.4307918548584, "leg_posture": -2.5429956912994385, "standstill": -6.336296558380127, "action_rate_l2": -0.5638571381568909, "joint_torques_l2": -0.14294525980949402, "dof_pos_limits": -0.0010732953669503331, "terminated": -0.03885792940855026, "unnecessary_wheel_lift": -0.08804771304130554, "rolling_leg_motion": -0.5927008390426636, "obstacle_progress": 3.610663890838623, "wheel_body_intrusion": -0.2678377628326416, "pair_body_intrusion": -0.27701181173324585}, "weighted_reward_terms": {"track_linear_velocity": 1.7681626081466675, "track_angular_velocity": 1.8880795240402222, "upright": 0.9586750864982605, "leg_posture": -0.09586436301469803, "standstill": -0.23886197805404663, "action_rate_l2": -0.02125595696270466, "joint_torques_l2": -0.0053886668756604195, "dof_pos_limits": -4.046046160510741e-05, "terminated": -0.0014648435171693563, "unnecessary_wheel_lift": -0.003319171257317066, "rolling_leg_motion": -0.022343289107084274, "obstacle_progress": 0.13611268997192383, "wheel_body_intrusion": -0.01009679026901722, "pair_body_intrusion": -0.010442628525197506}, "episode_termination_rates": {"time_out": 0.4503311258278146, "fell_over": 0.059602649006622516, "course_exit": 0.4503311258278146, "illegal_nonwheel_contact": 0.052980132450331126}, "collection_time_s": 0.07559327092487365, "learning_time_s": 0.18529982475563883, "iteration_time_s": 0.31279857219371476, "policy_updates": 31200, "skipped_updates": 0, "invalid_env_resets": 167, "elapsed_s": 9853.155024102016, "nonwheel_terminations": 12974, "contact_bce": 0.2904142439365387, "contact_force_loss": 0.019802765920758247, "collision_bce": 0.00016204232815653086, "collision_label_rate": 0.0001222942373715341, "collision_prediction_mean": 0.00017305095389019698, "collision_label_count": 16354.0, "terrain_level_mean": 3.917236328125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [2, 26, 55, 77, 76, 174], "episodes_by_level": [[1446.0, 316.0, 49.0, 0.0], [1825.0, 405.0, 38.0, 0.0], [1488.0, 349.0, 31.0, 0.0], [1181.0, 267.0, 22.0, 0.0], [691.0, 181.0, 17.0, 0.0], [879.0, 215.0, 7.0, 0.0]]}, "up": {"level_counts": [0, 0, 4, 52, 359, 1018], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4301.0, 1755.0, 165.0, 0.0], [4500.0, 1652.0, 196.0, 0.0], [5100.0, 1423.0, 161.0, 0.0], [4862.0, 774.0, 220.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 51, 560], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [956.0, 783.0, 26.0, 0.0], [1772.0, 1431.0, 64.0, 0.0], [8482.0, 7023.0, 257.0, 0.0]]}, "platform": {"level_counts": [12, 40, 89, 106, 108, 55], "episodes_by_level": [[1760.0, 382.0, 51.0, 0.0], [2078.0, 431.0, 83.0, 0.0], [1646.0, 321.0, 79.0, 0.0], [1181.0, 205.0, 52.0, 0.0], [608.0, 87.0, 42.0, 0.0], [209.0, 22.0, 32.0, 0.0]]}, "slope": {"level_counts": [11, 33, 72, 87, 65, 142], "episodes_by_level": [[1601.0, 340.0, 46.0, 0.0], [1906.0, 391.0, 68.0, 0.0], [1518.0, 323.0, 39.0, 0.0], [1063.0, 218.0, 29.0, 0.0], [718.0, 158.0, 11.0, 0.0], [713.0, 119.0, 16.0, 0.0]]}, "rubble": {"level_counts": [27, 134, 213, 242, 151, 52], "episodes_by_level": [[3252.0, 740.0, 97.0, 0.0], [4487.0, 965.0, 203.0, 0.0], [3756.0, 793.0, 324.0, 0.0], [2419.0, 396.0, 348.0, 0.0], [987.0, 112.0, 193.0, 0.0], [226.0, 10.0, 60.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2314453125, "command_abs_max": [0.9999829530715942, 0.3997981548309326, 0.6992522478103638]}
{"step": 31550, "actor_lr": 3.021785733458026e-05, "archive_windows": 50000, "env_steps": 31550, "total_transitions": 129228800, "num_steps_per_env": 1, "wm_loss": 0.645235002040863, "actor_loss": -9.532098770141602, "critic_loss": 0.0028824671171605587, "reward": 0.08711215853691101, "falls": 7, "interval_steps": 50, "velocity_mae": [0.1159151941537857, 0.0724259689450264, 0.13427196443080902], "mean_episode_length": 1349.6928104575163, "episode_reward_terms": {"track_linear_velocity": 47.73274230957031, "track_angular_velocity": 51.01075744628906, "upright": 25.906335830688477, "leg_posture": -2.5588064193725586, "standstill": -6.195563793182373, "action_rate_l2": -0.5566354393959045, "joint_torques_l2": -0.1446051001548767, "dof_pos_limits": -0.0007139038061723113, "terminated": -0.018452830612659454, "unnecessary_wheel_lift": -0.09222396463155746, "rolling_leg_motion": -0.5873841643333435, "obstacle_progress": 3.6411213874816895, "wheel_body_intrusion": -0.2689802944660187, "pair_body_intrusion": -0.29293540120124817}, "weighted_reward_terms": {"track_linear_velocity": 1.7682816982269287, "track_angular_velocity": 1.8897173404693604, "upright": 0.9597122669219971, "leg_posture": -0.09479217976331711, "standstill": -0.22951753437519073, "action_rate_l2": -0.020620819181203842, "joint_torques_l2": -0.005356963723897934, "dof_pos_limits": -2.6446899937582202e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0034164797980338335, "rolling_leg_motion": -0.021759919822216034, "obstacle_progress": 0.13488703966140747, "wheel_body_intrusion": -0.00996449962258339, "pair_body_intrusion": -0.010851928032934666}, "episode_termination_rates": {"time_out": 0.5098039215686274, "fell_over": 0.013071895424836602, "course_exit": 0.4444444444444444, "illegal_nonwheel_contact": 0.0392156862745098}, "collection_time_s": 0.07582148671732285, "learning_time_s": 0.1920898608781863, "iteration_time_s": 0.31272828018928733, "policy_updates": 31250, "skipped_updates": 0, "invalid_env_resets": 167, "elapsed_s": 9866.577239972015, "nonwheel_terminations": 12980, "contact_bce": 0.28746694326400757, "contact_force_loss": 0.02049381099641323, "collision_bce": 1.7769309124560095e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.7754149666870944e-05, "collision_label_count": 16364.0, "terrain_level_mean": 3.9189453125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [2, 26, 55, 77, 75, 175], "episodes_by_level": [[1446.0, 316.0, 49.0, 0.0], [1826.0, 405.0, 38.0, 0.0], [1488.0, 349.0, 31.0, 0.0], [1183.0, 267.0, 22.0, 0.0], [693.0, 182.0, 17.0, 0.0], [887.0, 216.0, 7.0, 0.0]]}, "up": {"level_counts": [0, 0, 4, 52, 359, 1018], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4301.0, 1755.0, 165.0, 0.0], [4500.0, 1652.0, 196.0, 0.0], [5107.0, 1425.0, 161.0, 0.0], [4889.0, 782.0, 221.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 51, 560], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [956.0, 783.0, 26.0, 0.0], [1773.0, 1432.0, 64.0, 0.0], [8509.0, 7048.0, 257.0, 0.0]]}, "platform": {"level_counts": [12, 40, 89, 105, 109, 55], "episodes_by_level": [[1760.0, 382.0, 51.0, 0.0], [2079.0, 431.0, 83.0, 0.0], [1651.0, 321.0, 79.0, 0.0], [1184.0, 206.0, 52.0, 0.0], [611.0, 87.0, 42.0, 0.0], [210.0, 23.0, 32.0, 0.0]]}, "slope": {"level_counts": [11, 33, 70, 89, 64, 143], "episodes_by_level": [[1602.0, 340.0, 46.0, 0.0], [1907.0, 391.0, 68.0, 0.0], [1523.0, 325.0, 39.0, 0.0], [1064.0, 218.0, 29.0, 0.0], [720.0, 159.0, 11.0, 0.0], [716.0, 119.0, 16.0, 0.0]]}, "rubble": {"level_counts": [27, 134, 212, 243, 150, 53], "episodes_by_level": [[3252.0, 740.0, 97.0, 0.0], [4490.0, 965.0, 203.0, 0.0], [3761.0, 795.0, 324.0, 0.0], [2428.0, 398.0, 349.0, 0.0], [993.0, 113.0, 195.0, 0.0], [226.0, 10.0, 60.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23193359375, "command_abs_max": [0.9999829530715942, 0.3997981548309326, 0.6995314359664917]}
{"step": 31600, "actor_lr": 3.0035094254154672e-05, "archive_windows": 50000, "env_steps": 31600, "total_transitions": 129433600, "num_steps_per_env": 1, "wm_loss": 0.6006361246109009, "actor_loss": -9.51675796508789, "critic_loss": 0.004202078562229872, "reward": 0.08762820065021515, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11134541034698486, 0.0712713822722435, 0.13280977308750153], "mean_episode_length": 1317.96875, "episode_reward_terms": {"track_linear_velocity": 46.94104766845703, "track_angular_velocity": 49.882568359375, "upright": 25.295482635498047, "leg_posture": -2.4842803478240967, "standstill": -5.930120944976807, "action_rate_l2": -0.5474201440811157, "joint_torques_l2": -0.14082945883274078, "dof_pos_limits": -0.0004675110976677388, "terminated": -0.02059325762093067, "unnecessary_wheel_lift": -0.07271695882081985, "rolling_leg_motion": -0.5622959136962891, "obstacle_progress": 3.632917881011963, "wheel_body_intrusion": -0.22788625955581665, "pair_body_intrusion": -0.2741881012916565}, "weighted_reward_terms": {"track_linear_velocity": 1.7808104753494263, "track_angular_velocity": 1.8924033641815186, "upright": 0.9596389532089233, "leg_posture": -0.09424655884504318, "standstill": -0.22497199475765228, "action_rate_l2": -0.020767569541931152, "joint_torques_l2": -0.00534267071634531, "dof_pos_limits": -1.7736047084326856e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0027586754877120256, "rolling_leg_motion": -0.021331913769245148, "obstacle_progress": 0.13782261312007904, "wheel_body_intrusion": -0.008645359426736832, "pair_body_intrusion": -0.010401919484138489}, "episode_termination_rates": {"time_out": 0.4453125, "fell_over": 0.0234375, "course_exit": 0.4921875, "illegal_nonwheel_contact": 0.0546875}, "collection_time_s": 0.07568121840246021, "learning_time_s": 0.18467314253677614, "iteration_time_s": 0.3126454447968045, "policy_updates": 31300, "skipped_updates": 0, "invalid_env_resets": 167, "elapsed_s": 9879.596055579023, "nonwheel_terminations": 12987, "contact_bce": 0.2946743965148926, "contact_force_loss": 0.02074268087744713, "collision_bce": 0.00017165498866233975, "collision_label_rate": 6.128953100414947e-05, "collision_prediction_mean": 2.5324325179099105e-05, "collision_label_count": 16316.0, "terrain_level_mean": 3.919677734375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [2, 26, 55, 76, 76, 175], "episodes_by_level": [[1446.0, 316.0, 49.0, 0.0], [1826.0, 405.0, 38.0, 0.0], [1488.0, 349.0, 31.0, 0.0], [1185.0, 268.0, 22.0, 0.0], [695.0, 182.0, 17.0, 0.0], [887.0, 216.0, 7.0, 0.0]]}, "up": {"level_counts": [0, 0, 4, 52, 360, 1017], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4301.0, 1755.0, 165.0, 0.0], [4500.0, 1652.0, 196.0, 0.0], [5119.0, 1425.0, 161.0, 0.0], [4907.0, 785.0, 221.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 51, 560], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [956.0, 783.0, 26.0, 0.0], [1775.0, 1434.0, 64.0, 0.0], [8533.0, 7069.0, 258.0, 0.0]]}, "platform": {"level_counts": [11, 41, 89, 104, 109, 56], "episodes_by_level": [[1761.0, 383.0, 51.0, 0.0], [2081.0, 431.0, 83.0, 0.0], [1653.0, 321.0, 79.0, 0.0], [1186.0, 207.0, 52.0, 0.0], [615.0, 88.0, 42.0, 0.0], [212.0, 23.0, 32.0, 0.0]]}, "slope": {"level_counts": [11, 35, 67, 90, 64, 143], "episodes_by_level": [[1602.0, 340.0, 46.0, 0.0], [1909.0, 391.0, 68.0, 0.0], [1528.0, 326.0, 41.0, 0.0], [1065.0, 218.0, 29.0, 0.0], [721.0, 159.0, 11.0, 0.0], [719.0, 119.0, 16.0, 0.0]]}, "rubble": {"level_counts": [27, 133, 213, 242, 152, 52], "episodes_by_level": [[3252.0, 740.0, 97.0, 0.0], [4496.0, 966.0, 203.0, 0.0], [3768.0, 797.0, 324.0, 0.0], [2434.0, 399.0, 351.0, 0.0], [996.0, 113.0, 195.0, 0.0], [228.0, 10.0, 61.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.229248046875, "command_abs_max": [0.9997648596763611, 0.3997981548309326, 0.6995314359664917]}
{"step": 31650, "actor_lr": 2.9852699117212684e-05, "archive_windows": 50000, "env_steps": 31650, "total_transitions": 129638400, "num_steps_per_env": 1, "wm_loss": 0.6101962327957153, "actor_loss": -9.484986305236816, "critic_loss": 0.008534341119229794, "reward": 0.08750604093074799, "falls": 10, "interval_steps": 50, "velocity_mae": [0.1117967963218689, 0.07094775885343552, 0.13257744908332825], "mean_episode_length": 1389.0849673202615, "episode_reward_terms": {"track_linear_velocity": 49.44654846191406, "track_angular_velocity": 52.59345626831055, "upright": 26.671615600585938, "leg_posture": -2.63423490524292, "standstill": -6.335114002227783, "action_rate_l2": -0.5884383916854858, "joint_torques_l2": -0.1490974724292755, "dof_pos_limits": -0.0007444055518135428, "terminated": -0.02713056281208992, "unnecessary_wheel_lift": -0.09873028844594955, "rolling_leg_motion": -0.6011549234390259, "obstacle_progress": 3.798096179962158, "wheel_body_intrusion": -0.24414049088954926, "pair_body_intrusion": -0.27761074900627136}, "weighted_reward_terms": {"track_linear_velocity": 1.7798244953155518, "track_angular_velocity": 1.8930972814559937, "upright": 0.9600426554679871, "leg_posture": -0.0948190689086914, "standstill": -0.2280319184064865, "action_rate_l2": -0.02118079364299774, "joint_torques_l2": -0.005366751458495855, "dof_pos_limits": -2.6794816221809015e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.0035537888761609793, "rolling_leg_motion": -0.021638523787260056, "obstacle_progress": 0.13671216368675232, "wheel_body_intrusion": -0.008787817321717739, "pair_body_intrusion": -0.009992577135562897}, "episode_termination_rates": {"time_out": 0.477124183006536, "fell_over": 0.032679738562091505, "course_exit": 0.45751633986928103, "illegal_nonwheel_contact": 0.058823529411764705}, "collection_time_s": 0.0757460538239684, "learning_time_s": 0.18563693579519167, "iteration_time_s": 0.31256449511039475, "policy_updates": 31350, "skipped_updates": 0, "invalid_env_resets": 167, "elapsed_s": 9892.666270243993, "nonwheel_terminations": 12996, "contact_bce": 0.292106568813324, "contact_force_loss": 0.02001071721315384, "collision_bce": 5.4555970564251766e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 5.0056467443937436e-05, "collision_label_count": 16337.0, "terrain_level_mean": 3.920654296875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [2, 26, 55, 77, 75, 175], "episodes_by_level": [[1446.0, 316.0, 49.0, 0.0], [1827.0, 405.0, 38.0, 0.0], [1493.0, 349.0, 31.0, 0.0], [1186.0, 268.0, 22.0, 0.0], [698.0, 182.0, 18.0, 0.0], [889.0, 218.0, 7.0, 0.0]]}, "up": {"level_counts": [0, 0, 4, 50, 363, 1016], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4302.0, 1755.0, 165.0, 0.0], [4503.0, 1654.0, 196.0, 0.0], [5128.0, 1427.0, 161.0, 0.0], [4940.0, 792.0, 222.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 49, 562], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [956.0, 783.0, 26.0, 0.0], [1777.0, 1436.0, 64.0, 0.0], [8555.0, 7088.0, 258.0, 0.0]]}, "platform": {"level_counts": [11, 41, 89, 103, 108, 58], "episodes_by_level": [[1763.0, 383.0, 52.0, 0.0], [2082.0, 431.0, 83.0, 0.0], [1656.0, 322.0, 79.0, 0.0], [1189.0, 208.0, 53.0, 0.0], [621.0, 90.0, 42.0, 0.0], [214.0, 23.0, 32.0, 0.0]]}, "slope": {"level_counts": [11, 35, 67, 90, 64, 143], "episodes_by_level": [[1602.0, 340.0, 46.0, 0.0], [1909.0, 391.0, 68.0, 0.0], [1531.0, 326.0, 41.0, 0.0], [1067.0, 218.0, 29.0, 0.0], [722.0, 159.0, 11.0, 0.0], [725.0, 120.0, 16.0, 0.0]]}, "rubble": {"level_counts": [27, 132, 214, 244, 150, 52], "episodes_by_level": [[3252.0, 740.0, 97.0, 0.0], [4502.0, 967.0, 203.0, 0.0], [3771.0, 797.0, 324.0, 0.0], [2438.0, 399.0, 351.0, 0.0], [1003.0, 115.0, 197.0, 0.0], [231.0, 10.0, 63.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22802734375, "command_abs_max": [0.9997648596763611, 0.3997981548309326, 0.6998017430305481]}
{"step": 31700, "actor_lr": 2.9670683174745534e-05, "archive_windows": 50000, "env_steps": 31700, "total_transitions": 129843200, "num_steps_per_env": 1, "wm_loss": 0.592556357383728, "actor_loss": -9.51260757446289, "critic_loss": 0.005148654337972403, "reward": 0.0874110609292984, "falls": 4, "interval_steps": 50, "velocity_mae": [0.11036203056573868, 0.07024625688791275, 0.13277867436408997], "mean_episode_length": 1429.251700680272, "episode_reward_terms": {"track_linear_velocity": 51.01994705200195, "track_angular_velocity": 54.098182678222656, "upright": 27.46940803527832, "leg_posture": -2.726290225982666, "standstill": -6.835045337677002, "action_rate_l2": -0.6026725172996521, "joint_torques_l2": -0.1526075154542923, "dof_pos_limits": -0.000297339545795694, "terminated": -0.011166026815772057, "unnecessary_wheel_lift": -0.08933275938034058, "rolling_leg_motion": -0.6364765763282776, "obstacle_progress": 3.9290771484375, "wheel_body_intrusion": -0.25485897064208984, "pair_body_intrusion": -0.2754712700843811}, "weighted_reward_terms": {"track_linear_velocity": 1.7848483324050903, "track_angular_velocity": 1.8925352096557617, "upright": 0.9609717130661011, "leg_posture": -0.09537474066019058, "standstill": -0.2391127198934555, "action_rate_l2": -0.021083498373627663, "joint_torques_l2": -0.005338720977306366, "dof_pos_limits": -1.0401930921943858e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.0031251583714038134, "rolling_leg_motion": -0.022266076877713203, "obstacle_progress": 0.13745224475860596, "wheel_body_intrusion": -0.008915819227695465, "pair_body_intrusion": -0.00963690597563982}, "episode_termination_rates": {"time_out": 0.5714285714285714, "fell_over": 0.006802721088435374, "course_exit": 0.4013605442176871, "illegal_nonwheel_contact": 0.02040816326530612}, "collection_time_s": 0.07537919693975709, "learning_time_s": 0.18570667182211764, "iteration_time_s": 0.3124833333368776, "policy_updates": 31400, "skipped_updates": 0, "invalid_env_resets": 167, "elapsed_s": 9905.72166677902, "nonwheel_terminations": 12999, "contact_bce": 0.2902047038078308, "contact_force_loss": 0.019540242850780487, "collision_bce": 7.441308298439253e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 7.496077159885317e-06, "collision_label_count": 16347.0, "terrain_level_mean": 3.923095703125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [2, 26, 55, 76, 75, 176], "episodes_by_level": [[1446.0, 316.0, 49.0, 0.0], [1827.0, 405.0, 38.0, 0.0], [1496.0, 349.0, 31.0, 0.0], [1188.0, 269.0, 22.0, 0.0], [702.0, 183.0, 18.0, 0.0], [891.0, 219.0, 7.0, 0.0]]}, "up": {"level_counts": [0, 0, 4, 50, 361, 1018], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4302.0, 1755.0, 165.0, 0.0], [4503.0, 1654.0, 196.0, 0.0], [5137.0, 1429.0, 161.0, 0.0], [4971.0, 802.0, 222.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 48, 563], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [956.0, 783.0, 26.0, 0.0], [1778.0, 1437.0, 64.0, 0.0], [8568.0, 7099.0, 258.0, 0.0]]}, "platform": {"level_counts": [11, 41, 88, 103, 109, 58], "episodes_by_level": [[1764.0, 384.0, 52.0, 0.0], [2085.0, 431.0, 84.0, 0.0], [1659.0, 323.0, 79.0, 0.0], [1194.0, 209.0, 53.0, 0.0], [624.0, 90.0, 42.0, 0.0], [216.0, 24.0, 32.0, 0.0]]}, "slope": {"level_counts": [11, 35, 66, 90, 65, 143], "episodes_by_level": [[1603.0, 340.0, 46.0, 0.0], [1909.0, 391.0, 68.0, 0.0], [1534.0, 327.0, 41.0, 0.0], [1070.0, 219.0, 29.0, 0.0], [722.0, 159.0, 11.0, 0.0], [730.0, 121.0, 16.0, 0.0]]}, "rubble": {"level_counts": [27, 132, 214, 243, 151, 52], "episodes_by_level": [[3254.0, 740.0, 97.0, 0.0], [4506.0, 967.0, 203.0, 0.0], [3779.0, 798.0, 324.0, 0.0], [2446.0, 400.0, 352.0, 0.0], [1008.0, 115.0, 197.0, 0.0], [231.0, 10.0, 63.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2314453125, "command_abs_max": [0.9997648596763611, 0.3997981548309326, 0.6998017430305481]}
{"step": 31750, "actor_lr": 2.9489057654353895e-05, "archive_windows": 50000, "env_steps": 31750, "total_transitions": 130048000, "num_steps_per_env": 1, "wm_loss": 0.6084151268005371, "actor_loss": -9.498075485229492, "critic_loss": 0.004722669254988432, "reward": 0.0874691978096962, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11203017830848694, 0.07002083957195282, 0.1325898915529251], "mean_episode_length": 1372.4193548387098, "episode_reward_terms": {"track_linear_velocity": 48.89153289794922, "track_angular_velocity": 51.963348388671875, "upright": 26.36335563659668, "leg_posture": -2.562567710876465, "standstill": -6.332784652709961, "action_rate_l2": -0.578050434589386, "joint_torques_l2": -0.1473509520292282, "dof_pos_limits": -0.0006294807535596192, "terminated": -0.021444046869874, "unnecessary_wheel_lift": -0.08872830122709274, "rolling_leg_motion": -0.6234636306762695, "obstacle_progress": 3.7450714111328125, "wheel_body_intrusion": -0.26007726788520813, "pair_body_intrusion": -0.30379021167755127}, "weighted_reward_terms": {"track_linear_velocity": 1.781217098236084, "track_angular_velocity": 1.8931293487548828, "upright": 0.9604701995849609, "leg_posture": -0.09335950016975403, "standstill": -0.23071609437465668, "action_rate_l2": -0.021059542894363403, "joint_torques_l2": -0.005368292331695557, "dof_pos_limits": -2.2933252694201656e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0032325510401278734, "rolling_leg_motion": -0.0227140374481678, "obstacle_progress": 0.13644050061702728, "wheel_body_intrusion": -0.00947513896971941, "pair_body_intrusion": -0.011067689396440983}, "episode_termination_rates": {"time_out": 0.45161290322580644, "fell_over": 0.025806451612903226, "course_exit": 0.4967741935483871, "illegal_nonwheel_contact": 0.03225806451612903}, "collection_time_s": 0.07563204129808582, "learning_time_s": 0.1857412956620101, "iteration_time_s": 0.3124028803089443, "policy_updates": 31450, "skipped_updates": 0, "invalid_env_resets": 167, "elapsed_s": 9918.791449808981, "nonwheel_terminations": 13004, "contact_bce": 0.29202157258987427, "contact_force_loss": 0.020581016317009926, "collision_bce": 8.412519491685089e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 8.461937795800623e-06, "collision_label_count": 16328.0, "terrain_level_mean": 3.92529296875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [2, 26, 55, 75, 75, 177], "episodes_by_level": [[1446.0, 316.0, 49.0, 0.0], [1827.0, 405.0, 38.0, 0.0], [1497.0, 349.0, 31.0, 0.0], [1192.0, 270.0, 22.0, 0.0], [704.0, 184.0, 18.0, 0.0], [894.0, 219.0, 7.0, 0.0]]}, "up": {"level_counts": [0, 0, 4, 49, 359, 1021], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4302.0, 1755.0, 165.0, 0.0], [4506.0, 1655.0, 196.0, 0.0], [5147.0, 1432.0, 161.0, 0.0], [5000.0, 807.0, 222.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 46, 565], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [956.0, 783.0, 26.0, 0.0], [1780.0, 1439.0, 64.0, 0.0], [8589.0, 7117.0, 258.0, 0.0]]}, "platform": {"level_counts": [11, 40, 89, 103, 107, 60], "episodes_by_level": [[1764.0, 384.0, 52.0, 0.0], [2086.0, 432.0, 84.0, 0.0], [1665.0, 324.0, 79.0, 0.0], [1200.0, 209.0, 54.0, 0.0], [630.0, 92.0, 42.0, 0.0], [220.0, 24.0, 32.0, 0.0]]}, "slope": {"level_counts": [11, 35, 65, 91, 65, 143], "episodes_by_level": [[1604.0, 340.0, 46.0, 0.0], [1909.0, 391.0, 68.0, 0.0], [1536.0, 328.0, 41.0, 0.0], [1070.0, 219.0, 29.0, 0.0], [725.0, 159.0, 11.0, 0.0], [732.0, 121.0, 16.0, 0.0]]}, "rubble": {"level_counts": [27, 130, 221, 237, 153, 51], "episodes_by_level": [[3255.0, 740.0, 97.0, 0.0], [4510.0, 969.0, 203.0, 0.0], [3787.0, 798.0, 324.0, 0.0], [2460.0, 402.0, 357.0, 0.0], [1013.0, 115.0, 198.0, 0.0], [234.0, 10.0, 64.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.231201171875, "command_abs_max": [0.9997648596763611, 0.3997981548309326, 0.6998017430305481]}
{"step": 31800, "actor_lr": 2.9307833759555428e-05, "archive_windows": 50000, "env_steps": 31800, "total_transitions": 130252800, "num_steps_per_env": 1, "wm_loss": 0.6153580546379089, "actor_loss": -9.491352081298828, "critic_loss": 0.00763934338465333, "reward": 0.08767187595367432, "falls": 2, "interval_steps": 50, "velocity_mae": [0.11062735319137573, 0.07011886686086655, 0.13140343129634857], "mean_episode_length": 1357.92, "episode_reward_terms": {"track_linear_velocity": 48.4392204284668, "track_angular_velocity": 51.447757720947266, "upright": 26.1146297454834, "leg_posture": -2.5220706462860107, "standstill": -6.2585577964782715, "action_rate_l2": -0.5735922455787659, "joint_torques_l2": -0.14645813405513763, "dof_pos_limits": -0.00040203306707553566, "terminated": -0.005304374266415834, "unnecessary_wheel_lift": -0.08781800419092178, "rolling_leg_motion": -0.6061235070228577, "obstacle_progress": 3.727109432220459, "wheel_body_intrusion": -0.2428646683692932, "pair_body_intrusion": -0.23412665724754333}, "weighted_reward_terms": {"track_linear_velocity": 1.7835814952850342, "track_angular_velocity": 1.8943589925765991, "upright": 0.9615672826766968, "leg_posture": -0.09286521375179291, "standstill": -0.2304464876651764, "action_rate_l2": -0.021120252087712288, "joint_torques_l2": -0.005392737686634064, "dof_pos_limits": -1.4803266822127625e-05, "terminated": -0.0001953124738065526, "unnecessary_wheel_lift": -0.003233548253774643, "rolling_leg_motion": -0.02231808565557003, "obstacle_progress": 0.13723596930503845, "wheel_body_intrusion": -0.008942524902522564, "pair_body_intrusion": -0.008620782755315304}, "episode_termination_rates": {"time_out": 0.49333333333333335, "fell_over": 0.006666666666666667, "course_exit": 0.49333333333333335, "illegal_nonwheel_contact": 0.013333333333333334}, "collection_time_s": 0.07587192083941773, "learning_time_s": 0.18537738287821412, "iteration_time_s": 0.3123224841888684, "policy_updates": 31500, "skipped_updates": 0, "invalid_env_resets": 168, "elapsed_s": 9931.854997206014, "nonwheel_terminations": 13006, "contact_bce": 0.2864190638065338, "contact_force_loss": 0.01991216093301773, "collision_bce": 0.0003947682271245867, "collision_label_rate": 6.122574268374592e-05, "collision_prediction_mean": 1.072155555448262e-05, "collision_label_count": 16333.0, "terrain_level_mean": 3.9296875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [2, 25, 56, 75, 74, 178], "episodes_by_level": [[1447.0, 316.0, 49.0, 0.0], [1828.0, 406.0, 38.0, 0.0], [1500.0, 349.0, 31.0, 0.0], [1193.0, 270.0, 22.0, 0.0], [707.0, 185.0, 18.0, 0.0], [895.0, 219.0, 7.0, 0.0]]}, "up": {"level_counts": [0, 0, 4, 49, 357, 1023], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4302.0, 1755.0, 165.0, 0.0], [4508.0, 1655.0, 196.0, 0.0], [5153.0, 1434.0, 161.0, 0.0], [5025.0, 815.0, 222.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 45, 566], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [956.0, 783.0, 26.0, 0.0], [1782.0, 1441.0, 64.0, 0.0], [8616.0, 7144.0, 258.0, 0.0]]}, "platform": {"level_counts": [10, 41, 89, 102, 107, 61], "episodes_by_level": [[1765.0, 385.0, 52.0, 0.0], [2088.0, 432.0, 84.0, 0.0], [1666.0, 324.0, 79.0, 0.0], [1202.0, 210.0, 54.0, 0.0], [633.0, 93.0, 42.0, 0.0], [221.0, 24.0, 32.0, 0.0]]}, "slope": {"level_counts": [11, 35, 65, 89, 67, 143], "episodes_by_level": [[1604.0, 340.0, 46.0, 0.0], [1909.0, 391.0, 68.0, 0.0], [1540.0, 328.0, 41.0, 0.0], [1074.0, 221.0, 29.0, 0.0], [727.0, 159.0, 11.0, 0.0], [733.0, 121.0, 16.0, 0.0]]}, "rubble": {"level_counts": [27, 130, 216, 238, 158, 50], "episodes_by_level": [[3257.0, 740.0, 97.0, 0.0], [4514.0, 969.0, 203.0, 0.0], [3794.0, 803.0, 324.0, 0.0], [2470.0, 406.0, 357.0, 0.0], [1019.0, 115.0, 198.0, 0.0], [236.0, 10.0, 65.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23046875, "command_abs_max": [0.9997648596763611, 0.3997981548309326, 0.6998017430305481]}
{"step": 31850, "actor_lr": 2.9127022669093573e-05, "archive_windows": 50000, "env_steps": 31850, "total_transitions": 130457600, "num_steps_per_env": 1, "wm_loss": 0.6147239208221436, "actor_loss": -9.491203308105469, "critic_loss": 0.005881120916455984, "reward": 0.08781029284000397, "falls": 5, "interval_steps": 50, "velocity_mae": [0.10846994817256927, 0.06937249004840851, 0.1316225528717041], "mean_episode_length": 1373.941935483871, "episode_reward_terms": {"track_linear_velocity": 49.17754364013672, "track_angular_velocity": 52.05526351928711, "upright": 26.39830780029297, "leg_posture": -2.6085150241851807, "standstill": -6.268407821655273, "action_rate_l2": -0.5750656723976135, "joint_torques_l2": -0.14705878496170044, "dof_pos_limits": -0.000548676704056561, "terminated": -0.013417399488389492, "unnecessary_wheel_lift": -0.08784809708595276, "rolling_leg_motion": -0.6043526530265808, "obstacle_progress": 3.81708025932312, "wheel_body_intrusion": -0.24444381892681122, "pair_body_intrusion": -0.2522984445095062}, "weighted_reward_terms": {"track_linear_velocity": 1.7896513938903809, "track_angular_velocity": 1.894376516342163, "upright": 0.9606778025627136, "leg_posture": -0.09492814540863037, "standstill": -0.22811764478683472, "action_rate_l2": -0.020927583798766136, "joint_torques_l2": -0.005351710598915815, "dof_pos_limits": -1.9967246771557257e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.0031969365663826466, "rolling_leg_motion": -0.02199338562786579, "obstacle_progress": 0.13890981674194336, "wheel_body_intrusion": -0.008895711973309517, "pair_body_intrusion": -0.009181554429233074}, "episode_termination_rates": {"time_out": 0.4774193548387097, "fell_over": 0.01935483870967742, "course_exit": 0.49032258064516127, "illegal_nonwheel_contact": 0.012903225806451613}, "collection_time_s": 0.07583867695881054, "learning_time_s": 0.185243914257735, "iteration_time_s": 0.31224207860979636, "policy_updates": 31550, "skipped_updates": 0, "invalid_env_resets": 169, "elapsed_s": 9944.910203722015, "nonwheel_terminations": 13008, "contact_bce": 0.2906228005886078, "contact_force_loss": 0.020155595615506172, "collision_bce": 6.211007075762609e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 6.265275715122698e-06, "collision_label_count": 16361.0, "terrain_level_mean": 3.9326171875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [2, 25, 56, 75, 73, 179], "episodes_by_level": [[1447.0, 316.0, 49.0, 0.0], [1830.0, 406.0, 38.0, 0.0], [1503.0, 349.0, 31.0, 0.0], [1194.0, 270.0, 22.0, 0.0], [715.0, 186.0, 18.0, 0.0], [903.0, 221.0, 7.0, 0.0]]}, "up": {"level_counts": [0, 0, 4, 48, 357, 1024], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4302.0, 1755.0, 165.0, 0.0], [4510.0, 1656.0, 196.0, 0.0], [5160.0, 1435.0, 161.0, 0.0], [5050.0, 819.0, 222.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 4, 43, 567], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [956.0, 783.0, 26.0, 0.0], [1787.0, 1445.0, 65.0, 0.0], [8635.0, 7161.0, 258.0, 0.0]]}, "platform": {"level_counts": [10, 40, 90, 100, 109, 61], "episodes_by_level": [[1765.0, 385.0, 52.0, 0.0], [2090.0, 433.0, 84.0, 0.0], [1667.0, 324.0, 79.0, 0.0], [1212.0, 212.0, 54.0, 0.0], [635.0, 93.0, 42.0, 0.0], [222.0, 24.0, 32.0, 0.0]]}, "slope": {"level_counts": [11, 34, 66, 88, 68, 143], "episodes_by_level": [[1604.0, 340.0, 46.0, 0.0], [1911.0, 392.0, 68.0, 0.0], [1543.0, 328.0, 41.0, 0.0], [1075.0, 222.0, 29.0, 0.0], [728.0, 159.0, 11.0, 0.0], [738.0, 123.0, 16.0, 0.0]]}, "rubble": {"level_counts": [26, 131, 215, 238, 158, 51], "episodes_by_level": [[3259.0, 741.0, 97.0, 0.0], [4514.0, 969.0, 203.0, 0.0], [3802.0, 805.0, 324.0, 0.0], [2475.0, 407.0, 358.0, 0.0], [1023.0, 116.0, 198.0, 0.0], [236.0, 10.0, 65.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.230224609375, "command_abs_max": [0.9997648596763611, 0.3998733162879944, 0.6986810564994812]}
{"step": 31900, "actor_lr": 2.894663553624812e-05, "archive_windows": 50000, "env_steps": 31900, "total_transitions": 130662400, "num_steps_per_env": 1, "wm_loss": 0.6088915467262268, "actor_loss": -9.540311813354492, "critic_loss": 0.0033561878371983767, "reward": 0.08724869787693024, "falls": 4, "interval_steps": 50, "velocity_mae": [0.11164656281471252, 0.06959366798400879, 0.1310904175043106], "mean_episode_length": 1385.8013245033112, "episode_reward_terms": {"track_linear_velocity": 49.382389068603516, "track_angular_velocity": 52.52378463745117, "upright": 26.62909698486328, "leg_posture": -2.6754798889160156, "standstill": -6.632480621337891, "action_rate_l2": -0.5816765427589417, "joint_torques_l2": -0.14845827221870422, "dof_pos_limits": -0.0007294430979527533, "terminated": -0.010826569981873035, "unnecessary_wheel_lift": -0.08491555601358414, "rolling_leg_motion": -0.6126545667648315, "obstacle_progress": 3.6864302158355713, "wheel_body_intrusion": -0.2589549422264099, "pair_body_intrusion": -0.3061985671520233}, "weighted_reward_terms": {"track_linear_velocity": 1.7817270755767822, "track_angular_velocity": 1.8950692415237427, "upright": 0.9607834219932556, "leg_posture": -0.09653187543153763, "standstill": -0.23930129408836365, "action_rate_l2": -0.02098701149225235, "joint_torques_l2": -0.005356405396014452, "dof_pos_limits": -2.631846109579783e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.0030637711752206087, "rolling_leg_motion": -0.02210470475256443, "obstacle_progress": 0.13300716876983643, "wheel_body_intrusion": -0.00934314914047718, "pair_body_intrusion": -0.011047708801925182}, "episode_termination_rates": {"time_out": 0.47019867549668876, "fell_over": 0.013245033112582781, "course_exit": 0.5033112582781457, "illegal_nonwheel_contact": 0.019867549668874173}, "collection_time_s": 0.07619301027967594, "learning_time_s": 0.18544119125348515, "iteration_time_s": 0.3121627901958303, "policy_updates": 31600, "skipped_updates": 0, "invalid_env_resets": 171, "elapsed_s": 9957.993007246987, "nonwheel_terminations": 13011, "contact_bce": 0.2850699722766876, "contact_force_loss": 0.02017626352608204, "collision_bce": 9.312184374721255e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 9.362963282910641e-06, "collision_label_count": 16342.0, "terrain_level_mean": 3.935546875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [2, 25, 56, 75, 72, 180], "episodes_by_level": [[1447.0, 316.0, 49.0, 0.0], [1831.0, 406.0, 38.0, 0.0], [1504.0, 349.0, 31.0, 0.0], [1197.0, 270.0, 22.0, 0.0], [717.0, 187.0, 18.0, 0.0], [907.0, 221.0, 7.0, 0.0]]}, "up": {"level_counts": [0, 0, 4, 48, 355, 1026], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4302.0, 1755.0, 165.0, 0.0], [4511.0, 1656.0, 196.0, 0.0], [5167.0, 1438.0, 161.0, 0.0], [5070.0, 821.0, 222.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 4, 42, 568], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [956.0, 783.0, 26.0, 0.0], [1789.0, 1447.0, 65.0, 0.0], [8662.0, 7183.0, 258.0, 0.0]]}, "platform": {"level_counts": [10, 40, 90, 99, 109, 62], "episodes_by_level": [[1765.0, 385.0, 52.0, 0.0], [2092.0, 433.0, 84.0, 0.0], [1668.0, 324.0, 79.0, 0.0], [1214.0, 213.0, 54.0, 0.0], [643.0, 94.0, 42.0, 0.0], [222.0, 24.0, 32.0, 0.0]]}, "slope": {"level_counts": [11, 34, 66, 88, 67, 144], "episodes_by_level": [[1604.0, 340.0, 46.0, 0.0], [1911.0, 392.0, 68.0, 0.0], [1546.0, 328.0, 41.0, 0.0], [1080.0, 222.0, 29.0, 0.0], [733.0, 160.0, 11.0, 0.0], [745.0, 125.0, 16.0, 0.0]]}, "rubble": {"level_counts": [25, 131, 217, 233, 162, 51], "episodes_by_level": [[3260.0, 742.0, 97.0, 0.0], [4518.0, 970.0, 203.0, 0.0], [3811.0, 806.0, 324.0, 0.0], [2482.0, 411.0, 360.0, 0.0], [1027.0, 116.0, 198.0, 0.0], [236.0, 10.0, 65.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.228515625, "command_abs_max": [0.9985095262527466, 0.3998733162879944, 0.6991152763366699]}
{"step": 31950, "actor_lr": 2.8766683488147087e-05, "archive_windows": 50000, "env_steps": 31950, "total_transitions": 130867200, "num_steps_per_env": 1, "wm_loss": 0.6245764493942261, "actor_loss": -9.536267280578613, "critic_loss": 0.0035014417953789234, "reward": 0.08725468069314957, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11381178349256516, 0.07036247104406357, 0.1317785233259201], "mean_episode_length": 1416.8816568047337, "episode_reward_terms": {"track_linear_velocity": 50.346370697021484, "track_angular_velocity": 53.67668151855469, "upright": 27.218835830688477, "leg_posture": -2.728261709213257, "standstill": -6.507879257202148, "action_rate_l2": -0.6033077836036682, "joint_torques_l2": -0.15485459566116333, "dof_pos_limits": -0.0006019286811351776, "terminated": -0.022138772532343864, "unnecessary_wheel_lift": -0.1022573933005333, "rolling_leg_motion": -0.6278198957443237, "obstacle_progress": 3.7612967491149902, "wheel_body_intrusion": -0.2920784652233124, "pair_body_intrusion": -0.3344041705131531}, "weighted_reward_terms": {"track_linear_velocity": 1.7766610383987427, "track_angular_velocity": 1.8941837549209595, "upright": 0.960519015789032, "leg_posture": -0.09627698361873627, "standstill": -0.22965501248836517, "action_rate_l2": -0.02128998562693596, "joint_torques_l2": -0.00546462694182992, "dof_pos_limits": -2.1241317881504074e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.003608536906540394, "rolling_leg_motion": -0.02215498685836792, "obstacle_progress": 0.13273149728775024, "wheel_body_intrusion": -0.010307086631655693, "pair_body_intrusion": -0.011800708249211311}, "episode_termination_rates": {"time_out": 0.5325443786982249, "fell_over": 0.029585798816568046, "course_exit": 0.42011834319526625, "illegal_nonwheel_contact": 0.04142011834319527}, "collection_time_s": 0.07608691904111765, "learning_time_s": 0.18556350331404248, "iteration_time_s": 0.312083774439155, "policy_updates": 31650, "skipped_updates": 0, "invalid_env_resets": 172, "elapsed_s": 9971.076593331003, "nonwheel_terminations": 13018, "contact_bce": 0.29659026861190796, "contact_force_loss": 0.02046637050807476, "collision_bce": 8.289691322715953e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 8.347588845936116e-06, "collision_label_count": 16333.0, "terrain_level_mean": 3.9384765625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [2, 25, 57, 73, 72, 181], "episodes_by_level": [[1448.0, 316.0, 49.0, 0.0], [1832.0, 406.0, 38.0, 0.0], [1505.0, 349.0, 31.0, 0.0], [1199.0, 271.0, 23.0, 0.0], [721.0, 188.0, 18.0, 0.0], [914.0, 222.0, 7.0, 0.0]]}, "up": {"level_counts": [0, 0, 4, 48, 355, 1026], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4302.0, 1755.0, 165.0, 0.0], [4512.0, 1656.0, 196.0, 0.0], [5177.0, 1440.0, 161.0, 0.0], [5096.0, 831.0, 222.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 4, 43, 567], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [956.0, 783.0, 26.0, 0.0], [1790.0, 1448.0, 65.0, 0.0], [8676.0, 7196.0, 259.0, 0.0]]}, "platform": {"level_counts": [10, 40, 89, 100, 109, 62], "episodes_by_level": [[1765.0, 385.0, 52.0, 0.0], [2093.0, 433.0, 84.0, 0.0], [1670.0, 325.0, 79.0, 0.0], [1218.0, 213.0, 54.0, 0.0], [647.0, 94.0, 42.0, 0.0], [225.0, 24.0, 32.0, 0.0]]}, "slope": {"level_counts": [11, 32, 66, 90, 66, 145], "episodes_by_level": [[1605.0, 340.0, 46.0, 0.0], [1913.0, 394.0, 68.0, 0.0], [1549.0, 330.0, 41.0, 0.0], [1083.0, 222.0, 29.0, 0.0], [740.0, 161.0, 11.0, 0.0], [749.0, 126.0, 16.0, 0.0]]}, "rubble": {"level_counts": [26, 129, 217, 229, 167, 51], "episodes_by_level": [[3262.0, 742.0, 98.0, 0.0], [4524.0, 971.0, 204.0, 0.0], [3817.0, 808.0, 324.0, 0.0], [2495.0, 416.0, 361.0, 0.0], [1028.0, 116.0, 198.0, 0.0], [239.0, 10.0, 65.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.230224609375, "command_abs_max": [0.9985095262527466, 0.3998733162879944, 0.6991152763366699]}
{"step": 32000, "actor_lr": 2.8587177625080472e-05, "archive_windows": 50000, "env_steps": 32000, "total_transitions": 131072000, "num_steps_per_env": 1, "wm_loss": 0.5721049904823303, "actor_loss": -9.518058776855469, "critic_loss": 0.00438608368858695, "reward": 0.08730469644069672, "falls": 4, "interval_steps": 50, "velocity_mae": [0.11311785876750946, 0.07049322873353958, 0.13145871460437775], "mean_episode_length": 1344.8840579710145, "episode_reward_terms": {"track_linear_velocity": 47.80529022216797, "track_angular_velocity": 50.94711685180664, "upright": 25.85531234741211, "leg_posture": -2.562143325805664, "standstill": -6.323176383972168, "action_rate_l2": -0.5595239996910095, "joint_torques_l2": -0.14649082720279694, "dof_pos_limits": -0.0009178802138194442, "terminated": -0.010506904684007168, "unnecessary_wheel_lift": -0.083973728120327, "rolling_leg_motion": -0.5872485637664795, "obstacle_progress": 3.5938479900360107, "wheel_body_intrusion": -0.25070783495903015, "pair_body_intrusion": -0.2622136175632477}, "weighted_reward_terms": {"track_linear_velocity": 1.777301549911499, "track_angular_velocity": 1.8941081762313843, "upright": 0.961246907711029, "leg_posture": -0.09525517374277115, "standstill": -0.23508259654045105, "action_rate_l2": -0.02080194279551506, "joint_torques_l2": -0.00544622540473938, "dof_pos_limits": -3.412488513276912e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.0031219690572470427, "rolling_leg_motion": -0.02183268405497074, "obstacle_progress": 0.13361182808876038, "wheel_body_intrusion": -0.009320797398686409, "pair_body_intrusion": -0.009748558513820171}, "episode_termination_rates": {"time_out": 0.463768115942029, "fell_over": 0.014492753623188406, "course_exit": 0.5072463768115942, "illegal_nonwheel_contact": 0.021739130434782608}, "collection_time_s": 0.07609482146333903, "learning_time_s": 0.1852688655385282, "iteration_time_s": 0.312004557473907, "policy_updates": 31700, "skipped_updates": 0, "invalid_env_resets": 174, "elapsed_s": 9984.145839165023, "nonwheel_terminations": 13021, "contact_bce": 0.2882064878940582, "contact_force_loss": 0.01976834423840046, "collision_bce": 1.277484443562571e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.2772041372954845e-05, "collision_label_count": 16352.0, "terrain_level_mean": 3.9404296875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [2, 25, 57, 73, 72, 181], "episodes_by_level": [[1448.0, 316.0, 49.0, 0.0], [1832.0, 406.0, 38.0, 0.0], [1506.0, 349.0, 31.0, 0.0], [1206.0, 271.0, 23.0, 0.0], [724.0, 188.0, 18.0, 0.0], [919.0, 223.0, 7.0, 0.0]]}, "up": {"level_counts": [0, 0, 4, 47, 355, 1027], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4302.0, 1755.0, 165.0, 0.0], [4514.0, 1657.0, 196.0, 0.0], [5185.0, 1442.0, 161.0, 0.0], [5121.0, 835.0, 222.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 4, 41, 569], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [956.0, 783.0, 26.0, 0.0], [1792.0, 1450.0, 65.0, 0.0], [8699.0, 7216.0, 259.0, 0.0]]}, "platform": {"level_counts": [9, 42, 88, 100, 109, 62], "episodes_by_level": [[1766.0, 386.0, 52.0, 0.0], [2093.0, 433.0, 84.0, 0.0], [1673.0, 325.0, 80.0, 0.0], [1219.0, 213.0, 54.0, 0.0], [651.0, 94.0, 42.0, 0.0], [227.0, 24.0, 32.0, 0.0]]}, "slope": {"level_counts": [11, 32, 66, 89, 66, 146], "episodes_by_level": [[1606.0, 340.0, 46.0, 0.0], [1913.0, 394.0, 68.0, 0.0], [1551.0, 330.0, 41.0, 0.0], [1086.0, 223.0, 29.0, 0.0], [741.0, 162.0, 11.0, 0.0], [754.0, 127.0, 16.0, 0.0]]}, "rubble": {"level_counts": [26, 128, 217, 230, 167, 51], "episodes_by_level": [[3263.0, 742.0, 98.0, 0.0], [4528.0, 972.0, 204.0, 0.0], [3823.0, 809.0, 324.0, 0.0], [2499.0, 418.0, 361.0, 0.0], [1033.0, 116.0, 200.0, 0.0], [240.0, 10.0, 65.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.225830078125, "command_abs_max": [0.9995110034942627, 0.3998733162879944, 0.6991152763366699]}
{"step": 32050, "actor_lr": 2.8408129019815458e-05, "archive_windows": 50000, "env_steps": 32050, "total_transitions": 131276800, "num_steps_per_env": 1, "wm_loss": 0.5927220582962036, "actor_loss": -9.556866645812988, "critic_loss": 0.002900216495618224, "reward": 0.08722687512636185, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11348631978034973, 0.07045897841453552, 0.13234440982341766], "mean_episode_length": 1311.9084507042253, "episode_reward_terms": {"track_linear_velocity": 46.63328170776367, "track_angular_velocity": 49.66548538208008, "upright": 25.198307037353516, "leg_posture": -2.533856153488159, "standstill": -6.132898330688477, "action_rate_l2": -0.5559585094451904, "joint_torques_l2": -0.14227283000946045, "dof_pos_limits": -0.0008871280588209629, "terminated": -0.01793624646961689, "unnecessary_wheel_lift": -0.08042079955339432, "rolling_leg_motion": -0.5968896150588989, "obstacle_progress": 3.5058083534240723, "wheel_body_intrusion": -0.2606167793273926, "pair_body_intrusion": -0.2474604994058609}, "weighted_reward_terms": {"track_linear_velocity": 1.7773069143295288, "track_angular_velocity": 1.892871618270874, "upright": 0.9603683948516846, "leg_posture": -0.09657138586044312, "standstill": -0.23373958468437195, "action_rate_l2": -0.021188922226428986, "joint_torques_l2": -0.005422361195087433, "dof_pos_limits": -3.3810592867666855e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.00306503102183342, "rolling_leg_motion": -0.022748906165361404, "obstacle_progress": 0.13361482322216034, "wheel_body_intrusion": -0.00993273500353098, "pair_body_intrusion": -0.009431317448616028}, "episode_termination_rates": {"time_out": 0.4295774647887324, "fell_over": 0.028169014084507043, "course_exit": 0.5211267605633803, "illegal_nonwheel_contact": 0.04225352112676056}, "collection_time_s": 0.07572205611504615, "learning_time_s": 0.18520110674202442, "iteration_time_s": 0.3119257638343848, "policy_updates": 31750, "skipped_updates": 0, "invalid_env_resets": 174, "elapsed_s": 9997.220730892033, "nonwheel_terminations": 13027, "contact_bce": 0.291260302066803, "contact_force_loss": 0.020251991227269173, "collision_bce": 0.00028684831340797246, "collision_label_rate": 0.0001225715532200411, "collision_prediction_mean": 0.00011310567060718313, "collision_label_count": 16317.0, "terrain_level_mean": 3.9423828125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [2, 25, 57, 71, 74, 181], "episodes_by_level": [[1448.0, 316.0, 49.0, 0.0], [1832.0, 406.0, 38.0, 0.0], [1507.0, 349.0, 31.0, 0.0], [1209.0, 273.0, 23.0, 0.0], [724.0, 188.0, 18.0, 0.0], [924.0, 223.0, 7.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 49, 352, 1029], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4303.0, 1756.0, 165.0, 0.0], [4514.0, 1657.0, 196.0, 0.0], [5194.0, 1445.0, 162.0, 0.0], [5154.0, 841.0, 223.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 5, 38, 571], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [956.0, 783.0, 26.0, 0.0], [1794.0, 1452.0, 65.0, 0.0], [8720.0, 7234.0, 259.0, 0.0]]}, "platform": {"level_counts": [9, 42, 88, 100, 108, 63], "episodes_by_level": [[1766.0, 386.0, 52.0, 0.0], [2093.0, 433.0, 84.0, 0.0], [1677.0, 325.0, 80.0, 0.0], [1222.0, 213.0, 54.0, 0.0], [652.0, 95.0, 42.0, 0.0], [227.0, 24.0, 32.0, 0.0]]}, "slope": {"level_counts": [11, 32, 64, 91, 66, 146], "episodes_by_level": [[1607.0, 340.0, 46.0, 0.0], [1914.0, 394.0, 68.0, 0.0], [1554.0, 332.0, 41.0, 0.0], [1087.0, 223.0, 29.0, 0.0], [742.0, 163.0, 11.0, 0.0], [760.0, 129.0, 17.0, 0.0]]}, "rubble": {"level_counts": [26, 127, 218, 231, 166, 51], "episodes_by_level": [[3264.0, 742.0, 98.0, 0.0], [4533.0, 973.0, 204.0, 0.0], [3827.0, 809.0, 324.0, 0.0], [2504.0, 419.0, 361.0, 0.0], [1043.0, 116.0, 202.0, 0.0], [240.0, 10.0, 65.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22509765625, "command_abs_max": [0.9995110034942627, 0.3997981548309326, 0.6995867490768433]}
{"step": 32100, "actor_lr": 2.8229548716913412e-05, "archive_windows": 50000, "env_steps": 32100, "total_transitions": 131481600, "num_steps_per_env": 1, "wm_loss": 0.6188923716545105, "actor_loss": -9.535346984863281, "critic_loss": 0.006189567968249321, "reward": 0.08721647411584854, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11496888846158981, 0.07114981859922409, 0.1336837112903595], "mean_episode_length": 1410.1052631578948, "episode_reward_terms": {"track_linear_velocity": 49.9853630065918, "track_angular_velocity": 53.311771392822266, "upright": 27.07197380065918, "leg_posture": -2.682588577270508, "standstill": -6.558536529541016, "action_rate_l2": -0.5939286351203918, "joint_torques_l2": -0.15210117399692535, "dof_pos_limits": -0.0006562654161825776, "terminated": -0.02478700317442417, "unnecessary_wheel_lift": -0.09174375981092453, "rolling_leg_motion": -0.6238991022109985, "obstacle_progress": 3.9215714931488037, "wheel_body_intrusion": -0.2738419771194458, "pair_body_intrusion": -0.3041759729385376}, "weighted_reward_terms": {"track_linear_velocity": 1.7723983526229858, "track_angular_velocity": 1.8903473615646362, "upright": 0.9599274396896362, "leg_posture": -0.0951201543211937, "standstill": -0.2325548529624939, "action_rate_l2": -0.021059727296233177, "joint_torques_l2": -0.0053932564333081245, "dof_pos_limits": -2.3270087694982067e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.0032530822791159153, "rolling_leg_motion": -0.022122429683804512, "obstacle_progress": 0.13905245065689087, "wheel_body_intrusion": -0.009709984064102173, "pair_body_intrusion": -0.01078557688742876}, "episode_termination_rates": {"time_out": 0.5394736842105263, "fell_over": 0.019736842105263157, "course_exit": 0.40131578947368424, "illegal_nonwheel_contact": 0.046052631578947366}, "collection_time_s": 0.07556656130356715, "learning_time_s": 0.1853680523962248, "iteration_time_s": 0.3118463724806547, "policy_updates": 31800, "skipped_updates": 0, "invalid_env_resets": 174, "elapsed_s": 10010.268556629017, "nonwheel_terminations": 13034, "contact_bce": 0.29345545172691345, "contact_force_loss": 0.020498763769865036, "collision_bce": 2.001630491577089e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.9921999410144053e-05, "collision_label_count": 16362.0, "terrain_level_mean": 3.94287109375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [2, 25, 56, 71, 75, 181], "episodes_by_level": [[1448.0, 316.0, 49.0, 0.0], [1832.0, 406.0, 38.0, 0.0], [1513.0, 351.0, 31.0, 0.0], [1212.0, 274.0, 24.0, 0.0], [726.0, 188.0, 18.0, 0.0], [928.0, 224.0, 7.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 49, 354, 1027], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4303.0, 1756.0, 165.0, 0.0], [4516.0, 1657.0, 196.0, 0.0], [5203.0, 1446.0, 162.0, 0.0], [5178.0, 847.0, 224.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 5, 34, 575], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [956.0, 783.0, 26.0, 0.0], [1798.0, 1456.0, 65.0, 0.0], [8738.0, 7250.0, 259.0, 0.0]]}, "platform": {"level_counts": [9, 41, 89, 101, 107, 63], "episodes_by_level": [[1766.0, 386.0, 52.0, 0.0], [2096.0, 434.0, 84.0, 0.0], [1680.0, 325.0, 80.0, 0.0], [1225.0, 213.0, 54.0, 0.0], [656.0, 95.0, 43.0, 0.0], [232.0, 25.0, 32.0, 0.0]]}, "slope": {"level_counts": [11, 32, 64, 91, 66, 146], "episodes_by_level": [[1607.0, 340.0, 46.0, 0.0], [1915.0, 394.0, 68.0, 0.0], [1557.0, 332.0, 41.0, 0.0], [1089.0, 223.0, 29.0, 0.0], [744.0, 163.0, 11.0, 0.0], [766.0, 130.0, 17.0, 0.0]]}, "rubble": {"level_counts": [26, 127, 219, 230, 167, 50], "episodes_by_level": [[3264.0, 742.0, 98.0, 0.0], [4536.0, 973.0, 204.0, 0.0], [3833.0, 810.0, 324.0, 0.0], [2514.0, 420.0, 363.0, 0.0], [1045.0, 116.0, 203.0, 0.0], [241.0, 10.0, 66.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.225830078125, "command_abs_max": [0.9985095262527466, 0.3997981548309326, 0.6995867490768433]}
{"step": 32150, "actor_lr": 2.805144773204859e-05, "archive_windows": 50000, "env_steps": 32150, "total_transitions": 131686400, "num_steps_per_env": 1, "wm_loss": 0.5987434387207031, "actor_loss": -9.570270538330078, "critic_loss": 0.005832070484757423, "reward": 0.08741263300180435, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11521933227777481, 0.0714421346783638, 0.13370707631111145], "mean_episode_length": 1324.7333333333333, "episode_reward_terms": {"track_linear_velocity": 46.967124938964844, "track_angular_velocity": 50.08990478515625, "upright": 25.45801544189453, "leg_posture": -2.559112787246704, "standstill": -5.813544273376465, "action_rate_l2": -0.5558829307556152, "joint_torques_l2": -0.14431725442409515, "dof_pos_limits": -0.0008662684122100472, "terminated": -0.023286323994398117, "unnecessary_wheel_lift": -0.09757804870605469, "rolling_leg_motion": -0.5935152173042297, "obstacle_progress": 3.615565538406372, "wheel_body_intrusion": -0.2621116638183594, "pair_body_intrusion": -0.28196683526039124}, "weighted_reward_terms": {"track_linear_velocity": 1.7727012634277344, "track_angular_velocity": 1.8905657529830933, "upright": 0.9608733057975769, "leg_posture": -0.09658974409103394, "standstill": -0.21942321956157684, "action_rate_l2": -0.020980937406420708, "joint_torques_l2": -0.005447030998766422, "dof_pos_limits": -3.269595617894083e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.0036829321179538965, "rolling_leg_motion": -0.02240131050348282, "obstacle_progress": 0.13646391034126282, "wheel_body_intrusion": -0.009892997331917286, "pair_body_intrusion": -0.01064240001142025}, "episode_termination_rates": {"time_out": 0.47878787878787876, "fell_over": 0.030303030303030304, "course_exit": 0.4666666666666667, "illegal_nonwheel_contact": 0.04242424242424243}, "collection_time_s": 0.07560762002132833, "learning_time_s": 0.18489498378010466, "iteration_time_s": 0.3117665558749619, "policy_updates": 31850, "skipped_updates": 0, "invalid_env_resets": 174, "elapsed_s": 10023.294771380024, "nonwheel_terminations": 13041, "contact_bce": 0.2878636121749878, "contact_force_loss": 0.020027486607432365, "collision_bce": 7.837154953449499e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 7.888725122029427e-06, "collision_label_count": 16362.0, "terrain_level_mean": 3.94384765625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [2, 25, 56, 71, 75, 181], "episodes_by_level": [[1448.0, 316.0, 49.0, 0.0], [1833.0, 406.0, 38.0, 0.0], [1515.0, 351.0, 31.0, 0.0], [1212.0, 274.0, 24.0, 0.0], [727.0, 188.0, 18.0, 0.0], [936.0, 225.0, 7.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 49, 352, 1029], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4303.0, 1756.0, 165.0, 0.0], [4518.0, 1657.0, 196.0, 0.0], [5216.0, 1450.0, 162.0, 0.0], [5206.0, 851.0, 225.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 6, 33, 575], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [956.0, 783.0, 26.0, 0.0], [1799.0, 1457.0, 65.0, 0.0], [8760.0, 7267.0, 260.0, 0.0]]}, "platform": {"level_counts": [9, 41, 89, 101, 105, 65], "episodes_by_level": [[1767.0, 386.0, 52.0, 0.0], [2096.0, 434.0, 84.0, 0.0], [1682.0, 325.0, 80.0, 0.0], [1226.0, 213.0, 54.0, 0.0], [662.0, 97.0, 43.0, 0.0], [236.0, 25.0, 32.0, 0.0]]}, "slope": {"level_counts": [10, 32, 65, 91, 66, 146], "episodes_by_level": [[1609.0, 341.0, 46.0, 0.0], [1917.0, 395.0, 68.0, 0.0], [1561.0, 332.0, 41.0, 0.0], [1091.0, 223.0, 29.0, 0.0], [745.0, 163.0, 11.0, 0.0], [773.0, 130.0, 17.0, 0.0]]}, "rubble": {"level_counts": [26, 127, 216, 236, 165, 49], "episodes_by_level": [[3266.0, 742.0, 98.0, 0.0], [4540.0, 973.0, 204.0, 0.0], [3840.0, 813.0, 324.0, 0.0], [2518.0, 420.0, 363.0, 0.0], [1054.0, 116.0, 206.0, 0.0], [244.0, 10.0, 67.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22802734375, "command_abs_max": [0.995887041091919, 0.3997981548309326, 0.6999115347862244]}
{"step": 32200, "actor_lr": 2.787383705132868e-05, "archive_windows": 50000, "env_steps": 32200, "total_transitions": 131891200, "num_steps_per_env": 1, "wm_loss": 0.5605800151824951, "actor_loss": -9.539949417114258, "critic_loss": 0.0036815330386161804, "reward": 0.08762958645820618, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11238422989845276, 0.07080100476741791, 0.13410760462284088], "mean_episode_length": 1374.5862068965516, "episode_reward_terms": {"track_linear_velocity": 48.92866516113281, "track_angular_velocity": 51.957969665527344, "upright": 26.40277099609375, "leg_posture": -2.658344268798828, "standstill": -5.995088577270508, "action_rate_l2": -0.5831555724143982, "joint_torques_l2": -0.14878948032855988, "dof_pos_limits": -0.0007298290147446096, "terminated": -0.018793169409036636, "unnecessary_wheel_lift": -0.08980407565832138, "rolling_leg_motion": -0.6138824224472046, "obstacle_progress": 3.8263275623321533, "wheel_body_intrusion": -0.2684633135795593, "pair_body_intrusion": -0.28429538011550903}, "weighted_reward_terms": {"track_linear_velocity": 1.7797598838806152, "track_angular_velocity": 1.8899495601654053, "upright": 0.9603898525238037, "leg_posture": -0.0966961681842804, "standstill": -0.21806886792182922, "action_rate_l2": -0.02121204137802124, "joint_torques_l2": -0.005412155296653509, "dof_pos_limits": -2.6547228117124178e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0032665859907865524, "rolling_leg_motion": -0.022329717874526978, "obstacle_progress": 0.13918107748031616, "wheel_body_intrusion": -0.009765241295099258, "pair_body_intrusion": -0.010341126471757889}, "episode_termination_rates": {"time_out": 0.503448275862069, "fell_over": 0.020689655172413793, "course_exit": 0.4482758620689655, "illegal_nonwheel_contact": 0.027586206896551724}, "collection_time_s": 0.0756314975838177, "learning_time_s": 0.1854300045815762, "iteration_time_s": 0.31168785646108776, "policy_updates": 31900, "skipped_updates": 0, "invalid_env_resets": 174, "elapsed_s": 10036.348978047026, "nonwheel_terminations": 13045, "contact_bce": 0.28388357162475586, "contact_force_loss": 0.019656535238027573, "collision_bce": 0.0001385192881571129, "collision_label_rate": 6.123323692008853e-05, "collision_prediction_mean": 5.081848212284967e-05, "collision_label_count": 16331.0, "terrain_level_mean": 3.947021484375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [2, 24, 57, 70, 75, 182], "episodes_by_level": [[1448.0, 316.0, 49.0, 0.0], [1834.0, 407.0, 38.0, 0.0], [1518.0, 351.0, 31.0, 0.0], [1216.0, 275.0, 24.0, 0.0], [729.0, 189.0, 18.0, 0.0], [939.0, 225.0, 7.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 48, 354, 1028], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4303.0, 1756.0, 165.0, 0.0], [4520.0, 1658.0, 196.0, 0.0], [5223.0, 1452.0, 162.0, 0.0], [5234.0, 855.0, 226.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 7, 32, 575], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [956.0, 783.0, 26.0, 0.0], [1800.0, 1458.0, 65.0, 0.0], [8774.0, 7279.0, 260.0, 0.0]]}, "platform": {"level_counts": [9, 41, 86, 104, 104, 66], "episodes_by_level": [[1767.0, 386.0, 52.0, 0.0], [2097.0, 434.0, 84.0, 0.0], [1686.0, 328.0, 80.0, 0.0], [1228.0, 213.0, 54.0, 0.0], [665.0, 98.0, 43.0, 0.0], [237.0, 25.0, 32.0, 0.0]]}, "slope": {"level_counts": [10, 32, 65, 88, 69, 146], "episodes_by_level": [[1610.0, 341.0, 46.0, 0.0], [1917.0, 395.0, 68.0, 0.0], [1562.0, 332.0, 41.0, 0.0], [1097.0, 226.0, 29.0, 0.0], [746.0, 163.0, 11.0, 0.0], [778.0, 131.0, 17.0, 0.0]]}, "rubble": {"level_counts": [26, 125, 217, 236, 166, 49], "episodes_by_level": [[3267.0, 742.0, 98.0, 0.0], [4548.0, 975.0, 204.0, 0.0], [3844.0, 815.0, 324.0, 0.0], [2530.0, 422.0, 364.0, 0.0], [1060.0, 116.0, 207.0, 0.0], [244.0, 10.0, 67.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.233154296875, "command_abs_max": [0.9974563717842102, 0.3997981548309326, 0.6999115347862244]}
{"step": 32250, "actor_lr": 2.7696727630617092e-05, "archive_windows": 50000, "env_steps": 32250, "total_transitions": 132096000, "num_steps_per_env": 1, "wm_loss": 0.605282187461853, "actor_loss": -9.514836311340332, "critic_loss": 0.007774376310408115, "reward": 0.08773630112409592, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11126383394002914, 0.0709047019481659, 0.13309556245803833], "mean_episode_length": 1379.8650306748466, "episode_reward_terms": {"track_linear_velocity": 49.1594123840332, "track_angular_velocity": 52.20132064819336, "upright": 26.538339614868164, "leg_posture": -2.6481375694274902, "standstill": -6.056070804595947, "action_rate_l2": -0.5920082926750183, "joint_torques_l2": -0.14977601170539856, "dof_pos_limits": -0.0006044229376129806, "terminated": -0.02695048414170742, "unnecessary_wheel_lift": -0.09792575985193253, "rolling_leg_motion": -0.6252225637435913, "obstacle_progress": 3.9255530834198, "wheel_body_intrusion": -0.2501601576805115, "pair_body_intrusion": -0.31351029872894287}, "weighted_reward_terms": {"track_linear_velocity": 1.7813124656677246, "track_angular_velocity": 1.8915373086929321, "upright": 0.9616280794143677, "leg_posture": -0.09595640003681183, "standstill": -0.21944433450698853, "action_rate_l2": -0.02145167626440525, "joint_torques_l2": -0.005427198484539986, "dof_pos_limits": -2.1901525542489253e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.0035483818501234055, "rolling_leg_motion": -0.02265520952641964, "obstacle_progress": 0.1422441005706787, "wheel_body_intrusion": -0.009064661338925362, "pair_body_intrusion": -0.01136018056422472}, "episode_termination_rates": {"time_out": 0.49693251533742333, "fell_over": 0.04294478527607362, "course_exit": 0.44171779141104295, "illegal_nonwheel_contact": 0.03067484662576687}, "collection_time_s": 0.07574376547941938, "learning_time_s": 0.18546000676462426, "iteration_time_s": 0.3116096280590386, "policy_updates": 31950, "skipped_updates": 0, "invalid_env_resets": 174, "elapsed_s": 10049.410504903994, "nonwheel_terminations": 13050, "contact_bce": 0.2902575135231018, "contact_force_loss": 0.020837293937802315, "collision_bce": 0.00024106938508339226, "collision_label_rate": 6.115459837019444e-05, "collision_prediction_mean": 2.173129905713722e-05, "collision_label_count": 16352.0, "terrain_level_mean": 3.947509765625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [2, 24, 57, 70, 75, 182], "episodes_by_level": [[1448.0, 316.0, 49.0, 0.0], [1835.0, 407.0, 38.0, 0.0], [1519.0, 351.0, 31.0, 0.0], [1220.0, 275.0, 24.0, 0.0], [731.0, 189.0, 18.0, 0.0], [945.0, 225.0, 7.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 48, 354, 1028], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4303.0, 1756.0, 165.0, 0.0], [4522.0, 1659.0, 196.0, 0.0], [5235.0, 1454.0, 162.0, 0.0], [5267.0, 864.0, 226.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 7, 32, 575], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [956.0, 783.0, 26.0, 0.0], [1803.0, 1460.0, 65.0, 0.0], [8794.0, 7297.0, 261.0, 0.0]]}, "platform": {"level_counts": [9, 41, 85, 105, 104, 66], "episodes_by_level": [[1767.0, 386.0, 52.0, 0.0], [2100.0, 434.0, 84.0, 0.0], [1688.0, 329.0, 80.0, 0.0], [1230.0, 213.0, 54.0, 0.0], [665.0, 98.0, 43.0, 0.0], [237.0, 25.0, 32.0, 0.0]]}, "slope": {"level_counts": [9, 33, 64, 88, 69, 147], "episodes_by_level": [[1611.0, 342.0, 46.0, 0.0], [1919.0, 395.0, 68.0, 0.0], [1565.0, 333.0, 41.0, 0.0], [1103.0, 227.0, 29.0, 0.0], [749.0, 164.0, 11.0, 0.0], [782.0, 132.0, 17.0, 0.0]]}, "rubble": {"level_counts": [26, 127, 215, 237, 165, 49], "episodes_by_level": [[3267.0, 742.0, 98.0, 0.0], [4553.0, 975.0, 204.0, 0.0], [3851.0, 816.0, 326.0, 0.0], [2535.0, 423.0, 365.0, 0.0], [1070.0, 116.0, 209.0, 0.0], [245.0, 10.0, 67.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.233154296875, "command_abs_max": [0.9974563717842102, 0.3997981548309326, 0.6999115347862244]}
{"step": 32300, "actor_lr": 2.7520130394857158e-05, "archive_windows": 50000, "env_steps": 32300, "total_transitions": 132300800, "num_steps_per_env": 1, "wm_loss": 0.6380075812339783, "actor_loss": -9.5482177734375, "critic_loss": 0.0032558594830334187, "reward": 0.08810201287269592, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11054758727550507, 0.06970157474279404, 0.13186949491500854], "mean_episode_length": 1361.3286713286714, "episode_reward_terms": {"track_linear_velocity": 48.58067321777344, "track_angular_velocity": 51.565799713134766, "upright": 26.190427780151367, "leg_posture": -2.5805470943450928, "standstill": -5.6842474937438965, "action_rate_l2": -0.5692888498306274, "joint_torques_l2": -0.14696864783763885, "dof_pos_limits": -0.000784671981818974, "terminated": -0.01595306769013405, "unnecessary_wheel_lift": -0.0772552639245987, "rolling_leg_motion": -0.5974792242050171, "obstacle_progress": 3.8557395935058594, "wheel_body_intrusion": -0.2565411925315857, "pair_body_intrusion": -0.32779815793037415}, "weighted_reward_terms": {"track_linear_velocity": 1.7843111753463745, "track_angular_velocity": 1.893951177597046, "upright": 0.9619436264038086, "leg_posture": -0.09478046000003815, "standstill": -0.20877572894096375, "action_rate_l2": -0.02090931124985218, "joint_torques_l2": -0.005397985689342022, "dof_pos_limits": -2.882007902371697e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.002837495179846883, "rolling_leg_motion": -0.021944710984826088, "obstacle_progress": 0.1416167914867401, "wheel_body_intrusion": -0.009422456845641136, "pair_body_intrusion": -0.012039640918374062}, "episode_termination_rates": {"time_out": 0.4195804195804196, "fell_over": 0.027972027972027972, "course_exit": 0.5384615384615384, "illegal_nonwheel_contact": 0.027972027972027972}, "collection_time_s": 0.07572493184241466, "learning_time_s": 0.1855318975239061, "iteration_time_s": 0.31153171611359076, "policy_updates": 32000, "skipped_updates": 0, "invalid_env_resets": 174, "elapsed_s": 10062.474430468981, "nonwheel_terminations": 13054, "contact_bce": 0.2862757444381714, "contact_force_loss": 0.02036602608859539, "collision_bce": 0.0005738811451010406, "collision_label_rate": 0.0001224814768647775, "collision_prediction_mean": 8.143478771671653e-05, "collision_label_count": 16329.0, "terrain_level_mean": 3.948974609375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [2, 24, 57, 70, 75, 182], "episodes_by_level": [[1448.0, 316.0, 49.0, 0.0], [1835.0, 407.0, 38.0, 0.0], [1521.0, 351.0, 31.0, 0.0], [1220.0, 275.0, 24.0, 0.0], [735.0, 189.0, 18.0, 0.0], [948.0, 225.0, 7.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 48, 355, 1027], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4303.0, 1756.0, 165.0, 0.0], [4524.0, 1659.0, 196.0, 0.0], [5245.0, 1456.0, 162.0, 0.0], [5301.0, 874.0, 228.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 7, 33, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [956.0, 783.0, 26.0, 0.0], [1803.0, 1460.0, 65.0, 0.0], [8813.0, 7312.0, 261.0, 0.0]]}, "platform": {"level_counts": [9, 41, 85, 106, 103, 66], "episodes_by_level": [[1767.0, 386.0, 52.0, 0.0], [2102.0, 434.0, 84.0, 0.0], [1690.0, 329.0, 80.0, 0.0], [1233.0, 213.0, 54.0, 0.0], [667.0, 98.0, 44.0, 0.0], [237.0, 25.0, 32.0, 0.0]]}, "slope": {"level_counts": [9, 33, 64, 89, 67, 148], "episodes_by_level": [[1611.0, 342.0, 46.0, 0.0], [1919.0, 395.0, 68.0, 0.0], [1568.0, 333.0, 41.0, 0.0], [1103.0, 227.0, 29.0, 0.0], [753.0, 165.0, 12.0, 0.0], [787.0, 134.0, 17.0, 0.0]]}, "rubble": {"level_counts": [26, 125, 214, 238, 165, 51], "episodes_by_level": [[3267.0, 742.0, 98.0, 0.0], [4557.0, 977.0, 204.0, 0.0], [3858.0, 819.0, 326.0, 0.0], [2538.0, 425.0, 365.0, 0.0], [1076.0, 118.0, 209.0, 0.0], [247.0, 10.0, 67.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.228271484375, "command_abs_max": [0.9974563717842102, 0.3997981548309326, 0.6999115347862244]}
{"step": 32350, "actor_lr": 2.7344056237398213e-05, "archive_windows": 50000, "env_steps": 32350, "total_transitions": 132505600, "num_steps_per_env": 1, "wm_loss": 0.6422921419143677, "actor_loss": -9.541708946228027, "critic_loss": 0.0038568356540054083, "reward": 0.08777905255556107, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11148630082607269, 0.06963323801755905, 0.1328490972518921], "mean_episode_length": 1305.375, "episode_reward_terms": {"track_linear_velocity": 46.53699493408203, "track_angular_velocity": 49.40677261352539, "upright": 25.086761474609375, "leg_posture": -2.503599166870117, "standstill": -5.648932933807373, "action_rate_l2": -0.5459375381469727, "joint_torques_l2": -0.141187384724617, "dof_pos_limits": -0.0007634719368070364, "terminated": -0.022946041077375412, "unnecessary_wheel_lift": -0.08817807585000992, "rolling_leg_motion": -0.5855865478515625, "obstacle_progress": 3.6034066677093506, "wheel_body_intrusion": -0.24165469408035278, "pair_body_intrusion": -0.2705763280391693}, "weighted_reward_terms": {"track_linear_velocity": 1.7825143337249756, "track_angular_velocity": 1.8924360275268555, "upright": 0.9609025120735168, "leg_posture": -0.09589578211307526, "standstill": -0.2163720428943634, "action_rate_l2": -0.020911138504743576, "joint_torques_l2": -0.005407924763858318, "dof_pos_limits": -2.9243396056699567e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.0033774999901652336, "rolling_leg_motion": -0.022429820150136948, "obstacle_progress": 0.13802190124988556, "wheel_body_intrusion": -0.009256141260266304, "pair_body_intrusion": -0.010363931767642498}, "episode_termination_rates": {"time_out": 0.40476190476190477, "fell_over": 0.023809523809523808, "course_exit": 0.5416666666666666, "illegal_nonwheel_contact": 0.03571428571428571}, "collection_time_s": 0.07628729000338354, "learning_time_s": 0.1925248246989213, "iteration_time_s": 0.31146572262921207, "policy_updates": 32050, "skipped_updates": 0, "invalid_env_resets": 176, "elapsed_s": 10075.91612705501, "nonwheel_terminations": 13060, "contact_bce": 0.2879539430141449, "contact_force_loss": 0.020384712144732475, "collision_bce": 0.00020547976600937545, "collision_label_rate": 0.00012233913003001362, "collision_prediction_mean": 5.7461402320768684e-05, "collision_label_count": 16348.0, "terrain_level_mean": 3.95068359375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [2, 24, 56, 69, 77, 182], "episodes_by_level": [[1448.0, 316.0, 49.0, 0.0], [1836.0, 407.0, 38.0, 0.0], [1525.0, 352.0, 31.0, 0.0], [1225.0, 277.0, 24.0, 0.0], [736.0, 189.0, 18.0, 0.0], [953.0, 226.0, 7.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 48, 354, 1028], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4303.0, 1756.0, 165.0, 0.0], [4524.0, 1659.0, 196.0, 0.0], [5258.0, 1458.0, 162.0, 0.0], [5337.0, 881.0, 229.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 7, 33, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [956.0, 783.0, 26.0, 0.0], [1807.0, 1464.0, 65.0, 0.0], [8845.0, 7340.0, 262.0, 0.0]]}, "platform": {"level_counts": [9, 42, 82, 108, 102, 67], "episodes_by_level": [[1767.0, 386.0, 52.0, 0.0], [2103.0, 434.0, 84.0, 0.0], [1695.0, 331.0, 81.0, 0.0], [1236.0, 213.0, 54.0, 0.0], [670.0, 99.0, 44.0, 0.0], [238.0, 25.0, 32.0, 0.0]]}, "slope": {"level_counts": [9, 33, 65, 87, 68, 148], "episodes_by_level": [[1611.0, 342.0, 46.0, 0.0], [1919.0, 395.0, 68.0, 0.0], [1568.0, 333.0, 41.0, 0.0], [1106.0, 228.0, 30.0, 0.0], [753.0, 165.0, 12.0, 0.0], [795.0, 138.0, 17.0, 0.0]]}, "rubble": {"level_counts": [26, 125, 214, 237, 166, 51], "episodes_by_level": [[3268.0, 742.0, 98.0, 0.0], [4559.0, 977.0, 204.0, 0.0], [3866.0, 820.0, 326.0, 0.0], [2546.0, 427.0, 366.0, 0.0], [1080.0, 118.0, 210.0, 0.0], [248.0, 10.0, 67.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.228515625, "command_abs_max": [0.9994406700134277, 0.3997981548309326, 0.6999115347862244]}
{"step": 32400, "actor_lr": 2.7168516019323687e-05, "archive_windows": 50000, "env_steps": 32400, "total_transitions": 132710400, "num_steps_per_env": 1, "wm_loss": 0.6052854061126709, "actor_loss": -9.503934860229492, "critic_loss": 0.003187796100974083, "reward": 0.08762696385383606, "falls": 11, "interval_steps": 50, "velocity_mae": [0.11414694041013718, 0.06997314095497131, 0.13231228291988373], "mean_episode_length": 1325.0533333333333, "episode_reward_terms": {"track_linear_velocity": 47.04862594604492, "track_angular_velocity": 50.157840728759766, "upright": 25.435260772705078, "leg_posture": -2.503594398498535, "standstill": -5.717483043670654, "action_rate_l2": -0.5574174523353577, "joint_torques_l2": -0.14291439950466156, "dof_pos_limits": -0.0009643825469538569, "terminated": -0.028467940166592598, "unnecessary_wheel_lift": -0.08721673488616943, "rolling_leg_motion": -0.5941217541694641, "obstacle_progress": 3.620250940322876, "wheel_body_intrusion": -0.24213653802871704, "pair_body_intrusion": -0.27726486325263977}, "weighted_reward_terms": {"track_linear_velocity": 1.775348424911499, "track_angular_velocity": 1.8926725387573242, "upright": 0.9597824811935425, "leg_posture": -0.09447146207094193, "standstill": -0.21574540436267853, "action_rate_l2": -0.021033775061368942, "joint_torques_l2": -0.005392779130488634, "dof_pos_limits": -3.639033093350008e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.003291065338999033, "rolling_leg_motion": -0.022418787702918053, "obstacle_progress": 0.13660775125026703, "wheel_body_intrusion": -0.009136860258877277, "pair_body_intrusion": -0.010462404228746891}, "episode_termination_rates": {"time_out": 0.43333333333333335, "fell_over": 0.03333333333333333, "course_exit": 0.5, "illegal_nonwheel_contact": 0.04666666666666667}, "collection_time_s": 0.07562704695970751, "learning_time_s": 0.18542756728129461, "iteration_time_s": 0.3113879615328394, "policy_updates": 32100, "skipped_updates": 0, "invalid_env_resets": 176, "elapsed_s": 10088.969953663996, "nonwheel_terminations": 13067, "contact_bce": 0.29248183965682983, "contact_force_loss": 0.020420938730239868, "collision_bce": 9.098062037082855e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 9.138194400293287e-06, "collision_label_count": 16346.0, "terrain_level_mean": 3.952880859375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [2, 24, 57, 67, 79, 181], "episodes_by_level": [[1448.0, 316.0, 49.0, 0.0], [1837.0, 407.0, 38.0, 0.0], [1526.0, 352.0, 31.0, 0.0], [1227.0, 278.0, 25.0, 0.0], [737.0, 189.0, 18.0, 0.0], [958.0, 227.0, 8.0, 0.0]]}, "up": {"level_counts": [0, 0, 2, 51, 351, 1029], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4304.0, 1757.0, 165.0, 0.0], [4525.0, 1659.0, 196.0, 0.0], [5268.0, 1462.0, 162.0, 0.0], [5361.0, 883.0, 230.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 6, 34, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [957.0, 784.0, 26.0, 0.0], [1807.0, 1464.0, 65.0, 0.0], [8870.0, 7361.0, 262.0, 0.0]]}, "platform": {"level_counts": [9, 43, 81, 107, 103, 67], "episodes_by_level": [[1767.0, 386.0, 52.0, 0.0], [2104.0, 434.0, 84.0, 0.0], [1699.0, 331.0, 82.0, 0.0], [1238.0, 214.0, 54.0, 0.0], [675.0, 99.0, 44.0, 0.0], [240.0, 25.0, 32.0, 0.0]]}, "slope": {"level_counts": [9, 32, 66, 85, 69, 149], "episodes_by_level": [[1611.0, 342.0, 46.0, 0.0], [1920.0, 396.0, 68.0, 0.0], [1571.0, 333.0, 41.0, 0.0], [1110.0, 230.0, 30.0, 0.0], [754.0, 166.0, 12.0, 0.0], [799.0, 139.0, 17.0, 0.0]]}, "rubble": {"level_counts": [25, 125, 214, 236, 168, 51], "episodes_by_level": [[3269.0, 743.0, 98.0, 0.0], [4565.0, 979.0, 204.0, 0.0], [3871.0, 822.0, 327.0, 0.0], [2554.0, 429.0, 367.0, 0.0], [1085.0, 119.0, 210.0, 0.0], [253.0, 10.0, 68.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.229736328125, "command_abs_max": [0.9994406700134277, 0.3997981548309326, 0.6999115347862244]}
{"step": 32450, "actor_lr": 2.6993520568781092e-05, "archive_windows": 50000, "env_steps": 32450, "total_transitions": 132915200, "num_steps_per_env": 1, "wm_loss": 0.6401869058609009, "actor_loss": -9.503606796264648, "critic_loss": 0.004579334519803524, "reward": 0.08765170723199844, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11358919739723206, 0.06994090974330902, 0.13340993225574493], "mean_episode_length": 1370.5064102564102, "episode_reward_terms": {"track_linear_velocity": 48.710174560546875, "track_angular_velocity": 51.84377670288086, "upright": 26.315948486328125, "leg_posture": -2.5811681747436523, "standstill": -5.989037036895752, "action_rate_l2": -0.5763235092163086, "joint_torques_l2": -0.14809414744377136, "dof_pos_limits": -0.0005567673360928893, "terminated": -0.01606062240898609, "unnecessary_wheel_lift": -0.08422093838453293, "rolling_leg_motion": -0.5947762131690979, "obstacle_progress": 3.810839891433716, "wheel_body_intrusion": -0.2591804563999176, "pair_body_intrusion": -0.3040778338909149}, "weighted_reward_terms": {"track_linear_velocity": 1.777086615562439, "track_angular_velocity": 1.8914093971252441, "upright": 0.960081160068512, "leg_posture": -0.09416840970516205, "standstill": -0.21849721670150757, "action_rate_l2": -0.02102593146264553, "joint_torques_l2": -0.005402898881584406, "dof_pos_limits": -2.031246549449861e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.0030726208351552486, "rolling_leg_motion": -0.02169913984835148, "obstacle_progress": 0.1390303522348404, "wheel_body_intrusion": -0.009455644525587559, "pair_body_intrusion": -0.011093630455434322}, "episode_termination_rates": {"time_out": 0.4551282051282051, "fell_over": 0.019230769230769232, "course_exit": 0.5064102564102564, "illegal_nonwheel_contact": 0.02564102564102564}, "collection_time_s": 0.07574033833690919, "learning_time_s": 0.18505452160490676, "iteration_time_s": 0.31148550861420754, "policy_updates": 32150, "skipped_updates": 0, "invalid_env_resets": 176, "elapsed_s": 10107.704754531034, "nonwheel_terminations": 13071, "contact_bce": 0.2966606914997101, "contact_force_loss": 0.020973199978470802, "collision_bce": 0.0005535848904401064, "collision_label_rate": 0.00018366597942076623, "collision_prediction_mean": 0.00012014170351903886, "collision_label_count": 16334.0, "terrain_level_mean": 3.95556640625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [2, 24, 56, 67, 80, 181], "episodes_by_level": [[1448.0, 316.0, 49.0, 0.0], [1837.0, 407.0, 38.0, 0.0], [1529.0, 353.0, 31.0, 0.0], [1232.0, 279.0, 25.0, 0.0], [738.0, 189.0, 18.0, 0.0], [962.0, 228.0, 8.0, 0.0]]}, "up": {"level_counts": [0, 0, 2, 51, 349, 1031], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4304.0, 1757.0, 165.0, 0.0], [4527.0, 1659.0, 196.0, 0.0], [5280.0, 1464.0, 162.0, 0.0], [5391.0, 890.0, 230.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 6, 34, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [957.0, 784.0, 26.0, 0.0], [1808.0, 1465.0, 65.0, 0.0], [8892.0, 7380.0, 262.0, 0.0]]}, "platform": {"level_counts": [10, 41, 81, 108, 103, 67], "episodes_by_level": [[1767.0, 386.0, 52.0, 0.0], [2106.0, 435.0, 85.0, 0.0], [1702.0, 332.0, 82.0, 0.0], [1239.0, 214.0, 54.0, 0.0], [679.0, 99.0, 44.0, 0.0], [242.0, 25.0, 32.0, 0.0]]}, "slope": {"level_counts": [9, 32, 65, 86, 69, 149], "episodes_by_level": [[1611.0, 342.0, 46.0, 0.0], [1922.0, 396.0, 68.0, 0.0], [1572.0, 334.0, 41.0, 0.0], [1112.0, 230.0, 30.0, 0.0], [755.0, 166.0, 12.0, 0.0], [805.0, 141.0, 17.0, 0.0]]}, "rubble": {"level_counts": [24, 125, 212, 240, 166, 52], "episodes_by_level": [[3271.0, 744.0, 98.0, 0.0], [4567.0, 980.0, 204.0, 0.0], [3883.0, 827.0, 327.0, 0.0], [2560.0, 430.0, 369.0, 0.0], [1090.0, 120.0, 212.0, 0.0], [254.0, 10.0, 68.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2255859375, "command_abs_max": [0.9994406700134277, 0.3997981548309326, 0.6998783349990845]}
{"step": 32500, "actor_lr": 2.6819080680314116e-05, "archive_windows": 50000, "env_steps": 32500, "total_transitions": 133120000, "num_steps_per_env": 1, "wm_loss": 0.5901763439178467, "actor_loss": -9.532838821411133, "critic_loss": 0.0066842674277722836, "reward": 0.08769194036722183, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11264784634113312, 0.06954887509346008, 0.13234557211399078], "mean_episode_length": 1389.7597402597403, "episode_reward_terms": {"track_linear_velocity": 49.47679901123047, "track_angular_velocity": 52.60778045654297, "upright": 26.66839599609375, "leg_posture": -2.635821580886841, "standstill": -6.081117153167725, "action_rate_l2": -0.5889438390731812, "joint_torques_l2": -0.15089726448059082, "dof_pos_limits": -0.000646417960524559, "terminated": -0.02714374288916588, "unnecessary_wheel_lift": -0.07978583872318268, "rolling_leg_motion": -0.5841169357299805, "obstacle_progress": 3.8408615589141846, "wheel_body_intrusion": -0.27216553688049316, "pair_body_intrusion": -0.30246588587760925}, "weighted_reward_terms": {"track_linear_velocity": 1.7800486087799072, "track_angular_velocity": 1.8926934003829956, "upright": 0.9594606757164001, "leg_posture": -0.09483011811971664, "standstill": -0.21878305077552795, "action_rate_l2": -0.02118869312107563, "joint_torques_l2": -0.005428897216916084, "dof_pos_limits": -2.3256465283338912e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.0028704905416816473, "rolling_leg_motion": -0.02101503312587738, "obstacle_progress": 0.13818436861038208, "wheel_body_intrusion": -0.009791819378733635, "pair_body_intrusion": -0.010881948284804821}, "episode_termination_rates": {"time_out": 0.512987012987013, "fell_over": 0.06493506493506493, "course_exit": 0.42207792207792205, "illegal_nonwheel_contact": 0.01948051948051948}, "collection_time_s": 0.0757959547988139, "learning_time_s": 0.18379481876152567, "iteration_time_s": 0.3114057042213533, "policy_updates": 32200, "skipped_updates": 0, "invalid_env_resets": 176, "elapsed_s": 10120.685387193982, "nonwheel_terminations": 13074, "contact_bce": 0.28563565015792847, "contact_force_loss": 0.019673367962241173, "collision_bce": 3.4910659451270476e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 3.358073445269838e-05, "collision_label_count": 16362.0, "terrain_level_mean": 3.957275390625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [2, 24, 55, 68, 79, 182], "episodes_by_level": [[1448.0, 316.0, 49.0, 0.0], [1838.0, 407.0, 38.0, 0.0], [1533.0, 354.0, 31.0, 0.0], [1237.0, 279.0, 25.0, 0.0], [739.0, 190.0, 18.0, 0.0], [970.0, 228.0, 8.0, 0.0]]}, "up": {"level_counts": [0, 0, 2, 52, 348, 1031], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4304.0, 1757.0, 165.0, 0.0], [4530.0, 1659.0, 196.0, 0.0], [5286.0, 1466.0, 162.0, 0.0], [5418.0, 894.0, 231.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 6, 34, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [957.0, 784.0, 26.0, 0.0], [1810.0, 1467.0, 65.0, 0.0], [8908.0, 7395.0, 262.0, 0.0]]}, "platform": {"level_counts": [10, 41, 81, 105, 106, 67], "episodes_by_level": [[1768.0, 386.0, 52.0, 0.0], [2107.0, 435.0, 85.0, 0.0], [1703.0, 333.0, 82.0, 0.0], [1244.0, 217.0, 55.0, 0.0], [680.0, 99.0, 44.0, 0.0], [242.0, 25.0, 32.0, 0.0]]}, "slope": {"level_counts": [9, 32, 65, 86, 69, 149], "episodes_by_level": [[1611.0, 342.0, 46.0, 0.0], [1924.0, 396.0, 68.0, 0.0], [1574.0, 334.0, 41.0, 0.0], [1114.0, 230.0, 30.0, 0.0], [757.0, 166.0, 12.0, 0.0], [807.0, 141.0, 17.0, 0.0]]}, "rubble": {"level_counts": [25, 125, 210, 239, 166, 54], "episodes_by_level": [[3272.0, 744.0, 98.0, 0.0], [4574.0, 981.0, 205.0, 0.0], [3893.0, 829.0, 329.0, 0.0], [2572.0, 432.0, 370.0, 0.0], [1099.0, 122.0, 212.0, 0.0], [255.0, 10.0, 68.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22216796875, "command_abs_max": [0.9994406700134277, 0.3997981548309326, 0.6998783349990845]}
{"step": 32550, "actor_lr": 2.6645207114196775e-05, "archive_windows": 50000, "env_steps": 32550, "total_transitions": 133324800, "num_steps_per_env": 1, "wm_loss": 0.6352986693382263, "actor_loss": -9.53746223449707, "critic_loss": 0.003965088631957769, "reward": 0.08792740851640701, "falls": 4, "interval_steps": 50, "velocity_mae": [0.11153948307037354, 0.06985993683338165, 0.132073774933815], "mean_episode_length": 1443.5479452054794, "episode_reward_terms": {"track_linear_velocity": 51.422420501708984, "track_angular_velocity": 54.680301666259766, "upright": 27.72732162475586, "leg_posture": -2.747130870819092, "standstill": -6.080020427703857, "action_rate_l2": -0.6122674942016602, "joint_torques_l2": -0.15466465055942535, "dof_pos_limits": -0.0006098989397287369, "terminated": -0.011277716606855392, "unnecessary_wheel_lift": -0.08341002464294434, "rolling_leg_motion": -0.617979884147644, "obstacle_progress": 3.9548208713531494, "wheel_body_intrusion": -0.27001842856407166, "pair_body_intrusion": -0.2800818085670471}, "weighted_reward_terms": {"track_linear_velocity": 1.7811123132705688, "track_angular_velocity": 1.8939552307128906, "upright": 0.9603879451751709, "leg_posture": -0.09515205025672913, "standstill": -0.21059295535087585, "action_rate_l2": -0.021207038313150406, "joint_torques_l2": -0.005357101559638977, "dof_pos_limits": -2.1124997147126123e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.002889063209295273, "rolling_leg_motion": -0.021404895931482315, "obstacle_progress": 0.13698266446590424, "wheel_body_intrusion": -0.00935259647667408, "pair_body_intrusion": -0.009701160714030266}, "episode_termination_rates": {"time_out": 0.5547945205479452, "fell_over": 0.0, "course_exit": 0.4178082191780822, "illegal_nonwheel_contact": 0.0273972602739726}, "collection_time_s": 0.07569995401892811, "learning_time_s": 0.18379871920449659, "iteration_time_s": 0.31132685040218183, "policy_updates": 32250, "skipped_updates": 0, "invalid_env_resets": 176, "elapsed_s": 10133.688980591018, "nonwheel_terminations": 13078, "contact_bce": 0.29087501764297485, "contact_force_loss": 0.020577210932970047, "collision_bce": 0.0001595807116245851, "collision_label_rate": 6.124073843238875e-05, "collision_prediction_mean": 2.1162759367143735e-05, "collision_label_count": 16329.0, "terrain_level_mean": 3.958984375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [2, 24, 55, 68, 79, 182], "episodes_by_level": [[1448.0, 316.0, 49.0, 0.0], [1839.0, 407.0, 38.0, 0.0], [1534.0, 354.0, 31.0, 0.0], [1239.0, 279.0, 25.0, 0.0], [745.0, 190.0, 18.0, 0.0], [977.0, 228.0, 8.0, 0.0]]}, "up": {"level_counts": [0, 0, 2, 51, 346, 1034], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4304.0, 1757.0, 165.0, 0.0], [4531.0, 1660.0, 196.0, 0.0], [5296.0, 1469.0, 162.0, 0.0], [5446.0, 899.0, 231.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 6, 34, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [957.0, 784.0, 26.0, 0.0], [1810.0, 1467.0, 65.0, 0.0], [8923.0, 7408.0, 262.0, 0.0]]}, "platform": {"level_counts": [10, 41, 79, 106, 106, 68], "episodes_by_level": [[1769.0, 386.0, 52.0, 0.0], [2107.0, 435.0, 85.0, 0.0], [1707.0, 335.0, 82.0, 0.0], [1246.0, 218.0, 55.0, 0.0], [682.0, 100.0, 44.0, 0.0], [245.0, 26.0, 32.0, 0.0]]}, "slope": {"level_counts": [9, 32, 63, 88, 70, 148], "episodes_by_level": [[1611.0, 342.0, 46.0, 0.0], [1924.0, 396.0, 68.0, 0.0], [1578.0, 336.0, 41.0, 0.0], [1116.0, 230.0, 30.0, 0.0], [758.0, 166.0, 12.0, 0.0], [813.0, 142.0, 18.0, 0.0]]}, "rubble": {"level_counts": [25, 126, 210, 238, 166, 54], "episodes_by_level": [[3272.0, 744.0, 98.0, 0.0], [4577.0, 981.0, 205.0, 0.0], [3902.0, 830.0, 330.0, 0.0], [2585.0, 432.0, 372.0, 0.0], [1104.0, 122.0, 212.0, 0.0], [257.0, 10.0, 68.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.226318359375, "command_abs_max": [0.9991072416305542, 0.3997981548309326, 0.6998783349990845]}
{"step": 32600, "actor_lr": 2.647191059576963e-05, "archive_windows": 50000, "env_steps": 32600, "total_transitions": 133529600, "num_steps_per_env": 1, "wm_loss": 0.6264349222183228, "actor_loss": -9.54826545715332, "critic_loss": 0.006568785756826401, "reward": 0.08784900605678558, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11301187425851822, 0.07029413431882858, 0.13349592685699463], "mean_episode_length": 1417.0408163265306, "episode_reward_terms": {"track_linear_velocity": 50.35124969482422, "track_angular_velocity": 53.60515594482422, "upright": 27.236099243164062, "leg_posture": -2.668877601623535, "standstill": -5.905313014984131, "action_rate_l2": -0.6187651753425598, "joint_torques_l2": -0.15362891554832458, "dof_pos_limits": -0.0012249014107510448, "terminated": -0.013838287442922592, "unnecessary_wheel_lift": -0.08237941563129425, "rolling_leg_motion": -0.6197882890701294, "obstacle_progress": 3.9251513481140137, "wheel_body_intrusion": -0.26064446568489075, "pair_body_intrusion": -0.30761635303497314}, "weighted_reward_terms": {"track_linear_velocity": 1.776633858680725, "track_angular_velocity": 1.8914473056793213, "upright": 0.9610203504562378, "leg_posture": -0.09417081624269485, "standstill": -0.20836779475212097, "action_rate_l2": -0.021833006292581558, "joint_torques_l2": -0.0054207658395171165, "dof_pos_limits": -4.322040331317112e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.0029067411087453365, "rolling_leg_motion": -0.021869106218218803, "obstacle_progress": 0.1384981870651245, "wheel_body_intrusion": -0.00919678807258606, "pair_body_intrusion": -0.010854181833565235}, "episode_termination_rates": {"time_out": 0.5578231292517006, "fell_over": 0.027210884353741496, "course_exit": 0.41496598639455784, "illegal_nonwheel_contact": 0.013605442176870748}, "collection_time_s": 0.07604507284704595, "learning_time_s": 0.1832242772774771, "iteration_time_s": 0.3112470488163801, "policy_updates": 32300, "skipped_updates": 0, "invalid_env_resets": 177, "elapsed_s": 10146.653791413992, "nonwheel_terminations": 13080, "contact_bce": 0.2924959361553192, "contact_force_loss": 0.020292457193136215, "collision_bce": 9.536595462122932e-05, "collision_label_rate": 6.12557414569892e-05, "collision_prediction_mean": 5.6569908338133246e-05, "collision_label_count": 16325.0, "terrain_level_mean": 3.961181640625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [2, 24, 54, 69, 79, 182], "episodes_by_level": [[1448.0, 316.0, 49.0, 0.0], [1840.0, 407.0, 38.0, 0.0], [1535.0, 355.0, 31.0, 0.0], [1239.0, 279.0, 25.0, 0.0], [748.0, 190.0, 18.0, 0.0], [988.0, 230.0, 8.0, 0.0]]}, "up": {"level_counts": [0, 0, 2, 51, 340, 1040], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4304.0, 1757.0, 165.0, 0.0], [4532.0, 1660.0, 196.0, 0.0], [5307.0, 1475.0, 162.0, 0.0], [5474.0, 907.0, 231.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 5, 34, 575], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [958.0, 785.0, 26.0, 0.0], [1811.0, 1468.0, 65.0, 0.0], [8936.0, 7421.0, 262.0, 0.0]]}, "platform": {"level_counts": [10, 41, 79, 106, 108, 66], "episodes_by_level": [[1769.0, 386.0, 52.0, 0.0], [2109.0, 435.0, 85.0, 0.0], [1708.0, 335.0, 82.0, 0.0], [1249.0, 218.0, 55.0, 0.0], [687.0, 100.0, 44.0, 0.0], [251.0, 26.0, 34.0, 0.0]]}, "slope": {"level_counts": [9, 32, 62, 89, 72, 146], "episodes_by_level": [[1612.0, 342.0, 46.0, 0.0], [1926.0, 396.0, 68.0, 0.0], [1582.0, 337.0, 41.0, 0.0], [1119.0, 230.0, 30.0, 0.0], [760.0, 166.0, 12.0, 0.0], [818.0, 143.0, 20.0, 0.0]]}, "rubble": {"level_counts": [25, 125, 211, 236, 168, 54], "episodes_by_level": [[3273.0, 744.0, 98.0, 0.0], [4581.0, 983.0, 205.0, 0.0], [3908.0, 830.0, 331.0, 0.0], [2591.0, 434.0, 372.0, 0.0], [1107.0, 122.0, 212.0, 0.0], [259.0, 10.0, 68.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2255859375, "command_abs_max": [0.9991072416305542, 0.3997981548309326, 0.6998783349990845]}
{"step": 32650, "actor_lr": 2.629920181477826e-05, "archive_windows": 50000, "env_steps": 32650, "total_transitions": 133734400, "num_steps_per_env": 1, "wm_loss": 0.6397578120231628, "actor_loss": -9.508285522460938, "critic_loss": 0.004871443845331669, "reward": 0.08773764222860336, "falls": 6, "interval_steps": 50, "velocity_mae": [0.112065389752388, 0.07011788338422775, 0.13210242986679077], "mean_episode_length": 1341.4967320261437, "episode_reward_terms": {"track_linear_velocity": 47.74301528930664, "track_angular_velocity": 50.7963752746582, "upright": 25.774198532104492, "leg_posture": -2.522677421569824, "standstill": -5.872677326202393, "action_rate_l2": -0.566097617149353, "joint_torques_l2": -0.14416399598121643, "dof_pos_limits": -0.0006958759622648358, "terminated": -0.015720663592219353, "unnecessary_wheel_lift": -0.0880509540438652, "rolling_leg_motion": -0.5851641297340393, "obstacle_progress": 3.700403928756714, "wheel_body_intrusion": -0.2367333322763443, "pair_body_intrusion": -0.2822529077529907}, "weighted_reward_terms": {"track_linear_velocity": 1.7794681787490845, "track_angular_velocity": 1.8932725191116333, "upright": 0.9606509208679199, "leg_posture": -0.09402474015951157, "standstill": -0.21888528764247894, "action_rate_l2": -0.021099478006362915, "joint_torques_l2": -0.005373252090066671, "dof_pos_limits": -2.5936551537597552e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.0032818177714943886, "rolling_leg_motion": -0.021810121834278107, "obstacle_progress": 0.13792072236537933, "wheel_body_intrusion": -0.00882347859442234, "pair_body_intrusion": -0.01052007544785738}, "episode_termination_rates": {"time_out": 0.40522875816993464, "fell_over": 0.0196078431372549, "course_exit": 0.5555555555555556, "illegal_nonwheel_contact": 0.026143790849673203}, "collection_time_s": 0.07565504639875144, "learning_time_s": 0.183364251855528, "iteration_time_s": 0.3111671003003984, "policy_updates": 32350, "skipped_updates": 0, "invalid_env_resets": 177, "elapsed_s": 10159.605824808008, "nonwheel_terminations": 13084, "contact_bce": 0.2903057038784027, "contact_force_loss": 0.020518701523542404, "collision_bce": 9.955933819583151e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 9.896309165924322e-06, "collision_label_count": 16316.0, "terrain_level_mean": 3.964111328125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [2, 24, 53, 69, 79, 183], "episodes_by_level": [[1448.0, 316.0, 49.0, 0.0], [1840.0, 407.0, 38.0, 0.0], [1537.0, 356.0, 31.0, 0.0], [1241.0, 280.0, 25.0, 0.0], [753.0, 191.0, 18.0, 0.0], [997.0, 230.0, 8.0, 0.0]]}, "up": {"level_counts": [0, 0, 2, 50, 338, 1043], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4304.0, 1757.0, 165.0, 0.0], [4536.0, 1661.0, 196.0, 0.0], [5320.0, 1479.0, 162.0, 0.0], [5506.0, 913.0, 232.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 5, 35, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [958.0, 785.0, 26.0, 0.0], [1812.0, 1469.0, 65.0, 0.0], [8954.0, 7438.0, 262.0, 0.0]]}, "platform": {"level_counts": [10, 40, 78, 108, 107, 67], "episodes_by_level": [[1769.0, 386.0, 52.0, 0.0], [2111.0, 436.0, 85.0, 0.0], [1710.0, 337.0, 82.0, 0.0], [1250.0, 218.0, 55.0, 0.0], [690.0, 101.0, 44.0, 0.0], [253.0, 26.0, 34.0, 0.0]]}, "slope": {"level_counts": [9, 32, 62, 89, 72, 146], "episodes_by_level": [[1612.0, 342.0, 46.0, 0.0], [1928.0, 396.0, 68.0, 0.0], [1583.0, 337.0, 41.0, 0.0], [1119.0, 230.0, 30.0, 0.0], [762.0, 166.0, 12.0, 0.0], [821.0, 143.0, 20.0, 0.0]]}, "rubble": {"level_counts": [26, 124, 210, 235, 170, 54], "episodes_by_level": [[3273.0, 744.0, 98.0, 0.0], [4584.0, 983.0, 206.0, 0.0], [3917.0, 832.0, 331.0, 0.0], [2602.0, 436.0, 373.0, 0.0], [1111.0, 123.0, 212.0, 0.0], [263.0, 10.0, 69.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2265625, "command_abs_max": [0.9996440410614014, 0.3997981548309326, 0.699335515499115]}
{"step": 32700, "actor_lr": 2.6127091424713783e-05, "archive_windows": 50000, "env_steps": 32700, "total_transitions": 133939200, "num_steps_per_env": 1, "wm_loss": 0.6235373616218567, "actor_loss": -9.529916763305664, "critic_loss": 0.006350634153932333, "reward": 0.08748207241296768, "falls": 4, "interval_steps": 50, "velocity_mae": [0.11183220893144608, 0.07112421840429306, 0.13256126642227173], "mean_episode_length": 1432.3858267716535, "episode_reward_terms": {"track_linear_velocity": 50.954376220703125, "track_angular_velocity": 54.217464447021484, "upright": 27.485193252563477, "leg_posture": -2.748974561691284, "standstill": -6.42811393737793, "action_rate_l2": -0.6018789410591125, "joint_torques_l2": -0.1544216275215149, "dof_pos_limits": -0.0008110321941785514, "terminated": -0.011190512217581272, "unnecessary_wheel_lift": -0.08545170724391937, "rolling_leg_motion": -0.6176232695579529, "obstacle_progress": 3.8764286041259766, "wheel_body_intrusion": -0.2671574056148529, "pair_body_intrusion": -0.3097701966762543}, "weighted_reward_terms": {"track_linear_velocity": 1.7786539793014526, "track_angular_velocity": 1.892557978630066, "upright": 0.9594200849533081, "leg_posture": -0.09595789760351181, "standstill": -0.2243848592042923, "action_rate_l2": -0.021009664982557297, "joint_torques_l2": -0.005390364211052656, "dof_pos_limits": -2.8310534617048688e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.0029828452970832586, "rolling_leg_motion": -0.021559249609708786, "obstacle_progress": 0.1353137046098709, "wheel_body_intrusion": -0.009325608611106873, "pair_body_intrusion": -0.010813084430992603}, "episode_termination_rates": {"time_out": 0.5511811023622047, "fell_over": 0.031496062992125984, "course_exit": 0.41732283464566927, "illegal_nonwheel_contact": 0.007874015748031496}, "collection_time_s": 0.07560201387968846, "learning_time_s": 0.18387741194106638, "iteration_time_s": 0.3110880999017129, "policy_updates": 32400, "skipped_updates": 0, "invalid_env_resets": 177, "elapsed_s": 10172.580866786011, "nonwheel_terminations": 13085, "contact_bce": 0.2906835079193115, "contact_force_loss": 0.02075752429664135, "collision_bce": 0.00016696278180461377, "collision_label_rate": 6.117704469943419e-05, "collision_prediction_mean": 2.1865576854906976e-05, "collision_label_count": 16346.0, "terrain_level_mean": 3.966552734375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [2, 24, 52, 70, 78, 184], "episodes_by_level": [[1448.0, 316.0, 49.0, 0.0], [1840.0, 407.0, 38.0, 0.0], [1539.0, 357.0, 31.0, 0.0], [1243.0, 280.0, 25.0, 0.0], [754.0, 192.0, 18.0, 0.0], [1004.0, 232.0, 8.0, 0.0]]}, "up": {"level_counts": [0, 0, 2, 50, 338, 1043], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4304.0, 1757.0, 165.0, 0.0], [4537.0, 1661.0, 196.0, 0.0], [5325.0, 1480.0, 162.0, 0.0], [5522.0, 916.0, 233.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 5, 35, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [958.0, 785.0, 26.0, 0.0], [1813.0, 1470.0, 65.0, 0.0], [8969.0, 7452.0, 262.0, 0.0]]}, "platform": {"level_counts": [10, 39, 79, 106, 108, 68], "episodes_by_level": [[1769.0, 386.0, 52.0, 0.0], [2112.0, 437.0, 85.0, 0.0], [1711.0, 337.0, 82.0, 0.0], [1260.0, 220.0, 55.0, 0.0], [693.0, 102.0, 44.0, 0.0], [253.0, 26.0, 34.0, 0.0]]}, "slope": {"level_counts": [8, 33, 61, 90, 72, 146], "episodes_by_level": [[1613.0, 343.0, 46.0, 0.0], [1929.0, 396.0, 68.0, 0.0], [1584.0, 338.0, 41.0, 0.0], [1121.0, 230.0, 30.0, 0.0], [764.0, 166.0, 12.0, 0.0], [826.0, 143.0, 20.0, 0.0]]}, "rubble": {"level_counts": [26, 125, 208, 235, 170, 55], "episodes_by_level": [[3275.0, 744.0, 98.0, 0.0], [4586.0, 983.0, 206.0, 0.0], [3925.0, 834.0, 332.0, 0.0], [2611.0, 437.0, 374.0, 0.0], [1112.0, 124.0, 212.0, 0.0], [266.0, 10.0, 69.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.227783203125, "command_abs_max": [0.9996440410614014, 0.3997981548309326, 0.6996809244155884]}
{"step": 32750, "actor_lr": 2.5955590042155788e-05, "archive_windows": 50000, "env_steps": 32750, "total_transitions": 134144000, "num_steps_per_env": 1, "wm_loss": 0.5482372045516968, "actor_loss": -9.531712532043457, "critic_loss": 0.005510962102562189, "reward": 0.0876225009560585, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11311623454093933, 0.07131586223840714, 0.13186238706111908], "mean_episode_length": 1360.8392857142858, "episode_reward_terms": {"track_linear_velocity": 48.33734130859375, "track_angular_velocity": 51.5384521484375, "upright": 26.12430763244629, "leg_posture": -2.599254846572876, "standstill": -5.772672653198242, "action_rate_l2": -0.5687015056610107, "joint_torques_l2": -0.1474941223859787, "dof_pos_limits": -0.000686104001943022, "terminated": -0.026578888297080994, "unnecessary_wheel_lift": -0.0869198590517044, "rolling_leg_motion": -0.6003184914588928, "obstacle_progress": 3.6207826137542725, "wheel_body_intrusion": -0.26483282446861267, "pair_body_intrusion": -0.31328538060188293}, "weighted_reward_terms": {"track_linear_velocity": 1.7760121822357178, "track_angular_velocity": 1.8936275243759155, "upright": 0.9598601460456848, "leg_posture": -0.09550190716981888, "standstill": -0.21209973096847534, "action_rate_l2": -0.020895250141620636, "joint_torques_l2": -0.005419233813881874, "dof_pos_limits": -2.5208857550751418e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.003193612676113844, "rolling_leg_motion": -0.02205692231655121, "obstacle_progress": 0.13303491473197937, "wheel_body_intrusion": -0.009730496443808079, "pair_body_intrusion": -0.011510741896927357}, "episode_termination_rates": {"time_out": 0.43452380952380953, "fell_over": 0.03571428571428571, "course_exit": 0.5059523809523809, "illegal_nonwheel_contact": 0.047619047619047616}, "collection_time_s": 0.0757621139578987, "learning_time_s": 0.18527818746049887, "iteration_time_s": 0.31101172583230474, "policy_updates": 32450, "skipped_updates": 0, "invalid_env_resets": 177, "elapsed_s": 10185.63402100798, "nonwheel_terminations": 13093, "contact_bce": 0.28425726294517517, "contact_force_loss": 0.01923357881605625, "collision_bce": 1.2100822459615301e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.2025485375488643e-05, "collision_label_count": 16348.0, "terrain_level_mean": 3.967529296875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [2, 24, 51, 72, 77, 184], "episodes_by_level": [[1448.0, 316.0, 49.0, 0.0], [1841.0, 407.0, 38.0, 0.0], [1542.0, 358.0, 31.0, 0.0], [1245.0, 280.0, 25.0, 0.0], [758.0, 192.0, 19.0, 0.0], [1010.0, 233.0, 8.0, 0.0]]}, "up": {"level_counts": [0, 0, 2, 51, 338, 1042], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4304.0, 1757.0, 165.0, 0.0], [4538.0, 1661.0, 196.0, 0.0], [5338.0, 1481.0, 162.0, 0.0], [5552.0, 920.0, 234.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 5, 32, 577], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [958.0, 785.0, 26.0, 0.0], [1817.0, 1473.0, 65.0, 0.0], [8996.0, 7479.0, 262.0, 0.0]]}, "platform": {"level_counts": [10, 39, 78, 107, 108, 68], "episodes_by_level": [[1769.0, 386.0, 52.0, 0.0], [2113.0, 437.0, 85.0, 0.0], [1716.0, 338.0, 82.0, 0.0], [1262.0, 220.0, 55.0, 0.0], [696.0, 102.0, 44.0, 0.0], [254.0, 26.0, 34.0, 0.0]]}, "slope": {"level_counts": [8, 33, 61, 90, 72, 146], "episodes_by_level": [[1613.0, 343.0, 46.0, 0.0], [1930.0, 396.0, 68.0, 0.0], [1585.0, 338.0, 41.0, 0.0], [1121.0, 230.0, 30.0, 0.0], [765.0, 166.0, 12.0, 0.0], [831.0, 144.0, 20.0, 0.0]]}, "rubble": {"level_counts": [26, 123, 208, 238, 170, 54], "episodes_by_level": [[3275.0, 744.0, 98.0, 0.0], [4593.0, 985.0, 206.0, 0.0], [3931.0, 838.0, 332.0, 0.0], [2625.0, 439.0, 376.0, 0.0], [1118.0, 124.0, 215.0, 0.0], [268.0, 10.0, 70.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.225341796875, "command_abs_max": [0.9996440410614014, 0.3997981548309326, 0.6996809244155884]}
{"step": 32800, "actor_lr": 2.5784708246117385e-05, "archive_windows": 50000, "env_steps": 32800, "total_transitions": 134348800, "num_steps_per_env": 1, "wm_loss": 0.5828887820243835, "actor_loss": -9.551996231079102, "critic_loss": 0.003203013679012656, "reward": 0.08781454712152481, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11118485033512115, 0.07069054991006851, 0.13189679384231567], "mean_episode_length": 1406.6666666666667, "episode_reward_terms": {"track_linear_velocity": 50.11698913574219, "track_angular_velocity": 53.271053314208984, "upright": 27.01414680480957, "leg_posture": -2.647850751876831, "standstill": -5.992203235626221, "action_rate_l2": -0.6058431267738342, "joint_torques_l2": -0.1517755687236786, "dof_pos_limits": -0.0008717589662410319, "terminated": -0.016484374180436134, "unnecessary_wheel_lift": -0.07149948179721832, "rolling_leg_motion": -0.6188708543777466, "obstacle_progress": 3.783557891845703, "wheel_body_intrusion": -0.26352351903915405, "pair_body_intrusion": -0.29106763005256653}, "weighted_reward_terms": {"track_linear_velocity": 1.7814096212387085, "track_angular_velocity": 1.8935209512710571, "upright": 0.9602185487747192, "leg_posture": -0.09411792457103729, "standstill": -0.21299301087856293, "action_rate_l2": -0.021534709259867668, "joint_torques_l2": -0.005394866224378347, "dof_pos_limits": -3.0986695492174476e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.0025414510164409876, "rolling_leg_motion": -0.021997779607772827, "obstacle_progress": 0.13448666036128998, "wheel_body_intrusion": -0.009366950020194054, "pair_body_intrusion": -0.0103460056707263}, "episode_termination_rates": {"time_out": 0.5177304964539007, "fell_over": 0.02127659574468085, "course_exit": 0.4397163120567376, "illegal_nonwheel_contact": 0.02127659574468085}, "collection_time_s": 0.07575333539978601, "learning_time_s": 0.18343674267875032, "iteration_time_s": 0.3109327701177138, "policy_updates": 32500, "skipped_updates": 0, "invalid_env_resets": 177, "elapsed_s": 10198.594859861012, "nonwheel_terminations": 13096, "contact_bce": 0.2824717164039612, "contact_force_loss": 0.01934199035167694, "collision_bce": 2.005181522690691e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.99332062038593e-05, "collision_label_count": 16352.0, "terrain_level_mean": 3.968505859375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [2, 24, 51, 72, 77, 184], "episodes_by_level": [[1448.0, 316.0, 49.0, 0.0], [1844.0, 407.0, 38.0, 0.0], [1543.0, 358.0, 31.0, 0.0], [1247.0, 280.0, 25.0, 0.0], [758.0, 192.0, 19.0, 0.0], [1014.0, 233.0, 8.0, 0.0]]}, "up": {"level_counts": [0, 0, 2, 51, 337, 1043], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4304.0, 1757.0, 165.0, 0.0], [4539.0, 1661.0, 196.0, 0.0], [5348.0, 1483.0, 162.0, 0.0], [5576.0, 923.0, 235.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 6, 31, 577], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [958.0, 785.0, 26.0, 0.0], [1818.0, 1473.0, 65.0, 0.0], [9010.0, 7491.0, 262.0, 0.0]]}, "platform": {"level_counts": [10, 39, 77, 108, 108, 68], "episodes_by_level": [[1769.0, 386.0, 52.0, 0.0], [2114.0, 437.0, 85.0, 0.0], [1718.0, 339.0, 82.0, 0.0], [1268.0, 220.0, 55.0, 0.0], [699.0, 102.0, 44.0, 0.0], [256.0, 26.0, 34.0, 0.0]]}, "slope": {"level_counts": [8, 33, 61, 90, 71, 147], "episodes_by_level": [[1613.0, 343.0, 46.0, 0.0], [1931.0, 396.0, 68.0, 0.0], [1588.0, 338.0, 41.0, 0.0], [1124.0, 230.0, 30.0, 0.0], [769.0, 168.0, 12.0, 0.0], [836.0, 145.0, 21.0, 0.0]]}, "rubble": {"level_counts": [26, 120, 211, 238, 171, 53], "episodes_by_level": [[3275.0, 744.0, 98.0, 0.0], [4598.0, 988.0, 206.0, 0.0], [3935.0, 839.0, 332.0, 0.0], [2634.0, 440.0, 377.0, 0.0], [1121.0, 124.0, 216.0, 0.0], [269.0, 10.0, 71.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2255859375, "command_abs_max": [0.9996440410614014, 0.3997981548309326, 0.6996809244155884]}
{"step": 32850, "actor_lr": 2.5614456577392683e-05, "archive_windows": 50000, "env_steps": 32850, "total_transitions": 134553600, "num_steps_per_env": 1, "wm_loss": 0.5908949375152588, "actor_loss": -9.519948959350586, "critic_loss": 0.00473071588203311, "reward": 0.08768855780363083, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11104986071586609, 0.07046909630298615, 0.1333940327167511], "mean_episode_length": 1335.0342465753424, "episode_reward_terms": {"track_linear_velocity": 47.575130462646484, "track_angular_velocity": 50.48858642578125, "upright": 25.632282257080078, "leg_posture": -2.52052903175354, "standstill": -5.811790943145752, "action_rate_l2": -0.5634523034095764, "joint_torques_l2": -0.1439467817544937, "dof_pos_limits": -0.0010490252170711756, "terminated": -0.01564493216574192, "unnecessary_wheel_lift": -0.08635386824607849, "rolling_leg_motion": -0.5850865840911865, "obstacle_progress": 3.6150269508361816, "wheel_body_intrusion": -0.24000510573387146, "pair_body_intrusion": -0.27595657110214233}, "weighted_reward_terms": {"track_linear_velocity": 1.7817941904067993, "track_angular_velocity": 1.8909097909927368, "upright": 0.9599859118461609, "leg_posture": -0.09439941495656967, "standstill": -0.21766448020935059, "action_rate_l2": -0.0211025420576334, "joint_torques_l2": -0.005391126964241266, "dof_pos_limits": -3.9288326661335304e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.003234144300222397, "rolling_leg_motion": -0.021912792697548866, "obstacle_progress": 0.13539078831672668, "wheel_body_intrusion": -0.008988725021481514, "pair_body_intrusion": -0.010335186496376991}, "episode_termination_rates": {"time_out": 0.4178082191780822, "fell_over": 0.0273972602739726, "course_exit": 0.547945205479452, "illegal_nonwheel_contact": 0.0273972602739726}, "collection_time_s": 0.07585553447017446, "learning_time_s": 0.18473968551610598, "iteration_time_s": 0.31085618569254286, "policy_updates": 32550, "skipped_updates": 0, "invalid_env_resets": 178, "elapsed_s": 10211.625700000033, "nonwheel_terminations": 13100, "contact_bce": 0.28863856196403503, "contact_force_loss": 0.019986091181635857, "collision_bce": 0.00010108908463735133, "collision_label_rate": 6.11658178968355e-05, "collision_prediction_mean": 2.239810419268906e-05, "collision_label_count": 16349.0, "terrain_level_mean": 3.9697265625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [2, 24, 51, 72, 77, 184], "episodes_by_level": [[1448.0, 316.0, 49.0, 0.0], [1844.0, 407.0, 38.0, 0.0], [1544.0, 358.0, 31.0, 0.0], [1248.0, 280.0, 25.0, 0.0], [760.0, 192.0, 19.0, 0.0], [1020.0, 234.0, 8.0, 0.0]]}, "up": {"level_counts": [0, 0, 2, 52, 337, 1042], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4305.0, 1757.0, 165.0, 0.0], [4539.0, 1661.0, 196.0, 0.0], [5357.0, 1483.0, 162.0, 0.0], [5607.0, 931.0, 235.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 6, 32, 576], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [958.0, 785.0, 26.0, 0.0], [1820.0, 1475.0, 65.0, 0.0], [9032.0, 7510.0, 262.0, 0.0]]}, "platform": {"level_counts": [10, 39, 76, 109, 106, 70], "episodes_by_level": [[1769.0, 386.0, 52.0, 0.0], [2114.0, 437.0, 85.0, 0.0], [1720.0, 340.0, 82.0, 0.0], [1271.0, 220.0, 55.0, 0.0], [707.0, 104.0, 44.0, 0.0], [257.0, 26.0, 34.0, 0.0]]}, "slope": {"level_counts": [8, 33, 61, 89, 72, 147], "episodes_by_level": [[1613.0, 343.0, 46.0, 0.0], [1931.0, 396.0, 68.0, 0.0], [1589.0, 338.0, 41.0, 0.0], [1132.0, 231.0, 30.0, 0.0], [772.0, 168.0, 12.0, 0.0], [839.0, 145.0, 21.0, 0.0]]}, "rubble": {"level_counts": [26, 118, 214, 235, 172, 54], "episodes_by_level": [[3275.0, 744.0, 98.0, 0.0], [4602.0, 990.0, 206.0, 0.0], [3938.0, 839.0, 332.0, 0.0], [2644.0, 442.0, 378.0, 0.0], [1123.0, 125.0, 216.0, 0.0], [269.0, 10.0, 71.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.228271484375, "command_abs_max": [0.9976592063903809, 0.3997981548309326, 0.6996809244155884]}
{"step": 32900, "actor_lr": 2.5444845537906552e-05, "archive_windows": 50000, "env_steps": 32900, "total_transitions": 134758400, "num_steps_per_env": 1, "wm_loss": 0.5791298747062683, "actor_loss": -9.534017562866211, "critic_loss": 0.003511149436235428, "reward": 0.08735483139753342, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11436832696199417, 0.07171503454446793, 0.13223601877689362], "mean_episode_length": 1275.5985915492959, "episode_reward_terms": {"track_linear_velocity": 45.2334098815918, "track_angular_velocity": 48.29637145996094, "upright": 24.488893508911133, "leg_posture": -2.4163217544555664, "standstill": -5.795248985290527, "action_rate_l2": -0.5458478927612305, "joint_torques_l2": -0.13721023499965668, "dof_pos_limits": -0.00038423825753852725, "terminated": -0.022422628477215767, "unnecessary_wheel_lift": -0.08498720079660416, "rolling_leg_motion": -0.5657826662063599, "obstacle_progress": 3.4796550273895264, "wheel_body_intrusion": -0.2362891584634781, "pair_body_intrusion": -0.26413121819496155}, "weighted_reward_terms": {"track_linear_velocity": 1.7730268239974976, "track_angular_velocity": 1.893086552619934, "upright": 0.959898054599762, "leg_posture": -0.0947132483124733, "standstill": -0.22715801000595093, "action_rate_l2": -0.02139575593173504, "joint_torques_l2": -0.005378268659114838, "dof_pos_limits": -1.5061096746649127e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.003331267274916172, "rolling_leg_motion": -0.022177143022418022, "obstacle_progress": 0.13639302551746368, "wheel_body_intrusion": -0.00926189310848713, "pair_body_intrusion": -0.010353226214647293}, "episode_termination_rates": {"time_out": 0.4295774647887324, "fell_over": 0.014084507042253521, "course_exit": 0.5070422535211268, "illegal_nonwheel_contact": 0.06338028169014084}, "collection_time_s": 0.07572112075984477, "learning_time_s": 0.1853462283441331, "iteration_time_s": 0.31078055058769094, "policy_updates": 32600, "skipped_updates": 0, "invalid_env_resets": 178, "elapsed_s": 10224.680114335031, "nonwheel_terminations": 13109, "contact_bce": 0.2880485951900482, "contact_force_loss": 0.019812889397144318, "collision_bce": 0.0001813430426409468, "collision_label_rate": 6.124823994468898e-05, "collision_prediction_mean": 1.70103940035915e-05, "collision_label_count": 16327.0, "terrain_level_mean": 3.97119140625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [2, 24, 51, 71, 77, 185], "episodes_by_level": [[1448.0, 316.0, 49.0, 0.0], [1844.0, 407.0, 38.0, 0.0], [1545.0, 358.0, 31.0, 0.0], [1250.0, 281.0, 25.0, 0.0], [762.0, 193.0, 19.0, 0.0], [1027.0, 235.0, 8.0, 0.0]]}, "up": {"level_counts": [0, 0, 2, 52, 337, 1042], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4305.0, 1757.0, 165.0, 0.0], [4539.0, 1661.0, 196.0, 0.0], [5363.0, 1485.0, 162.0, 0.0], [5636.0, 937.0, 236.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 6, 34, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [958.0, 785.0, 26.0, 0.0], [1821.0, 1476.0, 65.0, 0.0], [9054.0, 7529.0, 263.0, 0.0]]}, "platform": {"level_counts": [11, 38, 76, 109, 106, 70], "episodes_by_level": [[1771.0, 386.0, 52.0, 0.0], [2115.0, 437.0, 86.0, 0.0], [1721.0, 341.0, 82.0, 0.0], [1273.0, 220.0, 56.0, 0.0], [709.0, 104.0, 44.0, 0.0], [258.0, 26.0, 34.0, 0.0]]}, "slope": {"level_counts": [8, 33, 61, 87, 74, 147], "episodes_by_level": [[1613.0, 343.0, 46.0, 0.0], [1932.0, 396.0, 68.0, 0.0], [1590.0, 338.0, 41.0, 0.0], [1137.0, 233.0, 30.0, 0.0], [774.0, 168.0, 12.0, 0.0], [841.0, 145.0, 21.0, 0.0]]}, "rubble": {"level_counts": [26, 117, 215, 233, 172, 56], "episodes_by_level": [[3276.0, 744.0, 98.0, 0.0], [4608.0, 991.0, 206.0, 0.0], [3945.0, 839.0, 332.0, 0.0], [2651.0, 445.0, 378.0, 0.0], [1130.0, 128.0, 217.0, 0.0], [270.0, 10.0, 72.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23046875, "command_abs_max": [0.9976592063903809, 0.3997981548309326, 0.6996809244155884]}
{"step": 32950, "actor_lr": 2.5275885590066887e-05, "archive_windows": 50000, "env_steps": 32950, "total_transitions": 134963200, "num_steps_per_env": 1, "wm_loss": 0.616754949092865, "actor_loss": -9.529592514038086, "critic_loss": 0.005093517247587442, "reward": 0.08759668469429016, "falls": 4, "interval_steps": 50, "velocity_mae": [0.11531693488359451, 0.07148835062980652, 0.13251979649066925], "mean_episode_length": 1334.8481012658228, "episode_reward_terms": {"track_linear_velocity": 47.293792724609375, "track_angular_velocity": 50.52928161621094, "upright": 25.626495361328125, "leg_posture": -2.542086601257324, "standstill": -5.75604772567749, "action_rate_l2": -0.5657179355621338, "joint_torques_l2": -0.14386962354183197, "dof_pos_limits": -0.0003083246119786054, "terminated": -0.010428499430418015, "unnecessary_wheel_lift": -0.09285323321819305, "rolling_leg_motion": -0.58856600522995, "obstacle_progress": 3.7291946411132812, "wheel_body_intrusion": -0.26451417803764343, "pair_body_intrusion": -0.28613343834877014}, "weighted_reward_terms": {"track_linear_velocity": 1.7715046405792236, "track_angular_velocity": 1.892697811126709, "upright": 0.9599030613899231, "leg_posture": -0.09522006660699844, "standstill": -0.21560683846473694, "action_rate_l2": -0.021190349012613297, "joint_torques_l2": -0.005388988181948662, "dof_pos_limits": -1.1549052032933105e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.0034780451096594334, "rolling_leg_motion": -0.022046178579330444, "obstacle_progress": 0.13968610763549805, "wheel_body_intrusion": -0.009908025152981281, "pair_body_intrusion": -0.010717827826738358}, "episode_termination_rates": {"time_out": 0.4240506329113924, "fell_over": 0.012658227848101266, "course_exit": 0.5506329113924051, "illegal_nonwheel_contact": 0.012658227848101266}, "collection_time_s": 0.0757083586207591, "learning_time_s": 0.18401293375878594, "iteration_time_s": 0.3107031018497427, "policy_updates": 32650, "skipped_updates": 0, "invalid_env_resets": 178, "elapsed_s": 10237.667205949023, "nonwheel_terminations": 13111, "contact_bce": 0.2825579345226288, "contact_force_loss": 0.019848225638270378, "collision_bce": 1.3052502254140563e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.3085612408758607e-05, "collision_label_count": 16353.0, "terrain_level_mean": 3.97314453125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [2, 24, 50, 72, 77, 185], "episodes_by_level": [[1448.0, 316.0, 49.0, 0.0], [1845.0, 407.0, 38.0, 0.0], [1546.0, 359.0, 31.0, 0.0], [1253.0, 281.0, 25.0, 0.0], [763.0, 193.0, 19.0, 0.0], [1035.0, 237.0, 8.0, 0.0]]}, "up": {"level_counts": [0, 0, 2, 51, 337, 1043], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4305.0, 1757.0, 165.0, 0.0], [4540.0, 1662.0, 196.0, 0.0], [5374.0, 1488.0, 162.0, 0.0], [5666.0, 942.0, 237.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 6, 33, 575], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [958.0, 785.0, 26.0, 0.0], [1822.0, 1477.0, 65.0, 0.0], [9083.0, 7555.0, 263.0, 0.0]]}, "platform": {"level_counts": [11, 38, 76, 109, 106, 70], "episodes_by_level": [[1771.0, 386.0, 52.0, 0.0], [2116.0, 437.0, 86.0, 0.0], [1723.0, 341.0, 82.0, 0.0], [1276.0, 220.0, 56.0, 0.0], [711.0, 104.0, 44.0, 0.0], [260.0, 26.0, 34.0, 0.0]]}, "slope": {"level_counts": [8, 33, 61, 86, 75, 147], "episodes_by_level": [[1613.0, 343.0, 46.0, 0.0], [1933.0, 396.0, 68.0, 0.0], [1591.0, 339.0, 41.0, 0.0], [1140.0, 234.0, 31.0, 0.0], [774.0, 168.0, 12.0, 0.0], [846.0, 145.0, 21.0, 0.0]]}, "rubble": {"level_counts": [27, 115, 216, 231, 173, 57], "episodes_by_level": [[3277.0, 744.0, 98.0, 0.0], [4612.0, 992.0, 207.0, 0.0], [3951.0, 839.0, 332.0, 0.0], [2657.0, 447.0, 378.0, 0.0], [1134.0, 129.0, 217.0, 0.0], [272.0, 10.0, 72.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2333984375, "command_abs_max": [0.9976592063903809, 0.3997981548309326, 0.6996809244155884]}
{"step": 33000, "actor_lr": 2.5107587156119093e-05, "archive_windows": 50000, "env_steps": 33000, "total_transitions": 135168000, "num_steps_per_env": 1, "wm_loss": 0.6042167544364929, "actor_loss": -9.553146362304688, "critic_loss": 0.0033798092044889927, "reward": 0.08791892975568771, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11279017478227615, 0.07044260203838348, 0.13224893808364868], "mean_episode_length": 1296.448717948718, "episode_reward_terms": {"track_linear_velocity": 46.113582611083984, "track_angular_velocity": 49.087947845458984, "upright": 24.888538360595703, "leg_posture": -2.4563891887664795, "standstill": -5.405660152435303, "action_rate_l2": -0.5488654375076294, "joint_torques_l2": -0.13945524394512177, "dof_pos_limits": -0.0004008790128864348, "terminated": -0.02532126195728779, "unnecessary_wheel_lift": -0.08291015774011612, "rolling_leg_motion": -0.5734533071517944, "obstacle_progress": 3.6132726669311523, "wheel_body_intrusion": -0.24600543081760406, "pair_body_intrusion": -0.24250805377960205}, "weighted_reward_terms": {"track_linear_velocity": 1.778457760810852, "track_angular_velocity": 1.893169641494751, "upright": 0.959873616695404, "leg_posture": -0.09473530203104019, "standstill": -0.20847950875759125, "action_rate_l2": -0.02116803452372551, "joint_torques_l2": -0.005378355737775564, "dof_pos_limits": -1.5460658687516116e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.003197587328031659, "rolling_leg_motion": -0.022116312757134438, "obstacle_progress": 0.1393527090549469, "wheel_body_intrusion": -0.009487665258347988, "pair_body_intrusion": -0.009352782741189003}, "episode_termination_rates": {"time_out": 0.4166666666666667, "fell_over": 0.038461538461538464, "course_exit": 0.5192307692307693, "illegal_nonwheel_contact": 0.038461538461538464}, "collection_time_s": 0.07560940271476284, "learning_time_s": 0.19278608880238607, "iteration_time_s": 0.310639033512969, "policy_updates": 32700, "skipped_updates": 0, "invalid_env_resets": 178, "elapsed_s": 10251.088105927978, "nonwheel_terminations": 13117, "contact_bce": 0.28500935435295105, "contact_force_loss": 0.02001706324517727, "collision_bce": 0.00023395504103973508, "collision_label_rate": 0.00012239902571309358, "collision_prediction_mean": 0.0002505531010683626, "collision_label_count": 16340.0, "terrain_level_mean": 3.974609375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [2, 24, 48, 73, 78, 185], "episodes_by_level": [[1448.0, 316.0, 49.0, 0.0], [1846.0, 407.0, 38.0, 0.0], [1550.0, 361.0, 31.0, 0.0], [1255.0, 282.0, 25.0, 0.0], [765.0, 193.0, 19.0, 0.0], [1038.0, 237.0, 8.0, 0.0]]}, "up": {"level_counts": [0, 0, 2, 49, 343, 1039], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4305.0, 1757.0, 165.0, 0.0], [4543.0, 1665.0, 196.0, 0.0], [5381.0, 1489.0, 163.0, 0.0], [5690.0, 945.0, 240.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 7, 31, 576], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [958.0, 785.0, 26.0, 0.0], [1824.0, 1479.0, 65.0, 0.0], [9112.0, 7582.0, 263.0, 0.0]]}, "platform": {"level_counts": [11, 38, 75, 110, 105, 71], "episodes_by_level": [[1772.0, 386.0, 52.0, 0.0], [2116.0, 437.0, 86.0, 0.0], [1727.0, 342.0, 82.0, 0.0], [1279.0, 220.0, 56.0, 0.0], [717.0, 105.0, 44.0, 0.0], [263.0, 27.0, 34.0, 0.0]]}, "slope": {"level_counts": [8, 33, 60, 86, 76, 147], "episodes_by_level": [[1613.0, 343.0, 46.0, 0.0], [1935.0, 396.0, 68.0, 0.0], [1594.0, 340.0, 41.0, 0.0], [1141.0, 235.0, 31.0, 0.0], [774.0, 168.0, 12.0, 0.0], [854.0, 147.0, 21.0, 0.0]]}, "rubble": {"level_counts": [27, 116, 212, 235, 172, 57], "episodes_by_level": [[3277.0, 744.0, 98.0, 0.0], [4615.0, 992.0, 207.0, 0.0], [3960.0, 842.0, 333.0, 0.0], [2659.0, 447.0, 378.0, 0.0], [1139.0, 129.0, 218.0, 0.0], [274.0, 11.0, 72.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.232666015625, "command_abs_max": [0.9976592063903809, 0.3997981548309326, 0.6989652514457703]}
{"step": 33050, "actor_lr": 2.4939960617503372e-05, "archive_windows": 50000, "env_steps": 33050, "total_transitions": 135372800, "num_steps_per_env": 1, "wm_loss": 0.5786253213882446, "actor_loss": -9.514204025268555, "critic_loss": 0.013779777102172375, "reward": 0.08803174644708633, "falls": 3, "interval_steps": 50, "velocity_mae": [0.11292714625597, 0.07018447667360306, 0.1328541785478592], "mean_episode_length": 1332.9058823529413, "episode_reward_terms": {"track_linear_velocity": 47.37746810913086, "track_angular_velocity": 50.453819274902344, "upright": 25.572038650512695, "leg_posture": -2.478720188140869, "standstill": -5.352212429046631, "action_rate_l2": -0.5716695189476013, "joint_torques_l2": -0.1430567502975464, "dof_pos_limits": -0.00018122636538464576, "terminated": -0.007809994276612997, "unnecessary_wheel_lift": -0.08313971012830734, "rolling_leg_motion": -0.5945730805397034, "obstacle_progress": 3.658977508544922, "wheel_body_intrusion": -0.23067206144332886, "pair_body_intrusion": -0.26224473118782043}, "weighted_reward_terms": {"track_linear_velocity": 1.7772248983383179, "track_angular_velocity": 1.892625093460083, "upright": 0.959259033203125, "leg_posture": -0.09298182278871536, "standstill": -0.20077234506607056, "action_rate_l2": -0.02144448086619377, "joint_torques_l2": -0.005366348661482334, "dof_pos_limits": -6.798168215027545e-06, "terminated": -0.00029296870343387127, "unnecessary_wheel_lift": -0.003118738764896989, "rolling_leg_motion": -0.022303642705082893, "obstacle_progress": 0.13725565373897552, "wheel_body_intrusion": -0.008652976714074612, "pair_body_intrusion": -0.009837331250309944}, "episode_termination_rates": {"time_out": 0.4117647058823529, "fell_over": 0.0058823529411764705, "course_exit": 0.5705882352941176, "illegal_nonwheel_contact": 0.011764705882352941}, "collection_time_s": 0.07563652376527898, "learning_time_s": 0.18506677233963273, "iteration_time_s": 0.3105643149253855, "policy_updates": 32750, "skipped_updates": 0, "invalid_env_resets": 178, "elapsed_s": 10264.150608283991, "nonwheel_terminations": 13119, "contact_bce": 0.2791500985622406, "contact_force_loss": 0.019404668360948563, "collision_bce": 1.1278053534624632e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.1320303201500792e-05, "collision_label_count": 16338.0, "terrain_level_mean": 3.978515625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [2, 23, 48, 74, 78, 185], "episodes_by_level": [[1448.0, 316.0, 49.0, 0.0], [1849.0, 408.0, 38.0, 0.0], [1551.0, 362.0, 31.0, 0.0], [1256.0, 282.0, 25.0, 0.0], [765.0, 193.0, 19.0, 0.0], [1046.0, 237.0, 8.0, 0.0]]}, "up": {"level_counts": [0, 0, 2, 48, 339, 1044], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4305.0, 1757.0, 165.0, 0.0], [4545.0, 1666.0, 196.0, 0.0], [5398.0, 1494.0, 163.0, 0.0], [5716.0, 949.0, 240.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 7, 32, 575], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [958.0, 785.0, 26.0, 0.0], [1824.0, 1479.0, 65.0, 0.0], [9149.0, 7617.0, 264.0, 0.0]]}, "platform": {"level_counts": [11, 38, 75, 108, 106, 72], "episodes_by_level": [[1772.0, 386.0, 52.0, 0.0], [2116.0, 437.0, 86.0, 0.0], [1729.0, 342.0, 82.0, 0.0], [1282.0, 222.0, 56.0, 0.0], [719.0, 106.0, 44.0, 0.0], [266.0, 28.0, 34.0, 0.0]]}, "slope": {"level_counts": [8, 32, 61, 85, 77, 147], "episodes_by_level": [[1613.0, 343.0, 46.0, 0.0], [1938.0, 397.0, 68.0, 0.0], [1595.0, 340.0, 41.0, 0.0], [1146.0, 236.0, 31.0, 0.0], [778.0, 168.0, 12.0, 0.0], [858.0, 147.0, 21.0, 0.0]]}, "rubble": {"level_counts": [27, 116, 208, 240, 170, 58], "episodes_by_level": [[3277.0, 744.0, 98.0, 0.0], [4619.0, 992.0, 207.0, 0.0], [3973.0, 846.0, 333.0, 0.0], [2667.0, 448.0, 378.0, 0.0], [1145.0, 130.0, 220.0, 0.0], [276.0, 11.0, 72.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.236328125, "command_abs_max": [0.9976592063903809, 0.39989906549453735, 0.6987683773040771]}
{"step": 33100, "actor_lr": 2.477301631421418e-05, "archive_windows": 50000, "env_steps": 33100, "total_transitions": 135577600, "num_steps_per_env": 1, "wm_loss": 0.5742202401161194, "actor_loss": -9.481355667114258, "critic_loss": 0.006484708283096552, "reward": 0.08802853524684906, "falls": 11, "interval_steps": 50, "velocity_mae": [0.114482581615448, 0.07051435112953186, 0.13267673552036285], "mean_episode_length": 1307.3020134228188, "episode_reward_terms": {"track_linear_velocity": 46.404022216796875, "track_angular_velocity": 49.47785568237305, "upright": 25.057174682617188, "leg_posture": -2.418311357498169, "standstill": -5.237548351287842, "action_rate_l2": -0.5626142621040344, "joint_torques_l2": -0.14156855642795563, "dof_pos_limits": -0.0007025402737781405, "terminated": -0.02808656357228756, "unnecessary_wheel_lift": -0.07639870792627335, "rolling_leg_motion": -0.5757689476013184, "obstacle_progress": 3.6739773750305176, "wheel_body_intrusion": -0.23676003515720367, "pair_body_intrusion": -0.25536614656448364}, "weighted_reward_terms": {"track_linear_velocity": 1.7748011350631714, "track_angular_velocity": 1.8923650979995728, "upright": 0.9583544731140137, "leg_posture": -0.09249245375394821, "standstill": -0.20031899213790894, "action_rate_l2": -0.021518144756555557, "joint_torques_l2": -0.0054145315662026405, "dof_pos_limits": -2.686985317268409e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.0029219994321465492, "rolling_leg_motion": -0.02202126756310463, "obstacle_progress": 0.14051754772663116, "wheel_body_intrusion": -0.00905529223382473, "pair_body_intrusion": -0.009766914881765842}, "episode_termination_rates": {"time_out": 0.4228187919463087, "fell_over": 0.026845637583892617, "course_exit": 0.5033557046979866, "illegal_nonwheel_contact": 0.053691275167785234}, "collection_time_s": 0.07624053877429106, "learning_time_s": 0.18453090940602124, "iteration_time_s": 0.31048913143628476, "policy_updates": 32800, "skipped_updates": 0, "invalid_env_resets": 180, "elapsed_s": 10277.190250541025, "nonwheel_terminations": 13127, "contact_bce": 0.28644782304763794, "contact_force_loss": 0.01994968205690384, "collision_bce": 7.229481980175478e-06, "collision_label_rate": 6.124823994468898e-05, "collision_prediction_mean": 6.55910189379938e-05, "collision_label_count": 16327.0, "terrain_level_mean": 3.978515625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [2, 23, 47, 74, 78, 186], "episodes_by_level": [[1448.0, 316.0, 49.0, 0.0], [1849.0, 408.0, 38.0, 0.0], [1552.0, 363.0, 31.0, 0.0], [1259.0, 283.0, 25.0, 0.0], [767.0, 194.0, 19.0, 0.0], [1049.0, 237.0, 8.0, 0.0]]}, "up": {"level_counts": [0, 0, 2, 49, 339, 1043], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4305.0, 1757.0, 165.0, 0.0], [4545.0, 1666.0, 196.0, 0.0], [5405.0, 1494.0, 163.0, 0.0], [5747.0, 954.0, 241.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 7, 32, 575], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [958.0, 785.0, 26.0, 0.0], [1826.0, 1481.0, 65.0, 0.0], [9172.0, 7638.0, 264.0, 0.0]]}, "platform": {"level_counts": [11, 37, 74, 110, 106, 72], "episodes_by_level": [[1772.0, 386.0, 52.0, 0.0], [2118.0, 438.0, 86.0, 0.0], [1734.0, 344.0, 82.0, 0.0], [1283.0, 222.0, 56.0, 0.0], [726.0, 107.0, 44.0, 0.0], [267.0, 28.0, 35.0, 0.0]]}, "slope": {"level_counts": [8, 32, 61, 84, 78, 147], "episodes_by_level": [[1613.0, 343.0, 46.0, 0.0], [1938.0, 397.0, 68.0, 0.0], [1595.0, 340.0, 41.0, 0.0], [1151.0, 237.0, 31.0, 0.0], [780.0, 168.0, 12.0, 0.0], [863.0, 147.0, 21.0, 0.0]]}, "rubble": {"level_counts": [27, 118, 207, 239, 172, 56], "episodes_by_level": [[3277.0, 744.0, 98.0, 0.0], [4622.0, 992.0, 207.0, 0.0], [3979.0, 846.0, 335.0, 0.0], [2673.0, 448.0, 379.0, 0.0], [1151.0, 131.0, 220.0, 0.0], [280.0, 11.0, 75.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.24072265625, "command_abs_max": [0.9978210926055908, 0.39989906549453735, 0.6987683773040771]}
{"step": 33150, "actor_lr": 2.460676454416256e-05, "archive_windows": 50000, "env_steps": 33150, "total_transitions": 135782400, "num_steps_per_env": 1, "wm_loss": 0.6583319902420044, "actor_loss": -9.520833969116211, "critic_loss": 0.0037208274006843567, "reward": 0.08784347027540207, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11453666538000107, 0.07081246376037598, 0.131933331489563], "mean_episode_length": 1334.8208955223881, "episode_reward_terms": {"track_linear_velocity": 47.35710525512695, "track_angular_velocity": 50.550662994384766, "upright": 25.573410034179688, "leg_posture": -2.5122182369232178, "standstill": -5.480518817901611, "action_rate_l2": -0.573984682559967, "joint_torques_l2": -0.14536401629447937, "dof_pos_limits": -0.0007564607658423483, "terminated": -0.015642432495951653, "unnecessary_wheel_lift": -0.07888816297054291, "rolling_leg_motion": -0.5796977877616882, "obstacle_progress": 3.7049717903137207, "wheel_body_intrusion": -0.2532776892185211, "pair_body_intrusion": -0.290498822927475}, "weighted_reward_terms": {"track_linear_velocity": 1.7739123106002808, "track_angular_velocity": 1.8935374021530151, "upright": 0.9579341411590576, "leg_posture": -0.09410319477319717, "standstill": -0.20529042184352875, "action_rate_l2": -0.021500438451766968, "joint_torques_l2": -0.005445075687021017, "dof_pos_limits": -2.8335665774648078e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.0029550092294812202, "rolling_leg_motion": -0.02171444147825241, "obstacle_progress": 0.1387816071510315, "wheel_body_intrusion": -0.009487329050898552, "pair_body_intrusion": -0.010881565511226654}, "episode_termination_rates": {"time_out": 0.44029850746268656, "fell_over": 0.022388059701492536, "course_exit": 0.5149253731343284, "illegal_nonwheel_contact": 0.029850746268656716}, "collection_time_s": 0.07544506072532385, "learning_time_s": 0.18323796177865007, "iteration_time_s": 0.3104110265014181, "policy_updates": 32850, "skipped_updates": 0, "invalid_env_resets": 180, "elapsed_s": 10290.12552852201, "nonwheel_terminations": 13131, "contact_bce": 0.289041131734848, "contact_force_loss": 0.020725879818201065, "collision_bce": 0.0005659105372615159, "collision_label_rate": 0.00012263919052202255, "collision_prediction_mean": 5.9294645325280726e-05, "collision_label_count": 16308.0, "terrain_level_mean": 3.980712890625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [2, 23, 47, 72, 80, 186], "episodes_by_level": [[1448.0, 316.0, 49.0, 0.0], [1849.0, 408.0, 38.0, 0.0], [1552.0, 363.0, 31.0, 0.0], [1263.0, 285.0, 25.0, 0.0], [768.0, 195.0, 19.0, 0.0], [1059.0, 237.0, 9.0, 0.0]]}, "up": {"level_counts": [0, 0, 2, 49, 338, 1044], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4305.0, 1757.0, 165.0, 0.0], [4546.0, 1666.0, 196.0, 0.0], [5411.0, 1496.0, 163.0, 0.0], [5768.0, 958.0, 241.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 7, 34, 573], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [958.0, 785.0, 26.0, 0.0], [1826.0, 1481.0, 65.0, 0.0], [9198.0, 7663.0, 264.0, 0.0]]}, "platform": {"level_counts": [11, 37, 72, 112, 106, 72], "episodes_by_level": [[1772.0, 386.0, 52.0, 0.0], [2120.0, 438.0, 86.0, 0.0], [1740.0, 346.0, 82.0, 0.0], [1285.0, 222.0, 56.0, 0.0], [727.0, 107.0, 44.0, 0.0], [267.0, 28.0, 35.0, 0.0]]}, "slope": {"level_counts": [9, 31, 59, 85, 78, 148], "episodes_by_level": [[1613.0, 343.0, 46.0, 0.0], [1940.0, 397.0, 69.0, 0.0], [1597.0, 342.0, 41.0, 0.0], [1155.0, 238.0, 31.0, 0.0], [783.0, 169.0, 12.0, 0.0], [867.0, 148.0, 21.0, 0.0]]}, "rubble": {"level_counts": [27, 115, 210, 238, 174, 55], "episodes_by_level": [[3277.0, 744.0, 98.0, 0.0], [4629.0, 995.0, 207.0, 0.0], [3983.0, 846.0, 335.0, 0.0], [2676.0, 449.0, 379.0, 0.0], [1152.0, 131.0, 220.0, 0.0], [281.0, 11.0, 76.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.241455078125, "command_abs_max": [0.9980515241622925, 0.39989906549453735, 0.6997583508491516]}
{"step": 33200, "actor_lr": 2.4441215562540777e-05, "archive_windows": 50000, "env_steps": 33200, "total_transitions": 135987200, "num_steps_per_env": 1, "wm_loss": 0.6140601634979248, "actor_loss": -9.537522315979004, "critic_loss": 0.005443362053483725, "reward": 0.08768577128648758, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11535902321338654, 0.07104989886283875, 0.13317596912384033], "mean_episode_length": 1383.340909090909, "episode_reward_terms": {"track_linear_velocity": 49.01456069946289, "track_angular_velocity": 52.33866500854492, "upright": 26.46208381652832, "leg_posture": -2.556088924407959, "standstill": -5.902411937713623, "action_rate_l2": -0.5905612707138062, "joint_torques_l2": -0.14963293075561523, "dof_pos_limits": -0.001143069239333272, "terminated": -0.02701837383210659, "unnecessary_wheel_lift": -0.07187135517597198, "rolling_leg_motion": -0.5767796039581299, "obstacle_progress": 3.903174877166748, "wheel_body_intrusion": -0.2638338506221771, "pair_body_intrusion": -0.2798146903514862}, "weighted_reward_terms": {"track_linear_velocity": 1.7716009616851807, "track_angular_velocity": 1.8917486667633057, "upright": 0.956455647945404, "leg_posture": -0.09238824993371964, "standstill": -0.21333901584148407, "action_rate_l2": -0.0213454719632864, "joint_torques_l2": -0.0054083894938230515, "dof_pos_limits": -4.131552850594744e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.002597745507955551, "rolling_leg_motion": -0.020847341045737267, "obstacle_progress": 0.14107784628868103, "wheel_body_intrusion": -0.009536110796034336, "pair_body_intrusion": -0.010113729164004326}, "episode_termination_rates": {"time_out": 0.4621212121212121, "fell_over": 0.022727272727272728, "course_exit": 0.4621212121212121, "illegal_nonwheel_contact": 0.05303030303030303}, "collection_time_s": 0.07562047753832303, "learning_time_s": 0.18309714659349993, "iteration_time_s": 0.3103332092508734, "policy_updates": 32900, "skipped_updates": 0, "invalid_env_resets": 180, "elapsed_s": 10303.062547128997, "nonwheel_terminations": 13138, "contact_bce": 0.28920719027519226, "contact_force_loss": 0.01970229670405388, "collision_bce": 1.818539203668479e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.8113345504389144e-05, "collision_label_count": 16367.0, "terrain_level_mean": 3.98193359375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [2, 22, 47, 73, 80, 186], "episodes_by_level": [[1448.0, 316.0, 49.0, 0.0], [1850.0, 409.0, 38.0, 0.0], [1554.0, 364.0, 31.0, 0.0], [1265.0, 285.0, 25.0, 0.0], [770.0, 195.0, 19.0, 0.0], [1062.0, 239.0, 9.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 46, 340, 1044], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4305.0, 1757.0, 165.0, 0.0], [4549.0, 1668.0, 196.0, 0.0], [5419.0, 1498.0, 163.0, 0.0], [5796.0, 964.0, 241.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 7, 33, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [958.0, 785.0, 26.0, 0.0], [1828.0, 1483.0, 65.0, 0.0], [9211.0, 7676.0, 264.0, 0.0]]}, "platform": {"level_counts": [11, 37, 72, 112, 105, 73], "episodes_by_level": [[1772.0, 386.0, 52.0, 0.0], [2120.0, 438.0, 86.0, 0.0], [1742.0, 346.0, 82.0, 0.0], [1290.0, 222.0, 56.0, 0.0], [731.0, 108.0, 44.0, 0.0], [269.0, 28.0, 35.0, 0.0]]}, "slope": {"level_counts": [9, 31, 59, 85, 78, 148], "episodes_by_level": [[1613.0, 343.0, 46.0, 0.0], [1941.0, 397.0, 69.0, 0.0], [1597.0, 342.0, 41.0, 0.0], [1155.0, 238.0, 31.0, 0.0], [785.0, 169.0, 12.0, 0.0], [869.0, 148.0, 21.0, 0.0]]}, "rubble": {"level_counts": [27, 114, 211, 239, 173, 55], "episodes_by_level": [[3279.0, 744.0, 98.0, 0.0], [4634.0, 999.0, 207.0, 0.0], [3993.0, 847.0, 338.0, 0.0], [2680.0, 450.0, 380.0, 0.0], [1157.0, 131.0, 222.0, 0.0], [284.0, 11.0, 76.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23876953125, "command_abs_max": [0.9980515241622925, 0.39989906549453735, 0.6997583508491516]}
{"step": 33250, "actor_lr": 2.4276379581189837e-05, "archive_windows": 50000, "env_steps": 33250, "total_transitions": 136192000, "num_steps_per_env": 1, "wm_loss": 0.6203163862228394, "actor_loss": -9.513503074645996, "critic_loss": 0.0059987702406942844, "reward": 0.08770615607500076, "falls": 4, "interval_steps": 50, "velocity_mae": [0.11429986357688904, 0.07163329422473907, 0.13334718346595764], "mean_episode_length": 1431.551724137931, "episode_reward_terms": {"track_linear_velocity": 50.75603103637695, "track_angular_velocity": 54.16040802001953, "upright": 27.41024398803711, "leg_posture": -2.691835880279541, "standstill": -6.038568019866943, "action_rate_l2": -0.6085579991340637, "joint_torques_l2": -0.15515722334384918, "dof_pos_limits": -0.0004792854015249759, "terminated": -0.011183995753526688, "unnecessary_wheel_lift": -0.07658179849386215, "rolling_leg_motion": -0.6214258074760437, "obstacle_progress": 4.020307540893555, "wheel_body_intrusion": -0.26795628666877747, "pair_body_intrusion": -0.31935420632362366}, "weighted_reward_terms": {"track_linear_velocity": 1.7727627754211426, "track_angular_velocity": 1.8916677236557007, "upright": 0.9573612809181213, "leg_posture": -0.0940181165933609, "standstill": -0.2109098732471466, "action_rate_l2": -0.021255187690258026, "joint_torques_l2": -0.005419197492301464, "dof_pos_limits": -1.6740066712372936e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.002674782881513238, "rolling_leg_motion": -0.021704623475670815, "obstacle_progress": 0.14041782915592194, "wheel_body_intrusion": -0.009358945302665234, "pair_body_intrusion": -0.011154127307236195}, "episode_termination_rates": {"time_out": 0.5655172413793104, "fell_over": 0.020689655172413793, "course_exit": 0.4068965517241379, "illegal_nonwheel_contact": 0.013793103448275862}, "collection_time_s": 0.07556470526149496, "learning_time_s": 0.18316292591160163, "iteration_time_s": 0.3102556403999399, "policy_updates": 32950, "skipped_updates": 0, "invalid_env_resets": 180, "elapsed_s": 10316.000043298001, "nonwheel_terminations": 13140, "contact_bce": 0.287357896566391, "contact_force_loss": 0.019989272579550743, "collision_bce": 0.0003523967752698809, "collision_label_rate": 0.00012259409413672984, "collision_prediction_mean": 3.685577030410059e-05, "collision_label_count": 16314.0, "terrain_level_mean": 3.984375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [2, 22, 47, 73, 79, 187], "episodes_by_level": [[1448.0, 316.0, 49.0, 0.0], [1852.0, 409.0, 38.0, 0.0], [1556.0, 364.0, 31.0, 0.0], [1266.0, 285.0, 25.0, 0.0], [773.0, 196.0, 19.0, 0.0], [1071.0, 241.0, 9.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 46, 340, 1044], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4305.0, 1757.0, 165.0, 0.0], [4550.0, 1668.0, 196.0, 0.0], [5427.0, 1499.0, 163.0, 0.0], [5816.0, 968.0, 242.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 6, 35, 573], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [959.0, 786.0, 26.0, 0.0], [1828.0, 1483.0, 65.0, 0.0], [9224.0, 7688.0, 264.0, 0.0]]}, "platform": {"level_counts": [11, 36, 71, 113, 106, 73], "episodes_by_level": [[1773.0, 386.0, 52.0, 0.0], [2122.0, 439.0, 86.0, 0.0], [1750.0, 348.0, 82.0, 0.0], [1297.0, 223.0, 56.0, 0.0], [732.0, 108.0, 44.0, 0.0], [272.0, 28.0, 35.0, 0.0]]}, "slope": {"level_counts": [9, 31, 59, 84, 79, 148], "episodes_by_level": [[1614.0, 343.0, 46.0, 0.0], [1943.0, 397.0, 69.0, 0.0], [1598.0, 342.0, 41.0, 0.0], [1160.0, 239.0, 31.0, 0.0], [788.0, 169.0, 12.0, 0.0], [877.0, 148.0, 21.0, 0.0]]}, "rubble": {"level_counts": [27, 114, 209, 240, 173, 56], "episodes_by_level": [[3280.0, 744.0, 98.0, 0.0], [4636.0, 1000.0, 207.0, 0.0], [4000.0, 850.0, 339.0, 0.0], [2685.0, 451.0, 381.0, 0.0], [1161.0, 132.0, 222.0, 0.0], [288.0, 11.0, 76.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.240966796875, "command_abs_max": [0.9980515241622925, 0.39989906549453735, 0.6997583508491516]}
{"step": 33300, "actor_lr": 2.411226676796951e-05, "archive_windows": 50000, "env_steps": 33300, "total_transitions": 136396800, "num_steps_per_env": 1, "wm_loss": 0.5948585271835327, "actor_loss": -9.518549919128418, "critic_loss": 0.006179866846650839, "reward": 0.08731900155544281, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11511775851249695, 0.07130105048418045, 0.13243988156318665], "mean_episode_length": 1369.9054054054054, "episode_reward_terms": {"track_linear_velocity": 48.540626525878906, "track_angular_velocity": 51.87168502807617, "upright": 26.247684478759766, "leg_posture": -2.5668365955352783, "standstill": -6.185021877288818, "action_rate_l2": -0.5689221024513245, "joint_torques_l2": -0.14661195874214172, "dof_pos_limits": -0.0007438964676111937, "terminated": -0.026755962520837784, "unnecessary_wheel_lift": -0.1062360629439354, "rolling_leg_motion": -0.6000621914863586, "obstacle_progress": 3.731712579727173, "wheel_body_intrusion": -0.2673425078392029, "pair_body_intrusion": -0.3044325113296509}, "weighted_reward_terms": {"track_linear_velocity": 1.77167809009552, "track_angular_velocity": 1.893257975578308, "upright": 0.9580108523368835, "leg_posture": -0.09368663281202316, "standstill": -0.22574631869792938, "action_rate_l2": -0.020765013992786407, "joint_torques_l2": -0.005351170897483826, "dof_pos_limits": -2.7151381800649688e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.0038774965796619654, "rolling_leg_motion": -0.02190159261226654, "obstacle_progress": 0.13620330393314362, "wheel_body_intrusion": -0.009757700376212597, "pair_body_intrusion": -0.011111442930996418}, "episode_termination_rates": {"time_out": 0.46621621621621623, "fell_over": 0.05405405405405406, "course_exit": 0.46621621621621623, "illegal_nonwheel_contact": 0.04054054054054054}, "collection_time_s": 0.07555600780528039, "learning_time_s": 0.18297401497489774, "iteration_time_s": 0.31017800637138215, "policy_updates": 33000, "skipped_updates": 0, "invalid_env_resets": 180, "elapsed_s": 10328.927612167026, "nonwheel_terminations": 13146, "contact_bce": 0.2937281131744385, "contact_force_loss": 0.019878171384334564, "collision_bce": 3.437181658227928e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 3.409669079701416e-05, "collision_label_count": 16340.0, "terrain_level_mean": 3.98583984375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [2, 22, 47, 72, 80, 187], "episodes_by_level": [[1448.0, 316.0, 49.0, 0.0], [1853.0, 409.0, 38.0, 0.0], [1556.0, 364.0, 31.0, 0.0], [1267.0, 286.0, 25.0, 0.0], [773.0, 196.0, 19.0, 0.0], [1079.0, 241.0, 9.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 44, 343, 1043], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4305.0, 1757.0, 165.0, 0.0], [4552.0, 1670.0, 196.0, 0.0], [5435.0, 1500.0, 163.0, 0.0], [5849.0, 975.0, 243.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 7, 33, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [959.0, 786.0, 26.0, 0.0], [1830.0, 1484.0, 66.0, 0.0], [9241.0, 7703.0, 264.0, 0.0]]}, "platform": {"level_counts": [12, 35, 71, 113, 105, 74], "episodes_by_level": [[1773.0, 386.0, 52.0, 0.0], [2124.0, 439.0, 87.0, 0.0], [1752.0, 348.0, 82.0, 0.0], [1300.0, 224.0, 56.0, 0.0], [737.0, 109.0, 45.0, 0.0], [273.0, 28.0, 35.0, 0.0]]}, "slope": {"level_counts": [9, 31, 60, 83, 79, 148], "episodes_by_level": [[1615.0, 343.0, 46.0, 0.0], [1943.0, 397.0, 69.0, 0.0], [1601.0, 342.0, 41.0, 0.0], [1163.0, 239.0, 32.0, 0.0], [789.0, 169.0, 12.0, 0.0], [880.0, 148.0, 21.0, 0.0]]}, "rubble": {"level_counts": [27, 114, 207, 240, 174, 57], "episodes_by_level": [[3280.0, 744.0, 98.0, 0.0], [4639.0, 1000.0, 207.0, 0.0], [4006.0, 854.0, 339.0, 0.0], [2696.0, 455.0, 383.0, 0.0], [1170.0, 133.0, 224.0, 0.0], [289.0, 11.0, 76.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.24072265625, "command_abs_max": [0.9984050989151001, 0.39989906549453735, 0.6997583508491516]}
{"step": 33350, "actor_lr": 2.3948887246131164e-05, "archive_windows": 50000, "env_steps": 33350, "total_transitions": 136601600, "num_steps_per_env": 1, "wm_loss": 0.6138176918029785, "actor_loss": -9.5061674118042, "critic_loss": 0.005355668719857931, "reward": 0.08757179230451584, "falls": 4, "interval_steps": 50, "velocity_mae": [0.11471665650606155, 0.0704338476061821, 0.13238836824893951], "mean_episode_length": 1304.441379310345, "episode_reward_terms": {"track_linear_velocity": 46.25931930541992, "track_angular_velocity": 49.387428283691406, "upright": 25.035287857055664, "leg_posture": -2.4553215503692627, "standstill": -5.691955089569092, "action_rate_l2": -0.5288769602775574, "joint_torques_l2": -0.14017005264759064, "dof_pos_limits": -0.00037035674904473126, "terminated": -0.010190946981310844, "unnecessary_wheel_lift": -0.07952534407377243, "rolling_leg_motion": -0.5563644170761108, "obstacle_progress": 3.5416767597198486, "wheel_body_intrusion": -0.2432665228843689, "pair_body_intrusion": -0.2854231894016266}, "weighted_reward_terms": {"track_linear_velocity": 1.7731467485427856, "track_angular_velocity": 1.8930490016937256, "upright": 0.9596171975135803, "leg_posture": -0.09411390870809555, "standstill": -0.2181759625673294, "action_rate_l2": -0.020272163674235344, "joint_torques_l2": -0.0053727999329566956, "dof_pos_limits": -1.4195989933796227e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.0030482527799904346, "rolling_leg_motion": -0.021325774490833282, "obstacle_progress": 0.1357545405626297, "wheel_body_intrusion": -0.009324547834694386, "pair_body_intrusion": -0.010940438136458397}, "episode_termination_rates": {"time_out": 0.4, "fell_over": 0.006896551724137931, "course_exit": 0.5724137931034483, "illegal_nonwheel_contact": 0.027586206896551724}, "collection_time_s": 0.07554907312383875, "learning_time_s": 0.18279269963735714, "iteration_time_s": 0.31010032396893594, "policy_updates": 33050, "skipped_updates": 0, "invalid_env_resets": 180, "elapsed_s": 10341.845804364013, "nonwheel_terminations": 13150, "contact_bce": 0.29278481006622314, "contact_force_loss": 0.020462563261389732, "collision_bce": 0.00026275409618392587, "collision_label_rate": 6.113216659286991e-05, "collision_prediction_mean": 1.0339605978515465e-05, "collision_label_count": 16358.0, "terrain_level_mean": 3.98876953125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [2, 22, 47, 72, 80, 187], "episodes_by_level": [[1448.0, 316.0, 49.0, 0.0], [1853.0, 409.0, 38.0, 0.0], [1556.0, 364.0, 31.0, 0.0], [1267.0, 286.0, 25.0, 0.0], [776.0, 196.0, 19.0, 0.0], [1080.0, 242.0, 9.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 44, 341, 1045], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4305.0, 1757.0, 165.0, 0.0], [4553.0, 1671.0, 196.0, 0.0], [5447.0, 1503.0, 163.0, 0.0], [5882.0, 981.0, 243.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 6, 34, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [960.0, 787.0, 26.0, 0.0], [1831.0, 1485.0, 66.0, 0.0], [9262.0, 7724.0, 264.0, 0.0]]}, "platform": {"level_counts": [12, 35, 70, 114, 105, 74], "episodes_by_level": [[1773.0, 386.0, 52.0, 0.0], [2126.0, 439.0, 87.0, 0.0], [1753.0, 349.0, 82.0, 0.0], [1302.0, 224.0, 56.0, 0.0], [739.0, 109.0, 45.0, 0.0], [276.0, 28.0, 35.0, 0.0]]}, "slope": {"level_counts": [9, 30, 61, 83, 79, 148], "episodes_by_level": [[1615.0, 343.0, 46.0, 0.0], [1946.0, 398.0, 69.0, 0.0], [1602.0, 342.0, 41.0, 0.0], [1164.0, 239.0, 32.0, 0.0], [791.0, 169.0, 12.0, 0.0], [884.0, 149.0, 21.0, 0.0]]}, "rubble": {"level_counts": [26, 114, 208, 238, 173, 60], "episodes_by_level": [[3281.0, 745.0, 98.0, 0.0], [4643.0, 1001.0, 207.0, 0.0], [4010.0, 854.0, 339.0, 0.0], [2702.0, 457.0, 383.0, 0.0], [1177.0, 137.0, 224.0, 0.0], [290.0, 11.0, 77.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2412109375, "command_abs_max": [0.9984050989151001, 0.39989906549453735, 0.6997583508491516]}
{"step": 33400, "actor_lr": 2.378625109369327e-05, "archive_windows": 50000, "env_steps": 33400, "total_transitions": 136806400, "num_steps_per_env": 1, "wm_loss": 0.5976830124855042, "actor_loss": -9.542458534240723, "critic_loss": 0.004544506315141916, "reward": 0.08710787445306778, "falls": 3, "interval_steps": 50, "velocity_mae": [0.11581865698099136, 0.07026593387126923, 0.13383948802947998], "mean_episode_length": 1314.5616438356165, "episode_reward_terms": {"track_linear_velocity": 46.59275817871094, "track_angular_velocity": 49.709022521972656, "upright": 25.208112716674805, "leg_posture": -2.4892048835754395, "standstill": -6.164216041564941, "action_rate_l2": -0.543246328830719, "joint_torques_l2": -0.1411702185869217, "dof_pos_limits": -0.001298756105825305, "terminated": -0.0077025084756314754, "unnecessary_wheel_lift": -0.06842409074306488, "rolling_leg_motion": -0.5615260601043701, "obstacle_progress": 3.535327672958374, "wheel_body_intrusion": -0.25677162408828735, "pair_body_intrusion": -0.3029938340187073}, "weighted_reward_terms": {"track_linear_velocity": 1.7721786499023438, "track_angular_velocity": 1.89070725440979, "upright": 0.9588029980659485, "leg_posture": -0.09467814117670059, "standstill": -0.23445899784564972, "action_rate_l2": -0.020662643015384674, "joint_torques_l2": -0.005369478836655617, "dof_pos_limits": -4.939883001497947e-05, "terminated": -0.00029296870343387127, "unnecessary_wheel_lift": -0.0026025441475212574, "rolling_leg_motion": -0.02135792002081871, "obstacle_progress": 0.1344679296016693, "wheel_body_intrusion": -0.00976643618196249, "pair_body_intrusion": -0.011524520814418793}, "episode_termination_rates": {"time_out": 0.4246575342465753, "fell_over": 0.00684931506849315, "course_exit": 0.5547945205479452, "illegal_nonwheel_contact": 0.0136986301369863}, "collection_time_s": 0.07552211740287021, "learning_time_s": 0.18526956090005114, "iteration_time_s": 0.31002654268607793, "policy_updates": 33100, "skipped_updates": 0, "invalid_env_resets": 180, "elapsed_s": 10354.886525715003, "nonwheel_terminations": 13152, "contact_bce": 0.28971922397613525, "contact_force_loss": 0.020704397931694984, "collision_bce": 3.0766263080295175e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 2.9403667213045992e-05, "collision_label_count": 16340.0, "terrain_level_mean": 3.991943359375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [2, 22, 47, 70, 82, 187], "episodes_by_level": [[1448.0, 316.0, 49.0, 0.0], [1854.0, 409.0, 38.0, 0.0], [1559.0, 364.0, 31.0, 0.0], [1270.0, 288.0, 25.0, 0.0], [777.0, 196.0, 19.0, 0.0], [1081.0, 242.0, 9.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 44, 340, 1046], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4305.0, 1757.0, 165.0, 0.0], [4553.0, 1671.0, 196.0, 0.0], [5460.0, 1506.0, 163.0, 0.0], [5918.0, 990.0, 244.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 5, 33, 576], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [961.0, 788.0, 26.0, 0.0], [1832.0, 1486.0, 66.0, 0.0], [9282.0, 7738.0, 264.0, 0.0]]}, "platform": {"level_counts": [12, 35, 69, 114, 106, 74], "episodes_by_level": [[1774.0, 386.0, 52.0, 0.0], [2127.0, 439.0, 87.0, 0.0], [1758.0, 350.0, 82.0, 0.0], [1304.0, 225.0, 56.0, 0.0], [742.0, 109.0, 45.0, 0.0], [280.0, 28.0, 35.0, 0.0]]}, "slope": {"level_counts": [9, 30, 60, 84, 79, 148], "episodes_by_level": [[1615.0, 343.0, 46.0, 0.0], [1946.0, 398.0, 69.0, 0.0], [1606.0, 343.0, 41.0, 0.0], [1166.0, 239.0, 32.0, 0.0], [791.0, 169.0, 12.0, 0.0], [889.0, 152.0, 21.0, 0.0]]}, "rubble": {"level_counts": [26, 113, 205, 243, 172, 60], "episodes_by_level": [[3281.0, 745.0, 98.0, 0.0], [4647.0, 1002.0, 207.0, 0.0], [4016.0, 858.0, 339.0, 0.0], [2708.0, 457.0, 383.0, 0.0], [1182.0, 137.0, 225.0, 0.0], [293.0, 12.0, 77.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23876953125, "command_abs_max": [0.9984050989151001, 0.3991784155368805, 0.6997583508491516]}
{"step": 33450, "actor_lr": 2.362436834281983e-05, "archive_windows": 50000, "env_steps": 33450, "total_transitions": 137011200, "num_steps_per_env": 1, "wm_loss": 0.6507815718650818, "actor_loss": -9.510440826416016, "critic_loss": 0.005130227189511061, "reward": 0.08706150203943253, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11485394835472107, 0.07118577510118484, 0.13404050469398499], "mean_episode_length": 1375.2551724137932, "episode_reward_terms": {"track_linear_velocity": 48.74845504760742, "track_angular_velocity": 52.0001106262207, "upright": 26.372211456298828, "leg_posture": -2.632659435272217, "standstill": -6.442535400390625, "action_rate_l2": -0.571159303188324, "joint_torques_l2": -0.14876921474933624, "dof_pos_limits": -0.0013830995885655284, "terminated": -0.026860449463129044, "unnecessary_wheel_lift": -0.08565754443407059, "rolling_leg_motion": -0.599553644657135, "obstacle_progress": 3.702280044555664, "wheel_body_intrusion": -0.28195610642433167, "pair_body_intrusion": -0.3007591962814331}, "weighted_reward_terms": {"track_linear_velocity": 1.7723422050476074, "track_angular_velocity": 1.8905622959136963, "upright": 0.9588116407394409, "leg_posture": -0.09571531414985657, "standstill": -0.23423056304454803, "action_rate_l2": -0.020765578374266624, "joint_torques_l2": -0.005408786237239838, "dof_pos_limits": -5.028520172345452e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.003114241873845458, "rolling_leg_motion": -0.02179790660738945, "obstacle_progress": 0.13460339605808258, "wheel_body_intrusion": -0.01025104708969593, "pair_body_intrusion": -0.010934669524431229}, "episode_termination_rates": {"time_out": 0.496551724137931, "fell_over": 0.04827586206896552, "course_exit": 0.43448275862068964, "illegal_nonwheel_contact": 0.041379310344827586}, "collection_time_s": 0.07574680824414827, "learning_time_s": 0.18450098305474966, "iteration_time_s": 0.30995216848980567, "policy_updates": 33150, "skipped_updates": 0, "invalid_env_resets": 180, "elapsed_s": 10367.900035984, "nonwheel_terminations": 13158, "contact_bce": 0.2973405718803406, "contact_force_loss": 0.02097412198781967, "collision_bce": 0.0003943410993088037, "collision_label_rate": 6.114337884355336e-05, "collision_prediction_mean": 4.4973956391913816e-05, "collision_label_count": 16355.0, "terrain_level_mean": 3.9931640625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [2, 22, 47, 70, 82, 187], "episodes_by_level": [[1448.0, 316.0, 49.0, 0.0], [1854.0, 409.0, 38.0, 0.0], [1560.0, 364.0, 31.0, 0.0], [1271.0, 288.0, 25.0, 0.0], [781.0, 196.0, 19.0, 0.0], [1086.0, 243.0, 9.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 42, 341, 1047], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4305.0, 1757.0, 165.0, 0.0], [4555.0, 1673.0, 196.0, 0.0], [5471.0, 1510.0, 163.0, 0.0], [5942.0, 997.0, 246.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 5, 37, 572], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [961.0, 788.0, 26.0, 0.0], [1832.0, 1486.0, 66.0, 0.0], [9302.0, 7755.0, 264.0, 0.0]]}, "platform": {"level_counts": [12, 35, 69, 113, 106, 75], "episodes_by_level": [[1775.0, 386.0, 52.0, 0.0], [2130.0, 439.0, 87.0, 0.0], [1760.0, 350.0, 82.0, 0.0], [1309.0, 226.0, 56.0, 0.0], [746.0, 110.0, 45.0, 0.0], [282.0, 28.0, 35.0, 0.0]]}, "slope": {"level_counts": [9, 30, 60, 84, 79, 148], "episodes_by_level": [[1615.0, 343.0, 46.0, 0.0], [1946.0, 398.0, 69.0, 0.0], [1609.0, 343.0, 41.0, 0.0], [1169.0, 239.0, 32.0, 0.0], [792.0, 170.0, 12.0, 0.0], [893.0, 152.0, 22.0, 0.0]]}, "rubble": {"level_counts": [27, 111, 204, 243, 174, 60], "episodes_by_level": [[3283.0, 745.0, 98.0, 0.0], [4652.0, 1003.0, 208.0, 0.0], [4024.0, 861.0, 339.0, 0.0], [2713.0, 459.0, 384.0, 0.0], [1187.0, 137.0, 225.0, 0.0], [293.0, 12.0, 77.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234619140625, "command_abs_max": [0.9984050989151001, 0.3991784155368805, 0.6984118223190308]}
{"step": 33500, "actor_lr": 2.346324897920142e-05, "archive_windows": 50000, "env_steps": 33500, "total_transitions": 137216000, "num_steps_per_env": 1, "wm_loss": 0.6499752998352051, "actor_loss": -9.486272811889648, "critic_loss": 0.009056143462657928, "reward": 0.08694541454315186, "falls": 7, "interval_steps": 50, "velocity_mae": [0.1170443594455719, 0.07230155915021896, 0.13323017954826355], "mean_episode_length": 1435.7514792899408, "episode_reward_terms": {"track_linear_velocity": 50.65187454223633, "track_angular_velocity": 54.33290100097656, "upright": 27.524349212646484, "leg_posture": -2.748602867126465, "standstill": -6.588123798370361, "action_rate_l2": -0.5994869470596313, "joint_torques_l2": -0.1565272957086563, "dof_pos_limits": -0.0006999714532867074, "terminated": -0.01962941326200962, "unnecessary_wheel_lift": -0.09213496744632721, "rolling_leg_motion": -0.6300002336502075, "obstacle_progress": 3.786512613296509, "wheel_body_intrusion": -0.28967636823654175, "pair_body_intrusion": -0.338736355304718}, "weighted_reward_terms": {"track_linear_velocity": 1.763949990272522, "track_angular_velocity": 1.8921416997909546, "upright": 0.9585346579551697, "leg_posture": -0.09572001546621323, "standstill": -0.22943119704723358, "action_rate_l2": -0.020877115428447723, "joint_torques_l2": -0.00545105803757906, "dof_pos_limits": -2.437648618069943e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0032085971906781197, "rolling_leg_motion": -0.02193973772227764, "obstacle_progress": 0.13186518847942352, "wheel_body_intrusion": -0.010087970644235611, "pair_body_intrusion": -0.011796483770012856}, "episode_termination_rates": {"time_out": 0.5325443786982249, "fell_over": 0.029585798816568046, "course_exit": 0.4260355029585799, "illegal_nonwheel_contact": 0.011834319526627219}, "collection_time_s": 0.07560578007949516, "learning_time_s": 0.18451688974280842, "iteration_time_s": 0.3098778369881199, "policy_updates": 33200, "skipped_updates": 0, "invalid_env_resets": 180, "elapsed_s": 10380.907539102016, "nonwheel_terminations": 13160, "contact_bce": 0.295319139957428, "contact_force_loss": 0.02094838209450245, "collision_bce": 0.0001498809433542192, "collision_label_rate": 6.11658178968355e-05, "collision_prediction_mean": 1.4944596841814928e-05, "collision_label_count": 16349.0, "terrain_level_mean": 3.99365234375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [2, 22, 47, 69, 83, 187], "episodes_by_level": [[1448.0, 316.0, 49.0, 0.0], [1854.0, 409.0, 38.0, 0.0], [1561.0, 364.0, 31.0, 0.0], [1274.0, 289.0, 25.0, 0.0], [783.0, 196.0, 19.0, 0.0], [1089.0, 243.0, 9.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 42, 342, 1046], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4305.0, 1757.0, 165.0, 0.0], [4555.0, 1673.0, 196.0, 0.0], [5480.0, 1512.0, 163.0, 0.0], [5983.0, 1008.0, 248.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 5, 39, 570], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [961.0, 788.0, 26.0, 0.0], [1832.0, 1486.0, 66.0, 0.0], [9318.0, 7770.0, 264.0, 0.0]]}, "platform": {"level_counts": [12, 35, 69, 112, 107, 75], "episodes_by_level": [[1775.0, 386.0, 52.0, 0.0], [2130.0, 439.0, 87.0, 0.0], [1765.0, 350.0, 82.0, 0.0], [1316.0, 227.0, 56.0, 0.0], [749.0, 110.0, 45.0, 0.0], [287.0, 28.0, 35.0, 0.0]]}, "slope": {"level_counts": [9, 29, 61, 83, 80, 148], "episodes_by_level": [[1615.0, 343.0, 46.0, 0.0], [1947.0, 399.0, 69.0, 0.0], [1609.0, 343.0, 41.0, 0.0], [1172.0, 240.0, 32.0, 0.0], [795.0, 170.0, 12.0, 0.0], [898.0, 154.0, 22.0, 0.0]]}, "rubble": {"level_counts": [27, 111, 204, 243, 173, 61], "episodes_by_level": [[3284.0, 745.0, 98.0, 0.0], [4654.0, 1003.0, 208.0, 0.0], [4037.0, 863.0, 339.0, 0.0], [2724.0, 459.0, 386.0, 0.0], [1194.0, 138.0, 225.0, 0.0], [294.0, 12.0, 77.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234619140625, "command_abs_max": [0.9984050989151001, 0.3991784155368805, 0.6973351240158081]}
{"step": 33550, "actor_lr": 2.330290294143935e-05, "archive_windows": 50000, "env_steps": 33550, "total_transitions": 137420800, "num_steps_per_env": 1, "wm_loss": 0.607867956161499, "actor_loss": -9.491374969482422, "critic_loss": 0.005645253695547581, "reward": 0.0877213254570961, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11585323512554169, 0.07121505588293076, 0.13318254053592682], "mean_episode_length": 1368.3355704697988, "episode_reward_terms": {"track_linear_velocity": 48.4222297668457, "track_angular_velocity": 51.77756118774414, "upright": 26.241804122924805, "leg_posture": -2.5832695960998535, "standstill": -5.560800552368164, "action_rate_l2": -0.5792389512062073, "joint_torques_l2": -0.14896580576896667, "dof_pos_limits": -0.000833576254080981, "terminated": -0.026725301519036293, "unnecessary_wheel_lift": -0.08850616216659546, "rolling_leg_motion": -0.5929114818572998, "obstacle_progress": 3.7280986309051514, "wheel_body_intrusion": -0.2621919512748718, "pair_body_intrusion": -0.294053852558136}, "weighted_reward_terms": {"track_linear_velocity": 1.7693843841552734, "track_angular_velocity": 1.8919906616210938, "upright": 0.9588950872421265, "leg_posture": -0.09439459443092346, "standstill": -0.20319579541683197, "action_rate_l2": -0.021165821701288223, "joint_torques_l2": -0.005443321540951729, "dof_pos_limits": -3.045949779334478e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.003234080970287323, "rolling_leg_motion": -0.021665427833795547, "obstacle_progress": 0.13622750341892242, "wheel_body_intrusion": -0.009580688551068306, "pair_body_intrusion": -0.010744947008788586}, "episode_termination_rates": {"time_out": 0.47651006711409394, "fell_over": 0.04697986577181208, "course_exit": 0.4563758389261745, "illegal_nonwheel_contact": 0.04697986577181208}, "collection_time_s": 0.07566308645182289, "learning_time_s": 0.19180200954317114, "iteration_time_s": 0.30981549353099874, "policy_updates": 33250, "skipped_updates": 0, "invalid_env_resets": 180, "elapsed_s": 10394.309807965008, "nonwheel_terminations": 13167, "contact_bce": 0.29795047640800476, "contact_force_loss": 0.021744513884186745, "collision_bce": 7.2837656261981465e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 7.3357346082048025e-06, "collision_label_count": 16343.0, "terrain_level_mean": 3.994140625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 23, 47, 69, 82, 188], "episodes_by_level": [[1450.0, 317.0, 49.0, 0.0], [1854.0, 409.0, 38.0, 0.0], [1564.0, 364.0, 31.0, 0.0], [1275.0, 289.0, 25.0, 0.0], [787.0, 197.0, 19.0, 0.0], [1093.0, 245.0, 9.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 42, 343, 1045], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4305.0, 1757.0, 165.0, 0.0], [4556.0, 1673.0, 196.0, 0.0], [5489.0, 1514.0, 163.0, 0.0], [6011.0, 1017.0, 250.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 5, 40, 569], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [961.0, 788.0, 26.0, 0.0], [1834.0, 1487.0, 66.0, 0.0], [9336.0, 7786.0, 265.0, 0.0]]}, "platform": {"level_counts": [12, 35, 69, 111, 108, 75], "episodes_by_level": [[1775.0, 386.0, 52.0, 0.0], [2132.0, 439.0, 87.0, 0.0], [1766.0, 350.0, 82.0, 0.0], [1318.0, 228.0, 56.0, 0.0], [752.0, 111.0, 45.0, 0.0], [290.0, 28.0, 36.0, 0.0]]}, "slope": {"level_counts": [9, 28, 62, 83, 80, 148], "episodes_by_level": [[1615.0, 343.0, 46.0, 0.0], [1948.0, 400.0, 69.0, 0.0], [1610.0, 343.0, 41.0, 0.0], [1174.0, 240.0, 32.0, 0.0], [799.0, 170.0, 12.0, 0.0], [903.0, 156.0, 22.0, 0.0]]}, "rubble": {"level_counts": [26, 113, 203, 242, 175, 60], "episodes_by_level": [[3287.0, 746.0, 98.0, 0.0], [4657.0, 1003.0, 208.0, 0.0], [4041.0, 863.0, 340.0, 0.0], [2733.0, 462.0, 386.0, 0.0], [1204.0, 138.0, 227.0, 0.0], [296.0, 12.0, 78.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.232177734375, "command_abs_max": [0.9984050989151001, 0.3991784155368805, 0.6973351240158081]}
{"step": 33600, "actor_lr": 2.3143340120432522e-05, "archive_windows": 50000, "env_steps": 33600, "total_transitions": 137625600, "num_steps_per_env": 1, "wm_loss": 0.5821098685264587, "actor_loss": -9.512948989868164, "critic_loss": 0.011184732429683208, "reward": 0.08773953467607498, "falls": 7, "interval_steps": 50, "velocity_mae": [0.1161666288971901, 0.07301615923643112, 0.1341409534215927], "mean_episode_length": 1376.904, "episode_reward_terms": {"track_linear_velocity": 48.66271209716797, "track_angular_velocity": 52.0495719909668, "upright": 26.387409210205078, "leg_posture": -2.5654680728912354, "standstill": -5.5901031494140625, "action_rate_l2": -0.5888431668281555, "joint_torques_l2": -0.14855533838272095, "dof_pos_limits": -0.0006171624991111457, "terminated": -0.018824858590960503, "unnecessary_wheel_lift": -0.07385722547769547, "rolling_leg_motion": -0.5735217332839966, "obstacle_progress": 3.845468044281006, "wheel_body_intrusion": -0.2735224664211273, "pair_body_intrusion": -0.3029406666755676}, "weighted_reward_terms": {"track_linear_velocity": 1.767106294631958, "track_angular_velocity": 1.8900943994522095, "upright": 0.9582152366638184, "leg_posture": -0.09316074103116989, "standstill": -0.20299537479877472, "action_rate_l2": -0.02138287015259266, "joint_torques_l2": -0.005394542124122381, "dof_pos_limits": -2.2411239115172066e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0026820034254342318, "rolling_leg_motion": -0.020826496183872223, "obstacle_progress": 0.13964183628559113, "wheel_body_intrusion": -0.009932518005371094, "pair_body_intrusion": -0.011000791564583778}, "episode_termination_rates": {"time_out": 0.512, "fell_over": 0.024, "course_exit": 0.432, "illegal_nonwheel_contact": 0.032}, "collection_time_s": 0.07545060021919198, "learning_time_s": 0.18528943320387042, "iteration_time_s": 0.30974249840285795, "policy_updates": 33300, "skipped_updates": 0, "invalid_env_resets": 180, "elapsed_s": 10407.347946336027, "nonwheel_terminations": 13171, "contact_bce": 0.29232344031333923, "contact_force_loss": 0.020588485524058342, "collision_bce": 0.0004188255115877837, "collision_label_rate": 0.00012248897110112011, "collision_prediction_mean": 5.298434916767292e-05, "collision_label_count": 16328.0, "terrain_level_mean": 3.994384765625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 22, 46, 71, 82, 188], "episodes_by_level": [[1450.0, 317.0, 49.0, 0.0], [1857.0, 410.0, 38.0, 0.0], [1568.0, 366.0, 31.0, 0.0], [1276.0, 289.0, 25.0, 0.0], [793.0, 197.0, 19.0, 0.0], [1099.0, 245.0, 9.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 42, 345, 1043], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4305.0, 1757.0, 165.0, 0.0], [4557.0, 1673.0, 196.0, 0.0], [5492.0, 1514.0, 163.0, 0.0], [6031.0, 1020.0, 252.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 5, 41, 568], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [961.0, 788.0, 26.0, 0.0], [1834.0, 1487.0, 66.0, 0.0], [9355.0, 7805.0, 265.0, 0.0]]}, "platform": {"level_counts": [12, 35, 69, 110, 109, 75], "episodes_by_level": [[1775.0, 386.0, 52.0, 0.0], [2135.0, 439.0, 87.0, 0.0], [1766.0, 350.0, 82.0, 0.0], [1324.0, 229.0, 56.0, 0.0], [754.0, 111.0, 45.0, 0.0], [292.0, 29.0, 36.0, 0.0]]}, "slope": {"level_counts": [9, 28, 62, 82, 81, 148], "episodes_by_level": [[1615.0, 343.0, 46.0, 0.0], [1948.0, 400.0, 69.0, 0.0], [1613.0, 343.0, 41.0, 0.0], [1175.0, 241.0, 32.0, 0.0], [800.0, 170.0, 12.0, 0.0], [906.0, 156.0, 22.0, 0.0]]}, "rubble": {"level_counts": [26, 113, 205, 240, 174, 61], "episodes_by_level": [[3288.0, 746.0, 98.0, 0.0], [4658.0, 1003.0, 208.0, 0.0], [4048.0, 865.0, 340.0, 0.0], [2741.0, 462.0, 390.0, 0.0], [1207.0, 139.0, 227.0, 0.0], [297.0, 13.0, 78.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234130859375, "command_abs_max": [0.9969993233680725, 0.39909228682518005, 0.6971030831336975]}
{"step": 33650, "actor_lr": 2.2984570358767335e-05, "archive_windows": 50000, "env_steps": 33650, "total_transitions": 137830400, "num_steps_per_env": 1, "wm_loss": 0.6300387978553772, "actor_loss": -9.501323699951172, "critic_loss": 0.005064475350081921, "reward": 0.08735252171754837, "falls": 11, "interval_steps": 50, "velocity_mae": [0.11801879107952118, 0.07191035896539688, 0.13404710590839386], "mean_episode_length": 1315.9870967741936, "episode_reward_terms": {"track_linear_velocity": 46.43019485473633, "track_angular_velocity": 49.74749755859375, "upright": 25.177528381347656, "leg_posture": -2.477778673171997, "standstill": -5.593715667724609, "action_rate_l2": -0.5595905780792236, "joint_torques_l2": -0.14193618297576904, "dof_pos_limits": -0.0009515212732367218, "terminated": -0.02827315777540207, "unnecessary_wheel_lift": -0.0903628021478653, "rolling_leg_motion": -0.5627633333206177, "obstacle_progress": 3.6363606452941895, "wheel_body_intrusion": -0.26424017548561096, "pair_body_intrusion": -0.31718870997428894}, "weighted_reward_terms": {"track_linear_velocity": 1.7640825510025024, "track_angular_velocity": 1.8901211023330688, "upright": 0.9566023945808411, "leg_posture": -0.09414145350456238, "standstill": -0.2125292718410492, "action_rate_l2": -0.021261248737573624, "joint_torques_l2": -0.005392765160650015, "dof_pos_limits": -3.6152381653664634e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.0034332710783928633, "rolling_leg_motion": -0.021381795406341553, "obstacle_progress": 0.13816095888614655, "wheel_body_intrusion": -0.010039620101451874, "pair_body_intrusion": -0.012051361612975597}, "episode_termination_rates": {"time_out": 0.4645161290322581, "fell_over": 0.05806451612903226, "course_exit": 0.4645161290322581, "illegal_nonwheel_contact": 0.03870967741935484}, "collection_time_s": 0.07573829819797538, "learning_time_s": 0.18530307478504254, "iteration_time_s": 0.30967016626130733, "policy_updates": 33350, "skipped_updates": 0, "invalid_env_resets": 180, "elapsed_s": 10420.401094692992, "nonwheel_terminations": 13177, "contact_bce": 0.288582444190979, "contact_force_loss": 0.020754331722855568, "collision_bce": 0.0001647984463488683, "collision_label_rate": 6.122948980191723e-05, "collision_prediction_mean": 5.480375330080278e-05, "collision_label_count": 16332.0, "terrain_level_mean": 3.9951171875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 22, 46, 71, 82, 188], "episodes_by_level": [[1450.0, 317.0, 49.0, 0.0], [1859.0, 410.0, 38.0, 0.0], [1568.0, 366.0, 31.0, 0.0], [1279.0, 289.0, 25.0, 0.0], [794.0, 197.0, 19.0, 0.0], [1105.0, 246.0, 9.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 42, 344, 1044], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4305.0, 1757.0, 165.0, 0.0], [4560.0, 1674.0, 196.0, 0.0], [5499.0, 1518.0, 163.0, 0.0], [6063.0, 1026.0, 252.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 6, 40, 568], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [961.0, 788.0, 26.0, 0.0], [1836.0, 1489.0, 66.0, 0.0], [9376.0, 7821.0, 265.0, 0.0]]}, "platform": {"level_counts": [12, 35, 68, 111, 109, 75], "episodes_by_level": [[1775.0, 386.0, 52.0, 0.0], [2136.0, 439.0, 87.0, 0.0], [1768.0, 351.0, 82.0, 0.0], [1325.0, 229.0, 56.0, 0.0], [758.0, 111.0, 45.0, 0.0], [293.0, 29.0, 36.0, 0.0]]}, "slope": {"level_counts": [9, 28, 63, 79, 83, 148], "episodes_by_level": [[1615.0, 343.0, 46.0, 0.0], [1948.0, 400.0, 69.0, 0.0], [1616.0, 343.0, 41.0, 0.0], [1181.0, 243.0, 33.0, 0.0], [804.0, 170.0, 12.0, 0.0], [912.0, 156.0, 22.0, 0.0]]}, "rubble": {"level_counts": [26, 114, 203, 241, 173, 62], "episodes_by_level": [[3288.0, 746.0, 98.0, 0.0], [4661.0, 1003.0, 208.0, 0.0], [4057.0, 866.0, 341.0, 0.0], [2745.0, 463.0, 390.0, 0.0], [1214.0, 141.0, 228.0, 0.0], [298.0, 13.0, 79.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22998046875, "command_abs_max": [0.9969993233680725, 0.39909228682518005, 0.6990150809288025]}
{"step": 33700, "actor_lr": 2.282660345011057e-05, "archive_windows": 50000, "env_steps": 33700, "total_transitions": 138035200, "num_steps_per_env": 1, "wm_loss": 0.5960792899131775, "actor_loss": -9.490072250366211, "critic_loss": 0.007370412349700928, "reward": 0.0876617580652237, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11535172164440155, 0.07166913151741028, 0.13456754386425018], "mean_episode_length": 1374.9872611464968, "episode_reward_terms": {"track_linear_velocity": 48.6928825378418, "track_angular_velocity": 51.97159957885742, "upright": 26.336633682250977, "leg_posture": -2.5953290462493896, "standstill": -5.637944221496582, "action_rate_l2": -0.5886876583099365, "joint_torques_l2": -0.14991898834705353, "dof_pos_limits": -0.0015148759121075273, "terminated": -0.018798653036355972, "unnecessary_wheel_lift": -0.08740247040987015, "rolling_leg_motion": -0.5981890559196472, "obstacle_progress": 3.7897469997406006, "wheel_body_intrusion": -0.26827409863471985, "pair_body_intrusion": -0.3109917938709259}, "weighted_reward_terms": {"track_linear_velocity": 1.7706665992736816, "track_angular_velocity": 1.8898937702178955, "upright": 0.9577046632766724, "leg_posture": -0.09437647461891174, "standstill": -0.2050180584192276, "action_rate_l2": -0.021407021209597588, "joint_torques_l2": -0.005451649893075228, "dof_pos_limits": -5.508690810529515e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.003178300801664591, "rolling_leg_motion": -0.021752530708909035, "obstacle_progress": 0.13781026005744934, "wheel_body_intrusion": -0.009755512699484825, "pair_body_intrusion": -0.011308897286653519}, "episode_termination_rates": {"time_out": 0.5222929936305732, "fell_over": 0.03184713375796178, "course_exit": 0.43312101910828027, "illegal_nonwheel_contact": 0.01910828025477707}, "collection_time_s": 0.07578769824351184, "learning_time_s": 0.1848594462161418, "iteration_time_s": 0.30959747298480733, "policy_updates": 33400, "skipped_updates": 0, "invalid_env_resets": 180, "elapsed_s": 10433.434839588008, "nonwheel_terminations": 13180, "contact_bce": 0.2911358177661896, "contact_force_loss": 0.019918173551559448, "collision_bce": 7.573061157017946e-05, "collision_label_rate": 6.11359064350836e-05, "collision_prediction_mean": 2.9848984922864474e-05, "collision_label_count": 16357.0, "terrain_level_mean": 3.995849609375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 22, 46, 71, 82, 188], "episodes_by_level": [[1450.0, 317.0, 49.0, 0.0], [1860.0, 410.0, 38.0, 0.0], [1570.0, 366.0, 31.0, 0.0], [1279.0, 289.0, 25.0, 0.0], [797.0, 197.0, 19.0, 0.0], [1112.0, 247.0, 9.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 42, 344, 1044], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4305.0, 1757.0, 165.0, 0.0], [4562.0, 1674.0, 196.0, 0.0], [5502.0, 1519.0, 163.0, 0.0], [6089.0, 1032.0, 252.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 5, 40, 569], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [962.0, 789.0, 26.0, 0.0], [1839.0, 1492.0, 66.0, 0.0], [9400.0, 7845.0, 265.0, 0.0]]}, "platform": {"level_counts": [12, 36, 67, 110, 110, 75], "episodes_by_level": [[1775.0, 386.0, 52.0, 0.0], [2137.0, 439.0, 87.0, 0.0], [1770.0, 351.0, 83.0, 0.0], [1330.0, 230.0, 56.0, 0.0], [761.0, 111.0, 45.0, 0.0], [295.0, 29.0, 36.0, 0.0]]}, "slope": {"level_counts": [9, 28, 63, 78, 84, 148], "episodes_by_level": [[1616.0, 343.0, 46.0, 0.0], [1948.0, 400.0, 69.0, 0.0], [1618.0, 343.0, 41.0, 0.0], [1186.0, 244.0, 33.0, 0.0], [809.0, 170.0, 12.0, 0.0], [915.0, 157.0, 22.0, 0.0]]}, "rubble": {"level_counts": [26, 115, 204, 236, 176, 62], "episodes_by_level": [[3291.0, 746.0, 98.0, 0.0], [4665.0, 1003.0, 208.0, 0.0], [4062.0, 866.0, 342.0, 0.0], [2756.0, 466.0, 392.0, 0.0], [1219.0, 141.0, 228.0, 0.0], [300.0, 14.0, 79.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.231201171875, "command_abs_max": [0.9969993233680725, 0.3995734751224518, 0.6990150809288025]}
{"step": 33750, "actor_lr": 2.2669449138605243e-05, "archive_windows": 50000, "env_steps": 33750, "total_transitions": 138240000, "num_steps_per_env": 1, "wm_loss": 0.592820405960083, "actor_loss": -9.529463768005371, "critic_loss": 0.004280650056898594, "reward": 0.08792626857757568, "falls": 10, "interval_steps": 50, "velocity_mae": [0.1135617196559906, 0.07162787020206451, 0.13196159899234772], "mean_episode_length": 1354.0544217687075, "episode_reward_terms": {"track_linear_velocity": 48.06812286376953, "track_angular_velocity": 51.27960205078125, "upright": 25.956012725830078, "leg_posture": -2.5454013347625732, "standstill": -5.368172645568848, "action_rate_l2": -0.5719283223152161, "joint_torques_l2": -0.14615857601165771, "dof_pos_limits": -0.0006356823723763227, "terminated": -0.026446372270584106, "unnecessary_wheel_lift": -0.0905810296535492, "rolling_leg_motion": -0.592197060585022, "obstacle_progress": 3.649519205093384, "wheel_body_intrusion": -0.25731655955314636, "pair_body_intrusion": -0.2974432706832886}, "weighted_reward_terms": {"track_linear_velocity": 1.7749700546264648, "track_angular_velocity": 1.8935576677322388, "upright": 0.9584553241729736, "leg_posture": -0.09399183839559555, "standstill": -0.19822590053081512, "action_rate_l2": -0.021119102835655212, "joint_torques_l2": -0.005397071596235037, "dof_pos_limits": -2.3473296096199192e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.0033448077738285065, "rolling_leg_motion": -0.021867550909519196, "obstacle_progress": 0.13476264476776123, "wheel_body_intrusion": -0.009501706808805466, "pair_body_intrusion": -0.010983430780470371}, "episode_termination_rates": {"time_out": 0.46938775510204084, "fell_over": 0.027210884353741496, "course_exit": 0.46258503401360546, "illegal_nonwheel_contact": 0.061224489795918366}, "collection_time_s": 0.07587745185941458, "learning_time_s": 0.18552551377913915, "iteration_time_s": 0.3095261074835555, "policy_updates": 33450, "skipped_updates": 0, "invalid_env_resets": 180, "elapsed_s": 10446.506127569999, "nonwheel_terminations": 13189, "contact_bce": 0.2957811653614044, "contact_force_loss": 0.0203857421875, "collision_bce": 7.630503205291461e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 7.677803296246566e-06, "collision_label_count": 16342.0, "terrain_level_mean": 3.99609375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 22, 44, 71, 84, 188], "episodes_by_level": [[1450.0, 317.0, 49.0, 0.0], [1860.0, 410.0, 38.0, 0.0], [1572.0, 368.0, 31.0, 0.0], [1288.0, 291.0, 25.0, 0.0], [799.0, 197.0, 19.0, 0.0], [1116.0, 248.0, 9.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 42, 343, 1045], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4305.0, 1757.0, 165.0, 0.0], [4563.0, 1674.0, 196.0, 0.0], [5515.0, 1521.0, 163.0, 0.0], [6113.0, 1038.0, 252.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 5, 42, 567], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [962.0, 789.0, 26.0, 0.0], [1841.0, 1494.0, 66.0, 0.0], [9425.0, 7863.0, 267.0, 0.0]]}, "platform": {"level_counts": [12, 36, 67, 110, 110, 75], "episodes_by_level": [[1775.0, 386.0, 52.0, 0.0], [2139.0, 439.0, 87.0, 0.0], [1772.0, 351.0, 83.0, 0.0], [1331.0, 230.0, 56.0, 0.0], [763.0, 111.0, 45.0, 0.0], [296.0, 29.0, 36.0, 0.0]]}, "slope": {"level_counts": [9, 28, 63, 78, 84, 148], "episodes_by_level": [[1617.0, 343.0, 46.0, 0.0], [1948.0, 400.0, 69.0, 0.0], [1620.0, 343.0, 41.0, 0.0], [1187.0, 244.0, 33.0, 0.0], [810.0, 170.0, 12.0, 0.0], [921.0, 158.0, 22.0, 0.0]]}, "rubble": {"level_counts": [26, 115, 204, 236, 178, 60], "episodes_by_level": [[3292.0, 746.0, 99.0, 0.0], [4668.0, 1004.0, 208.0, 0.0], [4068.0, 867.0, 343.0, 0.0], [2759.0, 466.0, 393.0, 0.0], [1224.0, 141.0, 228.0, 0.0], [302.0, 14.0, 81.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.231201171875, "command_abs_max": [0.9969993233680725, 0.3996225893497467, 0.6971030831336975]}
{"step": 33800, "actor_lr": 2.2513117118269546e-05, "archive_windows": 50000, "env_steps": 33800, "total_transitions": 138444800, "num_steps_per_env": 1, "wm_loss": 0.6191550493240356, "actor_loss": -9.478809356689453, "critic_loss": 0.00680209044367075, "reward": 0.08785238862037659, "falls": 2, "interval_steps": 50, "velocity_mae": [0.11213097721338272, 0.07023725658655167, 0.13328377902507782], "mean_episode_length": 1339.5205479452054, "episode_reward_terms": {"track_linear_velocity": 47.70313262939453, "track_angular_velocity": 50.677852630615234, "upright": 25.69908332824707, "leg_posture": -2.490730047225952, "standstill": -5.603562831878662, "action_rate_l2": -0.5723926424980164, "joint_torques_l2": -0.14279097318649292, "dof_pos_limits": -0.00029681366868317127, "terminated": -0.005232500843703747, "unnecessary_wheel_lift": -0.08500323444604874, "rolling_leg_motion": -0.5843838453292847, "obstacle_progress": 3.6181089878082275, "wheel_body_intrusion": -0.24855954945087433, "pair_body_intrusion": -0.28515321016311646}, "weighted_reward_terms": {"track_linear_velocity": 1.7806048393249512, "track_angular_velocity": 1.8916414976119995, "upright": 0.9592642784118652, "leg_posture": -0.09297095239162445, "standstill": -0.20916301012039185, "action_rate_l2": -0.021365579217672348, "joint_torques_l2": -0.0053299288265407085, "dof_pos_limits": -1.1079101568611804e-05, "terminated": -0.0001953124738065526, "unnecessary_wheel_lift": -0.003172897966578603, "rolling_leg_motion": -0.021813172847032547, "obstacle_progress": 0.1350523978471756, "wheel_body_intrusion": -0.009277930483222008, "pair_body_intrusion": -0.010643853805959225}, "episode_termination_rates": {"time_out": 0.4520547945205479, "fell_over": 0.00684931506849315, "course_exit": 0.5342465753424658, "illegal_nonwheel_contact": 0.00684931506849315}, "collection_time_s": 0.07604521125671454, "learning_time_s": 0.18415576802333816, "iteration_time_s": 0.3094531746826926, "policy_updates": 33500, "skipped_updates": 0, "invalid_env_resets": 181, "elapsed_s": 10459.51730427501, "nonwheel_terminations": 13190, "contact_bce": 0.29267701506614685, "contact_force_loss": 0.020948467776179314, "collision_bce": 0.00016865057114046067, "collision_label_rate": 6.120325269876048e-05, "collision_prediction_mean": 0.0001378547603962943, "collision_label_count": 16339.0, "terrain_level_mean": 3.999267578125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 22, 44, 68, 87, 188], "episodes_by_level": [[1450.0, 317.0, 49.0, 0.0], [1860.0, 410.0, 38.0, 0.0], [1573.0, 368.0, 31.0, 0.0], [1291.0, 294.0, 25.0, 0.0], [800.0, 197.0, 19.0, 0.0], [1122.0, 250.0, 9.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 42, 338, 1050], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4305.0, 1757.0, 165.0, 0.0], [4563.0, 1674.0, 196.0, 0.0], [5529.0, 1526.0, 163.0, 0.0], [6137.0, 1043.0, 252.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 5, 42, 567], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [962.0, 789.0, 26.0, 0.0], [1842.0, 1494.0, 66.0, 0.0], [9449.0, 7884.0, 267.0, 0.0]]}, "platform": {"level_counts": [12, 36, 65, 112, 109, 76], "episodes_by_level": [[1775.0, 386.0, 52.0, 0.0], [2139.0, 439.0, 87.0, 0.0], [1777.0, 353.0, 83.0, 0.0], [1335.0, 230.0, 56.0, 0.0], [764.0, 112.0, 45.0, 0.0], [297.0, 29.0, 36.0, 0.0]]}, "slope": {"level_counts": [9, 28, 62, 78, 85, 148], "episodes_by_level": [[1618.0, 343.0, 46.0, 0.0], [1949.0, 400.0, 69.0, 0.0], [1622.0, 344.0, 41.0, 0.0], [1190.0, 245.0, 33.0, 0.0], [812.0, 170.0, 12.0, 0.0], [923.0, 158.0, 22.0, 0.0]]}, "rubble": {"level_counts": [26, 115, 203, 238, 177, 60], "episodes_by_level": [[3292.0, 746.0, 99.0, 0.0], [4672.0, 1004.0, 208.0, 0.0], [4073.0, 869.0, 343.0, 0.0], [2764.0, 466.0, 394.0, 0.0], [1230.0, 141.0, 229.0, 0.0], [302.0, 14.0, 81.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.231201171875, "command_abs_max": [0.9986367225646973, 0.3996225893497467, 0.6980124115943909]}
{"step": 33850, "actor_lr": 2.2357617032398886e-05, "archive_windows": 50000, "env_steps": 33850, "total_transitions": 138649600, "num_steps_per_env": 1, "wm_loss": 0.5936253666877747, "actor_loss": -9.47381591796875, "critic_loss": 0.0065735625103116035, "reward": 0.08750159293413162, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11434972286224365, 0.0706363394856453, 0.1351359337568283], "mean_episode_length": 1391.8645161290322, "episode_reward_terms": {"track_linear_velocity": 49.429752349853516, "track_angular_velocity": 52.57073211669922, "upright": 26.71277618408203, "leg_posture": -2.593752145767212, "standstill": -5.973518371582031, "action_rate_l2": -0.5944390296936035, "joint_torques_l2": -0.14885911345481873, "dof_pos_limits": -0.0006200323114171624, "terminated": -0.021747879683971405, "unnecessary_wheel_lift": -0.07811597734689713, "rolling_leg_motion": -0.609663724899292, "obstacle_progress": 3.6787612438201904, "wheel_body_intrusion": -0.27081114053726196, "pair_body_intrusion": -0.3101120889186859}, "weighted_reward_terms": {"track_linear_velocity": 1.7756669521331787, "track_angular_velocity": 1.888500452041626, "upright": 0.9596040844917297, "leg_posture": -0.09317545592784882, "standstill": -0.21458691358566284, "action_rate_l2": -0.021354055032134056, "joint_torques_l2": -0.005347471218556166, "dof_pos_limits": -2.2273443391895853e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0028061631601303816, "rolling_leg_motion": -0.021900972351431847, "obstacle_progress": 0.1321522742509842, "wheel_body_intrusion": -0.009728359058499336, "pair_body_intrusion": -0.011140167713165283}, "episode_termination_rates": {"time_out": 0.535483870967742, "fell_over": 0.03870967741935484, "course_exit": 0.4129032258064516, "illegal_nonwheel_contact": 0.01935483870967742}, "collection_time_s": 0.07583241918007844, "learning_time_s": 0.18559462191769854, "iteration_time_s": 0.3093822684331468, "policy_updates": 33550, "skipped_updates": 0, "invalid_env_resets": 181, "elapsed_s": 10472.58978646202, "nonwheel_terminations": 13193, "contact_bce": 0.2901001572608948, "contact_force_loss": 0.02060040459036827, "collision_bce": 0.00011092430213466287, "collision_label_rate": 6.120699981693178e-05, "collision_prediction_mean": 0.00012317998334765434, "collision_label_count": 16338.0, "terrain_level_mean": 4.0, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 21, 45, 67, 88, 188], "episodes_by_level": [[1450.0, 317.0, 49.0, 0.0], [1861.0, 411.0, 38.0, 0.0], [1577.0, 368.0, 31.0, 0.0], [1294.0, 295.0, 25.0, 0.0], [804.0, 197.0, 19.0, 0.0], [1127.0, 252.0, 9.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 42, 339, 1049], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4305.0, 1757.0, 165.0, 0.0], [4563.0, 1674.0, 196.0, 0.0], [5535.0, 1527.0, 163.0, 0.0], [6168.0, 1053.0, 252.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 6, 42, 566], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [962.0, 789.0, 26.0, 0.0], [1843.0, 1495.0, 66.0, 0.0], [9463.0, 7895.0, 267.0, 0.0]]}, "platform": {"level_counts": [12, 36, 64, 112, 109, 77], "episodes_by_level": [[1775.0, 386.0, 52.0, 0.0], [2141.0, 439.0, 87.0, 0.0], [1780.0, 354.0, 83.0, 0.0], [1338.0, 231.0, 56.0, 0.0], [768.0, 113.0, 45.0, 0.0], [301.0, 29.0, 36.0, 0.0]]}, "slope": {"level_counts": [9, 28, 62, 77, 86, 148], "episodes_by_level": [[1618.0, 343.0, 46.0, 0.0], [1950.0, 400.0, 69.0, 0.0], [1624.0, 344.0, 41.0, 0.0], [1192.0, 246.0, 33.0, 0.0], [814.0, 170.0, 12.0, 0.0], [929.0, 161.0, 22.0, 0.0]]}, "rubble": {"level_counts": [26, 115, 204, 236, 178, 60], "episodes_by_level": [[3292.0, 746.0, 99.0, 0.0], [4676.0, 1005.0, 208.0, 0.0], [4083.0, 870.0, 344.0, 0.0], [2776.0, 467.0, 396.0, 0.0], [1233.0, 141.0, 229.0, 0.0], [304.0, 16.0, 81.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23193359375, "command_abs_max": [0.9986367225646973, 0.39993539452552795, 0.6980124115943909]}
{"step": 33900, "actor_lr": 2.2202958472971023e-05, "archive_windows": 50000, "env_steps": 33900, "total_transitions": 138854400, "num_steps_per_env": 1, "wm_loss": 0.6267399191856384, "actor_loss": -9.524559020996094, "critic_loss": 0.004621441010385752, "reward": 0.08774924278259277, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11155105382204056, 0.07045374065637589, 0.13309329748153687], "mean_episode_length": 1387.2789115646258, "episode_reward_terms": {"track_linear_velocity": 49.4413948059082, "track_angular_velocity": 52.4848518371582, "upright": 26.58238983154297, "leg_posture": -2.5803236961364746, "standstill": -5.9285078048706055, "action_rate_l2": -0.5685316920280457, "joint_torques_l2": -0.1485929638147354, "dof_pos_limits": -0.0008582912269048393, "terminated": -0.021676229313015938, "unnecessary_wheel_lift": -0.08963222801685333, "rolling_leg_motion": -0.5993901491165161, "obstacle_progress": 3.716160535812378, "wheel_body_intrusion": -0.255341500043869, "pair_body_intrusion": -0.2992408275604248}, "weighted_reward_terms": {"track_linear_velocity": 1.7819557189941406, "track_angular_velocity": 1.8916475772857666, "upright": 0.9580765962600708, "leg_posture": -0.09299945831298828, "standstill": -0.21367396414279938, "action_rate_l2": -0.020490894094109535, "joint_torques_l2": -0.005355555098503828, "dof_pos_limits": -3.093434133916162e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.003230504924431443, "rolling_leg_motion": -0.021603088825941086, "obstacle_progress": 0.1339370459318161, "wheel_body_intrusion": -0.00920296274125576, "pair_body_intrusion": -0.010785171762108803}, "episode_termination_rates": {"time_out": 0.5306122448979592, "fell_over": 0.027210884353741496, "course_exit": 0.4217687074829932, "illegal_nonwheel_contact": 0.047619047619047616}, "collection_time_s": 0.07559926204266958, "learning_time_s": 0.1851863608614076, "iteration_time_s": 0.3093106306310033, "policy_updates": 33600, "skipped_updates": 0, "invalid_env_resets": 181, "elapsed_s": 10485.630378391012, "nonwheel_terminations": 13200, "contact_bce": 0.2948545515537262, "contact_force_loss": 0.021305494010448456, "collision_bce": 9.398391739523504e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 9.455270628677681e-06, "collision_label_count": 16354.0, "terrain_level_mean": 4.001708984375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 21, 44, 66, 89, 189], "episodes_by_level": [[1450.0, 317.0, 49.0, 0.0], [1862.0, 411.0, 38.0, 0.0], [1579.0, 369.0, 31.0, 0.0], [1296.0, 297.0, 25.0, 0.0], [806.0, 198.0, 19.0, 0.0], [1133.0, 252.0, 9.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 42, 334, 1054], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4305.0, 1757.0, 165.0, 0.0], [4563.0, 1674.0, 196.0, 0.0], [5547.0, 1532.0, 163.0, 0.0], [6197.0, 1063.0, 252.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 6, 46, 562], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [962.0, 789.0, 26.0, 0.0], [1843.0, 1495.0, 66.0, 0.0], [9474.0, 7905.0, 268.0, 0.0]]}, "platform": {"level_counts": [12, 36, 63, 113, 108, 78], "episodes_by_level": [[1776.0, 386.0, 52.0, 0.0], [2141.0, 439.0, 87.0, 0.0], [1782.0, 355.0, 83.0, 0.0], [1338.0, 231.0, 56.0, 0.0], [772.0, 114.0, 45.0, 0.0], [305.0, 29.0, 36.0, 0.0]]}, "slope": {"level_counts": [8, 30, 62, 76, 86, 148], "episodes_by_level": [[1620.0, 344.0, 46.0, 0.0], [1951.0, 400.0, 69.0, 0.0], [1629.0, 344.0, 42.0, 0.0], [1195.0, 246.0, 34.0, 0.0], [814.0, 170.0, 12.0, 0.0], [935.0, 161.0, 22.0, 0.0]]}, "rubble": {"level_counts": [26, 115, 203, 237, 178, 60], "episodes_by_level": [[3294.0, 746.0, 99.0, 0.0], [4680.0, 1006.0, 208.0, 0.0], [4089.0, 871.0, 345.0, 0.0], [2785.0, 468.0, 396.0, 0.0], [1240.0, 141.0, 230.0, 0.0], [305.0, 16.0, 81.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22802734375, "command_abs_max": [0.9986367225646973, 0.39993539452552795, 0.6990259885787964]}
{"step": 33950, "actor_lr": 2.2049150980054415e-05, "archive_windows": 50000, "env_steps": 33950, "total_transitions": 139059200, "num_steps_per_env": 1, "wm_loss": 0.5795332193374634, "actor_loss": -9.519102096557617, "critic_loss": 0.004644237924367189, "reward": 0.0875389352440834, "falls": 4, "interval_steps": 50, "velocity_mae": [0.1124865710735321, 0.06982878595590591, 0.13354532420635223], "mean_episode_length": 1400.119496855346, "episode_reward_terms": {"track_linear_velocity": 49.84313201904297, "track_angular_velocity": 52.94551467895508, "upright": 26.838716506958008, "leg_posture": -2.6450510025024414, "standstill": -6.174086570739746, "action_rate_l2": -0.587297260761261, "joint_torques_l2": -0.15113498270511627, "dof_pos_limits": -0.0007272572256624699, "terminated": -0.010938432067632675, "unnecessary_wheel_lift": -0.0847652330994606, "rolling_leg_motion": -0.6033832430839539, "obstacle_progress": 3.765728712081909, "wheel_body_intrusion": -0.26972854137420654, "pair_body_intrusion": -0.3010184168815613}, "weighted_reward_terms": {"track_linear_velocity": 1.779960036277771, "track_angular_velocity": 1.8907499313354492, "upright": 0.958443820476532, "leg_posture": -0.09445804357528687, "standstill": -0.22048427164554596, "action_rate_l2": -0.02097311057150364, "joint_torques_l2": -0.005397217348217964, "dof_pos_limits": -2.5971256036427803e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.003027071477845311, "rolling_leg_motion": -0.02154756337404251, "obstacle_progress": 0.1344788372516632, "wheel_body_intrusion": -0.00963233970105648, "pair_body_intrusion": -0.010749740526080132}, "episode_termination_rates": {"time_out": 0.5220125786163522, "fell_over": 0.012578616352201259, "course_exit": 0.4528301886792453, "illegal_nonwheel_contact": 0.012578616352201259}, "collection_time_s": 0.07606624794192612, "learning_time_s": 0.18530972443288193, "iteration_time_s": 0.30924006633879203, "policy_updates": 33650, "skipped_updates": 0, "invalid_env_resets": 182, "elapsed_s": 10498.70025220199, "nonwheel_terminations": 13202, "contact_bce": 0.28471389412879944, "contact_force_loss": 0.019760478287935257, "collision_bce": 0.00015874588279984891, "collision_label_rate": 6.126325024524704e-05, "collision_prediction_mean": 1.22265555546619e-05, "collision_label_count": 16323.0, "terrain_level_mean": 4.00390625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 21, 43, 67, 89, 189], "episodes_by_level": [[1450.0, 317.0, 49.0, 0.0], [1862.0, 411.0, 38.0, 0.0], [1582.0, 370.0, 31.0, 0.0], [1299.0, 297.0, 25.0, 0.0], [808.0, 198.0, 19.0, 0.0], [1136.0, 252.0, 9.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 42, 334, 1054], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4305.0, 1757.0, 165.0, 0.0], [4563.0, 1674.0, 196.0, 0.0], [5562.0, 1534.0, 163.0, 0.0], [6221.0, 1071.0, 252.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 6, 44, 564], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [962.0, 789.0, 26.0, 0.0], [1845.0, 1497.0, 66.0, 0.0], [9496.0, 7926.0, 268.0, 0.0]]}, "platform": {"level_counts": [12, 36, 62, 113, 109, 78], "episodes_by_level": [[1776.0, 386.0, 52.0, 0.0], [2142.0, 439.0, 87.0, 0.0], [1784.0, 356.0, 83.0, 0.0], [1345.0, 232.0, 56.0, 0.0], [774.0, 114.0, 45.0, 0.0], [308.0, 30.0, 36.0, 0.0]]}, "slope": {"level_counts": [8, 29, 63, 76, 86, 148], "episodes_by_level": [[1621.0, 344.0, 46.0, 0.0], [1952.0, 401.0, 69.0, 0.0], [1630.0, 344.0, 42.0, 0.0], [1199.0, 246.0, 34.0, 0.0], [818.0, 170.0, 12.0, 0.0], [937.0, 161.0, 22.0, 0.0]]}, "rubble": {"level_counts": [26, 114, 200, 242, 178, 59], "episodes_by_level": [[3294.0, 746.0, 99.0, 0.0], [4685.0, 1007.0, 208.0, 0.0], [4097.0, 875.0, 345.0, 0.0], [2795.0, 468.0, 396.0, 0.0], [1249.0, 141.0, 231.0, 0.0], [307.0, 17.0, 82.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2255859375, "command_abs_max": [0.9962572455406189, 0.39993539452552795, 0.6990259885787964]}
{"step": 34000, "actor_lr": 2.1896204041219737e-05, "archive_windows": 50000, "env_steps": 34000, "total_transitions": 139264000, "num_steps_per_env": 1, "wm_loss": 0.6078500151634216, "actor_loss": -9.481849670410156, "critic_loss": 0.00993000902235508, "reward": 0.08760050684213638, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11209502071142197, 0.06978962570428848, 0.1335662603378296], "mean_episode_length": 1352.9529411764706, "episode_reward_terms": {"track_linear_velocity": 48.22138977050781, "track_angular_velocity": 51.17210388183594, "upright": 25.949167251586914, "leg_posture": -2.571747303009033, "standstill": -5.964519023895264, "action_rate_l2": -0.5671053528785706, "joint_torques_l2": -0.14590318500995636, "dof_pos_limits": -0.0005976738757453859, "terminated": -0.018497399985790253, "unnecessary_wheel_lift": -0.08204901963472366, "rolling_leg_motion": -0.5889914035797119, "obstacle_progress": 3.661698341369629, "wheel_body_intrusion": -0.2628111243247986, "pair_body_intrusion": -0.2827778160572052}, "weighted_reward_terms": {"track_linear_velocity": 1.7820794582366943, "track_angular_velocity": 1.8911266326904297, "upright": 0.9589826464653015, "leg_posture": -0.09504202008247375, "standstill": -0.22042597830295563, "action_rate_l2": -0.020958060398697853, "joint_torques_l2": -0.005392027553170919, "dof_pos_limits": -2.2087757315603085e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.003032220294699073, "rolling_leg_motion": -0.02176688425242901, "obstacle_progress": 0.1353224664926529, "wheel_body_intrusion": -0.009712500497698784, "pair_body_intrusion": -0.01045039389282465}, "episode_termination_rates": {"time_out": 0.43529411764705883, "fell_over": 0.01764705882352941, "course_exit": 0.5235294117647059, "illegal_nonwheel_contact": 0.029411764705882353}, "collection_time_s": 0.075706158853136, "learning_time_s": 0.18544808464474044, "iteration_time_s": 0.309169383640235, "policy_updates": 33700, "skipped_updates": 0, "invalid_env_resets": 182, "elapsed_s": 10511.75904376799, "nonwheel_terminations": 13207, "contact_bce": 0.28866878151893616, "contact_force_loss": 0.0207341518253088, "collision_bce": 2.5691235350677744e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 2.5086250388994813e-05, "collision_label_count": 16348.0, "terrain_level_mean": 4.0048828125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 21, 43, 67, 89, 189], "episodes_by_level": [[1450.0, 317.0, 49.0, 0.0], [1863.0, 411.0, 38.0, 0.0], [1582.0, 370.0, 31.0, 0.0], [1301.0, 297.0, 25.0, 0.0], [810.0, 198.0, 19.0, 0.0], [1145.0, 256.0, 9.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 41, 335, 1054], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4305.0, 1757.0, 165.0, 0.0], [4565.0, 1675.0, 196.0, 0.0], [5578.0, 1535.0, 163.0, 0.0], [6252.0, 1082.0, 252.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 5, 46, 563], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [963.0, 790.0, 26.0, 0.0], [1845.0, 1497.0, 66.0, 0.0], [9516.0, 7945.0, 268.0, 0.0]]}, "platform": {"level_counts": [12, 37, 60, 113, 110, 78], "episodes_by_level": [[1776.0, 386.0, 52.0, 0.0], [2144.0, 439.0, 87.0, 0.0], [1786.0, 357.0, 84.0, 0.0], [1349.0, 233.0, 56.0, 0.0], [775.0, 114.0, 45.0, 0.0], [308.0, 30.0, 36.0, 0.0]]}, "slope": {"level_counts": [7, 29, 64, 76, 86, 148], "episodes_by_level": [[1622.0, 345.0, 46.0, 0.0], [1956.0, 402.0, 69.0, 0.0], [1633.0, 344.0, 42.0, 0.0], [1203.0, 246.0, 34.0, 0.0], [822.0, 171.0, 12.0, 0.0], [944.0, 162.0, 23.0, 0.0]]}, "rubble": {"level_counts": [25, 115, 201, 241, 178, 59], "episodes_by_level": [[3295.0, 747.0, 99.0, 0.0], [4691.0, 1008.0, 208.0, 0.0], [4101.0, 875.0, 346.0, 0.0], [2802.0, 468.0, 397.0, 0.0], [1259.0, 142.0, 231.0, 0.0], [308.0, 17.0, 83.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22509765625, "command_abs_max": [0.9974924921989441, 0.39993539452552795, 0.6990259885787964]}
{"step": 34050, "actor_lr": 2.1744127090954592e-05, "archive_windows": 50000, "env_steps": 34050, "total_transitions": 139468800, "num_steps_per_env": 1, "wm_loss": 0.5669276714324951, "actor_loss": -9.51567554473877, "critic_loss": 0.004695099778473377, "reward": 0.08755030483007431, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11085248738527298, 0.07047966867685318, 0.133070707321167], "mean_episode_length": 1330.054054054054, "episode_reward_terms": {"track_linear_velocity": 47.39454650878906, "track_angular_velocity": 50.32636260986328, "upright": 25.4987850189209, "leg_posture": -2.517261505126953, "standstill": -5.873015403747559, "action_rate_l2": -0.5584555864334106, "joint_torques_l2": -0.14283880591392517, "dof_pos_limits": -0.00024677239707671106, "terminated": -0.025977615267038345, "unnecessary_wheel_lift": -0.07568280398845673, "rolling_leg_motion": -0.5794838666915894, "obstacle_progress": 3.523263931274414, "wheel_body_intrusion": -0.25350844860076904, "pair_body_intrusion": -0.2698657512664795}, "weighted_reward_terms": {"track_linear_velocity": 1.781677484512329, "track_angular_velocity": 1.8918917179107666, "upright": 0.9585620164871216, "leg_posture": -0.09463004767894745, "standstill": -0.2207810878753662, "action_rate_l2": -0.02099371701478958, "joint_torques_l2": -0.005369661841541529, "dof_pos_limits": -9.27678047446534e-06, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.0028451024554669857, "rolling_leg_motion": -0.02178422175347805, "obstacle_progress": 0.13244815170764923, "wheel_body_intrusion": -0.009530005976557732, "pair_body_intrusion": -0.010144916363060474}, "episode_termination_rates": {"time_out": 0.4391891891891892, "fell_over": 0.0472972972972973, "course_exit": 0.49324324324324326, "illegal_nonwheel_contact": 0.033783783783783786}, "collection_time_s": 0.07570512660080567, "learning_time_s": 0.18504839630215428, "iteration_time_s": 0.30909911851339156, "policy_updates": 33750, "skipped_updates": 0, "invalid_env_resets": 182, "elapsed_s": 10524.824985380983, "nonwheel_terminations": 13212, "contact_bce": 0.28787460923194885, "contact_force_loss": 0.020102394744753838, "collision_bce": 0.00014271840336732566, "collision_label_rate": 6.128577661002055e-05, "collision_prediction_mean": 5.1163890020688996e-05, "collision_label_count": 16317.0, "terrain_level_mean": 4.00537109375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 21, 43, 67, 88, 190], "episodes_by_level": [[1450.0, 317.0, 49.0, 0.0], [1863.0, 411.0, 38.0, 0.0], [1584.0, 370.0, 31.0, 0.0], [1302.0, 297.0, 25.0, 0.0], [814.0, 199.0, 19.0, 0.0], [1149.0, 257.0, 9.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 39, 336, 1055], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4305.0, 1757.0, 165.0, 0.0], [4567.0, 1677.0, 196.0, 0.0], [5588.0, 1537.0, 163.0, 0.0], [6280.0, 1091.0, 252.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 5, 47, 562], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [963.0, 790.0, 26.0, 0.0], [1846.0, 1498.0, 66.0, 0.0], [9542.0, 7968.0, 269.0, 0.0]]}, "platform": {"level_counts": [12, 37, 59, 113, 110, 79], "episodes_by_level": [[1776.0, 386.0, 52.0, 0.0], [2145.0, 439.0, 87.0, 0.0], [1788.0, 358.0, 84.0, 0.0], [1352.0, 234.0, 56.0, 0.0], [777.0, 115.0, 45.0, 0.0], [308.0, 30.0, 36.0, 0.0]]}, "slope": {"level_counts": [7, 29, 62, 77, 87, 148], "episodes_by_level": [[1622.0, 345.0, 46.0, 0.0], [1956.0, 402.0, 69.0, 0.0], [1637.0, 346.0, 42.0, 0.0], [1204.0, 247.0, 34.0, 0.0], [824.0, 171.0, 12.0, 0.0], [951.0, 164.0, 23.0, 0.0]]}, "rubble": {"level_counts": [26, 115, 203, 240, 176, 59], "episodes_by_level": [[3295.0, 747.0, 99.0, 0.0], [4694.0, 1008.0, 209.0, 0.0], [4106.0, 875.0, 347.0, 0.0], [2809.0, 468.0, 400.0, 0.0], [1266.0, 142.0, 233.0, 0.0], [311.0, 17.0, 83.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.230712890625, "command_abs_max": [0.9974924921989441, 0.3998718857765198, 0.6990259885787964]}
{"step": 34100, "actor_lr": 2.159292951008164e-05, "archive_windows": 50000, "env_steps": 34100, "total_transitions": 139673600, "num_steps_per_env": 1, "wm_loss": 0.6207737922668457, "actor_loss": -9.530317306518555, "critic_loss": 0.0029649778734892607, "reward": 0.08765216916799545, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11283136159181595, 0.0698549672961235, 0.1329440474510193], "mean_episode_length": 1375.418181818182, "episode_reward_terms": {"track_linear_velocity": 48.94330978393555, "track_angular_velocity": 52.04648208618164, "upright": 26.362518310546875, "leg_posture": -2.5464913845062256, "standstill": -5.991485118865967, "action_rate_l2": -0.5744351744651794, "joint_torques_l2": -0.14726774394512177, "dof_pos_limits": -0.00035825572558678687, "terminated": -0.021490905433893204, "unnecessary_wheel_lift": -0.08495894074440002, "rolling_leg_motion": -0.597602128982544, "obstacle_progress": 3.7160825729370117, "wheel_body_intrusion": -0.2598862648010254, "pair_body_intrusion": -0.2860248386859894}, "weighted_reward_terms": {"track_linear_velocity": 1.779215693473816, "track_angular_velocity": 1.892024040222168, "upright": 0.9583455920219421, "leg_posture": -0.09257153421640396, "standstill": -0.21780593693256378, "action_rate_l2": -0.020882200449705124, "joint_torques_l2": -0.005353562533855438, "dof_pos_limits": -1.3023519386479165e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.003088476834818721, "rolling_leg_motion": -0.021724380552768707, "obstacle_progress": 0.1350891888141632, "wheel_body_intrusion": -0.009447536431252956, "pair_body_intrusion": -0.010397740639746189}, "episode_termination_rates": {"time_out": 0.509090909090909, "fell_over": 0.024242424242424242, "course_exit": 0.44242424242424244, "illegal_nonwheel_contact": 0.03636363636363636}, "collection_time_s": 0.07579030197113752, "learning_time_s": 0.18532573508447966, "iteration_time_s": 0.3090287938887097, "policy_updates": 33800, "skipped_updates": 0, "invalid_env_resets": 182, "elapsed_s": 10537.881871605001, "nonwheel_terminations": 13218, "contact_bce": 0.29181379079818726, "contact_force_loss": 0.020505422726273537, "collision_bce": 8.394995529670268e-05, "collision_label_rate": 6.11359064350836e-05, "collision_prediction_mean": 0.00011649420048343018, "collision_label_count": 16357.0, "terrain_level_mean": 4.0068359375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 21, 42, 68, 88, 190], "episodes_by_level": [[1450.0, 317.0, 49.0, 0.0], [1864.0, 411.0, 38.0, 0.0], [1587.0, 371.0, 31.0, 0.0], [1304.0, 297.0, 25.0, 0.0], [817.0, 199.0, 19.0, 0.0], [1155.0, 259.0, 9.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 39, 334, 1057], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4305.0, 1757.0, 165.0, 0.0], [4568.0, 1678.0, 196.0, 0.0], [5597.0, 1541.0, 163.0, 0.0], [6314.0, 1100.0, 253.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 4, 46, 564], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [964.0, 791.0, 26.0, 0.0], [1848.0, 1500.0, 66.0, 0.0], [9562.0, 7986.0, 269.0, 0.0]]}, "platform": {"level_counts": [12, 37, 59, 113, 110, 79], "episodes_by_level": [[1776.0, 386.0, 52.0, 0.0], [2147.0, 439.0, 87.0, 0.0], [1790.0, 358.0, 84.0, 0.0], [1357.0, 234.0, 56.0, 0.0], [779.0, 115.0, 45.0, 0.0], [310.0, 30.0, 36.0, 0.0]]}, "slope": {"level_counts": [7, 29, 62, 77, 87, 148], "episodes_by_level": [[1622.0, 345.0, 46.0, 0.0], [1956.0, 402.0, 69.0, 0.0], [1638.0, 346.0, 42.0, 0.0], [1205.0, 247.0, 34.0, 0.0], [825.0, 171.0, 12.0, 0.0], [955.0, 165.0, 23.0, 0.0]]}, "rubble": {"level_counts": [26, 114, 205, 240, 174, 60], "episodes_by_level": [[3296.0, 747.0, 99.0, 0.0], [4697.0, 1009.0, 209.0, 0.0], [4111.0, 875.0, 347.0, 0.0], [2815.0, 469.0, 401.0, 0.0], [1275.0, 145.0, 235.0, 0.0], [314.0, 17.0, 85.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2333984375, "command_abs_max": [0.9995126724243164, 0.3998718857765198, 0.6990259885787964]}
{"step": 34150, "actor_lr": 2.144262062517987e-05, "archive_windows": 50000, "env_steps": 34150, "total_transitions": 139878400, "num_steps_per_env": 1, "wm_loss": 0.5853503346443176, "actor_loss": -9.508068084716797, "critic_loss": 0.00422643730416894, "reward": 0.08776311576366425, "falls": 4, "interval_steps": 50, "velocity_mae": [0.11308985948562622, 0.06915947794914246, 0.13266457617282867], "mean_episode_length": 1352.7364864864865, "episode_reward_terms": {"track_linear_velocity": 48.159183502197266, "track_angular_velocity": 51.20668411254883, "upright": 25.944110870361328, "leg_posture": -2.5064680576324463, "standstill": -5.909173965454102, "action_rate_l2": -0.5571426153182983, "joint_torques_l2": -0.1437235027551651, "dof_pos_limits": -0.0005599884316325188, "terminated": -0.010568251833319664, "unnecessary_wheel_lift": -0.07302004843950272, "rolling_leg_motion": -0.578013002872467, "obstacle_progress": 3.72456431388855, "wheel_body_intrusion": -0.26550811529159546, "pair_body_intrusion": -0.27001920342445374}, "weighted_reward_terms": {"track_linear_velocity": 1.7800654172897339, "track_angular_velocity": 1.892707347869873, "upright": 0.9589492678642273, "leg_posture": -0.09264436364173889, "standstill": -0.21841555833816528, "action_rate_l2": -0.020593170076608658, "joint_torques_l2": -0.0053123245015740395, "dof_pos_limits": -2.069835682050325e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.002698975382372737, "rolling_leg_motion": -0.02136458270251751, "obstacle_progress": 0.13766777515411377, "wheel_body_intrusion": -0.009813741780817509, "pair_body_intrusion": -0.009980481117963791}, "episode_termination_rates": {"time_out": 0.4864864864864865, "fell_over": 0.006756756756756757, "course_exit": 0.4864864864864865, "illegal_nonwheel_contact": 0.02027027027027027}, "collection_time_s": 0.07561759633594192, "learning_time_s": 0.18501425768481566, "iteration_time_s": 0.30895796739616455, "policy_updates": 33850, "skipped_updates": 0, "invalid_env_resets": 182, "elapsed_s": 10550.91458657902, "nonwheel_terminations": 13221, "contact_bce": 0.28420236706733704, "contact_force_loss": 0.020129607990384102, "collision_bce": 0.0007393404375761747, "collision_label_rate": 0.0001837334712035954, "collision_prediction_mean": 0.00036159882438369095, "collision_label_count": 16328.0, "terrain_level_mean": 4.00927734375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 21, 42, 66, 90, 190], "episodes_by_level": [[1450.0, 317.0, 49.0, 0.0], [1865.0, 411.0, 38.0, 0.0], [1589.0, 371.0, 31.0, 0.0], [1306.0, 299.0, 25.0, 0.0], [820.0, 199.0, 19.0, 0.0], [1160.0, 260.0, 9.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 38, 335, 1057], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4305.0, 1757.0, 165.0, 0.0], [4571.0, 1679.0, 196.0, 0.0], [5610.0, 1543.0, 163.0, 0.0], [6335.0, 1104.0, 253.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 4, 44, 566], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [964.0, 791.0, 26.0, 0.0], [1850.0, 1502.0, 66.0, 0.0], [9583.0, 8007.0, 269.0, 0.0]]}, "platform": {"level_counts": [12, 37, 59, 113, 109, 80], "episodes_by_level": [[1776.0, 386.0, 52.0, 0.0], [2148.0, 439.0, 87.0, 0.0], [1792.0, 358.0, 84.0, 0.0], [1359.0, 234.0, 56.0, 0.0], [786.0, 116.0, 45.0, 0.0], [313.0, 31.0, 36.0, 0.0]]}, "slope": {"level_counts": [7, 29, 62, 77, 86, 149], "episodes_by_level": [[1623.0, 345.0, 46.0, 0.0], [1956.0, 402.0, 69.0, 0.0], [1642.0, 346.0, 42.0, 0.0], [1207.0, 247.0, 34.0, 0.0], [827.0, 172.0, 12.0, 0.0], [960.0, 165.0, 23.0, 0.0]]}, "rubble": {"level_counts": [26, 114, 206, 236, 176, 61], "episodes_by_level": [[3296.0, 747.0, 99.0, 0.0], [4701.0, 1009.0, 209.0, 0.0], [4114.0, 875.0, 347.0, 0.0], [2824.0, 473.0, 402.0, 0.0], [1283.0, 146.0, 236.0, 0.0], [318.0, 17.0, 85.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23193359375, "command_abs_max": [0.9995126724243164, 0.3996225893497467, 0.6998516321182251]}
{"step": 34200, "actor_lr": 2.129320970800931e-05, "archive_windows": 50000, "env_steps": 34200, "total_transitions": 140083200, "num_steps_per_env": 1, "wm_loss": 0.6154926419258118, "actor_loss": -9.50696086883545, "critic_loss": 0.005165804177522659, "reward": 0.08749593794345856, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11372730135917664, 0.06948429346084595, 0.13339312374591827], "mean_episode_length": 1360.1506024096386, "episode_reward_terms": {"track_linear_velocity": 48.34999465942383, "track_angular_velocity": 51.46603775024414, "upright": 26.037145614624023, "leg_posture": -2.5991692543029785, "standstill": -5.959514141082764, "action_rate_l2": -0.563974142074585, "joint_torques_l2": -0.1458795815706253, "dof_pos_limits": -0.0007931783329695463, "terminated": -0.013282719068229198, "unnecessary_wheel_lift": -0.08882426470518112, "rolling_leg_motion": -0.6012812256813049, "obstacle_progress": 3.6926352977752686, "wheel_body_intrusion": -0.2767803966999054, "pair_body_intrusion": -0.2886399030685425}, "weighted_reward_terms": {"track_linear_velocity": 1.777376413345337, "track_angular_velocity": 1.891924262046814, "upright": 0.9571420550346375, "leg_posture": -0.09554710984230042, "standstill": -0.2190755158662796, "action_rate_l2": -0.02073204703629017, "joint_torques_l2": -0.005362626165151596, "dof_pos_limits": -2.9157739845686592e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.003265236271545291, "rolling_leg_motion": -0.022103479132056236, "obstacle_progress": 0.1357436180114746, "wheel_body_intrusion": -0.010174623690545559, "pair_body_intrusion": -0.010610586032271385}, "episode_termination_rates": {"time_out": 0.4819277108433735, "fell_over": 0.024096385542168676, "course_exit": 0.4879518072289157, "illegal_nonwheel_contact": 0.024096385542168676}, "collection_time_s": 0.07567908922675998, "learning_time_s": 0.1852970515540801, "iteration_time_s": 0.3088878489549123, "policy_updates": 33900, "skipped_updates": 0, "invalid_env_resets": 182, "elapsed_s": 10563.964434258, "nonwheel_terminations": 13225, "contact_bce": 0.29176586866378784, "contact_force_loss": 0.020333198830485344, "collision_bce": 0.000678125477861613, "collision_label_rate": 6.132711860118434e-05, "collision_prediction_mean": 0.0003521823964547366, "collision_label_count": 16306.0, "terrain_level_mean": 4.010986328125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 21, 41, 67, 89, 191], "episodes_by_level": [[1450.0, 317.0, 49.0, 0.0], [1865.0, 411.0, 38.0, 0.0], [1591.0, 372.0, 31.0, 0.0], [1308.0, 299.0, 25.0, 0.0], [823.0, 200.0, 19.0, 0.0], [1166.0, 263.0, 9.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 39, 334, 1057], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4305.0, 1757.0, 165.0, 0.0], [4571.0, 1679.0, 196.0, 0.0], [5617.0, 1544.0, 163.0, 0.0], [6367.0, 1115.0, 253.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 4, 40, 570], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [964.0, 791.0, 26.0, 0.0], [1855.0, 1507.0, 66.0, 0.0], [9604.0, 8027.0, 269.0, 0.0]]}, "platform": {"level_counts": [12, 37, 58, 114, 110, 79], "episodes_by_level": [[1777.0, 386.0, 52.0, 0.0], [2148.0, 439.0, 87.0, 0.0], [1794.0, 359.0, 84.0, 0.0], [1360.0, 234.0, 56.0, 0.0], [790.0, 116.0, 45.0, 0.0], [317.0, 31.0, 37.0, 0.0]]}, "slope": {"level_counts": [7, 29, 61, 78, 85, 150], "episodes_by_level": [[1623.0, 345.0, 46.0, 0.0], [1958.0, 402.0, 69.0, 0.0], [1643.0, 347.0, 42.0, 0.0], [1210.0, 247.0, 34.0, 0.0], [831.0, 173.0, 12.0, 0.0], [965.0, 166.0, 23.0, 0.0]]}, "rubble": {"level_counts": [26, 113, 207, 237, 175, 61], "episodes_by_level": [[3297.0, 747.0, 99.0, 0.0], [4704.0, 1010.0, 209.0, 0.0], [4123.0, 875.0, 347.0, 0.0], [2834.0, 473.0, 402.0, 0.0], [1286.0, 146.0, 237.0, 0.0], [321.0, 18.0, 85.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.231689453125, "command_abs_max": [0.9995126724243164, 0.3996225893497467, 0.6998516321182251]}
{"step": 34250, "actor_lr": 2.114470597493914e-05, "archive_windows": 50000, "env_steps": 34250, "total_transitions": 140288000, "num_steps_per_env": 1, "wm_loss": 0.5827435255050659, "actor_loss": -9.50257682800293, "critic_loss": 0.004854194354265928, "reward": 0.08771421015262604, "falls": 4, "interval_steps": 50, "velocity_mae": [0.11233353614807129, 0.06841646879911423, 0.13286666572093964], "mean_episode_length": 1347.8026315789473, "episode_reward_terms": {"track_linear_velocity": 48.05526351928711, "track_angular_velocity": 51.013484954833984, "upright": 25.80204200744629, "leg_posture": -2.5519492626190186, "standstill": -5.813549518585205, "action_rate_l2": -0.5650193691253662, "joint_torques_l2": -0.14311881363391876, "dof_pos_limits": -0.00037503548082895577, "terminated": -0.010529706254601479, "unnecessary_wheel_lift": -0.08063548058271408, "rolling_leg_motion": -0.5957431197166443, "obstacle_progress": 3.638947010040283, "wheel_body_intrusion": -0.26102274656295776, "pair_body_intrusion": -0.2663429081439972}, "weighted_reward_terms": {"track_linear_velocity": 1.7827262878417969, "track_angular_velocity": 1.8924686908721924, "upright": 0.9571892619132996, "leg_posture": -0.09467074275016785, "standstill": -0.2156676948070526, "action_rate_l2": -0.020960761234164238, "joint_torques_l2": -0.0053093391470611095, "dof_pos_limits": -1.3912849681219086e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.002991368295624852, "rolling_leg_motion": -0.022100534290075302, "obstacle_progress": 0.13499554991722107, "wheel_body_intrusion": -0.009683270938694477, "pair_body_intrusion": -0.00988063495606184}, "episode_termination_rates": {"time_out": 0.47368421052631576, "fell_over": 0.006578947368421052, "course_exit": 0.5, "illegal_nonwheel_contact": 0.02631578947368421}, "collection_time_s": 0.0757995156547986, "learning_time_s": 0.18502629100810736, "iteration_time_s": 0.30881771613118225, "policy_updates": 33950, "skipped_updates": 0, "invalid_env_resets": 183, "elapsed_s": 10577.006777492992, "nonwheel_terminations": 13229, "contact_bce": 0.2921522259712219, "contact_force_loss": 0.02093612216413021, "collision_bce": 2.3838219931349158e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 2.3693492039456032e-05, "collision_label_count": 16319.0, "terrain_level_mean": 4.015869140625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 21, 40, 68, 89, 191], "episodes_by_level": [[1450.0, 317.0, 49.0, 0.0], [1865.0, 411.0, 38.0, 0.0], [1593.0, 373.0, 31.0, 0.0], [1313.0, 299.0, 25.0, 0.0], [823.0, 200.0, 19.0, 0.0], [1175.0, 266.0, 9.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 37, 332, 1061], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4305.0, 1757.0, 165.0, 0.0], [4574.0, 1681.0, 196.0, 0.0], [5629.0, 1550.0, 163.0, 0.0], [6398.0, 1127.0, 255.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 4, 40, 570], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [964.0, 791.0, 26.0, 0.0], [1855.0, 1507.0, 66.0, 0.0], [9623.0, 8046.0, 269.0, 0.0]]}, "platform": {"level_counts": [12, 37, 56, 117, 108, 80], "episodes_by_level": [[1778.0, 386.0, 52.0, 0.0], [2148.0, 439.0, 87.0, 0.0], [1796.0, 361.0, 84.0, 0.0], [1361.0, 234.0, 56.0, 0.0], [795.0, 117.0, 46.0, 0.0], [317.0, 31.0, 37.0, 0.0]]}, "slope": {"level_counts": [7, 28, 62, 77, 85, 151], "episodes_by_level": [[1623.0, 345.0, 46.0, 0.0], [1961.0, 403.0, 69.0, 0.0], [1644.0, 347.0, 42.0, 0.0], [1213.0, 248.0, 34.0, 0.0], [834.0, 174.0, 12.0, 0.0], [965.0, 166.0, 23.0, 0.0]]}, "rubble": {"level_counts": [25, 114, 206, 236, 173, 65], "episodes_by_level": [[3299.0, 748.0, 99.0, 0.0], [4710.0, 1010.0, 209.0, 0.0], [4129.0, 877.0, 347.0, 0.0], [2844.0, 475.0, 403.0, 0.0], [1296.0, 150.0, 237.0, 0.0], [323.0, 18.0, 85.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22607421875, "command_abs_max": [0.9999653100967407, 0.3996225893497467, 0.6998516321182251]}
{"step": 34300, "actor_lr": 2.099711858637911e-05, "archive_windows": 50000, "env_steps": 34300, "total_transitions": 140492800, "num_steps_per_env": 1, "wm_loss": 0.5655847191810608, "actor_loss": -9.51549243927002, "critic_loss": 0.004680866841226816, "reward": 0.08760623633861542, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11459309607744217, 0.06882502138614655, 0.1320682018995285], "mean_episode_length": 1312.2422360248447, "episode_reward_terms": {"track_linear_velocity": 46.67320251464844, "track_angular_velocity": 49.700199127197266, "upright": 25.127376556396484, "leg_posture": -2.442046642303467, "standstill": -5.744718551635742, "action_rate_l2": -0.5438631176948547, "joint_torques_l2": -0.14010579884052277, "dof_pos_limits": -0.0005682774935849011, "terminated": -0.020503779873251915, "unnecessary_wheel_lift": -0.08091036975383759, "rolling_leg_motion": -0.5715776085853577, "obstacle_progress": 3.5191078186035156, "wheel_body_intrusion": -0.24374186992645264, "pair_body_intrusion": -0.2712491750717163}, "weighted_reward_terms": {"track_linear_velocity": 1.7783761024475098, "track_angular_velocity": 1.8937129974365234, "upright": 0.9574215412139893, "leg_posture": -0.09304862469434738, "standstill": -0.21888941526412964, "action_rate_l2": -0.020722664892673492, "joint_torques_l2": -0.005338412243872881, "dof_pos_limits": -2.1652920622727834e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0030829054303467274, "rolling_leg_motion": -0.021778663620352745, "obstacle_progress": 0.13408759236335754, "wheel_body_intrusion": -0.009287228807806969, "pair_body_intrusion": -0.010335331782698631}, "episode_termination_rates": {"time_out": 0.4658385093167702, "fell_over": 0.024844720496894408, "course_exit": 0.484472049689441, "illegal_nonwheel_contact": 0.037267080745341616}, "collection_time_s": 0.0757140819367487, "learning_time_s": 0.18532208848162554, "iteration_time_s": 0.3087480955116034, "policy_updates": 34000, "skipped_updates": 0, "invalid_env_resets": 183, "elapsed_s": 10590.059676047997, "nonwheel_terminations": 13235, "contact_bce": 0.28888940811157227, "contact_force_loss": 0.020135236904025078, "collision_bce": 1.4569410268450156e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.454548691981472e-05, "collision_label_count": 16354.0, "terrain_level_mean": 4.01953125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 19, 42, 66, 90, 192], "episodes_by_level": [[1450.0, 317.0, 49.0, 0.0], [1867.0, 413.0, 38.0, 0.0], [1594.0, 373.0, 31.0, 0.0], [1316.0, 301.0, 25.0, 0.0], [828.0, 201.0, 19.0, 0.0], [1181.0, 266.0, 9.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 36, 334, 1060], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4305.0, 1757.0, 165.0, 0.0], [4575.0, 1682.0, 196.0, 0.0], [5637.0, 1552.0, 163.0, 0.0], [6433.0, 1132.0, 258.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 4, 41, 569], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [964.0, 791.0, 26.0, 0.0], [1858.0, 1510.0, 66.0, 0.0], [9645.0, 8066.0, 271.0, 0.0]]}, "platform": {"level_counts": [12, 36, 57, 115, 110, 80], "episodes_by_level": [[1779.0, 386.0, 52.0, 0.0], [2149.0, 440.0, 87.0, 0.0], [1796.0, 361.0, 84.0, 0.0], [1366.0, 236.0, 56.0, 0.0], [796.0, 117.0, 46.0, 0.0], [321.0, 31.0, 37.0, 0.0]]}, "slope": {"level_counts": [7, 26, 64, 75, 87, 151], "episodes_by_level": [[1623.0, 345.0, 46.0, 0.0], [1963.0, 405.0, 69.0, 0.0], [1646.0, 347.0, 42.0, 0.0], [1216.0, 250.0, 34.0, 0.0], [835.0, 174.0, 12.0, 0.0], [969.0, 166.0, 23.0, 0.0]]}, "rubble": {"level_counts": [25, 113, 204, 239, 173, 65], "episodes_by_level": [[3299.0, 748.0, 99.0, 0.0], [4714.0, 1011.0, 209.0, 0.0], [4139.0, 880.0, 347.0, 0.0], [2855.0, 476.0, 403.0, 0.0], [1300.0, 150.0, 238.0, 0.0], [324.0, 18.0, 85.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2265625, "command_abs_max": [0.9999653100967407, 0.3996225893497467, 0.6998516321182251]}
{"step": 34350, "actor_lr": 2.0850456646214547e-05, "archive_windows": 50000, "env_steps": 34350, "total_transitions": 140697600, "num_steps_per_env": 1, "wm_loss": 0.5913428068161011, "actor_loss": -9.50595760345459, "critic_loss": 0.00468820845708251, "reward": 0.087440624833107, "falls": 4, "interval_steps": 50, "velocity_mae": [0.1146814376115799, 0.07008747011423111, 0.1335214525461197], "mean_episode_length": 1372.3093525179856, "episode_reward_terms": {"track_linear_velocity": 48.69337463378906, "track_angular_velocity": 51.89476776123047, "upright": 26.255407333374023, "leg_posture": -2.5498697757720947, "standstill": -6.028244495391846, "action_rate_l2": -0.5714662671089172, "joint_torques_l2": -0.1473907083272934, "dof_pos_limits": -0.0006736225914210081, "terminated": -0.010721164755523205, "unnecessary_wheel_lift": -0.07968947291374207, "rolling_leg_motion": -0.5890029072761536, "obstacle_progress": 3.6645100116729736, "wheel_body_intrusion": -0.25779813528060913, "pair_body_intrusion": -0.2776006758213043}, "weighted_reward_terms": {"track_linear_velocity": 1.7741400003433228, "track_angular_velocity": 1.8907824754714966, "upright": 0.956614077091217, "leg_posture": -0.09290433675050735, "standstill": -0.21963870525360107, "action_rate_l2": -0.020821336656808853, "joint_torques_l2": -0.005370170809328556, "dof_pos_limits": -2.454339301038999e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.0029034807812422514, "rolling_leg_motion": -0.021460281684994698, "obstacle_progress": 0.13351619243621826, "wheel_body_intrusion": -0.009392858482897282, "pair_body_intrusion": -0.010114362463355064}, "episode_termination_rates": {"time_out": 0.5827338129496403, "fell_over": 0.014388489208633094, "course_exit": 0.38848920863309355, "illegal_nonwheel_contact": 0.02877697841726619}, "collection_time_s": 0.07580173045629636, "learning_time_s": 0.1924245216010604, "iteration_time_s": 0.30868914340032005, "policy_updates": 34050, "skipped_updates": 0, "invalid_env_resets": 183, "elapsed_s": 10603.472075800993, "nonwheel_terminations": 13239, "contact_bce": 0.28759750723838806, "contact_force_loss": 0.020181959494948387, "collision_bce": 0.0004200634139124304, "collision_label_rate": 0.00018366597942076623, "collision_prediction_mean": 5.907431841478683e-05, "collision_label_count": 16334.0, "terrain_level_mean": 4.020751953125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 19, 42, 66, 90, 192], "episodes_by_level": [[1450.0, 317.0, 49.0, 0.0], [1868.0, 413.0, 38.0, 0.0], [1594.0, 373.0, 31.0, 0.0], [1317.0, 301.0, 25.0, 0.0], [830.0, 201.0, 19.0, 0.0], [1193.0, 270.0, 9.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 36, 333, 1061], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4305.0, 1757.0, 165.0, 0.0], [4575.0, 1682.0, 196.0, 0.0], [5643.0, 1554.0, 163.0, 0.0], [6457.0, 1139.0, 258.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 4, 41, 569], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [964.0, 791.0, 26.0, 0.0], [1859.0, 1511.0, 66.0, 0.0], [9671.0, 8088.0, 272.0, 0.0]]}, "platform": {"level_counts": [12, 36, 56, 116, 110, 80], "episodes_by_level": [[1779.0, 386.0, 52.0, 0.0], [2151.0, 440.0, 87.0, 0.0], [1798.0, 362.0, 84.0, 0.0], [1369.0, 236.0, 56.0, 0.0], [802.0, 117.0, 46.0, 0.0], [325.0, 31.0, 37.0, 0.0]]}, "slope": {"level_counts": [7, 26, 64, 74, 88, 151], "episodes_by_level": [[1623.0, 345.0, 46.0, 0.0], [1964.0, 405.0, 69.0, 0.0], [1648.0, 347.0, 42.0, 0.0], [1219.0, 251.0, 34.0, 0.0], [838.0, 174.0, 12.0, 0.0], [971.0, 166.0, 23.0, 0.0]]}, "rubble": {"level_counts": [25, 113, 203, 239, 174, 65], "episodes_by_level": [[3300.0, 748.0, 99.0, 0.0], [4717.0, 1011.0, 209.0, 0.0], [4145.0, 882.0, 347.0, 0.0], [2861.0, 477.0, 404.0, 0.0], [1303.0, 151.0, 238.0, 0.0], [326.0, 18.0, 86.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.231201171875, "command_abs_max": [0.9999653100967407, 0.3996225893497467, 0.6994929909706116]}
{"step": 34400, "actor_lr": 2.0704729201244784e-05, "archive_windows": 50000, "env_steps": 34400, "total_transitions": 140902400, "num_steps_per_env": 1, "wm_loss": 0.5856742858886719, "actor_loss": -9.523782730102539, "critic_loss": 0.005359140690416098, "reward": 0.087696872651577, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11500740796327591, 0.07004503905773163, 0.1335017830133438], "mean_episode_length": 1363.2424242424242, "episode_reward_terms": {"track_linear_velocity": 48.35542297363281, "track_angular_velocity": 51.56709289550781, "upright": 26.09987449645996, "leg_posture": -2.570828914642334, "standstill": -5.677328586578369, "action_rate_l2": -0.5676096081733704, "joint_torques_l2": -0.14580190181732178, "dof_pos_limits": -0.0016725644236430526, "terminated": -0.023963242769241333, "unnecessary_wheel_lift": -0.07350298017263412, "rolling_leg_motion": -0.5846682190895081, "obstacle_progress": 3.7139487266540527, "wheel_body_intrusion": -0.2540992200374603, "pair_body_intrusion": -0.2847710847854614}, "weighted_reward_terms": {"track_linear_velocity": 1.7735445499420166, "track_angular_velocity": 1.8913397789001465, "upright": 0.957271933555603, "leg_posture": -0.09429097175598145, "standstill": -0.20822887122631073, "action_rate_l2": -0.02081836573779583, "joint_torques_l2": -0.0053476146422326565, "dof_pos_limits": -6.134508294053376e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.0026958882808685303, "rolling_leg_motion": -0.021444030106067657, "obstacle_progress": 0.13621747493743896, "wheel_body_intrusion": -0.009319663979113102, "pair_body_intrusion": -0.010444623418152332}, "episode_termination_rates": {"time_out": 0.4484848484848485, "fell_over": 0.006060606060606061, "course_exit": 0.49696969696969695, "illegal_nonwheel_contact": 0.048484848484848485}, "collection_time_s": 0.07575362456031144, "learning_time_s": 0.1854816865036264, "iteration_time_s": 0.3086202010208437, "policy_updates": 34100, "skipped_updates": 0, "invalid_env_resets": 183, "elapsed_s": 10616.534915117023, "nonwheel_terminations": 13247, "contact_bce": 0.2789045572280884, "contact_force_loss": 0.019845938310027122, "collision_bce": 0.00013747240882366896, "collision_label_rate": 6.116207805462182e-05, "collision_prediction_mean": 3.1610859878128394e-05, "collision_label_count": 16350.0, "terrain_level_mean": 4.024169921875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 19, 42, 65, 91, 192], "episodes_by_level": [[1450.0, 317.0, 49.0, 0.0], [1868.0, 413.0, 38.0, 0.0], [1594.0, 373.0, 31.0, 0.0], [1320.0, 302.0, 25.0, 0.0], [834.0, 201.0, 19.0, 0.0], [1201.0, 270.0, 9.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 34, 335, 1061], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4305.0, 1757.0, 165.0, 0.0], [4578.0, 1684.0, 196.0, 0.0], [5651.0, 1555.0, 163.0, 0.0], [6481.0, 1145.0, 258.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 44, 568], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [966.0, 793.0, 26.0, 0.0], [1860.0, 1512.0, 66.0, 0.0], [9698.0, 8114.0, 272.0, 0.0]]}, "platform": {"level_counts": [12, 35, 57, 114, 112, 80], "episodes_by_level": [[1779.0, 386.0, 52.0, 0.0], [2153.0, 441.0, 87.0, 0.0], [1799.0, 362.0, 84.0, 0.0], [1372.0, 238.0, 56.0, 0.0], [805.0, 117.0, 46.0, 0.0], [328.0, 31.0, 37.0, 0.0]]}, "slope": {"level_counts": [7, 26, 62, 75, 87, 153], "episodes_by_level": [[1623.0, 345.0, 46.0, 0.0], [1965.0, 405.0, 69.0, 0.0], [1651.0, 349.0, 42.0, 0.0], [1220.0, 252.0, 34.0, 0.0], [842.0, 176.0, 12.0, 0.0], [975.0, 167.0, 23.0, 0.0]]}, "rubble": {"level_counts": [25, 112, 202, 242, 173, 65], "episodes_by_level": [[3300.0, 748.0, 99.0, 0.0], [4721.0, 1013.0, 209.0, 0.0], [4156.0, 886.0, 348.0, 0.0], [2872.0, 479.0, 406.0, 0.0], [1310.0, 151.0, 241.0, 0.0], [327.0, 18.0, 86.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22998046875, "command_abs_max": [0.9999653100967407, 0.3996225893497467, 0.6994107961654663]}
{"step": 34450, "actor_lr": 2.0559945240625027e-05, "archive_windows": 50000, "env_steps": 34450, "total_transitions": 141107200, "num_steps_per_env": 1, "wm_loss": 0.5600922703742981, "actor_loss": -9.520249366760254, "critic_loss": 0.005340048111975193, "reward": 0.08779162913560867, "falls": 4, "interval_steps": 50, "velocity_mae": [0.11393153667449951, 0.07020439952611923, 0.1333153247833252], "mean_episode_length": 1366.748427672956, "episode_reward_terms": {"track_linear_velocity": 48.54328536987305, "track_angular_velocity": 51.70092010498047, "upright": 26.17013931274414, "leg_posture": -2.5604629516601562, "standstill": -5.655806064605713, "action_rate_l2": -0.574775755405426, "joint_torques_l2": -0.14556880295276642, "dof_pos_limits": -0.0006511088577099144, "terminated": -0.010677720420062542, "unnecessary_wheel_lift": -0.0772380456328392, "rolling_leg_motion": -0.5864459276199341, "obstacle_progress": 3.7732086181640625, "wheel_body_intrusion": -0.2804003059864044, "pair_body_intrusion": -0.3064567744731903}, "weighted_reward_terms": {"track_linear_velocity": 1.7758677005767822, "track_angular_velocity": 1.8913838863372803, "upright": 0.9573869109153748, "leg_posture": -0.09366987645626068, "standstill": -0.20690736174583435, "action_rate_l2": -0.021027125418186188, "joint_torques_l2": -0.0053253695368766785, "dof_pos_limits": -2.3819631678634323e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.0028256133664399385, "rolling_leg_motion": -0.021454056724905968, "obstacle_progress": 0.13803596794605255, "wheel_body_intrusion": -0.010257935151457787, "pair_body_intrusion": -0.011211162433028221}, "episode_termination_rates": {"time_out": 0.4716981132075472, "fell_over": 0.018867924528301886, "course_exit": 0.5031446540880503, "illegal_nonwheel_contact": 0.012578616352201259}, "collection_time_s": 0.07597684938227758, "learning_time_s": 0.1852301524428185, "iteration_time_s": 0.30855141772130634, "policy_updates": 34150, "skipped_updates": 0, "invalid_env_resets": 184, "elapsed_s": 10629.596340499003, "nonwheel_terminations": 13249, "contact_bce": 0.28339120745658875, "contact_force_loss": 0.01962997019290924, "collision_bce": 2.1197787646087818e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 2.110588138748426e-05, "collision_label_count": 16327.0, "terrain_level_mean": 4.027099609375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 19, 42, 64, 92, 192], "episodes_by_level": [[1450.0, 317.0, 49.0, 0.0], [1869.0, 413.0, 38.0, 0.0], [1594.0, 373.0, 31.0, 0.0], [1324.0, 303.0, 25.0, 0.0], [834.0, 201.0, 19.0, 0.0], [1210.0, 274.0, 9.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 34, 332, 1064], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4305.0, 1757.0, 165.0, 0.0], [4578.0, 1684.0, 196.0, 0.0], [5658.0, 1558.0, 163.0, 0.0], [6513.0, 1150.0, 258.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 41, 571], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [966.0, 793.0, 26.0, 0.0], [1862.0, 1514.0, 66.0, 0.0], [9724.0, 8138.0, 272.0, 0.0]]}, "platform": {"level_counts": [12, 35, 57, 114, 111, 81], "episodes_by_level": [[1779.0, 386.0, 52.0, 0.0], [2153.0, 441.0, 87.0, 0.0], [1802.0, 362.0, 84.0, 0.0], [1380.0, 238.0, 56.0, 0.0], [810.0, 118.0, 46.0, 0.0], [330.0, 31.0, 37.0, 0.0]]}, "slope": {"level_counts": [7, 25, 63, 75, 86, 154], "episodes_by_level": [[1623.0, 345.0, 46.0, 0.0], [1967.0, 406.0, 69.0, 0.0], [1651.0, 349.0, 42.0, 0.0], [1223.0, 252.0, 34.0, 0.0], [844.0, 177.0, 12.0, 0.0], [980.0, 167.0, 23.0, 0.0]]}, "rubble": {"level_counts": [24, 112, 202, 245, 170, 66], "episodes_by_level": [[3302.0, 749.0, 99.0, 0.0], [4725.0, 1015.0, 209.0, 0.0], [4164.0, 888.0, 349.0, 0.0], [2881.0, 479.0, 407.0, 0.0], [1313.0, 152.0, 243.0, 0.0], [332.0, 19.0, 86.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.230224609375, "command_abs_max": [0.9999653100967407, 0.3996225893497467, 0.6994107961654663]}
{"step": 34500, "actor_lr": 2.0416113695312e-05, "archive_windows": 50000, "env_steps": 34500, "total_transitions": 141312000, "num_steps_per_env": 1, "wm_loss": 0.5994982123374939, "actor_loss": -9.522212982177734, "critic_loss": 0.0030563068576157093, "reward": 0.08756458014249802, "falls": 5, "interval_steps": 50, "velocity_mae": [0.1164080798625946, 0.0704398900270462, 0.13420788943767548], "mean_episode_length": 1380.8531468531469, "episode_reward_terms": {"track_linear_velocity": 48.91206741333008, "track_angular_velocity": 52.198631286621094, "upright": 26.459877014160156, "leg_posture": -2.6004223823547363, "standstill": -5.914886474609375, "action_rate_l2": -0.5722198486328125, "joint_torques_l2": -0.14862991869449615, "dof_pos_limits": -0.0009859628044068813, "terminated": -0.013484892435371876, "unnecessary_wheel_lift": -0.0916675552725792, "rolling_leg_motion": -0.6184497475624084, "obstacle_progress": 3.865814685821533, "wheel_body_intrusion": -0.27383953332901, "pair_body_intrusion": -0.28794312477111816}, "weighted_reward_terms": {"track_linear_velocity": 1.7710814476013184, "track_angular_velocity": 1.8900861740112305, "upright": 0.9580988883972168, "leg_posture": -0.09415999054908752, "standstill": -0.2141750603914261, "action_rate_l2": -0.020719794556498528, "joint_torques_l2": -0.005381815135478973, "dof_pos_limits": -3.5701217711903155e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.0033192364498972893, "rolling_leg_motion": -0.022393755614757538, "obstacle_progress": 0.13997921347618103, "wheel_body_intrusion": -0.009915592148900032, "pair_body_intrusion": -0.010426276363432407}, "episode_termination_rates": {"time_out": 0.4825174825174825, "fell_over": 0.027972027972027972, "course_exit": 0.4825174825174825, "illegal_nonwheel_contact": 0.02097902097902098}, "collection_time_s": 0.07564031426329165, "learning_time_s": 0.18535940025816672, "iteration_time_s": 0.3084825345549574, "policy_updates": 34200, "skipped_updates": 0, "invalid_env_resets": 184, "elapsed_s": 10642.64744214603, "nonwheel_terminations": 13252, "contact_bce": 0.29028552770614624, "contact_force_loss": 0.020399201661348343, "collision_bce": 0.0005625868798233569, "collision_label_rate": 0.00012237655755598098, "collision_prediction_mean": 2.2191170501173474e-05, "collision_label_count": 16343.0, "terrain_level_mean": 4.0283203125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 19, 42, 63, 93, 192], "episodes_by_level": [[1450.0, 317.0, 49.0, 0.0], [1869.0, 413.0, 38.0, 0.0], [1595.0, 373.0, 31.0, 0.0], [1328.0, 304.0, 25.0, 0.0], [835.0, 201.0, 19.0, 0.0], [1214.0, 274.0, 9.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 34, 328, 1068], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4305.0, 1757.0, 165.0, 0.0], [4578.0, 1684.0, 196.0, 0.0], [5671.0, 1563.0, 163.0, 0.0], [6538.0, 1153.0, 258.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 42, 570], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [966.0, 793.0, 26.0, 0.0], [1862.0, 1514.0, 66.0, 0.0], [9748.0, 8159.0, 272.0, 0.0]]}, "platform": {"level_counts": [12, 35, 56, 114, 112, 81], "episodes_by_level": [[1779.0, 386.0, 52.0, 0.0], [2153.0, 441.0, 87.0, 0.0], [1805.0, 363.0, 84.0, 0.0], [1384.0, 239.0, 56.0, 0.0], [813.0, 118.0, 46.0, 0.0], [331.0, 32.0, 37.0, 0.0]]}, "slope": {"level_counts": [7, 25, 64, 74, 86, 154], "episodes_by_level": [[1623.0, 345.0, 46.0, 0.0], [1968.0, 406.0, 69.0, 0.0], [1652.0, 349.0, 42.0, 0.0], [1224.0, 252.0, 35.0, 0.0], [845.0, 177.0, 12.0, 0.0], [985.0, 168.0, 23.0, 0.0]]}, "rubble": {"level_counts": [24, 111, 203, 247, 167, 67], "episodes_by_level": [[3303.0, 749.0, 99.0, 0.0], [4731.0, 1016.0, 209.0, 0.0], [4167.0, 888.0, 349.0, 0.0], [2890.0, 479.0, 407.0, 0.0], [1321.0, 153.0, 245.0, 0.0], [333.0, 19.0, 86.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2314453125, "command_abs_max": [0.9999653100967407, 0.3996225893497467, 0.6994107961654663]}
{"step": 34550, "actor_lr": 2.027324343751289e-05, "archive_windows": 50000, "env_steps": 34550, "total_transitions": 141516800, "num_steps_per_env": 1, "wm_loss": 0.5874713659286499, "actor_loss": -9.529577255249023, "critic_loss": 0.004066357389092445, "reward": 0.08801872283220291, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11496983468532562, 0.06986302137374878, 0.13367821276187897], "mean_episode_length": 1389.9354838709678, "episode_reward_terms": {"track_linear_velocity": 49.32260513305664, "track_angular_velocity": 52.56927490234375, "upright": 26.637643814086914, "leg_posture": -2.5953049659729004, "standstill": -5.584327220916748, "action_rate_l2": -0.5760072469711304, "joint_torques_l2": -0.14799505472183228, "dof_pos_limits": -0.0005086649907752872, "terminated": -0.019003020599484444, "unnecessary_wheel_lift": -0.08704961836338043, "rolling_leg_motion": -0.6011065244674683, "obstacle_progress": 3.9656574726104736, "wheel_body_intrusion": -0.2596718966960907, "pair_body_intrusion": -0.2838880717754364}, "weighted_reward_terms": {"track_linear_velocity": 1.774276852607727, "track_angular_velocity": 1.891068935394287, "upright": 0.9582331776618958, "leg_posture": -0.09336063265800476, "standstill": -0.20088443160057068, "action_rate_l2": -0.020720647647976875, "joint_torques_l2": -0.005323810502886772, "dof_pos_limits": -1.82981530088e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0031314268708229065, "rolling_leg_motion": -0.02162354253232479, "obstacle_progress": 0.14265617728233337, "wheel_body_intrusion": -0.009341149590909481, "pair_body_intrusion": -0.010212276130914688}, "episode_termination_rates": {"time_out": 0.5096774193548387, "fell_over": 0.03225806451612903, "course_exit": 0.44516129032258067, "illegal_nonwheel_contact": 0.025806451612903226}, "collection_time_s": 0.07581628618296236, "learning_time_s": 0.185514129975345, "iteration_time_s": 0.30841512710503644, "policy_updates": 34250, "skipped_updates": 0, "invalid_env_resets": 184, "elapsed_s": 10655.74264147901, "nonwheel_terminations": 13256, "contact_bce": 0.2860221564769745, "contact_force_loss": 0.020196130499243736, "collision_bce": 0.0004586413560900837, "collision_label_rate": 0.00012260912626516074, "collision_prediction_mean": 2.2686288502882235e-05, "collision_label_count": 16312.0, "terrain_level_mean": 4.030517578125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 18, 43, 63, 93, 192], "episodes_by_level": [[1450.0, 317.0, 49.0, 0.0], [1872.0, 414.0, 38.0, 0.0], [1596.0, 373.0, 31.0, 0.0], [1330.0, 304.0, 25.0, 0.0], [835.0, 201.0, 19.0, 0.0], [1218.0, 274.0, 9.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 32, 330, 1068], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4305.0, 1757.0, 165.0, 0.0], [4581.0, 1686.0, 196.0, 0.0], [5678.0, 1565.0, 163.0, 0.0], [6563.0, 1162.0, 258.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 38, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [966.0, 793.0, 26.0, 0.0], [1866.0, 1518.0, 66.0, 0.0], [9772.0, 8182.0, 272.0, 0.0]]}, "platform": {"level_counts": [12, 35, 55, 114, 113, 81], "episodes_by_level": [[1779.0, 386.0, 52.0, 0.0], [2154.0, 441.0, 87.0, 0.0], [1807.0, 364.0, 84.0, 0.0], [1390.0, 240.0, 56.0, 0.0], [816.0, 118.0, 46.0, 0.0], [332.0, 32.0, 37.0, 0.0]]}, "slope": {"level_counts": [7, 25, 65, 73, 86, 154], "episodes_by_level": [[1623.0, 345.0, 46.0, 0.0], [1969.0, 406.0, 69.0, 0.0], [1654.0, 349.0, 42.0, 0.0], [1228.0, 252.0, 36.0, 0.0], [848.0, 177.0, 12.0, 0.0], [991.0, 169.0, 23.0, 0.0]]}, "rubble": {"level_counts": [24, 108, 207, 247, 166, 67], "episodes_by_level": [[3303.0, 749.0, 99.0, 0.0], [4735.0, 1019.0, 209.0, 0.0], [4173.0, 890.0, 349.0, 0.0], [2901.0, 479.0, 410.0, 0.0], [1325.0, 153.0, 246.0, 0.0], [333.0, 19.0, 86.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.223876953125, "command_abs_max": [0.9999653100967407, 0.3996225893497467, 0.6987316608428955]}
{"step": 34600, "actor_lr": 2.0131343280138196e-05, "archive_windows": 50000, "env_steps": 34600, "total_transitions": 141721600, "num_steps_per_env": 1, "wm_loss": 0.5819472670555115, "actor_loss": -9.536463737487793, "critic_loss": 0.003540557576343417, "reward": 0.08796083927154541, "falls": 4, "interval_steps": 50, "velocity_mae": [0.11529459059238434, 0.07110830396413803, 0.1338365375995636], "mean_episode_length": 1417.102189781022, "episode_reward_terms": {"track_linear_velocity": 50.222900390625, "track_angular_velocity": 53.576717376708984, "upright": 27.1503963470459, "leg_posture": -2.617624282836914, "standstill": -5.744278907775879, "action_rate_l2": -0.5886579751968384, "joint_torques_l2": -0.15213416516780853, "dof_pos_limits": -0.0007904787198640406, "terminated": -0.011071108281612396, "unnecessary_wheel_lift": -0.07812900096178055, "rolling_leg_motion": -0.6065773963928223, "obstacle_progress": 4.066760540008545, "wheel_body_intrusion": -0.27141714096069336, "pair_body_intrusion": -0.29659032821655273}, "weighted_reward_terms": {"track_linear_velocity": 1.7720282077789307, "track_angular_velocity": 1.8903619050979614, "upright": 0.9579547643661499, "leg_posture": -0.09235835075378418, "standstill": -0.2026769518852234, "action_rate_l2": -0.02076977863907814, "joint_torques_l2": -0.005367790814489126, "dof_pos_limits": -2.7890675482922234e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.0027566468343138695, "rolling_leg_motion": -0.021402034908533096, "obstacle_progress": 0.14348861575126648, "wheel_body_intrusion": -0.009576484560966492, "pair_body_intrusion": -0.010464677587151527}, "episode_termination_rates": {"time_out": 0.5255474452554745, "fell_over": 0.0072992700729927005, "course_exit": 0.44525547445255476, "illegal_nonwheel_contact": 0.029197080291970802}, "collection_time_s": 0.07546860349946655, "learning_time_s": 0.1855033967073541, "iteration_time_s": 0.3083465989600585, "policy_updates": 34300, "skipped_updates": 0, "invalid_env_resets": 184, "elapsed_s": 10668.792324018024, "nonwheel_terminations": 13260, "contact_bce": 0.285202294588089, "contact_force_loss": 0.020049240440130234, "collision_bce": 0.00018503321916796267, "collision_label_rate": 6.118827877799049e-05, "collision_prediction_mean": 1.2709480870398693e-05, "collision_label_count": 16343.0, "terrain_level_mean": 4.03271484375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 18, 43, 63, 93, 192], "episodes_by_level": [[1450.0, 317.0, 49.0, 0.0], [1872.0, 414.0, 38.0, 0.0], [1597.0, 373.0, 31.0, 0.0], [1331.0, 304.0, 25.0, 0.0], [837.0, 201.0, 19.0, 0.0], [1223.0, 276.0, 9.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 32, 328, 1070], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4305.0, 1757.0, 165.0, 0.0], [4582.0, 1686.0, 196.0, 0.0], [5687.0, 1567.0, 163.0, 0.0], [6584.0, 1168.0, 258.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 38, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [966.0, 793.0, 26.0, 0.0], [1866.0, 1518.0, 66.0, 0.0], [9786.0, 8195.0, 272.0, 0.0]]}, "platform": {"level_counts": [12, 35, 55, 114, 111, 83], "episodes_by_level": [[1779.0, 386.0, 52.0, 0.0], [2154.0, 441.0, 87.0, 0.0], [1808.0, 364.0, 84.0, 0.0], [1393.0, 240.0, 56.0, 0.0], [822.0, 120.0, 46.0, 0.0], [334.0, 32.0, 37.0, 0.0]]}, "slope": {"level_counts": [7, 25, 64, 72, 88, 154], "episodes_by_level": [[1623.0, 345.0, 46.0, 0.0], [1969.0, 406.0, 69.0, 0.0], [1656.0, 350.0, 42.0, 0.0], [1237.0, 255.0, 36.0, 0.0], [851.0, 177.0, 13.0, 0.0], [995.0, 169.0, 23.0, 0.0]]}, "rubble": {"level_counts": [24, 107, 209, 243, 170, 66], "episodes_by_level": [[3304.0, 749.0, 99.0, 0.0], [4738.0, 1020.0, 209.0, 0.0], [4178.0, 890.0, 349.0, 0.0], [2912.0, 483.0, 411.0, 0.0], [1328.0, 153.0, 247.0, 0.0], [336.0, 20.0, 87.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2216796875, "command_abs_max": [0.9999653100967407, 0.3996225893497467, 0.6987316608428955]}
{"step": 34650, "actor_lr": 1.999042197625803e-05, "archive_windows": 50000, "env_steps": 34650, "total_transitions": 141926400, "num_steps_per_env": 1, "wm_loss": 0.556220293045044, "actor_loss": -9.51068115234375, "critic_loss": 0.004973576869815588, "reward": 0.08759605139493942, "falls": 4, "interval_steps": 50, "velocity_mae": [0.11570923775434494, 0.07113107293844223, 0.1347770243883133], "mean_episode_length": 1312.9473684210527, "episode_reward_terms": {"track_linear_velocity": 46.49208450317383, "track_angular_velocity": 49.60144805908203, "upright": 25.15306282043457, "leg_posture": -2.4558987617492676, "standstill": -5.693448066711426, "action_rate_l2": -0.5409116744995117, "joint_torques_l2": -0.14146123826503754, "dof_pos_limits": -0.0005042540724389255, "terminated": -0.010257399640977383, "unnecessary_wheel_lift": -0.07689695060253143, "rolling_leg_motion": -0.5611163973808289, "obstacle_progress": 3.7468254566192627, "wheel_body_intrusion": -0.24641910195350647, "pair_body_intrusion": -0.2575238049030304}, "weighted_reward_terms": {"track_linear_velocity": 1.7705236673355103, "track_angular_velocity": 1.8889352083206177, "upright": 0.9578854441642761, "leg_posture": -0.09352616965770721, "standstill": -0.21681934595108032, "action_rate_l2": -0.020599137991666794, "joint_torques_l2": -0.005387163255363703, "dof_pos_limits": -1.9203132978873327e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.002928409492596984, "rolling_leg_motion": -0.02136857993900776, "obstacle_progress": 0.1426875740289688, "wheel_body_intrusion": -0.009384195320308208, "pair_body_intrusion": -0.009807087481021881}, "episode_termination_rates": {"time_out": 0.46616541353383456, "fell_over": 0.03007518796992481, "course_exit": 0.5037593984962406, "illegal_nonwheel_contact": 0.015037593984962405}, "collection_time_s": 0.07563011139514857, "learning_time_s": 0.1853191770822741, "iteration_time_s": 0.3082782368035785, "policy_updates": 34350, "skipped_updates": 0, "invalid_env_resets": 184, "elapsed_s": 10681.840905243997, "nonwheel_terminations": 13262, "contact_bce": 0.28161540627479553, "contact_force_loss": 0.02008722350001335, "collision_bce": 4.658178659155965e-05, "collision_label_rate": 6.115459837019444e-05, "collision_prediction_mean": 8.778763731243089e-05, "collision_label_count": 16352.0, "terrain_level_mean": 4.03515625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 18, 42, 64, 91, 194], "episodes_by_level": [[1450.0, 317.0, 49.0, 0.0], [1872.0, 414.0, 38.0, 0.0], [1599.0, 374.0, 31.0, 0.0], [1333.0, 304.0, 25.0, 0.0], [841.0, 203.0, 19.0, 0.0], [1231.0, 276.0, 9.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 31, 330, 1069], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4305.0, 1757.0, 165.0, 0.0], [4583.0, 1687.0, 196.0, 0.0], [5689.0, 1567.0, 163.0, 0.0], [6613.0, 1178.0, 258.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 39, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [967.0, 794.0, 26.0, 0.0], [1868.0, 1520.0, 66.0, 0.0], [9807.0, 8215.0, 272.0, 0.0]]}, "platform": {"level_counts": [12, 35, 54, 115, 112, 82], "episodes_by_level": [[1782.0, 386.0, 52.0, 0.0], [2154.0, 441.0, 87.0, 0.0], [1810.0, 365.0, 84.0, 0.0], [1393.0, 240.0, 56.0, 0.0], [823.0, 120.0, 46.0, 0.0], [337.0, 33.0, 38.0, 0.0]]}, "slope": {"level_counts": [7, 25, 64, 71, 89, 154], "episodes_by_level": [[1623.0, 345.0, 46.0, 0.0], [1971.0, 406.0, 69.0, 0.0], [1656.0, 350.0, 42.0, 0.0], [1238.0, 256.0, 36.0, 0.0], [855.0, 177.0, 13.0, 0.0], [1000.0, 171.0, 23.0, 0.0]]}, "rubble": {"level_counts": [24, 107, 208, 241, 172, 67], "episodes_by_level": [[3304.0, 749.0, 99.0, 0.0], [4741.0, 1020.0, 209.0, 0.0], [4185.0, 891.0, 349.0, 0.0], [2920.0, 486.0, 411.0, 0.0], [1331.0, 154.0, 247.0, 0.0], [339.0, 20.0, 87.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.221435546875, "command_abs_max": [0.9999653100967407, 0.3996225893497467, 0.6987316608428955]}
{"step": 34700, "actor_lr": 1.9850488218562218e-05, "archive_windows": 50000, "env_steps": 34700, "total_transitions": 142131200, "num_steps_per_env": 1, "wm_loss": 0.6101815700531006, "actor_loss": -9.559139251708984, "critic_loss": 0.003652772633358836, "reward": 0.08798803389072418, "falls": 4, "interval_steps": 50, "velocity_mae": [0.11331771314144135, 0.07157468050718307, 0.1338406503200531], "mean_episode_length": 1355.0, "episode_reward_terms": {"track_linear_velocity": 48.10490417480469, "track_angular_velocity": 51.222904205322266, "upright": 25.995521545410156, "leg_posture": -2.5250635147094727, "standstill": -5.562232971191406, "action_rate_l2": -0.5510607957839966, "joint_torques_l2": -0.14498336613178253, "dof_pos_limits": -0.0007294286624528468, "terminated": -0.010585935786366463, "unnecessary_wheel_lift": -0.08639052510261536, "rolling_leg_motion": -0.5812511444091797, "obstacle_progress": 3.8861355781555176, "wheel_body_intrusion": -0.2437891662120819, "pair_body_intrusion": -0.27961695194244385}, "weighted_reward_terms": {"track_linear_velocity": 1.7750887870788574, "track_angular_velocity": 1.8901441097259521, "upright": 0.959244430065155, "leg_posture": -0.09317578375339508, "standstill": -0.20524846017360687, "action_rate_l2": -0.02033434621989727, "joint_torques_l2": -0.005349940154701471, "dof_pos_limits": -2.691618647077121e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.0031878422014415264, "rolling_leg_motion": -0.02144838124513626, "obstacle_progress": 0.14339983463287354, "wheel_body_intrusion": -0.008995910175144672, "pair_body_intrusion": -0.010317969135940075}, "episode_termination_rates": {"time_out": 0.48120300751879697, "fell_over": 0.03007518796992481, "course_exit": 0.48872180451127817, "illegal_nonwheel_contact": 0.015037593984962405}, "collection_time_s": 0.07551532323821447, "learning_time_s": 0.1848271293216385, "iteration_time_s": 0.30820919710282413, "policy_updates": 34400, "skipped_updates": 0, "invalid_env_resets": 184, "elapsed_s": 10694.859139467997, "nonwheel_terminations": 13264, "contact_bce": 0.29531753063201904, "contact_force_loss": 0.02117459662258625, "collision_bce": 1.3834839592163917e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.3873929674446117e-05, "collision_label_count": 16349.0, "terrain_level_mean": 4.038818359375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 18, 42, 63, 89, 197], "episodes_by_level": [[1450.0, 317.0, 49.0, 0.0], [1872.0, 414.0, 38.0, 0.0], [1599.0, 374.0, 31.0, 0.0], [1337.0, 305.0, 25.0, 0.0], [845.0, 206.0, 19.0, 0.0], [1240.0, 280.0, 9.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 30, 329, 1071], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4305.0, 1757.0, 165.0, 0.0], [4585.0, 1688.0, 196.0, 0.0], [5695.0, 1569.0, 163.0, 0.0], [6634.0, 1182.0, 258.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 37, 576], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [967.0, 794.0, 26.0, 0.0], [1871.0, 1523.0, 66.0, 0.0], [9827.0, 8232.0, 273.0, 0.0]]}, "platform": {"level_counts": [12, 35, 54, 114, 112, 83], "episodes_by_level": [[1782.0, 386.0, 52.0, 0.0], [2155.0, 441.0, 87.0, 0.0], [1812.0, 365.0, 84.0, 0.0], [1395.0, 241.0, 56.0, 0.0], [825.0, 121.0, 46.0, 0.0], [339.0, 33.0, 38.0, 0.0]]}, "slope": {"level_counts": [7, 25, 64, 70, 90, 154], "episodes_by_level": [[1623.0, 345.0, 46.0, 0.0], [1972.0, 406.0, 69.0, 0.0], [1657.0, 350.0, 42.0, 0.0], [1240.0, 257.0, 36.0, 0.0], [857.0, 177.0, 13.0, 0.0], [1003.0, 171.0, 23.0, 0.0]]}, "rubble": {"level_counts": [24, 106, 211, 238, 170, 70], "episodes_by_level": [[3306.0, 749.0, 99.0, 0.0], [4744.0, 1021.0, 209.0, 0.0], [4190.0, 891.0, 349.0, 0.0], [2927.0, 488.0, 413.0, 0.0], [1339.0, 157.0, 248.0, 0.0], [341.0, 22.0, 87.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.226318359375, "command_abs_max": [0.9999653100967407, 0.3996225893497467, 0.6987316608428955]}
{"step": 34750, "actor_lr": 1.9711550638824073e-05, "archive_windows": 50000, "env_steps": 34750, "total_transitions": 142336000, "num_steps_per_env": 1, "wm_loss": 0.6044753193855286, "actor_loss": -9.5228271484375, "critic_loss": 0.004245860036462545, "reward": 0.08814819902181625, "falls": 2, "interval_steps": 50, "velocity_mae": [0.1125505343079567, 0.07107126712799072, 0.13334865868091583], "mean_episode_length": 1400.7852348993288, "episode_reward_terms": {"track_linear_velocity": 49.795265197753906, "track_angular_velocity": 52.960391998291016, "upright": 26.908842086791992, "leg_posture": -2.6043176651000977, "standstill": -5.553167343139648, "action_rate_l2": -0.5718626976013184, "joint_torques_l2": -0.14998720586299896, "dof_pos_limits": -0.0011108994949609041, "terminated": -0.005471816286444664, "unnecessary_wheel_lift": -0.08165889978408813, "rolling_leg_motion": -0.6021765470504761, "obstacle_progress": 3.943890333175659, "wheel_body_intrusion": -0.25476011633872986, "pair_body_intrusion": -0.3071694076061249}, "weighted_reward_terms": {"track_linear_velocity": 1.7774052619934082, "track_angular_velocity": 1.8903822898864746, "upright": 0.9604913592338562, "leg_posture": -0.0929592102766037, "standstill": -0.19821622967720032, "action_rate_l2": -0.020412219688296318, "joint_torques_l2": -0.005353683140128851, "dof_pos_limits": -3.9652739360462874e-05, "terminated": -0.0001953124738065526, "unnecessary_wheel_lift": -0.0029147544410079718, "rolling_leg_motion": -0.021494250744581223, "obstacle_progress": 0.14077426493167877, "wheel_body_intrusion": -0.00909347552806139, "pair_body_intrusion": -0.010964186862111092}, "episode_termination_rates": {"time_out": 0.5033557046979866, "fell_over": 0.006711409395973154, "course_exit": 0.48322147651006714, "illegal_nonwheel_contact": 0.006711409395973154}, "collection_time_s": 0.07551779656321742, "learning_time_s": 0.1852991038991604, "iteration_time_s": 0.30814103737565446, "policy_updates": 34450, "skipped_updates": 0, "invalid_env_resets": 184, "elapsed_s": 10707.901048803993, "nonwheel_terminations": 13265, "contact_bce": 0.291244775056839, "contact_force_loss": 0.020506177097558975, "collision_bce": 0.0002622517931740731, "collision_label_rate": 0.0001225340092787519, "collision_prediction_mean": 0.0001898802729556337, "collision_label_count": 16322.0, "terrain_level_mean": 4.041748046875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 18, 41, 63, 89, 198], "episodes_by_level": [[1450.0, 317.0, 49.0, 0.0], [1873.0, 414.0, 38.0, 0.0], [1602.0, 375.0, 31.0, 0.0], [1340.0, 306.0, 25.0, 0.0], [849.0, 207.0, 19.0, 0.0], [1243.0, 281.0, 9.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 30, 325, 1075], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4305.0, 1757.0, 165.0, 0.0], [4586.0, 1688.0, 196.0, 0.0], [5710.0, 1574.0, 163.0, 0.0], [6663.0, 1192.0, 258.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 36, 576], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [967.0, 794.0, 26.0, 0.0], [1873.0, 1523.0, 67.0, 0.0], [9845.0, 8248.0, 273.0, 0.0]]}, "platform": {"level_counts": [12, 35, 54, 114, 112, 83], "episodes_by_level": [[1783.0, 386.0, 52.0, 0.0], [2155.0, 441.0, 87.0, 0.0], [1814.0, 365.0, 84.0, 0.0], [1397.0, 241.0, 56.0, 0.0], [830.0, 121.0, 46.0, 0.0], [344.0, 33.0, 38.0, 0.0]]}, "slope": {"level_counts": [7, 25, 64, 69, 91, 154], "episodes_by_level": [[1623.0, 345.0, 46.0, 0.0], [1973.0, 406.0, 69.0, 0.0], [1659.0, 350.0, 42.0, 0.0], [1242.0, 258.0, 36.0, 0.0], [859.0, 177.0, 13.0, 0.0], [1011.0, 173.0, 23.0, 0.0]]}, "rubble": {"level_counts": [24, 105, 210, 239, 170, 71], "episodes_by_level": [[3306.0, 749.0, 99.0, 0.0], [4750.0, 1022.0, 209.0, 0.0], [4196.0, 893.0, 349.0, 0.0], [2932.0, 489.0, 413.0, 0.0], [1342.0, 158.0, 248.0, 0.0], [342.0, 22.0, 87.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.225830078125, "command_abs_max": [0.9999653100967407, 0.3996225893497467, 0.6987316608428955]}
{"step": 34800, "actor_lr": 1.9573617807367975e-05, "archive_windows": 50000, "env_steps": 34800, "total_transitions": 142540800, "num_steps_per_env": 1, "wm_loss": 0.611901581287384, "actor_loss": -9.516682624816895, "critic_loss": 0.007175599690526724, "reward": 0.08805204182863235, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11149486899375916, 0.07144240289926529, 0.13259164988994598], "mean_episode_length": 1370.475, "episode_reward_terms": {"track_linear_velocity": 48.718711853027344, "track_angular_velocity": 51.862247467041016, "upright": 26.32896614074707, "leg_posture": -2.5282785892486572, "standstill": -5.579934597015381, "action_rate_l2": -0.5660992860794067, "joint_torques_l2": -0.14561225473880768, "dof_pos_limits": -0.0006758394301868975, "terminated": -0.013383543118834496, "unnecessary_wheel_lift": -0.08518974483013153, "rolling_leg_motion": -0.6028614044189453, "obstacle_progress": 3.7997334003448486, "wheel_body_intrusion": -0.24578332901000977, "pair_body_intrusion": -0.26872551441192627}, "weighted_reward_terms": {"track_linear_velocity": 1.7774391174316406, "track_angular_velocity": 1.8921266794204712, "upright": 0.9605781435966492, "leg_posture": -0.09224095940589905, "standstill": -0.20357665419578552, "action_rate_l2": -0.02065339684486389, "joint_torques_l2": -0.0053124744445085526, "dof_pos_limits": -2.4657123503857292e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.0031080374028533697, "rolling_leg_motion": -0.021994616836309433, "obstacle_progress": 0.13862834870815277, "wheel_body_intrusion": -0.008967085741460323, "pair_body_intrusion": -0.009804101660847664}, "episode_termination_rates": {"time_out": 0.50625, "fell_over": 0.025, "course_exit": 0.4625, "illegal_nonwheel_contact": 0.01875}, "collection_time_s": 0.07593045739573427, "learning_time_s": 0.18530746328411624, "iteration_time_s": 0.30807367945451225, "policy_updates": 34500, "skipped_updates": 0, "invalid_env_resets": 185, "elapsed_s": 10720.964045017026, "nonwheel_terminations": 13268, "contact_bce": 0.2896812856197357, "contact_force_loss": 0.020795099437236786, "collision_bce": 5.049591436545597e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 5.109608991915593e-06, "collision_label_count": 16349.0, "terrain_level_mean": 4.04443359375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 18, 40, 61, 92, 198], "episodes_by_level": [[1450.0, 317.0, 49.0, 0.0], [1874.0, 414.0, 38.0, 0.0], [1604.0, 376.0, 31.0, 0.0], [1344.0, 309.0, 25.0, 0.0], [849.0, 207.0, 19.0, 0.0], [1248.0, 282.0, 9.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 30, 324, 1076], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4305.0, 1757.0, 165.0, 0.0], [4588.0, 1688.0, 196.0, 0.0], [5720.0, 1575.0, 163.0, 0.0], [6704.0, 1199.0, 258.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 36, 576], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [967.0, 794.0, 26.0, 0.0], [1874.0, 1524.0, 67.0, 0.0], [9860.0, 8260.0, 274.0, 0.0]]}, "platform": {"level_counts": [12, 35, 54, 114, 111, 84], "episodes_by_level": [[1783.0, 386.0, 52.0, 0.0], [2155.0, 441.0, 87.0, 0.0], [1815.0, 365.0, 84.0, 0.0], [1398.0, 241.0, 56.0, 0.0], [834.0, 122.0, 46.0, 0.0], [348.0, 34.0, 38.0, 0.0]]}, "slope": {"level_counts": [7, 24, 64, 70, 91, 154], "episodes_by_level": [[1623.0, 345.0, 46.0, 0.0], [1975.0, 407.0, 69.0, 0.0], [1662.0, 351.0, 42.0, 0.0], [1244.0, 258.0, 36.0, 0.0], [865.0, 177.0, 13.0, 0.0], [1015.0, 173.0, 23.0, 0.0]]}, "rubble": {"level_counts": [24, 105, 210, 239, 167, 74], "episodes_by_level": [[3306.0, 749.0, 99.0, 0.0], [4751.0, 1022.0, 209.0, 0.0], [4203.0, 895.0, 349.0, 0.0], [2946.0, 491.0, 415.0, 0.0], [1351.0, 161.0, 250.0, 0.0], [345.0, 22.0, 87.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.228759765625, "command_abs_max": [0.9999653100967407, 0.39985013008117676, 0.6986677050590515]}
{"step": 34850, "actor_lr": 1.9436698232540676e-05, "archive_windows": 50000, "env_steps": 34850, "total_transitions": 142745600, "num_steps_per_env": 1, "wm_loss": 0.6153621673583984, "actor_loss": -9.537580490112305, "critic_loss": 0.0039975945837795734, "reward": 0.08831688016653061, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11047031730413437, 0.07055145502090454, 0.13234642148017883], "mean_episode_length": 1301.1496062992126, "episode_reward_terms": {"track_linear_velocity": 46.420738220214844, "track_angular_velocity": 49.26255798339844, "upright": 25.02530860900879, "leg_posture": -2.385899066925049, "standstill": -5.210482597351074, "action_rate_l2": -0.534805417060852, "joint_torques_l2": -0.13798105716705322, "dof_pos_limits": -0.00014839724462945014, "terminated": -0.01270653773099184, "unnecessary_wheel_lift": -0.06929945945739746, "rolling_leg_motion": -0.5607678890228271, "obstacle_progress": 3.6185383796691895, "wheel_body_intrusion": -0.23159119486808777, "pair_body_intrusion": -0.2699945271015167}, "weighted_reward_terms": {"track_linear_velocity": 1.783835530281067, "track_angular_velocity": 1.8930397033691406, "upright": 0.9616614580154419, "leg_posture": -0.09168427437543869, "standstill": -0.20022611320018768, "action_rate_l2": -0.02055126614868641, "joint_torques_l2": -0.005302274599671364, "dof_pos_limits": -5.702543148800032e-06, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.0026630088686943054, "rolling_leg_motion": -0.021548939868807793, "obstacle_progress": 0.13905158638954163, "wheel_body_intrusion": -0.00889948382973671, "pair_body_intrusion": -0.010375229641795158}, "episode_termination_rates": {"time_out": 0.4566929133858268, "fell_over": 0.007874015748031496, "course_exit": 0.5039370078740157, "illegal_nonwheel_contact": 0.031496062992125984}, "collection_time_s": 0.07556148288073018, "learning_time_s": 0.18501232682028784, "iteration_time_s": 0.3080055622538883, "policy_updates": 34550, "skipped_updates": 0, "invalid_env_resets": 185, "elapsed_s": 10733.993844548007, "nonwheel_terminations": 13272, "contact_bce": 0.2916167974472046, "contact_force_loss": 0.02068200334906578, "collision_bce": 4.5513195800594985e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 4.370795431896113e-05, "collision_label_count": 16335.0, "terrain_level_mean": 4.04541015625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 18, 40, 61, 92, 198], "episodes_by_level": [[1450.0, 317.0, 49.0, 0.0], [1874.0, 414.0, 38.0, 0.0], [1604.0, 376.0, 31.0, 0.0], [1346.0, 309.0, 25.0, 0.0], [851.0, 207.0, 19.0, 0.0], [1255.0, 283.0, 9.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 30, 324, 1076], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4305.0, 1757.0, 165.0, 0.0], [4590.0, 1689.0, 196.0, 0.0], [5729.0, 1576.0, 163.0, 0.0], [6725.0, 1203.0, 259.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 37, 575], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [967.0, 794.0, 26.0, 0.0], [1874.0, 1524.0, 67.0, 0.0], [9880.0, 8278.0, 274.0, 0.0]]}, "platform": {"level_counts": [12, 35, 54, 114, 110, 85], "episodes_by_level": [[1783.0, 386.0, 52.0, 0.0], [2156.0, 441.0, 87.0, 0.0], [1819.0, 365.0, 84.0, 0.0], [1400.0, 241.0, 56.0, 0.0], [841.0, 123.0, 46.0, 0.0], [349.0, 35.0, 38.0, 0.0]]}, "slope": {"level_counts": [7, 24, 64, 68, 93, 154], "episodes_by_level": [[1623.0, 345.0, 46.0, 0.0], [1976.0, 407.0, 69.0, 0.0], [1662.0, 351.0, 42.0, 0.0], [1248.0, 260.0, 36.0, 0.0], [868.0, 177.0, 13.0, 0.0], [1018.0, 173.0, 23.0, 0.0]]}, "rubble": {"level_counts": [24, 104, 212, 238, 165, 76], "episodes_by_level": [[3306.0, 749.0, 99.0, 0.0], [4754.0, 1023.0, 209.0, 0.0], [4207.0, 895.0, 349.0, 0.0], [2951.0, 492.0, 416.0, 0.0], [1357.0, 163.0, 251.0, 0.0], [346.0, 22.0, 87.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.228759765625, "command_abs_max": [0.9999653100967407, 0.39985013008117676, 0.6986677050590515]}
{"step": 34900, "actor_lr": 1.9300800360186534e-05, "archive_windows": 50000, "env_steps": 34900, "total_transitions": 142950400, "num_steps_per_env": 1, "wm_loss": 0.5561203956604004, "actor_loss": -9.508360862731934, "critic_loss": 0.0034571723081171513, "reward": 0.08793270587921143, "falls": 12, "interval_steps": 50, "velocity_mae": [0.11348597705364227, 0.07107863575220108, 0.13325335085391998], "mean_episode_length": 1308.6296296296296, "episode_reward_terms": {"track_linear_velocity": 46.4953727722168, "track_angular_velocity": 49.49589157104492, "upright": 25.13078498840332, "leg_posture": -2.3840489387512207, "standstill": -5.475687503814697, "action_rate_l2": -0.5522761344909668, "joint_torques_l2": -0.1395520567893982, "dof_pos_limits": -0.0005532936193048954, "terminated": -0.030671004205942154, "unnecessary_wheel_lift": -0.08596709370613098, "rolling_leg_motion": -0.5689958333969116, "obstacle_progress": 3.6836185455322266, "wheel_body_intrusion": -0.23248016834259033, "pair_body_intrusion": -0.264056921005249}, "weighted_reward_terms": {"track_linear_velocity": 1.7764909267425537, "track_angular_velocity": 1.8911346197128296, "upright": 0.9601947069168091, "leg_posture": -0.09108952432870865, "standstill": -0.20921456813812256, "action_rate_l2": -0.021101316437125206, "joint_torques_l2": -0.005331992171704769, "dof_pos_limits": -2.1140191165613942e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.0032846226822584867, "rolling_leg_motion": -0.02174014039337635, "obstacle_progress": 0.14074335992336273, "wheel_body_intrusion": -0.008882581256330013, "pair_body_intrusion": -0.01008906215429306}, "episode_termination_rates": {"time_out": 0.4506172839506173, "fell_over": 0.043209876543209874, "course_exit": 0.47530864197530864, "illegal_nonwheel_contact": 0.05555555555555555}, "collection_time_s": 0.07574432510184125, "learning_time_s": 0.18543455247883686, "iteration_time_s": 0.30793850739335243, "policy_updates": 34600, "skipped_updates": 0, "invalid_env_resets": 185, "elapsed_s": 10747.053908028, "nonwheel_terminations": 13281, "contact_bce": 0.2896542251110077, "contact_force_loss": 0.01987536810338497, "collision_bce": 7.346347501879791e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 7.349692623392912e-06, "collision_label_count": 16326.0, "terrain_level_mean": 4.046142578125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 18, 40, 60, 93, 198], "episodes_by_level": [[1450.0, 317.0, 49.0, 0.0], [1874.0, 414.0, 38.0, 0.0], [1605.0, 376.0, 31.0, 0.0], [1348.0, 310.0, 25.0, 0.0], [854.0, 207.0, 19.0, 0.0], [1264.0, 283.0, 9.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 30, 322, 1078], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4305.0, 1757.0, 165.0, 0.0], [4591.0, 1689.0, 196.0, 0.0], [5739.0, 1580.0, 163.0, 0.0], [6761.0, 1212.0, 259.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 40, 572], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [967.0, 794.0, 26.0, 0.0], [1874.0, 1524.0, 67.0, 0.0], [9899.0, 8293.0, 274.0, 0.0]]}, "platform": {"level_counts": [12, 35, 55, 112, 112, 84], "episodes_by_level": [[1783.0, 386.0, 52.0, 0.0], [2158.0, 441.0, 87.0, 0.0], [1823.0, 365.0, 84.0, 0.0], [1405.0, 242.0, 57.0, 0.0], [842.0, 123.0, 46.0, 0.0], [350.0, 35.0, 39.0, 0.0]]}, "slope": {"level_counts": [7, 23, 65, 66, 95, 154], "episodes_by_level": [[1623.0, 345.0, 46.0, 0.0], [1977.0, 408.0, 69.0, 0.0], [1662.0, 351.0, 42.0, 0.0], [1253.0, 262.0, 36.0, 0.0], [871.0, 177.0, 13.0, 0.0], [1024.0, 174.0, 23.0, 0.0]]}, "rubble": {"level_counts": [25, 101, 214, 237, 167, 75], "episodes_by_level": [[3306.0, 749.0, 99.0, 0.0], [4761.0, 1025.0, 210.0, 0.0], [4214.0, 897.0, 349.0, 0.0], [2957.0, 494.0, 418.0, 0.0], [1359.0, 163.0, 252.0, 0.0], [348.0, 23.0, 88.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.228515625, "command_abs_max": [0.9999653100967407, 0.39985013008117676, 0.6986677050590515]}
{"step": 34950, "actor_lr": 1.9165932573126415e-05, "archive_windows": 50000, "env_steps": 34950, "total_transitions": 143155200, "num_steps_per_env": 1, "wm_loss": 0.6308637857437134, "actor_loss": -9.532771110534668, "critic_loss": 0.0033605066128075123, "reward": 0.08785683661699295, "falls": 11, "interval_steps": 50, "velocity_mae": [0.11329357326030731, 0.07056359201669693, 0.13358114659786224], "mean_episode_length": 1314.5828220858896, "episode_reward_terms": {"track_linear_velocity": 46.702117919921875, "track_angular_velocity": 49.71549606323242, "upright": 25.247652053833008, "leg_posture": -2.4192416667938232, "standstill": -5.606076717376709, "action_rate_l2": -0.5499858856201172, "joint_torques_l2": -0.13970208168029785, "dof_pos_limits": -0.0012890774523839355, "terminated": -0.028242986649274826, "unnecessary_wheel_lift": -0.09440818428993225, "rolling_leg_motion": -0.5659000873565674, "obstacle_progress": 3.753244400024414, "wheel_body_intrusion": -0.23545542359352112, "pair_body_intrusion": -0.2831345498561859}, "weighted_reward_terms": {"track_linear_velocity": 1.776309609413147, "track_angular_velocity": 1.8909231424331665, "upright": 0.9602915048599243, "leg_posture": -0.0920155718922615, "standstill": -0.21322648227214813, "action_rate_l2": -0.020918648689985275, "joint_torques_l2": -0.00531355245038867, "dof_pos_limits": -4.902990986010991e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.0035908042918890715, "rolling_leg_motion": -0.021523943170905113, "obstacle_progress": 0.1427542120218277, "wheel_body_intrusion": -0.008955519646406174, "pair_body_intrusion": -0.010768989101052284}, "episode_termination_rates": {"time_out": 0.4171779141104294, "fell_over": 0.03067484662576687, "course_exit": 0.5153374233128835, "illegal_nonwheel_contact": 0.03680981595092025}, "collection_time_s": 0.07600884183659218, "learning_time_s": 0.18536320898565464, "iteration_time_s": 0.3078719194776822, "policy_updates": 34650, "skipped_updates": 0, "invalid_env_resets": 186, "elapsed_s": 10760.123585744994, "nonwheel_terminations": 13287, "contact_bce": 0.2881295680999756, "contact_force_loss": 0.020599322393536568, "collision_bce": 2.0514733478194103e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.9899263861589134e-05, "collision_label_count": 16345.0, "terrain_level_mean": 4.046630859375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 18, 40, 59, 92, 200], "episodes_by_level": [[1450.0, 317.0, 49.0, 0.0], [1875.0, 414.0, 38.0, 0.0], [1608.0, 376.0, 31.0, 0.0], [1352.0, 311.0, 25.0, 0.0], [858.0, 209.0, 19.0, 0.0], [1269.0, 284.0, 9.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 30, 324, 1076], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4305.0, 1757.0, 165.0, 0.0], [4591.0, 1689.0, 196.0, 0.0], [5750.0, 1583.0, 163.0, 0.0], [6791.0, 1223.0, 260.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 41, 571], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [967.0, 794.0, 26.0, 0.0], [1875.0, 1525.0, 67.0, 0.0], [9921.0, 8312.0, 274.0, 0.0]]}, "platform": {"level_counts": [11, 36, 55, 112, 112, 84], "episodes_by_level": [[1784.0, 387.0, 52.0, 0.0], [2159.0, 441.0, 87.0, 0.0], [1825.0, 365.0, 84.0, 0.0], [1410.0, 242.0, 57.0, 0.0], [847.0, 123.0, 46.0, 0.0], [352.0, 35.0, 39.0, 0.0]]}, "slope": {"level_counts": [6, 24, 65, 65, 95, 155], "episodes_by_level": [[1624.0, 346.0, 46.0, 0.0], [1978.0, 408.0, 69.0, 0.0], [1663.0, 351.0, 42.0, 0.0], [1254.0, 263.0, 36.0, 0.0], [874.0, 178.0, 13.0, 0.0], [1028.0, 176.0, 23.0, 0.0]]}, "rubble": {"level_counts": [25, 103, 214, 235, 165, 77], "episodes_by_level": [[3307.0, 749.0, 99.0, 0.0], [4764.0, 1025.0, 210.0, 0.0], [4225.0, 897.0, 351.0, 0.0], [2962.0, 494.0, 420.0, 0.0], [1365.0, 165.0, 252.0, 0.0], [350.0, 23.0, 88.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2314453125, "command_abs_max": [0.9999653100967407, 0.39985013008117676, 0.6986677050590515]}
{"step": 35000, "actor_lr": 1.9032103190640718e-05, "archive_windows": 50000, "env_steps": 35000, "total_transitions": 143360000, "num_steps_per_env": 1, "wm_loss": 0.6068065762519836, "actor_loss": -9.542520523071289, "critic_loss": 0.004782277625054121, "reward": 0.08817467838525772, "falls": 0, "interval_steps": 50, "velocity_mae": [0.1111801341176033, 0.07115856558084488, 0.1336376965045929], "mean_episode_length": 1364.3921568627452, "episode_reward_terms": {"track_linear_velocity": 48.5488395690918, "track_angular_velocity": 51.595149993896484, "upright": 26.2322998046875, "leg_posture": -2.5269901752471924, "standstill": -5.466030597686768, "action_rate_l2": -0.5677495002746582, "joint_torques_l2": -0.1458527147769928, "dof_pos_limits": -0.0016858989838510752, "terminated": 0.0, "unnecessary_wheel_lift": -0.08596573024988174, "rolling_leg_motion": -0.5913060307502747, "obstacle_progress": 3.866816759109497, "wheel_body_intrusion": -0.25594615936279297, "pair_body_intrusion": -0.29673483967781067}, "weighted_reward_terms": {"track_linear_velocity": 1.7791379690170288, "track_angular_velocity": 1.890774130821228, "upright": 0.9613181948661804, "leg_posture": -0.09260497987270355, "standstill": -0.2003100961446762, "action_rate_l2": -0.020805949345231056, "joint_torques_l2": -0.005344970617443323, "dof_pos_limits": -6.178204785101116e-05, "terminated": 0.0, "unnecessary_wheel_lift": -0.003150330623611808, "rolling_leg_motion": -0.021669210866093636, "obstacle_progress": 0.1417047381401062, "wheel_body_intrusion": -0.00937949400395155, "pair_body_intrusion": -0.010874250903725624}, "episode_termination_rates": {"time_out": 0.46405228758169936, "fell_over": 0.0, "course_exit": 0.5359477124183006, "illegal_nonwheel_contact": 0.0}, "collection_time_s": 0.07566694413893855, "learning_time_s": 0.19239616885432043, "iteration_time_s": 0.30781508469057234, "policy_updates": 34700, "skipped_updates": 0, "invalid_env_resets": 186, "elapsed_s": 10773.527964170033, "nonwheel_terminations": 13287, "contact_bce": 0.2835741639137268, "contact_force_loss": 0.0202095378190279, "collision_bce": 8.578889719501603e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 8.624709153082222e-06, "collision_label_count": 16317.0, "terrain_level_mean": 4.0498046875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 18, 40, 59, 91, 201], "episodes_by_level": [[1450.0, 317.0, 49.0, 0.0], [1875.0, 414.0, 38.0, 0.0], [1610.0, 376.0, 31.0, 0.0], [1353.0, 311.0, 25.0, 0.0], [861.0, 210.0, 19.0, 0.0], [1276.0, 285.0, 9.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 30, 322, 1078], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4305.0, 1757.0, 165.0, 0.0], [4592.0, 1689.0, 196.0, 0.0], [5762.0, 1585.0, 163.0, 0.0], [6821.0, 1231.0, 260.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 40, 572], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [967.0, 794.0, 26.0, 0.0], [1876.0, 1526.0, 67.0, 0.0], [9943.0, 8332.0, 274.0, 0.0]]}, "platform": {"level_counts": [11, 36, 55, 111, 112, 85], "episodes_by_level": [[1785.0, 387.0, 52.0, 0.0], [2160.0, 441.0, 87.0, 0.0], [1828.0, 365.0, 84.0, 0.0], [1416.0, 243.0, 57.0, 0.0], [849.0, 124.0, 46.0, 0.0], [355.0, 35.0, 39.0, 0.0]]}, "slope": {"level_counts": [6, 23, 65, 66, 94, 156], "episodes_by_level": [[1625.0, 346.0, 46.0, 0.0], [1979.0, 409.0, 69.0, 0.0], [1665.0, 352.0, 42.0, 0.0], [1257.0, 263.0, 36.0, 0.0], [878.0, 179.0, 13.0, 0.0], [1038.0, 179.0, 23.0, 0.0]]}, "rubble": {"level_counts": [25, 103, 212, 235, 167, 77], "episodes_by_level": [[3307.0, 749.0, 99.0, 0.0], [4765.0, 1025.0, 210.0, 0.0], [4231.0, 899.0, 351.0, 0.0], [2967.0, 496.0, 420.0, 0.0], [1369.0, 165.0, 252.0, 0.0], [354.0, 23.0, 88.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2333984375, "command_abs_max": [0.9999653100967407, 0.39985013008117676, 0.6986677050590515]}
{"step": 35050, "actor_lr": 1.8899320467956167e-05, "archive_windows": 50000, "env_steps": 35050, "total_transitions": 143564800, "num_steps_per_env": 1, "wm_loss": 0.5548405647277832, "actor_loss": -9.54812240600586, "critic_loss": 0.005120465066283941, "reward": 0.08759282529354095, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11339908093214035, 0.07191254943609238, 0.1343308985233307], "mean_episode_length": 1278.8150289017342, "episode_reward_terms": {"track_linear_velocity": 45.382755279541016, "track_angular_velocity": 48.33005142211914, "upright": 24.555015563964844, "leg_posture": -2.392061233520508, "standstill": -5.566100120544434, "action_rate_l2": -0.5257280468940735, "joint_torques_l2": -0.1379850059747696, "dof_pos_limits": -0.0006804849836044014, "terminated": -0.022479167208075523, "unnecessary_wheel_lift": -0.09339570254087448, "rolling_leg_motion": -0.5519773364067078, "obstacle_progress": 3.593270778656006, "wheel_body_intrusion": -0.25772276520729065, "pair_body_intrusion": -0.29792889952659607}, "weighted_reward_terms": {"track_linear_velocity": 1.7744064331054688, "track_angular_velocity": 1.8896420001983643, "upright": 0.9600691199302673, "leg_posture": -0.09352647513151169, "standstill": -0.21762725710868835, "action_rate_l2": -0.02055528201162815, "joint_torques_l2": -0.005395033396780491, "dof_pos_limits": -2.660607424331829e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.003651649923995137, "rolling_leg_motion": -0.02158159390091896, "obstacle_progress": 0.14049220085144043, "wheel_body_intrusion": -0.01007662434130907, "pair_body_intrusion": -0.0116486307233572}, "episode_termination_rates": {"time_out": 0.3988439306358382, "fell_over": 0.023121387283236993, "course_exit": 0.5491329479768786, "illegal_nonwheel_contact": 0.04046242774566474}, "collection_time_s": 0.07601937493891456, "learning_time_s": 0.184483022702625, "iteration_time_s": 0.3077485425378888, "policy_updates": 34750, "skipped_updates": 0, "invalid_env_resets": 187, "elapsed_s": 10786.586415953003, "nonwheel_terminations": 13294, "contact_bce": 0.28803104162216187, "contact_force_loss": 0.019707879051566124, "collision_bce": 6.501720235974062e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 6.557273991347756e-06, "collision_label_count": 16344.0, "terrain_level_mean": 4.05029296875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 18, 40, 58, 93, 200], "episodes_by_level": [[1450.0, 317.0, 49.0, 0.0], [1876.0, 414.0, 38.0, 0.0], [1610.0, 376.0, 31.0, 0.0], [1354.0, 312.0, 25.0, 0.0], [863.0, 210.0, 19.0, 0.0], [1287.0, 289.0, 10.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 29, 321, 1080], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4305.0, 1757.0, 165.0, 0.0], [4593.0, 1690.0, 196.0, 0.0], [5773.0, 1589.0, 163.0, 0.0], [6854.0, 1238.0, 260.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 41, 571], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [967.0, 794.0, 26.0, 0.0], [1877.0, 1527.0, 67.0, 0.0], [9975.0, 8362.0, 275.0, 0.0]]}, "platform": {"level_counts": [11, 36, 55, 111, 111, 86], "episodes_by_level": [[1785.0, 387.0, 52.0, 0.0], [2161.0, 441.0, 87.0, 0.0], [1830.0, 365.0, 84.0, 0.0], [1420.0, 243.0, 57.0, 0.0], [854.0, 125.0, 46.0, 0.0], [358.0, 36.0, 39.0, 0.0]]}, "slope": {"level_counts": [6, 23, 63, 68, 94, 156], "episodes_by_level": [[1625.0, 346.0, 46.0, 0.0], [1979.0, 409.0, 69.0, 0.0], [1671.0, 354.0, 42.0, 0.0], [1258.0, 263.0, 36.0, 0.0], [879.0, 179.0, 13.0, 0.0], [1042.0, 181.0, 23.0, 0.0]]}, "rubble": {"level_counts": [25, 103, 213, 236, 165, 77], "episodes_by_level": [[3307.0, 749.0, 99.0, 0.0], [4767.0, 1025.0, 210.0, 0.0], [4235.0, 900.0, 351.0, 0.0], [2977.0, 496.0, 422.0, 0.0], [1379.0, 165.0, 254.0, 0.0], [356.0, 23.0, 88.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.233154296875, "command_abs_max": [0.9999653100967407, 0.39996224641799927, 0.6997191309928894]}
{"step": 35100, "actor_lr": 1.876759259573653e-05, "archive_windows": 50000, "env_steps": 35100, "total_transitions": 143769600, "num_steps_per_env": 1, "wm_loss": 0.5950309634208679, "actor_loss": -9.54791259765625, "critic_loss": 0.006057632155716419, "reward": 0.08740286529064178, "falls": 11, "interval_steps": 50, "velocity_mae": [0.11386651545763016, 0.07148316502571106, 0.13416558504104614], "mean_episode_length": 1325.94, "episode_reward_terms": {"track_linear_velocity": 47.05089569091797, "track_angular_velocity": 50.106590270996094, "upright": 25.41551399230957, "leg_posture": -2.4957664012908936, "standstill": -5.969982624053955, "action_rate_l2": -0.5492677688598633, "joint_torques_l2": -0.14352735877037048, "dof_pos_limits": -0.0015625763917341828, "terminated": -0.028486987575888634, "unnecessary_wheel_lift": -0.09154266119003296, "rolling_leg_motion": -0.5775569677352905, "obstacle_progress": 3.7519400119781494, "wheel_body_intrusion": -0.25813281536102295, "pair_body_intrusion": -0.31814733147621155}, "weighted_reward_terms": {"track_linear_velocity": 1.7742468118667603, "track_angular_velocity": 1.8894742727279663, "upright": 0.9583961367607117, "leg_posture": -0.09411309659481049, "standstill": -0.22512267529964447, "action_rate_l2": -0.020712392404675484, "joint_torques_l2": -0.0054122875444591045, "dof_pos_limits": -5.892334957025014e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.0034519913606345654, "rolling_leg_motion": -0.021779153496026993, "obstacle_progress": 0.14148227870464325, "wheel_body_intrusion": -0.009733956307172775, "pair_body_intrusion": -0.011997049674391747}, "episode_termination_rates": {"time_out": 0.43333333333333335, "fell_over": 0.04, "course_exit": 0.49333333333333335, "illegal_nonwheel_contact": 0.04}, "collection_time_s": 0.07590043463511392, "learning_time_s": 0.18523149804328568, "iteration_time_s": 0.30768216716259267, "policy_updates": 34800, "skipped_updates": 0, "invalid_env_resets": 188, "elapsed_s": 10799.644067407004, "nonwheel_terminations": 13300, "contact_bce": 0.2856292724609375, "contact_force_loss": 0.020126497372984886, "collision_bce": 0.000522506597917527, "collision_label_rate": 0.00012260160292498767, "collision_prediction_mean": 0.00015307146531995386, "collision_label_count": 16313.0, "terrain_level_mean": 4.05029296875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 18, 39, 59, 93, 200], "episodes_by_level": [[1450.0, 317.0, 49.0, 0.0], [1876.0, 414.0, 38.0, 0.0], [1611.0, 377.0, 31.0, 0.0], [1354.0, 312.0, 25.0, 0.0], [865.0, 210.0, 19.0, 0.0], [1291.0, 292.0, 10.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 29, 322, 1079], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4305.0, 1757.0, 165.0, 0.0], [4593.0, 1690.0, 196.0, 0.0], [5780.0, 1591.0, 163.0, 0.0], [6888.0, 1247.0, 260.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 42, 570], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [967.0, 794.0, 26.0, 0.0], [1879.0, 1529.0, 67.0, 0.0], [10000.0, 8384.0, 275.0, 0.0]]}, "platform": {"level_counts": [11, 35, 56, 111, 110, 87], "episodes_by_level": [[1785.0, 387.0, 52.0, 0.0], [2162.0, 442.0, 87.0, 0.0], [1830.0, 365.0, 84.0, 0.0], [1423.0, 243.0, 57.0, 0.0], [856.0, 126.0, 46.0, 0.0], [361.0, 36.0, 39.0, 0.0]]}, "slope": {"level_counts": [6, 23, 62, 69, 94, 156], "episodes_by_level": [[1625.0, 346.0, 46.0, 0.0], [1980.0, 409.0, 69.0, 0.0], [1673.0, 355.0, 42.0, 0.0], [1259.0, 263.0, 36.0, 0.0], [879.0, 179.0, 13.0, 0.0], [1046.0, 182.0, 23.0, 0.0]]}, "rubble": {"level_counts": [25, 103, 212, 237, 168, 74], "episodes_by_level": [[3307.0, 749.0, 99.0, 0.0], [4771.0, 1025.0, 210.0, 0.0], [4241.0, 902.0, 351.0, 0.0], [2983.0, 497.0, 423.0, 0.0], [1383.0, 165.0, 255.0, 0.0], [362.0, 24.0, 91.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23388671875, "command_abs_max": [0.9999653100967407, 0.39996224641799927, 0.6997191309928894]}
{"step": 35150, "actor_lr": 1.8636927699577483e-05, "archive_windows": 50000, "env_steps": 35150, "total_transitions": 143974400, "num_steps_per_env": 1, "wm_loss": 0.611858606338501, "actor_loss": -9.562051773071289, "critic_loss": 0.0048909299075603485, "reward": 0.08772677928209305, "falls": 4, "interval_steps": 50, "velocity_mae": [0.11442875862121582, 0.0712839886546135, 0.1342797428369522], "mean_episode_length": 1409.9848484848485, "episode_reward_terms": {"track_linear_velocity": 50.008880615234375, "track_angular_velocity": 53.293460845947266, "upright": 27.054119110107422, "leg_posture": -2.6296632289886475, "standstill": -6.077850341796875, "action_rate_l2": -0.5787389874458313, "joint_torques_l2": -0.1512380987405777, "dof_pos_limits": -0.0006194291054271162, "terminated": -0.011015504598617554, "unnecessary_wheel_lift": -0.08906783163547516, "rolling_leg_motion": -0.5866426825523376, "obstacle_progress": 4.01943302154541, "wheel_body_intrusion": -0.26653778553009033, "pair_body_intrusion": -0.2910780906677246}, "weighted_reward_terms": {"track_linear_velocity": 1.7733837366104126, "track_angular_velocity": 1.8898593187332153, "upright": 0.9593762755393982, "leg_posture": -0.09325146675109863, "standstill": -0.2155289351940155, "action_rate_l2": -0.02052287943661213, "joint_torques_l2": -0.005363110918551683, "dof_pos_limits": -2.1965808628010564e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.003158467821776867, "rolling_leg_motion": -0.02080315724015236, "obstacle_progress": 0.14253462851047516, "wheel_body_intrusion": -0.009451796300709248, "pair_body_intrusion": -0.010322029702365398}, "episode_termination_rates": {"time_out": 0.5, "fell_over": 0.022727272727272728, "course_exit": 0.4696969696969697, "illegal_nonwheel_contact": 0.022727272727272728}, "collection_time_s": 0.07595906750066206, "learning_time_s": 0.1846606357814744, "iteration_time_s": 0.3077847697564161, "policy_updates": 34850, "skipped_updates": 0, "invalid_env_resets": 189, "elapsed_s": 10818.634656938026, "nonwheel_terminations": 13303, "contact_bce": 0.29545360803604126, "contact_force_loss": 0.021392863243818283, "collision_bce": 0.0003755659272428602, "collision_label_rate": 6.114711868576705e-05, "collision_prediction_mean": 7.948214260977693e-06, "collision_label_count": 16354.0, "terrain_level_mean": 4.051513671875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 17, 39, 59, 94, 200], "episodes_by_level": [[1450.0, 317.0, 49.0, 0.0], [1878.0, 415.0, 38.0, 0.0], [1614.0, 378.0, 31.0, 0.0], [1356.0, 313.0, 25.0, 0.0], [868.0, 210.0, 19.0, 0.0], [1292.0, 292.0, 10.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 29, 322, 1079], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4305.0, 1757.0, 165.0, 0.0], [4594.0, 1690.0, 196.0, 0.0], [5787.0, 1592.0, 163.0, 0.0], [6918.0, 1255.0, 260.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 43, 569], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [967.0, 794.0, 26.0, 0.0], [1880.0, 1530.0, 67.0, 0.0], [10016.0, 8398.0, 276.0, 0.0]]}, "platform": {"level_counts": [11, 34, 56, 112, 110, 87], "episodes_by_level": [[1786.0, 387.0, 52.0, 0.0], [2164.0, 443.0, 87.0, 0.0], [1833.0, 366.0, 84.0, 0.0], [1425.0, 243.0, 57.0, 0.0], [860.0, 126.0, 46.0, 0.0], [363.0, 36.0, 39.0, 0.0]]}, "slope": {"level_counts": [6, 23, 62, 69, 93, 157], "episodes_by_level": [[1625.0, 346.0, 46.0, 0.0], [1980.0, 409.0, 69.0, 0.0], [1675.0, 355.0, 42.0, 0.0], [1261.0, 263.0, 36.0, 0.0], [881.0, 180.0, 13.0, 0.0], [1051.0, 184.0, 23.0, 0.0]]}, "rubble": {"level_counts": [24, 104, 213, 236, 168, 74], "episodes_by_level": [[3308.0, 750.0, 99.0, 0.0], [4773.0, 1025.0, 210.0, 0.0], [4242.0, 902.0, 351.0, 0.0], [2992.0, 497.0, 424.0, 0.0], [1386.0, 165.0, 255.0, 0.0], [365.0, 24.0, 91.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2333984375, "command_abs_max": [0.9999653100967407, 0.39996224641799927, 0.6997191309928894]}
{"step": 35200, "actor_lr": 1.85073338395053e-05, "archive_windows": 50000, "env_steps": 35200, "total_transitions": 144179200, "num_steps_per_env": 1, "wm_loss": 0.6002774238586426, "actor_loss": -9.480413436889648, "critic_loss": 0.005375666078180075, "reward": 0.0875517725944519, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11466947942972183, 0.07200714200735092, 0.1342484951019287], "mean_episode_length": 1354.3905325443786, "episode_reward_terms": {"track_linear_velocity": 47.98967742919922, "track_angular_velocity": 51.190616607666016, "upright": 25.973533630371094, "leg_posture": -2.54974102973938, "standstill": -5.907418727874756, "action_rate_l2": -0.5577603578567505, "joint_torques_l2": -0.145059734582901, "dof_pos_limits": -0.0009538627928122878, "terminated": -0.015871763229370117, "unnecessary_wheel_lift": -0.10621984302997589, "rolling_leg_motion": -0.5921929478645325, "obstacle_progress": 3.810701847076416, "wheel_body_intrusion": -0.25005245208740234, "pair_body_intrusion": -0.259965717792511}, "weighted_reward_terms": {"track_linear_velocity": 1.7716337442398071, "track_angular_velocity": 1.8898026943206787, "upright": 0.9588643312454224, "leg_posture": -0.09412872791290283, "standstill": -0.21808403730392456, "action_rate_l2": -0.020590825006365776, "joint_torques_l2": -0.005355166736990213, "dof_pos_limits": -3.5213728551752865e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.00392131507396698, "rolling_leg_motion": -0.02186197228729725, "obstacle_progress": 0.14067958295345306, "wheel_body_intrusion": -0.00923117995262146, "pair_body_intrusion": -0.009597147814929485}, "episode_termination_rates": {"time_out": 0.4437869822485207, "fell_over": 0.029585798816568046, "course_exit": 0.5207100591715976, "illegal_nonwheel_contact": 0.029585798816568046}, "collection_time_s": 0.07561953050084412, "learning_time_s": 0.18523046274203808, "iteration_time_s": 0.30771813175423385, "policy_updates": 34900, "skipped_updates": 0, "invalid_env_resets": 189, "elapsed_s": 10831.67823774903, "nonwheel_terminations": 13308, "contact_bce": 0.29174238443374634, "contact_force_loss": 0.02020643837749958, "collision_bce": 1.6339194189640693e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.6250292901531793e-05, "collision_label_count": 16307.0, "terrain_level_mean": 4.0537109375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 17, 39, 59, 93, 201], "episodes_by_level": [[1450.0, 317.0, 49.0, 0.0], [1878.0, 415.0, 38.0, 0.0], [1614.0, 378.0, 31.0, 0.0], [1356.0, 313.0, 25.0, 0.0], [873.0, 211.0, 19.0, 0.0], [1300.0, 294.0, 10.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 29, 322, 1079], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4305.0, 1757.0, 165.0, 0.0], [4594.0, 1690.0, 196.0, 0.0], [5793.0, 1594.0, 163.0, 0.0], [6952.0, 1262.0, 260.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 42, 570], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [967.0, 794.0, 26.0, 0.0], [1883.0, 1532.0, 67.0, 0.0], [10048.0, 8426.0, 277.0, 0.0]]}, "platform": {"level_counts": [11, 34, 55, 111, 112, 87], "episodes_by_level": [[1787.0, 387.0, 52.0, 0.0], [2167.0, 444.0, 87.0, 0.0], [1837.0, 367.0, 85.0, 0.0], [1430.0, 245.0, 57.0, 0.0], [865.0, 126.0, 46.0, 0.0], [365.0, 36.0, 39.0, 0.0]]}, "slope": {"level_counts": [6, 23, 61, 70, 94, 156], "episodes_by_level": [[1625.0, 346.0, 46.0, 0.0], [1980.0, 409.0, 69.0, 0.0], [1677.0, 356.0, 42.0, 0.0], [1263.0, 263.0, 36.0, 0.0], [881.0, 180.0, 13.0, 0.0], [1056.0, 185.0, 24.0, 0.0]]}, "rubble": {"level_counts": [24, 103, 213, 235, 170, 74], "episodes_by_level": [[3311.0, 750.0, 99.0, 0.0], [4777.0, 1026.0, 210.0, 0.0], [4251.0, 903.0, 351.0, 0.0], [2994.0, 499.0, 424.0, 0.0], [1392.0, 166.0, 255.0, 0.0], [366.0, 24.0, 92.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23583984375, "command_abs_max": [0.9999653100967407, 0.39996224641799927, 0.6997191309928894]}
{"step": 35250, "actor_lr": 1.8378819009479708e-05, "archive_windows": 50000, "env_steps": 35250, "total_transitions": 144384000, "num_steps_per_env": 1, "wm_loss": 0.5886715650558472, "actor_loss": -9.531454086303711, "critic_loss": 0.003546422114595771, "reward": 0.08750037848949432, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11427313834428787, 0.07098931819200516, 0.13329671323299408], "mean_episode_length": 1353.1754385964912, "episode_reward_terms": {"track_linear_velocity": 47.98892593383789, "track_angular_velocity": 51.168968200683594, "upright": 25.955900192260742, "leg_posture": -2.5464725494384766, "standstill": -6.010093688964844, "action_rate_l2": -0.5581672191619873, "joint_torques_l2": -0.14475855231285095, "dof_pos_limits": -0.0014268262311816216, "terminated": -0.018500443547964096, "unnecessary_wheel_lift": -0.10188969224691391, "rolling_leg_motion": -0.5982460975646973, "obstacle_progress": 3.8272414207458496, "wheel_body_intrusion": -0.250389039516449, "pair_body_intrusion": -0.30773499608039856}, "weighted_reward_terms": {"track_linear_velocity": 1.7731969356536865, "track_angular_velocity": 1.890699863433838, "upright": 0.9590737819671631, "leg_posture": -0.0940924808382988, "standstill": -0.22207370400428772, "action_rate_l2": -0.020624348893761635, "joint_torques_l2": -0.005348846781998873, "dof_pos_limits": -5.272140697343275e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.003764837048947811, "rolling_leg_motion": -0.022105267271399498, "obstacle_progress": 0.14141705632209778, "wheel_body_intrusion": -0.009251906536519527, "pair_body_intrusion": -0.011370847001671791}, "episode_termination_rates": {"time_out": 0.49122807017543857, "fell_over": 0.017543859649122806, "course_exit": 0.4678362573099415, "illegal_nonwheel_contact": 0.029239766081871343}, "collection_time_s": 0.07566322258091532, "learning_time_s": 0.18544268768280744, "iteration_time_s": 0.3076520451455037, "policy_updates": 34950, "skipped_updates": 0, "invalid_env_resets": 189, "elapsed_s": 10844.734591379005, "nonwheel_terminations": 13313, "contact_bce": 0.28766676783561707, "contact_force_loss": 0.019924800843000412, "collision_bce": 0.00038006610702723265, "collision_label_rate": 6.118453165981919e-05, "collision_prediction_mean": 4.582371275319019e-06, "collision_label_count": 16344.0, "terrain_level_mean": 4.0537109375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 17, 39, 59, 92, 202], "episodes_by_level": [[1450.0, 317.0, 49.0, 0.0], [1878.0, 415.0, 38.0, 0.0], [1616.0, 378.0, 31.0, 0.0], [1357.0, 313.0, 25.0, 0.0], [876.0, 212.0, 19.0, 0.0], [1304.0, 295.0, 10.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 29, 321, 1080], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4306.0, 1757.0, 165.0, 0.0], [4594.0, 1690.0, 196.0, 0.0], [5806.0, 1596.0, 163.0, 0.0], [6987.0, 1267.0, 260.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 43, 569], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [967.0, 794.0, 26.0, 0.0], [1884.0, 1533.0, 67.0, 0.0], [10071.0, 8448.0, 277.0, 0.0]]}, "platform": {"level_counts": [11, 34, 56, 110, 112, 87], "episodes_by_level": [[1787.0, 387.0, 52.0, 0.0], [2167.0, 444.0, 87.0, 0.0], [1840.0, 367.0, 85.0, 0.0], [1435.0, 245.0, 58.0, 0.0], [868.0, 126.0, 46.0, 0.0], [369.0, 36.0, 39.0, 0.0]]}, "slope": {"level_counts": [6, 23, 61, 70, 93, 157], "episodes_by_level": [[1625.0, 346.0, 46.0, 0.0], [1980.0, 409.0, 69.0, 0.0], [1677.0, 356.0, 42.0, 0.0], [1265.0, 263.0, 36.0, 0.0], [885.0, 181.0, 13.0, 0.0], [1062.0, 188.0, 24.0, 0.0]]}, "rubble": {"level_counts": [23, 106, 211, 235, 170, 74], "episodes_by_level": [[3313.0, 751.0, 99.0, 0.0], [4777.0, 1026.0, 210.0, 0.0], [4262.0, 904.0, 353.0, 0.0], [3002.0, 499.0, 425.0, 0.0], [1397.0, 166.0, 255.0, 0.0], [366.0, 24.0, 92.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.238037109375, "command_abs_max": [0.9999653100967407, 0.39996224641799927, 0.6997191309928894]}
{"step": 35300, "actor_lr": 1.8251391136900787e-05, "archive_windows": 50000, "env_steps": 35300, "total_transitions": 144588800, "num_steps_per_env": 1, "wm_loss": 0.6017314195632935, "actor_loss": -9.543949127197266, "critic_loss": 0.005094402469694614, "reward": 0.08803296834230423, "falls": 8, "interval_steps": 50, "velocity_mae": [0.1132337674498558, 0.07006353884935379, 0.1324118822813034], "mean_episode_length": 1365.8791946308725, "episode_reward_terms": {"track_linear_velocity": 48.564945220947266, "track_angular_velocity": 51.694618225097656, "upright": 26.20973014831543, "leg_posture": -2.5549163818359375, "standstill": -5.617605686187744, "action_rate_l2": -0.5692837834358215, "joint_torques_l2": -0.14761248230934143, "dof_pos_limits": -0.0007334103574976325, "terminated": -0.021341858431696892, "unnecessary_wheel_lift": -0.09207717329263687, "rolling_leg_motion": -0.5907866358757019, "obstacle_progress": 3.92148756980896, "wheel_body_intrusion": -0.24610982835292816, "pair_body_intrusion": -0.30792129039764404}, "weighted_reward_terms": {"track_linear_velocity": 1.7777907848358154, "track_angular_velocity": 1.8923569917678833, "upright": 0.9594454765319824, "leg_posture": -0.0935264453291893, "standstill": -0.20564067363739014, "action_rate_l2": -0.02083946391940117, "joint_torques_l2": -0.005403570365160704, "dof_pos_limits": -2.6847556000575423e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0033706193789839745, "rolling_leg_motion": -0.021626608446240425, "obstacle_progress": 0.1435517817735672, "wheel_body_intrusion": -0.009009209461510181, "pair_body_intrusion": -0.01127190887928009}, "episode_termination_rates": {"time_out": 0.48322147651006714, "fell_over": 0.026845637583892617, "course_exit": 0.46308724832214765, "illegal_nonwheel_contact": 0.040268456375838924}, "collection_time_s": 0.07562811220181175, "learning_time_s": 0.18431349428021349, "iteration_time_s": 0.3075844966404245, "policy_updates": 35000, "skipped_updates": 0, "invalid_env_resets": 189, "elapsed_s": 10857.732731406984, "nonwheel_terminations": 13319, "contact_bce": 0.2848927974700928, "contact_force_loss": 0.02050434984266758, "collision_bce": 7.928564627945889e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 7.984355761436746e-06, "collision_label_count": 16318.0, "terrain_level_mean": 4.05517578125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 17, 39, 57, 94, 202], "episodes_by_level": [[1451.0, 317.0, 49.0, 0.0], [1878.0, 415.0, 38.0, 0.0], [1618.0, 378.0, 31.0, 0.0], [1360.0, 315.0, 25.0, 0.0], [878.0, 212.0, 19.0, 0.0], [1310.0, 297.0, 10.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 30, 318, 1082], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4306.0, 1757.0, 165.0, 0.0], [4594.0, 1690.0, 196.0, 0.0], [5815.0, 1599.0, 163.0, 0.0], [7010.0, 1271.0, 260.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 43, 569], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [967.0, 794.0, 26.0, 0.0], [1885.0, 1534.0, 67.0, 0.0], [10088.0, 8462.0, 277.0, 0.0]]}, "platform": {"level_counts": [11, 34, 56, 111, 111, 87], "episodes_by_level": [[1787.0, 387.0, 52.0, 0.0], [2170.0, 444.0, 87.0, 0.0], [1841.0, 367.0, 85.0, 0.0], [1436.0, 245.0, 58.0, 0.0], [873.0, 126.0, 47.0, 0.0], [371.0, 36.0, 39.0, 0.0]]}, "slope": {"level_counts": [6, 23, 60, 71, 91, 159], "episodes_by_level": [[1625.0, 346.0, 46.0, 0.0], [1980.0, 409.0, 69.0, 0.0], [1679.0, 357.0, 42.0, 0.0], [1268.0, 264.0, 36.0, 0.0], [890.0, 183.0, 14.0, 0.0], [1067.0, 189.0, 24.0, 0.0]]}, "rubble": {"level_counts": [23, 107, 209, 235, 171, 74], "episodes_by_level": [[3315.0, 751.0, 99.0, 0.0], [4782.0, 1026.0, 210.0, 0.0], [4267.0, 905.0, 354.0, 0.0], [3011.0, 501.0, 425.0, 0.0], [1406.0, 167.0, 256.0, 0.0], [370.0, 26.0, 93.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.239990234375, "command_abs_max": [0.9999653100967407, 0.39996224641799927, 0.6997191309928894]}
{"step": 35350, "actor_lr": 1.812505808211995e-05, "archive_windows": 50000, "env_steps": 35350, "total_transitions": 144793600, "num_steps_per_env": 1, "wm_loss": 0.5861326456069946, "actor_loss": -9.52630615234375, "critic_loss": 0.0058572920970618725, "reward": 0.08817119151353836, "falls": 2, "interval_steps": 50, "velocity_mae": [0.11138356477022171, 0.07061751186847687, 0.13306798040866852], "mean_episode_length": 1294.1824324324325, "episode_reward_terms": {"track_linear_velocity": 46.11625289916992, "track_angular_velocity": 48.95194625854492, "upright": 24.851863861083984, "leg_posture": -2.408271551132202, "standstill": -5.354291915893555, "action_rate_l2": -0.5315146446228027, "joint_torques_l2": -0.13883522152900696, "dof_pos_limits": -0.000868684786837548, "terminated": -0.0050553991459310055, "unnecessary_wheel_lift": -0.0902520939707756, "rolling_leg_motion": -0.5626288056373596, "obstacle_progress": 3.748692750930786, "wheel_body_intrusion": -0.2339348942041397, "pair_body_intrusion": -0.2334940880537033}, "weighted_reward_terms": {"track_linear_velocity": 1.7816753387451172, "track_angular_velocity": 1.8912307024002075, "upright": 0.960137665271759, "leg_posture": -0.09304220229387283, "standstill": -0.2068600207567215, "action_rate_l2": -0.020534764975309372, "joint_torques_l2": -0.005363819655030966, "dof_pos_limits": -3.356114393682219e-05, "terminated": -0.0001953124738065526, "unnecessary_wheel_lift": -0.0034868381917476654, "rolling_leg_motion": -0.02173684537410736, "obstacle_progress": 0.14482861757278442, "wheel_body_intrusion": -0.009037941694259644, "pair_body_intrusion": -0.009020911529660225}, "episode_termination_rates": {"time_out": 0.3918918918918919, "fell_over": 0.006756756756756757, "course_exit": 0.5945945945945946, "illegal_nonwheel_contact": 0.006756756756756757}, "collection_time_s": 0.07569610965554602, "learning_time_s": 0.18405631977482698, "iteration_time_s": 0.30751687295083485, "policy_updates": 35050, "skipped_updates": 0, "invalid_env_resets": 189, "elapsed_s": 10870.721458812011, "nonwheel_terminations": 13320, "contact_bce": 0.28937578201293945, "contact_force_loss": 0.02001914195716381, "collision_bce": 0.00011624449689406902, "collision_label_rate": 0.0, "collision_prediction_mean": 8.992019866127521e-05, "collision_label_count": 16345.0, "terrain_level_mean": 4.05908203125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 17, 39, 56, 94, 203], "episodes_by_level": [[1451.0, 317.0, 49.0, 0.0], [1880.0, 415.0, 38.0, 0.0], [1619.0, 378.0, 31.0, 0.0], [1361.0, 316.0, 25.0, 0.0], [885.0, 213.0, 19.0, 0.0], [1322.0, 306.0, 10.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 28, 319, 1083], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4306.0, 1757.0, 165.0, 0.0], [4596.0, 1692.0, 196.0, 0.0], [5824.0, 1601.0, 163.0, 0.0], [7047.0, 1281.0, 261.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 43, 569], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [967.0, 794.0, 26.0, 0.0], [1885.0, 1534.0, 67.0, 0.0], [10107.0, 8478.0, 277.0, 0.0]]}, "platform": {"level_counts": [11, 33, 55, 110, 114, 87], "episodes_by_level": [[1787.0, 387.0, 52.0, 0.0], [2174.0, 445.0, 87.0, 0.0], [1843.0, 369.0, 85.0, 0.0], [1442.0, 248.0, 58.0, 0.0], [875.0, 126.0, 47.0, 0.0], [373.0, 36.0, 39.0, 0.0]]}, "slope": {"level_counts": [6, 23, 60, 71, 91, 159], "episodes_by_level": [[1625.0, 346.0, 46.0, 0.0], [1980.0, 409.0, 69.0, 0.0], [1681.0, 357.0, 42.0, 0.0], [1268.0, 264.0, 36.0, 0.0], [892.0, 183.0, 14.0, 0.0], [1072.0, 192.0, 24.0, 0.0]]}, "rubble": {"level_counts": [24, 106, 205, 237, 173, 74], "episodes_by_level": [[3316.0, 751.0, 99.0, 0.0], [4784.0, 1026.0, 211.0, 0.0], [4274.0, 909.0, 354.0, 0.0], [3018.0, 503.0, 425.0, 0.0], [1407.0, 167.0, 256.0, 0.0], [372.0, 26.0, 93.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.240478515625, "command_abs_max": [0.9999653100967407, 0.39996224641799927, 0.6977967619895935]}
{"step": 35400, "actor_lr": 1.79998276379551e-05, "archive_windows": 50000, "env_steps": 35400, "total_transitions": 144998400, "num_steps_per_env": 1, "wm_loss": 0.5839986205101013, "actor_loss": -9.524511337280273, "critic_loss": 0.005358499474823475, "reward": 0.08826808631420135, "falls": 4, "interval_steps": 50, "velocity_mae": [0.11175355315208435, 0.0702129602432251, 0.13351784646511078], "mean_episode_length": 1365.951388888889, "episode_reward_terms": {"track_linear_velocity": 48.658329010009766, "track_angular_velocity": 51.66456604003906, "upright": 26.18562126159668, "leg_posture": -2.5653553009033203, "standstill": -5.507957935333252, "action_rate_l2": -0.5645055174827576, "joint_torques_l2": -0.14636684954166412, "dof_pos_limits": -0.0007605577120557427, "terminated": -0.010671493597328663, "unnecessary_wheel_lift": -0.07616608589887619, "rolling_leg_motion": -0.5855448842048645, "obstacle_progress": 4.0240702629089355, "wheel_body_intrusion": -0.2543776035308838, "pair_body_intrusion": -0.2509666979312897}, "weighted_reward_terms": {"track_linear_velocity": 1.7811150550842285, "track_angular_velocity": 1.8911569118499756, "upright": 0.9585121870040894, "leg_posture": -0.09390360862016678, "standstill": -0.20161618292331696, "action_rate_l2": -0.020663456991314888, "joint_torques_l2": -0.005357688758522272, "dof_pos_limits": -2.7839852918987162e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.0027880233246833086, "rolling_leg_motion": -0.021433591842651367, "obstacle_progress": 0.14729918539524078, "wheel_body_intrusion": -0.009311371482908726, "pair_body_intrusion": -0.009186516515910625}, "episode_termination_rates": {"time_out": 0.5138888888888888, "fell_over": 0.006944444444444444, "course_exit": 0.4583333333333333, "illegal_nonwheel_contact": 0.027777777777777776}, "collection_time_s": 0.0758714949816931, "learning_time_s": 0.18530909837922083, "iteration_time_s": 0.307451456524435, "policy_updates": 35100, "skipped_updates": 0, "invalid_env_resets": 190, "elapsed_s": 10883.781560964999, "nonwheel_terminations": 13324, "contact_bce": 0.2870578467845917, "contact_force_loss": 0.0207451730966568, "collision_bce": 1.9561117369448766e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.94152908079559e-05, "collision_label_count": 16344.0, "terrain_level_mean": 4.0615234375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 17, 39, 55, 95, 203], "episodes_by_level": [[1451.0, 317.0, 49.0, 0.0], [1882.0, 415.0, 38.0, 0.0], [1620.0, 378.0, 31.0, 0.0], [1363.0, 317.0, 25.0, 0.0], [886.0, 213.0, 19.0, 0.0], [1325.0, 306.0, 10.0, 0.0]]}, "up": {"level_counts": [0, 1, 2, 28, 318, 1084], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4306.0, 1757.0, 165.0, 0.0], [4596.0, 1692.0, 196.0, 0.0], [5830.0, 1602.0, 163.0, 0.0], [7076.0, 1286.0, 261.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 42, 570], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [967.0, 794.0, 26.0, 0.0], [1886.0, 1535.0, 67.0, 0.0], [10126.0, 8495.0, 277.0, 0.0]]}, "platform": {"level_counts": [11, 32, 56, 109, 115, 87], "episodes_by_level": [[1787.0, 387.0, 52.0, 0.0], [2176.0, 446.0, 87.0, 0.0], [1844.0, 369.0, 85.0, 0.0], [1443.0, 249.0, 58.0, 0.0], [878.0, 126.0, 47.0, 0.0], [376.0, 37.0, 39.0, 0.0]]}, "slope": {"level_counts": [6, 23, 60, 71, 89, 161], "episodes_by_level": [[1625.0, 346.0, 46.0, 0.0], [1980.0, 409.0, 69.0, 0.0], [1684.0, 357.0, 42.0, 0.0], [1270.0, 264.0, 36.0, 0.0], [898.0, 185.0, 14.0, 0.0], [1081.0, 195.0, 24.0, 0.0]]}, "rubble": {"level_counts": [24, 105, 205, 237, 173, 75], "episodes_by_level": [[3316.0, 751.0, 99.0, 0.0], [4788.0, 1028.0, 211.0, 0.0], [4282.0, 910.0, 355.0, 0.0], [3024.0, 506.0, 425.0, 0.0], [1414.0, 168.0, 258.0, 0.0], [374.0, 26.0, 93.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.239501953125, "command_abs_max": [0.9999653100967407, 0.39980995655059814, 0.6977967619895935]}
{"step": 35450, "actor_lr": 1.7875707529209937e-05, "archive_windows": 50000, "env_steps": 35450, "total_transitions": 145203200, "num_steps_per_env": 1, "wm_loss": 0.5902299284934998, "actor_loss": -9.514442443847656, "critic_loss": 0.00440810713917017, "reward": 0.08788042515516281, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11346029490232468, 0.07057098299264908, 0.134153813123703], "mean_episode_length": 1377.377358490566, "episode_reward_terms": {"track_linear_velocity": 48.94174575805664, "track_angular_velocity": 52.06696701049805, "upright": 26.39063835144043, "leg_posture": -2.5775787830352783, "standstill": -5.767160892486572, "action_rate_l2": -0.5643441081047058, "joint_torques_l2": -0.14915651082992554, "dof_pos_limits": -0.0010520995128899813, "terminated": -0.02690189704298973, "unnecessary_wheel_lift": -0.0924966111779213, "rolling_leg_motion": -0.6038950681686401, "obstacle_progress": 4.014756202697754, "wheel_body_intrusion": -0.2756161391735077, "pair_body_intrusion": -0.3114190697669983}, "weighted_reward_terms": {"track_linear_velocity": 1.7766282558441162, "track_angular_velocity": 1.8900763988494873, "upright": 0.9580032229423523, "leg_posture": -0.0935683622956276, "standstill": -0.2093529850244522, "action_rate_l2": -0.02048618532717228, "joint_torques_l2": -0.005414512008428574, "dof_pos_limits": -3.8192134525161237e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.003357707755640149, "rolling_leg_motion": -0.02192191779613495, "obstacle_progress": 0.14573915302753448, "wheel_body_intrusion": -0.010005107149481773, "pair_body_intrusion": -0.011304784566164017}, "episode_termination_rates": {"time_out": 0.49056603773584906, "fell_over": 0.012578616352201259, "course_exit": 0.44654088050314467, "illegal_nonwheel_contact": 0.06289308176100629}, "collection_time_s": 0.07564731536083855, "learning_time_s": 0.1852157785196323, "iteration_time_s": 0.3073857769908036, "policy_updates": 35150, "skipped_updates": 0, "invalid_env_resets": 190, "elapsed_s": 10896.825794323988, "nonwheel_terminations": 13334, "contact_bce": 0.29340407252311707, "contact_force_loss": 0.020509082823991776, "collision_bce": 0.0004471055290196091, "collision_label_rate": 0.000122346609714441, "collision_prediction_mean": 9.621908247936517e-05, "collision_label_count": 16347.0, "terrain_level_mean": 4.0625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 17, 39, 55, 93, 205], "episodes_by_level": [[1451.0, 317.0, 49.0, 0.0], [1883.0, 415.0, 38.0, 0.0], [1622.0, 378.0, 31.0, 0.0], [1363.0, 317.0, 25.0, 0.0], [890.0, 215.0, 19.0, 0.0], [1329.0, 306.0, 10.0, 0.0]]}, "up": {"level_counts": [0, 1, 2, 30, 315, 1085], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4306.0, 1757.0, 165.0, 0.0], [4597.0, 1692.0, 196.0, 0.0], [5838.0, 1604.0, 163.0, 0.0], [7110.0, 1294.0, 262.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 41, 571], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [967.0, 794.0, 26.0, 0.0], [1887.0, 1536.0, 67.0, 0.0], [10148.0, 8515.0, 277.0, 0.0]]}, "platform": {"level_counts": [11, 32, 56, 109, 114, 88], "episodes_by_level": [[1787.0, 387.0, 52.0, 0.0], [2177.0, 446.0, 87.0, 0.0], [1845.0, 370.0, 85.0, 0.0], [1448.0, 249.0, 59.0, 0.0], [882.0, 128.0, 47.0, 0.0], [379.0, 37.0, 40.0, 0.0]]}, "slope": {"level_counts": [7, 22, 58, 73, 89, 161], "episodes_by_level": [[1626.0, 346.0, 46.0, 0.0], [1981.0, 409.0, 70.0, 0.0], [1688.0, 359.0, 42.0, 0.0], [1273.0, 264.0, 36.0, 0.0], [903.0, 185.0, 14.0, 0.0], [1085.0, 195.0, 24.0, 0.0]]}, "rubble": {"level_counts": [24, 104, 205, 238, 175, 73], "episodes_by_level": [[3319.0, 751.0, 99.0, 0.0], [4794.0, 1029.0, 211.0, 0.0], [4286.0, 911.0, 355.0, 0.0], [3030.0, 507.0, 425.0, 0.0], [1419.0, 168.0, 259.0, 0.0], [378.0, 26.0, 95.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23876953125, "command_abs_max": [0.9999653100967407, 0.39949488639831543, 0.6996472477912903]}
{"step": 35500, "actor_lr": 1.77527054121974e-05, "archive_windows": 50000, "env_steps": 35500, "total_transitions": 145408000, "num_steps_per_env": 1, "wm_loss": 0.6090394258499146, "actor_loss": -9.52046012878418, "critic_loss": 0.005761764477938414, "reward": 0.08795765042304993, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11113964766263962, 0.07114926725625992, 0.13283352553844452], "mean_episode_length": 1299.8815789473683, "episode_reward_terms": {"track_linear_velocity": 46.29509353637695, "track_angular_velocity": 49.18941879272461, "upright": 24.92676544189453, "leg_posture": -2.4565389156341553, "standstill": -5.437751293182373, "action_rate_l2": -0.5298566818237305, "joint_torques_l2": -0.14004595577716827, "dof_pos_limits": -0.0012779561802744865, "terminated": -0.02284947782754898, "unnecessary_wheel_lift": -0.08069746941328049, "rolling_leg_motion": -0.5601861476898193, "obstacle_progress": 3.675097942352295, "wheel_body_intrusion": -0.24765971302986145, "pair_body_intrusion": -0.27499905228614807}, "weighted_reward_terms": {"track_linear_velocity": 1.780742883682251, "track_angular_velocity": 1.892073154449463, "upright": 0.9588090777397156, "leg_posture": -0.09449087828397751, "standstill": -0.2091633528470993, "action_rate_l2": -0.020380958914756775, "joint_torques_l2": -0.005386874079704285, "dof_pos_limits": -4.915663521387614e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.003104031551629305, "rolling_leg_motion": -0.021547583863139153, "obstacle_progress": 0.14136280119419098, "wheel_body_intrusion": -0.009526241570711136, "pair_body_intrusion": -0.010577850043773651}, "episode_termination_rates": {"time_out": 0.4144736842105263, "fell_over": 0.013157894736842105, "course_exit": 0.5263157894736842, "illegal_nonwheel_contact": 0.046052631578947366}, "collection_time_s": 0.07561188947875053, "learning_time_s": 0.1852947015839163, "iteration_time_s": 0.3073203436083941, "policy_updates": 35200, "skipped_updates": 0, "invalid_env_resets": 190, "elapsed_s": 10909.87219809799, "nonwheel_terminations": 13341, "contact_bce": 0.2922866642475128, "contact_force_loss": 0.020949337631464005, "collision_bce": 0.00029792406712658703, "collision_label_rate": 0.00012231667642481625, "collision_prediction_mean": 0.00010882794595090672, "collision_label_count": 16351.0, "terrain_level_mean": 4.063720703125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 16, 40, 54, 92, 207], "episodes_by_level": [[1451.0, 317.0, 49.0, 0.0], [1884.0, 416.0, 38.0, 0.0], [1622.0, 378.0, 31.0, 0.0], [1366.0, 318.0, 25.0, 0.0], [896.0, 217.0, 19.0, 0.0], [1334.0, 308.0, 10.0, 0.0]]}, "up": {"level_counts": [0, 1, 2, 30, 316, 1084], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4306.0, 1757.0, 165.0, 0.0], [4597.0, 1692.0, 196.0, 0.0], [5846.0, 1605.0, 163.0, 0.0], [7142.0, 1301.0, 263.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 41, 571], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [967.0, 794.0, 26.0, 0.0], [1889.0, 1537.0, 67.0, 0.0], [10166.0, 8529.0, 278.0, 0.0]]}, "platform": {"level_counts": [11, 31, 57, 108, 114, 89], "episodes_by_level": [[1787.0, 387.0, 52.0, 0.0], [2180.0, 447.0, 87.0, 0.0], [1846.0, 370.0, 85.0, 0.0], [1450.0, 250.0, 59.0, 0.0], [883.0, 129.0, 47.0, 0.0], [380.0, 37.0, 40.0, 0.0]]}, "slope": {"level_counts": [7, 22, 56, 74, 90, 161], "episodes_by_level": [[1627.0, 346.0, 46.0, 0.0], [1981.0, 409.0, 70.0, 0.0], [1691.0, 361.0, 42.0, 0.0], [1276.0, 265.0, 36.0, 0.0], [904.0, 185.0, 14.0, 0.0], [1093.0, 197.0, 24.0, 0.0]]}, "rubble": {"level_counts": [25, 104, 203, 240, 176, 71], "episodes_by_level": [[3319.0, 751.0, 99.0, 0.0], [4799.0, 1029.0, 212.0, 0.0], [4294.0, 912.0, 356.0, 0.0], [3035.0, 508.0, 425.0, 0.0], [1427.0, 168.0, 261.0, 0.0], [380.0, 26.0, 97.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.237548828125, "command_abs_max": [0.9999653100967407, 0.39949488639831543, 0.6996472477912903]}
{"step": 35550, "actor_lr": 1.763082887426748e-05, "archive_windows": 50000, "env_steps": 35550, "total_transitions": 145612800, "num_steps_per_env": 1, "wm_loss": 0.6239703893661499, "actor_loss": -9.529296875, "critic_loss": 0.00710759311914444, "reward": 0.08787144720554352, "falls": 7, "interval_steps": 50, "velocity_mae": [0.10943843424320221, 0.0703086256980896, 0.1324673891067505], "mean_episode_length": 1350.5578231292518, "episode_reward_terms": {"track_linear_velocity": 48.23930358886719, "track_angular_velocity": 51.12495422363281, "upright": 25.890052795410156, "leg_posture": -2.5660881996154785, "standstill": -5.918942928314209, "action_rate_l2": -0.5454666614532471, "joint_torques_l2": -0.14600211381912231, "dof_pos_limits": -0.0009349521715193987, "terminated": -0.01846465654671192, "unnecessary_wheel_lift": -0.0886533334851265, "rolling_leg_motion": -0.586143434047699, "obstacle_progress": 3.843867778778076, "wheel_body_intrusion": -0.2612326145172119, "pair_body_intrusion": -0.29078614711761475}, "weighted_reward_terms": {"track_linear_velocity": 1.785902976989746, "track_angular_velocity": 1.8927347660064697, "upright": 0.9584947824478149, "leg_posture": -0.09500104933977127, "standstill": -0.21912957727909088, "action_rate_l2": -0.020194124430418015, "joint_torques_l2": -0.005405252333730459, "dof_pos_limits": -3.461355663603172e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0032821004278957844, "rolling_leg_motion": -0.021700048819184303, "obstacle_progress": 0.14230667054653168, "wheel_body_intrusion": -0.00967128574848175, "pair_body_intrusion": -0.010765409097075462}, "episode_termination_rates": {"time_out": 0.42857142857142855, "fell_over": 0.027210884353741496, "course_exit": 0.5238095238095238, "illegal_nonwheel_contact": 0.027210884353741496}, "collection_time_s": 0.07565047383890487, "learning_time_s": 0.19263888556393793, "iteration_time_s": 0.3072663771146833, "policy_updates": 35250, "skipped_updates": 0, "invalid_env_resets": 190, "elapsed_s": 10923.319706426992, "nonwheel_terminations": 13345, "contact_bce": 0.29418042302131653, "contact_force_loss": 0.021120388060808182, "collision_bce": 0.00017428467981517315, "collision_label_rate": 6.115459837019444e-05, "collision_prediction_mean": 0.0001467113324906677, "collision_label_count": 16352.0, "terrain_level_mean": 4.06640625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 16, 39, 55, 92, 207], "episodes_by_level": [[1451.0, 317.0, 49.0, 0.0], [1884.0, 416.0, 38.0, 0.0], [1623.0, 379.0, 31.0, 0.0], [1366.0, 318.0, 25.0, 0.0], [900.0, 217.0, 19.0, 0.0], [1339.0, 309.0, 10.0, 0.0]]}, "up": {"level_counts": [0, 1, 2, 30, 315, 1085], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4306.0, 1757.0, 165.0, 0.0], [4597.0, 1692.0, 196.0, 0.0], [5854.0, 1606.0, 163.0, 0.0], [7162.0, 1303.0, 263.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 39, 573], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [967.0, 794.0, 26.0, 0.0], [1892.0, 1540.0, 67.0, 0.0], [10193.0, 8550.0, 279.0, 0.0]]}, "platform": {"level_counts": [12, 30, 56, 108, 113, 91], "episodes_by_level": [[1787.0, 387.0, 52.0, 0.0], [2181.0, 447.0, 88.0, 0.0], [1848.0, 371.0, 85.0, 0.0], [1456.0, 251.0, 59.0, 0.0], [885.0, 131.0, 47.0, 0.0], [381.0, 37.0, 40.0, 0.0]]}, "slope": {"level_counts": [7, 22, 53, 77, 91, 160], "episodes_by_level": [[1628.0, 346.0, 46.0, 0.0], [1981.0, 409.0, 70.0, 0.0], [1694.0, 364.0, 42.0, 0.0], [1279.0, 265.0, 36.0, 0.0], [906.0, 185.0, 14.0, 0.0], [1098.0, 199.0, 25.0, 0.0]]}, "rubble": {"level_counts": [24, 107, 200, 241, 174, 73], "episodes_by_level": [[3321.0, 753.0, 99.0, 0.0], [4804.0, 1029.0, 213.0, 0.0], [4301.0, 913.0, 358.0, 0.0], [3041.0, 509.0, 425.0, 0.0], [1432.0, 170.0, 262.0, 0.0], [380.0, 26.0, 97.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.241455078125, "command_abs_max": [0.9999653100967407, 0.39949488639831543, 0.6996472477912903]}
{"step": 35600, "actor_lr": 1.7510085433339104e-05, "archive_windows": 50000, "env_steps": 35600, "total_transitions": 145817600, "num_steps_per_env": 1, "wm_loss": 0.5926665663719177, "actor_loss": -9.52178955078125, "critic_loss": 0.006726710591465235, "reward": 0.08780308812856674, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11012399196624756, 0.06944401562213898, 0.132548987865448], "mean_episode_length": 1344.96, "episode_reward_terms": {"track_linear_velocity": 48.04472732543945, "track_angular_velocity": 50.9061279296875, "upright": 25.79793930053711, "leg_posture": -2.583263874053955, "standstill": -5.960186958312988, "action_rate_l2": -0.5506637096405029, "joint_torques_l2": -0.1447325348854065, "dof_pos_limits": -0.0007331182714551687, "terminated": -0.015761248767375946, "unnecessary_wheel_lift": -0.07924618571996689, "rolling_leg_motion": -0.5801076292991638, "obstacle_progress": 3.8196656703948975, "wheel_body_intrusion": -0.2499479353427887, "pair_body_intrusion": -0.3121640086174011}, "weighted_reward_terms": {"track_linear_velocity": 1.786102533340454, "track_angular_velocity": 1.8924775123596191, "upright": 0.9590598344802856, "leg_posture": -0.09603497385978699, "standstill": -0.22157488763332367, "action_rate_l2": -0.020471379160881042, "joint_torques_l2": -0.0053805517964065075, "dof_pos_limits": -2.725427839322947e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.002946042688563466, "rolling_leg_motion": -0.021565981209278107, "obstacle_progress": 0.1419992297887802, "wheel_body_intrusion": -0.00929202139377594, "pair_body_intrusion": -0.011604956351220608}, "episode_termination_rates": {"time_out": 0.44666666666666666, "fell_over": 0.02666666666666667, "course_exit": 0.5133333333333333, "illegal_nonwheel_contact": 0.013333333333333334}, "collection_time_s": 0.07630957205779851, "learning_time_s": 0.1851056774437893, "iteration_time_s": 0.30720201086348253, "policy_updates": 35300, "skipped_updates": 0, "invalid_env_resets": 192, "elapsed_s": 10936.391586739977, "nonwheel_terminations": 13347, "contact_bce": 0.29584330320358276, "contact_force_loss": 0.0203020628541708, "collision_bce": 8.831948434817605e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 8.883176633389667e-06, "collision_label_count": 16341.0, "terrain_level_mean": 4.068359375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 16, 39, 55, 92, 207], "episodes_by_level": [[1451.0, 317.0, 49.0, 0.0], [1884.0, 416.0, 38.0, 0.0], [1625.0, 379.0, 31.0, 0.0], [1367.0, 318.0, 25.0, 0.0], [901.0, 217.0, 19.0, 0.0], [1347.0, 310.0, 10.0, 0.0]]}, "up": {"level_counts": [0, 1, 2, 28, 318, 1084], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4306.0, 1757.0, 165.0, 0.0], [4599.0, 1694.0, 196.0, 0.0], [5860.0, 1607.0, 163.0, 0.0], [7193.0, 1311.0, 263.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 39, 573], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [967.0, 794.0, 26.0, 0.0], [1893.0, 1541.0, 67.0, 0.0], [10215.0, 8571.0, 279.0, 0.0]]}, "platform": {"level_counts": [12, 28, 58, 105, 115, 92], "episodes_by_level": [[1787.0, 387.0, 52.0, 0.0], [2184.0, 449.0, 88.0, 0.0], [1850.0, 371.0, 85.0, 0.0], [1461.0, 254.0, 59.0, 0.0], [888.0, 132.0, 47.0, 0.0], [387.0, 37.0, 40.0, 0.0]]}, "slope": {"level_counts": [8, 21, 53, 76, 91, 161], "episodes_by_level": [[1628.0, 346.0, 46.0, 0.0], [1984.0, 409.0, 71.0, 0.0], [1695.0, 364.0, 42.0, 0.0], [1281.0, 266.0, 36.0, 0.0], [909.0, 186.0, 14.0, 0.0], [1101.0, 200.0, 25.0, 0.0]]}, "rubble": {"level_counts": [24, 107, 201, 239, 175, 73], "episodes_by_level": [[3321.0, 753.0, 99.0, 0.0], [4807.0, 1029.0, 213.0, 0.0], [4310.0, 914.0, 358.0, 0.0], [3050.0, 510.0, 427.0, 0.0], [1434.0, 170.0, 262.0, 0.0], [380.0, 26.0, 97.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.239501953125, "command_abs_max": [0.9999653100967407, 0.3989330530166626, 0.6996472477912903]}
{"step": 35650, "actor_lr": 1.7390482537436482e-05, "archive_windows": 50000, "env_steps": 35650, "total_transitions": 146022400, "num_steps_per_env": 1, "wm_loss": 0.5709241032600403, "actor_loss": -9.554622650146484, "critic_loss": 0.004310281481593847, "reward": 0.08749878406524658, "falls": 13, "interval_steps": 50, "velocity_mae": [0.11163646727800369, 0.0701400637626648, 0.1327277421951294], "mean_episode_length": 1348.9795918367347, "episode_reward_terms": {"track_linear_velocity": 48.062313079833984, "track_angular_velocity": 51.05155563354492, "upright": 25.872217178344727, "leg_posture": -2.5779762268066406, "standstill": -6.170566082000732, "action_rate_l2": -0.5571114420890808, "joint_torques_l2": -0.1462443768978119, "dof_pos_limits": -0.0005414138431660831, "terminated": -0.03425143286585808, "unnecessary_wheel_lift": -0.08187802135944366, "rolling_leg_motion": -0.5883135795593262, "obstacle_progress": 3.759793996810913, "wheel_body_intrusion": -0.25232765078544617, "pair_body_intrusion": -0.3025919497013092}, "weighted_reward_terms": {"track_linear_velocity": 1.7814322710037231, "track_angular_velocity": 1.892228603363037, "upright": 0.9589551091194153, "leg_posture": -0.09555282443761826, "standstill": -0.22871236503124237, "action_rate_l2": -0.020649366080760956, "joint_torques_l2": -0.005420555826276541, "dof_pos_limits": -2.006753311434295e-05, "terminated": -0.0012695310870185494, "unnecessary_wheel_lift": -0.003034813329577446, "rolling_leg_motion": -0.02180587500333786, "obstacle_progress": 0.13935697078704834, "wheel_body_intrusion": -0.009352537803351879, "pair_body_intrusion": -0.01121558714658022}, "episode_termination_rates": {"time_out": 0.43537414965986393, "fell_over": 0.027210884353741496, "course_exit": 0.47619047619047616, "illegal_nonwheel_contact": 0.07482993197278912}, "collection_time_s": 0.07598231969866902, "learning_time_s": 0.185027430341579, "iteration_time_s": 0.3071372546700416, "policy_updates": 35350, "skipped_updates": 0, "invalid_env_resets": 193, "elapsed_s": 10949.443128986983, "nonwheel_terminations": 13358, "contact_bce": 0.28651872277259827, "contact_force_loss": 0.020584749057888985, "collision_bce": 0.00010416810982860625, "collision_label_rate": 6.123323692008853e-05, "collision_prediction_mean": 0.0001002838253043592, "collision_label_count": 16331.0, "terrain_level_mean": 4.06689453125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 16, 39, 55, 92, 207], "episodes_by_level": [[1451.0, 317.0, 49.0, 0.0], [1885.0, 416.0, 38.0, 0.0], [1626.0, 379.0, 31.0, 0.0], [1368.0, 318.0, 25.0, 0.0], [903.0, 217.0, 19.0, 0.0], [1358.0, 313.0, 10.0, 0.0]]}, "up": {"level_counts": [0, 1, 2, 29, 321, 1080], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4306.0, 1757.0, 165.0, 0.0], [4599.0, 1694.0, 196.0, 0.0], [5869.0, 1608.0, 163.0, 0.0], [7220.0, 1318.0, 264.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 37, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [967.0, 794.0, 26.0, 0.0], [1894.0, 1542.0, 67.0, 0.0], [10238.0, 8591.0, 279.0, 0.0]]}, "platform": {"level_counts": [12, 28, 58, 106, 115, 91], "episodes_by_level": [[1788.0, 387.0, 52.0, 0.0], [2184.0, 449.0, 88.0, 0.0], [1850.0, 371.0, 85.0, 0.0], [1462.0, 254.0, 59.0, 0.0], [892.0, 132.0, 48.0, 0.0], [391.0, 37.0, 41.0, 0.0]]}, "slope": {"level_counts": [8, 21, 51, 78, 91, 161], "episodes_by_level": [[1628.0, 346.0, 46.0, 0.0], [1986.0, 409.0, 71.0, 0.0], [1701.0, 366.0, 42.0, 0.0], [1283.0, 266.0, 36.0, 0.0], [909.0, 186.0, 14.0, 0.0], [1105.0, 201.0, 25.0, 0.0]]}, "rubble": {"level_counts": [24, 107, 201, 239, 176, 72], "episodes_by_level": [[3322.0, 753.0, 99.0, 0.0], [4810.0, 1030.0, 213.0, 0.0], [4314.0, 914.0, 359.0, 0.0], [3058.0, 511.0, 427.0, 0.0], [1441.0, 171.0, 263.0, 0.0], [383.0, 27.0, 99.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.240234375, "command_abs_max": [0.9999653100967407, 0.39931046962738037, 0.6996472477912903]}
{"step": 35700, "actor_lr": 1.7272027564229602e-05, "archive_windows": 50000, "env_steps": 35700, "total_transitions": 146227200, "num_steps_per_env": 1, "wm_loss": 0.5951195955276489, "actor_loss": -9.538808822631836, "critic_loss": 0.004267855081707239, "reward": 0.0873698815703392, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11230206489562988, 0.0712328776717186, 0.13257861137390137], "mean_episode_length": 1373.7218934911243, "episode_reward_terms": {"track_linear_velocity": 48.87816619873047, "track_angular_velocity": 51.98781204223633, "upright": 26.35393524169922, "leg_posture": -2.607151985168457, "standstill": -6.460552215576172, "action_rate_l2": -0.5742673873901367, "joint_torques_l2": -0.14918678998947144, "dof_pos_limits": -0.0005342517979443073, "terminated": -0.018781352788209915, "unnecessary_wheel_lift": -0.0887906402349472, "rolling_leg_motion": -0.5969162583351135, "obstacle_progress": 3.8322434425354004, "wheel_body_intrusion": -0.24806421995162964, "pair_body_intrusion": -0.28599923849105835}, "weighted_reward_terms": {"track_linear_velocity": 1.7790414094924927, "track_angular_velocity": 1.8922247886657715, "upright": 0.9592165350914001, "leg_posture": -0.09489373117685318, "standstill": -0.23514775931835175, "action_rate_l2": -0.02090187929570675, "joint_torques_l2": -0.0054300217889249325, "dof_pos_limits": -1.9445413272478618e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0032317545264959335, "rolling_leg_motion": -0.02172624133527279, "obstacle_progress": 0.1394839584827423, "wheel_body_intrusion": -0.009028909727931023, "pair_body_intrusion": -0.010409648530185223}, "episode_termination_rates": {"time_out": 0.5088757396449705, "fell_over": 0.01775147928994083, "course_exit": 0.44970414201183434, "illegal_nonwheel_contact": 0.04142011834319527}, "collection_time_s": 0.07565861629555001, "learning_time_s": 0.18518378872191532, "iteration_time_s": 0.3070724469548465, "policy_updates": 35400, "skipped_updates": 0, "invalid_env_resets": 193, "elapsed_s": 10962.48635628802, "nonwheel_terminations": 13365, "contact_bce": 0.2808094322681427, "contact_force_loss": 0.01923327147960663, "collision_bce": 0.0002420355740468949, "collision_label_rate": 0.00012239902571309358, "collision_prediction_mean": 0.00010174149792874232, "collision_label_count": 16340.0, "terrain_level_mean": 4.069580078125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 16, 37, 56, 92, 208], "episodes_by_level": [[1451.0, 317.0, 49.0, 0.0], [1885.0, 416.0, 38.0, 0.0], [1630.0, 381.0, 31.0, 0.0], [1372.0, 319.0, 25.0, 0.0], [906.0, 218.0, 19.0, 0.0], [1362.0, 315.0, 10.0, 0.0]]}, "up": {"level_counts": [0, 1, 2, 29, 321, 1080], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4306.0, 1757.0, 165.0, 0.0], [4601.0, 1694.0, 196.0, 0.0], [5880.0, 1609.0, 163.0, 0.0], [7248.0, 1326.0, 264.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 37, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [968.0, 795.0, 26.0, 0.0], [1896.0, 1543.0, 67.0, 0.0], [10259.0, 8611.0, 279.0, 0.0]]}, "platform": {"level_counts": [11, 28, 58, 104, 118, 91], "episodes_by_level": [[1789.0, 388.0, 52.0, 0.0], [2185.0, 450.0, 88.0, 0.0], [1852.0, 372.0, 85.0, 0.0], [1472.0, 257.0, 59.0, 0.0], [896.0, 132.0, 48.0, 0.0], [394.0, 37.0, 41.0, 0.0]]}, "slope": {"level_counts": [8, 21, 51, 78, 90, 162], "episodes_by_level": [[1629.0, 346.0, 46.0, 0.0], [1986.0, 409.0, 71.0, 0.0], [1703.0, 366.0, 42.0, 0.0], [1285.0, 266.0, 36.0, 0.0], [911.0, 187.0, 14.0, 0.0], [1108.0, 202.0, 25.0, 0.0]]}, "rubble": {"level_counts": [25, 107, 201, 238, 173, 75], "episodes_by_level": [[3322.0, 753.0, 99.0, 0.0], [4814.0, 1030.0, 214.0, 0.0], [4321.0, 914.0, 360.0, 0.0], [3072.0, 512.0, 428.0, 0.0], [1450.0, 174.0, 264.0, 0.0], [383.0, 27.0, 99.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.241943359375, "command_abs_max": [0.9999653100967407, 0.39931046962738037, 0.6996472477912903]}
{"step": 35750, "actor_lr": 1.715472782057919e-05, "archive_windows": 50000, "env_steps": 35750, "total_transitions": 146432000, "num_steps_per_env": 1, "wm_loss": 0.5555776357650757, "actor_loss": -9.535562515258789, "critic_loss": 0.004284591414034367, "reward": 0.08786163479089737, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11093923449516296, 0.06984898447990417, 0.13269342482089996], "mean_episode_length": 1335.7278481012659, "episode_reward_terms": {"track_linear_velocity": 47.658363342285156, "track_angular_velocity": 50.55331039428711, "upright": 25.637798309326172, "leg_posture": -2.548130989074707, "standstill": -5.777535438537598, "action_rate_l2": -0.5548050999641418, "joint_torques_l2": -0.14339087903499603, "dof_pos_limits": -0.00035374503931961954, "terminated": -0.02608843334019184, "unnecessary_wheel_lift": -0.0888223871588707, "rolling_leg_motion": -0.5762967467308044, "obstacle_progress": 3.728347063064575, "wheel_body_intrusion": -0.24278192222118378, "pair_body_intrusion": -0.26040756702423096}, "weighted_reward_terms": {"track_linear_velocity": 1.7839847803115845, "track_angular_velocity": 1.892350673675537, "upright": 0.9596939086914062, "leg_posture": -0.09538360685110092, "standstill": -0.21626916527748108, "action_rate_l2": -0.02076789364218712, "joint_torques_l2": -0.005367518402636051, "dof_pos_limits": -1.3241658052720595e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.0033248683903366327, "rolling_leg_motion": -0.021572386845946312, "obstacle_progress": 0.13956236839294434, "wheel_body_intrusion": -0.0090880012139678, "pair_body_intrusion": -0.009747778065502644}, "episode_termination_rates": {"time_out": 0.4177215189873418, "fell_over": 0.0379746835443038, "course_exit": 0.5189873417721519, "illegal_nonwheel_contact": 0.03164556962025317}, "collection_time_s": 0.0757017424784135, "learning_time_s": 0.18509913726709784, "iteration_time_s": 0.3070077634782944, "policy_updates": 35450, "skipped_updates": 0, "invalid_env_resets": 193, "elapsed_s": 10975.527544349025, "nonwheel_terminations": 13370, "contact_bce": 0.28443068265914917, "contact_force_loss": 0.02044696733355522, "collision_bce": 9.743998089106753e-05, "collision_label_rate": 6.11733048572205e-05, "collision_prediction_mean": 5.0343624025117606e-05, "collision_label_count": 16347.0, "terrain_level_mean": 4.06982421875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 16, 37, 56, 90, 210], "episodes_by_level": [[1451.0, 317.0, 49.0, 0.0], [1886.0, 416.0, 38.0, 0.0], [1630.0, 381.0, 31.0, 0.0], [1373.0, 319.0, 25.0, 0.0], [909.0, 220.0, 19.0, 0.0], [1366.0, 316.0, 10.0, 0.0]]}, "up": {"level_counts": [0, 1, 2, 29, 320, 1081], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4306.0, 1757.0, 165.0, 0.0], [4603.0, 1695.0, 196.0, 0.0], [5894.0, 1610.0, 164.0, 0.0], [7284.0, 1332.0, 264.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 39, 572], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [968.0, 795.0, 26.0, 0.0], [1896.0, 1543.0, 67.0, 0.0], [10281.0, 8631.0, 280.0, 0.0]]}, "platform": {"level_counts": [11, 27, 58, 105, 118, 91], "episodes_by_level": [[1789.0, 388.0, 52.0, 0.0], [2187.0, 451.0, 88.0, 0.0], [1853.0, 373.0, 85.0, 0.0], [1475.0, 257.0, 59.0, 0.0], [900.0, 132.0, 48.0, 0.0], [394.0, 37.0, 41.0, 0.0]]}, "slope": {"level_counts": [8, 21, 50, 79, 90, 162], "episodes_by_level": [[1629.0, 346.0, 46.0, 0.0], [1989.0, 409.0, 71.0, 0.0], [1707.0, 367.0, 42.0, 0.0], [1287.0, 266.0, 36.0, 0.0], [914.0, 187.0, 14.0, 0.0], [1113.0, 202.0, 25.0, 0.0]]}, "rubble": {"level_counts": [25, 107, 203, 236, 174, 74], "episodes_by_level": [[3323.0, 753.0, 99.0, 0.0], [4820.0, 1032.0, 214.0, 0.0], [4325.0, 914.0, 362.0, 0.0], [3078.0, 513.0, 430.0, 0.0], [1459.0, 175.0, 265.0, 0.0], [386.0, 28.0, 101.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23779296875, "command_abs_max": [0.9999653100967407, 0.39931046962738037, 0.6996472477912903]}
{"step": 35800, "actor_lr": 1.703859054208596e-05, "archive_windows": 50000, "env_steps": 35800, "total_transitions": 146636800, "num_steps_per_env": 1, "wm_loss": 0.5772607922554016, "actor_loss": -9.523321151733398, "critic_loss": 0.004974245559424162, "reward": 0.08782187104225159, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11215770244598389, 0.07077327370643616, 0.13296544551849365], "mean_episode_length": 1334.0615384615385, "episode_reward_terms": {"track_linear_velocity": 47.48306655883789, "track_angular_velocity": 50.48122787475586, "upright": 25.655010223388672, "leg_posture": -2.5053515434265137, "standstill": -5.830887794494629, "action_rate_l2": -0.5608120560646057, "joint_torques_l2": -0.1416420340538025, "dof_pos_limits": -0.00024980370653793216, "terminated": -0.01302794273942709, "unnecessary_wheel_lift": -0.07791253179311752, "rolling_leg_motion": -0.5759387612342834, "obstacle_progress": 3.7567663192749023, "wheel_body_intrusion": -0.22688645124435425, "pair_body_intrusion": -0.2835880517959595}, "weighted_reward_terms": {"track_linear_velocity": 1.7796430587768555, "track_angular_velocity": 1.8920127153396606, "upright": 0.961537778377533, "leg_posture": -0.09389939904212952, "standstill": -0.21853893995285034, "action_rate_l2": -0.021018972620368004, "joint_torques_l2": -0.005308676976710558, "dof_pos_limits": -9.362525815959089e-06, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.0029201251454651356, "rolling_leg_motion": -0.021585915237665176, "obstacle_progress": 0.14080184698104858, "wheel_body_intrusion": -0.008503598161041737, "pair_body_intrusion": -0.010628747753798962}, "episode_termination_rates": {"time_out": 0.45384615384615384, "fell_over": 0.015384615384615385, "course_exit": 0.5153846153846153, "illegal_nonwheel_contact": 0.03076923076923077}, "collection_time_s": 0.07566126475925557, "learning_time_s": 0.18516157796024346, "iteration_time_s": 0.30694329600846404, "policy_updates": 35500, "skipped_updates": 0, "invalid_env_resets": 193, "elapsed_s": 10988.569997103012, "nonwheel_terminations": 13374, "contact_bce": 0.28803110122680664, "contact_force_loss": 0.020396625623106956, "collision_bce": 1.8354057829128578e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.8323466065339744e-05, "collision_label_count": 16340.0, "terrain_level_mean": 4.0732421875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 16, 37, 56, 89, 211], "episodes_by_level": [[1451.0, 317.0, 49.0, 0.0], [1887.0, 417.0, 38.0, 0.0], [1632.0, 381.0, 32.0, 0.0], [1373.0, 319.0, 25.0, 0.0], [913.0, 221.0, 19.0, 0.0], [1373.0, 317.0, 10.0, 0.0]]}, "up": {"level_counts": [0, 1, 2, 29, 317, 1084], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4306.0, 1757.0, 165.0, 0.0], [4603.0, 1695.0, 196.0, 0.0], [5905.0, 1614.0, 164.0, 0.0], [7308.0, 1335.0, 265.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 36, 575], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [968.0, 795.0, 26.0, 0.0], [1899.0, 1546.0, 67.0, 0.0], [10303.0, 8651.0, 280.0, 0.0]]}, "platform": {"level_counts": [11, 27, 58, 103, 119, 92], "episodes_by_level": [[1789.0, 388.0, 52.0, 0.0], [2187.0, 451.0, 88.0, 0.0], [1854.0, 373.0, 85.0, 0.0], [1479.0, 259.0, 59.0, 0.0], [901.0, 133.0, 48.0, 0.0], [395.0, 37.0, 41.0, 0.0]]}, "slope": {"level_counts": [8, 21, 50, 78, 90, 163], "episodes_by_level": [[1629.0, 346.0, 46.0, 0.0], [1989.0, 409.0, 71.0, 0.0], [1707.0, 367.0, 42.0, 0.0], [1290.0, 267.0, 36.0, 0.0], [918.0, 188.0, 14.0, 0.0], [1116.0, 203.0, 25.0, 0.0]]}, "rubble": {"level_counts": [25, 107, 202, 235, 177, 73], "episodes_by_level": [[3323.0, 753.0, 99.0, 0.0], [4821.0, 1032.0, 214.0, 0.0], [4332.0, 916.0, 362.0, 0.0], [3085.0, 516.0, 431.0, 0.0], [1464.0, 175.0, 266.0, 0.0], [388.0, 28.0, 102.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.242919921875, "command_abs_max": [0.9999653100967407, 0.3991795778274536, 0.6996472477912903]}
{"step": 35850, "actor_lr": 1.692362289264431e-05, "archive_windows": 50000, "env_steps": 35850, "total_transitions": 146841600, "num_steps_per_env": 1, "wm_loss": 0.6144540905952454, "actor_loss": -9.532411575317383, "critic_loss": 0.004920536186546087, "reward": 0.0875772014260292, "falls": 2, "interval_steps": 50, "velocity_mae": [0.1131657138466835, 0.06959309428930283, 0.1334678679704666], "mean_episode_length": 1381.8918918918919, "episode_reward_terms": {"track_linear_velocity": 49.149391174316406, "track_angular_velocity": 52.27264404296875, "upright": 26.536041259765625, "leg_posture": -2.5877177715301514, "standstill": -6.281290531158447, "action_rate_l2": -0.5850489139556885, "joint_torques_l2": -0.14778465032577515, "dof_pos_limits": -0.0005801136139780283, "terminated": -0.005398014094680548, "unnecessary_wheel_lift": -0.07706061005592346, "rolling_leg_motion": -0.5882107019424438, "obstacle_progress": 3.878476142883301, "wheel_body_intrusion": -0.25670677423477173, "pair_body_intrusion": -0.2845439016819}, "weighted_reward_terms": {"track_linear_velocity": 1.7783372402191162, "track_angular_velocity": 1.8913434743881226, "upright": 0.9601345062255859, "leg_posture": -0.09362953156232834, "standstill": -0.2272714227437973, "action_rate_l2": -0.021168405190110207, "joint_torques_l2": -0.005347185768187046, "dof_pos_limits": -2.0989835320506245e-05, "terminated": -0.0001953124738065526, "unnecessary_wheel_lift": -0.0027882286813110113, "rolling_leg_motion": -0.021282805129885674, "obstacle_progress": 0.14033211767673492, "wheel_body_intrusion": -0.009288236498832703, "pair_body_intrusion": -0.010295447893440723}, "episode_termination_rates": {"time_out": 0.4864864864864865, "fell_over": 0.0, "course_exit": 0.5, "illegal_nonwheel_contact": 0.013513513513513514}, "collection_time_s": 0.07545057397917844, "learning_time_s": 0.1853498623240739, "iteration_time_s": 0.30687897168898226, "policy_updates": 35550, "skipped_updates": 0, "invalid_env_resets": 193, "elapsed_s": 11001.611135050014, "nonwheel_terminations": 13376, "contact_bce": 0.29029878973960876, "contact_force_loss": 0.02069062553346157, "collision_bce": 0.00012220052303746343, "collision_label_rate": 0.0001222942373715341, "collision_prediction_mean": 0.0001475644821766764, "collision_label_count": 16354.0, "terrain_level_mean": 4.075439453125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 16, 37, 55, 90, 211], "episodes_by_level": [[1451.0, 317.0, 49.0, 0.0], [1888.0, 417.0, 38.0, 0.0], [1635.0, 381.0, 32.0, 0.0], [1375.0, 320.0, 25.0, 0.0], [915.0, 221.0, 19.0, 0.0], [1378.0, 317.0, 10.0, 0.0]]}, "up": {"level_counts": [0, 1, 2, 28, 317, 1085], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4306.0, 1757.0, 165.0, 0.0], [4604.0, 1696.0, 196.0, 0.0], [5911.0, 1616.0, 164.0, 0.0], [7338.0, 1345.0, 265.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 36, 575], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [968.0, 795.0, 26.0, 0.0], [1899.0, 1546.0, 67.0, 0.0], [10324.0, 8670.0, 280.0, 0.0]]}, "platform": {"level_counts": [11, 27, 57, 104, 119, 92], "episodes_by_level": [[1789.0, 388.0, 52.0, 0.0], [2188.0, 451.0, 88.0, 0.0], [1857.0, 374.0, 85.0, 0.0], [1483.0, 259.0, 59.0, 0.0], [902.0, 133.0, 48.0, 0.0], [398.0, 38.0, 41.0, 0.0]]}, "slope": {"level_counts": [8, 21, 50, 78, 90, 163], "episodes_by_level": [[1629.0, 346.0, 46.0, 0.0], [1989.0, 409.0, 71.0, 0.0], [1709.0, 367.0, 42.0, 0.0], [1290.0, 267.0, 36.0, 0.0], [920.0, 188.0, 14.0, 0.0], [1120.0, 204.0, 25.0, 0.0]]}, "rubble": {"level_counts": [25, 106, 202, 233, 180, 73], "episodes_by_level": [[3323.0, 753.0, 99.0, 0.0], [4824.0, 1033.0, 214.0, 0.0], [4338.0, 917.0, 362.0, 0.0], [3094.0, 519.0, 431.0, 0.0], [1471.0, 176.0, 266.0, 0.0], [391.0, 28.0, 103.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.24609375, "command_abs_max": [0.9999653100967407, 0.3992006480693817, 0.699394941329956]}
{"step": 35900, "actor_lr": 1.6809831964000392e-05, "archive_windows": 50000, "env_steps": 35900, "total_transitions": 147046400, "num_steps_per_env": 1, "wm_loss": 0.5948238968849182, "actor_loss": -9.50799560546875, "critic_loss": 0.007529051508754492, "reward": 0.08764414489269257, "falls": 10, "interval_steps": 50, "velocity_mae": [0.1123681515455246, 0.06973516196012497, 0.13221649825572968], "mean_episode_length": 1384.6423841059602, "episode_reward_terms": {"track_linear_velocity": 49.28635787963867, "track_angular_velocity": 52.414180755615234, "upright": 26.576852798461914, "leg_posture": -2.5937349796295166, "standstill": -6.186702728271484, "action_rate_l2": -0.5905624032020569, "joint_torques_l2": -0.1490633636713028, "dof_pos_limits": -0.0008631084929220378, "terminated": -0.027043793350458145, "unnecessary_wheel_lift": -0.08868009597063065, "rolling_leg_motion": -0.6008492112159729, "obstacle_progress": 3.8403913974761963, "wheel_body_intrusion": -0.24645331501960754, "pair_body_intrusion": -0.2780337929725647}, "weighted_reward_terms": {"track_linear_velocity": 1.7797505855560303, "track_angular_velocity": 1.8926974534988403, "upright": 0.9597010612487793, "leg_posture": -0.09366083145141602, "standstill": -0.22340436279773712, "action_rate_l2": -0.021325450390577316, "joint_torques_l2": -0.005382739007472992, "dof_pos_limits": -3.1167201086645946e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.003202274674549699, "rolling_leg_motion": -0.02169691026210785, "obstacle_progress": 0.13867810368537903, "wheel_body_intrusion": -0.00889953039586544, "pair_body_intrusion": -0.010039914399385452}, "episode_termination_rates": {"time_out": 0.47019867549668876, "fell_over": 0.026490066225165563, "course_exit": 0.46357615894039733, "illegal_nonwheel_contact": 0.06622516556291391}, "collection_time_s": 0.07598843086045236, "learning_time_s": 0.18559281318099238, "iteration_time_s": 0.3068159136864062, "policy_updates": 35600, "skipped_updates": 0, "invalid_env_resets": 194, "elapsed_s": 11014.691301341983, "nonwheel_terminations": 13386, "contact_bce": 0.29447972774505615, "contact_force_loss": 0.0199891347438097, "collision_bce": 1.5072469977894798e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.4988148905104026e-05, "collision_label_count": 16360.0, "terrain_level_mean": 4.075439453125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 16, 37, 55, 88, 213], "episodes_by_level": [[1451.0, 317.0, 49.0, 0.0], [1888.0, 417.0, 38.0, 0.0], [1637.0, 381.0, 32.0, 0.0], [1375.0, 320.0, 25.0, 0.0], [922.0, 223.0, 19.0, 0.0], [1382.0, 319.0, 10.0, 0.0]]}, "up": {"level_counts": [0, 1, 2, 28, 315, 1087], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4306.0, 1757.0, 165.0, 0.0], [4606.0, 1697.0, 196.0, 0.0], [5920.0, 1620.0, 164.0, 0.0], [7367.0, 1352.0, 265.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 36, 575], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [968.0, 795.0, 26.0, 0.0], [1900.0, 1547.0, 67.0, 0.0], [10339.0, 8685.0, 280.0, 0.0]]}, "platform": {"level_counts": [11, 27, 57, 105, 118, 92], "episodes_by_level": [[1789.0, 388.0, 52.0, 0.0], [2190.0, 451.0, 88.0, 0.0], [1858.0, 374.0, 85.0, 0.0], [1484.0, 259.0, 59.0, 0.0], [909.0, 134.0, 49.0, 0.0], [404.0, 39.0, 42.0, 0.0]]}, "slope": {"level_counts": [8, 21, 49, 79, 90, 163], "episodes_by_level": [[1630.0, 346.0, 46.0, 0.0], [1989.0, 409.0, 71.0, 0.0], [1713.0, 368.0, 42.0, 0.0], [1292.0, 267.0, 36.0, 0.0], [920.0, 188.0, 14.0, 0.0], [1127.0, 205.0, 25.0, 0.0]]}, "rubble": {"level_counts": [26, 105, 202, 235, 179, 72], "episodes_by_level": [[3323.0, 753.0, 99.0, 0.0], [4827.0, 1033.0, 215.0, 0.0], [4341.0, 917.0, 362.0, 0.0], [3099.0, 519.0, 431.0, 0.0], [1482.0, 176.0, 268.0, 0.0], [398.0, 29.0, 104.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.242919921875, "command_abs_max": [0.9999653100967407, 0.3992006480693817, 0.699394941329956]}
{"step": 35950, "actor_lr": 1.6697224775314714e-05, "archive_windows": 50000, "env_steps": 35950, "total_transitions": 147251200, "num_steps_per_env": 1, "wm_loss": 0.5617591142654419, "actor_loss": -9.53786849975586, "critic_loss": 0.004480570554733276, "reward": 0.08780676871538162, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11193641275167465, 0.07063651084899902, 0.13282784819602966], "mean_episode_length": 1349.3035714285713, "episode_reward_terms": {"track_linear_velocity": 48.02825927734375, "track_angular_velocity": 51.06482696533203, "upright": 25.919055938720703, "leg_posture": -2.550625801086426, "standstill": -5.814763069152832, "action_rate_l2": -0.5595905184745789, "joint_torques_l2": -0.14525483548641205, "dof_pos_limits": -0.0007035533781163394, "terminated": -0.01581215113401413, "unnecessary_wheel_lift": -0.0841548889875412, "rolling_leg_motion": -0.5770184993743896, "obstacle_progress": 3.7482714653015137, "wheel_body_intrusion": -0.2577386498451233, "pair_body_intrusion": -0.27676287293434143}, "weighted_reward_terms": {"track_linear_velocity": 1.7797425985336304, "track_angular_velocity": 1.892266035079956, "upright": 0.9604604840278625, "leg_posture": -0.09451638162136078, "standstill": -0.2154727578163147, "action_rate_l2": -0.020736273378133774, "joint_torques_l2": -0.00538258533924818, "dof_pos_limits": -2.6070982130477205e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.0031184565741568804, "rolling_leg_motion": -0.021382085978984833, "obstacle_progress": 0.13889652490615845, "wheel_body_intrusion": -0.009550802409648895, "pair_body_intrusion": -0.010255767963826656}, "episode_termination_rates": {"time_out": 0.4642857142857143, "fell_over": 0.023809523809523808, "course_exit": 0.5, "illegal_nonwheel_contact": 0.02976190476190476}, "collection_time_s": 0.0758127187017817, "learning_time_s": 0.18534340256243012, "iteration_time_s": 0.30675243936339364, "policy_updates": 35650, "skipped_updates": 0, "invalid_env_resets": 194, "elapsed_s": 11027.750195114, "nonwheel_terminations": 13391, "contact_bce": 0.2882813513278961, "contact_force_loss": 0.02086133509874344, "collision_bce": 1.2046323718095664e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.2029679055558518e-05, "collision_label_count": 16342.0, "terrain_level_mean": 4.078125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 16, 37, 55, 88, 213], "episodes_by_level": [[1451.0, 317.0, 49.0, 0.0], [1888.0, 417.0, 38.0, 0.0], [1638.0, 381.0, 32.0, 0.0], [1378.0, 320.0, 25.0, 0.0], [922.0, 223.0, 19.0, 0.0], [1392.0, 321.0, 10.0, 0.0]]}, "up": {"level_counts": [0, 1, 3, 26, 317, 1086], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4306.0, 1757.0, 165.0, 0.0], [4608.0, 1698.0, 196.0, 0.0], [5929.0, 1621.0, 164.0, 0.0], [7398.0, 1357.0, 265.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 33, 578], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [968.0, 795.0, 26.0, 0.0], [1903.0, 1550.0, 67.0, 0.0], [10366.0, 8710.0, 280.0, 0.0]]}, "platform": {"level_counts": [12, 26, 57, 104, 119, 92], "episodes_by_level": [[1790.0, 388.0, 52.0, 0.0], [2191.0, 451.0, 89.0, 0.0], [1859.0, 374.0, 85.0, 0.0], [1486.0, 260.0, 59.0, 0.0], [912.0, 135.0, 49.0, 0.0], [407.0, 40.0, 43.0, 0.0]]}, "slope": {"level_counts": [8, 20, 50, 79, 89, 164], "episodes_by_level": [[1630.0, 346.0, 46.0, 0.0], [1992.0, 410.0, 71.0, 0.0], [1714.0, 368.0, 42.0, 0.0], [1294.0, 267.0, 36.0, 0.0], [923.0, 189.0, 14.0, 0.0], [1131.0, 205.0, 25.0, 0.0]]}, "rubble": {"level_counts": [26, 106, 197, 236, 181, 73], "episodes_by_level": [[3324.0, 753.0, 99.0, 0.0], [4829.0, 1033.0, 215.0, 0.0], [4354.0, 921.0, 363.0, 0.0], [3106.0, 522.0, 431.0, 0.0], [1485.0, 177.0, 268.0, 0.0], [400.0, 29.0, 104.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23583984375, "command_abs_max": [0.9999653100967407, 0.3992006480693817, 0.6985194683074951]}
{"step": 36000, "actor_lr": 1.658580827272907e-05, "archive_windows": 50000, "env_steps": 36000, "total_transitions": 147456000, "num_steps_per_env": 1, "wm_loss": 0.5730470418930054, "actor_loss": -9.516645431518555, "critic_loss": 0.012621010653674603, "reward": 0.08791707456111908, "falls": 5, "interval_steps": 50, "velocity_mae": [0.10969870537519455, 0.07050912082195282, 0.13194794952869415], "mean_episode_length": 1403.2866666666666, "episode_reward_terms": {"track_linear_velocity": 50.103538513183594, "track_angular_velocity": 53.138309478759766, "upright": 26.979080200195312, "leg_posture": -2.6379897594451904, "standstill": -6.096867561340332, "action_rate_l2": -0.5757560729980469, "joint_torques_l2": -0.15078414976596832, "dof_pos_limits": -0.0009378298418596387, "terminated": -0.013703969307243824, "unnecessary_wheel_lift": -0.08013460040092468, "rolling_leg_motion": -0.6101353168487549, "obstacle_progress": 3.8678536415100098, "wheel_body_intrusion": -0.26802024245262146, "pair_body_intrusion": -0.28161177039146423}, "weighted_reward_terms": {"track_linear_velocity": 1.7852210998535156, "track_angular_velocity": 1.8933520317077637, "upright": 0.961281955242157, "leg_posture": -0.09399326145648956, "standstill": -0.21723529696464539, "action_rate_l2": -0.020514557138085365, "joint_torques_l2": -0.005372535437345505, "dof_pos_limits": -3.341547926538624e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.0028552471194416285, "rolling_leg_motion": -0.02173951268196106, "obstacle_progress": 0.13781410455703735, "wheel_body_intrusion": -0.009549733251333237, "pair_body_intrusion": -0.010034007951617241}, "episode_termination_rates": {"time_out": 0.5333333333333333, "fell_over": 0.02, "course_exit": 0.43333333333333335, "illegal_nonwheel_contact": 0.02666666666666667}, "collection_time_s": 0.07555652200360782, "learning_time_s": 0.18339329607319088, "iteration_time_s": 0.3066860762451672, "policy_updates": 35700, "skipped_updates": 0, "invalid_env_resets": 194, "elapsed_s": 11040.698744826019, "nonwheel_terminations": 13395, "contact_bce": 0.2837526500225067, "contact_force_loss": 0.020299628376960754, "collision_bce": 0.0002948950859718025, "collision_label_rate": 6.116207805462182e-05, "collision_prediction_mean": 9.777579543879256e-05, "collision_label_count": 16350.0, "terrain_level_mean": 4.080078125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 16, 36, 56, 86, 215], "episodes_by_level": [[1451.0, 317.0, 49.0, 0.0], [1888.0, 417.0, 38.0, 0.0], [1639.0, 382.0, 32.0, 0.0], [1383.0, 320.0, 25.0, 0.0], [924.0, 225.0, 19.0, 0.0], [1396.0, 322.0, 10.0, 0.0]]}, "up": {"level_counts": [0, 1, 3, 25, 319, 1085], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4306.0, 1757.0, 165.0, 0.0], [4609.0, 1699.0, 196.0, 0.0], [5938.0, 1622.0, 164.0, 0.0], [7432.0, 1370.0, 266.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 30, 581], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [968.0, 795.0, 26.0, 0.0], [1906.0, 1553.0, 67.0, 0.0], [10379.0, 8723.0, 280.0, 0.0]]}, "platform": {"level_counts": [12, 26, 57, 104, 119, 92], "episodes_by_level": [[1791.0, 388.0, 52.0, 0.0], [2191.0, 451.0, 89.0, 0.0], [1859.0, 374.0, 85.0, 0.0], [1489.0, 260.0, 59.0, 0.0], [915.0, 135.0, 49.0, 0.0], [408.0, 40.0, 43.0, 0.0]]}, "slope": {"level_counts": [8, 20, 49, 80, 88, 165], "episodes_by_level": [[1630.0, 346.0, 46.0, 0.0], [1993.0, 410.0, 71.0, 0.0], [1717.0, 369.0, 42.0, 0.0], [1296.0, 267.0, 36.0, 0.0], [927.0, 190.0, 14.0, 0.0], [1134.0, 205.0, 25.0, 0.0]]}, "rubble": {"level_counts": [26, 105, 199, 236, 179, 74], "episodes_by_level": [[3325.0, 753.0, 99.0, 0.0], [4836.0, 1034.0, 215.0, 0.0], [4358.0, 921.0, 363.0, 0.0], [3115.0, 523.0, 432.0, 0.0], [1493.0, 178.0, 270.0, 0.0], [404.0, 29.0, 104.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.237548828125, "command_abs_max": [0.9976353645324707, 0.3992006480693817, 0.699563205242157]}
{"step": 36050, "actor_lr": 1.6475589328938176e-05, "archive_windows": 50000, "env_steps": 36050, "total_transitions": 147660800, "num_steps_per_env": 1, "wm_loss": 0.5877041816711426, "actor_loss": -9.54868221282959, "critic_loss": 0.00672861048951745, "reward": 0.0875653550028801, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11176301538944244, 0.07038469612598419, 0.1324525773525238], "mean_episode_length": 1376.9610389610389, "episode_reward_terms": {"track_linear_velocity": 49.05529022216797, "track_angular_velocity": 52.12875747680664, "upright": 26.487497329711914, "leg_posture": -2.550161361694336, "standstill": -6.497314929962158, "action_rate_l2": -0.5595836639404297, "joint_torques_l2": -0.14805176854133606, "dof_pos_limits": -0.0008131366339512169, "terminated": -0.016136260703206062, "unnecessary_wheel_lift": -0.08185049146413803, "rolling_leg_motion": -0.586867094039917, "obstacle_progress": 3.860868215560913, "wheel_body_intrusion": -0.26297032833099365, "pair_body_intrusion": -0.25456854701042175}, "weighted_reward_terms": {"track_linear_velocity": 1.7812882661819458, "track_angular_velocity": 1.8928916454315186, "upright": 0.9618099927902222, "leg_posture": -0.09260107576847076, "standstill": -0.23592951893806458, "action_rate_l2": -0.020319517701864243, "joint_torques_l2": -0.0053760334849357605, "dof_pos_limits": -2.9526492653531022e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.0029721425380557775, "rolling_leg_motion": -0.0213102288544178, "obstacle_progress": 0.14019526541233063, "wheel_body_intrusion": -0.00954893883317709, "pair_body_intrusion": -0.009243854321539402}, "episode_termination_rates": {"time_out": 0.487012987012987, "fell_over": 0.01948051948051948, "course_exit": 0.474025974025974, "illegal_nonwheel_contact": 0.025974025974025976}, "collection_time_s": 0.07573098012129777, "learning_time_s": 0.18434926295885817, "iteration_time_s": 0.30662231751733776, "policy_updates": 35750, "skipped_updates": 0, "invalid_env_resets": 194, "elapsed_s": 11053.734546500025, "nonwheel_terminations": 13399, "contact_bce": 0.2899271845817566, "contact_force_loss": 0.02067449688911438, "collision_bce": 0.00021738764189649373, "collision_label_rate": 6.132711860118434e-05, "collision_prediction_mean": 1.4009289770910982e-05, "collision_label_count": 16306.0, "terrain_level_mean": 4.08251953125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 16, 35, 57, 84, 217], "episodes_by_level": [[1451.0, 317.0, 49.0, 0.0], [1888.0, 417.0, 38.0, 0.0], [1642.0, 383.0, 32.0, 0.0], [1384.0, 320.0, 25.0, 0.0], [930.0, 227.0, 19.0, 0.0], [1402.0, 324.0, 10.0, 0.0]]}, "up": {"level_counts": [0, 1, 3, 25, 316, 1088], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4306.0, 1757.0, 165.0, 0.0], [4610.0, 1699.0, 196.0, 0.0], [5948.0, 1625.0, 164.0, 0.0], [7465.0, 1381.0, 266.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 32, 579], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [968.0, 795.0, 26.0, 0.0], [1906.0, 1553.0, 67.0, 0.0], [10396.0, 8739.0, 280.0, 0.0]]}, "platform": {"level_counts": [12, 26, 56, 104, 119, 93], "episodes_by_level": [[1792.0, 388.0, 52.0, 0.0], [2191.0, 451.0, 89.0, 0.0], [1860.0, 375.0, 85.0, 0.0], [1492.0, 261.0, 59.0, 0.0], [919.0, 136.0, 49.0, 0.0], [412.0, 40.0, 43.0, 0.0]]}, "slope": {"level_counts": [8, 20, 49, 79, 89, 165], "episodes_by_level": [[1630.0, 346.0, 46.0, 0.0], [1993.0, 410.0, 71.0, 0.0], [1719.0, 369.0, 42.0, 0.0], [1300.0, 268.0, 36.0, 0.0], [931.0, 191.0, 14.0, 0.0], [1138.0, 205.0, 26.0, 0.0]]}, "rubble": {"level_counts": [26, 106, 199, 232, 181, 75], "episodes_by_level": [[3325.0, 753.0, 99.0, 0.0], [4838.0, 1034.0, 215.0, 0.0], [4368.0, 922.0, 364.0, 0.0], [3131.0, 526.0, 434.0, 0.0], [1497.0, 179.0, 270.0, 0.0], [405.0, 29.0, 104.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234130859375, "command_abs_max": [0.9976353645324707, 0.3994433581829071, 0.699563205242157]}
{"step": 36100, "actor_lr": 1.636657474276566e-05, "archive_windows": 50000, "env_steps": 36100, "total_transitions": 147865600, "num_steps_per_env": 1, "wm_loss": 0.5932171940803528, "actor_loss": -9.48990535736084, "critic_loss": 0.004739738535135984, "reward": 0.08713003247976303, "falls": 7, "interval_steps": 50, "velocity_mae": [0.1129978820681572, 0.07230208814144135, 0.13494521379470825], "mean_episode_length": 1314.546052631579, "episode_reward_terms": {"track_linear_velocity": 46.68019485473633, "track_angular_velocity": 49.646236419677734, "upright": 25.20781135559082, "leg_posture": -2.5018513202667236, "standstill": -6.340970993041992, "action_rate_l2": -0.5414094924926758, "joint_torques_l2": -0.1428188532590866, "dof_pos_limits": -0.0011584055610001087, "terminated": -0.017972307279706, "unnecessary_wheel_lift": -0.07218723744153976, "rolling_leg_motion": -0.5590516328811646, "obstacle_progress": 3.716661214828491, "wheel_body_intrusion": -0.2591221034526825, "pair_body_intrusion": -0.27792441844940186}, "weighted_reward_terms": {"track_linear_velocity": 1.7755253314971924, "track_angular_velocity": 1.8883414268493652, "upright": 0.9588029384613037, "leg_posture": -0.09516028314828873, "standstill": -0.24118481576442719, "action_rate_l2": -0.02059302292764187, "joint_torques_l2": -0.0054322499781847, "dof_pos_limits": -4.406105290399864e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0027457098476588726, "rolling_leg_motion": -0.021264057606458664, "obstacle_progress": 0.14136672019958496, "wheel_body_intrusion": -0.009855953976511955, "pair_body_intrusion": -0.01057111844420433}, "episode_termination_rates": {"time_out": 0.4276315789473684, "fell_over": 0.02631578947368421, "course_exit": 0.5263157894736842, "illegal_nonwheel_contact": 0.02631578947368421}, "collection_time_s": 0.0756184229196515, "learning_time_s": 0.1839209663576912, "iteration_time_s": 0.3065571362135459, "policy_updates": 35800, "skipped_updates": 0, "invalid_env_resets": 194, "elapsed_s": 11066.712617309007, "nonwheel_terminations": 13403, "contact_bce": 0.2951813340187073, "contact_force_loss": 0.020357130095362663, "collision_bce": 0.00045275897718966007, "collision_label_rate": 0.00018344135605730116, "collision_prediction_mean": 0.0002189472143072635, "collision_label_count": 16354.0, "terrain_level_mean": 4.084228515625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 16, 34, 58, 84, 217], "episodes_by_level": [[1451.0, 317.0, 49.0, 0.0], [1888.0, 417.0, 38.0, 0.0], [1643.0, 384.0, 32.0, 0.0], [1384.0, 320.0, 25.0, 0.0], [931.0, 227.0, 19.0, 0.0], [1415.0, 326.0, 10.0, 0.0]]}, "up": {"level_counts": [0, 1, 3, 25, 312, 1092], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4306.0, 1757.0, 165.0, 0.0], [4610.0, 1699.0, 196.0, 0.0], [5954.0, 1629.0, 164.0, 0.0], [7492.0, 1383.0, 266.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 34, 577], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [968.0, 795.0, 26.0, 0.0], [1906.0, 1553.0, 67.0, 0.0], [10426.0, 8765.0, 280.0, 0.0]]}, "platform": {"level_counts": [12, 27, 55, 103, 120, 93], "episodes_by_level": [[1792.0, 388.0, 52.0, 0.0], [2191.0, 451.0, 89.0, 0.0], [1862.0, 375.0, 86.0, 0.0], [1496.0, 262.0, 59.0, 0.0], [925.0, 136.0, 49.0, 0.0], [418.0, 42.0, 43.0, 0.0]]}, "slope": {"level_counts": [8, 20, 49, 78, 90, 165], "episodes_by_level": [[1630.0, 346.0, 46.0, 0.0], [1994.0, 410.0, 71.0, 0.0], [1720.0, 369.0, 42.0, 0.0], [1303.0, 269.0, 36.0, 0.0], [935.0, 191.0, 14.0, 0.0], [1139.0, 205.0, 26.0, 0.0]]}, "rubble": {"level_counts": [27, 105, 198, 231, 182, 76], "episodes_by_level": [[3326.0, 753.0, 99.0, 0.0], [4841.0, 1034.0, 216.0, 0.0], [4377.0, 926.0, 364.0, 0.0], [3140.0, 528.0, 437.0, 0.0], [1501.0, 180.0, 270.0, 0.0], [407.0, 29.0, 104.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2333984375, "command_abs_max": [0.9976353645324707, 0.3994433581829071, 0.699563205242157]}
{"step": 36150, "actor_lr": 1.6258771238744698e-05, "archive_windows": 50000, "env_steps": 36150, "total_transitions": 148070400, "num_steps_per_env": 1, "wm_loss": 0.5704687237739563, "actor_loss": -9.520208358764648, "critic_loss": 0.004352285992354155, "reward": 0.08671513944864273, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11404004693031311, 0.07301385700702667, 0.13574813306331635], "mean_episode_length": 1303.4596273291925, "episode_reward_terms": {"track_linear_velocity": 46.20993423461914, "track_angular_velocity": 49.2010612487793, "upright": 24.989919662475586, "leg_posture": -2.519209146499634, "standstill": -6.653800010681152, "action_rate_l2": -0.5305933952331543, "joint_torques_l2": -0.14261560142040253, "dof_pos_limits": -0.0007165585993789136, "terminated": -0.025458192452788353, "unnecessary_wheel_lift": -0.08330981433391571, "rolling_leg_motion": -0.5513578057289124, "obstacle_progress": 3.6718554496765137, "wheel_body_intrusion": -0.2679693400859833, "pair_body_intrusion": -0.26806139945983887}, "weighted_reward_terms": {"track_linear_velocity": 1.7725880146026611, "track_angular_velocity": 1.8873260021209717, "upright": 0.9585996866226196, "leg_posture": -0.09663549065589905, "standstill": -0.2552361488342285, "action_rate_l2": -0.020353274419903755, "joint_torques_l2": -0.005470656789839268, "dof_pos_limits": -2.7486797989695333e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.0031957190949469805, "rolling_leg_motion": -0.021149784326553345, "obstacle_progress": 0.14085038006305695, "wheel_body_intrusion": -0.010279158130288124, "pair_body_intrusion": -0.010282688774168491}, "episode_termination_rates": {"time_out": 0.42857142857142855, "fell_over": 0.024844720496894408, "course_exit": 0.5093167701863354, "illegal_nonwheel_contact": 0.037267080745341616}, "collection_time_s": 0.07606233523692936, "learning_time_s": 0.18544377572485246, "iteration_time_s": 0.30649486123302916, "policy_updates": 35850, "skipped_updates": 0, "invalid_env_resets": 195, "elapsed_s": 11079.789233574003, "nonwheel_terminations": 13409, "contact_bce": 0.2845824956893921, "contact_force_loss": 0.019690342247486115, "collision_bce": 0.00025254307547584176, "collision_label_rate": 6.122948980191723e-05, "collision_prediction_mean": 0.00013495376333594322, "collision_label_count": 16332.0, "terrain_level_mean": 4.0869140625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 16, 34, 58, 83, 218], "episodes_by_level": [[1451.0, 317.0, 49.0, 0.0], [1888.0, 417.0, 38.0, 0.0], [1643.0, 384.0, 32.0, 0.0], [1387.0, 320.0, 25.0, 0.0], [935.0, 228.0, 19.0, 0.0], [1423.0, 326.0, 10.0, 0.0]]}, "up": {"level_counts": [0, 1, 3, 25, 311, 1093], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4306.0, 1757.0, 165.0, 0.0], [4611.0, 1700.0, 196.0, 0.0], [5962.0, 1630.0, 164.0, 0.0], [7516.0, 1386.0, 266.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 36, 575], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [968.0, 795.0, 26.0, 0.0], [1907.0, 1554.0, 67.0, 0.0], [10447.0, 8781.0, 283.0, 0.0]]}, "platform": {"level_counts": [12, 26, 55, 103, 121, 93], "episodes_by_level": [[1792.0, 388.0, 52.0, 0.0], [2192.0, 452.0, 89.0, 0.0], [1865.0, 376.0, 86.0, 0.0], [1499.0, 263.0, 59.0, 0.0], [930.0, 136.0, 49.0, 0.0], [419.0, 42.0, 43.0, 0.0]]}, "slope": {"level_counts": [8, 19, 50, 77, 91, 165], "episodes_by_level": [[1630.0, 346.0, 46.0, 0.0], [1995.0, 411.0, 71.0, 0.0], [1721.0, 369.0, 42.0, 0.0], [1306.0, 270.0, 36.0, 0.0], [938.0, 191.0, 14.0, 0.0], [1147.0, 207.0, 26.0, 0.0]]}, "rubble": {"level_counts": [26, 104, 199, 232, 180, 78], "episodes_by_level": [[3327.0, 754.0, 99.0, 0.0], [4845.0, 1036.0, 216.0, 0.0], [4390.0, 929.0, 364.0, 0.0], [3151.0, 529.0, 439.0, 0.0], [1511.0, 183.0, 271.0, 0.0], [409.0, 29.0, 105.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2275390625, "command_abs_max": [0.9976353645324707, 0.3994433581829071, 0.6985194683074951]}
{"step": 36200, "actor_lr": 1.6152185466703224e-05, "archive_windows": 50000, "env_steps": 36200, "total_transitions": 148275200, "num_steps_per_env": 1, "wm_loss": 0.5876781940460205, "actor_loss": -9.488009452819824, "critic_loss": 0.00603756308555603, "reward": 0.08706695586442947, "falls": 13, "interval_steps": 50, "velocity_mae": [0.11139761656522751, 0.07156214863061905, 0.13440977036952972], "mean_episode_length": 1340.1474358974358, "episode_reward_terms": {"track_linear_velocity": 47.72166061401367, "track_angular_velocity": 50.63907241821289, "upright": 25.693561553955078, "leg_posture": -2.5480496883392334, "standstill": -6.563215255737305, "action_rate_l2": -0.5403446555137634, "joint_torques_l2": -0.1441354900598526, "dof_pos_limits": -0.0009691579034551978, "terminated": -0.03402717784047127, "unnecessary_wheel_lift": -0.08976209908723831, "rolling_leg_motion": -0.568828821182251, "obstacle_progress": 3.726593494415283, "wheel_body_intrusion": -0.2820209860801697, "pair_body_intrusion": -0.3269976079463959}, "weighted_reward_terms": {"track_linear_velocity": 1.7804630994796753, "track_angular_velocity": 1.8893097639083862, "upright": 0.9586095213890076, "leg_posture": -0.09506601840257645, "standstill": -0.2448691576719284, "action_rate_l2": -0.020159894600510597, "joint_torques_l2": -0.0053775981068611145, "dof_pos_limits": -3.615863170125522e-05, "terminated": -0.0012695310870185494, "unnecessary_wheel_lift": -0.0033489635679870844, "rolling_leg_motion": -0.021222621202468872, "obstacle_progress": 0.13903670012950897, "wheel_body_intrusion": -0.010522013530135155, "pair_body_intrusion": -0.012200061231851578}, "episode_termination_rates": {"time_out": 0.47435897435897434, "fell_over": 0.0641025641025641, "course_exit": 0.4423076923076923, "illegal_nonwheel_contact": 0.02564102564102564}, "collection_time_s": 0.07576391372364015, "learning_time_s": 0.18454119168105534, "iteration_time_s": 0.30643109296591153, "policy_updates": 35900, "skipped_updates": 0, "invalid_env_resets": 195, "elapsed_s": 11092.805565365998, "nonwheel_terminations": 13413, "contact_bce": 0.28321006894111633, "contact_force_loss": 0.01973593421280384, "collision_bce": 2.315974052180536e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 2.2393174731405452e-05, "collision_label_count": 16343.0, "terrain_level_mean": 4.086669921875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 16, 34, 59, 82, 218], "episodes_by_level": [[1451.0, 317.0, 49.0, 0.0], [1889.0, 417.0, 38.0, 0.0], [1643.0, 384.0, 32.0, 0.0], [1390.0, 320.0, 25.0, 0.0], [937.0, 228.0, 20.0, 0.0], [1433.0, 329.0, 10.0, 0.0]]}, "up": {"level_counts": [0, 1, 3, 25, 314, 1090], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2401.0, 1467.0, 37.0, 0.0], [4306.0, 1757.0, 165.0, 0.0], [4611.0, 1700.0, 196.0, 0.0], [5967.0, 1630.0, 164.0, 0.0], [7547.0, 1390.0, 266.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 33, 578], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [968.0, 795.0, 26.0, 0.0], [1911.0, 1558.0, 67.0, 0.0], [10464.0, 8796.0, 284.0, 0.0]]}, "platform": {"level_counts": [12, 25, 56, 101, 122, 94], "episodes_by_level": [[1792.0, 388.0, 52.0, 0.0], [2193.0, 453.0, 89.0, 0.0], [1868.0, 376.0, 86.0, 0.0], [1508.0, 265.0, 59.0, 0.0], [935.0, 137.0, 49.0, 0.0], [424.0, 42.0, 43.0, 0.0]]}, "slope": {"level_counts": [8, 19, 50, 77, 92, 164], "episodes_by_level": [[1630.0, 346.0, 46.0, 0.0], [1996.0, 411.0, 71.0, 0.0], [1721.0, 369.0, 42.0, 0.0], [1308.0, 270.0, 36.0, 0.0], [938.0, 191.0, 14.0, 0.0], [1154.0, 208.0, 27.0, 0.0]]}, "rubble": {"level_counts": [26, 106, 199, 231, 177, 80], "episodes_by_level": [[3328.0, 754.0, 99.0, 0.0], [4849.0, 1036.0, 216.0, 0.0], [4394.0, 929.0, 366.0, 0.0], [3161.0, 530.0, 441.0, 0.0], [1515.0, 185.0, 273.0, 0.0], [413.0, 29.0, 105.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.233642578125, "command_abs_max": [0.9972475171089172, 0.39904630184173584, 0.6985194683074951]}
{"step": 36250, "actor_lr": 1.6046824001353717e-05, "archive_windows": 50000, "env_steps": 36250, "total_transitions": 148480000, "num_steps_per_env": 1, "wm_loss": 0.5696687698364258, "actor_loss": -9.557232856750488, "critic_loss": 0.0035112060140818357, "reward": 0.08710955083370209, "falls": 7, "interval_steps": 50, "velocity_mae": [0.1131029799580574, 0.07076253741979599, 0.13373352587223053], "mean_episode_length": 1292.4195804195804, "episode_reward_terms": {"track_linear_velocity": 45.98469924926758, "track_angular_velocity": 48.85206604003906, "upright": 24.795055389404297, "leg_posture": -2.4658257961273193, "standstill": -6.3329901695251465, "action_rate_l2": -0.5350478887557983, "joint_torques_l2": -0.13998037576675415, "dof_pos_limits": -0.0006383673171512783, "terminated": -0.01766979694366455, "unnecessary_wheel_lift": -0.06822504103183746, "rolling_leg_motion": -0.5517899394035339, "obstacle_progress": 3.60833740234375, "wheel_body_intrusion": -0.251932829618454, "pair_body_intrusion": -0.2939997613430023}, "weighted_reward_terms": {"track_linear_velocity": 1.7790160179138184, "track_angular_velocity": 1.8899462223052979, "upright": 0.9592495560646057, "leg_posture": -0.09539572149515152, "standstill": -0.24500520527362823, "action_rate_l2": -0.02069946750998497, "joint_torques_l2": -0.005415438674390316, "dof_pos_limits": -2.4696599211893044e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.002639430807903409, "rolling_leg_motion": -0.02134716883301735, "obstacle_progress": 0.13959620893001556, "wheel_body_intrusion": -0.009746557101607323, "pair_body_intrusion": -0.011374006047844887}, "episode_termination_rates": {"time_out": 0.3916083916083916, "fell_over": 0.02097902097902098, "course_exit": 0.5594405594405595, "illegal_nonwheel_contact": 0.027972027972027972}, "collection_time_s": 0.07562638785806484, "learning_time_s": 0.18389644716051406, "iteration_time_s": 0.30636642824372373, "policy_updates": 35950, "skipped_updates": 0, "invalid_env_resets": 195, "elapsed_s": 11105.783023834985, "nonwheel_terminations": 13417, "contact_bce": 0.2817472219467163, "contact_force_loss": 0.01957661472260952, "collision_bce": 0.0002333349548280239, "collision_label_rate": 6.14062009844929e-05, "collision_prediction_mean": 1.5742778487037867e-05, "collision_label_count": 16285.0, "terrain_level_mean": 4.08837890625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 15, 35, 59, 82, 218], "episodes_by_level": [[1451.0, 317.0, 49.0, 0.0], [1891.0, 418.0, 38.0, 0.0], [1643.0, 384.0, 32.0, 0.0], [1393.0, 320.0, 25.0, 0.0], [940.0, 229.0, 20.0, 0.0], [1438.0, 331.0, 11.0, 0.0]]}, "up": {"level_counts": [0, 0, 4, 26, 313, 1090], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4306.0, 1757.0, 165.0, 0.0], [4612.0, 1700.0, 196.0, 0.0], [5979.0, 1633.0, 164.0, 0.0], [7570.0, 1395.0, 266.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 35, 577], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [969.0, 796.0, 26.0, 0.0], [1911.0, 1558.0, 67.0, 0.0], [10489.0, 8818.0, 284.0, 0.0]]}, "platform": {"level_counts": [12, 25, 56, 99, 123, 95], "episodes_by_level": [[1792.0, 388.0, 52.0, 0.0], [2193.0, 453.0, 89.0, 0.0], [1869.0, 376.0, 86.0, 0.0], [1512.0, 267.0, 59.0, 0.0], [939.0, 138.0, 49.0, 0.0], [426.0, 43.0, 43.0, 0.0]]}, "slope": {"level_counts": [8, 19, 50, 77, 91, 165], "episodes_by_level": [[1631.0, 346.0, 46.0, 0.0], [1997.0, 411.0, 71.0, 0.0], [1723.0, 369.0, 42.0, 0.0], [1308.0, 270.0, 36.0, 0.0], [940.0, 192.0, 14.0, 0.0], [1158.0, 209.0, 27.0, 0.0]]}, "rubble": {"level_counts": [26, 104, 201, 231, 177, 80], "episodes_by_level": [[3329.0, 754.0, 99.0, 0.0], [4852.0, 1038.0, 216.0, 0.0], [4396.0, 929.0, 366.0, 0.0], [3170.0, 530.0, 441.0, 0.0], [1519.0, 186.0, 273.0, 0.0], [415.0, 29.0, 106.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.230224609375, "command_abs_max": [0.9972475171089172, 0.39904630184173584, 0.6985194683074951]}
{"step": 36300, "actor_lr": 1.5942693341887658e-05, "archive_windows": 50000, "env_steps": 36300, "total_transitions": 148684800, "num_steps_per_env": 1, "wm_loss": 0.5857206583023071, "actor_loss": -9.52471923828125, "critic_loss": 0.004117276519536972, "reward": 0.08762173354625702, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11041998118162155, 0.07040823251008987, 0.1334274262189865], "mean_episode_length": 1380.24, "episode_reward_terms": {"track_linear_velocity": 49.281211853027344, "track_angular_velocity": 52.19693374633789, "upright": 26.490718841552734, "leg_posture": -2.6365320682525635, "standstill": -6.2872161865234375, "action_rate_l2": -0.57208651304245, "joint_torques_l2": -0.14850027859210968, "dof_pos_limits": -0.000690906832460314, "terminated": -0.016174687072634697, "unnecessary_wheel_lift": -0.08511655777692795, "rolling_leg_motion": -0.5687798857688904, "obstacle_progress": 3.8977339267730713, "wheel_body_intrusion": -0.28134825825691223, "pair_body_intrusion": -0.33116358518600464}, "weighted_reward_terms": {"track_linear_velocity": 1.7852407693862915, "track_angular_velocity": 1.8908644914627075, "upright": 0.9596417546272278, "leg_posture": -0.09550991654396057, "standstill": -0.22775809466838837, "action_rate_l2": -0.020724168047308922, "joint_torques_l2": -0.005379509646445513, "dof_pos_limits": -2.5028504751389846e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.0030833971686661243, "rolling_leg_motion": -0.020604383200407028, "obstacle_progress": 0.14119769632816315, "wheel_body_intrusion": -0.010192004963755608, "pair_body_intrusion": -0.01199659425765276}, "episode_termination_rates": {"time_out": 0.488, "fell_over": 0.048, "course_exit": 0.464, "illegal_nonwheel_contact": 0.008}, "collection_time_s": 0.07567567464080639, "learning_time_s": 0.18541531597380526, "iteration_time_s": 0.30630409452997337, "policy_updates": 36000, "skipped_updates": 0, "invalid_env_resets": 195, "elapsed_s": 11118.838631438033, "nonwheel_terminations": 13418, "contact_bce": 0.29116660356521606, "contact_force_loss": 0.0199318528175354, "collision_bce": 0.0011258873855695128, "collision_label_rate": 0.0001835311413742602, "collision_prediction_mean": 7.080307841533795e-05, "collision_label_count": 16346.0, "terrain_level_mean": 4.0888671875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 15, 35, 59, 82, 218], "episodes_by_level": [[1451.0, 317.0, 49.0, 0.0], [1892.0, 418.0, 38.0, 0.0], [1645.0, 384.0, 32.0, 0.0], [1395.0, 320.0, 25.0, 0.0], [940.0, 229.0, 20.0, 0.0], [1442.0, 333.0, 11.0, 0.0]]}, "up": {"level_counts": [0, 0, 4, 26, 314, 1089], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4306.0, 1757.0, 165.0, 0.0], [4612.0, 1700.0, 196.0, 0.0], [5984.0, 1635.0, 164.0, 0.0], [7592.0, 1398.0, 267.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 34, 577], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [969.0, 796.0, 26.0, 0.0], [1912.0, 1559.0, 67.0, 0.0], [10511.0, 8838.0, 284.0, 0.0]]}, "platform": {"level_counts": [12, 25, 56, 99, 123, 95], "episodes_by_level": [[1792.0, 388.0, 52.0, 0.0], [2194.0, 453.0, 89.0, 0.0], [1869.0, 376.0, 86.0, 0.0], [1517.0, 267.0, 59.0, 0.0], [941.0, 138.0, 49.0, 0.0], [426.0, 43.0, 43.0, 0.0]]}, "slope": {"level_counts": [8, 19, 50, 75, 93, 165], "episodes_by_level": [[1631.0, 346.0, 46.0, 0.0], [1998.0, 411.0, 71.0, 0.0], [1724.0, 369.0, 42.0, 0.0], [1312.0, 272.0, 36.0, 0.0], [943.0, 192.0, 14.0, 0.0], [1165.0, 211.0, 27.0, 0.0]]}, "rubble": {"level_counts": [26, 105, 199, 230, 179, 80], "episodes_by_level": [[3329.0, 754.0, 99.0, 0.0], [4854.0, 1038.0, 216.0, 0.0], [4407.0, 930.0, 367.0, 0.0], [3180.0, 532.0, 441.0, 0.0], [1520.0, 186.0, 273.0, 0.0], [416.0, 30.0, 106.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.238037109375, "command_abs_max": [0.9972475171089172, 0.3996981084346771, 0.6985194683074951]}
{"step": 36350, "actor_lr": 1.583979991157462e-05, "archive_windows": 50000, "env_steps": 36350, "total_transitions": 148889600, "num_steps_per_env": 1, "wm_loss": 0.5726303458213806, "actor_loss": -9.538766860961914, "critic_loss": 0.005451060365885496, "reward": 0.087467260658741, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11128304898738861, 0.07054450362920761, 0.13254909217357635], "mean_episode_length": 1302.0060975609756, "episode_reward_terms": {"track_linear_velocity": 46.429908752441406, "track_angular_velocity": 49.287837982177734, "upright": 24.964784622192383, "leg_posture": -2.442443609237671, "standstill": -6.150350570678711, "action_rate_l2": -0.530693769454956, "joint_torques_l2": -0.13931791484355927, "dof_pos_limits": -0.0007953945896588266, "terminated": -0.02034384198486805, "unnecessary_wheel_lift": -0.08277731388807297, "rolling_leg_motion": -0.545621931552887, "obstacle_progress": 3.6546630859375, "wheel_body_intrusion": -0.2522950768470764, "pair_body_intrusion": -0.28965631127357483}, "weighted_reward_terms": {"track_linear_velocity": 1.7830142974853516, "track_angular_velocity": 1.8927652835845947, "upright": 0.9587045907974243, "leg_posture": -0.09379540383815765, "standstill": -0.23618748784065247, "action_rate_l2": -0.020379850640892982, "joint_torques_l2": -0.00535012548789382, "dof_pos_limits": -3.0544964829459786e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0031788377091288567, "rolling_leg_motion": -0.02095312625169754, "obstacle_progress": 0.14034739136695862, "wheel_body_intrusion": -0.009688705205917358, "pair_body_intrusion": -0.011123462580144405}, "episode_termination_rates": {"time_out": 0.4451219512195122, "fell_over": 0.036585365853658534, "course_exit": 0.5060975609756098, "illegal_nonwheel_contact": 0.03048780487804878}, "collection_time_s": 0.07589474374311976, "learning_time_s": 0.191849223455647, "iteration_time_s": 0.3062510834406886, "policy_updates": 36050, "skipped_updates": 0, "invalid_env_resets": 195, "elapsed_s": 11132.22688306903, "nonwheel_terminations": 13423, "contact_bce": 0.2825073003768921, "contact_force_loss": 0.020121688023209572, "collision_bce": 4.981390156899579e-05, "collision_label_rate": 6.12182411714457e-05, "collision_prediction_mean": 8.952007192419842e-05, "collision_label_count": 16335.0, "terrain_level_mean": 4.090576171875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 15, 34, 59, 82, 219], "episodes_by_level": [[1451.0, 317.0, 49.0, 0.0], [1892.0, 418.0, 38.0, 0.0], [1647.0, 385.0, 32.0, 0.0], [1396.0, 321.0, 25.0, 0.0], [942.0, 230.0, 20.0, 0.0], [1449.0, 336.0, 11.0, 0.0]]}, "up": {"level_counts": [0, 0, 4, 26, 313, 1090], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4306.0, 1757.0, 165.0, 0.0], [4613.0, 1700.0, 196.0, 0.0], [5990.0, 1636.0, 164.0, 0.0], [7630.0, 1407.0, 267.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 35, 577], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [970.0, 797.0, 26.0, 0.0], [1916.0, 1563.0, 67.0, 0.0], [10536.0, 8858.0, 284.0, 0.0]]}, "platform": {"level_counts": [12, 25, 56, 99, 122, 96], "episodes_by_level": [[1792.0, 388.0, 52.0, 0.0], [2195.0, 453.0, 89.0, 0.0], [1869.0, 376.0, 86.0, 0.0], [1519.0, 267.0, 59.0, 0.0], [945.0, 139.0, 49.0, 0.0], [429.0, 43.0, 43.0, 0.0]]}, "slope": {"level_counts": [8, 19, 48, 76, 94, 165], "episodes_by_level": [[1631.0, 346.0, 46.0, 0.0], [1998.0, 411.0, 71.0, 0.0], [1727.0, 371.0, 42.0, 0.0], [1318.0, 273.0, 36.0, 0.0], [947.0, 192.0, 14.0, 0.0], [1170.0, 213.0, 27.0, 0.0]]}, "rubble": {"level_counts": [26, 106, 199, 230, 177, 81], "episodes_by_level": [[3330.0, 754.0, 99.0, 0.0], [4854.0, 1038.0, 216.0, 0.0], [4413.0, 930.0, 368.0, 0.0], [3188.0, 533.0, 442.0, 0.0], [1527.0, 187.0, 275.0, 0.0], [417.0, 30.0, 106.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.239013671875, "command_abs_max": [0.9965535402297974, 0.3996981084346771, 0.6992467641830444]}
{"step": 36400, "actor_lr": 1.5738150057366056e-05, "archive_windows": 50000, "env_steps": 36400, "total_transitions": 149094400, "num_steps_per_env": 1, "wm_loss": 0.5921655297279358, "actor_loss": -9.531825065612793, "critic_loss": 0.00442108791321516, "reward": 0.0876678004860878, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11142226308584213, 0.06991910934448242, 0.13313443958759308], "mean_episode_length": 1337.1, "episode_reward_terms": {"track_linear_velocity": 47.68764877319336, "track_angular_velocity": 50.57720947265625, "upright": 25.648391723632812, "leg_posture": -2.554131507873535, "standstill": -5.991114139556885, "action_rate_l2": -0.5436420440673828, "joint_torques_l2": -0.1429290920495987, "dof_pos_limits": -0.0013482834910973907, "terminated": -0.026115231215953827, "unnecessary_wheel_lift": -0.0787234678864479, "rolling_leg_motion": -0.5649763345718384, "obstacle_progress": 3.7321956157684326, "wheel_body_intrusion": -0.2552509307861328, "pair_body_intrusion": -0.266608327627182}, "weighted_reward_terms": {"track_linear_velocity": 1.7832491397857666, "track_angular_velocity": 1.891302466392517, "upright": 0.9591052532196045, "leg_posture": -0.09551011770963669, "standstill": -0.2240338921546936, "action_rate_l2": -0.020329147577285767, "joint_torques_l2": -0.005344742443412542, "dof_pos_limits": -5.0418202590662986e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.0029438140336424112, "rolling_leg_motion": -0.02112692967057228, "obstacle_progress": 0.13956308364868164, "wheel_body_intrusion": -0.009544946253299713, "pair_body_intrusion": -0.009969647973775864}, "episode_termination_rates": {"time_out": 0.4142857142857143, "fell_over": 0.04285714285714286, "course_exit": 0.5142857142857142, "illegal_nonwheel_contact": 0.02857142857142857}, "collection_time_s": 0.07561630213749596, "learning_time_s": 0.1838631676638033, "iteration_time_s": 0.3061868676055491, "policy_updates": 36100, "skipped_updates": 0, "invalid_env_resets": 195, "elapsed_s": 11145.201980841986, "nonwheel_terminations": 13427, "contact_bce": 0.29016587138175964, "contact_force_loss": 0.02097300998866558, "collision_bce": 0.00014432273746933788, "collision_label_rate": 6.119951285654679e-05, "collision_prediction_mean": 2.2477035599877127e-05, "collision_label_count": 16340.0, "terrain_level_mean": 4.09130859375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 15, 34, 59, 82, 219], "episodes_by_level": [[1451.0, 317.0, 49.0, 0.0], [1892.0, 418.0, 38.0, 0.0], [1648.0, 385.0, 32.0, 0.0], [1399.0, 321.0, 25.0, 0.0], [944.0, 230.0, 20.0, 0.0], [1458.0, 337.0, 11.0, 0.0]]}, "up": {"level_counts": [0, 0, 4, 26, 312, 1091], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4306.0, 1757.0, 165.0, 0.0], [4613.0, 1700.0, 196.0, 0.0], [6001.0, 1638.0, 164.0, 0.0], [7661.0, 1413.0, 267.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 39, 573], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [970.0, 797.0, 26.0, 0.0], [1918.0, 1565.0, 67.0, 0.0], [10550.0, 8872.0, 284.0, 0.0]]}, "platform": {"level_counts": [12, 23, 58, 98, 122, 97], "episodes_by_level": [[1795.0, 388.0, 52.0, 0.0], [2197.0, 455.0, 89.0, 0.0], [1869.0, 376.0, 86.0, 0.0], [1521.0, 268.0, 59.0, 0.0], [947.0, 140.0, 49.0, 0.0], [429.0, 43.0, 43.0, 0.0]]}, "slope": {"level_counts": [8, 19, 48, 77, 93, 165], "episodes_by_level": [[1631.0, 346.0, 46.0, 0.0], [2000.0, 411.0, 71.0, 0.0], [1727.0, 371.0, 42.0, 0.0], [1319.0, 273.0, 36.0, 0.0], [953.0, 192.0, 15.0, 0.0], [1176.0, 214.0, 27.0, 0.0]]}, "rubble": {"level_counts": [26, 106, 199, 230, 174, 84], "episodes_by_level": [[3330.0, 754.0, 99.0, 0.0], [4858.0, 1038.0, 216.0, 0.0], [4417.0, 930.0, 368.0, 0.0], [3192.0, 535.0, 442.0, 0.0], [1534.0, 190.0, 277.0, 0.0], [422.0, 31.0, 106.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23583984375, "command_abs_max": [0.9965535402297974, 0.3996981084346771, 0.6995663046836853]}
{"step": 36450, "actor_lr": 1.5637750049503785e-05, "archive_windows": 50000, "env_steps": 36450, "total_transitions": 149299200, "num_steps_per_env": 1, "wm_loss": 0.5782201886177063, "actor_loss": -9.528829574584961, "critic_loss": 0.0040784538723528385, "reward": 0.0873003751039505, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11241728812456131, 0.07034565508365631, 0.13451223075389862], "mean_episode_length": 1333.314465408805, "episode_reward_terms": {"track_linear_velocity": 47.4988899230957, "track_angular_velocity": 50.384132385253906, "upright": 25.58755874633789, "leg_posture": -2.5172078609466553, "standstill": -6.463232040405273, "action_rate_l2": -0.5512094497680664, "joint_torques_l2": -0.14369045197963715, "dof_pos_limits": -0.0014529407490044832, "terminated": -0.015624777413904667, "unnecessary_wheel_lift": -0.09146012365818024, "rolling_leg_motion": -0.5755001306533813, "obstacle_progress": 3.802107095718384, "wheel_body_intrusion": -0.2536613643169403, "pair_body_intrusion": -0.2607860863208771}, "weighted_reward_terms": {"track_linear_velocity": 1.7812336683273315, "track_angular_velocity": 1.8894317150115967, "upright": 0.9595471024513245, "leg_posture": -0.09439663589000702, "standstill": -0.24237464368343353, "action_rate_l2": -0.02067064680159092, "joint_torques_l2": -0.005388468503952026, "dof_pos_limits": -5.448604861157946e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.003429803065955639, "rolling_leg_motion": -0.021581560373306274, "obstacle_progress": 0.142581045627594, "wheel_body_intrusion": -0.009512435644865036, "pair_body_intrusion": -0.009779617190361023}, "episode_termination_rates": {"time_out": 0.4276729559748428, "fell_over": 0.006289308176100629, "course_exit": 0.5345911949685535, "illegal_nonwheel_contact": 0.031446540880503145}, "collection_time_s": 0.0758932795212604, "learning_time_s": 0.18492585021187552, "iteration_time_s": 0.3061246649596702, "policy_updates": 36150, "skipped_updates": 0, "invalid_env_resets": 196, "elapsed_s": 11158.24403777998, "nonwheel_terminations": 13432, "contact_bce": 0.28913459181785583, "contact_force_loss": 0.020655034109950066, "collision_bce": 0.00034662411781027913, "collision_label_rate": 6.120325269876048e-05, "collision_prediction_mean": 1.1094744877482299e-05, "collision_label_count": 16339.0, "terrain_level_mean": 4.093505859375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 15, 34, 59, 81, 220], "episodes_by_level": [[1451.0, 317.0, 49.0, 0.0], [1892.0, 418.0, 38.0, 0.0], [1648.0, 385.0, 32.0, 0.0], [1402.0, 321.0, 25.0, 0.0], [947.0, 231.0, 20.0, 0.0], [1470.0, 338.0, 11.0, 0.0]]}, "up": {"level_counts": [0, 0, 4, 25, 309, 1095], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4306.0, 1757.0, 165.0, 0.0], [4614.0, 1701.0, 196.0, 0.0], [6009.0, 1642.0, 164.0, 0.0], [7694.0, 1420.0, 267.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 40, 572], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [970.0, 797.0, 26.0, 0.0], [1918.0, 1565.0, 67.0, 0.0], [10571.0, 8891.0, 284.0, 0.0]]}, "platform": {"level_counts": [12, 23, 58, 99, 119, 99], "episodes_by_level": [[1795.0, 388.0, 52.0, 0.0], [2198.0, 455.0, 89.0, 0.0], [1872.0, 376.0, 86.0, 0.0], [1523.0, 268.0, 59.0, 0.0], [951.0, 142.0, 50.0, 0.0], [433.0, 43.0, 43.0, 0.0]]}, "slope": {"level_counts": [8, 19, 48, 76, 94, 165], "episodes_by_level": [[1631.0, 346.0, 46.0, 0.0], [2001.0, 411.0, 71.0, 0.0], [1728.0, 371.0, 42.0, 0.0], [1320.0, 274.0, 36.0, 0.0], [957.0, 192.0, 15.0, 0.0], [1181.0, 216.0, 27.0, 0.0]]}, "rubble": {"level_counts": [26, 105, 199, 232, 172, 85], "episodes_by_level": [[3332.0, 754.0, 99.0, 0.0], [4861.0, 1039.0, 216.0, 0.0], [4424.0, 931.0, 368.0, 0.0], [3195.0, 537.0, 442.0, 0.0], [1542.0, 192.0, 280.0, 0.0], [426.0, 32.0, 107.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.235107421875, "command_abs_max": [0.9992349147796631, 0.3996981084346771, 0.6995663046836853]}
{"step": 36500, "actor_lr": 1.5538606081133234e-05, "archive_windows": 50000, "env_steps": 36500, "total_transitions": 149504000, "num_steps_per_env": 1, "wm_loss": 0.58448326587677, "actor_loss": -9.544832229614258, "critic_loss": 0.005582157056778669, "reward": 0.08692599833011627, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11425961554050446, 0.07184527814388275, 0.13383051753044128], "mean_episode_length": 1327.4246575342465, "episode_reward_terms": {"track_linear_velocity": 47.12977981567383, "track_angular_velocity": 50.200477600097656, "upright": 25.451377868652344, "leg_posture": -2.5665502548217773, "standstill": -6.56913948059082, "action_rate_l2": -0.5347826480865479, "joint_torques_l2": -0.1445353925228119, "dof_pos_limits": -0.0009728295262902975, "terminated": -0.0259262602776289, "unnecessary_wheel_lift": -0.09225469827651978, "rolling_leg_motion": -0.5751008987426758, "obstacle_progress": 3.716998815536499, "wheel_body_intrusion": -0.30155232548713684, "pair_body_intrusion": -0.3000998795032501}, "weighted_reward_terms": {"track_linear_velocity": 1.7752337455749512, "track_angular_velocity": 1.890897512435913, "upright": 0.9586750864982605, "leg_posture": -0.09667404741048813, "standstill": -0.24743925034999847, "action_rate_l2": -0.02014361508190632, "joint_torques_l2": -0.005444203037768602, "dof_pos_limits": -3.6643494240706787e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.003474950324743986, "rolling_leg_motion": -0.021662281826138496, "obstacle_progress": 0.1400078982114792, "wheel_body_intrusion": -0.011358547955751419, "pair_body_intrusion": -0.011303838342428207}, "episode_termination_rates": {"time_out": 0.4315068493150685, "fell_over": 0.0410958904109589, "course_exit": 0.5, "illegal_nonwheel_contact": 0.04794520547945205}, "collection_time_s": 0.07574745025718585, "learning_time_s": 0.1847594714630395, "iteration_time_s": 0.30606220450599947, "policy_updates": 36200, "skipped_updates": 0, "invalid_env_resets": 196, "elapsed_s": 11171.27046446898, "nonwheel_terminations": 13439, "contact_bce": 0.28710266947746277, "contact_force_loss": 0.0201127827167511, "collision_bce": 4.826085387321655e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 4.886865099251736e-06, "collision_label_count": 16359.0, "terrain_level_mean": 4.09326171875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 15, 34, 57, 83, 220], "episodes_by_level": [[1451.0, 317.0, 49.0, 0.0], [1893.0, 418.0, 38.0, 0.0], [1649.0, 385.0, 32.0, 0.0], [1406.0, 323.0, 25.0, 0.0], [950.0, 231.0, 20.0, 0.0], [1474.0, 339.0, 11.0, 0.0]]}, "up": {"level_counts": [0, 0, 4, 26, 310, 1093], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4306.0, 1757.0, 165.0, 0.0], [4614.0, 1701.0, 196.0, 0.0], [6015.0, 1643.0, 164.0, 0.0], [7724.0, 1424.0, 268.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 41, 571], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [971.0, 798.0, 26.0, 0.0], [1918.0, 1565.0, 67.0, 0.0], [10592.0, 8909.0, 285.0, 0.0]]}, "platform": {"level_counts": [12, 23, 57, 99, 120, 99], "episodes_by_level": [[1795.0, 388.0, 52.0, 0.0], [2198.0, 455.0, 89.0, 0.0], [1875.0, 377.0, 86.0, 0.0], [1525.0, 269.0, 59.0, 0.0], [956.0, 142.0, 50.0, 0.0], [436.0, 43.0, 43.0, 0.0]]}, "slope": {"level_counts": [8, 19, 48, 76, 95, 164], "episodes_by_level": [[1631.0, 346.0, 46.0, 0.0], [2001.0, 411.0, 71.0, 0.0], [1729.0, 371.0, 42.0, 0.0], [1321.0, 274.0, 36.0, 0.0], [959.0, 192.0, 15.0, 0.0], [1190.0, 218.0, 28.0, 0.0]]}, "rubble": {"level_counts": [26, 104, 199, 234, 172, 84], "episodes_by_level": [[3332.0, 754.0, 99.0, 0.0], [4864.0, 1040.0, 216.0, 0.0], [4428.0, 933.0, 368.0, 0.0], [3201.0, 537.0, 443.0, 0.0], [1547.0, 192.0, 281.0, 0.0], [429.0, 32.0, 108.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23876953125, "command_abs_max": [0.9992349147796631, 0.3996981084346771, 0.6995663046836853]}
{"step": 36550, "actor_lr": 1.5440724267921354e-05, "archive_windows": 50000, "env_steps": 36550, "total_transitions": 149708800, "num_steps_per_env": 1, "wm_loss": 0.5884829759597778, "actor_loss": -9.517759323120117, "critic_loss": 0.006710745394229889, "reward": 0.08747188001871109, "falls": 5, "interval_steps": 50, "velocity_mae": [0.1125078946352005, 0.07011803984642029, 0.13241437077522278], "mean_episode_length": 1398.979865771812, "episode_reward_terms": {"track_linear_velocity": 49.79335403442383, "track_angular_velocity": 52.955692291259766, "upright": 26.841657638549805, "leg_posture": -2.676459312438965, "standstill": -6.43916654586792, "action_rate_l2": -0.5729569792747498, "joint_torques_l2": -0.1511925756931305, "dof_pos_limits": -0.0011209397343918681, "terminated": -0.013661910779774189, "unnecessary_wheel_lift": -0.09362492710351944, "rolling_leg_motion": -0.5931671857833862, "obstacle_progress": 3.9485929012298584, "wheel_body_intrusion": -0.30055639147758484, "pair_body_intrusion": -0.3259616196155548}, "weighted_reward_terms": {"track_linear_velocity": 1.7796308994293213, "track_angular_velocity": 1.8926539421081543, "upright": 0.9593296647071838, "leg_posture": -0.09565753489732742, "standstill": -0.2301379293203354, "action_rate_l2": -0.020477671176195145, "joint_torques_l2": -0.005403672810643911, "dof_pos_limits": -4.0062757761916146e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.00334618566557765, "rolling_leg_motion": -0.021199991926550865, "obstacle_progress": 0.14112401008605957, "wheel_body_intrusion": -0.010741984471678734, "pair_body_intrusion": -0.011649975553154945}, "episode_termination_rates": {"time_out": 0.4966442953020134, "fell_over": 0.020134228187919462, "course_exit": 0.4697986577181208, "illegal_nonwheel_contact": 0.020134228187919462}, "collection_time_s": 0.07605148060363717, "learning_time_s": 0.1844789773982484, "iteration_time_s": 0.3060006982743646, "policy_updates": 36250, "skipped_updates": 0, "invalid_env_resets": 197, "elapsed_s": 11184.325521928025, "nonwheel_terminations": 13442, "contact_bce": 0.28363215923309326, "contact_force_loss": 0.019826237112283707, "collision_bce": 0.0003820507263299078, "collision_label_rate": 0.00012239902571309358, "collision_prediction_mean": 9.528253576718271e-05, "collision_label_count": 16340.0, "terrain_level_mean": 4.095458984375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 15, 34, 56, 84, 220], "episodes_by_level": [[1451.0, 317.0, 49.0, 0.0], [1893.0, 418.0, 38.0, 0.0], [1651.0, 385.0, 32.0, 0.0], [1409.0, 324.0, 25.0, 0.0], [953.0, 231.0, 20.0, 0.0], [1479.0, 340.0, 11.0, 0.0]]}, "up": {"level_counts": [0, 0, 4, 26, 309, 1094], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4306.0, 1757.0, 165.0, 0.0], [4614.0, 1701.0, 196.0, 0.0], [6022.0, 1645.0, 164.0, 0.0], [7757.0, 1431.0, 268.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 44, 568], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [971.0, 798.0, 26.0, 0.0], [1918.0, 1565.0, 67.0, 0.0], [10613.0, 8929.0, 285.0, 0.0]]}, "platform": {"level_counts": [12, 23, 56, 100, 119, 100], "episodes_by_level": [[1795.0, 388.0, 52.0, 0.0], [2198.0, 455.0, 89.0, 0.0], [1878.0, 378.0, 86.0, 0.0], [1527.0, 269.0, 59.0, 0.0], [959.0, 143.0, 50.0, 0.0], [439.0, 43.0, 43.0, 0.0]]}, "slope": {"level_counts": [8, 19, 48, 74, 96, 165], "episodes_by_level": [[1631.0, 346.0, 46.0, 0.0], [2001.0, 411.0, 71.0, 0.0], [1731.0, 371.0, 42.0, 0.0], [1324.0, 276.0, 36.0, 0.0], [964.0, 193.0, 15.0, 0.0], [1196.0, 219.0, 28.0, 0.0]]}, "rubble": {"level_counts": [26, 102, 199, 235, 173, 84], "episodes_by_level": [[3333.0, 754.0, 100.0, 0.0], [4867.0, 1042.0, 216.0, 0.0], [4433.0, 935.0, 368.0, 0.0], [3213.0, 538.0, 443.0, 0.0], [1550.0, 192.0, 281.0, 0.0], [431.0, 32.0, 108.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23876953125, "command_abs_max": [0.9992349147796631, 0.3996981084346771, 0.6995663046836853]}
{"step": 36600, "actor_lr": 1.5344110647679476e-05, "archive_windows": 50000, "env_steps": 36600, "total_transitions": 149913600, "num_steps_per_env": 1, "wm_loss": 0.6056088805198669, "actor_loss": -9.53555679321289, "critic_loss": 0.004823134746402502, "reward": 0.08717966824769974, "falls": 4, "interval_steps": 50, "velocity_mae": [0.11467470228672028, 0.07001246511936188, 0.13248498737812042], "mean_episode_length": 1331.921875, "episode_reward_terms": {"track_linear_velocity": 47.27455139160156, "track_angular_velocity": 50.411617279052734, "upright": 25.523481369018555, "leg_posture": -2.5292696952819824, "standstill": -6.386895179748535, "action_rate_l2": -0.5392531752586365, "joint_torques_l2": -0.14539410173892975, "dof_pos_limits": -0.0010916979517787695, "terminated": -0.010405637323856354, "unnecessary_wheel_lift": -0.09107064455747604, "rolling_leg_motion": -0.544556200504303, "obstacle_progress": 3.767807960510254, "wheel_body_intrusion": -0.27931907773017883, "pair_body_intrusion": -0.3337116241455078}, "weighted_reward_terms": {"track_linear_velocity": 1.7746742963790894, "track_angular_velocity": 1.8924388885498047, "upright": 0.9581448435783386, "leg_posture": -0.09494812786579132, "standstill": -0.23976238071918488, "action_rate_l2": -0.02024342492222786, "joint_torques_l2": -0.005458056926727295, "dof_pos_limits": -4.0982056816574186e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.003418768523260951, "rolling_leg_motion": -0.020442496985197067, "obstacle_progress": 0.14144253730773926, "wheel_body_intrusion": -0.010485565289855003, "pair_body_intrusion": -0.012527447193861008}, "episode_termination_rates": {"time_out": 0.421875, "fell_over": 0.015625, "course_exit": 0.546875, "illegal_nonwheel_contact": 0.015625}, "collection_time_s": 0.07564697184367106, "learning_time_s": 0.18412419437780045, "iteration_time_s": 0.3059375746229783, "policy_updates": 36300, "skipped_updates": 0, "invalid_env_resets": 197, "elapsed_s": 11197.315231201006, "nonwheel_terminations": 13444, "contact_bce": 0.2917603552341461, "contact_force_loss": 0.020466336980462074, "collision_bce": 5.8807581808650866e-05, "collision_label_rate": 6.120699981693178e-05, "collision_prediction_mean": 4.100373189430684e-05, "collision_label_count": 16338.0, "terrain_level_mean": 4.096923828125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 15, 33, 57, 84, 220], "episodes_by_level": [[1451.0, 317.0, 49.0, 0.0], [1893.0, 418.0, 38.0, 0.0], [1652.0, 386.0, 32.0, 0.0], [1411.0, 324.0, 25.0, 0.0], [954.0, 231.0, 20.0, 0.0], [1483.0, 340.0, 11.0, 0.0]]}, "up": {"level_counts": [0, 0, 4, 26, 307, 1096], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4306.0, 1757.0, 165.0, 0.0], [4615.0, 1701.0, 196.0, 0.0], [6027.0, 1647.0, 164.0, 0.0], [7788.0, 1436.0, 268.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 43, 569], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [971.0, 798.0, 26.0, 0.0], [1919.0, 1566.0, 67.0, 0.0], [10632.0, 8945.0, 285.0, 0.0]]}, "platform": {"level_counts": [12, 23, 56, 100, 119, 100], "episodes_by_level": [[1795.0, 388.0, 52.0, 0.0], [2199.0, 455.0, 89.0, 0.0], [1880.0, 378.0, 86.0, 0.0], [1529.0, 269.0, 59.0, 0.0], [964.0, 143.0, 50.0, 0.0], [440.0, 43.0, 43.0, 0.0]]}, "slope": {"level_counts": [8, 19, 49, 73, 94, 167], "episodes_by_level": [[1632.0, 346.0, 46.0, 0.0], [2001.0, 411.0, 71.0, 0.0], [1731.0, 371.0, 42.0, 0.0], [1326.0, 276.0, 37.0, 0.0], [969.0, 195.0, 15.0, 0.0], [1201.0, 220.0, 28.0, 0.0]]}, "rubble": {"level_counts": [27, 100, 198, 237, 174, 83], "episodes_by_level": [[3333.0, 754.0, 100.0, 0.0], [4871.0, 1043.0, 217.0, 0.0], [4440.0, 937.0, 368.0, 0.0], [3220.0, 539.0, 443.0, 0.0], [1554.0, 192.0, 282.0, 0.0], [433.0, 32.0, 109.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23681640625, "command_abs_max": [0.9992349147796631, 0.3996981084346771, 0.6992467641830444]}
{"step": 36650, "actor_lr": 1.5248771179990772e-05, "archive_windows": 50000, "env_steps": 36650, "total_transitions": 150118400, "num_steps_per_env": 1, "wm_loss": 0.5754978656768799, "actor_loss": -9.554777145385742, "critic_loss": 0.005014164373278618, "reward": 0.08692630380392075, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11671435087919235, 0.07234583050012589, 0.13401155173778534], "mean_episode_length": 1332.5955056179776, "episode_reward_terms": {"track_linear_velocity": 47.10634231567383, "track_angular_velocity": 50.37779998779297, "upright": 25.541030883789062, "leg_posture": -2.5389912128448486, "standstill": -6.399778366088867, "action_rate_l2": -0.5437150001525879, "joint_torques_l2": -0.14593707025051117, "dof_pos_limits": -0.000849415548145771, "terminated": -0.0260272528976202, "unnecessary_wheel_lift": -0.0875573456287384, "rolling_leg_motion": -0.5562766790390015, "obstacle_progress": 3.668332815170288, "wheel_body_intrusion": -0.26670610904693604, "pair_body_intrusion": -0.2900691628456116}, "weighted_reward_terms": {"track_linear_velocity": 1.7674660682678223, "track_angular_velocity": 1.8902137279510498, "upright": 0.9583190083503723, "leg_posture": -0.09526488929986954, "standstill": -0.24012458324432373, "action_rate_l2": -0.020400602370500565, "joint_torques_l2": -0.00547567056491971, "dof_pos_limits": -3.1870720704318956e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.003285218495875597, "rolling_leg_motion": -0.020871927961707115, "obstacle_progress": 0.137638658285141, "wheel_body_intrusion": -0.01000701729208231, "pair_body_intrusion": -0.010883617214858532}, "episode_termination_rates": {"time_out": 0.42696629213483145, "fell_over": 0.033707865168539325, "course_exit": 0.5168539325842697, "illegal_nonwheel_contact": 0.03932584269662921}, "collection_time_s": 0.07588741104234942, "learning_time_s": 0.18529498969903216, "iteration_time_s": 0.3058765478250202, "policy_updates": 36350, "skipped_updates": 0, "invalid_env_resets": 197, "elapsed_s": 11210.37547778699, "nonwheel_terminations": 13451, "contact_bce": 0.2868115305900574, "contact_force_loss": 0.019830405712127686, "collision_bce": 8.004673873074353e-05, "collision_label_rate": 6.118453165981919e-05, "collision_prediction_mean": 6.787604070268571e-05, "collision_label_count": 16344.0, "terrain_level_mean": 4.098876953125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 15, 33, 57, 85, 219], "episodes_by_level": [[1451.0, 317.0, 49.0, 0.0], [1893.0, 418.0, 38.0, 0.0], [1652.0, 386.0, 32.0, 0.0], [1412.0, 324.0, 25.0, 0.0], [959.0, 231.0, 20.0, 0.0], [1494.0, 342.0, 12.0, 0.0]]}, "up": {"level_counts": [0, 0, 4, 26, 301, 1102], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4306.0, 1757.0, 165.0, 0.0], [4615.0, 1701.0, 196.0, 0.0], [6042.0, 1654.0, 164.0, 0.0], [7823.0, 1441.0, 268.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 45, 567], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [971.0, 798.0, 26.0, 0.0], [1920.0, 1567.0, 67.0, 0.0], [10656.0, 8964.0, 286.0, 0.0]]}, "platform": {"level_counts": [12, 23, 56, 98, 122, 99], "episodes_by_level": [[1795.0, 388.0, 52.0, 0.0], [2200.0, 455.0, 89.0, 0.0], [1884.0, 378.0, 86.0, 0.0], [1535.0, 271.0, 59.0, 0.0], [967.0, 143.0, 50.0, 0.0], [441.0, 43.0, 44.0, 0.0]]}, "slope": {"level_counts": [8, 19, 50, 71, 94, 168], "episodes_by_level": [[1632.0, 346.0, 46.0, 0.0], [2001.0, 411.0, 71.0, 0.0], [1731.0, 371.0, 42.0, 0.0], [1331.0, 277.0, 38.0, 0.0], [975.0, 196.0, 15.0, 0.0], [1208.0, 222.0, 28.0, 0.0]]}, "rubble": {"level_counts": [27, 100, 195, 241, 172, 84], "episodes_by_level": [[3334.0, 754.0, 100.0, 0.0], [4875.0, 1043.0, 217.0, 0.0], [4449.0, 940.0, 368.0, 0.0], [3223.0, 540.0, 443.0, 0.0], [1560.0, 194.0, 284.0, 0.0], [435.0, 32.0, 110.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.236328125, "command_abs_max": [0.9991412162780762, 0.3996981084346771, 0.6994628310203552]}
{"step": 36700, "actor_lr": 1.51547117458427e-05, "archive_windows": 50000, "env_steps": 36700, "total_transitions": 150323200, "num_steps_per_env": 1, "wm_loss": 0.5949569940567017, "actor_loss": -9.516191482543945, "critic_loss": 0.01350729912519455, "reward": 0.08717966824769974, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11502455174922943, 0.07154080271720886, 0.13355715572834015], "mean_episode_length": 1345.4966887417218, "episode_reward_terms": {"track_linear_velocity": 47.69993209838867, "track_angular_velocity": 50.88797378540039, "upright": 25.790220260620117, "leg_posture": -2.5420167446136475, "standstill": -6.356194972991943, "action_rate_l2": -0.5662060379981995, "joint_torques_l2": -0.14552298188209534, "dof_pos_limits": -0.0006820082780905068, "terminated": -0.01839546114206314, "unnecessary_wheel_lift": -0.08642847090959549, "rolling_leg_motion": -0.5761837959289551, "obstacle_progress": 3.746859312057495, "wheel_body_intrusion": -0.2724263072013855, "pair_body_intrusion": -0.2609531879425049}, "weighted_reward_terms": {"track_linear_velocity": 1.772577166557312, "track_angular_velocity": 1.8910478353500366, "upright": 0.9583904147148132, "leg_posture": -0.09446387737989426, "standstill": -0.23620255291461945, "action_rate_l2": -0.02104078233242035, "joint_torques_l2": -0.005407779477536678, "dof_pos_limits": -2.534410850785207e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0032117681112140417, "rolling_leg_motion": -0.02141156606376171, "obstacle_progress": 0.13923703134059906, "wheel_body_intrusion": -0.010123633779585361, "pair_body_intrusion": -0.009697281755506992}, "episode_termination_rates": {"time_out": 0.4503311258278146, "fell_over": 0.026490066225165563, "course_exit": 0.5033112582781457, "illegal_nonwheel_contact": 0.039735099337748346}, "collection_time_s": 0.07585015855962411, "learning_time_s": 0.18451123205944897, "iteration_time_s": 0.30581456816926367, "policy_updates": 36400, "skipped_updates": 0, "invalid_env_resets": 197, "elapsed_s": 11223.394651811977, "nonwheel_terminations": 13457, "contact_bce": 0.2884962856769562, "contact_force_loss": 0.019854193553328514, "collision_bce": 0.00021584467322099954, "collision_label_rate": 0.0001837897434597835, "collision_prediction_mean": 0.00021626788657158613, "collision_label_count": 16323.0, "terrain_level_mean": 4.100341796875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 15, 33, 57, 84, 220], "episodes_by_level": [[1451.0, 317.0, 49.0, 0.0], [1894.0, 418.0, 38.0, 0.0], [1653.0, 386.0, 32.0, 0.0], [1415.0, 324.0, 25.0, 0.0], [962.0, 232.0, 20.0, 0.0], [1497.0, 342.0, 12.0, 0.0]]}, "up": {"level_counts": [0, 0, 4, 26, 300, 1103], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4306.0, 1757.0, 165.0, 0.0], [4616.0, 1701.0, 196.0, 0.0], [6055.0, 1658.0, 164.0, 0.0], [7856.0, 1449.0, 271.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 46, 566], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [971.0, 798.0, 26.0, 0.0], [1922.0, 1569.0, 67.0, 0.0], [10676.0, 8983.0, 286.0, 0.0]]}, "platform": {"level_counts": [12, 22, 57, 98, 122, 99], "episodes_by_level": [[1795.0, 388.0, 52.0, 0.0], [2203.0, 456.0, 89.0, 0.0], [1886.0, 378.0, 86.0, 0.0], [1539.0, 271.0, 59.0, 0.0], [971.0, 143.0, 50.0, 0.0], [445.0, 43.0, 44.0, 0.0]]}, "slope": {"level_counts": [8, 19, 50, 70, 96, 167], "episodes_by_level": [[1632.0, 346.0, 46.0, 0.0], [2003.0, 411.0, 71.0, 0.0], [1733.0, 371.0, 42.0, 0.0], [1332.0, 278.0, 38.0, 0.0], [977.0, 196.0, 15.0, 0.0], [1213.0, 222.0, 29.0, 0.0]]}, "rubble": {"level_counts": [27, 100, 193, 242, 172, 85], "episodes_by_level": [[3335.0, 754.0, 100.0, 0.0], [4878.0, 1043.0, 217.0, 0.0], [4458.0, 942.0, 368.0, 0.0], [3226.0, 541.0, 443.0, 0.0], [1564.0, 195.0, 284.0, 0.0], [439.0, 32.0, 110.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.239990234375, "command_abs_max": [0.9996426105499268, 0.39915338158607483, 0.6994628310203552]}
{"step": 36750, "actor_lr": 1.5061938147264221e-05, "archive_windows": 50000, "env_steps": 36750, "total_transitions": 150528000, "num_steps_per_env": 1, "wm_loss": 0.5648705959320068, "actor_loss": -9.534280776977539, "critic_loss": 0.005094993393868208, "reward": 0.08731535822153091, "falls": 3, "interval_steps": 50, "velocity_mae": [0.11454813182353973, 0.07166162878274918, 0.13349993526935577], "mean_episode_length": 1411.111111111111, "episode_reward_terms": {"track_linear_velocity": 50.017826080322266, "track_angular_velocity": 53.37425994873047, "upright": 27.0368709564209, "leg_posture": -2.6582655906677246, "standstill": -6.521460056304932, "action_rate_l2": -0.5862472653388977, "joint_torques_l2": -0.15243467688560486, "dof_pos_limits": -0.0012848882470279932, "terminated": -0.00826822780072689, "unnecessary_wheel_lift": -0.0799306109547615, "rolling_leg_motion": -0.5921387672424316, "obstacle_progress": 3.9454140663146973, "wheel_body_intrusion": -0.2866191864013672, "pair_body_intrusion": -0.27603909373283386}, "weighted_reward_terms": {"track_linear_velocity": 1.7722852230072021, "track_angular_velocity": 1.89121413230896, "upright": 0.9579994082450867, "leg_posture": -0.09419051557779312, "standstill": -0.23107536137104034, "action_rate_l2": -0.0207725428044796, "joint_torques_l2": -0.00540122902020812, "dof_pos_limits": -4.552753671305254e-05, "terminated": -0.00029296870343387127, "unnecessary_wheel_lift": -0.002832187106832862, "rolling_leg_motion": -0.02098129503428936, "obstacle_progress": 0.1397981494665146, "wheel_body_intrusion": -0.010155797936022282, "pair_body_intrusion": -0.009780913591384888}, "episode_termination_rates": {"time_out": 0.5208333333333334, "fell_over": 0.0, "course_exit": 0.4583333333333333, "illegal_nonwheel_contact": 0.020833333333333332}, "collection_time_s": 0.07577965990174562, "learning_time_s": 0.1849530863016844, "iteration_time_s": 0.3057532625875379, "policy_updates": 36450, "skipped_updates": 0, "invalid_env_resets": 197, "elapsed_s": 11236.432400092017, "nonwheel_terminations": 13460, "contact_bce": 0.2795872092247009, "contact_force_loss": 0.019756855443120003, "collision_bce": 0.0005477856029756367, "collision_label_rate": 6.120325269876048e-05, "collision_prediction_mean": 9.246094123227522e-06, "collision_label_count": 16339.0, "terrain_level_mean": 4.102294921875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 15, 33, 56, 84, 221], "episodes_by_level": [[1451.0, 317.0, 49.0, 0.0], [1894.0, 418.0, 38.0, 0.0], [1654.0, 386.0, 32.0, 0.0], [1417.0, 325.0, 25.0, 0.0], [964.0, 233.0, 20.0, 0.0], [1502.0, 342.0, 12.0, 0.0]]}, "up": {"level_counts": [0, 0, 4, 26, 297, 1106], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4306.0, 1757.0, 165.0, 0.0], [4616.0, 1701.0, 196.0, 0.0], [6064.0, 1661.0, 164.0, 0.0], [7881.0, 1453.0, 271.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 46, 566], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [971.0, 798.0, 26.0, 0.0], [1922.0, 1569.0, 67.0, 0.0], [10693.0, 8998.0, 286.0, 0.0]]}, "platform": {"level_counts": [12, 22, 57, 97, 124, 98], "episodes_by_level": [[1796.0, 388.0, 52.0, 0.0], [2203.0, 456.0, 89.0, 0.0], [1888.0, 378.0, 86.0, 0.0], [1544.0, 272.0, 59.0, 0.0], [973.0, 143.0, 50.0, 0.0], [451.0, 44.0, 45.0, 0.0]]}, "slope": {"level_counts": [8, 19, 50, 68, 98, 167], "episodes_by_level": [[1632.0, 346.0, 46.0, 0.0], [2003.0, 411.0, 71.0, 0.0], [1735.0, 371.0, 42.0, 0.0], [1337.0, 280.0, 38.0, 0.0], [980.0, 196.0, 15.0, 0.0], [1220.0, 224.0, 29.0, 0.0]]}, "rubble": {"level_counts": [27, 100, 192, 244, 170, 86], "episodes_by_level": [[3336.0, 754.0, 100.0, 0.0], [4879.0, 1043.0, 217.0, 0.0], [4464.0, 943.0, 368.0, 0.0], [3231.0, 542.0, 443.0, 0.0], [1573.0, 196.0, 286.0, 0.0], [442.0, 32.0, 110.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.238525390625, "command_abs_max": [0.9996426105499268, 0.3994898796081543, 0.6994628310203552]}
{"step": 36800, "actor_lr": 1.4970456106967891e-05, "archive_windows": 50000, "env_steps": 36800, "total_transitions": 150732800, "num_steps_per_env": 1, "wm_loss": 0.6132239103317261, "actor_loss": -9.549758911132812, "critic_loss": 0.012783241458237171, "reward": 0.08720177412033081, "falls": 4, "interval_steps": 50, "velocity_mae": [0.11382299661636353, 0.0715351551771164, 0.13400737941265106], "mean_episode_length": 1384.2518518518518, "episode_reward_terms": {"track_linear_velocity": 49.12698745727539, "track_angular_velocity": 52.32555389404297, "upright": 26.498207092285156, "leg_posture": -2.6550722122192383, "standstill": -6.429173946380615, "action_rate_l2": -0.5758379697799683, "joint_torques_l2": -0.15060900151729584, "dof_pos_limits": -0.0017219232395291328, "terminated": -0.010814465582370758, "unnecessary_wheel_lift": -0.06934528052806854, "rolling_leg_motion": -0.5810800790786743, "obstacle_progress": 3.8266656398773193, "wheel_body_intrusion": -0.2910097539424896, "pair_body_intrusion": -0.3035290539264679}, "weighted_reward_terms": {"track_linear_velocity": 1.774496078491211, "track_angular_velocity": 1.8900302648544312, "upright": 0.957131028175354, "leg_posture": -0.09590278565883636, "standstill": -0.23222558200359344, "action_rate_l2": -0.020799610763788223, "joint_torques_l2": -0.005440086591988802, "dof_pos_limits": -6.219689385034144e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.0025047927629202604, "rolling_leg_motion": -0.020988959819078445, "obstacle_progress": 0.13822144269943237, "wheel_body_intrusion": -0.010511445812880993, "pair_body_intrusion": -0.010963650420308113}, "episode_termination_rates": {"time_out": 0.4740740740740741, "fell_over": 0.014814814814814815, "course_exit": 0.4962962962962963, "illegal_nonwheel_contact": 0.014814814814814815}, "collection_time_s": 0.07569367705844343, "learning_time_s": 0.18562075130408628, "iteration_time_s": 0.30569291391184855, "policy_updates": 36500, "skipped_updates": 0, "invalid_env_resets": 197, "elapsed_s": 11249.499231956026, "nonwheel_terminations": 13462, "contact_bce": 0.2904430627822876, "contact_force_loss": 0.020505433902144432, "collision_bce": 6.149565888335928e-05, "collision_label_rate": 6.116207805462182e-05, "collision_prediction_mean": 7.71404302213341e-05, "collision_label_count": 16350.0, "terrain_level_mean": 4.1044921875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 15, 32, 57, 84, 221], "episodes_by_level": [[1451.0, 317.0, 49.0, 0.0], [1894.0, 418.0, 38.0, 0.0], [1655.0, 387.0, 32.0, 0.0], [1417.0, 325.0, 25.0, 0.0], [968.0, 233.0, 20.0, 0.0], [1508.0, 342.0, 12.0, 0.0]]}, "up": {"level_counts": [0, 0, 4, 25, 296, 1108], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4307.0, 1757.0, 165.0, 0.0], [4617.0, 1702.0, 196.0, 0.0], [6079.0, 1663.0, 164.0, 0.0], [7900.0, 1457.0, 271.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 44, 567], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [971.0, 798.0, 26.0, 0.0], [1923.0, 1570.0, 67.0, 0.0], [10712.0, 9015.0, 286.0, 0.0]]}, "platform": {"level_counts": [12, 21, 57, 97, 126, 97], "episodes_by_level": [[1796.0, 388.0, 52.0, 0.0], [2205.0, 457.0, 89.0, 0.0], [1891.0, 379.0, 86.0, 0.0], [1548.0, 273.0, 59.0, 0.0], [976.0, 143.0, 50.0, 0.0], [454.0, 44.0, 46.0, 0.0]]}, "slope": {"level_counts": [8, 19, 50, 68, 98, 167], "episodes_by_level": [[1632.0, 346.0, 46.0, 0.0], [2003.0, 411.0, 71.0, 0.0], [1739.0, 371.0, 42.0, 0.0], [1339.0, 280.0, 38.0, 0.0], [981.0, 196.0, 15.0, 0.0], [1223.0, 224.0, 29.0, 0.0]]}, "rubble": {"level_counts": [26, 100, 193, 243, 171, 86], "episodes_by_level": [[3337.0, 755.0, 100.0, 0.0], [4881.0, 1044.0, 217.0, 0.0], [4468.0, 943.0, 368.0, 0.0], [3240.0, 545.0, 443.0, 0.0], [1578.0, 196.0, 288.0, 0.0], [443.0, 32.0, 110.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.236572265625, "command_abs_max": [0.9996426105499268, 0.3994898796081543, 0.6994628310203552]}
{"step": 36850, "actor_lr": 1.4880271267996882e-05, "archive_windows": 50000, "env_steps": 36850, "total_transitions": 150937600, "num_steps_per_env": 1, "wm_loss": 0.5701740980148315, "actor_loss": -9.53363037109375, "critic_loss": 0.0044920421205461025, "reward": 0.08679942786693573, "falls": 12, "interval_steps": 50, "velocity_mae": [0.11464422196149826, 0.07099732011556625, 0.13467508554458618], "mean_episode_length": 1324.0258064516129, "episode_reward_terms": {"track_linear_velocity": 46.99725341796875, "track_angular_velocity": 50.03001022338867, "upright": 25.336036682128906, "leg_posture": -2.545520544052124, "standstill": -6.609886646270752, "action_rate_l2": -0.5438625812530518, "joint_torques_l2": -0.1446261703968048, "dof_pos_limits": -0.0005125286406837404, "terminated": -0.03103185072541237, "unnecessary_wheel_lift": -0.09896495193243027, "rolling_leg_motion": -0.5636608004570007, "obstacle_progress": 3.6455135345458984, "wheel_body_intrusion": -0.2854651212692261, "pair_body_intrusion": -0.2605931758880615}, "weighted_reward_terms": {"track_linear_velocity": 1.774786353111267, "track_angular_velocity": 1.8893141746520996, "upright": 0.9567803740501404, "leg_posture": -0.09612806141376495, "standstill": -0.2496132254600525, "action_rate_l2": -0.020538218319416046, "joint_torques_l2": -0.0054616075940430164, "dof_pos_limits": -1.9354934920556843e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.003737274557352066, "rolling_leg_motion": -0.02128586918115616, "obstacle_progress": 0.13766777515411377, "wheel_body_intrusion": -0.010780195705592632, "pair_body_intrusion": -0.009840941056609154}, "episode_termination_rates": {"time_out": 0.3935483870967742, "fell_over": 0.03870967741935484, "course_exit": 0.5290322580645161, "illegal_nonwheel_contact": 0.05806451612903226}, "collection_time_s": 0.07607521453755908, "learning_time_s": 0.1855435498210136, "iteration_time_s": 0.30563314210035264, "policy_updates": 36550, "skipped_updates": 0, "invalid_env_resets": 198, "elapsed_s": 11262.581286397995, "nonwheel_terminations": 13471, "contact_bce": 0.2860490381717682, "contact_force_loss": 0.019917381927371025, "collision_bce": 0.0004924566019326448, "collision_label_rate": 6.11807918176055e-05, "collision_prediction_mean": 4.452169014257379e-05, "collision_label_count": 16345.0, "terrain_level_mean": 4.1044921875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 15, 32, 57, 84, 221], "episodes_by_level": [[1451.0, 317.0, 49.0, 0.0], [1894.0, 418.0, 38.0, 0.0], [1655.0, 387.0, 32.0, 0.0], [1418.0, 325.0, 25.0, 0.0], [970.0, 233.0, 20.0, 0.0], [1514.0, 345.0, 12.0, 0.0]]}, "up": {"level_counts": [0, 0, 4, 25, 296, 1108], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4307.0, 1757.0, 165.0, 0.0], [4618.0, 1702.0, 196.0, 0.0], [6084.0, 1664.0, 164.0, 0.0], [7933.0, 1468.0, 271.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 44, 567], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [971.0, 798.0, 26.0, 0.0], [1926.0, 1573.0, 67.0, 0.0], [10736.0, 9034.0, 286.0, 0.0]]}, "platform": {"level_counts": [12, 21, 56, 98, 126, 97], "episodes_by_level": [[1796.0, 388.0, 52.0, 0.0], [2205.0, 457.0, 89.0, 0.0], [1893.0, 380.0, 86.0, 0.0], [1550.0, 273.0, 59.0, 0.0], [978.0, 143.0, 50.0, 0.0], [458.0, 44.0, 46.0, 0.0]]}, "slope": {"level_counts": [8, 19, 50, 67, 98, 168], "episodes_by_level": [[1632.0, 346.0, 46.0, 0.0], [2004.0, 411.0, 71.0, 0.0], [1740.0, 371.0, 42.0, 0.0], [1341.0, 281.0, 38.0, 0.0], [982.0, 197.0, 15.0, 0.0], [1229.0, 224.0, 29.0, 0.0]]}, "rubble": {"level_counts": [28, 98, 193, 244, 170, 86], "episodes_by_level": [[3337.0, 755.0, 100.0, 0.0], [4886.0, 1045.0, 219.0, 0.0], [4474.0, 945.0, 369.0, 0.0], [3247.0, 545.0, 445.0, 0.0], [1586.0, 198.0, 289.0, 0.0], [448.0, 32.0, 112.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234619140625, "command_abs_max": [0.9996426105499268, 0.3998865485191345, 0.6992841958999634]}
{"step": 36900, "actor_lr": 1.4791389193376875e-05, "archive_windows": 50000, "env_steps": 36900, "total_transitions": 151142400, "num_steps_per_env": 1, "wm_loss": 0.5887714624404907, "actor_loss": -9.527132034301758, "critic_loss": 0.004933400545269251, "reward": 0.08710236102342606, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11344918608665466, 0.06950065493583679, 0.1354508101940155], "mean_episode_length": 1321.9386503067485, "episode_reward_terms": {"track_linear_velocity": 47.03394317626953, "track_angular_velocity": 49.9190673828125, "upright": 25.312110900878906, "leg_posture": -2.519585132598877, "standstill": -6.3599724769592285, "action_rate_l2": -0.5583646297454834, "joint_torques_l2": -0.1449652463197708, "dof_pos_limits": -0.0012750278692692518, "terminated": -0.0232371985912323, "unnecessary_wheel_lift": -0.09036052227020264, "rolling_leg_motion": -0.5628412961959839, "obstacle_progress": 3.648122549057007, "wheel_body_intrusion": -0.26401546597480774, "pair_body_intrusion": -0.24466361105442047}, "weighted_reward_terms": {"track_linear_velocity": 1.7789760828018188, "track_angular_velocity": 1.8881008625030518, "upright": 0.9573860168457031, "leg_posture": -0.0952988713979721, "standstill": -0.24055476486682892, "action_rate_l2": -0.02111915871500969, "joint_torques_l2": -0.005483055487275124, "dof_pos_limits": -4.822568371309899e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.0034177275374531746, "rolling_leg_motion": -0.02128848247230053, "obstacle_progress": 0.13798381388187408, "wheel_body_intrusion": -0.009985920041799545, "pair_body_intrusion": -0.009253970347344875}, "episode_termination_rates": {"time_out": 0.4233128834355828, "fell_over": 0.012269938650306749, "course_exit": 0.5214723926380368, "illegal_nonwheel_contact": 0.049079754601226995}, "collection_time_s": 0.07574732753797435, "learning_time_s": 0.18418152726371773, "iteration_time_s": 0.3055712427439841, "policy_updates": 36600, "skipped_updates": 0, "invalid_env_resets": 198, "elapsed_s": 11275.578857253015, "nonwheel_terminations": 13479, "contact_bce": 0.28604406118392944, "contact_force_loss": 0.020583398640155792, "collision_bce": 2.0448129362193868e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 2.0249031877028756e-05, "collision_label_count": 16340.0, "terrain_level_mean": 4.10595703125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 15, 32, 56, 85, 221], "episodes_by_level": [[1451.0, 317.0, 49.0, 0.0], [1895.0, 418.0, 38.0, 0.0], [1656.0, 387.0, 32.0, 0.0], [1420.0, 326.0, 25.0, 0.0], [975.0, 233.0, 20.0, 0.0], [1515.0, 345.0, 12.0, 0.0]]}, "up": {"level_counts": [0, 0, 4, 25, 295, 1109], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4307.0, 1757.0, 165.0, 0.0], [4618.0, 1702.0, 196.0, 0.0], [6092.0, 1666.0, 164.0, 0.0], [7963.0, 1475.0, 271.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 43, 568], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [971.0, 798.0, 26.0, 0.0], [1927.0, 1574.0, 67.0, 0.0], [10768.0, 9060.0, 286.0, 0.0]]}, "platform": {"level_counts": [12, 21, 56, 97, 127, 97], "episodes_by_level": [[1797.0, 388.0, 52.0, 0.0], [2206.0, 457.0, 89.0, 0.0], [1896.0, 380.0, 86.0, 0.0], [1554.0, 274.0, 59.0, 0.0], [981.0, 143.0, 50.0, 0.0], [460.0, 44.0, 46.0, 0.0]]}, "slope": {"level_counts": [8, 19, 50, 67, 97, 169], "episodes_by_level": [[1632.0, 346.0, 46.0, 0.0], [2004.0, 411.0, 71.0, 0.0], [1742.0, 371.0, 42.0, 0.0], [1343.0, 281.0, 38.0, 0.0], [983.0, 198.0, 15.0, 0.0], [1236.0, 226.0, 29.0, 0.0]]}, "rubble": {"level_counts": [28, 99, 194, 236, 178, 84], "episodes_by_level": [[3337.0, 755.0, 100.0, 0.0], [4889.0, 1046.0, 219.0, 0.0], [4479.0, 946.0, 371.0, 0.0], [3264.0, 552.0, 448.0, 0.0], [1590.0, 198.0, 290.0, 0.0], [452.0, 32.0, 114.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23193359375, "command_abs_max": [0.9999765157699585, 0.3998865485191345, 0.6985194683074951]}
{"step": 36950, "actor_lr": 1.4703815365772887e-05, "archive_windows": 50000, "env_steps": 36950, "total_transitions": 151347200, "num_steps_per_env": 1, "wm_loss": 0.6162212491035461, "actor_loss": -9.547383308410645, "critic_loss": 0.006446291692554951, "reward": 0.08725238591432571, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11066064238548279, 0.06932774186134338, 0.13262028992176056], "mean_episode_length": 1435.3071895424837, "episode_reward_terms": {"track_linear_velocity": 51.24851989746094, "track_angular_velocity": 54.32163619995117, "upright": 27.50214385986328, "leg_posture": -2.7717292308807373, "standstill": -6.942455291748047, "action_rate_l2": -0.5932646989822388, "joint_torques_l2": -0.15454642474651337, "dof_pos_limits": -0.0001926252880366519, "terminated": -0.01682000234723091, "unnecessary_wheel_lift": -0.08790160715579987, "rolling_leg_motion": -0.6248931288719177, "obstacle_progress": 3.9390761852264404, "wheel_body_intrusion": -0.28878945112228394, "pair_body_intrusion": -0.2967902421951294}, "weighted_reward_terms": {"track_linear_velocity": 1.7852805852890015, "track_angular_velocity": 1.892335057258606, "upright": 0.9580577611923218, "leg_posture": -0.09655527025461197, "standstill": -0.24184563755989075, "action_rate_l2": -0.0206668209284544, "joint_torques_l2": -0.005383740644901991, "dof_pos_limits": -6.710246452712454e-06, "terminated": -0.0005859374068677425, "unnecessary_wheel_lift": -0.00306211831048131, "rolling_leg_motion": -0.021768620237708092, "obstacle_progress": 0.13722068071365356, "wheel_body_intrusion": -0.010060197673738003, "pair_body_intrusion": -0.010338910855352879}, "episode_termination_rates": {"time_out": 0.5163398692810458, "fell_over": 0.026143790849673203, "course_exit": 0.4444444444444444, "illegal_nonwheel_contact": 0.0196078431372549}, "collection_time_s": 0.07587856130325235, "learning_time_s": 0.18488133515696972, "iteration_time_s": 0.30551063497404596, "policy_updates": 36650, "skipped_updates": 0, "invalid_env_resets": 198, "elapsed_s": 11288.617962290999, "nonwheel_terminations": 13482, "contact_bce": 0.2895700931549072, "contact_force_loss": 0.02124168910086155, "collision_bce": 2.2314068701234646e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 2.2135338440421037e-05, "collision_label_count": 16350.0, "terrain_level_mean": 4.10791015625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 15, 32, 56, 85, 221], "episodes_by_level": [[1451.0, 317.0, 49.0, 0.0], [1895.0, 418.0, 38.0, 0.0], [1656.0, 387.0, 32.0, 0.0], [1420.0, 326.0, 25.0, 0.0], [978.0, 233.0, 20.0, 0.0], [1523.0, 346.0, 12.0, 0.0]]}, "up": {"level_counts": [0, 0, 4, 25, 294, 1110], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4307.0, 1757.0, 165.0, 0.0], [4619.0, 1702.0, 196.0, 0.0], [6102.0, 1669.0, 164.0, 0.0], [7990.0, 1479.0, 273.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 42, 570], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [972.0, 799.0, 26.0, 0.0], [1929.0, 1576.0, 67.0, 0.0], [10786.0, 9076.0, 286.0, 0.0]]}, "platform": {"level_counts": [12, 21, 56, 97, 127, 97], "episodes_by_level": [[1798.0, 388.0, 52.0, 0.0], [2208.0, 457.0, 89.0, 0.0], [1899.0, 380.0, 86.0, 0.0], [1557.0, 274.0, 59.0, 0.0], [986.0, 143.0, 50.0, 0.0], [462.0, 44.0, 46.0, 0.0]]}, "slope": {"level_counts": [8, 19, 48, 69, 97, 169], "episodes_by_level": [[1632.0, 346.0, 46.0, 0.0], [2004.0, 411.0, 71.0, 0.0], [1744.0, 373.0, 42.0, 0.0], [1346.0, 281.0, 38.0, 0.0], [985.0, 198.0, 15.0, 0.0], [1241.0, 227.0, 29.0, 0.0]]}, "rubble": {"level_counts": [27, 98, 196, 236, 179, 83], "episodes_by_level": [[3339.0, 756.0, 100.0, 0.0], [4894.0, 1048.0, 219.0, 0.0], [4487.0, 947.0, 371.0, 0.0], [3267.0, 553.0, 449.0, 0.0], [1598.0, 198.0, 291.0, 0.0], [455.0, 33.0, 115.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.233154296875, "command_abs_max": [0.9999765157699585, 0.3998865485191345, 0.6985194683074951]}
{"step": 37000, "actor_lr": 1.461755518715113e-05, "archive_windows": 50000, "env_steps": 37000, "total_transitions": 151552000, "num_steps_per_env": 1, "wm_loss": 0.5947021842002869, "actor_loss": -9.535100936889648, "critic_loss": 0.003989771939814091, "reward": 0.08738824725151062, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11101056635379791, 0.0684228390455246, 0.13303248584270477], "mean_episode_length": 1324.8243243243244, "episode_reward_terms": {"track_linear_velocity": 47.337745666503906, "track_angular_velocity": 50.1358757019043, "upright": 25.386608123779297, "leg_posture": -2.526897668838501, "standstill": -6.242988109588623, "action_rate_l2": -0.5453096628189087, "joint_torques_l2": -0.14319676160812378, "dof_pos_limits": -0.0002313993900315836, "terminated": -0.015525284223258495, "unnecessary_wheel_lift": -0.0829249769449234, "rolling_leg_motion": -0.5779320597648621, "obstacle_progress": 3.628788471221924, "wheel_body_intrusion": -0.27150192856788635, "pair_body_intrusion": -0.3084360361099243}, "weighted_reward_terms": {"track_linear_velocity": 1.7865668535232544, "track_angular_velocity": 1.8921706676483154, "upright": 0.9581122994422913, "leg_posture": -0.09536727517843246, "standstill": -0.23561570048332214, "action_rate_l2": -0.02058045193552971, "joint_torques_l2": -0.005404368042945862, "dof_pos_limits": -8.73321096150903e-06, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.0031296592205762863, "rolling_leg_motion": -0.021811649203300476, "obstacle_progress": 0.13695357739925385, "wheel_body_intrusion": -0.01024671457707882, "pair_body_intrusion": -0.011640639975667}, "episode_termination_rates": {"time_out": 0.4594594594594595, "fell_over": 0.013513513513513514, "course_exit": 0.5, "illegal_nonwheel_contact": 0.033783783783783786}, "collection_time_s": 0.07561644956003874, "learning_time_s": 0.19218128576059826, "iteration_time_s": 0.3054597067876225, "policy_updates": 36700, "skipped_updates": 0, "invalid_env_resets": 198, "elapsed_s": 11302.009151142032, "nonwheel_terminations": 13487, "contact_bce": 0.2927410900592804, "contact_force_loss": 0.02028251625597477, "collision_bce": 0.00014093861682340503, "collision_label_rate": 6.124823994468898e-05, "collision_prediction_mean": 9.984421922126785e-05, "collision_label_count": 16327.0, "terrain_level_mean": 4.109619140625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 15, 32, 56, 84, 222], "episodes_by_level": [[1451.0, 317.0, 49.0, 0.0], [1895.0, 418.0, 38.0, 0.0], [1658.0, 387.0, 32.0, 0.0], [1421.0, 326.0, 25.0, 0.0], [980.0, 234.0, 20.0, 0.0], [1528.0, 349.0, 12.0, 0.0]]}, "up": {"level_counts": [0, 0, 4, 26, 291, 1112], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4308.0, 1757.0, 165.0, 0.0], [4619.0, 1702.0, 196.0, 0.0], [6111.0, 1671.0, 164.0, 0.0], [8028.0, 1488.0, 273.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 42, 570], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [972.0, 799.0, 26.0, 0.0], [1931.0, 1578.0, 67.0, 0.0], [10808.0, 9098.0, 286.0, 0.0]]}, "platform": {"level_counts": [12, 21, 56, 97, 124, 100], "episodes_by_level": [[1798.0, 388.0, 52.0, 0.0], [2208.0, 457.0, 89.0, 0.0], [1902.0, 380.0, 86.0, 0.0], [1561.0, 274.0, 59.0, 0.0], [990.0, 146.0, 50.0, 0.0], [464.0, 44.0, 46.0, 0.0]]}, "slope": {"level_counts": [8, 19, 47, 70, 96, 170], "episodes_by_level": [[1632.0, 346.0, 46.0, 0.0], [2004.0, 411.0, 71.0, 0.0], [1745.0, 374.0, 42.0, 0.0], [1347.0, 281.0, 38.0, 0.0], [989.0, 199.0, 15.0, 0.0], [1244.0, 227.0, 29.0, 0.0]]}, "rubble": {"level_counts": [27, 98, 197, 233, 182, 82], "episodes_by_level": [[3339.0, 756.0, 100.0, 0.0], [4897.0, 1048.0, 219.0, 0.0], [4493.0, 947.0, 371.0, 0.0], [3273.0, 555.0, 450.0, 0.0], [1601.0, 199.0, 291.0, 0.0], [457.0, 33.0, 117.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.232421875, "command_abs_max": [0.9999765157699585, 0.3998865485191345, 0.6985194683074951]}
{"step": 37050, "actor_lr": 1.4532613978445736e-05, "archive_windows": 50000, "env_steps": 37050, "total_transitions": 151756800, "num_steps_per_env": 1, "wm_loss": 0.6025481224060059, "actor_loss": -9.50671672821045, "critic_loss": 0.005637485999614, "reward": 0.08732786774635315, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11084970831871033, 0.06974530965089798, 0.13286928832530975], "mean_episode_length": 1402.2797202797203, "episode_reward_terms": {"track_linear_velocity": 50.04554748535156, "track_angular_velocity": 53.06874084472656, "upright": 26.84031105041504, "leg_posture": -2.6885364055633545, "standstill": -6.657006740570068, "action_rate_l2": -0.5806354284286499, "joint_torques_l2": -0.15222811698913574, "dof_pos_limits": -0.0011047639418393373, "terminated": -0.019171791151165962, "unnecessary_wheel_lift": -0.08091671019792557, "rolling_leg_motion": -0.5969415307044983, "obstacle_progress": 3.907618761062622, "wheel_body_intrusion": -0.29026901721954346, "pair_body_intrusion": -0.3373127281665802}, "weighted_reward_terms": {"track_linear_velocity": 1.7844352722167969, "track_angular_velocity": 1.8922311067581177, "upright": 0.9570242166519165, "leg_posture": -0.09586306661367416, "standstill": -0.2373637557029724, "action_rate_l2": -0.0207032673060894, "joint_torques_l2": -0.005427880212664604, "dof_pos_limits": -3.939171074307524e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0028851847164332867, "rolling_leg_motion": -0.0212846826761961, "obstacle_progress": 0.1393309384584427, "wheel_body_intrusion": -0.010349897667765617, "pair_body_intrusion": -0.012027299031615257}, "episode_termination_rates": {"time_out": 0.48951048951048953, "fell_over": 0.013986013986013986, "course_exit": 0.46153846153846156, "illegal_nonwheel_contact": 0.04195804195804196}, "collection_time_s": 0.07604176096152514, "learning_time_s": 0.18539268495747818, "iteration_time_s": 0.30540103629897425, "policy_updates": 36750, "skipped_updates": 0, "invalid_env_resets": 199, "elapsed_s": 11315.108394876996, "nonwheel_terminations": 13493, "contact_bce": 0.29368987679481506, "contact_force_loss": 0.02091364376246929, "collision_bce": 1.72765339812031e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.709750904410612e-05, "collision_label_count": 16340.0, "terrain_level_mean": 4.1103515625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 16, 32, 55, 85, 222], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1896.0, 418.0, 38.0, 0.0], [1660.0, 387.0, 32.0, 0.0], [1422.0, 327.0, 25.0, 0.0], [983.0, 234.0, 20.0, 0.0], [1533.0, 350.0, 12.0, 0.0]]}, "up": {"level_counts": [0, 0, 4, 26, 291, 1112], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4308.0, 1757.0, 165.0, 0.0], [4620.0, 1702.0, 196.0, 0.0], [6125.0, 1672.0, 164.0, 0.0], [8049.0, 1495.0, 273.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 42, 570], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [972.0, 799.0, 26.0, 0.0], [1931.0, 1578.0, 67.0, 0.0], [10822.0, 9109.0, 286.0, 0.0]]}, "platform": {"level_counts": [12, 21, 56, 96, 124, 101], "episodes_by_level": [[1798.0, 388.0, 52.0, 0.0], [2208.0, 457.0, 89.0, 0.0], [1902.0, 380.0, 86.0, 0.0], [1562.0, 275.0, 59.0, 0.0], [997.0, 147.0, 50.0, 0.0], [468.0, 46.0, 46.0, 0.0]]}, "slope": {"level_counts": [8, 19, 47, 70, 95, 171], "episodes_by_level": [[1632.0, 346.0, 46.0, 0.0], [2004.0, 411.0, 71.0, 0.0], [1746.0, 374.0, 42.0, 0.0], [1351.0, 281.0, 38.0, 0.0], [991.0, 200.0, 15.0, 0.0], [1249.0, 228.0, 29.0, 0.0]]}, "rubble": {"level_counts": [27, 97, 197, 237, 180, 81], "episodes_by_level": [[3340.0, 756.0, 100.0, 0.0], [4903.0, 1049.0, 219.0, 0.0], [4497.0, 948.0, 371.0, 0.0], [3280.0, 556.0, 450.0, 0.0], [1613.0, 200.0, 295.0, 0.0], [462.0, 34.0, 119.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2294921875, "command_abs_max": [0.9999765157699585, 0.3994898796081543, 0.6985194683074951]}
{"step": 37100, "actor_lr": 1.4448996979230566e-05, "archive_windows": 50000, "env_steps": 37100, "total_transitions": 151961600, "num_steps_per_env": 1, "wm_loss": 0.5752352476119995, "actor_loss": -9.538029670715332, "critic_loss": 0.003831179579719901, "reward": 0.08665334433317184, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11405543237924576, 0.07037514448165894, 0.1333734095096588], "mean_episode_length": 1368.8235294117646, "episode_reward_terms": {"track_linear_velocity": 48.676700592041016, "track_angular_velocity": 51.78199768066406, "upright": 26.192861557006836, "leg_posture": -2.633714437484741, "standstill": -7.285415172576904, "action_rate_l2": -0.5789039731025696, "joint_torques_l2": -0.14829306304454803, "dof_pos_limits": -0.00046015955740585923, "terminated": -0.016040898859500885, "unnecessary_wheel_lift": -0.0838220939040184, "rolling_leg_motion": -0.5757645964622498, "obstacle_progress": 3.8479807376861572, "wheel_body_intrusion": -0.2711026966571808, "pair_body_intrusion": -0.29289692640304565}, "weighted_reward_terms": {"track_linear_velocity": 1.7780488729476929, "track_angular_velocity": 1.891478419303894, "upright": 0.9567654728889465, "leg_posture": -0.09620358049869537, "standstill": -0.2661195993423462, "action_rate_l2": -0.02114604227244854, "joint_torques_l2": -0.0054168072529137135, "dof_pos_limits": -1.680857894825749e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.0030618298333138227, "rolling_leg_motion": -0.021031366661190987, "obstacle_progress": 0.14055795967578888, "wheel_body_intrusion": -0.009902763180434704, "pair_body_intrusion": -0.01069885678589344}, "episode_termination_rates": {"time_out": 0.47794117647058826, "fell_over": 0.007352941176470588, "course_exit": 0.47794117647058826, "illegal_nonwheel_contact": 0.03676470588235294}, "collection_time_s": 0.07559995438321493, "learning_time_s": 0.18418543300474993, "iteration_time_s": 0.3053395957233964, "policy_updates": 36800, "skipped_updates": 0, "invalid_env_resets": 199, "elapsed_s": 11328.099001338007, "nonwheel_terminations": 13498, "contact_bce": 0.293251633644104, "contact_force_loss": 0.020695433020591736, "collision_bce": 0.00023324150242842734, "collision_label_rate": 0.00012230919674038887, "collision_prediction_mean": 0.00015397813695017248, "collision_label_count": 16352.0, "terrain_level_mean": 4.111083984375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 16, 32, 55, 85, 222], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1897.0, 418.0, 38.0, 0.0], [1660.0, 387.0, 32.0, 0.0], [1422.0, 327.0, 25.0, 0.0], [986.0, 235.0, 20.0, 0.0], [1545.0, 352.0, 13.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 27, 289, 1114], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4309.0, 1758.0, 165.0, 0.0], [4620.0, 1702.0, 196.0, 0.0], [6136.0, 1675.0, 164.0, 0.0], [8078.0, 1501.0, 273.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 42, 570], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [972.0, 799.0, 26.0, 0.0], [1932.0, 1579.0, 67.0, 0.0], [10838.0, 9124.0, 286.0, 0.0]]}, "platform": {"level_counts": [12, 21, 55, 97, 124, 101], "episodes_by_level": [[1799.0, 388.0, 52.0, 0.0], [2210.0, 457.0, 89.0, 0.0], [1903.0, 381.0, 86.0, 0.0], [1565.0, 275.0, 59.0, 0.0], [999.0, 147.0, 50.0, 0.0], [470.0, 46.0, 46.0, 0.0]]}, "slope": {"level_counts": [8, 19, 47, 71, 94, 171], "episodes_by_level": [[1632.0, 346.0, 46.0, 0.0], [2004.0, 411.0, 71.0, 0.0], [1747.0, 374.0, 42.0, 0.0], [1351.0, 281.0, 38.0, 0.0], [994.0, 200.0, 16.0, 0.0], [1253.0, 229.0, 29.0, 0.0]]}, "rubble": {"level_counts": [27, 97, 196, 239, 179, 81], "episodes_by_level": [[3342.0, 756.0, 100.0, 0.0], [4904.0, 1049.0, 219.0, 0.0], [4502.0, 949.0, 371.0, 0.0], [3289.0, 557.0, 450.0, 0.0], [1617.0, 200.0, 297.0, 0.0], [462.0, 34.0, 119.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2314453125, "command_abs_max": [0.9997003078460693, 0.3994157314300537, 0.6985194683074951]}
{"step": 37150, "actor_lr": 1.436670934739601e-05, "archive_windows": 50000, "env_steps": 37150, "total_transitions": 152166400, "num_steps_per_env": 1, "wm_loss": 0.5910308361053467, "actor_loss": -9.50961685180664, "critic_loss": 0.0044781239703297615, "reward": 0.08672318607568741, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11412970721721649, 0.07258125394582748, 0.13475100696086884], "mean_episode_length": 1368.7397260273972, "episode_reward_terms": {"track_linear_velocity": 48.52326202392578, "track_angular_velocity": 51.72050094604492, "upright": 26.168006896972656, "leg_posture": -2.6480367183685303, "standstill": -6.838520526885986, "action_rate_l2": -0.5835372805595398, "joint_torques_l2": -0.15039637684822083, "dof_pos_limits": -0.000640779035165906, "terminated": -0.026733195409178734, "unnecessary_wheel_lift": -0.08273573219776154, "rolling_leg_motion": -0.5775664448738098, "obstacle_progress": 3.771754503250122, "wheel_body_intrusion": -0.287820428609848, "pair_body_intrusion": -0.2860821783542633}, "weighted_reward_terms": {"track_linear_velocity": 1.7725526094436646, "track_angular_velocity": 1.8893474340438843, "upright": 0.955916166305542, "leg_posture": -0.09673266112804413, "standstill": -0.2498108595609665, "action_rate_l2": -0.021316589787602425, "joint_torques_l2": -0.0054939729161560535, "dof_pos_limits": -2.3407630578731187e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.003022332675755024, "rolling_leg_motion": -0.02109847590327263, "obstacle_progress": 0.137782022356987, "wheel_body_intrusion": -0.010514067485928535, "pair_body_intrusion": -0.010450568981468678}, "episode_termination_rates": {"time_out": 0.4794520547945205, "fell_over": 0.04794520547945205, "course_exit": 0.4520547945205479, "illegal_nonwheel_contact": 0.0410958904109589}, "collection_time_s": 0.07574418220319785, "learning_time_s": 0.18520324348122813, "iteration_time_s": 0.30527987835720094, "policy_updates": 36850, "skipped_updates": 0, "invalid_env_resets": 199, "elapsed_s": 11341.147480970016, "nonwheel_terminations": 13504, "contact_bce": 0.28558340668678284, "contact_force_loss": 0.02018250897526741, "collision_bce": 0.0002304200315847993, "collision_label_rate": 0.00012250397412572056, "collision_prediction_mean": 8.977489778771996e-05, "collision_label_count": 16326.0, "terrain_level_mean": 4.11083984375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 16, 32, 55, 84, 223], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1899.0, 418.0, 38.0, 0.0], [1661.0, 387.0, 32.0, 0.0], [1424.0, 327.0, 25.0, 0.0], [989.0, 236.0, 20.0, 0.0], [1548.0, 354.0, 13.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 28, 290, 1112], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4309.0, 1758.0, 165.0, 0.0], [4620.0, 1702.0, 196.0, 0.0], [6142.0, 1675.0, 165.0, 0.0], [8103.0, 1509.0, 273.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 40, 572], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [972.0, 799.0, 26.0, 0.0], [1935.0, 1582.0, 67.0, 0.0], [10855.0, 9141.0, 286.0, 0.0]]}, "platform": {"level_counts": [12, 21, 55, 97, 125, 100], "episodes_by_level": [[1799.0, 388.0, 52.0, 0.0], [2211.0, 457.0, 89.0, 0.0], [1904.0, 381.0, 86.0, 0.0], [1565.0, 275.0, 59.0, 0.0], [1002.0, 147.0, 50.0, 0.0], [475.0, 46.0, 47.0, 0.0]]}, "slope": {"level_counts": [8, 19, 47, 71, 94, 171], "episodes_by_level": [[1632.0, 346.0, 46.0, 0.0], [2004.0, 411.0, 71.0, 0.0], [1749.0, 374.0, 42.0, 0.0], [1354.0, 282.0, 38.0, 0.0], [1000.0, 201.0, 17.0, 0.0], [1261.0, 230.0, 30.0, 0.0]]}, "rubble": {"level_counts": [27, 98, 195, 239, 178, 82], "episodes_by_level": [[3342.0, 756.0, 100.0, 0.0], [4906.0, 1049.0, 219.0, 0.0], [4510.0, 949.0, 372.0, 0.0], [3297.0, 559.0, 450.0, 0.0], [1622.0, 201.0, 299.0, 0.0], [462.0, 34.0, 119.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23291015625, "command_abs_max": [0.9997003078460693, 0.3996713161468506, 0.6985194683074951]}
{"step": 37200, "actor_lr": 1.4285756158830803e-05, "archive_windows": 50000, "env_steps": 37200, "total_transitions": 152371200, "num_steps_per_env": 1, "wm_loss": 0.5973026752471924, "actor_loss": -9.501382827758789, "critic_loss": 0.01003949623554945, "reward": 0.08680225908756256, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11451371759176254, 0.07166268676519394, 0.13546621799468994], "mean_episode_length": 1406.1068702290077, "episode_reward_terms": {"track_linear_velocity": 49.83438491821289, "track_angular_velocity": 53.09868621826172, "upright": 26.874120712280273, "leg_posture": -2.7520010471343994, "standstill": -6.7152204513549805, "action_rate_l2": -0.5954077243804932, "joint_torques_l2": -0.15276722609996796, "dof_pos_limits": -0.0004557279753498733, "terminated": -0.016477813944220543, "unnecessary_wheel_lift": -0.08783580362796783, "rolling_leg_motion": -0.5910703539848328, "obstacle_progress": 3.787911891937256, "wheel_body_intrusion": -0.3029722571372986, "pair_body_intrusion": -0.327658087015152}, "weighted_reward_terms": {"track_linear_velocity": 1.7720698118209839, "track_angular_velocity": 1.8881455659866333, "upright": 0.955621600151062, "leg_posture": -0.09785889089107513, "standstill": -0.2387877255678177, "action_rate_l2": -0.021172208711504936, "joint_torques_l2": -0.005432276986539364, "dof_pos_limits": -1.6205311112571508e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.0031233690679073334, "rolling_leg_motion": -0.021017976105213165, "obstacle_progress": 0.13469503819942474, "wheel_body_intrusion": -0.01077344361692667, "pair_body_intrusion": -0.011651251465082169}, "episode_termination_rates": {"time_out": 0.5648854961832062, "fell_over": 0.015267175572519083, "course_exit": 0.3893129770992366, "illegal_nonwheel_contact": 0.03816793893129771}, "collection_time_s": 0.07564165818272159, "learning_time_s": 0.1852834115619771, "iteration_time_s": 0.3052202922987635, "policy_updates": 36900, "skipped_updates": 0, "invalid_env_resets": 199, "elapsed_s": 11354.194873514003, "nonwheel_terminations": 13509, "contact_bce": 0.2911764085292816, "contact_force_loss": 0.020731007680296898, "collision_bce": 3.068579098908231e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 3.0136956411297433e-05, "collision_label_count": 16335.0, "terrain_level_mean": 4.111572265625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 16, 32, 55, 84, 223], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1900.0, 418.0, 38.0, 0.0], [1663.0, 387.0, 32.0, 0.0], [1424.0, 327.0, 25.0, 0.0], [991.0, 236.0, 20.0, 0.0], [1554.0, 356.0, 13.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 29, 290, 1111], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4309.0, 1758.0, 165.0, 0.0], [4620.0, 1702.0, 196.0, 0.0], [6145.0, 1676.0, 165.0, 0.0], [8125.0, 1512.0, 273.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 39, 573], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [972.0, 799.0, 26.0, 0.0], [1936.0, 1583.0, 67.0, 0.0], [10873.0, 9155.0, 286.0, 0.0]]}, "platform": {"level_counts": [13, 20, 54, 97, 127, 99], "episodes_by_level": [[1799.0, 388.0, 52.0, 0.0], [2212.0, 457.0, 90.0, 0.0], [1906.0, 382.0, 86.0, 0.0], [1568.0, 276.0, 59.0, 0.0], [1005.0, 147.0, 50.0, 0.0], [478.0, 46.0, 48.0, 0.0]]}, "slope": {"level_counts": [8, 19, 47, 71, 93, 172], "episodes_by_level": [[1634.0, 346.0, 46.0, 0.0], [2004.0, 411.0, 71.0, 0.0], [1751.0, 374.0, 42.0, 0.0], [1357.0, 282.0, 38.0, 0.0], [1003.0, 203.0, 17.0, 0.0], [1266.0, 232.0, 31.0, 0.0]]}, "rubble": {"level_counts": [27, 98, 194, 239, 178, 83], "episodes_by_level": [[3344.0, 756.0, 100.0, 0.0], [4910.0, 1049.0, 219.0, 0.0], [4514.0, 950.0, 372.0, 0.0], [3304.0, 560.0, 450.0, 0.0], [1628.0, 202.0, 299.0, 0.0], [463.0, 34.0, 119.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.235595703125, "command_abs_max": [0.9997003078460693, 0.3998345136642456, 0.6985194683074951]}
{"step": 37250, "actor_lr": 1.4206142407108938e-05, "archive_windows": 50000, "env_steps": 37250, "total_transitions": 152576000, "num_steps_per_env": 1, "wm_loss": 0.5807704329490662, "actor_loss": -9.516109466552734, "critic_loss": 0.0037233114708215, "reward": 0.08682313561439514, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11593452095985413, 0.07294802367687225, 0.13440421223640442], "mean_episode_length": 1365.4842767295597, "episode_reward_terms": {"track_linear_velocity": 48.268611907958984, "track_angular_velocity": 51.60155487060547, "upright": 26.103267669677734, "leg_posture": -2.656376838684082, "standstill": -6.404294013977051, "action_rate_l2": -0.5808068513870239, "joint_torques_l2": -0.14843061566352844, "dof_pos_limits": -0.000827580806799233, "terminated": -0.01600176841020584, "unnecessary_wheel_lift": -0.09365218132734299, "rolling_leg_motion": -0.5782632827758789, "obstacle_progress": 3.6581838130950928, "wheel_body_intrusion": -0.28266656398773193, "pair_body_intrusion": -0.3146514892578125}, "weighted_reward_terms": {"track_linear_velocity": 1.767453908920288, "track_angular_velocity": 1.8894965648651123, "upright": 0.9558245539665222, "leg_posture": -0.09726867824792862, "standstill": -0.23450633883476257, "action_rate_l2": -0.02126743271946907, "joint_torques_l2": -0.0054350909776985645, "dof_pos_limits": -3.0303564926725812e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.0034292663913220167, "rolling_leg_motion": -0.021174293011426926, "obstacle_progress": 0.13395188748836517, "wheel_body_intrusion": -0.010350414551794529, "pair_body_intrusion": -0.01152160856872797}, "episode_termination_rates": {"time_out": 0.5031446540880503, "fell_over": 0.018867924528301886, "course_exit": 0.4591194968553459, "illegal_nonwheel_contact": 0.031446540880503145}, "collection_time_s": 0.07613924330100418, "learning_time_s": 0.18539953367901035, "iteration_time_s": 0.30516168963962437, "policy_updates": 36950, "skipped_updates": 0, "invalid_env_resets": 200, "elapsed_s": 11367.272939076007, "nonwheel_terminations": 13514, "contact_bce": 0.2886570394039154, "contact_force_loss": 0.020165160298347473, "collision_bce": 4.89796329929959e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 4.63392716483213e-05, "collision_label_count": 16350.0, "terrain_level_mean": 4.11279296875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 16, 32, 55, 84, 223], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1900.0, 418.0, 38.0, 0.0], [1665.0, 387.0, 32.0, 0.0], [1426.0, 327.0, 25.0, 0.0], [996.0, 236.0, 20.0, 0.0], [1562.0, 359.0, 13.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 29, 292, 1109], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4309.0, 1758.0, 165.0, 0.0], [4621.0, 1702.0, 196.0, 0.0], [6152.0, 1676.0, 165.0, 0.0], [8157.0, 1518.0, 274.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 39, 573], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [972.0, 799.0, 26.0, 0.0], [1937.0, 1584.0, 67.0, 0.0], [10902.0, 9179.0, 287.0, 0.0]]}, "platform": {"level_counts": [13, 20, 54, 98, 126, 99], "episodes_by_level": [[1799.0, 388.0, 52.0, 0.0], [2213.0, 457.0, 90.0, 0.0], [1907.0, 382.0, 86.0, 0.0], [1568.0, 276.0, 59.0, 0.0], [1006.0, 147.0, 51.0, 0.0], [481.0, 47.0, 48.0, 0.0]]}, "slope": {"level_counts": [8, 18, 47, 72, 92, 173], "episodes_by_level": [[1635.0, 346.0, 46.0, 0.0], [2005.0, 412.0, 71.0, 0.0], [1752.0, 375.0, 42.0, 0.0], [1359.0, 282.0, 38.0, 0.0], [1006.0, 204.0, 17.0, 0.0], [1277.0, 233.0, 31.0, 0.0]]}, "rubble": {"level_counts": [27, 96, 194, 242, 175, 85], "episodes_by_level": [[3345.0, 756.0, 100.0, 0.0], [4915.0, 1051.0, 219.0, 0.0], [4522.0, 953.0, 372.0, 0.0], [3310.0, 560.0, 451.0, 0.0], [1635.0, 204.0, 300.0, 0.0], [463.0, 34.0, 119.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.233154296875, "command_abs_max": [0.9988094568252563, 0.3998345136642456, 0.6998487710952759]}
{"step": 37300, "actor_lr": 1.4127873003181639e-05, "archive_windows": 50000, "env_steps": 37300, "total_transitions": 152780800, "num_steps_per_env": 1, "wm_loss": 0.5460146069526672, "actor_loss": -9.491052627563477, "critic_loss": 0.007492877542972565, "reward": 0.08723695576190948, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11449600011110306, 0.07147600501775742, 0.13324470818042755], "mean_episode_length": 1337.6013071895425, "episode_reward_terms": {"track_linear_velocity": 47.42441177368164, "track_angular_velocity": 50.604042053222656, "upright": 25.60942268371582, "leg_posture": -2.5467326641082764, "standstill": -6.104320049285889, "action_rate_l2": -0.5671806335449219, "joint_torques_l2": -0.14374619722366333, "dof_pos_limits": -0.0008757452596910298, "terminated": -0.020900016650557518, "unnecessary_wheel_lift": -0.07630010694265366, "rolling_leg_motion": -0.569091260433197, "obstacle_progress": 3.6424574851989746, "wheel_body_intrusion": -0.2680213153362274, "pair_body_intrusion": -0.2948911190032959}, "weighted_reward_terms": {"track_linear_velocity": 1.7727408409118652, "track_angular_velocity": 1.8915966749191284, "upright": 0.9572890400886536, "leg_posture": -0.09519775211811066, "standstill": -0.2281816005706787, "action_rate_l2": -0.02120140939950943, "joint_torques_l2": -0.005373282358050346, "dof_pos_limits": -3.273566107964143e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0028521243948489428, "rolling_leg_motion": -0.021272828802466393, "obstacle_progress": 0.13615632057189941, "wheel_body_intrusion": -0.010018729604780674, "pair_body_intrusion": -0.011023132130503654}, "episode_termination_rates": {"time_out": 0.45098039215686275, "fell_over": 0.006535947712418301, "course_exit": 0.49673202614379086, "illegal_nonwheel_contact": 0.0457516339869281}, "collection_time_s": 0.07579807331901975, "learning_time_s": 0.18522341978154144, "iteration_time_s": 0.30510254966088535, "policy_updates": 37000, "skipped_updates": 0, "invalid_env_resets": 200, "elapsed_s": 11380.325102351024, "nonwheel_terminations": 13521, "contact_bce": 0.28408655524253845, "contact_force_loss": 0.020096587017178535, "collision_bce": 7.712425940553658e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 7.766678209009115e-06, "collision_label_count": 16327.0, "terrain_level_mean": 4.114501953125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 16, 32, 54, 85, 223], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1900.0, 418.0, 38.0, 0.0], [1665.0, 387.0, 32.0, 0.0], [1428.0, 328.0, 25.0, 0.0], [1000.0, 236.0, 20.0, 0.0], [1569.0, 362.0, 13.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 28, 294, 1108], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4309.0, 1758.0, 165.0, 0.0], [4623.0, 1703.0, 196.0, 0.0], [6163.0, 1679.0, 165.0, 0.0], [8194.0, 1529.0, 275.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 37, 575], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [972.0, 799.0, 26.0, 0.0], [1939.0, 1586.0, 67.0, 0.0], [10917.0, 9189.0, 287.0, 0.0]]}, "platform": {"level_counts": [13, 20, 54, 97, 126, 100], "episodes_by_level": [[1800.0, 388.0, 52.0, 0.0], [2213.0, 457.0, 90.0, 0.0], [1908.0, 382.0, 86.0, 0.0], [1574.0, 277.0, 59.0, 0.0], [1008.0, 148.0, 51.0, 0.0], [484.0, 47.0, 48.0, 0.0]]}, "slope": {"level_counts": [8, 18, 46, 73, 92, 173], "episodes_by_level": [[1635.0, 346.0, 46.0, 0.0], [2005.0, 412.0, 71.0, 0.0], [1753.0, 376.0, 42.0, 0.0], [1363.0, 282.0, 38.0, 0.0], [1008.0, 204.0, 17.0, 0.0], [1280.0, 234.0, 31.0, 0.0]]}, "rubble": {"level_counts": [28, 94, 196, 239, 177, 85], "episodes_by_level": [[3346.0, 756.0, 100.0, 0.0], [4923.0, 1052.0, 220.0, 0.0], [4524.0, 953.0, 372.0, 0.0], [3319.0, 563.0, 452.0, 0.0], [1639.0, 205.0, 301.0, 0.0], [465.0, 34.0, 120.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2314453125, "command_abs_max": [0.9980714917182922, 0.3998345136642456, 0.6985194683074951]}
{"step": 37350, "actor_lr": 1.4050952775074417e-05, "archive_windows": 50000, "env_steps": 37350, "total_transitions": 152985600, "num_steps_per_env": 1, "wm_loss": 0.5620582699775696, "actor_loss": -9.544782638549805, "critic_loss": 0.003894861787557602, "reward": 0.08744271099567413, "falls": 13, "interval_steps": 50, "velocity_mae": [0.11294775456190109, 0.07052189856767654, 0.13364043831825256], "mean_episode_length": 1360.6279069767443, "episode_reward_terms": {"track_linear_velocity": 48.40867233276367, "track_angular_velocity": 51.46209716796875, "upright": 26.094432830810547, "leg_posture": -2.5509302616119385, "standstill": -6.154053688049316, "action_rate_l2": -0.5717085599899292, "joint_torques_l2": -0.14472486078739166, "dof_pos_limits": -0.0010014286963269114, "terminated": -0.034547191113233566, "unnecessary_wheel_lift": -0.11463259905576706, "rolling_leg_motion": -0.5974258780479431, "obstacle_progress": 3.7451767921447754, "wheel_body_intrusion": -0.2512613534927368, "pair_body_intrusion": -0.31309497356414795}, "weighted_reward_terms": {"track_linear_velocity": 1.7789092063903809, "track_angular_velocity": 1.891115665435791, "upright": 0.9589114785194397, "leg_posture": -0.09374092519283295, "standstill": -0.2261475771665573, "action_rate_l2": -0.021008998155593872, "joint_torques_l2": -0.005318311508744955, "dof_pos_limits": -3.680024019558914e-05, "terminated": -0.0012695310870185494, "unnecessary_wheel_lift": -0.004212488885968924, "rolling_leg_motion": -0.02195405215024948, "obstacle_progress": 0.1376267820596695, "wheel_body_intrusion": -0.00923328660428524, "pair_body_intrusion": -0.011505532078444958}, "episode_termination_rates": {"time_out": 0.45348837209302323, "fell_over": 0.05232558139534884, "course_exit": 0.47093023255813954, "illegal_nonwheel_contact": 0.040697674418604654}, "collection_time_s": 0.07600146858370863, "learning_time_s": 0.18518966047791763, "iteration_time_s": 0.3050437958995186, "policy_updates": 37050, "skipped_updates": 0, "invalid_env_resets": 201, "elapsed_s": 11393.385776847019, "nonwheel_terminations": 13528, "contact_bce": 0.2859688997268677, "contact_force_loss": 0.01954585313796997, "collision_bce": 0.0005424579721875489, "collision_label_rate": 0.00012245148536749184, "collision_prediction_mean": 9.899831638904288e-05, "collision_label_count": 16333.0, "terrain_level_mean": 4.115234375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 16, 32, 52, 86, 224], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1900.0, 418.0, 38.0, 0.0], [1667.0, 387.0, 32.0, 0.0], [1431.0, 330.0, 25.0, 0.0], [1002.0, 237.0, 20.0, 0.0], [1578.0, 364.0, 13.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 27, 297, 1106], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4309.0, 1758.0, 165.0, 0.0], [4625.0, 1705.0, 196.0, 0.0], [6167.0, 1679.0, 165.0, 0.0], [8226.0, 1540.0, 276.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 39, 573], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [972.0, 799.0, 26.0, 0.0], [1940.0, 1587.0, 67.0, 0.0], [10941.0, 9210.0, 288.0, 0.0]]}, "platform": {"level_counts": [12, 21, 54, 97, 125, 101], "episodes_by_level": [[1801.0, 389.0, 52.0, 0.0], [2214.0, 457.0, 90.0, 0.0], [1911.0, 382.0, 86.0, 0.0], [1577.0, 278.0, 59.0, 0.0], [1014.0, 149.0, 52.0, 0.0], [489.0, 47.0, 48.0, 0.0]]}, "slope": {"level_counts": [8, 18, 46, 70, 95, 173], "episodes_by_level": [[1636.0, 346.0, 46.0, 0.0], [2006.0, 412.0, 71.0, 0.0], [1753.0, 376.0, 42.0, 0.0], [1367.0, 285.0, 38.0, 0.0], [1012.0, 205.0, 17.0, 0.0], [1284.0, 235.0, 32.0, 0.0]]}, "rubble": {"level_counts": [31, 91, 195, 240, 177, 85], "episodes_by_level": [[3346.0, 756.0, 100.0, 0.0], [4928.0, 1052.0, 223.0, 0.0], [4532.0, 955.0, 372.0, 0.0], [3327.0, 564.0, 453.0, 0.0], [1641.0, 205.0, 302.0, 0.0], [466.0, 35.0, 120.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2275390625, "command_abs_max": [0.9993265867233276, 0.3998345136642456, 0.6985194683074951]}
{"step": 37400, "actor_lr": 1.397538646758928e-05, "archive_windows": 50000, "env_steps": 37400, "total_transitions": 153190400, "num_steps_per_env": 1, "wm_loss": 0.577929675579071, "actor_loss": -9.53459358215332, "critic_loss": 0.0053679184056818485, "reward": 0.08767008781433105, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11161960661411285, 0.06959124654531479, 0.13315461575984955], "mean_episode_length": 1350.3630573248408, "episode_reward_terms": {"track_linear_velocity": 48.15873336791992, "track_angular_velocity": 51.10128402709961, "upright": 25.929927825927734, "leg_posture": -2.561735153198242, "standstill": -6.040966987609863, "action_rate_l2": -0.5579299926757812, "joint_torques_l2": -0.14440187811851501, "dof_pos_limits": -0.0009951627580448985, "terminated": -0.02109941840171814, "unnecessary_wheel_lift": -0.09508991986513138, "rolling_leg_motion": -0.5817909240722656, "obstacle_progress": 3.7679293155670166, "wheel_body_intrusion": -0.25503528118133545, "pair_body_intrusion": -0.31239500641822815}, "weighted_reward_terms": {"track_linear_velocity": 1.7831772565841675, "track_angular_velocity": 1.8921314477920532, "upright": 0.9601094722747803, "leg_posture": -0.09485357254743576, "standstill": -0.22367937862873077, "action_rate_l2": -0.020658519119024277, "joint_torques_l2": -0.005346779711544514, "dof_pos_limits": -3.684797047753818e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.003520902246236801, "rolling_leg_motion": -0.0215420201420784, "obstacle_progress": 0.13951541483402252, "wheel_body_intrusion": -0.009443211369216442, "pair_body_intrusion": -0.011567074805498123}, "episode_termination_rates": {"time_out": 0.47770700636942676, "fell_over": 0.025477707006369428, "course_exit": 0.4713375796178344, "illegal_nonwheel_contact": 0.03184713375796178}, "collection_time_s": 0.07566526365699247, "learning_time_s": 0.1855880881426856, "iteration_time_s": 0.3049852828393855, "policy_updates": 37100, "skipped_updates": 0, "invalid_env_resets": 201, "elapsed_s": 11406.449578193016, "nonwheel_terminations": 13533, "contact_bce": 0.29576602578163147, "contact_force_loss": 0.020387349650263786, "collision_bce": 0.0002951905189547688, "collision_label_rate": 0.000122361583635211, "collision_prediction_mean": 0.00012807179882656783, "collision_label_count": 16345.0, "terrain_level_mean": 4.11669921875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 15, 32, 51, 87, 225], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1902.0, 419.0, 38.0, 0.0], [1669.0, 388.0, 32.0, 0.0], [1433.0, 332.0, 25.0, 0.0], [1004.0, 238.0, 20.0, 0.0], [1592.0, 366.0, 13.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 29, 297, 1104], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4309.0, 1758.0, 165.0, 0.0], [4625.0, 1705.0, 196.0, 0.0], [6177.0, 1680.0, 166.0, 0.0], [8255.0, 1545.0, 277.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 38, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [972.0, 799.0, 26.0, 0.0], [1942.0, 1589.0, 67.0, 0.0], [10964.0, 9230.0, 288.0, 0.0]]}, "platform": {"level_counts": [12, 21, 53, 98, 126, 100], "episodes_by_level": [[1801.0, 389.0, 52.0, 0.0], [2214.0, 457.0, 90.0, 0.0], [1912.0, 383.0, 86.0, 0.0], [1578.0, 278.0, 59.0, 0.0], [1019.0, 149.0, 52.0, 0.0], [495.0, 48.0, 49.0, 0.0]]}, "slope": {"level_counts": [8, 18, 46, 70, 95, 173], "episodes_by_level": [[1636.0, 346.0, 46.0, 0.0], [2008.0, 412.0, 71.0, 0.0], [1756.0, 376.0, 42.0, 0.0], [1370.0, 285.0, 38.0, 0.0], [1012.0, 205.0, 17.0, 0.0], [1290.0, 236.0, 32.0, 0.0]]}, "rubble": {"level_counts": [30, 92, 195, 238, 178, 86], "episodes_by_level": [[3348.0, 757.0, 100.0, 0.0], [4929.0, 1052.0, 223.0, 0.0], [4534.0, 955.0, 372.0, 0.0], [3333.0, 566.0, 453.0, 0.0], [1648.0, 207.0, 302.0, 0.0], [470.0, 36.0, 121.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.224609375, "command_abs_max": [0.9993265867233276, 0.3998345136642456, 0.6985194683074951]}
{"step": 37450, "actor_lr": 1.3901178742012012e-05, "archive_windows": 50000, "env_steps": 37450, "total_transitions": 153395200, "num_steps_per_env": 1, "wm_loss": 0.5519607067108154, "actor_loss": -9.554082870483398, "critic_loss": 0.0037293031346052885, "reward": 0.08734212815761566, "falls": 3, "interval_steps": 50, "velocity_mae": [0.11415334790945053, 0.07009749114513397, 0.13306309282779694], "mean_episode_length": 1464.442857142857, "episode_reward_terms": {"track_linear_velocity": 52.01154708862305, "track_angular_velocity": 55.40120315551758, "upright": 28.035429000854492, "leg_posture": -2.8416543006896973, "standstill": -6.563558578491211, "action_rate_l2": -0.6061515212059021, "joint_torques_l2": -0.15874610841274261, "dof_pos_limits": -0.000835227663628757, "terminated": -0.008580719120800495, "unnecessary_wheel_lift": -0.07929162681102753, "rolling_leg_motion": -0.6339638829231262, "obstacle_progress": 3.987278699874878, "wheel_body_intrusion": -0.31330132484436035, "pair_body_intrusion": -0.3218310475349426}, "weighted_reward_terms": {"track_linear_velocity": 1.7758134603500366, "track_angular_velocity": 1.8915454149246216, "upright": 0.9572045803070068, "leg_posture": -0.0970216915011406, "standstill": -0.22409747540950775, "action_rate_l2": -0.020695636048913002, "joint_torques_l2": -0.005420017521828413, "dof_pos_limits": -2.8516908059827983e-05, "terminated": -0.00029296870343387127, "unnecessary_wheel_lift": -0.0027072285301983356, "rolling_leg_motion": -0.02164522558450699, "obstacle_progress": 0.13613636791706085, "wheel_body_intrusion": -0.01069694571197033, "pair_body_intrusion": -0.010988174006342888}, "episode_termination_rates": {"time_out": 0.6, "fell_over": 0.014285714285714285, "course_exit": 0.37857142857142856, "illegal_nonwheel_contact": 0.014285714285714285}, "collection_time_s": 0.07593575860140846, "learning_time_s": 0.1853902529354673, "iteration_time_s": 0.3049270216095322, "policy_updates": 37150, "skipped_updates": 0, "invalid_env_resets": 202, "elapsed_s": 11419.516959276982, "nonwheel_terminations": 13535, "contact_bce": 0.28260666131973267, "contact_force_loss": 0.019970277324318886, "collision_bce": 1.8698452549870126e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.83760257641552e-05, "collision_label_count": 16328.0, "terrain_level_mean": 4.117919921875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 15, 32, 49, 89, 225], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1902.0, 419.0, 38.0, 0.0], [1671.0, 388.0, 32.0, 0.0], [1438.0, 334.0, 25.0, 0.0], [1006.0, 238.0, 20.0, 0.0], [1600.0, 369.0, 13.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 29, 295, 1106], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4309.0, 1758.0, 165.0, 0.0], [4625.0, 1705.0, 196.0, 0.0], [6181.0, 1682.0, 166.0, 0.0], [8277.0, 1551.0, 277.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 38, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [972.0, 799.0, 26.0, 0.0], [1942.0, 1589.0, 67.0, 0.0], [10979.0, 9244.0, 288.0, 0.0]]}, "platform": {"level_counts": [13, 20, 53, 98, 127, 99], "episodes_by_level": [[1802.0, 389.0, 52.0, 0.0], [2216.0, 457.0, 91.0, 0.0], [1914.0, 383.0, 86.0, 0.0], [1585.0, 278.0, 59.0, 0.0], [1023.0, 149.0, 52.0, 0.0], [498.0, 48.0, 50.0, 0.0]]}, "slope": {"level_counts": [8, 18, 45, 70, 97, 172], "episodes_by_level": [[1637.0, 346.0, 46.0, 0.0], [2009.0, 412.0, 71.0, 0.0], [1759.0, 377.0, 42.0, 0.0], [1372.0, 286.0, 38.0, 0.0], [1013.0, 205.0, 17.0, 0.0], [1296.0, 237.0, 33.0, 0.0]]}, "rubble": {"level_counts": [30, 92, 195, 236, 180, 86], "episodes_by_level": [[3349.0, 757.0, 100.0, 0.0], [4933.0, 1052.0, 223.0, 0.0], [4539.0, 955.0, 372.0, 0.0], [3343.0, 568.0, 453.0, 0.0], [1650.0, 207.0, 302.0, 0.0], [474.0, 37.0, 121.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2236328125, "command_abs_max": [0.9993265867233276, 0.3996713161468506, 0.6985194683074951]}
{"step": 37500, "actor_lr": 1.3828334175824674e-05, "archive_windows": 50000, "env_steps": 37500, "total_transitions": 153600000, "num_steps_per_env": 1, "wm_loss": 0.5563973784446716, "actor_loss": -9.514799118041992, "critic_loss": 0.004652779083698988, "reward": 0.0871361792087555, "falls": 12, "interval_steps": 50, "velocity_mae": [0.11366110295057297, 0.07039734721183777, 0.13356275856494904], "mean_episode_length": 1337.4605263157894, "episode_reward_terms": {"track_linear_velocity": 47.51618957519531, "track_angular_velocity": 50.577598571777344, "upright": 25.57866668701172, "leg_posture": -2.599360942840576, "standstill": -6.210127830505371, "action_rate_l2": -0.558115541934967, "joint_torques_l2": -0.14397841691970825, "dof_pos_limits": -0.0010716280667111278, "terminated": -0.03134673088788986, "unnecessary_wheel_lift": -0.10386393964290619, "rolling_leg_motion": -0.581152617931366, "obstacle_progress": 3.6535871028900146, "wheel_body_intrusion": -0.267135351896286, "pair_body_intrusion": -0.2886625826358795}, "weighted_reward_terms": {"track_linear_velocity": 1.7763584852218628, "track_angular_velocity": 1.8908071517944336, "upright": 0.9562399983406067, "leg_posture": -0.097175233066082, "standstill": -0.23216117918491364, "action_rate_l2": -0.02086474932730198, "joint_torques_l2": -0.0053825294598937035, "dof_pos_limits": -4.0062044718069956e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.0038828786928206682, "rolling_leg_motion": -0.0217259731143713, "obstacle_progress": 0.1365867257118225, "wheel_body_intrusion": -0.009986662305891514, "pair_body_intrusion": -0.010791443288326263}, "episode_termination_rates": {"time_out": 0.4605263157894737, "fell_over": 0.039473684210526314, "course_exit": 0.4605263157894737, "illegal_nonwheel_contact": 0.05263157894736842}, "collection_time_s": 0.0755505678942427, "learning_time_s": 0.1847938710823655, "iteration_time_s": 0.3048676079982131, "policy_updates": 37200, "skipped_updates": 0, "invalid_env_resets": 202, "elapsed_s": 11432.535299932992, "nonwheel_terminations": 13543, "contact_bce": 0.2873183488845825, "contact_force_loss": 0.020189424976706505, "collision_bce": 0.00010072431177832186, "collision_label_rate": 6.119576573837548e-05, "collision_prediction_mean": 1.9578576029744e-05, "collision_label_count": 16341.0, "terrain_level_mean": 4.11767578125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 15, 33, 48, 87, 227], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1903.0, 419.0, 38.0, 0.0], [1671.0, 388.0, 32.0, 0.0], [1440.0, 334.0, 26.0, 0.0], [1008.0, 240.0, 20.0, 0.0], [1608.0, 371.0, 13.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 29, 295, 1106], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4309.0, 1758.0, 165.0, 0.0], [4625.0, 1705.0, 196.0, 0.0], [6190.0, 1684.0, 166.0, 0.0], [8300.0, 1554.0, 278.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 38, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [972.0, 799.0, 26.0, 0.0], [1946.0, 1592.0, 67.0, 0.0], [11002.0, 9266.0, 288.0, 0.0]]}, "platform": {"level_counts": [14, 19, 53, 98, 127, 99], "episodes_by_level": [[1802.0, 389.0, 52.0, 0.0], [2217.0, 457.0, 92.0, 0.0], [1916.0, 383.0, 86.0, 0.0], [1589.0, 279.0, 59.0, 0.0], [1027.0, 149.0, 53.0, 0.0], [499.0, 48.0, 50.0, 0.0]]}, "slope": {"level_counts": [8, 17, 46, 70, 97, 172], "episodes_by_level": [[1637.0, 346.0, 46.0, 0.0], [2012.0, 413.0, 71.0, 0.0], [1761.0, 377.0, 42.0, 0.0], [1374.0, 286.0, 38.0, 0.0], [1016.0, 205.0, 17.0, 0.0], [1299.0, 237.0, 33.0, 0.0]]}, "rubble": {"level_counts": [30, 92, 196, 236, 179, 86], "episodes_by_level": [[3350.0, 757.0, 100.0, 0.0], [4936.0, 1052.0, 223.0, 0.0], [4546.0, 955.0, 372.0, 0.0], [3348.0, 569.0, 454.0, 0.0], [1658.0, 208.0, 304.0, 0.0], [477.0, 37.0, 122.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22412109375, "command_abs_max": [0.9992653131484985, 0.3989380896091461, 0.6985194683074951]}
{"step": 37550, "actor_lr": 1.3756857262423248e-05, "archive_windows": 50000, "env_steps": 37550, "total_transitions": 153804800, "num_steps_per_env": 1, "wm_loss": 0.5645784139633179, "actor_loss": -9.518310546875, "critic_loss": 0.006504127290099859, "reward": 0.08724456280469894, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11230814456939697, 0.0703008696436882, 0.13461992144584656], "mean_episode_length": 1308.2519083969466, "episode_reward_terms": {"track_linear_velocity": 46.57075500488281, "track_angular_velocity": 49.44265365600586, "upright": 25.03460693359375, "leg_posture": -2.537794351577759, "standstill": -6.068059921264648, "action_rate_l2": -0.5275186896324158, "joint_torques_l2": -0.14121519029140472, "dof_pos_limits": -0.0011115442030131817, "terminated": -0.020441433414816856, "unnecessary_wheel_lift": -0.08061016350984573, "rolling_leg_motion": -0.5751218199729919, "obstacle_progress": 3.5662026405334473, "wheel_body_intrusion": -0.25850632786750793, "pair_body_intrusion": -0.2659834027290344}, "weighted_reward_terms": {"track_linear_velocity": 1.7798848152160645, "track_angular_velocity": 1.8896456956863403, "upright": 0.9567961692810059, "leg_posture": -0.09699180722236633, "standstill": -0.23191481828689575, "action_rate_l2": -0.020161204040050507, "joint_torques_l2": -0.005397094879299402, "dof_pos_limits": -4.2482039134483784e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.00308083463460207, "rolling_leg_motion": -0.021980544552206993, "obstacle_progress": 0.13629648089408875, "wheel_body_intrusion": -0.00987983774393797, "pair_body_intrusion": -0.010165603831410408}, "episode_termination_rates": {"time_out": 0.42748091603053434, "fell_over": 0.015267175572519083, "course_exit": 0.5114503816793893, "illegal_nonwheel_contact": 0.05343511450381679}, "collection_time_s": 0.07569083884591236, "learning_time_s": 0.19253566089551896, "iteration_time_s": 0.3048195205023962, "policy_updates": 37250, "skipped_updates": 0, "invalid_env_resets": 202, "elapsed_s": 11445.972994864976, "nonwheel_terminations": 13550, "contact_bce": 0.293956995010376, "contact_force_loss": 0.021281501278281212, "collision_bce": 0.0002966845058836043, "collision_label_rate": 6.12182411714457e-05, "collision_prediction_mean": 8.421177881245967e-06, "collision_label_count": 16335.0, "terrain_level_mean": 4.1181640625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 16, 32, 48, 86, 228], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1903.0, 419.0, 38.0, 0.0], [1674.0, 388.0, 33.0, 0.0], [1440.0, 334.0, 26.0, 0.0], [1011.0, 241.0, 20.0, 0.0], [1617.0, 374.0, 13.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 28, 296, 1106], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4309.0, 1758.0, 165.0, 0.0], [4626.0, 1706.0, 196.0, 0.0], [6200.0, 1685.0, 166.0, 0.0], [8324.0, 1561.0, 279.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 39, 573], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [972.0, 799.0, 26.0, 0.0], [1947.0, 1593.0, 67.0, 0.0], [11021.0, 9284.0, 288.0, 0.0]]}, "platform": {"level_counts": [14, 19, 52, 99, 126, 100], "episodes_by_level": [[1802.0, 389.0, 52.0, 0.0], [2217.0, 457.0, 92.0, 0.0], [1917.0, 384.0, 86.0, 0.0], [1590.0, 279.0, 59.0, 0.0], [1030.0, 150.0, 53.0, 0.0], [501.0, 49.0, 50.0, 0.0]]}, "slope": {"level_counts": [8, 18, 45, 70, 96, 173], "episodes_by_level": [[1637.0, 346.0, 46.0, 0.0], [2012.0, 413.0, 71.0, 0.0], [1762.0, 377.0, 43.0, 0.0], [1374.0, 286.0, 38.0, 0.0], [1020.0, 206.0, 17.0, 0.0], [1303.0, 238.0, 33.0, 0.0]]}, "rubble": {"level_counts": [31, 91, 196, 234, 182, 85], "episodes_by_level": [[3351.0, 757.0, 100.0, 0.0], [4938.0, 1052.0, 224.0, 0.0], [4549.0, 955.0, 372.0, 0.0], [3355.0, 572.0, 454.0, 0.0], [1664.0, 208.0, 305.0, 0.0], [479.0, 37.0, 123.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22802734375, "command_abs_max": [0.9992653131484985, 0.398089200258255, 0.6963842511177063]}
{"step": 37600, "actor_lr": 1.3686752410840425e-05, "archive_windows": 50000, "env_steps": 37600, "total_transitions": 154009600, "num_steps_per_env": 1, "wm_loss": 0.590480387210846, "actor_loss": -9.55029582977295, "critic_loss": 0.003971815574914217, "reward": 0.08746104687452316, "falls": 11, "interval_steps": 50, "velocity_mae": [0.11099743098020554, 0.07000063359737396, 0.13332346081733704], "mean_episode_length": 1334.3313253012047, "episode_reward_terms": {"track_linear_velocity": 47.575721740722656, "track_angular_velocity": 50.47373580932617, "upright": 25.57135772705078, "leg_posture": -2.5915515422821045, "standstill": -6.012811183929443, "action_rate_l2": -0.5349216461181641, "joint_torques_l2": -0.14262892305850983, "dof_pos_limits": -0.0017807547701522708, "terminated": -0.02866727113723755, "unnecessary_wheel_lift": -0.0877874568104744, "rolling_leg_motion": -0.5875270366668701, "obstacle_progress": 3.6170151233673096, "wheel_body_intrusion": -0.26901134848594666, "pair_body_intrusion": -0.279120534658432}, "weighted_reward_terms": {"track_linear_velocity": 1.7827552556991577, "track_angular_velocity": 1.8913494348526, "upright": 0.9582087397575378, "leg_posture": -0.09711049497127533, "standstill": -0.2253117710351944, "action_rate_l2": -0.020044559612870216, "joint_torques_l2": -0.005344584584236145, "dof_pos_limits": -6.672836025245488e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.0032895675394684076, "rolling_leg_motion": -0.022015785798430443, "obstacle_progress": 0.13553662598133087, "wheel_body_intrusion": -0.01008038129657507, "pair_body_intrusion": -0.010459191165864468}, "episode_termination_rates": {"time_out": 0.40963855421686746, "fell_over": 0.05421686746987952, "course_exit": 0.5240963855421686, "illegal_nonwheel_contact": 0.04819277108433735}, "collection_time_s": 0.07573758218088188, "learning_time_s": 0.1851116367254872, "iteration_time_s": 0.3047610787098931, "policy_updates": 37300, "skipped_updates": 0, "invalid_env_resets": 202, "elapsed_s": 11459.016559491982, "nonwheel_terminations": 13558, "contact_bce": 0.29009196162223816, "contact_force_loss": 0.020755380392074585, "collision_bce": 0.0001441494532627985, "collision_label_rate": 0.00012256404443178326, "collision_prediction_mean": 0.00012447407061699778, "collision_label_count": 16318.0, "terrain_level_mean": 4.118896484375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 16, 32, 48, 87, 227], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1904.0, 419.0, 38.0, 0.0], [1675.0, 388.0, 33.0, 0.0], [1441.0, 334.0, 26.0, 0.0], [1014.0, 241.0, 20.0, 0.0], [1624.0, 376.0, 14.0, 0.0]]}, "up": {"level_counts": [0, 0, 3, 29, 295, 1106], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4309.0, 1758.0, 165.0, 0.0], [4626.0, 1706.0, 196.0, 0.0], [6213.0, 1688.0, 167.0, 0.0], [8365.0, 1575.0, 281.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 42, 571], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [973.0, 800.0, 26.0, 0.0], [1947.0, 1593.0, 67.0, 0.0], [11046.0, 9309.0, 288.0, 0.0]]}, "platform": {"level_counts": [14, 19, 52, 98, 126, 101], "episodes_by_level": [[1802.0, 389.0, 52.0, 0.0], [2217.0, 457.0, 92.0, 0.0], [1919.0, 385.0, 86.0, 0.0], [1595.0, 280.0, 60.0, 0.0], [1034.0, 151.0, 53.0, 0.0], [504.0, 49.0, 50.0, 0.0]]}, "slope": {"level_counts": [7, 19, 45, 70, 96, 173], "episodes_by_level": [[1638.0, 347.0, 46.0, 0.0], [2012.0, 413.0, 71.0, 0.0], [1764.0, 377.0, 43.0, 0.0], [1374.0, 286.0, 38.0, 0.0], [1020.0, 206.0, 17.0, 0.0], [1309.0, 239.0, 33.0, 0.0]]}, "rubble": {"level_counts": [31, 92, 193, 234, 184, 85], "episodes_by_level": [[3351.0, 757.0, 100.0, 0.0], [4942.0, 1053.0, 224.0, 0.0], [4558.0, 958.0, 374.0, 0.0], [3363.0, 574.0, 455.0, 0.0], [1671.0, 208.0, 305.0, 0.0], [481.0, 37.0, 123.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2275390625, "command_abs_max": [0.9992653131484985, 0.3983123004436493, 0.6991831660270691]}
{"step": 37650, "actor_lr": 1.361802394547369e-05, "archive_windows": 50000, "env_steps": 37650, "total_transitions": 154214400, "num_steps_per_env": 1, "wm_loss": 0.5777394771575928, "actor_loss": -9.502667427062988, "critic_loss": 0.00383930210955441, "reward": 0.08754642307758331, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11046115309000015, 0.06934797018766403, 0.13191135227680206], "mean_episode_length": 1410.0645161290322, "episode_reward_terms": {"track_linear_velocity": 50.33361053466797, "track_angular_velocity": 53.39960861206055, "upright": 27.0665225982666, "leg_posture": -2.7318153381347656, "standstill": -6.367030620574951, "action_rate_l2": -0.5678494572639465, "joint_torques_l2": -0.14976070821285248, "dof_pos_limits": -0.0015328372828662395, "terminated": -0.022032255306839943, "unnecessary_wheel_lift": -0.0858786478638649, "rolling_leg_motion": -0.6220816969871521, "obstacle_progress": 3.7843592166900635, "wheel_body_intrusion": -0.2682971656322479, "pair_body_intrusion": -0.3217180073261261}, "weighted_reward_terms": {"track_linear_velocity": 1.7847981452941895, "track_angular_velocity": 1.8935165405273438, "upright": 0.9597617983818054, "leg_posture": -0.09686844795942307, "standstill": -0.22577089071273804, "action_rate_l2": -0.020135585218667984, "joint_torques_l2": -0.005310420412570238, "dof_pos_limits": -5.435344792203978e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.003045202698558569, "rolling_leg_motion": -0.022058624774217606, "obstacle_progress": 0.13419099152088165, "wheel_body_intrusion": -0.009513648226857185, "pair_body_intrusion": -0.011407917365431786}, "episode_termination_rates": {"time_out": 0.567741935483871, "fell_over": 0.01935483870967742, "course_exit": 0.38064516129032255, "illegal_nonwheel_contact": 0.03225806451612903}, "collection_time_s": 0.07565413596341386, "learning_time_s": 0.18484971995931118, "iteration_time_s": 0.3047023338050727, "policy_updates": 37350, "skipped_updates": 0, "invalid_env_resets": 202, "elapsed_s": 11472.042867760989, "nonwheel_terminations": 13563, "contact_bce": 0.28133511543273926, "contact_force_loss": 0.019879499450325966, "collision_bce": 0.0005793048185296357, "collision_label_rate": 0.0002451280888635665, "collision_prediction_mean": 0.00019349006470292807, "collision_label_count": 16318.0, "terrain_level_mean": 4.11962890625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 16, 32, 48, 86, 228], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1904.0, 419.0, 38.0, 0.0], [1677.0, 388.0, 33.0, 0.0], [1441.0, 334.0, 26.0, 0.0], [1019.0, 242.0, 20.0, 0.0], [1633.0, 379.0, 14.0, 0.0]]}, "up": {"level_counts": [0, 0, 2, 30, 293, 1108], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4310.0, 1759.0, 165.0, 0.0], [4626.0, 1706.0, 196.0, 0.0], [6220.0, 1691.0, 167.0, 0.0], [8394.0, 1586.0, 281.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 42, 571], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [973.0, 800.0, 26.0, 0.0], [1948.0, 1594.0, 67.0, 0.0], [11065.0, 9328.0, 288.0, 0.0]]}, "platform": {"level_counts": [14, 18, 53, 99, 124, 102], "episodes_by_level": [[1802.0, 389.0, 52.0, 0.0], [2220.0, 458.0, 92.0, 0.0], [1920.0, 385.0, 86.0, 0.0], [1597.0, 280.0, 60.0, 0.0], [1040.0, 152.0, 54.0, 0.0], [509.0, 49.0, 50.0, 0.0]]}, "slope": {"level_counts": [7, 19, 45, 70, 96, 173], "episodes_by_level": [[1638.0, 347.0, 46.0, 0.0], [2012.0, 413.0, 71.0, 0.0], [1766.0, 377.0, 43.0, 0.0], [1376.0, 286.0, 38.0, 0.0], [1020.0, 206.0, 17.0, 0.0], [1315.0, 240.0, 33.0, 0.0]]}, "rubble": {"level_counts": [31, 93, 193, 232, 186, 84], "episodes_by_level": [[3352.0, 757.0, 100.0, 0.0], [4943.0, 1053.0, 224.0, 0.0], [4562.0, 959.0, 375.0, 0.0], [3370.0, 576.0, 457.0, 0.0], [1680.0, 208.0, 306.0, 0.0], [488.0, 37.0, 124.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.228515625, "command_abs_max": [0.9979069232940674, 0.3983123004436493, 0.6991831660270691]}
{"step": 37700, "actor_lr": 1.3550676105818516e-05, "archive_windows": 50000, "env_steps": 37700, "total_transitions": 154419200, "num_steps_per_env": 1, "wm_loss": 0.5656999945640564, "actor_loss": -9.517070770263672, "critic_loss": 0.003580111777409911, "reward": 0.08755400776863098, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11207861453294754, 0.06894001364707947, 0.13251382112503052], "mean_episode_length": 1345.8471337579617, "episode_reward_terms": {"track_linear_velocity": 47.99883270263672, "track_angular_velocity": 50.950843811035156, "upright": 25.838747024536133, "leg_posture": -2.601433277130127, "standstill": -6.040538787841797, "action_rate_l2": -0.5403844714164734, "joint_torques_l2": -0.143393874168396, "dof_pos_limits": -0.0009928770596161485, "terminated": -0.01314303744584322, "unnecessary_wheel_lift": -0.07839034497737885, "rolling_leg_motion": -0.5849606394767761, "obstacle_progress": 3.613767623901367, "wheel_body_intrusion": -0.25506457686424255, "pair_body_intrusion": -0.3095712661743164}, "weighted_reward_terms": {"track_linear_velocity": 1.7832201719284058, "track_angular_velocity": 1.89289128780365, "upright": 0.9599435925483704, "leg_posture": -0.09664668887853622, "standstill": -0.22441400587558746, "action_rate_l2": -0.020075997337698936, "joint_torques_l2": -0.005327271763235331, "dof_pos_limits": -3.688669312396087e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.0029123048298060894, "rolling_leg_motion": -0.021732060238718987, "obstacle_progress": 0.1342562437057495, "wheel_body_intrusion": -0.00947598647326231, "pair_body_intrusion": -0.011500981636345387}, "episode_termination_rates": {"time_out": 0.47770700636942676, "fell_over": 0.01910828025477707, "course_exit": 0.49044585987261147, "illegal_nonwheel_contact": 0.012738853503184714}, "collection_time_s": 0.07559777618385852, "learning_time_s": 0.18505884739919565, "iteration_time_s": 0.30464394602262684, "policy_updates": 37400, "skipped_updates": 0, "invalid_env_resets": 202, "elapsed_s": 11485.076765053032, "nonwheel_terminations": 13565, "contact_bce": 0.28572985529899597, "contact_force_loss": 0.020123081281781197, "collision_bce": 0.0007506919209845364, "collision_label_rate": 0.00012252650049049407, "collision_prediction_mean": 1.6715572201064788e-05, "collision_label_count": 16323.0, "terrain_level_mean": 4.1220703125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 16, 32, 48, 85, 229], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1904.0, 419.0, 38.0, 0.0], [1678.0, 388.0, 33.0, 0.0], [1444.0, 334.0, 26.0, 0.0], [1020.0, 243.0, 20.0, 0.0], [1642.0, 380.0, 14.0, 0.0]]}, "up": {"level_counts": [0, 0, 2, 29, 295, 1107], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4310.0, 1759.0, 165.0, 0.0], [4627.0, 1707.0, 196.0, 0.0], [6227.0, 1692.0, 167.0, 0.0], [8428.0, 1595.0, 282.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 40, 573], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [973.0, 800.0, 26.0, 0.0], [1949.0, 1595.0, 67.0, 0.0], [11092.0, 9352.0, 288.0, 0.0]]}, "platform": {"level_counts": [14, 18, 51, 101, 124, 102], "episodes_by_level": [[1804.0, 389.0, 52.0, 0.0], [2220.0, 458.0, 92.0, 0.0], [1923.0, 387.0, 86.0, 0.0], [1598.0, 280.0, 60.0, 0.0], [1045.0, 152.0, 54.0, 0.0], [512.0, 49.0, 50.0, 0.0]]}, "slope": {"level_counts": [7, 18, 46, 70, 95, 174], "episodes_by_level": [[1638.0, 347.0, 46.0, 0.0], [2015.0, 414.0, 71.0, 0.0], [1768.0, 377.0, 43.0, 0.0], [1376.0, 286.0, 38.0, 0.0], [1021.0, 207.0, 17.0, 0.0], [1320.0, 241.0, 33.0, 0.0]]}, "rubble": {"level_counts": [31, 91, 194, 234, 184, 85], "episodes_by_level": [[3352.0, 757.0, 100.0, 0.0], [4948.0, 1056.0, 224.0, 0.0], [4570.0, 960.0, 376.0, 0.0], [3377.0, 576.0, 457.0, 0.0], [1685.0, 210.0, 307.0, 0.0], [493.0, 39.0, 125.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.229248046875, "command_abs_max": [0.9979069232940674, 0.39927253127098083, 0.6991831660270691]}
{"step": 37750, "actor_lr": 1.3484713046206893e-05, "archive_windows": 50000, "env_steps": 37750, "total_transitions": 154624000, "num_steps_per_env": 1, "wm_loss": 0.5767085552215576, "actor_loss": -9.548699378967285, "critic_loss": 0.006017100997269154, "reward": 0.08753272145986557, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11237657070159912, 0.0688193291425705, 0.13286550343036652], "mean_episode_length": 1352.031847133758, "episode_reward_terms": {"track_linear_velocity": 48.21126174926758, "track_angular_velocity": 51.15809631347656, "upright": 25.92064094543457, "leg_posture": -2.6214356422424316, "standstill": -6.083070278167725, "action_rate_l2": -0.5426220297813416, "joint_torques_l2": -0.14455856382846832, "dof_pos_limits": -0.0010115174809470773, "terminated": -0.013203434646129608, "unnecessary_wheel_lift": -0.08436322212219238, "rolling_leg_motion": -0.5881248116493225, "obstacle_progress": 3.691270351409912, "wheel_body_intrusion": -0.2619117796421051, "pair_body_intrusion": -0.2939191162586212}, "weighted_reward_terms": {"track_linear_velocity": 1.782918930053711, "track_angular_velocity": 1.8918969631195068, "upright": 0.9585809707641602, "leg_posture": -0.09694430232048035, "standstill": -0.2249603271484375, "action_rate_l2": -0.02006690949201584, "joint_torques_l2": -0.005345974583178759, "dof_pos_limits": -3.7407309719128534e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.003119868226349354, "rolling_leg_motion": -0.021749665960669518, "obstacle_progress": 0.1365082561969757, "wheel_body_intrusion": -0.009685859084129333, "pair_body_intrusion": -0.010869534686207771}, "episode_termination_rates": {"time_out": 0.45222929936305734, "fell_over": 0.01910828025477707, "course_exit": 0.5159235668789809, "illegal_nonwheel_contact": 0.01910828025477707}, "collection_time_s": 0.07566890332498588, "learning_time_s": 0.18523733195732348, "iteration_time_s": 0.30458604412246343, "policy_updates": 37450, "skipped_updates": 0, "invalid_env_resets": 202, "elapsed_s": 11498.123165622994, "nonwheel_terminations": 13568, "contact_bce": 0.28478145599365234, "contact_force_loss": 0.01992219313979149, "collision_bce": 1.2740471902361605e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.272911140404176e-05, "collision_label_count": 16321.0, "terrain_level_mean": 4.1240234375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 16, 32, 44, 89, 229], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1904.0, 419.0, 38.0, 0.0], [1678.0, 388.0, 33.0, 0.0], [1451.0, 338.0, 26.0, 0.0], [1020.0, 243.0, 20.0, 0.0], [1650.0, 382.0, 14.0, 0.0]]}, "up": {"level_counts": [0, 0, 2, 28, 295, 1108], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4310.0, 1759.0, 165.0, 0.0], [4628.0, 1708.0, 196.0, 0.0], [6241.0, 1695.0, 167.0, 0.0], [8458.0, 1604.0, 283.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 40, 573], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [973.0, 800.0, 26.0, 0.0], [1949.0, 1595.0, 67.0, 0.0], [11117.0, 9373.0, 288.0, 0.0]]}, "platform": {"level_counts": [15, 17, 51, 100, 125, 102], "episodes_by_level": [[1804.0, 389.0, 52.0, 0.0], [2221.0, 458.0, 93.0, 0.0], [1923.0, 387.0, 86.0, 0.0], [1601.0, 281.0, 60.0, 0.0], [1049.0, 152.0, 54.0, 0.0], [513.0, 49.0, 50.0, 0.0]]}, "slope": {"level_counts": [7, 18, 46, 70, 94, 175], "episodes_by_level": [[1638.0, 347.0, 46.0, 0.0], [2016.0, 414.0, 71.0, 0.0], [1770.0, 377.0, 43.0, 0.0], [1379.0, 286.0, 38.0, 0.0], [1025.0, 208.0, 17.0, 0.0], [1321.0, 241.0, 33.0, 0.0]]}, "rubble": {"level_counts": [31, 91, 193, 236, 182, 86], "episodes_by_level": [[3353.0, 757.0, 100.0, 0.0], [4953.0, 1056.0, 224.0, 0.0], [4575.0, 961.0, 376.0, 0.0], [3385.0, 577.0, 457.0, 0.0], [1693.0, 211.0, 309.0, 0.0], [496.0, 39.0, 125.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.228271484375, "command_abs_max": [0.9983150959014893, 0.39959603548049927, 0.6991831660270691]}
{"step": 37800, "actor_lr": 1.342013883555105e-05, "archive_windows": 50000, "env_steps": 37800, "total_transitions": 154828800, "num_steps_per_env": 1, "wm_loss": 0.5516514778137207, "actor_loss": -9.524913787841797, "critic_loss": 0.005393830593675375, "reward": 0.08753306418657303, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11139445006847382, 0.06953079253435135, 0.13152161240577698], "mean_episode_length": 1371.695652173913, "episode_reward_terms": {"track_linear_velocity": 48.93767166137695, "track_angular_velocity": 51.97563552856445, "upright": 26.265403747558594, "leg_posture": -2.63702392578125, "standstill": -6.213684558868408, "action_rate_l2": -0.5543972253799438, "joint_torques_l2": -0.1478046476840973, "dof_pos_limits": -0.0007424081559292972, "terminated": -0.01607455685734749, "unnecessary_wheel_lift": -0.08917011320590973, "rolling_leg_motion": -0.5980848073959351, "obstacle_progress": 3.751570224761963, "wheel_body_intrusion": -0.26529252529144287, "pair_body_intrusion": -0.3393092751502991}, "weighted_reward_terms": {"track_linear_velocity": 1.7838385105133057, "track_angular_velocity": 1.8945761919021606, "upright": 0.9574064612388611, "leg_posture": -0.09612277895212173, "standstill": -0.22649645805358887, "action_rate_l2": -0.020208463072776794, "joint_torques_l2": -0.005387661978602409, "dof_pos_limits": -2.7061694709118456e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.0032503604888916016, "rolling_leg_motion": -0.021800929680466652, "obstacle_progress": 0.13674937188625336, "wheel_body_intrusion": -0.009670239873230457, "pair_body_intrusion": -0.012368242256343365}, "episode_termination_rates": {"time_out": 0.4720496894409938, "fell_over": 0.012422360248447204, "course_exit": 0.4906832298136646, "illegal_nonwheel_contact": 0.031055900621118012}, "collection_time_s": 0.07607094617909751, "learning_time_s": 0.18549280497827567, "iteration_time_s": 0.30452916612092557, "policy_updates": 37500, "skipped_updates": 0, "invalid_env_resets": 203, "elapsed_s": 11511.202479370986, "nonwheel_terminations": 13573, "contact_bce": 0.2886488437652588, "contact_force_loss": 0.020343290641903877, "collision_bce": 6.111241873441031e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 6.1699988691543695e-06, "collision_label_count": 16355.0, "terrain_level_mean": 4.12646484375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 16, 32, 44, 89, 229], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1904.0, 419.0, 38.0, 0.0], [1679.0, 388.0, 33.0, 0.0], [1452.0, 338.0, 26.0, 0.0], [1023.0, 243.0, 20.0, 0.0], [1660.0, 385.0, 14.0, 0.0]]}, "up": {"level_counts": [0, 0, 2, 28, 295, 1108], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4310.0, 1759.0, 165.0, 0.0], [4628.0, 1708.0, 196.0, 0.0], [6246.0, 1696.0, 167.0, 0.0], [8496.0, 1613.0, 283.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 39, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [973.0, 800.0, 26.0, 0.0], [1951.0, 1597.0, 67.0, 0.0], [11137.0, 9393.0, 288.0, 0.0]]}, "platform": {"level_counts": [15, 17, 51, 100, 125, 102], "episodes_by_level": [[1805.0, 389.0, 52.0, 0.0], [2221.0, 458.0, 93.0, 0.0], [1923.0, 387.0, 86.0, 0.0], [1604.0, 281.0, 60.0, 0.0], [1053.0, 153.0, 54.0, 0.0], [518.0, 49.0, 51.0, 0.0]]}, "slope": {"level_counts": [7, 18, 46, 68, 95, 176], "episodes_by_level": [[1638.0, 347.0, 46.0, 0.0], [2016.0, 414.0, 71.0, 0.0], [1772.0, 377.0, 43.0, 0.0], [1383.0, 288.0, 38.0, 0.0], [1029.0, 209.0, 17.0, 0.0], [1322.0, 241.0, 33.0, 0.0]]}, "rubble": {"level_counts": [30, 91, 190, 239, 184, 85], "episodes_by_level": [[3354.0, 758.0, 100.0, 0.0], [4957.0, 1058.0, 224.0, 0.0], [4587.0, 965.0, 377.0, 0.0], [3396.0, 579.0, 457.0, 0.0], [1699.0, 211.0, 310.0, 0.0], [499.0, 39.0, 126.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.228271484375, "command_abs_max": [0.9983150959014893, 0.39959603548049927, 0.6991831660270691]}
{"step": 37850, "actor_lr": 1.3356957457092475e-05, "archive_windows": 50000, "env_steps": 37850, "total_transitions": 155033600, "num_steps_per_env": 1, "wm_loss": 0.5686284899711609, "actor_loss": -9.511955261230469, "critic_loss": 0.003930046688765287, "reward": 0.08773507177829742, "falls": 3, "interval_steps": 50, "velocity_mae": [0.11092742532491684, 0.06982037425041199, 0.1319633424282074], "mean_episode_length": 1367.4265734265734, "episode_reward_terms": {"track_linear_velocity": 48.794918060302734, "track_angular_velocity": 51.78559875488281, "upright": 26.183609008789062, "leg_posture": -2.5914418697357178, "standstill": -6.100704669952393, "action_rate_l2": -0.5572227835655212, "joint_torques_l2": -0.14704449474811554, "dof_pos_limits": -0.0006079839076846838, "terminated": -0.008012263104319572, "unnecessary_wheel_lift": -0.07145034521818161, "rolling_leg_motion": -0.5792580246925354, "obstacle_progress": 3.821139335632324, "wheel_body_intrusion": -0.24955715239048004, "pair_body_intrusion": -0.30872875452041626}, "weighted_reward_terms": {"track_linear_velocity": 1.7841880321502686, "track_angular_velocity": 1.8935424089431763, "upright": 0.957404613494873, "leg_posture": -0.09475616365671158, "standstill": -0.22307248413562775, "action_rate_l2": -0.020374871790409088, "joint_torques_l2": -0.005376687739044428, "dof_pos_limits": -2.2230953618418425e-05, "terminated": -0.00029296870343387127, "unnecessary_wheel_lift": -0.0026125845033675432, "rolling_leg_motion": -0.021180590614676476, "obstacle_progress": 0.1397200971841812, "wheel_body_intrusion": -0.009125066921114922, "pair_body_intrusion": -0.011288678273558617}, "episode_termination_rates": {"time_out": 0.4825174825174825, "fell_over": 0.013986013986013986, "course_exit": 0.4965034965034965, "illegal_nonwheel_contact": 0.013986013986013986}, "collection_time_s": 0.07559196453774347, "learning_time_s": 0.1852467366028577, "iteration_time_s": 0.30462314002261537, "policy_updates": 37550, "skipped_updates": 0, "invalid_env_resets": 203, "elapsed_s": 11529.985849855992, "nonwheel_terminations": 13575, "contact_bce": 0.2862803339958191, "contact_force_loss": 0.02027144841849804, "collision_bce": 0.00045610079541802406, "collision_label_rate": 0.00012256404443178326, "collision_prediction_mean": 7.392562838504091e-05, "collision_label_count": 16318.0, "terrain_level_mean": 4.12939453125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 16, 31, 45, 89, 229], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1904.0, 419.0, 38.0, 0.0], [1680.0, 389.0, 33.0, 0.0], [1452.0, 338.0, 26.0, 0.0], [1023.0, 243.0, 20.0, 0.0], [1673.0, 388.0, 14.0, 0.0]]}, "up": {"level_counts": [0, 0, 2, 28, 291, 1112], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4310.0, 1759.0, 165.0, 0.0], [4628.0, 1708.0, 196.0, 0.0], [6251.0, 1700.0, 167.0, 0.0], [8528.0, 1619.0, 283.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 37, 576], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [973.0, 800.0, 26.0, 0.0], [1954.0, 1599.0, 67.0, 0.0], [11159.0, 9414.0, 288.0, 0.0]]}, "platform": {"level_counts": [15, 17, 51, 99, 123, 105], "episodes_by_level": [[1805.0, 389.0, 52.0, 0.0], [2223.0, 458.0, 93.0, 0.0], [1923.0, 387.0, 86.0, 0.0], [1605.0, 282.0, 60.0, 0.0], [1061.0, 156.0, 54.0, 0.0], [522.0, 50.0, 51.0, 0.0]]}, "slope": {"level_counts": [5, 20, 46, 68, 95, 176], "episodes_by_level": [[1640.0, 349.0, 46.0, 0.0], [2016.0, 414.0, 71.0, 0.0], [1773.0, 377.0, 43.0, 0.0], [1385.0, 288.0, 38.0, 0.0], [1033.0, 209.0, 17.0, 0.0], [1324.0, 242.0, 33.0, 0.0]]}, "rubble": {"level_counts": [30, 91, 191, 237, 186, 84], "episodes_by_level": [[3355.0, 758.0, 100.0, 0.0], [4958.0, 1058.0, 224.0, 0.0], [4593.0, 965.0, 377.0, 0.0], [3403.0, 581.0, 458.0, 0.0], [1704.0, 211.0, 311.0, 0.0], [504.0, 39.0, 127.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234375, "command_abs_max": [0.9983150959014893, 0.39959603548049927, 0.6991831660270691]}
{"step": 37900, "actor_lr": 1.3295172808156193e-05, "archive_windows": 50000, "env_steps": 37900, "total_transitions": 155238400, "num_steps_per_env": 1, "wm_loss": 0.5802643299102783, "actor_loss": -9.542606353759766, "critic_loss": 0.006811173167079687, "reward": 0.08723388612270355, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11192375421524048, 0.0694338008761406, 0.13357999920845032], "mean_episode_length": 1399.883870967742, "episode_reward_terms": {"track_linear_velocity": 49.93036651611328, "track_angular_velocity": 52.94963836669922, "upright": 26.813072204589844, "leg_posture": -2.6952157020568848, "standstill": -6.729869365692139, "action_rate_l2": -0.578467845916748, "joint_torques_l2": -0.14955975115299225, "dof_pos_limits": -0.0008497749804519117, "terminated": -0.019139036536216736, "unnecessary_wheel_lift": -0.10171571373939514, "rolling_leg_motion": -0.6070811748504639, "obstacle_progress": 3.87903094291687, "wheel_body_intrusion": -0.28246304392814636, "pair_body_intrusion": -0.29043710231781006}, "weighted_reward_terms": {"track_linear_velocity": 1.7833752632141113, "track_angular_velocity": 1.8912153244018555, "upright": 0.9576891660690308, "leg_posture": -0.09626568853855133, "standstill": -0.2403724044561386, "action_rate_l2": -0.020661279559135437, "joint_torques_l2": -0.005341862794011831, "dof_pos_limits": -3.0351622626767494e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0036330055445432663, "rolling_leg_motion": -0.02168327011168003, "obstacle_progress": 0.13854831457138062, "wheel_body_intrusion": -0.010088802315294743, "pair_body_intrusion": -0.0103736137971282}, "episode_termination_rates": {"time_out": 0.4838709677419355, "fell_over": 0.03870967741935484, "course_exit": 0.47096774193548385, "illegal_nonwheel_contact": 0.012903225806451613}, "collection_time_s": 0.07572876823949627, "learning_time_s": 0.18356326777720824, "iteration_time_s": 0.3045633660658572, "policy_updates": 37600, "skipped_updates": 0, "invalid_env_resets": 203, "elapsed_s": 11542.951573895989, "nonwheel_terminations": 13577, "contact_bce": 0.28216472268104553, "contact_force_loss": 0.02025579661130905, "collision_bce": 0.0005790191353298724, "collision_label_rate": 0.00012252650049049407, "collision_prediction_mean": 1.7165755707537755e-05, "collision_label_count": 16323.0, "terrain_level_mean": 4.131591796875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 16, 31, 45, 90, 228], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1904.0, 419.0, 38.0, 0.0], [1681.0, 389.0, 33.0, 0.0], [1453.0, 338.0, 26.0, 0.0], [1026.0, 243.0, 20.0, 0.0], [1678.0, 389.0, 15.0, 0.0]]}, "up": {"level_counts": [0, 0, 2, 28, 290, 1113], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4310.0, 1759.0, 165.0, 0.0], [4628.0, 1708.0, 196.0, 0.0], [6260.0, 1703.0, 167.0, 0.0], [8564.0, 1629.0, 284.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 36, 577], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [973.0, 800.0, 26.0, 0.0], [1956.0, 1601.0, 67.0, 0.0], [11174.0, 9427.0, 289.0, 0.0]]}, "platform": {"level_counts": [15, 17, 50, 101, 122, 105], "episodes_by_level": [[1805.0, 389.0, 52.0, 0.0], [2223.0, 458.0, 93.0, 0.0], [1926.0, 388.0, 86.0, 0.0], [1607.0, 282.0, 60.0, 0.0], [1067.0, 157.0, 55.0, 0.0], [525.0, 50.0, 52.0, 0.0]]}, "slope": {"level_counts": [5, 20, 46, 68, 94, 177], "episodes_by_level": [[1640.0, 349.0, 46.0, 0.0], [2016.0, 414.0, 71.0, 0.0], [1775.0, 377.0, 43.0, 0.0], [1385.0, 288.0, 38.0, 0.0], [1037.0, 210.0, 17.0, 0.0], [1332.0, 242.0, 33.0, 0.0]]}, "rubble": {"level_counts": [30, 90, 190, 236, 188, 85], "episodes_by_level": [[3355.0, 758.0, 100.0, 0.0], [4961.0, 1059.0, 224.0, 0.0], [4606.0, 967.0, 377.0, 0.0], [3415.0, 585.0, 458.0, 0.0], [1712.0, 212.0, 312.0, 0.0], [507.0, 39.0, 127.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.233154296875, "command_abs_max": [0.9995423555374146, 0.39959603548049927, 0.6988956928253174]}
{"step": 37950, "actor_lr": 1.3234788699910398e-05, "archive_windows": 50000, "env_steps": 37950, "total_transitions": 155443200, "num_steps_per_env": 1, "wm_loss": 0.5582197308540344, "actor_loss": -9.514766693115234, "critic_loss": 0.003037768416106701, "reward": 0.08734869956970215, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11158387362957001, 0.06939710676670074, 0.1336783617734909], "mean_episode_length": 1412.5704697986578, "episode_reward_terms": {"track_linear_velocity": 50.39144515991211, "track_angular_velocity": 53.41618728637695, "upright": 27.100570678710938, "leg_posture": -2.7134530544281006, "standstill": -6.670957565307617, "action_rate_l2": -0.5835768580436707, "joint_torques_l2": -0.15091559290885925, "dof_pos_limits": -0.0009828854817897081, "terminated": -0.013794631697237492, "unnecessary_wheel_lift": -0.08503031730651855, "rolling_leg_motion": -0.6147913336753845, "obstacle_progress": 3.8971664905548096, "wheel_body_intrusion": -0.292457640171051, "pair_body_intrusion": -0.29324576258659363}, "weighted_reward_terms": {"track_linear_velocity": 1.7836790084838867, "track_angular_velocity": 1.8907443284988403, "upright": 0.9592644572257996, "leg_posture": -0.09604664891958237, "standstill": -0.2361283302307129, "action_rate_l2": -0.020656559616327286, "joint_torques_l2": -0.0053418786264956, "dof_pos_limits": -3.4790675272233784e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.003009772626683116, "rolling_leg_motion": -0.021761441603302956, "obstacle_progress": 0.13794592022895813, "wheel_body_intrusion": -0.010351966135203838, "pair_body_intrusion": -0.010379863902926445}, "episode_termination_rates": {"time_out": 0.5302013422818792, "fell_over": 0.013422818791946308, "course_exit": 0.436241610738255, "illegal_nonwheel_contact": 0.026845637583892617}, "collection_time_s": 0.07561891673482023, "learning_time_s": 0.1840921765402891, "iteration_time_s": 0.3045043017507509, "policy_updates": 37650, "skipped_updates": 0, "invalid_env_resets": 203, "elapsed_s": 11555.938251440995, "nonwheel_terminations": 13581, "contact_bce": 0.2895209491252899, "contact_force_loss": 0.02045653760433197, "collision_bce": 1.235347463079961e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.2305879863561131e-05, "collision_label_count": 16348.0, "terrain_level_mean": 4.13330078125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 16, 31, 45, 89, 229], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1905.0, 419.0, 38.0, 0.0], [1681.0, 389.0, 33.0, 0.0], [1456.0, 338.0, 26.0, 0.0], [1029.0, 244.0, 20.0, 0.0], [1684.0, 390.0, 15.0, 0.0]]}, "up": {"level_counts": [0, 0, 2, 28, 292, 1111], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4310.0, 1759.0, 165.0, 0.0], [4628.0, 1708.0, 196.0, 0.0], [6268.0, 1704.0, 167.0, 0.0], [8585.0, 1635.0, 286.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 36, 577], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [973.0, 800.0, 26.0, 0.0], [1956.0, 1601.0, 67.0, 0.0], [11197.0, 9447.0, 289.0, 0.0]]}, "platform": {"level_counts": [15, 17, 50, 99, 123, 106], "episodes_by_level": [[1805.0, 389.0, 52.0, 0.0], [2223.0, 458.0, 93.0, 0.0], [1929.0, 388.0, 86.0, 0.0], [1617.0, 284.0, 60.0, 0.0], [1072.0, 158.0, 55.0, 0.0], [530.0, 51.0, 52.0, 0.0]]}, "slope": {"level_counts": [5, 20, 46, 68, 93, 178], "episodes_by_level": [[1640.0, 349.0, 46.0, 0.0], [2016.0, 414.0, 71.0, 0.0], [1775.0, 377.0, 43.0, 0.0], [1387.0, 288.0, 38.0, 0.0], [1039.0, 211.0, 17.0, 0.0], [1338.0, 244.0, 33.0, 0.0]]}, "rubble": {"level_counts": [30, 88, 192, 235, 188, 86], "episodes_by_level": [[3357.0, 758.0, 100.0, 0.0], [4967.0, 1061.0, 224.0, 0.0], [4609.0, 967.0, 377.0, 0.0], [3422.0, 587.0, 458.0, 0.0], [1716.0, 214.0, 313.0, 0.0], [509.0, 39.0, 128.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234619140625, "command_abs_max": [0.9995423555374146, 0.39943796396255493, 0.6988956928253174]}
{"step": 38000, "actor_lr": 1.3175808857131307e-05, "archive_windows": 50000, "env_steps": 38000, "total_transitions": 155648000, "num_steps_per_env": 1, "wm_loss": 0.5905480980873108, "actor_loss": -9.542197227478027, "critic_loss": 0.0044553629122674465, "reward": 0.08737778663635254, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11144021153450012, 0.07003218680620193, 0.13287118077278137], "mean_episode_length": 1341.1376811594203, "episode_reward_terms": {"track_linear_velocity": 47.827003479003906, "track_angular_velocity": 50.74802780151367, "upright": 25.714876174926758, "leg_posture": -2.5999503135681152, "standstill": -6.360873222351074, "action_rate_l2": -0.5543692111968994, "joint_torques_l2": -0.14401744306087494, "dof_pos_limits": -0.0007530543953180313, "terminated": -0.020955272018909454, "unnecessary_wheel_lift": -0.07282955199480057, "rolling_leg_motion": -0.5635170936584473, "obstacle_progress": 3.7613134384155273, "wheel_body_intrusion": -0.2686516046524048, "pair_body_intrusion": -0.279661625623703}, "weighted_reward_terms": {"track_linear_velocity": 1.7830758094787598, "track_angular_velocity": 1.8919768333435059, "upright": 0.9586964249610901, "leg_posture": -0.09693077951669693, "standstill": -0.23714467883110046, "action_rate_l2": -0.020667869597673416, "joint_torques_l2": -0.005369226448237896, "dof_pos_limits": -2.8075210138922557e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0027152153197675943, "rolling_leg_motion": -0.021008919924497604, "obstacle_progress": 0.14022846519947052, "wheel_body_intrusion": -0.010015810839831829, "pair_body_intrusion": -0.01042628288269043}, "episode_termination_rates": {"time_out": 0.43478260869565216, "fell_over": 0.036231884057971016, "course_exit": 0.5072463768115942, "illegal_nonwheel_contact": 0.043478260869565216}, "collection_time_s": 0.07555553170037456, "learning_time_s": 0.18378905355930328, "iteration_time_s": 0.3044449155326844, "policy_updates": 37700, "skipped_updates": 0, "invalid_env_resets": 203, "elapsed_s": 11568.906790242007, "nonwheel_terminations": 13587, "contact_bce": 0.29144397377967834, "contact_force_loss": 0.02052302472293377, "collision_bce": 2.906176814576611e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 2.8660115276579745e-05, "collision_label_count": 16332.0, "terrain_level_mean": 4.135498046875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 16, 31, 45, 89, 229], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1906.0, 419.0, 38.0, 0.0], [1682.0, 389.0, 33.0, 0.0], [1457.0, 338.0, 26.0, 0.0], [1031.0, 244.0, 20.0, 0.0], [1688.0, 390.0, 15.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 30, 291, 1111], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4629.0, 1708.0, 196.0, 0.0], [6277.0, 1707.0, 167.0, 0.0], [8612.0, 1641.0, 288.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 35, 579], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [974.0, 801.0, 26.0, 0.0], [1959.0, 1603.0, 67.0, 0.0], [11218.0, 9467.0, 289.0, 0.0]]}, "platform": {"level_counts": [15, 17, 49, 100, 122, 107], "episodes_by_level": [[1805.0, 389.0, 52.0, 0.0], [2223.0, 458.0, 93.0, 0.0], [1931.0, 389.0, 86.0, 0.0], [1619.0, 284.0, 60.0, 0.0], [1076.0, 159.0, 55.0, 0.0], [531.0, 51.0, 52.0, 0.0]]}, "slope": {"level_counts": [4, 20, 47, 68, 93, 178], "episodes_by_level": [[1641.0, 350.0, 46.0, 0.0], [2017.0, 415.0, 71.0, 0.0], [1777.0, 377.0, 43.0, 0.0], [1387.0, 288.0, 38.0, 0.0], [1040.0, 211.0, 17.0, 0.0], [1343.0, 245.0, 33.0, 0.0]]}, "rubble": {"level_counts": [30, 90, 189, 234, 189, 87], "episodes_by_level": [[3358.0, 758.0, 100.0, 0.0], [4967.0, 1061.0, 224.0, 0.0], [4618.0, 969.0, 379.0, 0.0], [3431.0, 590.0, 459.0, 0.0], [1720.0, 215.0, 314.0, 0.0], [512.0, 39.0, 128.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.237548828125, "command_abs_max": [0.9995423555374146, 0.39856186509132385, 0.6988956928253174]}
{"step": 38050, "actor_lr": 1.311823691797345e-05, "archive_windows": 50000, "env_steps": 38050, "total_transitions": 155852800, "num_steps_per_env": 1, "wm_loss": 0.5790512561798096, "actor_loss": -9.540872573852539, "critic_loss": 0.005655267741531134, "reward": 0.0873989388346672, "falls": 8, "interval_steps": 50, "velocity_mae": [0.1111782044172287, 0.0693000853061676, 0.13340014219284058], "mean_episode_length": 1301.06993006993, "episode_reward_terms": {"track_linear_velocity": 46.44598388671875, "track_angular_velocity": 49.217857360839844, "upright": 24.948360443115234, "leg_posture": -2.545576810836792, "standstill": -6.022965908050537, "action_rate_l2": -0.5502903461456299, "joint_torques_l2": -0.14051184058189392, "dof_pos_limits": -0.0012055245460942388, "terminated": -0.02032921463251114, "unnecessary_wheel_lift": -0.07310546189546585, "rolling_leg_motion": -0.5700644254684448, "obstacle_progress": 3.5747077465057373, "wheel_body_intrusion": -0.2731790244579315, "pair_body_intrusion": -0.2775323987007141}, "weighted_reward_terms": {"track_linear_velocity": 1.7849149703979492, "track_angular_velocity": 1.8914377689361572, "upright": 0.9587633013725281, "leg_posture": -0.097826287150383, "standstill": -0.2314620465040207, "action_rate_l2": -0.021147608757019043, "joint_torques_l2": -0.005399857647716999, "dof_pos_limits": -4.632820127881132e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0028094365261495113, "rolling_leg_motion": -0.02190752513706684, "obstacle_progress": 0.13737569749355316, "wheel_body_intrusion": -0.010498246178030968, "pair_body_intrusion": -0.010665545240044594}, "episode_termination_rates": {"time_out": 0.4125874125874126, "fell_over": 0.02097902097902098, "course_exit": 0.5314685314685315, "illegal_nonwheel_contact": 0.04195804195804196}, "collection_time_s": 0.07578286113683134, "learning_time_s": 0.1856997507403139, "iteration_time_s": 0.3043892046702755, "policy_updates": 37750, "skipped_updates": 0, "invalid_env_resets": 203, "elapsed_s": 11582.009237703984, "nonwheel_terminations": 13593, "contact_bce": 0.2864514887332916, "contact_force_loss": 0.02020268701016903, "collision_bce": 1.690197314019315e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.6840160242281854e-05, "collision_label_count": 16308.0, "terrain_level_mean": 4.13623046875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 16, 31, 45, 89, 229], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1907.0, 419.0, 38.0, 0.0], [1682.0, 389.0, 33.0, 0.0], [1458.0, 338.0, 26.0, 0.0], [1031.0, 244.0, 20.0, 0.0], [1691.0, 391.0, 15.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 30, 290, 1112], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4629.0, 1708.0, 196.0, 0.0], [6288.0, 1709.0, 167.0, 0.0], [8644.0, 1644.0, 288.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 34, 580], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [974.0, 801.0, 26.0, 0.0], [1962.0, 1606.0, 67.0, 0.0], [11240.0, 9485.0, 290.0, 0.0]]}, "platform": {"level_counts": [15, 17, 48, 101, 123, 106], "episodes_by_level": [[1805.0, 389.0, 52.0, 0.0], [2223.0, 458.0, 93.0, 0.0], [1932.0, 390.0, 86.0, 0.0], [1623.0, 284.0, 60.0, 0.0], [1078.0, 160.0, 55.0, 0.0], [534.0, 52.0, 54.0, 0.0]]}, "slope": {"level_counts": [4, 20, 47, 68, 93, 178], "episodes_by_level": [[1641.0, 350.0, 46.0, 0.0], [2018.0, 415.0, 71.0, 0.0], [1778.0, 377.0, 43.0, 0.0], [1389.0, 288.0, 38.0, 0.0], [1045.0, 211.0, 17.0, 0.0], [1349.0, 245.0, 33.0, 0.0]]}, "rubble": {"level_counts": [29, 91, 188, 236, 188, 87], "episodes_by_level": [[3359.0, 759.0, 100.0, 0.0], [4970.0, 1062.0, 224.0, 0.0], [4626.0, 970.0, 380.0, 0.0], [3437.0, 591.0, 459.0, 0.0], [1724.0, 215.0, 316.0, 0.0], [513.0, 39.0, 128.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234130859375, "command_abs_max": [0.9995423555374146, 0.3994961380958557, 0.6988956928253174]}
{"step": 38100, "actor_lr": 1.3062076433745217e-05, "archive_windows": 50000, "env_steps": 38100, "total_transitions": 156057600, "num_steps_per_env": 1, "wm_loss": 0.5528972148895264, "actor_loss": -9.517993927001953, "critic_loss": 0.003735625883564353, "reward": 0.08741658926010132, "falls": 1, "interval_steps": 50, "velocity_mae": [0.11133501678705215, 0.06977138668298721, 0.13307848572731018], "mean_episode_length": 1407.1691176470588, "episode_reward_terms": {"track_linear_velocity": 50.23111343383789, "track_angular_velocity": 53.24964904785156, "upright": 27.017162322998047, "leg_posture": -2.6998329162597656, "standstill": -6.6031928062438965, "action_rate_l2": -0.5886589884757996, "joint_torques_l2": -0.1499655395746231, "dof_pos_limits": -0.0005363750969991088, "terminated": -0.002748376689851284, "unnecessary_wheel_lift": -0.08076123893260956, "rolling_leg_motion": -0.6188222765922546, "obstacle_progress": 3.86891508102417, "wheel_body_intrusion": -0.2874091863632202, "pair_body_intrusion": -0.32501420378685}, "weighted_reward_terms": {"track_linear_velocity": 1.784828782081604, "track_angular_velocity": 1.8920843601226807, "upright": 0.9599828124046326, "leg_posture": -0.09593135863542557, "standstill": -0.23462684452533722, "action_rate_l2": -0.020916426554322243, "joint_torques_l2": -0.005328625440597534, "dof_pos_limits": -1.9058657926507294e-05, "terminated": -9.76562369032763e-05, "unnecessary_wheel_lift": -0.0028696353547275066, "rolling_leg_motion": -0.021988200023770332, "obstacle_progress": 0.13747158646583557, "wheel_body_intrusion": -0.01021231897175312, "pair_body_intrusion": -0.011548512615263462}, "episode_termination_rates": {"time_out": 0.5073529411764706, "fell_over": 0.0, "course_exit": 0.4852941176470588, "illegal_nonwheel_contact": 0.007352941176470588}, "collection_time_s": 0.07566654293914325, "learning_time_s": 0.1857840681739617, "iteration_time_s": 0.3043328839638579, "policy_updates": 37800, "skipped_updates": 0, "invalid_env_resets": 203, "elapsed_s": 11595.082879022986, "nonwheel_terminations": 13594, "contact_bce": 0.28580257296562195, "contact_force_loss": 0.01961882784962654, "collision_bce": 0.0004450000124052167, "collision_label_rate": 6.11733048572205e-05, "collision_prediction_mean": 1.6028259778977372e-05, "collision_label_count": 16347.0, "terrain_level_mean": 4.13916015625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 16, 31, 45, 89, 229], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1907.0, 419.0, 38.0, 0.0], [1683.0, 389.0, 33.0, 0.0], [1459.0, 338.0, 26.0, 0.0], [1033.0, 244.0, 20.0, 0.0], [1695.0, 391.0, 15.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 30, 287, 1115], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4630.0, 1708.0, 196.0, 0.0], [6297.0, 1712.0, 167.0, 0.0], [8673.0, 1652.0, 288.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 34, 580], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [974.0, 801.0, 26.0, 0.0], [1962.0, 1606.0, 67.0, 0.0], [11258.0, 9500.0, 290.0, 0.0]]}, "platform": {"level_counts": [15, 17, 48, 101, 122, 107], "episodes_by_level": [[1805.0, 389.0, 52.0, 0.0], [2224.0, 458.0, 93.0, 0.0], [1932.0, 390.0, 86.0, 0.0], [1624.0, 284.0, 60.0, 0.0], [1079.0, 161.0, 55.0, 0.0], [536.0, 52.0, 54.0, 0.0]]}, "slope": {"level_counts": [4, 20, 47, 67, 93, 179], "episodes_by_level": [[1641.0, 350.0, 46.0, 0.0], [2018.0, 415.0, 71.0, 0.0], [1779.0, 377.0, 43.0, 0.0], [1397.0, 289.0, 38.0, 0.0], [1051.0, 212.0, 17.0, 0.0], [1353.0, 246.0, 33.0, 0.0]]}, "rubble": {"level_counts": [28, 92, 185, 236, 192, 86], "episodes_by_level": [[3360.0, 760.0, 100.0, 0.0], [4971.0, 1062.0, 224.0, 0.0], [4633.0, 973.0, 380.0, 0.0], [3444.0, 594.0, 459.0, 0.0], [1726.0, 215.0, 316.0, 0.0], [515.0, 39.0, 129.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.237060546875, "command_abs_max": [0.9995423555374146, 0.3994961380958557, 0.6995245814323425]}
{"step": 38150, "actor_lr": 1.300733086868982e-05, "archive_windows": 50000, "env_steps": 38150, "total_transitions": 156262400, "num_steps_per_env": 1, "wm_loss": 0.557931661605835, "actor_loss": -9.520957946777344, "critic_loss": 0.0032783732749521732, "reward": 0.08743294328451157, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11159045249223709, 0.07063721120357513, 0.13368800282478333], "mean_episode_length": 1371.5, "episode_reward_terms": {"track_linear_velocity": 48.87126922607422, "track_angular_velocity": 51.859222412109375, "upright": 26.314449310302734, "leg_posture": -2.6202139854431152, "standstill": -6.372566223144531, "action_rate_l2": -0.5710563659667969, "joint_torques_l2": -0.1475563645362854, "dof_pos_limits": -0.00036059398553334177, "terminated": -0.018750974908471107, "unnecessary_wheel_lift": -0.07473354786634445, "rolling_leg_motion": -0.5889774560928345, "obstacle_progress": 3.8342106342315674, "wheel_body_intrusion": -0.2650930881500244, "pair_body_intrusion": -0.3055625259876251}, "weighted_reward_terms": {"track_linear_velocity": 1.7816723585128784, "track_angular_velocity": 1.8906023502349854, "upright": 0.9593310356140137, "leg_posture": -0.0955236628651619, "standstill": -0.23232105374336243, "action_rate_l2": -0.02081868052482605, "joint_torques_l2": -0.005379379261285067, "dof_pos_limits": -1.3145971934136469e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0027245187666267157, "rolling_leg_motion": -0.021472018212080002, "obstacle_progress": 0.139781653881073, "wheel_body_intrusion": -0.009664349257946014, "pair_body_intrusion": -0.011139720678329468}, "episode_termination_rates": {"time_out": 0.484375, "fell_over": 0.03125, "course_exit": 0.4609375, "illegal_nonwheel_contact": 0.03125}, "collection_time_s": 0.07571433972101659, "learning_time_s": 0.18568077739910221, "iteration_time_s": 0.3042766377439055, "policy_updates": 37850, "skipped_updates": 0, "invalid_env_resets": 203, "elapsed_s": 11608.153729929996, "nonwheel_terminations": 13598, "contact_bce": 0.28442856669425964, "contact_force_loss": 0.019263772293925285, "collision_bce": 0.0001285938051296398, "collision_label_rate": 6.115833821240813e-05, "collision_prediction_mean": 8.80170046002604e-05, "collision_label_count": 16351.0, "terrain_level_mean": 4.138916015625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 16, 31, 46, 88, 229], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1907.0, 419.0, 38.0, 0.0], [1684.0, 389.0, 33.0, 0.0], [1461.0, 338.0, 26.0, 0.0], [1034.0, 244.0, 21.0, 0.0], [1707.0, 396.0, 15.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 30, 289, 1113], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4633.0, 1708.0, 196.0, 0.0], [6299.0, 1712.0, 167.0, 0.0], [8701.0, 1662.0, 288.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 34, 580], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [974.0, 801.0, 26.0, 0.0], [1964.0, 1608.0, 67.0, 0.0], [11277.0, 9515.0, 290.0, 0.0]]}, "platform": {"level_counts": [15, 17, 48, 100, 123, 107], "episodes_by_level": [[1807.0, 389.0, 52.0, 0.0], [2224.0, 458.0, 93.0, 0.0], [1934.0, 390.0, 86.0, 0.0], [1626.0, 285.0, 60.0, 0.0], [1081.0, 161.0, 55.0, 0.0], [537.0, 52.0, 54.0, 0.0]]}, "slope": {"level_counts": [4, 20, 46, 68, 93, 179], "episodes_by_level": [[1641.0, 350.0, 46.0, 0.0], [2020.0, 415.0, 71.0, 0.0], [1780.0, 378.0, 43.0, 0.0], [1400.0, 289.0, 38.0, 0.0], [1055.0, 212.0, 17.0, 0.0], [1358.0, 246.0, 33.0, 0.0]]}, "rubble": {"level_counts": [28, 91, 185, 238, 192, 85], "episodes_by_level": [[3360.0, 760.0, 100.0, 0.0], [4975.0, 1063.0, 224.0, 0.0], [4636.0, 974.0, 380.0, 0.0], [3447.0, 594.0, 459.0, 0.0], [1729.0, 215.0, 317.0, 0.0], [521.0, 39.0, 130.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23193359375, "command_abs_max": [0.9993282556533813, 0.3994961380958557, 0.6995245814323425]}
{"step": 38200, "actor_lr": 1.2954003599771585e-05, "archive_windows": 50000, "env_steps": 38200, "total_transitions": 156467200, "num_steps_per_env": 1, "wm_loss": 0.5634577870368958, "actor_loss": -9.525229454040527, "critic_loss": 0.005887787323445082, "reward": 0.08773933351039886, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11152137815952301, 0.07044754922389984, 0.13453881442546844], "mean_episode_length": 1395.876712328767, "episode_reward_terms": {"track_linear_velocity": 49.73452377319336, "track_angular_velocity": 52.74109649658203, "upright": 26.770130157470703, "leg_posture": -2.6734471321105957, "standstill": -6.053924083709717, "action_rate_l2": -0.5821659564971924, "joint_torques_l2": -0.1489088386297226, "dof_pos_limits": -0.0007042993092909455, "terminated": -0.021810568869113922, "unnecessary_wheel_lift": -0.0710441991686821, "rolling_leg_motion": -0.5857671499252319, "obstacle_progress": 3.902998447418213, "wheel_body_intrusion": -0.2507404386997223, "pair_body_intrusion": -0.2869694232940674}, "weighted_reward_terms": {"track_linear_velocity": 1.7814799547195435, "track_angular_velocity": 1.8891745805740356, "upright": 0.9589002728462219, "leg_posture": -0.09576229751110077, "standstill": -0.21685023605823517, "action_rate_l2": -0.020853059366345406, "joint_torques_l2": -0.005333882290869951, "dof_pos_limits": -2.5227847800124437e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.002544787712395191, "rolling_leg_motion": -0.020982051268219948, "obstacle_progress": 0.13980455696582794, "wheel_body_intrusion": -0.00898146815598011, "pair_body_intrusion": -0.010279182344675064}, "episode_termination_rates": {"time_out": 0.4931506849315068, "fell_over": 0.02054794520547945, "course_exit": 0.4520547945205479, "illegal_nonwheel_contact": 0.0547945205479452}, "collection_time_s": 0.0758410846965853, "learning_time_s": 0.185480765204411, "iteration_time_s": 0.3042204427126434, "policy_updates": 37900, "skipped_updates": 0, "invalid_env_resets": 203, "elapsed_s": 11621.220911622979, "nonwheel_terminations": 13606, "contact_bce": 0.28567713499069214, "contact_force_loss": 0.02020888961851597, "collision_bce": 0.00033761319355107844, "collision_label_rate": 0.00012245148536749184, "collision_prediction_mean": 4.76781751785893e-05, "collision_label_count": 16333.0, "terrain_level_mean": 4.1396484375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 16, 31, 46, 88, 229], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1907.0, 419.0, 38.0, 0.0], [1684.0, 389.0, 33.0, 0.0], [1464.0, 338.0, 26.0, 0.0], [1037.0, 245.0, 21.0, 0.0], [1716.0, 396.0, 16.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 30, 288, 1114], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4633.0, 1708.0, 196.0, 0.0], [6306.0, 1714.0, 167.0, 0.0], [8725.0, 1665.0, 288.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 34, 580], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [974.0, 801.0, 26.0, 0.0], [1966.0, 1610.0, 67.0, 0.0], [11299.0, 9535.0, 290.0, 0.0]]}, "platform": {"level_counts": [15, 16, 50, 99, 122, 108], "episodes_by_level": [[1807.0, 389.0, 52.0, 0.0], [2226.0, 459.0, 93.0, 0.0], [1936.0, 390.0, 86.0, 0.0], [1630.0, 285.0, 61.0, 0.0], [1083.0, 162.0, 55.0, 0.0], [542.0, 52.0, 54.0, 0.0]]}, "slope": {"level_counts": [4, 20, 46, 68, 93, 179], "episodes_by_level": [[1641.0, 350.0, 46.0, 0.0], [2021.0, 415.0, 71.0, 0.0], [1782.0, 378.0, 43.0, 0.0], [1401.0, 290.0, 38.0, 0.0], [1061.0, 212.0, 18.0, 0.0], [1362.0, 247.0, 33.0, 0.0]]}, "rubble": {"level_counts": [28, 91, 184, 239, 191, 86], "episodes_by_level": [[3362.0, 760.0, 100.0, 0.0], [4976.0, 1063.0, 224.0, 0.0], [4641.0, 975.0, 380.0, 0.0], [3452.0, 595.0, 459.0, 0.0], [1734.0, 216.0, 318.0, 0.0], [525.0, 39.0, 130.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.230712890625, "command_abs_max": [0.9993282556533813, 0.3994961380958557, 0.699906587600708]}
{"step": 38250, "actor_lr": 1.2902097916467653e-05, "archive_windows": 50000, "env_steps": 38250, "total_transitions": 156672000, "num_steps_per_env": 1, "wm_loss": 0.5553812384605408, "actor_loss": -9.52932071685791, "critic_loss": 0.0037231442984193563, "reward": 0.08793895691633224, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11035677045583725, 0.06956925243139267, 0.13374421000480652], "mean_episode_length": 1310.0251572327045, "episode_reward_terms": {"track_linear_velocity": 46.786685943603516, "track_angular_velocity": 49.53529739379883, "upright": 25.137998580932617, "leg_posture": -2.5072453022003174, "standstill": -5.535198211669922, "action_rate_l2": -0.5393775105476379, "joint_torques_l2": -0.1393989622592926, "dof_pos_limits": -0.0007964982069097459, "terminated": -0.01791049912571907, "unnecessary_wheel_lift": -0.09033473581075668, "rolling_leg_motion": -0.569811224937439, "obstacle_progress": 3.636322498321533, "wheel_body_intrusion": -0.24777176976203918, "pair_body_intrusion": -0.24621959030628204}, "weighted_reward_terms": {"track_linear_velocity": 1.785717248916626, "track_angular_velocity": 1.890623927116394, "upright": 0.9594472050666809, "leg_posture": -0.09569455683231354, "standstill": -0.21126306056976318, "action_rate_l2": -0.020586533471941948, "joint_torques_l2": -0.005320468917489052, "dof_pos_limits": -3.0400111427297816e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0034478246234357357, "rolling_leg_motion": -0.021748103201389313, "obstacle_progress": 0.13878828287124634, "wheel_body_intrusion": -0.00945675652474165, "pair_body_intrusion": -0.009397514164447784}, "episode_termination_rates": {"time_out": 0.44654088050314467, "fell_over": 0.018867924528301886, "course_exit": 0.5094339622641509, "illegal_nonwheel_contact": 0.0440251572327044}, "collection_time_s": 0.07574369572103024, "learning_time_s": 0.18549726564320734, "iteration_time_s": 0.304164289571007, "policy_updates": 37950, "skipped_updates": 0, "invalid_env_resets": 203, "elapsed_s": 11634.284076091019, "nonwheel_terminations": 13613, "contact_bce": 0.28183284401893616, "contact_force_loss": 0.019871965050697327, "collision_bce": 0.00010026509698946029, "collision_label_rate": 6.119201862020418e-05, "collision_prediction_mean": 6.615040183532983e-05, "collision_label_count": 16342.0, "terrain_level_mean": 4.14208984375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 16, 31, 44, 90, 229], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1908.0, 419.0, 38.0, 0.0], [1685.0, 389.0, 33.0, 0.0], [1467.0, 340.0, 26.0, 0.0], [1043.0, 245.0, 21.0, 0.0], [1720.0, 397.0, 16.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 30, 289, 1113], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4633.0, 1708.0, 196.0, 0.0], [6314.0, 1716.0, 167.0, 0.0], [8761.0, 1678.0, 290.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 33, 581], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [974.0, 801.0, 26.0, 0.0], [1968.0, 1612.0, 67.0, 0.0], [11321.0, 9554.0, 290.0, 0.0]]}, "platform": {"level_counts": [14, 17, 49, 99, 123, 108], "episodes_by_level": [[1808.0, 390.0, 52.0, 0.0], [2226.0, 459.0, 93.0, 0.0], [1938.0, 391.0, 86.0, 0.0], [1633.0, 286.0, 61.0, 0.0], [1089.0, 163.0, 55.0, 0.0], [545.0, 52.0, 55.0, 0.0]]}, "slope": {"level_counts": [4, 20, 46, 67, 94, 179], "episodes_by_level": [[1641.0, 350.0, 46.0, 0.0], [2022.0, 416.0, 71.0, 0.0], [1784.0, 378.0, 44.0, 0.0], [1403.0, 291.0, 38.0, 0.0], [1064.0, 212.0, 18.0, 0.0], [1370.0, 248.0, 33.0, 0.0]]}, "rubble": {"level_counts": [28, 91, 184, 236, 193, 87], "episodes_by_level": [[3362.0, 760.0, 100.0, 0.0], [4977.0, 1063.0, 224.0, 0.0], [4645.0, 975.0, 380.0, 0.0], [3460.0, 599.0, 459.0, 0.0], [1740.0, 217.0, 319.0, 0.0], [527.0, 39.0, 130.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22802734375, "command_abs_max": [0.9993282556533813, 0.3994961380958557, 0.699906587600708]}
{"step": 38300, "actor_lr": 1.2851617020565061e-05, "archive_windows": 50000, "env_steps": 38300, "total_transitions": 156876800, "num_steps_per_env": 1, "wm_loss": 0.5855969190597534, "actor_loss": -9.537956237792969, "critic_loss": 0.003935118205845356, "reward": 0.0876767635345459, "falls": 7, "interval_steps": 50, "velocity_mae": [0.1112290769815445, 0.069802425801754, 0.1334414780139923], "mean_episode_length": 1364.06432748538, "episode_reward_terms": {"track_linear_velocity": 48.652584075927734, "track_angular_velocity": 51.57827377319336, "upright": 26.172836303710938, "leg_posture": -2.6464242935180664, "standstill": -5.9708404541015625, "action_rate_l2": -0.55842524766922, "joint_torques_l2": -0.14669059216976166, "dof_pos_limits": -0.0011499659158289433, "terminated": -0.01864931546151638, "unnecessary_wheel_lift": -0.08929380774497986, "rolling_leg_motion": -0.5855798721313477, "obstacle_progress": 3.8107106685638428, "wheel_body_intrusion": -0.2681015729904175, "pair_body_intrusion": -0.3324992060661316}, "weighted_reward_terms": {"track_linear_velocity": 1.7833683490753174, "track_angular_velocity": 1.8906100988388062, "upright": 0.9593695402145386, "leg_posture": -0.09700511395931244, "standstill": -0.2188621461391449, "action_rate_l2": -0.020469170063734055, "joint_torques_l2": -0.0053769676014781, "dof_pos_limits": -4.215219087200239e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.003273078938946128, "rolling_leg_motion": -0.021464526653289795, "obstacle_progress": 0.13968221843242645, "wheel_body_intrusion": -0.009827306494116783, "pair_body_intrusion": -0.012187812477350235}, "episode_termination_rates": {"time_out": 0.4678362573099415, "fell_over": 0.023391812865497075, "course_exit": 0.49122807017543857, "illegal_nonwheel_contact": 0.023391812865497075}, "collection_time_s": 0.07602267954149283, "learning_time_s": 0.18546849157544784, "iteration_time_s": 0.3041086085380162, "policy_updates": 38000, "skipped_updates": 0, "invalid_env_resets": 204, "elapsed_s": 11647.35970700602, "nonwheel_terminations": 13617, "contact_bce": 0.2864759862422943, "contact_force_loss": 0.020026445388793945, "collision_bce": 1.090639580070274e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.0927749826805666e-05, "collision_label_count": 16352.0, "terrain_level_mean": 4.144287109375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 16, 30, 45, 90, 229], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1908.0, 419.0, 38.0, 0.0], [1687.0, 390.0, 33.0, 0.0], [1469.0, 340.0, 26.0, 0.0], [1049.0, 245.0, 21.0, 0.0], [1724.0, 399.0, 16.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 31, 288, 1113], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4633.0, 1708.0, 196.0, 0.0], [6327.0, 1719.0, 168.0, 0.0], [8791.0, 1687.0, 291.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 31, 583], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [974.0, 801.0, 26.0, 0.0], [1970.0, 1614.0, 67.0, 0.0], [11346.0, 9578.0, 290.0, 0.0]]}, "platform": {"level_counts": [14, 16, 50, 99, 125, 106], "episodes_by_level": [[1808.0, 390.0, 52.0, 0.0], [2227.0, 460.0, 93.0, 0.0], [1939.0, 391.0, 86.0, 0.0], [1636.0, 286.0, 61.0, 0.0], [1092.0, 163.0, 55.0, 0.0], [552.0, 52.0, 57.0, 0.0]]}, "slope": {"level_counts": [4, 20, 46, 67, 94, 179], "episodes_by_level": [[1641.0, 350.0, 46.0, 0.0], [2022.0, 416.0, 71.0, 0.0], [1785.0, 378.0, 44.0, 0.0], [1404.0, 291.0, 38.0, 0.0], [1068.0, 212.0, 18.0, 0.0], [1375.0, 249.0, 33.0, 0.0]]}, "rubble": {"level_counts": [27, 90, 184, 236, 194, 88], "episodes_by_level": [[3363.0, 761.0, 100.0, 0.0], [4980.0, 1065.0, 224.0, 0.0], [4651.0, 977.0, 380.0, 0.0], [3472.0, 602.0, 459.0, 0.0], [1745.0, 218.0, 320.0, 0.0], [528.0, 39.0, 130.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.227294921875, "command_abs_max": [0.9993282556533813, 0.399587482213974, 0.699906587600708]}
{"step": 38350, "actor_lr": 1.2802564025963266e-05, "archive_windows": 50000, "env_steps": 38350, "total_transitions": 157081600, "num_steps_per_env": 1, "wm_loss": 0.6332042813301086, "actor_loss": -9.518095970153809, "critic_loss": 0.005508701782673597, "reward": 0.08764948695898056, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11326190829277039, 0.07092268764972687, 0.13390283286571503], "mean_episode_length": 1308.9632352941176, "episode_reward_terms": {"track_linear_velocity": 46.57026672363281, "track_angular_velocity": 49.47914123535156, "upright": 25.125717163085938, "leg_posture": -2.5286240577697754, "standstill": -5.646900653839111, "action_rate_l2": -0.5481369495391846, "joint_torques_l2": -0.14080892503261566, "dof_pos_limits": -0.0011772066354751587, "terminated": -0.015339411795139313, "unnecessary_wheel_lift": -0.06879311800003052, "rolling_leg_motion": -0.5622929334640503, "obstacle_progress": 3.6499972343444824, "wheel_body_intrusion": -0.2622665464878082, "pair_body_intrusion": -0.3208470642566681}, "weighted_reward_terms": {"track_linear_velocity": 1.778899073600769, "track_angular_velocity": 1.8900126218795776, "upright": 0.9597564339637756, "leg_posture": -0.09658881276845932, "standstill": -0.21570128202438354, "action_rate_l2": -0.020937828347086906, "joint_torques_l2": -0.005378643050789833, "dof_pos_limits": -4.4967138819629326e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.0026277711149305105, "rolling_leg_motion": -0.0214785598218441, "obstacle_progress": 0.1394232213497162, "wheel_body_intrusion": -0.010018102824687958, "pair_body_intrusion": -0.012255770154297352}, "episode_termination_rates": {"time_out": 0.4485294117647059, "fell_over": 0.03676470588235294, "course_exit": 0.5073529411764706, "illegal_nonwheel_contact": 0.014705882352941176}, "collection_time_s": 0.07551908316556365, "learning_time_s": 0.1924034664593637, "iteration_time_s": 0.30406146331056116, "policy_updates": 38050, "skipped_updates": 0, "invalid_env_resets": 204, "elapsed_s": 11660.75711796002, "nonwheel_terminations": 13619, "contact_bce": 0.2876574993133545, "contact_force_loss": 0.02098945900797844, "collision_bce": 8.922257256926969e-05, "collision_label_rate": 6.119576573837548e-05, "collision_prediction_mean": 0.00012403889559209347, "collision_label_count": 16341.0, "terrain_level_mean": 4.145751953125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 16, 30, 44, 90, 230], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1908.0, 419.0, 38.0, 0.0], [1687.0, 390.0, 33.0, 0.0], [1472.0, 341.0, 26.0, 0.0], [1051.0, 246.0, 21.0, 0.0], [1728.0, 400.0, 16.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 30, 285, 1117], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4634.0, 1709.0, 196.0, 0.0], [6338.0, 1724.0, 168.0, 0.0], [8817.0, 1695.0, 291.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 33, 581], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [974.0, 801.0, 26.0, 0.0], [1970.0, 1614.0, 67.0, 0.0], [11371.0, 9600.0, 291.0, 0.0]]}, "platform": {"level_counts": [14, 15, 51, 99, 125, 106], "episodes_by_level": [[1808.0, 390.0, 52.0, 0.0], [2229.0, 461.0, 93.0, 0.0], [1940.0, 391.0, 86.0, 0.0], [1637.0, 286.0, 61.0, 0.0], [1096.0, 163.0, 55.0, 0.0], [553.0, 52.0, 57.0, 0.0]]}, "slope": {"level_counts": [4, 20, 46, 66, 95, 179], "episodes_by_level": [[1642.0, 350.0, 46.0, 0.0], [2022.0, 416.0, 71.0, 0.0], [1785.0, 378.0, 44.0, 0.0], [1406.0, 292.0, 38.0, 0.0], [1071.0, 212.0, 18.0, 0.0], [1382.0, 251.0, 33.0, 0.0]]}, "rubble": {"level_counts": [27, 90, 185, 235, 194, 88], "episodes_by_level": [[3364.0, 761.0, 100.0, 0.0], [4982.0, 1065.0, 224.0, 0.0], [4655.0, 978.0, 380.0, 0.0], [3480.0, 603.0, 461.0, 0.0], [1752.0, 218.0, 321.0, 0.0], [529.0, 39.0, 130.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.223388671875, "command_abs_max": [0.9993282556533813, 0.399587482213974, 0.699906587600708]}
{"step": 38400, "actor_lr": 1.2754941958482023e-05, "archive_windows": 50000, "env_steps": 38400, "total_transitions": 157286400, "num_steps_per_env": 1, "wm_loss": 0.5715931057929993, "actor_loss": -9.515936851501465, "critic_loss": 0.0044790939427912235, "reward": 0.08703314512968063, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11480879038572311, 0.07233136892318726, 0.13731300830841064], "mean_episode_length": 1428.3550295857988, "episode_reward_terms": {"track_linear_velocity": 50.63477325439453, "track_angular_velocity": 53.84199905395508, "upright": 27.408977508544922, "leg_posture": -2.708319664001465, "standstill": -6.712690353393555, "action_rate_l2": -0.6075669527053833, "joint_torques_l2": -0.15365593135356903, "dof_pos_limits": -0.0006423249724321067, "terminated": -0.025107799097895622, "unnecessary_wheel_lift": -0.09547548741102219, "rolling_leg_motion": -0.6192965507507324, "obstacle_progress": 4.005157470703125, "wheel_body_intrusion": -0.3016810417175293, "pair_body_intrusion": -0.3522476553916931}, "weighted_reward_terms": {"track_linear_velocity": 1.7724857330322266, "track_angular_velocity": 1.8847556114196777, "upright": 0.9594596028327942, "leg_posture": -0.09480555355548859, "standstill": -0.2349797785282135, "action_rate_l2": -0.02126806601881981, "joint_torques_l2": -0.005378772504627705, "dof_pos_limits": -2.2484780856757425e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.0033421486150473356, "rolling_leg_motion": -0.021678665652871132, "obstacle_progress": 0.14020176231861115, "wheel_body_intrusion": -0.010560436174273491, "pair_body_intrusion": -0.012330536730587482}, "episode_termination_rates": {"time_out": 0.5502958579881657, "fell_over": 0.03550295857988166, "course_exit": 0.39644970414201186, "illegal_nonwheel_contact": 0.029585798816568046}, "collection_time_s": 0.07560967209748924, "learning_time_s": 0.1849085549241863, "iteration_time_s": 0.3040047947764318, "policy_updates": 38100, "skipped_updates": 0, "invalid_env_resets": 204, "elapsed_s": 11673.78411941498, "nonwheel_terminations": 13624, "contact_bce": 0.2824592888355255, "contact_force_loss": 0.020410839468240738, "collision_bce": 7.999341323738918e-05, "collision_label_rate": 6.114711868576705e-05, "collision_prediction_mean": 7.030691631371155e-05, "collision_label_count": 16354.0, "terrain_level_mean": 4.146240234375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 16, 30, 44, 89, 231], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1908.0, 419.0, 38.0, 0.0], [1687.0, 390.0, 33.0, 0.0], [1473.0, 341.0, 26.0, 0.0], [1056.0, 247.0, 21.0, 0.0], [1738.0, 400.0, 16.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 29, 288, 1115], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4635.0, 1710.0, 196.0, 0.0], [6347.0, 1724.0, 168.0, 0.0], [8849.0, 1700.0, 293.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 35, 579], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [974.0, 801.0, 26.0, 0.0], [1970.0, 1614.0, 67.0, 0.0], [11391.0, 9619.0, 291.0, 0.0]]}, "platform": {"level_counts": [14, 15, 51, 96, 127, 107], "episodes_by_level": [[1808.0, 390.0, 52.0, 0.0], [2231.0, 462.0, 93.0, 0.0], [1944.0, 391.0, 87.0, 0.0], [1642.0, 289.0, 61.0, 0.0], [1101.0, 164.0, 55.0, 0.0], [553.0, 52.0, 57.0, 0.0]]}, "slope": {"level_counts": [4, 20, 46, 65, 95, 180], "episodes_by_level": [[1642.0, 350.0, 46.0, 0.0], [2022.0, 416.0, 71.0, 0.0], [1785.0, 378.0, 44.0, 0.0], [1411.0, 293.0, 38.0, 0.0], [1075.0, 213.0, 18.0, 0.0], [1390.0, 253.0, 33.0, 0.0]]}, "rubble": {"level_counts": [27, 89, 187, 235, 194, 87], "episodes_by_level": [[3364.0, 761.0, 100.0, 0.0], [4986.0, 1066.0, 224.0, 0.0], [4661.0, 979.0, 380.0, 0.0], [3488.0, 603.0, 463.0, 0.0], [1758.0, 218.0, 322.0, 0.0], [532.0, 40.0, 131.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.223388671875, "command_abs_max": [0.9988265037536621, 0.399587482213974, 0.699906587600708]}
{"step": 38450, "actor_lr": 1.2708753755674787e-05, "archive_windows": 50000, "env_steps": 38450, "total_transitions": 157491200, "num_steps_per_env": 1, "wm_loss": 0.6015299558639526, "actor_loss": -9.534296989440918, "critic_loss": 0.005891989916563034, "reward": 0.08788926899433136, "falls": 11, "interval_steps": 50, "velocity_mae": [0.11153646558523178, 0.0709410086274147, 0.13433736562728882], "mean_episode_length": 1361.1847133757963, "episode_reward_terms": {"track_linear_velocity": 48.479251861572266, "track_angular_velocity": 51.4447021484375, "upright": 26.182369232177734, "leg_posture": -2.5306448936462402, "standstill": -5.817845344543457, "action_rate_l2": -0.5659120082855225, "joint_torques_l2": -0.14422647655010223, "dof_pos_limits": -0.00033495284151285887, "terminated": -0.02924419939517975, "unnecessary_wheel_lift": -0.0916173905134201, "rolling_leg_motion": -0.5869144797325134, "obstacle_progress": 3.8413140773773193, "wheel_body_intrusion": -0.26323968172073364, "pair_body_intrusion": -0.2841266095638275}, "weighted_reward_terms": {"track_linear_velocity": 1.7807742357254028, "track_angular_velocity": 1.8897032737731934, "upright": 0.9617493748664856, "leg_posture": -0.09295744448900223, "standstill": -0.21370522677898407, "action_rate_l2": -0.02078748121857643, "joint_torques_l2": -0.005297829397022724, "dof_pos_limits": -1.2303725270612631e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.0033653550781309605, "rolling_leg_motion": -0.021558959037065506, "obstacle_progress": 0.1411018669605255, "wheel_body_intrusion": -0.00966950599104166, "pair_body_intrusion": -0.010436739772558212}, "episode_termination_rates": {"time_out": 0.4840764331210191, "fell_over": 0.03821656050955414, "course_exit": 0.445859872611465, "illegal_nonwheel_contact": 0.044585987261146494}, "collection_time_s": 0.07566335544688627, "learning_time_s": 0.18544332639779895, "iteration_time_s": 0.3039490383725098, "policy_updates": 38150, "skipped_updates": 0, "invalid_env_resets": 204, "elapsed_s": 11686.840525423002, "nonwheel_terminations": 13631, "contact_bce": 0.2891410291194916, "contact_force_loss": 0.020033899694681168, "collision_bce": 0.0005810094298794866, "collision_label_rate": 0.000122361583635211, "collision_prediction_mean": 4.935413380735554e-05, "collision_label_count": 16345.0, "terrain_level_mean": 4.1484375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 16, 30, 44, 89, 231], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1909.0, 419.0, 38.0, 0.0], [1688.0, 390.0, 33.0, 0.0], [1476.0, 341.0, 26.0, 0.0], [1058.0, 247.0, 21.0, 0.0], [1742.0, 400.0, 16.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 29, 289, 1114], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4635.0, 1710.0, 196.0, 0.0], [6358.0, 1728.0, 168.0, 0.0], [8878.0, 1713.0, 294.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 35, 579], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [974.0, 801.0, 26.0, 0.0], [1971.0, 1615.0, 67.0, 0.0], [11406.0, 9633.0, 291.0, 0.0]]}, "platform": {"level_counts": [14, 15, 50, 95, 128, 108], "episodes_by_level": [[1808.0, 390.0, 52.0, 0.0], [2232.0, 462.0, 93.0, 0.0], [1948.0, 392.0, 87.0, 0.0], [1649.0, 291.0, 61.0, 0.0], [1106.0, 165.0, 55.0, 0.0], [555.0, 52.0, 57.0, 0.0]]}, "slope": {"level_counts": [4, 19, 46, 66, 95, 180], "episodes_by_level": [[1642.0, 350.0, 46.0, 0.0], [2024.0, 417.0, 71.0, 0.0], [1786.0, 379.0, 44.0, 0.0], [1411.0, 293.0, 38.0, 0.0], [1079.0, 213.0, 18.0, 0.0], [1395.0, 254.0, 33.0, 0.0]]}, "rubble": {"level_counts": [26, 90, 187, 232, 197, 87], "episodes_by_level": [[3367.0, 762.0, 101.0, 0.0], [4988.0, 1066.0, 224.0, 0.0], [4668.0, 981.0, 380.0, 0.0], [3496.0, 606.0, 465.0, 0.0], [1762.0, 219.0, 322.0, 0.0], [535.0, 40.0, 132.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.221435546875, "command_abs_max": [0.9988265037536621, 0.399587482213974, 0.699906587600708]}
{"step": 38500, "actor_lr": 1.266400226664746e-05, "archive_windows": 50000, "env_steps": 38500, "total_transitions": 157696000, "num_steps_per_env": 1, "wm_loss": 0.5531227588653564, "actor_loss": -9.550921440124512, "critic_loss": 0.0033175477292388678, "reward": 0.08788259327411652, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11025408655405045, 0.07053294032812119, 0.1344098150730133], "mean_episode_length": 1404.182389937107, "episode_reward_terms": {"track_linear_velocity": 50.13381576538086, "track_angular_velocity": 53.072784423828125, "upright": 26.999897003173828, "leg_posture": -2.6610052585601807, "standstill": -6.178804397583008, "action_rate_l2": -0.5884252786636353, "joint_torques_l2": -0.1496095508337021, "dof_pos_limits": -0.00044947367860004306, "terminated": -0.013712717220187187, "unnecessary_wheel_lift": -0.08713838458061218, "rolling_leg_motion": -0.5992410778999329, "obstacle_progress": 4.069427013397217, "wheel_body_intrusion": -0.2943180501461029, "pair_body_intrusion": -0.30003878474235535}, "weighted_reward_terms": {"track_linear_velocity": 1.7851605415344238, "track_angular_velocity": 1.8898109197616577, "upright": 0.961409866809845, "leg_posture": -0.09475284069776535, "standstill": -0.22001433372497559, "action_rate_l2": -0.02095259539783001, "joint_torques_l2": -0.005327283404767513, "dof_pos_limits": -1.6004818462533876e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.0031028157100081444, "rolling_leg_motion": -0.0213377233594656, "obstacle_progress": 0.14490379393100739, "wheel_body_intrusion": -0.010480050928890705, "pair_body_intrusion": -0.010683754459023476}, "episode_termination_rates": {"time_out": 0.48427672955974843, "fell_over": 0.012578616352201259, "course_exit": 0.48427672955974843, "illegal_nonwheel_contact": 0.025157232704402517}, "collection_time_s": 0.07577259962097742, "learning_time_s": 0.18463480695849285, "iteration_time_s": 0.30389251858896166, "policy_updates": 38200, "skipped_updates": 0, "invalid_env_resets": 204, "elapsed_s": 11699.861965675023, "nonwheel_terminations": 13635, "contact_bce": 0.2871498167514801, "contact_force_loss": 0.020195936784148216, "collision_bce": 2.5462859412073158e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 2.4866025341907516e-05, "collision_label_count": 16346.0, "terrain_level_mean": 4.150390625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 17, 29, 43, 89, 232], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1909.0, 419.0, 38.0, 0.0], [1691.0, 390.0, 34.0, 0.0], [1478.0, 342.0, 26.0, 0.0], [1062.0, 248.0, 21.0, 0.0], [1750.0, 404.0, 16.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 30, 286, 1116], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4635.0, 1710.0, 196.0, 0.0], [6365.0, 1731.0, 168.0, 0.0], [8911.0, 1723.0, 294.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 34, 580], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [974.0, 801.0, 26.0, 0.0], [1972.0, 1616.0, 67.0, 0.0], [11419.0, 9645.0, 291.0, 0.0]]}, "platform": {"level_counts": [14, 15, 50, 94, 128, 109], "episodes_by_level": [[1809.0, 390.0, 52.0, 0.0], [2232.0, 462.0, 93.0, 0.0], [1950.0, 392.0, 87.0, 0.0], [1654.0, 292.0, 61.0, 0.0], [1110.0, 166.0, 55.0, 0.0], [559.0, 52.0, 57.0, 0.0]]}, "slope": {"level_counts": [4, 18, 47, 65, 96, 180], "episodes_by_level": [[1642.0, 350.0, 46.0, 0.0], [2026.0, 418.0, 71.0, 0.0], [1787.0, 379.0, 44.0, 0.0], [1416.0, 294.0, 38.0, 0.0], [1084.0, 213.0, 18.0, 0.0], [1406.0, 255.0, 33.0, 0.0]]}, "rubble": {"level_counts": [26, 90, 186, 233, 197, 87], "episodes_by_level": [[3369.0, 762.0, 101.0, 0.0], [4989.0, 1066.0, 224.0, 0.0], [4671.0, 982.0, 380.0, 0.0], [3503.0, 606.0, 465.0, 0.0], [1771.0, 221.0, 322.0, 0.0], [541.0, 40.0, 134.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.222412109375, "command_abs_max": [0.9988265037536621, 0.399587482213974, 0.699906587600708]}
{"step": 38550, "actor_lr": 1.2620690251882696e-05, "archive_windows": 50000, "env_steps": 38550, "total_transitions": 157900800, "num_steps_per_env": 1, "wm_loss": 0.5845405459403992, "actor_loss": -9.519331932067871, "critic_loss": 0.006302684545516968, "reward": 0.08736300468444824, "falls": 11, "interval_steps": 50, "velocity_mae": [0.11175473779439926, 0.07111399620771408, 0.13311640918254852], "mean_episode_length": 1322.9078014184397, "episode_reward_terms": {"track_linear_velocity": 47.07411575317383, "track_angular_velocity": 50.05009841918945, "upright": 25.425992965698242, "leg_posture": -2.5148565769195557, "standstill": -6.233584880828857, "action_rate_l2": -0.5601809620857239, "joint_torques_l2": -0.14044593274593353, "dof_pos_limits": -0.0007598650990985334, "terminated": -0.02842184528708458, "unnecessary_wheel_lift": -0.07609594613313675, "rolling_leg_motion": -0.5573251247406006, "obstacle_progress": 3.7225804328918457, "wheel_body_intrusion": -0.28399601578712463, "pair_body_intrusion": -0.3039168119430542}, "weighted_reward_terms": {"track_linear_velocity": 1.7791911363601685, "track_angular_velocity": 1.8916698694229126, "upright": 0.9609888195991516, "leg_posture": -0.09505033493041992, "standstill": -0.23560163378715515, "action_rate_l2": -0.021172335371375084, "joint_torques_l2": -0.005308228544890881, "dof_pos_limits": -2.8719503461616114e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.0028760863933712244, "rolling_leg_motion": -0.0210643969476223, "obstacle_progress": 0.14069689810276031, "wheel_body_intrusion": -0.010733779519796371, "pair_body_intrusion": -0.011486697010695934}, "episode_termination_rates": {"time_out": 0.41134751773049644, "fell_over": 0.028368794326241134, "course_exit": 0.5106382978723404, "illegal_nonwheel_contact": 0.05673758865248227}, "collection_time_s": 0.07569154556258581, "learning_time_s": 0.18537485213717445, "iteration_time_s": 0.3038376970538518, "policy_updates": 38250, "skipped_updates": 0, "invalid_env_resets": 204, "elapsed_s": 11712.943221425987, "nonwheel_terminations": 13643, "contact_bce": 0.28727632761001587, "contact_force_loss": 0.020254069939255714, "collision_bce": 3.200534047209658e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 3.139472391922027e-05, "collision_label_count": 16354.0, "terrain_level_mean": 4.15087890625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 17, 29, 43, 89, 232], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1909.0, 419.0, 38.0, 0.0], [1691.0, 390.0, 34.0, 0.0], [1479.0, 342.0, 26.0, 0.0], [1065.0, 249.0, 21.0, 0.0], [1756.0, 405.0, 17.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 31, 284, 1117], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4637.0, 1710.0, 196.0, 0.0], [6372.0, 1733.0, 168.0, 0.0], [8939.0, 1731.0, 295.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 31, 583], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [974.0, 801.0, 26.0, 0.0], [1975.0, 1619.0, 67.0, 0.0], [11441.0, 9662.0, 291.0, 0.0]]}, "platform": {"level_counts": [14, 15, 49, 95, 128, 109], "episodes_by_level": [[1809.0, 390.0, 52.0, 0.0], [2232.0, 462.0, 93.0, 0.0], [1952.0, 394.0, 87.0, 0.0], [1657.0, 292.0, 62.0, 0.0], [1111.0, 166.0, 55.0, 0.0], [561.0, 52.0, 57.0, 0.0]]}, "slope": {"level_counts": [4, 18, 45, 67, 96, 180], "episodes_by_level": [[1642.0, 350.0, 46.0, 0.0], [2026.0, 418.0, 71.0, 0.0], [1791.0, 381.0, 44.0, 0.0], [1418.0, 294.0, 38.0, 0.0], [1085.0, 213.0, 18.0, 0.0], [1409.0, 256.0, 33.0, 0.0]]}, "rubble": {"level_counts": [27, 89, 188, 232, 196, 87], "episodes_by_level": [[3369.0, 762.0, 101.0, 0.0], [4993.0, 1067.0, 225.0, 0.0], [4676.0, 982.0, 381.0, 0.0], [3513.0, 607.0, 467.0, 0.0], [1780.0, 222.0, 324.0, 0.0], [545.0, 42.0, 135.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22412109375, "command_abs_max": [0.9988265037536621, 0.399587482213974, 0.699906587600708]}
{"step": 38600, "actor_lr": 1.2578820383069575e-05, "archive_windows": 50000, "env_steps": 38600, "total_transitions": 158105600, "num_steps_per_env": 1, "wm_loss": 0.5369448065757751, "actor_loss": -9.509521484375, "critic_loss": 0.0072730774991214275, "reward": 0.08766338229179382, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11077430099248886, 0.07048618793487549, 0.1326831579208374], "mean_episode_length": 1356.66875, "episode_reward_terms": {"track_linear_velocity": 48.36075210571289, "track_angular_velocity": 51.35150909423828, "upright": 26.10106086730957, "leg_posture": -2.5635826587677, "standstill": -6.166162967681885, "action_rate_l2": -0.57378089427948, "joint_torques_l2": -0.14448638260364532, "dof_pos_limits": -0.0005412757163867354, "terminated": -0.018548203632235527, "unnecessary_wheel_lift": -0.07371065020561218, "rolling_leg_motion": -0.5806995034217834, "obstacle_progress": 3.8327038288116455, "wheel_body_intrusion": -0.2882997393608093, "pair_body_intrusion": -0.30605754256248474}, "weighted_reward_terms": {"track_linear_velocity": 1.782334566116333, "track_angular_velocity": 1.8925588130950928, "upright": 0.9619541764259338, "leg_posture": -0.09448079019784927, "standstill": -0.22725380957126617, "action_rate_l2": -0.021146684885025024, "joint_torques_l2": -0.005325043108314276, "dof_pos_limits": -1.9948707631556317e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.002716604620218277, "rolling_leg_motion": -0.021401669830083847, "obstacle_progress": 0.1412542313337326, "wheel_body_intrusion": -0.010625282302498817, "pair_body_intrusion": -0.011279745027422905}, "episode_termination_rates": {"time_out": 0.48125, "fell_over": 0.025, "course_exit": 0.475, "illegal_nonwheel_contact": 0.03125}, "collection_time_s": 0.0756574659817852, "learning_time_s": 0.18537940994952806, "iteration_time_s": 0.30378228415810915, "policy_updates": 38300, "skipped_updates": 0, "invalid_env_resets": 204, "elapsed_s": 11725.996168503014, "nonwheel_terminations": 13648, "contact_bce": 0.2808196246623993, "contact_force_loss": 0.01982538029551506, "collision_bce": 0.0001358500448986888, "collision_label_rate": 6.113964627729729e-05, "collision_prediction_mean": 4.8773883463582024e-05, "collision_label_count": 16356.0, "terrain_level_mean": 4.1513671875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 17, 29, 43, 89, 232], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1909.0, 419.0, 38.0, 0.0], [1691.0, 390.0, 34.0, 0.0], [1480.0, 342.0, 26.0, 0.0], [1067.0, 249.0, 21.0, 0.0], [1761.0, 406.0, 17.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 31, 282, 1119], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4637.0, 1710.0, 196.0, 0.0], [6380.0, 1735.0, 168.0, 0.0], [8967.0, 1737.0, 295.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 34, 580], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [974.0, 801.0, 26.0, 0.0], [1975.0, 1619.0, 67.0, 0.0], [11472.0, 9689.0, 291.0, 0.0]]}, "platform": {"level_counts": [15, 15, 48, 94, 129, 109], "episodes_by_level": [[1809.0, 390.0, 52.0, 0.0], [2233.0, 462.0, 94.0, 0.0], [1954.0, 394.0, 88.0, 0.0], [1661.0, 293.0, 62.0, 0.0], [1113.0, 166.0, 55.0, 0.0], [566.0, 53.0, 57.0, 0.0]]}, "slope": {"level_counts": [4, 18, 45, 67, 94, 182], "episodes_by_level": [[1642.0, 350.0, 46.0, 0.0], [2026.0, 418.0, 71.0, 0.0], [1792.0, 381.0, 44.0, 0.0], [1419.0, 294.0, 38.0, 0.0], [1088.0, 215.0, 18.0, 0.0], [1415.0, 257.0, 33.0, 0.0]]}, "rubble": {"level_counts": [27, 89, 185, 235, 197, 86], "episodes_by_level": [[3370.0, 762.0, 101.0, 0.0], [4996.0, 1067.0, 225.0, 0.0], [4683.0, 985.0, 381.0, 0.0], [3518.0, 607.0, 467.0, 0.0], [1786.0, 223.0, 324.0, 0.0], [551.0, 42.0, 137.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23095703125, "command_abs_max": [0.9988265037536621, 0.3992585837841034, 0.699906587600708]}
{"step": 38650, "actor_lr": 1.253839524293883e-05, "archive_windows": 50000, "env_steps": 38650, "total_transitions": 158310400, "num_steps_per_env": 1, "wm_loss": 0.5605711936950684, "actor_loss": -9.533568382263184, "critic_loss": 0.004672484006732702, "reward": 0.08761633932590485, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11141116917133331, 0.07046480476856232, 0.1330472230911255], "mean_episode_length": 1327.79754601227, "episode_reward_terms": {"track_linear_velocity": 47.31135559082031, "track_angular_velocity": 50.25294494628906, "upright": 25.512157440185547, "leg_posture": -2.538071393966675, "standstill": -5.951098442077637, "action_rate_l2": -0.5664538741111755, "joint_torques_l2": -0.13995154201984406, "dof_pos_limits": -0.0006315468926914036, "terminated": -0.025933541357517242, "unnecessary_wheel_lift": -0.09119730442762375, "rolling_leg_motion": -0.5856201648712158, "obstacle_progress": 3.7618250846862793, "wheel_body_intrusion": -0.2809029519557953, "pair_body_intrusion": -0.3216813802719116}, "weighted_reward_terms": {"track_linear_velocity": 1.7815728187561035, "track_angular_velocity": 1.8923423290252686, "upright": 0.9606946110725403, "leg_posture": -0.09557449817657471, "standstill": -0.2240966111421585, "action_rate_l2": -0.021330581977963448, "joint_torques_l2": -0.005270063877105713, "dof_pos_limits": -2.3781747586326674e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.00343415723182261, "rolling_leg_motion": -0.02205231599509716, "obstacle_progress": 0.14165659248828888, "wheel_body_intrusion": -0.010577778331935406, "pair_body_intrusion": -0.012113344855606556}, "episode_termination_rates": {"time_out": 0.4233128834355828, "fell_over": 0.03680981595092025, "course_exit": 0.5214723926380368, "illegal_nonwheel_contact": 0.024539877300613498}, "collection_time_s": 0.07612209885613992, "learning_time_s": 0.18556209140107968, "iteration_time_s": 0.3037278523186028, "policy_updates": 38350, "skipped_updates": 0, "invalid_env_resets": 206, "elapsed_s": 11739.081492113997, "nonwheel_terminations": 13652, "contact_bce": 0.2894226908683777, "contact_force_loss": 0.020386118441820145, "collision_bce": 8.14404193079099e-05, "collision_label_rate": 6.1221988289617e-05, "collision_prediction_mean": 4.684210944105871e-05, "collision_label_count": 16334.0, "terrain_level_mean": 4.151611328125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 17, 29, 43, 88, 233], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1910.0, 419.0, 38.0, 0.0], [1692.0, 390.0, 34.0, 0.0], [1480.0, 342.0, 26.0, 0.0], [1071.0, 250.0, 21.0, 0.0], [1765.0, 407.0, 17.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 31, 280, 1121], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4637.0, 1710.0, 196.0, 0.0], [6388.0, 1737.0, 168.0, 0.0], [9005.0, 1738.0, 295.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 37, 577], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [974.0, 801.0, 26.0, 0.0], [1976.0, 1620.0, 67.0, 0.0], [11503.0, 9716.0, 292.0, 0.0]]}, "platform": {"level_counts": [15, 15, 47, 93, 131, 109], "episodes_by_level": [[1809.0, 390.0, 52.0, 0.0], [2233.0, 462.0, 94.0, 0.0], [1957.0, 395.0, 88.0, 0.0], [1664.0, 295.0, 62.0, 0.0], [1115.0, 166.0, 55.0, 0.0], [567.0, 53.0, 57.0, 0.0]]}, "slope": {"level_counts": [4, 18, 45, 67, 95, 181], "episodes_by_level": [[1642.0, 350.0, 46.0, 0.0], [2026.0, 418.0, 71.0, 0.0], [1794.0, 381.0, 44.0, 0.0], [1420.0, 294.0, 38.0, 0.0], [1088.0, 215.0, 18.0, 0.0], [1423.0, 258.0, 34.0, 0.0]]}, "rubble": {"level_counts": [26, 91, 183, 236, 199, 84], "episodes_by_level": [[3371.0, 763.0, 101.0, 0.0], [4999.0, 1067.0, 225.0, 0.0], [4690.0, 986.0, 382.0, 0.0], [3528.0, 609.0, 467.0, 0.0], [1797.0, 223.0, 326.0, 0.0], [555.0, 42.0, 139.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.229736328125, "command_abs_max": [0.9983150959014893, 0.3993009030818939, 0.699906587600708]}
{"step": 38700, "actor_lr": 1.249941732510353e-05, "archive_windows": 50000, "env_steps": 38700, "total_transitions": 158515200, "num_steps_per_env": 1, "wm_loss": 0.5709803104400635, "actor_loss": -9.546102523803711, "critic_loss": 0.005673450417816639, "reward": 0.08757618814706802, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11253918707370758, 0.0707855224609375, 0.13309399783611298], "mean_episode_length": 1394.5109489051094, "episode_reward_terms": {"track_linear_velocity": 49.63700485229492, "track_angular_velocity": 52.76333999633789, "upright": 26.782817840576172, "leg_posture": -2.6322810649871826, "standstill": -6.28736686706543, "action_rate_l2": -0.5870459675788879, "joint_torques_l2": -0.14812561869621277, "dof_pos_limits": -0.0003112062986474484, "terminated": -0.019065577536821365, "unnecessary_wheel_lift": -0.0927886888384819, "rolling_leg_motion": -0.6106694340705872, "obstacle_progress": 3.9182372093200684, "wheel_body_intrusion": -0.2761829197406769, "pair_body_intrusion": -0.32158777117729187}, "weighted_reward_terms": {"track_linear_velocity": 1.7797280550003052, "track_angular_velocity": 1.891822338104248, "upright": 0.960294246673584, "leg_posture": -0.09438008069992065, "standstill": -0.22543269395828247, "action_rate_l2": -0.021048452705144882, "joint_torques_l2": -0.005311023909598589, "dof_pos_limits": -1.1158259439980611e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.003326925914734602, "rolling_leg_motion": -0.02189546823501587, "obstacle_progress": 0.14048786461353302, "wheel_body_intrusion": -0.009902500547468662, "pair_body_intrusion": -0.011530485935509205}, "episode_termination_rates": {"time_out": 0.5109489051094891, "fell_over": 0.029197080291970802, "course_exit": 0.43795620437956206, "illegal_nonwheel_contact": 0.0364963503649635}, "collection_time_s": 0.07551567110349425, "learning_time_s": 0.1858336830162443, "iteration_time_s": 0.30367313435803694, "policy_updates": 38400, "skipped_updates": 0, "invalid_env_resets": 206, "elapsed_s": 11752.15029965603, "nonwheel_terminations": 13657, "contact_bce": 0.28267809748649597, "contact_force_loss": 0.019975176081061363, "collision_bce": 8.983749467006419e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 9.03468480828451e-06, "collision_label_count": 16342.0, "terrain_level_mean": 4.152587890625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 17, 29, 44, 87, 233], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1910.0, 419.0, 38.0, 0.0], [1692.0, 390.0, 34.0, 0.0], [1480.0, 342.0, 26.0, 0.0], [1074.0, 250.0, 22.0, 0.0], [1773.0, 410.0, 17.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 30, 283, 1119], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4639.0, 1711.0, 196.0, 0.0], [6394.0, 1740.0, 168.0, 0.0], [9033.0, 1748.0, 298.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 38, 576], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [974.0, 801.0, 26.0, 0.0], [1976.0, 1620.0, 67.0, 0.0], [11518.0, 9730.0, 292.0, 0.0]]}, "platform": {"level_counts": [15, 15, 47, 92, 131, 110], "episodes_by_level": [[1810.0, 390.0, 52.0, 0.0], [2234.0, 462.0, 94.0, 0.0], [1958.0, 395.0, 88.0, 0.0], [1668.0, 296.0, 62.0, 0.0], [1118.0, 167.0, 55.0, 0.0], [569.0, 53.0, 57.0, 0.0]]}, "slope": {"level_counts": [4, 18, 44, 68, 95, 181], "episodes_by_level": [[1642.0, 350.0, 46.0, 0.0], [2026.0, 418.0, 71.0, 0.0], [1795.0, 382.0, 44.0, 0.0], [1425.0, 294.0, 38.0, 0.0], [1090.0, 215.0, 18.0, 0.0], [1429.0, 259.0, 34.0, 0.0]]}, "rubble": {"level_counts": [26, 91, 181, 236, 201, 84], "episodes_by_level": [[3371.0, 763.0, 101.0, 0.0], [5002.0, 1067.0, 225.0, 0.0], [4699.0, 988.0, 382.0, 0.0], [3534.0, 611.0, 467.0, 0.0], [1803.0, 223.0, 326.0, 0.0], [555.0, 42.0, 139.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.229248046875, "command_abs_max": [0.9962031841278076, 0.3993009030818939, 0.699906587600708]}
{"step": 38750, "actor_lr": 1.2461889033905245e-05, "archive_windows": 50000, "env_steps": 38750, "total_transitions": 158720000, "num_steps_per_env": 1, "wm_loss": 0.586722195148468, "actor_loss": -9.483713150024414, "critic_loss": 0.004668596666306257, "reward": 0.08755376935005188, "falls": 3, "interval_steps": 50, "velocity_mae": [0.11293590813875198, 0.07021313160657883, 0.1334468424320221], "mean_episode_length": 1373.0068493150684, "episode_reward_terms": {"track_linear_velocity": 48.83954620361328, "track_angular_velocity": 51.93946075439453, "upright": 26.403026580810547, "leg_posture": -2.5998876094818115, "standstill": -6.209944725036621, "action_rate_l2": -0.5755116939544678, "joint_torques_l2": -0.14566653966903687, "dof_pos_limits": -0.00041262750164605677, "terminated": -0.008044960908591747, "unnecessary_wheel_lift": -0.08685136586427689, "rolling_leg_motion": -0.5886102914810181, "obstacle_progress": 3.8510260581970215, "wheel_body_intrusion": -0.2880673110485077, "pair_body_intrusion": -0.31815305352211}, "weighted_reward_terms": {"track_linear_velocity": 1.7785617113113403, "track_angular_velocity": 1.8914495706558228, "upright": 0.9615038633346558, "leg_posture": -0.0946786180138588, "standstill": -0.2261439859867096, "action_rate_l2": -0.020958077162504196, "joint_torques_l2": -0.005304654594510794, "dof_pos_limits": -1.502641953265993e-05, "terminated": -0.00029296870343387127, "unnecessary_wheel_lift": -0.0031628161668777466, "rolling_leg_motion": -0.0214350838214159, "obstacle_progress": 0.1402406096458435, "wheel_body_intrusion": -0.01049038115888834, "pair_body_intrusion": -0.01158599741756916}, "episode_termination_rates": {"time_out": 0.4657534246575342, "fell_over": 0.0136986301369863, "course_exit": 0.5136986301369864, "illegal_nonwheel_contact": 0.02054794520547945}, "collection_time_s": 0.07579531532130204, "learning_time_s": 0.18524198649800383, "iteration_time_s": 0.30361815598996117, "policy_updates": 38450, "skipped_updates": 0, "invalid_env_resets": 207, "elapsed_s": 11765.203544610995, "nonwheel_terminations": 13660, "contact_bce": 0.2847136855125427, "contact_force_loss": 0.020572004839777946, "collision_bce": 7.36598958610557e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 6.7460561695043e-05, "collision_label_count": 16350.0, "terrain_level_mean": 4.155029296875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 17, 29, 43, 88, 233], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1910.0, 419.0, 38.0, 0.0], [1694.0, 390.0, 34.0, 0.0], [1482.0, 343.0, 26.0, 0.0], [1075.0, 250.0, 22.0, 0.0], [1779.0, 410.0, 17.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 30, 282, 1120], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4639.0, 1711.0, 196.0, 0.0], [6399.0, 1742.0, 168.0, 0.0], [9069.0, 1757.0, 299.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 36, 578], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [974.0, 801.0, 26.0, 0.0], [1978.0, 1622.0, 67.0, 0.0], [11535.0, 9745.0, 292.0, 0.0]]}, "platform": {"level_counts": [14, 16, 47, 90, 133, 110], "episodes_by_level": [[1811.0, 391.0, 52.0, 0.0], [2234.0, 462.0, 94.0, 0.0], [1960.0, 395.0, 88.0, 0.0], [1674.0, 298.0, 62.0, 0.0], [1120.0, 167.0, 55.0, 0.0], [575.0, 53.0, 57.0, 0.0]]}, "slope": {"level_counts": [4, 18, 44, 68, 94, 182], "episodes_by_level": [[1642.0, 350.0, 46.0, 0.0], [2026.0, 418.0, 71.0, 0.0], [1795.0, 382.0, 44.0, 0.0], [1426.0, 294.0, 38.0, 0.0], [1093.0, 216.0, 18.0, 0.0], [1433.0, 260.0, 34.0, 0.0]]}, "rubble": {"level_counts": [26, 90, 182, 236, 200, 85], "episodes_by_level": [[3372.0, 763.0, 101.0, 0.0], [5006.0, 1068.0, 225.0, 0.0], [4706.0, 989.0, 382.0, 0.0], [3538.0, 612.0, 468.0, 0.0], [1809.0, 224.0, 327.0, 0.0], [556.0, 42.0, 139.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22509765625, "command_abs_max": [0.9976096153259277, 0.3988696336746216, 0.699906587600708]}
{"step": 38800, "actor_lr": 1.2425812684265754e-05, "archive_windows": 50000, "env_steps": 38800, "total_transitions": 158924800, "num_steps_per_env": 1, "wm_loss": 0.5992580056190491, "actor_loss": -9.539989471435547, "critic_loss": 0.0043218801729381084, "reward": 0.08701000362634659, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11483103036880493, 0.07133374363183975, 0.13400085270404816], "mean_episode_length": 1332.0945945945946, "episode_reward_terms": {"track_linear_velocity": 47.22578048706055, "track_angular_velocity": 50.36321258544922, "upright": 25.538713455200195, "leg_posture": -2.5299274921417236, "standstill": -6.482556343078613, "action_rate_l2": -0.5675389766693115, "joint_torques_l2": -0.14215998351573944, "dof_pos_limits": -0.0004267931217327714, "terminated": -0.01300873514264822, "unnecessary_wheel_lift": -0.08436765521764755, "rolling_leg_motion": -0.5684158802032471, "obstacle_progress": 3.748364210128784, "wheel_body_intrusion": -0.2873138189315796, "pair_body_intrusion": -0.2948075532913208}, "weighted_reward_terms": {"track_linear_velocity": 1.7726136445999146, "track_angular_velocity": 1.8903768062591553, "upright": 0.958592414855957, "leg_posture": -0.09496050328016281, "standstill": -0.24332192540168762, "action_rate_l2": -0.02130250260233879, "joint_torques_l2": -0.005335956811904907, "dof_pos_limits": -1.601962503627874e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.0031667291186749935, "rolling_leg_motion": -0.02133541740477085, "obstacle_progress": 0.14069436490535736, "wheel_body_intrusion": -0.010784287005662918, "pair_body_intrusion": -0.01106556411832571}, "episode_termination_rates": {"time_out": 0.44594594594594594, "fell_over": 0.033783783783783786, "course_exit": 0.5202702702702703, "illegal_nonwheel_contact": 0.02027027027027027}, "collection_time_s": 0.07570564493420534, "learning_time_s": 0.1847882192628458, "iteration_time_s": 0.3035626128138407, "policy_updates": 38500, "skipped_updates": 0, "invalid_env_resets": 207, "elapsed_s": 11778.22937717702, "nonwheel_terminations": 13663, "contact_bce": 0.2888409495353699, "contact_force_loss": 0.02094166912138462, "collision_bce": 1.1994718988717068e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.2038862223562319e-05, "collision_label_count": 16349.0, "terrain_level_mean": 4.15673828125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 17, 29, 43, 89, 232], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1912.0, 419.0, 38.0, 0.0], [1695.0, 390.0, 34.0, 0.0], [1482.0, 343.0, 26.0, 0.0], [1078.0, 250.0, 22.0, 0.0], [1789.0, 414.0, 18.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 30, 280, 1122], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4639.0, 1711.0, 196.0, 0.0], [6411.0, 1744.0, 168.0, 0.0], [9093.0, 1763.0, 299.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 37, 577], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [974.0, 801.0, 26.0, 0.0], [1979.0, 1623.0, 67.0, 0.0], [11562.0, 9769.0, 292.0, 0.0]]}, "platform": {"level_counts": [14, 16, 47, 89, 133, 111], "episodes_by_level": [[1811.0, 391.0, 52.0, 0.0], [2234.0, 462.0, 94.0, 0.0], [1960.0, 395.0, 88.0, 0.0], [1675.0, 299.0, 62.0, 0.0], [1128.0, 168.0, 55.0, 0.0], [579.0, 54.0, 57.0, 0.0]]}, "slope": {"level_counts": [4, 18, 43, 68, 95, 182], "episodes_by_level": [[1642.0, 350.0, 46.0, 0.0], [2026.0, 418.0, 71.0, 0.0], [1797.0, 383.0, 44.0, 0.0], [1430.0, 295.0, 38.0, 0.0], [1094.0, 216.0, 18.0, 0.0], [1437.0, 260.0, 34.0, 0.0]]}, "rubble": {"level_counts": [26, 89, 183, 234, 202, 85], "episodes_by_level": [[3373.0, 763.0, 101.0, 0.0], [5011.0, 1070.0, 225.0, 0.0], [4709.0, 990.0, 383.0, 0.0], [3547.0, 614.0, 469.0, 0.0], [1817.0, 224.0, 327.0, 0.0], [557.0, 42.0, 139.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.227783203125, "command_abs_max": [0.9976096153259277, 0.3990460932254791, 0.699906587600708]}
{"step": 38850, "actor_lr": 1.2391190501544229e-05, "archive_windows": 50000, "env_steps": 38850, "total_transitions": 159129600, "num_steps_per_env": 1, "wm_loss": 0.5497978925704956, "actor_loss": -9.556028366088867, "critic_loss": 0.00356991752050817, "reward": 0.08723502606153488, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11631793528795242, 0.07181314378976822, 0.1333991289138794], "mean_episode_length": 1344.3658536585365, "episode_reward_terms": {"track_linear_velocity": 47.57881546020508, "track_angular_velocity": 50.857303619384766, "upright": 25.76898765563965, "leg_posture": -2.5519375801086426, "standstill": -6.234921455383301, "action_rate_l2": -0.5673075914382935, "joint_torques_l2": -0.1439080387353897, "dof_pos_limits": -0.0008477732772007585, "terminated": -0.023631427437067032, "unnecessary_wheel_lift": -0.09661856293678284, "rolling_leg_motion": -0.5735292434692383, "obstacle_progress": 3.830709457397461, "wheel_body_intrusion": -0.2767363488674164, "pair_body_intrusion": -0.29058727622032166}, "weighted_reward_terms": {"track_linear_velocity": 1.7695636749267578, "track_angular_velocity": 1.8914979696273804, "upright": 0.9584068655967712, "leg_posture": -0.0949123203754425, "standstill": -0.23189081251621246, "action_rate_l2": -0.021099450066685677, "joint_torques_l2": -0.005352265201508999, "dof_pos_limits": -3.1530602427665144e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.003593462286517024, "rolling_leg_motion": -0.02133084647357464, "obstacle_progress": 0.14247272908687592, "wheel_body_intrusion": -0.010292449034750462, "pair_body_intrusion": -0.010807597078382969}, "episode_termination_rates": {"time_out": 0.4634146341463415, "fell_over": 0.036585365853658534, "course_exit": 0.4817073170731707, "illegal_nonwheel_contact": 0.036585365853658534}, "collection_time_s": 0.07606409699656069, "learning_time_s": 0.18368669571937063, "iteration_time_s": 0.3035062548107341, "policy_updates": 38550, "skipped_updates": 0, "invalid_env_resets": 208, "elapsed_s": 11791.21799939702, "nonwheel_terminations": 13669, "contact_bce": 0.28014883399009705, "contact_force_loss": 0.019914183765649796, "collision_bce": 1.5142378288146574e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.5161306691879872e-05, "collision_label_count": 16360.0, "terrain_level_mean": 4.157958984375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 16, 30, 42, 89, 233], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1914.0, 420.0, 38.0, 0.0], [1695.0, 390.0, 34.0, 0.0], [1483.0, 344.0, 26.0, 0.0], [1082.0, 252.0, 22.0, 0.0], [1802.0, 416.0, 19.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 30, 283, 1119], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4641.0, 1711.0, 196.0, 0.0], [6419.0, 1745.0, 168.0, 0.0], [9129.0, 1769.0, 301.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 37, 577], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [974.0, 801.0, 26.0, 0.0], [1981.0, 1625.0, 67.0, 0.0], [11586.0, 9792.0, 292.0, 0.0]]}, "platform": {"level_counts": [14, 16, 47, 89, 131, 113], "episodes_by_level": [[1812.0, 391.0, 52.0, 0.0], [2235.0, 462.0, 94.0, 0.0], [1960.0, 395.0, 88.0, 0.0], [1679.0, 299.0, 62.0, 0.0], [1133.0, 171.0, 55.0, 0.0], [582.0, 54.0, 58.0, 0.0]]}, "slope": {"level_counts": [4, 18, 43, 67, 95, 183], "episodes_by_level": [[1642.0, 350.0, 46.0, 0.0], [2026.0, 418.0, 71.0, 0.0], [1799.0, 383.0, 44.0, 0.0], [1432.0, 296.0, 38.0, 0.0], [1096.0, 217.0, 18.0, 0.0], [1440.0, 261.0, 34.0, 0.0]]}, "rubble": {"level_counts": [26, 89, 183, 233, 203, 85], "episodes_by_level": [[3375.0, 763.0, 101.0, 0.0], [5012.0, 1070.0, 225.0, 0.0], [4713.0, 991.0, 383.0, 0.0], [3557.0, 615.0, 470.0, 0.0], [1819.0, 224.0, 327.0, 0.0], [557.0, 42.0, 139.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.231689453125, "command_abs_max": [0.9976096153259277, 0.3990460932254791, 0.699906587600708]}
{"step": 38900, "actor_lr": 1.2358024621399992e-05, "archive_windows": 50000, "env_steps": 38900, "total_transitions": 159334400, "num_steps_per_env": 1, "wm_loss": 0.5753885507583618, "actor_loss": -9.52360725402832, "critic_loss": 0.006490442901849747, "reward": 0.08735111355781555, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11670820415019989, 0.07208715379238129, 0.1343497335910797], "mean_episode_length": 1347.6866666666667, "episode_reward_terms": {"track_linear_velocity": 47.62910842895508, "track_angular_velocity": 50.92947006225586, "upright": 25.849245071411133, "leg_posture": -2.545919418334961, "standstill": -5.974643707275391, "action_rate_l2": -0.5755352973937988, "joint_torques_l2": -0.14342312514781952, "dof_pos_limits": -0.0007515071774832904, "terminated": -0.01842540130019188, "unnecessary_wheel_lift": -0.07999271154403687, "rolling_leg_motion": -0.5693961381912231, "obstacle_progress": 3.792386531829834, "wheel_body_intrusion": -0.2796113193035126, "pair_body_intrusion": -0.2906002104282379}, "weighted_reward_terms": {"track_linear_velocity": 1.7670691013336182, "track_angular_velocity": 1.889514684677124, "upright": 0.9590228199958801, "leg_posture": -0.09445517510175705, "standstill": -0.22166293859481812, "action_rate_l2": -0.02135271206498146, "joint_torques_l2": -0.005321085918694735, "dof_pos_limits": -2.7881374990101904e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.002967778593301773, "rolling_leg_motion": -0.02112494595348835, "obstacle_progress": 0.1406998634338379, "wheel_body_intrusion": -0.010373751632869244, "pair_body_intrusion": -0.010781445540487766}, "episode_termination_rates": {"time_out": 0.44666666666666666, "fell_over": 0.02, "course_exit": 0.5066666666666667, "illegal_nonwheel_contact": 0.03333333333333333}, "collection_time_s": 0.07578790774336085, "learning_time_s": 0.18397459959727713, "iteration_time_s": 0.303450056561209, "policy_updates": 38600, "skipped_updates": 0, "invalid_env_resets": 208, "elapsed_s": 11804.20720023103, "nonwheel_terminations": 13674, "contact_bce": 0.29353103041648865, "contact_force_loss": 0.020740030333399773, "collision_bce": 2.001764005399309e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.9884921130142175e-05, "collision_label_count": 16352.0, "terrain_level_mean": 4.158935546875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 16, 30, 42, 89, 233], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1916.0, 420.0, 38.0, 0.0], [1695.0, 390.0, 34.0, 0.0], [1485.0, 344.0, 26.0, 0.0], [1084.0, 252.0, 22.0, 0.0], [1806.0, 417.0, 19.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 30, 283, 1119], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4643.0, 1711.0, 196.0, 0.0], [6424.0, 1746.0, 168.0, 0.0], [9167.0, 1777.0, 301.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 35, 578], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [974.0, 801.0, 26.0, 0.0], [1984.0, 1627.0, 67.0, 0.0], [11601.0, 9806.0, 292.0, 0.0]]}, "platform": {"level_counts": [14, 16, 48, 88, 131, 113], "episodes_by_level": [[1812.0, 391.0, 52.0, 0.0], [2235.0, 462.0, 94.0, 0.0], [1960.0, 395.0, 88.0, 0.0], [1680.0, 299.0, 63.0, 0.0], [1137.0, 171.0, 55.0, 0.0], [587.0, 54.0, 58.0, 0.0]]}, "slope": {"level_counts": [4, 18, 43, 67, 95, 183], "episodes_by_level": [[1642.0, 350.0, 46.0, 0.0], [2026.0, 418.0, 71.0, 0.0], [1801.0, 383.0, 44.0, 0.0], [1434.0, 296.0, 38.0, 0.0], [1102.0, 217.0, 18.0, 0.0], [1449.0, 262.0, 34.0, 0.0]]}, "rubble": {"level_counts": [25, 90, 182, 234, 200, 88], "episodes_by_level": [[3376.0, 764.0, 101.0, 0.0], [5015.0, 1070.0, 225.0, 0.0], [4723.0, 994.0, 383.0, 0.0], [3562.0, 616.0, 472.0, 0.0], [1825.0, 227.0, 328.0, 0.0], [558.0, 42.0, 139.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234375, "command_abs_max": [0.9976096153259277, 0.3990460932254791, 0.699906587600708]}
{"step": 38950, "actor_lr": 1.2326317089660756e-05, "archive_windows": 50000, "env_steps": 38950, "total_transitions": 159539200, "num_steps_per_env": 1, "wm_loss": 0.5734243988990784, "actor_loss": -9.519549369812012, "critic_loss": 0.0050937640480697155, "reward": 0.0874326080083847, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11630590260028839, 0.07268524169921875, 0.13526776432991028], "mean_episode_length": 1358.2137404580153, "episode_reward_terms": {"track_linear_velocity": 48.01939010620117, "track_angular_velocity": 51.28788757324219, "upright": 26.044404983520508, "leg_posture": -2.5493967533111572, "standstill": -5.934276103973389, "action_rate_l2": -0.5726578235626221, "joint_torques_l2": -0.14600464701652527, "dof_pos_limits": -0.00044202993740327656, "terminated": -0.018569326028227806, "unnecessary_wheel_lift": -0.07287102192640305, "rolling_leg_motion": -0.5452010035514832, "obstacle_progress": 3.8739216327667236, "wheel_body_intrusion": -0.28825777769088745, "pair_body_intrusion": -0.34574541449546814}, "weighted_reward_terms": {"track_linear_velocity": 1.7677406072616577, "track_angular_velocity": 1.888063907623291, "upright": 0.9587741494178772, "leg_posture": -0.09385108947753906, "standstill": -0.2184588611125946, "action_rate_l2": -0.021081285551190376, "joint_torques_l2": -0.005374877713620663, "dof_pos_limits": -1.627247365831863e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0026826050598174334, "rolling_leg_motion": -0.0200705174356699, "obstacle_progress": 0.14261090755462646, "wheel_body_intrusion": -0.01061165053397417, "pair_body_intrusion": -0.012727946043014526}, "episode_termination_rates": {"time_out": 0.4961832061068702, "fell_over": 0.015267175572519083, "course_exit": 0.45038167938931295, "illegal_nonwheel_contact": 0.04580152671755725}, "collection_time_s": 0.07574383990140632, "learning_time_s": 0.1837340280378703, "iteration_time_s": 0.30339363852133544, "policy_updates": 38650, "skipped_updates": 0, "invalid_env_resets": 208, "elapsed_s": 11817.182220406015, "nonwheel_terminations": 13680, "contact_bce": 0.28693002462387085, "contact_force_loss": 0.02038240246474743, "collision_bce": 0.00011581400030991063, "collision_label_rate": 6.13233569310978e-05, "collision_prediction_mean": 3.581762211979367e-05, "collision_label_count": 16307.0, "terrain_level_mean": 4.16015625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 16, 30, 42, 88, 234], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1917.0, 420.0, 38.0, 0.0], [1697.0, 390.0, 34.0, 0.0], [1486.0, 344.0, 26.0, 0.0], [1086.0, 253.0, 22.0, 0.0], [1811.0, 417.0, 19.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 29, 285, 1118], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4645.0, 1712.0, 196.0, 0.0], [6431.0, 1747.0, 168.0, 0.0], [9195.0, 1783.0, 301.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 35, 578], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [974.0, 801.0, 26.0, 0.0], [1987.0, 1629.0, 67.0, 0.0], [11615.0, 9818.0, 292.0, 0.0]]}, "platform": {"level_counts": [13, 17, 48, 88, 131, 113], "episodes_by_level": [[1813.0, 392.0, 52.0, 0.0], [2235.0, 462.0, 94.0, 0.0], [1961.0, 395.0, 88.0, 0.0], [1683.0, 299.0, 63.0, 0.0], [1140.0, 171.0, 55.0, 0.0], [589.0, 54.0, 58.0, 0.0]]}, "slope": {"level_counts": [4, 18, 42, 67, 96, 183], "episodes_by_level": [[1642.0, 350.0, 46.0, 0.0], [2026.0, 418.0, 71.0, 0.0], [1804.0, 384.0, 44.0, 0.0], [1437.0, 297.0, 38.0, 0.0], [1103.0, 217.0, 18.0, 0.0], [1452.0, 263.0, 34.0, 0.0]]}, "rubble": {"level_counts": [25, 90, 182, 234, 199, 89], "episodes_by_level": [[3378.0, 764.0, 101.0, 0.0], [5019.0, 1070.0, 225.0, 0.0], [4726.0, 995.0, 383.0, 0.0], [3570.0, 617.0, 473.0, 0.0], [1832.0, 229.0, 329.0, 0.0], [560.0, 42.0, 140.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.233642578125, "command_abs_max": [0.9976096153259277, 0.3990460932254791, 0.699906587600708]}
{"step": 39000, "actor_lr": 1.2296069862196434e-05, "archive_windows": 50000, "env_steps": 39000, "total_transitions": 159744000, "num_steps_per_env": 1, "wm_loss": 0.558202862739563, "actor_loss": -9.50694751739502, "critic_loss": 0.00839279592037201, "reward": 0.08726689219474792, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11744603514671326, 0.07225474715232849, 0.13595034182071686], "mean_episode_length": 1366.525641025641, "episode_reward_terms": {"track_linear_velocity": 48.24354934692383, "track_angular_velocity": 51.570579528808594, "upright": 26.16750717163086, "leg_posture": -2.5751776695251465, "standstill": -5.990596294403076, "action_rate_l2": -0.5876237750053406, "joint_torques_l2": -0.14728257060050964, "dof_pos_limits": -0.0005231894901953638, "terminated": -0.02668995037674904, "unnecessary_wheel_lift": -0.0741473063826561, "rolling_leg_motion": -0.5601317882537842, "obstacle_progress": 3.8206565380096436, "wheel_body_intrusion": -0.26927146315574646, "pair_body_intrusion": -0.3184373378753662}, "weighted_reward_terms": {"track_linear_velocity": 1.7651901245117188, "track_angular_velocity": 1.8869231939315796, "upright": 0.9574466347694397, "leg_posture": -0.09422354400157928, "standstill": -0.219190776348114, "action_rate_l2": -0.02150065079331398, "joint_torques_l2": -0.005388943012803793, "dof_pos_limits": -1.9143055396853015e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.002712986432015896, "rolling_leg_motion": -0.020494742318987846, "obstacle_progress": 0.13979454338550568, "wheel_body_intrusion": -0.009852411225438118, "pair_body_intrusion": -0.011651349253952503}, "episode_termination_rates": {"time_out": 0.4551282051282051, "fell_over": 0.04487179487179487, "course_exit": 0.4807692307692308, "illegal_nonwheel_contact": 0.038461538461538464}, "collection_time_s": 0.07562662137905135, "learning_time_s": 0.19252782293828205, "iteration_time_s": 0.3033484887430006, "policy_updates": 38700, "skipped_updates": 0, "invalid_env_resets": 208, "elapsed_s": 11830.591060977022, "nonwheel_terminations": 13686, "contact_bce": 0.2886885702610016, "contact_force_loss": 0.020560458302497864, "collision_bce": 3.454115358181298e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 3.1877400033408776e-05, "collision_label_count": 16312.0, "terrain_level_mean": 4.160400390625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 16, 30, 42, 88, 234], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1917.0, 420.0, 38.0, 0.0], [1699.0, 390.0, 34.0, 0.0], [1487.0, 344.0, 26.0, 0.0], [1091.0, 253.0, 22.0, 0.0], [1818.0, 417.0, 19.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 29, 285, 1118], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4645.0, 1712.0, 196.0, 0.0], [6436.0, 1749.0, 168.0, 0.0], [9227.0, 1792.0, 303.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 39, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [974.0, 801.0, 26.0, 0.0], [1988.0, 1630.0, 67.0, 0.0], [11641.0, 9838.0, 294.0, 0.0]]}, "platform": {"level_counts": [13, 17, 48, 87, 132, 113], "episodes_by_level": [[1813.0, 392.0, 52.0, 0.0], [2236.0, 462.0, 94.0, 0.0], [1962.0, 395.0, 88.0, 0.0], [1686.0, 300.0, 63.0, 0.0], [1141.0, 171.0, 55.0, 0.0], [591.0, 55.0, 58.0, 0.0]]}, "slope": {"level_counts": [4, 17, 40, 70, 95, 184], "episodes_by_level": [[1643.0, 350.0, 46.0, 0.0], [2027.0, 419.0, 71.0, 0.0], [1807.0, 387.0, 44.0, 0.0], [1439.0, 297.0, 38.0, 0.0], [1105.0, 218.0, 18.0, 0.0], [1463.0, 263.0, 34.0, 0.0]]}, "rubble": {"level_counts": [25, 89, 183, 235, 199, 88], "episodes_by_level": [[3379.0, 764.0, 101.0, 0.0], [5023.0, 1071.0, 225.0, 0.0], [4733.0, 996.0, 383.0, 0.0], [3574.0, 617.0, 474.0, 0.0], [1836.0, 229.0, 330.0, 0.0], [564.0, 42.0, 141.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.232666015625, "command_abs_max": [0.9976096153259277, 0.3990460932254791, 0.699906587600708]}
{"step": 39050, "actor_lr": 1.2267284804798488e-05, "archive_windows": 50000, "env_steps": 39050, "total_transitions": 159948800, "num_steps_per_env": 1, "wm_loss": 0.5827698707580566, "actor_loss": -9.487616539001465, "critic_loss": 0.009074489586055279, "reward": 0.08765193819999695, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11532515287399292, 0.0729357898235321, 0.13484394550323486], "mean_episode_length": 1314.936507936508, "episode_reward_terms": {"track_linear_velocity": 46.53056335449219, "track_angular_velocity": 49.66587829589844, "upright": 25.20629119873047, "leg_posture": -2.426449775695801, "standstill": -5.571868896484375, "action_rate_l2": -0.5588374137878418, "joint_torques_l2": -0.14088866114616394, "dof_pos_limits": -0.00014535230002366006, "terminated": -0.020545879378914833, "unnecessary_wheel_lift": -0.06177378073334694, "rolling_leg_motion": -0.5255492329597473, "obstacle_progress": 3.7069907188415527, "wheel_body_intrusion": -0.2524575889110565, "pair_body_intrusion": -0.294467031955719}, "weighted_reward_terms": {"track_linear_velocity": 1.7693084478378296, "track_angular_velocity": 1.888527512550354, "upright": 0.9584604501724243, "leg_posture": -0.09226490557193756, "standstill": -0.21186836063861847, "action_rate_l2": -0.021249596029520035, "joint_torques_l2": -0.005357242189347744, "dof_pos_limits": -5.526970198843628e-06, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0023489263840019703, "rolling_leg_motion": -0.019983826205134392, "obstacle_progress": 0.1409570276737213, "wheel_body_intrusion": -0.009599612094461918, "pair_body_intrusion": -0.011197005398571491}, "episode_termination_rates": {"time_out": 0.4365079365079365, "fell_over": 0.03968253968253968, "course_exit": 0.5, "illegal_nonwheel_contact": 0.023809523809523808}, "collection_time_s": 0.07545808307942935, "learning_time_s": 0.1840207809396088, "iteration_time_s": 0.30329304955193326, "policy_updates": 38750, "skipped_updates": 0, "invalid_env_resets": 208, "elapsed_s": 11843.593585002993, "nonwheel_terminations": 13689, "contact_bce": 0.2890353500843048, "contact_force_loss": 0.020120996981859207, "collision_bce": 9.034657523443457e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 9.081754797080066e-06, "collision_label_count": 16355.0, "terrain_level_mean": 4.161376953125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 15, 31, 42, 88, 234], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1918.0, 421.0, 38.0, 0.0], [1699.0, 390.0, 34.0, 0.0], [1487.0, 344.0, 26.0, 0.0], [1093.0, 253.0, 22.0, 0.0], [1826.0, 420.0, 19.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 29, 282, 1121], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4646.0, 1712.0, 196.0, 0.0], [6446.0, 1753.0, 168.0, 0.0], [9246.0, 1798.0, 304.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 40, 572], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [974.0, 801.0, 26.0, 0.0], [1988.0, 1630.0, 67.0, 0.0], [11663.0, 9857.0, 295.0, 0.0]]}, "platform": {"level_counts": [13, 17, 47, 88, 133, 112], "episodes_by_level": [[1814.0, 392.0, 52.0, 0.0], [2236.0, 462.0, 94.0, 0.0], [1964.0, 396.0, 88.0, 0.0], [1689.0, 300.0, 63.0, 0.0], [1144.0, 171.0, 55.0, 0.0], [596.0, 56.0, 59.0, 0.0]]}, "slope": {"level_counts": [4, 17, 40, 70, 93, 186], "episodes_by_level": [[1643.0, 350.0, 46.0, 0.0], [2027.0, 419.0, 71.0, 0.0], [1807.0, 387.0, 44.0, 0.0], [1441.0, 297.0, 38.0, 0.0], [1107.0, 220.0, 18.0, 0.0], [1467.0, 264.0, 34.0, 0.0]]}, "rubble": {"level_counts": [25, 88, 187, 229, 202, 88], "episodes_by_level": [[3380.0, 764.0, 101.0, 0.0], [5028.0, 1072.0, 225.0, 0.0], [4738.0, 996.0, 383.0, 0.0], [3581.0, 620.0, 477.0, 0.0], [1839.0, 229.0, 330.0, 0.0], [565.0, 42.0, 141.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234130859375, "command_abs_max": [0.9973776936531067, 0.3990460932254791, 0.699906587600708]}
{"step": 39100, "actor_lr": 1.2239963693064855e-05, "archive_windows": 50000, "env_steps": 39100, "total_transitions": 160153600, "num_steps_per_env": 1, "wm_loss": 0.5563423037528992, "actor_loss": -9.520952224731445, "critic_loss": 0.0044499048963189125, "reward": 0.0876125693321228, "falls": 4, "interval_steps": 50, "velocity_mae": [0.11471100896596909, 0.07226023077964783, 0.1351439356803894], "mean_episode_length": 1352.74213836478, "episode_reward_terms": {"track_linear_velocity": 47.93082809448242, "track_angular_velocity": 51.09740447998047, "upright": 25.918392181396484, "leg_posture": -2.497107982635498, "standstill": -5.777794361114502, "action_rate_l2": -0.5894556045532227, "joint_torques_l2": -0.14423172175884247, "dof_pos_limits": -0.0006826028693467379, "terminated": -0.010568296536803246, "unnecessary_wheel_lift": -0.0877840667963028, "rolling_leg_motion": -0.5772483348846436, "obstacle_progress": 3.785038709640503, "wheel_body_intrusion": -0.2572719156742096, "pair_body_intrusion": -0.27230727672576904}, "weighted_reward_terms": {"track_linear_velocity": 1.7716174125671387, "track_angular_velocity": 1.888660192489624, "upright": 0.9579945206642151, "leg_posture": -0.0922980010509491, "standstill": -0.2135586142539978, "action_rate_l2": -0.021787432953715324, "joint_torques_l2": -0.005331086926162243, "dof_pos_limits": -2.523033799661789e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.0032446710392832756, "rolling_leg_motion": -0.021336227655410767, "obstacle_progress": 0.13990244269371033, "wheel_body_intrusion": -0.009509274736046791, "pair_body_intrusion": -0.010065009817481041}, "episode_termination_rates": {"time_out": 0.49056603773584906, "fell_over": 0.018867924528301886, "course_exit": 0.48427672955974843, "illegal_nonwheel_contact": 0.012578616352201259}, "collection_time_s": 0.07560174962156452, "learning_time_s": 0.18557392631890252, "iteration_time_s": 0.30323921995424596, "policy_updates": 38800, "skipped_updates": 0, "invalid_env_resets": 208, "elapsed_s": 11856.653500211018, "nonwheel_terminations": 13691, "contact_bce": 0.28632473945617676, "contact_force_loss": 0.020270515233278275, "collision_bce": 3.3637243177508935e-05, "collision_label_rate": 6.114711868576705e-05, "collision_prediction_mean": 7.501262007281184e-05, "collision_label_count": 16354.0, "terrain_level_mean": 4.16259765625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 15, 30, 42, 88, 235], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1918.0, 421.0, 38.0, 0.0], [1702.0, 391.0, 34.0, 0.0], [1489.0, 345.0, 26.0, 0.0], [1097.0, 254.0, 22.0, 0.0], [1834.0, 422.0, 19.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 30, 281, 1121], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4647.0, 1712.0, 196.0, 0.0], [6453.0, 1754.0, 168.0, 0.0], [9274.0, 1803.0, 304.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 42, 570], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [974.0, 801.0, 26.0, 0.0], [1989.0, 1630.0, 67.0, 0.0], [11688.0, 9879.0, 295.0, 0.0]]}, "platform": {"level_counts": [13, 17, 46, 89, 133, 112], "episodes_by_level": [[1814.0, 392.0, 52.0, 0.0], [2237.0, 462.0, 94.0, 0.0], [1966.0, 397.0, 88.0, 0.0], [1692.0, 300.0, 63.0, 0.0], [1151.0, 171.0, 55.0, 0.0], [602.0, 57.0, 59.0, 0.0]]}, "slope": {"level_counts": [4, 17, 40, 69, 93, 187], "episodes_by_level": [[1644.0, 350.0, 46.0, 0.0], [2028.0, 419.0, 71.0, 0.0], [1807.0, 387.0, 44.0, 0.0], [1443.0, 298.0, 38.0, 0.0], [1114.0, 221.0, 18.0, 0.0], [1469.0, 265.0, 34.0, 0.0]]}, "rubble": {"level_counts": [25, 87, 187, 230, 202, 88], "episodes_by_level": [[3381.0, 764.0, 101.0, 0.0], [5030.0, 1073.0, 225.0, 0.0], [4744.0, 997.0, 383.0, 0.0], [3589.0, 620.0, 477.0, 0.0], [1839.0, 229.0, 330.0, 0.0], [566.0, 42.0, 141.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.236572265625, "command_abs_max": [0.9973776936531067, 0.3990460932254791, 0.699906587600708]}
{"step": 39150, "actor_lr": 1.2214108212290396e-05, "archive_windows": 50000, "env_steps": 39150, "total_transitions": 160358400, "num_steps_per_env": 1, "wm_loss": 0.5828490853309631, "actor_loss": -9.545680046081543, "critic_loss": 0.003950845450162888, "reward": 0.08747385442256927, "falls": 4, "interval_steps": 50, "velocity_mae": [0.113050676882267, 0.07159720361232758, 0.13459721207618713], "mean_episode_length": 1424.5510204081634, "episode_reward_terms": {"track_linear_velocity": 50.57067108154297, "track_angular_velocity": 53.82020950317383, "upright": 27.29387664794922, "leg_posture": -2.6752254962921143, "standstill": -6.288267612457275, "action_rate_l2": -0.607003390789032, "joint_torques_l2": -0.1515352576971054, "dof_pos_limits": -0.0007344980258494616, "terminated": -0.011129302904009819, "unnecessary_wheel_lift": -0.08226616680622101, "rolling_leg_motion": -0.6085783243179321, "obstacle_progress": 3.90727162361145, "wheel_body_intrusion": -0.2632036805152893, "pair_body_intrusion": -0.2931344509124756}, "weighted_reward_terms": {"track_linear_velocity": 1.7749688625335693, "track_angular_velocity": 1.8890236616134644, "upright": 0.9579817056655884, "leg_posture": -0.09389714896678925, "standstill": -0.22071050107479095, "action_rate_l2": -0.021305076777935028, "joint_torques_l2": -0.005318702198565006, "dof_pos_limits": -2.5779983843676746e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.002887442009523511, "rolling_leg_motion": -0.021360354498028755, "obstacle_progress": 0.13714046776294708, "wheel_body_intrusion": -0.009238127619028091, "pair_body_intrusion": -0.0102886613458395}, "episode_termination_rates": {"time_out": 0.5306122448979592, "fell_over": 0.02040816326530612, "course_exit": 0.4421768707482993, "illegal_nonwheel_contact": 0.013605442176870748}, "collection_time_s": 0.07570796218002215, "learning_time_s": 0.18563320990186186, "iteration_time_s": 0.3031857387530011, "policy_updates": 38850, "skipped_updates": 0, "invalid_env_resets": 208, "elapsed_s": 11869.721672179992, "nonwheel_terminations": 13693, "contact_bce": 0.28716740012168884, "contact_force_loss": 0.020592836663126945, "collision_bce": 0.000610295741353184, "collision_label_rate": 0.000122361583635211, "collision_prediction_mean": 0.0002892698685172945, "collision_label_count": 16345.0, "terrain_level_mean": 4.16357421875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 15, 30, 42, 88, 235], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1919.0, 421.0, 38.0, 0.0], [1703.0, 391.0, 34.0, 0.0], [1490.0, 345.0, 26.0, 0.0], [1097.0, 254.0, 22.0, 0.0], [1846.0, 424.0, 19.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 31, 279, 1122], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4648.0, 1712.0, 196.0, 0.0], [6462.0, 1756.0, 168.0, 0.0], [9302.0, 1810.0, 304.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 41, 571], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [974.0, 801.0, 26.0, 0.0], [1990.0, 1631.0, 67.0, 0.0], [11704.0, 9892.0, 295.0, 0.0]]}, "platform": {"level_counts": [13, 17, 46, 90, 132, 112], "episodes_by_level": [[1814.0, 392.0, 52.0, 0.0], [2237.0, 462.0, 94.0, 0.0], [1967.0, 397.0, 88.0, 0.0], [1694.0, 300.0, 63.0, 0.0], [1159.0, 171.0, 56.0, 0.0], [607.0, 57.0, 59.0, 0.0]]}, "slope": {"level_counts": [4, 17, 40, 69, 92, 188], "episodes_by_level": [[1644.0, 350.0, 46.0, 0.0], [2030.0, 419.0, 71.0, 0.0], [1810.0, 387.0, 44.0, 0.0], [1445.0, 298.0, 38.0, 0.0], [1115.0, 222.0, 18.0, 0.0], [1478.0, 266.0, 34.0, 0.0]]}, "rubble": {"level_counts": [25, 87, 188, 228, 200, 91], "episodes_by_level": [[3382.0, 764.0, 101.0, 0.0], [5032.0, 1073.0, 225.0, 0.0], [4746.0, 997.0, 383.0, 0.0], [3595.0, 621.0, 478.0, 0.0], [1848.0, 232.0, 330.0, 0.0], [570.0, 43.0, 141.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23388671875, "command_abs_max": [0.9978495836257935, 0.3990460932254791, 0.699906587600708]}
{"step": 39200, "actor_lr": 1.218971995736296e-05, "archive_windows": 50000, "env_steps": 39200, "total_transitions": 160563200, "num_steps_per_env": 1, "wm_loss": 0.5752489566802979, "actor_loss": -9.500492095947266, "critic_loss": 0.005226037930697203, "reward": 0.08766906708478928, "falls": 9, "interval_steps": 50, "velocity_mae": [0.1125979870557785, 0.07007096707820892, 0.13551335036754608], "mean_episode_length": 1399.9745222929937, "episode_reward_terms": {"track_linear_velocity": 49.82179260253906, "track_angular_velocity": 52.859771728515625, "upright": 26.82227897644043, "leg_posture": -2.657541513442993, "standstill": -5.959437847137451, "action_rate_l2": -0.582755446434021, "joint_torques_l2": -0.1491154432296753, "dof_pos_limits": -0.0005442226538434625, "terminated": -0.024608923122286797, "unnecessary_wheel_lift": -0.09497201442718506, "rolling_leg_motion": -0.602900505065918, "obstacle_progress": 3.8590478897094727, "wheel_body_intrusion": -0.27314069867134094, "pair_body_intrusion": -0.2834315001964569}, "weighted_reward_terms": {"track_linear_velocity": 1.7793822288513184, "track_angular_velocity": 1.8878834247589111, "upright": 0.9579560160636902, "leg_posture": -0.09491392970085144, "standstill": -0.2128409594297409, "action_rate_l2": -0.020813073962926865, "joint_torques_l2": -0.005325648467987776, "dof_pos_limits": -1.9436876755207777e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.0033919194247573614, "rolling_leg_motion": -0.021532554179430008, "obstacle_progress": 0.13782565295696259, "wheel_body_intrusion": -0.009755202569067478, "pair_body_intrusion": -0.010122737847268581}, "episode_termination_rates": {"time_out": 0.4713375796178344, "fell_over": 0.025477707006369428, "course_exit": 0.4713375796178344, "illegal_nonwheel_contact": 0.050955414012738856}, "collection_time_s": 0.0756839947809931, "learning_time_s": 0.185648882772075, "iteration_time_s": 0.3031323831611475, "policy_updates": 38900, "skipped_updates": 0, "invalid_env_resets": 208, "elapsed_s": 11882.789419916982, "nonwheel_terminations": 13701, "contact_bce": 0.28206998109817505, "contact_force_loss": 0.020429089665412903, "collision_bce": 0.00012555747525766492, "collision_label_rate": 0.0, "collision_prediction_mean": 9.664102253736928e-05, "collision_label_count": 16327.0, "terrain_level_mean": 4.16455078125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 15, 29, 43, 89, 234], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1919.0, 421.0, 38.0, 0.0], [1707.0, 392.0, 34.0, 0.0], [1491.0, 345.0, 26.0, 0.0], [1101.0, 254.0, 22.0, 0.0], [1855.0, 426.0, 20.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 31, 281, 1120], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4648.0, 1712.0, 196.0, 0.0], [6465.0, 1757.0, 168.0, 0.0], [9337.0, 1815.0, 305.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 40, 572], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [974.0, 801.0, 26.0, 0.0], [1991.0, 1632.0, 67.0, 0.0], [11723.0, 9909.0, 295.0, 0.0]]}, "platform": {"level_counts": [12, 18, 46, 90, 131, 113], "episodes_by_level": [[1817.0, 393.0, 52.0, 0.0], [2238.0, 462.0, 94.0, 0.0], [1969.0, 397.0, 88.0, 0.0], [1701.0, 301.0, 63.0, 0.0], [1166.0, 172.0, 57.0, 0.0], [609.0, 58.0, 59.0, 0.0]]}, "slope": {"level_counts": [4, 17, 40, 68, 92, 189], "episodes_by_level": [[1645.0, 350.0, 46.0, 0.0], [2030.0, 419.0, 71.0, 0.0], [1811.0, 387.0, 44.0, 0.0], [1448.0, 299.0, 38.0, 0.0], [1120.0, 223.0, 18.0, 0.0], [1485.0, 266.0, 34.0, 0.0]]}, "rubble": {"level_counts": [25, 86, 189, 229, 198, 92], "episodes_by_level": [[3382.0, 764.0, 101.0, 0.0], [5037.0, 1075.0, 225.0, 0.0], [4751.0, 997.0, 384.0, 0.0], [3602.0, 622.0, 478.0, 0.0], [1855.0, 234.0, 332.0, 0.0], [574.0, 43.0, 142.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23046875, "command_abs_max": [0.9985026121139526, 0.3989841043949127, 0.699906587600708]}
{"step": 39250, "actor_lr": 1.2166800432664982e-05, "archive_windows": 50000, "env_steps": 39250, "total_transitions": 160768000, "num_steps_per_env": 1, "wm_loss": 0.5837885141372681, "actor_loss": -9.49796199798584, "critic_loss": 0.005916421767324209, "reward": 0.0875052735209465, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11362210661172867, 0.07058615982532501, 0.13462917506694794], "mean_episode_length": 1357.82, "episode_reward_terms": {"track_linear_velocity": 48.28063201904297, "track_angular_velocity": 51.309078216552734, "upright": 26.020816802978516, "leg_posture": -2.542881727218628, "standstill": -6.071305274963379, "action_rate_l2": -0.568645179271698, "joint_torques_l2": -0.14482931792736053, "dof_pos_limits": -0.0005690662073902786, "terminated": -0.021215932443737984, "unnecessary_wheel_lift": -0.0851437896490097, "rolling_leg_motion": -0.5728384256362915, "obstacle_progress": 3.7655553817749023, "wheel_body_intrusion": -0.2686917185783386, "pair_body_intrusion": -0.28356999158859253}, "weighted_reward_terms": {"track_linear_velocity": 1.777873158454895, "track_angular_velocity": 1.8893917798995972, "upright": 0.9581835865974426, "leg_posture": -0.09363840520381927, "standstill": -0.2235681414604187, "action_rate_l2": -0.02093963883817196, "joint_torques_l2": -0.0053331563249230385, "dof_pos_limits": -2.095514355460182e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0031353123486042023, "rolling_leg_motion": -0.021094050258398056, "obstacle_progress": 0.13866181671619415, "wheel_body_intrusion": -0.009894232265651226, "pair_body_intrusion": -0.010442106053233147}, "episode_termination_rates": {"time_out": 0.4666666666666667, "fell_over": 0.013333333333333334, "course_exit": 0.48, "illegal_nonwheel_contact": 0.05333333333333334}, "collection_time_s": 0.07566075398237444, "learning_time_s": 0.1852470242767595, "iteration_time_s": 0.30307862127515944, "policy_updates": 38950, "skipped_updates": 0, "invalid_env_resets": 208, "elapsed_s": 11895.835885050008, "nonwheel_terminations": 13709, "contact_bce": 0.2936710715293884, "contact_force_loss": 0.021249355748295784, "collision_bce": 2.052842319244519e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 2.0490357201197185e-05, "collision_label_count": 16350.0, "terrain_level_mean": 4.166015625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 14, 30, 43, 88, 235], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1920.0, 422.0, 38.0, 0.0], [1708.0, 392.0, 34.0, 0.0], [1493.0, 345.0, 26.0, 0.0], [1102.0, 255.0, 22.0, 0.0], [1861.0, 427.0, 20.0, 0.0]]}, "up": {"level_counts": [0, 1, 1, 29, 280, 1122], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4649.0, 1713.0, 196.0, 0.0], [6471.0, 1759.0, 168.0, 0.0], [9363.0, 1823.0, 305.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 41, 571], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [974.0, 801.0, 26.0, 0.0], [1992.0, 1633.0, 67.0, 0.0], [11743.0, 9928.0, 296.0, 0.0]]}, "platform": {"level_counts": [12, 17, 47, 89, 134, 111], "episodes_by_level": [[1817.0, 393.0, 52.0, 0.0], [2239.0, 463.0, 94.0, 0.0], [1971.0, 397.0, 88.0, 0.0], [1706.0, 303.0, 63.0, 0.0], [1170.0, 172.0, 58.0, 0.0], [611.0, 58.0, 61.0, 0.0]]}, "slope": {"level_counts": [4, 17, 40, 68, 91, 190], "episodes_by_level": [[1645.0, 350.0, 46.0, 0.0], [2031.0, 419.0, 71.0, 0.0], [1814.0, 387.0, 44.0, 0.0], [1449.0, 299.0, 38.0, 0.0], [1123.0, 224.0, 18.0, 0.0], [1490.0, 267.0, 34.0, 0.0]]}, "rubble": {"level_counts": [24, 87, 187, 231, 199, 91], "episodes_by_level": [[3384.0, 765.0, 101.0, 0.0], [5039.0, 1075.0, 225.0, 0.0], [4760.0, 999.0, 384.0, 0.0], [3610.0, 623.0, 478.0, 0.0], [1861.0, 234.0, 333.0, 0.0], [578.0, 43.0, 143.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2353515625, "command_abs_max": [0.9996375441551208, 0.3988696336746216, 0.699906587600708]}
{"step": 39300, "actor_lr": 1.2145351051980713e-05, "archive_windows": 50000, "env_steps": 39300, "total_transitions": 160972800, "num_steps_per_env": 1, "wm_loss": 0.578110933303833, "actor_loss": -9.503161430358887, "critic_loss": 0.006132733076810837, "reward": 0.08729822933673859, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11515029519796371, 0.07161036878824234, 0.13647431135177612], "mean_episode_length": 1367.6549295774648, "episode_reward_terms": {"track_linear_velocity": 48.475128173828125, "track_angular_velocity": 51.603607177734375, "upright": 26.23773765563965, "leg_posture": -2.5711021423339844, "standstill": -6.191643714904785, "action_rate_l2": -0.5861517786979675, "joint_torques_l2": -0.145917609333992, "dof_pos_limits": -0.0010081599466502666, "terminated": -0.013356002978980541, "unnecessary_wheel_lift": -0.0864436998963356, "rolling_leg_motion": -0.5849217176437378, "obstacle_progress": 3.7891485691070557, "wheel_body_intrusion": -0.2722243070602417, "pair_body_intrusion": -0.2590070962905884}, "weighted_reward_terms": {"track_linear_velocity": 1.7721989154815674, "track_angular_velocity": 1.8865727186203003, "upright": 0.9592236280441284, "leg_posture": -0.09399674087762833, "standstill": -0.22635985910892487, "action_rate_l2": -0.02142908237874508, "joint_torques_l2": -0.005334591958671808, "dof_pos_limits": -3.685724732349627e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.003160289488732815, "rolling_leg_motion": -0.021384112536907196, "obstacle_progress": 0.13852721452713013, "wheel_body_intrusion": -0.00995222944766283, "pair_body_intrusion": -0.009469022043049335}, "episode_termination_rates": {"time_out": 0.4507042253521127, "fell_over": 0.035211267605633804, "course_exit": 0.5140845070422535, "illegal_nonwheel_contact": 0.02112676056338028}, "collection_time_s": 0.0759814003633801, "learning_time_s": 0.18536265219328926, "iteration_time_s": 0.3030255517904835, "policy_updates": 39000, "skipped_updates": 0, "invalid_env_resets": 209, "elapsed_s": 11908.904185366002, "nonwheel_terminations": 13712, "contact_bce": 0.28949683904647827, "contact_force_loss": 0.020451143383979797, "collision_bce": 0.00016376546409446746, "collision_label_rate": 0.0001224364823428914, "collision_prediction_mean": 0.0001638193934923038, "collision_label_count": 16335.0, "terrain_level_mean": 4.1669921875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 14, 30, 43, 87, 236], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1920.0, 422.0, 38.0, 0.0], [1710.0, 392.0, 34.0, 0.0], [1493.0, 345.0, 26.0, 0.0], [1105.0, 256.0, 22.0, 0.0], [1872.0, 429.0, 20.0, 0.0]]}, "up": {"level_counts": [0, 1, 1, 29, 280, 1122], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4649.0, 1713.0, 196.0, 0.0], [6485.0, 1760.0, 168.0, 0.0], [9395.0, 1832.0, 305.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 41, 571], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [974.0, 801.0, 26.0, 0.0], [1992.0, 1633.0, 67.0, 0.0], [11770.0, 9951.0, 296.0, 0.0]]}, "platform": {"level_counts": [12, 17, 46, 89, 135, 111], "episodes_by_level": [[1817.0, 393.0, 52.0, 0.0], [2239.0, 463.0, 94.0, 0.0], [1972.0, 398.0, 88.0, 0.0], [1708.0, 304.0, 63.0, 0.0], [1171.0, 172.0, 58.0, 0.0], [613.0, 58.0, 61.0, 0.0]]}, "slope": {"level_counts": [4, 17, 41, 67, 91, 190], "episodes_by_level": [[1645.0, 350.0, 46.0, 0.0], [2032.0, 419.0, 71.0, 0.0], [1814.0, 387.0, 44.0, 0.0], [1450.0, 299.0, 39.0, 0.0], [1126.0, 225.0, 18.0, 0.0], [1497.0, 269.0, 35.0, 0.0]]}, "rubble": {"level_counts": [23, 89, 186, 230, 199, 92], "episodes_by_level": [[3385.0, 766.0, 101.0, 0.0], [5040.0, 1076.0, 225.0, 0.0], [4765.0, 999.0, 386.0, 0.0], [3615.0, 624.0, 478.0, 0.0], [1867.0, 235.0, 333.0, 0.0], [579.0, 43.0, 143.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.239013671875, "command_abs_max": [0.9996375441551208, 0.3995051085948944, 0.699906587600708]}
{"step": 39350, "actor_lr": 1.2125373138408989e-05, "archive_windows": 50000, "env_steps": 39350, "total_transitions": 161177600, "num_steps_per_env": 1, "wm_loss": 0.5648195743560791, "actor_loss": -9.51481819152832, "critic_loss": 0.004945177584886551, "reward": 0.0870661586523056, "falls": 15, "interval_steps": 50, "velocity_mae": [0.11444027721881866, 0.07259321957826614, 0.1370442807674408], "mean_episode_length": 1329.6776315789473, "episode_reward_terms": {"track_linear_velocity": 47.126380920410156, "track_angular_velocity": 50.141876220703125, "upright": 25.50337791442871, "leg_posture": -2.5465524196624756, "standstill": -6.294266223907471, "action_rate_l2": -0.5649659037590027, "joint_torques_l2": -0.1425434648990631, "dof_pos_limits": -0.0009743162081576884, "terminated": -0.03895539045333862, "unnecessary_wheel_lift": -0.0929461196064949, "rolling_leg_motion": -0.5685659050941467, "obstacle_progress": 3.7387797832489014, "wheel_body_intrusion": -0.26136842370033264, "pair_body_intrusion": -0.22932425141334534}, "weighted_reward_terms": {"track_linear_velocity": 1.7720980644226074, "track_angular_velocity": 1.8854899406433105, "upright": 0.9590060710906982, "leg_posture": -0.09575826674699783, "standstill": -0.2366839200258255, "action_rate_l2": -0.02124447003006935, "joint_torques_l2": -0.005360076203942299, "dof_pos_limits": -3.663730967673473e-05, "terminated": -0.0014648435171693563, "unnecessary_wheel_lift": -0.0034950622357428074, "rolling_leg_motion": -0.02137984149158001, "obstacle_progress": 0.14058971405029297, "wheel_body_intrusion": -0.009828262962400913, "pair_body_intrusion": -0.008623302914202213}, "episode_termination_rates": {"time_out": 0.45394736842105265, "fell_over": 0.039473684210526314, "course_exit": 0.4473684210526316, "illegal_nonwheel_contact": 0.07894736842105263}, "collection_time_s": 0.07556384819792583, "learning_time_s": 0.18540047748014332, "iteration_time_s": 0.3029721351072687, "policy_updates": 39050, "skipped_updates": 0, "invalid_env_resets": 209, "elapsed_s": 11921.953516471025, "nonwheel_terminations": 13724, "contact_bce": 0.29179465770721436, "contact_force_loss": 0.020217547193169594, "collision_bce": 4.924783934256993e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 4.7233923396561295e-05, "collision_label_count": 16363.0, "terrain_level_mean": 4.16650390625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 14, 30, 43, 84, 239], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1921.0, 422.0, 38.0, 0.0], [1710.0, 392.0, 34.0, 0.0], [1494.0, 345.0, 26.0, 0.0], [1111.0, 259.0, 22.0, 0.0], [1878.0, 430.0, 20.0, 0.0]]}, "up": {"level_counts": [0, 1, 1, 29, 285, 1117], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4650.0, 1713.0, 196.0, 0.0], [6489.0, 1760.0, 168.0, 0.0], [9421.0, 1838.0, 307.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 41, 571], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [974.0, 801.0, 26.0, 0.0], [1994.0, 1635.0, 67.0, 0.0], [11794.0, 9972.0, 296.0, 0.0]]}, "platform": {"level_counts": [12, 16, 45, 91, 137, 109], "episodes_by_level": [[1817.0, 393.0, 52.0, 0.0], [2240.0, 464.0, 94.0, 0.0], [1976.0, 400.0, 88.0, 0.0], [1709.0, 304.0, 63.0, 0.0], [1174.0, 172.0, 58.0, 0.0], [616.0, 58.0, 63.0, 0.0]]}, "slope": {"level_counts": [4, 17, 41, 67, 90, 191], "episodes_by_level": [[1645.0, 350.0, 46.0, 0.0], [2033.0, 419.0, 71.0, 0.0], [1815.0, 387.0, 44.0, 0.0], [1450.0, 299.0, 39.0, 0.0], [1127.0, 226.0, 18.0, 0.0], [1502.0, 269.0, 35.0, 0.0]]}, "rubble": {"level_counts": [23, 88, 187, 233, 196, 92], "episodes_by_level": [[3385.0, 766.0, 101.0, 0.0], [5046.0, 1078.0, 225.0, 0.0], [4772.0, 1000.0, 387.0, 0.0], [3622.0, 624.0, 479.0, 0.0], [1879.0, 236.0, 336.0, 0.0], [581.0, 43.0, 144.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.238037109375, "command_abs_max": [0.9996375441551208, 0.3995051085948944, 0.699906587600708]}
{"step": 39400, "actor_lr": 1.2106867924281621e-05, "archive_windows": 50000, "env_steps": 39400, "total_transitions": 161382400, "num_steps_per_env": 1, "wm_loss": 0.5596912503242493, "actor_loss": -9.545315742492676, "critic_loss": 0.0037923443596810102, "reward": 0.08749543875455856, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11308888345956802, 0.07066985219717026, 0.13379904627799988], "mean_episode_length": 1368.1719745222929, "episode_reward_terms": {"track_linear_velocity": 48.63482666015625, "track_angular_velocity": 51.73454666137695, "upright": 26.30586814880371, "leg_posture": -2.612656354904175, "standstill": -6.261312007904053, "action_rate_l2": -0.5782921314239502, "joint_torques_l2": -0.14481788873672485, "dof_pos_limits": -0.00144669390283525, "terminated": -0.016033263877034187, "unnecessary_wheel_lift": -0.08988304436206818, "rolling_leg_motion": -0.5851226449012756, "obstacle_progress": 3.8532609939575195, "wheel_body_intrusion": -0.2680048644542694, "pair_body_intrusion": -0.2621002793312073}, "weighted_reward_terms": {"track_linear_velocity": 1.7773653268814087, "track_angular_velocity": 1.8906447887420654, "upright": 0.9613509178161621, "leg_posture": -0.0954798236489296, "standstill": -0.228820338845253, "action_rate_l2": -0.021133750677108765, "joint_torques_l2": -0.005292386282235384, "dof_pos_limits": -5.2869592764182016e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.003284785896539688, "rolling_leg_motion": -0.02138337306678295, "obstacle_progress": 0.14081786572933197, "wheel_body_intrusion": -0.009794268757104874, "pair_body_intrusion": -0.009578485041856766}, "episode_termination_rates": {"time_out": 0.49044585987261147, "fell_over": 0.012738853503184714, "course_exit": 0.47770700636942676, "illegal_nonwheel_contact": 0.03821656050955414}, "collection_time_s": 0.0756764258572366, "learning_time_s": 0.18540704006329178, "iteration_time_s": 0.302919004637233, "policy_updates": 39100, "skipped_updates": 0, "invalid_env_resets": 209, "elapsed_s": 11935.00878270698, "nonwheel_terminations": 13730, "contact_bce": 0.28498950600624084, "contact_force_loss": 0.02103564329445362, "collision_bce": 8.184860780602321e-05, "collision_label_rate": 6.119201862020418e-05, "collision_prediction_mean": 6.658255006186664e-05, "collision_label_count": 16342.0, "terrain_level_mean": 4.16943359375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 14, 28, 45, 84, 239], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1921.0, 422.0, 38.0, 0.0], [1712.0, 394.0, 34.0, 0.0], [1494.0, 345.0, 26.0, 0.0], [1113.0, 259.0, 22.0, 0.0], [1887.0, 433.0, 20.0, 0.0]]}, "up": {"level_counts": [0, 1, 2, 27, 281, 1122], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4651.0, 1714.0, 196.0, 0.0], [6501.0, 1766.0, 168.0, 0.0], [9447.0, 1845.0, 308.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 38, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [974.0, 801.0, 26.0, 0.0], [1997.0, 1638.0, 67.0, 0.0], [11812.0, 9988.0, 296.0, 0.0]]}, "platform": {"level_counts": [12, 16, 45, 89, 140, 108], "episodes_by_level": [[1817.0, 393.0, 52.0, 0.0], [2241.0, 464.0, 94.0, 0.0], [1978.0, 400.0, 88.0, 0.0], [1713.0, 306.0, 63.0, 0.0], [1179.0, 172.0, 58.0, 0.0], [620.0, 58.0, 64.0, 0.0]]}, "slope": {"level_counts": [4, 16, 42, 67, 91, 190], "episodes_by_level": [[1645.0, 350.0, 46.0, 0.0], [2034.0, 420.0, 71.0, 0.0], [1817.0, 387.0, 44.0, 0.0], [1452.0, 299.0, 39.0, 0.0], [1127.0, 226.0, 18.0, 0.0], [1508.0, 271.0, 36.0, 0.0]]}, "rubble": {"level_counts": [23, 88, 186, 235, 194, 93], "episodes_by_level": [[3385.0, 766.0, 101.0, 0.0], [5048.0, 1078.0, 225.0, 0.0], [4777.0, 1001.0, 387.0, 0.0], [3627.0, 625.0, 479.0, 0.0], [1889.0, 237.0, 338.0, 0.0], [587.0, 43.0, 144.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23828125, "command_abs_max": [0.9996375441551208, 0.3995051085948944, 0.699906587600708]}
{"step": 39450, "actor_lr": 1.2089836551087382e-05, "archive_windows": 50000, "env_steps": 39450, "total_transitions": 161587200, "num_steps_per_env": 1, "wm_loss": 0.5620296001434326, "actor_loss": -9.440739631652832, "critic_loss": 0.009248717688024044, "reward": 0.08762292563915253, "falls": 3, "interval_steps": 50, "velocity_mae": [0.11295705288648605, 0.07105778902769089, 0.1344956010580063], "mean_episode_length": 1370.1818181818182, "episode_reward_terms": {"track_linear_velocity": 48.708038330078125, "track_angular_velocity": 51.77326202392578, "upright": 26.34717559814453, "leg_posture": -2.573659658432007, "standstill": -6.111749649047852, "action_rate_l2": -0.5763357281684875, "joint_torques_l2": -0.1445319950580597, "dof_pos_limits": -0.0014735038857907057, "terminated": -0.008028407581150532, "unnecessary_wheel_lift": -0.0819656103849411, "rolling_leg_motion": -0.5822791457176208, "obstacle_progress": 3.869859218597412, "wheel_body_intrusion": -0.27076366543769836, "pair_body_intrusion": -0.28823205828666687}, "weighted_reward_terms": {"track_linear_velocity": 1.7774299383163452, "track_angular_velocity": 1.8892844915390015, "upright": 0.9614481925964355, "leg_posture": -0.09391672164201736, "standstill": -0.22302696108818054, "action_rate_l2": -0.02103136107325554, "joint_torques_l2": -0.005274190567433834, "dof_pos_limits": -5.3770381782669574e-05, "terminated": -0.00029296870343387127, "unnecessary_wheel_lift": -0.002991048851981759, "rolling_leg_motion": -0.021248245611786842, "obstacle_progress": 0.14121700823307037, "wheel_body_intrusion": -0.00988057442009449, "pair_body_intrusion": -0.010518023744225502}, "episode_termination_rates": {"time_out": 0.4303030303030303, "fell_over": 0.006060606060606061, "course_exit": 0.5515151515151515, "illegal_nonwheel_contact": 0.012121212121212121}, "collection_time_s": 0.07574317305581645, "learning_time_s": 0.18552105178358033, "iteration_time_s": 0.30286623767665344, "policy_updates": 39150, "skipped_updates": 0, "invalid_env_resets": 209, "elapsed_s": 11948.073076343979, "nonwheel_terminations": 13732, "contact_bce": 0.2870773375034332, "contact_force_loss": 0.02064594253897667, "collision_bce": 0.00013918752665631473, "collision_label_rate": 6.124073843238875e-05, "collision_prediction_mean": 6.491028761956841e-05, "collision_label_count": 16329.0, "terrain_level_mean": 4.171875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 14, 28, 45, 83, 240], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1921.0, 422.0, 38.0, 0.0], [1713.0, 394.0, 34.0, 0.0], [1496.0, 345.0, 26.0, 0.0], [1114.0, 260.0, 22.0, 0.0], [1899.0, 437.0, 20.0, 0.0]]}, "up": {"level_counts": [0, 1, 2, 26, 280, 1124], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4652.0, 1715.0, 196.0, 0.0], [6509.0, 1768.0, 168.0, 0.0], [9481.0, 1852.0, 308.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 39, 573], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [974.0, 801.0, 26.0, 0.0], [1998.0, 1639.0, 67.0, 0.0], [11842.0, 10011.0, 297.0, 0.0]]}, "platform": {"level_counts": [12, 16, 45, 89, 139, 109], "episodes_by_level": [[1819.0, 393.0, 52.0, 0.0], [2241.0, 464.0, 94.0, 0.0], [1979.0, 400.0, 88.0, 0.0], [1716.0, 306.0, 63.0, 0.0], [1186.0, 173.0, 58.0, 0.0], [624.0, 58.0, 64.0, 0.0]]}, "slope": {"level_counts": [4, 16, 42, 67, 91, 190], "episodes_by_level": [[1645.0, 350.0, 46.0, 0.0], [2036.0, 420.0, 71.0, 0.0], [1817.0, 387.0, 44.0, 0.0], [1452.0, 299.0, 39.0, 0.0], [1127.0, 226.0, 18.0, 0.0], [1513.0, 271.0, 36.0, 0.0]]}, "rubble": {"level_counts": [23, 85, 187, 236, 195, 93], "episodes_by_level": [[3386.0, 766.0, 101.0, 0.0], [5052.0, 1081.0, 225.0, 0.0], [4786.0, 1003.0, 387.0, 0.0], [3636.0, 626.0, 479.0, 0.0], [1893.0, 238.0, 338.0, 0.0], [592.0, 44.0, 145.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.238525390625, "command_abs_max": [0.9996375441551208, 0.3995051085948944, 0.699906587600708]}
{"step": 39500, "actor_lr": 1.20742800694016e-05, "archive_windows": 50000, "env_steps": 39500, "total_transitions": 161792000, "num_steps_per_env": 1, "wm_loss": 0.5661715269088745, "actor_loss": -9.531057357788086, "critic_loss": 0.0033000593539327383, "reward": 0.08746691793203354, "falls": 4, "interval_steps": 50, "velocity_mae": [0.11406508833169937, 0.07225781679153442, 0.13566040992736816], "mean_episode_length": 1358.7483443708609, "episode_reward_terms": {"track_linear_velocity": 48.18517303466797, "track_angular_velocity": 51.288902282714844, "upright": 26.100982666015625, "leg_posture": -2.556774139404297, "standstill": -6.098116874694824, "action_rate_l2": -0.5800470113754272, "joint_torques_l2": -0.14470739662647247, "dof_pos_limits": -0.0017820814391598105, "terminated": -0.010615219362080097, "unnecessary_wheel_lift": -0.08551251888275146, "rolling_leg_motion": -0.5915780067443848, "obstacle_progress": 3.8722918033599854, "wheel_body_intrusion": -0.25890281796455383, "pair_body_intrusion": -0.2737816274166107}, "weighted_reward_terms": {"track_linear_velocity": 1.7731455564498901, "track_angular_velocity": 1.887358546257019, "upright": 0.9604789614677429, "leg_posture": -0.09408564120531082, "standstill": -0.22440201044082642, "action_rate_l2": -0.021344903856515884, "joint_torques_l2": -0.005325025878846645, "dof_pos_limits": -6.557806045748293e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.0031467389781028032, "rolling_leg_motion": -0.02176922746002674, "obstacle_progress": 0.1424948275089264, "wheel_body_intrusion": -0.009527254849672318, "pair_body_intrusion": -0.01007477380335331}, "episode_termination_rates": {"time_out": 0.4768211920529801, "fell_over": 0.013245033112582781, "course_exit": 0.4966887417218543, "illegal_nonwheel_contact": 0.013245033112582781}, "collection_time_s": 0.07572382258018479, "learning_time_s": 0.18525186116225087, "iteration_time_s": 0.30281323901893675, "policy_updates": 39200, "skipped_updates": 0, "invalid_env_resets": 209, "elapsed_s": 11961.122941248002, "nonwheel_terminations": 13734, "contact_bce": 0.29034098982810974, "contact_force_loss": 0.020885052159428596, "collision_bce": 9.815174962568562e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 9.850539754552301e-06, "collision_label_count": 16350.0, "terrain_level_mean": 4.17333984375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 13, 29, 45, 82, 241], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1922.0, 423.0, 38.0, 0.0], [1713.0, 394.0, 34.0, 0.0], [1498.0, 345.0, 26.0, 0.0], [1118.0, 261.0, 22.0, 0.0], [1906.0, 439.0, 20.0, 0.0]]}, "up": {"level_counts": [0, 1, 2, 26, 278, 1126], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4652.0, 1715.0, 196.0, 0.0], [6516.0, 1770.0, 168.0, 0.0], [9514.0, 1858.0, 308.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 39, 573], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [974.0, 801.0, 26.0, 0.0], [1999.0, 1640.0, 67.0, 0.0], [11865.0, 10031.0, 297.0, 0.0]]}, "platform": {"level_counts": [11, 17, 45, 89, 139, 109], "episodes_by_level": [[1821.0, 394.0, 52.0, 0.0], [2241.0, 464.0, 94.0, 0.0], [1979.0, 400.0, 88.0, 0.0], [1716.0, 306.0, 63.0, 0.0], [1190.0, 173.0, 58.0, 0.0], [626.0, 58.0, 64.0, 0.0]]}, "slope": {"level_counts": [4, 16, 42, 67, 91, 190], "episodes_by_level": [[1645.0, 350.0, 46.0, 0.0], [2036.0, 420.0, 71.0, 0.0], [1818.0, 387.0, 44.0, 0.0], [1454.0, 299.0, 39.0, 0.0], [1131.0, 226.0, 18.0, 0.0], [1515.0, 272.0, 36.0, 0.0]]}, "rubble": {"level_counts": [23, 85, 186, 237, 195, 93], "episodes_by_level": [[3388.0, 766.0, 101.0, 0.0], [5056.0, 1082.0, 225.0, 0.0], [4792.0, 1005.0, 388.0, 0.0], [3645.0, 627.0, 480.0, 0.0], [1900.0, 238.0, 339.0, 0.0], [594.0, 45.0, 145.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23193359375, "command_abs_max": [0.9998188018798828, 0.39945629239082336, 0.699906587600708]}
{"step": 39550, "actor_lr": 1.2060199438821337e-05, "archive_windows": 50000, "env_steps": 39550, "total_transitions": 161996800, "num_steps_per_env": 1, "wm_loss": 0.5991947650909424, "actor_loss": -9.503917694091797, "critic_loss": 0.0064817131496965885, "reward": 0.08738938719034195, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11435151100158691, 0.0716172307729721, 0.1357795000076294], "mean_episode_length": 1376.6341463414635, "episode_reward_terms": {"track_linear_velocity": 48.82872772216797, "track_angular_velocity": 51.970680236816406, "upright": 26.439664840698242, "leg_posture": -2.5893468856811523, "standstill": -6.325538635253906, "action_rate_l2": -0.5800926685333252, "joint_torques_l2": -0.1457427591085434, "dof_pos_limits": -0.002139714080840349, "terminated": -0.018821168690919876, "unnecessary_wheel_lift": -0.08094338327646255, "rolling_leg_motion": -0.5867353677749634, "obstacle_progress": 3.9312572479248047, "wheel_body_intrusion": -0.25525689125061035, "pair_body_intrusion": -0.2825252115726471}, "weighted_reward_terms": {"track_linear_velocity": 1.7734824419021606, "track_angular_velocity": 1.8875995874404907, "upright": 0.9603010416030884, "leg_posture": -0.09404630213975906, "standstill": -0.22974655032157898, "action_rate_l2": -0.0210692398250103, "joint_torques_l2": -0.005293445661664009, "dof_pos_limits": -7.771542732371017e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0029399017803370953, "rolling_leg_motion": -0.021310504525899887, "obstacle_progress": 0.14278511703014374, "wheel_body_intrusion": -0.009271050803363323, "pair_body_intrusion": -0.010261448100209236}, "episode_termination_rates": {"time_out": 0.4817073170731707, "fell_over": 0.018292682926829267, "course_exit": 0.47560975609756095, "illegal_nonwheel_contact": 0.03048780487804878}, "collection_time_s": 0.07579193171812221, "learning_time_s": 0.1915271501999814, "iteration_time_s": 0.30276904438986113, "policy_updates": 39250, "skipped_updates": 0, "invalid_env_resets": 209, "elapsed_s": 11974.515705619007, "nonwheel_terminations": 13739, "contact_bce": 0.2847261130809784, "contact_force_loss": 0.020778708159923553, "collision_bce": 0.00013396631402429193, "collision_label_rate": 6.121449405327439e-05, "collision_prediction_mean": 0.0001393874263158068, "collision_label_count": 16336.0, "terrain_level_mean": 4.17431640625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 13, 29, 45, 82, 241], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1922.0, 423.0, 38.0, 0.0], [1714.0, 394.0, 34.0, 0.0], [1498.0, 345.0, 26.0, 0.0], [1121.0, 261.0, 22.0, 0.0], [1915.0, 440.0, 20.0, 0.0]]}, "up": {"level_counts": [0, 1, 2, 25, 276, 1129], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2402.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4654.0, 1716.0, 196.0, 0.0], [6529.0, 1774.0, 168.0, 0.0], [9548.0, 1864.0, 308.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 40, 572], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [974.0, 801.0, 26.0, 0.0], [1999.0, 1640.0, 67.0, 0.0], [11889.0, 10052.0, 298.0, 0.0]]}, "platform": {"level_counts": [11, 17, 45, 88, 141, 108], "episodes_by_level": [[1821.0, 394.0, 52.0, 0.0], [2241.0, 464.0, 94.0, 0.0], [1979.0, 400.0, 88.0, 0.0], [1720.0, 307.0, 63.0, 0.0], [1192.0, 173.0, 58.0, 0.0], [633.0, 59.0, 65.0, 0.0]]}, "slope": {"level_counts": [4, 16, 41, 68, 91, 190], "episodes_by_level": [[1645.0, 350.0, 46.0, 0.0], [2036.0, 420.0, 71.0, 0.0], [1821.0, 388.0, 44.0, 0.0], [1456.0, 299.0, 39.0, 0.0], [1136.0, 226.0, 18.0, 0.0], [1519.0, 274.0, 36.0, 0.0]]}, "rubble": {"level_counts": [22, 88, 184, 236, 196, 93], "episodes_by_level": [[3389.0, 767.0, 101.0, 0.0], [5057.0, 1082.0, 225.0, 0.0], [4801.0, 1006.0, 390.0, 0.0], [3656.0, 628.0, 481.0, 0.0], [1907.0, 239.0, 339.0, 0.0], [598.0, 46.0, 146.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.230224609375, "command_abs_max": [0.9998188018798828, 0.39945560693740845, 0.699906587600708]}
{"step": 39600, "actor_lr": 1.2047595527906221e-05, "archive_windows": 50000, "env_steps": 39600, "total_transitions": 162201600, "num_steps_per_env": 1, "wm_loss": 0.5967547297477722, "actor_loss": -9.536653518676758, "critic_loss": 0.006882146000862122, "reward": 0.08745329827070236, "falls": 11, "interval_steps": 50, "velocity_mae": [0.11372547596693039, 0.07166590541601181, 0.13523052632808685], "mean_episode_length": 1356.6444444444444, "episode_reward_terms": {"track_linear_velocity": 48.1592903137207, "track_angular_velocity": 51.234134674072266, "upright": 26.041982650756836, "leg_posture": -2.5850250720977783, "standstill": -6.147789478302002, "action_rate_l2": -0.5686166286468506, "joint_torques_l2": -0.14420773088932037, "dof_pos_limits": -0.0014485878637060523, "terminated": -0.029146654531359673, "unnecessary_wheel_lift": -0.0641239807009697, "rolling_leg_motion": -0.5603182911872864, "obstacle_progress": 3.871988296508789, "wheel_body_intrusion": -0.2597941756248474, "pair_body_intrusion": -0.30391669273376465}, "weighted_reward_terms": {"track_linear_velocity": 1.7749416828155518, "track_angular_velocity": 1.8882670402526855, "upright": 0.9597939252853394, "leg_posture": -0.09527275711297989, "standstill": -0.22658072412014008, "action_rate_l2": -0.020956730470061302, "joint_torques_l2": -0.005314868409186602, "dof_pos_limits": -5.338863775250502e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.002363330451771617, "rolling_leg_motion": -0.020650891587138176, "obstacle_progress": 0.14270462095737457, "wheel_body_intrusion": -0.009574881754815578, "pair_body_intrusion": -0.011201045475900173}, "episode_termination_rates": {"time_out": 0.43703703703703706, "fell_over": 0.037037037037037035, "course_exit": 0.48148148148148145, "illegal_nonwheel_contact": 0.044444444444444446}, "collection_time_s": 0.07562384258024395, "learning_time_s": 0.1832268870738335, "iteration_time_s": 0.30271362119454553, "policy_updates": 39300, "skipped_updates": 0, "invalid_env_resets": 209, "elapsed_s": 11987.459399304003, "nonwheel_terminations": 13745, "contact_bce": 0.2928803563117981, "contact_force_loss": 0.021057508885860443, "collision_bce": 1.6705684174667113e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.6667012459947728e-05, "collision_label_count": 16356.0, "terrain_level_mean": 4.17431640625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 13, 29, 45, 82, 241], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1922.0, 423.0, 38.0, 0.0], [1714.0, 394.0, 34.0, 0.0], [1499.0, 345.0, 26.0, 0.0], [1121.0, 261.0, 22.0, 0.0], [1923.0, 441.0, 20.0, 0.0]]}, "up": {"level_counts": [0, 1, 2, 25, 275, 1130], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4654.0, 1716.0, 196.0, 0.0], [6534.0, 1776.0, 168.0, 0.0], [9579.0, 1868.0, 309.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 39, 573], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [974.0, 801.0, 26.0, 0.0], [2001.0, 1642.0, 67.0, 0.0], [11900.0, 10062.0, 298.0, 0.0]]}, "platform": {"level_counts": [11, 17, 45, 88, 139, 110], "episodes_by_level": [[1821.0, 394.0, 52.0, 0.0], [2241.0, 464.0, 94.0, 0.0], [1979.0, 400.0, 88.0, 0.0], [1720.0, 307.0, 63.0, 0.0], [1198.0, 176.0, 58.0, 0.0], [641.0, 60.0, 66.0, 0.0]]}, "slope": {"level_counts": [4, 16, 41, 68, 91, 190], "episodes_by_level": [[1645.0, 350.0, 46.0, 0.0], [2037.0, 420.0, 71.0, 0.0], [1822.0, 388.0, 44.0, 0.0], [1458.0, 299.0, 39.0, 0.0], [1139.0, 227.0, 18.0, 0.0], [1522.0, 276.0, 37.0, 0.0]]}, "rubble": {"level_counts": [22, 88, 186, 235, 196, 92], "episodes_by_level": [[3391.0, 767.0, 101.0, 0.0], [5060.0, 1082.0, 225.0, 0.0], [4807.0, 1006.0, 390.0, 0.0], [3663.0, 630.0, 483.0, 0.0], [1916.0, 240.0, 342.0, 0.0], [603.0, 46.0, 148.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.227294921875, "command_abs_max": [0.9998188018798828, 0.39945560693740845, 0.699906587600708]}
{"step": 39650, "actor_lr": 1.2036469114124841e-05, "archive_windows": 50000, "env_steps": 39650, "total_transitions": 162406400, "num_steps_per_env": 1, "wm_loss": 0.5906997323036194, "actor_loss": -9.55058479309082, "critic_loss": 0.00610628817230463, "reward": 0.08715973049402237, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11418398469686508, 0.07268059998750687, 0.1354096233844757], "mean_episode_length": 1337.9649122807018, "episode_reward_terms": {"track_linear_velocity": 47.44685363769531, "track_angular_velocity": 50.52457809448242, "upright": 25.67742919921875, "leg_posture": -2.577726364135742, "standstill": -6.31847620010376, "action_rate_l2": -0.568607747554779, "joint_torques_l2": -0.14289316534996033, "dof_pos_limits": -0.0012258915230631828, "terminated": -0.023518912494182587, "unnecessary_wheel_lift": -0.09130003303289413, "rolling_leg_motion": -0.5766761302947998, "obstacle_progress": 3.847161054611206, "wheel_body_intrusion": -0.2761520743370056, "pair_body_intrusion": -0.302759051322937}, "weighted_reward_terms": {"track_linear_velocity": 1.7730977535247803, "track_angular_velocity": 1.8881129026412964, "upright": 0.9595703482627869, "leg_posture": -0.09633011370897293, "standstill": -0.23612263798713684, "action_rate_l2": -0.02124897763133049, "joint_torques_l2": -0.005339944269508123, "dof_pos_limits": -4.5811797463102266e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.003411899320781231, "rolling_leg_motion": -0.0215504951775074, "obstacle_progress": 0.14376913011074066, "wheel_body_intrusion": -0.010319855064153671, "pair_body_intrusion": -0.01131416205316782}, "episode_termination_rates": {"time_out": 0.4853801169590643, "fell_over": 0.023391812865497075, "course_exit": 0.4619883040935672, "illegal_nonwheel_contact": 0.04093567251461988}, "collection_time_s": 0.07609134059981443, "learning_time_s": 0.18520826094667428, "iteration_time_s": 0.30266142471720026, "policy_updates": 39350, "skipped_updates": 0, "invalid_env_resets": 210, "elapsed_s": 12000.525490036991, "nonwheel_terminations": 13752, "contact_bce": 0.29092201590538025, "contact_force_loss": 0.020209139212965965, "collision_bce": 1.3489874618244357e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.3498038242687471e-05, "collision_label_count": 16358.0, "terrain_level_mean": 4.17626953125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 13, 29, 44, 83, 241], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1922.0, 423.0, 38.0, 0.0], [1715.0, 394.0, 34.0, 0.0], [1502.0, 346.0, 26.0, 0.0], [1124.0, 261.0, 22.0, 0.0], [1927.0, 443.0, 20.0, 0.0]]}, "up": {"level_counts": [0, 1, 2, 25, 273, 1132], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4655.0, 1716.0, 196.0, 0.0], [6543.0, 1780.0, 168.0, 0.0], [9603.0, 1876.0, 309.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 39, 573], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [974.0, 801.0, 26.0, 0.0], [2004.0, 1645.0, 67.0, 0.0], [11927.0, 10085.0, 299.0, 0.0]]}, "platform": {"level_counts": [10, 18, 45, 88, 139, 110], "episodes_by_level": [[1822.0, 395.0, 52.0, 0.0], [2241.0, 464.0, 94.0, 0.0], [1981.0, 400.0, 88.0, 0.0], [1721.0, 307.0, 63.0, 0.0], [1202.0, 176.0, 58.0, 0.0], [644.0, 60.0, 66.0, 0.0]]}, "slope": {"level_counts": [4, 16, 40, 69, 91, 190], "episodes_by_level": [[1645.0, 350.0, 46.0, 0.0], [2037.0, 420.0, 71.0, 0.0], [1826.0, 390.0, 44.0, 0.0], [1459.0, 299.0, 40.0, 0.0], [1143.0, 228.0, 18.0, 0.0], [1532.0, 276.0, 38.0, 0.0]]}, "rubble": {"level_counts": [21, 88, 187, 234, 197, 92], "episodes_by_level": [[3392.0, 768.0, 101.0, 0.0], [5062.0, 1083.0, 225.0, 0.0], [4816.0, 1006.0, 390.0, 0.0], [3675.0, 632.0, 483.0, 0.0], [1927.0, 241.0, 343.0, 0.0], [606.0, 46.0, 149.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.227294921875, "command_abs_max": [0.9963909387588501, 0.3991277515888214, 0.699906587600708]}
{"step": 39700, "actor_lr": 1.2026820883806813e-05, "archive_windows": 50000, "env_steps": 39700, "total_transitions": 162611200, "num_steps_per_env": 1, "wm_loss": 0.598167359828949, "actor_loss": -9.518224716186523, "critic_loss": 0.004032684024423361, "reward": 0.08731794357299805, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11481115967035294, 0.07238845527172089, 0.13511787354946136], "mean_episode_length": 1411.121794871795, "episode_reward_terms": {"track_linear_velocity": 50.01713562011719, "track_angular_velocity": 53.29117965698242, "upright": 27.106935501098633, "leg_posture": -2.6764626502990723, "standstill": -6.400432586669922, "action_rate_l2": -0.6065904498100281, "joint_torques_l2": -0.1488197147846222, "dof_pos_limits": -0.0007670880295336246, "terminated": -0.013780484907329082, "unnecessary_wheel_lift": -0.09395033121109009, "rolling_leg_motion": -0.62527996301651, "obstacle_progress": 3.9387717247009277, "wheel_body_intrusion": -0.28633081912994385, "pair_body_intrusion": -0.2853736877441406}, "weighted_reward_terms": {"track_linear_velocity": 1.772247314453125, "track_angular_velocity": 1.8882558345794678, "upright": 0.9604746699333191, "leg_posture": -0.0948345735669136, "standstill": -0.22678527235984802, "action_rate_l2": -0.021493200212717056, "joint_torques_l2": -0.005273099523037672, "dof_pos_limits": -2.718007999646943e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.003328923601657152, "rolling_leg_motion": -0.02215542271733284, "obstacle_progress": 0.1395617127418518, "wheel_body_intrusion": -0.010145503096282482, "pair_body_intrusion": -0.01011158898472786}, "episode_termination_rates": {"time_out": 0.5064102564102564, "fell_over": 0.019230769230769232, "course_exit": 0.46153846153846156, "illegal_nonwheel_contact": 0.019230769230769232}, "collection_time_s": 0.07608446740079672, "learning_time_s": 0.18393370857578703, "iteration_time_s": 0.30260775181808525, "policy_updates": 39400, "skipped_updates": 0, "invalid_env_resets": 211, "elapsed_s": 12013.527747177985, "nonwheel_terminations": 13755, "contact_bce": 0.286849707365036, "contact_force_loss": 0.02055881731212139, "collision_bce": 0.00023792868887539953, "collision_label_rate": 0.00012260912626516074, "collision_prediction_mean": 0.00022013556736055762, "collision_label_count": 16312.0, "terrain_level_mean": 4.178466796875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 13, 29, 44, 83, 241], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1923.0, 423.0, 38.0, 0.0], [1715.0, 394.0, 34.0, 0.0], [1504.0, 346.0, 26.0, 0.0], [1126.0, 261.0, 22.0, 0.0], [1935.0, 444.0, 20.0, 0.0]]}, "up": {"level_counts": [0, 1, 2, 25, 273, 1132], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4657.0, 1716.0, 196.0, 0.0], [6551.0, 1781.0, 168.0, 0.0], [9632.0, 1882.0, 309.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 39, 573], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [974.0, 801.0, 26.0, 0.0], [2006.0, 1647.0, 67.0, 0.0], [11942.0, 10098.0, 299.0, 0.0]]}, "platform": {"level_counts": [10, 18, 44, 89, 137, 112], "episodes_by_level": [[1822.0, 395.0, 52.0, 0.0], [2241.0, 464.0, 94.0, 0.0], [1985.0, 401.0, 88.0, 0.0], [1728.0, 307.0, 63.0, 0.0], [1206.0, 178.0, 58.0, 0.0], [651.0, 61.0, 66.0, 0.0]]}, "slope": {"level_counts": [4, 16, 40, 69, 91, 190], "episodes_by_level": [[1645.0, 350.0, 46.0, 0.0], [2037.0, 420.0, 71.0, 0.0], [1826.0, 390.0, 44.0, 0.0], [1462.0, 299.0, 40.0, 0.0], [1147.0, 228.0, 18.0, 0.0], [1538.0, 276.0, 38.0, 0.0]]}, "rubble": {"level_counts": [20, 89, 183, 237, 198, 92], "episodes_by_level": [[3393.0, 769.0, 101.0, 0.0], [5065.0, 1083.0, 225.0, 0.0], [4823.0, 1010.0, 390.0, 0.0], [3682.0, 633.0, 483.0, 0.0], [1931.0, 243.0, 343.0, 0.0], [611.0, 47.0, 151.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.227783203125, "command_abs_max": [0.9963909387588501, 0.3991277515888214, 0.699906587600708]}
{"step": 39750, "actor_lr": 1.2018651432100424e-05, "archive_windows": 50000, "env_steps": 39750, "total_transitions": 162816000, "num_steps_per_env": 1, "wm_loss": 0.595798134803772, "actor_loss": -9.50157642364502, "critic_loss": 0.005248321685940027, "reward": 0.08744226396083832, "falls": 7, "interval_steps": 50, "velocity_mae": [0.1141354888677597, 0.0710725411772728, 0.13485078513622284], "mean_episode_length": 1263.2535211267605, "episode_reward_terms": {"track_linear_velocity": 44.87772750854492, "track_angular_velocity": 47.716407775878906, "upright": 24.290855407714844, "leg_posture": -2.3862202167510986, "standstill": -5.819751262664795, "action_rate_l2": -0.5439816117286682, "joint_torques_l2": -0.13304190337657928, "dof_pos_limits": -0.0013739869464188814, "terminated": -0.017271041870117188, "unnecessary_wheel_lift": -0.06208641827106476, "rolling_leg_motion": -0.5353493690490723, "obstacle_progress": 3.57089900970459, "wheel_body_intrusion": -0.25652748346328735, "pair_body_intrusion": -0.2385413944721222}, "weighted_reward_terms": {"track_linear_velocity": 1.776275634765625, "track_angular_velocity": 1.8886315822601318, "upright": 0.9614402651786804, "leg_posture": -0.09444740414619446, "standstill": -0.23034772276878357, "action_rate_l2": -0.02153097651898861, "joint_torques_l2": -0.005265843588858843, "dof_pos_limits": -5.438286825665273e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.002457401482388377, "rolling_leg_motion": -0.021189309656620026, "obstacle_progress": 0.14133739471435547, "wheel_body_intrusion": -0.010153444483876228, "pair_body_intrusion": -0.009441548958420753}, "episode_termination_rates": {"time_out": 0.38028169014084506, "fell_over": 0.02112676056338028, "course_exit": 0.5704225352112676, "illegal_nonwheel_contact": 0.035211267605633804}, "collection_time_s": 0.07561988172703422, "learning_time_s": 0.18522720761597156, "iteration_time_s": 0.3025552498973077, "policy_updates": 39450, "skipped_updates": 0, "invalid_env_resets": 211, "elapsed_s": 12026.571183417982, "nonwheel_terminations": 13760, "contact_bce": 0.29283803701400757, "contact_force_loss": 0.02124999463558197, "collision_bce": 1.6862208212842233e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.6535068425582722e-05, "collision_label_count": 16341.0, "terrain_level_mean": 4.179931640625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 13, 28, 44, 83, 242], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1924.0, 423.0, 38.0, 0.0], [1716.0, 395.0, 34.0, 0.0], [1505.0, 347.0, 26.0, 0.0], [1129.0, 262.0, 22.0, 0.0], [1942.0, 447.0, 20.0, 0.0]]}, "up": {"level_counts": [0, 1, 2, 25, 274, 1131], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4657.0, 1716.0, 196.0, 0.0], [6558.0, 1783.0, 168.0, 0.0], [9663.0, 1888.0, 311.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 40, 572], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [974.0, 801.0, 26.0, 0.0], [2007.0, 1648.0, 67.0, 0.0], [11965.0, 10119.0, 299.0, 0.0]]}, "platform": {"level_counts": [10, 17, 45, 89, 136, 113], "episodes_by_level": [[1822.0, 395.0, 52.0, 0.0], [2242.0, 465.0, 94.0, 0.0], [1985.0, 401.0, 88.0, 0.0], [1729.0, 307.0, 63.0, 0.0], [1210.0, 179.0, 58.0, 0.0], [653.0, 62.0, 66.0, 0.0]]}, "slope": {"level_counts": [4, 16, 40, 69, 89, 192], "episodes_by_level": [[1645.0, 350.0, 46.0, 0.0], [2038.0, 420.0, 71.0, 0.0], [1828.0, 390.0, 44.0, 0.0], [1462.0, 299.0, 40.0, 0.0], [1149.0, 230.0, 18.0, 0.0], [1544.0, 278.0, 38.0, 0.0]]}, "rubble": {"level_counts": [20, 88, 184, 237, 198, 92], "episodes_by_level": [[3393.0, 769.0, 101.0, 0.0], [5067.0, 1084.0, 225.0, 0.0], [4830.0, 1011.0, 390.0, 0.0], [3689.0, 634.0, 484.0, 0.0], [1936.0, 243.0, 344.0, 0.0], [615.0, 47.0, 151.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.228759765625, "command_abs_max": [0.9985508918762207, 0.3991277515888214, 0.699906587600708]}
{"step": 39800, "actor_lr": 1.2011961262935942e-05, "archive_windows": 50000, "env_steps": 39800, "total_transitions": 163020800, "num_steps_per_env": 1, "wm_loss": 0.5901625752449036, "actor_loss": -9.485769271850586, "critic_loss": 0.004749675747007132, "reward": 0.08710942417383194, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11530902981758118, 0.0720612034201622, 0.135394886136055], "mean_episode_length": 1331.338028169014, "episode_reward_terms": {"track_linear_velocity": 47.173370361328125, "track_angular_velocity": 50.259273529052734, "upright": 25.557249069213867, "leg_posture": -2.5431673526763916, "standstill": -6.171070098876953, "action_rate_l2": -0.5779834389686584, "joint_torques_l2": -0.141594797372818, "dof_pos_limits": -0.0013586956774815917, "terminated": -0.020802153274416924, "unnecessary_wheel_lift": -0.0852837935090065, "rolling_leg_motion": -0.582750141620636, "obstacle_progress": 3.688161611557007, "wheel_body_intrusion": -0.28924697637557983, "pair_body_intrusion": -0.2927232086658478}, "weighted_reward_terms": {"track_linear_velocity": 1.7716528177261353, "track_angular_velocity": 1.8875473737716675, "upright": 0.9598332643508911, "leg_posture": -0.09551171213388443, "standstill": -0.23176196217536926, "action_rate_l2": -0.02170686423778534, "joint_torques_l2": -0.005317763425409794, "dof_pos_limits": -5.102745126350783e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0032029354479163885, "rolling_leg_motion": -0.021885883063077927, "obstacle_progress": 0.13851335644721985, "wheel_body_intrusion": -0.010863018222153187, "pair_body_intrusion": -0.01099357195198536}, "episode_termination_rates": {"time_out": 0.4014084507042254, "fell_over": 0.028169014084507043, "course_exit": 0.5422535211267606, "illegal_nonwheel_contact": 0.04225352112676056}, "collection_time_s": 0.07638371595880017, "learning_time_s": 0.18564431087928823, "iteration_time_s": 0.3025043656417091, "policy_updates": 39500, "skipped_updates": 0, "invalid_env_resets": 213, "elapsed_s": 12039.673752540024, "nonwheel_terminations": 13766, "contact_bce": 0.28566616773605347, "contact_force_loss": 0.0206296406686306, "collision_bce": 0.0003010797081515193, "collision_label_rate": 6.116207805462182e-05, "collision_prediction_mean": 5.028163741371827e-06, "collision_label_count": 16350.0, "terrain_level_mean": 4.180419921875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 13, 28, 45, 82, 242], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1924.0, 423.0, 38.0, 0.0], [1716.0, 395.0, 34.0, 0.0], [1506.0, 347.0, 26.0, 0.0], [1130.0, 262.0, 23.0, 0.0], [1947.0, 449.0, 20.0, 0.0]]}, "up": {"level_counts": [0, 1, 2, 25, 273, 1132], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4659.0, 1716.0, 196.0, 0.0], [6568.0, 1784.0, 168.0, 0.0], [9693.0, 1895.0, 311.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 37, 575], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [974.0, 801.0, 26.0, 0.0], [2010.0, 1651.0, 67.0, 0.0], [11987.0, 10136.0, 299.0, 0.0]]}, "platform": {"level_counts": [10, 17, 45, 88, 137, 113], "episodes_by_level": [[1822.0, 395.0, 52.0, 0.0], [2242.0, 465.0, 94.0, 0.0], [1985.0, 401.0, 88.0, 0.0], [1733.0, 308.0, 63.0, 0.0], [1213.0, 180.0, 58.0, 0.0], [656.0, 62.0, 67.0, 0.0]]}, "slope": {"level_counts": [4, 16, 40, 69, 88, 193], "episodes_by_level": [[1645.0, 350.0, 46.0, 0.0], [2039.0, 420.0, 71.0, 0.0], [1828.0, 390.0, 44.0, 0.0], [1464.0, 299.0, 40.0, 0.0], [1151.0, 231.0, 18.0, 0.0], [1551.0, 280.0, 38.0, 0.0]]}, "rubble": {"level_counts": [20, 91, 181, 235, 202, 90], "episodes_by_level": [[3393.0, 769.0, 101.0, 0.0], [5070.0, 1084.0, 225.0, 0.0], [4841.0, 1011.0, 393.0, 0.0], [3696.0, 637.0, 484.0, 0.0], [1938.0, 243.0, 345.0, 0.0], [618.0, 47.0, 153.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22900390625, "command_abs_max": [0.9985508918762207, 0.3988696336746216, 0.699906587600708]}
{"step": 39850, "actor_lr": 1.2006750788994514e-05, "archive_windows": 50000, "env_steps": 39850, "total_transitions": 163225600, "num_steps_per_env": 1, "wm_loss": 0.6098718643188477, "actor_loss": -9.517498016357422, "critic_loss": 0.006028675939887762, "reward": 0.08712861686944962, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11461330950260162, 0.07231567800045013, 0.1371665894985199], "mean_episode_length": 1327.890510948905, "episode_reward_terms": {"track_linear_velocity": 47.084903717041016, "track_angular_velocity": 50.062992095947266, "upright": 25.491052627563477, "leg_posture": -2.5504961013793945, "standstill": -6.115336894989014, "action_rate_l2": -0.5817649960517883, "joint_torques_l2": -0.14232955873012543, "dof_pos_limits": -0.0012563240015879273, "terminated": -0.023341821506619453, "unnecessary_wheel_lift": -0.07092678546905518, "rolling_leg_motion": -0.5816858410835266, "obstacle_progress": 3.68314528465271, "wheel_body_intrusion": -0.27434080839157104, "pair_body_intrusion": -0.2833390235900879}, "weighted_reward_terms": {"track_linear_velocity": 1.7729212045669556, "track_angular_velocity": 1.8850573301315308, "upright": 0.9598326086997986, "leg_posture": -0.09603563696146011, "standstill": -0.23026511073112488, "action_rate_l2": -0.02190561033785343, "joint_torques_l2": -0.005359235685318708, "dof_pos_limits": -4.730525688501075e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.0026706564240157604, "rolling_leg_motion": -0.021902630105614662, "obstacle_progress": 0.13868407905101776, "wheel_body_intrusion": -0.010329948738217354, "pair_body_intrusion": -0.01066876482218504}, "episode_termination_rates": {"time_out": 0.48175182481751827, "fell_over": 0.014598540145985401, "course_exit": 0.45255474452554745, "illegal_nonwheel_contact": 0.051094890510948905}, "collection_time_s": 0.07542557239765302, "learning_time_s": 0.1854638889816124, "iteration_time_s": 0.30245217930996315, "policy_updates": 39550, "skipped_updates": 0, "invalid_env_resets": 213, "elapsed_s": 12052.719345502032, "nonwheel_terminations": 13773, "contact_bce": 0.2918674349784851, "contact_force_loss": 0.020851049572229385, "collision_bce": 0.0002410251327091828, "collision_label_rate": 6.115833821240813e-05, "collision_prediction_mean": 0.00016468638204969466, "collision_label_count": 16351.0, "terrain_level_mean": 4.18017578125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 13, 28, 45, 81, 243], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1924.0, 423.0, 38.0, 0.0], [1717.0, 395.0, 34.0, 0.0], [1507.0, 347.0, 26.0, 0.0], [1133.0, 263.0, 23.0, 0.0], [1952.0, 452.0, 20.0, 0.0]]}, "up": {"level_counts": [0, 1, 2, 25, 275, 1130], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4660.0, 1716.0, 196.0, 0.0], [6573.0, 1784.0, 168.0, 0.0], [9722.0, 1901.0, 313.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 38, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [974.0, 801.0, 26.0, 0.0], [2010.0, 1651.0, 67.0, 0.0], [12009.0, 10157.0, 299.0, 0.0]]}, "platform": {"level_counts": [10, 17, 45, 87, 138, 113], "episodes_by_level": [[1822.0, 395.0, 52.0, 0.0], [2243.0, 465.0, 94.0, 0.0], [1985.0, 401.0, 88.0, 0.0], [1735.0, 309.0, 63.0, 0.0], [1214.0, 180.0, 58.0, 0.0], [656.0, 62.0, 67.0, 0.0]]}, "slope": {"level_counts": [4, 16, 40, 70, 87, 193], "episodes_by_level": [[1645.0, 350.0, 46.0, 0.0], [2039.0, 420.0, 71.0, 0.0], [1828.0, 390.0, 44.0, 0.0], [1470.0, 299.0, 40.0, 0.0], [1158.0, 231.0, 19.0, 0.0], [1555.0, 280.0, 38.0, 0.0]]}, "rubble": {"level_counts": [20, 91, 182, 234, 200, 92], "episodes_by_level": [[3393.0, 769.0, 101.0, 0.0], [5072.0, 1085.0, 225.0, 0.0], [4846.0, 1013.0, 394.0, 0.0], [3705.0, 638.0, 487.0, 0.0], [1946.0, 245.0, 346.0, 0.0], [619.0, 47.0, 153.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2333984375, "command_abs_max": [0.9985508918762207, 0.3988696336746216, 0.699906587600708]}
{"step": 39900, "actor_lr": 1.2003020331682715e-05, "archive_windows": 50000, "env_steps": 39900, "total_transitions": 163430400, "num_steps_per_env": 1, "wm_loss": 0.5701464414596558, "actor_loss": -9.537677764892578, "critic_loss": 0.005184187553822994, "reward": 0.08749442547559738, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11539894342422485, 0.07192766666412354, 0.1350793093442917], "mean_episode_length": 1310.4031007751937, "episode_reward_terms": {"track_linear_velocity": 46.40069580078125, "track_angular_velocity": 49.49223327636719, "upright": 25.148983001708984, "leg_posture": -2.4953229427337646, "standstill": -5.6752824783325195, "action_rate_l2": -0.5714046359062195, "joint_torques_l2": -0.14002461731433868, "dof_pos_limits": -0.001254029804840684, "terminated": -0.015356284566223621, "unnecessary_wheel_lift": -0.07261817902326584, "rolling_leg_motion": -0.55560302734375, "obstacle_progress": 3.6854515075683594, "wheel_body_intrusion": -0.25866013765335083, "pair_body_intrusion": -0.2889099717140198}, "weighted_reward_terms": {"track_linear_velocity": 1.7704743146896362, "track_angular_velocity": 1.8884356021881104, "upright": 0.9595896601676941, "leg_posture": -0.09521203488111496, "standstill": -0.21654722094535828, "action_rate_l2": -0.02180262841284275, "joint_torques_l2": -0.005342807620763779, "dof_pos_limits": -4.7849014663370326e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.002770833671092987, "rolling_leg_motion": -0.021199699491262436, "obstacle_progress": 0.1406228244304657, "wheel_body_intrusion": -0.009869487956166267, "pair_body_intrusion": -0.011023706756532192}, "episode_termination_rates": {"time_out": 0.4418604651162791, "fell_over": 0.007751937984496124, "course_exit": 0.5116279069767442, "illegal_nonwheel_contact": 0.046511627906976744}, "collection_time_s": 0.07546599011984653, "learning_time_s": 0.18536847710143775, "iteration_time_s": 0.3024000606410784, "policy_updates": 39600, "skipped_updates": 0, "invalid_env_resets": 213, "elapsed_s": 12065.762419579027, "nonwheel_terminations": 13779, "contact_bce": 0.2858531177043915, "contact_force_loss": 0.02047663927078247, "collision_bce": 6.623251101700589e-05, "collision_label_rate": 6.114337884355336e-05, "collision_prediction_mean": 6.792747444706038e-05, "collision_label_count": 16355.0, "terrain_level_mean": 4.180908203125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 13, 27, 46, 81, 243], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1924.0, 423.0, 38.0, 0.0], [1719.0, 396.0, 34.0, 0.0], [1509.0, 347.0, 26.0, 0.0], [1133.0, 263.0, 23.0, 0.0], [1963.0, 453.0, 20.0, 0.0]]}, "up": {"level_counts": [0, 1, 2, 25, 275, 1130], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4660.0, 1716.0, 196.0, 0.0], [6577.0, 1785.0, 168.0, 0.0], [9752.0, 1911.0, 314.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 36, 576], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [974.0, 801.0, 26.0, 0.0], [2012.0, 1653.0, 67.0, 0.0], [12031.0, 10178.0, 299.0, 0.0]]}, "platform": {"level_counts": [10, 17, 45, 88, 136, 114], "episodes_by_level": [[1823.0, 395.0, 52.0, 0.0], [2243.0, 465.0, 94.0, 0.0], [1986.0, 401.0, 88.0, 0.0], [1736.0, 309.0, 63.0, 0.0], [1218.0, 181.0, 59.0, 0.0], [656.0, 62.0, 67.0, 0.0]]}, "slope": {"level_counts": [4, 16, 40, 70, 88, 192], "episodes_by_level": [[1645.0, 350.0, 46.0, 0.0], [2041.0, 420.0, 71.0, 0.0], [1828.0, 390.0, 44.0, 0.0], [1474.0, 299.0, 40.0, 0.0], [1160.0, 231.0, 19.0, 0.0], [1560.0, 280.0, 39.0, 0.0]]}, "rubble": {"level_counts": [19, 91, 182, 238, 196, 93], "episodes_by_level": [[3394.0, 770.0, 101.0, 0.0], [5075.0, 1086.0, 225.0, 0.0], [4848.0, 1014.0, 394.0, 0.0], [3708.0, 638.0, 487.0, 0.0], [1954.0, 246.0, 349.0, 0.0], [621.0, 47.0, 153.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.230712890625, "command_abs_max": [0.9985508918762207, 0.3996042311191559, 0.699906587600708]}
{"step": 39950, "actor_lr": 1.2000770121112726e-05, "archive_windows": 50000, "env_steps": 39950, "total_transitions": 163635200, "num_steps_per_env": 1, "wm_loss": 0.5776048302650452, "actor_loss": -9.493892669677734, "critic_loss": 0.008124316111207008, "reward": 0.08768490701913834, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11445292830467224, 0.07208722084760666, 0.1353570967912674], "mean_episode_length": 1409.7142857142858, "episode_reward_terms": {"track_linear_velocity": 49.963871002197266, "track_angular_velocity": 53.245445251464844, "upright": 27.056102752685547, "leg_posture": -2.639385938644409, "standstill": -6.079209804534912, "action_rate_l2": -0.6045019626617432, "joint_torques_l2": -0.15063704550266266, "dof_pos_limits": -0.0007130823796615005, "terminated": -0.022026780992746353, "unnecessary_wheel_lift": -0.07652238011360168, "rolling_leg_motion": -0.5910294055938721, "obstacle_progress": 4.066036701202393, "wheel_body_intrusion": -0.2725493311882019, "pair_body_intrusion": -0.28424331545829773}, "weighted_reward_terms": {"track_linear_velocity": 1.7721277475357056, "track_angular_velocity": 1.888519287109375, "upright": 0.9596307873725891, "leg_posture": -0.09361422061920166, "standstill": -0.2156185358762741, "action_rate_l2": -0.02144058607518673, "joint_torques_l2": -0.005342822056263685, "dof_pos_limits": -2.5291736164945178e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.002714109607040882, "rolling_leg_motion": -0.02096273936331272, "obstacle_progress": 0.144214928150177, "wheel_body_intrusion": -0.009666829369962215, "pair_body_intrusion": -0.010081593878567219}, "episode_termination_rates": {"time_out": 0.5112781954887218, "fell_over": 0.03759398496240601, "course_exit": 0.42857142857142855, "illegal_nonwheel_contact": 0.022556390977443608}, "collection_time_s": 0.0760400050797034, "learning_time_s": 0.18528362103621476, "iteration_time_s": 0.3023486776348933, "policy_updates": 39650, "skipped_updates": 0, "invalid_env_resets": 214, "elapsed_s": 12078.829671513988, "nonwheel_terminations": 13782, "contact_bce": 0.2845161259174347, "contact_force_loss": 0.01991180144250393, "collision_bce": 1.757193786033895e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.7426575141143985e-05, "collision_label_count": 16335.0, "terrain_level_mean": 4.181396484375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 12, 27, 47, 81, 243], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1926.0, 424.0, 38.0, 0.0], [1720.0, 397.0, 34.0, 0.0], [1511.0, 347.0, 26.0, 0.0], [1136.0, 263.0, 23.0, 0.0], [1972.0, 454.0, 20.0, 0.0]]}, "up": {"level_counts": [0, 1, 2, 24, 274, 1132], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4662.0, 1718.0, 196.0, 0.0], [6585.0, 1788.0, 169.0, 0.0], [9775.0, 1915.0, 314.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 38, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [974.0, 801.0, 26.0, 0.0], [2012.0, 1653.0, 67.0, 0.0], [12046.0, 10189.0, 299.0, 0.0]]}, "platform": {"level_counts": [10, 17, 43, 89, 137, 114], "episodes_by_level": [[1823.0, 395.0, 52.0, 0.0], [2244.0, 465.0, 94.0, 0.0], [1991.0, 403.0, 88.0, 0.0], [1739.0, 310.0, 63.0, 0.0], [1219.0, 181.0, 59.0, 0.0], [661.0, 63.0, 67.0, 0.0]]}, "slope": {"level_counts": [4, 16, 40, 70, 89, 191], "episodes_by_level": [[1645.0, 350.0, 46.0, 0.0], [2042.0, 420.0, 71.0, 0.0], [1830.0, 390.0, 44.0, 0.0], [1475.0, 299.0, 40.0, 0.0], [1167.0, 231.0, 19.0, 0.0], [1567.0, 281.0, 40.0, 0.0]]}, "rubble": {"level_counts": [19, 92, 181, 239, 196, 92], "episodes_by_level": [[3394.0, 770.0, 101.0, 0.0], [5076.0, 1086.0, 225.0, 0.0], [4851.0, 1014.0, 395.0, 0.0], [3713.0, 638.0, 487.0, 0.0], [1959.0, 246.0, 350.0, 0.0], [626.0, 47.0, 154.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.235107421875, "command_abs_max": [0.9969567060470581, 0.3996042311191559, 0.6997446417808533]}
{"step": 40000, "actor_lr": 1.2000000296088133e-05, "archive_windows": 50000, "env_steps": 40000, "total_transitions": 163840000, "num_steps_per_env": 1, "wm_loss": 0.576941967010498, "actor_loss": -9.495137214660645, "critic_loss": 0.008398616686463356, "reward": 0.08749869465827942, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11596512794494629, 0.0726664736866951, 0.13474301993846893], "mean_episode_length": 1386.287356321839, "episode_reward_terms": {"track_linear_velocity": 49.0403938293457, "track_angular_velocity": 52.385589599609375, "upright": 26.617624282836914, "leg_posture": -2.5635077953338623, "standstill": -6.217228889465332, "action_rate_l2": -0.5975531935691833, "joint_torques_l2": -0.14849209785461426, "dof_pos_limits": -0.0007143267430365086, "terminated": -0.024368328973650932, "unnecessary_wheel_lift": -0.09795820713043213, "rolling_leg_motion": -0.5855294466018677, "obstacle_progress": 4.018936634063721, "wheel_body_intrusion": -0.2522488534450531, "pair_body_intrusion": -0.27663499116897583}, "weighted_reward_terms": {"track_linear_velocity": 1.7687673568725586, "track_angular_velocity": 1.8894203901290894, "upright": 0.9600327610969543, "leg_posture": -0.09245947003364563, "standstill": -0.2242402583360672, "action_rate_l2": -0.02155228517949581, "joint_torques_l2": -0.0053557478822767735, "dof_pos_limits": -2.5764020392671227e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.0035331135150045156, "rolling_leg_motion": -0.021118616685271263, "obstacle_progress": 0.14495323598384857, "wheel_body_intrusion": -0.009097999893128872, "pair_body_intrusion": -0.009977549314498901}, "episode_termination_rates": {"time_out": 0.4885057471264368, "fell_over": 0.017241379310344827, "course_exit": 0.45977011494252873, "illegal_nonwheel_contact": 0.04597701149425287}, "collection_time_s": 0.07570676454110072, "learning_time_s": 0.1855206003971398, "iteration_time_s": 0.30229730288809953, "policy_updates": 39700, "skipped_updates": 0, "invalid_env_resets": 214, "elapsed_s": 12091.89211552398, "nonwheel_terminations": 13790, "contact_bce": 0.2905033826828003, "contact_force_loss": 0.021096082404255867, "collision_bce": 1.5850100680836476e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.5849725969019346e-05, "collision_label_count": 16368.0, "terrain_level_mean": 4.18310546875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 12, 27, 47, 81, 243], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1927.0, 424.0, 38.0, 0.0], [1722.0, 397.0, 34.0, 0.0], [1512.0, 347.0, 26.0, 0.0], [1143.0, 263.0, 23.0, 0.0], [1981.0, 457.0, 20.0, 0.0]]}, "up": {"level_counts": [0, 1, 2, 24, 272, 1134], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4663.0, 1718.0, 196.0, 0.0], [6591.0, 1792.0, 169.0, 0.0], [9811.0, 1921.0, 315.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 40, 573], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [975.0, 802.0, 26.0, 0.0], [2014.0, 1655.0, 67.0, 0.0], [12067.0, 10208.0, 299.0, 0.0]]}, "platform": {"level_counts": [10, 17, 43, 88, 138, 114], "episodes_by_level": [[1823.0, 395.0, 52.0, 0.0], [2245.0, 465.0, 94.0, 0.0], [1992.0, 403.0, 88.0, 0.0], [1743.0, 311.0, 63.0, 0.0], [1224.0, 181.0, 59.0, 0.0], [665.0, 64.0, 67.0, 0.0]]}, "slope": {"level_counts": [4, 16, 40, 71, 88, 191], "episodes_by_level": [[1645.0, 350.0, 46.0, 0.0], [2042.0, 420.0, 71.0, 0.0], [1832.0, 390.0, 44.0, 0.0], [1476.0, 299.0, 40.0, 0.0], [1171.0, 231.0, 20.0, 0.0], [1574.0, 281.0, 40.0, 0.0]]}, "rubble": {"level_counts": [19, 92, 177, 243, 195, 93], "episodes_by_level": [[3394.0, 770.0, 101.0, 0.0], [5077.0, 1086.0, 225.0, 0.0], [4856.0, 1018.0, 395.0, 0.0], [3721.0, 641.0, 487.0, 0.0], [1969.0, 247.0, 353.0, 0.0], [628.0, 47.0, 154.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.236328125, "command_abs_max": [0.9994668960571289, 0.3996042311191559, 0.6997446417808533]}
{"step": 40050, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 40050, "total_transitions": 164044800, "num_steps_per_env": 1, "wm_loss": 0.5735059976577759, "actor_loss": -9.511237144470215, "critic_loss": 0.004639212042093277, "reward": 0.08741865307092667, "falls": 9, "interval_steps": 50, "velocity_mae": [0.1162986010313034, 0.07165548950433731, 0.13468037545681], "mean_episode_length": 1369.7657142857142, "episode_reward_terms": {"track_linear_velocity": 48.45906066894531, "track_angular_velocity": 51.752952575683594, "upright": 26.31612777709961, "leg_posture": -2.540214776992798, "standstill": -6.122428894042969, "action_rate_l2": -0.5887002944946289, "joint_torques_l2": -0.14729182422161102, "dof_pos_limits": -0.0002406615822110325, "terminated": -0.02407790906727314, "unnecessary_wheel_lift": -0.08799304813146591, "rolling_leg_motion": -0.5937010049819946, "obstacle_progress": 3.8494374752044678, "wheel_body_intrusion": -0.2591007947921753, "pair_body_intrusion": -0.27075448632240295}, "weighted_reward_terms": {"track_linear_velocity": 1.7688813209533691, "track_angular_velocity": 1.889116883277893, "upright": 0.9606068730354309, "leg_posture": -0.09272442758083344, "standstill": -0.22348451614379883, "action_rate_l2": -0.021489087492227554, "joint_torques_l2": -0.005376533605158329, "dof_pos_limits": -8.784772035141941e-06, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.0032119746319949627, "rolling_leg_motion": -0.021671626716852188, "obstacle_progress": 0.14051444828510284, "wheel_body_intrusion": -0.009457850828766823, "pair_body_intrusion": -0.009883240796625614}, "episode_termination_rates": {"time_out": 0.49142857142857144, "fell_over": 0.02857142857142857, "course_exit": 0.45714285714285713, "illegal_nonwheel_contact": 0.04}, "collection_time_s": 0.07582797204260715, "learning_time_s": 0.18459212859976104, "iteration_time_s": 0.302245736399226, "policy_updates": 39750, "skipped_updates": 0, "invalid_env_resets": 214, "elapsed_s": 12104.941742789, "nonwheel_terminations": 13797, "contact_bce": 0.28921470046043396, "contact_force_loss": 0.02097144164144993, "collision_bce": 0.0001753493124851957, "collision_label_rate": 6.122948980191723e-05, "collision_prediction_mean": 1.7575506717548706e-05, "collision_label_count": 16332.0, "terrain_level_mean": 4.183837890625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 12, 27, 47, 81, 243], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1927.0, 424.0, 38.0, 0.0], [1723.0, 397.0, 34.0, 0.0], [1515.0, 347.0, 26.0, 0.0], [1147.0, 263.0, 23.0, 0.0], [1987.0, 458.0, 20.0, 0.0]]}, "up": {"level_counts": [0, 1, 2, 24, 272, 1134], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4663.0, 1718.0, 196.0, 0.0], [6601.0, 1794.0, 169.0, 0.0], [9847.0, 1927.0, 316.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 41, 572], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [975.0, 802.0, 26.0, 0.0], [2015.0, 1656.0, 67.0, 0.0], [12089.0, 10227.0, 300.0, 0.0]]}, "platform": {"level_counts": [10, 17, 43, 88, 137, 115], "episodes_by_level": [[1823.0, 395.0, 52.0, 0.0], [2245.0, 465.0, 94.0, 0.0], [1993.0, 403.0, 88.0, 0.0], [1749.0, 312.0, 63.0, 0.0], [1229.0, 182.0, 60.0, 0.0], [670.0, 64.0, 67.0, 0.0]]}, "slope": {"level_counts": [4, 16, 39, 72, 88, 191], "episodes_by_level": [[1645.0, 350.0, 46.0, 0.0], [2042.0, 420.0, 71.0, 0.0], [1833.0, 391.0, 44.0, 0.0], [1477.0, 299.0, 40.0, 0.0], [1173.0, 231.0, 20.0, 0.0], [1582.0, 282.0, 40.0, 0.0]]}, "rubble": {"level_counts": [18, 93, 176, 243, 197, 92], "episodes_by_level": [[3395.0, 771.0, 101.0, 0.0], [5078.0, 1086.0, 225.0, 0.0], [4860.0, 1020.0, 395.0, 0.0], [3732.0, 644.0, 488.0, 0.0], [1979.0, 247.0, 355.0, 0.0], [630.0, 47.0, 155.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.237548828125, "command_abs_max": [0.9994668960571289, 0.3996042311191559, 0.6997446417808533]}
{"step": 40100, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 40100, "total_transitions": 164249600, "num_steps_per_env": 1, "wm_loss": 0.5764437317848206, "actor_loss": -9.490381240844727, "critic_loss": 0.005144315771758556, "reward": 0.08777707070112228, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11235342174768448, 0.0713888555765152, 0.13397005200386047], "mean_episode_length": 1375.8461538461538, "episode_reward_terms": {"track_linear_velocity": 48.91355895996094, "track_angular_velocity": 52.02123260498047, "upright": 26.436744689941406, "leg_posture": -2.558148145675659, "standstill": -6.046581745147705, "action_rate_l2": -0.5911685824394226, "joint_torques_l2": -0.14711503684520721, "dof_pos_limits": -0.0007796721765771508, "terminated": -0.026871992275118828, "unnecessary_wheel_lift": -0.07458151131868362, "rolling_leg_motion": -0.5885249972343445, "obstacle_progress": 3.9404358863830566, "wheel_body_intrusion": -0.24803631007671356, "pair_body_intrusion": -0.26241636276245117}, "weighted_reward_terms": {"track_linear_velocity": 1.777580976486206, "track_angular_velocity": 1.8905178308486938, "upright": 0.9607449769973755, "leg_posture": -0.09296635538339615, "standstill": -0.21974046528339386, "action_rate_l2": -0.02148381993174553, "joint_torques_l2": -0.005346347577869892, "dof_pos_limits": -2.8334277885733172e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.002710387110710144, "rolling_leg_motion": -0.021387746557593346, "obstacle_progress": 0.14320045709609985, "wheel_body_intrusion": -0.009013954550027847, "pair_body_intrusion": -0.009536544792354107}, "episode_termination_rates": {"time_out": 0.48951048951048953, "fell_over": 0.03496503496503497, "course_exit": 0.4405594405594406, "illegal_nonwheel_contact": 0.03496503496503497}, "collection_time_s": 0.07544113776064477, "learning_time_s": 0.18419976243865677, "iteration_time_s": 0.30219264079850316, "policy_updates": 39800, "skipped_updates": 0, "invalid_env_resets": 214, "elapsed_s": 12117.924896019977, "nonwheel_terminations": 13802, "contact_bce": 0.2952396273612976, "contact_force_loss": 0.020553121343255043, "collision_bce": 0.00026810899726115167, "collision_label_rate": 6.114337884355336e-05, "collision_prediction_mean": 3.271410605520941e-05, "collision_label_count": 16355.0, "terrain_level_mean": 4.18408203125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 12, 27, 47, 80, 244], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1928.0, 424.0, 38.0, 0.0], [1723.0, 397.0, 34.0, 0.0], [1517.0, 347.0, 26.0, 0.0], [1148.0, 264.0, 23.0, 0.0], [1993.0, 461.0, 20.0, 0.0]]}, "up": {"level_counts": [0, 1, 2, 24, 276, 1130], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4664.0, 1718.0, 196.0, 0.0], [6606.0, 1795.0, 169.0, 0.0], [9876.0, 1936.0, 318.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 43, 570], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [975.0, 802.0, 26.0, 0.0], [2015.0, 1656.0, 67.0, 0.0], [12105.0, 10241.0, 300.0, 0.0]]}, "platform": {"level_counts": [10, 16, 43, 88, 138, 115], "episodes_by_level": [[1823.0, 395.0, 52.0, 0.0], [2247.0, 466.0, 94.0, 0.0], [1996.0, 404.0, 88.0, 0.0], [1751.0, 313.0, 63.0, 0.0], [1233.0, 182.0, 60.0, 0.0], [672.0, 64.0, 67.0, 0.0]]}, "slope": {"level_counts": [4, 16, 39, 72, 87, 192], "episodes_by_level": [[1646.0, 350.0, 46.0, 0.0], [2042.0, 420.0, 71.0, 0.0], [1833.0, 391.0, 44.0, 0.0], [1478.0, 299.0, 40.0, 0.0], [1178.0, 232.0, 20.0, 0.0], [1589.0, 282.0, 40.0, 0.0]]}, "rubble": {"level_counts": [17, 95, 175, 242, 197, 93], "episodes_by_level": [[3397.0, 772.0, 101.0, 0.0], [5079.0, 1086.0, 225.0, 0.0], [4866.0, 1020.0, 396.0, 0.0], [3740.0, 646.0, 488.0, 0.0], [1987.0, 249.0, 356.0, 0.0], [633.0, 48.0, 156.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.237060546875, "command_abs_max": [0.9994668960571289, 0.3996042311191559, 0.6999112963676453]}
{"step": 40150, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 40150, "total_transitions": 164454400, "num_steps_per_env": 1, "wm_loss": 0.6297825574874878, "actor_loss": -9.5383882522583, "critic_loss": 0.006887840572744608, "reward": 0.08770047128200531, "falls": 2, "interval_steps": 50, "velocity_mae": [0.1126357913017273, 0.07149803638458252, 0.1333695352077484], "mean_episode_length": 1376.7734806629835, "episode_reward_terms": {"track_linear_velocity": 48.954185485839844, "track_angular_velocity": 52.08730697631836, "upright": 26.409950256347656, "leg_posture": -2.595902919769287, "standstill": -6.055631160736084, "action_rate_l2": -0.5856991410255432, "joint_torques_l2": -0.14783327281475067, "dof_pos_limits": -0.00102496228646487, "terminated": -0.005378020461648703, "unnecessary_wheel_lift": -0.09663447737693787, "rolling_leg_motion": -0.6003550887107849, "obstacle_progress": 3.9399917125701904, "wheel_body_intrusion": -0.27076780796051025, "pair_body_intrusion": -0.2885177433490753}, "weighted_reward_terms": {"track_linear_velocity": 1.7778592109680176, "track_angular_velocity": 1.8916441202163696, "upright": 0.9591248035430908, "leg_posture": -0.09427487850189209, "standstill": -0.21992112696170807, "action_rate_l2": -0.021270716562867165, "joint_torques_l2": -0.005368830636143684, "dof_pos_limits": -3.722334804479033e-05, "terminated": -0.0001953124738065526, "unnecessary_wheel_lift": -0.0035094546619802713, "rolling_leg_motion": -0.02180297300219536, "obstacle_progress": 0.14308787882328033, "wheel_body_intrusion": -0.00983341969549656, "pair_body_intrusion": -0.01047804020345211}, "episode_termination_rates": {"time_out": 0.4861878453038674, "fell_over": 0.0055248618784530384, "course_exit": 0.5027624309392266, "illegal_nonwheel_contact": 0.0055248618784530384}, "collection_time_s": 0.07595327203976922, "learning_time_s": 0.18316318987985142, "iteration_time_s": 0.30213902536082166, "policy_updates": 39850, "skipped_updates": 0, "invalid_env_resets": 215, "elapsed_s": 12130.88186823699, "nonwheel_terminations": 13803, "contact_bce": 0.29044389724731445, "contact_force_loss": 0.021114207804203033, "collision_bce": 0.00036089218338020146, "collision_label_rate": 6.125949585111812e-05, "collision_prediction_mean": 1.4998380720498972e-05, "collision_label_count": 16324.0, "terrain_level_mean": 4.1875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 11, 28, 47, 80, 244], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1929.0, 425.0, 38.0, 0.0], [1723.0, 397.0, 34.0, 0.0], [1518.0, 347.0, 26.0, 0.0], [1151.0, 264.0, 23.0, 0.0], [2007.0, 462.0, 20.0, 0.0]]}, "up": {"level_counts": [0, 1, 2, 24, 274, 1132], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4664.0, 1718.0, 196.0, 0.0], [6612.0, 1797.0, 169.0, 0.0], [9916.0, 1941.0, 318.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 42, 571], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [975.0, 802.0, 26.0, 0.0], [2017.0, 1658.0, 67.0, 0.0], [12129.0, 10263.0, 301.0, 0.0]]}, "platform": {"level_counts": [10, 16, 43, 87, 139, 115], "episodes_by_level": [[1823.0, 395.0, 52.0, 0.0], [2247.0, 466.0, 94.0, 0.0], [1999.0, 404.0, 88.0, 0.0], [1754.0, 314.0, 63.0, 0.0], [1238.0, 182.0, 60.0, 0.0], [673.0, 65.0, 67.0, 0.0]]}, "slope": {"level_counts": [4, 16, 39, 71, 86, 194], "episodes_by_level": [[1646.0, 350.0, 46.0, 0.0], [2042.0, 420.0, 71.0, 0.0], [1833.0, 391.0, 44.0, 0.0], [1481.0, 300.0, 40.0, 0.0], [1183.0, 234.0, 20.0, 0.0], [1597.0, 284.0, 40.0, 0.0]]}, "rubble": {"level_counts": [16, 96, 173, 242, 198, 94], "episodes_by_level": [[3399.0, 773.0, 101.0, 0.0], [5082.0, 1086.0, 225.0, 0.0], [4876.0, 1023.0, 396.0, 0.0], [3750.0, 648.0, 489.0, 0.0], [1991.0, 250.0, 356.0, 0.0], [635.0, 48.0, 156.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23974609375, "command_abs_max": [0.9994668960571289, 0.3996042311191559, 0.6999112963676453]}
{"step": 40200, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 40200, "total_transitions": 164659200, "num_steps_per_env": 1, "wm_loss": 0.5695598721504211, "actor_loss": -9.517032623291016, "critic_loss": 0.00530488695949316, "reward": 0.08731767535209656, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11413516849279404, 0.07158961892127991, 0.13455790281295776], "mean_episode_length": 1334.3790849673203, "episode_reward_terms": {"track_linear_velocity": 47.35005569458008, "track_angular_velocity": 50.4151496887207, "upright": 25.587160110473633, "leg_posture": -2.526484727859497, "standstill": -6.076252460479736, "action_rate_l2": -0.568293035030365, "joint_torques_l2": -0.14300008118152618, "dof_pos_limits": -0.0007550027221441269, "terminated": -0.023455878719687462, "unnecessary_wheel_lift": -0.09396762400865555, "rolling_leg_motion": -0.576299250125885, "obstacle_progress": 3.7783162593841553, "wheel_body_intrusion": -0.2797001302242279, "pair_body_intrusion": -0.32759010791778564}, "weighted_reward_terms": {"track_linear_velocity": 1.7742356061935425, "track_angular_velocity": 1.8890866041183472, "upright": 0.9587666392326355, "leg_posture": -0.0946689322590828, "standstill": -0.22768090665340424, "action_rate_l2": -0.02129429019987583, "joint_torques_l2": -0.0053583006374537945, "dof_pos_limits": -2.829041659424547e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.0035210244823247194, "rolling_leg_motion": -0.02159428782761097, "obstacle_progress": 0.14157582819461823, "wheel_body_intrusion": -0.010480535216629505, "pair_body_intrusion": -0.012275001965463161}, "episode_termination_rates": {"time_out": 0.43790849673202614, "fell_over": 0.026143790849673203, "course_exit": 0.5032679738562091, "illegal_nonwheel_contact": 0.0392156862745098}, "collection_time_s": 0.07557106294087135, "learning_time_s": 0.1839851920027286, "iteration_time_s": 0.3020860895185079, "policy_updates": 39900, "skipped_updates": 0, "invalid_env_resets": 215, "elapsed_s": 12143.860798644018, "nonwheel_terminations": 13809, "contact_bce": 0.2853507399559021, "contact_force_loss": 0.020442113280296326, "collision_bce": 8.310129487654194e-05, "collision_label_rate": 6.127075903350487e-05, "collision_prediction_mean": 8.856919157551602e-05, "collision_label_count": 16321.0, "terrain_level_mean": 4.188232421875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 11, 28, 47, 80, 244], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1930.0, 425.0, 38.0, 0.0], [1723.0, 397.0, 34.0, 0.0], [1521.0, 347.0, 26.0, 0.0], [1152.0, 264.0, 23.0, 0.0], [2013.0, 465.0, 20.0, 0.0]]}, "up": {"level_counts": [0, 1, 2, 24, 274, 1132], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4665.0, 1718.0, 196.0, 0.0], [6621.0, 1799.0, 169.0, 0.0], [9941.0, 1945.0, 319.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 40, 573], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [975.0, 802.0, 26.0, 0.0], [2020.0, 1661.0, 67.0, 0.0], [12155.0, 10285.0, 301.0, 0.0]]}, "platform": {"level_counts": [10, 16, 43, 86, 140, 115], "episodes_by_level": [[1823.0, 395.0, 52.0, 0.0], [2248.0, 466.0, 94.0, 0.0], [2001.0, 404.0, 88.0, 0.0], [1759.0, 315.0, 63.0, 0.0], [1244.0, 182.0, 60.0, 0.0], [675.0, 66.0, 67.0, 0.0]]}, "slope": {"level_counts": [4, 16, 39, 71, 85, 195], "episodes_by_level": [[1646.0, 350.0, 46.0, 0.0], [2044.0, 420.0, 71.0, 0.0], [1834.0, 391.0, 44.0, 0.0], [1482.0, 300.0, 40.0, 0.0], [1186.0, 235.0, 20.0, 0.0], [1600.0, 284.0, 40.0, 0.0]]}, "rubble": {"level_counts": [16, 96, 175, 242, 193, 97], "episodes_by_level": [[3401.0, 773.0, 101.0, 0.0], [5088.0, 1087.0, 225.0, 0.0], [4881.0, 1024.0, 397.0, 0.0], [3755.0, 648.0, 492.0, 0.0], [2002.0, 253.0, 358.0, 0.0], [636.0, 48.0, 156.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.239013671875, "command_abs_max": [0.9994668960571289, 0.399954617023468, 0.6999112963676453]}
{"step": 40250, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 40250, "total_transitions": 164864000, "num_steps_per_env": 1, "wm_loss": 0.5849241018295288, "actor_loss": -9.517322540283203, "critic_loss": 0.004845764022320509, "reward": 0.08746574819087982, "falls": 11, "interval_steps": 50, "velocity_mae": [0.11421418190002441, 0.07110966742038727, 0.13297724723815918], "mean_episode_length": 1356.0532544378698, "episode_reward_terms": {"track_linear_velocity": 48.13234329223633, "track_angular_velocity": 51.319000244140625, "upright": 26.01227569580078, "leg_posture": -2.5076162815093994, "standstill": -6.137485027313232, "action_rate_l2": -0.5826112031936646, "joint_torques_l2": -0.1441180557012558, "dof_pos_limits": -0.00029879697831347585, "terminated": -0.029133953154087067, "unnecessary_wheel_lift": -0.09038896858692169, "rolling_leg_motion": -0.5917989015579224, "obstacle_progress": 3.843312978744507, "wheel_body_intrusion": -0.27927079796791077, "pair_body_intrusion": -0.3359852135181427}, "weighted_reward_terms": {"track_linear_velocity": 1.7747217416763306, "track_angular_velocity": 1.8922193050384521, "upright": 0.95911705493927, "leg_posture": -0.09246010333299637, "standstill": -0.22629956901073456, "action_rate_l2": -0.021481871604919434, "joint_torques_l2": -0.00531387934461236, "dof_pos_limits": -1.1017154974979348e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.0033327958080917597, "rolling_leg_motion": -0.021820638328790665, "obstacle_progress": 0.14170952141284943, "wheel_body_intrusion": -0.010297191329300404, "pair_body_intrusion": -0.012388349510729313}, "episode_termination_rates": {"time_out": 0.4970414201183432, "fell_over": 0.03550295857988166, "course_exit": 0.4378698224852071, "illegal_nonwheel_contact": 0.047337278106508875}, "collection_time_s": 0.07572449363418855, "learning_time_s": 0.18473230452276768, "iteration_time_s": 0.3020344031511051, "policy_updates": 39950, "skipped_updates": 0, "invalid_env_resets": 215, "elapsed_s": 12156.88472683198, "nonwheel_terminations": 13817, "contact_bce": 0.29142114520072937, "contact_force_loss": 0.020339010283350945, "collision_bce": 0.0002920332772191614, "collision_label_rate": 0.00012242898810654879, "collision_prediction_mean": 9.395032247994095e-05, "collision_label_count": 16336.0, "terrain_level_mean": 4.189208984375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 11, 28, 47, 79, 245], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1930.0, 425.0, 38.0, 0.0], [1723.0, 397.0, 34.0, 0.0], [1522.0, 347.0, 26.0, 0.0], [1157.0, 265.0, 23.0, 0.0], [2018.0, 466.0, 20.0, 0.0]]}, "up": {"level_counts": [0, 1, 2, 24, 276, 1130], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4665.0, 1718.0, 196.0, 0.0], [6626.0, 1800.0, 169.0, 0.0], [9972.0, 1956.0, 321.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 36, 577], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [975.0, 802.0, 26.0, 0.0], [2024.0, 1665.0, 67.0, 0.0], [12178.0, 10307.0, 301.0, 0.0]]}, "platform": {"level_counts": [10, 16, 43, 87, 139, 115], "episodes_by_level": [[1824.0, 395.0, 52.0, 0.0], [2249.0, 467.0, 94.0, 0.0], [2004.0, 404.0, 89.0, 0.0], [1761.0, 315.0, 63.0, 0.0], [1250.0, 183.0, 61.0, 0.0], [682.0, 68.0, 68.0, 0.0]]}, "slope": {"level_counts": [4, 16, 39, 71, 85, 195], "episodes_by_level": [[1646.0, 350.0, 46.0, 0.0], [2045.0, 420.0, 71.0, 0.0], [1836.0, 391.0, 44.0, 0.0], [1486.0, 300.0, 40.0, 0.0], [1191.0, 235.0, 20.0, 0.0], [1608.0, 284.0, 40.0, 0.0]]}, "rubble": {"level_counts": [16, 96, 174, 243, 192, 98], "episodes_by_level": [[3402.0, 773.0, 101.0, 0.0], [5089.0, 1088.0, 225.0, 0.0], [4884.0, 1025.0, 398.0, 0.0], [3763.0, 651.0, 492.0, 0.0], [2011.0, 255.0, 361.0, 0.0], [642.0, 48.0, 157.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.239990234375, "command_abs_max": [0.9994668960571289, 0.399954617023468, 0.6999112963676453]}
{"step": 40300, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 40300, "total_transitions": 165068800, "num_steps_per_env": 1, "wm_loss": 0.563801109790802, "actor_loss": -9.510869979858398, "critic_loss": 0.0035217744298279285, "reward": 0.08747333288192749, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11404622346162796, 0.07131171226501465, 0.133871927857399], "mean_episode_length": 1321.4172661870505, "episode_reward_terms": {"track_linear_velocity": 46.90496063232422, "track_angular_velocity": 49.948822021484375, "upright": 25.319110870361328, "leg_posture": -2.4769561290740967, "standstill": -5.930528163909912, "action_rate_l2": -0.55741286277771, "joint_torques_l2": -0.14003773033618927, "dof_pos_limits": -0.0008057949598878622, "terminated": -0.020647140219807625, "unnecessary_wheel_lift": -0.0867403894662857, "rolling_leg_motion": -0.5553574562072754, "obstacle_progress": 3.7027668952941895, "wheel_body_intrusion": -0.27103742957115173, "pair_body_intrusion": -0.24739722907543182}, "weighted_reward_terms": {"track_linear_velocity": 1.7747976779937744, "track_angular_velocity": 1.8899716138839722, "upright": 0.9580286741256714, "leg_posture": -0.09372346848249435, "standstill": -0.22440028190612793, "action_rate_l2": -0.021091479808092117, "joint_torques_l2": -0.005298770498484373, "dof_pos_limits": -3.048980033781845e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.003282096702605486, "rolling_leg_motion": -0.02101370505988598, "obstacle_progress": 0.14010590314865112, "wheel_body_intrusion": -0.010255558416247368, "pair_body_intrusion": -0.009361056610941887}, "episode_termination_rates": {"time_out": 0.4316546762589928, "fell_over": 0.03597122302158273, "course_exit": 0.5107913669064749, "illegal_nonwheel_contact": 0.03597122302158273}, "collection_time_s": 0.07583995889988727, "learning_time_s": 0.18466142817749642, "iteration_time_s": 0.30198290103292796, "policy_updates": 40000, "skipped_updates": 0, "invalid_env_resets": 215, "elapsed_s": 12169.910911626997, "nonwheel_terminations": 13822, "contact_bce": 0.28662338852882385, "contact_force_loss": 0.019898610189557076, "collision_bce": 1.0686590940167662e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.0718582416302525e-05, "collision_label_count": 16361.0, "terrain_level_mean": 4.189697265625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 11, 28, 46, 80, 245], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1930.0, 425.0, 38.0, 0.0], [1723.0, 397.0, 34.0, 0.0], [1523.0, 348.0, 26.0, 0.0], [1158.0, 265.0, 23.0, 0.0], [2025.0, 469.0, 20.0, 0.0]]}, "up": {"level_counts": [0, 1, 2, 25, 278, 1127], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4665.0, 1718.0, 196.0, 0.0], [6631.0, 1800.0, 170.0, 0.0], [10000.0, 1964.0, 321.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 39, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [975.0, 802.0, 26.0, 0.0], [2024.0, 1665.0, 67.0, 0.0], [12203.0, 10327.0, 301.0, 0.0]]}, "platform": {"level_counts": [10, 16, 43, 87, 139, 115], "episodes_by_level": [[1824.0, 395.0, 52.0, 0.0], [2249.0, 467.0, 94.0, 0.0], [2005.0, 404.0, 89.0, 0.0], [1765.0, 315.0, 63.0, 0.0], [1251.0, 183.0, 61.0, 0.0], [682.0, 68.0, 68.0, 0.0]]}, "slope": {"level_counts": [4, 16, 39, 70, 84, 197], "episodes_by_level": [[1646.0, 350.0, 46.0, 0.0], [2045.0, 420.0, 71.0, 0.0], [1838.0, 391.0, 44.0, 0.0], [1490.0, 301.0, 40.0, 0.0], [1195.0, 237.0, 20.0, 0.0], [1610.0, 285.0, 40.0, 0.0]]}, "rubble": {"level_counts": [16, 96, 173, 241, 194, 99], "episodes_by_level": [[3403.0, 773.0, 101.0, 0.0], [5092.0, 1088.0, 225.0, 0.0], [4892.0, 1027.0, 398.0, 0.0], [3774.0, 654.0, 493.0, 0.0], [2014.0, 256.0, 361.0, 0.0], [646.0, 48.0, 157.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.237060546875, "command_abs_max": [0.9994668960571289, 0.399954617023468, 0.6999112963676453]}
{"step": 40350, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 40350, "total_transitions": 165273600, "num_steps_per_env": 1, "wm_loss": 0.5521821975708008, "actor_loss": -9.540826797485352, "critic_loss": 0.004145395942032337, "reward": 0.08728671818971634, "falls": 9, "interval_steps": 50, "velocity_mae": [0.1146460473537445, 0.07049702107906342, 0.13416285812854767], "mean_episode_length": 1373.5032258064516, "episode_reward_terms": {"track_linear_velocity": 48.7280158996582, "track_angular_velocity": 51.90256881713867, "upright": 26.30821418762207, "leg_posture": -2.588487386703491, "standstill": -6.233219146728516, "action_rate_l2": -0.5868036150932312, "joint_torques_l2": -0.14401690661907196, "dof_pos_limits": -0.0010634075151756406, "terminated": -0.024143606424331665, "unnecessary_wheel_lift": -0.09184548258781433, "rolling_leg_motion": -0.5926567316055298, "obstacle_progress": 3.744577169418335, "wheel_body_intrusion": -0.26847606897354126, "pair_body_intrusion": -0.26409590244293213}, "weighted_reward_terms": {"track_linear_velocity": 1.773858904838562, "track_angular_velocity": 1.8894230127334595, "upright": 0.9577049612998962, "leg_posture": -0.09422939270734787, "standstill": -0.22690953314304352, "action_rate_l2": -0.021361567080020905, "joint_torques_l2": -0.005242685787379742, "dof_pos_limits": -3.871150693157688e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.0033434752840548754, "rolling_leg_motion": -0.02157464064657688, "obstacle_progress": 0.13631483912467957, "wheel_body_intrusion": -0.009773405268788338, "pair_body_intrusion": -0.009613952599465847}, "episode_termination_rates": {"time_out": 0.432258064516129, "fell_over": 0.03225806451612903, "course_exit": 0.5096774193548387, "illegal_nonwheel_contact": 0.03870967741935484}, "collection_time_s": 0.07595608588075266, "learning_time_s": 0.19140841210260987, "iteration_time_s": 0.30194003149122695, "policy_updates": 40050, "skipped_updates": 0, "invalid_env_resets": 216, "elapsed_s": 12183.280270671006, "nonwheel_terminations": 13828, "contact_bce": 0.2876850366592407, "contact_force_loss": 0.02025464177131653, "collision_bce": 9.150301048066467e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 8.315880404552445e-05, "collision_label_count": 16338.0, "terrain_level_mean": 4.19091796875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 11, 28, 46, 79, 246], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1930.0, 425.0, 38.0, 0.0], [1723.0, 397.0, 34.0, 0.0], [1524.0, 348.0, 26.0, 0.0], [1161.0, 266.0, 23.0, 0.0], [2031.0, 471.0, 20.0, 0.0]]}, "up": {"level_counts": [0, 1, 2, 24, 281, 1125], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4669.0, 1719.0, 196.0, 0.0], [6639.0, 1800.0, 170.0, 0.0], [10032.0, 1969.0, 322.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 39, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [975.0, 802.0, 26.0, 0.0], [2025.0, 1666.0, 67.0, 0.0], [12224.0, 10346.0, 302.0, 0.0]]}, "platform": {"level_counts": [9, 17, 43, 87, 138, 116], "episodes_by_level": [[1826.0, 396.0, 52.0, 0.0], [2250.0, 467.0, 94.0, 0.0], [2006.0, 404.0, 89.0, 0.0], [1768.0, 315.0, 63.0, 0.0], [1253.0, 184.0, 61.0, 0.0], [687.0, 68.0, 68.0, 0.0]]}, "slope": {"level_counts": [4, 16, 39, 69, 84, 198], "episodes_by_level": [[1646.0, 350.0, 46.0, 0.0], [2045.0, 420.0, 71.0, 0.0], [1839.0, 391.0, 44.0, 0.0], [1491.0, 302.0, 40.0, 0.0], [1198.0, 239.0, 20.0, 0.0], [1615.0, 286.0, 41.0, 0.0]]}, "rubble": {"level_counts": [16, 97, 171, 242, 193, 100], "episodes_by_level": [[3403.0, 773.0, 101.0, 0.0], [5093.0, 1089.0, 225.0, 0.0], [4898.0, 1030.0, 400.0, 0.0], [3785.0, 655.0, 495.0, 0.0], [2021.0, 257.0, 362.0, 0.0], [648.0, 48.0, 157.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2392578125, "command_abs_max": [0.995126485824585, 0.399954617023468, 0.6995933651924133]}
{"step": 40400, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 40400, "total_transitions": 165478400, "num_steps_per_env": 1, "wm_loss": 0.5692534446716309, "actor_loss": -9.510650634765625, "critic_loss": 0.00533243827521801, "reward": 0.08754909038543701, "falls": 8, "interval_steps": 50, "velocity_mae": [0.1132439523935318, 0.07065214961767197, 0.13418267667293549], "mean_episode_length": 1358.0137931034483, "episode_reward_terms": {"track_linear_velocity": 48.28266525268555, "track_angular_velocity": 51.33289337158203, "upright": 25.972665786743164, "leg_posture": -2.5511817932128906, "standstill": -5.968194484710693, "action_rate_l2": -0.5745865106582642, "joint_torques_l2": -0.14472205936908722, "dof_pos_limits": -0.00041726313065737486, "terminated": -0.021218961104750633, "unnecessary_wheel_lift": -0.06897331029176712, "rolling_leg_motion": -0.5783995985984802, "obstacle_progress": 3.7568600177764893, "wheel_body_intrusion": -0.26432251930236816, "pair_body_intrusion": -0.2801838219165802}, "weighted_reward_terms": {"track_linear_velocity": 1.7776942253112793, "track_angular_velocity": 1.8899990320205688, "upright": 0.9562740325927734, "leg_posture": -0.09393063187599182, "standstill": -0.21973983943462372, "action_rate_l2": -0.021155402064323425, "joint_torques_l2": -0.005328445695340633, "dof_pos_limits": -1.536299350846093e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0025394922122359276, "rolling_leg_motion": -0.02129579335451126, "obstacle_progress": 0.1383218765258789, "wheel_body_intrusion": -0.009731953032314777, "pair_body_intrusion": -0.010315941646695137}, "episode_termination_rates": {"time_out": 0.4413793103448276, "fell_over": 0.027586206896551724, "course_exit": 0.503448275862069, "illegal_nonwheel_contact": 0.041379310344827586}, "collection_time_s": 0.07574938934412785, "learning_time_s": 0.18450289723463356, "iteration_time_s": 0.30188846527841573, "policy_updates": 40100, "skipped_updates": 0, "invalid_env_resets": 216, "elapsed_s": 12196.293997247994, "nonwheel_terminations": 13834, "contact_bce": 0.28772181272506714, "contact_force_loss": 0.02045437879860401, "collision_bce": 0.00037889715167693794, "collision_label_rate": 6.122948980191723e-05, "collision_prediction_mean": 0.00010765814658952877, "collision_label_count": 16332.0, "terrain_level_mean": 4.19091796875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 11, 27, 47, 79, 246], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1931.0, 425.0, 38.0, 0.0], [1725.0, 398.0, 34.0, 0.0], [1525.0, 348.0, 26.0, 0.0], [1163.0, 266.0, 23.0, 0.0], [2033.0, 471.0, 20.0, 0.0]]}, "up": {"level_counts": [0, 1, 2, 24, 283, 1123], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4669.0, 1719.0, 196.0, 0.0], [6646.0, 1802.0, 170.0, 0.0], [10068.0, 1974.0, 323.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 38, 575], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [975.0, 802.0, 26.0, 0.0], [2026.0, 1667.0, 67.0, 0.0], [12245.0, 10367.0, 302.0, 0.0]]}, "platform": {"level_counts": [8, 19, 42, 87, 138, 116], "episodes_by_level": [[1827.0, 397.0, 52.0, 0.0], [2250.0, 467.0, 94.0, 0.0], [2008.0, 404.0, 90.0, 0.0], [1769.0, 315.0, 63.0, 0.0], [1257.0, 184.0, 61.0, 0.0], [688.0, 68.0, 68.0, 0.0]]}, "slope": {"level_counts": [4, 16, 39, 69, 84, 198], "episodes_by_level": [[1646.0, 350.0, 46.0, 0.0], [2045.0, 420.0, 71.0, 0.0], [1841.0, 391.0, 44.0, 0.0], [1493.0, 302.0, 40.0, 0.0], [1199.0, 239.0, 20.0, 0.0], [1623.0, 287.0, 41.0, 0.0]]}, "rubble": {"level_counts": [16, 96, 172, 242, 194, 99], "episodes_by_level": [[3403.0, 773.0, 101.0, 0.0], [5097.0, 1090.0, 225.0, 0.0], [4902.0, 1031.0, 400.0, 0.0], [3795.0, 656.0, 496.0, 0.0], [2030.0, 257.0, 363.0, 0.0], [652.0, 49.0, 158.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.24072265625, "command_abs_max": [0.995126485824585, 0.399954617023468, 0.6998680233955383]}
{"step": 40450, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 40450, "total_transitions": 165683200, "num_steps_per_env": 1, "wm_loss": 0.5715527534484863, "actor_loss": -9.52448844909668, "critic_loss": 0.004391809459775686, "reward": 0.0869709923863411, "falls": 6, "interval_steps": 50, "velocity_mae": [0.1165737733244896, 0.07164722681045532, 0.13518111407756805], "mean_episode_length": 1323.8367346938776, "episode_reward_terms": {"track_linear_velocity": 46.860172271728516, "track_angular_velocity": 50.00275421142578, "upright": 25.31304931640625, "leg_posture": -2.4822325706481934, "standstill": -6.2611799240112305, "action_rate_l2": -0.567530632019043, "joint_torques_l2": -0.14182788133621216, "dof_pos_limits": -0.0011049396125599742, "terminated": -0.015513711608946323, "unnecessary_wheel_lift": -0.08523548394441605, "rolling_leg_motion": -0.57444828748703, "obstacle_progress": 3.6050527095794678, "wheel_body_intrusion": -0.2593253552913666, "pair_body_intrusion": -0.25723007321357727}, "weighted_reward_terms": {"track_linear_velocity": 1.769862174987793, "track_angular_velocity": 1.8885544538497925, "upright": 0.9560487270355225, "leg_posture": -0.093751460313797, "standstill": -0.2364785522222519, "action_rate_l2": -0.021435068920254707, "joint_torques_l2": -0.005356697831302881, "dof_pos_limits": -4.1732473619049415e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.0032192596700042486, "rolling_leg_motion": -0.021696342155337334, "obstacle_progress": 0.1361592561006546, "wheel_body_intrusion": -0.009794460609555244, "pair_body_intrusion": -0.009715324267745018}, "episode_termination_rates": {"time_out": 0.4217687074829932, "fell_over": 0.006802721088435374, "course_exit": 0.5374149659863946, "illegal_nonwheel_contact": 0.034013605442176874}, "collection_time_s": 0.07569683712092229, "learning_time_s": 0.1851294581987895, "iteration_time_s": 0.3018377365277633, "policy_updates": 40150, "skipped_updates": 0, "invalid_env_resets": 216, "elapsed_s": 12209.336442548025, "nonwheel_terminations": 13839, "contact_bce": 0.29015377163887024, "contact_force_loss": 0.02084704302251339, "collision_bce": 1.0080870197270997e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.0127855603059288e-05, "collision_label_count": 16334.0, "terrain_level_mean": 4.193115234375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 11, 26, 48, 76, 249], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1931.0, 425.0, 38.0, 0.0], [1726.0, 399.0, 34.0, 0.0], [1526.0, 348.0, 26.0, 0.0], [1167.0, 269.0, 23.0, 0.0], [2041.0, 472.0, 20.0, 0.0]]}, "up": {"level_counts": [0, 1, 2, 24, 282, 1124], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4670.0, 1719.0, 196.0, 0.0], [6655.0, 1804.0, 170.0, 0.0], [10089.0, 1976.0, 324.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 37, 576], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [975.0, 802.0, 26.0, 0.0], [2029.0, 1669.0, 67.0, 0.0], [12272.0, 10392.0, 302.0, 0.0]]}, "platform": {"level_counts": [8, 19, 42, 87, 136, 118], "episodes_by_level": [[1827.0, 397.0, 52.0, 0.0], [2251.0, 467.0, 94.0, 0.0], [2008.0, 404.0, 90.0, 0.0], [1772.0, 315.0, 63.0, 0.0], [1261.0, 186.0, 61.0, 0.0], [691.0, 68.0, 68.0, 0.0]]}, "slope": {"level_counts": [4, 16, 39, 69, 84, 198], "episodes_by_level": [[1646.0, 350.0, 46.0, 0.0], [2045.0, 420.0, 71.0, 0.0], [1842.0, 391.0, 44.0, 0.0], [1497.0, 302.0, 40.0, 0.0], [1199.0, 239.0, 20.0, 0.0], [1629.0, 288.0, 41.0, 0.0]]}, "rubble": {"level_counts": [16, 96, 173, 239, 196, 99], "episodes_by_level": [[3403.0, 773.0, 101.0, 0.0], [5100.0, 1090.0, 225.0, 0.0], [4909.0, 1033.0, 400.0, 0.0], [3806.0, 658.0, 499.0, 0.0], [2034.0, 258.0, 363.0, 0.0], [655.0, 50.0, 159.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.240234375, "command_abs_max": [0.9967675805091858, 0.399954617023468, 0.6998680233955383]}
{"step": 40500, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 40500, "total_transitions": 165888000, "num_steps_per_env": 1, "wm_loss": 0.5704650282859802, "actor_loss": -9.508180618286133, "critic_loss": 0.004561196081340313, "reward": 0.08693802356719971, "falls": 11, "interval_steps": 50, "velocity_mae": [0.11715131998062134, 0.07188564538955688, 0.13488900661468506], "mean_episode_length": 1358.090909090909, "episode_reward_terms": {"track_linear_velocity": 48.034786224365234, "track_angular_velocity": 51.293888092041016, "upright": 25.95166778564453, "leg_posture": -2.589390754699707, "standstill": -6.38104772567749, "action_rate_l2": -0.5779471397399902, "joint_torques_l2": -0.14667941629886627, "dof_pos_limits": -0.0009617474279366434, "terminated": -0.02917773276567459, "unnecessary_wheel_lift": -0.09725026041269302, "rolling_leg_motion": -0.5811921954154968, "obstacle_progress": 3.759805202484131, "wheel_body_intrusion": -0.27012279629707336, "pair_body_intrusion": -0.2966304123401642}, "weighted_reward_terms": {"track_linear_velocity": 1.7684671878814697, "track_angular_velocity": 1.8884556293487549, "upright": 0.9554466605186462, "leg_posture": -0.09533201158046722, "standstill": -0.23492711782455444, "action_rate_l2": -0.02127792499959469, "joint_torques_l2": -0.005400205962359905, "dof_pos_limits": -3.54080657416489e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.003580403281375766, "rolling_leg_motion": -0.02139739692211151, "obstacle_progress": 0.13842244446277618, "wheel_body_intrusion": -0.009944945573806763, "pair_body_intrusion": -0.010920860804617405}, "episode_termination_rates": {"time_out": 0.42207792207792205, "fell_over": 0.045454545454545456, "course_exit": 0.5064935064935064, "illegal_nonwheel_contact": 0.03896103896103896}, "collection_time_s": 0.0763470621558372, "learning_time_s": 0.18497960344539024, "iteration_time_s": 0.301787750917803, "policy_updates": 40200, "skipped_updates": 0, "invalid_env_resets": 218, "elapsed_s": 12222.403912171023, "nonwheel_terminations": 13845, "contact_bce": 0.2887493073940277, "contact_force_loss": 0.02118159830570221, "collision_bce": 7.299188837350812e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 7.358265520451823e-06, "collision_label_count": 16341.0, "terrain_level_mean": 4.193359375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 11, 25, 49, 75, 250], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1931.0, 425.0, 38.0, 0.0], [1729.0, 400.0, 34.0, 0.0], [1527.0, 348.0, 26.0, 0.0], [1170.0, 270.0, 23.0, 0.0], [2049.0, 475.0, 20.0, 0.0]]}, "up": {"level_counts": [0, 1, 2, 24, 281, 1125], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4670.0, 1719.0, 196.0, 0.0], [6664.0, 1806.0, 170.0, 0.0], [10124.0, 1982.0, 325.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 41, 572], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [975.0, 802.0, 26.0, 0.0], [2029.0, 1669.0, 67.0, 0.0], [12297.0, 10411.0, 303.0, 0.0]]}, "platform": {"level_counts": [8, 19, 43, 86, 134, 120], "episodes_by_level": [[1827.0, 397.0, 52.0, 0.0], [2252.0, 467.0, 94.0, 0.0], [2009.0, 404.0, 90.0, 0.0], [1775.0, 315.0, 64.0, 0.0], [1267.0, 188.0, 61.0, 0.0], [697.0, 70.0, 68.0, 0.0]]}, "slope": {"level_counts": [4, 16, 39, 69, 85, 197], "episodes_by_level": [[1646.0, 350.0, 46.0, 0.0], [2045.0, 420.0, 71.0, 0.0], [1842.0, 391.0, 44.0, 0.0], [1499.0, 302.0, 40.0, 0.0], [1201.0, 240.0, 20.0, 0.0], [1638.0, 291.0, 43.0, 0.0]]}, "rubble": {"level_counts": [16, 95, 174, 238, 197, 99], "episodes_by_level": [[3403.0, 773.0, 101.0, 0.0], [5105.0, 1092.0, 225.0, 0.0], [4917.0, 1034.0, 401.0, 0.0], [3811.0, 659.0, 500.0, 0.0], [2038.0, 259.0, 363.0, 0.0], [657.0, 50.0, 160.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23974609375, "command_abs_max": [0.9967675805091858, 0.3999374806880951, 0.6998680233955383]}
{"step": 40550, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 40550, "total_transitions": 166092800, "num_steps_per_env": 1, "wm_loss": 0.597989559173584, "actor_loss": -9.503252983093262, "critic_loss": 0.005410838406533003, "reward": 0.08725407719612122, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11487224698066711, 0.07172948867082596, 0.13454540073871613], "mean_episode_length": 1364.2867647058824, "episode_reward_terms": {"track_linear_velocity": 48.347469329833984, "track_angular_velocity": 51.545196533203125, "upright": 26.103517532348633, "leg_posture": -2.5638649463653564, "standstill": -6.244539260864258, "action_rate_l2": -0.5827435851097107, "joint_torques_l2": -0.14651115238666534, "dof_pos_limits": -0.0009364398429170251, "terminated": -0.015987733379006386, "unnecessary_wheel_lift": -0.0767187625169754, "rolling_leg_motion": -0.5606665015220642, "obstacle_progress": 3.8043036460876465, "wheel_body_intrusion": -0.26004332304000854, "pair_body_intrusion": -0.3089241087436676}, "weighted_reward_terms": {"track_linear_velocity": 1.7718955278396606, "track_angular_velocity": 1.8890894651412964, "upright": 0.956672728061676, "leg_posture": -0.09396357089281082, "standstill": -0.22885730862617493, "action_rate_l2": -0.021357079967856407, "joint_torques_l2": -0.0053695146925747395, "dof_pos_limits": -3.4319760743528605e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.0028116803150624037, "rolling_leg_motion": -0.02054797299206257, "obstacle_progress": 0.1394246369600296, "wheel_body_intrusion": -0.009530376642942429, "pair_body_intrusion": -0.01132181752473116}, "episode_termination_rates": {"time_out": 0.4852941176470588, "fell_over": 0.029411764705882353, "course_exit": 0.47058823529411764, "illegal_nonwheel_contact": 0.014705882352941176}, "collection_time_s": 0.07557917080470361, "learning_time_s": 0.18595772361615673, "iteration_time_s": 0.3018860024413319, "policy_updates": 40250, "skipped_updates": 0, "invalid_env_resets": 218, "elapsed_s": 12241.477398996009, "nonwheel_terminations": 13847, "contact_bce": 0.2847195267677307, "contact_force_loss": 0.0200052410364151, "collision_bce": 0.00029595085652545094, "collision_label_rate": 0.00012230919674038887, "collision_prediction_mean": 3.984860813943669e-05, "collision_label_count": 16352.0, "terrain_level_mean": 4.194091796875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 11, 25, 50, 74, 250], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1932.0, 425.0, 38.0, 0.0], [1730.0, 400.0, 34.0, 0.0], [1527.0, 348.0, 26.0, 0.0], [1174.0, 270.0, 24.0, 0.0], [2058.0, 478.0, 20.0, 0.0]]}, "up": {"level_counts": [0, 1, 2, 24, 280, 1126], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4670.0, 1719.0, 196.0, 0.0], [6676.0, 1808.0, 170.0, 0.0], [10150.0, 1989.0, 325.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 41, 572], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [975.0, 802.0, 26.0, 0.0], [2029.0, 1669.0, 67.0, 0.0], [12318.0, 10429.0, 303.0, 0.0]]}, "platform": {"level_counts": [8, 19, 43, 86, 133, 121], "episodes_by_level": [[1827.0, 397.0, 52.0, 0.0], [2252.0, 467.0, 94.0, 0.0], [2009.0, 404.0, 90.0, 0.0], [1775.0, 315.0, 64.0, 0.0], [1274.0, 189.0, 61.0, 0.0], [701.0, 70.0, 68.0, 0.0]]}, "slope": {"level_counts": [4, 16, 38, 70, 85, 197], "episodes_by_level": [[1646.0, 350.0, 46.0, 0.0], [2045.0, 420.0, 71.0, 0.0], [1843.0, 392.0, 44.0, 0.0], [1502.0, 302.0, 40.0, 0.0], [1202.0, 240.0, 20.0, 0.0], [1643.0, 291.0, 43.0, 0.0]]}, "rubble": {"level_counts": [16, 95, 174, 237, 198, 99], "episodes_by_level": [[3404.0, 773.0, 101.0, 0.0], [5109.0, 1092.0, 225.0, 0.0], [4921.0, 1037.0, 401.0, 0.0], [3820.0, 660.0, 503.0, 0.0], [2046.0, 260.0, 363.0, 0.0], [658.0, 50.0, 161.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23583984375, "command_abs_max": [0.9967675805091858, 0.3999374806880951, 0.6998680233955383]}
{"step": 40600, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 40600, "total_transitions": 166297600, "num_steps_per_env": 1, "wm_loss": 0.5909641981124878, "actor_loss": -9.49650764465332, "critic_loss": 0.003976797219365835, "reward": 0.0872972384095192, "falls": 11, "interval_steps": 50, "velocity_mae": [0.11669530719518661, 0.07198693603277206, 0.13437367975711823], "mean_episode_length": 1319.9354838709678, "episode_reward_terms": {"track_linear_velocity": 46.692626953125, "track_angular_velocity": 49.87979507446289, "upright": 25.253326416015625, "leg_posture": -2.4697041511535645, "standstill": -5.893813610076904, "action_rate_l2": -0.5626878142356873, "joint_torques_l2": -0.14327532052993774, "dof_pos_limits": -0.00028971116989851, "terminated": -0.028357984498143196, "unnecessary_wheel_lift": -0.07749267667531967, "rolling_leg_motion": -0.5502920150756836, "obstacle_progress": 3.6809885501861572, "wheel_body_intrusion": -0.2678055763244629, "pair_body_intrusion": -0.2863147556781769}, "weighted_reward_terms": {"track_linear_velocity": 1.7687466144561768, "track_angular_velocity": 1.8894786834716797, "upright": 0.956612229347229, "leg_posture": -0.09355398267507553, "standstill": -0.22326144576072693, "action_rate_l2": -0.02131497487425804, "joint_torques_l2": -0.005427361465990543, "dof_pos_limits": -1.0974445103784092e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.002935472410172224, "rolling_leg_motion": -0.020845413208007812, "obstacle_progress": 0.1394382119178772, "wheel_body_intrusion": -0.01014464721083641, "pair_body_intrusion": -0.010845786891877651}, "episode_termination_rates": {"time_out": 0.44516129032258067, "fell_over": 0.01935483870967742, "course_exit": 0.4838709677419355, "illegal_nonwheel_contact": 0.05161290322580645}, "collection_time_s": 0.07567991264397278, "learning_time_s": 0.18457287317723967, "iteration_time_s": 0.3018347562121682, "policy_updates": 40300, "skipped_updates": 0, "invalid_env_resets": 218, "elapsed_s": 12254.49110221403, "nonwheel_terminations": 13855, "contact_bce": 0.28833624720573425, "contact_force_loss": 0.02037568762898445, "collision_bce": 0.0003259047807659954, "collision_label_rate": 0.00012263919052202255, "collision_prediction_mean": 0.00012157513992860913, "collision_label_count": 16308.0, "terrain_level_mean": 4.194580078125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 11, 24, 51, 73, 251], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1933.0, 425.0, 38.0, 0.0], [1731.0, 401.0, 34.0, 0.0], [1527.0, 348.0, 26.0, 0.0], [1178.0, 271.0, 24.0, 0.0], [2072.0, 483.0, 20.0, 0.0]]}, "up": {"level_counts": [0, 1, 2, 24, 282, 1124], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4671.0, 1719.0, 196.0, 0.0], [6687.0, 1808.0, 170.0, 0.0], [10185.0, 1995.0, 326.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 42, 571], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [975.0, 802.0, 26.0, 0.0], [2030.0, 1670.0, 67.0, 0.0], [12334.0, 10442.0, 304.0, 0.0]]}, "platform": {"level_counts": [8, 19, 43, 84, 136, 120], "episodes_by_level": [[1828.0, 397.0, 52.0, 0.0], [2253.0, 467.0, 94.0, 0.0], [2009.0, 404.0, 90.0, 0.0], [1779.0, 317.0, 64.0, 0.0], [1276.0, 189.0, 61.0, 0.0], [706.0, 71.0, 69.0, 0.0]]}, "slope": {"level_counts": [4, 16, 38, 70, 84, 198], "episodes_by_level": [[1646.0, 350.0, 46.0, 0.0], [2045.0, 420.0, 71.0, 0.0], [1845.0, 393.0, 44.0, 0.0], [1504.0, 302.0, 41.0, 0.0], [1204.0, 241.0, 20.0, 0.0], [1649.0, 293.0, 43.0, 0.0]]}, "rubble": {"level_counts": [16, 94, 175, 234, 204, 96], "episodes_by_level": [[3405.0, 773.0, 101.0, 0.0], [5110.0, 1093.0, 225.0, 0.0], [4926.0, 1038.0, 401.0, 0.0], [3832.0, 664.0, 504.0, 0.0], [2050.0, 260.0, 364.0, 0.0], [661.0, 50.0, 164.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23291015625, "command_abs_max": [0.9967675805091858, 0.39881834387779236, 0.6995933651924133]}
{"step": 40650, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 40650, "total_transitions": 166502400, "num_steps_per_env": 1, "wm_loss": 0.5840792655944824, "actor_loss": -9.520729064941406, "critic_loss": 0.004540036432445049, "reward": 0.08713358640670776, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11481741070747375, 0.07242559641599655, 0.13665945827960968], "mean_episode_length": 1376.625, "episode_reward_terms": {"track_linear_velocity": 48.78181076049805, "track_angular_velocity": 51.933719635009766, "upright": 26.352399826049805, "leg_posture": -2.6281380653381348, "standstill": -6.319995403289795, "action_rate_l2": -0.5858168005943298, "joint_torques_l2": -0.15000391006469727, "dof_pos_limits": -0.000627272529527545, "terminated": -0.016132323071360588, "unnecessary_wheel_lift": -0.10254929959774017, "rolling_leg_motion": -0.5821854472160339, "obstacle_progress": 3.846470594406128, "wheel_body_intrusion": -0.27138060331344604, "pair_body_intrusion": -0.30730193853378296}, "weighted_reward_terms": {"track_linear_velocity": 1.7717902660369873, "track_angular_velocity": 1.8862696886062622, "upright": 0.957137942314148, "leg_posture": -0.0954558476805687, "standstill": -0.22954672574996948, "action_rate_l2": -0.021277282387018204, "joint_torques_l2": -0.005448248703032732, "dof_pos_limits": -2.2782985979574732e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.003724663518369198, "rolling_leg_motion": -0.02114539034664631, "obstacle_progress": 0.139706552028656, "wheel_body_intrusion": -0.009856737218797207, "pair_body_intrusion": -0.011161425150930882}, "episode_termination_rates": {"time_out": 0.5147058823529411, "fell_over": 0.007352941176470588, "course_exit": 0.4411764705882353, "illegal_nonwheel_contact": 0.03676470588235294}, "collection_time_s": 0.07605330394231714, "learning_time_s": 0.18508738548029213, "iteration_time_s": 0.3017847302418702, "policy_updates": 40350, "skipped_updates": 0, "invalid_env_resets": 219, "elapsed_s": 12267.549284332024, "nonwheel_terminations": 13860, "contact_bce": 0.2829042673110962, "contact_force_loss": 0.02005831152200699, "collision_bce": 0.000549459713511169, "collision_label_rate": 6.113964627729729e-05, "collision_prediction_mean": 9.567941015120596e-05, "collision_label_count": 16356.0, "terrain_level_mean": 4.197021484375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 11, 24, 51, 73, 251], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1934.0, 425.0, 38.0, 0.0], [1731.0, 401.0, 34.0, 0.0], [1529.0, 348.0, 26.0, 0.0], [1180.0, 271.0, 24.0, 0.0], [2077.0, 486.0, 20.0, 0.0]]}, "up": {"level_counts": [0, 1, 2, 24, 284, 1122], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4671.0, 1719.0, 196.0, 0.0], [6691.0, 1810.0, 170.0, 0.0], [10205.0, 1996.0, 327.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 39, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [975.0, 802.0, 26.0, 0.0], [2033.0, 1673.0, 67.0, 0.0], [12354.0, 10456.0, 304.0, 0.0]]}, "platform": {"level_counts": [8, 19, 43, 83, 137, 120], "episodes_by_level": [[1828.0, 397.0, 52.0, 0.0], [2253.0, 467.0, 94.0, 0.0], [2010.0, 404.0, 90.0, 0.0], [1780.0, 318.0, 64.0, 0.0], [1280.0, 189.0, 61.0, 0.0], [709.0, 71.0, 69.0, 0.0]]}, "slope": {"level_counts": [4, 16, 37, 70, 83, 200], "episodes_by_level": [[1646.0, 350.0, 46.0, 0.0], [2045.0, 420.0, 71.0, 0.0], [1849.0, 394.0, 44.0, 0.0], [1506.0, 303.0, 41.0, 0.0], [1210.0, 243.0, 20.0, 0.0], [1657.0, 293.0, 43.0, 0.0]]}, "rubble": {"level_counts": [16, 93, 176, 232, 205, 97], "episodes_by_level": [[3405.0, 773.0, 101.0, 0.0], [5112.0, 1094.0, 225.0, 0.0], [4933.0, 1039.0, 401.0, 0.0], [3839.0, 666.0, 505.0, 0.0], [2054.0, 261.0, 364.0, 0.0], [664.0, 50.0, 164.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.226318359375, "command_abs_max": [0.995126485824585, 0.39927107095718384, 0.6995933651924133]}
{"step": 40700, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 40700, "total_transitions": 166707200, "num_steps_per_env": 1, "wm_loss": 0.5769340395927429, "actor_loss": -9.510137557983398, "critic_loss": 0.0059046074748039246, "reward": 0.08721736818552017, "falls": 10, "interval_steps": 50, "velocity_mae": [0.1139463260769844, 0.07340635359287262, 0.13565053045749664], "mean_episode_length": 1263.0689655172414, "episode_reward_terms": {"track_linear_velocity": 44.756744384765625, "track_angular_velocity": 47.678672790527344, "upright": 24.163673400878906, "leg_posture": -2.3813934326171875, "standstill": -5.730958938598633, "action_rate_l2": -0.545956015586853, "joint_torques_l2": -0.13733959197998047, "dof_pos_limits": -0.00094695232110098, "terminated": -0.024669313803315163, "unnecessary_wheel_lift": -0.08683864772319794, "rolling_leg_motion": -0.5288885235786438, "obstacle_progress": 3.5295116901397705, "wheel_body_intrusion": -0.24446046352386475, "pair_body_intrusion": -0.2855764627456665}, "weighted_reward_terms": {"track_linear_velocity": 1.7717459201812744, "track_angular_velocity": 1.887413740158081, "upright": 0.9565460681915283, "leg_posture": -0.09427012503147125, "standstill": -0.22686642408370972, "action_rate_l2": -0.02161228097975254, "joint_torques_l2": -0.0054367417469620705, "dof_pos_limits": -3.748617018572986e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.00343760522082448, "rolling_leg_motion": -0.020936645567417145, "obstacle_progress": 0.13971967995166779, "wheel_body_intrusion": -0.009677241556346416, "pair_body_intrusion": -0.011304864659905434}, "episode_termination_rates": {"time_out": 0.3724137931034483, "fell_over": 0.05517241379310345, "course_exit": 0.5586206896551724, "illegal_nonwheel_contact": 0.020689655172413793}, "collection_time_s": 0.07555611036135815, "learning_time_s": 0.1846546934172511, "iteration_time_s": 0.301733682845184, "policy_updates": 40400, "skipped_updates": 0, "invalid_env_resets": 219, "elapsed_s": 12280.560891798988, "nonwheel_terminations": 13863, "contact_bce": 0.2904660105705261, "contact_force_loss": 0.020555101335048676, "collision_bce": 0.00020111745106987655, "collision_label_rate": 6.122574268374592e-05, "collision_prediction_mean": 3.131197445327416e-05, "collision_label_count": 16333.0, "terrain_level_mean": 4.19775390625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 11, 23, 52, 73, 251], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1934.0, 425.0, 38.0, 0.0], [1732.0, 402.0, 34.0, 0.0], [1530.0, 348.0, 26.0, 0.0], [1183.0, 272.0, 24.0, 0.0], [2086.0, 489.0, 21.0, 0.0]]}, "up": {"level_counts": [0, 1, 2, 24, 287, 1119], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4671.0, 1719.0, 196.0, 0.0], [6696.0, 1810.0, 170.0, 0.0], [10241.0, 2007.0, 329.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 39, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [975.0, 802.0, 26.0, 0.0], [2037.0, 1676.0, 67.0, 0.0], [12366.0, 10467.0, 305.0, 0.0]]}, "platform": {"level_counts": [8, 19, 43, 83, 137, 120], "episodes_by_level": [[1828.0, 397.0, 52.0, 0.0], [2254.0, 467.0, 94.0, 0.0], [2011.0, 404.0, 90.0, 0.0], [1784.0, 318.0, 64.0, 0.0], [1282.0, 189.0, 61.0, 0.0], [711.0, 71.0, 69.0, 0.0]]}, "slope": {"level_counts": [4, 16, 37, 69, 83, 201], "episodes_by_level": [[1646.0, 350.0, 46.0, 0.0], [2045.0, 420.0, 71.0, 0.0], [1851.0, 395.0, 44.0, 0.0], [1510.0, 304.0, 42.0, 0.0], [1213.0, 244.0, 20.0, 0.0], [1660.0, 295.0, 43.0, 0.0]]}, "rubble": {"level_counts": [16, 92, 176, 233, 204, 98], "episodes_by_level": [[3406.0, 774.0, 101.0, 0.0], [5115.0, 1095.0, 226.0, 0.0], [4937.0, 1040.0, 401.0, 0.0], [3847.0, 667.0, 505.0, 0.0], [2060.0, 262.0, 365.0, 0.0], [664.0, 50.0, 164.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23046875, "command_abs_max": [0.9987396001815796, 0.39927107095718384, 0.6995933651924133]}
{"step": 40750, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 40750, "total_transitions": 166912000, "num_steps_per_env": 1, "wm_loss": 0.5854209661483765, "actor_loss": -9.491683959960938, "critic_loss": 0.005624996963888407, "reward": 0.0868203416466713, "falls": 12, "interval_steps": 50, "velocity_mae": [0.11571021378040314, 0.07302568107843399, 0.13541162014007568], "mean_episode_length": 1353.4730538922156, "episode_reward_terms": {"track_linear_velocity": 47.88146209716797, "track_angular_velocity": 51.1224250793457, "upright": 25.930524826049805, "leg_posture": -2.5654594898223877, "standstill": -6.573677062988281, "action_rate_l2": -0.5831478834152222, "joint_torques_l2": -0.14568281173706055, "dof_pos_limits": -0.0013068225234746933, "terminated": -0.031722020357847214, "unnecessary_wheel_lift": -0.10319386422634125, "rolling_leg_motion": -0.5709931254386902, "obstacle_progress": 3.7028679847717285, "wheel_body_intrusion": -0.2670708894729614, "pair_body_intrusion": -0.2860645055770874}, "weighted_reward_terms": {"track_linear_velocity": 1.7688369750976562, "track_angular_velocity": 1.8885645866394043, "upright": 0.9579254984855652, "leg_posture": -0.09477320313453674, "standstill": -0.24284479022026062, "action_rate_l2": -0.02154264971613884, "joint_torques_l2": -0.005381814669817686, "dof_pos_limits": -4.827664088224992e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.0038121878169476986, "rolling_leg_motion": -0.02109362743794918, "obstacle_progress": 0.13679134845733643, "wheel_body_intrusion": -0.009866133332252502, "pair_body_intrusion": -0.010567794553935528}, "episode_termination_rates": {"time_out": 0.46706586826347307, "fell_over": 0.03592814371257485, "course_exit": 0.46107784431137727, "illegal_nonwheel_contact": 0.059880239520958084}, "collection_time_s": 0.07572593257180416, "learning_time_s": 0.18474609266384504, "iteration_time_s": 0.30168308210247796, "policy_updates": 40450, "skipped_updates": 0, "invalid_env_resets": 219, "elapsed_s": 12293.585595675977, "nonwheel_terminations": 13873, "contact_bce": 0.29088395833969116, "contact_force_loss": 0.02145024575293064, "collision_bce": 4.0205184632213786e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 3.8098318327683955e-05, "collision_label_count": 16336.0, "terrain_level_mean": 4.19873046875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 11, 22, 53, 74, 250], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1934.0, 425.0, 38.0, 0.0], [1734.0, 403.0, 34.0, 0.0], [1530.0, 348.0, 26.0, 0.0], [1187.0, 272.0, 24.0, 0.0], [2092.0, 491.0, 22.0, 0.0]]}, "up": {"level_counts": [0, 1, 2, 23, 286, 1121], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4672.0, 1720.0, 196.0, 0.0], [6707.0, 1814.0, 170.0, 0.0], [10266.0, 2013.0, 329.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 41, 572], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [975.0, 802.0, 26.0, 0.0], [2038.0, 1677.0, 67.0, 0.0], [12397.0, 10493.0, 305.0, 0.0]]}, "platform": {"level_counts": [8, 19, 42, 85, 135, 121], "episodes_by_level": [[1828.0, 397.0, 52.0, 0.0], [2254.0, 467.0, 94.0, 0.0], [2012.0, 405.0, 90.0, 0.0], [1786.0, 319.0, 64.0, 0.0], [1288.0, 190.0, 63.0, 0.0], [713.0, 72.0, 69.0, 0.0]]}, "slope": {"level_counts": [4, 16, 36, 69, 84, 201], "episodes_by_level": [[1647.0, 350.0, 46.0, 0.0], [2046.0, 420.0, 71.0, 0.0], [1854.0, 396.0, 44.0, 0.0], [1516.0, 305.0, 42.0, 0.0], [1214.0, 244.0, 20.0, 0.0], [1669.0, 296.0, 43.0, 0.0]]}, "rubble": {"level_counts": [16, 93, 174, 234, 204, 98], "episodes_by_level": [[3407.0, 774.0, 101.0, 0.0], [5118.0, 1096.0, 226.0, 0.0], [4944.0, 1041.0, 403.0, 0.0], [3850.0, 669.0, 505.0, 0.0], [2066.0, 262.0, 367.0, 0.0], [667.0, 50.0, 164.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23046875, "command_abs_max": [0.9987396001815796, 0.39927107095718384, 0.6995933651924133]}
{"step": 40800, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 40800, "total_transitions": 167116800, "num_steps_per_env": 1, "wm_loss": 0.5598421692848206, "actor_loss": -9.492402076721191, "critic_loss": 0.0058878022246062756, "reward": 0.0875144824385643, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11379608511924744, 0.0727846622467041, 0.13468129932880402], "mean_episode_length": 1321.8018018018017, "episode_reward_terms": {"track_linear_velocity": 46.86795425415039, "track_angular_velocity": 49.94502258300781, "upright": 25.35994529724121, "leg_posture": -2.5073776245117188, "standstill": -5.7818708419799805, "action_rate_l2": -0.5514413714408875, "joint_torques_l2": -0.14135441184043884, "dof_pos_limits": -0.0008650023373775184, "terminated": -0.012908218428492546, "unnecessary_wheel_lift": -0.0646224170923233, "rolling_leg_motion": -0.5504008531570435, "obstacle_progress": 3.6377553939819336, "wheel_body_intrusion": -0.2761482000350952, "pair_body_intrusion": -0.2469138354063034}, "weighted_reward_terms": {"track_linear_velocity": 1.7728813886642456, "track_angular_velocity": 1.8892781734466553, "upright": 0.9592945575714111, "leg_posture": -0.09484696388244629, "standstill": -0.2187117338180542, "action_rate_l2": -0.020859457552433014, "joint_torques_l2": -0.005347035359591246, "dof_pos_limits": -3.272057801950723e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.0024444821756333113, "rolling_leg_motion": -0.020820097997784615, "obstacle_progress": 0.1376059353351593, "wheel_body_intrusion": -0.010445901192724705, "pair_body_intrusion": -0.009340047836303711}, "episode_termination_rates": {"time_out": 0.4774774774774775, "fell_over": 0.009009009009009009, "course_exit": 0.4774774774774775, "illegal_nonwheel_contact": 0.04504504504504504}, "collection_time_s": 0.0758269736240618, "learning_time_s": 0.18540947954636067, "iteration_time_s": 0.3016335425818868, "policy_updates": 40500, "skipped_updates": 0, "invalid_env_resets": 220, "elapsed_s": 12306.648537340981, "nonwheel_terminations": 13878, "contact_bce": 0.28456205129623413, "contact_force_loss": 0.020590009167790413, "collision_bce": 8.3271124822204e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 8.352675649803132e-06, "collision_label_count": 16341.0, "terrain_level_mean": 4.1982421875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 11, 22, 53, 74, 250], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1934.0, 425.0, 38.0, 0.0], [1735.0, 403.0, 34.0, 0.0], [1530.0, 348.0, 26.0, 0.0], [1189.0, 272.0, 24.0, 0.0], [2105.0, 496.0, 22.0, 0.0]]}, "up": {"level_counts": [0, 1, 2, 23, 287, 1120], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4673.0, 1720.0, 196.0, 0.0], [6713.0, 1814.0, 170.0, 0.0], [10280.0, 2015.0, 329.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 41, 572], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [975.0, 802.0, 26.0, 0.0], [2038.0, 1677.0, 67.0, 0.0], [12416.0, 10511.0, 305.0, 0.0]]}, "platform": {"level_counts": [8, 19, 42, 86, 135, 120], "episodes_by_level": [[1829.0, 397.0, 52.0, 0.0], [2254.0, 467.0, 94.0, 0.0], [2013.0, 405.0, 90.0, 0.0], [1789.0, 320.0, 64.0, 0.0], [1294.0, 190.0, 65.0, 0.0], [717.0, 72.0, 70.0, 0.0]]}, "slope": {"level_counts": [4, 16, 36, 69, 84, 201], "episodes_by_level": [[1647.0, 350.0, 46.0, 0.0], [2046.0, 420.0, 71.0, 0.0], [1854.0, 396.0, 44.0, 0.0], [1517.0, 305.0, 42.0, 0.0], [1214.0, 244.0, 20.0, 0.0], [1675.0, 296.0, 43.0, 0.0]]}, "rubble": {"level_counts": [16, 92, 175, 235, 202, 99], "episodes_by_level": [[3408.0, 774.0, 101.0, 0.0], [5124.0, 1097.0, 226.0, 0.0], [4950.0, 1041.0, 403.0, 0.0], [3851.0, 669.0, 505.0, 0.0], [2069.0, 263.0, 368.0, 0.0], [667.0, 50.0, 164.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23291015625, "command_abs_max": [0.9999864101409912, 0.39917951822280884, 0.6995933651924133]}
{"step": 40850, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 40850, "total_transitions": 167321600, "num_steps_per_env": 1, "wm_loss": 0.5699740052223206, "actor_loss": -9.531952857971191, "critic_loss": 0.003588063409551978, "reward": 0.08708422631025314, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11491039395332336, 0.07465323805809021, 0.13569897413253784], "mean_episode_length": 1344.79754601227, "episode_reward_terms": {"track_linear_velocity": 47.52817916870117, "track_angular_velocity": 50.770965576171875, "upright": 25.773164749145508, "leg_posture": -2.5576529502868652, "standstill": -6.175685405731201, "action_rate_l2": -0.5738876461982727, "joint_torques_l2": -0.14525538682937622, "dof_pos_limits": -0.00046571617713198066, "terminated": -0.026265572756528854, "unnecessary_wheel_lift": -0.08809211105108261, "rolling_leg_motion": -0.5758663415908813, "obstacle_progress": 3.7432336807250977, "wheel_body_intrusion": -0.2841189205646515, "pair_body_intrusion": -0.2776380479335785}, "weighted_reward_terms": {"track_linear_velocity": 1.7671128511428833, "track_angular_velocity": 1.8876807689666748, "upright": 0.9582544565200806, "leg_posture": -0.09509435296058655, "standstill": -0.22961394488811493, "action_rate_l2": -0.021337326616048813, "joint_torques_l2": -0.005400641821324825, "dof_pos_limits": -1.7315476725343615e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.0032752929255366325, "rolling_leg_motion": -0.021410895511507988, "obstacle_progress": 0.13917462527751923, "wheel_body_intrusion": -0.010563632473349571, "pair_body_intrusion": -0.010322672314941883}, "episode_termination_rates": {"time_out": 0.4601226993865031, "fell_over": 0.018404907975460124, "course_exit": 0.4785276073619632, "illegal_nonwheel_contact": 0.049079754601226995}, "collection_time_s": 0.07556550482055173, "learning_time_s": 0.1859036882815417, "iteration_time_s": 0.301584408994859, "policy_updates": 40550, "skipped_updates": 0, "invalid_env_resets": 220, "elapsed_s": 12319.72310743999, "nonwheel_terminations": 13886, "contact_bce": 0.28945648670196533, "contact_force_loss": 0.020808273926377296, "collision_bce": 1.868019171524793e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.8601331248646602e-05, "collision_label_count": 16361.0, "terrain_level_mean": 4.19970703125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 11, 22, 53, 73, 251], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1934.0, 425.0, 38.0, 0.0], [1735.0, 403.0, 34.0, 0.0], [1532.0, 348.0, 26.0, 0.0], [1193.0, 273.0, 24.0, 0.0], [2112.0, 497.0, 22.0, 0.0]]}, "up": {"level_counts": [0, 1, 2, 25, 284, 1121], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4674.0, 1720.0, 196.0, 0.0], [6722.0, 1817.0, 170.0, 0.0], [10314.0, 2024.0, 331.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 44, 570], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [976.0, 803.0, 26.0, 0.0], [2038.0, 1677.0, 67.0, 0.0], [12438.0, 10533.0, 305.0, 0.0]]}, "platform": {"level_counts": [8, 19, 43, 85, 134, 121], "episodes_by_level": [[1829.0, 397.0, 52.0, 0.0], [2255.0, 467.0, 94.0, 0.0], [2014.0, 405.0, 90.0, 0.0], [1792.0, 320.0, 65.0, 0.0], [1300.0, 191.0, 65.0, 0.0], [724.0, 73.0, 70.0, 0.0]]}, "slope": {"level_counts": [4, 16, 36, 69, 83, 202], "episodes_by_level": [[1648.0, 350.0, 46.0, 0.0], [2047.0, 420.0, 71.0, 0.0], [1854.0, 396.0, 44.0, 0.0], [1518.0, 305.0, 42.0, 0.0], [1219.0, 245.0, 20.0, 0.0], [1677.0, 296.0, 43.0, 0.0]]}, "rubble": {"level_counts": [15, 92, 174, 234, 206, 98], "episodes_by_level": [[3410.0, 775.0, 101.0, 0.0], [5126.0, 1098.0, 226.0, 0.0], [4957.0, 1043.0, 403.0, 0.0], [3861.0, 672.0, 505.0, 0.0], [2071.0, 265.0, 368.0, 0.0], [672.0, 51.0, 167.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.236328125, "command_abs_max": [0.9999864101409912, 0.39917951822280884, 0.6995933651924133]}
{"step": 40900, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 40900, "total_transitions": 167526400, "num_steps_per_env": 1, "wm_loss": 0.5512188076972961, "actor_loss": -9.514265060424805, "critic_loss": 0.006888741161674261, "reward": 0.08731652051210403, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11488138884305954, 0.07364587485790253, 0.13636291027069092], "mean_episode_length": 1384.5744680851064, "episode_reward_terms": {"track_linear_velocity": 49.00590896606445, "track_angular_velocity": 52.25217819213867, "upright": 26.542097091674805, "leg_posture": -2.6668808460235596, "standstill": -6.0371413230896, "action_rate_l2": -0.5904751420021057, "joint_torques_l2": -0.149772047996521, "dof_pos_limits": -0.0015271651791408658, "terminated": -0.021633971482515335, "unnecessary_wheel_lift": -0.08872944116592407, "rolling_leg_motion": -0.5750451683998108, "obstacle_progress": 3.862142324447632, "wheel_body_intrusion": -0.30386871099472046, "pair_body_intrusion": -0.33102846145629883}, "weighted_reward_terms": {"track_linear_velocity": 1.7697101831436157, "track_angular_velocity": 1.8869401216506958, "upright": 0.9584929943084717, "leg_posture": -0.09630687534809113, "standstill": -0.21801432967185974, "action_rate_l2": -0.021323343738913536, "joint_torques_l2": -0.0054085953161120415, "dof_pos_limits": -5.5149263062048703e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0032042136881500483, "rolling_leg_motion": -0.020766135305166245, "obstacle_progress": 0.13947038352489471, "wheel_body_intrusion": -0.010973361320793629, "pair_body_intrusion": -0.01195415947586298}, "episode_termination_rates": {"time_out": 0.48226950354609927, "fell_over": 0.0425531914893617, "course_exit": 0.46099290780141844, "illegal_nonwheel_contact": 0.028368794326241134}, "collection_time_s": 0.07588572481647134, "learning_time_s": 0.18561711719958113, "iteration_time_s": 0.3015354362118822, "policy_updates": 40600, "skipped_updates": 0, "invalid_env_resets": 221, "elapsed_s": 12332.799341065984, "nonwheel_terminations": 13890, "contact_bce": 0.2857576012611389, "contact_force_loss": 0.020341666415333748, "collision_bce": 0.00010513474262552336, "collision_label_rate": 6.113964627729729e-05, "collision_prediction_mean": 0.00013762836169917136, "collision_label_count": 16356.0, "terrain_level_mean": 4.2001953125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 11, 23, 52, 73, 251], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1935.0, 425.0, 38.0, 0.0], [1735.0, 403.0, 34.0, 0.0], [1533.0, 348.0, 27.0, 0.0], [1193.0, 273.0, 24.0, 0.0], [2123.0, 499.0, 22.0, 0.0]]}, "up": {"level_counts": [0, 1, 2, 25, 284, 1121], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4674.0, 1720.0, 196.0, 0.0], [6729.0, 1817.0, 170.0, 0.0], [10338.0, 2028.0, 331.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 45, 569], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [976.0, 803.0, 26.0, 0.0], [2040.0, 1679.0, 67.0, 0.0], [12459.0, 10551.0, 305.0, 0.0]]}, "platform": {"level_counts": [9, 18, 43, 84, 134, 122], "episodes_by_level": [[1829.0, 397.0, 52.0, 0.0], [2256.0, 467.0, 95.0, 0.0], [2016.0, 405.0, 90.0, 0.0], [1797.0, 321.0, 65.0, 0.0], [1305.0, 192.0, 65.0, 0.0], [729.0, 74.0, 70.0, 0.0]]}, "slope": {"level_counts": [4, 16, 36, 68, 84, 202], "episodes_by_level": [[1648.0, 350.0, 46.0, 0.0], [2049.0, 420.0, 71.0, 0.0], [1855.0, 396.0, 44.0, 0.0], [1521.0, 306.0, 42.0, 0.0], [1219.0, 245.0, 20.0, 0.0], [1684.0, 297.0, 43.0, 0.0]]}, "rubble": {"level_counts": [15, 91, 175, 234, 205, 99], "episodes_by_level": [[3411.0, 775.0, 102.0, 0.0], [5130.0, 1100.0, 226.0, 0.0], [4959.0, 1043.0, 404.0, 0.0], [3863.0, 673.0, 505.0, 0.0], [2080.0, 266.0, 369.0, 0.0], [676.0, 51.0, 167.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2353515625, "command_abs_max": [0.9999864101409912, 0.39917951822280884, 0.6995933651924133]}
{"step": 40950, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 40950, "total_transitions": 167731200, "num_steps_per_env": 1, "wm_loss": 0.5750632882118225, "actor_loss": -9.504045486450195, "critic_loss": 0.004849138669669628, "reward": 0.08749628812074661, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11422552168369293, 0.0718991681933403, 0.13504765927791595], "mean_episode_length": 1429.0432098765432, "episode_reward_terms": {"track_linear_velocity": 50.717411041259766, "track_angular_velocity": 53.990543365478516, "upright": 27.377197265625, "leg_posture": -2.723947286605835, "standstill": -6.2676897048950195, "action_rate_l2": -0.6104847192764282, "joint_torques_l2": -0.15299281477928162, "dof_pos_limits": -0.0009841228602454066, "terminated": -0.022328795865178108, "unnecessary_wheel_lift": -0.08594593405723572, "rolling_leg_motion": -0.617717981338501, "obstacle_progress": 4.0260162353515625, "wheel_body_intrusion": -0.2863331139087677, "pair_body_intrusion": -0.3067778944969177}, "weighted_reward_terms": {"track_linear_velocity": 1.774523377418518, "track_angular_velocity": 1.889045238494873, "upright": 0.9578856229782104, "leg_posture": -0.09530667960643768, "standstill": -0.21929672360420227, "action_rate_l2": -0.021359911188483238, "joint_torques_l2": -0.005352980922907591, "dof_pos_limits": -3.4432930988259614e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.003007114864885807, "rolling_leg_motion": -0.021612992510199547, "obstacle_progress": 0.1408640444278717, "wheel_body_intrusion": -0.010018350556492805, "pair_body_intrusion": -0.010733681730926037}, "episode_termination_rates": {"time_out": 0.5308641975308642, "fell_over": 0.037037037037037035, "course_exit": 0.41975308641975306, "illegal_nonwheel_contact": 0.024691358024691357}, "collection_time_s": 0.0756324841582682, "learning_time_s": 0.18569998136139476, "iteration_time_s": 0.3014863760107932, "policy_updates": 40650, "skipped_updates": 0, "invalid_env_resets": 221, "elapsed_s": 12345.867097641982, "nonwheel_terminations": 13894, "contact_bce": 0.286884605884552, "contact_force_loss": 0.020319778472185135, "collision_bce": 0.00010084899258799851, "collision_label_rate": 6.126700463937595e-05, "collision_prediction_mean": 8.994714880827814e-05, "collision_label_count": 16322.0, "terrain_level_mean": 4.201171875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 11, 23, 52, 71, 253], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1935.0, 425.0, 38.0, 0.0], [1738.0, 403.0, 34.0, 0.0], [1535.0, 348.0, 27.0, 0.0], [1199.0, 275.0, 24.0, 0.0], [2128.0, 500.0, 22.0, 0.0]]}, "up": {"level_counts": [0, 1, 2, 25, 284, 1121], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4674.0, 1720.0, 196.0, 0.0], [6735.0, 1817.0, 170.0, 0.0], [10367.0, 2033.0, 331.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 44, 570], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [976.0, 803.0, 26.0, 0.0], [2043.0, 1682.0, 67.0, 0.0], [12478.0, 10570.0, 305.0, 0.0]]}, "platform": {"level_counts": [9, 18, 42, 85, 136, 120], "episodes_by_level": [[1830.0, 397.0, 52.0, 0.0], [2258.0, 467.0, 95.0, 0.0], [2019.0, 406.0, 90.0, 0.0], [1801.0, 322.0, 65.0, 0.0], [1313.0, 192.0, 66.0, 0.0], [734.0, 74.0, 72.0, 0.0]]}, "slope": {"level_counts": [4, 16, 36, 68, 84, 202], "episodes_by_level": [[1649.0, 350.0, 46.0, 0.0], [2049.0, 420.0, 71.0, 0.0], [1856.0, 396.0, 44.0, 0.0], [1523.0, 306.0, 42.0, 0.0], [1224.0, 245.0, 20.0, 0.0], [1695.0, 298.0, 43.0, 0.0]]}, "rubble": {"level_counts": [15, 89, 178, 231, 208, 98], "episodes_by_level": [[3411.0, 775.0, 102.0, 0.0], [5134.0, 1102.0, 226.0, 0.0], [4964.0, 1044.0, 404.0, 0.0], [3872.0, 675.0, 507.0, 0.0], [2085.0, 266.0, 369.0, 0.0], [680.0, 51.0, 168.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.241455078125, "command_abs_max": [0.9999864101409912, 0.39917951822280884, 0.6999467611312866]}
{"step": 41000, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 41000, "total_transitions": 167936000, "num_steps_per_env": 1, "wm_loss": 0.580350935459137, "actor_loss": -9.531354904174805, "critic_loss": 0.004605513997375965, "reward": 0.0873965322971344, "falls": 12, "interval_steps": 50, "velocity_mae": [0.11396964639425278, 0.07213710993528366, 0.1346794217824936], "mean_episode_length": 1423.2617449664428, "episode_reward_terms": {"track_linear_velocity": 50.53066635131836, "track_angular_velocity": 53.786651611328125, "upright": 27.30124855041504, "leg_posture": -2.706193447113037, "standstill": -6.407121181488037, "action_rate_l2": -0.6055437922477722, "joint_torques_l2": -0.15071594715118408, "dof_pos_limits": -0.0005788880516774952, "terminated": -0.03335769474506378, "unnecessary_wheel_lift": -0.09624218195676804, "rolling_leg_motion": -0.6271964311599731, "obstacle_progress": 3.9741768836975098, "wheel_body_intrusion": -0.2695147693157196, "pair_body_intrusion": -0.3081222176551819}, "weighted_reward_terms": {"track_linear_velocity": 1.7751712799072266, "track_angular_velocity": 1.8895559310913086, "upright": 0.9591085314750671, "leg_posture": -0.09507012367248535, "standstill": -0.22508583962917328, "action_rate_l2": -0.02127310074865818, "joint_torques_l2": -0.005294737871736288, "dof_pos_limits": -2.033666896750219e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.0033810429740697145, "rolling_leg_motion": -0.022033769637346268, "obstacle_progress": 0.13961511850357056, "wheel_body_intrusion": -0.009468208067119122, "pair_body_intrusion": -0.01082451082766056}, "episode_termination_rates": {"time_out": 0.5100671140939598, "fell_over": 0.06040268456375839, "course_exit": 0.40939597315436244, "illegal_nonwheel_contact": 0.040268456375838924}, "collection_time_s": 0.07557431120309048, "learning_time_s": 0.19291671101818791, "iteration_time_s": 0.3014461646073657, "policy_updates": 40700, "skipped_updates": 0, "invalid_env_resets": 221, "elapsed_s": 12359.292748901993, "nonwheel_terminations": 13900, "contact_bce": 0.2908032536506653, "contact_force_loss": 0.020872460678219795, "collision_bce": 8.643954788567498e-05, "collision_label_rate": 6.121449405327439e-05, "collision_prediction_mean": 4.176194124738686e-05, "collision_label_count": 16336.0, "terrain_level_mean": 4.199462890625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 11, 23, 52, 72, 252], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1935.0, 425.0, 38.0, 0.0], [1740.0, 403.0, 34.0, 0.0], [1537.0, 348.0, 27.0, 0.0], [1199.0, 275.0, 24.0, 0.0], [2136.0, 500.0, 23.0, 0.0]]}, "up": {"level_counts": [0, 1, 2, 25, 289, 1116], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4675.0, 1720.0, 196.0, 0.0], [6738.0, 1817.0, 170.0, 0.0], [10400.0, 2044.0, 331.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 46, 568], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [976.0, 803.0, 26.0, 0.0], [2043.0, 1682.0, 67.0, 0.0], [12499.0, 10587.0, 305.0, 0.0]]}, "platform": {"level_counts": [9, 18, 41, 87, 135, 120], "episodes_by_level": [[1830.0, 397.0, 52.0, 0.0], [2258.0, 467.0, 95.0, 0.0], [2022.0, 407.0, 90.0, 0.0], [1804.0, 322.0, 65.0, 0.0], [1319.0, 192.0, 67.0, 0.0], [735.0, 74.0, 72.0, 0.0]]}, "slope": {"level_counts": [4, 16, 36, 68, 84, 202], "episodes_by_level": [[1649.0, 350.0, 46.0, 0.0], [2050.0, 420.0, 71.0, 0.0], [1858.0, 396.0, 44.0, 0.0], [1524.0, 306.0, 42.0, 0.0], [1226.0, 245.0, 20.0, 0.0], [1701.0, 299.0, 43.0, 0.0]]}, "rubble": {"level_counts": [15, 90, 177, 229, 210, 98], "episodes_by_level": [[3411.0, 775.0, 102.0, 0.0], [5137.0, 1102.0, 226.0, 0.0], [4970.0, 1045.0, 405.0, 0.0], [3885.0, 678.0, 508.0, 0.0], [2091.0, 266.0, 370.0, 0.0], [683.0, 51.0, 168.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.24365234375, "command_abs_max": [0.9999864101409912, 0.39917951822280884, 0.6999467611312866]}
{"step": 41050, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 41050, "total_transitions": 168140800, "num_steps_per_env": 1, "wm_loss": 0.5462216734886169, "actor_loss": -9.535100936889648, "critic_loss": 0.002948810113593936, "reward": 0.08755657821893692, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11416423320770264, 0.07114746421575546, 0.1336888074874878], "mean_episode_length": 1291.1103896103896, "episode_reward_terms": {"track_linear_velocity": 45.829280853271484, "track_angular_velocity": 48.81755447387695, "upright": 24.756322860717773, "leg_posture": -2.467005968093872, "standstill": -5.636274337768555, "action_rate_l2": -0.5453282594680786, "joint_torques_l2": -0.13811011612415314, "dof_pos_limits": -0.0003715472121257335, "terminated": -0.01765189692378044, "unnecessary_wheel_lift": -0.08534467965364456, "rolling_leg_motion": -0.5662013292312622, "obstacle_progress": 3.610917568206787, "wheel_body_intrusion": -0.2584535479545593, "pair_body_intrusion": -0.2541115880012512}, "weighted_reward_terms": {"track_linear_velocity": 1.7748011350631714, "track_angular_velocity": 1.8905259370803833, "upright": 0.9587222337722778, "leg_posture": -0.09553815424442291, "standstill": -0.2182723730802536, "action_rate_l2": -0.02111857756972313, "joint_torques_l2": -0.005348501726984978, "dof_pos_limits": -1.4388670024345629e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.003305088495835662, "rolling_leg_motion": -0.021926915273070335, "obstacle_progress": 0.13983768224716187, "wheel_body_intrusion": -0.01000896468758583, "pair_body_intrusion": -0.009840816259384155}, "episode_termination_rates": {"time_out": 0.4155844155844156, "fell_over": 0.025974025974025976, "course_exit": 0.538961038961039, "illegal_nonwheel_contact": 0.032467532467532464}, "collection_time_s": 0.07569799094228075, "learning_time_s": 0.18612428877851925, "iteration_time_s": 0.30139857721963503, "policy_updates": 40750, "skipped_updates": 0, "invalid_env_resets": 221, "elapsed_s": 12372.411594866018, "nonwheel_terminations": 13905, "contact_bce": 0.2900172173976898, "contact_force_loss": 0.02060583047568798, "collision_bce": 0.00023748802777845412, "collision_label_rate": 0.00012236906331963837, "collision_prediction_mean": 0.00011490724136820063, "collision_label_count": 16344.0, "terrain_level_mean": 4.201171875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 11, 23, 52, 71, 253], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1935.0, 425.0, 38.0, 0.0], [1742.0, 403.0, 34.0, 0.0], [1537.0, 348.0, 27.0, 0.0], [1202.0, 276.0, 24.0, 0.0], [2145.0, 502.0, 23.0, 0.0]]}, "up": {"level_counts": [0, 1, 2, 26, 287, 1117], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4675.0, 1720.0, 196.0, 0.0], [6751.0, 1820.0, 170.0, 0.0], [10423.0, 2051.0, 331.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 47, 567], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [976.0, 803.0, 26.0, 0.0], [2045.0, 1683.0, 67.0, 0.0], [12531.0, 10614.0, 307.0, 0.0]]}, "platform": {"level_counts": [9, 18, 41, 87, 134, 121], "episodes_by_level": [[1830.0, 397.0, 52.0, 0.0], [2258.0, 467.0, 95.0, 0.0], [2022.0, 407.0, 90.0, 0.0], [1805.0, 323.0, 65.0, 0.0], [1321.0, 193.0, 68.0, 0.0], [738.0, 76.0, 72.0, 0.0]]}, "slope": {"level_counts": [4, 16, 36, 68, 84, 202], "episodes_by_level": [[1649.0, 350.0, 46.0, 0.0], [2050.0, 420.0, 71.0, 0.0], [1859.0, 396.0, 44.0, 0.0], [1524.0, 306.0, 42.0, 0.0], [1229.0, 245.0, 20.0, 0.0], [1707.0, 300.0, 43.0, 0.0]]}, "rubble": {"level_counts": [15, 89, 175, 230, 212, 98], "episodes_by_level": [[3411.0, 775.0, 102.0, 0.0], [5142.0, 1103.0, 226.0, 0.0], [4975.0, 1048.0, 405.0, 0.0], [3890.0, 681.0, 508.0, 0.0], [2095.0, 266.0, 371.0, 0.0], [685.0, 51.0, 168.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.240234375, "command_abs_max": [0.9990792274475098, 0.3997558057308197, 0.6999467611312866]}
{"step": 41100, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 41100, "total_transitions": 168345600, "num_steps_per_env": 1, "wm_loss": 0.5590501427650452, "actor_loss": -9.510814666748047, "critic_loss": 0.007280302699655294, "reward": 0.08774621784687042, "falls": 12, "interval_steps": 50, "velocity_mae": [0.11272011697292328, 0.07147620618343353, 0.1333153247833252], "mean_episode_length": 1376.7385620915034, "episode_reward_terms": {"track_linear_velocity": 48.92793273925781, "track_angular_velocity": 52.083126068115234, "upright": 26.388458251953125, "leg_posture": -2.594240427017212, "standstill": -6.036487102508545, "action_rate_l2": -0.5861376523971558, "joint_torques_l2": -0.14579661190509796, "dof_pos_limits": -0.000491958693601191, "terminated": -0.03226730599999428, "unnecessary_wheel_lift": -0.09072744101285934, "rolling_leg_motion": -0.5818955302238464, "obstacle_progress": 3.9760379791259766, "wheel_body_intrusion": -0.2571932375431061, "pair_body_intrusion": -0.2467341423034668}, "weighted_reward_terms": {"track_linear_velocity": 1.7769508361816406, "track_angular_velocity": 1.8915401697158813, "upright": 0.9583685994148254, "leg_posture": -0.09421689063310623, "standstill": -0.21923142671585083, "action_rate_l2": -0.021287180483341217, "joint_torques_l2": -0.00529500050470233, "dof_pos_limits": -1.7866817870526575e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.0032950134482234716, "rolling_leg_motion": -0.021133117377758026, "obstacle_progress": 0.14440062642097473, "wheel_body_intrusion": -0.009340670891106129, "pair_body_intrusion": -0.008960820734500885}, "episode_termination_rates": {"time_out": 0.5098039215686274, "fell_over": 0.0457516339869281, "course_exit": 0.4117647058823529, "illegal_nonwheel_contact": 0.058823529411764705}, "collection_time_s": 0.07560794424382039, "learning_time_s": 0.183860053276876, "iteration_time_s": 0.30134759335532796, "policy_updates": 40800, "skipped_updates": 0, "invalid_env_resets": 221, "elapsed_s": 12385.386086903978, "nonwheel_terminations": 13914, "contact_bce": 0.28680023550987244, "contact_force_loss": 0.02077733539044857, "collision_bce": 0.0002496682573109865, "collision_label_rate": 6.11658178968355e-05, "collision_prediction_mean": 0.00014825303514953703, "collision_label_count": 16349.0, "terrain_level_mean": 4.199462890625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 11, 23, 52, 71, 253], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1935.0, 425.0, 38.0, 0.0], [1742.0, 403.0, 34.0, 0.0], [1538.0, 348.0, 27.0, 0.0], [1205.0, 276.0, 24.0, 0.0], [2152.0, 504.0, 23.0, 0.0]]}, "up": {"level_counts": [0, 1, 2, 26, 288, 1116], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4675.0, 1720.0, 196.0, 0.0], [6756.0, 1820.0, 170.0, 0.0], [10452.0, 2057.0, 331.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 48, 565], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [976.0, 803.0, 26.0, 0.0], [2045.0, 1683.0, 67.0, 0.0], [12549.0, 10631.0, 308.0, 0.0]]}, "platform": {"level_counts": [9, 18, 41, 86, 136, 120], "episodes_by_level": [[1830.0, 397.0, 52.0, 0.0], [2258.0, 467.0, 95.0, 0.0], [2025.0, 407.0, 90.0, 0.0], [1810.0, 324.0, 65.0, 0.0], [1326.0, 193.0, 68.0, 0.0], [740.0, 76.0, 73.0, 0.0]]}, "slope": {"level_counts": [4, 16, 36, 68, 83, 203], "episodes_by_level": [[1649.0, 350.0, 46.0, 0.0], [2051.0, 420.0, 71.0, 0.0], [1859.0, 396.0, 44.0, 0.0], [1524.0, 306.0, 42.0, 0.0], [1230.0, 246.0, 20.0, 0.0], [1716.0, 303.0, 43.0, 0.0]]}, "rubble": {"level_counts": [15, 90, 176, 229, 211, 98], "episodes_by_level": [[3411.0, 775.0, 102.0, 0.0], [5149.0, 1104.0, 226.0, 0.0], [4982.0, 1048.0, 407.0, 0.0], [3900.0, 682.0, 510.0, 0.0], [2104.0, 267.0, 373.0, 0.0], [688.0, 51.0, 169.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.239501953125, "command_abs_max": [0.9990792274475098, 0.3997558057308197, 0.6999467611312866]}
{"step": 41150, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 41150, "total_transitions": 168550400, "num_steps_per_env": 1, "wm_loss": 0.5684532523155212, "actor_loss": -9.513548851013184, "critic_loss": 0.004813699517399073, "reward": 0.08750585466623306, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11545950174331665, 0.07169289886951447, 0.13476060330867767], "mean_episode_length": 1323.3716216216217, "episode_reward_terms": {"track_linear_velocity": 46.879905700683594, "track_angular_velocity": 49.9981575012207, "upright": 25.361440658569336, "leg_posture": -2.5024983882904053, "standstill": -5.795719146728516, "action_rate_l2": -0.5722784399986267, "joint_torques_l2": -0.14034409821033478, "dof_pos_limits": -0.0006693755858577788, "terminated": -0.012923548929393291, "unnecessary_wheel_lift": -0.0828411802649498, "rolling_leg_motion": -0.5726339221000671, "obstacle_progress": 3.7892415523529053, "wheel_body_intrusion": -0.26257556676864624, "pair_body_intrusion": -0.28350475430488586}, "weighted_reward_terms": {"track_linear_velocity": 1.7712299823760986, "track_angular_velocity": 1.8890446424484253, "upright": 0.9582131505012512, "leg_posture": -0.09455010294914246, "standstill": -0.2189754992723465, "action_rate_l2": -0.021621985360980034, "joint_torques_l2": -0.00530252093449235, "dof_pos_limits": -2.529053745092824e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.0031299288384616375, "rolling_leg_motion": -0.02163541689515114, "obstacle_progress": 0.1431661993265152, "wheel_body_intrusion": -0.009920705109834671, "pair_body_intrusion": -0.010711457580327988}, "episode_termination_rates": {"time_out": 0.46621621621621623, "fell_over": 0.02702702702702703, "course_exit": 0.5, "illegal_nonwheel_contact": 0.006756756756756757}, "collection_time_s": 0.07555431451532059, "learning_time_s": 0.18472657652688212, "iteration_time_s": 0.3012977207491128, "policy_updates": 40850, "skipped_updates": 0, "invalid_env_resets": 221, "elapsed_s": 12398.401208825991, "nonwheel_terminations": 13915, "contact_bce": 0.29915162920951843, "contact_force_loss": 0.02103229984641075, "collision_bce": 4.346219066064805e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 3.5767188819590956e-05, "collision_label_count": 16345.0, "terrain_level_mean": 4.20166015625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 11, 23, 51, 72, 253], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1935.0, 425.0, 38.0, 0.0], [1742.0, 403.0, 34.0, 0.0], [1541.0, 349.0, 27.0, 0.0], [1207.0, 276.0, 24.0, 0.0], [2160.0, 505.0, 23.0, 0.0]]}, "up": {"level_counts": [0, 1, 2, 26, 287, 1117], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4311.0, 1760.0, 165.0, 0.0], [4675.0, 1720.0, 196.0, 0.0], [6763.0, 1822.0, 170.0, 0.0], [10478.0, 2066.0, 331.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 50, 563], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [976.0, 803.0, 26.0, 0.0], [2045.0, 1683.0, 67.0, 0.0], [12573.0, 10654.0, 308.0, 0.0]]}, "platform": {"level_counts": [9, 18, 39, 88, 135, 121], "episodes_by_level": [[1830.0, 397.0, 52.0, 0.0], [2258.0, 467.0, 95.0, 0.0], [2028.0, 409.0, 90.0, 0.0], [1812.0, 324.0, 65.0, 0.0], [1333.0, 194.0, 68.0, 0.0], [743.0, 76.0, 73.0, 0.0]]}, "slope": {"level_counts": [4, 16, 36, 68, 82, 204], "episodes_by_level": [[1649.0, 350.0, 46.0, 0.0], [2051.0, 420.0, 71.0, 0.0], [1862.0, 396.0, 44.0, 0.0], [1526.0, 306.0, 42.0, 0.0], [1232.0, 247.0, 20.0, 0.0], [1721.0, 304.0, 43.0, 0.0]]}, "rubble": {"level_counts": [14, 89, 178, 228, 211, 99], "episodes_by_level": [[3412.0, 776.0, 102.0, 0.0], [5153.0, 1106.0, 226.0, 0.0], [4986.0, 1049.0, 407.0, 0.0], [3908.0, 684.0, 511.0, 0.0], [2113.0, 268.0, 374.0, 0.0], [691.0, 51.0, 169.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.240234375, "command_abs_max": [0.9990792274475098, 0.3997558057308197, 0.6999467611312866]}
{"step": 41200, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 41200, "total_transitions": 168755200, "num_steps_per_env": 1, "wm_loss": 0.5934098362922668, "actor_loss": -9.537303924560547, "critic_loss": 0.00350660877302289, "reward": 0.08768003433942795, "falls": 16, "interval_steps": 50, "velocity_mae": [0.11570921540260315, 0.07208523899316788, 0.13432645797729492], "mean_episode_length": 1333.3423913043478, "episode_reward_terms": {"track_linear_velocity": 47.2212028503418, "track_angular_velocity": 50.37968063354492, "upright": 25.540393829345703, "leg_posture": -2.4851269721984863, "standstill": -5.6794586181640625, "action_rate_l2": -0.5771200656890869, "joint_torques_l2": -0.1409241259098053, "dof_pos_limits": -0.0007096573826856911, "terminated": -0.041666943579912186, "unnecessary_wheel_lift": -0.10243251174688339, "rolling_leg_motion": -0.5742188096046448, "obstacle_progress": 3.8688437938690186, "wheel_body_intrusion": -0.255115270614624, "pair_body_intrusion": -0.2458173632621765}, "weighted_reward_terms": {"track_linear_velocity": 1.7707830667495728, "track_angular_velocity": 1.8892251253128052, "upright": 0.9577582478523254, "leg_posture": -0.09319162368774414, "standstill": -0.21297824382781982, "action_rate_l2": -0.02164185419678688, "joint_torques_l2": -0.005284619051963091, "dof_pos_limits": -2.661197322595399e-05, "terminated": -0.0015624997904524207, "unnecessary_wheel_lift": -0.0038411931600421667, "rolling_leg_motion": -0.02153305895626545, "obstacle_progress": 0.14508065581321716, "wheel_body_intrusion": -0.009566757827997208, "pair_body_intrusion": -0.00921808835119009}, "episode_termination_rates": {"time_out": 0.42934782608695654, "fell_over": 0.059782608695652176, "course_exit": 0.483695652173913, "illegal_nonwheel_contact": 0.059782608695652176}, "collection_time_s": 0.07570981956087053, "learning_time_s": 0.1858506362233311, "iteration_time_s": 0.3012495225017723, "policy_updates": 40900, "skipped_updates": 0, "invalid_env_resets": 221, "elapsed_s": 12411.480327073019, "nonwheel_terminations": 13926, "contact_bce": 0.2930752635002136, "contact_force_loss": 0.021020432934165, "collision_bce": 3.281131648691371e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 3.233920142520219e-05, "collision_label_count": 16356.0, "terrain_level_mean": 4.19921875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 11, 23, 51, 73, 252], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1935.0, 425.0, 38.0, 0.0], [1743.0, 403.0, 34.0, 0.0], [1543.0, 349.0, 27.0, 0.0], [1207.0, 276.0, 24.0, 0.0], [2171.0, 507.0, 24.0, 0.0]]}, "up": {"level_counts": [0, 1, 1, 27, 290, 1114], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4312.0, 1761.0, 165.0, 0.0], [4675.0, 1720.0, 196.0, 0.0], [6774.0, 1822.0, 170.0, 0.0], [10527.0, 2082.0, 333.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 50, 563], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [976.0, 803.0, 26.0, 0.0], [2047.0, 1685.0, 67.0, 0.0], [12599.0, 10674.0, 309.0, 0.0]]}, "platform": {"level_counts": [9, 18, 39, 89, 134, 121], "episodes_by_level": [[1832.0, 397.0, 52.0, 0.0], [2258.0, 467.0, 95.0, 0.0], [2029.0, 409.0, 90.0, 0.0], [1814.0, 324.0, 65.0, 0.0], [1340.0, 194.0, 69.0, 0.0], [747.0, 76.0, 73.0, 0.0]]}, "slope": {"level_counts": [4, 16, 37, 67, 82, 204], "episodes_by_level": [[1649.0, 350.0, 46.0, 0.0], [2052.0, 420.0, 71.0, 0.0], [1862.0, 396.0, 44.0, 0.0], [1527.0, 306.0, 43.0, 0.0], [1233.0, 248.0, 20.0, 0.0], [1725.0, 305.0, 44.0, 0.0]]}, "rubble": {"level_counts": [15, 90, 176, 230, 209, 99], "episodes_by_level": [[3413.0, 776.0, 102.0, 0.0], [5157.0, 1107.0, 227.0, 0.0], [4996.0, 1049.0, 410.0, 0.0], [3915.0, 684.0, 511.0, 0.0], [2119.0, 269.0, 376.0, 0.0], [698.0, 51.0, 170.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.238037109375, "command_abs_max": [0.9990792274475098, 0.3997558057308197, 0.6995933651924133]}
{"step": 41250, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 41250, "total_transitions": 168960000, "num_steps_per_env": 1, "wm_loss": 0.5595109462738037, "actor_loss": -9.529151916503906, "critic_loss": 0.004293057601898909, "reward": 0.08815022557973862, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11190958321094513, 0.06981658190488815, 0.1319579929113388], "mean_episode_length": 1374.655737704918, "episode_reward_terms": {"track_linear_velocity": 48.99346160888672, "track_angular_velocity": 52.065216064453125, "upright": 26.414234161376953, "leg_posture": -2.554309129714966, "standstill": -5.779202461242676, "action_rate_l2": -0.5801851749420166, "joint_torques_l2": -0.14589150249958038, "dof_pos_limits": -0.0003850379434879869, "terminated": -0.013424371369183064, "unnecessary_wheel_lift": -0.07457655668258667, "rolling_leg_motion": -0.581002414226532, "obstacle_progress": 3.9448671340942383, "wheel_body_intrusion": -0.2660421133041382, "pair_body_intrusion": -0.2465604692697525}, "weighted_reward_terms": {"track_linear_velocity": 1.7820265293121338, "track_angular_velocity": 1.8937547206878662, "upright": 0.9607582092285156, "leg_posture": -0.09290723502635956, "standstill": -0.21020543575286865, "action_rate_l2": -0.02110292576253414, "joint_torques_l2": -0.005306474398821592, "dof_pos_limits": -1.4004885997564998e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.0027125540655106306, "rolling_leg_motion": -0.02113265171647072, "obstacle_progress": 0.1434856355190277, "wheel_body_intrusion": -0.009676681831479073, "pair_body_intrusion": -0.008968080393970013}, "episode_termination_rates": {"time_out": 0.5163934426229508, "fell_over": 0.00819672131147541, "course_exit": 0.4426229508196721, "illegal_nonwheel_contact": 0.040983606557377046}, "collection_time_s": 0.0755802111979574, "learning_time_s": 0.1856875802273862, "iteration_time_s": 0.30120108684557634, "policy_updates": 40950, "skipped_updates": 0, "invalid_env_resets": 221, "elapsed_s": 12424.544832380023, "nonwheel_terminations": 13931, "contact_bce": 0.28857919573783875, "contact_force_loss": 0.020123329013586044, "collision_bce": 7.877450116211548e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 7.922018085082527e-06, "collision_label_count": 16353.0, "terrain_level_mean": 4.199951171875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 11, 23, 50, 73, 253], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1935.0, 425.0, 38.0, 0.0], [1744.0, 403.0, 34.0, 0.0], [1545.0, 350.0, 27.0, 0.0], [1211.0, 277.0, 24.0, 0.0], [2177.0, 508.0, 24.0, 0.0]]}, "up": {"level_counts": [0, 1, 1, 26, 291, 1114], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4313.0, 1761.0, 165.0, 0.0], [4676.0, 1721.0, 196.0, 0.0], [6778.0, 1822.0, 170.0, 0.0], [10547.0, 2087.0, 333.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 48, 565], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [976.0, 803.0, 26.0, 0.0], [2050.0, 1688.0, 67.0, 0.0], [12612.0, 10685.0, 309.0, 0.0]]}, "platform": {"level_counts": [9, 18, 39, 88, 136, 120], "episodes_by_level": [[1832.0, 397.0, 52.0, 0.0], [2259.0, 467.0, 95.0, 0.0], [2029.0, 409.0, 90.0, 0.0], [1815.0, 325.0, 65.0, 0.0], [1340.0, 194.0, 69.0, 0.0], [752.0, 77.0, 74.0, 0.0]]}, "slope": {"level_counts": [4, 16, 37, 67, 82, 204], "episodes_by_level": [[1649.0, 350.0, 46.0, 0.0], [2052.0, 420.0, 71.0, 0.0], [1863.0, 396.0, 44.0, 0.0], [1529.0, 306.0, 43.0, 0.0], [1235.0, 248.0, 20.0, 0.0], [1730.0, 307.0, 44.0, 0.0]]}, "rubble": {"level_counts": [15, 90, 176, 231, 209, 98], "episodes_by_level": [[3414.0, 776.0, 102.0, 0.0], [5158.0, 1107.0, 227.0, 0.0], [5000.0, 1049.0, 410.0, 0.0], [3922.0, 684.0, 511.0, 0.0], [2127.0, 270.0, 377.0, 0.0], [701.0, 51.0, 172.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.237548828125, "command_abs_max": [0.9990281462669373, 0.39975136518478394, 0.6995933651924133]}
{"step": 41300, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 41300, "total_transitions": 169164800, "num_steps_per_env": 1, "wm_loss": 0.6114069819450378, "actor_loss": -9.520515441894531, "critic_loss": 0.005229115951806307, "reward": 0.08779846876859665, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11472060531377792, 0.0712185725569725, 0.13406401872634888], "mean_episode_length": 1383.9545454545455, "episode_reward_terms": {"track_linear_velocity": 49.106048583984375, "track_angular_velocity": 52.324462890625, "upright": 26.546945571899414, "leg_posture": -2.569187641143799, "standstill": -5.908712863922119, "action_rate_l2": -0.5850071907043457, "joint_torques_l2": -0.14680296182632446, "dof_pos_limits": -0.00039784671389497817, "terminated": -0.021624285727739334, "unnecessary_wheel_lift": -0.07942243665456772, "rolling_leg_motion": -0.5884894728660583, "obstacle_progress": 3.9592831134796143, "wheel_body_intrusion": -0.2755829095840454, "pair_body_intrusion": -0.2524355351924896}, "weighted_reward_terms": {"track_linear_velocity": 1.774120807647705, "track_angular_velocity": 1.8903967142105103, "upright": 0.9590974450111389, "leg_posture": -0.09282051771879196, "standstill": -0.21347205340862274, "action_rate_l2": -0.021135346964001656, "joint_torques_l2": -0.0053037493489682674, "dof_pos_limits": -1.4373546036949847e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.002869401825591922, "rolling_leg_motion": -0.021261155605316162, "obstacle_progress": 0.14304238557815552, "wheel_body_intrusion": -0.009956357069313526, "pair_body_intrusion": -0.009120079688727856}, "episode_termination_rates": {"time_out": 0.487012987012987, "fell_over": 0.01948051948051948, "course_exit": 0.461038961038961, "illegal_nonwheel_contact": 0.045454545454545456}, "collection_time_s": 0.07560185646056197, "learning_time_s": 0.18478983630193396, "iteration_time_s": 0.30115170758041115, "policy_updates": 41000, "skipped_updates": 0, "invalid_env_resets": 221, "elapsed_s": 12437.565523070982, "nonwheel_terminations": 13938, "contact_bce": 0.29234597086906433, "contact_force_loss": 0.020727278664708138, "collision_bce": 0.00013823526387568563, "collision_label_rate": 6.110228423494846e-05, "collision_prediction_mean": 2.9828324841219e-05, "collision_label_count": 16366.0, "terrain_level_mean": 4.199951171875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 11, 23, 50, 72, 254], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1935.0, 425.0, 38.0, 0.0], [1747.0, 403.0, 34.0, 0.0], [1545.0, 350.0, 27.0, 0.0], [1214.0, 278.0, 24.0, 0.0], [2182.0, 508.0, 24.0, 0.0]]}, "up": {"level_counts": [0, 1, 1, 26, 289, 1116], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4313.0, 1761.0, 165.0, 0.0], [4676.0, 1721.0, 196.0, 0.0], [6787.0, 1824.0, 170.0, 0.0], [10580.0, 2095.0, 333.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 46, 567], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [976.0, 803.0, 26.0, 0.0], [2052.0, 1690.0, 67.0, 0.0], [12635.0, 10704.0, 309.0, 0.0]]}, "platform": {"level_counts": [9, 18, 40, 87, 135, 121], "episodes_by_level": [[1832.0, 397.0, 52.0, 0.0], [2259.0, 467.0, 95.0, 0.0], [2030.0, 409.0, 90.0, 0.0], [1818.0, 325.0, 66.0, 0.0], [1345.0, 197.0, 69.0, 0.0], [757.0, 77.0, 76.0, 0.0]]}, "slope": {"level_counts": [4, 17, 37, 66, 82, 204], "episodes_by_level": [[1649.0, 350.0, 46.0, 0.0], [2052.0, 420.0, 71.0, 0.0], [1866.0, 396.0, 45.0, 0.0], [1532.0, 306.0, 44.0, 0.0], [1238.0, 248.0, 20.0, 0.0], [1734.0, 307.0, 44.0, 0.0]]}, "rubble": {"level_counts": [15, 90, 177, 231, 209, 97], "episodes_by_level": [[3414.0, 776.0, 102.0, 0.0], [5160.0, 1107.0, 227.0, 0.0], [5005.0, 1049.0, 410.0, 0.0], [3931.0, 684.0, 512.0, 0.0], [2133.0, 270.0, 378.0, 0.0], [706.0, 51.0, 173.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.238037109375, "command_abs_max": [0.9981358647346497, 0.39975136518478394, 0.6989433765411377]}
{"step": 41350, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 41350, "total_transitions": 169369600, "num_steps_per_env": 1, "wm_loss": 0.5621436834335327, "actor_loss": -9.518827438354492, "critic_loss": 0.0077222781255841255, "reward": 0.08753307163715363, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11479036509990692, 0.0709037110209465, 0.1351117342710495], "mean_episode_length": 1360.0714285714287, "episode_reward_terms": {"track_linear_velocity": 48.24422073364258, "track_angular_velocity": 51.37795639038086, "upright": 26.06227684020996, "leg_posture": -2.5869314670562744, "standstill": -5.915870666503906, "action_rate_l2": -0.5720365643501282, "joint_torques_l2": -0.14528962969779968, "dof_pos_limits": -0.0006284313276410103, "terminated": -0.01859472505748272, "unnecessary_wheel_lift": -0.07295221835374832, "rolling_leg_motion": -0.5802301168441772, "obstacle_progress": 3.8488974571228027, "wheel_body_intrusion": -0.29644033312797546, "pair_body_intrusion": -0.29316070675849915}, "weighted_reward_terms": {"track_linear_velocity": 1.7735915184020996, "track_angular_velocity": 1.8887964487075806, "upright": 0.9581217169761658, "leg_posture": -0.09510278701782227, "standstill": -0.21748383343219757, "action_rate_l2": -0.021029653027653694, "joint_torques_l2": -0.005341249983757734, "dof_pos_limits": -2.310288073203992e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0026819261256605387, "rolling_leg_motion": -0.02133087068796158, "obstacle_progress": 0.14149615168571472, "wheel_body_intrusion": -0.010897969827055931, "pair_body_intrusion": -0.010777401737868786}, "episode_termination_rates": {"time_out": 0.4857142857142857, "fell_over": 0.02142857142857143, "course_exit": 0.4642857142857143, "illegal_nonwheel_contact": 0.02857142857142857}, "collection_time_s": 0.07562619553762488, "learning_time_s": 0.18302269580308347, "iteration_time_s": 0.3011003465609675, "policy_updates": 41050, "skipped_updates": 0, "invalid_env_resets": 221, "elapsed_s": 12450.499330296007, "nonwheel_terminations": 13942, "contact_bce": 0.2854640483856201, "contact_force_loss": 0.020128248259425163, "collision_bce": 0.0002408010623184964, "collision_label_rate": 0.000122346609714441, "collision_prediction_mean": 0.00017744350770954043, "collision_label_count": 16347.0, "terrain_level_mean": 4.201171875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 11, 23, 50, 71, 255], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1935.0, 425.0, 38.0, 0.0], [1747.0, 403.0, 34.0, 0.0], [1546.0, 350.0, 27.0, 0.0], [1215.0, 279.0, 24.0, 0.0], [2190.0, 510.0, 24.0, 0.0]]}, "up": {"level_counts": [0, 1, 1, 26, 288, 1117], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4313.0, 1761.0, 165.0, 0.0], [4676.0, 1721.0, 196.0, 0.0], [6792.0, 1826.0, 170.0, 0.0], [10612.0, 2100.0, 334.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 48, 565], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [976.0, 803.0, 26.0, 0.0], [2053.0, 1691.0, 67.0, 0.0], [12654.0, 10720.0, 310.0, 0.0]]}, "platform": {"level_counts": [9, 18, 39, 88, 134, 122], "episodes_by_level": [[1832.0, 397.0, 52.0, 0.0], [2259.0, 467.0, 95.0, 0.0], [2031.0, 410.0, 90.0, 0.0], [1818.0, 325.0, 66.0, 0.0], [1348.0, 198.0, 69.0, 0.0], [763.0, 77.0, 76.0, 0.0]]}, "slope": {"level_counts": [4, 17, 37, 65, 82, 205], "episodes_by_level": [[1649.0, 350.0, 46.0, 0.0], [2053.0, 420.0, 71.0, 0.0], [1866.0, 396.0, 45.0, 0.0], [1534.0, 307.0, 44.0, 0.0], [1242.0, 249.0, 20.0, 0.0], [1740.0, 309.0, 44.0, 0.0]]}, "rubble": {"level_counts": [15, 89, 180, 227, 211, 97], "episodes_by_level": [[3414.0, 776.0, 102.0, 0.0], [5163.0, 1108.0, 227.0, 0.0], [5011.0, 1049.0, 410.0, 0.0], [3939.0, 686.0, 514.0, 0.0], [2139.0, 271.0, 378.0, 0.0], [709.0, 51.0, 174.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.236572265625, "command_abs_max": [0.9981358647346497, 0.39975136518478394, 0.6992174386978149]}
{"step": 41400, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 41400, "total_transitions": 169574400, "num_steps_per_env": 1, "wm_loss": 0.5473930239677429, "actor_loss": -9.520849227905273, "critic_loss": 0.007298511452972889, "reward": 0.08737500756978989, "falls": 7, "interval_steps": 50, "velocity_mae": [0.1123586967587471, 0.07098840922117233, 0.13390937447547913], "mean_episode_length": 1370.5714285714287, "episode_reward_terms": {"track_linear_velocity": 48.74605178833008, "track_angular_velocity": 51.80889892578125, "upright": 26.251264572143555, "leg_posture": -2.591257095336914, "standstill": -6.28093147277832, "action_rate_l2": -0.5693994760513306, "joint_torques_l2": -0.14539548754692078, "dof_pos_limits": -0.001199548365548253, "terminated": -0.01873827911913395, "unnecessary_wheel_lift": -0.0848827138543129, "rolling_leg_motion": -0.5769620537757874, "obstacle_progress": 3.7586915493011475, "wheel_body_intrusion": -0.2693238854408264, "pair_body_intrusion": -0.27313700318336487}, "weighted_reward_terms": {"track_linear_velocity": 1.7783112525939941, "track_angular_velocity": 1.890047550201416, "upright": 0.9576759338378906, "leg_posture": -0.09453199803829193, "standstill": -0.22913551330566406, "action_rate_l2": -0.020772337913513184, "joint_torques_l2": -0.005304192658513784, "dof_pos_limits": -4.376088691060431e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0030966177582740784, "rolling_leg_motion": -0.021048231050372124, "obstacle_progress": 0.13712133467197418, "wheel_body_intrusion": -0.00982524175196886, "pair_body_intrusion": -0.009964348748326302}, "episode_termination_rates": {"time_out": 0.4523809523809524, "fell_over": 0.02976190476190476, "course_exit": 0.5059523809523809, "illegal_nonwheel_contact": 0.017857142857142856}, "collection_time_s": 0.07568087336607278, "learning_time_s": 0.18468278273707256, "iteration_time_s": 0.3010511742493968, "policy_updates": 41100, "skipped_updates": 0, "invalid_env_resets": 221, "elapsed_s": 12463.518613925029, "nonwheel_terminations": 13945, "contact_bce": 0.2866923213005066, "contact_force_loss": 0.019704021513462067, "collision_bce": 8.10327910585329e-05, "collision_label_rate": 6.121449405327439e-05, "collision_prediction_mean": 5.774188684881665e-05, "collision_label_count": 16336.0, "terrain_level_mean": 4.20361328125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 10, 24, 50, 71, 255], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1936.0, 426.0, 38.0, 0.0], [1747.0, 403.0, 34.0, 0.0], [1548.0, 350.0, 27.0, 0.0], [1217.0, 279.0, 24.0, 0.0], [2194.0, 511.0, 24.0, 0.0]]}, "up": {"level_counts": [0, 1, 1, 25, 288, 1118], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4313.0, 1761.0, 165.0, 0.0], [4678.0, 1722.0, 196.0, 0.0], [6800.0, 1828.0, 170.0, 0.0], [10648.0, 2105.0, 334.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 45, 568], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [976.0, 803.0, 26.0, 0.0], [2056.0, 1694.0, 67.0, 0.0], [12680.0, 10744.0, 310.0, 0.0]]}, "platform": {"level_counts": [9, 18, 38, 88, 135, 122], "episodes_by_level": [[1832.0, 397.0, 52.0, 0.0], [2259.0, 467.0, 95.0, 0.0], [2032.0, 411.0, 90.0, 0.0], [1823.0, 326.0, 66.0, 0.0], [1353.0, 199.0, 69.0, 0.0], [767.0, 77.0, 77.0, 0.0]]}, "slope": {"level_counts": [4, 17, 36, 66, 81, 206], "episodes_by_level": [[1649.0, 350.0, 46.0, 0.0], [2053.0, 420.0, 71.0, 0.0], [1868.0, 397.0, 45.0, 0.0], [1535.0, 307.0, 44.0, 0.0], [1246.0, 251.0, 20.0, 0.0], [1750.0, 309.0, 45.0, 0.0]]}, "rubble": {"level_counts": [13, 93, 179, 225, 212, 97], "episodes_by_level": [[3416.0, 778.0, 102.0, 0.0], [5165.0, 1108.0, 227.0, 0.0], [5019.0, 1049.0, 412.0, 0.0], [3947.0, 688.0, 515.0, 0.0], [2149.0, 271.0, 379.0, 0.0], [711.0, 51.0, 174.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23193359375, "command_abs_max": [0.9986196756362915, 0.39975136518478394, 0.6992174386978149]}
{"step": 41450, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 41450, "total_transitions": 169779200, "num_steps_per_env": 1, "wm_loss": 0.5651431679725647, "actor_loss": -9.526108741760254, "critic_loss": 0.005217039957642555, "reward": 0.08747468143701553, "falls": 6, "interval_steps": 50, "velocity_mae": [0.1132236197590828, 0.071062833070755, 0.13482379913330078], "mean_episode_length": 1362.6965517241379, "episode_reward_terms": {"track_linear_velocity": 48.436370849609375, "track_angular_velocity": 51.482173919677734, "upright": 26.11492156982422, "leg_posture": -2.567472457885742, "standstill": -6.036879062652588, "action_rate_l2": -0.5617150664329529, "joint_torques_l2": -0.14423561096191406, "dof_pos_limits": -0.0009163463255390525, "terminated": -0.01596909947693348, "unnecessary_wheel_lift": -0.07505997270345688, "rolling_leg_motion": -0.5792597532272339, "obstacle_progress": 3.7196266651153564, "wheel_body_intrusion": -0.26564475893974304, "pair_body_intrusion": -0.3045080304145813}, "weighted_reward_terms": {"track_linear_velocity": 1.777225136756897, "track_angular_velocity": 1.8889816999435425, "upright": 0.9582075476646423, "leg_posture": -0.0942055881023407, "standstill": -0.22150491178035736, "action_rate_l2": -0.020610425621271133, "joint_torques_l2": -0.0052922866307199, "dof_pos_limits": -3.362253846717067e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.002754097105935216, "rolling_leg_motion": -0.021254172548651695, "obstacle_progress": 0.13648037612438202, "wheel_body_intrusion": -0.009747025556862354, "pair_body_intrusion": -0.01117299497127533}, "episode_termination_rates": {"time_out": 0.46206896551724136, "fell_over": 0.013793103448275862, "course_exit": 0.496551724137931, "illegal_nonwheel_contact": 0.034482758620689655}, "collection_time_s": 0.07630241853767075, "learning_time_s": 0.1854278685816098, "iteration_time_s": 0.3010037698206521, "policy_updates": 41150, "skipped_updates": 0, "invalid_env_resets": 223, "elapsed_s": 12476.60625906603, "nonwheel_terminations": 13950, "contact_bce": 0.29484203457832336, "contact_force_loss": 0.02069796435534954, "collision_bce": 0.0001862420904217288, "collision_label_rate": 0.0001225340092787519, "collision_prediction_mean": 0.00013703653530683368, "collision_label_count": 16322.0, "terrain_level_mean": 4.204345703125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 10, 24, 50, 70, 256], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1938.0, 426.0, 38.0, 0.0], [1747.0, 403.0, 34.0, 0.0], [1551.0, 350.0, 27.0, 0.0], [1220.0, 281.0, 24.0, 0.0], [2201.0, 513.0, 25.0, 0.0]]}, "up": {"level_counts": [0, 1, 1, 25, 288, 1118], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4313.0, 1761.0, 165.0, 0.0], [4680.0, 1722.0, 196.0, 0.0], [6805.0, 1829.0, 170.0, 0.0], [10679.0, 2116.0, 334.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 43, 570], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [976.0, 803.0, 26.0, 0.0], [2058.0, 1696.0, 67.0, 0.0], [12704.0, 10766.0, 310.0, 0.0]]}, "platform": {"level_counts": [9, 18, 38, 88, 135, 122], "episodes_by_level": [[1832.0, 397.0, 52.0, 0.0], [2259.0, 467.0, 95.0, 0.0], [2034.0, 411.0, 90.0, 0.0], [1828.0, 326.0, 66.0, 0.0], [1354.0, 199.0, 69.0, 0.0], [775.0, 80.0, 77.0, 0.0]]}, "slope": {"level_counts": [4, 17, 36, 66, 82, 205], "episodes_by_level": [[1649.0, 350.0, 46.0, 0.0], [2053.0, 420.0, 71.0, 0.0], [1868.0, 397.0, 45.0, 0.0], [1537.0, 307.0, 44.0, 0.0], [1248.0, 251.0, 20.0, 0.0], [1755.0, 310.0, 46.0, 0.0]]}, "rubble": {"level_counts": [13, 93, 179, 223, 215, 96], "episodes_by_level": [[3416.0, 778.0, 102.0, 0.0], [5168.0, 1108.0, 227.0, 0.0], [5023.0, 1051.0, 412.0, 0.0], [3955.0, 690.0, 517.0, 0.0], [2152.0, 271.0, 379.0, 0.0], [717.0, 52.0, 175.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23486328125, "command_abs_max": [0.9986196756362915, 0.39975136518478394, 0.6992174386978149]}
{"step": 41500, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 41500, "total_transitions": 169984000, "num_steps_per_env": 1, "wm_loss": 0.5600030422210693, "actor_loss": -9.527400970458984, "critic_loss": 0.004244443494826555, "reward": 0.0869695171713829, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11506611108779907, 0.07120590656995773, 0.13631325960159302], "mean_episode_length": 1393.9496402877699, "episode_reward_terms": {"track_linear_velocity": 49.45188903808594, "track_angular_velocity": 52.59607696533203, "upright": 26.684621810913086, "leg_posture": -2.6385414600372314, "standstill": -6.663334846496582, "action_rate_l2": -0.5824078321456909, "joint_torques_l2": -0.14724503457546234, "dof_pos_limits": -0.001041951822116971, "terminated": -0.024503016844391823, "unnecessary_wheel_lift": -0.06952972710132599, "rolling_leg_motion": -0.5733689069747925, "obstacle_progress": 3.7933292388916016, "wheel_body_intrusion": -0.27637988328933716, "pair_body_intrusion": -0.3184260427951813}, "weighted_reward_terms": {"track_linear_velocity": 1.773804783821106, "track_angular_velocity": 1.8865846395492554, "upright": 0.9571588039398193, "leg_posture": -0.09464264661073685, "standstill": -0.23900918662548065, "action_rate_l2": -0.02089056372642517, "joint_torques_l2": -0.0052815768867731094, "dof_pos_limits": -3.737408769666217e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.0024939829017966986, "rolling_leg_motion": -0.020566344261169434, "obstacle_progress": 0.1360640823841095, "wheel_body_intrusion": -0.009913554415106773, "pair_body_intrusion": -0.011421720497310162}, "episode_termination_rates": {"time_out": 0.48201438848920863, "fell_over": 0.04316546762589928, "course_exit": 0.45323741007194246, "illegal_nonwheel_contact": 0.050359712230215826}, "collection_time_s": 0.07600192062323913, "learning_time_s": 0.18557419207296333, "iteration_time_s": 0.3009562922907707, "policy_updates": 41200, "skipped_updates": 0, "invalid_env_resets": 224, "elapsed_s": 12489.686130066984, "nonwheel_terminations": 13957, "contact_bce": 0.2886229157447815, "contact_force_loss": 0.020661305636167526, "collision_bce": 0.00023569741460960358, "collision_label_rate": 0.00012246647384017706, "collision_prediction_mean": 9.877815318759531e-05, "collision_label_count": 16331.0, "terrain_level_mean": 4.203125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 10, 24, 50, 71, 255], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1938.0, 426.0, 38.0, 0.0], [1748.0, 403.0, 34.0, 0.0], [1553.0, 350.0, 27.0, 0.0], [1222.0, 281.0, 24.0, 0.0], [2211.0, 515.0, 26.0, 0.0]]}, "up": {"level_counts": [0, 1, 1, 25, 287, 1119], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4313.0, 1761.0, 165.0, 0.0], [4680.0, 1722.0, 196.0, 0.0], [6812.0, 1830.0, 170.0, 0.0], [10707.0, 2120.0, 334.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 44, 568], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [976.0, 803.0, 26.0, 0.0], [2058.0, 1696.0, 67.0, 0.0], [12722.0, 10783.0, 310.0, 0.0]]}, "platform": {"level_counts": [9, 18, 39, 88, 134, 122], "episodes_by_level": [[1832.0, 397.0, 52.0, 0.0], [2259.0, 467.0, 95.0, 0.0], [2034.0, 411.0, 90.0, 0.0], [1830.0, 326.0, 67.0, 0.0], [1358.0, 199.0, 70.0, 0.0], [778.0, 80.0, 77.0, 0.0]]}, "slope": {"level_counts": [4, 17, 36, 65, 83, 205], "episodes_by_level": [[1649.0, 350.0, 46.0, 0.0], [2054.0, 420.0, 71.0, 0.0], [1870.0, 397.0, 45.0, 0.0], [1538.0, 308.0, 44.0, 0.0], [1248.0, 251.0, 20.0, 0.0], [1762.0, 311.0, 46.0, 0.0]]}, "rubble": {"level_counts": [13, 93, 182, 218, 217, 96], "episodes_by_level": [[3416.0, 778.0, 102.0, 0.0], [5169.0, 1108.0, 227.0, 0.0], [5029.0, 1051.0, 412.0, 0.0], [3965.0, 692.0, 520.0, 0.0], [2157.0, 271.0, 379.0, 0.0], [719.0, 53.0, 175.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.231201171875, "command_abs_max": [0.9986196756362915, 0.39975136518478394, 0.6992174386978149]}
{"step": 41550, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 41550, "total_transitions": 170188800, "num_steps_per_env": 1, "wm_loss": 0.6070648431777954, "actor_loss": -9.512587547302246, "critic_loss": 0.003954565618187189, "reward": 0.08685307949781418, "falls": 2, "interval_steps": 50, "velocity_mae": [0.1165289580821991, 0.07143576443195343, 0.13771699368953705], "mean_episode_length": 1408.705035971223, "episode_reward_terms": {"track_linear_velocity": 49.82791519165039, "track_angular_velocity": 53.087974548339844, "upright": 26.97992515563965, "leg_posture": -2.7057595252990723, "standstill": -6.6670637130737305, "action_rate_l2": -0.5920275449752808, "joint_torques_l2": -0.14904078841209412, "dof_pos_limits": -0.0008905685390345752, "terminated": -0.005502752959728241, "unnecessary_wheel_lift": -0.06964888423681259, "rolling_leg_motion": -0.582193911075592, "obstacle_progress": 3.813356637954712, "wheel_body_intrusion": -0.26867392659187317, "pair_body_intrusion": -0.31801190972328186}, "weighted_reward_terms": {"track_linear_velocity": 1.7685716152191162, "track_angular_velocity": 1.8842828273773193, "upright": 0.9576143622398376, "leg_posture": -0.0960371196269989, "standstill": -0.23663803935050964, "action_rate_l2": -0.021013183519244194, "joint_torques_l2": -0.005289992783218622, "dof_pos_limits": -3.160947380820289e-05, "terminated": -0.0001953124738065526, "unnecessary_wheel_lift": -0.0024720891378819942, "rolling_leg_motion": -0.02066415175795555, "obstacle_progress": 0.13534972071647644, "wheel_body_intrusion": -0.009536202065646648, "pair_body_intrusion": -0.011287384666502476}, "episode_termination_rates": {"time_out": 0.49640287769784175, "fell_over": 0.007194244604316547, "course_exit": 0.4892086330935252, "illegal_nonwheel_contact": 0.007194244604316547}, "collection_time_s": 0.0756988489953801, "learning_time_s": 0.192344361563446, "iteration_time_s": 0.3009173801785324, "policy_updates": 41250, "skipped_updates": 0, "invalid_env_resets": 224, "elapsed_s": 12503.117146418022, "nonwheel_terminations": 13958, "contact_bce": 0.28859153389930725, "contact_force_loss": 0.020904386416077614, "collision_bce": 0.0004926242399960756, "collision_label_rate": 6.115833821240813e-05, "collision_prediction_mean": 6.139915967651177e-06, "collision_label_count": 16351.0, "terrain_level_mean": 4.20556640625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 10, 24, 50, 71, 255], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1938.0, 426.0, 38.0, 0.0], [1748.0, 403.0, 34.0, 0.0], [1555.0, 350.0, 27.0, 0.0], [1222.0, 281.0, 24.0, 0.0], [2218.0, 517.0, 26.0, 0.0]]}, "up": {"level_counts": [0, 1, 1, 24, 284, 1123], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4313.0, 1761.0, 165.0, 0.0], [4681.0, 1723.0, 196.0, 0.0], [6821.0, 1834.0, 170.0, 0.0], [10743.0, 2134.0, 334.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 42, 570], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [976.0, 803.0, 26.0, 0.0], [2060.0, 1698.0, 67.0, 0.0], [12740.0, 10799.0, 310.0, 0.0]]}, "platform": {"level_counts": [9, 18, 39, 88, 132, 124], "episodes_by_level": [[1832.0, 397.0, 52.0, 0.0], [2259.0, 467.0, 95.0, 0.0], [2034.0, 411.0, 90.0, 0.0], [1833.0, 326.0, 67.0, 0.0], [1363.0, 201.0, 70.0, 0.0], [781.0, 80.0, 77.0, 0.0]]}, "slope": {"level_counts": [4, 17, 36, 65, 83, 205], "episodes_by_level": [[1649.0, 350.0, 46.0, 0.0], [2055.0, 420.0, 71.0, 0.0], [1870.0, 397.0, 45.0, 0.0], [1539.0, 308.0, 44.0, 0.0], [1249.0, 251.0, 20.0, 0.0], [1769.0, 312.0, 46.0, 0.0]]}, "rubble": {"level_counts": [13, 93, 182, 218, 216, 97], "episodes_by_level": [[3416.0, 778.0, 102.0, 0.0], [5172.0, 1108.0, 227.0, 0.0], [5036.0, 1051.0, 412.0, 0.0], [3969.0, 693.0, 520.0, 0.0], [2163.0, 273.0, 380.0, 0.0], [721.0, 53.0, 176.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.232177734375, "command_abs_max": [0.9986196756362915, 0.39975136518478394, 0.6989433765411377]}
{"step": 41600, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 41600, "total_transitions": 170393600, "num_steps_per_env": 1, "wm_loss": 0.5589239001274109, "actor_loss": -9.501529693603516, "critic_loss": 0.0037815046962350607, "reward": 0.08697950094938278, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11604586988687515, 0.07249099761247635, 0.13678836822509766], "mean_episode_length": 1296.6780821917807, "episode_reward_terms": {"track_linear_velocity": 45.872928619384766, "track_angular_velocity": 48.89754104614258, "upright": 24.820642471313477, "leg_posture": -2.5245862007141113, "standstill": -5.930389404296875, "action_rate_l2": -0.552970826625824, "joint_torques_l2": -0.1383298635482788, "dof_pos_limits": -0.0009244261309504509, "terminated": -0.017728019505739212, "unnecessary_wheel_lift": -0.08559530973434448, "rolling_leg_motion": -0.5573273301124573, "obstacle_progress": 3.537975788116455, "wheel_body_intrusion": -0.2650955617427826, "pair_body_intrusion": -0.27173662185668945}, "weighted_reward_terms": {"track_linear_velocity": 1.7688634395599365, "track_angular_velocity": 1.8854928016662598, "upright": 0.9570857286453247, "leg_posture": -0.09734822064638138, "standstill": -0.22867625951766968, "action_rate_l2": -0.021322594955563545, "joint_torques_l2": -0.005334009416401386, "dof_pos_limits": -3.5645938623929396e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0033005615696310997, "rolling_leg_motion": -0.021490583196282387, "obstacle_progress": 0.13642460107803345, "wheel_body_intrusion": -0.010222104378044605, "pair_body_intrusion": -0.010478183627128601}, "episode_termination_rates": {"time_out": 0.4178082191780822, "fell_over": 0.02054794520547945, "course_exit": 0.5342465753424658, "illegal_nonwheel_contact": 0.0410958904109589}, "collection_time_s": 0.07591936726588756, "learning_time_s": 0.18569202449987643, "iteration_time_s": 0.3008701644599527, "policy_updates": 41300, "skipped_updates": 0, "invalid_env_resets": 225, "elapsed_s": 12516.198841534031, "nonwheel_terminations": 13964, "contact_bce": 0.28649479150772095, "contact_force_loss": 0.020091572776436806, "collision_bce": 0.00013042106002103537, "collision_label_rate": 6.118827877799049e-05, "collision_prediction_mean": 6.332535849651322e-05, "collision_label_count": 16343.0, "terrain_level_mean": 4.207275390625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 10, 23, 51, 70, 256], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1938.0, 426.0, 38.0, 0.0], [1749.0, 404.0, 34.0, 0.0], [1556.0, 350.0, 27.0, 0.0], [1224.0, 282.0, 24.0, 0.0], [2225.0, 518.0, 26.0, 0.0]]}, "up": {"level_counts": [0, 1, 1, 25, 284, 1122], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4313.0, 1761.0, 165.0, 0.0], [4681.0, 1723.0, 196.0, 0.0], [6829.0, 1835.0, 171.0, 0.0], [10776.0, 2138.0, 336.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 41, 571], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [976.0, 803.0, 26.0, 0.0], [2061.0, 1699.0, 67.0, 0.0], [12765.0, 10823.0, 310.0, 0.0]]}, "platform": {"level_counts": [9, 18, 39, 86, 134, 124], "episodes_by_level": [[1832.0, 397.0, 52.0, 0.0], [2260.0, 467.0, 95.0, 0.0], [2034.0, 411.0, 90.0, 0.0], [1835.0, 328.0, 67.0, 0.0], [1365.0, 201.0, 70.0, 0.0], [782.0, 81.0, 77.0, 0.0]]}, "slope": {"level_counts": [4, 17, 36, 66, 80, 207], "episodes_by_level": [[1649.0, 350.0, 46.0, 0.0], [2055.0, 420.0, 71.0, 0.0], [1870.0, 397.0, 45.0, 0.0], [1545.0, 308.0, 44.0, 0.0], [1256.0, 253.0, 21.0, 0.0], [1773.0, 314.0, 46.0, 0.0]]}, "rubble": {"level_counts": [13, 92, 184, 215, 217, 98], "episodes_by_level": [[3416.0, 778.0, 102.0, 0.0], [5177.0, 1110.0, 227.0, 0.0], [5043.0, 1052.0, 413.0, 0.0], [3977.0, 695.0, 522.0, 0.0], [2168.0, 274.0, 380.0, 0.0], [724.0, 53.0, 176.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22998046875, "command_abs_max": [0.9986196756362915, 0.39975136518478394, 0.6989433765411377]}
{"step": 41650, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 41650, "total_transitions": 170598400, "num_steps_per_env": 1, "wm_loss": 0.5627768039703369, "actor_loss": -9.510757446289062, "critic_loss": 0.004051470197737217, "reward": 0.08669357746839523, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11650446802377701, 0.07318422943353653, 0.13667093217372894], "mean_episode_length": 1323.6571428571428, "episode_reward_terms": {"track_linear_velocity": 46.79071807861328, "track_angular_velocity": 49.93317794799805, "upright": 25.331823348999023, "leg_posture": -2.5543336868286133, "standstill": -6.491835117340088, "action_rate_l2": -0.5500593185424805, "joint_torques_l2": -0.14164021611213684, "dof_pos_limits": -0.0009060611482709646, "terminated": -0.01809687353670597, "unnecessary_wheel_lift": -0.07114698737859726, "rolling_leg_motion": -0.5612658858299255, "obstacle_progress": 3.636779546737671, "wheel_body_intrusion": -0.2661619186401367, "pair_body_intrusion": -0.2844630181789398}, "weighted_reward_terms": {"track_linear_velocity": 1.7674789428710938, "track_angular_velocity": 1.8861825466156006, "upright": 0.9568876624107361, "leg_posture": -0.09648773819208145, "standstill": -0.24522344768047333, "action_rate_l2": -0.02077801339328289, "joint_torques_l2": -0.00535033643245697, "dof_pos_limits": -3.42256753356196e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0026875159237533808, "rolling_leg_motion": -0.02120133303105831, "obstacle_progress": 0.13737618923187256, "wheel_body_intrusion": -0.010054036043584347, "pair_body_intrusion": -0.010745343752205372}, "episode_termination_rates": {"time_out": 0.42857142857142855, "fell_over": 0.03571428571428571, "course_exit": 0.5214285714285715, "illegal_nonwheel_contact": 0.02857142857142857}, "collection_time_s": 0.07562207826180384, "learning_time_s": 0.18540964573738164, "iteration_time_s": 0.3008223664646816, "policy_updates": 41350, "skipped_updates": 0, "invalid_env_resets": 225, "elapsed_s": 12529.251563253987, "nonwheel_terminations": 13968, "contact_bce": 0.2797417640686035, "contact_force_loss": 0.020042195916175842, "collision_bce": 2.2018530216882937e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 2.1919153368799016e-05, "collision_label_count": 16322.0, "terrain_level_mean": 4.209228515625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 10, 23, 50, 71, 256], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1938.0, 426.0, 38.0, 0.0], [1750.0, 404.0, 34.0, 0.0], [1559.0, 351.0, 27.0, 0.0], [1224.0, 282.0, 24.0, 0.0], [2234.0, 519.0, 26.0, 0.0]]}, "up": {"level_counts": [0, 1, 1, 25, 282, 1124], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4313.0, 1761.0, 165.0, 0.0], [4681.0, 1723.0, 196.0, 0.0], [6838.0, 1837.0, 171.0, 0.0], [10801.0, 2147.0, 336.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 39, 573], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [976.0, 803.0, 26.0, 0.0], [2065.0, 1703.0, 67.0, 0.0], [12786.0, 10841.0, 311.0, 0.0]]}, "platform": {"level_counts": [9, 17, 40, 88, 130, 126], "episodes_by_level": [[1833.0, 397.0, 52.0, 0.0], [2261.0, 468.0, 95.0, 0.0], [2035.0, 411.0, 90.0, 0.0], [1837.0, 328.0, 67.0, 0.0], [1371.0, 203.0, 72.0, 0.0], [785.0, 81.0, 77.0, 0.0]]}, "slope": {"level_counts": [4, 17, 36, 66, 79, 208], "episodes_by_level": [[1649.0, 350.0, 46.0, 0.0], [2057.0, 420.0, 71.0, 0.0], [1871.0, 397.0, 45.0, 0.0], [1549.0, 308.0, 44.0, 0.0], [1258.0, 254.0, 21.0, 0.0], [1778.0, 315.0, 46.0, 0.0]]}, "rubble": {"level_counts": [13, 93, 184, 214, 214, 101], "episodes_by_level": [[3416.0, 778.0, 102.0, 0.0], [5177.0, 1110.0, 227.0, 0.0], [5046.0, 1053.0, 414.0, 0.0], [3984.0, 695.0, 524.0, 0.0], [2172.0, 277.0, 380.0, 0.0], [728.0, 55.0, 176.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23486328125, "command_abs_max": [0.999927282333374, 0.39975136518478394, 0.6989433765411377]}
{"step": 41700, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 41700, "total_transitions": 170803200, "num_steps_per_env": 1, "wm_loss": 0.5749592185020447, "actor_loss": -9.509961128234863, "critic_loss": 0.004459530580788851, "reward": 0.08671843260526657, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11687381565570831, 0.0726255401968956, 0.13582125306129456], "mean_episode_length": 1419.993670886076, "episode_reward_terms": {"track_linear_velocity": 50.17533874511719, "track_angular_velocity": 53.592533111572266, "upright": 27.1966609954834, "leg_posture": -2.738605260848999, "standstill": -6.922487258911133, "action_rate_l2": -0.6006975173950195, "joint_torques_l2": -0.1505608856678009, "dof_pos_limits": -0.0005123015725985169, "terminated": -0.027734247967600822, "unnecessary_wheel_lift": -0.09302826225757599, "rolling_leg_motion": -0.6150016188621521, "obstacle_progress": 3.883085012435913, "wheel_body_intrusion": -0.2734534740447998, "pair_body_intrusion": -0.28594180941581726}, "weighted_reward_terms": {"track_linear_velocity": 1.7667452096939087, "track_angular_velocity": 1.8870694637298584, "upright": 0.9576331973075867, "leg_posture": -0.09643019735813141, "standstill": -0.2437506467103958, "action_rate_l2": -0.02115141600370407, "joint_torques_l2": -0.005301463417708874, "dof_pos_limits": -1.8038868802250363e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.003275657771155238, "rolling_leg_motion": -0.021655084565281868, "obstacle_progress": 0.13672895729541779, "wheel_body_intrusion": -0.009628687053918839, "pair_body_intrusion": -0.010068418458104134}, "episode_termination_rates": {"time_out": 0.4810126582278481, "fell_over": 0.03164556962025317, "course_exit": 0.45569620253164556, "illegal_nonwheel_contact": 0.05063291139240506}, "collection_time_s": 0.07568729570251889, "learning_time_s": 0.1854877141781617, "iteration_time_s": 0.30077485541299814, "policy_updates": 41400, "skipped_updates": 0, "invalid_env_resets": 225, "elapsed_s": 12542.311470722023, "nonwheel_terminations": 13976, "contact_bce": 0.2899777889251709, "contact_force_loss": 0.02094813995063305, "collision_bce": 0.00025772780645638704, "collision_label_rate": 6.118453165981919e-05, "collision_prediction_mean": 0.00019464945944491774, "collision_label_count": 16344.0, "terrain_level_mean": 4.209228515625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 24, 50, 72, 255], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1940.0, 427.0, 38.0, 0.0], [1750.0, 404.0, 34.0, 0.0], [1561.0, 351.0, 27.0, 0.0], [1227.0, 282.0, 24.0, 0.0], [2241.0, 520.0, 27.0, 0.0]]}, "up": {"level_counts": [0, 1, 1, 25, 283, 1123], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4313.0, 1761.0, 165.0, 0.0], [4681.0, 1723.0, 196.0, 0.0], [6841.0, 1838.0, 171.0, 0.0], [10839.0, 2157.0, 337.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 39, 572], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [976.0, 803.0, 26.0, 0.0], [2065.0, 1703.0, 67.0, 0.0], [12806.0, 10857.0, 311.0, 0.0]]}, "platform": {"level_counts": [9, 17, 40, 88, 131, 125], "episodes_by_level": [[1833.0, 397.0, 52.0, 0.0], [2263.0, 468.0, 95.0, 0.0], [2038.0, 411.0, 90.0, 0.0], [1842.0, 328.0, 67.0, 0.0], [1374.0, 203.0, 72.0, 0.0], [789.0, 81.0, 78.0, 0.0]]}, "slope": {"level_counts": [4, 17, 35, 66, 80, 208], "episodes_by_level": [[1649.0, 350.0, 46.0, 0.0], [2058.0, 420.0, 71.0, 0.0], [1873.0, 398.0, 45.0, 0.0], [1552.0, 309.0, 44.0, 0.0], [1264.0, 254.0, 21.0, 0.0], [1783.0, 315.0, 46.0, 0.0]]}, "rubble": {"level_counts": [12, 94, 182, 216, 215, 100], "episodes_by_level": [[3417.0, 779.0, 102.0, 0.0], [5177.0, 1110.0, 227.0, 0.0], [5051.0, 1055.0, 414.0, 0.0], [3988.0, 696.0, 524.0, 0.0], [2181.0, 279.0, 381.0, 0.0], [735.0, 55.0, 179.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23828125, "command_abs_max": [0.999927282333374, 0.39975136518478394, 0.6989433765411377]}
{"step": 41750, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 41750, "total_transitions": 171008000, "num_steps_per_env": 1, "wm_loss": 0.599491536617279, "actor_loss": -9.488184928894043, "critic_loss": 0.005814317148178816, "reward": 0.08703003078699112, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11583129316568375, 0.07329368591308594, 0.1356944441795349], "mean_episode_length": 1351.8363636363636, "episode_reward_terms": {"track_linear_velocity": 47.79833984375, "track_angular_velocity": 51.01818084716797, "upright": 25.901552200317383, "leg_posture": -2.5929527282714844, "standstill": -6.228607177734375, "action_rate_l2": -0.5720652937889099, "joint_torques_l2": -0.14389103651046753, "dof_pos_limits": -0.0014871145831421018, "terminated": -0.023762743920087814, "unnecessary_wheel_lift": -0.09326363354921341, "rolling_leg_motion": -0.5958022475242615, "obstacle_progress": 3.756438970565796, "wheel_body_intrusion": -0.2687852382659912, "pair_body_intrusion": -0.30356624722480774}, "weighted_reward_terms": {"track_linear_velocity": 1.7679041624069214, "track_angular_velocity": 1.886995553970337, "upright": 0.958013653755188, "leg_posture": -0.09590483456850052, "standstill": -0.23037579655647278, "action_rate_l2": -0.021158823743462563, "joint_torques_l2": -0.0053220586851239204, "dof_pos_limits": -5.500350016518496e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.0034495166037231684, "rolling_leg_motion": -0.022036774083971977, "obstacle_progress": 0.13893838226795197, "wheel_body_intrusion": -0.00994148664176464, "pair_body_intrusion": -0.011227922514081001}, "episode_termination_rates": {"time_out": 0.4666666666666667, "fell_over": 0.03636363636363636, "course_exit": 0.47878787878787876, "illegal_nonwheel_contact": 0.030303030303030304}, "collection_time_s": 0.0760546198033262, "learning_time_s": 0.18551279007224367, "iteration_time_s": 0.30072792732840664, "policy_updates": 41450, "skipped_updates": 0, "invalid_env_resets": 226, "elapsed_s": 12555.390965960978, "nonwheel_terminations": 13981, "contact_bce": 0.2845626175403595, "contact_force_loss": 0.020461123436689377, "collision_bce": 0.0003571095585357398, "collision_label_rate": 6.124448555056006e-05, "collision_prediction_mean": 2.4860239136614837e-05, "collision_label_count": 16328.0, "terrain_level_mean": 4.212158203125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 24, 50, 72, 255], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1940.0, 427.0, 38.0, 0.0], [1751.0, 404.0, 34.0, 0.0], [1562.0, 351.0, 27.0, 0.0], [1230.0, 282.0, 24.0, 0.0], [2250.0, 522.0, 27.0, 0.0]]}, "up": {"level_counts": [0, 1, 1, 25, 279, 1127], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4313.0, 1761.0, 165.0, 0.0], [4682.0, 1723.0, 196.0, 0.0], [6851.0, 1845.0, 171.0, 0.0], [10868.0, 2166.0, 338.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 37, 575], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [977.0, 804.0, 26.0, 0.0], [2069.0, 1707.0, 67.0, 0.0], [12830.0, 10878.0, 311.0, 0.0]]}, "platform": {"level_counts": [9, 17, 39, 89, 131, 125], "episodes_by_level": [[1833.0, 397.0, 52.0, 0.0], [2264.0, 468.0, 95.0, 0.0], [2041.0, 412.0, 90.0, 0.0], [1844.0, 328.0, 67.0, 0.0], [1379.0, 204.0, 72.0, 0.0], [793.0, 82.0, 79.0, 0.0]]}, "slope": {"level_counts": [4, 17, 35, 66, 79, 209], "episodes_by_level": [[1649.0, 350.0, 46.0, 0.0], [2058.0, 420.0, 71.0, 0.0], [1874.0, 398.0, 45.0, 0.0], [1553.0, 309.0, 44.0, 0.0], [1267.0, 255.0, 21.0, 0.0], [1792.0, 317.0, 46.0, 0.0]]}, "rubble": {"level_counts": [12, 93, 183, 214, 218, 99], "episodes_by_level": [[3417.0, 779.0, 102.0, 0.0], [5178.0, 1111.0, 227.0, 0.0], [5056.0, 1057.0, 414.0, 0.0], [4004.0, 699.0, 526.0, 0.0], [2188.0, 279.0, 382.0, 0.0], [738.0, 55.0, 180.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2373046875, "command_abs_max": [0.999927282333374, 0.39975136518478394, 0.6989433765411377]}
{"step": 41800, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 41800, "total_transitions": 171212800, "num_steps_per_env": 1, "wm_loss": 0.5872568488121033, "actor_loss": -9.526335716247559, "critic_loss": 0.004521891009062529, "reward": 0.08711952716112137, "falls": 5, "interval_steps": 50, "velocity_mae": [0.1152622252702713, 0.07268253713846207, 0.13538959622383118], "mean_episode_length": 1407.373417721519, "episode_reward_terms": {"track_linear_velocity": 49.80403518676758, "track_angular_velocity": 53.14197540283203, "upright": 26.992643356323242, "leg_posture": -2.6999075412750244, "standstill": -6.503891468048096, "action_rate_l2": -0.5886042714118958, "joint_torques_l2": -0.14956137537956238, "dof_pos_limits": -0.0010299464920535684, "terminated": -0.013743879273533821, "unnecessary_wheel_lift": -0.0891992375254631, "rolling_leg_motion": -0.6176407933235168, "obstacle_progress": 3.9284610748291016, "wheel_body_intrusion": -0.28168827295303345, "pair_body_intrusion": -0.31216272711753845}, "weighted_reward_terms": {"track_linear_velocity": 1.7693966627120972, "track_angular_velocity": 1.887984275817871, "upright": 0.9589723944664001, "leg_posture": -0.09592008590698242, "standstill": -0.23106488585472107, "action_rate_l2": -0.02091144770383835, "joint_torques_l2": -0.005313492845743895, "dof_pos_limits": -3.659108915599063e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.003168996889144182, "rolling_leg_motion": -0.02194303274154663, "obstacle_progress": 0.13956712186336517, "wheel_body_intrusion": -0.010007588192820549, "pair_body_intrusion": -0.011090259067714214}, "episode_termination_rates": {"time_out": 0.5316455696202531, "fell_over": 0.0, "course_exit": 0.43670886075949367, "illegal_nonwheel_contact": 0.03164556962025317}, "collection_time_s": 0.07567648744094185, "learning_time_s": 0.18546071683987975, "iteration_time_s": 0.3006806021394502, "policy_updates": 41500, "skipped_updates": 0, "invalid_env_resets": 226, "elapsed_s": 12568.44916942902, "nonwheel_terminations": 13986, "contact_bce": 0.28554919362068176, "contact_force_loss": 0.020556524395942688, "collision_bce": 0.00010636158549459651, "collision_label_rate": 6.128577661002055e-05, "collision_prediction_mean": 0.0001296856498811394, "collision_label_count": 16317.0, "terrain_level_mean": 4.21435546875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 24, 50, 71, 256], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1940.0, 427.0, 38.0, 0.0], [1751.0, 404.0, 34.0, 0.0], [1565.0, 351.0, 27.0, 0.0], [1235.0, 283.0, 24.0, 0.0], [2258.0, 525.0, 27.0, 0.0]]}, "up": {"level_counts": [0, 1, 1, 25, 277, 1129], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4313.0, 1761.0, 165.0, 0.0], [4682.0, 1723.0, 196.0, 0.0], [6855.0, 1847.0, 171.0, 0.0], [10904.0, 2180.0, 338.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 36, 576], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [977.0, 804.0, 26.0, 0.0], [2072.0, 1710.0, 67.0, 0.0], [12848.0, 10894.0, 312.0, 0.0]]}, "platform": {"level_counts": [9, 17, 37, 92, 129, 126], "episodes_by_level": [[1833.0, 397.0, 52.0, 0.0], [2264.0, 468.0, 95.0, 0.0], [2043.0, 414.0, 90.0, 0.0], [1849.0, 328.0, 67.0, 0.0], [1384.0, 205.0, 73.0, 0.0], [796.0, 82.0, 79.0, 0.0]]}, "slope": {"level_counts": [4, 17, 35, 66, 79, 209], "episodes_by_level": [[1649.0, 350.0, 46.0, 0.0], [2058.0, 420.0, 71.0, 0.0], [1874.0, 398.0, 45.0, 0.0], [1555.0, 309.0, 44.0, 0.0], [1268.0, 255.0, 21.0, 0.0], [1796.0, 317.0, 46.0, 0.0]]}, "rubble": {"level_counts": [12, 92, 182, 217, 216, 100], "episodes_by_level": [[3417.0, 779.0, 102.0, 0.0], [5181.0, 1112.0, 227.0, 0.0], [5060.0, 1059.0, 414.0, 0.0], [4008.0, 699.0, 526.0, 0.0], [2199.0, 281.0, 383.0, 0.0], [741.0, 55.0, 181.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234619140625, "command_abs_max": [0.999927282333374, 0.39975136518478394, 0.6989433765411377]}
{"step": 41850, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 41850, "total_transitions": 171417600, "num_steps_per_env": 1, "wm_loss": 0.5360152721405029, "actor_loss": -9.511758804321289, "critic_loss": 0.0034218193031847477, "reward": 0.08746091276407242, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11219708621501923, 0.07153311371803284, 0.13465122878551483], "mean_episode_length": 1345.8344827586207, "episode_reward_terms": {"track_linear_velocity": 47.85778045654297, "track_angular_velocity": 50.84110641479492, "upright": 25.826662063598633, "leg_posture": -2.5789716243743896, "standstill": -6.116659641265869, "action_rate_l2": -0.5597051978111267, "joint_torques_l2": -0.14231903851032257, "dof_pos_limits": -0.0009682950330898166, "terminated": -0.013142913579940796, "unnecessary_wheel_lift": -0.089447520673275, "rolling_leg_motion": -0.566765546798706, "obstacle_progress": 3.824066638946533, "wheel_body_intrusion": -0.26863914728164673, "pair_body_intrusion": -0.30507683753967285}, "weighted_reward_terms": {"track_linear_velocity": 1.77799654006958, "track_angular_velocity": 1.8888322114944458, "upright": 0.959503710269928, "leg_posture": -0.09581311047077179, "standstill": -0.22724412381649017, "action_rate_l2": -0.020793983712792397, "joint_torques_l2": -0.0052873906679451466, "dof_pos_limits": -3.597377872210927e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.0033231249544769526, "rolling_leg_motion": -0.021056288853287697, "obstacle_progress": 0.142070472240448, "wheel_body_intrusion": -0.009980393573641777, "pair_body_intrusion": -0.011334114708006382}, "episode_termination_rates": {"time_out": 0.47586206896551725, "fell_over": 0.020689655172413793, "course_exit": 0.4896551724137931, "illegal_nonwheel_contact": 0.013793103448275862}, "collection_time_s": 0.07571694116573781, "learning_time_s": 0.18554802559316158, "iteration_time_s": 0.30063353636219853, "policy_updates": 41550, "skipped_updates": 0, "invalid_env_resets": 226, "elapsed_s": 12581.513496758009, "nonwheel_terminations": 13988, "contact_bce": 0.2801953852176666, "contact_force_loss": 0.019473077729344368, "collision_bce": 0.00016296816465910524, "collision_label_rate": 6.123323692008853e-05, "collision_prediction_mean": 2.4110908270813525e-05, "collision_label_count": 16331.0, "terrain_level_mean": 4.215576171875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 23, 51, 71, 256], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1941.0, 427.0, 38.0, 0.0], [1752.0, 405.0, 34.0, 0.0], [1567.0, 351.0, 27.0, 0.0], [1235.0, 283.0, 24.0, 0.0], [2264.0, 528.0, 27.0, 0.0]]}, "up": {"level_counts": [0, 1, 1, 25, 278, 1128], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4313.0, 1761.0, 165.0, 0.0], [4683.0, 1723.0, 196.0, 0.0], [6860.0, 1849.0, 171.0, 0.0], [10932.0, 2185.0, 341.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 35, 577], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [977.0, 804.0, 26.0, 0.0], [2074.0, 1712.0, 67.0, 0.0], [12873.0, 10917.0, 313.0, 0.0]]}, "platform": {"level_counts": [9, 17, 37, 92, 129, 126], "episodes_by_level": [[1833.0, 397.0, 52.0, 0.0], [2265.0, 468.0, 95.0, 0.0], [2046.0, 414.0, 90.0, 0.0], [1851.0, 328.0, 67.0, 0.0], [1388.0, 205.0, 73.0, 0.0], [799.0, 83.0, 79.0, 0.0]]}, "slope": {"level_counts": [3, 18, 35, 66, 78, 210], "episodes_by_level": [[1650.0, 351.0, 46.0, 0.0], [2058.0, 420.0, 71.0, 0.0], [1874.0, 398.0, 45.0, 0.0], [1556.0, 309.0, 44.0, 0.0], [1272.0, 256.0, 21.0, 0.0], [1804.0, 319.0, 46.0, 0.0]]}, "rubble": {"level_counts": [12, 91, 182, 218, 216, 100], "episodes_by_level": [[3417.0, 779.0, 102.0, 0.0], [5184.0, 1114.0, 227.0, 0.0], [5065.0, 1060.0, 415.0, 0.0], [4015.0, 699.0, 526.0, 0.0], [2205.0, 281.0, 383.0, 0.0], [743.0, 55.0, 181.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.232666015625, "command_abs_max": [0.999927282333374, 0.39975136518478394, 0.6998308300971985]}
{"step": 41900, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 41900, "total_transitions": 171622400, "num_steps_per_env": 1, "wm_loss": 0.5513840913772583, "actor_loss": -9.50142765045166, "critic_loss": 0.004691384732723236, "reward": 0.08765126764774323, "falls": 4, "interval_steps": 50, "velocity_mae": [0.11439267545938492, 0.07106487452983856, 0.13419704139232635], "mean_episode_length": 1473.13125, "episode_reward_terms": {"track_linear_velocity": 52.304447174072266, "track_angular_velocity": 55.67433166503906, "upright": 28.252052307128906, "leg_posture": -2.8186779022216797, "standstill": -6.3226637840271, "action_rate_l2": -0.6093131899833679, "joint_torques_l2": -0.1543658822774887, "dof_pos_limits": -0.0005483432323671877, "terminated": -0.011508835479617119, "unnecessary_wheel_lift": -0.0865556001663208, "rolling_leg_motion": -0.6344793438911438, "obstacle_progress": 4.1234564781188965, "wheel_body_intrusion": -0.28877368569374084, "pair_body_intrusion": -0.30559003353118896}, "weighted_reward_terms": {"track_linear_velocity": 1.7752814292907715, "track_angular_velocity": 1.8896596431732178, "upright": 0.958911657333374, "leg_posture": -0.09566961228847504, "standstill": -0.21459947526454926, "action_rate_l2": -0.02068088762462139, "joint_torques_l2": -0.005239380057901144, "dof_pos_limits": -1.86114866664866e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.0029378102626651525, "rolling_leg_motion": -0.021535057574510574, "obstacle_progress": 0.13995550572872162, "wheel_body_intrusion": -0.009801357053220272, "pair_body_intrusion": -0.010372125543653965}, "episode_termination_rates": {"time_out": 0.55625, "fell_over": 0.0125, "course_exit": 0.41875, "illegal_nonwheel_contact": 0.0125}, "collection_time_s": 0.07575205897795968, "learning_time_s": 0.1854654547991231, "iteration_time_s": 0.3005865269766824, "policy_updates": 41600, "skipped_updates": 0, "invalid_env_resets": 226, "elapsed_s": 12594.575480322994, "nonwheel_terminations": 13990, "contact_bce": 0.2832864224910736, "contact_force_loss": 0.02010476216673851, "collision_bce": 0.00013427087105810642, "collision_label_rate": 6.115833821240813e-05, "collision_prediction_mean": 3.572477726265788e-05, "collision_label_count": 16351.0, "terrain_level_mean": 4.217041015625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 23, 51, 70, 257], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1941.0, 427.0, 38.0, 0.0], [1752.0, 405.0, 34.0, 0.0], [1568.0, 351.0, 27.0, 0.0], [1238.0, 284.0, 24.0, 0.0], [2275.0, 529.0, 27.0, 0.0]]}, "up": {"level_counts": [0, 1, 1, 25, 277, 1129], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4313.0, 1761.0, 165.0, 0.0], [4684.0, 1723.0, 196.0, 0.0], [6869.0, 1851.0, 171.0, 0.0], [10968.0, 2191.0, 341.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 35, 577], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [977.0, 804.0, 26.0, 0.0], [2074.0, 1712.0, 67.0, 0.0], [12890.0, 10932.0, 313.0, 0.0]]}, "platform": {"level_counts": [9, 17, 37, 92, 129, 126], "episodes_by_level": [[1833.0, 397.0, 52.0, 0.0], [2265.0, 468.0, 95.0, 0.0], [2048.0, 414.0, 90.0, 0.0], [1852.0, 328.0, 67.0, 0.0], [1394.0, 205.0, 73.0, 0.0], [803.0, 83.0, 79.0, 0.0]]}, "slope": {"level_counts": [3, 18, 35, 66, 78, 210], "episodes_by_level": [[1650.0, 351.0, 46.0, 0.0], [2058.0, 420.0, 71.0, 0.0], [1874.0, 398.0, 45.0, 0.0], [1559.0, 309.0, 44.0, 0.0], [1276.0, 256.0, 21.0, 0.0], [1811.0, 319.0, 46.0, 0.0]]}, "rubble": {"level_counts": [11, 91, 182, 220, 213, 102], "episodes_by_level": [[3419.0, 780.0, 102.0, 0.0], [5188.0, 1115.0, 227.0, 0.0], [5070.0, 1061.0, 415.0, 0.0], [4025.0, 701.0, 526.0, 0.0], [2214.0, 283.0, 386.0, 0.0], [744.0, 55.0, 181.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.233154296875, "command_abs_max": [0.999927282333374, 0.39975136518478394, 0.6998308300971985]}
{"step": 41950, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 41950, "total_transitions": 171827200, "num_steps_per_env": 1, "wm_loss": 0.5816846489906311, "actor_loss": -9.495601654052734, "critic_loss": 0.004183207638561726, "reward": 0.0876762866973877, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11366959661245346, 0.07080225646495819, 0.13448508083820343], "mean_episode_length": 1370.1544117647059, "episode_reward_terms": {"track_linear_velocity": 48.6836051940918, "track_angular_velocity": 51.77753829956055, "upright": 26.256717681884766, "leg_posture": -2.5885872840881348, "standstill": -5.889135837554932, "action_rate_l2": -0.5779341459274292, "joint_torques_l2": -0.14353309571743011, "dof_pos_limits": -0.00039706137613393366, "terminated": -0.013380412943661213, "unnecessary_wheel_lift": -0.0713566392660141, "rolling_leg_motion": -0.5861170291900635, "obstacle_progress": 3.827625274658203, "wheel_body_intrusion": -0.2601968050003052, "pair_body_intrusion": -0.28478434681892395}, "weighted_reward_terms": {"track_linear_velocity": 1.776573657989502, "track_angular_velocity": 1.8894782066345215, "upright": 0.9581664204597473, "leg_posture": -0.09446334838867188, "standstill": -0.21490775048732758, "action_rate_l2": -0.021090110763907433, "joint_torques_l2": -0.005237844306975603, "dof_pos_limits": -1.4489658497041091e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.0026039634831249714, "rolling_leg_motion": -0.021388720721006393, "obstacle_progress": 0.13967861235141754, "wheel_body_intrusion": -0.009495164267718792, "pair_body_intrusion": -0.010392418131232262}, "episode_termination_rates": {"time_out": 0.47794117647058826, "fell_over": 0.007352941176470588, "course_exit": 0.4852941176470588, "illegal_nonwheel_contact": 0.029411764705882353}, "collection_time_s": 0.07591051698313095, "learning_time_s": 0.18486509928130546, "iteration_time_s": 0.3005391018832654, "policy_updates": 41650, "skipped_updates": 0, "invalid_env_resets": 227, "elapsed_s": 12607.615324002982, "nonwheel_terminations": 13994, "contact_bce": 0.2877267897129059, "contact_force_loss": 0.020608874037861824, "collision_bce": 1.0720701538957655e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.0768239008029923e-05, "collision_label_count": 16325.0, "terrain_level_mean": 4.21923828125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 22, 51, 70, 258], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1942.0, 427.0, 38.0, 0.0], [1753.0, 406.0, 34.0, 0.0], [1570.0, 352.0, 27.0, 0.0], [1240.0, 285.0, 24.0, 0.0], [2283.0, 532.0, 27.0, 0.0]]}, "up": {"level_counts": [0, 1, 1, 25, 277, 1129], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4313.0, 1761.0, 165.0, 0.0], [4684.0, 1723.0, 196.0, 0.0], [6877.0, 1854.0, 171.0, 0.0], [10993.0, 2198.0, 341.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 34, 578], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [977.0, 804.0, 26.0, 0.0], [2075.0, 1713.0, 67.0, 0.0], [12906.0, 10945.0, 313.0, 0.0]]}, "platform": {"level_counts": [9, 17, 37, 91, 129, 127], "episodes_by_level": [[1833.0, 397.0, 52.0, 0.0], [2266.0, 468.0, 95.0, 0.0], [2049.0, 414.0, 90.0, 0.0], [1855.0, 329.0, 67.0, 0.0], [1402.0, 206.0, 73.0, 0.0], [807.0, 83.0, 79.0, 0.0]]}, "slope": {"level_counts": [3, 17, 36, 66, 77, 211], "episodes_by_level": [[1650.0, 351.0, 46.0, 0.0], [2061.0, 421.0, 71.0, 0.0], [1875.0, 398.0, 45.0, 0.0], [1559.0, 309.0, 44.0, 0.0], [1278.0, 257.0, 21.0, 0.0], [1813.0, 319.0, 46.0, 0.0]]}, "rubble": {"level_counts": [11, 91, 180, 222, 214, 101], "episodes_by_level": [[3420.0, 780.0, 102.0, 0.0], [5192.0, 1115.0, 227.0, 0.0], [5078.0, 1063.0, 415.0, 0.0], [4028.0, 702.0, 526.0, 0.0], [2218.0, 283.0, 387.0, 0.0], [747.0, 55.0, 182.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23291015625, "command_abs_max": [0.9986037015914917, 0.39975136518478394, 0.6998308300971985]}
{"step": 42000, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 42000, "total_transitions": 172032000, "num_steps_per_env": 1, "wm_loss": 0.6024124026298523, "actor_loss": -9.500292778015137, "critic_loss": 0.005094335880130529, "reward": 0.08746849000453949, "falls": 4, "interval_steps": 50, "velocity_mae": [0.11564670503139496, 0.07189497351646423, 0.13426518440246582], "mean_episode_length": 1375.5976331360946, "episode_reward_terms": {"track_linear_velocity": 48.69761276245117, "track_angular_velocity": 51.99481201171875, "upright": 26.3726806640625, "leg_posture": -2.5921783447265625, "standstill": -5.970319747924805, "action_rate_l2": -0.588629961013794, "joint_torques_l2": -0.1439310908317566, "dof_pos_limits": -0.0004279797140043229, "terminated": -0.010746854357421398, "unnecessary_wheel_lift": -0.08335907757282257, "rolling_leg_motion": -0.5897548198699951, "obstacle_progress": 3.7938616275787354, "wheel_body_intrusion": -0.2626667022705078, "pair_body_intrusion": -0.2954869568347931}, "weighted_reward_terms": {"track_linear_velocity": 1.7700529098510742, "track_angular_velocity": 1.8898991346359253, "upright": 0.9585899114608765, "leg_posture": -0.09422007948160172, "standstill": -0.21700821816921234, "action_rate_l2": -0.021395426243543625, "joint_torques_l2": -0.005231584422290325, "dof_pos_limits": -1.5556137441308238e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.003029922256246209, "rolling_leg_motion": -0.021436311304569244, "obstacle_progress": 0.13789866864681244, "wheel_body_intrusion": -0.009547366760671139, "pair_body_intrusion": -0.010740311816334724}, "episode_termination_rates": {"time_out": 0.48520710059171596, "fell_over": 0.01775147928994083, "course_exit": 0.4911242603550296, "illegal_nonwheel_contact": 0.01775147928994083}, "collection_time_s": 0.07596326464088633, "learning_time_s": 0.1854935860587284, "iteration_time_s": 0.3004926017206661, "policy_updates": 41700, "skipped_updates": 0, "invalid_env_resets": 228, "elapsed_s": 12620.689272267977, "nonwheel_terminations": 13997, "contact_bce": 0.2909602224826813, "contact_force_loss": 0.02097051590681076, "collision_bce": 0.00019267486641183496, "collision_label_rate": 6.1221988289617e-05, "collision_prediction_mean": 2.2488844479084946e-05, "collision_label_count": 16334.0, "terrain_level_mean": 4.221923828125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 22, 51, 69, 259], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1942.0, 427.0, 38.0, 0.0], [1753.0, 406.0, 34.0, 0.0], [1571.0, 352.0, 27.0, 0.0], [1244.0, 286.0, 24.0, 0.0], [2288.0, 533.0, 27.0, 0.0]]}, "up": {"level_counts": [0, 1, 1, 25, 277, 1129], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4313.0, 1761.0, 165.0, 0.0], [4684.0, 1723.0, 196.0, 0.0], [6887.0, 1854.0, 171.0, 0.0], [11026.0, 2201.0, 341.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 33, 579], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [977.0, 804.0, 26.0, 0.0], [2078.0, 1716.0, 67.0, 0.0], [12927.0, 10965.0, 313.0, 0.0]]}, "platform": {"level_counts": [9, 17, 37, 90, 128, 129], "episodes_by_level": [[1834.0, 397.0, 52.0, 0.0], [2266.0, 468.0, 95.0, 0.0], [2051.0, 414.0, 90.0, 0.0], [1859.0, 330.0, 67.0, 0.0], [1408.0, 208.0, 73.0, 0.0], [813.0, 84.0, 79.0, 0.0]]}, "slope": {"level_counts": [3, 17, 36, 66, 77, 211], "episodes_by_level": [[1650.0, 351.0, 46.0, 0.0], [2062.0, 421.0, 71.0, 0.0], [1877.0, 399.0, 45.0, 0.0], [1564.0, 309.0, 45.0, 0.0], [1284.0, 257.0, 21.0, 0.0], [1821.0, 319.0, 46.0, 0.0]]}, "rubble": {"level_counts": [11, 89, 181, 221, 215, 102], "episodes_by_level": [[3421.0, 780.0, 102.0, 0.0], [5195.0, 1118.0, 227.0, 0.0], [5081.0, 1064.0, 416.0, 0.0], [4035.0, 704.0, 526.0, 0.0], [2226.0, 284.0, 387.0, 0.0], [753.0, 55.0, 182.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23193359375, "command_abs_max": [0.9986037015914917, 0.39975136518478394, 0.6998308300971985]}
{"step": 42050, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 42050, "total_transitions": 172236800, "num_steps_per_env": 1, "wm_loss": 0.5700398683547974, "actor_loss": -9.500123977661133, "critic_loss": 0.005684608593583107, "reward": 0.08734060823917389, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11520063877105713, 0.07226046174764633, 0.1350557506084442], "mean_episode_length": 1315.362962962963, "episode_reward_terms": {"track_linear_velocity": 46.59538269042969, "track_angular_velocity": 49.677669525146484, "upright": 25.18456268310547, "leg_posture": -2.519221782684326, "standstill": -5.792036056518555, "action_rate_l2": -0.5608755350112915, "joint_torques_l2": -0.13828450441360474, "dof_pos_limits": -0.0007912837900221348, "terminated": -0.023121610283851624, "unnecessary_wheel_lift": -0.08316700160503387, "rolling_leg_motion": -0.5553045272827148, "obstacle_progress": 3.6339828968048096, "wheel_body_intrusion": -0.2518611550331116, "pair_body_intrusion": -0.2823582589626312}, "weighted_reward_terms": {"track_linear_velocity": 1.7711988687515259, "track_angular_velocity": 1.8883637189865112, "upright": 0.9573237299919128, "leg_posture": -0.09576147794723511, "standstill": -0.22016876935958862, "action_rate_l2": -0.02132018283009529, "joint_torques_l2": -0.005256515461951494, "dof_pos_limits": -3.0078537747613154e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.0031613707542419434, "rolling_leg_motion": -0.021108416840434074, "obstacle_progress": 0.1381361335515976, "wheel_body_intrusion": -0.009573827497661114, "pair_body_intrusion": -0.01073309313505888}, "episode_termination_rates": {"time_out": 0.4444444444444444, "fell_over": 0.037037037037037035, "course_exit": 0.4888888888888889, "illegal_nonwheel_contact": 0.037037037037037035}, "collection_time_s": 0.07571640215814114, "learning_time_s": 0.1853617758140899, "iteration_time_s": 0.3004463545988105, "policy_updates": 41750, "skipped_updates": 0, "invalid_env_resets": 228, "elapsed_s": 12633.769210879982, "nonwheel_terminations": 14002, "contact_bce": 0.2853383421897888, "contact_force_loss": 0.020393094047904015, "collision_bce": 0.0001345847558695823, "collision_label_rate": 6.115833821240813e-05, "collision_prediction_mean": 4.245799937052652e-05, "collision_label_count": 16351.0, "terrain_level_mean": 4.222412109375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 22, 51, 69, 259], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1942.0, 427.0, 38.0, 0.0], [1753.0, 406.0, 34.0, 0.0], [1571.0, 352.0, 27.0, 0.0], [1245.0, 286.0, 24.0, 0.0], [2294.0, 533.0, 27.0, 0.0]]}, "up": {"level_counts": [0, 1, 1, 27, 276, 1128], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4313.0, 1761.0, 165.0, 0.0], [4684.0, 1723.0, 196.0, 0.0], [6892.0, 1855.0, 171.0, 0.0], [11055.0, 2205.0, 341.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 33, 579], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [977.0, 804.0, 26.0, 0.0], [2079.0, 1717.0, 67.0, 0.0], [12948.0, 10983.0, 314.0, 0.0]]}, "platform": {"level_counts": [9, 16, 39, 89, 127, 130], "episodes_by_level": [[1834.0, 397.0, 52.0, 0.0], [2267.0, 469.0, 95.0, 0.0], [2052.0, 414.0, 90.0, 0.0], [1864.0, 330.0, 68.0, 0.0], [1412.0, 210.0, 73.0, 0.0], [814.0, 84.0, 80.0, 0.0]]}, "slope": {"level_counts": [3, 17, 36, 66, 77, 211], "episodes_by_level": [[1650.0, 351.0, 46.0, 0.0], [2062.0, 421.0, 71.0, 0.0], [1879.0, 399.0, 45.0, 0.0], [1566.0, 309.0, 45.0, 0.0], [1285.0, 257.0, 21.0, 0.0], [1824.0, 319.0, 46.0, 0.0]]}, "rubble": {"level_counts": [11, 89, 181, 219, 215, 104], "episodes_by_level": [[3421.0, 780.0, 102.0, 0.0], [5197.0, 1119.0, 227.0, 0.0], [5087.0, 1064.0, 417.0, 0.0], [4042.0, 707.0, 526.0, 0.0], [2232.0, 286.0, 388.0, 0.0], [756.0, 55.0, 182.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23388671875, "command_abs_max": [0.9944889545440674, 0.39975136518478394, 0.6986312866210938]}
{"step": 42100, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 42100, "total_transitions": 172441600, "num_steps_per_env": 1, "wm_loss": 0.5586739778518677, "actor_loss": -9.525294303894043, "critic_loss": 0.003933971747756004, "reward": 0.08731765300035477, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11457283794879913, 0.0730539932847023, 0.1354856789112091], "mean_episode_length": 1339.0, "episode_reward_terms": {"track_linear_velocity": 47.38514709472656, "track_angular_velocity": 50.54708480834961, "upright": 25.634445190429688, "leg_posture": -2.5248708724975586, "standstill": -5.968347072601318, "action_rate_l2": -0.5820046067237854, "joint_torques_l2": -0.14048629999160767, "dof_pos_limits": -0.0006895500118844211, "terminated": -0.023537106812000275, "unnecessary_wheel_lift": -0.08972226828336716, "rolling_leg_motion": -0.5608586668968201, "obstacle_progress": 3.7742393016815186, "wheel_body_intrusion": -0.24641920626163483, "pair_body_intrusion": -0.28565454483032227}, "weighted_reward_terms": {"track_linear_velocity": 1.7694228887557983, "track_angular_velocity": 1.8874937295913696, "upright": 0.9572234749794006, "leg_posture": -0.09428196400403976, "standstill": -0.22286584973335266, "action_rate_l2": -0.021732809022068977, "joint_torques_l2": -0.00524594122543931, "dof_pos_limits": -2.574869358795695e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.003350346116349101, "rolling_leg_motion": -0.020943190902471542, "obstacle_progress": 0.1409350037574768, "wheel_body_intrusion": -0.009201613254845142, "pair_body_intrusion": -0.010666712187230587}, "episode_termination_rates": {"time_out": 0.44171779141104295, "fell_over": 0.03067484662576687, "course_exit": 0.5030674846625767, "illegal_nonwheel_contact": 0.03067484662576687}, "collection_time_s": 0.07580631584394723, "learning_time_s": 0.18419658416183665, "iteration_time_s": 0.3003983475028033, "policy_updates": 41800, "skipped_updates": 0, "invalid_env_resets": 228, "elapsed_s": 12646.770429868018, "nonwheel_terminations": 14007, "contact_bce": 0.28625136613845825, "contact_force_loss": 0.020380588248372078, "collision_bce": 0.00018830326735042036, "collision_label_rate": 6.119201862020418e-05, "collision_prediction_mean": 1.5363015336333774e-05, "collision_label_count": 16342.0, "terrain_level_mean": 4.224609375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 22, 51, 69, 259], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1942.0, 427.0, 38.0, 0.0], [1753.0, 406.0, 34.0, 0.0], [1572.0, 352.0, 27.0, 0.0], [1247.0, 287.0, 24.0, 0.0], [2304.0, 534.0, 28.0, 0.0]]}, "up": {"level_counts": [0, 1, 1, 27, 275, 1129], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4313.0, 1761.0, 165.0, 0.0], [4685.0, 1723.0, 196.0, 0.0], [6907.0, 1858.0, 171.0, 0.0], [11079.0, 2213.0, 341.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 31, 580], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [977.0, 804.0, 26.0, 0.0], [2081.0, 1719.0, 67.0, 0.0], [12973.0, 11006.0, 314.0, 0.0]]}, "platform": {"level_counts": [9, 16, 38, 90, 127, 130], "episodes_by_level": [[1835.0, 397.0, 52.0, 0.0], [2268.0, 469.0, 95.0, 0.0], [2054.0, 415.0, 90.0, 0.0], [1866.0, 330.0, 68.0, 0.0], [1413.0, 210.0, 73.0, 0.0], [819.0, 84.0, 80.0, 0.0]]}, "slope": {"level_counts": [3, 17, 36, 66, 78, 210], "episodes_by_level": [[1650.0, 351.0, 46.0, 0.0], [2062.0, 421.0, 71.0, 0.0], [1880.0, 399.0, 45.0, 0.0], [1566.0, 309.0, 45.0, 0.0], [1287.0, 257.0, 21.0, 0.0], [1834.0, 324.0, 47.0, 0.0]]}, "rubble": {"level_counts": [11, 85, 184, 217, 218, 104], "episodes_by_level": [[3421.0, 780.0, 102.0, 0.0], [5203.0, 1124.0, 227.0, 0.0], [5092.0, 1065.0, 418.0, 0.0], [4056.0, 710.0, 526.0, 0.0], [2236.0, 288.0, 388.0, 0.0], [760.0, 55.0, 184.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.233642578125, "command_abs_max": [0.9992491006851196, 0.3998302221298218, 0.6986312866210938]}
{"step": 42150, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 42150, "total_transitions": 172646400, "num_steps_per_env": 1, "wm_loss": 0.5797973275184631, "actor_loss": -9.522216796875, "critic_loss": 0.0038297621067613363, "reward": 0.0875532329082489, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11531194299459457, 0.07351307570934296, 0.13644710183143616], "mean_episode_length": 1333.2794117647059, "episode_reward_terms": {"track_linear_velocity": 47.163734436035156, "track_angular_velocity": 50.29487991333008, "upright": 25.50684356689453, "leg_posture": -2.4984583854675293, "standstill": -5.6352128982543945, "action_rate_l2": -0.5742869973182678, "joint_torques_l2": -0.13958661258220673, "dof_pos_limits": -0.0008554282248951495, "terminated": -0.018228428438305855, "unnecessary_wheel_lift": -0.06996886432170868, "rolling_leg_motion": -0.5506346821784973, "obstacle_progress": 3.7706708908081055, "wheel_body_intrusion": -0.24763615429401398, "pair_body_intrusion": -0.26833996176719666}, "weighted_reward_terms": {"track_linear_velocity": 1.7687116861343384, "track_angular_velocity": 1.8861342668533325, "upright": 0.9565452933311462, "leg_posture": -0.0936959832906723, "standstill": -0.21132904291152954, "action_rate_l2": -0.021536633372306824, "joint_torques_l2": -0.005234709475189447, "dof_pos_limits": -3.207985719200224e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.002623938489705324, "rolling_leg_motion": -0.020649636164307594, "obstacle_progress": 0.1414058804512024, "wheel_body_intrusion": -0.009286731481552124, "pair_body_intrusion": -0.010063155554234982}, "episode_termination_rates": {"time_out": 0.4852941176470588, "fell_over": 0.022058823529411766, "course_exit": 0.4632352941176471, "illegal_nonwheel_contact": 0.03676470588235294}, "collection_time_s": 0.07553669440094382, "learning_time_s": 0.1847917048027739, "iteration_time_s": 0.3003508409212577, "policy_updates": 41850, "skipped_updates": 0, "invalid_env_resets": 228, "elapsed_s": 12659.787944831012, "nonwheel_terminations": 14012, "contact_bce": 0.29009777307510376, "contact_force_loss": 0.020949620753526688, "collision_bce": 0.001016271417029202, "collision_label_rate": 0.00030665440135635436, "collision_prediction_mean": 5.098769543110393e-05, "collision_label_count": 16305.0, "terrain_level_mean": 4.225830078125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 22, 51, 68, 260], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1942.0, 427.0, 38.0, 0.0], [1754.0, 406.0, 34.0, 0.0], [1575.0, 352.0, 27.0, 0.0], [1249.0, 288.0, 24.0, 0.0], [2305.0, 534.0, 28.0, 0.0]]}, "up": {"level_counts": [0, 1, 1, 27, 276, 1128], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4313.0, 1761.0, 165.0, 0.0], [4685.0, 1723.0, 196.0, 0.0], [6909.0, 1858.0, 171.0, 0.0], [11103.0, 2217.0, 341.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 32, 580], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [978.0, 805.0, 26.0, 0.0], [2083.0, 1720.0, 67.0, 0.0], [12994.0, 11022.0, 315.0, 0.0]]}, "platform": {"level_counts": [8, 17, 38, 87, 129, 131], "episodes_by_level": [[1836.0, 398.0, 52.0, 0.0], [2270.0, 469.0, 95.0, 0.0], [2055.0, 416.0, 90.0, 0.0], [1872.0, 334.0, 69.0, 0.0], [1417.0, 211.0, 74.0, 0.0], [821.0, 85.0, 80.0, 0.0]]}, "slope": {"level_counts": [3, 17, 36, 66, 78, 210], "episodes_by_level": [[1650.0, 351.0, 46.0, 0.0], [2062.0, 421.0, 71.0, 0.0], [1881.0, 399.0, 45.0, 0.0], [1568.0, 309.0, 45.0, 0.0], [1289.0, 257.0, 21.0, 0.0], [1842.0, 324.0, 47.0, 0.0]]}, "rubble": {"level_counts": [11, 85, 184, 217, 219, 103], "episodes_by_level": [[3421.0, 780.0, 102.0, 0.0], [5205.0, 1124.0, 227.0, 0.0], [5095.0, 1065.0, 418.0, 0.0], [4061.0, 712.0, 526.0, 0.0], [2244.0, 288.0, 390.0, 0.0], [764.0, 55.0, 185.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2353515625, "command_abs_max": [0.9995089769363403, 0.3998302221298218, 0.6986312866210938]}
{"step": 42200, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 42200, "total_transitions": 172851200, "num_steps_per_env": 1, "wm_loss": 0.5655208826065063, "actor_loss": -9.495833396911621, "critic_loss": 0.005452131386846304, "reward": 0.08724629878997803, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11537165939807892, 0.07328295707702637, 0.13698986172676086], "mean_episode_length": 1300.7798742138364, "episode_reward_terms": {"track_linear_velocity": 45.97242736816406, "track_angular_velocity": 49.04954147338867, "upright": 24.895931243896484, "leg_posture": -2.4677939414978027, "standstill": -5.747880935668945, "action_rate_l2": -0.5601851344108582, "joint_torques_l2": -0.13720379769802094, "dof_pos_limits": -0.0014761955244466662, "terminated": -0.025405853986740112, "unnecessary_wheel_lift": -0.08614981919527054, "rolling_leg_motion": -0.553831160068512, "obstacle_progress": 3.66591215133667, "wheel_body_intrusion": -0.2588540017604828, "pair_body_intrusion": -0.2568076550960541}, "weighted_reward_terms": {"track_linear_velocity": 1.7671101093292236, "track_angular_velocity": 1.885389804840088, "upright": 0.9569617509841919, "leg_posture": -0.09485824406147003, "standstill": -0.22093980014324188, "action_rate_l2": -0.021532664075493813, "joint_torques_l2": -0.005273905117064714, "dof_pos_limits": -5.67427123314701e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.003311468055471778, "rolling_leg_motion": -0.021288428455591202, "obstacle_progress": 0.14091208577156067, "wheel_body_intrusion": -0.009949954226613045, "pair_body_intrusion": -0.009871295653283596}, "episode_termination_rates": {"time_out": 0.4276729559748428, "fell_over": 0.0440251572327044, "course_exit": 0.5094339622641509, "illegal_nonwheel_contact": 0.031446540880503145}, "collection_time_s": 0.07581050036475062, "learning_time_s": 0.18389560287934728, "iteration_time_s": 0.30030271038687256, "policy_updates": 41900, "skipped_updates": 0, "invalid_env_resets": 228, "elapsed_s": 12672.774378326023, "nonwheel_terminations": 14017, "contact_bce": 0.28560739755630493, "contact_force_loss": 0.021295208483934402, "collision_bce": 1.601657277205959e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.595901630935259e-05, "collision_label_count": 16336.0, "terrain_level_mean": 4.22705078125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 22, 50, 69, 260], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1942.0, 427.0, 38.0, 0.0], [1754.0, 406.0, 34.0, 0.0], [1578.0, 353.0, 27.0, 0.0], [1251.0, 289.0, 24.0, 0.0], [2317.0, 536.0, 29.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 28, 277, 1127], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4686.0, 1723.0, 196.0, 0.0], [6914.0, 1859.0, 171.0, 0.0], [11134.0, 2225.0, 342.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 31, 581], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [978.0, 805.0, 26.0, 0.0], [2084.0, 1721.0, 67.0, 0.0], [13018.0, 11046.0, 315.0, 0.0]]}, "platform": {"level_counts": [7, 18, 38, 86, 128, 133], "episodes_by_level": [[1837.0, 399.0, 52.0, 0.0], [2271.0, 469.0, 95.0, 0.0], [2055.0, 416.0, 90.0, 0.0], [1876.0, 335.0, 69.0, 0.0], [1421.0, 213.0, 74.0, 0.0], [825.0, 85.0, 80.0, 0.0]]}, "slope": {"level_counts": [3, 17, 37, 65, 78, 210], "episodes_by_level": [[1650.0, 351.0, 46.0, 0.0], [2062.0, 421.0, 71.0, 0.0], [1883.0, 399.0, 45.0, 0.0], [1572.0, 309.0, 46.0, 0.0], [1290.0, 258.0, 21.0, 0.0], [1848.0, 325.0, 48.0, 0.0]]}, "rubble": {"level_counts": [11, 84, 185, 217, 220, 102], "episodes_by_level": [[3421.0, 780.0, 102.0, 0.0], [5207.0, 1125.0, 227.0, 0.0], [5102.0, 1066.0, 418.0, 0.0], [4070.0, 715.0, 527.0, 0.0], [2252.0, 288.0, 393.0, 0.0], [767.0, 55.0, 186.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23779296875, "command_abs_max": [0.9995089769363403, 0.3998302221298218, 0.6986312866210938]}
{"step": 42250, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 42250, "total_transitions": 173056000, "num_steps_per_env": 1, "wm_loss": 0.5553169846534729, "actor_loss": -9.521615982055664, "critic_loss": 0.004610640462487936, "reward": 0.08701050281524658, "falls": 14, "interval_steps": 50, "velocity_mae": [0.11599566787481308, 0.07468648254871368, 0.13466449081897736], "mean_episode_length": 1305.5882352941176, "episode_reward_terms": {"track_linear_velocity": 46.07830047607422, "track_angular_velocity": 49.32898712158203, "upright": 24.973648071289062, "leg_posture": -2.4541566371917725, "standstill": -6.155808448791504, "action_rate_l2": -0.5672023296356201, "joint_torques_l2": -0.13689619302749634, "dof_pos_limits": -0.000589188770391047, "terminated": -0.03569967672228813, "unnecessary_wheel_lift": -0.08044727891683578, "rolling_leg_motion": -0.5391738414764404, "obstacle_progress": 3.685796022415161, "wheel_body_intrusion": -0.2439454048871994, "pair_body_intrusion": -0.25291818380355835}, "weighted_reward_terms": {"track_linear_velocity": 1.764656662940979, "track_angular_velocity": 1.8891481161117554, "upright": 0.9564136266708374, "leg_posture": -0.0939866229891777, "standstill": -0.23574845492839813, "action_rate_l2": -0.0217220988124609, "joint_torques_l2": -0.0052427020855247974, "dof_pos_limits": -2.2564110622624867e-05, "terminated": -0.0013671873603016138, "unnecessary_wheel_lift": -0.003080882364884019, "rolling_leg_motion": -0.020648693665862083, "obstacle_progress": 0.14115461707115173, "wheel_body_intrusion": -0.009342355653643608, "pair_body_intrusion": -0.009685986675322056}, "episode_termination_rates": {"time_out": 0.4444444444444444, "fell_over": 0.05228758169934641, "course_exit": 0.46405228758169936, "illegal_nonwheel_contact": 0.058823529411764705}, "collection_time_s": 0.07555169536033646, "learning_time_s": 0.18534233461949043, "iteration_time_s": 0.30025609907753814, "policy_updates": 41950, "skipped_updates": 0, "invalid_env_resets": 228, "elapsed_s": 12685.820186025987, "nonwheel_terminations": 14026, "contact_bce": 0.28926193714141846, "contact_force_loss": 0.020629847422242165, "collision_bce": 1.0877419299504254e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.0918638508883305e-05, "collision_label_count": 16343.0, "terrain_level_mean": 4.225830078125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 21, 50, 70, 260], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1942.0, 427.0, 38.0, 0.0], [1756.0, 407.0, 34.0, 0.0], [1581.0, 354.0, 27.0, 0.0], [1254.0, 289.0, 24.0, 0.0], [2323.0, 539.0, 29.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 28, 277, 1127], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4686.0, 1723.0, 196.0, 0.0], [6928.0, 1862.0, 171.0, 0.0], [11161.0, 2232.0, 344.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 35, 577], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [978.0, 805.0, 26.0, 0.0], [2084.0, 1721.0, 67.0, 0.0], [13041.0, 11067.0, 316.0, 0.0]]}, "platform": {"level_counts": [7, 18, 38, 86, 128, 133], "episodes_by_level": [[1837.0, 399.0, 52.0, 0.0], [2272.0, 469.0, 95.0, 0.0], [2057.0, 416.0, 90.0, 0.0], [1877.0, 335.0, 69.0, 0.0], [1423.0, 213.0, 74.0, 0.0], [830.0, 86.0, 80.0, 0.0]]}, "slope": {"level_counts": [3, 17, 38, 64, 77, 211], "episodes_by_level": [[1650.0, 351.0, 46.0, 0.0], [2064.0, 421.0, 71.0, 0.0], [1883.0, 399.0, 45.0, 0.0], [1575.0, 309.0, 47.0, 0.0], [1294.0, 259.0, 21.0, 0.0], [1857.0, 326.0, 48.0, 0.0]]}, "rubble": {"level_counts": [12, 83, 185, 219, 218, 102], "episodes_by_level": [[3421.0, 780.0, 102.0, 0.0], [5212.0, 1125.0, 228.0, 0.0], [5106.0, 1066.0, 418.0, 0.0], [4075.0, 716.0, 527.0, 0.0], [2261.0, 290.0, 396.0, 0.0], [771.0, 55.0, 188.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.240234375, "command_abs_max": [0.9995089769363403, 0.3998302221298218, 0.6986312866210938]}
{"step": 42300, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 42300, "total_transitions": 173260800, "num_steps_per_env": 1, "wm_loss": 0.5697306990623474, "actor_loss": -9.522321701049805, "critic_loss": 0.004091073293238878, "reward": 0.08697530627250671, "falls": 13, "interval_steps": 50, "velocity_mae": [0.11479999870061874, 0.07370367646217346, 0.13552753627300262], "mean_episode_length": 1307.2774193548387, "episode_reward_terms": {"track_linear_velocity": 46.24265670776367, "track_angular_velocity": 49.3580207824707, "upright": 25.00641441345215, "leg_posture": -2.46222186088562, "standstill": -6.273393154144287, "action_rate_l2": -0.5669184923171997, "joint_torques_l2": -0.1372656673192978, "dof_pos_limits": -0.0003323325945530087, "terminated": -0.03319258615374565, "unnecessary_wheel_lift": -0.09487999975681305, "rolling_leg_motion": -0.5511499643325806, "obstacle_progress": 3.7123329639434814, "wheel_body_intrusion": -0.24067741632461548, "pair_body_intrusion": -0.25854185223579407}, "weighted_reward_terms": {"track_linear_velocity": 1.7686625719070435, "track_angular_velocity": 1.8878173828125, "upright": 0.9564310312271118, "leg_posture": -0.09417365491390228, "standstill": -0.23994114995002747, "action_rate_l2": -0.02168317511677742, "joint_torques_l2": -0.005250058602541685, "dof_pos_limits": -1.2710866030829493e-05, "terminated": -0.0012695310870185494, "unnecessary_wheel_lift": -0.0036289161071181297, "rolling_leg_motion": -0.02108006924390793, "obstacle_progress": 0.14198718965053558, "wheel_body_intrusion": -0.009205291979014874, "pair_body_intrusion": -0.009888560511171818}, "episode_termination_rates": {"time_out": 0.43870967741935485, "fell_over": 0.05806451612903226, "course_exit": 0.4838709677419355, "illegal_nonwheel_contact": 0.05806451612903226}, "collection_time_s": 0.07570796447806061, "learning_time_s": 0.18568070646259002, "iteration_time_s": 0.3002101836706378, "policy_updates": 42000, "skipped_updates": 0, "invalid_env_resets": 228, "elapsed_s": 12698.890769267979, "nonwheel_terminations": 14035, "contact_bce": 0.2891647517681122, "contact_force_loss": 0.020882973447442055, "collision_bce": 9.072932698472869e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 9.118582056544255e-06, "collision_label_count": 16344.0, "terrain_level_mean": 4.22412109375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 21, 50, 70, 260], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1943.0, 427.0, 38.0, 0.0], [1757.0, 407.0, 34.0, 0.0], [1582.0, 354.0, 27.0, 0.0], [1255.0, 289.0, 24.0, 0.0], [2331.0, 539.0, 29.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 27, 281, 1124], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4687.0, 1724.0, 196.0, 0.0], [6931.0, 1863.0, 171.0, 0.0], [11197.0, 2246.0, 346.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 36, 576], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [978.0, 805.0, 26.0, 0.0], [2086.0, 1722.0, 67.0, 0.0], [13065.0, 11090.0, 316.0, 0.0]]}, "platform": {"level_counts": [7, 19, 37, 86, 126, 135], "episodes_by_level": [[1837.0, 399.0, 52.0, 0.0], [2272.0, 469.0, 95.0, 0.0], [2058.0, 416.0, 91.0, 0.0], [1878.0, 335.0, 69.0, 0.0], [1429.0, 215.0, 74.0, 0.0], [833.0, 86.0, 80.0, 0.0]]}, "slope": {"level_counts": [3, 17, 38, 64, 78, 210], "episodes_by_level": [[1650.0, 351.0, 46.0, 0.0], [2064.0, 421.0, 71.0, 0.0], [1883.0, 399.0, 45.0, 0.0], [1579.0, 309.0, 47.0, 0.0], [1296.0, 260.0, 21.0, 0.0], [1865.0, 327.0, 50.0, 0.0]]}, "rubble": {"level_counts": [13, 83, 186, 217, 218, 102], "episodes_by_level": [[3422.0, 780.0, 102.0, 0.0], [5217.0, 1125.0, 229.0, 0.0], [5111.0, 1066.0, 419.0, 0.0], [4081.0, 716.0, 529.0, 0.0], [2270.0, 290.0, 396.0, 0.0], [771.0, 55.0, 188.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.241455078125, "command_abs_max": [0.9995089769363403, 0.3998302221298218, 0.6998914480209351]}
{"step": 42350, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 42350, "total_transitions": 173465600, "num_steps_per_env": 1, "wm_loss": 0.5709643959999084, "actor_loss": -9.499091148376465, "critic_loss": 0.0038961630780249834, "reward": 0.08698906749486923, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11428491026163101, 0.07281496375799179, 0.1358030140399933], "mean_episode_length": 1370.3333333333333, "episode_reward_terms": {"track_linear_velocity": 48.54948043823242, "track_angular_velocity": 51.72697448730469, "upright": 26.240203857421875, "leg_posture": -2.564668893814087, "standstill": -6.672991752624512, "action_rate_l2": -0.5936089158058167, "joint_torques_l2": -0.14411984384059906, "dof_pos_limits": -0.0006949651869945228, "terminated": -0.018735025078058243, "unnecessary_wheel_lift": -0.09164885431528091, "rolling_leg_motion": -0.5793675184249878, "obstacle_progress": 3.8960766792297363, "wheel_body_intrusion": -0.24831008911132812, "pair_body_intrusion": -0.29459065198898315}, "weighted_reward_terms": {"track_linear_velocity": 1.7714478969573975, "track_angular_velocity": 1.887386441230774, "upright": 0.9574387669563293, "leg_posture": -0.0935782864689827, "standstill": -0.2434806078672409, "action_rate_l2": -0.021659288555383682, "joint_torques_l2": -0.005258569028228521, "dof_pos_limits": -2.5357521735713817e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0033440350089222193, "rolling_leg_motion": -0.021139657124876976, "obstacle_progress": 0.14215798676013947, "wheel_body_intrusion": -0.00906020775437355, "pair_body_intrusion": -0.010748867876827717}, "episode_termination_rates": {"time_out": 0.5094339622641509, "fell_over": 0.03773584905660377, "course_exit": 0.44654088050314467, "illegal_nonwheel_contact": 0.018867924528301886}, "collection_time_s": 0.07569110091659241, "learning_time_s": 0.192278591778595, "iteration_time_s": 0.30017214527709624, "policy_updates": 42050, "skipped_updates": 0, "invalid_env_resets": 228, "elapsed_s": 12712.290352485026, "nonwheel_terminations": 14038, "contact_bce": 0.28813961148262024, "contact_force_loss": 0.020300190895795822, "collision_bce": 0.0006938792648725212, "collision_label_rate": 0.00018350868776906282, "collision_prediction_mean": 2.8767908588633873e-05, "collision_label_count": 16348.0, "terrain_level_mean": 4.225341796875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 21, 50, 70, 260], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1944.0, 427.0, 38.0, 0.0], [1757.0, 407.0, 34.0, 0.0], [1582.0, 354.0, 27.0, 0.0], [1258.0, 289.0, 24.0, 0.0], [2348.0, 542.0, 29.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 26, 283, 1123], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4688.0, 1725.0, 196.0, 0.0], [6942.0, 1864.0, 171.0, 0.0], [11227.0, 2253.0, 348.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 38, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [978.0, 805.0, 26.0, 0.0], [2088.0, 1724.0, 67.0, 0.0], [13081.0, 11104.0, 316.0, 0.0]]}, "platform": {"level_counts": [7, 19, 36, 86, 127, 135], "episodes_by_level": [[1838.0, 399.0, 52.0, 0.0], [2273.0, 469.0, 95.0, 0.0], [2059.0, 417.0, 91.0, 0.0], [1881.0, 336.0, 69.0, 0.0], [1434.0, 216.0, 74.0, 0.0], [839.0, 86.0, 81.0, 0.0]]}, "slope": {"level_counts": [3, 17, 38, 60, 82, 210], "episodes_by_level": [[1650.0, 351.0, 46.0, 0.0], [2064.0, 421.0, 71.0, 0.0], [1885.0, 399.0, 45.0, 0.0], [1584.0, 313.0, 47.0, 0.0], [1298.0, 260.0, 21.0, 0.0], [1872.0, 328.0, 50.0, 0.0]]}, "rubble": {"level_counts": [13, 83, 186, 216, 219, 102], "episodes_by_level": [[3423.0, 780.0, 102.0, 0.0], [5217.0, 1125.0, 229.0, 0.0], [5116.0, 1066.0, 419.0, 0.0], [4088.0, 717.0, 529.0, 0.0], [2278.0, 290.0, 396.0, 0.0], [771.0, 55.0, 188.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.240234375, "command_abs_max": [0.9995089769363403, 0.3998302221298218, 0.6998914480209351]}
{"step": 42400, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 42400, "total_transitions": 173670400, "num_steps_per_env": 1, "wm_loss": 0.5873624086380005, "actor_loss": -9.525064468383789, "critic_loss": 0.004928120877593756, "reward": 0.08758772909641266, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11421305686235428, 0.07250773161649704, 0.13426557183265686], "mean_episode_length": 1360.0243902439024, "episode_reward_terms": {"track_linear_velocity": 48.22304916381836, "track_angular_velocity": 51.40687942504883, "upright": 26.075180053710938, "leg_posture": -2.55439829826355, "standstill": -5.9103569984436035, "action_rate_l2": -0.5850632786750793, "joint_torques_l2": -0.14261919260025024, "dof_pos_limits": -0.00042145344195887446, "terminated": -0.021250378340482712, "unnecessary_wheel_lift": -0.09559549391269684, "rolling_leg_motion": -0.5808320045471191, "obstacle_progress": 3.845712423324585, "wheel_body_intrusion": -0.2532854378223419, "pair_body_intrusion": -0.2855623662471771}, "weighted_reward_terms": {"track_linear_velocity": 1.772874355316162, "track_angular_velocity": 1.8899248838424683, "upright": 0.9586291909217834, "leg_posture": -0.09391001611948013, "standstill": -0.21728864312171936, "action_rate_l2": -0.021509293466806412, "joint_torques_l2": -0.00524325855076313, "dof_pos_limits": -1.549433363834396e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.003514477051794529, "rolling_leg_motion": -0.02135373465716839, "obstacle_progress": 0.14138396084308624, "wheel_body_intrusion": -0.0093117980286479, "pair_body_intrusion": -0.010498427785933018}, "episode_termination_rates": {"time_out": 0.4634146341463415, "fell_over": 0.012195121951219513, "course_exit": 0.4878048780487805, "illegal_nonwheel_contact": 0.042682926829268296}, "collection_time_s": 0.07567996116587893, "learning_time_s": 0.18537768355454318, "iteration_time_s": 0.30012604605181653, "policy_updates": 42100, "skipped_updates": 0, "invalid_env_resets": 228, "elapsed_s": 12725.344352597021, "nonwheel_terminations": 14045, "contact_bce": 0.2922649681568146, "contact_force_loss": 0.021011322736740112, "collision_bce": 7.432723214151338e-05, "collision_label_rate": 6.130831752670929e-05, "collision_prediction_mean": 9.429602505406365e-05, "collision_label_count": 16311.0, "terrain_level_mean": 4.226318359375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 21, 49, 71, 260], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1945.0, 427.0, 38.0, 0.0], [1757.0, 407.0, 34.0, 0.0], [1585.0, 355.0, 27.0, 0.0], [1260.0, 289.0, 24.0, 0.0], [2353.0, 543.0, 29.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 24, 285, 1123], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4690.0, 1727.0, 196.0, 0.0], [6952.0, 1865.0, 171.0, 0.0], [11261.0, 2259.0, 349.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 37, 575], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [978.0, 805.0, 26.0, 0.0], [2090.0, 1726.0, 67.0, 0.0], [13106.0, 11124.0, 317.0, 0.0]]}, "platform": {"level_counts": [7, 19, 36, 86, 128, 134], "episodes_by_level": [[1838.0, 399.0, 52.0, 0.0], [2273.0, 469.0, 95.0, 0.0], [2060.0, 417.0, 91.0, 0.0], [1881.0, 336.0, 69.0, 0.0], [1439.0, 216.0, 74.0, 0.0], [844.0, 86.0, 82.0, 0.0]]}, "slope": {"level_counts": [3, 17, 37, 62, 80, 211], "episodes_by_level": [[1650.0, 351.0, 46.0, 0.0], [2064.0, 421.0, 71.0, 0.0], [1890.0, 401.0, 45.0, 0.0], [1587.0, 313.0, 48.0, 0.0], [1304.0, 261.0, 22.0, 0.0], [1882.0, 330.0, 50.0, 0.0]]}, "rubble": {"level_counts": [14, 82, 186, 217, 216, 104], "episodes_by_level": [[3423.0, 780.0, 102.0, 0.0], [5219.0, 1125.0, 230.0, 0.0], [5124.0, 1067.0, 419.0, 0.0], [4093.0, 717.0, 530.0, 0.0], [2285.0, 292.0, 397.0, 0.0], [776.0, 56.0, 188.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.242431640625, "command_abs_max": [0.9995089769363403, 0.3998302221298218, 0.6998914480209351]}
{"step": 42450, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 42450, "total_transitions": 173875200, "num_steps_per_env": 1, "wm_loss": 0.5883060693740845, "actor_loss": -9.539266586303711, "critic_loss": 0.008057200349867344, "reward": 0.08733431249856949, "falls": 12, "interval_steps": 50, "velocity_mae": [0.11523126065731049, 0.0719716027379036, 0.13390414416790009], "mean_episode_length": 1316.72, "episode_reward_terms": {"track_linear_velocity": 46.68907928466797, "track_angular_velocity": 49.76160430908203, "upright": 25.231386184692383, "leg_posture": -2.4927427768707275, "standstill": -5.993645191192627, "action_rate_l2": -0.5602990984916687, "joint_torques_l2": -0.13796170055866241, "dof_pos_limits": -0.0008447106229141355, "terminated": -0.030860621482133865, "unnecessary_wheel_lift": -0.08824536204338074, "rolling_leg_motion": -0.5521597862243652, "obstacle_progress": 3.7121965885162354, "wheel_body_intrusion": -0.25513991713523865, "pair_body_intrusion": -0.2875218987464905}, "weighted_reward_terms": {"track_linear_velocity": 1.7729312181472778, "track_angular_velocity": 1.8896048069000244, "upright": 0.9581151604652405, "leg_posture": -0.0946572870016098, "standstill": -0.22759757936000824, "action_rate_l2": -0.02127631939947605, "joint_torques_l2": -0.005238839890807867, "dof_pos_limits": -3.2076321076601744e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.0033509540371596813, "rolling_leg_motion": -0.02096724510192871, "obstacle_progress": 0.14096379280090332, "wheel_body_intrusion": -0.009688464924693108, "pair_body_intrusion": -0.010918110609054565}, "episode_termination_rates": {"time_out": 0.4533333333333333, "fell_over": 0.02, "course_exit": 0.47333333333333333, "illegal_nonwheel_contact": 0.07333333333333333}, "collection_time_s": 0.07569621025817469, "learning_time_s": 0.1852930379193276, "iteration_time_s": 0.30007997452760926, "policy_updates": 42150, "skipped_updates": 0, "invalid_env_resets": 228, "elapsed_s": 12738.394918697013, "nonwheel_terminations": 14056, "contact_bce": 0.289998322725296, "contact_force_loss": 0.020766833797097206, "collision_bce": 1.2890332072856836e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.2862418770964723e-05, "collision_label_count": 16340.0, "terrain_level_mean": 4.22607421875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 21, 48, 71, 261], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1945.0, 427.0, 38.0, 0.0], [1757.0, 407.0, 34.0, 0.0], [1588.0, 356.0, 27.0, 0.0], [1263.0, 290.0, 24.0, 0.0], [2363.0, 546.0, 29.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 25, 286, 1121], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4692.0, 1727.0, 196.0, 0.0], [6960.0, 1867.0, 171.0, 0.0], [11298.0, 2267.0, 351.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 38, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [978.0, 805.0, 26.0, 0.0], [2091.0, 1727.0, 67.0, 0.0], [13125.0, 11139.0, 318.0, 0.0]]}, "platform": {"level_counts": [7, 19, 36, 85, 128, 135], "episodes_by_level": [[1838.0, 399.0, 52.0, 0.0], [2274.0, 469.0, 95.0, 0.0], [2061.0, 417.0, 91.0, 0.0], [1884.0, 337.0, 69.0, 0.0], [1441.0, 217.0, 74.0, 0.0], [846.0, 86.0, 82.0, 0.0]]}, "slope": {"level_counts": [3, 17, 37, 61, 81, 211], "episodes_by_level": [[1650.0, 351.0, 46.0, 0.0], [2064.0, 421.0, 71.0, 0.0], [1891.0, 401.0, 45.0, 0.0], [1591.0, 314.0, 48.0, 0.0], [1307.0, 261.0, 22.0, 0.0], [1889.0, 333.0, 50.0, 0.0]]}, "rubble": {"level_counts": [14, 82, 184, 222, 214, 103], "episodes_by_level": [[3423.0, 780.0, 102.0, 0.0], [5221.0, 1125.0, 230.0, 0.0], [5130.0, 1070.0, 419.0, 0.0], [4100.0, 717.0, 531.0, 0.0], [2292.0, 292.0, 400.0, 0.0], [778.0, 56.0, 189.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.238525390625, "command_abs_max": [0.9995089769363403, 0.3998302221298218, 0.6998914480209351]}
{"step": 42500, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 42500, "total_transitions": 174080000, "num_steps_per_env": 1, "wm_loss": 0.5613315105438232, "actor_loss": -9.518049240112305, "critic_loss": 0.007083326578140259, "reward": 0.08741603791713715, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11403271555900574, 0.07195905596017838, 0.13392339646816254], "mean_episode_length": 1359.4774193548387, "episode_reward_terms": {"track_linear_velocity": 48.263980865478516, "track_angular_velocity": 51.3877067565918, "upright": 26.049732208251953, "leg_posture": -2.6147260665893555, "standstill": -6.075235843658447, "action_rate_l2": -0.5751240849494934, "joint_torques_l2": -0.14216072857379913, "dof_pos_limits": -0.0006274990155361593, "terminated": -0.015931375324726105, "unnecessary_wheel_lift": -0.08453243970870972, "rolling_leg_motion": -0.5768598318099976, "obstacle_progress": 3.7898616790771484, "wheel_body_intrusion": -0.27674564719200134, "pair_body_intrusion": -0.2892106771469116}, "weighted_reward_terms": {"track_linear_velocity": 1.7750931978225708, "track_angular_velocity": 1.8899803161621094, "upright": 0.958078920841217, "leg_posture": -0.09616658836603165, "standstill": -0.22344012558460236, "action_rate_l2": -0.021152395755052567, "joint_torques_l2": -0.005228506401181221, "dof_pos_limits": -2.3078684534993954e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.003109005279839039, "rolling_leg_motion": -0.02121623419225216, "obstacle_progress": 0.13938671350479126, "wheel_body_intrusion": -0.010178383439779282, "pair_body_intrusion": -0.010636832565069199}, "episode_termination_rates": {"time_out": 0.45161290322580644, "fell_over": 0.0064516129032258064, "course_exit": 0.5096774193548387, "illegal_nonwheel_contact": 0.03225806451612903}, "collection_time_s": 0.07558279390330426, "learning_time_s": 0.18523953574127516, "iteration_time_s": 0.30003381454562356, "policy_updates": 42200, "skipped_updates": 0, "invalid_env_resets": 228, "elapsed_s": 12751.437118189002, "nonwheel_terminations": 14061, "contact_bce": 0.2845301330089569, "contact_force_loss": 0.020436618477106094, "collision_bce": 0.0002491053310222924, "collision_label_rate": 0.00012246647384017706, "collision_prediction_mean": 6.527567893499509e-05, "collision_label_count": 16331.0, "terrain_level_mean": 4.22802734375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 21, 48, 70, 262], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1945.0, 427.0, 38.0, 0.0], [1758.0, 407.0, 34.0, 0.0], [1589.0, 356.0, 27.0, 0.0], [1267.0, 291.0, 24.0, 0.0], [2372.0, 548.0, 29.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 26, 281, 1125], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4692.0, 1727.0, 196.0, 0.0], [6967.0, 1871.0, 171.0, 0.0], [11327.0, 2276.0, 351.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 39, 573], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [978.0, 805.0, 26.0, 0.0], [2092.0, 1728.0, 67.0, 0.0], [13148.0, 11161.0, 318.0, 0.0]]}, "platform": {"level_counts": [7, 19, 36, 85, 128, 135], "episodes_by_level": [[1838.0, 399.0, 52.0, 0.0], [2274.0, 469.0, 95.0, 0.0], [2061.0, 417.0, 91.0, 0.0], [1886.0, 337.0, 69.0, 0.0], [1444.0, 217.0, 74.0, 0.0], [850.0, 86.0, 82.0, 0.0]]}, "slope": {"level_counts": [3, 17, 37, 61, 81, 211], "episodes_by_level": [[1651.0, 351.0, 46.0, 0.0], [2065.0, 421.0, 71.0, 0.0], [1892.0, 401.0, 45.0, 0.0], [1595.0, 314.0, 48.0, 0.0], [1308.0, 261.0, 22.0, 0.0], [1897.0, 334.0, 50.0, 0.0]]}, "rubble": {"level_counts": [14, 80, 185, 224, 210, 106], "episodes_by_level": [[3424.0, 780.0, 102.0, 0.0], [5225.0, 1127.0, 230.0, 0.0], [5135.0, 1073.0, 419.0, 0.0], [4104.0, 717.0, 533.0, 0.0], [2300.0, 295.0, 401.0, 0.0], [783.0, 58.0, 189.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23779296875, "command_abs_max": [0.9995089769363403, 0.3997359871864319, 0.6998914480209351]}
{"step": 42550, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 42550, "total_transitions": 174284800, "num_steps_per_env": 1, "wm_loss": 0.580979585647583, "actor_loss": -9.482861518859863, "critic_loss": 0.00624019606038928, "reward": 0.08720823377370834, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11273437738418579, 0.07183100283145905, 0.13518159091472626], "mean_episode_length": 1318.5151515151515, "episode_reward_terms": {"track_linear_velocity": 46.88728713989258, "track_angular_velocity": 49.79402542114258, "upright": 25.2392520904541, "leg_posture": -2.5514614582061768, "standstill": -6.092915058135986, "action_rate_l2": -0.5674453973770142, "joint_torques_l2": -0.14045901596546173, "dof_pos_limits": -0.0008801050717011094, "terminated": -0.020601795986294746, "unnecessary_wheel_lift": -0.07543584704399109, "rolling_leg_motion": -0.5722373723983765, "obstacle_progress": 3.662926435470581, "wheel_body_intrusion": -0.2861880660057068, "pair_body_intrusion": -0.29051122069358826}, "weighted_reward_terms": {"track_linear_velocity": 1.7780338525772095, "track_angular_velocity": 1.888261318206787, "upright": 0.9571089744567871, "leg_posture": -0.09675510972738266, "standstill": -0.23105216026306152, "action_rate_l2": -0.021518351510167122, "joint_torques_l2": -0.005326409358531237, "dof_pos_limits": -3.337485759402625e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0028606364503502846, "rolling_leg_motion": -0.021700069308280945, "obstacle_progress": 0.13890346884727478, "wheel_body_intrusion": -0.010852665640413761, "pair_body_intrusion": -0.01101660542190075}, "episode_termination_rates": {"time_out": 0.4090909090909091, "fell_over": 0.030303030303030304, "course_exit": 0.5303030303030303, "illegal_nonwheel_contact": 0.05303030303030303}, "collection_time_s": 0.07562629952444695, "learning_time_s": 0.18467212059884333, "iteration_time_s": 0.29998773620326696, "policy_updates": 42250, "skipped_updates": 0, "invalid_env_resets": 228, "elapsed_s": 12764.47817544901, "nonwheel_terminations": 14068, "contact_bce": 0.29159602522850037, "contact_force_loss": 0.02083870954811573, "collision_bce": 0.0001515857584308833, "collision_label_rate": 0.00012242149387020618, "collision_prediction_mean": 0.00022263439313974231, "collision_label_count": 16337.0, "terrain_level_mean": 4.228515625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 21, 48, 69, 263], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1945.0, 427.0, 38.0, 0.0], [1759.0, 407.0, 34.0, 0.0], [1589.0, 356.0, 27.0, 0.0], [1269.0, 292.0, 24.0, 0.0], [2383.0, 549.0, 29.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 26, 282, 1124], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4692.0, 1727.0, 196.0, 0.0], [6973.0, 1873.0, 171.0, 0.0], [11359.0, 2283.0, 351.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 40, 572], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [978.0, 805.0, 26.0, 0.0], [2093.0, 1729.0, 67.0, 0.0], [13167.0, 11176.0, 319.0, 0.0]]}, "platform": {"level_counts": [7, 19, 35, 86, 127, 136], "episodes_by_level": [[1839.0, 399.0, 52.0, 0.0], [2274.0, 469.0, 95.0, 0.0], [2063.0, 418.0, 91.0, 0.0], [1889.0, 337.0, 69.0, 0.0], [1448.0, 218.0, 74.0, 0.0], [853.0, 87.0, 82.0, 0.0]]}, "slope": {"level_counts": [3, 17, 37, 61, 81, 211], "episodes_by_level": [[1651.0, 351.0, 46.0, 0.0], [2065.0, 421.0, 71.0, 0.0], [1892.0, 401.0, 45.0, 0.0], [1596.0, 314.0, 48.0, 0.0], [1308.0, 261.0, 22.0, 0.0], [1902.0, 336.0, 50.0, 0.0]]}, "rubble": {"level_counts": [14, 80, 185, 222, 213, 105], "episodes_by_level": [[3425.0, 780.0, 102.0, 0.0], [5229.0, 1128.0, 230.0, 0.0], [5142.0, 1073.0, 420.0, 0.0], [4107.0, 719.0, 533.0, 0.0], [2301.0, 296.0, 401.0, 0.0], [786.0, 58.0, 191.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23583984375, "command_abs_max": [0.9995089769363403, 0.3997359871864319, 0.6998914480209351]}
{"step": 42600, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 42600, "total_transitions": 174489600, "num_steps_per_env": 1, "wm_loss": 0.5966243743896484, "actor_loss": -9.49702262878418, "critic_loss": 0.008630967698991299, "reward": 0.08753611147403717, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11349435150623322, 0.07324232161045074, 0.13492929935455322], "mean_episode_length": 1371.994011976048, "episode_reward_terms": {"track_linear_velocity": 48.693824768066406, "track_angular_velocity": 51.82374954223633, "upright": 26.311058044433594, "leg_posture": -2.5452027320861816, "standstill": -6.0627288818359375, "action_rate_l2": -0.5819692611694336, "joint_torques_l2": -0.14499260485172272, "dof_pos_limits": -0.0002859370142687112, "terminated": -0.01875772885978222, "unnecessary_wheel_lift": -0.08144732564687729, "rolling_leg_motion": -0.5987014770507812, "obstacle_progress": 3.8550689220428467, "wheel_body_intrusion": -0.284365713596344, "pair_body_intrusion": -0.2662373185157776}, "weighted_reward_terms": {"track_linear_velocity": 1.7745640277862549, "track_angular_velocity": 1.8886288404464722, "upright": 0.9588620066642761, "leg_posture": -0.09275560826063156, "standstill": -0.22094589471817017, "action_rate_l2": -0.021208886057138443, "joint_torques_l2": -0.005284009966999292, "dof_pos_limits": -1.0420490980322938e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0029682100284844637, "rolling_leg_motion": -0.02181866206228733, "obstacle_progress": 0.14049147069454193, "wheel_body_intrusion": -0.010363227687776089, "pair_body_intrusion": -0.009702568873763084}, "episode_termination_rates": {"time_out": 0.5209580838323353, "fell_over": 0.03592814371257485, "course_exit": 0.437125748502994, "illegal_nonwheel_contact": 0.023952095808383235}, "collection_time_s": 0.07561624492518604, "learning_time_s": 0.18322871033917182, "iteration_time_s": 0.2999394716832163, "policy_updates": 42300, "skipped_updates": 0, "invalid_env_resets": 228, "elapsed_s": 12777.421493705013, "nonwheel_terminations": 14072, "contact_bce": 0.28911855816841125, "contact_force_loss": 0.022281816229224205, "collision_bce": 0.0003562850470189005, "collision_label_rate": 6.114711868576705e-05, "collision_prediction_mean": 1.3641066288982984e-05, "collision_label_count": 16354.0, "terrain_level_mean": 4.230224609375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 20, 47, 71, 263], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1945.0, 427.0, 38.0, 0.0], [1760.0, 408.0, 34.0, 0.0], [1591.0, 358.0, 27.0, 0.0], [1273.0, 292.0, 24.0, 0.0], [2390.0, 549.0, 29.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 25, 282, 1125], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4693.0, 1728.0, 196.0, 0.0], [6976.0, 1874.0, 171.0, 0.0], [11389.0, 2290.0, 351.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 42, 570], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [978.0, 805.0, 26.0, 0.0], [2094.0, 1730.0, 67.0, 0.0], [13195.0, 11202.0, 320.0, 0.0]]}, "platform": {"level_counts": [7, 19, 35, 85, 128, 136], "episodes_by_level": [[1839.0, 399.0, 52.0, 0.0], [2274.0, 469.0, 95.0, 0.0], [2065.0, 418.0, 91.0, 0.0], [1891.0, 338.0, 69.0, 0.0], [1451.0, 218.0, 74.0, 0.0], [860.0, 88.0, 82.0, 0.0]]}, "slope": {"level_counts": [3, 16, 38, 59, 83, 211], "episodes_by_level": [[1652.0, 351.0, 46.0, 0.0], [2066.0, 422.0, 71.0, 0.0], [1892.0, 401.0, 45.0, 0.0], [1599.0, 316.0, 48.0, 0.0], [1314.0, 262.0, 22.0, 0.0], [1907.0, 336.0, 51.0, 0.0]]}, "rubble": {"level_counts": [14, 80, 186, 219, 216, 104], "episodes_by_level": [[3426.0, 780.0, 103.0, 0.0], [5230.0, 1128.0, 230.0, 0.0], [5147.0, 1073.0, 420.0, 0.0], [4117.0, 721.0, 534.0, 0.0], [2307.0, 296.0, 401.0, 0.0], [789.0, 58.0, 192.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23974609375, "command_abs_max": [0.9995089769363403, 0.3997359871864319, 0.6998914480209351]}
{"step": 42650, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 42650, "total_transitions": 174694400, "num_steps_per_env": 1, "wm_loss": 0.5722880363464355, "actor_loss": -9.492533683776855, "critic_loss": 0.005233410280197859, "reward": 0.08725082129240036, "falls": 11, "interval_steps": 50, "velocity_mae": [0.11448368430137634, 0.07216193526983261, 0.13636472821235657], "mean_episode_length": 1382.0469798657718, "episode_reward_terms": {"track_linear_velocity": 48.99312210083008, "track_angular_velocity": 52.14158248901367, "upright": 26.52098846435547, "leg_posture": -2.599726915359497, "standstill": -6.4373626708984375, "action_rate_l2": -0.5940890312194824, "joint_torques_l2": -0.14495737850666046, "dof_pos_limits": -0.00046497679431922734, "terminated": -0.02969241328537464, "unnecessary_wheel_lift": -0.0876970887184143, "rolling_leg_motion": -0.5882836580276489, "obstacle_progress": 3.959082841873169, "wheel_body_intrusion": -0.276652067899704, "pair_body_intrusion": -0.27110183238983154}, "weighted_reward_terms": {"track_linear_velocity": 1.7724839448928833, "track_angular_velocity": 1.8863896131515503, "upright": 0.9594821929931641, "leg_posture": -0.0940534919500351, "standstill": -0.23289231956005096, "action_rate_l2": -0.021493084728717804, "joint_torques_l2": -0.005244300235062838, "dof_pos_limits": -1.6822032193886116e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.0031727247405797243, "rolling_leg_motion": -0.02128305472433567, "obstacle_progress": 0.1432325690984726, "wheel_body_intrusion": -0.010008779354393482, "pair_body_intrusion": -0.009807982482016087}, "episode_termination_rates": {"time_out": 0.47651006711409394, "fell_over": 0.053691275167785234, "course_exit": 0.44966442953020136, "illegal_nonwheel_contact": 0.040268456375838924}, "collection_time_s": 0.075612903945148, "learning_time_s": 0.1841521349933464, "iteration_time_s": 0.29989240101453707, "policy_updates": 42350, "skipped_updates": 0, "invalid_env_resets": 228, "elapsed_s": 12790.410903270007, "nonwheel_terminations": 14078, "contact_bce": 0.28640973567962646, "contact_force_loss": 0.020233621820807457, "collision_bce": 0.00045681538176722825, "collision_label_rate": 6.113964627729729e-05, "collision_prediction_mean": 6.543667950609233e-06, "collision_label_count": 16356.0, "terrain_level_mean": 4.230712890625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 20, 47, 71, 263], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1946.0, 427.0, 38.0, 0.0], [1761.0, 408.0, 34.0, 0.0], [1592.0, 358.0, 27.0, 0.0], [1273.0, 292.0, 24.0, 0.0], [2400.0, 549.0, 29.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 24, 284, 1124], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4694.0, 1729.0, 196.0, 0.0], [6984.0, 1876.0, 171.0, 0.0], [11416.0, 2296.0, 351.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 42, 570], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [978.0, 805.0, 26.0, 0.0], [2094.0, 1730.0, 67.0, 0.0], [13213.0, 11218.0, 320.0, 0.0]]}, "platform": {"level_counts": [7, 19, 35, 85, 130, 134], "episodes_by_level": [[1839.0, 399.0, 52.0, 0.0], [2274.0, 469.0, 95.0, 0.0], [2066.0, 418.0, 91.0, 0.0], [1894.0, 338.0, 69.0, 0.0], [1455.0, 218.0, 74.0, 0.0], [866.0, 89.0, 84.0, 0.0]]}, "slope": {"level_counts": [3, 16, 37, 59, 84, 211], "episodes_by_level": [[1652.0, 351.0, 46.0, 0.0], [2068.0, 422.0, 71.0, 0.0], [1893.0, 402.0, 45.0, 0.0], [1601.0, 317.0, 48.0, 0.0], [1316.0, 262.0, 22.0, 0.0], [1915.0, 336.0, 51.0, 0.0]]}, "rubble": {"level_counts": [14, 78, 190, 214, 220, 103], "episodes_by_level": [[3427.0, 780.0, 103.0, 0.0], [5234.0, 1130.0, 230.0, 0.0], [5153.0, 1075.0, 420.0, 0.0], [4126.0, 724.0, 538.0, 0.0], [2312.0, 297.0, 401.0, 0.0], [794.0, 58.0, 194.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23828125, "command_abs_max": [0.9995089769363403, 0.3997359871864319, 0.6997790932655334]}
{"step": 42700, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 42700, "total_transitions": 174899200, "num_steps_per_env": 1, "wm_loss": 0.57572340965271, "actor_loss": -9.513605117797852, "critic_loss": 0.0052199834026396275, "reward": 0.08760171383619308, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11414670199155807, 0.07252127677202225, 0.13589000701904297], "mean_episode_length": 1353.4723926380368, "episode_reward_terms": {"track_linear_velocity": 48.00000762939453, "track_angular_velocity": 51.07517623901367, "upright": 25.954864501953125, "leg_posture": -2.5402355194091797, "standstill": -5.914999485015869, "action_rate_l2": -0.5784571766853333, "joint_torques_l2": -0.14323905110359192, "dof_pos_limits": -0.0005143062444403768, "terminated": -0.01850450411438942, "unnecessary_wheel_lift": -0.0747271180152893, "rolling_leg_motion": -0.5644015669822693, "obstacle_progress": 3.901646375656128, "wheel_body_intrusion": -0.2754869759082794, "pair_body_intrusion": -0.2546055018901825}, "weighted_reward_terms": {"track_linear_velocity": 1.7732170820236206, "track_angular_velocity": 1.8868200778961182, "upright": 0.9588250517845154, "leg_posture": -0.09384141862392426, "standstill": -0.21851199865341187, "action_rate_l2": -0.02136937528848648, "joint_torques_l2": -0.0052915397100150585, "dof_pos_limits": -1.8999511667061597e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0027605704963207245, "rolling_leg_motion": -0.020850131288170815, "obstacle_progress": 0.14413468539714813, "wheel_body_intrusion": -0.010177044197916985, "pair_body_intrusion": -0.009405640885233879}, "episode_termination_rates": {"time_out": 0.4785276073619632, "fell_over": 0.012269938650306749, "course_exit": 0.4785276073619632, "illegal_nonwheel_contact": 0.03680981595092025}, "collection_time_s": 0.07570048745605164, "learning_time_s": 0.18416991700418295, "iteration_time_s": 0.29984556337288093, "policy_updates": 42400, "skipped_updates": 0, "invalid_env_resets": 228, "elapsed_s": 12803.405556022015, "nonwheel_terminations": 14084, "contact_bce": 0.28432372212409973, "contact_force_loss": 0.020566426217556, "collision_bce": 9.134493666351773e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 9.162537935480941e-06, "collision_label_count": 16334.0, "terrain_level_mean": 4.23095703125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 20, 47, 71, 263], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1946.0, 427.0, 38.0, 0.0], [1763.0, 408.0, 34.0, 0.0], [1593.0, 358.0, 27.0, 0.0], [1277.0, 292.0, 24.0, 0.0], [2407.0, 551.0, 29.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 24, 283, 1125], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4694.0, 1729.0, 196.0, 0.0], [6990.0, 1878.0, 171.0, 0.0], [11444.0, 2305.0, 351.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 43, 570], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [979.0, 806.0, 26.0, 0.0], [2095.0, 1731.0, 67.0, 0.0], [13240.0, 11242.0, 320.0, 0.0]]}, "platform": {"level_counts": [7, 19, 35, 85, 131, 133], "episodes_by_level": [[1840.0, 399.0, 52.0, 0.0], [2276.0, 469.0, 95.0, 0.0], [2067.0, 418.0, 91.0, 0.0], [1895.0, 338.0, 69.0, 0.0], [1461.0, 218.0, 74.0, 0.0], [870.0, 91.0, 85.0, 0.0]]}, "slope": {"level_counts": [3, 15, 38, 59, 84, 211], "episodes_by_level": [[1653.0, 351.0, 46.0, 0.0], [2069.0, 423.0, 71.0, 0.0], [1894.0, 402.0, 45.0, 0.0], [1602.0, 317.0, 48.0, 0.0], [1319.0, 262.0, 22.0, 0.0], [1923.0, 337.0, 51.0, 0.0]]}, "rubble": {"level_counts": [14, 78, 190, 214, 221, 102], "episodes_by_level": [[3427.0, 780.0, 103.0, 0.0], [5237.0, 1131.0, 230.0, 0.0], [5160.0, 1075.0, 421.0, 0.0], [4132.0, 725.0, 538.0, 0.0], [2320.0, 298.0, 402.0, 0.0], [800.0, 59.0, 196.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23779296875, "command_abs_max": [0.9937012195587158, 0.3997359871864319, 0.6996056437492371]}
{"step": 42750, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 42750, "total_transitions": 175104000, "num_steps_per_env": 1, "wm_loss": 0.5472108721733093, "actor_loss": -9.541954040527344, "critic_loss": 0.003931302577257156, "reward": 0.08738618344068527, "falls": 7, "interval_steps": 50, "velocity_mae": [0.1142117902636528, 0.07145219296216965, 0.13609270751476288], "mean_episode_length": 1366.3237410071943, "episode_reward_terms": {"track_linear_velocity": 48.47928237915039, "track_angular_velocity": 51.56892013549805, "upright": 26.177854537963867, "leg_posture": -2.554140567779541, "standstill": -6.17396354675293, "action_rate_l2": -0.5779708027839661, "joint_torques_l2": -0.14444127678871155, "dof_pos_limits": -0.0005679695168510079, "terminated": -0.018680205568671227, "unnecessary_wheel_lift": -0.07662665098905563, "rolling_leg_motion": -0.5672656893730164, "obstacle_progress": 3.8873884677886963, "wheel_body_intrusion": -0.2875284254550934, "pair_body_intrusion": -0.31444790959358215}, "weighted_reward_terms": {"track_linear_velocity": 1.7740775346755981, "track_angular_velocity": 1.8871413469314575, "upright": 0.9579668045043945, "leg_posture": -0.09346762299537659, "standstill": -0.22593341767787933, "action_rate_l2": -0.021150581538677216, "joint_torques_l2": -0.005285763181746006, "dof_pos_limits": -2.0784587832167745e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0028041177429258823, "rolling_leg_motion": -0.02075883187353611, "obstacle_progress": 0.1422572284936905, "wheel_body_intrusion": -0.010521973483264446, "pair_body_intrusion": -0.011507079005241394}, "episode_termination_rates": {"time_out": 0.48201438848920863, "fell_over": 0.007194244604316547, "course_exit": 0.4676258992805755, "illegal_nonwheel_contact": 0.050359712230215826}, "collection_time_s": 0.07545223563560284, "learning_time_s": 0.18306617876631207, "iteration_time_s": 0.2997972597720698, "policy_updates": 42450, "skipped_updates": 0, "invalid_env_resets": 228, "elapsed_s": 12816.332855255983, "nonwheel_terminations": 14091, "contact_bce": 0.28459063172340393, "contact_force_loss": 0.019798560068011284, "collision_bce": 2.1238107365206815e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 2.1087893401272595e-05, "collision_label_count": 16338.0, "terrain_level_mean": 4.2314453125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 20, 47, 71, 263], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1946.0, 427.0, 38.0, 0.0], [1764.0, 408.0, 34.0, 0.0], [1595.0, 358.0, 27.0, 0.0], [1278.0, 293.0, 24.0, 0.0], [2418.0, 556.0, 30.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 24, 284, 1124], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4695.0, 1729.0, 196.0, 0.0], [6996.0, 1878.0, 171.0, 0.0], [11469.0, 2316.0, 351.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 43, 570], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [979.0, 806.0, 26.0, 0.0], [2096.0, 1732.0, 67.0, 0.0], [13263.0, 11261.0, 320.0, 0.0]]}, "platform": {"level_counts": [7, 19, 35, 85, 130, 134], "episodes_by_level": [[1840.0, 399.0, 52.0, 0.0], [2276.0, 469.0, 95.0, 0.0], [2068.0, 418.0, 91.0, 0.0], [1899.0, 338.0, 69.0, 0.0], [1466.0, 219.0, 74.0, 0.0], [871.0, 91.0, 85.0, 0.0]]}, "slope": {"level_counts": [3, 15, 38, 59, 82, 213], "episodes_by_level": [[1653.0, 351.0, 46.0, 0.0], [2070.0, 423.0, 71.0, 0.0], [1895.0, 402.0, 45.0, 0.0], [1603.0, 317.0, 48.0, 0.0], [1323.0, 264.0, 22.0, 0.0], [1927.0, 338.0, 51.0, 0.0]]}, "rubble": {"level_counts": [14, 77, 191, 215, 220, 102], "episodes_by_level": [[3427.0, 780.0, 103.0, 0.0], [5241.0, 1132.0, 230.0, 0.0], [5165.0, 1076.0, 421.0, 0.0], [4141.0, 725.0, 539.0, 0.0], [2330.0, 300.0, 403.0, 0.0], [802.0, 59.0, 198.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.235595703125, "command_abs_max": [0.9992815256118774, 0.3997359871864319, 0.6996056437492371]}
{"step": 42800, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 42800, "total_transitions": 175308800, "num_steps_per_env": 1, "wm_loss": 0.5911589860916138, "actor_loss": -9.515058517456055, "critic_loss": 0.009008319117128849, "reward": 0.08722128719091415, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11398147791624069, 0.07210259139537811, 0.1348172128200531], "mean_episode_length": 1278.429487179487, "episode_reward_terms": {"track_linear_velocity": 45.33277893066406, "track_angular_velocity": 48.29860305786133, "upright": 24.46685218811035, "leg_posture": -2.3991429805755615, "standstill": -6.017756462097168, "action_rate_l2": -0.5389522910118103, "joint_torques_l2": -0.13544556498527527, "dof_pos_limits": -0.0008988072513602674, "terminated": -0.019975455477833748, "unnecessary_wheel_lift": -0.08914856612682343, "rolling_leg_motion": -0.546853244304657, "obstacle_progress": 3.6804850101470947, "wheel_body_intrusion": -0.2546282708644867, "pair_body_intrusion": -0.2696593999862671}, "weighted_reward_terms": {"track_linear_velocity": 1.7729871273040771, "track_angular_velocity": 1.8889820575714111, "upright": 0.9569105505943298, "leg_posture": -0.09383165836334229, "standstill": -0.2353573888540268, "action_rate_l2": -0.0210786871612072, "joint_torques_l2": -0.0052973423153162, "dof_pos_limits": -3.515279240673408e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.003486644010990858, "rolling_leg_motion": -0.021387698128819466, "obstacle_progress": 0.143945574760437, "wheel_body_intrusion": -0.00995863601565361, "pair_body_intrusion": -0.01054651103913784}, "episode_termination_rates": {"time_out": 0.4358974358974359, "fell_over": 0.019230769230769232, "course_exit": 0.5128205128205128, "illegal_nonwheel_contact": 0.04487179487179487}, "collection_time_s": 0.0754084699426312, "learning_time_s": 0.18350813731551172, "iteration_time_s": 0.29974952808184585, "policy_updates": 42500, "skipped_updates": 0, "invalid_env_resets": 228, "elapsed_s": 12829.279801903001, "nonwheel_terminations": 14098, "contact_bce": 0.29318568110466003, "contact_force_loss": 0.020875096321105957, "collision_bce": 0.0003765968722291291, "collision_label_rate": 0.0001226316817337647, "collision_prediction_mean": 6.705116538796574e-05, "collision_label_count": 16309.0, "terrain_level_mean": 4.232177734375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 21, 46, 70, 264], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1946.0, 427.0, 38.0, 0.0], [1765.0, 408.0, 34.0, 0.0], [1596.0, 358.0, 28.0, 0.0], [1280.0, 294.0, 24.0, 0.0], [2430.0, 559.0, 30.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 24, 285, 1123], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4695.0, 1729.0, 196.0, 0.0], [7002.0, 1879.0, 171.0, 0.0], [11500.0, 2324.0, 351.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 42, 571], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [979.0, 806.0, 26.0, 0.0], [2097.0, 1733.0, 67.0, 0.0], [13294.0, 11287.0, 320.0, 0.0]]}, "platform": {"level_counts": [7, 19, 35, 85, 129, 135], "episodes_by_level": [[1840.0, 399.0, 52.0, 0.0], [2276.0, 469.0, 95.0, 0.0], [2068.0, 418.0, 91.0, 0.0], [1901.0, 338.0, 69.0, 0.0], [1467.0, 220.0, 74.0, 0.0], [875.0, 91.0, 85.0, 0.0]]}, "slope": {"level_counts": [3, 15, 37, 59, 83, 213], "episodes_by_level": [[1653.0, 351.0, 46.0, 0.0], [2070.0, 423.0, 71.0, 0.0], [1897.0, 403.0, 45.0, 0.0], [1604.0, 318.0, 48.0, 0.0], [1325.0, 264.0, 22.0, 0.0], [1934.0, 338.0, 51.0, 0.0]]}, "rubble": {"level_counts": [14, 77, 188, 221, 217, 102], "episodes_by_level": [[3428.0, 780.0, 103.0, 0.0], [5244.0, 1133.0, 230.0, 0.0], [5170.0, 1079.0, 422.0, 0.0], [4146.0, 725.0, 539.0, 0.0], [2337.0, 301.0, 406.0, 0.0], [805.0, 59.0, 199.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.236083984375, "command_abs_max": [0.9992815256118774, 0.3997359871864319, 0.6998372673988342]}
{"step": 42850, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 42850, "total_transitions": 175513600, "num_steps_per_env": 1, "wm_loss": 0.590813159942627, "actor_loss": -9.495213508605957, "critic_loss": 0.0059131751768291, "reward": 0.08708098530769348, "falls": 12, "interval_steps": 50, "velocity_mae": [0.11429643630981445, 0.07236462831497192, 0.1359879970550537], "mean_episode_length": 1330.0920245398772, "episode_reward_terms": {"track_linear_velocity": 47.18022155761719, "track_angular_velocity": 50.193336486816406, "upright": 25.462623596191406, "leg_posture": -2.528559923171997, "standstill": -6.385226249694824, "action_rate_l2": -0.5690438151359558, "joint_torques_l2": -0.14116227626800537, "dof_pos_limits": -0.0008170967339538038, "terminated": -0.031174030154943466, "unnecessary_wheel_lift": -0.09618040919303894, "rolling_leg_motion": -0.5759461522102356, "obstacle_progress": 3.824998140335083, "wheel_body_intrusion": -0.25971105694770813, "pair_body_intrusion": -0.24763675034046173}, "weighted_reward_terms": {"track_linear_velocity": 1.7735697031021118, "track_angular_velocity": 1.886837124824524, "upright": 0.9571752548217773, "leg_posture": -0.095052070915699, "standstill": -0.2400294989347458, "action_rate_l2": -0.021391145884990692, "joint_torques_l2": -0.005306485574692488, "dof_pos_limits": -3.07157970382832e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.0036155548878014088, "rolling_leg_motion": -0.021650612354278564, "obstacle_progress": 0.1437869817018509, "wheel_body_intrusion": -0.009762898087501526, "pair_body_intrusion": -0.009309007786214352}, "episode_termination_rates": {"time_out": 0.44785276073619634, "fell_over": 0.03680981595092025, "course_exit": 0.4785276073619632, "illegal_nonwheel_contact": 0.06134969325153374}, "collection_time_s": 0.07620134280296043, "learning_time_s": 0.18499816042138265, "iteration_time_s": 0.29970457111579984, "policy_updates": 42550, "skipped_updates": 0, "invalid_env_resets": 230, "elapsed_s": 12842.340872312023, "nonwheel_terminations": 14108, "contact_bce": 0.2868094742298126, "contact_force_loss": 0.020466696470975876, "collision_bce": 6.170212873257697e-05, "collision_label_rate": 6.12182411714457e-05, "collision_prediction_mean": 8.547680045012385e-05, "collision_label_count": 16335.0, "terrain_level_mean": 4.231689453125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 21, 46, 70, 264], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1946.0, 427.0, 38.0, 0.0], [1765.0, 408.0, 34.0, 0.0], [1599.0, 359.0, 28.0, 0.0], [1284.0, 294.0, 25.0, 0.0], [2435.0, 561.0, 30.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 24, 287, 1121], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4695.0, 1729.0, 196.0, 0.0], [7008.0, 1880.0, 171.0, 0.0], [11543.0, 2334.0, 353.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 41, 572], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [979.0, 806.0, 26.0, 0.0], [2098.0, 1733.0, 67.0, 0.0], [13311.0, 11301.0, 320.0, 0.0]]}, "platform": {"level_counts": [7, 19, 35, 86, 127, 136], "episodes_by_level": [[1840.0, 399.0, 52.0, 0.0], [2276.0, 469.0, 95.0, 0.0], [2071.0, 418.0, 91.0, 0.0], [1907.0, 339.0, 69.0, 0.0], [1474.0, 221.0, 76.0, 0.0], [875.0, 91.0, 85.0, 0.0]]}, "slope": {"level_counts": [3, 15, 37, 59, 83, 213], "episodes_by_level": [[1653.0, 351.0, 46.0, 0.0], [2071.0, 423.0, 71.0, 0.0], [1897.0, 403.0, 45.0, 0.0], [1604.0, 318.0, 48.0, 0.0], [1325.0, 264.0, 22.0, 0.0], [1942.0, 339.0, 51.0, 0.0]]}, "rubble": {"level_counts": [14, 77, 188, 223, 214, 103], "episodes_by_level": [[3429.0, 781.0, 103.0, 0.0], [5251.0, 1133.0, 231.0, 0.0], [5175.0, 1080.0, 422.0, 0.0], [4156.0, 726.0, 540.0, 0.0], [2347.0, 303.0, 409.0, 0.0], [809.0, 60.0, 200.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23388671875, "command_abs_max": [0.9996010661125183, 0.3997359871864319, 0.6998372673988342]}
{"step": 42900, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 42900, "total_transitions": 175718400, "num_steps_per_env": 1, "wm_loss": 0.5913465619087219, "actor_loss": -9.536203384399414, "critic_loss": 0.007220305036753416, "reward": 0.08714185655117035, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11297720670700073, 0.07274897396564484, 0.13448235392570496], "mean_episode_length": 1399.4662162162163, "episode_reward_terms": {"track_linear_velocity": 49.66976547241211, "track_angular_velocity": 52.881229400634766, "upright": 26.81048583984375, "leg_posture": -2.6404147148132324, "standstill": -6.773768901824951, "action_rate_l2": -0.5894644260406494, "joint_torques_l2": -0.1480143815279007, "dof_pos_limits": -0.0006503489566966891, "terminated": -0.027333321049809456, "unnecessary_wheel_lift": -0.10209105908870697, "rolling_leg_motion": -0.5977161526679993, "obstacle_progress": 4.016715049743652, "wheel_body_intrusion": -0.26338130235671997, "pair_body_intrusion": -0.28326937556266785}, "weighted_reward_terms": {"track_linear_velocity": 1.7745968103408813, "track_angular_velocity": 1.8893358707427979, "upright": 0.9578826427459717, "leg_posture": -0.09433649480342865, "standstill": -0.2420126050710678, "action_rate_l2": -0.021060332655906677, "joint_torques_l2": -0.005288244225084782, "dof_pos_limits": -2.3235608750837855e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.0036475001834332943, "rolling_leg_motion": -0.021355148404836655, "obstacle_progress": 0.14350883662700653, "wheel_body_intrusion": -0.009410062804818153, "pair_body_intrusion": -0.01012062281370163}, "episode_termination_rates": {"time_out": 0.49324324324324326, "fell_over": 0.0472972972972973, "course_exit": 0.4391891891891892, "illegal_nonwheel_contact": 0.05405405405405406}, "collection_time_s": 0.07565102207823657, "learning_time_s": 0.18552359516033903, "iteration_time_s": 0.29965969007997667, "policy_updates": 42600, "skipped_updates": 0, "invalid_env_resets": 230, "elapsed_s": 12855.400704430998, "nonwheel_terminations": 14116, "contact_bce": 0.29510289430618286, "contact_force_loss": 0.021556876599788666, "collision_bce": 1.901505129353609e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.897532638395205e-05, "collision_label_count": 16320.0, "terrain_level_mean": 4.232177734375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 21, 45, 71, 264], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1946.0, 427.0, 38.0, 0.0], [1765.0, 408.0, 34.0, 0.0], [1601.0, 360.0, 28.0, 0.0], [1288.0, 294.0, 25.0, 0.0], [2445.0, 565.0, 30.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 24, 290, 1118], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4695.0, 1729.0, 196.0, 0.0], [7013.0, 1881.0, 171.0, 0.0], [11572.0, 2337.0, 353.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 41, 571], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [979.0, 806.0, 26.0, 0.0], [2100.0, 1735.0, 67.0, 0.0], [13322.0, 11312.0, 320.0, 0.0]]}, "platform": {"level_counts": [7, 19, 36, 84, 126, 138], "episodes_by_level": [[1840.0, 399.0, 52.0, 0.0], [2276.0, 469.0, 95.0, 0.0], [2072.0, 418.0, 91.0, 0.0], [1912.0, 340.0, 70.0, 0.0], [1481.0, 223.0, 76.0, 0.0], [877.0, 92.0, 85.0, 0.0]]}, "slope": {"level_counts": [3, 15, 36, 59, 84, 213], "episodes_by_level": [[1653.0, 351.0, 46.0, 0.0], [2071.0, 423.0, 71.0, 0.0], [1901.0, 404.0, 45.0, 0.0], [1605.0, 319.0, 48.0, 0.0], [1326.0, 264.0, 22.0, 0.0], [1949.0, 341.0, 51.0, 0.0]]}, "rubble": {"level_counts": [14, 77, 188, 222, 214, 104], "episodes_by_level": [[3429.0, 781.0, 103.0, 0.0], [5253.0, 1133.0, 231.0, 0.0], [5180.0, 1080.0, 422.0, 0.0], [4166.0, 728.0, 540.0, 0.0], [2357.0, 304.0, 410.0, 0.0], [813.0, 61.0, 200.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.232666015625, "command_abs_max": [0.9996010661125183, 0.3997359871864319, 0.6998372673988342]}
{"step": 42950, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 42950, "total_transitions": 175923200, "num_steps_per_env": 1, "wm_loss": 0.5845319628715515, "actor_loss": -9.53427791595459, "critic_loss": 0.003747195703908801, "reward": 0.08737276494503021, "falls": 11, "interval_steps": 50, "velocity_mae": [0.11359488219022751, 0.07248445600271225, 0.13643021881580353], "mean_episode_length": 1370.6923076923076, "episode_reward_terms": {"track_linear_velocity": 48.619876861572266, "track_angular_velocity": 51.70848083496094, "upright": 26.241748809814453, "leg_posture": -2.598787784576416, "standstill": -6.159115791320801, "action_rate_l2": -0.5780897736549377, "joint_torques_l2": -0.1458619087934494, "dof_pos_limits": -0.0008129018824547529, "terminated": -0.029448464512825012, "unnecessary_wheel_lift": -0.08607746660709381, "rolling_leg_motion": -0.5737544894218445, "obstacle_progress": 3.898470640182495, "wheel_body_intrusion": -0.26341503858566284, "pair_body_intrusion": -0.272035151720047}, "weighted_reward_terms": {"track_linear_velocity": 1.7735519409179688, "track_angular_velocity": 1.886217713356018, "upright": 0.9572443962097168, "leg_posture": -0.09479836374521255, "standstill": -0.22467173635959625, "action_rate_l2": -0.021087510511279106, "joint_torques_l2": -0.00532073900103569, "dof_pos_limits": -2.9652970624738373e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.0031399268191307783, "rolling_leg_motion": -0.02092937007546425, "obstacle_progress": 0.14220809936523438, "wheel_body_intrusion": -0.009608833119273186, "pair_body_intrusion": -0.009923276491463184}, "episode_termination_rates": {"time_out": 0.5192307692307693, "fell_over": 0.02564102564102564, "course_exit": 0.41025641025641024, "illegal_nonwheel_contact": 0.0641025641025641}, "collection_time_s": 0.07562009773799218, "learning_time_s": 0.18542967136832886, "iteration_time_s": 0.29961476814896393, "policy_updates": 42650, "skipped_updates": 0, "invalid_env_resets": 230, "elapsed_s": 12868.454291998001, "nonwheel_terminations": 14126, "contact_bce": 0.2918412983417511, "contact_force_loss": 0.020630814135074615, "collision_bce": 0.00016710811178199947, "collision_label_rate": 6.121074693510309e-05, "collision_prediction_mean": 2.5416955395485274e-05, "collision_label_count": 16337.0, "terrain_level_mean": 4.23193359375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 20, 46, 71, 264], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1946.0, 427.0, 38.0, 0.0], [1767.0, 409.0, 34.0, 0.0], [1601.0, 360.0, 28.0, 0.0], [1289.0, 294.0, 25.0, 0.0], [2454.0, 566.0, 30.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 24, 289, 1119], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4695.0, 1729.0, 196.0, 0.0], [7018.0, 1882.0, 171.0, 0.0], [11599.0, 2342.0, 353.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 47, 565], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [979.0, 806.0, 26.0, 0.0], [2101.0, 1736.0, 67.0, 0.0], [13346.0, 11333.0, 322.0, 0.0]]}, "platform": {"level_counts": [7, 19, 36, 84, 125, 139], "episodes_by_level": [[1841.0, 399.0, 52.0, 0.0], [2276.0, 469.0, 95.0, 0.0], [2072.0, 418.0, 91.0, 0.0], [1914.0, 340.0, 70.0, 0.0], [1488.0, 224.0, 76.0, 0.0], [880.0, 92.0, 85.0, 0.0]]}, "slope": {"level_counts": [3, 15, 36, 58, 84, 214], "episodes_by_level": [[1653.0, 351.0, 46.0, 0.0], [2071.0, 423.0, 71.0, 0.0], [1902.0, 404.0, 45.0, 0.0], [1606.0, 320.0, 48.0, 0.0], [1329.0, 265.0, 22.0, 0.0], [1951.0, 341.0, 51.0, 0.0]]}, "rubble": {"level_counts": [13, 80, 186, 221, 215, 104], "episodes_by_level": [[3431.0, 782.0, 103.0, 0.0], [5257.0, 1133.0, 231.0, 0.0], [5188.0, 1080.0, 424.0, 0.0], [4175.0, 730.0, 540.0, 0.0], [2362.0, 305.0, 411.0, 0.0], [818.0, 61.0, 201.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.233154296875, "command_abs_max": [0.9996010661125183, 0.3997359871864319, 0.6998372673988342]}
{"step": 43000, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 43000, "total_transitions": 176128000, "num_steps_per_env": 1, "wm_loss": 0.5443481802940369, "actor_loss": -9.516084671020508, "critic_loss": 0.0054893228225409985, "reward": 0.08686784654855728, "falls": 13, "interval_steps": 50, "velocity_mae": [0.11309009045362473, 0.07341425865888596, 0.1368045210838318], "mean_episode_length": 1317.6, "episode_reward_terms": {"track_linear_velocity": 46.731788635253906, "track_angular_velocity": 49.69513702392578, "upright": 25.21173095703125, "leg_posture": -2.5221333503723145, "standstill": -6.427422046661377, "action_rate_l2": -0.5480003356933594, "joint_torques_l2": -0.13953711092472076, "dof_pos_limits": -0.001020874478854239, "terminated": -0.03345468267798424, "unnecessary_wheel_lift": -0.09515190124511719, "rolling_leg_motion": -0.5491392612457275, "obstacle_progress": 3.684382438659668, "wheel_body_intrusion": -0.26021891832351685, "pair_body_intrusion": -0.2899002730846405}, "weighted_reward_terms": {"track_linear_velocity": 1.7733678817749023, "track_angular_velocity": 1.8858203887939453, "upright": 0.9567293524742126, "leg_posture": -0.09570937603712082, "standstill": -0.2439064234495163, "action_rate_l2": -0.020795399323105812, "joint_torques_l2": -0.0052951243706047535, "dof_pos_limits": -3.873992682201788e-05, "terminated": -0.0012695310870185494, "unnecessary_wheel_lift": -0.0036108039785176516, "rolling_leg_motion": -0.020838620141148567, "obstacle_progress": 0.13981415331363678, "wheel_body_intrusion": -0.009874731302261353, "pair_body_intrusion": -0.011001073755323887}, "episode_termination_rates": {"time_out": 0.3931034482758621, "fell_over": 0.06896551724137931, "course_exit": 0.5172413793103449, "illegal_nonwheel_contact": 0.05517241379310345}, "collection_time_s": 0.07583950790227391, "learning_time_s": 0.19257991489605047, "iteration_time_s": 0.29957852042814026, "policy_updates": 42700, "skipped_updates": 0, "invalid_env_resets": 230, "elapsed_s": 12881.87637841003, "nonwheel_terminations": 14134, "contact_bce": 0.2858458459377289, "contact_force_loss": 0.020059898495674133, "collision_bce": 2.5329964046250097e-05, "collision_label_rate": 6.119951285654679e-05, "collision_prediction_mean": 7.070090214256197e-05, "collision_label_count": 16340.0, "terrain_level_mean": 4.231689453125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 20, 46, 71, 264], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1946.0, 427.0, 38.0, 0.0], [1768.0, 409.0, 34.0, 0.0], [1602.0, 360.0, 28.0, 0.0], [1293.0, 294.0, 25.0, 0.0], [2463.0, 570.0, 30.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 23, 289, 1120], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4696.0, 1730.0, 196.0, 0.0], [7025.0, 1885.0, 171.0, 0.0], [11636.0, 2353.0, 355.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 45, 567], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [979.0, 806.0, 26.0, 0.0], [2104.0, 1739.0, 67.0, 0.0], [13362.0, 11347.0, 323.0, 0.0]]}, "platform": {"level_counts": [8, 18, 37, 82, 126, 139], "episodes_by_level": [[1841.0, 399.0, 52.0, 0.0], [2278.0, 469.0, 96.0, 0.0], [2072.0, 418.0, 91.0, 0.0], [1916.0, 341.0, 71.0, 0.0], [1489.0, 224.0, 76.0, 0.0], [882.0, 92.0, 85.0, 0.0]]}, "slope": {"level_counts": [3, 15, 36, 58, 84, 214], "episodes_by_level": [[1653.0, 351.0, 46.0, 0.0], [2071.0, 423.0, 71.0, 0.0], [1902.0, 404.0, 45.0, 0.0], [1606.0, 320.0, 48.0, 0.0], [1332.0, 266.0, 22.0, 0.0], [1958.0, 342.0, 52.0, 0.0]]}, "rubble": {"level_counts": [14, 81, 185, 222, 211, 106], "episodes_by_level": [[3432.0, 782.0, 103.0, 0.0], [5259.0, 1133.0, 232.0, 0.0], [5194.0, 1080.0, 426.0, 0.0], [4185.0, 730.0, 541.0, 0.0], [2373.0, 308.0, 413.0, 0.0], [820.0, 61.0, 202.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.230712890625, "command_abs_max": [0.9996010661125183, 0.3997359871864319, 0.6998372673988342]}
{"step": 43050, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 43050, "total_transitions": 176332800, "num_steps_per_env": 1, "wm_loss": 0.5964774489402771, "actor_loss": -9.534669876098633, "critic_loss": 0.006288946606218815, "reward": 0.08735227584838867, "falls": 11, "interval_steps": 50, "velocity_mae": [0.11194205284118652, 0.0723879262804985, 0.1360495686531067], "mean_episode_length": 1344.1939393939394, "episode_reward_terms": {"track_linear_velocity": 47.792903900146484, "track_angular_velocity": 50.72443771362305, "upright": 25.76470947265625, "leg_posture": -2.5357158184051514, "standstill": -6.114109039306641, "action_rate_l2": -0.559223473072052, "joint_torques_l2": -0.14192679524421692, "dof_pos_limits": -0.0007136079366318882, "terminated": -0.028879163786768913, "unnecessary_wheel_lift": -0.10008050501346588, "rolling_leg_motion": -0.56453937292099, "obstacle_progress": 3.756175994873047, "wheel_body_intrusion": -0.26415058970451355, "pair_body_intrusion": -0.3104945123195648}, "weighted_reward_terms": {"track_linear_velocity": 1.777753233909607, "track_angular_velocity": 1.886797547340393, "upright": 0.9583702087402344, "leg_posture": -0.09432105720043182, "standstill": -0.22742660343647003, "action_rate_l2": -0.020801443606615067, "joint_torques_l2": -0.005279253236949444, "dof_pos_limits": -2.6544083084445447e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.003722695866599679, "rolling_leg_motion": -0.020999180153012276, "obstacle_progress": 0.13971853256225586, "wheel_body_intrusion": -0.009825613349676132, "pair_body_intrusion": -0.011549469083547592}, "episode_termination_rates": {"time_out": 0.4666666666666667, "fell_over": 0.048484848484848485, "course_exit": 0.4666666666666667, "illegal_nonwheel_contact": 0.030303030303030304}, "collection_time_s": 0.07580445309518836, "learning_time_s": 0.185472461207537, "iteration_time_s": 0.2995347363342862, "policy_updates": 42750, "skipped_updates": 0, "invalid_env_resets": 230, "elapsed_s": 12894.970399191021, "nonwheel_terminations": 14139, "contact_bce": 0.29169762134552, "contact_force_loss": 0.020908329635858536, "collision_bce": 0.00011286548397038132, "collision_label_rate": 6.124448555056006e-05, "collision_prediction_mean": 4.566393545246683e-05, "collision_label_count": 16328.0, "terrain_level_mean": 4.232177734375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 8, 21, 46, 71, 264], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1947.0, 428.0, 38.0, 0.0], [1771.0, 409.0, 34.0, 0.0], [1602.0, 360.0, 28.0, 0.0], [1294.0, 294.0, 25.0, 0.0], [2471.0, 572.0, 30.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 23, 289, 1120], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4696.0, 1730.0, 196.0, 0.0], [7033.0, 1887.0, 171.0, 0.0], [11667.0, 2362.0, 355.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 46, 566], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [979.0, 806.0, 26.0, 0.0], [2105.0, 1740.0, 67.0, 0.0], [13382.0, 11362.0, 324.0, 0.0]]}, "platform": {"level_counts": [8, 18, 38, 81, 127, 138], "episodes_by_level": [[1841.0, 399.0, 52.0, 0.0], [2278.0, 469.0, 96.0, 0.0], [2073.0, 418.0, 91.0, 0.0], [1920.0, 342.0, 72.0, 0.0], [1497.0, 226.0, 77.0, 0.0], [891.0, 93.0, 88.0, 0.0]]}, "slope": {"level_counts": [3, 15, 36, 57, 84, 215], "episodes_by_level": [[1653.0, 351.0, 46.0, 0.0], [2071.0, 423.0, 71.0, 0.0], [1905.0, 404.0, 45.0, 0.0], [1609.0, 321.0, 48.0, 0.0], [1335.0, 267.0, 22.0, 0.0], [1960.0, 342.0, 52.0, 0.0]]}, "rubble": {"level_counts": [14, 81, 186, 218, 214, 106], "episodes_by_level": [[3432.0, 782.0, 103.0, 0.0], [5262.0, 1133.0, 232.0, 0.0], [5201.0, 1081.0, 426.0, 0.0], [4197.0, 733.0, 543.0, 0.0], [2378.0, 308.0, 413.0, 0.0], [825.0, 62.0, 202.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.231201171875, "command_abs_max": [0.9996010661125183, 0.39980679750442505, 0.6998372673988342]}
{"step": 43100, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 43100, "total_transitions": 176537600, "num_steps_per_env": 1, "wm_loss": 0.5616294145584106, "actor_loss": -9.517240524291992, "critic_loss": 0.006303231697529554, "reward": 0.08733265846967697, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11169513314962387, 0.07139374315738678, 0.13492637872695923], "mean_episode_length": 1324.8589743589744, "episode_reward_terms": {"track_linear_velocity": 47.14506530761719, "track_angular_velocity": 50.05299758911133, "upright": 25.395877838134766, "leg_posture": -2.4809086322784424, "standstill": -6.167259216308594, "action_rate_l2": -0.5506362915039062, "joint_torques_l2": -0.1400223970413208, "dof_pos_limits": -0.0003795501252170652, "terminated": -0.02070091851055622, "unnecessary_wheel_lift": -0.08944529294967651, "rolling_leg_motion": -0.5593838095664978, "obstacle_progress": 3.682546854019165, "wheel_body_intrusion": -0.2728634476661682, "pair_body_intrusion": -0.29139959812164307}, "weighted_reward_terms": {"track_linear_velocity": 1.7792483568191528, "track_angular_velocity": 1.888993501663208, "upright": 0.9584370255470276, "leg_posture": -0.09362915903329849, "standstill": -0.2327515333890915, "action_rate_l2": -0.020780939608812332, "joint_torques_l2": -0.005284426733851433, "dof_pos_limits": -1.4324170479085296e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.003375653177499771, "rolling_leg_motion": -0.02111107110977173, "obstacle_progress": 0.13897882401943207, "wheel_body_intrusion": -0.01029783021658659, "pair_body_intrusion": -0.010997381992638111}, "episode_termination_rates": {"time_out": 0.42948717948717946, "fell_over": 0.00641025641025641, "course_exit": 0.5192307692307693, "illegal_nonwheel_contact": 0.04487179487179487}, "collection_time_s": 0.07634523462387734, "learning_time_s": 0.1847334486793261, "iteration_time_s": 0.2994901497912765, "policy_updates": 42800, "skipped_updates": 0, "invalid_env_resets": 232, "elapsed_s": 12908.02545600402, "nonwheel_terminations": 14146, "contact_bce": 0.2843917906284332, "contact_force_loss": 0.020025042816996574, "collision_bce": 0.00010133272735401988, "collision_label_rate": 6.125949585111812e-05, "collision_prediction_mean": 2.1382467821240425e-05, "collision_label_count": 16324.0, "terrain_level_mean": 4.234375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 8, 21, 46, 71, 264], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1947.0, 428.0, 38.0, 0.0], [1771.0, 409.0, 34.0, 0.0], [1603.0, 360.0, 28.0, 0.0], [1294.0, 294.0, 25.0, 0.0], [2477.0, 572.0, 30.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 23, 288, 1121], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4696.0, 1730.0, 196.0, 0.0], [7040.0, 1889.0, 171.0, 0.0], [11703.0, 2369.0, 356.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 43, 569], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [979.0, 806.0, 26.0, 0.0], [2108.0, 1743.0, 67.0, 0.0], [13404.0, 11381.0, 324.0, 0.0]]}, "platform": {"level_counts": [8, 18, 38, 81, 127, 138], "episodes_by_level": [[1842.0, 399.0, 52.0, 0.0], [2278.0, 469.0, 96.0, 0.0], [2074.0, 418.0, 91.0, 0.0], [1922.0, 343.0, 72.0, 0.0], [1500.0, 227.0, 78.0, 0.0], [897.0, 93.0, 89.0, 0.0]]}, "slope": {"level_counts": [3, 14, 37, 56, 85, 215], "episodes_by_level": [[1653.0, 351.0, 46.0, 0.0], [2072.0, 424.0, 71.0, 0.0], [1905.0, 404.0, 45.0, 0.0], [1611.0, 322.0, 48.0, 0.0], [1338.0, 267.0, 22.0, 0.0], [1968.0, 342.0, 52.0, 0.0]]}, "rubble": {"level_counts": [14, 80, 184, 222, 213, 106], "episodes_by_level": [[3432.0, 782.0, 103.0, 0.0], [5265.0, 1134.0, 232.0, 0.0], [5214.0, 1086.0, 426.0, 0.0], [4203.0, 734.0, 545.0, 0.0], [2386.0, 309.0, 415.0, 0.0], [827.0, 62.0, 203.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.231689453125, "command_abs_max": [0.9996010661125183, 0.39980679750442505, 0.6998372673988342]}
{"step": 43150, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 43150, "total_transitions": 176742400, "num_steps_per_env": 1, "wm_loss": 0.5610628128051758, "actor_loss": -9.526457786560059, "critic_loss": 0.004941051360219717, "reward": 0.08755786716938019, "falls": 5, "interval_steps": 50, "velocity_mae": [0.10992274433374405, 0.07114113867282867, 0.13571366667747498], "mean_episode_length": 1396.4675324675325, "episode_reward_terms": {"track_linear_velocity": 49.79220199584961, "track_angular_velocity": 52.71084976196289, "upright": 26.758939743041992, "leg_posture": -2.6049764156341553, "standstill": -6.362800598144531, "action_rate_l2": -0.5825322866439819, "joint_torques_l2": -0.14769259095191956, "dof_pos_limits": -0.0007343653705902398, "terminated": -0.013637376949191093, "unnecessary_wheel_lift": -0.07692191749811172, "rolling_leg_motion": -0.5825439691543579, "obstacle_progress": 3.990811824798584, "wheel_body_intrusion": -0.28890687227249146, "pair_body_intrusion": -0.3203282654285431}, "weighted_reward_terms": {"track_linear_velocity": 1.7827913761138916, "track_angular_velocity": 1.8872923851013184, "upright": 0.9580939412117004, "leg_posture": -0.0932702124118805, "standstill": -0.22781771421432495, "action_rate_l2": -0.020857352763414383, "joint_torques_l2": -0.0052880784496665, "dof_pos_limits": -2.6293681003153324e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.0027541606687009335, "rolling_leg_motion": -0.02085776999592781, "obstacle_progress": 0.14288952946662903, "wheel_body_intrusion": -0.010344203561544418, "pair_body_intrusion": -0.01146923378109932}, "episode_termination_rates": {"time_out": 0.538961038961039, "fell_over": 0.012987012987012988, "course_exit": 0.42857142857142855, "illegal_nonwheel_contact": 0.025974025974025976}, "collection_time_s": 0.07584357322426513, "learning_time_s": 0.18530651691835373, "iteration_time_s": 0.29944574912987204, "policy_updates": 42850, "skipped_updates": 0, "invalid_env_resets": 232, "elapsed_s": 12921.084074953978, "nonwheel_terminations": 14150, "contact_bce": 0.28799718618392944, "contact_force_loss": 0.02036467008292675, "collision_bce": 3.179458872182295e-05, "collision_label_rate": 6.11807918176055e-05, "collision_prediction_mean": 5.6211552873719484e-05, "collision_label_count": 16345.0, "terrain_level_mean": 4.2353515625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 8, 19, 48, 71, 264], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1947.0, 428.0, 38.0, 0.0], [1773.0, 411.0, 34.0, 0.0], [1605.0, 360.0, 28.0, 0.0], [1296.0, 294.0, 25.0, 0.0], [2484.0, 574.0, 30.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 23, 288, 1121], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4696.0, 1730.0, 196.0, 0.0], [7046.0, 1889.0, 171.0, 0.0], [11730.0, 2374.0, 356.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 42, 570], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [979.0, 806.0, 26.0, 0.0], [2110.0, 1745.0, 67.0, 0.0], [13425.0, 11400.0, 324.0, 0.0]]}, "platform": {"level_counts": [8, 18, 38, 81, 127, 138], "episodes_by_level": [[1843.0, 399.0, 52.0, 0.0], [2278.0, 469.0, 96.0, 0.0], [2074.0, 418.0, 91.0, 0.0], [1926.0, 343.0, 72.0, 0.0], [1505.0, 227.0, 78.0, 0.0], [902.0, 94.0, 89.0, 0.0]]}, "slope": {"level_counts": [3, 14, 37, 55, 86, 215], "episodes_by_level": [[1653.0, 351.0, 46.0, 0.0], [2072.0, 424.0, 71.0, 0.0], [1906.0, 404.0, 45.0, 0.0], [1614.0, 323.0, 48.0, 0.0], [1340.0, 267.0, 22.0, 0.0], [1980.0, 345.0, 52.0, 0.0]]}, "rubble": {"level_counts": [14, 81, 182, 223, 213, 106], "episodes_by_level": [[3432.0, 782.0, 103.0, 0.0], [5267.0, 1134.0, 232.0, 0.0], [5219.0, 1087.0, 427.0, 0.0], [4209.0, 736.0, 545.0, 0.0], [2398.0, 310.0, 417.0, 0.0], [828.0, 62.0, 204.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23388671875, "command_abs_max": [0.9952494502067566, 0.39980679750442505, 0.6988644599914551]}
{"step": 43200, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 43200, "total_transitions": 176947200, "num_steps_per_env": 1, "wm_loss": 0.5617103576660156, "actor_loss": -9.520599365234375, "critic_loss": 0.006066948641091585, "reward": 0.08725650608539581, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11200715601444244, 0.07112298905849457, 0.13534808158874512], "mean_episode_length": 1399.2713178294573, "episode_reward_terms": {"track_linear_velocity": 49.82516098022461, "track_angular_velocity": 52.84549331665039, "upright": 26.81078338623047, "leg_posture": -2.6429831981658936, "standstill": -6.675008296966553, "action_rate_l2": -0.57819002866745, "joint_torques_l2": -0.14870069921016693, "dof_pos_limits": -0.000708661915268749, "terminated": -0.021863611415028572, "unnecessary_wheel_lift": -0.08682102710008621, "rolling_leg_motion": -0.5750558376312256, "obstacle_progress": 3.976957321166992, "wheel_body_intrusion": -0.3070046901702881, "pair_body_intrusion": -0.3265119791030884}, "weighted_reward_terms": {"track_linear_velocity": 1.780396819114685, "track_angular_velocity": 1.8883219957351685, "upright": 0.9580265879631042, "leg_posture": -0.09444141387939453, "standstill": -0.23851731419563293, "action_rate_l2": -0.0206603966653347, "joint_torques_l2": -0.005313504952937365, "dof_pos_limits": -2.532253165554721e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0031023656483739614, "rolling_leg_motion": -0.02054840326309204, "obstacle_progress": 0.14210815727710724, "wheel_body_intrusion": -0.0109701631590724, "pair_body_intrusion": -0.011667215265333652}, "episode_termination_rates": {"time_out": 0.49612403100775193, "fell_over": 0.03875968992248062, "course_exit": 0.4496124031007752, "illegal_nonwheel_contact": 0.031007751937984496}, "collection_time_s": 0.07571218768134713, "learning_time_s": 0.18536923113744705, "iteration_time_s": 0.2994013714297681, "policy_updates": 42900, "skipped_updates": 0, "invalid_env_resets": 232, "elapsed_s": 12934.139245765982, "nonwheel_terminations": 14154, "contact_bce": 0.2840670347213745, "contact_force_loss": 0.02008224092423916, "collision_bce": 0.00038114155177026987, "collision_label_rate": 0.00012236906331963837, "collision_prediction_mean": 7.000922050792724e-05, "collision_label_count": 16344.0, "terrain_level_mean": 4.235595703125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 8, 19, 48, 71, 264], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1948.0, 428.0, 38.0, 0.0], [1773.0, 411.0, 34.0, 0.0], [1608.0, 360.0, 28.0, 0.0], [1296.0, 294.0, 25.0, 0.0], [2491.0, 575.0, 30.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 23, 291, 1118], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4697.0, 1730.0, 196.0, 0.0], [7054.0, 1891.0, 171.0, 0.0], [11764.0, 2382.0, 359.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 43, 569], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [979.0, 806.0, 26.0, 0.0], [2110.0, 1745.0, 67.0, 0.0], [13434.0, 11408.0, 325.0, 0.0]]}, "platform": {"level_counts": [8, 18, 38, 80, 126, 140], "episodes_by_level": [[1843.0, 399.0, 52.0, 0.0], [2278.0, 469.0, 96.0, 0.0], [2074.0, 418.0, 91.0, 0.0], [1930.0, 344.0, 72.0, 0.0], [1508.0, 229.0, 78.0, 0.0], [909.0, 94.0, 89.0, 0.0]]}, "slope": {"level_counts": [3, 14, 37, 55, 86, 215], "episodes_by_level": [[1653.0, 351.0, 46.0, 0.0], [2072.0, 424.0, 71.0, 0.0], [1906.0, 404.0, 45.0, 0.0], [1615.0, 323.0, 48.0, 0.0], [1341.0, 267.0, 22.0, 0.0], [1984.0, 345.0, 52.0, 0.0]]}, "rubble": {"level_counts": [14, 81, 182, 222, 213, 107], "episodes_by_level": [[3432.0, 782.0, 103.0, 0.0], [5270.0, 1134.0, 232.0, 0.0], [5222.0, 1088.0, 427.0, 0.0], [4216.0, 738.0, 546.0, 0.0], [2405.0, 311.0, 418.0, 0.0], [832.0, 62.0, 204.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23291015625, "command_abs_max": [0.993806779384613, 0.39980679750442505, 0.6988644599914551]}
{"step": 43250, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 43250, "total_transitions": 177152000, "num_steps_per_env": 1, "wm_loss": 0.5392447710037231, "actor_loss": -9.528685569763184, "critic_loss": 0.005710765719413757, "reward": 0.08693619817495346, "falls": 11, "interval_steps": 50, "velocity_mae": [0.11224886775016785, 0.0715886577963829, 0.13541224598884583], "mean_episode_length": 1349.5746268656717, "episode_reward_terms": {"track_linear_velocity": 47.989986419677734, "track_angular_velocity": 50.950313568115234, "upright": 25.843929290771484, "leg_posture": -2.5939183235168457, "standstill": -6.742547988891602, "action_rate_l2": -0.5577879548072815, "joint_torques_l2": -0.14314308762550354, "dof_pos_limits": -0.0011410790029913187, "terminated": -0.028994763270020485, "unnecessary_wheel_lift": -0.08256152272224426, "rolling_leg_motion": -0.5620661377906799, "obstacle_progress": 3.867474317550659, "wheel_body_intrusion": -0.2747785747051239, "pair_body_intrusion": -0.3379080295562744}, "weighted_reward_terms": {"track_linear_velocity": 1.7779672145843506, "track_angular_velocity": 1.887643575668335, "upright": 0.957484245300293, "leg_posture": -0.09610133618116379, "standstill": -0.24980272352695465, "action_rate_l2": -0.020665325224399567, "joint_torques_l2": -0.005303266923874617, "dof_pos_limits": -4.227550743962638e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.0030587981455028057, "rolling_leg_motion": -0.020823827013373375, "obstacle_progress": 0.14328494668006897, "wheel_body_intrusion": -0.01018019299954176, "pair_body_intrusion": -0.012519057840108871}, "episode_termination_rates": {"time_out": 0.47761194029850745, "fell_over": 0.05223880597014925, "course_exit": 0.44029850746268656, "illegal_nonwheel_contact": 0.029850746268656716}, "collection_time_s": 0.0757030429423321, "learning_time_s": 0.18530197442276403, "iteration_time_s": 0.2994966741737336, "policy_updates": 42950, "skipped_updates": 0, "invalid_env_resets": 232, "elapsed_s": 12953.23115801398, "nonwheel_terminations": 14158, "contact_bce": 0.2885778844356537, "contact_force_loss": 0.020468974485993385, "collision_bce": 0.00046523308265022933, "collision_label_rate": 0.00012251899170223624, "collision_prediction_mean": 6.182864308357239e-05, "collision_label_count": 16324.0, "terrain_level_mean": 4.235595703125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 8, 19, 47, 72, 264], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1948.0, 428.0, 38.0, 0.0], [1774.0, 411.0, 34.0, 0.0], [1611.0, 361.0, 28.0, 0.0], [1298.0, 294.0, 25.0, 0.0], [2497.0, 577.0, 30.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 24, 289, 1119], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4697.0, 1730.0, 196.0, 0.0], [7059.0, 1891.0, 171.0, 0.0], [11785.0, 2389.0, 360.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 44, 568], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [979.0, 806.0, 26.0, 0.0], [2114.0, 1748.0, 67.0, 0.0], [13452.0, 11424.0, 325.0, 0.0]]}, "platform": {"level_counts": [8, 18, 38, 80, 126, 140], "episodes_by_level": [[1843.0, 399.0, 52.0, 0.0], [2278.0, 469.0, 96.0, 0.0], [2074.0, 418.0, 91.0, 0.0], [1933.0, 344.0, 72.0, 0.0], [1511.0, 229.0, 78.0, 0.0], [912.0, 94.0, 89.0, 0.0]]}, "slope": {"level_counts": [3, 14, 37, 56, 85, 215], "episodes_by_level": [[1653.0, 351.0, 46.0, 0.0], [2073.0, 424.0, 71.0, 0.0], [1908.0, 404.0, 45.0, 0.0], [1616.0, 323.0, 48.0, 0.0], [1342.0, 267.0, 23.0, 0.0], [1991.0, 346.0, 52.0, 0.0]]}, "rubble": {"level_counts": [12, 83, 184, 220, 212, 108], "episodes_by_level": [[3434.0, 784.0, 103.0, 0.0], [5271.0, 1134.0, 232.0, 0.0], [5229.0, 1089.0, 427.0, 0.0], [4224.0, 739.0, 549.0, 0.0], [2413.0, 312.0, 419.0, 0.0], [834.0, 62.0, 204.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.232421875, "command_abs_max": [0.993806779384613, 0.39980679750442505, 0.6984992027282715]}
{"step": 43300, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 43300, "total_transitions": 177356800, "num_steps_per_env": 1, "wm_loss": 0.6049094200134277, "actor_loss": -9.554645538330078, "critic_loss": 0.004762792494148016, "reward": 0.0872965008020401, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11413253843784332, 0.07129200547933578, 0.13431119918823242], "mean_episode_length": 1348.8092105263158, "episode_reward_terms": {"track_linear_velocity": 47.8997917175293, "track_angular_velocity": 50.97405242919922, "upright": 25.857498168945312, "leg_posture": -2.5800626277923584, "standstill": -6.335434913635254, "action_rate_l2": -0.5530224442481995, "joint_torques_l2": -0.14443044364452362, "dof_pos_limits": -0.00037506798980757594, "terminated": -0.018440749496221542, "unnecessary_wheel_lift": -0.08472388982772827, "rolling_leg_motion": -0.5667468905448914, "obstacle_progress": 3.840362787246704, "wheel_body_intrusion": -0.2683247923851013, "pair_body_intrusion": -0.2738022804260254}, "weighted_reward_terms": {"track_linear_velocity": 1.775632619857788, "track_angular_velocity": 1.8895946741104126, "upright": 0.958530604839325, "leg_posture": -0.09564223885536194, "standstill": -0.2348528951406479, "action_rate_l2": -0.02050039730966091, "joint_torques_l2": -0.005353998392820358, "dof_pos_limits": -1.3903671060688794e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0031406921334564686, "rolling_leg_motion": -0.021009158343076706, "obstacle_progress": 0.14236123859882355, "wheel_body_intrusion": -0.009946729056537151, "pair_body_intrusion": -0.010149777866899967}, "episode_termination_rates": {"time_out": 0.42105263157894735, "fell_over": 0.019736842105263157, "course_exit": 0.5328947368421053, "illegal_nonwheel_contact": 0.02631578947368421}, "collection_time_s": 0.07577245350112208, "learning_time_s": 0.1854242987569887, "iteration_time_s": 0.2994524769718943, "policy_updates": 43000, "skipped_updates": 0, "invalid_env_resets": 232, "elapsed_s": 12966.292252883024, "nonwheel_terminations": 14162, "contact_bce": 0.30296170711517334, "contact_force_loss": 0.021197080612182617, "collision_bce": 0.00015355383220594376, "collision_label_rate": 6.117704469943419e-05, "collision_prediction_mean": 2.069257061521057e-05, "collision_label_count": 16346.0, "terrain_level_mean": 4.236328125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 8, 18, 47, 72, 265], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1948.0, 428.0, 38.0, 0.0], [1775.0, 412.0, 34.0, 0.0], [1613.0, 362.0, 28.0, 0.0], [1299.0, 295.0, 25.0, 0.0], [2506.0, 579.0, 30.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 24, 290, 1118], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4697.0, 1730.0, 196.0, 0.0], [7072.0, 1893.0, 171.0, 0.0], [11819.0, 2395.0, 361.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 45, 567], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [979.0, 806.0, 26.0, 0.0], [2114.0, 1748.0, 67.0, 0.0], [13474.0, 11446.0, 325.0, 0.0]]}, "platform": {"level_counts": [8, 18, 38, 80, 127, 139], "episodes_by_level": [[1843.0, 399.0, 52.0, 0.0], [2278.0, 469.0, 96.0, 0.0], [2074.0, 418.0, 91.0, 0.0], [1936.0, 344.0, 72.0, 0.0], [1512.0, 229.0, 78.0, 0.0], [919.0, 94.0, 90.0, 0.0]]}, "slope": {"level_counts": [3, 14, 37, 56, 86, 214], "episodes_by_level": [[1653.0, 351.0, 46.0, 0.0], [2074.0, 424.0, 71.0, 0.0], [1908.0, 404.0, 45.0, 0.0], [1618.0, 323.0, 48.0, 0.0], [1343.0, 267.0, 23.0, 0.0], [1999.0, 347.0, 53.0, 0.0]]}, "rubble": {"level_counts": [12, 83, 184, 219, 210, 111], "episodes_by_level": [[3435.0, 784.0, 103.0, 0.0], [5273.0, 1134.0, 232.0, 0.0], [5236.0, 1089.0, 427.0, 0.0], [4228.0, 741.0, 549.0, 0.0], [2420.0, 315.0, 420.0, 0.0], [836.0, 62.0, 204.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23046875, "command_abs_max": [0.9968835115432739, 0.39980679750442505, 0.6984992027282715]}
{"step": 43350, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 43350, "total_transitions": 177561600, "num_steps_per_env": 1, "wm_loss": 0.5890345573425293, "actor_loss": -9.533745765686035, "critic_loss": 0.00460863346233964, "reward": 0.0876331701874733, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11169660091400146, 0.07065682113170624, 0.13349580764770508], "mean_episode_length": 1335.5323741007194, "episode_reward_terms": {"track_linear_velocity": 47.56450271606445, "track_angular_velocity": 50.51222610473633, "upright": 25.5971736907959, "leg_posture": -2.5606348514556885, "standstill": -6.021275520324707, "action_rate_l2": -0.5567036271095276, "joint_torques_l2": -0.14355863630771637, "dof_pos_limits": -0.0006167914834804833, "terminated": -0.013042306527495384, "unnecessary_wheel_lift": -0.08516907691955566, "rolling_leg_motion": -0.5638049244880676, "obstacle_progress": 3.861393690109253, "wheel_body_intrusion": -0.2687474489212036, "pair_body_intrusion": -0.28481847047805786}, "weighted_reward_terms": {"track_linear_velocity": 1.7807320356369019, "track_angular_velocity": 1.8910895586013794, "upright": 0.958313524723053, "leg_posture": -0.09586569666862488, "standstill": -0.2254260629415512, "action_rate_l2": -0.020842012017965317, "joint_torques_l2": -0.005374584812670946, "dof_pos_limits": -2.3091595721780322e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.003188581671565771, "rolling_leg_motion": -0.0211078729480505, "obstacle_progress": 0.14456383883953094, "wheel_body_intrusion": -0.010061435401439667, "pair_body_intrusion": -0.01066310703754425}, "episode_termination_rates": {"time_out": 0.4460431654676259, "fell_over": 0.02158273381294964, "course_exit": 0.5251798561151079, "illegal_nonwheel_contact": 0.02158273381294964}, "collection_time_s": 0.0755098061170429, "learning_time_s": 0.18529920596280136, "iteration_time_s": 0.2994079310635068, "policy_updates": 43050, "skipped_updates": 0, "invalid_env_resets": 232, "elapsed_s": 12979.33381160302, "nonwheel_terminations": 14165, "contact_bce": 0.290436327457428, "contact_force_loss": 0.02114536613225937, "collision_bce": 0.00026334726135246456, "collision_label_rate": 6.110228423494846e-05, "collision_prediction_mean": 2.204047814302612e-05, "collision_label_count": 16366.0, "terrain_level_mean": 4.237060546875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 8, 18, 47, 73, 264], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1948.0, 428.0, 38.0, 0.0], [1775.0, 412.0, 34.0, 0.0], [1614.0, 362.0, 28.0, 0.0], [1302.0, 296.0, 25.0, 0.0], [2516.0, 581.0, 32.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 25, 287, 1120], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4697.0, 1730.0, 196.0, 0.0], [7079.0, 1895.0, 171.0, 0.0], [11845.0, 2403.0, 361.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 45, 567], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [979.0, 806.0, 26.0, 0.0], [2115.0, 1749.0, 67.0, 0.0], [13503.0, 11471.0, 325.0, 0.0]]}, "platform": {"level_counts": [8, 18, 38, 80, 127, 139], "episodes_by_level": [[1843.0, 399.0, 52.0, 0.0], [2279.0, 469.0, 96.0, 0.0], [2074.0, 418.0, 91.0, 0.0], [1936.0, 344.0, 72.0, 0.0], [1515.0, 229.0, 78.0, 0.0], [920.0, 94.0, 90.0, 0.0]]}, "slope": {"level_counts": [3, 14, 36, 57, 86, 214], "episodes_by_level": [[1653.0, 351.0, 46.0, 0.0], [2074.0, 424.0, 71.0, 0.0], [1909.0, 405.0, 45.0, 0.0], [1621.0, 323.0, 48.0, 0.0], [1345.0, 267.0, 23.0, 0.0], [2003.0, 347.0, 53.0, 0.0]]}, "rubble": {"level_counts": [12, 82, 184, 221, 208, 112], "episodes_by_level": [[3435.0, 784.0, 103.0, 0.0], [5276.0, 1135.0, 232.0, 0.0], [5243.0, 1090.0, 427.0, 0.0], [4232.0, 741.0, 549.0, 0.0], [2425.0, 316.0, 421.0, 0.0], [839.0, 63.0, 204.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22802734375, "command_abs_max": [0.9999113082885742, 0.39980679750442505, 0.6984992027282715]}
{"step": 43400, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 43400, "total_transitions": 177766400, "num_steps_per_env": 1, "wm_loss": 0.5419419407844543, "actor_loss": -9.530250549316406, "critic_loss": 0.004361707717180252, "reward": 0.08752144873142242, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11367551237344742, 0.07116340845823288, 0.13533611595630646], "mean_episode_length": 1360.2992700729926, "episode_reward_terms": {"track_linear_velocity": 48.340206146240234, "track_angular_velocity": 51.3648567199707, "upright": 26.077228546142578, "leg_posture": -2.5871429443359375, "standstill": -6.194948673248291, "action_rate_l2": -0.563342809677124, "joint_torques_l2": -0.1455216407775879, "dof_pos_limits": -0.0007365291239693761, "terminated": -0.015941007062792778, "unnecessary_wheel_lift": -0.07893825322389603, "rolling_leg_motion": -0.576828122138977, "obstacle_progress": 3.9792397022247314, "wheel_body_intrusion": -0.2586575150489807, "pair_body_intrusion": -0.28412455320358276}, "weighted_reward_terms": {"track_linear_velocity": 1.7768224477767944, "track_angular_velocity": 1.8879984617233276, "upright": 0.95851069688797, "leg_posture": -0.09509462863206863, "standstill": -0.22770534455776215, "action_rate_l2": -0.020706577226519585, "joint_torques_l2": -0.005348883103579283, "dof_pos_limits": -2.7072317607235163e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.0029015031177550554, "rolling_leg_motion": -0.021202249452471733, "obstacle_progress": 0.14626339077949524, "wheel_body_intrusion": -0.009507374837994576, "pair_body_intrusion": -0.010443457402288914}, "episode_termination_rates": {"time_out": 0.46715328467153283, "fell_over": 0.014598540145985401, "course_exit": 0.48905109489051096, "illegal_nonwheel_contact": 0.0364963503649635}, "collection_time_s": 0.07558270119829104, "learning_time_s": 0.18525064977817238, "iteration_time_s": 0.29936351482636, "policy_updates": 43100, "skipped_updates": 0, "invalid_env_resets": 232, "elapsed_s": 12992.376543464023, "nonwheel_terminations": 14170, "contact_bce": 0.27640020847320557, "contact_force_loss": 0.019411154091358185, "collision_bce": 0.0004165471182204783, "collision_label_rate": 0.00012246647384017706, "collision_prediction_mean": 3.25281398545485e-05, "collision_label_count": 16331.0, "terrain_level_mean": 4.238037109375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 8, 18, 47, 72, 265], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1948.0, 428.0, 38.0, 0.0], [1775.0, 412.0, 34.0, 0.0], [1615.0, 362.0, 28.0, 0.0], [1305.0, 297.0, 25.0, 0.0], [2525.0, 582.0, 32.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 25, 286, 1121], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4697.0, 1730.0, 196.0, 0.0], [7090.0, 1898.0, 171.0, 0.0], [11869.0, 2405.0, 361.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 44, 568], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [979.0, 806.0, 26.0, 0.0], [2117.0, 1750.0, 67.0, 0.0], [13531.0, 11493.0, 325.0, 0.0]]}, "platform": {"level_counts": [8, 18, 38, 79, 129, 138], "episodes_by_level": [[1843.0, 399.0, 52.0, 0.0], [2279.0, 469.0, 96.0, 0.0], [2075.0, 418.0, 91.0, 0.0], [1939.0, 345.0, 72.0, 0.0], [1516.0, 229.0, 78.0, 0.0], [924.0, 94.0, 91.0, 0.0]]}, "slope": {"level_counts": [3, 14, 36, 57, 87, 213], "episodes_by_level": [[1653.0, 351.0, 46.0, 0.0], [2075.0, 424.0, 71.0, 0.0], [1910.0, 405.0, 45.0, 0.0], [1624.0, 323.0, 48.0, 0.0], [1345.0, 267.0, 23.0, 0.0], [2009.0, 348.0, 54.0, 0.0]]}, "rubble": {"level_counts": [12, 82, 185, 217, 211, 112], "episodes_by_level": [[3435.0, 784.0, 103.0, 0.0], [5276.0, 1135.0, 232.0, 0.0], [5246.0, 1091.0, 427.0, 0.0], [4242.0, 744.0, 551.0, 0.0], [2425.0, 316.0, 421.0, 0.0], [842.0, 63.0, 204.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.228271484375, "command_abs_max": [0.9999113082885742, 0.39980679750442505, 0.6996998190879822]}
{"step": 43450, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 43450, "total_transitions": 177971200, "num_steps_per_env": 1, "wm_loss": 0.5888784527778625, "actor_loss": -9.513062477111816, "critic_loss": 0.009208726696670055, "reward": 0.08729179948568344, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11485853046178818, 0.07117855548858643, 0.13596244156360626], "mean_episode_length": 1378.3856209150326, "episode_reward_terms": {"track_linear_velocity": 48.904212951660156, "track_angular_velocity": 52.01530075073242, "upright": 26.438344955444336, "leg_posture": -2.634633779525757, "standstill": -6.36663293838501, "action_rate_l2": -0.5631131529808044, "joint_torques_l2": -0.146728053689003, "dof_pos_limits": -0.0009129723766818643, "terminated": -0.02153727039694786, "unnecessary_wheel_lift": -0.08935613930225372, "rolling_leg_motion": -0.5763742327690125, "obstacle_progress": 3.9292237758636475, "wheel_body_intrusion": -0.2831476628780365, "pair_body_intrusion": -0.2828655242919922}, "weighted_reward_terms": {"track_linear_velocity": 1.7739671468734741, "track_angular_velocity": 1.8868197202682495, "upright": 0.9590330123901367, "leg_posture": -0.09556955099105835, "standstill": -0.23094527423381805, "action_rate_l2": -0.020426547154784203, "joint_torques_l2": -0.005322460550814867, "dof_pos_limits": -3.311745240353048e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0032413331791758537, "rolling_leg_motion": -0.020907584577798843, "obstacle_progress": 0.1425299197435379, "wheel_body_intrusion": -0.010270988568663597, "pair_body_intrusion": -0.010260754264891148}, "episode_termination_rates": {"time_out": 0.5032679738562091, "fell_over": 0.026143790849673203, "course_exit": 0.4444444444444444, "illegal_nonwheel_contact": 0.0392156862745098}, "collection_time_s": 0.07573747151880525, "learning_time_s": 0.18537298461887985, "iteration_time_s": 0.29931951936414214, "policy_updates": 43150, "skipped_updates": 0, "invalid_env_resets": 232, "elapsed_s": 13005.433116371976, "nonwheel_terminations": 14176, "contact_bce": 0.2941879630088806, "contact_force_loss": 0.021400222554802895, "collision_bce": 9.915254486259073e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 9.042967576533556e-05, "collision_label_count": 16354.0, "terrain_level_mean": 4.2392578125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 8, 17, 48, 72, 265], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1949.0, 428.0, 38.0, 0.0], [1776.0, 413.0, 34.0, 0.0], [1615.0, 362.0, 28.0, 0.0], [1307.0, 297.0, 25.0, 0.0], [2531.0, 584.0, 32.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 25, 284, 1123], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4698.0, 1730.0, 196.0, 0.0], [7097.0, 1902.0, 171.0, 0.0], [11899.0, 2411.0, 362.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 44, 568], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [979.0, 806.0, 26.0, 0.0], [2118.0, 1751.0, 67.0, 0.0], [13552.0, 11514.0, 325.0, 0.0]]}, "platform": {"level_counts": [8, 18, 38, 79, 126, 141], "episodes_by_level": [[1843.0, 399.0, 52.0, 0.0], [2281.0, 469.0, 96.0, 0.0], [2078.0, 418.0, 91.0, 0.0], [1944.0, 345.0, 72.0, 0.0], [1522.0, 233.0, 78.0, 0.0], [929.0, 94.0, 92.0, 0.0]]}, "slope": {"level_counts": [3, 14, 36, 57, 85, 215], "episodes_by_level": [[1653.0, 351.0, 46.0, 0.0], [2075.0, 424.0, 71.0, 0.0], [1911.0, 405.0, 45.0, 0.0], [1626.0, 323.0, 48.0, 0.0], [1350.0, 269.0, 23.0, 0.0], [2014.0, 349.0, 54.0, 0.0]]}, "rubble": {"level_counts": [12, 82, 186, 218, 209, 112], "episodes_by_level": [[3435.0, 784.0, 103.0, 0.0], [5277.0, 1135.0, 232.0, 0.0], [5249.0, 1092.0, 427.0, 0.0], [4247.0, 744.0, 553.0, 0.0], [2435.0, 316.0, 423.0, 0.0], [847.0, 64.0, 204.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.230224609375, "command_abs_max": [0.9999113082885742, 0.39980679750442505, 0.6996998190879822]}
{"step": 43500, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 43500, "total_transitions": 178176000, "num_steps_per_env": 1, "wm_loss": 0.5718775391578674, "actor_loss": -9.546859741210938, "critic_loss": 0.004046406131237745, "reward": 0.08742226660251617, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11171862483024597, 0.07094445824623108, 0.1338299959897995], "mean_episode_length": 1323.4049079754602, "episode_reward_terms": {"track_linear_velocity": 47.106834411621094, "track_angular_velocity": 50.02894592285156, "upright": 25.397998809814453, "leg_posture": -2.4920835494995117, "standstill": -6.2978997230529785, "action_rate_l2": -0.5374742150306702, "joint_torques_l2": -0.14077365398406982, "dof_pos_limits": -0.0004036372120026499, "terminated": -0.025847749784588814, "unnecessary_wheel_lift": -0.09296206384897232, "rolling_leg_motion": -0.5634016990661621, "obstacle_progress": 3.847676992416382, "wheel_body_intrusion": -0.263396292924881, "pair_body_intrusion": -0.27217337489128113}, "weighted_reward_terms": {"track_linear_velocity": 1.7797590494155884, "track_angular_velocity": 1.8901602029800415, "upright": 0.9595702886581421, "leg_posture": -0.0941542387008667, "standstill": -0.23794305324554443, "action_rate_l2": -0.02030649222433567, "joint_torques_l2": -0.005318616516888142, "dof_pos_limits": -1.5249951502482872e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.0035122307017445564, "rolling_leg_motion": -0.021286066621541977, "obstacle_progress": 0.14537036418914795, "wheel_body_intrusion": -0.009951462969183922, "pair_body_intrusion": -0.010283073410391808}, "episode_termination_rates": {"time_out": 0.4539877300613497, "fell_over": 0.04294478527607362, "course_exit": 0.48466257668711654, "illegal_nonwheel_contact": 0.03067484662576687}, "collection_time_s": 0.07603409686824307, "learning_time_s": 0.18554294127738102, "iteration_time_s": 0.29927616339062085, "policy_updates": 43200, "skipped_updates": 0, "invalid_env_resets": 233, "elapsed_s": 13018.513107492006, "nonwheel_terminations": 14181, "contact_bce": 0.28582480549812317, "contact_force_loss": 0.019667476415634155, "collision_bce": 0.00017774515436030924, "collision_label_rate": 6.116956501500681e-05, "collision_prediction_mean": 4.43691315012984e-05, "collision_label_count": 16348.0, "terrain_level_mean": 4.23974609375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 8, 17, 48, 72, 265], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1949.0, 428.0, 38.0, 0.0], [1777.0, 413.0, 34.0, 0.0], [1615.0, 362.0, 28.0, 0.0], [1308.0, 297.0, 25.0, 0.0], [2541.0, 587.0, 32.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 24, 286, 1122], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4701.0, 1731.0, 196.0, 0.0], [7103.0, 1904.0, 171.0, 0.0], [11934.0, 2424.0, 362.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 44, 568], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [979.0, 806.0, 26.0, 0.0], [2123.0, 1755.0, 67.0, 0.0], [13570.0, 11530.0, 326.0, 0.0]]}, "platform": {"level_counts": [8, 18, 37, 80, 126, 141], "episodes_by_level": [[1843.0, 399.0, 52.0, 0.0], [2282.0, 469.0, 96.0, 0.0], [2081.0, 419.0, 91.0, 0.0], [1946.0, 345.0, 72.0, 0.0], [1525.0, 233.0, 78.0, 0.0], [934.0, 94.0, 92.0, 0.0]]}, "slope": {"level_counts": [4, 13, 36, 57, 83, 217], "episodes_by_level": [[1653.0, 351.0, 46.0, 0.0], [2076.0, 424.0, 72.0, 0.0], [1912.0, 405.0, 45.0, 0.0], [1628.0, 323.0, 48.0, 0.0], [1353.0, 271.0, 23.0, 0.0], [2026.0, 352.0, 54.0, 0.0]]}, "rubble": {"level_counts": [12, 82, 187, 216, 210, 112], "episodes_by_level": [[3435.0, 784.0, 103.0, 0.0], [5277.0, 1135.0, 232.0, 0.0], [5253.0, 1092.0, 427.0, 0.0], [4260.0, 746.0, 554.0, 0.0], [2442.0, 316.0, 424.0, 0.0], [849.0, 64.0, 204.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.231201171875, "command_abs_max": [0.9999113082885742, 0.39980679750442505, 0.6996998190879822]}
{"step": 43550, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 43550, "total_transitions": 178380800, "num_steps_per_env": 1, "wm_loss": 0.5345197319984436, "actor_loss": -9.51548957824707, "critic_loss": 0.007436815183609724, "reward": 0.0875747874379158, "falls": 2, "interval_steps": 50, "velocity_mae": [0.11320599168539047, 0.07102113962173462, 0.13321278989315033], "mean_episode_length": 1390.783950617284, "episode_reward_terms": {"track_linear_velocity": 49.395320892333984, "track_angular_velocity": 52.61159133911133, "upright": 26.7149715423584, "leg_posture": -2.619424343109131, "standstill": -6.321725368499756, "action_rate_l2": -0.564857542514801, "joint_torques_l2": -0.146446093916893, "dof_pos_limits": -0.0007075153989717364, "terminated": -0.005432748701423407, "unnecessary_wheel_lift": -0.08753214031457901, "rolling_leg_motion": -0.5996201634407043, "obstacle_progress": 3.9816246032714844, "wheel_body_intrusion": -0.25939905643463135, "pair_body_intrusion": -0.3007608652114868}, "weighted_reward_terms": {"track_linear_velocity": 1.7758086919784546, "track_angular_velocity": 1.8914366960525513, "upright": 0.9604285955429077, "leg_posture": -0.09417078644037247, "standstill": -0.22727203369140625, "action_rate_l2": -0.020307164639234543, "joint_torques_l2": -0.005264875944703817, "dof_pos_limits": -2.543585105740931e-05, "terminated": -0.0001953124738065526, "unnecessary_wheel_lift": -0.0031468633096665144, "rolling_leg_motion": -0.02155691385269165, "obstacle_progress": 0.1431431770324707, "wheel_body_intrusion": -0.009325642138719559, "pair_body_intrusion": -0.010812638327479362}, "episode_termination_rates": {"time_out": 0.48148148148148145, "fell_over": 0.006172839506172839, "course_exit": 0.5061728395061729, "illegal_nonwheel_contact": 0.006172839506172839}, "collection_time_s": 0.0757244413800072, "learning_time_s": 0.19276486693997869, "iteration_time_s": 0.29924147251079203, "policy_updates": 43250, "skipped_updates": 0, "invalid_env_resets": 233, "elapsed_s": 13031.966127844993, "nonwheel_terminations": 14182, "contact_bce": 0.28902706503868103, "contact_force_loss": 0.020097000524401665, "collision_bce": 7.14494217390893e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 7.200902473414317e-06, "collision_label_count": 16343.0, "terrain_level_mean": 4.243896484375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 8, 16, 49, 72, 265], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1949.0, 428.0, 38.0, 0.0], [1778.0, 414.0, 34.0, 0.0], [1618.0, 362.0, 28.0, 0.0], [1312.0, 297.0, 25.0, 0.0], [2550.0, 588.0, 32.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 24, 283, 1125], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4702.0, 1731.0, 196.0, 0.0], [7113.0, 1907.0, 171.0, 0.0], [11968.0, 2435.0, 362.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 41, 572], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [980.0, 807.0, 26.0, 0.0], [2128.0, 1759.0, 67.0, 0.0], [13589.0, 11547.0, 326.0, 0.0]]}, "platform": {"level_counts": [8, 18, 37, 78, 128, 141], "episodes_by_level": [[1843.0, 399.0, 52.0, 0.0], [2283.0, 469.0, 96.0, 0.0], [2081.0, 419.0, 91.0, 0.0], [1955.0, 347.0, 72.0, 0.0], [1529.0, 233.0, 78.0, 0.0], [938.0, 94.0, 92.0, 0.0]]}, "slope": {"level_counts": [4, 13, 36, 56, 83, 218], "episodes_by_level": [[1653.0, 351.0, 46.0, 0.0], [2076.0, 424.0, 72.0, 0.0], [1912.0, 405.0, 45.0, 0.0], [1630.0, 324.0, 48.0, 0.0], [1356.0, 272.0, 23.0, 0.0], [2031.0, 354.0, 54.0, 0.0]]}, "rubble": {"level_counts": [12, 82, 185, 215, 214, 111], "episodes_by_level": [[3435.0, 784.0, 103.0, 0.0], [5280.0, 1136.0, 232.0, 0.0], [5258.0, 1094.0, 428.0, 0.0], [4265.0, 749.0, 554.0, 0.0], [2451.0, 316.0, 424.0, 0.0], [852.0, 64.0, 205.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23046875, "command_abs_max": [0.9997836351394653, 0.39980679750442505, 0.6996998190879822]}
{"step": 43600, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 43600, "total_transitions": 178585600, "num_steps_per_env": 1, "wm_loss": 0.5865297317504883, "actor_loss": -9.52486801147461, "critic_loss": 0.0053199357353150845, "reward": 0.08773321658372879, "falls": 3, "interval_steps": 50, "velocity_mae": [0.1119011715054512, 0.06994643062353134, 0.13159272074699402], "mean_episode_length": 1305.442857142857, "episode_reward_terms": {"track_linear_velocity": 46.49990463256836, "track_angular_velocity": 49.449642181396484, "upright": 25.05399513244629, "leg_posture": -2.433887243270874, "standstill": -6.004692554473877, "action_rate_l2": -0.5437703132629395, "joint_torques_l2": -0.13852669298648834, "dof_pos_limits": -0.0003318500821478665, "terminated": -0.007649078033864498, "unnecessary_wheel_lift": -0.06988760828971863, "rolling_leg_motion": -0.5560957193374634, "obstacle_progress": 3.779313564300537, "wheel_body_intrusion": -0.23702743649482727, "pair_body_intrusion": -0.26026737689971924}, "weighted_reward_terms": {"track_linear_velocity": 1.7810012102127075, "track_angular_velocity": 1.893979549407959, "upright": 0.9595975279808044, "leg_posture": -0.09322074800729752, "standstill": -0.22998681664466858, "action_rate_l2": -0.020827045664191246, "joint_torques_l2": -0.005305735860019922, "dof_pos_limits": -1.2710249393421691e-05, "terminated": -0.00029296870343387127, "unnecessary_wheel_lift": -0.002676778007298708, "rolling_leg_motion": -0.021299120038747787, "obstacle_progress": 0.1447521597146988, "wheel_body_intrusion": -0.009078430011868477, "pair_body_intrusion": -0.009968547150492668}, "episode_termination_rates": {"time_out": 0.4142857142857143, "fell_over": 0.0, "course_exit": 0.5642857142857143, "illegal_nonwheel_contact": 0.02142857142857143}, "collection_time_s": 0.07591075620264746, "learning_time_s": 0.1841161335830111, "iteration_time_s": 0.2991965322354819, "policy_updates": 43300, "skipped_updates": 0, "invalid_env_resets": 234, "elapsed_s": 13044.968805467011, "nonwheel_terminations": 14185, "contact_bce": 0.28788647055625916, "contact_force_loss": 0.02045583538711071, "collision_bce": 0.00022434086713474244, "collision_label_rate": 6.117704469943419e-05, "collision_prediction_mean": 5.167361814528704e-05, "collision_label_count": 16346.0, "terrain_level_mean": 4.245849609375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 8, 16, 49, 72, 265], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1950.0, 428.0, 38.0, 0.0], [1778.0, 414.0, 34.0, 0.0], [1621.0, 362.0, 28.0, 0.0], [1312.0, 297.0, 25.0, 0.0], [2556.0, 590.0, 32.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 23, 284, 1125], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4705.0, 1732.0, 196.0, 0.0], [7120.0, 1907.0, 171.0, 0.0], [12009.0, 2444.0, 362.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 40, 573], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [980.0, 807.0, 26.0, 0.0], [2129.0, 1760.0, 67.0, 0.0], [13608.0, 11563.0, 326.0, 0.0]]}, "platform": {"level_counts": [8, 18, 37, 78, 128, 141], "episodes_by_level": [[1843.0, 399.0, 52.0, 0.0], [2284.0, 469.0, 96.0, 0.0], [2084.0, 419.0, 91.0, 0.0], [1955.0, 347.0, 72.0, 0.0], [1531.0, 233.0, 78.0, 0.0], [940.0, 94.0, 92.0, 0.0]]}, "slope": {"level_counts": [4, 13, 36, 56, 81, 220], "episodes_by_level": [[1653.0, 351.0, 46.0, 0.0], [2077.0, 424.0, 72.0, 0.0], [1912.0, 405.0, 45.0, 0.0], [1631.0, 324.0, 48.0, 0.0], [1359.0, 274.0, 23.0, 0.0], [2039.0, 355.0, 54.0, 0.0]]}, "rubble": {"level_counts": [11, 82, 185, 217, 211, 113], "episodes_by_level": [[3436.0, 785.0, 103.0, 0.0], [5282.0, 1137.0, 232.0, 0.0], [5264.0, 1096.0, 428.0, 0.0], [4273.0, 750.0, 555.0, 0.0], [2459.0, 318.0, 426.0, 0.0], [855.0, 65.0, 205.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.230712890625, "command_abs_max": [0.9987285137176514, 0.39980679750442505, 0.6996998190879822]}
{"step": 43650, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 43650, "total_transitions": 178790400, "num_steps_per_env": 1, "wm_loss": 0.5637540817260742, "actor_loss": -9.532556533813477, "critic_loss": 0.0034099481999874115, "reward": 0.08770667016506195, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11192678660154343, 0.06908823549747467, 0.1336849182844162], "mean_episode_length": 1423.8095238095239, "episode_reward_terms": {"track_linear_velocity": 50.75119400024414, "track_angular_velocity": 53.837127685546875, "upright": 27.33738899230957, "leg_posture": -2.6531238555908203, "standstill": -6.441069602966309, "action_rate_l2": -0.5976234674453735, "joint_torques_l2": -0.1527000218629837, "dof_pos_limits": -0.0006482432363554835, "terminated": -0.0139043889939785, "unnecessary_wheel_lift": -0.0785633996129036, "rolling_leg_motion": -0.6059141755104065, "obstacle_progress": 4.090244770050049, "wheel_body_intrusion": -0.28746479749679565, "pair_body_intrusion": -0.3073110580444336}, "weighted_reward_terms": {"track_linear_velocity": 1.7822325229644775, "track_angular_velocity": 1.8906015157699585, "upright": 0.9600086808204651, "leg_posture": -0.09316990524530411, "standstill": -0.22619140148162842, "action_rate_l2": -0.020986776798963547, "joint_torques_l2": -0.005362375173717737, "dof_pos_limits": -2.276439408888109e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.002758915303274989, "rolling_leg_motion": -0.02127792313694954, "obstacle_progress": 0.14363734424114227, "wheel_body_intrusion": -0.010094917379319668, "pair_body_intrusion": -0.010791859589517117}, "episode_termination_rates": {"time_out": 0.5782312925170068, "fell_over": 0.02040816326530612, "course_exit": 0.3877551020408163, "illegal_nonwheel_contact": 0.013605442176870748}, "collection_time_s": 0.0759560446406249, "learning_time_s": 0.1851450119970832, "iteration_time_s": 0.299152921173837, "policy_updates": 43350, "skipped_updates": 0, "invalid_env_resets": 235, "elapsed_s": 13058.025009237987, "nonwheel_terminations": 14187, "contact_bce": 0.28624969720840454, "contact_force_loss": 0.020419027656316757, "collision_bce": 6.139259494375437e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 5.205802517593838e-05, "collision_label_count": 16305.0, "terrain_level_mean": 4.24658203125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 8, 16, 49, 72, 265], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1950.0, 428.0, 38.0, 0.0], [1778.0, 414.0, 34.0, 0.0], [1621.0, 362.0, 28.0, 0.0], [1313.0, 297.0, 25.0, 0.0], [2566.0, 592.0, 32.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 23, 283, 1126], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4705.0, 1732.0, 196.0, 0.0], [7124.0, 1908.0, 171.0, 0.0], [12042.0, 2451.0, 362.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 39, 573], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [980.0, 807.0, 26.0, 0.0], [2131.0, 1761.0, 68.0, 0.0], [13623.0, 11576.0, 326.0, 0.0]]}, "platform": {"level_counts": [8, 18, 36, 79, 127, 142], "episodes_by_level": [[1843.0, 399.0, 52.0, 0.0], [2284.0, 469.0, 96.0, 0.0], [2087.0, 420.0, 91.0, 0.0], [1957.0, 347.0, 72.0, 0.0], [1537.0, 234.0, 78.0, 0.0], [944.0, 94.0, 92.0, 0.0]]}, "slope": {"level_counts": [4, 13, 36, 55, 83, 219], "episodes_by_level": [[1653.0, 351.0, 46.0, 0.0], [2077.0, 424.0, 72.0, 0.0], [1912.0, 405.0, 45.0, 0.0], [1634.0, 325.0, 48.0, 0.0], [1362.0, 274.0, 23.0, 0.0], [2047.0, 355.0, 55.0, 0.0]]}, "rubble": {"level_counts": [11, 82, 185, 218, 208, 115], "episodes_by_level": [[3437.0, 785.0, 103.0, 0.0], [5283.0, 1137.0, 232.0, 0.0], [5271.0, 1096.0, 428.0, 0.0], [4282.0, 751.0, 555.0, 0.0], [2467.0, 320.0, 428.0, 0.0], [858.0, 65.0, 205.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.228515625, "command_abs_max": [0.9987285137176514, 0.39980679750442505, 0.6998116374015808]}
{"step": 43700, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 43700, "total_transitions": 178995200, "num_steps_per_env": 1, "wm_loss": 0.5908588767051697, "actor_loss": -9.54334831237793, "critic_loss": 0.008738155476748943, "reward": 0.08759322762489319, "falls": 4, "interval_steps": 50, "velocity_mae": [0.1130923181772232, 0.0694662556052208, 0.13430799543857574], "mean_episode_length": 1365.0075187969924, "episode_reward_terms": {"track_linear_velocity": 48.54718017578125, "track_angular_velocity": 51.586116790771484, "upright": 26.194751739501953, "leg_posture": -2.5476291179656982, "standstill": -6.124783039093018, "action_rate_l2": -0.5748405456542969, "joint_torques_l2": -0.14536122977733612, "dof_pos_limits": -0.0005128884222358465, "terminated": -0.010664119385182858, "unnecessary_wheel_lift": -0.07703433930873871, "rolling_leg_motion": -0.5804774761199951, "obstacle_progress": 3.880127191543579, "wheel_body_intrusion": -0.28050926327705383, "pair_body_intrusion": -0.30096372961997986}, "weighted_reward_terms": {"track_linear_velocity": 1.7782751321792603, "track_angular_velocity": 1.8895909786224365, "upright": 0.9595094323158264, "leg_posture": -0.09331922978162766, "standstill": -0.22434979677200317, "action_rate_l2": -0.021056314930319786, "joint_torques_l2": -0.005324557423591614, "dof_pos_limits": -1.8787019143928774e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.0028217551298439503, "rolling_leg_motion": -0.021262794733047485, "obstacle_progress": 0.14212842285633087, "wheel_body_intrusion": -0.010275008156895638, "pair_body_intrusion": -0.011024251580238342}, "episode_termination_rates": {"time_out": 0.49624060150375937, "fell_over": 0.022556390977443608, "course_exit": 0.47368421052631576, "illegal_nonwheel_contact": 0.015037593984962405}, "collection_time_s": 0.0759506017586682, "learning_time_s": 0.18345302188303322, "iteration_time_s": 0.2991074666111209, "policy_updates": 43400, "skipped_updates": 0, "invalid_env_resets": 236, "elapsed_s": 13070.996290905983, "nonwheel_terminations": 14189, "contact_bce": 0.2887311279773712, "contact_force_loss": 0.020694425329566002, "collision_bce": 9.5595300081186e-05, "collision_label_rate": 6.120325269876048e-05, "collision_prediction_mean": 3.829582055914216e-05, "collision_label_count": 16339.0, "terrain_level_mean": 4.248779296875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 8, 16, 49, 71, 266], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1951.0, 428.0, 38.0, 0.0], [1778.0, 414.0, 34.0, 0.0], [1623.0, 362.0, 28.0, 0.0], [1315.0, 298.0, 25.0, 0.0], [2578.0, 595.0, 32.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 22, 285, 1125], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4707.0, 1733.0, 196.0, 0.0], [7126.0, 1908.0, 171.0, 0.0], [12066.0, 2456.0, 363.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 38, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [980.0, 807.0, 26.0, 0.0], [2133.0, 1763.0, 68.0, 0.0], [13641.0, 11594.0, 326.0, 0.0]]}, "platform": {"level_counts": [8, 18, 36, 79, 127, 142], "episodes_by_level": [[1843.0, 399.0, 52.0, 0.0], [2285.0, 469.0, 96.0, 0.0], [2088.0, 420.0, 91.0, 0.0], [1957.0, 347.0, 72.0, 0.0], [1546.0, 234.0, 78.0, 0.0], [947.0, 94.0, 92.0, 0.0]]}, "slope": {"level_counts": [4, 13, 35, 56, 84, 218], "episodes_by_level": [[1653.0, 351.0, 46.0, 0.0], [2079.0, 424.0, 72.0, 0.0], [1915.0, 406.0, 45.0, 0.0], [1635.0, 326.0, 48.0, 0.0], [1364.0, 274.0, 24.0, 0.0], [2052.0, 355.0, 56.0, 0.0]]}, "rubble": {"level_counts": [11, 80, 185, 219, 207, 117], "episodes_by_level": [[3437.0, 785.0, 103.0, 0.0], [5288.0, 1139.0, 232.0, 0.0], [5278.0, 1098.0, 428.0, 0.0], [4285.0, 752.0, 555.0, 0.0], [2472.0, 322.0, 428.0, 0.0], [860.0, 65.0, 205.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.233642578125, "command_abs_max": [0.9987285137176514, 0.39980679750442505, 0.6998116374015808]}
{"step": 43750, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 43750, "total_transitions": 179200000, "num_steps_per_env": 1, "wm_loss": 0.5948450565338135, "actor_loss": -9.520308494567871, "critic_loss": 0.007313081528991461, "reward": 0.08775974810123444, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11217258870601654, 0.07074954360723495, 0.13444013893604279], "mean_episode_length": 1411.3899371069183, "episode_reward_terms": {"track_linear_velocity": 50.24418640136719, "track_angular_velocity": 53.34231185913086, "upright": 27.044021606445312, "leg_posture": -2.640721321105957, "standstill": -6.138463020324707, "action_rate_l2": -0.6058194637298584, "joint_torques_l2": -0.15041567385196686, "dof_pos_limits": -0.0004978470387868583, "terminated": -0.013783102855086327, "unnecessary_wheel_lift": -0.1001044437289238, "rolling_leg_motion": -0.6141799688339233, "obstacle_progress": 4.065049171447754, "wheel_body_intrusion": -0.25853919982910156, "pair_body_intrusion": -0.3098241984844208}, "weighted_reward_terms": {"track_linear_velocity": 1.779954195022583, "track_angular_velocity": 1.8897086381912231, "upright": 0.9580634832382202, "leg_posture": -0.09355038404464722, "standstill": -0.21746164560317993, "action_rate_l2": -0.02146180346608162, "joint_torques_l2": -0.0053286366164684296, "dof_pos_limits": -1.763676482369192e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.003546307096257806, "rolling_leg_motion": -0.021757984533905983, "obstacle_progress": 0.14400872588157654, "wheel_body_intrusion": -0.00915902853012085, "pair_body_intrusion": -0.010975855402648449}, "episode_termination_rates": {"time_out": 0.4968553459119497, "fell_over": 0.018867924528301886, "course_exit": 0.4716981132075472, "illegal_nonwheel_contact": 0.018867924528301886}, "collection_time_s": 0.07546458504395559, "learning_time_s": 0.18495208775857463, "iteration_time_s": 0.29906327465478866, "policy_updates": 43450, "skipped_updates": 0, "invalid_env_resets": 236, "elapsed_s": 13084.018266147003, "nonwheel_terminations": 14192, "contact_bce": 0.2902912497520447, "contact_force_loss": 0.02089141681790352, "collision_bce": 1.8631290004123002e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.8450948118697852e-05, "collision_label_count": 16346.0, "terrain_level_mean": 4.252197265625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 15, 49, 70, 267], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1951.0, 428.0, 38.0, 0.0], [1780.0, 414.0, 35.0, 0.0], [1625.0, 362.0, 28.0, 0.0], [1319.0, 299.0, 25.0, 0.0], [2582.0, 595.0, 32.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 22, 281, 1129], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4708.0, 1733.0, 196.0, 0.0], [7141.0, 1913.0, 171.0, 0.0], [12105.0, 2466.0, 364.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 38, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [980.0, 807.0, 26.0, 0.0], [2134.0, 1764.0, 68.0, 0.0], [13651.0, 11603.0, 326.0, 0.0]]}, "platform": {"level_counts": [8, 18, 35, 78, 128, 143], "episodes_by_level": [[1843.0, 399.0, 52.0, 0.0], [2285.0, 469.0, 96.0, 0.0], [2090.0, 421.0, 91.0, 0.0], [1962.0, 349.0, 72.0, 0.0], [1551.0, 235.0, 78.0, 0.0], [953.0, 95.0, 92.0, 0.0]]}, "slope": {"level_counts": [4, 13, 34, 56, 84, 219], "episodes_by_level": [[1653.0, 351.0, 46.0, 0.0], [2079.0, 424.0, 72.0, 0.0], [1917.0, 407.0, 45.0, 0.0], [1639.0, 327.0, 48.0, 0.0], [1371.0, 275.0, 24.0, 0.0], [2058.0, 356.0, 56.0, 0.0]]}, "rubble": {"level_counts": [11, 80, 182, 223, 205, 118], "episodes_by_level": [[3437.0, 785.0, 103.0, 0.0], [5289.0, 1139.0, 232.0, 0.0], [5284.0, 1101.0, 428.0, 0.0], [4288.0, 753.0, 555.0, 0.0], [2481.0, 323.0, 430.0, 0.0], [867.0, 66.0, 205.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.230224609375, "command_abs_max": [0.9977635741233826, 0.39980679750442505, 0.6999701857566833]}
{"step": 43800, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 43800, "total_transitions": 179404800, "num_steps_per_env": 1, "wm_loss": 0.5507532358169556, "actor_loss": -9.530244827270508, "critic_loss": 0.005951212253421545, "reward": 0.0876617431640625, "falls": 13, "interval_steps": 50, "velocity_mae": [0.11173504590988159, 0.07050047814846039, 0.13370145857334137], "mean_episode_length": 1278.4751773049645, "episode_reward_terms": {"track_linear_velocity": 45.55117416381836, "track_angular_velocity": 48.34906768798828, "upright": 24.524524688720703, "leg_posture": -2.3996667861938477, "standstill": -5.723222732543945, "action_rate_l2": -0.540785551071167, "joint_torques_l2": -0.1355370134115219, "dof_pos_limits": -0.0003348738537169993, "terminated": -0.03246128186583519, "unnecessary_wheel_lift": -0.07025808095932007, "rolling_leg_motion": -0.5469733476638794, "obstacle_progress": 3.600715160369873, "wheel_body_intrusion": -0.24570363759994507, "pair_body_intrusion": -0.25719451904296875}, "weighted_reward_terms": {"track_linear_velocity": 1.78146493434906, "track_angular_velocity": 1.8908878564834595, "upright": 0.9591318368911743, "leg_posture": -0.09384877979755402, "standstill": -0.22383002936840057, "action_rate_l2": -0.02114962972700596, "joint_torques_l2": -0.0053007290698587894, "dof_pos_limits": -1.3096611837681849e-05, "terminated": -0.0012695310870185494, "unnecessary_wheel_lift": -0.0027477294206619263, "rolling_leg_motion": -0.021391630172729492, "obstacle_progress": 0.1408206969499588, "wheel_body_intrusion": -0.00960924569517374, "pair_body_intrusion": -0.01005864329636097}, "episode_termination_rates": {"time_out": 0.3829787234042553, "fell_over": 0.05673758865248227, "course_exit": 0.5319148936170213, "illegal_nonwheel_contact": 0.05673758865248227}, "collection_time_s": 0.07563738563330843, "learning_time_s": 0.18529973110766151, "iteration_time_s": 0.29901977784447525, "policy_updates": 43500, "skipped_updates": 0, "invalid_env_resets": 236, "elapsed_s": 13097.066269588016, "nonwheel_terminations": 14200, "contact_bce": 0.284038782119751, "contact_force_loss": 0.020354876294732094, "collision_bce": 3.3389703730790643e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 3.4057868560921634e-06, "collision_label_count": 16321.0, "terrain_level_mean": 4.251220703125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 8, 16, 49, 70, 267], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1952.0, 429.0, 38.0, 0.0], [1780.0, 414.0, 35.0, 0.0], [1625.0, 362.0, 28.0, 0.0], [1320.0, 299.0, 25.0, 0.0], [2597.0, 603.0, 32.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 22, 279, 1131], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4708.0, 1733.0, 196.0, 0.0], [7152.0, 1915.0, 171.0, 0.0], [12127.0, 2472.0, 364.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 41, 571], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [980.0, 807.0, 26.0, 0.0], [2137.0, 1767.0, 68.0, 0.0], [13673.0, 11624.0, 327.0, 0.0]]}, "platform": {"level_counts": [8, 18, 35, 79, 127, 143], "episodes_by_level": [[1843.0, 399.0, 52.0, 0.0], [2285.0, 469.0, 96.0, 0.0], [2093.0, 421.0, 91.0, 0.0], [1965.0, 349.0, 72.0, 0.0], [1556.0, 236.0, 79.0, 0.0], [957.0, 95.0, 93.0, 0.0]]}, "slope": {"level_counts": [4, 13, 35, 55, 84, 219], "episodes_by_level": [[1653.0, 351.0, 46.0, 0.0], [2079.0, 424.0, 72.0, 0.0], [1919.0, 407.0, 45.0, 0.0], [1641.0, 327.0, 49.0, 0.0], [1371.0, 275.0, 24.0, 0.0], [2061.0, 357.0, 56.0, 0.0]]}, "rubble": {"level_counts": [11, 81, 179, 227, 204, 117], "episodes_by_level": [[3437.0, 785.0, 103.0, 0.0], [5291.0, 1139.0, 232.0, 0.0], [5290.0, 1103.0, 429.0, 0.0], [4292.0, 753.0, 555.0, 0.0], [2485.0, 323.0, 432.0, 0.0], [871.0, 66.0, 206.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23486328125, "command_abs_max": [0.9940403699874878, 0.39980679750442505, 0.6999701857566833]}
{"step": 43850, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 43850, "total_transitions": 179609600, "num_steps_per_env": 1, "wm_loss": 0.5643745064735413, "actor_loss": -9.54812240600586, "critic_loss": 0.0034500218462198973, "reward": 0.08742646872997284, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11272911727428436, 0.07097819447517395, 0.13417571783065796], "mean_episode_length": 1372.9933333333333, "episode_reward_terms": {"track_linear_velocity": 48.84849548339844, "track_angular_velocity": 51.90134811401367, "upright": 26.32729721069336, "leg_posture": -2.640829086303711, "standstill": -6.196737766265869, "action_rate_l2": -0.5790019631385803, "joint_torques_l2": -0.14688171446323395, "dof_pos_limits": -0.0004983015242032707, "terminated": -0.013408135622739792, "unnecessary_wheel_lift": -0.07637391239404678, "rolling_leg_motion": -0.5860154628753662, "obstacle_progress": 3.792433500289917, "wheel_body_intrusion": -0.278582364320755, "pair_body_intrusion": -0.3153013586997986}, "weighted_reward_terms": {"track_linear_velocity": 1.7789051532745361, "track_angular_velocity": 1.8900803327560425, "upright": 0.9587555527687073, "leg_posture": -0.09617049992084503, "standstill": -0.22566527128219604, "action_rate_l2": -0.02108539082109928, "joint_torques_l2": -0.0053489599376916885, "dof_pos_limits": -1.814653842302505e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.002781292423605919, "rolling_leg_motion": -0.02134079858660698, "obstacle_progress": 0.1381082385778427, "wheel_body_intrusion": -0.010145074687898159, "pair_body_intrusion": -0.011482262052595615}, "episode_termination_rates": {"time_out": 0.4866666666666667, "fell_over": 0.02666666666666667, "course_exit": 0.48, "illegal_nonwheel_contact": 0.02}, "collection_time_s": 0.07605087385163642, "learning_time_s": 0.18546930746757426, "iteration_time_s": 0.29897704443831274, "policy_updates": 43550, "skipped_updates": 0, "invalid_env_resets": 237, "elapsed_s": 13110.143398620014, "nonwheel_terminations": 14203, "contact_bce": 0.28959980607032776, "contact_force_loss": 0.020868312567472458, "collision_bce": 0.00018526606436353177, "collision_label_rate": 0.0001836547307902947, "collision_prediction_mean": 0.0001542684913147241, "collision_label_count": 16335.0, "terrain_level_mean": 4.252197265625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 8, 16, 47, 72, 267], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1952.0, 429.0, 38.0, 0.0], [1780.0, 414.0, 35.0, 0.0], [1627.0, 364.0, 28.0, 0.0], [1322.0, 299.0, 25.0, 0.0], [2604.0, 604.0, 32.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 22, 281, 1129], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4709.0, 1733.0, 196.0, 0.0], [7160.0, 1915.0, 171.0, 0.0], [12159.0, 2476.0, 366.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 40, 572], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [980.0, 807.0, 26.0, 0.0], [2140.0, 1769.0, 68.0, 0.0], [13693.0, 11643.0, 327.0, 0.0]]}, "platform": {"level_counts": [7, 19, 35, 79, 126, 144], "episodes_by_level": [[1845.0, 400.0, 52.0, 0.0], [2286.0, 469.0, 96.0, 0.0], [2094.0, 421.0, 91.0, 0.0], [1967.0, 349.0, 72.0, 0.0], [1558.0, 237.0, 79.0, 0.0], [961.0, 95.0, 93.0, 0.0]]}, "slope": {"level_counts": [4, 13, 35, 54, 85, 219], "episodes_by_level": [[1653.0, 351.0, 46.0, 0.0], [2079.0, 424.0, 72.0, 0.0], [1919.0, 407.0, 45.0, 0.0], [1642.0, 328.0, 49.0, 0.0], [1373.0, 275.0, 24.0, 0.0], [2066.0, 358.0, 56.0, 0.0]]}, "rubble": {"level_counts": [11, 81, 181, 224, 204, 118], "episodes_by_level": [[3437.0, 785.0, 103.0, 0.0], [5293.0, 1139.0, 232.0, 0.0], [5297.0, 1103.0, 429.0, 0.0], [4302.0, 754.0, 557.0, 0.0], [2491.0, 324.0, 432.0, 0.0], [873.0, 66.0, 206.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234619140625, "command_abs_max": [0.9940403699874878, 0.39980679750442505, 0.6999701857566833]}
{"step": 43900, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 43900, "total_transitions": 179814400, "num_steps_per_env": 1, "wm_loss": 0.5441775321960449, "actor_loss": -9.526039123535156, "critic_loss": 0.0038559027016162872, "reward": 0.08754205703735352, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11253999173641205, 0.07105293869972229, 0.1351361870765686], "mean_episode_length": 1295.8698630136987, "episode_reward_terms": {"track_linear_velocity": 46.114437103271484, "track_angular_velocity": 48.94854736328125, "upright": 24.856956481933594, "leg_posture": -2.519016981124878, "standstill": -5.7157464027404785, "action_rate_l2": -0.5453765988349915, "joint_torques_l2": -0.13810952007770538, "dof_pos_limits": -0.0004076206241734326, "terminated": -0.015185973607003689, "unnecessary_wheel_lift": -0.08313995599746704, "rolling_leg_motion": -0.5599645376205444, "obstacle_progress": 3.6462323665618896, "wheel_body_intrusion": -0.2729739546775818, "pair_body_intrusion": -0.2731327414512634}, "weighted_reward_terms": {"track_linear_velocity": 1.779285192489624, "track_angular_velocity": 1.8886367082595825, "upright": 0.9590838551521301, "leg_posture": -0.09719405323266983, "standstill": -0.22053705155849457, "action_rate_l2": -0.021042875945568085, "joint_torques_l2": -0.005328834522515535, "dof_pos_limits": -1.572768269397784e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.0032078821677714586, "rolling_leg_motion": -0.02160573936998844, "obstacle_progress": 0.14068667590618134, "wheel_body_intrusion": -0.010532460175454617, "pair_body_intrusion": -0.010538587346673012}, "episode_termination_rates": {"time_out": 0.410958904109589, "fell_over": 0.0273972602739726, "course_exit": 0.547945205479452, "illegal_nonwheel_contact": 0.02054794520547945}, "collection_time_s": 0.07557526462478563, "learning_time_s": 0.1851418992120307, "iteration_time_s": 0.2989334928201592, "policy_updates": 43600, "skipped_updates": 0, "invalid_env_resets": 237, "elapsed_s": 13123.180334804987, "nonwheel_terminations": 14206, "contact_bce": 0.28951728343963623, "contact_force_loss": 0.020401669666171074, "collision_bce": 7.292824193427805e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 7.349290171987377e-06, "collision_label_count": 16355.0, "terrain_level_mean": 4.254150390625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 8, 16, 46, 73, 267], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1952.0, 429.0, 38.0, 0.0], [1781.0, 414.0, 35.0, 0.0], [1631.0, 365.0, 28.0, 0.0], [1323.0, 299.0, 25.0, 0.0], [2607.0, 606.0, 32.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 22, 280, 1130], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4709.0, 1733.0, 196.0, 0.0], [7173.0, 1918.0, 171.0, 0.0], [12192.0, 2483.0, 366.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 40, 572], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [980.0, 807.0, 26.0, 0.0], [2143.0, 1772.0, 68.0, 0.0], [13715.0, 11663.0, 328.0, 0.0]]}, "platform": {"level_counts": [7, 18, 36, 79, 126, 144], "episodes_by_level": [[1845.0, 400.0, 52.0, 0.0], [2289.0, 470.0, 96.0, 0.0], [2095.0, 421.0, 91.0, 0.0], [1967.0, 349.0, 72.0, 0.0], [1562.0, 237.0, 79.0, 0.0], [963.0, 95.0, 93.0, 0.0]]}, "slope": {"level_counts": [4, 13, 34, 55, 85, 219], "episodes_by_level": [[1653.0, 351.0, 46.0, 0.0], [2079.0, 424.0, 72.0, 0.0], [1920.0, 408.0, 45.0, 0.0], [1644.0, 328.0, 49.0, 0.0], [1375.0, 275.0, 24.0, 0.0], [2075.0, 359.0, 56.0, 0.0]]}, "rubble": {"level_counts": [11, 82, 178, 225, 203, 120], "episodes_by_level": [[3437.0, 785.0, 103.0, 0.0], [5295.0, 1139.0, 232.0, 0.0], [5303.0, 1105.0, 430.0, 0.0], [4305.0, 755.0, 557.0, 0.0], [2499.0, 326.0, 432.0, 0.0], [876.0, 66.0, 206.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.232177734375, "command_abs_max": [0.9999210834503174, 0.39989200234413147, 0.6999701857566833]}
{"step": 43950, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 43950, "total_transitions": 180019200, "num_steps_per_env": 1, "wm_loss": 0.5489317178726196, "actor_loss": -9.512261390686035, "critic_loss": 0.009011920541524887, "reward": 0.0874369814991951, "falls": 12, "interval_steps": 50, "velocity_mae": [0.11199263483285904, 0.07160214334726334, 0.13464094698429108], "mean_episode_length": 1350.6040268456377, "episode_reward_terms": {"track_linear_velocity": 48.07402420043945, "track_angular_velocity": 51.02574157714844, "upright": 25.8972110748291, "leg_posture": -2.6047236919403076, "standstill": -6.152055740356445, "action_rate_l2": -0.5783635973930359, "joint_torques_l2": -0.14336270093917847, "dof_pos_limits": -0.0013909684494137764, "terminated": -0.031654778867959976, "unnecessary_wheel_lift": -0.08691184967756271, "rolling_leg_motion": -0.5852139592170715, "obstacle_progress": 3.82582950592041, "wheel_body_intrusion": -0.26322051882743835, "pair_body_intrusion": -0.28317296504974365}, "weighted_reward_terms": {"track_linear_velocity": 1.7797231674194336, "track_angular_velocity": 1.888997197151184, "upright": 0.9587270617485046, "leg_posture": -0.09642810374498367, "standstill": -0.22775202989578247, "action_rate_l2": -0.021411295980215073, "joint_torques_l2": -0.005307354964315891, "dof_pos_limits": -5.149431308382191e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.003217517863959074, "rolling_leg_motion": -0.021664898842573166, "obstacle_progress": 0.1416340321302414, "wheel_body_intrusion": -0.009744548238813877, "pair_body_intrusion": -0.01048319786787033}, "episode_termination_rates": {"time_out": 0.48322147651006714, "fell_over": 0.053691275167785234, "course_exit": 0.436241610738255, "illegal_nonwheel_contact": 0.06040268456375839}, "collection_time_s": 0.07559257021872327, "learning_time_s": 0.18519221229944377, "iteration_time_s": 0.2988901182527196, "policy_updates": 43650, "skipped_updates": 0, "invalid_env_resets": 237, "elapsed_s": 13136.220697207027, "nonwheel_terminations": 14215, "contact_bce": 0.29204216599464417, "contact_force_loss": 0.020433388650417328, "collision_bce": 2.594065881567076e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 2.541110006859526e-05, "collision_label_count": 16346.0, "terrain_level_mean": 4.254150390625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 8, 16, 46, 73, 267], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1952.0, 429.0, 38.0, 0.0], [1781.0, 414.0, 35.0, 0.0], [1632.0, 365.0, 28.0, 0.0], [1325.0, 299.0, 25.0, 0.0], [2616.0, 609.0, 32.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 21, 280, 1131], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4711.0, 1734.0, 196.0, 0.0], [7180.0, 1921.0, 171.0, 0.0], [12222.0, 2489.0, 366.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 40, 572], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [980.0, 807.0, 26.0, 0.0], [2145.0, 1774.0, 68.0, 0.0], [13732.0, 11678.0, 329.0, 0.0]]}, "platform": {"level_counts": [7, 18, 36, 82, 124, 143], "episodes_by_level": [[1845.0, 400.0, 52.0, 0.0], [2290.0, 470.0, 96.0, 0.0], [2095.0, 421.0, 91.0, 0.0], [1969.0, 349.0, 72.0, 0.0], [1566.0, 237.0, 82.0, 0.0], [969.0, 95.0, 94.0, 0.0]]}, "slope": {"level_counts": [4, 13, 34, 54, 86, 219], "episodes_by_level": [[1653.0, 351.0, 46.0, 0.0], [2079.0, 424.0, 72.0, 0.0], [1923.0, 408.0, 45.0, 0.0], [1647.0, 329.0, 49.0, 0.0], [1377.0, 276.0, 24.0, 0.0], [2081.0, 359.0, 57.0, 0.0]]}, "rubble": {"level_counts": [12, 81, 179, 222, 204, 121], "episodes_by_level": [[3437.0, 785.0, 103.0, 0.0], [5297.0, 1139.0, 233.0, 0.0], [5309.0, 1105.0, 430.0, 0.0], [4313.0, 757.0, 558.0, 0.0], [2505.0, 328.0, 432.0, 0.0], [879.0, 67.0, 207.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.229248046875, "command_abs_max": [0.9999210834503174, 0.39989200234413147, 0.6999701857566833]}
{"step": 44000, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 44000, "total_transitions": 180224000, "num_steps_per_env": 1, "wm_loss": 0.5775341391563416, "actor_loss": -9.515811920166016, "critic_loss": 0.006342644337564707, "reward": 0.08737919479608536, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11193113774061203, 0.07128682732582092, 0.13361415266990662], "mean_episode_length": 1391.4859154929577, "episode_reward_terms": {"track_linear_velocity": 49.51426696777344, "track_angular_velocity": 52.62398147583008, "upright": 26.678030014038086, "leg_posture": -2.7015390396118164, "standstill": -6.401615142822266, "action_rate_l2": -0.5872130393981934, "joint_torques_l2": -0.14844629168510437, "dof_pos_limits": -0.0004691505164373666, "terminated": -0.01358872838318348, "unnecessary_wheel_lift": -0.0711950734257698, "rolling_leg_motion": -0.5813217163085938, "obstacle_progress": 3.8756353855133057, "wheel_body_intrusion": -0.30196017026901245, "pair_body_intrusion": -0.2976386547088623}, "weighted_reward_terms": {"track_linear_velocity": 1.7791868448257446, "track_angular_velocity": 1.8909275531768799, "upright": 0.9586166143417358, "leg_posture": -0.09707389026880264, "standstill": -0.23002801835536957, "action_rate_l2": -0.02110021561384201, "joint_torques_l2": -0.005334092304110527, "dof_pos_limits": -1.685789720795583e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.002558239037171006, "rolling_leg_motion": -0.020888524129986763, "obstacle_progress": 0.13926246762275696, "wheel_body_intrusion": -0.010850276798009872, "pair_body_intrusion": -0.01069499272853136}, "episode_termination_rates": {"time_out": 0.5, "fell_over": 0.014084507042253521, "course_exit": 0.4647887323943662, "illegal_nonwheel_contact": 0.02112676056338028}, "collection_time_s": 0.0756238563649822, "learning_time_s": 0.18529335165861993, "iteration_time_s": 0.29884699181302327, "policy_updates": 43700, "skipped_updates": 0, "invalid_env_resets": 237, "elapsed_s": 13149.267639773025, "nonwheel_terminations": 14218, "contact_bce": 0.2862427234649658, "contact_force_loss": 0.01998920738697052, "collision_bce": 5.9387157307355665e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 5.995191713736858e-06, "collision_label_count": 16356.0, "terrain_level_mean": 4.256103515625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 8, 16, 45, 74, 267], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1952.0, 429.0, 38.0, 0.0], [1782.0, 414.0, 35.0, 0.0], [1636.0, 366.0, 28.0, 0.0], [1328.0, 299.0, 25.0, 0.0], [2623.0, 611.0, 32.0, 0.0]]}, "up": {"level_counts": [0, 1, 0, 21, 278, 1133], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2403.0, 1468.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4711.0, 1734.0, 196.0, 0.0], [7185.0, 1923.0, 171.0, 0.0], [12258.0, 2495.0, 366.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 39, 573], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [980.0, 807.0, 26.0, 0.0], [2147.0, 1776.0, 68.0, 0.0], [13745.0, 11690.0, 330.0, 0.0]]}, "platform": {"level_counts": [7, 18, 34, 84, 126, 141], "episodes_by_level": [[1845.0, 400.0, 52.0, 0.0], [2290.0, 470.0, 96.0, 0.0], [2098.0, 423.0, 91.0, 0.0], [1971.0, 349.0, 72.0, 0.0], [1567.0, 237.0, 82.0, 0.0], [976.0, 95.0, 96.0, 0.0]]}, "slope": {"level_counts": [4, 13, 34, 53, 86, 220], "episodes_by_level": [[1653.0, 351.0, 46.0, 0.0], [2081.0, 424.0, 72.0, 0.0], [1924.0, 408.0, 45.0, 0.0], [1648.0, 330.0, 49.0, 0.0], [1380.0, 277.0, 24.0, 0.0], [2090.0, 359.0, 57.0, 0.0]]}, "rubble": {"level_counts": [12, 81, 178, 223, 203, 122], "episodes_by_level": [[3438.0, 785.0, 103.0, 0.0], [5301.0, 1139.0, 233.0, 0.0], [5314.0, 1106.0, 430.0, 0.0], [4318.0, 758.0, 558.0, 0.0], [2514.0, 330.0, 433.0, 0.0], [883.0, 67.0, 208.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.227294921875, "command_abs_max": [0.9999210834503174, 0.39989200234413147, 0.6999701857566833]}
{"step": 44050, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 44050, "total_transitions": 180428800, "num_steps_per_env": 1, "wm_loss": 0.5375717282295227, "actor_loss": -9.517738342285156, "critic_loss": 0.0057303644716739655, "reward": 0.0874551385641098, "falls": 8, "interval_steps": 50, "velocity_mae": [0.1140437051653862, 0.07172755897045135, 0.1340615302324295], "mean_episode_length": 1397.5034013605443, "episode_reward_terms": {"track_linear_velocity": 49.59193420410156, "track_angular_velocity": 52.825862884521484, "upright": 26.79279899597168, "leg_posture": -2.669071674346924, "standstill": -6.1547698974609375, "action_rate_l2": -0.5991716980934143, "joint_torques_l2": -0.1483529657125473, "dof_pos_limits": -0.0005519305705092847, "terminated": -0.021835986524820328, "unnecessary_wheel_lift": -0.08171693235635757, "rolling_leg_motion": -0.6050507426261902, "obstacle_progress": 3.8482418060302734, "wheel_body_intrusion": -0.2910741865634918, "pair_body_intrusion": -0.26837459206581116}, "weighted_reward_terms": {"track_linear_velocity": 1.7743045091629028, "track_angular_velocity": 1.8900083303451538, "upright": 0.9585951566696167, "leg_posture": -0.09549428522586823, "standstill": -0.2202058881521225, "action_rate_l2": -0.02143721841275692, "joint_torques_l2": -0.005307785701006651, "dof_pos_limits": -1.9747019905480556e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.002923675812780857, "rolling_leg_motion": -0.021647559478878975, "obstacle_progress": 0.1376827359199524, "wheel_body_intrusion": -0.010414077900350094, "pair_body_intrusion": -0.009601929225027561}, "episode_termination_rates": {"time_out": 0.5170068027210885, "fell_over": 0.006802721088435374, "course_exit": 0.42857142857142855, "illegal_nonwheel_contact": 0.047619047619047616}, "collection_time_s": 0.07558818115736358, "learning_time_s": 0.185078343662899, "iteration_time_s": 0.2988042525844263, "policy_updates": 43750, "skipped_updates": 0, "invalid_env_resets": 237, "elapsed_s": 13162.327326343977, "nonwheel_terminations": 14225, "contact_bce": 0.2857045829296112, "contact_force_loss": 0.019668353721499443, "collision_bce": 9.423678420716897e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 9.467914424021728e-06, "collision_label_count": 16355.0, "terrain_level_mean": 4.25634765625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 8, 16, 45, 73, 268], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1953.0, 429.0, 38.0, 0.0], [1783.0, 414.0, 35.0, 0.0], [1636.0, 366.0, 28.0, 0.0], [1330.0, 300.0, 25.0, 0.0], [2631.0, 613.0, 32.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 21, 277, 1134], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4711.0, 1734.0, 196.0, 0.0], [7193.0, 1925.0, 171.0, 0.0], [12286.0, 2499.0, 367.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 38, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [980.0, 807.0, 26.0, 0.0], [2149.0, 1778.0, 68.0, 0.0], [13768.0, 11710.0, 330.0, 0.0]]}, "platform": {"level_counts": [7, 18, 34, 84, 127, 140], "episodes_by_level": [[1845.0, 400.0, 52.0, 0.0], [2291.0, 470.0, 96.0, 0.0], [2098.0, 423.0, 91.0, 0.0], [1972.0, 349.0, 72.0, 0.0], [1570.0, 237.0, 82.0, 0.0], [981.0, 95.0, 97.0, 0.0]]}, "slope": {"level_counts": [4, 13, 33, 54, 85, 221], "episodes_by_level": [[1653.0, 351.0, 46.0, 0.0], [2081.0, 424.0, 72.0, 0.0], [1925.0, 409.0, 45.0, 0.0], [1650.0, 330.0, 49.0, 0.0], [1383.0, 278.0, 24.0, 0.0], [2096.0, 360.0, 57.0, 0.0]]}, "rubble": {"level_counts": [12, 81, 178, 226, 201, 121], "episodes_by_level": [[3439.0, 785.0, 103.0, 0.0], [5305.0, 1139.0, 233.0, 0.0], [5318.0, 1106.0, 430.0, 0.0], [4322.0, 758.0, 558.0, 0.0], [2523.0, 331.0, 436.0, 0.0], [885.0, 67.0, 210.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.225341796875, "command_abs_max": [0.9999210834503174, 0.39989200234413147, 0.6999701857566833]}
{"step": 44100, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 44100, "total_transitions": 180633600, "num_steps_per_env": 1, "wm_loss": 0.54771888256073, "actor_loss": -9.521653175354004, "critic_loss": 0.005145897623151541, "reward": 0.08712565153837204, "falls": 4, "interval_steps": 50, "velocity_mae": [0.11489424854516983, 0.07154350727796555, 0.1343928575515747], "mean_episode_length": 1383.6196319018404, "episode_reward_terms": {"track_linear_velocity": 49.05135726928711, "track_angular_velocity": 52.28105926513672, "upright": 26.513307571411133, "leg_posture": -2.687748432159424, "standstill": -6.369516372680664, "action_rate_l2": -0.5938551425933838, "joint_torques_l2": -0.14831963181495667, "dof_pos_limits": -0.00040285103023052216, "terminated": -0.010809526778757572, "unnecessary_wheel_lift": -0.08667007088661194, "rolling_leg_motion": -0.6132294535636902, "obstacle_progress": 3.762019157409668, "wheel_body_intrusion": -0.2833738327026367, "pair_body_intrusion": -0.26505008339881897}, "weighted_reward_terms": {"track_linear_velocity": 1.7725738286972046, "track_angular_velocity": 1.8892858028411865, "upright": 0.9581140875816345, "leg_posture": -0.09712743759155273, "standstill": -0.23017583787441254, "action_rate_l2": -0.02146020159125328, "joint_torques_l2": -0.005359841510653496, "dof_pos_limits": -1.4557868780684657e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.0031320052221417427, "rolling_leg_motion": -0.022160334512591362, "obstacle_progress": 0.13594846427440643, "wheel_body_intrusion": -0.01024030800908804, "pair_body_intrusion": -0.009578141383826733}, "episode_termination_rates": {"time_out": 0.49693251533742333, "fell_over": 0.012269938650306749, "course_exit": 0.4785276073619632, "illegal_nonwheel_contact": 0.024539877300613498}, "collection_time_s": 0.07595447659608907, "learning_time_s": 0.18416118016233668, "iteration_time_s": 0.2987604177450112, "policy_updates": 43800, "skipped_updates": 0, "invalid_env_resets": 238, "elapsed_s": 13175.334422554995, "nonwheel_terminations": 14229, "contact_bce": 0.2874160706996918, "contact_force_loss": 0.02026943489909172, "collision_bce": 1.701928886177484e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.6706408132449724e-05, "collision_label_count": 16338.0, "terrain_level_mean": 4.258056640625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 8, 16, 45, 73, 268], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1954.0, 429.0, 38.0, 0.0], [1783.0, 414.0, 35.0, 0.0], [1636.0, 366.0, 28.0, 0.0], [1333.0, 300.0, 25.0, 0.0], [2648.0, 616.0, 32.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 21, 275, 1136], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4711.0, 1734.0, 196.0, 0.0], [7201.0, 1927.0, 171.0, 0.0], [12319.0, 2509.0, 367.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 35, 577], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [980.0, 807.0, 26.0, 0.0], [2152.0, 1781.0, 68.0, 0.0], [13790.0, 11731.0, 330.0, 0.0]]}, "platform": {"level_counts": [7, 18, 34, 85, 125, 141], "episodes_by_level": [[1846.0, 400.0, 52.0, 0.0], [2292.0, 470.0, 96.0, 0.0], [2099.0, 423.0, 91.0, 0.0], [1975.0, 349.0, 72.0, 0.0], [1577.0, 238.0, 83.0, 0.0], [986.0, 95.0, 97.0, 0.0]]}, "slope": {"level_counts": [4, 13, 33, 53, 86, 221], "episodes_by_level": [[1653.0, 351.0, 46.0, 0.0], [2081.0, 424.0, 72.0, 0.0], [1926.0, 409.0, 45.0, 0.0], [1653.0, 331.0, 49.0, 0.0], [1388.0, 278.0, 24.0, 0.0], [2104.0, 360.0, 57.0, 0.0]]}, "rubble": {"level_counts": [12, 81, 177, 227, 201, 121], "episodes_by_level": [[3439.0, 785.0, 103.0, 0.0], [5305.0, 1139.0, 233.0, 0.0], [5324.0, 1108.0, 430.0, 0.0], [4328.0, 759.0, 559.0, 0.0], [2533.0, 332.0, 437.0, 0.0], [888.0, 68.0, 211.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22314453125, "command_abs_max": [0.9999210834503174, 0.39989200234413147, 0.6986942887306213]}
{"step": 44150, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 44150, "total_transitions": 180838400, "num_steps_per_env": 1, "wm_loss": 0.5814816951751709, "actor_loss": -9.503567695617676, "critic_loss": 0.01033207681030035, "reward": 0.08718916773796082, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11155591160058975, 0.07124048471450806, 0.13340358436107635], "mean_episode_length": 1370.0564971751412, "episode_reward_terms": {"track_linear_velocity": 48.80037307739258, "track_angular_velocity": 51.81220626831055, "upright": 26.27134895324707, "leg_posture": -2.701683759689331, "standstill": -6.439800262451172, "action_rate_l2": -0.5777425765991211, "joint_torques_l2": -0.14687129855155945, "dof_pos_limits": -0.0006708760629408062, "terminated": -0.021407129243016243, "unnecessary_wheel_lift": -0.10566820949316025, "rolling_leg_motion": -0.6028279662132263, "obstacle_progress": 3.729795217514038, "wheel_body_intrusion": -0.26556646823883057, "pair_body_intrusion": -0.2974015772342682}, "weighted_reward_terms": {"track_linear_velocity": 1.7809619903564453, "track_angular_velocity": 1.890878438949585, "upright": 0.958768904209137, "leg_posture": -0.09859753400087357, "standstill": -0.2350195050239563, "action_rate_l2": -0.021084627136588097, "joint_torques_l2": -0.005360045470297337, "dof_pos_limits": -2.4483519155182876e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0038563450798392296, "rolling_leg_motion": -0.022000113502144814, "obstacle_progress": 0.1361183077096939, "wheel_body_intrusion": -0.009691807441413403, "pair_body_intrusion": -0.010853624902665615}, "episode_termination_rates": {"time_out": 0.4689265536723164, "fell_over": 0.02824858757062147, "course_exit": 0.4858757062146893, "illegal_nonwheel_contact": 0.02824858757062147}, "collection_time_s": 0.07630459731561132, "learning_time_s": 0.18440252293483353, "iteration_time_s": 0.29871734743605877, "policy_updates": 43850, "skipped_updates": 0, "invalid_env_resets": 240, "elapsed_s": 13188.370889301994, "nonwheel_terminations": 14234, "contact_bce": 0.29080095887184143, "contact_force_loss": 0.02083071880042553, "collision_bce": 5.21613001183141e-05, "collision_label_rate": 6.11658178968355e-05, "collision_prediction_mean": 8.528464240953326e-05, "collision_label_count": 16349.0, "terrain_level_mean": 4.258544921875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 8, 15, 46, 73, 268], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1955.0, 429.0, 38.0, 0.0], [1784.0, 415.0, 35.0, 0.0], [1637.0, 366.0, 28.0, 0.0], [1335.0, 300.0, 25.0, 0.0], [2655.0, 618.0, 32.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 21, 276, 1135], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4711.0, 1734.0, 196.0, 0.0], [7211.0, 1928.0, 171.0, 0.0], [12356.0, 2514.0, 368.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 35, 577], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [980.0, 807.0, 26.0, 0.0], [2154.0, 1783.0, 68.0, 0.0], [13814.0, 11752.0, 331.0, 0.0]]}, "platform": {"level_counts": [7, 18, 34, 85, 125, 141], "episodes_by_level": [[1846.0, 400.0, 52.0, 0.0], [2292.0, 470.0, 96.0, 0.0], [2100.0, 423.0, 91.0, 0.0], [1975.0, 349.0, 72.0, 0.0], [1581.0, 239.0, 83.0, 0.0], [991.0, 96.0, 98.0, 0.0]]}, "slope": {"level_counts": [4, 13, 32, 53, 87, 221], "episodes_by_level": [[1653.0, 351.0, 46.0, 0.0], [2081.0, 424.0, 72.0, 0.0], [1932.0, 410.0, 45.0, 0.0], [1657.0, 332.0, 49.0, 0.0], [1392.0, 278.0, 24.0, 0.0], [2117.0, 360.0, 57.0, 0.0]]}, "rubble": {"level_counts": [12, 80, 179, 227, 199, 122], "episodes_by_level": [[3439.0, 785.0, 103.0, 0.0], [5307.0, 1140.0, 233.0, 0.0], [5331.0, 1108.0, 430.0, 0.0], [4334.0, 759.0, 560.0, 0.0], [2538.0, 334.0, 438.0, 0.0], [894.0, 68.0, 212.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22216796875, "command_abs_max": [0.9999210834503174, 0.39980679750442505, 0.6986942887306213]}
{"step": 44200, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 44200, "total_transitions": 181043200, "num_steps_per_env": 1, "wm_loss": 0.574195921421051, "actor_loss": -9.538503646850586, "critic_loss": 0.004307399038225412, "reward": 0.08727981150150299, "falls": 12, "interval_steps": 50, "velocity_mae": [0.11103028059005737, 0.07084178179502487, 0.13459432125091553], "mean_episode_length": 1371.3416149068323, "episode_reward_terms": {"track_linear_velocity": 48.87466049194336, "track_angular_velocity": 51.822357177734375, "upright": 26.306365966796875, "leg_posture": -2.6625659465789795, "standstill": -6.434976577758789, "action_rate_l2": -0.5804066061973572, "joint_torques_l2": -0.14655986428260803, "dof_pos_limits": -0.0007351204403676093, "terminated": -0.0321408174932003, "unnecessary_wheel_lift": -0.08771704882383347, "rolling_leg_motion": -0.6110900044441223, "obstacle_progress": 3.7729134559631348, "wheel_body_intrusion": -0.28126686811447144, "pair_body_intrusion": -0.24837836623191833}, "weighted_reward_terms": {"track_linear_velocity": 1.7820016145706177, "track_angular_velocity": 1.8894765377044678, "upright": 0.959147036075592, "leg_posture": -0.09707887470722198, "standstill": -0.23462340235710144, "action_rate_l2": -0.021161997690796852, "joint_torques_l2": -0.005343667231500149, "dof_pos_limits": -2.6802967113326304e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.0031982201617211103, "rolling_leg_motion": -0.02228073589503765, "obstacle_progress": 0.1375628560781479, "wheel_body_intrusion": -0.010255170986056328, "pair_body_intrusion": -0.009056035429239273}, "episode_termination_rates": {"time_out": 0.4968944099378882, "fell_over": 0.049689440993788817, "course_exit": 0.42857142857142855, "illegal_nonwheel_contact": 0.049689440993788817}, "collection_time_s": 0.07588454766431824, "learning_time_s": 0.18425640368135646, "iteration_time_s": 0.29867374037052014, "policy_updates": 43900, "skipped_updates": 0, "invalid_env_resets": 240, "elapsed_s": 13201.37932437699, "nonwheel_terminations": 14242, "contact_bce": 0.2829292118549347, "contact_force_loss": 0.02066744863986969, "collision_bce": 0.000328638416249305, "collision_label_rate": 6.11658178968355e-05, "collision_prediction_mean": 2.0358640540507622e-05, "collision_label_count": 16349.0, "terrain_level_mean": 4.258056640625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 8, 15, 46, 72, 269], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1955.0, 429.0, 38.0, 0.0], [1784.0, 415.0, 35.0, 0.0], [1639.0, 366.0, 28.0, 0.0], [1339.0, 301.0, 25.0, 0.0], [2666.0, 622.0, 32.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 20, 279, 1133], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4712.0, 1735.0, 196.0, 0.0], [7223.0, 1931.0, 171.0, 0.0], [12384.0, 2518.0, 370.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 36, 576], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [980.0, 807.0, 26.0, 0.0], [2154.0, 1783.0, 68.0, 0.0], [13833.0, 11766.0, 331.0, 0.0]]}, "platform": {"level_counts": [7, 18, 34, 85, 123, 143], "episodes_by_level": [[1846.0, 400.0, 52.0, 0.0], [2293.0, 470.0, 96.0, 0.0], [2102.0, 424.0, 91.0, 0.0], [1976.0, 349.0, 73.0, 0.0], [1586.0, 241.0, 83.0, 0.0], [993.0, 96.0, 98.0, 0.0]]}, "slope": {"level_counts": [4, 13, 32, 53, 87, 221], "episodes_by_level": [[1653.0, 351.0, 46.0, 0.0], [2081.0, 424.0, 72.0, 0.0], [1933.0, 410.0, 45.0, 0.0], [1660.0, 332.0, 49.0, 0.0], [1397.0, 278.0, 24.0, 0.0], [2125.0, 360.0, 57.0, 0.0]]}, "rubble": {"level_counts": [12, 81, 179, 227, 198, 122], "episodes_by_level": [[3439.0, 785.0, 103.0, 0.0], [5310.0, 1141.0, 233.0, 0.0], [5336.0, 1108.0, 432.0, 0.0], [4344.0, 760.0, 561.0, 0.0], [2544.0, 334.0, 440.0, 0.0], [897.0, 69.0, 212.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.216796875, "command_abs_max": [0.9985735416412354, 0.39980679750442505, 0.6985431909561157]}
{"step": 44250, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 44250, "total_transitions": 181248000, "num_steps_per_env": 1, "wm_loss": 0.5326101183891296, "actor_loss": -9.552413940429688, "critic_loss": 0.004809136968106031, "reward": 0.08712998032569885, "falls": 5, "interval_steps": 50, "velocity_mae": [0.1123613715171814, 0.07094580680131912, 0.1338721513748169], "mean_episode_length": 1410.5374149659865, "episode_reward_terms": {"track_linear_velocity": 50.196815490722656, "track_angular_velocity": 53.32737350463867, "upright": 27.03447151184082, "leg_posture": -2.7322447299957275, "standstill": -6.775280952453613, "action_rate_l2": -0.5892466902732849, "joint_torques_l2": -0.1516599953174591, "dof_pos_limits": -0.00036900315899401903, "terminated": -0.013774778693914413, "unnecessary_wheel_lift": -0.10149877518415451, "rolling_leg_motion": -0.5958024859428406, "obstacle_progress": 3.8993477821350098, "wheel_body_intrusion": -0.3005353510379791, "pair_body_intrusion": -0.2974834144115448}, "weighted_reward_terms": {"track_linear_velocity": 1.779350757598877, "track_angular_velocity": 1.890321135520935, "upright": 0.9583039879798889, "leg_posture": -0.09685119241476059, "standstill": -0.24016666412353516, "action_rate_l2": -0.020887309685349464, "joint_torques_l2": -0.005375965032726526, "dof_pos_limits": -1.3080231838102918e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.003597875824198127, "rolling_leg_motion": -0.021119697019457817, "obstacle_progress": 0.13822205364704132, "wheel_body_intrusion": -0.010653221048414707, "pair_body_intrusion": -0.010545038618147373}, "episode_termination_rates": {"time_out": 0.54421768707483, "fell_over": 0.027210884353741496, "course_exit": 0.4217687074829932, "illegal_nonwheel_contact": 0.013605442176870748}, "collection_time_s": 0.07562169581069611, "learning_time_s": 0.18324946890585125, "iteration_time_s": 0.29862879108542334, "policy_updates": 43950, "skipped_updates": 0, "invalid_env_resets": 240, "elapsed_s": 13214.324005529983, "nonwheel_terminations": 14244, "contact_bce": 0.287612646818161, "contact_force_loss": 0.01991601660847664, "collision_bce": 1.7142130673164502e-05, "collision_label_rate": 6.125198706286028e-05, "collision_prediction_mean": 6.874646351207048e-05, "collision_label_count": 16326.0, "terrain_level_mean": 4.25927734375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 8, 15, 46, 72, 269], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1955.0, 429.0, 38.0, 0.0], [1784.0, 415.0, 35.0, 0.0], [1640.0, 366.0, 28.0, 0.0], [1341.0, 301.0, 25.0, 0.0], [2676.0, 627.0, 32.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 20, 275, 1137], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4713.0, 1735.0, 196.0, 0.0], [7231.0, 1936.0, 171.0, 0.0], [12412.0, 2529.0, 370.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 39, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [981.0, 808.0, 26.0, 0.0], [2154.0, 1783.0, 68.0, 0.0], [13855.0, 11785.0, 331.0, 0.0]]}, "platform": {"level_counts": [7, 18, 34, 84, 124, 143], "episodes_by_level": [[1847.0, 400.0, 52.0, 0.0], [2293.0, 470.0, 96.0, 0.0], [2102.0, 424.0, 91.0, 0.0], [1979.0, 350.0, 73.0, 0.0], [1589.0, 241.0, 83.0, 0.0], [996.0, 96.0, 98.0, 0.0]]}, "slope": {"level_counts": [4, 13, 32, 52, 87, 222], "episodes_by_level": [[1654.0, 351.0, 46.0, 0.0], [2082.0, 424.0, 72.0, 0.0], [1934.0, 410.0, 45.0, 0.0], [1664.0, 333.0, 49.0, 0.0], [1400.0, 279.0, 24.0, 0.0], [2129.0, 360.0, 57.0, 0.0]]}, "rubble": {"level_counts": [12, 82, 179, 225, 199, 122], "episodes_by_level": [[3439.0, 785.0, 103.0, 0.0], [5312.0, 1141.0, 233.0, 0.0], [5342.0, 1108.0, 433.0, 0.0], [4352.0, 761.0, 562.0, 0.0], [2547.0, 334.0, 440.0, 0.0], [903.0, 69.0, 212.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.21875, "command_abs_max": [0.9985735416412354, 0.39980679750442505, 0.6985431909561157]}
{"step": 44300, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 44300, "total_transitions": 181452800, "num_steps_per_env": 1, "wm_loss": 0.5632235407829285, "actor_loss": -9.508512496948242, "critic_loss": 0.00682041933760047, "reward": 0.08740121871232986, "falls": 12, "interval_steps": 50, "velocity_mae": [0.11270809173583984, 0.0716896802186966, 0.13475005328655243], "mean_episode_length": 1322.9014084507041, "episode_reward_terms": {"track_linear_velocity": 47.039424896240234, "track_angular_velocity": 49.97062301635742, "upright": 25.303504943847656, "leg_posture": -2.5648088455200195, "standstill": -5.856682777404785, "action_rate_l2": -0.5554444789886475, "joint_torques_l2": -0.13927017152309418, "dof_pos_limits": -0.0003433626261539757, "terminated": -0.03100549802184105, "unnecessary_wheel_lift": -0.07376386970281601, "rolling_leg_motion": -0.565674901008606, "obstacle_progress": 3.646587610244751, "wheel_body_intrusion": -0.2749710977077484, "pair_body_intrusion": -0.2749837040901184}, "weighted_reward_terms": {"track_linear_velocity": 1.7778886556625366, "track_angular_velocity": 1.8886752128601074, "upright": 0.9563639760017395, "leg_posture": -0.09693878144025803, "standstill": -0.22135750949382782, "action_rate_l2": -0.020993420854210854, "joint_torques_l2": -0.005263815633952618, "dof_pos_limits": -1.2977635378774721e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.0027879581321030855, "rolling_leg_motion": -0.02138008549809456, "obstacle_progress": 0.1378253847360611, "wheel_body_intrusion": -0.010392729192972183, "pair_body_intrusion": -0.010393206030130386}, "episode_termination_rates": {"time_out": 0.3873239436619718, "fell_over": 0.04929577464788732, "course_exit": 0.528169014084507, "illegal_nonwheel_contact": 0.056338028169014086}, "collection_time_s": 0.07568767351913266, "learning_time_s": 0.1841407943435479, "iteration_time_s": 0.2985850243791428, "policy_updates": 44000, "skipped_updates": 0, "invalid_env_resets": 240, "elapsed_s": 13227.316579996026, "nonwheel_terminations": 14252, "contact_bce": 0.2838762104511261, "contact_force_loss": 0.01934627629816532, "collision_bce": 9.815697922022082e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 9.863608283922076e-06, "collision_label_count": 16345.0, "terrain_level_mean": 4.259033203125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 8, 15, 45, 72, 270], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1955.0, 429.0, 38.0, 0.0], [1784.0, 415.0, 35.0, 0.0], [1641.0, 367.0, 28.0, 0.0], [1343.0, 302.0, 25.0, 0.0], [2688.0, 629.0, 32.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 20, 273, 1139], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4713.0, 1735.0, 196.0, 0.0], [7241.0, 1939.0, 171.0, 0.0], [12445.0, 2534.0, 370.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 42, 570], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [981.0, 808.0, 26.0, 0.0], [2155.0, 1783.0, 68.0, 0.0], [13874.0, 11802.0, 331.0, 0.0]]}, "platform": {"level_counts": [7, 18, 34, 83, 125, 143], "episodes_by_level": [[1848.0, 400.0, 52.0, 0.0], [2293.0, 470.0, 96.0, 0.0], [2102.0, 424.0, 91.0, 0.0], [1983.0, 351.0, 73.0, 0.0], [1591.0, 241.0, 83.0, 0.0], [1000.0, 97.0, 98.0, 0.0]]}, "slope": {"level_counts": [4, 12, 33, 52, 87, 222], "episodes_by_level": [[1654.0, 351.0, 46.0, 0.0], [2083.0, 425.0, 72.0, 0.0], [1934.0, 410.0, 45.0, 0.0], [1665.0, 333.0, 49.0, 0.0], [1401.0, 279.0, 24.0, 0.0], [2133.0, 361.0, 57.0, 0.0]]}, "rubble": {"level_counts": [12, 83, 179, 224, 199, 122], "episodes_by_level": [[3440.0, 785.0, 103.0, 0.0], [5314.0, 1141.0, 233.0, 0.0], [5350.0, 1109.0, 434.0, 0.0], [4356.0, 763.0, 564.0, 0.0], [2552.0, 335.0, 442.0, 0.0], [905.0, 69.0, 213.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.218505859375, "command_abs_max": [0.9985735416412354, 0.39980679750442505, 0.6992389559745789]}
{"step": 44350, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 44350, "total_transitions": 181657600, "num_steps_per_env": 1, "wm_loss": 0.5817351341247559, "actor_loss": -9.5364408493042, "critic_loss": 0.004144976381212473, "reward": 0.08739139139652252, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11233039945363998, 0.07179661095142365, 0.1349845975637436], "mean_episode_length": 1370.7518248175184, "episode_reward_terms": {"track_linear_velocity": 48.76066589355469, "track_angular_velocity": 51.77097702026367, "upright": 26.199989318847656, "leg_posture": -2.6150496006011963, "standstill": -6.278916358947754, "action_rate_l2": -0.5819109082221985, "joint_torques_l2": -0.14481373131275177, "dof_pos_limits": -0.0006278942455537617, "terminated": -0.01874074526131153, "unnecessary_wheel_lift": -0.07343636453151703, "rolling_leg_motion": -0.5718746185302734, "obstacle_progress": 3.885791301727295, "wheel_body_intrusion": -0.270414263010025, "pair_body_intrusion": -0.2697349488735199}, "weighted_reward_terms": {"track_linear_velocity": 1.778610348701477, "track_angular_velocity": 1.8884154558181763, "upright": 0.9556795358657837, "leg_posture": -0.09538742154836655, "standstill": -0.22903186082839966, "action_rate_l2": -0.021225975826382637, "joint_torques_l2": -0.005282273981720209, "dof_pos_limits": -2.2903279386810027e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0026786893140524626, "rolling_leg_motion": -0.020859889686107635, "obstacle_progress": 0.14173941314220428, "wheel_body_intrusion": -0.009863720275461674, "pair_body_intrusion": -0.009838941507041454}, "episode_termination_rates": {"time_out": 0.5109489051094891, "fell_over": 0.029197080291970802, "course_exit": 0.43795620437956206, "illegal_nonwheel_contact": 0.043795620437956206}, "collection_time_s": 0.07560602137935347, "learning_time_s": 0.19030127587728202, "iteration_time_s": 0.29854820865010206, "policy_updates": 44050, "skipped_updates": 0, "invalid_env_resets": 240, "elapsed_s": 13240.613053632027, "nonwheel_terminations": 14258, "contact_bce": 0.28985899686813354, "contact_force_loss": 0.020492548123002052, "collision_bce": 3.7438601339090383e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 3.809031795753981e-06, "collision_label_count": 16344.0, "terrain_level_mean": 4.2587890625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 8, 15, 45, 71, 271], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1956.0, 429.0, 38.0, 0.0], [1784.0, 415.0, 35.0, 0.0], [1642.0, 367.0, 28.0, 0.0], [1348.0, 303.0, 25.0, 0.0], [2695.0, 633.0, 32.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 20, 276, 1136], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4713.0, 1735.0, 196.0, 0.0], [7243.0, 1939.0, 171.0, 0.0], [12476.0, 2543.0, 372.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 41, 571], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [981.0, 808.0, 26.0, 0.0], [2157.0, 1785.0, 68.0, 0.0], [13894.0, 11819.0, 331.0, 0.0]]}, "platform": {"level_counts": [7, 18, 34, 83, 125, 143], "episodes_by_level": [[1848.0, 400.0, 52.0, 0.0], [2293.0, 470.0, 96.0, 0.0], [2104.0, 424.0, 91.0, 0.0], [1983.0, 351.0, 73.0, 0.0], [1594.0, 241.0, 83.0, 0.0], [1005.0, 99.0, 98.0, 0.0]]}, "slope": {"level_counts": [4, 12, 33, 52, 87, 222], "episodes_by_level": [[1655.0, 351.0, 46.0, 0.0], [2083.0, 425.0, 72.0, 0.0], [1934.0, 410.0, 45.0, 0.0], [1666.0, 333.0, 49.0, 0.0], [1406.0, 279.0, 24.0, 0.0], [2139.0, 361.0, 57.0, 0.0]]}, "rubble": {"level_counts": [12, 81, 182, 223, 200, 121], "episodes_by_level": [[3441.0, 785.0, 103.0, 0.0], [5316.0, 1143.0, 233.0, 0.0], [5356.0, 1109.0, 434.0, 0.0], [4361.0, 764.0, 565.0, 0.0], [2557.0, 335.0, 443.0, 0.0], [907.0, 69.0, 214.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.217529296875, "command_abs_max": [0.9985735416412354, 0.39980679750442505, 0.6992389559745789]}
{"step": 44400, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 44400, "total_transitions": 181862400, "num_steps_per_env": 1, "wm_loss": 0.5556331276893616, "actor_loss": -9.511451721191406, "critic_loss": 0.005280164070427418, "reward": 0.08707398176193237, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11368036270141602, 0.0718957930803299, 0.13567790389060974], "mean_episode_length": 1353.9509202453987, "episode_reward_terms": {"track_linear_velocity": 48.05770492553711, "track_angular_velocity": 51.09709548950195, "upright": 25.904294967651367, "leg_posture": -2.5380938053131104, "standstill": -6.490425109863281, "action_rate_l2": -0.5918646454811096, "joint_torques_l2": -0.14272728562355042, "dof_pos_limits": -0.00027342766406945884, "terminated": -0.021155478432774544, "unnecessary_wheel_lift": -0.08396340906620026, "rolling_leg_motion": -0.5689736008644104, "obstacle_progress": 3.8309261798858643, "wheel_body_intrusion": -0.2573615610599518, "pair_body_intrusion": -0.3013094961643219}, "weighted_reward_terms": {"track_linear_velocity": 1.7747211456298828, "track_angular_velocity": 1.8869625329971313, "upright": 0.9566187262535095, "leg_posture": -0.093729168176651, "standstill": -0.23968465626239777, "action_rate_l2": -0.021856946870684624, "joint_torques_l2": -0.005270770285278559, "dof_pos_limits": -1.0097399353981018e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0031006813514977694, "rolling_leg_motion": -0.021011603996157646, "obstacle_progress": 0.14147213101387024, "wheel_body_intrusion": -0.00950409471988678, "pair_body_intrusion": -0.011127046309411526}, "episode_termination_rates": {"time_out": 0.4171779141104294, "fell_over": 0.012269938650306749, "course_exit": 0.5337423312883436, "illegal_nonwheel_contact": 0.03680981595092025}, "collection_time_s": 0.07556494705961087, "learning_time_s": 0.183706850920571, "iteration_time_s": 0.29850400443096814, "policy_updates": 44100, "skipped_updates": 0, "invalid_env_resets": 240, "elapsed_s": 13253.577796734986, "nonwheel_terminations": 14264, "contact_bce": 0.2809264659881592, "contact_force_loss": 0.02025437355041504, "collision_bce": 1.493779018346686e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.4930291399650741e-05, "collision_label_count": 16341.0, "terrain_level_mean": 4.259521484375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 8, 15, 45, 72, 270], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1956.0, 429.0, 38.0, 0.0], [1784.0, 415.0, 35.0, 0.0], [1643.0, 367.0, 28.0, 0.0], [1348.0, 303.0, 25.0, 0.0], [2705.0, 637.0, 33.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 20, 276, 1136], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4713.0, 1735.0, 196.0, 0.0], [7254.0, 1941.0, 171.0, 0.0], [12515.0, 2554.0, 373.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 38, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [981.0, 808.0, 26.0, 0.0], [2160.0, 1788.0, 68.0, 0.0], [13916.0, 11837.0, 331.0, 0.0]]}, "platform": {"level_counts": [7, 18, 35, 82, 123, 145], "episodes_by_level": [[1848.0, 400.0, 52.0, 0.0], [2293.0, 470.0, 96.0, 0.0], [2104.0, 424.0, 91.0, 0.0], [1987.0, 351.0, 74.0, 0.0], [1599.0, 243.0, 83.0, 0.0], [1009.0, 99.0, 98.0, 0.0]]}, "slope": {"level_counts": [4, 12, 33, 52, 87, 222], "episodes_by_level": [[1655.0, 351.0, 46.0, 0.0], [2085.0, 425.0, 72.0, 0.0], [1934.0, 410.0, 45.0, 0.0], [1667.0, 333.0, 49.0, 0.0], [1409.0, 279.0, 24.0, 0.0], [2146.0, 362.0, 57.0, 0.0]]}, "rubble": {"level_counts": [12, 81, 184, 220, 200, 122], "episodes_by_level": [[3442.0, 785.0, 103.0, 0.0], [5319.0, 1143.0, 233.0, 0.0], [5365.0, 1110.0, 434.0, 0.0], [4367.0, 765.0, 568.0, 0.0], [2563.0, 337.0, 443.0, 0.0], [910.0, 69.0, 215.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.216796875, "command_abs_max": [0.9982755184173584, 0.39980679750442505, 0.6992389559745789]}
{"step": 44450, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 44450, "total_transitions": 182067200, "num_steps_per_env": 1, "wm_loss": 0.5645939111709595, "actor_loss": -9.509593963623047, "critic_loss": 0.003809258807450533, "reward": 0.08720149844884872, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11406268924474716, 0.07128530740737915, 0.13611972332000732], "mean_episode_length": 1366.2545454545455, "episode_reward_terms": {"track_linear_velocity": 48.48603057861328, "track_angular_velocity": 51.54883575439453, "upright": 26.150354385375977, "leg_posture": -2.563250780105591, "standstill": -6.361517906188965, "action_rate_l2": -0.5877922177314758, "joint_torques_l2": -0.14546318352222443, "dof_pos_limits": -0.0009755647624842823, "terminated": -0.02134772203862667, "unnecessary_wheel_lift": -0.08072379231452942, "rolling_leg_motion": -0.5697017312049866, "obstacle_progress": 3.8710427284240723, "wheel_body_intrusion": -0.27234864234924316, "pair_body_intrusion": -0.3137179911136627}, "weighted_reward_terms": {"track_linear_velocity": 1.774414300918579, "track_angular_velocity": 1.8865019083023071, "upright": 0.9570088982582092, "leg_posture": -0.09380576014518738, "standstill": -0.2328086644411087, "action_rate_l2": -0.021511081606149673, "joint_torques_l2": -0.005323429126292467, "dof_pos_limits": -3.570215994841419e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0029542003758251667, "rolling_leg_motion": -0.020849034190177917, "obstacle_progress": 0.1416662335395813, "wheel_body_intrusion": -0.009966980665922165, "pair_body_intrusion": -0.011480949819087982}, "episode_termination_rates": {"time_out": 0.45454545454545453, "fell_over": 0.03636363636363636, "course_exit": 0.49696969696969695, "illegal_nonwheel_contact": 0.030303030303030304}, "collection_time_s": 0.07571908143465407, "learning_time_s": 0.18379705934901722, "iteration_time_s": 0.29846017350488147, "policy_updates": 44150, "skipped_updates": 0, "invalid_env_resets": 240, "elapsed_s": 13266.554712291982, "nonwheel_terminations": 14269, "contact_bce": 0.2881903648376465, "contact_force_loss": 0.020720690488815308, "collision_bce": 6.973728159209713e-05, "collision_label_rate": 6.128577661002055e-05, "collision_prediction_mean": 3.320170799270272e-05, "collision_label_count": 16317.0, "terrain_level_mean": 4.260009765625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 13, 47, 70, 271], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1956.0, 429.0, 38.0, 0.0], [1786.0, 416.0, 36.0, 0.0], [1644.0, 367.0, 28.0, 0.0], [1353.0, 304.0, 26.0, 0.0], [2713.0, 640.0, 33.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 20, 276, 1136], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4714.0, 1735.0, 196.0, 0.0], [7264.0, 1942.0, 171.0, 0.0], [12546.0, 2562.0, 374.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 37, 575], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [981.0, 808.0, 26.0, 0.0], [2161.0, 1789.0, 68.0, 0.0], [13936.0, 11854.0, 331.0, 0.0]]}, "platform": {"level_counts": [7, 18, 35, 82, 123, 145], "episodes_by_level": [[1848.0, 400.0, 52.0, 0.0], [2295.0, 470.0, 96.0, 0.0], [2105.0, 424.0, 91.0, 0.0], [1988.0, 351.0, 74.0, 0.0], [1606.0, 243.0, 83.0, 0.0], [1013.0, 99.0, 98.0, 0.0]]}, "slope": {"level_counts": [4, 12, 33, 52, 86, 223], "episodes_by_level": [[1656.0, 351.0, 46.0, 0.0], [2085.0, 425.0, 72.0, 0.0], [1935.0, 410.0, 45.0, 0.0], [1668.0, 333.0, 49.0, 0.0], [1412.0, 280.0, 24.0, 0.0], [2155.0, 363.0, 57.0, 0.0]]}, "rubble": {"level_counts": [12, 81, 184, 220, 200, 122], "episodes_by_level": [[3442.0, 785.0, 103.0, 0.0], [5324.0, 1145.0, 233.0, 0.0], [5373.0, 1111.0, 436.0, 0.0], [4375.0, 766.0, 569.0, 0.0], [2570.0, 338.0, 444.0, 0.0], [915.0, 69.0, 216.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.21875, "command_abs_max": [0.9982755184173584, 0.39980679750442505, 0.6992389559745789]}
{"step": 44500, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 44500, "total_transitions": 182272000, "num_steps_per_env": 1, "wm_loss": 0.5150071382522583, "actor_loss": -9.54165267944336, "critic_loss": 0.00571694178506732, "reward": 0.08726395666599274, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11275557428598404, 0.07321467995643616, 0.13622428476810455], "mean_episode_length": 1343.956204379562, "episode_reward_terms": {"track_linear_velocity": 47.70369338989258, "track_angular_velocity": 50.71706008911133, "upright": 25.726667404174805, "leg_posture": -2.544802188873291, "standstill": -6.265841007232666, "action_rate_l2": -0.5725032687187195, "joint_torques_l2": -0.14236091077327728, "dof_pos_limits": -0.0005189740913920105, "terminated": -0.01312457025051117, "unnecessary_wheel_lift": -0.06922158598899841, "rolling_leg_motion": -0.5505506992340088, "obstacle_progress": 3.82559871673584, "wheel_body_intrusion": -0.2729477286338806, "pair_body_intrusion": -0.26218581199645996}, "weighted_reward_terms": {"track_linear_velocity": 1.7747488021850586, "track_angular_velocity": 1.8868569135665894, "upright": 0.9571244716644287, "leg_posture": -0.09467578679323196, "standstill": -0.23311181366443634, "action_rate_l2": -0.021299179643392563, "joint_torques_l2": -0.00529633741825819, "dof_pos_limits": -1.9307701222714968e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.002575292019173503, "rolling_leg_motion": -0.020482465624809265, "obstacle_progress": 0.14232602715492249, "wheel_body_intrusion": -0.010154636576771736, "pair_body_intrusion": -0.00975425448268652}, "episode_termination_rates": {"time_out": 0.4744525547445255, "fell_over": 0.021897810218978103, "course_exit": 0.48905109489051096, "illegal_nonwheel_contact": 0.014598540145985401}, "collection_time_s": 0.07559139737626537, "learning_time_s": 0.1843996408430394, "iteration_time_s": 0.29841697549193263, "policy_updates": 44200, "skipped_updates": 0, "invalid_env_resets": 240, "elapsed_s": 13279.555409391003, "nonwheel_terminations": 14271, "contact_bce": 0.28259292244911194, "contact_force_loss": 0.019163187593221664, "collision_bce": 6.13180191066931e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 6.196389222168364e-06, "collision_label_count": 16335.0, "terrain_level_mean": 4.260986328125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 13, 46, 70, 272], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1956.0, 429.0, 38.0, 0.0], [1787.0, 416.0, 36.0, 0.0], [1645.0, 368.0, 28.0, 0.0], [1355.0, 305.0, 26.0, 0.0], [2722.0, 640.0, 33.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 20, 278, 1134], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4714.0, 1735.0, 196.0, 0.0], [7268.0, 1942.0, 171.0, 0.0], [12580.0, 2572.0, 375.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 37, 575], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [981.0, 808.0, 26.0, 0.0], [2162.0, 1790.0, 68.0, 0.0], [13955.0, 11872.0, 331.0, 0.0]]}, "platform": {"level_counts": [7, 18, 35, 80, 125, 145], "episodes_by_level": [[1848.0, 400.0, 52.0, 0.0], [2295.0, 470.0, 96.0, 0.0], [2106.0, 424.0, 91.0, 0.0], [1992.0, 353.0, 74.0, 0.0], [1610.0, 244.0, 83.0, 0.0], [1016.0, 99.0, 99.0, 0.0]]}, "slope": {"level_counts": [4, 12, 32, 53, 86, 223], "episodes_by_level": [[1656.0, 351.0, 46.0, 0.0], [2086.0, 425.0, 72.0, 0.0], [1937.0, 411.0, 45.0, 0.0], [1669.0, 333.0, 49.0, 0.0], [1414.0, 280.0, 24.0, 0.0], [2159.0, 364.0, 57.0, 0.0]]}, "rubble": {"level_counts": [12, 81, 183, 221, 200, 122], "episodes_by_level": [[3442.0, 785.0, 103.0, 0.0], [5327.0, 1145.0, 233.0, 0.0], [5377.0, 1112.0, 436.0, 0.0], [4383.0, 767.0, 569.0, 0.0], [2576.0, 338.0, 445.0, 0.0], [917.0, 70.0, 216.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.21875, "command_abs_max": [0.9982755184173584, 0.39981111884117126, 0.6985697150230408]}
{"step": 44550, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 44550, "total_transitions": 182476800, "num_steps_per_env": 1, "wm_loss": 0.5663561820983887, "actor_loss": -9.495439529418945, "critic_loss": 0.009389854967594147, "reward": 0.08673625439405441, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11567177623510361, 0.07287329435348511, 0.1360761821269989], "mean_episode_length": 1318.7446808510638, "episode_reward_terms": {"track_linear_velocity": 46.669586181640625, "track_angular_velocity": 49.76362991333008, "upright": 25.245283126831055, "leg_posture": -2.5041282176971436, "standstill": -6.611813545227051, "action_rate_l2": -0.5579037070274353, "joint_torques_l2": -0.1415557861328125, "dof_pos_limits": -0.000525058654602617, "terminated": -0.015454036183655262, "unnecessary_wheel_lift": -0.08337090164422989, "rolling_leg_motion": -0.5505987405776978, "obstacle_progress": 3.715576171875, "wheel_body_intrusion": -0.27186742424964905, "pair_body_intrusion": -0.27389639616012573}, "weighted_reward_terms": {"track_linear_velocity": 1.7694703340530396, "track_angular_velocity": 1.8867803812026978, "upright": 0.9571710824966431, "leg_posture": -0.09494364261627197, "standstill": -0.2506859004497528, "action_rate_l2": -0.021152835339307785, "joint_torques_l2": -0.005367066245526075, "dof_pos_limits": -1.9907518435502425e-05, "terminated": -0.0005859374068677425, "unnecessary_wheel_lift": -0.0031609951984137297, "rolling_leg_motion": -0.02087586745619774, "obstacle_progress": 0.14087550342082977, "wheel_body_intrusion": -0.010307811200618744, "pair_body_intrusion": -0.010384739376604557}, "episode_termination_rates": {"time_out": 0.41843971631205673, "fell_over": 0.02127659574468085, "course_exit": 0.5390070921985816, "illegal_nonwheel_contact": 0.03546099290780142}, "collection_time_s": 0.07563752957852557, "learning_time_s": 0.18495146170491353, "iteration_time_s": 0.2983751647068461, "policy_updates": 44250, "skipped_updates": 0, "invalid_env_resets": 240, "elapsed_s": 13292.613587689993, "nonwheel_terminations": 14276, "contact_bce": 0.28411179780960083, "contact_force_loss": 0.019916227087378502, "collision_bce": 1.773737858457025e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.747352689562831e-05, "collision_label_count": 16335.0, "terrain_level_mean": 4.262451171875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 12, 47, 70, 272], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1956.0, 429.0, 38.0, 0.0], [1789.0, 417.0, 36.0, 0.0], [1645.0, 368.0, 28.0, 0.0], [1356.0, 305.0, 26.0, 0.0], [2730.0, 642.0, 33.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 20, 276, 1136], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4714.0, 1735.0, 196.0, 0.0], [7273.0, 1944.0, 171.0, 0.0], [12614.0, 2586.0, 375.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 35, 577], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [981.0, 808.0, 26.0, 0.0], [2167.0, 1794.0, 68.0, 0.0], [13980.0, 11892.0, 333.0, 0.0]]}, "platform": {"level_counts": [7, 18, 35, 78, 126, 146], "episodes_by_level": [[1848.0, 400.0, 52.0, 0.0], [2295.0, 470.0, 96.0, 0.0], [2106.0, 424.0, 91.0, 0.0], [1994.0, 355.0, 74.0, 0.0], [1612.0, 245.0, 83.0, 0.0], [1023.0, 99.0, 99.0, 0.0]]}, "slope": {"level_counts": [4, 12, 32, 53, 85, 224], "episodes_by_level": [[1656.0, 351.0, 46.0, 0.0], [2086.0, 425.0, 72.0, 0.0], [1937.0, 411.0, 45.0, 0.0], [1669.0, 333.0, 49.0, 0.0], [1417.0, 281.0, 24.0, 0.0], [2164.0, 365.0, 57.0, 0.0]]}, "rubble": {"level_counts": [12, 80, 186, 221, 198, 122], "episodes_by_level": [[3443.0, 785.0, 103.0, 0.0], [5330.0, 1146.0, 233.0, 0.0], [5379.0, 1112.0, 436.0, 0.0], [4391.0, 767.0, 571.0, 0.0], [2580.0, 338.0, 447.0, 0.0], [918.0, 70.0, 216.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.221923828125, "command_abs_max": [0.9994601011276245, 0.39981111884117126, 0.6995620727539062]}
{"step": 44600, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 44600, "total_transitions": 182681600, "num_steps_per_env": 1, "wm_loss": 0.5384050607681274, "actor_loss": -9.541091918945312, "critic_loss": 0.004107767250388861, "reward": 0.08654152601957321, "falls": 11, "interval_steps": 50, "velocity_mae": [0.11456820368766785, 0.07201739400625229, 0.13674411177635193], "mean_episode_length": 1372.5176470588235, "episode_reward_terms": {"track_linear_velocity": 48.6950569152832, "track_angular_velocity": 51.767677307128906, "upright": 26.30559730529785, "leg_posture": -2.6945128440856934, "standstill": -7.025470733642578, "action_rate_l2": -0.5622759461402893, "joint_torques_l2": -0.1478213667869568, "dof_pos_limits": -0.0006064421613700688, "terminated": -0.02948768250644207, "unnecessary_wheel_lift": -0.1000165268778801, "rolling_leg_motion": -0.5805211067199707, "obstacle_progress": 3.751091718673706, "wheel_body_intrusion": -0.29718104004859924, "pair_body_intrusion": -0.301750510931015}, "weighted_reward_terms": {"track_linear_velocity": 1.773931860923767, "track_angular_velocity": 1.8858656883239746, "upright": 0.9582972526550293, "leg_posture": -0.09815949201583862, "standstill": -0.2559337019920349, "action_rate_l2": -0.02048337645828724, "joint_torques_l2": -0.005385044030845165, "dof_pos_limits": -2.2092326616984792e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.003643542528152466, "rolling_leg_motion": -0.021148037165403366, "obstacle_progress": 0.13665002584457397, "wheel_body_intrusion": -0.010826127603650093, "pair_body_intrusion": -0.010992591269314289}, "episode_termination_rates": {"time_out": 0.4823529411764706, "fell_over": 0.041176470588235294, "course_exit": 0.45294117647058824, "illegal_nonwheel_contact": 0.041176470588235294}, "collection_time_s": 0.07568280363804661, "learning_time_s": 0.18316684075980447, "iteration_time_s": 0.2983308775080047, "policy_updates": 44300, "skipped_updates": 0, "invalid_env_resets": 240, "elapsed_s": 13305.557136857009, "nonwheel_terminations": 14283, "contact_bce": 0.2836313843727112, "contact_force_loss": 0.0200148094445467, "collision_bce": 1.2875069842266385e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.2873510058852844e-05, "collision_label_count": 16346.0, "terrain_level_mean": 4.26123046875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 12, 46, 71, 272], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1956.0, 429.0, 38.0, 0.0], [1789.0, 417.0, 36.0, 0.0], [1648.0, 369.0, 28.0, 0.0], [1360.0, 305.0, 26.0, 0.0], [2738.0, 646.0, 33.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 20, 278, 1134], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4714.0, 1735.0, 196.0, 0.0], [7283.0, 1945.0, 171.0, 0.0], [12644.0, 2594.0, 375.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 38, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [981.0, 808.0, 26.0, 0.0], [2167.0, 1794.0, 68.0, 0.0], [14002.0, 11912.0, 333.0, 0.0]]}, "platform": {"level_counts": [7, 18, 36, 76, 127, 146], "episodes_by_level": [[1848.0, 400.0, 52.0, 0.0], [2295.0, 470.0, 96.0, 0.0], [2108.0, 424.0, 91.0, 0.0], [2002.0, 356.0, 75.0, 0.0], [1616.0, 245.0, 83.0, 0.0], [1025.0, 99.0, 99.0, 0.0]]}, "slope": {"level_counts": [4, 12, 32, 52, 88, 222], "episodes_by_level": [[1656.0, 351.0, 46.0, 0.0], [2087.0, 425.0, 72.0, 0.0], [1937.0, 411.0, 45.0, 0.0], [1670.0, 334.0, 49.0, 0.0], [1417.0, 281.0, 24.0, 0.0], [2173.0, 365.0, 59.0, 0.0]]}, "rubble": {"level_counts": [12, 80, 186, 220, 200, 121], "episodes_by_level": [[3443.0, 785.0, 103.0, 0.0], [5336.0, 1146.0, 233.0, 0.0], [5383.0, 1112.0, 436.0, 0.0], [4403.0, 769.0, 571.0, 0.0], [2587.0, 338.0, 448.0, 0.0], [923.0, 70.0, 217.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2197265625, "command_abs_max": [0.9994601011276245, 0.39981111884117126, 0.6995620727539062]}
{"step": 44650, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 44650, "total_transitions": 182886400, "num_steps_per_env": 1, "wm_loss": 0.5617417097091675, "actor_loss": -9.536198616027832, "critic_loss": 0.004209192935377359, "reward": 0.08642963320016861, "falls": 15, "interval_steps": 50, "velocity_mae": [0.11383554339408875, 0.07267368584871292, 0.13370171189308167], "mean_episode_length": 1347.159090909091, "episode_reward_terms": {"track_linear_velocity": 47.79330825805664, "track_angular_velocity": 50.9354133605957, "upright": 25.819202423095703, "leg_posture": -2.6170856952667236, "standstill": -7.156840801239014, "action_rate_l2": -0.560207188129425, "joint_torques_l2": -0.14246101677417755, "dof_pos_limits": -0.0005696715670637786, "terminated": -0.03946754336357117, "unnecessary_wheel_lift": -0.1036093458533287, "rolling_leg_motion": -0.5779094696044922, "obstacle_progress": 3.6629273891448975, "wheel_body_intrusion": -0.28194481134414673, "pair_body_intrusion": -0.29628893733024597}, "weighted_reward_terms": {"track_linear_velocity": 1.773855447769165, "track_angular_velocity": 1.8904751539230347, "upright": 0.9582833647727966, "leg_posture": -0.09713350981473923, "standstill": -0.2656271755695343, "action_rate_l2": -0.020792169496417046, "joint_torques_l2": -0.00528746098279953, "dof_pos_limits": -2.1143441699678078e-05, "terminated": -0.0014648435171693563, "unnecessary_wheel_lift": -0.0038454756140708923, "rolling_leg_motion": -0.021449191495776176, "obstacle_progress": 0.13595007359981537, "wheel_body_intrusion": -0.010464422404766083, "pair_body_intrusion": -0.010996806435286999}, "episode_termination_rates": {"time_out": 0.4659090909090909, "fell_over": 0.05113636363636364, "course_exit": 0.44886363636363635, "illegal_nonwheel_contact": 0.0625}, "collection_time_s": 0.07600475699524395, "learning_time_s": 0.18429800029844046, "iteration_time_s": 0.2982883179684215, "policy_updates": 44350, "skipped_updates": 0, "invalid_env_resets": 241, "elapsed_s": 13318.57339729002, "nonwheel_terminations": 14294, "contact_bce": 0.29083892703056335, "contact_force_loss": 0.02054191380739212, "collision_bce": 2.1771131287096068e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 2.1231428036116995e-05, "collision_label_count": 16350.0, "terrain_level_mean": 4.261474609375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 12, 45, 72, 272], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1956.0, 429.0, 38.0, 0.0], [1789.0, 417.0, 36.0, 0.0], [1650.0, 370.0, 28.0, 0.0], [1366.0, 306.0, 26.0, 0.0], [2752.0, 649.0, 34.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 20, 280, 1132], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4715.0, 1735.0, 196.0, 0.0], [7293.0, 1950.0, 171.0, 0.0], [12672.0, 2599.0, 377.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 37, 575], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [981.0, 808.0, 26.0, 0.0], [2168.0, 1795.0, 68.0, 0.0], [14023.0, 11931.0, 333.0, 0.0]]}, "platform": {"level_counts": [7, 18, 37, 75, 125, 148], "episodes_by_level": [[1848.0, 400.0, 52.0, 0.0], [2295.0, 470.0, 96.0, 0.0], [2110.0, 424.0, 91.0, 0.0], [2006.0, 356.0, 76.0, 0.0], [1621.0, 247.0, 83.0, 0.0], [1029.0, 99.0, 99.0, 0.0]]}, "slope": {"level_counts": [4, 13, 31, 52, 88, 222], "episodes_by_level": [[1657.0, 351.0, 46.0, 0.0], [2087.0, 425.0, 72.0, 0.0], [1941.0, 411.0, 46.0, 0.0], [1671.0, 334.0, 49.0, 0.0], [1419.0, 281.0, 24.0, 0.0], [2178.0, 366.0, 59.0, 0.0]]}, "rubble": {"level_counts": [12, 80, 185, 220, 202, 120], "episodes_by_level": [[3443.0, 785.0, 103.0, 0.0], [5340.0, 1147.0, 233.0, 0.0], [5391.0, 1114.0, 437.0, 0.0], [4409.0, 770.0, 572.0, 0.0], [2597.0, 340.0, 448.0, 0.0], [931.0, 70.0, 220.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.220947265625, "command_abs_max": [0.9994601011276245, 0.39981111884117126, 0.6995620727539062]}
{"step": 44700, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 44700, "total_transitions": 183091200, "num_steps_per_env": 1, "wm_loss": 0.5677233338356018, "actor_loss": -9.507604598999023, "critic_loss": 0.009920594282448292, "reward": 0.08677637577056885, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11363336443901062, 0.07229292392730713, 0.1339419037103653], "mean_episode_length": 1408.8819444444443, "episode_reward_terms": {"track_linear_velocity": 50.02693176269531, "track_angular_velocity": 53.251548767089844, "upright": 27.015079498291016, "leg_posture": -2.7675235271453857, "standstill": -7.13274621963501, "action_rate_l2": -0.5799590349197388, "joint_torques_l2": -0.14958785474300385, "dof_pos_limits": -0.0008474102360196412, "terminated": -0.022013776004314423, "unnecessary_wheel_lift": -0.07852715998888016, "rolling_leg_motion": -0.5953328609466553, "obstacle_progress": 3.8656222820281982, "wheel_body_intrusion": -0.2947429418563843, "pair_body_intrusion": -0.28025341033935547}, "weighted_reward_terms": {"track_linear_velocity": 1.7754125595092773, "track_angular_velocity": 1.8898513317108154, "upright": 0.9587417244911194, "leg_posture": -0.09821701049804688, "standstill": -0.25313499569892883, "action_rate_l2": -0.02058224380016327, "joint_torques_l2": -0.005308743100613356, "dof_pos_limits": -3.0073855668888427e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.002786860801279545, "rolling_leg_motion": -0.021127847954630852, "obstacle_progress": 0.13718758523464203, "wheel_body_intrusion": -0.010460171848535538, "pair_body_intrusion": -0.009945951402187347}, "episode_termination_rates": {"time_out": 0.5, "fell_over": 0.027777777777777776, "course_exit": 0.4444444444444444, "illegal_nonwheel_contact": 0.05555555555555555}, "collection_time_s": 0.07565483833430335, "learning_time_s": 0.1855603001767304, "iteration_time_s": 0.29824687355304225, "policy_updates": 44400, "skipped_updates": 0, "invalid_env_resets": 241, "elapsed_s": 13331.635247820988, "nonwheel_terminations": 14302, "contact_bce": 0.2899059057235718, "contact_force_loss": 0.020793583244085312, "collision_bce": 0.000272187142400071, "collision_label_rate": 0.0001224814768647775, "collision_prediction_mean": 7.582951366202906e-05, "collision_label_count": 16329.0, "terrain_level_mean": 4.260986328125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 12, 44, 73, 272], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1956.0, 429.0, 38.0, 0.0], [1790.0, 417.0, 36.0, 0.0], [1651.0, 371.0, 28.0, 0.0], [1367.0, 306.0, 26.0, 0.0], [2759.0, 650.0, 34.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 20, 279, 1133], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4715.0, 1735.0, 196.0, 0.0], [7303.0, 1951.0, 171.0, 0.0], [12699.0, 2607.0, 377.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 38, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [981.0, 808.0, 26.0, 0.0], [2168.0, 1795.0, 68.0, 0.0], [14039.0, 11945.0, 333.0, 0.0]]}, "platform": {"level_counts": [7, 18, 36, 76, 124, 149], "episodes_by_level": [[1849.0, 400.0, 52.0, 0.0], [2295.0, 470.0, 96.0, 0.0], [2111.0, 425.0, 91.0, 0.0], [2007.0, 356.0, 76.0, 0.0], [1626.0, 248.0, 83.0, 0.0], [1035.0, 100.0, 99.0, 0.0]]}, "slope": {"level_counts": [5, 12, 31, 52, 88, 222], "episodes_by_level": [[1657.0, 351.0, 46.0, 0.0], [2088.0, 425.0, 73.0, 0.0], [1942.0, 411.0, 46.0, 0.0], [1671.0, 334.0, 49.0, 0.0], [1422.0, 281.0, 24.0, 0.0], [2182.0, 368.0, 59.0, 0.0]]}, "rubble": {"level_counts": [12, 80, 184, 223, 203, 117], "episodes_by_level": [[3444.0, 785.0, 103.0, 0.0], [5346.0, 1147.0, 233.0, 0.0], [5399.0, 1115.0, 437.0, 0.0], [4415.0, 770.0, 572.0, 0.0], [2603.0, 341.0, 450.0, 0.0], [938.0, 71.0, 224.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.222900390625, "command_abs_max": [0.9995601177215576, 0.39981111884117126, 0.6995620727539062]}
{"step": 44750, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 44750, "total_transitions": 183296000, "num_steps_per_env": 1, "wm_loss": 0.5667975544929504, "actor_loss": -9.510679244995117, "critic_loss": 0.00614912947639823, "reward": 0.08693907409906387, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11554571241140366, 0.07208956032991409, 0.1341855525970459], "mean_episode_length": 1408.7328244274809, "episode_reward_terms": {"track_linear_velocity": 49.89679718017578, "track_angular_velocity": 53.22262954711914, "upright": 26.996517181396484, "leg_posture": -2.7968850135803223, "standstill": -6.643543720245361, "action_rate_l2": -0.5788887739181519, "joint_torques_l2": -0.15192590653896332, "dof_pos_limits": -0.0008929104660637677, "terminated": -0.022011445835232735, "unnecessary_wheel_lift": -0.08480262011289597, "rolling_leg_motion": -0.5790867805480957, "obstacle_progress": 3.861194133758545, "wheel_body_intrusion": -0.31298592686653137, "pair_body_intrusion": -0.3322008550167084}, "weighted_reward_terms": {"track_linear_velocity": 1.7709815502166748, "track_angular_velocity": 1.889025092124939, "upright": 0.9581844210624695, "leg_posture": -0.09926953166723251, "standstill": -0.23579858243465424, "action_rate_l2": -0.020546436309814453, "joint_torques_l2": -0.005392289720475674, "dof_pos_limits": -3.169197589159012e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.003009890206158161, "rolling_leg_motion": -0.0205534640699625, "obstacle_progress": 0.13704495131969452, "wheel_body_intrusion": -0.01110877562314272, "pair_body_intrusion": -0.011790769174695015}, "episode_termination_rates": {"time_out": 0.5572519083969466, "fell_over": 0.04580152671755725, "course_exit": 0.3816793893129771, "illegal_nonwheel_contact": 0.030534351145038167}, "collection_time_s": 0.0756130044243764, "learning_time_s": 0.1851906950608827, "iteration_time_s": 0.29820506276129666, "policy_updates": 44450, "skipped_updates": 0, "invalid_env_resets": 241, "elapsed_s": 13344.676558568026, "nonwheel_terminations": 14306, "contact_bce": 0.2822863459587097, "contact_force_loss": 0.0202055461704731, "collision_bce": 8.403905667364597e-05, "collision_label_rate": 6.122948980191723e-05, "collision_prediction_mean": 0.00011694700515363365, "collision_label_count": 16332.0, "terrain_level_mean": 4.260009765625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 12, 44, 73, 272], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1956.0, 429.0, 38.0, 0.0], [1791.0, 417.0, 36.0, 0.0], [1651.0, 371.0, 28.0, 0.0], [1371.0, 306.0, 26.0, 0.0], [2770.0, 654.0, 34.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 20, 280, 1132], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4715.0, 1735.0, 196.0, 0.0], [7306.0, 1952.0, 171.0, 0.0], [12730.0, 2613.0, 378.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 40, 572], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [981.0, 808.0, 26.0, 0.0], [2168.0, 1795.0, 68.0, 0.0], [14051.0, 11955.0, 333.0, 0.0]]}, "platform": {"level_counts": [7, 18, 36, 77, 124, 148], "episodes_by_level": [[1849.0, 400.0, 52.0, 0.0], [2296.0, 470.0, 96.0, 0.0], [2112.0, 425.0, 91.0, 0.0], [2008.0, 356.0, 76.0, 0.0], [1628.0, 248.0, 84.0, 0.0], [1038.0, 100.0, 100.0, 0.0]]}, "slope": {"level_counts": [5, 12, 31, 52, 89, 221], "episodes_by_level": [[1657.0, 351.0, 46.0, 0.0], [2088.0, 425.0, 73.0, 0.0], [1942.0, 411.0, 46.0, 0.0], [1671.0, 334.0, 49.0, 0.0], [1423.0, 281.0, 24.0, 0.0], [2190.0, 370.0, 60.0, 0.0]]}, "rubble": {"level_counts": [12, 79, 185, 223, 202, 118], "episodes_by_level": [[3446.0, 785.0, 103.0, 0.0], [5350.0, 1148.0, 233.0, 0.0], [5402.0, 1115.0, 437.0, 0.0], [4425.0, 771.0, 572.0, 0.0], [2609.0, 342.0, 451.0, 0.0], [941.0, 71.0, 224.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.226806640625, "command_abs_max": [0.9995601177215576, 0.3999497592449188, 0.6993815898895264]}
{"step": 44800, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 44800, "total_transitions": 183500800, "num_steps_per_env": 1, "wm_loss": 0.5417014360427856, "actor_loss": -9.51014518737793, "critic_loss": 0.007917800918221474, "reward": 0.0871400237083435, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11494406312704086, 0.07144368439912796, 0.13429349660873413], "mean_episode_length": 1412.203947368421, "episode_reward_terms": {"track_linear_velocity": 50.10403060913086, "track_angular_velocity": 53.34456253051758, "upright": 27.090065002441406, "leg_posture": -2.7717220783233643, "standstill": -6.603837013244629, "action_rate_l2": -0.5791013836860657, "joint_torques_l2": -0.15111733973026276, "dof_pos_limits": -0.0010630448814481497, "terminated": -0.02758210524916649, "unnecessary_wheel_lift": -0.07946836203336716, "rolling_leg_motion": -0.5881075859069824, "obstacle_progress": 3.944154739379883, "wheel_body_intrusion": -0.3045821487903595, "pair_body_intrusion": -0.3167475163936615}, "weighted_reward_terms": {"track_linear_velocity": 1.7739657163619995, "track_angular_velocity": 1.888698935508728, "upright": 0.9591413736343384, "leg_posture": -0.09813462197780609, "standstill": -0.23381315171718597, "action_rate_l2": -0.020503461360931396, "joint_torques_l2": -0.005350407678633928, "dof_pos_limits": -3.763779750443064e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.0028136291075497866, "rolling_leg_motion": -0.020822331309318542, "obstacle_progress": 0.13964536786079407, "wheel_body_intrusion": -0.010783929377794266, "pair_body_intrusion": -0.011214652098715305}, "episode_termination_rates": {"time_out": 0.5197368421052632, "fell_over": 0.019736842105263157, "course_exit": 0.4144736842105263, "illegal_nonwheel_contact": 0.06578947368421052}, "collection_time_s": 0.07572575561818667, "learning_time_s": 0.18518224581843243, "iteration_time_s": 0.29816346791165155, "policy_updates": 44500, "skipped_updates": 0, "invalid_env_resets": 241, "elapsed_s": 13357.72336244199, "nonwheel_terminations": 14316, "contact_bce": 0.28377291560173035, "contact_force_loss": 0.020276028662919998, "collision_bce": 0.00045645696809515357, "collision_label_rate": 0.00018380100664217025, "collision_prediction_mean": 9.754580241860822e-05, "collision_label_count": 16322.0, "terrain_level_mean": 4.26025390625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 12, 44, 72, 273], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1956.0, 429.0, 38.0, 0.0], [1794.0, 417.0, 36.0, 0.0], [1651.0, 371.0, 28.0, 0.0], [1372.0, 307.0, 26.0, 0.0], [2778.0, 655.0, 34.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 20, 284, 1128], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4716.0, 1735.0, 196.0, 0.0], [7315.0, 1952.0, 171.0, 0.0], [12756.0, 2622.0, 381.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 41, 571], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [981.0, 808.0, 26.0, 0.0], [2168.0, 1795.0, 68.0, 0.0], [14067.0, 11967.0, 334.0, 0.0]]}, "platform": {"level_counts": [7, 18, 35, 77, 125, 148], "episodes_by_level": [[1849.0, 400.0, 52.0, 0.0], [2296.0, 470.0, 96.0, 0.0], [2115.0, 426.0, 91.0, 0.0], [2012.0, 357.0, 76.0, 0.0], [1634.0, 248.0, 84.0, 0.0], [1045.0, 101.0, 100.0, 0.0]]}, "slope": {"level_counts": [5, 12, 31, 52, 89, 221], "episodes_by_level": [[1657.0, 351.0, 46.0, 0.0], [2088.0, 425.0, 73.0, 0.0], [1943.0, 411.0, 46.0, 0.0], [1672.0, 334.0, 49.0, 0.0], [1426.0, 282.0, 24.0, 0.0], [2196.0, 371.0, 61.0, 0.0]]}, "rubble": {"level_counts": [12, 78, 184, 225, 202, 118], "episodes_by_level": [[3446.0, 785.0, 103.0, 0.0], [5353.0, 1149.0, 233.0, 0.0], [5410.0, 1117.0, 437.0, 0.0], [4433.0, 774.0, 572.0, 0.0], [2618.0, 343.0, 454.0, 0.0], [947.0, 72.0, 225.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.231689453125, "command_abs_max": [0.9997694492340088, 0.3999497592449188, 0.6993815898895264]}
{"step": 44850, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 44850, "total_transitions": 183705600, "num_steps_per_env": 1, "wm_loss": 0.5390564203262329, "actor_loss": -9.494571685791016, "critic_loss": 0.0061461846344172955, "reward": 0.08739188313484192, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11435145884752274, 0.07028631120920181, 0.13299046456813812], "mean_episode_length": 1343.857142857143, "episode_reward_terms": {"track_linear_velocity": 47.78013229370117, "track_angular_velocity": 50.823360443115234, "upright": 25.77147102355957, "leg_posture": -2.6114063262939453, "standstill": -6.12576961517334, "action_rate_l2": -0.5540263056755066, "joint_torques_l2": -0.1447458565235138, "dof_pos_limits": -0.0009623267687857151, "terminated": -0.018373046070337296, "unnecessary_wheel_lift": -0.07652870565652847, "rolling_leg_motion": -0.570218026638031, "obstacle_progress": 3.751999616622925, "wheel_body_intrusion": -0.2866085469722748, "pair_body_intrusion": -0.2961306571960449}, "weighted_reward_terms": {"track_linear_velocity": 1.7777236700057983, "track_angular_velocity": 1.890951156616211, "upright": 0.9588620066642761, "leg_posture": -0.09716086089611053, "standstill": -0.22791743278503418, "action_rate_l2": -0.0206132885068655, "joint_torques_l2": -0.005385463126003742, "dof_pos_limits": -3.5804652725346386e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0028473525308072567, "rolling_leg_motion": -0.02121572196483612, "obstacle_progress": 0.13959816098213196, "wheel_body_intrusion": -0.01066365372389555, "pair_body_intrusion": -0.01101793721318245}, "episode_termination_rates": {"time_out": 0.45, "fell_over": 0.014285714285714285, "course_exit": 0.5, "illegal_nonwheel_contact": 0.04285714285714286}, "collection_time_s": 0.0756921391596552, "learning_time_s": 0.1857975760800764, "iteration_time_s": 0.2981226080548046, "policy_updates": 44550, "skipped_updates": 0, "invalid_env_resets": 241, "elapsed_s": 13370.798971257987, "nonwheel_terminations": 14322, "contact_bce": 0.2820703387260437, "contact_force_loss": 0.020124847069382668, "collision_bce": 2.7092164600617252e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 2.6494773919694126e-05, "collision_label_count": 16347.0, "terrain_level_mean": 4.260986328125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 11, 45, 72, 273], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1956.0, 429.0, 38.0, 0.0], [1795.0, 418.0, 36.0, 0.0], [1652.0, 371.0, 28.0, 0.0], [1373.0, 307.0, 26.0, 0.0], [2781.0, 656.0, 34.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 21, 285, 1126], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4717.0, 1735.0, 196.0, 0.0], [7323.0, 1953.0, 171.0, 0.0], [12780.0, 2626.0, 382.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 38, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [981.0, 808.0, 26.0, 0.0], [2171.0, 1798.0, 68.0, 0.0], [14087.0, 11985.0, 334.0, 0.0]]}, "platform": {"level_counts": [7, 18, 35, 77, 125, 148], "episodes_by_level": [[1850.0, 400.0, 52.0, 0.0], [2296.0, 470.0, 96.0, 0.0], [2115.0, 426.0, 91.0, 0.0], [2017.0, 357.0, 76.0, 0.0], [1636.0, 248.0, 84.0, 0.0], [1052.0, 101.0, 100.0, 0.0]]}, "slope": {"level_counts": [5, 12, 31, 52, 88, 222], "episodes_by_level": [[1657.0, 351.0, 46.0, 0.0], [2088.0, 425.0, 73.0, 0.0], [1944.0, 411.0, 46.0, 0.0], [1673.0, 334.0, 49.0, 0.0], [1430.0, 283.0, 24.0, 0.0], [2204.0, 373.0, 61.0, 0.0]]}, "rubble": {"level_counts": [12, 80, 180, 226, 203, 118], "episodes_by_level": [[3446.0, 785.0, 103.0, 0.0], [5353.0, 1149.0, 233.0, 0.0], [5420.0, 1119.0, 439.0, 0.0], [4443.0, 775.0, 572.0, 0.0], [2623.0, 344.0, 454.0, 0.0], [951.0, 73.0, 226.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23486328125, "command_abs_max": [0.9997694492340088, 0.3999497592449188, 0.6997475028038025]}
{"step": 44900, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 44900, "total_transitions": 183910400, "num_steps_per_env": 1, "wm_loss": 0.5615687370300293, "actor_loss": -9.501636505126953, "critic_loss": 0.004549606237560511, "reward": 0.08730673789978027, "falls": 4, "interval_steps": 50, "velocity_mae": [0.1161661371588707, 0.07125508040189743, 0.13351592421531677], "mean_episode_length": 1398.7986577181207, "episode_reward_terms": {"track_linear_velocity": 49.56221389770508, "track_angular_velocity": 52.884864807128906, "upright": 26.822467803955078, "leg_posture": -2.7177515029907227, "standstill": -6.292133808135986, "action_rate_l2": -0.577702522277832, "joint_torques_l2": -0.1509242057800293, "dof_pos_limits": -0.001288195955567062, "terminated": -0.010928113013505936, "unnecessary_wheel_lift": -0.09075885266065598, "rolling_leg_motion": -0.5852034687995911, "obstacle_progress": 3.8489136695861816, "wheel_body_intrusion": -0.2863159477710724, "pair_body_intrusion": -0.2808903157711029}, "weighted_reward_terms": {"track_linear_velocity": 1.771599292755127, "track_angular_velocity": 1.8903672695159912, "upright": 0.9587680101394653, "leg_posture": -0.0971459150314331, "standstill": -0.22491204738616943, "action_rate_l2": -0.020649952813982964, "joint_torques_l2": -0.005394779145717621, "dof_pos_limits": -4.60465089417994e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.0032441711518913507, "rolling_leg_motion": -0.020918073132634163, "obstacle_progress": 0.13757926225662231, "wheel_body_intrusion": -0.010234351269900799, "pair_body_intrusion": -0.010040412656962872}, "episode_termination_rates": {"time_out": 0.5167785234899329, "fell_over": 0.020134228187919462, "course_exit": 0.4563758389261745, "illegal_nonwheel_contact": 0.013422818791946308}, "collection_time_s": 0.07603660814347676, "learning_time_s": 0.18569552717846818, "iteration_time_s": 0.2980821087475055, "policy_updates": 44600, "skipped_updates": 0, "invalid_env_resets": 242, "elapsed_s": 13383.886682762997, "nonwheel_terminations": 14324, "contact_bce": 0.2848948836326599, "contact_force_loss": 0.020148716866970062, "collision_bce": 0.00044505277764983475, "collision_label_rate": 0.00012230919674038887, "collision_prediction_mean": 7.239419937832281e-05, "collision_label_count": 16352.0, "terrain_level_mean": 4.261962890625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 11, 45, 72, 273], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1956.0, 429.0, 38.0, 0.0], [1795.0, 418.0, 36.0, 0.0], [1656.0, 371.0, 28.0, 0.0], [1374.0, 307.0, 26.0, 0.0], [2788.0, 657.0, 34.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 21, 286, 1125], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4718.0, 1735.0, 196.0, 0.0], [7333.0, 1955.0, 171.0, 0.0], [12808.0, 2633.0, 382.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 38, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [981.0, 808.0, 26.0, 0.0], [2171.0, 1798.0, 68.0, 0.0], [14107.0, 12002.0, 334.0, 0.0]]}, "platform": {"level_counts": [7, 18, 34, 78, 124, 149], "episodes_by_level": [[1851.0, 400.0, 52.0, 0.0], [2296.0, 470.0, 96.0, 0.0], [2116.0, 427.0, 91.0, 0.0], [2021.0, 357.0, 76.0, 0.0], [1641.0, 249.0, 84.0, 0.0], [1055.0, 102.0, 100.0, 0.0]]}, "slope": {"level_counts": [5, 11, 32, 52, 88, 222], "episodes_by_level": [[1657.0, 351.0, 46.0, 0.0], [2089.0, 426.0, 73.0, 0.0], [1945.0, 411.0, 46.0, 0.0], [1676.0, 334.0, 49.0, 0.0], [1432.0, 283.0, 24.0, 0.0], [2213.0, 373.0, 61.0, 0.0]]}, "rubble": {"level_counts": [13, 79, 179, 225, 205, 118], "episodes_by_level": [[3446.0, 785.0, 103.0, 0.0], [5356.0, 1149.0, 234.0, 0.0], [5422.0, 1120.0, 439.0, 0.0], [4450.0, 777.0, 572.0, 0.0], [2629.0, 344.0, 454.0, 0.0], [952.0, 73.0, 226.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2333984375, "command_abs_max": [0.9997694492340088, 0.3999497592449188, 0.6997475028038025]}
{"step": 44950, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 44950, "total_transitions": 184115200, "num_steps_per_env": 1, "wm_loss": 0.6057674288749695, "actor_loss": -9.469406127929688, "critic_loss": 0.003969512414187193, "reward": 0.08702655881643295, "falls": 13, "interval_steps": 50, "velocity_mae": [0.11407525837421417, 0.07160968333482742, 0.13413257896900177], "mean_episode_length": 1326.0551724137931, "episode_reward_terms": {"track_linear_velocity": 47.111087799072266, "track_angular_velocity": 50.110103607177734, "upright": 25.421756744384766, "leg_posture": -2.579787015914917, "standstill": -6.434776306152344, "action_rate_l2": -0.5469183325767517, "joint_torques_l2": -0.1418122798204422, "dof_pos_limits": -0.0012785414000973105, "terminated": -0.033669363707304, "unnecessary_wheel_lift": -0.07718129456043243, "rolling_leg_motion": -0.5714119672775269, "obstacle_progress": 3.6765692234039307, "wheel_body_intrusion": -0.2752680480480194, "pair_body_intrusion": -0.25539422035217285}, "weighted_reward_terms": {"track_linear_velocity": 1.7763622999191284, "track_angular_velocity": 1.8894426822662354, "upright": 0.9585481882095337, "leg_posture": -0.09727299213409424, "standstill": -0.2426285296678543, "action_rate_l2": -0.020622005686163902, "joint_torques_l2": -0.005347148515284061, "dof_pos_limits": -4.820845788344741e-05, "terminated": -0.0012695310870185494, "unnecessary_wheel_lift": -0.00291018420830369, "rolling_leg_motion": -0.02154555916786194, "obstacle_progress": 0.1386280655860901, "wheel_body_intrusion": -0.010379208251833916, "pair_body_intrusion": -0.009629849344491959}, "episode_termination_rates": {"time_out": 0.45517241379310347, "fell_over": 0.06206896551724138, "course_exit": 0.45517241379310347, "illegal_nonwheel_contact": 0.06206896551724138}, "collection_time_s": 0.07564955616020598, "learning_time_s": 0.1855215221445542, "iteration_time_s": 0.29804107444460565, "policy_updates": 44650, "skipped_updates": 0, "invalid_env_resets": 242, "elapsed_s": 13396.946296285023, "nonwheel_terminations": 14333, "contact_bce": 0.28789401054382324, "contact_force_loss": 0.020684244111180305, "collision_bce": 0.0002782549418043345, "collision_label_rate": 6.120325269876048e-05, "collision_prediction_mean": 1.2117021469748579e-05, "collision_label_count": 16339.0, "terrain_level_mean": 4.261474609375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 11, 44, 73, 273], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1956.0, 429.0, 38.0, 0.0], [1795.0, 418.0, 36.0, 0.0], [1659.0, 372.0, 28.0, 0.0], [1374.0, 307.0, 26.0, 0.0], [2795.0, 660.0, 34.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 21, 289, 1122], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4719.0, 1735.0, 196.0, 0.0], [7338.0, 1955.0, 171.0, 0.0], [12838.0, 2640.0, 384.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 40, 572], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [981.0, 808.0, 26.0, 0.0], [2172.0, 1799.0, 68.0, 0.0], [14128.0, 12021.0, 335.0, 0.0]]}, "platform": {"level_counts": [7, 18, 33, 78, 126, 148], "episodes_by_level": [[1851.0, 400.0, 52.0, 0.0], [2296.0, 470.0, 96.0, 0.0], [2117.0, 428.0, 91.0, 0.0], [2022.0, 358.0, 76.0, 0.0], [1643.0, 249.0, 84.0, 0.0], [1062.0, 102.0, 101.0, 0.0]]}, "slope": {"level_counts": [5, 11, 31, 53, 88, 222], "episodes_by_level": [[1657.0, 351.0, 46.0, 0.0], [2089.0, 426.0, 73.0, 0.0], [1946.0, 412.0, 46.0, 0.0], [1678.0, 335.0, 49.0, 0.0], [1435.0, 283.0, 25.0, 0.0], [2217.0, 374.0, 61.0, 0.0]]}, "rubble": {"level_counts": [13, 80, 178, 225, 204, 119], "episodes_by_level": [[3446.0, 785.0, 103.0, 0.0], [5358.0, 1149.0, 234.0, 0.0], [5427.0, 1121.0, 440.0, 0.0], [4456.0, 779.0, 573.0, 0.0], [2639.0, 346.0, 456.0, 0.0], [958.0, 74.0, 227.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234619140625, "command_abs_max": [0.9997694492340088, 0.3999497592449188, 0.6997475028038025]}
{"step": 45000, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 45000, "total_transitions": 184320000, "num_steps_per_env": 1, "wm_loss": 0.5567167401313782, "actor_loss": -9.49602222442627, "critic_loss": 0.006441416684538126, "reward": 0.08695651590824127, "falls": 12, "interval_steps": 50, "velocity_mae": [0.11569242924451828, 0.07116219401359558, 0.13347913324832916], "mean_episode_length": 1299.0958083832336, "episode_reward_terms": {"track_linear_velocity": 46.07117462158203, "track_angular_velocity": 49.1251220703125, "upright": 24.921428680419922, "leg_posture": -2.470106840133667, "standstill": -6.293240547180176, "action_rate_l2": -0.5444584488868713, "joint_torques_l2": -0.13910380005836487, "dof_pos_limits": -0.001276494120247662, "terminated": -0.03044755570590496, "unnecessary_wheel_lift": -0.08134619891643524, "rolling_leg_motion": -0.5595498085021973, "obstacle_progress": 3.5421433448791504, "wheel_body_intrusion": -0.29283303022384644, "pair_body_intrusion": -0.2826462984085083}, "weighted_reward_terms": {"track_linear_velocity": 1.773201584815979, "track_angular_velocity": 1.8907427787780762, "upright": 0.9591836929321289, "leg_posture": -0.0950702354311943, "standstill": -0.24221618473529816, "action_rate_l2": -0.0209552850574255, "joint_torques_l2": -0.005353870335966349, "dof_pos_limits": -4.913009615847841e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.0031308778561651707, "rolling_leg_motion": -0.021536124870181084, "obstacle_progress": 0.13633111119270325, "wheel_body_intrusion": -0.011270647868514061, "pair_body_intrusion": -0.010878577828407288}, "episode_termination_rates": {"time_out": 0.41317365269461076, "fell_over": 0.029940119760479042, "course_exit": 0.5149700598802395, "illegal_nonwheel_contact": 0.04790419161676647}, "collection_time_s": 0.07573490808485075, "learning_time_s": 0.19253121905960144, "iteration_time_s": 0.2980080153183339, "policy_updates": 44700, "skipped_updates": 0, "invalid_env_resets": 242, "elapsed_s": 13410.360689325025, "nonwheel_terminations": 14341, "contact_bce": 0.2840050160884857, "contact_force_loss": 0.020807651802897453, "collision_bce": 0.0005938521353527904, "collision_label_rate": 6.122948980191723e-05, "collision_prediction_mean": 9.393828804604709e-06, "collision_label_count": 16332.0, "terrain_level_mean": 4.261962890625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 11, 43, 74, 273], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1956.0, 429.0, 38.0, 0.0], [1796.0, 418.0, 36.0, 0.0], [1662.0, 373.0, 28.0, 0.0], [1377.0, 307.0, 26.0, 0.0], [2799.0, 660.0, 34.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 21, 291, 1120], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4314.0, 1762.0, 165.0, 0.0], [4721.0, 1736.0, 196.0, 0.0], [7345.0, 1957.0, 171.0, 0.0], [12876.0, 2650.0, 385.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 41, 572], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [982.0, 809.0, 26.0, 0.0], [2173.0, 1800.0, 68.0, 0.0], [14153.0, 12044.0, 335.0, 0.0]]}, "platform": {"level_counts": [7, 18, 33, 78, 126, 148], "episodes_by_level": [[1851.0, 400.0, 52.0, 0.0], [2296.0, 470.0, 96.0, 0.0], [2117.0, 428.0, 91.0, 0.0], [2025.0, 358.0, 76.0, 0.0], [1649.0, 250.0, 84.0, 0.0], [1065.0, 102.0, 102.0, 0.0]]}, "slope": {"level_counts": [5, 10, 32, 53, 88, 222], "episodes_by_level": [[1657.0, 351.0, 46.0, 0.0], [2091.0, 427.0, 73.0, 0.0], [1947.0, 412.0, 46.0, 0.0], [1678.0, 335.0, 49.0, 0.0], [1435.0, 283.0, 25.0, 0.0], [2225.0, 374.0, 61.0, 0.0]]}, "rubble": {"level_counts": [13, 79, 179, 224, 206, 118], "episodes_by_level": [[3446.0, 785.0, 103.0, 0.0], [5360.0, 1150.0, 234.0, 0.0], [5434.0, 1122.0, 440.0, 0.0], [4464.0, 782.0, 574.0, 0.0], [2648.0, 347.0, 458.0, 0.0], [963.0, 74.0, 229.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.235595703125, "command_abs_max": [0.9997694492340088, 0.3999497592449188, 0.6997475028038025]}
{"step": 45050, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 45050, "total_transitions": 184524800, "num_steps_per_env": 1, "wm_loss": 0.5472998023033142, "actor_loss": -9.51933479309082, "critic_loss": 0.004898106213659048, "reward": 0.08712935447692871, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11539122462272644, 0.07053308188915253, 0.13344578444957733], "mean_episode_length": 1304.2808219178082, "episode_reward_terms": {"track_linear_velocity": 46.27164077758789, "track_angular_velocity": 49.321781158447266, "upright": 25.03671646118164, "leg_posture": -2.458108425140381, "standstill": -6.248228549957275, "action_rate_l2": -0.5406937599182129, "joint_torques_l2": -0.13851319253444672, "dof_pos_limits": -0.0008222698816098273, "terminated": -0.012737114913761616, "unnecessary_wheel_lift": -0.08502111583948135, "rolling_leg_motion": -0.5409945249557495, "obstacle_progress": 3.5963759422302246, "wheel_body_intrusion": -0.2759188711643219, "pair_body_intrusion": -0.28434112668037415}, "weighted_reward_terms": {"track_linear_velocity": 1.7738374471664429, "track_angular_velocity": 1.8907655477523804, "upright": 0.9597901701927185, "leg_posture": -0.09423233568668365, "standstill": -0.23952773213386536, "action_rate_l2": -0.02072766050696373, "joint_torques_l2": -0.005309945438057184, "dof_pos_limits": -3.152196586597711e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.0032593102660030127, "rolling_leg_motion": -0.02073919028043747, "obstacle_progress": 0.13786816596984863, "wheel_body_intrusion": -0.010577433742582798, "pair_body_intrusion": -0.010900303721427917}, "episode_termination_rates": {"time_out": 0.4383561643835616, "fell_over": 0.02054794520547945, "course_exit": 0.5273972602739726, "illegal_nonwheel_contact": 0.02054794520547945}, "collection_time_s": 0.07573265116545372, "learning_time_s": 0.18518228975706733, "iteration_time_s": 0.2979675607010218, "policy_updates": 44750, "skipped_updates": 0, "invalid_env_resets": 242, "elapsed_s": 13423.438609581033, "nonwheel_terminations": 14344, "contact_bce": 0.287174791097641, "contact_force_loss": 0.020664719864726067, "collision_bce": 0.0004742846649605781, "collision_label_rate": 0.00018358729721512645, "collision_prediction_mean": 0.00011821638327091932, "collision_label_count": 16341.0, "terrain_level_mean": 4.263916015625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 11, 43, 73, 274], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1957.0, 429.0, 38.0, 0.0], [1796.0, 418.0, 36.0, 0.0], [1664.0, 373.0, 28.0, 0.0], [1378.0, 308.0, 26.0, 0.0], [2807.0, 662.0, 34.0, 0.0]]}, "up": {"level_counts": [0, 0, 0, 22, 292, 1119], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4315.0, 1763.0, 165.0, 0.0], [4721.0, 1736.0, 196.0, 0.0], [7352.0, 1959.0, 171.0, 0.0], [12912.0, 2656.0, 386.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 40, 573], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [982.0, 809.0, 26.0, 0.0], [2174.0, 1801.0, 68.0, 0.0], [14170.0, 12061.0, 335.0, 0.0]]}, "platform": {"level_counts": [7, 18, 32, 79, 125, 149], "episodes_by_level": [[1851.0, 400.0, 52.0, 0.0], [2296.0, 470.0, 96.0, 0.0], [2119.0, 429.0, 91.0, 0.0], [2027.0, 358.0, 76.0, 0.0], [1651.0, 251.0, 84.0, 0.0], [1069.0, 102.0, 102.0, 0.0]]}, "slope": {"level_counts": [5, 10, 32, 52, 88, 223], "episodes_by_level": [[1657.0, 351.0, 46.0, 0.0], [2091.0, 427.0, 73.0, 0.0], [1947.0, 412.0, 46.0, 0.0], [1680.0, 336.0, 49.0, 0.0], [1437.0, 284.0, 25.0, 0.0], [2234.0, 375.0, 61.0, 0.0]]}, "rubble": {"level_counts": [13, 78, 179, 224, 208, 117], "episodes_by_level": [[3447.0, 785.0, 103.0, 0.0], [5362.0, 1151.0, 234.0, 0.0], [5440.0, 1123.0, 440.0, 0.0], [4468.0, 783.0, 574.0, 0.0], [2652.0, 348.0, 458.0, 0.0], [971.0, 75.0, 231.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.233154296875, "command_abs_max": [0.9997694492340088, 0.3999497592449188, 0.6997475028038025]}
{"step": 45100, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 45100, "total_transitions": 184729600, "num_steps_per_env": 1, "wm_loss": 0.5485264658927917, "actor_loss": -9.51204776763916, "critic_loss": 0.00380827859044075, "reward": 0.08716253936290741, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11583033204078674, 0.07117780297994614, 0.13500702381134033], "mean_episode_length": 1320.5755395683452, "episode_reward_terms": {"track_linear_velocity": 46.792911529541016, "track_angular_velocity": 49.87553024291992, "upright": 25.358858108520508, "leg_posture": -2.519185781478882, "standstill": -6.220395088195801, "action_rate_l2": -0.5535004734992981, "joint_torques_l2": -0.1405874639749527, "dof_pos_limits": -0.0006279695662669837, "terminated": -0.020633989945054054, "unnecessary_wheel_lift": -0.08027966320514679, "rolling_leg_motion": -0.5438830852508545, "obstacle_progress": 3.738020181655884, "wheel_body_intrusion": -0.2801334857940674, "pair_body_intrusion": -0.3013612627983093}, "weighted_reward_terms": {"track_linear_velocity": 1.7716861963272095, "track_angular_velocity": 1.8884012699127197, "upright": 0.9601441621780396, "leg_posture": -0.09538211673498154, "standstill": -0.23551832139492035, "action_rate_l2": -0.020956790074706078, "joint_torques_l2": -0.0053229620680212975, "dof_pos_limits": -2.377635973971337e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.003039570990949869, "rolling_leg_motion": -0.02059265412390232, "obstacle_progress": 0.14152996242046356, "wheel_body_intrusion": -0.01060649286955595, "pair_body_intrusion": -0.011410224251449108}, "episode_termination_rates": {"time_out": 0.4460431654676259, "fell_over": 0.03597122302158273, "course_exit": 0.49640287769784175, "illegal_nonwheel_contact": 0.03597122302158273}, "collection_time_s": 0.0755476482771337, "learning_time_s": 0.1851349172205664, "iteration_time_s": 0.29792625339669637, "policy_updates": 44800, "skipped_updates": 0, "invalid_env_resets": 242, "elapsed_s": 13436.474028191005, "nonwheel_terminations": 14349, "contact_bce": 0.28337156772613525, "contact_force_loss": 0.02011275105178356, "collision_bce": 0.00020666487398557365, "collision_label_rate": 6.116207805462182e-05, "collision_prediction_mean": 3.304551501059905e-05, "collision_label_count": 16350.0, "terrain_level_mean": 4.26318359375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 11, 43, 73, 274], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1957.0, 429.0, 38.0, 0.0], [1796.0, 418.0, 36.0, 0.0], [1664.0, 373.0, 28.0, 0.0], [1382.0, 308.0, 26.0, 0.0], [2816.0, 664.0, 34.0, 0.0]]}, "up": {"level_counts": [0, 0, 0, 22, 294, 1117], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4315.0, 1763.0, 165.0, 0.0], [4721.0, 1736.0, 196.0, 0.0], [7357.0, 1959.0, 171.0, 0.0], [12937.0, 2662.0, 387.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 40, 573], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [982.0, 809.0, 26.0, 0.0], [2175.0, 1802.0, 68.0, 0.0], [14194.0, 12083.0, 335.0, 0.0]]}, "platform": {"level_counts": [7, 18, 32, 79, 125, 149], "episodes_by_level": [[1852.0, 400.0, 53.0, 0.0], [2297.0, 470.0, 96.0, 0.0], [2119.0, 429.0, 91.0, 0.0], [2027.0, 358.0, 76.0, 0.0], [1653.0, 251.0, 84.0, 0.0], [1071.0, 102.0, 102.0, 0.0]]}, "slope": {"level_counts": [5, 10, 32, 52, 88, 223], "episodes_by_level": [[1657.0, 351.0, 46.0, 0.0], [2091.0, 427.0, 73.0, 0.0], [1947.0, 412.0, 46.0, 0.0], [1682.0, 336.0, 49.0, 0.0], [1437.0, 284.0, 25.0, 0.0], [2240.0, 375.0, 61.0, 0.0]]}, "rubble": {"level_counts": [13, 79, 179, 223, 207, 118], "episodes_by_level": [[3447.0, 785.0, 103.0, 0.0], [5364.0, 1151.0, 234.0, 0.0], [5447.0, 1124.0, 441.0, 0.0], [4476.0, 784.0, 576.0, 0.0], [2657.0, 349.0, 459.0, 0.0], [974.0, 75.0, 231.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.233154296875, "command_abs_max": [0.9996032118797302, 0.3999497592449188, 0.6997475028038025]}
{"step": 45150, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 45150, "total_transitions": 184934400, "num_steps_per_env": 1, "wm_loss": 0.5554012656211853, "actor_loss": -9.476967811584473, "critic_loss": 0.00933911558240652, "reward": 0.08668555319309235, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11584414541721344, 0.07155913859605789, 0.13628937304019928], "mean_episode_length": 1340.530303030303, "episode_reward_terms": {"track_linear_velocity": 47.49274444580078, "track_angular_velocity": 50.580230712890625, "upright": 25.6832275390625, "leg_posture": -2.5296452045440674, "standstill": -6.972026348114014, "action_rate_l2": -0.569229781627655, "joint_torques_l2": -0.1426188200712204, "dof_pos_limits": -0.000914708070922643, "terminated": -0.020945781841874123, "unnecessary_wheel_lift": -0.07107361406087875, "rolling_leg_motion": -0.5527751445770264, "obstacle_progress": 3.841035842895508, "wheel_body_intrusion": -0.2736217677593231, "pair_body_intrusion": -0.2597937285900116}, "weighted_reward_terms": {"track_linear_velocity": 1.7714163064956665, "track_angular_velocity": 1.8865755796432495, "upright": 0.9579503536224365, "leg_posture": -0.09435241669416428, "standstill": -0.2600473463535309, "action_rate_l2": -0.02123151533305645, "joint_torques_l2": -0.005319492891430855, "dof_pos_limits": -3.411739817238413e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.002650951500982046, "rolling_leg_motion": -0.020617779344320297, "obstacle_progress": 0.14326554536819458, "wheel_body_intrusion": -0.010205728933215141, "pair_body_intrusion": -0.009689961560070515}, "episode_termination_rates": {"time_out": 0.4393939393939394, "fell_over": 0.03787878787878788, "course_exit": 0.5, "illegal_nonwheel_contact": 0.030303030303030304}, "collection_time_s": 0.07547774609411136, "learning_time_s": 0.18499736313940957, "iteration_time_s": 0.297884804603234, "policy_updates": 44850, "skipped_updates": 0, "invalid_env_resets": 242, "elapsed_s": 13449.498927836015, "nonwheel_terminations": 14353, "contact_bce": 0.2876294255256653, "contact_force_loss": 0.020530395209789276, "collision_bce": 1.881904790934641e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.8725928384810686e-05, "collision_label_count": 16341.0, "terrain_level_mean": 4.26416015625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 11, 43, 73, 274], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1957.0, 429.0, 38.0, 0.0], [1796.0, 418.0, 36.0, 0.0], [1665.0, 373.0, 28.0, 0.0], [1384.0, 308.0, 26.0, 0.0], [2825.0, 665.0, 34.0, 0.0]]}, "up": {"level_counts": [0, 0, 0, 23, 295, 1115], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4315.0, 1763.0, 165.0, 0.0], [4721.0, 1736.0, 196.0, 0.0], [7362.0, 1960.0, 171.0, 0.0], [12966.0, 2671.0, 387.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 41, 573], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [983.0, 810.0, 26.0, 0.0], [2177.0, 1804.0, 68.0, 0.0], [14208.0, 12096.0, 335.0, 0.0]]}, "platform": {"level_counts": [7, 18, 31, 80, 125, 149], "episodes_by_level": [[1852.0, 400.0, 53.0, 0.0], [2297.0, 470.0, 96.0, 0.0], [2121.0, 430.0, 91.0, 0.0], [2030.0, 358.0, 76.0, 0.0], [1656.0, 251.0, 84.0, 0.0], [1073.0, 102.0, 102.0, 0.0]]}, "slope": {"level_counts": [5, 10, 32, 52, 88, 223], "episodes_by_level": [[1657.0, 351.0, 46.0, 0.0], [2092.0, 427.0, 73.0, 0.0], [1948.0, 412.0, 46.0, 0.0], [1684.0, 336.0, 49.0, 0.0], [1439.0, 284.0, 25.0, 0.0], [2247.0, 375.0, 61.0, 0.0]]}, "rubble": {"level_counts": [13, 77, 179, 224, 208, 118], "episodes_by_level": [[3447.0, 785.0, 103.0, 0.0], [5366.0, 1153.0, 234.0, 0.0], [5452.0, 1126.0, 441.0, 0.0], [4482.0, 786.0, 576.0, 0.0], [2661.0, 350.0, 460.0, 0.0], [976.0, 76.0, 232.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.231689453125, "command_abs_max": [0.9989451169967651, 0.3991260528564453, 0.6997475028038025]}
{"step": 45200, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 45200, "total_transitions": 185139200, "num_steps_per_env": 1, "wm_loss": 0.5982346534729004, "actor_loss": -9.508170127868652, "critic_loss": 0.006749733816832304, "reward": 0.08698396384716034, "falls": 15, "interval_steps": 50, "velocity_mae": [0.11519920080900192, 0.07152906060218811, 0.13512149453163147], "mean_episode_length": 1317.1639344262296, "episode_reward_terms": {"track_linear_velocity": 46.7028694152832, "track_angular_velocity": 49.725494384765625, "upright": 25.21800994873047, "leg_posture": -2.53987979888916, "standstill": -6.273923397064209, "action_rate_l2": -0.551960825920105, "joint_torques_l2": -0.14095920324325562, "dof_pos_limits": -0.0006076193531043828, "terminated": -0.03858878090977669, "unnecessary_wheel_lift": -0.09103468060493469, "rolling_leg_motion": -0.570611298084259, "obstacle_progress": 3.655017614364624, "wheel_body_intrusion": -0.2650880813598633, "pair_body_intrusion": -0.2565932273864746}, "weighted_reward_terms": {"track_linear_velocity": 1.7728570699691772, "track_angular_velocity": 1.8875969648361206, "upright": 0.9572844505310059, "leg_posture": -0.0964147225022316, "standstill": -0.23816029727458954, "action_rate_l2": -0.020952625200152397, "joint_torques_l2": -0.005350860301405191, "dof_pos_limits": -2.306544229213614e-05, "terminated": -0.0014648435171693563, "unnecessary_wheel_lift": -0.003455708036199212, "rolling_leg_motion": -0.02166060358285904, "obstacle_progress": 0.1387457400560379, "wheel_body_intrusion": -0.010062836110591888, "pair_body_intrusion": -0.009740368463099003}, "episode_termination_rates": {"time_out": 0.4371584699453552, "fell_over": 0.03825136612021858, "course_exit": 0.4808743169398907, "illegal_nonwheel_contact": 0.0546448087431694}, "collection_time_s": 0.07572618296253494, "learning_time_s": 0.1847873858991079, "iteration_time_s": 0.2978434898001549, "policy_updates": 44900, "skipped_updates": 0, "invalid_env_resets": 242, "elapsed_s": 13462.525738967, "nonwheel_terminations": 14363, "contact_bce": 0.29390794038772583, "contact_force_loss": 0.021292133256793022, "collision_bce": 0.0006848727352917194, "collision_label_rate": 6.121074693510309e-05, "collision_prediction_mean": 8.319624612340704e-05, "collision_label_count": 16337.0, "terrain_level_mean": 4.264404296875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 11, 42, 73, 275], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1958.0, 429.0, 38.0, 0.0], [1797.0, 419.0, 36.0, 0.0], [1668.0, 374.0, 29.0, 0.0], [1385.0, 309.0, 26.0, 0.0], [2833.0, 669.0, 34.0, 0.0]]}, "up": {"level_counts": [0, 0, 0, 23, 295, 1115], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4315.0, 1763.0, 165.0, 0.0], [4721.0, 1736.0, 196.0, 0.0], [7369.0, 1961.0, 171.0, 0.0], [13010.0, 2678.0, 388.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 43, 571], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [983.0, 810.0, 26.0, 0.0], [2179.0, 1806.0, 68.0, 0.0], [14228.0, 12115.0, 335.0, 0.0]]}, "platform": {"level_counts": [7, 17, 32, 79, 125, 150], "episodes_by_level": [[1852.0, 400.0, 53.0, 0.0], [2299.0, 471.0, 96.0, 0.0], [2122.0, 430.0, 91.0, 0.0], [2036.0, 360.0, 76.0, 0.0], [1661.0, 252.0, 85.0, 0.0], [1081.0, 104.0, 102.0, 0.0]]}, "slope": {"level_counts": [5, 10, 32, 52, 88, 223], "episodes_by_level": [[1657.0, 351.0, 46.0, 0.0], [2092.0, 427.0, 73.0, 0.0], [1948.0, 412.0, 46.0, 0.0], [1686.0, 336.0, 49.0, 0.0], [1442.0, 284.0, 25.0, 0.0], [2254.0, 378.0, 61.0, 0.0]]}, "rubble": {"level_counts": [13, 78, 179, 222, 210, 117], "episodes_by_level": [[3447.0, 785.0, 103.0, 0.0], [5366.0, 1153.0, 234.0, 0.0], [5458.0, 1129.0, 442.0, 0.0], [4494.0, 789.0, 580.0, 0.0], [2669.0, 350.0, 462.0, 0.0], [980.0, 76.0, 233.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23291015625, "command_abs_max": [0.9989451169967651, 0.3991260528564453, 0.6997475028038025]}
{"step": 45250, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 45250, "total_transitions": 185344000, "num_steps_per_env": 1, "wm_loss": 0.5880353450775146, "actor_loss": -9.49820327758789, "critic_loss": 0.006105094216763973, "reward": 0.08716899901628494, "falls": 2, "interval_steps": 50, "velocity_mae": [0.11426172405481339, 0.07057531177997589, 0.13534241914749146], "mean_episode_length": 1373.36875, "episode_reward_terms": {"track_linear_velocity": 48.829986572265625, "track_angular_velocity": 51.85898971557617, "upright": 26.3050594329834, "leg_posture": -2.641768455505371, "standstill": -6.541816234588623, "action_rate_l2": -0.593312680721283, "joint_torques_l2": -0.14586804807186127, "dof_pos_limits": -0.0005575626855716109, "terminated": -0.005364720709621906, "unnecessary_wheel_lift": -0.11137335002422333, "rolling_leg_motion": -0.6019363403320312, "obstacle_progress": 3.928858518600464, "wheel_body_intrusion": -0.28067153692245483, "pair_body_intrusion": -0.28505510091781616}, "weighted_reward_terms": {"track_linear_velocity": 1.7777448892593384, "track_angular_velocity": 1.8880212306976318, "upright": 0.9576837420463562, "leg_posture": -0.09617840498685837, "standstill": -0.23816677927970886, "action_rate_l2": -0.02160063199698925, "joint_torques_l2": -0.005310593172907829, "dof_pos_limits": -2.0299088646424934e-05, "terminated": -0.0001953124738065526, "unnecessary_wheel_lift": -0.004054750315845013, "rolling_leg_motion": -0.021914592012763023, "obstacle_progress": 0.14303727447986603, "wheel_body_intrusion": -0.010218360461294651, "pair_body_intrusion": -0.01037795189768076}, "episode_termination_rates": {"time_out": 0.475, "fell_over": 0.0, "course_exit": 0.5125, "illegal_nonwheel_contact": 0.0125}, "collection_time_s": 0.0761022593267262, "learning_time_s": 0.18493106949841603, "iteration_time_s": 0.2978028415520225, "policy_updates": 44950, "skipped_updates": 0, "invalid_env_resets": 243, "elapsed_s": 13475.57858022902, "nonwheel_terminations": 14365, "contact_bce": 0.28276941180229187, "contact_force_loss": 0.0200370904058218, "collision_bce": 0.000177592461113818, "collision_label_rate": 6.118453165981919e-05, "collision_prediction_mean": 8.556363900424913e-05, "collision_label_count": 16344.0, "terrain_level_mean": 4.266357421875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 11, 42, 73, 275], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1958.0, 429.0, 38.0, 0.0], [1798.0, 419.0, 36.0, 0.0], [1668.0, 374.0, 29.0, 0.0], [1386.0, 309.0, 26.0, 0.0], [2840.0, 671.0, 34.0, 0.0]]}, "up": {"level_counts": [0, 0, 0, 22, 296, 1115], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4315.0, 1763.0, 165.0, 0.0], [4722.0, 1737.0, 196.0, 0.0], [7378.0, 1961.0, 171.0, 0.0], [13038.0, 2682.0, 388.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 42, 572], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [983.0, 810.0, 26.0, 0.0], [2180.0, 1807.0, 68.0, 0.0], [14257.0, 12144.0, 335.0, 0.0]]}, "platform": {"level_counts": [7, 17, 32, 77, 124, 153], "episodes_by_level": [[1852.0, 400.0, 53.0, 0.0], [2300.0, 471.0, 96.0, 0.0], [2124.0, 430.0, 91.0, 0.0], [2041.0, 362.0, 76.0, 0.0], [1668.0, 255.0, 85.0, 0.0], [1085.0, 104.0, 102.0, 0.0]]}, "slope": {"level_counts": [5, 10, 32, 52, 87, 224], "episodes_by_level": [[1657.0, 351.0, 46.0, 0.0], [2092.0, 427.0, 73.0, 0.0], [1949.0, 412.0, 46.0, 0.0], [1688.0, 336.0, 49.0, 0.0], [1444.0, 285.0, 25.0, 0.0], [2263.0, 379.0, 61.0, 0.0]]}, "rubble": {"level_counts": [13, 78, 179, 221, 212, 116], "episodes_by_level": [[3447.0, 785.0, 103.0, 0.0], [5366.0, 1153.0, 234.0, 0.0], [5464.0, 1129.0, 442.0, 0.0], [4503.0, 791.0, 580.0, 0.0], [2676.0, 350.0, 463.0, 0.0], [983.0, 76.0, 234.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23388671875, "command_abs_max": [0.9989451169967651, 0.3991260528564453, 0.6997475028038025]}
{"step": 45300, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 45300, "total_transitions": 185548800, "num_steps_per_env": 1, "wm_loss": 0.5712396502494812, "actor_loss": -9.534570693969727, "critic_loss": 0.007688517216593027, "reward": 0.08719909191131592, "falls": 12, "interval_steps": 50, "velocity_mae": [0.11692208796739578, 0.07122999429702759, 0.1357060819864273], "mean_episode_length": 1336.486301369863, "episode_reward_terms": {"track_linear_velocity": 47.32883834838867, "track_angular_velocity": 50.446502685546875, "upright": 25.58724594116211, "leg_posture": -2.530546188354492, "standstill": -6.090889930725098, "action_rate_l2": -0.5718523263931274, "joint_torques_l2": -0.14197008311748505, "dof_pos_limits": -0.0007019686745479703, "terminated": -0.03132389485836029, "unnecessary_wheel_lift": -0.10077216476202011, "rolling_leg_motion": -0.5745679140090942, "obstacle_progress": 3.786456823348999, "wheel_body_intrusion": -0.26790371537208557, "pair_body_intrusion": -0.2981340289115906}, "weighted_reward_terms": {"track_linear_velocity": 1.7706443071365356, "track_angular_velocity": 1.8872809410095215, "upright": 0.9572580456733704, "leg_posture": -0.09467160701751709, "standstill": -0.22786952555179596, "action_rate_l2": -0.021393872797489166, "joint_torques_l2": -0.005311318673193455, "dof_pos_limits": -2.6261721359333023e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.0037700412794947624, "rolling_leg_motion": -0.02149546518921852, "obstacle_progress": 0.14165714383125305, "wheel_body_intrusion": -0.010022688657045364, "pair_body_intrusion": -0.011153651401400566}, "episode_termination_rates": {"time_out": 0.4726027397260274, "fell_over": 0.0273972602739726, "course_exit": 0.4452054794520548, "illegal_nonwheel_contact": 0.06164383561643835}, "collection_time_s": 0.07651479500578716, "learning_time_s": 0.18546122009167448, "iteration_time_s": 0.29776332133750544, "policy_updates": 45000, "skipped_updates": 0, "invalid_env_resets": 246, "elapsed_s": 13488.678456588998, "nonwheel_terminations": 14374, "contact_bce": 0.28708162903785706, "contact_force_loss": 0.020661747083067894, "collision_bce": 0.000788162462413311, "collision_label_rate": 0.000183812269824557, "collision_prediction_mean": 7.195497892098501e-05, "collision_label_count": 16321.0, "terrain_level_mean": 4.265869140625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 11, 41, 75, 274], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1958.0, 429.0, 38.0, 0.0], [1798.0, 419.0, 36.0, 0.0], [1672.0, 375.0, 29.0, 0.0], [1390.0, 310.0, 26.0, 0.0], [2851.0, 672.0, 36.0, 0.0]]}, "up": {"level_counts": [0, 0, 0, 22, 293, 1118], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4315.0, 1763.0, 165.0, 0.0], [4722.0, 1737.0, 196.0, 0.0], [7388.0, 1965.0, 171.0, 0.0], [13063.0, 2688.0, 388.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 44, 570], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [983.0, 810.0, 26.0, 0.0], [2181.0, 1808.0, 68.0, 0.0], [14281.0, 12163.0, 337.0, 0.0]]}, "platform": {"level_counts": [7, 17, 32, 78, 123, 153], "episodes_by_level": [[1852.0, 400.0, 53.0, 0.0], [2301.0, 471.0, 96.0, 0.0], [2124.0, 430.0, 91.0, 0.0], [2046.0, 362.0, 76.0, 0.0], [1673.0, 255.0, 86.0, 0.0], [1086.0, 104.0, 102.0, 0.0]]}, "slope": {"level_counts": [5, 9, 35, 50, 87, 224], "episodes_by_level": [[1657.0, 351.0, 46.0, 0.0], [2093.0, 428.0, 73.0, 0.0], [1949.0, 412.0, 46.0, 0.0], [1691.0, 336.0, 51.0, 0.0], [1446.0, 285.0, 25.0, 0.0], [2269.0, 381.0, 61.0, 0.0]]}, "rubble": {"level_counts": [13, 79, 177, 223, 211, 116], "episodes_by_level": [[3447.0, 785.0, 103.0, 0.0], [5369.0, 1153.0, 234.0, 0.0], [5468.0, 1130.0, 443.0, 0.0], [4506.0, 791.0, 580.0, 0.0], [2687.0, 351.0, 464.0, 0.0], [986.0, 77.0, 235.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.236328125, "command_abs_max": [0.9994390606880188, 0.3991260528564453, 0.6997475028038025]}
{"step": 45350, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 45350, "total_transitions": 185753600, "num_steps_per_env": 1, "wm_loss": 0.5658189654350281, "actor_loss": -9.523431777954102, "critic_loss": 0.0036235563457012177, "reward": 0.08732476830482483, "falls": 10, "interval_steps": 50, "velocity_mae": [0.1146746575832367, 0.07202404737472534, 0.13418513536453247], "mean_episode_length": 1381.299319727891, "episode_reward_terms": {"track_linear_velocity": 48.99296569824219, "track_angular_velocity": 52.20344924926758, "upright": 26.4399471282959, "leg_posture": -2.6358253955841064, "standstill": -6.317081451416016, "action_rate_l2": -0.585523247718811, "joint_torques_l2": -0.14732302725315094, "dof_pos_limits": -0.0002745245583355427, "terminated": -0.026978498324751854, "unnecessary_wheel_lift": -0.07807641476392746, "rolling_leg_motion": -0.5893191695213318, "obstacle_progress": 3.914393186569214, "wheel_body_intrusion": -0.25613683462142944, "pair_body_intrusion": -0.29255929589271545}, "weighted_reward_terms": {"track_linear_velocity": 1.773437738418579, "track_angular_velocity": 1.8896501064300537, "upright": 0.9570680260658264, "leg_posture": -0.09541109204292297, "standstill": -0.22866447269916534, "action_rate_l2": -0.02119465544819832, "joint_torques_l2": -0.005332769826054573, "dof_pos_limits": -9.937186405295506e-06, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.0028261947445571423, "rolling_leg_motion": -0.021332060918211937, "obstacle_progress": 0.14169242978096008, "wheel_body_intrusion": -0.0092715909704566, "pair_body_intrusion": -0.010590003803372383}, "episode_termination_rates": {"time_out": 0.4897959183673469, "fell_over": 0.027210884353741496, "course_exit": 0.4421768707482993, "illegal_nonwheel_contact": 0.047619047619047616}, "collection_time_s": 0.07582867845427245, "learning_time_s": 0.18542483299737797, "iteration_time_s": 0.2977230936545538, "policy_updates": 45050, "skipped_updates": 0, "invalid_env_resets": 247, "elapsed_s": 13501.742297234014, "nonwheel_terminations": 14381, "contact_bce": 0.285690039396286, "contact_force_loss": 0.020266495645046234, "collision_bce": 0.000174798202351667, "collision_label_rate": 6.121074693510309e-05, "collision_prediction_mean": 2.9462466045515612e-05, "collision_label_count": 16337.0, "terrain_level_mean": 4.265869140625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 11, 41, 75, 274], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1959.0, 429.0, 38.0, 0.0], [1798.0, 419.0, 36.0, 0.0], [1675.0, 375.0, 29.0, 0.0], [1390.0, 310.0, 26.0, 0.0], [2857.0, 672.0, 36.0, 0.0]]}, "up": {"level_counts": [0, 0, 0, 22, 295, 1116], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4315.0, 1763.0, 165.0, 0.0], [4723.0, 1737.0, 196.0, 0.0], [7394.0, 1966.0, 171.0, 0.0], [13092.0, 2691.0, 389.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 45, 569], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [983.0, 810.0, 26.0, 0.0], [2182.0, 1808.0, 68.0, 0.0], [14301.0, 12180.0, 337.0, 0.0]]}, "platform": {"level_counts": [7, 17, 32, 77, 127, 150], "episodes_by_level": [[1852.0, 400.0, 53.0, 0.0], [2302.0, 471.0, 96.0, 0.0], [2126.0, 430.0, 91.0, 0.0], [2047.0, 363.0, 76.0, 0.0], [1675.0, 255.0, 86.0, 0.0], [1091.0, 104.0, 105.0, 0.0]]}, "slope": {"level_counts": [5, 9, 35, 50, 87, 224], "episodes_by_level": [[1657.0, 351.0, 46.0, 0.0], [2094.0, 428.0, 73.0, 0.0], [1950.0, 412.0, 46.0, 0.0], [1693.0, 336.0, 51.0, 0.0], [1448.0, 285.0, 25.0, 0.0], [2278.0, 382.0, 61.0, 0.0]]}, "rubble": {"level_counts": [13, 78, 178, 221, 211, 118], "episodes_by_level": [[3447.0, 785.0, 103.0, 0.0], [5372.0, 1154.0, 234.0, 0.0], [5474.0, 1132.0, 443.0, 0.0], [4518.0, 794.0, 582.0, 0.0], [2694.0, 353.0, 465.0, 0.0], [991.0, 78.0, 235.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.233642578125, "command_abs_max": [0.9994390606880188, 0.3991260528564453, 0.6997475028038025]}
{"step": 45400, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 45400, "total_transitions": 185958400, "num_steps_per_env": 1, "wm_loss": 0.5525656342506409, "actor_loss": -9.513400077819824, "critic_loss": 0.005978239234536886, "reward": 0.08707281947135925, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11435280740261078, 0.07162784039974213, 0.13498303294181824], "mean_episode_length": 1351.173076923077, "episode_reward_terms": {"track_linear_velocity": 47.95362854003906, "track_angular_velocity": 51.0346565246582, "upright": 25.825735092163086, "leg_posture": -2.581590175628662, "standstill": -6.525114059448242, "action_rate_l2": -0.5742464065551758, "joint_torques_l2": -0.14487077295780182, "dof_pos_limits": -0.0007072768057696521, "terminated": -0.023751085624098778, "unnecessary_wheel_lift": -0.08498257398605347, "rolling_leg_motion": -0.5704835057258606, "obstacle_progress": 3.8441619873046875, "wheel_body_intrusion": -0.25223442912101746, "pair_body_intrusion": -0.2497405856847763}, "weighted_reward_terms": {"track_linear_velocity": 1.774518370628357, "track_angular_velocity": 1.8885315656661987, "upright": 0.9556782245635986, "leg_posture": -0.09553144127130508, "standstill": -0.24146106839179993, "action_rate_l2": -0.021249920129776, "joint_torques_l2": -0.005360925570130348, "dof_pos_limits": -2.617269456095528e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.0031447699293494225, "rolling_leg_motion": -0.021110674366354942, "obstacle_progress": 0.14225275814533234, "wheel_body_intrusion": -0.009333904832601547, "pair_body_intrusion": -0.009241621010005474}, "episode_termination_rates": {"time_out": 0.46794871794871795, "fell_over": 0.04487179487179487, "course_exit": 0.47435897435897434, "illegal_nonwheel_contact": 0.03205128205128205}, "collection_time_s": 0.07583762697991915, "learning_time_s": 0.18527601992478593, "iteration_time_s": 0.29768279980242307, "policy_updates": 45100, "skipped_updates": 0, "invalid_env_resets": 248, "elapsed_s": 13514.799111030006, "nonwheel_terminations": 14386, "contact_bce": 0.2846885323524475, "contact_force_loss": 0.020405814051628113, "collision_bce": 8.341399734490551e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 8.378970051126089e-06, "collision_label_count": 16355.0, "terrain_level_mean": 4.26611328125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 11, 41, 75, 274], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1959.0, 429.0, 38.0, 0.0], [1799.0, 419.0, 36.0, 0.0], [1675.0, 375.0, 29.0, 0.0], [1392.0, 310.0, 26.0, 0.0], [2865.0, 673.0, 36.0, 0.0]]}, "up": {"level_counts": [0, 0, 0, 23, 292, 1118], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4315.0, 1763.0, 165.0, 0.0], [4723.0, 1737.0, 196.0, 0.0], [7407.0, 1970.0, 171.0, 0.0], [13123.0, 2699.0, 389.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 44, 569], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [983.0, 810.0, 26.0, 0.0], [2185.0, 1810.0, 69.0, 0.0], [14321.0, 12199.0, 337.0, 0.0]]}, "platform": {"level_counts": [7, 17, 31, 77, 129, 149], "episodes_by_level": [[1852.0, 400.0, 53.0, 0.0], [2302.0, 471.0, 96.0, 0.0], [2128.0, 431.0, 91.0, 0.0], [2049.0, 364.0, 76.0, 0.0], [1678.0, 255.0, 86.0, 0.0], [1097.0, 104.0, 106.0, 0.0]]}, "slope": {"level_counts": [5, 8, 36, 51, 86, 224], "episodes_by_level": [[1657.0, 351.0, 46.0, 0.0], [2095.0, 429.0, 73.0, 0.0], [1950.0, 412.0, 46.0, 0.0], [1695.0, 336.0, 51.0, 0.0], [1453.0, 285.0, 26.0, 0.0], [2284.0, 383.0, 61.0, 0.0]]}, "rubble": {"level_counts": [13, 78, 178, 220, 213, 117], "episodes_by_level": [[3448.0, 785.0, 103.0, 0.0], [5374.0, 1154.0, 234.0, 0.0], [5479.0, 1132.0, 443.0, 0.0], [4528.0, 795.0, 582.0, 0.0], [2697.0, 353.0, 465.0, 0.0], [997.0, 78.0, 236.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234130859375, "command_abs_max": [0.9994390606880188, 0.3991260528564453, 0.6997475028038025]}
{"step": 45450, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 45450, "total_transitions": 186163200, "num_steps_per_env": 1, "wm_loss": 0.5675853490829468, "actor_loss": -9.490720748901367, "critic_loss": 0.005797590594738722, "reward": 0.08694205433130264, "falls": 12, "interval_steps": 50, "velocity_mae": [0.11729113012552261, 0.07169570028781891, 0.1353158801794052], "mean_episode_length": 1338.5681818181818, "episode_reward_terms": {"track_linear_velocity": 47.306243896484375, "track_angular_velocity": 50.5330696105957, "upright": 25.621780395507812, "leg_posture": -2.5307390689849854, "standstill": -6.354893684387207, "action_rate_l2": -0.571096658706665, "joint_torques_l2": -0.14333292841911316, "dof_pos_limits": -0.0005885172868147492, "terminated": -0.03137269243597984, "unnecessary_wheel_lift": -0.08308262377977371, "rolling_leg_motion": -0.5735171437263489, "obstacle_progress": 3.7208826541900635, "wheel_body_intrusion": -0.24871106445789337, "pair_body_intrusion": -0.26679474115371704}, "weighted_reward_terms": {"track_linear_velocity": 1.767046332359314, "track_angular_velocity": 1.8875792026519775, "upright": 0.9570592045783997, "leg_posture": -0.09453156590461731, "standstill": -0.23737652599811554, "action_rate_l2": -0.02133237011730671, "joint_torques_l2": -0.0053539639338850975, "dof_pos_limits": -2.198308902734425e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.003103414084762335, "rolling_leg_motion": -0.02142278477549553, "obstacle_progress": 0.13898742198944092, "wheel_body_intrusion": -0.009290190413594246, "pair_body_intrusion": -0.009965675882995129}, "episode_termination_rates": {"time_out": 0.4621212121212121, "fell_over": 0.030303030303030304, "course_exit": 0.44696969696969696, "illegal_nonwheel_contact": 0.07575757575757576}, "collection_time_s": 0.07600215656333603, "learning_time_s": 0.1851263979973737, "iteration_time_s": 0.2976426104223548, "policy_updates": 45150, "skipped_updates": 0, "invalid_env_resets": 249, "elapsed_s": 13527.856643696025, "nonwheel_terminations": 14396, "contact_bce": 0.2892132103443146, "contact_force_loss": 0.0202097799628973, "collision_bce": 1.6143269021995366e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.6108375348267145e-05, "collision_label_count": 16329.0, "terrain_level_mean": 4.2666015625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 10, 42, 74, 275], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1959.0, 429.0, 38.0, 0.0], [1800.0, 420.0, 36.0, 0.0], [1676.0, 375.0, 29.0, 0.0], [1394.0, 311.0, 26.0, 0.0], [2876.0, 674.0, 36.0, 0.0]]}, "up": {"level_counts": [0, 0, 0, 22, 293, 1118], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4315.0, 1763.0, 165.0, 0.0], [4724.0, 1738.0, 196.0, 0.0], [7408.0, 1971.0, 171.0, 0.0], [13140.0, 2703.0, 389.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 41, 572], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [983.0, 810.0, 26.0, 0.0], [2189.0, 1814.0, 69.0, 0.0], [14337.0, 12214.0, 337.0, 0.0]]}, "platform": {"level_counts": [8, 16, 32, 75, 131, 148], "episodes_by_level": [[1852.0, 400.0, 53.0, 0.0], [2304.0, 471.0, 97.0, 0.0], [2128.0, 431.0, 91.0, 0.0], [2051.0, 365.0, 77.0, 0.0], [1684.0, 255.0, 86.0, 0.0], [1103.0, 106.0, 107.0, 0.0]]}, "slope": {"level_counts": [5, 8, 36, 51, 86, 224], "episodes_by_level": [[1657.0, 351.0, 46.0, 0.0], [2096.0, 429.0, 73.0, 0.0], [1951.0, 412.0, 46.0, 0.0], [1696.0, 336.0, 51.0, 0.0], [1457.0, 286.0, 26.0, 0.0], [2289.0, 383.0, 62.0, 0.0]]}, "rubble": {"level_counts": [13, 77, 178, 223, 213, 115], "episodes_by_level": [[3448.0, 785.0, 103.0, 0.0], [5379.0, 1156.0, 234.0, 0.0], [5489.0, 1133.0, 444.0, 0.0], [4531.0, 795.0, 582.0, 0.0], [2704.0, 354.0, 467.0, 0.0], [1002.0, 78.0, 239.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2333984375, "command_abs_max": [0.9998377561569214, 0.3993665277957916, 0.6997475028038025]}
{"step": 45500, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 45500, "total_transitions": 186368000, "num_steps_per_env": 1, "wm_loss": 0.57273268699646, "actor_loss": -9.481056213378906, "critic_loss": 0.00503342691808939, "reward": 0.08710876107215881, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11630083620548248, 0.07227801531553268, 0.1348118931055069], "mean_episode_length": 1413.7325581395348, "episode_reward_terms": {"track_linear_velocity": 50.00542449951172, "track_angular_velocity": 53.39081573486328, "upright": 27.10113525390625, "leg_posture": -2.6253318786621094, "standstill": -6.626671314239502, "action_rate_l2": -0.6104481816291809, "joint_torques_l2": -0.14961454272270203, "dof_pos_limits": -0.0009433789527975023, "terminated": -0.024850763380527496, "unnecessary_wheel_lift": -0.09510895609855652, "rolling_leg_motion": -0.6149835586547852, "obstacle_progress": 3.9318630695343018, "wheel_body_intrusion": -0.26109492778778076, "pair_body_intrusion": -0.27168118953704834}, "weighted_reward_terms": {"track_linear_velocity": 1.7685602903366089, "track_angular_velocity": 1.888292670249939, "upright": 0.9584958553314209, "leg_posture": -0.09285108000040054, "standstill": -0.23436793684959412, "action_rate_l2": -0.021589946001768112, "joint_torques_l2": -0.0052914731204509735, "dof_pos_limits": -3.336483132443391e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.0033637534361332655, "rolling_leg_motion": -0.021750351414084435, "obstacle_progress": 0.1390596479177475, "wheel_body_intrusion": -0.009234240278601646, "pair_body_intrusion": -0.009608648717403412}, "episode_termination_rates": {"time_out": 0.5348837209302325, "fell_over": 0.03488372093023256, "course_exit": 0.4127906976744186, "illegal_nonwheel_contact": 0.023255813953488372}, "collection_time_s": 0.075661454082001, "learning_time_s": 0.18556131880031898, "iteration_time_s": 0.2976026125591425, "policy_updates": 45200, "skipped_updates": 0, "invalid_env_resets": 249, "elapsed_s": 13540.918871440983, "nonwheel_terminations": 14400, "contact_bce": 0.2777743637561798, "contact_force_loss": 0.020725784823298454, "collision_bce": 0.00011720934708137065, "collision_label_rate": 6.126700463937595e-05, "collision_prediction_mean": 4.557169813779183e-05, "collision_label_count": 16322.0, "terrain_level_mean": 4.267333984375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 10, 42, 72, 277], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1960.0, 429.0, 38.0, 0.0], [1800.0, 420.0, 36.0, 0.0], [1678.0, 375.0, 29.0, 0.0], [1398.0, 313.0, 26.0, 0.0], [2880.0, 674.0, 36.0, 0.0]]}, "up": {"level_counts": [0, 0, 0, 22, 294, 1117], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4315.0, 1763.0, 165.0, 0.0], [4724.0, 1738.0, 196.0, 0.0], [7422.0, 1974.0, 171.0, 0.0], [13168.0, 2710.0, 391.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 38, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [983.0, 810.0, 26.0, 0.0], [2193.0, 1817.0, 69.0, 0.0], [14359.0, 12235.0, 337.0, 0.0]]}, "platform": {"level_counts": [8, 16, 32, 74, 131, 149], "episodes_by_level": [[1852.0, 400.0, 53.0, 0.0], [2304.0, 471.0, 97.0, 0.0], [2129.0, 431.0, 91.0, 0.0], [2053.0, 366.0, 77.0, 0.0], [1690.0, 256.0, 86.0, 0.0], [1112.0, 108.0, 107.0, 0.0]]}, "slope": {"level_counts": [5, 8, 36, 51, 84, 226], "episodes_by_level": [[1657.0, 351.0, 46.0, 0.0], [2096.0, 429.0, 73.0, 0.0], [1952.0, 412.0, 46.0, 0.0], [1698.0, 336.0, 51.0, 0.0], [1464.0, 288.0, 26.0, 0.0], [2295.0, 383.0, 62.0, 0.0]]}, "rubble": {"level_counts": [13, 77, 178, 225, 212, 114], "episodes_by_level": [[3448.0, 785.0, 103.0, 0.0], [5381.0, 1156.0, 234.0, 0.0], [5493.0, 1133.0, 444.0, 0.0], [4538.0, 795.0, 582.0, 0.0], [2711.0, 354.0, 469.0, 0.0], [1009.0, 78.0, 240.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23046875, "command_abs_max": [0.9998377561569214, 0.3993665277957916, 0.6997475028038025]}
{"step": 45550, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 45550, "total_transitions": 186572800, "num_steps_per_env": 1, "wm_loss": 0.5713492035865784, "actor_loss": -9.526938438415527, "critic_loss": 0.005031000357121229, "reward": 0.08738599717617035, "falls": 3, "interval_steps": 50, "velocity_mae": [0.11545869708061218, 0.07175855338573456, 0.1351812481880188], "mean_episode_length": 1367.2279411764705, "episode_reward_terms": {"track_linear_velocity": 48.424560546875, "track_angular_velocity": 51.619346618652344, "upright": 26.21156883239746, "leg_posture": -2.572619915008545, "standstill": -6.029308319091797, "action_rate_l2": -0.5821925401687622, "joint_torques_l2": -0.1445206254720688, "dof_pos_limits": -0.0008395718759857118, "terminated": -0.008011099882423878, "unnecessary_wheel_lift": -0.08496726304292679, "rolling_leg_motion": -0.5881707072257996, "obstacle_progress": 3.737178087234497, "wheel_body_intrusion": -0.2517518401145935, "pair_body_intrusion": -0.2536886930465698}, "weighted_reward_terms": {"track_linear_velocity": 1.7709031105041504, "track_angular_velocity": 1.8877373933792114, "upright": 0.9585661888122559, "leg_posture": -0.09408161044120789, "standstill": -0.22049389779567719, "action_rate_l2": -0.021290984004735947, "joint_torques_l2": -0.005285169929265976, "dof_pos_limits": -3.07034351862967e-05, "terminated": -0.00029296870343387127, "unnecessary_wheel_lift": -0.003107282565906644, "rolling_leg_motion": -0.021509606391191483, "obstacle_progress": 0.13666990399360657, "wheel_body_intrusion": -0.009206652641296387, "pair_body_intrusion": -0.009277484379708767}, "episode_termination_rates": {"time_out": 0.4632352941176471, "fell_over": 0.014705882352941176, "course_exit": 0.5147058823529411, "illegal_nonwheel_contact": 0.007352941176470588}, "collection_time_s": 0.07567524637910537, "learning_time_s": 0.19235187580110505, "iteration_time_s": 0.29757086644489567, "policy_updates": 45250, "skipped_updates": 0, "invalid_env_resets": 249, "elapsed_s": 13554.352966564998, "nonwheel_terminations": 14401, "contact_bce": 0.29530438780784607, "contact_force_loss": 0.02133614383637905, "collision_bce": 2.295937156304717e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 2.2637857910012826e-05, "collision_label_count": 16354.0, "terrain_level_mean": 4.270751953125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 10, 42, 71, 278], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1960.0, 429.0, 38.0, 0.0], [1800.0, 420.0, 36.0, 0.0], [1678.0, 375.0, 29.0, 0.0], [1400.0, 314.0, 26.0, 0.0], [2888.0, 675.0, 36.0, 0.0]]}, "up": {"level_counts": [0, 0, 0, 22, 293, 1118], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4315.0, 1763.0, 165.0, 0.0], [4725.0, 1738.0, 196.0, 0.0], [7428.0, 1976.0, 171.0, 0.0], [13202.0, 2715.0, 392.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 37, 575], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [983.0, 810.0, 26.0, 0.0], [2195.0, 1819.0, 69.0, 0.0], [14378.0, 12251.0, 337.0, 0.0]]}, "platform": {"level_counts": [8, 16, 32, 73, 131, 150], "episodes_by_level": [[1852.0, 400.0, 53.0, 0.0], [2304.0, 471.0, 97.0, 0.0], [2132.0, 431.0, 91.0, 0.0], [2057.0, 367.0, 77.0, 0.0], [1695.0, 257.0, 86.0, 0.0], [1114.0, 108.0, 107.0, 0.0]]}, "slope": {"level_counts": [5, 8, 34, 52, 85, 226], "episodes_by_level": [[1657.0, 351.0, 46.0, 0.0], [2096.0, 429.0, 73.0, 0.0], [1956.0, 414.0, 46.0, 0.0], [1699.0, 337.0, 51.0, 0.0], [1464.0, 288.0, 26.0, 0.0], [2299.0, 385.0, 62.0, 0.0]]}, "rubble": {"level_counts": [13, 77, 177, 222, 215, 115], "episodes_by_level": [[3448.0, 785.0, 103.0, 0.0], [5383.0, 1156.0, 234.0, 0.0], [5496.0, 1135.0, 444.0, 0.0], [4547.0, 799.0, 583.0, 0.0], [2715.0, 355.0, 469.0, 0.0], [1012.0, 78.0, 240.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23095703125, "command_abs_max": [0.9998377561569214, 0.3993665277957916, 0.6997475028038025]}
{"step": 45600, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 45600, "total_transitions": 186777600, "num_steps_per_env": 1, "wm_loss": 0.5978517532348633, "actor_loss": -9.50881576538086, "critic_loss": 0.005682223476469517, "reward": 0.0872993916273117, "falls": 8, "interval_steps": 50, "velocity_mae": [0.1165698692202568, 0.07216460257768631, 0.13499213755130768], "mean_episode_length": 1322.6974789915967, "episode_reward_terms": {"track_linear_velocity": 46.76544189453125, "track_angular_velocity": 49.95108413696289, "upright": 25.33858299255371, "leg_posture": -2.498917818069458, "standstill": -5.8966875076293945, "action_rate_l2": -0.5572553277015686, "joint_torques_l2": -0.14114594459533691, "dof_pos_limits": -0.0005260648904368281, "terminated": -0.020667145028710365, "unnecessary_wheel_lift": -0.08127012103796005, "rolling_leg_motion": -0.5628073215484619, "obstacle_progress": 3.656592607498169, "wheel_body_intrusion": -0.2310769408941269, "pair_body_intrusion": -0.25068435072898865}, "weighted_reward_terms": {"track_linear_velocity": 1.767805576324463, "track_angular_velocity": 1.8882278203964233, "upright": 0.9578374028205872, "leg_posture": -0.09446293860673904, "standstill": -0.22290386259555817, "action_rate_l2": -0.021065110340714455, "joint_torques_l2": -0.0053355335257947445, "dof_pos_limits": -1.9886061636498198e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.003072135616093874, "rolling_leg_motion": -0.021274983882904053, "obstacle_progress": 0.13822482526302338, "wheel_body_intrusion": -0.00873506348580122, "pair_body_intrusion": -0.0094762546941638}, "episode_termination_rates": {"time_out": 0.4369747899159664, "fell_over": 0.03361344537815126, "course_exit": 0.4957983193277311, "illegal_nonwheel_contact": 0.03361344537815126}, "collection_time_s": 0.07569400044390932, "learning_time_s": 0.1853040976135526, "iteration_time_s": 0.2975307897556795, "policy_updates": 45300, "skipped_updates": 0, "invalid_env_resets": 250, "elapsed_s": 13567.404012858984, "nonwheel_terminations": 14405, "contact_bce": 0.29036521911621094, "contact_force_loss": 0.021402209997177124, "collision_bce": 2.7234224035055377e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 2.6750016331789084e-05, "collision_label_count": 16333.0, "terrain_level_mean": 4.2705078125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 10, 42, 70, 279], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1960.0, 429.0, 38.0, 0.0], [1800.0, 420.0, 36.0, 0.0], [1678.0, 375.0, 29.0, 0.0], [1403.0, 315.0, 26.0, 0.0], [2894.0, 677.0, 36.0, 0.0]]}, "up": {"level_counts": [0, 0, 0, 22, 293, 1118], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4315.0, 1763.0, 165.0, 0.0], [4726.0, 1738.0, 196.0, 0.0], [7434.0, 1978.0, 171.0, 0.0], [13228.0, 2719.0, 393.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 37, 575], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [983.0, 810.0, 26.0, 0.0], [2195.0, 1819.0, 69.0, 0.0], [14397.0, 12267.0, 337.0, 0.0]]}, "platform": {"level_counts": [8, 17, 31, 73, 132, 149], "episodes_by_level": [[1853.0, 400.0, 53.0, 0.0], [2306.0, 471.0, 97.0, 0.0], [2134.0, 431.0, 92.0, 0.0], [2058.0, 367.0, 77.0, 0.0], [1695.0, 257.0, 86.0, 0.0], [1120.0, 108.0, 108.0, 0.0]]}, "slope": {"level_counts": [5, 8, 34, 52, 85, 226], "episodes_by_level": [[1657.0, 351.0, 46.0, 0.0], [2096.0, 429.0, 73.0, 0.0], [1956.0, 414.0, 46.0, 0.0], [1699.0, 337.0, 51.0, 0.0], [1465.0, 288.0, 26.0, 0.0], [2301.0, 385.0, 62.0, 0.0]]}, "rubble": {"level_counts": [14, 76, 178, 220, 215, 116], "episodes_by_level": [[3448.0, 785.0, 103.0, 0.0], [5387.0, 1157.0, 235.0, 0.0], [5500.0, 1135.0, 445.0, 0.0], [4551.0, 800.0, 584.0, 0.0], [2722.0, 357.0, 469.0, 0.0], [1014.0, 78.0, 241.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.227294921875, "command_abs_max": [0.9998377561569214, 0.3993665277957916, 0.6997475028038025]}
{"step": 45650, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 45650, "total_transitions": 186982400, "num_steps_per_env": 1, "wm_loss": 0.6114808320999146, "actor_loss": -9.485296249389648, "critic_loss": 0.005095147527754307, "reward": 0.08729373663663864, "falls": 11, "interval_steps": 50, "velocity_mae": [0.11663562804460526, 0.07179548591375351, 0.13435086607933044], "mean_episode_length": 1372.9928057553957, "episode_reward_terms": {"track_linear_velocity": 48.5703239440918, "track_angular_velocity": 51.88238525390625, "upright": 26.30488395690918, "leg_posture": -2.5483455657958984, "standstill": -6.31955623626709, "action_rate_l2": -0.5876133441925049, "joint_torques_l2": -0.1472063809633255, "dof_pos_limits": -0.0007569235749542713, "terminated": -0.029497889801859856, "unnecessary_wheel_lift": -0.07103660702705383, "rolling_leg_motion": -0.5685676336288452, "obstacle_progress": 3.900347948074341, "wheel_body_intrusion": -0.25013333559036255, "pair_body_intrusion": -0.28153955936431885}, "weighted_reward_terms": {"track_linear_velocity": 1.7687757015228271, "track_angular_velocity": 1.8893903493881226, "upright": 0.9579395651817322, "leg_posture": -0.09280259162187576, "standstill": -0.23013800382614136, "action_rate_l2": -0.0213989969342947, "joint_torques_l2": -0.005360785406082869, "dof_pos_limits": -2.7564732590690255e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.002586925635114312, "rolling_leg_motion": -0.020705413073301315, "obstacle_progress": 0.14203818142414093, "wheel_body_intrusion": -0.009109055623412132, "pair_body_intrusion": -0.010252769105136395}, "episode_termination_rates": {"time_out": 0.4892086330935252, "fell_over": 0.03597122302158273, "course_exit": 0.4316546762589928, "illegal_nonwheel_contact": 0.050359712230215826}, "collection_time_s": 0.07555256309336983, "learning_time_s": 0.18527841615956275, "iteration_time_s": 0.2974906179977215, "policy_updates": 45350, "skipped_updates": 0, "invalid_env_resets": 250, "elapsed_s": 13580.446711595985, "nonwheel_terminations": 14412, "contact_bce": 0.2858339846134186, "contact_force_loss": 0.020614223554730415, "collision_bce": 0.0001057114131981507, "collision_label_rate": 6.122948980191723e-05, "collision_prediction_mean": 0.00011856477794935927, "collision_label_count": 16332.0, "terrain_level_mean": 4.27099609375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 10, 41, 69, 281], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1960.0, 429.0, 38.0, 0.0], [1801.0, 420.0, 36.0, 0.0], [1680.0, 376.0, 29.0, 0.0], [1407.0, 317.0, 26.0, 0.0], [2898.0, 677.0, 36.0, 0.0]]}, "up": {"level_counts": [0, 0, 0, 23, 294, 1116], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4315.0, 1763.0, 165.0, 0.0], [4726.0, 1738.0, 196.0, 0.0], [7440.0, 1979.0, 171.0, 0.0], [13255.0, 2723.0, 395.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 39, 573], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [983.0, 810.0, 26.0, 0.0], [2196.0, 1820.0, 69.0, 0.0], [14418.0, 12285.0, 337.0, 0.0]]}, "platform": {"level_counts": [8, 17, 31, 73, 132, 149], "episodes_by_level": [[1853.0, 400.0, 53.0, 0.0], [2308.0, 471.0, 97.0, 0.0], [2136.0, 432.0, 92.0, 0.0], [2059.0, 367.0, 78.0, 0.0], [1698.0, 257.0, 86.0, 0.0], [1122.0, 108.0, 108.0, 0.0]]}, "slope": {"level_counts": [5, 8, 34, 50, 87, 226], "episodes_by_level": [[1657.0, 351.0, 46.0, 0.0], [2096.0, 429.0, 73.0, 0.0], [1956.0, 414.0, 46.0, 0.0], [1704.0, 339.0, 51.0, 0.0], [1466.0, 288.0, 26.0, 0.0], [2313.0, 387.0, 62.0, 0.0]]}, "rubble": {"level_counts": [13, 76, 179, 220, 215, 116], "episodes_by_level": [[3449.0, 786.0, 103.0, 0.0], [5390.0, 1158.0, 235.0, 0.0], [5503.0, 1136.0, 445.0, 0.0], [4556.0, 801.0, 585.0, 0.0], [2729.0, 358.0, 470.0, 0.0], [1018.0, 78.0, 242.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22509765625, "command_abs_max": [0.996929407119751, 0.39975833892822266, 0.6997475028038025]}
{"step": 45700, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 45700, "total_transitions": 187187200, "num_steps_per_env": 1, "wm_loss": 0.5320600867271423, "actor_loss": -9.506206512451172, "critic_loss": 0.008454298600554466, "reward": 0.087366484105587, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11484832316637039, 0.07206597179174423, 0.13478252291679382], "mean_episode_length": 1371.4088050314465, "episode_reward_terms": {"track_linear_velocity": 48.590248107910156, "track_angular_velocity": 51.815547943115234, "upright": 26.282855987548828, "leg_posture": -2.5627989768981934, "standstill": -6.154045581817627, "action_rate_l2": -0.5903434157371521, "joint_torques_l2": -0.14603747427463531, "dof_pos_limits": -0.000838909880258143, "terminated": -0.01339266262948513, "unnecessary_wheel_lift": -0.08318024128675461, "rolling_leg_motion": -0.5744082927703857, "obstacle_progress": 3.8312368392944336, "wheel_body_intrusion": -0.2679663300514221, "pair_body_intrusion": -0.31172752380371094}, "weighted_reward_terms": {"track_linear_velocity": 1.7715450525283813, "track_angular_velocity": 1.889135718345642, "upright": 0.9582429528236389, "leg_posture": -0.09343672543764114, "standstill": -0.22436949610710144, "action_rate_l2": -0.02152324840426445, "joint_torques_l2": -0.005324359983205795, "dof_pos_limits": -3.0585695640183985e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.003032656852155924, "rolling_leg_motion": -0.020942270755767822, "obstacle_progress": 0.13968251645565033, "wheel_body_intrusion": -0.009769747033715248, "pair_body_intrusion": -0.011365230195224285}, "episode_termination_rates": {"time_out": 0.46540880503144655, "fell_over": 0.012578616352201259, "course_exit": 0.5031446540880503, "illegal_nonwheel_contact": 0.018867924528301886}, "collection_time_s": 0.07579717760556377, "learning_time_s": 0.18506295620114543, "iteration_time_s": 0.2974505649301969, "policy_updates": 45400, "skipped_updates": 0, "invalid_env_resets": 250, "elapsed_s": 13593.490817309998, "nonwheel_terminations": 14415, "contact_bce": 0.28388717770576477, "contact_force_loss": 0.019880332052707672, "collision_bce": 0.00018907700723502785, "collision_label_rate": 0.00012239902571309358, "collision_prediction_mean": 0.00013166504504624754, "collision_label_count": 16340.0, "terrain_level_mean": 4.273193359375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 10, 41, 68, 282], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1960.0, 429.0, 38.0, 0.0], [1801.0, 420.0, 36.0, 0.0], [1681.0, 376.0, 29.0, 0.0], [1410.0, 318.0, 26.0, 0.0], [2909.0, 678.0, 36.0, 0.0]]}, "up": {"level_counts": [0, 0, 0, 23, 294, 1116], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4315.0, 1763.0, 165.0, 0.0], [4726.0, 1738.0, 196.0, 0.0], [7449.0, 1980.0, 171.0, 0.0], [13288.0, 2729.0, 395.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 40, 572], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [983.0, 810.0, 26.0, 0.0], [2197.0, 1821.0, 69.0, 0.0], [14435.0, 12300.0, 337.0, 0.0]]}, "platform": {"level_counts": [8, 17, 31, 73, 131, 150], "episodes_by_level": [[1853.0, 400.0, 53.0, 0.0], [2309.0, 471.0, 97.0, 0.0], [2136.0, 432.0, 92.0, 0.0], [2061.0, 367.0, 78.0, 0.0], [1701.0, 258.0, 86.0, 0.0], [1128.0, 110.0, 108.0, 0.0]]}, "slope": {"level_counts": [5, 8, 34, 50, 86, 227], "episodes_by_level": [[1657.0, 351.0, 46.0, 0.0], [2096.0, 429.0, 73.0, 0.0], [1959.0, 414.0, 46.0, 0.0], [1705.0, 339.0, 51.0, 0.0], [1469.0, 289.0, 26.0, 0.0], [2320.0, 388.0, 62.0, 0.0]]}, "rubble": {"level_counts": [13, 75, 178, 220, 215, 118], "episodes_by_level": [[3449.0, 786.0, 103.0, 0.0], [5391.0, 1159.0, 235.0, 0.0], [5510.0, 1139.0, 445.0, 0.0], [4564.0, 804.0, 586.0, 0.0], [2737.0, 360.0, 471.0, 0.0], [1022.0, 79.0, 242.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22412109375, "command_abs_max": [0.996929407119751, 0.39975833892822266, 0.6997475028038025]}
{"step": 45750, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 45750, "total_transitions": 187392000, "num_steps_per_env": 1, "wm_loss": 0.5452629327774048, "actor_loss": -9.529936790466309, "critic_loss": 0.005110980477184057, "reward": 0.08713317662477493, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11448445916175842, 0.07136107981204987, 0.13504089415073395], "mean_episode_length": 1323.9119496855346, "episode_reward_terms": {"track_linear_velocity": 46.970306396484375, "track_angular_velocity": 50.00174331665039, "upright": 25.353443145751953, "leg_posture": -2.524376153945923, "standstill": -6.150491714477539, "action_rate_l2": -0.5567004084587097, "joint_torques_l2": -0.13952340185642242, "dof_pos_limits": -0.000434302695794031, "terminated": -0.01551459264010191, "unnecessary_wheel_lift": -0.08409479260444641, "rolling_leg_motion": -0.5685943365097046, "obstacle_progress": 3.6175425052642822, "wheel_body_intrusion": -0.2660881578922272, "pair_body_intrusion": -0.28057289123535156}, "weighted_reward_terms": {"track_linear_velocity": 1.7739211320877075, "track_angular_velocity": 1.888408899307251, "upright": 0.9575199484825134, "leg_posture": -0.09533776342868805, "standstill": -0.2322847843170166, "action_rate_l2": -0.021024826914072037, "joint_torques_l2": -0.0052693611942231655, "dof_pos_limits": -1.640224945731461e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.0031759964767843485, "rolling_leg_motion": -0.021474022418260574, "obstacle_progress": 0.13662323355674744, "wheel_body_intrusion": -0.010049315169453621, "pair_body_intrusion": -0.01059635728597641}, "episode_termination_rates": {"time_out": 0.4528301886792453, "fell_over": 0.025157232704402517, "course_exit": 0.5094339622641509, "illegal_nonwheel_contact": 0.018867924528301886}, "collection_time_s": 0.07573172642383724, "learning_time_s": 0.18548549658036792, "iteration_time_s": 0.2974109902323715, "policy_updates": 45450, "skipped_updates": 0, "invalid_env_resets": 250, "elapsed_s": 13606.552803130995, "nonwheel_terminations": 14418, "contact_bce": 0.281611829996109, "contact_force_loss": 0.02000688575208187, "collision_bce": 0.00012280256487429142, "collision_label_rate": 6.11807918176055e-05, "collision_prediction_mean": 4.5236945879878476e-05, "collision_label_count": 16345.0, "terrain_level_mean": 4.276611328125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 9, 9, 41, 67, 284], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1960.0, 429.0, 38.0, 0.0], [1802.0, 421.0, 36.0, 0.0], [1685.0, 377.0, 29.0, 0.0], [1415.0, 320.0, 26.0, 0.0], [2919.0, 682.0, 36.0, 0.0]]}, "up": {"level_counts": [0, 0, 0, 23, 292, 1118], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4315.0, 1763.0, 165.0, 0.0], [4726.0, 1738.0, 196.0, 0.0], [7458.0, 1983.0, 171.0, 0.0], [13323.0, 2739.0, 396.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 39, 573], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [983.0, 810.0, 26.0, 0.0], [2200.0, 1824.0, 69.0, 0.0], [14450.0, 12309.0, 337.0, 0.0]]}, "platform": {"level_counts": [8, 17, 30, 72, 133, 150], "episodes_by_level": [[1853.0, 400.0, 53.0, 0.0], [2309.0, 471.0, 97.0, 0.0], [2137.0, 433.0, 92.0, 0.0], [2066.0, 369.0, 78.0, 0.0], [1707.0, 259.0, 86.0, 0.0], [1136.0, 111.0, 109.0, 0.0]]}, "slope": {"level_counts": [5, 8, 34, 50, 85, 228], "episodes_by_level": [[1657.0, 351.0, 46.0, 0.0], [2096.0, 429.0, 73.0, 0.0], [1959.0, 414.0, 46.0, 0.0], [1705.0, 339.0, 51.0, 0.0], [1473.0, 290.0, 26.0, 0.0], [2331.0, 390.0, 62.0, 0.0]]}, "rubble": {"level_counts": [13, 74, 178, 221, 214, 119], "episodes_by_level": [[3450.0, 786.0, 103.0, 0.0], [5395.0, 1160.0, 235.0, 0.0], [5513.0, 1140.0, 445.0, 0.0], [4567.0, 804.0, 586.0, 0.0], [2743.0, 363.0, 471.0, 0.0], [1028.0, 79.0, 244.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22314453125, "command_abs_max": [0.9973740577697754, 0.39975833892822266, 0.6997475028038025]}
{"step": 45800, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 45800, "total_transitions": 187596800, "num_steps_per_env": 1, "wm_loss": 0.550654411315918, "actor_loss": -9.528404235839844, "critic_loss": 0.004807371646165848, "reward": 0.08672817796468735, "falls": 11, "interval_steps": 50, "velocity_mae": [0.11478383094072342, 0.07306670397520065, 0.13628149032592773], "mean_episode_length": 1303.7051282051282, "episode_reward_terms": {"track_linear_velocity": 46.174591064453125, "track_angular_velocity": 49.18657302856445, "upright": 24.961284637451172, "leg_posture": -2.494783639907837, "standstill": -6.448390007019043, "action_rate_l2": -0.5541801452636719, "joint_torques_l2": -0.1381845921278, "dof_pos_limits": -0.00045487351599149406, "terminated": -0.028009286150336266, "unnecessary_wheel_lift": -0.0885440781712532, "rolling_leg_motion": -0.5630343556404114, "obstacle_progress": 3.601511001586914, "wheel_body_intrusion": -0.25991055369377136, "pair_body_intrusion": -0.280490905046463}, "weighted_reward_terms": {"track_linear_velocity": 1.7708988189697266, "track_angular_velocity": 1.886414885520935, "upright": 0.9573209881782532, "leg_posture": -0.09568051993846893, "standstill": -0.24731016159057617, "action_rate_l2": -0.021254045888781548, "joint_torques_l2": -0.005299687851220369, "dof_pos_limits": -1.744541441439651e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.003395862877368927, "rolling_leg_motion": -0.021593624725937843, "obstacle_progress": 0.13812598586082458, "wheel_body_intrusion": -0.009968150407075882, "pair_body_intrusion": -0.010757452808320522}, "episode_termination_rates": {"time_out": 0.4423076923076923, "fell_over": 0.057692307692307696, "course_exit": 0.48717948717948717, "illegal_nonwheel_contact": 0.04487179487179487}, "collection_time_s": 0.07608134323963896, "learning_time_s": 0.18577329147956334, "iteration_time_s": 0.2973721974397596, "policy_updates": 45500, "skipped_updates": 0, "invalid_env_resets": 251, "elapsed_s": 13619.64664274099, "nonwheel_terminations": 14425, "contact_bce": 0.2845127582550049, "contact_force_loss": 0.02021075412631035, "collision_bce": 3.1168539862846956e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 3.0092212909949012e-05, "collision_label_count": 16350.0, "terrain_level_mean": 4.277587890625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 8, 9, 43, 66, 284], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1961.0, 430.0, 38.0, 0.0], [1803.0, 422.0, 36.0, 0.0], [1685.0, 377.0, 29.0, 0.0], [1416.0, 320.0, 27.0, 0.0], [2927.0, 685.0, 36.0, 0.0]]}, "up": {"level_counts": [0, 0, 0, 23, 290, 1120], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4315.0, 1763.0, 165.0, 0.0], [4726.0, 1738.0, 196.0, 0.0], [7465.0, 1986.0, 171.0, 0.0], [13351.0, 2745.0, 396.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 37, 575], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [983.0, 810.0, 26.0, 0.0], [2204.0, 1828.0, 69.0, 0.0], [14480.0, 12336.0, 338.0, 0.0]]}, "platform": {"level_counts": [8, 17, 29, 74, 132, 150], "episodes_by_level": [[1853.0, 400.0, 53.0, 0.0], [2310.0, 471.0, 97.0, 0.0], [2138.0, 434.0, 92.0, 0.0], [2067.0, 369.0, 78.0, 0.0], [1712.0, 260.0, 87.0, 0.0], [1142.0, 111.0, 110.0, 0.0]]}, "slope": {"level_counts": [5, 9, 33, 51, 84, 228], "episodes_by_level": [[1657.0, 351.0, 46.0, 0.0], [2096.0, 429.0, 73.0, 0.0], [1960.0, 414.0, 47.0, 0.0], [1708.0, 339.0, 51.0, 0.0], [1476.0, 290.0, 27.0, 0.0], [2340.0, 391.0, 62.0, 0.0]]}, "rubble": {"level_counts": [13, 74, 178, 221, 213, 120], "episodes_by_level": [[3451.0, 786.0, 103.0, 0.0], [5399.0, 1160.0, 235.0, 0.0], [5515.0, 1141.0, 445.0, 0.0], [4575.0, 805.0, 587.0, 0.0], [2753.0, 365.0, 472.0, 0.0], [1029.0, 79.0, 245.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22607421875, "command_abs_max": [0.9973740577697754, 0.39975833892822266, 0.6997475028038025]}
{"step": 45850, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 45850, "total_transitions": 187801600, "num_steps_per_env": 1, "wm_loss": 0.5849367380142212, "actor_loss": -9.471787452697754, "critic_loss": 0.0050897905603051186, "reward": 0.08693189173936844, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11507582664489746, 0.07187893241643906, 0.13536643981933594], "mean_episode_length": 1374.6687116564417, "episode_reward_terms": {"track_linear_velocity": 48.75062561035156, "track_angular_velocity": 51.903656005859375, "upright": 26.36128807067871, "leg_posture": -2.634331226348877, "standstill": -6.7069411277771, "action_rate_l2": -0.5805496573448181, "joint_torques_l2": -0.14604069292545319, "dof_pos_limits": -0.0006113024428486824, "terminated": -0.013424497097730637, "unnecessary_wheel_lift": -0.0871099904179573, "rolling_leg_motion": -0.5910331010818481, "obstacle_progress": 3.7976722717285156, "wheel_body_intrusion": -0.28087353706359863, "pair_body_intrusion": -0.2697678208351135}, "weighted_reward_terms": {"track_linear_velocity": 1.7731772661209106, "track_angular_velocity": 1.887860655784607, "upright": 0.9588233232498169, "leg_posture": -0.0958169549703598, "standstill": -0.24394755065441132, "action_rate_l2": -0.0211159847676754, "joint_torques_l2": -0.0053118509240448475, "dof_pos_limits": -2.2234538846532814e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.0031683994457125664, "rolling_leg_motion": -0.021497292444109917, "obstacle_progress": 0.13813045620918274, "wheel_body_intrusion": -0.010216045193374157, "pair_body_intrusion": -0.00981210358440876}, "episode_termination_rates": {"time_out": 0.5153374233128835, "fell_over": 0.0, "course_exit": 0.4539877300613497, "illegal_nonwheel_contact": 0.03067484662576687}, "collection_time_s": 0.0757244631415233, "learning_time_s": 0.18513870731694623, "iteration_time_s": 0.29733240818676177, "policy_updates": 45550, "skipped_updates": 0, "invalid_env_resets": 251, "elapsed_s": 13632.690915363026, "nonwheel_terminations": 14430, "contact_bce": 0.2922205328941345, "contact_force_loss": 0.021120265126228333, "collision_bce": 7.638117676833645e-05, "collision_label_rate": 6.123323692008853e-05, "collision_prediction_mean": 4.088322020834312e-05, "collision_label_count": 16331.0, "terrain_level_mean": 4.279296875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 8, 9, 42, 67, 284], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1962.0, 430.0, 38.0, 0.0], [1803.0, 422.0, 36.0, 0.0], [1686.0, 378.0, 29.0, 0.0], [1418.0, 320.0, 27.0, 0.0], [2941.0, 685.0, 36.0, 0.0]]}, "up": {"level_counts": [0, 0, 0, 22, 290, 1121], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4315.0, 1763.0, 165.0, 0.0], [4727.0, 1739.0, 196.0, 0.0], [7471.0, 1989.0, 171.0, 0.0], [13389.0, 2753.0, 397.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 39, 573], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [983.0, 810.0, 26.0, 0.0], [2204.0, 1828.0, 69.0, 0.0], [14498.0, 12353.0, 338.0, 0.0]]}, "platform": {"level_counts": [8, 17, 28, 75, 131, 151], "episodes_by_level": [[1854.0, 400.0, 53.0, 0.0], [2311.0, 471.0, 97.0, 0.0], [2140.0, 435.0, 92.0, 0.0], [2071.0, 369.0, 78.0, 0.0], [1717.0, 261.0, 87.0, 0.0], [1146.0, 111.0, 110.0, 0.0]]}, "slope": {"level_counts": [5, 9, 33, 51, 84, 228], "episodes_by_level": [[1657.0, 351.0, 46.0, 0.0], [2096.0, 429.0, 73.0, 0.0], [1961.0, 414.0, 47.0, 0.0], [1710.0, 339.0, 51.0, 0.0], [1480.0, 290.0, 27.0, 0.0], [2350.0, 395.0, 62.0, 0.0]]}, "rubble": {"level_counts": [13, 74, 176, 221, 215, 120], "episodes_by_level": [[3451.0, 786.0, 103.0, 0.0], [5399.0, 1160.0, 235.0, 0.0], [5522.0, 1143.0, 445.0, 0.0], [4580.0, 808.0, 587.0, 0.0], [2764.0, 365.0, 473.0, 0.0], [1032.0, 80.0, 245.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.228515625, "command_abs_max": [0.9973740577697754, 0.39975833892822266, 0.6997475028038025]}
{"step": 45900, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 45900, "total_transitions": 188006400, "num_steps_per_env": 1, "wm_loss": 0.5656419396400452, "actor_loss": -9.511768341064453, "critic_loss": 0.006069914437830448, "reward": 0.08743651956319809, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11436709016561508, 0.07089628279209137, 0.13416238129138947], "mean_episode_length": 1385.8079470198675, "episode_reward_terms": {"track_linear_velocity": 49.20517349243164, "track_angular_velocity": 52.37443923950195, "upright": 26.555795669555664, "leg_posture": -2.6411638259887695, "standstill": -6.281265735626221, "action_rate_l2": -0.5843020081520081, "joint_torques_l2": -0.14713294804096222, "dof_pos_limits": -0.0005159362335689366, "terminated": -0.016239935532212257, "unnecessary_wheel_lift": -0.08041375130414963, "rolling_leg_motion": -0.5833764672279358, "obstacle_progress": 3.9134669303894043, "wheel_body_intrusion": -0.26177898049354553, "pair_body_intrusion": -0.28247588872909546}, "weighted_reward_terms": {"track_linear_velocity": 1.7753244638442993, "track_angular_velocity": 1.8896716833114624, "upright": 0.958134114742279, "leg_posture": -0.09529328346252441, "standstill": -0.22662830352783203, "action_rate_l2": -0.02108163759112358, "joint_torques_l2": -0.005308561958372593, "dof_pos_limits": -1.8614997316035442e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.0029013310559093952, "rolling_leg_motion": -0.02104824408888817, "obstacle_progress": 0.1411980241537094, "wheel_body_intrusion": -0.00944499485194683, "pair_body_intrusion": -0.010191740468144417}, "episode_termination_rates": {"time_out": 0.5364238410596026, "fell_over": 0.033112582781456956, "course_exit": 0.423841059602649, "illegal_nonwheel_contact": 0.013245033112582781}, "collection_time_s": 0.07592655088170432, "learning_time_s": 0.1835277641797438, "iteration_time_s": 0.2972911700023534, "policy_updates": 45600, "skipped_updates": 0, "invalid_env_resets": 252, "elapsed_s": 13645.664703108021, "nonwheel_terminations": 14432, "contact_bce": 0.2897644639015198, "contact_force_loss": 0.021343350410461426, "collision_bce": 0.00014945173461455852, "collision_label_rate": 6.116207805462182e-05, "collision_prediction_mean": 2.60904216702329e-05, "collision_label_count": 16350.0, "terrain_level_mean": 4.280517578125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 8, 9, 42, 67, 284], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1963.0, 430.0, 38.0, 0.0], [1803.0, 422.0, 36.0, 0.0], [1688.0, 378.0, 29.0, 0.0], [1420.0, 320.0, 27.0, 0.0], [2945.0, 687.0, 36.0, 0.0]]}, "up": {"level_counts": [0, 0, 0, 21, 289, 1123], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4315.0, 1763.0, 165.0, 0.0], [4728.0, 1740.0, 196.0, 0.0], [7483.0, 1993.0, 171.0, 0.0], [13413.0, 2759.0, 398.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 40, 572], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [983.0, 810.0, 26.0, 0.0], [2205.0, 1829.0, 69.0, 0.0], [14516.0, 12369.0, 338.0, 0.0]]}, "platform": {"level_counts": [7, 18, 29, 74, 130, 152], "episodes_by_level": [[1855.0, 401.0, 53.0, 0.0], [2311.0, 471.0, 97.0, 0.0], [2140.0, 435.0, 92.0, 0.0], [2072.0, 369.0, 79.0, 0.0], [1720.0, 262.0, 87.0, 0.0], [1149.0, 111.0, 110.0, 0.0]]}, "slope": {"level_counts": [5, 9, 33, 51, 83, 229], "episodes_by_level": [[1657.0, 351.0, 46.0, 0.0], [2096.0, 429.0, 73.0, 0.0], [1965.0, 414.0, 47.0, 0.0], [1714.0, 339.0, 51.0, 0.0], [1486.0, 291.0, 27.0, 0.0], [2361.0, 395.0, 62.0, 0.0]]}, "rubble": {"level_counts": [13, 74, 176, 220, 216, 120], "episodes_by_level": [[3451.0, 786.0, 103.0, 0.0], [5400.0, 1160.0, 235.0, 0.0], [5528.0, 1143.0, 445.0, 0.0], [4587.0, 810.0, 587.0, 0.0], [2767.0, 365.0, 474.0, 0.0], [1037.0, 81.0, 245.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2314453125, "command_abs_max": [0.9973740577697754, 0.39975833892822266, 0.6997475028038025]}
{"step": 45950, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 45950, "total_transitions": 188211200, "num_steps_per_env": 1, "wm_loss": 0.5673889517784119, "actor_loss": -9.51309585571289, "critic_loss": 0.005242025945335627, "reward": 0.08698912709951401, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11397292464971542, 0.07157907634973526, 0.13356082141399384], "mean_episode_length": 1402.289156626506, "episode_reward_terms": {"track_linear_velocity": 49.780094146728516, "track_angular_velocity": 53.024044036865234, "upright": 26.8671817779541, "leg_posture": -2.6968092918395996, "standstill": -6.854079246520996, "action_rate_l2": -0.5926734209060669, "joint_torques_l2": -0.1483553946018219, "dof_pos_limits": -0.0006230504368431866, "terminated": -0.021910764276981354, "unnecessary_wheel_lift": -0.09196171909570694, "rolling_leg_motion": -0.6096035838127136, "obstacle_progress": 3.8988282680511475, "wheel_body_intrusion": -0.287102073431015, "pair_body_intrusion": -0.28312984108924866}, "weighted_reward_terms": {"track_linear_velocity": 1.7749582529067993, "track_angular_velocity": 1.8906245231628418, "upright": 0.9579758048057556, "leg_posture": -0.09615739434957504, "standstill": -0.24438893795013428, "action_rate_l2": -0.02113235369324684, "joint_torques_l2": -0.005289757624268532, "dof_pos_limits": -2.2215477656573057e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.003278985619544983, "rolling_leg_motion": -0.021736016497015953, "obstacle_progress": 0.1390165537595749, "wheel_body_intrusion": -0.010236906819045544, "pair_body_intrusion": -0.010095273144543171}, "episode_termination_rates": {"time_out": 0.4879518072289157, "fell_over": 0.04216867469879518, "course_exit": 0.463855421686747, "illegal_nonwheel_contact": 0.018072289156626505}, "collection_time_s": 0.07595091298338957, "learning_time_s": 0.1847225359431468, "iteration_time_s": 0.2973779019814147, "policy_updates": 45650, "skipped_updates": 0, "invalid_env_resets": 253, "elapsed_s": 13664.514596046007, "nonwheel_terminations": 14435, "contact_bce": 0.2860349118709564, "contact_force_loss": 0.02041456289589405, "collision_bce": 0.0003145783848594874, "collision_label_rate": 6.112843402661383e-05, "collision_prediction_mean": 1.1549996997928247e-05, "collision_label_count": 16359.0, "terrain_level_mean": 4.281494140625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 8, 9, 42, 66, 285], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1963.0, 430.0, 38.0, 0.0], [1803.0, 422.0, 36.0, 0.0], [1688.0, 378.0, 29.0, 0.0], [1423.0, 321.0, 27.0, 0.0], [2956.0, 689.0, 36.0, 0.0]]}, "up": {"level_counts": [0, 0, 0, 21, 289, 1123], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4315.0, 1763.0, 165.0, 0.0], [4728.0, 1740.0, 196.0, 0.0], [7487.0, 1994.0, 171.0, 0.0], [13449.0, 2766.0, 399.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 40, 572], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [983.0, 810.0, 26.0, 0.0], [2206.0, 1830.0, 69.0, 0.0], [14538.0, 12389.0, 338.0, 0.0]]}, "platform": {"level_counts": [7, 18, 29, 73, 131, 152], "episodes_by_level": [[1855.0, 401.0, 53.0, 0.0], [2312.0, 471.0, 97.0, 0.0], [2141.0, 435.0, 92.0, 0.0], [2073.0, 370.0, 79.0, 0.0], [1725.0, 263.0, 87.0, 0.0], [1154.0, 112.0, 111.0, 0.0]]}, "slope": {"level_counts": [5, 9, 33, 51, 83, 229], "episodes_by_level": [[1657.0, 351.0, 46.0, 0.0], [2096.0, 429.0, 73.0, 0.0], [1967.0, 414.0, 47.0, 0.0], [1717.0, 339.0, 51.0, 0.0], [1490.0, 291.0, 27.0, 0.0], [2368.0, 396.0, 62.0, 0.0]]}, "rubble": {"level_counts": [14, 75, 173, 219, 216, 122], "episodes_by_level": [[3451.0, 786.0, 103.0, 0.0], [5403.0, 1160.0, 236.0, 0.0], [5536.0, 1144.0, 447.0, 0.0], [4595.0, 813.0, 587.0, 0.0], [2776.0, 368.0, 475.0, 0.0], [1042.0, 83.0, 246.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22509765625, "command_abs_max": [0.9973740577697754, 0.39975833892822266, 0.6997475028038025]}
{"step": 46000, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 46000, "total_transitions": 188416000, "num_steps_per_env": 1, "wm_loss": 0.576104998588562, "actor_loss": -9.499322891235352, "critic_loss": 0.004954219795763493, "reward": 0.08718667179346085, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11355780810117722, 0.07179336994886398, 0.13260723650455475], "mean_episode_length": 1339.9864864864865, "episode_reward_terms": {"track_linear_velocity": 47.582271575927734, "track_angular_velocity": 50.711883544921875, "upright": 25.65326690673828, "leg_posture": -2.6371254920959473, "standstill": -6.289294719696045, "action_rate_l2": -0.5624221563339233, "joint_torques_l2": -0.14274516701698303, "dof_pos_limits": -0.0006397570250555873, "terminated": -0.02093728445470333, "unnecessary_wheel_lift": -0.08258144557476044, "rolling_leg_motion": -0.5769620537757874, "obstacle_progress": 3.7070024013519287, "wheel_body_intrusion": -0.27595728635787964, "pair_body_intrusion": -0.23683230578899384}, "weighted_reward_terms": {"track_linear_velocity": 1.7754757404327393, "track_angular_velocity": 1.8922536373138428, "upright": 0.9572212100028992, "leg_posture": -0.09840121120214462, "standstill": -0.23467755317687988, "action_rate_l2": -0.02098611555993557, "joint_torques_l2": -0.005326366517692804, "dof_pos_limits": -2.387177119089756e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0030814283527433872, "rolling_leg_motion": -0.02152865380048752, "obstacle_progress": 0.1383223831653595, "wheel_body_intrusion": -0.010297018103301525, "pair_body_intrusion": -0.008837115950882435}, "episode_termination_rates": {"time_out": 0.47297297297297297, "fell_over": 0.02027027027027027, "course_exit": 0.47297297297297297, "illegal_nonwheel_contact": 0.04054054054054054}, "collection_time_s": 0.07571781502338126, "learning_time_s": 0.18313461198355072, "iteration_time_s": 0.29733605067771807, "policy_updates": 45700, "skipped_updates": 0, "invalid_env_resets": 253, "elapsed_s": 13677.458331175032, "nonwheel_terminations": 14441, "contact_bce": 0.28839728236198425, "contact_force_loss": 0.020420847460627556, "collision_bce": 9.40339159569703e-05, "collision_label_rate": 6.119201862020418e-05, "collision_prediction_mean": 4.584218913805671e-05, "collision_label_count": 16342.0, "terrain_level_mean": 4.282958984375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 8, 9, 42, 64, 287], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1963.0, 430.0, 38.0, 0.0], [1803.0, 422.0, 36.0, 0.0], [1688.0, 378.0, 29.0, 0.0], [1425.0, 323.0, 27.0, 0.0], [2969.0, 691.0, 36.0, 0.0]]}, "up": {"level_counts": [0, 0, 0, 22, 289, 1122], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4315.0, 1763.0, 165.0, 0.0], [4729.0, 1740.0, 196.0, 0.0], [7494.0, 1995.0, 172.0, 0.0], [13476.0, 2770.0, 399.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 38, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [983.0, 810.0, 26.0, 0.0], [2209.0, 1833.0, 69.0, 0.0], [14562.0, 12409.0, 338.0, 0.0]]}, "platform": {"level_counts": [6, 19, 29, 72, 134, 150], "episodes_by_level": [[1856.0, 402.0, 53.0, 0.0], [2312.0, 471.0, 97.0, 0.0], [2141.0, 435.0, 92.0, 0.0], [2076.0, 371.0, 79.0, 0.0], [1726.0, 263.0, 87.0, 0.0], [1158.0, 112.0, 113.0, 0.0]]}, "slope": {"level_counts": [5, 9, 33, 50, 84, 229], "episodes_by_level": [[1658.0, 351.0, 46.0, 0.0], [2097.0, 429.0, 73.0, 0.0], [1968.0, 414.0, 47.0, 0.0], [1720.0, 340.0, 51.0, 0.0], [1494.0, 291.0, 27.0, 0.0], [2375.0, 397.0, 62.0, 0.0]]}, "rubble": {"level_counts": [14, 75, 172, 218, 218, 122], "episodes_by_level": [[3451.0, 786.0, 103.0, 0.0], [5404.0, 1160.0, 236.0, 0.0], [5542.0, 1145.0, 447.0, 0.0], [4602.0, 816.0, 587.0, 0.0], [2782.0, 369.0, 476.0, 0.0], [1045.0, 83.0, 247.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.226318359375, "command_abs_max": [0.9970741271972656, 0.39975833892822266, 0.6997475028038025]}
{"step": 46050, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 46050, "total_transitions": 188620800, "num_steps_per_env": 1, "wm_loss": 0.5431476831436157, "actor_loss": -9.537566184997559, "critic_loss": 0.003885488258674741, "reward": 0.08722061663866043, "falls": 3, "interval_steps": 50, "velocity_mae": [0.11341243237257004, 0.0712447240948677, 0.13393191993236542], "mean_episode_length": 1349.84496124031, "episode_reward_terms": {"track_linear_velocity": 47.935054779052734, "track_angular_velocity": 51.025489807128906, "upright": 25.833057403564453, "leg_posture": -2.6246371269226074, "standstill": -6.312043190002441, "action_rate_l2": -0.5635313987731934, "joint_torques_l2": -0.14269180595874786, "dof_pos_limits": -0.0008691748953424394, "terminated": -0.00790924672037363, "unnecessary_wheel_lift": -0.08036085218191147, "rolling_leg_motion": -0.580757200717926, "obstacle_progress": 3.788076639175415, "wheel_body_intrusion": -0.2595663368701935, "pair_body_intrusion": -0.2750181257724762}, "weighted_reward_terms": {"track_linear_velocity": 1.7755764722824097, "track_angular_velocity": 1.8900501728057861, "upright": 0.956889808177948, "leg_posture": -0.09721995145082474, "standstill": -0.23380623757839203, "action_rate_l2": -0.02087393030524254, "joint_torques_l2": -0.0052854884415864944, "dof_pos_limits": -3.219535938114859e-05, "terminated": -0.00029296870343387127, "unnecessary_wheel_lift": -0.0029766696970909834, "rolling_leg_motion": -0.021511996164917946, "obstacle_progress": 0.1403152495622635, "wheel_body_intrusion": -0.009614672511816025, "pair_body_intrusion": -0.010187026113271713}, "episode_termination_rates": {"time_out": 0.46511627906976744, "fell_over": 0.023255813953488372, "course_exit": 0.5116279069767442, "illegal_nonwheel_contact": 0.015503875968992248}, "collection_time_s": 0.07549571117851883, "learning_time_s": 0.18334881656919605, "iteration_time_s": 0.2972948507942023, "policy_updates": 45750, "skipped_updates": 0, "invalid_env_resets": 253, "elapsed_s": 13690.427879073017, "nonwheel_terminations": 14443, "contact_bce": 0.2882099151611328, "contact_force_loss": 0.019930055364966393, "collision_bce": 0.00038565302384085953, "collision_label_rate": 6.1221988289617e-05, "collision_prediction_mean": 6.942068921489408e-06, "collision_label_count": 16334.0, "terrain_level_mean": 4.2841796875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 8, 9, 42, 64, 287], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1963.0, 430.0, 38.0, 0.0], [1803.0, 422.0, 36.0, 0.0], [1688.0, 378.0, 29.0, 0.0], [1425.0, 323.0, 27.0, 0.0], [2981.0, 691.0, 36.0, 0.0]]}, "up": {"level_counts": [0, 0, 0, 22, 288, 1123], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4315.0, 1763.0, 165.0, 0.0], [4729.0, 1740.0, 196.0, 0.0], [7498.0, 1997.0, 172.0, 0.0], [13503.0, 2776.0, 399.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 38, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [983.0, 810.0, 26.0, 0.0], [2209.0, 1833.0, 69.0, 0.0], [14585.0, 12431.0, 338.0, 0.0]]}, "platform": {"level_counts": [6, 19, 28, 73, 134, 150], "episodes_by_level": [[1857.0, 402.0, 53.0, 0.0], [2312.0, 471.0, 97.0, 0.0], [2142.0, 436.0, 92.0, 0.0], [2078.0, 371.0, 79.0, 0.0], [1729.0, 263.0, 87.0, 0.0], [1165.0, 114.0, 113.0, 0.0]]}, "slope": {"level_counts": [5, 9, 32, 51, 84, 229], "episodes_by_level": [[1658.0, 351.0, 46.0, 0.0], [2097.0, 429.0, 73.0, 0.0], [1969.0, 415.0, 47.0, 0.0], [1720.0, 340.0, 51.0, 0.0], [1494.0, 291.0, 27.0, 0.0], [2379.0, 397.0, 62.0, 0.0]]}, "rubble": {"level_counts": [15, 73, 173, 217, 218, 123], "episodes_by_level": [[3452.0, 786.0, 103.0, 0.0], [5409.0, 1161.0, 237.0, 0.0], [5548.0, 1145.0, 447.0, 0.0], [4606.0, 818.0, 587.0, 0.0], [2787.0, 370.0, 477.0, 0.0], [1046.0, 83.0, 247.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.221435546875, "command_abs_max": [0.9969258308410645, 0.3991260528564453, 0.6997475028038025]}
{"step": 46100, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 46100, "total_transitions": 188825600, "num_steps_per_env": 1, "wm_loss": 0.55375075340271, "actor_loss": -9.515716552734375, "critic_loss": 0.003239363431930542, "reward": 0.08678310364484787, "falls": 12, "interval_steps": 50, "velocity_mae": [0.11341790109872818, 0.07235472649335861, 0.13673517107963562], "mean_episode_length": 1335.4649681528663, "episode_reward_terms": {"track_linear_velocity": 47.383522033691406, "track_angular_velocity": 50.34925842285156, "upright": 25.510740280151367, "leg_posture": -2.5880792140960693, "standstill": -6.525742053985596, "action_rate_l2": -0.5603141188621521, "joint_torques_l2": -0.1407642811536789, "dof_pos_limits": -0.0012712241150438786, "terminated": -0.031299956142902374, "unnecessary_wheel_lift": -0.10432394593954086, "rolling_leg_motion": -0.5707752704620361, "obstacle_progress": 3.7195985317230225, "wheel_body_intrusion": -0.27222055196762085, "pair_body_intrusion": -0.27254238724708557}, "weighted_reward_terms": {"track_linear_velocity": 1.7740459442138672, "track_angular_velocity": 1.885083556175232, "upright": 0.9551258087158203, "leg_posture": -0.09689805656671524, "standstill": -0.24432472884655, "action_rate_l2": -0.02097824215888977, "joint_torques_l2": -0.005270234774798155, "dof_pos_limits": -4.75948145322036e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.003905903548002243, "rolling_leg_motion": -0.02136990800499916, "obstacle_progress": 0.13926230370998383, "wheel_body_intrusion": -0.01019197702407837, "pair_body_intrusion": -0.010204026475548744}, "episode_termination_rates": {"time_out": 0.4585987261146497, "fell_over": 0.05732484076433121, "course_exit": 0.46496815286624205, "illegal_nonwheel_contact": 0.05732484076433121}, "collection_time_s": 0.07563926114002242, "learning_time_s": 0.18346255512093193, "iteration_time_s": 0.2972534503407159, "policy_updates": 45800, "skipped_updates": 0, "invalid_env_resets": 253, "elapsed_s": 13703.384060707001, "nonwheel_terminations": 14452, "contact_bce": 0.2848917245864868, "contact_force_loss": 0.0196237675845623, "collision_bce": 0.0004872047284152359, "collision_label_rate": 6.119576573837548e-05, "collision_prediction_mean": 1.7414160538464785e-05, "collision_label_count": 16341.0, "terrain_level_mean": 4.28466796875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 8, 9, 42, 64, 287], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1964.0, 430.0, 38.0, 0.0], [1803.0, 422.0, 36.0, 0.0], [1690.0, 378.0, 29.0, 0.0], [1428.0, 323.0, 27.0, 0.0], [2989.0, 693.0, 36.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 21, 287, 1124], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4315.0, 1763.0, 165.0, 0.0], [4731.0, 1740.0, 196.0, 0.0], [7507.0, 2000.0, 172.0, 0.0], [13534.0, 2782.0, 400.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 40, 572], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [983.0, 810.0, 26.0, 0.0], [2210.0, 1834.0, 69.0, 0.0], [14601.0, 12445.0, 338.0, 0.0]]}, "platform": {"level_counts": [5, 20, 27, 74, 132, 152], "episodes_by_level": [[1858.0, 403.0, 53.0, 0.0], [2312.0, 471.0, 97.0, 0.0], [2143.0, 437.0, 92.0, 0.0], [2078.0, 371.0, 79.0, 0.0], [1731.0, 265.0, 87.0, 0.0], [1170.0, 115.0, 113.0, 0.0]]}, "slope": {"level_counts": [5, 9, 31, 53, 81, 231], "episodes_by_level": [[1659.0, 351.0, 46.0, 0.0], [2097.0, 429.0, 73.0, 0.0], [1971.0, 416.0, 47.0, 0.0], [1721.0, 340.0, 51.0, 0.0], [1500.0, 293.0, 28.0, 0.0], [2382.0, 397.0, 62.0, 0.0]]}, "rubble": {"level_counts": [15, 73, 174, 218, 215, 124], "episodes_by_level": [[3453.0, 786.0, 103.0, 0.0], [5409.0, 1161.0, 237.0, 0.0], [5556.0, 1146.0, 447.0, 0.0], [4613.0, 819.0, 589.0, 0.0], [2798.0, 371.0, 480.0, 0.0], [1048.0, 84.0, 247.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2275390625, "command_abs_max": [0.9997352361679077, 0.39977917075157166, 0.6997475028038025]}
{"step": 46150, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 46150, "total_transitions": 189030400, "num_steps_per_env": 1, "wm_loss": 0.5598310828208923, "actor_loss": -9.51822280883789, "critic_loss": 0.0035557341761887074, "reward": 0.08690145611763, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11356523633003235, 0.07252572476863861, 0.1360475718975067], "mean_episode_length": 1337.7757575757576, "episode_reward_terms": {"track_linear_velocity": 47.43959426879883, "track_angular_velocity": 50.47096633911133, "upright": 25.582448959350586, "leg_posture": -2.653444766998291, "standstill": -6.304227828979492, "action_rate_l2": -0.5560521483421326, "joint_torques_l2": -0.1431024819612503, "dof_pos_limits": -0.0004790186940226704, "terminated": -0.02351558580994606, "unnecessary_wheel_lift": -0.08652711659669876, "rolling_leg_motion": -0.5716930627822876, "obstacle_progress": 3.627906322479248, "wheel_body_intrusion": -0.2680278718471527, "pair_body_intrusion": -0.25919899344444275}, "weighted_reward_terms": {"track_linear_velocity": 1.773077368736267, "track_angular_velocity": 1.8863762617111206, "upright": 0.9561561346054077, "leg_posture": -0.09917375445365906, "standstill": -0.23562350869178772, "action_rate_l2": -0.0207827128469944, "joint_torques_l2": -0.005348523147404194, "dof_pos_limits": -1.790355054254178e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.0032339917961508036, "rolling_leg_motion": -0.021367298439145088, "obstacle_progress": 0.1355947107076645, "wheel_body_intrusion": -0.010017668828368187, "pair_body_intrusion": -0.00968768447637558}, "episode_termination_rates": {"time_out": 0.5151515151515151, "fell_over": 0.01818181818181818, "course_exit": 0.4303030303030303, "illegal_nonwheel_contact": 0.048484848484848485}, "collection_time_s": 0.07568864010390826, "learning_time_s": 0.18403412835788913, "iteration_time_s": 0.2972128126884075, "policy_updates": 45850, "skipped_updates": 0, "invalid_env_resets": 253, "elapsed_s": 13716.371305570006, "nonwheel_terminations": 14460, "contact_bce": 0.29278966784477234, "contact_force_loss": 0.02147844433784485, "collision_bce": 0.0002623945183586329, "collision_label_rate": 6.120699981693178e-05, "collision_prediction_mean": 6.161448254715651e-05, "collision_label_count": 16338.0, "terrain_level_mean": 4.28662109375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 8, 9, 42, 62, 289], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1964.0, 430.0, 38.0, 0.0], [1803.0, 422.0, 36.0, 0.0], [1691.0, 378.0, 29.0, 0.0], [1430.0, 325.0, 27.0, 0.0], [2999.0, 695.0, 36.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 20, 287, 1125], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4315.0, 1763.0, 165.0, 0.0], [4732.0, 1741.0, 196.0, 0.0], [7518.0, 2003.0, 172.0, 0.0], [13557.0, 2789.0, 402.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 40, 572], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [983.0, 810.0, 26.0, 0.0], [2211.0, 1835.0, 69.0, 0.0], [14625.0, 12468.0, 338.0, 0.0]]}, "platform": {"level_counts": [5, 20, 27, 73, 133, 152], "episodes_by_level": [[1858.0, 403.0, 53.0, 0.0], [2312.0, 471.0, 97.0, 0.0], [2143.0, 437.0, 92.0, 0.0], [2082.0, 372.0, 79.0, 0.0], [1735.0, 266.0, 87.0, 0.0], [1176.0, 115.0, 114.0, 0.0]]}, "slope": {"level_counts": [5, 9, 31, 52, 82, 231], "episodes_by_level": [[1659.0, 351.0, 46.0, 0.0], [2099.0, 429.0, 73.0, 0.0], [1971.0, 416.0, 47.0, 0.0], [1723.0, 341.0, 51.0, 0.0], [1501.0, 293.0, 28.0, 0.0], [2387.0, 397.0, 62.0, 0.0]]}, "rubble": {"level_counts": [15, 72, 176, 216, 215, 125], "episodes_by_level": [[3454.0, 786.0, 103.0, 0.0], [5412.0, 1163.0, 237.0, 0.0], [5568.0, 1147.0, 448.0, 0.0], [4622.0, 822.0, 591.0, 0.0], [2804.0, 372.0, 482.0, 0.0], [1055.0, 88.0, 247.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.224853515625, "command_abs_max": [0.9997352361679077, 0.39977917075157166, 0.6997475028038025]}
{"step": 46200, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 46200, "total_transitions": 189235200, "num_steps_per_env": 1, "wm_loss": 0.5636923313140869, "actor_loss": -9.508810997009277, "critic_loss": 0.0034332808572798967, "reward": 0.08705475926399231, "falls": 11, "interval_steps": 50, "velocity_mae": [0.11575618386268616, 0.07293858379125595, 0.13815750181674957], "mean_episode_length": 1392.7712418300653, "episode_reward_terms": {"track_linear_velocity": 49.261295318603516, "track_angular_velocity": 52.45075607299805, "upright": 26.602127075195312, "leg_posture": -2.7232232093811035, "standstill": -6.158008575439453, "action_rate_l2": -0.584882378578186, "joint_torques_l2": -0.14897364377975464, "dof_pos_limits": -0.0008488651947118342, "terminated": -0.029922816902399063, "unnecessary_wheel_lift": -0.07747849076986313, "rolling_leg_motion": -0.5865331292152405, "obstacle_progress": 3.808086395263672, "wheel_body_intrusion": -0.28475865721702576, "pair_body_intrusion": -0.2802622616291046}, "weighted_reward_terms": {"track_linear_velocity": 1.7684632539749146, "track_angular_velocity": 1.88296377658844, "upright": 0.955007016658783, "leg_posture": -0.09776275604963303, "standstill": -0.22107034921646118, "action_rate_l2": -0.020997073501348495, "joint_torques_l2": -0.00534810172393918, "dof_pos_limits": -3.047396421607118e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.0027814507484436035, "rolling_leg_motion": -0.021056335419416428, "obstacle_progress": 0.13670897483825684, "wheel_body_intrusion": -0.01022273674607277, "pair_body_intrusion": -0.01006131712347269}, "episode_termination_rates": {"time_out": 0.5032679738562091, "fell_over": 0.05228758169934641, "course_exit": 0.42483660130718953, "illegal_nonwheel_contact": 0.0392156862745098}, "collection_time_s": 0.07557762057869695, "learning_time_s": 0.18528005316620694, "iteration_time_s": 0.2971734913947838, "policy_updates": 45900, "skipped_updates": 0, "invalid_env_resets": 253, "elapsed_s": 13729.41530243901, "nonwheel_terminations": 14466, "contact_bce": 0.2867851257324219, "contact_force_loss": 0.02059866674244404, "collision_bce": 6.949789531063288e-05, "collision_label_rate": 0.00012256404443178326, "collision_prediction_mean": 9.431142098037526e-05, "collision_label_count": 16318.0, "terrain_level_mean": 4.287109375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 8, 9, 41, 63, 289], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1965.0, 430.0, 38.0, 0.0], [1803.0, 422.0, 36.0, 0.0], [1693.0, 379.0, 29.0, 0.0], [1431.0, 325.0, 27.0, 0.0], [3012.0, 699.0, 36.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 20, 287, 1125], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4315.0, 1763.0, 165.0, 0.0], [4732.0, 1741.0, 196.0, 0.0], [7527.0, 2006.0, 172.0, 0.0], [13583.0, 2796.0, 404.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 40, 572], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [983.0, 810.0, 26.0, 0.0], [2212.0, 1836.0, 69.0, 0.0], [14641.0, 12482.0, 338.0, 0.0]]}, "platform": {"level_counts": [4, 21, 28, 72, 134, 151], "episodes_by_level": [[1859.0, 404.0, 53.0, 0.0], [2314.0, 471.0, 97.0, 0.0], [2144.0, 437.0, 92.0, 0.0], [2085.0, 372.0, 80.0, 0.0], [1741.0, 266.0, 87.0, 0.0], [1181.0, 115.0, 115.0, 0.0]]}, "slope": {"level_counts": [5, 9, 31, 52, 83, 230], "episodes_by_level": [[1660.0, 351.0, 46.0, 0.0], [2099.0, 429.0, 73.0, 0.0], [1972.0, 416.0, 47.0, 0.0], [1723.0, 341.0, 51.0, 0.0], [1505.0, 294.0, 28.0, 0.0], [2396.0, 397.0, 64.0, 0.0]]}, "rubble": {"level_counts": [15, 73, 173, 217, 215, 126], "episodes_by_level": [[3454.0, 786.0, 103.0, 0.0], [5415.0, 1164.0, 237.0, 0.0], [5578.0, 1149.0, 450.0, 0.0], [4631.0, 824.0, 591.0, 0.0], [2813.0, 373.0, 483.0, 0.0], [1059.0, 88.0, 247.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22314453125, "command_abs_max": [0.9997352361679077, 0.39977917075157166, 0.6997475028038025]}
{"step": 46250, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 46250, "total_transitions": 189440000, "num_steps_per_env": 1, "wm_loss": 0.576779305934906, "actor_loss": -9.480226516723633, "critic_loss": 0.007159878499805927, "reward": 0.0870191901922226, "falls": 13, "interval_steps": 50, "velocity_mae": [0.11725064367055893, 0.0735165998339653, 0.13710570335388184], "mean_episode_length": 1353.0886075949368, "episode_reward_terms": {"track_linear_velocity": 47.738929748535156, "track_angular_velocity": 51.00505065917969, "upright": 25.858732223510742, "leg_posture": -2.6351921558380127, "standstill": -5.98914098739624, "action_rate_l2": -0.5747887492179871, "joint_torques_l2": -0.14434917271137238, "dof_pos_limits": -0.0011822079541161656, "terminated": -0.0343557633459568, "unnecessary_wheel_lift": -0.09404899179935455, "rolling_leg_motion": -0.5792376399040222, "obstacle_progress": 3.7173337936401367, "wheel_body_intrusion": -0.256916344165802, "pair_body_intrusion": -0.2661534547805786}, "weighted_reward_terms": {"track_linear_velocity": 1.7640725374221802, "track_angular_velocity": 1.8847639560699463, "upright": 0.9555447101593018, "leg_posture": -0.09737692773342133, "standstill": -0.2213137000799179, "action_rate_l2": -0.021239878609776497, "joint_torques_l2": -0.005334062036126852, "dof_pos_limits": -4.368553345557302e-05, "terminated": -0.0012695310870185494, "unnecessary_wheel_lift": -0.0034753449726849794, "rolling_leg_motion": -0.02140427567064762, "obstacle_progress": 0.13736476004123688, "wheel_body_intrusion": -0.009493699297308922, "pair_body_intrusion": -0.009835034608840942}, "episode_termination_rates": {"time_out": 0.4620253164556962, "fell_over": 0.05063291139240506, "course_exit": 0.45569620253164556, "illegal_nonwheel_contact": 0.04430379746835443}, "collection_time_s": 0.07558324227575212, "learning_time_s": 0.18438292313949206, "iteration_time_s": 0.29713329157688706, "policy_updates": 45950, "skipped_updates": 0, "invalid_env_resets": 253, "elapsed_s": 13742.414735431026, "nonwheel_terminations": 14473, "contact_bce": 0.2882119417190552, "contact_force_loss": 0.020952971652150154, "collision_bce": 0.00023076150682754815, "collision_label_rate": 6.116956501500681e-05, "collision_prediction_mean": 1.109838285628939e-05, "collision_label_count": 16348.0, "terrain_level_mean": 4.28662109375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 8, 9, 41, 63, 289], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1965.0, 430.0, 38.0, 0.0], [1804.0, 422.0, 36.0, 0.0], [1693.0, 379.0, 29.0, 0.0], [1432.0, 325.0, 27.0, 0.0], [3024.0, 702.0, 36.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 20, 288, 1124], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4315.0, 1763.0, 165.0, 0.0], [4733.0, 1741.0, 196.0, 0.0], [7538.0, 2008.0, 172.0, 0.0], [13612.0, 2803.0, 405.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 41, 571], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [983.0, 810.0, 26.0, 0.0], [2215.0, 1839.0, 69.0, 0.0], [14659.0, 12497.0, 339.0, 0.0]]}, "platform": {"level_counts": [4, 21, 28, 71, 135, 151], "episodes_by_level": [[1859.0, 404.0, 53.0, 0.0], [2314.0, 471.0, 97.0, 0.0], [2144.0, 437.0, 92.0, 0.0], [2088.0, 373.0, 80.0, 0.0], [1747.0, 266.0, 87.0, 0.0], [1184.0, 115.0, 115.0, 0.0]]}, "slope": {"level_counts": [5, 9, 31, 52, 83, 230], "episodes_by_level": [[1660.0, 351.0, 46.0, 0.0], [2099.0, 429.0, 73.0, 0.0], [1973.0, 416.0, 47.0, 0.0], [1724.0, 341.0, 51.0, 0.0], [1507.0, 294.0, 28.0, 0.0], [2401.0, 398.0, 64.0, 0.0]]}, "rubble": {"level_counts": [15, 73, 174, 215, 217, 125], "episodes_by_level": [[3454.0, 786.0, 103.0, 0.0], [5417.0, 1164.0, 237.0, 0.0], [5580.0, 1149.0, 450.0, 0.0], [4640.0, 827.0, 592.0, 0.0], [2823.0, 375.0, 485.0, 0.0], [1065.0, 89.0, 250.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2197265625, "command_abs_max": [0.9997352361679077, 0.39978039264678955, 0.6997475028038025]}
{"step": 46300, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 46300, "total_transitions": 189644800, "num_steps_per_env": 1, "wm_loss": 0.5407413840293884, "actor_loss": -9.487195014953613, "critic_loss": 0.005981791764497757, "reward": 0.08742756396532059, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11643362045288086, 0.07239692658185959, 0.13653843104839325], "mean_episode_length": 1344.1690140845071, "episode_reward_terms": {"track_linear_velocity": 47.509464263916016, "track_angular_velocity": 50.704933166503906, "upright": 25.725439071655273, "leg_posture": -2.5730504989624023, "standstill": -5.700279235839844, "action_rate_l2": -0.5678330063819885, "joint_torques_l2": -0.14231516420841217, "dof_pos_limits": -0.0004957994678989053, "terminated": -0.018377309665083885, "unnecessary_wheel_lift": -0.08144192397594452, "rolling_leg_motion": -0.5691590309143066, "obstacle_progress": 3.7431156635284424, "wheel_body_intrusion": -0.24422255158424377, "pair_body_intrusion": -0.26832085847854614}, "weighted_reward_terms": {"track_linear_velocity": 1.7672429084777832, "track_angular_velocity": 1.886107087135315, "upright": 0.9569272994995117, "leg_posture": -0.09571156650781631, "standstill": -0.21203729510307312, "action_rate_l2": -0.021122083067893982, "joint_torques_l2": -0.0052937972359359264, "dof_pos_limits": -1.844260077632498e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0030294524040073156, "rolling_leg_motion": -0.021171407774090767, "obstacle_progress": 0.13923530280590057, "wheel_body_intrusion": -0.009084518067538738, "pair_body_intrusion": -0.009980919770896435}, "episode_termination_rates": {"time_out": 0.4084507042253521, "fell_over": 0.02112676056338028, "course_exit": 0.5422535211267606, "illegal_nonwheel_contact": 0.035211267605633804}, "collection_time_s": 0.07553478671819903, "learning_time_s": 0.18449404475977643, "iteration_time_s": 0.29709324631250494, "policy_updates": 46000, "skipped_updates": 0, "invalid_env_resets": 253, "elapsed_s": 13755.41730426898, "nonwheel_terminations": 14478, "contact_bce": 0.28547629714012146, "contact_force_loss": 0.020223816856741905, "collision_bce": 1.5236057151923887e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.5225464267132338e-05, "collision_label_count": 16320.0, "terrain_level_mean": 4.287353515625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 8, 9, 40, 64, 289], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1965.0, 430.0, 38.0, 0.0], [1805.0, 422.0, 36.0, 0.0], [1695.0, 380.0, 29.0, 0.0], [1432.0, 325.0, 27.0, 0.0], [3033.0, 704.0, 36.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 21, 287, 1124], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4315.0, 1763.0, 165.0, 0.0], [4735.0, 1742.0, 196.0, 0.0], [7548.0, 2010.0, 172.0, 0.0], [13643.0, 2810.0, 406.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 41, 571], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [983.0, 810.0, 26.0, 0.0], [2215.0, 1839.0, 69.0, 0.0], [14680.0, 12515.0, 339.0, 0.0]]}, "platform": {"level_counts": [4, 21, 28, 71, 136, 150], "episodes_by_level": [[1859.0, 404.0, 53.0, 0.0], [2314.0, 471.0, 97.0, 0.0], [2145.0, 437.0, 92.0, 0.0], [2088.0, 373.0, 80.0, 0.0], [1750.0, 266.0, 87.0, 0.0], [1190.0, 115.0, 116.0, 0.0]]}, "slope": {"level_counts": [5, 8, 32, 52, 82, 231], "episodes_by_level": [[1660.0, 351.0, 46.0, 0.0], [2100.0, 430.0, 73.0, 0.0], [1973.0, 416.0, 47.0, 0.0], [1724.0, 341.0, 51.0, 0.0], [1510.0, 295.0, 28.0, 0.0], [2407.0, 398.0, 64.0, 0.0]]}, "rubble": {"level_counts": [15, 73, 175, 212, 218, 126], "episodes_by_level": [[3455.0, 786.0, 103.0, 0.0], [5421.0, 1165.0, 237.0, 0.0], [5586.0, 1149.0, 451.0, 0.0], [4651.0, 829.0, 593.0, 0.0], [2825.0, 376.0, 485.0, 0.0], [1066.0, 90.0, 250.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.219970703125, "command_abs_max": [0.9997352361679077, 0.39978039264678955, 0.6997475028038025]}
{"step": 46350, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 46350, "total_transitions": 189849600, "num_steps_per_env": 1, "wm_loss": 0.5814430713653564, "actor_loss": -9.515819549560547, "critic_loss": 0.0036060058046132326, "reward": 0.08773595839738846, "falls": 4, "interval_steps": 50, "velocity_mae": [0.11462925374507904, 0.07164089381694794, 0.13581179082393646], "mean_episode_length": 1391.2831325301204, "episode_reward_terms": {"track_linear_velocity": 49.29856491088867, "track_angular_velocity": 52.50945281982422, "upright": 26.67274284362793, "leg_posture": -2.6301329135894775, "standstill": -5.714311122894287, "action_rate_l2": -0.589634895324707, "joint_torques_l2": -0.14725853502750397, "dof_pos_limits": -0.0004865789378527552, "terminated": -0.010869396850466728, "unnecessary_wheel_lift": -0.07473011314868927, "rolling_leg_motion": -0.5863379836082458, "obstacle_progress": 3.882103681564331, "wheel_body_intrusion": -0.2642587125301361, "pair_body_intrusion": -0.2793008089065552}, "weighted_reward_terms": {"track_linear_velocity": 1.771694302558899, "track_angular_velocity": 1.887087345123291, "upright": 0.958566427230835, "leg_posture": -0.09452184289693832, "standstill": -0.20536120235919952, "action_rate_l2": -0.021190328523516655, "joint_torques_l2": -0.00529218465089798, "dof_pos_limits": -1.7486698197899386e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.002685654442757368, "rolling_leg_motion": -0.021071843802928925, "obstacle_progress": 0.1395152360200882, "wheel_body_intrusion": -0.009496942162513733, "pair_body_intrusion": -0.010037526488304138}, "episode_termination_rates": {"time_out": 0.4759036144578313, "fell_over": 0.012048192771084338, "course_exit": 0.5, "illegal_nonwheel_contact": 0.018072289156626505}, "collection_time_s": 0.07574811729602515, "learning_time_s": 0.19278361272416078, "iteration_time_s": 0.29706246008578224, "policy_updates": 46050, "skipped_updates": 0, "invalid_env_resets": 253, "elapsed_s": 13768.845024976006, "nonwheel_terminations": 14481, "contact_bce": 0.28304579854011536, "contact_force_loss": 0.02043040469288826, "collision_bce": 9.919373042066582e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 9.968479389499407e-06, "collision_label_count": 16354.0, "terrain_level_mean": 4.2890625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 8, 9, 39, 65, 289], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1965.0, 430.0, 38.0, 0.0], [1805.0, 422.0, 36.0, 0.0], [1697.0, 381.0, 29.0, 0.0], [1436.0, 325.0, 27.0, 0.0], [3044.0, 708.0, 36.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 21, 286, 1125], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4315.0, 1763.0, 165.0, 0.0], [4735.0, 1742.0, 196.0, 0.0], [7554.0, 2011.0, 172.0, 0.0], [13678.0, 2818.0, 406.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 38, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [983.0, 810.0, 26.0, 0.0], [2217.0, 1841.0, 69.0, 0.0], [14702.0, 12534.0, 339.0, 0.0]]}, "platform": {"level_counts": [4, 21, 27, 72, 135, 151], "episodes_by_level": [[1859.0, 404.0, 53.0, 0.0], [2314.0, 471.0, 97.0, 0.0], [2146.0, 438.0, 92.0, 0.0], [2091.0, 373.0, 80.0, 0.0], [1758.0, 267.0, 87.0, 0.0], [1191.0, 115.0, 116.0, 0.0]]}, "slope": {"level_counts": [5, 8, 30, 54, 82, 231], "episodes_by_level": [[1660.0, 351.0, 46.0, 0.0], [2100.0, 430.0, 73.0, 0.0], [1975.0, 418.0, 47.0, 0.0], [1724.0, 341.0, 51.0, 0.0], [1512.0, 295.0, 28.0, 0.0], [2412.0, 399.0, 64.0, 0.0]]}, "rubble": {"level_counts": [15, 74, 173, 213, 220, 124], "episodes_by_level": [[3455.0, 786.0, 103.0, 0.0], [5425.0, 1165.0, 237.0, 0.0], [5591.0, 1150.0, 452.0, 0.0], [4659.0, 830.0, 593.0, 0.0], [2834.0, 376.0, 486.0, 0.0], [1071.0, 91.0, 252.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22119140625, "command_abs_max": [0.9997352361679077, 0.39978039264678955, 0.6997475028038025]}
{"step": 46400, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 46400, "total_transitions": 190054400, "num_steps_per_env": 1, "wm_loss": 0.5912701487541199, "actor_loss": -9.511674880981445, "critic_loss": 0.0071739815175533295, "reward": 0.08761512488126755, "falls": 2, "interval_steps": 50, "velocity_mae": [0.11475235223770142, 0.07275544106960297, 0.13599996268749237], "mean_episode_length": 1405.5064935064936, "episode_reward_terms": {"track_linear_velocity": 49.802879333496094, "track_angular_velocity": 53.0378532409668, "upright": 26.932798385620117, "leg_posture": -2.6508114337921143, "standstill": -5.882205963134766, "action_rate_l2": -0.5975591540336609, "joint_torques_l2": -0.14932221174240112, "dof_pos_limits": -0.00040224395343102515, "terminated": -0.005490258801728487, "unnecessary_wheel_lift": -0.07500462979078293, "rolling_leg_motion": -0.6024240255355835, "obstacle_progress": 3.930194854736328, "wheel_body_intrusion": -0.28249281644821167, "pair_body_intrusion": -0.31441643834114075}, "weighted_reward_terms": {"track_linear_velocity": 1.7717058658599854, "track_angular_velocity": 1.886788010597229, "upright": 0.9581171870231628, "leg_posture": -0.09430093318223953, "standstill": -0.20925575494766235, "action_rate_l2": -0.021257787942886353, "joint_torques_l2": -0.005312042776495218, "dof_pos_limits": -1.4309573998616543e-05, "terminated": -0.0001953124738065526, "unnecessary_wheel_lift": -0.0026682422030717134, "rolling_leg_motion": -0.021430853754281998, "obstacle_progress": 0.13981418311595917, "wheel_body_intrusion": -0.010049502365291119, "pair_body_intrusion": -0.011185165494680405}, "episode_termination_rates": {"time_out": 0.5194805194805194, "fell_over": 0.006493506493506494, "course_exit": 0.4675324675324675, "illegal_nonwheel_contact": 0.006493506493506494}, "collection_time_s": 0.07566083933576011, "learning_time_s": 0.18565007954253815, "iteration_time_s": 0.2970239628512505, "policy_updates": 46100, "skipped_updates": 0, "invalid_env_resets": 253, "elapsed_s": 13781.911876298022, "nonwheel_terminations": 14482, "contact_bce": 0.2899016737937927, "contact_force_loss": 0.02061532624065876, "collision_bce": 4.13786583521869e-05, "collision_label_rate": 6.115085852798074e-05, "collision_prediction_mean": 8.928373426897451e-05, "collision_label_count": 16353.0, "terrain_level_mean": 4.29150390625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 8, 8, 39, 66, 289], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1965.0, 430.0, 38.0, 0.0], [1806.0, 423.0, 36.0, 0.0], [1698.0, 382.0, 29.0, 0.0], [1441.0, 325.0, 27.0, 0.0], [3058.0, 712.0, 36.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 21, 285, 1126], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4315.0, 1763.0, 165.0, 0.0], [4735.0, 1742.0, 196.0, 0.0], [7557.0, 2012.0, 172.0, 0.0], [13710.0, 2823.0, 406.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 36, 577], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [983.0, 810.0, 26.0, 0.0], [2220.0, 1844.0, 69.0, 0.0], [14724.0, 12552.0, 339.0, 0.0]]}, "platform": {"level_counts": [4, 21, 27, 71, 136, 151], "episodes_by_level": [[1859.0, 404.0, 53.0, 0.0], [2315.0, 471.0, 97.0, 0.0], [2149.0, 438.0, 92.0, 0.0], [2093.0, 374.0, 80.0, 0.0], [1762.0, 267.0, 87.0, 0.0], [1196.0, 115.0, 116.0, 0.0]]}, "slope": {"level_counts": [5, 8, 30, 51, 85, 231], "episodes_by_level": [[1661.0, 351.0, 46.0, 0.0], [2101.0, 430.0, 73.0, 0.0], [1978.0, 418.0, 47.0, 0.0], [1728.0, 344.0, 51.0, 0.0], [1513.0, 295.0, 28.0, 0.0], [2416.0, 399.0, 64.0, 0.0]]}, "rubble": {"level_counts": [15, 74, 174, 212, 220, 124], "episodes_by_level": [[3455.0, 786.0, 103.0, 0.0], [5428.0, 1165.0, 237.0, 0.0], [5592.0, 1150.0, 452.0, 0.0], [4664.0, 830.0, 594.0, 0.0], [2839.0, 377.0, 486.0, 0.0], [1077.0, 91.0, 253.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2197265625, "command_abs_max": [0.9977778196334839, 0.39978039264678955, 0.699864387512207]}
{"step": 46450, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 46450, "total_transitions": 190259200, "num_steps_per_env": 1, "wm_loss": 0.5701009631156921, "actor_loss": -9.516606330871582, "critic_loss": 0.004840599838644266, "reward": 0.08749032020568848, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11433538049459457, 0.07262255251407623, 0.13457082211971283], "mean_episode_length": 1336.3710691823899, "episode_reward_terms": {"track_linear_velocity": 47.37354278564453, "track_angular_velocity": 50.488914489746094, "upright": 25.589923858642578, "leg_posture": -2.5549404621124268, "standstill": -5.852773666381836, "action_rate_l2": -0.5598353743553162, "joint_torques_l2": -0.1417083889245987, "dof_pos_limits": -0.0004969366127625108, "terminated": -0.015660597011446953, "unnecessary_wheel_lift": -0.07623207569122314, "rolling_leg_motion": -0.565625011920929, "obstacle_progress": 3.7616238594055176, "wheel_body_intrusion": -0.2608700692653656, "pair_body_intrusion": -0.2663106322288513}, "weighted_reward_terms": {"track_linear_velocity": 1.7724697589874268, "track_angular_velocity": 1.8890304565429688, "upright": 0.9574407935142517, "leg_posture": -0.09559247642755508, "standstill": -0.2189801186323166, "action_rate_l2": -0.02094610594213009, "joint_torques_l2": -0.005301984958350658, "dof_pos_limits": -1.8592761989566498e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.0028522044885903597, "rolling_leg_motion": -0.021162722259759903, "obstacle_progress": 0.14074024558067322, "wheel_body_intrusion": -0.009760390035808086, "pair_body_intrusion": -0.009963948279619217}, "episode_termination_rates": {"time_out": 0.4339622641509434, "fell_over": 0.012578616352201259, "course_exit": 0.5283018867924528, "illegal_nonwheel_contact": 0.025157232704402517}, "collection_time_s": 0.07570265977759845, "learning_time_s": 0.18564545858302153, "iteration_time_s": 0.2969855849084605, "policy_updates": 46150, "skipped_updates": 0, "invalid_env_resets": 253, "elapsed_s": 13794.980418997991, "nonwheel_terminations": 14486, "contact_bce": 0.28002363443374634, "contact_force_loss": 0.020340580493211746, "collision_bce": 5.057972521171905e-05, "collision_label_rate": 6.11134892096743e-05, "collision_prediction_mean": 3.678993016364984e-05, "collision_label_count": 16363.0, "terrain_level_mean": 4.293212890625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 8, 8, 39, 66, 289], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1965.0, 430.0, 38.0, 0.0], [1806.0, 423.0, 36.0, 0.0], [1698.0, 382.0, 29.0, 0.0], [1443.0, 325.0, 27.0, 0.0], [3068.0, 715.0, 36.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 21, 284, 1127], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4315.0, 1763.0, 165.0, 0.0], [4735.0, 1742.0, 196.0, 0.0], [7569.0, 2015.0, 172.0, 0.0], [13743.0, 2828.0, 406.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 35, 578], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [983.0, 810.0, 26.0, 0.0], [2223.0, 1847.0, 69.0, 0.0], [14748.0, 12574.0, 339.0, 0.0]]}, "platform": {"level_counts": [4, 21, 27, 71, 136, 151], "episodes_by_level": [[1859.0, 404.0, 53.0, 0.0], [2315.0, 471.0, 97.0, 0.0], [2149.0, 438.0, 92.0, 0.0], [2095.0, 374.0, 80.0, 0.0], [1766.0, 267.0, 87.0, 0.0], [1199.0, 115.0, 116.0, 0.0]]}, "slope": {"level_counts": [5, 8, 30, 52, 83, 232], "episodes_by_level": [[1662.0, 351.0, 46.0, 0.0], [2101.0, 430.0, 73.0, 0.0], [1979.0, 418.0, 47.0, 0.0], [1728.0, 344.0, 51.0, 0.0], [1518.0, 296.0, 29.0, 0.0], [2424.0, 403.0, 64.0, 0.0]]}, "rubble": {"level_counts": [15, 74, 173, 211, 220, 126], "episodes_by_level": [[3456.0, 786.0, 103.0, 0.0], [5432.0, 1165.0, 237.0, 0.0], [5599.0, 1151.0, 452.0, 0.0], [4672.0, 833.0, 594.0, 0.0], [2846.0, 379.0, 487.0, 0.0], [1079.0, 91.0, 253.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2197265625, "command_abs_max": [0.9977778196334839, 0.39978039264678955, 0.699864387512207]}
{"step": 46500, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 46500, "total_transitions": 190464000, "num_steps_per_env": 1, "wm_loss": 0.5285646915435791, "actor_loss": -9.500563621520996, "critic_loss": 0.004256744869053364, "reward": 0.08736827969551086, "falls": 13, "interval_steps": 50, "velocity_mae": [0.11548106372356415, 0.07214012742042542, 0.13516972959041595], "mean_episode_length": 1354.0357142857142, "episode_reward_terms": {"track_linear_velocity": 47.9766845703125, "track_angular_velocity": 51.134483337402344, "upright": 25.913043975830078, "leg_posture": -2.61077880859375, "standstill": -6.018789768218994, "action_rate_l2": -0.567701518535614, "joint_torques_l2": -0.14380104839801788, "dof_pos_limits": -0.0005299526965245605, "terminated": -0.034379810094833374, "unnecessary_wheel_lift": -0.07511131465435028, "rolling_leg_motion": -0.5675517916679382, "obstacle_progress": 3.832078456878662, "wheel_body_intrusion": -0.26707977056503296, "pair_body_intrusion": -0.2707991600036621}, "weighted_reward_terms": {"track_linear_velocity": 1.771618127822876, "track_angular_velocity": 1.8882250785827637, "upright": 0.9568818211555481, "leg_posture": -0.09640730917453766, "standstill": -0.2222537398338318, "action_rate_l2": -0.020963313058018684, "joint_torques_l2": -0.005310090724378824, "dof_pos_limits": -1.9569375581340864e-05, "terminated": -0.0012695310870185494, "unnecessary_wheel_lift": -0.002773609012365341, "rolling_leg_motion": -0.020957784727215767, "obstacle_progress": 0.14150580763816833, "wheel_body_intrusion": -0.00986235961318016, "pair_body_intrusion": -0.009999704547226429}, "episode_termination_rates": {"time_out": 0.45714285714285713, "fell_over": 0.05714285714285714, "course_exit": 0.45, "illegal_nonwheel_contact": 0.04285714285714286}, "collection_time_s": 0.0759853064827621, "learning_time_s": 0.1844850779569242, "iteration_time_s": 0.29694634529150604, "policy_updates": 46200, "skipped_updates": 0, "invalid_env_resets": 254, "elapsed_s": 13808.00505605503, "nonwheel_terminations": 14492, "contact_bce": 0.2802692651748657, "contact_force_loss": 0.01935398019850254, "collision_bce": 0.00024396111257374287, "collision_label_rate": 0.00012241399963386357, "collision_prediction_mean": 6.596105959033594e-05, "collision_label_count": 16338.0, "terrain_level_mean": 4.292236328125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 8, 8, 39, 66, 289], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1965.0, 430.0, 38.0, 0.0], [1806.0, 423.0, 36.0, 0.0], [1700.0, 382.0, 29.0, 0.0], [1449.0, 325.0, 27.0, 0.0], [3078.0, 716.0, 36.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 21, 289, 1122], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4315.0, 1763.0, 165.0, 0.0], [4735.0, 1742.0, 196.0, 0.0], [7575.0, 2015.0, 172.0, 0.0], [13776.0, 2838.0, 408.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 34, 579], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [983.0, 810.0, 26.0, 0.0], [2225.0, 1849.0, 69.0, 0.0], [14763.0, 12588.0, 340.0, 0.0]]}, "platform": {"level_counts": [4, 21, 27, 70, 137, 151], "episodes_by_level": [[1859.0, 404.0, 53.0, 0.0], [2316.0, 471.0, 97.0, 0.0], [2150.0, 438.0, 92.0, 0.0], [2098.0, 375.0, 80.0, 0.0], [1768.0, 267.0, 87.0, 0.0], [1200.0, 116.0, 116.0, 0.0]]}, "slope": {"level_counts": [5, 7, 31, 52, 84, 231], "episodes_by_level": [[1662.0, 351.0, 46.0, 0.0], [2102.0, 431.0, 73.0, 0.0], [1979.0, 418.0, 47.0, 0.0], [1728.0, 344.0, 51.0, 0.0], [1521.0, 297.0, 29.0, 0.0], [2432.0, 405.0, 66.0, 0.0]]}, "rubble": {"level_counts": [15, 74, 171, 215, 219, 125], "episodes_by_level": [[3458.0, 786.0, 103.0, 0.0], [5435.0, 1165.0, 237.0, 0.0], [5604.0, 1154.0, 452.0, 0.0], [4682.0, 834.0, 595.0, 0.0], [2852.0, 379.0, 490.0, 0.0], [1081.0, 91.0, 254.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2265625, "command_abs_max": [0.9977778196334839, 0.39978039264678955, 0.699864387512207]}
{"step": 46550, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 46550, "total_transitions": 190668800, "num_steps_per_env": 1, "wm_loss": 0.5593460202217102, "actor_loss": -9.473118782043457, "critic_loss": 0.012192031368613243, "reward": 0.08728015422821045, "falls": 12, "interval_steps": 50, "velocity_mae": [0.11409968882799149, 0.07235760241746902, 0.13437873125076294], "mean_episode_length": 1374.2565789473683, "episode_reward_terms": {"track_linear_velocity": 48.73350143432617, "track_angular_velocity": 51.93663787841797, "upright": 26.296693801879883, "leg_posture": -2.6576361656188965, "standstill": -6.270351409912109, "action_rate_l2": -0.5797866582870483, "joint_torques_l2": -0.14632655680179596, "dof_pos_limits": -0.0007217689417302608, "terminated": -0.032209135591983795, "unnecessary_wheel_lift": -0.07259170711040497, "rolling_leg_motion": -0.5823342204093933, "obstacle_progress": 3.8868954181671143, "wheel_body_intrusion": -0.2791423201560974, "pair_body_intrusion": -0.2873026132583618}, "weighted_reward_terms": {"track_linear_velocity": 1.7730859518051147, "track_angular_velocity": 1.8896267414093018, "upright": 0.9567607641220093, "leg_posture": -0.09669359773397446, "standstill": -0.22813613712787628, "action_rate_l2": -0.021094555035233498, "joint_torques_l2": -0.005323844030499458, "dof_pos_limits": -2.6260340746375732e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.00264112651348114, "rolling_leg_motion": -0.021187245845794678, "obstacle_progress": 0.14141811430454254, "wheel_body_intrusion": -0.010156121104955673, "pair_body_intrusion": -0.01045301929116249}, "episode_termination_rates": {"time_out": 0.5131578947368421, "fell_over": 0.039473684210526314, "course_exit": 0.40789473684210525, "illegal_nonwheel_contact": 0.046052631578947366}, "collection_time_s": 0.07561774027883075, "learning_time_s": 0.18556191594223492, "iteration_time_s": 0.29690854048687404, "policy_updates": 46250, "skipped_updates": 0, "invalid_env_resets": 254, "elapsed_s": 13821.092559663986, "nonwheel_terminations": 14499, "contact_bce": 0.28071391582489014, "contact_force_loss": 0.02008255198597908, "collision_bce": 9.019740537041798e-05, "collision_label_rate": 6.120325269876048e-05, "collision_prediction_mean": 8.332144352607429e-05, "collision_label_count": 16339.0, "terrain_level_mean": 4.292236328125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 8, 8, 39, 66, 289], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1965.0, 430.0, 38.0, 0.0], [1807.0, 423.0, 36.0, 0.0], [1700.0, 382.0, 29.0, 0.0], [1449.0, 325.0, 27.0, 0.0], [3090.0, 718.0, 36.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 21, 288, 1123], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4315.0, 1763.0, 165.0, 0.0], [4735.0, 1742.0, 196.0, 0.0], [7588.0, 2020.0, 172.0, 0.0], [13810.0, 2841.0, 411.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 35, 578], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [983.0, 810.0, 26.0, 0.0], [2225.0, 1849.0, 69.0, 0.0], [14773.0, 12598.0, 340.0, 0.0]]}, "platform": {"level_counts": [4, 22, 26, 71, 137, 150], "episodes_by_level": [[1859.0, 404.0, 53.0, 0.0], [2316.0, 471.0, 97.0, 0.0], [2152.0, 438.0, 93.0, 0.0], [2101.0, 375.0, 80.0, 0.0], [1774.0, 267.0, 88.0, 0.0], [1207.0, 117.0, 117.0, 0.0]]}, "slope": {"level_counts": [5, 7, 31, 52, 84, 231], "episodes_by_level": [[1662.0, 351.0, 46.0, 0.0], [2102.0, 431.0, 73.0, 0.0], [1980.0, 418.0, 47.0, 0.0], [1729.0, 344.0, 51.0, 0.0], [1524.0, 297.0, 29.0, 0.0], [2435.0, 405.0, 66.0, 0.0]]}, "rubble": {"level_counts": [15, 74, 170, 213, 223, 124], "episodes_by_level": [[3458.0, 786.0, 103.0, 0.0], [5436.0, 1165.0, 237.0, 0.0], [5612.0, 1156.0, 452.0, 0.0], [4692.0, 838.0, 596.0, 0.0], [2861.0, 380.0, 491.0, 0.0], [1086.0, 92.0, 256.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2216796875, "command_abs_max": [0.9980142712593079, 0.39978039264678955, 0.699864387512207]}
{"step": 46600, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 46600, "total_transitions": 190873600, "num_steps_per_env": 1, "wm_loss": 0.5173885226249695, "actor_loss": -9.477771759033203, "critic_loss": 0.004840325564146042, "reward": 0.08738740533590317, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11471406370401382, 0.07248092442750931, 0.13524596393108368], "mean_episode_length": 1355.9731543624162, "episode_reward_terms": {"track_linear_velocity": 48.05445098876953, "track_angular_velocity": 51.214168548583984, "upright": 25.96287727355957, "leg_posture": -2.591104030609131, "standstill": -6.020226955413818, "action_rate_l2": -0.5717334151268005, "joint_torques_l2": -0.143037348985672, "dof_pos_limits": -0.0005453051417134702, "terminated": -0.013241923414170742, "unnecessary_wheel_lift": -0.06852027773857117, "rolling_leg_motion": -0.5727167725563049, "obstacle_progress": 3.776015520095825, "wheel_body_intrusion": -0.2569304406642914, "pair_body_intrusion": -0.27446749806404114}, "weighted_reward_terms": {"track_linear_velocity": 1.7719544172286987, "track_angular_velocity": 1.8884656429290771, "upright": 0.9573522210121155, "leg_posture": -0.09554408490657806, "standstill": -0.22198916971683502, "action_rate_l2": -0.021082034334540367, "joint_torques_l2": -0.005274343304336071, "dof_pos_limits": -2.01075199584011e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.002526608994230628, "rolling_leg_motion": -0.021118294447660446, "obstacle_progress": 0.13923637568950653, "wheel_body_intrusion": -0.009474024176597595, "pair_body_intrusion": -0.01012068334966898}, "episode_termination_rates": {"time_out": 0.5033557046979866, "fell_over": 0.026845637583892617, "course_exit": 0.46308724832214765, "illegal_nonwheel_contact": 0.013422818791946308}, "collection_time_s": 0.07555398616357706, "learning_time_s": 0.18526868404005653, "iteration_time_s": 0.29686984585783227, "policy_updates": 46300, "skipped_updates": 0, "invalid_env_resets": 254, "elapsed_s": 13834.134816974984, "nonwheel_terminations": 14501, "contact_bce": 0.2822573482990265, "contact_force_loss": 0.019400417804718018, "collision_bce": 7.888282561907545e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 7.329263462452218e-05, "collision_label_count": 16330.0, "terrain_level_mean": 4.29443359375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 8, 8, 39, 65, 290], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1965.0, 430.0, 38.0, 0.0], [1807.0, 423.0, 36.0, 0.0], [1702.0, 382.0, 29.0, 0.0], [1451.0, 326.0, 27.0, 0.0], [3094.0, 719.0, 36.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 21, 287, 1124], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4315.0, 1763.0, 165.0, 0.0], [4736.0, 1742.0, 196.0, 0.0], [7597.0, 2022.0, 172.0, 0.0], [13840.0, 2847.0, 412.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 33, 579], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [983.0, 810.0, 26.0, 0.0], [2228.0, 1852.0, 69.0, 0.0], [14793.0, 12617.0, 340.0, 0.0]]}, "platform": {"level_counts": [3, 23, 26, 70, 138, 150], "episodes_by_level": [[1860.0, 405.0, 53.0, 0.0], [2316.0, 471.0, 97.0, 0.0], [2152.0, 438.0, 93.0, 0.0], [2104.0, 376.0, 80.0, 0.0], [1775.0, 267.0, 88.0, 0.0], [1215.0, 118.0, 117.0, 0.0]]}, "slope": {"level_counts": [5, 7, 31, 52, 84, 231], "episodes_by_level": [[1662.0, 351.0, 46.0, 0.0], [2102.0, 431.0, 73.0, 0.0], [1980.0, 418.0, 47.0, 0.0], [1730.0, 344.0, 51.0, 0.0], [1526.0, 297.0, 29.0, 0.0], [2443.0, 406.0, 66.0, 0.0]]}, "rubble": {"level_counts": [15, 74, 170, 208, 228, 124], "episodes_by_level": [[3458.0, 786.0, 103.0, 0.0], [5438.0, 1165.0, 237.0, 0.0], [5620.0, 1157.0, 452.0, 0.0], [4705.0, 843.0, 597.0, 0.0], [2868.0, 380.0, 491.0, 0.0], [1090.0, 92.0, 256.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.223388671875, "command_abs_max": [0.9984466433525085, 0.39978039264678955, 0.699864387512207]}
{"step": 46650, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 46650, "total_transitions": 191078400, "num_steps_per_env": 1, "wm_loss": 0.5590865612030029, "actor_loss": -9.504419326782227, "critic_loss": 0.003858602838590741, "reward": 0.08730194717645645, "falls": 3, "interval_steps": 50, "velocity_mae": [0.1143474280834198, 0.07200992107391357, 0.1360701024532318], "mean_episode_length": 1347.3239436619717, "episode_reward_terms": {"track_linear_velocity": 47.77086639404297, "track_angular_velocity": 50.85200119018555, "upright": 25.820396423339844, "leg_posture": -2.592266798019409, "standstill": -6.071480751037598, "action_rate_l2": -0.5608320236206055, "joint_torques_l2": -0.14250065386295319, "dof_pos_limits": -0.0009139734320342541, "terminated": -0.007894475013017654, "unnecessary_wheel_lift": -0.08176184445619583, "rolling_leg_motion": -0.5773521065711975, "obstacle_progress": 3.7742128372192383, "wheel_body_intrusion": -0.27228012681007385, "pair_body_intrusion": -0.2862038314342499}, "weighted_reward_terms": {"track_linear_velocity": 1.7728055715560913, "track_angular_velocity": 1.887148380279541, "upright": 0.9582104086875916, "leg_posture": -0.09620057791471481, "standstill": -0.22531628608703613, "action_rate_l2": -0.020812813192605972, "joint_torques_l2": -0.005288284737616777, "dof_pos_limits": -3.391810241737403e-05, "terminated": -0.00029296870343387127, "unnecessary_wheel_lift": -0.0030342312529683113, "rolling_leg_motion": -0.02142588421702385, "obstacle_progress": 0.1400633007287979, "wheel_body_intrusion": -0.01010447833687067, "pair_body_intrusion": -0.010621195659041405}, "episode_termination_rates": {"time_out": 0.43661971830985913, "fell_over": 0.014084507042253521, "course_exit": 0.5422535211267606, "illegal_nonwheel_contact": 0.02112676056338028}, "collection_time_s": 0.07542009984492325, "learning_time_s": 0.18529911393648946, "iteration_time_s": 0.2968311225987573, "policy_updates": 46350, "skipped_updates": 0, "invalid_env_resets": 254, "elapsed_s": 13847.171869232028, "nonwheel_terminations": 14504, "contact_bce": 0.28564363718032837, "contact_force_loss": 0.020414704456925392, "collision_bce": 0.0005622651078738272, "collision_label_rate": 0.000122331635793671, "collision_prediction_mean": 9.038237294589635e-06, "collision_label_count": 16349.0, "terrain_level_mean": 4.296875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 7, 9, 38, 66, 290], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1966.0, 431.0, 38.0, 0.0], [1807.0, 423.0, 36.0, 0.0], [1705.0, 383.0, 29.0, 0.0], [1452.0, 326.0, 27.0, 0.0], [3100.0, 722.0, 36.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 21, 287, 1124], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4315.0, 1763.0, 165.0, 0.0], [4736.0, 1742.0, 196.0, 0.0], [7607.0, 2023.0, 172.0, 0.0], [13873.0, 2853.0, 412.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 31, 580], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [983.0, 810.0, 26.0, 0.0], [2230.0, 1853.0, 69.0, 0.0], [14809.0, 12632.0, 340.0, 0.0]]}, "platform": {"level_counts": [3, 23, 25, 69, 139, 151], "episodes_by_level": [[1861.0, 405.0, 53.0, 0.0], [2316.0, 471.0, 97.0, 0.0], [2153.0, 439.0, 93.0, 0.0], [2109.0, 378.0, 80.0, 0.0], [1779.0, 268.0, 88.0, 0.0], [1220.0, 118.0, 117.0, 0.0]]}, "slope": {"level_counts": [5, 7, 30, 52, 85, 231], "episodes_by_level": [[1662.0, 351.0, 46.0, 0.0], [2103.0, 431.0, 73.0, 0.0], [1982.0, 419.0, 47.0, 0.0], [1733.0, 345.0, 51.0, 0.0], [1527.0, 297.0, 29.0, 0.0], [2454.0, 408.0, 66.0, 0.0]]}, "rubble": {"level_counts": [15, 74, 170, 206, 230, 124], "episodes_by_level": [[3459.0, 786.0, 103.0, 0.0], [5439.0, 1165.0, 237.0, 0.0], [5623.0, 1158.0, 452.0, 0.0], [4712.0, 845.0, 598.0, 0.0], [2874.0, 380.0, 491.0, 0.0], [1090.0, 92.0, 256.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22802734375, "command_abs_max": [0.9997637271881104, 0.39978039264678955, 0.699864387512207]}
{"step": 46700, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 46700, "total_transitions": 191283200, "num_steps_per_env": 1, "wm_loss": 0.5444856286048889, "actor_loss": -9.497795104980469, "critic_loss": 0.00661684712395072, "reward": 0.08705270290374756, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11501476913690567, 0.07211026549339294, 0.13470402359962463], "mean_episode_length": 1322.671052631579, "episode_reward_terms": {"track_linear_velocity": 46.83783721923828, "track_angular_velocity": 49.973106384277344, "upright": 25.351682662963867, "leg_posture": -2.56752872467041, "standstill": -6.099235534667969, "action_rate_l2": -0.5619776248931885, "joint_torques_l2": -0.14145655930042267, "dof_pos_limits": -0.00029081644606776536, "terminated": -0.015500049106776714, "unnecessary_wheel_lift": -0.0758376345038414, "rolling_leg_motion": -0.5688684582710266, "obstacle_progress": 3.574692964553833, "wheel_body_intrusion": -0.2753462493419647, "pair_body_intrusion": -0.2891954183578491}, "weighted_reward_terms": {"track_linear_velocity": 1.7705777883529663, "track_angular_velocity": 1.889098048210144, "upright": 0.9583518505096436, "leg_posture": -0.0970584824681282, "standstill": -0.2305651158094406, "action_rate_l2": -0.021244045346975327, "joint_torques_l2": -0.005347382742911577, "dof_pos_limits": -1.0993529031111393e-05, "terminated": -0.0005859374068677425, "unnecessary_wheel_lift": -0.002866836730390787, "rolling_leg_motion": -0.021504532545804977, "obstacle_progress": 0.1351315975189209, "wheel_body_intrusion": -0.010408720001578331, "pair_body_intrusion": -0.010932250879704952}, "episode_termination_rates": {"time_out": 0.45394736842105265, "fell_over": 0.019736842105263157, "course_exit": 0.506578947368421, "illegal_nonwheel_contact": 0.02631578947368421}, "collection_time_s": 0.07627469622064381, "learning_time_s": 0.18533350229728968, "iteration_time_s": 0.2967934356743684, "policy_updates": 46400, "skipped_updates": 0, "invalid_env_resets": 256, "elapsed_s": 13860.253445993003, "nonwheel_terminations": 14508, "contact_bce": 0.28491267561912537, "contact_force_loss": 0.02040700986981392, "collision_bce": 9.064196092367638e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 9.11466031539021e-06, "collision_label_count": 16339.0, "terrain_level_mean": 4.29736328125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 7, 9, 38, 66, 290], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1966.0, 431.0, 38.0, 0.0], [1807.0, 423.0, 36.0, 0.0], [1707.0, 383.0, 29.0, 0.0], [1453.0, 326.0, 27.0, 0.0], [3105.0, 723.0, 36.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 20, 288, 1124], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4315.0, 1763.0, 165.0, 0.0], [4737.0, 1743.0, 196.0, 0.0], [7614.0, 2026.0, 172.0, 0.0], [13915.0, 2865.0, 413.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 32, 579], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [983.0, 810.0, 26.0, 0.0], [2230.0, 1853.0, 69.0, 0.0], [14836.0, 12657.0, 340.0, 0.0]]}, "platform": {"level_counts": [3, 23, 25, 69, 139, 151], "episodes_by_level": [[1861.0, 405.0, 53.0, 0.0], [2316.0, 471.0, 97.0, 0.0], [2153.0, 439.0, 93.0, 0.0], [2109.0, 378.0, 80.0, 0.0], [1783.0, 268.0, 88.0, 0.0], [1226.0, 118.0, 117.0, 0.0]]}, "slope": {"level_counts": [5, 7, 30, 52, 85, 231], "episodes_by_level": [[1662.0, 351.0, 46.0, 0.0], [2103.0, 431.0, 73.0, 0.0], [1982.0, 419.0, 47.0, 0.0], [1735.0, 345.0, 51.0, 0.0], [1529.0, 297.0, 29.0, 0.0], [2458.0, 410.0, 66.0, 0.0]]}, "rubble": {"level_counts": [15, 72, 173, 205, 229, 125], "episodes_by_level": [[3459.0, 786.0, 103.0, 0.0], [5443.0, 1167.0, 237.0, 0.0], [5627.0, 1158.0, 452.0, 0.0], [4718.0, 846.0, 599.0, 0.0], [2881.0, 381.0, 492.0, 0.0], [1093.0, 92.0, 256.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23291015625, "command_abs_max": [0.9997637271881104, 0.39978039264678955, 0.6991518139839172]}
{"step": 46750, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 46750, "total_transitions": 191488000, "num_steps_per_env": 1, "wm_loss": 0.5686349868774414, "actor_loss": -9.50531005859375, "critic_loss": 0.0036369075533002615, "reward": 0.08691704273223877, "falls": 5, "interval_steps": 50, "velocity_mae": [0.1180669292807579, 0.07239432632923126, 0.1337147355079651], "mean_episode_length": 1412.9716312056737, "episode_reward_terms": {"track_linear_velocity": 49.88218688964844, "track_angular_velocity": 53.432376861572266, "upright": 27.11522102355957, "leg_posture": -2.6884968280792236, "standstill": -6.735265254974365, "action_rate_l2": -0.5889756083488464, "joint_torques_l2": -0.14931298792362213, "dof_pos_limits": -0.000380316429072991, "terminated": -0.013798549771308899, "unnecessary_wheel_lift": -0.09238829463720322, "rolling_leg_motion": -0.6015819311141968, "obstacle_progress": 3.7746074199676514, "wheel_body_intrusion": -0.25043243169784546, "pair_body_intrusion": -0.2724454700946808}, "weighted_reward_terms": {"track_linear_velocity": 1.7651517391204834, "track_angular_velocity": 1.8907803297042847, "upright": 0.9595105051994324, "leg_posture": -0.09513626247644424, "standstill": -0.23833687603473663, "action_rate_l2": -0.02084173448383808, "joint_torques_l2": -0.005283651407808065, "dof_pos_limits": -1.345803502772469e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.0032692905515432358, "rolling_leg_motion": -0.021287826821208, "obstacle_progress": 0.13356982171535492, "wheel_body_intrusion": -0.00886190589517355, "pair_body_intrusion": -0.009640867821872234}, "episode_termination_rates": {"time_out": 0.5177304964539007, "fell_over": 0.0070921985815602835, "course_exit": 0.44680851063829785, "illegal_nonwheel_contact": 0.03546099290780142}, "collection_time_s": 0.07538269280456006, "learning_time_s": 0.18534595796256326, "iteration_time_s": 0.2967548877328552, "policy_updates": 46450, "skipped_updates": 0, "invalid_env_resets": 256, "elapsed_s": 13873.291001510981, "nonwheel_terminations": 14513, "contact_bce": 0.2899091839790344, "contact_force_loss": 0.021105581894516945, "collision_bce": 5.975854946882464e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 6.032737474015448e-06, "collision_label_count": 16328.0, "terrain_level_mean": 4.298583984375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 7, 9, 37, 67, 290], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1966.0, 431.0, 38.0, 0.0], [1808.0, 423.0, 36.0, 0.0], [1710.0, 384.0, 29.0, 0.0], [1457.0, 326.0, 27.0, 0.0], [3108.0, 724.0, 36.0, 0.0]]}, "up": {"level_counts": [0, 0, 0, 21, 288, 1124], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4737.0, 1743.0, 196.0, 0.0], [7618.0, 2027.0, 172.0, 0.0], [13936.0, 2867.0, 413.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 33, 578], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [983.0, 810.0, 26.0, 0.0], [2230.0, 1853.0, 69.0, 0.0], [14858.0, 12678.0, 340.0, 0.0]]}, "platform": {"level_counts": [3, 23, 25, 67, 141, 151], "episodes_by_level": [[1861.0, 405.0, 53.0, 0.0], [2316.0, 471.0, 97.0, 0.0], [2153.0, 439.0, 93.0, 0.0], [2112.0, 380.0, 80.0, 0.0], [1790.0, 268.0, 88.0, 0.0], [1229.0, 119.0, 117.0, 0.0]]}, "slope": {"level_counts": [5, 7, 29, 53, 85, 231], "episodes_by_level": [[1662.0, 351.0, 46.0, 0.0], [2104.0, 431.0, 73.0, 0.0], [1984.0, 420.0, 47.0, 0.0], [1735.0, 345.0, 51.0, 0.0], [1529.0, 297.0, 29.0, 0.0], [2468.0, 411.0, 66.0, 0.0]]}, "rubble": {"level_counts": [15, 70, 175, 206, 228, 125], "episodes_by_level": [[3459.0, 786.0, 103.0, 0.0], [5447.0, 1169.0, 237.0, 0.0], [5631.0, 1159.0, 452.0, 0.0], [4723.0, 846.0, 600.0, 0.0], [2889.0, 382.0, 493.0, 0.0], [1097.0, 92.0, 257.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23876953125, "command_abs_max": [0.9997637271881104, 0.39978039264678955, 0.6991518139839172]}
{"step": 46800, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 46800, "total_transitions": 191692800, "num_steps_per_env": 1, "wm_loss": 0.548551082611084, "actor_loss": -9.513646125793457, "critic_loss": 0.0054886783473193645, "reward": 0.08736355602741241, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11462489515542984, 0.07040802389383316, 0.13365234434604645], "mean_episode_length": 1356.5034013605443, "episode_reward_terms": {"track_linear_velocity": 48.15641403198242, "track_angular_velocity": 51.28704833984375, "upright": 26.055017471313477, "leg_posture": -2.5573203563690186, "standstill": -6.175106525421143, "action_rate_l2": -0.557696521282196, "joint_torques_l2": -0.14125528931617737, "dof_pos_limits": -0.00023166812025010586, "terminated": -0.023844782263040543, "unnecessary_wheel_lift": -0.08996544778347015, "rolling_leg_motion": -0.5834836959838867, "obstacle_progress": 3.6886003017425537, "wheel_body_intrusion": -0.2443176656961441, "pair_body_intrusion": -0.3049009144306183}, "weighted_reward_terms": {"track_linear_velocity": 1.7750200033187866, "track_angular_velocity": 1.890413522720337, "upright": 0.9603741765022278, "leg_posture": -0.09426148235797882, "standstill": -0.22761116921901703, "action_rate_l2": -0.02055639959871769, "joint_torques_l2": -0.005206595174968243, "dof_pos_limits": -8.539164809917565e-06, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.003316079033538699, "rolling_leg_motion": -0.0215069018304348, "obstacle_progress": 0.13595986366271973, "wheel_body_intrusion": -0.009005419909954071, "pair_body_intrusion": -0.01123848743736744}, "episode_termination_rates": {"time_out": 0.4421768707482993, "fell_over": 0.047619047619047616, "course_exit": 0.4965986394557823, "illegal_nonwheel_contact": 0.034013605442176874}, "collection_time_s": 0.07553742143674753, "learning_time_s": 0.18522734844358638, "iteration_time_s": 0.29671646163331217, "policy_updates": 46500, "skipped_updates": 0, "invalid_env_resets": 256, "elapsed_s": 13886.33040443901, "nonwheel_terminations": 14518, "contact_bce": 0.2886171042919159, "contact_force_loss": 0.02060260809957981, "collision_bce": 0.00024201578344218433, "collision_label_rate": 0.00018366597942076623, "collision_prediction_mean": 0.00020470822346396744, "collision_label_count": 16334.0, "terrain_level_mean": 4.29833984375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 7, 9, 35, 68, 291], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1967.0, 431.0, 38.0, 0.0], [1808.0, 423.0, 36.0, 0.0], [1713.0, 386.0, 29.0, 0.0], [1458.0, 327.0, 27.0, 0.0], [3115.0, 725.0, 36.0, 0.0]]}, "up": {"level_counts": [0, 0, 0, 20, 290, 1123], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4738.0, 1744.0, 196.0, 0.0], [7620.0, 2027.0, 172.0, 0.0], [13960.0, 2876.0, 413.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 34, 577], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [983.0, 810.0, 26.0, 0.0], [2231.0, 1853.0, 69.0, 0.0], [14885.0, 12702.0, 340.0, 0.0]]}, "platform": {"level_counts": [4, 22, 25, 67, 141, 151], "episodes_by_level": [[1861.0, 405.0, 53.0, 0.0], [2317.0, 471.0, 98.0, 0.0], [2154.0, 439.0, 93.0, 0.0], [2113.0, 380.0, 80.0, 0.0], [1793.0, 269.0, 88.0, 0.0], [1237.0, 121.0, 118.0, 0.0]]}, "slope": {"level_counts": [5, 7, 29, 53, 85, 231], "episodes_by_level": [[1662.0, 351.0, 46.0, 0.0], [2104.0, 431.0, 73.0, 0.0], [1984.0, 420.0, 47.0, 0.0], [1736.0, 345.0, 51.0, 0.0], [1530.0, 297.0, 29.0, 0.0], [2482.0, 413.0, 66.0, 0.0]]}, "rubble": {"level_counts": [15, 71, 172, 210, 227, 124], "episodes_by_level": [[3460.0, 786.0, 103.0, 0.0], [5448.0, 1169.0, 237.0, 0.0], [5640.0, 1162.0, 453.0, 0.0], [4728.0, 846.0, 601.0, 0.0], [2893.0, 382.0, 495.0, 0.0], [1104.0, 93.0, 258.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234619140625, "command_abs_max": [0.9997637271881104, 0.39978039264678955, 0.6991518139839172]}
{"step": 46850, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 46850, "total_transitions": 191897600, "num_steps_per_env": 1, "wm_loss": 0.5553671717643738, "actor_loss": -9.429088592529297, "critic_loss": 0.010011098347604275, "reward": 0.08711828291416168, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11502164602279663, 0.07087705284357071, 0.13453276455402374], "mean_episode_length": 1274.8085106382978, "episode_reward_terms": {"track_linear_velocity": 45.1929931640625, "track_angular_velocity": 48.15765380859375, "upright": 24.458534240722656, "leg_posture": -2.4229965209960938, "standstill": -6.031893253326416, "action_rate_l2": -0.5196056962013245, "joint_torques_l2": -0.1335190236568451, "dof_pos_limits": -0.00022738904226571321, "terminated": -0.012449299916625023, "unnecessary_wheel_lift": -0.06323299556970596, "rolling_leg_motion": -0.5269942879676819, "obstacle_progress": 3.496455430984497, "wheel_body_intrusion": -0.24404053390026093, "pair_body_intrusion": -0.29154181480407715}, "weighted_reward_terms": {"track_linear_velocity": 1.7725404500961304, "track_angular_velocity": 1.8888192176818848, "upright": 0.9593023657798767, "leg_posture": -0.09503374993801117, "standstill": -0.23658038675785065, "action_rate_l2": -0.02037975564599037, "joint_torques_l2": -0.005236826837062836, "dof_pos_limits": -8.918556886783335e-06, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.0024800980463624, "rolling_leg_motion": -0.020669547840952873, "obstacle_progress": 0.13713650405406952, "wheel_body_intrusion": -0.009571654722094536, "pair_body_intrusion": -0.011434730142354965}, "episode_termination_rates": {"time_out": 0.3900709219858156, "fell_over": 0.014184397163120567, "course_exit": 0.574468085106383, "illegal_nonwheel_contact": 0.02127659574468085}, "collection_time_s": 0.07602695016073995, "learning_time_s": 0.18545522446162066, "iteration_time_s": 0.296678881508624, "policy_updates": 46550, "skipped_updates": 0, "invalid_env_resets": 257, "elapsed_s": 13899.405598679034, "nonwheel_terminations": 14521, "contact_bce": 0.2907269299030304, "contact_force_loss": 0.020644115284085274, "collision_bce": 8.880964742274955e-05, "collision_label_rate": 6.125949585111812e-05, "collision_prediction_mean": 2.428343032079283e-05, "collision_label_count": 16324.0, "terrain_level_mean": 4.30029296875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 6, 10, 35, 67, 292], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1968.0, 432.0, 38.0, 0.0], [1808.0, 423.0, 36.0, 0.0], [1713.0, 386.0, 29.0, 0.0], [1461.0, 328.0, 27.0, 0.0], [3121.0, 727.0, 36.0, 0.0]]}, "up": {"level_counts": [0, 0, 0, 20, 290, 1123], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4738.0, 1744.0, 196.0, 0.0], [7626.0, 2029.0, 172.0, 0.0], [13995.0, 2886.0, 415.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 34, 577], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [983.0, 810.0, 26.0, 0.0], [2233.0, 1854.0, 69.0, 0.0], [14911.0, 12726.0, 340.0, 0.0]]}, "platform": {"level_counts": [4, 22, 25, 67, 138, 154], "episodes_by_level": [[1861.0, 405.0, 53.0, 0.0], [2317.0, 471.0, 98.0, 0.0], [2154.0, 439.0, 93.0, 0.0], [2113.0, 380.0, 80.0, 0.0], [1799.0, 272.0, 88.0, 0.0], [1240.0, 122.0, 118.0, 0.0]]}, "slope": {"level_counts": [5, 7, 29, 52, 86, 231], "episodes_by_level": [[1662.0, 351.0, 46.0, 0.0], [2104.0, 431.0, 73.0, 0.0], [1984.0, 420.0, 47.0, 0.0], [1739.0, 346.0, 51.0, 0.0], [1530.0, 297.0, 29.0, 0.0], [2488.0, 414.0, 66.0, 0.0]]}, "rubble": {"level_counts": [15, 70, 170, 214, 227, 123], "episodes_by_level": [[3461.0, 786.0, 103.0, 0.0], [5452.0, 1170.0, 237.0, 0.0], [5648.0, 1165.0, 453.0, 0.0], [4731.0, 846.0, 601.0, 0.0], [2896.0, 382.0, 496.0, 0.0], [1109.0, 93.0, 259.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23779296875, "command_abs_max": [0.9989262223243713, 0.39978039264678955, 0.6991518139839172]}
{"step": 46900, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 46900, "total_transitions": 192102400, "num_steps_per_env": 1, "wm_loss": 0.5760297775268555, "actor_loss": -9.49511432647705, "critic_loss": 0.0038596168160438538, "reward": 0.08711494505405426, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11436856538057327, 0.0712982639670372, 0.13472393155097961], "mean_episode_length": 1323.4744525547446, "episode_reward_terms": {"track_linear_velocity": 46.965576171875, "track_angular_velocity": 49.98969268798828, "upright": 25.330387115478516, "leg_posture": -2.5292248725891113, "standstill": -6.301677703857422, "action_rate_l2": -0.5445063710212708, "joint_torques_l2": -0.1408468633890152, "dof_pos_limits": -0.0004737930139526725, "terminated": -0.018094375729560852, "unnecessary_wheel_lift": -0.07659246772527695, "rolling_leg_motion": -0.5568745732307434, "obstacle_progress": 3.6978919506073, "wheel_body_intrusion": -0.2584221065044403, "pair_body_intrusion": -0.26243653893470764}, "weighted_reward_terms": {"track_linear_velocity": 1.7743288278579712, "track_angular_velocity": 1.8885778188705444, "upright": 0.956965446472168, "leg_posture": -0.095552459359169, "standstill": -0.23807327449321747, "action_rate_l2": -0.020571094006299973, "joint_torques_l2": -0.005321102682501078, "dof_pos_limits": -1.789959060261026e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0028936134185642004, "rolling_leg_motion": -0.02103835716843605, "obstacle_progress": 0.13970394432544708, "wheel_body_intrusion": -0.009763018228113651, "pair_body_intrusion": -0.009914681315422058}, "episode_termination_rates": {"time_out": 0.45985401459854014, "fell_over": 0.0072992700729927005, "course_exit": 0.48905109489051096, "illegal_nonwheel_contact": 0.051094890510948905}, "collection_time_s": 0.07550939373788423, "learning_time_s": 0.18525593422120437, "iteration_time_s": 0.2966406185426655, "policy_updates": 46600, "skipped_updates": 0, "invalid_env_resets": 257, "elapsed_s": 13912.445009651012, "nonwheel_terminations": 14528, "contact_bce": 0.285380482673645, "contact_force_loss": 0.02058282308280468, "collision_bce": 9.428372140973806e-05, "collision_label_rate": 6.124073843238875e-05, "collision_prediction_mean": 0.0001167874870589003, "collision_label_count": 16329.0, "terrain_level_mean": 4.30126953125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 6, 10, 35, 66, 293], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1968.0, 432.0, 38.0, 0.0], [1808.0, 423.0, 36.0, 0.0], [1714.0, 386.0, 29.0, 0.0], [1463.0, 329.0, 27.0, 0.0], [3133.0, 732.0, 36.0, 0.0]]}, "up": {"level_counts": [0, 0, 0, 20, 290, 1123], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4738.0, 1744.0, 196.0, 0.0], [7635.0, 2031.0, 172.0, 0.0], [14021.0, 2892.0, 415.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 34, 577], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [983.0, 810.0, 26.0, 0.0], [2234.0, 1855.0, 69.0, 0.0], [14931.0, 12745.0, 340.0, 0.0]]}, "platform": {"level_counts": [4, 22, 25, 66, 139, 154], "episodes_by_level": [[1861.0, 405.0, 53.0, 0.0], [2317.0, 471.0, 98.0, 0.0], [2154.0, 439.0, 93.0, 0.0], [2117.0, 381.0, 80.0, 0.0], [1801.0, 272.0, 88.0, 0.0], [1241.0, 122.0, 118.0, 0.0]]}, "slope": {"level_counts": [4, 8, 29, 52, 86, 231], "episodes_by_level": [[1663.0, 352.0, 46.0, 0.0], [2104.0, 431.0, 73.0, 0.0], [1985.0, 420.0, 47.0, 0.0], [1741.0, 346.0, 51.0, 0.0], [1532.0, 297.0, 29.0, 0.0], [2492.0, 414.0, 66.0, 0.0]]}, "rubble": {"level_counts": [15, 69, 169, 219, 223, 124], "episodes_by_level": [[3461.0, 786.0, 103.0, 0.0], [5453.0, 1171.0, 237.0, 0.0], [5652.0, 1167.0, 453.0, 0.0], [4736.0, 846.0, 601.0, 0.0], [2904.0, 384.0, 499.0, 0.0], [1112.0, 93.0, 260.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234130859375, "command_abs_max": [0.9984466433525085, 0.39978039264678955, 0.6984919309616089]}
{"step": 46950, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 46950, "total_transitions": 192307200, "num_steps_per_env": 1, "wm_loss": 0.5323145389556885, "actor_loss": -9.521121978759766, "critic_loss": 0.0040710014291107655, "reward": 0.08740177005529404, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11282150447368622, 0.07116671651601791, 0.13433529436588287], "mean_episode_length": 1370.5853658536585, "episode_reward_terms": {"track_linear_velocity": 48.74772644042969, "track_angular_velocity": 51.77196502685547, "upright": 26.2534122467041, "leg_posture": -2.6506597995758057, "standstill": -6.234007358551025, "action_rate_l2": -0.559518039226532, "joint_torques_l2": -0.1458502858877182, "dof_pos_limits": -0.0008425958803854883, "terminated": -0.01606154628098011, "unnecessary_wheel_lift": -0.08159244060516357, "rolling_leg_motion": -0.587687075138092, "obstacle_progress": 3.8602793216705322, "wheel_body_intrusion": -0.28474360704421997, "pair_body_intrusion": -0.2808319926261902}, "weighted_reward_terms": {"track_linear_velocity": 1.778354287147522, "track_angular_velocity": 1.8886808156967163, "upright": 0.9577445983886719, "leg_posture": -0.096698097884655, "standstill": -0.2274213582277298, "action_rate_l2": -0.020411645993590355, "joint_torques_l2": -0.0053207301534712315, "dof_pos_limits": -3.0738541681785136e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.0029765546787530184, "rolling_leg_motion": -0.02143927477300167, "obstacle_progress": 0.14082594215869904, "wheel_body_intrusion": -0.010387664660811424, "pair_body_intrusion": -0.010244965553283691}, "episode_termination_rates": {"time_out": 0.5304878048780488, "fell_over": 0.018292682926829267, "course_exit": 0.4329268292682927, "illegal_nonwheel_contact": 0.024390243902439025}, "collection_time_s": 0.07579226386034861, "learning_time_s": 0.18547700567636638, "iteration_time_s": 0.2966029730410225, "policy_updates": 46650, "skipped_updates": 0, "invalid_env_resets": 257, "elapsed_s": 13925.509584276006, "nonwheel_terminations": 14532, "contact_bce": 0.2821670472621918, "contact_force_loss": 0.020575910806655884, "collision_bce": 8.162939047906548e-05, "collision_label_rate": 6.123323692008853e-05, "collision_prediction_mean": 2.9443430321407504e-05, "collision_label_count": 16331.0, "terrain_level_mean": 4.302001953125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 6, 10, 35, 65, 294], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1969.0, 432.0, 38.0, 0.0], [1809.0, 423.0, 36.0, 0.0], [1716.0, 386.0, 29.0, 0.0], [1465.0, 330.0, 27.0, 0.0], [3141.0, 732.0, 36.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 19, 290, 1123], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4739.0, 1744.0, 196.0, 0.0], [7646.0, 2032.0, 172.0, 0.0], [14051.0, 2896.0, 416.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 35, 576], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [983.0, 810.0, 26.0, 0.0], [2235.0, 1856.0, 69.0, 0.0], [14956.0, 12769.0, 340.0, 0.0]]}, "platform": {"level_counts": [4, 22, 24, 66, 140, 154], "episodes_by_level": [[1861.0, 405.0, 53.0, 0.0], [2317.0, 471.0, 98.0, 0.0], [2156.0, 440.0, 93.0, 0.0], [2121.0, 382.0, 80.0, 0.0], [1805.0, 272.0, 88.0, 0.0], [1248.0, 122.0, 118.0, 0.0]]}, "slope": {"level_counts": [4, 8, 29, 52, 86, 231], "episodes_by_level": [[1663.0, 352.0, 46.0, 0.0], [2104.0, 431.0, 73.0, 0.0], [1986.0, 421.0, 47.0, 0.0], [1746.0, 346.0, 52.0, 0.0], [1535.0, 297.0, 29.0, 0.0], [2500.0, 414.0, 66.0, 0.0]]}, "rubble": {"level_counts": [15, 69, 167, 220, 225, 123], "episodes_by_level": [[3461.0, 786.0, 103.0, 0.0], [5455.0, 1171.0, 237.0, 0.0], [5655.0, 1169.0, 453.0, 0.0], [4744.0, 847.0, 601.0, 0.0], [2909.0, 384.0, 499.0, 0.0], [1115.0, 94.0, 261.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.237060546875, "command_abs_max": [0.9984695315361023, 0.39978039264678955, 0.6984919309616089]}
{"step": 47000, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 47000, "total_transitions": 192512000, "num_steps_per_env": 1, "wm_loss": 0.5433290004730225, "actor_loss": -9.514473915100098, "critic_loss": 0.005905121099203825, "reward": 0.08739598840475082, "falls": 4, "interval_steps": 50, "velocity_mae": [0.11275710165500641, 0.07025395333766937, 0.13402695953845978], "mean_episode_length": 1380.9253731343283, "episode_reward_terms": {"track_linear_velocity": 49.12997055053711, "track_angular_velocity": 52.18244171142578, "upright": 26.46600341796875, "leg_posture": -2.6243433952331543, "standstill": -6.426732540130615, "action_rate_l2": -0.5604029297828674, "joint_torques_l2": -0.14561662077903748, "dof_pos_limits": -0.0008152387454174459, "terminated": -0.010788477957248688, "unnecessary_wheel_lift": -0.07828892767429352, "rolling_leg_motion": -0.5881524085998535, "obstacle_progress": 3.9204447269439697, "wheel_body_intrusion": -0.266146719455719, "pair_body_intrusion": -0.31022897362709045}, "weighted_reward_terms": {"track_linear_velocity": 1.7788785696029663, "track_angular_velocity": 1.8894010782241821, "upright": 0.9582706093788147, "leg_posture": -0.09502118825912476, "standstill": -0.23269657790660858, "action_rate_l2": -0.02029084786772728, "joint_torques_l2": -0.005272428970783949, "dof_pos_limits": -2.9517841539927758e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.002834654413163662, "rolling_leg_motion": -0.021295590326189995, "obstacle_progress": 0.14194990694522858, "wheel_body_intrusion": -0.009636535309255123, "pair_body_intrusion": -0.0112326480448246}, "episode_termination_rates": {"time_out": 0.5, "fell_over": 0.014925373134328358, "course_exit": 0.4701492537313433, "illegal_nonwheel_contact": 0.014925373134328358}, "collection_time_s": 0.07595778484363108, "learning_time_s": 0.19226521871751173, "iteration_time_s": 0.29657280514255274, "policy_updates": 46700, "skipped_updates": 0, "invalid_env_resets": 258, "elapsed_s": 13938.92184169998, "nonwheel_terminations": 14534, "contact_bce": 0.2785666882991791, "contact_force_loss": 0.02001769281923771, "collision_bce": 0.0003080399183090776, "collision_label_rate": 0.00012254902685526758, "collision_prediction_mean": 4.247247488819994e-05, "collision_label_count": 16320.0, "terrain_level_mean": 4.30322265625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 6, 10, 35, 65, 294], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1969.0, 432.0, 38.0, 0.0], [1809.0, 423.0, 36.0, 0.0], [1716.0, 386.0, 29.0, 0.0], [1466.0, 330.0, 27.0, 0.0], [3151.0, 733.0, 36.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 19, 290, 1123], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4739.0, 1744.0, 196.0, 0.0], [7650.0, 2033.0, 172.0, 0.0], [14077.0, 2898.0, 416.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 37, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [983.0, 810.0, 26.0, 0.0], [2235.0, 1856.0, 69.0, 0.0], [14973.0, 12784.0, 340.0, 0.0]]}, "platform": {"level_counts": [4, 21, 24, 67, 139, 155], "episodes_by_level": [[1861.0, 405.0, 53.0, 0.0], [2318.0, 472.0, 98.0, 0.0], [2158.0, 441.0, 93.0, 0.0], [2124.0, 382.0, 80.0, 0.0], [1811.0, 273.0, 88.0, 0.0], [1256.0, 124.0, 118.0, 0.0]]}, "slope": {"level_counts": [4, 8, 29, 52, 86, 231], "episodes_by_level": [[1663.0, 352.0, 46.0, 0.0], [2104.0, 431.0, 73.0, 0.0], [1986.0, 421.0, 47.0, 0.0], [1748.0, 346.0, 52.0, 0.0], [1537.0, 297.0, 29.0, 0.0], [2509.0, 415.0, 66.0, 0.0]]}, "rubble": {"level_counts": [15, 68, 169, 218, 223, 126], "episodes_by_level": [[3462.0, 786.0, 103.0, 0.0], [5456.0, 1172.0, 237.0, 0.0], [5659.0, 1169.0, 453.0, 0.0], [4748.0, 848.0, 602.0, 0.0], [2919.0, 387.0, 499.0, 0.0], [1116.0, 94.0, 261.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2373046875, "command_abs_max": [0.9984695315361023, 0.39978039264678955, 0.6984919309616089]}
{"step": 47050, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 47050, "total_transitions": 192716800, "num_steps_per_env": 1, "wm_loss": 0.5462474226951599, "actor_loss": -9.534625053405762, "critic_loss": 0.0037479486782103777, "reward": 0.08762189000844955, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11495903134346008, 0.06994219869375229, 0.13448792695999146], "mean_episode_length": 1371.0, "episode_reward_terms": {"track_linear_velocity": 48.692867279052734, "track_angular_velocity": 51.801055908203125, "upright": 26.286306381225586, "leg_posture": -2.5594711303710938, "standstill": -6.0673370361328125, "action_rate_l2": -0.5684008598327637, "joint_torques_l2": -0.1444322168827057, "dof_pos_limits": -0.0007813199772499502, "terminated": -0.024099605157971382, "unnecessary_wheel_lift": -0.0793072059750557, "rolling_leg_motion": -0.5808743834495544, "obstacle_progress": 3.9292354583740234, "wheel_body_intrusion": -0.2374342828989029, "pair_body_intrusion": -0.31771326065063477}, "weighted_reward_terms": {"track_linear_velocity": 1.775815725326538, "track_angular_velocity": 1.8891706466674805, "upright": 0.9586544632911682, "leg_posture": -0.09334322810173035, "standstill": -0.22127413749694824, "action_rate_l2": -0.0207294262945652, "joint_torques_l2": -0.005267404019832611, "dof_pos_limits": -2.849452903319616e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.0028923123609274626, "rolling_leg_motion": -0.02118433266878128, "obstacle_progress": 0.1432981640100479, "wheel_body_intrusion": -0.008659164421260357, "pair_body_intrusion": -0.01158691756427288}, "episode_termination_rates": {"time_out": 0.4695121951219512, "fell_over": 0.036585365853658534, "course_exit": 0.47560975609756095, "illegal_nonwheel_contact": 0.03048780487804878}, "collection_time_s": 0.07562900318182074, "learning_time_s": 0.18526077227201312, "iteration_time_s": 0.29653557986788565, "policy_updates": 46750, "skipped_updates": 0, "invalid_env_resets": 258, "elapsed_s": 13951.99903278402, "nonwheel_terminations": 14539, "contact_bce": 0.28749707341194153, "contact_force_loss": 0.02012532390654087, "collision_bce": 4.893125151284039e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 4.9634445531410165e-06, "collision_label_count": 16363.0, "terrain_level_mean": 4.3037109375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 6, 10, 35, 63, 296], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1969.0, 432.0, 38.0, 0.0], [1809.0, 423.0, 36.0, 0.0], [1717.0, 386.0, 29.0, 0.0], [1473.0, 332.0, 27.0, 0.0], [3159.0, 734.0, 36.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 19, 291, 1122], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4739.0, 1744.0, 196.0, 0.0], [7661.0, 2034.0, 172.0, 0.0], [14110.0, 2905.0, 417.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 36, 575], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [983.0, 810.0, 26.0, 0.0], [2237.0, 1858.0, 69.0, 0.0], [14995.0, 12804.0, 340.0, 0.0]]}, "platform": {"level_counts": [4, 21, 24, 67, 139, 155], "episodes_by_level": [[1861.0, 405.0, 53.0, 0.0], [2319.0, 472.0, 98.0, 0.0], [2158.0, 441.0, 93.0, 0.0], [2128.0, 382.0, 80.0, 0.0], [1816.0, 273.0, 88.0, 0.0], [1259.0, 125.0, 118.0, 0.0]]}, "slope": {"level_counts": [4, 8, 28, 53, 85, 232], "episodes_by_level": [[1663.0, 352.0, 46.0, 0.0], [2104.0, 431.0, 73.0, 0.0], [1987.0, 422.0, 47.0, 0.0], [1749.0, 346.0, 52.0, 0.0], [1539.0, 298.0, 29.0, 0.0], [2516.0, 417.0, 66.0, 0.0]]}, "rubble": {"level_counts": [15, 69, 167, 220, 223, 125], "episodes_by_level": [[3462.0, 786.0, 103.0, 0.0], [5460.0, 1172.0, 237.0, 0.0], [5664.0, 1170.0, 454.0, 0.0], [4754.0, 850.0, 602.0, 0.0], [2929.0, 388.0, 502.0, 0.0], [1120.0, 94.0, 263.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234130859375, "command_abs_max": [0.9984695315361023, 0.39978039264678955, 0.6984919309616089]}
{"step": 47100, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 47100, "total_transitions": 192921600, "num_steps_per_env": 1, "wm_loss": 0.5803091526031494, "actor_loss": -9.504261016845703, "critic_loss": 0.004498270805925131, "reward": 0.08753422647714615, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11419053375720978, 0.07070359587669373, 0.13402973115444183], "mean_episode_length": 1373.3417721518988, "episode_reward_terms": {"track_linear_velocity": 48.77973175048828, "track_angular_velocity": 51.92042922973633, "upright": 26.330286026000977, "leg_posture": -2.5832605361938477, "standstill": -6.1792311668396, "action_rate_l2": -0.5810448527336121, "joint_torques_l2": -0.14600057899951935, "dof_pos_limits": -0.000405946746468544, "terminated": -0.016093848273158073, "unnecessary_wheel_lift": -0.08861328661441803, "rolling_leg_motion": -0.5815434455871582, "obstacle_progress": 3.8962345123291016, "wheel_body_intrusion": -0.2508692145347595, "pair_body_intrusion": -0.28521203994750977}, "weighted_reward_terms": {"track_linear_velocity": 1.775950312614441, "track_angular_velocity": 1.8902952671051025, "upright": 0.9586210250854492, "leg_posture": -0.09405016899108887, "standstill": -0.22497062385082245, "action_rate_l2": -0.021154416725039482, "joint_torques_l2": -0.005315522663295269, "dof_pos_limits": -1.4779523553443141e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.003226191969588399, "rolling_leg_motion": -0.021172568202018738, "obstacle_progress": 0.14185233414173126, "wheel_body_intrusion": -0.009133532643318176, "pair_body_intrusion": -0.010383869521319866}, "episode_termination_rates": {"time_out": 0.4936708860759494, "fell_over": 0.02531645569620253, "course_exit": 0.46835443037974683, "illegal_nonwheel_contact": 0.012658227848101266}, "collection_time_s": 0.0756578206771519, "learning_time_s": 0.18557206294615752, "iteration_time_s": 0.2964981229996396, "policy_updates": 46800, "skipped_updates": 0, "invalid_env_resets": 258, "elapsed_s": 13965.061593283026, "nonwheel_terminations": 14541, "contact_bce": 0.28271356225013733, "contact_force_loss": 0.02131003327667713, "collision_bce": 1.0103939530381467e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.0143506187887397e-05, "collision_label_count": 16338.0, "terrain_level_mean": 4.306884765625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 6, 10, 34, 63, 297], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1969.0, 432.0, 38.0, 0.0], [1809.0, 423.0, 36.0, 0.0], [1721.0, 387.0, 29.0, 0.0], [1474.0, 333.0, 27.0, 0.0], [3165.0, 735.0, 36.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 19, 288, 1125], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4740.0, 1744.0, 196.0, 0.0], [7670.0, 2039.0, 172.0, 0.0], [14139.0, 2913.0, 418.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 37, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [983.0, 810.0, 26.0, 0.0], [2238.0, 1859.0, 69.0, 0.0], [15016.0, 12821.0, 341.0, 0.0]]}, "platform": {"level_counts": [4, 20, 25, 66, 139, 156], "episodes_by_level": [[1861.0, 405.0, 53.0, 0.0], [2321.0, 473.0, 98.0, 0.0], [2160.0, 441.0, 93.0, 0.0], [2129.0, 383.0, 80.0, 0.0], [1819.0, 274.0, 88.0, 0.0], [1261.0, 125.0, 118.0, 0.0]]}, "slope": {"level_counts": [4, 8, 28, 53, 84, 233], "episodes_by_level": [[1663.0, 352.0, 46.0, 0.0], [2106.0, 431.0, 73.0, 0.0], [1988.0, 422.0, 47.0, 0.0], [1750.0, 346.0, 52.0, 0.0], [1542.0, 299.0, 29.0, 0.0], [2525.0, 418.0, 66.0, 0.0]]}, "rubble": {"level_counts": [14, 70, 165, 221, 223, 126], "episodes_by_level": [[3463.0, 787.0, 103.0, 0.0], [5461.0, 1172.0, 237.0, 0.0], [5672.0, 1173.0, 454.0, 0.0], [4764.0, 851.0, 603.0, 0.0], [2936.0, 390.0, 502.0, 0.0], [1125.0, 94.0, 264.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.236328125, "command_abs_max": [0.9984695315361023, 0.39978039264678955, 0.6984919309616089]}
{"step": 47150, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 47150, "total_transitions": 193126400, "num_steps_per_env": 1, "wm_loss": 0.5628364086151123, "actor_loss": -9.508087158203125, "critic_loss": 0.005099816247820854, "reward": 0.08714893460273743, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11566076427698135, 0.07187550514936447, 0.13562650978565216], "mean_episode_length": 1416.6524822695035, "episode_reward_terms": {"track_linear_velocity": 50.155616760253906, "track_angular_velocity": 53.46806335449219, "upright": 27.130023956298828, "leg_posture": -2.6870150566101074, "standstill": -6.666203022003174, "action_rate_l2": -0.5952466726303101, "joint_torques_l2": -0.15124592185020447, "dof_pos_limits": -0.000449143786681816, "terminated": -0.01660139486193657, "unnecessary_wheel_lift": -0.0789935290813446, "rolling_leg_motion": -0.5857199430465698, "obstacle_progress": 4.063048362731934, "wheel_body_intrusion": -0.26958397030830383, "pair_body_intrusion": -0.30595412850379944}, "weighted_reward_terms": {"track_linear_velocity": 1.7702159881591797, "track_angular_velocity": 1.8871270418167114, "upright": 0.9575398564338684, "leg_posture": -0.0948367789387703, "standstill": -0.2352801263332367, "action_rate_l2": -0.021008918061852455, "joint_torques_l2": -0.005338144954293966, "dof_pos_limits": -1.585229256306775e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.0027880349662154913, "rolling_leg_motion": -0.020672675222158432, "obstacle_progress": 0.14340315759181976, "wheel_body_intrusion": -0.00951482355594635, "pair_body_intrusion": -0.01079848874360323}, "episode_termination_rates": {"time_out": 0.5390070921985816, "fell_over": 0.02127659574468085, "course_exit": 0.41843971631205673, "illegal_nonwheel_contact": 0.0425531914893617}, "collection_time_s": 0.0756471837637946, "learning_time_s": 0.1854524434020277, "iteration_time_s": 0.2964606068194274, "policy_updates": 46850, "skipped_updates": 0, "invalid_env_resets": 258, "elapsed_s": 13978.117611536, "nonwheel_terminations": 14547, "contact_bce": 0.2805485725402832, "contact_force_loss": 0.019714778289198875, "collision_bce": 0.00010840330651262775, "collision_label_rate": 0.0, "collision_prediction_mean": 8.498907118337229e-05, "collision_label_count": 16349.0, "terrain_level_mean": 4.307373046875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 6, 10, 34, 63, 297], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1969.0, 432.0, 38.0, 0.0], [1810.0, 423.0, 36.0, 0.0], [1721.0, 387.0, 29.0, 0.0], [1475.0, 333.0, 27.0, 0.0], [3173.0, 736.0, 36.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 20, 285, 1127], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4740.0, 1744.0, 196.0, 0.0], [7680.0, 2041.0, 172.0, 0.0], [14172.0, 2924.0, 418.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 37, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [983.0, 810.0, 26.0, 0.0], [2238.0, 1859.0, 69.0, 0.0], [15032.0, 12836.0, 341.0, 0.0]]}, "platform": {"level_counts": [4, 20, 25, 66, 137, 158], "episodes_by_level": [[1861.0, 405.0, 53.0, 0.0], [2321.0, 473.0, 98.0, 0.0], [2161.0, 441.0, 93.0, 0.0], [2131.0, 383.0, 80.0, 0.0], [1825.0, 276.0, 88.0, 0.0], [1264.0, 125.0, 118.0, 0.0]]}, "slope": {"level_counts": [4, 8, 28, 53, 83, 234], "episodes_by_level": [[1663.0, 352.0, 46.0, 0.0], [2106.0, 431.0, 73.0, 0.0], [1989.0, 422.0, 47.0, 0.0], [1752.0, 346.0, 52.0, 0.0], [1546.0, 300.0, 29.0, 0.0], [2531.0, 418.0, 66.0, 0.0]]}, "rubble": {"level_counts": [14, 70, 164, 223, 224, 124], "episodes_by_level": [[3464.0, 787.0, 103.0, 0.0], [5462.0, 1172.0, 237.0, 0.0], [5676.0, 1175.0, 454.0, 0.0], [4771.0, 851.0, 604.0, 0.0], [2939.0, 390.0, 503.0, 0.0], [1131.0, 94.0, 266.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.236083984375, "command_abs_max": [0.9986486434936523, 0.39978039264678955, 0.6999809741973877]}
{"step": 47200, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 47200, "total_transitions": 193331200, "num_steps_per_env": 1, "wm_loss": 0.5545668601989746, "actor_loss": -9.510592460632324, "critic_loss": 0.00425551226362586, "reward": 0.08703082799911499, "falls": 22, "interval_steps": 50, "velocity_mae": [0.1151496171951294, 0.07275794446468353, 0.13694967329502106], "mean_episode_length": 1306.7677419354839, "episode_reward_terms": {"track_linear_velocity": 46.235313415527344, "track_angular_velocity": 49.27658462524414, "upright": 25.03562355041504, "leg_posture": -2.5123538970947266, "standstill": -6.1512675285339355, "action_rate_l2": -0.5477253794670105, "joint_torques_l2": -0.13961581885814667, "dof_pos_limits": -0.0008966224268078804, "terminated": -0.0561501681804657, "unnecessary_wheel_lift": -0.09549515694379807, "rolling_leg_motion": -0.5488911271095276, "obstacle_progress": 3.759536027908325, "wheel_body_intrusion": -0.2661791145801544, "pair_body_intrusion": -0.25941866636276245}, "weighted_reward_terms": {"track_linear_velocity": 1.7690715789794922, "track_angular_velocity": 1.8854378461837769, "upright": 0.9579216837882996, "leg_posture": -0.09612856060266495, "standstill": -0.23536193370819092, "action_rate_l2": -0.020957259461283684, "joint_torques_l2": -0.0053420290350914, "dof_pos_limits": -3.430687866057269e-05, "terminated": -0.002148437313735485, "unnecessary_wheel_lift": -0.0036538690328598022, "rolling_leg_motion": -0.02100186236202717, "obstacle_progress": 0.14384867250919342, "wheel_body_intrusion": -0.010184637270867825, "pair_body_intrusion": -0.009925968013703823}, "episode_termination_rates": {"time_out": 0.43870967741935485, "fell_over": 0.06451612903225806, "course_exit": 0.41935483870967744, "illegal_nonwheel_contact": 0.08387096774193549}, "collection_time_s": 0.07562000925652683, "learning_time_s": 0.18523861668189057, "iteration_time_s": 0.29642291607205473, "policy_updates": 46900, "skipped_updates": 0, "invalid_env_resets": 258, "elapsed_s": 13991.161638600985, "nonwheel_terminations": 14560, "contact_bce": 0.2774677276611328, "contact_force_loss": 0.019734900444746017, "collision_bce": 0.0004621814878191799, "collision_label_rate": 6.11134892096743e-05, "collision_prediction_mean": 7.668972830288112e-05, "collision_label_count": 16363.0, "terrain_level_mean": 4.3046875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 6, 10, 35, 62, 297], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1969.0, 432.0, 38.0, 0.0], [1810.0, 423.0, 36.0, 0.0], [1723.0, 387.0, 29.0, 0.0], [1478.0, 334.0, 28.0, 0.0], [3183.0, 738.0, 37.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 20, 289, 1123], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4740.0, 1744.0, 196.0, 0.0], [7685.0, 2041.0, 172.0, 0.0], [14200.0, 2930.0, 420.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 37, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [983.0, 810.0, 26.0, 0.0], [2240.0, 1861.0, 69.0, 0.0], [15048.0, 12850.0, 341.0, 0.0]]}, "platform": {"level_counts": [4, 20, 25, 67, 135, 159], "episodes_by_level": [[1862.0, 405.0, 53.0, 0.0], [2322.0, 473.0, 98.0, 0.0], [2162.0, 441.0, 93.0, 0.0], [2132.0, 383.0, 80.0, 0.0], [1835.0, 278.0, 89.0, 0.0], [1268.0, 127.0, 119.0, 0.0]]}, "slope": {"level_counts": [4, 8, 28, 52, 84, 234], "episodes_by_level": [[1663.0, 352.0, 46.0, 0.0], [2106.0, 431.0, 73.0, 0.0], [1990.0, 422.0, 47.0, 0.0], [1754.0, 347.0, 52.0, 0.0], [1549.0, 301.0, 29.0, 0.0], [2538.0, 420.0, 67.0, 0.0]]}, "rubble": {"level_counts": [15, 69, 164, 227, 222, 122], "episodes_by_level": [[3464.0, 787.0, 103.0, 0.0], [5466.0, 1173.0, 238.0, 0.0], [5686.0, 1176.0, 455.0, 0.0], [4775.0, 852.0, 605.0, 0.0], [2949.0, 390.0, 508.0, 0.0], [1138.0, 96.0, 268.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23828125, "command_abs_max": [0.9986486434936523, 0.39978039264678955, 0.6999809741973877]}
{"step": 47250, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 47250, "total_transitions": 193536000, "num_steps_per_env": 1, "wm_loss": 0.5161253213882446, "actor_loss": -9.532766342163086, "critic_loss": 0.00497062923386693, "reward": 0.0871400311589241, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11390373110771179, 0.07092636078596115, 0.13549108803272247], "mean_episode_length": 1385.36312849162, "episode_reward_terms": {"track_linear_velocity": 49.18191146850586, "track_angular_velocity": 52.30585479736328, "upright": 26.572629928588867, "leg_posture": -2.639420747756958, "standstill": -6.611581802368164, "action_rate_l2": -0.5834271907806396, "joint_torques_l2": -0.146821990609169, "dof_pos_limits": -0.00042820742237381637, "terminated": -0.021646294742822647, "unnecessary_wheel_lift": -0.10001210868358612, "rolling_leg_motion": -0.597137987613678, "obstacle_progress": 3.9133777618408203, "wheel_body_intrusion": -0.26540422439575195, "pair_body_intrusion": -0.28729376196861267}, "weighted_reward_terms": {"track_linear_velocity": 1.775054931640625, "track_angular_velocity": 1.8878029584884644, "upright": 0.9590492844581604, "leg_posture": -0.09526097029447556, "standstill": -0.23862271010875702, "action_rate_l2": -0.021056832745671272, "joint_torques_l2": -0.005299043375998735, "dof_pos_limits": -1.54546996782301e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0036095990799367428, "rolling_leg_motion": -0.021551677957177162, "obstacle_progress": 0.14124014973640442, "wheel_body_intrusion": -0.009578868746757507, "pair_body_intrusion": -0.010368896648287773}, "episode_termination_rates": {"time_out": 0.4692737430167598, "fell_over": 0.0223463687150838, "course_exit": 0.4860335195530726, "illegal_nonwheel_contact": 0.03910614525139665}, "collection_time_s": 0.07628202122170478, "learning_time_s": 0.18506247834069656, "iteration_time_s": 0.29638581777189454, "policy_updates": 46950, "skipped_updates": 0, "invalid_env_resets": 260, "elapsed_s": 14004.229889722017, "nonwheel_terminations": 14567, "contact_bce": 0.2821727991104126, "contact_force_loss": 0.019968578591942787, "collision_bce": 0.00029033736791461706, "collision_label_rate": 6.129328539827839e-05, "collision_prediction_mean": 1.0541061783442274e-05, "collision_label_count": 16315.0, "terrain_level_mean": 4.3056640625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 6, 10, 35, 62, 297], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1970.0, 432.0, 38.0, 0.0], [1810.0, 423.0, 36.0, 0.0], [1723.0, 387.0, 29.0, 0.0], [1481.0, 334.0, 28.0, 0.0], [3190.0, 742.0, 37.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 20, 285, 1127], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4740.0, 1744.0, 196.0, 0.0], [7706.0, 2047.0, 172.0, 0.0], [14224.0, 2936.0, 421.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 3, 36, 575], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [983.0, 810.0, 26.0, 0.0], [2241.0, 1862.0, 69.0, 0.0], [15072.0, 12873.0, 341.0, 0.0]]}, "platform": {"level_counts": [4, 21, 24, 67, 134, 160], "episodes_by_level": [[1862.0, 405.0, 53.0, 0.0], [2322.0, 473.0, 98.0, 0.0], [2165.0, 441.0, 94.0, 0.0], [2134.0, 383.0, 80.0, 0.0], [1841.0, 279.0, 89.0, 0.0], [1278.0, 129.0, 119.0, 0.0]]}, "slope": {"level_counts": [4, 8, 28, 51, 86, 233], "episodes_by_level": [[1663.0, 352.0, 46.0, 0.0], [2106.0, 431.0, 73.0, 0.0], [1991.0, 422.0, 47.0, 0.0], [1755.0, 348.0, 52.0, 0.0], [1555.0, 301.0, 29.0, 0.0], [2545.0, 421.0, 68.0, 0.0]]}, "rubble": {"level_counts": [15, 70, 162, 228, 223, 121], "episodes_by_level": [[3464.0, 787.0, 103.0, 0.0], [5467.0, 1173.0, 238.0, 0.0], [5692.0, 1177.0, 456.0, 0.0], [4788.0, 854.0, 605.0, 0.0], [2956.0, 390.0, 510.0, 0.0], [1144.0, 96.0, 269.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.238037109375, "command_abs_max": [0.9988980293273926, 0.39978039264678955, 0.6999809741973877]}
{"step": 47300, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 47300, "total_transitions": 193740800, "num_steps_per_env": 1, "wm_loss": 0.5693356990814209, "actor_loss": -9.489771842956543, "critic_loss": 0.010397014208137989, "reward": 0.08708873391151428, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11302810162305832, 0.06957411766052246, 0.1332140415906906], "mean_episode_length": 1351.8053691275168, "episode_reward_terms": {"track_linear_velocity": 48.139198303222656, "track_angular_velocity": 51.131126403808594, "upright": 25.92599105834961, "leg_posture": -2.627406597137451, "standstill": -6.648880481719971, "action_rate_l2": -0.5597719550132751, "joint_torques_l2": -0.14341259002685547, "dof_pos_limits": -0.0001872026186902076, "terminated": -0.023762201890349388, "unnecessary_wheel_lift": -0.08562193810939789, "rolling_leg_motion": -0.5750499963760376, "obstacle_progress": 3.726501226425171, "wheel_body_intrusion": -0.265026330947876, "pair_body_intrusion": -0.26666465401649475}, "weighted_reward_terms": {"track_linear_velocity": 1.7805521488189697, "track_angular_velocity": 1.8912162780761719, "upright": 0.9589394330978394, "leg_posture": -0.09718138724565506, "standstill": -0.24592594802379608, "action_rate_l2": -0.02070460468530655, "joint_torques_l2": -0.005304483696818352, "dof_pos_limits": -6.924170065758517e-06, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.003166947513818741, "rolling_leg_motion": -0.021269703283905983, "obstacle_progress": 0.13783423602581024, "wheel_body_intrusion": -0.0098026804625988, "pair_body_intrusion": -0.009863277897238731}, "episode_termination_rates": {"time_out": 0.4563758389261745, "fell_over": 0.040268456375838924, "course_exit": 0.48322147651006714, "illegal_nonwheel_contact": 0.04697986577181208}, "collection_time_s": 0.07603313578059896, "learning_time_s": 0.18508395255776122, "iteration_time_s": 0.29634855959866807, "policy_updates": 47000, "skipped_updates": 0, "invalid_env_resets": 261, "elapsed_s": 14017.286869017, "nonwheel_terminations": 14574, "contact_bce": 0.2903207242488861, "contact_force_loss": 0.02121017500758171, "collision_bce": 0.00018128372903447598, "collision_label_rate": 6.124448555056006e-05, "collision_prediction_mean": 3.835372262983583e-05, "collision_label_count": 16328.0, "terrain_level_mean": 4.304931640625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 6, 10, 35, 62, 297], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1970.0, 432.0, 38.0, 0.0], [1810.0, 423.0, 36.0, 0.0], [1723.0, 387.0, 29.0, 0.0], [1482.0, 334.0, 28.0, 0.0], [3201.0, 744.0, 37.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 20, 284, 1128], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4740.0, 1744.0, 196.0, 0.0], [7715.0, 2049.0, 172.0, 0.0], [14261.0, 2943.0, 421.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 39, 573], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [984.0, 811.0, 26.0, 0.0], [2242.0, 1863.0, 69.0, 0.0], [15087.0, 12887.0, 341.0, 0.0]]}, "platform": {"level_counts": [4, 21, 25, 66, 134, 160], "episodes_by_level": [[1862.0, 405.0, 53.0, 0.0], [2322.0, 473.0, 98.0, 0.0], [2168.0, 441.0, 94.0, 0.0], [2139.0, 383.0, 81.0, 0.0], [1845.0, 280.0, 89.0, 0.0], [1283.0, 130.0, 120.0, 0.0]]}, "slope": {"level_counts": [4, 8, 28, 51, 86, 233], "episodes_by_level": [[1663.0, 352.0, 46.0, 0.0], [2106.0, 431.0, 73.0, 0.0], [1992.0, 422.0, 47.0, 0.0], [1757.0, 348.0, 52.0, 0.0], [1557.0, 302.0, 29.0, 0.0], [2549.0, 421.0, 69.0, 0.0]]}, "rubble": {"level_counts": [15, 71, 161, 229, 222, 121], "episodes_by_level": [[3464.0, 787.0, 103.0, 0.0], [5469.0, 1173.0, 238.0, 0.0], [5694.0, 1177.0, 457.0, 0.0], [4794.0, 854.0, 605.0, 0.0], [2964.0, 390.0, 511.0, 0.0], [1147.0, 96.0, 269.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.244873046875, "command_abs_max": [0.9988980293273926, 0.39978039264678955, 0.6999809741973877]}
{"step": 47350, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 47350, "total_transitions": 193945600, "num_steps_per_env": 1, "wm_loss": 0.5637773275375366, "actor_loss": -9.526829719543457, "critic_loss": 0.0035901018418371677, "reward": 0.08747540414333344, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11338403075933456, 0.07058075070381165, 0.13393144309520721], "mean_episode_length": 1286.8095238095239, "episode_reward_terms": {"track_linear_velocity": 45.745628356933594, "track_angular_velocity": 48.64155960083008, "upright": 24.693880081176758, "leg_posture": -2.4976041316986084, "standstill": -5.712643146514893, "action_rate_l2": -0.5275301933288574, "joint_torques_l2": -0.13632972538471222, "dof_pos_limits": -0.00028240177198313177, "terminated": -0.01256649848073721, "unnecessary_wheel_lift": -0.06306854635477066, "rolling_leg_motion": -0.5433675050735474, "obstacle_progress": 3.516244888305664, "wheel_body_intrusion": -0.2675215005874634, "pair_body_intrusion": -0.2722262144088745}, "weighted_reward_terms": {"track_linear_velocity": 1.7774823904037476, "track_angular_velocity": 1.890006184577942, "upright": 0.9595001935958862, "leg_posture": -0.0970463752746582, "standstill": -0.22196926176548004, "action_rate_l2": -0.020497603341937065, "joint_torques_l2": -0.005297199357300997, "dof_pos_limits": -1.0972943528031465e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.002450578147545457, "rolling_leg_motion": -0.021112974733114243, "obstacle_progress": 0.1366264671087265, "wheel_body_intrusion": -0.01039475854486227, "pair_body_intrusion": -0.010577565059065819}, "episode_termination_rates": {"time_out": 0.38095238095238093, "fell_over": 0.031746031746031744, "course_exit": 0.5793650793650794, "illegal_nonwheel_contact": 0.015873015873015872}, "collection_time_s": 0.07560372791718692, "learning_time_s": 0.18545223874622024, "iteration_time_s": 0.2963113147168951, "policy_updates": 47050, "skipped_updates": 0, "invalid_env_resets": 261, "elapsed_s": 14030.340751844982, "nonwheel_terminations": 14576, "contact_bce": 0.28338295221328735, "contact_force_loss": 0.02031118795275688, "collision_bce": 0.00019133047317154706, "collision_label_rate": 6.120325269876048e-05, "collision_prediction_mean": 0.00012497669376898557, "collision_label_count": 16339.0, "terrain_level_mean": 4.305908203125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 6, 10, 35, 62, 297], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1970.0, 432.0, 38.0, 0.0], [1810.0, 423.0, 36.0, 0.0], [1723.0, 387.0, 29.0, 0.0], [1483.0, 334.0, 28.0, 0.0], [3209.0, 746.0, 37.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 19, 284, 1129], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4741.0, 1745.0, 196.0, 0.0], [7720.0, 2050.0, 172.0, 0.0], [14292.0, 2952.0, 421.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 42, 570], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [984.0, 811.0, 26.0, 0.0], [2242.0, 1863.0, 69.0, 0.0], [15106.0, 12904.0, 341.0, 0.0]]}, "platform": {"level_counts": [4, 21, 26, 64, 135, 160], "episodes_by_level": [[1862.0, 405.0, 53.0, 0.0], [2324.0, 473.0, 98.0, 0.0], [2169.0, 441.0, 94.0, 0.0], [2142.0, 384.0, 82.0, 0.0], [1846.0, 280.0, 89.0, 0.0], [1286.0, 130.0, 120.0, 0.0]]}, "slope": {"level_counts": [4, 8, 28, 51, 86, 233], "episodes_by_level": [[1663.0, 352.0, 46.0, 0.0], [2106.0, 431.0, 73.0, 0.0], [1992.0, 422.0, 47.0, 0.0], [1758.0, 348.0, 52.0, 0.0], [1558.0, 302.0, 29.0, 0.0], [2552.0, 422.0, 69.0, 0.0]]}, "rubble": {"level_counts": [15, 71, 161, 226, 223, 123], "episodes_by_level": [[3464.0, 787.0, 103.0, 0.0], [5471.0, 1173.0, 238.0, 0.0], [5698.0, 1178.0, 457.0, 0.0], [4800.0, 857.0, 606.0, 0.0], [2973.0, 392.0, 511.0, 0.0], [1150.0, 97.0, 269.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.24609375, "command_abs_max": [0.9993289113044739, 0.39978039264678955, 0.6999809741973877]}
{"step": 47400, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 47400, "total_transitions": 194150400, "num_steps_per_env": 1, "wm_loss": 0.5425316691398621, "actor_loss": -9.530567169189453, "critic_loss": 0.004892522003501654, "reward": 0.0873110443353653, "falls": 8, "interval_steps": 50, "velocity_mae": [0.1145462766289711, 0.07100726664066315, 0.1346861720085144], "mean_episode_length": 1340.5960264900662, "episode_reward_terms": {"track_linear_velocity": 47.5260124206543, "track_angular_velocity": 50.64380645751953, "upright": 25.693065643310547, "leg_posture": -2.590144395828247, "standstill": -5.999548435211182, "action_rate_l2": -0.553632915019989, "joint_torques_l2": -0.14340779185295105, "dof_pos_limits": -0.00027161400066688657, "terminated": -0.020946810021996498, "unnecessary_wheel_lift": -0.07670379430055618, "rolling_leg_motion": -0.5691918730735779, "obstacle_progress": 3.706143379211426, "wheel_body_intrusion": -0.25513890385627747, "pair_body_intrusion": -0.3112261891365051}, "weighted_reward_terms": {"track_linear_velocity": 1.772570252418518, "track_angular_velocity": 1.8888540267944336, "upright": 0.958270251750946, "leg_posture": -0.09660421311855316, "standstill": -0.22376422584056854, "action_rate_l2": -0.020648758858442307, "joint_torques_l2": -0.005348657723516226, "dof_pos_limits": -1.013034489005804e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0028608092106878757, "rolling_leg_motion": -0.021229058504104614, "obstacle_progress": 0.1382274478673935, "wheel_body_intrusion": -0.009515875950455666, "pair_body_intrusion": -0.011607754044234753}, "episode_termination_rates": {"time_out": 0.423841059602649, "fell_over": 0.019867549668874173, "course_exit": 0.5231788079470199, "illegal_nonwheel_contact": 0.033112582781456956}, "collection_time_s": 0.07596813263604417, "learning_time_s": 0.1854605733626522, "iteration_time_s": 0.29627454217647736, "policy_updates": 47100, "skipped_updates": 0, "invalid_env_resets": 262, "elapsed_s": 14043.413299165026, "nonwheel_terminations": 14581, "contact_bce": 0.28154221177101135, "contact_force_loss": 0.02068628929555416, "collision_bce": 5.769981726189144e-05, "collision_label_rate": 6.112096161814407e-05, "collision_prediction_mean": 9.994561696657911e-05, "collision_label_count": 16361.0, "terrain_level_mean": 4.308349609375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 6, 10, 35, 61, 298], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1970.0, 432.0, 38.0, 0.0], [1811.0, 423.0, 36.0, 0.0], [1724.0, 387.0, 29.0, 0.0], [1485.0, 335.0, 28.0, 0.0], [3214.0, 747.0, 37.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 19, 282, 1131], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4742.0, 1745.0, 196.0, 0.0], [7730.0, 2053.0, 172.0, 0.0], [14320.0, 2961.0, 421.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 2, 41, 571], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [984.0, 811.0, 26.0, 0.0], [2244.0, 1865.0, 69.0, 0.0], [15124.0, 12920.0, 341.0, 0.0]]}, "platform": {"level_counts": [4, 21, 25, 64, 138, 158], "episodes_by_level": [[1862.0, 405.0, 53.0, 0.0], [2326.0, 473.0, 98.0, 0.0], [2172.0, 442.0, 94.0, 0.0], [2144.0, 386.0, 82.0, 0.0], [1849.0, 281.0, 90.0, 0.0], [1292.0, 130.0, 123.0, 0.0]]}, "slope": {"level_counts": [4, 8, 28, 50, 88, 232], "episodes_by_level": [[1663.0, 352.0, 46.0, 0.0], [2106.0, 431.0, 73.0, 0.0], [1992.0, 422.0, 47.0, 0.0], [1760.0, 349.0, 52.0, 0.0], [1561.0, 302.0, 29.0, 0.0], [2564.0, 425.0, 70.0, 0.0]]}, "rubble": {"level_counts": [15, 69, 162, 227, 220, 126], "episodes_by_level": [[3464.0, 787.0, 103.0, 0.0], [5476.0, 1175.0, 238.0, 0.0], [5704.0, 1179.0, 457.0, 0.0], [4802.0, 857.0, 606.0, 0.0], [2983.0, 396.0, 511.0, 0.0], [1155.0, 98.0, 270.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.242919921875, "command_abs_max": [0.9986486434936523, 0.39978039264678955, 0.6999809741973877]}
{"step": 47450, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 47450, "total_transitions": 194355200, "num_steps_per_env": 1, "wm_loss": 0.5293758511543274, "actor_loss": -9.501497268676758, "critic_loss": 0.003961957525461912, "reward": 0.08726846426725388, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11606165766716003, 0.07176946848630905, 0.13550712168216705], "mean_episode_length": 1336.4333333333334, "episode_reward_terms": {"track_linear_velocity": 47.29074478149414, "track_angular_velocity": 50.45868682861328, "upright": 25.628387451171875, "leg_posture": -2.552128791809082, "standstill": -6.063756465911865, "action_rate_l2": -0.5660938024520874, "joint_torques_l2": -0.14175686240196228, "dof_pos_limits": -0.00046314526116475463, "terminated": -0.01566132716834545, "unnecessary_wheel_lift": -0.0803653746843338, "rolling_leg_motion": -0.5665907263755798, "obstacle_progress": 3.7882494926452637, "wheel_body_intrusion": -0.25974583625793457, "pair_body_intrusion": -0.2910282611846924}, "weighted_reward_terms": {"track_linear_velocity": 1.7692893743515015, "track_angular_velocity": 1.8878116607666016, "upright": 0.9588353037834167, "leg_posture": -0.09548283368349075, "standstill": -0.22686339914798737, "action_rate_l2": -0.021179277449846268, "joint_torques_l2": -0.005303551908582449, "dof_pos_limits": -1.7327660316368565e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.0030067109037190676, "rolling_leg_motion": -0.021197866648435593, "obstacle_progress": 0.14172983169555664, "wheel_body_intrusion": -0.00971787516027689, "pair_body_intrusion": -0.010888244956731796}, "episode_termination_rates": {"time_out": 0.47333333333333333, "fell_over": 0.02, "course_exit": 0.4866666666666667, "illegal_nonwheel_contact": 0.02}, "collection_time_s": 0.07550802828045562, "learning_time_s": 0.18480882680392824, "iteration_time_s": 0.29623667466874604, "policy_updates": 47150, "skipped_updates": 0, "invalid_env_resets": 262, "elapsed_s": 14056.430213032, "nonwheel_terminations": 14584, "contact_bce": 0.28340157866477966, "contact_force_loss": 0.019558629021048546, "collision_bce": 2.517418579373043e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 2.4919241695897654e-05, "collision_label_count": 16335.0, "terrain_level_mean": 4.3095703125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 6, 10, 35, 61, 298], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1970.0, 432.0, 38.0, 0.0], [1811.0, 423.0, 36.0, 0.0], [1725.0, 387.0, 29.0, 0.0], [1485.0, 335.0, 28.0, 0.0], [3226.0, 748.0, 37.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 18, 281, 1133], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4744.0, 1746.0, 196.0, 0.0], [7742.0, 2056.0, 172.0, 0.0], [14343.0, 2963.0, 421.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 43, 570], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [985.0, 812.0, 26.0, 0.0], [2244.0, 1865.0, 69.0, 0.0], [15151.0, 12946.0, 341.0, 0.0]]}, "platform": {"level_counts": [4, 21, 25, 62, 140, 158], "episodes_by_level": [[1862.0, 405.0, 53.0, 0.0], [2327.0, 473.0, 98.0, 0.0], [2172.0, 442.0, 94.0, 0.0], [2149.0, 388.0, 82.0, 0.0], [1851.0, 281.0, 90.0, 0.0], [1298.0, 131.0, 123.0, 0.0]]}, "slope": {"level_counts": [4, 7, 28, 51, 88, 232], "episodes_by_level": [[1663.0, 352.0, 46.0, 0.0], [2107.0, 432.0, 73.0, 0.0], [1994.0, 423.0, 47.0, 0.0], [1762.0, 349.0, 52.0, 0.0], [1562.0, 302.0, 29.0, 0.0], [2571.0, 427.0, 70.0, 0.0]]}, "rubble": {"level_counts": [15, 69, 161, 228, 223, 123], "episodes_by_level": [[3464.0, 787.0, 103.0, 0.0], [5476.0, 1175.0, 238.0, 0.0], [5708.0, 1180.0, 457.0, 0.0], [4807.0, 857.0, 606.0, 0.0], [2989.0, 397.0, 511.0, 0.0], [1163.0, 99.0, 274.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.243896484375, "command_abs_max": [0.9986486434936523, 0.39978039264678955, 0.6984829306602478]}
{"step": 47500, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 47500, "total_transitions": 194560000, "num_steps_per_env": 1, "wm_loss": 0.5515774488449097, "actor_loss": -9.506559371948242, "critic_loss": 0.005708718206733465, "reward": 0.08733223378658295, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11426014453172684, 0.07197801023721695, 0.13662531971931458], "mean_episode_length": 1402.5632911392406, "episode_reward_terms": {"track_linear_velocity": 49.754600524902344, "track_angular_velocity": 52.90996551513672, "upright": 26.85640525817871, "leg_posture": -2.6625773906707764, "standstill": -6.35091495513916, "action_rate_l2": -0.589100182056427, "joint_torques_l2": -0.1483151614665985, "dof_pos_limits": -0.0006093168631196022, "terminated": -0.02465442754328251, "unnecessary_wheel_lift": -0.0931013971567154, "rolling_leg_motion": -0.5834043025970459, "obstacle_progress": 3.988694190979004, "wheel_body_intrusion": -0.27974987030029297, "pair_body_intrusion": -0.2882442772388458}, "weighted_reward_terms": {"track_linear_velocity": 1.773702621459961, "track_angular_velocity": 1.886188268661499, "upright": 0.9574044346809387, "leg_posture": -0.09491826593875885, "standstill": -0.2264038771390915, "action_rate_l2": -0.02100084349513054, "joint_torques_l2": -0.005287289619445801, "dof_pos_limits": -2.1721547454944812e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.0033189731184393167, "rolling_leg_motion": -0.020797789096832275, "obstacle_progress": 0.1421930342912674, "wheel_body_intrusion": -0.009972807951271534, "pair_body_intrusion": -0.010275625623762608}, "episode_termination_rates": {"time_out": 0.5, "fell_over": 0.04430379746835443, "course_exit": 0.4430379746835443, "illegal_nonwheel_contact": 0.0189873417721519}, "collection_time_s": 0.07609643990290352, "learning_time_s": 0.18476218895753846, "iteration_time_s": 0.296199458589558, "policy_updates": 47200, "skipped_updates": 0, "invalid_env_resets": 263, "elapsed_s": 14069.474283004005, "nonwheel_terminations": 14587, "contact_bce": 0.2835485637187958, "contact_force_loss": 0.01976507343351841, "collision_bce": 0.0004022390057798475, "collision_label_rate": 0.00012246647384017706, "collision_prediction_mean": 1.6490681446157396e-05, "collision_label_count": 16331.0, "terrain_level_mean": 4.3095703125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 6, 10, 35, 60, 299], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1970.0, 432.0, 38.0, 0.0], [1811.0, 423.0, 36.0, 0.0], [1728.0, 387.0, 29.0, 0.0], [1488.0, 336.0, 28.0, 0.0], [3240.0, 751.0, 37.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 18, 282, 1132], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4744.0, 1746.0, 196.0, 0.0], [7750.0, 2057.0, 172.0, 0.0], [14378.0, 2976.0, 421.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 46, 567], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [985.0, 812.0, 26.0, 0.0], [2245.0, 1866.0, 69.0, 0.0], [15169.0, 12961.0, 341.0, 0.0]]}, "platform": {"level_counts": [3, 22, 25, 62, 138, 160], "episodes_by_level": [[1863.0, 406.0, 53.0, 0.0], [2327.0, 473.0, 98.0, 0.0], [2172.0, 442.0, 94.0, 0.0], [2150.0, 388.0, 82.0, 0.0], [1859.0, 283.0, 90.0, 0.0], [1303.0, 132.0, 123.0, 0.0]]}, "slope": {"level_counts": [4, 7, 28, 50, 89, 232], "episodes_by_level": [[1663.0, 352.0, 46.0, 0.0], [2107.0, 432.0, 73.0, 0.0], [1995.0, 423.0, 47.0, 0.0], [1763.0, 350.0, 52.0, 0.0], [1565.0, 302.0, 29.0, 0.0], [2582.0, 428.0, 70.0, 0.0]]}, "rubble": {"level_counts": [15, 71, 159, 227, 224, 123], "episodes_by_level": [[3464.0, 787.0, 103.0, 0.0], [5476.0, 1175.0, 238.0, 0.0], [5714.0, 1181.0, 459.0, 0.0], [4813.0, 858.0, 607.0, 0.0], [2990.0, 397.0, 511.0, 0.0], [1168.0, 99.0, 274.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.24169921875, "command_abs_max": [0.9969831705093384, 0.39978039264678955, 0.6984829306602478]}
{"step": 47550, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 47550, "total_transitions": 194764800, "num_steps_per_env": 1, "wm_loss": 0.5483881235122681, "actor_loss": -9.514044761657715, "critic_loss": 0.004369209986180067, "reward": 0.08720653504133224, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11548224836587906, 0.07172510772943497, 0.13605289161205292], "mean_episode_length": 1346.1748251748252, "episode_reward_terms": {"track_linear_velocity": 47.66753005981445, "track_angular_velocity": 50.79228591918945, "upright": 25.79891586303711, "leg_posture": -2.544084310531616, "standstill": -6.145144462585449, "action_rate_l2": -0.5632379651069641, "joint_torques_l2": -0.1445160061120987, "dof_pos_limits": -0.00022819194418843836, "terminated": -0.023663224652409554, "unnecessary_wheel_lift": -0.0932212769985199, "rolling_leg_motion": -0.5474090576171875, "obstacle_progress": 3.7605082988739014, "wheel_body_intrusion": -0.26335927844047546, "pair_body_intrusion": -0.2991512417793274}, "weighted_reward_terms": {"track_linear_velocity": 1.770480751991272, "track_angular_velocity": 1.8865412473678589, "upright": 0.9582305550575256, "leg_posture": -0.0944930911064148, "standstill": -0.22824467718601227, "action_rate_l2": -0.02091994322836399, "joint_torques_l2": -0.005367653910070658, "dof_pos_limits": -8.475569302390795e-06, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.003462450811639428, "rolling_leg_motion": -0.02033201977610588, "obstacle_progress": 0.1396738439798355, "wheel_body_intrusion": -0.009781763888895512, "pair_body_intrusion": -0.011111159808933735}, "episode_termination_rates": {"time_out": 0.46153846153846156, "fell_over": 0.04195804195804196, "course_exit": 0.4755244755244755, "illegal_nonwheel_contact": 0.04195804195804196}, "collection_time_s": 0.07565536224050447, "learning_time_s": 0.19203802265576086, "iteration_time_s": 0.29617014994731927, "policy_updates": 47250, "skipped_updates": 0, "invalid_env_resets": 263, "elapsed_s": 14082.890629995032, "nonwheel_terminations": 14593, "contact_bce": 0.2889416217803955, "contact_force_loss": 0.02047848328948021, "collision_bce": 7.086912955855951e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 6.237365596462041e-05, "collision_label_count": 16358.0, "terrain_level_mean": 4.31103515625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 6, 10, 35, 60, 299], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1970.0, 432.0, 38.0, 0.0], [1812.0, 423.0, 36.0, 0.0], [1729.0, 387.0, 29.0, 0.0], [1488.0, 336.0, 28.0, 0.0], [3247.0, 753.0, 37.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 18, 279, 1135], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4746.0, 1746.0, 196.0, 0.0], [7758.0, 2061.0, 172.0, 0.0], [14400.0, 2985.0, 422.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 49, 564], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [985.0, 812.0, 26.0, 0.0], [2247.0, 1868.0, 69.0, 0.0], [15197.0, 12987.0, 341.0, 0.0]]}, "platform": {"level_counts": [3, 22, 25, 62, 138, 160], "episodes_by_level": [[1863.0, 406.0, 53.0, 0.0], [2328.0, 473.0, 98.0, 0.0], [2172.0, 442.0, 94.0, 0.0], [2151.0, 388.0, 82.0, 0.0], [1862.0, 283.0, 90.0, 0.0], [1310.0, 134.0, 123.0, 0.0]]}, "slope": {"level_counts": [4, 7, 28, 49, 90, 232], "episodes_by_level": [[1663.0, 352.0, 46.0, 0.0], [2107.0, 432.0, 73.0, 0.0], [1995.0, 423.0, 47.0, 0.0], [1765.0, 351.0, 52.0, 0.0], [1569.0, 302.0, 29.0, 0.0], [2593.0, 431.0, 70.0, 0.0]]}, "rubble": {"level_counts": [16, 69, 161, 223, 224, 126], "episodes_by_level": [[3465.0, 787.0, 103.0, 0.0], [5480.0, 1176.0, 239.0, 0.0], [5715.0, 1182.0, 459.0, 0.0], [4823.0, 861.0, 609.0, 0.0], [2995.0, 400.0, 511.0, 0.0], [1168.0, 99.0, 274.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23779296875, "command_abs_max": [0.9988718032836914, 0.39978039264678955, 0.699472963809967]}
{"step": 47600, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 47600, "total_transitions": 194969600, "num_steps_per_env": 1, "wm_loss": 0.5483106970787048, "actor_loss": -9.516388893127441, "critic_loss": 0.0037669872399419546, "reward": 0.0868990495800972, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11869505047798157, 0.07223085314035416, 0.1363309770822525], "mean_episode_length": 1362.0961538461538, "episode_reward_terms": {"track_linear_velocity": 48.03173065185547, "track_angular_velocity": 51.386802673339844, "upright": 26.10249900817871, "leg_posture": -2.611677646636963, "standstill": -6.362410068511963, "action_rate_l2": -0.5717307329177856, "joint_torques_l2": -0.14625369012355804, "dof_pos_limits": -0.0009419694542884827, "terminated": -0.026603437960147858, "unnecessary_wheel_lift": -0.09499520808458328, "rolling_leg_motion": -0.578937828540802, "obstacle_progress": 3.8251264095306396, "wheel_body_intrusion": -0.2778155505657196, "pair_body_intrusion": -0.30993354320526123}, "weighted_reward_terms": {"track_linear_velocity": 1.7631549835205078, "track_angular_velocity": 1.8863133192062378, "upright": 0.9581738114356995, "leg_posture": -0.09586979448795319, "standstill": -0.23355215787887573, "action_rate_l2": -0.020987166091799736, "joint_torques_l2": -0.005368698853999376, "dof_pos_limits": -3.4577933547552675e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.0034870964009314775, "rolling_leg_motion": -0.021251723170280457, "obstacle_progress": 0.14041322469711304, "wheel_body_intrusion": -0.010198088362812996, "pair_body_intrusion": -0.011377080343663692}, "episode_termination_rates": {"time_out": 0.4935897435897436, "fell_over": 0.038461538461538464, "course_exit": 0.4423076923076923, "illegal_nonwheel_contact": 0.04487179487179487}, "collection_time_s": 0.07601159325800837, "learning_time_s": 0.18486003724043257, "iteration_time_s": 0.2961330950665341, "policy_updates": 47300, "skipped_updates": 0, "invalid_env_resets": 264, "elapsed_s": 14095.935325167025, "nonwheel_terminations": 14600, "contact_bce": 0.28840723633766174, "contact_force_loss": 0.02094675414264202, "collision_bce": 0.00015362573321908712, "collision_label_rate": 6.12182411714457e-05, "collision_prediction_mean": 1.8074008039548062e-05, "collision_label_count": 16335.0, "terrain_level_mean": 4.310302734375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 6, 10, 35, 60, 299], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1970.0, 432.0, 38.0, 0.0], [1812.0, 423.0, 36.0, 0.0], [1729.0, 387.0, 29.0, 0.0], [1490.0, 336.0, 28.0, 0.0], [3261.0, 756.0, 37.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 18, 279, 1135], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4746.0, 1746.0, 196.0, 0.0], [7765.0, 2062.0, 172.0, 0.0], [14432.0, 2997.0, 422.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 52, 561], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [985.0, 812.0, 26.0, 0.0], [2247.0, 1868.0, 69.0, 0.0], [15212.0, 12999.0, 341.0, 0.0]]}, "platform": {"level_counts": [3, 21, 26, 61, 140, 159], "episodes_by_level": [[1864.0, 406.0, 53.0, 0.0], [2329.0, 474.0, 98.0, 0.0], [2173.0, 442.0, 94.0, 0.0], [2156.0, 389.0, 82.0, 0.0], [1865.0, 283.0, 90.0, 0.0], [1314.0, 135.0, 124.0, 0.0]]}, "slope": {"level_counts": [4, 7, 28, 49, 90, 232], "episodes_by_level": [[1663.0, 352.0, 46.0, 0.0], [2107.0, 432.0, 73.0, 0.0], [1996.0, 423.0, 47.0, 0.0], [1767.0, 351.0, 52.0, 0.0], [1573.0, 303.0, 29.0, 0.0], [2602.0, 432.0, 71.0, 0.0]]}, "rubble": {"level_counts": [16, 69, 162, 224, 220, 128], "episodes_by_level": [[3465.0, 787.0, 103.0, 0.0], [5480.0, 1176.0, 239.0, 0.0], [5719.0, 1183.0, 459.0, 0.0], [4827.0, 861.0, 611.0, 0.0], [3006.0, 402.0, 513.0, 0.0], [1174.0, 100.0, 274.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.236572265625, "command_abs_max": [0.999435544013977, 0.39978039264678955, 0.699472963809967]}
{"step": 47650, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 47650, "total_transitions": 195174400, "num_steps_per_env": 1, "wm_loss": 0.5322499871253967, "actor_loss": -9.508248329162598, "critic_loss": 0.004191943444311619, "reward": 0.08721893280744553, "falls": 8, "interval_steps": 50, "velocity_mae": [0.1162741556763649, 0.07112592458724976, 0.13641881942749023], "mean_episode_length": 1356.9932432432433, "episode_reward_terms": {"track_linear_velocity": 48.03689956665039, "track_angular_velocity": 51.20345687866211, "upright": 26.001922607421875, "leg_posture": -2.625379800796509, "standstill": -6.125476360321045, "action_rate_l2": -0.5703881978988647, "joint_torques_l2": -0.1453249603509903, "dof_pos_limits": -0.001256846240721643, "terminated": -0.021203016862273216, "unnecessary_wheel_lift": -0.07728267461061478, "rolling_leg_motion": -0.5662834048271179, "obstacle_progress": 3.865349531173706, "wheel_body_intrusion": -0.2958831191062927, "pair_body_intrusion": -0.3236161768436432}, "weighted_reward_terms": {"track_linear_velocity": 1.7699755430221558, "track_angular_velocity": 1.8866511583328247, "upright": 0.9580711722373962, "leg_posture": -0.09673517942428589, "standstill": -0.22570031881332397, "action_rate_l2": -0.021016618236899376, "joint_torques_l2": -0.005354668013751507, "dof_pos_limits": -4.630996409105137e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.002847570227459073, "rolling_leg_motion": -0.020865371450781822, "obstacle_progress": 0.14242331683635712, "wheel_body_intrusion": -0.010902158915996552, "pair_body_intrusion": -0.0119240153580904}, "episode_termination_rates": {"time_out": 0.4864864864864865, "fell_over": 0.02702702702702703, "course_exit": 0.4594594594594595, "illegal_nonwheel_contact": 0.02702702702702703}, "collection_time_s": 0.07567603577394039, "learning_time_s": 0.18532627608510666, "iteration_time_s": 0.2960962555312492, "policy_updates": 47350, "skipped_updates": 0, "invalid_env_resets": 264, "elapsed_s": 14108.986576064024, "nonwheel_terminations": 14604, "contact_bce": 0.2860630452632904, "contact_force_loss": 0.019843483343720436, "collision_bce": 6.0605965700233355e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 4.299986539990641e-05, "collision_label_count": 16338.0, "terrain_level_mean": 4.310791015625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 6, 10, 35, 60, 299], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1971.0, 432.0, 38.0, 0.0], [1812.0, 423.0, 36.0, 0.0], [1730.0, 387.0, 29.0, 0.0], [1492.0, 336.0, 28.0, 0.0], [3264.0, 756.0, 37.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 18, 282, 1132], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4747.0, 1746.0, 196.0, 0.0], [7773.0, 2064.0, 172.0, 0.0], [14457.0, 3002.0, 424.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 51, 562], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [985.0, 812.0, 26.0, 0.0], [2249.0, 1870.0, 69.0, 0.0], [15238.0, 13021.0, 341.0, 0.0]]}, "platform": {"level_counts": [3, 21, 26, 60, 142, 158], "episodes_by_level": [[1864.0, 406.0, 53.0, 0.0], [2330.0, 474.0, 98.0, 0.0], [2175.0, 442.0, 94.0, 0.0], [2157.0, 390.0, 82.0, 0.0], [1867.0, 283.0, 90.0, 0.0], [1317.0, 135.0, 125.0, 0.0]]}, "slope": {"level_counts": [4, 7, 28, 49, 90, 232], "episodes_by_level": [[1663.0, 352.0, 46.0, 0.0], [2107.0, 432.0, 73.0, 0.0], [1999.0, 423.0, 47.0, 0.0], [1770.0, 351.0, 52.0, 0.0], [1578.0, 303.0, 29.0, 0.0], [2616.0, 434.0, 71.0, 0.0]]}, "rubble": {"level_counts": [15, 68, 164, 223, 221, 128], "episodes_by_level": [[3466.0, 788.0, 103.0, 0.0], [5483.0, 1178.0, 239.0, 0.0], [5723.0, 1183.0, 459.0, 0.0], [4832.0, 862.0, 611.0, 0.0], [3010.0, 403.0, 513.0, 0.0], [1179.0, 100.0, 275.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.233642578125, "command_abs_max": [0.999435544013977, 0.39978039264678955, 0.699472963809967]}
{"step": 47700, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 47700, "total_transitions": 195379200, "num_steps_per_env": 1, "wm_loss": 0.549457311630249, "actor_loss": -9.516265869140625, "critic_loss": 0.00573274539783597, "reward": 0.08724318444728851, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11594147980213165, 0.07124549150466919, 0.13541054725646973], "mean_episode_length": 1328.6342857142856, "episode_reward_terms": {"track_linear_velocity": 47.06663131713867, "track_angular_velocity": 50.171791076660156, "upright": 25.4354305267334, "leg_posture": -2.5401549339294434, "standstill": -6.042349338531494, "action_rate_l2": -0.5676841735839844, "joint_torques_l2": -0.14020542800426483, "dof_pos_limits": -0.0005932826898060739, "terminated": -0.023354895412921906, "unnecessary_wheel_lift": -0.09439989179372787, "rolling_leg_motion": -0.5760200023651123, "obstacle_progress": 3.734780788421631, "wheel_body_intrusion": -0.256821870803833, "pair_body_intrusion": -0.25277626514434814}, "weighted_reward_terms": {"track_linear_velocity": 1.7712410688400269, "track_angular_velocity": 1.8880964517593384, "upright": 0.957202136516571, "leg_posture": -0.09559270739555359, "standstill": -0.22738949954509735, "action_rate_l2": -0.021363448351621628, "joint_torques_l2": -0.0052762990817427635, "dof_pos_limits": -2.232678707514424e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.0035525162238627672, "rolling_leg_motion": -0.02167714759707451, "obstacle_progress": 0.14054961502552032, "wheel_body_intrusion": -0.009664881974458694, "pair_body_intrusion": -0.009512634947896004}, "episode_termination_rates": {"time_out": 0.44571428571428573, "fell_over": 0.017142857142857144, "course_exit": 0.5028571428571429, "illegal_nonwheel_contact": 0.04}, "collection_time_s": 0.07565051784389652, "learning_time_s": 0.18470551191596316, "iteration_time_s": 0.29605881435591247, "policy_updates": 47400, "skipped_updates": 0, "invalid_env_resets": 264, "elapsed_s": 14122.005444777024, "nonwheel_terminations": 14611, "contact_bce": 0.28687646985054016, "contact_force_loss": 0.02040410414338112, "collision_bce": 0.00023727437655907124, "collision_label_rate": 6.114337884355336e-05, "collision_prediction_mean": 1.1801901564467698e-05, "collision_label_count": 16355.0, "terrain_level_mean": 4.311279296875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 6, 10, 34, 61, 299], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1971.0, 432.0, 38.0, 0.0], [1812.0, 423.0, 36.0, 0.0], [1731.0, 388.0, 29.0, 0.0], [1495.0, 337.0, 28.0, 0.0], [3276.0, 758.0, 38.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 18, 282, 1132], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4747.0, 1746.0, 196.0, 0.0], [7781.0, 2066.0, 172.0, 0.0], [14493.0, 3007.0, 424.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 49, 564], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [985.0, 812.0, 26.0, 0.0], [2252.0, 1872.0, 69.0, 0.0], [15260.0, 13042.0, 341.0, 0.0]]}, "platform": {"level_counts": [3, 21, 27, 59, 141, 159], "episodes_by_level": [[1864.0, 406.0, 53.0, 0.0], [2331.0, 474.0, 98.0, 0.0], [2176.0, 442.0, 94.0, 0.0], [2158.0, 390.0, 83.0, 0.0], [1875.0, 284.0, 90.0, 0.0], [1323.0, 136.0, 125.0, 0.0]]}, "slope": {"level_counts": [4, 7, 28, 49, 90, 232], "episodes_by_level": [[1663.0, 352.0, 46.0, 0.0], [2107.0, 432.0, 73.0, 0.0], [2001.0, 423.0, 47.0, 0.0], [1771.0, 351.0, 52.0, 0.0], [1581.0, 303.0, 29.0, 0.0], [2623.0, 436.0, 71.0, 0.0]]}, "rubble": {"level_counts": [15, 69, 163, 225, 217, 130], "episodes_by_level": [[3466.0, 788.0, 103.0, 0.0], [5487.0, 1178.0, 239.0, 0.0], [5730.0, 1184.0, 460.0, 0.0], [4839.0, 863.0, 612.0, 0.0], [3020.0, 405.0, 516.0, 0.0], [1185.0, 101.0, 275.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23388671875, "command_abs_max": [0.999435544013977, 0.39978039264678955, 0.699472963809967]}
{"step": 47750, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 47750, "total_transitions": 195584000, "num_steps_per_env": 1, "wm_loss": 0.5401172041893005, "actor_loss": -9.53512954711914, "critic_loss": 0.0035680022556334734, "reward": 0.08741232752799988, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11430458724498749, 0.07221930474042892, 0.1362467259168625], "mean_episode_length": 1349.45, "episode_reward_terms": {"track_linear_velocity": 47.866363525390625, "track_angular_velocity": 50.9193115234375, "upright": 25.864055633544922, "leg_posture": -2.580002784729004, "standstill": -6.102838039398193, "action_rate_l2": -0.5701560378074646, "joint_torques_l2": -0.1442321240901947, "dof_pos_limits": -0.000511197664309293, "terminated": -0.018449509516358376, "unnecessary_wheel_lift": -0.09732552617788315, "rolling_leg_motion": -0.5704566836357117, "obstacle_progress": 3.9313364028930664, "wheel_body_intrusion": -0.27720147371292114, "pair_body_intrusion": -0.26133543252944946}, "weighted_reward_terms": {"track_linear_velocity": 1.7735509872436523, "track_angular_velocity": 1.8866691589355469, "upright": 0.9583184719085693, "leg_posture": -0.0955946072936058, "standstill": -0.2261231690645218, "action_rate_l2": -0.021125497296452522, "joint_torques_l2": -0.005344108212739229, "dof_pos_limits": -1.8940963855129667e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0036061187274754047, "rolling_leg_motion": -0.021136637777090073, "obstacle_progress": 0.14566440880298615, "wheel_body_intrusion": -0.010270906612277031, "pair_body_intrusion": -0.0096830353140831}, "episode_termination_rates": {"time_out": 0.4642857142857143, "fell_over": 0.04285714285714286, "course_exit": 0.4857142857142857, "illegal_nonwheel_contact": 0.03571428571428571}, "collection_time_s": 0.07588879868271761, "learning_time_s": 0.18523410637746565, "iteration_time_s": 0.29602225547202093, "policy_updates": 47450, "skipped_updates": 0, "invalid_env_resets": 265, "elapsed_s": 14135.062698789, "nonwheel_terminations": 14616, "contact_bce": 0.2910091280937195, "contact_force_loss": 0.02102542482316494, "collision_bce": 6.31221018920769e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 6.364935870806221e-06, "collision_label_count": 16334.0, "terrain_level_mean": 4.3115234375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 6, 10, 34, 60, 300], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1971.0, 432.0, 38.0, 0.0], [1812.0, 423.0, 36.0, 0.0], [1731.0, 388.0, 29.0, 0.0], [1496.0, 338.0, 28.0, 0.0], [3285.0, 759.0, 38.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 18, 283, 1131], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4747.0, 1746.0, 196.0, 0.0], [7788.0, 2067.0, 172.0, 0.0], [14521.0, 3016.0, 424.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 50, 563], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [985.0, 812.0, 26.0, 0.0], [2253.0, 1873.0, 69.0, 0.0], [15283.0, 13063.0, 342.0, 0.0]]}, "platform": {"level_counts": [3, 21, 27, 59, 141, 159], "episodes_by_level": [[1864.0, 406.0, 53.0, 0.0], [2332.0, 474.0, 98.0, 0.0], [2176.0, 442.0, 94.0, 0.0], [2159.0, 390.0, 83.0, 0.0], [1877.0, 284.0, 90.0, 0.0], [1328.0, 137.0, 125.0, 0.0]]}, "slope": {"level_counts": [4, 7, 28, 49, 91, 231], "episodes_by_level": [[1663.0, 352.0, 46.0, 0.0], [2107.0, 432.0, 73.0, 0.0], [2002.0, 423.0, 47.0, 0.0], [1772.0, 351.0, 52.0, 0.0], [1585.0, 303.0, 29.0, 0.0], [2632.0, 436.0, 72.0, 0.0]]}, "rubble": {"level_counts": [15, 69, 161, 226, 218, 130], "episodes_by_level": [[3466.0, 788.0, 103.0, 0.0], [5489.0, 1178.0, 239.0, 0.0], [5740.0, 1187.0, 460.0, 0.0], [4846.0, 864.0, 613.0, 0.0], [3025.0, 406.0, 516.0, 0.0], [1188.0, 102.0, 276.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2333984375, "command_abs_max": [0.999435544013977, 0.39978039264678955, 0.699472963809967]}
{"step": 47800, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 47800, "total_transitions": 195788800, "num_steps_per_env": 1, "wm_loss": 0.5717582702636719, "actor_loss": -9.527944564819336, "critic_loss": 0.0034750865306705236, "reward": 0.08721651136875153, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11558350175619125, 0.07192406058311462, 0.13705205917358398], "mean_episode_length": 1314.843537414966, "episode_reward_terms": {"track_linear_velocity": 46.56897735595703, "track_angular_velocity": 49.58104705810547, "upright": 25.196247100830078, "leg_posture": -2.5166146755218506, "standstill": -6.082075119018555, "action_rate_l2": -0.5601273775100708, "joint_torques_l2": -0.14164312183856964, "dof_pos_limits": -0.0005479935207404196, "terminated": -0.023112479597330093, "unnecessary_wheel_lift": -0.0830434262752533, "rolling_leg_motion": -0.5708853006362915, "obstacle_progress": 3.8295698165893555, "wheel_body_intrusion": -0.26932060718536377, "pair_body_intrusion": -0.2523950934410095}, "weighted_reward_terms": {"track_linear_velocity": 1.7708942890167236, "track_angular_velocity": 1.8854354619979858, "upright": 0.9581462740898132, "leg_posture": -0.09570016711950302, "standstill": -0.23128513991832733, "action_rate_l2": -0.02130015566945076, "joint_torques_l2": -0.00538631109520793, "dof_pos_limits": -2.08387373277219e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.0031579206697642803, "rolling_leg_motion": -0.021709250286221504, "obstacle_progress": 0.14562834799289703, "wheel_body_intrusion": -0.010241546668112278, "pair_body_intrusion": -0.009597914293408394}, "episode_termination_rates": {"time_out": 0.43537414965986393, "fell_over": 0.034013605442176874, "course_exit": 0.5034013605442177, "illegal_nonwheel_contact": 0.04081632653061224}, "collection_time_s": 0.07628505195840261, "learning_time_s": 0.1851155783026479, "iteration_time_s": 0.2959860627678241, "policy_updates": 47500, "skipped_updates": 0, "invalid_env_resets": 267, "elapsed_s": 14148.133800301992, "nonwheel_terminations": 14622, "contact_bce": 0.2869509160518646, "contact_force_loss": 0.02016926184296608, "collision_bce": 8.737711323192343e-05, "collision_label_rate": 6.12557414569892e-05, "collision_prediction_mean": 5.04747913510073e-05, "collision_label_count": 16325.0, "terrain_level_mean": 4.3125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 6, 9, 35, 60, 300], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1971.0, 432.0, 38.0, 0.0], [1813.0, 424.0, 36.0, 0.0], [1731.0, 388.0, 29.0, 0.0], [1496.0, 338.0, 28.0, 0.0], [3298.0, 760.0, 38.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 19, 281, 1132], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4747.0, 1746.0, 196.0, 0.0], [7795.0, 2068.0, 172.0, 0.0], [14552.0, 3024.0, 424.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 47, 566], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [985.0, 812.0, 26.0, 0.0], [2257.0, 1877.0, 69.0, 0.0], [15300.0, 13078.0, 342.0, 0.0]]}, "platform": {"level_counts": [3, 21, 27, 59, 143, 157], "episodes_by_level": [[1864.0, 406.0, 53.0, 0.0], [2332.0, 474.0, 98.0, 0.0], [2176.0, 442.0, 94.0, 0.0], [2160.0, 390.0, 83.0, 0.0], [1880.0, 284.0, 90.0, 0.0], [1338.0, 137.0, 127.0, 0.0]]}, "slope": {"level_counts": [4, 7, 27, 49, 93, 230], "episodes_by_level": [[1663.0, 352.0, 46.0, 0.0], [2107.0, 432.0, 73.0, 0.0], [2003.0, 424.0, 47.0, 0.0], [1773.0, 352.0, 52.0, 0.0], [1585.0, 303.0, 29.0, 0.0], [2636.0, 437.0, 73.0, 0.0]]}, "rubble": {"level_counts": [14, 70, 162, 226, 215, 132], "episodes_by_level": [[3468.0, 789.0, 103.0, 0.0], [5493.0, 1179.0, 239.0, 0.0], [5748.0, 1187.0, 461.0, 0.0], [4851.0, 865.0, 614.0, 0.0], [3033.0, 408.0, 518.0, 0.0], [1191.0, 102.0, 276.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22802734375, "command_abs_max": [0.999435544013977, 0.39978039264678955, 0.699472963809967]}
{"step": 47850, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 47850, "total_transitions": 195993600, "num_steps_per_env": 1, "wm_loss": 0.5626358985900879, "actor_loss": -9.561795234680176, "critic_loss": 0.0037148415576666594, "reward": 0.08720310032367706, "falls": 13, "interval_steps": 50, "velocity_mae": [0.1152736246585846, 0.07116201519966125, 0.13488474488258362], "mean_episode_length": 1365.1836734693877, "episode_reward_terms": {"track_linear_velocity": 48.443397521972656, "track_angular_velocity": 51.56679916381836, "upright": 26.177207946777344, "leg_posture": -2.6104183197021484, "standstill": -6.507311820983887, "action_rate_l2": -0.5695251822471619, "joint_torques_l2": -0.1455714851617813, "dof_pos_limits": -0.000615747063420713, "terminated": -0.03466286510229111, "unnecessary_wheel_lift": -0.0752905085682869, "rolling_leg_motion": -0.5637840032577515, "obstacle_progress": 3.922393321990967, "wheel_body_intrusion": -0.28160127997398376, "pair_body_intrusion": -0.2727792263031006}, "weighted_reward_terms": {"track_linear_velocity": 1.7742446660995483, "track_angular_velocity": 1.8886394500732422, "upright": 0.9587430953979492, "leg_posture": -0.09560685604810715, "standstill": -0.23833099007606506, "action_rate_l2": -0.020858921110630035, "joint_torques_l2": -0.00533157167956233, "dof_pos_limits": -2.2551803340320475e-05, "terminated": -0.0012695310870185494, "unnecessary_wheel_lift": -0.002757522976025939, "rolling_leg_motion": -0.02064865082502365, "obstacle_progress": 0.1436580866575241, "wheel_body_intrusion": -0.010313677601516247, "pair_body_intrusion": -0.009990568272769451}, "episode_termination_rates": {"time_out": 0.5034013605442177, "fell_over": 0.047619047619047616, "course_exit": 0.40816326530612246, "illegal_nonwheel_contact": 0.047619047619047616}, "collection_time_s": 0.07559607123956084, "learning_time_s": 0.1851877959666308, "iteration_time_s": 0.2959493065106791, "policy_updates": 47550, "skipped_updates": 0, "invalid_env_resets": 267, "elapsed_s": 14161.174316535995, "nonwheel_terminations": 14629, "contact_bce": 0.29221048951148987, "contact_force_loss": 0.020676223561167717, "collision_bce": 0.00011131719656987116, "collision_label_rate": 6.124448555056006e-05, "collision_prediction_mean": 6.832521467003971e-05, "collision_label_count": 16328.0, "terrain_level_mean": 4.310791015625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 6, 9, 35, 61, 299], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1972.0, 432.0, 38.0, 0.0], [1813.0, 424.0, 36.0, 0.0], [1734.0, 388.0, 29.0, 0.0], [1499.0, 338.0, 28.0, 0.0], [3310.0, 763.0, 39.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 20, 283, 1129], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4749.0, 1747.0, 196.0, 0.0], [7799.0, 2069.0, 172.0, 0.0], [14580.0, 3031.0, 425.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 49, 564], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [985.0, 812.0, 26.0, 0.0], [2258.0, 1877.0, 69.0, 0.0], [15318.0, 13096.0, 342.0, 0.0]]}, "platform": {"level_counts": [3, 21, 27, 59, 143, 157], "episodes_by_level": [[1864.0, 406.0, 53.0, 0.0], [2333.0, 474.0, 98.0, 0.0], [2176.0, 442.0, 94.0, 0.0], [2160.0, 390.0, 83.0, 0.0], [1880.0, 284.0, 90.0, 0.0], [1347.0, 139.0, 127.0, 0.0]]}, "slope": {"level_counts": [4, 7, 26, 50, 92, 231], "episodes_by_level": [[1664.0, 352.0, 46.0, 0.0], [2107.0, 432.0, 73.0, 0.0], [2004.0, 425.0, 47.0, 0.0], [1776.0, 352.0, 52.0, 0.0], [1589.0, 305.0, 29.0, 0.0], [2645.0, 439.0, 74.0, 0.0]]}, "rubble": {"level_counts": [14, 70, 162, 227, 215, 131], "episodes_by_level": [[3469.0, 789.0, 103.0, 0.0], [5493.0, 1179.0, 239.0, 0.0], [5755.0, 1188.0, 461.0, 0.0], [4859.0, 865.0, 615.0, 0.0], [3039.0, 408.0, 519.0, 0.0], [1194.0, 102.0, 277.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.226806640625, "command_abs_max": [0.9930541515350342, 0.39978039264678955, 0.699472963809967]}
{"step": 47900, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 47900, "total_transitions": 196198400, "num_steps_per_env": 1, "wm_loss": 0.5855074524879456, "actor_loss": -9.513086318969727, "critic_loss": 0.006277050357311964, "reward": 0.08714619278907776, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11267612129449844, 0.07161721587181091, 0.13438718020915985], "mean_episode_length": 1378.8456375838925, "episode_reward_terms": {"track_linear_velocity": 49.03420639038086, "track_angular_velocity": 52.1021614074707, "upright": 26.444110870361328, "leg_posture": -2.6708781719207764, "standstill": -6.741703510284424, "action_rate_l2": -0.5812938809394836, "joint_torques_l2": -0.14685481786727905, "dof_pos_limits": -0.0007070861174724996, "terminated": -0.013465287163853645, "unnecessary_wheel_lift": -0.07759073376655579, "rolling_leg_motion": -0.5798007845878601, "obstacle_progress": 3.9642064571380615, "wheel_body_intrusion": -0.28004682064056396, "pair_body_intrusion": -0.2911984324455261}, "weighted_reward_terms": {"track_linear_velocity": 1.7780890464782715, "track_angular_velocity": 1.8893400430679321, "upright": 0.9589221477508545, "leg_posture": -0.09685197472572327, "standstill": -0.24446912109851837, "action_rate_l2": -0.021079007536172867, "joint_torques_l2": -0.005325281526893377, "dof_pos_limits": -2.5640511012170464e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.0028136121109128, "rolling_leg_motion": -0.02102486416697502, "obstacle_progress": 0.14375092089176178, "wheel_body_intrusion": -0.010155119933187962, "pair_body_intrusion": -0.010559501126408577}, "episode_termination_rates": {"time_out": 0.4899328859060403, "fell_over": 0.006711409395973154, "course_exit": 0.47651006711409394, "illegal_nonwheel_contact": 0.03355704697986577}, "collection_time_s": 0.07558589174295775, "learning_time_s": 0.1841968216758687, "iteration_time_s": 0.2959115772382045, "policy_updates": 47600, "skipped_updates": 0, "invalid_env_resets": 267, "elapsed_s": 14174.164549709996, "nonwheel_terminations": 14634, "contact_bce": 0.28996068239212036, "contact_force_loss": 0.02123803086578846, "collision_bce": 0.0003652732993941754, "collision_label_rate": 6.115085852798074e-05, "collision_prediction_mean": 4.6426425797108095e-06, "collision_label_count": 16353.0, "terrain_level_mean": 4.312255859375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 6, 9, 33, 63, 299], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1972.0, 432.0, 38.0, 0.0], [1813.0, 424.0, 36.0, 0.0], [1736.0, 390.0, 29.0, 0.0], [1499.0, 338.0, 28.0, 0.0], [3320.0, 766.0, 39.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 20, 282, 1130], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4749.0, 1747.0, 196.0, 0.0], [7808.0, 2071.0, 172.0, 0.0], [14614.0, 3040.0, 426.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 49, 564], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [985.0, 812.0, 26.0, 0.0], [2258.0, 1877.0, 69.0, 0.0], [15336.0, 13110.0, 342.0, 0.0]]}, "platform": {"level_counts": [3, 22, 26, 59, 144, 156], "episodes_by_level": [[1864.0, 406.0, 53.0, 0.0], [2333.0, 474.0, 98.0, 0.0], [2177.0, 442.0, 95.0, 0.0], [2163.0, 390.0, 83.0, 0.0], [1884.0, 284.0, 90.0, 0.0], [1353.0, 139.0, 128.0, 0.0]]}, "slope": {"level_counts": [4, 7, 27, 49, 91, 232], "episodes_by_level": [[1664.0, 352.0, 46.0, 0.0], [2109.0, 432.0, 73.0, 0.0], [2004.0, 425.0, 47.0, 0.0], [1777.0, 352.0, 53.0, 0.0], [1591.0, 306.0, 29.0, 0.0], [2648.0, 439.0, 74.0, 0.0]]}, "rubble": {"level_counts": [14, 68, 164, 227, 212, 134], "episodes_by_level": [[3470.0, 789.0, 103.0, 0.0], [5496.0, 1181.0, 239.0, 0.0], [5764.0, 1188.0, 461.0, 0.0], [4863.0, 865.0, 615.0, 0.0], [3049.0, 412.0, 519.0, 0.0], [1200.0, 102.0, 278.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.230712890625, "command_abs_max": [0.9963467121124268, 0.39978039264678955, 0.699472963809967]}
{"step": 47950, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 47950, "total_transitions": 196403200, "num_steps_per_env": 1, "wm_loss": 0.558119535446167, "actor_loss": -9.51626968383789, "critic_loss": 0.008582213893532753, "reward": 0.08703936636447906, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11320546269416809, 0.07174353301525116, 0.13524286448955536], "mean_episode_length": 1356.0555555555557, "episode_reward_terms": {"track_linear_velocity": 48.17686080932617, "track_angular_velocity": 51.20845031738281, "upright": 26.040754318237305, "leg_posture": -2.571584939956665, "standstill": -6.67032527923584, "action_rate_l2": -0.584568202495575, "joint_torques_l2": -0.14338891208171844, "dof_pos_limits": -0.0008266900549642742, "terminated": -0.01853981986641884, "unnecessary_wheel_lift": -0.11243682354688644, "rolling_leg_motion": -0.5939520597457886, "obstacle_progress": 3.870906352996826, "wheel_body_intrusion": -0.2677803933620453, "pair_body_intrusion": -0.3033672869205475}, "weighted_reward_terms": {"track_linear_velocity": 1.7763601541519165, "track_angular_velocity": 1.8881399631500244, "upright": 0.9601654410362244, "leg_posture": -0.09481857717037201, "standstill": -0.24594588577747345, "action_rate_l2": -0.021553993225097656, "joint_torques_l2": -0.005286985542625189, "dof_pos_limits": -3.048142207262572e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0041457307524979115, "rolling_leg_motion": -0.021899990737438202, "obstacle_progress": 0.14272668957710266, "wheel_body_intrusion": -0.009873504750430584, "pair_body_intrusion": -0.011185651645064354}, "episode_termination_rates": {"time_out": 0.5111111111111111, "fell_over": 0.016666666666666666, "course_exit": 0.45, "illegal_nonwheel_contact": 0.027777777777777776}, "collection_time_s": 0.07592664560070261, "learning_time_s": 0.18521190205938182, "iteration_time_s": 0.2958753409227322, "policy_updates": 47650, "skipped_updates": 0, "invalid_env_resets": 268, "elapsed_s": 14187.22259724501, "nonwheel_terminations": 14639, "contact_bce": 0.28910356760025024, "contact_force_loss": 0.020828088745474815, "collision_bce": 7.810135139152408e-05, "collision_label_rate": 6.115085852798074e-05, "collision_prediction_mean": 0.00010957544145639986, "collision_label_count": 16353.0, "terrain_level_mean": 4.313232421875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 6, 9, 32, 64, 299], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1973.0, 432.0, 38.0, 0.0], [1814.0, 424.0, 36.0, 0.0], [1738.0, 391.0, 29.0, 0.0], [1501.0, 338.0, 28.0, 0.0], [3334.0, 768.0, 39.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 19, 282, 1131], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4750.0, 1748.0, 196.0, 0.0], [7813.0, 2072.0, 172.0, 0.0], [14645.0, 3048.0, 426.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 48, 565], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [985.0, 812.0, 26.0, 0.0], [2261.0, 1880.0, 69.0, 0.0], [15362.0, 13131.0, 342.0, 0.0]]}, "platform": {"level_counts": [3, 21, 27, 58, 146, 155], "episodes_by_level": [[1864.0, 406.0, 53.0, 0.0], [2336.0, 475.0, 98.0, 0.0], [2177.0, 442.0, 95.0, 0.0], [2165.0, 391.0, 83.0, 0.0], [1890.0, 284.0, 90.0, 0.0], [1355.0, 139.0, 129.0, 0.0]]}, "slope": {"level_counts": [4, 7, 27, 48, 93, 231], "episodes_by_level": [[1665.0, 352.0, 46.0, 0.0], [2109.0, 432.0, 73.0, 0.0], [2005.0, 425.0, 47.0, 0.0], [1778.0, 353.0, 53.0, 0.0], [1595.0, 306.0, 29.0, 0.0], [2658.0, 440.0, 75.0, 0.0]]}, "rubble": {"level_counts": [14, 68, 165, 228, 208, 136], "episodes_by_level": [[3470.0, 789.0, 103.0, 0.0], [5499.0, 1181.0, 239.0, 0.0], [5770.0, 1188.0, 461.0, 0.0], [4873.0, 865.0, 616.0, 0.0], [3059.0, 414.0, 521.0, 0.0], [1205.0, 103.0, 278.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23193359375, "command_abs_max": [0.9963467121124268, 0.39978039264678955, 0.6999156475067139]}
{"step": 48000, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 48000, "total_transitions": 196608000, "num_steps_per_env": 1, "wm_loss": 0.5915921926498413, "actor_loss": -9.53011417388916, "critic_loss": 0.0034753624349832535, "reward": 0.08749359101057053, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11076222360134125, 0.07049605250358582, 0.1341763138771057], "mean_episode_length": 1361.3561643835617, "episode_reward_terms": {"track_linear_velocity": 48.557762145996094, "track_angular_velocity": 51.45711135864258, "upright": 26.186626434326172, "leg_posture": -2.575648784637451, "standstill": -6.409687042236328, "action_rate_l2": -0.5723126530647278, "joint_torques_l2": -0.14365467429161072, "dof_pos_limits": -0.000796794833149761, "terminated": -0.02127118594944477, "unnecessary_wheel_lift": -0.10457341372966766, "rolling_leg_motion": -0.5862452387809753, "obstacle_progress": 3.875403642654419, "wheel_body_intrusion": -0.27306249737739563, "pair_body_intrusion": -0.27971601486206055}, "weighted_reward_terms": {"track_linear_velocity": 1.783433437347412, "track_angular_velocity": 1.889920949935913, "upright": 0.9617845416069031, "leg_posture": -0.09459863603115082, "standstill": -0.2354155033826828, "action_rate_l2": -0.021019944921135902, "joint_torques_l2": -0.005276160314679146, "dof_pos_limits": -2.9264745535328984e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0038407808169722557, "rolling_leg_motion": -0.021531661972403526, "obstacle_progress": 0.1423361450433731, "wheel_body_intrusion": -0.010029061697423458, "pair_body_intrusion": -0.010273432359099388}, "episode_termination_rates": {"time_out": 0.5136986301369864, "fell_over": 0.03424657534246575, "course_exit": 0.4315068493150685, "illegal_nonwheel_contact": 0.0410958904109589}, "collection_time_s": 0.0756645505875349, "learning_time_s": 0.18379329218296334, "iteration_time_s": 0.29583742939118746, "policy_updates": 47700, "skipped_updates": 0, "invalid_env_resets": 268, "elapsed_s": 14200.196610776999, "nonwheel_terminations": 14645, "contact_bce": 0.2854790985584259, "contact_force_loss": 0.021274926140904427, "collision_bce": 0.00014767490210942924, "collision_label_rate": 6.110228423494846e-05, "collision_prediction_mean": 0.00016748141206335276, "collision_label_count": 16366.0, "terrain_level_mean": 4.31298828125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 6, 9, 32, 64, 299], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1973.0, 432.0, 38.0, 0.0], [1815.0, 424.0, 36.0, 0.0], [1738.0, 391.0, 29.0, 0.0], [1502.0, 338.0, 28.0, 0.0], [3346.0, 769.0, 39.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 20, 281, 1131], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4750.0, 1748.0, 196.0, 0.0], [7822.0, 2074.0, 172.0, 0.0], [14671.0, 3053.0, 426.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 48, 565], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [985.0, 812.0, 26.0, 0.0], [2263.0, 1882.0, 69.0, 0.0], [15380.0, 13147.0, 343.0, 0.0]]}, "platform": {"level_counts": [3, 21, 27, 59, 145, 155], "episodes_by_level": [[1864.0, 406.0, 53.0, 0.0], [2336.0, 475.0, 98.0, 0.0], [2177.0, 442.0, 95.0, 0.0], [2167.0, 391.0, 83.0, 0.0], [1896.0, 284.0, 91.0, 0.0], [1358.0, 139.0, 129.0, 0.0]]}, "slope": {"level_counts": [4, 7, 27, 48, 94, 230], "episodes_by_level": [[1666.0, 352.0, 46.0, 0.0], [2109.0, 432.0, 73.0, 0.0], [2006.0, 425.0, 47.0, 0.0], [1779.0, 353.0, 53.0, 0.0], [1597.0, 306.0, 29.0, 0.0], [2665.0, 441.0, 76.0, 0.0]]}, "rubble": {"level_counts": [14, 68, 165, 227, 208, 137], "episodes_by_level": [[3470.0, 789.0, 103.0, 0.0], [5500.0, 1181.0, 239.0, 0.0], [5770.0, 1188.0, 461.0, 0.0], [4881.0, 867.0, 616.0, 0.0], [3071.0, 415.0, 522.0, 0.0], [1210.0, 104.0, 278.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.232421875, "command_abs_max": [0.9963467121124268, 0.39941492676734924, 0.6999156475067139]}
{"step": 48050, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 48050, "total_transitions": 196812800, "num_steps_per_env": 1, "wm_loss": 0.5748181939125061, "actor_loss": -9.551064491271973, "critic_loss": 0.0030788613948971033, "reward": 0.0873786211013794, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11259503662586212, 0.07067836821079254, 0.13386350870132446], "mean_episode_length": 1351.7625899280577, "episode_reward_terms": {"track_linear_velocity": 48.08646011352539, "track_angular_velocity": 51.107933044433594, "upright": 26.00094223022461, "leg_posture": -2.5712995529174805, "standstill": -6.42721700668335, "action_rate_l2": -0.5617963671684265, "joint_torques_l2": -0.14270557463169098, "dof_pos_limits": -0.0005952055216766894, "terminated": -0.013200804591178894, "unnecessary_wheel_lift": -0.0790044441819191, "rolling_leg_motion": -0.5562625527381897, "obstacle_progress": 3.822329521179199, "wheel_body_intrusion": -0.2738787829875946, "pair_body_intrusion": -0.27655261754989624}, "weighted_reward_terms": {"track_linear_velocity": 1.7786577939987183, "track_angular_velocity": 1.8904184103012085, "upright": 0.9617422223091125, "leg_posture": -0.09510914236307144, "standstill": -0.23773469030857086, "action_rate_l2": -0.02078014239668846, "joint_torques_l2": -0.005278500262647867, "dof_pos_limits": -2.2015903596184216e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.002922275336459279, "rolling_leg_motion": -0.020575454458594322, "obstacle_progress": 0.14138317108154297, "wheel_body_intrusion": -0.010130432434380054, "pair_body_intrusion": -0.010229334235191345}, "episode_termination_rates": {"time_out": 0.460431654676259, "fell_over": 0.02877697841726619, "course_exit": 0.5035971223021583, "illegal_nonwheel_contact": 0.014388489208633094}, "collection_time_s": 0.07573642120230943, "learning_time_s": 0.18330597747932187, "iteration_time_s": 0.29579973124928166, "policy_updates": 47750, "skipped_updates": 0, "invalid_env_resets": 268, "elapsed_s": 14213.177086527983, "nonwheel_terminations": 14647, "contact_bce": 0.29276350140571594, "contact_force_loss": 0.021525897085666656, "collision_bce": 0.00041488572605885565, "collision_label_rate": 0.00018360976537223905, "collision_prediction_mean": 0.0001876546593848616, "collision_label_count": 16339.0, "terrain_level_mean": 4.315185546875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 6, 9, 30, 65, 300], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1973.0, 432.0, 38.0, 0.0], [1816.0, 424.0, 36.0, 0.0], [1741.0, 393.0, 29.0, 0.0], [1504.0, 339.0, 28.0, 0.0], [3354.0, 770.0, 39.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 20, 279, 1133], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4750.0, 1748.0, 196.0, 0.0], [7827.0, 2076.0, 172.0, 0.0], [14692.0, 3058.0, 426.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 48, 565], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [985.0, 812.0, 26.0, 0.0], [2265.0, 1884.0, 69.0, 0.0], [15401.0, 13168.0, 343.0, 0.0]]}, "platform": {"level_counts": [3, 21, 26, 59, 147, 154], "episodes_by_level": [[1864.0, 406.0, 53.0, 0.0], [2336.0, 475.0, 98.0, 0.0], [2178.0, 443.0, 95.0, 0.0], [2168.0, 392.0, 83.0, 0.0], [1900.0, 284.0, 91.0, 0.0], [1365.0, 140.0, 130.0, 0.0]]}, "slope": {"level_counts": [4, 7, 27, 48, 92, 232], "episodes_by_level": [[1666.0, 352.0, 46.0, 0.0], [2109.0, 432.0, 73.0, 0.0], [2007.0, 425.0, 47.0, 0.0], [1779.0, 353.0, 53.0, 0.0], [1602.0, 308.0, 29.0, 0.0], [2674.0, 442.0, 76.0, 0.0]]}, "rubble": {"level_counts": [14, 68, 165, 227, 207, 138], "episodes_by_level": [[3471.0, 789.0, 103.0, 0.0], [5503.0, 1181.0, 239.0, 0.0], [5774.0, 1189.0, 461.0, 0.0], [4889.0, 868.0, 617.0, 0.0], [3075.0, 416.0, 523.0, 0.0], [1212.0, 106.0, 278.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.225830078125, "command_abs_max": [0.9994244575500488, 0.39941492676734924, 0.6999156475067139]}
{"step": 48100, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 48100, "total_transitions": 197017600, "num_steps_per_env": 1, "wm_loss": 0.5273339152336121, "actor_loss": -9.50927734375, "critic_loss": 0.004821825306862593, "reward": 0.08694779127836227, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11318802088499069, 0.07046863436698914, 0.13455012440681458], "mean_episode_length": 1373.0506329113923, "episode_reward_terms": {"track_linear_velocity": 48.8376579284668, "track_angular_velocity": 51.87139129638672, "upright": 26.359254837036133, "leg_posture": -2.6737823486328125, "standstill": -6.865905284881592, "action_rate_l2": -0.5647019147872925, "joint_torques_l2": -0.1460561752319336, "dof_pos_limits": -0.0005508881877176464, "terminated": -0.018772175535559654, "unnecessary_wheel_lift": -0.08960585296154022, "rolling_leg_motion": -0.5758501887321472, "obstacle_progress": 3.868558406829834, "wheel_body_intrusion": -0.2924133241176605, "pair_body_intrusion": -0.32548218965530396}, "weighted_reward_terms": {"track_linear_velocity": 1.7784361839294434, "track_angular_velocity": 1.8889102935791016, "upright": 0.9598792195320129, "leg_posture": -0.09736648947000504, "standstill": -0.250023752450943, "action_rate_l2": -0.020563768222928047, "joint_torques_l2": -0.005318674258887768, "dof_pos_limits": -2.0060739188920707e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0032630206551402807, "rolling_leg_motion": -0.020969735458493233, "obstacle_progress": 0.14087456464767456, "wheel_body_intrusion": -0.01064830832183361, "pair_body_intrusion": -0.01185251958668232}, "episode_termination_rates": {"time_out": 0.4936708860759494, "fell_over": 0.0379746835443038, "course_exit": 0.4620253164556962, "illegal_nonwheel_contact": 0.0189873417721519}, "collection_time_s": 0.07575538496719673, "learning_time_s": 0.1831179938756395, "iteration_time_s": 0.29576136970954264, "policy_updates": 47800, "skipped_updates": 0, "invalid_env_resets": 268, "elapsed_s": 14226.121883029002, "nonwheel_terminations": 14650, "contact_bce": 0.2856041491031647, "contact_force_loss": 0.02004929631948471, "collision_bce": 0.00011734464351320639, "collision_label_rate": 0.00018371095939073712, "collision_prediction_mean": 0.00016078937915153801, "collision_label_count": 16330.0, "terrain_level_mean": 4.314453125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 6, 9, 30, 65, 300], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1973.0, 432.0, 38.0, 0.0], [1816.0, 424.0, 36.0, 0.0], [1741.0, 393.0, 29.0, 0.0], [1508.0, 339.0, 28.0, 0.0], [3368.0, 772.0, 39.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 20, 280, 1132], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4750.0, 1748.0, 196.0, 0.0], [7833.0, 2078.0, 172.0, 0.0], [14734.0, 3065.0, 428.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 47, 566], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [985.0, 812.0, 26.0, 0.0], [2266.0, 1885.0, 69.0, 0.0], [15424.0, 13189.0, 343.0, 0.0]]}, "platform": {"level_counts": [3, 21, 26, 59, 147, 154], "episodes_by_level": [[1864.0, 406.0, 53.0, 0.0], [2336.0, 475.0, 98.0, 0.0], [2178.0, 443.0, 95.0, 0.0], [2169.0, 392.0, 83.0, 0.0], [1907.0, 284.0, 91.0, 0.0], [1367.0, 140.0, 130.0, 0.0]]}, "slope": {"level_counts": [4, 7, 27, 49, 91, 232], "episodes_by_level": [[1666.0, 352.0, 46.0, 0.0], [2109.0, 432.0, 73.0, 0.0], [2007.0, 425.0, 47.0, 0.0], [1781.0, 353.0, 53.0, 0.0], [1605.0, 308.0, 30.0, 0.0], [2678.0, 443.0, 76.0, 0.0]]}, "rubble": {"level_counts": [14, 68, 167, 224, 209, 137], "episodes_by_level": [[3471.0, 789.0, 103.0, 0.0], [5506.0, 1181.0, 239.0, 0.0], [5777.0, 1189.0, 461.0, 0.0], [4897.0, 869.0, 619.0, 0.0], [3083.0, 416.0, 523.0, 0.0], [1216.0, 106.0, 279.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.228271484375, "command_abs_max": [0.9994244575500488, 0.39941492676734924, 0.6999156475067139]}
{"step": 48150, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 48150, "total_transitions": 197222400, "num_steps_per_env": 1, "wm_loss": 0.5570263266563416, "actor_loss": -9.506513595581055, "critic_loss": 0.005043673794716597, "reward": 0.08691076934337616, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11268852651119232, 0.07109273970127106, 0.13427957892417908], "mean_episode_length": 1346.7414965986395, "episode_reward_terms": {"track_linear_velocity": 47.90578842163086, "track_angular_velocity": 50.91362380981445, "upright": 25.867172241210938, "leg_posture": -2.6385891437530518, "standstill": -6.772771835327148, "action_rate_l2": -0.5515362024307251, "joint_torques_l2": -0.14225324988365173, "dof_pos_limits": -0.0008148284396156669, "terminated": -0.021042831242084503, "unnecessary_wheel_lift": -0.09098319709300995, "rolling_leg_motion": -0.5770235061645508, "obstacle_progress": 3.7406094074249268, "wheel_body_intrusion": -0.27259936928749084, "pair_body_intrusion": -0.3132658004760742}, "weighted_reward_terms": {"track_linear_velocity": 1.7785816192626953, "track_angular_velocity": 1.8902524709701538, "upright": 0.9603615403175354, "leg_posture": -0.09796198457479477, "standstill": -0.2514503598213196, "action_rate_l2": -0.02047669142484665, "joint_torques_l2": -0.005281386896967888, "dof_pos_limits": -3.0251851057983004e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0033779016230255365, "rolling_leg_motion": -0.02142295055091381, "obstacle_progress": 0.1388763040304184, "wheel_body_intrusion": -0.010120701976120472, "pair_body_intrusion": -0.011630509980022907}, "episode_termination_rates": {"time_out": 0.47619047619047616, "fell_over": 0.027210884353741496, "course_exit": 0.46938775510204084, "illegal_nonwheel_contact": 0.04081632653061224}, "collection_time_s": 0.07556714757927693, "learning_time_s": 0.18527026220108384, "iteration_time_s": 0.2957251324907788, "policy_updates": 47850, "skipped_updates": 0, "invalid_env_resets": 268, "elapsed_s": 14239.165129431, "nonwheel_terminations": 14656, "contact_bce": 0.2864319980144501, "contact_force_loss": 0.02064214088022709, "collision_bce": 9.36368633119855e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 9.400673661730252e-06, "collision_label_count": 16349.0, "terrain_level_mean": 4.315185546875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 6, 9, 30, 64, 301], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1973.0, 432.0, 38.0, 0.0], [1816.0, 424.0, 36.0, 0.0], [1742.0, 393.0, 29.0, 0.0], [1514.0, 340.0, 28.0, 0.0], [3377.0, 773.0, 39.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 21, 280, 1131], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4750.0, 1748.0, 196.0, 0.0], [7842.0, 2080.0, 172.0, 0.0], [14761.0, 3068.0, 429.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 45, 568], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [985.0, 812.0, 26.0, 0.0], [2269.0, 1888.0, 69.0, 0.0], [15444.0, 13205.0, 344.0, 0.0]]}, "platform": {"level_counts": [3, 21, 26, 59, 147, 154], "episodes_by_level": [[1864.0, 406.0, 53.0, 0.0], [2337.0, 475.0, 98.0, 0.0], [2179.0, 443.0, 95.0, 0.0], [2170.0, 392.0, 83.0, 0.0], [1910.0, 285.0, 91.0, 0.0], [1370.0, 141.0, 131.0, 0.0]]}, "slope": {"level_counts": [4, 7, 27, 48, 92, 232], "episodes_by_level": [[1667.0, 352.0, 46.0, 0.0], [2109.0, 432.0, 73.0, 0.0], [2011.0, 425.0, 47.0, 0.0], [1783.0, 354.0, 53.0, 0.0], [1609.0, 308.0, 30.0, 0.0], [2681.0, 444.0, 76.0, 0.0]]}, "rubble": {"level_counts": [14, 69, 166, 223, 209, 138], "episodes_by_level": [[3471.0, 789.0, 103.0, 0.0], [5508.0, 1182.0, 239.0, 0.0], [5781.0, 1189.0, 463.0, 0.0], [4902.0, 870.0, 619.0, 0.0], [3089.0, 417.0, 523.0, 0.0], [1222.0, 107.0, 279.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.229248046875, "command_abs_max": [0.9994244575500488, 0.3998791575431824, 0.6999156475067139]}
{"step": 48200, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 48200, "total_transitions": 197427200, "num_steps_per_env": 1, "wm_loss": 0.5206766724586487, "actor_loss": -9.514263153076172, "critic_loss": 0.004411209374666214, "reward": 0.08742418140172958, "falls": 11, "interval_steps": 50, "velocity_mae": [0.11038792878389359, 0.06944889575242996, 0.13352864980697632], "mean_episode_length": 1319.2012578616352, "episode_reward_terms": {"track_linear_velocity": 47.12815856933594, "track_angular_velocity": 49.88374710083008, "upright": 25.365488052368164, "leg_posture": -2.5524418354034424, "standstill": -6.2832841873168945, "action_rate_l2": -0.5421208143234253, "joint_torques_l2": -0.13858625292778015, "dof_pos_limits": -0.000486091390484944, "terminated": -0.028342213481664658, "unnecessary_wheel_lift": -0.08207317441701889, "rolling_leg_motion": -0.5718737244606018, "obstacle_progress": 3.721802234649658, "wheel_body_intrusion": -0.26950356364250183, "pair_body_intrusion": -0.3003861606121063}, "weighted_reward_terms": {"track_linear_velocity": 1.7862383127212524, "track_angular_velocity": 1.8906798362731934, "upright": 0.9613956809043884, "leg_posture": -0.0967419445514679, "standstill": -0.2381472885608673, "action_rate_l2": -0.02054731175303459, "joint_torques_l2": -0.00525265745818615, "dof_pos_limits": -1.842370147642214e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.003110714489594102, "rolling_leg_motion": -0.021674998104572296, "obstacle_progress": 0.14106272161006927, "wheel_body_intrusion": -0.010214649140834808, "pair_body_intrusion": -0.01138515304774046}, "episode_termination_rates": {"time_out": 0.4276729559748428, "fell_over": 0.0440251572327044, "course_exit": 0.5031446540880503, "illegal_nonwheel_contact": 0.03773584905660377}, "collection_time_s": 0.0755921445984859, "learning_time_s": 0.1831017474993132, "iteration_time_s": 0.29568674120323707, "policy_updates": 47900, "skipped_updates": 0, "invalid_env_resets": 268, "elapsed_s": 14252.100925996026, "nonwheel_terminations": 14662, "contact_bce": 0.27835020422935486, "contact_force_loss": 0.019997140392661095, "collision_bce": 0.00010108709830092266, "collision_label_rate": 6.115085852798074e-05, "collision_prediction_mean": 2.991905239468906e-05, "collision_label_count": 16353.0, "terrain_level_mean": 4.31640625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 6, 9, 29, 65, 301], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1973.0, 432.0, 38.0, 0.0], [1816.0, 424.0, 36.0, 0.0], [1744.0, 394.0, 29.0, 0.0], [1515.0, 340.0, 28.0, 0.0], [3386.0, 775.0, 39.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 21, 281, 1130], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4750.0, 1748.0, 196.0, 0.0], [7849.0, 2083.0, 172.0, 0.0], [14799.0, 3077.0, 430.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 46, 567], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [985.0, 812.0, 26.0, 0.0], [2270.0, 1889.0, 69.0, 0.0], [15458.0, 13216.0, 344.0, 0.0]]}, "platform": {"level_counts": [3, 21, 26, 58, 148, 154], "episodes_by_level": [[1864.0, 406.0, 53.0, 0.0], [2337.0, 475.0, 98.0, 0.0], [2179.0, 443.0, 95.0, 0.0], [2172.0, 393.0, 83.0, 0.0], [1915.0, 286.0, 91.0, 0.0], [1374.0, 141.0, 132.0, 0.0]]}, "slope": {"level_counts": [4, 7, 27, 48, 92, 232], "episodes_by_level": [[1667.0, 352.0, 46.0, 0.0], [2109.0, 432.0, 73.0, 0.0], [2012.0, 425.0, 47.0, 0.0], [1784.0, 354.0, 53.0, 0.0], [1612.0, 309.0, 30.0, 0.0], [2693.0, 448.0, 77.0, 0.0]]}, "rubble": {"level_counts": [14, 68, 165, 223, 211, 138], "episodes_by_level": [[3472.0, 789.0, 103.0, 0.0], [5514.0, 1183.0, 239.0, 0.0], [5788.0, 1192.0, 463.0, 0.0], [4912.0, 873.0, 620.0, 0.0], [3097.0, 418.0, 524.0, 0.0], [1225.0, 108.0, 280.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.229736328125, "command_abs_max": [0.9994244575500488, 0.3998791575431824, 0.6999156475067139]}
{"step": 48250, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 48250, "total_transitions": 197632000, "num_steps_per_env": 1, "wm_loss": 0.5157449245452881, "actor_loss": -9.566607475280762, "critic_loss": 0.005769351031631231, "reward": 0.08756110072135925, "falls": 6, "interval_steps": 50, "velocity_mae": [0.1111726462841034, 0.06984256953001022, 0.13391277194023132], "mean_episode_length": 1393.5483870967741, "episode_reward_terms": {"track_linear_velocity": 49.73149108886719, "track_angular_velocity": 52.684879302978516, "upright": 26.785268783569336, "leg_posture": -2.683584451675415, "standstill": -6.415713787078857, "action_rate_l2": -0.5747491121292114, "joint_torques_l2": -0.147416889667511, "dof_pos_limits": -0.00033726467518135905, "terminated": -0.016330642625689507, "unnecessary_wheel_lift": -0.08276551961898804, "rolling_leg_motion": -0.5910261273384094, "obstacle_progress": 3.9446566104888916, "wheel_body_intrusion": -0.29533010721206665, "pair_body_intrusion": -0.31846189498901367}, "weighted_reward_terms": {"track_linear_velocity": 1.7843475341796875, "track_angular_velocity": 1.890313982963562, "upright": 0.9610455632209778, "leg_posture": -0.09628602117300034, "standstill": -0.23019343614578247, "action_rate_l2": -0.020621787756681442, "joint_torques_l2": -0.005289263557642698, "dof_pos_limits": -1.2100932508474216e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.002969596302136779, "rolling_leg_motion": -0.021205799654126167, "obstacle_progress": 0.14153282344341278, "wheel_body_intrusion": -0.01059633493423462, "pair_body_intrusion": -0.011426295153796673}, "episode_termination_rates": {"time_out": 0.47096774193548385, "fell_over": 0.012903225806451613, "course_exit": 0.49032258064516127, "illegal_nonwheel_contact": 0.025806451612903226}, "collection_time_s": 0.0760224828554783, "learning_time_s": 0.18409253084100782, "iteration_time_s": 0.2956499016265291, "policy_updates": 47950, "skipped_updates": 0, "invalid_env_resets": 269, "elapsed_s": 14265.107753480028, "nonwheel_terminations": 14666, "contact_bce": 0.2850345969200134, "contact_force_loss": 0.020200975239276886, "collision_bce": 0.0002319521881872788, "collision_label_rate": 0.00012247396807651967, "collision_prediction_mean": 0.00011179448483744636, "collision_label_count": 16330.0, "terrain_level_mean": 4.31787109375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 6, 9, 29, 65, 301], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1973.0, 432.0, 38.0, 0.0], [1817.0, 424.0, 36.0, 0.0], [1745.0, 394.0, 29.0, 0.0], [1519.0, 340.0, 28.0, 0.0], [3395.0, 778.0, 39.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 21, 279, 1132], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4750.0, 1748.0, 196.0, 0.0], [7858.0, 2086.0, 172.0, 0.0], [14835.0, 3086.0, 430.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 43, 570], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [985.0, 812.0, 26.0, 0.0], [2275.0, 1893.0, 69.0, 0.0], [15474.0, 13226.0, 345.0, 0.0]]}, "platform": {"level_counts": [3, 20, 27, 58, 147, 155], "episodes_by_level": [[1864.0, 406.0, 53.0, 0.0], [2338.0, 476.0, 98.0, 0.0], [2179.0, 443.0, 95.0, 0.0], [2173.0, 393.0, 83.0, 0.0], [1919.0, 287.0, 91.0, 0.0], [1375.0, 141.0, 132.0, 0.0]]}, "slope": {"level_counts": [4, 7, 27, 48, 92, 232], "episodes_by_level": [[1667.0, 352.0, 46.0, 0.0], [2109.0, 432.0, 73.0, 0.0], [2012.0, 425.0, 47.0, 0.0], [1784.0, 354.0, 53.0, 0.0], [1615.0, 309.0, 30.0, 0.0], [2702.0, 449.0, 77.0, 0.0]]}, "rubble": {"level_counts": [14, 68, 165, 223, 212, 137], "episodes_by_level": [[3475.0, 789.0, 104.0, 0.0], [5516.0, 1183.0, 239.0, 0.0], [5792.0, 1193.0, 463.0, 0.0], [4923.0, 874.0, 621.0, 0.0], [3102.0, 418.0, 525.0, 0.0], [1228.0, 109.0, 281.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.229248046875, "command_abs_max": [0.9994244575500488, 0.3998791575431824, 0.6999156475067139]}
{"step": 48300, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 48300, "total_transitions": 197836800, "num_steps_per_env": 1, "wm_loss": 0.5557283163070679, "actor_loss": -9.513965606689453, "critic_loss": 0.004044719971716404, "reward": 0.08753838390111923, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11212613433599472, 0.070938341319561, 0.1357302963733673], "mean_episode_length": 1349.2142857142858, "episode_reward_terms": {"track_linear_velocity": 48.006099700927734, "track_angular_velocity": 50.929256439208984, "upright": 25.914342880249023, "leg_posture": -2.5734639167785645, "standstill": -5.97566032409668, "action_rate_l2": -0.5770540237426758, "joint_torques_l2": -0.14323201775550842, "dof_pos_limits": -0.000505931384395808, "terminated": -0.018446287140250206, "unnecessary_wheel_lift": -0.08648940175771713, "rolling_leg_motion": -0.5879075527191162, "obstacle_progress": 3.7721831798553467, "wheel_body_intrusion": -0.2703988254070282, "pair_body_intrusion": -0.28070172667503357}, "weighted_reward_terms": {"track_linear_velocity": 1.7790392637252808, "track_angular_velocity": 1.8873673677444458, "upright": 0.9603495001792908, "leg_posture": -0.09536899626255035, "standstill": -0.22144964337348938, "action_rate_l2": -0.021384818479418755, "joint_torques_l2": -0.005307979416102171, "dof_pos_limits": -1.874911322374828e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0032051769085228443, "rolling_leg_motion": -0.02178703434765339, "obstacle_progress": 0.13979186117649078, "wheel_body_intrusion": -0.010020604357123375, "pair_body_intrusion": -0.010402414947748184}, "episode_termination_rates": {"time_out": 0.46703296703296704, "fell_over": 0.016483516483516484, "course_exit": 0.4945054945054945, "illegal_nonwheel_contact": 0.027472527472527472}, "collection_time_s": 0.07563389291753993, "learning_time_s": 0.18519741842057555, "iteration_time_s": 0.2956138805613041, "policy_updates": 48000, "skipped_updates": 0, "invalid_env_resets": 269, "elapsed_s": 14278.15043111099, "nonwheel_terminations": 14671, "contact_bce": 0.2866063416004181, "contact_force_loss": 0.020586632192134857, "collision_bce": 4.8299203626811504e-05, "collision_label_rate": 6.1221988289617e-05, "collision_prediction_mean": 7.695878593949601e-05, "collision_label_count": 16334.0, "terrain_level_mean": 4.31982421875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 6, 9, 28, 67, 300], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1973.0, 432.0, 38.0, 0.0], [1818.0, 424.0, 36.0, 0.0], [1746.0, 395.0, 29.0, 0.0], [1519.0, 340.0, 28.0, 0.0], [3404.0, 778.0, 40.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 21, 281, 1130], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4750.0, 1748.0, 196.0, 0.0], [7863.0, 2086.0, 172.0, 0.0], [14882.0, 3097.0, 432.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 39, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [985.0, 812.0, 26.0, 0.0], [2280.0, 1898.0, 69.0, 0.0], [15495.0, 13244.0, 345.0, 0.0]]}, "platform": {"level_counts": [3, 19, 28, 58, 145, 157], "episodes_by_level": [[1864.0, 406.0, 53.0, 0.0], [2339.0, 477.0, 98.0, 0.0], [2180.0, 443.0, 95.0, 0.0], [2177.0, 393.0, 83.0, 0.0], [1926.0, 289.0, 91.0, 0.0], [1382.0, 142.0, 132.0, 0.0]]}, "slope": {"level_counts": [4, 7, 27, 47, 93, 232], "episodes_by_level": [[1667.0, 352.0, 46.0, 0.0], [2109.0, 432.0, 73.0, 0.0], [2013.0, 425.0, 47.0, 0.0], [1786.0, 355.0, 53.0, 0.0], [1619.0, 309.0, 30.0, 0.0], [2706.0, 450.0, 77.0, 0.0]]}, "rubble": {"level_counts": [14, 68, 164, 221, 217, 135], "episodes_by_level": [[3476.0, 789.0, 104.0, 0.0], [5517.0, 1183.0, 239.0, 0.0], [5801.0, 1195.0, 463.0, 0.0], [4933.0, 877.0, 622.0, 0.0], [3111.0, 418.0, 525.0, 0.0], [1232.0, 109.0, 283.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2255859375, "command_abs_max": [0.9994244575500488, 0.3996134400367737, 0.6999156475067139]}
{"step": 48350, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 48350, "total_transitions": 198041600, "num_steps_per_env": 1, "wm_loss": 0.5315430164337158, "actor_loss": -9.519237518310547, "critic_loss": 0.003968638833612204, "reward": 0.0875503346323967, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11184358596801758, 0.0705617368221283, 0.13509498536586761], "mean_episode_length": 1270.8544303797469, "episode_reward_terms": {"track_linear_velocity": 45.2726936340332, "track_angular_velocity": 47.99530792236328, "upright": 24.412429809570312, "leg_posture": -2.430154800415039, "standstill": -5.711789608001709, "action_rate_l2": -0.5258982181549072, "joint_torques_l2": -0.1341962069272995, "dof_pos_limits": -0.0014166806358844042, "terminated": -0.024821370840072632, "unnecessary_wheel_lift": -0.07802212238311768, "rolling_leg_motion": -0.5491353273391724, "obstacle_progress": 3.5452091693878174, "wheel_body_intrusion": -0.26401087641716003, "pair_body_intrusion": -0.24248355627059937}, "weighted_reward_terms": {"track_linear_velocity": 1.781191349029541, "track_angular_velocity": 1.8883086442947388, "upright": 0.9604731798171997, "leg_posture": -0.09561106562614441, "standstill": -0.22472244501113892, "action_rate_l2": -0.020690735429525375, "joint_torques_l2": -0.005279763601720333, "dof_pos_limits": -5.5737335060257465e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.0030696720350533724, "rolling_leg_motion": -0.02160496637225151, "obstacle_progress": 0.1394813358783722, "wheel_body_intrusion": -0.01038714125752449, "pair_body_intrusion": -0.009540178813040257}, "episode_termination_rates": {"time_out": 0.3987341772151899, "fell_over": 0.03164556962025317, "course_exit": 0.5379746835443038, "illegal_nonwheel_contact": 0.04430379746835443}, "collection_time_s": 0.07575140628032387, "learning_time_s": 0.19214273198042064, "iteration_time_s": 0.2955852385761742, "policy_updates": 48050, "skipped_updates": 0, "invalid_env_resets": 269, "elapsed_s": 14291.546285158023, "nonwheel_terminations": 14678, "contact_bce": 0.28307726979255676, "contact_force_loss": 0.019580628722906113, "collision_bce": 1.0990438568114769e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.0991238923452329e-05, "collision_label_count": 16341.0, "terrain_level_mean": 4.3193359375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 6, 9, 28, 67, 300], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1973.0, 432.0, 38.0, 0.0], [1818.0, 424.0, 36.0, 0.0], [1747.0, 395.0, 29.0, 0.0], [1520.0, 340.0, 28.0, 0.0], [3412.0, 782.0, 40.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 21, 281, 1130], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4751.0, 1748.0, 196.0, 0.0], [7865.0, 2086.0, 172.0, 0.0], [14924.0, 3108.0, 432.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 39, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [985.0, 812.0, 26.0, 0.0], [2282.0, 1900.0, 69.0, 0.0], [15520.0, 13268.0, 345.0, 0.0]]}, "platform": {"level_counts": [3, 19, 28, 58, 146, 156], "episodes_by_level": [[1864.0, 406.0, 53.0, 0.0], [2339.0, 477.0, 98.0, 0.0], [2180.0, 443.0, 95.0, 0.0], [2179.0, 393.0, 83.0, 0.0], [1928.0, 289.0, 91.0, 0.0], [1391.0, 143.0, 133.0, 0.0]]}, "slope": {"level_counts": [4, 7, 27, 46, 94, 232], "episodes_by_level": [[1667.0, 352.0, 46.0, 0.0], [2109.0, 432.0, 73.0, 0.0], [2014.0, 425.0, 47.0, 0.0], [1787.0, 356.0, 53.0, 0.0], [1620.0, 309.0, 30.0, 0.0], [2713.0, 453.0, 77.0, 0.0]]}, "rubble": {"level_counts": [14, 69, 162, 222, 219, 133], "episodes_by_level": [[3476.0, 789.0, 104.0, 0.0], [5520.0, 1183.0, 239.0, 0.0], [5810.0, 1198.0, 464.0, 0.0], [4941.0, 878.0, 624.0, 0.0], [3118.0, 419.0, 526.0, 0.0], [1238.0, 110.0, 286.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.233154296875, "command_abs_max": [0.9976140856742859, 0.3996134400367737, 0.6999156475067139]}
{"step": 48400, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 48400, "total_transitions": 198246400, "num_steps_per_env": 1, "wm_loss": 0.5538392066955566, "actor_loss": -9.540067672729492, "critic_loss": 0.003768910886719823, "reward": 0.08751879632472992, "falls": 3, "interval_steps": 50, "velocity_mae": [0.11395363509654999, 0.07127552479505539, 0.13554826378822327], "mean_episode_length": 1330.2042253521126, "episode_reward_terms": {"track_linear_velocity": 47.24715805053711, "track_angular_velocity": 50.20634841918945, "upright": 25.543865203857422, "leg_posture": -2.543379068374634, "standstill": -5.958928108215332, "action_rate_l2": -0.5592012405395508, "joint_torques_l2": -0.14016388356685638, "dof_pos_limits": -0.0015590159455314279, "terminated": -0.0077941641211509705, "unnecessary_wheel_lift": -0.07968637347221375, "rolling_leg_motion": -0.56904137134552, "obstacle_progress": 3.805314302444458, "wheel_body_intrusion": -0.26072272658348083, "pair_body_intrusion": -0.26433461904525757}, "weighted_reward_terms": {"track_linear_velocity": 1.775936245918274, "track_angular_velocity": 1.887166976928711, "upright": 0.960148274898529, "leg_posture": -0.09560108184814453, "standstill": -0.2239854633808136, "action_rate_l2": -0.021019376814365387, "joint_torques_l2": -0.005268509965389967, "dof_pos_limits": -5.860062810825184e-05, "terminated": -0.00029296870343387127, "unnecessary_wheel_lift": -0.002995268441736698, "rolling_leg_motion": -0.021389247849583626, "obstacle_progress": 0.14303496479988098, "wheel_body_intrusion": -0.00980010163038969, "pair_body_intrusion": -0.009935866110026836}, "episode_termination_rates": {"time_out": 0.4154929577464789, "fell_over": 0.014084507042253521, "course_exit": 0.5633802816901409, "illegal_nonwheel_contact": 0.007042253521126761}, "collection_time_s": 0.0756391067779623, "learning_time_s": 0.18491589508252218, "iteration_time_s": 0.2955490735646692, "policy_updates": 48100, "skipped_updates": 0, "invalid_env_resets": 269, "elapsed_s": 14304.575160529988, "nonwheel_terminations": 14679, "contact_bce": 0.29309555888175964, "contact_force_loss": 0.021367046982049942, "collision_bce": 6.015739018039312e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 6.0681313698296435e-06, "collision_label_count": 16339.0, "terrain_level_mean": 4.322265625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 6, 9, 28, 66, 301], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1973.0, 432.0, 38.0, 0.0], [1819.0, 424.0, 36.0, 0.0], [1750.0, 395.0, 29.0, 0.0], [1522.0, 341.0, 28.0, 0.0], [3419.0, 784.0, 40.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 21, 282, 1129], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4751.0, 1748.0, 196.0, 0.0], [7874.0, 2086.0, 172.0, 0.0], [14958.0, 3116.0, 433.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 36, 577], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [985.0, 812.0, 26.0, 0.0], [2284.0, 1902.0, 69.0, 0.0], [15542.0, 13289.0, 345.0, 0.0]]}, "platform": {"level_counts": [3, 19, 27, 59, 146, 156], "episodes_by_level": [[1864.0, 406.0, 53.0, 0.0], [2339.0, 477.0, 98.0, 0.0], [2181.0, 444.0, 95.0, 0.0], [2181.0, 393.0, 83.0, 0.0], [1931.0, 289.0, 91.0, 0.0], [1396.0, 143.0, 133.0, 0.0]]}, "slope": {"level_counts": [4, 7, 26, 45, 95, 233], "episodes_by_level": [[1667.0, 352.0, 46.0, 0.0], [2110.0, 432.0, 73.0, 0.0], [2015.0, 426.0, 47.0, 0.0], [1791.0, 358.0, 53.0, 0.0], [1622.0, 310.0, 30.0, 0.0], [2720.0, 456.0, 77.0, 0.0]]}, "rubble": {"level_counts": [14, 70, 161, 217, 224, 133], "episodes_by_level": [[3476.0, 789.0, 104.0, 0.0], [5520.0, 1183.0, 239.0, 0.0], [5814.0, 1198.0, 465.0, 0.0], [4949.0, 883.0, 624.0, 0.0], [3126.0, 420.0, 526.0, 0.0], [1240.0, 111.0, 287.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234619140625, "command_abs_max": [0.9958854913711548, 0.39941492676734924, 0.6999156475067139]}
{"step": 48450, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 48450, "total_transitions": 198451200, "num_steps_per_env": 1, "wm_loss": 0.5356504917144775, "actor_loss": -9.548821449279785, "critic_loss": 0.003605911508202553, "reward": 0.08708653599023819, "falls": 14, "interval_steps": 50, "velocity_mae": [0.11248783767223358, 0.07109258323907852, 0.13625529408454895], "mean_episode_length": 1345.142857142857, "episode_reward_terms": {"track_linear_velocity": 47.8634147644043, "track_angular_velocity": 50.756019592285156, "upright": 25.82115936279297, "leg_posture": -2.5184454917907715, "standstill": -6.683196544647217, "action_rate_l2": -0.5658084750175476, "joint_torques_l2": -0.1414671242237091, "dof_pos_limits": -0.000930379843339324, "terminated": -0.03678124397993088, "unnecessary_wheel_lift": -0.12186003476381302, "rolling_leg_motion": -0.5716367959976196, "obstacle_progress": 3.8896639347076416, "wheel_body_intrusion": -0.2526285648345947, "pair_body_intrusion": -0.2936645746231079}, "weighted_reward_terms": {"track_linear_velocity": 1.7791203260421753, "track_angular_velocity": 1.8866405487060547, "upright": 0.95979243516922, "leg_posture": -0.09361257404088974, "standstill": -0.2484195977449417, "action_rate_l2": -0.021031539887189865, "joint_torques_l2": -0.005258442834019661, "dof_pos_limits": -3.458293940639123e-05, "terminated": -0.0013671873603016138, "unnecessary_wheel_lift": -0.004529631696641445, "rolling_leg_motion": -0.02124818228185177, "obstacle_progress": 0.14458182454109192, "wheel_body_intrusion": -0.009390399791300297, "pair_body_intrusion": -0.010915739461779594}, "episode_termination_rates": {"time_out": 0.47368421052631576, "fell_over": 0.06015037593984962, "course_exit": 0.42105263157894735, "illegal_nonwheel_contact": 0.06766917293233082}, "collection_time_s": 0.0759733124403283, "learning_time_s": 0.18494845923851244, "iteration_time_s": 0.29551336111855514, "policy_updates": 48150, "skipped_updates": 0, "invalid_env_resets": 270, "elapsed_s": 14317.622346193995, "nonwheel_terminations": 14688, "contact_bce": 0.2836208939552307, "contact_force_loss": 0.019976399838924408, "collision_bce": 3.5596654925029725e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 3.4280994441360235e-05, "collision_label_count": 16316.0, "terrain_level_mean": 4.319580078125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 6, 9, 28, 66, 301], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1973.0, 432.0, 38.0, 0.0], [1819.0, 424.0, 36.0, 0.0], [1751.0, 395.0, 29.0, 0.0], [1523.0, 341.0, 28.0, 0.0], [3424.0, 785.0, 40.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 21, 283, 1128], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4752.0, 1749.0, 196.0, 0.0], [7878.0, 2086.0, 172.0, 0.0], [14983.0, 3121.0, 433.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 39, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [985.0, 812.0, 26.0, 0.0], [2285.0, 1903.0, 69.0, 0.0], [15562.0, 13306.0, 346.0, 0.0]]}, "platform": {"level_counts": [3, 19, 28, 59, 145, 156], "episodes_by_level": [[1864.0, 406.0, 53.0, 0.0], [2339.0, 477.0, 98.0, 0.0], [2181.0, 444.0, 95.0, 0.0], [2182.0, 393.0, 84.0, 0.0], [1935.0, 289.0, 92.0, 0.0], [1401.0, 143.0, 133.0, 0.0]]}, "slope": {"level_counts": [4, 7, 26, 45, 95, 233], "episodes_by_level": [[1667.0, 352.0, 46.0, 0.0], [2110.0, 432.0, 73.0, 0.0], [2015.0, 426.0, 47.0, 0.0], [1793.0, 358.0, 53.0, 0.0], [1624.0, 310.0, 30.0, 0.0], [2723.0, 456.0, 77.0, 0.0]]}, "rubble": {"level_counts": [14, 72, 162, 214, 224, 133], "episodes_by_level": [[3476.0, 789.0, 104.0, 0.0], [5521.0, 1183.0, 239.0, 0.0], [5822.0, 1198.0, 467.0, 0.0], [4956.0, 884.0, 627.0, 0.0], [3132.0, 420.0, 527.0, 0.0], [1245.0, 112.0, 287.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.236083984375, "command_abs_max": [0.9958854913711548, 0.399445116519928, 0.6999156475067139]}
{"step": 48500, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 48500, "total_transitions": 198656000, "num_steps_per_env": 1, "wm_loss": 0.5415915846824646, "actor_loss": -9.524983406066895, "critic_loss": 0.00438267458230257, "reward": 0.08729485422372818, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11337456107139587, 0.07137249410152435, 0.1358005404472351], "mean_episode_length": 1406.1920529801325, "episode_reward_terms": {"track_linear_velocity": 49.96422576904297, "track_angular_velocity": 53.073726654052734, "upright": 26.963098526000977, "leg_posture": -2.6748569011688232, "standstill": -6.635768890380859, "action_rate_l2": -0.573876678943634, "joint_torques_l2": -0.1489313542842865, "dof_pos_limits": -0.0003356619563419372, "terminated": -0.01647881232202053, "unnecessary_wheel_lift": -0.10912993550300598, "rolling_leg_motion": -0.5823366641998291, "obstacle_progress": 4.071966171264648, "wheel_body_intrusion": -0.2853105962276459, "pair_body_intrusion": -0.29269057512283325}, "weighted_reward_terms": {"track_linear_velocity": 1.7765791416168213, "track_angular_velocity": 1.887143611907959, "upright": 0.9587274789810181, "leg_posture": -0.09510994702577591, "standstill": -0.23594819009304047, "action_rate_l2": -0.020405346527695656, "joint_torques_l2": -0.0052955555729568005, "dof_pos_limits": -1.1935139809793327e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.0038803357165306807, "rolling_leg_motion": -0.020706158131361008, "obstacle_progress": 0.14478699862957, "wheel_body_intrusion": -0.010144795291125774, "pair_body_intrusion": -0.010407205671072006}, "episode_termination_rates": {"time_out": 0.5033112582781457, "fell_over": 0.019867549668874173, "course_exit": 0.45695364238410596, "illegal_nonwheel_contact": 0.033112582781456956}, "collection_time_s": 0.07574629164068028, "learning_time_s": 0.18479938068194315, "iteration_time_s": 0.2954773394330309, "policy_updates": 48200, "skipped_updates": 0, "invalid_env_resets": 270, "elapsed_s": 14330.650962501997, "nonwheel_terminations": 14693, "contact_bce": 0.2865746319293976, "contact_force_loss": 0.021144794300198555, "collision_bce": 6.988217592152068e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 7.044050107651856e-06, "collision_label_count": 16324.0, "terrain_level_mean": 4.31982421875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 5, 10, 28, 66, 301], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1974.0, 433.0, 38.0, 0.0], [1820.0, 424.0, 36.0, 0.0], [1752.0, 395.0, 29.0, 0.0], [1528.0, 341.0, 28.0, 0.0], [3430.0, 787.0, 40.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 21, 284, 1127], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4752.0, 1749.0, 196.0, 0.0], [7884.0, 2086.0, 172.0, 0.0], [15015.0, 3127.0, 434.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 37, 576], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [985.0, 812.0, 26.0, 0.0], [2287.0, 1905.0, 69.0, 0.0], [15579.0, 13320.0, 346.0, 0.0]]}, "platform": {"level_counts": [3, 19, 28, 59, 146, 155], "episodes_by_level": [[1864.0, 406.0, 53.0, 0.0], [2339.0, 477.0, 98.0, 0.0], [2182.0, 444.0, 95.0, 0.0], [2183.0, 393.0, 84.0, 0.0], [1942.0, 289.0, 92.0, 0.0], [1409.0, 144.0, 134.0, 0.0]]}, "slope": {"level_counts": [4, 7, 26, 45, 94, 234], "episodes_by_level": [[1667.0, 352.0, 46.0, 0.0], [2111.0, 432.0, 73.0, 0.0], [2017.0, 426.0, 47.0, 0.0], [1794.0, 358.0, 53.0, 0.0], [1625.0, 311.0, 30.0, 0.0], [2732.0, 457.0, 77.0, 0.0]]}, "rubble": {"level_counts": [15, 71, 163, 212, 225, 133], "episodes_by_level": [[3476.0, 789.0, 104.0, 0.0], [5524.0, 1184.0, 240.0, 0.0], [5827.0, 1198.0, 468.0, 0.0], [4965.0, 886.0, 628.0, 0.0], [3140.0, 420.0, 528.0, 0.0], [1248.0, 112.0, 287.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.235595703125, "command_abs_max": [0.9962215423583984, 0.39941492676734924, 0.6999156475067139]}
{"step": 48550, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 48550, "total_transitions": 198860800, "num_steps_per_env": 1, "wm_loss": 0.5477115511894226, "actor_loss": -9.545267105102539, "critic_loss": 0.0030629707034677267, "reward": 0.08767326921224594, "falls": 12, "interval_steps": 50, "velocity_mae": [0.11302418261766434, 0.0711601972579956, 0.13449059426784515], "mean_episode_length": 1299.964705882353, "episode_reward_terms": {"track_linear_velocity": 46.23125076293945, "track_angular_velocity": 49.12578201293945, "upright": 24.947147369384766, "leg_posture": -2.471343994140625, "standstill": -5.741044521331787, "action_rate_l2": -0.5432927012443542, "joint_torques_l2": -0.1375485509634018, "dof_pos_limits": -0.000920164049603045, "terminated": -0.030467921867966652, "unnecessary_wheel_lift": -0.08851704746484756, "rolling_leg_motion": -0.555884599685669, "obstacle_progress": 3.7745957374572754, "wheel_body_intrusion": -0.25832289457321167, "pair_body_intrusion": -0.2792910039424896}, "weighted_reward_terms": {"track_linear_velocity": 1.7781733274459839, "track_angular_velocity": 1.8895045518875122, "upright": 0.9595316648483276, "leg_posture": -0.0950542688369751, "standstill": -0.22081540524959564, "action_rate_l2": -0.020896442234516144, "joint_torques_l2": -0.005290472414344549, "dof_pos_limits": -3.539188764989376e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.0034045942593365908, "rolling_leg_motion": -0.02138075791299343, "obstacle_progress": 0.14518070220947266, "wheel_body_intrusion": -0.009935766458511353, "pair_body_intrusion": -0.010742253623902798}, "episode_termination_rates": {"time_out": 0.4411764705882353, "fell_over": 0.029411764705882353, "course_exit": 0.48823529411764705, "illegal_nonwheel_contact": 0.047058823529411764}, "collection_time_s": 0.07571951488382184, "learning_time_s": 0.18450147099676542, "iteration_time_s": 0.2954416429029656, "policy_updates": 48250, "skipped_updates": 0, "invalid_env_resets": 270, "elapsed_s": 14343.691762938979, "nonwheel_terminations": 14701, "contact_bce": 0.28041258454322815, "contact_force_loss": 0.020021095871925354, "collision_bce": 0.0003123738570138812, "collision_label_rate": 0.00012242898810654879, "collision_prediction_mean": 0.00018773088231682777, "collision_label_count": 16336.0, "terrain_level_mean": 4.32080078125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 5, 10, 27, 66, 302], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1975.0, 433.0, 38.0, 0.0], [1820.0, 424.0, 36.0, 0.0], [1754.0, 396.0, 29.0, 0.0], [1531.0, 342.0, 28.0, 0.0], [3439.0, 790.0, 40.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 22, 281, 1129], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4753.0, 1749.0, 196.0, 0.0], [7892.0, 2090.0, 173.0, 0.0], [15039.0, 3135.0, 435.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 38, 575], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [985.0, 812.0, 26.0, 0.0], [2288.0, 1906.0, 69.0, 0.0], [15607.0, 13345.0, 346.0, 0.0]]}, "platform": {"level_counts": [3, 19, 28, 60, 145, 155], "episodes_by_level": [[1865.0, 406.0, 53.0, 0.0], [2339.0, 477.0, 98.0, 0.0], [2183.0, 444.0, 95.0, 0.0], [2184.0, 393.0, 84.0, 0.0], [1947.0, 290.0, 93.0, 0.0], [1418.0, 144.0, 135.0, 0.0]]}, "slope": {"level_counts": [4, 7, 26, 45, 95, 233], "episodes_by_level": [[1667.0, 352.0, 46.0, 0.0], [2111.0, 432.0, 73.0, 0.0], [2017.0, 426.0, 47.0, 0.0], [1795.0, 358.0, 53.0, 0.0], [1629.0, 311.0, 30.0, 0.0], [2747.0, 458.0, 78.0, 0.0]]}, "rubble": {"level_counts": [15, 70, 163, 212, 225, 134], "episodes_by_level": [[3477.0, 789.0, 104.0, 0.0], [5527.0, 1185.0, 240.0, 0.0], [5833.0, 1199.0, 468.0, 0.0], [4973.0, 889.0, 628.0, 0.0], [3146.0, 423.0, 530.0, 0.0], [1257.0, 113.0, 289.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234375, "command_abs_max": [0.9989203214645386, 0.3992652893066406, 0.6999156475067139]}
{"step": 48600, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 48600, "total_transitions": 199065600, "num_steps_per_env": 1, "wm_loss": 0.5347855091094971, "actor_loss": -9.533620834350586, "critic_loss": 0.0031735245138406754, "reward": 0.08773671090602875, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11129388958215714, 0.07149849086999893, 0.13455335795879364], "mean_episode_length": 1347.6979865771812, "episode_reward_terms": {"track_linear_velocity": 48.003997802734375, "track_angular_velocity": 50.93089294433594, "upright": 25.852636337280273, "leg_posture": -2.5473172664642334, "standstill": -5.990622520446777, "action_rate_l2": -0.5650796890258789, "joint_torques_l2": -0.142902210354805, "dof_pos_limits": -0.00036715235910378397, "terminated": -0.018425555899739265, "unnecessary_wheel_lift": -0.08951561897993088, "rolling_leg_motion": -0.5688365697860718, "obstacle_progress": 3.9120748043060303, "wheel_body_intrusion": -0.25639134645462036, "pair_body_intrusion": -0.2775689363479614}, "weighted_reward_terms": {"track_linear_velocity": 1.7809628248214722, "track_angular_velocity": 1.8895514011383057, "upright": 0.9591405391693115, "leg_posture": -0.09450624138116837, "standstill": -0.22225388884544373, "action_rate_l2": -0.020964626222848892, "joint_torques_l2": -0.00530171487480402, "dof_pos_limits": -1.3621462130686268e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0033210564870387316, "rolling_leg_motion": -0.021104007959365845, "obstacle_progress": 0.1451391577720642, "wheel_body_intrusion": -0.00951219629496336, "pair_body_intrusion": -0.01029789075255394}, "episode_termination_rates": {"time_out": 0.4563758389261745, "fell_over": 0.020134228187919462, "course_exit": 0.5033557046979866, "illegal_nonwheel_contact": 0.03355704697986577}, "collection_time_s": 0.0757254674541764, "learning_time_s": 0.18444419732084497, "iteration_time_s": 0.2954053778893414, "policy_updates": 48300, "skipped_updates": 0, "invalid_env_resets": 270, "elapsed_s": 14356.701365421992, "nonwheel_terminations": 14706, "contact_bce": 0.28678736090660095, "contact_force_loss": 0.020384497940540314, "collision_bce": 5.563691593124531e-05, "collision_label_rate": 6.119576573837548e-05, "collision_prediction_mean": 4.8244273784803227e-05, "collision_label_count": 16341.0, "terrain_level_mean": 4.322265625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 5, 10, 27, 65, 303], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1975.0, 433.0, 38.0, 0.0], [1821.0, 424.0, 36.0, 0.0], [1754.0, 396.0, 29.0, 0.0], [1534.0, 343.0, 28.0, 0.0], [3446.0, 790.0, 40.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 22, 278, 1132], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4753.0, 1749.0, 196.0, 0.0], [7897.0, 2094.0, 173.0, 0.0], [15071.0, 3141.0, 435.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 38, 575], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [985.0, 812.0, 26.0, 0.0], [2289.0, 1907.0, 69.0, 0.0], [15632.0, 13366.0, 346.0, 0.0]]}, "platform": {"level_counts": [3, 18, 30, 59, 145, 155], "episodes_by_level": [[1865.0, 406.0, 53.0, 0.0], [2340.0, 478.0, 98.0, 0.0], [2183.0, 444.0, 95.0, 0.0], [2185.0, 393.0, 85.0, 0.0], [1949.0, 290.0, 93.0, 0.0], [1424.0, 145.0, 135.0, 0.0]]}, "slope": {"level_counts": [4, 7, 26, 45, 96, 232], "episodes_by_level": [[1667.0, 352.0, 46.0, 0.0], [2111.0, 432.0, 73.0, 0.0], [2017.0, 426.0, 47.0, 0.0], [1797.0, 358.0, 53.0, 0.0], [1631.0, 311.0, 30.0, 0.0], [2757.0, 459.0, 79.0, 0.0]]}, "rubble": {"level_counts": [15, 71, 158, 216, 225, 134], "episodes_by_level": [[3478.0, 789.0, 104.0, 0.0], [5529.0, 1185.0, 240.0, 0.0], [5841.0, 1203.0, 469.0, 0.0], [4982.0, 891.0, 628.0, 0.0], [3152.0, 423.0, 532.0, 0.0], [1259.0, 113.0, 289.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.236572265625, "command_abs_max": [0.9989203214645386, 0.39963001012802124, 0.6999156475067139]}
{"step": 48650, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 48650, "total_transitions": 199270400, "num_steps_per_env": 1, "wm_loss": 0.545240044593811, "actor_loss": -9.509923934936523, "critic_loss": 0.003815429750829935, "reward": 0.08735928684473038, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11475597321987152, 0.07253576070070267, 0.13496458530426025], "mean_episode_length": 1333.1360544217687, "episode_reward_terms": {"track_linear_velocity": 47.24465560913086, "track_angular_velocity": 50.36301803588867, "upright": 25.557687759399414, "leg_posture": -2.495805263519287, "standstill": -6.140672206878662, "action_rate_l2": -0.5662717819213867, "joint_torques_l2": -0.14064139127731323, "dof_pos_limits": -0.0009341843542642891, "terminated": -0.02603781223297119, "unnecessary_wheel_lift": -0.08517507463693619, "rolling_leg_motion": -0.5708552598953247, "obstacle_progress": 3.85878324508667, "wheel_body_intrusion": -0.26278239488601685, "pair_body_intrusion": -0.2731628119945526}, "weighted_reward_terms": {"track_linear_velocity": 1.7719367742538452, "track_angular_velocity": 1.888892650604248, "upright": 0.9585551023483276, "leg_posture": -0.09360653907060623, "standstill": -0.23030927777290344, "action_rate_l2": -0.021238334476947784, "joint_torques_l2": -0.0052748327143490314, "dof_pos_limits": -3.503709740471095e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.003194538177922368, "rolling_leg_motion": -0.02141023986041546, "obstacle_progress": 0.14472578465938568, "wheel_body_intrusion": -0.00985579751431942, "pair_body_intrusion": -0.010245121084153652}, "episode_termination_rates": {"time_out": 0.4013605442176871, "fell_over": 0.027210884353741496, "course_exit": 0.5306122448979592, "illegal_nonwheel_contact": 0.05442176870748299}, "collection_time_s": 0.07597978886216879, "learning_time_s": 0.1843242180941161, "iteration_time_s": 0.29549056323391615, "policy_updates": 48350, "skipped_updates": 0, "invalid_env_resets": 271, "elapsed_s": 14375.61590133002, "nonwheel_terminations": 14714, "contact_bce": 0.28774482011795044, "contact_force_loss": 0.020325960591435432, "collision_bce": 0.00011229982192162424, "collision_label_rate": 0.00012252650049049407, "collision_prediction_mean": 0.00016642050468362868, "collision_label_count": 16323.0, "terrain_level_mean": 4.32373046875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 5, 10, 27, 64, 304], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1975.0, 433.0, 38.0, 0.0], [1821.0, 424.0, 36.0, 0.0], [1755.0, 396.0, 29.0, 0.0], [1536.0, 344.0, 28.0, 0.0], [3460.0, 793.0, 40.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 21, 274, 1137], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4754.0, 1750.0, 196.0, 0.0], [7908.0, 2099.0, 173.0, 0.0], [15104.0, 3147.0, 435.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 1, 39, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [985.0, 812.0, 26.0, 0.0], [2291.0, 1908.0, 69.0, 0.0], [15647.0, 13379.0, 347.0, 0.0]]}, "platform": {"level_counts": [3, 18, 30, 58, 146, 155], "episodes_by_level": [[1865.0, 406.0, 53.0, 0.0], [2341.0, 478.0, 98.0, 0.0], [2183.0, 444.0, 95.0, 0.0], [2188.0, 394.0, 85.0, 0.0], [1953.0, 291.0, 93.0, 0.0], [1427.0, 146.0, 136.0, 0.0]]}, "slope": {"level_counts": [4, 7, 26, 43, 100, 230], "episodes_by_level": [[1667.0, 352.0, 46.0, 0.0], [2112.0, 432.0, 73.0, 0.0], [2018.0, 426.0, 47.0, 0.0], [1800.0, 360.0, 53.0, 0.0], [1634.0, 311.0, 30.0, 0.0], [2766.0, 460.0, 81.0, 0.0]]}, "rubble": {"level_counts": [15, 70, 159, 218, 223, 134], "episodes_by_level": [[3478.0, 789.0, 104.0, 0.0], [5531.0, 1187.0, 240.0, 0.0], [5844.0, 1203.0, 470.0, 0.0], [4988.0, 892.0, 628.0, 0.0], [3159.0, 424.0, 535.0, 0.0], [1262.0, 113.0, 290.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.231201171875, "command_abs_max": [0.9989203214645386, 0.39963001012802124, 0.6999156475067139]}
{"step": 48700, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 48700, "total_transitions": 199475200, "num_steps_per_env": 1, "wm_loss": 0.549087405204773, "actor_loss": -9.529308319091797, "critic_loss": 0.012423445470631123, "reward": 0.08721082657575607, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11402690410614014, 0.07228612154722214, 0.13523216545581818], "mean_episode_length": 1372.094890510949, "episode_reward_terms": {"track_linear_velocity": 48.679649353027344, "track_angular_velocity": 51.8178825378418, "upright": 26.289531707763672, "leg_posture": -2.568601608276367, "standstill": -6.618612766265869, "action_rate_l2": -0.5823342204093933, "joint_torques_l2": -0.14504343271255493, "dof_pos_limits": -0.0008060599793680012, "terminated": -0.021438978612422943, "unnecessary_wheel_lift": -0.08131711184978485, "rolling_leg_motion": -0.5981632471084595, "obstacle_progress": 4.038809776306152, "wheel_body_intrusion": -0.2621946632862091, "pair_body_intrusion": -0.28582674264907837}, "weighted_reward_terms": {"track_linear_velocity": 1.7739170789718628, "track_angular_velocity": 1.888276219367981, "upright": 0.9580071568489075, "leg_posture": -0.09360146522521973, "standstill": -0.24118643999099731, "action_rate_l2": -0.021220626309514046, "joint_torques_l2": -0.005285474006086588, "dof_pos_limits": -2.937333374575246e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.002963247010484338, "rolling_leg_motion": -0.02179744467139244, "obstacle_progress": 0.14717678725719452, "wheel_body_intrusion": -0.009554538875818253, "pair_body_intrusion": -0.010415706783533096}, "episode_termination_rates": {"time_out": 0.45985401459854014, "fell_over": 0.029197080291970802, "course_exit": 0.48175182481751827, "illegal_nonwheel_contact": 0.043795620437956206}, "collection_time_s": 0.07568915289826691, "learning_time_s": 0.1857411339005921, "iteration_time_s": 0.2954556198516639, "policy_updates": 48400, "skipped_updates": 0, "invalid_env_resets": 271, "elapsed_s": 14388.688686776033, "nonwheel_terminations": 14720, "contact_bce": 0.28712424635887146, "contact_force_loss": 0.020890627056360245, "collision_bce": 1.1416273082431871e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.1395081855880562e-05, "collision_label_count": 16335.0, "terrain_level_mean": 4.324462890625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 5, 10, 27, 65, 303], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1976.0, 433.0, 38.0, 0.0], [1821.0, 424.0, 36.0, 0.0], [1757.0, 396.0, 29.0, 0.0], [1537.0, 344.0, 28.0, 0.0], [3473.0, 795.0, 41.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 21, 275, 1136], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4755.0, 1750.0, 196.0, 0.0], [7913.0, 2100.0, 173.0, 0.0], [15129.0, 3148.0, 435.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 41, 573], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [986.0, 813.0, 26.0, 0.0], [2292.0, 1909.0, 69.0, 0.0], [15659.0, 13390.0, 347.0, 0.0]]}, "platform": {"level_counts": [3, 18, 30, 57, 148, 154], "episodes_by_level": [[1865.0, 406.0, 53.0, 0.0], [2341.0, 478.0, 98.0, 0.0], [2184.0, 444.0, 95.0, 0.0], [2191.0, 395.0, 85.0, 0.0], [1958.0, 291.0, 93.0, 0.0], [1432.0, 147.0, 137.0, 0.0]]}, "slope": {"level_counts": [4, 7, 26, 43, 99, 231], "episodes_by_level": [[1667.0, 352.0, 46.0, 0.0], [2112.0, 432.0, 73.0, 0.0], [2018.0, 426.0, 47.0, 0.0], [1804.0, 360.0, 53.0, 0.0], [1639.0, 312.0, 30.0, 0.0], [2770.0, 460.0, 81.0, 0.0]]}, "rubble": {"level_counts": [15, 69, 161, 215, 223, 136], "episodes_by_level": [[3478.0, 789.0, 104.0, 0.0], [5534.0, 1189.0, 240.0, 0.0], [5846.0, 1203.0, 471.0, 0.0], [4996.0, 894.0, 629.0, 0.0], [3166.0, 426.0, 535.0, 0.0], [1262.0, 113.0, 290.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.228515625, "command_abs_max": [0.9989203214645386, 0.39963001012802124, 0.6999156475067139]}
{"step": 48750, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 48750, "total_transitions": 199680000, "num_steps_per_env": 1, "wm_loss": 0.5544371604919434, "actor_loss": -9.544485092163086, "critic_loss": 0.0035505599807947874, "reward": 0.08733084797859192, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11499351263046265, 0.07288394123315811, 0.13660244643688202], "mean_episode_length": 1358.8196721311476, "episode_reward_terms": {"track_linear_velocity": 48.106285095214844, "track_angular_velocity": 51.26859664916992, "upright": 26.042009353637695, "leg_posture": -2.5208446979522705, "standstill": -6.266024589538574, "action_rate_l2": -0.572177529335022, "joint_torques_l2": -0.14439363777637482, "dof_pos_limits": -0.0005030725733377039, "terminated": -0.02653944492340088, "unnecessary_wheel_lift": -0.07226007431745529, "rolling_leg_motion": -0.5559082627296448, "obstacle_progress": 3.963594913482666, "wheel_body_intrusion": -0.2601791024208069, "pair_body_intrusion": -0.29476773738861084}, "weighted_reward_terms": {"track_linear_velocity": 1.7701497077941895, "track_angular_velocity": 1.8865121603012085, "upright": 0.9582585096359253, "leg_posture": -0.09275861829519272, "standstill": -0.23056864738464355, "action_rate_l2": -0.021054210141301155, "joint_torques_l2": -0.005313200876116753, "dof_pos_limits": -1.8511380403651856e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.002658928046002984, "rolling_leg_motion": -0.020455557852983475, "obstacle_progress": 0.14584697782993317, "wheel_body_intrusion": -0.009573716670274734, "pair_body_intrusion": -0.010846462100744247}, "episode_termination_rates": {"time_out": 0.5, "fell_over": 0.01639344262295082, "course_exit": 0.4180327868852459, "illegal_nonwheel_contact": 0.06557377049180328}, "collection_time_s": 0.07543628989718855, "learning_time_s": 0.1846358339639846, "iteration_time_s": 0.2954193525934974, "policy_updates": 48450, "skipped_updates": 0, "invalid_env_resets": 271, "elapsed_s": 14401.693438932998, "nonwheel_terminations": 14728, "contact_bce": 0.2839059829711914, "contact_force_loss": 0.020262297242879868, "collision_bce": 5.756466180173447e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 5.821922968607396e-06, "collision_label_count": 16347.0, "terrain_level_mean": 4.323486328125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 5, 10, 27, 65, 303], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1976.0, 433.0, 38.0, 0.0], [1821.0, 424.0, 36.0, 0.0], [1757.0, 396.0, 29.0, 0.0], [1538.0, 344.0, 28.0, 0.0], [3483.0, 797.0, 41.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 21, 276, 1135], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4755.0, 1750.0, 196.0, 0.0], [7918.0, 2101.0, 173.0, 0.0], [15152.0, 3151.0, 436.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 40, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [986.0, 813.0, 26.0, 0.0], [2293.0, 1910.0, 69.0, 0.0], [15674.0, 13402.0, 347.0, 0.0]]}, "platform": {"level_counts": [3, 19, 29, 57, 148, 154], "episodes_by_level": [[1865.0, 406.0, 53.0, 0.0], [2341.0, 478.0, 98.0, 0.0], [2185.0, 444.0, 96.0, 0.0], [2195.0, 395.0, 85.0, 0.0], [1961.0, 291.0, 93.0, 0.0], [1435.0, 147.0, 137.0, 0.0]]}, "slope": {"level_counts": [4, 7, 26, 43, 98, 232], "episodes_by_level": [[1667.0, 352.0, 46.0, 0.0], [2112.0, 432.0, 73.0, 0.0], [2018.0, 426.0, 47.0, 0.0], [1805.0, 360.0, 53.0, 0.0], [1642.0, 313.0, 30.0, 0.0], [2774.0, 461.0, 81.0, 0.0]]}, "rubble": {"level_counts": [15, 70, 158, 218, 226, 132], "episodes_by_level": [[3479.0, 789.0, 104.0, 0.0], [5534.0, 1189.0, 240.0, 0.0], [5855.0, 1206.0, 472.0, 0.0], [4998.0, 894.0, 630.0, 0.0], [3172.0, 426.0, 536.0, 0.0], [1269.0, 113.0, 294.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.228515625, "command_abs_max": [0.9989203214645386, 0.39963001012802124, 0.6999156475067139]}
{"step": 48800, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 48800, "total_transitions": 199884800, "num_steps_per_env": 1, "wm_loss": 0.5297999978065491, "actor_loss": -9.503400802612305, "critic_loss": 0.007674305234104395, "reward": 0.08700969815254211, "falls": 11, "interval_steps": 50, "velocity_mae": [0.11419811099767685, 0.0729726180434227, 0.13618385791778564], "mean_episode_length": 1348.0975609756097, "episode_reward_terms": {"track_linear_velocity": 47.77528381347656, "track_angular_velocity": 50.8804931640625, "upright": 25.808565139770508, "leg_posture": -2.544156789779663, "standstill": -6.596566200256348, "action_rate_l2": -0.56807541847229, "joint_torques_l2": -0.1437424123287201, "dof_pos_limits": -0.0005305482191033661, "terminated": -0.028963031247258186, "unnecessary_wheel_lift": -0.11444304883480072, "rolling_leg_motion": -0.5617232918739319, "obstacle_progress": 3.928157091140747, "wheel_body_intrusion": -0.26838573813438416, "pair_body_intrusion": -0.2683567404747009}, "weighted_reward_terms": {"track_linear_velocity": 1.7719520330429077, "track_angular_velocity": 1.8871221542358398, "upright": 0.9572217464447021, "leg_posture": -0.09436100721359253, "standstill": -0.24466204643249512, "action_rate_l2": -0.021069522947072983, "joint_torques_l2": -0.005331306252628565, "dof_pos_limits": -1.967766547750216e-05, "terminated": -0.0010742186568677425, "unnecessary_wheel_lift": -0.004244613461196423, "rolling_leg_motion": -0.020833926275372505, "obstacle_progress": 0.1456926167011261, "wheel_body_intrusion": -0.009954241104424, "pair_body_intrusion": -0.009953164495527744}, "episode_termination_rates": {"time_out": 0.4817073170731707, "fell_over": 0.042682926829268296, "course_exit": 0.45121951219512196, "illegal_nonwheel_contact": 0.042682926829268296}, "collection_time_s": 0.07559794734232128, "learning_time_s": 0.18490004931692966, "iteration_time_s": 0.2953835948628479, "policy_updates": 48500, "skipped_updates": 0, "invalid_env_resets": 271, "elapsed_s": 14414.719429306977, "nonwheel_terminations": 14735, "contact_bce": 0.28175726532936096, "contact_force_loss": 0.020680300891399384, "collision_bce": 2.995292561536189e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 2.812921957229264e-05, "collision_label_count": 16347.0, "terrain_level_mean": 4.32470703125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 5, 10, 27, 65, 303], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1976.0, 433.0, 38.0, 0.0], [1821.0, 424.0, 36.0, 0.0], [1757.0, 396.0, 29.0, 0.0], [1542.0, 345.0, 28.0, 0.0], [3492.0, 798.0, 42.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 22, 273, 1137], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4755.0, 1750.0, 196.0, 0.0], [7925.0, 2104.0, 173.0, 0.0], [15181.0, 3155.0, 437.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 41, 573], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [986.0, 813.0, 26.0, 0.0], [2294.0, 1911.0, 69.0, 0.0], [15700.0, 13420.0, 348.0, 0.0]]}, "platform": {"level_counts": [3, 19, 29, 56, 149, 154], "episodes_by_level": [[1865.0, 406.0, 53.0, 0.0], [2342.0, 478.0, 98.0, 0.0], [2185.0, 444.0, 96.0, 0.0], [2199.0, 396.0, 85.0, 0.0], [1966.0, 291.0, 93.0, 0.0], [1440.0, 148.0, 137.0, 0.0]]}, "slope": {"level_counts": [4, 7, 26, 43, 96, 234], "episodes_by_level": [[1667.0, 352.0, 46.0, 0.0], [2112.0, 432.0, 73.0, 0.0], [2018.0, 426.0, 47.0, 0.0], [1807.0, 360.0, 53.0, 0.0], [1645.0, 315.0, 30.0, 0.0], [2781.0, 462.0, 81.0, 0.0]]}, "rubble": {"level_counts": [15, 71, 155, 221, 223, 134], "episodes_by_level": [[3480.0, 789.0, 105.0, 0.0], [5538.0, 1190.0, 240.0, 0.0], [5863.0, 1209.0, 474.0, 0.0], [5006.0, 895.0, 631.0, 0.0], [3184.0, 428.0, 538.0, 0.0], [1272.0, 114.0, 294.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23046875, "command_abs_max": [0.9968868494033813, 0.39963001012802124, 0.6999156475067139]}
{"step": 48850, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 48850, "total_transitions": 200089600, "num_steps_per_env": 1, "wm_loss": 0.5502375960350037, "actor_loss": -9.522905349731445, "critic_loss": 0.00771974865347147, "reward": 0.0869326964020729, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11574918776750565, 0.07214777171611786, 0.1349814385175705], "mean_episode_length": 1340.8223684210527, "episode_reward_terms": {"track_linear_velocity": 47.46391296386719, "track_angular_velocity": 50.63109588623047, "upright": 25.690555572509766, "leg_posture": -2.535142421722412, "standstill": -6.544098377227783, "action_rate_l2": -0.5529407262802124, "joint_torques_l2": -0.14295926690101624, "dof_pos_limits": -0.000753479718696326, "terminated": -0.015712760388851166, "unnecessary_wheel_lift": -0.08598648756742477, "rolling_leg_motion": -0.5746890306472778, "obstacle_progress": 3.802978992462158, "wheel_body_intrusion": -0.2793084383010864, "pair_body_intrusion": -0.29567649960517883}, "weighted_reward_terms": {"track_linear_velocity": 1.7699553966522217, "track_angular_velocity": 1.888061285018921, "upright": 0.9580149054527283, "leg_posture": -0.09453684836626053, "standstill": -0.24403302371501923, "action_rate_l2": -0.020619461312890053, "joint_torques_l2": -0.005331029649823904, "dof_pos_limits": -2.809767102007754e-05, "terminated": -0.0005859374068677425, "unnecessary_wheel_lift": -0.003206483321264386, "rolling_leg_motion": -0.021430468186736107, "obstacle_progress": 0.1418151706457138, "wheel_body_intrusion": -0.01041556429117918, "pair_body_intrusion": -0.011025939136743546}, "episode_termination_rates": {"time_out": 0.48026315789473684, "fell_over": 0.019736842105263157, "course_exit": 0.48026315789473684, "illegal_nonwheel_contact": 0.03289473684210526}, "collection_time_s": 0.07586497596348636, "learning_time_s": 0.18436587965814397, "iteration_time_s": 0.2953476379311976, "policy_updates": 48550, "skipped_updates": 0, "invalid_env_resets": 272, "elapsed_s": 14427.732112939004, "nonwheel_terminations": 14740, "contact_bce": 0.29018664360046387, "contact_force_loss": 0.020697254687547684, "collision_bce": 1.0007089258579072e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.0024332368629985e-05, "collision_label_count": 16345.0, "terrain_level_mean": 4.32666015625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 5, 10, 26, 65, 304], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1976.0, 433.0, 38.0, 0.0], [1821.0, 424.0, 36.0, 0.0], [1759.0, 397.0, 29.0, 0.0], [1543.0, 346.0, 28.0, 0.0], [3497.0, 799.0, 42.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 22, 273, 1137], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4756.0, 1750.0, 196.0, 0.0], [7929.0, 2105.0, 173.0, 0.0], [15207.0, 3161.0, 437.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 40, 574], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [986.0, 813.0, 26.0, 0.0], [2296.0, 1913.0, 69.0, 0.0], [15725.0, 13441.0, 348.0, 0.0]]}, "platform": {"level_counts": [3, 18, 30, 54, 151, 154], "episodes_by_level": [[1865.0, 406.0, 53.0, 0.0], [2344.0, 479.0, 98.0, 0.0], [2188.0, 444.0, 96.0, 0.0], [2201.0, 398.0, 85.0, 0.0], [1970.0, 291.0, 93.0, 0.0], [1444.0, 148.0, 137.0, 0.0]]}, "slope": {"level_counts": [4, 7, 26, 41, 98, 234], "episodes_by_level": [[1667.0, 352.0, 46.0, 0.0], [2114.0, 432.0, 73.0, 0.0], [2019.0, 426.0, 47.0, 0.0], [1809.0, 362.0, 53.0, 0.0], [1647.0, 315.0, 30.0, 0.0], [2788.0, 462.0, 81.0, 0.0]]}, "rubble": {"level_counts": [15, 71, 154, 223, 222, 134], "episodes_by_level": [[3480.0, 789.0, 105.0, 0.0], [5539.0, 1190.0, 240.0, 0.0], [5869.0, 1211.0, 474.0, 0.0], [5018.0, 897.0, 632.0, 0.0], [3191.0, 428.0, 541.0, 0.0], [1275.0, 114.0, 294.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2333984375, "command_abs_max": [0.9968868494033813, 0.39963001012802124, 0.6999156475067139]}
{"step": 48900, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 48900, "total_transitions": 200294400, "num_steps_per_env": 1, "wm_loss": 0.5160215497016907, "actor_loss": -9.546436309814453, "critic_loss": 0.003952173050493002, "reward": 0.08755616843700409, "falls": 12, "interval_steps": 50, "velocity_mae": [0.11349940299987793, 0.07183674722909927, 0.13351139426231384], "mean_episode_length": 1329.6293706293707, "episode_reward_terms": {"track_linear_velocity": 47.234527587890625, "track_angular_velocity": 50.266136169433594, "upright": 25.49651336669922, "leg_posture": -2.5167930126190186, "standstill": -6.005419731140137, "action_rate_l2": -0.5523027181625366, "joint_torques_l2": -0.14287351071834564, "dof_pos_limits": -0.0010204308200627565, "terminated": -0.031163187697529793, "unnecessary_wheel_lift": -0.0740935206413269, "rolling_leg_motion": -0.56129390001297, "obstacle_progress": 3.8611645698547363, "wheel_body_intrusion": -0.28359830379486084, "pair_body_intrusion": -0.2725176215171814}, "weighted_reward_terms": {"track_linear_velocity": 1.7762290239334106, "track_angular_velocity": 1.8902311325073242, "upright": 0.9587827324867249, "leg_posture": -0.09464265406131744, "standstill": -0.2258305847644806, "action_rate_l2": -0.020769046619534492, "joint_torques_l2": -0.005372681654989719, "dof_pos_limits": -3.8372752896975726e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.0027862470597028732, "rolling_leg_motion": -0.021107155829668045, "obstacle_progress": 0.14519701898097992, "wheel_body_intrusion": -0.010664562694728374, "pair_body_intrusion": -0.010247878730297089}, "episode_termination_rates": {"time_out": 0.44755244755244755, "fell_over": 0.055944055944055944, "course_exit": 0.46853146853146854, "illegal_nonwheel_contact": 0.055944055944055944}, "collection_time_s": 0.0756382826587651, "learning_time_s": 0.1849512722424697, "iteration_time_s": 0.2953121212515542, "policy_updates": 48600, "skipped_updates": 0, "invalid_env_resets": 272, "elapsed_s": 14440.762729201, "nonwheel_terminations": 14748, "contact_bce": 0.29164159297943115, "contact_force_loss": 0.021165624260902405, "collision_bce": 1.9845994756906293e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.9819657609332353e-05, "collision_label_count": 16341.0, "terrain_level_mean": 4.325439453125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 5, 10, 26, 65, 304], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1976.0, 433.0, 38.0, 0.0], [1821.0, 424.0, 36.0, 0.0], [1759.0, 397.0, 29.0, 0.0], [1544.0, 346.0, 28.0, 0.0], [3504.0, 801.0, 42.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 20, 278, 1134], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4758.0, 1752.0, 196.0, 0.0], [7935.0, 2107.0, 173.0, 0.0], [15238.0, 3171.0, 438.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 42, 572], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [986.0, 813.0, 26.0, 0.0], [2296.0, 1913.0, 69.0, 0.0], [15750.0, 13463.0, 349.0, 0.0]]}, "platform": {"level_counts": [3, 18, 30, 54, 151, 154], "episodes_by_level": [[1865.0, 406.0, 53.0, 0.0], [2344.0, 479.0, 98.0, 0.0], [2188.0, 444.0, 96.0, 0.0], [2204.0, 399.0, 85.0, 0.0], [1975.0, 291.0, 94.0, 0.0], [1448.0, 148.0, 137.0, 0.0]]}, "slope": {"level_counts": [4, 7, 26, 41, 98, 234], "episodes_by_level": [[1667.0, 352.0, 46.0, 0.0], [2114.0, 432.0, 73.0, 0.0], [2019.0, 426.0, 47.0, 0.0], [1811.0, 362.0, 53.0, 0.0], [1647.0, 315.0, 30.0, 0.0], [2794.0, 463.0, 81.0, 0.0]]}, "rubble": {"level_counts": [15, 71, 153, 228, 217, 135], "episodes_by_level": [[3480.0, 789.0, 105.0, 0.0], [5540.0, 1190.0, 240.0, 0.0], [5872.0, 1212.0, 474.0, 0.0], [5024.0, 897.0, 632.0, 0.0], [3198.0, 429.0, 545.0, 0.0], [1278.0, 116.0, 294.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.233642578125, "command_abs_max": [0.9998290538787842, 0.39963001012802124, 0.6999156475067139]}
{"step": 48950, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 48950, "total_transitions": 200499200, "num_steps_per_env": 1, "wm_loss": 0.5341762900352478, "actor_loss": -9.569873809814453, "critic_loss": 0.004277851432561874, "reward": 0.08745932579040527, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11358276754617691, 0.07283154129981995, 0.1342577487230301], "mean_episode_length": 1421.5, "episode_reward_terms": {"track_linear_velocity": 50.449302673339844, "track_angular_velocity": 53.7212028503418, "upright": 27.27178382873535, "leg_posture": -2.6456849575042725, "standstill": -6.485287189483643, "action_rate_l2": -0.5909940600395203, "joint_torques_l2": -0.15089179575443268, "dof_pos_limits": -0.000777324428781867, "terminated": -0.024987300857901573, "unnecessary_wheel_lift": -0.0885733813047409, "rolling_leg_motion": -0.606521725654602, "obstacle_progress": 4.044633388519287, "wheel_body_intrusion": -0.28903478384017944, "pair_body_intrusion": -0.28074410557746887}, "weighted_reward_terms": {"track_linear_velocity": 1.7745095491409302, "track_angular_velocity": 1.889595627784729, "upright": 0.9592607617378235, "leg_posture": -0.09305962175130844, "standstill": -0.22811421751976013, "action_rate_l2": -0.020787691697478294, "joint_torques_l2": -0.00530748488381505, "dof_pos_limits": -2.734169720497448e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.00311549031175673, "rolling_leg_motion": -0.021333863958716393, "obstacle_progress": 0.1422663778066635, "wheel_body_intrusion": -0.01016654260456562, "pair_body_intrusion": -0.009874925017356873}, "episode_termination_rates": {"time_out": 0.5189873417721519, "fell_over": 0.02531645569620253, "course_exit": 0.4240506329113924, "illegal_nonwheel_contact": 0.0379746835443038}, "collection_time_s": 0.07570996288326569, "learning_time_s": 0.18542924688081258, "iteration_time_s": 0.2952772379805112, "policy_updates": 48650, "skipped_updates": 0, "invalid_env_resets": 272, "elapsed_s": 14453.820799146022, "nonwheel_terminations": 14754, "contact_bce": 0.2889247536659241, "contact_force_loss": 0.020722927525639534, "collision_bce": 0.0006442290614359081, "collision_label_rate": 6.114711868576705e-05, "collision_prediction_mean": 2.0474228222155944e-05, "collision_label_count": 16354.0, "terrain_level_mean": 4.325439453125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 5, 10, 26, 65, 304], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1976.0, 433.0, 38.0, 0.0], [1821.0, 424.0, 36.0, 0.0], [1760.0, 397.0, 29.0, 0.0], [1545.0, 346.0, 28.0, 0.0], [3513.0, 801.0, 42.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 20, 276, 1136], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4758.0, 1752.0, 196.0, 0.0], [7941.0, 2109.0, 173.0, 0.0], [15270.0, 3175.0, 438.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 43, 571], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [986.0, 813.0, 26.0, 0.0], [2299.0, 1914.0, 69.0, 0.0], [15768.0, 13481.0, 349.0, 0.0]]}, "platform": {"level_counts": [3, 18, 30, 53, 150, 156], "episodes_by_level": [[1866.0, 406.0, 53.0, 0.0], [2344.0, 479.0, 98.0, 0.0], [2190.0, 444.0, 96.0, 0.0], [2208.0, 400.0, 85.0, 0.0], [1984.0, 293.0, 94.0, 0.0], [1451.0, 148.0, 137.0, 0.0]]}, "slope": {"level_counts": [4, 7, 26, 41, 98, 234], "episodes_by_level": [[1667.0, 352.0, 46.0, 0.0], [2114.0, 432.0, 73.0, 0.0], [2020.0, 426.0, 47.0, 0.0], [1812.0, 362.0, 53.0, 0.0], [1649.0, 315.0, 30.0, 0.0], [2801.0, 463.0, 81.0, 0.0]]}, "rubble": {"level_counts": [15, 71, 155, 227, 217, 134], "episodes_by_level": [[3481.0, 789.0, 105.0, 0.0], [5542.0, 1190.0, 240.0, 0.0], [5878.0, 1212.0, 474.0, 0.0], [5033.0, 897.0, 634.0, 0.0], [3207.0, 431.0, 546.0, 0.0], [1288.0, 116.0, 297.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23486328125, "command_abs_max": [0.9998290538787842, 0.3990647792816162, 0.6999156475067139]}
{"step": 49000, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 49000, "total_transitions": 200704000, "num_steps_per_env": 1, "wm_loss": 0.569100558757782, "actor_loss": -9.533805847167969, "critic_loss": 0.004041801672428846, "reward": 0.08767759799957275, "falls": 7, "interval_steps": 50, "velocity_mae": [0.113521508872509, 0.07185386121273041, 0.13388462364673615], "mean_episode_length": 1351.547619047619, "episode_reward_terms": {"track_linear_velocity": 48.00776290893555, "track_angular_velocity": 51.10730743408203, "upright": 25.931482315063477, "leg_posture": -2.4810662269592285, "standstill": -5.894434452056885, "action_rate_l2": -0.5545910596847534, "joint_torques_l2": -0.142763152718544, "dof_pos_limits": -0.0009590563713572919, "terminated": -0.018478188663721085, "unnecessary_wheel_lift": -0.08529626578092575, "rolling_leg_motion": -0.5978317260742188, "obstacle_progress": 3.7788782119750977, "wheel_body_intrusion": -0.2604920268058777, "pair_body_intrusion": -0.28908422589302063}, "weighted_reward_terms": {"track_linear_velocity": 1.776029348373413, "track_angular_velocity": 1.8906958103179932, "upright": 0.9593254923820496, "leg_posture": -0.09178612381219864, "standstill": -0.2180624157190323, "action_rate_l2": -0.020516889169812202, "joint_torques_l2": -0.005281469784677029, "dof_pos_limits": -3.5479934012982994e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.003155503422021866, "rolling_leg_motion": -0.022116562351584435, "obstacle_progress": 0.13979819416999817, "wheel_body_intrusion": -0.009636806324124336, "pair_body_intrusion": -0.010694563388824463}, "episode_termination_rates": {"time_out": 0.5059523809523809, "fell_over": 0.041666666666666664, "course_exit": 0.4523809523809524, "illegal_nonwheel_contact": 0.005952380952380952}, "collection_time_s": 0.07587836136110127, "learning_time_s": 0.1923365019611083, "iteration_time_s": 0.29524964646155094, "policy_updates": 48700, "skipped_updates": 0, "invalid_env_resets": 273, "elapsed_s": 14467.232676615997, "nonwheel_terminations": 14755, "contact_bce": 0.2859709560871124, "contact_force_loss": 0.02028174325823784, "collision_bce": 1.0840916729648598e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.0889854820561595e-05, "collision_label_count": 16354.0, "terrain_level_mean": 4.32666015625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 5, 10, 26, 65, 304], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1977.0, 433.0, 38.0, 0.0], [1821.0, 424.0, 36.0, 0.0], [1760.0, 397.0, 29.0, 0.0], [1548.0, 346.0, 28.0, 0.0], [3520.0, 804.0, 42.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 20, 278, 1134], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4758.0, 1752.0, 196.0, 0.0], [7953.0, 2111.0, 173.0, 0.0], [15298.0, 3179.0, 440.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 44, 570], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [986.0, 813.0, 26.0, 0.0], [2301.0, 1916.0, 69.0, 0.0], [15797.0, 13506.0, 349.0, 0.0]]}, "platform": {"level_counts": [3, 18, 30, 53, 150, 156], "episodes_by_level": [[1866.0, 406.0, 53.0, 0.0], [2345.0, 479.0, 98.0, 0.0], [2192.0, 444.0, 96.0, 0.0], [2209.0, 400.0, 85.0, 0.0], [1988.0, 293.0, 94.0, 0.0], [1455.0, 148.0, 137.0, 0.0]]}, "slope": {"level_counts": [4, 7, 25, 42, 97, 235], "episodes_by_level": [[1667.0, 352.0, 46.0, 0.0], [2114.0, 432.0, 73.0, 0.0], [2022.0, 427.0, 47.0, 0.0], [1812.0, 362.0, 53.0, 0.0], [1654.0, 316.0, 30.0, 0.0], [2807.0, 464.0, 81.0, 0.0]]}, "rubble": {"level_counts": [14, 72, 153, 227, 218, 135], "episodes_by_level": [[3482.0, 790.0, 105.0, 0.0], [5543.0, 1190.0, 240.0, 0.0], [5882.0, 1214.0, 474.0, 0.0], [5044.0, 899.0, 634.0, 0.0], [3215.0, 432.0, 546.0, 0.0], [1293.0, 118.0, 297.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2314453125, "command_abs_max": [0.9998290538787842, 0.3998783230781555, 0.6999156475067139]}
{"step": 49050, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 49050, "total_transitions": 200908800, "num_steps_per_env": 1, "wm_loss": 0.5478442311286926, "actor_loss": -9.522872924804688, "critic_loss": 0.005361650604754686, "reward": 0.08767621964216232, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11288947612047195, 0.07148702442646027, 0.1343930959701538], "mean_episode_length": 1329.86013986014, "episode_reward_terms": {"track_linear_velocity": 47.26435852050781, "track_angular_velocity": 50.24466323852539, "upright": 25.47925567626953, "leg_posture": -2.481222152709961, "standstill": -5.6937103271484375, "action_rate_l2": -0.547612190246582, "joint_torques_l2": -0.14098313450813293, "dof_pos_limits": -0.0006770627805963159, "terminated": -0.02337644435465336, "unnecessary_wheel_lift": -0.0963718444108963, "rolling_leg_motion": -0.576927661895752, "obstacle_progress": 3.734306812286377, "wheel_body_intrusion": -0.2750290334224701, "pair_body_intrusion": -0.28956708312034607}, "weighted_reward_terms": {"track_linear_velocity": 1.7770425081253052, "track_angular_velocity": 1.8890959024429321, "upright": 0.9579675793647766, "leg_posture": -0.0932888463139534, "standstill": -0.21407178044319153, "action_rate_l2": -0.020589090883731842, "joint_torques_l2": -0.005300675518810749, "dof_pos_limits": -2.545616553106811e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.0036233828868716955, "rolling_leg_motion": -0.02169129252433777, "obstacle_progress": 0.14040224254131317, "wheel_body_intrusion": -0.010340525768697262, "pair_body_intrusion": -0.010887125506997108}, "episode_termination_rates": {"time_out": 0.43356643356643354, "fell_over": 0.02097902097902098, "course_exit": 0.5034965034965035, "illegal_nonwheel_contact": 0.04195804195804196}, "collection_time_s": 0.07568043697858229, "learning_time_s": 0.18459853425971232, "iteration_time_s": 0.2952145810801632, "policy_updates": 48750, "skipped_updates": 0, "invalid_env_resets": 273, "elapsed_s": 14480.275201982004, "nonwheel_terminations": 14761, "contact_bce": 0.28818565607070923, "contact_force_loss": 0.020385198295116425, "collision_bce": 4.212571730022319e-05, "collision_label_rate": 6.126700463937595e-05, "collision_prediction_mean": 4.415357034304179e-05, "collision_label_count": 16322.0, "terrain_level_mean": 4.328125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 4, 11, 26, 63, 306], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1978.0, 434.0, 38.0, 0.0], [1821.0, 424.0, 36.0, 0.0], [1761.0, 397.0, 29.0, 0.0], [1550.0, 348.0, 28.0, 0.0], [3533.0, 808.0, 42.0, 0.0]]}, "up": {"level_counts": [0, 0, 2, 19, 276, 1136], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4758.0, 1752.0, 196.0, 0.0], [7963.0, 2115.0, 173.0, 0.0], [15327.0, 3184.0, 441.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 44, 570], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [986.0, 813.0, 26.0, 0.0], [2302.0, 1917.0, 69.0, 0.0], [15817.0, 13524.0, 350.0, 0.0]]}, "platform": {"level_counts": [4, 17, 30, 54, 149, 156], "episodes_by_level": [[1866.0, 406.0, 53.0, 0.0], [2347.0, 479.0, 99.0, 0.0], [2196.0, 444.0, 96.0, 0.0], [2212.0, 400.0, 85.0, 0.0], [1994.0, 293.0, 95.0, 0.0], [1458.0, 148.0, 137.0, 0.0]]}, "slope": {"level_counts": [4, 7, 25, 42, 98, 234], "episodes_by_level": [[1667.0, 352.0, 46.0, 0.0], [2114.0, 432.0, 73.0, 0.0], [2023.0, 427.0, 47.0, 0.0], [1814.0, 362.0, 53.0, 0.0], [1655.0, 316.0, 30.0, 0.0], [2810.0, 464.0, 82.0, 0.0]]}, "rubble": {"level_counts": [14, 72, 150, 229, 218, 136], "episodes_by_level": [[3482.0, 790.0, 105.0, 0.0], [5547.0, 1191.0, 240.0, 0.0], [5886.0, 1217.0, 475.0, 0.0], [5048.0, 900.0, 634.0, 0.0], [3223.0, 434.0, 546.0, 0.0], [1295.0, 119.0, 298.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.229736328125, "command_abs_max": [0.9998290538787842, 0.3998783230781555, 0.6999156475067139]}
{"step": 49100, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 49100, "total_transitions": 201113600, "num_steps_per_env": 1, "wm_loss": 0.5785050988197327, "actor_loss": -9.520378112792969, "critic_loss": 0.0057717920280992985, "reward": 0.08765343576669693, "falls": 10, "interval_steps": 50, "velocity_mae": [0.11510494351387024, 0.07196314632892609, 0.13445673882961273], "mean_episode_length": 1258.972027972028, "episode_reward_terms": {"track_linear_velocity": 44.619571685791016, "track_angular_velocity": 47.569679260253906, "upright": 24.146066665649414, "leg_posture": -2.345742702484131, "standstill": -5.417940616607666, "action_rate_l2": -0.5228172540664673, "joint_torques_l2": -0.13353297114372253, "dof_pos_limits": -0.0007398388697765768, "terminated": -0.0245892945677042, "unnecessary_wheel_lift": -0.07031605392694473, "rolling_leg_motion": -0.5292317271232605, "obstacle_progress": 3.557884454727173, "wheel_body_intrusion": -0.23325857520103455, "pair_body_intrusion": -0.2618022859096527}, "weighted_reward_terms": {"track_linear_velocity": 1.7720636129379272, "track_angular_velocity": 1.8892269134521484, "upright": 0.9589595794677734, "leg_posture": -0.09316103905439377, "standstill": -0.21517318487167358, "action_rate_l2": -0.020763656124472618, "joint_torques_l2": -0.005303253885358572, "dof_pos_limits": -2.9382657885435037e-05, "terminated": -0.0009765623835846782, "unnecessary_wheel_lift": -0.00279259798116982, "rolling_leg_motion": -0.021018406376242638, "obstacle_progress": 0.14130116999149323, "wheel_body_intrusion": -0.009263850748538971, "pair_body_intrusion": -0.010397462174296379}, "episode_termination_rates": {"time_out": 0.34965034965034963, "fell_over": 0.03496503496503497, "course_exit": 0.5804195804195804, "illegal_nonwheel_contact": 0.04895104895104895}, "collection_time_s": 0.0759737251419574, "learning_time_s": 0.18539570229826496, "iteration_time_s": 0.2951801375630551, "policy_updates": 48800, "skipped_updates": 0, "invalid_env_resets": 274, "elapsed_s": 14493.344754346006, "nonwheel_terminations": 14768, "contact_bce": 0.2896060347557068, "contact_force_loss": 0.020820504054427147, "collision_bce": 0.00034159759525209665, "collision_label_rate": 0.00012254151806700975, "collision_prediction_mean": 7.885898230597377e-05, "collision_label_count": 16321.0, "terrain_level_mean": 4.328369140625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 3, 12, 26, 63, 306], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1979.0, 435.0, 38.0, 0.0], [1821.0, 424.0, 36.0, 0.0], [1762.0, 397.0, 29.0, 0.0], [1551.0, 348.0, 28.0, 0.0], [3542.0, 812.0, 42.0, 0.0]]}, "up": {"level_counts": [0, 0, 2, 20, 275, 1136], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4758.0, 1752.0, 196.0, 0.0], [7966.0, 2116.0, 173.0, 0.0], [15354.0, 3193.0, 441.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 46, 568], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [986.0, 813.0, 26.0, 0.0], [2302.0, 1917.0, 69.0, 0.0], [15842.0, 13548.0, 350.0, 0.0]]}, "platform": {"level_counts": [4, 17, 31, 53, 148, 157], "episodes_by_level": [[1866.0, 406.0, 53.0, 0.0], [2348.0, 479.0, 99.0, 0.0], [2198.0, 444.0, 96.0, 0.0], [2216.0, 401.0, 86.0, 0.0], [1998.0, 295.0, 96.0, 0.0], [1461.0, 149.0, 138.0, 0.0]]}, "slope": {"level_counts": [4, 7, 24, 44, 98, 233], "episodes_by_level": [[1667.0, 352.0, 46.0, 0.0], [2114.0, 432.0, 73.0, 0.0], [2025.0, 428.0, 47.0, 0.0], [1814.0, 362.0, 53.0, 0.0], [1659.0, 316.0, 31.0, 0.0], [2818.0, 467.0, 83.0, 0.0]]}, "rubble": {"level_counts": [14, 72, 148, 231, 216, 138], "episodes_by_level": [[3482.0, 790.0, 105.0, 0.0], [5549.0, 1191.0, 240.0, 0.0], [5891.0, 1219.0, 475.0, 0.0], [5053.0, 901.0, 634.0, 0.0], [3235.0, 436.0, 547.0, 0.0], [1301.0, 120.0, 298.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2275390625, "command_abs_max": [0.9998290538787842, 0.3998783230781555, 0.6999156475067139]}
{"step": 49150, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 49150, "total_transitions": 201318400, "num_steps_per_env": 1, "wm_loss": 0.5099360346794128, "actor_loss": -9.524405479431152, "critic_loss": 0.006356357131153345, "reward": 0.08756019175052643, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11497105658054352, 0.07293105870485306, 0.1351606845855713], "mean_episode_length": 1310.0567375886526, "episode_reward_terms": {"track_linear_velocity": 46.37918472290039, "track_angular_velocity": 49.47536087036133, "upright": 25.106496810913086, "leg_posture": -2.42492413520813, "standstill": -5.70921516418457, "action_rate_l2": -0.5519881844520569, "joint_torques_l2": -0.13897459208965302, "dof_pos_limits": -0.0001978064829017967, "terminated": -0.023028338328003883, "unnecessary_wheel_lift": -0.08089945465326309, "rolling_leg_motion": -0.551772952079773, "obstacle_progress": 3.7312610149383545, "wheel_body_intrusion": -0.23819999396800995, "pair_body_intrusion": -0.2642851769924164}, "weighted_reward_terms": {"track_linear_velocity": 1.7701212167739868, "track_angular_velocity": 1.8882907629013062, "upright": 0.9582217335700989, "leg_posture": -0.09255034476518631, "standstill": -0.21789954602718353, "action_rate_l2": -0.021067339926958084, "joint_torques_l2": -0.005304143764078617, "dof_pos_limits": -7.549539077444933e-06, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.0030876316595822573, "rolling_leg_motion": -0.021059123799204826, "obstacle_progress": 0.1424083709716797, "wheel_body_intrusion": -0.009091208688914776, "pair_body_intrusion": -0.01008678413927555}, "episode_termination_rates": {"time_out": 0.4326241134751773, "fell_over": 0.014184397163120567, "course_exit": 0.5035460992907801, "illegal_nonwheel_contact": 0.05673758865248227}, "collection_time_s": 0.0756476999167353, "learning_time_s": 0.18510910841985606, "iteration_time_s": 0.29514514216429355, "policy_updates": 48850, "skipped_updates": 0, "invalid_env_resets": 274, "elapsed_s": 14506.383737375028, "nonwheel_terminations": 14776, "contact_bce": 0.27987316250801086, "contact_force_loss": 0.019525926560163498, "collision_bce": 0.0006041486631147563, "collision_label_rate": 0.00018374471983406693, "collision_prediction_mean": 0.00013567482528742403, "collision_label_count": 16327.0, "terrain_level_mean": 4.32861328125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 3, 12, 26, 63, 306], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1979.0, 435.0, 38.0, 0.0], [1821.0, 424.0, 36.0, 0.0], [1762.0, 397.0, 29.0, 0.0], [1552.0, 348.0, 28.0, 0.0], [3549.0, 814.0, 42.0, 0.0]]}, "up": {"level_counts": [0, 0, 2, 20, 273, 1138], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4759.0, 1752.0, 196.0, 0.0], [7978.0, 2119.0, 173.0, 0.0], [15379.0, 3200.0, 442.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 46, 568], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [986.0, 813.0, 26.0, 0.0], [2302.0, 1917.0, 69.0, 0.0], [15865.0, 13570.0, 350.0, 0.0]]}, "platform": {"level_counts": [3, 18, 31, 53, 146, 159], "episodes_by_level": [[1867.0, 407.0, 53.0, 0.0], [2349.0, 479.0, 99.0, 0.0], [2199.0, 444.0, 96.0, 0.0], [2217.0, 401.0, 86.0, 0.0], [2003.0, 297.0, 96.0, 0.0], [1464.0, 150.0, 138.0, 0.0]]}, "slope": {"level_counts": [4, 7, 24, 45, 97, 233], "episodes_by_level": [[1667.0, 352.0, 46.0, 0.0], [2114.0, 432.0, 73.0, 0.0], [2025.0, 428.0, 47.0, 0.0], [1815.0, 362.0, 53.0, 0.0], [1665.0, 316.0, 32.0, 0.0], [2829.0, 469.0, 83.0, 0.0]]}, "rubble": {"level_counts": [14, 72, 146, 236, 215, 136], "episodes_by_level": [[3482.0, 790.0, 105.0, 0.0], [5551.0, 1191.0, 240.0, 0.0], [5896.0, 1222.0, 475.0, 0.0], [5055.0, 901.0, 635.0, 0.0], [3244.0, 437.0, 550.0, 0.0], [1308.0, 120.0, 301.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.22900390625, "command_abs_max": [0.9998290538787842, 0.3998783230781555, 0.6999156475067139]}
{"step": 49200, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 49200, "total_transitions": 201523200, "num_steps_per_env": 1, "wm_loss": 0.5686241984367371, "actor_loss": -9.514549255371094, "critic_loss": 0.011114184744656086, "reward": 0.08724524080753326, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11546187102794647, 0.07296723127365112, 0.13609366118907928], "mean_episode_length": 1382.1812080536913, "episode_reward_terms": {"track_linear_velocity": 48.934383392333984, "track_angular_velocity": 52.15956115722656, "upright": 26.46601676940918, "leg_posture": -2.5640687942504883, "standstill": -6.32750940322876, "action_rate_l2": -0.5843223929405212, "joint_torques_l2": -0.1481071561574936, "dof_pos_limits": -0.0005970884230919182, "terminated": -0.013497861102223396, "unnecessary_wheel_lift": -0.10062813013792038, "rolling_leg_motion": -0.5786632299423218, "obstacle_progress": 3.950744152069092, "wheel_body_intrusion": -0.281999409198761, "pair_body_intrusion": -0.322567880153656}, "weighted_reward_terms": {"track_linear_velocity": 1.7701870203018188, "track_angular_velocity": 1.8868569135665894, "upright": 0.9574004411697388, "leg_posture": -0.09275444597005844, "standstill": -0.22889581322669983, "action_rate_l2": -0.021137692034244537, "joint_torques_l2": -0.005357733462005854, "dof_pos_limits": -2.1599498722935095e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.003640193259343505, "rolling_leg_motion": -0.02093297429382801, "obstacle_progress": 0.14291702210903168, "wheel_body_intrusion": -0.010201246477663517, "pair_body_intrusion": -0.011668799445033073}, "episode_termination_rates": {"time_out": 0.42953020134228187, "fell_over": 0.006711409395973154, "course_exit": 0.5369127516778524, "illegal_nonwheel_contact": 0.026845637583892617}, "collection_time_s": 0.07544596155872568, "learning_time_s": 0.18498292154050433, "iteration_time_s": 0.2951098853907722, "policy_updates": 48900, "skipped_updates": 0, "invalid_env_resets": 274, "elapsed_s": 14519.406361225992, "nonwheel_terminations": 14780, "contact_bce": 0.28386321663856506, "contact_force_loss": 0.021473174914717674, "collision_bce": 3.0698665796080604e-05, "collision_label_rate": 6.123323692008853e-05, "collision_prediction_mean": 6.965606735320762e-05, "collision_label_count": 16331.0, "terrain_level_mean": 4.330078125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 3, 12, 25, 64, 306], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1979.0, 435.0, 38.0, 0.0], [1821.0, 424.0, 36.0, 0.0], [1764.0, 398.0, 29.0, 0.0], [1552.0, 348.0, 28.0, 0.0], [3560.0, 815.0, 42.0, 0.0]]}, "up": {"level_counts": [0, 0, 2, 20, 272, 1139], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4759.0, 1752.0, 196.0, 0.0], [7985.0, 2120.0, 173.0, 0.0], [15417.0, 3202.0, 442.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 46, 568], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [986.0, 813.0, 26.0, 0.0], [2304.0, 1919.0, 69.0, 0.0], [15887.0, 13586.0, 350.0, 0.0]]}, "platform": {"level_counts": [3, 18, 31, 53, 147, 158], "episodes_by_level": [[1867.0, 407.0, 53.0, 0.0], [2350.0, 479.0, 99.0, 0.0], [2199.0, 444.0, 96.0, 0.0], [2220.0, 401.0, 86.0, 0.0], [2005.0, 297.0, 96.0, 0.0], [1472.0, 151.0, 139.0, 0.0]]}, "slope": {"level_counts": [4, 7, 24, 45, 97, 233], "episodes_by_level": [[1667.0, 352.0, 46.0, 0.0], [2114.0, 432.0, 73.0, 0.0], [2027.0, 428.0, 47.0, 0.0], [1816.0, 362.0, 53.0, 0.0], [1666.0, 316.0, 32.0, 0.0], [2835.0, 469.0, 83.0, 0.0]]}, "rubble": {"level_counts": [14, 69, 149, 237, 211, 139], "episodes_by_level": [[3483.0, 790.0, 105.0, 0.0], [5554.0, 1194.0, 240.0, 0.0], [5900.0, 1223.0, 475.0, 0.0], [5060.0, 901.0, 636.0, 0.0], [3254.0, 440.0, 551.0, 0.0], [1313.0, 121.0, 301.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2255859375, "command_abs_max": [0.9995399117469788, 0.3998783230781555, 0.6999156475067139]}
{"step": 49250, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 49250, "total_transitions": 201728000, "num_steps_per_env": 1, "wm_loss": 0.5345122218132019, "actor_loss": -9.494827270507812, "critic_loss": 0.004553426988422871, "reward": 0.08723361790180206, "falls": 15, "interval_steps": 50, "velocity_mae": [0.11588158458471298, 0.07316698879003525, 0.1371021568775177], "mean_episode_length": 1316.2748538011697, "episode_reward_terms": {"track_linear_velocity": 46.54515075683594, "track_angular_velocity": 49.62971115112305, "upright": 25.190998077392578, "leg_posture": -2.489616632461548, "standstill": -5.88773775100708, "action_rate_l2": -0.5514373183250427, "joint_torques_l2": -0.14076828956604004, "dof_pos_limits": -0.001298256334848702, "terminated": -0.03856273368000984, "unnecessary_wheel_lift": -0.09647129476070404, "rolling_leg_motion": -0.5620238184928894, "obstacle_progress": 3.7446136474609375, "wheel_body_intrusion": -0.26229390501976013, "pair_body_intrusion": -0.2568359673023224}, "weighted_reward_terms": {"track_linear_velocity": 1.7680634260177612, "track_angular_velocity": 1.8852334022521973, "upright": 0.9569048881530762, "leg_posture": -0.09457053989171982, "standstill": -0.22365154325962067, "action_rate_l2": -0.020946890115737915, "joint_torques_l2": -0.005347222555428743, "dof_pos_limits": -4.931554940412752e-05, "terminated": -0.0014648435171693563, "unnecessary_wheel_lift": -0.003664557356387377, "rolling_leg_motion": -0.02134902961552143, "obstacle_progress": 0.14224284887313843, "wheel_body_intrusion": -0.00996349286288023, "pair_body_intrusion": -0.00975616741925478}, "episode_termination_rates": {"time_out": 0.4444444444444444, "fell_over": 0.011695906432748537, "course_exit": 0.4678362573099415, "illegal_nonwheel_contact": 0.08187134502923976}, "collection_time_s": 0.07570639321696944, "learning_time_s": 0.1840901637019124, "iteration_time_s": 0.29507405713041607, "policy_updates": 48950, "skipped_updates": 0, "invalid_env_resets": 274, "elapsed_s": 14532.397313672991, "nonwheel_terminations": 14794, "contact_bce": 0.27673816680908203, "contact_force_loss": 0.0193058792501688, "collision_bce": 0.0003034596156794578, "collision_label_rate": 0.00012237655755598098, "collision_prediction_mean": 5.114006853546016e-05, "collision_label_count": 16343.0, "terrain_level_mean": 4.32958984375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 3, 12, 24, 65, 306], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1979.0, 435.0, 38.0, 0.0], [1821.0, 424.0, 36.0, 0.0], [1766.0, 399.0, 29.0, 0.0], [1555.0, 349.0, 28.0, 0.0], [3577.0, 817.0, 43.0, 0.0]]}, "up": {"level_counts": [0, 0, 2, 20, 273, 1138], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4760.0, 1752.0, 196.0, 0.0], [7993.0, 2122.0, 173.0, 0.0], [15453.0, 3209.0, 444.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 48, 566], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [986.0, 813.0, 26.0, 0.0], [2305.0, 1920.0, 69.0, 0.0], [15907.0, 13603.0, 351.0, 0.0]]}, "platform": {"level_counts": [3, 18, 31, 54, 146, 158], "episodes_by_level": [[1867.0, 407.0, 53.0, 0.0], [2350.0, 479.0, 99.0, 0.0], [2199.0, 444.0, 96.0, 0.0], [2221.0, 401.0, 86.0, 0.0], [2012.0, 298.0, 97.0, 0.0], [1482.0, 153.0, 140.0, 0.0]]}, "slope": {"level_counts": [4, 7, 24, 45, 96, 234], "episodes_by_level": [[1667.0, 352.0, 46.0, 0.0], [2114.0, 432.0, 73.0, 0.0], [2028.0, 428.0, 47.0, 0.0], [1816.0, 362.0, 53.0, 0.0], [1668.0, 317.0, 32.0, 0.0], [2846.0, 471.0, 83.0, 0.0]]}, "rubble": {"level_counts": [14, 69, 149, 236, 213, 138], "episodes_by_level": [[3483.0, 790.0, 105.0, 0.0], [5556.0, 1194.0, 240.0, 0.0], [5905.0, 1224.0, 475.0, 0.0], [5066.0, 904.0, 637.0, 0.0], [3259.0, 442.0, 553.0, 0.0], [1319.0, 121.0, 304.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2255859375, "command_abs_max": [0.9995399117469788, 0.3998783230781555, 0.6999156475067139]}
{"step": 49300, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 49300, "total_transitions": 201932800, "num_steps_per_env": 1, "wm_loss": 0.5745565891265869, "actor_loss": -9.516085624694824, "critic_loss": 0.0053114439360797405, "reward": 0.08730790764093399, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11428848654031754, 0.07346363365650177, 0.13669824600219727], "mean_episode_length": 1337.58125, "episode_reward_terms": {"track_linear_velocity": 47.38233184814453, "track_angular_velocity": 50.44898986816406, "upright": 25.64107894897461, "leg_posture": -2.5145606994628906, "standstill": -6.016139507293701, "action_rate_l2": -0.5595737099647522, "joint_torques_l2": -0.14203372597694397, "dof_pos_limits": -0.00040747856837697327, "terminated": -0.020899703726172447, "unnecessary_wheel_lift": -0.09686855226755142, "rolling_leg_motion": -0.5741159915924072, "obstacle_progress": 3.7801597118377686, "wheel_body_intrusion": -0.2538049817085266, "pair_body_intrusion": -0.29272449016571045}, "weighted_reward_terms": {"track_linear_velocity": 1.7711944580078125, "track_angular_velocity": 1.885828971862793, "upright": 0.9584867358207703, "leg_posture": -0.093996562063694, "standstill": -0.22488875687122345, "action_rate_l2": -0.020917372778058052, "joint_torques_l2": -0.00530934939160943, "dof_pos_limits": -1.5231918041536119e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.003621034324169159, "rolling_leg_motion": -0.02146097645163536, "obstacle_progress": 0.14130578935146332, "wheel_body_intrusion": -0.009487459436058998, "pair_body_intrusion": -0.010942306369543076}, "episode_termination_rates": {"time_out": 0.4625, "fell_over": 0.03125, "course_exit": 0.4875, "illegal_nonwheel_contact": 0.025}, "collection_time_s": 0.07569718343787826, "learning_time_s": 0.18524052387801931, "iteration_time_s": 0.2950394591827179, "policy_updates": 49000, "skipped_updates": 0, "invalid_env_resets": 274, "elapsed_s": 14545.445337707992, "nonwheel_terminations": 14798, "contact_bce": 0.2814027667045593, "contact_force_loss": 0.020444776862859726, "collision_bce": 0.00017964614380616695, "collision_label_rate": 0.00012248897110112011, "collision_prediction_mean": 0.00012085650087101385, "collision_label_count": 16328.0, "terrain_level_mean": 4.330810546875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 3, 12, 22, 66, 307], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1979.0, 435.0, 38.0, 0.0], [1823.0, 424.0, 36.0, 0.0], [1768.0, 401.0, 29.0, 0.0], [1556.0, 350.0, 28.0, 0.0], [3584.0, 818.0, 43.0, 0.0]]}, "up": {"level_counts": [0, 0, 2, 19, 277, 1135], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4761.0, 1753.0, 196.0, 0.0], [8002.0, 2123.0, 173.0, 0.0], [15485.0, 3216.0, 446.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 45, 569], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [986.0, 813.0, 26.0, 0.0], [2308.0, 1923.0, 69.0, 0.0], [15925.0, 13620.0, 351.0, 0.0]]}, "platform": {"level_counts": [4, 17, 31, 54, 146, 158], "episodes_by_level": [[1867.0, 407.0, 53.0, 0.0], [2352.0, 479.0, 100.0, 0.0], [2199.0, 444.0, 96.0, 0.0], [2223.0, 401.0, 86.0, 0.0], [2016.0, 299.0, 97.0, 0.0], [1488.0, 153.0, 141.0, 0.0]]}, "slope": {"level_counts": [4, 7, 23, 46, 96, 234], "episodes_by_level": [[1667.0, 352.0, 46.0, 0.0], [2114.0, 432.0, 73.0, 0.0], [2029.0, 429.0, 47.0, 0.0], [1817.0, 362.0, 53.0, 0.0], [1674.0, 317.0, 32.0, 0.0], [2857.0, 471.0, 83.0, 0.0]]}, "rubble": {"level_counts": [14, 69, 150, 234, 213, 139], "episodes_by_level": [[3484.0, 790.0, 105.0, 0.0], [5557.0, 1194.0, 240.0, 0.0], [5908.0, 1224.0, 475.0, 0.0], [5074.0, 905.0, 638.0, 0.0], [3264.0, 443.0, 553.0, 0.0], [1323.0, 122.0, 304.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.225830078125, "command_abs_max": [0.9995399117469788, 0.3998783230781555, 0.6999156475067139]}
{"step": 49350, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 49350, "total_transitions": 202137600, "num_steps_per_env": 1, "wm_loss": 0.5295767784118652, "actor_loss": -9.524539947509766, "critic_loss": 0.008738202042877674, "reward": 0.08732075244188309, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11353295296430588, 0.07327912747859955, 0.1381487101316452], "mean_episode_length": 1342.3049645390072, "episode_reward_terms": {"track_linear_velocity": 47.58135986328125, "track_angular_velocity": 50.57387924194336, "upright": 25.74500274658203, "leg_posture": -2.5264432430267334, "standstill": -6.0653557777404785, "action_rate_l2": -0.5659976601600647, "joint_torques_l2": -0.1435399055480957, "dof_pos_limits": -0.0001516837510280311, "terminated": -0.015730135142803192, "unnecessary_wheel_lift": -0.07723052054643631, "rolling_leg_motion": -0.5756951570510864, "obstacle_progress": 3.815150260925293, "wheel_body_intrusion": -0.26305049657821655, "pair_body_intrusion": -0.2711260914802551}, "weighted_reward_terms": {"track_linear_velocity": 1.7723753452301025, "track_angular_velocity": 1.8838447332382202, "upright": 0.9589849710464478, "leg_posture": -0.09410839527845383, "standstill": -0.2259306162595749, "action_rate_l2": -0.021083051338791847, "joint_torques_l2": -0.005346769466996193, "dof_pos_limits": -5.650122602673946e-06, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.002876787446439266, "rolling_leg_motion": -0.021444277837872505, "obstacle_progress": 0.1421119123697281, "wheel_body_intrusion": -0.009798463433980942, "pair_body_intrusion": -0.010099274106323719}, "episode_termination_rates": {"time_out": 0.48226950354609927, "fell_over": 0.014184397163120567, "course_exit": 0.475177304964539, "illegal_nonwheel_contact": 0.028368794326241134}, "collection_time_s": 0.07594139279681258, "learning_time_s": 0.1850317495269701, "iteration_time_s": 0.2950049668995547, "policy_updates": 49050, "skipped_updates": 0, "invalid_env_resets": 275, "elapsed_s": 14558.495116493024, "nonwheel_terminations": 14802, "contact_bce": 0.2810734808444977, "contact_force_loss": 0.020250173285603523, "collision_bce": 4.548872675513849e-05, "collision_label_rate": 0.00012248897110112011, "collision_prediction_mean": 0.00011535247176652774, "collision_label_count": 16328.0, "terrain_level_mean": 4.330810546875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 3, 12, 22, 66, 307], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1979.0, 435.0, 38.0, 0.0], [1823.0, 424.0, 36.0, 0.0], [1768.0, 401.0, 29.0, 0.0], [1558.0, 350.0, 28.0, 0.0], [3599.0, 822.0, 43.0, 0.0]]}, "up": {"level_counts": [0, 0, 2, 19, 276, 1136], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4763.0, 1753.0, 196.0, 0.0], [8005.0, 2126.0, 173.0, 0.0], [15519.0, 3225.0, 446.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 45, 569], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [986.0, 813.0, 26.0, 0.0], [2309.0, 1924.0, 69.0, 0.0], [15951.0, 13643.0, 351.0, 0.0]]}, "platform": {"level_counts": [4, 17, 30, 55, 147, 157], "episodes_by_level": [[1867.0, 407.0, 53.0, 0.0], [2352.0, 479.0, 100.0, 0.0], [2201.0, 445.0, 96.0, 0.0], [2226.0, 401.0, 86.0, 0.0], [2022.0, 300.0, 97.0, 0.0], [1493.0, 153.0, 143.0, 0.0]]}, "slope": {"level_counts": [4, 7, 23, 46, 96, 234], "episodes_by_level": [[1667.0, 352.0, 46.0, 0.0], [2114.0, 432.0, 73.0, 0.0], [2029.0, 429.0, 47.0, 0.0], [1819.0, 362.0, 53.0, 0.0], [1677.0, 317.0, 32.0, 0.0], [2861.0, 472.0, 83.0, 0.0]]}, "rubble": {"level_counts": [14, 69, 151, 233, 213, 139], "episodes_by_level": [[3484.0, 790.0, 105.0, 0.0], [5557.0, 1194.0, 240.0, 0.0], [5909.0, 1224.0, 475.0, 0.0], [5078.0, 905.0, 639.0, 0.0], [3266.0, 443.0, 553.0, 0.0], [1329.0, 123.0, 304.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2255859375, "command_abs_max": [0.9979188442230225, 0.3996133804321289, 0.6999156475067139]}
{"step": 49400, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 49400, "total_transitions": 202342400, "num_steps_per_env": 1, "wm_loss": 0.5155885815620422, "actor_loss": -9.545249938964844, "critic_loss": 0.005739731248468161, "reward": 0.08715715259313583, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11374758183956146, 0.07383957505226135, 0.13867798447608948], "mean_episode_length": 1382.119496855346, "episode_reward_terms": {"track_linear_velocity": 48.978416442871094, "track_angular_velocity": 52.05175018310547, "upright": 26.482589721679688, "leg_posture": -2.6122472286224365, "standstill": -6.384217739105225, "action_rate_l2": -0.5893136858940125, "joint_torques_l2": -0.14746718108654022, "dof_pos_limits": -0.0003197290934622288, "terminated": -0.016196710988879204, "unnecessary_wheel_lift": -0.09406530112028122, "rolling_leg_motion": -0.5844359993934631, "obstacle_progress": 3.9430150985717773, "wheel_body_intrusion": -0.26625725626945496, "pair_body_intrusion": -0.2996479570865631}, "weighted_reward_terms": {"track_linear_velocity": 1.7718589305877686, "track_angular_velocity": 1.8830409049987793, "upright": 0.9580426812171936, "leg_posture": -0.09450150281190872, "standstill": -0.2309575378894806, "action_rate_l2": -0.021319203078746796, "joint_torques_l2": -0.005334820132702589, "dof_pos_limits": -1.1566622561076656e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.003402936737984419, "rolling_leg_motion": -0.0211427453905344, "obstacle_progress": 0.1426437944173813, "wheel_body_intrusion": -0.00963220838457346, "pair_body_intrusion": -0.010840160772204399}, "episode_termination_rates": {"time_out": 0.48427672955974843, "fell_over": 0.018867924528301886, "course_exit": 0.4779874213836478, "illegal_nonwheel_contact": 0.031446540880503145}, "collection_time_s": 0.07611094080028125, "learning_time_s": 0.1837687311822083, "iteration_time_s": 0.2949694382227125, "policy_updates": 49100, "skipped_updates": 0, "invalid_env_resets": 276, "elapsed_s": 14571.490248201997, "nonwheel_terminations": 14807, "contact_bce": 0.2879909873008728, "contact_force_loss": 0.019998593255877495, "collision_bce": 5.804464308312163e-05, "collision_label_rate": 6.113216659286991e-05, "collision_prediction_mean": 0.00010036083403974771, "collision_label_count": 16358.0, "terrain_level_mean": 4.332275390625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 3, 12, 21, 67, 307], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1979.0, 435.0, 38.0, 0.0], [1823.0, 424.0, 36.0, 0.0], [1770.0, 402.0, 29.0, 0.0], [1559.0, 350.0, 28.0, 0.0], [3601.0, 823.0, 43.0, 0.0]]}, "up": {"level_counts": [0, 0, 2, 21, 269, 1141], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4764.0, 1753.0, 196.0, 0.0], [8019.0, 2131.0, 173.0, 0.0], [15548.0, 3234.0, 446.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 44, 570], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [986.0, 813.0, 26.0, 0.0], [2310.0, 1925.0, 69.0, 0.0], [15968.0, 13656.0, 351.0, 0.0]]}, "platform": {"level_counts": [4, 16, 31, 54, 147, 158], "episodes_by_level": [[1867.0, 407.0, 53.0, 0.0], [2355.0, 480.0, 100.0, 0.0], [2203.0, 445.0, 96.0, 0.0], [2227.0, 402.0, 86.0, 0.0], [2028.0, 301.0, 97.0, 0.0], [1495.0, 153.0, 143.0, 0.0]]}, "slope": {"level_counts": [4, 7, 23, 46, 95, 235], "episodes_by_level": [[1667.0, 352.0, 46.0, 0.0], [2114.0, 432.0, 73.0, 0.0], [2031.0, 429.0, 47.0, 0.0], [1823.0, 363.0, 53.0, 0.0], [1683.0, 318.0, 33.0, 0.0], [2872.0, 472.0, 83.0, 0.0]]}, "rubble": {"level_counts": [14, 70, 151, 232, 214, 138], "episodes_by_level": [[3484.0, 790.0, 105.0, 0.0], [5559.0, 1194.0, 240.0, 0.0], [5916.0, 1224.0, 476.0, 0.0], [5085.0, 905.0, 640.0, 0.0], [3271.0, 443.0, 553.0, 0.0], [1334.0, 123.0, 305.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.233154296875, "command_abs_max": [0.9979188442230225, 0.39975234866142273, 0.6999156475067139]}
{"step": 49450, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 49450, "total_transitions": 202547200, "num_steps_per_env": 1, "wm_loss": 0.5659884810447693, "actor_loss": -9.511894226074219, "critic_loss": 0.005205776542425156, "reward": 0.08728038519620895, "falls": 16, "interval_steps": 50, "velocity_mae": [0.11375528573989868, 0.0725100114941597, 0.13737349212169647], "mean_episode_length": 1395.1920903954801, "episode_reward_terms": {"track_linear_velocity": 49.518672943115234, "track_angular_velocity": 52.60159683227539, "upright": 26.740442276000977, "leg_posture": -2.624300718307495, "standstill": -6.419061183929443, "action_rate_l2": -0.5877298712730408, "joint_torques_l2": -0.14903363585472107, "dof_pos_limits": -0.00045949083869345486, "terminated": -0.043599747121334076, "unnecessary_wheel_lift": -0.11262316256761551, "rolling_leg_motion": -0.5980220437049866, "obstacle_progress": 3.9916393756866455, "wheel_body_intrusion": -0.2581689953804016, "pair_body_intrusion": -0.2864389717578888}, "weighted_reward_terms": {"track_linear_velocity": 1.77461838722229, "track_angular_velocity": 1.885102391242981, "upright": 0.9583067893981934, "leg_posture": -0.09404800832271576, "standstill": -0.2300422042608261, "action_rate_l2": -0.021062685176730156, "joint_torques_l2": -0.005340971983969212, "dof_pos_limits": -1.6466938177472912e-05, "terminated": -0.0015624997904524207, "unnecessary_wheel_lift": -0.0040361168794333935, "rolling_leg_motion": -0.02143152989447117, "obstacle_progress": 0.14304980635643005, "wheel_body_intrusion": -0.0092520946636796, "pair_body_intrusion": -0.01026521623134613}, "episode_termination_rates": {"time_out": 0.4915254237288136, "fell_over": 0.03954802259887006, "course_exit": 0.4180790960451977, "illegal_nonwheel_contact": 0.07909604519774012}, "collection_time_s": 0.07587506370036863, "learning_time_s": 0.1840517813793849, "iteration_time_s": 0.2949340286023662, "policy_updates": 49150, "skipped_updates": 0, "invalid_env_resets": 276, "elapsed_s": 14584.48771438701, "nonwheel_terminations": 14821, "contact_bce": 0.2891817092895508, "contact_force_loss": 0.021380186080932617, "collision_bce": 1.3777792446489912e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.3628594388137572e-05, "collision_label_count": 16359.0, "terrain_level_mean": 4.33056640625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [0, 3, 12, 21, 67, 307], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1979.0, 435.0, 38.0, 0.0], [1823.0, 424.0, 36.0, 0.0], [1770.0, 402.0, 29.0, 0.0], [1563.0, 350.0, 28.0, 0.0], [3613.0, 825.0, 43.0, 0.0]]}, "up": {"level_counts": [0, 0, 2, 21, 270, 1140], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4765.0, 1753.0, 196.0, 0.0], [8026.0, 2134.0, 173.0, 0.0], [15584.0, 3242.0, 446.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 46, 568], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [986.0, 813.0, 26.0, 0.0], [2311.0, 1926.0, 69.0, 0.0], [15989.0, 13676.0, 351.0, 0.0]]}, "platform": {"level_counts": [4, 16, 31, 53, 149, 157], "episodes_by_level": [[1867.0, 407.0, 53.0, 0.0], [2356.0, 480.0, 100.0, 0.0], [2205.0, 445.0, 96.0, 0.0], [2228.0, 403.0, 86.0, 0.0], [2033.0, 301.0, 97.0, 0.0], [1500.0, 153.0, 144.0, 0.0]]}, "slope": {"level_counts": [4, 7, 23, 46, 95, 235], "episodes_by_level": [[1667.0, 352.0, 46.0, 0.0], [2114.0, 432.0, 73.0, 0.0], [2033.0, 429.0, 47.0, 0.0], [1823.0, 363.0, 53.0, 0.0], [1685.0, 318.0, 33.0, 0.0], [2878.0, 473.0, 83.0, 0.0]]}, "rubble": {"level_counts": [15, 68, 152, 233, 216, 135], "episodes_by_level": [[3484.0, 790.0, 105.0, 0.0], [5564.0, 1195.0, 241.0, 0.0], [5922.0, 1225.0, 476.0, 0.0], [5094.0, 906.0, 641.0, 0.0], [3278.0, 444.0, 555.0, 0.0], [1343.0, 124.0, 309.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2373046875, "command_abs_max": [0.9992727637290955, 0.39975234866142273, 0.6999156475067139]}
{"step": 49500, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 49500, "total_transitions": 202752000, "num_steps_per_env": 1, "wm_loss": 0.5402603149414062, "actor_loss": -9.523218154907227, "critic_loss": 0.006391649600118399, "reward": 0.08746708929538727, "falls": 9, "interval_steps": 50, "velocity_mae": [0.11307070404291153, 0.07237503677606583, 0.1360979825258255], "mean_episode_length": 1313.3880597014925, "episode_reward_terms": {"track_linear_velocity": 46.65854263305664, "track_angular_velocity": 49.55386734008789, "upright": 25.148483276367188, "leg_posture": -2.5033416748046875, "standstill": -5.962917804718018, "action_rate_l2": -0.5381225943565369, "joint_torques_l2": -0.14054551720619202, "dof_pos_limits": -0.0003107864467892796, "terminated": -0.023086896166205406, "unnecessary_wheel_lift": -0.07607542723417282, "rolling_leg_motion": -0.546785831451416, "obstacle_progress": 3.8202457427978516, "wheel_body_intrusion": -0.2621939480304718, "pair_body_intrusion": -0.24952509999275208}, "weighted_reward_terms": {"track_linear_velocity": 1.7762665748596191, "track_angular_velocity": 1.8864901065826416, "upright": 0.9573896527290344, "leg_posture": -0.09530092030763626, "standstill": -0.22700518369674683, "action_rate_l2": -0.020486047491431236, "joint_torques_l2": -0.005350494757294655, "dof_pos_limits": -1.1831478332169354e-05, "terminated": -0.0008789061685092747, "unnecessary_wheel_lift": -0.0028961519710719585, "rolling_leg_motion": -0.020815851166844368, "obstacle_progress": 0.14543476700782776, "wheel_body_intrusion": -0.009981587529182434, "pair_body_intrusion": -0.009499290958046913}, "episode_termination_rates": {"time_out": 0.4253731343283582, "fell_over": 0.029850746268656716, "course_exit": 0.5074626865671642, "illegal_nonwheel_contact": 0.03731343283582089}, "collection_time_s": 0.07597703572013416, "learning_time_s": 0.18428235886618494, "iteration_time_s": 0.29489902600783835, "policy_updates": 49200, "skipped_updates": 0, "invalid_env_resets": 277, "elapsed_s": 14597.501787387999, "nonwheel_terminations": 14826, "contact_bce": 0.28938814997673035, "contact_force_loss": 0.020331595093011856, "collision_bce": 0.0007756054401397705, "collision_label_rate": 0.0001223017170559615, "collision_prediction_mean": 4.079063000972383e-05, "collision_label_count": 16353.0, "terrain_level_mean": 4.330810546875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 2, 12, 21, 67, 307], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1980.0, 435.0, 39.0, 0.0], [1823.0, 424.0, 36.0, 0.0], [1770.0, 402.0, 29.0, 0.0], [1563.0, 350.0, 28.0, 0.0], [3622.0, 827.0, 43.0, 0.0]]}, "up": {"level_counts": [0, 0, 2, 21, 273, 1137], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4765.0, 1753.0, 196.0, 0.0], [8026.0, 2134.0, 173.0, 0.0], [15616.0, 3247.0, 447.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 48, 566], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [986.0, 813.0, 26.0, 0.0], [2312.0, 1927.0, 69.0, 0.0], [16008.0, 13693.0, 352.0, 0.0]]}, "platform": {"level_counts": [4, 16, 30, 54, 148, 158], "episodes_by_level": [[1867.0, 407.0, 53.0, 0.0], [2356.0, 480.0, 100.0, 0.0], [2206.0, 446.0, 96.0, 0.0], [2228.0, 403.0, 86.0, 0.0], [2035.0, 302.0, 97.0, 0.0], [1505.0, 154.0, 144.0, 0.0]]}, "slope": {"level_counts": [4, 7, 23, 46, 93, 237], "episodes_by_level": [[1668.0, 352.0, 46.0, 0.0], [2114.0, 432.0, 73.0, 0.0], [2034.0, 429.0, 47.0, 0.0], [1824.0, 363.0, 53.0, 0.0], [1693.0, 320.0, 33.0, 0.0], [2887.0, 476.0, 83.0, 0.0]]}, "rubble": {"level_counts": [14, 69, 151, 232, 219, 134], "episodes_by_level": [[3485.0, 791.0, 105.0, 0.0], [5566.0, 1195.0, 241.0, 0.0], [5928.0, 1226.0, 476.0, 0.0], [5100.0, 908.0, 641.0, 0.0], [3281.0, 445.0, 555.0, 0.0], [1347.0, 124.0, 311.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.239013671875, "command_abs_max": [0.9992727637290955, 0.39975234866142273, 0.6999156475067139]}
{"step": 49550, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 49550, "total_transitions": 202956800, "num_steps_per_env": 1, "wm_loss": 0.5561842322349548, "actor_loss": -9.542332649230957, "critic_loss": 0.003378168446943164, "reward": 0.0876355990767479, "falls": 4, "interval_steps": 50, "velocity_mae": [0.11195551604032516, 0.07267384976148605, 0.13664746284484863], "mean_episode_length": 1378.3900709219859, "episode_reward_terms": {"track_linear_velocity": 49.00202560424805, "track_angular_velocity": 51.99140167236328, "upright": 26.39105224609375, "leg_posture": -2.6157021522521973, "standstill": -6.054933071136475, "action_rate_l2": -0.5706939101219177, "joint_torques_l2": -0.14732567965984344, "dof_pos_limits": -0.0005416310159489512, "terminated": -0.010768669657409191, "unnecessary_wheel_lift": -0.08061392605304718, "rolling_leg_motion": -0.5766886472702026, "obstacle_progress": 4.037332057952881, "wheel_body_intrusion": -0.27593696117401123, "pair_body_intrusion": -0.29257458448410034}, "weighted_reward_terms": {"track_linear_velocity": 1.7775094509124756, "track_angular_velocity": 1.8859466314315796, "upright": 0.9573144316673279, "leg_posture": -0.09488251805305481, "standstill": -0.2196378856897354, "action_rate_l2": -0.020701467990875244, "joint_torques_l2": -0.005344121716916561, "dof_pos_limits": -1.9647233784780838e-05, "terminated": -0.0003906249476131052, "unnecessary_wheel_lift": -0.002924205968156457, "rolling_leg_motion": -0.020918922498822212, "obstacle_progress": 0.14645101130008698, "wheel_body_intrusion": -0.010009393095970154, "pair_body_intrusion": -0.010612910613417625}, "episode_termination_rates": {"time_out": 0.49645390070921985, "fell_over": 0.014184397163120567, "course_exit": 0.475177304964539, "illegal_nonwheel_contact": 0.014184397163120567}, "collection_time_s": 0.07596454757847823, "learning_time_s": 0.190987143763341, "iteration_time_s": 0.2948713724741075, "policy_updates": 49250, "skipped_updates": 0, "invalid_env_resets": 278, "elapsed_s": 14610.876506092027, "nonwheel_terminations": 14828, "contact_bce": 0.291150838136673, "contact_force_loss": 0.020710695534944534, "collision_bce": 0.00034255642094649374, "collision_label_rate": 6.115833821240813e-05, "collision_prediction_mean": 3.615672903833911e-05, "collision_label_count": 16351.0, "terrain_level_mean": 4.332763671875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 2, 12, 21, 67, 307], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1980.0, 435.0, 39.0, 0.0], [1823.0, 424.0, 36.0, 0.0], [1771.0, 402.0, 29.0, 0.0], [1564.0, 350.0, 28.0, 0.0], [3632.0, 828.0, 43.0, 0.0]]}, "up": {"level_counts": [0, 0, 2, 21, 272, 1138], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4766.0, 1753.0, 196.0, 0.0], [8032.0, 2136.0, 173.0, 0.0], [15649.0, 3254.0, 448.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 47, 567], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [986.0, 813.0, 26.0, 0.0], [2313.0, 1928.0, 69.0, 0.0], [16030.0, 13710.0, 353.0, 0.0]]}, "platform": {"level_counts": [4, 16, 29, 55, 146, 160], "episodes_by_level": [[1867.0, 407.0, 53.0, 0.0], [2356.0, 480.0, 100.0, 0.0], [2207.0, 447.0, 96.0, 0.0], [2228.0, 403.0, 86.0, 0.0], [2040.0, 304.0, 97.0, 0.0], [1513.0, 154.0, 144.0, 0.0]]}, "slope": {"level_counts": [4, 7, 23, 46, 93, 237], "episodes_by_level": [[1668.0, 352.0, 46.0, 0.0], [2114.0, 432.0, 73.0, 0.0], [2034.0, 429.0, 47.0, 0.0], [1825.0, 363.0, 53.0, 0.0], [1695.0, 320.0, 33.0, 0.0], [2891.0, 477.0, 83.0, 0.0]]}, "rubble": {"level_counts": [14, 69, 150, 230, 223, 133], "episodes_by_level": [[3485.0, 791.0, 105.0, 0.0], [5569.0, 1195.0, 241.0, 0.0], [5934.0, 1228.0, 476.0, 0.0], [5108.0, 911.0, 642.0, 0.0], [3285.0, 445.0, 555.0, 0.0], [1353.0, 125.0, 312.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.236083984375, "command_abs_max": [0.9992727637290955, 0.39975234866142273, 0.6999156475067139]}
{"step": 49600, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 49600, "total_transitions": 203161600, "num_steps_per_env": 1, "wm_loss": 0.5353410840034485, "actor_loss": -9.521692276000977, "critic_loss": 0.0050675636157393456, "reward": 0.08719976991415024, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11457575112581253, 0.07349893450737, 0.13680189847946167], "mean_episode_length": 1412.857142857143, "episode_reward_terms": {"track_linear_velocity": 50.056114196777344, "track_angular_velocity": 53.281837463378906, "upright": 27.044973373413086, "leg_posture": -2.6854746341705322, "standstill": -6.5460591316223145, "action_rate_l2": -0.5910758376121521, "joint_torques_l2": -0.15039797127246857, "dof_pos_limits": -0.0007760966545902193, "terminated": -0.022075889632105827, "unnecessary_wheel_lift": -0.10108432918787003, "rolling_leg_motion": -0.6020606756210327, "obstacle_progress": 4.069122314453125, "wheel_body_intrusion": -0.2760801613330841, "pair_body_intrusion": -0.276145875453949}, "weighted_reward_terms": {"track_linear_velocity": 1.7714498043060303, "track_angular_velocity": 1.8856059312820435, "upright": 0.9571021199226379, "leg_posture": -0.09503702074289322, "standstill": -0.23166032135486603, "action_rate_l2": -0.020917749032378197, "joint_torques_l2": -0.0053224763832986355, "dof_pos_limits": -2.7465504899737425e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0035773017443716526, "rolling_leg_motion": -0.021306496113538742, "obstacle_progress": 0.14400331676006317, "wheel_body_intrusion": -0.009770278818905354, "pair_body_intrusion": -0.009772604331374168}, "episode_termination_rates": {"time_out": 0.5306122448979592, "fell_over": 0.027210884353741496, "course_exit": 0.41496598639455784, "illegal_nonwheel_contact": 0.04081632653061224}, "collection_time_s": 0.07574811673723161, "learning_time_s": 0.1854810652404558, "iteration_time_s": 0.29483748121056474, "policy_updates": 49300, "skipped_updates": 0, "invalid_env_resets": 278, "elapsed_s": 14623.939068044012, "nonwheel_terminations": 14834, "contact_bce": 0.28733354806900024, "contact_force_loss": 0.0204645823687315, "collision_bce": 0.0003670481964945793, "collision_label_rate": 6.120325269876048e-05, "collision_prediction_mean": 1.1630597327894066e-05, "collision_label_count": 16339.0, "terrain_level_mean": 4.331787109375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 2, 12, 21, 66, 308], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1980.0, 435.0, 39.0, 0.0], [1823.0, 424.0, 36.0, 0.0], [1772.0, 402.0, 29.0, 0.0], [1569.0, 351.0, 28.0, 0.0], [3642.0, 830.0, 43.0, 0.0]]}, "up": {"level_counts": [0, 0, 2, 22, 272, 1137], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4766.0, 1753.0, 196.0, 0.0], [8037.0, 2137.0, 173.0, 0.0], [15681.0, 3262.0, 449.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 48, 566], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [986.0, 813.0, 26.0, 0.0], [2313.0, 1928.0, 69.0, 0.0], [16044.0, 13721.0, 353.0, 0.0]]}, "platform": {"level_counts": [4, 16, 29, 55, 147, 159], "episodes_by_level": [[1867.0, 407.0, 53.0, 0.0], [2356.0, 480.0, 100.0, 0.0], [2207.0, 447.0, 96.0, 0.0], [2228.0, 403.0, 86.0, 0.0], [2040.0, 304.0, 97.0, 0.0], [1524.0, 155.0, 145.0, 0.0]]}, "slope": {"level_counts": [4, 7, 23, 46, 93, 237], "episodes_by_level": [[1669.0, 352.0, 46.0, 0.0], [2114.0, 432.0, 73.0, 0.0], [2034.0, 429.0, 47.0, 0.0], [1829.0, 363.0, 53.0, 0.0], [1698.0, 320.0, 33.0, 0.0], [2899.0, 477.0, 83.0, 0.0]]}, "rubble": {"level_counts": [14, 70, 148, 232, 222, 133], "episodes_by_level": [[3486.0, 791.0, 105.0, 0.0], [5570.0, 1195.0, 241.0, 0.0], [5941.0, 1230.0, 477.0, 0.0], [5116.0, 911.0, 643.0, 0.0], [3290.0, 445.0, 556.0, 0.0], [1355.0, 126.0, 312.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.239501953125, "command_abs_max": [0.9992727637290955, 0.39975234866142273, 0.6999156475067139]}
{"step": 49650, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 49650, "total_transitions": 203366400, "num_steps_per_env": 1, "wm_loss": 0.5294208526611328, "actor_loss": -9.525869369506836, "critic_loss": 0.004056371282786131, "reward": 0.0875854641199112, "falls": 6, "interval_steps": 50, "velocity_mae": [0.11287252604961395, 0.071876659989357, 0.1353074312210083], "mean_episode_length": 1389.972602739726, "episode_reward_terms": {"track_linear_velocity": 49.37380599975586, "track_angular_velocity": 52.47074508666992, "upright": 26.597118377685547, "leg_posture": -2.634861946105957, "standstill": -6.014825344085693, "action_rate_l2": -0.5793789029121399, "joint_torques_l2": -0.1465843766927719, "dof_pos_limits": -0.0005030266474932432, "terminated": -0.016288740560412407, "unnecessary_wheel_lift": -0.08839252591133118, "rolling_leg_motion": -0.6003764271736145, "obstacle_progress": 3.9130377769470215, "wheel_body_intrusion": -0.25470709800720215, "pair_body_intrusion": -0.2773795425891876}, "weighted_reward_terms": {"track_linear_velocity": 1.7760710716247559, "track_angular_velocity": 1.8874740600585938, "upright": 0.9567497968673706, "leg_posture": -0.0947810709476471, "standstill": -0.21636489033699036, "action_rate_l2": -0.02084137685596943, "joint_torques_l2": -0.00527292350307107, "dof_pos_limits": -1.8094840925186872e-05, "terminated": -0.0005859374650754035, "unnecessary_wheel_lift": -0.0031796498224139214, "rolling_leg_motion": -0.021596698090434074, "obstacle_progress": 0.14075952768325806, "wheel_body_intrusion": -0.009162306785583496, "pair_body_intrusion": -0.00997787807136774}, "episode_termination_rates": {"time_out": 0.4931506849315068, "fell_over": 0.0136986301369863, "course_exit": 0.4657534246575342, "illegal_nonwheel_contact": 0.0273972602739726}, "collection_time_s": 0.07591082908213138, "learning_time_s": 0.18568152262479998, "iteration_time_s": 0.29480402496543834, "policy_updates": 49350, "skipped_updates": 0, "invalid_env_resets": 279, "elapsed_s": 14637.019839534012, "nonwheel_terminations": 14838, "contact_bce": 0.28535202145576477, "contact_force_loss": 0.02062997780740261, "collision_bce": 0.00040946181979961693, "collision_label_rate": 0.0001225340092787519, "collision_prediction_mean": 2.5249588361475617e-05, "collision_label_count": 16322.0, "terrain_level_mean": 4.333984375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 2, 12, 20, 66, 309], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1980.0, 435.0, 39.0, 0.0], [1823.0, 424.0, 36.0, 0.0], [1773.0, 403.0, 29.0, 0.0], [1571.0, 352.0, 28.0, 0.0], [3652.0, 835.0, 43.0, 0.0]]}, "up": {"level_counts": [0, 0, 2, 22, 272, 1137], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4766.0, 1753.0, 196.0, 0.0], [8042.0, 2138.0, 173.0, 0.0], [15703.0, 3266.0, 449.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 46, 568], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [986.0, 813.0, 26.0, 0.0], [2316.0, 1931.0, 69.0, 0.0], [16062.0, 13735.0, 354.0, 0.0]]}, "platform": {"level_counts": [3, 17, 28, 55, 148, 159], "episodes_by_level": [[1868.0, 408.0, 53.0, 0.0], [2357.0, 480.0, 100.0, 0.0], [2208.0, 448.0, 96.0, 0.0], [2230.0, 404.0, 86.0, 0.0], [2045.0, 304.0, 97.0, 0.0], [1530.0, 156.0, 145.0, 0.0]]}, "slope": {"level_counts": [4, 7, 22, 48, 92, 237], "episodes_by_level": [[1669.0, 352.0, 46.0, 0.0], [2117.0, 432.0, 73.0, 0.0], [2035.0, 430.0, 47.0, 0.0], [1830.0, 364.0, 53.0, 0.0], [1700.0, 320.0, 35.0, 0.0], [2903.0, 478.0, 83.0, 0.0]]}, "rubble": {"level_counts": [12, 71, 149, 234, 219, 134], "episodes_by_level": [[3488.0, 793.0, 105.0, 0.0], [5571.0, 1196.0, 241.0, 0.0], [5948.0, 1230.0, 477.0, 0.0], [5120.0, 911.0, 643.0, 0.0], [3299.0, 446.0, 558.0, 0.0], [1362.0, 126.0, 312.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.238525390625, "command_abs_max": [0.9992727637290955, 0.3993273377418518, 0.6999156475067139]}
{"step": 49700, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 49700, "total_transitions": 203571200, "num_steps_per_env": 1, "wm_loss": 0.519222617149353, "actor_loss": -9.51041316986084, "critic_loss": 0.004925920628011227, "reward": 0.08749669045209885, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11497748643159866, 0.07181157171726227, 0.1363917738199234], "mean_episode_length": 1369.6666666666667, "episode_reward_terms": {"track_linear_velocity": 48.50522994995117, "track_angular_velocity": 51.66615676879883, "upright": 26.21485137939453, "leg_posture": -2.5563461780548096, "standstill": -5.805490970611572, "action_rate_l2": -0.5832901000976562, "joint_torques_l2": -0.1439921259880066, "dof_pos_limits": -0.000600154569838196, "terminated": -0.013375649228692055, "unnecessary_wheel_lift": -0.08053793013095856, "rolling_leg_motion": -0.5914477705955505, "obstacle_progress": 3.77858304977417, "wheel_body_intrusion": -0.2523718476295471, "pair_body_intrusion": -0.2960631847381592}, "weighted_reward_terms": {"track_linear_velocity": 1.7706948518753052, "track_angular_velocity": 1.8860851526260376, "upright": 0.9569793343544006, "leg_posture": -0.09332001209259033, "standstill": -0.21193082630634308, "action_rate_l2": -0.021293140947818756, "joint_torques_l2": -0.00525646610185504, "dof_pos_limits": -2.19087833102094e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.002940055914223194, "rolling_leg_motion": -0.0215909406542778, "obstacle_progress": 0.13793806731700897, "wheel_body_intrusion": -0.009212893433868885, "pair_body_intrusion": -0.010807855986058712}, "episode_termination_rates": {"time_out": 0.4909090909090909, "fell_over": 0.006060606060606061, "course_exit": 0.47878787878787876, "illegal_nonwheel_contact": 0.030303030303030304}, "collection_time_s": 0.0757245268614497, "learning_time_s": 0.18501590694067999, "iteration_time_s": 0.2947697782746886, "policy_updates": 49400, "skipped_updates": 0, "invalid_env_resets": 279, "elapsed_s": 14650.057980252022, "nonwheel_terminations": 14843, "contact_bce": 0.28650644421577454, "contact_force_loss": 0.020170921459794044, "collision_bce": 0.00016159396909642965, "collision_label_rate": 6.119576573837548e-05, "collision_prediction_mean": 1.617456837266218e-05, "collision_label_count": 16341.0, "terrain_level_mean": 4.334228515625, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 2, 11, 21, 65, 310], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1980.0, 435.0, 39.0, 0.0], [1824.0, 425.0, 36.0, 0.0], [1774.0, 403.0, 29.0, 0.0], [1574.0, 353.0, 28.0, 0.0], [3666.0, 837.0, 43.0, 0.0]]}, "up": {"level_counts": [0, 0, 2, 22, 274, 1135], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4766.0, 1753.0, 196.0, 0.0], [8048.0, 2138.0, 173.0, 0.0], [15741.0, 3275.0, 449.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 45, 569], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [986.0, 813.0, 26.0, 0.0], [2317.0, 1932.0, 69.0, 0.0], [16082.0, 13754.0, 354.0, 0.0]]}, "platform": {"level_counts": [3, 17, 28, 55, 147, 160], "episodes_by_level": [[1868.0, 408.0, 53.0, 0.0], [2359.0, 480.0, 100.0, 0.0], [2208.0, 448.0, 96.0, 0.0], [2231.0, 404.0, 86.0, 0.0], [2052.0, 305.0, 97.0, 0.0], [1532.0, 156.0, 145.0, 0.0]]}, "slope": {"level_counts": [4, 7, 22, 48, 92, 237], "episodes_by_level": [[1670.0, 352.0, 46.0, 0.0], [2117.0, 432.0, 73.0, 0.0], [2035.0, 430.0, 47.0, 0.0], [1830.0, 364.0, 53.0, 0.0], [1702.0, 320.0, 35.0, 0.0], [2915.0, 480.0, 83.0, 0.0]]}, "rubble": {"level_counts": [12, 72, 149, 233, 218, 135], "episodes_by_level": [[3488.0, 793.0, 105.0, 0.0], [5573.0, 1196.0, 241.0, 0.0], [5953.0, 1230.0, 478.0, 0.0], [5129.0, 912.0, 644.0, 0.0], [3303.0, 447.0, 559.0, 0.0], [1368.0, 127.0, 312.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.239013671875, "command_abs_max": [0.9992727637290955, 0.3993273377418518, 0.6998245120048523]}
{"step": 49750, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 49750, "total_transitions": 203776000, "num_steps_per_env": 1, "wm_loss": 0.528946578502655, "actor_loss": -9.537139892578125, "critic_loss": 0.003385166870430112, "reward": 0.08746018260717392, "falls": 5, "interval_steps": 50, "velocity_mae": [0.11379556357860565, 0.07287430018186569, 0.13708993792533875], "mean_episode_length": 1336.1958041958042, "episode_reward_terms": {"track_linear_velocity": 47.37925338745117, "track_angular_velocity": 50.3746223449707, "upright": 25.56949806213379, "leg_posture": -2.433300256729126, "standstill": -5.842689514160156, "action_rate_l2": -0.5730448365211487, "joint_torques_l2": -0.14077995717525482, "dof_pos_limits": -0.0004714375827461481, "terminated": -0.013048785738646984, "unnecessary_wheel_lift": -0.07417818903923035, "rolling_leg_motion": -0.5686182379722595, "obstacle_progress": 3.7212696075439453, "wheel_body_intrusion": -0.24273110926151276, "pair_body_intrusion": -0.29185476899147034}, "weighted_reward_terms": {"track_linear_velocity": 1.7729157209396362, "track_angular_velocity": 1.8850016593933105, "upright": 0.9568021297454834, "leg_posture": -0.09105328470468521, "standstill": -0.21863149106502533, "action_rate_l2": -0.021443147212266922, "joint_torques_l2": -0.005267939064651728, "dof_pos_limits": -1.764103762980085e-05, "terminated": -0.0004882811917923391, "unnecessary_wheel_lift": -0.0027757228817790747, "rolling_leg_motion": -0.021277504041790962, "obstacle_progress": 0.13924866914749146, "wheel_body_intrusion": -0.009082917124032974, "pair_body_intrusion": -0.010921107605099678}, "episode_termination_rates": {"time_out": 0.43356643356643354, "fell_over": 0.013986013986013986, "course_exit": 0.5314685314685315, "illegal_nonwheel_contact": 0.027972027972027972}, "collection_time_s": 0.0757755504839588, "learning_time_s": 0.18512239635922015, "iteration_time_s": 0.2947357591154374, "policy_updates": 49450, "skipped_updates": 0, "invalid_env_resets": 280, "elapsed_s": 14663.104015993013, "nonwheel_terminations": 14847, "contact_bce": 0.2846316397190094, "contact_force_loss": 0.020143894478678703, "collision_bce": 0.0001631824125070125, "collision_label_rate": 6.119576573837548e-05, "collision_prediction_mean": 1.878158946055919e-05, "collision_label_count": 16341.0, "terrain_level_mean": 4.3349609375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 2, 11, 21, 65, 310], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1980.0, 435.0, 39.0, 0.0], [1825.0, 425.0, 36.0, 0.0], [1774.0, 403.0, 29.0, 0.0], [1574.0, 353.0, 28.0, 0.0], [3674.0, 839.0, 43.0, 0.0]]}, "up": {"level_counts": [0, 0, 2, 22, 269, 1140], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4766.0, 1753.0, 196.0, 0.0], [8057.0, 2143.0, 173.0, 0.0], [15769.0, 3280.0, 449.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 44, 570], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [986.0, 813.0, 26.0, 0.0], [2318.0, 1933.0, 69.0, 0.0], [16110.0, 13781.0, 354.0, 0.0]]}, "platform": {"level_counts": [3, 17, 28, 54, 148, 160], "episodes_by_level": [[1868.0, 408.0, 53.0, 0.0], [2359.0, 480.0, 100.0, 0.0], [2209.0, 448.0, 96.0, 0.0], [2233.0, 405.0, 86.0, 0.0], [2055.0, 305.0, 97.0, 0.0], [1536.0, 156.0, 145.0, 0.0]]}, "slope": {"level_counts": [4, 7, 22, 48, 92, 237], "episodes_by_level": [[1671.0, 352.0, 46.0, 0.0], [2117.0, 432.0, 73.0, 0.0], [2036.0, 430.0, 47.0, 0.0], [1832.0, 364.0, 53.0, 0.0], [1702.0, 320.0, 35.0, 0.0], [2923.0, 481.0, 83.0, 0.0]]}, "rubble": {"level_counts": [12, 72, 152, 231, 217, 135], "episodes_by_level": [[3488.0, 793.0, 105.0, 0.0], [5573.0, 1196.0, 241.0, 0.0], [5953.0, 1230.0, 478.0, 0.0], [5138.0, 912.0, 647.0, 0.0], [3313.0, 448.0, 560.0, 0.0], [1373.0, 127.0, 313.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.240966796875, "command_abs_max": [0.9996898174285889, 0.3993273377418518, 0.6998245120048523]}
{"step": 49800, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 49800, "total_transitions": 203980800, "num_steps_per_env": 1, "wm_loss": 0.5556209087371826, "actor_loss": -9.515299797058105, "critic_loss": 0.00483209453523159, "reward": 0.08752838522195816, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11396229267120361, 0.07295847684144974, 0.13647228479385376], "mean_episode_length": 1327.556886227545, "episode_reward_terms": {"track_linear_velocity": 47.052738189697266, "track_angular_velocity": 50.07461166381836, "upright": 25.423797607421875, "leg_posture": -2.4553749561309814, "standstill": -5.789452075958252, "action_rate_l2": -0.5638459324836731, "joint_torques_l2": -0.14049488306045532, "dof_pos_limits": -0.0003024176403414458, "terminated": -0.018150189891457558, "unnecessary_wheel_lift": -0.09047017246484756, "rolling_leg_motion": -0.5694299936294556, "obstacle_progress": 3.7918319702148438, "wheel_body_intrusion": -0.25394636392593384, "pair_body_intrusion": -0.26260122656822205}, "weighted_reward_terms": {"track_linear_velocity": 1.7721552848815918, "track_angular_velocity": 1.8859686851501465, "upright": 0.9575408101081848, "leg_posture": -0.09247720241546631, "standstill": -0.21804910898208618, "action_rate_l2": -0.021236224099993706, "joint_torques_l2": -0.005291482899338007, "dof_pos_limits": -1.139000687544467e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0034073935821652412, "rolling_leg_motion": -0.02144653908908367, "obstacle_progress": 0.14281241595745087, "wheel_body_intrusion": -0.00956442579627037, "pair_body_intrusion": -0.009890394285321236}, "episode_termination_rates": {"time_out": 0.40718562874251496, "fell_over": 0.011976047904191617, "course_exit": 0.5508982035928144, "illegal_nonwheel_contact": 0.029940119760479042}, "collection_time_s": 0.07559514848515392, "learning_time_s": 0.18567436520475894, "iteration_time_s": 0.2947021812439163, "policy_updates": 49500, "skipped_updates": 0, "invalid_env_resets": 280, "elapsed_s": 14676.16862594703, "nonwheel_terminations": 14852, "contact_bce": 0.28667712211608887, "contact_force_loss": 0.02043488249182701, "collision_bce": 8.236670510086697e-06, "collision_label_rate": 0.0, "collision_prediction_mean": 8.290508958452847e-06, "collision_label_count": 16337.0, "terrain_level_mean": 4.33544921875, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 2, 11, 21, 64, 311], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1980.0, 435.0, 39.0, 0.0], [1826.0, 425.0, 36.0, 0.0], [1774.0, 403.0, 29.0, 0.0], [1578.0, 354.0, 28.0, 0.0], [3688.0, 843.0, 43.0, 0.0]]}, "up": {"level_counts": [0, 0, 2, 22, 268, 1141], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4766.0, 1753.0, 196.0, 0.0], [8063.0, 2145.0, 173.0, 0.0], [15807.0, 3290.0, 449.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 43, 571], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [986.0, 813.0, 26.0, 0.0], [2320.0, 1935.0, 69.0, 0.0], [16134.0, 13804.0, 354.0, 0.0]]}, "platform": {"level_counts": [3, 17, 29, 54, 147, 160], "episodes_by_level": [[1868.0, 408.0, 53.0, 0.0], [2359.0, 480.0, 100.0, 0.0], [2210.0, 448.0, 96.0, 0.0], [2236.0, 405.0, 87.0, 0.0], [2061.0, 305.0, 98.0, 0.0], [1540.0, 156.0, 145.0, 0.0]]}, "slope": {"level_counts": [4, 7, 21, 49, 92, 237], "episodes_by_level": [[1671.0, 352.0, 46.0, 0.0], [2117.0, 432.0, 73.0, 0.0], [2038.0, 431.0, 47.0, 0.0], [1832.0, 364.0, 53.0, 0.0], [1704.0, 320.0, 35.0, 0.0], [2935.0, 484.0, 83.0, 0.0]]}, "rubble": {"level_counts": [13, 71, 153, 231, 213, 138], "episodes_by_level": [[3489.0, 793.0, 105.0, 0.0], [5577.0, 1196.0, 242.0, 0.0], [5956.0, 1230.0, 478.0, 0.0], [5145.0, 912.0, 648.0, 0.0], [3319.0, 451.0, 561.0, 0.0], [1376.0, 128.0, 313.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.236572265625, "command_abs_max": [0.9996898174285889, 0.3993273377418518, 0.6998245120048523]}
{"step": 49850, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 49850, "total_transitions": 204185600, "num_steps_per_env": 1, "wm_loss": 0.5314870476722717, "actor_loss": -9.530771255493164, "critic_loss": 0.005354673136025667, "reward": 0.08772888034582138, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11533606797456741, 0.0729123130440712, 0.13547790050506592], "mean_episode_length": 1387.1103448275862, "episode_reward_terms": {"track_linear_velocity": 49.090126037597656, "track_angular_velocity": 52.363399505615234, "upright": 26.56313705444336, "leg_posture": -2.5742456912994385, "standstill": -5.75160026550293, "action_rate_l2": -0.5886915326118469, "joint_torques_l2": -0.14738811552524567, "dof_pos_limits": -0.00045470442273654044, "terminated": -0.021673595532774925, "unnecessary_wheel_lift": -0.07985268533229828, "rolling_leg_motion": -0.5826315879821777, "obstacle_progress": 3.9813232421875, "wheel_body_intrusion": -0.2554778456687927, "pair_body_intrusion": -0.30635541677474976}, "weighted_reward_terms": {"track_linear_velocity": 1.7695105075836182, "track_angular_velocity": 1.887499451637268, "upright": 0.957499086856842, "leg_posture": -0.09279166907072067, "standstill": -0.2073231041431427, "action_rate_l2": -0.021220069378614426, "joint_torques_l2": -0.005312775727361441, "dof_pos_limits": -1.639034780964721e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0028783828020095825, "rolling_leg_motion": -0.021001631394028664, "obstacle_progress": 0.14351141452789307, "wheel_body_intrusion": -0.00920899584889412, "pair_body_intrusion": -0.011042935773730278}, "episode_termination_rates": {"time_out": 0.503448275862069, "fell_over": 0.020689655172413793, "course_exit": 0.4413793103448276, "illegal_nonwheel_contact": 0.041379310344827586}, "collection_time_s": 0.07578663915977814, "learning_time_s": 0.18545575677533635, "iteration_time_s": 0.29466864276551613, "policy_updates": 49550, "skipped_updates": 0, "invalid_env_resets": 280, "elapsed_s": 14689.23184186098, "nonwheel_terminations": 14858, "contact_bce": 0.288023442029953, "contact_force_loss": 0.020023634657263756, "collision_bce": 0.0005498804966919124, "collision_label_rate": 6.127075903350487e-05, "collision_prediction_mean": 1.0966890840791166e-05, "collision_label_count": 16321.0, "terrain_level_mean": 4.335205078125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 2, 11, 21, 64, 311], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1980.0, 435.0, 39.0, 0.0], [1826.0, 425.0, 36.0, 0.0], [1774.0, 403.0, 29.0, 0.0], [1580.0, 354.0, 28.0, 0.0], [3703.0, 846.0, 43.0, 0.0]]}, "up": {"level_counts": [0, 0, 2, 24, 268, 1139], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4766.0, 1753.0, 196.0, 0.0], [8069.0, 2145.0, 175.0, 0.0], [15830.0, 3295.0, 449.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 42, 572], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [986.0, 813.0, 26.0, 0.0], [2322.0, 1937.0, 69.0, 0.0], [16158.0, 13824.0, 355.0, 0.0]]}, "platform": {"level_counts": [3, 17, 29, 54, 147, 160], "episodes_by_level": [[1868.0, 408.0, 53.0, 0.0], [2359.0, 480.0, 100.0, 0.0], [2210.0, 448.0, 96.0, 0.0], [2237.0, 405.0, 87.0, 0.0], [2065.0, 305.0, 98.0, 0.0], [1544.0, 158.0, 145.0, 0.0]]}, "slope": {"level_counts": [4, 7, 21, 48, 93, 237], "episodes_by_level": [[1671.0, 352.0, 46.0, 0.0], [2117.0, 432.0, 73.0, 0.0], [2038.0, 431.0, 47.0, 0.0], [1836.0, 365.0, 53.0, 0.0], [1706.0, 320.0, 35.0, 0.0], [2942.0, 486.0, 83.0, 0.0]]}, "rubble": {"level_counts": [13, 71, 151, 234, 212, 138], "episodes_by_level": [[3489.0, 793.0, 105.0, 0.0], [5580.0, 1196.0, 242.0, 0.0], [5963.0, 1233.0, 478.0, 0.0], [5150.0, 912.0, 649.0, 0.0], [3327.0, 452.0, 562.0, 0.0], [1378.0, 128.0, 314.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234375, "command_abs_max": [0.9996898174285889, 0.3993273377418518, 0.6998956203460693]}
{"step": 49900, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 49900, "total_transitions": 204390400, "num_steps_per_env": 1, "wm_loss": 0.5671244859695435, "actor_loss": -9.50475025177002, "critic_loss": 0.0076443287543952465, "reward": 0.08751717954874039, "falls": 8, "interval_steps": 50, "velocity_mae": [0.11661289632320404, 0.07213350385427475, 0.13590262830257416], "mean_episode_length": 1315.7372262773722, "episode_reward_terms": {"track_linear_velocity": 46.51103973388672, "track_angular_velocity": 49.655784606933594, "upright": 25.16523551940918, "leg_posture": -2.4654881954193115, "standstill": -5.618577003479004, "action_rate_l2": -0.5551204085350037, "joint_torques_l2": -0.14062020182609558, "dof_pos_limits": -0.0010580954840406775, "terminated": -0.020558388903737068, "unnecessary_wheel_lift": -0.07822252810001373, "rolling_leg_motion": -0.5596770644187927, "obstacle_progress": 3.8065555095672607, "wheel_body_intrusion": -0.2579261362552643, "pair_body_intrusion": -0.2917478680610657}, "weighted_reward_terms": {"track_linear_velocity": 1.7674897909164429, "track_angular_velocity": 1.88699471950531, "upright": 0.9563169479370117, "leg_posture": -0.09369228035211563, "standstill": -0.21351440250873566, "action_rate_l2": -0.021095413714647293, "joint_torques_l2": -0.005343779921531677, "dof_pos_limits": -4.0209226426668465e-05, "terminated": -0.0007812498952262104, "unnecessary_wheel_lift": -0.0029725744388997555, "rolling_leg_motion": -0.0212685726583004, "obstacle_progress": 0.14465487003326416, "wheel_body_intrusion": -0.009801583364605904, "pair_body_intrusion": -0.011086859740316868}, "episode_termination_rates": {"time_out": 0.40145985401459855, "fell_over": 0.0364963503649635, "course_exit": 0.5401459854014599, "illegal_nonwheel_contact": 0.0364963503649635}, "collection_time_s": 0.0758615097985603, "learning_time_s": 0.1854372148984112, "iteration_time_s": 0.2946352291974355, "policy_updates": 49600, "skipped_updates": 0, "invalid_env_resets": 280, "elapsed_s": 14702.297936952033, "nonwheel_terminations": 14863, "contact_bce": 0.2928820252418518, "contact_force_loss": 0.021109864115715027, "collision_bce": 0.0003863286110572517, "collision_label_rate": 6.11807918176055e-05, "collision_prediction_mean": 9.156753549177665e-06, "collision_label_count": 16345.0, "terrain_level_mean": 4.335205078125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 2, 10, 22, 63, 312], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1980.0, 435.0, 39.0, 0.0], [1827.0, 426.0, 36.0, 0.0], [1775.0, 403.0, 29.0, 0.0], [1583.0, 355.0, 28.0, 0.0], [3710.0, 848.0, 43.0, 0.0]]}, "up": {"level_counts": [0, 0, 2, 24, 269, 1138], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4316.0, 1764.0, 165.0, 0.0], [4767.0, 1753.0, 196.0, 0.0], [8076.0, 2147.0, 175.0, 0.0], [15864.0, 3304.0, 451.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 42, 572], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [986.0, 813.0, 26.0, 0.0], [2324.0, 1939.0, 69.0, 0.0], [16178.0, 13843.0, 355.0, 0.0]]}, "platform": {"level_counts": [3, 17, 29, 54, 147, 160], "episodes_by_level": [[1868.0, 408.0, 53.0, 0.0], [2360.0, 480.0, 100.0, 0.0], [2211.0, 448.0, 96.0, 0.0], [2237.0, 405.0, 87.0, 0.0], [2067.0, 305.0, 98.0, 0.0], [1546.0, 158.0, 145.0, 0.0]]}, "slope": {"level_counts": [4, 7, 20, 49, 94, 236], "episodes_by_level": [[1671.0, 352.0, 46.0, 0.0], [2117.0, 432.0, 73.0, 0.0], [2040.0, 432.0, 47.0, 0.0], [1836.0, 365.0, 53.0, 0.0], [1710.0, 320.0, 35.0, 0.0], [2947.0, 488.0, 84.0, 0.0]]}, "rubble": {"level_counts": [13, 72, 149, 236, 211, 138], "episodes_by_level": [[3489.0, 793.0, 105.0, 0.0], [5583.0, 1196.0, 242.0, 0.0], [5969.0, 1234.0, 479.0, 0.0], [5154.0, 912.0, 649.0, 0.0], [3332.0, 452.0, 563.0, 0.0], [1384.0, 129.0, 314.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.23388671875, "command_abs_max": [0.9996898174285889, 0.3993273377418518, 0.6998956203460693]}
{"step": 49950, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 49950, "total_transitions": 204595200, "num_steps_per_env": 1, "wm_loss": 0.5320718884468079, "actor_loss": -9.514728546142578, "critic_loss": 0.004964553751051426, "reward": 0.08778596669435501, "falls": 7, "interval_steps": 50, "velocity_mae": [0.11492203176021576, 0.07271409034729004, 0.1350260227918625], "mean_episode_length": 1378.0316455696202, "episode_reward_terms": {"track_linear_velocity": 48.81009292602539, "track_angular_velocity": 52.04692459106445, "upright": 26.367046356201172, "leg_posture": -2.552079916000366, "standstill": -5.79720401763916, "action_rate_l2": -0.5889583230018616, "joint_torques_l2": -0.14607739448547363, "dof_pos_limits": -0.0009216091129928827, "terminated": -0.018840273842215538, "unnecessary_wheel_lift": -0.07590075582265854, "rolling_leg_motion": -0.5804257988929749, "obstacle_progress": 4.042674541473389, "wheel_body_intrusion": -0.25302156805992126, "pair_body_intrusion": -0.28146860003471375}, "weighted_reward_terms": {"track_linear_velocity": 1.771007776260376, "track_angular_velocity": 1.8884518146514893, "upright": 0.9566923975944519, "leg_posture": -0.09259874373674393, "standstill": -0.21034365892410278, "action_rate_l2": -0.02136955037713051, "joint_torques_l2": -0.005300219636410475, "dof_pos_limits": -3.343933349242434e-05, "terminated": -0.0006835936801508069, "unnecessary_wheel_lift": -0.0027539555449038744, "rolling_leg_motion": -0.02105996012687683, "obstacle_progress": 0.1466829478740692, "wheel_body_intrusion": -0.009180543012917042, "pair_body_intrusion": -0.010212704539299011}, "episode_termination_rates": {"time_out": 0.4936708860759494, "fell_over": 0.0189873417721519, "course_exit": 0.4620253164556962, "illegal_nonwheel_contact": 0.02531645569620253}, "collection_time_s": 0.07573182527790777, "learning_time_s": 0.18506778884213418, "iteration_time_s": 0.2946013822223424, "policy_updates": 49650, "skipped_updates": 0, "invalid_env_resets": 280, "elapsed_s": 14715.339042006002, "nonwheel_terminations": 14867, "contact_bce": 0.28598058223724365, "contact_force_loss": 0.020055443048477173, "collision_bce": 1.1755601917684544e-05, "collision_label_rate": 0.0, "collision_prediction_mean": 1.1753422768379096e-05, "collision_label_count": 16339.0, "terrain_level_mean": 4.33642578125, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 2, 10, 22, 63, 312], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1980.0, 435.0, 39.0, 0.0], [1827.0, 426.0, 36.0, 0.0], [1776.0, 403.0, 29.0, 0.0], [1584.0, 355.0, 28.0, 0.0], [3721.0, 852.0, 43.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 25, 268, 1139], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4317.0, 1765.0, 165.0, 0.0], [4767.0, 1753.0, 196.0, 0.0], [8085.0, 2147.0, 175.0, 0.0], [15893.0, 3312.0, 451.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 43, 571], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [986.0, 813.0, 26.0, 0.0], [2325.0, 1940.0, 69.0, 0.0], [16200.0, 13862.0, 355.0, 0.0]]}, "platform": {"level_counts": [3, 17, 29, 54, 146, 161], "episodes_by_level": [[1868.0, 408.0, 53.0, 0.0], [2360.0, 480.0, 100.0, 0.0], [2211.0, 448.0, 96.0, 0.0], [2238.0, 405.0, 87.0, 0.0], [2075.0, 308.0, 98.0, 0.0], [1552.0, 159.0, 147.0, 0.0]]}, "slope": {"level_counts": [4, 7, 19, 50, 94, 236], "episodes_by_level": [[1671.0, 352.0, 46.0, 0.0], [2117.0, 432.0, 73.0, 0.0], [2042.0, 433.0, 47.0, 0.0], [1836.0, 365.0, 53.0, 0.0], [1712.0, 320.0, 35.0, 0.0], [2957.0, 489.0, 84.0, 0.0]]}, "rubble": {"level_counts": [14, 71, 150, 231, 215, 138], "episodes_by_level": [[3490.0, 793.0, 105.0, 0.0], [5587.0, 1196.0, 243.0, 0.0], [5975.0, 1234.0, 479.0, 0.0], [5165.0, 916.0, 650.0, 0.0], [3340.0, 453.0, 563.0, 0.0], [1386.0, 129.0, 315.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.2333984375, "command_abs_max": [0.9996898174285889, 0.3993273377418518, 0.6998956203460693]}
{"step": 50000, "actor_lr": 1.2e-05, "archive_windows": 50000, "env_steps": 50000, "total_transitions": 204800000, "num_steps_per_env": 1, "wm_loss": 0.5613338947296143, "actor_loss": -9.521315574645996, "critic_loss": 0.006103314459323883, "reward": 0.08769479393959045, "falls": 12, "interval_steps": 50, "velocity_mae": [0.11391046643257141, 0.07351236045360565, 0.13643699884414673], "mean_episode_length": 1311.873417721519, "episode_reward_terms": {"track_linear_velocity": 46.49908447265625, "track_angular_velocity": 49.47795486450195, "upright": 25.07775115966797, "leg_posture": -2.4390318393707275, "standstill": -5.52980899810791, "action_rate_l2": -0.5604910254478455, "joint_torques_l2": -0.14059655368328094, "dof_pos_limits": -0.0006913493853062391, "terminated": -0.030747031792998314, "unnecessary_wheel_lift": -0.08377140015363693, "rolling_leg_motion": -0.545794665813446, "obstacle_progress": 3.830490827560425, "wheel_body_intrusion": -0.24440307915210724, "pair_body_intrusion": -0.2655044496059418}, "weighted_reward_terms": {"track_linear_velocity": 1.7722399234771729, "track_angular_velocity": 1.885774850845337, "upright": 0.9557992219924927, "leg_posture": -0.09295988082885742, "standstill": -0.21076001226902008, "action_rate_l2": -0.021362237632274628, "joint_torques_l2": -0.005358617752790451, "dof_pos_limits": -2.6349698600824922e-05, "terminated": -0.001171874930150807, "unnecessary_wheel_lift": -0.0031928156968206167, "rolling_leg_motion": -0.020802108570933342, "obstacle_progress": 0.1459931582212448, "wheel_body_intrusion": -0.00931504089385271, "pair_body_intrusion": -0.010119286365807056}, "episode_termination_rates": {"time_out": 0.45569620253164556, "fell_over": 0.0379746835443038, "course_exit": 0.46835443037974683, "illegal_nonwheel_contact": 0.06329113924050633}, "collection_time_s": 0.07573216751450673, "learning_time_s": 0.18514936694409698, "iteration_time_s": 0.29456768520048005, "policy_updates": 49700, "skipped_updates": 0, "invalid_env_resets": 280, "elapsed_s": 14728.384260024002, "nonwheel_terminations": 14877, "contact_bce": 0.2818485200405121, "contact_force_loss": 0.020747343078255653, "collision_bce": 0.00014198337157722563, "collision_label_rate": 0.00012241399963386357, "collision_prediction_mean": 7.465541420970112e-05, "collision_label_count": 16338.0, "terrain_level_mean": 4.3359375, "terrain_level_max": 5, "terrain_details": {"flat": {"level_counts": [1, 2, 10, 22, 63, 312], "episodes_by_level": [[1452.0, 318.0, 49.0, 0.0], [1980.0, 435.0, 39.0, 0.0], [1828.0, 426.0, 36.0, 0.0], [1777.0, 403.0, 29.0, 0.0], [1588.0, 355.0, 28.0, 0.0], [3726.0, 853.0, 43.0, 0.0]]}, "up": {"level_counts": [0, 0, 1, 26, 266, 1140], "episodes_by_level": [[692.0, 556.0, 7.0, 0.0], [2404.0, 1469.0, 37.0, 0.0], [4317.0, 1765.0, 165.0, 0.0], [4767.0, 1753.0, 196.0, 0.0], [8096.0, 2149.0, 175.0, 0.0], [15919.0, 3317.0, 452.0, 0.0]]}, "down": {"level_counts": [0, 0, 0, 0, 44, 570], "episodes_by_level": [[189.0, 169.0, 2.0, 0.0], [536.0, 480.0, 9.0, 0.0], [763.0, 674.0, 21.0, 0.0], [986.0, 813.0, 26.0, 0.0], [2328.0, 1943.0, 69.0, 0.0], [16226.0, 13883.0, 356.0, 0.0]]}, "platform": {"level_counts": [3, 17, 29, 55, 143, 163], "episodes_by_level": [[1868.0, 408.0, 53.0, 0.0], [2360.0, 480.0, 100.0, 0.0], [2211.0, 448.0, 96.0, 0.0], [2239.0, 405.0, 87.0, 0.0], [2082.0, 310.0, 99.0, 0.0], [1555.0, 160.0, 147.0, 0.0]]}, "slope": {"level_counts": [4, 7, 19, 50, 94, 236], "episodes_by_level": [[1671.0, 352.0, 46.0, 0.0], [2117.0, 432.0, 73.0, 0.0], [2042.0, 433.0, 47.0, 0.0], [1836.0, 365.0, 53.0, 0.0], [1714.0, 320.0, 35.0, 0.0], [2963.0, 489.0, 84.0, 0.0]]}, "rubble": {"level_counts": [14, 71, 150, 232, 215, 137], "episodes_by_level": [[3492.0, 793.0, 105.0, 0.0], [5589.0, 1196.0, 243.0, 0.0], [5979.0, 1235.0, 479.0, 0.0], [5176.0, 917.0, 651.0, 0.0], [3348.0, 454.0, 565.0, 0.0], [1389.0, 129.0, 317.0, 0.0]]}}, "success_archive_windows": 50000, "next_command_stage": 1, "command_stage": 1, "command_ranges": [[-0.5, 1.0], [-0.4, 0.4], [-0.7, 0.7]], "command_negative_vx_fraction": 0.234375, "command_abs_max": [0.9996898174285889, 0.3993273377418518, 0.6998956203460693]}