runc0.log

logs_data/30hc/cgrew1/ablo/run_2024-08-10_20-39-00/run_1a172_00001_1_clip_discriminator=10,dr_cc=0.8000,seed=1_2024-08-10_20-39-00/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g0_s1/08.10_20.39.49/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type1-infogsdr_ppo-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g0_s1
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppo
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 17, action dim: 6, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/HCCustom_v0.h5 with traj_num 25.0, data_size 25000 steps, and average return 996.96
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 14985, K 15, state dim 17, action dim 6, a min -0.7615942, a_max 0.7615942
Policy model is loaded from logs_data/30hc/cgrew1/ablo/run_2024-08-10_20-39-00/run_1a172_00001_1_clip_discriminator=10,dr_cc=0.8000,seed=1_2024-08-10_20-39-00/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g0_s1/08.10_20.39.49/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hc/cgrew1/ablo/run_2024-08-10_20-39-00/run_1a172_00001_1_clip_discriminator=10,dr_cc=0.8000,seed=1_2024-08-10_20-39-00/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g0_s1/08.10_20.39.49/models/ckpt_discr_T15000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 5 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
current_vel_mean [0.97, 1.78, 2.88, 3.65, 4.87]
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
zvs shape 1500
RT 990.0781333333334 62.27448382108215 1000.0 -10.4
LR 0.9909333333333334 0.08341340153449897 1.0 -0.6
VL-std-all 0.1963888865915018 0.0
*** budget = 10
VL10-1 0.16801206981905045 0.1615379569118344
RT-VL10-1 997.3493333333334 1.2552156078627368 1000.0 994.0
VL10-2 0.17191424431709987 0.1590571645281902
RT-VL10-2 997.6 9.530750232799095 1000.0 882.0
VL10-3 0.10391029133864471 0.12059193384106831
RT-VL10-3 994.9546666666668 30.203003353235516 1000.0 752.4
VL10-4 0.21101357204694063 0.2214363148760211
RT-VL10-4 989.4373333333332 35.59493886620525 1000.0 752.0
VL10-5 1.1781033497506128 0.357921014437971
RT-VL10-5 991.112 30.524477434784476 1000.0 752.0
VL10-all 0.3665907054544697 0.40720766576862927
RT-VL10-all 994.0906666666667 3.2926217854807964 997.6 989.4373333333332
*** budget = 20
VL20-1 0.08507422157079869 0.06945277072765164
RT-VL20-1 997.2266666666667 1.2067955732250417 999.6 994.0
VL20-2 0.08951715515184165 0.06592676844697425
RT-VL20-2 998.4800000000002 1.0949581422745516 1000.0 995.2
VL20-3 0.05117239126820821 0.061683390393260006
RT-VL20-3 990.7626666666666 42.28589291425163 1000.0 752.4
VL20-4 0.08715876910251656 0.07197340430924506
RT-VL20-4 992.2133333333334 28.10626185666738 1000.0 846.0
VL20-5 0.9844894362213421 0.20570163144864584
RT-VL20-5 994.624 14.863537847138998 1000.0 916.4
VL20-all 0.2594823946629415 0.3627754383177759
RT-VL20-all 994.6613333333332 2.9105617938047588 998.4800000000002 990.7626666666666
*** budget = 30
VL30-1 0.061868732661371 0.05606575977492569
RT-VL30-1 997.2560000000001 1.073342443025523 999.2 994.0
VL30-2 0.06781491309445244 0.049427145026087534
RT-VL30-2 998.3439999999999 1.197357089593577 1000.0 995.2
VL30-3 0.02941530978389774 0.02587539364451623
RT-VL30-3 999.1599999999999 1.528921188289313 1000.0 990.4
VL30-4 0.05622760753296705 0.04460871066543701
RT-VL30-4 991.0320000000002 31.021756494434666 1000.0 846.0
VL30-5 0.9354776033003777 0.19036405638131876
RT-VL30-5 992.4320000000001 20.07136706853821 1000.0 892.4
VL30-all 0.23016083327461317 0.3529027365226838
RT-VL30-all 995.6448 3.2814108185351207 999.1599999999999 991.0320000000002
*** budget = 40
VL40-1 0.05119908027110096 0.048047727796415474
RT-VL40-1 997.2864864864864 0.9935364524011152 998.8 995.2
VL40-2 0.04824136011129647 0.043241749520412126
RT-VL40-2 998.443243243243 1.095578470067744 1000.0 995.2
VL40-3 0.020013315685515936 0.018629902450072396
RT-VL40-3 999.3189189189186 0.9057885433796043 1000.0 995.2
VL40-4 0.048474960049929 0.04186831026724433
RT-VL40-4 988.010810810811 35.57034738171809 1000.0 846.0
VL40-5 0.8697027116649938 0.16149132808900607
RT-VL40-5 994.972972972973 12.779219801263276 1000.0 922.4
VL40-all 0.20752628555656724 0.3312841499062334
RT-VL40-all 995.6064864864863 4.068104516952092 999.3189189189186 988.010810810811
*** budget = 50
VL50-1 0.03394886226007274 0.026711677288334013
RT-VL50-1 997.1333333333332 1.0637460014286997 998.8 994.0
VL50-2 0.041336687590328255 0.03938448991591725
RT-VL50-2 998.4266666666665 1.0376040777783304 1000.0 995.2
VL50-3 0.01546289233869098 0.01578457973828372
RT-VL50-3 999.5599999999998 0.4659041389241716 1000.0 998.4
VL50-4 0.03755711107021984 0.03200338146529991
RT-VL50-4 988.9866666666666 36.1463297660434 1000.0 846.0
VL50-5 0.8543941071537223 0.13351836159579894
RT-VL50-5 991.4933333333333 21.993437405028097 1000.0 892.4
VL50-all 0.19653993208260684 0.3290472459829866
RT-VL50-all 995.1199999999999 4.1345288593609455 999.5599999999998 988.9866666666666
logs_data/30hc/cgrew1/ablo/run_2024-08-10_20-39-00/run_1a172_00003_3_clip_discriminator=10,dr_cc=0.8000,seed=2_2024-08-10_20-39-00/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g0_s2/08.10_20.39.48/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type1-infogsdr_ppo-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g0_s2
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppo
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 17, action dim: 6, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/HCCustom_v0.h5 with traj_num 25.0, data_size 25000 steps, and average return 996.96
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 14985, K 15, state dim 17, action dim 6, a min -0.7615942, a_max 0.7615942
Policy model is loaded from logs_data/30hc/cgrew1/ablo/run_2024-08-10_20-39-00/run_1a172_00003_3_clip_discriminator=10,dr_cc=0.8000,seed=2_2024-08-10_20-39-00/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g0_s2/08.10_20.39.48/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hc/cgrew1/ablo/run_2024-08-10_20-39-00/run_1a172_00003_3_clip_discriminator=10,dr_cc=0.8000,seed=2_2024-08-10_20-39-00/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g0_s2/08.10_20.39.48/models/ckpt_discr_T15000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 5 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
current_vel_mean [0.97, 1.78, 2.88, 3.65, 4.87]
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
zvs shape 1500
RT 966.0994666666668 134.4202922170442 1000.0 -306.4
LR 0.9685333333333335 0.14704823093877134 1.0 -1.0
VL-std-all 0.3428453207242678 0.0
*** budget = 10
VL10-1 0.11280558515024867 0.10376336287598616
RT-VL10-1 991.9626666666667 67.3521348799642 1000.0 170.0
VL10-2 0.2065152615986725 0.16123020964989992
RT-VL10-2 976.0186666666666 111.75346520304812 1000.0 334.8
VL10-3 0.23968181425773183 0.2517525739175653
RT-VL10-3 959.664 83.60289730226658 1000.0 632.4
VL10-4 0.2896309580518288 0.2525700635820907
RT-VL10-4 970.5413333333335 51.73784454557633 1000.0 754.8
VL10-5 0.48878941810649756 0.472246030073284
RT-VL10-5 986.5946666666667 29.60788135315025 1000.0 838.0
VL10-all 0.26748460743299585 0.12480555792682081
RT-VL10-all 976.9562666666667 11.48167013480376 991.9626666666667 959.664
*** budget = 20
VL20-1 0.06417209954365856 0.06513319492164056
RT-VL20-1 997.2266666666665 1.3581687016796633 999.6 994.0
VL20-2 0.1147395701222456 0.09625284866390663
RT-VL20-2 970.7626666666666 118.30612807270617 1000.0 432.8
VL20-3 0.10338975969199152 0.09234645023228176
RT-VL20-3 954.1866666666666 83.44774226358008 1000.0 718.0
VL20-4 0.15238591465168233 0.1494076042027167
RT-VL20-4 973.1253333333334 51.56141992700443 999.6 754.8
VL20-5 0.24240179053748204 0.2549467332126076
RT-VL20-5 991.7653333333335 20.90385287187242 1000.0 865.2
VL20-all 0.135417826909412 0.060436455118606125
RT-VL20-all 977.4133333333333 15.496092651590159 997.2266666666665 954.1866666666666
*** budget = 30
VL30-1 0.037915341232513916 0.031562570113196756
RT-VL30-1 996.9839999999999 1.497111886266356 1000.0 994.0
VL30-2 0.07045969111257534 0.05601742179300732
RT-VL30-2 987.552 77.48947345285036 1000.0 445.2
VL30-3 0.07101563755093356 0.06528658597047479
RT-VL30-3 958.3679999999999 76.33726597147687 1000.0 718.0
VL30-4 0.10685276974258986 0.1278872563857188
RT-VL30-4 971.544 56.11895993334161 1000.0 754.8
VL30-5 0.16383373934743392 0.17839406080628897
RT-VL30-5 995.2879999999999 11.176343588132928 1000.0 926.0
VL30-all 0.09001543579720932 0.04287301503426448
RT-VL30-all 981.9472 14.83038316969591 996.9839999999999 958.3679999999999
*** budget = 40
VL40-1 0.029869546446021442 0.02058216446068455
RT-VL40-1 974.8648648648649 133.81916037862885 1000.0 172.0
VL40-2 0.054474984157935835 0.04136405712361246
RT-VL40-2 998.8216216216215 1.047812427802244 1000.0 996.0
VL40-3 0.05810390820942648 0.052352096914526906
RT-VL40-3 955.3513513513514 82.63353687875623 1000.0 718.0
VL40-4 0.08293639181692272 0.10083707450732818
RT-VL40-4 969.9135135135136 62.51777763234756 999.6 754.8
VL40-5 0.15082530905312774 0.14685256606738112
RT-VL40-5 993.5135135135133 16.23772987332301 1000.0 926.0
VL40-all 0.07524202793668684 0.041365886794709615
RT-VL40-all 978.4929729729729 15.881911335536074 998.8216216216215 955.3513513513514
*** budget = 50
VL50-1 0.024866040181841652 0.018269522559511118
RT-VL50-1 969.6000000000001 148.48946090547975 1000.0 170.0
VL50-2 0.04504027468834274 0.04103315729795057
RT-VL50-2 998.88 1.104656809451093 1000.0 996.0
VL50-3 0.04289270710978707 0.03768278017639061
RT-VL50-3 960.5733333333334 76.166882275406 1000.0 718.0
VL50-4 0.08091316760601582 0.10972447101871188
RT-VL50-4 962.2 68.52018680651712 999.2 754.8
VL50-5 0.12542783362923143 0.18733725893786937
RT-VL50-5 997.6533333333335 2.40384876581055 1000.0 986.4
VL50-all 0.06382800464304375 0.03576518384946905
RT-VL50-all 977.7813333333334 17.005161255728623 998.88 960.5733333333334
logs_data/30hc/cgrew1/ablo/run_2024-08-10_20-39-00/run_1a172_00005_5_clip_discriminator=10,dr_cc=0.8000,seed=3_2024-08-10_20-39-00/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g0_s3/08.10_20.39.50/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type1-infogsdr_ppo-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g0_s3
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppo
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 17, action dim: 6, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/HCCustom_v0.h5 with traj_num 25.0, data_size 25000 steps, and average return 996.96
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 14985, K 15, state dim 17, action dim 6, a min -0.7615942, a_max 0.7615942
Policy model is loaded from logs_data/30hc/cgrew1/ablo/run_2024-08-10_20-39-00/run_1a172_00005_5_clip_discriminator=10,dr_cc=0.8000,seed=3_2024-08-10_20-39-00/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g0_s3/08.10_20.39.50/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hc/cgrew1/ablo/run_2024-08-10_20-39-00/run_1a172_00005_5_clip_discriminator=10,dr_cc=0.8000,seed=3_2024-08-10_20-39-00/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g0_s3/08.10_20.39.50/models/ckpt_discr_T15000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 5 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
current_vel_mean [0.97, 1.78, 2.88, 3.65, 4.87]
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
zvs shape 1500
RT 948.0776 186.34060986512486 1000.0 -172.0
LR 0.9447999999999999 0.22825342640728677 1.0 -1.0
VL-std-all 0.4858099457045453 0.0
*** budget = 10
VL10-1 0.2145791573318249 0.23252642360723583
RT-VL10-1 968.7333333333333 150.72493563515704 999.6 83.6
VL10-2 0.15375827586561347 0.14766574644384048
RT-VL10-2 970.1653333333333 129.16275365427742 1000.0 298.4
VL10-3 0.12791794644797996 0.11519105461183511
RT-VL10-3 963.6533333333333 88.12528858896798 1000.0 538.4
VL10-4 0.2254770273792506 0.20230365025180846
RT-VL10-4 979.9413333333334 54.47211664288029 1000.0 764.0
VL10-5 1.2133957160229978 0.39608326458305726
RT-VL10-5 986.4773333333336 45.04210052334988 1000.0 764.0
VL10-all 0.3870256246095333 0.4147948182411685
RT-VL10-all 973.7941333333332 8.249452597597116 986.4773333333336 963.6533333333333
*** budget = 20
VL20-1 0.09743221393466747 0.08839159079326518
RT-VL20-1 985.4826666666667 94.1994881420394 998.8 175.2
VL20-2 0.07674490011291772 0.07872637896305733
RT-VL20-2 981.664 100.29307538741979 1000.0 359.6
VL20-3 0.06984977677099627 0.05727531039499511
RT-VL20-3 959.4026666666666 87.47334218428429 1000.0 670.0
VL20-4 0.1175739909392959 0.11935684039849793
RT-VL20-4 980.2346666666667 51.62697355280689 1000.0 776.0
VL20-5 0.9632684023818456 0.33534207596619653
RT-VL20-5 992.0853333333334 28.523958085947488 1000.0 776.0
VL20-all 0.2649738568279446 0.34954706169035293
RT-VL20-all 979.7738666666668 10.981196100810026 992.0853333333334 959.4026666666666
*** budget = 30
VL30-1 0.062481631599166934 0.04482310343659671
RT-VL30-1 980.12 114.99346068364062 998.8 175.2
VL30-2 0.05054928182656413 0.04434988019025417
RT-VL30-2 973.64 122.04191411150515 1000.0 359.6
VL30-3 0.048778415264521986 0.04441375636430553
RT-VL30-3 955.192 88.188252823151 1000.0 775.2
VL30-4 0.07593919779293168 0.08197533867150594
RT-VL30-4 972.5039999999999 55.58893760452704 1000.0 806.8
VL30-5 0.8291366277945081 0.2884394166121171
RT-VL30-5 994.5199999999999 11.12898917242712 1000.0 938.8
VL30-all 0.21337703085553858 0.30803377762980766
RT-VL30-all 975.1951999999999 12.708192356114186 994.5199999999999 955.192
*** budget = 40
VL40-1 0.06096766885099665 0.04798875413638915
RT-VL40-1 974.5729729729729 133.23181311644967 998.8 175.2
VL40-2 0.04349701256904264 0.039230073364321036
RT-VL40-2 964.8648648648649 140.82212705475294 1000.0 359.6
VL40-3 0.03290429475115024 0.028884346968788055
RT-VL40-3 942.4324324324323 101.28742632686998 1000.0 670.0
VL40-4 0.061120295214230846 0.05224821016701737
RT-VL40-4 979.0918918918917 53.02447358648125 1000.0 806.8
VL40-5 0.7693743983196811 0.2777625836041224
RT-VL40-5 990.897297297297 18.322375723547914 1000.0 910.8
VL40-all 0.19357273394102031 0.2881015022558778
RT-VL40-all 970.3718918918918 16.284474144836476 990.897297297297 942.4324324324323
*** budget = 50
VL50-1 0.04983807793870754 0.04471709219242653
RT-VL50-1 969.0799999999999 147.42208427957232 998.4 175.2
VL50-2 0.028874108501098898 0.02068020435243387
RT-VL50-2 957.0133333333332 155.34415069630256 1000.0 359.6
VL50-3 0.029484828488555898 0.02667745596564479
RT-VL50-3 962.3733333333333 82.0017517428066 1000.0 775.2
VL50-4 0.04556495073801193 0.039475089687377285
RT-VL50-4 966.9733333333331 65.1698648831566 1000.0 806.8
VL50-5 0.7196212384068588 0.26351427608079125
RT-VL50-5 992.9733333333334 13.850124748736226 1000.0 938.8
VL50-all 0.1746766408146466 0.27260159593659417
RT-VL50-all 969.6826666666666 12.362016088720273 992.9733333333334 957.0133333333332
logs_data/30hc/cgrew1/ablo/run_2024-08-10_20-39-00/run_1a172_00007_7_clip_discriminator=10,dr_cc=0.8000,seed=4_2024-08-10_20-39-00/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g0_s4/08.10_20.39.49/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type1-infogsdr_ppo-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g0_s4
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppo
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 17, action dim: 6, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/HCCustom_v0.h5 with traj_num 25.0, data_size 25000 steps, and average return 996.96
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 14985, K 15, state dim 17, action dim 6, a min -0.7615942, a_max 0.7615942
Policy model is loaded from logs_data/30hc/cgrew1/ablo/run_2024-08-10_20-39-00/run_1a172_00007_7_clip_discriminator=10,dr_cc=0.8000,seed=4_2024-08-10_20-39-00/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g0_s4/08.10_20.39.49/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hc/cgrew1/ablo/run_2024-08-10_20-39-00/run_1a172_00007_7_clip_discriminator=10,dr_cc=0.8000,seed=4_2024-08-10_20-39-00/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g0_s4/08.10_20.39.49/models/ckpt_discr_T15000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 5 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
current_vel_mean [0.97, 1.78, 2.88, 3.65, 4.87]
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
zvs shape 1500
RT 962.8856000000001 153.9301563891018 1000.0 -78.0
LR 0.9565333333333335 0.20429712566640668 1.0 -0.6
VL-std-all 0.2619756882997013 0.0
*** budget = 10
VL10-1 0.15361818466635638 0.15330476465497578
RT-VL10-1 966.232 156.11071127888695 1000.0 78.4
VL10-2 0.16128052515106647 0.1455866638719984
RT-VL10-2 976.0586666666668 112.84541295457642 1000.0 381.2
VL10-3 0.3012678928157036 0.19677311766702288
RT-VL10-3 956.7466666666667 97.62714012450067 1000.0 606.8
VL10-4 0.14758918291872652 0.20539026673974697
RT-VL10-4 989.36 26.951294341212385 1000.0 861.2
VL10-5 0.9825230565075204 0.31697366500651225
RT-VL10-5 996.2080000000001 11.369922427176014 1000.0 910.8
VL10-all 0.3492557684118747 0.32174787095906543
RT-VL10-all 976.9210666666668 14.482535380243363 996.2080000000001 956.7466666666667
*** budget = 20
VL20-1 0.06587802204668669 0.06780309654101134
RT-VL20-1 967.1413333333333 151.07936906878524 1000.0 204.0
VL20-2 0.0839002191119055 0.07866285472700205
RT-VL20-2 984.4853333333334 87.89541162591416 1000.0 442.4
VL20-3 0.2020517191379541 0.14660188874430358
RT-VL20-3 943.8986666666668 111.97161722905 1000.0 634.4
VL20-4 0.06881999852011207 0.06418221463075031
RT-VL20-4 990.7626666666669 24.05045126857753 1000.0 888.4
VL20-5 0.8199739550841811 0.10097706994255853
RT-VL20-5 998.1386666666666 3.817429967341325 1000.0 980.4
VL20-all 0.2481247827801679 0.290333600475931
RT-VL20-all 976.8853333333334 19.41705576033604 998.1386666666666 943.8986666666668
*** budget = 30
VL30-1 0.051557117743878764 0.05851158868751511
RT-VL30-1 981.96 111.71364106500154 999.6 200.0
VL30-2 0.0529426752946929 0.04769829719640866
RT-VL30-2 977.4079999999999 106.94732131287816 1000.0 442.4
VL30-3 0.15576994015293347 0.11326933161279805
RT-VL30-3 943.2559999999999 106.64906218059305 1000.0 680.0
VL30-4 0.046845593846675276 0.04019459205278116
RT-VL30-4 991.784 21.375755986631216 1000.0 906.8
VL30-5 0.7878288789380459 0.10410910977246518
RT-VL30-5 998.592 2.8116785022473683 1000.0 981.6
VL30-all 0.21898884119524525 0.2873373024249055
RT-VL30-all 978.6 19.159367004157573 998.592 943.2559999999999
*** budget = 40
VL40-1 0.03614761956283649 0.039080354825007525
RT-VL40-1 977.2216216216217 123.342071328207 999.6 237.2
VL40-2 0.03703350134868353 0.03624682227163011
RT-VL40-2 969.7405405405403 123.41074345334694 1000.0 442.4
VL40-3 0.12885151845129844 0.10251930754191889
RT-VL40-3 922.3783783783782 120.1785678944217 1000.0 680.0
VL40-4 0.03414685034617606 0.028663373329982207
RT-VL40-4 986.3783783783782 29.887131237148875 1000.0 888.4
VL40-5 0.7645489360564631 0.10168720936137843
RT-VL40-5 998.7567567567565 3.026061622114248 1000.0 981.6
VL40-all 0.20014568515309153 0.2844962041982422
RT-VL40-all 970.895135135135 26.1198544668676 998.7567567567565 922.3783783783782
*** budget = 50
VL50-1 0.026807532116723366 0.02788030365911426
RT-VL50-1 971.1600000000002 142.4622092579877 999.6 204.0
VL50-2 0.03346613103657808 0.030052688619460043
RT-VL50-2 962.8666666666666 136.13938282347087 1000.0 442.4
VL50-3 0.11555711249445282 0.09705347067713302
RT-VL50-3 936.8533333333331 113.0977504442752 1000.0 712.0
VL50-4 0.03356406338018905 0.03405640340714334
RT-VL50-4 987.2933333333333 28.471962036751567 1000.0 888.4
VL50-5 0.7412973857097003 0.10011368447281736
RT-VL50-5 998.6800000000001 3.303573822392953 1000.0 981.6
VL50-all 0.1901384449475287 0.2775165909015551
RT-VL50-all 971.3706666666667 21.275054396065812 998.6800000000001 936.8533333333331
logs_data/30hc/cgrew1/ablo/run_2024-08-10_20-39-00/run_1a172_00009_9_clip_discriminator=10,dr_cc=0.8000,seed=5_2024-08-10_20-39-00/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g0_s5/08.10_20.39.54/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type1-infogsdr_ppo-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g0_s5
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppo
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 17, action dim: 6, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/HCCustom_v0.h5 with traj_num 25.0, data_size 25000 steps, and average return 996.96
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 14985, K 15, state dim 17, action dim 6, a min -0.7615942, a_max 0.7615942
Policy model is loaded from logs_data/30hc/cgrew1/ablo/run_2024-08-10_20-39-00/run_1a172_00009_9_clip_discriminator=10,dr_cc=0.8000,seed=5_2024-08-10_20-39-00/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g0_s5/08.10_20.39.54/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hc/cgrew1/ablo/run_2024-08-10_20-39-00/run_1a172_00009_9_clip_discriminator=10,dr_cc=0.8000,seed=5_2024-08-10_20-39-00/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g0_s5/08.10_20.39.54/models/ckpt_discr_T15000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 5 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
current_vel_mean [0.97, 1.78, 2.88, 3.65, 4.87]
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
zvs shape 1500
RT 978.5506666666666 112.07245284289186 1000.0 -135.6
LR 0.9757333333333332 0.1473243436171437 1.0 -1.0
VL-std-all 0.17689553347058182 0.0
*** budget = 10
VL10-1 0.08646988342561182 0.07476326676970103
RT-VL10-1 997.2293333333334 1.4199317667487492 999.6 992.4
VL10-2 0.15784264131377246 0.12926345030839645
RT-VL10-2 992.7146666666667 41.982309586565414 1000.0 577.2
VL10-3 0.33050431897947186 0.31570504261195015
RT-VL10-3 972.04 69.05692724122613 1000.0 640.4
VL10-4 0.5663816464369016 0.5352145680398095
RT-VL10-4 981.6239999999998 50.99680993944621 1000.0 640.4
VL10-5 1.6977302919347916 0.6171926469733827
RT-VL10-5 982.2053333333332 50.76285753273636 1000.0 640.4
VL10-all 0.5677857564181099 0.5886930325114735
RT-VL10-all 985.1626666666667 8.900668639053114 997.2293333333334 972.04
*** budget = 20
VL20-1 0.04489422741729457 0.04788873591461115
RT-VL20-1 997.3066666666666 1.3359973386533712 999.6 993.2
VL20-2 0.07895439649576952 0.06399997418738158
RT-VL20-2 992.0746666666668 48.265032458522406 1000.0 577.2
VL20-3 0.16418171830220007 0.17988433486841762
RT-VL20-3 964.5919999999999 75.64710659370918 999.2 695.2
VL20-4 0.26830815340136777 0.2798197612508025
RT-VL20-4 989.9040000000002 25.411710896094082 1000.0 845.6
VL20-5 1.3333561510514038 0.3793314161065256
RT-VL20-5 990.3520000000001 24.191499112980434 1000.0 845.6
VL20-all 0.3779389293336072 0.4839098354456477
RT-VL20-all 986.8458666666668 11.433708218538209 997.3066666666666 964.5919999999999
*** budget = 30
VL30-1 0.02887933432341529 0.03240043765869242
RT-VL30-1 997.368 1.2752160601247104 999.6 993.2
VL30-2 0.049301720362431196 0.03609641596148447
RT-VL30-2 997.7279999999998 1.8109710102594108 1000.0 991.6
VL30-3 0.09734011240749069 0.0863036896139303
RT-VL30-3 965.6239999999999 75.61013307751811 998.8 695.2
VL30-4 0.15853655285858195 0.13448786104410146
RT-VL30-4 988.568 29.753342266037947 1000.0 845.6
VL30-5 1.173441913108643 0.22938847913252008
RT-VL30-5 988.1519999999999 29.99582797657034 1000.0 845.6
VL30-all 0.30149992661211245 0.43825301056854593
RT-VL30-all 987.4879999999999 11.68001534245569 997.7279999999998 965.6239999999999
*** budget = 40
VL40-1 0.025211131181165972 0.027925533518416985
RT-VL40-1 997.2432432432432 1.2845317877754892 999.2 993.2
VL40-2 0.04111544991643272 0.031258017187546824
RT-VL40-2 997.4918918918918 2.049440052515121 1000.0 991.6
VL40-3 0.07423256088286218 0.06561704213402379
RT-VL40-3 965.7945945945946 76.36819044158459 998.8 695.2
VL40-4 0.12949515676674414 0.12081756144783931
RT-VL40-4 985.5459459459461 33.4025293960073 1000.0 845.6
VL40-5 1.1249827051398824 0.19908522918383662
RT-VL40-5 986.2810810810811 33.177636866124935 1000.0 845.6
VL40-all 0.2790074007774175 0.42449169332262116
RT-VL40-all 986.4713513513514 11.54042301351634 997.4918918918918 965.7945945945946
*** budget = 50
VL50-1 0.015643034480733578 0.014805983925466266
RT-VL50-1 997.36 1.2026637102698265 999.2 993.2
VL50-2 0.03680039472843332 0.027545453805908286
RT-VL50-2 997.2933333333334 2.15080346744084 1000.0 991.6
VL50-3 0.05750160150041843 0.06286562190652362
RT-VL50-3 962.8933333333334 82.48582477546604 998.8 695.2
VL50-4 0.10473184703408557 0.07819596053754985
RT-VL50-4 991.8266666666666 19.95880646620823 1000.0 885.6
VL50-5 1.0663962943203606 0.14504776383105608
RT-VL50-5 992.52 20.002973112348403 1000.0 885.6
VL50-all 0.25621463441280634 0.4061638904782096
RT-VL50-all 988.3786666666667 12.951271683592365 997.36 962.8933333333334
logs_data/30hc/cgrew/ig/run_2024-05-29_17-35-27/run_5db2e_00009_9_dr_cc=0.8000,seed=5_2024-05-29_17-35-27/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0000_rc0.80_reg00_ds0.001_s5/05.29_17.36.03/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type1-infogsdr_ppo-100-100-relu_cr0_no0_es=n_sr0000_rc0.80_reg00_ds0.001_s5
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppo
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 17, action dim: 6, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/HCCustom_v0.h5 with traj_num 25.0, data_size 25000 steps, and average return 996.96
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 14985, K 15, state dim 17, action dim 6, a min -0.7615942, a_max 0.7615942
Policy model is loaded from logs_data/30hc/cgrew/ig/run_2024-05-29_17-35-27/run_5db2e_00009_9_dr_cc=0.8000,seed=5_2024-05-29_17-35-27/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0000_rc0.80_reg00_ds0.001_s5/05.29_17.36.03/models/ckpt_policy_T15000000.pt
Error(s) in loading state_dict for PairDiscriminator:
	Missing key(s) in state_dict: "reward_offset". 
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 5 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
current_vel_mean [0.97, 1.78, 2.88, 3.65, 4.87]
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
zvs shape 1500
RT 980.8168000000002 72.72508992381286 1000.0 228.4
LR 0.9677333333333334 0.14578132787005185 1.0 -1.0
VL-std-all 0.3414440241975213 0.0
*** budget = 10
VL10-1 0.15367732728713285 0.22755907228109767
RT-VL10-1 987.68 78.23173780506221 1000.0 316.4
VL10-2 0.287133356934324 0.22621422265134575
RT-VL10-2 959.4133333333333 133.25837092739135 1000.0 318.8
VL10-3 0.1498754722240085 0.1541521221743166
RT-VL10-3 974.1279999999999 68.51932391182311 1000.0 622.4
VL10-4 0.13726981986091463 0.17446359044058316
RT-VL10-4 991.738666666667 26.479677205149027 1000.0 796.4
VL10-5 0.7153623680968946 0.3848291602027269
RT-VL10-5 994.0266666666666 18.736441023370002 1000.0 832.4
VL10-all 0.28866366888065487 0.22021702715117328
RT-VL10-all 981.3973333333333 12.977323291889732 994.0266666666666 959.4133333333333
*** budget = 20
VL20-1 0.06147138883215753 0.049118940022679546
RT-VL20-1 988.2133333333335 78.10571525538676 999.2 316.4
VL20-2 0.16356105067158155 0.14776226777161292
RT-VL20-2 974.2186666666668 104.69538378022638 1000.0 442.4
VL20-3 0.06903402001043982 0.06348008746472343
RT-VL20-3 981.1146666666667 54.275751966744366 1000.0 747.2
VL20-4 0.057398821883375736 0.0762303445330342
RT-VL20-4 994.8426666666667 11.862604248458924 1000.0 916.8
VL20-5 0.4843280574221539 0.17128230921545165
RT-VL20-5 997.8133333333335 6.311161189159693 1000.0 948.0
VL20-all 0.1671586677639417 0.16337370399019865
RT-VL20-all 987.2405333333334 8.690432955842887 997.8133333333335 974.2186666666668
*** budget = 30
VL30-1 0.048712189814879105 0.04609758259858706
RT-VL30-1 997.3840000000001 1.154358696419793 999.2 994.0
VL30-2 0.13868829511151443 0.1362505213579863
RT-VL30-2 983.12 78.00943532676031 1000.0 486.4
VL30-3 0.04598434731397307 0.043458723647538854
RT-VL30-3 976.6160000000001 57.38533387547727 1000.0 793.6
VL30-4 0.030668599334237285 0.03362094666785723
RT-VL30-4 995.52 8.703102894945 1000.0 957.2
VL30-5 0.43020515264972586 0.13332807652363876
RT-VL30-5 996.3439999999999 9.597336297119107 1000.0 937.2
VL30-all 0.13885171684486594 0.15055890596909582
RT-VL30-all 989.7968000000001 8.38450471763238 997.3840000000001 976.6160000000001
*** budget = 40
VL40-1 0.04110912901549783 0.04483745318333667
RT-VL40-1 978.8864864864865 110.42029328314749 999.2 316.4
VL40-2 0.08519144538525422 0.07372411530788607
RT-VL40-2 955.8810810810812 141.9320237712555 1000.0 442.4
VL40-3 0.03458398723099483 0.03296585906247236
RT-VL40-3 984.2486486486486 50.098743694782094 1000.0 801.2
VL40-4 0.025269367612474124 0.02873033058717423
RT-VL40-4 995.8378378378377 7.988347978973053 1000.0 957.2
VL40-5 0.3991593249379236 0.10614861705318035
RT-VL40-5 997.8702702702702 3.354453664371211 1000.0 983.2
VL40-all 0.11706265083642893 0.14254261225907858
RT-VL40-all 982.544864864865 15.091820026158858 997.8702702702702 955.8810810810812
*** budget = 50
VL50-1 0.030365551619425928 0.02191714581695009
RT-VL50-1 997.3999999999999 1.036661307596009 999.2 995.6
VL50-2 0.0634740504922024 0.06872433247737107
RT-VL50-2 980.8133333333332 91.82310433049456 1000.0 486.4
VL50-3 0.02587799910281765 0.022566850425966352
RT-VL50-3 986.3333333333334 47.40116266740956 1000.0 801.2
VL50-4 0.019447311213732364 0.019433500339719197
RT-VL50-4 988.6666666666666 36.76757025181596 1000.0 796.4
VL50-5 0.37622115880209334 0.09985004702464956
RT-VL50-5 997.6933333333334 3.6216877587973006 1000.0 983.2
VL50-all 0.10307721424605434 0.13741665867630667
RT-VL50-all 990.1813333333333 6.532993732670458 997.6933333333334 980.8133333333332
logs_data/30hc/cgrew/ig/run_2024-05-29_17-35-27/run_5db2e_00007_7_dr_cc=0.8000,seed=4_2024-05-29_17-35-27/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0000_rc0.80_reg00_ds0.001_s4/05.29_17.36.04/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type1-infogsdr_ppo-100-100-relu_cr0_no0_es=n_sr0000_rc0.80_reg00_ds0.001_s4
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppo
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 17, action dim: 6, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/HCCustom_v0.h5 with traj_num 25.0, data_size 25000 steps, and average return 996.96
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 14985, K 15, state dim 17, action dim 6, a min -0.7615942, a_max 0.7615942
Policy model is loaded from logs_data/30hc/cgrew/ig/run_2024-05-29_17-35-27/run_5db2e_00007_7_dr_cc=0.8000,seed=4_2024-05-29_17-35-27/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0000_rc0.80_reg00_ds0.001_s4/05.29_17.36.04/models/ckpt_policy_T15000000.pt
Error(s) in loading state_dict for PairDiscriminator:
	Missing key(s) in state_dict: "reward_offset". 
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 5 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
current_vel_mean [0.97, 1.78, 2.88, 3.65, 4.87]
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
zvs shape 1500
RT 972.9648 115.9320717818269 1000.0 -328.4
LR 0.9816 0.1194770828792423 1.0 -0.6
VL-std-all 0.291341067868871 0.0
*** budget = 10
VL10-1 0.08538698259098307 0.07595966285046778
RT-VL10-1 982.2160000000001 106.39672806999282 1000.0 202.0
VL10-2 0.29109541746342094 0.17889799779516616
RT-VL10-2 973.8213333333334 90.80233226569068 1000.0 518.4
VL10-3 0.157312527072331 0.18993173585092252
RT-VL10-3 972.5466666666669 56.90906742827153 1000.0 669.6
VL10-4 0.32921408269790575 0.2254172519032038
RT-VL10-4 979.8826666666669 43.08747187859702 1000.0 771.2
VL10-5 0.47248192099967506 0.5428979074220518
RT-VL10-5 987.1973333333332 28.38021833758311 1000.0 771.2
VL10-all 0.2670981861648632 0.13541682516840087
RT-VL10-all 979.1328000000001 5.416529342259171 987.1973333333332 972.5466666666669
*** budget = 20
VL20-1 0.047211700142732176 0.0395606234783512
RT-VL20-1 986.8053333333332 91.23644870091971 999.6 202.0
VL20-2 0.1922656022879277 0.135858518468895
RT-VL20-2 958.6666666666665 117.89500111916912 1000.0 518.4
VL20-3 0.05782860009790189 0.05143286414777555
RT-VL20-3 976.4000000000002 47.415373034491665 1000.0 797.6
VL20-4 0.19410856218232772 0.15117381337269264
RT-VL20-4 981.9306666666668 46.49449565510118 1000.0 771.2
VL20-5 0.16330413681938413 0.2603783599273052
RT-VL20-5 992.1493333333333 13.37759692753357 1000.0 936.8
VL20-all 0.13094372030605472 0.0650449675526911
RT-VL20-all 979.1903999999998 11.51034479336839 992.1493333333333 958.6666666666665
*** budget = 30
VL30-1 0.03227854892347282 0.02265652253710592
RT-VL30-1 981.328 111.33584335693516 999.2 202.0
VL30-2 0.14174930677853792 0.10486946166453731
RT-VL30-2 952.0 128.46923989811725 1000.0 518.4
VL30-3 0.04124515676997539 0.04043819741756769
RT-VL30-3 980.4479999999999 39.026115563811885 1000.0 816.4
VL30-4 0.15188327677070457 0.12743220708438074
RT-VL30-4 981.784 49.098510608775086 1000.0 771.2
VL30-5 0.07997321618290973 0.10326737719782556
RT-VL30-5 993.2080000000001 11.06099163728099 1000.0 948.4
VL30-all 0.0894259010851201 0.049629063651447994
RT-VL30-all 977.7536 13.699391542692702 993.2080000000001 952.0
*** budget = 40
VL40-1 0.0296091221052005 0.027805522062420786
RT-VL40-1 975.7837837837837 128.96731099236698 999.2 202.0
VL40-2 0.10076550329751605 0.07926032291595184
RT-VL40-2 975.589189189189 97.90565724698551 1000.0 518.4
VL40-3 0.027954709276415083 0.02974664406028945
RT-VL40-3 988.7027027027027 26.39924739392524 1000.0 887.6
VL40-4 0.1288028474723476 0.11349562340033091
RT-VL40-4 977.1135135135137 56.069002671959446 1000.0 771.2
VL40-5 0.054002177295423844 0.08120688649121025
RT-VL40-5 994.9297297297297 6.788259533527095 1000.0 971.6
VL40-all 0.06822687188938062 0.04010917842078727
RT-VL40-all 982.4237837837838 7.935033212395001 994.9297297297297 975.589189189189
*** budget = 50
VL50-1 0.021901346409404856 0.014386134583275437
RT-VL50-1 970.7066666666667 142.74769101070916 998.8 202.0
VL50-2 0.0977656599444822 0.08826096328559291
RT-VL50-2 982.6000000000001 86.2040215612551 1000.0 518.4
VL50-3 0.020377922152867 0.01815467937925187
RT-VL50-3 987.3066666666667 31.298124899460387 1000.0 858.0
VL50-4 0.09285030349868378 0.08337376169540318
RT-VL50-4 977.4533333333335 54.63219888999119 1000.0 771.2
VL50-5 0.04450369146068821 0.07787708191772652
RT-VL50-5 994.24 7.313621993695508 1000.0 971.6
VL50-all 0.05547978469322521 0.033659405269807964
RT-VL50-all 982.4613333333334 8.068280169211315 994.24 970.7066666666667
logs_data/30hc/cgrew/ig/run_2024-05-29_17-35-27/run_5db2e_00005_5_dr_cc=0.8000,seed=3_2024-05-29_17-35-27/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0000_rc0.80_reg00_ds0.001_s3/05.29_17.36.06/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type1-infogsdr_ppo-100-100-relu_cr0_no0_es=n_sr0000_rc0.80_reg00_ds0.001_s3
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppo
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 17, action dim: 6, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/HCCustom_v0.h5 with traj_num 25.0, data_size 25000 steps, and average return 996.96
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 14985, K 15, state dim 17, action dim 6, a min -0.7615942, a_max 0.7615942
Policy model is loaded from logs_data/30hc/cgrew/ig/run_2024-05-29_17-35-27/run_5db2e_00005_5_dr_cc=0.8000,seed=3_2024-05-29_17-35-27/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0000_rc0.80_reg00_ds0.001_s3/05.29_17.36.06/models/ckpt_policy_T15000000.pt
Error(s) in loading state_dict for PairDiscriminator:
	Missing key(s) in state_dict: "reward_offset". 
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 5 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
current_vel_mean [0.97, 1.78, 2.88, 3.65, 4.87]
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
zvs shape 1500
RT 930.6978666666666 212.46011935290088 1000.0 -352.4
LR 0.9034666666666668 0.28521567667683034 1.0 -1.0
VL-std-all 0.4922300407886459 0.0
*** budget = 10
VL10-1 0.12237383796230115 0.16046648899483917
RT-VL10-1 966.3573333333331 150.9908828800232 999.2 -12.8
VL10-2 0.2689410267763155 0.201609798259222
RT-VL10-2 902.2453333333333 186.8694219989515 1000.0 356.4
VL10-3 0.09940991670013055 0.1279044579287843
RT-VL10-3 990.4293333333335 52.47949383224736 1000.0 545.6
VL10-4 0.3016213052313795 0.21348772296416202
RT-VL10-4 954.5706666666667 80.38700189016188 1000.0 656.4
VL10-5 0.5046458550652533 0.4935370340472072
RT-VL10-5 970.7946666666666 59.883085855319415 1000.0 656.4
VL10-all 0.25939838834707596 0.14587130976183674
RT-VL10-all 956.8794666666666 29.66235116597022 990.4293333333335 902.2453333333333
*** budget = 20
VL20-1 0.05236509616388217 0.03953533128636498
RT-VL20-1 969.2853333333335 134.36927098443635 999.2 270.0
VL20-2 0.1491652942651092 0.12522283261175116
RT-VL20-2 880.0693333333332 203.78297866330468 1000.0 442.0
VL20-3 0.04844383317950728 0.017033231192194694
RT-VL20-3 998.9866666666669 1.9772933239377777 1000.0 984.4
VL20-4 0.17744211880725008 0.1437181668517113
RT-VL20-4 945.1519999999999 86.62612286525737 1000.0 689.2
VL20-5 0.2564097863451569 0.26620688315469104
RT-VL20-5 982.6719999999999 34.14873569157918 1000.0 817.6
VL20-all 0.1367652257521811 0.07880005389303119
RT-VL20-all 955.2330666666667 41.511332157964965 998.9866666666669 880.0693333333332
*** budget = 30
VL30-1 0.0405631840686453 0.038277669383008285
RT-VL30-1 967.992 140.53264366687193 998.8 270.0
VL30-2 0.10322624389891193 0.07927498675893975
RT-VL30-2 861.1360000000001 210.72627720339008 1000.0 442.0
VL30-3 0.04213794583558605 0.013615953671704015
RT-VL30-3 998.84 2.3051247254758307 1000.0 984.4
VL30-4 0.11689831705208999 0.09327909540940227
RT-VL30-4 937.224 93.9487318913885 1000.0 689.2
VL30-5 0.15794951668230367 0.17968258642624868
RT-VL30-5 986.408 25.859743540878366 1000.0 904.0
VL30-all 0.09215504150750739 0.04522641658154992
RT-VL30-all 950.32 49.181551012549384 998.84 861.1360000000001
*** budget = 40
VL40-1 0.0323397505538821 0.027872423548567227
RT-VL40-1 977.0486486486485 117.84436282455432 998.8 270.0
VL40-2 0.07219086162359273 0.049221340576391416
RT-VL40-2 836.1405405405404 220.25112382381562 1000.0 512.8
VL40-3 0.039146265126335116 0.013369261118349494
RT-VL40-3 998.681081081081 2.592070844652238 1000.0 984.4
VL40-4 0.08971664411119952 0.07669154782851458
RT-VL40-4 936.4432432432433 95.42751753553524 1000.0 689.2
VL40-5 0.14782984448075887 0.1887104790952102
RT-VL40-5 992.1297297297297 15.777384856177122 1000.0 944.0
VL40-all 0.07624467317915366 0.041536245015616334
RT-VL40-all 948.0886486486485 60.00981089498867 998.681081081081 836.1405405405404
*** budget = 50
VL50-1 0.021862071634372312 0.01833604924912404
RT-VL50-1 996.7466666666664 0.8114732829174878 998.8 995.2
VL50-2 0.06108781322501304 0.035023331175072565
RT-VL50-2 844.3333333333334 217.67895830531918 1000.0 512.8
VL50-3 0.03641977218891565 0.01275140849656945
RT-VL50-3 998.68 2.7945661559533774 1000.0 984.4
VL50-4 0.06447503182775224 0.055133022699449565
RT-VL50-4 936.2800000000002 100.15002879014396 1000.0 689.2
VL50-5 0.1002918611671657 0.13334163210640407
RT-VL50-5 993.0533333333333 16.46636436969484 1000.0 940.8
VL50-all 0.05682731000864379 0.026850855623328614
RT-VL50-all 953.8186666666667 59.48000424419016 998.68 844.3333333333334
logs_data/30hc/cgrew/ig/run_2024-05-29_17-35-27/run_5db2e_00003_3_dr_cc=0.8000,seed=2_2024-05-29_17-35-27/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0000_rc0.80_reg00_ds0.001_s2/05.29_17.36.04/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type1-infogsdr_ppo-100-100-relu_cr0_no0_es=n_sr0000_rc0.80_reg00_ds0.001_s2
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppo
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 17, action dim: 6, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/HCCustom_v0.h5 with traj_num 25.0, data_size 25000 steps, and average return 996.96
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 14985, K 15, state dim 17, action dim 6, a min -0.7615942, a_max 0.7615942
Policy model is loaded from logs_data/30hc/cgrew/ig/run_2024-05-29_17-35-27/run_5db2e_00003_3_dr_cc=0.8000,seed=2_2024-05-29_17-35-27/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0000_rc0.80_reg00_ds0.001_s2/05.29_17.36.04/models/ckpt_policy_T15000000.pt
Error(s) in loading state_dict for PairDiscriminator:
	Missing key(s) in state_dict: "reward_offset". 
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 5 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
current_vel_mean [0.97, 1.78, 2.88, 3.65, 4.87]
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
zvs shape 1500
RT 987.5010666666667 51.50887378755453 1000.0 362.8
LR 0.9789333333333334 0.10574905305591263 1.0 0.2
VL-std-all 0.3685783733190488 0.0
*** budget = 10
VL10-1 0.10020722151465404 0.11088047495415167
RT-VL10-1 997.1919999999999 1.447734782341023 999.6 989.2
VL10-2 0.2625695617836662 0.1552290195274598
RT-VL10-2 983.9839999999998 76.98203260501765 1000.0 518.4
VL10-3 0.2374837158174277 0.2176094640478069
RT-VL10-3 983.0346666666668 50.63370548908657 1000.0 725.2
VL10-4 0.22369193860059425 0.26941425986474504
RT-VL10-4 989.8106666666665 34.83635485459918 1000.0 771.2
VL10-5 0.6776607008277362 0.6062407305155492
RT-VL10-5 982.5413333333335 38.895117408515716 1000.0 829.6
VL10-all 0.3003226277088157 0.19681284641455563
RT-VL10-all 987.3125333333334 5.585484018019816 997.1919999999999 982.5413333333335
*** budget = 20
VL20-1 0.036482032311678916 0.03321965761903484
RT-VL20-1 997.0666666666665 1.497138010412613 999.6 990.8
VL20-2 0.16642674491610934 0.12203970868941394
RT-VL20-2 973.3493333333334 103.51554391920514 1000.0 518.4
VL20-3 0.14378228854743783 0.11740614002661216
RT-VL20-3 979.3226666666666 53.79359955318932 1000.0 725.2
VL20-4 0.11058349003204393 0.09172447055130889
RT-VL20-4 985.5733333333334 42.89120914852159 1000.0 771.2
VL20-5 0.3410449166873273 0.37275541507161747
RT-VL20-5 987.8720000000003 28.76428600423333 1000.0 853.2
VL20-all 0.15966389449891946 0.10077667789525861
RT-VL20-all 984.6368 8.018629757148126 997.0666666666665 973.3493333333334
*** budget = 30
VL30-1 0.02214928243960898 0.02118070305475489
RT-VL30-1 997.04 1.3576450198781742 999.6 990.8
VL30-2 0.11564723327635669 0.09896288706161205
RT-VL30-2 961.0079999999999 124.96249011603442 1000.0 518.4
VL30-3 0.094657450321676 0.08195195656206047
RT-VL30-3 985.8719999999998 34.744179598891094 1000.0 838.8
VL30-4 0.07031932330336056 0.05799307628397674
RT-VL30-4 983.0479999999999 46.48481145492578 1000.0 771.2
VL30-5 0.18789302738632563 0.23851379552579563
RT-VL30-5 993.664 18.19755763832059 1000.0 897.6
VL30-all 0.09813326334546557 0.054631156448595834
RT-VL30-all 984.1263999999999 12.620597158613391 997.04 961.0079999999999
*** budget = 40
VL40-1 0.01661888003438916 0.01610863553163805
RT-VL40-1 997.145945945946 1.0320786149070338 999.6 995.2
VL40-2 0.09650157852985933 0.09376133822970681
RT-VL40-2 948.2378378378377 143.0816500055057 1000.0 518.4
VL40-3 0.07539478633303899 0.0827464605568069
RT-VL40-3 981.081081081081 40.71075186913382 1000.0 838.8
VL40-4 0.05095905886139532 0.050512265119141496
RT-VL40-4 984.8432432432434 44.97386953368283 1000.0 771.2
VL40-5 0.1680870164031636 0.26698353397037805
RT-VL40-5 994.3675675675673 17.359880029073157 1000.0 896.0
VL40-all 0.08151226403236929 0.05079752053693124
RT-VL40-all 981.135135135135 17.47814914656248 997.145945945946 948.2378378378377
*** budget = 50
VL50-1 0.013591520732124699 0.017707798400447942
RT-VL50-1 997.0666666666667 0.9924156835161742 998.8 995.2
VL50-2 0.0643440234689925 0.058167765052835
RT-VL50-2 966.9733333333334 115.73591471775542 1000.0 532.4
VL50-3 0.0548519948485827 0.047304938974159376
RT-VL50-3 977.1466666666668 44.28582717855555 1000.0 838.8
VL50-4 0.04303455286227701 0.03331075521871804
RT-VL50-4 989.28 30.28405961337857 1000.0 883.6
VL50-5 0.10859271109330744 0.12009563643225199
RT-VL50-5 994.8266666666666 14.80141734954986 999.6 920.0
VL50-all 0.05688296060105687 0.030982633005613602
RT-VL50-all 985.0586666666666 11.376331296941789 997.0666666666667 966.9733333333334
logs_data/30hc/cgrew/ig/run_2024-05-29_17-35-27/run_5db2e_00001_1_dr_cc=0.8000,seed=1_2024-05-29_17-35-27/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0000_rc0.80_reg00_ds0.001_s1/05.29_17.36.05/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type1-infogsdr_ppo-100-100-relu_cr0_no0_es=n_sr0000_rc0.80_reg00_ds0.001_s1
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppo
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 17, action dim: 6, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/HCCustom_v0.h5 with traj_num 25.0, data_size 25000 steps, and average return 996.96
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 14985, K 15, state dim 17, action dim 6, a min -0.7615942, a_max 0.7615942
Policy model is loaded from logs_data/30hc/cgrew/ig/run_2024-05-29_17-35-27/run_5db2e_00001_1_dr_cc=0.8000,seed=1_2024-05-29_17-35-27/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0000_rc0.80_reg00_ds0.001_s1/05.29_17.36.05/models/ckpt_policy_T15000000.pt
Error(s) in loading state_dict for PairDiscriminator:
	Missing key(s) in state_dict: "reward_offset". 
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 5 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
current_vel_mean [0.97, 1.78, 2.88, 3.65, 4.87]
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
zvs shape 1500
RT 971.1677333333334 122.75240043353757 1000.0 -184.0
LR 0.9621333333333334 0.17483167778053138 1.0 -1.0
VL-std-all 0.396609764370924 0.0
*** budget = 10
VL10-1 0.11826756889724266 0.1325750074985524
RT-VL10-1 970.872 136.42391242984738 999.2 166.0
VL10-2 0.30978839043631257 0.21041355763847774
RT-VL10-2 978.2613333333333 85.26422601667255 1000.0 462.8
VL10-3 0.1974076495194634 0.22850293034159166
RT-VL10-3 973.1520000000002 65.46972299722471 1000.0 653.2
VL10-4 0.1650190284670662 0.19650200014080857
RT-VL10-4 992.0533333333333 24.249180513072098 1000.0 768.4
VL10-5 0.36918886341061913 0.4579646019159658
RT-VL10-5 990.6506666666667 23.63286058765539 999.6 854.8
VL10-all 0.23193430014614078 0.09326300819941757
RT-VL10-all 980.9978666666666 8.79749174758854 992.0533333333333 970.872
*** budget = 20
VL20-1 0.062497865360919974 0.06290987122380169
RT-VL20-1 995.9626666666668 0.8445548465842083 998.4 993.2
VL20-2 0.18530670205668387 0.12816626173007198
RT-VL20-2 969.1466666666666 109.31527655771123 1000.0 462.8
VL20-3 0.08552115437487003 0.09676344716851197
RT-VL20-3 971.6640000000002 64.77764355084244 1000.0 763.6
VL20-4 0.07558269510250329 0.08437470722010236
RT-VL20-4 992.6133333333333 27.357764691013934 1000.0 768.4
VL20-5 0.1782056002598923 0.29628035289831334
RT-VL20-5 990.5439999999999 23.228271509807467 999.6 863.2
VL20-all 0.11742280343097389 0.05308075128030399
RT-VL20-all 983.9861333333334 11.250922509534714 995.9626666666668 969.1466666666666
*** budget = 30
VL30-1 0.035580332951219144 0.03023790873072907
RT-VL30-1 995.872 0.8558130637002356 998.4 993.2
VL30-2 0.14468788500037294 0.10832208891052032
RT-VL30-2 954.9839999999999 131.61418063415505 1000.0 462.8
VL30-3 0.050883733003051976 0.056101166585564875
RT-VL30-3 968.9680000000001 67.35135764036238 1000.0 763.6
VL30-4 0.04798006731136854 0.047442151732899694
RT-VL30-4 991.344 32.84774671115204 1000.0 768.4
VL30-5 0.0820325364059819 0.13321035839607515
RT-VL30-5 992.8160000000003 20.118522410952544 999.2 863.2
VL30-all 0.0722329109343989 0.03932723031499884
RT-VL30-all 980.7968000000001 16.057318610527776 995.872 954.9839999999999
*** budget = 40
VL40-1 0.027712024988793275 0.02216067076299989
RT-VL40-1 995.8918918918916 0.8999634762493934 998.4 993.2
VL40-2 0.11470504560455924 0.08997033813457007
RT-VL40-2 983.8162162162164 76.57532420809508 998.4 524.4
VL40-3 0.036751915533539424 0.03491519043047642
RT-VL40-3 962.118918918919 73.76150698260427 1000.0 788.0
VL40-4 0.036245417826535196 0.03503347774934387
RT-VL40-4 989.6864864864865 37.79891434278319 1000.0 768.4
VL40-5 0.06494862214225398 0.12315323429388529
RT-VL40-5 995.5351351351352 9.006670687531017 999.6 942.0
VL40-all 0.05607260521913623 0.03189757251829618
RT-VL40-all 985.4097297297297 12.455451498174325 995.8918918918916 962.118918918919
*** budget = 50
VL50-1 0.022998087787109222 0.019475388485444018
RT-VL50-1 995.9333333333333 0.8331999893316151 997.6 993.2
VL50-2 0.09136278156543225 0.06780688682127042
RT-VL50-2 980.9333333333336 84.7817800132919 999.6 524.4
VL50-3 0.03223854953502004 0.03376518145072802
RT-VL50-3 962.1333333333333 74.4721752662623 999.6 788.0
VL50-4 0.027377006875247644 0.02434824410070449
RT-VL50-4 995.4266666666665 9.113028524529527 1000.0 953.6
VL50-5 0.03202591586052854 0.04083912658033125
RT-VL50-5 995.24 9.947783672758472 998.4 942.0
VL50-all 0.04120046832466754 0.025310712414516323
RT-VL50-all 985.9333333333332 13.177081787878649 995.9333333333333 962.1333333333333
logs_data/30hc/cgrew/igsn/run_2024-05-29_11-52-49/run_80287_00037_37_dl_scale=0.0500,dr_cc=0.8000,seed=5_2024-05-29_11-52-50/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0000_rc0.80_reg10_ds0.050_s5/05.29_11.54.01/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type1-infogsdr_ppo-100-100-relu_cr0_no0_es=n_sr0000_rc0.80_reg10_ds0.050_s5
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppo
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 17, action dim: 6, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/HCCustom_v0.h5 with traj_num 25.0, data_size 25000 steps, and average return 996.96
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 14985, K 15, state dim 17, action dim 6, a min -0.7615942, a_max 0.7615942
Policy model is loaded from logs_data/30hc/cgrew/igsn/run_2024-05-29_11-52-49/run_80287_00037_37_dl_scale=0.0500,dr_cc=0.8000,seed=5_2024-05-29_11-52-50/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0000_rc0.80_reg10_ds0.050_s5/05.29_11.54.01/models/ckpt_policy_T15000000.pt
Error(s) in loading state_dict for PairDiscriminator:
	Missing key(s) in state_dict: "reward_offset". 
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 5 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
current_vel_mean [0.97, 1.78, 2.88, 3.65, 4.87]
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
zvs shape 1500
RT 994.3637333333334 18.146537357364412 1000.0 716.8
LR 0.9922666666666667 0.060609643530455524 1.0 0.2
VL-std-all 0.41692088564307556 0.0
*** budget = 10
VL10-1 0.07621595206961118 0.22630036981811766
RT-VL10-1 997.0746666666668 1.0694663258944686 999.2 994.0
VL10-2 0.32484938058355933 0.24141131744054214
RT-VL10-2 997.0293333333335 1.0143994391866678 999.6 994.0
VL10-3 0.04042514541445601 0.06385198543046074
RT-VL10-3 996.3626666666664 9.00149281446632 999.2 887.2
VL10-4 0.2660224838391388 0.19637005769284047
RT-VL10-4 991.1706666666665 20.253070702707998 999.2 868.4
VL10-5 1.3115287103179427 0.3694705780375777
RT-VL10-5 991.7146666666665 17.70377506509715 999.2 893.6
VL10-all 0.4038083344449416 0.466591866379469
RT-VL10-all 994.6704 2.653048212486579 997.0746666666668 991.1706666666665
*** budget = 20
VL20-1 0.014352728249440064 0.013292979402269802
RT-VL20-1 997.2426666666667 1.0152403109061858 999.2 994.0
VL20-2 0.17788627386999994 0.15914169808583864
RT-VL20-2 997.0666666666667 0.9826947078767138 999.6 994.0
VL20-3 0.01431958874367935 0.01468363094798715
RT-VL20-3 995.5946666666665 12.640083262735603 999.2 887.2
VL20-4 0.17001207125526005 0.14566828858701616
RT-VL20-4 993.0079999999997 18.22775729485117 998.8 868.4
VL20-5 1.0946432889490922 0.34565173263626475
RT-VL20-5 994.5493333333333 10.908349992347864 998.8 910.8
VL20-all 0.2942427902134943 0.40652392655587205
RT-VL20-all 995.4922666666665 1.588321467601816 997.2426666666667 993.0079999999997
*** budget = 30
VL30-1 0.00976762271472724 0.010761572034548552
RT-VL30-1 997.3920000000002 1.0283656937101726 999.2 994.0
VL30-2 0.12639508762619223 0.11584280974824689
RT-VL30-2 997.072 0.968099168473979 999.6 994.0
VL30-3 0.011378157493211668 0.012656002129956276
RT-VL30-3 997.048 0.9325749299654164 999.2 995.2
VL30-4 0.09933840340140067 0.1014003633726278
RT-VL30-4 993.232 14.023486585011595 998.8 906.8
VL30-5 0.963145909631975 0.301097209679309
RT-VL30-5 992.6 13.734453028788593 998.8 910.8
VL30-all 0.2420050361735014 0.3635619785021327
RT-VL30-all 995.4688 2.0974321824555213 997.3920000000002 992.6
*** budget = 40
VL40-1 0.007660087435857359 0.010645315667327154
RT-VL40-1 997.2432432432432 1.0430051541788004 999.2 994.0
VL40-2 0.08364907076672264 0.061375778237654284
RT-VL40-2 997.0594594594594 0.9539277153926926 999.6 994.0
VL40-3 0.0084937469434837 0.009453437745498235
RT-VL40-3 997.016216216216 0.880268237224747 998.4 995.6
VL40-4 0.08008565022377537 0.10180958291307955
RT-VL40-4 993.2972972972973 15.1619453662778 998.4 906.8
VL40-5 0.8948513609254057 0.3029364783594768
RT-VL40-5 991.9027027027028 15.039668025492448 998.8 910.8
VL40-all 0.21494798325904893 0.3415516006997932
RT-VL40-all 995.3037837837837 2.2525392537858946 997.2432432432432 991.9027027027028
*** budget = 50
VL50-1 0.005124145817071032 0.005444235394030101
RT-VL50-1 997.3066666666665 0.9291334074764975 999.2 996.0
VL50-2 0.07893390316915552 0.06659374138718172
RT-VL50-2 997.2266666666667 1.037604077778341 999.6 994.4
VL50-3 0.006487164340121953 0.006778644558579006
RT-VL50-3 997.0266666666665 0.9219303420299984 998.4 995.6
VL50-4 0.06140237943928191 0.06249691600291759
RT-VL50-4 990.1866666666667 22.00260186634502 998.4 906.8
VL50-5 0.8482479507095845 0.2825621042120003
RT-VL50-5 988.84 21.618843632350007 998.8 910.8
VL50-all 0.20003910869504296 0.3254275692953279
RT-VL50-all 994.1173333333334 3.784294092400494 997.3066666666665 988.84
logs_data/30hc/cgrew/igsn/run_2024-05-29_11-52-49/run_80287_00029_29_dl_scale=0.0500,dr_cc=0.8000,seed=4_2024-05-29_11-52-50/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0000_rc0.80_reg10_ds0.050_s4/05.29_11.54.04/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type1-infogsdr_ppo-100-100-relu_cr0_no0_es=n_sr0000_rc0.80_reg10_ds0.050_s4
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppo
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 17, action dim: 6, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/HCCustom_v0.h5 with traj_num 25.0, data_size 25000 steps, and average return 996.96
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 14985, K 15, state dim 17, action dim 6, a min -0.7615942, a_max 0.7615942
Policy model is loaded from logs_data/30hc/cgrew/igsn/run_2024-05-29_11-52-49/run_80287_00029_29_dl_scale=0.0500,dr_cc=0.8000,seed=4_2024-05-29_11-52-50/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0000_rc0.80_reg10_ds0.050_s4/05.29_11.54.04/models/ckpt_policy_T15000000.pt
Error(s) in loading state_dict for PairDiscriminator:
	Missing key(s) in state_dict: "reward_offset". 
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 5 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
current_vel_mean [0.97, 1.78, 2.88, 3.65, 4.87]
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
zvs shape 1500
RT 994.6434666666668 20.66881525347358 1000.0 779.6
LR 0.9946666666666667 0.04587906809089401 1.0 0.6
VL-std-all 0.531241404869211 0.0
*** budget = 10
VL10-1 0.182871675977297 0.3467158807532547
RT-VL10-1 995.9866666666667 11.093341346150948 999.6 861.2
VL10-2 0.3493836907094461 0.26056910734911554
RT-VL10-2 991.2906666666669 32.35988122488846 999.6 782.4
VL10-3 0.13000598661168758 0.13096989939700376
RT-VL10-3 994.3466666666667 23.04827012067404 1000.0 780.8
VL10-4 0.1276069354455501 0.11481420622042882
RT-VL10-4 996.6746666666668 6.313099467685335 1000.0 942.0
VL10-5 0.6467442864423103 0.34261504681087546
RT-VL10-5 997.5253333333333 1.6960419282029042 1000.0 985.2
VL10-all 0.28732251503725825 0.19708025448850944
RT-VL10-all 995.1648000000001 2.2002513957373404 997.5253333333333 991.2906666666669
*** budget = 20
VL20-1 0.054084422845194643 0.058356066372478435
RT-VL20-1 996.9866666666669 0.9870269612438246 998.8 994.8
VL20-2 0.20246367458824668 0.16523631176591744
RT-VL20-2 987.3386666666668 42.649704628389735 998.8 782.4
VL20-3 0.061775300659371195 0.06113077742833562
RT-VL20-3 994.4106666666667 21.082590437504482 1000.0 815.6
VL20-4 0.06104565793186543 0.06137099095004617
RT-VL20-4 996.8960000000002 6.166002270515309 1000.0 945.2
VL20-5 0.4392173145717808 0.23755853826634618
RT-VL20-5 997.4879999999998 2.017057923478316 999.6 985.2
VL20-all 0.16371727411929177 0.14856281139003352
RT-VL20-all 994.6240000000001 3.7965317506025467 997.4879999999998 987.3386666666668
*** budget = 30
VL30-1 0.0383624686366382 0.03951729277082814
RT-VL30-1 996.92 1.0221545871344504 998.8 994.8
VL30-2 0.16192526857449008 0.14177856480154988
RT-VL30-2 984.08 50.79590534678952 998.8 782.4
VL30-3 0.04226666479426513 0.04570153068217352
RT-VL30-3 993.7360000000001 25.48318473032756 1000.0 815.6
VL30-4 0.039932474256107194 0.03432075131623348
RT-VL30-4 996.5199999999999 7.47186723650788 1000.0 945.2
VL30-5 0.346440000945524 0.16727963105881488
RT-VL30-5 997.5360000000001 1.6538149836060885 999.6 990.0
VL30-all 0.12578537544140495 0.11998617915103552
RT-VL30-all 993.7583999999999 5.011274073526585 997.5360000000001 984.08
*** budget = 40
VL40-1 0.02857708330665778 0.03601435709597311
RT-VL40-1 996.972972972973 1.0336627733449972 998.8 994.8
VL40-2 0.15376309110636097 0.13684141422610155
RT-VL40-2 983.2864864864866 49.567307022805466 998.8 782.4
VL40-3 0.03516321737666636 0.03724866427933326
RT-VL40-3 997.308108108108 1.4396655727236118 1000.0 993.2
VL40-4 0.03306819203453494 0.0322666338496406
RT-VL40-4 997.6972972972972 1.3198047534730302 999.6 994.8
VL40-5 0.3113289142439167 0.15928871038932632
RT-VL40-5 997.7837837837837 1.2872584556447593 999.6 993.2
VL40-all 0.11238009961362735 0.11006266756358606
RT-VL40-all 994.6097297297296 5.669033333252424 997.7837837837837 983.2864864864866
*** budget = 50
VL50-1 0.0213027835067637 0.01654160634044713
RT-VL50-1 997.0133333333334 1.0157865042528533 998.8 994.8
VL50-2 0.09737481669962175 0.07749248338927602
RT-VL50-2 982.5733333333334 53.34913265982452 998.4 782.4
VL50-3 0.02411947025980723 0.024620297908167065
RT-VL50-3 991.2266666666668 32.64547884300196 1000.0 815.6
VL50-4 0.026178311784649896 0.02581955532253238
RT-VL50-4 997.4533333333334 1.4366009265701525 999.6 994.4
VL50-5 0.2817056525608236 0.15705152038445075
RT-VL50-5 997.64 1.344023809312917 999.6 993.2
VL50-all 0.09013620696233324 0.09993809286039598
RT-VL50-all 993.1813333333333 5.816602139088107 997.64 982.5733333333334
logs_data/30hc/cgrew/igsn/run_2024-05-29_11-52-49/run_80287_00021_21_dl_scale=0.0500,dr_cc=0.8000,seed=3_2024-05-29_11-52-50/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0000_rc0.80_reg10_ds0.050_s3/05.29_11.54.02/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type1-infogsdr_ppo-100-100-relu_cr0_no0_es=n_sr0000_rc0.80_reg10_ds0.050_s3
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppo
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 17, action dim: 6, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/HCCustom_v0.h5 with traj_num 25.0, data_size 25000 steps, and average return 996.96
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 14985, K 15, state dim 17, action dim 6, a min -0.7615942, a_max 0.7615942
Policy model is loaded from logs_data/30hc/cgrew/igsn/run_2024-05-29_11-52-49/run_80287_00021_21_dl_scale=0.0500,dr_cc=0.8000,seed=3_2024-05-29_11-52-50/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0000_rc0.80_reg10_ds0.050_s3/05.29_11.54.02/models/ckpt_policy_T15000000.pt
Error(s) in loading state_dict for PairDiscriminator:
	Missing key(s) in state_dict: "reward_offset". 
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 5 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
current_vel_mean [0.97, 1.78, 2.88, 3.65, 4.87]
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
zvs shape 1500
RT 994.4029333333333 17.127241207957443 998.8 756.4
LR 0.996 0.03979949748426479 1.0 0.6
VL-std-all 0.550445098045271 0.0
*** budget = 10
VL10-1 0.027571835748937835 0.05215918369729437
RT-VL10-1 995.76 0.7140494847464344 998.0 993.2
VL10-2 0.2729025073131973 0.25391696351520937
RT-VL10-2 995.7413333333334 4.070089051714821 998.4 947.2
VL10-3 0.1975132812594853 0.2208220186165296
RT-VL10-3 989.8266666666667 33.17288584907191 998.8 775.2
VL10-4 0.2619576766329134 0.21185680427249703
RT-VL10-4 996.4613333333334 0.9292137656224284 998.8 994.0
VL10-5 0.9237309994660533 0.48413663362621623
RT-VL10-5 996.4346666666668 0.921374818168778 998.4 994.0
VL10-all 0.33673526008411747 0.3063315483916606
RT-VL10-all 994.8448000000001 2.5283940058639858 996.4613333333334 989.8266666666667
*** budget = 20
VL20-1 0.014391034126058007 0.010588929568546155
RT-VL20-1 995.7973333333335 0.7342975479251354 997.6 993.2
VL20-2 0.13912507494804527 0.15580290669195487
RT-VL20-2 995.36 5.65496831703473 998.4 947.2
VL20-3 0.07180673047384346 0.08285131194243374
RT-VL20-3 990.4160000000002 31.448544386028424 998.8 797.2
VL20-4 0.13803462691914403 0.1314540763734765
RT-VL20-4 996.5226666666664 0.9236988446217429 998.8 994.0
VL20-5 0.651049311426058 0.32771317807976347
RT-VL20-5 996.4799999999998 0.9168060500091211 998.4 994.4
VL20-all 0.20288135557862974 0.2288377752093388
RT-VL20-all 994.9152 2.2913469847327605 996.5226666666664 990.4160000000002
*** budget = 30
VL30-1 0.010194851493458744 0.008444351887470196
RT-VL30-1 995.6799999999998 0.697423830966494 997.2 993.2
VL30-2 0.08870192473844911 0.09918743781180486
RT-VL30-2 995.864 0.7488017093997633 997.6 994.4
VL30-3 0.041013940821363504 0.04410696175647438
RT-VL30-3 994.92 10.76743237731261 998.8 921.6
VL30-4 0.08805765746439682 0.07925789994328285
RT-VL30-4 996.512 0.9399234011343615 998.4 994.0
VL30-5 0.554816035611672 0.3093209380083517
RT-VL30-5 996.4 0.963327566303378 998.4 994.4
VL30-all 0.15655688202586804 0.201334948606862
RT-VL30-all 995.8751999999998 0.5712380939678385 996.512 994.92
*** budget = 40
VL40-1 0.008709979604316295 0.008209969807931044
RT-VL40-1 995.7297297297297 0.6962699324585537 996.8 993.2
VL40-2 0.06175483967087088 0.07276981167908651
RT-VL40-2 995.8594594594596 0.6322244980416557 997.6 994.8
VL40-3 0.04479429926545706 0.0711546048838266
RT-VL40-3 994.3027027027026 12.447652258536628 998.8 921.6
VL40-4 0.07127540227591092 0.0697306223366714
RT-VL40-4 996.6054054054055 0.9692420962029333 998.4 994.0
VL40-5 0.503862375013134 0.2883272103226882
RT-VL40-5 996.3567567567569 0.8957981615509875 998.4 994.4
VL40-all 0.13807937916593785 0.18413253617075978
RT-VL40-all 995.7708108108109 0.8005958336289719 996.6054054054055 994.3027027027026
*** budget = 50
VL50-1 0.006909429826584849 0.006217246936721217
RT-VL50-1 995.7199999999998 0.8463253905364269 997.2 993.2
VL50-2 0.05352381201195972 0.05372064794868745
RT-VL50-2 995.7599999999999 0.616225067108869 997.2 994.8
VL50-3 0.02794233431301345 0.0356683138243874
RT-VL50-3 993.8133333333334 13.779108179494859 998.8 921.6
VL50-4 0.06042466444793074 0.06862598555340674
RT-VL50-4 996.7466666666667 1.0157865042528451 998.4 994.0
VL50-5 0.41745366760142955 0.20092952145033974
RT-VL50-5 996.44 0.860077515886405 998.4 994.8
VL50-all 0.11325078164018368 0.15328621573817222
RT-VL50-all 995.6959999999999 1.0204452187375932 996.7466666666667 993.8133333333334
logs_data/30hc/cgrew/igsn/run_2024-05-29_11-52-49/run_80287_00013_13_dl_scale=0.0500,dr_cc=0.8000,seed=2_2024-05-29_11-52-49/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0000_rc0.80_reg10_ds0.050_s2/05.29_11.54.00/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type1-infogsdr_ppo-100-100-relu_cr0_no0_es=n_sr0000_rc0.80_reg10_ds0.050_s2
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppo
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 17, action dim: 6, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/HCCustom_v0.h5 with traj_num 25.0, data_size 25000 steps, and average return 996.96
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 14985, K 15, state dim 17, action dim 6, a min -0.7615942, a_max 0.7615942
Policy model is loaded from logs_data/30hc/cgrew/igsn/run_2024-05-29_11-52-49/run_80287_00013_13_dl_scale=0.0500,dr_cc=0.8000,seed=2_2024-05-29_11-52-49/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0000_rc0.80_reg10_ds0.050_s2/05.29_11.54.00/models/ckpt_policy_T15000000.pt
Error(s) in loading state_dict for PairDiscriminator:
	Missing key(s) in state_dict: "reward_offset". 
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 5 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
current_vel_mean [0.97, 1.78, 2.88, 3.65, 4.87]
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
zvs shape 1500
RT 992.8205333333334 21.92122392527895 1000.0 702.4
LR 0.9834666666666667 0.08481341612949897 1.0 0.2
VL-std-all 0.5155198907692408 0.0
*** budget = 10
VL10-1 0.08774952538017666 0.25224988312314256
RT-VL10-1 996.4586666666665 8.611358287491909 999.2 892.0
VL10-2 0.5336419829917691 0.2424707814897472
RT-VL10-2 995.0 13.882382120275084 1000.0 892.0
VL10-3 0.15591722378767495 0.13563096617236675
RT-VL10-3 984.8506666666667 43.87425174543974 1000.0 702.4
VL10-4 0.12810522942417696 0.10555685931085587
RT-VL10-4 989.4773333333334 26.34555787140511 1000.0 812.4
VL10-5 0.7250971775925085 0.33136139703711437
RT-VL10-5 993.36 18.134960711289118 1000.0 877.2
VL10-all 0.32610222783526127 0.2558309901682474
RT-VL10-all 991.8293333333334 4.1966769499476415 996.4586666666665 984.8506666666667
*** budget = 20
VL20-1 0.023360000825953853 0.019991275284281008
RT-VL20-1 997.12 1.0098184655339455 999.2 994.8
VL20-2 0.4164663945040017 0.23725451367931258
RT-VL20-2 994.1279999999999 15.400801364431226 1000.0 904.4
VL20-3 0.0871957224182423 0.063580042313681
RT-VL20-3 979.7439999999998 51.680150257779495 999.6 702.4
VL20-4 0.06532282623795745 0.05403524266207303
RT-VL20-4 987.248 31.5826085475324 1000.0 812.4
VL20-5 0.5235116259182108 0.23433398254865526
RT-VL20-5 996.4746666666664 5.52277933250601 1000.0 959.2
VL20-all 0.22317131398087323 0.20537641470104886
RT-VL20-all 990.9429333333331 6.602567926025291 997.12 979.7439999999998
*** budget = 30
VL30-1 0.01664489232590111 0.015311953303588718
RT-VL30-1 997.2000000000002 1.0910545357588666 999.2 994.8
VL30-2 0.33809254078955947 0.22523942372591454
RT-VL30-2 992.64 18.675674017287836 1000.0 904.4
VL30-3 0.06165424515318822 0.04327800852640504
RT-VL30-3 971.224 61.5259508175209 999.6 702.4
VL30-4 0.04126646256700567 0.03589328485555994
RT-VL30-4 986.6640000000001 31.29734659679635 1000.0 812.4
VL30-5 0.42507061399469637 0.19403759554387284
RT-VL30-5 996.2560000000001 4.81913519212732 999.6 974.0
VL30-all 0.17654575096607017 0.17025322400309728
RT-VL30-all 988.7968000000001 9.532845921339565 997.2000000000002 971.224
*** budget = 40
VL40-1 0.01348988580257274 0.01235201491222588
RT-VL40-1 997.1567567567569 0.9336185170760706 998.8 994.8
VL40-2 0.291004520149392 0.21388238948775662
RT-VL40-2 992.6594594594595 19.555761706566997 998.8 904.4
VL40-3 0.05068724606036934 0.03680773644310944
RT-VL40-3 969.8270270270268 54.11319791380592 999.6 799.2
VL40-4 0.030460678698592446 0.026189009514607568
RT-VL40-4 990.281081081081 17.361495729527416 1000.0 920.0
VL40-5 0.3750032990960555 0.17114786082015623
RT-VL40-5 996.735135135135 3.793038874129483 1000.0 982.4
VL40-all 0.1521291259613964 0.15051496744865028
RT-VL40-all 989.3318918918918 10.084145378784191 997.1567567567569 969.8270270270268
*** budget = 50
VL50-1 0.008926152766969737 0.00696379488389836
RT-VL50-1 997.0799999999999 1.0937397618568374 998.8 994.8
VL50-2 0.21896203750928628 0.15522894445422752
RT-VL50-2 991.4933333333335 21.544851408682824 998.8 904.4
VL50-3 0.044179312612647736 0.033036958762279536
RT-VL50-3 973.7333333333333 52.9293701287123 999.6 799.2
VL50-4 0.02922416106651046 0.02522992914643896
RT-VL50-4 992.6666666666665 12.925770984956966 1000.0 940.0
VL50-5 0.3550802283370208 0.15890221395700188
RT-VL50-5 996.4133333333334 5.137556704201806 1000.0 974.0
VL50-all 0.131274378458487 0.13471976075094938
RT-VL50-all 990.2773333333332 8.54187655677082 997.0799999999999 973.7333333333333
logs_data/30hc/cgrew/igsn/run_2024-05-29_11-52-49/run_80287_00005_5_dl_scale=0.0500,dr_cc=0.8000,seed=1_2024-05-29_11-52-49/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0000_rc0.80_reg10_ds0.050_s1/05.29_11.54.00/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type1-infogsdr_ppo-100-100-relu_cr0_no0_es=n_sr0000_rc0.80_reg10_ds0.050_s1
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppo
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 17, action dim: 6, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/HCCustom_v0.h5 with traj_num 25.0, data_size 25000 steps, and average return 996.96
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 14985, K 15, state dim 17, action dim 6, a min -0.7615942, a_max 0.7615942
Policy model is loaded from logs_data/30hc/cgrew/igsn/run_2024-05-29_11-52-49/run_80287_00005_5_dl_scale=0.0500,dr_cc=0.8000,seed=1_2024-05-29_11-52-49/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0000_rc0.80_reg10_ds0.050_s1/05.29_11.54.00/models/ckpt_policy_T15000000.pt
Error(s) in loading state_dict for PairDiscriminator:
	Missing key(s) in state_dict: "reward_offset". 
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 5 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
current_vel_mean [0.97, 1.78, 2.88, 3.65, 4.87]
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
zvs shape 1500
RT 993.0037333333333 19.339330203729624 1000.0 776.8
LR 0.9896 0.06365406507050433 1.0 0.6
VL-std-all 0.6543583433972345 0.0
*** budget = 10
VL10-1 0.17047154093839925 0.35111694180985215
RT-VL10-1 994.9306666666665 17.928003966482784 999.6 776.8
VL10-2 0.25672315597103995 0.25841951367988036
RT-VL10-2 995.0826666666665 17.917353772871213 999.2 776.8
VL10-3 0.28273159633659173 0.24830735419527597
RT-VL10-3 989.9413333333332 27.166857717119633 1000.0 776.8
VL10-4 0.12811890481303412 0.12433714435185965
RT-VL10-4 989.4080000000001 24.493143312636157 1000.0 840.4
VL10-5 0.4994615232767427 0.24200423771550844
RT-VL10-5 993.3653333333333 16.22930266181788 999.6 868.4
VL10-all 0.26750134426716154 0.1288378063531072
RT-VL10-all 992.5455999999998 2.425858678672049 995.0826666666665 989.4080000000001
*** budget = 20
VL20-1 0.04855074896205013 0.059368147544333026
RT-VL20-1 996.256 1.5807373806760772 998.8 991.2
VL20-2 0.12403451626325197 0.13711000415754698
RT-VL20-2 996.5013333333334 1.053437969486366 998.4 994.0
VL20-3 0.15452065027933737 0.15449771687634786
RT-VL20-3 986.2933333333333 35.38185347823875 999.2 776.8
VL20-4 0.06514047963743672 0.06590984464146762
RT-VL20-4 988.096 28.397997300279236 1000.0 840.4
VL20-5 0.35769889403926297 0.15300511515472054
RT-VL20-5 995.4186666666666 6.8934112181286755 999.6 954.4
VL20-all 0.14998905783626784 0.11074887028176397
RT-VL20-all 992.5130666666668 4.394403098892451 996.5013333333334 986.2933333333333
*** budget = 30
VL30-1 0.03439366779364917 0.05742982396523687
RT-VL30-1 996.2320000000001 1.4861278545266574 998.8 991.2
VL30-2 0.08097197988790962 0.10866547693772562
RT-VL30-2 996.5200000000001 1.1092339699089653 998.4 994.0
VL30-3 0.09711941031618189 0.092921835158687
RT-VL30-3 989.336 27.78184846262033 999.2 854.0
VL30-4 0.05013251281620794 0.05901814273743976
RT-VL30-4 986.68 32.77376999980319 1000.0 840.4
VL30-5 0.3062018725830032 0.13372479924578484
RT-VL30-5 995.9119999999999 6.301893048917923 999.6 954.4
VL30-all 0.11376388867939036 0.09872518376660759
RT-VL30-all 992.936 4.1149188084335595 996.5200000000001 986.68
*** budget = 40
VL40-1 0.020458215136455654 0.023001537747905497
RT-VL40-1 996.6054054054057 1.4663700255606213 998.8 991.2
VL40-2 0.0550343029699296 0.050948164283903065
RT-VL40-2 996.5837837837837 1.0463613952486832 998.4 994.0
VL40-3 0.08009396853642926 0.08764818068070865
RT-VL40-3 987.556756756757 31.704280046472537 998.4 854.0
VL40-4 0.030281368251074525 0.03651466092877916
RT-VL40-4 986.6918918918918 35.445781805062445 1000.0 840.4
VL40-5 0.2735378540436438 0.12023512609402459
RT-VL40-5 996.843243243243 2.3319798502375226 999.6 986.0
VL40-all 0.09188114178750657 0.09315745235132782
RT-VL40-all 992.8562162162164 4.688938664543779 996.843243243243 986.6918918918918
*** budget = 50
VL50-1 0.018073922348158685 0.021726922290000217
RT-VL50-1 996.3199999999998 1.5051910177781398 998.8 991.2
VL50-2 0.03947485736112059 0.039557667744477554
RT-VL50-2 996.4 1.1360751148875083 998.4 994.0
VL50-3 0.05503822290571104 0.06546987365502253
RT-VL50-3 985.4666666666668 34.881182446827815 999.2 854.0
VL50-4 0.026246396358889996 0.031866812633940846
RT-VL50-4 989.6533333333334 28.435420790900128 1000.0 845.2
VL50-5 0.26247152186582656 0.1177502459848832
RT-VL50-5 996.6533333333333 2.331199023869237 999.6 986.0
VL50-all 0.08026098416794138 0.09196214680802658
RT-VL50-all 992.8986666666667 4.556954928701991 996.6533333333333 985.4666666666668
logs_data/30hc/cgrew1/abl/run_2024-06-02_00-18-55/run_39b80_00018_18_clip_discriminator=0,dr_cc=0.8000,seed=5_2024-06-02_00-18-58/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0010_rc0.80_reg00_ds0.001_zt=p_g1_s5/06.02_09.19.50/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type1-infogsdr_ppo-100-100-relu_cr0_no0_es=n_sr0010_rc0.80_reg00_ds0.001_zt=p_g1_s5
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppo
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 17, action dim: 6, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/HCCustom_v0.h5 with traj_num 25.0, data_size 25000 steps, and average return 996.96
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 14985, K 15, state dim 17, action dim 6, a min -0.7615942, a_max 0.7615942
Policy model is loaded from logs_data/30hc/cgrew1/abl/run_2024-06-02_00-18-55/run_39b80_00018_18_clip_discriminator=0,dr_cc=0.8000,seed=5_2024-06-02_00-18-58/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0010_rc0.80_reg00_ds0.001_zt=p_g1_s5/06.02_09.19.50/models/ckpt_policy_T15000000.pt
Error(s) in loading state_dict for PairDiscriminator:
	Missing key(s) in state_dict: "reward_offset". 
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 5 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
current_vel_mean [0.97, 1.78, 2.88, 3.65, 4.87]
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
zvs shape 1500
RT 966.7941333333334 149.2366245226538 1000.0 -174.4
LR 0.9610666666666666 0.20442813461513124 1.0 -1.0
VL-std-all 0.2653236499066876 0.0
*** budget = 10
VL10-1 0.07487551104882646 0.08266358098235357
RT-VL10-1 991.5333333333333 66.3325989909101 1000.0 182.0
VL10-2 0.1749178758757336 0.14366447711164365
RT-VL10-2 982.0026666666669 83.58711858228449 1000.0 363.6
VL10-3 0.20936599234444075 0.18958734090976476
RT-VL10-3 976.768 67.73869039182851 1000.0 648.8
VL10-4 0.5511565504339959 0.3776862735025105
RT-VL10-4 979.16 63.06281735962432 1000.0 648.8
VL10-5 1.7649431914726286 0.3865971835724379
RT-VL10-5 979.16 63.06281735962432 1000.0 648.8
VL10-all 0.555051824235125 0.6258469618819384
RT-VL10-all 981.7248 5.177080265082918 991.5333333333333 976.768
*** budget = 20
VL20-1 0.0340509653983154 0.03129616821799383
RT-VL20-1 996.7306666666667 1.1563129142042685 999.6 994.4
VL20-2 0.0867161431508399 0.07203206768449104
RT-VL20-2 986.6719999999999 70.33997926262609 1000.0 547.6
VL20-3 0.11887228235254645 0.12809703996103614
RT-VL20-3 981.904 58.02520243250629 1000.0 766.0
VL20-4 0.348715254356646 0.2742402959247243
RT-VL20-4 994.4000000000002 24.506478055132014 1000.0 790.8
VL20-5 1.5562885364339114 0.2893442392601567
RT-VL20-5 994.4000000000002 24.506478055132014 1000.0 790.8
VL20-all 0.42892863633845185 0.5738549013714224
RT-VL20-all 990.8213333333333 5.608381790776369 996.7306666666667 981.904
*** budget = 30
VL30-1 0.02471582521979966 0.022493773391275514
RT-VL30-1 996.8960000000001 1.2459470293716384 999.6 994.8
VL30-2 0.05973069670202465 0.056106824434527684
RT-VL30-2 981.0319999999999 85.58777819291724 1000.0 547.6
VL30-3 0.06573848481443804 0.0500053296069212
RT-VL30-3 977.3439999999999 65.14106588013432 1000.0 766.0
VL30-4 0.23679893938686225 0.18203675576594283
RT-VL30-4 992.68 27.400233575646766 1000.0 808.4
VL30-5 1.4381588625027601 0.20400448244103445
RT-VL30-5 992.68 27.400233575646766 1000.0 808.4
VL30-all 0.36502856172517695 0.5415986657377808
RT-VL30-all 988.1263999999999 7.5493985349828066 996.8960000000001 977.3439999999999
*** budget = 40
VL40-1 0.019354029576145407 0.019513229255942358
RT-VL40-1 996.7243243243244 1.1459459459459447 999.6 994.8
VL40-2 0.04984604238834826 0.04813767629643861
RT-VL40-2 986.1621621621622 73.10062428598494 1000.0 547.6
VL40-3 0.048248060366846125 0.04103029344264674
RT-VL40-3 973.4702702702704 67.05602685638921 1000.0 766.4
VL40-4 0.187563675538062 0.1669359196784597
RT-VL40-4 997.0054054054053 3.697328907720099 1000.0 982.8
VL40-5 1.3823743824514374 0.19152622166104305
RT-VL40-5 997.0054054054053 3.697328907720099 1000.0 982.8
VL40-all 0.33747723806416785 0.5257131758504866
RT-VL40-all 990.0735135135135 9.287646531075206 997.0054054054053 973.4702702702704
*** budget = 50
VL50-1 0.014523315771035716 0.012595733848085959
RT-VL50-1 996.6533333333334 1.128932632573297 999.6 994.8
VL50-2 0.031251555536914784 0.03160795602442413
RT-VL50-2 983.3733333333332 80.92641486079945 1000.0 547.6
VL50-3 0.03822936807595883 0.03367433957986515
RT-VL50-3 969.3066666666667 75.59294029353681 1000.0 766.4
VL50-4 0.1593389410343993 0.1516669459160613
RT-VL50-4 996.6666666666666 3.9696627340647312 999.6 982.8
VL50-5 1.348272146227562 0.1787121067965017
RT-VL50-5 996.6666666666666 3.9696627340647312 999.6 982.8
VL50-all 0.3183230653291741 0.5175379947072835
RT-VL50-all 988.5333333333334 10.904374657295412 996.6666666666666 969.3066666666667
logs_data/30hc/cgrew1/abl/run_2024-06-02_00-18-55/run_39b80_00014_14_clip_discriminator=0,dr_cc=0.8000,seed=4_2024-06-02_00-18-55/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0010_rc0.80_reg00_ds0.001_zt=p_g1_s4/06.02_09.17.54/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type1-infogsdr_ppo-100-100-relu_cr0_no0_es=n_sr0010_rc0.80_reg00_ds0.001_zt=p_g1_s4
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppo
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 17, action dim: 6, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/HCCustom_v0.h5 with traj_num 25.0, data_size 25000 steps, and average return 996.96
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 14985, K 15, state dim 17, action dim 6, a min -0.7615942, a_max 0.7615942
Policy model is loaded from logs_data/30hc/cgrew1/abl/run_2024-06-02_00-18-55/run_39b80_00014_14_clip_discriminator=0,dr_cc=0.8000,seed=4_2024-06-02_00-18-55/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0010_rc0.80_reg00_ds0.001_zt=p_g1_s4/06.02_09.17.54/models/ckpt_policy_T15000000.pt
Error(s) in loading state_dict for PairDiscriminator:
	Missing key(s) in state_dict: "reward_offset". 
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 5 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
current_vel_mean [0.97, 1.78, 2.88, 3.65, 4.87]
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
zvs shape 1500
RT 965.0106666666667 113.89253785720798 1000.0 -77.6
LR 0.9474666666666666 0.19626576086747502 1.0 -1.0
VL-std-all 0.34001340163105925 0.0
*** budget = 10
VL10-1 0.9128383716328577 0.5197506145684819
RT-VL10-1 811.5360000000001 252.7921141386073 999.6 -77.6
VL10-2 0.40713671864932816 0.27451024935485846
RT-VL10-2 921.6933333333334 147.94432406220326 999.6 419.6
VL10-3 0.02627250905066573 0.02491641669149657
RT-VL10-3 997.6186666666666 4.884661525860541 1000.0 940.4
VL10-4 0.27438559045407107 0.21602524894710273
RT-VL10-4 986.4693333333331 34.829221345811845 1000.0 787.6
VL10-5 0.7754578501752405 0.680945580006588
RT-VL10-5 989.7866666666666 25.96566621949497 1000.0 854.8
VL10-all 0.47921820799243264 0.32499117539389577
RT-VL10-all 941.4207999999999 70.407473813383 997.6186666666666 811.5360000000001
*** budget = 20
VL20-1 0.6633527110640272 0.4631678948892518
RT-VL20-1 734.816 280.5486391768814 998.4 33.6
VL20-2 0.2628125723756223 0.21517776614729042
RT-VL20-2 917.376 155.88519864738066 999.6 450.8
VL20-3 0.012859954400994507 0.012970545151670142
RT-VL20-3 997.4773333333334 6.7187215715160855 1000.0 940.4
VL20-4 0.13481940875608325 0.13912109119632682
RT-VL20-4 980.2080000000001 44.779536278676815 999.2 787.6
VL20-5 0.40193517268688095 0.5055611784151057
RT-VL20-5 991.9573333333334 20.74254354916216 998.8 881.2
VL20-all 0.29515596385672166 0.22512911269807062
RT-VL20-all 924.3669333333333 99.0052998209692 997.4773333333334 734.816
*** budget = 30
VL30-1 0.46623984503701715 0.3647725759819203
RT-VL30-1 647.856 274.5267784096845 998.4 -77.6
VL30-2 0.1924752664877502 0.17205950337159187
RT-VL30-2 881.7840000000001 174.10165692491267 999.6 450.8
VL30-3 0.008312753116800655 0.009156110589294221
RT-VL30-3 997.096 8.162278113370068 1000.0 940.4
VL30-4 0.07904384338772721 0.09459955503280375
RT-VL30-4 989.712 27.413286121878933 999.2 856.4
VL30-5 0.29408790686461017 0.43669318200469276
RT-VL30-5 989.3279999999999 28.282397635278375 998.8 860.0
VL30-all 0.2080319229787811 0.16176813309444896
RT-VL30-all 901.1551999999999 133.68404145656277 997.096 647.856
*** budget = 40
VL40-1 0.32976056261235115 0.2402580402529662
RT-VL40-1 604.3567567567568 258.5709046366518 998.4 84.4
VL40-2 0.14523168596641947 0.14290135647628713
RT-VL40-2 883.0594594594595 176.37741391756586 999.6 450.8
VL40-3 0.005866353808274286 0.0059118657374386905
RT-VL40-3 993.8918918918916 18.84712865618812 1000.0 896.0
VL40-4 0.07118133483114408 0.0987818587389001
RT-VL40-4 988.1513513513511 37.01363971836432 999.2 787.6
VL40-5 0.20088067492357103 0.29762181137079313
RT-VL40-5 989.7405405405408 28.59993819176329 998.8 860.0
VL40-all 0.150584122428352 0.11127499604005855
RT-VL40-all 891.8399999999999 149.6654228028676 993.8918918918916 604.3567567567568
*** budget = 50
VL50-1 0.2917988066622515 0.2614026154472854
RT-VL50-1 600.5733333333334 252.57683574618545 997.6 84.4
VL50-2 0.09586515180125248 0.06253942154052776
RT-VL50-2 874.7466666666667 183.98825276510334 999.6 450.8
VL50-3 0.004758406637792708 0.004799591050597312
RT-VL50-3 996.3866666666667 10.459054556804947 1000.0 940.4
VL50-4 0.06224354182784359 0.08929743413384249
RT-VL50-4 992.2266666666668 18.098893766071885 999.2 912.4
VL50-5 0.12236604635443014 0.19380686500988328
RT-VL50-5 995.6266666666667 5.346583540500933 997.6 967.2
VL50-all 0.11540639065671407 0.09655448835839828
RT-VL50-all 891.912 152.91016170869017 996.3866666666667 600.5733333333334
logs_data/30hc/cgrew1/abl/run_2024-06-02_00-18-55/run_39b80_00010_10_clip_discriminator=0,dr_cc=0.8000,seed=3_2024-06-02_00-18-55/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0010_rc0.80_reg00_ds0.001_zt=p_g1_s3/06.02_05.25.34/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type1-infogsdr_ppo-100-100-relu_cr0_no0_es=n_sr0010_rc0.80_reg00_ds0.001_zt=p_g1_s3
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppo
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 17, action dim: 6, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/HCCustom_v0.h5 with traj_num 25.0, data_size 25000 steps, and average return 996.96
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 14985, K 15, state dim 17, action dim 6, a min -0.7615942, a_max 0.7615942
Policy model is loaded from logs_data/30hc/cgrew1/abl/run_2024-06-02_00-18-55/run_39b80_00010_10_clip_discriminator=0,dr_cc=0.8000,seed=3_2024-06-02_00-18-55/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0010_rc0.80_reg00_ds0.001_zt=p_g1_s3/06.02_05.25.34/models/ckpt_policy_T15000000.pt
Error(s) in loading state_dict for PairDiscriminator:
	Missing key(s) in state_dict: "reward_offset". 
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 5 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
current_vel_mean [0.97, 1.78, 2.88, 3.65, 4.87]
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
zvs shape 1500
RT 986.6050666666667 86.34216629779192 1000.0 -254.8
LR 0.9872 0.1045442171204765 1.0 -0.6
VL-std-all 0.14856239337925406 0.0
*** budget = 10
VL10-1 0.09791956825214769 0.1030993622324364
RT-VL10-1 991.6506666666666 62.087977093440195 1000.0 234.0
VL10-2 0.13644528300346906 0.1138631435230367
RT-VL10-2 982.024 87.88862321521863 1000.0 481.2
VL10-3 0.17195016832162707 0.20626415686255342
RT-VL10-3 993.664 22.58811864675763 1000.0 815.2
VL10-4 0.4929067287750659 0.35252758816491636
RT-VL10-4 993.4373333333332 23.860532396034714 1000.0 815.2
VL10-5 1.6744759673234269 0.4015224648247574
RT-VL10-5 993.4693333333333 23.866092953998333 1000.0 815.2
VL10-all 0.5147395431351474 0.5966263888845316
RT-VL10-all 990.8490666666667 4.472429667293683 993.664 982.024
*** budget = 20
VL20-1 0.04688501688518527 0.037488722275991954
RT-VL20-1 996.5439999999999 1.3866256404187391 999.6 992.8
VL20-2 0.07325377217313057 0.06304581215031568
RT-VL20-2 991.4026666666668 59.19096771937045 1000.0 482.4
VL20-3 0.07200985871226545 0.07118283729962621
RT-VL20-3 997.0079999999999 5.249755803844595 1000.0 965.6
VL20-4 0.28117087801558466 0.177963448979486
RT-VL20-4 993.984 19.29525703378942 1000.0 852.0
VL20-5 1.424378764777931 0.2647125787284669
RT-VL20-5 994.0586666666668 19.309100399092195 1000.0 852.0
VL20-all 0.37953965811281937 0.529227721777697
RT-VL20-all 994.5994666666666 2.023513617448511 997.0079999999999 991.4026666666668
*** budget = 30
VL30-1 0.03751421199956087 0.033315937570632975
RT-VL30-1 996.7279999999998 1.3137792813102211 999.6 994.0
VL30-2 0.055594375039793906 0.05287016481046407
RT-VL30-2 987.8000000000002 72.21874548896568 1000.0 482.4
VL30-3 0.040874645892291415 0.042325425868173554
RT-VL30-3 996.656 6.1619529371782775 1000.0 965.6
VL30-4 0.21970950422408045 0.13664338779345997
RT-VL30-4 996.3840000000001 7.842432275767511 1000.0 943.6
VL30-5 1.3312179199416667 0.24287392210294137
RT-VL30-5 996.672 7.874389881127296 1000.0 943.6
VL30-all 0.33698213141947864 0.501756398953709
RT-VL30-all 994.848 3.5260130459201973 996.7279999999998 987.8000000000002
*** budget = 40
VL40-1 0.02745916806582069 0.02699651085763541
RT-VL40-1 996.4972972972971 1.374376809436566 999.6 994.0
VL40-2 0.04724326709388908 0.04783923686079507
RT-VL40-2 984.3891891891892 83.67930992875955 1000.0 482.4
VL40-3 0.024888391362870764 0.024284128245589575
RT-VL40-3 997.4810810810811 2.239430168572436 1000.0 989.6
VL40-4 0.17378683803981168 0.09732144157878522
RT-VL40-4 992.345945945946 25.033281572086157 1000.0 852.0
VL40-5 1.2542495080511238 0.21974012474938776
RT-VL40-5 994.2486486486488 23.744468734236754 1000.0 852.0
VL40-all 0.3055254345227032 0.477539548528105
RT-VL40-all 992.9924324324326 4.65712062702875 997.4810810810811 984.3891891891892
*** budget = 50
VL50-1 0.019982359774921653 0.014288477306772471
RT-VL50-1 996.4933333333333 1.3532512290365375 999.6 994.0
VL50-2 0.03868858802193712 0.040481165234709876
RT-VL50-2 980.9199999999998 92.58942488211059 1000.0 482.4
VL50-3 0.018801070964797852 0.017925877993494804
RT-VL50-3 996.7600000000001 5.285804889828356 1000.0 970.0
VL50-4 0.15326701278423918 0.08796769418974668
RT-VL50-4 995.48 9.880971612144219 1000.0 943.6
VL50-5 1.1955430252386112 0.1971906128646386
RT-VL50-5 998.0266666666666 1.4345576166733613 1000.0 994.0
VL50-all 0.2852564113569014 0.4578662213175667
RT-VL50-all 993.5360000000001 6.360010621933898 998.0266666666666 980.9199999999998
logs_data/30hc/cgrew1/abl/run_2024-06-02_00-18-55/run_39b80_00006_6_clip_discriminator=0,dr_cc=0.8000,seed=2_2024-06-02_00-18-55/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0010_rc0.80_reg00_ds0.001_zt=p_g1_s2/06.02_05.21.11/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type1-infogsdr_ppo-100-100-relu_cr0_no0_es=n_sr0010_rc0.80_reg00_ds0.001_zt=p_g1_s2
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppo
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 17, action dim: 6, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/HCCustom_v0.h5 with traj_num 25.0, data_size 25000 steps, and average return 996.96
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 14985, K 15, state dim 17, action dim 6, a min -0.7615942, a_max 0.7615942
Policy model is loaded from logs_data/30hc/cgrew1/abl/run_2024-06-02_00-18-55/run_39b80_00006_6_clip_discriminator=0,dr_cc=0.8000,seed=2_2024-06-02_00-18-55/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0010_rc0.80_reg00_ds0.001_zt=p_g1_s2/06.02_05.21.11/models/ckpt_policy_T15000000.pt
Error(s) in loading state_dict for PairDiscriminator:
	Missing key(s) in state_dict: "reward_offset". 
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 5 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
current_vel_mean [0.97, 1.78, 2.88, 3.65, 4.87]
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
zvs shape 1500
RT 885.9541333333334 292.88385470964806 1000.0 -239.2
LR 0.8792 0.3575015524441817 1.0 -1.0
VL-std-all 0.31994719985837217 0.0
*** budget = 10
VL10-1 0.1161511362881438 0.10285413381358682
RT-VL10-1 990.464 64.34193788398564 1000.0 292.8
VL10-2 0.38176195760123866 0.2542678850637622
RT-VL10-2 971.656 100.65491177284892 1000.0 412.0
VL10-3 0.23849720137789954 0.2454958003195878
RT-VL10-3 965.2773333333336 82.10321564686463 1000.0 735.6
VL10-4 0.3556717326271366 0.3230772950875624
RT-VL10-4 991.6773333333334 32.65005389820292 1000.0 735.6
VL10-5 0.7310480849297903 0.6578245652310819
RT-VL10-5 991.1439999999999 32.55928025412519 1000.0 735.6
VL10-all 0.3646260225648418 0.20605203032722974
RT-VL10-all 982.0437333333333 11.274210977861474 991.6773333333334 965.2773333333336
*** budget = 20
VL20-1 0.05819643647808079 0.05667639322810154
RT-VL20-1 997.7600000000002 1.2272462398937434 1000.0 993.2
VL20-2 0.21901373478793223 0.19105577235963903
RT-VL20-2 964.2453333333333 120.6972612705948 1000.0 412.0
VL20-3 0.10772087736148331 0.1108654363759552
RT-VL20-3 967.9893333333334 79.17028326896961 1000.0 735.6
VL20-4 0.18400837670158665 0.14407945368547587
RT-VL20-4 995.5146666666667 3.6081645688016466 1000.0 984.0
VL20-5 0.3704150516844309 0.3773577768143734
RT-VL20-5 995.6373333333332 2.354387299395656 999.2 986.4
VL20-all 0.18787089540270277 0.10728155030358195
RT-VL20-all 984.2293333333333 14.857173411446011 997.7600000000002 964.2453333333333
*** budget = 30
VL30-1 0.03621309481961536 0.0263712728559637
RT-VL30-1 997.752 1.2671606054482627 999.6 993.2
VL30-2 0.18726960199595616 0.17239158255389533
RT-VL30-2 973.984 98.58684569454488 1000.0 517.6
VL30-3 0.07180890722959654 0.0736988785679921
RT-VL30-3 959.9440000000001 89.31999140170133 1000.0 735.6
VL30-4 0.12853246951794398 0.09670667998943862
RT-VL30-4 995.48 3.704483769703957 1000.0 984.0
VL30-5 0.23480295121167738 0.28016213941571994
RT-VL30-5 996.2080000000001 1.7549746436914713 999.2 988.8
VL30-all 0.13172540495495788 0.07270890081826765
RT-VL30-all 984.6736000000001 15.143882429548881 997.752 959.9440000000001
*** budget = 40
VL40-1 0.03054179329745796 0.02983571878425058
RT-VL40-1 997.3837837837837 1.4954911537981002 999.6 993.2
VL40-2 0.13708660796906633 0.1518639085308006
RT-VL40-2 961.9891891891891 127.23411021438113 1000.0 412.0
VL40-3 0.04832318124197936 0.052233389895856824
RT-VL40-3 979.7621621621621 64.83172126213788 1000.0 752.4
VL40-4 0.10780444585955883 0.09107517515315329
RT-VL40-4 995.2540540540541 3.7754967165311686 1000.0 984.0
VL40-5 0.18585699412357584 0.2364526971644498
RT-VL40-5 996.3783783783786 1.4732085107985462 999.2 991.6
VL40-all 0.10192260449832766 0.05706873634619774
RT-VL40-all 986.1535135135134 13.69854453674291 997.3837837837837 961.9891891891891
*** budget = 50
VL50-1 0.02573805395680334 0.02199741982223595
RT-VL50-1 997.4666666666667 1.4397530652472597 999.6 993.2
VL50-2 0.0793442855953824 0.07658022419998683
RT-VL50-2 972.7466666666666 97.36850871246251 1000.0 517.6
VL50-3 0.044794983476985746 0.04804704461694659
RT-VL50-3 958.9866666666668 89.38126475324059 1000.0 752.4
VL50-4 0.08059312356136163 0.07814105055806074
RT-VL50-4 994.3866666666668 3.7216244959545417 1000.0 984.0
VL50-5 0.14980921906762543 0.1386872710600249
RT-VL50-5 996.5466666666669 1.3001880205912082 998.8 991.6
VL50-all 0.0760559331316317 0.04237943483162764
RT-VL50-all 984.0266666666666 15.485177428754273 997.4666666666667 958.9866666666668
logs_data/30hc/cgrew1/abl/run_2024-06-02_00-18-55/run_39b80_00002_2_clip_discriminator=0,dr_cc=0.8000,seed=1_2024-06-02_00-18-55/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0010_rc0.80_reg00_ds0.001_zt=p_g1_s1/06.02_00.19.32/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type1-infogsdr_ppo-100-100-relu_cr0_no0_es=n_sr0010_rc0.80_reg00_ds0.001_zt=p_g1_s1
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppo
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 17, action dim: 6, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/HCCustom_v0.h5 with traj_num 25.0, data_size 25000 steps, and average return 996.96
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 14985, K 15, state dim 17, action dim 6, a min -0.7615942, a_max 0.7615942
Policy model is loaded from logs_data/30hc/cgrew1/abl/run_2024-06-02_00-18-55/run_39b80_00002_2_clip_discriminator=0,dr_cc=0.8000,seed=1_2024-06-02_00-18-55/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0010_rc0.80_reg00_ds0.001_zt=p_g1_s1/06.02_00.19.32/models/ckpt_policy_T15000000.pt
Error(s) in loading state_dict for PairDiscriminator:
	Missing key(s) in state_dict: "reward_offset". 
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 5 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
current_vel_mean [0.97, 1.78, 2.88, 3.65, 4.87]
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
zvs shape 1500
RT 975.9314666666668 97.58956281205941 1000.0 -175.2
LR 0.9669333333333334 0.1683644723674076 1.0 -1.0
VL-std-all 0.35157196473461944 0.0
*** budget = 10
VL10-1 0.17801349698892432 0.2521001347683345
RT-VL10-1 955.6133333333333 161.7283412255117 998.4 -84.0
VL10-2 0.33335269606510676 0.2167336485941654
RT-VL10-2 972.9573333333336 96.13399422796404 1000.0 367.2
VL10-3 0.18300126225018493 0.14156652340975845
RT-VL10-3 990.8266666666667 34.377998131880155 999.2 682.4
VL10-4 0.23157328070219382 0.18221666236548592
RT-VL10-4 976.2186666666665 58.69973468045281 998.8 724.0
VL10-5 0.40830589993851885 0.46944400815085335
RT-VL10-5 983.2826666666664 40.279935032497534 997.2 724.0
VL10-all 0.26684932718898574 0.0901103348378766
RT-VL10-all 975.7797333333334 11.8114055432309 990.8266666666667 955.6133333333333
*** budget = 20
VL20-1 0.07068147693505056 0.06617256310117883
RT-VL20-1 971.8133333333335 118.84570763061754 997.6 342.0
VL20-2 0.2165521087805847 0.1738801709490651
RT-VL20-2 975.6853333333335 80.91796783299877 1000.0 537.2
VL20-3 0.10812792921140314 0.09809749354608717
RT-VL20-3 992.2453333333334 36.0341700550402 999.2 682.4
VL20-4 0.13486554968549352 0.08999213274414211
RT-VL20-4 972.2933333333333 65.81325769849788 998.8 724.0
VL20-5 0.172937860977609 0.26306588731639197
RT-VL20-5 993.4933333333331 9.411784575142432 996.8 940.4
VL20-all 0.1406329851180282 0.05057741355591038
RT-VL20-all 981.1061333333333 9.704959029279744 993.4933333333331 971.8133333333335
*** budget = 30
VL30-1 0.051465708657151533 0.04728349912238851
RT-VL30-1 959.9759999999999 144.10368289533756 997.6 342.0
VL30-2 0.16407306608958627 0.14516890388761294
RT-VL30-2 960.328 113.92633943035298 1000.0 501.2
VL30-3 0.07899377552966752 0.08173084434896877
RT-VL30-3 989.9920000000001 43.951645429949494 998.8 682.4
VL30-4 0.10128642450519756 0.06972695702340764
RT-VL30-4 976.872 58.54254876583355 997.2 724.0
VL30-5 0.08337054950336314 0.08639134981003684
RT-VL30-5 993.936 8.474096057987545 996.4 940.4
VL30-all 0.0958379048569932 0.03766636439238979
RT-VL30-all 976.2207999999998 14.285467726329495 993.936 959.9759999999999
*** budget = 40
VL40-1 0.03298297014890319 0.03067767542356203
RT-VL40-1 947.0918918918917 165.60035640772847 997.2 342.0
VL40-2 0.13135504271656598 0.12678914013305
RT-VL40-2 960.3783783783783 107.72457155305499 999.6 537.2
VL40-3 0.056085730091935015 0.05825262204890482
RT-VL40-3 982.8864864864865 58.91539587780945 998.8 682.4
VL40-4 0.08769823598306109 0.08423090334198181
RT-VL40-4 969.1351351351351 69.45387042399891 997.2 724.0
VL40-5 0.0655679705697353 0.06365636908876841
RT-VL40-5 994.7459459459459 4.033548139253185 996.8 974.4
VL40-all 0.07473798990204011 0.03331346986744789
RT-VL40-all 970.8475675675675 16.69093485563363 994.7459459459459 947.0918918918917
*** budget = 50
VL50-1 0.02852189414702255 0.022326575232090556
RT-VL50-1 935.8266666666666 182.07528650411498 997.2 342.0
VL50-2 0.09821879796362412 0.08306409029215434
RT-VL50-2 968.8666666666667 103.33923854094446 999.6 537.2
VL50-3 0.040485908291166446 0.03144082547190793
RT-VL50-3 985.9733333333332 56.37833468826676 998.0 682.4
VL50-4 0.07337185436633524 0.05979330556668654
RT-VL50-4 970.0266666666665 68.43725561092845 997.6 724.0
VL50-5 0.04571544918480382 0.04250701885620648
RT-VL50-5 993.4799999999999 7.047382492812498 996.0 964.0
VL50-all 0.057262780790590426 0.02521007924335398
RT-VL50-all 970.8346666666666 19.859890746034935 993.4799999999999 935.8266666666666
logs_data/30hc/cgrew1/abl/run_2024-06-02_00-18-55/run_39b80_00019_19_clip_discriminator=10,dr_cc=0.8000,seed=5_2024-06-02_00-18-58/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g1_s5/06.02_15.17.21/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type1-infogsdr_ppo-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g1_s5
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppo
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 17, action dim: 6, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/HCCustom_v0.h5 with traj_num 25.0, data_size 25000 steps, and average return 996.96
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 14985, K 15, state dim 17, action dim 6, a min -0.7615942, a_max 0.7615942
Policy model is loaded from logs_data/30hc/cgrew1/abl/run_2024-06-02_00-18-55/run_39b80_00019_19_clip_discriminator=10,dr_cc=0.8000,seed=5_2024-06-02_00-18-58/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g1_s5/06.02_15.17.21/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hc/cgrew1/abl/run_2024-06-02_00-18-55/run_39b80_00019_19_clip_discriminator=10,dr_cc=0.8000,seed=5_2024-06-02_00-18-58/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g1_s5/06.02_15.17.21/models/ckpt_discr_T15000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 5 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
current_vel_mean [0.97, 1.78, 2.88, 3.65, 4.87]
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
zvs shape 1500
RT 965.3573333333334 163.04710940774825 1000.0 -211.2
LR 0.9658666666666668 0.1884893866743931 1.0 -1.0
VL-std-all 0.19751550677707333 0.0
*** budget = 10
VL10-1 0.07670957788784638 0.0815498032214084
RT-VL10-1 992.4613333333334 73.78168497819918 1000.0 92.0
VL10-2 0.2065962280708901 0.17730119146679063
RT-VL10-2 982.5706666666667 85.83183989380372 1000.0 339.6
VL10-3 0.2900985010683849 0.28020645582528625
RT-VL10-3 979.3733333333333 68.9919248092767 1000.0 548.4
VL10-4 0.5346755850848461 0.4881307237202838
RT-VL10-4 982.4400000000002 64.30890036897432 1000.0 548.4
VL10-5 1.7423464653455274 0.5016569334272563
RT-VL10-5 982.4213333333335 64.30420679516664 1000.0 548.4
VL10-all 0.570085271491499 0.6048779387356047
RT-VL10-all 983.8533333333335 4.469036426096553 992.4613333333334 979.3733333333333
*** budget = 20
VL20-1 0.0320288394287175 0.02903807771611884
RT-VL20-1 998.5760000000001 1.3084178741263626 1000.0 992.8
VL20-2 0.10192282519405513 0.08726180324231705
RT-VL20-2 975.2053333333332 94.38816859943601 1000.0 547.2
VL20-3 0.13969422662413822 0.1113011069973268
RT-VL20-3 983.4400000000002 55.03519358858778 1000.0 759.2
VL20-4 0.256247850455186 0.1905682347346034
RT-VL20-4 995.2053333333337 12.369164815064208 1000.0 926.8
VL20-5 1.455786387168599 0.2184549498646382
RT-VL20-5 995.1840000000002 12.363980373110708 1000.0 926.8
VL20-all 0.39713602577413915 0.5342883934529593
RT-VL20-all 989.5221333333335 8.812390210758297 998.5760000000001 975.2053333333332
*** budget = 30
VL30-1 0.02218691818639996 0.02235360894684737
RT-VL30-1 998.544 1.4505392100870702 1000.0 992.8
VL30-2 0.06558387323776728 0.056936642987221446
RT-VL30-2 996.304 19.38453981914454 1000.0 860.8
VL30-3 0.1008055605342249 0.09328232738322743
RT-VL30-3 980.2079999999999 62.717818329403016 1000.0 759.2
VL30-4 0.19496355562941986 0.1434009858954882
RT-VL30-4 994.2720000000002 14.824507276803507 1000.0 926.8
VL30-5 1.3842713606995392 0.1832959618917159
RT-VL30-5 994.24 14.815991360688631 1000.0 926.8
VL30-all 0.3535622536574702 0.5184866279513811
RT-VL30-all 992.7135999999998 6.450318987461066 998.544 980.2079999999999
*** budget = 40
VL40-1 0.01613998671494627 0.013483297352290473
RT-VL40-1 998.627027027027 1.4690774175410308 1000.0 992.8
VL40-2 0.055948564521064253 0.0484951842296052
RT-VL40-2 995.4054054054054 22.451219745904456 1000.0 860.8
VL40-3 0.0747276725657208 0.0671301654970675
RT-VL40-3 975.3945945945945 67.14828264872814 1000.0 764.0
VL40-4 0.16387280740000257 0.1320004523528374
RT-VL40-4 994.2594594594592 15.377123399132248 1000.0 926.8
VL40-5 1.343019080556073 0.1774951386874669
RT-VL40-5 994.2594594594592 15.37627972190265 1000.0 926.8
VL40-all 0.3307416223515614 0.5084445712276492
RT-VL40-all 991.5891891891891 8.253729440155686 998.627027027027 975.3945945945945
*** budget = 50
VL50-1 0.016237566436117564 0.014437133487731612
RT-VL50-1 998.4 1.5594870951694468 1000.0 992.8
VL50-2 0.039054185416399254 0.03851861366129889
RT-VL50-2 994.56 24.855765260129633 1000.0 860.8
VL50-3 0.06163301304716217 0.05572037901346497
RT-VL50-3 982.9066666666666 58.04824966257715 1000.0 764.0
VL50-4 0.12034355654827177 0.0895468641501313
RT-VL50-4 993.7733333333332 16.98805331859881 1000.0 926.8
VL50-5 1.29397447381612 0.1439944613462431
RT-VL50-5 993.7866666666666 16.98681318618129 1000.0 926.8
VL50-all 0.3062485590528142 0.49507557547112835
RT-VL50-all 992.6853333333332 5.180555783139698 998.4 982.9066666666666
logs_data/30hc/cgrew1/abl/run_2024-06-02_00-18-55/run_39b80_00015_15_clip_discriminator=10,dr_cc=0.8000,seed=4_2024-06-02_00-18-55/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g1_s4/06.02_15.12.07/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type1-infogsdr_ppo-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g1_s4
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppo
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 17, action dim: 6, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/HCCustom_v0.h5 with traj_num 25.0, data_size 25000 steps, and average return 996.96
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 14985, K 15, state dim 17, action dim 6, a min -0.7615942, a_max 0.7615942
Policy model is loaded from logs_data/30hc/cgrew1/abl/run_2024-06-02_00-18-55/run_39b80_00015_15_clip_discriminator=10,dr_cc=0.8000,seed=4_2024-06-02_00-18-55/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g1_s4/06.02_15.12.07/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hc/cgrew1/abl/run_2024-06-02_00-18-55/run_39b80_00015_15_clip_discriminator=10,dr_cc=0.8000,seed=4_2024-06-02_00-18-55/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g1_s4/06.02_15.12.07/models/ckpt_discr_T15000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 5 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
current_vel_mean [0.97, 1.78, 2.88, 3.65, 4.87]
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
zvs shape 1500
RT 926.0776 228.14359327312556 1000.0 -255.2
LR 0.9021333333333333 0.3267957296062617 1.0 -1.0
VL-std-all 0.3482250015225909 0.0
*** budget = 10
VL10-1 0.08615407410962087 0.08068417014058063
RT-VL10-1 940.8480000000001 210.24083165741138 1000.0 76.0
VL10-2 0.1939298748863139 0.15667312166994063
RT-VL10-2 938.6586666666666 172.6422745396452 1000.0 275.2
VL10-3 0.24676170338092382 0.20241882088260837
RT-VL10-3 936.3466666666667 116.70719296122621 1000.0 562.0
VL10-4 0.25681042982420754 0.3025928945551075
RT-VL10-4 978.768 68.38250879671887 1000.0 583.2
VL10-5 1.3221024327069313 0.39511876900253
RT-VL10-5 978.9386666666668 68.22291285354373 1000.0 583.2
VL10-all 0.4211517029815995 0.45452949605699644
RT-VL10-all 954.7120000000001 19.76273255060312 978.9386666666668 936.3466666666667
*** budget = 20
VL20-1 0.04872403937133442 0.04385965610854593
RT-VL20-1 951.1626666666666 192.85103803943832 999.2 76.0
VL20-2 0.10835472317414417 0.10771128654879548
RT-VL20-2 958.0053333333333 137.17544570690808 1000.0 363.6
VL20-3 0.13730625570239408 0.13002232783773585
RT-VL20-3 940.7519999999997 104.353143201343 1000.0 664.0
VL20-4 0.11688948237417505 0.13060176416148145
RT-VL20-4 994.1546666666669 15.398547925769563 1000.0 905.2
VL20-5 1.1274962859395463 0.21980658384719085
RT-VL20-5 994.4213333333332 14.14739828456887 1000.0 905.2
VL20-all 0.3077541573123188 0.41092960591417904
RT-VL20-all 967.6991999999998 22.394390815162335 994.4213333333332 940.7519999999997
*** budget = 30
VL30-1 0.032064234670342466 0.027625587635748197
RT-VL30-1 979.6560000000001 119.38479662000518 999.2 144.0
VL30-2 0.06393059687879965 0.07307739788268114
RT-VL30-2 982.16 73.94055991132336 1000.0 527.6
VL30-3 0.0866529469971362 0.08199809932345517
RT-VL30-3 934.368 106.48928103804627 1000.0 664.0
VL30-4 0.07341577742458384 0.0595235547993385
RT-VL30-4 993.6959999999999 15.928954265738852 1000.0 908.0
VL30-5 1.04863231392609 0.1310467937500563
RT-VL30-5 996.0320000000002 7.352535345035751 1000.0 966.0
VL30-all 0.2609391739793904 0.39425811676747297
RT-VL30-all 977.1824 22.32475957854865 996.0320000000002 934.368
*** budget = 40
VL40-1 0.023846112405465116 0.015601138999893738
RT-VL40-1 973.7729729729731 138.30024652349226 999.2 144.0
VL40-2 0.04714700408495324 0.04788244884146104
RT-VL40-2 976.3675675675676 85.1948166614329 1000.0 527.6
VL40-3 0.07334404812953482 0.08093032714148835
RT-VL40-3 937.6648648648649 101.66614205918287 1000.0 698.4
VL40-4 0.05065687463599224 0.04781940471398937
RT-VL40-4 995.5351351351352 10.683258340296845 1000.0 937.2
VL40-5 1.0098754038045121 0.11264114389319776
RT-VL40-5 996.2486486486486 6.703190915088111 1000.0 971.2
VL40-all 0.2409738886120915 0.384770893301486
RT-VL40-all 975.9178378378377 21.289776254647975 996.2486486486486 937.6648648648649
*** budget = 50
VL50-1 0.019738544594767888 0.013518921640679062
RT-VL50-1 968.28 153.06940125315705 999.2 144.0
VL50-2 0.03119714050634689 0.02538526556356502
RT-VL50-2 976.3333333333333 91.11025311249125 1000.0 527.6
VL50-3 0.05330103311238014 0.05326931888084356
RT-VL50-3 952.9733333333334 94.6049573519039 1000.0 698.4
VL50-4 0.04242638681696732 0.03758898524153454
RT-VL50-4 995.1333333333334 11.743518306803205 1000.0 937.2
VL50-5 0.982578424655132 0.09788578426635945
RT-VL50-5 995.7333333333332 7.229814812443139 1000.0 971.2
VL50-all 0.22584830593711885 0.37853056528426104
RT-VL50-all 977.6906666666667 16.316458003432537 995.7333333333332 952.9733333333334
logs_data/30hc/cgrew1/abl/run_2024-06-02_00-18-55/run_39b80_00011_11_clip_discriminator=10,dr_cc=0.8000,seed=3_2024-06-02_00-18-55/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g1_s3/06.02_15.00.26/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type1-infogsdr_ppo-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g1_s3
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppo
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 17, action dim: 6, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/HCCustom_v0.h5 with traj_num 25.0, data_size 25000 steps, and average return 996.96
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 14985, K 15, state dim 17, action dim 6, a min -0.7615942, a_max 0.7615942
Policy model is loaded from logs_data/30hc/cgrew1/abl/run_2024-06-02_00-18-55/run_39b80_00011_11_clip_discriminator=10,dr_cc=0.8000,seed=3_2024-06-02_00-18-55/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g1_s3/06.02_15.00.26/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hc/cgrew1/abl/run_2024-06-02_00-18-55/run_39b80_00011_11_clip_discriminator=10,dr_cc=0.8000,seed=3_2024-06-02_00-18-55/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g1_s3/06.02_15.00.26/models/ckpt_discr_T15000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 5 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
current_vel_mean [0.97, 1.78, 2.88, 3.65, 4.87]
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
zvs shape 1500
RT 953.1832 176.91534166872017 1000.0 -383.6
LR 0.9538666666666666 0.2078582422924068 1.0 -1.0
VL-std-all 0.42037285541920927 0.0
*** budget = 10
VL10-1 0.13234593273385406 0.13977464768745182
RT-VL10-1 965.5653333333332 144.82700254057903 1000.0 209.6
VL10-2 0.14854993365133148 0.1365429044325283
RT-VL10-2 982.9893333333333 76.62547804889849 1000.0 410.8
VL10-3 0.19817128192170494 0.17478398091660646
RT-VL10-3 970.8933333333335 69.09236201555775 1000.0 764.4
VL10-4 0.3306797315163358 0.3065927125310072
RT-VL10-4 991.2560000000002 36.858505088152086 1000.0 764.4
VL10-5 1.390193667328078 0.43887241005586203
RT-VL10-5 991.008 36.812018906873334 1000.0 764.4
VL10-all 0.4399881094302608 0.4801862599017659
RT-VL10-all 980.3424000000001 10.464363377992353 991.2560000000002 965.5653333333332
*** budget = 20
VL20-1 0.05318115965345279 0.046385733850519556
RT-VL20-1 977.6426666666666 119.2619002289592 1000.0 209.6
VL20-2 0.081998365522749 0.07746948715352
RT-VL20-2 990.7413333333336 49.87885883039248 1000.0 610.0
VL20-3 0.11102191313435367 0.11002142256189382
RT-VL20-3 967.52 71.99700734521309 1000.0 796.0
VL20-4 0.16954987371111094 0.11415166840157111
RT-VL20-4 997.7280000000001 2.6582480446088406 1000.0 984.4
VL20-5 1.1180306367140258 0.282836707148214
RT-VL20-5 997.1786666666666 2.5482173289489256 1000.0 984.4
VL20-all 0.3067563897471384 0.4074604481270869
RT-VL20-all 986.1621333333335 11.800108462025095 997.7280000000001 967.52
*** budget = 30
VL30-1 0.037451764178200286 0.03440351713882343
RT-VL30-1 952.0160000000001 178.18223408634205 1000.0 209.6
VL30-2 0.06296518028213345 0.06756310441958821
RT-VL30-2 979.1519999999999 80.40806486914109 1000.0 610.0
VL30-3 0.07110187962114041 0.06603512454389562
RT-VL30-3 959.6239999999999 78.55219553901725 1000.0 796.0
VL30-4 0.12391257391511694 0.08840034600258531
RT-VL30-4 997.68 2.2866569484730417 1000.0 988.4
VL30-5 0.9990177008793644 0.24005832622815895
RT-VL30-5 996.9599999999998 1.717672844286719 1000.0 992.8
VL30-all 0.2588898197751911 0.3711317083144705
RT-VL30-all 977.0863999999999 18.74451072287559 997.68 952.0160000000001
*** budget = 40
VL40-1 0.03451174015933447 0.03844920873254889
RT-VL40-1 955.0054054054053 176.19356976018062 1000.0 209.6
VL40-2 0.0444819965362854 0.03770526841579677
RT-VL40-2 998.8324324324324 1.383699321746675 1000.0 994.8
VL40-3 0.04607047324777828 0.03979227756685427
RT-VL40-3 967.2972972972973 72.00669070446796 1000.0 796.0
VL40-4 0.10175775746368619 0.07145945368418731
RT-VL40-4 997.405405405405 2.340933741393047 1000.0 988.4
VL40-5 0.9508654349962223 0.22955382636703428
RT-VL40-5 997.0594594594594 1.3894310442533144 999.6 994.4
VL40-all 0.2355374804806613 0.35844173580894784
RT-VL40-all 983.1199999999999 18.363279775677142 998.8324324324324 955.0054054054053
*** budget = 50
VL50-1 0.025450829943880923 0.025549700585306593
RT-VL50-1 970.8666666666666 141.36832585680415 1000.0 209.6
VL50-2 0.030797037819767895 0.026881075738830792
RT-VL50-2 998.5066666666667 1.3223548019431899 1000.0 995.2
VL50-3 0.04411805133492082 0.04323577152311645
RT-VL50-3 966.4799999999999 73.00486924399861 1000.0 796.0
VL50-4 0.07885563443982166 0.05117660804644205
RT-VL50-4 997.1200000000001 2.360564904141955 1000.0 988.4
VL50-5 0.9210240246797975 0.21296979790187057
RT-VL50-5 997.0266666666666 1.3493043475147601 999.6 994.4
VL50-all 0.22004911564363777 0.350980912124702
RT-VL50-all 986.0 14.224673399882864 998.5066666666667 966.4799999999999
logs_data/30hc/cgrew1/abl/run_2024-06-02_00-18-55/run_39b80_00007_7_clip_discriminator=10,dr_cc=0.8000,seed=2_2024-06-02_00-18-55/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g1_s2/06.02_13.45.31/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type1-infogsdr_ppo-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g1_s2
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppo
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 17, action dim: 6, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/HCCustom_v0.h5 with traj_num 25.0, data_size 25000 steps, and average return 996.96
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 14985, K 15, state dim 17, action dim 6, a min -0.7615942, a_max 0.7615942
Policy model is loaded from logs_data/30hc/cgrew1/abl/run_2024-06-02_00-18-55/run_39b80_00007_7_clip_discriminator=10,dr_cc=0.8000,seed=2_2024-06-02_00-18-55/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g1_s2/06.02_13.45.31/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hc/cgrew1/abl/run_2024-06-02_00-18-55/run_39b80_00007_7_clip_discriminator=10,dr_cc=0.8000,seed=2_2024-06-02_00-18-55/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g1_s2/06.02_13.45.31/models/ckpt_discr_T15000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 5 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
current_vel_mean [0.97, 1.78, 2.88, 3.65, 4.87]
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
zvs shape 1500
RT 990.6250666666667 44.082462253473196 1000.0 -26.8
LR 0.9946666666666667 0.06510162995057975 1.0 -0.6
VL-std-all 0.1843704652852429 0.0
*** budget = 10
VL10-1 0.08230515553368292 0.1434763610274303
RT-VL10-1 997.0586666666666 1.4555725868384441 1000.0 993.6
VL10-2 0.38943459804905534 0.22569093390545933
RT-VL10-2 994.6026666666664 16.341211487796397 1000.0 796.0
VL10-3 0.2619157782123676 0.22242005870731382
RT-VL10-3 993.0773333333332 16.831585968714357 997.2 797.2
VL10-4 0.24598366692304263 0.2336660104076986
RT-VL10-4 985.2373333333331 36.35743582206472 996.0 794.4
VL10-5 0.5020522159430804 0.39541857873429503
RT-VL10-5 992.3279999999999 10.910552201118575 996.0 860.0
VL10-all 0.2963382829322458 0.14178562827857288
RT-VL10-all 992.4607999999998 3.9573776816922215 997.0586666666666 985.2373333333331
*** budget = 20
VL20-1 0.03320900686160779 0.028976405478112494
RT-VL20-1 997.2746666666667 1.4321166929486666 1000.0 993.6
VL20-2 0.2564670649018631 0.16016475922447518
RT-VL20-2 995.6266666666667 1.5014067477609931 999.2 988.8
VL20-3 0.14245419181473948 0.1315136738669178
RT-VL20-3 992.0479999999999 22.79798447231684 996.8 797.2
VL20-4 0.12689209285573136 0.10382858615144615
RT-VL20-4 985.8986666666666 36.140236093430396 996.0 813.6
VL20-5 0.3187671244450282 0.09468091492144234
RT-VL20-5 993.0506666666668 1.1099997997997817 995.2 990.0
VL20-all 0.17555789617579398 0.10077956002047905
RT-VL20-all 992.7797333333332 3.9055696662302726 997.2746666666667 985.8986666666666
*** budget = 30
VL30-1 0.02531586527500215 0.025212699180210078
RT-VL30-1 997.3759999999999 1.4536244356779389 1000.0 993.6
VL30-2 0.19892041080654788 0.12070401548552162
RT-VL30-2 995.7280000000001 1.2482051113498902 999.2 991.2
VL30-3 0.08974316587662727 0.08001864022148174
RT-VL30-3 994.592 3.1192204154243384 996.8 973.6
VL30-4 0.08110550608584913 0.0676481165176542
RT-VL30-4 981.832 43.69568143421041 996.0 813.6
VL30-5 0.28925610712759897 0.06402290913529907
RT-VL30-5 993.0959999999999 1.0081587176630438 994.8 990.8
VL30-all 0.13686821103432506 0.09470662211376739
RT-VL30-all 992.5247999999999 5.526846999872514 997.3759999999999 981.832
*** budget = 40
VL40-1 0.01873645495627171 0.01840056727466603
RT-VL40-1 997.2108108108109 1.5685737683992298 1000.0 993.6
VL40-2 0.14464080989944395 0.07919655563229179
RT-VL40-2 995.610810810811 1.5266610420065212 999.2 988.8
VL40-3 0.07175773977679688 0.07258801290616729
RT-VL40-3 995.0486486486485 0.8541224741666489 996.8 992.8
VL40-4 0.06476058694992995 0.06335792419022512
RT-VL40-4 984.5297297297299 40.866618009012214 996.0 813.6
VL40-5 0.2718429347184725 0.06077563085368964
RT-VL40-5 993.0702702702703 0.9622228951375851 994.8 990.8
VL40-all 0.11434770526018298 0.08847227603907645
RT-VL40-all 993.0940540540541 4.482196059897092 997.2108108108109 984.5297297297299
*** budget = 50
VL50-1 0.017496864244938785 0.01477420570122478
RT-VL50-1 997.1466666666668 1.4705403390893022 1000.0 993.6
VL50-2 0.13606706409765307 0.08431552760438395
RT-VL50-2 995.7333333333332 1.1469767022723507 999.2 993.6
VL50-3 0.04802491963946317 0.03859618241934375
RT-VL50-3 994.9466666666667 0.8546864272286638 996.8 992.8
VL50-4 0.050333387759889194 0.04058978673331713
RT-VL50-4 982.2000000000002 45.065848118799074 996.0 813.6
VL50-5 0.2667230623575759 0.049455550463001006
RT-VL50-5 993.1200000000002 0.9086253353280425 994.4 991.2
VL50-all 0.10372905961990404 0.09055697871018029
RT-VL50-all 992.6293333333335 5.374437603652593 997.1466666666668 982.2000000000002
logs_data/30hc/cgrew1/abl/run_2024-06-02_00-18-55/run_39b80_00003_3_clip_discriminator=10,dr_cc=0.8000,seed=1_2024-06-02_00-18-55/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g1_s1/06.02_00.19.29/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type1-infogsdr_ppo-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g1_s1
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppo
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 17, action dim: 6, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/HCCustom_v0.h5 with traj_num 25.0, data_size 25000 steps, and average return 996.96
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 14985, K 15, state dim 17, action dim 6, a min -0.7615942, a_max 0.7615942
Policy model is loaded from logs_data/30hc/cgrew1/abl/run_2024-06-02_00-18-55/run_39b80_00003_3_clip_discriminator=10,dr_cc=0.8000,seed=1_2024-06-02_00-18-55/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g1_s1/06.02_00.19.29/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hc/cgrew1/abl/run_2024-06-02_00-18-55/run_39b80_00003_3_clip_discriminator=10,dr_cc=0.8000,seed=1_2024-06-02_00-18-55/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g1_s1/06.02_00.19.29/models/ckpt_discr_T15000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 5 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
current_vel_mean [0.97, 1.78, 2.88, 3.65, 4.87]
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
zvs shape 1500
RT 949.7165333333334 164.4870853491206 1000.0 -4.8
LR 0.9373333333333331 0.23780851307068232 1.0 -1.0
VL-std-all 0.4332305837172828 0.0
*** budget = 10
VL10-1 0.16556487880426057 0.20128693156067776
RT-VL10-1 935.5333333333333 201.46335801386368 1000.0 106.0
VL10-2 0.18535494795998972 0.16168527271240613
RT-VL10-2 961.3440000000003 135.32321233747496 1000.0 397.2
VL10-3 0.20969777861654318 0.17579773276398
RT-VL10-3 958.0560000000002 105.58081674243668 1000.0 482.0
VL10-4 0.17246374189515076 0.14530546527348487
RT-VL10-4 964.7440000000003 68.52042467274508 1000.0 740.8
VL10-5 0.6700207865551423 0.38950020743945524
RT-VL10-5 984.56 38.95351075320426 1000.0 799.2
VL10-all 0.2806204267662173 0.1952812439921519
RT-VL10-all 960.8474666666668 15.660851745816526 984.56 935.5333333333333
*** budget = 20
VL20-1 0.07340975748727185 0.07098009385877464
RT-VL20-1 957.2853333333335 165.59494089964087 999.6 211.2
VL20-2 0.09416826010540978 0.0801055572333431
RT-VL20-2 953.6586666666668 149.0036555196624 1000.0 418.0
VL20-3 0.09944875525522626 0.08146096286472862
RT-VL20-3 965.8986666666669 94.14367671218757 999.6 613.6
VL20-4 0.10378059042475646 0.09089102992445335
RT-VL20-4 967.776 65.63196749552259 1000.0 793.6
VL20-5 0.4261286896322303 0.25285355080029426
RT-VL20-5 988.4639999999998 28.36050135899106 1000.0 840.4
VL20-all 0.1593872105809789 0.13377695258907651
RT-VL20-all 966.6165333333335 12.117335492957432 988.4639999999998 953.6586666666668
*** budget = 30
VL30-1 0.04820513932586007 0.050975628764216546
RT-VL30-1 982.296 99.93402015329916 999.6 282.8
VL30-2 0.06751082964751927 0.06190857183043253
RT-VL30-2 964.3599999999999 132.57178583695705 1000.0 418.0
VL30-3 0.060357019378157545 0.050635859343586054
RT-VL30-3 978.1280000000002 78.72570873609205 999.6 613.6
VL30-4 0.07272964454754502 0.06163296323206232
RT-VL30-4 980.0160000000001 53.088 1000.0 804.0
VL30-5 0.34364879543463467 0.20407554307880324
RT-VL30-5 990.8 22.40742734005848 999.6 898.8
VL30-all 0.11849028566674331 0.11287938180030282
RT-VL30-all 979.1200000000001 8.55749795208859 990.8 964.3599999999999
*** budget = 40
VL40-1 0.03625747810607114 0.04188740498660743
RT-VL40-1 996.7351351351352 1.148492835218977 999.6 994.4
VL40-2 0.05020555750660195 0.05262421341248699
RT-VL40-2 954.0216216216216 147.37442503408488 1000.0 449.2
VL40-3 0.05047818494968369 0.045188788317444446
RT-VL40-3 971.2216216216217 90.50593868863457 999.6 613.6
VL40-4 0.05001391865780307 0.046569912588118934
RT-VL40-4 988.637837837838 38.04844246093963 1000.0 812.4
VL40-5 0.31008788735784204 0.1963336421072795
RT-VL40-5 991.3513513513514 20.904178059326128 1000.0 900.4
VL40-all 0.09940860531560039 0.10547870474230372
RT-VL40-all 980.3935135135137 15.714273598887328 996.7351351351352 954.0216216216216
*** budget = 50
VL50-1 0.029134430336390744 0.033685422858797553
RT-VL50-1 972.8666666666667 128.1457538204923 999.6 282.8
VL50-2 0.03471354719419885 0.038798550184683644
RT-VL50-2 923.9733333333334 189.0073136738952 1000.0 397.2
VL50-3 0.03829503842665597 0.03423249019224523
RT-VL50-3 964.84 99.4358674389344 999.6 613.6
VL50-4 0.03238800326310942 0.03209503059428447
RT-VL50-4 986.5066666666665 43.14749072142616 1000.0 804.4
VL50-5 0.24388733066067142 0.11417967641116251
RT-VL50-5 996.2933333333333 2.1489428925766108 999.6 987.2
VL50-all 0.07568366997620528 0.08415495073345597
RT-VL50-all 968.8960000000001 24.943988311592978 996.2933333333333 923.9733333333334
logs_data/30hc/cgrew1/sn/run_2024-06-02_00-20-03/run_62835_00034_34_dl_scale=0.1000,dr_cc=0.9000,seed=5_2024-06-02_05-31-32/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.90_reg10_ds0.100_zt=p_g1_s5/06.02_10.28.35/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type1-infogsdr_ppo-100-100-relu_cr10_no0_es=n_sr0011_rc0.90_reg10_ds0.100_zt=p_g1_s5
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppo
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 17, action dim: 6, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/HCCustom_v0.h5 with traj_num 25.0, data_size 25000 steps, and average return 996.96
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 14985, K 15, state dim 17, action dim 6, a min -0.7615942, a_max 0.7615942
Policy model is loaded from logs_data/30hc/cgrew1/sn/run_2024-06-02_00-20-03/run_62835_00034_34_dl_scale=0.1000,dr_cc=0.9000,seed=5_2024-06-02_05-31-32/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.90_reg10_ds0.100_zt=p_g1_s5/06.02_10.28.35/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hc/cgrew1/sn/run_2024-06-02_00-20-03/run_62835_00034_34_dl_scale=0.1000,dr_cc=0.9000,seed=5_2024-06-02_05-31-32/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.90_reg10_ds0.100_zt=p_g1_s5/06.02_10.28.35/models/ckpt_discr_T15000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 5 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
current_vel_mean [0.97, 1.78, 2.88, 3.65, 4.87]
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
zvs shape 1500
RT 995.9133333333333 11.23021915290268 1000.0 791.6
LR 0.9970666666666667 0.03412812460257506 1.0 0.6
VL-std-all 0.48766904400212285 0.0
*** budget = 10
VL10-1 0.024863799721332572 0.029376978185596554
RT-VL10-1 996.6586666666666 1.1096057357858637 1000.0 994.0
VL10-2 0.2941652871313734 0.24964604242097158
RT-VL10-2 996.88 1.1583896868785843 1000.0 994.4
VL10-3 0.18753134913762934 0.2525559280929146
RT-VL10-3 996.16 14.096429808051871 1000.0 826.0
VL10-4 0.3204319361834376 0.32527927168555976
RT-VL10-4 991.6240000000003 26.421778088034376 1000.0 791.6
VL10-5 0.86936400835941 0.6339588978362173
RT-VL10-5 994.4640000000003 14.909295892160708 1000.0 858.4
VL10-all 0.3392712761066366 0.28469803034124563
RT-VL10-all 995.1573333333333 1.959187495990098 996.88 991.6240000000003
*** budget = 20
VL20-1 0.010054583830009737 0.008107020825229199
RT-VL20-1 996.5706666666667 1.0991843440580047 1000.0 994.0
VL20-2 0.14647887132672516 0.14851093266988236
RT-VL20-2 996.9226666666665 1.1199492051973712 1000.0 994.4
VL20-3 0.06832414292640553 0.09577726089758047
RT-VL20-3 997.4506666666667 1.7909679567826557 1000.0 984.8
VL20-4 0.15503602798659152 0.13413688397706056
RT-VL20-4 993.3120000000001 17.780715846106983 999.2 891.2
VL20-5 0.512463814310312 0.36157119125811665
RT-VL20-5 994.8533333333334 15.951838626175844 999.2 858.4
VL20-all 0.1784714880760088 0.17528280781570238
RT-VL20-all 995.8218666666668 1.5272811805441386 997.4506666666667 993.3120000000001
*** budget = 30
VL30-1 0.0074997520242312925 0.006023694281721549
RT-VL30-1 996.3840000000001 1.0274940389121507 998.4 994.4
VL30-2 0.0990130129054102 0.11925432152473008
RT-VL30-2 996.872 1.0633983261224318 999.2 994.4
VL30-3 0.03301918469310231 0.03817726198564468
RT-VL30-3 997.5679999999999 1.8656301884350004 1000.0 986.4
VL30-4 0.1021629580074261 0.09681491066221067
RT-VL30-4 996.5999999999999 3.5293058807646553 999.2 975.6
VL30-5 0.4047640442404619 0.30943399661184257
RT-VL30-5 993.7919999999998 19.435594562554552 999.2 858.4
VL30-all 0.12929179037412636 0.14257591365361516
RT-VL30-all 996.2431999999999 1.2888752305790148 997.5679999999999 993.7919999999998
*** budget = 40
VL40-1 0.00649798426807865 0.005598173787912782
RT-VL40-1 996.4864864864867 0.9759713559604207 998.4 994.8
VL40-2 0.06740395841128546 0.08328202287757465
RT-VL40-2 996.8324324324325 0.9129856143012873 998.8 995.6
VL40-3 0.02535787242408726 0.025893573911936175
RT-VL40-3 997.7945945945944 1.004300468107561 1000.0 995.6
VL40-4 0.07018990513092906 0.07649454183846062
RT-VL40-4 990.8 33.44378098371185 998.8 791.6
VL40-5 0.33542132570170957 0.20788072055243884
RT-VL40-5 997.0054054054053 1.1675675675675699 999.2 994.0
VL40-all 0.100974209187218 0.11973610400860354
RT-VL40-all 995.7837837837839 2.5285282432075564 997.7945945945944 990.8
*** budget = 50
VL50-1 0.004507017441108637 0.003421405850064916
RT-VL50-1 996.36 1.0190191362285637 998.4 994.4
VL50-2 0.06266722622927286 0.08323154921720052
RT-VL50-2 996.88 0.9819708074411628 998.8 995.6
VL50-3 0.0200478135596266 0.019757507402799888
RT-VL50-3 997.92 1.0802468853615537 1000.0 995.6
VL50-4 0.050339806256066474 0.044620379929364976
RT-VL50-4 997.2533333333334 1.0818913480053682 998.8 994.4
VL50-5 0.2830254078232806 0.16275810389937195
RT-VL50-5 996.88 1.1657329597010342 999.2 994.0
VL50-all 0.08411745426187103 0.10159542931446243
RT-VL50-all 997.0586666666666 0.5160947372118506 997.92 996.36
logs_data/30hc/cgrew1/sn/run_2024-06-02_00-20-03/run_62835_00026_26_dl_scale=0.1000,dr_cc=0.9000,seed=4_2024-06-02_04-51-52/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.90_reg10_ds0.100_zt=p_g1_s4/06.02_10.27.30/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type1-infogsdr_ppo-100-100-relu_cr10_no0_es=n_sr0011_rc0.90_reg10_ds0.100_zt=p_g1_s4
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppo
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 17, action dim: 6, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/HCCustom_v0.h5 with traj_num 25.0, data_size 25000 steps, and average return 996.96
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 14985, K 15, state dim 17, action dim 6, a min -0.7615942, a_max 0.7615942
Policy model is loaded from logs_data/30hc/cgrew1/sn/run_2024-06-02_00-20-03/run_62835_00026_26_dl_scale=0.1000,dr_cc=0.9000,seed=4_2024-06-02_04-51-52/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.90_reg10_ds0.100_zt=p_g1_s4/06.02_10.27.30/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hc/cgrew1/sn/run_2024-06-02_00-20-03/run_62835_00026_26_dl_scale=0.1000,dr_cc=0.9000,seed=4_2024-06-02_04-51-52/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.90_reg10_ds0.100_zt=p_g1_s4/06.02_10.27.30/models/ckpt_discr_T15000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 5 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
current_vel_mean [0.97, 1.78, 2.88, 3.65, 4.87]
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
zvs shape 1500
RT 995.2375999999999 21.520138155690358 1000.0 681.2
LR 0.9954666666666665 0.04234125910057732 1.0 0.6
VL-std-all 0.36522658816033693 0.0
*** budget = 10
VL10-1 0.04603854289080418 0.046113455320267255
RT-VL10-1 997.4053333333333 1.233952277125101 1000.0 990.8
VL10-2 0.3865831561400331 0.24680261461991493
RT-VL10-2 994.08 30.382099993252613 1000.0 731.2
VL10-3 0.2523630394941654 0.26402658226578674
RT-VL10-3 995.2666666666667 21.579863041476624 1000.0 735.6
VL10-4 0.2603517566652905 0.2742875203583359
RT-VL10-4 989.16 42.41815334657243 1000.0 681.2
VL10-5 0.5162627517350793 0.5526366440344903
RT-VL10-5 994.0879999999999 24.490754500423215 1000.0 737.2
VL10-all 0.2923198493850745 0.1564026739225688
RT-VL10-all 994.0 2.7070457534203336 997.4053333333333 989.16
*** budget = 20
VL20-1 0.02386387599432263 0.02169169382052038
RT-VL20-1 997.6533333333333 1.3069387471832399 1000.0 990.8
VL20-2 0.2575437357815085 0.20238819085184392
RT-VL20-2 990.4640000000003 42.64898166818679 999.6 731.2
VL20-3 0.12494908360521666 0.11941359020049068
RT-VL20-3 993.024 30.32673557550609 1000.0 735.6
VL20-4 0.1519219508442243 0.14119077985282397
RT-VL20-4 985.4399999999998 52.949606230830454 1000.0 681.2
VL20-5 0.2203048793980774 0.19314661454501966
RT-VL20-5 997.616 1.0128560279394752 999.6 993.6
VL20-all 0.1557167051246699 0.08110066790360072
RT-VL20-all 992.8394666666667 4.613406211370432 997.6533333333333 985.4399999999998
*** budget = 30
VL30-1 0.015330221026958817 0.014955622934564728
RT-VL30-1 997.712 1.0493121556524543 1000.0 994.8
VL30-2 0.18470527622426303 0.1543752016773086
RT-VL30-2 992.2559999999999 36.82145113924763 999.6 734.8
VL30-3 0.07739335647576794 0.07884932110969554
RT-VL30-3 991.56 36.94659930223619 1000.0 735.6
VL30-4 0.1121228714982308 0.12563625534475362
RT-VL30-4 985.4959999999999 53.50886640548461 1000.0 681.2
VL30-5 0.1450100958613974 0.11556240472076673
RT-VL30-5 997.672 0.9180501075649368 999.6 995.6
VL30-all 0.1069123642173236 0.05794650027474338
RT-VL30-all 992.9392 4.537602820873648 997.712 985.4959999999999
*** budget = 40
VL40-1 0.011318180154964146 0.013373196539459361
RT-VL40-1 997.8162162162164 0.8553531003179456 999.2 996.0
VL40-2 0.12824381254664355 0.11258403270588681
RT-VL40-2 990.2594594594597 42.62127028596048 999.6 734.8
VL40-3 0.0631892388263966 0.056163222548653004
RT-VL40-3 989.4054054054056 42.73003846239561 999.6 735.6
VL40-4 0.08890660984213546 0.07981441243617213
RT-VL40-4 981.5459459459456 61.71531236947556 1000.0 681.2
VL40-5 0.10474398396985554 0.08418286928846011
RT-VL40-5 997.6864864864865 0.8376808920134226 999.2 996.0
VL40-all 0.07928036506799904 0.040040635826373405
RT-VL40-all 991.3427027027028 6.0506685514619685 997.8162162162164 981.5459459459456
*** budget = 50
VL50-1 0.009523437517045411 0.00934288236417055
RT-VL50-1 997.8799999999999 1.0540082226118264 1000.0 996.0
VL50-2 0.1144600700327174 0.1254251004778134
RT-VL50-2 988.3599999999999 47.131741604429045 999.6 734.8
VL50-3 0.04543224725251528 0.04452892785340357
RT-VL50-3 987.5733333333332 47.266386458971965 999.6 735.6
VL50-4 0.07573346039855533 0.07508547198990996
RT-VL50-4 979.4666666666667 60.075803966507365 999.6 737.2
VL50-5 0.09126173695520622 0.07192299404570293
RT-VL50-5 997.6400000000001 0.7889233169326352 999.2 996.0
VL50-all 0.06728219043120794 0.036566893481299406
RT-VL50-all 990.184 6.925664476744777 997.8799999999999 979.4666666666667
logs_data/30hc/cgrew1/sn/run_2024-06-02_00-20-03/run_62835_00018_18_dl_scale=0.1000,dr_cc=0.9000,seed=3_2024-06-02_00-20-07/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.90_reg10_ds0.100_zt=p_g1_s3/06.02_10.26.11/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type1-infogsdr_ppo-100-100-relu_cr10_no0_es=n_sr0011_rc0.90_reg10_ds0.100_zt=p_g1_s3
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppo
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 17, action dim: 6, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/HCCustom_v0.h5 with traj_num 25.0, data_size 25000 steps, and average return 996.96
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 14985, K 15, state dim 17, action dim 6, a min -0.7615942, a_max 0.7615942
Policy model is loaded from logs_data/30hc/cgrew1/sn/run_2024-06-02_00-20-03/run_62835_00018_18_dl_scale=0.1000,dr_cc=0.9000,seed=3_2024-06-02_00-20-07/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.90_reg10_ds0.100_zt=p_g1_s3/06.02_10.26.11/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hc/cgrew1/sn/run_2024-06-02_00-20-03/run_62835_00018_18_dl_scale=0.1000,dr_cc=0.9000,seed=3_2024-06-02_00-20-07/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.90_reg10_ds0.100_zt=p_g1_s3/06.02_10.26.11/models/ckpt_discr_T15000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 5 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
current_vel_mean [0.97, 1.78, 2.88, 3.65, 4.87]
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
zvs shape 1500
RT 993.9671999999998 22.037579816304696 1000.0 538.4
LR 0.9944 0.0572302950076851 1.0 -0.2
VL-std-all 0.4500845290857778 0.0
*** budget = 10
VL10-1 0.05235114879354492 0.06711016313166983
RT-VL10-1 992.9493333333335 37.251707337457105 998.4 538.4
VL10-2 0.39294777766098676 0.24233484760590857
RT-VL10-2 990.4613333333331 49.06663195650947 998.4 538.4
VL10-3 0.14398267554222718 0.12101133656043173
RT-VL10-3 988.8746666666667 28.298575197741357 999.2 832.0
VL10-4 0.17141662970271157 0.15092129054214282
RT-VL10-4 996.3173333333334 5.412537872590103 999.6 949.2
VL10-5 1.1453184300329422 0.3100991673940194
RT-VL10-5 996.7306666666667 4.051862891175965 999.6 949.2
VL10-all 0.3812033323464825 0.3981049293230257
RT-VL10-all 993.0666666666666 3.1101807878857586 996.7306666666667 988.8746666666667
*** budget = 20
VL20-1 0.026588885789607542 0.02947663213499336
RT-VL20-1 996.0533333333333 0.9934899205438461 998.4 994.4
VL20-2 0.2465803841808851 0.18037868694648485
RT-VL20-2 984.5919999999999 68.88485805555045 998.0 538.4
VL20-3 0.07943548173690428 0.06833200595381257
RT-VL20-3 990.752 23.89701995368181 999.2 852.8
VL20-4 0.09194093141476653 0.08331263824217931
RT-VL20-4 996.1973333333334 5.56421838376444 998.8 949.2
VL20-5 0.9734830038854196 0.24746073322936255
RT-VL20-5 996.5600000000002 5.60266603204819 999.2 949.2
VL20-all 0.2836057374015166 0.3526414816090145
RT-VL20-all 992.8309333333334 4.643800925965793 996.5600000000002 984.5919999999999
*** budget = 30
VL30-1 0.017805818872269546 0.021776244889446374
RT-VL30-1 996.0479999999999 1.0076189756053606 998.4 994.4
VL30-2 0.18170622608904885 0.13673616760198953
RT-VL30-2 978.96 83.79769925242579 998.0 538.4
VL30-3 0.05536928825522912 0.04801231389679782
RT-VL30-3 993.488 11.771433897363561 998.8 945.2
VL30-4 0.06625709853780044 0.06699292848053186
RT-VL30-4 996.008 6.77571664106461 998.8 949.2
VL30-5 0.872263758986408 0.21113435964367178
RT-VL30-5 996.2399999999999 6.8098751824097254 999.2 949.2
VL30-all 0.23868043814815118 0.3214940958841721
RT-VL30-all 992.1487999999999 6.671926330528504 996.2399999999999 978.96
*** budget = 40
VL40-1 0.010921078558912339 0.01031924613901198
RT-VL40-1 996.0540540540541 1.0970709392408478 998.4 994.4
VL40-2 0.14819658705314567 0.12648173316988354
RT-VL40-2 985.3297297297297 64.09540551424153 998.0 600.8
VL40-3 0.04361595371103108 0.04230838437517691
RT-VL40-3 995.1135135135135 8.420893005291898 998.8 945.2
VL40-4 0.044860215476258895 0.0436247666854502
RT-VL40-4 995.5675675675676 7.808728797609996 998.8 949.2
VL40-5 0.8409393999276665 0.2050659637451173
RT-VL40-5 995.9783783783781 7.87136909466182 999.2 949.2
VL40-all 0.2177066469454029 0.3150220444513184
RT-VL40-all 993.6086486486486 4.153025563301698 996.0540540540541 985.3297297297297
*** budget = 50
VL50-1 0.008132314522932272 0.006712441808400542
RT-VL50-1 995.9600000000002 0.9978643862436083 998.4 994.4
VL50-2 0.11586641194122234 0.09660472420818875
RT-VL50-2 982.72 70.92639565070257 998.0 600.8
VL50-3 0.03316790779463424 0.025273308934115134
RT-VL50-3 994.9600000000002 9.321859614189998 998.8 945.2
VL50-4 0.037292451305369255 0.042891561870430785
RT-VL50-4 995.4266666666666 8.664830574736515 998.8 949.2
VL50-5 0.7876393051535168 0.17711700459757534
RT-VL50-5 995.8266666666667 8.718215923506868 999.2 949.2
VL50-all 0.19641967814353498 0.2978100811591625
RT-VL50-all 992.9786666666666 5.141168738720817 995.9600000000002 982.72
logs_data/30hc/cgrew1/sn/run_2024-06-02_00-20-03/run_62835_00010_10_dl_scale=0.1000,dr_cc=0.9000,seed=2_2024-06-02_00-20-03/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.90_reg10_ds0.100_zt=p_g1_s2/06.02_10.20.32/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type1-infogsdr_ppo-100-100-relu_cr10_no0_es=n_sr0011_rc0.90_reg10_ds0.100_zt=p_g1_s2
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppo
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 17, action dim: 6, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/HCCustom_v0.h5 with traj_num 25.0, data_size 25000 steps, and average return 996.96
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 14985, K 15, state dim 17, action dim 6, a min -0.7615942, a_max 0.7615942
Policy model is loaded from logs_data/30hc/cgrew1/sn/run_2024-06-02_00-20-03/run_62835_00010_10_dl_scale=0.1000,dr_cc=0.9000,seed=2_2024-06-02_00-20-03/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.90_reg10_ds0.100_zt=p_g1_s2/06.02_10.20.32/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hc/cgrew1/sn/run_2024-06-02_00-20-03/run_62835_00010_10_dl_scale=0.1000,dr_cc=0.9000,seed=2_2024-06-02_00-20-03/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.90_reg10_ds0.100_zt=p_g1_s2/06.02_10.20.32/models/ckpt_discr_T15000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 5 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
current_vel_mean [0.97, 1.78, 2.88, 3.65, 4.87]
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
zvs shape 1500
RT 995.2850666666667 9.692769315090272 1000.0 860.0
LR 0.9989333333333333 0.02062835157953463 1.0 0.6
VL-std-all 0.4725360886007521 0.0
*** budget = 10
VL10-1 0.029238679021152094 0.0401347453463903
RT-VL10-1 997.1813333333332 0.981249996461428 999.2 994.4
VL10-2 0.42213550931467586 0.2761762083571459
RT-VL10-2 997.2773333333332 1.0956365983096603 999.6 992.8
VL10-3 0.18890675727240663 0.1909867287044882
RT-VL10-3 991.8266666666667 19.73052682745417 999.6 860.0
VL10-4 0.24168241416065073 0.20762430868558057
RT-VL10-4 992.4373333333332 13.542493845505538 1000.0 934.0
VL10-5 0.2872451456112957 0.3810436956464921
RT-VL10-5 995.5306666666667 7.029954449038453 1000.0 948.0
VL10-all 0.23384170107603622 0.128257170325516
RT-VL10-all 994.8506666666666 2.313087633445794 997.2773333333332 991.8266666666667
*** budget = 20
VL20-1 0.013350771078842485 0.012441154935256016
RT-VL20-1 997.1999999999998 0.968848113311191 998.8 994.8
VL20-2 0.2780019179321982 0.22896590677688197
RT-VL20-2 997.3279999999999 1.1278959762909628 999.6 992.8
VL20-3 0.09329527262469052 0.10712998121883827
RT-VL20-3 990.4213333333332 24.95811046978962 999.2 860.0
VL20-4 0.13377348238847844 0.12647996105051487
RT-VL20-4 992.8533333333331 13.026714431846917 999.6 934.0
VL20-5 0.10399161100106634 0.19070303974956163
RT-VL20-5 996.0213333333334 5.429359528424035 1000.0 975.2
VL20-all 0.1244826110050552 0.08648388854839247
RT-VL20-all 994.7647999999999 2.70549355201598 997.3279999999999 990.4213333333332
*** budget = 30
VL30-1 0.008550352682191138 0.008166089836137508
RT-VL30-1 997.24 0.96415766345551 998.8 994.8
VL30-2 0.1999907140597162 0.18172779078085485
RT-VL30-2 997.184 1.2078675424068697 999.6 992.8
VL30-3 0.056086620346022784 0.06348404015998746
RT-VL30-3 993.192 19.826203267393378 998.8 860.0
VL30-4 0.07857881063344943 0.0767781413656322
RT-VL30-4 992.9920000000001 13.984732246274861 999.6 934.0
VL30-5 0.06001606131175718 0.07950493579657336
RT-VL30-5 995.2720000000002 6.25060125107977 1000.0 975.2
VL30-all 0.08064451180662735 0.06399058352014261
RT-VL30-all 995.176 1.8443149405673418 997.24 992.9920000000001
*** budget = 40
VL40-1 0.005715191674104077 0.005422157109715785
RT-VL40-1 997.1675675675675 0.8542592979519257 998.4 995.2
VL40-2 0.14095142270809521 0.10443030227019345
RT-VL40-2 996.9837837837838 1.225299414817973 999.6 992.8
VL40-3 0.0424493466720666 0.0413435797567792
RT-VL40-3 986.0972972972972 30.164866681034532 998.8 860.0
VL40-4 0.061800690431317126 0.05637410538858308
RT-VL40-4 993.6216216216218 12.387245732195787 999.6 934.0
VL40-5 0.037761230519566195 0.038695256852806836
RT-VL40-5 995.5135135135135 5.9548827188923985 1000.0 978.4
VL40-all 0.057735576401029845 0.04534350222145774
RT-VL40-all 993.8767567567568 4.09260574300943 997.1675675675675 986.0972972972972
*** budget = 50
VL50-1 0.00395395674415618 0.003475655569550278
RT-VL50-1 997.0400000000002 0.8860398787112558 998.4 995.2
VL50-2 0.13545840394406247 0.11362052206375237
RT-VL50-2 997.0666666666665 1.064998695878176 999.6 995.2
VL50-3 0.03905375464391932 0.043128274158786305
RT-VL50-3 991.2533333333334 25.265678080924104 998.8 860.0
VL50-4 0.046230813839463016 0.045618196170771674
RT-VL50-4 994.3333333333333 13.083560507581854 999.2 934.0
VL50-5 0.029609637668549738 0.03229304800070818
RT-VL50-5 995.2800000000001 6.244272041906357 1000.0 978.4
VL50-all 0.050861313368030146 0.04465302123778856
RT-VL50-all 994.9946666666667 2.144431134097984 997.0666666666665 991.2533333333334
logs_data/30hc/cgrew1/sn/run_2024-06-02_00-20-03/run_62835_00002_2_dl_scale=0.1000,dr_cc=0.9000,seed=1_2024-06-02_00-20-03/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.90_reg10_ds0.100_zt=p_g1_s1/06.02_00.20.38/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type1-infogsdr_ppo-100-100-relu_cr10_no0_es=n_sr0011_rc0.90_reg10_ds0.100_zt=p_g1_s1
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppo
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 17, action dim: 6, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/HCCustom_v0.h5 with traj_num 25.0, data_size 25000 steps, and average return 996.96
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 14985, K 15, state dim 17, action dim 6, a min -0.7615942, a_max 0.7615942
Policy model is loaded from logs_data/30hc/cgrew1/sn/run_2024-06-02_00-20-03/run_62835_00002_2_dl_scale=0.1000,dr_cc=0.9000,seed=1_2024-06-02_00-20-03/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.90_reg10_ds0.100_zt=p_g1_s1/06.02_00.20.38/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hc/cgrew1/sn/run_2024-06-02_00-20-03/run_62835_00002_2_dl_scale=0.1000,dr_cc=0.9000,seed=1_2024-06-02_00-20-03/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.90_reg10_ds0.100_zt=p_g1_s1/06.02_00.20.38/models/ckpt_discr_T15000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 5 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
current_vel_mean [0.97, 1.78, 2.88, 3.65, 4.87]
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
zvs shape 1500
RT 989.0282666666666 32.49516806637907 999.6 706.0
LR 0.9818666666666668 0.09290415610844449 1.0 0.2
VL-std-all 0.5582027509999936 0.0
*** budget = 10
VL10-1 0.07576575078009391 0.23973853017832175
RT-VL10-1 996.6853333333332 1.0133368420991846 998.8 993.2
VL10-2 0.34452034774540163 0.27281594768975637
RT-VL10-2 996.0746666666668 7.008777227321621 999.2 923.2
VL10-3 0.19692807767942963 0.21025401771523114
RT-VL10-3 986.0453333333335 41.05586533276606 999.2 769.6
VL10-4 0.23406422842646735 0.181514141541344
RT-VL10-4 982.2719999999999 49.22705640871356 999.6 725.2
VL10-5 0.43629582162121316 0.45458723500769954
RT-VL10-5 981.9413333333332 41.098551777674864 999.6 725.2
VL10-all 0.25751484525052115 0.12392418339566086
RT-VL10-all 988.6037333333334 6.513845788097184 996.6853333333332 981.9413333333332
*** budget = 20
VL20-1 0.022639924963389152 0.020750836064063957
RT-VL20-1 996.6933333333334 0.9337142080006207 998.8 994.4
VL20-2 0.17853468709822806 0.16826800748326642
RT-VL20-2 995.8613333333334 8.499221820587781 999.2 923.2
VL20-3 0.07749403659879481 0.0636524279890563
RT-VL20-3 983.6266666666667 43.91780605732587 999.2 785.6
VL20-4 0.13486175512783238 0.11022420422843868
RT-VL20-4 976.0693333333331 61.47122030854945 999.6 725.2
VL20-5 0.1836772999862445 0.2184241880690916
RT-VL20-5 990.9333333333332 24.728441564769543 999.2 805.6
VL20-all 0.1194415407548978 0.06162168716428037
RT-VL20-all 988.6368 7.815604020448172 996.6933333333334 976.0693333333331
*** budget = 30
VL30-1 0.015557167718985474 0.013456958009477219
RT-VL30-1 996.8159999999999 0.8614778000622006 998.8 994.4
VL30-2 0.12047272606277717 0.12083947484629877
RT-VL30-2 995.48 10.366793139635803 999.2 923.2
VL30-3 0.06346680485158607 0.05549303981481104
RT-VL30-3 981.56 48.74221168556059 999.2 785.6
VL30-4 0.0972659354271626 0.08985452103970035
RT-VL30-4 984.4079999999999 47.74971346510888 999.6 726.4
VL30-5 0.1263472193698554 0.13011618746090092
RT-VL30-5 993.1440000000001 15.41262028339114 999.2 910.4
VL30-all 0.08462197068607333 0.04099666067753555
RT-VL30-all 990.2815999999999 6.139716006461567 996.8159999999999 981.56
*** budget = 40
VL40-1 0.011716812582055253 0.009328498730148398
RT-VL40-1 996.8648648648649 0.660964167248991 998.4 995.6
VL40-2 0.09889483780188554 0.09110880877158067
RT-VL40-2 994.92972972973 11.99353124892105 998.4 923.2
VL40-3 0.04582544508137254 0.042593705557992405
RT-VL40-3 986.1837837837836 38.3620978029766 998.8 824.0
VL40-4 0.0621341681892993 0.0560594197655682
RT-VL40-4 976.2054054054054 60.96064280157807 998.8 726.4
VL40-5 0.08651434327312973 0.0929160080765384
RT-VL40-5 996.7459459459461 2.986328722749955 999.2 979.6
VL40-all 0.061017121385548476 0.0308135846519467
RT-VL40-all 990.185945945946 8.020197731860858 996.8648648648649 976.2054054054054
*** budget = 50
VL50-1 0.010502007500971985 0.0077037217720509555
RT-VL50-1 996.7733333333333 0.8512474506406641 998.4 994.4
VL50-2 0.07376876202384783 0.07341179903975532
RT-VL50-2 994.5333333333332 13.285915683744019 998.4 923.2
VL50-3 0.03483414036531971 0.025917064713025784
RT-VL50-3 980.0533333333333 45.37896526904164 998.8 824.0
VL50-4 0.058941392735693016 0.061642299837733214
RT-VL50-4 985.4799999999999 49.75246995543705 998.8 726.4
VL50-5 0.07422401352610798 0.08533070422233793
RT-VL50-5 997.1599999999999 0.7400900846068381 999.2 996.0
VL50-all 0.050454063230388105 0.024579541193193263
RT-VL50-all 990.8 6.839025271679177 997.1599999999999 980.0533333333333
logs_data/30hc/cgrew1/l2/run_2024-06-02_00-20-30/run_72573_00036_36_dl_indist=2,dl_scale=0.0200,dr_cc=0.8000,seed=5_2024-06-02_09-22-09/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=p_g1_s5/06.02_09.27.33/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type1-infogsdr_ppo-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=p_g1_s5
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppo
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 17, action dim: 6, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/HCCustom_v0.h5 with traj_num 25.0, data_size 25000 steps, and average return 996.96
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 14985, K 15, state dim 17, action dim 6, a min -0.7615942, a_max 0.7615942
Policy model is loaded from logs_data/30hc/cgrew1/l2/run_2024-06-02_00-20-30/run_72573_00036_36_dl_indist=2,dl_scale=0.0200,dr_cc=0.8000,seed=5_2024-06-02_09-22-09/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=p_g1_s5/06.02_09.27.33/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hc/cgrew1/l2/run_2024-06-02_00-20-30/run_72573_00036_36_dl_indist=2,dl_scale=0.0200,dr_cc=0.8000,seed=5_2024-06-02_09-22-09/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=p_g1_s5/06.02_09.27.33/models/ckpt_discr_T15000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 5 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
current_vel_mean [0.97, 1.78, 2.88, 3.65, 4.87]
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
zvs shape 1500
RT 923.2634666666668 211.24254678445396 1000.0 -205.2
LR 0.9061333333333333 0.28647696048528737 1.0 -1.0
VL-std-all 0.4971752031937521 0.0
*** budget = 10
VL10-1 0.2596059368349465 0.23129832430340644
RT-VL10-1 889.7946666666668 271.4890013209048 1000.0 -205.2
VL10-2 0.15737395202398244 0.14042946472964143
RT-VL10-2 950.4720000000001 148.9487362014193 1000.0 314.0
VL10-3 0.1557038255477944 0.1427577157717593
RT-VL10-3 971.2613333333334 77.94910800145324 1000.0 588.4
VL10-4 0.2396046360549199 0.2387571232906841
RT-VL10-4 979.5013333333334 56.88419931365437 1000.0 711.6
VL10-5 0.9085801966539443 0.48952323441947376
RT-VL10-5 982.1946666666668 49.029987812448915 1000.0 772.4
VL10-all 0.3441737094231175 0.2853265247348038
RT-VL10-all 954.6448 34.28090907753499 982.1946666666668 889.7946666666668
*** budget = 20
VL20-1 0.14262249054656798 0.12898803406907913
RT-VL20-1 957.6053333333333 163.04094855246913 999.6 215.2
VL20-2 0.07790391745023846 0.06588955981287807
RT-VL20-2 949.6960000000001 154.56859658632692 1000.0 314.0
VL20-3 0.08808339324085109 0.07119004876120169
RT-VL20-3 970.864 72.16886981702477 1000.0 781.6
VL20-4 0.11247964097166616 0.09718695705304202
RT-VL20-4 979.8293333333331 57.43480657425619 1000.0 711.6
VL20-5 0.6198742845023979 0.3464619797528828
RT-VL20-5 984.4906666666665 41.494202561589525 1000.0 784.4
VL20-all 0.2081927453423443 0.20704761842783187
RT-VL20-all 968.4970666666666 13.129568499975635 984.4906666666665 949.6960000000001
*** budget = 30
VL30-1 0.09629958154270266 0.08386578850545674
RT-VL30-1 936.3200000000002 203.1694937730564 999.6 188.0
VL30-2 0.050782081751292854 0.040177024512502824
RT-VL30-2 947.4559999999999 154.54158813730368 1000.0 343.6
VL30-3 0.0637647503923501 0.05018194712372509
RT-VL30-3 957.0480000000002 84.33950021194103 1000.0 781.6
VL30-4 0.07687615594790849 0.07300036595173563
RT-VL30-4 969.6239999999999 71.06402341550891 1000.0 711.6
VL30-5 0.5009325130483081 0.29209286786809774
RT-VL30-5 985.3199999999998 33.796023434717874 1000.0 853.2
VL30-all 0.15773101653651245 0.17225929915038318
RT-VL30-all 959.1536 17.07015202744242 985.3199999999998 936.3200000000002
*** budget = 40
VL40-1 0.06717210590842372 0.05148156248266129
RT-VL40-1 954.8108108108108 173.09837818932627 999.6 188.0
VL40-2 0.03970119967453031 0.02932859748023534
RT-VL40-2 929.7189189189187 176.24927960418285 1000.0 343.6
VL40-3 0.052118165716020536 0.048243386787307684
RT-VL40-3 969.4702702702704 73.24963929388124 1000.0 781.6
VL40-4 0.0626543124662396 0.06269603201601276
RT-VL40-4 970.7783783783784 67.8782978299343 1000.0 711.6
VL40-5 0.45780102143059276 0.30550274457818327
RT-VL40-5 987.6648648648646 30.49381165590918 1000.0 861.2
VL40-all 0.13588936103916138 0.16123419373118436
RT-VL40-all 962.4886486486487 19.41189791261431 987.6648648648646 929.7189189189187
*** budget = 50
VL50-1 0.0640447478951059 0.04791920426670196
RT-VL50-1 972.3066666666666 129.31440480042775 999.6 276.0
VL50-2 0.034378282649974716 0.026026348424459948
RT-VL50-2 929.0666666666665 178.91123559525886 1000.0 343.6
VL50-3 0.03687628182722826 0.03275982080284481
RT-VL50-3 963.6266666666667 94.92138127009228 1000.0 588.4
VL50-4 0.045619710407825025 0.048872210249233966
RT-VL50-4 979.8933333333333 50.017696423921365 1000.0 790.4
VL50-5 0.3838807429709898 0.26282655487611856
RT-VL50-5 991.9733333333332 21.619480927061023 1000.0 905.6
VL50-all 0.11295995315022474 0.13585969522669958
RT-VL50-all 967.3733333333332 21.296414721731956 991.9733333333332 929.0666666666665
logs_data/30hc/cgrew1/l2/run_2024-06-02_00-20-30/run_72573_00028_28_dl_indist=2,dl_scale=0.0200,dr_cc=0.8000,seed=4_2024-06-02_04-59-23/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=p_g1_s4/06.02_05.28.45/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type1-infogsdr_ppo-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=p_g1_s4
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppo
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 17, action dim: 6, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/HCCustom_v0.h5 with traj_num 25.0, data_size 25000 steps, and average return 996.96
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 14985, K 15, state dim 17, action dim 6, a min -0.7615942, a_max 0.7615942
Policy model is loaded from logs_data/30hc/cgrew1/l2/run_2024-06-02_00-20-30/run_72573_00028_28_dl_indist=2,dl_scale=0.0200,dr_cc=0.8000,seed=4_2024-06-02_04-59-23/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=p_g1_s4/06.02_05.28.45/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hc/cgrew1/l2/run_2024-06-02_00-20-30/run_72573_00028_28_dl_indist=2,dl_scale=0.0200,dr_cc=0.8000,seed=4_2024-06-02_04-59-23/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=p_g1_s4/06.02_05.28.45/models/ckpt_discr_T15000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 5 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
current_vel_mean [0.97, 1.78, 2.88, 3.65, 4.87]
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
zvs shape 1500
RT 831.9133333333333 352.5278164848209 1000.0 -305.6
LR 0.8319999999999999 0.3888307258092309 1.0 -1.0
VL-std-all 0.6144333407427036 0.0
*** budget = 10
VL10-1 0.11374574847106575 0.15174758446833453
RT-VL10-1 931.2346666666665 234.25326436335715 998.8 -6.8
VL10-2 0.2217337882696754 0.147622512540505
RT-VL10-2 925.4826666666664 195.6329708907871 1000.0 238.8
VL10-3 0.15304094334843502 0.1735720759935853
RT-VL10-3 910.9360000000001 136.10667839602877 1000.0 238.8
VL10-4 0.41217071809620476 0.33546553161975706
RT-VL10-4 963.6213333333334 108.01931468440674 1000.0 238.8
VL10-5 1.6163799199814666 0.3542678758508222
RT-VL10-5 963.5866666666668 108.00858648994328 1000.0 238.8
VL10-all 0.5034142236333695 0.5658559608751922
RT-VL10-all 938.9722666666667 21.172232690116704 963.6213333333334 910.9360000000001
*** budget = 20
VL20-1 0.05239460094386426 0.04208294246487226
RT-VL20-1 948.3413333333334 202.21054314308694 998.0 76.0
VL20-2 0.1398755322221756 0.09534020042580477
RT-VL20-2 934.6826666666666 186.77958230551386 1000.0 238.8
VL20-3 0.07379180585540426 0.06858186045946867
RT-VL20-3 945.3493333333334 94.89766610875574 1000.0 697.2
VL20-4 0.25496159303258475 0.17798484631154388
RT-VL20-4 990.3466666666667 36.697557896344485 1000.0 697.2
VL20-5 1.4464733319383092 0.2147200333407808
RT-VL20-5 990.0320000000002 36.683221087212786 1000.0 697.2
VL20-all 0.3934993727984676 0.5311943752150234
RT-VL20-all 961.7504000000001 23.660328021019147 990.3466666666667 934.6826666666666
*** budget = 30
VL30-1 0.04009801346794067 0.03498702069166596
RT-VL30-1 960.0880000000001 177.63030894529234 998.0 76.0
VL30-2 0.11189258417168756 0.08259611986053339
RT-VL30-2 936.8560000000001 188.0714759446525 1000.0 238.8
VL30-3 0.04633603412575125 0.030564497414990035
RT-VL30-3 951.7359999999999 87.44360870869866 1000.0 697.2
VL30-4 0.18063109501434169 0.14063583508753844
RT-VL30-4 993.776 14.45747640496087 1000.0 938.4
VL30-5 1.3658891247700462 0.18265882860508303
RT-VL30-5 993.312 14.515545322170992 1000.0 938.4
VL30-all 0.3489693703099535 0.5110102573752765
RT-VL30-all 967.1536 22.79729690643167 993.776 936.8560000000001
*** budget = 40
VL40-1 0.03272122705283691 0.029925348048845044
RT-VL40-1 923.0054054054056 246.43644205105215 998.0 76.0
VL40-2 0.08588811275800519 0.06826577718124936
RT-VL40-2 967.5783783783784 129.03979510869763 999.6 368.8
VL40-3 0.038296066255637355 0.02696965151255067
RT-VL40-3 953.935135135135 87.98606835733563 1000.0 741.6
VL40-4 0.13976592543338925 0.11730187260395182
RT-VL40-4 994.1081081081079 12.953688369213271 1000.0 944.0
VL40-5 1.314977551954832 0.16616238579973805
RT-VL40-5 995.5999999999997 10.039920318408909 1000.0 944.0
VL40-all 0.32232977669094015 0.4978216722186468
RT-VL40-all 966.8454054054052 27.052687839791204 995.5999999999997 923.0054054054056
*** budget = 50
VL50-1 0.02617747067433686 0.021219555399259914
RT-VL50-1 936.6000000000003 223.0043527228411 998.0 100.4
VL50-2 0.07566673716282173 0.061666744725194275
RT-VL50-2 977.3066666666668 113.0003390358729 1000.0 368.8
VL50-3 0.0314265429674454 0.019699264286899693
RT-VL50-3 969.32 67.58344175905813 1000.0 744.8
VL50-4 0.1225375696503968 0.10284361003858067
RT-VL50-4 993.2000000000002 13.919770113044262 1000.0 944.0
VL50-5 1.289199026569924 0.1571715532172842
RT-VL50-5 992.6 14.035668847618206 1000.0 944.0
VL50-all 0.30900146940498496 0.4913325530227209
RT-VL50-all 973.8053333333335 20.71717629837077 993.2000000000002 936.6000000000003
logs_data/30hc/cgrew1/l2/run_2024-06-02_00-20-30/run_72573_00020_20_dl_indist=2,dl_scale=0.0200,dr_cc=0.8000,seed=3_2024-06-02_00-20-34/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=p_g1_s3/06.02_05.00.52/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type1-infogsdr_ppo-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=p_g1_s3
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppo
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 17, action dim: 6, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/HCCustom_v0.h5 with traj_num 25.0, data_size 25000 steps, and average return 996.96
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 14985, K 15, state dim 17, action dim 6, a min -0.7615942, a_max 0.7615942
Policy model is loaded from logs_data/30hc/cgrew1/l2/run_2024-06-02_00-20-30/run_72573_00020_20_dl_indist=2,dl_scale=0.0200,dr_cc=0.8000,seed=3_2024-06-02_00-20-34/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=p_g1_s3/06.02_05.00.52/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hc/cgrew1/l2/run_2024-06-02_00-20-30/run_72573_00020_20_dl_indist=2,dl_scale=0.0200,dr_cc=0.8000,seed=3_2024-06-02_00-20-34/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=p_g1_s3/06.02_05.00.52/models/ckpt_discr_T15000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 5 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
current_vel_mean [0.97, 1.78, 2.88, 3.65, 4.87]
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
zvs shape 1500
RT 830.6922666666666 329.7016579781316 1000.0 -438.0
LR 0.8096000000000001 0.39948446778316676 1.0 -1.0
VL-std-all 0.6715091011288845 0.0
*** budget = 10
VL10-1 0.4556218120932761 0.37301439479263154
RT-VL10-1 589.4933333333333 443.19190044744977 998.8 -427.6
VL10-2 0.29936870034734836 0.20872622466696394
RT-VL10-2 872.8986666666666 238.05187081437157 1000.0 142.0
VL10-3 0.1285677165210223 0.10461775399057698
RT-VL10-3 953.48 109.86320463801032 1000.0 404.8
VL10-4 0.208724141176402 0.15994086447847755
RT-VL10-4 957.1226666666666 85.3470117787117 1000.0 685.6
VL10-5 0.6743607692082969 0.41707868484110144
RT-VL10-5 985.64 46.70748119948239 1000.0 690.0
VL10-all 0.3533286278692691 0.19383762789065548
RT-VL10-all 871.7269333333334 146.02010811276034 985.64 589.4933333333333
*** budget = 20
VL20-1 0.24937200359309714 0.22985343841908903
RT-VL20-1 664.384 396.02884441750786 998.0 -177.6
VL20-2 0.19249433137537894 0.1593313674148883
RT-VL20-2 809.0453333333334 278.2657675883894 999.6 142.0
VL20-3 0.07269115172318417 0.06632697882283661
RT-VL20-3 954.0533333333333 110.13386924809078 1000.0 404.8
VL20-4 0.1152352561155811 0.09815153373821
RT-VL20-4 977.7813333333332 63.80715256319014 1000.0 739.6
VL20-5 0.4511332117147022 0.3080594544508639
RT-VL20-5 996.5973333333334 8.04822089380974 1000.0 944.8
VL20-all 0.21618519090438867 0.13239684471976193
RT-VL20-all 880.3722666666666 126.62081561266999 996.5973333333334 664.384
*** budget = 30
VL30-1 0.14407767454520445 0.1278619424553993
RT-VL30-1 703.3439999999999 384.63686987079126 998.0 -177.6
VL30-2 0.1307746121991139 0.11504717197362804
RT-VL30-2 804.4720000000001 293.73531148978327 999.2 142.0
VL30-3 0.055270274750401444 0.0477186949836647
RT-VL30-3 959.7199999999998 92.27344580105373 1000.0 566.8
VL30-4 0.08388756280264394 0.07524962745756204
RT-VL30-4 986.4159999999999 45.153885148456496 1000.0 792.0
VL30-5 0.3157632929040787 0.20026633326739568
RT-VL30-5 997.9359999999998 1.663461451311688 1000.0 989.6
VL30-all 0.1459546834402885 0.09071373767736368
RT-VL30-all 890.3776 116.58635577390687 997.9359999999998 703.3439999999999
*** budget = 40
VL40-1 0.10800529806647716 0.0791700384633045
RT-VL40-1 703.5999999999999 384.1095226695186 997.2 -177.6
VL40-2 0.0847252332877087 0.05830775573837667
RT-VL40-2 794.335135135135 292.60477191820723 999.2 142.0
VL40-3 0.036953894430138114 0.031670680022707225
RT-VL40-3 959.7621621621621 92.16776522557335 1000.0 632.0
VL40-4 0.07013954223925832 0.06148158846530321
RT-VL40-4 992.0648648648647 33.551382266737775 1000.0 792.0
VL40-5 0.2722331890501396 0.18545325473818208
RT-VL40-5 997.589189189189 2.0638174788069445 1000.0 989.6
VL40-all 0.11441143141474437 0.08220667405232619
RT-VL40-all 889.4702702702701 118.95776800317843 997.589189189189 703.5999999999999
*** budget = 50
VL50-1 0.07988913685410354 0.06487634475507306
RT-VL50-1 690.3466666666667 386.1477538743716 997.2 -177.6
VL50-2 0.0869660392172238 0.09320748272378077
RT-VL50-2 818.0933333333331 272.00236632957603 999.2 142.0
VL50-3 0.03407056538527528 0.028363459046421256
RT-VL50-3 972.5866666666665 66.2463067314364 1000.0 802.8
VL50-4 0.060220003224395226 0.05273707420462789
RT-VL50-4 997.3466666666667 3.9631412905533643 1000.0 980.8
VL50-5 0.24065288716730598 0.15351564875818646
RT-VL50-5 995.32 10.03628085165683 1000.0 944.8
VL50-all 0.10035972636966077 0.07250663017329942
RT-VL50-all 894.7386666666665 121.94745931661626 997.3466666666667 690.3466666666667
logs_data/30hc/cgrew1/l2/run_2024-06-02_00-20-30/run_72573_00012_12_dl_indist=2,dl_scale=0.0200,dr_cc=0.8000,seed=2_2024-06-02_00-20-30/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=p_g1_s2/06.02_04.59.54/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type1-infogsdr_ppo-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=p_g1_s2
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppo
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 17, action dim: 6, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/HCCustom_v0.h5 with traj_num 25.0, data_size 25000 steps, and average return 996.96
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 14985, K 15, state dim 17, action dim 6, a min -0.7615942, a_max 0.7615942
Policy model is loaded from logs_data/30hc/cgrew1/l2/run_2024-06-02_00-20-30/run_72573_00012_12_dl_indist=2,dl_scale=0.0200,dr_cc=0.8000,seed=2_2024-06-02_00-20-30/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=p_g1_s2/06.02_04.59.54/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hc/cgrew1/l2/run_2024-06-02_00-20-30/run_72573_00012_12_dl_indist=2,dl_scale=0.0200,dr_cc=0.8000,seed=2_2024-06-02_00-20-30/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=p_g1_s2/06.02_04.59.54/models/ckpt_discr_T15000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 5 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
current_vel_mean [0.97, 1.78, 2.88, 3.65, 4.87]
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
zvs shape 1500
RT 860.5978666666665 270.8423464590589 1000.0 -420.0
LR 0.8306666666666667 0.35480448450128443 1.0 -1.0
VL-std-all 0.8105183023038397 0.0
*** budget = 10
VL10-1 0.15033006135016452 0.13762441585896779
RT-VL10-1 893.648 289.04601126694917 1000.0 -62.4
VL10-2 0.18885034695261843 0.1594331865813913
RT-VL10-2 791.2293333333334 307.60416502309516 1000.0 96.8
VL10-3 0.13045799637844732 0.14248368810526385
RT-VL10-3 896.4480000000001 159.3544237310865 1000.0 426.0
VL10-4 0.24453801659963062 0.20349917105039372
RT-VL10-4 950.5520000000001 93.56632636442093 1000.0 680.0
VL10-5 1.0131026840021458 0.43095186637642496
RT-VL10-5 972.0426666666668 70.23770909956814 1000.0 680.0
VL10-all 0.34545582105660133 0.3360833640911515
RT-VL10-all 900.784 62.652373904833915 972.0426666666668 791.2293333333334
*** budget = 20
VL20-1 0.08160650454625659 0.07725626128880499
RT-VL20-1 864.4266666666667 325.2878984667104 1000.0 -62.4
VL20-2 0.12508216623277782 0.11848054785571041
RT-VL20-2 765.8080000000001 326.22043008166526 1000.0 130.4
VL20-3 0.05595779655086901 0.053464535348498585
RT-VL20-3 913.9146666666668 134.25553018363485 1000.0 536.0
VL20-4 0.1479585982720924 0.12981656444269357
RT-VL20-4 940.2879999999999 99.13360272548019 1000.0 725.6
VL20-5 0.7732111593400418 0.3119797629827144
RT-VL20-5 977.0346666666668 62.27286513045273 1000.0 725.6
VL20-all 0.23676324498840753 0.2701479290063063
RT-VL20-all 892.2944000000001 73.11245353909732 977.0346666666668 765.8080000000001
*** budget = 30
VL30-1 0.05724058413489899 0.05803202369338821
RT-VL30-1 844.424 351.98240328743714 1000.0 -62.4
VL30-2 0.07953568852182032 0.0887995413269214
RT-VL30-2 739.2719999999999 318.96909633379846 1000.0 161.2
VL30-3 0.03989073426560358 0.038411073126714095
RT-VL30-3 897.16 141.61297680650597 1000.0 536.0
VL30-4 0.09397581501253384 0.0829992345607667
RT-VL30-4 937.48 99.60183934044592 1000.0 725.6
VL30-5 0.6886111061648776 0.2719781647471746
RT-VL30-5 980.6320000000001 52.95680292464794 1000.0 725.6
VL30-all 0.19185078561994687 0.2490689745941577
RT-VL30-all 879.7936 83.42064993657151 980.6320000000001 739.2719999999999
*** budget = 40
VL40-1 0.043608858012747234 0.04552310164191607
RT-VL40-1 820.7351351351351 366.90231722782005 1000.0 -48.0
VL40-2 0.04824666468171306 0.04305380140830371
RT-VL40-2 709.0378378378379 327.56121553024155 1000.0 212.8
VL40-3 0.02577662518156278 0.02315417117396396
RT-VL40-3 941.9135135135134 125.54903890008997 1000.0 536.0
VL40-4 0.07646985385039082 0.07821798285529515
RT-VL40-4 946.7459459459459 92.80340917140337 1000.0 729.6
VL40-5 0.6088987133129363 0.21985025356377155
RT-VL40-5 982.9837837837838 46.511663829296275 1000.0 830.8
VL40-all 0.16060014300787004 0.22473858569775879
RT-VL40-all 880.2832432432433 101.62081296975553 982.9837837837838 709.0378378378379
*** budget = 50
VL50-1 0.027957507682619374 0.021321614949142306
RT-VL50-1 782.1200000000001 390.48608545418534 999.6 26.0
VL50-2 0.04309349658512034 0.04666871447870122
RT-VL50-2 695.08 327.2214850321823 1000.0 201.2
VL50-3 0.02248046731552263 0.02085250930706927
RT-VL50-3 912.1733333333334 147.2993028572173 1000.0 536.0
VL50-4 0.05731265238421826 0.05822738566077741
RT-VL50-4 945.4133333333332 88.91342505806172 1000.0 729.6
VL50-5 0.5975379576000024 0.22704578391632432
RT-VL50-5 981.8933333333332 45.70560092106388 1000.0 825.6
VL50-all 0.1496764163134966 0.22426111833678192
RT-VL50-all 863.336 107.78101433307562 981.8933333333332 695.08
logs_data/30hc/cgrew1/l2/run_2024-06-02_00-20-30/run_72573_00004_4_dl_indist=2,dl_scale=0.0200,dr_cc=0.8000,seed=1_2024-06-02_00-20-30/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=p_g1_s1/06.02_00.21.10/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type1-infogsdr_ppo-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=p_g1_s1
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppo
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 17, action dim: 6, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/HCCustom_v0.h5 with traj_num 25.0, data_size 25000 steps, and average return 996.96
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 14985, K 15, state dim 17, action dim 6, a min -0.7615942, a_max 0.7615942
Policy model is loaded from logs_data/30hc/cgrew1/l2/run_2024-06-02_00-20-30/run_72573_00004_4_dl_indist=2,dl_scale=0.0200,dr_cc=0.8000,seed=1_2024-06-02_00-20-30/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=p_g1_s1/06.02_00.21.10/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hc/cgrew1/l2/run_2024-06-02_00-20-30/run_72573_00004_4_dl_indist=2,dl_scale=0.0200,dr_cc=0.8000,seed=1_2024-06-02_00-20-30/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=p_g1_s1/06.02_00.21.10/models/ckpt_discr_T15000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 5 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
current_vel_mean [0.97, 1.78, 2.88, 3.65, 4.87]
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
zvs shape 1500
RT 911.4327999999999 206.67826485666072 1000.0 -214.4
LR 0.8890666666666666 0.2825841388959323 1.0 -1.0
VL-std-all 0.7564309475490815 0.0
*** budget = 10
VL10-1 0.2795923362608764 0.27743573395591486
RT-VL10-1 928.3413333333332 227.274003847534 999.6 32.0
VL10-2 0.21736449671906471 0.20343364719591328
RT-VL10-2 867.1733333333333 258.7495537301573 1000.0 265.2
VL10-3 0.1571697244404035 0.13975360661675207
RT-VL10-3 915.2373333333334 130.99653611026855 1000.0 521.2
VL10-4 0.13499624175825317 0.10981194948313999
RT-VL10-4 974.3893333333335 65.04937934284145 1000.0 750.8
VL10-5 0.6141947690792493 0.33453767553629177
RT-VL10-5 990.2160000000001 35.40846241601951 1000.0 758.8
VL10-all 0.2806635136515694 0.17419568386579576
RT-VL10-all 935.0714666666667 43.89910761208916 990.2160000000001 867.1733333333333
*** budget = 20
VL20-1 0.15370555794386914 0.13707449124232418
RT-VL20-1 947.5946666666667 207.7929481596738 999.6 43.6
VL20-2 0.12184630903885574 0.11008557434694927
RT-VL20-2 849.6959999999999 275.4205615369581 1000.0 265.2
VL20-3 0.09498968408831428 0.09916454458964828
RT-VL20-3 931.2213333333334 126.49007580922002 1000.0 521.2
VL20-4 0.0671743709920103 0.060774714888721035
RT-VL20-4 978.64 57.606073753844164 1000.0 750.8
VL20-5 0.41971359588075746 0.2530894621709642
RT-VL20-5 989.5413333333336 35.441817460295255 1000.0 758.8
VL20-all 0.1714859035887614 0.1273811482830049
RT-VL20-all 939.3386666666668 49.4666814447418 989.5413333333336 849.6959999999999
*** budget = 30
VL30-1 0.09655991314532496 0.0912686955288611
RT-VL30-1 941.9839999999999 217.30443102707318 999.6 53.6
VL30-2 0.07680911312050297 0.07062022989981388
RT-VL30-2 840.6320000000001 280.8148724266576 1000.0 292.4
VL30-3 0.06426036340121785 0.07284309914271339
RT-VL30-3 950.72 105.42564393922382 1000.0 604.8
VL30-4 0.04896511349383145 0.04391004333700252
RT-VL30-4 978.7440000000001 56.370773136440135 1000.0 758.0
VL30-5 0.3376212119821358 0.20203604966941746
RT-VL30-5 998.368 3.1848039186110055 1000.0 982.0
VL30-all 0.1248431430286026 0.10752624266001015
RT-VL30-all 942.0896 54.55078899374418 998.368 840.6320000000001
*** budget = 40
VL40-1 0.06370231083099921 0.04991098803933686
RT-VL40-1 948.1081081081079 203.61153577787815 998.4 68.4
VL40-2 0.06675983417371227 0.06689053136380987
RT-VL40-2 856.5081081081081 270.1019571042681 1000.0 316.0
VL40-3 0.04213435577251648 0.03627711803082863
RT-VL40-3 965.3945945945948 85.27159137195645 1000.0 713.2
VL40-4 0.039490429710509006 0.032965546898477874
RT-VL40-4 975.7081081081083 65.09672793860409 1000.0 750.8
VL40-5 0.3017005847607121 0.1815398343014276
RT-VL40-5 997.1783783783783 6.690014145144623 1000.0 963.2
VL40-all 0.10275750304968981 0.10007734860508347
RT-VL40-all 948.5794594594594 48.698918219941504 997.1783783783783 856.5081081081081
*** budget = 50
VL50-1 0.06594427545323911 0.05874160835726718
RT-VL50-1 967.8933333333333 156.488940894308 999.6 125.2
VL50-2 0.04967973354437825 0.046372999147597564
RT-VL50-2 822.48 291.8497768830168 1000.0 297.2
VL50-3 0.03200295793789119 0.03075249570461645
RT-VL50-3 970.8133333333333 86.7461881327102 1000.0 639.2
VL50-4 0.028186296695597114 0.023211287475697395
RT-VL50-4 976.8933333333332 63.29627126107474 1000.0 750.8
VL50-5 0.2518486755227072 0.1452408337641738
RT-VL50-5 997.9066666666665 3.9808653442296817 1000.0 982.0
VL50-all 0.08553238783076256 0.08424273090381353
RT-VL50-all 947.1973333333333 63.23565767648639 997.9066666666665 822.48
logs_data/30hc/cgrew1/rr/run_2024-06-02_00-20-45/run_7b93c_00039_39_dl_indist=2,dl_scale=0.2000,dr_cc=0.8000,seed=5_2024-06-02_09-31-15/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.200_zt=n_g1_s5/06.02_15.40.36/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type1-infogsdr_ppo-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.200_zt=n_g1_s5
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppo
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 17, action dim: 6, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/HCCustom_v0.h5 with traj_num 25.0, data_size 25000 steps, and average return 996.96
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 14985, K 15, state dim 17, action dim 6, a min -0.7615942, a_max 0.7615942
Policy model is loaded from logs_data/30hc/cgrew1/rr/run_2024-06-02_00-20-45/run_7b93c_00039_39_dl_indist=2,dl_scale=0.2000,dr_cc=0.8000,seed=5_2024-06-02_09-31-15/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.200_zt=n_g1_s5/06.02_15.40.36/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hc/cgrew1/rr/run_2024-06-02_00-20-45/run_7b93c_00039_39_dl_indist=2,dl_scale=0.2000,dr_cc=0.8000,seed=5_2024-06-02_09-31-15/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.200_zt=n_g1_s5/06.02_15.40.36/models/ckpt_discr_T15000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 5 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
current_vel_mean [0.97, 1.78, 2.88, 3.65, 4.87]
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
zvs shape 1500
RT 943.004 123.1372042777216 1000.0 135.2
LR 0.9293333333333333 0.20243407706104116 1.0 -0.6
VL-std-all 0.6905198338518134 0.0
*** budget = 10
VL10-1 0.2898543131072488 0.2609972599933868
RT-VL10-1 956.1973333333335 155.8804447631439 1000.0 135.2
VL10-2 0.15215178223279413 0.13038293021068148
RT-VL10-2 952.5226666666666 129.13308439831454 1000.0 386.8
VL10-3 0.12325432692766053 0.1043946529366635
RT-VL10-3 919.0933333333334 113.35676934155966 1000.0 594.0
VL10-4 0.2599383568467388 0.2248718519885124
RT-VL10-4 932.776 103.92689974528571 1000.0 599.2
VL10-5 0.9228600065045534 0.539769627253374
RT-VL10-5 948.0986666666666 85.93726625600536 1000.0 599.2
VL10-all 0.3496117571237991 0.2934123222155799
RT-VL10-all 941.7376 13.848738625914262 956.1973333333335 919.0933333333334
*** budget = 20
VL20-1 0.16073480318295716 0.1383223289202123
RT-VL20-1 957.9146666666668 152.31297313390243 1000.0 207.6
VL20-2 0.07858147926382347 0.06702071453573415
RT-VL20-2 964.6293333333333 108.28750223158514 1000.0 519.6
VL20-3 0.06952435928214126 0.061234964284598785
RT-VL20-3 914.1226666666666 114.32133376097782 1000.0 594.0
VL20-4 0.12943275404717924 0.1078502252130633
RT-VL20-4 933.3066666666666 100.81956071230535 1000.0 694.4
VL20-5 0.6031810664883287 0.3739020060580305
RT-VL20-5 962.7306666666667 63.75855701699097 1000.0 764.4
VL20-all 0.20829089245288596 0.20024940437728328
RT-VL20-all 946.5408 19.721811872588656 964.6293333333333 914.1226666666666
*** budget = 30
VL30-1 0.11748482913242116 0.1091484068979317
RT-VL30-1 960.8879999999999 151.02110665731462 1000.0 207.6
VL30-2 0.051964235196926986 0.040746867440679846
RT-VL30-2 973.352 88.01319501074823 1000.0 576.0
VL30-3 0.04485063959524615 0.04158632790894978
RT-VL30-3 904.648 114.44882566457377 1000.0 599.2
VL30-4 0.09551871204996833 0.08465096453595383
RT-VL30-4 929.36 106.16443095500489 1000.0 694.4
VL30-5 0.48973059470164576 0.3544998517495115
RT-VL30-5 963.0640000000001 64.90705280630142 1000.0 764.4
VL30-all 0.1599098021352417 0.16710398100095047
RT-VL30-all 946.2624 25.48528116070135 973.352 904.648
*** budget = 40
VL40-1 0.0942117402356192 0.10514280676104774
RT-VL40-1 949.8162162162159 164.24652781473495 999.6 291.2
VL40-2 0.04380881012125716 0.03803643136743449
RT-VL40-2 959.5459459459458 113.93757084970794 1000.0 576.0
VL40-3 0.030927727835804435 0.02871648114594191
RT-VL40-3 911.4054054054056 117.4053038673594 1000.0 599.2
VL40-4 0.07640049481519724 0.056976235915164056
RT-VL40-4 929.8378378378378 106.0047713137055 1000.0 694.4
VL40-5 0.395870806217227 0.3199700891293253
RT-VL40-5 967.0054054054053 58.953659978288435 1000.0 764.4
VL40-all 0.12824391584502098 0.13569805397153625
RT-VL40-all 943.5221621621622 20.33020547457446 967.0054054054053 911.4054054054056
*** budget = 50
VL50-1 0.0783041918147723 0.08280925448725825
RT-VL50-1 981.3733333333333 91.1042001715008 1000.0 490.8
VL50-2 0.034984520052505255 0.03431441015209922
RT-VL50-2 964.1333333333332 105.89667081116805 1000.0 576.0
VL50-3 0.026808306014844963 0.030891609001601313
RT-VL50-3 904.4666666666668 122.04497895812382 1000.0 599.2
VL50-4 0.058722280480898524 0.03809035846848655
RT-VL50-4 923.8799999999999 106.69113802623596 1000.0 694.4
VL50-5 0.34250716950415866 0.3062267000385683
RT-VL50-5 973.5866666666667 54.838184587829765 1000.0 764.4
VL50-all 0.10826529357343595 0.11851307674208007
RT-VL50-all 949.488 29.98198167047814 981.3733333333333 904.4666666666668
logs_data/30hc/cgrew1/rr/run_2024-06-02_00-20-45/run_7b93c_00031_31_dl_indist=2,dl_scale=0.2000,dr_cc=0.8000,seed=4_2024-06-02_05-10-56/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.200_zt=n_g1_s4/06.02_15.31.38/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type1-infogsdr_ppo-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.200_zt=n_g1_s4
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppo
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 17, action dim: 6, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/HCCustom_v0.h5 with traj_num 25.0, data_size 25000 steps, and average return 996.96
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 14985, K 15, state dim 17, action dim 6, a min -0.7615942, a_max 0.7615942
Policy model is loaded from logs_data/30hc/cgrew1/rr/run_2024-06-02_00-20-45/run_7b93c_00031_31_dl_indist=2,dl_scale=0.2000,dr_cc=0.8000,seed=4_2024-06-02_05-10-56/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.200_zt=n_g1_s4/06.02_15.31.38/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hc/cgrew1/rr/run_2024-06-02_00-20-45/run_7b93c_00031_31_dl_indist=2,dl_scale=0.2000,dr_cc=0.8000,seed=4_2024-06-02_05-10-56/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.200_zt=n_g1_s4/06.02_15.31.38/models/ckpt_discr_T15000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 5 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
current_vel_mean [0.97, 1.78, 2.88, 3.65, 4.87]
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
zvs shape 1500
RT 908.3778666666666 280.0603082494594 1000.0 -315.2
LR 0.9007999999999999 0.33430429252404165 1.0 -1.0
VL-std-all 0.3613585181974786 0.0
*** budget = 10
VL10-1 0.11426082383995602 0.11637863442678914
RT-VL10-1 983.1359999999997 102.18487903794767 1000.0 142.4
VL10-2 0.2043442406627215 0.14934683727490825
RT-VL10-2 963.3813333333334 140.78587494805325 1000.0 208.4
VL10-3 0.2347321853768767 0.22322056595146658
RT-VL10-3 970.3173333333335 78.6411298212046 1000.0 658.8
VL10-4 0.2564041387945161 0.3201174494799508
RT-VL10-4 996.4826666666668 16.77250427203867 1000.0 819.6
VL10-5 1.3870301041359863 0.3787458763203529
RT-VL10-5 996.5493333333335 16.764886903551982 1000.0 819.6
VL10-all 0.43935429856201136 0.476307862050223
RT-VL10-all 981.9733333333334 13.459993488524107 996.5493333333335 963.3813333333334
*** budget = 20
VL20-1 0.05676034406241506 0.05996268701541585
RT-VL20-1 986.0533333333333 98.07717958605637 999.2 142.4
VL20-2 0.12823793064302066 0.09605241471593146
RT-VL20-2 964.4693333333333 141.38972520267833 1000.0 208.4
VL20-3 0.12108666438692886 0.10727648888184953
RT-VL20-3 971.1093333333333 77.65599555876045 1000.0 658.8
VL20-4 0.10891870994740034 0.1593940179957219
RT-VL20-4 998.3413333333334 2.1071999325065396 1000.0 990.4
VL20-5 1.2054690558168035 0.22012646309427453
RT-VL20-5 998.2026666666668 3.260346539181921 1000.0 975.2
VL20-all 0.3240945409713137 0.4413980643993514
RT-VL20-all 983.6352 13.84598564462322 998.3413333333334 964.4693333333333
*** budget = 30
VL30-1 0.03352041332549657 0.02823677479206114
RT-VL30-1 965.5040000000001 157.25246066119283 999.2 142.4
VL30-2 0.08518389769244053 0.06645487953916823
RT-VL30-2 983.1199999999999 78.1415331305958 1000.0 547.6
VL30-3 0.07351257744954119 0.05742467845721006
RT-VL30-3 963.416 88.22466630143748 1000.0 658.8
VL30-4 0.051393062029482975 0.06846058348403625
RT-VL30-4 998.64 1.918332609325089 1000.0 990.4
VL30-5 1.134044653702573 0.13268105226123092
RT-VL30-5 998.1440000000001 3.7109653730532117 1000.0 975.2
VL30-all 0.2755309208399069 0.4296268369877708
RT-VL30-all 981.7647999999999 15.205125535818484 998.64 963.416
*** budget = 40
VL40-1 0.02909021586729155 0.026465691269662375
RT-VL40-1 974.3135135135135 138.65532253048784 999.2 142.4
VL40-2 0.07679975749878323 0.06898085991315535
RT-VL40-2 977.6324324324323 90.19634454765307 1000.0 547.6
VL40-3 0.06807787126085633 0.05709826318192453
RT-VL40-3 966.4540540540539 85.65656944432254 1000.0 658.8
VL40-4 0.04276898241139634 0.04354026822899138
RT-VL40-4 998.7675675675674 1.6064151888438223 1000.0 993.2
VL40-5 1.0945872665086527 0.1071262554627732
RT-VL40-5 998.227027027027 4.036097168134192 1000.0 975.2
VL40-all 0.262264818709396 0.4165129851907419
RT-VL40-all 983.0789189189188 13.103293894431928 998.7675675675674 966.4540540540539
*** budget = 50
VL50-1 0.019496803736010267 0.015124375205161016
RT-VL50-1 997.4133333333333 0.9450690744890269 999.2 995.6
VL50-2 0.059422044156096684 0.05774526007518739
RT-VL50-2 998.9733333333332 0.9391248881568216 1000.0 996.4
VL50-3 0.05368780571713487 0.052014823181274865
RT-VL50-3 977.7066666666666 67.01282928580832 1000.0 734.4
VL50-4 0.02856253194707888 0.030451812846369025
RT-VL50-4 998.2800000000001 2.3074372508622374 1000.0 990.4
VL50-5 1.0649369009062728 0.08768120029284661
RT-VL50-5 997.5333333333332 4.616588446990789 1000.0 975.2
VL50-all 0.2452212172925187 0.41012990119260795
RT-VL50-all 993.9813333333334 8.156699114497522 998.9733333333332 977.7066666666666
logs_data/30hc/cgrew1/rr/run_2024-06-02_00-20-45/run_7b93c_00023_23_dl_indist=2,dl_scale=0.2000,dr_cc=0.8000,seed=3_2024-06-02_00-20-49/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.200_zt=n_g1_s3/06.02_15.31.35/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type1-infogsdr_ppo-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.200_zt=n_g1_s3
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppo
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 17, action dim: 6, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/HCCustom_v0.h5 with traj_num 25.0, data_size 25000 steps, and average return 996.96
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 14985, K 15, state dim 17, action dim 6, a min -0.7615942, a_max 0.7615942
Policy model is loaded from logs_data/30hc/cgrew1/rr/run_2024-06-02_00-20-45/run_7b93c_00023_23_dl_indist=2,dl_scale=0.2000,dr_cc=0.8000,seed=3_2024-06-02_00-20-49/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.200_zt=n_g1_s3/06.02_15.31.35/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hc/cgrew1/rr/run_2024-06-02_00-20-45/run_7b93c_00023_23_dl_indist=2,dl_scale=0.2000,dr_cc=0.8000,seed=3_2024-06-02_00-20-49/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.200_zt=n_g1_s3/06.02_15.31.35/models/ckpt_discr_T15000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 5 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
current_vel_mean [0.97, 1.78, 2.88, 3.65, 4.87]
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
zvs shape 1500
RT 962.7178666666667 150.66778952643537 1000.0 -239.6
LR 0.9616 0.18130666470559395 1.0 -1.0
VL-std-all 0.3359605430052301 0.0
*** budget = 10
VL10-1 0.42547597826988526 0.3736691197937902
RT-VL10-1 906.2 242.78350191065292 999.6 14.8
VL10-2 0.28352190155807744 0.20717913071650584
RT-VL10-2 919.7146666666667 212.4010763898233 1000.0 202.0
VL10-3 0.11633363348059977 0.11367131847554617
RT-VL10-3 985.5013333333334 66.33262343338725 1000.0 593.6
VL10-4 0.1180737322236627 0.1063954674061374
RT-VL10-4 978.12 56.157431090343394 1000.0 758.8
VL10-5 0.7865834284634705 0.24015459609671078
RT-VL10-5 989.6079999999998 33.353363688439785 1000.0 770.0
VL10-all 0.34599773479913914 0.2486084169011654
RT-VL10-all 955.8288 35.455999775370984 989.6079999999998 906.2
*** budget = 20
VL20-1 0.22746663271643436 0.22943898252305633
RT-VL20-1 918.4533333333331 238.0248263428745 999.2 118.0
VL20-2 0.1899422651770849 0.16245939407928947
RT-VL20-2 926.6879999999999 192.1640805561747 999.2 347.6
VL20-3 0.06354055510245778 0.05857858098843569
RT-VL20-3 983.2106666666667 72.76872510143963 1000.0 593.6
VL20-4 0.06851805389315084 0.06779580790992362
RT-VL20-4 981.4186666666666 47.603083074757066 1000.0 768.8
VL20-5 0.6594715066389217 0.15042039562136045
RT-VL20-5 993.7706666666667 19.29821251365582 1000.0 887.2
VL20-all 0.2417878027056099 0.21869943728074068
RT-VL20-all 960.7082666666665 31.53175828511813 993.7706666666667 918.4533333333331
*** budget = 30
VL30-1 0.14907916113005426 0.13909246113652235
RT-VL30-1 914.648 246.84980878258744 999.2 118.0
VL30-2 0.14099004370079668 0.13377960126518929
RT-VL30-2 948.0319999999998 166.95495612889124 999.2 347.6
VL30-3 0.043322174757808286 0.04829339847134667
RT-VL30-3 981.8639999999999 77.73504167362361 1000.0 593.6
VL30-4 0.044290132061142955 0.04477151618459404
RT-VL30-4 973.9679999999998 56.860240731111936 1000.0 768.8
VL30-5 0.611875037330222 0.12566581856097822
RT-VL30-5 996.5919999999999 8.858438688617765 1000.0 953.2
VL30-all 0.19791130979600485 0.2118904641137691
RT-VL30-all 963.0207999999999 28.867021837383877 996.5919999999999 914.648
*** budget = 40
VL40-1 0.12092501262323163 0.11813986433132695
RT-VL40-1 928.6918918918918 230.00319901227505 999.2 118.0
VL40-2 0.10558960802091327 0.10979640851568803
RT-VL40-2 915.9783783783784 205.84001020884094 999.2 347.6
VL40-3 0.03387255711627535 0.041821452685649005
RT-VL40-3 976.5297297297299 89.75180451356101 1000.0 593.6
VL40-4 0.03163210670529729 0.03161731438070876
RT-VL40-4 979.5027027027027 49.009069687296844 1000.0 788.8
VL40-5 0.572449344531169 0.10658389494743467
RT-VL40-5 997.0918918918917 7.237529008610253 1000.0 956.8
VL40-all 0.1728937257993773 0.203055171936281
RT-VL40-all 959.5589189189188 31.453215615175115 997.0918918918917 915.9783783783784
*** budget = 50
VL50-1 0.09076120384965548 0.08455220560867828
RT-VL50-1 941.2133333333331 208.01170437154622 998.8 118.0
VL50-2 0.08388302608456595 0.0925686794233891
RT-VL50-2 930.2666666666667 202.869976969377 998.8 214.0
VL50-3 0.027172271221701856 0.02309514510122698
RT-VL50-3 971.0266666666666 100.19147978856398 1000.0 593.6
VL50-4 0.018987164725957538 0.015144971632624328
RT-VL50-4 977.6800000000001 53.605910121925916 1000.0 788.8
VL50-5 0.5608819193815642 0.10614253227784856
RT-VL50-5 998.2133333333335 2.69860869502951 1000.0 986.0
VL50-all 0.156337117052689 0.20433054572649464
RT-VL50-all 963.68 24.753692968031253 998.2133333333335 930.2666666666667
logs_data/30hc/cgrew1/rr/run_2024-06-02_00-20-45/run_7b93c_00015_15_dl_indist=2,dl_scale=0.2000,dr_cc=0.8000,seed=2_2024-06-02_00-20-45/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.200_zt=n_g1_s2/06.02_15.21.22/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type1-infogsdr_ppo-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.200_zt=n_g1_s2
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppo
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 17, action dim: 6, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/HCCustom_v0.h5 with traj_num 25.0, data_size 25000 steps, and average return 996.96
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 14985, K 15, state dim 17, action dim 6, a min -0.7615942, a_max 0.7615942
Policy model is loaded from logs_data/30hc/cgrew1/rr/run_2024-06-02_00-20-45/run_7b93c_00015_15_dl_indist=2,dl_scale=0.2000,dr_cc=0.8000,seed=2_2024-06-02_00-20-45/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.200_zt=n_g1_s2/06.02_15.21.22/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hc/cgrew1/rr/run_2024-06-02_00-20-45/run_7b93c_00015_15_dl_indist=2,dl_scale=0.2000,dr_cc=0.8000,seed=2_2024-06-02_00-20-45/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.200_zt=n_g1_s2/06.02_15.21.22/models/ckpt_discr_T15000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 5 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
current_vel_mean [0.97, 1.78, 2.88, 3.65, 4.87]
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
zvs shape 1500
RT 941.4608 162.12606332735854 1000.0 -29.6
LR 0.9362666666666667 0.22364718245983384 1.0 -1.0
VL-std-all 0.6080305343984993 0.0
*** budget = 10
VL10-1 0.3247025731494971 0.3567436421696423
RT-VL10-1 912.8133333333334 232.96284071833333 999.6 -13.2
VL10-2 0.2811853291169018 0.21229787728226673
RT-VL10-2 936.0853333333332 160.515486848535 1000.0 331.2
VL10-3 0.15216824356466702 0.13142876202841178
RT-VL10-3 967.8239999999998 80.52175828515752 1000.0 650.4
VL10-4 0.12200034993145437 0.13743842398012268
RT-VL10-4 972.0880000000001 58.44272172534975 1000.0 752.4
VL10-5 0.8172122957637472 0.30718020287283204
RT-VL10-5 989.8133333333334 37.984408497288584 1000.0 752.4
VL10-all 0.3394537583052535 0.25069019775934
RT-VL10-all 955.7248 27.57997709256966 989.8133333333334 912.8133333333334
*** budget = 20
VL20-1 0.16601348517740544 0.2034748635859468
RT-VL20-1 917.376 218.5100405564925 998.8 120.0
VL20-2 0.1589708378958966 0.12543848238446506
RT-VL20-2 898.4159999999999 195.95625568988606 1000.0 331.2
VL20-3 0.08319986193043187 0.08151051228151625
RT-VL20-3 975.7760000000003 70.44886909903758 1000.0 723.2
VL20-4 0.055285332183795124 0.061411256538477815
RT-VL20-4 979.536 46.415493505222294 1000.0 833.6
VL20-5 0.6338890996440631 0.20480733161317827
RT-VL20-5 997.3973333333336 1.5708998129168632 1000.0 993.6
VL20-all 0.21947172336631846 0.21155949205962823
RT-VL20-all 953.7002666666667 38.57475662681212 997.3973333333336 898.4159999999999
*** budget = 30
VL30-1 0.08873549234133385 0.05992765436749251
RT-VL30-1 910.2159999999999 236.46637592689578 999.6 120.0
VL30-2 0.1032234405220257 0.0816848110970337
RT-VL30-2 889.7679999999999 204.9290076489905 1000.0 372.0
VL30-3 0.05559173865218247 0.05951076867082263
RT-VL30-3 985.0879999999999 52.87413220091654 1000.0 726.0
VL30-4 0.03683052587366955 0.03576777011826805
RT-VL30-4 976.7440000000001 49.26454368001393 1000.0 822.8
VL30-5 0.5682507395004283 0.18952281814577257
RT-VL30-5 997.2719999999998 1.656386428343341 1000.0 993.6
VL30-all 0.17052638737792797 0.2002441780920057
RT-VL30-all 951.8176 43.30171681400173 997.2719999999998 889.7679999999999
*** budget = 40
VL40-1 0.08423564766812612 0.06655464595224249
RT-VL40-1 890.443243243243 244.8997815329503 998.8 165.2
VL40-2 0.08626083327811766 0.0752530294076738
RT-VL40-2 892.5945945945946 200.35019333851812 1000.0 413.2
VL40-3 0.039842342294283906 0.03334531439357645
RT-VL40-3 985.751351351351 52.25445860517354 1000.0 743.6
VL40-4 0.030733568544024772 0.043834318082311426
RT-VL40-4 984.8108108108108 37.876897214342016 1000.0 860.8
VL40-5 0.5332682410011474 0.18706589834404166
RT-VL40-5 997.1891891891889 1.6147602589663868 1000.0 993.6
VL40-all 0.15486812655713997 0.19053759414599278
RT-VL40-all 950.1578378378377 48.08125316651819 997.1891891891889 890.443243243243
*** budget = 50
VL50-1 0.07490840293283473 0.05388419026086882
RT-VL50-1 933.5599999999998 191.82804383092684 998.8 252.8
VL50-2 0.07247373702542165 0.06386635313989683
RT-VL50-2 864.0533333333333 210.24523416450822 999.6 449.6
VL50-3 0.031098137417787917 0.02452463224226371
RT-VL50-3 991.4533333333333 36.76976777492921 1000.0 793.6
VL50-4 0.02271434038576549 0.022896611957449155
RT-VL50-4 978.6933333333333 49.64835635636783 1000.0 833.6
VL50-5 0.5107881153389612 0.1799470066212462
RT-VL50-5 997.52 1.7417232845661859 1000.0 993.6
VL50-all 0.1423965466201542 0.18540084310660138
RT-VL50-all 953.0559999999999 49.82016469931295 997.52 864.0533333333333
logs_data/30hc/cgrew1/rr/run_2024-06-02_00-20-45/run_7b93c_00007_7_dl_indist=2,dl_scale=0.2000,dr_cc=0.8000,seed=1_2024-06-02_00-20-45/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.200_zt=n_g1_s1/06.02_00.21.27/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type1-infogsdr_ppo-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.200_zt=n_g1_s1
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppo
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 17, action dim: 6, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/HCCustom_v0.h5 with traj_num 25.0, data_size 25000 steps, and average return 996.96
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 14985, K 15, state dim 17, action dim 6, a min -0.7615942, a_max 0.7615942
Policy model is loaded from logs_data/30hc/cgrew1/rr/run_2024-06-02_00-20-45/run_7b93c_00007_7_dl_indist=2,dl_scale=0.2000,dr_cc=0.8000,seed=1_2024-06-02_00-20-45/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.200_zt=n_g1_s1/06.02_00.21.27/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hc/cgrew1/rr/run_2024-06-02_00-20-45/run_7b93c_00007_7_dl_indist=2,dl_scale=0.2000,dr_cc=0.8000,seed=1_2024-06-02_00-20-45/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type1-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.200_zt=n_g1_s1/06.02_00.21.27/models/ckpt_discr_T15000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 5 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
current_vel_mean [0.97, 1.78, 2.88, 3.65, 4.87]
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
State dim: 17, action dim: 6, action bound 1
zvs shape 1500
RT 930.5205333333333 212.99872720679707 1000.0 -276.0
LR 0.92 0.2720784200679405 1.0 -1.0
VL-std-all 0.4013278800607453 0.0
*** budget = 10
VL10-1 0.10315156109712433 0.07871553246946479
RT-VL10-1 965.7173333333332 156.7076567993905 1000.0 44.4
VL10-2 0.23320073225078072 0.15831882085719481
RT-VL10-2 937.0186666666666 179.73001136395916 1000.0 214.4
VL10-3 0.2267310450297191 0.25234268362579676
RT-VL10-3 953.2160000000001 95.61500445711089 1000.0 660.4
VL10-4 0.3516831996091628 0.39141835378666967
RT-VL10-4 968.7706666666669 69.71590497312806 1000.0 687.2
VL10-5 1.232450641399547 0.6211279428752725
RT-VL10-5 973.1493333333335 63.41871516270957 1000.0 687.2
VL10-all 0.42944343587726674 0.4091300835046171
RT-VL10-all 959.5744000000001 13.082630639983071 973.1493333333335 937.0186666666666
*** budget = 20
VL20-1 0.06319103164848681 0.054819135199109234
RT-VL20-1 968.2186666666664 145.8520352442464 1000.0 68.8
VL20-2 0.13663744465773764 0.09743726286996932
RT-VL20-2 942.8426666666667 162.620206348685 1000.0 318.4
VL20-3 0.10743586573869301 0.11446309921071304
RT-VL20-3 937.136 108.18224702171177 1000.0 684.4
VL20-4 0.1492231210374375 0.1127306286866548
RT-VL20-4 982.8960000000002 41.22367423378626 1000.0 833.2
VL20-5 0.86461629506495 0.3607570031844386
RT-VL20-5 984.8586666666667 31.1762434911941 1000.0 860.4
VL20-all 0.26422075162946096 0.30165251949759236
RT-VL20-all 963.1904000000001 19.879486555408533 984.8586666666667 937.136
*** budget = 30
VL30-1 0.04382345697514309 0.039749069563096796
RT-VL30-1 959.36 166.31022578302273 1000.0 149.6
VL30-2 0.09795663396463382 0.07430275842653021
RT-VL30-2 930.2239999999999 182.06425520678133 999.6 318.4
VL30-3 0.07174355689996795 0.06478862130829718
RT-VL30-3 935.296 104.78007627407034 1000.0 687.2
VL30-4 0.10361247522240621 0.07653007594252352
RT-VL30-4 985.1120000000001 38.948030194093256 1000.0 833.2
VL30-5 0.7222073443925074 0.29682253286519733
RT-VL30-5 984.656 32.552211353454936 1000.0 860.4
VL30-all 0.20786869349093168 0.2580446318463724
RT-VL30-all 958.9296 23.367111465476444 985.1120000000001 930.2239999999999
*** budget = 40
VL40-1 0.035673320331703375 0.03589370236778187
RT-VL40-1 925.7945945945944 222.7721875332492 1000.0 149.6
VL40-2 0.07566756498459476 0.06286909474700227
RT-VL40-2 940.0540540540541 163.64954413127907 999.6 440.4
VL40-3 0.053592650903135884 0.04682630690045325
RT-VL40-3 916.3783783783783 115.21170908759169 999.6 687.2
VL40-4 0.07715540410996963 0.06070032967643318
RT-VL40-4 981.9675675675677 43.79227411840643 1000.0 833.2
VL40-5 0.654543094159217 0.28865487700036774
RT-VL40-5 988.8756756756756 25.139754298025363 1000.0 878.8
VL40-all 0.1793264068977241 0.23810088443584804
RT-VL40-all 950.614054054054 29.484216644123453 988.8756756756756 916.3783783783783
*** budget = 50
VL50-1 0.02754750048641675 0.025068316147219463
RT-VL50-1 961.9866666666665 155.11002489272647 1000.0 149.6
VL50-2 0.07185371837647665 0.059347640940247255
RT-VL50-2 943.2933333333333 160.09419505056667 999.6 440.4
VL50-3 0.04767263862911123 0.04224149187077722
RT-VL50-3 935.4133333333335 110.33813403453141 1000.0 687.2
VL50-4 0.07228438607917466 0.05505341003105338
RT-VL50-4 988.8133333333333 30.886542197029584 1000.0 834.0
VL50-5 0.6145070965829438 0.25869951420296095
RT-VL50-5 981.5866666666666 33.86663779526329 1000.0 878.8
VL50-all 0.16677306803082462 0.22448707099564078
RT-VL50-all 962.2186666666664 20.780489310889603 988.8133333333333 935.4133333333335