runc2.log

logs_data/30hcd2/cgrew_pr/ablo/run_2024-08-10_20-39-21/run_2691b_00001_1_clip_discriminator=10,dr_cc=0.8000,seed=1_2024-08-10_20-39-21/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g0_s1/08.10_20.40.13/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type2-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: 2
ARG C_DATA: 2
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 10 Val 4 Test 11
Total data pairs: 9990, K 10, state dim 17, action dim 6, a min -0.7615941, a_max 0.7615942
Policy model is loaded from logs_data/30hcd2/cgrew_pr/ablo/run_2024-08-10_20-39-21/run_2691b_00001_1_clip_discriminator=10,dr_cc=0.8000,seed=1_2024-08-10_20-39-21/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g0_s1/08.10_20.40.13/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hcd2/cgrew_pr/ablo/run_2024-08-10_20-39-21/run_2691b_00001_1_clip_discriminator=10,dr_cc=0.8000,seed=1_2024-08-10_20-39-21/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g0_s1/08.10_20.40.13/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 980.7661333333334 63.380688749667456 1000.0 -39.2
LR 0.9823999999999999 0.08949994413406076 1.0 -0.2
VL-std-all 0.24629206468980377 0.0
*** budget = 10
VL10-1 0.8811929289514988 0.3469696893178786
RT-VL10-1 928.3866666666667 152.33209627506463 999.6 -39.2
VL10-2 0.19344818373625156 0.23200044732728056
RT-VL10-2 981.7466666666667 78.87170229063288 999.6 276.4
VL10-3 0.3149717544832664 0.21861619491143122
RT-VL10-3 958.6506666666666 73.59508022204263 1000.0 659.2
VL10-4 0.11451995448298002 0.11637223719726775
RT-VL10-4 988.7626666666669 25.568453340439316 999.2 842.4
VL10-5 0.5632536545068427 0.15507635050486565
RT-VL10-5 995.344 1.4095143371625105 998.8 988.8
VL10-all 0.4134772952321679 0.27881266645358627
RT-VL10-all 970.5781333333332 24.458723849329925 995.344 928.3866666666667
*** budget = 20
VL20-1 0.7292141045916122 0.2835625496111074
RT-VL20-1 873.6373333333333 194.89382735108765 999.6 -39.2
VL20-2 0.11637362469235231 0.04948518462954205
RT-VL20-2 979.344 97.26128416452939 999.6 276.4
VL20-3 0.18513454853757505 0.16287672268294057
RT-VL20-3 952.3040000000001 78.72744788615128 998.8 659.2
VL20-4 0.05487331544478271 0.06766963121630232
RT-VL20-4 984.7893333333335 33.26454598450963 999.2 842.4
VL20-5 0.48923232388938354 0.0870628415025192
RT-VL20-5 995.4933333333333 1.2587118635953038 998.8 992.8
VL20-all 0.3149655834311411 0.25530906199236586
RT-VL20-all 957.1136 44.10115685376068 995.4933333333333 873.6373333333333
*** budget = 30
VL30-1 0.6472089189138814 0.29961862196611805
RT-VL30-1 847.32 175.0273350079924 999.6 276.4
VL30-2 0.1031499077309361 0.04137710463010622
RT-VL30-2 980.7919999999999 100.67523993514989 999.6 276.4
VL30-3 0.1272511648398945 0.1290545344042711
RT-VL30-3 950.4239999999998 81.29769138173604 998.8 659.2
VL30-4 0.02938459799545712 0.035922111563027485
RT-VL30-4 988.24 24.798580604542675 999.2 870.4
VL30-5 0.4587436431879081 0.05613873604464932
RT-VL30-5 995.648 1.2487177423261058 998.8 993.2
VL30-all 0.27314764653361545 0.23831623858650108
RT-VL30-all 952.4848 54.784442661763 995.648 847.32
*** budget = 40
VL40-1 0.5533992271742876 0.2924138073745708
RT-VL40-1 801.081081081081 179.23833723276502 998.8 276.4
VL40-2 0.08932664999016506 0.028973630136598906
RT-VL40-2 975.3513513513514 116.53098792519738 999.6 276.4
VL40-3 0.10208817409012315 0.09744826179265968
RT-VL40-3 931.2540540540539 95.16193480019201 998.8 659.2
VL40-4 0.024275277703882717 0.028102601621917456
RT-VL40-4 980.7567567567568 38.865398635585805 999.2 845.6
VL40-5 0.4456243530650585 0.05312842972328913
RT-VL40-5 995.6432432432431 1.2504141023353859 998.8 993.2
VL40-all 0.24294273640470337 0.21387680454777983
RT-VL40-all 936.8172972972973 71.17768105796154 995.6432432432431 801.081081081081
*** budget = 50
VL50-1 0.5275151393284777 0.3071402935974114
RT-VL50-1 805.0933333333334 166.67752284643007 999.6 410.0
VL50-2 0.0857926794519933 0.030779036090712766
RT-VL50-2 970.88 128.99816639523732 999.6 276.4
VL50-3 0.07822511040468019 0.05954640016257102
RT-VL50-3 929.1466666666668 96.81392370016941 998.8 659.2
VL50-4 0.01534891745469095 0.012894031977274463
RT-VL50-4 986.3066666666668 29.33388181305404 998.0 870.4
VL50-5 0.4418987401918711 0.046948896827505096
RT-VL50-5 995.52 1.29573659874734 998.8 993.2
VL50-all 0.22975611736634263 0.2113397702658119
RT-VL50-all 937.3893333333333 69.94837786698291 995.52 805.0933333333334
logs_data/30hcd2/cgrew_pr/ablo/run_2024-08-10_20-39-21/run_2691b_00003_3_clip_discriminator=10,dr_cc=0.8000,seed=2_2024-08-10_20-39-21/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g0_s2/08.10_20.40.13/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type2-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: 2
ARG C_DATA: 2
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 10 Val 4 Test 11
Total data pairs: 9990, K 10, state dim 17, action dim 6, a min -0.7615941, a_max 0.7615942
Policy model is loaded from logs_data/30hcd2/cgrew_pr/ablo/run_2024-08-10_20-39-21/run_2691b_00003_3_clip_discriminator=10,dr_cc=0.8000,seed=2_2024-08-10_20-39-21/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g0_s2/08.10_20.40.13/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hcd2/cgrew_pr/ablo/run_2024-08-10_20-39-21/run_2691b_00003_3_clip_discriminator=10,dr_cc=0.8000,seed=2_2024-08-10_20-39-21/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g0_s2/08.10_20.40.13/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 980.9658666666667 58.547404909032664 999.2 459.6
LR 0.9738666666666667 0.12202615384507627 1.0 -0.2
VL-std-all 0.3465737833420683 0.0
*** budget = 10
VL10-1 1.0217179487504113 0.09473234922100898
RT-VL10-1 981.2373333333334 73.30091909079691 999.2 520.4
VL10-2 0.22196465891694545 0.06603411552777039
RT-VL10-2 982.5386666666668 71.81068424374995 999.2 520.4
VL10-3 0.4484790600184554 0.2115810926449184
RT-VL10-3 952.3039999999999 88.79855470295298 998.4 636.4
VL10-4 0.14569840996301883 0.1747326946500799
RT-VL10-4 971.1626666666668 57.74759509759307 997.6 794.4
VL10-5 0.3965607038203758 0.30021839837094527
RT-VL10-5 992.5066666666667 13.831416734698182 997.2 894.8
VL10-all 0.4468841562938414 0.3079839335516945
RT-VL10-all 975.9498666666666 13.620143242190194 992.5066666666667 952.3039999999999
*** budget = 20
VL20-1 0.9781997827702598 0.10536032544508056
RT-VL20-1 966.9119999999997 101.65639505707449 999.2 520.4
VL20-2 0.18855989972509593 0.05877994173786592
RT-VL20-2 969.4986666666664 99.85920954802093 999.2 520.4
VL20-3 0.3124252408942266 0.18606619145773703
RT-VL20-3 930.144 106.66120599355702 998.4 636.4
VL20-4 0.07108707103017545 0.08740024147079957
RT-VL20-4 971.3973333333332 57.86477563730421 997.6 794.4
VL20-5 0.24352531728535776 0.07890595044041325
RT-VL20-5 994.5653333333332 1.4086867012299862 997.2 988.8
VL20-all 0.35875946234102307 0.3196421044463387
RT-VL20-all 966.5034666666664 20.70056632354665 994.5653333333332 930.144
*** budget = 30
VL30-1 0.9474909194212424 0.11299256006555167
RT-VL30-1 958.2080000000001 117.20609513160994 999.2 520.4
VL30-2 0.1680310948534963 0.05351215810995681
RT-VL30-2 962.0880000000001 115.137101995838 999.2 520.4
VL30-3 0.2561462469332724 0.1736482226849845
RT-VL30-3 932.072 104.40075677886632 998.4 686.8
VL30-4 0.04337516321965173 0.0358951445421966
RT-VL30-4 970.808 60.44435404568404 997.2 794.4
VL30-5 0.21465293528305643 0.04202000198972937
RT-VL30-5 994.8079999999999 1.2457672334750147 997.2 991.6
VL30-all 0.32593927194214384 0.3188603561060755
RT-VL30-all 963.5968 20.254723245702426 994.8079999999999 932.072
*** budget = 40
VL40-1 0.9238927691916328 0.11999522230650814
RT-VL40-1 945.0594594594594 133.78295342357652 998.8 520.4
VL40-2 0.15128038507399025 0.047769823432461306
RT-VL40-2 962.2594594594594 115.01630309693576 999.2 520.4
VL40-3 0.20343727494157654 0.13884414765772538
RT-VL40-3 926.8972972972972 110.86449115068721 997.6 687.2
VL40-4 0.03867803849035818 0.036546383969238934
RT-VL40-4 973.0486486486485 57.87795930965021 997.6 796.8
VL40-5 0.20339583882201592 0.034166236846192334
RT-VL40-5 994.7891891891891 1.0944043878783818 996.4 991.6
VL40-all 0.3041368613039147 0.3156643896929024
RT-VL40-all 960.4108108108106 23.254354101121265 994.7891891891891 926.8972972972972
*** budget = 50
VL50-1 0.905404367892183 0.1259731885598874
RT-VL50-1 933.2266666666668 146.06164665038602 999.2 520.4
VL50-2 0.14613841264165162 0.051082962651545244
RT-VL50-2 939.7066666666668 144.36294753925685 999.2 520.4
VL50-3 0.1692464080515594 0.12815500146827277
RT-VL50-3 912.7733333333334 109.55341751350748 997.6 687.2
VL50-4 0.031133487710850657 0.03273890245448125
RT-VL50-4 981.9066666666666 48.53025814433256 996.0 796.8
VL50-5 0.19591677952469977 0.02590095088544801
RT-VL50-5 994.7333333333335 1.159693446083442 996.4 992.0
VL50-all 0.2895678911641889 0.31300565882297204
RT-VL50-all 952.4693333333335 30.860137999259365 994.7333333333335 912.7733333333334
logs_data/30hcd2/cgrew_pr/ablo/run_2024-08-10_20-39-21/run_2691b_00005_5_clip_discriminator=10,dr_cc=0.8000,seed=3_2024-08-10_20-39-21/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g0_s3/08.10_20.40.14/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type2-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: 2
ARG C_DATA: 2
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 10 Val 4 Test 11
Total data pairs: 9990, K 10, state dim 17, action dim 6, a min -0.7615941, a_max 0.7615942
Policy model is loaded from logs_data/30hcd2/cgrew_pr/ablo/run_2024-08-10_20-39-21/run_2691b_00005_5_clip_discriminator=10,dr_cc=0.8000,seed=3_2024-08-10_20-39-21/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g0_s3/08.10_20.40.14/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hcd2/cgrew_pr/ablo/run_2024-08-10_20-39-21/run_2691b_00005_5_clip_discriminator=10,dr_cc=0.8000,seed=3_2024-08-10_20-39-21/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g0_s3/08.10_20.40.14/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 979.8797333333334 50.47522999051669 999.6 537.6
LR 0.9685333333333334 0.12424377471549856 1.0 -0.2
VL-std-all 0.3651468388515224 0.0
*** budget = 10
VL10-1 0.6971990951224701 0.27364390341460065
RT-VL10-1 988.5786666666668 41.5553744404847 999.6 537.6
VL10-2 0.14169590414150607 0.1322136175388517
RT-VL10-2 992.224 37.33190892520767 999.6 537.6
VL10-3 0.3050205427648619 0.18984145902633548
RT-VL10-3 944.1519999999999 93.36688543589746 998.0 644.0
VL10-4 0.18267212895375928 0.14445714266778062
RT-VL10-4 950.6213333333334 54.797071195051615 997.6 779.6
VL10-5 0.7147079291158039 0.07576333637806826
RT-VL10-5 994.5466666666666 7.566440525255072 999.2 908.4
VL10-all 0.4082591200196803 0.24899832298227328
RT-VL10-all 974.0245333333335 21.928426111227328 994.5466666666666 944.1519999999999
*** budget = 20
VL20-1 0.5430458205577047 0.19684460798799222
RT-VL20-1 984.8266666666668 55.36120743705731 998.8 537.6
VL20-2 0.07753845651813589 0.07513867456271495
RT-VL20-2 989.3173333333332 52.558752834856676 999.6 537.6
VL20-3 0.2076031336017836 0.15404913906245962
RT-VL20-3 921.9253333333332 108.70987823049425 997.6 644.0
VL20-4 0.09900202298704266 0.08935811498784725
RT-VL20-4 941.1306666666669 52.74968808333268 997.6 846.4
VL20-5 0.6844729532740812 0.030614965034027646
RT-VL20-5 995.344 1.4483314537770677 998.8 989.6
VL20-all 0.3223324773877496 0.2460989764181617
RT-VL20-all 966.5088 29.390397556269207 995.344 921.9253333333332
*** budget = 30
VL30-1 0.47134448203264795 0.14874557951819659
RT-VL30-1 991.936 5.5421930677305 999.6 964.8
VL30-2 0.049563349073557986 0.04175520765436498
RT-VL30-2 995.752 2.028422046813729 999.6 990.4
VL30-3 0.15890059404897128 0.13554090068255337
RT-VL30-3 911.6800000000002 110.07656971399499 997.6 715.6
VL30-4 0.06871267716021472 0.06519033177125132
RT-VL30-4 942.04 50.27700866201171 997.2 856.4
VL30-5 0.6756245085244449 0.028025440096738866
RT-VL30-5 995.3599999999999 1.2572986916401352 997.6 990.8
VL30-all 0.28482912216796735 0.24715311426307204
RT-VL30-all 967.3536 34.45417256356616 995.752 911.6800000000002
*** budget = 40
VL40-1 0.43245130606683724 0.14132442285096466
RT-VL40-1 990.6918918918918 6.970919454588948 998.8 964.8
VL40-2 0.041063762404311435 0.037604061644834604
RT-VL40-2 995.4810810810811 1.998626263054655 999.6 990.4
VL40-3 0.12922377003431826 0.11340853043426473
RT-VL40-3 910.1081081081084 111.97121825738238 997.6 715.6
VL40-4 0.048852872311649434 0.04510283796890388
RT-VL40-4 944.4540540540542 51.979718469931086 997.2 866.8
VL40-5 0.6678184662662607 0.023963504711901007
RT-VL40-5 995.4702702702701 1.3637913894657792 997.6 990.8
VL40-all 0.26388203541667543 0.24722403256345243
RT-VL40-all 967.2410810810812 34.4318179927356 995.4810810810811 910.1081081081084
*** budget = 50
VL50-1 0.4149868282086089 0.1515129008236177
RT-VL50-1 991.0133333333334 6.38308876816093 998.8 964.8
VL50-2 0.033804258620103354 0.030997283335976473
RT-VL50-2 995.3866666666668 2.2048028382500733 999.6 990.4
VL50-3 0.11018559613118786 0.09064231766881127
RT-VL50-3 882.9733333333332 120.05201909542748 996.8 647.6
VL50-4 0.04005217275243778 0.04231445881282343
RT-VL50-4 944.1866666666666 47.35812308593134 997.2 866.8
VL50-5 0.6619968822237137 0.02047387805245155
RT-VL50-5 995.2666666666667 1.3782436488355607 997.6 990.8
VL50-all 0.2522051475872103 0.2479131006425265
RT-VL50-all 961.7653333333334 43.875659949452675 995.3866666666668 882.9733333333332
logs_data/30hcd2/cgrew_pr/ablo/run_2024-08-10_20-39-21/run_2691b_00007_7_clip_discriminator=10,dr_cc=0.8000,seed=4_2024-08-10_20-39-21/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g0_s4/08.10_20.40.15/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type2-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: 2
ARG C_DATA: 2
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 10 Val 4 Test 11
Total data pairs: 9990, K 10, state dim 17, action dim 6, a min -0.7615941, a_max 0.7615942
Policy model is loaded from logs_data/30hcd2/cgrew_pr/ablo/run_2024-08-10_20-39-21/run_2691b_00007_7_clip_discriminator=10,dr_cc=0.8000,seed=4_2024-08-10_20-39-21/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g0_s4/08.10_20.40.15/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hcd2/cgrew_pr/ablo/run_2024-08-10_20-39-21/run_2691b_00007_7_clip_discriminator=10,dr_cc=0.8000,seed=4_2024-08-10_20-39-21/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g0_s4/08.10_20.40.15/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 980.6917333333334 54.83965680352941 1000.0 378.4
LR 0.9693333333333334 0.12228200558090667 1.0 -0.2
VL-std-all 0.30484864840457243 0.0
*** budget = 10
VL10-1 0.6411830272282689 0.3060902330198359
RT-VL10-1 979.0693333333332 70.7585188715033 1000.0 452.8
VL10-2 0.13057559590643986 0.12575788957213913
RT-VL10-2 978.7306666666665 59.721535977866104 999.6 593.6
VL10-3 0.20028899442775536 0.13950268896415244
RT-VL10-3 970.6453333333335 65.78382028702465 999.6 664.0
VL10-4 0.12775123137152186 0.12327046530388362
RT-VL10-4 981.9786666666666 35.468725353784876 999.2 820.8
VL10-5 0.8875833416828792 0.1988906006583092
RT-VL10-5 991.4720000000001 17.342929856284375 999.2 865.2
VL10-all 0.397476438123373 0.31063429082265825
RT-VL10-all 980.3792 6.7050738784561865 991.4720000000001 970.6453333333335
*** budget = 20
VL20-1 0.47053755838419914 0.24152191194699796
RT-VL20-1 984.3466666666667 60.36586526248826 1000.0 557.2
VL20-2 0.0689183447401131 0.07260245480720054
RT-VL20-2 982.352 58.815615522863766 999.2 593.6
VL20-3 0.11921226469990036 0.09557278116222602
RT-VL20-3 973.7386666666667 61.43192632138077 998.8 706.8
VL20-4 0.06187209417540617 0.05452106174769596
RT-VL20-4 977.8239999999998 37.11282919243246 999.2 857.6
VL20-5 0.779718401817452 0.09342367925897067
RT-VL20-5 994.6986666666668 6.287712744357488 998.0 950.4
VL20-all 0.3000517327634141 0.28354915857591084
RT-VL20-all 982.592 7.082699598317057 994.6986666666668 973.7386666666667
*** budget = 30
VL30-1 0.3739262332522953 0.177820958179605
RT-VL30-1 982.3200000000002 69.12527757629621 998.8 557.2
VL30-2 0.04132094993777269 0.04735393870134101
RT-VL30-2 979.76 66.43791688486327 999.2 593.6
VL30-3 0.0969255194415316 0.08383226494446823
RT-VL30-3 972.7280000000001 58.926540845361025 998.0 734.8
VL30-4 0.045516040147404305 0.04117979600570469
RT-VL30-4 977.712 38.67005373670949 999.2 857.6
VL30-5 0.7538191793837352 0.08448747639690689
RT-VL30-5 994.8560000000001 6.56000487804697 998.0 950.4
VL30-all 0.26230158443254786 0.2746733566530848
RT-VL30-all 981.4752000000001 7.3942760132416225 994.8560000000001 972.7280000000001
*** budget = 40
VL40-1 0.32514397582276955 0.16355899613238348
RT-VL40-1 963.156756756757 116.62726152157528 998.8 452.8
VL40-2 0.03579940745362549 0.04978600307666467
RT-VL40-2 985.2432432432432 42.74988566787645 999.6 804.4
VL40-3 0.08430211353222226 0.07708155418769179
RT-VL40-3 977.5567567567567 46.48731614595906 998.8 799.2
VL40-4 0.03236974839158919 0.032520778738464526
RT-VL40-4 980.162162162162 35.62646565103693 999.2 857.6
VL40-5 0.7238017567053705 0.059963735458219515
RT-VL40-5 995.9027027027025 1.7433249509449822 998.0 988.8
VL40-all 0.2402834003811154 0.2647123986748737
RT-VL40-all 980.4043243243243 10.67015219409451 995.9027027027025 963.156756756757
*** budget = 50
VL50-1 0.2917441647320284 0.14717824350679715
RT-VL50-1 974.0266666666666 88.22074938597055 998.8 557.2
VL50-2 0.02162540586866033 0.022331315399789508
RT-VL50-2 982.3333333333334 46.99822218859867 998.0 804.4
VL50-3 0.06179007672338674 0.05826750503626425
RT-VL50-3 970.7466666666666 64.9947471381769 998.8 734.8
VL50-4 0.028317800974679175 0.028252116971254758
RT-VL50-4 979.4666666666666 34.6456859587966 999.2 890.4
VL50-5 0.7195148288697749 0.063841864450355
RT-VL50-5 995.88 1.859462287867122 998.0 988.8
VL50-all 0.22459845543370588 0.2667138861458722
RT-VL50-all 980.4906666666666 8.694876754605456 995.88 970.7466666666666
logs_data/30hcd2/cgrew_pr/ablo/run_2024-08-10_20-39-21/run_2691b_00009_9_clip_discriminator=10,dr_cc=0.8000,seed=5_2024-08-10_20-39-21/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g0_s5/08.10_20.40.12/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type2-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: 2
ARG C_DATA: 2
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 10 Val 4 Test 11
Total data pairs: 9990, K 10, state dim 17, action dim 6, a min -0.7615941, a_max 0.7615942
Policy model is loaded from logs_data/30hcd2/cgrew_pr/ablo/run_2024-08-10_20-39-21/run_2691b_00009_9_clip_discriminator=10,dr_cc=0.8000,seed=5_2024-08-10_20-39-21/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g0_s5/08.10_20.40.12/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hcd2/cgrew_pr/ablo/run_2024-08-10_20-39-21/run_2691b_00009_9_clip_discriminator=10,dr_cc=0.8000,seed=5_2024-08-10_20-39-21/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g0_s5/08.10_20.40.12/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 951.3973333333333 130.08783942483717 1000.0 2.4
LR 0.9178666666666668 0.2493206413881976 1.0 -0.6
VL-std-all 0.4510289031476744 0.0
*** budget = 10
VL10-1 0.8708126620185427 0.29774630973653454
RT-VL10-1 817.7333333333333 304.11637304748257 999.6 2.4
VL10-2 0.1915809095617582 0.09838441660902607
RT-VL10-2 925.872 174.57597433782232 999.6 386.0
VL10-3 0.35704185812983347 0.19886311339973797
RT-VL10-3 909.3786666666667 116.57957773507712 999.2 600.8
VL10-4 0.2508321142453616 0.255748969579776
RT-VL10-4 937.3333333333334 67.75747601228632 998.0 691.2
VL10-5 0.7336156885803157 0.4391687177558363
RT-VL10-5 977.1413333333334 46.83589248523922 998.0 691.2
VL10-all 0.4807766465071623 0.271246985100937
RT-VL10-all 913.4917333333335 52.838533214733026 977.1413333333334 817.7333333333333
*** budget = 20
VL20-1 0.7235932001885949 0.3434339499056319
RT-VL20-1 684.9866666666667 351.0730481759538 999.6 47.2
VL20-2 0.13602415278584024 0.08012001130221277
RT-VL20-2 889.5893333333333 204.74474226759088 999.6 398.0
VL20-3 0.25097293172400703 0.17791756865030584
RT-VL20-3 868.2026666666666 122.01047165259581 999.2 620.0
VL20-4 0.12430645226411348 0.11278942576717106
RT-VL20-4 924.0373333333333 67.16431348731425 996.4 810.0
VL20-5 0.5419358753070713 0.20099828526490335
RT-VL20-5 989.3013333333334 21.27008223355571 998.0 850.0
VL20-all 0.3553665224539254 0.23782214471018934
RT-VL20-all 871.2234666666667 101.74700297712297 989.3013333333334 684.9866666666667
*** budget = 30
VL30-1 0.5986252374117301 0.3368830613199224
RT-VL30-1 569.256 352.96135094936386 996.8 47.2
VL30-2 0.1079488352553091 0.07186545457910654
RT-VL30-2 860.424 225.81403194664412 998.0 404.8
VL30-3 0.19767245886179524 0.157838018408733
RT-VL30-3 851.672 119.59967063499798 998.4 620.0
VL30-4 0.08423320814895977 0.07832399791811369
RT-VL30-4 925.4960000000001 67.89746669795568 996.4 810.0
VL30-5 0.4548572507965426 0.10912349602812255
RT-VL30-5 993.824 2.4028782740704973 996.0 980.0
VL30-all 0.28866739809486736 0.2031873742311012
RT-VL30-all 840.1343999999999 144.7943283220721 993.824 569.256
*** budget = 40
VL40-1 0.5541479105255792 0.349645678432156
RT-VL40-1 513.6972972972973 333.9907803279108 995.6 49.6
VL40-2 0.0885637847952064 0.05743794685054608
RT-VL40-2 842.8000000000002 231.80217101331579 998.0 405.2
VL40-3 0.13856271071113746 0.1254919113957759
RT-VL40-3 833.7513513513513 117.48559801702118 995.6 620.0
VL40-4 0.07438430644725633 0.09861753533005746
RT-VL40-4 923.1891891891892 73.07139708747575 996.4 810.0
VL40-5 0.4202865447480297 0.0712536830816725
RT-VL40-5 994.1837837837838 1.3559704839156974 996.0 990.4
VL40-all 0.25518905144544185 0.19528933425586278
RT-VL40-all 821.5243243243243 164.62482608798604 994.1837837837838 513.6972972972973
*** budget = 50
VL50-1 0.489047186739197 0.3529462757451401
RT-VL50-1 463.33333333333337 342.0036698958393 996.8 49.6
VL50-2 0.0729238368118124 0.050535761715464936
RT-VL50-2 840.146666666667 232.85386509330027 996.8 405.2
VL50-3 0.12495531892364695 0.10952446822271995
RT-VL50-3 842.3733333333333 116.07799370346743 996.0 687.6
VL50-4 0.04519759725419085 0.05127490172919815
RT-VL50-4 901.3733333333334 69.95432287492238 996.4 810.0
VL50-5 0.4049064927310803 0.058388842509218594
RT-VL50-5 994.16 1.1247518244780361 996.0 992.4
VL50-all 0.2274060864919855 0.18304279190698752
RT-VL50-all 808.2773333333334 181.31948915779694 994.16 463.33333333333337
logs_data/30hcd2/cgrew_pr/ig/run_2024-05-31_08-48-46/run_1efe9_00009_9_dr_cc=0.8000,seed=5_2024-05-31_08-48-47/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0000_rc0.80_reg00_ds0.001_s5/05.31_08.49.29/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type2-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: 2
ARG C_DATA: 2
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 10 Val 4 Test 11
Total data pairs: 9990, K 10, state dim 17, action dim 6, a min -0.7615941, a_max 0.7615942
Policy model is loaded from logs_data/30hcd2/cgrew_pr/ig/run_2024-05-31_08-48-46/run_1efe9_00009_9_dr_cc=0.8000,seed=5_2024-05-31_08-48-47/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0000_rc0.80_reg00_ds0.001_s5/05.31_08.49.29/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 990.432 26.615937881903267 1000.0 725.6
LR 0.9890666666666666 0.06995566850195598 1.0 0.2
VL-std-all 0.2373863624486816 0.0
*** budget = 10
VL10-1 0.8068609193327522 0.13925560587172822
RT-VL10-1 995.7306666666665 16.791140309368178 1000.0 791.6
VL10-2 0.07242870005960828 0.08975381469563005
RT-VL10-2 996.2373333333331 12.76128283345979 1000.0 841.6
VL10-3 0.3868302479408187 0.21660709388184402
RT-VL10-3 973.3039999999999 51.372738399531194 999.2 725.6
VL10-4 0.08661826815176378 0.09278202593265558
RT-VL10-4 987.1039999999998 24.21008847567477 998.0 857.6
VL10-5 0.8474279406256293 0.11737537398417869
RT-VL10-5 995.0 3.3427334124435784 998.8 958.8
VL10-all 0.44003321522211447 0.3356780561483939
RT-VL10-all 989.4751999999999 8.746553885451755 996.2373333333331 973.3039999999999
*** budget = 20
VL20-1 0.7315922702204493 0.0995746834000683
RT-VL20-1 994.0853333333334 23.590035711903635 999.2 791.6
VL20-2 0.036214345995620977 0.03452613346603725
RT-VL20-2 995.1573333333333 17.917329959815127 1000.0 841.6
VL20-3 0.25537488508135914 0.17372447019071738
RT-VL20-3 972.784 53.885268339315154 999.2 725.6
VL20-4 0.043203515656006046 0.05250279251858071
RT-VL20-4 988.6186666666667 20.391924501843594 998.0 898.0
VL20-5 0.7879326231036912 0.05932681196035859
RT-VL20-5 995.2693333333333 1.5681813954032506 998.8 986.4
VL20-all 0.3708635280114253 0.32764634620371236
RT-VL20-all 989.1829333333333 8.55587117039782 995.2693333333333 972.784
*** budget = 30
VL30-1 0.6984379049607391 0.09090434081337964
RT-VL30-1 992.5039999999999 28.753385609350417 999.2 791.6
VL30-2 0.026036005615847575 0.02404287964803267
RT-VL30-2 997.2 1.6218507946170728 999.6 990.8
VL30-3 0.1949390978652427 0.15970719324067123
RT-VL30-3 973.6000000000001 56.454271760425705 999.2 725.6
VL30-4 0.026784888903100025 0.03517674994193529
RT-VL30-4 989.176 16.983834196081883 998.0 924.8
VL30-5 0.7684183413208525 0.048356325337566834
RT-VL30-5 995.3919999999999 1.2780985877466522 998.8 992.8
VL30-all 0.3429232477331564 0.32548334547975033
RT-VL30-all 989.5744000000001 8.437025295683249 997.2 973.6000000000001
*** budget = 40
VL40-1 0.6792073344503108 0.09456556021377976
RT-VL40-1 990.9405405405404 33.277891853215436 1000.0 791.6
VL40-2 0.02124361997023371 0.01997849021192365
RT-VL40-2 997.1675675675676 1.6826706658639368 999.6 990.8
VL40-3 0.14690620371090926 0.10965669609264024
RT-VL40-3 971.783783783784 60.35689133503254 998.8 725.6
VL40-4 0.01829684605908632 0.020260588469263457
RT-VL40-4 987.9027027027028 18.96897162703583 998.0 924.8
VL40-5 0.7590723634715063 0.03586342630238167
RT-VL40-5 995.3729729729729 1.362162162162156 998.8 992.8
VL40-all 0.3249452735324093 0.32616983332489663
RT-VL40-all 988.6335135135134 9.033495918112498 997.1675675675676 971.783783783784
*** budget = 50
VL50-1 0.6644865933518651 0.09853435796284395
RT-VL50-1 989.4799999999999 36.79509387585977 999.2 791.6
VL50-2 0.016578223965209603 0.016499061690024394
RT-VL50-2 997.4533333333331 1.0301240486250054 999.6 994.8
VL50-3 0.13665269176134068 0.11392583238420832
RT-VL50-3 973.5733333333334 61.803295129700714 998.4 725.6
VL50-4 0.012448897373208704 0.009519174525738977
RT-VL50-4 987.3600000000001 18.23713427780437 997.2 924.8
VL50-5 0.7510283300254756 0.024664256709951978
RT-VL50-5 995.36 1.3169662106523357 998.8 993.2
VL50-all 0.31623894729541996 0.3239303619711848
RT-VL50-all 988.6453333333333 8.39263423087962 997.4533333333331 973.5733333333334
logs_data/30hcd2/cgrew_pr/ig/run_2024-05-31_08-48-46/run_1efe9_00007_7_dr_cc=0.8000,seed=4_2024-05-31_08-48-47/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0000_rc0.80_reg00_ds0.001_s4/05.31_08.49.28/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type2-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: 2
ARG C_DATA: 2
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 10 Val 4 Test 11
Total data pairs: 9990, K 10, state dim 17, action dim 6, a min -0.7615941, a_max 0.7615942
Policy model is loaded from logs_data/30hcd2/cgrew_pr/ig/run_2024-05-31_08-48-46/run_1efe9_00007_7_dr_cc=0.8000,seed=4_2024-05-31_08-48-47/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0000_rc0.80_reg00_ds0.001_s4/05.31_08.49.28/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 990.2543999999999 36.05362710333964 1000.0 554.8
LR 0.9885333333333333 0.0743091440462672 1.0 0.2
VL-std-all 0.18819055842441343 0.0
*** budget = 10
VL10-1 0.7364655730675438 0.2034510701426069
RT-VL10-1 969.1919999999999 78.3546599507649 1000.0 554.8
VL10-2 0.07584669608490706 0.06684029806857397
RT-VL10-2 996.3066666666666 2.3877092694789184 1000.0 984.0
VL10-3 0.3996362282620626 0.20976530291811163
RT-VL10-3 970.632 70.71252253078423 1000.0 568.4
VL10-4 0.16637188934095823 0.18794393169034093
RT-VL10-4 991.5066666666669 17.884036332873954 999.6 870.8
VL10-5 0.8483789928475064 0.2432161596743707
RT-VL10-5 996.2986666666666 1.333215994836881 999.2 991.6
VL10-all 0.4453398759205956 0.30451005638671486
RT-VL10-all 984.7872 12.279602269346276 996.3066666666666 969.1919999999999
*** budget = 20
VL20-1 0.6084425340419566 0.19853349088645353
RT-VL20-1 941.9146666666666 103.8581862520021 999.6 554.8
VL20-2 0.03990153497711544 0.03805487903019847
RT-VL20-2 996.234666666667 2.9080803901466568 1000.0 984.0
VL20-3 0.2731517520153228 0.16676485260851184
RT-VL20-3 955.5520000000001 90.26451109193837 1000.0 568.4
VL20-4 0.08697045930100566 0.07214465357634665
RT-VL20-4 989.9626666666668 20.92069325386284 999.2 870.8
VL20-5 0.7545391225922524 0.06667742285384677
RT-VL20-5 996.1493333333335 1.414248760139312 999.2 991.6
VL20-all 0.3526010805855306 0.2834296623562406
RT-VL20-all 975.9626666666667 22.76100662487893 996.234666666667 941.9146666666666
*** budget = 30
VL30-1 0.5516723621472825 0.19791225218782463
RT-VL30-1 923.4639999999999 116.6760879700721 999.6 554.8
VL30-2 0.025944873336137007 0.023580682785077252
RT-VL30-2 996.4639999999999 2.1486516702341487 1000.0 989.2
VL30-3 0.2098908521449945 0.12295466907615382
RT-VL30-3 944.4079999999999 100.78347451839514 1000.0 568.4
VL30-4 0.05874230649950219 0.05327436228819789
RT-VL30-4 991.664 15.353823758269467 998.8 914.0
VL30-5 0.7307888500598676 0.04071279082436245
RT-VL30-5 996.408 1.2328568448932025 999.2 994.0
VL30-all 0.3154078488375568 0.27898464037533405
RT-VL30-all 970.4816000000001 30.615175071196337 996.4639999999999 923.4639999999999
*** budget = 40
VL40-1 0.48110843865328823 0.18912494735067645
RT-VL40-1 902.8648648648649 124.95958312258782 999.6 554.8
VL40-2 0.020485223512861885 0.019383960805122686
RT-VL40-2 995.8594594594593 2.89225054608508 999.6 984.0
VL40-3 0.17924627992872955 0.11897787817932454
RT-VL40-3 943.3405405405405 93.43340296113058 998.4 678.4
VL40-4 0.04438404504832528 0.04184885700475675
RT-VL40-4 990.9513513513513 17.326961050770862 998.8 914.0
VL40-5 0.7212821552682155 0.037494168920673095
RT-VL40-5 996.3027027027026 1.2594478598236356 999.2 994.0
VL40-all 0.28930122848228407 0.2712032779855308
RT-VL40-all 965.8637837837838 37.23389493941485 996.3027027027026 902.8648648648649
*** budget = 50
VL50-1 0.4367876832173936 0.17371007529574706
RT-VL50-1 895.9200000000001 131.3468446518606 999.6 554.8
VL50-2 0.01549121721670365 0.013799383963443958
RT-VL50-2 995.3866666666668 3.4451640825301078 999.2 984.0
VL50-3 0.1468096324984731 0.09359397878861338
RT-VL50-3 921.933333333333 115.60756991746786 998.4 568.4
VL50-4 0.032144500893094105 0.028506620373270546
RT-VL50-4 991.6933333333333 13.448046533067744 998.8 927.6
VL50-5 0.7113576271877525 0.030596235110775298
RT-VL50-5 996.2533333333333 1.344552796368463 999.2 994.0
VL50-all 0.2685181322026834 0.26800355680601584
RT-VL50-all 960.2373333333333 42.72241474656811 996.2533333333333 895.9200000000001
logs_data/30hcd2/cgrew_pr/ig/run_2024-05-31_08-48-46/run_1efe9_00005_5_dr_cc=0.8000,seed=3_2024-05-31_08-48-47/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0000_rc0.80_reg00_ds0.001_s3/05.31_08.49.34/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type2-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: 2
ARG C_DATA: 2
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 10 Val 4 Test 11
Total data pairs: 9990, K 10, state dim 17, action dim 6, a min -0.7615941, a_max 0.7615942
Policy model is loaded from logs_data/30hcd2/cgrew_pr/ig/run_2024-05-31_08-48-46/run_1efe9_00005_5_dr_cc=0.8000,seed=3_2024-05-31_08-48-47/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0000_rc0.80_reg00_ds0.001_s3/05.31_08.49.34/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 991.0221333333335 31.291095060984293 1000.0 595.2
LR 0.9888 0.06758619188364835 1.0 0.2
VL-std-all 0.20795496285295992 0.0
*** budget = 10
VL10-1 0.8336800823053111 0.07459602552168794
RT-VL10-1 995.4613333333334 16.83925487926615 1000.0 790.8
VL10-2 0.04218186576164862 0.041765291767780925
RT-VL10-2 997.0133333333333 1.430835032031608 1000.0 991.6
VL10-3 0.4882364669280518 0.23093994475660135
RT-VL10-3 959.6693333333335 75.91455894329859 999.2 595.2
VL10-4 0.0672048770790209 0.055829661364442
RT-VL10-4 993.3946666666667 12.894049204531866 999.2 911.6
VL10-5 1.0161851311904948 0.07803307081822214
RT-VL10-5 996.2880000000001 1.5913901679558868 999.2 982.8
VL10-all 0.48949768465290544 0.39351885266736175
RT-VL10-all 988.3653333333334 14.399058142037505 997.0133333333333 959.6693333333335
*** budget = 20
VL20-1 0.7997834484782791 0.07933461819023399
RT-VL20-1 993.7546666666667 23.649971350699126 999.2 790.8
VL20-2 0.023485027426777362 0.023457760368131686
RT-VL20-2 996.88 1.411571228572371 998.8 991.6
VL20-3 0.3503672463987085 0.21889269096351058
RT-VL20-3 937.8720000000003 91.93440351322965 999.2 595.2
VL20-4 0.035185515006733475 0.03266992423883991
RT-VL20-4 994.698666666667 8.13042833366662 998.8 952.4
VL20-5 0.9758500655000334 0.03449414095861236
RT-VL20-5 996.368 1.026081218357816 999.2 994.0
VL20-all 0.4369342605621064 0.39036545668386
RT-VL20-all 983.9146666666669 23.0487864727552 996.88 937.8720000000003
*** budget = 30
VL30-1 0.7849581604679878 0.08396652900237127
RT-VL30-1 992.168 28.81578345282322 999.2 790.8
VL30-2 0.015401318636626575 0.01514704636366114
RT-VL30-2 996.6239999999999 1.4514213723105984 998.8 991.6
VL30-3 0.28435103974577347 0.21027611861068388
RT-VL30-3 933.8079999999999 101.72902799103115 998.4 595.2
VL30-4 0.023597081036627453 0.022657788632132105
RT-VL30-4 995.4960000000001 6.3476912338266755 998.8 960.0
VL30-5 0.9631150199457386 0.028304937882831546
RT-VL30-5 996.48 0.9295160030897758 998.4 994.4
VL30-all 0.4142845239665508 0.3917246629950962
RT-VL30-all 982.9152 24.606271252670577 996.6239999999999 933.8079999999999
*** budget = 40
VL40-1 0.7658397394953889 0.09727170569968467
RT-VL40-1 990.4972972972973 33.330373182417 999.2 790.8
VL40-2 0.011035423185181055 0.008927023545032813
RT-VL40-2 996.5513513513512 1.4860834834542285 998.8 991.6
VL40-3 0.2440790119577619 0.18899508866886755
RT-VL40-3 947.7621621621621 98.34331302608567 998.4 595.2
VL40-4 0.01596206458094525 0.016537627819988927
RT-VL40-4 991.8378378378378 15.7462196467245 998.8 919.2
VL40-5 0.958737981332975 0.028521127009880534
RT-VL40-5 996.4648648648648 0.8699848449180739 998.4 995.2
VL40-all 0.3991308441104504 0.3922022442536578
RT-VL40-all 984.6227027027026 18.58923316798079 996.5513513513512 947.7621621621621
*** budget = 50
VL50-1 0.7597638243537564 0.09851873799665488
RT-VL50-1 989.24 36.8970242702579 999.2 790.8
VL50-2 0.0092987543200169 0.007451661383345578
RT-VL50-2 996.7866666666666 1.4623573054793637 998.8 991.6
VL50-3 0.18254432355766764 0.15314850663220048
RT-VL50-3 953.0 86.94339921274454 998.4 687.2
VL50-4 0.01251272013162934 0.01611950307862983
RT-VL50-4 996.8666666666666 1.1270413578135527 998.8 993.2
VL50-5 0.9503616761991454 0.02561423552687551
RT-VL50-5 996.68 0.9012583795264585 998.4 995.2
VL50-all 0.3828962597124431 0.3952078240460136
RT-VL50-all 986.5146666666667 17.009833704850436 996.8666666666666 953.0
logs_data/30hcd2/cgrew_pr/ig/run_2024-05-31_08-48-46/run_1efe9_00003_3_dr_cc=0.8000,seed=2_2024-05-31_08-48-47/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0000_rc0.80_reg00_ds0.001_s2/05.31_08.49.27/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type2-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: 2
ARG C_DATA: 2
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 10 Val 4 Test 11
Total data pairs: 9990, K 10, state dim 17, action dim 6, a min -0.7615941, a_max 0.7615942
Policy model is loaded from logs_data/30hcd2/cgrew_pr/ig/run_2024-05-31_08-48-46/run_1efe9_00003_3_dr_cc=0.8000,seed=2_2024-05-31_08-48-47/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0000_rc0.80_reg00_ds0.001_s2/05.31_08.49.27/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 992.2157333333334 28.879192378981486 999.6 404.0
LR 0.9906666666666667 0.08274190124853444 1.0 -1.0
VL-std-all 0.1655983910108626 0.0
*** budget = 10
VL10-1 0.772201740497287 0.19979390563670904
RT-VL10-1 987.9146666666668 55.25304864791524 998.8 404.0
VL10-2 0.09646498195902206 0.09381167265033592
RT-VL10-2 994.7466666666667 16.84594774880759 998.8 790.0
VL10-3 0.34118193652543677 0.19843677770518273
RT-VL10-3 980.7626666666666 50.25575860425239 998.8 757.6
VL10-4 0.05876754715753433 0.06205820454318504
RT-VL10-4 994.7893333333335 10.447782199533489 998.4 881.6
VL10-5 0.960548825592127 0.10557867204742541
RT-VL10-5 995.9866666666667 2.6506519114277425 999.2 967.6
VL10-all 0.4458330063462815 0.36173981196134636
RT-VL10-all 990.8400000000001 5.787187196250415 995.9866666666667 980.7626666666666
*** budget = 20
VL20-1 0.6597042230483495 0.18545121978775722
RT-VL20-1 979.7226666666667 77.26125302864016 998.8 404.0
VL20-2 0.05558527681890483 0.06632734771378117
RT-VL20-2 996.1333333333333 1.6123964221686327 998.8 990.4
VL20-3 0.21722646168743642 0.14733312555356765
RT-VL20-3 971.4133333333332 65.06639344204929 998.4 757.6
VL20-4 0.029702148630531357 0.02602463773627676
RT-VL20-4 994.0053333333334 13.935086588257075 998.4 881.6
VL20-5 0.9074354481449374 0.06249167454550026
RT-VL20-5 996.1493333333335 1.467548825612134 999.2 988.0
VL20-all 0.37393071166603187 0.3494816576337168
RT-VL20-all 987.4848 10.108722731933685 996.1493333333335 971.4133333333332
*** budget = 30
VL30-1 0.605163952789435 0.1446499541645244
RT-VL30-1 975.8240000000001 89.965616898902 998.8 404.0
VL30-2 0.028782489936078143 0.026013756587892053
RT-VL30-2 996.0959999999999 1.6150492252559923 998.8 990.4
VL30-3 0.17262038452446865 0.1273468836763157
RT-VL30-3 976.2399999999999 56.15783471609282 998.4 780.8
VL30-4 0.019073388531102235 0.0167325012778662
RT-VL30-4 996.04 1.785721142843969 998.4 985.6
VL30-5 0.8838963565580749 0.05223017739226656
RT-VL30-5 996.2559999999999 1.2231369506314473 999.2 992.4
VL30-all 0.34190731446783174 0.34466886818791836
RT-VL30-all 988.0912000000001 9.847429520438276 996.2559999999999 975.8240000000001
*** budget = 40
VL40-1 0.5501347188120999 0.16079608758173472
RT-VL40-1 968.3027027027026 103.53648915860529 998.4 404.0
VL40-2 0.017470160518926272 0.012053487385785103
RT-VL40-2 995.8486486486487 1.6330408746182181 998.8 990.4
VL40-3 0.12620373797169293 0.08779091314807393
RT-VL40-3 971.1891891891892 65.17432666395061 998.4 778.0
VL40-4 0.015159108089229807 0.0116180418991243
RT-VL40-4 995.9243243243243 1.9855430743801836 998.4 985.6
VL40-5 0.8679213191152148 0.0430319150412422
RT-VL40-5 996.281081081081 1.2541472472362154 999.2 994.0
VL40-all 0.31537780890143274 0.33914073828558705
RT-VL40-all 985.5091891891891 12.90378776900164 996.281081081081 968.3027027027026
*** budget = 50
VL50-1 0.5526341842164181 0.15047084609311495
RT-VL50-1 961.8 114.00892362734888 998.4 404.0
VL50-2 0.01575335051475433 0.01145903079485182
RT-VL50-2 996.2666666666667 1.6503198343216814 998.8 990.4
VL50-3 0.13052483845433935 0.10547460025797023
RT-VL50-3 979.5200000000002 50.97266195390101 998.0 781.6
VL50-4 0.01177501392489108 0.008444531950553813
RT-VL50-4 995.92 2.1796635826047326 998.4 985.6
VL50-5 0.8621481230353667 0.04608200354222456
RT-VL50-5 996.2800000000001 1.1645886255097317 998.4 994.0
VL50-all 0.31456710202915394 0.33804294747317376
RT-VL50-all 985.9573333333334 13.690219444714701 996.2800000000001 961.8
logs_data/30hcd2/cgrew_pr/ig/run_2024-05-31_08-48-46/run_1efe9_00001_1_dr_cc=0.8000,seed=1_2024-05-31_08-48-47/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0000_rc0.80_reg00_ds0.001_s1/05.31_08.49.31/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type2-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: 2
ARG C_DATA: 2
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 10 Val 4 Test 11
Total data pairs: 9990, K 10, state dim 17, action dim 6, a min -0.7615941, a_max 0.7615942
Policy model is loaded from logs_data/30hcd2/cgrew_pr/ig/run_2024-05-31_08-48-46/run_1efe9_00001_1_dr_cc=0.8000,seed=1_2024-05-31_08-48-47/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0000_rc0.80_reg00_ds0.001_s1/05.31_08.49.31/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 989.6269333333335 29.577566632988738 1000.0 693.2
LR 0.9946666666666667 0.04587906809089401 1.0 0.6
VL-std-all 0.2716474138272337 0.0
*** budget = 10
VL10-1 0.7085167466731269 0.20882640743401407
RT-VL10-1 987.3040000000001 39.68243083952057 1000.0 792.4
VL10-2 0.06374372586645478 0.08411205016065286
RT-VL10-2 995.4319999999999 10.071453519725942 1000.0 874.8
VL10-3 0.456401268025249 0.24802974294658325
RT-VL10-3 960.6373333333332 65.67813390230334 997.6 715.2
VL10-4 0.10445097525465409 0.07942462226125452
RT-VL10-4 993.8240000000002 5.036078897978732 998.0 939.6
VL10-5 0.8754637269789358 0.05980539303517666
RT-VL10-5 994.232 1.7985297699324672 997.2 984.0
VL10-all 0.44171528855968417 0.32129305100152317
RT-VL10-all 986.2858666666667 13.133926310809686 995.4319999999999 960.6373333333332
*** budget = 20
VL20-1 0.5858888310809117 0.19309102200748837
RT-VL20-1 981.2479999999999 50.246706983310524 999.6 795.6
VL20-2 0.03029456367070048 0.039445888110380814
RT-VL20-2 994.7199999999998 14.016219176368502 999.2 874.8
VL20-3 0.29397336610417113 0.18621230032623187
RT-VL20-3 940.7146666666665 74.03665523389223 997.6 787.2
VL20-4 0.056570443010288386 0.04252393492547333
RT-VL20-4 993.4186666666666 6.623527626742581 998.0 939.6
VL20-5 0.8439928847396471 0.022142887501414868
RT-VL20-5 994.3733333333333 1.4639975713398221 997.2 988.8
VL20-all 0.36214401772114374 0.31317298082990597
RT-VL20-all 980.8949333333333 20.708559182028004 994.7199999999998 940.7146666666665
*** budget = 30
VL30-1 0.5403106079063301 0.18033870712986944
RT-VL30-1 973.656 60.104176760022256 999.6 795.6
VL30-2 0.01915300194107044 0.02472095480853522
RT-VL30-2 993.904 17.075373612310806 998.8 874.8
VL30-3 0.2371060821176297 0.16295732432139343
RT-VL30-3 934.5039999999999 76.88294729002004 997.2 787.2
VL30-4 0.04584758781451198 0.03826701585749605
RT-VL30-4 994.2079999999999 2.2785820152015575 998.0 982.8
VL30-5 0.8384599184048277 0.02184775429731213
RT-VL30-5 994.4400000000002 1.2604761005271017 997.2 990.8
VL30-all 0.336175439636874 0.31259209512757896
RT-VL30-all 978.1424000000001 23.22318256914848 994.4400000000002 934.5039999999999
*** budget = 40
VL40-1 0.4801492630986465 0.18565167804805527
RT-VL40-1 970.2270270270269 63.51073392422627 999.6 795.6
VL40-2 0.013973432873868236 0.016707398512030777
RT-VL40-2 993.0486486486487 19.758181632354052 998.8 874.8
VL40-3 0.18528017257154805 0.1335981091427514
RT-VL40-3 925.5135135135135 79.7063874213562 997.2 787.2
VL40-4 0.033804557151413395 0.03286277630119707
RT-VL40-4 994.0972972972975 2.3771987246503365 998.0 982.8
VL40-5 0.8323348570680454 0.01854587013643216
RT-VL40-5 994.4108108108107 1.320070387923436 997.2 990.8
VL40-all 0.30910845655270436 0.3102422237031277
RT-VL40-all 975.4594594594597 26.600293830107695 994.4108108108107 925.5135135135135
*** budget = 50
VL50-1 0.4564992581492337 0.1672922948313554
RT-VL50-1 964.5466666666666 69.30900727098094 999.6 795.6
VL50-2 0.00860433280387718 0.009154877118627312
RT-VL50-2 992.56 21.912212728674092 998.8 874.8
VL50-3 0.1601368972295891 0.10543375293886853
RT-VL50-3 924.9866666666668 79.48539376654193 997.2 798.0
VL50-4 0.02348416776986813 0.025745801213830053
RT-VL50-4 994.08 2.524334895901628 998.0 982.8
VL50-5 0.8276842740243541 0.014734078140734441
RT-VL50-5 994.3466666666666 1.2295618008958416 996.8 990.8
VL50-all 0.29528178599538446 0.31105161339818377
RT-VL50-all 974.1039999999999 27.030668212236208 994.3466666666666 924.9866666666668
logs_data/30hcd2/cgrew_pr/igsn/run_2024-05-30_20-22-43/run_e6192_00035_35_dl_scale=0.2000,dr_cc=0.7000,seed=5_2024-05-30_20-22-49/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0000_rc0.70_reg10_ds0.200_s5/05.31_02.40.07/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type2-infogsdr_ppo-100-100-relu_cr0_no0_es=n_sr0000_rc0.70_reg10_ds0.200_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: 2
ARG C_DATA: 2
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 10 Val 4 Test 11
Total data pairs: 9990, K 10, state dim 17, action dim 6, a min -0.7615941, a_max 0.7615942
Policy model is loaded from logs_data/30hcd2/cgrew_pr/igsn/run_2024-05-30_20-22-43/run_e6192_00035_35_dl_scale=0.2000,dr_cc=0.7000,seed=5_2024-05-30_20-22-49/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0000_rc0.70_reg10_ds0.200_s5/05.31_02.40.07/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 977.8864000000001 73.07331917355336 1000.0 108.4
LR 0.9653333333333334 0.14037410334135314 1.0 -0.2
VL-std-all 0.4343846683795769 0.0
*** budget = 10
VL10-1 0.7845947421273058 0.05824099648231414
RT-VL10-1 986.7706666666667 76.84326693269158 1000.0 108.4
VL10-2 0.023058489328141894 0.01979525022965279
RT-VL10-2 996.5093333333335 1.3409621752889063 1000.0 993.2
VL10-3 0.25227585815592896 0.2073019674217065
RT-VL10-3 932.6053333333333 133.61934978970007 998.8 372.0
VL10-4 0.18005014669194008 0.18961985038750231
RT-VL10-4 970.2373333333331 65.40303922261988 998.4 537.6
VL10-5 0.9647768126955866 0.2914171401450897
RT-VL10-5 984.504 49.13698794187531 998.4 537.6
VL10-all 0.44095120979978064 0.36627481989118854
RT-VL10-all 974.1253333333334 22.395051135859912 996.5093333333335 932.6053333333333
*** budget = 20
VL20-1 0.7539383848188309 0.05980820975129765
RT-VL20-1 977.0666666666667 107.79372564713073 999.6 108.4
VL20-2 0.010899550395760113 0.00859913193891451
RT-VL20-2 996.4746666666667 1.3928477622801743 999.6 993.2
VL20-3 0.13038447791568075 0.11114142015171577
RT-VL20-3 937.9519999999998 137.0590912562899 998.8 468.4
VL20-4 0.08331753618451469 0.07791682244587933
RT-VL20-4 977.5573333333334 45.19466981354721 998.4 786.0
VL20-5 0.8474401846722905 0.10903672781218453
RT-VL20-5 993.5520000000001 8.740394499105863 998.4 934.4
VL20-all 0.36519602679741536 0.35883087628396
RT-VL20-all 976.5205333333336 20.86692729294119 996.4746666666667 937.9519999999998
*** budget = 30
VL30-1 0.7361014318145385 0.06460877525817837
RT-VL30-1 967.0880000000001 130.8800009779951 998.8 108.4
VL30-2 0.007686660119085391 0.006238791732981418
RT-VL30-2 996.4159999999999 1.3762790414737822 999.2 993.6
VL30-3 0.08099161174364017 0.08080928449529835
RT-VL30-3 944.328 125.89564415022467 998.8 512.4
VL30-4 0.05692270261280434 0.05093704152245117
RT-VL30-4 977.752 41.08090670859153 998.4 851.6
VL30-5 0.8036313104001548 0.0644171118731981
RT-VL30-5 994.2079999999999 5.686328868435241 998.4 963.6
VL30-all 0.33706674333804465 0.35481194276452194
RT-VL30-all 975.9583999999999 19.1517335988155 996.4159999999999 944.328
*** budget = 40
VL40-1 0.7274300729030092 0.07172208613304448
RT-VL40-1 956.8 150.800329772383 998.8 108.4
VL40-2 0.005359319656687569 0.004187595150016039
RT-VL40-2 996.5945945945944 1.3999895648155376 999.2 993.6
VL40-3 0.06338698533832825 0.06398801123430488
RT-VL40-3 953.5783783783784 126.46423089027047 998.4 512.4
VL40-4 0.046297563898048136 0.04279694147052077
RT-VL40-4 973.9999999999998 45.0439305087342 998.4 847.6
VL40-5 0.7861082799587757 0.060288342642597366
RT-VL40-5 994.7459459459459 4.221092121688521 998.4 974.0
VL40-all 0.3257164443509698 0.35294612189981295
RT-VL40-all 975.1437837837836 18.150765278756893 996.5945945945944 953.5783783783784
*** budget = 50
VL50-1 0.7166712348990637 0.07492428425961331
RT-VL50-1 947.56 166.1162115307634 998.8 108.4
VL50-2 0.004741662378424268 0.003896608647899284
RT-VL50-2 996.4266666666666 1.4233606554754639 998.8 993.6
VL50-3 0.05462786847447479 0.05444682510176766
RT-VL50-3 918.8400000000001 145.95540323445834 998.0 537.6
VL50-4 0.036323104125741114 0.03422662010187751
RT-VL50-4 973.7333333333331 43.23373168667673 998.4 851.6
VL50-5 0.7724931085623366 0.053447461235256934
RT-VL50-5 995.6533333333333 1.2679992989833366 998.4 993.6
VL50-all 0.3169713956880081 0.34995285069721516
RT-VL50-all 966.4426666666666 29.75911993919766 996.4266666666666 918.8400000000001
logs_data/30hcd2/cgrew_pr/igsn/run_2024-05-30_20-22-43/run_e6192_00027_27_dl_scale=0.2000,dr_cc=0.7000,seed=4_2024-05-30_20-22-48/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0000_rc0.70_reg10_ds0.200_s4/05.31_02.39.31/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type2-infogsdr_ppo-100-100-relu_cr0_no0_es=n_sr0000_rc0.70_reg10_ds0.200_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: 2
ARG C_DATA: 2
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 10 Val 4 Test 11
Total data pairs: 9990, K 10, state dim 17, action dim 6, a min -0.7615941, a_max 0.7615942
Policy model is loaded from logs_data/30hcd2/cgrew_pr/igsn/run_2024-05-30_20-22-43/run_e6192_00027_27_dl_scale=0.2000,dr_cc=0.7000,seed=4_2024-05-30_20-22-48/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0000_rc0.70_reg10_ds0.200_s4/05.31_02.39.31/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 991.0848000000001 24.329624376330457 998.8 800.4
LR 0.9901333333333333 0.062042852574293816 1.0 0.6
VL-std-all 0.25353509095415977 0.0
*** budget = 10
VL10-1 0.80275652764153 0.06865541593061959
RT-VL10-1 994.6293333333335 14.66797666876913 998.4 816.0
VL10-2 0.026980043064600116 0.024149024917987722
RT-VL10-2 995.8293333333335 1.0175491252132356 998.4 993.2
VL10-3 0.4492457818915016 0.2529246004964113
RT-VL10-3 975.5280000000001 50.32941236824977 998.4 812.8
VL10-4 0.13036194402971907 0.16957319559012132
RT-VL10-4 988.9280000000001 23.888064299980442 998.0 835.2
VL10-5 1.0203557785879374 0.23691187428553895
RT-VL10-5 991.3706666666665 19.744087880229415 998.8 835.2
VL10-all 0.4859400150430576 0.3806308968517739
RT-VL10-all 989.2570666666668 7.281741545048735 995.8293333333335 975.5280000000001
*** budget = 20
VL20-1 0.76843152190981 0.07499483605054717
RT-VL20-1 993.5306666666667 20.665449254465504 998.4 816.0
VL20-2 0.013837654590323989 0.011052457871400929
RT-VL20-2 995.9146666666666 1.0313348416278512 998.4 993.2
VL20-3 0.2913470274155532 0.1755078080334976
RT-VL20-3 972.2293333333334 54.952184726562265 998.4 812.8
VL20-4 0.05996853412916171 0.048570170099302507
RT-VL20-4 991.3013333333336 17.56713213804563 997.2 893.6
VL20-5 0.9272578471559197 0.044573300349832846
RT-VL20-5 994.8426666666667 2.583701393135223 998.4 976.4
VL20-all 0.4121685170401538 0.3713624867795618
RT-VL20-all 989.5637333333334 8.802712406222629 995.9146666666666 972.2293333333334
*** budget = 30
VL30-1 0.7472408277250726 0.08217277884031556
RT-VL30-1 992.408 25.220117684102902 998.4 816.0
VL30-2 0.010913157763554322 0.010282802818411195
RT-VL30-2 996.008 1.0717910244072764 998.4 993.2
VL30-3 0.25058087221191366 0.1719983883886115
RT-VL30-3 970.6239999999999 57.06642641693976 998.4 812.8
VL30-4 0.03696821894464941 0.031364669738032355
RT-VL30-4 991.0479999999999 17.15471060671091 997.2 905.2
VL30-5 0.9105653282591937 0.03627014495149135
RT-VL30-5 995.2079999999999 1.5747812546509397 998.4 988.0
VL30-all 0.39125368098087676 0.3705070517505413
RT-VL30-all 989.0591999999999 9.39276262661845 996.008 970.6239999999999
*** budget = 40
VL40-1 0.727313978972349 0.08570024608445319
RT-VL40-1 991.1783783783785 29.210874827384988 998.4 816.0
VL40-2 0.008760623774692715 0.009895580970248556
RT-VL40-2 996.1081081081081 0.9914167799446781 998.0 993.2
VL40-3 0.2019037065159367 0.12594575784265194
RT-VL40-3 969.1675675675676 59.50290501222678 997.2 812.8
VL40-4 0.02753899351961192 0.02405028756060475
RT-VL40-4 989.9459459459459 18.41976897167962 997.2 916.8
VL40-5 0.9047705363740233 0.03485435974130487
RT-VL40-5 995.1675675675675 1.5956112196752488 998.0 988.0
VL40-all 0.3740575678313227 0.37137589545838157
RT-VL40-all 988.3135135135135 9.85061718244552 996.1081081081081 969.1675675675676
*** budget = 50
VL50-1 0.7117497291775747 0.08846634445505851
RT-VL50-1 989.9733333333334 32.32071506359694 998.4 816.0
VL50-2 0.005571166546432305 0.0052472129806848886
RT-VL50-2 996.1200000000001 1.0074389973260536 998.0 993.2
VL50-3 0.1856459753791252 0.12060105693633387
RT-VL50-3 968.5466666666667 59.98786395782252 997.2 812.8
VL50-4 0.025998008856159417 0.02332676635879826
RT-VL50-4 991.2933333333334 15.231435330336476 997.2 925.6
VL50-5 0.8963160365004939 0.03236046351104952
RT-VL50-5 995.0400000000002 1.6704490414256838 997.2 988.0
VL50-all 0.3650561832919571 0.36845933072986237
RT-VL50-all 988.1946666666669 10.084431477392402 996.1200000000001 968.5466666666667
logs_data/30hcd2/cgrew_pr/igsn/run_2024-05-30_20-22-43/run_e6192_00019_19_dl_scale=0.2000,dr_cc=0.7000,seed=3_2024-05-30_20-22-44/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0000_rc0.70_reg10_ds0.200_s3/05.30_20.23.31/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type2-infogsdr_ppo-100-100-relu_cr0_no0_es=n_sr0000_rc0.70_reg10_ds0.200_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: 2
ARG C_DATA: 2
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 10 Val 4 Test 11
Total data pairs: 9990, K 10, state dim 17, action dim 6, a min -0.7615941, a_max 0.7615942
Policy model is loaded from logs_data/30hcd2/cgrew_pr/igsn/run_2024-05-30_20-22-43/run_e6192_00019_19_dl_scale=0.2000,dr_cc=0.7000,seed=3_2024-05-30_20-22-44/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0000_rc0.70_reg10_ds0.200_s3/05.30_20.23.31/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 988.0130666666668 46.91545348740529 1000.0 220.4
LR 0.9805333333333333 0.09320791573442437 1.0 -0.2
VL-std-all 0.40640951603536357 0.0
*** budget = 10
VL10-1 0.7929265149539646 0.07731308201387714
RT-VL10-1 982.4746666666665 76.28894387932122 999.6 220.4
VL10-2 0.024263460747173005 0.023287597507178504
RT-VL10-2 996.6959999999999 1.5522405311892453 999.6 990.0
VL10-3 0.3393303856723822 0.2574977838173775
RT-VL10-3 969.5466666666666 80.76361777159042 999.2 532.4
VL10-4 0.11268218016167547 0.14072420111382647
RT-VL10-4 980.4266666666666 42.726832578863394 999.6 747.6
VL10-5 1.0215821144593447 0.19006076787436094
RT-VL10-5 992.6133333333333 26.92312677895262 1000.0 747.6
VL10-all 0.458156931198908 0.387622163083136
RT-VL10-all 984.3514666666666 9.578668804751064 996.6959999999999 969.5466666666666
*** budget = 20
VL20-1 0.7582698768228925 0.08439671861177817
RT-VL20-1 970.9546666666664 104.20871146352827 999.2 220.4
VL20-2 0.011732840463850784 0.010326511611131477
RT-VL20-2 996.6986666666664 1.5541336993822539 999.6 990.4
VL20-3 0.20571630669117003 0.19591112019862852
RT-VL20-3 958.9226666666666 94.42494525400701 999.2 532.4
VL20-4 0.057968668935461286 0.045426523806129486
RT-VL20-4 973.8346666666665 44.238630157614764 999.6 826.4
VL20-5 0.9511046887566162 0.06561802018686444
RT-VL20-5 996.6613333333335 2.6975491757437147 1000.0 976.8
VL20-all 0.39695847633399817 0.38405999540877267
RT-VL20-all 979.4143999999999 14.958704694963137 996.6986666666664 958.9226666666666
*** budget = 30
VL30-1 0.7384232225196221 0.0939407505433469
RT-VL30-1 958.544 125.79846129424637 998.4 220.4
VL30-2 0.008171185554694791 0.007907696671131689
RT-VL30-2 996.68 1.5984992962150493 999.2 990.4
VL30-3 0.1539418949315783 0.1697313020745886
RT-VL30-3 967.6079999999998 78.02073529517651 999.2 619.2
VL30-4 0.04112889341541405 0.03256264160999201
RT-VL30-4 974.2319999999999 39.30142714965959 999.6 850.8
VL30-5 0.9279311808812202 0.042802243455236394
RT-VL30-5 996.48 3.143501232702166 1000.0 976.8
VL30-all 0.37391927546050585 0.3828063401683419
RT-VL30-all 978.7088 15.418613665307296 996.68 958.544
*** budget = 40
VL40-1 0.7131938890521795 0.10482386394077868
RT-VL40-1 939.772972972973 145.48779580775587 999.2 220.4
VL40-2 0.006497091291867806 0.006850405083178805
RT-VL40-2 996.5405405405405 1.7026941226725083 999.2 990.4
VL40-3 0.11968746797862714 0.1309214540756897
RT-VL40-3 982.735135135135 51.18086749904414 998.8 736.8
VL40-4 0.036535332440309876 0.03484448405964786
RT-VL40-4 978.2702702702701 37.540499678922366 999.6 850.8
VL40-5 0.9168680668634631 0.03592583561141699
RT-VL40-5 996.1513513513515 3.531910257317061 1000.0 976.8
VL40-all 0.35855636952528946 0.3800477226566291
RT-VL40-all 978.6940540540539 20.758683919545238 996.5405405405405 939.772972972973
*** budget = 50
VL50-1 0.7060270247849612 0.10757200098027223
RT-VL50-1 933.2400000000001 157.3952426218785 999.2 220.4
VL50-2 0.005287293067669315 0.005884448850502551
RT-VL50-2 996.4133333333334 1.8575491619036333 998.8 990.4
VL50-3 0.07029421248722424 0.08094335423098395
RT-VL50-3 991.3733333333333 28.880569400357892 998.8 836.0
VL50-4 0.02530684953036381 0.022242579931652667
RT-VL50-4 972.0000000000001 41.64856139972505 999.6 850.8
VL50-5 0.9165085713961775 0.04037213542323502
RT-VL50-5 996.2 3.847423380220422 1000.0 976.8
VL50-all 0.34468479025327914 0.38730705297475954
RT-VL50-all 977.8453333333334 24.035286060290574 996.4133333333334 933.2400000000001
logs_data/30hcd2/cgrew_pr/igsn/run_2024-05-30_20-22-43/run_e6192_00011_11_dl_scale=0.2000,dr_cc=0.7000,seed=2_2024-05-30_20-22-44/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0000_rc0.70_reg10_ds0.200_s2/05.30_20.23.35/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type2-infogsdr_ppo-100-100-relu_cr0_no0_es=n_sr0000_rc0.70_reg10_ds0.200_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: 2
ARG C_DATA: 2
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 10 Val 4 Test 11
Total data pairs: 9990, K 10, state dim 17, action dim 6, a min -0.7615941, a_max 0.7615942
Policy model is loaded from logs_data/30hcd2/cgrew_pr/igsn/run_2024-05-30_20-22-43/run_e6192_00011_11_dl_scale=0.2000,dr_cc=0.7000,seed=2_2024-05-30_20-22-44/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0000_rc0.70_reg10_ds0.200_s2/05.30_20.23.35/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 949.0253333333334 134.14596348091217 999.6 -100.8
LR 0.9064 0.2659054468540776 1.0 -1.0
VL-std-all 0.6201836367063002 0.0
*** budget = 10
VL10-1 0.8050588706765146 0.11233365881811867
RT-VL10-1 929.8666666666667 225.16144923636955 999.2 -100.8
VL10-2 0.02458185232467588 0.04599499487828523
RT-VL10-2 985.8346666666667 76.88105703979075 999.2 245.2
VL10-3 0.17224176295748406 0.17127696574989487
RT-VL10-3 905.3173333333335 134.5973198082174 998.4 558.8
VL10-4 0.13487772897775935 0.09530630878644943
RT-VL10-4 967.3546666666667 51.95534054893255 998.0 781.6
VL10-5 0.9960138611021553 0.16424648724472188
RT-VL10-5 986.8773333333331 31.77620733959434 998.0 781.6
VL10-all 0.4265548152077178 0.39468515022045847
RT-VL10-all 955.0501333333334 32.30980681506254 986.8773333333331 905.3173333333335
*** budget = 20
VL20-1 0.7679634698914856 0.13575206550679045
RT-VL20-1 872.032 300.72234288348665 998.0 -100.8
VL20-2 0.013662722108683613 0.009641204676767254
RT-VL20-2 983.7973333333334 86.82756854568454 998.8 245.2
VL20-3 0.07786889956271935 0.08799064343577247
RT-VL20-3 889.92 146.3067243840829 998.0 558.8
VL20-4 0.08338573385946821 0.05950440824703159
RT-VL20-4 962.4213333333335 50.65943358897291 998.0 824.8
VL20-5 0.9153266717893526 0.08567628284939682
RT-VL20-5 991.6746666666666 19.971680572472838 998.0 824.8
VL20-all 0.37164149944234187 0.3873518304445696
RT-VL20-all 939.9690666666668 49.43449081423032 991.6746666666666 872.032
*** budget = 30
VL30-1 0.754091069525114 0.13449522583143994
RT-VL30-1 848.0239999999998 322.4025152259207 997.6 -100.8
VL30-2 0.0104362964529345 0.007083838666317203
RT-VL30-2 977.944 105.85185149065649 998.0 245.2
VL30-3 0.04821899658487722 0.06202897713717242
RT-VL30-3 898.2640000000001 141.11312024046524 998.4 610.4
VL30-4 0.05369268326448645 0.04067225142630558
RT-VL30-4 944.8 60.53389133369835 997.6 824.8
VL30-5 0.8773998177539069 0.049832255705947875
RT-VL30-5 994.2879999999999 3.9436348715366645 998.0 968.0
VL30-all 0.3487677727162638 0.3835637827157951
RT-VL30-all 932.664 53.55813266349008 994.2879999999999 848.0239999999998
*** budget = 40
VL40-1 0.7159914215517471 0.1775662966083252
RT-VL40-1 787.9567567567568 370.3320442452784 997.6 -100.8
VL40-2 0.008616627642241343 0.006247709193870324
RT-VL40-2 971.7621621621621 122.44900836421303 998.0 245.2
VL40-3 0.040292541696420964 0.058101593732441385
RT-VL40-3 883.3297297297297 148.31478733818216 998.0 590.8
VL40-4 0.04914087786858011 0.041346504252326395
RT-VL40-4 955.0270270270272 54.33378645576702 997.6 842.4
VL40-5 0.8673149614247861 0.044122017752439346
RT-VL40-5 994.7891891891891 1.0623237618627674 997.2 992.8
VL40-all 0.33627128603675516 0.37512654666095857
RT-VL40-all 918.572972972973 75.19252841983703 994.7891891891891 787.9567567567568
*** budget = 50
VL50-1 0.7131304566671066 0.160655091771063
RT-VL50-1 749.9733333333331 386.268202965533 996.8 -100.8
VL50-2 0.007092607570788741 0.005128044308755736
RT-VL50-2 970.24 134.64095860225197 997.6 245.2
VL50-3 0.018873775032941253 0.012887136173348634
RT-VL50-3 904.2133333333333 139.7557768235559 997.2 610.4
VL50-4 0.036085113251900225 0.029959043028454188
RT-VL50-4 943.4533333333334 55.9744211423595 997.6 846.8
VL50-5 0.857103279688689 0.036265156688269885
RT-VL50-5 994.7466666666666 0.886842087910181 997.2 993.2
VL50-all 0.32645704644228524 0.37736420717518804
RT-VL50-all 912.5253333333333 86.64884723475045 994.7466666666666 749.9733333333331
logs_data/30hcd2/cgrew_pr/igsn/run_2024-05-30_20-22-43/run_e6192_00003_3_dl_scale=0.2000,dr_cc=0.7000,seed=1_2024-05-30_20-22-43/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0000_rc0.70_reg10_ds0.200_s1/05.30_20.23.29/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type2-infogsdr_ppo-100-100-relu_cr0_no0_es=n_sr0000_rc0.70_reg10_ds0.200_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: 2
ARG C_DATA: 2
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 10 Val 4 Test 11
Total data pairs: 9990, K 10, state dim 17, action dim 6, a min -0.7615941, a_max 0.7615942
Policy model is loaded from logs_data/30hcd2/cgrew_pr/igsn/run_2024-05-30_20-22-43/run_e6192_00003_3_dl_scale=0.2000,dr_cc=0.7000,seed=1_2024-05-30_20-22-43/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0000_rc0.70_reg10_ds0.200_s1/05.30_20.23.29/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 990.812 33.63195884869033 1000.0 476.4
LR 0.9888000000000002 0.07921212028471401 1.0 -0.2
VL-std-all 0.28108357781101 0.0
*** budget = 10
VL10-1 0.7249558765653006 0.0611653289632872
RT-VL10-1 993.2533333333333 42.35833592366705 999.2 476.4
VL10-2 0.012336146879094647 0.014713085691969269
RT-VL10-2 996.6693333333335 1.1780179210106396 999.2 992.4
VL10-3 0.4588220160700721 0.2563061935067463
RT-VL10-3 962.1919999999999 82.99384356284106 999.6 634.0
VL10-4 0.10741785039045335 0.18155171795708794
RT-VL10-4 988.1253333333333 22.986935961299597 1000.0 881.6
VL10-5 0.9939476827418646 0.23802123282841237
RT-VL10-5 994.7493333333335 8.55816761280643 999.2 932.8
VL10-all 0.459495914529357 0.3687869192858034
RT-VL10-all 986.9978666666668 12.722857920731231 996.6693333333335 962.1919999999999
*** budget = 20
VL20-1 0.6914684041703747 0.055251509620621864
RT-VL20-1 996.8746666666666 1.1439222972834446 999.2 994.4
VL20-2 0.006168519403518635 0.0071534785382337115
RT-VL20-2 996.6613333333336 1.1999881480896255 999.2 992.8
VL20-3 0.31447034803275914 0.21591440767540807
RT-VL20-3 947.6906666666667 99.13883218104912 999.2 664.8
VL20-4 0.05053525902637397 0.044905366879170225
RT-VL20-4 987.6693333333333 23.17233967950198 999.6 898.4
VL20-5 0.9062139408737031 0.07032085645005919
RT-VL20-5 996.4266666666666 2.8987046915629247 999.2 974.4
VL20-all 0.3937712943013459 0.3537107751678836
RT-VL20-all 985.0645333333334 19.00870319686922 996.8746666666666 947.6906666666667
*** budget = 30
VL30-1 0.6649196994751482 0.04654737242172018
RT-VL30-1 996.832 1.1588684135828382 999.2 994.4
VL30-2 0.0034832403111906317 0.0033569732541570895
RT-VL30-2 996.6560000000001 1.0636089506956972 998.8 994.4
VL30-3 0.23846946400088448 0.17635873554750373
RT-VL30-3 946.1120000000001 102.35333436679042 999.2 664.8
VL30-4 0.03155263390443104 0.02438558570797522
RT-VL30-4 989.2880000000001 22.450840875120914 999.6 898.4
VL30-5 0.88166787236048 0.050564108855502055
RT-VL30-5 996.6800000000002 1.1544695751729517 999.2 994.0
VL30-all 0.36401858201042686 0.3506520185564627
RT-VL30-all 985.1136 19.712330776445487 996.832 946.1120000000001
*** budget = 40
VL40-1 0.6519944979203222 0.0434895401983451
RT-VL40-1 996.7675675675677 1.1740560449935902 999.2 994.4
VL40-2 0.0031001734158579747 0.003745039087272052
RT-VL40-2 996.7891891891891 1.0122983706568336 998.4 994.4
VL40-3 0.19534292108826834 0.14958529433338041
RT-VL40-3 929.9567567567568 113.6178434324386 999.2 664.8
VL40-4 0.02264066421710567 0.015788996938435922
RT-VL40-4 989.4162162162163 20.42904018744584 999.2 913.2
VL40-5 0.8713836529176934 0.044588973560013394
RT-VL40-5 996.7459459459461 1.1204715693040608 999.2 994.0
VL40-all 0.3488923819118495 0.350558951584647
RT-VL40-all 981.9351351351352 26.144683909218124 996.7891891891891 929.9567567567568
*** budget = 50
VL50-1 0.6427362385492664 0.036145299597361895
RT-VL50-1 996.7866666666669 1.2627307269916679 999.2 994.4
VL50-2 0.0020071608373995204 0.002389026095763615
RT-VL50-2 996.7600000000001 1.0084972318587058 998.4 994.4
VL50-3 0.1718736529320322 0.12469084246635352
RT-VL50-3 954.1066666666668 95.95804268301619 999.2 708.8
VL50-4 0.02045928255788807 0.015836611854719847
RT-VL50-4 994.9600000000002 10.676628681376906 999.6 938.0
VL50-5 0.8571178549452745 0.04040895528294876
RT-VL50-5 996.6666666666667 1.1376388804107502 999.2 994.4
VL50-all 0.33883883796437214 0.34746662071480455
RT-VL50-all 987.8560000000001 16.8887547597013 996.7866666666669 954.1066666666668
logs_data/30hcd2/cgrew_pr/abl/run_2024-04-09_15-10-37/run_d90d0_00018_18_clip_discriminator=0,dr_cc=0.8000,seed=5_2024-04-09_15-10-37/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0010_rc0.80_reg00_ds0.001_zt=p_g1_s5/04.09_15.11.21/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type2-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: 2
ARG C_DATA: 2
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 10 Val 4 Test 11
Total data pairs: 9990, K 10, state dim 17, action dim 6, a min -0.7615941, a_max 0.7615942
Policy model is loaded from logs_data/30hcd2/cgrew_pr/abl/run_2024-04-09_15-10-37/run_d90d0_00018_18_clip_discriminator=0,dr_cc=0.8000,seed=5_2024-04-09_15-10-37/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0010_rc0.80_reg00_ds0.001_zt=p_g1_s5/04.09_15.11.21/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 979.3944 68.63527311307698 1000.0 189.6
LR 0.9650666666666666 0.14589835122059772 1.0 -0.6
VL-std-all 0.29646201066528005 0.0
*** budget = 10
VL10-1 0.6643517993210225 0.1874706688971091
RT-VL10-1 986.7520000000001 53.53026149758658 999.6 554.0
VL10-2 0.06048943236052299 0.05899766942417587
RT-VL10-2 988.1546666666668 72.89230465709136 999.6 189.6
VL10-3 0.31155083359521063 0.15800703677283087
RT-VL10-3 944.3253333333332 95.2139416868956 999.2 538.8
VL10-4 0.2762413864187449 0.2841722996785549
RT-VL10-4 968.7359999999998 56.356523763151564 998.4 738.4
VL10-5 1.013588765009333 0.48169357403615415
RT-VL10-5 981.9013333333334 39.07885871186904 998.4 785.2
VL10-all 0.4652444433409668 0.3357069360104774
RT-VL10-all 973.9738666666666 16.33212346212902 988.1546666666668 944.3253333333332
*** budget = 20
VL20-1 0.5548790847010968 0.18211566193872153
RT-VL20-1 977.4720000000001 74.52852440061679 999.2 554.0
VL20-2 0.03055670304669312 0.02713665908637817
RT-VL20-2 996.1493333333335 1.631389864161502 998.8 990.0
VL20-3 0.21650600189666566 0.12077514625287325
RT-VL20-3 937.2213333333332 97.2044639487074 998.8 538.8
VL20-4 0.12535161452443044 0.12096902900358276
RT-VL20-4 970.2880000000001 54.47079941889356 997.6 738.4
VL20-5 0.7447133190523056 0.24583000080727285
RT-VL20-5 989.0986666666666 20.308352917512103 997.2 840.8
VL20-all 0.3344013446442383 0.27088337635798143
RT-VL20-all 974.0458666666666 20.479532383550474 996.1493333333335 937.2213333333332
*** budget = 30
VL30-1 0.5024635106623948 0.18587604413371642
RT-VL30-1 976.6160000000001 73.08984980146012 999.2 554.0
VL30-2 0.021339100406887055 0.01624815849893898
RT-VL30-2 980.096 112.94035409896676 998.8 189.6
VL30-3 0.17796942234494142 0.10991438443004153
RT-VL30-3 896.6 115.75934346738495 998.4 538.8
VL30-4 0.08345749006555345 0.07117485985273174
RT-VL30-4 969.12 58.874347554771255 997.6 738.4
VL30-5 0.6813454436866462 0.21585439740547996
RT-VL30-5 992.904 2.502875146706284 996.8 981.6
VL30-all 0.2933149934332846 0.25519654835436223
RT-VL30-all 963.0671999999998 34.11248952744434 992.904 896.6
*** budget = 40
VL40-1 0.45293518348034895 0.17953569524091598
RT-VL40-1 983.7729729729728 47.04082556184373 999.2 740.4
VL40-2 0.020269730452927646 0.021186151927016037
RT-VL40-2 996.1513513513515 1.7921181219547675 998.8 990.0
VL40-3 0.14992767517389868 0.10729145623475501
RT-VL40-3 901.1135135135137 117.2650916056302 997.6 538.8
VL40-4 0.06332329188720291 0.04803981857360505
RT-VL40-4 973.4054054054054 53.66423110891763 997.6 738.4
VL40-5 0.6291515564920633 0.18779313056136993
RT-VL40-5 993.0594594594594 1.9311751721824193 996.4 988.8
VL40-all 0.2631214874972883 0.2373673880750898
RT-VL40-all 969.5005405405406 35.102775218630036 996.1513513513515 901.1135135135137
*** budget = 50
VL50-1 0.4164603429002271 0.17412443698662505
RT-VL50-1 980.8000000000001 51.79981981950645 999.2 740.4
VL50-2 0.013988064544202147 0.009505326748431285
RT-VL50-2 996.1733333333335 1.906293669809435 998.8 990.0
VL50-3 0.12375686501682034 0.0854516785757349
RT-VL50-3 883.6666666666667 120.36363053495668 997.6 538.8
VL50-4 0.049487664132223066 0.037514220550694644
RT-VL50-4 969.0533333333334 58.67374048262326 997.6 738.4
VL50-5 0.5852247480996411 0.13362123583766575
RT-VL50-5 992.7333333333333 2.70522128895627 996.4 981.6
VL50-all 0.23778353693862275 0.2241350607519512
RT-VL50-all 964.4853333333334 41.522935113554354 996.1733333333335 883.6666666666667
logs_data/30hcd2/cgrew_pr/abl/run_2024-04-09_15-10-37/run_d90d0_00014_14_clip_discriminator=0,dr_cc=0.8000,seed=4_2024-04-09_15-10-37/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0010_rc0.80_reg00_ds0.001_zt=p_g1_s4/04.09_15.11.20/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type2-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: 2
ARG C_DATA: 2
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 10 Val 4 Test 11
Total data pairs: 9990, K 10, state dim 17, action dim 6, a min -0.7615941, a_max 0.7615942
Policy model is loaded from logs_data/30hcd2/cgrew_pr/abl/run_2024-04-09_15-10-37/run_d90d0_00014_14_clip_discriminator=0,dr_cc=0.8000,seed=4_2024-04-09_15-10-37/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0010_rc0.80_reg00_ds0.001_zt=p_g1_s4/04.09_15.11.20/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 979.6072 87.86459067694258 1000.0 -103.6
LR 0.9738666666666668 0.1480891023074359 1.0 -0.6
VL-std-all 0.20835209758423573 0.0
*** budget = 10
VL10-1 0.5463506705695137 0.33072651298330297
RT-VL10-1 944.8293333333335 155.10252675640788 1000.0 254.4
VL10-2 0.14076158356054844 0.12921310457745094
RT-VL10-2 993.8879999999999 17.195355652035808 1000.0 786.4
VL10-3 0.21740758624602463 0.16095710913922728
RT-VL10-3 980.8826666666666 54.94490421827629 999.2 666.8
VL10-4 0.09698472774157124 0.08434614252430148
RT-VL10-4 990.2560000000002 24.370354887307922 997.6 845.2
VL10-5 0.8530332129652967 0.16830765563661393
RT-VL10-5 994.2613333333333 12.056311136588262 998.4 861.2
VL10-all 0.37090755621659094 0.2880238048286076
RT-VL10-all 980.8234666666667 18.632295166785553 994.2613333333333 944.8293333333335
*** budget = 20
VL20-1 0.35741457768358 0.2347988393939444
RT-VL20-1 906.9493333333332 199.0721278822215 998.0 254.4
VL20-2 0.07444749783989436 0.06433167143023075
RT-VL20-2 994.8906666666666 2.6633899868818056 998.8 986.4
VL20-3 0.12777988742209873 0.09863816436592193
RT-VL20-3 984.8106666666669 48.91326629407972 999.2 722.4
VL20-4 0.05017438105095089 0.05339736863824665
RT-VL20-4 990.384 22.28077221881384 997.6 862.0
VL20-5 0.7561430642627723 0.09382711586924108
RT-VL20-5 995.7173333333332 1.0886533985719282 998.4 991.2
VL20-all 0.27319188165185926 0.2648456497845796
RT-VL20-all 974.5503999999999 34.02247989289175 995.7173333333332 906.9493333333332
*** budget = 30
VL30-1 0.27954211687595437 0.19206660982931764
RT-VL30-1 918.48 182.3846660221193 998.0 254.4
VL30-2 0.0500891399718056 0.044624429260810096
RT-VL30-2 994.8559999999999 2.6448561397550576 998.8 986.4
VL30-3 0.08593805143726353 0.06823936199504221
RT-VL30-3 980.7439999999999 56.21165772328725 999.2 722.4
VL30-4 0.03420879718671603 0.03611416442289666
RT-VL30-4 992.928 17.39948321071634 997.6 871.6
VL30-5 0.7186525100680409 0.06316674853002405
RT-VL30-5 995.7840000000001 0.9472824288457982 998.4 993.6
VL30-all 0.23368612310795606 0.25792391013683164
RT-VL30-all 976.5583999999999 29.539835677268066 995.7840000000001 918.48
*** budget = 40
VL40-1 0.2089591662950341 0.1464180059718875
RT-VL40-1 845.6864864864865 243.08744079330592 998.0 254.4
VL40-2 0.037653529194406225 0.037348965242019916
RT-VL40-2 995.1567567567569 2.1283848133750913 998.8 990.4
VL40-3 0.08518348487186383 0.0694860451213244
RT-VL40-3 973.2756756756758 68.66957076367805 999.2 722.4
VL40-4 0.024739116076177837 0.021922787015020703
RT-VL40-4 992.0108108108109 20.155822494348048 997.6 871.6
VL40-5 0.7010379890436891 0.04888585116308729
RT-VL40-5 995.6756756756758 0.8204828523680021 996.8 993.6
VL40-all 0.21151465709623424 0.2532634922954302
RT-VL40-all 960.3610810810811 57.925148990830735 995.6756756756758 845.6864864864865
*** budget = 50
VL50-1 0.2015651118979989 0.14497664439674998
RT-VL50-1 906.3466666666666 191.32650580152827 998.0 270.4
VL50-2 0.03786752903813877 0.03696651738403375
RT-VL50-2 994.9600000000003 2.5541600054290585 998.8 988.4
VL50-3 0.06716662922716207 0.05870459662327169
RT-VL50-3 968.16 74.24015804580878 999.2 722.4
VL50-4 0.0221482026822863 0.017951608332145704
RT-VL50-4 991.5066666666667 22.333874620306158 997.6 871.6
VL50-5 0.6841225262830687 0.024946550058684975
RT-VL50-5 995.7333333333333 0.9651712571121965 998.4 993.6
VL50-all 0.20257399982573093 0.24896057800168025
RT-VL50-all 971.3413333333334 34.0407970660044 995.7333333333333 906.3466666666666
logs_data/30hcd2/cgrew_pr/abl/run_2024-04-09_15-10-37/run_d90d0_00010_10_clip_discriminator=0,dr_cc=0.8000,seed=3_2024-04-09_15-10-37/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0010_rc0.80_reg00_ds0.001_zt=p_g1_s3/04.09_15.11.22/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type2-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: 2
ARG C_DATA: 2
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 10 Val 4 Test 11
Total data pairs: 9990, K 10, state dim 17, action dim 6, a min -0.7615941, a_max 0.7615942
Policy model is loaded from logs_data/30hcd2/cgrew_pr/abl/run_2024-04-09_15-10-37/run_d90d0_00010_10_clip_discriminator=0,dr_cc=0.8000,seed=3_2024-04-09_15-10-37/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0010_rc0.80_reg00_ds0.001_zt=p_g1_s3/04.09_15.11.22/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 989.2778666666669 39.909183781625444 1000.0 450.8
LR 0.9869333333333334 0.08478951717177201 1.0 0.2
VL-std-all 0.2143723643883597 0.0
*** budget = 10
VL10-1 0.9255092314582372 0.22496826892305632
RT-VL10-1 989.6746666666669 53.12938444547947 1000.0 450.8
VL10-2 0.1733753046376896 0.17076139372063373
RT-VL10-2 991.4320000000004 50.560870667608825 1000.0 450.8
VL10-3 0.3178737661612195 0.22575747558329584
RT-VL10-3 962.0373333333332 80.74704993304022 1000.0 627.6
VL10-4 0.12901638616250946 0.10473938188335508
RT-VL10-4 991.5040000000002 22.156133477361674 999.2 858.8
VL10-5 0.5713278381444223 0.09214756585637263
RT-VL10-5 996.5226666666664 1.396335521602487 1000.0 992.8
VL10-all 0.4234205053128156 0.2947222997760972
RT-VL10-all 986.2341333333334 12.312316033775174 996.5226666666664 962.0373333333332
*** budget = 20
VL20-1 0.8231333983530132 0.2046358565727462
RT-VL20-1 993.2533333333333 23.84709812301884 1000.0 789.6
VL20-2 0.10484467882517197 0.1303795768281916
RT-VL20-2 989.4773333333334 62.685363678896806 1000.0 450.8
VL20-3 0.19328786537487513 0.16372540322235993
RT-VL20-3 948.2079999999999 96.64093509481373 999.6 627.6
VL20-4 0.07799170688116819 0.061472995141789465
RT-VL20-4 995.872 8.64695029090219 999.2 922.8
VL20-5 0.5238335289548082 0.05212149571988158
RT-VL20-5 996.6293333333333 1.452058156166239 1000.0 992.8
VL20-all 0.34461823567780736 0.2872548790375446
RT-VL20-all 984.6880000000001 18.41070529157792 996.6293333333333 948.2079999999999
*** budget = 30
VL30-1 0.7660637883079511 0.1486729227955541
RT-VL30-1 991.5519999999998 28.978959539638407 999.2 789.6
VL30-2 0.06682423750681617 0.04836006609616573
RT-VL30-2 996.8559999999999 2.0396234946675755 1000.0 991.2
VL30-3 0.13855742927485257 0.11971441060836373
RT-VL30-3 927.672 108.79925558568864 999.6 627.6
VL30-4 0.05413742216402445 0.0476228589207508
RT-VL30-4 995.248 10.48721583643629 999.2 922.8
VL30-5 0.5074628788145266 0.0425438075110034
RT-VL30-5 996.808 1.4826786570258612 1000.0 992.8
VL30-all 0.3066091512136342 0.2831681279720298
RT-VL30-all 981.6272000000001 27.046495125246782 996.8559999999999 927.672
*** budget = 40
VL40-1 0.7300051449184525 0.17570810667678954
RT-VL40-1 989.2756756756758 33.42733470716059 999.6 789.6
VL40-2 0.06121540281340374 0.04987789673817501
RT-VL40-2 997.0594594594594 2.1675069075558655 1000.0 991.2
VL40-3 0.11169325559595894 0.10307420167297135
RT-VL40-3 933.2216216216217 109.60926952104877 999.6 627.6
VL40-4 0.046884575734357954 0.04618324759274108
RT-VL40-4 993.5783783783783 13.698828814313172 998.8 922.8
VL40-5 0.49748144208845635 0.03197722210452612
RT-VL40-5 996.92972972973 1.5423507619539532 1000.0 992.8
VL40-all 0.28945596423012593 0.27564193912279883
RT-VL40-all 982.012972972973 24.560162080729462 997.0594594594594 933.2216216216217
*** budget = 50
VL50-1 0.7133002095607404 0.15687164799907108
RT-VL50-1 987.9866666666666 36.955827085258896 998.8 789.6
VL50-2 0.05037619228484737 0.042526586425681065
RT-VL50-2 997.0933333333331 2.1785214149866694 1000.0 991.2
VL50-3 0.0933403153933025 0.09139437082820068
RT-VL50-3 934.7066666666667 106.9968065982449 999.6 627.6
VL50-4 0.039427580912904533 0.03729444378488019
RT-VL50-4 996.5866666666667 2.00993089986254 999.2 988.8
VL50-5 0.4906350390814269 0.02390981003645743
RT-VL50-5 996.6266666666667 1.561822297474621 1000.0 992.8
VL50-all 0.27741586744664437 0.2747823947568124
RT-VL50-all 982.6 24.18767656840516 997.0933333333331 934.7066666666667
logs_data/30hcd2/cgrew_pr/abl/run_2024-04-09_15-10-37/run_d90d0_00006_6_clip_discriminator=0,dr_cc=0.8000,seed=2_2024-04-09_15-10-37/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0010_rc0.80_reg00_ds0.001_zt=p_g1_s2/04.09_15.11.18/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type2-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: 2
ARG C_DATA: 2
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 10 Val 4 Test 11
Total data pairs: 9990, K 10, state dim 17, action dim 6, a min -0.7615941, a_max 0.7615942
Policy model is loaded from logs_data/30hcd2/cgrew_pr/abl/run_2024-04-09_15-10-37/run_d90d0_00006_6_clip_discriminator=0,dr_cc=0.8000,seed=2_2024-04-09_15-10-37/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0010_rc0.80_reg00_ds0.001_zt=p_g1_s2/04.09_15.11.18/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 962.3666666666667 90.03230388156365 1000.0 186.0
LR 0.9365333333333333 0.19979651871063442 1.0 -0.6
VL-std-all 0.38930646977138755 0.0
*** budget = 10
VL10-1 0.8467107453293026 0.3226676845904117
RT-VL10-1 934.1226666666669 169.81150928668592 1000.0 226.8
VL10-2 0.20649536945718822 0.1679954272543578
RT-VL10-2 960.1760000000002 124.13867926906048 1000.0 365.6
VL10-3 0.20467439329324688 0.1570972392440833
RT-VL10-3 921.6346666666664 92.45770131014267 998.4 696.4
VL10-4 0.196450313131199 0.15173306794189562
RT-VL10-4 961.4826666666667 51.655712490380864 996.4 757.6
VL10-5 0.5256111013244709 0.17993565871750417
RT-VL10-5 991.6853333333332 12.586264400351507 995.6 840.0
VL10-all 0.3959883845070815 0.25778936486036447
RT-VL10-all 953.8202666666666 24.3178094685996 991.6853333333332 921.6346666666664
*** budget = 20
VL20-1 0.669738311723302 0.30454189178458374
RT-VL20-1 890.544 219.57343994815645 999.6 226.8
VL20-2 0.11578425551008505 0.10733852426398942
RT-VL20-2 983.504 73.9621767121547 1000.0 501.2
VL20-3 0.1195808193689111 0.0950677282813784
RT-VL20-3 891.7919999999999 101.87413641024563 998.4 696.4
VL20-4 0.10517509250432551 0.08013183808952232
RT-VL20-4 956.7520000000001 51.458553833805574 996.4 829.2
VL20-5 0.4388757696988281 0.06484208865693121
RT-VL20-5 992.6453333333333 1.1273914828290754 995.2 989.2
VL20-all 0.28983084976109036 0.22799960803510044
RT-VL20-all 943.0474666666667 43.97324317435675 992.6453333333333 890.544
*** budget = 30
VL30-1 0.5516465910105152 0.2594339448933553
RT-VL30-1 880.9839999999999 226.56614695050982 999.6 226.8
VL30-2 0.06972614866794262 0.05537545591867044
RT-VL30-2 986.04 69.3028715133796 1000.0 501.2
VL30-3 0.08333861168633339 0.0685004480529581
RT-VL30-3 901.9999999999999 98.92636453443541 998.0 696.4
VL30-4 0.07403283872206454 0.06449238836914022
RT-VL30-4 952.04 55.96137239203484 996.4 829.2
VL30-5 0.4199211113198228 0.057960667515245055
RT-VL30-5 992.5360000000001 1.147128589130264 995.2 989.2
VL30-all 0.23973306028133567 0.20521984375856134
RT-VL30-all 942.72 44.52992421282574 992.5360000000001 880.9839999999999
*** budget = 40
VL40-1 0.47989923741404433 0.2663078606807083
RT-VL40-1 840.627027027027 251.19966501166405 998.4 226.8
VL40-2 0.05905203688623115 0.058412834122295254
RT-VL40-2 982.227027027027 80.21573832450348 1000.0 501.2
VL40-3 0.06877352756580235 0.056509856425508355
RT-VL40-3 890.4540540540542 99.10192022192484 998.0 696.4
VL40-4 0.05898189003595755 0.05096501901442148
RT-VL40-4 943.827027027027 59.81105677701284 996.0 824.4
VL40-5 0.39805162873973127 0.0422440667879692
RT-VL40-5 992.3783783783783 1.215915878832637 994.4 989.2
VL40-all 0.2129516641283533 0.18638783514179774
RT-VL40-all 929.9027027027026 57.203625623855714 992.3783783783783 840.627027027027
*** budget = 50
VL50-1 0.44884527944109087 0.25545599938538993
RT-VL50-1 820.8799999999998 266.11284623883404 997.6 226.8
VL50-2 0.048298271944766595 0.038917245042303095
RT-VL50-2 979.5466666666667 88.8615842507636 1000.0 501.2
VL50-3 0.060596496938003584 0.05392737516663152
RT-VL50-3 890.4133333333334 94.84226812040201 998.0 696.4
VL50-4 0.0422794809981245 0.026704364874551013
RT-VL50-4 946.4799999999999 61.39840605965816 996.0 829.2
VL50-5 0.3905447165708818 0.03947574140970058
RT-VL50-5 992.3333333333335 1.3704824778968114 995.2 989.2
VL50-all 0.19811284917857347 0.18195382298660243
RT-VL50-all 925.9306666666668 63.25091024026639 992.3333333333335 820.8799999999998
logs_data/30hcd2/cgrew_pr/abl/run_2024-04-09_15-10-37/run_d90d0_00002_2_clip_discriminator=0,dr_cc=0.8000,seed=1_2024-04-09_15-10-37/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0010_rc0.80_reg00_ds0.001_zt=p_g1_s1/04.09_15.11.22/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type2-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: 2
ARG C_DATA: 2
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 10 Val 4 Test 11
Total data pairs: 9990, K 10, state dim 17, action dim 6, a min -0.7615941, a_max 0.7615942
Policy model is loaded from logs_data/30hcd2/cgrew_pr/abl/run_2024-04-09_15-10-37/run_d90d0_00002_2_clip_discriminator=0,dr_cc=0.8000,seed=1_2024-04-09_15-10-37/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr0_no0_es=n_sr0010_rc0.80_reg00_ds0.001_zt=p_g1_s1/04.09_15.11.22/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 990.7829333333333 27.323756246086585 1000.0 624.4
LR 0.9888 0.06598909000736411 1.0 0.6
VL-std-all 0.22744892863567967 0.0
*** budget = 10
VL10-1 0.7540678891282455 0.14139136538295852
RT-VL10-1 992.8053333333332 26.619891777056907 1000.0 779.6
VL10-2 0.04903028611560589 0.06566770634576671
RT-VL10-2 997.4933333333333 1.2713597270464232 1000.0 992.8
VL10-3 0.2945144567779416 0.21194289576347847
RT-VL10-3 971.008 50.132639427821864 999.2 821.6
VL10-4 0.11827749200629213 0.07951280341255555
RT-VL10-4 988.7946666666668 22.477436943645408 999.2 856.4
VL10-5 0.8958596568217051 0.08084043564397918
RT-VL10-5 996.4853333333334 1.5288072329615516 998.8 984.8
VL10-all 0.4223499561699581 0.341296873139584
RT-VL10-all 989.3173333333332 9.65296028745125 997.4933333333333 971.008
*** budget = 20
VL20-1 0.6769691391777638 0.13135219249967597
RT-VL20-1 988.4586666666668 37.11009599676196 1000.0 779.6
VL20-2 0.028414212982913346 0.04266545349784225
RT-VL20-2 997.4613333333334 1.2874671085334732 1000.0 993.6
VL20-3 0.1578464963166916 0.13227655365267396
RT-VL20-3 973.5466666666665 47.71879108089624 999.2 824.8
VL20-4 0.07969716288262826 0.06127163850688972
RT-VL20-4 989.0559999999999 22.236703832477808 999.2 865.6
VL20-5 0.8506810196893342 0.04456860731227748
RT-VL20-5 996.5919999999999 1.2468370650035443 998.8 993.2
VL20-all 0.35872160620986626 0.3378206567160362
RT-VL20-all 989.0229333333333 8.582909587986837 997.4613333333334 973.5466666666665
*** budget = 30
VL30-1 0.6349961616714287 0.1166473713007472
RT-VL30-1 984.0479999999999 44.7874725341808 999.6 779.6
VL30-2 0.015425397547992352 0.012236801484251044
RT-VL30-2 997.3760000000001 1.2853886571772672 1000.0 993.6
VL30-3 0.11395938208231758 0.08591225198551045
RT-VL30-3 979.7600000000001 41.68545069925477 999.2 824.8
VL30-4 0.05169550896052762 0.03647967783856046
RT-VL30-4 989.3840000000001 19.14712887092997 999.2 908.0
VL30-5 0.8364593481248948 0.03933728279900478
RT-VL30-5 996.432 1.1834593360145498 998.4 993.2
VL30-all 0.3305071596774322 0.33840997701413533
RT-VL30-all 989.4 6.850392105565941 997.3760000000001 979.7600000000001
*** budget = 40
VL40-1 0.594236542391765 0.11246918450507541
RT-VL40-1 979.8378378378378 51.38593430087364 998.8 779.6
VL40-2 0.012960642746946086 0.010248191102862405
RT-VL40-2 997.4702702702704 1.278695463789606 1000.0 993.6
VL40-3 0.07515273355146715 0.062419958453442934
RT-VL40-3 979.3297297297297 43.21801967063367 999.2 824.8
VL40-4 0.041092940680924485 0.027347762798566377
RT-VL40-4 987.9459459459459 20.109572745264334 999.2 908.0
VL40-5 0.8278314026566365 0.03386932612584024
RT-VL40-5 996.562162162162 1.1853500683402496 998.4 994.4
VL40-all 0.31025485240554784 0.33604644730355665
RT-VL40-all 988.2291891891891 7.804247574528182 997.4702702702704 979.3297297297297
*** budget = 50
VL50-1 0.575632097094933 0.1026480829618372
RT-VL50-1 980.7733333333333 51.79631218103809 998.8 779.6
VL50-2 0.009797669239718003 0.008311163735897313
RT-VL50-2 997.4133333333334 1.1580827066991088 999.2 993.6
VL50-3 0.06729099797311663 0.060595785539275464
RT-VL50-3 980.28 41.81599693897062 999.2 824.8
VL50-4 0.03441763322523076 0.025524867429135335
RT-VL50-4 987.9066666666669 21.407209585142624 999.2 908.0
VL50-5 0.8225327422783433 0.029860924562642194
RT-VL50-5 996.5866666666668 1.0818913480053747 998.4 994.4
VL50-all 0.3019342279622683 0.3340358302510562
RT-VL50-all 988.592 7.381343930628288 997.4133333333334 980.28
logs_data/30hcd2/cgrew_pr/abl/run_2024-04-09_15-10-37/run_d90d0_00019_19_clip_discriminator=10,dr_cc=0.8000,seed=5_2024-04-09_15-10-37/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g1_s5/04.09_15.11.21/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type2-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: 2
ARG C_DATA: 2
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 10 Val 4 Test 11
Total data pairs: 9990, K 10, state dim 17, action dim 6, a min -0.7615941, a_max 0.7615942
Policy model is loaded from logs_data/30hcd2/cgrew_pr/abl/run_2024-04-09_15-10-37/run_d90d0_00019_19_clip_discriminator=10,dr_cc=0.8000,seed=5_2024-04-09_15-10-37/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g1_s5/04.09_15.11.21/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hcd2/cgrew_pr/abl/run_2024-04-09_15-10-37/run_d90d0_00019_19_clip_discriminator=10,dr_cc=0.8000,seed=5_2024-04-09_15-10-37/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g1_s5/04.09_15.11.21/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 989.0762666666666 56.728791485413794 1000.0 -74.8
LR 0.9901333333333332 0.09008874636835737 1.0 -0.6
VL-std-all 0.14360194744235252 0.0
*** budget = 10
VL10-1 0.6397282488475082 0.3075816158962032
RT-VL10-1 976.6880000000001 99.77711823192061 1000.0 -74.8
VL10-2 0.09819111766297253 0.11726462236629244
RT-VL10-2 993.3813333333334 24.65638358631605 1000.0 814.4
VL10-3 0.245919872988359 0.18634940959380147
RT-VL10-3 988.1626666666668 58.06334190251961 999.6 376.8
VL10-4 0.17830349056712894 0.1526566277092057
RT-VL10-4 991.3333333333334 27.131390593840848 998.0 752.4
VL10-5 0.8291211816924047 0.2954239928153012
RT-VL10-5 991.4106666666665 21.862293709083275 998.0 739.6
VL10-all 0.3982527823516747 0.2848080010523559
RT-VL10-all 988.1951999999999 5.9916574653614605 993.3813333333334 976.6880000000001
*** budget = 20
VL20-1 0.4647924726873698 0.2646499322265494
RT-VL20-1 963.9786666666668 135.3324147357987 1000.0 -74.8
VL20-2 0.039804233458660056 0.03493424921902691
RT-VL20-2 994.6506666666667 19.984503151747905 1000.0 823.2
VL20-3 0.15155451192693975 0.12130866962306994
RT-VL20-3 980.3679999999999 81.35421179017102 999.6 376.8
VL20-4 0.09257804099529572 0.0831596719290354
RT-VL20-4 988.976 36.6577098393594 998.0 752.4
VL20-5 0.669974028508233 0.12136102229318432
RT-VL20-5 993.5306666666665 1.6645298301789466 996.8 988.8
VL20-all 0.2837406575152997 0.24309556913588046
RT-VL20-all 984.3008 11.336875167346552 994.6506666666667 963.9786666666668
*** budget = 30
VL30-1 0.379140015833661 0.2536240526885537
RT-VL30-1 958.952 156.84158407769286 1000.0 -74.8
VL30-2 0.02854699376075227 0.030678825459681234
RT-VL30-2 993.552 24.382635132405188 999.2 823.2
VL30-3 0.11703145095629143 0.10662673836071956
RT-VL30-3 985.0719999999998 50.05983236088589 999.6 729.2
VL30-4 0.06898846158465183 0.05834704586409747
RT-VL30-4 983.752 46.03274590984118 997.2 752.4
VL30-5 0.6253363756697529 0.07894398542001252
RT-VL30-5 993.1840000000001 1.6932052444993193 996.8 988.8
VL30-all 0.2438086595610219 0.22664956260930572
RT-VL30-all 982.9024 12.634681817916913 993.552 958.952
*** budget = 40
VL40-1 0.29956896205587497 0.23310784503302637
RT-VL40-1 950.4324324324324 179.26003768352695 1000.0 -74.8
VL40-2 0.023177405642787058 0.021868583344351617
RT-VL40-2 992.2378378378377 28.216071243285015 999.2 823.2
VL40-3 0.08279233830476636 0.05891121166197091
RT-VL40-3 981.427027027027 57.7445289260477 997.6 729.2
VL40-4 0.04805390562685311 0.04349225417435573
RT-VL40-4 989.1675675675675 34.217034275691006 998.0 784.0
VL40-5 0.6037677823663281 0.05521113831992523
RT-VL40-5 993.2324324324326 1.6800987831405327 996.8 988.8
VL40-all 0.21147207879932192 0.21926050203014247
RT-VL40-all 981.2994594594593 15.979616526654631 993.2324324324326 950.4324324324324
*** budget = 50
VL50-1 0.25281049378066933 0.20502402787942275
RT-VL50-1 951.5733333333334 194.04466656474284 1000.0 -74.8
VL50-2 0.01409321597160298 0.012539931701255695
RT-VL50-2 985.6533333333334 43.07026610345264 999.2 823.2
VL50-3 0.06828173591183327 0.05349749354917677
RT-VL50-3 978.1466666666666 63.68216774646484 998.8 729.2
VL50-4 0.03510450669120956 0.032941846913320395
RT-VL50-4 979.8266666666666 56.71963171797066 997.2 752.4
VL50-5 0.590882975152647 0.04468867895619902
RT-VL50-5 993.2666666666668 1.5835263040301975 996.8 990.4
VL50-all 0.19223458550159242 0.21650796630221852
RT-VL50-all 977.6933333333333 14.091851073108423 993.2666666666668 951.5733333333334
logs_data/30hcd2/cgrew_pr/abl/run_2024-04-09_15-10-37/run_d90d0_00015_15_clip_discriminator=10,dr_cc=0.8000,seed=4_2024-04-09_15-10-37/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g1_s4/04.09_15.11.21/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type2-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: 2
ARG C_DATA: 2
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 10 Val 4 Test 11
Total data pairs: 9990, K 10, state dim 17, action dim 6, a min -0.7615941, a_max 0.7615942
Policy model is loaded from logs_data/30hcd2/cgrew_pr/abl/run_2024-04-09_15-10-37/run_d90d0_00015_15_clip_discriminator=10,dr_cc=0.8000,seed=4_2024-04-09_15-10-37/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g1_s4/04.09_15.11.21/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hcd2/cgrew_pr/abl/run_2024-04-09_15-10-37/run_d90d0_00015_15_clip_discriminator=10,dr_cc=0.8000,seed=4_2024-04-09_15-10-37/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g1_s4/04.09_15.11.21/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 980.8328 99.77388885621995 1000.0 -449.2
LR 0.9807999999999999 0.14181452675942618 1.0 -1.0
VL-std-all 0.19286138555326302 0.0
*** budget = 10
VL10-1 0.7433898553878513 0.21913600693950064
RT-VL10-1 933.6239999999998 221.60715381954617 1000.0 -449.2
VL10-2 0.05936014675011099 0.06596424892906479
RT-VL10-2 996.6266666666667 1.5405049677153102 1000.0 990.8
VL10-3 0.28791155412741914 0.16821941536029628
RT-VL10-3 978.3013333333334 69.89276260736078 998.4 552.4
VL10-4 0.2591479286007367 0.2643080620609273
RT-VL10-4 982.9040000000002 45.11790609798583 998.0 714.8
VL10-5 1.0178498124160487 0.4581578526542709
RT-VL10-5 989.2026666666666 31.37066133967993 996.8 714.8
VL10-all 0.47353185945643333 0.3524369296903865
RT-VL10-all 976.1317333333333 22.128577648120373 996.6266666666667 933.6239999999998
*** budget = 20
VL20-1 0.6215536324634808 0.24804724204111567
RT-VL20-1 889.8399999999998 258.6125689134231 998.8 -77.6
VL20-2 0.030126212994115047 0.038314236969864725
RT-VL20-2 996.4213333333332 1.8006142161927816 1000.0 990.8
VL20-3 0.19983995414724662 0.1335414574961586
RT-VL20-3 967.3280000000001 83.35749605964261 998.0 616.0
VL20-4 0.12470156288207221 0.09608193468842202
RT-VL20-4 980.096 47.36593836643937 997.2 787.2
VL20-5 0.7643562853715605 0.19188618321199905
RT-VL20-5 993.5893333333333 1.9639126479782323 996.8 981.2
VL20-all 0.34811552957169506 0.29018663481932505
RT-VL20-all 965.4549333333332 39.20701403371602 996.4213333333332 889.8399999999998
*** budget = 30
VL30-1 0.5563961137484064 0.26852527654689945
RT-VL30-1 853.352 296.89432344859677 998.8 -77.6
VL30-2 0.017052631342525607 0.011925293883737987
RT-VL30-2 996.4240000000001 1.90562955476661 1000.0 990.8
VL30-3 0.1489795691675011 0.1059109210559994
RT-VL30-3 957.7200000000001 95.88053399934732 997.2 616.0
VL30-4 0.09652151324233962 0.07964348073044612
RT-VL30-4 977.12 53.23006669167342 997.2 787.2
VL30-5 0.6887379734342258 0.1280102532626606
RT-VL30-5 993.5759999999999 1.2735085394295522 996.8 990.8
VL30-all 0.30153756018699973 0.26874308817552905
RT-VL30-all 955.6384 52.973628312963434 996.4240000000001 853.352
*** budget = 40
VL40-1 0.4863140501888407 0.2675666169641555
RT-VL40-1 785.9135135135135 336.3747991349243 998.8 -77.6
VL40-2 0.014120488755791425 0.012383267840101837
RT-VL40-2 996.4864864864865 1.8579503618543356 1000.0 991.6
VL40-3 0.11631395299808797 0.08426997902301903
RT-VL40-3 959.7621621621621 91.77327925117552 997.2 645.2
VL40-4 0.07836566155128248 0.07208621141988121
RT-VL40-4 979.8378378378378 45.169562529526885 997.2 810.8
VL40-5 0.6618330218468785 0.11670339555748949
RT-VL40-5 993.427027027027 1.3779437576583293 996.4 990.8
VL40-all 0.27138943506817625 0.25539486199218653
RT-VL40-all 943.0854054054055 79.64648571609898 996.4864864864865 785.9135135135135
*** budget = 50
VL50-1 0.4375578977676928 0.26568622440080925
RT-VL50-1 788.7733333333333 329.2439166062483 998.8 -77.6
VL50-2 0.01051102412380751 0.007503669889000611
RT-VL50-2 996.6266666666667 1.7425906639891666 1000.0 991.6
VL50-3 0.10481707363313245 0.07807004307314332
RT-VL50-3 963.2 82.63687635271152 996.4 711.6
VL50-4 0.05369401035234775 0.04859631396837462
RT-VL50-4 975.9466666666666 51.642022509666376 998.0 809.2
VL50-5 0.6240037912045361 0.09185801726090452
RT-VL50-5 993.7066666666667 1.412074911453195 996.8 990.8
VL50-all 0.24611675941630332 0.24164043383070935
RT-VL50-all 943.6506666666668 78.38910146470901 996.6266666666667 788.7733333333333
logs_data/30hcd2/cgrew_pr/abl/run_2024-04-09_15-10-37/run_d90d0_00011_11_clip_discriminator=10,dr_cc=0.8000,seed=3_2024-04-09_15-10-37/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g1_s3/04.09_15.11.20/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type2-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: 2
ARG C_DATA: 2
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 10 Val 4 Test 11
Total data pairs: 9990, K 10, state dim 17, action dim 6, a min -0.7615941, a_max 0.7615942
Policy model is loaded from logs_data/30hcd2/cgrew_pr/abl/run_2024-04-09_15-10-37/run_d90d0_00011_11_clip_discriminator=10,dr_cc=0.8000,seed=3_2024-04-09_15-10-37/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g1_s3/04.09_15.11.20/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hcd2/cgrew_pr/abl/run_2024-04-09_15-10-37/run_d90d0_00011_11_clip_discriminator=10,dr_cc=0.8000,seed=3_2024-04-09_15-10-37/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g1_s3/04.09_15.11.20/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 941.4549333333333 167.971759121374 1000.0 -345.6
LR 0.9207999999999998 0.26816790760019493 1.0 -1.0
VL-std-all 0.3938560175686874 0.0
*** budget = 10
VL10-1 0.39702017253765076 0.22472958121123046
RT-VL10-1 874.136 220.78348648393066 1000.0 -226.0
VL10-2 0.09255174488415671 0.090591789116652
RT-VL10-2 955.7813333333335 152.59323243476064 999.6 12.0
VL10-3 0.2496408040481097 0.20774812440657695
RT-VL10-3 934.3013333333334 126.03962921063976 999.6 480.8
VL10-4 0.16947534323684615 0.1740023360976595
RT-VL10-4 978.88 49.93929114434845 998.8 744.4
VL10-5 0.8676318325617333 0.2999462081141244
RT-VL10-5 992.3813333333334 21.037127138043875 1000.0 779.2
VL10-all 0.35526397945369936 0.2753019387080304
RT-VL10-all 947.0960000000001 41.52898790323054 992.3813333333334 874.136
*** budget = 20
VL20-1 0.27846879229758636 0.1699731929066051
RT-VL20-1 820.0373333333333 255.06677545214617 1000.0 -226.0
VL20-2 0.047292254043531386 0.0364677127660148
RT-VL20-2 963.0719999999999 125.60941213141632 999.6 218.0
VL20-3 0.13794560122389593 0.14305436823139775
RT-VL20-3 893.8986666666668 156.62895559747423 999.6 480.8
VL20-4 0.08712429617003274 0.09201394862970848
RT-VL20-4 986.5279999999999 31.188658451430708 998.4 840.8
VL20-5 0.7180041131718198 0.15064825635471701
RT-VL20-5 994.0266666666669 10.705130649470012 998.4 910.4
VL20-all 0.2537670113813732 0.244925492205618
RT-VL20-all 931.5125333333333 65.98824373463975 994.0266666666669 820.0373333333333
*** budget = 30
VL30-1 0.21980078034513845 0.15551530059885219
RT-VL30-1 825.0319999999999 225.98305196629235 1000.0 -226.0
VL30-2 0.039109620264335294 0.03352132675706561
RT-VL30-2 972.416 115.00438836844447 999.2 218.0
VL30-3 0.09047452131075538 0.09107643970872041
RT-VL30-3 879.7040000000001 165.09875464097237 999.6 480.8
VL30-4 0.04930637134834861 0.049586502523387505
RT-VL30-4 982.6 37.19503192632048 998.4 840.8
VL30-5 0.6664416121509443 0.11699139022606679
RT-VL30-5 993.9440000000001 12.256723216259722 998.4 910.4
VL30-all 0.2130265810839044 0.2356698978929499
RT-VL30-all 930.7392 66.63324808051912 993.9440000000001 825.0319999999999
*** budget = 40
VL40-1 0.1727407359638084 0.13393986693662013
RT-VL40-1 805.3621621621622 223.3789936061899 1000.0 -72.4
VL40-2 0.02780650613112967 0.021098048772097838
RT-VL40-2 969.7513513513514 129.74070944527412 999.2 218.0
VL40-3 0.06432996727896972 0.06337588321822617
RT-VL40-3 860.8324324324324 167.08047915811377 999.6 483.6
VL40-4 0.03260801239238227 0.03298568428349122
RT-VL40-4 981.318918918919 37.92679889612276 998.4 840.8
VL40-5 0.6364669068898631 0.102067420281241
RT-VL40-5 992.9513513513515 14.132760898220917 998.4 910.4
VL40-all 0.18679042573123064 0.23084670179515734
RT-VL40-all 922.0432432432432 75.07178850127482 992.9513513513515 805.3621621621622
*** budget = 50
VL50-1 0.15928619485033907 0.1280812582890216
RT-VL50-1 828.3866666666668 166.06740746522848 997.6 582.0
VL50-2 0.025649466277315562 0.02325456327231136
RT-VL50-2 963.1733333333334 143.28872235998043 999.2 218.0
VL50-3 0.05133229123022976 0.04631513636775357
RT-VL50-3 859.2266666666666 168.85297536285492 999.6 483.6
VL50-4 0.025478444444252624 0.02856744231182782
RT-VL50-4 980.88 40.738699046484044 998.4 840.8
VL50-5 0.6123156535689347 0.06748555057936531
RT-VL50-5 995.1333333333336 3.392671841222226 998.4 979.6
VL50-all 0.17481241007421433 0.22425329797808127
RT-VL50-all 925.36 68.05597957237528 995.1333333333336 828.3866666666668
logs_data/30hcd2/cgrew_pr/abl/run_2024-04-09_15-10-37/run_d90d0_00007_7_clip_discriminator=10,dr_cc=0.8000,seed=2_2024-04-09_15-10-37/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g1_s2/04.09_15.11.21/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type2-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: 2
ARG C_DATA: 2
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 10 Val 4 Test 11
Total data pairs: 9990, K 10, state dim 17, action dim 6, a min -0.7615941, a_max 0.7615942
Policy model is loaded from logs_data/30hcd2/cgrew_pr/abl/run_2024-04-09_15-10-37/run_d90d0_00007_7_clip_discriminator=10,dr_cc=0.8000,seed=2_2024-04-09_15-10-37/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g1_s2/04.09_15.11.21/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hcd2/cgrew_pr/abl/run_2024-04-09_15-10-37/run_d90d0_00007_7_clip_discriminator=10,dr_cc=0.8000,seed=2_2024-04-09_15-10-37/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g1_s2/04.09_15.11.21/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 981.4565333333334 66.26797560397397 999.2 71.6
LR 0.9813333333333333 0.10468152760741613 1.0 -0.6
VL-std-all 0.3008106097989889 0.0
*** budget = 10
VL10-1 1.2447791394168082 0.5408003154947278
RT-VL10-1 938.8053333333335 151.0945522012256 999.2 78.8
VL10-2 0.5370792374824868 0.46225745303924937
RT-VL10-2 969.7760000000002 80.53284520823372 999.2 314.0
VL10-3 0.24285948226033355 0.1911893072341689
RT-VL10-3 960.2 76.84155473006344 998.8 688.0
VL10-4 0.06854312197340885 0.062455776208906195
RT-VL10-4 993.224 11.076194773777987 998.4 898.4
VL10-5 0.7150959222587892 0.10860076291743545
RT-VL10-5 994.632 2.084748426069677 998.4 974.0
VL10-all 0.5616713806783653 0.4088022944214184
RT-VL10-all 971.3274666666666 21.00702818434287 994.632 938.8053333333335
*** budget = 20
VL20-1 0.9079864704664226 0.3419653797733662
RT-VL20-1 921.0666666666668 194.5503762239716 999.2 78.8
VL20-2 0.25358990045442087 0.21393879335741048
RT-VL20-2 986.2720000000002 41.86083152542482 999.2 748.4
VL20-3 0.1355038112255587 0.11982340437614218
RT-VL20-3 948.2133333333334 85.27412946231439 998.8 688.0
VL20-4 0.03543344565325515 0.028341985891223477
RT-VL20-4 991.7279999999998 15.441887276711574 998.4 898.4
VL20-5 0.6521257876380471 0.0570459014842121
RT-VL20-5 994.7573333333333 1.1840240237802946 997.6 991.6
VL20-all 0.3969278830875409 0.3304159200555656
RT-VL20-all 968.4074666666668 29.004339900243988 994.7573333333333 921.0666666666668
*** budget = 30
VL30-1 0.7990125854609178 0.2894981258762191
RT-VL30-1 930.456 165.6696473829772 999.2 78.8
VL30-2 0.18079496088511665 0.12772395000663106
RT-VL30-2 982.1439999999999 50.72364403313311 999.2 748.4
VL30-3 0.09302672091292344 0.08564881393060642
RT-VL30-3 936.7760000000001 92.26235323250756 997.6 688.0
VL30-4 0.025302294089507783 0.019529135496697957
RT-VL30-4 991.312 15.974587819408676 996.8 898.4
VL30-5 0.631487540823737 0.03510756735908689
RT-VL30-5 994.7760000000001 1.1381669473324154 997.6 992.0
VL30-all 0.34592482043444056 0.3101156925242595
RT-VL30-all 967.0928 27.715812486015977 994.7760000000001 930.456
*** budget = 40
VL40-1 0.7302623221707618 0.29318616412704385
RT-VL40-1 884.0864864864864 249.27433944124982 997.6 71.6
VL40-2 0.14418451700412285 0.11023300119073004
RT-VL40-2 982.464864864865 50.14595031595121 999.2 748.4
VL40-3 0.07082500881369026 0.07789948034157901
RT-VL40-3 932.0432432432432 95.86083533770994 997.6 688.0
VL40-4 0.020384644814076747 0.021634206128398552
RT-VL40-4 992.7567567567568 10.261777427320267 996.8 932.0
VL40-5 0.6207216446004065 0.027837978568667696
RT-VL40-5 994.5621621621623 1.0540401939490633 997.2 992.0
VL40-all 0.3172756274806116 0.29714649277854693
RT-VL40-all 957.1827027027027 43.074294612814434 994.5621621621623 884.0864864864864
*** budget = 50
VL50-1 0.6994072551311515 0.3035820011894964
RT-VL50-1 905.9599999999998 194.88215516049695 997.6 139.6
VL50-2 0.1339897066822892 0.10084356551252277
RT-VL50-2 979.84 55.35857416275581 999.2 748.4
VL50-3 0.07162703556577739 0.08680171982137704
RT-VL50-3 944.7999999999997 89.72200027492329 997.6 688.0
VL50-4 0.01693340063635905 0.013519560321762674
RT-VL50-4 992.2133333333333 11.313111370833795 996.8 932.0
VL50-5 0.6179749959886112 0.028355541283632085
RT-VL50-5 994.546666666667 1.1098748678216876 997.2 992.0
VL50-all 0.3079864788008376 0.2898812385630985
RT-VL50-all 963.472 33.81089854535744 994.546666666667 905.9599999999998
logs_data/30hcd2/cgrew_pr/abl/run_2024-04-09_15-10-37/run_d90d0_00003_3_clip_discriminator=10,dr_cc=0.8000,seed=1_2024-04-09_15-10-37/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g1_s1/04.09_15.11.22/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type2-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: 2
ARG C_DATA: 2
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 10 Val 4 Test 11
Total data pairs: 9990, K 10, state dim 17, action dim 6, a min -0.7615941, a_max 0.7615942
Policy model is loaded from logs_data/30hcd2/cgrew_pr/abl/run_2024-04-09_15-10-37/run_d90d0_00003_3_clip_discriminator=10,dr_cc=0.8000,seed=1_2024-04-09_15-10-37/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g1_s1/04.09_15.11.22/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hcd2/cgrew_pr/abl/run_2024-04-09_15-10-37/run_d90d0_00003_3_clip_discriminator=10,dr_cc=0.8000,seed=1_2024-04-09_15-10-37/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg00_ds0.001_zt=p_g1_s1/04.09_15.11.22/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 980.8781333333335 81.98990752026874 1000.0 -83.6
LR 0.9789333333333334 0.11722995445798921 1.0 -0.6
VL-std-all 0.2337512606302709 0.0
*** budget = 10
VL10-1 0.8561271655357541 0.29564966241909063
RT-VL10-1 923.4106666666667 195.57888745863025 999.6 -83.6
VL10-2 0.16303818771532289 0.1761265172624402
RT-VL10-2 990.12 31.874177636450487 999.6 787.6
VL10-3 0.33869702127319407 0.16069625985632693
RT-VL10-3 972.616 54.824162653584295 999.2 758.0
VL10-4 0.1443706787135732 0.12009875522089415
RT-VL10-4 983.8453333333332 30.626586678171556 999.2 801.6
VL10-5 0.696421016938722 0.08770749941417276
RT-VL10-5 995.2693333333331 1.6432466508578514 999.6 990.4
VL10-all 0.4397308140353132 0.2874995749862949
RT-VL10-all 973.0522666666666 25.94561481115617 995.2693333333331 923.4106666666667
*** budget = 20
VL20-1 0.6884136971815636 0.28015307970620035
RT-VL20-1 890.1279999999999 194.09593954880492 999.6 184.8
VL20-2 0.08758648218786333 0.11906707959781895
RT-VL20-2 992.5973333333334 23.969613949517186 999.6 787.6
VL20-3 0.24371628661777195 0.14302753282037914
RT-VL20-3 962.8159999999999 58.9472239436826 999.2 764.4
VL20-4 0.0834782843443805 0.0741294076191383
RT-VL20-4 987.6853333333332 24.45090151484989 999.2 889.6
VL20-5 0.6553908742629727 0.020452684633877886
RT-VL20-5 995.3386666666664 1.5805394297165993 999.6 992.4
VL20-all 0.35171712491891044 0.2679416283111429
RT-VL20-all 965.7130666666666 39.50877312777785 995.3386666666664 890.1279999999999
*** budget = 30
VL30-1 0.5947659735331815 0.25783275899811214
RT-VL30-1 848.3839999999999 224.58936694331723 999.6 173.6
VL30-2 0.03612642697114918 0.04759335695638088
RT-VL30-2 994.96 2.4093152554201027 999.6 989.2
VL30-3 0.19571453397854147 0.13101449639271656
RT-VL30-3 965.592 57.7735435645071 999.2 764.4
VL30-4 0.06145734594040317 0.062195810244944784
RT-VL30-4 985.6159999999999 26.433912763720766 998.8 900.4
VL30-5 0.6487827652964672 0.014758530666368284
RT-VL30-5 995.2 1.5676734353812292 999.6 992.4
VL30-all 0.3073694091439485 0.2629342786086598
RT-VL30-all 957.9504000000001 55.8315657584489 995.2 848.3839999999999
*** budget = 40
VL40-1 0.5190645382979441 0.2780894871741981
RT-VL40-1 819.4378378378377 216.81738156032696 998.4 220.0
VL40-2 0.028974544895613113 0.039261847368430344
RT-VL40-2 995.1783783783785 2.664596225700815 999.6 988.8
VL40-3 0.15545584125046297 0.10735617291707293
RT-VL40-3 976.5405405405405 39.40116241569297 998.0 831.6
VL40-4 0.03878122358435128 0.035821969976143876
RT-VL40-4 986.9081081081081 23.43970272824108 998.8 903.6
VL40-5 0.6456391873060294 0.014196017601607281
RT-VL40-5 995.1783783783785 1.4907163406165298 999.6 992.4
VL40-all 0.2775830670668802 0.25593990920755755
RT-VL40-all 954.6486486486486 67.95176082967916 995.1783783783785 819.4378378378377
*** budget = 50
VL50-1 0.4901349932769268 0.27648111019453747
RT-VL50-1 814.0 219.3324903732535 998.4 220.0
VL50-2 0.022496021486431914 0.032126475735443166
RT-VL50-2 995.4799999999999 2.5195766840218745 999.6 989.2
VL50-3 0.1235618254528372 0.08389715859575458
RT-VL50-3 959.5066666666665 65.84318204812267 998.0 758.0
VL50-4 0.03557549700699917 0.04313564694523501
RT-VL50-4 985.4 25.50456168348451 998.8 903.6
VL50-5 0.6424352710527891 0.01272928503288209
RT-VL50-5 995.12 1.5879546593023326 999.6 992.4
VL50-all 0.26284072165519684 0.2547816225732817
RT-VL50-all 949.9013333333335 69.20076998929353 995.4799999999999 814.0
logs_data/30hcd2/cgrew_pr/sn/run_2024-04-09_19-51-41/run_1ce64_00039_39_dl_scale=0.2000,dr_cc=0.8000,seed=5_2024-04-09_19-51-45/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg10_ds0.200_zt=p_g1_s5/04.10_00.10.54/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type2-infogsdr_ppo-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg10_ds0.200_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: 2
ARG C_DATA: 2
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 10 Val 4 Test 11
Total data pairs: 9990, K 10, state dim 17, action dim 6, a min -0.7615941, a_max 0.7615942
Policy model is loaded from logs_data/30hcd2/cgrew_pr/sn/run_2024-04-09_19-51-41/run_1ce64_00039_39_dl_scale=0.2000,dr_cc=0.8000,seed=5_2024-04-09_19-51-45/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg10_ds0.200_zt=p_g1_s5/04.10_00.10.54/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hcd2/cgrew_pr/sn/run_2024-04-09_19-51-41/run_1ce64_00039_39_dl_scale=0.2000,dr_cc=0.8000,seed=5_2024-04-09_19-51-45/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg10_ds0.200_zt=p_g1_s5/04.10_00.10.54/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 961.9266666666666 116.69690910883438 999.2 -10.0
LR 0.9418666666666667 0.2102233309813373 1.0 -1.0
VL-std-all 0.47502879457819835 0.0
*** budget = 10
VL10-1 0.698624348779962 0.2546327657822449
RT-VL10-1 926.1120000000001 227.62534420109435 998.8 -10.0
VL10-2 0.16639234380500895 0.0876845654454611
RT-VL10-2 968.3280000000001 128.18728024262 998.8 275.2
VL10-3 0.27975453571206604 0.21056526684419044
RT-VL10-3 898.68 151.87163527136988 999.2 470.4
VL10-4 0.1989229541413421 0.1570590029851171
RT-VL10-4 942.96 86.61425286868209 998.0 522.8
VL10-5 0.7966702921277994 0.21557858462994253
RT-VL10-5 986.6506666666667 50.10281794692013 998.8 522.8
VL10-all 0.42807289491323575 0.2653476482966996
RT-VL10-all 944.5461333333333 30.93349054672695 986.6506666666667 898.68
*** budget = 20
VL20-1 0.5596196385523785 0.2076954107388016
RT-VL20-1 883.7813333333335 286.1651871178991 998.8 -10.0
VL20-2 0.11875068852026409 0.06916487451375396
RT-VL20-2 949.7173333333334 161.91410757833577 998.8 275.2
VL20-3 0.15399486917567093 0.1435339392057012
RT-VL20-3 896.5653333333332 159.677623139736 998.4 550.0
VL20-4 0.11729557271130647 0.1022887873125341
RT-VL20-4 955.0293333333335 66.989262370091 998.0 780.8
VL20-5 0.7135858953696916 0.054148364809051615
RT-VL20-5 995.9466666666667 1.684860693219331 998.8 987.2
VL20-all 0.3326493328658623 0.25324907651467754
RT-VL20-all 936.2080000000002 41.050089814491024 995.9466666666667 883.7813333333335
*** budget = 30
VL30-1 0.5020738735842823 0.17897154424742964
RT-VL30-1 842.672 338.423048293109 998.4 -10.0
VL30-2 0.09296836947687538 0.0538530897923403
RT-VL30-2 940.3759999999999 173.07129462738757 998.8 275.2
VL30-3 0.10362476189802354 0.10905305405750568
RT-VL30-3 878.2479999999999 163.43153947754394 997.6 550.0
VL30-4 0.08523154279720824 0.07506374364968399
RT-VL30-4 952.696 71.35671786174026 998.0 778.4
VL30-5 0.6927722364470292 0.03691586604602367
RT-VL30-5 995.888 1.8031794142569275 998.8 987.2
VL30-all 0.2953341568406837 0.2539865547752321
RT-VL30-all 921.976 54.67453620105067 995.888 842.672
*** budget = 40
VL40-1 0.4605736897634116 0.21069719040848917
RT-VL40-1 780.7675675675675 377.4494704353433 998.0 -10.0
VL40-2 0.0782565619054372 0.049134564306981036
RT-VL40-2 913.589189189189 219.76135432805137 998.4 275.2
VL40-3 0.0699060564695702 0.06477294930927298
RT-VL40-3 888.4324324324324 169.39363728765827 997.6 550.0
VL40-4 0.06063563813401823 0.04924541343831458
RT-VL40-4 948.464864864865 69.69639261755702 997.6 790.8
VL40-5 0.6805969850695385 0.030351131841452793
RT-VL40-5 996.0864864864864 1.285714053822134 998.8 993.2
VL40-all 0.2699937862683951 0.2551645678751717
RT-VL40-all 905.468108108108 72.06497430275259 996.0864864864864 780.7675675675675
*** budget = 50
VL50-1 0.432313404694506 0.20222745381181642
RT-VL50-1 739.8666666666668 405.5464834297324 997.6 -10.0
VL50-2 0.0645108362308598 0.04457235512268042
RT-VL50-2 902.0799999999998 239.29535223234072 998.4 275.2
VL50-3 0.05698200178706583 0.058917787105563876
RT-VL50-3 895.5333333333334 159.08431586915023 997.6 566.8
VL50-4 0.052064407261104666 0.04792362630932799
RT-VL50-4 955.1599999999999 63.53299195431195 997.6 831.2
VL50-5 0.6752276222289773 0.028318296435869923
RT-VL50-5 996.1333333333333 1.2913386680323355 998.8 993.2
VL50-all 0.2562196544405027 0.25483483439821064
RT-VL50-all 897.7546666666667 87.09305107118982 996.1333333333333 739.8666666666668
logs_data/30hcd2/cgrew_pr/sn/run_2024-04-09_19-51-41/run_1ce64_00031_31_dl_scale=0.2000,dr_cc=0.8000,seed=4_2024-04-09_19-51-44/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg10_ds0.200_zt=p_g1_s4/04.10_00.09.21/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type2-infogsdr_ppo-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg10_ds0.200_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: 2
ARG C_DATA: 2
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 10 Val 4 Test 11
Total data pairs: 9990, K 10, state dim 17, action dim 6, a min -0.7615941, a_max 0.7615942
Policy model is loaded from logs_data/30hcd2/cgrew_pr/sn/run_2024-04-09_19-51-41/run_1ce64_00031_31_dl_scale=0.2000,dr_cc=0.8000,seed=4_2024-04-09_19-51-44/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg10_ds0.200_zt=p_g1_s4/04.10_00.09.21/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hcd2/cgrew_pr/sn/run_2024-04-09_19-51-41/run_1ce64_00031_31_dl_scale=0.2000,dr_cc=0.8000,seed=4_2024-04-09_19-51-44/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg10_ds0.200_zt=p_g1_s4/04.10_00.09.21/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 973.0677333333334 59.32664830295255 999.6 560.8
LR 0.9701333333333332 0.11009684625617373 1.0 0.2
VL-std-all 0.37997553554495755 0.0
*** budget = 10
VL10-1 0.4454002489914557 0.22739137508670587
RT-VL10-1 965.2959999999998 78.78173297577725 998.0 560.8
VL10-2 0.06042305151183856 0.03834026212416132
RT-VL10-2 994.0213333333332 16.700645044096017 998.8 792.0
VL10-3 0.4822440307257011 0.2581768568722247
RT-VL10-3 910.8026666666665 99.6855375312231 998.8 660.4
VL10-4 0.14064074019038458 0.1813591334264142
RT-VL10-4 958.9280000000001 47.91335112471262 999.2 810.4
VL10-5 0.9015377020253845 0.230742580016004
RT-VL10-5 991.664 17.059336759284246 998.0 858.0
VL10-all 0.4060491546889529 0.29757758584364796
RT-VL10-all 964.1424 30.07935184171661 994.0213333333332 910.8026666666665
*** budget = 20
VL20-1 0.3146140019462264 0.1926279484397102
RT-VL20-1 964.016 76.11192992779341 998.0 774.8
VL20-2 0.03973053021586272 0.022868068836805366
RT-VL20-2 992.5599999999998 23.448235185901165 998.4 792.0
VL20-3 0.3237745412024168 0.1863004038581202
RT-VL20-3 876.3626666666667 109.54622862619333 998.8 660.4
VL20-4 0.06487482716879936 0.0573873974800437
RT-VL20-4 959.9306666666668 44.72395323413271 999.2 834.0
VL20-5 0.8274454634533108 0.05573451508416006
RT-VL20-5 994.4053333333336 6.352320171052118 998.0 946.4
VL20-all 0.3140878727973232 0.28319930006290545
RT-VL20-all 957.4549333333332 42.9484116826481 994.4053333333336 876.3626666666667
*** budget = 30
VL30-1 0.22188675747569364 0.13563320375886137
RT-VL30-1 944.0400000000002 91.70513617022768 997.6 774.8
VL30-2 0.03115169309794762 0.01836369231290407
RT-VL30-2 995.16 2.7483813418082965 998.0 981.2
VL30-3 0.26744335178302825 0.15437142332248951
RT-VL30-3 860.8879999999999 112.49079009412281 998.8 660.4
VL30-4 0.04577626892566591 0.04081046648776046
RT-VL30-4 955.0080000000002 44.33943544972128 999.2 862.4
VL30-5 0.8076645033401895 0.04658737890967317
RT-VL30-5 995.2639999999999 2.247644099941093 998.0 983.2
VL30-all 0.274784514924505 0.2823525725329659
RT-VL30-all 950.0720000000001 49.17271516603492 995.2639999999999 860.8879999999999
*** budget = 40
VL40-1 0.1887084758661246 0.14152353447771632
RT-VL40-1 931.6432432432431 98.05374295966621 997.6 774.8
VL40-2 0.025905349183172853 0.016544926303537266
RT-VL40-2 989.5675675675677 33.04370614360463 998.0 792.0
VL40-3 0.21129599862114454 0.13692530178705675
RT-VL40-3 866.5297297297296 122.36070925831226 998.8 660.4
VL40-4 0.032338222777688434 0.028782764176166972
RT-VL40-4 957.1027027027028 44.40787905794566 999.2 874.0
VL40-5 0.7955736436981877 0.03202841889508743
RT-VL40-5 995.0702702702703 4.3995617020559274 998.0 970.0
VL40-all 0.2507643380292636 0.28301851249580157
RT-VL40-all 947.9827027027028 46.75741469932343 995.0702702702703 866.5297297297296
*** budget = 50
VL50-1 0.16206674107292734 0.11992501010509621
RT-VL50-1 916.6533333333334 103.29357428653968 997.6 774.8
VL50-2 0.021816167921446118 0.012855261701912797
RT-VL50-2 994.7466666666667 3.336638361518299 998.0 981.2
VL50-3 0.19341971685690526 0.11464672514526547
RT-VL50-3 866.8133333333334 124.32913236870735 998.8 660.4
VL50-4 0.028560061589787026 0.028565966136440798
RT-VL50-4 958.7599999999999 43.93696697163638 999.2 892.4
VL50-5 0.790954378474521 0.02781635895769212
RT-VL50-5 995.84 1.1341957503006317 998.0 993.6
VL50-all 0.23936341318311735 0.2842896581680209
RT-VL50-all 946.5626666666667 49.301628298555066 995.84 866.8133333333334
logs_data/30hcd2/cgrew_pr/sn/run_2024-04-09_19-51-41/run_1ce64_00023_23_dl_scale=0.2000,dr_cc=0.8000,seed=3_2024-04-09_19-51-44/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg10_ds0.200_zt=p_g1_s3/04.10_00.09.04/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type2-infogsdr_ppo-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg10_ds0.200_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: 2
ARG C_DATA: 2
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 10 Val 4 Test 11
Total data pairs: 9990, K 10, state dim 17, action dim 6, a min -0.7615941, a_max 0.7615942
Policy model is loaded from logs_data/30hcd2/cgrew_pr/sn/run_2024-04-09_19-51-41/run_1ce64_00023_23_dl_scale=0.2000,dr_cc=0.8000,seed=3_2024-04-09_19-51-44/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg10_ds0.200_zt=p_g1_s3/04.10_00.09.04/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hcd2/cgrew_pr/sn/run_2024-04-09_19-51-41/run_1ce64_00023_23_dl_scale=0.2000,dr_cc=0.8000,seed=3_2024-04-09_19-51-44/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg10_ds0.200_zt=p_g1_s3/04.10_00.09.04/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 986.3176000000001 37.69306404242917 1000.0 605.6
LR 0.9896 0.06365406507050433 1.0 0.6
VL-std-all 0.2528036814164539 0.0
*** budget = 10
VL10-1 0.47989993038162426 0.17189631890060433
RT-VL10-1 963.5946666666665 66.9991281402643 999.6 661.2
VL10-2 0.08725155503644853 0.07109531047839614
RT-VL10-2 990.0346666666668 26.179398991488625 998.8 836.0
VL10-3 0.4734668390373891 0.257576417939931
RT-VL10-3 975.3466666666667 54.232947755236594 999.2 699.6
VL10-4 0.1459406910474714 0.18641990582838242
RT-VL10-4 985.1226666666666 35.205687318323385 999.2 832.0
VL10-5 0.7863277999502657 0.2591413929788081
RT-VL10-5 994.4480000000001 13.941127261930196 998.8 832.0
VL10-all 0.39457736309063984 0.25426019809040057
RT-VL10-all 981.7093333333335 11.06219077358156 994.4480000000001 963.5946666666665
*** budget = 20
VL20-1 0.39274663898687673 0.1299421755611383
RT-VL20-1 944.805333333333 82.43102311360424 999.6 661.2
VL20-2 0.0472957010718106 0.04573673060706605
RT-VL20-2 986.4693333333335 33.0430263881638 998.8 836.0
VL20-3 0.31170233508005124 0.21951561761822247
RT-VL20-3 970.357333333333 62.6619994857773 999.2 699.6
VL20-4 0.07098070623785944 0.06374977101604491
RT-VL20-4 984.0319999999999 37.359558027364294 998.8 854.0
VL20-5 0.6875938207080898 0.07743353545565833
RT-VL20-5 995.5573333333334 3.9341639800880537 998.8 966.8
VL20-all 0.30206384041693757 0.23462985997802885
RT-VL20-all 976.2442666666666 17.67064139237123 995.5573333333334 944.805333333333
*** budget = 30
VL30-1 0.33569237317838996 0.11087063071671939
RT-VL30-1 924.9999999999999 91.84659383994595 998.8 661.2
VL30-2 0.030522983897609848 0.02975037813131176
RT-VL30-2 984.2559999999999 36.670010417233314 998.4 836.0
VL30-3 0.2220745243827942 0.18234115822212213
RT-VL30-3 960.4720000000001 72.16189310155326 999.2 699.6
VL30-4 0.04994305239322026 0.04858555361910483
RT-VL30-4 982.4960000000001 39.361265020321696 998.8 854.0
VL30-5 0.6563777944675573 0.04689120181095391
RT-VL30-5 996.056 0.9398212596020573 998.4 994.0
VL30-all 0.2589221456639143 0.22849982333140567
RT-VL30-all 969.6560000000002 25.113700611419294 996.056 924.9999999999999
*** budget = 40
VL40-1 0.3142469188962208 0.11231283476517928
RT-VL40-1 904.735135135135 96.09560615490719 999.6 661.2
VL40-2 0.027332731218572295 0.027312744265141485
RT-VL40-2 983.9243243243244 36.83873846334168 998.4 836.0
VL40-3 0.17430992832410816 0.13755583513084493
RT-VL40-3 957.1675675675675 77.63918644899397 999.2 699.6
VL40-4 0.03460061325586866 0.03528705528897526
RT-VL40-4 989.2324324324322 31.211415566277026 998.8 855.6
VL40-5 0.6509526440035893 0.05069276911638615
RT-VL40-5 996.1513513513513 0.9901191906469448 998.4 994.0
VL40-all 0.24028856713967187 0.2307057541661037
RT-VL40-all 966.2421621621621 33.47008701674817 996.1513513513513 904.735135135135
*** budget = 50
VL50-1 0.3022567303278663 0.1149783671863426
RT-VL50-1 908.6399999999999 103.75111758434218 998.8 661.2
VL50-2 0.019107043419068458 0.01795549765053709
RT-VL50-2 976.3733333333333 45.656098047127166 998.4 836.0
VL50-3 0.1460948659173117 0.11610473685260911
RT-VL50-3 950.7600000000001 80.89897238737542 999.2 699.6
VL50-4 0.03168922320432296 0.03786988712590595
RT-VL50-4 992.16 24.204594605157094 998.8 862.0
VL50-5 0.6358749655148664 0.029762277012869216
RT-VL50-5 995.9866666666666 1.0607334988372679 998.4 994.0
VL50-all 0.22700456567668717 0.22836538022634997
RT-VL50-all 964.784 32.26820646463706 995.9866666666666 908.6399999999999
logs_data/30hcd2/cgrew_pr/sn/run_2024-04-09_19-51-41/run_1ce64_00015_15_dl_scale=0.2000,dr_cc=0.8000,seed=2_2024-04-09_19-51-41/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg10_ds0.200_zt=p_g1_s2/04.09_19.52.18/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type2-infogsdr_ppo-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg10_ds0.200_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: 2
ARG C_DATA: 2
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 10 Val 4 Test 11
Total data pairs: 9990, K 10, state dim 17, action dim 6, a min -0.7615941, a_max 0.7615942
Policy model is loaded from logs_data/30hcd2/cgrew_pr/sn/run_2024-04-09_19-51-41/run_1ce64_00015_15_dl_scale=0.2000,dr_cc=0.8000,seed=2_2024-04-09_19-51-41/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg10_ds0.200_zt=p_g1_s2/04.09_19.52.18/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hcd2/cgrew_pr/sn/run_2024-04-09_19-51-41/run_1ce64_00015_15_dl_scale=0.2000,dr_cc=0.8000,seed=2_2024-04-09_19-51-41/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg10_ds0.200_zt=p_g1_s2/04.09_19.52.18/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 981.0594666666668 50.97916944251729 999.2 573.6
LR 0.9781333333333334 0.10093817689831512 1.0 -0.2
VL-std-all 0.444354563444052 0.0
*** budget = 10
VL10-1 0.5686515949103178 0.16128886213368424
RT-VL10-1 963.16 84.9068603431627 999.2 573.6
VL10-2 0.04420924814110674 0.0538761270488868
RT-VL10-2 992.5279999999997 23.560478546356677 998.8 777.6
VL10-3 0.33080273595104115 0.2517919247013072
RT-VL10-3 962.216 73.71577314704544 998.4 694.4
VL10-4 0.21863326700775612 0.17287347983717233
RT-VL10-4 975.0906666666665 42.16594257085793 998.0 810.8
VL10-5 0.7779322471851124 0.22304966841289528
RT-VL10-5 993.488 13.205341949377907 998.4 845.2
VL10-all 0.38804581863906684 0.2587782231813915
RT-VL10-all 977.2965333333332 13.610959390791542 993.488 962.216
*** budget = 20
VL20-1 0.47796811193146593 0.15184649128619843
RT-VL20-1 949.7973333333332 102.77228935639972 999.2 573.6
VL20-2 0.019668407640927307 0.018622286211753554
RT-VL20-2 995.1893333333333 1.3161127948959694 998.8 991.6
VL20-3 0.20202687117363388 0.16379540650110472
RT-VL20-3 965.616 73.07900937113656 998.4 722.8
VL20-4 0.13185449266101326 0.11386340014348317
RT-VL20-4 971.8986666666666 45.017334419334766 997.6 810.8
VL20-5 0.6950806039101158 0.04202396472803585
RT-VL20-5 994.9866666666665 1.0739749634987896 997.6 992.4
VL20-all 0.30531969746343124 0.24660790085875461
RT-VL20-all 975.4975999999999 17.54246349658132 995.1893333333333 949.7973333333332
*** budget = 30
VL30-1 0.4310553337960135 0.15809125842883567
RT-VL30-1 943.328 113.27117027734815 998.8 573.6
VL30-2 0.01159063403977426 0.009232003179133186
RT-VL30-2 995.3200000000002 1.302919797992182 998.8 992.8
VL30-3 0.14445801234146105 0.12208131689551152
RT-VL30-3 956.696 85.40388038022628 998.4 694.4
VL30-4 0.08739111314454959 0.07121766323972092
RT-VL30-4 974.0160000000001 41.5978430210029 997.6 864.8
VL30-5 0.6816733605792991 0.03551474560180976
RT-VL30-5 994.8639999999999 1.0411071030398371 996.8 992.4
VL30-all 0.27123369078021947 0.2495148745184953
RT-VL30-all 972.8448000000001 20.60765254365477 995.3200000000002 943.328
*** budget = 40
VL40-1 0.38820401774401814 0.15292091022544754
RT-VL40-1 935.7189189189189 124.02004597740104 998.8 573.6
VL40-2 0.010094243825528409 0.009413683992230727
RT-VL40-2 989.2108108108109 35.28325369399026 996.8 777.6
VL40-3 0.1182808662227108 0.11022947995301721
RT-VL40-3 960.0216216216216 82.55980022739008 998.4 722.8
VL40-4 0.06954826597631662 0.06182864045323065
RT-VL40-4 976.6810810810808 40.08368164186517 997.6 864.8
VL40-5 0.6716453891875991 0.02870234732364546
RT-VL40-5 994.9405405405406 1.0364856055530283 996.8 992.4
VL40-all 0.2515545565912346 0.2467146659092696
RT-VL40-all 971.3145945945946 21.456199194098446 994.9405405405406 935.7189189189189
*** budget = 50
VL50-1 0.35350385517878 0.14585299669253632
RT-VL50-1 927.8666666666667 132.50997782137847 998.4 573.6
VL50-2 0.007255088776301885 0.00507476040495951
RT-VL50-2 995.1466666666669 1.13482255098417 997.6 992.8
VL50-3 0.09828852637080746 0.09394278898082811
RT-VL50-3 958.8400000000001 83.99037087666657 997.6 722.8
VL50-4 0.05152161699508235 0.037366121584411355
RT-VL50-4 972.9599999999999 40.51582077822604 997.2 864.8
VL50-5 0.6646282775807908 0.02622291551118654
RT-VL50-5 994.9333333333332 1.0749676997731477 996.8 992.4
VL50-all 0.2350394729803525 0.24610798501427952
RT-VL50-all 969.9493333333334 25.14970416437448 995.1466666666669 927.8666666666667
logs_data/30hcd2/cgrew_pr/sn/run_2024-04-09_19-51-41/run_1ce64_00007_7_dl_scale=0.2000,dr_cc=0.8000,seed=1_2024-04-09_19-51-41/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg10_ds0.200_zt=p_g1_s1/04.09_19.52.21/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type2-infogsdr_ppo-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg10_ds0.200_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: 2
ARG C_DATA: 2
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 10 Val 4 Test 11
Total data pairs: 9990, K 10, state dim 17, action dim 6, a min -0.7615941, a_max 0.7615942
Policy model is loaded from logs_data/30hcd2/cgrew_pr/sn/run_2024-04-09_19-51-41/run_1ce64_00007_7_dl_scale=0.2000,dr_cc=0.8000,seed=1_2024-04-09_19-51-41/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg10_ds0.200_zt=p_g1_s1/04.09_19.52.21/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hcd2/cgrew_pr/sn/run_2024-04-09_19-51-41/run_1ce64_00007_7_dl_scale=0.2000,dr_cc=0.8000,seed=1_2024-04-09_19-51-41/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg10_ds0.200_zt=p_g1_s1/04.09_19.52.21/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 991.6749333333332 15.789509966922836 999.2 796.8
LR 0.9981333333333332 0.027261368678447206 1.0 0.6
VL-std-all 0.24419140571367487 0.0
*** budget = 10
VL10-1 0.6808119205949205 0.08345402824717052
RT-VL10-1 988.232 25.256329424522484 998.8 796.8
VL10-2 0.021608674886459317 0.01917771683785522
RT-VL10-2 994.4693333333335 2.181007310599598 998.8 988.4
VL10-3 0.6218310065532581 0.3074139777822105
RT-VL10-3 985.28 35.03442878084356 999.2 797.2
VL10-4 0.24552011972628293 0.15844279675578174
RT-VL10-4 985.248 28.666762914567105 999.2 811.6
VL10-5 0.7240953996711884 0.17698219022430084
RT-VL10-5 992.5093333333335 5.041247817312255 998.0 948.8
VL10-all 0.45877342428642187 0.27672174096860236
RT-VL10-all 989.1477333333335 3.758340853798898 994.4693333333335 985.248
*** budget = 20
VL20-1 0.6358300841951067 0.07893789622408344
RT-VL20-1 983.1199999999998 34.607374936565186 998.0 796.8
VL20-2 0.012041749540215247 0.00922335822545384
RT-VL20-2 994.544 2.0475832909391807 998.0 990.8
VL20-3 0.4439776028277949 0.26838281650300627
RT-VL20-3 979.3706666666665 45.26266680413585 998.0 797.2
VL20-4 0.15601160592434474 0.09418260495625641
RT-VL20-4 987.0346666666668 23.137764186618277 998.0 872.0
VL20-5 0.6702234323825089 0.04681773169154388
RT-VL20-5 993.1786666666666 2.3874278115904444 998.0 981.2
VL20-all 0.3836168949739941 0.26048818455450273
RT-VL20-all 987.4495999999999 5.785144524844136 994.544 979.3706666666665
*** budget = 30
VL30-1 0.6095408779227871 0.0776010756521296
RT-VL30-1 980.712 39.03387574914897 998.0 796.8
VL30-2 0.008593046246287282 0.006568434075827885
RT-VL30-2 994.464 2.153114952806745 998.0 990.8
VL30-3 0.3571062651925551 0.2385873364096622
RT-VL30-3 979.2560000000001 43.76884809999002 998.0 797.2
VL30-4 0.12424151529923019 0.08337695252260173
RT-VL30-4 987.768 22.100438366693094 998.0 872.0
VL30-5 0.6540765927873092 0.029770964758265187
RT-VL30-5 993.24 1.647786393923675 996.4 989.6
VL30-all 0.35071165948963384 0.25588966754782755
RT-VL30-all 987.088 6.240328196497357 994.464 979.2560000000001
*** budget = 40
VL40-1 0.5933544254025 0.08106318857356055
RT-VL40-1 976.1729729729728 44.35517976789761 996.4 796.8
VL40-2 0.006382509544271913 0.004483977172490012
RT-VL40-2 994.464864864865 2.1919035558059305 998.4 990.8
VL40-3 0.28743074530403573 0.20407381744744565
RT-VL40-3 987.6216216216217 32.80592510042458 998.0 797.2
VL40-4 0.1081077788338045 0.07754515083114884
RT-VL40-4 985.6432432432431 25.327397200281613 996.8 872.0
VL40-5 0.6461982420072547 0.02696156328736272
RT-VL40-5 993.3945945945948 1.7163673055434063 996.4 990.0
VL40-all 0.3282947402183734 0.25498977291697256
RT-VL40-all 987.4594594594594 6.557610069025645 994.464864864865 976.1729729729728
*** budget = 50
VL50-1 0.5868801351286624 0.08632993573875777
RT-VL50-1 975.1333333333333 46.12135682691432 997.2 796.8
VL50-2 0.006382160618690657 0.005325724267607033
RT-VL50-2 994.32 2.1698540657534164 998.0 990.8
VL50-3 0.24953790988513888 0.18063299430737856
RT-VL50-3 994.3199999999999 1.8573098825990217 998.0 990.4
VL50-4 0.08439936702254867 0.06110506359845795
RT-VL50-4 985.72 25.608779744454825 998.0 872.0
VL50-5 0.6420876516851272 0.024961252891916502
RT-VL50-5 993.5466666666667 1.499273898332863 996.4 990.0
VL50-all 0.3138574448680336 0.25830428589456966
RT-VL50-all 988.6080000000002 7.4773190679844985 994.32 975.1333333333333
logs_data/30hcd2/cgrew_pr/l2/run_2024-04-10_00-49-50/run_c3be1_00036_36_dl_indist=2,dl_scale=0.0200,dr_cc=0.8000,seed=5_2024-04-10_00-49-54/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=p_g1_s5/04.10_05.01.28/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type2-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: 2
ARG C_DATA: 2
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 10 Val 4 Test 11
Total data pairs: 9990, K 10, state dim 17, action dim 6, a min -0.7615941, a_max 0.7615942
Policy model is loaded from logs_data/30hcd2/cgrew_pr/l2/run_2024-04-10_00-49-50/run_c3be1_00036_36_dl_indist=2,dl_scale=0.0200,dr_cc=0.8000,seed=5_2024-04-10_00-49-54/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=p_g1_s5/04.10_05.01.28/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hcd2/cgrew_pr/l2/run_2024-04-10_00-49-50/run_c3be1_00036_36_dl_indist=2,dl_scale=0.0200,dr_cc=0.8000,seed=5_2024-04-10_00-49-54/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=p_g1_s5/04.10_05.01.28/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 978.6768 77.53471597781217 1000.0 230.0
LR 0.9690666666666666 0.15354628690470581 1.0 -0.6
VL-std-all 0.30291751363891595 0.0
*** budget = 10
VL10-1 0.571912522802243 0.2973990573587343
RT-VL10-1 997.4853333333333 1.8865625412962639 1000.0 982.0
VL10-2 0.10677175978717489 0.12003501807585577
RT-VL10-2 987.7813333333335 85.08373396183839 999.6 230.0
VL10-3 0.20564610201518585 0.1667105008328867
RT-VL10-3 956.6719999999999 97.64364401229606 999.6 613.6
VL10-4 0.187071362443734 0.15653485630443711
RT-VL10-4 970.0640000000001 58.56249685023115 999.2 740.4
VL10-5 0.8245620119430784 0.31025501449192183
RT-VL10-5 987.9733333333335 32.11710793677136 998.8 740.4
VL10-all 0.3791927517982832 0.27449479150050066
RT-VL10-all 979.9952000000001 14.64772773823075 997.4853333333333 956.6719999999999
*** budget = 20
VL20-1 0.41052481986166434 0.21666120644589895
RT-VL20-1 997.4133333333333 2.400296278008658 1000.0 982.0
VL20-2 0.04480697035493186 0.0435628415103907
RT-VL20-2 977.8293333333332 119.49506519610848 999.6 230.0
VL20-3 0.11154846555686812 0.09659576205862998
RT-VL20-3 944.7466666666667 111.04263845728612 999.6 613.6
VL20-4 0.10716412042715831 0.09272987513605979
RT-VL20-4 966.5866666666668 59.596163933222705 999.2 761.2
VL20-5 0.6696705663027156 0.14986390564595817
RT-VL20-5 994.8319999999999 1.9208442588264805 998.8 988.8
VL20-all 0.2687429885006677 0.23740690774310166
RT-VL20-all 976.2815999999999 19.398488214176734 997.4133333333333 944.7466666666667
*** budget = 30
VL30-1 0.3428344836692054 0.18468610423726933
RT-VL30-1 997.136 2.7935468494371096 1000.0 982.0
VL30-2 0.026563439309779526 0.03371575955354964
RT-VL30-2 983.5840000000001 100.11708217881703 999.6 282.8
VL30-3 0.07225603674806283 0.06626668258758918
RT-VL30-3 932.5440000000001 123.55382334836911 999.6 613.6
VL30-4 0.07247444053049523 0.06929803383307216
RT-VL30-4 964.6080000000001 62.116960131674176 999.2 761.2
VL30-5 0.6244760289114764 0.12162954452487458
RT-VL30-5 995.128 1.772121891970182 998.8 989.6
VL30-all 0.22772088583380387 0.2277722021396931
RT-VL30-all 974.6 23.993872284397913 997.136 932.5440000000001
*** budget = 40
VL40-1 0.2900773606165009 0.15908423226449825
RT-VL40-1 997.027027027027 3.150345210483365 1000.0 982.0
VL40-2 0.020520729303857423 0.023407983938667117
RT-VL40-2 957.718918918919 167.7629438158206 999.2 230.0
VL40-3 0.05119088741662287 0.04657246005445917
RT-VL40-3 942.1837837837838 112.93454098656062 998.8 645.6
VL40-4 0.05466233489909271 0.05730871697392867
RT-VL40-4 957.2864864864864 68.03948838393123 999.2 761.2
VL40-5 0.5964279894094312 0.0634863105494886
RT-VL40-5 995.1891891891894 1.6360439734696441 998.8 989.6
VL40-all 0.20257586032910102 0.21941554361308088
RT-VL40-all 969.8810810810812 22.140844592506866 997.027027027027 942.1837837837838
*** budget = 50
VL50-1 0.26097729516959095 0.15157192097046268
RT-VL50-1 996.4533333333333 3.245893131669957 1000.0 982.0
VL50-2 0.01576491941095947 0.013038766102373927
RT-VL50-2 974.0 128.35754230533814 999.2 282.8
VL50-3 0.04375701691818622 0.040485737099031145
RT-VL50-3 925.2933333333332 129.90062595007853 998.8 613.6
VL50-4 0.05210093519776145 0.06172905104182253
RT-VL50-4 956.6800000000001 69.88631911898064 999.2 761.2
VL50-5 0.5763581490604359 0.04489936993669906
RT-VL50-5 995.1333333333332 1.73461491083435 998.8 989.6
VL50-all 0.1897916631513868 0.21216559769936968
RT-VL50-all 969.512 26.541970587480257 996.4533333333333 925.2933333333332
logs_data/30hcd2/cgrew_pr/l2/run_2024-04-10_00-49-50/run_c3be1_00028_28_dl_indist=2,dl_scale=0.0200,dr_cc=0.8000,seed=4_2024-04-10_00-49-54/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=p_g1_s4/04.10_05.01.07/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type2-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: 2
ARG C_DATA: 2
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 10 Val 4 Test 11
Total data pairs: 9990, K 10, state dim 17, action dim 6, a min -0.7615941, a_max 0.7615942
Policy model is loaded from logs_data/30hcd2/cgrew_pr/l2/run_2024-04-10_00-49-50/run_c3be1_00028_28_dl_indist=2,dl_scale=0.0200,dr_cc=0.8000,seed=4_2024-04-10_00-49-54/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=p_g1_s4/04.10_05.01.07/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hcd2/cgrew_pr/l2/run_2024-04-10_00-49-50/run_c3be1_00028_28_dl_indist=2,dl_scale=0.0200,dr_cc=0.8000,seed=4_2024-04-10_00-49-54/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=p_g1_s4/04.10_05.01.07/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 986.0109333333332 51.27819225033408 1000.0 384.0
LR 0.9858666666666667 0.08586956516847064 1.0 -0.2
VL-std-all 0.22727777158082582 0.0
*** budget = 10
VL10-1 0.7716292053015725 0.19461877954833384
RT-VL10-1 992.8160000000001 29.52877484759569 1000.0 744.0
VL10-2 0.09803745372438362 0.07697160573043962
RT-VL10-2 994.5626666666665 25.80642180198995 1000.0 744.0
VL10-3 0.2843991570105738 0.22744459142860254
RT-VL10-3 958.7306666666665 86.09935032404263 998.8 658.4
VL10-4 0.1317180840458084 0.12106987802463363
RT-VL10-4 978.9173333333333 42.54783151022179 998.8 788.4
VL10-5 0.6292591741463522 0.1560834369832173
RT-VL10-5 994.9280000000001 2.7134509393022004 999.2 969.6
VL10-all 0.3830086148457381 0.27046057753292446
RT-VL10-all 983.9909333333333 13.950521593434813 994.9280000000001 958.7306666666665
*** budget = 20
VL20-1 0.6491591270883398 0.1783256460522415
RT-VL20-1 992.4213333333335 28.983702516337615 999.6 817.6
VL20-2 0.06084478824230858 0.05214849141571811
RT-VL20-2 991.7333333333333 36.237341084700034 1000.0 744.0
VL20-3 0.1569907080378769 0.14474311059364717
RT-VL20-3 949.1413333333334 98.50852970625887 998.8 672.0
VL20-4 0.07382712485712618 0.07253606249797634
RT-VL20-4 983.3173333333334 33.77843246149169 998.8 809.6
VL20-5 0.5618059127314526 0.08616591976643836
RT-VL20-5 994.9120000000001 1.7751589600183262 999.2 990.4
VL20-all 0.3005255321914208 0.2526871953220374
RT-VL20-all 982.3050666666668 17.035396820085488 994.9120000000001 949.1413333333334
*** budget = 30
VL30-1 0.594358332709395 0.13496013438280283
RT-VL30-1 988.352 36.173682367157475 999.6 817.6
VL30-2 0.039576313627851814 0.035445987865949116
RT-VL30-2 993.7919999999999 26.833082864255463 1000.0 806.4
VL30-3 0.10103590871337519 0.09482074704429062
RT-VL30-3 952.632 96.00733605303294 998.8 704.0
VL30-4 0.04683546470565216 0.05127882962355955
RT-VL30-4 981.7360000000001 40.455139401564296 998.8 809.6
VL30-5 0.5284008098840896 0.05665546316353573
RT-VL30-5 994.96 1.6257921146321312 999.2 990.8
VL30-all 0.26204136592807276 0.24621492906162493
RT-VL30-all 982.2944 15.55298383719344 994.96 952.632
*** budget = 40
VL40-1 0.5392337440347217 0.14749944214559088
RT-VL40-1 981.8594594594596 49.958531232924166 999.6 806.4
VL40-2 0.028737749288924013 0.024860633605417726
RT-VL40-2 992.5621621621623 31.066444497293755 1000.0 806.4
VL40-3 0.07685617390556494 0.07365144570726953
RT-VL40-3 951.6216216216217 102.43082078173049 998.4 672.0
VL40-4 0.031213427358958625 0.026074278017846442
RT-VL40-4 980.3459459459458 43.30908770869274 998.8 809.6
VL40-5 0.5091642397712618 0.036107360765899266
RT-VL40-5 994.9297297297297 1.6401820704578192 999.2 990.8
VL40-all 0.23704106687188622 0.23528107641620016
RT-VL40-all 980.2637837837838 15.422493093100101 994.9297297297297 951.6216216216217
*** budget = 50
VL50-1 0.5240224183776344 0.12706520451183081
RT-VL50-1 984.64 44.68611715809135 999.6 817.6
VL50-2 0.022840672443843055 0.022689450050290872
RT-VL50-2 991.4133333333333 34.40057880650008 1000.0 806.4
VL50-3 0.0644043027433938 0.06915955817132029
RT-VL50-3 947.7866666666667 100.5232037337096 998.4 704.0
VL50-4 0.02411841747999904 0.020207894115972447
RT-VL50-4 981.2266666666668 45.63284587029635 998.0 809.6
VL50-5 0.5033618127497367 0.03742770920516505
RT-VL50-5 995.1066666666668 1.76992152996178 999.2 990.8
VL50-all 0.2277495247589214 0.23404046143723178
RT-VL50-all 980.0346666666668 16.84756779017209 995.1066666666668 947.7866666666667
logs_data/30hcd2/cgrew_pr/l2/run_2024-04-10_00-49-50/run_c3be1_00020_20_dl_indist=2,dl_scale=0.0200,dr_cc=0.8000,seed=3_2024-04-10_00-49-50/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=p_g1_s3/04.10_05.00.48/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type2-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: 2
ARG C_DATA: 2
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 10 Val 4 Test 11
Total data pairs: 9990, K 10, state dim 17, action dim 6, a min -0.7615941, a_max 0.7615942
Policy model is loaded from logs_data/30hcd2/cgrew_pr/l2/run_2024-04-10_00-49-50/run_c3be1_00020_20_dl_indist=2,dl_scale=0.0200,dr_cc=0.8000,seed=3_2024-04-10_00-49-50/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=p_g1_s3/04.10_05.00.48/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hcd2/cgrew_pr/l2/run_2024-04-10_00-49-50/run_c3be1_00020_20_dl_indist=2,dl_scale=0.0200,dr_cc=0.8000,seed=3_2024-04-10_00-49-50/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=p_g1_s3/04.10_05.00.48/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 994.8202666666666 13.97981077347695 1000.0 791.6
LR 0.9981333333333333 0.027261368678447206 1.0 0.6
VL-std-all 0.10030477253655488 0.0
*** budget = 10
VL10-1 0.47343433729674816 0.25565589278786854
RT-VL10-1 996.4906666666665 2.50616165125521 999.6 976.4
VL10-2 0.10727390482943867 0.09834739245010844
RT-VL10-2 996.5306666666667 2.0828168959901947 999.6 976.4
VL10-3 0.2901417952988944 0.21188866717499574
RT-VL10-3 993.4453333333332 17.21027827265504 998.8 817.2
VL10-4 0.1480749457242023 0.14429265768377342
RT-VL10-4 994.8186666666668 11.924056282248177 999.2 859.6
VL10-5 0.6993139067661422 0.1621310789143076
RT-VL10-5 995.8053333333332 1.4196613054606526 999.2 992.4
VL10-all 0.34364777798308516 0.2192383073061929
RT-VL10-all 995.4181333333333 1.1652709670572863 996.5306666666667 993.4453333333332
*** budget = 20
VL20-1 0.31897072316593494 0.20552682570850797
RT-VL20-1 996.5439999999999 2.3338803168400366 999.6 988.0
VL20-2 0.05457007132596722 0.06931462271896467
RT-VL20-2 996.5973333333334 1.1395874497183438 998.8 994.0
VL20-3 0.15527322675585845 0.1278127260849161
RT-VL20-3 994.8640000000003 2.112605973673276 998.8 988.4
VL20-4 0.06899843291590356 0.05398806674724632
RT-VL20-4 994.368 15.73280360690151 999.2 859.6
VL20-5 0.6352164519727328 0.051124150780431414
RT-VL20-5 995.7973333333334 1.3566599508433375 999.2 992.8
VL20-all 0.2466057812272794 0.21587897433367179
RT-VL20-all 995.6341333333334 0.8920139909215945 996.5973333333334 994.368
*** budget = 30
VL30-1 0.2389651605614608 0.13725364951584762
RT-VL30-1 996.3679999999999 2.444703663023394 999.2 988.0
VL30-2 0.03340555943366064 0.04368055931269353
RT-VL30-2 996.7120000000001 1.2087414942823809 998.8 994.0
VL30-3 0.09416996312956483 0.0851956000979985
RT-VL30-3 994.9920000000001 2.1839267386979837 998.4 989.6
VL30-4 0.051229464166534504 0.04558264631501748
RT-VL30-4 993.4159999999999 19.187197398265326 998.8 859.6
VL30-5 0.614940848978507 0.03428933733839172
RT-VL30-5 995.712 1.1866996250104853 999.2 992.8
VL30-all 0.20654219925394557 0.21659481374076278
RT-VL30-all 995.4400000000002 1.1705068987409102 996.7120000000001 993.4159999999999
*** budget = 40
VL40-1 0.18850080515775108 0.13986600625454468
RT-VL40-1 995.7513513513514 2.6603821734827275 999.2 988.0
VL40-2 0.021051454937929006 0.019112335401927062
RT-VL40-2 996.6054054054052 1.239430110094403 998.8 994.4
VL40-3 0.08599252273733068 0.07599710493001212
RT-VL40-3 995.2432432432435 2.217929463034138 998.4 989.6
VL40-4 0.03602650466639945 0.03087203460858966
RT-VL40-4 992.6378378378378 22.22118968463953 998.8 859.6
VL40-5 0.6040646064057659 0.028755055347490895
RT-VL40-5 995.6756756756756 1.3014348433826863 999.2 992.8
VL40-all 0.1871271787810352 0.21655460458034032
RT-VL40-all 995.1827027027026 1.3468829908675732 996.6054054054052 992.6378378378378
*** budget = 50
VL50-1 0.16372584402680462 0.11787248057567731
RT-VL50-1 995.6666666666666 2.699300320865067 999.2 990.4
VL50-2 0.01748783391387614 0.013260864671565195
RT-VL50-2 996.6400000000001 1.1528515371315877 998.4 994.4
VL50-3 0.059220152519093225 0.04838088557841244
RT-VL50-3 995.2133333333331 2.2234707603704216 998.4 989.6
VL50-4 0.030732768284175666 0.026677008773649747
RT-VL50-4 991.8 24.59436249766736 999.2 859.6
VL50-5 0.6023785651304497 0.030317977219484128
RT-VL50-5 995.6533333333334 1.3335999733386745 999.2 992.8
VL50-all 0.17470903277487987 0.21991235113609767
RT-VL50-all 994.9946666666667 1.664106834177324 996.6400000000001 991.8
logs_data/30hcd2/cgrew_pr/l2/run_2024-04-10_00-49-50/run_c3be1_00012_12_dl_indist=2,dl_scale=0.0200,dr_cc=0.8000,seed=2_2024-04-10_00-49-50/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=p_g1_s2/04.10_00.50.26/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type2-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: 2
ARG C_DATA: 2
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 10 Val 4 Test 11
Total data pairs: 9990, K 10, state dim 17, action dim 6, a min -0.7615941, a_max 0.7615942
Policy model is loaded from logs_data/30hcd2/cgrew_pr/l2/run_2024-04-10_00-49-50/run_c3be1_00012_12_dl_indist=2,dl_scale=0.0200,dr_cc=0.8000,seed=2_2024-04-10_00-49-50/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=p_g1_s2/04.10_00.50.26/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hcd2/cgrew_pr/l2/run_2024-04-10_00-49-50/run_c3be1_00012_12_dl_indist=2,dl_scale=0.0200,dr_cc=0.8000,seed=2_2024-04-10_00-49-50/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=p_g1_s2/04.10_00.50.26/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 990.9592 27.47233351379772 999.6 614.0
LR 0.9965333333333332 0.037076257751948075 1.0 0.6
VL-std-all 0.14152537431908166 0.0
*** budget = 10
VL10-1 0.8290690738945221 0.32919928563648054
RT-VL10-1 978.7466666666667 56.51022169090788 999.6 614.0
VL10-2 0.221853628448581 0.18296335609134004
RT-VL10-2 991.3040000000001 27.911228039387066 999.6 794.4
VL10-3 0.26180946374788466 0.18031513838308133
RT-VL10-3 985.7119999999999 41.28837434435994 998.0 791.6
VL10-4 0.13599678541190882 0.1323631655489061
RT-VL10-4 993.9413333333334 8.690640073601537 997.6 888.8
VL10-5 0.5088086963009923 0.09496780742367608
RT-VL10-5 993.938666666667 1.1292349425852717 996.4 988.0
VL10-all 0.39150752956077783 0.25143963236214306
RT-VL10-all 988.7285333333333 5.8256147700384435 993.9413333333334 978.7466666666667
*** budget = 20
VL20-1 0.6353341525528171 0.27189609846383767
RT-VL20-1 962.368 76.36990010905257 999.6 614.0
VL20-2 0.13628231632931836 0.13150051545630728
RT-VL20-2 992.7306666666669 22.176251401493044 999.6 805.6
VL20-3 0.16290235085234017 0.11513701278403021
RT-VL20-3 981.6906666666665 48.64691062019138 998.0 791.6
VL20-4 0.06640840632883088 0.06967495590039588
RT-VL20-4 994.7253333333331 1.092409365678549 996.8 991.6
VL20-5 0.4690533135757668 0.04313261395697063
RT-VL20-5 993.7653333333333 1.2583050327943393 996.4 988.0
VL20-all 0.29399610792781466 0.219550477604279
RT-VL20-all 985.0560000000002 12.282669214068317 994.7253333333331 962.368
*** budget = 30
VL30-1 0.5317955392942215 0.19576028279897195
RT-VL30-1 958.304 72.91224577531541 999.6 760.4
VL30-2 0.08778917891683306 0.07115953908222594
RT-VL30-2 991.816 26.6774763424129 999.2 805.6
VL30-3 0.11489996771126088 0.08238558728373419
RT-VL30-3 975.12 58.474035263525295 998.0 791.6
VL30-4 0.041828927484363135 0.042756509543309326
RT-VL30-4 994.9759999999999 1.0496780458788302 996.8 992.0
VL30-5 0.45213561048236733 0.028629251426015127
RT-VL30-5 993.76 1.3505554412907315 996.4 988.0
VL30-all 0.24568984477780917 0.20399716097740558
RT-VL30-all 982.7951999999999 14.203528665792868 994.9759999999999 958.304
*** budget = 40
VL40-1 0.46502667819755095 0.19515473945048312
RT-VL40-1 942.7567567567568 79.53876682045812 999.2 760.4
VL40-2 0.06439983153058233 0.05703724958985934
RT-VL40-2 995.8594594594596 1.7845371054670982 998.8 992.0
VL40-3 0.09025751696924025 0.06332761575139548
RT-VL40-3 973.7513513513514 59.87347750869879 998.0 792.8
VL40-4 0.03269219667118693 0.034035853303536506
RT-VL40-4 994.8216216216218 0.9662228312001849 996.8 992.8
VL40-5 0.4447188344664982 0.023578189601441597
RT-VL40-5 993.5999999999999 1.3636199835216058 996.0 988.0
VL40-all 0.21941901156701174 0.19321680950335285
RT-VL40-all 980.1578378378379 20.406582933627767 995.8594594594596 942.7567567567568
*** budget = 50
VL50-1 0.4514868060713507 0.1814804667718793
RT-VL50-1 947.7733333333333 77.52090012090646 999.2 760.4
VL50-2 0.055774117029945156 0.05342753239381802
RT-VL50-2 995.8266666666665 1.8866077729323851 999.6 992.8
VL50-3 0.08449708452940638 0.06050842366486956
RT-VL50-3 982.0399999999998 46.288066136604435 998.0 800.0
VL50-4 0.026980090452621175 0.03320360362159594
RT-VL50-4 995.0133333333332 0.8562450324267915 996.8 993.6
VL50-5 0.43849371785191654 0.01810346825400018
RT-VL50-5 993.6266666666667 1.423360655475468 995.6 988.0
VL50-all 0.21144636318704801 0.19159733235733314
RT-VL50-all 982.856 18.240096296042072 995.8266666666665 947.7733333333333
logs_data/30hcd2/cgrew_pr/l2/run_2024-04-10_00-49-50/run_c3be1_00004_4_dl_indist=2,dl_scale=0.0200,dr_cc=0.8000,seed=1_2024-04-10_00-49-50/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=p_g1_s1/04.10_00.50.27/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type2-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: 2
ARG C_DATA: 2
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 10 Val 4 Test 11
Total data pairs: 9990, K 10, state dim 17, action dim 6, a min -0.7615941, a_max 0.7615942
Policy model is loaded from logs_data/30hcd2/cgrew_pr/l2/run_2024-04-10_00-49-50/run_c3be1_00004_4_dl_indist=2,dl_scale=0.0200,dr_cc=0.8000,seed=1_2024-04-10_00-49-50/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=p_g1_s1/04.10_00.50.27/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hcd2/cgrew_pr/l2/run_2024-04-10_00-49-50/run_c3be1_00004_4_dl_indist=2,dl_scale=0.0200,dr_cc=0.8000,seed=1_2024-04-10_00-49-50/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=p_g1_s1/04.10_00.50.27/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 969.1064 78.53521188426672 1000.0 385.2
LR 0.9669333333333334 0.11673300970828927 1.0 0.2
VL-std-all 0.47911495127673914 0.0
*** budget = 10
VL10-1 0.6299919743992994 0.2983234984600756
RT-VL10-1 978.4319999999999 64.57449684408441 1000.0 581.2
VL10-2 0.1358031733675845 0.14125597991723918
RT-VL10-2 991.1093333333334 32.87847998649302 1000.0 789.2
VL10-3 0.2282341724578345 0.17302641498615018
RT-VL10-3 931.9146666666668 112.07153512328136 999.2 538.0
VL10-4 0.15410448879892433 0.13467442798911466
RT-VL10-4 957.1786666666666 83.05932705937099 999.2 687.2
VL10-5 0.6965629737322966 0.20818695983367175
RT-VL10-5 989.2666666666664 33.9408557477399 998.0 720.8
VL10-all 0.3689393565511879 0.24322423931939086
RT-VL10-all 969.5802666666666 22.369199115847703 991.1093333333334 931.9146666666668
*** budget = 20
VL20-1 0.46871306203361107 0.20741187801431715
RT-VL20-1 971.456 70.38153212313583 999.6 614.4
VL20-2 0.06186718582453361 0.04906516357469584
RT-VL20-2 996.7466666666669 1.46690907087734 1000.0 992.8
VL20-3 0.13116294649934362 0.11476479535330865
RT-VL20-3 911.648 123.09456891349838 998.4 538.0
VL20-4 0.07982633022964353 0.07139458846372247
RT-VL20-4 945.9146666666668 91.08709486834871 999.2 688.4
VL20-5 0.5903763312930834 0.10201478222078239
RT-VL20-5 993.9999999999998 2.4544924797874867 996.8 982.8
VL20-all 0.26638917117604305 0.2194646689956621
RT-VL20-all 963.9530666666667 31.92408584710504 996.7466666666669 911.648
*** budget = 30
VL30-1 0.40196730372004114 0.1894290411510363
RT-VL30-1 963.0160000000001 80.19536984140667 999.6 614.4
VL30-2 0.0413215452849923 0.03960344656256578
RT-VL30-2 996.816 1.3480890178322786 999.2 992.8
VL30-3 0.09729109725261637 0.09309578449616288
RT-VL30-3 920.32 117.52579972074217 998.4 538.0
VL30-4 0.054233981795648784 0.05801699022129211
RT-VL30-4 954.016 83.68776101676995 999.2 718.0
VL30-5 0.5640700415837387 0.06771229356552823
RT-VL30-5 993.8159999999999 2.8579265210988196 996.8 982.8
VL30-all 0.23177679392740744 0.21225676269399263
RT-VL30-all 965.5968 28.14862615759424 996.816 920.32
*** budget = 40
VL40-1 0.34934944292143666 0.15911726641411145
RT-VL40-1 957.2756756756758 86.74260590158401 999.6 614.4
VL40-2 0.03133851593104447 0.03333913181279535
RT-VL40-2 996.9729729729731 1.283712658058151 999.2 993.6
VL40-3 0.07367186537588188 0.06618313780446289
RT-VL40-3 915.3189189189188 105.1711959278077 998.0 743.2
VL40-4 0.03665754387343222 0.03574286262457933
RT-VL40-4 965.2324324324323 69.53599905339352 999.2 780.4
VL40-5 0.5434153020454936 0.05182356187810324
RT-VL40-5 993.8054054054053 2.6346901911257037 996.8 983.2
VL40-all 0.20688653402945775 0.2054694409417898
RT-VL40-all 965.7210810810809 29.58834777462477 996.9729729729731 915.3189189189188
*** budget = 50
VL50-1 0.31131408577795966 0.16281231475406477
RT-VL50-1 935.1333333333333 100.8543812743017 998.4 614.4
VL50-2 0.023878021012665986 0.022058362885129287
RT-VL50-2 996.9599999999999 1.4664242223858712 999.2 992.8
VL50-3 0.06124835702980643 0.054048280842948625
RT-VL50-3 896.5599999999998 124.33788803096184 998.0 538.0
VL50-4 0.03276666693112453 0.0339055496266509
RT-VL50-4 969.9066666666665 64.98522361959593 998.4 780.4
VL50-5 0.5233803847816313 0.03626705220847983
RT-VL50-5 994.1066666666669 2.1980193103994554 996.8 984.4
VL50-all 0.19051750310663756 0.19735960468956365
RT-VL50-all 958.5333333333332 38.10427144326772 996.9599999999999 896.5599999999998
logs_data/30hcd2/cgrew_pr/rr/run_2024-04-09_15-08-26/run_8b1a6_00036_36_dl_indist=2,dl_scale=0.0200,dr_cc=0.8000,seed=5_2024-04-09_15-08-32/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=n_g1_s5/04.09_20.23.50/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type2-infogsdr_ppo-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_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: 2
ARG C_DATA: 2
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 10 Val 4 Test 11
Total data pairs: 9990, K 10, state dim 17, action dim 6, a min -0.7615941, a_max 0.7615942
Policy model is loaded from logs_data/30hcd2/cgrew_pr/rr/run_2024-04-09_15-08-26/run_8b1a6_00036_36_dl_indist=2,dl_scale=0.0200,dr_cc=0.8000,seed=5_2024-04-09_15-08-32/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=n_g1_s5/04.09_20.23.50/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hcd2/cgrew_pr/rr/run_2024-04-09_15-08-26/run_8b1a6_00036_36_dl_indist=2,dl_scale=0.0200,dr_cc=0.8000,seed=5_2024-04-09_15-08-32/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=n_g1_s5/04.09_20.23.50/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 992.3346666666666 30.36944601989894 999.6 368.4
LR 0.9946666666666667 0.05239168721170267 1.0 -0.2
VL-std-all 0.16009450815957527 0.0
*** budget = 10
VL10-1 0.44709487134848835 0.35185219365645537
RT-VL10-1 990.6640000000002 39.56838684269721 999.6 568.0
VL10-2 0.14601226564095637 0.15695048534431438
RT-VL10-2 993.8106666666669 23.326308885509988 999.6 754.0
VL10-3 0.2202140799260951 0.152831844174863
RT-VL10-3 987.6213333333334 30.770402633410928 998.4 838.8
VL10-4 0.12485677134294003 0.13207069732415297
RT-VL10-4 994.1466666666666 9.902287053448253 998.0 914.4
VL10-5 0.7680104098628202 0.2118971830755908
RT-VL10-5 996.1919999999999 0.8917039867579359 998.8 993.6
VL10-all 0.34123767962426 0.24204176488057505
RT-VL10-all 992.4869333333334 3.0077118538110055 996.1919999999999 987.6213333333334
*** budget = 20
VL20-1 0.2599606036596643 0.2181913090041605
RT-VL20-1 992.9440000000001 21.866371380120054 999.6 806.4
VL20-2 0.07164026757929097 0.06284267361247453
RT-VL20-2 994.3946666666667 17.689287857030568 998.8 842.8
VL20-3 0.1457525467920672 0.10198923696681456
RT-VL20-3 984.0480000000001 35.38544845931257 998.0 838.8
VL20-4 0.05950104554209522 0.05924151939086415
RT-VL20-4 993.488 12.643975746048657 998.0 914.4
VL20-5 0.6735995201264717 0.04767316807854219
RT-VL20-5 996.32 0.8566601815578133 998.8 993.6
VL20-all 0.2420907967399179 0.22724109086812513
RT-VL20-all 992.2389333333333 4.253256793459677 996.32 984.0480000000001
*** budget = 30
VL30-1 0.1778784997936875 0.16823783901882836
RT-VL30-1 991.0879999999999 26.637722425162405 999.6 806.4
VL30-2 0.04934416605390247 0.04086828760231376
RT-VL30-2 993.3440000000003 21.567495543062023 998.8 842.8
VL30-3 0.11952275743833649 0.085792610096331
RT-VL30-3 984.3520000000001 35.8847613340259 998.0 838.8
VL30-4 0.037381895619205074 0.028897206827175715
RT-VL30-4 994.0800000000002 11.512219594847902 998.0 914.4
VL30-5 0.6559407719180657 0.03297360837973001
RT-VL30-5 996.288 0.8430041518284563 998.4 994.8
VL30-all 0.20801361816463942 0.22963826886340277
RT-VL30-all 991.8304 4.09144246446166 996.288 984.3520000000001
*** budget = 40
VL40-1 0.12189647866473875 0.12762416944883997
RT-VL40-1 989.8378378378378 30.767544775969228 999.6 806.4
VL40-2 0.037197714159005704 0.03614749352917405
RT-VL40-2 992.5405405405405 24.995950585120024 998.8 842.8
VL40-3 0.09353226291849619 0.07242298646672556
RT-VL40-3 982.1621621621622 40.50027261403978 998.0 838.8
VL40-4 0.029904462165592807 0.021341941887689463
RT-VL40-4 995.7405405405406 2.0058643024162404 998.0 985.2
VL40-5 0.6514859426951781 0.04447811987129491
RT-VL40-5 996.3243243243242 0.7430417417271248 997.6 994.8
VL40-all 0.1868033721206023 0.23487929532628884
RT-VL40-all 991.3210810810812 5.1407577752717675 996.3243243243242 982.1621621621622
*** budget = 50
VL50-1 0.11785322353830754 0.13251748988044762
RT-VL50-1 989.4000000000001 34.13553378323924 999.6 806.4
VL50-2 0.03502829032930294 0.037401172831753836
RT-VL50-2 991.4399999999999 27.646260747763595 998.8 842.8
VL50-3 0.07581507976044563 0.06157371218363235
RT-VL50-3 988.4533333333335 28.78735524882794 997.6 863.2
VL50-4 0.023108256724171605 0.016161408467565485
RT-VL50-4 996.0133333333334 1.0657496057809446 998.0 994.0
VL50-5 0.6413589818604143 0.02444688423162079
RT-VL50-5 996.3733333333333 0.7654773383684012 997.6 994.8
VL50-all 0.1786327664425284 0.23374828283782104
RT-VL50-all 992.336 3.296084141320802 996.3733333333333 988.4533333333335
logs_data/30hcd2/cgrew_pr/rr/run_2024-04-09_15-08-26/run_8b1a6_00028_28_dl_indist=2,dl_scale=0.0200,dr_cc=0.8000,seed=4_2024-04-09_15-08-31/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=n_g1_s4/04.09_20.22.46/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type2-infogsdr_ppo-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_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: 2
ARG C_DATA: 2
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 10 Val 4 Test 11
Total data pairs: 9990, K 10, state dim 17, action dim 6, a min -0.7615941, a_max 0.7615942
Policy model is loaded from logs_data/30hcd2/cgrew_pr/rr/run_2024-04-09_15-08-26/run_8b1a6_00028_28_dl_indist=2,dl_scale=0.0200,dr_cc=0.8000,seed=4_2024-04-09_15-08-31/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=n_g1_s4/04.09_20.22.46/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hcd2/cgrew_pr/rr/run_2024-04-09_15-08-26/run_8b1a6_00028_28_dl_indist=2,dl_scale=0.0200,dr_cc=0.8000,seed=4_2024-04-09_15-08-31/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=n_g1_s4/04.09_20.22.46/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 985.7042666666666 59.46213771632799 1000.0 298.0
LR 0.9797333333333335 0.11226128253122515 1.0 -0.2
VL-std-all 0.24036663894514493 0.0
*** budget = 10
VL10-1 0.33469561124497715 0.19621592619282363
RT-VL10-1 992.5386666666666 33.71646439880011 999.6 626.0
VL10-2 0.09765181362927276 0.07899077237669781
RT-VL10-2 992.7706666666667 50.34221230295263 999.2 378.4
VL10-3 0.29489187204384465 0.20797170550091307
RT-VL10-3 969.4373333333332 86.51596041322215 999.2 598.0
VL10-4 0.22641653633780545 0.23446773643120414
RT-VL10-4 978.0639999999999 55.34915269450834 999.2 749.2
VL10-5 0.9544614551100017 0.3538211249282812
RT-VL10-5 990.2639999999999 35.130441272491865 999.2 749.2
VL10-all 0.38162345767318034 0.29752211516961247
RT-VL10-all 984.6149333333333 9.321885642341345 992.7706666666667 969.4373333333332
*** budget = 20
VL20-1 0.23008831019908324 0.14256824132291337
RT-VL20-1 993.2906666666667 21.431796772293474 999.6 814.4
VL20-2 0.05568070349158866 0.03882258287005295
RT-VL20-2 996.8693333333333 1.0660798385778731 999.2 994.4
VL20-3 0.18299450210662857 0.1554078401652582
RT-VL20-3 964.1653333333333 102.39875193683866 999.2 598.0
VL20-4 0.11764643438068828 0.07819632657847012
RT-VL20-4 981.9253333333332 42.38237084239415 998.8 794.0
VL20-5 0.8059624505329702 0.06416908394363949
RT-VL20-5 996.3253333333334 1.096308148084082 998.8 993.6
VL20-all 0.2784744801421918 0.27026059045747713
RT-VL20-all 986.5152 12.409167237884217 996.8693333333333 964.1653333333333
*** budget = 30
VL30-1 0.17875309993351224 0.12292234148226008
RT-VL30-1 992.312 25.903734402591457 999.6 814.4
VL30-2 0.041226720660766 0.02371848218554019
RT-VL30-2 996.768 1.1477700118055036 999.2 994.4
VL30-3 0.14178950804775522 0.11905570425471004
RT-VL30-3 964.048 99.5484088069719 999.2 598.0
VL30-4 0.0918171062653774 0.0647031180329337
RT-VL30-4 987.4559999999999 31.7651139459628 998.8 850.8
VL30-5 0.7871264158472353 0.0546110320681342
RT-VL30-5 996.5279999999999 1.0227492361278003 998.8 994.8
VL30-all 0.24814257015092922 0.2734524740230462
RT-VL30-all 987.4224 12.16983223549116 996.768 964.048
*** budget = 40
VL40-1 0.13962844457656043 0.10767075910157191
RT-VL40-1 989.8486486486487 30.046501092532882 999.6 814.4
VL40-2 0.03703158757045134 0.01979343325554784
RT-VL40-2 996.9081081081083 1.0989868499762585 999.2 994.8
VL40-3 0.10834495435538317 0.10467588260409319
RT-VL40-3 952.6594594594593 114.43194474484034 999.2 598.0
VL40-4 0.07746930633327141 0.05712135751525346
RT-VL40-4 982.2162162162163 36.93765026777694 998.8 860.0
VL40-5 0.7695121412067638 0.043446851335495654
RT-VL40-5 996.4864864864865 1.0568085976086465 998.8 994.8
VL40-all 0.22639728680848603 0.2736705470686551
RT-VL40-all 983.6237837837838 16.379511369250338 996.9081081081083 952.6594594594593
*** budget = 50
VL50-1 0.13137827348797435 0.11293213426422052
RT-VL50-1 988.5200000000001 33.216726710097944 999.6 814.4
VL50-2 0.031590867264238695 0.01588994386751497
RT-VL50-2 996.7199999999998 1.123803066970961 999.2 994.8
VL50-3 0.09383808876015926 0.09577855242994808
RT-VL50-3 996.72 1.0244998779892571 999.2 994.8
VL50-4 0.06859378648911618 0.05231562433614899
RT-VL50-4 981.4266666666668 39.87777102876015 998.8 850.8
VL50-5 0.7592757678056773 0.036943167170591894
RT-VL50-5 996.4666666666668 1.0176225014982518 998.8 994.8
VL50-all 0.21693535676143316 0.27311677890496255
RT-VL50-all 991.9706666666667 6.13855661644758 996.72 981.4266666666668
logs_data/30hcd2/cgrew_pr/rr/run_2024-04-09_15-08-26/run_8b1a6_00020_20_dl_indist=2,dl_scale=0.0200,dr_cc=0.8000,seed=3_2024-04-09_15-08-26/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=n_g1_s3/04.09_20.22.09/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type2-infogsdr_ppo-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_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: 2
ARG C_DATA: 2
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 10 Val 4 Test 11
Total data pairs: 9990, K 10, state dim 17, action dim 6, a min -0.7615941, a_max 0.7615942
Policy model is loaded from logs_data/30hcd2/cgrew_pr/rr/run_2024-04-09_15-08-26/run_8b1a6_00020_20_dl_indist=2,dl_scale=0.0200,dr_cc=0.8000,seed=3_2024-04-09_15-08-26/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=n_g1_s3/04.09_20.22.09/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hcd2/cgrew_pr/rr/run_2024-04-09_15-08-26/run_8b1a6_00020_20_dl_indist=2,dl_scale=0.0200,dr_cc=0.8000,seed=3_2024-04-09_15-08-26/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=n_g1_s3/04.09_20.22.09/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 974.5754666666667 64.37881503089524 1000.0 472.4
LR 0.9538666666666666 0.15562256334549376 1.0 -0.2
VL-std-all 0.38636770934464604 0.0
*** budget = 10
VL10-1 0.6582875369499688 0.22800771495990724
RT-VL10-1 990.144 45.90293016064806 1000.0 472.4
VL10-2 0.09957057669485124 0.09290597023301835
RT-VL10-2 992.8293333333335 42.66111038821605 999.6 472.4
VL10-3 0.17094696331176487 0.15365616644830482
RT-VL10-3 968.5386666666666 72.49952623906512 999.2 626.8
VL10-4 0.14355638295268694 0.13147692941805603
RT-VL10-4 946.7146666666667 70.82665542168586 998.8 742.8
VL10-5 0.67807622677558 0.24593666822871302
RT-VL10-5 980.76 40.28108571856855 998.8 748.8
VL10-all 0.3500875373369704 0.2607945669387531
RT-VL10-all 975.7973333333333 16.846564463481048 992.8293333333335 946.7146666666667
*** budget = 20
VL20-1 0.5254168995125105 0.19759956738852347
RT-VL20-1 991.2213333333334 24.529439691023438 999.6 782.4
VL20-2 0.057565472876400604 0.0644303459584299
RT-VL20-2 996.4960000000002 1.533052727947307 999.6 992.8
VL20-3 0.08654955824248904 0.08826182217239231
RT-VL20-3 966.0000000000002 77.84423421166144 998.8 662.8
VL20-4 0.07198627301525407 0.062260340106573206
RT-VL20-4 933.0879999999999 74.95433802878478 998.8 806.4
VL20-5 0.5340783447953791 0.08727426720795305
RT-VL20-5 993.6373333333333 11.340861499707833 998.8 925.2
VL20-all 0.2551193096884067 0.22443703749396887
RT-VL20-all 976.0885333333333 24.100834362320402 996.4960000000002 933.0879999999999
*** budget = 30
VL30-1 0.46516672708575185 0.13688758120610944
RT-VL30-1 993.552 3.0616492287654395 998.8 985.2
VL30-2 0.034790543340324956 0.026574248956895103
RT-VL30-2 996.68 1.5763248396190523 999.6 992.8
VL30-3 0.06039262402608908 0.07034884814019585
RT-VL30-3 961.3040000000001 79.24256674288132 998.0 669.6
VL30-4 0.04880746193361093 0.04570770511246716
RT-VL30-4 934.88 73.76264637335079 998.8 806.8
VL30-5 0.512021413408661 0.07737885955829388
RT-VL30-5 993.4960000000001 11.209370365903691 998.8 927.2
VL30-all 0.2242357539588876 0.2165074891509261
RT-VL30-all 975.9824000000001 24.284441056775425 996.68 934.88
*** budget = 40
VL40-1 0.4073829055446461 0.14211082054690624
RT-VL40-1 986.5297297297299 34.22053172904895 997.6 782.4
VL40-2 0.028692073019375045 0.023159752906134957
RT-VL40-2 996.7243243243242 1.5859868452140957 999.6 992.4
VL40-3 0.04420811362844705 0.04897110349469184
RT-VL40-3 951.1891891891892 97.8168829284039 998.8 662.8
VL40-4 0.037432039351685396 0.031370440501622035
RT-VL40-4 933.427027027027 76.22496097044076 998.8 806.8
VL40-5 0.4880036392166397 0.04759038546468917
RT-VL40-5 995.4702702702704 1.3510486147383582 998.4 990.8
VL40-all 0.20114375415215865 0.20297442419246964
RT-VL40-all 972.6681081081082 25.659271596167244 996.7243243243242 933.427027027027
*** budget = 50
VL50-1 0.3984241219478968 0.1283660326381795
RT-VL50-1 992.1199999999998 3.2317590669272716 998.8 985.2
VL50-2 0.02431619138590612 0.01672267391735135
RT-VL50-2 996.8666666666668 1.4933928559566185 999.6 992.8
VL50-3 0.029514478966483567 0.044605402813209696
RT-VL50-3 946.7333333333332 102.94009045178765 997.6 662.8
VL50-4 0.027073615680438624 0.02382366934823688
RT-VL50-4 938.2666666666668 72.41210457436581 998.0 806.8
VL50-5 0.48117897160275225 0.04454526817083535
RT-VL50-5 995.3066666666666 1.1727271161224644 997.2 990.8
VL50-all 0.19210147591669546 0.203938942192982
RT-VL50-all 973.8586666666666 25.78928163231985 996.8666666666668 938.2666666666668
logs_data/30hcd2/cgrew_pr/rr/run_2024-04-09_15-08-26/run_8b1a6_00012_12_dl_indist=2,dl_scale=0.0200,dr_cc=0.8000,seed=2_2024-04-09_15-08-26/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=n_g1_s2/04.09_15.09.18/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type2-infogsdr_ppo-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_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: 2
ARG C_DATA: 2
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 10 Val 4 Test 11
Total data pairs: 9990, K 10, state dim 17, action dim 6, a min -0.7615941, a_max 0.7615942
Policy model is loaded from logs_data/30hcd2/cgrew_pr/rr/run_2024-04-09_15-08-26/run_8b1a6_00012_12_dl_indist=2,dl_scale=0.0200,dr_cc=0.8000,seed=2_2024-04-09_15-08-26/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=n_g1_s2/04.09_15.09.18/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hcd2/cgrew_pr/rr/run_2024-04-09_15-08-26/run_8b1a6_00012_12_dl_indist=2,dl_scale=0.0200,dr_cc=0.8000,seed=2_2024-04-09_15-08-26/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=n_g1_s2/04.09_15.09.18/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 970.5312 89.74821825470036 998.4 124.0
LR 0.9549333333333334 0.18241617861972173 1.0 -0.6
VL-std-all 0.4373320229203766 0.0
*** budget = 10
VL10-1 0.5454369365515795 0.24058668653144266
RT-VL10-1 970.8026666666668 129.97066743265145 997.6 150.0
VL10-2 0.13053826394675364 0.08951218643623267
RT-VL10-2 984.5333333333333 69.42667562896044 997.6 410.0
VL10-3 0.22685585786585402 0.20475488166130545
RT-VL10-3 934.8133333333334 129.57498867022483 998.0 501.6
VL10-4 0.24036364384895773 0.21296411617663422
RT-VL10-4 937.9413333333332 83.77049773969088 997.6 709.2
VL10-5 0.5409825491399872 0.3194502020864094
RT-VL10-5 987.984 26.96984508668894 998.4 787.2
VL10-all 0.33683545027062645 0.17271448539154188
RT-VL10-all 963.2149333333334 22.675803309940584 987.984 934.8133333333334
*** budget = 20
VL20-1 0.42014800971171096 0.17868448332596998
RT-VL20-1 966.8373333333334 137.6532481983464 997.6 238.4
VL20-2 0.08226350955744242 0.05973786260222666
RT-VL20-2 981.8613333333334 73.47678071941428 997.2 410.0
VL20-3 0.11463500735120756 0.10971268976781139
RT-VL20-3 926.0213333333332 134.9025824248331 997.6 588.0
VL20-4 0.13568554884242615 0.12190633836436474
RT-VL20-4 918.3093333333331 85.43669340251621 997.6 769.6
VL20-5 0.3926183704770967 0.09961035683966432
RT-VL20-5 992.5386666666664 11.149503945118914 998.4 928.0
VL20-all 0.22907008918797675 0.1460322184845891
RT-VL20-all 957.1135999999999 29.78065412788048 992.5386666666664 918.3093333333331
*** budget = 30
VL30-1 0.3416611271417952 0.1386409503967536
RT-VL30-1 967.7679999999999 131.99028061186928 997.6 315.6
VL30-2 0.06005271955405265 0.04606804082170982
RT-VL30-2 975.328 89.27083967343424 997.2 410.0
VL30-3 0.06419751417295705 0.06498901061178543
RT-VL30-3 921.28 139.35070003412255 997.6 597.2
VL30-4 0.08377504512866324 0.07003072689443396
RT-VL30-4 910.3520000000001 90.21069169449927 997.2 769.6
VL30-5 0.3502993978090581 0.071180311543716
RT-VL30-5 994.2479999999999 4.706346353595324 998.4 974.4
VL30-all 0.17999716076130526 0.1357888159110824
RT-VL30-all 953.7951999999999 32.37245588706543 994.2479999999999 910.3520000000001
*** budget = 40
VL40-1 0.3060713562899611 0.12565284077647243
RT-VL40-1 958.2486486486486 152.294518404346 997.6 315.6
VL40-2 0.049527392471919215 0.044661177493383955
RT-VL40-2 968.3351351351351 102.86623225575654 997.2 410.0
VL40-3 0.056852483105754505 0.0649412997323823
RT-VL40-3 932.4216216216217 129.7113617627358 997.6 631.6
VL40-4 0.06157154273716055 0.04749062539613931
RT-VL40-4 897.2216216216216 87.11441105572924 997.2 769.6
VL40-5 0.33722159522916156 0.0741752273503056
RT-VL40-5 994.9189189189187 3.7406342747199504 998.4 974.4
VL40-all 0.16224887396679138 0.13057627367022667
RT-VL40-all 950.2291891891891 33.21511894917562 994.9189189189187 897.2216216216216
*** budget = 50
VL50-1 0.2792479555336518 0.12170931111722065
RT-VL50-1 949.6666666666666 167.97438164460937 997.2 315.6
VL50-2 0.04224103773302836 0.03869572310362614
RT-VL50-2 982.0133333333335 48.481087263202156 997.2 793.2
VL50-3 0.038641215636047416 0.035442997020054365
RT-VL50-3 937.7733333333334 127.64750143352678 997.6 631.6
VL50-4 0.049237354177002944 0.031214163146731023
RT-VL50-4 903.4399999999999 86.79143429317588 997.2 787.6
VL50-5 0.31852610383594937 0.0579738612945623
RT-VL50-5 993.7466666666667 5.956717962845723 998.4 974.4
VL50-all 0.14557873338313596 0.12583658235059444
RT-VL50-all 953.3280000000001 32.25114734220927 993.7466666666667 903.4399999999999
logs_data/30hcd2/cgrew_pr/rr/run_2024-04-09_15-08-26/run_8b1a6_00004_4_dl_indist=2,dl_scale=0.0200,dr_cc=0.8000,seed=1_2024-04-09_15-08-26/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=n_g1_s1/04.09_15.09.12/models/ckpt_policy_T15000000.pt
0_hccustom_v0_type2-infogsdr_ppo-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_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: 2
ARG C_DATA: 2
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 10 Val 4 Test 11
Total data pairs: 9990, K 10, state dim 17, action dim 6, a min -0.7615941, a_max 0.7615942
Policy model is loaded from logs_data/30hcd2/cgrew_pr/rr/run_2024-04-09_15-08-26/run_8b1a6_00004_4_dl_indist=2,dl_scale=0.0200,dr_cc=0.8000,seed=1_2024-04-09_15-08-26/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=n_g1_s1/04.09_15.09.12/models/ckpt_policy_T15000000.pt
Discr model is loaded from logs_data/30hcd2/cgrew_pr/rr/run_2024-04-09_15-08-26/run_8b1a6_00004_4_dl_indist=2,dl_scale=0.0200,dr_cc=0.8000,seed=1_2024-04-09_15-08-26/results_IL/HCCustom/INFOGSDR_PPO/0_HCCustom_v0_type2-INFOGSDR_PPO-100-100-relu_cr10_no0_es=n_sr0011_rc0.80_reg01_ds0.020_zt=n_g1_s1/04.09_15.09.12/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 978.8794666666668 47.310558423910216 999.6 624.4
LR 0.9613333333333334 0.1318517686225289 1.0 0.2
VL-std-all 0.4081694415863161 0.0
*** budget = 10
VL10-1 0.801031810293376 0.11168756133529713
RT-VL10-1 978.4480000000001 56.84677735808776 999.2 624.4
VL10-2 0.03286669864322359 0.02149975066981348
RT-VL10-2 995.8346666666667 2.410725662994902 999.2 981.6
VL10-3 0.3652731861914527 0.26413482780549385
RT-VL10-3 923.0826666666668 76.78989581680362 999.2 681.6
VL10-4 0.18947070668664623 0.2221358838875198
RT-VL10-4 962.8320000000001 45.608619536223635 999.2 772.0
VL10-5 1.0938383656102113 0.317360209220504
RT-VL10-5 979.6 41.940122396896584 999.2 772.0
VL10-all 0.49649615348498194 0.39395330895381114
RT-VL10-all 967.9594666666668 24.7497725866993 995.8346666666667 923.0826666666668
*** budget = 20
VL20-1 0.7570717361556253 0.14059898284624323
RT-VL20-1 961.4080000000001 76.64799846919249 999.2 624.4
VL20-2 0.02113883623030699 0.014100348653731146
RT-VL20-2 996.128 2.0145179737760253 999.2 986.0
VL20-3 0.1987007633992532 0.14428917500474345
RT-VL20-3 911.1733333333333 85.96463975896653 999.2 729.2
VL20-4 0.09826974113040045 0.07703954236219043
RT-VL20-4 966.7306666666667 31.844647790309892 999.2 884.8
VL20-5 0.963490669975421 0.10179882971656558
RT-VL20-5 992.5173333333333 17.328668910860475 999.2 884.8
VL20-all 0.4077343493782014 0.37942619105578523
RT-VL20-all 965.5914666666667 30.45526085668764 996.128 911.1733333333333
*** budget = 30
VL30-1 0.7264098252680478 0.1599375953547852
RT-VL30-1 946.5520000000001 88.06255558408466 999.2 624.4
VL30-2 0.01565944631222417 0.01146372525961434
RT-VL30-2 995.3120000000001 3.448399048834108 999.2 981.6
VL30-3 0.14553943112247952 0.11579927409976926
RT-VL30-3 908.44 87.83490877777467 999.2 729.2
VL30-4 0.06719662684208852 0.05072439227566845
RT-VL30-4 961.9919999999998 29.285845318173763 999.2 908.4
VL30-5 0.9258253811170042 0.04314906440385407
RT-VL30-5 996.0160000000001 1.156435903973935 998.0 993.2
VL30-all 0.37612614213236883 0.37507647953949935
RT-VL30-all 961.6623999999999 32.78268475643812 996.0160000000001 908.44
*** budget = 40
VL40-1 0.7014728798468349 0.16812992404555124
RT-VL40-1 939.6216216216217 94.13852683789024 999.2 624.4
VL40-2 0.012374979674927738 0.00962271044222413
RT-VL40-2 996.2054054054054 2.2696524255805683 999.2 986.0
VL40-3 0.11539973733534942 0.09077603461292141
RT-VL40-3 910.4216216216216 93.92629409113653 999.2 757.2
VL40-4 0.0611548740589045 0.06257391539078859
RT-VL40-4 964.3567567567567 27.213634704054094 996.8 919.2
VL40-5 0.9142331392906573 0.031800568169940265
RT-VL40-5 996.227027027027 1.106406075848718 998.4 993.6
VL40-all 0.36092712204133476 0.3724928603699251
RT-VL40-all 961.3664864864865 33.18483894370292 996.227027027027 910.4216216216216
*** budget = 50
VL50-1 0.6849932358807193 0.17804423465054797
RT-VL50-1 931.9466666666668 98.82157569186104 999.2 624.4
VL50-2 0.010000822933115217 0.008309263216419373
RT-VL50-2 995.4133333333334 3.6714877396257513 999.2 981.6
VL50-3 0.08895920410492135 0.0743355684079275
RT-VL50-3 905.0266666666668 94.90012621464501 999.2 757.2
VL50-4 0.04359265198034268 0.03449683768526162
RT-VL50-4 966.1199999999998 26.393766940952812 999.2 920.0
VL50-5 0.9050269188565353 0.027201510707281742
RT-VL50-5 996.0399999999998 1.192644121270049 998.0 993.2
VL50-all 0.34651456675112674 0.37358849231867053
RT-VL50-all 958.9093333333333 35.759052833590964 996.0399999999998 905.0266666666668