SAC_SQIL_LunarLander.ipynb

{
  "nbformat": 4,
  "nbformat_minor": 0,
  "metadata": {
    "colab": {
      "name": "SAC_SQIL_LunarLander.ipynb",
      "provenance": [],
      "collapsed_sections": []
    },
    "kernelspec": {
      "name": "python3",
      "display_name": "Python 3"
    },
    "accelerator": "GPU"
  },
  "cells": [
    {
      "cell_type": "code",
      "metadata": {
        "id": "eP8e9dKYFuHd"
      },
      "source": [
        "!pip install box2d-py\n",
        "!pip install stable-baselines3\n",
        "!pip install git+https://github.com/indrasweb/expert-offline-rl.git"
      ],
      "execution_count": null,
      "outputs": []
    },
    {
      "cell_type": "code",
      "metadata": {
        "id": "IitdeHDwF3rx"
      },
      "source": [
        "import numpy as np\n",
        "from google.colab import drive\n",
        "import gym\n",
        "from eorl import OfflineDataset\n",
        "import os\n",
        "import pandas as pd\n",
        "import seaborn as sns\n",
        "import matplotlib.pyplot as plt\n",
        "\n",
        "import torch as T\n",
        "import torch.nn as nn\n",
        "\n",
        "from stable_baselines3.common.utils import set_random_seed\n",
        "from stable_baselines3.common.env_util import make_atari_env\n",
        "from stable_baselines3.common.vec_env import VecFrameStack\n",
        "from stable_baselines3.common.monitor import Monitor\n",
        "from stable_baselines3.common.callbacks import CheckpointCallback\n",
        "from stable_baselines3.common.type_aliases import ReplayBufferSamples\n",
        "from stable_baselines3.common.buffers import ReplayBuffer\n",
        "from stable_baselines3 import SAC"
      ],
      "execution_count": 4,
      "outputs": []
    },
    {
      "cell_type": "code",
      "metadata": {
        "id": "OUG8MAapGDaM"
      },
      "source": [
        "DEVICE = T.device('cuda' if T.cuda.is_available() else 'cpu')\n",
        "ENV_NAME = 'LunarLanderContinuous-v2'\n",
        "DS_NAME = 'LunarLanderContinuous-v2'\n",
        "SAVE_DIR = 'gdrive/MyDrive/SQIL/Imitation/'\n",
        "ONLINE_STEPS = 5e5  # 500,000 online environment steps\n",
        "EXPERT_STEPS = 1e5  # 100,000 expert steps\n",
        "SEED = 1337"
      ],
      "execution_count": 5,
      "outputs": []
    },
    {
      "cell_type": "code",
      "metadata": {
        "id": "BeYYE97iemC3",
        "colab": {
          "base_uri": "https://localhost:8080/"
        },
        "outputId": "11cc7e2e-3056-43d9-e514-2e007580f309"
      },
      "source": [
        "drive.mount('/content/gdrive/')  # model checkpoints + training stats \n",
        "set_random_seed(SEED)  # torch, np and py seeds\n",
        "ds = OfflineDataset(ENV_NAME, dataset_size=EXPERT_STEPS)\n",
        "\n",
        "if not os.path.exists(SAVE_DIR):\n",
        "    os.makedirs(SAVE_DIR)"
      ],
      "execution_count": 6,
      "outputs": [
        {
          "output_type": "stream",
          "text": [
            "Mounted at /content/gdrive/\n"
          ],
          "name": "stdout"
        }
      ]
    },
    {
      "cell_type": "code",
      "metadata": {
        "colab": {
          "base_uri": "https://localhost:8080/"
        },
        "id": "5IuamzwgsE3L",
        "outputId": "f65c3d31-4d32-4179-ee31-ef5ae5401940"
      },
      "source": [
        "env = Monitor(gym.make(ENV_NAME), filename=SAVE_DIR+ENV_NAME)\n",
        "\n",
        "checkpoint_callback = CheckpointCallback(\n",
        "    save_freq=ONLINE_STEPS, \n",
        "    save_path=SAVE_DIR, \n",
        "    name_prefix=ENV_NAME\n",
        ")\n",
        "\n",
        "model = SAC(\n",
        "    env=env,\n",
        "    policy='MlpPolicy',\n",
        "    learning_starts=1000,\n",
        "    batch_size=256,\n",
        "    verbose=1\n",
        ")"
      ],
      "execution_count": 7,
      "outputs": [
        {
          "output_type": "stream",
          "text": [
            "Using cuda device\n",
            "Wrapping the env in a DummyVecEnv.\n"
          ],
          "name": "stdout"
        }
      ]
    },
    {
      "cell_type": "code",
      "metadata": {
        "id": "ntDDp64BSaiQ"
      },
      "source": [
        "expert_buffer = ReplayBuffer(\n",
        "    100000, \n",
        "    model.replay_buffer.observation_space, \n",
        "    model.replay_buffer.action_space, \n",
        "    DEVICE\n",
        ")\n",
        "\n",
        "def populate_expert_buffer(expert_buf, expert_ds, num_samples=20000):\n",
        "    batch_size = 500\n",
        "    batches = num_samples // batch_size\n",
        "    \n",
        "    for _ in range(batches):\n",
        "        obs, acts, rwds, dones, next_obs = expert_ds.batch(batch_size)        \n",
        "        for i in range(batch_size):\n",
        "            expert_buf.add(obs[i], next_obs[i], acts[i], rwds[i], dones[i])"
      ],
      "execution_count": 8,
      "outputs": []
    },
    {
      "cell_type": "code",
      "metadata": {
        "id": "s7xObwbidNSK"
      },
      "source": [
        "def modified_replay_buffer_sample(batch_size: int, env) -> ReplayBufferSamples:\n",
        "    online_samples = super(model.replay_buffer.__class__, model.replay_buffer).sample(batch_size//2, env)\n",
        "    expert_samples = expert_buffer.sample(batch_size//2, env)\n",
        "    obs      = T.cat((online_samples.observations, expert_samples.observations))\n",
        "    actions  = T.cat((online_samples.actions, expert_samples.actions))\n",
        "    next_obs = T.cat((online_samples.next_observations, expert_samples.next_observations))\n",
        "    rewards  = T.cat((T.zeros_like(online_samples.rewards), T.ones_like(expert_samples.rewards)))\n",
        "    dones    = T.cat((online_samples.dones, expert_samples.dones))\n",
        "    \n",
        "    return ReplayBufferSamples(obs, actions, next_obs, dones, rewards)\n",
        "\n",
        "model.replay_buffer.sample = modified_replay_buffer_sample"
      ],
      "execution_count": 9,
      "outputs": []
    },
    {
      "cell_type": "code",
      "metadata": {
        "id": "vdcc3FOg1lvi"
      },
      "source": [
        "populate_expert_buffer(expert_buffer, ds, int(EXPERT_STEPS))"
      ],
      "execution_count": 10,
      "outputs": []
    },
    {
      "cell_type": "code",
      "metadata": {
        "colab": {
          "base_uri": "https://localhost:8080/"
        },
        "id": "P7f1m5gnd8XY",
        "outputId": "0ea71600-fd79-483d-d0e0-a728f6d18ec3"
      },
      "source": [
        "model.learn(ONLINE_STEPS, log_interval=10, callback=checkpoint_callback)"
      ],
      "execution_count": 11,
      "outputs": [
        {
          "output_type": "stream",
          "text": [
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 104      |\n",
            "|    ep_rew_mean     | -240     |\n",
            "| time/              |          |\n",
            "|    episodes        | 10       |\n",
            "|    fps             | 607      |\n",
            "|    time_elapsed    | 1        |\n",
            "|    total timesteps | 1044     |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -3.28    |\n",
            "|    critic_loss     | 0.555    |\n",
            "|    ent_coef        | 0.987    |\n",
            "|    ent_coef_loss   | -0.0422  |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 43       |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 111      |\n",
            "|    ep_rew_mean     | -236     |\n",
            "| time/              |          |\n",
            "|    episodes        | 20       |\n",
            "|    fps             | 95       |\n",
            "|    time_elapsed    | 23       |\n",
            "|    total timesteps | 2211     |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -9.74    |\n",
            "|    critic_loss     | 0.508    |\n",
            "|    ent_coef        | 0.696    |\n",
            "|    ent_coef_loss   | -1.2     |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 1210     |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 113      |\n",
            "|    ep_rew_mean     | -200     |\n",
            "| time/              |          |\n",
            "|    episodes        | 30       |\n",
            "|    fps             | 76       |\n",
            "|    time_elapsed    | 44       |\n",
            "|    total timesteps | 3376     |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -14.9    |\n",
            "|    critic_loss     | 0.326    |\n",
            "|    ent_coef        | 0.492    |\n",
            "|    ent_coef_loss   | -2.32    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 2375     |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 191      |\n",
            "|    ep_rew_mean     | -168     |\n",
            "| time/              |          |\n",
            "|    episodes        | 40       |\n",
            "|    fps             | 58       |\n",
            "|    time_elapsed    | 131      |\n",
            "|    total timesteps | 7634     |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.5    |\n",
            "|    critic_loss     | 0.528    |\n",
            "|    ent_coef        | 0.151    |\n",
            "|    ent_coef_loss   | -4.04    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 6633     |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 317      |\n",
            "|    ep_rew_mean     | -99      |\n",
            "| time/              |          |\n",
            "|    episodes        | 50       |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 294      |\n",
            "|    total timesteps | 15845    |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -35      |\n",
            "|    critic_loss     | 0.285    |\n",
            "|    ent_coef        | 0.0273   |\n",
            "|    ent_coef_loss   | 1.07     |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 14844    |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 341      |\n",
            "|    ep_rew_mean     | -49      |\n",
            "| time/              |          |\n",
            "|    episodes        | 60       |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 382      |\n",
            "|    total timesteps | 20475    |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -37.6    |\n",
            "|    critic_loss     | 2.17     |\n",
            "|    ent_coef        | 0.0252   |\n",
            "|    ent_coef_loss   | -0.293   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 19474    |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 354      |\n",
            "|    ep_rew_mean     | -8.01    |\n",
            "| time/              |          |\n",
            "|    episodes        | 70       |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 467      |\n",
            "|    total timesteps | 24812    |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -37.6    |\n",
            "|    critic_loss     | 4.54     |\n",
            "|    ent_coef        | 0.0272   |\n",
            "|    ent_coef_loss   | -0.313   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 23811    |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 359      |\n",
            "|    ep_rew_mean     | 21.4     |\n",
            "| time/              |          |\n",
            "|    episodes        | 80       |\n",
            "|    fps             | 52       |\n",
            "|    time_elapsed    | 543      |\n",
            "|    total timesteps | 28691    |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -35.6    |\n",
            "|    critic_loss     | 0.529    |\n",
            "|    ent_coef        | 0.0277   |\n",
            "|    ent_coef_loss   | 1.4      |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 27690    |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 430      |\n",
            "|    ep_rew_mean     | 26.1     |\n",
            "| time/              |          |\n",
            "|    episodes        | 90       |\n",
            "|    fps             | 51       |\n",
            "|    time_elapsed    | 749      |\n",
            "|    total timesteps | 38691    |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -36.1    |\n",
            "|    critic_loss     | 0.287    |\n",
            "|    ent_coef        | 0.0231   |\n",
            "|    ent_coef_loss   | 0.542    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 37690    |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 445      |\n",
            "|    ep_rew_mean     | 41.3     |\n",
            "| time/              |          |\n",
            "|    episodes        | 100      |\n",
            "|    fps             | 51       |\n",
            "|    time_elapsed    | 867      |\n",
            "|    total timesteps | 44522    |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -33.6    |\n",
            "|    critic_loss     | 0.234    |\n",
            "|    ent_coef        | 0.0247   |\n",
            "|    ent_coef_loss   | -0.0978  |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 43521    |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 462      |\n",
            "|    ep_rew_mean     | 92.3     |\n",
            "| time/              |          |\n",
            "|    episodes        | 110      |\n",
            "|    fps             | 51       |\n",
            "|    time_elapsed    | 917      |\n",
            "|    total timesteps | 47254    |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -33.6    |\n",
            "|    critic_loss     | 0.27     |\n",
            "|    ent_coef        | 0.0219   |\n",
            "|    ent_coef_loss   | 0.691    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 46253    |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 490      |\n",
            "|    ep_rew_mean     | 140      |\n",
            "| time/              |          |\n",
            "|    episodes        | 120      |\n",
            "|    fps             | 51       |\n",
            "|    time_elapsed    | 994      |\n",
            "|    total timesteps | 51254    |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -30.9    |\n",
            "|    critic_loss     | 2.57     |\n",
            "|    ent_coef        | 0.0179   |\n",
            "|    ent_coef_loss   | 0.953    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 50253    |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 502      |\n",
            "|    ep_rew_mean     | 181      |\n",
            "| time/              |          |\n",
            "|    episodes        | 130      |\n",
            "|    fps             | 51       |\n",
            "|    time_elapsed    | 1037     |\n",
            "|    total timesteps | 53589    |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -34      |\n",
            "|    critic_loss     | 1.02     |\n",
            "|    ent_coef        | 0.0258   |\n",
            "|    ent_coef_loss   | -0.0587  |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 52588    |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 489      |\n",
            "|    ep_rew_mean     | 215      |\n",
            "| time/              |          |\n",
            "|    episodes        | 140      |\n",
            "|    fps             | 51       |\n",
            "|    time_elapsed    | 1094     |\n",
            "|    total timesteps | 56559    |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -33.2    |\n",
            "|    critic_loss     | 0.252    |\n",
            "|    ent_coef        | 0.0236   |\n",
            "|    ent_coef_loss   | 0.666    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 55558    |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 440      |\n",
            "|    ep_rew_mean     | 224      |\n",
            "| time/              |          |\n",
            "|    episodes        | 150      |\n",
            "|    fps             | 51       |\n",
            "|    time_elapsed    | 1155     |\n",
            "|    total timesteps | 59798    |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -31.4    |\n",
            "|    critic_loss     | 0.301    |\n",
            "|    ent_coef        | 0.025    |\n",
            "|    ent_coef_loss   | 1.26     |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 58797    |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 417      |\n",
            "|    ep_rew_mean     | 231      |\n",
            "| time/              |          |\n",
            "|    episodes        | 160      |\n",
            "|    fps             | 51       |\n",
            "|    time_elapsed    | 1198     |\n",
            "|    total timesteps | 62133    |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -32.6    |\n",
            "|    critic_loss     | 0.311    |\n",
            "|    ent_coef        | 0.0248   |\n",
            "|    ent_coef_loss   | 0.0349   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 61132    |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 398      |\n",
            "|    ep_rew_mean     | 235      |\n",
            "| time/              |          |\n",
            "|    episodes        | 170      |\n",
            "|    fps             | 51       |\n",
            "|    time_elapsed    | 1244     |\n",
            "|    total timesteps | 64589    |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -31.2    |\n",
            "|    critic_loss     | 0.311    |\n",
            "|    ent_coef        | 0.0241   |\n",
            "|    ent_coef_loss   | 0.106    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 63588    |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 389      |\n",
            "|    ep_rew_mean     | 239      |\n",
            "| time/              |          |\n",
            "|    episodes        | 180      |\n",
            "|    fps             | 51       |\n",
            "|    time_elapsed    | 1300     |\n",
            "|    total timesteps | 67607    |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -31.1    |\n",
            "|    critic_loss     | 1.96     |\n",
            "|    ent_coef        | 0.0228   |\n",
            "|    ent_coef_loss   | 0.227    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 66606    |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 318      |\n",
            "|    ep_rew_mean     | 259      |\n",
            "| time/              |          |\n",
            "|    episodes        | 190      |\n",
            "|    fps             | 52       |\n",
            "|    time_elapsed    | 1355     |\n",
            "|    total timesteps | 70474    |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -30.2    |\n",
            "|    critic_loss     | 0.792    |\n",
            "|    ent_coef        | 0.0253   |\n",
            "|    ent_coef_loss   | 0.17     |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 69473    |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 282      |\n",
            "|    ep_rew_mean     | 268      |\n",
            "| time/              |          |\n",
            "|    episodes        | 200      |\n",
            "|    fps             | 52       |\n",
            "|    time_elapsed    | 1396     |\n",
            "|    total timesteps | 72771    |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -30.9    |\n",
            "|    critic_loss     | 0.274    |\n",
            "|    ent_coef        | 0.0257   |\n",
            "|    ent_coef_loss   | -0.0826  |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 71770    |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 274      |\n",
            "|    ep_rew_mean     | 267      |\n",
            "| time/              |          |\n",
            "|    episodes        | 210      |\n",
            "|    fps             | 52       |\n",
            "|    time_elapsed    | 1430     |\n",
            "|    total timesteps | 74653    |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -31.3    |\n",
            "|    critic_loss     | 0.774    |\n",
            "|    ent_coef        | 0.0261   |\n",
            "|    ent_coef_loss   | -0.074   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 73652    |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 255      |\n",
            "|    ep_rew_mean     | 271      |\n",
            "| time/              |          |\n",
            "|    episodes        | 220      |\n",
            "|    fps             | 52       |\n",
            "|    time_elapsed    | 1469     |\n",
            "|    total timesteps | 76763    |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -30.5    |\n",
            "|    critic_loss     | 0.317    |\n",
            "|    ent_coef        | 0.0271   |\n",
            "|    ent_coef_loss   | -0.3     |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 75762    |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 260      |\n",
            "|    ep_rew_mean     | 269      |\n",
            "| time/              |          |\n",
            "|    episodes        | 230      |\n",
            "|    fps             | 52       |\n",
            "|    time_elapsed    | 1522     |\n",
            "|    total timesteps | 79558    |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -28.9    |\n",
            "|    critic_loss     | 0.349    |\n",
            "|    ent_coef        | 0.0266   |\n",
            "|    ent_coef_loss   | 0.0736   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 78557    |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 250      |\n",
            "|    ep_rew_mean     | 270      |\n",
            "| time/              |          |\n",
            "|    episodes        | 240      |\n",
            "|    fps             | 52       |\n",
            "|    time_elapsed    | 1559     |\n",
            "|    total timesteps | 81588    |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -30.9    |\n",
            "|    critic_loss     | 5.65     |\n",
            "|    ent_coef        | 0.0268   |\n",
            "|    ent_coef_loss   | -0.445   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 80587    |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 251      |\n",
            "|    ep_rew_mean     | 269      |\n",
            "| time/              |          |\n",
            "|    episodes        | 250      |\n",
            "|    fps             | 52       |\n",
            "|    time_elapsed    | 1623     |\n",
            "|    total timesteps | 84927    |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -29.6    |\n",
            "|    critic_loss     | 1.05     |\n",
            "|    ent_coef        | 0.0275   |\n",
            "|    ent_coef_loss   | -0.311   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 83926    |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 251      |\n",
            "|    ep_rew_mean     | 270      |\n",
            "| time/              |          |\n",
            "|    episodes        | 260      |\n",
            "|    fps             | 52       |\n",
            "|    time_elapsed    | 1665     |\n",
            "|    total timesteps | 87226    |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -30.1    |\n",
            "|    critic_loss     | 1.08     |\n",
            "|    ent_coef        | 0.0266   |\n",
            "|    ent_coef_loss   | 0.308    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 86225    |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 257      |\n",
            "|    ep_rew_mean     | 267      |\n",
            "| time/              |          |\n",
            "|    episodes        | 270      |\n",
            "|    fps             | 52       |\n",
            "|    time_elapsed    | 1723     |\n",
            "|    total timesteps | 90271    |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -29.1    |\n",
            "|    critic_loss     | 0.537    |\n",
            "|    ent_coef        | 0.0255   |\n",
            "|    ent_coef_loss   | 0.497    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 89270    |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 254      |\n",
            "|    ep_rew_mean     | 268      |\n",
            "| time/              |          |\n",
            "|    episodes        | 280      |\n",
            "|    fps             | 52       |\n",
            "|    time_elapsed    | 1772     |\n",
            "|    total timesteps | 92979    |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -30      |\n",
            "|    critic_loss     | 0.884    |\n",
            "|    ent_coef        | 0.0247   |\n",
            "|    ent_coef_loss   | -0.108   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 91978    |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 253      |\n",
            "|    ep_rew_mean     | 270      |\n",
            "| time/              |          |\n",
            "|    episodes        | 290      |\n",
            "|    fps             | 52       |\n",
            "|    time_elapsed    | 1823     |\n",
            "|    total timesteps | 95760    |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -30.5    |\n",
            "|    critic_loss     | 0.822    |\n",
            "|    ent_coef        | 0.0249   |\n",
            "|    ent_coef_loss   | -0.912   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 94759    |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 259      |\n",
            "|    ep_rew_mean     | 271      |\n",
            "| time/              |          |\n",
            "|    episodes        | 300      |\n",
            "|    fps             | 52       |\n",
            "|    time_elapsed    | 1876     |\n",
            "|    total timesteps | 98659    |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -30      |\n",
            "|    critic_loss     | 0.385    |\n",
            "|    ent_coef        | 0.0242   |\n",
            "|    ent_coef_loss   | 0.774    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 97658    |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 271      |\n",
            "|    ep_rew_mean     | 263      |\n",
            "| time/              |          |\n",
            "|    episodes        | 310      |\n",
            "|    fps             | 52       |\n",
            "|    time_elapsed    | 1935     |\n",
            "|    total timesteps | 101758   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -29.2    |\n",
            "|    critic_loss     | 2.72     |\n",
            "|    ent_coef        | 0.0267   |\n",
            "|    ent_coef_loss   | 0.13     |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 100757   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 270      |\n",
            "|    ep_rew_mean     | 264      |\n",
            "| time/              |          |\n",
            "|    episodes        | 320      |\n",
            "|    fps             | 52       |\n",
            "|    time_elapsed    | 1971     |\n",
            "|    total timesteps | 103749   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -29.2    |\n",
            "|    critic_loss     | 1.97     |\n",
            "|    ent_coef        | 0.0248   |\n",
            "|    ent_coef_loss   | 0.536    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 102748   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 263      |\n",
            "|    ep_rew_mean     | 265      |\n",
            "| time/              |          |\n",
            "|    episodes        | 330      |\n",
            "|    fps             | 52       |\n",
            "|    time_elapsed    | 2010     |\n",
            "|    total timesteps | 105876   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -30.5    |\n",
            "|    critic_loss     | 0.449    |\n",
            "|    ent_coef        | 0.0258   |\n",
            "|    ent_coef_loss   | -0.103   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 104875   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 263      |\n",
            "|    ep_rew_mean     | 265      |\n",
            "| time/              |          |\n",
            "|    episodes        | 340      |\n",
            "|    fps             | 52       |\n",
            "|    time_elapsed    | 2046     |\n",
            "|    total timesteps | 107862   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -28.9    |\n",
            "|    critic_loss     | 2.18     |\n",
            "|    ent_coef        | 0.0262   |\n",
            "|    ent_coef_loss   | 0.308    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 106861   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 249      |\n",
            "|    ep_rew_mean     | 266      |\n",
            "| time/              |          |\n",
            "|    episodes        | 350      |\n",
            "|    fps             | 52       |\n",
            "|    time_elapsed    | 2082     |\n",
            "|    total timesteps | 109872   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -31.1    |\n",
            "|    critic_loss     | 0.419    |\n",
            "|    ent_coef        | 0.0251   |\n",
            "|    ent_coef_loss   | -1.07    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 108871   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 263      |\n",
            "|    ep_rew_mean     | 265      |\n",
            "| time/              |          |\n",
            "|    episodes        | 360      |\n",
            "|    fps             | 52       |\n",
            "|    time_elapsed    | 2151     |\n",
            "|    total timesteps | 113561   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -29.7    |\n",
            "|    critic_loss     | 0.366    |\n",
            "|    ent_coef        | 0.0226   |\n",
            "|    ent_coef_loss   | -0.803   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 112560   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 262      |\n",
            "|    ep_rew_mean     | 267      |\n",
            "| time/              |          |\n",
            "|    episodes        | 370      |\n",
            "|    fps             | 52       |\n",
            "|    time_elapsed    | 2206     |\n",
            "|    total timesteps | 116498   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -29.2    |\n",
            "|    critic_loss     | 0.392    |\n",
            "|    ent_coef        | 0.0265   |\n",
            "|    ent_coef_loss   | 0.0704   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 115497   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 261      |\n",
            "|    ep_rew_mean     | 268      |\n",
            "| time/              |          |\n",
            "|    episodes        | 380      |\n",
            "|    fps             | 52       |\n",
            "|    time_elapsed    | 2253     |\n",
            "|    total timesteps | 119068   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -29.2    |\n",
            "|    critic_loss     | 0.473    |\n",
            "|    ent_coef        | 0.0259   |\n",
            "|    ent_coef_loss   | 0.0173   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 118067   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 255      |\n",
            "|    ep_rew_mean     | 268      |\n",
            "| time/              |          |\n",
            "|    episodes        | 390      |\n",
            "|    fps             | 52       |\n",
            "|    time_elapsed    | 2292     |\n",
            "|    total timesteps | 121227   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -29.3    |\n",
            "|    critic_loss     | 0.708    |\n",
            "|    ent_coef        | 0.0265   |\n",
            "|    ent_coef_loss   | 0.203    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 120226   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 247      |\n",
            "|    ep_rew_mean     | 252      |\n",
            "| time/              |          |\n",
            "|    episodes        | 400      |\n",
            "|    fps             | 52       |\n",
            "|    time_elapsed    | 2330     |\n",
            "|    total timesteps | 123311   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -27.9    |\n",
            "|    critic_loss     | 1.06     |\n",
            "|    ent_coef        | 0.0251   |\n",
            "|    ent_coef_loss   | 0.623    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 122310   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 249      |\n",
            "|    ep_rew_mean     | 262      |\n",
            "| time/              |          |\n",
            "|    episodes        | 410      |\n",
            "|    fps             | 52       |\n",
            "|    time_elapsed    | 2392     |\n",
            "|    total timesteps | 126647   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -30.5    |\n",
            "|    critic_loss     | 0.436    |\n",
            "|    ent_coef        | 0.0228   |\n",
            "|    ent_coef_loss   | -0.977   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 125646   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 257      |\n",
            "|    ep_rew_mean     | 260      |\n",
            "| time/              |          |\n",
            "|    episodes        | 420      |\n",
            "|    fps             | 52       |\n",
            "|    time_elapsed    | 2444     |\n",
            "|    total timesteps | 129447   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -27      |\n",
            "|    critic_loss     | 0.384    |\n",
            "|    ent_coef        | 0.0259   |\n",
            "|    ent_coef_loss   | 0.19     |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 128446   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 257      |\n",
            "|    ep_rew_mean     | 261      |\n",
            "| time/              |          |\n",
            "|    episodes        | 430      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 2482     |\n",
            "|    total timesteps | 131607   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -29.1    |\n",
            "|    critic_loss     | 1.14     |\n",
            "|    ent_coef        | 0.0268   |\n",
            "|    ent_coef_loss   | -0.11    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 130606   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 256      |\n",
            "|    ep_rew_mean     | 261      |\n",
            "| time/              |          |\n",
            "|    episodes        | 440      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 2517     |\n",
            "|    total timesteps | 133495   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -27.9    |\n",
            "|    critic_loss     | 0.368    |\n",
            "|    ent_coef        | 0.0263   |\n",
            "|    ent_coef_loss   | 1.34     |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 132494   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 259      |\n",
            "|    ep_rew_mean     | 261      |\n",
            "| time/              |          |\n",
            "|    episodes        | 450      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 2559     |\n",
            "|    total timesteps | 135788   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -28.3    |\n",
            "|    critic_loss     | 0.704    |\n",
            "|    ent_coef        | 0.0268   |\n",
            "|    ent_coef_loss   | 0.786    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 134787   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 245      |\n",
            "|    ep_rew_mean     | 250      |\n",
            "| time/              |          |\n",
            "|    episodes        | 460      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 2600     |\n",
            "|    total timesteps | 138083   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -29.2    |\n",
            "|    critic_loss     | 0.726    |\n",
            "|    ent_coef        | 0.0269   |\n",
            "|    ent_coef_loss   | -0.185   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 137082   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 239      |\n",
            "|    ep_rew_mean     | 243      |\n",
            "| time/              |          |\n",
            "|    episodes        | 470      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 2644     |\n",
            "|    total timesteps | 140417   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -27.9    |\n",
            "|    critic_loss     | 0.376    |\n",
            "|    ent_coef        | 0.0263   |\n",
            "|    ent_coef_loss   | 1.02     |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 139416   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 240      |\n",
            "|    ep_rew_mean     | 242      |\n",
            "| time/              |          |\n",
            "|    episodes        | 480      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 2694     |\n",
            "|    total timesteps | 143092   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -27.8    |\n",
            "|    critic_loss     | 0.711    |\n",
            "|    ent_coef        | 0.0252   |\n",
            "|    ent_coef_loss   | -0.157   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 142091   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 239      |\n",
            "|    ep_rew_mean     | 243      |\n",
            "| time/              |          |\n",
            "|    episodes        | 490      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 2732     |\n",
            "|    total timesteps | 145165   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -28.1    |\n",
            "|    critic_loss     | 1.15     |\n",
            "|    ent_coef        | 0.0247   |\n",
            "|    ent_coef_loss   | 0.335    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 144164   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 240      |\n",
            "|    ep_rew_mean     | 259      |\n",
            "| time/              |          |\n",
            "|    episodes        | 500      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 2770     |\n",
            "|    total timesteps | 147270   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -28.7    |\n",
            "|    critic_loss     | 3.78     |\n",
            "|    ent_coef        | 0.0254   |\n",
            "|    ent_coef_loss   | 0.0147   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 146269   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 234      |\n",
            "|    ep_rew_mean     | 257      |\n",
            "| time/              |          |\n",
            "|    episodes        | 510      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 2822     |\n",
            "|    total timesteps | 150068   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -28.3    |\n",
            "|    critic_loss     | 0.359    |\n",
            "|    ent_coef        | 0.0247   |\n",
            "|    ent_coef_loss   | 0.277    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 149067   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 227      |\n",
            "|    ep_rew_mean     | 258      |\n",
            "| time/              |          |\n",
            "|    episodes        | 520      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 2859     |\n",
            "|    total timesteps | 152128   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -28.2    |\n",
            "|    critic_loss     | 1.11     |\n",
            "|    ent_coef        | 0.0244   |\n",
            "|    ent_coef_loss   | -0.149   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 151127   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 226      |\n",
            "|    ep_rew_mean     | 259      |\n",
            "| time/              |          |\n",
            "|    episodes        | 530      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 2898     |\n",
            "|    total timesteps | 154230   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -28.4    |\n",
            "|    critic_loss     | 0.389    |\n",
            "|    ent_coef        | 0.0243   |\n",
            "|    ent_coef_loss   | -0.0474  |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 153229   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 227      |\n",
            "|    ep_rew_mean     | 258      |\n",
            "| time/              |          |\n",
            "|    episodes        | 540      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 2933     |\n",
            "|    total timesteps | 156168   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -27      |\n",
            "|    critic_loss     | 0.356    |\n",
            "|    ent_coef        | 0.0243   |\n",
            "|    ent_coef_loss   | -0.834   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 155167   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 224      |\n",
            "|    ep_rew_mean     | 259      |\n",
            "| time/              |          |\n",
            "|    episodes        | 550      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 2969     |\n",
            "|    total timesteps | 158158   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -29.3    |\n",
            "|    critic_loss     | 0.669    |\n",
            "|    ent_coef        | 0.0244   |\n",
            "|    ent_coef_loss   | 0.518    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 157157   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 222      |\n",
            "|    ep_rew_mean     | 272      |\n",
            "| time/              |          |\n",
            "|    episodes        | 560      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 3007     |\n",
            "|    total timesteps | 160242   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -27      |\n",
            "|    critic_loss     | 1.94     |\n",
            "|    ent_coef        | 0.0238   |\n",
            "|    ent_coef_loss   | -0.0637  |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 159241   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 218      |\n",
            "|    ep_rew_mean     | 280      |\n",
            "| time/              |          |\n",
            "|    episodes        | 570      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 3043     |\n",
            "|    total timesteps | 162235   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -28.2    |\n",
            "|    critic_loss     | 0.797    |\n",
            "|    ent_coef        | 0.0245   |\n",
            "|    ent_coef_loss   | 0.147    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 161234   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 212      |\n",
            "|    ep_rew_mean     | 280      |\n",
            "| time/              |          |\n",
            "|    episodes        | 580      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 3081     |\n",
            "|    total timesteps | 164287   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26.3    |\n",
            "|    critic_loss     | 0.713    |\n",
            "|    ent_coef        | 0.0242   |\n",
            "|    ent_coef_loss   | -0.0519  |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 163286   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 212      |\n",
            "|    ep_rew_mean     | 281      |\n",
            "| time/              |          |\n",
            "|    episodes        | 590      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 3119     |\n",
            "|    total timesteps | 166402   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26.8    |\n",
            "|    critic_loss     | 0.344    |\n",
            "|    ent_coef        | 0.0239   |\n",
            "|    ent_coef_loss   | -0.16    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 165401   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 211      |\n",
            "|    ep_rew_mean     | 281      |\n",
            "| time/              |          |\n",
            "|    episodes        | 600      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 3155     |\n",
            "|    total timesteps | 168359   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -28.5    |\n",
            "|    critic_loss     | 0.691    |\n",
            "|    ent_coef        | 0.0244   |\n",
            "|    ent_coef_loss   | -0.472   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 167358   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 206      |\n",
            "|    ep_rew_mean     | 274      |\n",
            "| time/              |          |\n",
            "|    episodes        | 610      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 3198     |\n",
            "|    total timesteps | 170708   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -27.1    |\n",
            "|    critic_loss     | 0.353    |\n",
            "|    ent_coef        | 0.0246   |\n",
            "|    ent_coef_loss   | 0.293    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 169707   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 205      |\n",
            "|    ep_rew_mean     | 274      |\n",
            "| time/              |          |\n",
            "|    episodes        | 620      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 3232     |\n",
            "|    total timesteps | 172597   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -29      |\n",
            "|    critic_loss     | 0.786    |\n",
            "|    ent_coef        | 0.022    |\n",
            "|    ent_coef_loss   | -1.36    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 171596   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 217      |\n",
            "|    ep_rew_mean     | 265      |\n",
            "| time/              |          |\n",
            "|    episodes        | 630      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 3294     |\n",
            "|    total timesteps | 175929   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.9    |\n",
            "|    critic_loss     | 0.745    |\n",
            "|    ent_coef        | 0.0232   |\n",
            "|    ent_coef_loss   | 0.346    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 174928   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 218      |\n",
            "|    ep_rew_mean     | 266      |\n",
            "| time/              |          |\n",
            "|    episodes        | 640      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 3331     |\n",
            "|    total timesteps | 178010   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26.8    |\n",
            "|    critic_loss     | 0.307    |\n",
            "|    ent_coef        | 0.0225   |\n",
            "|    ent_coef_loss   | -0.306   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 177009   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 240      |\n",
            "|    ep_rew_mean     | 260      |\n",
            "| time/              |          |\n",
            "|    episodes        | 650      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 3410     |\n",
            "|    total timesteps | 182117   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -27.9    |\n",
            "|    critic_loss     | 0.807    |\n",
            "|    ent_coef        | 0.0212   |\n",
            "|    ent_coef_loss   | 0.142    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 181116   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 273      |\n",
            "|    ep_rew_mean     | 252      |\n",
            "| time/              |          |\n",
            "|    episodes        | 660      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 3520     |\n",
            "|    total timesteps | 187582   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -28.2    |\n",
            "|    critic_loss     | 0.329    |\n",
            "|    ent_coef        | 0.0207   |\n",
            "|    ent_coef_loss   | -0.0217  |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 186581   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 293      |\n",
            "|    ep_rew_mean     | 247      |\n",
            "| time/              |          |\n",
            "|    episodes        | 670      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 3597     |\n",
            "|    total timesteps | 191583   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26.9    |\n",
            "|    critic_loss     | 0.674    |\n",
            "|    ent_coef        | 0.0222   |\n",
            "|    ent_coef_loss   | -0.54    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 190582   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 311      |\n",
            "|    ep_rew_mean     | 243      |\n",
            "| time/              |          |\n",
            "|    episodes        | 680      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 3670     |\n",
            "|    total timesteps | 195349   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -28      |\n",
            "|    critic_loss     | 0.717    |\n",
            "|    ent_coef        | 0.0232   |\n",
            "|    ent_coef_loss   | -0.557   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 194348   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 310      |\n",
            "|    ep_rew_mean     | 242      |\n",
            "| time/              |          |\n",
            "|    episodes        | 690      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 3707     |\n",
            "|    total timesteps | 197378   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -27.4    |\n",
            "|    critic_loss     | 1.74     |\n",
            "|    ent_coef        | 0.0243   |\n",
            "|    ent_coef_loss   | -0.69    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 196377   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 310      |\n",
            "|    ep_rew_mean     | 242      |\n",
            "| time/              |          |\n",
            "|    episodes        | 700      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 3743     |\n",
            "|    total timesteps | 199354   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26.1    |\n",
            "|    critic_loss     | 0.951    |\n",
            "|    ent_coef        | 0.024    |\n",
            "|    ent_coef_loss   | 0.304    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 198353   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 307      |\n",
            "|    ep_rew_mean     | 251      |\n",
            "| time/              |          |\n",
            "|    episodes        | 710      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 3780     |\n",
            "|    total timesteps | 201387   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26.7    |\n",
            "|    critic_loss     | 0.74     |\n",
            "|    ent_coef        | 0.0235   |\n",
            "|    ent_coef_loss   | -0.942   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 200386   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 307      |\n",
            "|    ep_rew_mean     | 250      |\n",
            "| time/              |          |\n",
            "|    episodes        | 720      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 3815     |\n",
            "|    total timesteps | 203297   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -27.3    |\n",
            "|    critic_loss     | 0.444    |\n",
            "|    ent_coef        | 0.0226   |\n",
            "|    ent_coef_loss   | -0.119   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 202296   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 300      |\n",
            "|    ep_rew_mean     | 257      |\n",
            "| time/              |          |\n",
            "|    episodes        | 730      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 3865     |\n",
            "|    total timesteps | 205941   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -28.5    |\n",
            "|    critic_loss     | 1.16     |\n",
            "|    ent_coef        | 0.0218   |\n",
            "|    ent_coef_loss   | -0.0892  |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 204940   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 303      |\n",
            "|    ep_rew_mean     | 256      |\n",
            "| time/              |          |\n",
            "|    episodes        | 740      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 3907     |\n",
            "|    total timesteps | 208266   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26.8    |\n",
            "|    critic_loss     | 0.414    |\n",
            "|    ent_coef        | 0.023    |\n",
            "|    ent_coef_loss   | 0.122    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 207265   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 281      |\n",
            "|    ep_rew_mean     | 261      |\n",
            "| time/              |          |\n",
            "|    episodes        | 750      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 3943     |\n",
            "|    total timesteps | 210210   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -27      |\n",
            "|    critic_loss     | 1.12     |\n",
            "|    ent_coef        | 0.0234   |\n",
            "|    ent_coef_loss   | 0.606    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 209209   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 245      |\n",
            "|    ep_rew_mean     | 268      |\n",
            "| time/              |          |\n",
            "|    episodes        | 760      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 3978     |\n",
            "|    total timesteps | 212130   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.7    |\n",
            "|    critic_loss     | 3.63     |\n",
            "|    ent_coef        | 0.0232   |\n",
            "|    ent_coef_loss   | 0.124    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 211129   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 226      |\n",
            "|    ep_rew_mean     | 274      |\n",
            "| time/              |          |\n",
            "|    episodes        | 770      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 4015     |\n",
            "|    total timesteps | 214180   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.9    |\n",
            "|    critic_loss     | 0.387    |\n",
            "|    ent_coef        | 0.0232   |\n",
            "|    ent_coef_loss   | 0.554    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 213179   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 207      |\n",
            "|    ep_rew_mean     | 278      |\n",
            "| time/              |          |\n",
            "|    episodes        | 780      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 4048     |\n",
            "|    total timesteps | 216008   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.5    |\n",
            "|    critic_loss     | 0.647    |\n",
            "|    ent_coef        | 0.0228   |\n",
            "|    ent_coef_loss   | 0.493    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 215007   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 209      |\n",
            "|    ep_rew_mean     | 280      |\n",
            "| time/              |          |\n",
            "|    episodes        | 790      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 4089     |\n",
            "|    total timesteps | 218284   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.8    |\n",
            "|    critic_loss     | 2.24     |\n",
            "|    ent_coef        | 0.0223   |\n",
            "|    ent_coef_loss   | 0.291    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 217283   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 210      |\n",
            "|    ep_rew_mean     | 280      |\n",
            "| time/              |          |\n",
            "|    episodes        | 800      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 4127     |\n",
            "|    total timesteps | 220354   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26.6    |\n",
            "|    critic_loss     | 1.67     |\n",
            "|    ent_coef        | 0.0217   |\n",
            "|    ent_coef_loss   | -0.125   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 219353   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 209      |\n",
            "|    ep_rew_mean     | 279      |\n",
            "| time/              |          |\n",
            "|    episodes        | 810      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 4162     |\n",
            "|    total timesteps | 222298   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26.6    |\n",
            "|    critic_loss     | 1.39     |\n",
            "|    ent_coef        | 0.0222   |\n",
            "|    ent_coef_loss   | -0.297   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 221297   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 217      |\n",
            "|    ep_rew_mean     | 279      |\n",
            "| time/              |          |\n",
            "|    episodes        | 820      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 4212     |\n",
            "|    total timesteps | 224967   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.7    |\n",
            "|    critic_loss     | 1.77     |\n",
            "|    ent_coef        | 0.0219   |\n",
            "|    ent_coef_loss   | 0.382    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 223966   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 209      |\n",
            "|    ep_rew_mean     | 280      |\n",
            "| time/              |          |\n",
            "|    episodes        | 830      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 4246     |\n",
            "|    total timesteps | 226863   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26.6    |\n",
            "|    critic_loss     | 0.675    |\n",
            "|    ent_coef        | 0.0221   |\n",
            "|    ent_coef_loss   | 0.0951   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 225862   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 204      |\n",
            "|    ep_rew_mean     | 279      |\n",
            "| time/              |          |\n",
            "|    episodes        | 840      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 4279     |\n",
            "|    total timesteps | 228710   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26.5    |\n",
            "|    critic_loss     | 0.641    |\n",
            "|    ent_coef        | 0.0217   |\n",
            "|    ent_coef_loss   | -0.43    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 227709   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 208      |\n",
            "|    ep_rew_mean     | 279      |\n",
            "| time/              |          |\n",
            "|    episodes        | 850      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 4322     |\n",
            "|    total timesteps | 231026   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26.2    |\n",
            "|    critic_loss     | 0.665    |\n",
            "|    ent_coef        | 0.0215   |\n",
            "|    ent_coef_loss   | -0.0415  |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 230025   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 209      |\n",
            "|    ep_rew_mean     | 279      |\n",
            "| time/              |          |\n",
            "|    episodes        | 860      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 4359     |\n",
            "|    total timesteps | 233042   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26.2    |\n",
            "|    critic_loss     | 1.6      |\n",
            "|    ent_coef        | 0.0219   |\n",
            "|    ent_coef_loss   | -0.379   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 232041   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 207      |\n",
            "|    ep_rew_mean     | 279      |\n",
            "| time/              |          |\n",
            "|    episodes        | 870      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 4393     |\n",
            "|    total timesteps | 234925   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.4    |\n",
            "|    critic_loss     | 0.657    |\n",
            "|    ent_coef        | 0.0217   |\n",
            "|    ent_coef_loss   | 0.56     |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 233924   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 211      |\n",
            "|    ep_rew_mean     | 279      |\n",
            "| time/              |          |\n",
            "|    episodes        | 880      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 4433     |\n",
            "|    total timesteps | 237125   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26.4    |\n",
            "|    critic_loss     | 0.357    |\n",
            "|    ent_coef        | 0.0203   |\n",
            "|    ent_coef_loss   | -0.667   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 236124   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 225      |\n",
            "|    ep_rew_mean     | 275      |\n",
            "| time/              |          |\n",
            "|    episodes        | 890      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 4502     |\n",
            "|    total timesteps | 240760   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.7    |\n",
            "|    critic_loss     | 1.48     |\n",
            "|    ent_coef        | 0.0214   |\n",
            "|    ent_coef_loss   | -0.37    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 239759   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 223      |\n",
            "|    ep_rew_mean     | 273      |\n",
            "| time/              |          |\n",
            "|    episodes        | 900      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 4536     |\n",
            "|    total timesteps | 242656   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26.3    |\n",
            "|    critic_loss     | 1.01     |\n",
            "|    ent_coef        | 0.0219   |\n",
            "|    ent_coef_loss   | -0.654   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 241655   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 226      |\n",
            "|    ep_rew_mean     | 273      |\n",
            "| time/              |          |\n",
            "|    episodes        | 910      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 4578     |\n",
            "|    total timesteps | 244920   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -28.2    |\n",
            "|    critic_loss     | 0.698    |\n",
            "|    ent_coef        | 0.0201   |\n",
            "|    ent_coef_loss   | 0.0264   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 243919   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 231      |\n",
            "|    ep_rew_mean     | 273      |\n",
            "| time/              |          |\n",
            "|    episodes        | 920      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 4637     |\n",
            "|    total timesteps | 248044   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26.6    |\n",
            "|    critic_loss     | 1.69     |\n",
            "|    ent_coef        | 0.0206   |\n",
            "|    ent_coef_loss   | -0.51    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 247043   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 231      |\n",
            "|    ep_rew_mean     | 274      |\n",
            "| time/              |          |\n",
            "|    episodes        | 930      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 4671     |\n",
            "|    total timesteps | 249954   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -27.2    |\n",
            "|    critic_loss     | 1.29     |\n",
            "|    ent_coef        | 0.0207   |\n",
            "|    ent_coef_loss   | -0.569   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 248953   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 232      |\n",
            "|    ep_rew_mean     | 276      |\n",
            "| time/              |          |\n",
            "|    episodes        | 940      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 4707     |\n",
            "|    total timesteps | 251882   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.7    |\n",
            "|    critic_loss     | 0.805    |\n",
            "|    ent_coef        | 0.0214   |\n",
            "|    ent_coef_loss   | 0.48     |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 250881   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 236      |\n",
            "|    ep_rew_mean     | 278      |\n",
            "| time/              |          |\n",
            "|    episodes        | 950      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 4757     |\n",
            "|    total timesteps | 254628   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.1    |\n",
            "|    critic_loss     | 0.4      |\n",
            "|    ent_coef        | 0.0201   |\n",
            "|    ent_coef_loss   | 0.512    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 253627   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 244      |\n",
            "|    ep_rew_mean     | 276      |\n",
            "| time/              |          |\n",
            "|    episodes        | 960      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 4808     |\n",
            "|    total timesteps | 257409   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -24.6    |\n",
            "|    critic_loss     | 0.866    |\n",
            "|    ent_coef        | 0.0206   |\n",
            "|    ent_coef_loss   | 0.342    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 256408   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 251      |\n",
            "|    ep_rew_mean     | 275      |\n",
            "| time/              |          |\n",
            "|    episodes        | 970      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 4856     |\n",
            "|    total timesteps | 260002   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26.2    |\n",
            "|    critic_loss     | 0.463    |\n",
            "|    ent_coef        | 0.02     |\n",
            "|    ent_coef_loss   | -0.443   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 259001   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 258      |\n",
            "|    ep_rew_mean     | 274      |\n",
            "| time/              |          |\n",
            "|    episodes        | 980      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 4910     |\n",
            "|    total timesteps | 262895   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25      |\n",
            "|    critic_loss     | 0.395    |\n",
            "|    ent_coef        | 0.0205   |\n",
            "|    ent_coef_loss   | 1.31     |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 261894   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 241      |\n",
            "|    ep_rew_mean     | 276      |\n",
            "| time/              |          |\n",
            "|    episodes        | 990      |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 4946     |\n",
            "|    total timesteps | 264868   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.8    |\n",
            "|    critic_loss     | 1.39     |\n",
            "|    ent_coef        | 0.0211   |\n",
            "|    ent_coef_loss   | 0.248    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 263867   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 252      |\n",
            "|    ep_rew_mean     | 275      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1000     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 5000     |\n",
            "|    total timesteps | 267817   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26.9    |\n",
            "|    critic_loss     | 1.49     |\n",
            "|    ent_coef        | 0.019    |\n",
            "|    ent_coef_loss   | -0.255   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 266816   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 260      |\n",
            "|    ep_rew_mean     | 274      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1010     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 5058     |\n",
            "|    total timesteps | 270959   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.4    |\n",
            "|    critic_loss     | 0.972    |\n",
            "|    ent_coef        | 0.0197   |\n",
            "|    ent_coef_loss   | -0.446   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 269958   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 257      |\n",
            "|    ep_rew_mean     | 274      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1020     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 5109     |\n",
            "|    total timesteps | 273741   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.9    |\n",
            "|    critic_loss     | 0.726    |\n",
            "|    ent_coef        | 0.0191   |\n",
            "|    ent_coef_loss   | -0.694   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 272740   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 266      |\n",
            "|    ep_rew_mean     | 273      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1030     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 5161     |\n",
            "|    total timesteps | 276554   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -27      |\n",
            "|    critic_loss     | 0.387    |\n",
            "|    ent_coef        | 0.0189   |\n",
            "|    ent_coef_loss   | -1.36    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 275553   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 279      |\n",
            "|    ep_rew_mean     | 271      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1040     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 5220     |\n",
            "|    total timesteps | 279744   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -27.1    |\n",
            "|    critic_loss     | 1.46     |\n",
            "|    ent_coef        | 0.0189   |\n",
            "|    ent_coef_loss   | -0.434   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 278743   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 274      |\n",
            "|    ep_rew_mean     | 271      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1050     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 5263     |\n",
            "|    total timesteps | 282062   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26.4    |\n",
            "|    critic_loss     | 0.376    |\n",
            "|    ent_coef        | 0.0202   |\n",
            "|    ent_coef_loss   | 0.0805   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 281061   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 270      |\n",
            "|    ep_rew_mean     | 270      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1060     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 5305     |\n",
            "|    total timesteps | 284376   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -27      |\n",
            "|    critic_loss     | 1.47     |\n",
            "|    ent_coef        | 0.02     |\n",
            "|    ent_coef_loss   | -0.54    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 283375   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 262      |\n",
            "|    ep_rew_mean     | 270      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1070     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 5339     |\n",
            "|    total timesteps | 286251   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -27.3    |\n",
            "|    critic_loss     | 0.683    |\n",
            "|    ent_coef        | 0.02     |\n",
            "|    ent_coef_loss   | 0.038    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 285250   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 254      |\n",
            "|    ep_rew_mean     | 271      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1080     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 5377     |\n",
            "|    total timesteps | 288307   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.6    |\n",
            "|    critic_loss     | 0.758    |\n",
            "|    ent_coef        | 0.0201   |\n",
            "|    ent_coef_loss   | 0.915    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 287306   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 256      |\n",
            "|    ep_rew_mean     | 271      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1090     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 5415     |\n",
            "|    total timesteps | 290439   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -24.8    |\n",
            "|    critic_loss     | 2.2      |\n",
            "|    ent_coef        | 0.0204   |\n",
            "|    ent_coef_loss   | 0.87     |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 289438   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 246      |\n",
            "|    ep_rew_mean     | 272      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1100     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 5451     |\n",
            "|    total timesteps | 292393   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26.7    |\n",
            "|    critic_loss     | 0.378    |\n",
            "|    ent_coef        | 0.0202   |\n",
            "|    ent_coef_loss   | -0.277   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 291392   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 235      |\n",
            "|    ep_rew_mean     | 274      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1110     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 5488     |\n",
            "|    total timesteps | 294467   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26.6    |\n",
            "|    critic_loss     | 1.52     |\n",
            "|    ent_coef        | 0.0206   |\n",
            "|    ent_coef_loss   | -1.06    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 293466   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 233      |\n",
            "|    ep_rew_mean     | 272      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1120     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 5538     |\n",
            "|    total timesteps | 297074   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26.2    |\n",
            "|    critic_loss     | 0.361    |\n",
            "|    ent_coef        | 0.0207   |\n",
            "|    ent_coef_loss   | 0.618    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 296073   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 227      |\n",
            "|    ep_rew_mean     | 271      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1130     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 5577     |\n",
            "|    total timesteps | 299218   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -27      |\n",
            "|    critic_loss     | 0.596    |\n",
            "|    ent_coef        | 0.0205   |\n",
            "|    ent_coef_loss   | -0.374   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 298217   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 214      |\n",
            "|    ep_rew_mean     | 273      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1140     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 5611     |\n",
            "|    total timesteps | 301101   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.7    |\n",
            "|    critic_loss     | 0.746    |\n",
            "|    ent_coef        | 0.0205   |\n",
            "|    ent_coef_loss   | -0.342   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 300100   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 211      |\n",
            "|    ep_rew_mean     | 273      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1150     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 5649     |\n",
            "|    total timesteps | 303178   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26.3    |\n",
            "|    critic_loss     | 0.37     |\n",
            "|    ent_coef        | 0.0207   |\n",
            "|    ent_coef_loss   | 0.484    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 302177   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 215      |\n",
            "|    ep_rew_mean     | 272      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1160     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 5700     |\n",
            "|    total timesteps | 305885   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.3    |\n",
            "|    critic_loss     | 0.406    |\n",
            "|    ent_coef        | 0.0209   |\n",
            "|    ent_coef_loss   | 0.0556   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 304884   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 215      |\n",
            "|    ep_rew_mean     | 274      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1170     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 5734     |\n",
            "|    total timesteps | 307730   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26.6    |\n",
            "|    critic_loss     | 1.01     |\n",
            "|    ent_coef        | 0.0205   |\n",
            "|    ent_coef_loss   | 0.254    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 306729   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 212      |\n",
            "|    ep_rew_mean     | 274      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1180     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 5767     |\n",
            "|    total timesteps | 309549   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26.7    |\n",
            "|    critic_loss     | 0.68     |\n",
            "|    ent_coef        | 0.0199   |\n",
            "|    ent_coef_loss   | 0.233    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 308548   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 210      |\n",
            "|    ep_rew_mean     | 274      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1190     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 5801     |\n",
            "|    total timesteps | 311470   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26.5    |\n",
            "|    critic_loss     | 1.49     |\n",
            "|    ent_coef        | 0.0198   |\n",
            "|    ent_coef_loss   | -0.0858  |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 310469   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 209      |\n",
            "|    ep_rew_mean     | 275      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1200     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 5834     |\n",
            "|    total timesteps | 313262   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26.8    |\n",
            "|    critic_loss     | 0.738    |\n",
            "|    ent_coef        | 0.0199   |\n",
            "|    ent_coef_loss   | -0.074   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 312261   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 214      |\n",
            "|    ep_rew_mean     | 273      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1210     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 5883     |\n",
            "|    total timesteps | 315879   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -24.3    |\n",
            "|    critic_loss     | 0.864    |\n",
            "|    ent_coef        | 0.0197   |\n",
            "|    ent_coef_loss   | 0.0625   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 314878   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 207      |\n",
            "|    ep_rew_mean     | 276      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1220     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 5918     |\n",
            "|    total timesteps | 317821   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26.1    |\n",
            "|    critic_loss     | 0.82     |\n",
            "|    ent_coef        | 0.0195   |\n",
            "|    ent_coef_loss   | 0.0737   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 316820   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 205      |\n",
            "|    ep_rew_mean     | 276      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1230     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 5952     |\n",
            "|    total timesteps | 319719   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -27.1    |\n",
            "|    critic_loss     | 1.07     |\n",
            "|    ent_coef        | 0.02     |\n",
            "|    ent_coef_loss   | 0.245    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 318718   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 206      |\n",
            "|    ep_rew_mean     | 276      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1240     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 5989     |\n",
            "|    total timesteps | 321725   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.8    |\n",
            "|    critic_loss     | 1.2      |\n",
            "|    ent_coef        | 0.0195   |\n",
            "|    ent_coef_loss   | 0.00935  |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 320724   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 205      |\n",
            "|    ep_rew_mean     | 276      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1250     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 6024     |\n",
            "|    total timesteps | 323662   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.6    |\n",
            "|    critic_loss     | 1.48     |\n",
            "|    ent_coef        | 0.0197   |\n",
            "|    ent_coef_loss   | -0.501   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 322661   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 197      |\n",
            "|    ep_rew_mean     | 278      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1260     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 6058     |\n",
            "|    total timesteps | 325579   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26      |\n",
            "|    critic_loss     | 0.776    |\n",
            "|    ent_coef        | 0.0198   |\n",
            "|    ent_coef_loss   | -0.7     |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 324578   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 198      |\n",
            "|    ep_rew_mean     | 277      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1270     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 6094     |\n",
            "|    total timesteps | 327559   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26.1    |\n",
            "|    critic_loss     | 1.32     |\n",
            "|    ent_coef        | 0.0199   |\n",
            "|    ent_coef_loss   | -0.0372  |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 326558   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 199      |\n",
            "|    ep_rew_mean     | 277      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1280     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 6128     |\n",
            "|    total timesteps | 329476   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26.4    |\n",
            "|    critic_loss     | 0.333    |\n",
            "|    ent_coef        | 0.0202   |\n",
            "|    ent_coef_loss   | -0.656   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 328475   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 200      |\n",
            "|    ep_rew_mean     | 277      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1290     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 6163     |\n",
            "|    total timesteps | 331421   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -24.6    |\n",
            "|    critic_loss     | 0.963    |\n",
            "|    ent_coef        | 0.02     |\n",
            "|    ent_coef_loss   | 0.53     |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 330420   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 202      |\n",
            "|    ep_rew_mean     | 278      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1300     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 6200     |\n",
            "|    total timesteps | 333442   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.3    |\n",
            "|    critic_loss     | 1.04     |\n",
            "|    ent_coef        | 0.0198   |\n",
            "|    ent_coef_loss   | 0.212    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 332441   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 195      |\n",
            "|    ep_rew_mean     | 279      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1310     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 6235     |\n",
            "|    total timesteps | 335393   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26.4    |\n",
            "|    critic_loss     | 0.337    |\n",
            "|    ent_coef        | 0.0197   |\n",
            "|    ent_coef_loss   | -0.955   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 334392   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 196      |\n",
            "|    ep_rew_mean     | 279      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1320     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 6271     |\n",
            "|    total timesteps | 337413   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.4    |\n",
            "|    critic_loss     | 0.943    |\n",
            "|    ent_coef        | 0.0193   |\n",
            "|    ent_coef_loss   | 0.0313   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 336412   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 205      |\n",
            "|    ep_rew_mean     | 278      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1330     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 6324     |\n",
            "|    total timesteps | 340251   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26.3    |\n",
            "|    critic_loss     | 0.677    |\n",
            "|    ent_coef        | 0.0195   |\n",
            "|    ent_coef_loss   | -0.102   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 339250   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 212      |\n",
            "|    ep_rew_mean     | 275      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1340     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 6373     |\n",
            "|    total timesteps | 342908   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26      |\n",
            "|    critic_loss     | 0.325    |\n",
            "|    ent_coef        | 0.019    |\n",
            "|    ent_coef_loss   | 0.407    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 341907   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 212      |\n",
            "|    ep_rew_mean     | 275      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1350     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 6409     |\n",
            "|    total timesteps | 344896   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26.2    |\n",
            "|    critic_loss     | 0.37     |\n",
            "|    ent_coef        | 0.0193   |\n",
            "|    ent_coef_loss   | 0.232    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 343895   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 220      |\n",
            "|    ep_rew_mean     | 273      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1360     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 6460     |\n",
            "|    total timesteps | 347550   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -27.2    |\n",
            "|    critic_loss     | 0.711    |\n",
            "|    ent_coef        | 0.0209   |\n",
            "|    ent_coef_loss   | -0.487   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 346549   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 220      |\n",
            "|    ep_rew_mean     | 273      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1370     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 6495     |\n",
            "|    total timesteps | 349522   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.4    |\n",
            "|    critic_loss     | 0.368    |\n",
            "|    ent_coef        | 0.02     |\n",
            "|    ent_coef_loss   | 0.899    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 348521   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 221      |\n",
            "|    ep_rew_mean     | 273      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1380     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 6532     |\n",
            "|    total timesteps | 351562   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -24      |\n",
            "|    critic_loss     | 2.26     |\n",
            "|    ent_coef        | 0.019    |\n",
            "|    ent_coef_loss   | 0.978    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 350561   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 221      |\n",
            "|    ep_rew_mean     | 272      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1390     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 6566     |\n",
            "|    total timesteps | 353503   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.5    |\n",
            "|    critic_loss     | 0.749    |\n",
            "|    ent_coef        | 0.0185   |\n",
            "|    ent_coef_loss   | 0.214    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 352502   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 228      |\n",
            "|    ep_rew_mean     | 269      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1400     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 6619     |\n",
            "|    total timesteps | 356240   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.4    |\n",
            "|    critic_loss     | 2.09     |\n",
            "|    ent_coef        | 0.0193   |\n",
            "|    ent_coef_loss   | 0.524    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 355239   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 229      |\n",
            "|    ep_rew_mean     | 269      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1410     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 6656     |\n",
            "|    total timesteps | 358281   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.2    |\n",
            "|    critic_loss     | 0.396    |\n",
            "|    ent_coef        | 0.0193   |\n",
            "|    ent_coef_loss   | 0.509    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 357280   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 229      |\n",
            "|    ep_rew_mean     | 270      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1420     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 6691     |\n",
            "|    total timesteps | 360264   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.8    |\n",
            "|    critic_loss     | 0.945    |\n",
            "|    ent_coef        | 0.0199   |\n",
            "|    ent_coef_loss   | -0.467   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 359263   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 220      |\n",
            "|    ep_rew_mean     | 272      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1430     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 6727     |\n",
            "|    total timesteps | 362227   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26      |\n",
            "|    critic_loss     | 0.678    |\n",
            "|    ent_coef        | 0.0195   |\n",
            "|    ent_coef_loss   | -0.593   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 361226   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 213      |\n",
            "|    ep_rew_mean     | 275      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1440     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 6762     |\n",
            "|    total timesteps | 364180   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26      |\n",
            "|    critic_loss     | 0.353    |\n",
            "|    ent_coef        | 0.0192   |\n",
            "|    ent_coef_loss   | 0.735    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 363179   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 212      |\n",
            "|    ep_rew_mean     | 274      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1450     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 6795     |\n",
            "|    total timesteps | 366077   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.3    |\n",
            "|    critic_loss     | 0.37     |\n",
            "|    ent_coef        | 0.0197   |\n",
            "|    ent_coef_loss   | 0.126    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 365076   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 205      |\n",
            "|    ep_rew_mean     | 277      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1460     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 6830     |\n",
            "|    total timesteps | 368040   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.4    |\n",
            "|    critic_loss     | 1.2      |\n",
            "|    ent_coef        | 0.0188   |\n",
            "|    ent_coef_loss   | 0.779    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 367039   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 206      |\n",
            "|    ep_rew_mean     | 278      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1470     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 6868     |\n",
            "|    total timesteps | 370120   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.8    |\n",
            "|    critic_loss     | 0.759    |\n",
            "|    ent_coef        | 0.0192   |\n",
            "|    ent_coef_loss   | 0.194    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 369119   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 205      |\n",
            "|    ep_rew_mean     | 277      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1480     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 6903     |\n",
            "|    total timesteps | 372092   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.1    |\n",
            "|    critic_loss     | 1.13     |\n",
            "|    ent_coef        | 0.0187   |\n",
            "|    ent_coef_loss   | 0.978    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 371091   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 205      |\n",
            "|    ep_rew_mean     | 277      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1490     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 6937     |\n",
            "|    total timesteps | 373989   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.5    |\n",
            "|    critic_loss     | 0.799    |\n",
            "|    ent_coef        | 0.0185   |\n",
            "|    ent_coef_loss   | 0.66     |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 372988   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 203      |\n",
            "|    ep_rew_mean     | 279      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1500     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 6985     |\n",
            "|    total timesteps | 376572   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26.2    |\n",
            "|    critic_loss     | 0.719    |\n",
            "|    ent_coef        | 0.019    |\n",
            "|    ent_coef_loss   | -0.524   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 375571   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 202      |\n",
            "|    ep_rew_mean     | 279      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1510     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 7020     |\n",
            "|    total timesteps | 378522   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26      |\n",
            "|    critic_loss     | 1.63     |\n",
            "|    ent_coef        | 0.0191   |\n",
            "|    ent_coef_loss   | -0.542   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 377521   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 205      |\n",
            "|    ep_rew_mean     | 278      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1520     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 7060     |\n",
            "|    total timesteps | 380770   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.5    |\n",
            "|    critic_loss     | 1.17     |\n",
            "|    ent_coef        | 0.0191   |\n",
            "|    ent_coef_loss   | -0.299   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 379769   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 205      |\n",
            "|    ep_rew_mean     | 277      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1530     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 7096     |\n",
            "|    total timesteps | 382748   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -24.6    |\n",
            "|    critic_loss     | 1.3      |\n",
            "|    ent_coef        | 0.0196   |\n",
            "|    ent_coef_loss   | -0.136   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 381747   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 205      |\n",
            "|    ep_rew_mean     | 276      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1540     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 7131     |\n",
            "|    total timesteps | 384690   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.3    |\n",
            "|    critic_loss     | 1.21     |\n",
            "|    ent_coef        | 0.019    |\n",
            "|    ent_coef_loss   | -0.197   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 383689   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 205      |\n",
            "|    ep_rew_mean     | 277      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1550     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 7165     |\n",
            "|    total timesteps | 386591   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26.2    |\n",
            "|    critic_loss     | 0.946    |\n",
            "|    ent_coef        | 0.0185   |\n",
            "|    ent_coef_loss   | 0.268    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 385590   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 205      |\n",
            "|    ep_rew_mean     | 277      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1560     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 7199     |\n",
            "|    total timesteps | 388502   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26.5    |\n",
            "|    critic_loss     | 1.04     |\n",
            "|    ent_coef        | 0.0188   |\n",
            "|    ent_coef_loss   | -0.724   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 387501   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 203      |\n",
            "|    ep_rew_mean     | 277      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1570     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 7234     |\n",
            "|    total timesteps | 390445   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26.2    |\n",
            "|    critic_loss     | 0.426    |\n",
            "|    ent_coef        | 0.0184   |\n",
            "|    ent_coef_loss   | -0.00538 |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 389444   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 203      |\n",
            "|    ep_rew_mean     | 277      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1580     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 7270     |\n",
            "|    total timesteps | 392437   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.5    |\n",
            "|    critic_loss     | 0.325    |\n",
            "|    ent_coef        | 0.0189   |\n",
            "|    ent_coef_loss   | 0.146    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 391436   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 211      |\n",
            "|    ep_rew_mean     | 277      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1590     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 7320     |\n",
            "|    total timesteps | 395131   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.6    |\n",
            "|    critic_loss     | 1.61     |\n",
            "|    ent_coef        | 0.0178   |\n",
            "|    ent_coef_loss   | -0.304   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 394130   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 224      |\n",
            "|    ep_rew_mean     | 277      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1600     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 7392     |\n",
            "|    total timesteps | 398950   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26.5    |\n",
            "|    critic_loss     | 0.367    |\n",
            "|    ent_coef        | 0.0173   |\n",
            "|    ent_coef_loss   | 0.734    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 397949   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 236      |\n",
            "|    ep_rew_mean     | 275      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1610     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 7450     |\n",
            "|    total timesteps | 402099   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.5    |\n",
            "|    critic_loss     | 0.621    |\n",
            "|    ent_coef        | 0.0166   |\n",
            "|    ent_coef_loss   | -0.683   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 401098   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 254      |\n",
            "|    ep_rew_mean     | 275      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1620     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 7527     |\n",
            "|    total timesteps | 406205   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.4    |\n",
            "|    critic_loss     | 0.916    |\n",
            "|    ent_coef        | 0.0162   |\n",
            "|    ent_coef_loss   | -0.919   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 405204   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 266      |\n",
            "|    ep_rew_mean     | 275      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1630     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 7585     |\n",
            "|    total timesteps | 409352   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26.5    |\n",
            "|    critic_loss     | 1.89     |\n",
            "|    ent_coef        | 0.016    |\n",
            "|    ent_coef_loss   | 0.38     |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 408351   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 271      |\n",
            "|    ep_rew_mean     | 276      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1640     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 7630     |\n",
            "|    total timesteps | 411795   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.1    |\n",
            "|    critic_loss     | 1.18     |\n",
            "|    ent_coef        | 0.0191   |\n",
            "|    ent_coef_loss   | 0.475    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 410794   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 271      |\n",
            "|    ep_rew_mean     | 276      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1650     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 7664     |\n",
            "|    total timesteps | 413694   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -27.7    |\n",
            "|    critic_loss     | 0.351    |\n",
            "|    ent_coef        | 0.0194   |\n",
            "|    ent_coef_loss   | 0.376    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 412693   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 272      |\n",
            "|    ep_rew_mean     | 276      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1660     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 7700     |\n",
            "|    total timesteps | 415676   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.8    |\n",
            "|    critic_loss     | 0.35     |\n",
            "|    ent_coef        | 0.0192   |\n",
            "|    ent_coef_loss   | -0.22    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 414675   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 272      |\n",
            "|    ep_rew_mean     | 276      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1670     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 7735     |\n",
            "|    total timesteps | 417599   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.3    |\n",
            "|    critic_loss     | 0.716    |\n",
            "|    ent_coef        | 0.0189   |\n",
            "|    ent_coef_loss   | -0.667   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 416598   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 272      |\n",
            "|    ep_rew_mean     | 276      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1680     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 7771     |\n",
            "|    total timesteps | 419591   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.9    |\n",
            "|    critic_loss     | 1.59     |\n",
            "|    ent_coef        | 0.0191   |\n",
            "|    ent_coef_loss   | -0.436   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 418590   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 264      |\n",
            "|    ep_rew_mean     | 276      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1690     |\n",
            "|    fps             | 53       |\n",
            "|    time_elapsed    | 7806     |\n",
            "|    total timesteps | 421573   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25      |\n",
            "|    critic_loss     | 1.13     |\n",
            "|    ent_coef        | 0.019    |\n",
            "|    ent_coef_loss   | -0.0431  |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 420572   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 247      |\n",
            "|    ep_rew_mean     | 276      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1700     |\n",
            "|    fps             | 54       |\n",
            "|    time_elapsed    | 7844     |\n",
            "|    total timesteps | 423634   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.6    |\n",
            "|    critic_loss     | 0.69     |\n",
            "|    ent_coef        | 0.0194   |\n",
            "|    ent_coef_loss   | -0.0285  |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 422633   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 234      |\n",
            "|    ep_rew_mean     | 273      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1710     |\n",
            "|    fps             | 54       |\n",
            "|    time_elapsed    | 7877     |\n",
            "|    total timesteps | 425488   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.6    |\n",
            "|    critic_loss     | 1.09     |\n",
            "|    ent_coef        | 0.0196   |\n",
            "|    ent_coef_loss   | -0.651   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 424487   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 220      |\n",
            "|    ep_rew_mean     | 271      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1720     |\n",
            "|    fps             | 54       |\n",
            "|    time_elapsed    | 7928     |\n",
            "|    total timesteps | 428196   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26.5    |\n",
            "|    critic_loss     | 0.691    |\n",
            "|    ent_coef        | 0.0205   |\n",
            "|    ent_coef_loss   | 0.562    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 427195   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 208      |\n",
            "|    ep_rew_mean     | 271      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1730     |\n",
            "|    fps             | 54       |\n",
            "|    time_elapsed    | 7963     |\n",
            "|    total timesteps | 430137   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.1    |\n",
            "|    critic_loss     | 0.699    |\n",
            "|    ent_coef        | 0.0207   |\n",
            "|    ent_coef_loss   | 1.68     |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 429136   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 203      |\n",
            "|    ep_rew_mean     | 271      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1740     |\n",
            "|    fps             | 54       |\n",
            "|    time_elapsed    | 7999     |\n",
            "|    total timesteps | 432129   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.5    |\n",
            "|    critic_loss     | 0.357    |\n",
            "|    ent_coef        | 0.0201   |\n",
            "|    ent_coef_loss   | 0.00478  |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 431128   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 204      |\n",
            "|    ep_rew_mean     | 272      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1750     |\n",
            "|    fps             | 54       |\n",
            "|    time_elapsed    | 8034     |\n",
            "|    total timesteps | 434069   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.8    |\n",
            "|    critic_loss     | 0.651    |\n",
            "|    ent_coef        | 0.0196   |\n",
            "|    ent_coef_loss   | -0.268   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 433068   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 204      |\n",
            "|    ep_rew_mean     | 272      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1760     |\n",
            "|    fps             | 54       |\n",
            "|    time_elapsed    | 8070     |\n",
            "|    total timesteps | 436066   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.9    |\n",
            "|    critic_loss     | 0.407    |\n",
            "|    ent_coef        | 0.0198   |\n",
            "|    ent_coef_loss   | 0.143    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 435065   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 205      |\n",
            "|    ep_rew_mean     | 272      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1770     |\n",
            "|    fps             | 54       |\n",
            "|    time_elapsed    | 8106     |\n",
            "|    total timesteps | 438056   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.6    |\n",
            "|    critic_loss     | 0.636    |\n",
            "|    ent_coef        | 0.0198   |\n",
            "|    ent_coef_loss   | 0.453    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 437055   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 206      |\n",
            "|    ep_rew_mean     | 270      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1780     |\n",
            "|    fps             | 54       |\n",
            "|    time_elapsed    | 8145     |\n",
            "|    total timesteps | 440216   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26.1    |\n",
            "|    critic_loss     | 0.618    |\n",
            "|    ent_coef        | 0.0191   |\n",
            "|    ent_coef_loss   | 0.0586   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 439215   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 206      |\n",
            "|    ep_rew_mean     | 272      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1790     |\n",
            "|    fps             | 54       |\n",
            "|    time_elapsed    | 8181     |\n",
            "|    total timesteps | 442206   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26.5    |\n",
            "|    critic_loss     | 0.4      |\n",
            "|    ent_coef        | 0.0198   |\n",
            "|    ent_coef_loss   | 0.165    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 441205   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 214      |\n",
            "|    ep_rew_mean     | 268      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1800     |\n",
            "|    fps             | 54       |\n",
            "|    time_elapsed    | 8233     |\n",
            "|    total timesteps | 444990   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.8    |\n",
            "|    critic_loss     | 0.653    |\n",
            "|    ent_coef        | 0.0197   |\n",
            "|    ent_coef_loss   | 0.0235   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 443989   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 225      |\n",
            "|    ep_rew_mean     | 271      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1810     |\n",
            "|    fps             | 54       |\n",
            "|    time_elapsed    | 8287     |\n",
            "|    total timesteps | 447942   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26      |\n",
            "|    critic_loss     | 1.25     |\n",
            "|    ent_coef        | 0.0196   |\n",
            "|    ent_coef_loss   | -0.866   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 446941   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 217      |\n",
            "|    ep_rew_mean     | 272      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1820     |\n",
            "|    fps             | 54       |\n",
            "|    time_elapsed    | 8322     |\n",
            "|    total timesteps | 449882   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -24.8    |\n",
            "|    critic_loss     | 0.665    |\n",
            "|    ent_coef        | 0.0192   |\n",
            "|    ent_coef_loss   | -0.741   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 448881   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 217      |\n",
            "|    ep_rew_mean     | 273      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1830     |\n",
            "|    fps             | 54       |\n",
            "|    time_elapsed    | 8357     |\n",
            "|    total timesteps | 451840   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.5    |\n",
            "|    critic_loss     | 0.752    |\n",
            "|    ent_coef        | 0.0192   |\n",
            "|    ent_coef_loss   | -0.446   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 450839   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 216      |\n",
            "|    ep_rew_mean     | 272      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1840     |\n",
            "|    fps             | 54       |\n",
            "|    time_elapsed    | 8392     |\n",
            "|    total timesteps | 453753   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26.7    |\n",
            "|    critic_loss     | 0.588    |\n",
            "|    ent_coef        | 0.0196   |\n",
            "|    ent_coef_loss   | -0.524   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 452752   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 219      |\n",
            "|    ep_rew_mean     | 273      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1850     |\n",
            "|    fps             | 54       |\n",
            "|    time_elapsed    | 8431     |\n",
            "|    total timesteps | 455965   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.2    |\n",
            "|    critic_loss     | 1.13     |\n",
            "|    ent_coef        | 0.0193   |\n",
            "|    ent_coef_loss   | 0.305    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 454964   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 218      |\n",
            "|    ep_rew_mean     | 273      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1860     |\n",
            "|    fps             | 54       |\n",
            "|    time_elapsed    | 8466     |\n",
            "|    total timesteps | 457890   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -24.5    |\n",
            "|    critic_loss     | 3.77     |\n",
            "|    ent_coef        | 0.0189   |\n",
            "|    ent_coef_loss   | 0.09     |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 456889   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 218      |\n",
            "|    ep_rew_mean     | 274      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1870     |\n",
            "|    fps             | 54       |\n",
            "|    time_elapsed    | 8502     |\n",
            "|    total timesteps | 459890   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -24.7    |\n",
            "|    critic_loss     | 1.86     |\n",
            "|    ent_coef        | 0.019    |\n",
            "|    ent_coef_loss   | 0.491    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 458889   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 217      |\n",
            "|    ep_rew_mean     | 277      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1880     |\n",
            "|    fps             | 54       |\n",
            "|    time_elapsed    | 8539     |\n",
            "|    total timesteps | 461924   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.6    |\n",
            "|    critic_loss     | 1.15     |\n",
            "|    ent_coef        | 0.0192   |\n",
            "|    ent_coef_loss   | -0.216   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 460923   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 217      |\n",
            "|    ep_rew_mean     | 274      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1890     |\n",
            "|    fps             | 54       |\n",
            "|    time_elapsed    | 8574     |\n",
            "|    total timesteps | 463877   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25      |\n",
            "|    critic_loss     | 0.625    |\n",
            "|    ent_coef        | 0.0191   |\n",
            "|    ent_coef_loss   | -0.43    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 462876   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 208      |\n",
            "|    ep_rew_mean     | 278      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1900     |\n",
            "|    fps             | 54       |\n",
            "|    time_elapsed    | 8608     |\n",
            "|    total timesteps | 465803   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.1    |\n",
            "|    critic_loss     | 0.381    |\n",
            "|    ent_coef        | 0.0191   |\n",
            "|    ent_coef_loss   | -1.17    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 464802   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 198      |\n",
            "|    ep_rew_mean     | 281      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1910     |\n",
            "|    fps             | 54       |\n",
            "|    time_elapsed    | 8644     |\n",
            "|    total timesteps | 467779   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26      |\n",
            "|    critic_loss     | 0.846    |\n",
            "|    ent_coef        | 0.0195   |\n",
            "|    ent_coef_loss   | 0.291    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 466778   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 200      |\n",
            "|    ep_rew_mean     | 281      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1920     |\n",
            "|    fps             | 54       |\n",
            "|    time_elapsed    | 8681     |\n",
            "|    total timesteps | 469846   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.4    |\n",
            "|    critic_loss     | 0.419    |\n",
            "|    ent_coef        | 0.0188   |\n",
            "|    ent_coef_loss   | 0.419    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 468845   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 208      |\n",
            "|    ep_rew_mean     | 279      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1930     |\n",
            "|    fps             | 54       |\n",
            "|    time_elapsed    | 8735     |\n",
            "|    total timesteps | 472663   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -24.8    |\n",
            "|    critic_loss     | 2.59     |\n",
            "|    ent_coef        | 0.0183   |\n",
            "|    ent_coef_loss   | 0.501    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 471662   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 208      |\n",
            "|    ep_rew_mean     | 279      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1940     |\n",
            "|    fps             | 54       |\n",
            "|    time_elapsed    | 8769     |\n",
            "|    total timesteps | 474595   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -23.8    |\n",
            "|    critic_loss     | 3.05     |\n",
            "|    ent_coef        | 0.0198   |\n",
            "|    ent_coef_loss   | 0.832    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 473594   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 206      |\n",
            "|    ep_rew_mean     | 278      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1950     |\n",
            "|    fps             | 54       |\n",
            "|    time_elapsed    | 8806     |\n",
            "|    total timesteps | 476611   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.4    |\n",
            "|    critic_loss     | 0.692    |\n",
            "|    ent_coef        | 0.0182   |\n",
            "|    ent_coef_loss   | -0.0271  |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 475610   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 206      |\n",
            "|    ep_rew_mean     | 278      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1960     |\n",
            "|    fps             | 54       |\n",
            "|    time_elapsed    | 8840     |\n",
            "|    total timesteps | 478506   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -24.9    |\n",
            "|    critic_loss     | 1.17     |\n",
            "|    ent_coef        | 0.0195   |\n",
            "|    ent_coef_loss   | 0.142    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 477505   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 205      |\n",
            "|    ep_rew_mean     | 277      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1970     |\n",
            "|    fps             | 54       |\n",
            "|    time_elapsed    | 8874     |\n",
            "|    total timesteps | 480427   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -24.5    |\n",
            "|    critic_loss     | 0.373    |\n",
            "|    ent_coef        | 0.0188   |\n",
            "|    ent_coef_loss   | 1.52     |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 479426   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 205      |\n",
            "|    ep_rew_mean     | 276      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1980     |\n",
            "|    fps             | 54       |\n",
            "|    time_elapsed    | 8909     |\n",
            "|    total timesteps | 482376   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26.6    |\n",
            "|    critic_loss     | 0.687    |\n",
            "|    ent_coef        | 0.0185   |\n",
            "|    ent_coef_loss   | -0.761   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 481375   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 205      |\n",
            "|    ep_rew_mean     | 278      |\n",
            "| time/              |          |\n",
            "|    episodes        | 1990     |\n",
            "|    fps             | 54       |\n",
            "|    time_elapsed    | 8945     |\n",
            "|    total timesteps | 484370   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -24.8    |\n",
            "|    critic_loss     | 0.654    |\n",
            "|    ent_coef        | 0.0188   |\n",
            "|    ent_coef_loss   | -0.265   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 483369   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 206      |\n",
            "|    ep_rew_mean     | 278      |\n",
            "| time/              |          |\n",
            "|    episodes        | 2000     |\n",
            "|    fps             | 54       |\n",
            "|    time_elapsed    | 8981     |\n",
            "|    total timesteps | 486370   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.3    |\n",
            "|    critic_loss     | 0.684    |\n",
            "|    ent_coef        | 0.0189   |\n",
            "|    ent_coef_loss   | 0.00383  |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 485369   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 206      |\n",
            "|    ep_rew_mean     | 278      |\n",
            "| time/              |          |\n",
            "|    episodes        | 2010     |\n",
            "|    fps             | 54       |\n",
            "|    time_elapsed    | 9016     |\n",
            "|    total timesteps | 488332   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.6    |\n",
            "|    critic_loss     | 0.65     |\n",
            "|    ent_coef        | 0.019    |\n",
            "|    ent_coef_loss   | -0.881   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 487331   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 208      |\n",
            "|    ep_rew_mean     | 278      |\n",
            "| time/              |          |\n",
            "|    episodes        | 2020     |\n",
            "|    fps             | 54       |\n",
            "|    time_elapsed    | 9058     |\n",
            "|    total timesteps | 490614   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -24.9    |\n",
            "|    critic_loss     | 0.354    |\n",
            "|    ent_coef        | 0.0189   |\n",
            "|    ent_coef_loss   | 0.749    |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 489613   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 200      |\n",
            "|    ep_rew_mean     | 280      |\n",
            "| time/              |          |\n",
            "|    episodes        | 2030     |\n",
            "|    fps             | 54       |\n",
            "|    time_elapsed    | 9095     |\n",
            "|    total timesteps | 492670   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26      |\n",
            "|    critic_loss     | 0.457    |\n",
            "|    ent_coef        | 0.0182   |\n",
            "|    ent_coef_loss   | -0.415   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 491669   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 200      |\n",
            "|    ep_rew_mean     | 279      |\n",
            "| time/              |          |\n",
            "|    episodes        | 2040     |\n",
            "|    fps             | 54       |\n",
            "|    time_elapsed    | 9131     |\n",
            "|    total timesteps | 494642   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -26      |\n",
            "|    critic_loss     | 1.94     |\n",
            "|    ent_coef        | 0.0177   |\n",
            "|    ent_coef_loss   | -0.319   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 493641   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 199      |\n",
            "|    ep_rew_mean     | 279      |\n",
            "| time/              |          |\n",
            "|    episodes        | 2050     |\n",
            "|    fps             | 54       |\n",
            "|    time_elapsed    | 9164     |\n",
            "|    total timesteps | 496508   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.7    |\n",
            "|    critic_loss     | 0.365    |\n",
            "|    ent_coef        | 0.0184   |\n",
            "|    ent_coef_loss   | -0.0419  |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 495507   |\n",
            "---------------------------------\n",
            "---------------------------------\n",
            "| rollout/           |          |\n",
            "|    ep_len_mean     | 200      |\n",
            "|    ep_rew_mean     | 280      |\n",
            "| time/              |          |\n",
            "|    episodes        | 2060     |\n",
            "|    fps             | 54       |\n",
            "|    time_elapsed    | 9200     |\n",
            "|    total timesteps | 498485   |\n",
            "| train/             |          |\n",
            "|    actor_loss      | -25.2    |\n",
            "|    critic_loss     | 0.802    |\n",
            "|    ent_coef        | 0.0189   |\n",
            "|    ent_coef_loss   | 0.0619   |\n",
            "|    learning_rate   | 0.0003   |\n",
            "|    n_updates       | 497484   |\n",
            "---------------------------------\n"
          ],
          "name": "stdout"
        },
        {
          "output_type": "execute_result",
          "data": {
            "text/plain": [
              "<stable_baselines3.sac.sac.SAC at 0x7f33623b5790>"
            ]
          },
          "metadata": {
            "tags": []
          },
          "execution_count": 11
        }
      ]
    },
    {
      "cell_type": "code",
      "metadata": {
        "id": "rFnDfNT7P0Ti",
        "colab": {
          "base_uri": "https://localhost:8080/",
          "height": 611
        },
        "outputId": "07f40b3d-c785-49ee-ba28-a236e3a81bac"
      },
      "source": [
        " def plot_log(df_path):\n",
        "\n",
        "    with open(df_path, \"rt\") as f:\n",
        "        _ = f.readline()\n",
        "        df = pd.read_csv(f)\n",
        "        df.sort_values(\"t\", inplace=True)\n",
        "        df.reset_index(inplace=True)\n",
        "\n",
        "    # compute rolling avg and std\n",
        "    sma_y = df['r'].rolling(100).mean()\n",
        "    std_y = df['r'].rolling(100).std()\n",
        "    \n",
        "    # plot with seaborn\n",
        "    sns.set()\n",
        "    fig, ax = plt.subplots(figsize=(10,10))\n",
        "    ax.set_xlabel('Timesteps')\n",
        "    ax.set_ylabel('Reward')\n",
        "    clrs = sns.color_palette(\"husl\", 8)\n",
        "\n",
        "    true_x = (ONLINE_STEPS // max(df['index'])) * df['index']\n",
        "\n",
        "    # fill standard deviation\n",
        "    ax.plot(true_x, sma_y, c=clrs[0])\n",
        "    ax.fill_between(true_x, sma_y-std_y,  sma_y+std_y, \n",
        "                    alpha=0.3, facecolor=clrs[0]) \n",
        "    plt.savefig(SAVE_DIR+ENV_NAME+'.reward_history.png', \n",
        "                dpi=300, pad_inches=0)\n",
        "    plt.show()\n",
        "\n",
        "plot_log(SAVE_DIR+ENV_NAME+'.monitor.csv')"
      ],
      "execution_count": 12,
      "outputs": [
        {
          "output_type": "display_data",
          "data": {
            "image/png": 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\n",
            "text/plain": [
              "<Figure size 720x720 with 1 Axes>"
            ]
          },
          "metadata": {
            "tags": []
          }
        }
      ]
    }
  ]
}