|
{ |
|
"best_global_step": null, |
|
"best_metric": null, |
|
"best_model_checkpoint": null, |
|
"epoch": 50.0, |
|
"eval_steps": 500, |
|
"global_step": 250, |
|
"is_hyper_param_search": false, |
|
"is_local_process_zero": true, |
|
"is_world_process_zero": true, |
|
"log_history": [ |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 0.2, |
|
"grad_norm": 144.23707580566406, |
|
"kl": 51.48179244995117, |
|
"learning_rate": 3.1250000000000005e-08, |
|
"loss": 2.0593, |
|
"reward": 0.9761996865272522, |
|
"reward_std": 3.3251326084136963, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -1.148800253868103, |
|
"rewards/wrapped_format_reward": 0.625, |
|
"step": 1 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 0.4, |
|
"grad_norm": 974.2139892578125, |
|
"kl": 216.24957275390625, |
|
"learning_rate": 6.250000000000001e-08, |
|
"loss": 8.65, |
|
"reward": -3.75, |
|
"reward_std": 0.5, |
|
"rewards/mpc_param_extraction_reward": 0.0, |
|
"rewards/mpc_param_name_reward": 0.0, |
|
"rewards/wrapped_driving_reward": -4.0, |
|
"rewards/wrapped_format_reward": 0.25, |
|
"step": 2 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 0.6, |
|
"grad_norm": 41697.91015625, |
|
"kl": 3837.41943359375, |
|
"learning_rate": 9.375e-08, |
|
"loss": 153.4967, |
|
"reward": -0.7961921691894531, |
|
"reward_std": 3.700653076171875, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.4375, |
|
"rewards/wrapped_driving_reward": -1.7336921691894531, |
|
"rewards/wrapped_format_reward": 0.0, |
|
"step": 3 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 0.8, |
|
"grad_norm": 10122959.0, |
|
"kl": 511094.90625, |
|
"learning_rate": 1.2500000000000002e-07, |
|
"loss": 20443.7988, |
|
"reward": -2.338921546936035, |
|
"reward_std": 3.322157144546509, |
|
"rewards/mpc_param_extraction_reward": 0.25, |
|
"rewards/mpc_param_name_reward": 0.25, |
|
"rewards/wrapped_driving_reward": -2.838921546936035, |
|
"rewards/wrapped_format_reward": 0.0, |
|
"step": 4 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 1.0, |
|
"grad_norm": 100702232.0, |
|
"kl": 5416315.0, |
|
"learning_rate": 1.5625e-07, |
|
"loss": 216652.5938, |
|
"reward": -0.16450506448745728, |
|
"reward_std": 3.8515079021453857, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -1.6645050048828125, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 5 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 1.2, |
|
"grad_norm": 17.33243751525879, |
|
"kl": 7.672175884246826, |
|
"learning_rate": 1.875e-07, |
|
"loss": 0.3069, |
|
"reward": 0.9893605709075928, |
|
"reward_std": 1.5257619619369507, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 1.0, |
|
"rewards/wrapped_driving_reward": -1.3856394290924072, |
|
"rewards/wrapped_format_reward": 0.375, |
|
"step": 6 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 1.4, |
|
"grad_norm": 70.34513092041016, |
|
"kl": 17.917146682739258, |
|
"learning_rate": 2.1875e-07, |
|
"loss": 0.7167, |
|
"reward": 1.2267450094223022, |
|
"reward_std": 3.4932949542999268, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -0.5232549905776978, |
|
"rewards/wrapped_format_reward": 0.25, |
|
"step": 7 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 1.6, |
|
"grad_norm": 69448.7734375, |
|
"kl": 9786.2802734375, |
|
"learning_rate": 2.5000000000000004e-07, |
|
"loss": 391.4512, |
|
"reward": -0.967779815196991, |
|
"reward_std": 3.5180184841156006, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -2.2177798748016357, |
|
"rewards/wrapped_format_reward": 0.25, |
|
"step": 8 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 1.8, |
|
"grad_norm": 7205431.5, |
|
"kl": 363326.15625, |
|
"learning_rate": 2.8125e-07, |
|
"loss": 14533.0439, |
|
"reward": -0.4434952139854431, |
|
"reward_std": 4.112156867980957, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -1.5684951543807983, |
|
"rewards/wrapped_format_reward": 0.125, |
|
"step": 9 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 2.0, |
|
"grad_norm": 1344.39306640625, |
|
"kl": 182.57179260253906, |
|
"learning_rate": 3.125e-07, |
|
"loss": 7.3029, |
|
"reward": -0.5283111929893494, |
|
"reward_std": 3.7256903648376465, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -1.6533112525939941, |
|
"rewards/wrapped_format_reward": 0.125, |
|
"step": 10 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 2.2, |
|
"grad_norm": 663.510498046875, |
|
"kl": 125.65680694580078, |
|
"learning_rate": 3.4375000000000004e-07, |
|
"loss": 5.0263, |
|
"reward": -2.449397563934326, |
|
"reward_std": 3.1012051105499268, |
|
"rewards/mpc_param_extraction_reward": 0.25, |
|
"rewards/mpc_param_name_reward": 0.25, |
|
"rewards/wrapped_driving_reward": -2.949397563934326, |
|
"rewards/wrapped_format_reward": 0.0, |
|
"step": 11 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 2.4, |
|
"grad_norm": 31.331226348876953, |
|
"kl": 10.755382537841797, |
|
"learning_rate": 3.75e-07, |
|
"loss": 0.4302, |
|
"reward": -2.1561226844787598, |
|
"reward_std": 3.36269211769104, |
|
"rewards/mpc_param_extraction_reward": 0.25, |
|
"rewards/mpc_param_name_reward": 0.25, |
|
"rewards/wrapped_driving_reward": -2.7811226844787598, |
|
"rewards/wrapped_format_reward": 0.125, |
|
"step": 12 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 2.6, |
|
"grad_norm": 10.003079414367676, |
|
"kl": 3.8625946044921875, |
|
"learning_rate": 4.0625000000000003e-07, |
|
"loss": 0.1545, |
|
"reward": -2.1760454177856445, |
|
"reward_std": 3.647908926010132, |
|
"rewards/mpc_param_extraction_reward": 0.25, |
|
"rewards/mpc_param_name_reward": 0.25, |
|
"rewards/wrapped_driving_reward": -2.8010454177856445, |
|
"rewards/wrapped_format_reward": 0.125, |
|
"step": 13 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 2.8, |
|
"grad_norm": 62.2325325012207, |
|
"kl": 13.510702133178711, |
|
"learning_rate": 4.375e-07, |
|
"loss": 0.5404, |
|
"reward": -2.294018030166626, |
|
"reward_std": 3.0876402854919434, |
|
"rewards/mpc_param_extraction_reward": 0.25, |
|
"rewards/mpc_param_name_reward": 0.25, |
|
"rewards/wrapped_driving_reward": -3.044018030166626, |
|
"rewards/wrapped_format_reward": 0.25, |
|
"step": 14 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 3.0, |
|
"grad_norm": 96.1074447631836, |
|
"kl": 10.679292678833008, |
|
"learning_rate": 4.6875000000000006e-07, |
|
"loss": 0.4272, |
|
"reward": -0.6371059417724609, |
|
"reward_std": 3.885227680206299, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -1.637105941772461, |
|
"rewards/wrapped_format_reward": 0.0, |
|
"step": 15 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 3.2, |
|
"grad_norm": 1650.8782958984375, |
|
"kl": 208.3596954345703, |
|
"learning_rate": 5.000000000000001e-07, |
|
"loss": 8.3344, |
|
"reward": -4.0, |
|
"reward_std": 0.0, |
|
"rewards/mpc_param_extraction_reward": 0.0, |
|
"rewards/mpc_param_name_reward": 0.0, |
|
"rewards/wrapped_driving_reward": -4.0, |
|
"rewards/wrapped_format_reward": 0.0, |
|
"step": 16 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 3.4, |
|
"grad_norm": 17.093393325805664, |
|
"kl": 5.905396461486816, |
|
"learning_rate": 5.3125e-07, |
|
"loss": 0.2362, |
|
"reward": -2.4352118968963623, |
|
"reward_std": 2.806159257888794, |
|
"rewards/mpc_param_extraction_reward": 0.25, |
|
"rewards/mpc_param_name_reward": 0.25, |
|
"rewards/wrapped_driving_reward": -3.060211658477783, |
|
"rewards/wrapped_format_reward": 0.125, |
|
"step": 17 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 3.6, |
|
"grad_norm": 78087.4140625, |
|
"kl": 7675.3564453125, |
|
"learning_rate": 5.625e-07, |
|
"loss": 307.0142, |
|
"reward": -0.4786604046821594, |
|
"reward_std": 4.071903228759766, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -1.8536603450775146, |
|
"rewards/wrapped_format_reward": 0.375, |
|
"step": 18 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 3.8, |
|
"grad_norm": 2062.067626953125, |
|
"kl": 105.56303405761719, |
|
"learning_rate": 5.9375e-07, |
|
"loss": 4.2225, |
|
"reward": -0.4283701777458191, |
|
"reward_std": 4.145442008972168, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -1.8033702373504639, |
|
"rewards/wrapped_format_reward": 0.375, |
|
"step": 19 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 4.0, |
|
"grad_norm": 513992.65625, |
|
"kl": 39077.08984375, |
|
"learning_rate": 6.25e-07, |
|
"loss": 1563.0836, |
|
"reward": -2.0327651500701904, |
|
"reward_std": 3.3016297817230225, |
|
"rewards/mpc_param_extraction_reward": 0.25, |
|
"rewards/mpc_param_name_reward": 0.25, |
|
"rewards/wrapped_driving_reward": -2.7827651500701904, |
|
"rewards/wrapped_format_reward": 0.25, |
|
"step": 20 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 4.2, |
|
"grad_norm": 271.5398254394531, |
|
"kl": 37.08869934082031, |
|
"learning_rate": 6.562500000000001e-07, |
|
"loss": 1.4835, |
|
"reward": -3.5, |
|
"reward_std": 0.5773502588272095, |
|
"rewards/mpc_param_extraction_reward": 0.0, |
|
"rewards/mpc_param_name_reward": 0.0, |
|
"rewards/wrapped_driving_reward": -4.0, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 21 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 4.4, |
|
"grad_norm": 33774.453125, |
|
"kl": 4115.1591796875, |
|
"learning_rate": 6.875000000000001e-07, |
|
"loss": 164.6064, |
|
"reward": -1.1355788707733154, |
|
"reward_std": 3.42315673828125, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -2.5105788707733154, |
|
"rewards/wrapped_format_reward": 0.375, |
|
"step": 22 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 4.6, |
|
"grad_norm": 52.09832000732422, |
|
"kl": 14.069100379943848, |
|
"learning_rate": 7.1875e-07, |
|
"loss": 0.5628, |
|
"reward": 0.9047523736953735, |
|
"reward_std": 3.2798702716827393, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -0.5952475666999817, |
|
"rewards/wrapped_format_reward": 0.0, |
|
"step": 23 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 4.8, |
|
"grad_norm": 75.83870697021484, |
|
"kl": 16.262989044189453, |
|
"learning_rate": 7.5e-07, |
|
"loss": 0.6505, |
|
"reward": -0.5572073459625244, |
|
"reward_std": 2.9710958003997803, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -2.0572073459625244, |
|
"rewards/wrapped_format_reward": 0.0, |
|
"step": 24 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 5.0, |
|
"grad_norm": 8.57257080078125, |
|
"kl": 3.3865182399749756, |
|
"learning_rate": 7.8125e-07, |
|
"loss": 0.1355, |
|
"reward": -2.110412120819092, |
|
"reward_std": 3.7791755199432373, |
|
"rewards/mpc_param_extraction_reward": 0.25, |
|
"rewards/mpc_param_name_reward": 0.25, |
|
"rewards/wrapped_driving_reward": -2.860412120819092, |
|
"rewards/wrapped_format_reward": 0.25, |
|
"step": 25 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 5.2, |
|
"grad_norm": 978403.0, |
|
"kl": 89647.2578125, |
|
"learning_rate": 8.125000000000001e-07, |
|
"loss": 3585.8899, |
|
"reward": -0.2944529056549072, |
|
"reward_std": 4.2804718017578125, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -1.6694529056549072, |
|
"rewards/wrapped_format_reward": 0.375, |
|
"step": 26 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 5.4, |
|
"grad_norm": 168.73036193847656, |
|
"kl": 29.724079132080078, |
|
"learning_rate": 8.437500000000001e-07, |
|
"loss": 1.189, |
|
"reward": -0.6913368701934814, |
|
"reward_std": 3.5795211791992188, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -2.0663368701934814, |
|
"rewards/wrapped_format_reward": 0.375, |
|
"step": 27 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 5.6, |
|
"grad_norm": 75324.5234375, |
|
"kl": 7936.74267578125, |
|
"learning_rate": 8.75e-07, |
|
"loss": 317.4697, |
|
"reward": 0.9355948567390442, |
|
"reward_std": 3.3464736938476562, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -0.6894051432609558, |
|
"rewards/wrapped_format_reward": 0.125, |
|
"step": 28 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 5.8, |
|
"grad_norm": 469.9671630859375, |
|
"kl": 71.2878189086914, |
|
"learning_rate": 9.0625e-07, |
|
"loss": 2.8515, |
|
"reward": -2.547950267791748, |
|
"reward_std": 2.904099464416504, |
|
"rewards/mpc_param_extraction_reward": 0.25, |
|
"rewards/mpc_param_name_reward": 0.25, |
|
"rewards/wrapped_driving_reward": -3.047950267791748, |
|
"rewards/wrapped_format_reward": 0.0, |
|
"step": 29 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 6.0, |
|
"grad_norm": 36.652645111083984, |
|
"kl": 13.148932456970215, |
|
"learning_rate": 9.375000000000001e-07, |
|
"loss": 0.526, |
|
"reward": -3.375, |
|
"reward_std": 0.9464846849441528, |
|
"rewards/mpc_param_extraction_reward": 0.25, |
|
"rewards/mpc_param_name_reward": 0.25, |
|
"rewards/wrapped_driving_reward": -4.0, |
|
"rewards/wrapped_format_reward": 0.125, |
|
"step": 30 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 6.2, |
|
"grad_norm": 30.199684143066406, |
|
"kl": 9.480849266052246, |
|
"learning_rate": 9.6875e-07, |
|
"loss": 0.3792, |
|
"reward": -2.0530290603637695, |
|
"reward_std": 3.2615222930908203, |
|
"rewards/mpc_param_extraction_reward": 0.25, |
|
"rewards/mpc_param_name_reward": 0.25, |
|
"rewards/wrapped_driving_reward": -2.9280290603637695, |
|
"rewards/wrapped_format_reward": 0.375, |
|
"step": 31 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 6.4, |
|
"grad_norm": 78.3298568725586, |
|
"kl": 26.2161865234375, |
|
"learning_rate": 1.0000000000000002e-06, |
|
"loss": 1.0486, |
|
"reward": 1.33430814743042, |
|
"reward_std": 3.5583572387695312, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -0.41569197177886963, |
|
"rewards/wrapped_format_reward": 0.25, |
|
"step": 32 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 6.6, |
|
"grad_norm": 19.472774505615234, |
|
"kl": 7.02009391784668, |
|
"learning_rate": 1.03125e-06, |
|
"loss": 0.2808, |
|
"reward": -0.6657888889312744, |
|
"reward_std": 3.853987216949463, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -1.6657888889312744, |
|
"rewards/wrapped_format_reward": 0.0, |
|
"step": 33 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 6.8, |
|
"grad_norm": 65.95396423339844, |
|
"kl": 18.14912223815918, |
|
"learning_rate": 1.0625e-06, |
|
"loss": 0.726, |
|
"reward": -0.8661626577377319, |
|
"reward_std": 3.6189870834350586, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -2.1161625385284424, |
|
"rewards/wrapped_format_reward": 0.25, |
|
"step": 34 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 7.0, |
|
"grad_norm": 1.4008393287658691, |
|
"kl": 0.8411699533462524, |
|
"learning_rate": 1.0937500000000001e-06, |
|
"loss": 0.0336, |
|
"reward": -0.38928359746932983, |
|
"reward_std": 4.171046257019043, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -1.6392836570739746, |
|
"rewards/wrapped_format_reward": 0.25, |
|
"step": 35 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 7.2, |
|
"grad_norm": 7.80991268157959, |
|
"kl": 4.218427658081055, |
|
"learning_rate": 1.125e-06, |
|
"loss": 0.1687, |
|
"reward": -1.1417465209960938, |
|
"reward_std": 3.381352186203003, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -2.1417465209960938, |
|
"rewards/wrapped_format_reward": 0.0, |
|
"step": 36 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 7.4, |
|
"grad_norm": 4.478097438812256, |
|
"kl": 2.112290143966675, |
|
"learning_rate": 1.1562500000000002e-06, |
|
"loss": 0.0845, |
|
"reward": -2.102426528930664, |
|
"reward_std": 3.1373467445373535, |
|
"rewards/mpc_param_extraction_reward": 0.25, |
|
"rewards/mpc_param_name_reward": 0.25, |
|
"rewards/wrapped_driving_reward": -2.852426528930664, |
|
"rewards/wrapped_format_reward": 0.25, |
|
"step": 37 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 7.6, |
|
"grad_norm": 9.182758331298828, |
|
"kl": 4.63405179977417, |
|
"learning_rate": 1.1875e-06, |
|
"loss": 0.1854, |
|
"reward": -2.2051236629486084, |
|
"reward_std": 3.2649383544921875, |
|
"rewards/mpc_param_extraction_reward": 0.25, |
|
"rewards/mpc_param_name_reward": 0.25, |
|
"rewards/wrapped_driving_reward": -2.9551236629486084, |
|
"rewards/wrapped_format_reward": 0.25, |
|
"step": 38 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 7.8, |
|
"grad_norm": 203072.515625, |
|
"kl": 20056.82421875, |
|
"learning_rate": 1.21875e-06, |
|
"loss": 802.2729, |
|
"reward": -2.125791311264038, |
|
"reward_std": 3.0907511711120605, |
|
"rewards/mpc_param_extraction_reward": 0.25, |
|
"rewards/mpc_param_name_reward": 0.25, |
|
"rewards/wrapped_driving_reward": -3.000791311264038, |
|
"rewards/wrapped_format_reward": 0.375, |
|
"step": 39 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 8.0, |
|
"grad_norm": 5.843477725982666, |
|
"kl": 3.436691999435425, |
|
"learning_rate": 1.25e-06, |
|
"loss": 0.1375, |
|
"reward": -0.9351435899734497, |
|
"reward_std": 3.608586072921753, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -2.3101437091827393, |
|
"rewards/wrapped_format_reward": 0.375, |
|
"step": 40 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 8.2, |
|
"grad_norm": 7742784.5, |
|
"kl": 650933.375, |
|
"learning_rate": 1.28125e-06, |
|
"loss": 26037.334, |
|
"reward": 1.5518302917480469, |
|
"reward_std": 3.7290942668914795, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -0.4481697678565979, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 41 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 8.4, |
|
"grad_norm": 8.937725067138672, |
|
"kl": 3.0701639652252197, |
|
"learning_rate": 1.3125000000000001e-06, |
|
"loss": 0.1228, |
|
"reward": -2.1904397010803223, |
|
"reward_std": 3.2942306995391846, |
|
"rewards/mpc_param_extraction_reward": 0.25, |
|
"rewards/mpc_param_name_reward": 0.25, |
|
"rewards/wrapped_driving_reward": -3.0654397010803223, |
|
"rewards/wrapped_format_reward": 0.375, |
|
"step": 42 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 8.6, |
|
"grad_norm": 14.36681079864502, |
|
"kl": 5.88793420791626, |
|
"learning_rate": 1.34375e-06, |
|
"loss": 0.2355, |
|
"reward": 0.6519123315811157, |
|
"reward_std": 3.105113983154297, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -0.973087728023529, |
|
"rewards/wrapped_format_reward": 0.125, |
|
"step": 43 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 8.8, |
|
"grad_norm": 180.1724395751953, |
|
"kl": 33.255760192871094, |
|
"learning_rate": 1.3750000000000002e-06, |
|
"loss": 1.3302, |
|
"reward": -0.6511552333831787, |
|
"reward_std": 3.9030916690826416, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -1.7761552333831787, |
|
"rewards/wrapped_format_reward": 0.125, |
|
"step": 44 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 9.0, |
|
"grad_norm": 32.81709671020508, |
|
"kl": 6.7791428565979, |
|
"learning_rate": 1.40625e-06, |
|
"loss": 0.2712, |
|
"reward": -3.875, |
|
"reward_std": 0.25, |
|
"rewards/mpc_param_extraction_reward": 0.0, |
|
"rewards/mpc_param_name_reward": 0.0, |
|
"rewards/wrapped_driving_reward": -4.0, |
|
"rewards/wrapped_format_reward": 0.125, |
|
"step": 45 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 9.2, |
|
"grad_norm": 4151.640625, |
|
"kl": 350.8572082519531, |
|
"learning_rate": 1.4375e-06, |
|
"loss": 14.0343, |
|
"reward": -1.1032943725585938, |
|
"reward_std": 3.3453028202056885, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -2.1032943725585938, |
|
"rewards/wrapped_format_reward": 0.0, |
|
"step": 46 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 9.4, |
|
"grad_norm": 15.409821510314941, |
|
"kl": 5.346187114715576, |
|
"learning_rate": 1.4687500000000001e-06, |
|
"loss": 0.2138, |
|
"reward": -1.1791430711746216, |
|
"reward_std": 2.8540005683898926, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -2.929143190383911, |
|
"rewards/wrapped_format_reward": 0.25, |
|
"step": 47 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 9.6, |
|
"grad_norm": 144.20443725585938, |
|
"kl": 23.608051300048828, |
|
"learning_rate": 1.5e-06, |
|
"loss": 0.9443, |
|
"reward": -2.530029058456421, |
|
"reward_std": 2.939941883087158, |
|
"rewards/mpc_param_extraction_reward": 0.25, |
|
"rewards/mpc_param_name_reward": 0.20000000298023224, |
|
"rewards/wrapped_driving_reward": -2.9800291061401367, |
|
"rewards/wrapped_format_reward": 0.0, |
|
"step": 48 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 9.8, |
|
"grad_norm": 7.547443866729736, |
|
"kl": 3.824962615966797, |
|
"learning_rate": 1.5312500000000002e-06, |
|
"loss": 0.153, |
|
"reward": -0.7816690802574158, |
|
"reward_std": 3.7201201915740967, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -1.906669020652771, |
|
"rewards/wrapped_format_reward": 0.125, |
|
"step": 49 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 10.0, |
|
"grad_norm": 77.945556640625, |
|
"kl": 16.699840545654297, |
|
"learning_rate": 1.5625e-06, |
|
"loss": 0.668, |
|
"reward": -0.2709696292877197, |
|
"reward_std": 4.022421360015869, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -1.6459696292877197, |
|
"rewards/wrapped_format_reward": 0.375, |
|
"step": 50 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 10.2, |
|
"grad_norm": 11738.6953125, |
|
"kl": 798.2957763671875, |
|
"learning_rate": 1.59375e-06, |
|
"loss": 31.9318, |
|
"reward": -2.244354724884033, |
|
"reward_std": 3.1866860389709473, |
|
"rewards/mpc_param_extraction_reward": 0.25, |
|
"rewards/mpc_param_name_reward": 0.25, |
|
"rewards/wrapped_driving_reward": -2.869354724884033, |
|
"rewards/wrapped_format_reward": 0.125, |
|
"step": 51 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 10.4, |
|
"grad_norm": 14.563969612121582, |
|
"kl": 5.301497936248779, |
|
"learning_rate": 1.6250000000000001e-06, |
|
"loss": 0.2121, |
|
"reward": 2.282280445098877, |
|
"reward_std": 0.7978482246398926, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 1.0, |
|
"rewards/wrapped_driving_reward": -0.21771956980228424, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 52 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 10.6, |
|
"grad_norm": 6.280083656311035, |
|
"kl": 3.3535187244415283, |
|
"learning_rate": 1.65625e-06, |
|
"loss": 0.1341, |
|
"reward": 0.2996126413345337, |
|
"reward_std": 2.949772357940674, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -1.3253873586654663, |
|
"rewards/wrapped_format_reward": 0.125, |
|
"step": 53 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 10.8, |
|
"grad_norm": 223484.046875, |
|
"kl": 25810.041015625, |
|
"learning_rate": 1.6875000000000001e-06, |
|
"loss": 1032.4015, |
|
"reward": -0.344623327255249, |
|
"reward_std": 3.944869041442871, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -1.719623327255249, |
|
"rewards/wrapped_format_reward": 0.375, |
|
"step": 54 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 11.0, |
|
"grad_norm": 593881.0, |
|
"kl": 99004.265625, |
|
"learning_rate": 1.71875e-06, |
|
"loss": 3960.1709, |
|
"reward": -3.875, |
|
"reward_std": 0.25, |
|
"rewards/mpc_param_extraction_reward": 0.0, |
|
"rewards/mpc_param_name_reward": 0.0, |
|
"rewards/wrapped_driving_reward": -4.0, |
|
"rewards/wrapped_format_reward": 0.125, |
|
"step": 55 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 11.2, |
|
"grad_norm": 6.934082508087158, |
|
"kl": 2.1647584438323975, |
|
"learning_rate": 1.75e-06, |
|
"loss": 0.0866, |
|
"reward": -1.2983622550964355, |
|
"reward_std": 2.1767022609710693, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -3.1733622550964355, |
|
"rewards/wrapped_format_reward": 0.375, |
|
"step": 56 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 11.4, |
|
"grad_norm": 11660.44921875, |
|
"kl": 1039.497802734375, |
|
"learning_rate": 1.78125e-06, |
|
"loss": 41.5799, |
|
"reward": 1.111867070198059, |
|
"reward_std": 3.4727301597595215, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -0.6381329298019409, |
|
"rewards/wrapped_format_reward": 0.25, |
|
"step": 57 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 11.6, |
|
"grad_norm": 116.61476135253906, |
|
"kl": 30.001558303833008, |
|
"learning_rate": 1.8125e-06, |
|
"loss": 1.2001, |
|
"reward": -3.875, |
|
"reward_std": 0.25, |
|
"rewards/mpc_param_extraction_reward": 0.0, |
|
"rewards/mpc_param_name_reward": 0.0, |
|
"rewards/wrapped_driving_reward": -4.0, |
|
"rewards/wrapped_format_reward": 0.125, |
|
"step": 58 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 11.8, |
|
"grad_norm": 7.750627040863037, |
|
"kl": 3.2049598693847656, |
|
"learning_rate": 1.8437500000000003e-06, |
|
"loss": 0.1282, |
|
"reward": -3.875, |
|
"reward_std": 0.25, |
|
"rewards/mpc_param_extraction_reward": 0.0, |
|
"rewards/mpc_param_name_reward": 0.0, |
|
"rewards/wrapped_driving_reward": -4.0, |
|
"rewards/wrapped_format_reward": 0.125, |
|
"step": 59 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 12.0, |
|
"grad_norm": 6.483101844787598, |
|
"kl": 2.8182482719421387, |
|
"learning_rate": 1.8750000000000003e-06, |
|
"loss": 0.1127, |
|
"reward": 0.4944196343421936, |
|
"reward_std": 2.8224055767059326, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -1.3805804252624512, |
|
"rewards/wrapped_format_reward": 0.375, |
|
"step": 60 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 12.2, |
|
"grad_norm": 2.41937255859375, |
|
"kl": 1.5243698358535767, |
|
"learning_rate": 1.90625e-06, |
|
"loss": 0.061, |
|
"reward": -1.5549238920211792, |
|
"reward_std": 3.3336286544799805, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -2.9299237728118896, |
|
"rewards/wrapped_format_reward": 0.375, |
|
"step": 61 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 12.4, |
|
"grad_norm": 1.8835395574569702, |
|
"kl": 1.3928029537200928, |
|
"learning_rate": 1.9375e-06, |
|
"loss": 0.0557, |
|
"reward": 0.5334538817405701, |
|
"reward_std": 3.0702548027038574, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -0.9665461778640747, |
|
"rewards/wrapped_format_reward": 0.0, |
|
"step": 62 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 12.6, |
|
"grad_norm": 82.16962432861328, |
|
"kl": 9.488784790039062, |
|
"learning_rate": 1.96875e-06, |
|
"loss": 0.3796, |
|
"reward": -0.4010847806930542, |
|
"reward_std": 4.155675411224365, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -1.7760847806930542, |
|
"rewards/wrapped_format_reward": 0.375, |
|
"step": 63 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 12.8, |
|
"grad_norm": 1.6330454349517822, |
|
"kl": 0.7770444750785828, |
|
"learning_rate": 2.0000000000000003e-06, |
|
"loss": 0.0311, |
|
"reward": -1.0365194082260132, |
|
"reward_std": 3.1399788856506348, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.46875, |
|
"rewards/wrapped_driving_reward": -2.2552695274353027, |
|
"rewards/wrapped_format_reward": 0.25, |
|
"step": 64 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 13.0, |
|
"grad_norm": 226.30535888671875, |
|
"kl": 45.10585021972656, |
|
"learning_rate": 2.0312500000000002e-06, |
|
"loss": 1.8042, |
|
"reward": -1.9248578548431396, |
|
"reward_std": 3.5153682231903076, |
|
"rewards/mpc_param_extraction_reward": 0.25, |
|
"rewards/mpc_param_name_reward": 0.25, |
|
"rewards/wrapped_driving_reward": -2.7998578548431396, |
|
"rewards/wrapped_format_reward": 0.375, |
|
"step": 65 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 13.2, |
|
"grad_norm": 62.87789535522461, |
|
"kl": 7.880831718444824, |
|
"learning_rate": 2.0625e-06, |
|
"loss": 0.3152, |
|
"reward": 3.1509861946105957, |
|
"reward_std": 0.29935261607170105, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 0.987500011920929, |
|
"rewards/wrapped_driving_reward": 0.5384860038757324, |
|
"rewards/wrapped_format_reward": 0.625, |
|
"step": 66 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 13.4, |
|
"grad_norm": 41.82035446166992, |
|
"kl": 9.357061386108398, |
|
"learning_rate": 2.09375e-06, |
|
"loss": 0.3743, |
|
"reward": -2.576190948486328, |
|
"reward_std": 2.8476178646087646, |
|
"rewards/mpc_param_extraction_reward": 0.25, |
|
"rewards/mpc_param_name_reward": 0.25, |
|
"rewards/wrapped_driving_reward": -3.201190948486328, |
|
"rewards/wrapped_format_reward": 0.125, |
|
"step": 67 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 13.6, |
|
"grad_norm": 4.275550365447998, |
|
"kl": 2.5297634601593018, |
|
"learning_rate": 2.125e-06, |
|
"loss": 0.1012, |
|
"reward": -2.036945104598999, |
|
"reward_std": 3.926109790802002, |
|
"rewards/mpc_param_extraction_reward": 0.25, |
|
"rewards/mpc_param_name_reward": 0.25, |
|
"rewards/wrapped_driving_reward": -2.786945104598999, |
|
"rewards/wrapped_format_reward": 0.25, |
|
"step": 68 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 13.8, |
|
"grad_norm": 12.396137237548828, |
|
"kl": 3.0427801609039307, |
|
"learning_rate": 2.1562500000000003e-06, |
|
"loss": 0.1217, |
|
"reward": 0.7283755540847778, |
|
"reward_std": 3.323927879333496, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -1.2716244459152222, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 69 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 14.0, |
|
"grad_norm": 1.5282281637191772, |
|
"kl": 1.092595100402832, |
|
"learning_rate": 2.1875000000000002e-06, |
|
"loss": 0.0437, |
|
"reward": -3.2356114387512207, |
|
"reward_std": 1.528777003288269, |
|
"rewards/mpc_param_extraction_reward": 0.25, |
|
"rewards/mpc_param_name_reward": 0.25, |
|
"rewards/wrapped_driving_reward": -3.8606114387512207, |
|
"rewards/wrapped_format_reward": 0.125, |
|
"step": 70 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 14.2, |
|
"grad_norm": 1.2480015754699707, |
|
"kl": 0.7834239602088928, |
|
"learning_rate": 2.21875e-06, |
|
"loss": 0.0313, |
|
"reward": -2.0355887413024902, |
|
"reward_std": 3.270659923553467, |
|
"rewards/mpc_param_extraction_reward": 0.25, |
|
"rewards/mpc_param_name_reward": 0.25, |
|
"rewards/wrapped_driving_reward": -2.7855887413024902, |
|
"rewards/wrapped_format_reward": 0.25, |
|
"step": 71 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 14.4, |
|
"grad_norm": 80.85037231445312, |
|
"kl": 9.716327667236328, |
|
"learning_rate": 2.25e-06, |
|
"loss": 0.3887, |
|
"reward": -3.375, |
|
"reward_std": 1.25, |
|
"rewards/mpc_param_extraction_reward": 0.25, |
|
"rewards/mpc_param_name_reward": 0.25, |
|
"rewards/wrapped_driving_reward": -4.0, |
|
"rewards/wrapped_format_reward": 0.125, |
|
"step": 72 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 14.6, |
|
"grad_norm": 1.1875276565551758, |
|
"kl": 0.9156450629234314, |
|
"learning_rate": 2.28125e-06, |
|
"loss": 0.0366, |
|
"reward": 0.398318886756897, |
|
"reward_std": 2.9533674716949463, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -1.3516812324523926, |
|
"rewards/wrapped_format_reward": 0.25, |
|
"step": 73 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 14.8, |
|
"grad_norm": 5.200348854064941, |
|
"kl": 2.256690502166748, |
|
"learning_rate": 2.3125000000000003e-06, |
|
"loss": 0.0903, |
|
"reward": -0.17332077026367188, |
|
"reward_std": 4.147373199462891, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.47727274894714355, |
|
"rewards/wrapped_driving_reward": -1.650593638420105, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 74 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 15.0, |
|
"grad_norm": 7008.42626953125, |
|
"kl": 815.8104248046875, |
|
"learning_rate": 2.3437500000000002e-06, |
|
"loss": 32.6324, |
|
"reward": -2.0281713008880615, |
|
"reward_std": 3.3107235431671143, |
|
"rewards/mpc_param_extraction_reward": 0.25, |
|
"rewards/mpc_param_name_reward": 0.25, |
|
"rewards/wrapped_driving_reward": -2.9031713008880615, |
|
"rewards/wrapped_format_reward": 0.375, |
|
"step": 75 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 15.2, |
|
"grad_norm": 0.9020519852638245, |
|
"kl": 0.9176801443099976, |
|
"learning_rate": 2.375e-06, |
|
"loss": 0.0367, |
|
"reward": -2.1365058422088623, |
|
"reward_std": 3.0964157581329346, |
|
"rewards/mpc_param_extraction_reward": 0.25, |
|
"rewards/mpc_param_name_reward": 0.25, |
|
"rewards/wrapped_driving_reward": -3.1365058422088623, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 76 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 15.4, |
|
"grad_norm": 2.2519280910491943, |
|
"kl": 0.8236393332481384, |
|
"learning_rate": 2.40625e-06, |
|
"loss": 0.0329, |
|
"reward": -1.22861909866333, |
|
"reward_std": 2.9241857528686523, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -2.353619337081909, |
|
"rewards/wrapped_format_reward": 0.125, |
|
"step": 77 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 15.6, |
|
"grad_norm": 1.5832031965255737, |
|
"kl": 0.7527546286582947, |
|
"learning_rate": 2.4375e-06, |
|
"loss": 0.0301, |
|
"reward": -0.6693365573883057, |
|
"reward_std": 3.860503911972046, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -1.7943366765975952, |
|
"rewards/wrapped_format_reward": 0.125, |
|
"step": 78 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 15.8, |
|
"grad_norm": 1.108726143836975, |
|
"kl": 1.0248883962631226, |
|
"learning_rate": 2.4687500000000003e-06, |
|
"loss": 0.041, |
|
"reward": -3.125, |
|
"reward_std": 1.4361406564712524, |
|
"rewards/mpc_param_extraction_reward": 0.25, |
|
"rewards/mpc_param_name_reward": 0.25, |
|
"rewards/wrapped_driving_reward": -4.0, |
|
"rewards/wrapped_format_reward": 0.375, |
|
"step": 79 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 16.0, |
|
"grad_norm": 1.0169743299484253, |
|
"kl": 0.7592311501502991, |
|
"learning_rate": 2.5e-06, |
|
"loss": 0.0304, |
|
"reward": 1.145168423652649, |
|
"reward_std": 3.56965708732605, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -0.7298316359519958, |
|
"rewards/wrapped_format_reward": 0.375, |
|
"step": 80 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 16.2, |
|
"grad_norm": 0.7822604179382324, |
|
"kl": 0.560085117816925, |
|
"learning_rate": 2.53125e-06, |
|
"loss": 0.0224, |
|
"reward": 1.2056835889816284, |
|
"reward_std": 3.5178937911987305, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -0.6693164110183716, |
|
"rewards/wrapped_format_reward": 0.375, |
|
"step": 81 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 16.4, |
|
"grad_norm": 0.8175077438354492, |
|
"kl": 0.5752599239349365, |
|
"learning_rate": 2.5625e-06, |
|
"loss": 0.023, |
|
"reward": 2.9252407550811768, |
|
"reward_std": 0.7892647385597229, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 1.0, |
|
"rewards/wrapped_driving_reward": 0.3002408742904663, |
|
"rewards/wrapped_format_reward": 0.625, |
|
"step": 82 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 16.6, |
|
"grad_norm": 6.47392463684082, |
|
"kl": 2.1055572032928467, |
|
"learning_rate": 2.5937500000000004e-06, |
|
"loss": 0.0842, |
|
"reward": -2.7708332538604736, |
|
"reward_std": 1.4678263664245605, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.4791666865348816, |
|
"rewards/wrapped_driving_reward": -4.0, |
|
"rewards/wrapped_format_reward": 0.25, |
|
"step": 83 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 16.8, |
|
"grad_norm": 0.9220647811889648, |
|
"kl": 0.7157851457595825, |
|
"learning_rate": 2.6250000000000003e-06, |
|
"loss": 0.0286, |
|
"reward": -2.987729549407959, |
|
"reward_std": 1.3781793117523193, |
|
"rewards/mpc_param_extraction_reward": 0.25, |
|
"rewards/mpc_param_name_reward": 0.25, |
|
"rewards/wrapped_driving_reward": -3.987729549407959, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 84 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 17.0, |
|
"grad_norm": 62.959754943847656, |
|
"kl": 11.148348808288574, |
|
"learning_rate": 2.65625e-06, |
|
"loss": 0.4459, |
|
"reward": -3.875, |
|
"reward_std": 0.25, |
|
"rewards/mpc_param_extraction_reward": 0.0, |
|
"rewards/mpc_param_name_reward": 0.0, |
|
"rewards/wrapped_driving_reward": -4.0, |
|
"rewards/wrapped_format_reward": 0.125, |
|
"step": 85 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 17.2, |
|
"grad_norm": 1.0555181503295898, |
|
"kl": 0.7983899712562561, |
|
"learning_rate": 2.6875e-06, |
|
"loss": 0.0319, |
|
"reward": -0.34822893142700195, |
|
"reward_std": 1.868666648864746, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 1.0, |
|
"rewards/wrapped_driving_reward": -2.973228931427002, |
|
"rewards/wrapped_format_reward": 0.625, |
|
"step": 86 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 17.4, |
|
"grad_norm": 5.494264602661133, |
|
"kl": 1.303008794784546, |
|
"learning_rate": 2.71875e-06, |
|
"loss": 0.0521, |
|
"reward": -1.6160635948181152, |
|
"reward_std": 3.132638931274414, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -2.7410635948181152, |
|
"rewards/wrapped_format_reward": 0.125, |
|
"step": 87 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 17.6, |
|
"grad_norm": 4.55032205581665, |
|
"kl": 0.8609241247177124, |
|
"learning_rate": 2.7500000000000004e-06, |
|
"loss": 0.0344, |
|
"reward": -0.07164722681045532, |
|
"reward_std": 2.4449591636657715, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.7045454978942871, |
|
"rewards/wrapped_driving_reward": -1.9011927843093872, |
|
"rewards/wrapped_format_reward": 0.375, |
|
"step": 88 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 17.8, |
|
"grad_norm": 0.9195135831832886, |
|
"kl": 0.683874785900116, |
|
"learning_rate": 2.7812500000000003e-06, |
|
"loss": 0.0274, |
|
"reward": -0.11890482902526855, |
|
"reward_std": 3.1548802852630615, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.699999988079071, |
|
"rewards/wrapped_driving_reward": -2.0689048767089844, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 89 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 18.0, |
|
"grad_norm": 33.38914108276367, |
|
"kl": 7.705580234527588, |
|
"learning_rate": 2.8125e-06, |
|
"loss": 0.3082, |
|
"reward": 1.586517572402954, |
|
"reward_std": 3.729795217514038, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -0.4134823679924011, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 90 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 18.2, |
|
"grad_norm": 57.7512092590332, |
|
"kl": 6.441009998321533, |
|
"learning_rate": 2.84375e-06, |
|
"loss": 0.2576, |
|
"reward": -0.8143091201782227, |
|
"reward_std": 3.7249650955200195, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.4444444477558136, |
|
"rewards/wrapped_driving_reward": -2.008753776550293, |
|
"rewards/wrapped_format_reward": 0.25, |
|
"step": 91 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 18.4, |
|
"grad_norm": 1.0778491497039795, |
|
"kl": 0.7857025265693665, |
|
"learning_rate": 2.875e-06, |
|
"loss": 0.0314, |
|
"reward": -0.4593994617462158, |
|
"reward_std": 3.805197238922119, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -1.8343994617462158, |
|
"rewards/wrapped_format_reward": 0.375, |
|
"step": 92 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 18.6, |
|
"grad_norm": 1.1437242031097412, |
|
"kl": 0.5162321925163269, |
|
"learning_rate": 2.9062500000000003e-06, |
|
"loss": 0.0206, |
|
"reward": -1.5748236179351807, |
|
"reward_std": 3.3948116302490234, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -2.8248236179351807, |
|
"rewards/wrapped_format_reward": 0.25, |
|
"step": 93 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 18.8, |
|
"grad_norm": 0.782410204410553, |
|
"kl": 0.4215336740016937, |
|
"learning_rate": 2.9375000000000003e-06, |
|
"loss": 0.0169, |
|
"reward": -1.7746977806091309, |
|
"reward_std": 3.3859715461730957, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.4375, |
|
"rewards/wrapped_driving_reward": -2.962197780609131, |
|
"rewards/wrapped_format_reward": 0.25, |
|
"step": 94 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 19.0, |
|
"grad_norm": 4.5705718994140625, |
|
"kl": 2.0152359008789062, |
|
"learning_rate": 2.96875e-06, |
|
"loss": 0.0806, |
|
"reward": 0.6353222131729126, |
|
"reward_std": 3.1809890270233154, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -1.1146776676177979, |
|
"rewards/wrapped_format_reward": 0.25, |
|
"step": 95 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 19.2, |
|
"grad_norm": 0.7173673510551453, |
|
"kl": 0.5042878985404968, |
|
"learning_rate": 3e-06, |
|
"loss": 0.0202, |
|
"reward": 3.3471288681030273, |
|
"reward_std": 0.31114432215690613, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 1.0, |
|
"rewards/wrapped_driving_reward": 0.722128689289093, |
|
"rewards/wrapped_format_reward": 0.625, |
|
"step": 96 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 19.4, |
|
"grad_norm": 2.924496650695801, |
|
"kl": 0.9709882736206055, |
|
"learning_rate": 3.03125e-06, |
|
"loss": 0.0388, |
|
"reward": 1.2860008478164673, |
|
"reward_std": 2.1523053646087646, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 0.9166666865348816, |
|
"rewards/wrapped_driving_reward": -1.1306657791137695, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 97 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 19.6, |
|
"grad_norm": 1.3449220657348633, |
|
"kl": 0.776192843914032, |
|
"learning_rate": 3.0625000000000003e-06, |
|
"loss": 0.031, |
|
"reward": -1.2475244998931885, |
|
"reward_std": 3.184887170791626, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -2.2475244998931885, |
|
"rewards/wrapped_format_reward": 0.0, |
|
"step": 98 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 19.8, |
|
"grad_norm": 16.095233917236328, |
|
"kl": 1.6037352085113525, |
|
"learning_rate": 3.0937500000000002e-06, |
|
"loss": 0.0641, |
|
"reward": 0.7092133164405823, |
|
"reward_std": 3.2424275875091553, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -1.040786862373352, |
|
"rewards/wrapped_format_reward": 0.25, |
|
"step": 99 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 20.0, |
|
"grad_norm": 1.065063714981079, |
|
"kl": 0.6967657208442688, |
|
"learning_rate": 3.125e-06, |
|
"loss": 0.0279, |
|
"reward": 1.58005690574646, |
|
"reward_std": 3.7297377586364746, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -0.41994309425354004, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 100 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 20.2, |
|
"grad_norm": 0.7442240715026855, |
|
"kl": 0.5057598352432251, |
|
"learning_rate": 3.15625e-06, |
|
"loss": 0.0202, |
|
"reward": -0.4889770746231079, |
|
"reward_std": 3.2432987689971924, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -2.1139769554138184, |
|
"rewards/wrapped_format_reward": 0.625, |
|
"step": 101 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 20.4, |
|
"grad_norm": 0.6366997361183167, |
|
"kl": 0.44367504119873047, |
|
"learning_rate": 3.1875e-06, |
|
"loss": 0.0177, |
|
"reward": -2.3750693798065186, |
|
"reward_std": 2.5939254760742188, |
|
"rewards/mpc_param_extraction_reward": 0.25, |
|
"rewards/mpc_param_name_reward": 0.25, |
|
"rewards/wrapped_driving_reward": -3.2500693798065186, |
|
"rewards/wrapped_format_reward": 0.375, |
|
"step": 102 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 20.6, |
|
"grad_norm": 2.0096611976623535, |
|
"kl": 0.4689376652240753, |
|
"learning_rate": 3.2187500000000003e-06, |
|
"loss": 0.0188, |
|
"reward": -0.5932518243789673, |
|
"reward_std": 3.942629814147949, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -1.9682518243789673, |
|
"rewards/wrapped_format_reward": 0.375, |
|
"step": 103 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 20.8, |
|
"grad_norm": 1.2003757953643799, |
|
"kl": 0.3688035309314728, |
|
"learning_rate": 3.2500000000000002e-06, |
|
"loss": 0.0148, |
|
"reward": 2.4348607063293457, |
|
"reward_std": 1.402535080909729, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 0.824999988079071, |
|
"rewards/wrapped_driving_reward": 0.1098608672618866, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 104 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 21.0, |
|
"grad_norm": 1.0951755046844482, |
|
"kl": 0.6130416393280029, |
|
"learning_rate": 3.28125e-06, |
|
"loss": 0.0245, |
|
"reward": 1.912153720855713, |
|
"reward_std": 2.661609649658203, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 1.0, |
|
"rewards/wrapped_driving_reward": -0.4628463387489319, |
|
"rewards/wrapped_format_reward": 0.375, |
|
"step": 105 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 21.2, |
|
"grad_norm": 0.7108362317085266, |
|
"kl": 0.4603574275970459, |
|
"learning_rate": 3.3125e-06, |
|
"loss": 0.0184, |
|
"reward": -0.09991639852523804, |
|
"reward_std": 2.701847791671753, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.699999988079071, |
|
"rewards/wrapped_driving_reward": -1.674916386604309, |
|
"rewards/wrapped_format_reward": 0.125, |
|
"step": 106 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 21.4, |
|
"grad_norm": 0.6701599955558777, |
|
"kl": 0.40188899636268616, |
|
"learning_rate": 3.34375e-06, |
|
"loss": 0.0161, |
|
"reward": -0.8211934566497803, |
|
"reward_std": 3.6706011295318604, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -2.0711934566497803, |
|
"rewards/wrapped_format_reward": 0.25, |
|
"step": 107 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 21.6, |
|
"grad_norm": 2.1547489166259766, |
|
"kl": 1.2839192152023315, |
|
"learning_rate": 3.3750000000000003e-06, |
|
"loss": 0.0514, |
|
"reward": 1.2595562934875488, |
|
"reward_std": 3.514036178588867, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -0.36544373631477356, |
|
"rewards/wrapped_format_reward": 0.125, |
|
"step": 108 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 21.8, |
|
"grad_norm": 1.838152527809143, |
|
"kl": 0.49252963066101074, |
|
"learning_rate": 3.40625e-06, |
|
"loss": 0.0197, |
|
"reward": 1.507678508758545, |
|
"reward_std": 3.675663948059082, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.7272727489471436, |
|
"rewards/wrapped_driving_reward": -0.46959418058395386, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 109 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 22.0, |
|
"grad_norm": 0.7439582347869873, |
|
"kl": 0.595367431640625, |
|
"learning_rate": 3.4375e-06, |
|
"loss": 0.0238, |
|
"reward": -3.625, |
|
"reward_std": 0.4787135720252991, |
|
"rewards/mpc_param_extraction_reward": 0.0, |
|
"rewards/mpc_param_name_reward": 0.0, |
|
"rewards/wrapped_driving_reward": -4.0, |
|
"rewards/wrapped_format_reward": 0.375, |
|
"step": 110 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 22.2, |
|
"grad_norm": 0.5864555835723877, |
|
"kl": 0.3803044855594635, |
|
"learning_rate": 3.46875e-06, |
|
"loss": 0.0152, |
|
"reward": 1.1622142791748047, |
|
"reward_std": 3.198068618774414, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.7272727489471436, |
|
"rewards/wrapped_driving_reward": -1.0650583505630493, |
|
"rewards/wrapped_format_reward": 0.75, |
|
"step": 111 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 22.4, |
|
"grad_norm": 4.526273250579834, |
|
"kl": 0.46392467617988586, |
|
"learning_rate": 3.5e-06, |
|
"loss": 0.0186, |
|
"reward": -0.7247750163078308, |
|
"reward_std": 3.514815330505371, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -2.0997748374938965, |
|
"rewards/wrapped_format_reward": 0.375, |
|
"step": 112 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 22.6, |
|
"grad_norm": 0.5704318881034851, |
|
"kl": 0.31563645601272583, |
|
"learning_rate": 3.5312500000000007e-06, |
|
"loss": 0.0126, |
|
"reward": -0.6594128608703613, |
|
"reward_std": 3.574946880340576, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -2.0344128608703613, |
|
"rewards/wrapped_format_reward": 0.375, |
|
"step": 113 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 22.8, |
|
"grad_norm": 0.671708881855011, |
|
"kl": 0.44867807626724243, |
|
"learning_rate": 3.5625e-06, |
|
"loss": 0.0179, |
|
"reward": 1.6787878274917603, |
|
"reward_std": 0.9073445200920105, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 1.0, |
|
"rewards/wrapped_driving_reward": -0.9462121725082397, |
|
"rewards/wrapped_format_reward": 0.625, |
|
"step": 114 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 23.0, |
|
"grad_norm": 1.2352200746536255, |
|
"kl": 0.46100977063179016, |
|
"learning_rate": 3.59375e-06, |
|
"loss": 0.0184, |
|
"reward": -0.30863749980926514, |
|
"reward_std": 3.9797427654266357, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -1.8086374998092651, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 115 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 23.2, |
|
"grad_norm": 0.783157229423523, |
|
"kl": 0.44468817114830017, |
|
"learning_rate": 3.625e-06, |
|
"loss": 0.0178, |
|
"reward": 1.9851404428482056, |
|
"reward_std": 1.0498998165130615, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 1.0, |
|
"rewards/wrapped_driving_reward": -0.2648596167564392, |
|
"rewards/wrapped_format_reward": 0.25, |
|
"step": 116 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 23.4, |
|
"grad_norm": 0.6096097826957703, |
|
"kl": 0.36140069365501404, |
|
"learning_rate": 3.65625e-06, |
|
"loss": 0.0145, |
|
"reward": -0.9730753898620605, |
|
"reward_std": 2.724126100540161, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -3.0980753898620605, |
|
"rewards/wrapped_format_reward": 0.625, |
|
"step": 117 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 23.6, |
|
"grad_norm": 2.4817147254943848, |
|
"kl": 0.3356289267539978, |
|
"learning_rate": 3.6875000000000007e-06, |
|
"loss": 0.0134, |
|
"reward": 2.9043874740600586, |
|
"reward_std": 0.34505343437194824, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 1.0, |
|
"rewards/wrapped_driving_reward": 0.5293872952461243, |
|
"rewards/wrapped_format_reward": 0.375, |
|
"step": 118 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 23.8, |
|
"grad_norm": 1.3457905054092407, |
|
"kl": 0.32610735297203064, |
|
"learning_rate": 3.7187500000000006e-06, |
|
"loss": 0.013, |
|
"reward": -0.004844188690185547, |
|
"reward_std": 3.559382915496826, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -1.7548441886901855, |
|
"rewards/wrapped_format_reward": 0.25, |
|
"step": 119 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 24.0, |
|
"grad_norm": 0.8271002769470215, |
|
"kl": 0.592341423034668, |
|
"learning_rate": 3.7500000000000005e-06, |
|
"loss": 0.0237, |
|
"reward": 0.23737984895706177, |
|
"reward_std": 2.8921873569488525, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.6000000238418579, |
|
"rewards/wrapped_driving_reward": -1.2376201152801514, |
|
"rewards/wrapped_format_reward": 0.125, |
|
"step": 120 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 24.2, |
|
"grad_norm": 1.575377106666565, |
|
"kl": 0.31468361616134644, |
|
"learning_rate": 3.78125e-06, |
|
"loss": 0.0126, |
|
"reward": 0.08798408508300781, |
|
"reward_std": 3.364243984222412, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -1.9120157957077026, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 121 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 24.4, |
|
"grad_norm": 1.548542857170105, |
|
"kl": 0.7125066518783569, |
|
"learning_rate": 3.8125e-06, |
|
"loss": 0.0285, |
|
"reward": 3.202035903930664, |
|
"reward_std": 0.5515704154968262, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 0.8958333134651184, |
|
"rewards/wrapped_driving_reward": 0.6812027096748352, |
|
"rewards/wrapped_format_reward": 0.625, |
|
"step": 122 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 24.6, |
|
"grad_norm": 0.6466585397720337, |
|
"kl": 0.33141595125198364, |
|
"learning_rate": 3.84375e-06, |
|
"loss": 0.0133, |
|
"reward": -0.8563422560691833, |
|
"reward_std": 2.9308738708496094, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -2.981342315673828, |
|
"rewards/wrapped_format_reward": 0.625, |
|
"step": 123 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 24.8, |
|
"grad_norm": 0.9053751826286316, |
|
"kl": 0.3941192626953125, |
|
"learning_rate": 3.875e-06, |
|
"loss": 0.0158, |
|
"reward": -0.9088470935821533, |
|
"reward_std": 2.4116313457489014, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -2.6588470935821533, |
|
"rewards/wrapped_format_reward": 0.25, |
|
"step": 124 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 25.0, |
|
"grad_norm": 0.7404253482818604, |
|
"kl": 0.3537856936454773, |
|
"learning_rate": 3.90625e-06, |
|
"loss": 0.0142, |
|
"reward": -0.08935052156448364, |
|
"reward_std": 4.237273693084717, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -1.5893504619598389, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 125 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 25.2, |
|
"grad_norm": 0.5974608659744263, |
|
"kl": 0.31292691826820374, |
|
"learning_rate": 3.9375e-06, |
|
"loss": 0.0125, |
|
"reward": -0.5100458860397339, |
|
"reward_std": 3.746746063232422, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -1.8850458860397339, |
|
"rewards/wrapped_format_reward": 0.375, |
|
"step": 126 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 25.4, |
|
"grad_norm": 0.9886866807937622, |
|
"kl": 0.3266676068305969, |
|
"learning_rate": 3.96875e-06, |
|
"loss": 0.0131, |
|
"reward": 3.5397558212280273, |
|
"reward_std": 0.24529722332954407, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 1.0, |
|
"rewards/wrapped_driving_reward": 0.7897558212280273, |
|
"rewards/wrapped_format_reward": 0.75, |
|
"step": 127 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 25.6, |
|
"grad_norm": 0.6569087505340576, |
|
"kl": 0.28314509987831116, |
|
"learning_rate": 4.000000000000001e-06, |
|
"loss": 0.0113, |
|
"reward": -0.5303106904029846, |
|
"reward_std": 4.0666303634643555, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.375, |
|
"rewards/wrapped_driving_reward": -1.7803106307983398, |
|
"rewards/wrapped_format_reward": 0.375, |
|
"step": 128 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 25.8, |
|
"grad_norm": 1.4679771661758423, |
|
"kl": 0.4160246253013611, |
|
"learning_rate": 4.031250000000001e-06, |
|
"loss": 0.0166, |
|
"reward": -0.5868573188781738, |
|
"reward_std": 3.941485643386841, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -1.8368571996688843, |
|
"rewards/wrapped_format_reward": 0.25, |
|
"step": 129 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 26.0, |
|
"grad_norm": 0.5985941290855408, |
|
"kl": 0.31736528873443604, |
|
"learning_rate": 4.0625000000000005e-06, |
|
"loss": 0.0127, |
|
"reward": 1.1113789081573486, |
|
"reward_std": 3.429651975631714, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -1.0136209726333618, |
|
"rewards/wrapped_format_reward": 0.625, |
|
"step": 130 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 26.2, |
|
"grad_norm": 0.6327362656593323, |
|
"kl": 0.40226221084594727, |
|
"learning_rate": 4.09375e-06, |
|
"loss": 0.0161, |
|
"reward": 0.7944153547286987, |
|
"reward_std": 2.8826069831848145, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.7250000238418579, |
|
"rewards/wrapped_driving_reward": -1.3055846691131592, |
|
"rewards/wrapped_format_reward": 0.625, |
|
"step": 131 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 26.4, |
|
"grad_norm": 0.6797881722450256, |
|
"kl": 0.4582635164260864, |
|
"learning_rate": 4.125e-06, |
|
"loss": 0.0183, |
|
"reward": 2.8031327724456787, |
|
"reward_std": 0.7006269097328186, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 1.0, |
|
"rewards/wrapped_driving_reward": 0.05313277989625931, |
|
"rewards/wrapped_format_reward": 0.75, |
|
"step": 132 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 26.6, |
|
"grad_norm": 0.5752917528152466, |
|
"kl": 0.36153456568717957, |
|
"learning_rate": 4.15625e-06, |
|
"loss": 0.0145, |
|
"reward": -2.564105987548828, |
|
"reward_std": 2.871788263320923, |
|
"rewards/mpc_param_extraction_reward": 0.25, |
|
"rewards/mpc_param_name_reward": 0.25, |
|
"rewards/wrapped_driving_reward": -3.189105987548828, |
|
"rewards/wrapped_format_reward": 0.125, |
|
"step": 133 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 26.8, |
|
"grad_norm": 0.569823145866394, |
|
"kl": 0.3600581884384155, |
|
"learning_rate": 4.1875e-06, |
|
"loss": 0.0144, |
|
"reward": 3.2037861347198486, |
|
"reward_std": 0.1732039451599121, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 1.0, |
|
"rewards/wrapped_driving_reward": 0.8287861943244934, |
|
"rewards/wrapped_format_reward": 0.375, |
|
"step": 134 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 27.0, |
|
"grad_norm": 11.942618370056152, |
|
"kl": 2.177290678024292, |
|
"learning_rate": 4.21875e-06, |
|
"loss": 0.0871, |
|
"reward": -2.3714582920074463, |
|
"reward_std": 1.8921570777893066, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -3.7464582920074463, |
|
"rewards/wrapped_format_reward": 0.375, |
|
"step": 135 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 27.2, |
|
"grad_norm": 0.5660642385482788, |
|
"kl": 0.2908819019794464, |
|
"learning_rate": 4.25e-06, |
|
"loss": 0.0116, |
|
"reward": -0.6192033290863037, |
|
"reward_std": 3.6331570148468018, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -2.1192033290863037, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 136 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 27.4, |
|
"grad_norm": 1.4041975736618042, |
|
"kl": 0.463067889213562, |
|
"learning_rate": 4.28125e-06, |
|
"loss": 0.0185, |
|
"reward": -2.75, |
|
"reward_std": 1.1902379989624023, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -4.0, |
|
"rewards/wrapped_format_reward": 0.25, |
|
"step": 137 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 27.6, |
|
"grad_norm": 0.4801470637321472, |
|
"kl": 0.2532914876937866, |
|
"learning_rate": 4.312500000000001e-06, |
|
"loss": 0.0101, |
|
"reward": -2.304798126220703, |
|
"reward_std": 3.3904037475585938, |
|
"rewards/mpc_param_extraction_reward": 0.25, |
|
"rewards/mpc_param_name_reward": 0.25, |
|
"rewards/wrapped_driving_reward": -3.054798126220703, |
|
"rewards/wrapped_format_reward": 0.25, |
|
"step": 138 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 27.8, |
|
"grad_norm": 0.6999854445457458, |
|
"kl": 0.4938638210296631, |
|
"learning_rate": 4.3437500000000006e-06, |
|
"loss": 0.0198, |
|
"reward": -1.9556548595428467, |
|
"reward_std": 3.430131196975708, |
|
"rewards/mpc_param_extraction_reward": 0.25, |
|
"rewards/mpc_param_name_reward": 0.25, |
|
"rewards/wrapped_driving_reward": -2.9556548595428467, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 139 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 28.0, |
|
"grad_norm": 1.7622352838516235, |
|
"kl": 0.32535520195961, |
|
"learning_rate": 4.3750000000000005e-06, |
|
"loss": 0.013, |
|
"reward": 3.048956871032715, |
|
"reward_std": 0.7497459053993225, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 1.0, |
|
"rewards/wrapped_driving_reward": 0.42395687103271484, |
|
"rewards/wrapped_format_reward": 0.625, |
|
"step": 140 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 28.2, |
|
"grad_norm": 1.0910435914993286, |
|
"kl": 0.3166691064834595, |
|
"learning_rate": 4.40625e-06, |
|
"loss": 0.0127, |
|
"reward": 2.1717541217803955, |
|
"reward_std": 2.45133900642395, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 1.0, |
|
"rewards/wrapped_driving_reward": -0.45324593782424927, |
|
"rewards/wrapped_format_reward": 0.625, |
|
"step": 141 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 28.4, |
|
"grad_norm": 0.563035249710083, |
|
"kl": 0.34334975481033325, |
|
"learning_rate": 4.4375e-06, |
|
"loss": 0.0137, |
|
"reward": -0.30545544624328613, |
|
"reward_std": 2.531362295150757, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.71875, |
|
"rewards/wrapped_driving_reward": -2.149205446243286, |
|
"rewards/wrapped_format_reward": 0.375, |
|
"step": 142 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 28.6, |
|
"grad_norm": 0.6513370871543884, |
|
"kl": 0.2893451154232025, |
|
"learning_rate": 4.46875e-06, |
|
"loss": 0.0116, |
|
"reward": -0.7655331492424011, |
|
"reward_std": 3.818908214569092, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -2.265533208847046, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 143 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 28.8, |
|
"grad_norm": 0.6747258305549622, |
|
"kl": 0.4012701213359833, |
|
"learning_rate": 4.5e-06, |
|
"loss": 0.0161, |
|
"reward": -1.631712794303894, |
|
"reward_std": 2.7382092475891113, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -3.2567129135131836, |
|
"rewards/wrapped_format_reward": 0.625, |
|
"step": 144 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 29.0, |
|
"grad_norm": 1.388415813446045, |
|
"kl": 0.3030587136745453, |
|
"learning_rate": 4.53125e-06, |
|
"loss": 0.0121, |
|
"reward": -0.3709021210670471, |
|
"reward_std": 3.0999691486358643, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.6666666865348816, |
|
"rewards/wrapped_driving_reward": -2.0375688076019287, |
|
"rewards/wrapped_format_reward": 0.25, |
|
"step": 145 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 29.2, |
|
"grad_norm": 1.3835958242416382, |
|
"kl": 0.5185285806655884, |
|
"learning_rate": 4.5625e-06, |
|
"loss": 0.0207, |
|
"reward": -0.25881457328796387, |
|
"reward_std": 2.5411531925201416, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 0.9010416865348816, |
|
"rewards/wrapped_driving_reward": -2.6598563194274902, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 146 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 29.4, |
|
"grad_norm": 1.0529229640960693, |
|
"kl": 0.304034560918808, |
|
"learning_rate": 4.59375e-06, |
|
"loss": 0.0122, |
|
"reward": 0.5033270120620728, |
|
"reward_std": 3.8062596321105957, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -1.6216729879379272, |
|
"rewards/wrapped_format_reward": 0.625, |
|
"step": 147 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 29.6, |
|
"grad_norm": 1.3924496173858643, |
|
"kl": 0.3519279956817627, |
|
"learning_rate": 4.625000000000001e-06, |
|
"loss": 0.0141, |
|
"reward": 1.081155776977539, |
|
"reward_std": 2.07023286819458, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 0.9750000238418579, |
|
"rewards/wrapped_driving_reward": -1.1438441276550293, |
|
"rewards/wrapped_format_reward": 0.25, |
|
"step": 148 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 29.8, |
|
"grad_norm": 1.6642379760742188, |
|
"kl": 0.5595217347145081, |
|
"learning_rate": 4.6562500000000005e-06, |
|
"loss": 0.0224, |
|
"reward": 2.879631519317627, |
|
"reward_std": 0.5703426003456116, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 1.0, |
|
"rewards/wrapped_driving_reward": 0.12963154911994934, |
|
"rewards/wrapped_format_reward": 0.75, |
|
"step": 149 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 30.0, |
|
"grad_norm": 0.5775982737541199, |
|
"kl": 0.2810514271259308, |
|
"learning_rate": 4.6875000000000004e-06, |
|
"loss": 0.0112, |
|
"reward": 0.10444420576095581, |
|
"reward_std": 3.2514774799346924, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -2.0205557346343994, |
|
"rewards/wrapped_format_reward": 0.625, |
|
"step": 150 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 30.2, |
|
"grad_norm": 0.9198185801506042, |
|
"kl": 0.28956174850463867, |
|
"learning_rate": 4.71875e-06, |
|
"loss": 0.0116, |
|
"reward": -0.260436087846756, |
|
"reward_std": 2.8927173614501953, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -2.2604360580444336, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 151 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 30.4, |
|
"grad_norm": 0.7754166722297668, |
|
"kl": 0.38463443517684937, |
|
"learning_rate": 4.75e-06, |
|
"loss": 0.0154, |
|
"reward": 0.4493406414985657, |
|
"reward_std": 2.646808385848999, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -1.300659418106079, |
|
"rewards/wrapped_format_reward": 0.25, |
|
"step": 152 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 30.6, |
|
"grad_norm": 0.5780096650123596, |
|
"kl": 0.3385607898235321, |
|
"learning_rate": 4.781250000000001e-06, |
|
"loss": 0.0135, |
|
"reward": -1.7927734851837158, |
|
"reward_std": 3.755190849304199, |
|
"rewards/mpc_param_extraction_reward": 0.25, |
|
"rewards/mpc_param_name_reward": 0.25, |
|
"rewards/wrapped_driving_reward": -2.792773485183716, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 153 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 30.8, |
|
"grad_norm": 0.5552729964256287, |
|
"kl": 0.28436288237571716, |
|
"learning_rate": 4.8125e-06, |
|
"loss": 0.0114, |
|
"reward": 0.6222386360168457, |
|
"reward_std": 2.1850173473358154, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 1.0, |
|
"rewards/wrapped_driving_reward": -1.8777613639831543, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 154 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 31.0, |
|
"grad_norm": 0.9199939370155334, |
|
"kl": 0.37593454122543335, |
|
"learning_rate": 4.84375e-06, |
|
"loss": 0.015, |
|
"reward": 0.4306233525276184, |
|
"reward_std": 3.5992963314056396, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.6607142686843872, |
|
"rewards/wrapped_driving_reward": -1.605090856552124, |
|
"rewards/wrapped_format_reward": 0.625, |
|
"step": 155 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 31.2, |
|
"grad_norm": 0.5603945851325989, |
|
"kl": 0.3141997754573822, |
|
"learning_rate": 4.875e-06, |
|
"loss": 0.0126, |
|
"reward": -2.0, |
|
"reward_std": 1.3540064096450806, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -4.0, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 156 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 31.4, |
|
"grad_norm": 0.6190344095230103, |
|
"kl": 0.27537742257118225, |
|
"learning_rate": 4.90625e-06, |
|
"loss": 0.011, |
|
"reward": 1.0282058715820312, |
|
"reward_std": 3.394833564758301, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -0.846794068813324, |
|
"rewards/wrapped_format_reward": 0.375, |
|
"step": 157 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 31.6, |
|
"grad_norm": 0.6877399682998657, |
|
"kl": 0.2958383858203888, |
|
"learning_rate": 4.937500000000001e-06, |
|
"loss": 0.0118, |
|
"reward": -0.755041241645813, |
|
"reward_std": 3.4646472930908203, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -2.1300413608551025, |
|
"rewards/wrapped_format_reward": 0.375, |
|
"step": 158 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 31.8, |
|
"grad_norm": 31.595932006835938, |
|
"kl": 6.78364372253418, |
|
"learning_rate": 4.9687500000000005e-06, |
|
"loss": 0.2713, |
|
"reward": 0.35857605934143066, |
|
"reward_std": 2.9158554077148438, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -1.7664239406585693, |
|
"rewards/wrapped_format_reward": 0.625, |
|
"step": 159 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 32.0, |
|
"grad_norm": 1.7048529386520386, |
|
"kl": 0.35252463817596436, |
|
"learning_rate": 5e-06, |
|
"loss": 0.0141, |
|
"reward": 2.64233136177063, |
|
"reward_std": 0.7985239624977112, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 1.0, |
|
"rewards/wrapped_driving_reward": 0.14233140647411346, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 160 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 32.2, |
|
"grad_norm": 0.9699507355690002, |
|
"kl": 0.3963090479373932, |
|
"learning_rate": 4.99999405044338e-06, |
|
"loss": 0.0159, |
|
"reward": 2.578547477722168, |
|
"reward_std": 0.16937123239040375, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 1.0, |
|
"rewards/wrapped_driving_reward": -0.046452634036540985, |
|
"rewards/wrapped_format_reward": 0.625, |
|
"step": 161 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 32.4, |
|
"grad_norm": 0.6427643299102783, |
|
"kl": 0.2770542800426483, |
|
"learning_rate": 4.999976201801837e-06, |
|
"loss": 0.0111, |
|
"reward": 2.2058539390563965, |
|
"reward_std": 1.1022424697875977, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 1.0, |
|
"rewards/wrapped_driving_reward": -0.41914597153663635, |
|
"rewards/wrapped_format_reward": 0.625, |
|
"step": 162 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 32.6, |
|
"grad_norm": 0.6896190047264099, |
|
"kl": 0.27440541982650757, |
|
"learning_rate": 4.999946454160323e-06, |
|
"loss": 0.011, |
|
"reward": 1.1675429344177246, |
|
"reward_std": 3.4587650299072266, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.7142857313156128, |
|
"rewards/wrapped_driving_reward": -0.7967426180839539, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 163 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 32.8, |
|
"grad_norm": 0.7695831060409546, |
|
"kl": 0.4198772609233856, |
|
"learning_rate": 4.9999048076604286e-06, |
|
"loss": 0.0168, |
|
"reward": -1.912316918373108, |
|
"reward_std": 2.555265426635742, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -2.9123167991638184, |
|
"rewards/wrapped_format_reward": 0.0, |
|
"step": 164 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 33.0, |
|
"grad_norm": 0.5920954942703247, |
|
"kl": 0.28969520330429077, |
|
"learning_rate": 4.999851262500375e-06, |
|
"loss": 0.0116, |
|
"reward": 3.1377110481262207, |
|
"reward_std": 0.5497580170631409, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 1.0, |
|
"rewards/wrapped_driving_reward": 0.5127109289169312, |
|
"rewards/wrapped_format_reward": 0.625, |
|
"step": 165 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 33.2, |
|
"grad_norm": 6.077564716339111, |
|
"kl": 0.44747114181518555, |
|
"learning_rate": 4.999785818935018e-06, |
|
"loss": 0.0179, |
|
"reward": 2.047877073287964, |
|
"reward_std": 2.722182035446167, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 1.0, |
|
"rewards/wrapped_driving_reward": -0.45212286710739136, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 166 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 33.4, |
|
"grad_norm": 0.6889002919197083, |
|
"kl": 0.37658053636550903, |
|
"learning_rate": 4.999708477275846e-06, |
|
"loss": 0.0151, |
|
"reward": -2.284590482711792, |
|
"reward_std": 3.106440782546997, |
|
"rewards/mpc_param_extraction_reward": 0.25, |
|
"rewards/mpc_param_name_reward": 0.25, |
|
"rewards/wrapped_driving_reward": -3.159590482711792, |
|
"rewards/wrapped_format_reward": 0.375, |
|
"step": 167 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 33.6, |
|
"grad_norm": 1.8645473718643188, |
|
"kl": 0.3408987522125244, |
|
"learning_rate": 4.9996192378909785e-06, |
|
"loss": 0.0136, |
|
"reward": 0.917718231678009, |
|
"reward_std": 2.948974132537842, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.699999988079071, |
|
"rewards/wrapped_driving_reward": -1.157281756401062, |
|
"rewards/wrapped_format_reward": 0.625, |
|
"step": 168 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 33.8, |
|
"grad_norm": 0.535763680934906, |
|
"kl": 0.25453072786331177, |
|
"learning_rate": 4.999518101205162e-06, |
|
"loss": 0.0102, |
|
"reward": 3.604552745819092, |
|
"reward_std": 0.45598289370536804, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 1.0, |
|
"rewards/wrapped_driving_reward": 0.7295528054237366, |
|
"rewards/wrapped_format_reward": 0.875, |
|
"step": 169 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 34.0, |
|
"grad_norm": 1.0853776931762695, |
|
"kl": 0.2871979773044586, |
|
"learning_rate": 4.999405067699773e-06, |
|
"loss": 0.0115, |
|
"reward": 0.7697337865829468, |
|
"reward_std": 3.0176069736480713, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -1.3552662134170532, |
|
"rewards/wrapped_format_reward": 0.625, |
|
"step": 170 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 34.2, |
|
"grad_norm": 2.175551176071167, |
|
"kl": 0.7303879261016846, |
|
"learning_rate": 4.99928013791281e-06, |
|
"loss": 0.0292, |
|
"reward": 0.010015249252319336, |
|
"reward_std": 4.346557140350342, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.46875, |
|
"rewards/wrapped_driving_reward": -1.5837347507476807, |
|
"rewards/wrapped_format_reward": 0.625, |
|
"step": 171 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 34.4, |
|
"grad_norm": 1.3378883600234985, |
|
"kl": 0.2555471658706665, |
|
"learning_rate": 4.999143312438893e-06, |
|
"loss": 0.0102, |
|
"reward": 1.064118504524231, |
|
"reward_std": 1.464298963546753, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 1.0, |
|
"rewards/wrapped_driving_reward": -1.4358813762664795, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 172 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 34.6, |
|
"grad_norm": 1.6005758047103882, |
|
"kl": 0.3272940516471863, |
|
"learning_rate": 4.998994591929266e-06, |
|
"loss": 0.0131, |
|
"reward": 3.320277214050293, |
|
"reward_std": 0.5942137241363525, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 1.0, |
|
"rewards/wrapped_driving_reward": 0.8202772736549377, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 173 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 34.8, |
|
"grad_norm": 0.8775622844696045, |
|
"kl": 0.3981474041938782, |
|
"learning_rate": 4.998833977091783e-06, |
|
"loss": 0.0159, |
|
"reward": 2.548191547393799, |
|
"reward_std": 0.13038182258605957, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 1.0, |
|
"rewards/wrapped_driving_reward": 0.17319151759147644, |
|
"rewards/wrapped_format_reward": 0.375, |
|
"step": 174 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 35.0, |
|
"grad_norm": 0.5131356716156006, |
|
"kl": 0.26495081186294556, |
|
"learning_rate": 4.998661468690914e-06, |
|
"loss": 0.0106, |
|
"reward": 0.2881455421447754, |
|
"reward_std": 3.1594552993774414, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -1.7118544578552246, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 175 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 35.2, |
|
"grad_norm": 1.4990577697753906, |
|
"kl": 0.3656232953071594, |
|
"learning_rate": 4.99847706754774e-06, |
|
"loss": 0.0146, |
|
"reward": 2.0933961868286133, |
|
"reward_std": 0.39702948927879333, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 0.9375, |
|
"rewards/wrapped_driving_reward": -0.594103991985321, |
|
"rewards/wrapped_format_reward": 0.75, |
|
"step": 176 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 35.4, |
|
"grad_norm": 0.5740483999252319, |
|
"kl": 0.265653520822525, |
|
"learning_rate": 4.998280774539943e-06, |
|
"loss": 0.0106, |
|
"reward": 1.1700050830841064, |
|
"reward_std": 3.1657402515411377, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -0.8299949765205383, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 177 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 35.6, |
|
"grad_norm": 0.6564896702766418, |
|
"kl": 0.265337198972702, |
|
"learning_rate": 4.998072590601808e-06, |
|
"loss": 0.0106, |
|
"reward": -0.852949857711792, |
|
"reward_std": 3.3822429180145264, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -2.102949857711792, |
|
"rewards/wrapped_format_reward": 0.25, |
|
"step": 178 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 35.8, |
|
"grad_norm": 23.83641242980957, |
|
"kl": 4.303451061248779, |
|
"learning_rate": 4.9978525167242176e-06, |
|
"loss": 0.1721, |
|
"reward": 0.764412522315979, |
|
"reward_std": 2.8684115409851074, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.7250000238418579, |
|
"rewards/wrapped_driving_reward": -1.085587501525879, |
|
"rewards/wrapped_format_reward": 0.375, |
|
"step": 179 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 36.0, |
|
"grad_norm": 0.7350974082946777, |
|
"kl": 0.30466321110725403, |
|
"learning_rate": 4.997620553954645e-06, |
|
"loss": 0.0122, |
|
"reward": -0.10997164249420166, |
|
"reward_std": 2.883012056350708, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -2.109971523284912, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 180 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 36.2, |
|
"grad_norm": 1.8978265523910522, |
|
"kl": 0.5050737857818604, |
|
"learning_rate": 4.997376703397151e-06, |
|
"loss": 0.0202, |
|
"reward": -0.35431569814682007, |
|
"reward_std": 4.209678649902344, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -1.8543156385421753, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 181 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 36.4, |
|
"grad_norm": 0.6739000678062439, |
|
"kl": 0.3342580497264862, |
|
"learning_rate": 4.9971209662123774e-06, |
|
"loss": 0.0134, |
|
"reward": 1.24358332157135, |
|
"reward_std": 3.5022475719451904, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -0.5064166188240051, |
|
"rewards/wrapped_format_reward": 0.25, |
|
"step": 182 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 36.6, |
|
"grad_norm": 0.8527255654335022, |
|
"kl": 0.44380900263786316, |
|
"learning_rate": 4.996853343617542e-06, |
|
"loss": 0.0178, |
|
"reward": 1.3519909381866455, |
|
"reward_std": 2.9203834533691406, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.71875, |
|
"rewards/wrapped_driving_reward": -0.6167589426040649, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 183 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 36.8, |
|
"grad_norm": 0.6037353277206421, |
|
"kl": 0.3514931797981262, |
|
"learning_rate": 4.9965738368864345e-06, |
|
"loss": 0.0141, |
|
"reward": 2.4617958068847656, |
|
"reward_std": 0.43256813287734985, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 1.0, |
|
"rewards/wrapped_driving_reward": -0.1632043421268463, |
|
"rewards/wrapped_format_reward": 0.625, |
|
"step": 184 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 37.0, |
|
"grad_norm": 0.6498645544052124, |
|
"kl": 0.39014145731925964, |
|
"learning_rate": 4.996282447349408e-06, |
|
"loss": 0.0156, |
|
"reward": 2.696049451828003, |
|
"reward_std": 0.6518055200576782, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 1.0, |
|
"rewards/wrapped_driving_reward": -0.17895053327083588, |
|
"rewards/wrapped_format_reward": 0.875, |
|
"step": 185 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 37.2, |
|
"grad_norm": 0.6228243708610535, |
|
"kl": 0.2633248567581177, |
|
"learning_rate": 4.995979176393372e-06, |
|
"loss": 0.0105, |
|
"reward": 1.1363269090652466, |
|
"reward_std": 3.4644434452056885, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -0.9886730313301086, |
|
"rewards/wrapped_format_reward": 0.625, |
|
"step": 186 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 37.4, |
|
"grad_norm": 8.40079402923584, |
|
"kl": 1.8278297185897827, |
|
"learning_rate": 4.99566402546179e-06, |
|
"loss": 0.0731, |
|
"reward": -0.7244951725006104, |
|
"reward_std": 3.783473491668701, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.3705357313156128, |
|
"rewards/wrapped_driving_reward": -2.0950307846069336, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 187 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 37.6, |
|
"grad_norm": 0.5168763399124146, |
|
"kl": 0.2395801991224289, |
|
"learning_rate": 4.995336996054668e-06, |
|
"loss": 0.0096, |
|
"reward": 1.9002426862716675, |
|
"reward_std": 2.223823070526123, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 0.9772727489471436, |
|
"rewards/wrapped_driving_reward": -0.7020300626754761, |
|
"rewards/wrapped_format_reward": 0.625, |
|
"step": 188 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 37.8, |
|
"grad_norm": 0.9863908290863037, |
|
"kl": 0.27976277470588684, |
|
"learning_rate": 4.99499808972855e-06, |
|
"loss": 0.0112, |
|
"reward": -0.028857052326202393, |
|
"reward_std": 2.8702406883239746, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -2.1538569927215576, |
|
"rewards/wrapped_format_reward": 0.625, |
|
"step": 189 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 38.0, |
|
"grad_norm": 0.8377166986465454, |
|
"kl": 0.48623228073120117, |
|
"learning_rate": 4.994647308096509e-06, |
|
"loss": 0.0194, |
|
"reward": 2.531177043914795, |
|
"reward_std": 0.5673744082450867, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 0.9166666865348816, |
|
"rewards/wrapped_driving_reward": 0.4895104467868805, |
|
"rewards/wrapped_format_reward": 0.125, |
|
"step": 190 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 38.2, |
|
"grad_norm": 0.9249876737594604, |
|
"kl": 0.4526787996292114, |
|
"learning_rate": 4.994284652828143e-06, |
|
"loss": 0.0181, |
|
"reward": 0.6909130215644836, |
|
"reward_std": 3.1517491340637207, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -1.1840870380401611, |
|
"rewards/wrapped_format_reward": 0.375, |
|
"step": 191 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 38.4, |
|
"grad_norm": 0.5216014385223389, |
|
"kl": 0.2844958007335663, |
|
"learning_rate": 4.993910125649561e-06, |
|
"loss": 0.0114, |
|
"reward": 1.347219705581665, |
|
"reward_std": 3.583749771118164, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -0.527780294418335, |
|
"rewards/wrapped_format_reward": 0.375, |
|
"step": 192 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 38.6, |
|
"grad_norm": 0.7675309181213379, |
|
"kl": 0.46290096640586853, |
|
"learning_rate": 4.99352372834338e-06, |
|
"loss": 0.0185, |
|
"reward": 1.28756582736969, |
|
"reward_std": 3.200143337249756, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.7083333134651184, |
|
"rewards/wrapped_driving_reward": -0.5457674860954285, |
|
"rewards/wrapped_format_reward": 0.375, |
|
"step": 193 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 38.8, |
|
"grad_norm": 0.5267873406410217, |
|
"kl": 0.27246928215026855, |
|
"learning_rate": 4.993125462748714e-06, |
|
"loss": 0.0109, |
|
"reward": 0.5119737386703491, |
|
"reward_std": 2.572335958480835, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 1.0, |
|
"rewards/wrapped_driving_reward": -1.9880262613296509, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 194 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 39.0, |
|
"grad_norm": 0.557345449924469, |
|
"kl": 0.33223679661750793, |
|
"learning_rate": 4.992715330761167e-06, |
|
"loss": 0.0133, |
|
"reward": 1.9005041122436523, |
|
"reward_std": 1.5405527353286743, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 1.0, |
|
"rewards/wrapped_driving_reward": -0.5994958281517029, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 195 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 39.2, |
|
"grad_norm": 0.5145586729049683, |
|
"kl": 0.27872464060783386, |
|
"learning_rate": 4.992293334332821e-06, |
|
"loss": 0.0111, |
|
"reward": 0.08070141077041626, |
|
"reward_std": 2.161402702331543, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 1.0, |
|
"rewards/wrapped_driving_reward": -2.9192986488342285, |
|
"rewards/wrapped_format_reward": 1.0, |
|
"step": 196 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 39.4, |
|
"grad_norm": 0.5731538534164429, |
|
"kl": 0.2947344481945038, |
|
"learning_rate": 4.9918594754722286e-06, |
|
"loss": 0.0118, |
|
"reward": 1.089212417602539, |
|
"reward_std": 3.5704760551452637, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -0.9107875823974609, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 197 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 39.6, |
|
"grad_norm": 1.0262069702148438, |
|
"kl": 0.36793074011802673, |
|
"learning_rate": 4.991413756244404e-06, |
|
"loss": 0.0147, |
|
"reward": 2.804293632507324, |
|
"reward_std": 0.05172164365649223, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 1.0, |
|
"rewards/wrapped_driving_reward": 0.3042936325073242, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 198 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 39.8, |
|
"grad_norm": 0.7235340476036072, |
|
"kl": 0.4867457151412964, |
|
"learning_rate": 4.990956178770814e-06, |
|
"loss": 0.0195, |
|
"reward": 2.4924705028533936, |
|
"reward_std": 0.6009870767593384, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 0.949999988079071, |
|
"rewards/wrapped_driving_reward": -0.08252956718206406, |
|
"rewards/wrapped_format_reward": 0.625, |
|
"step": 199 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 40.0, |
|
"grad_norm": 0.8564599752426147, |
|
"kl": 0.4650922119617462, |
|
"learning_rate": 4.990486745229364e-06, |
|
"loss": 0.0186, |
|
"reward": 2.757322311401367, |
|
"reward_std": 0.5960695743560791, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 0.9444444179534912, |
|
"rewards/wrapped_driving_reward": 0.18787765502929688, |
|
"rewards/wrapped_format_reward": 0.625, |
|
"step": 200 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 40.2, |
|
"grad_norm": 0.6181848645210266, |
|
"kl": 0.33555763959884644, |
|
"learning_rate": 4.990005457854392e-06, |
|
"loss": 0.0134, |
|
"reward": 0.935232937335968, |
|
"reward_std": 2.9882521629333496, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.7222222089767456, |
|
"rewards/wrapped_driving_reward": -0.7869893312454224, |
|
"rewards/wrapped_format_reward": 0.25, |
|
"step": 201 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 40.4, |
|
"grad_norm": 0.8061473369598389, |
|
"kl": 0.3526011109352112, |
|
"learning_rate": 4.989512318936654e-06, |
|
"loss": 0.0141, |
|
"reward": 2.038607597351074, |
|
"reward_std": 1.286082148551941, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 0.9772727489471436, |
|
"rewards/wrapped_driving_reward": -0.4386652112007141, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 202 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 40.6, |
|
"grad_norm": 1.0745853185653687, |
|
"kl": 0.7225068807601929, |
|
"learning_rate": 4.989007330823319e-06, |
|
"loss": 0.0289, |
|
"reward": 3.327683210372925, |
|
"reward_std": 0.45302456617355347, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 1.0, |
|
"rewards/wrapped_driving_reward": 0.5776832103729248, |
|
"rewards/wrapped_format_reward": 0.75, |
|
"step": 203 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 40.8, |
|
"grad_norm": 0.6797990202903748, |
|
"kl": 0.49457883834838867, |
|
"learning_rate": 4.988490495917948e-06, |
|
"loss": 0.0198, |
|
"reward": 1.4564661979675293, |
|
"reward_std": 3.6745243072509766, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -0.7935338020324707, |
|
"rewards/wrapped_format_reward": 0.75, |
|
"step": 204 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 41.0, |
|
"grad_norm": 0.5719887018203735, |
|
"kl": 0.3025702238082886, |
|
"learning_rate": 4.987961816680493e-06, |
|
"loss": 0.0121, |
|
"reward": 0.8813665509223938, |
|
"reward_std": 3.3135292530059814, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.685606062412262, |
|
"rewards/wrapped_driving_reward": -1.1792395114898682, |
|
"rewards/wrapped_format_reward": 0.625, |
|
"step": 205 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 41.2, |
|
"grad_norm": 0.7324315905570984, |
|
"kl": 0.387521356344223, |
|
"learning_rate": 4.987421295627279e-06, |
|
"loss": 0.0155, |
|
"reward": 3.60201358795166, |
|
"reward_std": 0.17326904833316803, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 0.9722222089767456, |
|
"rewards/wrapped_driving_reward": 0.7547914981842041, |
|
"rewards/wrapped_format_reward": 0.875, |
|
"step": 206 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 41.4, |
|
"grad_norm": 1.4426076412200928, |
|
"kl": 0.3239262104034424, |
|
"learning_rate": 4.986868935330998e-06, |
|
"loss": 0.013, |
|
"reward": 1.1451337337493896, |
|
"reward_std": 3.175523042678833, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -0.9798662662506104, |
|
"rewards/wrapped_format_reward": 0.625, |
|
"step": 207 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 41.6, |
|
"grad_norm": 0.6265994310379028, |
|
"kl": 0.31086966395378113, |
|
"learning_rate": 4.986304738420684e-06, |
|
"loss": 0.0124, |
|
"reward": -0.08087223768234253, |
|
"reward_std": 3.9480772018432617, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -1.5808722972869873, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 208 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 41.8, |
|
"grad_norm": 0.5122293829917908, |
|
"kl": 0.22147461771965027, |
|
"learning_rate": 4.985728707581717e-06, |
|
"loss": 0.0089, |
|
"reward": 2.2255654335021973, |
|
"reward_std": 0.4417201578617096, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 0.9821428656578064, |
|
"rewards/wrapped_driving_reward": -0.2565774619579315, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 209 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 42.0, |
|
"grad_norm": 0.5366212725639343, |
|
"kl": 0.2860429286956787, |
|
"learning_rate": 4.985140845555799e-06, |
|
"loss": 0.0114, |
|
"reward": -1.875, |
|
"reward_std": 1.108677864074707, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -4.0, |
|
"rewards/wrapped_format_reward": 0.625, |
|
"step": 210 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 42.2, |
|
"grad_norm": 0.757074773311615, |
|
"kl": 0.5041708946228027, |
|
"learning_rate": 4.984541155140945e-06, |
|
"loss": 0.0202, |
|
"reward": 1.3050158023834229, |
|
"reward_std": 3.2698206901550293, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.6428571343421936, |
|
"rewards/wrapped_driving_reward": -0.7128414511680603, |
|
"rewards/wrapped_format_reward": 0.625, |
|
"step": 211 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 42.4, |
|
"grad_norm": 0.5149911046028137, |
|
"kl": 0.24131189286708832, |
|
"learning_rate": 4.9839296391914696e-06, |
|
"loss": 0.0097, |
|
"reward": -0.5590072870254517, |
|
"reward_std": 3.6906325817108154, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -1.9340074062347412, |
|
"rewards/wrapped_format_reward": 0.375, |
|
"step": 212 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 42.6, |
|
"grad_norm": 0.7922428250312805, |
|
"kl": 0.4074100852012634, |
|
"learning_rate": 4.98330630061797e-06, |
|
"loss": 0.0163, |
|
"reward": 0.7251100540161133, |
|
"reward_std": 3.205897569656372, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -1.1498900651931763, |
|
"rewards/wrapped_format_reward": 0.375, |
|
"step": 213 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 42.8, |
|
"grad_norm": 0.8499237298965454, |
|
"kl": 0.533706784248352, |
|
"learning_rate": 4.982671142387316e-06, |
|
"loss": 0.0213, |
|
"reward": 1.2264912128448486, |
|
"reward_std": 3.1925883293151855, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -0.7735086679458618, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 214 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 43.0, |
|
"grad_norm": 0.5848891139030457, |
|
"kl": 0.4833756983280182, |
|
"learning_rate": 4.982024167522638e-06, |
|
"loss": 0.0193, |
|
"reward": 2.640871524810791, |
|
"reward_std": 0.3350675404071808, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 0.935606062412262, |
|
"rewards/wrapped_driving_reward": -0.1697344183921814, |
|
"rewards/wrapped_format_reward": 0.875, |
|
"step": 215 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 43.2, |
|
"grad_norm": 1.0190398693084717, |
|
"kl": 0.5212844014167786, |
|
"learning_rate": 4.981365379103306e-06, |
|
"loss": 0.0209, |
|
"reward": 1.518845796585083, |
|
"reward_std": 1.8981057405471802, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 0.9772727489471436, |
|
"rewards/wrapped_driving_reward": -1.0834269523620605, |
|
"rewards/wrapped_format_reward": 0.625, |
|
"step": 216 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 43.4, |
|
"grad_norm": 0.6003134250640869, |
|
"kl": 0.2476293295621872, |
|
"learning_rate": 4.980694780264918e-06, |
|
"loss": 0.0099, |
|
"reward": 2.3462984561920166, |
|
"reward_std": 0.5958766937255859, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 1.0, |
|
"rewards/wrapped_driving_reward": -0.4037014842033386, |
|
"rewards/wrapped_format_reward": 0.75, |
|
"step": 217 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 43.6, |
|
"grad_norm": 0.5352597832679749, |
|
"kl": 0.33760789036750793, |
|
"learning_rate": 4.980012374199288e-06, |
|
"loss": 0.0135, |
|
"reward": 1.1177078485488892, |
|
"reward_std": 3.422083854675293, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -0.8822920918464661, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 218 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 43.8, |
|
"grad_norm": 0.78425532579422, |
|
"kl": 0.45192739367485046, |
|
"learning_rate": 4.979318164154426e-06, |
|
"loss": 0.0181, |
|
"reward": 3.3331549167633057, |
|
"reward_std": 0.4030221104621887, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 1.0, |
|
"rewards/wrapped_driving_reward": 0.8331548571586609, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 219 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 44.0, |
|
"grad_norm": 0.5511319041252136, |
|
"kl": 0.2625429630279541, |
|
"learning_rate": 4.978612153434527e-06, |
|
"loss": 0.0105, |
|
"reward": 3.4739222526550293, |
|
"reward_std": 0.35263335704803467, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 1.0, |
|
"rewards/wrapped_driving_reward": 0.5989223122596741, |
|
"rewards/wrapped_format_reward": 0.875, |
|
"step": 220 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 44.2, |
|
"grad_norm": 0.8345232009887695, |
|
"kl": 0.5118071436882019, |
|
"learning_rate": 4.97789434539995e-06, |
|
"loss": 0.0205, |
|
"reward": 1.788142442703247, |
|
"reward_std": 2.3180289268493652, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 1.0, |
|
"rewards/wrapped_driving_reward": -1.086857557296753, |
|
"rewards/wrapped_format_reward": 0.875, |
|
"step": 221 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 44.4, |
|
"grad_norm": 0.8292976021766663, |
|
"kl": 0.5234676003456116, |
|
"learning_rate": 4.977164743467206e-06, |
|
"loss": 0.0209, |
|
"reward": 1.3859682083129883, |
|
"reward_std": 3.6182608604431152, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.6875, |
|
"rewards/wrapped_driving_reward": -0.5515317916870117, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 222 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 44.6, |
|
"grad_norm": 0.8200549483299255, |
|
"kl": 0.3950418531894684, |
|
"learning_rate": 4.976423351108943e-06, |
|
"loss": 0.0158, |
|
"reward": 1.9203238487243652, |
|
"reward_std": 1.1563453674316406, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 1.0, |
|
"rewards/wrapped_driving_reward": -0.7046762704849243, |
|
"rewards/wrapped_format_reward": 0.625, |
|
"step": 223 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 44.8, |
|
"grad_norm": 0.6968622207641602, |
|
"kl": 0.2271728217601776, |
|
"learning_rate": 4.975670171853926e-06, |
|
"loss": 0.0091, |
|
"reward": -0.3170052766799927, |
|
"reward_std": 2.1093220710754395, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 0.9772727489471436, |
|
"rewards/wrapped_driving_reward": -2.919278144836426, |
|
"rewards/wrapped_format_reward": 0.625, |
|
"step": 224 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 45.0, |
|
"grad_norm": 0.7795050144195557, |
|
"kl": 0.4355601966381073, |
|
"learning_rate": 4.97490520928702e-06, |
|
"loss": 0.0174, |
|
"reward": 2.6324033737182617, |
|
"reward_std": 0.5314469933509827, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 1.0, |
|
"rewards/wrapped_driving_reward": -0.11759641766548157, |
|
"rewards/wrapped_format_reward": 0.75, |
|
"step": 225 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 45.2, |
|
"grad_norm": 0.5524005889892578, |
|
"kl": 0.30952146649360657, |
|
"learning_rate": 4.974128467049177e-06, |
|
"loss": 0.0124, |
|
"reward": -2.125, |
|
"reward_std": 1.314977765083313, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -4.0, |
|
"rewards/wrapped_format_reward": 0.375, |
|
"step": 226 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 45.4, |
|
"grad_norm": 0.5645884871482849, |
|
"kl": 0.4939887821674347, |
|
"learning_rate": 4.9733399488374115e-06, |
|
"loss": 0.0198, |
|
"reward": 2.418989658355713, |
|
"reward_std": 0.14345024526119232, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 1.0, |
|
"rewards/wrapped_driving_reward": -0.08101026713848114, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 227 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 45.6, |
|
"grad_norm": 0.9631263017654419, |
|
"kl": 0.6647568941116333, |
|
"learning_rate": 4.972539658404793e-06, |
|
"loss": 0.0266, |
|
"reward": -0.0228692889213562, |
|
"reward_std": 3.135000228881836, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -2.272869110107422, |
|
"rewards/wrapped_format_reward": 0.75, |
|
"step": 228 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 45.8, |
|
"grad_norm": 0.5868902802467346, |
|
"kl": 0.536701500415802, |
|
"learning_rate": 4.971727599560418e-06, |
|
"loss": 0.0215, |
|
"reward": 2.595135450363159, |
|
"reward_std": 0.5522119402885437, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 0.949999988079071, |
|
"rewards/wrapped_driving_reward": 0.020135482773184776, |
|
"rewards/wrapped_format_reward": 0.625, |
|
"step": 229 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 46.0, |
|
"grad_norm": 0.6927148103713989, |
|
"kl": 0.5391973257064819, |
|
"learning_rate": 4.970903776169403e-06, |
|
"loss": 0.0216, |
|
"reward": 3.2273426055908203, |
|
"reward_std": 0.38745206594467163, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 0.9642857313156128, |
|
"rewards/wrapped_driving_reward": 0.7630569934844971, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 230 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 46.2, |
|
"grad_norm": 2.157358407974243, |
|
"kl": 0.5963761210441589, |
|
"learning_rate": 4.9700681921528495e-06, |
|
"loss": 0.0239, |
|
"reward": 3.3556950092315674, |
|
"reward_std": 0.5486971735954285, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 1.0, |
|
"rewards/wrapped_driving_reward": 0.7306950092315674, |
|
"rewards/wrapped_format_reward": 0.625, |
|
"step": 231 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 46.4, |
|
"grad_norm": 0.5409197211265564, |
|
"kl": 0.31054040789604187, |
|
"learning_rate": 4.9692208514878445e-06, |
|
"loss": 0.0124, |
|
"reward": -1.75, |
|
"reward_std": 1.1902379989624023, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -4.0, |
|
"rewards/wrapped_format_reward": 0.75, |
|
"step": 232 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 46.6, |
|
"grad_norm": 0.8271388411521912, |
|
"kl": 0.5030784606933594, |
|
"learning_rate": 4.968361758207428e-06, |
|
"loss": 0.0201, |
|
"reward": 2.2951016426086426, |
|
"reward_std": 0.6324443817138672, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 1.0, |
|
"rewards/wrapped_driving_reward": -0.07989836484193802, |
|
"rewards/wrapped_format_reward": 0.375, |
|
"step": 233 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 46.8, |
|
"grad_norm": 0.9013113975524902, |
|
"kl": 0.527148425579071, |
|
"learning_rate": 4.9674909164005805e-06, |
|
"loss": 0.0211, |
|
"reward": -0.08311975002288818, |
|
"reward_std": 4.243640422821045, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -1.5831197500228882, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 234 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 47.0, |
|
"grad_norm": 0.621760368347168, |
|
"kl": 0.5894174575805664, |
|
"learning_rate": 4.966608330212198e-06, |
|
"loss": 0.0236, |
|
"reward": 2.69521427154541, |
|
"reward_std": 0.2680894732475281, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 0.9722222089767456, |
|
"rewards/wrapped_driving_reward": -0.15200814604759216, |
|
"rewards/wrapped_format_reward": 0.875, |
|
"step": 235 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 47.2, |
|
"grad_norm": 0.6673128604888916, |
|
"kl": 0.42412999272346497, |
|
"learning_rate": 4.965714003843079e-06, |
|
"loss": 0.017, |
|
"reward": -2.0, |
|
"reward_std": 1.0801234245300293, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -4.0, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 236 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 47.4, |
|
"grad_norm": 0.6826753616333008, |
|
"kl": 0.48437440395355225, |
|
"learning_rate": 4.9648079415499e-06, |
|
"loss": 0.0194, |
|
"reward": 2.6671550273895264, |
|
"reward_std": 0.6421502828598022, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 1.0, |
|
"rewards/wrapped_driving_reward": -0.20784501731395721, |
|
"rewards/wrapped_format_reward": 0.875, |
|
"step": 237 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 47.6, |
|
"grad_norm": 0.7442097663879395, |
|
"kl": 0.5179538130760193, |
|
"learning_rate": 4.963890147645195e-06, |
|
"loss": 0.0207, |
|
"reward": 0.023519575595855713, |
|
"reward_std": 1.7913424968719482, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 1.0, |
|
"rewards/wrapped_driving_reward": -2.351480484008789, |
|
"rewards/wrapped_format_reward": 0.375, |
|
"step": 238 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 47.8, |
|
"grad_norm": 0.9971833825111389, |
|
"kl": 0.2566893994808197, |
|
"learning_rate": 4.962960626497339e-06, |
|
"loss": 0.0103, |
|
"reward": 1.0741076469421387, |
|
"reward_std": 3.4465811252593994, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -0.6758923530578613, |
|
"rewards/wrapped_format_reward": 0.25, |
|
"step": 239 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 48.0, |
|
"grad_norm": 0.776371955871582, |
|
"kl": 0.6667019724845886, |
|
"learning_rate": 4.962019382530521e-06, |
|
"loss": 0.0267, |
|
"reward": 0.7681245803833008, |
|
"reward_std": 3.63140606880188, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -1.6068754196166992, |
|
"rewards/wrapped_format_reward": 0.875, |
|
"step": 240 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 48.2, |
|
"grad_norm": 0.958461344242096, |
|
"kl": 0.6015651226043701, |
|
"learning_rate": 4.961066420224729e-06, |
|
"loss": 0.0241, |
|
"reward": 0.8900174498558044, |
|
"reward_std": 2.1547889709472656, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 0.9583333134651184, |
|
"rewards/wrapped_driving_reward": -1.568315863609314, |
|
"rewards/wrapped_format_reward": 0.5, |
|
"step": 241 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 48.4, |
|
"grad_norm": 0.8577614426612854, |
|
"kl": 0.7052382230758667, |
|
"learning_rate": 4.960101744115727e-06, |
|
"loss": 0.0282, |
|
"reward": 0.500007152557373, |
|
"reward_std": 3.6019463539123535, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.685606062412262, |
|
"rewards/wrapped_driving_reward": -1.6855988502502441, |
|
"rewards/wrapped_format_reward": 0.75, |
|
"step": 242 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 48.6, |
|
"grad_norm": 0.6088186502456665, |
|
"kl": 0.3410260081291199, |
|
"learning_rate": 4.959125358795031e-06, |
|
"loss": 0.0136, |
|
"reward": 1.2359226942062378, |
|
"reward_std": 3.157292127609253, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -1.1390773057937622, |
|
"rewards/wrapped_format_reward": 0.875, |
|
"step": 243 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 48.8, |
|
"grad_norm": 0.6780346035957336, |
|
"kl": 0.47339513897895813, |
|
"learning_rate": 4.958137268909887e-06, |
|
"loss": 0.0189, |
|
"reward": 1.3727295398712158, |
|
"reward_std": 3.2822999954223633, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.7250000238418579, |
|
"rewards/wrapped_driving_reward": -0.8522703647613525, |
|
"rewards/wrapped_format_reward": 0.75, |
|
"step": 244 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 49.0, |
|
"grad_norm": 0.6219626069068909, |
|
"kl": 0.3212871849536896, |
|
"learning_rate": 4.957137479163253e-06, |
|
"loss": 0.0129, |
|
"reward": 0.08353948593139648, |
|
"reward_std": 2.884551525115967, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -2.2914605140686035, |
|
"rewards/wrapped_format_reward": 0.875, |
|
"step": 245 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 49.2, |
|
"grad_norm": 0.8742188811302185, |
|
"kl": 0.6009516716003418, |
|
"learning_rate": 4.956125994313775e-06, |
|
"loss": 0.024, |
|
"reward": 3.219036817550659, |
|
"reward_std": 0.6377858519554138, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 0.8035714626312256, |
|
"rewards/wrapped_driving_reward": 0.5404652953147888, |
|
"rewards/wrapped_format_reward": 0.875, |
|
"step": 246 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 49.4, |
|
"grad_norm": 3.8272242546081543, |
|
"kl": 1.5439887046813965, |
|
"learning_rate": 4.95510281917576e-06, |
|
"loss": 0.0618, |
|
"reward": 3.679497241973877, |
|
"reward_std": 0.29719072580337524, |
|
"rewards/mpc_param_extraction_reward": 1.0, |
|
"rewards/mpc_param_name_reward": 1.0, |
|
"rewards/wrapped_driving_reward": 0.6794970631599426, |
|
"rewards/wrapped_format_reward": 1.0, |
|
"step": 247 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 49.6, |
|
"grad_norm": 0.5449193120002747, |
|
"kl": 0.3074452579021454, |
|
"learning_rate": 4.9540679586191605e-06, |
|
"loss": 0.0123, |
|
"reward": -0.8099073171615601, |
|
"reward_std": 2.768624782562256, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -2.9349074363708496, |
|
"rewards/wrapped_format_reward": 0.625, |
|
"step": 248 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 49.8, |
|
"grad_norm": 0.9541939496994019, |
|
"kl": 0.5022038221359253, |
|
"learning_rate": 4.953021417569545e-06, |
|
"loss": 0.0201, |
|
"reward": 0.9676476120948792, |
|
"reward_std": 3.3370866775512695, |
|
"rewards/mpc_param_extraction_reward": 0.75, |
|
"rewards/mpc_param_name_reward": 0.75, |
|
"rewards/wrapped_driving_reward": -1.1573524475097656, |
|
"rewards/wrapped_format_reward": 0.625, |
|
"step": 249 |
|
}, |
|
{ |
|
"completion_length": 500.0, |
|
"epoch": 50.0, |
|
"grad_norm": 0.6913716197013855, |
|
"kl": 0.22377586364746094, |
|
"learning_rate": 4.9519632010080765e-06, |
|
"loss": 0.009, |
|
"reward": -0.7356908917427063, |
|
"reward_std": 3.197190761566162, |
|
"rewards/mpc_param_extraction_reward": 0.5, |
|
"rewards/mpc_param_name_reward": 0.5, |
|
"rewards/wrapped_driving_reward": -2.4856908321380615, |
|
"rewards/wrapped_format_reward": 0.75, |
|
"step": 250 |
|
} |
|
], |
|
"logging_steps": 1, |
|
"max_steps": 1600, |
|
"num_input_tokens_seen": 0, |
|
"num_train_epochs": 320, |
|
"save_steps": 250, |
|
"stateful_callbacks": { |
|
"TrainerControl": { |
|
"args": { |
|
"should_epoch_stop": false, |
|
"should_evaluate": false, |
|
"should_log": false, |
|
"should_save": true, |
|
"should_training_stop": false |
|
}, |
|
"attributes": {} |
|
} |
|
}, |
|
"total_flos": 0.0, |
|
"train_batch_size": 4, |
|
"trial_name": null, |
|
"trial_params": null |
|
} |
|
|