one_shot_learning.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 28,
   "metadata": {},
   "outputs": [],
   "source": [
    "import sys\n",
    "# Use cloned repo not pip - will make changes to the library\n",
    "sys.path[0] = 'd:\\\\DesktopHDD\\\\PhD Courses\\\\ECCE 794\\\\RL\\\\Project\\\\mobile-env'\n",
    "import gymnasium\n",
    "import matplotlib.pyplot as plt\n",
    "# importing mobile_env automatically registers the predefined scenarios in Gym\n",
    "import mobile_env\n",
    "from IPython import display"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 29,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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",
      "text/plain": [
       "<Figure size 640x480 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "from mobile_env.core.base import MComCore\n",
    "from mobile_env.core.entities import BaseStation, UserEquipment\n",
    "# Final training environment for CL and one shot learning. \n",
    "class FinalTrainEnv(MComCore):\n",
    "    # overwrite the default config\n",
    "    @classmethod\n",
    "    def default_config(cls):\n",
    "        config = super().default_config()\n",
    "        config.update({\n",
    "            \"seed\": 1534,\n",
    "            'reset_rng_episode': True,\n",
    "        })\n",
    "        return config\n",
    "\n",
    "    # configure users and cells in the constructor\n",
    "    def __init__(self, config={}, render_mode=None):\n",
    "        # load default config defined above; overwrite with custom params\n",
    "        env_config = self.default_config()\n",
    "        env_config.update(config)\n",
    "\n",
    "        station_pos = [(110, 130), (65, 80), (120, 30)]\n",
    "        stations = [\n",
    "            BaseStation(bs_id, pos, **env_config[\"bs\"])\n",
    "            for bs_id, pos in enumerate(station_pos)\n",
    "        ]\n",
    "        num_ues = 5\n",
    "        users = [UserEquipment(ue_id, **env_config[\"ue\"]) for ue_id in range(num_ues)]\n",
    "\n",
    "        super().__init__(stations, users, config, render_mode)\n",
    "\n",
    "# init and render the custom scenario\n",
    "env = FinalTrainEnv(render_mode=\"rgb_array\")\n",
    "env.reset()\n",
    "for _ in range(10):\n",
    "    # here, use random dummy actions by sampling from the action space\n",
    "    dummy_action = env.action_space.sample()\n",
    "    obs, reward, terminated, truncated, info = env.step(dummy_action)\n",
    "\n",
    "    # render the environment\n",
    "    plt.imshow(env.render())\n",
    "    display.display(plt.gcf())\n",
    "    display.clear_output(wait=True)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {},
   "outputs": [],
   "source": [
    "def plot_env(env_name):\n",
    "    \"\"\"Create env, take a random step, and then render the environment.\"\"\"\n",
    "    env = gymnasium.make(env_name, render_mode=\"rgb_array\")\n",
    "    env.reset()\n",
    "    env.step(env.action_space.sample())\n",
    "    plt.imshow(env.render())\n",
    "    plt.title(env_name)\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Raw observations:  [ 0.          1.          0.          0.05922139  0.558718    1.\n",
      "  0.12579602  0.          0.          0.          0.55630916  1.\n",
      "  0.08976459 -1.          0.          0.          0.          1.\n",
      "  0.42034608  0.07841113 -1.          0.          0.          0.\n",
      "  0.5835398   1.          0.12593631 -1.          0.          0.\n",
      "  0.          0.01939934  0.09379314  1.         -1.        ]\n",
      "\n",
      "Observations for user 1:\n",
      "Current connections to the 3 cells: [0. 1. 0.]\n",
      "SNR to the 3 cells: [0.05922139 0.558718   1.        ]\n",
      "Current utility: 0.12579602003097534\n",
      "\n",
      "Observations for user 2:\n",
      "Current connections to the 3 cells: [0. 0. 0.]\n",
      "SNR to the 3 cells: [0.55630916 1.         0.08976459]\n",
      "Current utility: -1.0\n",
      "\n",
      "Observations for user 3:\n",
      "Current connections to the 3 cells: [0. 0. 0.]\n",
      "SNR to the 3 cells: [1.         0.42034608 0.07841113]\n",
      "Current utility: -1.0\n",
      "\n",
      "Observations for user 4:\n",
      "Current connections to the 3 cells: [0. 0. 0.]\n",
      "SNR to the 3 cells: [0.5835398  1.         0.12593631]\n",
      "Current utility: -1.0\n",
      "\n",
      "Observations for user 5:\n",
      "Current connections to the 3 cells: [0. 0. 0.]\n",
      "SNR to the 3 cells: [0.01939934 0.09379314 1.        ]\n",
      "Current utility: -1.0\n"
     ]
    }
   ],
   "source": [
    "#env = CustomEnv(config={\"seed\": 42})\n",
    "#obs, info = env.reset(seed=42)\n",
    "env.reset()\n",
    "obs, reward, terminated, truncated, info = env.step(env.action_space.sample())\n",
    "\n",
    "print(\"Raw observations: \", obs)\n",
    "\n",
    "# connections and SNR are per user and station, utility just per user\n",
    "obs_per_user = 2 * env.NUM_STATIONS + 1\n",
    "for ue in range(env.NUM_USERS):\n",
    "    print(f\"\\nObservations for user {ue + 1}:\")\n",
    "    offset = ue * obs_per_user\n",
    "    print(f\"Current connections to the {env.NUM_STATIONS} cells: {obs[offset:offset+env.NUM_STATIONS]}\")\n",
    "    print(f\"SNR to the {env.NUM_STATIONS} cells: {obs[offset+env.NUM_STATIONS:offset+2*env.NUM_STATIONS]}\")\n",
    "    print(f\"Current utility: {obs[offset+2*env.NUM_STATIONS]}\")\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "# # from mobile_env.handlers.central import MComCentralHandler\n",
    "# # import numpy as np\n",
    "\n",
    "\n",
    "# # class CustomHandler(MComCentralHandler):\n",
    "# #     # let's call the new observation \"any_connection\"\n",
    "# #     features = MComCentralHandler.features + [\"any_connection\"]\n",
    "\n",
    "# #     # overwrite the observation size per user\n",
    "# #     @classmethod\n",
    "# #     def ue_obs_size(cls, env) -> int:\n",
    "# #         \"\"\"Increase observations by 1 for each user for the new obs\"\"\"\n",
    "# #         # previously: connections for all cells, SNR for all cells, utility\n",
    "# #         prev_size = env.NUM_STATIONS + env.NUM_STATIONS + 1\n",
    "# #         return prev_size + 1\n",
    "\n",
    "# #     # add the new observation\n",
    "# #     @classmethod\n",
    "# #     def observation(cls, env) -> np.ndarray:\n",
    "# #         \"\"\"Concatenated observations for all users\"\"\"\n",
    "# #         # get all available obs from the env\n",
    "# #         obs_dict = env.features()\n",
    "\n",
    "# #         # add the new observation for each user (ue)\n",
    "# #         for ue_id in obs_dict.keys():\n",
    "# #             any_connection = np.any(obs_dict[ue_id][\"connections\"])\n",
    "# #             obs_dict[ue_id][\"any_connection\"] = int(any_connection)\n",
    "\n",
    "# #         # select the relevant obs and flatten into single vector\n",
    "# #         flattened_obs = []\n",
    "# #         for ue_id, ue_obs in obs_dict.items():\n",
    "# #             flattened_obs.extend(ue_obs[\"connections\"])\n",
    "# #             flattened_obs.append(ue_obs[\"any_connection\"])\n",
    "# #             flattened_obs.extend(ue_obs[\"snrs\"])\n",
    "# #             flattened_obs.extend(ue_obs[\"utility\"])\n",
    "\n",
    "# #         return flattened_obs\n",
    "# # create the env with the new handler and check the obs\n",
    "# env = CustomEnv(config={\"handler\": CustomHandler})\n",
    "# obs, info = env.reset()\n",
    "# obs, reward, terminated, truncated, info = env.step(env.action_space.sample())\n",
    "\n",
    "# print(\"New, raw observations: \", obs)\n",
    "\n",
    "# # connections and SNR are per user and station, utility just per user\n",
    "# obs_per_user = 2 * env.NUM_STATIONS + 2\n",
    "# for ue in range(env.NUM_USERS):\n",
    "#     print(f\"\\nObservations for user {ue + 1}:\")\n",
    "#     offset = ue * obs_per_user\n",
    "#     print(f\"Current connections to the {env.NUM_STATIONS} cells: {obs[offset:offset+env.NUM_STATIONS]}\")\n",
    "#     print(f\"NEW: Any connection?: {obs[offset+env.NUM_STATIONS]}\")\n",
    "#     print(f\"SNR to the {env.NUM_STATIONS} cells: {obs[offset+env.NUM_STATIONS+1:offset+2*env.NUM_STATIONS+1]}\")\n",
    "#     print(f\"Current utility: {obs[offset+2*env.NUM_STATIONS+1]}\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Using cpu device\n",
      "Wrapping the env with a `Monitor` wrapper\n",
      "Wrapping the env in a DummyVecEnv.\n",
      "Logging to results_sb\\PPO_27\n",
      "---------------------------------\n",
      "| rollout/           |          |\n",
      "|    ep_len_mean     | 100      |\n",
      "|    ep_rew_mean     | -38      |\n",
      "| time/              |          |\n",
      "|    fps             | 121      |\n",
      "|    iterations      | 1        |\n",
      "|    time_elapsed    | 16       |\n",
      "|    total_timesteps | 2048     |\n",
      "---------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -36.7       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 103         |\n",
      "|    iterations           | 2           |\n",
      "|    time_elapsed         | 39          |\n",
      "|    total_timesteps      | 4096        |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.014871726 |\n",
      "|    clip_fraction        | 0.157       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -6.92       |\n",
      "|    explained_variance   | -0.00946    |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 1.37        |\n",
      "|    n_updates            | 10          |\n",
      "|    policy_gradient_loss | -0.0355     |\n",
      "|    value_loss           | 7.09        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -36.1       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 98          |\n",
      "|    iterations           | 3           |\n",
      "|    time_elapsed         | 62          |\n",
      "|    total_timesteps      | 6144        |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.013026832 |\n",
      "|    clip_fraction        | 0.1         |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -6.91       |\n",
      "|    explained_variance   | 0.274       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 1.74        |\n",
      "|    n_updates            | 20          |\n",
      "|    policy_gradient_loss | -0.0259     |\n",
      "|    value_loss           | 5.64        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -36         |\n",
      "| time/                   |             |\n",
      "|    fps                  | 96          |\n",
      "|    iterations           | 4           |\n",
      "|    time_elapsed         | 84          |\n",
      "|    total_timesteps      | 8192        |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.014563553 |\n",
      "|    clip_fraction        | 0.127       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -6.89       |\n",
      "|    explained_variance   | 0.3         |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 1.9         |\n",
      "|    n_updates            | 30          |\n",
      "|    policy_gradient_loss | -0.0315     |\n",
      "|    value_loss           | 4.61        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -35.7       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 95          |\n",
      "|    iterations           | 5           |\n",
      "|    time_elapsed         | 106         |\n",
      "|    total_timesteps      | 10240       |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.015288387 |\n",
      "|    clip_fraction        | 0.134       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -6.88       |\n",
      "|    explained_variance   | 0.417       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 1.23        |\n",
      "|    n_updates            | 40          |\n",
      "|    policy_gradient_loss | -0.0332     |\n",
      "|    value_loss           | 3.8         |\n",
      "-----------------------------------------\n",
      "------------------------------------------\n",
      "| rollout/                |              |\n",
      "|    ep_len_mean          | 100          |\n",
      "|    ep_rew_mean          | -35.7        |\n",
      "| time/                   |              |\n",
      "|    fps                  | 96           |\n",
      "|    iterations           | 6            |\n",
      "|    time_elapsed         | 127          |\n",
      "|    total_timesteps      | 12288        |\n",
      "| train/                  |              |\n",
      "|    approx_kl            | 0.0140633825 |\n",
      "|    clip_fraction        | 0.112        |\n",
      "|    clip_range           | 0.2          |\n",
      "|    entropy_loss         | -6.85        |\n",
      "|    explained_variance   | 0.604        |\n",
      "|    learning_rate        | 0.0003       |\n",
      "|    loss                 | 1.19         |\n",
      "|    n_updates            | 50           |\n",
      "|    policy_gradient_loss | -0.0318      |\n",
      "|    value_loss           | 4.51         |\n",
      "------------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -36         |\n",
      "| time/                   |             |\n",
      "|    fps                  | 95          |\n",
      "|    iterations           | 7           |\n",
      "|    time_elapsed         | 149         |\n",
      "|    total_timesteps      | 14336       |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.014684014 |\n",
      "|    clip_fraction        | 0.133       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -6.83       |\n",
      "|    explained_variance   | 0.503       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 1.38        |\n",
      "|    n_updates            | 60          |\n",
      "|    policy_gradient_loss | -0.0325     |\n",
      "|    value_loss           | 4.14        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -36.1       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 93          |\n",
      "|    iterations           | 8           |\n",
      "|    time_elapsed         | 174         |\n",
      "|    total_timesteps      | 16384       |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.014895615 |\n",
      "|    clip_fraction        | 0.132       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -6.8        |\n",
      "|    explained_variance   | 0.53        |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 1.68        |\n",
      "|    n_updates            | 70          |\n",
      "|    policy_gradient_loss | -0.0345     |\n",
      "|    value_loss           | 4.52        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -35.5       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 92          |\n",
      "|    iterations           | 9           |\n",
      "|    time_elapsed         | 199         |\n",
      "|    total_timesteps      | 18432       |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.014953572 |\n",
      "|    clip_fraction        | 0.152       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -6.78       |\n",
      "|    explained_variance   | 0.525       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 1.71        |\n",
      "|    n_updates            | 80          |\n",
      "|    policy_gradient_loss | -0.0349     |\n",
      "|    value_loss           | 4.86        |\n",
      "-----------------------------------------\n",
      "----------------------------------------\n",
      "| rollout/                |            |\n",
      "|    ep_len_mean          | 100        |\n",
      "|    ep_rew_mean          | -34.4      |\n",
      "| time/                   |            |\n",
      "|    fps                  | 91         |\n",
      "|    iterations           | 10         |\n",
      "|    time_elapsed         | 223        |\n",
      "|    total_timesteps      | 20480      |\n",
      "| train/                  |            |\n",
      "|    approx_kl            | 0.01635564 |\n",
      "|    clip_fraction        | 0.166      |\n",
      "|    clip_range           | 0.2        |\n",
      "|    entropy_loss         | -6.73      |\n",
      "|    explained_variance   | 0.586      |\n",
      "|    learning_rate        | 0.0003     |\n",
      "|    loss                 | 1.46       |\n",
      "|    n_updates            | 90         |\n",
      "|    policy_gradient_loss | -0.0377    |\n",
      "|    value_loss           | 4.14       |\n",
      "----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -33.5       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 91          |\n",
      "|    iterations           | 11          |\n",
      "|    time_elapsed         | 246         |\n",
      "|    total_timesteps      | 22528       |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.015514106 |\n",
      "|    clip_fraction        | 0.144       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -6.69       |\n",
      "|    explained_variance   | 0.58        |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.907       |\n",
      "|    n_updates            | 100         |\n",
      "|    policy_gradient_loss | -0.0366     |\n",
      "|    value_loss           | 3.81        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -33         |\n",
      "| time/                   |             |\n",
      "|    fps                  | 90          |\n",
      "|    iterations           | 12          |\n",
      "|    time_elapsed         | 270         |\n",
      "|    total_timesteps      | 24576       |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.016176227 |\n",
      "|    clip_fraction        | 0.16        |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -6.67       |\n",
      "|    explained_variance   | 0.37        |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 1.85        |\n",
      "|    n_updates            | 110         |\n",
      "|    policy_gradient_loss | -0.0352     |\n",
      "|    value_loss           | 3.51        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -31         |\n",
      "| time/                   |             |\n",
      "|    fps                  | 90          |\n",
      "|    iterations           | 13          |\n",
      "|    time_elapsed         | 293         |\n",
      "|    total_timesteps      | 26624       |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.016934827 |\n",
      "|    clip_fraction        | 0.175       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -6.64       |\n",
      "|    explained_variance   | 0.438       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 1.3         |\n",
      "|    n_updates            | 120         |\n",
      "|    policy_gradient_loss | -0.0367     |\n",
      "|    value_loss           | 3.65        |\n",
      "-----------------------------------------\n",
      "----------------------------------------\n",
      "| rollout/                |            |\n",
      "|    ep_len_mean          | 100        |\n",
      "|    ep_rew_mean          | -30.7      |\n",
      "| time/                   |            |\n",
      "|    fps                  | 90         |\n",
      "|    iterations           | 14         |\n",
      "|    time_elapsed         | 317        |\n",
      "|    total_timesteps      | 28672      |\n",
      "| train/                  |            |\n",
      "|    approx_kl            | 0.01518188 |\n",
      "|    clip_fraction        | 0.152      |\n",
      "|    clip_range           | 0.2        |\n",
      "|    entropy_loss         | -6.6       |\n",
      "|    explained_variance   | 0.568      |\n",
      "|    learning_rate        | 0.0003     |\n",
      "|    loss                 | 1.57       |\n",
      "|    n_updates            | 130        |\n",
      "|    policy_gradient_loss | -0.0356    |\n",
      "|    value_loss           | 3.89       |\n",
      "----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -30         |\n",
      "| time/                   |             |\n",
      "|    fps                  | 89          |\n",
      "|    iterations           | 15          |\n",
      "|    time_elapsed         | 342         |\n",
      "|    total_timesteps      | 30720       |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.014660368 |\n",
      "|    clip_fraction        | 0.159       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -6.57       |\n",
      "|    explained_variance   | 0.471       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 1.5         |\n",
      "|    n_updates            | 140         |\n",
      "|    policy_gradient_loss | -0.0364     |\n",
      "|    value_loss           | 3.44        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -29.5       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 89          |\n",
      "|    iterations           | 16          |\n",
      "|    time_elapsed         | 368         |\n",
      "|    total_timesteps      | 32768       |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.015631258 |\n",
      "|    clip_fraction        | 0.158       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -6.55       |\n",
      "|    explained_variance   | 0.491       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 2.01        |\n",
      "|    n_updates            | 150         |\n",
      "|    policy_gradient_loss | -0.037      |\n",
      "|    value_loss           | 4.74        |\n",
      "-----------------------------------------\n",
      "----------------------------------------\n",
      "| rollout/                |            |\n",
      "|    ep_len_mean          | 100        |\n",
      "|    ep_rew_mean          | -27.7      |\n",
      "| time/                   |            |\n",
      "|    fps                  | 88         |\n",
      "|    iterations           | 17         |\n",
      "|    time_elapsed         | 394        |\n",
      "|    total_timesteps      | 34816      |\n",
      "| train/                  |            |\n",
      "|    approx_kl            | 0.01700685 |\n",
      "|    clip_fraction        | 0.185      |\n",
      "|    clip_range           | 0.2        |\n",
      "|    entropy_loss         | -6.52      |\n",
      "|    explained_variance   | 0.708      |\n",
      "|    learning_rate        | 0.0003     |\n",
      "|    loss                 | 1.06       |\n",
      "|    n_updates            | 160        |\n",
      "|    policy_gradient_loss | -0.04      |\n",
      "|    value_loss           | 3.05       |\n",
      "----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -27.1       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 88          |\n",
      "|    iterations           | 18          |\n",
      "|    time_elapsed         | 415         |\n",
      "|    total_timesteps      | 36864       |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.016188446 |\n",
      "|    clip_fraction        | 0.152       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -6.49       |\n",
      "|    explained_variance   | 0.401       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 1.33        |\n",
      "|    n_updates            | 170         |\n",
      "|    policy_gradient_loss | -0.0359     |\n",
      "|    value_loss           | 4.09        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -25.9       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 89          |\n",
      "|    iterations           | 19          |\n",
      "|    time_elapsed         | 436         |\n",
      "|    total_timesteps      | 38912       |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.019618705 |\n",
      "|    clip_fraction        | 0.211       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -6.45       |\n",
      "|    explained_variance   | 0.537       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 1.12        |\n",
      "|    n_updates            | 180         |\n",
      "|    policy_gradient_loss | -0.0434     |\n",
      "|    value_loss           | 2.97        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -25         |\n",
      "| time/                   |             |\n",
      "|    fps                  | 89          |\n",
      "|    iterations           | 20          |\n",
      "|    time_elapsed         | 456         |\n",
      "|    total_timesteps      | 40960       |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.017502408 |\n",
      "|    clip_fraction        | 0.189       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -6.43       |\n",
      "|    explained_variance   | 0.354       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.836       |\n",
      "|    n_updates            | 190         |\n",
      "|    policy_gradient_loss | -0.0393     |\n",
      "|    value_loss           | 3.22        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -23.7       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 89          |\n",
      "|    iterations           | 21          |\n",
      "|    time_elapsed         | 478         |\n",
      "|    total_timesteps      | 43008       |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.015944762 |\n",
      "|    clip_fraction        | 0.166       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -6.35       |\n",
      "|    explained_variance   | 0.379       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 1.18        |\n",
      "|    n_updates            | 200         |\n",
      "|    policy_gradient_loss | -0.0373     |\n",
      "|    value_loss           | 3.88        |\n",
      "-----------------------------------------\n",
      "----------------------------------------\n",
      "| rollout/                |            |\n",
      "|    ep_len_mean          | 100        |\n",
      "|    ep_rew_mean          | -24.3      |\n",
      "| time/                   |            |\n",
      "|    fps                  | 90         |\n",
      "|    iterations           | 22         |\n",
      "|    time_elapsed         | 498        |\n",
      "|    total_timesteps      | 45056      |\n",
      "| train/                  |            |\n",
      "|    approx_kl            | 0.01718848 |\n",
      "|    clip_fraction        | 0.178      |\n",
      "|    clip_range           | 0.2        |\n",
      "|    entropy_loss         | -6.34      |\n",
      "|    explained_variance   | 0.426      |\n",
      "|    learning_rate        | 0.0003     |\n",
      "|    loss                 | 1.44       |\n",
      "|    n_updates            | 210        |\n",
      "|    policy_gradient_loss | -0.0411    |\n",
      "|    value_loss           | 3.98       |\n",
      "----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -23.6       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 90          |\n",
      "|    iterations           | 23          |\n",
      "|    time_elapsed         | 518         |\n",
      "|    total_timesteps      | 47104       |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.018880699 |\n",
      "|    clip_fraction        | 0.203       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -6.3        |\n",
      "|    explained_variance   | 0.392       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 1.27        |\n",
      "|    n_updates            | 220         |\n",
      "|    policy_gradient_loss | -0.0444     |\n",
      "|    value_loss           | 4.17        |\n",
      "-----------------------------------------\n",
      "----------------------------------------\n",
      "| rollout/                |            |\n",
      "|    ep_len_mean          | 100        |\n",
      "|    ep_rew_mean          | -23.9      |\n",
      "| time/                   |            |\n",
      "|    fps                  | 91         |\n",
      "|    iterations           | 24         |\n",
      "|    time_elapsed         | 539        |\n",
      "|    total_timesteps      | 49152      |\n",
      "| train/                  |            |\n",
      "|    approx_kl            | 0.01711455 |\n",
      "|    clip_fraction        | 0.171      |\n",
      "|    clip_range           | 0.2        |\n",
      "|    entropy_loss         | -6.23      |\n",
      "|    explained_variance   | 0.517      |\n",
      "|    learning_rate        | 0.0003     |\n",
      "|    loss                 | 0.993      |\n",
      "|    n_updates            | 230        |\n",
      "|    policy_gradient_loss | -0.0379    |\n",
      "|    value_loss           | 4.18       |\n",
      "----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -24.8       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 91          |\n",
      "|    iterations           | 25          |\n",
      "|    time_elapsed         | 561         |\n",
      "|    total_timesteps      | 51200       |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.017584372 |\n",
      "|    clip_fraction        | 0.187       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -6.13       |\n",
      "|    explained_variance   | 0.281       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 2.17        |\n",
      "|    n_updates            | 240         |\n",
      "|    policy_gradient_loss | -0.0408     |\n",
      "|    value_loss           | 4.54        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -22.8       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 91          |\n",
      "|    iterations           | 26          |\n",
      "|    time_elapsed         | 582         |\n",
      "|    total_timesteps      | 53248       |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.017852683 |\n",
      "|    clip_fraction        | 0.186       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -6.12       |\n",
      "|    explained_variance   | 0.464       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 1.81        |\n",
      "|    n_updates            | 250         |\n",
      "|    policy_gradient_loss | -0.0391     |\n",
      "|    value_loss           | 3.86        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -22         |\n",
      "| time/                   |             |\n",
      "|    fps                  | 91          |\n",
      "|    iterations           | 27          |\n",
      "|    time_elapsed         | 602         |\n",
      "|    total_timesteps      | 55296       |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.020777006 |\n",
      "|    clip_fraction        | 0.228       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -6.07       |\n",
      "|    explained_variance   | 0.378       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 1.29        |\n",
      "|    n_updates            | 260         |\n",
      "|    policy_gradient_loss | -0.0447     |\n",
      "|    value_loss           | 3.72        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -21.3       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 92          |\n",
      "|    iterations           | 28          |\n",
      "|    time_elapsed         | 622         |\n",
      "|    total_timesteps      | 57344       |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.017257124 |\n",
      "|    clip_fraction        | 0.184       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -5.98       |\n",
      "|    explained_variance   | 0.534       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.818       |\n",
      "|    n_updates            | 270         |\n",
      "|    policy_gradient_loss | -0.0369     |\n",
      "|    value_loss           | 3.46        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -19.4       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 92          |\n",
      "|    iterations           | 29          |\n",
      "|    time_elapsed         | 642         |\n",
      "|    total_timesteps      | 59392       |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.017578606 |\n",
      "|    clip_fraction        | 0.186       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -6.01       |\n",
      "|    explained_variance   | 0.6         |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 1.24        |\n",
      "|    n_updates            | 280         |\n",
      "|    policy_gradient_loss | -0.0388     |\n",
      "|    value_loss           | 3.86        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -17.7       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 92          |\n",
      "|    iterations           | 30          |\n",
      "|    time_elapsed         | 664         |\n",
      "|    total_timesteps      | 61440       |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.015405733 |\n",
      "|    clip_fraction        | 0.161       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -5.9        |\n",
      "|    explained_variance   | 0.474       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.928       |\n",
      "|    n_updates            | 290         |\n",
      "|    policy_gradient_loss | -0.0364     |\n",
      "|    value_loss           | 3.62        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -18.1       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 92          |\n",
      "|    iterations           | 31          |\n",
      "|    time_elapsed         | 685         |\n",
      "|    total_timesteps      | 63488       |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.018136619 |\n",
      "|    clip_fraction        | 0.185       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -5.88       |\n",
      "|    explained_variance   | 0.296       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 1.92        |\n",
      "|    n_updates            | 300         |\n",
      "|    policy_gradient_loss | -0.0397     |\n",
      "|    value_loss           | 4.25        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -18         |\n",
      "| time/                   |             |\n",
      "|    fps                  | 92          |\n",
      "|    iterations           | 32          |\n",
      "|    time_elapsed         | 705         |\n",
      "|    total_timesteps      | 65536       |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.019322779 |\n",
      "|    clip_fraction        | 0.2         |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -5.84       |\n",
      "|    explained_variance   | 0.507       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 1.03        |\n",
      "|    n_updates            | 310         |\n",
      "|    policy_gradient_loss | -0.041      |\n",
      "|    value_loss           | 2.95        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -17.9       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 93          |\n",
      "|    iterations           | 33          |\n",
      "|    time_elapsed         | 723         |\n",
      "|    total_timesteps      | 67584       |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.021191716 |\n",
      "|    clip_fraction        | 0.208       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -5.82       |\n",
      "|    explained_variance   | 0.555       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 1.37        |\n",
      "|    n_updates            | 320         |\n",
      "|    policy_gradient_loss | -0.0416     |\n",
      "|    value_loss           | 3.35        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -18.9       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 93          |\n",
      "|    iterations           | 34          |\n",
      "|    time_elapsed         | 741         |\n",
      "|    total_timesteps      | 69632       |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.017269857 |\n",
      "|    clip_fraction        | 0.173       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -5.79       |\n",
      "|    explained_variance   | 0.497       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 1.22        |\n",
      "|    n_updates            | 330         |\n",
      "|    policy_gradient_loss | -0.0367     |\n",
      "|    value_loss           | 4.1         |\n",
      "-----------------------------------------\n",
      "----------------------------------------\n",
      "| rollout/                |            |\n",
      "|    ep_len_mean          | 100        |\n",
      "|    ep_rew_mean          | -18.7      |\n",
      "| time/                   |            |\n",
      "|    fps                  | 94         |\n",
      "|    iterations           | 35         |\n",
      "|    time_elapsed         | 757        |\n",
      "|    total_timesteps      | 71680      |\n",
      "| train/                  |            |\n",
      "|    approx_kl            | 0.01853579 |\n",
      "|    clip_fraction        | 0.178      |\n",
      "|    clip_range           | 0.2        |\n",
      "|    entropy_loss         | -5.76      |\n",
      "|    explained_variance   | 0.528      |\n",
      "|    learning_rate        | 0.0003     |\n",
      "|    loss                 | 1.01       |\n",
      "|    n_updates            | 340        |\n",
      "|    policy_gradient_loss | -0.037     |\n",
      "|    value_loss           | 3.61       |\n",
      "----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -17.7       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 95          |\n",
      "|    iterations           | 36          |\n",
      "|    time_elapsed         | 775         |\n",
      "|    total_timesteps      | 73728       |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.017906379 |\n",
      "|    clip_fraction        | 0.184       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -5.75       |\n",
      "|    explained_variance   | 0.521       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.769       |\n",
      "|    n_updates            | 350         |\n",
      "|    policy_gradient_loss | -0.0382     |\n",
      "|    value_loss           | 3.44        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -17.3       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 95          |\n",
      "|    iterations           | 37          |\n",
      "|    time_elapsed         | 796         |\n",
      "|    total_timesteps      | 75776       |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.016386047 |\n",
      "|    clip_fraction        | 0.174       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -5.66       |\n",
      "|    explained_variance   | 0.293       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 1.02        |\n",
      "|    n_updates            | 360         |\n",
      "|    policy_gradient_loss | -0.0379     |\n",
      "|    value_loss           | 3.38        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -16.6       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 95          |\n",
      "|    iterations           | 38          |\n",
      "|    time_elapsed         | 815         |\n",
      "|    total_timesteps      | 77824       |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.017015493 |\n",
      "|    clip_fraction        | 0.188       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -5.66       |\n",
      "|    explained_variance   | 0.484       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.815       |\n",
      "|    n_updates            | 370         |\n",
      "|    policy_gradient_loss | -0.0398     |\n",
      "|    value_loss           | 3.35        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -15.1       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 95          |\n",
      "|    iterations           | 39          |\n",
      "|    time_elapsed         | 836         |\n",
      "|    total_timesteps      | 79872       |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.019190546 |\n",
      "|    clip_fraction        | 0.207       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -5.6        |\n",
      "|    explained_variance   | 0.446       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 1.5         |\n",
      "|    n_updates            | 380         |\n",
      "|    policy_gradient_loss | -0.0411     |\n",
      "|    value_loss           | 4.19        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -15.3       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 95          |\n",
      "|    iterations           | 40          |\n",
      "|    time_elapsed         | 858         |\n",
      "|    total_timesteps      | 81920       |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.019493625 |\n",
      "|    clip_fraction        | 0.222       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -5.55       |\n",
      "|    explained_variance   | 0.412       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.712       |\n",
      "|    n_updates            | 390         |\n",
      "|    policy_gradient_loss | -0.042      |\n",
      "|    value_loss           | 2.94        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -15         |\n",
      "| time/                   |             |\n",
      "|    fps                  | 95          |\n",
      "|    iterations           | 41          |\n",
      "|    time_elapsed         | 880         |\n",
      "|    total_timesteps      | 83968       |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.019316144 |\n",
      "|    clip_fraction        | 0.222       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -5.51       |\n",
      "|    explained_variance   | 0.562       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.621       |\n",
      "|    n_updates            | 400         |\n",
      "|    policy_gradient_loss | -0.042      |\n",
      "|    value_loss           | 3.12        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -14.7       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 95          |\n",
      "|    iterations           | 42          |\n",
      "|    time_elapsed         | 901         |\n",
      "|    total_timesteps      | 86016       |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.016648725 |\n",
      "|    clip_fraction        | 0.178       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -5.47       |\n",
      "|    explained_variance   | 0.479       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 1.34        |\n",
      "|    n_updates            | 410         |\n",
      "|    policy_gradient_loss | -0.0365     |\n",
      "|    value_loss           | 5.62        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -14.2       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 95          |\n",
      "|    iterations           | 43          |\n",
      "|    time_elapsed         | 924         |\n",
      "|    total_timesteps      | 88064       |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.017004784 |\n",
      "|    clip_fraction        | 0.183       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -5.44       |\n",
      "|    explained_variance   | 0.417       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 1.86        |\n",
      "|    n_updates            | 420         |\n",
      "|    policy_gradient_loss | -0.0363     |\n",
      "|    value_loss           | 4.52        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -14.6       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 95          |\n",
      "|    iterations           | 44          |\n",
      "|    time_elapsed         | 943         |\n",
      "|    total_timesteps      | 90112       |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.018763714 |\n",
      "|    clip_fraction        | 0.191       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -5.38       |\n",
      "|    explained_variance   | 0.438       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 1.03        |\n",
      "|    n_updates            | 430         |\n",
      "|    policy_gradient_loss | -0.0382     |\n",
      "|    value_loss           | 3.48        |\n",
      "-----------------------------------------\n",
      "----------------------------------------\n",
      "| rollout/                |            |\n",
      "|    ep_len_mean          | 100        |\n",
      "|    ep_rew_mean          | -14.5      |\n",
      "| time/                   |            |\n",
      "|    fps                  | 95         |\n",
      "|    iterations           | 45         |\n",
      "|    time_elapsed         | 967        |\n",
      "|    total_timesteps      | 92160      |\n",
      "| train/                  |            |\n",
      "|    approx_kl            | 0.01763698 |\n",
      "|    clip_fraction        | 0.194      |\n",
      "|    clip_range           | 0.2        |\n",
      "|    entropy_loss         | -5.38      |\n",
      "|    explained_variance   | 0.468      |\n",
      "|    learning_rate        | 0.0003     |\n",
      "|    loss                 | 1.07       |\n",
      "|    n_updates            | 440        |\n",
      "|    policy_gradient_loss | -0.0409    |\n",
      "|    value_loss           | 3.37       |\n",
      "----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -16.2       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 95          |\n",
      "|    iterations           | 46          |\n",
      "|    time_elapsed         | 988         |\n",
      "|    total_timesteps      | 94208       |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.017605115 |\n",
      "|    clip_fraction        | 0.18        |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -5.39       |\n",
      "|    explained_variance   | 0.456       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.834       |\n",
      "|    n_updates            | 450         |\n",
      "|    policy_gradient_loss | -0.039      |\n",
      "|    value_loss           | 3.59        |\n",
      "-----------------------------------------\n",
      "----------------------------------------\n",
      "| rollout/                |            |\n",
      "|    ep_len_mean          | 100        |\n",
      "|    ep_rew_mean          | -16.3      |\n",
      "| time/                   |            |\n",
      "|    fps                  | 95         |\n",
      "|    iterations           | 47         |\n",
      "|    time_elapsed         | 1008       |\n",
      "|    total_timesteps      | 96256      |\n",
      "| train/                  |            |\n",
      "|    approx_kl            | 0.02028918 |\n",
      "|    clip_fraction        | 0.207      |\n",
      "|    clip_range           | 0.2        |\n",
      "|    entropy_loss         | -5.3       |\n",
      "|    explained_variance   | 0.377      |\n",
      "|    learning_rate        | 0.0003     |\n",
      "|    loss                 | 0.434      |\n",
      "|    n_updates            | 460        |\n",
      "|    policy_gradient_loss | -0.0384    |\n",
      "|    value_loss           | 2.45       |\n",
      "----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -15.7       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 95          |\n",
      "|    iterations           | 48          |\n",
      "|    time_elapsed         | 1028        |\n",
      "|    total_timesteps      | 98304       |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.019105002 |\n",
      "|    clip_fraction        | 0.208       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -5.3        |\n",
      "|    explained_variance   | 0.539       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.464       |\n",
      "|    n_updates            | 470         |\n",
      "|    policy_gradient_loss | -0.0394     |\n",
      "|    value_loss           | 2.82        |\n",
      "-----------------------------------------\n",
      "----------------------------------------\n",
      "| rollout/                |            |\n",
      "|    ep_len_mean          | 100        |\n",
      "|    ep_rew_mean          | -15.6      |\n",
      "| time/                   |            |\n",
      "|    fps                  | 95         |\n",
      "|    iterations           | 49         |\n",
      "|    time_elapsed         | 1048       |\n",
      "|    total_timesteps      | 100352     |\n",
      "| train/                  |            |\n",
      "|    approx_kl            | 0.01687529 |\n",
      "|    clip_fraction        | 0.181      |\n",
      "|    clip_range           | 0.2        |\n",
      "|    entropy_loss         | -5.23      |\n",
      "|    explained_variance   | 0.532      |\n",
      "|    learning_rate        | 0.0003     |\n",
      "|    loss                 | 0.726      |\n",
      "|    n_updates            | 480        |\n",
      "|    policy_gradient_loss | -0.0361    |\n",
      "|    value_loss           | 3.44       |\n",
      "----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -13.8       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 95          |\n",
      "|    iterations           | 50          |\n",
      "|    time_elapsed         | 1071        |\n",
      "|    total_timesteps      | 102400      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.018432513 |\n",
      "|    clip_fraction        | 0.194       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -5.2        |\n",
      "|    explained_variance   | 0.625       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.901       |\n",
      "|    n_updates            | 490         |\n",
      "|    policy_gradient_loss | -0.0391     |\n",
      "|    value_loss           | 2.91        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -12.8       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 95          |\n",
      "|    iterations           | 51          |\n",
      "|    time_elapsed         | 1091        |\n",
      "|    total_timesteps      | 104448      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.017532233 |\n",
      "|    clip_fraction        | 0.188       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -5.08       |\n",
      "|    explained_variance   | 0.499       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.593       |\n",
      "|    n_updates            | 500         |\n",
      "|    policy_gradient_loss | -0.039      |\n",
      "|    value_loss           | 2.99        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -12.7       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 95          |\n",
      "|    iterations           | 52          |\n",
      "|    time_elapsed         | 1114        |\n",
      "|    total_timesteps      | 106496      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.020319518 |\n",
      "|    clip_fraction        | 0.206       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -5.16       |\n",
      "|    explained_variance   | 0.676       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.899       |\n",
      "|    n_updates            | 510         |\n",
      "|    policy_gradient_loss | -0.0386     |\n",
      "|    value_loss           | 3.63        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -12.9       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 95          |\n",
      "|    iterations           | 53          |\n",
      "|    time_elapsed         | 1135        |\n",
      "|    total_timesteps      | 108544      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.018882941 |\n",
      "|    clip_fraction        | 0.192       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -5.02       |\n",
      "|    explained_variance   | 0.565       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.976       |\n",
      "|    n_updates            | 520         |\n",
      "|    policy_gradient_loss | -0.039      |\n",
      "|    value_loss           | 3.19        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -13.6       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 95          |\n",
      "|    iterations           | 54          |\n",
      "|    time_elapsed         | 1155        |\n",
      "|    total_timesteps      | 110592      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.017216634 |\n",
      "|    clip_fraction        | 0.177       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -5          |\n",
      "|    explained_variance   | 0.595       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.98        |\n",
      "|    n_updates            | 530         |\n",
      "|    policy_gradient_loss | -0.0345     |\n",
      "|    value_loss           | 3.21        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -14.9       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 95          |\n",
      "|    iterations           | 55          |\n",
      "|    time_elapsed         | 1176        |\n",
      "|    total_timesteps      | 112640      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.019421296 |\n",
      "|    clip_fraction        | 0.201       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -4.95       |\n",
      "|    explained_variance   | 0.442       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.494       |\n",
      "|    n_updates            | 540         |\n",
      "|    policy_gradient_loss | -0.0398     |\n",
      "|    value_loss           | 2.67        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -15.4       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 95          |\n",
      "|    iterations           | 56          |\n",
      "|    time_elapsed         | 1196        |\n",
      "|    total_timesteps      | 114688      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.019006519 |\n",
      "|    clip_fraction        | 0.191       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -4.92       |\n",
      "|    explained_variance   | 0.587       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 1.01        |\n",
      "|    n_updates            | 550         |\n",
      "|    policy_gradient_loss | -0.0393     |\n",
      "|    value_loss           | 3.33        |\n",
      "-----------------------------------------\n",
      "----------------------------------------\n",
      "| rollout/                |            |\n",
      "|    ep_len_mean          | 100        |\n",
      "|    ep_rew_mean          | -14.6      |\n",
      "| time/                   |            |\n",
      "|    fps                  | 95         |\n",
      "|    iterations           | 57         |\n",
      "|    time_elapsed         | 1218       |\n",
      "|    total_timesteps      | 116736     |\n",
      "| train/                  |            |\n",
      "|    approx_kl            | 0.02003394 |\n",
      "|    clip_fraction        | 0.205      |\n",
      "|    clip_range           | 0.2        |\n",
      "|    entropy_loss         | -4.93      |\n",
      "|    explained_variance   | 0.551      |\n",
      "|    learning_rate        | 0.0003     |\n",
      "|    loss                 | 0.781      |\n",
      "|    n_updates            | 560        |\n",
      "|    policy_gradient_loss | -0.0389    |\n",
      "|    value_loss           | 3.08       |\n",
      "----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -14.8       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 95          |\n",
      "|    iterations           | 58          |\n",
      "|    time_elapsed         | 1238        |\n",
      "|    total_timesteps      | 118784      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.020348094 |\n",
      "|    clip_fraction        | 0.206       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -4.81       |\n",
      "|    explained_variance   | 0.544       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.437       |\n",
      "|    n_updates            | 570         |\n",
      "|    policy_gradient_loss | -0.0399     |\n",
      "|    value_loss           | 2.22        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -13.4       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 95          |\n",
      "|    iterations           | 59          |\n",
      "|    time_elapsed         | 1259        |\n",
      "|    total_timesteps      | 120832      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.018196652 |\n",
      "|    clip_fraction        | 0.195       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -4.88       |\n",
      "|    explained_variance   | 0.569       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.822       |\n",
      "|    n_updates            | 580         |\n",
      "|    policy_gradient_loss | -0.0406     |\n",
      "|    value_loss           | 3.18        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -12.9       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 95          |\n",
      "|    iterations           | 60          |\n",
      "|    time_elapsed         | 1280        |\n",
      "|    total_timesteps      | 122880      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.021800254 |\n",
      "|    clip_fraction        | 0.218       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -4.81       |\n",
      "|    explained_variance   | 0.566       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.414       |\n",
      "|    n_updates            | 590         |\n",
      "|    policy_gradient_loss | -0.0403     |\n",
      "|    value_loss           | 3.4         |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -12.6       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 95          |\n",
      "|    iterations           | 61          |\n",
      "|    time_elapsed         | 1301        |\n",
      "|    total_timesteps      | 124928      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.017994016 |\n",
      "|    clip_fraction        | 0.2         |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -4.8        |\n",
      "|    explained_variance   | 0.563       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.77        |\n",
      "|    n_updates            | 600         |\n",
      "|    policy_gradient_loss | -0.0393     |\n",
      "|    value_loss           | 3.47        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -13.8       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 96          |\n",
      "|    iterations           | 62          |\n",
      "|    time_elapsed         | 1321        |\n",
      "|    total_timesteps      | 126976      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.019030528 |\n",
      "|    clip_fraction        | 0.196       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -4.76       |\n",
      "|    explained_variance   | 0.674       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.619       |\n",
      "|    n_updates            | 610         |\n",
      "|    policy_gradient_loss | -0.0359     |\n",
      "|    value_loss           | 3.49        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -12         |\n",
      "| time/                   |             |\n",
      "|    fps                  | 96          |\n",
      "|    iterations           | 63          |\n",
      "|    time_elapsed         | 1343        |\n",
      "|    total_timesteps      | 129024      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.019819524 |\n",
      "|    clip_fraction        | 0.199       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -4.71       |\n",
      "|    explained_variance   | 0.29        |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.701       |\n",
      "|    n_updates            | 620         |\n",
      "|    policy_gradient_loss | -0.0379     |\n",
      "|    value_loss           | 3.15        |\n",
      "-----------------------------------------\n",
      "----------------------------------------\n",
      "| rollout/                |            |\n",
      "|    ep_len_mean          | 100        |\n",
      "|    ep_rew_mean          | -12.7      |\n",
      "| time/                   |            |\n",
      "|    fps                  | 96         |\n",
      "|    iterations           | 64         |\n",
      "|    time_elapsed         | 1363       |\n",
      "|    total_timesteps      | 131072     |\n",
      "| train/                  |            |\n",
      "|    approx_kl            | 0.01868555 |\n",
      "|    clip_fraction        | 0.188      |\n",
      "|    clip_range           | 0.2        |\n",
      "|    entropy_loss         | -4.67      |\n",
      "|    explained_variance   | 0.578      |\n",
      "|    learning_rate        | 0.0003     |\n",
      "|    loss                 | 1.3        |\n",
      "|    n_updates            | 630        |\n",
      "|    policy_gradient_loss | -0.0357    |\n",
      "|    value_loss           | 3.5        |\n",
      "----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -12.4       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 96          |\n",
      "|    iterations           | 65          |\n",
      "|    time_elapsed         | 1384        |\n",
      "|    total_timesteps      | 133120      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.021442909 |\n",
      "|    clip_fraction        | 0.212       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -4.71       |\n",
      "|    explained_variance   | 0.535       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.541       |\n",
      "|    n_updates            | 640         |\n",
      "|    policy_gradient_loss | -0.038      |\n",
      "|    value_loss           | 2.47        |\n",
      "-----------------------------------------\n",
      "----------------------------------------\n",
      "| rollout/                |            |\n",
      "|    ep_len_mean          | 100        |\n",
      "|    ep_rew_mean          | -11.8      |\n",
      "| time/                   |            |\n",
      "|    fps                  | 96         |\n",
      "|    iterations           | 66         |\n",
      "|    time_elapsed         | 1406       |\n",
      "|    total_timesteps      | 135168     |\n",
      "| train/                  |            |\n",
      "|    approx_kl            | 0.01979364 |\n",
      "|    clip_fraction        | 0.215      |\n",
      "|    clip_range           | 0.2        |\n",
      "|    entropy_loss         | -4.63      |\n",
      "|    explained_variance   | 0.465      |\n",
      "|    learning_rate        | 0.0003     |\n",
      "|    loss                 | 0.466      |\n",
      "|    n_updates            | 650        |\n",
      "|    policy_gradient_loss | -0.0399    |\n",
      "|    value_loss           | 2.16       |\n",
      "----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -11.2       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 96          |\n",
      "|    iterations           | 67          |\n",
      "|    time_elapsed         | 1426        |\n",
      "|    total_timesteps      | 137216      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.019332401 |\n",
      "|    clip_fraction        | 0.204       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -4.62       |\n",
      "|    explained_variance   | 0.505       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.996       |\n",
      "|    n_updates            | 660         |\n",
      "|    policy_gradient_loss | -0.0351     |\n",
      "|    value_loss           | 3.47        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -11.5       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 96          |\n",
      "|    iterations           | 68          |\n",
      "|    time_elapsed         | 1448        |\n",
      "|    total_timesteps      | 139264      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.020380687 |\n",
      "|    clip_fraction        | 0.204       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -4.56       |\n",
      "|    explained_variance   | 0.576       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.727       |\n",
      "|    n_updates            | 670         |\n",
      "|    policy_gradient_loss | -0.0418     |\n",
      "|    value_loss           | 2.96        |\n",
      "-----------------------------------------\n",
      "---------------------------------------\n",
      "| rollout/                |           |\n",
      "|    ep_len_mean          | 100       |\n",
      "|    ep_rew_mean          | -11.3     |\n",
      "| time/                   |           |\n",
      "|    fps                  | 96        |\n",
      "|    iterations           | 69        |\n",
      "|    time_elapsed         | 1470      |\n",
      "|    total_timesteps      | 141312    |\n",
      "| train/                  |           |\n",
      "|    approx_kl            | 0.0194375 |\n",
      "|    clip_fraction        | 0.203     |\n",
      "|    clip_range           | 0.2       |\n",
      "|    entropy_loss         | -4.5      |\n",
      "|    explained_variance   | 0.571     |\n",
      "|    learning_rate        | 0.0003    |\n",
      "|    loss                 | 0.776     |\n",
      "|    n_updates            | 680       |\n",
      "|    policy_gradient_loss | -0.0424   |\n",
      "|    value_loss           | 3.5       |\n",
      "---------------------------------------\n",
      "----------------------------------------\n",
      "| rollout/                |            |\n",
      "|    ep_len_mean          | 100        |\n",
      "|    ep_rew_mean          | -12        |\n",
      "| time/                   |            |\n",
      "|    fps                  | 96         |\n",
      "|    iterations           | 70         |\n",
      "|    time_elapsed         | 1492       |\n",
      "|    total_timesteps      | 143360     |\n",
      "| train/                  |            |\n",
      "|    approx_kl            | 0.01988092 |\n",
      "|    clip_fraction        | 0.197      |\n",
      "|    clip_range           | 0.2        |\n",
      "|    entropy_loss         | -4.49      |\n",
      "|    explained_variance   | 0.483      |\n",
      "|    learning_rate        | 0.0003     |\n",
      "|    loss                 | 0.417      |\n",
      "|    n_updates            | 690        |\n",
      "|    policy_gradient_loss | -0.0396    |\n",
      "|    value_loss           | 3.2        |\n",
      "----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -11.6       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 95          |\n",
      "|    iterations           | 71          |\n",
      "|    time_elapsed         | 1516        |\n",
      "|    total_timesteps      | 145408      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.019502547 |\n",
      "|    clip_fraction        | 0.217       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -4.52       |\n",
      "|    explained_variance   | 0.644       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.472       |\n",
      "|    n_updates            | 700         |\n",
      "|    policy_gradient_loss | -0.0394     |\n",
      "|    value_loss           | 3.2         |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -11.2       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 95          |\n",
      "|    iterations           | 72          |\n",
      "|    time_elapsed         | 1537        |\n",
      "|    total_timesteps      | 147456      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.019951774 |\n",
      "|    clip_fraction        | 0.2         |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -4.5        |\n",
      "|    explained_variance   | 0.569       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.754       |\n",
      "|    n_updates            | 710         |\n",
      "|    policy_gradient_loss | -0.0413     |\n",
      "|    value_loss           | 3.57        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -11.8       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 95          |\n",
      "|    iterations           | 73          |\n",
      "|    time_elapsed         | 1561        |\n",
      "|    total_timesteps      | 149504      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.019937202 |\n",
      "|    clip_fraction        | 0.195       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -4.45       |\n",
      "|    explained_variance   | 0.541       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.948       |\n",
      "|    n_updates            | 720         |\n",
      "|    policy_gradient_loss | -0.0354     |\n",
      "|    value_loss           | 3.82        |\n",
      "-----------------------------------------\n",
      "----------------------------------------\n",
      "| rollout/                |            |\n",
      "|    ep_len_mean          | 100        |\n",
      "|    ep_rew_mean          | -11.8      |\n",
      "| time/                   |            |\n",
      "|    fps                  | 95         |\n",
      "|    iterations           | 74         |\n",
      "|    time_elapsed         | 1585       |\n",
      "|    total_timesteps      | 151552     |\n",
      "| train/                  |            |\n",
      "|    approx_kl            | 0.02051629 |\n",
      "|    clip_fraction        | 0.208      |\n",
      "|    clip_range           | 0.2        |\n",
      "|    entropy_loss         | -4.48      |\n",
      "|    explained_variance   | 0.611      |\n",
      "|    learning_rate        | 0.0003     |\n",
      "|    loss                 | 0.808      |\n",
      "|    n_updates            | 730        |\n",
      "|    policy_gradient_loss | -0.0402    |\n",
      "|    value_loss           | 3.85       |\n",
      "----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -11.9       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 95          |\n",
      "|    iterations           | 75          |\n",
      "|    time_elapsed         | 1605        |\n",
      "|    total_timesteps      | 153600      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.018030202 |\n",
      "|    clip_fraction        | 0.18        |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -4.48       |\n",
      "|    explained_variance   | 0.517       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.796       |\n",
      "|    n_updates            | 740         |\n",
      "|    policy_gradient_loss | -0.0365     |\n",
      "|    value_loss           | 3.79        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -12.1       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 95          |\n",
      "|    iterations           | 76          |\n",
      "|    time_elapsed         | 1626        |\n",
      "|    total_timesteps      | 155648      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.020182723 |\n",
      "|    clip_fraction        | 0.212       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -4.37       |\n",
      "|    explained_variance   | 0.631       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.378       |\n",
      "|    n_updates            | 750         |\n",
      "|    policy_gradient_loss | -0.0422     |\n",
      "|    value_loss           | 2.76        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -11.8       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 95          |\n",
      "|    iterations           | 77          |\n",
      "|    time_elapsed         | 1647        |\n",
      "|    total_timesteps      | 157696      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.020095278 |\n",
      "|    clip_fraction        | 0.211       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -4.37       |\n",
      "|    explained_variance   | 0.57        |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 1.01        |\n",
      "|    n_updates            | 760         |\n",
      "|    policy_gradient_loss | -0.0389     |\n",
      "|    value_loss           | 3.65        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -10.9       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 95          |\n",
      "|    iterations           | 78          |\n",
      "|    time_elapsed         | 1667        |\n",
      "|    total_timesteps      | 159744      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.019802606 |\n",
      "|    clip_fraction        | 0.207       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -4.35       |\n",
      "|    explained_variance   | 0.631       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.907       |\n",
      "|    n_updates            | 770         |\n",
      "|    policy_gradient_loss | -0.0382     |\n",
      "|    value_loss           | 3.78        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -10.4       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 95          |\n",
      "|    iterations           | 79          |\n",
      "|    time_elapsed         | 1689        |\n",
      "|    total_timesteps      | 161792      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.021040272 |\n",
      "|    clip_fraction        | 0.207       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -4.34       |\n",
      "|    explained_variance   | 0.631       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.804       |\n",
      "|    n_updates            | 780         |\n",
      "|    policy_gradient_loss | -0.0411     |\n",
      "|    value_loss           | 3.98        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -9.91       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 95          |\n",
      "|    iterations           | 80          |\n",
      "|    time_elapsed         | 1711        |\n",
      "|    total_timesteps      | 163840      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.022158567 |\n",
      "|    clip_fraction        | 0.229       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -4.33       |\n",
      "|    explained_variance   | 0.504       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.578       |\n",
      "|    n_updates            | 790         |\n",
      "|    policy_gradient_loss | -0.0428     |\n",
      "|    value_loss           | 2.96        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -9.87       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 95          |\n",
      "|    iterations           | 81          |\n",
      "|    time_elapsed         | 1732        |\n",
      "|    total_timesteps      | 165888      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.021330405 |\n",
      "|    clip_fraction        | 0.221       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -4.28       |\n",
      "|    explained_variance   | 0.49        |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.818       |\n",
      "|    n_updates            | 800         |\n",
      "|    policy_gradient_loss | -0.0417     |\n",
      "|    value_loss           | 2.94        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -8.8        |\n",
      "| time/                   |             |\n",
      "|    fps                  | 95          |\n",
      "|    iterations           | 82          |\n",
      "|    time_elapsed         | 1752        |\n",
      "|    total_timesteps      | 167936      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.020235786 |\n",
      "|    clip_fraction        | 0.21        |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -4.32       |\n",
      "|    explained_variance   | 0.637       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.789       |\n",
      "|    n_updates            | 810         |\n",
      "|    policy_gradient_loss | -0.0379     |\n",
      "|    value_loss           | 3.32        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -9.78       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 95          |\n",
      "|    iterations           | 83          |\n",
      "|    time_elapsed         | 1771        |\n",
      "|    total_timesteps      | 169984      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.023134641 |\n",
      "|    clip_fraction        | 0.202       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -4.24       |\n",
      "|    explained_variance   | 0.635       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.494       |\n",
      "|    n_updates            | 820         |\n",
      "|    policy_gradient_loss | -0.0408     |\n",
      "|    value_loss           | 3.13        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -9.77       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 96          |\n",
      "|    iterations           | 84          |\n",
      "|    time_elapsed         | 1790        |\n",
      "|    total_timesteps      | 172032      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.021800306 |\n",
      "|    clip_fraction        | 0.21        |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -4.27       |\n",
      "|    explained_variance   | 0.706       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.665       |\n",
      "|    n_updates            | 830         |\n",
      "|    policy_gradient_loss | -0.0394     |\n",
      "|    value_loss           | 2.66        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -10.8       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 96          |\n",
      "|    iterations           | 85          |\n",
      "|    time_elapsed         | 1808        |\n",
      "|    total_timesteps      | 174080      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.023380335 |\n",
      "|    clip_fraction        | 0.223       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -4.21       |\n",
      "|    explained_variance   | 0.656       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.613       |\n",
      "|    n_updates            | 840         |\n",
      "|    policy_gradient_loss | -0.0404     |\n",
      "|    value_loss           | 2.63        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -10.3       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 96          |\n",
      "|    iterations           | 86          |\n",
      "|    time_elapsed         | 1828        |\n",
      "|    total_timesteps      | 176128      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.019621544 |\n",
      "|    clip_fraction        | 0.189       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -4.17       |\n",
      "|    explained_variance   | 0.598       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.628       |\n",
      "|    n_updates            | 850         |\n",
      "|    policy_gradient_loss | -0.0343     |\n",
      "|    value_loss           | 2.98        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -11.3       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 96          |\n",
      "|    iterations           | 87          |\n",
      "|    time_elapsed         | 1846        |\n",
      "|    total_timesteps      | 178176      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.019385139 |\n",
      "|    clip_fraction        | 0.204       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -4.22       |\n",
      "|    explained_variance   | 0.621       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.788       |\n",
      "|    n_updates            | 860         |\n",
      "|    policy_gradient_loss | -0.0385     |\n",
      "|    value_loss           | 2.91        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -10.9       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 96          |\n",
      "|    iterations           | 88          |\n",
      "|    time_elapsed         | 1864        |\n",
      "|    total_timesteps      | 180224      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.021278227 |\n",
      "|    clip_fraction        | 0.205       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -4.2        |\n",
      "|    explained_variance   | 0.739       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.494       |\n",
      "|    n_updates            | 870         |\n",
      "|    policy_gradient_loss | -0.0386     |\n",
      "|    value_loss           | 2.91        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -10.8       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 96          |\n",
      "|    iterations           | 89          |\n",
      "|    time_elapsed         | 1882        |\n",
      "|    total_timesteps      | 182272      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.019436363 |\n",
      "|    clip_fraction        | 0.199       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -4.14       |\n",
      "|    explained_variance   | 0.603       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.653       |\n",
      "|    n_updates            | 880         |\n",
      "|    policy_gradient_loss | -0.0379     |\n",
      "|    value_loss           | 3.72        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -9.04       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 96          |\n",
      "|    iterations           | 90          |\n",
      "|    time_elapsed         | 1900        |\n",
      "|    total_timesteps      | 184320      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.019278068 |\n",
      "|    clip_fraction        | 0.187       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -4.1        |\n",
      "|    explained_variance   | 0.427       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.551       |\n",
      "|    n_updates            | 890         |\n",
      "|    policy_gradient_loss | -0.0384     |\n",
      "|    value_loss           | 3.08        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -10.1       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 97          |\n",
      "|    iterations           | 91          |\n",
      "|    time_elapsed         | 1917        |\n",
      "|    total_timesteps      | 186368      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.019642465 |\n",
      "|    clip_fraction        | 0.213       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -4.08       |\n",
      "|    explained_variance   | 0.626       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.655       |\n",
      "|    n_updates            | 900         |\n",
      "|    policy_gradient_loss | -0.0394     |\n",
      "|    value_loss           | 3.93        |\n",
      "-----------------------------------------\n",
      "----------------------------------------\n",
      "| rollout/                |            |\n",
      "|    ep_len_mean          | 100        |\n",
      "|    ep_rew_mean          | -10.3      |\n",
      "| time/                   |            |\n",
      "|    fps                  | 97         |\n",
      "|    iterations           | 92         |\n",
      "|    time_elapsed         | 1936       |\n",
      "|    total_timesteps      | 188416     |\n",
      "| train/                  |            |\n",
      "|    approx_kl            | 0.02251035 |\n",
      "|    clip_fraction        | 0.226      |\n",
      "|    clip_range           | 0.2        |\n",
      "|    entropy_loss         | -4.11      |\n",
      "|    explained_variance   | 0.552      |\n",
      "|    learning_rate        | 0.0003     |\n",
      "|    loss                 | 0.535      |\n",
      "|    n_updates            | 910        |\n",
      "|    policy_gradient_loss | -0.0405    |\n",
      "|    value_loss           | 2.5        |\n",
      "----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -10.8       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 97          |\n",
      "|    iterations           | 93          |\n",
      "|    time_elapsed         | 1953        |\n",
      "|    total_timesteps      | 190464      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.021484565 |\n",
      "|    clip_fraction        | 0.208       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -4.14       |\n",
      "|    explained_variance   | 0.618       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.647       |\n",
      "|    n_updates            | 920         |\n",
      "|    policy_gradient_loss | -0.0376     |\n",
      "|    value_loss           | 2.63        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -9.37       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 97          |\n",
      "|    iterations           | 94          |\n",
      "|    time_elapsed         | 1970        |\n",
      "|    total_timesteps      | 192512      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.018608067 |\n",
      "|    clip_fraction        | 0.194       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -4.1        |\n",
      "|    explained_variance   | 0.577       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 1.24        |\n",
      "|    n_updates            | 930         |\n",
      "|    policy_gradient_loss | -0.0368     |\n",
      "|    value_loss           | 4.07        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -9.74       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 97          |\n",
      "|    iterations           | 95          |\n",
      "|    time_elapsed         | 1988        |\n",
      "|    total_timesteps      | 194560      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.020771272 |\n",
      "|    clip_fraction        | 0.224       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -4.02       |\n",
      "|    explained_variance   | 0.621       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.622       |\n",
      "|    n_updates            | 940         |\n",
      "|    policy_gradient_loss | -0.0385     |\n",
      "|    value_loss           | 2.82        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -8.94       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 97          |\n",
      "|    iterations           | 96          |\n",
      "|    time_elapsed         | 2007        |\n",
      "|    total_timesteps      | 196608      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.020901715 |\n",
      "|    clip_fraction        | 0.212       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -4.01       |\n",
      "|    explained_variance   | 0.615       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.68        |\n",
      "|    n_updates            | 950         |\n",
      "|    policy_gradient_loss | -0.0405     |\n",
      "|    value_loss           | 3.15        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -8.39       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 97          |\n",
      "|    iterations           | 97          |\n",
      "|    time_elapsed         | 2030        |\n",
      "|    total_timesteps      | 198656      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.019738242 |\n",
      "|    clip_fraction        | 0.197       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -4.02       |\n",
      "|    explained_variance   | 0.483       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.615       |\n",
      "|    n_updates            | 960         |\n",
      "|    policy_gradient_loss | -0.0374     |\n",
      "|    value_loss           | 3.43        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -8.45       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 97          |\n",
      "|    iterations           | 98          |\n",
      "|    time_elapsed         | 2051        |\n",
      "|    total_timesteps      | 200704      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.019200828 |\n",
      "|    clip_fraction        | 0.198       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.97       |\n",
      "|    explained_variance   | 0.633       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.709       |\n",
      "|    n_updates            | 970         |\n",
      "|    policy_gradient_loss | -0.0371     |\n",
      "|    value_loss           | 3.43        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -8.91       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 97          |\n",
      "|    iterations           | 99          |\n",
      "|    time_elapsed         | 2074        |\n",
      "|    total_timesteps      | 202752      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.018908339 |\n",
      "|    clip_fraction        | 0.199       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.93       |\n",
      "|    explained_variance   | 0.654       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.985       |\n",
      "|    n_updates            | 980         |\n",
      "|    policy_gradient_loss | -0.0369     |\n",
      "|    value_loss           | 3.95        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -8.36       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 97          |\n",
      "|    iterations           | 100         |\n",
      "|    time_elapsed         | 2095        |\n",
      "|    total_timesteps      | 204800      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.022998419 |\n",
      "|    clip_fraction        | 0.208       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.86       |\n",
      "|    explained_variance   | 0.659       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.385       |\n",
      "|    n_updates            | 990         |\n",
      "|    policy_gradient_loss | -0.0396     |\n",
      "|    value_loss           | 2.39        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -8.34       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 97          |\n",
      "|    iterations           | 101         |\n",
      "|    time_elapsed         | 2115        |\n",
      "|    total_timesteps      | 206848      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.021221213 |\n",
      "|    clip_fraction        | 0.206       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.93       |\n",
      "|    explained_variance   | 0.572       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.387       |\n",
      "|    n_updates            | 1000        |\n",
      "|    policy_gradient_loss | -0.0406     |\n",
      "|    value_loss           | 2.4         |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -8.31       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 97          |\n",
      "|    iterations           | 102         |\n",
      "|    time_elapsed         | 2138        |\n",
      "|    total_timesteps      | 208896      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.019979505 |\n",
      "|    clip_fraction        | 0.194       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -4          |\n",
      "|    explained_variance   | 0.56        |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.86        |\n",
      "|    n_updates            | 1010        |\n",
      "|    policy_gradient_loss | -0.0382     |\n",
      "|    value_loss           | 3.14        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -6.96       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 97          |\n",
      "|    iterations           | 103         |\n",
      "|    time_elapsed         | 2159        |\n",
      "|    total_timesteps      | 210944      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.022498775 |\n",
      "|    clip_fraction        | 0.215       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.83       |\n",
      "|    explained_variance   | 0.483       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.624       |\n",
      "|    n_updates            | 1020        |\n",
      "|    policy_gradient_loss | -0.0383     |\n",
      "|    value_loss           | 2.29        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -6.89       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 97          |\n",
      "|    iterations           | 104         |\n",
      "|    time_elapsed         | 2181        |\n",
      "|    total_timesteps      | 212992      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.018128637 |\n",
      "|    clip_fraction        | 0.18        |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.88       |\n",
      "|    explained_variance   | 0.461       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.897       |\n",
      "|    n_updates            | 1030        |\n",
      "|    policy_gradient_loss | -0.0359     |\n",
      "|    value_loss           | 3.63        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -6.77       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 97          |\n",
      "|    iterations           | 105         |\n",
      "|    time_elapsed         | 2201        |\n",
      "|    total_timesteps      | 215040      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.022390103 |\n",
      "|    clip_fraction        | 0.232       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.83       |\n",
      "|    explained_variance   | 0.505       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.512       |\n",
      "|    n_updates            | 1040        |\n",
      "|    policy_gradient_loss | -0.0426     |\n",
      "|    value_loss           | 2.29        |\n",
      "-----------------------------------------\n",
      "----------------------------------------\n",
      "| rollout/                |            |\n",
      "|    ep_len_mean          | 100        |\n",
      "|    ep_rew_mean          | -6.57      |\n",
      "| time/                   |            |\n",
      "|    fps                  | 97         |\n",
      "|    iterations           | 106        |\n",
      "|    time_elapsed         | 2222       |\n",
      "|    total_timesteps      | 217088     |\n",
      "| train/                  |            |\n",
      "|    approx_kl            | 0.02245345 |\n",
      "|    clip_fraction        | 0.229      |\n",
      "|    clip_range           | 0.2        |\n",
      "|    entropy_loss         | -3.84      |\n",
      "|    explained_variance   | 0.48       |\n",
      "|    learning_rate        | 0.0003     |\n",
      "|    loss                 | 0.455      |\n",
      "|    n_updates            | 1050       |\n",
      "|    policy_gradient_loss | -0.0385    |\n",
      "|    value_loss           | 1.97       |\n",
      "----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -6.42       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 97          |\n",
      "|    iterations           | 107         |\n",
      "|    time_elapsed         | 2243        |\n",
      "|    total_timesteps      | 219136      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.021390252 |\n",
      "|    clip_fraction        | 0.198       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.79       |\n",
      "|    explained_variance   | 0.542       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.567       |\n",
      "|    n_updates            | 1060        |\n",
      "|    policy_gradient_loss | -0.037      |\n",
      "|    value_loss           | 3.08        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -7.05       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 97          |\n",
      "|    iterations           | 108         |\n",
      "|    time_elapsed         | 2264        |\n",
      "|    total_timesteps      | 221184      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.022583205 |\n",
      "|    clip_fraction        | 0.217       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.89       |\n",
      "|    explained_variance   | 0.633       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.961       |\n",
      "|    n_updates            | 1070        |\n",
      "|    policy_gradient_loss | -0.0425     |\n",
      "|    value_loss           | 3.42        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -7.31       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 97          |\n",
      "|    iterations           | 109         |\n",
      "|    time_elapsed         | 2286        |\n",
      "|    total_timesteps      | 223232      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.023228958 |\n",
      "|    clip_fraction        | 0.214       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.78       |\n",
      "|    explained_variance   | 0.534       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.796       |\n",
      "|    n_updates            | 1080        |\n",
      "|    policy_gradient_loss | -0.0413     |\n",
      "|    value_loss           | 2.67        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -8.43       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 97          |\n",
      "|    iterations           | 110         |\n",
      "|    time_elapsed         | 2308        |\n",
      "|    total_timesteps      | 225280      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.021497235 |\n",
      "|    clip_fraction        | 0.227       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.84       |\n",
      "|    explained_variance   | 0.647       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.516       |\n",
      "|    n_updates            | 1090        |\n",
      "|    policy_gradient_loss | -0.0387     |\n",
      "|    value_loss           | 2.77        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -8.67       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 97          |\n",
      "|    iterations           | 111         |\n",
      "|    time_elapsed         | 2330        |\n",
      "|    total_timesteps      | 227328      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.022466337 |\n",
      "|    clip_fraction        | 0.201       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.75       |\n",
      "|    explained_variance   | 0.397       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.553       |\n",
      "|    n_updates            | 1100        |\n",
      "|    policy_gradient_loss | -0.0391     |\n",
      "|    value_loss           | 2.92        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -9.16       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 97          |\n",
      "|    iterations           | 112         |\n",
      "|    time_elapsed         | 2354        |\n",
      "|    total_timesteps      | 229376      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.019241914 |\n",
      "|    clip_fraction        | 0.204       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.82       |\n",
      "|    explained_variance   | 0.533       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.816       |\n",
      "|    n_updates            | 1110        |\n",
      "|    policy_gradient_loss | -0.038      |\n",
      "|    value_loss           | 3.72        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -9.68       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 97          |\n",
      "|    iterations           | 113         |\n",
      "|    time_elapsed         | 2376        |\n",
      "|    total_timesteps      | 231424      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.021628592 |\n",
      "|    clip_fraction        | 0.207       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.78       |\n",
      "|    explained_variance   | 0.607       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.303       |\n",
      "|    n_updates            | 1120        |\n",
      "|    policy_gradient_loss | -0.0389     |\n",
      "|    value_loss           | 2.47        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -10         |\n",
      "| time/                   |             |\n",
      "|    fps                  | 97          |\n",
      "|    iterations           | 114         |\n",
      "|    time_elapsed         | 2398        |\n",
      "|    total_timesteps      | 233472      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.020723734 |\n",
      "|    clip_fraction        | 0.204       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.78       |\n",
      "|    explained_variance   | 0.6         |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.584       |\n",
      "|    n_updates            | 1130        |\n",
      "|    policy_gradient_loss | -0.0368     |\n",
      "|    value_loss           | 2.63        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -9.52       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 97          |\n",
      "|    iterations           | 115         |\n",
      "|    time_elapsed         | 2420        |\n",
      "|    total_timesteps      | 235520      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.021778665 |\n",
      "|    clip_fraction        | 0.202       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.74       |\n",
      "|    explained_variance   | 0.605       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.677       |\n",
      "|    n_updates            | 1140        |\n",
      "|    policy_gradient_loss | -0.0368     |\n",
      "|    value_loss           | 3.67        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -9.2        |\n",
      "| time/                   |             |\n",
      "|    fps                  | 97          |\n",
      "|    iterations           | 116         |\n",
      "|    time_elapsed         | 2441        |\n",
      "|    total_timesteps      | 237568      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.019444656 |\n",
      "|    clip_fraction        | 0.179       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.69       |\n",
      "|    explained_variance   | 0.601       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.867       |\n",
      "|    n_updates            | 1150        |\n",
      "|    policy_gradient_loss | -0.036      |\n",
      "|    value_loss           | 4.45        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -8.8        |\n",
      "| time/                   |             |\n",
      "|    fps                  | 97          |\n",
      "|    iterations           | 117         |\n",
      "|    time_elapsed         | 2461        |\n",
      "|    total_timesteps      | 239616      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.023012098 |\n",
      "|    clip_fraction        | 0.218       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.71       |\n",
      "|    explained_variance   | 0.528       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.571       |\n",
      "|    n_updates            | 1160        |\n",
      "|    policy_gradient_loss | -0.04       |\n",
      "|    value_loss           | 2.85        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -8.57       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 97          |\n",
      "|    iterations           | 118         |\n",
      "|    time_elapsed         | 2480        |\n",
      "|    total_timesteps      | 241664      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.019309945 |\n",
      "|    clip_fraction        | 0.195       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.74       |\n",
      "|    explained_variance   | 0.635       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.482       |\n",
      "|    n_updates            | 1170        |\n",
      "|    policy_gradient_loss | -0.038      |\n",
      "|    value_loss           | 3.3         |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -8.35       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 97          |\n",
      "|    iterations           | 119         |\n",
      "|    time_elapsed         | 2501        |\n",
      "|    total_timesteps      | 243712      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.019116268 |\n",
      "|    clip_fraction        | 0.193       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.67       |\n",
      "|    explained_variance   | 0.534       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.564       |\n",
      "|    n_updates            | 1180        |\n",
      "|    policy_gradient_loss | -0.0369     |\n",
      "|    value_loss           | 3.34        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -9.24       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 97          |\n",
      "|    iterations           | 120         |\n",
      "|    time_elapsed         | 2520        |\n",
      "|    total_timesteps      | 245760      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.019509368 |\n",
      "|    clip_fraction        | 0.19        |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.64       |\n",
      "|    explained_variance   | 0.582       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.737       |\n",
      "|    n_updates            | 1190        |\n",
      "|    policy_gradient_loss | -0.0371     |\n",
      "|    value_loss           | 3.16        |\n",
      "-----------------------------------------\n",
      "----------------------------------------\n",
      "| rollout/                |            |\n",
      "|    ep_len_mean          | 100        |\n",
      "|    ep_rew_mean          | -8.86      |\n",
      "| time/                   |            |\n",
      "|    fps                  | 97         |\n",
      "|    iterations           | 121        |\n",
      "|    time_elapsed         | 2538       |\n",
      "|    total_timesteps      | 247808     |\n",
      "| train/                  |            |\n",
      "|    approx_kl            | 0.02236588 |\n",
      "|    clip_fraction        | 0.215      |\n",
      "|    clip_range           | 0.2        |\n",
      "|    entropy_loss         | -3.57      |\n",
      "|    explained_variance   | 0.49       |\n",
      "|    learning_rate        | 0.0003     |\n",
      "|    loss                 | 0.503      |\n",
      "|    n_updates            | 1200       |\n",
      "|    policy_gradient_loss | -0.0349    |\n",
      "|    value_loss           | 2.48       |\n",
      "----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -8.13       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 97          |\n",
      "|    iterations           | 122         |\n",
      "|    time_elapsed         | 2555        |\n",
      "|    total_timesteps      | 249856      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.019141976 |\n",
      "|    clip_fraction        | 0.21        |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.7        |\n",
      "|    explained_variance   | 0.488       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.438       |\n",
      "|    n_updates            | 1210        |\n",
      "|    policy_gradient_loss | -0.037      |\n",
      "|    value_loss           | 2.62        |\n",
      "-----------------------------------------\n",
      "----------------------------------------\n",
      "| rollout/                |            |\n",
      "|    ep_len_mean          | 100        |\n",
      "|    ep_rew_mean          | -7.28      |\n",
      "| time/                   |            |\n",
      "|    fps                  | 97         |\n",
      "|    iterations           | 123        |\n",
      "|    time_elapsed         | 2572       |\n",
      "|    total_timesteps      | 251904     |\n",
      "| train/                  |            |\n",
      "|    approx_kl            | 0.02283905 |\n",
      "|    clip_fraction        | 0.236      |\n",
      "|    clip_range           | 0.2        |\n",
      "|    entropy_loss         | -3.67      |\n",
      "|    explained_variance   | 0.541      |\n",
      "|    learning_rate        | 0.0003     |\n",
      "|    loss                 | 0.328      |\n",
      "|    n_updates            | 1220       |\n",
      "|    policy_gradient_loss | -0.0404    |\n",
      "|    value_loss           | 2.85       |\n",
      "----------------------------------------\n",
      "----------------------------------------\n",
      "| rollout/                |            |\n",
      "|    ep_len_mean          | 100        |\n",
      "|    ep_rew_mean          | -7.69      |\n",
      "| time/                   |            |\n",
      "|    fps                  | 98         |\n",
      "|    iterations           | 124        |\n",
      "|    time_elapsed         | 2590       |\n",
      "|    total_timesteps      | 253952     |\n",
      "| train/                  |            |\n",
      "|    approx_kl            | 0.02250459 |\n",
      "|    clip_fraction        | 0.208      |\n",
      "|    clip_range           | 0.2        |\n",
      "|    entropy_loss         | -3.58      |\n",
      "|    explained_variance   | 0.527      |\n",
      "|    learning_rate        | 0.0003     |\n",
      "|    loss                 | 0.645      |\n",
      "|    n_updates            | 1230       |\n",
      "|    policy_gradient_loss | -0.0427    |\n",
      "|    value_loss           | 2.95       |\n",
      "----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -7.43       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 98          |\n",
      "|    iterations           | 125         |\n",
      "|    time_elapsed         | 2608        |\n",
      "|    total_timesteps      | 256000      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.021484388 |\n",
      "|    clip_fraction        | 0.208       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.73       |\n",
      "|    explained_variance   | 0.611       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 1.18        |\n",
      "|    n_updates            | 1240        |\n",
      "|    policy_gradient_loss | -0.039      |\n",
      "|    value_loss           | 3.57        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -8.75       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 98          |\n",
      "|    iterations           | 126         |\n",
      "|    time_elapsed         | 2627        |\n",
      "|    total_timesteps      | 258048      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.019306043 |\n",
      "|    clip_fraction        | 0.186       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.64       |\n",
      "|    explained_variance   | 0.539       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.775       |\n",
      "|    n_updates            | 1250        |\n",
      "|    policy_gradient_loss | -0.0358     |\n",
      "|    value_loss           | 4.04        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -8.35       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 98          |\n",
      "|    iterations           | 127         |\n",
      "|    time_elapsed         | 2645        |\n",
      "|    total_timesteps      | 260096      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.023239465 |\n",
      "|    clip_fraction        | 0.224       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.64       |\n",
      "|    explained_variance   | 0.499       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.536       |\n",
      "|    n_updates            | 1260        |\n",
      "|    policy_gradient_loss | -0.0396     |\n",
      "|    value_loss           | 2.54        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -9.05       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 98          |\n",
      "|    iterations           | 128         |\n",
      "|    time_elapsed         | 2663        |\n",
      "|    total_timesteps      | 262144      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.020229641 |\n",
      "|    clip_fraction        | 0.199       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.61       |\n",
      "|    explained_variance   | 0.635       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.463       |\n",
      "|    n_updates            | 1270        |\n",
      "|    policy_gradient_loss | -0.0385     |\n",
      "|    value_loss           | 3.24        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -8.4        |\n",
      "| time/                   |             |\n",
      "|    fps                  | 98          |\n",
      "|    iterations           | 129         |\n",
      "|    time_elapsed         | 2687        |\n",
      "|    total_timesteps      | 264192      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.020002034 |\n",
      "|    clip_fraction        | 0.197       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.53       |\n",
      "|    explained_variance   | 0.512       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.911       |\n",
      "|    n_updates            | 1280        |\n",
      "|    policy_gradient_loss | -0.0388     |\n",
      "|    value_loss           | 2.96        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -8.76       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 98          |\n",
      "|    iterations           | 130         |\n",
      "|    time_elapsed         | 2711        |\n",
      "|    total_timesteps      | 266240      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.021177042 |\n",
      "|    clip_fraction        | 0.208       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.61       |\n",
      "|    explained_variance   | 0.546       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.614       |\n",
      "|    n_updates            | 1290        |\n",
      "|    policy_gradient_loss | -0.0393     |\n",
      "|    value_loss           | 3.05        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -7.88       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 98          |\n",
      "|    iterations           | 131         |\n",
      "|    time_elapsed         | 2732        |\n",
      "|    total_timesteps      | 268288      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.020658165 |\n",
      "|    clip_fraction        | 0.201       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.58       |\n",
      "|    explained_variance   | 0.454       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.559       |\n",
      "|    n_updates            | 1300        |\n",
      "|    policy_gradient_loss | -0.0374     |\n",
      "|    value_loss           | 2.72        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -7.56       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 98          |\n",
      "|    iterations           | 132         |\n",
      "|    time_elapsed         | 2753        |\n",
      "|    total_timesteps      | 270336      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.024503123 |\n",
      "|    clip_fraction        | 0.225       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.63       |\n",
      "|    explained_variance   | 0.486       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.781       |\n",
      "|    n_updates            | 1310        |\n",
      "|    policy_gradient_loss | -0.0437     |\n",
      "|    value_loss           | 3.01        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -6.85       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 98          |\n",
      "|    iterations           | 133         |\n",
      "|    time_elapsed         | 2773        |\n",
      "|    total_timesteps      | 272384      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.019777605 |\n",
      "|    clip_fraction        | 0.19        |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.56       |\n",
      "|    explained_variance   | 0.605       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.646       |\n",
      "|    n_updates            | 1320        |\n",
      "|    policy_gradient_loss | -0.0351     |\n",
      "|    value_loss           | 2.88        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -5.81       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 98          |\n",
      "|    iterations           | 134         |\n",
      "|    time_elapsed         | 2796        |\n",
      "|    total_timesteps      | 274432      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.020357527 |\n",
      "|    clip_fraction        | 0.195       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.52       |\n",
      "|    explained_variance   | 0.569       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 1.03        |\n",
      "|    n_updates            | 1330        |\n",
      "|    policy_gradient_loss | -0.0375     |\n",
      "|    value_loss           | 3.15        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -5.37       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 98          |\n",
      "|    iterations           | 135         |\n",
      "|    time_elapsed         | 2814        |\n",
      "|    total_timesteps      | 276480      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.022935197 |\n",
      "|    clip_fraction        | 0.214       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.53       |\n",
      "|    explained_variance   | 0.632       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.612       |\n",
      "|    n_updates            | 1340        |\n",
      "|    policy_gradient_loss | -0.0371     |\n",
      "|    value_loss           | 2.87        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -5.9        |\n",
      "| time/                   |             |\n",
      "|    fps                  | 98          |\n",
      "|    iterations           | 136         |\n",
      "|    time_elapsed         | 2833        |\n",
      "|    total_timesteps      | 278528      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.021236831 |\n",
      "|    clip_fraction        | 0.213       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.52       |\n",
      "|    explained_variance   | 0.63        |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.463       |\n",
      "|    n_updates            | 1350        |\n",
      "|    policy_gradient_loss | -0.0387     |\n",
      "|    value_loss           | 2.89        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -6.68       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 98          |\n",
      "|    iterations           | 137         |\n",
      "|    time_elapsed         | 2851        |\n",
      "|    total_timesteps      | 280576      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.020869294 |\n",
      "|    clip_fraction        | 0.195       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.59       |\n",
      "|    explained_variance   | 0.579       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.662       |\n",
      "|    n_updates            | 1360        |\n",
      "|    policy_gradient_loss | -0.0369     |\n",
      "|    value_loss           | 3.1         |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -7.18       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 98          |\n",
      "|    iterations           | 138         |\n",
      "|    time_elapsed         | 2868        |\n",
      "|    total_timesteps      | 282624      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.023462959 |\n",
      "|    clip_fraction        | 0.193       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.54       |\n",
      "|    explained_variance   | 0.567       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.51        |\n",
      "|    n_updates            | 1370        |\n",
      "|    policy_gradient_loss | -0.0387     |\n",
      "|    value_loss           | 3.22        |\n",
      "-----------------------------------------\n",
      "----------------------------------------\n",
      "| rollout/                |            |\n",
      "|    ep_len_mean          | 100        |\n",
      "|    ep_rew_mean          | -7.78      |\n",
      "| time/                   |            |\n",
      "|    fps                  | 98         |\n",
      "|    iterations           | 139        |\n",
      "|    time_elapsed         | 2885       |\n",
      "|    total_timesteps      | 284672     |\n",
      "| train/                  |            |\n",
      "|    approx_kl            | 0.02314689 |\n",
      "|    clip_fraction        | 0.219      |\n",
      "|    clip_range           | 0.2        |\n",
      "|    entropy_loss         | -3.52      |\n",
      "|    explained_variance   | 0.586      |\n",
      "|    learning_rate        | 0.0003     |\n",
      "|    loss                 | 0.649      |\n",
      "|    n_updates            | 1380       |\n",
      "|    policy_gradient_loss | -0.0383    |\n",
      "|    value_loss           | 3.14       |\n",
      "----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -8.47       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 98          |\n",
      "|    iterations           | 140         |\n",
      "|    time_elapsed         | 2903        |\n",
      "|    total_timesteps      | 286720      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.018873183 |\n",
      "|    clip_fraction        | 0.167       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.44       |\n",
      "|    explained_variance   | 0.509       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.561       |\n",
      "|    n_updates            | 1390        |\n",
      "|    policy_gradient_loss | -0.0348     |\n",
      "|    value_loss           | 3.51        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -8.49       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 98          |\n",
      "|    iterations           | 141         |\n",
      "|    time_elapsed         | 2922        |\n",
      "|    total_timesteps      | 288768      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.019558512 |\n",
      "|    clip_fraction        | 0.19        |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.4        |\n",
      "|    explained_variance   | 0.606       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.558       |\n",
      "|    n_updates            | 1400        |\n",
      "|    policy_gradient_loss | -0.0393     |\n",
      "|    value_loss           | 2.95        |\n",
      "-----------------------------------------\n",
      "----------------------------------------\n",
      "| rollout/                |            |\n",
      "|    ep_len_mean          | 100        |\n",
      "|    ep_rew_mean          | -8.55      |\n",
      "| time/                   |            |\n",
      "|    fps                  | 98         |\n",
      "|    iterations           | 142        |\n",
      "|    time_elapsed         | 2942       |\n",
      "|    total_timesteps      | 290816     |\n",
      "| train/                  |            |\n",
      "|    approx_kl            | 0.02073961 |\n",
      "|    clip_fraction        | 0.197      |\n",
      "|    clip_range           | 0.2        |\n",
      "|    entropy_loss         | -3.52      |\n",
      "|    explained_variance   | 0.556      |\n",
      "|    learning_rate        | 0.0003     |\n",
      "|    loss                 | 0.526      |\n",
      "|    n_updates            | 1410       |\n",
      "|    policy_gradient_loss | -0.0347    |\n",
      "|    value_loss           | 3.12       |\n",
      "----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -9.33       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 98          |\n",
      "|    iterations           | 143         |\n",
      "|    time_elapsed         | 2963        |\n",
      "|    total_timesteps      | 292864      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.021049958 |\n",
      "|    clip_fraction        | 0.193       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.49       |\n",
      "|    explained_variance   | 0.685       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.778       |\n",
      "|    n_updates            | 1420        |\n",
      "|    policy_gradient_loss | -0.0362     |\n",
      "|    value_loss           | 2.66        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -8.29       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 98          |\n",
      "|    iterations           | 144         |\n",
      "|    time_elapsed         | 2986        |\n",
      "|    total_timesteps      | 294912      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.021248057 |\n",
      "|    clip_fraction        | 0.213       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.44       |\n",
      "|    explained_variance   | 0.569       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.641       |\n",
      "|    n_updates            | 1430        |\n",
      "|    policy_gradient_loss | -0.0372     |\n",
      "|    value_loss           | 2.77        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -8.2        |\n",
      "| time/                   |             |\n",
      "|    fps                  | 98          |\n",
      "|    iterations           | 145         |\n",
      "|    time_elapsed         | 3009        |\n",
      "|    total_timesteps      | 296960      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.020759182 |\n",
      "|    clip_fraction        | 0.203       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.38       |\n",
      "|    explained_variance   | 0.692       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.714       |\n",
      "|    n_updates            | 1440        |\n",
      "|    policy_gradient_loss | -0.0393     |\n",
      "|    value_loss           | 3.47        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -8.18       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 98          |\n",
      "|    iterations           | 146         |\n",
      "|    time_elapsed         | 3030        |\n",
      "|    total_timesteps      | 299008      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.021005243 |\n",
      "|    clip_fraction        | 0.185       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.39       |\n",
      "|    explained_variance   | 0.624       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.47        |\n",
      "|    n_updates            | 1450        |\n",
      "|    policy_gradient_loss | -0.0347     |\n",
      "|    value_loss           | 2.42        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -8.1        |\n",
      "| time/                   |             |\n",
      "|    fps                  | 98          |\n",
      "|    iterations           | 147         |\n",
      "|    time_elapsed         | 3051        |\n",
      "|    total_timesteps      | 301056      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.020267222 |\n",
      "|    clip_fraction        | 0.208       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.42       |\n",
      "|    explained_variance   | 0.604       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.533       |\n",
      "|    n_updates            | 1460        |\n",
      "|    policy_gradient_loss | -0.0361     |\n",
      "|    value_loss           | 2.97        |\n",
      "-----------------------------------------\n",
      "----------------------------------------\n",
      "| rollout/                |            |\n",
      "|    ep_len_mean          | 100        |\n",
      "|    ep_rew_mean          | -8.46      |\n",
      "| time/                   |            |\n",
      "|    fps                  | 98         |\n",
      "|    iterations           | 148        |\n",
      "|    time_elapsed         | 3073       |\n",
      "|    total_timesteps      | 303104     |\n",
      "| train/                  |            |\n",
      "|    approx_kl            | 0.01905514 |\n",
      "|    clip_fraction        | 0.186      |\n",
      "|    clip_range           | 0.2        |\n",
      "|    entropy_loss         | -3.46      |\n",
      "|    explained_variance   | 0.648      |\n",
      "|    learning_rate        | 0.0003     |\n",
      "|    loss                 | 0.758      |\n",
      "|    n_updates            | 1470       |\n",
      "|    policy_gradient_loss | -0.0361    |\n",
      "|    value_loss           | 3.28       |\n",
      "----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -8.99       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 98          |\n",
      "|    iterations           | 149         |\n",
      "|    time_elapsed         | 3095        |\n",
      "|    total_timesteps      | 305152      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.020800564 |\n",
      "|    clip_fraction        | 0.185       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.29       |\n",
      "|    explained_variance   | 0.581       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.815       |\n",
      "|    n_updates            | 1480        |\n",
      "|    policy_gradient_loss | -0.036      |\n",
      "|    value_loss           | 3.05        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -8.01       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 98          |\n",
      "|    iterations           | 150         |\n",
      "|    time_elapsed         | 3115        |\n",
      "|    total_timesteps      | 307200      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.020061713 |\n",
      "|    clip_fraction        | 0.192       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.37       |\n",
      "|    explained_variance   | 0.627       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.955       |\n",
      "|    n_updates            | 1490        |\n",
      "|    policy_gradient_loss | -0.0398     |\n",
      "|    value_loss           | 3.65        |\n",
      "-----------------------------------------\n",
      "----------------------------------------\n",
      "| rollout/                |            |\n",
      "|    ep_len_mean          | 100        |\n",
      "|    ep_rew_mean          | -6.78      |\n",
      "| time/                   |            |\n",
      "|    fps                  | 98         |\n",
      "|    iterations           | 151        |\n",
      "|    time_elapsed         | 3137       |\n",
      "|    total_timesteps      | 309248     |\n",
      "| train/                  |            |\n",
      "|    approx_kl            | 0.02052019 |\n",
      "|    clip_fraction        | 0.191      |\n",
      "|    clip_range           | 0.2        |\n",
      "|    entropy_loss         | -3.22      |\n",
      "|    explained_variance   | 0.522      |\n",
      "|    learning_rate        | 0.0003     |\n",
      "|    loss                 | 0.535      |\n",
      "|    n_updates            | 1500       |\n",
      "|    policy_gradient_loss | -0.0384    |\n",
      "|    value_loss           | 2.81       |\n",
      "----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -5.47       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 98          |\n",
      "|    iterations           | 152         |\n",
      "|    time_elapsed         | 3159        |\n",
      "|    total_timesteps      | 311296      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.021021336 |\n",
      "|    clip_fraction        | 0.184       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.21       |\n",
      "|    explained_variance   | 0.688       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.827       |\n",
      "|    n_updates            | 1510        |\n",
      "|    policy_gradient_loss | -0.0368     |\n",
      "|    value_loss           | 3.41        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -4.27       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 98          |\n",
      "|    iterations           | 153         |\n",
      "|    time_elapsed         | 3181        |\n",
      "|    total_timesteps      | 313344      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.024073292 |\n",
      "|    clip_fraction        | 0.228       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.29       |\n",
      "|    explained_variance   | 0.535       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.751       |\n",
      "|    n_updates            | 1520        |\n",
      "|    policy_gradient_loss | -0.0421     |\n",
      "|    value_loss           | 3.44        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -3.17       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 98          |\n",
      "|    iterations           | 154         |\n",
      "|    time_elapsed         | 3203        |\n",
      "|    total_timesteps      | 315392      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.018847175 |\n",
      "|    clip_fraction        | 0.191       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.22       |\n",
      "|    explained_variance   | 0.603       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.475       |\n",
      "|    n_updates            | 1530        |\n",
      "|    policy_gradient_loss | -0.0363     |\n",
      "|    value_loss           | 3.18        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -4.48       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 98          |\n",
      "|    iterations           | 155         |\n",
      "|    time_elapsed         | 3224        |\n",
      "|    total_timesteps      | 317440      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.023422647 |\n",
      "|    clip_fraction        | 0.206       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.26       |\n",
      "|    explained_variance   | 0.578       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.254       |\n",
      "|    n_updates            | 1540        |\n",
      "|    policy_gradient_loss | -0.0388     |\n",
      "|    value_loss           | 2.85        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -5.48       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 98          |\n",
      "|    iterations           | 156         |\n",
      "|    time_elapsed         | 3246        |\n",
      "|    total_timesteps      | 319488      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.019572802 |\n",
      "|    clip_fraction        | 0.184       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.14       |\n",
      "|    explained_variance   | 0.583       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.698       |\n",
      "|    n_updates            | 1550        |\n",
      "|    policy_gradient_loss | -0.0332     |\n",
      "|    value_loss           | 3.66        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -5.15       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 98          |\n",
      "|    iterations           | 157         |\n",
      "|    time_elapsed         | 3266        |\n",
      "|    total_timesteps      | 321536      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.023338519 |\n",
      "|    clip_fraction        | 0.21        |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.22       |\n",
      "|    explained_variance   | 0.525       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.597       |\n",
      "|    n_updates            | 1560        |\n",
      "|    policy_gradient_loss | -0.0392     |\n",
      "|    value_loss           | 3.57        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -5.14       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 98          |\n",
      "|    iterations           | 158         |\n",
      "|    time_elapsed         | 3286        |\n",
      "|    total_timesteps      | 323584      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.023887988 |\n",
      "|    clip_fraction        | 0.217       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.24       |\n",
      "|    explained_variance   | 0.611       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.551       |\n",
      "|    n_updates            | 1570        |\n",
      "|    policy_gradient_loss | -0.0403     |\n",
      "|    value_loss           | 2.76        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -5.33       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 98          |\n",
      "|    iterations           | 159         |\n",
      "|    time_elapsed         | 3306        |\n",
      "|    total_timesteps      | 325632      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.020528106 |\n",
      "|    clip_fraction        | 0.183       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.18       |\n",
      "|    explained_variance   | 0.542       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.886       |\n",
      "|    n_updates            | 1580        |\n",
      "|    policy_gradient_loss | -0.0345     |\n",
      "|    value_loss           | 3.63        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -4.93       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 98          |\n",
      "|    iterations           | 160         |\n",
      "|    time_elapsed         | 3325        |\n",
      "|    total_timesteps      | 327680      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.021694746 |\n",
      "|    clip_fraction        | 0.209       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.23       |\n",
      "|    explained_variance   | 0.653       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.428       |\n",
      "|    n_updates            | 1590        |\n",
      "|    policy_gradient_loss | -0.0392     |\n",
      "|    value_loss           | 3.2         |\n",
      "-----------------------------------------\n",
      "----------------------------------------\n",
      "| rollout/                |            |\n",
      "|    ep_len_mean          | 100        |\n",
      "|    ep_rew_mean          | -4.96      |\n",
      "| time/                   |            |\n",
      "|    fps                  | 98         |\n",
      "|    iterations           | 161        |\n",
      "|    time_elapsed         | 3345       |\n",
      "|    total_timesteps      | 329728     |\n",
      "| train/                  |            |\n",
      "|    approx_kl            | 0.02007154 |\n",
      "|    clip_fraction        | 0.181      |\n",
      "|    clip_range           | 0.2        |\n",
      "|    entropy_loss         | -3.27      |\n",
      "|    explained_variance   | 0.597      |\n",
      "|    learning_rate        | 0.0003     |\n",
      "|    loss                 | 0.521      |\n",
      "|    n_updates            | 1600       |\n",
      "|    policy_gradient_loss | -0.037     |\n",
      "|    value_loss           | 3.79       |\n",
      "----------------------------------------\n",
      "----------------------------------------\n",
      "| rollout/                |            |\n",
      "|    ep_len_mean          | 100        |\n",
      "|    ep_rew_mean          | -6.07      |\n",
      "| time/                   |            |\n",
      "|    fps                  | 98         |\n",
      "|    iterations           | 162        |\n",
      "|    time_elapsed         | 3366       |\n",
      "|    total_timesteps      | 331776     |\n",
      "| train/                  |            |\n",
      "|    approx_kl            | 0.02106575 |\n",
      "|    clip_fraction        | 0.206      |\n",
      "|    clip_range           | 0.2        |\n",
      "|    entropy_loss         | -3.31      |\n",
      "|    explained_variance   | 0.555      |\n",
      "|    learning_rate        | 0.0003     |\n",
      "|    loss                 | 0.311      |\n",
      "|    n_updates            | 1610       |\n",
      "|    policy_gradient_loss | -0.0368    |\n",
      "|    value_loss           | 3.03       |\n",
      "----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -7.08       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 98          |\n",
      "|    iterations           | 163         |\n",
      "|    time_elapsed         | 3385        |\n",
      "|    total_timesteps      | 333824      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.021932878 |\n",
      "|    clip_fraction        | 0.211       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.35       |\n",
      "|    explained_variance   | 0.658       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.633       |\n",
      "|    n_updates            | 1620        |\n",
      "|    policy_gradient_loss | -0.0338     |\n",
      "|    value_loss           | 2.83        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -8.42       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 98          |\n",
      "|    iterations           | 164         |\n",
      "|    time_elapsed         | 3407        |\n",
      "|    total_timesteps      | 335872      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.022133648 |\n",
      "|    clip_fraction        | 0.205       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.21       |\n",
      "|    explained_variance   | 0.623       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.513       |\n",
      "|    n_updates            | 1630        |\n",
      "|    policy_gradient_loss | -0.0376     |\n",
      "|    value_loss           | 2.99        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -9.47       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 98          |\n",
      "|    iterations           | 165         |\n",
      "|    time_elapsed         | 3427        |\n",
      "|    total_timesteps      | 337920      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.019144222 |\n",
      "|    clip_fraction        | 0.18        |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.3        |\n",
      "|    explained_variance   | 0.656       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.713       |\n",
      "|    n_updates            | 1640        |\n",
      "|    policy_gradient_loss | -0.0342     |\n",
      "|    value_loss           | 3.6         |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -9.71       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 98          |\n",
      "|    iterations           | 166         |\n",
      "|    time_elapsed         | 3446        |\n",
      "|    total_timesteps      | 339968      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.021439534 |\n",
      "|    clip_fraction        | 0.194       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.31       |\n",
      "|    explained_variance   | 0.562       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.453       |\n",
      "|    n_updates            | 1650        |\n",
      "|    policy_gradient_loss | -0.0356     |\n",
      "|    value_loss           | 3.34        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -9.2        |\n",
      "| time/                   |             |\n",
      "|    fps                  | 98          |\n",
      "|    iterations           | 167         |\n",
      "|    time_elapsed         | 3463        |\n",
      "|    total_timesteps      | 342016      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.022078691 |\n",
      "|    clip_fraction        | 0.199       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.18       |\n",
      "|    explained_variance   | 0.591       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.464       |\n",
      "|    n_updates            | 1660        |\n",
      "|    policy_gradient_loss | -0.0381     |\n",
      "|    value_loss           | 2.64        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -8.62       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 98          |\n",
      "|    iterations           | 168         |\n",
      "|    time_elapsed         | 3480        |\n",
      "|    total_timesteps      | 344064      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.023100281 |\n",
      "|    clip_fraction        | 0.205       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.11       |\n",
      "|    explained_variance   | 0.653       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.504       |\n",
      "|    n_updates            | 1670        |\n",
      "|    policy_gradient_loss | -0.041      |\n",
      "|    value_loss           | 2.88        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -7.6        |\n",
      "| time/                   |             |\n",
      "|    fps                  | 98          |\n",
      "|    iterations           | 169         |\n",
      "|    time_elapsed         | 3497        |\n",
      "|    total_timesteps      | 346112      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.021822069 |\n",
      "|    clip_fraction        | 0.181       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.22       |\n",
      "|    explained_variance   | 0.584       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.516       |\n",
      "|    n_updates            | 1680        |\n",
      "|    policy_gradient_loss | -0.0373     |\n",
      "|    value_loss           | 3.88        |\n",
      "-----------------------------------------\n",
      "----------------------------------------\n",
      "| rollout/                |            |\n",
      "|    ep_len_mean          | 100        |\n",
      "|    ep_rew_mean          | -6.64      |\n",
      "| time/                   |            |\n",
      "|    fps                  | 99         |\n",
      "|    iterations           | 170        |\n",
      "|    time_elapsed         | 3515       |\n",
      "|    total_timesteps      | 348160     |\n",
      "| train/                  |            |\n",
      "|    approx_kl            | 0.02070801 |\n",
      "|    clip_fraction        | 0.191      |\n",
      "|    clip_range           | 0.2        |\n",
      "|    entropy_loss         | -3.14      |\n",
      "|    explained_variance   | 0.626      |\n",
      "|    learning_rate        | 0.0003     |\n",
      "|    loss                 | 0.64       |\n",
      "|    n_updates            | 1690       |\n",
      "|    policy_gradient_loss | -0.0364    |\n",
      "|    value_loss           | 3.3        |\n",
      "----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -5.67       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 99          |\n",
      "|    iterations           | 171         |\n",
      "|    time_elapsed         | 3533        |\n",
      "|    total_timesteps      | 350208      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.021939173 |\n",
      "|    clip_fraction        | 0.201       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.07       |\n",
      "|    explained_variance   | 0.604       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.601       |\n",
      "|    n_updates            | 1700        |\n",
      "|    policy_gradient_loss | -0.0369     |\n",
      "|    value_loss           | 3.84        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -5.47       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 99          |\n",
      "|    iterations           | 172         |\n",
      "|    time_elapsed         | 3553        |\n",
      "|    total_timesteps      | 352256      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.020946782 |\n",
      "|    clip_fraction        | 0.204       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.15       |\n",
      "|    explained_variance   | 0.712       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.601       |\n",
      "|    n_updates            | 1710        |\n",
      "|    policy_gradient_loss | -0.0371     |\n",
      "|    value_loss           | 2.88        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -5.92       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 99          |\n",
      "|    iterations           | 173         |\n",
      "|    time_elapsed         | 3574        |\n",
      "|    total_timesteps      | 354304      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.021844082 |\n",
      "|    clip_fraction        | 0.206       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.19       |\n",
      "|    explained_variance   | 0.527       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.633       |\n",
      "|    n_updates            | 1720        |\n",
      "|    policy_gradient_loss | -0.0376     |\n",
      "|    value_loss           | 3.16        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -6.53       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 99          |\n",
      "|    iterations           | 174         |\n",
      "|    time_elapsed         | 3595        |\n",
      "|    total_timesteps      | 356352      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.023706708 |\n",
      "|    clip_fraction        | 0.215       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.13       |\n",
      "|    explained_variance   | 0.532       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.531       |\n",
      "|    n_updates            | 1730        |\n",
      "|    policy_gradient_loss | -0.0409     |\n",
      "|    value_loss           | 2.95        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -7.35       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 99          |\n",
      "|    iterations           | 175         |\n",
      "|    time_elapsed         | 3615        |\n",
      "|    total_timesteps      | 358400      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.021056674 |\n",
      "|    clip_fraction        | 0.213       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.19       |\n",
      "|    explained_variance   | 0.71        |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.789       |\n",
      "|    n_updates            | 1740        |\n",
      "|    policy_gradient_loss | -0.035      |\n",
      "|    value_loss           | 3.03        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -7.55       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 99          |\n",
      "|    iterations           | 176         |\n",
      "|    time_elapsed         | 3636        |\n",
      "|    total_timesteps      | 360448      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.021556843 |\n",
      "|    clip_fraction        | 0.186       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.08       |\n",
      "|    explained_variance   | 0.5         |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.924       |\n",
      "|    n_updates            | 1750        |\n",
      "|    policy_gradient_loss | -0.0347     |\n",
      "|    value_loss           | 3.68        |\n",
      "-----------------------------------------\n",
      "----------------------------------------\n",
      "| rollout/                |            |\n",
      "|    ep_len_mean          | 100        |\n",
      "|    ep_rew_mean          | -6.84      |\n",
      "| time/                   |            |\n",
      "|    fps                  | 99         |\n",
      "|    iterations           | 177        |\n",
      "|    time_elapsed         | 3657       |\n",
      "|    total_timesteps      | 362496     |\n",
      "| train/                  |            |\n",
      "|    approx_kl            | 0.02150176 |\n",
      "|    clip_fraction        | 0.188      |\n",
      "|    clip_range           | 0.2        |\n",
      "|    entropy_loss         | -3.09      |\n",
      "|    explained_variance   | 0.537      |\n",
      "|    learning_rate        | 0.0003     |\n",
      "|    loss                 | 0.524      |\n",
      "|    n_updates            | 1760       |\n",
      "|    policy_gradient_loss | -0.0366    |\n",
      "|    value_loss           | 3.58       |\n",
      "----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -6.28       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 99          |\n",
      "|    iterations           | 178         |\n",
      "|    time_elapsed         | 3678        |\n",
      "|    total_timesteps      | 364544      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.021043979 |\n",
      "|    clip_fraction        | 0.2         |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3          |\n",
      "|    explained_variance   | 0.57        |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.381       |\n",
      "|    n_updates            | 1770        |\n",
      "|    policy_gradient_loss | -0.0396     |\n",
      "|    value_loss           | 2.8         |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -6.47       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 99          |\n",
      "|    iterations           | 179         |\n",
      "|    time_elapsed         | 3695        |\n",
      "|    total_timesteps      | 366592      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.023565313 |\n",
      "|    clip_fraction        | 0.231       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -2.97       |\n",
      "|    explained_variance   | 0.652       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.418       |\n",
      "|    n_updates            | 1780        |\n",
      "|    policy_gradient_loss | -0.0399     |\n",
      "|    value_loss           | 2.91        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -6.93       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 99          |\n",
      "|    iterations           | 180         |\n",
      "|    time_elapsed         | 3714        |\n",
      "|    total_timesteps      | 368640      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.020620871 |\n",
      "|    clip_fraction        | 0.192       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.06       |\n",
      "|    explained_variance   | 0.633       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.862       |\n",
      "|    n_updates            | 1790        |\n",
      "|    policy_gradient_loss | -0.0372     |\n",
      "|    value_loss           | 3.19        |\n",
      "-----------------------------------------\n",
      "----------------------------------------\n",
      "| rollout/                |            |\n",
      "|    ep_len_mean          | 100        |\n",
      "|    ep_rew_mean          | -7.35      |\n",
      "| time/                   |            |\n",
      "|    fps                  | 99         |\n",
      "|    iterations           | 181        |\n",
      "|    time_elapsed         | 3734       |\n",
      "|    total_timesteps      | 370688     |\n",
      "| train/                  |            |\n",
      "|    approx_kl            | 0.01896998 |\n",
      "|    clip_fraction        | 0.187      |\n",
      "|    clip_range           | 0.2        |\n",
      "|    entropy_loss         | -3.16      |\n",
      "|    explained_variance   | 0.544      |\n",
      "|    learning_rate        | 0.0003     |\n",
      "|    loss                 | 0.908      |\n",
      "|    n_updates            | 1800       |\n",
      "|    policy_gradient_loss | -0.0345    |\n",
      "|    value_loss           | 3.55       |\n",
      "----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -8.26       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 99          |\n",
      "|    iterations           | 182         |\n",
      "|    time_elapsed         | 3754        |\n",
      "|    total_timesteps      | 372736      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.022271328 |\n",
      "|    clip_fraction        | 0.212       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.05       |\n",
      "|    explained_variance   | 0.57        |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.823       |\n",
      "|    n_updates            | 1810        |\n",
      "|    policy_gradient_loss | -0.0379     |\n",
      "|    value_loss           | 3.14        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -8.61       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 99          |\n",
      "|    iterations           | 183         |\n",
      "|    time_elapsed         | 3776        |\n",
      "|    total_timesteps      | 374784      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.021756101 |\n",
      "|    clip_fraction        | 0.195       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -2.98       |\n",
      "|    explained_variance   | 0.594       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.668       |\n",
      "|    n_updates            | 1820        |\n",
      "|    policy_gradient_loss | -0.0374     |\n",
      "|    value_loss           | 3.35        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -7.85       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 99          |\n",
      "|    iterations           | 184         |\n",
      "|    time_elapsed         | 3797        |\n",
      "|    total_timesteps      | 376832      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.023077067 |\n",
      "|    clip_fraction        | 0.209       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.04       |\n",
      "|    explained_variance   | 0.572       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.565       |\n",
      "|    n_updates            | 1830        |\n",
      "|    policy_gradient_loss | -0.0401     |\n",
      "|    value_loss           | 3.13        |\n",
      "-----------------------------------------\n",
      "----------------------------------------\n",
      "| rollout/                |            |\n",
      "|    ep_len_mean          | 100        |\n",
      "|    ep_rew_mean          | -8.53      |\n",
      "| time/                   |            |\n",
      "|    fps                  | 99         |\n",
      "|    iterations           | 185        |\n",
      "|    time_elapsed         | 3817       |\n",
      "|    total_timesteps      | 378880     |\n",
      "| train/                  |            |\n",
      "|    approx_kl            | 0.02274573 |\n",
      "|    clip_fraction        | 0.222      |\n",
      "|    clip_range           | 0.2        |\n",
      "|    entropy_loss         | -3.1       |\n",
      "|    explained_variance   | 0.529      |\n",
      "|    learning_rate        | 0.0003     |\n",
      "|    loss                 | 0.755      |\n",
      "|    n_updates            | 1840       |\n",
      "|    policy_gradient_loss | -0.0379    |\n",
      "|    value_loss           | 3.8        |\n",
      "----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -9.32       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 99          |\n",
      "|    iterations           | 186         |\n",
      "|    time_elapsed         | 3838        |\n",
      "|    total_timesteps      | 380928      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.020705918 |\n",
      "|    clip_fraction        | 0.198       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.07       |\n",
      "|    explained_variance   | 0.653       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.431       |\n",
      "|    n_updates            | 1850        |\n",
      "|    policy_gradient_loss | -0.033      |\n",
      "|    value_loss           | 2.66        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -9.83       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 99          |\n",
      "|    iterations           | 187         |\n",
      "|    time_elapsed         | 3860        |\n",
      "|    total_timesteps      | 382976      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.024510942 |\n",
      "|    clip_fraction        | 0.225       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.09       |\n",
      "|    explained_variance   | 0.622       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.459       |\n",
      "|    n_updates            | 1860        |\n",
      "|    policy_gradient_loss | -0.041      |\n",
      "|    value_loss           | 2.74        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -9.81       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 99          |\n",
      "|    iterations           | 188         |\n",
      "|    time_elapsed         | 3880        |\n",
      "|    total_timesteps      | 385024      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.021233764 |\n",
      "|    clip_fraction        | 0.21        |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -3.1        |\n",
      "|    explained_variance   | 0.63        |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.441       |\n",
      "|    n_updates            | 1870        |\n",
      "|    policy_gradient_loss | -0.0342     |\n",
      "|    value_loss           | 3.15        |\n",
      "-----------------------------------------\n",
      "----------------------------------------\n",
      "| rollout/                |            |\n",
      "|    ep_len_mean          | 100        |\n",
      "|    ep_rew_mean          | -9.91      |\n",
      "| time/                   |            |\n",
      "|    fps                  | 99         |\n",
      "|    iterations           | 189        |\n",
      "|    time_elapsed         | 3897       |\n",
      "|    total_timesteps      | 387072     |\n",
      "| train/                  |            |\n",
      "|    approx_kl            | 0.02200825 |\n",
      "|    clip_fraction        | 0.197      |\n",
      "|    clip_range           | 0.2        |\n",
      "|    entropy_loss         | -2.82      |\n",
      "|    explained_variance   | 0.54       |\n",
      "|    learning_rate        | 0.0003     |\n",
      "|    loss                 | 0.432      |\n",
      "|    n_updates            | 1880       |\n",
      "|    policy_gradient_loss | -0.0416    |\n",
      "|    value_loss           | 3.18       |\n",
      "----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -8.86       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 99          |\n",
      "|    iterations           | 190         |\n",
      "|    time_elapsed         | 3916        |\n",
      "|    total_timesteps      | 389120      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.024268305 |\n",
      "|    clip_fraction        | 0.211       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -2.9        |\n",
      "|    explained_variance   | 0.523       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.409       |\n",
      "|    n_updates            | 1890        |\n",
      "|    policy_gradient_loss | -0.0363     |\n",
      "|    value_loss           | 2.26        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -8.47       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 99          |\n",
      "|    iterations           | 191         |\n",
      "|    time_elapsed         | 3932        |\n",
      "|    total_timesteps      | 391168      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.017533977 |\n",
      "|    clip_fraction        | 0.173       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -2.92       |\n",
      "|    explained_variance   | 0.575       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.554       |\n",
      "|    n_updates            | 1900        |\n",
      "|    policy_gradient_loss | -0.0318     |\n",
      "|    value_loss           | 2.76        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -8.61       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 99          |\n",
      "|    iterations           | 192         |\n",
      "|    time_elapsed         | 3950        |\n",
      "|    total_timesteps      | 393216      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.020154819 |\n",
      "|    clip_fraction        | 0.191       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -2.91       |\n",
      "|    explained_variance   | 0.678       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 1.26        |\n",
      "|    n_updates            | 1910        |\n",
      "|    policy_gradient_loss | -0.0353     |\n",
      "|    value_loss           | 3.75        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -8.67       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 99          |\n",
      "|    iterations           | 193         |\n",
      "|    time_elapsed         | 3968        |\n",
      "|    total_timesteps      | 395264      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.018824011 |\n",
      "|    clip_fraction        | 0.171       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -2.89       |\n",
      "|    explained_variance   | 0.653       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.826       |\n",
      "|    n_updates            | 1920        |\n",
      "|    policy_gradient_loss | -0.0317     |\n",
      "|    value_loss           | 4.29        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -8.6        |\n",
      "| time/                   |             |\n",
      "|    fps                  | 99          |\n",
      "|    iterations           | 194         |\n",
      "|    time_elapsed         | 3987        |\n",
      "|    total_timesteps      | 397312      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.017822808 |\n",
      "|    clip_fraction        | 0.171       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -2.83       |\n",
      "|    explained_variance   | 0.684       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.745       |\n",
      "|    n_updates            | 1930        |\n",
      "|    policy_gradient_loss | -0.0327     |\n",
      "|    value_loss           | 4.02        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -8.09       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 99          |\n",
      "|    iterations           | 195         |\n",
      "|    time_elapsed         | 4005        |\n",
      "|    total_timesteps      | 399360      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.022044003 |\n",
      "|    clip_fraction        | 0.203       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -2.96       |\n",
      "|    explained_variance   | 0.666       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.949       |\n",
      "|    n_updates            | 1940        |\n",
      "|    policy_gradient_loss | -0.0364     |\n",
      "|    value_loss           | 3.35        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -7.85       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 99          |\n",
      "|    iterations           | 196         |\n",
      "|    time_elapsed         | 4022        |\n",
      "|    total_timesteps      | 401408      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.018331122 |\n",
      "|    clip_fraction        | 0.175       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -2.92       |\n",
      "|    explained_variance   | 0.544       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 1.04        |\n",
      "|    n_updates            | 1950        |\n",
      "|    policy_gradient_loss | -0.0339     |\n",
      "|    value_loss           | 4.06        |\n",
      "-----------------------------------------\n",
      "----------------------------------------\n",
      "| rollout/                |            |\n",
      "|    ep_len_mean          | 100        |\n",
      "|    ep_rew_mean          | -7.68      |\n",
      "| time/                   |            |\n",
      "|    fps                  | 99         |\n",
      "|    iterations           | 197        |\n",
      "|    time_elapsed         | 4041       |\n",
      "|    total_timesteps      | 403456     |\n",
      "| train/                  |            |\n",
      "|    approx_kl            | 0.02305067 |\n",
      "|    clip_fraction        | 0.214      |\n",
      "|    clip_range           | 0.2        |\n",
      "|    entropy_loss         | -2.91      |\n",
      "|    explained_variance   | 0.675      |\n",
      "|    learning_rate        | 0.0003     |\n",
      "|    loss                 | 0.73       |\n",
      "|    n_updates            | 1960       |\n",
      "|    policy_gradient_loss | -0.0389    |\n",
      "|    value_loss           | 2.78       |\n",
      "----------------------------------------\n",
      "----------------------------------------\n",
      "| rollout/                |            |\n",
      "|    ep_len_mean          | 100        |\n",
      "|    ep_rew_mean          | -8.84      |\n",
      "| time/                   |            |\n",
      "|    fps                  | 99         |\n",
      "|    iterations           | 198        |\n",
      "|    time_elapsed         | 4058       |\n",
      "|    total_timesteps      | 405504     |\n",
      "| train/                  |            |\n",
      "|    approx_kl            | 0.02212834 |\n",
      "|    clip_fraction        | 0.206      |\n",
      "|    clip_range           | 0.2        |\n",
      "|    entropy_loss         | -2.95      |\n",
      "|    explained_variance   | 0.623      |\n",
      "|    learning_rate        | 0.0003     |\n",
      "|    loss                 | 0.87       |\n",
      "|    n_updates            | 1970       |\n",
      "|    policy_gradient_loss | -0.0336    |\n",
      "|    value_loss           | 3.37       |\n",
      "----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -8.39       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 99          |\n",
      "|    iterations           | 199         |\n",
      "|    time_elapsed         | 4075        |\n",
      "|    total_timesteps      | 407552      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.019604433 |\n",
      "|    clip_fraction        | 0.181       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -2.87       |\n",
      "|    explained_variance   | 0.588       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.554       |\n",
      "|    n_updates            | 1980        |\n",
      "|    policy_gradient_loss | -0.0393     |\n",
      "|    value_loss           | 3.16        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -8.72       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 100         |\n",
      "|    iterations           | 200         |\n",
      "|    time_elapsed         | 4093        |\n",
      "|    total_timesteps      | 409600      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.021104103 |\n",
      "|    clip_fraction        | 0.195       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -2.9        |\n",
      "|    explained_variance   | 0.561       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.482       |\n",
      "|    n_updates            | 1990        |\n",
      "|    policy_gradient_loss | -0.0335     |\n",
      "|    value_loss           | 3.48        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -8.11       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 100         |\n",
      "|    iterations           | 201         |\n",
      "|    time_elapsed         | 4111        |\n",
      "|    total_timesteps      | 411648      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.026018996 |\n",
      "|    clip_fraction        | 0.225       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -2.78       |\n",
      "|    explained_variance   | 0.559       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.314       |\n",
      "|    n_updates            | 2000        |\n",
      "|    policy_gradient_loss | -0.0426     |\n",
      "|    value_loss           | 2.58        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -7.77       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 100         |\n",
      "|    iterations           | 202         |\n",
      "|    time_elapsed         | 4128        |\n",
      "|    total_timesteps      | 413696      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.020383056 |\n",
      "|    clip_fraction        | 0.208       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -2.8        |\n",
      "|    explained_variance   | 0.578       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.671       |\n",
      "|    n_updates            | 2010        |\n",
      "|    policy_gradient_loss | -0.0345     |\n",
      "|    value_loss           | 3.13        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -7.49       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 100         |\n",
      "|    iterations           | 203         |\n",
      "|    time_elapsed         | 4145        |\n",
      "|    total_timesteps      | 415744      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.021238832 |\n",
      "|    clip_fraction        | 0.194       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -2.71       |\n",
      "|    explained_variance   | 0.542       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.427       |\n",
      "|    n_updates            | 2020        |\n",
      "|    policy_gradient_loss | -0.0362     |\n",
      "|    value_loss           | 2.53        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -6.89       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 100         |\n",
      "|    iterations           | 204         |\n",
      "|    time_elapsed         | 4163        |\n",
      "|    total_timesteps      | 417792      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.018704839 |\n",
      "|    clip_fraction        | 0.185       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -2.84       |\n",
      "|    explained_variance   | 0.629       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.837       |\n",
      "|    n_updates            | 2030        |\n",
      "|    policy_gradient_loss | -0.0371     |\n",
      "|    value_loss           | 3.53        |\n",
      "-----------------------------------------\n",
      "----------------------------------------\n",
      "| rollout/                |            |\n",
      "|    ep_len_mean          | 100        |\n",
      "|    ep_rew_mean          | -6.53      |\n",
      "| time/                   |            |\n",
      "|    fps                  | 100        |\n",
      "|    iterations           | 205        |\n",
      "|    time_elapsed         | 4180       |\n",
      "|    total_timesteps      | 419840     |\n",
      "| train/                  |            |\n",
      "|    approx_kl            | 0.02004834 |\n",
      "|    clip_fraction        | 0.192      |\n",
      "|    clip_range           | 0.2        |\n",
      "|    entropy_loss         | -2.82      |\n",
      "|    explained_variance   | 0.624      |\n",
      "|    learning_rate        | 0.0003     |\n",
      "|    loss                 | 1.04       |\n",
      "|    n_updates            | 2040       |\n",
      "|    policy_gradient_loss | -0.0357    |\n",
      "|    value_loss           | 3.66       |\n",
      "----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -7.93       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 100         |\n",
      "|    iterations           | 206         |\n",
      "|    time_elapsed         | 4198        |\n",
      "|    total_timesteps      | 421888      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.019290987 |\n",
      "|    clip_fraction        | 0.181       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -2.73       |\n",
      "|    explained_variance   | 0.414       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.44        |\n",
      "|    n_updates            | 2050        |\n",
      "|    policy_gradient_loss | -0.0339     |\n",
      "|    value_loss           | 3.11        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -7.9        |\n",
      "| time/                   |             |\n",
      "|    fps                  | 100         |\n",
      "|    iterations           | 207         |\n",
      "|    time_elapsed         | 4216        |\n",
      "|    total_timesteps      | 423936      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.022436291 |\n",
      "|    clip_fraction        | 0.202       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -2.95       |\n",
      "|    explained_variance   | 0.648       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.479       |\n",
      "|    n_updates            | 2060        |\n",
      "|    policy_gradient_loss | -0.0354     |\n",
      "|    value_loss           | 2.9         |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -8.17       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 100         |\n",
      "|    iterations           | 208         |\n",
      "|    time_elapsed         | 4233        |\n",
      "|    total_timesteps      | 425984      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.022806382 |\n",
      "|    clip_fraction        | 0.212       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -2.83       |\n",
      "|    explained_variance   | 0.574       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.534       |\n",
      "|    n_updates            | 2070        |\n",
      "|    policy_gradient_loss | -0.0379     |\n",
      "|    value_loss           | 3.35        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -10.2       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 100         |\n",
      "|    iterations           | 209         |\n",
      "|    time_elapsed         | 4251        |\n",
      "|    total_timesteps      | 428032      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.024816468 |\n",
      "|    clip_fraction        | 0.21        |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -2.87       |\n",
      "|    explained_variance   | 0.657       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.354       |\n",
      "|    n_updates            | 2080        |\n",
      "|    policy_gradient_loss | -0.0338     |\n",
      "|    value_loss           | 2.74        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -9.75       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 100         |\n",
      "|    iterations           | 210         |\n",
      "|    time_elapsed         | 4268        |\n",
      "|    total_timesteps      | 430080      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.016491266 |\n",
      "|    clip_fraction        | 0.154       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -2.86       |\n",
      "|    explained_variance   | 0.63        |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.727       |\n",
      "|    n_updates            | 2090        |\n",
      "|    policy_gradient_loss | -0.0302     |\n",
      "|    value_loss           | 5.15        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -7.46       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 100         |\n",
      "|    iterations           | 211         |\n",
      "|    time_elapsed         | 4286        |\n",
      "|    total_timesteps      | 432128      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.020736197 |\n",
      "|    clip_fraction        | 0.19        |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -2.83       |\n",
      "|    explained_variance   | 0.582       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 1.07        |\n",
      "|    n_updates            | 2100        |\n",
      "|    policy_gradient_loss | -0.0361     |\n",
      "|    value_loss           | 4.65        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -8.49       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 100         |\n",
      "|    iterations           | 212         |\n",
      "|    time_elapsed         | 4307        |\n",
      "|    total_timesteps      | 434176      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.018037643 |\n",
      "|    clip_fraction        | 0.183       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -2.66       |\n",
      "|    explained_variance   | 0.59        |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.53        |\n",
      "|    n_updates            | 2110        |\n",
      "|    policy_gradient_loss | -0.0342     |\n",
      "|    value_loss           | 3.71        |\n",
      "-----------------------------------------\n",
      "----------------------------------------\n",
      "| rollout/                |            |\n",
      "|    ep_len_mean          | 100        |\n",
      "|    ep_rew_mean          | -8.47      |\n",
      "| time/                   |            |\n",
      "|    fps                  | 100        |\n",
      "|    iterations           | 213        |\n",
      "|    time_elapsed         | 4325       |\n",
      "|    total_timesteps      | 436224     |\n",
      "| train/                  |            |\n",
      "|    approx_kl            | 0.01907736 |\n",
      "|    clip_fraction        | 0.188      |\n",
      "|    clip_range           | 0.2        |\n",
      "|    entropy_loss         | -2.87      |\n",
      "|    explained_variance   | 0.62       |\n",
      "|    learning_rate        | 0.0003     |\n",
      "|    loss                 | 0.634      |\n",
      "|    n_updates            | 2120       |\n",
      "|    policy_gradient_loss | -0.0328    |\n",
      "|    value_loss           | 3.29       |\n",
      "----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -7.9        |\n",
      "| time/                   |             |\n",
      "|    fps                  | 100         |\n",
      "|    iterations           | 214         |\n",
      "|    time_elapsed         | 4342        |\n",
      "|    total_timesteps      | 438272      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.021983417 |\n",
      "|    clip_fraction        | 0.214       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -2.87       |\n",
      "|    explained_variance   | 0.598       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.892       |\n",
      "|    n_updates            | 2130        |\n",
      "|    policy_gradient_loss | -0.0398     |\n",
      "|    value_loss           | 3.41        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -7.65       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 100         |\n",
      "|    iterations           | 215         |\n",
      "|    time_elapsed         | 4360        |\n",
      "|    total_timesteps      | 440320      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.023642978 |\n",
      "|    clip_fraction        | 0.205       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -2.72       |\n",
      "|    explained_variance   | 0.627       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.914       |\n",
      "|    n_updates            | 2140        |\n",
      "|    policy_gradient_loss | -0.0396     |\n",
      "|    value_loss           | 2.93        |\n",
      "-----------------------------------------\n",
      "----------------------------------------\n",
      "| rollout/                |            |\n",
      "|    ep_len_mean          | 100        |\n",
      "|    ep_rew_mean          | -8.65      |\n",
      "| time/                   |            |\n",
      "|    fps                  | 101        |\n",
      "|    iterations           | 216        |\n",
      "|    time_elapsed         | 4377       |\n",
      "|    total_timesteps      | 442368     |\n",
      "| train/                  |            |\n",
      "|    approx_kl            | 0.01945116 |\n",
      "|    clip_fraction        | 0.179      |\n",
      "|    clip_range           | 0.2        |\n",
      "|    entropy_loss         | -2.66      |\n",
      "|    explained_variance   | 0.504      |\n",
      "|    learning_rate        | 0.0003     |\n",
      "|    loss                 | 0.456      |\n",
      "|    n_updates            | 2150       |\n",
      "|    policy_gradient_loss | -0.0336    |\n",
      "|    value_loss           | 3          |\n",
      "----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -7.42       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 101         |\n",
      "|    iterations           | 217         |\n",
      "|    time_elapsed         | 4394        |\n",
      "|    total_timesteps      | 444416      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.019996788 |\n",
      "|    clip_fraction        | 0.199       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -2.75       |\n",
      "|    explained_variance   | 0.628       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.887       |\n",
      "|    n_updates            | 2160        |\n",
      "|    policy_gradient_loss | -0.0343     |\n",
      "|    value_loss           | 2.98        |\n",
      "-----------------------------------------\n",
      "----------------------------------------\n",
      "| rollout/                |            |\n",
      "|    ep_len_mean          | 100        |\n",
      "|    ep_rew_mean          | -6.69      |\n",
      "| time/                   |            |\n",
      "|    fps                  | 101        |\n",
      "|    iterations           | 218        |\n",
      "|    time_elapsed         | 4412       |\n",
      "|    total_timesteps      | 446464     |\n",
      "| train/                  |            |\n",
      "|    approx_kl            | 0.02221908 |\n",
      "|    clip_fraction        | 0.196      |\n",
      "|    clip_range           | 0.2        |\n",
      "|    entropy_loss         | -2.67      |\n",
      "|    explained_variance   | 0.589      |\n",
      "|    learning_rate        | 0.0003     |\n",
      "|    loss                 | 0.73       |\n",
      "|    n_updates            | 2170       |\n",
      "|    policy_gradient_loss | -0.0331    |\n",
      "|    value_loss           | 3.35       |\n",
      "----------------------------------------\n",
      "----------------------------------------\n",
      "| rollout/                |            |\n",
      "|    ep_len_mean          | 100        |\n",
      "|    ep_rew_mean          | -6.54      |\n",
      "| time/                   |            |\n",
      "|    fps                  | 101        |\n",
      "|    iterations           | 219        |\n",
      "|    time_elapsed         | 4431       |\n",
      "|    total_timesteps      | 448512     |\n",
      "| train/                  |            |\n",
      "|    approx_kl            | 0.02234805 |\n",
      "|    clip_fraction        | 0.194      |\n",
      "|    clip_range           | 0.2        |\n",
      "|    entropy_loss         | -2.63      |\n",
      "|    explained_variance   | 0.658      |\n",
      "|    learning_rate        | 0.0003     |\n",
      "|    loss                 | 0.428      |\n",
      "|    n_updates            | 2180       |\n",
      "|    policy_gradient_loss | -0.0344    |\n",
      "|    value_loss           | 2.68       |\n",
      "----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -6.03       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 101         |\n",
      "|    iterations           | 220         |\n",
      "|    time_elapsed         | 4450        |\n",
      "|    total_timesteps      | 450560      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.020342644 |\n",
      "|    clip_fraction        | 0.185       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -2.78       |\n",
      "|    explained_variance   | 0.627       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.835       |\n",
      "|    n_updates            | 2190        |\n",
      "|    policy_gradient_loss | -0.0319     |\n",
      "|    value_loss           | 3.36        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -5.6        |\n",
      "| time/                   |             |\n",
      "|    fps                  | 101         |\n",
      "|    iterations           | 221         |\n",
      "|    time_elapsed         | 4468        |\n",
      "|    total_timesteps      | 452608      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.027137049 |\n",
      "|    clip_fraction        | 0.225       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -2.6        |\n",
      "|    explained_variance   | 0.645       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.517       |\n",
      "|    n_updates            | 2200        |\n",
      "|    policy_gradient_loss | -0.0414     |\n",
      "|    value_loss           | 2.23        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -5.94       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 101         |\n",
      "|    iterations           | 222         |\n",
      "|    time_elapsed         | 4488        |\n",
      "|    total_timesteps      | 454656      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.020205397 |\n",
      "|    clip_fraction        | 0.204       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -2.72       |\n",
      "|    explained_variance   | 0.506       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.837       |\n",
      "|    n_updates            | 2210        |\n",
      "|    policy_gradient_loss | -0.0367     |\n",
      "|    value_loss           | 3.36        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -6.23       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 101         |\n",
      "|    iterations           | 223         |\n",
      "|    time_elapsed         | 4505        |\n",
      "|    total_timesteps      | 456704      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.024942925 |\n",
      "|    clip_fraction        | 0.227       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -2.73       |\n",
      "|    explained_variance   | 0.649       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.361       |\n",
      "|    n_updates            | 2220        |\n",
      "|    policy_gradient_loss | -0.0433     |\n",
      "|    value_loss           | 2.49        |\n",
      "-----------------------------------------\n",
      "----------------------------------------\n",
      "| rollout/                |            |\n",
      "|    ep_len_mean          | 100        |\n",
      "|    ep_rew_mean          | -6.13      |\n",
      "| time/                   |            |\n",
      "|    fps                  | 101        |\n",
      "|    iterations           | 224        |\n",
      "|    time_elapsed         | 4523       |\n",
      "|    total_timesteps      | 458752     |\n",
      "| train/                  |            |\n",
      "|    approx_kl            | 0.02284475 |\n",
      "|    clip_fraction        | 0.201      |\n",
      "|    clip_range           | 0.2        |\n",
      "|    entropy_loss         | -2.66      |\n",
      "|    explained_variance   | 0.496      |\n",
      "|    learning_rate        | 0.0003     |\n",
      "|    loss                 | 0.589      |\n",
      "|    n_updates            | 2230       |\n",
      "|    policy_gradient_loss | -0.0389    |\n",
      "|    value_loss           | 3.17       |\n",
      "----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -7.67       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 101         |\n",
      "|    iterations           | 225         |\n",
      "|    time_elapsed         | 4541        |\n",
      "|    total_timesteps      | 460800      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.022487942 |\n",
      "|    clip_fraction        | 0.189       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -2.61       |\n",
      "|    explained_variance   | 0.589       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.603       |\n",
      "|    n_updates            | 2240        |\n",
      "|    policy_gradient_loss | -0.0383     |\n",
      "|    value_loss           | 2.88        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -7.36       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 101         |\n",
      "|    iterations           | 226         |\n",
      "|    time_elapsed         | 4561        |\n",
      "|    total_timesteps      | 462848      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.020475524 |\n",
      "|    clip_fraction        | 0.182       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -2.57       |\n",
      "|    explained_variance   | 0.614       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.517       |\n",
      "|    n_updates            | 2250        |\n",
      "|    policy_gradient_loss | -0.0328     |\n",
      "|    value_loss           | 2.68        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -8.31       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 101         |\n",
      "|    iterations           | 227         |\n",
      "|    time_elapsed         | 4579        |\n",
      "|    total_timesteps      | 464896      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.022081908 |\n",
      "|    clip_fraction        | 0.199       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -2.67       |\n",
      "|    explained_variance   | 0.67        |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.575       |\n",
      "|    n_updates            | 2260        |\n",
      "|    policy_gradient_loss | -0.0357     |\n",
      "|    value_loss           | 3.42        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -8.36       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 101         |\n",
      "|    iterations           | 228         |\n",
      "|    time_elapsed         | 4597        |\n",
      "|    total_timesteps      | 466944      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.019849522 |\n",
      "|    clip_fraction        | 0.189       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -2.67       |\n",
      "|    explained_variance   | 0.603       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.401       |\n",
      "|    n_updates            | 2270        |\n",
      "|    policy_gradient_loss | -0.0329     |\n",
      "|    value_loss           | 3.46        |\n",
      "-----------------------------------------\n",
      "----------------------------------------\n",
      "| rollout/                |            |\n",
      "|    ep_len_mean          | 100        |\n",
      "|    ep_rew_mean          | -8.51      |\n",
      "| time/                   |            |\n",
      "|    fps                  | 101        |\n",
      "|    iterations           | 229        |\n",
      "|    time_elapsed         | 4614       |\n",
      "|    total_timesteps      | 468992     |\n",
      "| train/                  |            |\n",
      "|    approx_kl            | 0.02641237 |\n",
      "|    clip_fraction        | 0.222      |\n",
      "|    clip_range           | 0.2        |\n",
      "|    entropy_loss         | -2.63      |\n",
      "|    explained_variance   | 0.73       |\n",
      "|    learning_rate        | 0.0003     |\n",
      "|    loss                 | 0.324      |\n",
      "|    n_updates            | 2280       |\n",
      "|    policy_gradient_loss | -0.0395    |\n",
      "|    value_loss           | 2.28       |\n",
      "----------------------------------------\n",
      "---------------------------------------\n",
      "| rollout/                |           |\n",
      "|    ep_len_mean          | 100       |\n",
      "|    ep_rew_mean          | -8.98     |\n",
      "| time/                   |           |\n",
      "|    fps                  | 101       |\n",
      "|    iterations           | 230       |\n",
      "|    time_elapsed         | 4631      |\n",
      "|    total_timesteps      | 471040    |\n",
      "| train/                  |           |\n",
      "|    approx_kl            | 0.0237793 |\n",
      "|    clip_fraction        | 0.22      |\n",
      "|    clip_range           | 0.2       |\n",
      "|    entropy_loss         | -2.67     |\n",
      "|    explained_variance   | 0.601     |\n",
      "|    learning_rate        | 0.0003    |\n",
      "|    loss                 | 0.479     |\n",
      "|    n_updates            | 2290      |\n",
      "|    policy_gradient_loss | -0.0381   |\n",
      "|    value_loss           | 2.74      |\n",
      "---------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -8.67       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 101         |\n",
      "|    iterations           | 231         |\n",
      "|    time_elapsed         | 4649        |\n",
      "|    total_timesteps      | 473088      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.024338119 |\n",
      "|    clip_fraction        | 0.229       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -2.67       |\n",
      "|    explained_variance   | 0.646       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.428       |\n",
      "|    n_updates            | 2300        |\n",
      "|    policy_gradient_loss | -0.0382     |\n",
      "|    value_loss           | 2.34        |\n",
      "-----------------------------------------\n",
      "----------------------------------------\n",
      "| rollout/                |            |\n",
      "|    ep_len_mean          | 100        |\n",
      "|    ep_rew_mean          | -8.13      |\n",
      "| time/                   |            |\n",
      "|    fps                  | 101        |\n",
      "|    iterations           | 232        |\n",
      "|    time_elapsed         | 4666       |\n",
      "|    total_timesteps      | 475136     |\n",
      "| train/                  |            |\n",
      "|    approx_kl            | 0.02062818 |\n",
      "|    clip_fraction        | 0.198      |\n",
      "|    clip_range           | 0.2        |\n",
      "|    entropy_loss         | -2.63      |\n",
      "|    explained_variance   | 0.593      |\n",
      "|    learning_rate        | 0.0003     |\n",
      "|    loss                 | 0.508      |\n",
      "|    n_updates            | 2310       |\n",
      "|    policy_gradient_loss | -0.0354    |\n",
      "|    value_loss           | 3.16       |\n",
      "----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -8.19       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 101         |\n",
      "|    iterations           | 233         |\n",
      "|    time_elapsed         | 4685        |\n",
      "|    total_timesteps      | 477184      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.023666805 |\n",
      "|    clip_fraction        | 0.219       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -2.62       |\n",
      "|    explained_variance   | 0.599       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.517       |\n",
      "|    n_updates            | 2320        |\n",
      "|    policy_gradient_loss | -0.0401     |\n",
      "|    value_loss           | 2.68        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -7.13       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 101         |\n",
      "|    iterations           | 234         |\n",
      "|    time_elapsed         | 4702        |\n",
      "|    total_timesteps      | 479232      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.026099507 |\n",
      "|    clip_fraction        | 0.214       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -2.72       |\n",
      "|    explained_variance   | 0.607       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.448       |\n",
      "|    n_updates            | 2330        |\n",
      "|    policy_gradient_loss | -0.0377     |\n",
      "|    value_loss           | 2.1         |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -7.14       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 101         |\n",
      "|    iterations           | 235         |\n",
      "|    time_elapsed         | 4720        |\n",
      "|    total_timesteps      | 481280      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.024782747 |\n",
      "|    clip_fraction        | 0.231       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -2.63       |\n",
      "|    explained_variance   | 0.536       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.272       |\n",
      "|    n_updates            | 2340        |\n",
      "|    policy_gradient_loss | -0.0416     |\n",
      "|    value_loss           | 1.85        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -7.89       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 102         |\n",
      "|    iterations           | 236         |\n",
      "|    time_elapsed         | 4738        |\n",
      "|    total_timesteps      | 483328      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.022401161 |\n",
      "|    clip_fraction        | 0.214       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -2.66       |\n",
      "|    explained_variance   | 0.465       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.651       |\n",
      "|    n_updates            | 2350        |\n",
      "|    policy_gradient_loss | -0.0403     |\n",
      "|    value_loss           | 2.46        |\n",
      "-----------------------------------------\n",
      "----------------------------------------\n",
      "| rollout/                |            |\n",
      "|    ep_len_mean          | 100        |\n",
      "|    ep_rew_mean          | -7.6       |\n",
      "| time/                   |            |\n",
      "|    fps                  | 102        |\n",
      "|    iterations           | 237        |\n",
      "|    time_elapsed         | 4757       |\n",
      "|    total_timesteps      | 485376     |\n",
      "| train/                  |            |\n",
      "|    approx_kl            | 0.02018132 |\n",
      "|    clip_fraction        | 0.179      |\n",
      "|    clip_range           | 0.2        |\n",
      "|    entropy_loss         | -2.73      |\n",
      "|    explained_variance   | 0.676      |\n",
      "|    learning_rate        | 0.0003     |\n",
      "|    loss                 | 0.706      |\n",
      "|    n_updates            | 2360       |\n",
      "|    policy_gradient_loss | -0.0338    |\n",
      "|    value_loss           | 2.76       |\n",
      "----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -7.38       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 102         |\n",
      "|    iterations           | 238         |\n",
      "|    time_elapsed         | 4774        |\n",
      "|    total_timesteps      | 487424      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.019665716 |\n",
      "|    clip_fraction        | 0.168       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -2.64       |\n",
      "|    explained_variance   | 0.599       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.648       |\n",
      "|    n_updates            | 2370        |\n",
      "|    policy_gradient_loss | -0.0342     |\n",
      "|    value_loss           | 2.77        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -7.98       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 102         |\n",
      "|    iterations           | 239         |\n",
      "|    time_elapsed         | 4790        |\n",
      "|    total_timesteps      | 489472      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.019828986 |\n",
      "|    clip_fraction        | 0.175       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -2.69       |\n",
      "|    explained_variance   | 0.633       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.588       |\n",
      "|    n_updates            | 2380        |\n",
      "|    policy_gradient_loss | -0.0346     |\n",
      "|    value_loss           | 2.93        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -7.87       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 102         |\n",
      "|    iterations           | 240         |\n",
      "|    time_elapsed         | 4810        |\n",
      "|    total_timesteps      | 491520      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.019669387 |\n",
      "|    clip_fraction        | 0.182       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -2.72       |\n",
      "|    explained_variance   | 0.626       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.529       |\n",
      "|    n_updates            | 2390        |\n",
      "|    policy_gradient_loss | -0.0347     |\n",
      "|    value_loss           | 3.24        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -6.98       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 102         |\n",
      "|    iterations           | 241         |\n",
      "|    time_elapsed         | 4828        |\n",
      "|    total_timesteps      | 493568      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.024250638 |\n",
      "|    clip_fraction        | 0.202       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -2.63       |\n",
      "|    explained_variance   | 0.621       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.905       |\n",
      "|    n_updates            | 2400        |\n",
      "|    policy_gradient_loss | -0.0386     |\n",
      "|    value_loss           | 3.06        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -6.07       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 102         |\n",
      "|    iterations           | 242         |\n",
      "|    time_elapsed         | 4847        |\n",
      "|    total_timesteps      | 495616      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.021306239 |\n",
      "|    clip_fraction        | 0.19        |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -2.57       |\n",
      "|    explained_variance   | 0.524       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.353       |\n",
      "|    n_updates            | 2410        |\n",
      "|    policy_gradient_loss | -0.0347     |\n",
      "|    value_loss           | 2.8         |\n",
      "-----------------------------------------\n",
      "----------------------------------------\n",
      "| rollout/                |            |\n",
      "|    ep_len_mean          | 100        |\n",
      "|    ep_rew_mean          | -5.97      |\n",
      "| time/                   |            |\n",
      "|    fps                  | 102        |\n",
      "|    iterations           | 243        |\n",
      "|    time_elapsed         | 4865       |\n",
      "|    total_timesteps      | 497664     |\n",
      "| train/                  |            |\n",
      "|    approx_kl            | 0.02222174 |\n",
      "|    clip_fraction        | 0.195      |\n",
      "|    clip_range           | 0.2        |\n",
      "|    entropy_loss         | -2.65      |\n",
      "|    explained_variance   | 0.587      |\n",
      "|    learning_rate        | 0.0003     |\n",
      "|    loss                 | 0.558      |\n",
      "|    n_updates            | 2420       |\n",
      "|    policy_gradient_loss | -0.0401    |\n",
      "|    value_loss           | 3.04       |\n",
      "----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -6.17       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 102         |\n",
      "|    iterations           | 244         |\n",
      "|    time_elapsed         | 4884        |\n",
      "|    total_timesteps      | 499712      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.022114288 |\n",
      "|    clip_fraction        | 0.175       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -2.54       |\n",
      "|    explained_variance   | 0.538       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.27        |\n",
      "|    n_updates            | 2430        |\n",
      "|    policy_gradient_loss | -0.0332     |\n",
      "|    value_loss           | 2.74        |\n",
      "-----------------------------------------\n",
      "-----------------------------------------\n",
      "| rollout/                |             |\n",
      "|    ep_len_mean          | 100         |\n",
      "|    ep_rew_mean          | -5.45       |\n",
      "| time/                   |             |\n",
      "|    fps                  | 102         |\n",
      "|    iterations           | 245         |\n",
      "|    time_elapsed         | 4901        |\n",
      "|    total_timesteps      | 501760      |\n",
      "| train/                  |             |\n",
      "|    approx_kl            | 0.019868419 |\n",
      "|    clip_fraction        | 0.162       |\n",
      "|    clip_range           | 0.2         |\n",
      "|    entropy_loss         | -2.57       |\n",
      "|    explained_variance   | 0.522       |\n",
      "|    learning_rate        | 0.0003      |\n",
      "|    loss                 | 0.445       |\n",
      "|    n_updates            | 2440        |\n",
      "|    policy_gradient_loss | -0.031      |\n",
      "|    value_loss           | 4.58        |\n",
      "-----------------------------------------\n"
     ]
    },
    {
     "data": {
      "text/plain": [
       "<stable_baselines3.ppo.ppo.PPO at 0x12cba852590>"
      ]
     },
     "execution_count": 9,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "from stable_baselines3 import PPO\n",
    "from stable_baselines3.ppo import MlpPolicy\n",
    "\n",
    "# train PPO agent on environment. this takes a while\n",
    "model = PPO(MlpPolicy, env, tensorboard_log='results_sb', verbose=1)\n",
    "model.learn(total_timesteps=500000)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "metadata": {},
   "outputs": [],
   "source": [
    "model.save(\"one_shot_500000steps_V2\")"
   ]
  }
 ],
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