rund0.log

logs_data/30drive/cgrewfx/ablo/run_2024-08-10_20-42-06/run_88e4a_00000_0_clip_discriminator=10,dr_cc=0.9900,seed=1_2024-08-10_20-42-06/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg00_ds0.001_zt=p_g0_s1/08.10_20.42.46/models/ckpt_policy_T5000000.pt
0_drivelaneshift_v0_type1-infogsdr_ppobc-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg00_ds0.001_zt=p_g0_s1
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppobc
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 20, action dim: 2, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/DriveLaneshift_v0.h5 with traj_num 25.0, data_size 1250 steps, and average return 4.00
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 735, K 15, state dim 20, action dim 2, a min -0.051749326, a_max 0.3067493
Policy model is loaded from logs_data/30drive/cgrewfx/ablo/run_2024-08-10_20-42-06/run_88e4a_00000_0_clip_discriminator=10,dr_cc=0.9900,seed=1_2024-08-10_20-42-06/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg00_ds0.001_zt=p_g0_s1/08.10_20.42.46/models/ckpt_policy_T5000000.pt
Discr model is loaded from logs_data/30drive/cgrewfx/ablo/run_2024-08-10_20-42-06/run_88e4a_00000_0_clip_discriminator=10,dr_cc=0.9900,seed=1_2024-08-10_20-42-06/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg00_ds0.001_zt=p_g0_s1/08.10_20.42.46/models/ckpt_discr_T5000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 1 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
min_headway_last [10.92, 18.28, 25.62, 32.91, 40.27]
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
zvs shape 1500
RT 124.40934851765155 23.297192142286587 181.1015417047311 75.9487709384414
LR 3.2764355290805494 0.8510126403732496 3.999962689471385 1.0
VL-std-all 0.0 0.0
*** budget = 10
VL10-1 4.398062996164958 4.297046070696116
RT-VL10-1 119.62906413708426 5.3488216282117325 140.83312141546082 112.30626569897944
VL10-2 5.1186373346964515 3.869382995076826
RT-VL10-2 125.20614721984522 6.284786960873667 140.83312141546082 113.68704952450807
VL10-3 4.897641357167562 4.410462095064966
RT-VL10-3 128.54572363090392 6.564594697921055 142.9567623875336 113.68704952450807
VL10-4 4.8494980489095045 5.337823426831669
RT-VL10-4 132.3083387317703 11.211022723512093 180.682573604921 116.49654351285315
VL10-5 7.25097025858561 2.017687981253169
RT-VL10-5 140.4322730131848 18.706187078135248 180.6928329202346 119.51366591733031
VL10-all 5.302961999104818 1.0017453112786066
RT-VL10-all 129.2243093465577 6.982900871145848 140.4322730131848 119.62906413708426
*** budget = 20
VL20-1 2.7214130648295085 1.3934988015640941
RT-VL20-1 116.9601755044283 3.066649737753693 127.2092526350449 112.30626569897944
VL20-2 2.9518973444620764 2.3092624305009024
RT-VL20-2 125.65630885271818 5.123381467906718 139.02403381303878 113.68704952450807
VL20-3 2.684712431844076 2.5361536664675532
RT-VL20-3 129.28435020452753 5.80399373886441 141.36661560833463 113.72784746158877
VL20-4 2.045180081176758 3.093519466205231
RT-VL20-4 129.6612015340823 4.743552272054279 141.336557378556 116.49654351285315
VL20-5 6.355681781005859 1.2067142435797147
RT-VL20-5 132.8023595255929 13.914457988249197 178.8428080445446 119.51366591733031
VL20-all 3.3517769406636555 1.531853583694867
RT-VL20-all 126.87287912426984 5.449594640743444 132.8023595255929 116.9601755044283
*** budget = 30
VL30-1 2.244390534973144 0.8328259216654296
RT-VL30-1 116.0247798133839 2.1483044702029894 124.41758810990763 113.66339592542467
VL30-2 2.1116088798522945 1.3875009939154432
RT-VL30-2 126.43218505843073 4.892778717882428 137.2530680176859 118.62671482510629
VL30-3 1.8863184906005863 1.5091423961391588
RT-VL30-3 129.42078999842875 5.5108609941622735 141.36661560833463 116.61354980562515
VL30-4 1.0719775527954107 1.6891420518162017
RT-VL30-4 129.4551727634023 4.091154559087202 138.6147040234067 122.14356846612617
VL30-5 5.977028237915038 1.1243355169745461
RT-VL30-5 130.3454420970312 12.420617261367612 171.47278310894066 119.51366591733031
VL30-all 2.6582647392272944 1.7085973015526488
RT-VL30-all 126.33567394613537 5.322617904050443 130.3454420970312 116.0247798133839
*** budget = 40
VL40-1 2.0849224518440863 0.8233488426506785
RT-VL40-1 115.70578514476937 1.9536454522514994 120.56248389871328 113.66339592542467
VL40-2 1.6149824657955683 1.0143552273359526
RT-VL40-2 126.26600367407313 5.525970547909418 139.7098660379417 118.62671482510629
VL40-3 1.5072211848078552 1.2955517836195938
RT-VL40-3 130.13177946587717 5.805923782088619 141.36661560833463 116.61354980562515
VL40-4 0.7927172521642745 1.0133077238989392
RT-VL40-4 129.3096601894454 3.748922124396431 136.81873989565125 122.15368169080433
VL40-5 5.737444404395851 1.1678367377914771
RT-VL40-5 128.29632916922202 11.735590491627963 171.47278310894066 119.51366591733031
VL40-all 2.347457551801527 1.7447446714534667
RT-VL40-all 125.94191152867742 5.278699193275412 130.13177946587717 115.70578514476937
*** budget = 50
VL50-1 1.9448927059173586 0.8378053927749558
RT-VL50-1 115.39235553277526 1.809556955258479 120.56248389871328 113.66339592542467
VL50-2 1.4820579528808593 1.0336931750376968
RT-VL50-2 125.09214289356018 4.587399027905372 137.2530680176859 118.62671482510629
VL50-3 1.3902084248860684 1.2629786400471166
RT-VL50-3 130.20647812721927 6.339848776029412 141.36661560833463 116.61354980562515
VL50-4 0.6456035308837897 1.040880072089789
RT-VL50-4 129.31124621048716 3.145299704933245 138.6147040234067 124.18577763345073
VL50-5 5.599318191528321 1.2297045524122048
RT-VL50-5 126.44767882075803 9.444848809485505 167.8937568912516 119.51366591733031
VL50-all 2.2124161612192794 1.743962422462164
RT-VL50-all 125.28998031695998 5.285544663419858 130.20647812721927 115.39235553277526
logs_data/30drive/cgrewfx/ablo/run_2024-08-10_20-42-06/run_88e4a_00002_2_clip_discriminator=10,dr_cc=0.9900,seed=2_2024-08-10_20-42-06/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg00_ds0.001_zt=p_g0_s2/08.10_20.42.46/models/ckpt_policy_T5000000.pt
0_drivelaneshift_v0_type1-infogsdr_ppobc-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg00_ds0.001_zt=p_g0_s2
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppobc
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 20, action dim: 2, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/DriveLaneshift_v0.h5 with traj_num 25.0, data_size 1250 steps, and average return 4.00
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 735, K 15, state dim 20, action dim 2, a min -0.051749326, a_max 0.3067493
Policy model is loaded from logs_data/30drive/cgrewfx/ablo/run_2024-08-10_20-42-06/run_88e4a_00002_2_clip_discriminator=10,dr_cc=0.9900,seed=2_2024-08-10_20-42-06/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg00_ds0.001_zt=p_g0_s2/08.10_20.42.46/models/ckpt_policy_T5000000.pt
Discr model is loaded from logs_data/30drive/cgrewfx/ablo/run_2024-08-10_20-42-06/run_88e4a_00002_2_clip_discriminator=10,dr_cc=0.9900,seed=2_2024-08-10_20-42-06/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg00_ds0.001_zt=p_g0_s2/08.10_20.42.46/models/ckpt_discr_T5000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 1 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
min_headway_last [10.92, 18.28, 25.62, 32.91, 40.27]
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
zvs shape 1500
RT 114.74709846729296 17.364087242883315 184.26794471824542 72.92092233314166
LR 3.0613821903628806 0.8478557663029795 3.999695604696182 1.0
VL-std-all 0.0 0.0
*** budget = 10
VL10-1 4.1787868554433185 7.865148629223174
RT-VL10-1 122.75442473181043 7.397466534854954 144.41195698035824 102.78165460017075
VL10-2 6.88131548652649 6.711847716924544
RT-VL10-2 122.70760075922075 4.539073560868345 142.46756193274618 102.78165460017075
VL10-3 5.905064498774212 8.757738186799445
RT-VL10-3 122.43952910593231 4.258589094290745 142.46756193274618 102.78165460017075
VL10-4 11.802277300135291 8.270926412985652
RT-VL10-4 126.25507854126957 15.475191645464507 182.5810015778994 102.78165460017075
VL10-5 17.14986263745626 7.769335782644236
RT-VL10-5 138.1517664993139 26.616490659852367 184.26794471824542 102.78165460017075
VL10-all 9.183461355667115 4.720514267339297
RT-VL10-all 126.46167992750938 6.011910792891214 138.1517664993139 122.43952910593231
*** budget = 20
VL20-1 1.91246498743693 0.6031547128736193
RT-VL20-1 119.76843058448532 5.9096351789834 142.46756193274618 113.3433732858385
VL20-2 4.7880377766927085 2.408153826949943
RT-VL20-2 123.1010132480386 3.3136259995631656 126.57325344206745 113.37012041697821
VL20-3 2.295672605895996 4.261389024193513
RT-VL20-3 122.38986624519428 2.5135520667136655 126.57325344206745 113.37012041697821
VL20-4 7.957994495646155 4.371386235268502
RT-VL20-4 124.53403877050536 12.660140027639814 180.25421938556195 117.4781589054027
VL20-5 13.524729062906902 3.487533560171636
RT-VL20-5 148.10289146554186 29.636987277402003 184.26794471824542 117.4781589054027
VL20-all 6.095779785715737 4.29670239673962
RT-VL20-all 127.5792480627531 10.377729795493531 148.10289146554186 119.76843058448532
*** budget = 30
VL30-1 1.7534728622436524 0.5141313128295224
RT-VL30-1 118.34354672103429 5.611740938295597 142.46756193274618 113.3433732858385
VL30-2 4.024303915405272 2.000534125060687
RT-VL30-2 123.25499036764259 3.1340534169887704 126.43745107774063 113.37012041697821
VL30-3 1.2131218391418457 2.268237570880744
RT-VL30-3 122.69272385966153 2.1907325801557542 126.07830900661028 113.37012041697821
VL30-4 6.663930467224118 2.618006622719711
RT-VL30-4 122.16474312756962 7.859276446771445 174.4759265873578 117.4781589054027
VL30-5 12.689912907409667 1.622281862584932
RT-VL30-5 155.73963610406616 29.50388028892557 184.26794471824542 117.4781589054027
VL30-all 5.268948398284911 4.180290095901688
RT-VL30-all 128.43912803599483 13.758654390332595 155.73963610406616 118.34354672103429
*** budget = 40
VL40-1 1.6240851696117506 0.3796633172877598
RT-VL40-1 117.15502269885272 3.8133792941482176 126.57325344206745 113.3433732858385
VL40-2 3.3902694764008383 1.7023205357895794
RT-VL40-2 123.28639841167892 2.5915457123122505 126.43745107774063 116.92252588574789
VL40-3 0.6329519467740443 0.5886981055616446
RT-VL40-3 122.7422665531993 1.514062602381162 125.9678544659107 119.20081620733248
VL40-4 5.860430998931056 1.139883251056221
RT-VL40-4 120.35160563231946 1.8283295509711077 125.9678544659107 117.4781589054027
VL40-5 12.221978840183565 1.2740784463797383
RT-VL40-5 158.6258361531568 30.060967109078902 184.26794471824542 117.4781589054027
VL40-all 4.745943286380251 4.13844748192196
RT-VL40-all 128.43222588984142 15.2511049696588 158.6258361531568 117.15502269885272
*** budget = 50
VL50-1 1.564445864359538 0.3560329313119047
RT-VL50-1 116.45111860705272 3.874744439365068 130.07432518480306 113.3433732858385
VL50-2 2.9269124857584625 1.343771658878561
RT-VL50-2 123.11722326992806 2.796374827906356 126.43745107774063 116.92252588574789
VL50-3 0.5672595825195311 0.5333766633837884
RT-VL50-3 122.85385668526102 1.3984336645291842 125.67445430942442 119.20081620733248
VL50-4 5.47821168263753 0.7853661956725849
RT-VL50-4 119.75010683904878 1.3866620408828996 123.78675358870552 117.4781589054027
VL50-5 11.864413251241047 0.7712759097761548
RT-VL50-5 167.06932180373303 26.594323651073523 184.26794471824542 117.4781589054027
VL50-all 4.480248573303221 4.04346533653606
RT-VL50-all 129.84832544100473 18.76748288786411 167.06932180373303 116.45111860705272
logs_data/30drive/cgrewfx/ablo/run_2024-08-10_20-42-06/run_88e4a_00004_4_clip_discriminator=10,dr_cc=0.9900,seed=3_2024-08-10_20-42-06/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg00_ds0.001_zt=p_g0_s3/08.10_20.42.46/models/ckpt_policy_T5000000.pt
0_drivelaneshift_v0_type1-infogsdr_ppobc-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg00_ds0.001_zt=p_g0_s3
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppobc
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 20, action dim: 2, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/DriveLaneshift_v0.h5 with traj_num 25.0, data_size 1250 steps, and average return 4.00
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 735, K 15, state dim 20, action dim 2, a min -0.051749326, a_max 0.3067493
Policy model is loaded from logs_data/30drive/cgrewfx/ablo/run_2024-08-10_20-42-06/run_88e4a_00004_4_clip_discriminator=10,dr_cc=0.9900,seed=3_2024-08-10_20-42-06/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg00_ds0.001_zt=p_g0_s3/08.10_20.42.46/models/ckpt_policy_T5000000.pt
Discr model is loaded from logs_data/30drive/cgrewfx/ablo/run_2024-08-10_20-42-06/run_88e4a_00004_4_clip_discriminator=10,dr_cc=0.9900,seed=3_2024-08-10_20-42-06/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg00_ds0.001_zt=p_g0_s3/08.10_20.42.46/models/ckpt_discr_T5000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 1 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
min_headway_last [10.92, 18.28, 25.62, 32.91, 40.27]
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
zvs shape 1500
RT 117.74988971254687 15.446160493768371 152.3896358390346 73.89071779134783
LR 2.9443264104396025 0.9192548889176594 3.9328139650169653 1.0
VL-std-all 0.0 0.0
*** budget = 10
VL10-1 1.5314726697285972 1.9379495396870878
RT-VL10-1 128.70840938526297 8.608049352825507 147.21611291123543 114.79028930701345
VL10-2 2.9386493742624915 2.682861150292017
RT-VL10-2 131.33781726340706 8.009131936939937 148.2696416359391 114.7578735011632
VL10-3 4.384612807083131 4.25851182084783
RT-VL10-3 130.315436798288 7.688340413492464 148.2696416359391 114.7578735011632
VL10-4 9.938909825007116 5.678495554380438
RT-VL10-4 129.75298295800715 7.429497724892357 148.2696416359391 114.7578735011632
VL10-5 16.95843853950501 6.245809753032701
RT-VL10-5 129.75183375125272 7.430037748405679 148.2696416359391 114.7578735011632
VL10-all 7.1504166431172695 5.673344225551029
RT-VL10-all 129.9732960312436 0.8574963692490372 131.33781726340706 128.70840938526297
*** budget = 20
VL20-1 0.6512243695576986 1.0423861119397226
RT-VL20-1 126.0677093478463 7.383766379518646 146.7701157057886 114.83974274667065
VL20-2 1.4122318110148107 1.404503879674219
RT-VL20-2 131.7251232529448 8.130989992837192 146.7318960253607 118.18746067769852
VL20-3 2.222037724812826 1.7620720934510996
RT-VL20-3 130.22748515570075 7.027778371819335 145.73911112896093 117.96862747054615
VL20-4 6.659760934448239 3.6661539404672507
RT-VL20-4 128.9201913660925 6.057143796608465 143.80589042301332 117.96862747054615
VL20-5 13.35166007995606 4.712399770536957
RT-VL20-5 128.77748984291267 6.070790826577968 143.80589042301332 117.96862747054615
VL20-all 4.859382983957927 4.730902053284031
RT-VL20-all 129.1435997930994 1.8699797167389984 131.7251232529448 126.0677093478463
*** budget = 30
VL30-1 0.3378358978271484 0.41478215927430967
RT-VL30-1 123.97802266196231 6.194980883396634 138.13724511815317 114.83974274667065
VL30-2 0.8540108718872068 0.8649675676377817
RT-VL30-2 132.35793787074408 8.283544478098158 146.7318960253607 118.7415261077698
VL30-3 1.4901297271728522 1.3024460292326383
RT-VL30-3 130.18297107076563 7.523805884858659 145.73911112896093 119.13063693552914
VL30-4 5.199315785217283 3.0436242830152964
RT-VL30-4 128.39453996463223 5.5191454003701095 143.80589042301332 119.0391685263603
VL30-5 11.62095737457276 4.321054079525661
RT-VL30-5 128.40403426622981 5.600235305281452 143.80589042301332 119.0391685263603
VL30-all 3.90044993133545 4.220804209359621
RT-VL30-all 128.6635011668668 2.758659941658832 132.35793787074408 123.97802266196231
*** budget = 40
VL40-1 0.2635771292609137 0.38905899966051083
RT-VL40-1 124.46948052021973 6.4134269839773195 138.13724511815317 114.83974274667065
VL40-2 0.7488656327531142 0.9247204275389146
RT-VL40-2 131.9503883183069 8.26066464944105 146.7318960253607 118.7415261077698
VL40-3 1.1205690950960734 0.8686448863954892
RT-VL40-3 129.9374792201467 7.193572636399767 145.73911112896093 119.23224797047448
VL40-4 4.312248479482288 2.502588124491248
RT-VL40-4 127.84527973618647 4.240792432356963 137.31185470521467 120.55003551661466
VL40-5 10.45748206061286 4.05853113571074
RT-VL40-5 127.62599854225718 4.508153307252404 137.31185470521467 120.55003551661466
VL40-all 3.3805484794410496 3.813130619935637
RT-VL40-all 128.36572526742341 2.502758557483822 131.9503883183069 124.46948052021973
*** budget = 50
VL50-1 0.16689235941569008 0.1817787479382631
RT-VL50-1 123.32570908383164 5.433076093645822 136.03373166592758 114.83974274667065
VL50-2 0.5277315139770508 0.5763347974761156
RT-VL50-2 131.89608281491198 8.568134628628181 146.7318960253607 118.7415261077698
VL50-3 1.0358267771402998 0.9742974228623218
RT-VL50-3 129.55868663786 7.275038830295895 145.73911112896093 119.13063693552914
VL50-4 3.901063354492186 2.4185777786747082
RT-VL50-4 127.16015043365387 4.514773665810698 137.31185470521467 120.79704291548063
VL50-5 9.747912267049154 4.092085272440783
RT-VL50-5 127.17946732586333 4.68174770599416 137.31185470521467 120.79704291548063
VL50-all 3.075885254414876 3.586475403315393
RT-VL50-all 127.82401925922416 2.852428297520112 131.89608281491198 123.32570908383164
logs_data/30drive/cgrewfx/ablo/run_2024-08-10_20-42-06/run_88e4a_00006_6_clip_discriminator=10,dr_cc=0.9900,seed=4_2024-08-10_20-42-06/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg00_ds0.001_zt=p_g0_s4/08.10_20.42.47/models/ckpt_policy_T5000000.pt
0_drivelaneshift_v0_type1-infogsdr_ppobc-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg00_ds0.001_zt=p_g0_s4
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppobc
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 20, action dim: 2, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/DriveLaneshift_v0.h5 with traj_num 25.0, data_size 1250 steps, and average return 4.00
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 735, K 15, state dim 20, action dim 2, a min -0.051749326, a_max 0.3067493
Policy model is loaded from logs_data/30drive/cgrewfx/ablo/run_2024-08-10_20-42-06/run_88e4a_00006_6_clip_discriminator=10,dr_cc=0.9900,seed=4_2024-08-10_20-42-06/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg00_ds0.001_zt=p_g0_s4/08.10_20.42.47/models/ckpt_policy_T5000000.pt
Discr model is loaded from logs_data/30drive/cgrewfx/ablo/run_2024-08-10_20-42-06/run_88e4a_00006_6_clip_discriminator=10,dr_cc=0.9900,seed=4_2024-08-10_20-42-06/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg00_ds0.001_zt=p_g0_s4/08.10_20.42.47/models/ckpt_discr_T5000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 1 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
min_headway_last [10.92, 18.28, 25.62, 32.91, 40.27]
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
zvs shape 1500
RT 145.76671568754935 25.7221745784788 189.2261382721184 67.9904899671674
LR 3.5451022077214245 0.8620436633769885 3.9999482754792552 1.0
VL-std-all 0.0 0.0
*** budget = 10
VL10-1 1.412671074549357 1.836416857356789
RT-VL10-1 147.56660416586078 12.301664381221817 171.37665592707324 117.9912400119641
VL10-2 2.0927619349161786 1.988135952526179
RT-VL10-2 154.41472632426326 11.413083009642738 174.10567062851658 119.90316949825474
VL10-3 2.256125165049235 2.3350060550367666
RT-VL10-3 156.58354209805933 10.12658225796587 172.97772927425154 119.95910994173059
VL10-4 2.6116506866455076 2.1200176092510494
RT-VL10-4 157.5770694088243 8.679520922579773 172.42666318296702 123.22191617963827
VL10-5 3.857804340108236 3.241218726934226
RT-VL10-5 158.68068838547936 10.278867998091298 182.2782715856744 127.49474281683763
VL10-all 2.446202640253703 0.8061302241156748
RT-VL10-all 154.9645260764974 3.956968188183778 158.68068838547936 147.56660416586078
*** budget = 20
VL20-1 0.6908824577331544 0.8075182444296861
RT-VL20-1 146.6384527498084 12.748133384459477 169.8431268856512 118.0986313683679
VL20-2 1.0931600906372072 1.1988749229270586
RT-VL20-2 155.48451342044586 9.563752179343954 171.37665592707324 124.69626605682438
VL20-3 1.0420865356445312 0.9754361333558592
RT-VL20-3 156.06443401134882 11.014871882867132 172.97772927425154 119.95910994173059
VL20-4 1.424249145507812 1.1962343713497876
RT-VL20-4 157.88010358988342 7.586297528028124 171.01586577802678 138.20048091723493
VL20-5 2.237758666992187 1.9060441284048928
RT-VL20-5 157.5497253115964 10.59286872750879 179.8806974198669 127.49474281683763
VL20-all 1.2976273793029782 0.5244286995449002
RT-VL20-all 154.72344581661656 4.1399741595235895 157.88010358988342 146.6384527498084
*** budget = 30
VL30-1 0.35894573593139656 0.4216128164037236
RT-VL30-1 144.08967838745448 12.54311619288956 167.53203740174604 118.0986313683679
VL30-2 0.7719436584472658 0.874450446429214
RT-VL30-2 156.37187898558264 7.058284569064155 169.66912853924424 139.9354039811879
VL30-3 0.6538948776245118 0.5957243384494156
RT-VL30-3 155.7006438795378 11.02715725814185 172.97772927425154 121.4056643447254
VL30-4 1.0029599365234367 0.9154970731579558
RT-VL30-4 158.5149195636413 7.546474445200595 171.01586577802678 141.99563179776294
VL30-5 1.480015106201172 1.3990926981650706
RT-VL30-5 157.2042284794262 9.556912668491005 172.6656502899125 129.17983322951437
VL30-all 0.8535518629455566 0.37574911824499807
RT-VL30-all 154.3762698591285 5.228310583188778 158.5149195636413 144.08967838745448
*** budget = 40
VL40-1 0.25305035565350503 0.3779261718148026
RT-VL40-1 142.60253276310564 12.33897567288701 169.60416398587415 121.76835541590086
VL40-2 0.391621073130015 0.41059645804539135
RT-VL40-2 158.07522428726992 7.762377115070116 171.37665592707324 139.97892578793073
VL40-3 0.5050423513876422 0.529962997619848
RT-VL40-3 156.0594415355071 10.79013767459352 172.97772927425154 127.40521726245093
VL40-4 0.7817173210350238 0.6797748565110383
RT-VL40-4 159.0190971791241 8.154428415985691 171.01586577802678 141.99563179776294
VL40-5 1.0259533320246517 0.8873615290949065
RT-VL40-5 156.5013098274585 11.503055409057154 172.6656502899125 123.22191617963827
VL40-all 0.5914768866461675 0.2781751234120232
RT-VL40-all 154.45152111849305 6.019626941763293 159.0190971791241 142.60253276310564
*** budget = 50
VL50-1 0.20061935297648112 0.2519777824043554
RT-VL50-1 139.08046955758087 11.769593126057536 162.99296447500848 118.0986313683679
VL50-2 0.49130626296997093 0.6214886553331247
RT-VL50-2 158.28263523503745 7.379774718211123 170.2306982682492 145.98296744492856
VL50-3 0.3636359303792316 0.311496694238572
RT-VL50-3 154.96265336300135 11.452554509941761 172.97772927425154 127.40521726245093
VL50-4 0.6597443466186519 0.5948128922973805
RT-VL50-4 158.2740187377727 8.811888826753615 171.01586577802678 134.39646299683955
VL50-5 0.8948590596516927 0.8713070480821057
RT-VL50-5 155.9194868862667 10.477855710757918 172.6656502899125 129.17983322951437
VL50-all 0.5220329905192057 0.23970990061691144
RT-VL50-all 153.3038527559318 7.230333544536055 158.28263523503745 139.08046955758087
logs_data/30drive/cgrewfx/ablo/run_2024-08-10_20-42-06/run_88e4a_00008_8_clip_discriminator=10,dr_cc=0.9900,seed=5_2024-08-10_20-42-06/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg00_ds0.001_zt=p_g0_s5/08.10_20.42.46/models/ckpt_policy_T5000000.pt
0_drivelaneshift_v0_type1-infogsdr_ppobc-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg00_ds0.001_zt=p_g0_s5
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppobc
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 20, action dim: 2, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/DriveLaneshift_v0.h5 with traj_num 25.0, data_size 1250 steps, and average return 4.00
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 735, K 15, state dim 20, action dim 2, a min -0.051749326, a_max 0.3067493
Policy model is loaded from logs_data/30drive/cgrewfx/ablo/run_2024-08-10_20-42-06/run_88e4a_00008_8_clip_discriminator=10,dr_cc=0.9900,seed=5_2024-08-10_20-42-06/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg00_ds0.001_zt=p_g0_s5/08.10_20.42.46/models/ckpt_policy_T5000000.pt
Discr model is loaded from logs_data/30drive/cgrewfx/ablo/run_2024-08-10_20-42-06/run_88e4a_00008_8_clip_discriminator=10,dr_cc=0.9900,seed=5_2024-08-10_20-42-06/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg00_ds0.001_zt=p_g0_s5/08.10_20.42.46/models/ckpt_discr_T5000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 1 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
min_headway_last [10.92, 18.28, 25.62, 32.91, 40.27]
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
zvs shape 1500
RT 137.574532346541 21.77978656805821 188.6678468834143 100.00699824269398
LR 3.730617446812005 0.6031928682189686 3.9999579320137784 2.0
VL-std-all 0.0 0.0
*** budget = 10
VL10-1 10.211007084655764 5.775927141408602
RT-VL10-1 133.10325834543272 9.817926970077135 157.19221497781152 115.98956518969487
VL10-2 4.744813620758056 4.212503252506479
RT-VL10-2 132.9432723403076 9.512612052490471 157.19221497781152 115.6726901747748
VL10-3 2.5854726674397783 2.353171972513132
RT-VL10-3 137.29038340050954 9.20901057358086 157.10248611110708 116.595495937334
VL10-4 1.480032372538249 1.4837533456245282
RT-VL10-4 140.72788701485842 9.379706450848854 160.70795881189423 118.7413789070561
VL10-5 1.614471619669596 1.60291926692563
RT-VL10-5 141.83040585386004 11.294926060433164 169.76119185623227 118.7413789070561
VL10-all 4.12715947301229 3.258600274621112
RT-VL10-all 137.17904139099366 3.70932987362287 141.83040585386004 132.9432723403076
*** budget = 20
VL20-1 7.141101312255859 4.258830402222925
RT-VL20-1 132.6197021274219 10.835214467061995 157.19221497781152 115.98956518969487
VL20-2 2.5255865071614583 2.4141286288423554
RT-VL20-2 131.7011198225929 9.273599566898524 152.18297254398948 115.98956518969487
VL20-3 1.2643299692789711 1.2246420909429812
RT-VL20-3 138.83905855841004 8.667185984164423 156.08260222704803 118.61998323560707
VL20-4 0.6699639831542971 0.7023667433797295
RT-VL20-4 142.243142115043 8.67199516060136 156.56247395754326 118.7413789070561
VL20-5 0.803031075032552 0.7864925454359155
RT-VL20-5 141.8265035610805 11.049996776530373 166.86808906949582 120.61814819133708
VL20-all 2.4808025693766274 2.420506109611742
RT-VL20-all 137.44590523690965 4.481936979263199 142.243142115043 131.7011198225929
*** budget = 30
VL30-1 5.437903932952881 3.4663087997011917
RT-VL30-1 131.86379806661927 10.690807166763985 157.19221497781152 117.33302885200888
VL30-2 1.6667117988586426 1.7665534119342565
RT-VL30-2 130.8710526641022 8.871743692439518 152.03060743125386 115.6726901747748
VL30-3 0.8455877975463867 0.8446723377972656
RT-VL30-3 138.06407433519252 8.819213095996814 156.08260222704803 116.595495937334
VL30-4 0.4057800750732429 0.4784219662872101
RT-VL30-4 140.6050147499098 8.758923293830271 156.56247395754326 118.7413789070561
VL30-5 0.5314173278808587 0.5015263366734141
RT-VL30-5 141.50175039223163 11.07297130328759 164.20357137650717 120.61814819133708
VL30-all 1.7774801864624024 1.8822130010816926
RT-VL30-all 136.5811380416111 4.415008067435121 141.50175039223163 130.8710526641022
*** budget = 40
VL40-1 4.626511230468751 2.8464816830861355
RT-VL40-1 131.97418112624635 11.102204771578858 157.19221497781152 117.33302885200888
VL40-2 1.2018449216275604 1.3416997353706035
RT-VL40-2 130.29493517338193 7.995510209288186 152.03060743125386 115.98956518969487
VL40-3 0.6553888805492504 0.7895590883785486
RT-VL40-3 139.90597245367508 9.109592721844574 156.08260222704803 118.61998323560707
VL40-4 0.2654092778386305 0.34313366148739527
RT-VL40-4 141.86997008581903 9.461184462058672 156.56247395754326 118.7413789070561
VL40-5 0.4171215655352619 0.3866803669692628
RT-VL40-5 144.56091908006883 10.603752614152768 164.20357137650717 120.61814819133708
VL40-all 1.433255175203891 1.6279989229109928
RT-VL40-all 137.72119558383827 5.60258719171473 144.56091908006883 130.29493517338193
*** budget = 50
VL50-1 3.696315705617269 2.4388883896656277
RT-VL50-1 131.8733208299859 11.109055419794284 157.19221497781152 117.33302885200888
VL50-2 0.8231088854471845 0.8788757255700971
RT-VL50-2 130.16139208707528 6.678742209164802 142.54472475050673 117.36773903289685
VL50-3 0.5383815053304036 0.7229670564449335
RT-VL50-3 138.5910326622144 9.224864154107467 156.08260222704803 120.02409006623176
VL50-4 0.18298617553710983 0.1848197038291658
RT-VL50-4 142.6620224161219 9.60886042733926 156.56247395754326 118.7413789070561
VL50-5 0.33115542602539044 0.30969323285773886
RT-VL50-5 141.31213038021622 10.84623742828416 164.20357137650717 124.44485292851485
VL50-all 1.1143895395914716 1.308735290656298
RT-VL50-all 136.91997967512273 5.023977158106703 142.6620224161219 130.16139208707528
logs_data/30drive/cgrewfx/ig/run_2024-05-27_22-47-01/run_8f1a1_00009_9_dr_cc=0.9700,seed=5_2024-05-27_22-47-01/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr0_no0_es=n_sr0000_rc0.97_reg00_ds0.001_s5/05.27_22.47.39/models/ckpt_policy_T5000000.pt
0_drivelaneshift_v0_type1-infogsdr_ppobc-100-100-relu_cr0_no0_es=n_sr0000_rc0.97_reg00_ds0.001_s5
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppobc
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 20, action dim: 2, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/DriveLaneshift_v0.h5 with traj_num 25.0, data_size 1250 steps, and average return 4.00
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 735, K 15, state dim 20, action dim 2, a min -0.051749326, a_max 0.3067493
Policy model is loaded from logs_data/30drive/cgrewfx/ig/run_2024-05-27_22-47-01/run_8f1a1_00009_9_dr_cc=0.9700,seed=5_2024-05-27_22-47-01/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr0_no0_es=n_sr0000_rc0.97_reg00_ds0.001_s5/05.27_22.47.39/models/ckpt_policy_T5000000.pt
Error(s) in loading state_dict for PairDiscriminator:
	Missing key(s) in state_dict: "reward_offset". 
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 1 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
min_headway_last [10.92, 18.28, 25.62, 32.91, 40.27]
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
zvs shape 1500
RT 145.84845670472862 16.494378301919472 169.71283609239603 75.95689453370878
LR 3.8119041985884543 0.431330851899434 3.999881008872773 1.0
VL-std-all 0.0 0.0
*** budget = 10
VL10-1 0.5753359619140626 1.2843240882864086
RT-VL10-1 139.64559030150528 5.143494054888708 149.02210762770866 116.90423534909499
VL10-2 5.229518768056233 1.9177213538672
RT-VL10-2 131.70017753389064 8.212352987428192 146.83082993188873 114.92040979868094
VL10-3 3.1906936859130854 2.823048099803551
RT-VL10-3 144.56548095511235 6.276660523308439 162.7016810459318 120.85272036516116
VL10-4 1.4906708831787114 1.4171775301169254
RT-VL10-4 154.90960657317697 4.743657602437457 166.29214675189036 139.9699468067846
VL10-5 1.3572136789957687 1.6435781414250445
RT-VL10-5 165.73523080191154 2.7824939837657334 168.0181377315896 145.35967370774594
VL10-all 2.3686865956115724 1.6655420693041605
RT-VL10-all 147.31121723311935 11.89273106565591 165.73523080191154 131.70017753389064
*** budget = 20
VL20-1 0.24426550242106118 0.1951428526505998
RT-VL20-1 139.64280668618463 3.5499447259451635 145.21068900125127 131.00590306916268
VL20-2 4.198718365478515 1.8775495572313528
RT-VL20-2 130.610786680441 7.885649737037965 146.02378311892966 114.92040979868094
VL20-3 1.6656983347574865 1.576288900057317
RT-VL20-3 142.68895611246427 3.766894915717017 150.5617436710745 134.16352404316453
VL20-4 0.7698506663004563 0.6292994327594691
RT-VL20-4 154.59620279401193 2.7980582460028627 161.01243442890703 146.96933380828702
VL20-5 0.7536493652343755 0.9742206455169612
RT-VL20-5 166.24913386219416 1.4952434567894308 168.0181377315896 157.55945167411116
VL20-all 1.526436446838379 1.4123787575315632
RT-VL20-all 146.75757722705922 12.403687463164665 166.24913386219416 130.610786680441
*** budget = 30
VL30-1 0.18714491195678712 0.14537647385186936
RT-VL30-1 139.0801556535414 4.473949447316919 145.036503734533 117.59423865377815
VL30-2 3.674781478881836 1.9106911460709501
RT-VL30-2 130.46739760976754 7.421589715429226 146.02378311892966 115.19529104084323
VL30-3 1.0915033355712886 1.126599621539149
RT-VL30-3 141.96658148844026 3.328372920033915 147.34875330643257 134.16352404316453
VL30-4 0.5676321166992193 0.483359591379493
RT-VL30-4 154.2316303240386 2.28685229774125 159.26652265153874 148.58220699237435
VL30-5 0.38332388000488293 0.29675134330529557
RT-VL30-5 166.51328035334828 0.7980234269317882 167.85026369732873 164.3826501537117
VL30-all 1.1808771446228028 1.2827479043518604
RT-VL30-all 146.45180908582722 12.593237860678874 166.51328035334828 130.46739760976754
*** budget = 40
VL40-1 0.14040470741890573 0.10105597801608243
RT-VL40-1 139.6472328020294 2.9271896898838796 144.95658982614995 135.09384307771725
VL40-2 3.1819466008366764 1.9018052816461677
RT-VL40-2 129.0130513530874 7.299119073474717 142.71297014900458 115.19529104084323
VL40-3 0.8128958830962306 0.768367480982247
RT-VL40-3 141.92042041636017 3.1045028005061157 149.1938769281841 134.16352404316453
VL40-4 0.44106949677338536 0.42289386928888645
RT-VL40-4 154.5842586649091 2.0667080717945443 159.3201219467449 148.4913542671125
VL40-5 0.3078905177760768 0.27079664424679045
RT-VL40-5 166.4793219019453 0.8012875670910643 167.9049345081439 164.3826501537117
VL40-all 0.9768414411802551 1.124592391498451
RT-VL40-all 146.32885702766626 12.946879412816383 166.4793219019453 129.0130513530874
*** budget = 50
VL50-1 0.1072526880900065 0.08348354101098979
RT-VL50-1 139.96197937423713 2.8931493012200393 144.95658982614995 133.2436851563986
VL50-2 2.854797055562337 1.886245611361459
RT-VL50-2 128.7806697090156 6.487742461303496 142.60831499658494 115.19529104084323
VL50-3 0.6771408106485998 0.6615311282331311
RT-VL50-3 141.58933900449287 2.9754555091330017 145.90311767649848 134.16352404316453
VL50-4 0.380854141235352 0.3664486236562928
RT-VL50-4 154.3650067706971 1.850627820597963 157.63846700079745 148.6600382616743
VL50-5 0.26811192830403646 0.22771991076967893
RT-VL50-5 166.33722001775078 0.7294403376615948 167.8319188677715 164.3826501537117
VL50-all 0.8576313247680665 1.0157918568165083
RT-VL50-all 146.20684297523866 12.92887385201528 166.33722001775078 128.7806697090156
logs_data/30drive/cgrewfx/ig/run_2024-05-27_22-47-01/run_8f1a1_00007_7_dr_cc=0.9700,seed=4_2024-05-27_22-47-01/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr0_no0_es=n_sr0000_rc0.97_reg00_ds0.001_s4/05.27_22.47.43/models/ckpt_policy_T5000000.pt
0_drivelaneshift_v0_type1-infogsdr_ppobc-100-100-relu_cr0_no0_es=n_sr0000_rc0.97_reg00_ds0.001_s4
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppobc
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 20, action dim: 2, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/DriveLaneshift_v0.h5 with traj_num 25.0, data_size 1250 steps, and average return 4.00
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 735, K 15, state dim 20, action dim 2, a min -0.051749326, a_max 0.3067493
Policy model is loaded from logs_data/30drive/cgrewfx/ig/run_2024-05-27_22-47-01/run_8f1a1_00007_7_dr_cc=0.9700,seed=4_2024-05-27_22-47-01/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr0_no0_es=n_sr0000_rc0.97_reg00_ds0.001_s4/05.27_22.47.43/models/ckpt_policy_T5000000.pt
Error(s) in loading state_dict for PairDiscriminator:
	Missing key(s) in state_dict: "reward_offset". 
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 1 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
min_headway_last [10.92, 18.28, 25.62, 32.91, 40.27]
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
zvs shape 1500
RT 151.23734480319183 7.4751775181783024 175.91066552966376 70.87407871708282
LR 3.9462767403593557 0.13369977437874989 3.9997979812614766 1.0
VL-std-all 0.0 0.0
*** budget = 10
VL10-1 0.7910332911173503 0.6458185026425308
RT-VL10-1 149.39834930232627 3.929135179375546 159.9357413743851 141.69525879202413
VL10-2 2.6738527834574386 1.5486775447005752
RT-VL10-2 145.46444505093518 4.535079892345735 155.9985848783984 137.5283642533469
VL10-3 2.686413816579183 2.4170024812626996
RT-VL10-3 156.70128119749657 3.407867121433707 160.7569649009968 139.61890981544266
VL10-4 2.070578530883789 2.016407984577418
RT-VL10-4 158.10201378890682 1.3016967848486483 160.7920926509835 154.91140567592677
VL10-5 2.3814432815551765 2.4122467388057545
RT-VL10-5 155.90013034617957 1.3856806809730013 160.0141833404773 151.7945007025267
VL10-all 2.1206643407185877 0.7020716338110694
RT-VL10-all 153.11324393716887 4.854547114239802 158.10201378890682 145.46444505093518
*** budget = 20
VL20-1 0.46578151550292973 0.4005575184347877
RT-VL20-1 150.92858496913644 3.0254521455317542 157.92535306655932 145.97712377004814
VL20-2 1.774416924540202 1.2640452283896177
RT-VL20-2 146.0184996695606 4.173707814164673 153.98906278293035 137.5283642533469
VL20-3 1.3074317413330077 1.1731908970482667
RT-VL20-3 157.18408387120544 1.9152964305605595 160.60606271837585 152.03772531129613
VL20-4 1.0590204182942713 1.1803986266720348
RT-VL20-4 158.12132406870137 1.0958475733886306 160.17405348425368 155.71957017364758
VL20-5 1.3033622965494798 1.4881405378898467
RT-VL20-5 155.84459212068154 1.192940879261606 160.0141833404773 154.0156908209901
VL20-all 1.1820025792439781 0.42650032503101315
RT-VL20-all 153.6194169398571 4.537398875084452 158.12132406870137 146.0184996695606
*** budget = 30
VL30-1 0.29215327224731447 0.23707112546504155
RT-VL30-1 151.0155008718354 2.2965890617306277 156.12329437804783 146.21951983059944
VL30-2 1.2674353179931643 0.967520579797932
RT-VL30-2 146.002746458979 3.4355670226267776 152.61522841418522 137.67460481042386
VL30-3 0.920636587524414 0.9288481088712127
RT-VL30-3 157.2217570886982 1.6461342704469932 160.60606271837585 153.2222631060293
VL30-4 0.7352609954833986 0.9737518165844099
RT-VL30-4 158.27366687770066 1.0977529640453612 160.09718565785408 156.03454966083558
VL30-5 0.8513304718017579 0.7859028290738532
RT-VL30-5 155.66973941915202 1.0061231952453569 158.73669255172717 154.2756793400915
VL30-all 0.8133633290100099 0.3152428666523826
RT-VL30-all 153.63668214327305 4.552697595235332 158.27366687770066 146.002746458979
*** budget = 40
VL40-1 0.23385742290599926 0.20796819716974488
RT-VL40-1 150.8097773540106 2.1022103316928757 154.27777250381754 146.21951983059944
VL40-2 1.0896906455787454 0.8223481721809504
RT-VL40-2 146.5425310837949 3.1360668181372118 152.9273409857419 137.67460481042386
VL40-3 0.7653169745367923 0.8387565063775875
RT-VL40-3 157.595171577898 1.4539437025605402 160.60606271837585 153.66122809360914
VL40-4 0.46414937612172713 0.5753699760153386
RT-VL40-4 158.18456197415503 1.1866728380955547 160.14585086877938 154.91140567592677
VL40-5 0.6400854904587203 0.4514271162356876
RT-VL40-5 155.64860730713573 0.9517597563922665 157.78667854337252 154.20453285379355
VL40-all 0.6386199819203968 0.28767750719656077
RT-VL40-all 153.75612985939887 4.441795213266272 158.18456197415503 146.5425310837949
*** budget = 50
VL50-1 0.18493605677286784 0.1871482140461018
RT-VL50-1 151.13089499175263 1.7699074008554316 154.27777250381754 146.21951983059944
VL50-2 0.8541730003356937 0.7113964409799685
RT-VL50-2 146.4499962450906 2.8676790382122306 152.9273409857419 137.67460481042386
VL50-3 0.5389602355957028 0.6023251423572995
RT-VL50-3 157.42943198324346 1.4012138369669611 159.32553310017101 153.66122809360914
VL50-4 0.3335263366699223 0.4031377934426178
RT-VL50-4 158.1410169565362 1.0264485893512723 159.5691469081505 156.92009788384914
VL50-5 0.5584040323893229 0.42204497941632757
RT-VL50-5 155.61280940733843 0.8644388731333497 157.60777516558312 154.20453285379355
VL50-all 0.4939999323527019 0.22678898120027693
RT-VL50-all 153.75282991679225 4.391788572865145 158.1410169565362 146.4499962450906
logs_data/30drive/cgrewfx/ig/run_2024-05-27_22-47-01/run_8f1a1_00005_5_dr_cc=0.9700,seed=3_2024-05-27_22-47-01/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr0_no0_es=n_sr0000_rc0.97_reg00_ds0.001_s3/05.27_22.47.39/models/ckpt_policy_T5000000.pt
0_drivelaneshift_v0_type1-infogsdr_ppobc-100-100-relu_cr0_no0_es=n_sr0000_rc0.97_reg00_ds0.001_s3
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppobc
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 20, action dim: 2, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/DriveLaneshift_v0.h5 with traj_num 25.0, data_size 1250 steps, and average return 4.00
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 735, K 15, state dim 20, action dim 2, a min -0.051749326, a_max 0.3067493
Policy model is loaded from logs_data/30drive/cgrewfx/ig/run_2024-05-27_22-47-01/run_8f1a1_00005_5_dr_cc=0.9700,seed=3_2024-05-27_22-47-01/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr0_no0_es=n_sr0000_rc0.97_reg00_ds0.001_s3/05.27_22.47.39/models/ckpt_policy_T5000000.pt
Error(s) in loading state_dict for PairDiscriminator:
	Missing key(s) in state_dict: "reward_offset". 
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 1 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
min_headway_last [10.92, 18.28, 25.62, 32.91, 40.27]
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
zvs shape 1500
RT 134.70628876755896 19.861034443865485 171.77401881531125 72.92599070724096
LR 3.492353034974522 0.8330549917800587 3.9995919568755305 1.0
VL-std-all 0.0 0.0
*** budget = 10
VL10-1 0.9296451246897379 1.8848712963079235
RT-VL10-1 128.06113328345117 10.069776691128213 152.26251569404837 115.171320117079
VL10-2 2.798543132781982 2.2262699076143195
RT-VL10-2 145.40471155892044 8.165940989013812 156.22757369378832 115.15026884828737
VL10-3 1.668934888712565 1.7913605503016403
RT-VL10-3 151.31913794320116 2.702786380913794 158.17996440385468 144.82989663453162
VL10-4 3.2667020823160793 2.4005757506907885
RT-VL10-4 152.9728513595196 3.4290115025078625 160.87185651256002 144.8943667705173
VL10-5 5.678710064697268 4.936642452599571
RT-VL10-5 155.64949422990304 4.043330231461472 162.1323848249161 144.8943667705173
VL10-all 2.8685070586395263 1.6284258750610006
RT-VL10-all 146.68146567499906 9.898100358198691 155.64949422990304 128.06113328345117
*** budget = 20
VL20-1 0.3247852783203125 0.8319112934591936
RT-VL20-1 123.57494358190796 6.116607526942794 141.45781820168463 115.171320117079
VL20-2 1.4819194071451818 1.3248512347328212
RT-VL20-2 145.66291362355145 4.3758962552449825 154.8568200169833 135.46113391884074
VL20-3 0.7370753560384112 0.63099029717374
RT-VL20-3 151.20848488448652 2.4332905975143273 156.05152484495198 145.6971320360898
VL20-4 2.0499193918863923 1.6379537427777535
RT-VL20-4 152.78320146156125 2.930331660103964 158.9088156543441 146.2620720498966
VL20-5 2.9469907857259146 3.128122367483841
RT-VL20-5 157.39459290723826 3.1320265357989276 162.1323848249161 148.3308258108445
VL20-all 1.5081380438232426 0.9337422658332029
RT-VL20-all 146.12482729174909 11.881883333021808 157.39459290723826 123.57494358190796
*** budget = 30
VL30-1 0.12499905929565429 0.15701124551030482
RT-VL30-1 122.57986951160298 3.5594895495209378 130.94783508020888 115.19067143741957
VL30-2 1.0880040374755857 1.0247747506496807
RT-VL30-2 144.82769006070438 4.106378842782553 152.63840535396622 135.46113391884074
VL30-3 0.539992790222168 0.3847108260505142
RT-VL30-3 151.26334346634974 2.7512392702419755 157.70969073666456 145.1395164301794
VL30-4 1.3321502227783197 1.013937318640665
RT-VL30-4 152.82844764025708 2.6057021492967025 158.9088156543441 148.02870607993103
VL30-5 1.6561110839843776 1.2592005237668331
RT-VL30-5 158.51200019522048 1.8362835579614394 162.1323848249161 151.36564715439476
VL30-all 0.9482514387512211 0.549980717290221
RT-VL30-all 146.00227017482695 12.496058798073435 158.51200019522048 122.57986951160298
*** budget = 40
VL40-1 0.09591394063588736 0.1487625702902169
RT-VL40-1 122.42931652902885 3.638506047628872 136.87471317336974 115.20598072698319
VL40-2 0.813321320817277 0.8118467850927172
RT-VL40-2 144.4217512668542 4.0446860671071105 151.02680021611806 135.46113391884074
VL40-3 0.43370657637312615 0.2620800100136654
RT-VL40-3 151.2446412126883 2.4125310493365735 155.93513932073273 145.69960112948303
VL40-4 1.116523220990154 0.9720013739674146
RT-VL40-4 152.8034615085328 2.334106833304832 157.90997876005716 148.05738929694044
VL40-5 1.35744906863651 1.1570315676755982
RT-VL40-5 158.70751116785624 1.5543935293085955 162.1323848249161 155.13419652415908
VL40-all 0.7633828254905909 0.45482256649729463
RT-VL40-all 145.92133633699208 12.596120343360543 158.70751116785624 122.42931652902885
*** budget = 50
VL50-1 0.057741392771403 0.050108938692912816
RT-VL50-1 121.51143129468355 2.529026173322506 126.9289961524775 115.20598072698319
VL50-2 0.6994018096923829 0.6462528887038766
RT-VL50-2 144.00626326500884 4.308480488107984 151.02680021611806 135.46113391884074
VL50-3 0.3324684219360352 0.19306550735485473
RT-VL50-3 151.66067483383227 2.3108295871442124 156.05152484495198 147.4123565564224
VL50-4 0.8616611353556304 0.8315441960425446
RT-VL50-4 152.759873271782 2.180661356902866 157.37399488379006 148.4147921507248
VL50-5 1.0399605255126976 0.6742247734485692
RT-VL50-5 158.9592428718248 1.266512866488911 162.1323848249161 156.67385600286082
VL50-all 0.5982466570536298 0.35707553958583677
RT-VL50-all 145.7794971074263 13.031523148206182 158.9592428718248 121.51143129468355
logs_data/30drive/cgrewfx/ig/run_2024-05-27_22-47-01/run_8f1a1_00003_3_dr_cc=0.9700,seed=2_2024-05-27_22-47-01/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr0_no0_es=n_sr0000_rc0.97_reg00_ds0.001_s2/05.27_22.47.39/models/ckpt_policy_T5000000.pt
0_drivelaneshift_v0_type1-infogsdr_ppobc-100-100-relu_cr0_no0_es=n_sr0000_rc0.97_reg00_ds0.001_s2
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppobc
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 20, action dim: 2, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/DriveLaneshift_v0.h5 with traj_num 25.0, data_size 1250 steps, and average return 4.00
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 735, K 15, state dim 20, action dim 2, a min -0.051749326, a_max 0.3067493
Policy model is loaded from logs_data/30drive/cgrewfx/ig/run_2024-05-27_22-47-01/run_8f1a1_00003_3_dr_cc=0.9700,seed=2_2024-05-27_22-47-01/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr0_no0_es=n_sr0000_rc0.97_reg00_ds0.001_s2/05.27_22.47.39/models/ckpt_policy_T5000000.pt
Error(s) in loading state_dict for PairDiscriminator:
	Missing key(s) in state_dict: "reward_offset". 
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 1 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
min_headway_last [10.92, 18.28, 25.62, 32.91, 40.27]
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
zvs shape 1500
RT 147.66092367106856 18.273438540096738 162.84304657008016 75.0014800922946
LR 3.676553778552042 0.6653488903043016 3.999090270372097 1.0
VL-std-all 0.0 0.0
*** budget = 10
VL10-1 7.015104656855266 5.718100520889506
RT-VL10-1 140.7271228262557 10.820991139783949 156.72952857846366 114.90713360649605
VL10-2 6.034318832651775 2.900213156772207
RT-VL10-2 144.01244641500332 9.900821380747164 156.72952857846366 114.92160776839569
VL10-3 2.1224288243611653 1.729473163580002
RT-VL10-3 151.8947091663912 5.043666766133826 157.08275294443558 123.93640677077869
VL10-4 1.6793149358113608 1.543486181338811
RT-VL10-4 156.70940750889537 1.5153752284272721 160.52395473205263 153.68437252216955
VL10-5 0.9980737742106117 0.9069276381624468
RT-VL10-5 159.5963861800358 1.0707848076554587 162.83863491713421 157.62877044803452
VL10-all 3.5698482047780358 2.4587220307236337
RT-VL10-all 150.58801441931627 7.222256487939843 159.5963861800358 140.7271228262557
*** budget = 20
VL20-1 4.193611942799887 3.8656271588703377
RT-VL20-1 135.98252999467775 10.288030496934127 156.09537551779044 114.90713360649605
VL20-2 4.240467205810546 1.7263751110701517
RT-VL20-2 141.30675607299472 9.311145146870274 156.28334774356364 114.92160776839569
VL20-3 1.1413627227783203 0.8286440530733487
RT-VL20-3 152.8750305137722 2.3924669241580006 156.28334774356364 145.40172139601765
VL20-4 0.8638978088378906 0.8752094829325623
RT-VL20-4 156.42169495957745 1.4136265253096196 160.52395473205263 154.98927399981753
VL20-5 0.5626171040852863 0.5796266707543306
RT-VL20-5 159.55882218949964 0.7557453527198835 162.54812066396713 157.6975726016097
VL20-all 2.2003913568623856 1.6567980521745698
RT-VL20-all 149.22896674610436 9.054993563674278 159.55882218949964 135.98252999467775
*** budget = 30
VL30-1 2.454868376922607 1.3816387055575037
RT-VL30-1 133.13038408631107 9.81385966911345 152.17788450187015 114.90713360649605
VL30-2 3.618351287841796 1.471020359983467
RT-VL30-2 138.9991225271165 8.617096008398262 154.44722982449457 118.39945903455404
VL30-3 0.7827943420410156 0.6045454025767483
RT-VL30-3 152.99249171648415 2.030723283411988 156.28334774356364 146.93788021430402
VL30-4 0.535335705566406 0.6242868493546803
RT-VL30-4 156.26390953474794 1.2112750067743117 160.32803457818216 154.98927399981753
VL30-5 0.38865350646972646 0.4640646570524913
RT-VL30-5 159.6082397091802 0.6944570959710757 162.77960571867854 157.95494092802969
VL30-all 1.5560006437683103 1.2699257947518792
RT-VL30-all 148.19882951476797 10.29458119892429 159.6082397091802 133.13038408631107
*** budget = 40
VL40-1 2.1965492877444706 0.8089110034934647
RT-VL40-1 131.79294579545797 10.204874791555858 152.17788450187015 114.90713360649605
VL40-2 3.1478769621977922 1.0128151049571497
RT-VL40-2 136.4490202947233 8.073193699154226 150.7782470046072 118.39945903455404
VL40-3 0.5733217641469596 0.43451032980397103
RT-VL40-3 153.05553975247958 1.8393002063053472 154.8242656011127 148.73178738122783
VL40-4 0.3650466341585725 0.34618162764540783
RT-VL40-4 156.0863553067005 1.0455780097258198 158.82364610803796 154.98927399981753
VL40-5 0.24502428209459468 0.2106351623425217
RT-VL40-5 159.4890042843283 0.3020124132338325 161.22188169439323 159.2563076575753
VL40-all 1.305563786068478 1.16047127791515
RT-VL40-all 147.37457308673794 11.109300498248608 159.4890042843283 131.79294579545797
*** budget = 50
VL50-1 2.0359226735432947 0.7348127573619417
RT-VL50-1 130.19127659374496 9.928359055311729 152.17788450187015 114.90713360649605
VL50-2 2.9724027506510406 0.8495869226376057
RT-VL50-2 135.7251630776454 7.161293533076295 146.9575716303663 120.21632340480592
VL50-3 0.5146253662109376 0.39380418409912693
RT-VL50-3 153.1749582934661 1.8372898605801 156.28334774356364 148.79937015194466
VL50-4 0.2969267730712886 0.30393287411989983
RT-VL50-4 156.05753857955372 1.084448392873776 158.82364610803796 154.98927399981753
VL50-5 0.20477187093099 0.17381075084929826
RT-VL50-5 159.5088171042454 0.3127918144652697 161.15233507310063 159.31667926054791
VL50-all 1.2049298868815104 1.1059670319193924
RT-VL50-all 146.9315507297311 11.715556530137926 159.5088171042454 130.19127659374496
logs_data/30drive/cgrewfx/ig/run_2024-05-27_22-47-01/run_8f1a1_00001_1_dr_cc=0.9700,seed=1_2024-05-27_22-47-01/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr0_no0_es=n_sr0000_rc0.97_reg00_ds0.001_s1/05.27_22.47.43/models/ckpt_policy_T5000000.pt
0_drivelaneshift_v0_type1-infogsdr_ppobc-100-100-relu_cr0_no0_es=n_sr0000_rc0.97_reg00_ds0.001_s1
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppobc
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 20, action dim: 2, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/DriveLaneshift_v0.h5 with traj_num 25.0, data_size 1250 steps, and average return 4.00
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 735, K 15, state dim 20, action dim 2, a min -0.051749326, a_max 0.3067493
Policy model is loaded from logs_data/30drive/cgrewfx/ig/run_2024-05-27_22-47-01/run_8f1a1_00001_1_dr_cc=0.9700,seed=1_2024-05-27_22-47-01/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr0_no0_es=n_sr0000_rc0.97_reg00_ds0.001_s1/05.27_22.47.43/models/ckpt_policy_T5000000.pt
Error(s) in loading state_dict for PairDiscriminator:
	Missing key(s) in state_dict: "reward_offset". 
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 1 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
min_headway_last [10.92, 18.28, 25.62, 32.91, 40.27]
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
zvs shape 1500
RT 152.34644356087693 17.230820223422796 178.6146022036846 75.05194333242265
LR 3.9444058143812963 0.2503801011110419 3.9999931796919554 1.0
VL-std-all 0.0 0.0
*** budget = 10
VL10-1 0.4147785620371501 0.5818280160280865
RT-VL10-1 135.4540940734973 6.376799027874336 150.90270607662393 114.73675087944119
VL10-2 5.43484207611084 2.203783056876341
RT-VL10-2 138.60965838696532 11.263948073488784 157.16484114422948 114.7571015049478
VL10-3 4.460124523925781 4.013552933179873
RT-VL10-3 152.9278348186858 8.160012013759715 172.08808977901893 118.49015796603679
VL10-4 3.672306070963541 2.4989693074962687
RT-VL10-4 159.18185238922615 7.785695608218326 175.29440024850177 120.35215177910833
VL10-5 0.8731265543619796 2.639092089197346
RT-VL10-5 169.6786165024296 5.3817362309871255 176.99021636263967 120.35215177910833
VL10-all 2.9710355574798584 1.9857079773437991
RT-VL10-all 151.17041123416084 12.764016033144022 169.6786165024296 135.4540940734973
*** budget = 20
VL20-1 0.16734133707682292 0.14859317254726861
RT-VL20-1 135.7417096321102 4.3848331532919245 144.48389103569207 124.32943280809539
VL20-2 4.207938458760579 2.3326388690998487
RT-VL20-2 140.65560735920445 11.165296246347392 157.16484114422948 114.7571015049478
VL20-3 2.237189609781901 1.984772789160895
RT-VL20-3 153.3009369650126 3.2272213101274496 168.31839939276665 143.36386032751852
VL20-4 2.4076223459879547 1.652781188595991
RT-VL20-4 156.70933387535433 5.462564354496202 172.08808977901893 149.42444629472453
VL20-5 0.2633705485026046 0.23874556636980776
RT-VL20-5 170.38436133049507 2.3532957669910317 173.87814543349668 164.04360103583912
VL20-all 1.8566924600219725 1.5079284795462946
RT-VL20-all 151.3583898324353 12.27048439228249 170.38436133049507 135.7417096321102
*** budget = 30
VL30-1 0.11953782958984377 0.1263968009599865
RT-VL30-1 135.2682936439895 4.092376844368084 144.34609455918005 128.32073687925055
VL30-2 3.5746922866821285 2.340589403558854
RT-VL30-2 142.94220612162482 9.060961831558945 153.79374621389377 114.7571015049478
VL30-3 1.663571772766113 1.423104752420972
RT-VL30-3 153.09601082044534 2.625059395374122 158.3573081918873 144.9518502364517
VL30-4 1.6900765960693342 1.2501315153944217
RT-VL30-4 154.95999694666887 3.9318702872402036 168.4352585012674 149.42444629472453
VL30-5 0.17728735351562563 0.18228098927319586
RT-VL30-5 170.39423999139981 2.262366234343196 173.87814543349668 165.8694362561502
VL30-all 1.445033167724609 1.2654936355026631
RT-VL30-all 151.33214950482565 11.900204978162392 170.39423999139981 135.2682936439895
*** budget = 40
VL40-1 0.07711731575630808 0.0865710251220113
RT-VL40-1 135.07400834124624 4.166892957729306 144.43046649452316 128.3266850202343
VL40-2 2.865455504752494 2.0183417415700333
RT-VL40-2 142.40394830143285 8.907649630317465 153.79374621389377 116.54658320802302
VL40-3 1.3123810907312339 0.873797789391245
RT-VL40-3 153.44043012801635 2.362691404909618 158.3573081918873 147.556414198014
VL40-4 1.4032199632799287 1.0790876478319593
RT-VL40-4 154.6266457233256 3.8617978386957548 168.4352585012674 149.42444629472453
VL40-5 0.13206081493480845 0.175411645034448
RT-VL40-5 170.63091590962176 2.1370146309289506 173.87814543349668 165.8694362561502
VL40-all 1.1580469378909546 1.0217856164392038
RT-VL40-all 151.23518968072855 12.09738700755179 170.63091590962176 135.07400834124624
*** budget = 50
VL50-1 0.06325372060139973 0.06365635768304981
RT-VL50-1 136.31243329126542 3.885441818623773 142.4759267551128 128.3266850202343
VL50-2 2.4987515335083 1.9613154894758489
RT-VL50-2 142.8349824966659 7.44788036363541 150.3048087113421 116.56391781743164
VL50-3 1.1729724095662433 0.7231110771428263
RT-VL50-3 153.43585782929148 2.527243478188528 158.3573081918873 147.556414198014
VL50-4 1.0173338114420554 0.772042969053791
RT-VL50-4 154.129161838057 3.519732546611753 164.98459490411938 149.42444629472453
VL50-5 0.11648690287272198 0.15227003446097223
RT-VL50-5 170.7137080410515 1.843593118157078 173.87700652575583 165.8694362561502
VL50-all 0.9737596755981441 0.8866929892947981
RT-VL50-all 151.48522869926626 11.70957073595282 170.7137080410515 136.31243329126542
logs_data/30drive/cgrewfx/igsn/run_2024-05-27_22-46-17/run_74d60_00037_37_dl_scale=0.5000,dr_cc=0.9700,seed=5_2024-05-27_22-46-17/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr0_no0_es=n_sr0000_rc0.97_reg10_ds0.500_s5/05.27_22.46.55/models/ckpt_policy_T5000000.pt
0_drivelaneshift_v0_type1-infogsdr_ppobc-100-100-relu_cr0_no0_es=n_sr0000_rc0.97_reg10_ds0.500_s5
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppobc
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 20, action dim: 2, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/DriveLaneshift_v0.h5 with traj_num 25.0, data_size 1250 steps, and average return 4.00
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 735, K 15, state dim 20, action dim 2, a min -0.051749326, a_max 0.3067493
Policy model is loaded from logs_data/30drive/cgrewfx/igsn/run_2024-05-27_22-46-17/run_74d60_00037_37_dl_scale=0.5000,dr_cc=0.9700,seed=5_2024-05-27_22-46-17/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr0_no0_es=n_sr0000_rc0.97_reg10_ds0.500_s5/05.27_22.46.55/models/ckpt_policy_T5000000.pt
Error(s) in loading state_dict for PairDiscriminator:
	Missing key(s) in state_dict: "reward_offset". 
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 1 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
min_headway_last [10.92, 18.28, 25.62, 32.91, 40.27]
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
zvs shape 1500
RT 151.96441867096536 17.695473924474832 182.74513948656377 107.37096653570246
LR 3.85949433117779 0.4047816122523094 3.99999330306305 2.0
VL-std-all 0.0 0.0
*** budget = 10
VL10-1 3.8148198410034175 4.635867323327282
RT-VL10-1 129.43942633569512 13.125099040160936 159.64170268218749 113.37972111813775
VL10-2 3.255376591746012 2.290812394565092
RT-VL10-2 143.498976711138 10.634515889580333 159.64170268218749 114.75850974873183
VL10-3 1.1831130457560222 1.3297298746575157
RT-VL10-3 154.03577111619194 2.488178697675964 161.1969139919387 147.40961878906808
VL10-4 1.6065223215738937 1.459467790724716
RT-VL10-4 160.4999652026105 3.3140081078221106 171.08204168576 150.69801509368696
VL10-5 1.159570892842611 1.4500090956126315
RT-VL10-5 167.29732288009544 2.98585839555856 173.60461120679983 157.9989297595169
VL10-all 2.203880538584391 1.112668426435042
RT-VL10-all 150.95429244914618 13.31301032367766 167.29732288009544 129.43942633569512
*** budget = 20
VL20-1 1.3569453145345052 1.9930194008230808
RT-VL20-1 123.19715816925438 6.875285662924524 148.6023944519111 113.37972111813775
VL20-2 1.8947010264078772 1.514711463384143
RT-VL20-2 144.5432342202977 6.739060502548289 154.48410929914087 116.51081681833762
VL20-3 0.5562627268473307 0.5141925680114396
RT-VL20-3 153.53445626902862 2.293075866120052 159.64170268218749 147.40961878906808
VL20-4 0.7929246215820319 0.7358958232462228
RT-VL20-4 160.12309041177275 2.4168990736388745 165.35791323392192 154.00719701300875
VL20-5 0.45010870157877636 0.4677696933029088
RT-VL20-5 167.64236391556523 2.705091323228113 172.98779871372986 160.7198861929359
VL20-all 1.0101884781901043 0.5421336143047367
RT-VL20-all 149.80806059718375 15.32453434489002 167.64236391556523 123.19715816925438
*** budget = 30
VL30-1 0.7022505836486816 0.5774010372803748
RT-VL30-1 122.14076141815062 4.3326450022990475 130.14670589566254 113.37972111813775
VL30-2 1.2404022590637203 0.9932935097667781
RT-VL30-2 144.13036051290516 3.812585970509504 150.8926384031652 133.7993032163942
VL30-3 0.3205481094360353 0.232933094625111
RT-VL30-3 153.66137368631786 2.4251627904157584 159.64170268218749 147.40961878906808
VL30-4 0.45505452575683647 0.3626215651564721
RT-VL30-4 160.02356582454118 2.267992124939913 165.3579752224615 155.2585931569334
VL30-5 0.3561837982177738 0.4268059781781886
RT-VL30-5 167.3538567471178 2.9478431347729046 172.98779871372986 160.7198861929359
VL30-all 0.6148878552246095 0.34000320116120336
RT-VL30-all 149.46198363780653 15.647213216085381 167.3538567471178 122.14076141815062
*** budget = 40
VL40-1 0.5538482624775654 0.4889426841389499
RT-VL40-1 121.50655319561453 4.030466240046201 128.3194773327266 114.6833273685769
VL40-2 1.0756095515070732 1.0223574572080745
RT-VL40-2 143.95730225899177 3.278040267284858 150.82179950899382 137.15490866790083
VL40-3 0.27383138295766485 0.20491120409353622
RT-VL40-3 153.3357407076055 2.3641474890193677 157.97854831241403 147.40961878906808
VL40-4 0.3592971987337682 0.2749917932909089
RT-VL40-4 160.26345311720684 2.3808188289218744 165.39442137291172 155.2585931569334
VL40-5 0.24045293447133664 0.22831890178932554
RT-VL40-5 167.56187431436237 2.8863973625170773 171.65609709697313 160.7198861929359
VL40-all 0.5006078660294817 0.30742099619122476
RT-VL40-all 149.3249847187562 15.943635369795103 167.56187431436237 121.50655319561453
*** budget = 50
VL50-1 0.3902410227457683 0.32350039241085227
RT-VL50-1 121.79635787645451 4.069431217342546 128.34289479703878 114.84302548610202
VL50-2 0.8347087783813474 0.7177752919652562
RT-VL50-2 143.27636884865646 2.7471516795113624 149.08796548005202 137.15490866790083
VL50-3 0.21170492045084663 0.1575850453662291
RT-VL50-3 153.00806302226658 2.426337910548546 157.97854831241403 147.40961878906808
VL50-4 0.25602031453450613 0.1880385071526552
RT-VL50-4 159.967777486716 2.145556705938794 163.51649127912248 155.2585931569334
VL50-5 0.16692902119954406 0.11885663121752567
RT-VL50-5 168.04013907040255 2.4368083731473655 171.65609709697313 160.7198861929359
VL50-all 0.37192081146240247 0.24315921675411337
RT-VL50-all 149.21774126089923 15.946439414915941 168.04013907040255 121.79635787645451
logs_data/30drive/cgrewfx/igsn/run_2024-05-27_22-46-17/run_74d60_00029_29_dl_scale=0.5000,dr_cc=0.9700,seed=4_2024-05-27_22-46-17/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr0_no0_es=n_sr0000_rc0.97_reg10_ds0.500_s4/05.27_22.47.04/models/ckpt_policy_T5000000.pt
0_drivelaneshift_v0_type1-infogsdr_ppobc-100-100-relu_cr0_no0_es=n_sr0000_rc0.97_reg10_ds0.500_s4
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppobc
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 20, action dim: 2, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/DriveLaneshift_v0.h5 with traj_num 25.0, data_size 1250 steps, and average return 4.00
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 735, K 15, state dim 20, action dim 2, a min -0.051749326, a_max 0.3067493
Policy model is loaded from logs_data/30drive/cgrewfx/igsn/run_2024-05-27_22-46-17/run_74d60_00029_29_dl_scale=0.5000,dr_cc=0.9700,seed=4_2024-05-27_22-46-17/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr0_no0_es=n_sr0000_rc0.97_reg10_ds0.500_s4/05.27_22.47.04/models/ckpt_policy_T5000000.pt
Error(s) in loading state_dict for PairDiscriminator:
	Missing key(s) in state_dict: "reward_offset". 
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 1 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
min_headway_last [10.92, 18.28, 25.62, 32.91, 40.27]
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
zvs shape 1500
RT 145.14245043915506 16.312353078969906 161.82358793469092 102.10955567855899
LR 3.771012301843537 0.6058464203503523 3.9999817756179077 2.0
VL-std-all 0.0 0.0
*** budget = 10
VL10-1 1.403149272410075 3.024617288202239
RT-VL10-1 136.54270925929285 9.55132341112275 157.99361455871292 113.61452714900912
VL10-2 4.118828548685709 2.399458707300204
RT-VL10-2 147.81458608420522 10.77127481605868 158.4556107207613 113.61452714900912
VL10-3 1.4885425384521482 1.567409327011142
RT-VL10-3 155.93307927329832 2.0567529830957323 160.17388636193948 149.21645594248582
VL10-4 1.6400890258789058 1.4371331365298763
RT-VL10-4 155.88037836005506 3.124973617974554 160.89026498480243 130.0333041549022
VL10-5 1.8922089843750014 2.139826293752798
RT-VL10-5 154.0143652503685 4.859007965709435 161.65385550260532 133.9196479662497
VL10-all 2.1085636739603677 1.0187716525842856
RT-VL10-all 150.03702364544398 7.372425136895922 155.93307927329832 136.54270925929285
*** budget = 20
VL20-1 0.3448230921427409 0.34903224749845796
RT-VL20-1 133.98461759015137 7.476461144937133 149.1669452949419 113.76695090427418
VL20-2 2.6695472218831373 1.8011013272431677
RT-VL20-2 148.8232019326273 8.845135372159794 157.2881174396311 113.65615658601712
VL20-3 0.6665865631103515 0.7334151662951666
RT-VL20-3 155.97974173746388 1.928090567062391 158.66332060610864 150.36311151264852
VL20-4 0.9342415201822909 0.8906066776391498
RT-VL20-4 156.26942122200273 2.099875527074098 160.89026498480243 149.08455443906118
VL20-5 0.8904265828450529 1.0896602195051022
RT-VL20-5 154.04527939758535 4.658236549006616 161.65385550260532 139.63288293499517
VL20-all 1.1011249960327147 0.8115427793884354
RT-VL20-all 149.8204523759661 8.356355423134827 156.26942122200273 133.98461759015137
*** budget = 30
VL30-1 0.21058377761840816 0.18712409207346858
RT-VL30-1 133.21632414925088 6.58795964364324 143.24183129952834 115.8228704338556
VL30-2 1.965218979644775 1.515061823168303
RT-VL30-2 149.12896285738333 7.164143191142068 157.16402992667238 117.5243420983906
VL30-3 0.4556659042358396 0.4957361757264795
RT-VL30-3 156.40087999716755 1.4809910988103303 158.60192827749387 152.31356991414208
VL30-4 0.6287353515625 0.6705428627956569
RT-VL30-4 156.26812927649294 2.244473734336773 160.89026498480243 149.08455443906118
VL30-5 0.4871836151123057 0.5015543557485307
RT-VL30-5 154.8515365755552 3.8015966000022483 161.65385550260532 145.05075297379486
VL30-all 0.7494775256347659 0.6225971075447454
RT-VL30-all 149.97316657116997 8.7891409945596 156.40087999716755 133.21632414925088
*** budget = 40
VL40-1 0.17038356471706076 0.1521193060210222
RT-VL40-1 132.96755103504356 6.442312133569267 143.2282558299188 115.8228704338556
VL40-2 1.741798307057973 1.5709630910749797
RT-VL40-2 148.31166049239476 7.937671470507294 157.16402992667238 117.5243420983906
VL40-3 0.31978250451990087 0.3733268575405346
RT-VL40-3 155.9681202319059 1.9325811214473503 158.5954867156397 150.36311151264852
VL40-4 0.47435593476166643 0.5803655347632505
RT-VL40-4 155.99846294517081 2.2174109643671907 160.89026498480243 149.08455443906118
VL40-5 0.3409346668140314 0.3131914741888266
RT-VL40-5 154.704263361849 4.133391053124846 161.65385550260532 145.05075297379486
VL40-all 0.6094509955741265 0.5743257214578629
RT-VL40-all 149.5900116132728 8.784582701929985 155.99846294517081 132.96755103504356
*** budget = 50
VL50-1 0.15348602549235021 0.1450595061423069
RT-VL50-1 132.3867117898072 7.392658344618122 144.98535540149774 115.8228704338556
VL50-2 1.3582129580179847 1.1962050838681861
RT-VL50-2 148.53861191889064 6.469214036636339 157.16402992667238 130.77247067971587
VL50-3 0.27262808481852213 0.29938729577503265
RT-VL50-3 156.17361969615064 1.4896508753998803 158.5954867156397 152.31356991414208
VL50-4 0.3959282124837235 0.4213015127109824
RT-VL50-4 156.20759965240143 2.23208887282839 160.89026498480243 149.08455443906118
VL50-5 0.37458801778157635 0.4800517804068189
RT-VL50-5 154.67728858895632 3.6336765153311075 160.8604798845479 145.05075297379486
VL50-all 0.5109686597188314 0.43226310238395554
RT-VL50-all 149.59676632924123 9.056218768054704 156.20759965240143 132.3867117898072
logs_data/30drive/cgrewfx/igsn/run_2024-05-27_22-46-17/run_74d60_00021_21_dl_scale=0.5000,dr_cc=0.9700,seed=3_2024-05-27_22-46-17/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr0_no0_es=n_sr0000_rc0.97_reg10_ds0.500_s3/05.27_22.46.56/models/ckpt_policy_T5000000.pt
0_drivelaneshift_v0_type1-infogsdr_ppobc-100-100-relu_cr0_no0_es=n_sr0000_rc0.97_reg10_ds0.500_s3
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppobc
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 20, action dim: 2, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/DriveLaneshift_v0.h5 with traj_num 25.0, data_size 1250 steps, and average return 4.00
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 735, K 15, state dim 20, action dim 2, a min -0.051749326, a_max 0.3067493
Policy model is loaded from logs_data/30drive/cgrewfx/igsn/run_2024-05-27_22-46-17/run_74d60_00021_21_dl_scale=0.5000,dr_cc=0.9700,seed=3_2024-05-27_22-46-17/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr0_no0_es=n_sr0000_rc0.97_reg10_ds0.500_s3/05.27_22.46.56/models/ckpt_policy_T5000000.pt
Error(s) in loading state_dict for PairDiscriminator:
	Missing key(s) in state_dict: "reward_offset". 
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 1 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
min_headway_last [10.92, 18.28, 25.62, 32.91, 40.27]
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
zvs shape 1500
RT 136.8616135077475 16.81038456051723 179.40982482646393 106.91393703845051
LR 3.6012770091198814 0.8585699741962985 3.999828718136964 0.0
VL-std-all 0.0 0.0
*** budget = 10
VL10-1 0.4299397557576497 1.6879688954369947
RT-VL10-1 136.97558555928524 6.683578355173083 150.547936170129 114.90266286721362
VL10-2 5.316617988840739 1.961085737742869
RT-VL10-2 130.37134453750406 7.905644462538241 144.14672707335552 114.9330346939386
VL10-3 1.9180303548177084 2.0954372053580257
RT-VL10-3 142.12670065911414 4.2294491895675295 152.5466597509222 120.76770863117505
VL10-4 1.6601202448527015 2.282997590347122
RT-VL10-4 148.46577317962306 3.264667999719197 153.1767368355069 120.76770863117505
VL10-5 4.643004610188804 3.554286436487539
RT-VL10-5 153.20485147815722 8.026546549336341 178.04642962594556 120.76770863117505
VL10-all 2.79354259089152 1.8667729094256629
RT-VL10-all 142.22885108273675 8.094188986699852 153.20485147815722 130.37134453750406
*** budget = 20
VL20-1 0.1085112970987956 0.08125108287205977
RT-VL20-1 138.53732157684436 4.7483553551963 146.6931953465684 120.62773567560447
VL20-2 4.190933324686686 2.0834294113075784
RT-VL20-2 130.69679018211508 7.405178569747105 144.14672707335552 114.9330346939386
VL20-3 1.017587548828125 1.009287873417196
RT-VL20-3 141.63614001877224 2.973579906961373 147.7398378179353 128.89956745936055
VL20-4 0.7263446858723952 0.6344842753118948
RT-VL20-4 149.111416927488 1.4203655062270304 151.60832472235782 144.43716403981662
VL20-5 2.8730377380371115 1.6281466587668003
RT-VL20-5 155.7898488956146 8.143974046788806 177.88598463905498 149.72272655024435
VL20-all 1.7832829189046226 1.5160879826509417
RT-VL20-all 143.15430352016685 8.648181176783412 155.7898488956146 130.69679018211508
*** budget = 30
VL30-1 0.07626834793090823 0.06470791177587287
RT-VL30-1 138.92985803711056 4.872552577281972 144.94625074754003 120.62773567560447
VL30-2 3.6342315872192374 2.1036838870750327
RT-VL30-2 130.64235687014113 7.428021465234617 144.14672707335552 116.86224147630791
VL30-3 0.6451792327880861 0.5021220996521537
RT-VL30-3 141.97292006428472 2.3303062300248576 147.7398378179353 137.8193546109249
VL30-4 0.4798633499145501 0.48258134381969137
RT-VL30-4 149.1968436185085 1.2861194368073126 150.772441702371 146.33453964110254
VL30-5 2.3153217803955095 1.2973805900216735
RT-VL30-5 156.6473290846101 8.17062162052259 176.49513092334342 149.7730643216639
VL30-all 1.4301728596496581 1.3411729248558393
RT-VL30-all 143.477861534931 8.875145027101606 156.6473290846101 130.64235687014113
*** budget = 40
VL40-1 0.0584087083146379 0.05266672958025208
RT-VL40-1 138.93867730500799 4.4718143021345576 144.94625074754003 120.62773567560447
VL40-2 3.167157147381756 2.046872452888933
RT-VL40-2 129.80474958268724 7.1813784649800345 142.12029728479635 116.86224147630791
VL40-3 0.53427466521392 0.4380428049362067
RT-VL40-3 142.37446615361995 1.8729810309843213 147.6341454100036 138.2036157383115
VL40-4 0.39505300779600355 0.4352099651871565
RT-VL40-4 149.3192979746972 1.1939460318727662 150.772441702371 146.60300470539366
VL40-5 1.9790518972036029 1.1218625345758388
RT-VL40-5 156.31258113482474 7.573404665541545 176.1987775592133 149.7297645495274
VL40-all 1.226789085181984 1.1719557486947514
RT-VL40-all 143.34995443016743 9.028247571370112 156.31258113482474 129.80474958268724
*** budget = 50
VL50-1 0.048333305358886726 0.044634561053187194
RT-VL50-1 139.0203640844042 4.999318680055538 144.94625074754003 120.62773567560447
VL50-2 2.801181456247965 1.9558081556544809
RT-VL50-2 129.22248549641216 7.063096561961616 142.12029728479635 117.7002217221885
VL50-3 0.4313232574462892 0.3686758445228663
RT-VL50-3 141.98151766446153 1.7115397751714783 145.69534773778327 137.9281477706686
VL50-4 0.3090727691650386 0.40472194115562693
RT-VL50-4 149.5560741713834 1.006358655582515 150.772441702371 148.08317379272216
VL50-5 1.8132754770914734 1.057823796734729
RT-VL50-5 154.88989373740034 5.378217313507914 172.47814439810435 151.3796914198896
VL50-all 1.0806372530619306 1.0563714290516326
RT-VL50-all 142.93406703081232 8.843355245949354 154.88989373740034 129.22248549641216
logs_data/30drive/cgrewfx/igsn/run_2024-05-27_22-46-17/run_74d60_00013_13_dl_scale=0.5000,dr_cc=0.9700,seed=2_2024-05-27_22-46-17/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr0_no0_es=n_sr0000_rc0.97_reg10_ds0.500_s2/05.27_22.47.00/models/ckpt_policy_T5000000.pt
0_drivelaneshift_v0_type1-infogsdr_ppobc-100-100-relu_cr0_no0_es=n_sr0000_rc0.97_reg10_ds0.500_s2
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppobc
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 20, action dim: 2, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/DriveLaneshift_v0.h5 with traj_num 25.0, data_size 1250 steps, and average return 4.00
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 735, K 15, state dim 20, action dim 2, a min -0.051749326, a_max 0.3067493
Policy model is loaded from logs_data/30drive/cgrewfx/igsn/run_2024-05-27_22-46-17/run_74d60_00013_13_dl_scale=0.5000,dr_cc=0.9700,seed=2_2024-05-27_22-46-17/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr0_no0_es=n_sr0000_rc0.97_reg10_ds0.500_s2/05.27_22.47.00/models/ckpt_policy_T5000000.pt
Error(s) in loading state_dict for PairDiscriminator:
	Missing key(s) in state_dict: "reward_offset". 
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 1 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
min_headway_last [10.92, 18.28, 25.62, 32.91, 40.27]
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
zvs shape 1500
RT 150.84379321175462 18.715116270662488 188.3852452420398 104.23153263609873
LR 3.8536400691629398 0.4391958465388441 3.999964726826896 2.0
VL-std-all 0.0 0.0
*** budget = 10
VL10-1 1.6330474066416425 2.7089770315750914
RT-VL10-1 129.47054188838533 11.81998223588055 161.37677943211816 113.53746201470412
VL10-2 5.0981874150594075 2.6130527801152876
RT-VL10-2 148.67886269416078 12.951537504362616 161.37677943211816 113.55009160796197
VL10-3 1.8081613540649415 2.0920826331833373
RT-VL10-3 156.24995435958016 4.225797601498225 169.80349719192657 131.97948373437987
VL10-4 1.6777396408081051 1.495965859671371
RT-VL10-4 159.79059911795952 3.2362447869948685 169.80349719192657 149.7805348698749
VL10-5 1.6819272527058915 1.670149235724505
RT-VL10-5 165.45526095505406 3.518040239538043 183.7727298483677 150.03184755347286
VL10-all 2.3798126138559974 1.3604378290929873
RT-VL10-all 151.92904380302798 12.477025734858945 165.45526095505406 129.47054188838533
*** budget = 20
VL20-1 0.9813978279113771 1.150612563684259
RT-VL20-1 123.96343294306797 9.999723623184964 155.20468240766814 113.53746201470412
VL20-2 3.4267960617065425 2.176668539467222
RT-VL20-2 152.21090239488638 7.493650438627721 160.40626795424052 115.3855170886678
VL20-3 0.8513817515055339 0.72022893174307
RT-VL20-3 155.74247372433118 4.466893948739808 160.0498575555395 131.97948373437987
VL20-4 0.9247217783610021 0.7493714417392069
RT-VL20-4 159.77814278896395 2.5689391033307207 163.21138128687767 151.45733983413083
VL20-5 0.8724743916829417 0.9060164149026729
RT-VL20-5 165.7561048287375 2.377212868347886 170.3015036751747 155.83208903373415
VL20-all 1.4113543622334794 1.0087259374571038
RT-VL20-all 151.4902113359974 14.481230504555361 165.7561048287375 123.96343294306797
*** budget = 30
VL30-1 0.7175944328308106 0.31672973824922074
RT-VL30-1 120.61714408993879 7.098924596048438 139.53653653338532 113.53746201470412
VL30-2 2.7961700805664056 1.8438253267417186
RT-VL30-2 152.76631932374667 4.976286125375624 159.54308211553044 139.78305383690136
VL30-3 0.627000537109375 0.5810397773935039
RT-VL30-3 156.18665908688274 3.5462877621075726 160.0498575555395 141.56474932428796
VL30-4 0.6643343475341794 0.5410033030062401
RT-VL30-4 159.67695973531636 2.653157964934381 163.21138128687767 151.45733983413083
VL30-5 0.5668001678466785 0.544769591349512
RT-VL30-5 166.3129229591705 1.8092913966255282 169.22484597604387 160.8174939036831
VL30-all 1.0743799131774898 0.8622969476239946
RT-VL30-all 151.112001039011 15.8924621649801 166.3129229591705 120.61714408993879
*** budget = 40
VL40-1 0.6201425768878011 0.21381427707225067
RT-VL40-1 118.69754806470515 4.7062574787607545 133.42894993239292 113.53746201470412
VL40-2 2.401038401835673 1.706749113647063
RT-VL40-2 152.33597623479136 5.593013212320805 160.40626795424052 139.78305383690136
VL40-3 0.4281501934979412 0.4304890160171038
RT-VL40-3 155.68677570788992 4.2356707386889685 159.90210652223266 141.56474932428796
VL40-4 0.48713253124340117 0.4223789459965947
RT-VL40-4 159.85832449042545 2.7772633891714573 163.21138128687767 151.45733983413083
VL40-5 0.39989595567857755 0.3863013528799689
RT-VL40-5 166.22440290255517 1.8537960583490618 169.22484597604387 160.8174939036831
VL40-all 0.8672719318286788 0.7706213948010284
RT-VL40-all 150.56060548007343 16.59208316556015 166.22440290255517 118.69754806470515
*** budget = 50
VL50-1 0.5878927739461264 0.20328331604033684
RT-VL50-1 118.13687324131186 4.350620873984225 133.42894993239292 113.53746201470412
VL50-2 1.9489623057047518 1.4468359790685992
RT-VL50-2 151.06150546970306 5.325043175829825 158.86434206718684 139.78305383690136
VL50-3 0.46643263498942056 0.5318780718247826
RT-VL50-3 155.39308990323445 4.240204324889185 159.55475389570364 141.56474932428796
VL50-4 0.40896414693196637 0.39698691542326237
RT-VL50-4 159.50881808843698 2.5257475393407143 163.21138128687767 153.33976422579124
VL50-5 0.27093848164876133 0.2343020654867038
RT-VL50-5 166.02392124732626 1.731626267210944 169.22484597604387 162.8777315777256
VL50-all 0.7366380686442052 0.6146726769808188
RT-VL50-all 150.02484159000252 16.689227947771208 166.02392124732626 118.13687324131186
logs_data/30drive/cgrewfx/igsn/run_2024-05-27_22-46-17/run_74d60_00005_5_dl_scale=0.5000,dr_cc=0.9700,seed=1_2024-05-27_22-46-17/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr0_no0_es=n_sr0000_rc0.97_reg10_ds0.500_s1/05.27_22.47.01/models/ckpt_policy_T5000000.pt
0_drivelaneshift_v0_type1-infogsdr_ppobc-100-100-relu_cr0_no0_es=n_sr0000_rc0.97_reg10_ds0.500_s1
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppobc
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 20, action dim: 2, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/DriveLaneshift_v0.h5 with traj_num 25.0, data_size 1250 steps, and average return 4.00
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 735, K 15, state dim 20, action dim 2, a min -0.051749326, a_max 0.3067493
Policy model is loaded from logs_data/30drive/cgrewfx/igsn/run_2024-05-27_22-46-17/run_74d60_00005_5_dl_scale=0.5000,dr_cc=0.9700,seed=1_2024-05-27_22-46-17/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr0_no0_es=n_sr0000_rc0.97_reg10_ds0.500_s1/05.27_22.47.01/models/ckpt_policy_T5000000.pt
Error(s) in loading state_dict for PairDiscriminator:
	Missing key(s) in state_dict: "reward_offset". 
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 1 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
min_headway_last [10.92, 18.28, 25.62, 32.91, 40.27]
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
zvs shape 1500
RT 150.4494778540415 19.545847038937392 179.52014161489168 80.94604699616295
LR 3.9338040051099195 0.3307655559241556 3.999997688049909 1.0
VL-std-all 0.0 0.0
*** budget = 10
VL10-1 0.49093824132283537 0.785412405293894
RT-VL10-1 130.83348796501198 8.332510276813913 150.45435274043106 114.90159249096163
VL10-2 5.7232680562337235 2.35095231020477
RT-VL10-2 137.78540887526452 11.620007078905887 155.9025549439829 114.94080562633357
VL10-3 4.767704026794433 3.2660522473038482
RT-VL10-3 158.4123607388787 5.413451656671161 172.2457436440746 141.73624679580038
VL10-4 1.8339738316853853 1.68445631275903
RT-VL10-4 163.71006738854985 3.1823861023894864 172.2457436440746 152.22937046040892
VL10-5 1.1213799952189143 2.0214609975234348
RT-VL10-5 171.86673040948708 2.7739100205566967 175.96931318298363 152.22937046040892
VL10-all 2.787452830251058 2.0736106670260512
RT-VL10-all 152.52161107543844 15.631036227030704 171.86673040948708 130.83348796501198
*** budget = 20
VL20-1 0.2076691960652669 0.22191346179168264
RT-VL20-1 130.00306565892762 8.473405153927143 150.45435274043106 114.90159249096163
VL20-2 4.393545386250813 2.3902771691150604
RT-VL20-2 141.44853563941706 11.301994270850772 155.9025549439829 116.87324377009638
VL20-3 2.8238118682861324 2.2178513317316724
RT-VL20-3 156.37129052310829 3.4259566001088264 165.0106771073768 148.90256735309939
VL20-4 1.0565630930582692 0.9663710285022663
RT-VL20-4 163.10697290849527 1.9661529930602302 168.7694335198614 158.09284609009075
VL20-5 0.41082357177734546 0.3850216020488467
RT-VL20-5 172.49560894908885 0.743755397040716 174.48440498558912 170.64951979025457
VL20-all 1.7784826230875654 1.5993986618183995
RT-VL20-all 152.68509473580744 15.20128126701418 172.49560894908885 130.00306565892762
*** budget = 30
VL30-1 0.13568004608154297 0.13764951145564955
RT-VL30-1 130.87825209350325 8.364566695325015 144.4136173283911 114.90159249096163
VL30-2 3.73955121383667 2.413792321162863
RT-VL30-2 143.2260587665997 9.063989485323404 155.87628950271755 120.37720564566388
VL30-3 2.2719071685791015 1.97031204043537
RT-VL30-3 155.89163973189017 2.888624356422734 165.00922069291153 151.53259999863786
VL30-4 0.7050205886840831 0.6634717731029607
RT-VL30-4 163.01403942801295 1.4434344451874914 166.90189470036432 158.09284609009075
VL30-5 0.32064555053711075 0.34603996877508597
RT-VL30-5 172.57443543735133 0.6420240029478663 174.41143842216104 170.6763066574352
VL30-all 1.4345609135437016 1.376536019482535
RT-VL30-all 153.1168850914715 14.674020824200802 172.57443543735133 130.87825209350325
*** budget = 40
VL40-1 0.11669505351298565 0.15430605130712619
RT-VL40-1 129.8473251197319 8.224938664760469 144.4136173283911 114.90159249096163
VL40-2 2.8815275955200192 2.01538104129585
RT-VL40-2 145.59737957380258 7.022914771289162 155.87628950271755 122.16990638951916
VL40-3 1.7714029631743555 1.6480861158375035
RT-VL40-3 155.44252615351053 2.5377493811447662 161.59057433379343 147.1486465652702
VL40-4 0.4636283379632089 0.34697152360164996
RT-VL40-4 163.05529806957614 0.8275296389302725 165.25928556057647 161.4703141436913
VL40-5 0.17954130018079748 0.22024704396996977
RT-VL40-5 172.57465593254184 0.3301264957711677 172.7641320736147 170.6763066574352
VL40-all 1.0825590500702733 1.0809443377888193
RT-VL40-all 153.3034369698326 14.701203226052263 172.57465593254184 129.8473251197319
*** budget = 50
VL50-1 0.07921957397460938 0.07984458618844334
RT-VL50-1 128.96092253735122 8.445319991597803 144.29119404687683 114.90159249096163
VL50-2 2.3499630432128904 1.8792475415513763
RT-VL50-2 145.28121587829273 7.389224633565101 155.87628950271755 120.37720564566388
VL50-3 1.511398991902669 1.4960357994494082
RT-VL50-3 155.26170751859024 2.2047300286939215 163.33688928509937 151.53259999863786
VL50-4 0.4431908213297542 0.3595409512025657
RT-VL50-4 163.10307107216798 0.8251160304033885 165.25928556057647 161.4703141436913
VL50-5 0.15500075785319137 0.13495902576596128
RT-VL50-5 172.63145019253326 0.10120477852633482 172.77798843802867 172.41855312418153
VL50-all 0.9077546376546227 0.8846784598056109
RT-VL50-all 153.04767343978708 15.033474065825786 172.63145019253326 128.96092253735122
logs_data/30drive/cgrewfx/abl/run_2024-05-10_11-18-07/run_81820_00004_4_clip_discriminator=0,dr_cc=0.9900,seed=5_2024-05-10_11-18-08/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr0_no0_es=n_sr0010_rc0.99_reg00_ds0.001_zt=p_g1_s5/05.10_11.18.44/models/ckpt_policy_T5000000.pt
0_drivelaneshift_v0_type1-infogsdr_ppobc-100-100-relu_cr0_no0_es=n_sr0010_rc0.99_reg00_ds0.001_zt=p_g1_s5
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppobc
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 20, action dim: 2, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/DriveLaneshift_v0.h5 with traj_num 25.0, data_size 1250 steps, and average return 4.00
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 735, K 15, state dim 20, action dim 2, a min -0.051749326, a_max 0.3067493
Policy model is loaded from logs_data/30drive/cgrewfx/abl/run_2024-05-10_11-18-07/run_81820_00004_4_clip_discriminator=0,dr_cc=0.9900,seed=5_2024-05-10_11-18-08/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr0_no0_es=n_sr0010_rc0.99_reg00_ds0.001_zt=p_g1_s5/05.10_11.18.44/models/ckpt_policy_T5000000.pt
Error(s) in loading state_dict for PairDiscriminator:
	Missing key(s) in state_dict: "reward_offset". 
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 1 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
min_headway_last [10.92, 18.28, 25.62, 32.91, 40.27]
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
zvs shape 1500
RT 138.93321136993205 19.72714973399692 182.28523591288823 67.08092674612998
LR 3.630838842666184 0.7196285386729518 3.999839936965156 1.0
VL-std-all 0.0 0.0
*** budget = 10
VL10-1 0.43170854136149084 0.38947515871952915
RT-VL10-1 150.78786138232292 5.714086579887409 162.12128980224907 127.66562952552361
VL10-2 4.221532807159424 1.6050828073816292
RT-VL10-2 134.0533136027932 9.02020713819673 160.2752525671383 115.78647281683537
VL10-3 5.118243083953858 4.257510215722816
RT-VL10-3 132.02258531797324 8.544872424870158 150.95963913618476 115.78647281683537
VL10-4 5.18143443222046 5.623653996590775
RT-VL10-4 137.45196737217387 10.442231256971233 159.91118541418095 117.48214192024913
VL10-5 7.706339219411217 8.132334116841303
RT-VL10-5 143.72728459616113 12.786632302198868 174.89053886116017 117.48214192024913
VL10-all 4.53185161682129 2.3558716148659644
RT-VL10-all 139.60860245428486 6.855644942078639 150.78786138232292 132.02258531797324
*** budget = 20
VL20-1 0.20905466359456382 0.18759068995310865
RT-VL20-1 151.2975096734881 4.539366610213639 160.20243317936547 127.66562952552361
VL20-2 3.3191516677856447 1.5483325576324283
RT-VL20-2 132.24407242294967 8.091334983654034 151.82064475980576 117.15716440594404
VL20-3 2.805162555440267 3.003911984826183
RT-VL20-3 131.65240850390867 8.147208419844262 150.95963913618476 117.48214192024913
VL20-4 2.7286220199584967 3.2765193287298966
RT-VL20-4 136.79882537864347 9.652583072403816 157.16535065451214 120.06497114791998
VL20-5 3.454317514546714 4.838655612486657
RT-VL20-5 150.46571041061165 10.256174041516456 173.59087535971798 122.94330387044533
VL20-all 2.503261684265137 1.1811435922982394
RT-VL20-all 140.49170527792032 8.672256501535824 151.2975096734881 131.65240850390867
*** budget = 30
VL30-1 0.13898622512817382 0.12350712432108692
RT-VL30-1 150.6014247258991 5.754432963500067 158.16406048275513 127.66562952552361
VL30-2 2.7318748008728027 1.4156221081073448
RT-VL30-2 130.76731073506687 8.409287034067258 151.82064475980576 117.15716440594404
VL30-3 1.7619547744750976 1.7152400995981771
RT-VL30-3 130.89487674758016 7.8134654851711804 149.6835713204925 117.48214192024913
VL30-4 1.4200329284667976 1.2146993629140173
RT-VL30-4 135.2904048763647 8.652724617048094 153.77545510092764 120.06497114791998
VL30-5 1.5657248931884777 1.1538010859492198
RT-VL30-5 153.8044559278764 5.933626373778788 164.27996919944425 136.140519356006
VL30-all 1.5237147244262697 0.8302285080178502
RT-VL30-all 140.27169460255746 9.928849144099532 153.8044559278764 130.76731073506687
*** budget = 40
VL40-1 0.10535722371694205 0.11126328328445263
RT-VL40-1 150.63308516891783 5.087879612189548 156.20602827821867 127.66562952552361
VL40-2 2.3837309842496306 1.4476516217256314
RT-VL40-2 132.53415002686512 9.239793784753832 151.82064475980576 117.15716440594404
VL40-3 1.3793419791556694 1.4081058509257631
RT-VL40-3 129.75235480349815 8.632260270527576 149.6835713204925 117.48214192024913
VL40-4 1.021593254707956 0.8791274906190794
RT-VL40-4 133.9937730559756 8.35532415757466 153.77545510092764 120.06497114791998
VL40-5 1.3450010557432437 1.2854058075419275
RT-VL40-5 154.8753245291843 5.332363795480876 160.86814502754714 135.68448371195743
VL40-all 1.2470048995146885 0.7312225880358426
RT-VL40-all 140.35773751688822 10.300735987306304 154.8753245291843 129.75235480349815
*** budget = 50
VL50-1 0.08968284861246746 0.08536349321410004
RT-VL50-1 150.7029199513946 5.542358400042935 156.20602827821867 127.66562952552361
VL50-2 2.072659474690755 1.3208484618686935
RT-VL50-2 132.04385768649792 8.943248229710695 151.82064475980576 117.15716440594404
VL50-3 0.825332926432292 0.6880613059059559
RT-VL50-3 129.77983454678616 8.08789544655228 148.83717707303012 117.48214192024913
VL50-4 0.7595128300984716 0.6940234541848713
RT-VL50-4 133.19480714367916 7.604328401417498 146.93666197755374 121.46741380658906
VL50-5 1.1367662506103529 0.8548503221150338
RT-VL50-5 153.01757007237177 5.861364022173377 159.91118541418095 133.4429831366283
VL50-all 0.9767908660888678 0.6455431849305826
RT-VL50-all 139.74779788014592 9.977517013207837 153.01757007237177 129.77983454678616
logs_data/30drive/cgrewfx/abl/run_2024-05-10_11-18-07/run_81820_00000_0_clip_discriminator=0,dr_cc=0.9900,seed=4_2024-05-10_11-18-08/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr0_no0_es=n_sr0010_rc0.99_reg00_ds0.001_zt=p_g1_s4/05.10_11.18.43/models/ckpt_policy_T5000000.pt
0_drivelaneshift_v0_type1-infogsdr_ppobc-100-100-relu_cr0_no0_es=n_sr0010_rc0.99_reg00_ds0.001_zt=p_g1_s4
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppobc
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 20, action dim: 2, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/DriveLaneshift_v0.h5 with traj_num 25.0, data_size 1250 steps, and average return 4.00
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 735, K 15, state dim 20, action dim 2, a min -0.051749326, a_max 0.3067493
Policy model is loaded from logs_data/30drive/cgrewfx/abl/run_2024-05-10_11-18-07/run_81820_00000_0_clip_discriminator=0,dr_cc=0.9900,seed=4_2024-05-10_11-18-08/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr0_no0_es=n_sr0010_rc0.99_reg00_ds0.001_zt=p_g1_s4/05.10_11.18.43/models/ckpt_policy_T5000000.pt
Error(s) in loading state_dict for PairDiscriminator:
	Missing key(s) in state_dict: "reward_offset". 
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 1 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
min_headway_last [10.92, 18.28, 25.62, 32.91, 40.27]
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
zvs shape 1500
RT 123.62086224168311 24.161088843427844 187.56982811901287 70.88691937411204
LR 3.006597488990035 0.9092052337947937 3.99002062962969 1.0
VL-std-all 0.0 0.0
*** budget = 10
VL10-1 7.550130235036215 12.874261463401096
RT-VL10-1 126.18286054688198 14.627147095698602 170.16814386792242 103.51248886203378
VL10-2 10.47637764078776 7.795900925497759
RT-VL10-2 126.02631851084767 14.697989047962162 170.16814386792242 103.51248886203378
VL10-3 10.576770525614418 6.04880763415215
RT-VL10-3 139.09172327797265 15.84465198987208 170.16814386792242 103.51248886203378
VL10-4 4.338595880635583 6.172160475017063
RT-VL10-4 142.6076456426362 15.738649059306685 177.23008829727786 103.51248886203378
VL10-5 2.2527626169840493 6.235192480709926
RT-VL10-5 159.59236038360686 11.410718928852562 177.23008829727786 103.51248886203378
VL10-all 7.038927379811605 3.3103743027806734
RT-VL10-all 138.70018167238908 12.403345084336614 159.59236038360686 126.02631851084767
*** budget = 20
VL20-1 1.9909856145222982 5.842334541005122
RT-VL20-1 120.78043946663185 6.352321772177574 163.57688210898783 114.45398222529901
VL20-2 7.412716130574545 2.713458290027062
RT-VL20-2 120.22784407800762 6.392209899152456 163.57688210898783 114.39318183879398
VL20-3 8.239787769063309 2.65159373036163
RT-VL20-3 134.43739862246372 12.489226187448804 163.66815622418716 115.45104822365084
VL20-4 2.2234077941894554 1.4981746342437674
RT-VL20-4 135.56163967490866 12.63699702970466 166.75248519296252 118.73521556128998
VL20-5 0.7310969604492187 0.87536330221965
RT-VL20-5 161.26783311922068 6.60189964457994 176.85513503092812 121.88241196318985
VL20-all 4.119598853759765 3.0799044801508613
RT-VL20-all 134.4550309922465 14.896701329236487 161.26783311922068 120.22784407800762
*** budget = 30
VL30-1 0.3852897605895996 0.40287169719627225
RT-VL30-1 119.76082792043503 3.3412942706174604 125.53777096047973 114.45398222529901
VL30-2 6.575481796264649 1.0973561968808065
RT-VL30-2 118.94703642345382 3.329504073000267 129.39803363743732 114.39318183879398
VL30-3 7.376273464965818 2.5255803448036227
RT-VL30-3 132.61375541183176 10.933229853955892 163.66815622418716 115.45104822365084
VL30-4 1.7731847427368188 0.8822548359771277
RT-VL30-4 133.17124455555233 10.689306260219809 162.77762058679946 118.73521556128998
VL30-5 0.39835437622070285 0.4197095259908889
RT-VL30-5 161.66841402865484 4.649407406534065 171.5569005942671 155.41326618380836
VL30-all 3.301716828155518 3.052573326126138
RT-VL30-all 133.23225566798556 15.45670224632394 161.66841402865484 118.94703642345382
*** budget = 40
VL40-1 0.2620180501164617 0.23072865825118494
RT-VL40-1 119.97650006676808 3.168652632486633 125.5142785785722 114.45398222529901
VL40-2 6.287703961552801 1.092132738679156
RT-VL40-2 118.8854110237972 3.184304826180189 129.39803363743732 114.39318183879398
VL40-3 6.898197246242213 2.532016482961152
RT-VL40-3 133.1549177668892 12.252555824215413 163.66815622418716 115.45104822365084
VL40-4 1.5911519767142657 0.7534001969418249
RT-VL40-4 131.7460334012797 10.875512244948633 162.92022809968327 118.73521556128998
VL40-5 0.3267938603581603 0.3513668781766252
RT-VL40-5 161.62167620987123 4.176337871808336 171.5569005942671 155.51430376351294
VL40-all 3.0731730189967803 2.9190956350040285
RT-VL40-all 133.07690769372107 15.424658046901282 161.62167620987123 118.8854110237972
*** budget = 50
VL50-1 0.21840987650553387 0.19409978071430228
RT-VL50-1 120.31052264320888 3.1517509520060925 125.5142785785722 114.56819134811104
VL50-2 6.1006996281941746 1.0703263310219568
RT-VL50-2 118.53203852931436 3.0155941928106267 129.39803363743732 114.39318183879398
VL50-3 6.463239173889159 2.4672407387108684
RT-VL50-3 133.13648760199146 10.591860585845419 163.66815622418716 118.73396993044344
VL50-4 1.3791444295247421 0.5853581141461544
RT-VL50-4 131.59928919793555 10.321467070469556 162.77762058679946 119.84490029129555
VL50-5 0.23756080627441303 0.29355721446707217
RT-VL50-5 161.68864324926398 4.731781704980944 171.5569005942671 155.4705609157682
VL50-all 2.8798107828776045 2.811818742905573
RT-VL50-all 133.05339624434285 15.461884490651622 161.68864324926398 118.53203852931436
logs_data/30drive/cgrewfx/abl/run_2024-05-09_18-54-46/run_21f27_00008_8_clip_discriminator=0,dr_cc=0.9900,seed=3_2024-05-09_18-54-46/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr0_no0_es=n_sr0010_rc0.99_reg00_ds0.001_zt=p_g1_s3/05.09_18.55.27/models/ckpt_policy_T5000000.pt
0_drivelaneshift_v0_type1-infogsdr_ppobc-100-100-relu_cr0_no0_es=n_sr0010_rc0.99_reg00_ds0.001_zt=p_g1_s3
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppobc
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 20, action dim: 2, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/DriveLaneshift_v0.h5 with traj_num 25.0, data_size 1250 steps, and average return 4.00
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 735, K 15, state dim 20, action dim 2, a min -0.051749326, a_max 0.3067493
Policy model is loaded from logs_data/30drive/cgrewfx/abl/run_2024-05-09_18-54-46/run_21f27_00008_8_clip_discriminator=0,dr_cc=0.9900,seed=3_2024-05-09_18-54-46/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr0_no0_es=n_sr0010_rc0.99_reg00_ds0.001_zt=p_g1_s3/05.09_18.55.27/models/ckpt_policy_T5000000.pt
Error(s) in loading state_dict for PairDiscriminator:
	Missing key(s) in state_dict: "reward_offset". 
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 1 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
min_headway_last [10.92, 18.28, 25.62, 32.91, 40.27]
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
zvs shape 1500
RT 142.10315434517577 20.995655063865698 174.16306663726567 67.53154148906471
LR 3.524434670922773 0.7904126072704625 3.9997522796620544 1.0
VL-std-all 0.0 0.0
*** budget = 10
VL10-1 0.8500651056925456 1.2190158642432414
RT-VL10-1 150.39950328798147 6.992576622243707 163.35243161185645 129.12601585790998
VL10-2 2.7650941296895346 2.0227914134918836
RT-VL10-2 148.55416721708238 11.464009379240887 170.93552862986735 118.13702769612428
VL10-3 2.236277331034342 2.335599561219341
RT-VL10-3 151.8236006506323 10.542290656048014 168.503523689986 120.85574783233488
VL10-4 2.657863374328613 2.5716739558310313
RT-VL10-4 154.3811465880457 10.211561026191342 168.12988166179215 121.12676044180995
VL10-5 4.671536266072593 4.339023817982963
RT-VL10-5 152.00891373031112 9.70020329046235 167.90487357077643 121.12676044180995
VL10-all 2.636167241363526 1.2255523416725802
RT-VL10-all 151.43346629481061 1.925180841180426 154.3811465880457 148.55416721708238
*** budget = 20
VL20-1 0.35423575642903643 0.29313077333195264
RT-VL20-1 151.7175406584621 5.5818178158046035 163.35243161185645 132.79890524473745
VL20-2 1.6773480595906574 1.4639356645582595
RT-VL20-2 150.87021720853016 10.654794450606541 170.93552862986735 123.37398769601768
VL20-3 0.9880655364990235 0.9306423978662277
RT-VL20-3 151.2440288124692 10.477053745618525 167.94326153415008 120.85574783233488
VL20-4 1.1360863810221353 1.0167778277852257
RT-VL20-4 155.9575013791937 10.003251004663165 167.929585498176 121.12676044180995
VL20-5 2.390331142171225 2.1073169317229103
RT-VL20-5 151.71422039836645 9.0887526771301 167.60501507727935 121.12676044180995
VL20-all 1.3092133751424158 0.6854822995061343
RT-VL20-all 152.30070169140433 1.8557513024574661 155.9575013791937 150.87021720853016
*** budget = 30
VL30-1 0.25883140563964846 0.1996313353488224
RT-VL30-1 151.77699037009862 5.007624768749823 161.86521558242418 136.8269231801387
VL30-2 1.2891028335571286 1.2087014202237703
RT-VL30-2 151.03055786240327 10.720932551130886 168.13698451436375 123.37398769601768
VL30-3 0.6649490493774414 0.6705963438040625
RT-VL30-3 152.98640211573638 10.626597743352871 168.41151674705924 120.85574783233488
VL30-4 0.762571290588379 0.7132126069018943
RT-VL30-4 154.88459388317537 10.56997199798145 167.929585498176 121.12676044180995
VL30-5 1.5533050598144542 1.6892947052318752
RT-VL30-5 153.39754765240713 7.606265006315643 167.60501507727935 133.56342279931368
VL30-all 0.9057519277954104 0.46114549956552264
RT-VL30-all 152.81521837676414 1.3351896336953495 154.88459388317537 151.03055786240327
*** budget = 40
VL40-1 0.18415738595498576 0.1316262930588518
RT-VL40-1 151.16051315696535 5.107302344619493 163.35243161185645 136.8269231801387
VL40-2 0.9082207530253639 0.8032442846990371
RT-VL40-2 150.57826607185672 11.236198304807312 168.13698451436375 123.37398769601768
VL40-3 0.4604703748548357 0.505471903446033
RT-VL40-3 152.85924631810278 9.142068047048978 167.77714094793146 136.23264633480025
VL40-4 0.5095196409483211 0.5211337875146785
RT-VL40-4 156.63640202007275 9.934014717525105 167.929585498176 121.12676044180995
VL40-5 1.1351416510504657 1.329846747332003
RT-VL40-5 153.2601907767633 6.871459855737451 166.74969643284575 133.56342279931368
VL40-all 0.6395019611667945 0.3388671969747109
RT-VL40-all 152.8989236687522 2.1217141858221513 156.63640202007275 150.57826607185672
*** budget = 50
VL50-1 0.16600831858317058 0.11486337842591825
RT-VL50-1 150.9505255828564 5.495271749907987 163.35243161185645 136.8269231801387
VL50-2 0.7013023122151689 0.614056566689245
RT-VL50-2 150.80673844626395 11.92507267331474 168.13698451436375 123.37398769601768
VL50-3 0.35552884674072277 0.37505745488900905
RT-VL50-3 152.28987172022377 9.389865629516603 167.77714094793146 131.61079574550945
VL50-4 0.45232883961995374 0.4480963251193732
RT-VL50-4 158.13049000044026 7.812017915325618 167.929585498176 138.4798074071291
VL50-5 0.8114740447998059 0.9233919579220605
RT-VL50-5 153.42120408040356 6.609383646834997 166.74969643284575 133.56342279931368
VL50-all 0.49732847239176436 0.23332291490550325
RT-VL50-all 153.11976596603756 2.681143222292398 158.13049000044026 150.80673844626395
logs_data/30drive/cgrewfx/abl/run_2024-05-09_18-54-46/run_21f27_00004_4_clip_discriminator=0,dr_cc=0.9900,seed=2_2024-05-09_18-54-46/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr0_no0_es=n_sr0010_rc0.99_reg00_ds0.001_zt=p_g1_s2/05.09_18.55.27/models/ckpt_policy_T5000000.pt
0_drivelaneshift_v0_type1-infogsdr_ppobc-100-100-relu_cr0_no0_es=n_sr0010_rc0.99_reg00_ds0.001_zt=p_g1_s2
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppobc
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 20, action dim: 2, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/DriveLaneshift_v0.h5 with traj_num 25.0, data_size 1250 steps, and average return 4.00
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 735, K 15, state dim 20, action dim 2, a min -0.051749326, a_max 0.3067493
Policy model is loaded from logs_data/30drive/cgrewfx/abl/run_2024-05-09_18-54-46/run_21f27_00004_4_clip_discriminator=0,dr_cc=0.9900,seed=2_2024-05-09_18-54-46/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr0_no0_es=n_sr0010_rc0.99_reg00_ds0.001_zt=p_g1_s2/05.09_18.55.27/models/ckpt_policy_T5000000.pt
Error(s) in loading state_dict for PairDiscriminator:
	Missing key(s) in state_dict: "reward_offset". 
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 1 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
min_headway_last [10.92, 18.28, 25.62, 32.91, 40.27]
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
zvs shape 1500
RT 146.9376373954644 13.546059004787098 189.36915233149202 105.80128465197058
LR 3.8044638152257155 0.5471402086198708 3.999997055914708 2.0
VL-std-all 0.0 0.0
*** budget = 10
VL10-1 10.265278824742635 2.549308751350138
RT-VL10-1 145.72221635507321 6.28824888128493 156.10924355080294 124.41288952983464
VL10-2 3.1058103876749668 2.279042121318402
RT-VL10-2 145.70679595653763 6.2985818689946 156.10924355080294 124.41288952983464
VL10-3 1.0180008463541665 0.9826911748117003
RT-VL10-3 148.5656857403273 4.11373697833834 158.56273309781676 134.00867464207178
VL10-4 1.4631324228922522 1.080034295599709
RT-VL10-4 150.04642958900175 5.3249134630602555 158.99108336411916 130.87425245414505
VL10-5 1.595647861226401 1.613999104171432
RT-VL10-5 155.64737050635023 4.057042821617873 163.35040178190687 141.3200820579658
VL10-all 3.4895740685780843 3.4600446794967543
RT-VL10-all 149.13769962945804 3.6596565676208015 155.64737050635023 145.70679595653763
*** budget = 20
VL20-1 8.78162044957479 1.838407392058651
RT-VL20-1 143.9072674884259 6.585790538022597 155.7455166613804 124.41288952983464
VL20-2 1.814034396362304 1.3783831389135335
RT-VL20-2 144.21328638816402 6.553381830519991 156.10924355080294 124.41288952983464
VL20-3 0.5137087402343746 0.41881209788880097
RT-VL20-3 148.5284229450103 4.043453740584877 158.56273309781676 136.14031054079442
VL20-4 0.7640419453938804 0.5761072032608737
RT-VL20-4 149.95675393619075 5.66355711496906 158.55498649901685 137.3238676631008
VL20-5 0.8894047383626306 0.8508053630721798
RT-VL20-5 156.04277962339808 3.4147162464173024 162.6110599709786 147.89261142280907
VL20-all 2.552562053985596 3.1454224157361192
RT-VL20-all 148.5297020762378 4.438043685852246 156.04277962339808 143.9072674884259
*** budget = 30
VL30-1 8.17866717033386 1.6640556788270906
RT-VL30-1 144.70969403194033 6.42063502550532 155.7455166613804 124.41288952983464
VL30-2 1.3420836288452143 1.1103952859023596
RT-VL30-2 144.4536190391431 6.709330676840992 155.7455166613804 124.41288952983464
VL30-3 0.356511521911621 0.3136488174006573
RT-VL30-3 148.20755287216627 4.279174749004438 155.03444987675172 136.14031054079442
VL30-4 0.5748637588500981 0.4312547049777111
RT-VL30-4 149.19811743677658 5.738589392049454 158.55498649901685 137.33440137095744
VL30-5 0.5388234161376957 0.42941616644306063
RT-VL30-5 156.03037123523242 3.345824582074366 162.6110599709786 147.89261142280907
VL30-all 2.1981898992156976 3.009301927860178
RT-VL30-all 148.51987092305174 4.195641265945051 156.03037123523242 144.4536190391431
*** budget = 40
VL40-1 7.808780059298952 1.4943927888907058
RT-VL40-1 143.05577276523047 7.095290741667607 153.61155121319499 124.41288952983464
VL40-2 1.0992383987839152 0.7752327144297047
RT-VL40-2 143.94367796608174 6.934436680595098 153.61155121319499 124.41288952983464
VL40-3 0.25130643483754733 0.20199475074206996
RT-VL40-3 148.09855587617182 4.647833844266727 155.03444987675172 136.14031054079442
VL40-4 0.41211599607725463 0.31985529602234775
RT-VL40-4 149.31207885189426 6.366867490138611 158.55498649901685 137.3238676631008
VL40-5 0.41578716793575793 0.36712173859067343
RT-VL40-5 155.99127880737296 3.444960889895265 162.6110599709786 147.89261142280907
VL40-all 1.9974456113866854 2.920352708391911
RT-VL40-all 148.08027285335024 4.614297647279529 155.99127880737296 143.05577276523047
*** budget = 50
VL50-1 7.476629566828413 1.4184842531297088
RT-VL50-1 141.71248122372683 7.023369066380014 153.61155121319499 124.41288952983464
VL50-2 0.912941045125325 0.6584636350513742
RT-VL50-2 142.8235841289647 7.415865848601405 153.61155121319499 124.41288952983464
VL50-3 0.1901871693929034 0.14921557757297485
RT-VL50-3 147.96687770851716 4.817065264738665 154.92566653992992 136.14031054079442
VL50-4 0.3436414947509775 0.2868496567579907
RT-VL50-4 147.64606056233663 6.287977595792917 156.925267717336 137.3238676631008
VL50-5 0.3545260467529303 0.3749950453394065
RT-VL50-5 155.51970127676512 3.3497012565647917 160.608125886385 147.89261142280907
VL50-all 1.85558506457011 2.8212557745199804
RT-VL50-all 147.1337409800621 4.88361398325634 155.51970127676512 141.71248122372683
logs_data/30drive/cgrewfx/abl/run_2024-05-09_18-54-46/run_21f27_00000_0_clip_discriminator=0,dr_cc=0.9900,seed=1_2024-05-09_18-54-46/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr0_no0_es=n_sr0010_rc0.99_reg00_ds0.001_zt=p_g1_s1/05.09_18.55.26/models/ckpt_policy_T5000000.pt
0_drivelaneshift_v0_type1-infogsdr_ppobc-100-100-relu_cr0_no0_es=n_sr0010_rc0.99_reg00_ds0.001_zt=p_g1_s1
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppobc
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 20, action dim: 2, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/DriveLaneshift_v0.h5 with traj_num 25.0, data_size 1250 steps, and average return 4.00
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 735, K 15, state dim 20, action dim 2, a min -0.051749326, a_max 0.3067493
Policy model is loaded from logs_data/30drive/cgrewfx/abl/run_2024-05-09_18-54-46/run_21f27_00000_0_clip_discriminator=0,dr_cc=0.9900,seed=1_2024-05-09_18-54-46/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr0_no0_es=n_sr0010_rc0.99_reg00_ds0.001_zt=p_g1_s1/05.09_18.55.26/models/ckpt_policy_T5000000.pt
Error(s) in loading state_dict for PairDiscriminator:
	Missing key(s) in state_dict: "reward_offset". 
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 1 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
min_headway_last [10.92, 18.28, 25.62, 32.91, 40.27]
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
zvs shape 1500
RT 137.91074671226238 31.419982365058424 184.86858704913155 71.96592246741059
LR 3.1404782193850656 0.9193147009702659 3.9990034433430885 1.0
VL-std-all 0.0 0.0
*** budget = 10
VL10-1 13.592766967646279 10.449218203181076
RT-VL10-1 140.09981149891917 17.847363047474925 181.1999607371404 114.7611538493077
VL10-2 10.090837002309163 7.081939385114342
RT-VL10-2 139.57089888168537 17.939404687096054 181.1999607371404 114.63421202515076
VL10-3 7.630445694986977 4.708816565067896
RT-VL10-3 144.8652981174646 17.78456017222178 181.1999607371404 114.63421202515076
VL10-4 4.1837403335571315 2.4613535636335846
RT-VL10-4 156.67353191393718 13.407723399471838 181.1999607371404 118.62495559986479
VL10-5 1.227423527018229 1.326848919407398
RT-VL10-5 167.99743117116432 6.786073142775623 181.1999607371404 134.06214646558584
VL10-all 7.345042705103556 4.3376029496114255
RT-VL10-all 149.8413943166341 10.967796716466193 167.99743117116432 139.57089888168537
*** budget = 20
VL20-1 7.166344560241697 8.026928105608203
RT-VL20-1 131.46186258274054 13.543905619166987 169.61450663604765 114.7611538493077
VL20-2 5.984684724680583 5.130428977138776
RT-VL20-2 131.58235760093822 13.087907533528949 169.61450663604765 114.96126026066496
VL20-3 5.143532863871255 4.0878612486496335
RT-VL20-3 141.00504112050825 15.596691338865678 171.05286152451305 117.15243345795898
VL20-4 2.7946851440429703 1.6318385033366338
RT-VL20-4 152.56142855031527 13.36812338702442 171.05286152451305 118.62495559986479
VL20-5 0.5428340311686193 0.45401303085725003
RT-VL20-5 168.45055160199607 3.5877548001859023 175.70215589052532 155.70918082958127
VL20-all 4.326416264801025 2.3725269772843256
RT-VL20-all 145.01224829129964 14.04547479284866 168.45055160199607 131.46186258274054
*** budget = 30
VL30-1 4.184148146438599 5.3978103178008
RT-VL30-1 129.21817674535964 12.032088890470765 158.71480353095157 114.7611538493077
VL30-2 4.162218520736694 3.536619606403768
RT-VL30-2 128.96081177936512 11.220164672954212 158.71480353095157 115.70405000314287
VL30-3 3.421199551391601 3.186416559553831
RT-VL30-3 136.7370850102754 12.926670138632096 171.05286152451305 116.86129858280721
VL30-4 2.1743134323120126 1.3927311799612407
RT-VL30-4 151.61822124913445 12.839877304443366 171.05286152451305 118.62495559986479
VL30-5 0.350843652343749 0.34566553787023774
RT-VL30-5 168.59080954879533 3.048427343846565 175.70215589052532 158.81081900140248
VL30-all 2.858544660644531 1.45121379417209
RT-VL30-all 143.025020866586 15.201458501920134 168.59080954879533 128.96081177936512
*** budget = 40
VL40-1 2.8367529497919857 3.560825645280254
RT-VL40-1 126.52985536838521 9.557605675535381 155.1436403833801 114.7611538493077
VL40-2 3.096090933310019 2.6097367586696456
RT-VL40-2 126.72061779868397 8.891234349607243 152.18359820992924 116.38091962656483
VL40-3 3.069492156570022 2.9527524258968643
RT-VL40-3 136.14597250650974 13.702036253342621 169.61450663604765 117.15243345795898
VL40-4 1.8313224606900609 1.227038503189093
RT-VL40-4 150.60090883750368 13.22953448839709 171.05286152451305 118.62495559986479
VL40-5 0.30032370077597054 0.34397561848537467
RT-VL40-5 168.65540184747167 3.247682320621614 175.70215589052532 158.81081900140248
VL40-all 2.226796440227612 1.0682277672806282
RT-VL40-all 141.73055127171085 16.06970815333542 168.65540184747167 126.52985536838521
*** budget = 50
VL50-1 2.4280946477254237 3.156361627569849
RT-VL50-1 126.95255321701806 11.382444367882503 155.1436403833801 114.7611538493077
VL50-2 2.73928684425354 2.490286257928382
RT-VL50-2 127.27118559882511 9.711954706878846 152.18359820992924 116.38091962656483
VL50-3 2.27126038869222 2.0276566513338734
RT-VL50-3 136.11490308759383 10.416946847947985 159.67037513921937 117.16951158092724
VL50-4 1.5899149271647142 1.2058823199931465
RT-VL50-4 149.5752233421827 13.052271556572052 171.05286152451305 118.62495559986479
VL50-5 0.21873959859212136 0.2959516906230383
RT-VL50-5 168.16140375470476 3.4632849945674917 174.02890814759354 158.81081900140248
VL50-all 1.8494592812856037 0.8979017884603873
RT-VL50-all 141.6150538000649 15.614481299330764 168.16140375470476 126.95255321701806
logs_data/30drive/cgrewfx/abl/run_2024-05-10_11-18-07/run_81820_00005_5_clip_discriminator=10,dr_cc=0.9900,seed=5_2024-05-10_11-18-08/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg00_ds0.001_zt=p_g1_s5/05.10_11.18.43/models/ckpt_policy_T5000000.pt
0_drivelaneshift_v0_type1-infogsdr_ppobc-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg00_ds0.001_zt=p_g1_s5
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppobc
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 20, action dim: 2, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/DriveLaneshift_v0.h5 with traj_num 25.0, data_size 1250 steps, and average return 4.00
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 735, K 15, state dim 20, action dim 2, a min -0.051749326, a_max 0.3067493
Policy model is loaded from logs_data/30drive/cgrewfx/abl/run_2024-05-10_11-18-07/run_81820_00005_5_clip_discriminator=10,dr_cc=0.9900,seed=5_2024-05-10_11-18-08/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg00_ds0.001_zt=p_g1_s5/05.10_11.18.43/models/ckpt_policy_T5000000.pt
Discr model is loaded from logs_data/30drive/cgrewfx/abl/run_2024-05-10_11-18-07/run_81820_00005_5_clip_discriminator=10,dr_cc=0.9900,seed=5_2024-05-10_11-18-08/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg00_ds0.001_zt=p_g1_s5/05.10_11.18.43/models/ckpt_discr_T5000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 1 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
min_headway_last [10.92, 18.28, 25.62, 32.91, 40.27]
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
zvs shape 1500
RT 156.16665081930614 19.070720627831875 188.8149098474533 82.02374082524341
LR 3.910721143032366 0.33038806602669335 3.9999975463142583 1.0
VL-std-all 0.0 0.0
*** budget = 10
VL10-1 11.632329170608521 6.1017701790382
RT-VL10-1 135.89335561394574 9.19165672261303 154.44175901450225 113.36564307659856
VL10-2 6.327622816212972 4.61495074851011
RT-VL10-2 139.0446494136865 6.7936059840010445 154.44175901450225 114.9941719840285
VL10-3 3.1491957865397135 2.338633193431984
RT-VL10-3 141.2177301964123 5.133057507798301 160.0414687038283 134.03387530648652
VL10-4 1.5911272994995125 1.3823992297710086
RT-VL10-4 149.09669939085086 4.68712734543493 162.12923397129669 138.64293433068025
VL10-5 1.0554448954264324 0.8959903016641287
RT-VL10-5 157.9957390951086 4.557029105511497 171.39733822387635 150.59777329862084
VL10-all 4.751143993657431 3.899900775860005
RT-VL10-all 144.6496347420008 7.9719651141253385 157.9957390951086 135.89335561394574
*** budget = 20
VL20-1 7.712060083007814 4.543222758360114
RT-VL20-1 131.31216664601004 9.914653379727403 150.6871686646478 113.36564307659856
VL20-2 3.6169509262084967 3.134382672453202
RT-VL20-2 138.11989330762293 6.461754626411304 152.10526739875786 116.61009000905236
VL20-3 1.9396125396728519 1.5354570922091184
RT-VL20-3 139.85552782396465 4.3909828891466445 154.5256334037989 134.15342500407138
VL20-4 0.9133566355387374 0.7750975523860224
RT-VL20-4 149.06343779165616 4.613850339818476 162.12923397129669 142.26346240506973
VL20-5 0.542388920084635 0.47694278211444824
RT-VL20-5 157.7060921433114 4.087728811871245 169.66358063742558 152.22173830406862
VL20-all 2.944873820902507 2.6110265609414136
RT-VL20-all 143.21142354251305 9.199125170522352 157.7060921433114 131.31216664601004
*** budget = 30
VL30-1 6.159812071990967 3.5820239059679078
RT-VL30-1 128.2466482410936 9.401861395438882 147.74097311496644 113.36564307659856
VL30-2 2.606374347686767 2.1565339601178115
RT-VL30-2 137.13239559457287 5.704962502850857 152.10526739875786 121.8018267877931
VL30-3 1.5178698394775392 1.2007041093681496
RT-VL30-3 138.92707160924897 2.9849202828305166 150.77946567488777 135.3358343594
VL30-4 0.6402116653442386 0.6521180718407027
RT-VL30-4 148.71593881231277 4.268818425713845 162.12923397129669 142.26346240506973
VL30-5 0.3468360504150388 0.28900160573850914
RT-VL30-5 157.52628146686988 3.961790778062714 168.07084917416773 152.22173830406862
VL30-all 2.2542207949829103 2.1053745563088895
RT-VL30-all 142.1096671448196 10.083652731550833 157.52628146686988 128.2466482410936
*** budget = 40
VL40-1 5.34054988861084 3.2256959528621145
RT-VL40-1 126.85513010898669 9.486440244429069 147.74789985036497 113.36564307659856
VL40-2 1.9018424616633232 1.6510226374042716
RT-VL40-2 137.68792958877043 5.455469809794441 150.08456515148308 130.606576071995
VL40-3 1.1492196634653458 0.9738031635650355
RT-VL40-3 138.6726970005814 2.9738682668328176 151.22779510135223 135.3358343594
VL40-4 0.4700577936945741 0.4765595047649276
RT-VL40-4 148.7198773474328 3.910663201425742 162.12923397129669 142.26346240506973
VL40-5 0.278398961247624 0.26416845236587955
RT-VL40-5 157.51127054653992 3.9021555312607163 168.07084917416773 153.95011882670173
VL40-all 1.8280137537363417 1.8465899701023447
RT-VL40-all 141.88938091846222 10.437691920377409 157.51127054653992 126.85513010898669
*** budget = 50
VL50-1 4.47277253595988 2.5496141809175987
RT-VL50-1 124.33873002374328 8.00861367880097 143.73027681466257 113.36564307659856
VL50-2 1.3254562657674152 1.184372218060165
RT-VL50-2 137.48307824181296 6.036912744306603 152.10526739875786 130.606576071995
VL50-3 0.9232767257690431 0.6556676613207869
RT-VL50-3 139.1520881820392 4.17703300502917 153.41443539527276 135.3358343594
VL50-4 0.3607589518229171 0.3494937896176149
RT-VL50-4 148.6463424319908 4.356473381341149 162.12923397129669 143.96846078056808
VL50-5 0.2497894287109375 0.24201785912944274
RT-VL50-5 158.1283281751985 4.043105212071934 167.81965930643477 152.3024748470628
VL50-all 1.4664107816060388 1.5527850631178692
RT-VL50-all 141.54971341095694 11.346512137705705 158.1283281751985 124.33873002374328
logs_data/30drive/cgrewfx/abl/run_2024-05-10_11-18-07/run_81820_00001_1_clip_discriminator=10,dr_cc=0.9900,seed=4_2024-05-10_11-18-08/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg00_ds0.001_zt=p_g1_s4/05.10_11.18.44/models/ckpt_policy_T5000000.pt
0_drivelaneshift_v0_type1-infogsdr_ppobc-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg00_ds0.001_zt=p_g1_s4
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppobc
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 20, action dim: 2, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/DriveLaneshift_v0.h5 with traj_num 25.0, data_size 1250 steps, and average return 4.00
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 735, K 15, state dim 20, action dim 2, a min -0.051749326, a_max 0.3067493
Policy model is loaded from logs_data/30drive/cgrewfx/abl/run_2024-05-10_11-18-07/run_81820_00001_1_clip_discriminator=10,dr_cc=0.9900,seed=4_2024-05-10_11-18-08/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg00_ds0.001_zt=p_g1_s4/05.10_11.18.44/models/ckpt_policy_T5000000.pt
Discr model is loaded from logs_data/30drive/cgrewfx/abl/run_2024-05-10_11-18-07/run_81820_00001_1_clip_discriminator=10,dr_cc=0.9900,seed=4_2024-05-10_11-18-08/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg00_ds0.001_zt=p_g1_s4/05.10_11.18.44/models/ckpt_discr_T5000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 1 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
min_headway_last [10.92, 18.28, 25.62, 32.91, 40.27]
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
zvs shape 1500
RT 153.35668806943153 13.043574488304797 185.21742856016476 75.06507314555348
LR 3.957373793881891 0.14372354896901793 3.9999969807395495 1.0
VL-std-all 0.0 0.0
*** budget = 10
VL10-1 5.044054595692953 5.124225538381097
RT-VL10-1 135.6851143969845 8.845867547364161 159.36177090468087 114.95067110558682
VL10-2 4.098482593282063 2.843602917743833
RT-VL10-2 137.47286668430465 6.202060652146337 152.27514639438638 120.34351113910026
VL10-3 1.6258392339070638 1.797102530187072
RT-VL10-3 146.04353694442446 3.89858851944885 159.60207688924805 131.0726230539733
VL10-4 1.9061469284057615 1.6141023261419272
RT-VL10-4 154.92668671375915 3.841730735813003 164.88613025617113 146.89853577467142
VL10-5 1.015830376180013 1.1454486516723528
RT-VL10-5 161.94898038763245 2.452596764107423 166.4413335112049 152.27137638255925
VL10-all 2.7380707454935704 1.553290055043225
RT-VL10-all 147.21543702542104 10.057634297679897 161.94898038763245 135.6851143969845
*** budget = 20
VL20-1 2.4804977094014484 3.146603435122753
RT-VL20-1 134.28292621813094 9.621648140288759 159.36177090468087 114.95067110558682
VL20-2 2.5380258336385086 2.0755190877030745
RT-VL20-2 135.64932780389236 4.764894218314657 149.2367283701312 120.34351113910026
VL20-3 0.8029218434651694 0.8348549205902212
RT-VL20-3 146.11551501127036 2.5765421204144126 155.72911888360994 139.61780230601977
VL20-4 1.0133364125569662 0.9350215436454912
RT-VL20-4 155.25967040729714 2.5501868854185528 161.31561166991025 148.68404986994568
VL20-5 0.41984735717773475 0.38384348057123774
RT-VL20-5 162.796367914814 1.800812390160318 166.31109821138696 160.12105685408432
VL20-all 1.4509258312479654 0.8850221640959889
RT-VL20-all 146.82076147108097 11.0356766974969 162.796367914814 134.28292621813094
*** budget = 30
VL30-1 1.3085677825927735 1.1160878080151952
RT-VL30-1 133.36059214092313 9.895160035924764 157.36659449571735 114.95067110558682
VL30-2 1.8603027976989746 1.7115638129616833
RT-VL30-2 135.0697556975494 4.097966267852515 146.94447241956416 125.55341317306778
VL30-3 0.5420851943969727 0.6720255182095876
RT-VL30-3 145.93806364818016 2.1728168988604635 155.72911888360994 141.51959152857225
VL30-4 0.7565997833251958 0.7486080048725366
RT-VL30-4 155.72627693988971 2.094065953260701 161.16434572241246 152.25616511143784
VL30-5 0.2964901763916021 0.2705492236249627
RT-VL30-5 163.09949406350262 1.8632322332612723 166.2968581722818 160.33705004391956
VL30-all 0.9528091468811037 0.5635700140486143
RT-VL30-all 146.638836498009 11.525461445289507 163.09949406350262 133.36059214092313
*** budget = 40
VL40-1 0.9977276765978015 1.0914863686898977
RT-VL40-1 130.24530346634333 9.087808172918864 153.2662765318525 114.95067110558682
VL40-2 1.432502117672482 1.2536886607694924
RT-VL40-2 134.60431907062704 3.550319595022426 146.94303676666516 125.55341317306778
VL40-3 0.34644519702808263 0.34133543864550103
RT-VL40-3 146.23348700415858 2.123058352086934 155.72911888360994 143.30468178307743
VL40-4 0.5124663316881334 0.4436748737151878
RT-VL40-4 155.58285305834607 1.7558430768775228 159.63891713414316 152.27137638255925
VL40-5 0.2054788372967697 0.16276488261342828
RT-VL40-5 163.04179594120654 1.6460720759638843 166.16757796099395 160.3999487100516
VL40-all 0.6989240320566538 0.45385380665767067
RT-VL40-all 145.94155170813633 12.331774596693426 163.04179594120654 130.24530346634333
*** budget = 50
VL50-1 0.6804313297271728 0.6677107087406151
RT-VL50-1 129.86648397804697 8.99722014078587 150.87215749721466 114.95067110558682
VL50-2 1.232573568979899 0.9692188438065862
RT-VL50-2 134.82799283856963 3.3776046005093505 146.94303676666516 129.2429874554223
VL50-3 0.26866091918945306 0.2743371269777045
RT-VL50-3 146.06523290188827 2.2730841979922727 155.72911888360994 143.32252620521479
VL50-4 0.4450715281168622 0.4499635768497521
RT-VL50-4 155.73863854381398 1.5610533337505532 159.63891713414316 152.42697039898437
VL50-5 0.16917254130045573 0.13772623023538294
RT-VL50-5 163.17937531641897 1.645976441814595 166.16757796099395 160.36654159193895
VL50-all 0.5591819774627685 0.37886374363254355
RT-VL50-all 145.93554471574754 12.45037817183285 163.17937531641897 129.86648397804697
logs_data/30drive/cgrewfx/abl/run_2024-05-09_18-54-46/run_21f27_00009_9_clip_discriminator=10,dr_cc=0.9900,seed=3_2024-05-09_18-54-46/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg00_ds0.001_zt=p_g1_s3/05.09_18.55.25/models/ckpt_policy_T5000000.pt
0_drivelaneshift_v0_type1-infogsdr_ppobc-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg00_ds0.001_zt=p_g1_s3
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppobc
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 20, action dim: 2, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/DriveLaneshift_v0.h5 with traj_num 25.0, data_size 1250 steps, and average return 4.00
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 735, K 15, state dim 20, action dim 2, a min -0.051749326, a_max 0.3067493
Policy model is loaded from logs_data/30drive/cgrewfx/abl/run_2024-05-09_18-54-46/run_21f27_00009_9_clip_discriminator=10,dr_cc=0.9900,seed=3_2024-05-09_18-54-46/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg00_ds0.001_zt=p_g1_s3/05.09_18.55.25/models/ckpt_policy_T5000000.pt
Discr model is loaded from logs_data/30drive/cgrewfx/abl/run_2024-05-09_18-54-46/run_21f27_00009_9_clip_discriminator=10,dr_cc=0.9900,seed=3_2024-05-09_18-54-46/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg00_ds0.001_zt=p_g1_s3/05.09_18.55.25/models/ckpt_discr_T5000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 1 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
min_headway_last [10.92, 18.28, 25.62, 32.91, 40.27]
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
zvs shape 1500
RT 147.47797781439886 16.059217560233268 187.70238923988637 68.38508705422285
LR 3.9261333470389177 0.27134072241786605 3.9999579329742083 1.0
VL-std-all 0.0 0.0
*** budget = 10
VL10-1 4.6864367137908935 3.8640919002472596
RT-VL10-1 131.66821219280362 10.883010100842203 150.1014303920958 114.48409012355796
VL10-2 2.9783401457468663 2.532592837463938
RT-VL10-2 142.19270354442452 6.594349208762259 154.72799782259958 114.48409012355796
VL10-3 1.921469130452474 1.609756296429773
RT-VL10-3 142.3079246050935 5.559871710840328 155.50707738456484 129.13670915173128
VL10-4 1.6805639399210615 1.6724092600371534
RT-VL10-4 144.98185848277973 4.958397574795615 155.79520606069175 132.04780722374582
VL10-5 1.7468000935872396 1.7075358232187634
RT-VL10-5 149.0629406628915 6.286198749474212 172.7268848411038 137.96504493214888
VL10-all 2.602722004699707 1.1428070064359532
RT-VL10-all 142.04272789759858 5.755784463721223 149.0629406628915 131.66821219280362
*** budget = 20
VL20-1 2.5840781954447425 2.123562970909891
RT-VL20-1 125.60864112421014 9.613527355169438 146.73571425484275 114.48409012355796
VL20-2 1.7641424280802407 1.5661797483584132
RT-VL20-2 143.2539913605398 5.207017259835192 151.7625702432125 114.48409012355796
VL20-3 0.9868470845540365 0.7051682915279893
RT-VL20-3 141.35607248102357 5.710417301486713 152.51114180582246 129.13670915173128
VL20-4 0.8136885223388675 0.8986809746398355
RT-VL20-4 145.45047315701223 4.583365884182494 154.3881932970835 133.55103558977078
VL20-5 0.9039007486979161 0.9720742730479123
RT-VL20-5 149.85887385481698 5.181998609274388 159.1522923017897 139.62609324866196
VL20-all 1.4105313958231607 0.6774447987677075
RT-VL20-all 141.10561039552053 8.250233720654485 149.85887385481698 125.60864112421014
*** budget = 30
VL30-1 1.7934384292602539 1.1306184402369448
RT-VL30-1 121.91739389235569 7.574333930327257 146.63069050788198 114.48409012355796
VL30-2 1.1505025436401366 0.9010998514276561
RT-VL30-2 143.92006671082174 3.3661388917216497 148.59160752376255 135.16215855456528
VL30-3 0.7386236145019529 0.4979117754551589
RT-VL30-3 141.1110003984749 6.243910993460158 150.98350808903277 129.13670915173128
VL30-4 0.5523679489135748 0.698960804783076
RT-VL30-4 144.92369745909872 5.041475032502007 154.3881932970835 133.55103558977078
VL30-5 0.600347348022461 0.8040533399766701
RT-VL30-5 148.8829995063261 5.244575562407684 159.1522923017897 139.19181629782497
VL30-all 0.9670559768676759 0.4637204596859962
RT-VL30-all 140.15103159341544 9.451119645142539 148.8829995063261 121.91739389235569
*** budget = 40
VL40-1 1.524353244884594 1.120708661783976
RT-VL40-1 121.53314154044851 8.501041306797752 146.63069050788198 114.48409012355796
VL40-2 0.7925869008657095 0.5195694273007949
RT-VL40-2 143.87849609358506 3.5524634132822475 148.59160752376255 135.16215855456528
VL40-3 0.6057443072344806 0.36258524238760315
RT-VL40-3 141.1136736458316 5.908151494286051 150.96687242406034 131.22792349959497
VL40-4 0.37335141980970254 0.3448534495398049
RT-VL40-4 144.59257941576965 5.053872286760768 153.18438965536194 133.55103558977078
VL40-5 0.3786354972220757 0.35864902933565845
RT-VL40-5 150.15875304427243 5.790642162164289 159.1522923017897 139.19181629782497
VL40-all 0.7349342740033125 0.4244731235938811
RT-VL40-all 140.25532874798142 9.810952528265737 150.15875304427243 121.53314154044851
*** budget = 50
VL50-1 1.3586087659200032 1.0934504454818463
RT-VL50-1 119.78905292162486 6.280157154522482 137.76055985782395 114.48409012355796
VL50-2 0.7045122502644858 0.5133913239151333
RT-VL50-2 144.16781284994804 3.5690350703823537 148.59160752376255 135.16215855456528
VL50-3 0.5009299443562825 0.3330556939189288
RT-VL50-3 141.92343524582697 6.281524368868637 150.94015968267888 131.22792349959497
VL50-4 0.29915248107910203 0.31948859062627855
RT-VL50-4 145.16027129418504 4.95324448826423 151.5710256744063 133.55103558977078
VL50-5 0.3107537587483724 0.2718197914712212
RT-VL50-5 150.16806504227372 4.887516625022506 159.12150159166896 139.62609324866196
VL50-all 0.6347914400736492 0.3909847419831954
RT-VL50-all 140.24172747077174 10.576184894231309 150.16806504227372 119.78905292162486
logs_data/30drive/cgrewfx/abl/run_2024-05-09_18-54-46/run_21f27_00005_5_clip_discriminator=10,dr_cc=0.9900,seed=2_2024-05-09_18-54-46/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg00_ds0.001_zt=p_g1_s2/05.09_18.55.26/models/ckpt_policy_T5000000.pt
0_drivelaneshift_v0_type1-infogsdr_ppobc-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg00_ds0.001_zt=p_g1_s2
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppobc
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 20, action dim: 2, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/DriveLaneshift_v0.h5 with traj_num 25.0, data_size 1250 steps, and average return 4.00
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 735, K 15, state dim 20, action dim 2, a min -0.051749326, a_max 0.3067493
Policy model is loaded from logs_data/30drive/cgrewfx/abl/run_2024-05-09_18-54-46/run_21f27_00005_5_clip_discriminator=10,dr_cc=0.9900,seed=2_2024-05-09_18-54-46/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg00_ds0.001_zt=p_g1_s2/05.09_18.55.26/models/ckpt_policy_T5000000.pt
Discr model is loaded from logs_data/30drive/cgrewfx/abl/run_2024-05-09_18-54-46/run_21f27_00005_5_clip_discriminator=10,dr_cc=0.9900,seed=2_2024-05-09_18-54-46/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg00_ds0.001_zt=p_g1_s2/05.09_18.55.26/models/ckpt_discr_T5000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 1 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
min_headway_last [10.92, 18.28, 25.62, 32.91, 40.27]
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
zvs shape 1500
RT 123.8528222349258 18.493693125563833 181.73250310728292 105.48133233364172
LR 3.158809924857011 0.9239420719757355 3.9999724845401943 2.0
VL-std-all 0.0 0.0
*** budget = 10
VL10-1 6.382072773106892 9.933112619007499
RT-VL10-1 128.6345095155551 11.246701093971852 162.19423000828888 107.66107643116192
VL10-2 7.234127833811441 6.676285314239239
RT-VL10-2 123.35010532571715 7.457438403239821 156.16966773755948 107.66107643116192
VL10-3 2.32332809753418 6.499378903937036
RT-VL10-3 124.33544885843445 6.805543043579128 151.51141550391912 107.66107643116192
VL10-4 3.360086876424154 5.657097934637787
RT-VL10-4 136.8982716648624 8.856029489841656 151.61317351041367 107.66107643116192
VL10-5 3.324850565592449 5.755561854608733
RT-VL10-5 149.37988998659264 9.708180259520693 181.43279086053323 107.66107643116192
VL10-all 4.5248932292938235 1.9200433986783911
RT-VL10-all 132.51964507023234 9.69119223349246 149.37988998659264 123.35010532571715
*** budget = 20
VL20-1 2.851190273030599 4.996950513752091
RT-VL20-1 128.74688247145346 10.478587188571325 162.19423000828888 115.03621791105144
VL20-2 5.473559318033853 1.3594875065514045
RT-VL20-2 121.0906607709506 3.2839507681367444 132.1939578953315 113.45657178963307
VL20-3 0.7598235931396485 1.1325786103161912
RT-VL20-3 122.49057201440048 4.004551906216389 144.75276922329812 117.58349109219857
VL20-4 1.640785055541993 1.1914283198484692
RT-VL20-4 137.44670212760718 5.66435600876419 151.61317351041367 124.75489152158767
VL20-5 1.262214062500001 1.0700935894497827
RT-VL20-5 151.79724243997282 2.720414631545623 157.83979185589135 141.12011046783354
VL20-all 2.3975144604492193 1.6859093375088898
RT-VL20-all 132.3144119648769 11.323681155507415 151.79724243997282 121.0906607709506
*** budget = 30
VL30-1 0.8903113998413086 2.4828452391363074
RT-VL30-1 129.35520180544177 9.703863383353767 162.19423000828888 115.33119098865436
VL30-2 5.125868852996826 1.2107857174229968
RT-VL30-2 120.75399318492614 2.8176107967330766 128.19183599320283 113.49191113968864
VL30-3 0.367578877258301 0.3353153713237545
RT-VL30-3 121.91054437891452 2.8797795692783335 127.61816773761537 117.58349109219857
VL30-4 1.1532127777099617 0.8953372777238595
RT-VL30-4 137.05887899107188 4.382664889563479 146.52245936403054 129.81532696983774
VL30-5 0.9162754089355474 0.8199021783823517
RT-VL30-5 152.515385415703 1.9569582503757177 157.71669638401343 148.25999790395161
VL30-all 1.6906494633483888 1.7366797294786054
RT-VL30-all 132.31880075521147 11.67244505061395 152.515385415703 120.75399318492614
*** budget = 40
VL40-1 0.36246386347590265 0.6620796820290225
RT-VL40-1 130.22378524025106 9.419794547281489 162.19423000828888 115.35385121428467
VL40-2 4.875889348210515 1.232090434680309
RT-VL40-2 120.52860995968776 2.695273050565514 128.19183599320283 113.49191113968864
VL40-3 0.27213198687579193 0.1956492345135061
RT-VL40-3 121.90316786670125 3.0355694711338836 127.61816773761537 117.58349109219857
VL40-4 1.0269871582856054 0.8747868815692513
RT-VL40-4 136.06164257429108 3.8692768383770275 144.78006370551884 128.49180393991986
VL40-5 0.5738585848421667 0.4766128431850852
RT-VL40-5 152.81150360381534 1.4754427705478885 156.16165053995803 149.7499179485019
VL40-all 1.422266188337996 1.7463987833729577
RT-VL40-all 132.3057418489493 11.711891219778785 152.81150360381534 120.52860995968776
*** budget = 50
VL50-1 0.2717173309326172 0.6503399378018605
RT-VL50-1 128.27495061545724 8.690547695118177 162.19423000828888 115.33119098865436
VL50-2 4.524394757588704 1.0662371471367411
RT-VL50-2 120.68514376997767 2.258857896908213 128.19183599320283 117.1008211171716
VL50-3 0.21797026824951166 0.14092759509921587
RT-VL50-3 122.47016472682958 3.032179403104005 127.61816773761537 117.58349109219857
VL50-4 0.8616209259033212 0.8328916639683064
RT-VL50-4 136.72572334637715 3.6851611800686976 144.79534451919616 130.01242681045503
VL50-5 0.5864721018473313 0.48891585430650764
RT-VL50-5 152.7367102745648 1.6272564912046765 157.71669638401343 149.7499179485019
VL50-all 1.292435076904297 1.6325371220528309
RT-VL50-all 132.17853854664128 11.703879347051323 152.7367102745648 120.68514376997767
logs_data/30drive/cgrewfx/abl/run_2024-05-09_18-54-46/run_21f27_00001_1_clip_discriminator=10,dr_cc=0.9900,seed=1_2024-05-09_18-54-46/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg00_ds0.001_zt=p_g1_s1/05.09_18.55.27/models/ckpt_policy_T5000000.pt
0_drivelaneshift_v0_type1-infogsdr_ppobc-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg00_ds0.001_zt=p_g1_s1
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppobc
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 20, action dim: 2, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/DriveLaneshift_v0.h5 with traj_num 25.0, data_size 1250 steps, and average return 4.00
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 735, K 15, state dim 20, action dim 2, a min -0.051749326, a_max 0.3067493
Policy model is loaded from logs_data/30drive/cgrewfx/abl/run_2024-05-09_18-54-46/run_21f27_00001_1_clip_discriminator=10,dr_cc=0.9900,seed=1_2024-05-09_18-54-46/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg00_ds0.001_zt=p_g1_s1/05.09_18.55.27/models/ckpt_policy_T5000000.pt
Discr model is loaded from logs_data/30drive/cgrewfx/abl/run_2024-05-09_18-54-46/run_21f27_00001_1_clip_discriminator=10,dr_cc=0.9900,seed=1_2024-05-09_18-54-46/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg00_ds0.001_zt=p_g1_s1/05.09_18.55.27/models/ckpt_discr_T5000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 1 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
min_headway_last [10.92, 18.28, 25.62, 32.91, 40.27]
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
zvs shape 1500
RT 133.04187534477725 15.443091773866506 179.96643549227105 77.95472341030813
LR 3.5309477616836653 0.6848639830148827 3.9863690808415164 1.0
VL-std-all 0.0 0.0
*** budget = 10
VL10-1 1.5181086321512858 2.8784165726801083
RT-VL10-1 133.14469932990173 8.447306470878933 151.56576449249332 114.45919149531986
VL10-2 4.645134487660726 2.444278980935637
RT-VL10-2 127.66914404748285 5.859697644107745 145.9719976405614 116.07257718453221
VL10-3 1.5091642486572263 1.782955961981858
RT-VL10-3 133.17573503097944 3.2228070153728985 146.4222800974379 122.09132422320545
VL10-4 2.372702869669596 1.743975187858205
RT-VL10-4 138.2966572082877 4.38781382167787 150.07687764230715 122.09132422320545
VL10-5 2.78056367340088 3.238484341209406
RT-VL10-5 149.63186564161714 6.891005441812501 168.26651665352978 122.09132422320545
VL10-all 2.5651347823079425 1.150754183084928
RT-VL10-all 136.38362025165375 7.428310011699541 149.63186564161714 127.66914404748285
*** budget = 20
VL20-1 0.4005910822550456 0.34993094054299395
RT-VL20-1 131.52948190560767 6.624806027850969 144.57546272757554 114.45919149531986
VL20-2 3.252156973266601 2.1098967493135223
RT-VL20-2 125.94675875879673 4.568601485155289 136.25144424766742 116.49027889932071
VL20-3 0.6921741444905596 0.7326910303413912
RT-VL20-3 133.42240219753782 2.485576628650838 139.6162754740796 126.79144655395125
VL20-4 1.4368429718017581 0.9516348068572068
RT-VL20-4 138.2921410681432 3.2783762841449327 150.0602762083302 131.52002879360262
VL20-5 1.2128281392415374 1.1414204311722107
RT-VL20-5 151.9768747949399 2.981186255534147 158.5352607918904 142.70258863968726
VL20-all 1.3989186622111003 0.9966650333777954
RT-VL20-all 136.23353174500508 8.808393218143776 151.9768747949399 125.94675875879673
*** budget = 30
VL30-1 0.29503459930419923 0.2977737102080532
RT-VL30-1 130.96852227317999 5.716692842833034 144.57546272757554 114.45919149531986
VL30-2 2.542126387023925 1.9117001012848946
RT-VL30-2 125.57124869802048 4.37430475969963 136.25144424766742 116.79905908985519
VL30-3 0.4858462051391601 0.5383741737331879
RT-VL30-3 133.11119240665587 2.933772849794938 138.04983985051553 124.9837068665079
VL30-4 1.106106561279297 0.7124023406362506
RT-VL30-4 137.59081457202797 2.321294960153465 142.74748688470555 131.52002879360262
VL30-5 0.7868869445800789 0.7456142497767589
RT-VL30-5 152.62597781575408 1.656331192165023 157.07932051562295 148.22698188631344
VL30-all 1.043200139465332 0.7983518836943105
RT-VL30-all 135.97355115312766 9.180088918636978 152.62597781575408 125.57124869802048
*** budget = 40
VL40-1 0.21804622031546927 0.24357940278126486
RT-VL40-1 130.77747065236022 4.435207371708593 142.74694746453355 121.80475587490906
VL40-2 1.850506705206793 1.328046946623077
RT-VL40-2 124.31500766172104 3.760032228731616 130.23259719135243 116.79905908985519
VL40-3 0.3753629467938398 0.45230258031279835
RT-VL40-3 133.1088343532064 2.4016804280073205 138.04983985051553 126.80705363320925
VL40-4 0.9533389364706503 0.6117530847193278
RT-VL40-4 137.45001119646065 2.234801611199208 142.74748688470555 131.52002879360262
VL40-5 0.5699408412624056 0.5506296814324075
RT-VL40-5 152.69003583641242 1.258077703812076 155.2183031671446 150.06150651141152
VL40-all 0.7934391300098316 0.5828852352240559
RT-VL40-all 135.66827194003216 9.510860199703686 152.69003583641242 124.31500766172104
*** budget = 50
VL50-1 0.16267576217651367 0.15352791836782267
RT-VL50-1 131.00148974438986 3.9052642517563068 137.74203601235018 121.80475587490906
VL50-2 1.6029934870402012 1.2184028686654937
RT-VL50-2 124.31624856057091 3.8235531541259915 130.23259719135243 116.79905908985519
VL50-3 0.31678466033935543 0.4450823320737101
RT-VL50-3 133.00610404128105 2.9951986922699616 138.04983985051553 126.79144655395125
VL50-4 0.8533841451009114 0.5374335363846272
RT-VL50-4 137.3767663207081 2.0147620836853677 142.74748688470555 131.52002879360262
VL50-5 0.48305219523112064 0.493020749853872
RT-VL50-5 152.67238685972993 1.1945142051234674 155.067673391197 150.06150651141152
VL50-all 0.6837780499776205 0.5138571510430824
RT-VL50-all 135.67459910533597 9.484651874228438 152.67238685972993 124.31624856057091
logs_data/30drive/cgrewfx/sn/run_2024-05-10_11-17-56/run_7aa2e_00005_5_dl_scale=5.0000,dr_cc=0.9900,seed=5_2024-05-10_11-17-56/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg10_ds5.000_zt=p_g1_s5/05.10_11.18.31/models/ckpt_policy_T5000000.pt
0_drivelaneshift_v0_type1-infogsdr_ppobc-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg10_ds5.000_zt=p_g1_s5
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppobc
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 20, action dim: 2, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/DriveLaneshift_v0.h5 with traj_num 25.0, data_size 1250 steps, and average return 4.00
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 735, K 15, state dim 20, action dim 2, a min -0.051749326, a_max 0.3067493
Policy model is loaded from logs_data/30drive/cgrewfx/sn/run_2024-05-10_11-17-56/run_7aa2e_00005_5_dl_scale=5.0000,dr_cc=0.9900,seed=5_2024-05-10_11-17-56/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg10_ds5.000_zt=p_g1_s5/05.10_11.18.31/models/ckpt_policy_T5000000.pt
Discr model is loaded from logs_data/30drive/cgrewfx/sn/run_2024-05-10_11-17-56/run_7aa2e_00005_5_dl_scale=5.0000,dr_cc=0.9900,seed=5_2024-05-10_11-17-56/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg10_ds5.000_zt=p_g1_s5/05.10_11.18.31/models/ckpt_discr_T5000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 1 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
min_headway_last [10.92, 18.28, 25.62, 32.91, 40.27]
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
zvs shape 1500
RT 150.91684725859636 13.66312169005114 184.8462649884168 100.00156579361595
LR 3.87026634886564 0.31304752481329573 3.9999302834330237 2.0
VL-std-all 0.0 0.0
*** budget = 10
VL10-1 1.4126894472757974 4.143639899844257
RT-VL10-1 138.59676105460784 7.947413070023378 157.15898272558132 116.97074722708214
VL10-2 6.363859248097738 2.0746718778447786
RT-VL10-2 137.38616127563813 9.934415510947952 157.15898272558132 115.21386152849283
VL10-3 3.1604979385375973 2.8626995290750865
RT-VL10-3 148.63515662570853 5.394910381598984 164.03281923243776 126.70588980562654
VL10-4 1.826144778442383 1.5478419529610092
RT-VL10-4 152.87991591726703 4.701727572405527 164.03281923243776 136.9297473157628
VL10-5 0.8266287994384764 0.9343168258924873
RT-VL10-5 161.89831177417227 1.987072267670834 165.3470391704468 155.5564098991449
VL10-all 2.7179640423583984 1.9781112440745767
RT-VL10-all 147.87926132947877 9.147476804769504 161.89831177417227 137.38616127563813
*** budget = 20
VL20-1 0.1946469258626302 0.16190737814552433
RT-VL20-1 138.28428348857938 6.43400985116335 151.07709721708622 119.0461753212146
VL20-2 5.367744595336914 1.9439814425330701
RT-VL20-2 136.7184540849035 10.702387570550192 153.69778299098837 115.23631260765114
VL20-3 1.6702513193766273 1.6421023208655519
RT-VL20-3 147.49741077554336 5.149381708484339 156.67561163951189 126.70588980562654
VL20-4 0.9447349578857427 0.8108240267816865
RT-VL20-4 152.26610407852218 4.356739845031494 159.530609741807 136.9297473157628
VL20-5 0.3496247802734375 0.2866526307648679
RT-VL20-5 161.80655600027026 1.9319579123836035 165.17253610026074 155.5564098991449
VL20-all 1.7054005157470702 1.903318994203365
RT-VL20-all 147.31456168556372 9.256268423896943 161.80655600027026 136.7184540849035
*** budget = 30
VL30-1 0.1332918273925781 0.13087875423337045
RT-VL30-1 139.9159668681333 4.958893282829704 151.07709721708622 128.41593233338727
VL30-2 4.808370562744141 2.0894428250016075
RT-VL30-2 139.54020053074402 9.454374363255047 153.69778299098837 115.23787370906211
VL30-3 1.1362541702270503 1.1139260997420428
RT-VL30-3 147.4565166127996 5.82401699563436 156.67561163951189 126.70588980562654
VL30-4 0.7007800247192393 0.60271100341934
RT-VL30-4 151.69803924997277 4.99177420249388 159.44239871355245 136.9297473157628
VL30-5 0.2222491455078125 0.17702000007298044
RT-VL30-5 161.96740921144843 1.6227111319777503 165.25209792889657 157.8296806535803
VL30-all 1.4001891461181644 1.7416720024425554
RT-VL30-all 148.11562649461962 8.317599892666257 161.96740921144843 139.54020053074402
*** budget = 40
VL40-1 0.10491197019009975 0.11859679861506357
RT-VL40-1 138.36778417672892 4.48098374471123 147.00948507944133 128.41593233338727
VL40-2 4.334048893902753 2.2177687801837322
RT-VL40-2 140.44234883342716 9.459917701725628 153.69778299098837 115.23787370906211
VL40-3 0.8033615442224445 0.7867948339458679
RT-VL40-3 146.69218882534418 5.709274374709928 155.09201890684176 126.70588980562654
VL40-4 0.519761503064955 0.49885337567110866
RT-VL40-4 151.758862228648 5.103737634043767 159.44239871355245 136.9297473157628
VL40-5 0.18975073737067172 0.16539940460035385
RT-VL40-5 162.02776155052427 1.491058867415819 163.73340466641832 157.8296806535803
VL40-all 1.1903669297501847 1.5913306590492726
RT-VL40-all 147.8577891229345 8.513683839499485 162.02776155052427 138.36778417672892
*** budget = 50
VL50-1 0.0935586357116699 0.09364883736902772
RT-VL50-1 139.65710745219044 4.347399372442103 147.07393822818935 130.41420858167055
VL50-2 3.8893974266052243 2.2119582678040106
RT-VL50-2 140.92440199883433 8.429508376853923 153.69778299098837 117.18405403988447
VL50-3 0.5552540715535479 0.5322818574119486
RT-VL50-3 147.31480843934696 4.506140720395884 153.335018826649 133.36432368663492
VL50-4 0.44395950317382926 0.36421559264518816
RT-VL50-4 151.44419036027492 5.251096036120542 159.44239871355245 136.9297473157628
VL50-5 0.14148921712239543 0.14614830712237467
RT-VL50-5 162.0414018608494 1.771588602830821 165.30962302465883 157.8296806535803
VL50-all 1.0247317708333334 1.442997981469172
RT-VL50-all 148.2763820222992 8.108993882814445 162.0414018608494 139.65710745219044
logs_data/30drive/cgrewfx/sn/run_2024-05-10_11-17-56/run_7aa2e_00001_1_dl_scale=5.0000,dr_cc=0.9900,seed=4_2024-05-10_11-17-56/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg10_ds5.000_zt=p_g1_s4/05.10_11.18.31/models/ckpt_policy_T5000000.pt
0_drivelaneshift_v0_type1-infogsdr_ppobc-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg10_ds5.000_zt=p_g1_s4
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppobc
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 20, action dim: 2, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/DriveLaneshift_v0.h5 with traj_num 25.0, data_size 1250 steps, and average return 4.00
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 735, K 15, state dim 20, action dim 2, a min -0.051749326, a_max 0.3067493
Policy model is loaded from logs_data/30drive/cgrewfx/sn/run_2024-05-10_11-17-56/run_7aa2e_00001_1_dl_scale=5.0000,dr_cc=0.9900,seed=4_2024-05-10_11-17-56/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg10_ds5.000_zt=p_g1_s4/05.10_11.18.31/models/ckpt_policy_T5000000.pt
Discr model is loaded from logs_data/30drive/cgrewfx/sn/run_2024-05-10_11-17-56/run_7aa2e_00001_1_dl_scale=5.0000,dr_cc=0.9900,seed=4_2024-05-10_11-17-56/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg10_ds5.000_zt=p_g1_s4/05.10_11.18.31/models/ckpt_discr_T5000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 1 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
min_headway_last [10.92, 18.28, 25.62, 32.91, 40.27]
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
zvs shape 1500
RT 150.67244306573696 9.07998088449249 186.14610112796186 76.87676060292866
LR 3.8560291237809197 0.23902207047503407 3.999943429982544 1.0
VL-std-all 0.0 0.0
*** budget = 10
VL10-1 4.432667342376708 3.387637827321178
RT-VL10-1 151.13702635874563 2.308442719819176 157.94032284210016 144.61914334370496
VL10-2 1.600431018066406 1.6953077684919533
RT-VL10-2 152.71081806847732 1.4590034438304331 157.94032284210016 147.59292985987796
VL10-3 1.0380397872924805 1.0941508477178574
RT-VL10-3 153.55594215204283 1.9652085404555517 157.7708297451605 144.86681044369496
VL10-4 1.2971654780069983 1.3254687811689339
RT-VL10-4 148.9095175832611 3.8598679118941592 160.41033198370155 135.92724826687405
VL10-5 2.876806469726564 2.4471887061945434
RT-VL10-5 146.70664419472513 8.637246568144835 166.24834076227938 126.27280970872383
VL10-all 2.2490220190938315 1.2613959997965387
RT-VL10-all 150.60398967145042 2.5098770836358115 153.55594215204283 146.70664419472513
*** budget = 20
VL20-1 2.603227710469564 1.9608494771208078
RT-VL20-1 150.3274488267841 2.2881617248763657 155.3219193316769 144.61914334370496
VL20-2 0.7582237152099609 0.7126024629675144
RT-VL20-2 152.41113405201003 1.2266741287107248 156.4694597735074 150.65524227579618
VL20-3 0.5008076171875001 0.4981783588402732
RT-VL20-3 153.6215410131756 1.5484149504397957 157.52974533080086 149.62529837246908
VL20-4 0.5580785685221353 0.4614244535926817
RT-VL20-4 148.95045935809503 3.266687819212166 160.41033198370155 142.84306246275133
VL20-5 1.5097052510579438 1.157735284768579
RT-VL20-5 147.0139721645237 9.065230015555057 163.36552810412886 127.67958162323222
VL20-all 1.186008572489421 0.794995087773516
RT-VL20-all 150.4649110829177 2.365313327201648 153.6215410131756 147.0139721645237
*** budget = 30
VL30-1 1.9016789489746093 1.5843600434581553
RT-VL30-1 149.64548619068626 2.2024330312146785 155.3219193316769 144.61914334370496
VL30-2 0.5874333953857422 0.5811807141226294
RT-VL30-2 152.6107809517282 1.243134436938118 154.73980723763822 150.65524227579618
VL30-3 0.36550320587158214 0.370872498163986
RT-VL30-3 153.5339647009927 1.6547606606202931 157.52974533080086 149.62529837246908
VL30-4 0.40471728057861356 0.399253021838278
RT-VL30-4 148.9215074452031 3.4047341354055174 160.41033198370155 142.84306246275133
VL30-5 1.131505761718751 1.0450568063933843
RT-VL30-5 147.44342436505494 8.542634612179722 163.36552810412886 127.88201655040092
VL30-all 0.8781677185058596 0.5802175573632267
RT-VL30-all 150.43103273073305 2.2891501837972337 153.5339647009927 147.44342436505494
*** budget = 40
VL40-1 1.5622149946882915 1.2788971744492628
RT-VL40-1 149.391427215549 2.081844024038293 153.4451964828764 144.61914334370496
VL40-2 0.4150159866745407 0.5279166975658339
RT-VL40-2 152.64509947177297 1.3298908179690005 156.4694597735074 150.7298657605427
VL40-3 0.2797904370282147 0.32233044613874207
RT-VL40-3 153.24523318834304 1.6147093660805623 157.52974533080086 149.62529837246908
VL40-4 0.32792743785961187 0.3468106054242991
RT-VL40-4 148.69993803148535 3.41101037378745 158.69053458073182 142.84306246275133
VL40-5 0.9459335904508029 0.8348468662238965
RT-VL40-5 148.06581837191672 8.237814889858475 163.36552810412886 127.67958162323222
VL40-all 0.7061764893402924 0.48988513736104256
RT-VL40-all 150.4095032558134 2.120905731335335 153.24523318834304 148.06581837191672
*** budget = 50
VL50-1 1.4769808502197264 1.2740060671118567
RT-VL50-1 149.36417114456603 2.3017992735345656 153.4853366988246 144.7970705743648
VL50-2 0.3709401728312173 0.4456218020148276
RT-VL50-2 152.6751808277116 1.3716542432693026 156.4694597735074 150.71362625574605
VL50-3 0.17702324422200513 0.1549185220964725
RT-VL50-3 153.29684021213026 1.6720351884373101 157.52974533080086 149.62529837246908
VL50-4 0.2616446914672849 0.25820373290000437
RT-VL50-4 148.3445426085139 3.385241638717077 158.69053458073182 142.84306246275133
VL50-5 0.6580806121826176 0.5607123268969648
RT-VL50-5 147.49093607224054 9.286227568262627 163.36552810412886 127.67958162323222
VL50-all 0.5889339141845702 0.4728040890370108
RT-VL50-all 150.23433417303247 2.3320122051152725 153.29684021213026 147.49093607224054
logs_data/30drive/cgrewfx/sn/run_2024-05-09_18-54-24/run_14aba_00009_9_dl_scale=5.0000,dr_cc=0.9900,seed=3_2024-05-09_18-54-24/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg10_ds5.000_zt=p_g1_s3/05.09_18.55.03/models/ckpt_policy_T5000000.pt
0_drivelaneshift_v0_type1-infogsdr_ppobc-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg10_ds5.000_zt=p_g1_s3
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppobc
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 20, action dim: 2, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/DriveLaneshift_v0.h5 with traj_num 25.0, data_size 1250 steps, and average return 4.00
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 735, K 15, state dim 20, action dim 2, a min -0.051749326, a_max 0.3067493
Policy model is loaded from logs_data/30drive/cgrewfx/sn/run_2024-05-09_18-54-24/run_14aba_00009_9_dl_scale=5.0000,dr_cc=0.9900,seed=3_2024-05-09_18-54-24/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg10_ds5.000_zt=p_g1_s3/05.09_18.55.03/models/ckpt_policy_T5000000.pt
Discr model is loaded from logs_data/30drive/cgrewfx/sn/run_2024-05-09_18-54-24/run_14aba_00009_9_dl_scale=5.0000,dr_cc=0.9900,seed=3_2024-05-09_18-54-24/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg10_ds5.000_zt=p_g1_s3/05.09_18.55.03/models/ckpt_discr_T5000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 1 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
min_headway_last [10.92, 18.28, 25.62, 32.91, 40.27]
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
zvs shape 1500
RT 124.82977995494517 13.034974722358836 151.9732913649936 77.02783702081064
LR 3.5450975466179466 0.7138604142579233 3.9999668156960944 1.0
VL-std-all 0.0 0.0
*** budget = 10
VL10-1 1.0939774691263835 1.8594622098400242
RT-VL10-1 122.99187179884044 6.293089797731587 145.61389407841438 114.41980601346586
VL10-2 4.468069156138102 2.5063957168800073
RT-VL10-2 128.43213322076693 7.060793354257183 144.5032669575293 114.35985268306108
VL10-3 2.311211283620198 2.236148258743043
RT-VL10-3 133.4964000802966 4.00341445222872 142.6298438946249 116.19461313105495
VL10-4 2.7389929974873843 3.5718955317514287
RT-VL10-4 129.79305040311883 4.561544515355156 140.2285815158392 116.19461313105495
VL10-5 9.13456851323446 4.224000024076535
RT-VL10-5 129.10640923301833 4.9099404361906025 140.2285815158392 116.19461313105495
VL10-all 3.9493638839213054 2.809169820771666
RT-VL10-all 128.76397294720823 3.376370798983056 133.4964000802966 122.99187179884044
*** budget = 20
VL20-1 0.44447167002360033 0.447124845118964
RT-VL20-1 121.16251848289676 5.028189319726943 143.3639557326676 114.49295415892216
VL20-2 2.9070721852620434 1.9465802597185293
RT-VL20-2 128.73784947193573 6.578125309588644 144.5032669575293 115.61639434302957
VL20-3 1.206081447347005 0.982502220050551
RT-VL20-3 134.04276706214637 3.136324489629977 140.86211571260372 126.85115213494308
VL20-4 0.9938077423095695 0.8815630423241643
RT-VL20-4 128.51122793008727 3.7713933958024897 137.21555010124598 120.76079596544244
VL20-5 6.805802205403649 1.889750974385667
RT-VL20-5 126.93259585406209 4.1041484554288825 137.21555010124598 120.74782522581458
VL20-all 2.471447050069173 2.3181717406044773
RT-VL20-all 127.87739176022565 4.1264064465898 134.04276706214637 121.16251848289676
*** budget = 30
VL30-1 0.2688837242126465 0.27160899227727503
RT-VL30-1 120.97603973072495 5.228485337609631 143.3639557326676 114.49295415892216
VL30-2 2.1575188621520986 1.56049535854951
RT-VL30-2 127.92240156604613 6.572491710527798 143.77548561443098 115.61639434302957
VL30-3 0.8330323562622067 0.6050338600409431
RT-VL30-3 134.5062141925253 3.352426312470694 140.7867184673666 126.85115213494308
VL30-4 0.6514400466918937 0.5859918494176934
RT-VL30-4 127.98162836491305 3.6792855180428754 137.21555010124598 120.76079596544244
VL30-5 6.129269523620608 1.5715080548781994
RT-VL30-5 125.98763067644036 3.8930950528739663 137.21555010124598 120.80420078430367
VL30-all 2.0080289025878906 2.1565040071256534
RT-VL30-all 127.47478290612996 4.343813194262329 134.5062141925253 120.97603973072495
*** budget = 40
VL40-1 0.1668708966229413 0.14876468020521327
RT-VL40-1 120.84408859825841 4.676489738522992 134.31269103451564 114.49295415892216
VL40-2 1.8460294218321096 1.4589402052224445
RT-VL40-2 128.2831424585821 6.605139850152207 143.77548561443098 116.81725526740752
VL40-3 0.6407742020890519 0.43072201064960863
RT-VL40-3 133.91484696691765 2.944875202375444 138.89886225899656 128.45049049600527
VL40-4 0.6024276403478668 0.5679352377429709
RT-VL40-4 128.06168115894067 3.6270711608033204 135.02984183025598 120.76079596544244
VL40-5 5.7663752643482145 1.602724046724843
RT-VL40-5 125.72600188540966 3.969835923736788 135.02984183025598 120.74782522581458
VL40-all 1.8044954850480366 2.0581178330611047
RT-VL40-all 127.3659522136217 4.229360265972969 133.91484696691765 120.84408859825841
*** budget = 50
VL50-1 0.12274949264526368 0.09278374297726798
RT-VL50-1 121.06064884496166 4.18137497099814 128.06939931341918 114.56160701205927
VL50-2 1.7379624176025383 1.2643808228359035
RT-VL50-2 128.20112247134188 6.855526333733473 143.77548561443098 116.81725526740752
VL50-3 0.5512038243611651 0.36973605772014106
RT-VL50-3 134.14471047455245 2.7854695464097667 138.6772106285208 128.45049049600527
VL50-4 0.427723449707031 0.47568452534512656
RT-VL50-4 127.99490936308001 3.8924191322727455 137.21555010124598 120.76079596544244
VL50-5 5.531226463317876 1.4507793736881172
RT-VL50-5 126.07573718965095 4.001921437019156 137.21555010124598 120.80420078430367
VL50-all 1.6741731295267748 2.0051205279844795
RT-VL50-all 127.49542566871739 4.204339389640551 134.14471047455245 121.06064884496166
logs_data/30drive/cgrewfx/sn/run_2024-05-09_18-54-24/run_14aba_00005_5_dl_scale=5.0000,dr_cc=0.9900,seed=2_2024-05-09_18-54-24/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg10_ds5.000_zt=p_g1_s2/05.09_18.55.03/models/ckpt_policy_T5000000.pt
0_drivelaneshift_v0_type1-infogsdr_ppobc-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg10_ds5.000_zt=p_g1_s2
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppobc
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 20, action dim: 2, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/DriveLaneshift_v0.h5 with traj_num 25.0, data_size 1250 steps, and average return 4.00
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 735, K 15, state dim 20, action dim 2, a min -0.051749326, a_max 0.3067493
Policy model is loaded from logs_data/30drive/cgrewfx/sn/run_2024-05-09_18-54-24/run_14aba_00005_5_dl_scale=5.0000,dr_cc=0.9900,seed=2_2024-05-09_18-54-24/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg10_ds5.000_zt=p_g1_s2/05.09_18.55.03/models/ckpt_policy_T5000000.pt
Discr model is loaded from logs_data/30drive/cgrewfx/sn/run_2024-05-09_18-54-24/run_14aba_00005_5_dl_scale=5.0000,dr_cc=0.9900,seed=2_2024-05-09_18-54-24/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg10_ds5.000_zt=p_g1_s2/05.09_18.55.03/models/ckpt_discr_T5000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 1 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
min_headway_last [10.92, 18.28, 25.62, 32.91, 40.27]
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
zvs shape 1500
RT 154.33413959457928 17.498633514271866 189.85294336156255 103.8110778140835
LR 3.884883807446904 0.3332267123336373 3.999445740453691 2.0
VL-std-all 0.0 0.0
*** budget = 10
VL10-1 3.2641494878133144 2.3366936386855706
RT-VL10-1 159.37889237133584 7.627880425872467 166.60954653611392 115.89239909022598
VL10-2 0.8957542223612472 1.4945027869158671
RT-VL10-2 138.46613545534265 11.486472986745419 160.2232469528671 114.47837911176677
VL10-3 7.749545050811771 0.9052178106701578
RT-VL10-3 135.74639135550328 11.020162005911406 158.4026101572373 115.74643944355222
VL10-4 3.1016049870808953 2.180888344522826
RT-VL10-4 149.76457020005716 12.78122970747464 177.81177288739084 119.14358641661224
VL10-5 1.1287512674967441 0.9719153713210874
RT-VL10-5 164.42383963275446 5.170690512561741 177.81177288739084 146.52036135550588
VL10-all 3.2279610031127945 2.462026309035179
RT-VL10-all 149.55596580299868 11.236331767437838 164.42383963275446 135.74639135550328
*** budget = 20
VL20-1 2.262873776753744 1.1128078400594217
RT-VL20-1 162.3369102280764 2.4348260060842843 166.60954653611392 154.701743400132
VL20-2 0.36914500732421895 0.28721384970079095
RT-VL20-2 134.39930216530496 10.22571461151489 158.14339605602447 115.89239909022598
VL20-3 7.182591390991214 0.6213599470211393
RT-VL20-3 131.48735606626695 9.968334353977948 158.14339605602447 115.74643944355222
VL20-4 1.9484926177978548 1.2218910021327196
RT-VL20-4 143.6878466850705 12.535878612858015 167.09894515632158 119.14358641661224
VL20-5 0.6114642476399732 0.45862681969490404
RT-VL20-5 165.22485489996382 4.13380433831134 172.6210066272757 157.19003383716316
VL20-all 2.4749134081014015 2.465401183403928
RT-VL20-all 147.42725400893653 13.977435307278078 165.22485489996382 131.48735606626695
*** budget = 30
VL30-1 1.9149460220336914 0.9502733821220736
RT-VL30-1 163.10915502252283 1.7962915014621812 166.60954653611392 158.40825506526795
VL30-2 0.2983854293823242 0.23670497082877837
RT-VL30-2 132.47958461117122 9.827850488525563 150.53783142921725 115.90322703326822
VL30-3 6.939043035888674 0.5277507681145394
RT-VL30-3 129.11797203878888 9.018819351373157 150.53783142921725 115.74643944355222
VL30-4 1.518375294494632 0.8504727276668776
RT-VL30-4 140.0065903841564 11.480135417343773 161.79342672612944 119.14358641661224
VL30-5 0.4047834564208981 0.3438027353114623
RT-VL30-5 165.22239955572294 3.514586573205123 170.75786985058227 157.19003383716316
VL30-all 2.2151066476440437 2.443038938086128
RT-VL30-all 145.98714032247247 15.270549843413786 165.22239955572294 129.11797203878888
*** budget = 40
VL40-1 1.629901214805809 0.8616627506695895
RT-VL40-1 163.58433037291425 1.5139684083706282 166.60954653611392 160.1768976625764
VL40-2 0.23363006385596996 0.17348314869019457
RT-VL40-2 131.99178526132317 10.070500722598823 150.53783142921725 115.91228244523438
VL40-3 6.800341765945023 0.522731668059498
RT-VL40-3 128.9472059968899 9.117088622728371 150.53783142921725 115.74643944355222
VL40-4 1.2312041205328896 0.5384095493313003
RT-VL40-4 136.98510054504806 11.129521507197289 156.33121946122267 119.14358641661224
VL40-5 0.33034271652634056 0.2852237377616238
RT-VL40-5 165.97537493570061 3.4595204162909896 172.57147815939953 157.19003383716316
VL40-all 2.0450839763332067 2.4359374645472345
RT-VL40-all 145.4967594223752 15.970311823825194 165.97537493570061 128.9472059968899
*** budget = 50
VL50-1 1.508505452473958 0.8806336961630636
RT-VL50-1 163.93663637545038 1.3314708646772964 166.60954653611392 160.23333957459607
VL50-2 0.2001068216959633 0.1353543784838778
RT-VL50-2 131.61145880341957 10.415318556918365 150.53783142921725 115.91228244523438
VL50-3 6.767387369791669 0.49873087836244107
RT-VL50-3 129.73680916720022 8.145070108630145 144.81204158259828 115.74643944355222
VL50-4 1.1494338302612335 0.5075777123545696
RT-VL50-4 136.26811569035243 9.780275380984461 156.33121946122267 119.15712786000223
VL50-5 0.29419390360514325 0.2667069804794271
RT-VL50-5 165.03282561176945 3.577961633565739 170.75786985058227 157.19003383716316
VL50-all 1.9839254755655933 2.4429944729010473
RT-VL50-all 145.31716912963842 15.797918541957879 165.03282561176945 129.73680916720022
logs_data/30drive/cgrewfx/sn/run_2024-05-09_18-54-24/run_14aba_00001_1_dl_scale=5.0000,dr_cc=0.9900,seed=1_2024-05-09_18-54-24/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg10_ds5.000_zt=p_g1_s1/05.09_18.55.03/models/ckpt_policy_T5000000.pt
0_drivelaneshift_v0_type1-infogsdr_ppobc-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg10_ds5.000_zt=p_g1_s1
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppobc
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 20, action dim: 2, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/DriveLaneshift_v0.h5 with traj_num 25.0, data_size 1250 steps, and average return 4.00
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 735, K 15, state dim 20, action dim 2, a min -0.051749326, a_max 0.3067493
Policy model is loaded from logs_data/30drive/cgrewfx/sn/run_2024-05-09_18-54-24/run_14aba_00001_1_dl_scale=5.0000,dr_cc=0.9900,seed=1_2024-05-09_18-54-24/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg10_ds5.000_zt=p_g1_s1/05.09_18.55.03/models/ckpt_policy_T5000000.pt
Discr model is loaded from logs_data/30drive/cgrewfx/sn/run_2024-05-09_18-54-24/run_14aba_00001_1_dl_scale=5.0000,dr_cc=0.9900,seed=1_2024-05-09_18-54-24/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg10_ds5.000_zt=p_g1_s1/05.09_18.55.03/models/ckpt_discr_T5000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 1 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
min_headway_last [10.92, 18.28, 25.62, 32.91, 40.27]
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
zvs shape 1500
RT 162.68510057840757 19.158347537935217 193.67468562268192 55.53175885975362
LR 3.7523326636435232 0.47979612090247514 3.999771573464418 1.0
VL-std-all 0.0 0.0
*** budget = 10
VL10-1 7.029855996958413 5.912785003148212
RT-VL10-1 150.03688556610706 13.58491958600524 178.5556096641814 117.74038027972028
VL10-2 3.942692591094971 3.548319935910807
RT-VL10-2 152.57163321101885 13.970777640957364 178.5556096641814 115.49265571171381
VL10-3 2.6294891255696613 2.354630174801618
RT-VL10-3 165.59966700500712 5.508331530683247 179.69348733802366 144.33173005701994
VL10-4 1.6143210418701175 1.4262478823156097
RT-VL10-4 169.87845570491646 2.930799490403561 179.69348733802366 162.18624734017067
VL10-5 0.9697965169270834 1.0292385884840851
RT-VL10-5 168.51075877106692 3.298144046394788 175.386280294945 159.34576930152252
VL10-all 3.237231054484049 2.1459788664954473
RT-VL10-all 161.3194800516233 8.332014364864952 169.87845570491646 150.03688556610706
*** budget = 20
VL20-1 3.620372038014729 3.1238300325841815
RT-VL20-1 145.021762048833 10.703284416116526 178.5556096641814 117.74038027972028
VL20-2 1.9213805765787761 1.3413471154273073
RT-VL20-2 148.7322845799239 13.241515845922134 178.5556096641814 117.61709415487726
VL20-3 1.3959408559163409 1.492228616826032
RT-VL20-3 165.39471030441192 4.573432829561212 173.36596452374945 147.47703361127057
VL20-4 0.7549913523356125 0.6684255515161811
RT-VL20-4 170.22040342812545 2.9389968582259596 179.69348733802366 163.66991818067606
VL20-5 0.46758064982096365 0.4152023762852848
RT-VL20-5 167.86637330669637 3.1417585452227823 174.61893754691135 159.34576930152252
VL20-all 1.6320530945332845 1.1151775622043119
RT-VL20-all 159.4471067335981 10.442412964367085 170.22040342812545 145.021762048833
*** budget = 30
VL30-1 2.8159218517303475 2.347743215783667
RT-VL30-1 145.26577506560847 9.627492986146033 178.5556096641814 117.74038027972028
VL30-2 1.3252751800537113 0.8054963979561289
RT-VL30-2 148.95124729796774 12.11042066697148 178.5556096641814 117.61709415487726
VL30-3 0.7948286102294924 0.8610179983919631
RT-VL30-3 165.18704518344893 3.697359746754587 173.36596452374945 155.44532513781408
VL30-4 0.5657761779785164 0.5172411501382383
RT-VL30-4 169.97435304699238 3.0917865669044735 179.69348733802366 163.66991818067606
VL30-5 0.334210528564453 0.3099928345717912
RT-VL30-5 167.31057482132047 3.1662375449587756 174.61893754691135 159.34576930152252
VL30-all 1.1672024697113041 0.8874135486940327
RT-VL30-all 159.3377990830676 10.166783474386495 169.97435304699238 145.26577506560847
*** budget = 40
VL40-1 2.0664007047704747 1.9633044589295994
RT-VL40-1 145.74354971593374 8.469316875140894 178.5556096641814 127.16251613746894
VL40-2 1.160092776530498 0.7628390914640767
RT-VL40-2 149.80445998743954 12.053827239552579 178.5556096641814 115.49265571171381
VL40-3 0.6058754627124684 0.6707812437551006
RT-VL40-3 164.93166027828974 4.454100116395474 173.36596452374945 147.47703361127057
VL40-4 0.46612267571526667 0.46185415617936953
RT-VL40-4 170.76248336610124 2.9974952934087726 179.69348733802366 163.66991818067606
VL40-5 0.23221787736222527 0.18311594092558414
RT-VL40-5 167.2142457762124 3.3746989614761884 174.61893754691135 159.34576930152252
VL40-all 0.9061418994181866 0.6555367237810228
RT-VL40-all 159.69127982479534 9.989159459559623 170.76248336610124 145.74354971593374
*** budget = 50
VL50-1 1.7119813537597655 1.5373599483281501
RT-VL50-1 143.997360538801 6.635500936293809 152.0631508997173 127.16251613746894
VL50-2 1.0372819302876792 0.6425355139216176
RT-VL50-2 149.54751521947918 13.238398223379127 178.5556096641814 121.17303210147591
VL50-3 0.4812854919433595 0.6242119396128599
RT-VL50-3 165.14002343468798 3.6641340524408066 173.36596452374945 157.36507492000206
VL50-4 0.3317669245402025 0.28401074687049677
RT-VL50-4 169.83644510675035 3.423890353276698 179.69348733802366 163.66991818067606
VL50-5 0.21488870239257854 0.166921399303141
RT-VL50-5 167.36525763108025 3.5070107525331253 174.61893754691135 159.34576930152252
VL50-all 0.755440880584717 0.5552047387440747
RT-VL50-all 159.17732038615975 10.386312264672593 169.83644510675035 143.997360538801
logs_data/30drive/cgrewfx/l2/run_2024-05-11_08-30-29/run_407c4_00016_16_dl_indist=2,dl_scale=0.1000,dr_cc=0.9900,seed=5_2024-05-11_08-30-29/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg01_ds0.100_zt=p_g1_s5/05.11_08.31.08/models/ckpt_policy_T5000000.pt
0_drivelaneshift_v0_type1-infogsdr_ppobc-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg01_ds0.100_zt=p_g1_s5
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppobc
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 20, action dim: 2, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/DriveLaneshift_v0.h5 with traj_num 25.0, data_size 1250 steps, and average return 4.00
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 735, K 15, state dim 20, action dim 2, a min -0.051749326, a_max 0.3067493
Policy model is loaded from logs_data/30drive/cgrewfx/l2/run_2024-05-11_08-30-29/run_407c4_00016_16_dl_indist=2,dl_scale=0.1000,dr_cc=0.9900,seed=5_2024-05-11_08-30-29/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg01_ds0.100_zt=p_g1_s5/05.11_08.31.08/models/ckpt_policy_T5000000.pt
Discr model is loaded from logs_data/30drive/cgrewfx/l2/run_2024-05-11_08-30-29/run_407c4_00016_16_dl_indist=2,dl_scale=0.1000,dr_cc=0.9900,seed=5_2024-05-11_08-30-29/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg01_ds0.100_zt=p_g1_s5/05.11_08.31.08/models/ckpt_discr_T5000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 1 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
min_headway_last [10.92, 18.28, 25.62, 32.91, 40.27]
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
zvs shape 1500
RT 151.1505456886034 9.417200340155015 191.2360152575418 56.32151617854832
LR 3.94391273147962 0.18413036671350386 3.999950207769878 1.0
VL-std-all 0.0 0.0
*** budget = 10
VL10-1 0.551206977081299 0.47853352282088946
RT-VL10-1 146.43409376419945 1.5512013456625098 150.14050789206647 142.48254154878651
VL10-2 2.7637694040934244 1.934565426973978
RT-VL10-2 153.0635056687482 2.1980650323127118 156.70289810950675 145.96394454184292
VL10-3 2.4184264068603514 2.515209498276278
RT-VL10-3 155.25001043141995 1.9821243049667552 162.61250824335744 148.0820731407437
VL10-4 4.468515448506671 4.099895597757283
RT-VL10-4 159.24158397852287 4.919059945519521 188.0805104244502 149.84252567635968
VL10-5 9.327934449259441 5.167403764918039
RT-VL10-5 164.53399937776888 11.211907242917903 191.2360152575418 149.84252567635968
VL10-all 3.9059705371602376 2.9828174249655355
RT-VL10-all 155.70463864413188 6.059585230681308 164.53399937776888 146.43409376419945
*** budget = 20
VL20-1 0.29280317840576175 0.28793695561079724
RT-VL20-1 146.42221289869164 1.2884136285546208 150.0439026599045 142.48254154878651
VL20-2 1.4762622736612954 1.17869051989835
RT-VL20-2 153.7707071391093 1.3241556116147315 156.61761242017377 149.5261348721395
VL20-3 1.293790396118164 1.3549787864003813
RT-VL20-3 155.2582235668254 1.387385708791648 159.6819539503489 152.28148989257164
VL20-4 2.4154594136555985 2.314155022023089
RT-VL20-4 160.67394241007395 3.227791857045035 169.35315240168745 154.2256748653597
VL20-5 6.391901530965171 3.3851940213529352
RT-VL20-5 166.5912805488465 9.388987088336421 191.12505202461034 154.25397390333814
VL20-all 2.374043358561198 2.118934525177095
RT-VL20-all 156.54327331270935 6.77936894629539 166.5912805488465 146.42221289869164
*** budget = 30
VL30-1 0.20453419647216797 0.20613956527131544
RT-VL30-1 146.45072049262816 1.2611623314141152 149.93341708381146 142.61138432391382
VL30-2 1.1007339622497556 0.9005825341188333
RT-VL30-2 153.58911513888157 1.3542702020410482 156.61761242017377 149.5261348721395
VL30-3 0.7814518310546876 0.8485753196571005
RT-VL30-3 155.16422754777707 1.283179936063814 158.15002243872664 153.97215482228805
VL30-4 1.4839701324462886 1.3184294674681496
RT-VL30-4 160.8864442812698 2.4796841088645567 166.18268858513323 155.27302468041313
VL30-5 4.962429267883302 2.1104141919079167
RT-VL30-5 168.29229299130267 8.787884447765094 189.46179343442768 155.27302468041313
VL30-all 1.7066238780212406 1.681021281543542
RT-VL30-all 156.87656009037187 7.332607138708524 168.29229299130267 146.45072049262816
*** budget = 40
VL40-1 0.1311926640690984 0.10438605163189314
RT-VL40-1 146.57642160127696 1.11688948245078 149.93341708381146 144.27795705088698
VL40-2 0.9253217604353619 0.7763875268077555
RT-VL40-2 153.43881060535367 1.279069293570291 155.35576541343454 149.5261348721395
VL40-3 0.5009777955751163 0.5104858931348244
RT-VL40-3 155.02518534019265 1.1443437470882993 158.1097862193126 154.0062207066512
VL40-4 1.1406995783625413 1.26816783167226
RT-VL40-4 160.65878404450223 2.090312361071132 165.91026180051256 155.27302468041313
VL40-5 4.532458613627668 2.096016390268225
RT-VL40-5 168.21309861513967 8.074112087233246 187.01455553510425 155.27302468041313
VL40-all 1.4461300824139571 1.5819182130003546
RT-VL40-all 156.78246004129304 7.2679655000342045 168.21309861513967 146.57642160127696
*** budget = 50
VL50-1 0.11633533223470055 0.10408874292021972
RT-VL50-1 146.49833557160454 0.7430110100516506 148.24421676361837 145.88659399709985
VL50-2 0.6070403976440427 0.42759462732385684
RT-VL50-2 153.66804306586357 0.9707925116506086 155.35576541343454 151.46195453285918
VL50-3 0.35391587320963563 0.32435221503244605
RT-VL50-3 155.0702055976619 1.2193267846059752 158.15002243872664 154.0062207066512
VL50-4 0.9513665517171224 0.9948137478579667
RT-VL50-4 161.65681801008662 1.796985472781933 166.1706542199824 158.83104917182905
VL50-5 4.170079020182294 1.947654268715767
RT-VL50-5 168.75189784990798 7.803786659591377 188.1807091182562 160.42541080294154
VL50-all 1.2397474349975592 1.4911121511531753
RT-VL50-all 157.12906001902496 7.54746015324423 168.75189784990798 146.49833557160454
logs_data/30drive/cgrewfx/l2/run_2024-05-11_08-30-29/run_407c4_00012_12_dl_indist=2,dl_scale=0.1000,dr_cc=0.9900,seed=4_2024-05-11_08-30-29/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg01_ds0.100_zt=p_g1_s4/05.11_08.31.08/models/ckpt_policy_T5000000.pt
0_drivelaneshift_v0_type1-infogsdr_ppobc-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg01_ds0.100_zt=p_g1_s4
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppobc
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 20, action dim: 2, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/DriveLaneshift_v0.h5 with traj_num 25.0, data_size 1250 steps, and average return 4.00
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 735, K 15, state dim 20, action dim 2, a min -0.051749326, a_max 0.3067493
Policy model is loaded from logs_data/30drive/cgrewfx/l2/run_2024-05-11_08-30-29/run_407c4_00012_12_dl_indist=2,dl_scale=0.1000,dr_cc=0.9900,seed=4_2024-05-11_08-30-29/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg01_ds0.100_zt=p_g1_s4/05.11_08.31.08/models/ckpt_policy_T5000000.pt
Discr model is loaded from logs_data/30drive/cgrewfx/l2/run_2024-05-11_08-30-29/run_407c4_00012_12_dl_indist=2,dl_scale=0.1000,dr_cc=0.9900,seed=4_2024-05-11_08-30-29/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg01_ds0.100_zt=p_g1_s4/05.11_08.31.08/models/ckpt_discr_T5000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 1 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
min_headway_last [10.92, 18.28, 25.62, 32.91, 40.27]
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
zvs shape 1500
RT 133.4884422792315 14.870143691083904 178.1955687917069 70.98000575741763
LR 3.689843958179311 0.6532460630814722 3.999695003905792 1.0
VL-std-all 0.0 0.0
*** budget = 10
VL10-1 1.5869926373799643 2.005708771401802
RT-VL10-1 130.3014582865864 6.063532067690504 146.36278273724025 114.90649207425344
VL10-2 1.5410569478352862 1.365871879965832
RT-VL10-2 141.09285881033637 2.5544733509439723 143.29132437211243 127.09071544403545
VL10-3 1.4265865041097003 1.15182210259547
RT-VL10-3 137.00704917350967 2.8208547382910387 143.03904194605937 128.3134372847273
VL10-4 3.6069228856404614 2.323606906460744
RT-VL10-4 134.95713120423957 5.28880794011184 146.598897033546 124.33701188984556
VL10-5 4.578486796569825 4.230833097734437
RT-VL10-5 139.64422496616004 7.651012922135466 172.16460752929493 126.14517827960722
VL10-all 2.5480091543070476 1.299171428136881
RT-VL10-all 136.6005444881664 3.7944543501594956 141.09285881033637 130.3014582865864
*** budget = 20
VL20-1 0.7053344004313151 0.7463045535336202
RT-VL20-1 127.82116273509646 5.013133825177149 138.32306881772888 114.90649207425344
VL20-2 0.7420333669026692 0.6503440214733632
RT-VL20-2 141.83292523413556 1.1180871867649114 143.29000364331307 138.03947179953806
VL20-3 0.7457327453613279 0.5341432032740836
RT-VL20-3 136.94617275335895 1.686602075098501 140.45508482438117 132.44372971897178
VL20-4 2.3707270609537754 1.6425422422732865
RT-VL20-4 134.44612416065337 5.487463937993543 145.3429367178767 124.3437465864706
VL20-5 2.442633306884766 2.7777085047649406
RT-VL20-5 140.23743027468484 5.002315885727446 166.4912036351172 128.64446989126822
VL20-all 1.4012921761067705 0.8213322003774045
RT-VL20-all 136.25676303158585 4.93664557887163 141.83292523413556 127.82116273509646
*** budget = 30
VL30-1 0.4473393272399903 0.4099815221123664
RT-VL30-1 127.02801657077097 4.934007067281467 138.32306881772888 116.68160750661622
VL30-2 0.5339233840942381 0.5365038259289259
RT-VL30-2 141.87216202502663 1.1174675974965416 143.2882359537185 138.03947179953806
VL30-3 0.54592354888916 0.43286758045962903
RT-VL30-3 137.0044630476844 1.3573924156559873 140.45508482438117 134.32524703996035
VL30-4 1.7046950271606442 1.2910455178902498
RT-VL30-4 134.48245911044182 5.743141556966083 145.3429367178767 126.08303460862922
VL30-5 1.2804933380126957 1.1132190571974663
RT-VL30-5 140.64490136319418 3.394795978964263 146.73723696591327 128.909045297798
VL30-all 0.9024749250793457 0.5013107912954154
RT-VL30-all 136.2064004234236 5.284936193901029 141.87216202502663 127.02801657077097
*** budget = 40
VL40-1 0.3493450752464501 0.3677406722748201
RT-VL40-1 126.84471112804727 4.471469738191688 134.76991599012442 118.39894474542209
VL40-2 0.4069666001603409 0.4664086427342169
RT-VL40-2 141.86305232890297 0.9326880043228076 143.2882359537185 139.68995691087915
VL40-3 0.4386523066340265 0.3847260181085909
RT-VL40-3 136.95467796638005 1.1430217251107218 138.8797279006386 134.55620287641142
VL40-4 1.2819714211128859 1.0872746135959253
RT-VL40-4 135.27463836132105 5.203204732203484 145.21060647256755 126.08303460862922
VL40-5 1.074641756624789 1.0228225675923672
RT-VL40-5 141.18300508850524 2.6334943944529505 146.598897033546 135.3257473664125
VL40-all 0.7103154319556986 0.38875318818502785
RT-VL40-all 136.42401697463134 5.396236581920929 141.86305232890297 126.84471112804727
*** budget = 50
VL50-1 0.27356076176961264 0.2885303158421082
RT-VL50-1 126.83669710747388 4.5392407562966595 138.32306881772888 118.39894474542209
VL50-2 0.2910042546590167 0.32271206985591583
RT-VL50-2 142.1712477258601 0.8940048243962829 143.2882359537185 139.8908733999999
VL50-3 0.33450468444824205 0.2814772952399022
RT-VL50-3 137.09698404887266 1.1356977774288453 138.56461739711705 134.55620287641142
VL50-4 1.0072638626098638 0.8255856369795245
RT-VL50-4 134.97983983255298 4.652723222252844 143.44880043817085 126.08303460862922
VL50-5 0.761120859781901 0.8104028981567611
RT-VL50-5 141.18458222693388 2.6114310499668805 144.90746771424864 133.55691686848843
VL50-all 0.5334908846537273 0.297400464895144
RT-VL50-all 136.45387018833873 5.479861700688499 142.1712477258601 126.83669710747388
logs_data/30drive/cgrewfx/l2/run_2024-05-11_08-30-29/run_407c4_00008_8_dl_indist=2,dl_scale=0.1000,dr_cc=0.9900,seed=3_2024-05-11_08-30-29/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg01_ds0.100_zt=p_g1_s3/05.11_08.31.08/models/ckpt_policy_T5000000.pt
0_drivelaneshift_v0_type1-infogsdr_ppobc-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg01_ds0.100_zt=p_g1_s3
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppobc
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 20, action dim: 2, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/DriveLaneshift_v0.h5 with traj_num 25.0, data_size 1250 steps, and average return 4.00
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 735, K 15, state dim 20, action dim 2, a min -0.051749326, a_max 0.3067493
Policy model is loaded from logs_data/30drive/cgrewfx/l2/run_2024-05-11_08-30-29/run_407c4_00008_8_dl_indist=2,dl_scale=0.1000,dr_cc=0.9900,seed=3_2024-05-11_08-30-29/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg01_ds0.100_zt=p_g1_s3/05.11_08.31.08/models/ckpt_policy_T5000000.pt
Discr model is loaded from logs_data/30drive/cgrewfx/l2/run_2024-05-11_08-30-29/run_407c4_00008_8_dl_indist=2,dl_scale=0.1000,dr_cc=0.9900,seed=3_2024-05-11_08-30-29/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg01_ds0.100_zt=p_g1_s3/05.11_08.31.08/models/ckpt_discr_T5000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 1 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
min_headway_last [10.92, 18.28, 25.62, 32.91, 40.27]
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
zvs shape 1500
RT 145.53264823223137 14.517657807736501 183.16821101607647 80.99260650784733
LR 3.9120925595093485 0.3400350959624587 3.9999743042280542 1.0
VL-std-all 0.0 0.0
*** budget = 10
VL10-1 0.47462809448242194 0.5411295709699196
RT-VL10-1 153.85496486433607 2.093462132268712 160.27421284304046 147.48358123563162
VL10-2 2.246888361358643 1.7800608827413305
RT-VL10-2 147.7330824457642 1.69727936327802 154.10750891547718 143.7686384471599
VL10-3 2.7434906730651853 2.662890232738835
RT-VL10-3 140.91545962296112 4.578953369569381 154.10750891547718 123.72878030844663
VL10-4 4.090959907531736 4.210352455352035
RT-VL10-4 133.26480163245282 7.3155369718382035 149.70958127383952 121.47205056482886
VL10-5 8.178632894388837 5.734984260543008
RT-VL10-5 132.26157690938774 10.236559546865982 183.16821101607647 119.63463977561368
VL10-all 3.546919986165365 2.5893359092474366
RT-VL10-all 141.60597709498037 8.306009374636758 153.85496486433607 132.26157690938774
*** budget = 20
VL20-1 0.2577361511230469 0.25525789767011725
RT-VL20-1 153.5981503509424 1.5750247384122338 158.0136526696728 149.9906092495664
VL20-2 1.2119445693969726 1.0811219938978875
RT-VL20-2 147.76752787243717 1.2281546193371728 151.04572908271822 144.0118021876552
VL20-3 1.3522739837646487 0.9731787448820294
RT-VL20-3 140.52578940818935 2.459258670501139 146.11300011002436 134.63057402730928
VL20-4 1.7918500071207681 1.807315309620151
RT-VL20-4 129.92558966037853 4.032127406051684 142.00017132284106 121.7583908553056
VL20-5 4.8942916646321635 3.05411064002122
RT-VL20-5 127.35632900165317 6.209736757624247 158.68112542893516 119.63463977561368
VL20-all 1.9016192752075198 1.5778415951771554
RT-VL20-all 139.83467725872015 10.067175757671809 153.5981503509424 127.35632900165317
*** budget = 30
VL30-1 0.17621687698364255 0.13127705045340685
RT-VL30-1 153.38185178716148 1.2297782558358479 156.0702845381461 152.0073576797153
VL30-2 0.7708103622436522 0.6314101707106928
RT-VL30-2 147.87779398166856 1.1119114407014796 151.04572908271822 146.32070620637384
VL30-3 0.92415115814209 0.7075696235696973
RT-VL30-3 140.61620174887176 1.8624948039889024 143.79842594638436 136.97598658490418
VL30-4 1.2876501770019524 1.2187709224282735
RT-VL30-4 130.18857938229104 2.9283913547991647 139.54003670165508 121.84564022644251
VL30-5 3.856360345458985 2.6745319661937836
RT-VL30-5 126.37655724074864 4.941430517760848 140.26617647608526 119.8361046325879
VL30-all 1.4030377839660644 1.2779858638929542
RT-VL30-all 139.6881968281483 10.226332293924365 153.38185178716148 126.37655724074864
*** budget = 40
VL40-1 0.12477275848388669 0.0952901892798227
RT-VL40-1 153.26860031747967 1.1901460781525768 156.0492589937634 152.0820671303664
VL40-2 0.5613958843334301 0.5023836365055271
RT-VL40-2 147.9895345095466 1.131800509288251 151.04572908271822 146.57583407394043
VL40-3 0.7558323525093699 0.6016722696091527
RT-VL40-3 140.79249662456704 1.6801069869136365 143.7923217491193 137.10958074114737
VL40-4 0.8857845656936232 0.8791202541854671
RT-VL40-4 129.40965265331232 2.203071481706232 132.5825591036702 121.7583908553056
VL40-5 3.2673444675754872 2.1677132159721015
RT-VL40-5 125.87446371610262 4.919150351405907 140.26617647608526 119.8361046325879
VL40-all 1.1190260057191594 1.104633358589568
RT-VL40-all 139.46694956420166 10.495541771246298 153.26860031747967 125.87446371610262
*** budget = 50
VL50-1 0.11780245208740231 0.09668336785584618
RT-VL50-1 153.62331492351652 1.308632172194891 157.70721018503446 152.09020029718462
VL50-2 0.4953433990478516 0.4257554677854423
RT-VL50-2 148.16848523994545 1.1075029225119633 151.04572908271822 146.72288042184667
VL50-3 0.6361770146687827 0.5740666914784354
RT-VL50-3 140.89383449756036 1.6521952316530055 143.7923217491193 137.10958074114737
VL50-4 0.8239337387084958 0.8318786088355556
RT-VL50-4 129.59095057793309 1.9450506565892123 132.7854709461097 123.96779385255599
VL50-5 2.599194432576498 1.9993003610519775
RT-VL50-5 125.52033076007693 5.287742706225528 140.26617647608526 119.8361046325879
VL50-all 0.9344902074178062 0.8639771362728206
RT-VL50-all 139.5593831998065 10.678541249394371 153.62331492351652 125.52033076007693
logs_data/30drive/cgrewfx/l2/run_2024-05-11_08-30-29/run_407c4_00004_4_dl_indist=2,dl_scale=0.1000,dr_cc=0.9900,seed=2_2024-05-11_08-30-29/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg01_ds0.100_zt=p_g1_s2/05.11_08.31.08/models/ckpt_policy_T5000000.pt
0_drivelaneshift_v0_type1-infogsdr_ppobc-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg01_ds0.100_zt=p_g1_s2
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppobc
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 20, action dim: 2, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/DriveLaneshift_v0.h5 with traj_num 25.0, data_size 1250 steps, and average return 4.00
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 735, K 15, state dim 20, action dim 2, a min -0.051749326, a_max 0.3067493
Policy model is loaded from logs_data/30drive/cgrewfx/l2/run_2024-05-11_08-30-29/run_407c4_00004_4_dl_indist=2,dl_scale=0.1000,dr_cc=0.9900,seed=2_2024-05-11_08-30-29/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg01_ds0.100_zt=p_g1_s2/05.11_08.31.08/models/ckpt_policy_T5000000.pt
Discr model is loaded from logs_data/30drive/cgrewfx/l2/run_2024-05-11_08-30-29/run_407c4_00004_4_dl_indist=2,dl_scale=0.1000,dr_cc=0.9900,seed=2_2024-05-11_08-30-29/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg01_ds0.100_zt=p_g1_s2/05.11_08.31.08/models/ckpt_discr_T5000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 1 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
min_headway_last [10.92, 18.28, 25.62, 32.91, 40.27]
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
zvs shape 1500
RT 158.15548049324673 12.40415739316383 191.0808530668437 67.29375604353842
LR 3.920604602221088 0.15813021950133285 3.999977876257592 1.0
VL-std-all 0.0 0.0
*** budget = 10
VL10-1 1.1909970959981282 1.4867303571029244
RT-VL10-1 147.080628602381 5.641109111381683 162.42405706515942 133.80260215123465
VL10-2 2.1945660369873043 1.588352652076966
RT-VL10-2 153.70490421971985 4.993285940419691 161.75229696277543 139.260998183395
VL10-3 1.9159546991984053 1.939819379828252
RT-VL10-3 155.08758536028947 2.0210752730555 163.92231116746524 152.2264858484261
VL10-4 2.0874926066080732 1.7747853829889788
RT-VL10-4 161.8097975828502 4.8929641388203535 172.76644511928296 152.55162977031398
VL10-5 2.030027817789714 2.066584577003578
RT-VL10-5 170.106395919483 5.3165480846713695 185.66057098101018 153.22457648091864
VL10-all 1.883807651316325 0.3578990278300239
RT-VL10-all 157.5578623369447 7.8264248508578405 170.106395919483 147.080628602381
*** budget = 20
VL20-1 0.6398240386962891 0.5992621085609802
RT-VL20-1 147.10303596703287 4.98785615221919 161.8676332229518 133.80260215123465
VL20-2 1.1669236984252926 0.8624343939108428
RT-VL20-2 155.42960294317925 2.777244215930555 161.73934298229898 144.72424342902372
VL20-3 0.9267156331380207 0.9949437391487586
RT-VL20-3 155.00996140461177 1.9903233851321913 163.92231116746524 152.30425392044614
VL20-4 1.11671762491862 0.9925068742652529
RT-VL20-4 161.08884624021354 3.719381286138102 171.41461516532564 152.55162977031398
VL20-5 0.9813816385904947 1.170967554437994
RT-VL20-5 170.09104701317963 2.369618368754352 180.93326746739262 162.65944854661947
VL20-all 0.9663125267537435 0.18507093813077397
RT-VL20-all 157.7444987136434 7.611820825549633 170.09104701317963 147.10303596703287
*** budget = 30
VL30-1 0.3914772819519044 0.2984343387976278
RT-VL30-1 147.61854528670418 4.028536247557803 153.60475917928918 137.66446987143615
VL30-2 0.8835155082702636 0.6699264408423163
RT-VL30-2 155.0969450397289 2.814995314871708 161.75229696277543 148.62081084051164
VL30-3 0.6133444595336914 0.7532144758647102
RT-VL30-3 155.15624312473574 2.1574475586408783 163.92231116746524 152.30425392044614
VL30-4 0.8816297729492192 0.8582422955867807
RT-VL30-4 161.2281990856968 3.7438017372315286 171.23002641327923 152.55162977031398
VL30-5 0.6262364379882811 0.665218950838854
RT-VL30-5 170.59125079078007 2.0386530788136694 180.93326746739262 167.3264823903736
VL30-all 0.679240692138672 0.18582200365339974
RT-VL30-all 157.93823666552913 7.65808168535656 170.59125079078007 147.61854528670418
*** budget = 40
VL40-1 0.31747534159067514 0.2895517168526449
RT-VL40-1 147.26741612215383 3.6933170310816825 153.4844729567416 141.6060274078051
VL40-2 0.679930129180083 0.5689033986751136
RT-VL40-2 155.69419985199727 2.527586250161185 161.73934298229898 150.32692462368902
VL40-3 0.4251702509699641 0.36800474165198166
RT-VL40-3 154.61602300011032 1.688249748602535 160.07573011741636 153.12066147849023
VL40-4 0.6731028561978729 0.6399409104816376
RT-VL40-4 160.99157447585867 3.85483266405266 171.41461516532564 152.55162977031398
VL40-5 0.44057282731339714 0.37372473286978636
RT-VL40-5 170.23038441739493 1.1238512768221374 172.55707564431887 167.51066819246628
VL40-all 0.5072502810503985 0.1445841958548279
RT-VL40-all 157.759919573503 7.618398770598008 170.23038441739493 147.26741612215383
*** budget = 50
VL50-1 0.2685583585103353 0.26152201003895686
RT-VL50-1 147.68606744278802 3.43865362121994 152.89687859697636 141.6060274078051
VL50-2 0.5357297007242835 0.44875329146963067
RT-VL50-2 155.80854458500974 2.4114282533281104 161.73934298229898 150.32692462368902
VL50-3 0.3345699234008788 0.3431580110886606
RT-VL50-3 154.70903941831884 1.7300408578818756 160.07573011741636 153.12066147849023
VL50-4 0.578132535298666 0.6233065494071626
RT-VL50-4 161.27298940265118 2.6152181296149526 166.51405064342595 157.74694574798804
VL50-5 0.37672526041666665 0.2850752513607842
RT-VL50-5 170.09049046096325 1.01387259069891 172.2527237235331 168.3918289245924
VL50-all 0.41874315567016607 0.11874084041490533
RT-VL50-all 157.9134262619462 7.468132930481272 170.09049046096325 147.68606744278802
logs_data/30drive/cgrewfx/l2/run_2024-05-11_08-30-29/run_407c4_00000_0_dl_indist=2,dl_scale=0.1000,dr_cc=0.9900,seed=1_2024-05-11_08-30-29/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg01_ds0.100_zt=p_g1_s1/05.11_08.31.08/models/ckpt_policy_T5000000.pt
0_drivelaneshift_v0_type1-infogsdr_ppobc-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg01_ds0.100_zt=p_g1_s1
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppobc
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 20, action dim: 2, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/DriveLaneshift_v0.h5 with traj_num 25.0, data_size 1250 steps, and average return 4.00
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 735, K 15, state dim 20, action dim 2, a min -0.051749326, a_max 0.3067493
Policy model is loaded from logs_data/30drive/cgrewfx/l2/run_2024-05-11_08-30-29/run_407c4_00000_0_dl_indist=2,dl_scale=0.1000,dr_cc=0.9900,seed=1_2024-05-11_08-30-29/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg01_ds0.100_zt=p_g1_s1/05.11_08.31.08/models/ckpt_policy_T5000000.pt
Discr model is loaded from logs_data/30drive/cgrewfx/l2/run_2024-05-11_08-30-29/run_407c4_00000_0_dl_indist=2,dl_scale=0.1000,dr_cc=0.9900,seed=1_2024-05-11_08-30-29/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg01_ds0.100_zt=p_g1_s1/05.11_08.31.08/models/ckpt_discr_T5000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 1 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
min_headway_last [10.92, 18.28, 25.62, 32.91, 40.27]
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
zvs shape 1500
RT 157.76636348165619 14.953856644304931 189.17330963487566 107.83261384925567
LR 3.910564637527918 0.2848847497082193 3.9999830667802634 2.0
VL-std-all 0.0 0.0
*** budget = 10
VL10-1 0.8795716660817464 1.4179318132525134
RT-VL10-1 139.76765261410526 8.488989681034537 162.9169677516042 122.70910492283255
VL10-2 3.796232402801514 2.4143180705674174
RT-VL10-2 150.47637679666178 6.166543630358399 158.11380238732113 126.57633771700742
VL10-3 2.120734099070231 1.9804333586169376
RT-VL10-3 156.39303507261872 2.750128248488121 167.6795079798611 142.08212369636723
VL10-4 2.0448714589436845 2.0357625319196373
RT-VL10-4 163.08046557005534 4.218384229788928 183.1243868184096 153.78860547483754
VL10-5 3.6039461608886723 2.76512157071492
RT-VL10-5 174.72157243100227 7.945030171439391 187.77041590504757 156.0419259344049
VL10-all 2.489071157557169 1.083982561491183
RT-VL10-all 156.88782049688868 11.75451515224387 174.72157243100227 139.76765261410526
*** budget = 20
VL20-1 0.3567594126383463 0.5139818072394322
RT-VL20-1 136.80639646106638 7.441111095126383 162.91096963104812 122.70910492283255
VL20-2 2.231558610026041 1.586193315623234
RT-VL20-2 151.56647066496 3.234538877076215 156.39501437515767 141.6959026272241
VL20-3 1.1264920094807942 0.9778294022051716
RT-VL20-3 156.13986133323866 1.7015350070783235 159.7902863055934 150.6050274627336
VL20-4 0.9525015533447265 0.7909432894462622
RT-VL20-4 163.06344275445755 2.1091471965945607 167.2839502625281 157.04434442459035
VL20-5 2.1051214436848964 1.3869966197572798
RT-VL20-5 175.6623204070469 5.295360861875443 187.75382671979617 167.0688005992561
VL20-all 1.354486605834961 0.7129854179106369
RT-VL20-all 156.6476983241539 12.825534391254608 175.6623204070469 136.80639646106638
*** budget = 30
VL30-1 0.24818228225708006 0.2720581819692705
RT-VL30-1 135.69491000781653 6.476036931170769 156.60362167810646 122.70910492283255
VL30-2 1.848600852966308 1.4646831207260076
RT-VL30-2 150.8992937228334 3.1396601782378024 156.33160224426115 141.6959026272241
VL30-3 0.734895506286621 0.5939122438953731
RT-VL30-3 155.87548041608304 1.557146197139061 159.7902863055934 152.16883464957976
VL30-4 0.6440311309814456 0.5228824437805565
RT-VL30-4 163.45054147891528 1.5646965485158304 166.23598125344103 160.11136757314642
VL30-5 1.8296835144042973 1.402148533689351
RT-VL30-5 176.08264026921594 4.8726943740277235 187.75382671979617 167.17003482551124
VL30-all 1.0610786573791504 0.6560593325001577
RT-VL30-all 156.40057317897285 13.38917550408974 176.08264026921594 135.69491000781653
*** budget = 40
VL40-1 0.1669327235866237 0.1658782834786143
RT-VL40-1 134.6374457999908 6.224160596382244 147.36614878856963 122.70910492283255
VL40-2 1.3179188671627557 0.8065440580016219
RT-VL40-2 150.1831052257622 2.693247288996468 154.654543444107 143.53871254008925
VL40-3 0.5243279843717007 0.450492424269355
RT-VL40-3 156.28135984896988 1.687054086343667 159.7902863055934 153.8121080023699
VL40-4 0.538663594013936 0.4796309649041901
RT-VL40-4 163.3178880742344 1.728788358277137 166.23598125344103 160.11136757314642
VL40-5 1.5283843251821159 1.121683664299282
RT-VL40-5 175.81814182164518 4.264990496640585 184.95560154653435 167.2839502625281
VL40-all 0.8152454988634265 0.5182060412067612
RT-VL40-all 156.0475881541205 13.686292836961362 175.81814182164518 134.6374457999908
*** budget = 50
VL50-1 0.13920632553100584 0.15238178366086289
RT-VL50-1 135.03857361710598 6.396846180275726 147.36614878856963 122.70910492283255
VL50-2 1.2177706642150876 0.817139256509169
RT-VL50-2 150.32388293790973 2.6585040838449907 154.654543444107 145.3420105356194
VL50-3 0.4813908259073893 0.4263833476089675
RT-VL50-3 155.66500448158095 1.250850632043116 157.9931364663633 153.8121080023699
VL50-4 0.4453954594930015 0.3989924333331766
RT-VL50-4 163.23544962229892 1.6168799077757237 166.23598125344103 160.11136757314642
VL50-5 1.218978185017904 0.7669228765716587
RT-VL50-5 175.58327268844877 3.4200105467951394 181.50336474573123 170.4670859098261
VL50-all 0.7005482920328776 0.43920981375513773
RT-VL50-all 155.96923666946887 13.472664854584938 175.58327268844877 135.03857361710598
logs_data/30drive/cgrewfx/rr/run_2024-05-10_11-19-55/run_c1d7a_00004_4_dl_indist=2,dl_scale=1.0000,dr_cc=0.9900,seed=5_2024-05-10_11-19-55/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg01_ds1.000_zt=n_g1_s5/05.10_11.20.32/models/ckpt_policy_T5000000.pt
0_drivelaneshift_v0_type1-infogsdr_ppobc-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg01_ds1.000_zt=n_g1_s5
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppobc
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 20, action dim: 2, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/DriveLaneshift_v0.h5 with traj_num 25.0, data_size 1250 steps, and average return 4.00
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 735, K 15, state dim 20, action dim 2, a min -0.051749326, a_max 0.3067493
Policy model is loaded from logs_data/30drive/cgrewfx/rr/run_2024-05-10_11-19-55/run_c1d7a_00004_4_dl_indist=2,dl_scale=1.0000,dr_cc=0.9900,seed=5_2024-05-10_11-19-55/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg01_ds1.000_zt=n_g1_s5/05.10_11.20.32/models/ckpt_policy_T5000000.pt
Discr model is loaded from logs_data/30drive/cgrewfx/rr/run_2024-05-10_11-19-55/run_c1d7a_00004_4_dl_indist=2,dl_scale=1.0000,dr_cc=0.9900,seed=5_2024-05-10_11-19-55/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg01_ds1.000_zt=n_g1_s5/05.10_11.20.32/models/ckpt_discr_T5000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 1 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
min_headway_last [10.92, 18.28, 25.62, 32.91, 40.27]
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
zvs shape 1500
RT 140.72683839889928 13.205477281681203 181.24616282712623 75.95727235078833
LR 3.809210067707037 0.4346317416988609 3.999459608574405 1.0
VL-std-all 0.0 0.0
*** budget = 10
VL10-1 1.6675225421905517 1.4180872113517557
RT-VL10-1 129.2352753793239 8.984256709529385 150.40751670301037 114.97190624335737
VL10-2 2.1035084734598795 1.8889890294694163
RT-VL10-2 140.9725234559652 6.175752651144946 151.9457339828376 117.30976777989399
VL10-3 1.3508321187337242 1.1858643999693976
RT-VL10-3 145.04820971097223 4.928609694703239 154.86515070474732 123.05679830664386
VL10-4 1.712875681050618 1.6933066898220306
RT-VL10-4 149.31639030477336 4.867424019849159 158.50958558585234 126.0009009761266
VL10-5 4.116698224894206 3.4666240229273244
RT-VL10-5 147.91434536302665 7.452553002432724 181.24616282712623 128.5816529675499
VL10-all 2.190287408065796 0.9924192121838037
RT-VL10-all 142.49734884281227 7.2188330627602815 149.31639030477336 129.2352753793239
*** budget = 20
VL20-1 0.9547485865275066 0.888041606515217
RT-VL20-1 125.008493803114 7.1817177290820196 147.135142154061 114.97190624335737
VL20-2 1.0460194498697915 0.903465701061653
RT-VL20-2 141.35817621901168 5.834314615718741 150.65267697744937 117.30976777989399
VL20-3 0.6875329640706379 0.6229293343762495
RT-VL20-3 144.59757553899664 4.950357349834155 153.4901546586775 123.05679830664386
VL20-4 0.9457215850830073 1.022335833872545
RT-VL20-4 150.09108953839709 4.345239307449645 157.32421776378732 138.0691015300111
VL20-5 2.143678411865236 2.198104761979351
RT-VL20-5 147.0171513673406 6.680629784158149 158.30212007265044 129.01652505376876
VL20-all 1.155540199483236 0.508288071185253
RT-VL20-all 141.614497293372 8.783679130780333 150.09108953839709 125.008493803114
*** budget = 30
VL30-1 0.6772823631286622 0.7278528580640157
RT-VL30-1 122.82101289189887 5.792257971417273 139.74202715652075 114.97190624335737
VL30-2 0.7774636901855467 0.6773179196647695
RT-VL30-2 140.47616467402318 5.908611172620354 150.65267697744937 117.30976777989399
VL30-3 0.43768720703124986 0.3800443249606761
RT-VL30-3 144.7797297082725 4.569343923206575 153.1261863403488 133.4781453263715
VL30-4 0.5593604080200191 0.6255991814497616
RT-VL30-4 150.80585789480358 3.8105494501185513 157.32421776378732 143.6275707361058
VL30-5 1.1848095764160167 1.2104453910671678
RT-VL30-5 145.50313878986145 7.203615270780877 158.30212007265044 129.81984856189172
VL30-all 0.7273206489562989 0.25550438219226423
RT-VL30-all 140.87718079177193 9.60618569065926 150.80585789480358 122.82101289189887
*** budget = 40
VL40-1 0.454574966430664 0.3907239395487042
RT-VL40-1 122.87044875606945 6.448764038101684 139.79314598022032 115.03019130649133
VL40-2 0.6231557526459565 0.5688132879933401
RT-VL40-2 140.15361074678535 6.690763092422237 150.65267697744937 117.30976777989399
VL40-3 0.3362835074759817 0.2888963237860144
RT-VL40-3 145.71302513194877 4.599871101214016 153.1261863403488 133.4781453263715
VL40-4 0.3607499612344273 0.32718744994766236
RT-VL40-4 150.522838452005 4.332701155422385 157.32421776378732 139.62026120128598
VL40-5 1.060400798900708 1.1851415092707036
RT-VL40-5 145.43803894484708 7.034197875027584 158.30212007265044 131.3196430511312
VL40-all 0.5670329973375475 0.26646064551952936
RT-VL40-all 140.93959240633114 9.612200637114707 150.522838452005 122.87044875606945
*** budget = 50
VL50-1 0.3501711273193359 0.32146314462325715
RT-VL50-1 122.73226111379141 6.588373619729329 139.79314598022032 114.97190624335737
VL50-2 0.46829510752360004 0.4465879697803258
RT-VL50-2 140.59967509200806 6.309914178822497 150.65267697744937 117.30976777989399
VL50-3 0.3065338058471679 0.3261170692491009
RT-VL50-3 146.49118830737416 4.076050883008013 153.1261863403488 133.4781453263715
VL50-4 0.2724196624755848 0.23714157843560982
RT-VL50-4 150.88143016977023 4.558904877522503 157.32421776378732 139.62026120128598
VL50-5 0.8402689005533859 1.001707609614842
RT-VL50-5 143.90989885756937 7.12991131251836 155.84368167602247 131.3196430511312
VL50-all 0.4475377207438148 0.20721840679024972
RT-VL50-all 140.92289070810264 9.696433750823477 150.88143016977023 122.73226111379141
logs_data/30drive/cgrewfx/rr/run_2024-05-10_11-19-55/run_c1d7a_00000_0_dl_indist=2,dl_scale=1.0000,dr_cc=0.9900,seed=4_2024-05-10_11-19-55/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg01_ds1.000_zt=n_g1_s4/05.10_11.20.31/models/ckpt_policy_T5000000.pt
0_drivelaneshift_v0_type1-infogsdr_ppobc-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg01_ds1.000_zt=n_g1_s4
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppobc
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 20, action dim: 2, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/DriveLaneshift_v0.h5 with traj_num 25.0, data_size 1250 steps, and average return 4.00
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 735, K 15, state dim 20, action dim 2, a min -0.051749326, a_max 0.3067493
Policy model is loaded from logs_data/30drive/cgrewfx/rr/run_2024-05-10_11-19-55/run_c1d7a_00000_0_dl_indist=2,dl_scale=1.0000,dr_cc=0.9900,seed=4_2024-05-10_11-19-55/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg01_ds1.000_zt=n_g1_s4/05.10_11.20.31/models/ckpt_policy_T5000000.pt
Discr model is loaded from logs_data/30drive/cgrewfx/rr/run_2024-05-10_11-19-55/run_c1d7a_00000_0_dl_indist=2,dl_scale=1.0000,dr_cc=0.9900,seed=4_2024-05-10_11-19-55/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg01_ds1.000_zt=n_g1_s4/05.10_11.20.31/models/ckpt_discr_T5000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 1 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
min_headway_last [10.92, 18.28, 25.62, 32.91, 40.27]
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
zvs shape 1500
RT 158.0323740901069 10.293559916535278 187.44037275869027 134.61093120160575
LR 3.9504661271428536 0.03511063833938392 3.999153584940366 3.804590706422456
VL-std-all 0.0 0.0
*** budget = 10
VL10-1 6.070955809148151 4.459690638725141
RT-VL10-1 145.25739405191794 6.482065085346395 162.78950672870226 134.61093120160575
VL10-2 2.659059135945638 2.5921092157468832
RT-VL10-2 142.18075942456082 3.2606865794476367 159.3661561014598 134.61093120160575
VL10-3 2.150687838745117 1.9300668763938242
RT-VL10-3 147.57117440502353 4.20147798469246 162.9421059971212 140.71139085391715
VL10-4 1.2111056147257493 1.1179588785367733
RT-VL10-4 160.1304134906788 3.2952251534073023 166.20736043888658 151.92734363791513
VL10-5 0.8239682057698577 0.8199385003589035
RT-VL10-5 166.92288824399566 1.0004614754204224 174.46322890662123 164.48598618374706
VL10-all 2.5831553208669025 1.861977521901737
RT-VL10-all 152.41252592323536 9.480928704358778 166.92288824399566 142.18075942456082
*** budget = 20
VL20-1 3.504021440378824 2.8799185326770362
RT-VL20-1 147.76963781210156 7.303407133117474 162.78950672870226 134.61093120160575
VL20-2 1.4317814758300782 1.682176558680125
RT-VL20-2 141.53934953658137 2.5584406274386815 150.40189666306836 134.61093120160575
VL20-3 1.1178411061604814 1.154777384842949
RT-VL20-3 146.3774594119921 3.0272223559255136 157.61213278878108 142.1029621332417
VL20-4 0.5954693166097009 0.4431738428934389
RT-VL20-4 159.97125661982767 2.0401616548637076 162.9421059971212 153.60522726163617
VL20-5 0.4335022562662763 0.4813543421765263
RT-VL20-5 167.1672082102772 0.5217022704291508 169.05377482518074 165.45039390356476
VL20-all 1.4165231190490721 1.1034085704756647
RT-VL20-all 152.56498231815596 9.496559870988229 167.1672082102772 141.53934953658137
*** budget = 30
VL30-1 2.2924349098205568 1.5145404695717055
RT-VL30-1 148.23427420100492 6.545720134699039 160.96557215973695 138.573348531034
VL30-2 0.8984644660949709 0.8840934534337775
RT-VL30-2 141.34803414371268 2.0531133173951486 147.00054697319882 136.46830630541103
VL30-3 0.8594228027343749 1.0107705127721875
RT-VL30-3 145.93653371666736 2.5806398559634043 152.8007094165074 142.1029621332417
VL30-4 0.4549810745239267 0.3629650940976972
RT-VL30-4 160.2538149637077 1.6608195706263973 162.92356512311392 153.60522726163617
VL30-5 0.25002082824707034 0.20958547186668952
RT-VL30-5 167.27818708002272 0.19089096760215535 167.58174553385456 166.73719615914175
VL30-all 0.9510648162841798 0.7138628068926279
RT-VL30-all 152.61016882102305 9.634289000464896 167.27818708002272 141.34803414371268
*** budget = 40
VL40-1 1.9399573619945627 1.3964270972755868
RT-VL40-1 150.7475634289637 6.508905675373377 160.96557215973695 138.71811067755394
VL40-2 0.6737334524618614 0.5609656772868694
RT-VL40-2 141.5357822770233 1.6207444587958535 144.91535039574944 138.34926032397118
VL40-3 0.5390618071684966 0.45882897450645854
RT-VL40-3 145.69721439876355 2.4902949209507033 152.8007094165074 141.97528563346793
VL40-4 0.38441657813819796 0.297566959523547
RT-VL40-4 160.32910055863493 1.4581712854754743 162.9421059971212 155.5066385647517
VL40-5 0.17301068692594004 0.13414225988435333
RT-VL40-5 167.30429248643463 0.169135454979193 167.58174553385456 166.74273230961998
VL40-all 0.7420359773378118 0.6217010227256358
RT-VL40-all 153.12279062996404 9.466631363753423 167.30429248643463 141.5357822770233
*** budget = 50
VL50-1 1.6754132308959957 1.1577010855570478
RT-VL50-1 151.29308083663832 5.37397334140814 160.96557215973695 140.77548472816096
VL50-2 0.4910821278889974 0.4264154984671543
RT-VL50-2 141.86685683497734 1.3713478964825276 144.91535039574944 138.56433433698848
VL50-3 0.40956935882568357 0.28371266141757834
RT-VL50-3 145.87806957646086 1.9733725451534783 150.9110119502581 142.1939412601637
VL50-4 0.3263459116617848 0.23969350244487578
RT-VL50-4 160.20710953122864 1.3270151222485602 161.21713022678168 155.5066385647517
VL50-5 0.16091665140787845 0.14218120494641884
RT-VL50-5 167.32229990378636 0.15571793394152023 167.58174553385456 166.93571259736194
VL50-all 0.612665456136068 0.5424977838348892
RT-VL50-all 153.3134833366183 9.318387049681004 167.32229990378636 141.86685683497734
logs_data/30drive/cgrewfx/rr/run_2024-05-09_18-56-18/run_59052_00008_8_dl_indist=2,dl_scale=1.0000,dr_cc=0.9900,seed=3_2024-05-09_18-56-19/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg01_ds1.000_zt=n_g1_s3/05.09_18.56.54/models/ckpt_policy_T5000000.pt
0_drivelaneshift_v0_type1-infogsdr_ppobc-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg01_ds1.000_zt=n_g1_s3
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppobc
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 20, action dim: 2, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/DriveLaneshift_v0.h5 with traj_num 25.0, data_size 1250 steps, and average return 4.00
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 735, K 15, state dim 20, action dim 2, a min -0.051749326, a_max 0.3067493
Policy model is loaded from logs_data/30drive/cgrewfx/rr/run_2024-05-09_18-56-18/run_59052_00008_8_dl_indist=2,dl_scale=1.0000,dr_cc=0.9900,seed=3_2024-05-09_18-56-19/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg01_ds1.000_zt=n_g1_s3/05.09_18.56.54/models/ckpt_policy_T5000000.pt
Discr model is loaded from logs_data/30drive/cgrewfx/rr/run_2024-05-09_18-56-18/run_59052_00008_8_dl_indist=2,dl_scale=1.0000,dr_cc=0.9900,seed=3_2024-05-09_18-56-19/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg01_ds1.000_zt=n_g1_s3/05.09_18.56.54/models/ckpt_discr_T5000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 1 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
min_headway_last [10.92, 18.28, 25.62, 32.91, 40.27]
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
zvs shape 1500
RT 153.86263497813627 11.531954150532352 188.80162267413237 118.19156980514529
LR 3.9114173253186544 0.05112279610795492 3.980477434553954 3.7434500541712765
VL-std-all 0.0 0.0
*** budget = 10
VL10-1 2.7972651023864747 3.523359230003557
RT-VL10-1 148.17845976411536 8.382432641434352 168.13741223112328 125.54110884154218
VL10-2 2.038060967763265 1.7826993196126646
RT-VL10-2 149.29027882819597 4.080373045058936 161.76081253175016 125.57239497290054
VL10-3 1.4709033075968425 1.3013222221390592
RT-VL10-3 148.58359474601826 2.3376530672056495 157.15200472614367 144.43268465763
VL10-4 1.5882152725219725 1.5084639504997097
RT-VL10-4 150.20702415776938 2.0645480727581833 156.44284172877087 146.01960471874986
VL10-5 2.7444492365519224 2.2254616717706956
RT-VL10-5 152.87849760652398 5.531362493893513 174.02295132493583 145.16913592504028
VL10-all 2.1277787773640955 0.5584188103074487
RT-VL10-all 149.82757102052457 1.6737900420309813 152.87849760652398 148.17845976411536
*** budget = 20
VL20-1 1.01318326365153 1.8056715820601679
RT-VL20-1 148.10824339699073 8.408002957540331 168.13741223112328 125.54110884154218
VL20-2 1.1337129948933917 1.0524052066503193
RT-VL20-2 150.2072621229306 1.0706970059376328 153.28002234158305 147.25704249000438
VL20-3 0.7155323109944661 0.6860695685472646
RT-VL20-3 148.3067873779436 2.4757667368517966 157.15200472614367 144.43268465763
VL20-4 0.775463940429687 0.7100348446713213
RT-VL20-4 150.5614509781469 1.8899818854086534 156.44284172877087 147.1737537471639
VL20-5 1.509173775227866 1.5039047031100867
RT-VL20-5 152.2921163365459 3.915188788023038 165.50877776072667 145.93579167238238
VL20-all 1.0294132570393881 0.2843671944900994
RT-VL20-all 149.89517204251155 1.5493708151303605 152.2921163365459 148.10824339699073
*** budget = 30
VL30-1 0.3837427963256836 0.4334374381885413
RT-VL30-1 149.24600284266745 6.167325238048262 160.2178628211249 133.009619229502
VL30-2 0.7323553634643554 0.7749013619866456
RT-VL30-2 150.26960998618796 1.1349483286933986 151.40445822611085 145.60123898903856
VL30-3 0.4877658508300782 0.45309108018668826
RT-VL30-3 147.97099710836952 2.167289793645299 153.24394267631493 144.62187256961016
VL30-4 0.5495720214843743 0.5513044801766801
RT-VL30-4 150.57778635727533 1.9130787138963226 156.44284172877087 147.89280349254767
VL30-5 1.131195434570313 1.2148222925103003
RT-VL30-5 152.30269271586621 3.909842901733403 165.50877776072667 145.93579167238238
VL30-all 0.6569262933349609 0.2628270081174835
RT-VL30-all 150.0734178020733 1.4399537452441415 152.30269271586621 147.97099710836952
*** budget = 40
VL40-1 0.3600737535631334 0.45178432870561785
RT-VL40-1 151.18600141143847 5.089371347648329 160.3801194897969 138.2709884126088
VL40-2 0.4826950135102141 0.5217523317709303
RT-VL40-2 150.50093518737447 0.8755053540478905 151.40445822611085 147.1779612627576
VL40-3 0.34702880034575584 0.36133386347118546
RT-VL40-3 147.8528902911867 1.963648146297814 153.15163285515143 144.62187256961016
VL40-4 0.3857284257218632 0.4417334154112061
RT-VL40-4 150.8732802515458 2.2070476528209526 156.44284172877087 147.89280349254767
VL40-5 0.6467398978568416 0.576505730650298
RT-VL40-5 151.3778547288156 3.065742393718652 158.5547800500059 145.93579167238238
VL40-all 0.44445317819956165 0.11175182161680657
RT-VL40-all 150.3581923740722 1.2874166908042068 151.3778547288156 147.8528902911867
*** budget = 50
VL50-1 0.2660624771118164 0.3049965403691647
RT-VL50-1 150.23821674918474 5.589152181574305 160.2178628211249 133.009619229502
VL50-2 0.33385193379720024 0.33140799816570593
RT-VL50-2 150.6866857033901 0.5828331574787271 151.40445822611085 148.98186591276442
VL50-3 0.3278390731811522 0.3681426362886993
RT-VL50-3 147.97455329558483 1.9885965899501263 153.15163285515143 144.70358097774488
VL50-4 0.341610799153644 0.3195498968945558
RT-VL50-4 150.51939856131997 2.150767490030611 156.33277716787433 147.89280349254767
VL50-5 0.5395135548909503 0.5366557091387772
RT-VL50-5 152.2931231181186 3.2703455347819426 160.3340802011085 145.93579167238238
VL50-all 0.3617755676269526 0.0928329905601729
RT-VL50-all 150.34239548551966 1.3836714917269053 152.2931231181186 147.97455329558483
logs_data/30drive/cgrewfx/rr/run_2024-05-09_18-56-18/run_59052_00004_4_dl_indist=2,dl_scale=1.0000,dr_cc=0.9900,seed=2_2024-05-09_18-56-19/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg01_ds1.000_zt=n_g1_s2/05.09_18.56.54/models/ckpt_policy_T5000000.pt
0_drivelaneshift_v0_type1-infogsdr_ppobc-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg01_ds1.000_zt=n_g1_s2
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppobc
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 20, action dim: 2, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/DriveLaneshift_v0.h5 with traj_num 25.0, data_size 1250 steps, and average return 4.00
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 735, K 15, state dim 20, action dim 2, a min -0.051749326, a_max 0.3067493
Policy model is loaded from logs_data/30drive/cgrewfx/rr/run_2024-05-09_18-56-18/run_59052_00004_4_dl_indist=2,dl_scale=1.0000,dr_cc=0.9900,seed=2_2024-05-09_18-56-19/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg01_ds1.000_zt=n_g1_s2/05.09_18.56.54/models/ckpt_policy_T5000000.pt
Discr model is loaded from logs_data/30drive/cgrewfx/rr/run_2024-05-09_18-56-18/run_59052_00004_4_dl_indist=2,dl_scale=1.0000,dr_cc=0.9900,seed=2_2024-05-09_18-56-19/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg01_ds1.000_zt=n_g1_s2/05.09_18.56.54/models/ckpt_discr_T5000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 1 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
min_headway_last [10.92, 18.28, 25.62, 32.91, 40.27]
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
zvs shape 1500
RT 153.2053458994495 7.428167014584854 163.32748956326407 73.95690140873185
LR 3.8965390926167798 0.2499432945950242 3.9999046996236167 1.0
VL-std-all 0.0 0.0
*** budget = 10
VL10-1 0.5191475316365559 0.44588350333018256
RT-VL10-1 149.98004178385443 1.6324220869450532 153.9709965265348 146.32189207361162
VL10-2 1.8332217526753742 1.612478086976894
RT-VL10-2 153.00227764849237 2.4937933817567886 161.09769157925587 146.47064022719817
VL10-3 2.226252487182617 1.93855688299672
RT-VL10-3 157.49580278877357 1.8811822445491206 161.65474929008616 150.27318544872122
VL10-4 5.38715398152669 3.7328923469365813
RT-VL10-4 158.86716890870147 2.3678135403076133 163.32748956326407 150.27318544872122
VL10-5 11.014156028238936 5.489445937140517
RT-VL10-5 158.81759827692778 2.3309335678219725 163.32748956326407 150.27318544872122
VL10-all 4.1959863562520345 3.76531459021894
RT-VL10-all 155.63257788134993 3.54818783997054 158.86716890870147 149.98004178385443
*** budget = 20
VL20-1 0.2831319279988606 0.2803194510912636
RT-VL20-1 149.77972086964172 1.2584101354777986 152.16067158011742 148.13745943829383
VL20-2 1.0326289118448893 0.9549440493263306
RT-VL20-2 153.30206527762957 1.9649271656661755 157.7503398857077 148.35483912099042
VL20-3 1.2689608205159508 1.2294332726273147
RT-VL20-3 157.65372991885522 1.3270664636985305 161.65474929008616 153.82927145250085
VL20-4 3.374842105102538 2.811607924643051
RT-VL20-4 160.00348699753562 1.8526137367172217 163.32748956326407 153.82927145250085
VL20-5 7.6346145975748705 4.774993738364862
RT-VL20-5 159.88576489562362 1.8347882381217426 163.32748956326407 153.82927145250085
VL20-all 2.7188356726074216 2.6635806703344955
RT-VL20-all 156.12495359185715 3.993859207162097 160.00348699753562 149.77972086964172
*** budget = 30
VL30-1 0.19178197326660154 0.20314589048537096
RT-VL30-1 149.57994043700057 1.0949010371498047 152.05197463859813 148.15938281547173
VL30-2 0.7416005874633789 0.7635564985543511
RT-VL30-2 153.220366687069 1.3135896660120894 155.72609382163515 148.35483912099042
VL30-3 0.8067007781982423 0.7393572692209683
RT-VL30-3 157.85690399997395 1.0634861333675276 161.65474929008616 156.24347028136194
VL30-4 2.141052148437499 1.3545214612691816
RT-VL30-4 160.73247776134872 1.2716409983007286 163.32748956326407 158.89876205753515
VL30-5 5.86910817718506 3.580752150275254
RT-VL30-5 160.54916070455158 1.2592950964497205 163.20098889293178 157.88704100274452
VL30-all 1.9500487329101563 2.0617760642877077
RT-VL30-all 156.38776991798878 4.3527232841738694 160.73247776134872 149.57994043700057
*** budget = 40
VL40-1 0.1326993725750897 0.1614241507443577
RT-VL40-1 149.65726389505554 1.0699139229307335 152.0200266093019 148.2219216683875
VL40-2 0.4959221071810335 0.45589773821098833
RT-VL40-2 153.78730424766644 1.3627945787918614 157.7503398857077 152.0300172837452
VL40-3 0.5691012346422348 0.449602931158422
RT-VL40-3 157.89724173989754 1.0524295169933002 161.65474929008616 156.24347028136194
VL40-4 1.9454591101569085 1.5788248756338394
RT-VL40-4 160.67308464728464 1.2899192116626197 163.32748956326407 157.8484090529384
VL40-5 4.603027834505651 3.523067121566955
RT-VL40-5 160.58549261892557 1.4749828677209773 163.32748956326407 157.88704100274452
VL40-all 1.5492419318121837 1.6467754949138986
RT-VL40-all 156.52007742976593 4.248244579190775 160.67308464728464 149.65726389505554
*** budget = 50
VL50-1 0.10578346888224281 0.125234252480275
RT-VL50-1 149.55716643792795 1.0580158867411356 151.996661670739 148.2262662351123
VL50-2 0.46301164245605453 0.44835992063019264
RT-VL50-2 153.43513694156997 0.9949677671850078 155.72609382163515 152.0300172837452
VL50-3 0.5255801925659178 0.42869039030689793
RT-VL50-3 157.92031698105856 0.7982411341834983 159.89664548076695 156.3148578554389
VL50-4 1.44177554321289 1.0013381648661848
RT-VL50-4 160.95009573858704 0.9983588329602715 163.32748956326407 158.9004694970788
VL50-5 4.043949043273929 3.15710560137148
RT-VL50-5 160.38465018366986 1.4157979482455005 163.1423073257317 157.04527083272077
VL50-all 1.316019978078207 1.4334923878594106
RT-VL50-all 156.44947325656267 4.347291527774769 160.95009573858704 149.55716643792795
logs_data/30drive/cgrewfx/rr/run_2024-05-09_18-56-18/run_59052_00000_0_dl_indist=2,dl_scale=1.0000,dr_cc=0.9900,seed=1_2024-05-09_18-56-19/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg01_ds1.000_zt=n_g1_s1/05.09_18.56.53/models/ckpt_policy_T5000000.pt
0_drivelaneshift_v0_type1-infogsdr_ppobc-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg01_ds1.000_zt=n_g1_s1
v_data: 0
Inferred from ckptpath name:
il_method: infogsdr
rl_method: ppobc
activation: relu
hidden_size: [100, 100]
norm_obs: 0
info_loss_type: None
encode_sampling: normal
normalize_code: 0
tl_emb: 0
TRAINED C_DATA: 1
ARG C_DATA: 1
Using (100, 100) relu networks.
State dim: 20, action dim: 2, action bound 1
args.encode_dim: 2
TRAJ is loaded from /home/vsreeramdass3/code/vild_code1/imitation_data/STRAT_h5/DriveLaneshift_v0.h5 with traj_num 25.0, data_size 1250 steps, and average return 4.00
No of trajs: Train 15 Val 3 Test 7
Total data pairs: 735, K 15, state dim 20, action dim 2, a min -0.051749326, a_max 0.3067493
Policy model is loaded from logs_data/30drive/cgrewfx/rr/run_2024-05-09_18-56-18/run_59052_00000_0_dl_indist=2,dl_scale=1.0000,dr_cc=0.9900,seed=1_2024-05-09_18-56-19/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg01_ds1.000_zt=n_g1_s1/05.09_18.56.53/models/ckpt_policy_T5000000.pt
Discr model is loaded from logs_data/30drive/cgrewfx/rr/run_2024-05-09_18-56-18/run_59052_00000_0_dl_indist=2,dl_scale=1.0000,dr_cc=0.9900,seed=1_2024-05-09_18-56-19/results_IL/DriveLaneshift/INFOGSDR_PPOBC/0_DriveLaneshift_v0_type1-INFOGSDR_PPOBC-100-100-relu_cr10_no0_es=n_sr0011_rc0.99_reg01_ds1.000_zt=n_g1_s1/05.09_18.56.53/models/ckpt_discr_T5000000.pt
***** Max Ep Steps: 1000 args.seed 1 test_seed 1 *****
*** budgets = [10, 20, 30, 40, 50] NPARALLEL = 50 n_test_episodes = 1 ***
***** num zs = 1500 *****
***** args.encode_sampling = normal *****
min_headway_last [10.92, 18.28, 25.62, 32.91, 40.27]
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
State dim: 20, action dim: 2, action bound 1
zvs shape 1500
RT 140.4563977437843 12.708257717333227 161.73294197971563 76.94948126655078
LR 3.79759526452719 0.5422499750586889 3.9999278226459722 1.0
VL-std-all 0.0 0.0
*** budget = 10
VL10-1 1.8251221426645914 2.195972292835407
RT-VL10-1 143.5444603230216 2.4916638665064466 156.04146631877066 139.89459557633418
VL10-2 2.858165259170532 2.3232731207946404
RT-VL10-2 144.99213819430017 1.6909677604834707 151.9985100454647 139.89459557633418
VL10-3 2.019152047220866 1.9569932084814472
RT-VL10-3 144.90743216123857 1.3073335077292096 148.5892602779205 142.16098907333838
VL10-4 2.034060663859049 1.7858911346810584
RT-VL10-4 144.0587333426743 1.0013362599220246 148.0664250395203 141.27422425820262
VL10-5 1.9618756113688152 2.4226025453835414
RT-VL10-5 142.41186222381813 2.283391603165801 147.22027078690013 126.53976987805814
VL10-all 2.1396751448567706 0.366732748830377
RT-VL10-all 143.98292524901055 0.9528337931886869 144.99213819430017 142.41186222381813
*** budget = 20
VL20-1 0.7964927706400553 0.7909545550847215
RT-VL20-1 142.8006315499349 1.8618731487558264 151.9985100454647 140.04895494040062
VL20-2 1.557144607543945 1.2822502734055268
RT-VL20-2 144.92414784483768 1.4133295594556161 148.7347320959379 141.3379493170646
VL20-3 0.973894893391927 0.9008170660858829
RT-VL20-3 145.06937303395205 1.2144009728650191 148.5892602779205 142.51216210215347
VL20-4 1.0993454833984366 0.9816711547087749
RT-VL20-4 144.10449896027842 0.9213339500278982 147.22027078690013 142.71324388310373
VL20-5 0.8158649637858073 0.8129944454710537
RT-VL20-5 142.72435010247204 1.4283697519273628 146.37578848464156 138.64053231035314
VL20-all 1.0485485437520343 0.277307487760115
RT-VL20-all 143.92460029829502 1.0045765000784987 145.06937303395205 142.72435010247204
*** budget = 30
VL30-1 0.5125274406433106 0.4964434401839691
RT-VL30-1 142.41303238610845 1.563631230254757 144.62123162060743 140.04895494040062
VL30-2 1.1385091247558592 1.0786593888987812
RT-VL30-2 145.09644730142497 1.1515303132354806 147.387403163244 142.97847416115064
VL30-3 0.731729397583008 0.8104910843766793
RT-VL30-3 145.0185450631316 1.3124900559129196 148.5892602779205 142.8699611340411
VL30-4 0.7803519165039051 0.7008075967637273
RT-VL30-4 144.16974085704663 1.072640060758273 147.22027078690013 142.6569449989476
VL30-5 0.4881152191162116 0.5144274695893408
RT-VL30-5 143.02523038712278 1.3089045975268097 146.37578848464156 139.6600177541841
VL30-all 0.7302466197204589 0.23461469199959706
RT-VL30-all 143.9445991989669 1.069741880168919 145.09644730142497 142.41303238610845
*** budget = 40
VL40-1 0.4919723108652476 0.5316339242935709
RT-VL40-1 142.43945141978605 1.6434736351713688 144.59749991353556 140.04895494040062
VL40-2 0.8280300202240813 0.7451739480460674
RT-VL40-2 145.02087228212076 1.3304072616884128 148.7347320959379 142.99331544688877
VL40-3 0.46636547604122675 0.4104978340181382
RT-VL40-3 145.03962123787306 1.3788688651512486 148.5892602779205 142.51216210215347
VL40-4 0.6690931536700275 0.5714447882492767
RT-VL40-4 144.1178414558409 0.9321273930759901 146.9560220859418 142.6569449989476
VL40-5 0.4528171848606423 0.5530171524766205
RT-VL40-5 142.5832753991645 1.2905269361974858 146.12599678506334 139.47538328939075
VL40-all 0.5816556291322452 0.1457943229214535
RT-VL40-all 143.84021235895707 1.1359259798088777 145.03962123787306 142.43945141978605
*** budget = 50
VL50-1 0.3397897033691406 0.3538436263021258
RT-VL50-1 142.26099022441377 1.534888948162038 144.59749991353556 140.04895494040062
VL50-2 0.6897682113647458 0.6352614608721743
RT-VL50-2 145.102566095754 1.09661476558234 147.0874647614546 143.06735057043306
VL50-3 0.3876594696044923 0.34986054348545226
RT-VL50-3 144.95189140817382 1.3428347051749612 148.5892602779205 143.00370332400755
VL50-4 0.46766730244954335 0.4702516337064154
RT-VL50-4 144.07346005443165 0.9953402135079369 146.9560220859418 142.71324388310373
VL50-5 0.352641489664714 0.4026777599242203
RT-VL50-5 142.82872448175723 1.2887267398465085 146.12599678506334 139.6600177541841
VL50-all 0.4475052352905272 0.12905900995302583
RT-VL50-all 143.8435264529061 1.1314386516799813 145.102566095754 142.26099022441377