diff --git a/nnabla_rl/algorithms/__init__.py b/nnabla_rl/algorithms/__init__.py index ebedd457..51c9b596 100644 --- a/nnabla_rl/algorithms/__init__.py +++ b/nnabla_rl/algorithms/__init__.py @@ -36,6 +36,7 @@ from nnabla_rl.algorithms.icml2018_sac import ICML2018SAC, ICML2018SACConfig from nnabla_rl.algorithms.icra2018_qtopt import ICRA2018QtOpt, ICRA2018QtOptConfig from nnabla_rl.algorithms.ilqr import iLQR, iLQRConfig +from nnabla_rl.algorithms.iql import IQL, IQLConfig from nnabla_rl.algorithms.iqn import IQN, IQNConfig from nnabla_rl.algorithms.lqr import LQR, LQRConfig from nnabla_rl.algorithms.mme_sac import MMESAC, MMESACConfig @@ -99,6 +100,7 @@ def get_class_of(name): register_algorithm(HyAR, HyARConfig) register_algorithm(ICML2018SAC, ICML2018SACConfig) register_algorithm(iLQR, iLQRConfig) +register_algorithm(IQL, IQLConfig) register_algorithm(IQN, IQNConfig) register_algorithm(LQR, LQRConfig) register_algorithm(MMESAC, MMESACConfig) diff --git a/nnabla_rl/algorithms/iql.py b/nnabla_rl/algorithms/iql.py new file mode 100644 index 00000000..97b7689f --- /dev/null +++ b/nnabla_rl/algorithms/iql.py @@ -0,0 +1,317 @@ +# Copyright 2024 Sony Group Corporation. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from dataclasses import dataclass +from typing import Dict, List, Union + +import gym + +import nnabla as nn +import nnabla.solvers as NS +import nnabla_rl.model_trainers as MT +from nnabla_rl.algorithm import Algorithm, AlgorithmConfig, eval_api +from nnabla_rl.algorithms.common_utils import _StochasticPolicyActionSelector +from nnabla_rl.builders import ModelBuilder, SolverBuilder +from nnabla_rl.environments.environment_info import EnvironmentInfo +from nnabla_rl.model_trainers.model_trainer import TrainingBatch +from nnabla_rl.models import IQLPolicy, IQLQFunction, IQLVFunction, QFunction, StochasticPolicy, VFunction +from nnabla_rl.utils import context +from nnabla_rl.utils.data import marshal_experiences +from nnabla_rl.utils.misc import sync_model + + +@dataclass +class IQLConfig(AlgorithmConfig): + """List of configurations for IQL algorithm. + + Args: + gamma (float): discount factor of reward. Defaults to 0.99. + learning_rate (float): learning rate which is set to all solvers. \ + You can customize/override the learning rate for each solver by implementing the \ + (:py:class:`SolverBuilder `) by yourself. \ + Defaults to 0.0003. + batch_size (int): training batch size. Defaults to 256. + tau (float): target network's parameter update coefficient. Defaults to 0.005. + expectile (float): the expectile value for expectile regression loss. Defaults to 0.7. + beta (float): the temperature parameter of advantage weight. Defaults to 3.0 + advantage_clip (Optional[float]): the value for clipping advantage weight. Defaults to 100.0 + """ + + gamma: float = 0.99 + learning_rate: float = 3.0 * 1e-4 + batch_size: int = 256 + tau: float = 0.005 + expectile: float = 0.7 + beta: float = 3.0 + advantage_clip: float = 100.0 + + def __post_init__(self): + """__post_init__ + + Check set values are in valid range. + """ + self._assert_between(self.gamma, 0.0, 1.0, "gamma") + self._assert_between(self.tau, 0.0, 1.0, "tau") + self._assert_positive(self.batch_size, "batch_size") + self._assert_between(self.expectile, 0.0, 1.0, "expectile") + + +class DefaultQFunctionBuilder(ModelBuilder[QFunction]): + def build_model( # type: ignore[override] + self, + scope_name: str, + env_info: EnvironmentInfo, + algorithm_config: IQLConfig, + **kwargs, + ) -> QFunction: + return IQLQFunction(scope_name) + + +class DefaultVFunctionBuilder(ModelBuilder[VFunction]): + def build_model( # type: ignore[override] + self, + scope_name: str, + env_info: EnvironmentInfo, + algorithm_config: IQLConfig, + **kwargs, + ) -> VFunction: + return IQLVFunction(scope_name) + + +class DefaultPolicyBuilder(ModelBuilder[StochasticPolicy]): + def build_model( # type: ignore[override] + self, + scope_name: str, + env_info: EnvironmentInfo, + algorithm_config: IQLConfig, + **kwargs, + ) -> StochasticPolicy: + return IQLPolicy(scope_name, action_dim=env_info.action_dim) + + +class DefaultSolverBuilder(SolverBuilder): + def build_solver(self, env_info: EnvironmentInfo, algorithm_config: IQLConfig, **kwargs): # type: ignore[override] + return NS.Adam(alpha=algorithm_config.learning_rate) + + +class IQL(Algorithm): + """Implicit Q-learning (IQL) algorithm. + + This class implements the Implicit Q-learning (IQL) algorithm + proposed by I. Kostrikov, et al. in the paper: "OFFLINE REINFORCEMENT LEARNING WITH IMPLICIT Q-LEARNING" + For details see: https://arxiv.org/abs/2110.06169 + + This algorithm only supports offline training. + + Args: + env_or_env_info \ + (gym.Env or :py:class:`EnvironmentInfo `): + the environment to train or environment info + config (:py:class:`IQLConfig `): + configuration of the IQL algorithm + q_function_builder (:py:class:`ModelBuilder[QFunction] `): + builder of q-function models + q_solver_builder (:py:class:`SolverBuilder `): + builder for q-function solvers + v_function_builder (:py:class:`ModelBuilder[VFunction] `): + builder of v-function models + v_solver_builder (:py:class:`SolverBuilder `): + builder for v-function solvers + policy_builder (:py:class:`ModelBuilder[StochasticPolicy] `): + builder of policy models + policy_solver_builder (:py:class:`SolverBuilder `): + builder for policy solvers + """ + + # type declarations to type check with mypy + # NOTE: declared variables are instance variable and NOT class variable, unless it is marked with ClassVar + # See https://mypy.readthedocs.io/en/stable/class_basics.html for details + _config: IQLConfig + _train_q_functions: List[QFunction] + _train_q_solvers: Dict[str, nn.solver.Solver] + _target_q_functions: List[QFunction] + _v_function: VFunction + _v_solver: nn.solver.Solver + _pi: StochasticPolicy + _pi_solver: nn.solver.Solver + + def __init__( + self, + env_or_env_info: Union[gym.Env, EnvironmentInfo], + config: IQLConfig = IQLConfig(), + q_function_builder: ModelBuilder[QFunction] = DefaultQFunctionBuilder(), + q_solver_builder: SolverBuilder = DefaultSolverBuilder(), + v_function_builder: ModelBuilder[VFunction] = DefaultVFunctionBuilder(), + v_solver_builder: SolverBuilder = DefaultSolverBuilder(), + policy_builder: ModelBuilder[StochasticPolicy] = DefaultPolicyBuilder(), + policy_solver_builder: SolverBuilder = DefaultSolverBuilder(), + ): + super(IQL, self).__init__(env_or_env_info, config=config) + with nn.context_scope(context.get_nnabla_context(self._config.gpu_id)): + self._train_q_functions = self._build_q_functions(q_function_builder) + self._train_q_solvers = { + q.scope_name: q_solver_builder(self._env_info, self._config) for q in self._train_q_functions + } + self._target_q_functions = [q.deepcopy("target_" + q.scope_name) for q in self._train_q_functions] + + self._v_function = v_function_builder( + scope_name="v", env_info=self._env_info, algorithm_config=self._config + ) + self._v_solver = v_solver_builder(self._env_info, self._config) + + self._pi = policy_builder(scope_name="pi", env_info=self._env_info, algorithm_config=self._config) + self._pi_solver = policy_solver_builder(self._env_info, self._config) + + self._evaluation_actor = self._setup_evaluation_actor() + + @eval_api + def compute_eval_action(self, state, *, begin_of_episode=False, extra_info={}): + with nn.context_scope(context.get_nnabla_context(self._config.gpu_id)): + action, _ = self._evaluation_action_selector(state, begin_of_episode=begin_of_episode) + return action + + def _setup_evaluation_actor(self): + return _StochasticPolicyActionSelector(self._env_info, self._pi.shallowcopy(), deterministic=True) + + def _evaluation_action_selector(self, s, *, begin_of_episode=False): + return self._evaluation_actor(s, begin_of_episode=begin_of_episode) + + def _build_q_functions(self, q_function_builder): + q_functions = [] + for i in range(2): + q = q_function_builder(scope_name=f"q{i+1}", env_info=self._env_info, algorithm_config=self._config) + q_functions.append(q) + return q_functions + + def _before_training_start(self, env_or_buffer): + # set context globally to ensure that the training runs on configured gpu + context.set_nnabla_context(self._config.gpu_id) + self._v_function_trainer = self._setup_v_function_training(env_or_buffer) + self._q_function_trainer = self._setup_q_function_training(env_or_buffer) + self._policy_trainer = self._setup_policy_training(env_or_buffer) + + def _setup_policy_training(self, env_or_buffer): + policy_trainer_config = MT.policy_trainers.AWRPolicyTrainerConfig( + beta=self._config.beta, advantage_clip=self._config.advantage_clip + ) + policy_trainer = MT.policy_trainers.AWRPolicyTrainer( + models=self._pi, + solvers={self._pi.scope_name: self._pi_solver}, + q_functions=self._target_q_functions, + v_function=self._v_function, + env_info=self._env_info, + config=policy_trainer_config, + ) + return policy_trainer + + def _setup_q_function_training(self, env_or_buffer): + q_function_trainer_config = MT.q_value_trainers.VTargetedQTrainerConfig( + reduction_method="mean", q_loss_scalar=1.0 + ) + q_function_trainer = MT.q_value_trainers.VTargetedQTrainer( + train_functions=self._train_q_functions, + solvers=self._train_q_solvers, + target_functions=self._v_function, + env_info=self._env_info, + config=q_function_trainer_config, + ) + for q, target_q in zip(self._train_q_functions, self._target_q_functions): + sync_model(q, target_q, 1.0) + return q_function_trainer + + def _setup_v_function_training(self, env_or_buffer): + v_function_trainer_config = MT.v_value_trainers.IQLVFunctionTrainerConfig(expectile=self._config.expectile) + v_function_trainer = MT.v_value_trainers.IQLVFunctionTrainer( + models=self._v_function, + solvers={self._v_function.scope_name: self._v_solver}, + target_functions=self._target_q_functions, + env_info=self._env_info, + config=v_function_trainer_config, + ) + return v_function_trainer + + def _run_online_training_iteration(self, env): + # Not support online training + raise NotImplementedError + + def _run_offline_training_iteration(self, buffer): + self._iql_training(buffer) + + def _iql_training(self, replay_buffer): + experiences, info = replay_buffer.sample(self._config.batch_size) + (s, a, r, non_terminal, s_next, *_) = marshal_experiences(experiences) + batch = TrainingBatch( + batch_size=self._config.batch_size, + s_current=s, + a_current=a, + gamma=self._config.gamma, + reward=r, + non_terminal=non_terminal, + s_next=s_next, + weight=info["weights"], + ) + + self._v_function_trainer_state = self._v_function_trainer.train(batch) + + self._policy_trainer_state = self._policy_trainer.train(batch) + + self._q_function_trainer_state = self._q_function_trainer.train(batch) + for q, target_q in zip(self._train_q_functions, self._target_q_functions): + sync_model(q, target_q, tau=self._config.tau) + td_errors = self._q_function_trainer_state["td_errors"] + replay_buffer.update_priorities(td_errors) + + def _models(self): + models = [self._v_function, *self._train_q_functions, self._pi] + return {model.scope_name: model for model in models} + + def _solvers(self): + solvers = {} + solvers[self._pi.scope_name] = self._pi_solver + solvers[self._v_function.scope_name] = self._v_solver + solvers.update(self._train_q_solvers) + return solvers + + @classmethod + def is_rnn_supported(self): + return False + + @classmethod + def is_supported_env(cls, env_or_env_info): + env_info = ( + EnvironmentInfo.from_env(env_or_env_info) if isinstance(env_or_env_info, gym.Env) else env_or_env_info + ) + return not env_info.is_discrete_action_env() and not env_info.is_tuple_action_env() + + @property + def latest_iteration_state(self): + latest_iteration_state = super(IQL, self).latest_iteration_state + if hasattr(self, "_v_function_trainer_state"): + latest_iteration_state["scalar"].update({"v_loss": float(self._v_function_trainer_state["v_loss"])}) + if hasattr(self, "_q_function_trainer_state"): + latest_iteration_state["scalar"].update({"q_loss": float(self._q_function_trainer_state["q_loss"])}) + latest_iteration_state["histogram"].update( + {"td_errors": self._q_function_trainer_state["td_errors"].flatten()} + ) + if hasattr(self, "_policy_trainer_state"): + latest_iteration_state["scalar"].update({"pi_loss": float(self._policy_trainer_state["pi_loss"])}) + return latest_iteration_state + + @property + def trainers(self): + return { + "v_function": self._v_function_trainer, + "q_function": self._q_function_trainer, + "policy": self._policy_trainer, + } diff --git a/nnabla_rl/environments/dummy.py b/nnabla_rl/environments/dummy.py index f6247b80..4d0f361d 100644 --- a/nnabla_rl/environments/dummy.py +++ b/nnabla_rl/environments/dummy.py @@ -221,6 +221,19 @@ def get_dataset(self): dataset["timeouts"] = np.zeros((datasize, 1)) return dataset + def get_qlearning_dataset(self): + dataset = self.get_dataset() + + N = dataset["rewards"].shape[0] + + return { + "observations": dataset["observations"][: N - 1].astype(np.float32), + "actions": dataset["actions"][: N - 1].astype(np.float32), + "next_observations": dataset["observations"][1:].astype(np.float32), + "rewards": dataset["rewards"][: N - 1].astype(np.float32), + "terminals": dataset["terminals"][: N - 1].astype(bool), + } + class DummyDMControlEnv(DummyMujocoEnv): pass diff --git a/nnabla_rl/functions.py b/nnabla_rl/functions.py index 08c8054e..f0248b31 100644 --- a/nnabla_rl/functions.py +++ b/nnabla_rl/functions.py @@ -691,3 +691,23 @@ def compute_std(var: nn.Variable, epsilon: float, mode_for_floating_point_error: else: raise ValueError return std + + +def expectile_regression(x: nn.Variable, tau: float) -> nn.Variable: + """Expectile regression function. + + math:: + L_2^\\tau(u) = |\\tau - 1(x < 0)|x^2 + + Args: + x (nn.Variable): the input variable. + tau (float): the expectile level. It should be between 0 and 1. + + Returns: + nn.Variable: the expectile regression loss. + """ + ones_var = nn.Variable.from_numpy_array(np.ones(x.shape)) + weight = NF.where( + NF.greater_scalar(x.get_unlinked_variable(need_grad=False), 0.0), ones_var * tau, ones_var * (1 - tau) + ) + return weight * NF.pow_scalar(x, 2) diff --git a/nnabla_rl/model_trainers/policy/__init__.py b/nnabla_rl/model_trainers/policy/__init__.py index 09a79070..510b8b7d 100644 --- a/nnabla_rl/model_trainers/policy/__init__.py +++ b/nnabla_rl/model_trainers/policy/__init__.py @@ -14,6 +14,7 @@ from nnabla_rl.model_trainers.policy.a2c_policy_trainer import A2CPolicyTrainer, A2CPolicyTrainerConfig # noqa from nnabla_rl.model_trainers.policy.amp_policy_trainer import AMPPolicyTrainer, AMPPolicyTrainerConfig # noqa +from nnabla_rl.model_trainers.policy.awr_policy_trainer import AWRPolicyTrainer, AWRPolicyTrainerConfig # noqa from nnabla_rl.model_trainers.policy.bear_policy_trainer import BEARPolicyTrainer, BEARPolicyTrainerConfig # noqa from nnabla_rl.model_trainers.policy.demme_policy_trainer import DEMMEPolicyTrainer, DEMMEPolicyTrainerConfig # noqa from nnabla_rl.model_trainers.policy.dpg_policy_trainer import DPGPolicyTrainer, DPGPolicyTrainerConfig # noqa diff --git a/nnabla_rl/model_trainers/policy/awr_policy_trainer.py b/nnabla_rl/model_trainers/policy/awr_policy_trainer.py new file mode 100644 index 00000000..c1dddf6d --- /dev/null +++ b/nnabla_rl/model_trainers/policy/awr_policy_trainer.py @@ -0,0 +1,133 @@ +# Copyright 2024 Sony Group Corporation. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from dataclasses import dataclass +from typing import Dict, Optional, Sequence, Union + +import numpy as np + +import nnabla as nn +import nnabla.functions as NF +import nnabla_rl.functions as RNF +from nnabla_rl.environments.environment_info import EnvironmentInfo +from nnabla_rl.model_trainers.model_trainer import ( + LossIntegration, + ModelTrainer, + TrainerConfig, + TrainingBatch, + TrainingVariables, +) +from nnabla_rl.models import Model, QFunction, StochasticPolicy, VFunction +from nnabla_rl.utils.data import convert_to_list_if_not_list, set_data_to_variable +from nnabla_rl.utils.misc import create_variable + + +@dataclass +class AWRPolicyTrainerConfig(TrainerConfig): + """List of configuration for AWRPolicyTrainer. + + Args: + beta (float): the temperature parameter of advantage weight. Defaults to 1.0 + advantage_clip (Optional[float]): the value for clipping advantage weight. Defaults to 100.0 + """ + + beta: float = 1.0 + advantage_clip: Optional[float] = 100.0 + + +class AWRPolicyTrainer(ModelTrainer): + """Policy Trainer with Advantage-Weighted Regression (AWR)""" + + _pi_loss: nn.Variable + _config: AWRPolicyTrainerConfig + + def __init__( + self, + models: Union[StochasticPolicy, Sequence[StochasticPolicy]], + solvers: Dict[str, nn.solver.Solver], + q_functions: Union[QFunction, Sequence[QFunction]], + v_function: VFunction, + env_info: EnvironmentInfo, + config: AWRPolicyTrainerConfig = AWRPolicyTrainerConfig(), + ): + self._q_functions = convert_to_list_if_not_list(q_functions) + self._v_function = v_function + super(AWRPolicyTrainer, self).__init__(models, solvers, env_info, config) + + def _build_training_graph(self, models: Sequence[Model], training_variables: TrainingVariables): + self._pi_loss = 0 + ignore_intermediate_loss = self._config.loss_integration is LossIntegration.LAST_TIMESTEP_ONLY + for step_index, variables in enumerate(training_variables): + is_burn_in_steps = step_index < self._config.burn_in_steps + is_intermediate_steps = step_index < self._config.burn_in_steps + self._config.unroll_steps - 1 + ignore_loss = is_burn_in_steps or (is_intermediate_steps and ignore_intermediate_loss) + self._pi_loss += self._build_one_step_graph(models, variables, ignore_loss=ignore_loss) + + def _build_one_step_graph(self, models: Sequence[Model], training_variables: TrainingVariables, ignore_loss: bool): + advantage_weight = self._compute_advantage_weight(training_variables) + advantage_weight.need_grad = False + one_step_pi_loss = 0.0 + for policy in models: + assert isinstance(policy, StochasticPolicy) + + # Actor optimization graph + policy_distribution = policy.pi(training_variables.s_current) + log_pi = policy_distribution.log_prob(training_variables.a_current) + one_step_pi_loss += 0.0 if ignore_loss else NF.mean(advantage_weight * log_pi) * (-1) + return one_step_pi_loss + + def _compute_advantage_weight(self, training_variables: TrainingVariables): + q_values = [] + for q_function in self._q_functions: + q_values.append(q_function.q(training_variables.s_current, training_variables.a_current)) + min_q = RNF.minimum_n(q_values) + v = self._v_function.v(training_variables.s_current) + advantage = min_q - v + advantage_weight = NF.exp(self._config.beta * advantage) + if self._config.advantage_clip is not None: + advantage_weight = NF.minimum_scalar(advantage_weight, val=self._config.advantage_clip) + return advantage_weight + + def _update_model( + self, + models: Sequence[Model], + solvers: Dict[str, nn.solver.Solver], + batch: TrainingBatch, + training_variables: TrainingVariables, + **kwargs, + ) -> Dict[str, np.ndarray]: + for t, b in zip(training_variables, batch): + set_data_to_variable(t.s_current, b.s_current) + set_data_to_variable(t.a_current, b.a_current) + + # update model + for solver in solvers.values(): + solver.zero_grad() + self._pi_loss.forward() + self._pi_loss.backward() + for solver in solvers.values(): + solver.update() + trainer_state = {} + trainer_state["pi_loss"] = self._pi_loss.d.copy() + return trainer_state + + def _setup_training_variables(self, batch_size): + # Training input variables + s_current_var = create_variable(batch_size, self._env_info.state_shape) + a_current_var = create_variable(batch_size, self._env_info.action_shape) + return TrainingVariables(batch_size, s_current_var, a_current_var) + + @property + def loss_variables(self) -> Dict[str, nn.Variable]: + return {"pi_loss": self._pi_loss} diff --git a/nnabla_rl/model_trainers/v_value/__init__.py b/nnabla_rl/model_trainers/v_value/__init__.py index f3defa84..a55c259a 100644 --- a/nnabla_rl/model_trainers/v_value/__init__.py +++ b/nnabla_rl/model_trainers/v_value/__init__.py @@ -17,3 +17,7 @@ from nnabla_rl.model_trainers.v_value.mme_v_trainer import MMEVTrainer, MMEVTrainerConfig # noqa from nnabla_rl.model_trainers.v_value.monte_carlo_v_trainer import MonteCarloVTrainer, MonteCarloVTrainerConfig # noqa from nnabla_rl.model_trainers.v_value.soft_v_trainer import SoftVTrainer, SoftVTrainerConfig # noqa +from nnabla_rl.model_trainers.v_value.iql_v_function_trainer import ( # noqa + IQLVFunctionTrainer, + IQLVFunctionTrainerConfig, +) diff --git a/nnabla_rl/model_trainers/v_value/iql_v_function_trainer.py b/nnabla_rl/model_trainers/v_value/iql_v_function_trainer.py new file mode 100644 index 00000000..f2b514cf --- /dev/null +++ b/nnabla_rl/model_trainers/v_value/iql_v_function_trainer.py @@ -0,0 +1,82 @@ +# Copyright 2024 Sony Group Corporation. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from dataclasses import dataclass +from typing import Dict, Sequence, Union + +import numpy as np + +import nnabla as nn +import nnabla_rl.functions as RNF +from nnabla_rl.environments.environment_info import EnvironmentInfo +from nnabla_rl.model_trainers.model_trainer import TrainingBatch, TrainingVariables +from nnabla_rl.model_trainers.v_value.v_function_trainer import VFunctionTrainer, VFunctionTrainerConfig +from nnabla_rl.models import Model, QFunction, VFunction +from nnabla_rl.utils.data import convert_to_list_if_not_list, set_data_to_variable +from nnabla_rl.utils.misc import create_variable + + +@dataclass +class IQLVFunctionTrainerConfig(VFunctionTrainerConfig): + expectile: float = 0.7 + + +class IQLVFunctionTrainer(VFunctionTrainer): + _config: IQLVFunctionTrainerConfig + + def __init__( + self, + models: Union[VFunction, Sequence[VFunction]], + solvers: Dict[str, nn.solver.Solver], + target_functions: Union[QFunction, Sequence[QFunction]], + env_info: EnvironmentInfo, + config: IQLVFunctionTrainerConfig = IQLVFunctionTrainerConfig(), + ): + self._target_functions = convert_to_list_if_not_list(target_functions) + super().__init__(models, solvers, env_info, config) + + def _update_model( + self, + models: Sequence[Model], + solvers: Dict[str, nn.solver.Solver], + batch: TrainingBatch, + training_variables: TrainingVariables, + **kwargs, + ) -> Dict[str, np.ndarray]: + for t, b in zip(training_variables, batch): + set_data_to_variable(t.a_current, b.a_current) + + return super()._update_model(models, solvers, batch, training_variables, **kwargs) + + def _compute_target(self, training_variables: TrainingVariables, **kwargs): + s_current = training_variables.s_current + a_current = training_variables.a_current + q_values = [] + for q_function in self._target_functions: + q_values.append(q_function.q(s_current, a_current)) + target_q = RNF.minimum_n(q_values) + return target_q + + def _compute_loss( + self, model: VFunction, target_value: nn.Variable, training_variables: TrainingVariables + ) -> nn.Variable: + v_value = model.v(training_variables.s_current) + td_error = target_value - v_value + return RNF.expectile_regression(td_error, self._config.expectile) + + def _setup_training_variables(self, batch_size: int) -> TrainingVariables: + training_variables = super()._setup_training_variables(batch_size) + training_variables.a_current = create_variable(batch_size, self._env_info.action_shape) + + return training_variables diff --git a/nnabla_rl/models/__init__.py b/nnabla_rl/models/__init__.py index a0978129..e693e10b 100644 --- a/nnabla_rl/models/__init__.py +++ b/nnabla_rl/models/__init__.py @@ -54,6 +54,7 @@ SACDQFunction, HERQFunction, XQLQFunction, + IQLQFunction, ) from nnabla_rl.models.mujoco.decision_transformers import MujocoDecisionTransformer # noqa from nnabla_rl.models.mujoco.distributional_functions import QRSACQuantileDistributionFunction # noqa @@ -61,6 +62,7 @@ from nnabla_rl.models.mujoco.v_functions import PPOVFunction as PPOMujocoVFunction # noqa from nnabla_rl.models.mujoco.v_functions import GAILVFunction # noqa from nnabla_rl.models.mujoco.v_functions import XQLVFunction # noqa +from nnabla_rl.models.mujoco.v_functions import IQLVFunction # noqa from nnabla_rl.models.mujoco.encoders import UnsquashedVariationalAutoEncoder, BCQVariationalAutoEncoder # noqa from nnabla_rl.models.mujoco.perturbators import BCQPerturbator # noqa from nnabla_rl.models.mujoco.policies import ICML2015TRPOPolicy as ICML2015TRPOMujocoPolicy # noqa @@ -69,6 +71,7 @@ from nnabla_rl.models.mujoco.policies import HERPolicy # noqa from nnabla_rl.models.mujoco.policies import ATRPOPolicy # noqa from nnabla_rl.models.mujoco.policies import XQLPolicy # noqa +from nnabla_rl.models.mujoco.policies import IQLPolicy # noqa from nnabla_rl.models.mujoco.reward_functions import GAILDiscriminator # noqa from nnabla_rl.models.atari.decision_transformers import AtariDecisionTransformer # noqa from nnabla_rl.models.atari.policies import PPOPolicy as PPOAtariPolicy # noqa diff --git a/nnabla_rl/models/mujoco/policies.py b/nnabla_rl/models/mujoco/policies.py index edda6f4c..ee4e5adf 100644 --- a/nnabla_rl/models/mujoco/policies.py +++ b/nnabla_rl/models/mujoco/policies.py @@ -385,3 +385,80 @@ def pi(self, s: nn.Variable) -> Distribution: ln_sigma = NF.clip_by_value(ln_sigma, min=self._min_log_sigma, max=self._max_log_sigma) ln_var = ln_sigma * 2.0 return D.Gaussian(mean=mean, ln_var=ln_var) + + +class IQLPolicy(StochasticPolicy): + """Actor model proposed by Ilya Kostrikov in IQL paper for mujoco + environment. + + See: https://arxiv.org/pdf/2110.06169 + """ + + # type declarations to type check with mypy + # NOTE: declared variables are instance variable and NOT class variable, unless it is marked with ClassVar + # See https://mypy.readthedocs.io/en/stable/class_basics.html for details + _action_dim: int + _clip_log_sigma: bool + _min_log_sigma: float + _max_log_sigma: float + + def __init__( + self, + scope_name: str, + action_dim: int, + clip_log_sigma: bool = True, + min_log_sigma: float = -5.0, + max_log_sigma: float = 2.0, + log_sigma_scale: float = 1.0e-3, + state_dependent_sigma: bool = False, + tanh_squash_distribution: bool = False, + temperature: float = 1.0, + ): + super(IQLPolicy, self).__init__(scope_name) + self._action_dim = action_dim + self._clip_log_sigma = clip_log_sigma + self._min_log_sigma = min_log_sigma + self._max_log_sigma = max_log_sigma + self._log_sigma_scale = log_sigma_scale + self._state_dependent_sigma = state_dependent_sigma + self._tanh_squash_distribution = tanh_squash_distribution + self._log_temperature = np.log(temperature) + + def pi(self, s: nn.Variable) -> Distribution: + with nn.parameter_scope(self.scope_name): + h = NPF.affine(s, w_init=NI.OrthogonalInitializer(gain=np.sqrt(2.0)), n_outmaps=256, name="linear1") + h = NF.relu(x=h) + h = NPF.affine(h, w_init=NI.OrthogonalInitializer(gain=np.sqrt(2.0)), n_outmaps=256, name="linear2") + h = NF.relu(x=h) + + mean = NPF.affine( + h, + w_init=NI.OrthogonalInitializer(gain=np.sqrt(2.0)), + n_outmaps=self._action_dim, + name="linear_mean", + ) + + if self._state_dependent_sigma: + ln_sigma = NPF.affine( + h, + w_init=NI.OrthogonalInitializer(gain=self._log_sigma_scale), + n_outmaps=self._action_dim, + name="linear_sigma", + ) + else: + ln_sigma = get_parameter_or_create( + "ln_sigma", shape=(1, self._action_dim), initializer=NI.ConstantInitializer(0.0) + ) + ln_sigma = NF.broadcast(ln_sigma, (s.shape[0], self._action_dim)) + if self._clip_log_sigma: + ln_sigma = NF.clip_by_value(ln_sigma, min=self._min_log_sigma, max=self._max_log_sigma) + ln_sigma += self._log_temperature + assert mean.shape == ln_sigma.shape + assert mean.shape == (s.shape[0], self._action_dim) + ln_var = ln_sigma * 2.0 + + if self._tanh_squash_distribution: + return D.SquashedGaussian(mean=mean, ln_var=ln_var) + else: + mean = NF.tanh(mean) + return D.Gaussian(mean=mean, ln_var=ln_var) diff --git a/nnabla_rl/models/mujoco/q_functions.py b/nnabla_rl/models/mujoco/q_functions.py index bed1b8b5..5f738aaa 100644 --- a/nnabla_rl/models/mujoco/q_functions.py +++ b/nnabla_rl/models/mujoco/q_functions.py @@ -194,3 +194,35 @@ def max_q(self, s: nn.Variable) -> nn.Variable: assert self._optimal_policy, "Optimal policy is not set!" optimal_action = self._optimal_policy.pi(s) return self.q(s, optimal_action) + + +class IQLQFunction(ContinuousQFunction): + """QFunciton model proposed by Ilya Kostrikov in IQL paper for mujoco + environment. + + See: https://arxiv.org/pdf/2110.06169 + """ + + # type declarations to type check with mypy + # NOTE: declared variables are instance variable and NOT class variable, unless it is marked with ClassVar + # See https://mypy.readthedocs.io/en/stable/class_basics.html for details + _optimal_policy: Optional[DeterministicPolicy] + + def __init__(self, scope_name, optimal_policy: Optional[DeterministicPolicy] = None): + super(IQLQFunction, self).__init__(scope_name) + self._optimal_policy = optimal_policy + + def q(self, s: nn.Variable, a: nn.Variable) -> nn.Variable: + with nn.parameter_scope(self.scope_name): + h = NF.concatenate(s, a) + h = NPF.affine(h, w_init=NI.OrthogonalInitializer(gain=np.sqrt(2.0)), n_outmaps=256, name="linear1") + h = NF.relu(x=h) + h = NPF.affine(h, w_init=NI.OrthogonalInitializer(gain=np.sqrt(2.0)), n_outmaps=256, name="linear2") + h = NF.relu(x=h) + h = NPF.affine(h, w_init=NI.OrthogonalInitializer(gain=np.sqrt(2.0)), n_outmaps=1, name="linear3") + return h + + def max_q(self, s: nn.Variable) -> nn.Variable: + assert self._optimal_policy, "Optimal policy is not set!" + optimal_action = self._optimal_policy.pi(s) + return self.q(s, optimal_action) diff --git a/nnabla_rl/models/mujoco/v_functions.py b/nnabla_rl/models/mujoco/v_functions.py index 8143a607..2c3414ca 100644 --- a/nnabla_rl/models/mujoco/v_functions.py +++ b/nnabla_rl/models/mujoco/v_functions.py @@ -155,3 +155,20 @@ def v(self, s: nn.Variable) -> nn.Variable: with nn.parameter_scope("linear3"): h = NPF.affine(h, n_outmaps=1, w_init=w_init) return h + + +class IQLVFunction(VFunction): + """VFunciton model proposed by Ilya Kostrikov in IQL paper for mujoco + environment. + + See: https://arxiv.org/pdf/2110.06169 + """ + + def v(self, s: nn.Variable) -> nn.Variable: + with nn.parameter_scope(self.scope_name): + h = NPF.affine(s, w_init=NI.OrthogonalInitializer(gain=np.sqrt(2.0)), n_outmaps=256, name="linear1") + h = NF.relu(x=h) + h = NPF.affine(h, w_init=NI.OrthogonalInitializer(gain=np.sqrt(2.0)), n_outmaps=256, name="linear2") + h = NF.relu(x=h) + h = NPF.affine(h, w_init=NI.OrthogonalInitializer(gain=np.sqrt(2.0)), n_outmaps=1, name="linear3") + return h diff --git a/reproductions/algorithms/mujoco/iql/.gitignore b/reproductions/algorithms/mujoco/iql/.gitignore new file mode 100644 index 00000000..e2b71361 --- /dev/null +++ b/reproductions/algorithms/mujoco/iql/.gitignore @@ -0,0 +1,2 @@ +*v2_results*/** +**/best*/** diff --git a/reproductions/algorithms/mujoco/iql/README.md b/reproductions/algorithms/mujoco/iql/README.md new file mode 100644 index 00000000..31ae7ec0 --- /dev/null +++ b/reproductions/algorithms/mujoco/iql/README.md @@ -0,0 +1,91 @@ +# Implicit Q-learning (IQL) reproduction (offline) + +This reproduction script trains the Implicit Q-learning (IQL) algorithm proposed by proposed by I. Kostrikov, et al. +in the paper: [OFFLINE REINFORCEMENT LEARNING WITH IMPLICIT Q-LEARNING](https://arxiv.org/abs/2110.06169) + +## Prerequisite + +Install d4rl + +``` +pip install git+https://github.com/rail-berkeley/d4rl@master#egg=d4rl +``` + +## How to run the reproduction script + +To run the reproduction script do + +```sh +python iql_reproduction.py +``` + +If you omit options, the script will run on halfcheetah-medium-expert-v2 environment with gpu id 0. + +You can change the training environment and gpu as follows + +```sh +python iql_reproduction.py --env --gpu +``` + +```sh +# Example: run the script on cpu and train the agent with walker2d-medium-v2: +$ python iql_reproduction.py --env walker2d-medium-v2 --gpu -1 +``` + +To check all available options type: + +```sh +python iql_reproduction.py --help +``` + +To check the trained result do + +```sh +python iql_reproduction.py --showcase --snapshot-dir --render +``` + +```sh +# Example: +$ python iql_reproduction.py --showcase --snapshot-dir ./halfcheetah-medium-expert-v2/seed-1/iteration-1/ --render +``` + +## Evaluation procedure + +We tested our implementation with 9 MuJoCo tasks also used in the [original paper](https://arxiv.org/abs/2110.06169) using 3 different initial random seeds: + +We evaluated the algorithm by running 10 trials in every 5000 iterations. + +## Result + +Mean of expert normalized scores across 3 seeds are as follows. + +|Env|nnabla-rl normalized score [%]|Reported normalized score [%] (IQL)| +|:---|:---:|:---:| +|halfcheetah-medium-v2|47.1|47.4| +|hopper-medium-v2|74.0|66.3| +|walker2d-medium-v2|83.0|78.3| +|halfcheetah-medium-replay-v2|44.5|44.2| +|hopper-medium-replay-v2|65.0|94.7| +|walker2d-medium-replay-v2|83.2|73.9| +|halfcheetah-medium-expert-v2|92.9|86.7| +|hopper-medium-expert-v2|97.4|91.5| +|walker2d-medium-expert-v2|110.4|109.6| + +## Learning curves + +### halfcheetah + +|medium|medium-replay|medium-expert| +|:---:|:---:|:---:| +|![halfcheetah-medium-v2 Result](reproduction_results/halfcheetah-medium-v2_results/result.png)|![halfcheetah-medium-replay-v2 Result](reproduction_results/halfcheetah-medium-replay-v2_results/result.png)|![halfcheetah-medium-expert-v2 Result](reproduction_results/halfcheetah-medium-expert-v2_results/result.png)| + +### hopper + +|medium|medium-replay|medium-expert| +|:---:|:---:|:---:| +|![hopper-medium-v2 Result](reproduction_results/hopper-medium-v2_results/result.png)|![hopper-medium-replay-v2 Result](reproduction_results/hopper-medium-replay-v2_results/result.png)|![hopper-medium-expert-v2 Result](reproduction_results/hopper-medium-expert-v2_results/result.png)| +### walker2d + +|medium|medium-replay|medium-expert| +|:---:|:---:|:---:| +|![walker2d-medium-v2 Result](reproduction_results/walker2d-medium-v2_results/result.png)|![walker2d-medium-replay-v2 Result](reproduction_results/walker2d-medium-replay-v2_results/result.png)|![walker2d-medium-expert-v2 Result](reproduction_results/walker2d-medium-expert-v2_results/result.png)| \ No newline at end of file diff --git a/reproductions/algorithms/mujoco/iql/compute_expert_normalized_score.py b/reproductions/algorithms/mujoco/iql/compute_expert_normalized_score.py new file mode 100755 index 00000000..5111dc47 --- /dev/null +++ b/reproductions/algorithms/mujoco/iql/compute_expert_normalized_score.py @@ -0,0 +1,131 @@ +# Copyright 2024 Sony Group Corporation. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import argparse +import pathlib +import shutil +from csv import reader + +import d4rl +import numpy as np + +import nnabla_rl.writers as W + + +def load_histogram_data(path, dtype=float): + histogram = [] + with open(path) as f: + tsv_reader = reader(f, delimiter="\t") + for i, row in enumerate(tsv_reader): + if i == 0: + continue + histogram.append([row[0], np.asarray(row[1:])]) + return histogram + + +def rmdir_if_exists(path): + if path.exists(): + shutil.rmtree(path) + + +def list_all_directory_with(rootdir, filename): + directories = [] + for f in rootdir.iterdir(): + if f.is_file(): + if f.name in filename: + directories.append(f.parent) + if f.is_dir(): + directories.extend(list_all_directory_with(f, filename)) + return directories + + +def extract_iteration_num_and_returns(histogram_data): + iteration_nums = [] + returns = [] + for i in range(len(histogram_data)): + data_row = histogram_data[i] + if "returns" in data_row[0]: + iteration_nums.append(int(data_row[0].split(" ")[0])) + scores = data_row[1][0:].astype(float) + returns.append(scores) + + return iteration_nums, returns + + +def create_expert_normalized_score_file(histograms, file_outdir, d4rl_env_name): + iteration_nums = None + returns_list = None + for histogram in histograms: + data = load_histogram_data(histogram, dtype=str) + iteration_nums, returns = extract_iteration_num_and_returns(data) + if returns_list is None: + returns_list = returns + else: + for i, r in enumerate(returns): + returns_list[i] = np.concatenate([returns_list[i], r]) + + file_prefix = "expert_normalized_score.tsv" + writer = W.FileWriter(file_outdir, file_prefix=file_prefix) + for i, r in zip(iteration_nums, returns_list): + normalized_r = d4rl.get_normalized_score(d4rl_env_name, r) + mean = np.mean(normalized_r) * 100 + std_dev = np.std(normalized_r) * 100 + + scalar_results = {} + scalar_results["mean"] = mean + scalar_results["std_dev"] = std_dev + + writer.write_scalar(i, scalar_results) + + +def compile_results(args): + rootdir = pathlib.Path.cwd() + + histograms = {} + histogram_directories = list_all_directory_with(rootdir, args.eval_histogram_filename) + print(f"files: {histogram_directories}") + for directory in histogram_directories: + if args.resultdir not in str(directory): + continue + relative_dir = directory.relative_to(rootdir) + env_name = str(relative_dir).split("/")[1] + histogram_file = directory / args.eval_histogram_filename + print(f"found histogram file of env: {env_name} at: {histogram_file}") + if histogram_file.exists(): + if env_name in histograms.keys(): + histograms[env_name].append(histogram_file) + else: + histograms[env_name] = [histogram_file] + + for env_name, histograms in histograms.items(): + file_outdir = pathlib.Path(args.outdir) / pathlib.Path(env_name) + d4rl_env_name = env_name.replace("_results", "") + create_expert_normalized_score_file(histograms, file_outdir, d4rl_env_name) + + +if __name__ == "__main__": + parser = argparse.ArgumentParser() + + parser.add_argument("--outdir", type=str, required=True, help="output directory") + parser.add_argument("--resultdir", type=str, required=True, help="result directory") + parser.add_argument( + "--eval-histogram-filename", + type=str, + default="evaluation_result_histogram.tsv", + help="eval result(histogram) filename", + ) + + args = parser.parse_args() + + compile_results(args) diff --git a/reproductions/algorithms/mujoco/iql/iql_reproduction.py b/reproductions/algorithms/mujoco/iql/iql_reproduction.py new file mode 100644 index 00000000..b7b408ea --- /dev/null +++ b/reproductions/algorithms/mujoco/iql/iql_reproduction.py @@ -0,0 +1,191 @@ +# Copyright 2024 Sony Group Corporation. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import argparse +import os + +import numpy as np +from tqdm import tqdm + +import nnabla.solvers as NS +import nnabla_rl.algorithms as A +import nnabla_rl.hooks as H +import nnabla_rl.writers as W +from nnabla.utils.learning_rate_scheduler import CosineScheduler +from nnabla_rl.builders import SolverBuilder +from nnabla_rl.environments.dummy import DummyMujocoEnv +from nnabla_rl.environments.environment_info import EnvironmentInfo +from nnabla_rl.replay_buffer import ReplayBuffer +from nnabla_rl.utils import serializers +from nnabla_rl.utils.evaluator import EpisodicEvaluator +from nnabla_rl.utils.reproductions import build_mujoco_env, d4rl_dataset_to_experiences, set_global_seed +from nnabla_rl.utils.solver_wrappers import AutoLearningRateScheduler + +try: + # import at the end. d4rl overrides logger unexpectedly + import d4rl # noqa +except ModuleNotFoundError: + # Ignore if d4rl is not installed + pass + + +class CosineDecayPolicySolverBuilder(SolverBuilder): + def __init__(self, max_iterations): + super().__init__() + self._max_iterations = max_iterations + + def build_solver(self, env_info, algorithm_config, **kwargs): + scheduler = CosineScheduler(algorithm_config.learning_rate, self._max_iterations) + solver = NS.Adam(alpha=algorithm_config.learning_rate) + solver = AutoLearningRateScheduler(solver, scheduler) + return solver + + +def build_env_and_dataset(env_name, seed=None): + d4rl_env = build_mujoco_env(env_name, seed=seed) + if env_name == "FakeMujocoNNablaRL-v1": + # Dummy environment + d4rl_dataset = d4rl_env.get_qlearning_dataset() + else: + d4rl_dataset = d4rl.qlearning_dataset(d4rl_env) + d4rl_dataset = clip_actions_in_dataset(d4rl_dataset) + d4rl_dataset = normalize_dataset_score(d4rl_dataset) + return d4rl_env, d4rl_dataset + + +def clip_actions_in_dataset(dataset, eps: float = 1e-5): + lim = 1.0 - eps + dataset["actions"] = np.clip(dataset["actions"], -lim, lim) + return dataset + + +def normalize_dataset_score(dataset): + def dataset_to_trajectories(dataset): + states = dataset["observations"] + actions = dataset["actions"] + rewards = dataset["rewards"] + terminals = dataset["terminals"] + next_states = dataset["next_observations"] + + def same_observation(obs1, obs2): + return np.linalg.norm(obs1 - obs2) <= 1e-6 + + trajectories = [] + trajectory = [] + for i in tqdm(range(len(states))): + trajectory.append((states[i], actions[i], rewards[i], terminals[i], next_states[i])) + if i == len(states) - 1: + continue + if terminals[i] == 1.0 or (not same_observation(states[i + 1], next_states[i])): + trajectories.append(trajectory) + trajectory = [] + if len(trajectory) != 0: + trajectories.append(trajectory) + assert len(trajectories) > 1 + return trajectories + + def max_min_returns(trajectories): + episode_returns = [] + for trajectory in trajectories: + total_return = 0 + for _, _, r, _, _ in trajectory: + total_return += r + episode_returns.append(total_return) + episode_returns.sort() + return episode_returns[-1], episode_returns[0] + + trajectories = dataset_to_trajectories(dataset) + max_return, min_return = max_min_returns(trajectories) + print(f"len trajectories: {len(trajectories)}") + print(f"max return: {max_return}, min return: {min_return}") + + dataset["rewards"] /= max_return - min_return + dataset["rewards"] *= 1000.0 + + return dataset + + +def run_training(args): + outdir = f"{args.env}_results/seed-{args.seed}" + if args.save_dir: + outdir = os.path.join(os.path.abspath(args.save_dir), outdir) + + eval_env, dataset = build_env_and_dataset(args.env, seed=args.seed) + dataset_size = dataset["observations"].shape[0] + experiences = d4rl_dataset_to_experiences(dataset, size=dataset_size) + buffer = ReplayBuffer(capacity=dataset_size) + buffer.append_all(experiences) + set_global_seed(args.seed) + + evaluator = EpisodicEvaluator(run_per_evaluation=10) + evaluation_hook = H.EvaluationHook( + eval_env, + evaluator, + timing=args.eval_timing, + writer=W.FileWriter(outdir=outdir, file_prefix="evaluation_result"), + ) + + save_snapshot_hook = H.SaveSnapshotHook(outdir, timing=args.save_timing) + iteration_num_hook = H.IterationNumHook(timing=100) + iteration_state_hook = H.IterationStateHook(timing=100) + + config = A.IQLConfig(gpu_id=args.gpu) + env_info = EnvironmentInfo.from_env(eval_env) + iql = A.IQL(env_info, config=config, policy_solver_builder=CosineDecayPolicySolverBuilder(args.total_iterations)) + + hooks = [save_snapshot_hook, evaluation_hook, iteration_num_hook, iteration_state_hook] + iql.set_hooks(hooks) + + iql.train_offline(buffer, total_iterations=args.total_iterations) + + eval_env.close() + + +def run_showcase(args): + if args.snapshot_dir is None: + raise ValueError("Please specify the snapshot dir for showcasing") + eval_env = build_mujoco_env(args.env, test=True, seed=args.seed + 200, render=args.render) + config = A.BEARConfig(gpu_id=args.gpu) + iql = serializers.load_snapshot(args.snapshot_dir, eval_env, algorithm_kwargs={"config": config}) + if not isinstance(iql, A.IQL): + raise ValueError("Loaded snapshot is not trained with IQL!") + + evaluator = EpisodicEvaluator(args.showcase_runs) + evaluator(iql, eval_env) + + +def main(): + parser = argparse.ArgumentParser() + parser.add_argument("--env", type=str, default="halfcheetah-medium-expert-v2") + parser.add_argument("--gpu", type=int, default=0) + parser.add_argument("--seed", type=int, default=0) + parser.add_argument("--render", action="store_true") + parser.add_argument("--showcase", action="store_true") + parser.add_argument("--snapshot-dir", type=str, default=None) + parser.add_argument("--save-dir", type=str, default=None) + parser.add_argument("--total_iterations", type=int, default=1000000) + parser.add_argument("--save_timing", type=int, default=5000) + parser.add_argument("--eval_timing", type=int, default=5000) + parser.add_argument("--showcase_runs", type=int, default=10) + + args = parser.parse_args() + + if args.showcase: + run_showcase(args) + else: + run_training(args) + + +if __name__ == "__main__": + main() diff --git a/reproductions/algorithms/mujoco/iql/reproduction_results/halfcheetah-medium-expert-v2_results/evaluation_result_average_scalar.tsv b/reproductions/algorithms/mujoco/iql/reproduction_results/halfcheetah-medium-expert-v2_results/evaluation_result_average_scalar.tsv new file mode 100644 index 00000000..90dac60d --- /dev/null +++ b/reproductions/algorithms/mujoco/iql/reproduction_results/halfcheetah-medium-expert-v2_results/evaluation_result_average_scalar.tsv @@ -0,0 +1,201 @@ +iteration mean std_dev min max median +5000 1266.666 1355.399 -141.169 4400.218 732.209 +10000 1196.138 1593.788 -741.588 4892.609 719.542 +15000 2352.707 1372.822 -206.559 4847.543 2389.908 +20000 2650.388 1069.747 -309.990 4422.637 2711.249 +25000 2371.250 1064.325 -3.629 4083.050 2721.399 +30000 2666.967 1286.629 130.879 4750.373 2901.377 +35000 3166.319 1081.198 481.464 4872.898 3509.255 +40000 3053.740 1400.095 191.230 4910.179 3349.458 +45000 3152.421 1546.938 310.313 5310.430 3492.064 +50000 3397.273 1662.556 -488.405 5306.954 3982.990 +55000 4078.261 1234.827 875.401 5503.941 4559.578 +60000 3749.037 1496.393 478.077 5631.643 4504.217 +65000 4373.782 1162.236 1069.979 5525.547 4835.244 +70000 5161.543 803.000 2293.922 6466.076 5273.877 +75000 4350.992 1333.438 1622.995 6507.784 4547.760 +80000 5150.057 941.134 2219.358 6577.954 5298.891 +85000 4466.089 1550.098 510.560 6674.048 5010.778 +90000 4808.680 1258.759 323.462 6351.800 5135.706 +95000 5126.995 1540.319 744.281 6788.427 5816.183 +100000 5502.387 1451.748 2071.598 7620.754 5903.535 +105000 4511.703 2051.965 289.939 7586.142 4897.587 +110000 5162.327 1783.545 1369.356 7459.065 5900.293 +115000 5210.266 1622.145 1920.170 7494.386 5751.836 +120000 5916.794 1174.032 795.737 7394.356 6149.512 +125000 5756.378 1485.032 1779.918 8279.716 6016.178 +130000 5505.677 1565.970 1734.188 7511.701 5897.599 +135000 5852.169 1663.088 1889.806 8039.149 6380.261 +140000 5968.341 1396.848 1793.749 8151.315 6031.788 +145000 5425.443 1497.490 1573.692 7611.039 5910.899 +150000 5118.003 2392.410 115.024 7979.274 6087.448 +155000 5268.426 2315.694 518.711 8987.090 5516.608 +160000 6654.137 2053.869 1539.337 10133.473 7026.781 +165000 5046.936 2101.181 836.044 8194.596 5898.332 +170000 5690.684 2037.836 534.050 7814.272 6735.412 +175000 6235.226 1517.289 2351.213 8592.832 6344.168 +180000 6615.969 2147.968 1682.707 9706.067 7203.040 +185000 6497.997 2638.154 458.342 10064.346 7632.492 +190000 5735.202 2549.434 1016.852 9483.488 6567.099 +195000 7124.796 2330.995 740.508 9927.459 7515.655 +200000 6572.282 2307.872 2318.459 10132.596 6613.796 +205000 7182.438 2034.795 2346.269 10263.840 7747.048 +210000 6283.549 2065.517 1669.448 9678.188 6613.994 +215000 7609.831 2339.107 1590.613 11149.298 7953.249 +220000 7317.973 2464.438 1860.448 10663.238 7818.834 +225000 7840.808 2270.125 2547.346 10616.209 8355.158 +230000 7105.595 2931.862 1017.854 10791.449 8145.422 +235000 7063.199 2030.745 2634.425 9352.318 7659.114 +240000 6906.708 2175.577 1809.401 9633.977 7494.845 +245000 7059.779 2681.843 1253.528 10309.907 7615.231 +250000 7570.640 2854.331 980.698 10980.686 8925.968 +255000 6982.143 2394.101 1867.087 9869.111 7681.628 +260000 8284.352 1983.463 2510.525 11055.254 8652.904 +265000 8671.507 2285.976 1773.019 10823.261 9614.447 +270000 8549.557 2064.559 3115.888 10582.027 9303.233 +275000 7211.643 2734.336 708.147 11133.695 8054.450 +280000 8829.908 1995.695 1628.004 11022.795 9199.574 +285000 8096.261 1979.767 2985.227 10758.041 8710.645 +290000 8233.430 2814.772 3051.631 11168.555 9637.162 +295000 8487.518 2365.571 1603.412 11073.799 9398.728 +300000 7932.932 2534.643 1819.776 10602.559 8873.917 +305000 7910.333 2733.800 2058.276 11080.236 9185.605 +310000 8562.029 2171.786 1660.555 10979.670 9059.278 +315000 8847.555 2460.658 2322.830 11165.709 9751.300 +320000 8796.222 2654.942 1230.020 11229.412 9875.025 +325000 8613.410 2849.399 2278.397 11145.623 9850.584 +330000 9306.372 2189.548 3134.597 10954.233 10175.425 +335000 8724.491 2259.828 2472.926 11395.834 9336.755 +340000 9139.608 2068.080 1331.394 11057.590 9892.556 +345000 8466.764 2497.486 2070.572 11073.980 9863.525 +350000 9174.208 1549.195 4949.110 11191.070 9578.595 +355000 10094.412 1547.445 4417.189 11181.732 10504.762 +360000 9076.962 2863.089 1887.464 11291.204 10611.461 +365000 8704.365 2773.528 2345.177 11232.244 9676.025 +370000 9494.878 1426.067 5426.192 10901.411 9949.575 +375000 9468.268 1936.470 3497.299 11088.642 10142.667 +380000 8237.907 2969.561 1873.837 10844.180 9792.786 +385000 8808.345 2244.110 2459.805 11111.924 9738.838 +390000 8432.417 2841.889 476.266 11218.435 9557.707 +395000 10314.122 1532.348 2364.974 11146.278 10730.744 +400000 9258.524 2276.656 3468.893 11396.502 10259.418 +405000 9166.625 2476.964 1261.461 11062.303 10327.862 +410000 8400.489 2858.738 2121.776 11070.535 9883.912 +415000 9819.791 2226.652 2213.432 11268.742 10593.654 +420000 10485.352 1285.951 4142.143 11310.890 10881.633 +425000 9336.176 2525.887 1656.354 11514.196 10352.303 +430000 9220.527 2425.237 2644.723 11270.755 10115.365 +435000 10359.642 1349.061 4106.802 11266.475 10670.533 +440000 10652.906 546.424 9141.305 11306.537 10841.818 +445000 9184.091 2697.579 1837.683 11025.602 10459.219 +450000 9017.450 2729.947 2267.674 11299.537 10410.537 +455000 9282.392 2420.183 826.221 11372.820 10238.162 +460000 9558.433 2321.176 2207.031 11220.853 10679.922 +465000 10755.651 474.256 9472.158 11303.566 10871.642 +470000 9722.565 2032.960 3936.050 11158.785 10537.374 +475000 10393.559 1211.693 4631.583 11328.693 10806.575 +480000 9652.567 2210.840 2316.767 11194.270 10377.503 +485000 10082.966 2213.527 2601.187 11614.978 10804.102 +490000 10222.450 1238.582 5058.019 11116.446 10624.389 +495000 9421.845 2605.937 2343.035 11310.685 10601.412 +500000 9768.817 2184.310 3590.794 11383.548 10725.865 +505000 10051.385 1999.976 1989.651 11377.143 10425.444 +510000 9906.865 1918.860 3396.762 11048.725 10605.706 +515000 10513.173 1025.194 5309.012 11147.229 10735.040 +520000 10264.686 1790.201 2648.947 11761.795 10851.152 +525000 9772.124 2130.024 1320.476 11344.542 10365.081 +530000 10801.560 568.244 8678.711 11610.693 10897.675 +535000 10079.823 1971.285 1441.749 11099.527 10777.520 +540000 10637.516 956.543 7134.873 11270.887 10872.523 +545000 10178.285 1766.442 1812.510 11240.975 10779.034 +550000 9564.626 2375.967 2235.460 11401.283 10442.906 +555000 9971.951 1936.020 1848.092 11148.044 10623.254 +560000 10205.553 1798.443 2887.220 11441.104 10866.380 +565000 10698.437 761.107 7211.668 11321.073 10908.724 +570000 10203.635 1619.260 2754.260 11578.322 10615.342 +575000 10513.131 1582.672 4555.421 11357.612 10929.187 +580000 10556.916 1207.923 5790.000 11579.693 10899.364 +585000 10559.413 1370.342 4567.198 11420.493 10880.832 +590000 10649.358 1144.263 5209.242 11494.702 10973.981 +595000 9276.283 2815.665 1861.373 11330.500 10584.572 +600000 10798.220 648.828 8234.113 11537.494 10968.192 +605000 10854.309 681.687 7787.009 11587.533 11015.704 +610000 10378.759 1605.898 2661.783 11501.371 10766.412 +615000 10123.217 1733.821 2452.990 11300.984 10856.162 +620000 10289.349 2150.473 3339.584 11584.975 11084.142 +625000 10659.960 1100.231 7000.027 11439.333 11097.481 +630000 10385.419 1679.505 3215.156 11404.765 10815.157 +635000 10522.949 1554.082 4471.082 11383.246 11121.505 +640000 10550.959 1523.538 5094.854 11525.221 11054.118 +645000 10391.058 1590.165 2487.499 11545.443 10801.897 +650000 10964.020 1102.292 5137.221 11444.816 11159.862 +655000 10526.035 1839.133 3614.547 11442.485 11113.701 +660000 10889.043 840.506 6613.884 11407.653 11065.076 +665000 10778.788 1463.896 3022.254 11562.139 11081.568 +670000 10794.100 1231.620 4517.185 11422.086 11097.548 +675000 10748.225 1171.813 4809.042 11400.578 11010.448 +680000 10714.993 1591.483 4592.495 11432.666 11131.764 +685000 10862.327 808.915 7039.540 11604.828 11074.358 +690000 11022.597 332.587 9858.575 11346.707 11154.186 +695000 10586.837 1788.024 2799.126 11618.301 11031.718 +700000 10989.546 654.953 8023.929 11542.762 11117.116 +705000 10943.172 771.604 7050.737 11533.684 11089.323 +710000 11033.850 834.364 6641.839 11482.398 11149.415 +715000 11035.831 206.828 10268.152 11327.202 11077.608 +720000 11092.912 325.517 10013.609 11561.975 11154.199 +725000 10902.219 1334.531 3811.153 11545.076 11191.796 +730000 11036.914 330.693 10141.632 11546.016 11073.998 +735000 10926.955 1277.144 4174.796 11762.855 11126.771 +740000 11140.852 291.408 10295.154 11569.330 11214.537 +745000 10842.331 1448.576 3320.854 11579.185 11145.549 +750000 10360.965 1748.036 4016.880 11460.066 11067.852 +755000 11202.387 193.848 10680.247 11551.117 11226.945 +760000 11126.984 209.778 10727.403 11480.338 11159.243 +765000 11135.739 139.257 10843.691 11437.111 11104.272 +770000 11164.733 397.594 9209.146 11587.023 11216.202 +775000 10630.449 1828.758 2281.259 11536.060 11156.807 +780000 10672.939 1442.924 4022.076 11627.822 11107.609 +785000 11191.287 223.610 10415.339 11486.213 11192.259 +790000 11042.070 522.055 8708.943 11593.941 11179.399 +795000 11228.668 273.180 10076.760 11518.580 11296.318 +800000 11043.655 424.562 9788.688 11551.990 11230.353 +805000 11083.505 236.888 10572.963 11422.417 11159.395 +810000 11222.787 416.897 9134.381 11528.406 11279.037 +815000 11190.412 297.779 10239.486 11543.072 11289.904 +820000 10995.378 694.051 8519.854 11553.379 11183.489 +825000 11154.975 245.910 10634.102 11602.396 11193.323 +830000 11252.205 192.926 10556.119 11585.154 11279.411 +835000 10659.235 1801.495 2973.437 11399.012 11151.790 +840000 11086.124 253.509 10426.143 11413.259 11129.131 +845000 11217.403 190.827 10539.610 11515.824 11212.761 +850000 11039.626 1203.074 4648.105 11533.744 11297.923 +855000 11186.446 242.786 10485.200 11485.924 11235.571 +860000 11127.731 393.372 9826.391 11494.234 11256.174 +865000 11234.951 255.379 10619.771 11634.050 11295.037 +870000 10503.397 2222.847 2197.923 11436.855 11185.861 +875000 10994.323 712.989 7671.539 11512.430 11204.162 +880000 11212.327 256.194 10346.703 11491.920 11277.809 +885000 11167.265 229.234 10577.008 11552.713 11214.336 +890000 11156.819 279.538 10305.417 11514.128 11237.542 +895000 11106.107 255.493 10236.299 11442.561 11129.114 +900000 11187.127 231.913 10600.496 11522.893 11191.514 +905000 11084.568 453.933 9428.812 11502.766 11216.289 +910000 11034.414 1314.931 4003.578 11567.858 11313.283 +915000 11204.360 173.702 10860.802 11584.713 11249.086 +920000 11206.190 245.176 10401.227 11565.926 11240.154 +925000 10879.908 1308.650 4697.396 11517.387 11202.975 +930000 10881.473 1403.694 3587.733 11574.026 11198.263 +935000 11210.377 203.633 10662.639 11484.154 11248.184 +940000 11240.188 204.042 10682.040 11501.640 11286.224 +945000 11010.864 1295.695 4134.767 11635.771 11317.177 +950000 11245.193 159.155 10908.466 11486.335 11229.951 +955000 11259.626 185.823 10736.734 11687.007 11266.852 +960000 11129.496 553.011 8285.755 11513.248 11270.322 +965000 11220.578 278.067 10078.068 11629.093 11206.845 +970000 10994.588 865.769 7850.440 11576.892 11285.102 +975000 10978.713 1651.053 2126.424 11590.177 11302.603 +980000 11236.292 168.646 10831.611 11494.770 11289.626 +985000 10898.824 1267.385 5193.885 11530.984 11248.006 +990000 10970.119 1403.803 3502.716 11543.365 11252.927 +995000 10962.451 1410.557 3410.171 11468.529 11241.412 +1000000 11183.316 204.461 10760.594 11490.762 11226.103 diff --git a/reproductions/algorithms/mujoco/iql/reproduction_results/halfcheetah-medium-expert-v2_results/expert_normalized_score.tsv_scalar.tsv b/reproductions/algorithms/mujoco/iql/reproduction_results/halfcheetah-medium-expert-v2_results/expert_normalized_score.tsv_scalar.tsv new file mode 100644 index 00000000..f12de8a4 --- /dev/null +++ b/reproductions/algorithms/mujoco/iql/reproduction_results/halfcheetah-medium-expert-v2_results/expert_normalized_score.tsv_scalar.tsv @@ -0,0 +1,201 @@ +iteration mean std_dev +5000 12.459 10.917 +10000 11.891 12.837 +15000 21.207 11.058 +20000 23.605 8.616 +25000 21.356 8.573 +30000 23.738 10.363 +35000 27.760 8.709 +40000 26.854 11.277 +45000 27.648 12.460 +50000 29.621 13.391 +55000 35.106 9.946 +60000 32.454 12.053 +65000 37.486 9.361 +70000 43.831 6.468 +75000 37.302 10.740 +80000 43.739 7.581 +85000 38.230 12.486 +90000 40.989 10.139 +95000 43.553 12.407 +100000 46.577 11.693 +105000 38.597 16.528 +110000 43.838 14.366 +115000 44.224 13.066 +120000 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a/reproductions/algorithms/mujoco/iql/reproduction_results/halfcheetah-medium-v2_results/result.png b/reproductions/algorithms/mujoco/iql/reproduction_results/halfcheetah-medium-v2_results/result.png new file mode 100644 index 00000000..d457ef4c Binary files /dev/null and b/reproductions/algorithms/mujoco/iql/reproduction_results/halfcheetah-medium-v2_results/result.png differ diff --git a/reproductions/algorithms/mujoco/iql/reproduction_results/halfcheetah-medium-v2_results/seed-1/best_score_scalar.tsv b/reproductions/algorithms/mujoco/iql/reproduction_results/halfcheetah-medium-v2_results/seed-1/best_score_scalar.tsv new file mode 100644 index 00000000..6bcc193c --- /dev/null +++ b/reproductions/algorithms/mujoco/iql/reproduction_results/halfcheetah-medium-v2_results/seed-1/best_score_scalar.tsv @@ -0,0 +1,2 @@ +iteration best_mean_iteration mean std_dev best_median_iteration median +1 705000.000 5603.690 94.260 470000.000 5618.116 diff --git a/reproductions/algorithms/mujoco/iql/reproduction_results/halfcheetah-medium-v2_results/seed-1/evaluation_result_histogram.tsv b/reproductions/algorithms/mujoco/iql/reproduction_results/halfcheetah-medium-v2_results/seed-1/evaluation_result_histogram.tsv new file mode 100644 index 00000000..2d4d6060 --- /dev/null +++ b/reproductions/algorithms/mujoco/iql/reproduction_results/halfcheetah-medium-v2_results/seed-1/evaluation_result_histogram.tsv @@ -0,0 +1,201 @@ +iteration(key) values +5000 (returns) 3375.932 3691.494 2314.843 4013.126 2777.280 1839.019 3973.954 3713.883 3017.437 1950.539 +10000 (returns) 4251.952 814.954 736.035 4853.136 -359.743 -357.720 1669.545 4480.659 -176.346 -368.283 +15000 (returns) 3215.893 4572.602 3993.786 3814.524 3802.875 4468.380 4048.691 4168.778 4143.969 4684.738 +20000 (returns) 3045.874 2958.981 4366.105 5010.879 3297.547 1367.093 4590.531 163.067 3739.119 3006.749 +25000 (returns) 4939.259 4778.218 4262.598 4839.220 5122.161 3731.247 4489.235 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5404.491 118.204 5156.060 5613.578 5395.851 +145000 5331.746 110.115 5046.005 5438.650 5365.842 +150000 5394.396 75.626 5257.808 5497.256 5406.855 +155000 5409.502 118.364 5243.220 5612.305 5406.661 +160000 5406.745 93.687 5216.987 5521.905 5422.818 +165000 5283.049 353.931 4245.486 5521.957 5371.971 +170000 5406.152 42.937 5338.827 5464.812 5416.547 +175000 5353.578 70.685 5224.876 5475.382 5352.170 +180000 5400.859 73.746 5292.651 5523.814 5382.476 +185000 5363.182 78.932 5212.446 5460.652 5380.455 +190000 5414.297 64.726 5313.799 5498.542 5426.938 +195000 5488.798 111.373 5238.558 5647.706 5494.954 +200000 5378.039 59.715 5307.663 5486.596 5357.040 +205000 5481.562 101.052 5350.356 5633.372 5454.341 +210000 5444.796 59.318 5380.992 5557.403 5415.754 +215000 5476.217 77.809 5344.553 5641.937 5465.939 +220000 5500.067 98.427 5406.504 5721.640 5476.613 +225000 5380.827 104.661 5159.446 5571.429 5374.556 +230000 5487.208 66.121 5396.503 5612.138 5476.521 +235000 5470.340 67.606 5357.398 5574.803 5468.432 +240000 5472.198 62.151 5388.385 5585.351 5459.519 +245000 5439.882 105.377 5229.072 5619.580 5442.275 +250000 5430.325 107.096 5193.771 5590.186 5447.801 +255000 5468.652 90.027 5333.753 5628.805 5463.762 +260000 5502.238 117.768 5281.433 5676.929 5506.257 +265000 5539.835 48.358 5458.399 5594.853 5554.607 +270000 5420.539 101.080 5212.487 5612.269 5415.353 +275000 5547.604 66.895 5401.875 5624.859 5558.627 +280000 5442.370 60.800 5358.462 5556.954 5435.854 +285000 5473.034 45.165 5391.887 5546.133 5466.260 +290000 5465.718 94.186 5287.463 5598.373 5485.176 +295000 5531.361 69.230 5374.482 5609.534 5547.569 +300000 5490.042 82.910 5333.480 5585.527 5506.786 +305000 5500.766 82.599 5380.834 5678.001 5494.093 +310000 5485.859 107.093 5341.061 5659.304 5460.281 +315000 5398.696 85.193 5213.874 5496.021 5426.400 +320000 5449.769 69.155 5348.549 5591.288 5456.931 +325000 5395.206 73.363 5248.841 5498.614 5395.379 +330000 5471.552 56.037 5399.604 5557.861 5462.316 +335000 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5610.707 5457.028 5630.228 5550.864 5513.394 5587.360 5575.503 5613.022 5514.088 5598.724 +820000 (returns) 5450.780 5617.596 5569.588 5488.542 5543.536 5667.414 5638.769 5651.970 5419.837 5488.918 +825000 (returns) 5628.334 5674.581 5643.759 5510.479 5522.439 5643.954 5541.204 5449.966 5480.800 5560.172 +830000 (returns) 5581.244 5540.769 5343.279 5416.062 5610.439 5544.268 5625.509 5535.223 5558.152 5497.394 +835000 (returns) 5499.782 5446.050 5524.825 5546.243 5424.954 5514.618 5519.042 5436.503 5530.995 5532.050 +840000 (returns) 5469.870 5504.647 5635.004 5513.086 5568.650 5442.022 5515.953 5402.061 5552.789 5623.159 +845000 (returns) 5590.806 5408.150 5548.322 5533.021 5534.138 5613.147 5617.090 5525.658 5590.254 5540.949 +850000 (returns) 5437.666 5645.518 5565.357 5489.543 5545.671 5802.416 5601.121 5518.476 5450.133 5506.540 +855000 (returns) 5564.562 5530.464 5469.161 5413.074 5526.597 5558.889 5607.703 5618.741 5507.175 5457.155 +860000 (returns) 5575.222 5298.618 5487.354 5423.450 5700.878 5511.769 5658.683 5562.158 5336.542 5581.945 +865000 (returns) 5600.355 5492.222 5494.642 5601.866 5494.525 5679.156 5594.782 5506.251 5496.483 5479.375 +870000 (returns) 5541.756 5592.902 5732.500 5490.267 5477.901 5448.636 5581.398 5459.638 5634.594 5451.535 +875000 (returns) 5489.215 5476.421 5603.585 5500.393 5424.522 5453.342 5525.243 5527.563 5457.287 5522.032 +880000 (returns) 5573.831 5414.632 5620.735 5411.068 5462.884 5607.736 5443.533 5626.235 5493.723 5493.336 +885000 (returns) 5581.510 5453.550 5619.472 5557.515 5594.137 5478.001 5533.032 5550.529 5546.389 5481.288 +890000 (returns) 5463.544 5602.020 5531.196 5485.129 5520.605 5514.716 5603.581 5560.818 5743.798 5595.045 +895000 (returns) 5526.895 5564.237 5540.873 5542.277 5433.213 5613.679 5512.149 5583.472 5292.360 5590.352 +900000 (returns) 5494.780 5430.955 5681.573 5546.048 5524.927 5414.836 5574.643 5602.776 5568.368 5620.431 +905000 (returns) 5370.850 5446.407 5503.118 5432.404 5527.637 5591.519 5529.891 5499.241 5403.595 5568.237 +910000 (returns) 5625.267 5400.216 5650.018 5515.828 5693.294 5654.131 5472.877 5452.967 5736.522 5536.166 +915000 (returns) 5671.786 5576.926 5530.462 5572.728 5663.149 5534.082 5530.197 5446.937 5536.414 5682.111 +920000 (returns) 5699.022 5548.591 5385.346 5486.736 5516.435 5531.321 5411.713 5291.884 5582.456 5457.642 +925000 (returns) 5501.756 5414.530 5535.300 5437.614 5467.459 5481.580 5490.667 5623.515 5563.810 5540.135 +930000 (returns) 5744.003 5690.031 5607.698 5611.281 5548.377 5656.942 5530.879 5448.798 5690.068 5492.661 +935000 (returns) 5610.857 5548.068 5434.621 5546.550 5459.680 5596.746 5462.077 5594.078 5635.451 5588.068 +940000 (returns) 5435.584 5574.448 5456.608 5456.980 5438.990 5684.641 5509.007 5547.134 5653.551 5631.641 +945000 (returns) 5657.657 5653.315 5365.935 5574.590 5562.013 5574.295 5544.569 5612.122 5770.156 5540.462 +950000 (returns) 5609.470 5549.552 5602.176 5596.678 5510.951 5575.052 5504.316 5592.357 5589.478 5509.316 +955000 (returns) 5538.814 5589.712 5533.995 5514.456 5621.752 5563.172 5587.909 5517.297 5466.312 5550.081 +960000 (returns) 5564.640 5653.729 5643.149 5486.874 5501.931 5388.898 5681.758 5494.599 5515.072 5593.540 +965000 (returns) 5443.210 5709.133 5609.557 5614.012 5700.452 5587.353 5564.645 5520.188 5551.993 5382.146 +970000 (returns) 5613.144 5483.338 5574.027 5587.804 5424.829 5596.873 5577.414 5611.678 5558.626 5549.611 +975000 (returns) 5535.880 5564.423 5572.206 5681.243 5569.391 5502.923 5567.987 5505.218 5354.698 5533.771 +980000 (returns) 5658.777 5518.194 5422.496 5437.227 5504.191 5543.258 5363.521 5591.726 5561.232 5509.757 +985000 (returns) 5520.008 5593.231 5508.450 5580.718 5478.391 5546.096 5421.379 5452.140 5643.662 5532.650 +990000 (returns) 5649.642 5584.003 5593.601 5462.384 5535.258 5518.314 5578.053 5499.160 5495.876 5474.771 +995000 (returns) 5618.035 5543.094 5531.487 5541.798 5661.293 5507.808 5459.785 5572.342 5584.570 5511.974 +1000000 (returns) 5529.583 5544.859 5608.022 5575.446 5670.013 5545.080 5583.551 5609.645 5491.417 5614.387 diff --git a/reproductions/algorithms/mujoco/iql/reproduction_results/halfcheetah-medium-v2_results/seed-100/evaluation_result_scalar.tsv b/reproductions/algorithms/mujoco/iql/reproduction_results/halfcheetah-medium-v2_results/seed-100/evaluation_result_scalar.tsv new file mode 100644 index 00000000..4d28704c --- /dev/null +++ b/reproductions/algorithms/mujoco/iql/reproduction_results/halfcheetah-medium-v2_results/seed-100/evaluation_result_scalar.tsv @@ -0,0 +1,201 @@ +iteration mean std_dev min max median +5000 1262.890 1267.763 -436.801 3324.401 910.138 +10000 1814.541 1742.550 -419.608 4474.328 1876.173 +15000 2589.895 1524.760 516.301 4442.377 2653.307 +20000 2655.096 1527.652 516.065 4629.203 1802.965 +25000 4243.426 1130.128 1695.760 5279.060 4656.333 +30000 4977.221 240.722 4469.325 5455.829 5001.994 +35000 4290.290 1621.744 -60.227 5151.263 5069.306 +40000 4834.939 419.927 3660.477 5157.494 4952.968 +45000 4652.355 1417.596 420.961 5420.617 5097.347 +50000 4699.760 969.372 1815.427 5168.751 5004.511 +55000 5111.417 336.933 4181.368 5524.010 5167.126 +60000 5247.748 164.916 4990.184 5496.970 5260.014 +65000 5130.605 400.315 4189.480 5505.648 5244.074 +70000 4326.159 2035.244 -166.481 5512.173 5313.479 +75000 5311.959 145.046 4937.402 5521.574 5331.591 +80000 5385.422 149.067 5155.103 5644.199 5407.859 +85000 5324.167 105.563 5193.584 5561.416 5285.498 +90000 5416.990 89.592 5230.034 5552.468 5428.370 +95000 5384.868 119.604 5239.831 5619.588 5321.871 +100000 5317.165 76.795 5208.312 5453.736 5311.709 +105000 5332.544 113.395 5097.839 5431.598 5397.432 +110000 5391.175 82.617 5222.241 5549.833 5384.955 +115000 5400.698 121.091 5223.394 5577.963 5401.049 +120000 5376.692 99.860 5228.401 5507.607 5383.368 +125000 5424.177 74.256 5262.397 5560.679 5417.491 +130000 5390.233 42.433 5306.465 5448.106 5386.521 +135000 5364.409 96.823 5243.599 5565.441 5357.820 +140000 5382.644 82.864 5288.610 5528.284 5344.161 +145000 5411.859 132.009 5195.006 5687.958 5389.786 +150000 5370.565 61.045 5261.944 5470.880 5378.771 +155000 5401.400 140.860 5108.273 5617.549 5398.296 +160000 5507.854 76.165 5361.381 5653.489 5502.860 +165000 5336.039 108.386 5155.956 5506.330 5306.821 +170000 5425.252 55.856 5338.695 5540.012 5414.821 +175000 5501.268 62.662 5392.476 5577.693 5527.127 +180000 5360.241 47.571 5269.093 5408.687 5380.080 +185000 5471.804 79.703 5307.954 5582.482 5488.823 +190000 5511.718 88.714 5390.669 5714.081 5519.334 +195000 5427.478 63.899 5328.376 5545.889 5438.024 +200000 5410.117 66.898 5269.307 5502.439 5427.913 +205000 5458.696 93.700 5264.311 5567.993 5470.244 +210000 5478.653 94.011 5305.854 5634.847 5485.942 +215000 5494.483 42.080 5426.224 5569.527 5494.952 +220000 5434.778 86.751 5294.914 5559.884 5441.623 +225000 5473.646 114.816 5276.032 5648.192 5471.468 +230000 5453.380 70.591 5345.953 5545.793 5464.123 +235000 5436.823 99.310 5264.953 5566.672 5473.887 +240000 5558.301 99.755 5321.768 5674.213 5550.789 +245000 5461.206 89.734 5338.638 5616.634 5465.778 +250000 5603.554 63.315 5442.553 5669.353 5613.347 +255000 5472.078 54.607 5368.798 5543.603 5472.206 +260000 5459.410 71.007 5284.142 5521.034 5476.781 +265000 5444.353 103.519 5277.482 5613.461 5436.833 +270000 5519.457 48.280 5444.742 5606.270 5516.312 +275000 5421.489 87.518 5273.242 5561.032 5422.032 +280000 5496.440 80.692 5385.148 5618.256 5472.111 +285000 5451.683 129.648 5224.478 5698.974 5463.371 +290000 5425.987 73.491 5344.623 5555.005 5407.245 +295000 5444.946 71.705 5321.521 5565.908 5451.966 +300000 5518.226 87.208 5346.518 5632.494 5531.009 +305000 5456.292 69.465 5333.328 5562.516 5459.861 +310000 5444.302 73.428 5333.893 5587.145 5453.875 +315000 5468.559 115.249 5265.560 5653.859 5483.100 +320000 5525.724 74.976 5440.786 5722.839 5512.263 +325000 5447.529 96.778 5320.991 5638.611 5427.739 +330000 5498.290 66.436 5404.727 5601.141 5499.877 +335000 5458.763 89.212 5313.219 5608.491 5471.573 +340000 5457.487 99.931 5296.495 5645.272 5463.536 +345000 5482.332 78.797 5303.293 5563.627 5501.472 +350000 5495.395 115.640 5302.043 5707.646 5504.093 +355000 5449.501 79.292 5328.665 5581.401 5425.618 +360000 5599.966 62.609 5523.033 5712.239 5582.093 +365000 5496.152 77.238 5377.787 5666.407 5509.758 +370000 5461.733 86.400 5268.441 5585.176 5457.942 +375000 5596.529 68.294 5497.714 5694.582 5593.904 +380000 5527.083 64.804 5405.621 5619.094 5530.655 +385000 5494.930 94.038 5326.273 5634.618 5496.813 +390000 5522.896 64.895 5418.427 5625.031 5524.390 +395000 5476.732 70.458 5338.051 5630.482 5472.136 +400000 5458.064 85.533 5284.205 5599.023 5459.497 +405000 5532.000 87.861 5368.481 5725.635 5528.566 +410000 5476.131 60.614 5373.477 5570.262 5481.760 +415000 5518.686 72.365 5405.122 5654.320 5510.911 +420000 5402.911 66.707 5324.601 5532.144 5398.104 +425000 5473.708 92.959 5347.097 5686.194 5442.468 +430000 5457.956 58.122 5374.569 5579.555 5445.033 +435000 5498.504 39.681 5423.861 5562.073 5508.988 +440000 5468.017 86.535 5288.037 5609.159 5463.309 +445000 5491.413 129.900 5285.846 5723.913 5496.493 +450000 5552.608 102.827 5393.860 5685.795 5549.900 +455000 5557.153 87.753 5407.313 5699.202 5546.177 +460000 5485.870 87.923 5340.393 5651.389 5487.383 +465000 5479.640 75.118 5348.956 5588.426 5496.338 +470000 5484.938 40.761 5414.740 5542.338 5488.637 +475000 5483.963 41.688 5399.878 5536.921 5498.973 +480000 5489.245 60.508 5396.926 5597.279 5492.393 +485000 5453.192 50.972 5390.431 5549.825 5457.771 +490000 5583.553 56.991 5481.687 5654.238 5602.081 +495000 5529.710 65.933 5399.437 5633.780 5529.507 +500000 5527.496 60.561 5450.154 5646.533 5512.389 +505000 5521.479 76.060 5354.516 5621.638 5536.623 +510000 5542.992 82.276 5389.026 5654.152 5565.067 +515000 5558.656 96.653 5420.233 5771.744 5546.726 +520000 5578.321 75.359 5438.203 5683.791 5584.836 +525000 5483.284 97.461 5313.364 5628.622 5486.151 +530000 5494.266 89.258 5337.922 5634.367 5517.668 +535000 5504.647 38.216 5450.233 5571.263 5500.205 +540000 5497.260 57.867 5399.636 5588.486 5481.586 +545000 5552.328 67.994 5437.783 5651.576 5530.232 +550000 5479.001 117.547 5302.900 5621.345 5508.453 +555000 5565.296 97.939 5351.721 5719.554 5578.954 +560000 5498.894 76.517 5407.260 5662.442 5464.315 +565000 5478.237 84.141 5332.271 5569.387 5510.929 +570000 5555.315 76.202 5438.062 5686.809 5554.970 +575000 5521.434 92.268 5350.146 5683.739 5505.589 +580000 5548.895 91.535 5379.842 5639.696 5583.456 +585000 5497.783 85.095 5344.765 5605.904 5519.724 +590000 5518.405 64.967 5361.888 5595.661 5530.917 +595000 5527.977 63.438 5395.049 5622.389 5531.479 +600000 5560.480 78.626 5464.468 5720.582 5532.788 +605000 5514.513 61.057 5414.492 5634.286 5512.895 +610000 5572.310 40.981 5494.000 5648.520 5579.169 +615000 5501.880 80.473 5347.578 5619.294 5503.109 +620000 5525.527 63.882 5395.749 5641.374 5523.036 +625000 5489.689 93.147 5303.339 5636.861 5492.802 +630000 5516.256 75.086 5417.460 5614.161 5526.775 +635000 5571.134 55.499 5462.645 5632.646 5591.465 +640000 5509.423 76.133 5404.892 5632.357 5496.540 +645000 5553.295 94.408 5412.085 5745.291 5564.841 +650000 5570.827 65.588 5429.777 5661.714 5566.900 +655000 5560.418 70.983 5460.864 5662.943 5568.519 +660000 5548.650 94.621 5380.349 5703.097 5533.343 +665000 5540.587 106.518 5312.396 5717.255 5537.321 +670000 5501.558 100.704 5285.201 5641.210 5487.768 +675000 5526.578 78.975 5421.229 5631.552 5509.038 +680000 5515.902 95.532 5279.843 5665.772 5529.222 +685000 5500.086 38.632 5443.792 5559.695 5496.892 +690000 5510.529 74.022 5369.126 5677.093 5500.163 +695000 5527.739 63.902 5396.763 5620.186 5526.699 +700000 5545.953 73.098 5441.486 5712.613 5557.073 +705000 5572.105 83.625 5434.704 5708.139 5559.833 +710000 5539.231 60.592 5412.561 5600.035 5560.594 +715000 5486.339 88.578 5358.653 5646.391 5484.812 +720000 5576.509 96.608 5459.608 5734.289 5551.972 +725000 5523.960 72.122 5410.796 5663.016 5529.071 +730000 5558.345 116.029 5351.343 5698.753 5598.501 +735000 5573.579 57.707 5504.246 5644.674 5576.212 +740000 5524.750 85.629 5396.921 5688.958 5519.296 +745000 5499.930 113.610 5203.691 5656.650 5520.415 +750000 5573.526 63.776 5454.232 5693.960 5574.474 +755000 5525.054 64.203 5450.732 5634.002 5520.966 +760000 5561.470 71.807 5428.765 5715.703 5557.810 +765000 5540.367 110.653 5306.374 5681.723 5553.199 +770000 5532.501 92.254 5408.771 5705.483 5521.467 +775000 5545.572 67.614 5418.684 5658.180 5535.054 +780000 5548.394 61.980 5455.458 5664.416 5548.285 +785000 5527.456 83.510 5375.735 5717.500 5527.493 +790000 5485.876 84.612 5361.260 5630.759 5499.796 +795000 5594.756 54.790 5487.748 5661.762 5597.929 +800000 5572.800 89.785 5342.067 5671.562 5583.536 +805000 5523.808 103.315 5338.772 5755.883 5516.732 +810000 5534.825 69.688 5397.039 5639.562 5535.315 +815000 5565.092 52.450 5457.028 5630.228 5581.432 +820000 5553.695 84.390 5419.837 5667.414 5556.562 +825000 5565.569 73.586 5449.966 5674.581 5550.688 +830000 5525.234 82.487 5343.279 5625.509 5542.518 +835000 5497.506 42.227 5424.954 5546.243 5516.830 +840000 5522.725 70.738 5402.061 5635.004 5514.520 +845000 5550.154 57.543 5408.150 5617.090 5544.636 +850000 5556.244 102.198 5437.666 5802.416 5532.074 +855000 5525.353 62.400 5413.074 5618.741 5528.530 +860000 5513.662 123.828 5298.618 5700.878 5536.964 +865000 5543.966 65.417 5479.375 5679.156 5501.367 +870000 5541.113 89.145 5448.636 5732.500 5516.012 +875000 5497.960 47.897 5424.522 5603.585 5494.804 +880000 5514.771 80.768 5411.068 5626.235 5493.529 +885000 5539.542 51.224 5453.550 5619.472 5548.459 +890000 5562.045 76.141 5463.544 5743.798 5546.007 +895000 5519.951 89.501 5292.360 5613.679 5541.575 +900000 5545.934 78.722 5414.836 5681.573 5557.208 +905000 5487.290 68.190 5370.850 5591.519 5501.180 +910000 5573.729 107.407 5400.216 5736.522 5580.716 +915000 5574.479 72.230 5446.937 5682.111 5554.571 +920000 5491.114 107.450 5291.884 5699.022 5501.586 +925000 5505.637 58.781 5414.530 5623.515 5496.211 +930000 5602.074 90.646 5448.798 5744.003 5609.490 +935000 5547.620 67.633 5434.621 5635.451 5568.068 +940000 5538.858 89.079 5435.584 5684.641 5528.070 +945000 5585.512 98.651 5365.935 5770.156 5574.442 +950000 5563.935 39.678 5504.316 5609.470 5582.265 +955000 5548.351 42.458 5466.312 5621.752 5544.447 +960000 5552.419 86.825 5388.898 5681.758 5539.856 +965000 5568.269 97.133 5382.146 5709.133 5575.999 +970000 5557.734 56.863 5424.829 5613.144 5575.721 +975000 5538.774 77.584 5354.698 5681.243 5550.151 +980000 5511.038 81.880 5363.521 5658.777 5513.976 +985000 5527.673 63.867 5421.379 5643.662 5526.329 +990000 5539.106 57.147 5462.384 5649.642 5526.786 +995000 5553.218 55.162 5459.785 5661.293 5542.446 +1000000 5577.200 48.731 5491.417 5670.013 5579.499 diff --git a/reproductions/algorithms/mujoco/iql/reproduction_results/halfcheetah-medium-v2_results/seed-100/result.png b/reproductions/algorithms/mujoco/iql/reproduction_results/halfcheetah-medium-v2_results/seed-100/result.png new file mode 100644 index 00000000..5c28399b Binary files /dev/null and b/reproductions/algorithms/mujoco/iql/reproduction_results/halfcheetah-medium-v2_results/seed-100/result.png differ diff --git a/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-expert-v2_results/evaluation_result_average_scalar.tsv b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-expert-v2_results/evaluation_result_average_scalar.tsv new file mode 100644 index 00000000..30209f3d --- /dev/null +++ b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-expert-v2_results/evaluation_result_average_scalar.tsv @@ -0,0 +1,201 @@ +iteration mean std_dev min max median +5000 738.748 369.840 307.108 1579.595 723.250 +10000 412.716 131.694 231.311 612.203 471.862 +15000 569.767 293.325 233.676 1052.581 560.772 +20000 708.587 344.658 435.781 1869.727 555.640 +25000 844.054 241.822 476.029 1236.907 959.005 +30000 774.016 309.366 470.878 1721.196 754.681 +35000 647.578 88.770 468.284 826.966 685.130 +40000 752.852 148.694 604.332 984.075 687.461 +45000 839.620 101.984 680.449 1093.789 864.348 +50000 545.743 99.954 466.688 799.052 483.326 +55000 827.298 292.260 464.787 1367.408 813.940 +60000 1351.648 572.328 902.513 3576.278 1087.441 +65000 865.355 222.736 475.479 1086.789 936.470 +70000 1829.366 904.231 959.248 3717.030 1293.349 +75000 1516.256 1211.814 377.626 3658.166 1223.443 +80000 1076.990 704.659 357.935 3267.721 665.489 +85000 1640.579 1253.887 349.380 3644.548 1348.242 +90000 1315.517 1202.677 60.006 3575.789 773.734 +95000 1768.140 1238.664 42.912 3610.694 1287.311 +100000 1208.689 140.543 960.686 1431.224 1188.561 +105000 1048.720 730.279 355.933 3651.906 1087.312 +110000 804.049 680.750 354.508 3679.766 477.016 +115000 1107.489 1101.994 352.921 3602.260 446.471 +120000 1229.860 986.746 335.857 3568.037 914.755 +125000 985.549 946.506 338.727 3591.260 774.907 +130000 771.221 789.407 361.871 3591.959 399.377 +135000 840.068 1075.180 37.734 3587.147 344.612 +140000 166.817 156.694 33.934 460.616 47.484 +145000 347.389 13.239 326.110 371.992 353.049 +150000 529.360 494.484 39.642 1905.271 369.673 +155000 661.597 731.259 332.530 3520.377 346.377 +160000 374.803 72.124 60.907 449.521 358.498 +165000 332.319 640.747 46.359 3590.380 321.608 +170000 160.053 151.540 47.189 384.673 54.660 +175000 319.324 421.860 41.081 1768.933 52.645 +180000 963.119 1215.737 42.217 3595.781 377.605 +185000 174.869 176.450 41.990 778.951 49.127 +190000 216.942 149.226 36.266 367.053 336.555 +195000 1018.230 1268.548 40.987 3638.602 463.126 +200000 924.698 1135.457 49.727 3609.038 366.726 +205000 444.532 639.251 45.411 3632.758 363.167 +210000 460.385 701.695 34.284 2524.541 48.772 +215000 549.589 815.492 46.560 3669.364 52.608 +220000 307.179 658.190 40.508 3599.653 46.602 +225000 480.423 505.474 47.086 1437.844 358.832 +230000 357.589 237.771 47.896 1408.497 339.663 +235000 152.570 145.841 33.087 445.300 52.288 +240000 1199.642 1382.904 346.992 3619.827 369.209 +245000 1458.401 1239.054 47.893 3680.571 1439.045 +250000 179.852 176.364 43.662 491.712 49.325 +255000 307.529 133.244 47.595 501.379 351.886 +260000 234.139 166.990 41.662 482.790 323.668 +265000 254.377 367.780 39.297 1990.021 53.855 +270000 729.331 1114.204 38.008 3642.702 44.407 +275000 169.037 177.536 36.875 460.003 46.910 +280000 199.075 240.230 38.802 865.659 42.745 +285000 496.978 835.656 48.777 3592.042 354.928 +290000 304.932 270.140 32.656 1125.036 356.358 +295000 732.724 831.310 47.733 3616.046 429.911 +300000 1296.877 1647.343 41.248 3649.610 207.943 +305000 334.177 244.978 45.808 1471.571 358.624 +310000 259.515 153.460 37.200 443.959 361.054 +315000 412.051 629.866 44.874 3617.125 343.207 +320000 186.728 148.339 44.976 362.008 50.938 +325000 624.564 976.052 41.853 3659.366 358.944 +330000 532.345 982.339 34.167 3600.958 52.394 +335000 512.710 644.172 44.396 1846.962 51.546 +340000 288.229 402.230 42.474 2295.270 350.350 +345000 511.440 838.244 44.259 3600.497 347.429 +350000 1101.609 1376.168 54.292 3678.881 358.477 +355000 517.877 753.162 40.064 2890.869 442.156 +360000 411.562 624.210 41.669 3637.835 359.799 +365000 200.914 174.263 32.786 463.484 54.153 +370000 1333.345 1476.147 48.812 3609.848 455.662 +375000 285.992 645.646 40.692 3615.559 47.458 +380000 2207.033 1540.288 55.320 3676.596 3309.520 +385000 1055.521 1515.425 42.728 3710.009 49.119 +390000 1084.941 1401.149 47.030 3623.469 417.019 +395000 666.782 1046.573 43.190 3765.139 437.271 +400000 612.523 753.606 38.133 3611.861 361.582 +405000 555.596 503.967 47.784 1461.154 369.048 +410000 661.916 765.188 44.829 3611.810 445.182 +415000 302.870 524.736 44.710 2981.230 205.716 +420000 847.304 1301.984 41.521 3604.576 45.072 +425000 314.092 192.435 39.753 477.873 450.341 +430000 938.661 1287.503 38.468 3674.701 51.538 +435000 1299.877 1437.753 45.458 3653.839 443.636 +440000 1436.149 1316.493 42.774 3637.146 1448.512 +445000 1213.990 1637.812 42.389 3669.478 49.501 +450000 889.559 1286.203 35.475 3699.440 370.303 +455000 1962.035 1724.050 43.977 3781.425 2367.877 +460000 1540.048 1453.438 43.856 3761.643 1101.604 +465000 1284.485 1530.687 46.000 3620.278 446.913 +470000 199.343 278.377 41.391 1460.970 46.338 +475000 1882.381 1761.415 36.936 3650.803 2526.021 +480000 1456.627 1376.572 40.398 3829.320 1232.632 +485000 847.333 1264.664 47.028 3662.996 369.289 +490000 1563.043 1638.791 41.412 3692.421 945.975 +495000 1481.959 1414.718 45.049 3650.573 608.873 +500000 1116.420 1246.215 42.990 3690.793 713.084 +505000 887.649 1359.284 36.143 3662.042 41.500 +510000 1250.414 1677.170 36.558 3771.235 51.753 +515000 225.032 308.989 41.564 1205.141 47.450 +520000 1096.840 1407.606 37.095 3627.926 55.113 +525000 543.254 675.146 44.893 3638.069 450.370 +530000 791.982 726.816 42.841 2635.031 465.686 +535000 1778.081 1512.698 42.479 3658.265 1471.361 +540000 1866.466 1620.822 43.151 3702.040 1787.938 +545000 922.750 1409.461 43.165 3664.347 47.252 +550000 387.046 733.731 46.513 3614.129 51.822 +555000 1434.888 1610.071 43.618 3713.432 444.038 +560000 1845.899 1622.943 41.364 3748.824 1540.450 +565000 1564.389 1508.131 45.223 3678.428 1013.910 +570000 2631.381 1364.555 49.733 3679.833 3584.354 +575000 1845.845 1379.658 48.181 3667.973 1850.126 +580000 2195.362 1632.842 45.063 3746.226 3465.395 +585000 1740.318 1703.458 41.654 3656.547 1247.946 +590000 1811.049 1431.858 43.517 3698.136 1533.668 +595000 2014.934 1405.735 50.166 3724.194 1699.605 +600000 2575.200 1145.514 366.981 3816.293 3318.045 +605000 1522.430 1629.580 41.024 3880.358 445.104 +610000 971.350 1121.208 46.987 3687.085 462.916 +615000 817.699 1236.095 45.517 3702.098 50.441 +620000 2163.794 1733.767 42.933 3685.105 3601.710 +625000 495.002 528.591 39.468 2126.558 455.197 +630000 2088.446 1678.217 43.170 3709.667 3586.067 +635000 2312.923 1238.479 48.203 3658.286 2052.974 +640000 1190.541 1497.398 43.640 3684.320 57.302 +645000 1409.687 1641.596 43.227 3714.934 53.609 +650000 825.640 1287.679 43.081 3718.457 46.986 +655000 1334.999 1475.824 47.920 3659.311 255.845 +660000 1006.719 1461.261 41.922 3739.880 51.388 +665000 1255.947 1682.471 36.369 3715.943 56.178 +670000 2415.075 1507.628 46.149 3730.931 3595.399 +675000 982.793 1214.950 38.573 3672.331 253.781 +680000 1467.699 1537.075 43.833 3767.477 450.676 +685000 1296.107 1444.874 46.928 3690.933 740.347 +690000 1567.763 1598.194 45.611 3791.635 1009.337 +695000 1176.904 1445.217 40.533 3803.157 448.407 +700000 1428.382 1322.290 55.740 3678.252 752.824 +705000 2011.466 1678.530 49.061 3804.028 3030.408 +710000 1912.911 1556.551 45.240 3704.410 1452.245 +715000 924.684 1209.496 43.003 3641.026 54.155 +720000 2130.405 1353.190 44.596 3697.720 1637.096 +725000 2105.908 1752.807 46.332 3692.637 3597.092 +730000 1615.734 1417.749 39.737 3742.478 1447.909 +735000 1850.346 1572.553 40.059 3697.823 1655.966 +740000 1734.201 1635.539 46.415 3665.008 1564.785 +745000 3151.285 1146.019 56.316 3743.634 3617.562 +750000 2043.979 1710.585 45.302 3670.691 3588.109 +755000 1502.117 1584.346 43.173 3692.906 761.750 +760000 2094.915 1700.771 48.368 3749.501 3597.345 +765000 1358.768 1648.823 43.382 3681.028 50.979 +770000 1330.162 1565.961 43.366 3679.451 54.808 +775000 1923.965 1594.515 43.744 3682.249 1673.706 +780000 1953.481 1648.178 47.251 3655.649 2107.493 +785000 1529.516 1493.868 47.358 3701.807 1120.677 +790000 1612.386 1715.149 43.442 3740.545 55.913 +795000 2631.328 1075.269 56.387 3704.749 3125.782 +800000 2684.542 1396.606 54.085 3673.877 3601.616 +805000 1337.796 1656.305 45.961 3775.449 206.347 +810000 1757.528 1572.585 46.692 3704.385 1735.234 +815000 1524.520 1586.500 48.621 3682.709 613.023 +820000 1770.213 1628.139 43.762 3695.998 1615.877 +825000 1550.720 1515.751 46.590 3751.618 1602.428 +830000 1966.262 1680.887 49.621 3727.125 2409.099 +835000 2424.326 1533.612 48.904 3670.458 3594.658 +840000 1862.457 1597.434 48.802 3649.462 1582.673 +845000 1764.083 1636.211 45.499 3690.210 1406.494 +850000 2336.430 1375.843 48.624 3707.701 2653.142 +855000 1381.716 1456.662 43.542 3685.756 922.011 +860000 1198.943 1344.164 47.003 3682.912 562.935 +865000 2327.643 1533.692 48.286 3689.054 3584.007 +870000 1826.909 1488.140 48.456 3658.819 1468.782 +875000 2156.837 1364.740 52.872 3697.235 1737.336 +880000 1715.676 1466.250 46.797 3659.714 1486.622 +885000 1675.952 1610.297 47.150 3871.086 1503.002 +890000 1391.529 1506.893 47.055 3680.823 758.618 +895000 2077.133 1438.414 45.491 3677.113 1914.768 +900000 2087.721 1557.328 46.866 3667.991 2219.215 +905000 1893.505 1447.243 50.477 3714.484 1668.334 +910000 2272.425 1436.404 47.032 3722.500 2729.854 +915000 2020.258 1453.308 50.668 3696.871 1691.045 +920000 1625.947 1615.939 46.869 3713.475 1436.901 +925000 1691.404 1563.713 48.661 3700.301 1266.984 +930000 1529.496 1499.236 47.065 3672.129 1429.071 +935000 1855.418 1585.609 46.998 3673.009 1528.472 +940000 1593.925 1577.935 46.769 3642.920 1456.909 +945000 1843.868 1553.259 46.916 3685.880 1632.646 +950000 1789.897 1480.689 46.755 3708.845 1546.904 +955000 1603.577 1219.499 50.420 3667.936 1479.104 +960000 1623.598 1541.027 47.032 3636.007 1466.166 +965000 1905.100 1381.659 48.555 3690.380 1757.300 +970000 1240.486 1431.097 45.265 3677.368 452.228 +975000 1876.058 1619.509 45.113 3692.423 1800.474 +980000 1849.715 1472.163 45.162 3806.325 1457.153 +985000 1817.750 1653.466 46.854 3677.715 1479.849 +990000 1947.854 1506.301 46.864 3669.924 1737.653 +995000 1791.263 1458.051 47.029 3802.019 1665.711 +1000000 1900.279 1436.213 50.559 3693.897 1555.742 diff --git a/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-expert-v2_results/expert_normalized_score.tsv_scalar.tsv b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-expert-v2_results/expert_normalized_score.tsv_scalar.tsv new file mode 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+190000 7.289 4.585 +195000 31.909 38.977 +200000 29.035 34.888 +205000 14.282 19.642 +210000 14.769 21.560 +215000 17.510 25.057 +220000 10.061 20.224 +225000 15.384 15.531 +230000 11.610 7.306 +235000 5.311 4.481 +240000 37.483 42.491 +245000 45.434 38.071 +250000 6.149 5.419 +255000 10.072 4.094 +260000 7.817 5.131 +265000 8.439 11.300 +270000 23.032 34.235 +275000 5.817 5.455 +280000 6.740 7.381 +285000 15.893 25.676 +290000 9.992 8.300 +295000 23.137 25.543 +300000 40.471 50.616 +305000 10.891 7.527 +310000 8.597 4.715 +315000 13.284 19.353 +320000 6.360 4.558 +325000 19.813 29.990 +330000 16.980 30.183 +335000 16.376 19.793 +340000 9.479 12.359 +345000 16.337 25.756 +350000 34.471 42.284 +355000 16.535 23.142 +360000 13.269 19.179 +365000 6.796 5.354 +370000 41.591 45.356 +375000 9.410 19.838 +380000 68.436 47.327 +385000 33.055 46.563 +390000 33.959 43.052 +395000 21.110 32.157 +400000 19.443 23.155 +405000 17.694 15.485 +410000 20.961 23.511 +415000 9.929 16.123 +420000 26.657 40.005 +425000 10.274 5.913 +430000 29.464 39.560 +435000 40.563 44.176 +440000 44.750 40.451 +445000 37.924 50.323 +450000 27.955 39.520 +455000 60.908 52.973 +460000 47.942 44.658 +465000 40.090 47.032 +470000 6.748 8.553 +475000 58.461 54.121 +480000 45.379 42.297 +485000 26.658 38.858 +490000 48.649 50.353 +495000 46.158 43.469 +500000 34.926 38.291 +505000 27.897 41.765 +510000 39.043 51.533 +515000 7.537 9.494 +520000 34.324 43.250 +525000 17.315 20.745 +530000 24.957 22.332 +535000 55.256 46.479 +540000 57.972 49.801 +545000 28.975 43.307 +550000 12.515 22.545 +555000 44.711 49.471 +560000 57.340 49.867 +565000 48.690 46.339 +570000 81.475 41.927 +575000 57.338 42.391 +580000 68.078 50.171 +585000 54.096 52.340 +590000 56.269 43.995 +595000 62.534 43.193 +600000 79.749 35.197 +605000 47.401 50.070 +610000 30.469 34.450 +615000 25.748 37.980 +620000 67.108 53.272 +625000 15.832 16.241 +630000 64.792 51.565 +635000 71.690 38.053 +640000 37.203 46.009 +645000 43.937 50.440 +650000 25.992 39.565 +655000 41.642 45.346 +660000 31.555 44.899 +665000 39.213 51.696 +670000 74.828 46.323 +675000 30.820 37.331 +680000 45.719 47.228 +685000 40.447 44.395 +690000 48.794 49.106 +695000 36.784 44.406 +700000 44.511 40.629 +705000 62.427 51.575 +710000 59.399 47.827 +715000 29.035 37.163 +720000 66.082 41.578 +725000 65.329 53.857 +730000 50.268 43.562 +735000 57.477 48.318 +740000 53.908 50.254 +745000 97.449 35.213 +750000 63.426 52.559 +755000 46.777 48.681 +760000 64.991 52.258 +765000 42.372 50.662 +770000 41.493 48.116 +775000 59.739 48.993 +780000 60.646 50.642 +785000 47.619 45.901 +790000 50.165 52.700 +795000 81.473 33.039 +800000 83.108 42.912 +805000 41.728 50.892 +810000 54.625 48.319 +815000 47.465 48.747 +820000 55.014 50.026 +825000 48.270 46.573 +830000 61.038 51.647 +835000 75.113 47.122 +840000 57.849 49.083 +845000 54.826 50.274 +850000 72.412 42.274 +855000 43.077 44.757 +860000 37.462 41.301 +865000 72.142 47.124 +870000 56.757 45.725 +875000 66.894 41.933 +880000 53.339 45.052 +885000 52.118 49.478 +890000 43.379 46.301 +895000 64.445 44.197 +900000 64.770 47.850 +905000 58.803 44.468 +910000 70.445 44.135 +915000 62.697 44.654 +920000 50.582 49.651 +925000 52.593 48.047 +930000 47.618 46.066 +935000 57.632 48.719 +940000 49.598 48.484 +945000 57.278 47.725 +950000 55.619 45.496 +955000 49.894 37.470 +960000 50.510 47.350 +965000 59.159 42.453 +970000 38.738 43.972 +975000 58.267 49.761 +980000 57.457 45.234 +985000 56.475 50.804 +990000 60.473 46.283 +995000 55.661 44.800 +1000000 59.011 44.129 diff --git a/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-expert-v2_results/result.png b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-expert-v2_results/result.png new file mode 100644 index 00000000..3398c4fa Binary files /dev/null and b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-expert-v2_results/result.png differ diff --git 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+930000 (returns) 52.306 52.710 52.739 52.451 1677.513 3672.129 52.912 1899.169 58.684 54.469 +935000 (returns) 52.430 52.700 3657.062 52.412 53.001 56.908 52.601 3672.592 3656.332 50.671 +940000 (returns) 52.585 54.699 54.858 50.793 51.046 54.728 52.800 3617.706 52.696 52.644 +945000 (returns) 50.871 54.643 3354.078 56.425 56.726 3652.618 52.504 54.281 54.437 54.741 +950000 (returns) 54.342 3688.372 756.641 54.276 54.612 52.440 3708.845 52.438 3647.095 54.607 +955000 (returns) 54.395 1436.435 54.279 1518.596 58.560 1492.044 2257.523 60.518 52.765 52.770 +960000 (returns) 54.672 54.818 3622.594 56.750 56.401 58.575 50.500 54.618 3619.198 3632.489 +965000 (returns) 52.550 1720.654 3651.285 52.798 758.550 54.302 3673.325 52.198 54.521 1695.264 +970000 (returns) 50.760 58.415 56.290 54.949 52.338 52.585 3677.368 52.524 54.519 54.773 +975000 (returns) 2109.276 1884.228 56.760 54.508 3653.260 3611.163 61.011 3602.518 54.672 52.823 +980000 (returns) 58.625 54.745 1691.370 3806.325 58.536 1612.652 3677.853 1426.486 52.551 54.463 +985000 (returns) 3633.810 52.265 52.915 55.128 54.435 54.743 3675.966 54.646 52.485 54.357 +990000 (returns) 3657.705 56.994 54.166 52.393 54.410 3602.070 56.905 56.805 1507.908 3609.354 +995000 (returns) 52.422 54.615 52.700 1078.254 3618.466 1880.239 1807.100 52.552 54.644 52.654 +1000000 (returns) 54.493 3693.897 56.773 54.600 3693.118 1075.980 58.923 60.966 56.236 56.639 diff --git a/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-expert-v2_results/seed-10/evaluation_result_scalar.tsv b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-expert-v2_results/seed-10/evaluation_result_scalar.tsv new file mode 100644 index 00000000..d045611f --- /dev/null +++ b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-expert-v2_results/seed-10/evaluation_result_scalar.tsv @@ -0,0 +1,201 @@ +iteration mean std_dev min max median +5000 308.352 0.882 307.108 310.342 308.220 +10000 232.720 0.724 231.311 234.119 232.826 +15000 236.500 1.793 233.676 240.369 236.759 +20000 1088.099 342.876 790.022 1869.727 1064.186 +25000 966.649 12.321 949.444 991.213 961.961 +30000 775.403 14.287 753.935 797.632 777.948 +35000 697.994 11.146 683.271 712.833 696.227 +40000 958.229 20.353 924.548 984.075 960.563 +45000 873.587 28.030 835.202 921.618 868.075 +50000 471.652 2.671 466.688 475.860 471.026 +55000 839.449 42.568 807.534 934.613 813.940 +60000 1028.927 14.635 1003.962 1047.536 1033.759 +65000 1031.411 20.978 989.647 1074.640 1032.237 +70000 1184.739 107.475 1019.604 1299.258 1236.469 +75000 1220.900 28.782 1163.721 1263.825 1227.264 +80000 1245.360 973.321 388.125 3267.721 665.489 +85000 360.276 9.756 349.380 383.246 357.810 +90000 2551.034 1135.436 960.347 3575.789 3209.850 +95000 1090.651 529.914 42.912 1511.956 1287.311 +100000 1203.534 166.101 960.686 1431.224 1191.397 +105000 1154.061 49.005 1086.497 1260.037 1144.277 +110000 591.827 232.516 466.492 1066.135 477.016 +115000 462.881 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172.146 49.226 485.120 53.655 +230000 488.458 350.426 49.425 1408.497 486.293 +235000 91.825 117.842 50.380 445.300 52.289 +240000 2851.648 1279.426 371.854 3619.827 3597.047 +245000 1851.723 669.532 1262.177 3680.571 1635.422 +250000 92.694 133.031 43.662 491.712 48.480 +255000 263.203 137.024 51.710 356.973 350.989 +260000 260.978 209.001 49.995 482.790 257.022 +265000 142.557 139.709 45.867 357.933 53.855 +270000 42.570 1.188 40.921 45.037 42.826 +275000 46.374 1.187 44.619 48.637 46.781 +280000 41.143 1.323 38.802 42.832 41.150 +285000 213.431 164.948 48.777 449.579 203.667 +290000 326.460 91.514 52.215 362.139 356.358 +295000 972.212 398.905 456.244 1815.929 1077.141 +300000 131.093 159.970 48.642 453.312 50.845 +305000 472.016 333.192 357.262 1471.571 361.584 +310000 373.539 23.817 359.260 443.959 367.340 +315000 838.990 935.273 445.983 3617.125 459.430 +320000 109.391 122.840 44.976 357.765 48.084 +325000 359.663 4.155 351.830 366.313 358.944 +330000 175.566 153.348 46.845 367.034 52.394 +335000 47.003 2.687 44.396 54.396 46.442 +340000 108.841 125.025 42.474 360.573 47.124 +345000 429.422 31.264 362.280 447.133 444.429 +350000 356.261 4.583 349.858 364.811 354.571 +355000 246.722 196.991 44.697 446.035 249.267 +360000 470.714 14.555 455.418 499.140 466.323 +365000 213.165 199.725 46.022 463.484 54.154 +370000 646.956 493.324 55.591 1433.289 458.011 +375000 45.989 1.519 44.544 48.862 45.573 +380000 2847.197 1197.885 55.320 3636.250 3606.247 +385000 45.513 2.114 42.728 48.698 45.738 +390000 171.344 184.055 47.030 453.237 52.354 +395000 437.474 1.383 435.376 440.301 437.587 +400000 1029.686 479.157 440.952 1446.187 1393.069 +405000 397.905 37.091 363.944 445.065 369.049 +410000 913.021 480.743 445.242 1702.347 816.188 +415000 48.362 2.705 44.710 52.531 47.750 +420000 44.761 1.996 41.521 47.386 44.830 +425000 451.422 1.801 448.469 453.477 452.235 +430000 762.760 1423.997 46.566 3618.394 51.538 +435000 498.799 168.427 439.686 1004.051 443.410 +440000 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56.479 52.309 +650000 44.919 1.178 43.098 46.654 44.850 +655000 1250.809 1575.110 51.060 3604.050 55.100 +660000 50.582 1.454 47.629 51.732 51.388 +665000 94.727 118.064 50.266 448.845 56.178 +670000 2413.790 1591.452 53.748 3636.657 3595.398 +675000 642.273 661.811 54.754 1717.374 253.781 +680000 1560.237 1432.644 446.156 3641.577 450.677 +685000 48.859 1.679 46.928 51.413 48.861 +690000 1167.736 1237.743 52.189 3661.616 853.297 +695000 2277.766 1682.332 52.244 3803.157 3591.257 +700000 1246.771 1570.358 55.740 3664.967 447.665 +705000 1181.908 1602.335 49.092 3621.593 51.273 +710000 1490.218 1754.257 52.460 3681.028 60.766 +715000 805.320 1411.286 50.936 3641.026 53.226 +720000 1181.594 163.333 942.688 1410.490 1200.495 +725000 484.102 1074.979 52.324 3647.205 55.669 +730000 1120.781 571.158 57.523 1781.849 1225.431 +735000 2207.361 1756.469 52.575 3692.753 3607.684 +740000 410.523 1068.026 50.076 3614.592 55.466 +745000 2302.961 1647.362 56.316 3694.127 3593.718 +750000 1895.091 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+150000 73.167 90.963 39.642 345.946 42.514 +155000 1301.118 995.316 639.997 3520.377 714.622 +160000 319.959 86.640 60.907 358.761 346.464 +165000 510.175 1073.396 46.359 3590.380 52.655 +170000 53.355 3.220 47.189 59.151 53.103 +175000 43.880 2.366 41.081 48.847 43.284 +180000 414.877 58.979 354.241 497.485 377.605 +185000 152.883 228.081 45.063 778.951 49.128 +190000 254.448 142.117 36.266 353.639 343.954 +195000 44.164 2.453 40.987 49.215 44.310 +200000 1836.555 1477.815 363.486 3609.038 1113.873 +205000 300.446 126.947 45.411 370.353 362.472 +210000 35.710 1.634 34.284 39.845 35.344 +215000 145.646 206.679 46.560 701.459 50.527 +220000 107.713 182.233 45.558 654.399 47.516 +225000 208.701 159.232 47.086 374.508 205.087 +230000 257.622 136.468 47.896 356.228 342.055 +235000 33.988 0.828 33.087 35.129 33.499 +240000 365.641 5.905 356.154 373.323 367.805 +245000 2176.946 1500.067 47.893 3622.725 2708.380 +250000 46.820 1.222 44.985 49.365 47.063 +255000 306.852 174.586 47.595 501.379 369.453 +260000 116.074 130.334 41.662 379.264 47.804 +265000 41.505 1.867 39.297 45.299 41.265 +270000 43.672 3.503 38.008 48.747 44.022 +275000 43.194 5.450 36.875 53.559 41.203 +280000 42.850 2.007 40.419 47.142 42.633 +285000 906.866 1342.525 49.376 3592.042 349.999 +290000 35.808 2.258 32.656 40.359 36.215 +295000 294.841 725.315 47.733 2470.769 53.998 +300000 139.733 143.886 41.248 359.902 46.748 +305000 172.992 153.271 45.808 365.788 49.493 +310000 43.501 3.822 37.200 49.117 43.462 +315000 53.663 4.791 44.874 60.537 54.770 +320000 110.190 124.091 45.285 362.008 48.707 +325000 45.494 2.388 41.853 49.185 45.746 +330000 37.806 2.253 34.167 41.680 37.356 +335000 109.981 119.519 46.460 349.697 50.468 +340000 402.956 648.232 47.119 2295.270 206.533 +345000 759.612 1418.115 44.259 3600.497 52.674 +350000 2594.288 1529.490 54.292 3678.881 3606.197 +355000 329.704 853.726 40.064 2890.869 45.937 +360000 403.213 1078.209 41.669 3637.835 44.039 +365000 35.135 1.587 32.786 38.195 34.762 +370000 145.507 140.819 48.812 373.930 55.364 +375000 87.010 126.716 40.692 467.066 44.538 +380000 361.266 3.839 357.743 368.061 358.892 +385000 77.518 87.364 43.915 339.551 49.119 +390000 449.029 113.936 374.734 773.727 417.018 +395000 47.502 2.527 43.190 51.364 47.223 +400000 44.633 5.417 38.133 56.460 43.626 +405000 54.264 3.524 47.784 59.187 54.998 +410000 46.755 1.605 44.829 49.850 46.567 +415000 236.739 190.858 45.900 473.274 211.312 +420000 43.545 1.609 41.996 47.601 43.763 +425000 43.137 2.505 39.753 49.119 42.039 +430000 41.872 1.883 38.468 44.026 41.928 +435000 469.083 1064.547 45.458 3642.577 50.783 +440000 1149.554 1359.545 45.082 3637.146 560.015 +445000 88.726 119.411 45.802 446.935 49.501 +450000 43.457 3.510 35.475 47.782 44.638 +455000 412.739 1077.984 47.740 3646.670 53.258 +460000 1843.839 1584.705 46.782 3669.550 1382.551 +465000 112.838 129.365 46.000 379.122 47.858 +470000 74.405 93.788 41.391 355.734 43.345 +475000 41.486 2.653 36.936 46.003 41.501 +480000 111.040 127.866 40.398 369.910 48.679 +485000 405.761 1066.666 47.028 3605.747 49.037 +490000 46.545 3.085 41.412 50.627 46.957 +495000 993.351 1325.993 45.049 3620.736 205.743 +500000 493.388 1078.044 42.990 3690.793 48.809 +505000 40.967 2.673 38.016 45.560 39.903 +510000 40.569 3.745 36.558 51.044 40.190 +515000 44.845 1.787 41.564 47.499 44.608 +520000 39.584 1.700 37.095 41.685 39.635 +525000 225.846 361.149 44.893 1105.219 49.992 +530000 47.980 2.619 42.841 52.463 48.688 +535000 698.246 1152.434 42.479 3610.512 45.472 +540000 2377.789 1618.559 50.015 3678.910 3614.944 +545000 47.094 1.991 43.500 51.324 47.176 +550000 388.031 676.906 49.792 1901.159 51.691 +555000 46.197 1.453 43.618 47.784 46.625 +560000 1486.936 1645.939 41.364 3630.937 364.859 +565000 139.327 271.120 45.223 952.636 48.713 +570000 983.695 1006.637 49.733 3651.790 874.324 +575000 1265.347 679.872 468.178 2303.551 1029.247 +580000 78.349 94.863 45.063 362.916 47.187 +585000 864.545 1410.625 45.177 3621.078 47.192 +590000 180.558 167.963 43.517 451.094 47.348 +595000 2582.181 1103.287 1124.584 3724.194 2742.597 +600000 2751.643 1329.670 366.981 3644.732 3591.124 +605000 44.712 3.469 41.024 54.422 43.923 +610000 886.212 1079.108 46.987 3625.907 462.916 +615000 48.372 1.586 45.517 49.783 49.392 +620000 1116.402 1633.650 42.933 3622.576 48.852 +625000 669.009 797.575 39.468 2126.558 52.372 +630000 1140.386 1606.383 43.170 3597.625 46.007 +635000 1804.953 1298.144 48.203 3628.208 1581.931 +640000 45.512 0.871 43.640 47.504 45.528 +645000 1118.753 1637.062 43.227 3641.544 48.443 +650000 833.705 1412.050 43.081 3651.461 46.986 +655000 91.249 121.364 47.920 455.284 49.910 +660000 43.445 1.331 41.922 45.628 43.610 +665000 40.147 2.603 36.369 44.376 40.519 +670000 1541.635 1505.595 46.149 3644.781 1234.118 +675000 40.696 1.490 38.573 44.105 40.454 +680000 47.284 2.095 43.833 50.261 47.896 +685000 1659.335 1665.251 47.646 3655.869 924.248 +690000 81.334 95.729 45.611 368.481 49.813 +695000 42.657 1.895 40.533 47.275 41.970 +700000 1245.563 911.304 371.237 3678.252 943.473 +705000 1315.389 1516.802 49.061 3637.918 367.790 +710000 1665.648 1526.795 45.240 3656.251 1442.232 +715000 184.716 416.695 43.003 1434.795 46.623 +720000 1979.478 1696.746 44.596 3662.121 2539.313 +725000 2188.658 1747.847 46.332 3678.242 3583.909 +730000 476.949 903.266 39.737 2774.468 43.754 +735000 787.808 1092.077 40.059 3657.776 398.361 +740000 1563.617 1502.348 46.415 3665.008 1364.550 +745000 3519.214 372.953 2405.964 3743.634 3634.034 +750000 611.284 1130.179 45.302 3624.464 47.153 +755000 1645.089 1673.917 43.173 3605.943 945.592 +760000 2241.562 1516.792 48.368 3735.918 2709.955 +765000 579.184 1083.636 43.382 3578.131 47.199 +770000 77.937 96.377 43.366 367.046 46.109 +775000 901.811 1090.748 43.744 3604.109 363.934 +780000 2696.886 1443.735 48.678 3635.992 3588.183 +785000 1213.041 1323.251 47.358 3638.491 600.470 +790000 46.169 1.929 43.442 49.299 45.461 +795000 2793.496 1097.186 754.239 3637.458 3586.555 +800000 2962.426 1042.671 765.094 3673.877 3585.557 +805000 532.419 1044.830 46.844 3634.795 204.492 +810000 2436.384 1502.940 46.692 3653.422 3584.718 +815000 1520.801 1537.542 48.687 3663.413 613.023 +820000 173.726 157.162 43.762 366.801 46.346 +825000 1869.732 1518.736 46.590 3654.638 1610.315 +830000 2213.250 1403.425 371.175 3683.126 2409.099 +835000 2829.487 996.096 1510.680 3670.458 3609.543 +840000 1944.561 1172.335 50.691 3609.802 1582.673 +845000 1626.613 1490.494 45.499 3618.767 924.608 +850000 2423.343 1512.351 48.624 3665.492 3557.277 +855000 604.911 700.279 43.542 2077.320 208.075 +860000 823.663 1018.476 47.003 3620.166 371.080 +865000 2206.149 1363.353 48.286 3660.175 2297.727 +870000 1170.231 1003.044 48.456 3618.933 1220.018 +875000 2439.699 951.886 1494.562 3621.337 1723.527 +880000 1247.126 997.960 46.797 3652.040 1145.288 +885000 481.901 635.005 47.150 1774.003 48.806 +890000 736.843 856.897 47.055 2151.037 49.122 +895000 1253.452 1071.342 45.491 3671.563 1273.774 +900000 1504.662 1219.787 46.866 3615.880 1496.705 +905000 1858.113 1259.237 50.840 3657.116 1533.924 +910000 1415.938 1243.379 47.032 3610.343 1169.851 +915000 2361.289 1184.030 749.022 3669.904 2295.474 +920000 404.957 630.641 46.869 1800.938 47.168 +925000 867.960 1020.777 48.661 3622.579 408.903 +930000 637.566 649.638 47.065 1789.270 365.020 +935000 1092.812 1058.567 46.998 3664.352 1093.363 +940000 853.003 756.206 46.769 1883.282 909.228 +945000 1670.703 1349.903 46.916 3641.469 1475.269 +950000 1194.646 1066.125 46.755 3602.061 1093.259 +955000 1472.195 941.026 50.420 3630.850 1463.602 +960000 663.063 697.394 47.032 1660.569 208.000 +965000 1451.211 998.261 48.555 3690.380 1548.747 +970000 494.007 459.444 45.265 1653.174 410.745 +975000 676.566 1041.410 45.113 3643.814 366.337 +980000 1109.665 1023.776 45.162 3656.759 1084.545 +985000 1258.547 1319.843 46.854 3647.814 913.493 +990000 1447.028 1225.202 46.864 3617.371 1107.156 +995000 1043.385 696.420 47.029 1826.395 1459.929 +1000000 1579.794 732.172 50.559 3280.076 1494.106 diff --git a/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-expert-v2_results/seed-100/result.png b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-expert-v2_results/seed-100/result.png new file mode 100644 index 00000000..71611e72 Binary files /dev/null and b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-expert-v2_results/seed-100/result.png differ diff --git a/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-replay-v2_results/evaluation_result_average_scalar.tsv b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-replay-v2_results/evaluation_result_average_scalar.tsv new file mode 100644 index 00000000..7fc8e625 --- /dev/null +++ b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-replay-v2_results/evaluation_result_average_scalar.tsv @@ -0,0 +1,201 @@ +iteration mean std_dev min max median +5000 548.774 220.235 366.812 884.251 406.592 +10000 739.567 115.574 428.668 906.615 737.275 +15000 779.188 147.931 307.402 1078.657 829.656 +20000 812.451 133.413 588.419 993.007 892.068 +25000 835.666 137.397 656.840 1154.391 856.265 +30000 1045.287 96.534 959.155 1301.312 997.024 +35000 998.506 163.594 779.259 1339.299 969.895 +40000 1249.362 253.688 993.270 2113.599 1271.789 +45000 1140.339 206.963 987.475 1564.780 1010.153 +50000 1347.823 244.045 1039.432 1943.451 1257.918 +55000 1326.390 108.147 1132.887 1567.832 1285.757 +60000 1282.397 87.491 1214.778 1536.236 1253.357 +65000 1534.882 187.506 1280.889 1898.085 1578.301 +70000 1558.173 218.036 1275.967 2357.427 1545.521 +75000 1578.766 364.979 1032.166 1960.723 1730.621 +80000 1482.203 164.400 1237.505 1899.332 1427.881 +85000 2096.782 520.822 1286.671 3111.306 1982.717 +90000 1357.750 388.890 798.037 1992.026 1447.108 +95000 1383.787 189.921 1168.594 1964.702 1317.853 +100000 1354.885 367.704 779.231 2007.556 1294.942 +105000 1485.371 307.436 1234.960 2391.855 1356.231 +110000 1336.839 377.882 771.903 1876.876 1425.419 +115000 1382.988 198.308 1195.120 2214.032 1334.436 +120000 1585.773 169.351 1078.368 2055.614 1605.737 +125000 1406.179 136.749 1213.573 1813.276 1359.507 +130000 1697.574 576.744 1218.282 3223.525 1416.263 +135000 1665.166 542.585 1259.486 3184.840 1398.818 +140000 1907.048 659.703 1203.808 3294.566 1675.265 +145000 1374.630 179.838 1084.322 1792.381 1324.148 +150000 1509.108 207.771 1235.165 2059.525 1429.333 +155000 1512.405 375.146 1196.786 3311.647 1415.333 +160000 1803.864 425.584 1267.094 3264.498 1868.020 +165000 1439.678 178.941 1195.729 1919.994 1404.960 +170000 1841.116 488.196 1324.849 3186.668 1638.707 +175000 1469.772 272.031 1124.703 2113.166 1362.193 +180000 1758.401 602.605 1127.536 3236.494 1462.282 +185000 1668.701 564.701 1113.703 3285.007 1424.498 +190000 1430.934 146.621 1209.042 1979.573 1384.300 +195000 1374.069 98.406 1166.858 1561.030 1385.559 +200000 1525.416 243.326 1279.662 2525.808 1464.678 +205000 1637.771 413.226 1231.951 2817.056 1432.249 +210000 1304.548 363.166 506.060 2450.802 1341.845 +215000 1449.101 214.379 1142.833 2033.940 1395.036 +220000 1744.730 516.337 1131.282 3270.805 1588.637 +225000 1481.632 250.766 1169.185 2370.431 1475.428 +230000 1533.108 561.758 1062.969 3199.002 1322.196 +235000 1602.589 483.393 1129.803 3370.177 1389.425 +240000 1471.789 272.593 1211.381 2394.755 1371.358 +245000 1474.258 252.392 1175.635 2082.851 1441.135 +250000 1898.715 612.077 1345.462 3211.777 1588.535 +255000 2058.680 818.205 1265.279 3205.754 1676.544 +260000 1399.501 183.231 1062.596 1795.985 1400.165 +265000 1624.122 192.502 1366.484 2139.499 1628.494 +270000 1397.316 218.839 1220.640 2305.524 1319.630 +275000 1513.647 254.816 1232.877 2450.209 1464.673 +280000 1399.281 157.547 1180.170 1899.837 1335.872 +285000 1658.629 547.785 1177.439 3366.242 1326.695 +290000 1690.667 435.632 1274.880 2854.869 1488.086 +295000 1877.310 690.101 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384.857 1206.325 2573.472 1372.399 +780000 1794.281 523.815 1211.761 3279.601 1623.201 +785000 1522.121 343.747 1190.349 2665.944 1353.806 +790000 1515.012 426.459 1152.669 3233.059 1390.274 +795000 1490.112 294.755 1204.216 2367.593 1333.780 +800000 1627.990 481.252 1216.663 2822.765 1413.684 +805000 1576.290 344.113 1101.894 2727.794 1536.999 +810000 1454.321 274.432 1016.405 1975.313 1402.360 +815000 1369.777 162.401 1219.966 1865.639 1314.378 +820000 1501.807 405.627 1013.148 2922.838 1351.948 +825000 1865.856 599.404 1008.225 3219.492 1809.269 +830000 1648.470 476.004 1176.687 3303.961 1494.802 +835000 1799.487 500.883 1226.631 3394.767 1665.924 +840000 1644.706 485.117 1005.612 2877.256 1550.325 +845000 1622.957 469.244 1179.918 2842.208 1448.289 +850000 1564.897 479.277 1116.634 3250.718 1368.302 +855000 1497.720 449.341 995.660 3291.174 1376.493 +860000 1693.922 678.055 931.156 3362.540 1387.297 +865000 1536.910 422.348 891.980 3056.476 1481.737 +870000 1506.963 307.362 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3266.104 1326.103 +970000 1660.505 543.823 1036.386 3329.896 1589.267 +975000 1609.491 477.478 1030.141 3364.609 1533.807 +980000 1672.879 529.533 1206.957 3266.039 1513.977 +985000 1583.403 374.983 974.710 2774.783 1461.334 +990000 1719.889 637.048 968.546 3314.500 1466.586 +995000 1676.051 546.973 1189.687 3290.646 1491.313 +1000000 1560.478 510.825 1223.028 3244.143 1328.272 diff --git a/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-replay-v2_results/expert_normalized_score.tsv_scalar.tsv b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-replay-v2_results/expert_normalized_score.tsv_scalar.tsv new file mode 100644 index 00000000..baba1437 --- /dev/null +++ b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-replay-v2_results/expert_normalized_score.tsv_scalar.tsv @@ -0,0 +1,201 @@ +iteration mean std_dev +5000 17.485 6.767 +10000 23.347 3.551 +15000 24.564 4.545 +20000 25.586 4.099 +25000 26.300 4.222 +30000 32.740 2.966 +35000 31.303 5.027 +40000 39.011 7.795 +45000 35.661 6.359 +50000 42.036 7.499 +55000 41.378 3.323 +60000 40.026 2.688 +65000 47.784 5.761 +70000 48.499 6.699 +75000 49.132 11.214 +80000 46.165 5.051 +85000 65.049 16.003 +90000 42.341 11.949 +95000 43.141 5.835 +100000 42.253 11.298 +105000 46.262 9.446 +110000 41.699 11.611 +115000 43.117 6.093 +120000 49.347 5.203 +125000 43.829 4.202 +130000 52.783 17.721 +135000 51.787 16.671 +140000 59.219 20.270 +145000 42.860 5.526 +150000 46.992 6.384 +155000 47.093 11.527 +160000 56.048 13.076 +165000 44.858 5.498 +170000 57.193 15.000 +175000 45.783 8.358 +180000 54.652 18.516 +185000 51.895 17.351 +190000 44.590 4.505 +195000 42.843 3.024 +200000 47.493 7.476 +205000 50.945 12.697 +210000 40.706 11.159 +215000 45.148 6.587 +220000 54.231 15.865 +225000 46.148 7.705 +230000 47.729 17.261 +235000 49.864 14.853 +240000 45.845 8.376 +245000 45.921 7.755 +250000 58.963 18.807 +255000 63.878 25.140 +260000 43.624 5.630 +265000 50.526 5.915 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8.209 +735000 46.196 11.341 +740000 45.389 9.477 +745000 49.076 13.975 +750000 51.522 13.870 +755000 44.333 8.491 +760000 50.632 17.512 +765000 46.589 8.331 +770000 51.811 18.354 +775000 48.951 11.825 +780000 55.754 16.095 +785000 47.392 10.562 +790000 47.173 13.103 +795000 46.408 9.057 +800000 50.645 14.787 +805000 49.056 10.573 +810000 45.308 8.432 +815000 42.711 4.990 +820000 46.767 12.463 +825000 57.953 18.417 +830000 51.274 14.626 +835000 55.914 15.390 +840000 51.158 14.906 +845000 50.490 14.418 +850000 48.706 14.726 +855000 46.642 13.806 +860000 52.670 20.834 +865000 47.846 12.977 +870000 46.926 9.444 +875000 53.932 19.512 +880000 49.172 11.996 +885000 53.095 17.568 +890000 52.112 15.629 +895000 52.521 19.723 +900000 48.313 9.340 +905000 50.508 11.039 +910000 57.136 18.925 +915000 52.478 14.622 +920000 52.006 17.336 +925000 54.541 18.311 +930000 50.298 11.961 +935000 48.703 10.901 +940000 49.492 12.761 +945000 54.807 17.517 +950000 53.095 17.193 +955000 51.049 14.409 +960000 50.876 13.064 +965000 48.477 15.326 +970000 51.644 16.710 +975000 50.076 14.671 +980000 52.024 16.270 +985000 49.275 11.522 +990000 53.468 19.574 +995000 52.121 16.806 +1000000 48.570 15.696 diff --git a/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-replay-v2_results/result.png b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-replay-v2_results/result.png new file mode 100644 index 00000000..fecdfb63 Binary files /dev/null and b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-replay-v2_results/result.png differ diff --git a/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-replay-v2_results/seed-1/best_score_scalar.tsv b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-replay-v2_results/seed-1/best_score_scalar.tsv new file mode 100644 index 00000000..0543c1d9 --- /dev/null +++ b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-replay-v2_results/seed-1/best_score_scalar.tsv @@ -0,0 +1,2 @@ +iteration best_mean_iteration mean std_dev best_median_iteration median +1 305000.000 3087.861 358.605 305000.000 3268.944 diff --git a/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-replay-v2_results/seed-1/evaluation_result_histogram.tsv b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-replay-v2_results/seed-1/evaluation_result_histogram.tsv new file mode 100644 index 00000000..de81b254 --- /dev/null +++ b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-replay-v2_results/seed-1/evaluation_result_histogram.tsv @@ -0,0 +1,201 @@ +iteration(key) values +5000 (returns) 367.053 381.178 403.995 398.311 366.812 409.189 419.563 388.635 418.266 424.784 +10000 (returns) 656.688 665.940 667.822 656.515 673.283 693.193 675.569 672.884 690.187 694.781 +15000 (returns) 849.331 844.072 851.349 857.272 854.789 842.948 848.272 855.626 848.175 857.082 +20000 (returns) 891.262 989.982 913.281 920.920 894.216 903.776 918.823 913.211 677.167 902.393 +25000 (returns) 682.429 664.093 886.248 711.313 693.579 735.390 691.775 890.988 656.840 896.771 +30000 (returns) 1029.756 1027.615 1052.104 1033.018 1059.584 1294.564 1301.312 1084.531 1042.040 1036.272 +35000 (returns) 837.665 793.644 791.879 933.252 833.161 900.410 885.983 779.259 798.087 902.405 +40000 (returns) 1316.329 1353.595 1326.292 1260.141 1022.732 1382.419 1061.115 1317.289 2113.599 1224.864 +45000 (returns) 1012.777 1005.163 1019.734 1009.829 1010.478 1022.446 1011.606 1005.006 1004.046 1008.231 +50000 (returns) 1074.265 1232.644 1238.634 1047.338 1045.342 1286.988 1043.577 1045.331 1264.951 1039.432 +55000 (returns) 1279.910 1286.230 1285.796 1276.928 1254.392 1268.741 1258.457 1274.782 1132.887 1164.057 +60000 (returns) 1259.523 1257.431 1258.945 1280.870 1253.739 1261.703 1496.793 1256.045 1261.533 1536.236 +65000 (returns) 1280.889 1294.202 1290.247 1390.122 1297.921 1317.844 1448.543 1285.813 1286.622 1296.764 +70000 (returns) 1348.624 1414.722 1358.179 1337.680 1443.821 1362.036 1400.406 1361.320 1342.481 1275.967 +75000 (returns) 1690.053 1730.468 1701.722 1633.265 1881.618 1730.774 1645.711 1923.890 1673.621 1773.608 +80000 (returns) 1237.505 1361.246 1407.014 1373.456 1378.925 1271.243 1371.692 1359.140 1336.234 1252.060 +85000 (returns) 2366.560 2950.339 2710.224 2597.690 2064.020 3111.306 2759.564 2713.310 2947.941 2373.139 +90000 (returns) 857.156 802.575 1000.578 852.796 803.394 902.431 818.841 798.037 962.412 827.680 +95000 (returns) 1232.366 1270.560 1233.694 1271.583 1200.989 1198.080 1168.594 1243.513 1266.630 1221.560 +100000 (returns) 781.587 1332.984 779.231 786.247 786.092 1342.868 1276.764 784.670 780.786 1317.570 +105000 (returns) 1351.131 1245.657 1283.697 1243.180 1262.241 1234.960 1377.275 1235.365 1264.767 1258.736 +110000 (returns) 1580.086 1876.876 1839.573 1841.255 1577.776 1742.537 1726.193 1507.496 1746.597 1531.502 +115000 (returns) 1472.037 1338.158 1751.285 1339.732 2214.032 1411.443 1436.224 1338.341 1530.651 1671.121 +120000 (returns) 1517.045 1648.977 2055.614 1708.327 1471.206 1666.804 1426.162 1696.809 1682.560 1688.610 +125000 (returns) 1528.257 1501.970 1529.481 1213.573 1237.110 1474.886 1467.914 1407.858 1807.019 1266.137 +130000 (returns) 1409.550 1266.221 1422.976 1396.880 1555.274 1838.228 1255.534 1490.521 1218.282 1744.135 +135000 (returns) 1539.217 1317.036 1581.847 1298.424 1351.437 1353.330 1309.211 1388.356 1267.431 1264.585 +140000 (returns) 1698.259 1672.727 1321.002 1788.312 1375.835 1626.535 1880.386 1611.236 1837.055 1673.103 +145000 (returns) 1382.731 1261.413 1262.305 1277.510 1279.799 1308.877 1276.588 1302.183 1349.596 1280.509 +150000 (returns) 1417.455 1423.524 1490.129 1512.063 1353.867 1334.816 1370.628 1555.996 1401.678 1382.609 +155000 (returns) 1281.687 1296.365 1346.824 1353.185 1347.471 1410.231 1278.135 1338.455 1368.492 1265.822 +160000 (returns) 2031.716 2129.826 2136.118 1863.790 2309.473 2260.347 2093.066 2123.866 1872.250 1974.517 +165000 (returns) 1375.118 1244.491 1555.851 1564.201 1446.231 1556.724 1371.689 1536.533 1539.466 1220.559 +170000 (returns) 1640.582 1838.014 2284.086 1876.820 1324.849 1912.785 1565.082 1411.001 1900.830 1636.832 +175000 (returns) 1391.412 1642.188 2076.762 1675.553 1384.267 1409.553 1691.989 1865.711 2014.514 1497.667 +180000 (returns) 1213.917 1294.162 1181.222 1243.127 1279.565 1170.948 1343.428 1281.649 1127.536 1340.947 +185000 (returns) 1919.130 1119.008 1283.771 1318.342 1569.558 1113.703 1425.437 1858.791 1369.451 1468.945 +190000 (returns) 1420.358 1358.928 1209.042 1343.892 1474.805 1474.298 1363.076 1443.461 1324.843 1353.710 +195000 (returns) 1429.994 1174.007 1333.333 1169.688 1271.800 1176.845 1166.858 1527.822 1528.091 1447.529 +200000 (returns) 1406.416 1436.450 1418.844 1701.513 1452.805 1460.983 1453.352 1530.941 1381.154 1366.100 +205000 (returns) 1424.141 1387.641 1315.531 1749.696 1423.008 1320.170 1297.345 1357.695 1510.833 1285.225 +210000 (returns) 1356.834 1215.050 1482.533 1163.822 1285.054 1450.359 1215.218 1173.599 1561.908 1165.910 +215000 (returns) 1774.205 1538.740 1828.525 1723.656 1425.977 1501.090 2033.940 1399.782 1416.392 1713.262 +220000 (returns) 2170.005 2028.413 2499.925 2032.736 2033.926 1401.185 2644.357 2551.107 1591.229 1475.890 +225000 (returns) 1304.573 1191.325 1214.688 1342.487 1169.185 1285.379 1515.978 1492.200 1183.670 1174.676 +230000 (returns) 1367.294 1319.248 1321.717 1312.749 1318.767 1351.391 1313.686 1322.674 1313.681 1351.894 +235000 (returns) 1419.527 1276.861 1294.447 1318.040 1260.608 1292.107 1362.535 1415.021 1314.187 1291.780 +240000 (returns) 1295.396 1290.134 1702.692 1442.334 1649.998 1415.392 1288.658 1288.157 2219.795 1358.096 +245000 (returns) 1688.413 2065.516 1450.073 1488.899 1510.728 2082.851 1532.373 1716.853 1613.356 1359.201 +250000 (returns) 1739.556 1572.352 2067.372 1532.748 2384.540 1575.429 1513.700 1605.459 1491.604 1488.096 +255000 (returns) 1265.279 1300.339 1267.740 1286.140 1271.823 1274.163 1673.213 1766.757 1312.727 1286.491 +260000 (returns) 1402.247 1795.985 1427.817 1691.663 1393.405 1462.015 1458.989 1398.083 1388.663 1398.031 +265000 (returns) 1378.893 1366.484 1484.614 1660.654 1446.277 1391.348 1732.461 1385.474 1660.812 1789.610 +270000 (returns) 1377.654 1603.648 1447.552 1612.672 1393.020 1368.332 1220.640 1247.131 1271.080 1244.806 +275000 (returns) 1458.403 1282.509 1232.877 1855.505 1657.333 1269.684 1652.409 1268.369 1316.465 1265.362 +280000 (returns) 1371.773 1329.224 1328.256 1407.629 1333.124 1378.468 1325.633 1332.125 1389.208 1338.620 +285000 (returns) 1742.340 2277.264 2655.402 1754.819 2011.109 1844.827 3366.242 2197.955 2264.504 1755.102 +290000 (returns) 1828.219 1680.496 1401.296 2039.306 2786.525 2029.435 2013.607 1701.091 2108.949 2417.872 +295000 (returns) 1320.546 1382.358 1324.321 1272.593 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968.546 1944.506 1307.521 +995000 1511.854 171.168 1296.526 1804.355 1491.313 +1000000 1405.676 126.006 1270.656 1663.308 1362.265 diff --git a/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-replay-v2_results/seed-1/result.png b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-replay-v2_results/seed-1/result.png new file mode 100644 index 00000000..a538edac Binary files /dev/null and b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-replay-v2_results/seed-1/result.png differ diff --git a/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-replay-v2_results/seed-10/best_score_scalar.tsv b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-replay-v2_results/seed-10/best_score_scalar.tsv new file mode 100644 index 00000000..656c93b0 --- /dev/null +++ b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-replay-v2_results/seed-10/best_score_scalar.tsv @@ -0,0 +1,2 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2798.348 2184.991 1317.351 1624.361 2156.814 1595.736 1364.913 1339.844 +1000000 (returns) 3244.143 1303.478 1797.134 1618.477 1310.325 2171.844 1577.359 2492.270 3077.292 1320.703 diff --git a/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-replay-v2_results/seed-10/evaluation_result_scalar.tsv b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-replay-v2_results/seed-10/evaluation_result_scalar.tsv new file mode 100644 index 00000000..682d125f --- /dev/null +++ b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-replay-v2_results/seed-10/evaluation_result_scalar.tsv @@ -0,0 +1,201 @@ +iteration mean std_dev min max median +5000 859.468 10.400 848.493 884.251 855.935 +10000 795.880 73.046 710.945 906.615 764.873 +15000 854.580 77.429 809.677 1078.657 823.638 +20000 863.593 82.373 727.130 993.007 889.980 +25000 918.400 164.895 661.467 1154.391 862.655 +30000 994.265 1.672 992.234 998.280 993.620 +35000 1179.616 143.184 1003.925 1339.299 1269.868 +40000 1408.920 135.172 1268.519 1595.123 1369.635 +45000 1417.911 112.772 1270.204 1564.780 1456.989 +50000 1254.989 4.847 1244.472 1261.933 1256.186 +55000 1334.722 86.664 1256.205 1529.542 1298.573 +60000 1240.765 25.110 1214.778 1284.105 1230.606 +65000 1567.825 90.604 1427.067 1758.561 1578.300 +70000 1554.775 108.230 1377.429 1659.621 1616.699 +75000 1115.551 237.517 1032.166 1828.050 1036.923 +80000 1445.544 94.724 1323.018 1704.969 1427.881 +85000 2036.943 306.827 1707.176 2726.885 1982.717 +90000 1506.348 170.350 1340.818 1992.026 1457.885 +95000 1361.147 69.214 1310.513 1507.835 1319.811 +100000 1789.994 113.625 1647.775 2007.556 1755.490 +105000 1788.970 351.569 1244.446 2391.855 1718.181 +110000 877.324 197.728 771.903 1396.335 783.869 +115000 1350.151 56.194 1281.359 1461.167 1334.737 +120000 1580.331 209.875 1078.368 1915.944 1612.656 +125000 1429.889 140.955 1323.448 1813.276 1364.600 +130000 2308.205 624.411 1552.541 3223.525 1964.498 +135000 1380.805 96.968 1280.956 1623.061 1361.619 +140000 1458.523 138.351 1203.808 1683.499 1428.822 +145000 1437.299 268.999 1084.322 1792.381 1421.219 +150000 1371.929 130.332 1235.165 1695.129 1353.907 +155000 1742.538 543.066 1420.436 3311.647 1531.775 +160000 1559.571 300.123 1267.094 2061.267 1459.414 +165000 1447.626 91.198 1392.548 1714.427 1412.880 +170000 1710.042 477.983 1437.076 3065.187 1470.355 +175000 1306.930 183.585 1124.703 1814.203 1297.341 +180000 2382.018 559.327 1436.309 3236.494 2402.955 +185000 1334.927 75.767 1265.754 1492.904 1294.060 +190000 1390.559 99.500 1285.839 1605.778 1349.115 +195000 1382.815 60.275 1349.760 1561.030 1363.339 +200000 1426.565 84.394 1279.662 1541.982 1428.747 +205000 1744.952 247.551 1385.965 2076.985 1722.839 +210000 1546.790 317.389 1283.969 2450.802 1494.611 +215000 1402.692 162.317 1142.833 1685.695 1382.813 +220000 1319.364 161.365 1131.282 1722.743 1302.518 +225000 1621.300 317.288 1298.309 2370.431 1513.296 +230000 1164.273 121.742 1062.969 1509.955 1142.153 +235000 1395.088 96.106 1185.134 1545.886 1376.627 +240000 1330.447 71.030 1211.381 1484.599 1334.792 +245000 1363.615 186.553 1193.525 1842.654 1290.781 +250000 1417.570 93.620 1345.462 1669.819 1372.819 +255000 1659.374 400.693 1368.477 2792.710 1538.900 +260000 1209.859 89.041 1062.596 1353.153 1192.572 +265000 1726.066 183.208 1434.463 2139.499 1710.069 +270000 1358.914 93.728 1264.833 1560.287 1331.904 +275000 1478.924 202.459 1276.524 2016.961 1402.117 +280000 1356.495 226.898 1180.170 1899.837 1269.677 +285000 1254.518 92.994 1177.439 1498.742 1236.819 +290000 1515.694 296.767 1309.969 2263.641 1376.694 +295000 2558.779 563.595 1722.231 3398.060 2454.488 +300000 1311.441 142.808 1143.756 1661.708 1285.782 +305000 1431.952 226.467 1247.354 2012.862 1379.023 +310000 1563.077 433.349 1236.725 2743.631 1375.056 +315000 1346.088 85.338 1222.349 1579.419 1325.790 +320000 1614.549 376.102 1276.045 2603.834 1532.744 +325000 1404.811 83.412 1304.008 1575.226 1386.906 +330000 1428.729 319.018 1173.405 2231.120 1310.098 +335000 1352.016 132.767 1111.969 1595.056 1329.173 +340000 1370.740 89.335 1284.787 1573.915 1339.978 +345000 1375.600 189.615 1221.993 1856.009 1304.337 +350000 1372.228 393.850 1109.562 2156.197 1162.076 +355000 1412.225 123.984 1290.273 1700.152 1381.554 +360000 1388.404 166.166 1146.014 1665.753 1305.600 +365000 1651.444 318.972 1330.867 2341.069 1571.711 +370000 1245.662 60.600 1129.656 1343.485 1265.706 +375000 1240.472 152.951 1115.353 1646.935 1176.315 +380000 1256.931 145.453 1095.992 1515.776 1268.266 +385000 1381.580 113.249 1281.370 1608.019 1322.573 +390000 1370.366 160.321 1153.813 1588.508 1312.390 +395000 2073.825 464.073 1422.698 3233.243 2089.165 +400000 1651.313 241.826 1341.126 2127.705 1651.245 +405000 1239.072 123.722 1137.482 1572.263 1202.782 +410000 1313.145 223.235 1113.881 1866.464 1218.298 +415000 1547.317 156.898 1361.806 1877.317 1498.084 +420000 1451.809 143.317 1321.292 1675.842 1357.165 +425000 1442.847 265.722 1179.160 2000.396 1368.313 +430000 1448.928 117.459 1331.649 1668.845 1408.630 +435000 1581.616 156.044 1363.966 1903.131 1563.847 +440000 1503.280 106.326 1370.316 1707.038 1491.405 +445000 1875.228 764.685 1207.097 3230.783 1444.038 +450000 1596.238 221.479 1299.053 2086.168 1494.986 +455000 1844.008 583.671 1400.149 3255.840 1515.343 +460000 1751.470 229.210 1457.020 2307.343 1731.017 +465000 1790.410 573.315 1422.106 3293.845 1496.321 +470000 1556.334 134.653 1391.687 1717.513 1531.835 +475000 1475.742 108.209 1301.607 1626.934 1453.615 +480000 1376.434 458.069 1154.103 2723.584 1198.734 +485000 1216.046 170.991 1051.407 1629.877 1157.740 +490000 1567.021 328.018 1374.431 2512.274 1435.216 +495000 1330.964 247.627 1172.686 2061.808 1251.281 +500000 1534.765 198.637 1304.883 1961.869 1482.156 +505000 1571.160 202.537 1323.378 2058.791 1504.201 +510000 1288.430 10.907 1263.842 1303.105 1288.101 +515000 1539.666 158.450 1329.085 1880.795 1529.722 +520000 1380.167 93.676 1240.014 1511.548 1414.889 +525000 2016.537 469.445 1499.123 2829.153 1843.323 +530000 1447.176 283.142 1146.539 1939.825 1288.699 +535000 2133.771 729.432 1397.192 3339.750 1795.244 +540000 2197.249 425.269 1533.271 3178.797 2142.578 +545000 1531.702 330.893 1245.282 2433.907 1477.119 +550000 1787.055 455.525 1435.668 2866.421 1553.850 +555000 1774.066 594.055 1283.643 3018.803 1598.436 +560000 1707.224 516.012 1253.027 3018.260 1612.150 +565000 1820.093 355.285 1502.210 2753.572 1729.817 +570000 1997.446 590.635 1530.265 3416.379 1728.675 +575000 1657.162 161.982 1483.261 2046.061 1590.315 +580000 1828.656 363.931 1435.042 2703.114 1676.494 +585000 1909.859 445.601 1480.398 2913.995 1744.590 +590000 2113.177 651.028 1340.673 3044.776 1913.479 +595000 1910.788 416.129 1452.173 2966.853 1853.973 +600000 1541.981 475.015 1148.126 2624.224 1298.142 +605000 1743.753 287.904 1417.109 2440.305 1684.217 +610000 1363.489 372.100 1177.225 2470.627 1240.282 +615000 1943.509 460.823 1530.189 2985.706 1740.412 +620000 1942.654 531.002 1468.229 3222.688 1707.867 +625000 2093.461 325.877 1766.370 2907.307 2048.678 +630000 1246.545 53.376 1156.204 1330.897 1259.121 +635000 1533.361 309.104 1285.609 2347.011 1440.078 +640000 1633.039 188.756 1415.180 1945.481 1575.372 +645000 1782.269 567.264 1315.228 3040.482 1517.721 +650000 1942.922 550.171 1490.248 3102.138 1697.229 +655000 1650.876 393.671 1309.356 2679.659 1527.148 +660000 2414.235 415.650 1648.379 3046.089 2415.541 +665000 1776.584 295.884 1430.784 2516.678 1670.189 +670000 2148.125 699.026 1456.712 3337.562 1777.910 +675000 1576.016 179.216 1312.824 1950.891 1517.599 +680000 1759.619 608.866 1275.982 3324.181 1542.913 +685000 1646.000 331.309 1251.021 2310.902 1602.837 +690000 1721.966 505.809 1305.014 3164.104 1613.911 +695000 2112.681 554.442 1610.128 3271.266 1857.666 +700000 1564.853 426.300 1293.940 2661.596 1340.107 +705000 2137.716 538.693 1572.637 3354.087 2022.912 +710000 2200.019 598.224 1474.707 3230.624 2179.445 +715000 1800.866 572.334 1308.979 3302.024 1670.323 +720000 1614.992 290.166 1294.227 2094.850 1576.555 +725000 1714.584 444.081 1279.944 2797.155 1546.047 +730000 1488.879 254.999 1204.838 2113.267 1385.360 +735000 1836.135 445.619 1427.791 2939.562 1766.090 +740000 1742.133 370.233 1201.194 2294.057 1775.074 +745000 1988.727 509.959 1314.814 3033.170 1830.529 +750000 1795.794 433.695 1243.811 2495.417 1771.778 +755000 1533.491 404.503 1190.696 2416.819 1306.260 +760000 2131.486 584.323 1545.863 3256.622 1904.474 +765000 1653.304 267.277 1434.458 2362.553 1577.571 +770000 2317.150 635.874 1523.692 3305.476 2191.506 +775000 1821.575 441.097 1302.319 2573.472 1807.248 +780000 2200.706 334.913 1649.976 2685.014 2120.050 +785000 1865.767 372.504 1468.898 2665.944 1746.509 +790000 1823.025 555.342 1454.527 3233.059 1594.993 +795000 1784.170 307.177 1468.287 2367.593 1622.550 +800000 2076.747 576.615 1325.725 2822.765 2089.116 +805000 1766.449 225.952 1517.181 2201.690 1659.949 +810000 1482.830 154.526 1313.632 1851.172 1482.008 +815000 1353.143 145.726 1264.235 1785.110 1317.995 +820000 1779.294 493.327 1333.974 2922.838 1553.947 +825000 2255.919 340.294 1889.909 2818.027 2107.426 +830000 1922.671 605.529 1282.360 3303.961 1882.661 +835000 1950.160 273.521 1514.680 2370.873 1909.089 +840000 2060.924 486.784 1332.142 2877.256 1963.521 +845000 1751.248 465.531 1329.253 2630.647 1555.246 +850000 1669.091 508.424 1256.071 2667.150 1492.611 +855000 1846.092 549.036 1305.723 3291.174 1678.685 +860000 1962.723 710.475 1224.480 3350.369 1650.400 +865000 1798.964 456.710 1493.959 3056.476 1606.930 +870000 1745.810 345.379 1317.122 2216.923 1664.560 +875000 2112.337 680.974 1294.006 3255.711 1827.253 +880000 1784.911 164.915 1482.715 2062.416 1827.679 +885000 2142.692 469.122 1520.585 3285.827 2127.270 +890000 2099.104 577.605 1143.387 3028.348 2130.556 +895000 2066.438 839.338 1309.381 3362.035 1674.149 +900000 1725.843 306.090 1332.947 2451.146 1637.327 +905000 1634.730 268.921 1346.137 2395.482 1557.963 +910000 2417.292 597.041 1536.938 3308.807 2473.860 +915000 2053.526 555.870 1290.664 3266.486 2099.158 +920000 2036.947 672.138 1311.793 3232.428 1614.069 +925000 2279.072 711.131 1495.906 3292.709 2122.632 +930000 1800.078 315.733 1323.536 2323.930 1728.236 +935000 1786.289 403.848 1284.300 2503.054 1655.676 +940000 1627.113 330.588 1332.673 2462.736 1558.577 +945000 1991.206 547.548 1262.216 2811.978 1735.654 +950000 1992.691 656.039 1479.211 3278.052 1573.032 +955000 1927.723 550.800 1339.657 3270.659 1732.170 +960000 1754.064 431.911 1264.838 2770.560 1708.622 +965000 1936.602 585.217 1327.257 3266.104 1668.682 +970000 2149.346 621.815 1333.974 3329.896 1924.140 +975000 1743.181 404.290 1290.431 2700.885 1580.018 +980000 2114.812 603.787 1481.319 3266.039 2023.158 +985000 1649.698 314.091 1302.383 2231.998 1586.017 +990000 2363.481 669.068 1468.731 3314.500 2287.752 +995000 2085.197 727.255 1317.351 3290.646 1890.587 +1000000 1991.302 690.444 1303.478 3244.143 1707.806 diff --git a/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-replay-v2_results/seed-10/result.png b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-replay-v2_results/seed-10/result.png new file mode 100644 index 00000000..e839326e Binary files /dev/null and b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-replay-v2_results/seed-10/result.png differ diff --git a/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-replay-v2_results/seed-100/best_score_scalar.tsv b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-replay-v2_results/seed-100/best_score_scalar.tsv new file mode 100644 index 00000000..35a9714d --- /dev/null +++ b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-replay-v2_results/seed-100/best_score_scalar.tsv @@ -0,0 +1,2 @@ +iteration best_mean_iteration mean std_dev best_median_iteration median +1 255000.000 3146.198 29.546 255000.000 3138.433 diff --git a/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-replay-v2_results/seed-100/evaluation_result_histogram.tsv b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-replay-v2_results/seed-100/evaluation_result_histogram.tsv new file mode 100644 index 00000000..4aecd3fd --- /dev/null +++ b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-replay-v2_results/seed-100/evaluation_result_histogram.tsv @@ -0,0 +1,201 @@ +iteration(key) values +5000 (returns) 398.432 378.175 399.245 391.818 391.832 415.905 386.301 369.135 378.090 381.810 +10000 (returns) 851.544 858.317 844.838 428.668 840.225 429.639 874.823 721.230 794.878 837.190 +15000 (returns) 499.681 546.759 829.921 307.402 635.197 811.677 522.677 871.435 660.021 636.146 +20000 (returns) 896.439 588.419 942.342 636.442 638.473 621.943 636.552 600.513 616.700 634.740 +25000 (returns) 783.895 899.461 901.984 938.175 931.713 749.838 727.898 747.525 787.268 908.804 +30000 (returns) 959.199 963.746 960.690 1211.379 1046.651 1204.708 1216.262 959.155 966.700 966.668 +35000 (returns) 973.194 966.242 969.950 973.211 971.770 969.839 969.573 969.266 969.368 970.876 +40000 (returns) 1002.556 999.638 1003.119 1004.298 1011.965 1001.894 999.601 997.547 993.270 999.411 +45000 (returns) 987.475 990.346 992.541 992.542 990.187 994.472 991.958 994.391 992.833 995.019 +50000 (returns) 1943.451 1860.401 1573.534 1568.835 1578.491 1574.940 1584.973 1731.213 1579.360 1571.087 +55000 (returns) 1299.147 1435.349 1311.720 1282.798 1567.832 1357.988 1285.718 1297.563 1564.949 1559.219 +60000 (returns) 1243.167 1246.566 1252.317 1245.600 1243.955 1507.103 1458.097 1252.975 1251.307 1240.347 +65000 (returns) 1604.925 1837.338 1590.441 1838.555 1650.859 1617.511 1699.798 1604.177 1898.085 1837.547 +70000 (returns) 1723.554 1573.976 2357.427 1525.212 1737.698 1726.953 1507.677 1808.240 1731.264 1860.215 +75000 (returns) 1949.604 1827.211 1877.403 1906.017 1858.226 1960.723 1883.889 1881.250 1901.834 1776.573 +80000 (returns) 1558.559 1899.332 1643.333 1747.771 1696.763 1685.546 1680.181 1631.662 1663.635 1455.353 +85000 (returns) 1650.545 1903.904 1892.307 1606.708 1290.861 1916.353 1368.296 1584.139 1440.146 1286.671 +90000 (returns) 1559.889 1877.129 1940.715 1522.302 1564.416 1860.921 1445.809 1872.981 1855.850 1543.091 +95000 (returns) 1829.656 1964.702 1654.831 1673.773 1318.198 1661.907 1356.036 1318.753 1444.336 1372.377 +100000 (returns) 1285.318 1301.674 1276.727 1286.784 1270.859 1267.109 1224.290 1288.210 1271.267 1305.577 +105000 (returns) 1661.052 1361.331 1488.909 1424.831 1289.847 1332.991 1307.652 1298.859 1291.099 1457.838 +110000 (returns) 1472.278 1374.071 1737.850 1290.574 1296.683 1475.030 1319.455 1645.114 1296.483 1454.503 +115000 (returns) 1241.545 1219.057 1261.266 1234.424 1249.565 1249.927 1297.649 1249.543 1195.120 1287.018 +120000 (returns) 1486.087 1617.240 1634.577 1644.919 1482.131 1491.349 1446.749 1485.543 1457.247 1461.935 +125000 (returns) 1475.403 1316.287 1358.488 1333.646 1389.938 1323.187 1295.600 1296.761 1332.481 1330.476 +130000 (returns) 1337.948 1302.119 1398.939 1299.269 1298.178 1296.467 1310.478 1293.722 1304.790 1405.644 +135000 (returns) 2511.882 2395.534 2218.099 1762.903 2192.552 3181.198 1259.486 3184.840 1552.689 2216.867 +140000 (returns) 1494.157 3190.671 2574.629 1764.245 3276.631 3284.146 3195.282 1705.775 2361.658 3294.566 +145000 (returns) 1299.563 1308.240 1414.062 1282.187 1309.318 1522.330 1667.812 1396.560 1343.847 1340.475 +150000 (returns) 1488.329 2059.525 1597.069 1520.757 2001.615 1618.780 1824.248 1706.797 1741.690 1752.394 +155000 (returns) 1399.859 1494.259 1313.502 1785.256 1275.549 1405.459 1446.723 1534.870 1196.786 1807.832 +160000 (returns) 1481.154 1364.571 1475.241 1383.637 1387.795 1986.727 1957.329 3264.498 1807.063 1617.237 +165000 (returns) 1249.678 1196.298 1385.860 1195.729 1258.748 1254.347 1645.733 1891.183 1919.994 1305.634 +170000 (returns) 3108.477 1634.951 3186.668 2135.237 2113.455 1969.993 1910.771 1580.246 1541.964 1560.413 +175000 (returns) 2113.166 1302.200 1230.130 1493.550 1340.119 1220.608 1324.360 1498.363 1264.927 1586.838 +180000 (returns) 2343.923 1474.711 1449.852 1887.147 1243.599 1422.265 1320.964 2008.612 1774.817 1529.442 +185000 (returns) 2409.610 1796.645 3234.066 2684.622 1420.719 1959.625 1437.980 2255.514 3285.007 1781.843 +190000 (returns) 1316.924 1475.953 1534.558 1465.426 1535.662 1725.925 1382.741 1338.371 1500.891 1979.573 +195000 (returns) 1386.744 1404.469 1397.693 1431.043 1437.912 1434.420 1394.153 1434.710 1412.745 1434.065 +200000 (returns) 1496.673 1804.791 1329.849 2525.808 1521.159 1418.860 2113.884 1584.831 1578.107 1514.305 +205000 (returns) 1234.756 1262.708 1333.320 2674.105 2817.056 1432.167 1816.501 2377.415 1231.951 1432.331 +210000 (returns) 506.060 1422.856 1374.771 506.618 1516.043 1235.412 805.136 810.948 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1256.383 3008.324 +955000 (returns) 1504.459 1159.253 1280.828 1229.266 2639.373 1176.917 1224.693 1261.627 1336.804 1520.617 +960000 (returns) 1562.927 1282.707 2129.885 1487.094 1215.770 2658.707 1276.880 2408.857 1304.305 1319.120 +965000 (returns) 1268.648 1230.234 1278.054 2415.081 1287.184 2030.177 1440.013 1242.499 1291.220 1485.295 +970000 (returns) 1283.580 1241.430 1114.418 1246.084 1641.453 1254.054 1888.066 1245.907 1280.882 1301.824 +975000 (returns) 1203.217 3364.609 1244.027 1288.062 1641.473 1583.347 1553.338 1254.389 1282.298 1224.204 +980000 (returns) 1247.822 1575.655 1247.351 1278.193 1312.229 1269.953 1293.148 2631.801 1255.129 1206.957 +985000 (returns) 1349.081 1290.149 1288.337 2774.783 1259.006 1833.969 1278.911 1764.477 1235.348 1323.935 +990000 (returns) 1254.880 1335.240 1464.442 2137.528 1329.333 1310.565 1611.932 1260.429 1537.938 1267.974 +995000 (returns) 1189.687 1648.640 1324.843 1260.132 1295.390 1594.661 1254.971 2190.222 1235.880 1316.594 +1000000 (returns) 1223.028 1256.698 1458.986 1284.676 1232.367 1301.093 1226.294 1249.770 1280.737 1330.923 diff --git a/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-replay-v2_results/seed-100/evaluation_result_scalar.tsv b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-replay-v2_results/seed-100/evaluation_result_scalar.tsv new file mode 100644 index 00000000..0aa35091 --- /dev/null +++ b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-replay-v2_results/seed-100/evaluation_result_scalar.tsv @@ -0,0 +1,201 @@ +iteration mean std_dev min max median +5000 389.074 12.742 369.135 415.905 389.059 +10000 748.135 164.637 428.668 874.823 838.708 +15000 632.092 164.830 307.402 871.435 635.671 +20000 681.256 120.538 588.419 942.342 635.591 +25000 837.656 80.798 727.898 938.175 843.364 +30000 1045.516 111.008 959.155 1216.262 966.684 +35000 970.329 1.965 966.242 973.211 969.895 +40000 1001.330 4.645 993.270 1011.965 1000.766 +45000 992.177 2.200 987.475 995.019 992.541 +50000 1656.629 132.350 1568.835 1943.451 1578.926 +55000 1396.228 117.836 1282.798 1567.832 1334.854 +60000 1294.143 94.944 1240.347 1507.103 1248.937 +65000 1717.924 115.086 1590.441 1898.085 1675.328 +70000 1755.222 229.391 1507.677 2357.427 1729.109 +75000 1882.273 51.424 1776.573 1960.723 1882.570 +80000 1666.214 109.669 1455.353 1899.332 1671.908 +85000 1593.993 235.234 1286.671 1916.353 1595.423 +90000 1704.310 181.125 1445.809 1940.715 1710.133 +95000 1559.457 218.098 1318.198 1964.702 1549.584 +100000 1277.781 21.579 1224.290 1305.577 1281.022 +105000 1391.441 113.145 1289.847 1661.052 1347.161 +110000 1436.204 146.787 1290.574 1737.850 1414.287 +115000 1248.511 28.336 1195.120 1297.649 1249.554 +120000 1520.778 74.465 1446.749 1644.919 1485.815 +125000 1345.227 50.764 1295.600 1475.403 1331.478 +130000 1324.755 40.564 1293.722 1405.644 1303.454 +135000 2247.605 595.046 1259.486 3184.840 2217.483 +140000 2614.176 699.143 1494.157 3294.566 2882.650 +145000 1388.439 115.268 1282.187 1667.812 1342.161 +150000 1731.120 180.177 1488.329 2059.525 1724.243 +155000 1466.010 190.979 1196.786 1807.832 1426.091 +160000 1772.525 545.002 1364.571 3264.498 1549.195 +165000 1430.320 268.130 1195.729 1919.994 1282.191 +170000 2074.217 577.437 1541.964 3186.668 1940.382 +175000 1437.426 254.183 1220.608 2113.166 1332.239 +180000 1645.533 330.509 1243.599 2343.923 1502.077 +185000 2226.563 640.674 1420.719 3285.007 2107.569 +190000 1525.603 187.646 1316.924 1979.573 1488.422 +195000 1416.796 18.782 1386.744 1437.912 1421.894 +200000 1688.827 348.565 1329.849 2525.808 1549.633 +205000 1761.231 594.664 1231.951 2817.056 1432.249 +210000 1059.825 396.126 506.060 1606.741 1024.538 +215000 1309.053 120.821 1191.071 1620.278 1268.276 +220000 1871.948 556.315 1440.879 3270.805 1625.324 +225000 1536.181 113.261 1358.156 1787.739 1515.969 +230000 2105.740 652.734 1456.293 3199.002 1834.596 +235000 2088.167 576.872 1129.803 3370.177 1927.348 +240000 1589.856 323.520 1285.778 2394.755 1454.399 +245000 1408.334 231.166 1175.635 1974.723 1304.894 +250000 2581.490 545.098 1601.642 3211.777 2730.221 +255000 3146.198 29.546 3111.768 3205.754 3138.433 +260000 1506.954 142.074 1182.155 1725.307 1514.665 +265000 1616.635 184.670 1442.528 1962.369 1507.724 +270000 1454.382 334.046 1267.718 2305.524 1300.588 +275000 1636.125 293.887 1315.038 2450.209 1570.304 +280000 1487.942 101.780 1306.207 1616.864 1512.032 +285000 1534.412 446.496 1229.187 2641.509 1300.358 +290000 1555.629 444.508 1274.880 2854.869 1471.629 +295000 1755.853 563.374 1287.410 3211.867 1530.317 +300000 1627.135 221.598 1300.269 1919.323 1573.789 +305000 1556.458 184.007 1402.268 1946.752 1473.409 +310000 2027.046 638.277 1450.608 3242.102 1792.808 +315000 1601.944 166.184 1485.309 2047.951 1513.807 +320000 1433.274 152.212 1208.530 1732.708 1418.308 +325000 2165.217 557.479 1473.215 3404.910 2048.726 +330000 1736.729 512.518 1435.237 3225.660 1557.589 +335000 1337.939 72.226 1221.864 1429.831 1371.245 +340000 1562.961 135.525 1418.589 1882.700 1540.324 +345000 1495.166 206.042 1176.547 1928.362 1420.419 +350000 1839.226 299.748 1319.532 2339.351 1771.325 +355000 1570.390 176.649 1291.043 1825.037 1532.988 +360000 2361.167 568.866 1469.466 3318.926 2407.389 +365000 1408.444 65.902 1285.257 1471.400 1444.480 +370000 1275.428 141.281 1174.888 1669.957 1227.379 +375000 1398.663 199.063 1222.848 1802.036 1303.754 +380000 1184.692 41.049 1143.072 1292.804 1174.617 +385000 1630.927 191.373 1461.580 2037.572 1523.278 +390000 1531.977 225.156 1188.341 1940.464 1543.477 +395000 1450.303 252.756 1220.657 1992.691 1352.681 +400000 1435.122 140.501 1282.992 1731.472 1403.139 +405000 1476.419 71.675 1398.245 1634.781 1467.595 +410000 1513.186 128.622 1415.351 1834.394 1457.550 +415000 1761.964 467.541 1399.475 3040.994 1610.573 +420000 1728.317 327.030 1465.416 2411.111 1514.443 +425000 1785.545 312.308 1430.337 2320.432 1654.770 +430000 1465.173 275.685 1223.738 2128.243 1304.331 +435000 1865.983 622.623 1359.194 3126.682 1521.836 +440000 1506.505 240.752 1277.771 2181.473 1481.237 +445000 1622.184 276.200 1381.798 2187.166 1487.651 +450000 1157.044 177.613 874.617 1465.320 1179.119 +455000 1767.331 280.135 1447.854 2246.223 1664.627 +460000 2090.510 622.231 1452.315 3375.229 1862.228 +465000 1881.403 426.886 1457.770 2867.429 1691.785 +470000 1491.060 238.185 1224.150 2103.788 1468.950 +475000 1892.550 416.610 1428.690 2934.157 1828.397 +480000 1742.824 359.690 1271.810 2361.268 1729.498 +485000 1678.555 590.600 1239.130 3280.014 1476.923 +490000 1496.143 241.876 1289.068 2126.043 1406.195 +495000 1522.026 253.162 1200.511 1912.731 1439.533 +500000 1492.160 121.477 1339.861 1802.647 1456.097 +505000 1567.325 314.337 1352.419 2265.205 1413.809 +510000 1079.026 204.657 856.680 1544.570 1003.683 +515000 2162.971 563.526 1586.102 3174.672 2139.020 +520000 1714.799 235.888 1282.170 2086.958 1719.774 +525000 1494.777 117.146 1260.057 1647.229 1512.550 +530000 1284.026 41.487 1246.836 1396.385 1271.615 +535000 1617.759 299.417 1216.624 2138.572 1566.126 +540000 1560.566 150.365 1431.884 1855.705 1491.391 +545000 2027.015 645.556 1461.941 3251.450 1736.060 +550000 1937.187 588.503 1108.123 3162.645 1749.524 +555000 1442.799 222.248 1274.677 2044.985 1362.930 +560000 1586.995 410.666 1272.136 2700.022 1462.006 +565000 1756.698 469.480 1215.650 2452.394 1622.055 +570000 1389.886 277.106 1099.949 2107.656 1262.684 +575000 1340.088 143.707 1247.690 1766.177 1302.158 +580000 1556.554 421.047 1255.822 2719.631 1450.319 +585000 1441.176 233.884 1215.089 1900.901 1332.248 +590000 1443.719 215.234 1296.019 2017.217 1360.669 +595000 1912.944 533.871 1513.264 3244.744 1607.045 +600000 1236.585 97.362 1121.237 1426.690 1188.893 +605000 1499.279 213.932 1284.022 1963.866 1450.953 +610000 1472.804 233.746 1273.196 1995.323 1334.858 +615000 1795.833 328.010 1432.322 2395.285 1753.780 +620000 1411.353 162.927 1235.658 1737.462 1375.398 +625000 1920.928 713.242 1425.187 3264.105 1507.660 +630000 1981.396 748.921 1310.698 3251.729 1503.763 +635000 1445.955 303.161 1226.116 2139.204 1299.751 +640000 1471.091 255.363 1218.058 2108.910 1363.623 +645000 2053.100 621.760 1301.637 3014.144 1947.812 +650000 1725.271 656.548 1274.131 3276.642 1480.826 +655000 2004.247 734.791 1278.623 3277.748 1801.514 +660000 1471.342 306.852 1185.482 2095.257 1282.686 +665000 1346.067 185.005 1191.035 1755.767 1274.859 +670000 1820.400 753.450 1292.273 3319.258 1464.001 +675000 1312.983 88.903 1234.791 1515.635 1270.500 +680000 1587.034 388.550 1247.232 2453.028 1404.268 +685000 1421.971 291.077 1217.985 2017.014 1304.838 +690000 1778.700 527.067 1292.019 2741.635 1537.055 +695000 1390.623 335.198 1174.585 2364.385 1262.582 +700000 1318.496 179.996 1029.277 1590.093 1278.647 +705000 1667.970 274.993 1306.337 2146.930 1723.018 +710000 1453.769 229.073 1194.299 1934.646 1355.020 +715000 1626.321 647.082 1265.886 3394.699 1300.445 +720000 1316.588 187.870 1191.952 1829.438 1248.333 +725000 1531.536 419.003 1226.339 2315.904 1274.556 +730000 1363.528 260.751 1172.903 2039.508 1241.638 +735000 1263.095 58.567 1211.077 1412.884 1233.479 +740000 1310.465 122.981 1212.653 1593.788 1255.754 +745000 1262.640 30.888 1204.014 1316.558 1262.861 +750000 1683.160 486.501 1233.782 2823.836 1552.707 +755000 1308.419 127.556 1197.322 1660.818 1272.694 +760000 1503.466 446.209 1099.702 2658.629 1363.351 +765000 1392.122 275.512 1212.994 2185.438 1310.031 +770000 1338.059 127.821 1220.201 1602.242 1269.151 +775000 1448.558 285.998 1243.278 2032.201 1296.427 +780000 1710.006 598.372 1236.792 3279.601 1537.450 +785000 1303.232 117.709 1190.349 1640.241 1274.021 +790000 1213.171 36.003 1152.669 1280.045 1222.797 +795000 1295.152 46.158 1255.380 1422.243 1275.424 +800000 1384.884 209.884 1216.663 1808.741 1285.545 +805000 1524.260 450.243 1249.456 2727.794 1299.588 +810000 1498.223 364.202 1024.630 1975.313 1456.869 +815000 1374.466 195.807 1233.688 1865.639 1271.419 +820000 1420.692 321.307 1196.897 2306.690 1283.230 +825000 2025.444 652.092 1235.983 3219.492 1862.181 +830000 1524.643 327.298 1216.847 2251.459 1407.546 +835000 1892.890 749.633 1226.631 3394.767 1617.000 +840000 1495.340 261.214 1244.207 2154.008 1496.710 +845000 1541.414 582.038 1179.918 2842.208 1268.777 +850000 1368.757 216.372 1198.647 1925.624 1260.663 +855000 1385.081 256.344 1232.262 2132.194 1293.485 +860000 1861.884 724.288 1228.375 3362.540 1434.146 +865000 1515.817 418.991 993.248 2303.987 1474.030 +870000 1428.960 198.224 1219.101 1797.164 1314.397 +875000 1719.150 675.416 1197.714 3334.955 1492.210 +880000 1662.965 528.205 1165.311 2493.423 1383.724 +885000 1603.753 617.175 1189.296 3279.254 1375.269 +890000 1530.944 322.434 1211.692 2186.783 1415.036 +895000 1563.603 520.354 1203.806 3040.217 1396.875 +900000 1539.898 316.614 1094.137 2269.193 1527.027 +905000 1682.530 456.771 1231.791 2760.883 1537.903 +910000 1646.937 491.565 1252.915 2659.409 1356.280 +915000 1513.306 338.908 1243.870 2165.619 1274.168 +920000 1566.443 431.279 1200.736 2432.156 1380.741 +925000 1501.111 359.985 1207.940 2398.077 1351.179 +930000 1461.270 493.309 1137.885 2813.100 1253.898 +935000 1452.484 330.717 1175.471 2221.205 1269.726 +940000 1595.293 523.984 1153.900 2947.577 1404.791 +945000 1834.571 711.300 1149.280 3274.709 1564.039 +950000 1583.441 530.040 1234.061 3008.324 1313.479 +955000 1433.384 418.964 1159.253 2639.373 1271.227 +960000 1664.625 504.707 1215.770 2658.707 1403.107 +965000 1496.840 381.172 1230.234 2415.081 1289.202 +970000 1349.770 220.022 1114.418 1888.066 1267.468 +975000 1563.896 620.326 1203.217 3364.609 1285.180 +980000 1431.824 411.539 1206.957 2631.801 1274.073 +985000 1539.800 459.383 1235.348 2774.783 1307.042 +990000 1451.026 257.131 1254.880 2137.528 1332.287 +995000 1431.102 291.514 1189.687 2190.222 1305.991 +1000000 1284.457 66.898 1223.028 1458.986 1268.718 diff --git a/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-replay-v2_results/seed-100/result.png b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-replay-v2_results/seed-100/result.png new file mode 100644 index 00000000..609bae6b Binary files /dev/null and b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-replay-v2_results/seed-100/result.png differ diff --git a/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-v2_results/evaluation_result_average_scalar.tsv b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-v2_results/evaluation_result_average_scalar.tsv new file mode 100644 index 00000000..8c13f805 --- /dev/null +++ b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-v2_results/evaluation_result_average_scalar.tsv @@ -0,0 +1,201 @@ +iteration mean std_dev min max median +5000 1427.529 202.047 1059.925 1874.215 1349.356 +10000 1267.068 27.262 1216.761 1320.328 1274.955 +15000 1614.063 234.037 1200.356 2599.111 1525.874 +20000 1676.212 373.879 1201.389 2743.182 1800.142 +25000 1550.942 297.167 1228.817 2186.898 1511.295 +30000 1310.909 79.254 1192.311 1566.559 1286.583 +35000 1388.499 160.019 1036.702 1670.256 1346.970 +40000 1219.301 175.962 1032.425 1645.970 1158.599 +45000 1586.669 331.898 1227.771 2637.898 1548.694 +50000 1399.756 314.788 1036.043 2207.426 1317.821 +55000 1323.581 221.943 1042.000 1944.290 1272.482 +60000 1146.030 138.733 1002.232 1606.596 1071.835 +65000 1622.468 610.594 964.506 3316.734 1468.702 +70000 1311.690 123.164 1152.861 1663.879 1282.438 +75000 1672.304 403.532 1046.543 2813.886 1586.412 +80000 1287.215 361.309 968.315 2888.839 1207.591 +85000 1566.225 316.802 1240.561 2445.133 1518.974 +90000 1744.710 462.616 1219.041 3296.310 1621.526 +95000 1557.768 612.408 958.611 3337.696 1311.173 +100000 1598.221 365.979 1275.431 2571.706 1523.874 +105000 1715.394 559.948 1196.161 3244.115 1547.736 +110000 1969.209 592.184 1335.711 3371.523 1669.833 +115000 2005.448 594.715 1248.418 3341.348 1843.297 +120000 1952.850 554.676 1315.555 3360.608 1874.881 +125000 1799.051 431.402 1513.233 3281.668 1608.633 +130000 1674.745 238.361 1338.642 2420.600 1611.319 +135000 1973.772 396.956 1477.010 2821.438 1880.220 +140000 1906.439 527.035 1458.625 3271.525 1622.521 +145000 1946.368 476.747 1333.431 3070.863 1809.167 +150000 1726.878 456.551 1287.450 3345.801 1585.162 +155000 2058.226 545.504 1486.449 3281.111 1901.439 +160000 1743.246 353.423 1297.606 2623.463 1606.601 +165000 1810.302 594.046 1305.528 3356.620 1555.133 +170000 1694.614 369.761 1315.345 3316.457 1613.298 +175000 2025.562 640.281 1324.866 3265.168 1723.590 +180000 2211.533 674.886 1370.126 3353.542 1906.818 +185000 2140.348 492.659 1541.668 3331.788 2084.628 +190000 1891.291 459.161 1347.251 3281.216 1789.211 +195000 1845.785 402.426 1344.439 3051.697 1658.365 +200000 1895.257 586.335 1327.962 3222.603 1609.530 +205000 1763.569 377.062 1321.367 2742.713 1613.852 +210000 1692.172 320.295 1305.634 2430.179 1586.423 +215000 2061.777 563.274 1306.928 3339.442 1892.454 +220000 2257.042 550.904 1464.171 3284.980 2136.379 +225000 1929.902 556.541 1356.791 3282.676 1681.454 +230000 1856.043 500.231 1343.777 3276.613 1632.982 +235000 2058.521 548.790 1449.238 3266.326 1892.705 +240000 2035.992 571.850 1366.326 3372.910 1885.338 +245000 1767.569 311.247 1449.678 2845.229 1616.251 +250000 2252.766 793.703 1304.492 3359.764 2121.012 +255000 2212.470 554.760 1512.309 3306.868 2105.354 +260000 1856.557 370.090 1355.398 3092.104 1840.994 +265000 2008.162 479.863 1529.384 3104.405 1882.639 +270000 1947.818 514.157 1291.797 3309.202 1853.805 +275000 2089.933 633.062 1385.649 3309.106 1901.869 +280000 2006.127 610.657 1289.600 3308.614 1818.697 +285000 1828.037 483.938 1291.890 3304.719 1806.568 +290000 1794.389 435.969 1312.765 3297.377 1626.805 +295000 1997.448 546.949 1401.980 3270.751 1828.784 +300000 1907.725 546.071 1294.048 3276.408 1618.406 +305000 1819.759 412.974 1391.195 3246.737 1693.172 +310000 2007.835 518.375 1355.763 3351.519 1876.784 +315000 2307.313 561.505 1571.615 3344.554 1992.649 +320000 2074.894 631.540 1317.615 3246.574 1862.066 +325000 1769.498 357.430 1296.791 3233.348 1731.003 +330000 2131.707 558.690 1332.336 3334.343 1922.735 +335000 2043.860 529.144 1344.375 3263.132 1898.948 +340000 2163.176 483.180 1534.533 3366.050 1939.403 +345000 2074.494 575.233 1390.708 3321.881 1916.474 +350000 2050.694 570.257 1280.281 3237.664 1868.512 +355000 2161.030 542.306 1421.747 3277.133 1927.825 +360000 1857.665 555.586 1314.722 3308.598 1676.399 +365000 1951.215 370.536 1306.397 2860.576 1909.573 +370000 1921.881 382.034 1296.585 3098.603 1869.535 +375000 2190.104 503.498 1440.674 3300.347 2053.629 +380000 2069.794 600.006 1308.512 3303.458 1881.082 +385000 1991.642 591.841 1312.217 3363.860 1754.871 +390000 2084.668 355.905 1737.742 3291.473 1923.696 +395000 2073.492 600.958 1440.898 3290.089 1899.214 +400000 2330.299 577.260 1585.838 3359.318 2182.355 +405000 1855.653 317.963 1381.822 3225.218 1805.309 +410000 2078.109 441.252 1483.802 3280.143 1908.547 +415000 2201.762 521.771 1514.649 3348.883 1938.150 +420000 2106.305 596.234 1427.871 3303.943 1870.218 +425000 2189.380 486.762 1488.922 3343.869 1924.149 +430000 2218.550 570.054 1462.117 3314.635 1936.630 +435000 2049.568 520.261 1342.181 3350.470 1916.523 +440000 2376.090 594.149 1546.823 3317.642 2234.222 +445000 2024.509 476.286 1357.658 3124.254 1876.423 +450000 2058.715 405.521 1557.192 3321.645 1911.847 +455000 2257.511 511.664 1500.843 3226.905 2104.167 +460000 2237.752 538.193 1508.984 3293.437 1938.899 +465000 2341.254 629.524 1395.251 3357.687 2210.641 +470000 2068.921 393.824 1451.292 3326.356 1933.533 +475000 2193.086 406.523 1569.281 3323.781 2080.978 +480000 1902.390 425.448 1391.758 3268.120 1890.457 +485000 1976.167 405.562 1428.139 3285.971 1905.786 +490000 2290.491 520.787 1463.384 3335.961 2162.846 +495000 2046.511 515.955 1454.996 3261.256 1899.720 +500000 2202.106 472.606 1760.356 3301.834 1932.727 +505000 2284.054 488.382 1620.994 3268.128 2139.949 +510000 2322.579 459.422 1835.928 3341.081 2198.101 +515000 2141.840 504.786 1387.414 3304.744 2018.943 +520000 2087.876 454.807 1595.531 3325.593 1948.169 +525000 2388.778 537.007 1760.239 3258.350 2132.035 +530000 2294.378 564.224 1716.053 3307.324 1991.205 +535000 2079.946 333.090 1675.578 3140.382 1927.734 +540000 2203.456 429.833 1780.746 3320.589 1975.106 +545000 2333.826 499.532 1818.348 3348.174 2144.495 +550000 2253.910 504.309 1760.797 3259.621 2099.331 +555000 2381.025 497.333 1835.594 3301.498 2202.459 +560000 2286.515 540.097 1480.512 3256.080 1948.390 +565000 2208.457 417.393 1725.499 3253.687 2028.459 +570000 1957.380 310.209 1590.924 3216.851 1894.482 +575000 1983.984 257.796 1471.694 3081.019 1926.889 +580000 2355.093 518.700 1611.201 3366.329 2219.645 +585000 2282.987 693.392 1365.739 3338.202 2128.599 +590000 2152.037 461.839 1727.410 3321.481 1938.394 +595000 2261.668 508.758 1701.917 3334.881 2077.896 +600000 2311.603 578.020 1607.317 3341.902 2020.895 +605000 2083.626 417.467 1631.644 3361.883 1923.548 +610000 2146.304 424.624 1606.661 3228.673 1920.548 +615000 2098.515 451.581 1479.608 3346.220 1940.859 +620000 2144.322 360.292 1748.822 3080.432 1940.867 +625000 2160.266 521.936 1480.223 3271.729 1919.789 +630000 2102.069 438.488 1339.014 3338.340 1919.608 +635000 2037.671 365.048 1430.092 3053.471 1932.678 +640000 2058.326 315.559 1733.679 3032.636 1935.180 +645000 2109.526 437.746 1604.913 3361.217 1924.343 +650000 2199.359 442.874 1689.896 3239.200 1969.827 +655000 2053.877 470.195 1449.710 3288.989 1893.293 +660000 2246.638 448.214 1764.863 3276.974 2064.590 +665000 2289.495 553.304 1637.628 3300.540 2049.861 +670000 2348.615 572.853 1777.100 3317.929 2026.543 +675000 2132.324 391.141 1615.124 3219.735 1930.883 +680000 2116.139 435.264 1624.575 3295.459 1924.204 +685000 2196.077 498.116 1619.150 3341.092 1980.766 +690000 2102.746 376.145 1494.833 3064.368 1930.381 +695000 2273.977 527.359 1615.531 3302.593 2061.049 +700000 2049.361 308.084 1780.397 3356.415 1928.969 +705000 2215.819 435.892 1730.055 3312.888 1997.957 +710000 2369.111 500.088 1765.417 3264.941 2180.289 +715000 2284.674 495.494 1817.201 3314.668 2110.703 +720000 2240.099 525.518 1783.049 3311.441 1932.946 +725000 2127.957 455.081 1626.433 3364.276 1931.380 +730000 2168.969 491.953 1532.142 3342.037 1951.220 +735000 2148.370 425.566 1591.347 3278.326 1928.244 +740000 2194.380 454.627 1808.666 3318.205 1934.182 +745000 2117.670 478.535 1607.784 3345.646 1890.679 +750000 2289.151 559.584 1582.748 3300.323 1980.021 +755000 2159.536 348.586 1777.849 3376.112 2050.937 +760000 2159.069 447.906 1748.059 3346.014 1937.725 +765000 2298.507 551.966 1720.166 3355.667 2019.166 +770000 2300.514 522.803 1796.034 3366.909 2073.869 +775000 2132.758 438.545 1653.099 3362.740 1929.271 +780000 2231.445 461.637 1810.601 3275.214 2073.693 +785000 2133.400 417.787 1767.442 3327.811 1924.021 +790000 2235.154 482.574 1798.053 3385.998 1946.166 +795000 2230.243 564.821 1671.523 3410.036 1924.533 +800000 2314.986 523.085 1802.935 3280.534 1976.284 +805000 2383.001 495.062 1866.555 3289.885 2161.716 +810000 1970.814 361.988 1509.820 3269.890 1890.251 +815000 2278.883 560.359 1625.560 3362.331 2048.642 +820000 2181.083 411.082 1808.476 3284.394 1969.517 +825000 2135.821 426.675 1726.478 3266.719 1931.571 +830000 2115.672 369.533 1774.628 3285.778 1934.659 +835000 2108.536 362.518 1612.930 3242.942 1933.526 +840000 2373.457 518.395 1686.230 3327.886 2207.580 +845000 2141.264 381.889 1790.338 3091.552 1922.306 +850000 2217.630 479.932 1521.493 3289.349 2069.404 +855000 2079.424 323.150 1782.957 3208.160 1928.284 +860000 2174.428 430.525 1793.082 3384.577 1931.688 +865000 2066.094 347.726 1758.507 3298.446 1946.466 +870000 2115.263 389.374 1781.290 3292.859 1927.633 +875000 2127.064 430.178 1761.157 3239.037 1932.117 +880000 2202.903 473.590 1723.399 3266.083 1929.750 +885000 2172.881 415.662 1790.862 3278.199 1926.309 +890000 2168.884 474.049 1755.040 3371.016 1923.620 +895000 2066.274 366.335 1600.860 3227.670 1923.099 +900000 2164.979 410.005 1811.652 3249.542 1945.089 +905000 2126.320 458.176 1522.350 3258.551 1928.242 +910000 2168.991 467.954 1689.455 3297.646 1924.001 +915000 2226.894 520.593 1547.016 3272.629 1964.309 +920000 2227.037 458.315 1849.368 3383.969 2025.707 +925000 2062.552 411.927 1628.805 3252.627 1926.956 +930000 2212.984 464.239 1787.410 3324.654 1951.463 +935000 2103.964 385.703 1769.015 3329.462 1938.588 +940000 2127.000 340.553 1801.654 3019.246 1937.202 +945000 2211.155 428.218 1815.653 3273.992 2057.624 +950000 2109.939 394.882 1779.193 3372.365 1926.452 +955000 2276.022 533.805 1769.287 3281.305 1967.213 +960000 2309.001 517.887 1615.209 3327.044 2126.203 +965000 2220.254 477.260 1602.782 3289.213 2019.432 +970000 2078.310 381.382 1792.240 3299.335 1918.932 +975000 2201.564 492.300 1557.015 3324.780 1979.316 +980000 2130.555 402.206 1756.745 3257.546 1918.865 +985000 2205.074 454.875 1838.044 3313.877 1944.038 +990000 2168.184 481.163 1770.068 3329.199 1926.606 +995000 2166.622 457.233 1622.839 3363.586 2007.618 +1000000 2152.027 361.022 1834.580 3201.261 1977.888 diff --git a/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-v2_results/expert_normalized_score.tsv_scalar.tsv b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-v2_results/expert_normalized_score.tsv_scalar.tsv new file mode 100644 index 00000000..6f7f8642 --- /dev/null +++ b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-v2_results/expert_normalized_score.tsv_scalar.tsv @@ -0,0 +1,201 @@ +iteration mean std_dev +5000 44.485 6.208 +10000 39.555 0.838 +15000 50.217 7.191 +20000 52.126 11.488 +25000 48.277 9.131 +30000 40.902 2.435 +35000 43.286 4.917 +40000 38.087 5.407 +45000 49.375 10.198 +50000 43.632 9.672 +55000 41.291 6.819 +60000 35.836 4.263 +65000 50.475 18.761 +70000 40.926 3.784 +75000 52.006 12.399 +80000 40.174 11.102 +85000 48.747 9.734 +90000 54.231 14.214 +95000 48.487 18.817 +100000 49.730 11.245 +105000 53.330 17.205 +110000 61.129 18.195 +115000 62.242 18.273 +120000 60.626 17.043 +125000 55.901 13.255 +130000 52.081 7.324 +135000 61.269 12.197 +140000 59.200 16.194 +145000 60.427 14.649 +150000 53.683 14.028 +155000 63.864 16.761 +160000 54.186 10.859 +165000 56.246 18.253 +170000 52.692 11.361 +175000 62.860 19.673 +180000 68.574 20.737 +185000 66.387 15.137 +190000 58.735 14.108 +195000 57.336 12.365 +200000 58.857 18.016 +205000 54.810 11.586 +210000 52.617 9.841 +215000 63.973 17.307 +220000 69.973 16.927 +225000 59.921 17.100 +230000 57.652 15.370 +235000 63.873 16.862 +240000 63.181 17.571 +245000 54.933 9.563 +250000 69.841 24.387 +255000 68.603 17.046 +260000 57.667 11.371 +265000 62.326 14.744 +270000 60.472 15.798 +275000 64.838 19.451 +280000 62.263 18.763 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71.986 14.116 +515000 66.433 15.510 +520000 64.775 13.974 +525000 74.020 16.500 +530000 71.120 17.336 +535000 64.531 10.235 +540000 68.326 13.207 +545000 72.332 15.349 +550000 69.877 15.495 +555000 73.782 15.281 +560000 70.878 16.595 +565000 68.480 12.825 +570000 60.765 9.531 +575000 61.583 7.921 +580000 72.985 15.938 +585000 70.770 21.305 +590000 66.746 14.190 +595000 70.115 15.632 +600000 71.649 17.760 +605000 64.644 12.827 +610000 66.570 13.047 +615000 65.102 13.875 +620000 66.509 11.070 +625000 66.999 16.037 +630000 65.211 13.473 +635000 63.232 11.216 +640000 63.867 9.696 +645000 65.440 13.450 +650000 68.200 13.608 +655000 63.730 14.447 +660000 69.653 13.772 +665000 70.970 17.001 +670000 72.786 17.601 +675000 66.141 12.018 +680000 65.643 13.374 +685000 68.100 15.305 +690000 65.232 11.557 +695000 70.493 16.204 +700000 63.592 9.466 +705000 68.706 13.393 +710000 73.416 15.366 +715000 70.822 15.225 +720000 69.452 16.147 +725000 66.007 13.983 +730000 67.267 15.116 +735000 66.634 13.076 +740000 68.047 13.969 +745000 65.690 14.703 +750000 70.959 17.194 +755000 66.977 10.711 +760000 66.962 13.762 +765000 71.247 16.960 +770000 71.308 16.064 +775000 66.154 13.475 +780000 69.186 14.184 +785000 66.174 12.837 +790000 69.300 14.828 +795000 69.149 17.355 +800000 71.753 16.072 +805000 73.843 15.211 +810000 61.178 11.122 +815000 70.644 17.218 +820000 67.639 12.631 +825000 66.248 13.110 +830000 65.629 11.354 +835000 65.410 11.139 +840000 73.550 15.928 +845000 66.415 11.734 +850000 68.762 14.746 +855000 64.515 9.929 +860000 67.434 13.228 +865000 64.106 10.684 +870000 65.616 11.964 +875000 65.979 13.218 +880000 68.309 14.552 +885000 67.387 12.772 +890000 67.264 14.566 +895000 64.111 11.256 +900000 67.144 12.598 +905000 65.956 14.078 +910000 67.267 14.378 +915000 69.046 15.996 +920000 69.051 14.082 +925000 63.997 12.657 +930000 68.619 14.264 +935000 65.269 11.851 +940000 65.977 10.464 +945000 68.563 13.157 +950000 65.453 12.133 +955000 70.556 16.402 +960000 71.569 15.913 +965000 68.842 14.664 +970000 64.481 11.718 +975000 68.268 15.126 +980000 66.086 12.358 +985000 68.376 13.976 +990000 67.243 14.784 +995000 67.195 14.049 +1000000 66.746 11.093 diff --git a/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-v2_results/result.png b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-v2_results/result.png new file mode 100644 index 00000000..d1da3ebc Binary files /dev/null and b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-v2_results/result.png differ diff --git a/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-v2_results/seed-1/best_score_scalar.tsv b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-v2_results/seed-1/best_score_scalar.tsv new file mode 100644 index 00000000..31f7bbc6 --- /dev/null +++ b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-v2_results/seed-1/best_score_scalar.tsv @@ -0,0 +1,2 @@ +iteration best_mean_iteration mean std_dev best_median_iteration median +1 250000.000 2944.875 435.880 465000.000 3216.857 diff --git a/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-v2_results/seed-1/evaluation_result_histogram.tsv b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-v2_results/seed-1/evaluation_result_histogram.tsv new file mode 100644 index 00000000..b7d3490c --- /dev/null +++ b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-v2_results/seed-1/evaluation_result_histogram.tsv @@ -0,0 +1,201 @@ +iteration(key) values +5000 (returns) 1323.386 1635.796 1324.103 1323.750 1462.567 1332.251 1314.669 1631.136 1551.708 1059.925 +10000 (returns) 1236.348 1227.500 1242.431 1256.582 1256.914 1232.534 1232.127 1238.316 1235.854 1229.847 +15000 (returns) 1490.070 1493.964 1486.072 1483.940 1401.948 1478.042 1393.456 1421.846 1200.356 1683.286 +20000 (returns) 2103.933 1967.360 1964.454 1807.217 1853.528 1806.076 1801.140 2224.444 2743.182 2042.960 +25000 (returns) 1228.817 1545.264 1298.915 1239.599 1242.861 1241.253 1231.487 1233.746 1452.104 1242.988 +30000 (returns) 1316.657 1359.722 1192.311 1360.936 1258.018 1284.456 1283.041 1254.143 1206.067 1322.181 +35000 (returns) 1416.490 1259.875 1254.828 1235.041 1267.578 1217.151 1527.871 1534.482 1463.357 1252.171 +40000 (returns) 1329.231 1371.828 1082.652 1349.376 1061.965 1037.406 1135.555 1051.812 1032.425 1403.389 +45000 (returns) 1546.906 1588.238 1474.983 1619.546 1600.284 1332.313 1705.740 2637.898 1333.216 1597.884 +50000 (returns) 1336.814 2207.426 1922.816 1339.764 1272.280 1141.924 1208.672 1600.547 1352.785 1149.151 +55000 (returns) 1291.584 1285.271 1755.020 1332.134 1610.380 1339.221 1640.178 1360.738 1248.344 1352.186 +60000 (returns) 1221.711 1309.747 1260.848 1199.253 1247.508 1606.596 1245.262 1317.945 1336.095 1220.909 +65000 (returns) 3123.452 2524.260 1604.511 2254.558 2161.136 1576.751 1646.793 3316.734 2074.664 2442.794 +70000 (returns) 1188.236 1291.998 1265.583 1181.328 1498.153 1221.214 1253.685 1152.861 1301.674 1175.602 +75000 (returns) 2813.886 2753.463 1499.322 1504.398 1593.210 1922.024 2179.138 1589.696 1583.129 1576.632 +80000 (returns) 1241.099 1227.173 2888.839 1119.541 1401.487 1275.436 1545.972 2007.894 1286.222 1141.090 +85000 (returns) 1829.697 1619.058 1565.746 1841.541 1516.156 1521.791 1664.035 1618.929 1571.945 1652.894 +90000 (returns) 2185.688 2070.916 1602.629 1494.481 1892.247 1605.867 1890.757 1846.646 1637.186 3296.310 +95000 (returns) 1349.471 1648.305 2257.946 1961.028 3303.172 1850.357 1583.219 1568.798 1664.043 3337.696 +100000 (returns) 1299.960 1283.760 1297.287 1340.676 1300.019 1441.283 1275.431 1528.872 1299.206 1303.086 +105000 (returns) 1324.524 1297.046 1570.613 1359.633 1522.328 1598.811 1553.096 1337.294 1633.626 1914.571 +110000 (returns) 2781.214 3228.123 1596.012 1623.304 2511.921 1871.530 1598.031 1603.391 1451.451 1527.616 +115000 (returns) 1796.403 1782.062 2172.900 3250.382 2172.950 2835.226 1722.170 2198.009 1605.787 2532.612 +120000 (returns) 2119.051 3253.068 1575.351 1555.807 2737.692 2094.236 1561.049 2132.631 1526.478 1874.230 +125000 (returns) 1855.975 1564.704 1570.964 1796.205 1549.586 1613.205 1559.804 1754.058 2076.602 1795.716 +130000 (returns) 1814.869 2173.227 1851.540 2420.600 2097.446 1853.249 1580.022 1374.362 1338.642 1689.852 +135000 (returns) 1548.939 2793.476 1620.709 1861.953 1477.010 1593.322 2215.903 2180.493 1513.769 1846.726 +140000 (returns) 2179.602 2464.717 1569.978 1855.867 1458.625 1493.926 1559.881 3271.525 3231.778 1460.307 +145000 (returns) 2063.400 1910.713 1464.268 2193.793 1604.625 1571.259 3070.863 1630.404 1843.263 1467.950 +150000 (returns) 1326.926 1371.983 1551.000 1381.666 2222.357 1568.531 1886.170 1768.756 1319.539 1433.234 +155000 (returns) 3145.873 1911.413 1651.618 1965.226 2196.706 1580.048 1634.331 1587.174 1854.048 2824.723 +160000 (returns) 1715.594 1924.047 2202.980 1895.095 1897.224 1989.142 1908.555 1539.490 2226.000 1946.051 +165000 (returns) 1552.731 2159.683 2190.643 3243.701 2493.412 3112.790 1519.833 1878.338 2322.937 3356.620 +170000 (returns) 1356.120 2189.369 1678.436 1835.489 1388.137 1622.776 1611.661 2178.953 1878.804 1353.662 +175000 (returns) 1588.677 1576.875 1587.734 1799.000 1650.051 1948.073 1334.118 3265.168 1797.129 1400.710 +180000 (returns) 1622.732 1558.767 1620.786 1533.846 2726.381 3258.750 1370.126 1916.386 1629.397 2600.566 +185000 (returns) 1541.668 1616.922 1648.202 1555.534 1608.756 1676.583 1830.687 2155.367 1615.083 1925.202 +190000 (returns) 1409.811 2172.168 1601.969 1617.130 1772.429 1347.251 1583.513 1642.173 2195.524 1597.088 +195000 (returns) 1680.916 2127.942 2122.391 1509.076 1924.810 1379.322 1592.832 1801.930 1594.988 1613.554 +200000 (returns) 1609.755 1406.451 1600.730 1527.217 1566.054 1438.821 1327.962 1481.523 1602.157 1606.443 +205000 (returns) 1552.204 1489.082 2423.215 2303.191 1324.234 1718.662 1511.535 1322.300 1478.895 1321.367 +210000 (returns) 1362.461 1855.083 1609.419 2327.330 2430.179 1768.436 1348.405 1919.395 1358.971 1872.972 +215000 (returns) 1310.080 2487.498 1335.317 1601.197 3074.023 1306.928 1634.139 1615.261 1633.736 1895.793 +220000 (returns) 1464.171 2484.004 2658.396 2342.854 1926.588 2409.078 3284.980 2535.043 1913.498 1886.723 +225000 (returns) 2444.656 1897.272 1876.593 2561.302 2732.848 1792.691 3282.676 1821.457 1881.282 3273.448 +230000 (returns) 1586.577 3262.591 2809.453 1914.376 1894.109 1912.207 1892.718 3276.613 1767.538 1636.964 +235000 (returns) 1780.024 2170.215 1866.575 1608.563 1894.082 1986.011 1912.460 1617.433 2807.466 1987.583 +240000 (returns) 1393.047 1537.046 1922.595 1366.326 2403.580 1815.462 1547.187 2194.095 1588.063 2213.309 +245000 (returns) 1900.446 1663.261 1818.294 1726.282 1619.455 2177.624 2452.001 1503.752 1805.259 1898.145 +250000 (returns) 2162.638 2272.125 3114.130 3317.706 3269.457 3269.269 3088.700 3264.198 2448.590 3241.933 +255000 (returns) 2293.288 2802.825 2181.967 2116.928 3295.707 1926.949 3306.868 2815.188 1946.677 2495.587 +260000 (returns) 1925.344 1908.290 1877.912 2050.175 1595.602 1841.753 1870.196 2265.644 2163.063 1922.385 +265000 (returns) 1896.128 1639.770 1949.689 1595.164 1949.743 1925.280 1644.449 1859.314 1820.764 1883.517 +270000 (returns) 3237.884 2457.765 2364.511 2675.334 2370.906 2094.426 1918.450 2216.484 1918.992 1915.758 +275000 (returns) 1879.760 3251.804 2163.262 1591.708 1552.007 3283.768 1944.557 1911.618 2117.244 2246.135 +280000 (returns) 1519.744 3143.168 1537.618 2098.316 1907.668 1427.419 3308.614 2232.262 2488.939 1584.667 +285000 (returns) 2274.192 3304.719 1897.751 2168.718 1921.909 1620.103 1929.263 2755.840 2155.912 2850.062 +290000 (returns) 3297.377 1953.338 1932.037 1820.555 1593.775 1625.944 1845.004 1901.763 1317.816 1476.529 +295000 (returns) 2485.442 2836.051 1782.661 2292.692 2045.961 1401.980 3270.751 1610.220 1410.597 1605.797 +300000 (returns) 2531.628 2882.150 2088.634 1892.740 3156.647 1593.600 2257.673 2489.184 3276.408 1608.803 +305000 (returns) 1928.223 1937.782 1910.851 3246.737 1923.028 1920.875 1825.659 2373.706 1896.799 2144.593 +310000 (returns) 1524.114 2420.314 2291.336 3332.243 2028.015 3351.519 1851.115 1945.407 2810.547 2044.696 +315000 (returns) 1896.747 1870.473 2214.477 2422.730 1903.836 3247.104 1918.527 1942.082 1571.615 1916.814 +320000 (returns) 2077.308 1847.183 1931.918 2198.146 1931.007 3067.578 1623.722 1931.323 1876.950 3246.574 +325000 (returns) 2021.664 1636.936 1900.504 1526.618 1883.748 1940.589 1896.290 1886.766 1888.832 1911.638 +330000 (returns) 1580.861 1980.723 2340.334 1919.727 1896.009 1988.704 1459.165 3334.343 1941.607 1918.646 +335000 (returns) 2991.388 1921.551 1923.176 1344.375 1852.955 2356.298 1930.065 1769.186 1897.586 2506.364 +340000 (returns) 2195.163 2194.084 1919.486 3069.413 2200.143 2179.663 2469.201 2345.062 2195.310 1931.834 +345000 (returns) 2844.968 1554.524 1621.631 2245.354 3067.005 1909.804 2190.276 1873.823 2206.801 2742.142 +350000 (returns) 1940.684 1867.095 2503.749 2197.653 2521.641 2430.249 3021.795 2822.787 3080.352 1837.259 +355000 (returns) 1622.180 3084.432 3277.133 2365.526 1889.256 1926.170 1850.979 1864.505 2757.649 2104.910 +360000 (returns) 2704.484 1618.423 1911.051 1821.896 1925.758 1847.860 2141.867 3262.954 2098.180 2207.713 +365000 (returns) 1843.603 1846.659 2187.138 1866.513 1904.548 1912.878 1873.856 2537.548 2150.085 2158.521 +370000 (returns) 1790.486 1922.826 2470.402 1754.226 2681.342 1894.642 1621.470 2122.490 1907.961 1759.158 +375000 (returns) 1935.765 1924.227 2174.667 2218.784 3258.814 2735.573 2496.752 2190.586 1866.721 2177.894 +380000 (returns) 3303.458 1906.706 2150.563 1896.458 1941.981 1882.655 2199.382 1879.510 1876.484 1859.753 +385000 (returns) 1555.393 1827.931 3363.860 1505.838 2373.693 1634.488 2168.590 1586.217 2767.626 1312.217 +390000 (returns) 2084.746 1929.364 1772.272 1868.711 2444.634 1928.610 2052.451 1856.271 2081.668 1875.006 +395000 (returns) 3290.089 1856.015 1870.298 2382.714 3263.268 1898.739 1827.830 1899.688 1679.871 1622.045 +400000 (returns) 3002.959 3300.709 1933.588 1934.972 3347.961 2164.048 2952.204 3359.318 2204.598 2352.535 +405000 (returns) 1924.449 1924.258 1806.210 1924.026 3225.218 1910.236 1594.669 1596.804 1765.795 1811.188 +410000 (returns) 3280.143 1772.237 1834.239 1830.651 1907.341 1897.078 1903.495 2132.966 1878.964 1931.212 +415000 (returns) 3207.746 1929.534 1949.164 1916.299 3348.883 2015.182 2175.003 1922.144 1894.209 3110.045 +420000 (returns) 1502.397 2837.578 2190.627 1835.379 3238.462 1843.171 1612.808 1876.384 1791.370 1847.404 +425000 (returns) 1877.970 2767.158 1894.055 2053.346 1891.868 2129.329 1899.783 1899.399 1908.564 2459.743 +430000 (returns) 2222.440 3136.990 1840.764 1884.589 1939.963 2122.444 1786.922 1932.383 1922.990 1933.297 +435000 (returns) 3179.444 1935.374 2102.860 3274.953 2219.598 1919.784 2260.470 2131.487 2214.676 3350.470 +440000 (returns) 1946.017 1869.739 3144.012 1972.340 1921.380 1890.858 3065.017 2493.000 1809.190 1890.738 +445000 (returns) 1838.717 1908.770 2191.834 1804.245 2123.453 3040.826 2360.451 1841.276 1548.261 1836.832 +450000 (returns) 2108.168 1890.907 1862.962 2170.212 2171.249 1822.960 1812.069 1871.618 1835.743 1915.689 +455000 (returns) 3226.905 1915.808 2214.320 2089.487 1761.438 2388.358 1789.625 3221.713 2061.277 1914.600 +460000 (returns) 2113.115 1888.574 3247.909 1942.073 1935.725 3042.214 1917.697 1909.736 3196.119 1918.841 +465000 (returns) 3282.400 3004.277 3216.357 2195.737 3223.914 2211.396 3278.562 2210.290 3357.687 3217.357 +470000 (returns) 2637.248 1988.021 2240.717 1630.647 1926.035 2133.169 1838.718 2038.192 1792.999 1892.314 +475000 (returns) 1893.552 1918.868 2181.451 2361.380 1878.036 2341.201 1903.507 2165.943 1878.823 1903.774 +480000 (returns) 2503.945 1934.671 2283.351 2477.561 2081.411 1884.992 2720.056 1922.123 1901.199 2197.286 +485000 (returns) 1845.417 2204.707 1909.879 1894.696 1915.153 2601.945 1952.600 1932.099 2095.190 3285.971 +490000 (returns) 2305.222 1850.283 2623.688 2182.435 3334.661 1932.134 2193.330 2806.446 2463.642 1910.410 +495000 (returns) 1606.835 1867.432 1628.698 1599.319 1789.751 1919.868 1907.797 1598.602 1597.602 2216.991 +500000 (returns) 1903.863 1927.750 2724.781 2803.880 2868.662 1939.667 1932.444 1942.472 1892.340 1933.011 +505000 (returns) 3244.245 1768.831 1869.466 1924.894 3099.180 1876.160 1935.429 1915.985 1883.463 2541.654 +510000 (returns) 2410.163 2442.984 2346.943 2506.044 2787.937 1945.594 2184.118 3271.388 1922.870 2314.688 +515000 (returns) 2207.493 2649.548 2135.857 1930.634 2159.522 1918.993 2937.899 1928.539 2054.979 1921.822 +520000 (returns) 2168.977 1834.224 1949.464 1787.481 1951.944 2341.730 3325.593 1900.462 1946.875 2693.045 +525000 (returns) 2108.273 2046.443 1925.785 2143.784 1934.816 2120.016 2130.132 3228.078 1926.786 1922.488 +530000 (returns) 3222.716 2545.960 1911.633 3253.995 2812.285 1916.008 1828.551 1878.421 2129.925 1947.301 +535000 (returns) 1859.491 2450.365 1950.943 2091.688 1874.734 3140.382 1853.669 2687.285 1825.879 2529.220 +540000 (returns) 3297.061 2212.047 1867.901 2189.236 1812.913 1920.255 2634.125 3320.589 2011.858 2019.923 +545000 (returns) 1818.348 2058.250 1850.464 2099.957 2825.153 1947.116 2751.909 1908.670 1916.885 2205.599 +550000 (returns) 2499.146 2088.351 1876.906 2162.536 1900.523 1893.886 3238.645 1936.962 3011.977 2120.292 +555000 (returns) 1854.818 2397.592 2500.431 1932.672 2748.069 2180.470 3227.780 1928.217 3095.558 1939.371 +560000 (returns) 1869.130 1876.480 2055.185 2211.503 1942.746 2119.047 2717.565 1821.325 1895.009 1948.838 +565000 (returns) 2114.980 3253.687 2646.956 1946.518 1952.681 2520.602 1913.290 1917.061 2810.157 1895.745 +570000 (returns) 1903.130 2066.834 1945.471 1888.038 1907.765 1901.407 2065.488 1949.665 1896.678 2794.464 +575000 (returns) 1889.313 1933.168 3081.019 2134.924 1900.780 1884.521 1932.374 2202.263 2116.182 2151.289 +580000 (returns) 3238.205 2531.876 2236.243 3264.784 2439.172 2224.547 2499.092 3136.775 2498.588 2116.526 +585000 (returns) 3338.202 2176.571 1934.714 1904.969 3218.410 3295.723 2144.771 3091.885 2083.361 2174.445 +590000 (returns) 2340.830 2096.612 2112.274 3068.731 3243.206 1937.195 1885.416 1917.557 1923.718 1905.938 +595000 (returns) 1888.846 3333.956 1903.926 2060.188 2124.013 1926.368 2491.786 2151.385 2351.369 1877.582 +600000 (returns) 2740.659 3341.902 2312.898 1799.303 1831.755 3274.550 2503.152 1925.355 2390.415 3286.669 +605000 (returns) 1908.182 1776.734 1923.387 1964.404 1923.709 2697.649 2304.076 1787.367 1944.121 1852.988 +610000 (returns) 1857.184 2207.975 1924.529 2724.986 2302.700 2833.782 2509.154 2116.522 1803.656 1916.568 +615000 (returns) 1899.193 1903.660 2152.565 1986.977 1888.389 1660.076 1888.033 2090.174 1866.979 1908.400 +620000 (returns) 1881.059 2189.991 2506.837 1906.518 1916.506 1946.625 1903.524 1785.457 1896.016 1905.354 +625000 (returns) 1480.223 1789.902 2118.342 1908.771 1849.467 2519.648 1952.893 1499.268 3271.729 2844.962 +630000 (returns) 2735.118 2235.052 1919.761 2199.433 2725.795 1788.933 2921.297 3338.340 2480.557 2152.000 +635000 (returns) 2450.854 2764.979 1997.727 1907.308 2088.219 2154.455 2110.703 2771.319 2158.645 1925.190 +640000 (returns) 3032.636 1741.837 1941.414 1801.282 2450.486 1862.930 1904.637 2218.361 2194.406 1813.978 +645000 (returns) 1811.696 1800.963 2193.821 2754.549 1927.164 2989.273 2104.254 1923.505 1669.389 1905.148 +650000 (returns) 1907.371 3236.398 3028.151 3239.200 1923.967 1922.483 1935.073 1854.889 1689.896 2480.851 +655000 (returns) 3288.989 2114.686 2173.368 3250.827 2210.684 2217.500 2068.444 1713.800 1853.012 1813.235 +660000 (returns) 1941.411 3260.435 2475.933 1834.328 2384.818 1936.020 2426.966 1884.322 2527.257 2127.588 +665000 (returns) 1883.334 1838.409 1775.176 2790.146 1893.705 1791.507 2800.378 2009.812 1903.338 3197.272 +670000 (returns) 1915.775 1834.713 1777.100 2208.469 3183.091 3306.691 3308.446 1963.610 1785.263 2465.891 +675000 (returns) 1866.610 2198.733 1928.964 3219.735 2142.303 1615.124 1924.413 1932.803 2693.974 2111.567 +680000 (returns) 1893.016 1907.741 2760.575 1908.175 1843.026 1862.284 2089.935 3295.459 2690.823 2087.843 +685000 (returns) 2212.267 1623.272 1831.765 1814.536 1945.194 1923.789 1619.150 3246.002 1650.033 3341.092 +690000 (returns) 2371.914 2731.961 2471.146 1911.302 1866.934 2528.672 2782.099 1848.181 2180.021 2465.628 +695000 (returns) 2192.545 1940.238 3275.386 2147.292 3266.994 2493.370 2158.349 2064.516 1822.303 1957.029 +700000 (returns) 2164.715 1920.195 1924.213 1931.100 2133.750 2136.196 2437.280 2082.135 1824.572 2678.368 +705000 (returns) 2719.732 1928.263 3002.249 2250.675 3221.843 1893.481 1920.818 3312.888 1940.966 2684.982 +710000 (returns) 3264.941 2174.799 2374.850 3264.616 1922.818 2814.706 2030.195 1870.943 2440.849 2094.374 +715000 (returns) 3314.668 2097.094 2210.485 2199.972 2612.097 2198.507 2124.311 3236.347 2045.761 2463.945 +720000 (returns) 1783.049 1807.300 2217.351 3257.355 3247.214 2202.847 1933.788 1897.232 1926.882 3302.475 +725000 (returns) 2172.555 2126.901 2216.171 1924.048 1844.418 2848.396 1805.212 1633.947 2200.473 1932.589 +730000 (returns) 1925.379 3278.626 1845.135 3330.410 2088.258 1806.712 3342.037 2541.376 2512.896 3144.108 +735000 (returns) 2510.106 2792.634 1897.683 1786.204 1749.345 1927.246 1936.437 2528.495 1876.196 1914.738 +740000 (returns) 2100.070 2241.931 1877.233 2940.674 1884.585 1831.494 3232.836 2021.419 2202.541 3318.205 +745000 (returns) 1868.122 3016.366 1817.936 3345.646 2876.900 2319.481 1980.033 2798.213 1879.790 2436.922 +750000 (returns) 2064.566 1908.550 3165.062 1906.023 2015.467 1944.575 1912.606 1907.846 2210.423 1582.748 +755000 (returns) 2356.981 2697.566 2283.909 2324.723 2365.970 2151.938 1937.716 1777.849 2047.088 1944.187 +760000 (returns) 1905.414 3329.594 1925.529 1938.356 2703.328 1906.220 1925.788 1918.583 3115.535 1847.604 +765000 (returns) 1928.987 1841.581 2355.505 2193.368 2225.466 3316.709 3205.487 3221.409 3258.337 1949.064 +770000 (returns) 2403.376 2128.505 1796.034 3249.074 3247.024 2154.150 2257.299 1849.247 1944.570 3286.917 +775000 (returns) 1854.161 1653.099 2792.458 1881.452 3264.693 1905.538 1831.238 2764.905 2096.323 1783.670 +780000 (returns) 2211.214 3275.214 3259.363 1926.130 1871.500 1853.332 1912.728 2125.296 3274.906 2114.558 +785000 (returns) 1834.235 1767.442 2473.263 1966.811 1918.507 1815.617 2813.789 3193.194 1921.828 1901.040 +790000 (returns) 1915.799 2228.539 1894.179 1894.760 1913.617 1944.356 1909.628 2196.044 2041.502 2079.682 +795000 (returns) 3063.548 1671.523 1935.455 2164.179 3082.741 1897.044 1941.547 3298.388 1811.097 3311.231 +800000 (returns) 3273.474 1913.531 2419.850 2121.742 1893.076 1963.140 1936.157 2107.016 2376.975 2509.175 +805000 (returns) 2129.914 2186.987 2992.119 1914.868 3222.172 2189.810 2612.661 3108.984 2421.315 1929.424 +810000 (returns) 1916.793 1805.800 1861.642 1917.725 2185.904 1521.966 1904.806 1569.909 1833.400 1805.725 +815000 (returns) 1791.483 3286.640 2127.945 2857.750 2105.066 3025.665 2740.097 1813.589 2103.243 1906.179 +820000 (returns) 1927.147 1864.800 1910.014 1893.768 1836.913 2094.815 2275.646 1916.573 2077.171 2138.623 +825000 (returns) 1907.706 2134.839 2425.119 1915.104 3266.719 1776.832 2230.283 2448.404 1726.478 3256.316 +830000 (returns) 2071.606 2242.271 1882.680 3285.778 1863.409 2517.141 2024.954 2164.677 2490.869 2761.395 +835000 (returns) 2525.361 1868.562 1926.414 1934.850 2126.246 2508.093 1785.271 1932.202 2324.066 1612.930 +840000 (returns) 1809.869 2208.084 3244.500 2817.653 2174.272 2056.769 2767.480 2090.785 1943.855 1787.534 +845000 (returns) 1850.850 3091.552 2727.367 2248.791 1851.023 1907.187 1898.590 1880.390 1916.053 1939.751 +850000 (returns) 2476.117 2247.279 1623.380 3018.846 2679.575 2235.954 1859.606 1914.405 2232.974 2072.773 +855000 (returns) 1936.960 1877.511 2145.261 2191.263 2024.571 2370.295 2079.113 1921.846 1918.935 2212.929 +860000 (returns) 1793.082 3248.995 1892.156 2208.667 2448.873 1896.040 1883.636 2201.294 1834.533 1948.938 +865000 (returns) 3298.446 2157.927 1935.862 1954.677 2178.342 1772.729 1758.507 1795.668 2279.344 2224.328 +870000 (returns) 1916.684 1781.290 2212.452 2243.736 2119.269 3292.859 1934.520 2499.385 1799.467 1916.919 +875000 (returns) 1886.656 1779.924 1926.008 1929.991 1761.157 1934.244 1816.211 1942.389 1934.903 1934.718 +880000 (returns) 1921.941 2677.769 1920.578 1814.828 2111.791 1772.958 1723.399 3012.501 1772.361 2129.942 +885000 (returns) 2292.225 1790.862 1900.965 3037.789 2054.271 1906.121 1885.334 1929.019 3278.199 2131.244 +890000 (returns) 1813.718 1847.207 1903.719 1849.818 1773.456 2754.864 3017.864 1755.040 2479.423 3193.154 +895000 (returns) 2173.867 2462.779 1800.466 1802.089 2251.930 1723.759 1883.330 1930.633 3227.670 1917.466 +900000 (returns) 2412.441 1811.652 1922.083 2533.031 2240.714 2142.792 1926.707 1915.800 1908.230 1850.967 +905000 (returns) 1912.826 2265.656 2266.467 1774.454 1930.829 1608.495 2753.939 3243.879 1916.849 1575.799 +910000 (returns) 1710.398 2536.343 2703.577 1886.184 3259.401 2212.535 1703.205 2684.848 1689.455 2188.832 +915000 (returns) 2224.594 3066.371 2247.427 1913.549 2123.333 1806.429 2107.710 1868.971 1904.373 1860.980 +920000 (returns) 1938.496 1888.487 1890.488 1849.368 2096.511 2210.580 2088.903 1927.217 3217.363 2121.952 +925000 (returns) 1628.805 1932.178 3243.578 1889.855 1825.178 1815.849 1769.822 1946.357 1931.889 2119.962 +930000 (returns) 2963.565 2216.947 2213.425 1859.800 3271.356 2115.693 1836.878 2319.969 1800.787 1880.446 +935000 (returns) 2239.457 1806.401 1929.201 1900.272 3312.885 1917.916 2480.619 3329.462 2094.968 2776.580 +940000 (returns) 3019.246 2666.141 1887.175 2774.286 2190.593 1930.902 1872.896 1920.147 1943.501 2116.353 +945000 (returns) 2140.032 3254.036 1815.653 2834.923 1921.730 2833.646 2122.372 3121.731 1894.978 2107.987 +950000 (returns) 2100.430 1779.193 1826.868 1892.596 1800.989 2082.771 2810.287 2103.484 1922.605 3372.365 +955000 (returns) 1918.634 1797.645 2525.349 1801.151 1804.738 3281.305 1805.449 2158.114 3279.018 3009.141 +960000 (returns) 3316.127 1832.406 2672.142 2827.175 2209.907 2903.162 1797.066 1761.049 2301.912 2097.574 +965000 (returns) 2362.586 1813.807 1618.631 2142.664 2940.308 2174.640 2136.338 2532.052 1904.182 1602.782 +970000 (returns) 1904.135 1940.131 2357.626 2240.382 2263.426 1865.614 1792.240 3142.636 1948.622 3299.335 +975000 (returns) 1932.232 1557.015 3286.858 1814.253 1797.947 1765.363 2213.124 2217.814 2763.705 2711.670 +980000 (returns) 1896.546 1756.745 1917.926 1874.076 1891.180 1911.881 3257.546 1811.901 1882.425 2784.210 +985000 (returns) 1875.333 1909.514 3313.877 3260.897 2705.701 1902.114 2330.261 2075.161 2121.094 2121.073 +990000 (returns) 1916.999 1770.068 2420.941 1838.916 2481.452 3329.199 2504.923 1797.099 2721.692 1809.209 +995000 (returns) 1917.767 1774.691 2289.322 2093.073 1622.839 2465.344 1851.558 3081.664 2185.125 3275.867 +1000000 (returns) 1839.347 3080.864 2173.899 2335.017 2295.458 1919.856 2290.339 2092.271 1936.509 2645.987 diff --git a/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-v2_results/seed-1/evaluation_result_scalar.tsv b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-v2_results/seed-1/evaluation_result_scalar.tsv new file mode 100644 index 00000000..232cc7ed --- /dev/null +++ b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-v2_results/seed-1/evaluation_result_scalar.tsv @@ -0,0 +1,201 @@ +iteration mean std_dev min max median +5000 1395.929 167.557 1059.925 1635.796 1328.177 +10000 1238.845 9.819 1227.500 1256.914 1236.101 +15000 1453.298 113.891 1200.356 1683.286 1480.991 +20000 2031.430 272.684 1801.140 2743.182 1965.907 +25000 1295.703 105.296 1228.817 1545.264 1242.057 +30000 1283.753 54.977 1192.311 1360.936 1283.749 +35000 1342.884 121.180 1217.151 1534.482 1263.726 +40000 1185.564 148.754 1032.425 1403.389 1109.103 +45000 1643.701 350.873 1332.313 2637.898 1593.061 +50000 1453.218 336.076 1141.924 2207.426 1338.289 +55000 1421.506 168.346 1248.344 1755.020 1345.704 +60000 1296.588 111.993 1199.253 1606.596 1254.178 +65000 2272.565 572.763 1576.751 3316.734 2207.847 +70000 1253.033 95.136 1152.861 1498.153 1237.450 +75000 1901.490 485.221 1499.322 2813.886 1591.453 +80000 1513.475 520.384 1119.541 2888.839 1280.829 +85000 1640.179 108.483 1516.156 1841.541 1618.994 +90000 1952.273 494.433 1494.481 3296.310 1868.701 +95000 2052.404 676.022 1349.471 3337.696 1757.200 +100000 1336.958 78.246 1275.431 1528.872 1299.990 +105000 1511.154 180.196 1297.046 1914.571 1537.712 +110000 1979.259 595.053 1451.451 3228.123 1613.348 +115000 2206.850 503.728 1605.787 3250.382 2172.925 +120000 2042.960 542.855 1526.478 3253.068 1984.233 +125000 1713.682 164.436 1549.586 2076.602 1683.632 +130000 1819.381 327.019 1338.642 2420.600 1833.205 +135000 1865.230 399.044 1477.010 2793.476 1733.718 +140000 2054.621 677.665 1458.625 3271.525 1712.922 +145000 1882.054 461.365 1464.268 3070.863 1736.833 +150000 1583.016 279.089 1319.539 2222.357 1492.117 +155000 2035.116 514.955 1580.048 3145.873 1882.731 +160000 1924.418 191.529 1539.490 2226.000 1916.301 +165000 2383.069 633.490 1519.833 3356.620 2256.790 +170000 1709.341 294.623 1353.662 2189.369 1650.606 +175000 1794.754 520.273 1334.118 3265.168 1619.364 +180000 1983.774 609.042 1370.126 3258.750 1626.064 +185000 1717.401 185.401 1541.668 2155.367 1632.562 +190000 1693.906 269.441 1347.251 2195.524 1609.550 +195000 1734.776 240.836 1379.322 2127.942 1647.235 +200000 1516.711 94.182 1327.962 1609.755 1546.635 +205000 1644.469 378.728 1321.367 2423.215 1500.309 +210000 1785.265 363.710 1348.405 2430.179 1811.760 +215000 1789.397 541.453 1306.928 3074.023 1624.498 +220000 2290.533 485.675 1464.171 3284.980 2375.966 +225000 2356.422 562.240 1792.691 3282.676 2170.964 +230000 2195.315 623.869 1586.577 3276.613 1903.158 +235000 1963.041 324.395 1608.563 2807.466 1903.271 +240000 1798.071 351.758 1366.326 2403.580 1701.762 +245000 1856.452 264.653 1503.752 2452.001 1811.776 +250000 2944.875 435.880 2162.638 3317.706 3178.032 +255000 2518.198 489.603 1926.949 3306.868 2394.438 +260000 1942.036 175.048 1595.602 2265.644 1915.337 +265000 1816.382 130.320 1595.164 1949.743 1871.416 +270000 2317.051 392.339 1915.758 3237.884 2290.498 +275000 2194.186 577.210 1552.007 3283.768 2030.900 +280000 2124.841 641.829 1427.419 3308.614 2002.992 +285000 2287.847 496.132 1620.103 3304.719 2162.315 +290000 1876.414 514.535 1317.816 3297.377 1832.780 +295000 2074.215 603.468 1401.980 3270.751 1914.311 +300000 2377.747 569.578 1593.600 3276.408 2373.428 +305000 2110.825 407.712 1825.659 3246.737 1925.626 +310000 2359.931 589.822 1524.114 3351.519 2168.016 +315000 2090.440 439.919 1571.615 3247.104 1917.670 +320000 2173.171 513.149 1623.722 3246.574 1931.621 +325000 1849.359 141.469 1526.618 2021.664 1892.561 +330000 2036.012 487.780 1459.165 3334.343 1930.667 +335000 2049.294 432.907 1344.375 2991.388 1922.363 +340000 2269.936 308.476 1919.486 3069.413 2195.236 +345000 2225.633 489.794 1554.524 3067.005 2198.539 +350000 2422.326 436.157 1837.259 3080.352 2466.999 +355000 2274.274 545.387 1622.180 3277.133 2015.540 +360000 2154.019 462.703 1618.423 3262.954 2011.969 +365000 2028.135 214.970 1843.603 2537.548 1908.713 +370000 1992.500 321.102 1621.470 2681.342 1901.301 +375000 2297.978 407.248 1866.721 3258.814 2184.240 +380000 2089.695 420.354 1859.753 3303.458 1901.582 +385000 2009.585 621.760 1312.217 3363.860 1731.209 +390000 1989.373 181.283 1772.272 2444.634 1928.987 +395000 2159.056 590.466 1622.045 3290.089 1884.518 +400000 2655.289 563.636 1933.588 3359.318 2652.370 +405000 1948.285 442.109 1594.669 3225.218 1860.712 +410000 2036.833 424.121 1772.237 3280.143 1900.287 +415000 2346.821 580.530 1894.209 3348.883 1982.173 +420000 2057.558 526.294 1502.397 3238.462 1845.288 +425000 2078.122 287.188 1877.970 2767.158 1904.173 +430000 2072.279 375.182 1786.922 3136.990 1932.840 +435000 2458.912 541.756 1919.784 3350.470 2217.137 +440000 2200.229 487.057 1809.190 3144.012 1933.698 +445000 2049.467 396.151 1548.261 3040.826 1875.023 +450000 1946.158 137.449 1812.069 2171.249 1881.263 +455000 2258.353 515.217 1761.438 3226.905 2075.382 +460000 2311.200 562.133 1888.574 3247.909 1938.899 +465000 2919.798 475.137 2195.737 3357.687 3216.857 +470000 2011.806 265.390 1630.647 2637.248 1957.028 +475000 2042.654 188.501 1878.036 2361.380 1911.321 +480000 2190.660 282.162 1884.992 2720.056 2139.349 +485000 2163.766 430.813 1845.417 3285.971 1942.349 +490000 2360.225 440.099 1850.283 3334.661 2249.276 +495000 1773.289 196.429 1597.602 2216.991 1709.225 +500000 2186.887 402.354 1892.340 2868.662 1936.339 +505000 2205.931 523.634 1768.831 3244.245 1920.439 +510000 2413.273 375.777 1922.870 3271.388 2378.553 +515000 2184.529 327.663 1918.993 2937.899 2095.418 +520000 2189.979 459.582 1787.481 3325.593 1950.704 +525000 2148.660 370.701 1922.488 3228.078 2077.358 +530000 2344.680 540.007 1828.551 3253.995 2038.613 +535000 2226.366 429.104 1825.879 3140.382 2021.316 +540000 2328.591 537.479 1812.913 3320.589 2104.579 +545000 2138.235 344.124 1818.348 2825.153 2002.683 +550000 2272.922 463.853 1876.906 3238.645 2104.321 +555000 2380.498 479.065 1854.818 3227.780 2289.031 +560000 2045.683 252.430 1821.325 2717.565 1945.792 +565000 2297.168 455.869 1895.745 3253.687 2033.831 +570000 2031.894 261.932 1888.038 2794.464 1926.618 +575000 2122.583 340.339 1884.521 3081.019 2024.675 +580000 2618.581 411.330 2116.526 3264.784 2498.840 +585000 2536.305 580.775 1904.969 3338.202 2175.508 +590000 2243.148 476.779 1885.416 3243.206 2016.903 +595000 2210.942 422.339 1877.582 3333.956 2092.101 +600000 2540.666 573.038 1799.303 3341.902 2446.784 +605000 2008.262 268.268 1776.734 2697.649 1923.548 +610000 2219.706 348.911 1803.656 2833.782 2162.249 +615000 1924.445 126.713 1660.076 2152.565 1901.427 +620000 1983.788 199.541 1785.457 2506.837 1905.936 +625000 2123.521 553.260 1480.223 3271.729 1930.832 +630000 2449.629 456.674 1788.933 3338.340 2357.805 +635000 2232.940 303.980 1907.308 2771.319 2132.579 +640000 2096.197 378.717 1741.837 3032.636 1923.026 +645000 2107.976 410.412 1669.389 2989.273 1925.334 +650000 2321.828 588.106 1689.896 3239.200 1929.520 +655000 2270.455 526.554 1713.800 3288.989 2144.027 +660000 2279.908 412.885 1834.328 3260.435 2256.203 +665000 2188.308 499.827 1775.176 3197.272 1898.522 +670000 2374.905 616.903 1777.100 3308.446 2086.040 +675000 2163.423 442.230 1615.124 3219.735 2022.185 +680000 2233.888 476.937 1843.026 3295.459 1998.009 +685000 2120.710 610.848 1619.150 3341.092 1877.777 +690000 2315.786 329.829 1848.181 2782.099 2418.771 +695000 2331.802 499.937 1822.303 3275.386 2152.821 +700000 2123.252 248.482 1824.572 2678.368 2107.943 +705000 2487.590 540.365 1893.481 3312.888 2467.829 +710000 2425.309 495.181 1870.943 3264.941 2274.824 +715000 2450.319 443.804 2045.761 3314.668 2205.229 +720000 2357.549 612.159 1783.049 3302.475 2068.317 +725000 2070.471 317.706 1633.947 2848.396 2029.745 +730000 2581.494 613.549 1806.712 3342.037 2527.136 +735000 2091.908 351.319 1749.345 2792.634 1920.992 +740000 2365.099 545.551 1831.494 3318.205 2151.306 +745000 2433.941 522.032 1817.936 3345.646 2378.201 +750000 2061.787 397.288 1582.748 3165.062 1928.590 +755000 2188.793 256.756 1777.849 2697.566 2217.924 +760000 2251.595 541.881 1847.604 3329.594 1925.658 +765000 2549.591 590.679 1841.581 3316.709 2290.485 +770000 2431.620 569.653 1796.034 3286.917 2205.725 +775000 2182.753 522.271 1653.099 3264.693 1893.495 +780000 2382.424 591.574 1853.332 3275.214 2119.927 +785000 2160.573 468.115 1767.442 3193.194 1920.168 +790000 2001.811 121.157 1894.179 2228.539 1930.077 +795000 2417.675 644.422 1671.523 3311.231 2052.863 +800000 2251.414 402.232 1893.076 3273.474 2114.379 +805000 2470.825 463.038 1914.868 3222.172 2305.562 +810000 1832.367 176.679 1521.966 2185.904 1847.521 +815000 2375.766 520.001 1791.483 3286.640 2116.505 +820000 1993.547 136.474 1836.913 2275.646 1921.860 +825000 2308.780 531.301 1726.478 3266.719 2182.561 +830000 2330.478 421.089 1863.409 3285.778 2203.474 +835000 2054.400 292.060 1612.930 2525.361 1933.526 +840000 2290.081 462.004 1787.534 3244.500 2132.529 +845000 2131.155 412.159 1850.850 3091.552 1911.620 +850000 2236.091 389.158 1623.380 3018.846 2234.464 +855000 2067.869 152.512 1877.511 2370.295 2051.842 +860000 2135.621 420.759 1793.082 3248.995 1922.489 +865000 2135.583 429.549 1758.507 3298.446 2056.302 +870000 2171.658 430.250 1781.290 3292.859 2026.895 +875000 1884.620 67.452 1761.157 1942.389 1927.999 +880000 2085.807 408.270 1723.399 3012.501 1921.260 +885000 2220.603 490.944 1790.862 3278.199 1991.645 +890000 2238.826 537.601 1755.040 3193.154 1876.769 +895000 2117.399 431.015 1723.759 3227.670 1924.050 +900000 2066.442 239.386 1811.652 2533.031 1924.395 +905000 2124.919 500.458 1575.799 3243.879 1923.839 +910000 2257.478 503.688 1689.455 3259.401 2200.683 +915000 2112.374 352.126 1806.429 3066.371 2010.630 +920000 2122.937 382.554 1849.368 3217.363 2013.700 +925000 2010.347 428.870 1628.805 3243.578 1910.872 +930000 2247.886 473.176 1800.787 3271.356 2164.559 +935000 2378.776 549.184 1806.401 3329.462 2167.212 +940000 2232.124 404.525 1872.896 3019.246 2029.927 +945000 2404.709 517.923 1815.653 3254.036 2131.202 +950000 2169.159 491.661 1779.193 3372.365 2002.688 +955000 2338.054 601.437 1797.645 3281.305 2038.374 +960000 2371.852 507.173 1761.049 3316.127 2255.910 +965000 2122.799 395.531 1602.782 2940.308 2139.501 +970000 2275.415 506.662 1792.240 3299.335 2094.502 +975000 2205.998 523.970 1557.015 3286.858 2072.678 +980000 2098.444 475.476 1756.745 3257.546 1893.863 +985000 2361.502 518.137 1875.333 3313.877 2121.083 +990000 2259.050 494.343 1770.068 3329.199 2168.970 +995000 2255.725 520.469 1622.839 3275.867 2139.099 +1000000 2260.955 355.449 1839.347 3080.864 2232.119 diff --git a/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-v2_results/seed-1/result.png b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-v2_results/seed-1/result.png new file mode 100644 index 00000000..9dfa66c0 Binary files /dev/null and b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-v2_results/seed-1/result.png differ diff --git a/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-v2_results/seed-10/best_score_scalar.tsv b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-v2_results/seed-10/best_score_scalar.tsv new file mode 100644 index 00000000..7888396a --- /dev/null +++ b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-v2_results/seed-10/best_score_scalar.tsv @@ -0,0 +1,2 @@ +iteration best_mean_iteration mean std_dev best_median_iteration median +1 430000.000 2742.877 541.441 430000.000 2965.766 diff --git a/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-v2_results/seed-10/evaluation_result_histogram.tsv b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-v2_results/seed-10/evaluation_result_histogram.tsv new file mode 100644 index 00000000..bfc6e8d6 --- /dev/null +++ b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-v2_results/seed-10/evaluation_result_histogram.tsv @@ -0,0 +1,201 @@ +iteration(key) values +5000 (returns) 1132.032 1180.259 1350.085 1349.584 1300.557 1349.129 1369.221 1296.285 1143.587 1301.189 +10000 (returns) 1285.372 1297.930 1320.328 1290.762 1271.833 1262.991 1312.323 1264.745 1288.735 1281.342 +15000 (returns) 1650.775 1680.981 1746.700 1778.448 2599.111 1776.143 1676.548 1494.113 1743.423 1484.652 +20000 (returns) 1219.347 1209.456 1201.389 1212.094 1209.325 1261.444 1206.495 1304.541 1218.961 1207.693 +25000 (returns) 1659.586 1503.015 1654.473 1519.575 1365.689 1594.825 1496.807 1254.972 1261.750 1244.069 +30000 (returns) 1285.931 1287.934 1278.494 1287.665 1271.536 1390.052 1287.235 1331.640 1289.413 1287.536 +35000 (returns) 1579.317 1315.885 1316.143 1036.702 1338.724 1590.969 1302.107 1669.952 1297.018 1158.865 +40000 (returns) 1551.932 1256.762 1430.658 1645.970 1323.657 1293.795 1272.191 1578.351 1284.772 1268.651 +45000 (returns) 1655.229 1359.520 1239.703 1227.771 2159.542 2187.141 1244.983 1354.217 1374.378 1324.174 +50000 (returns) 1906.190 1802.787 1042.066 1038.748 1223.072 1043.073 1036.043 1850.793 1049.236 1322.637 +55000 (returns) 1240.554 1944.290 1729.015 1328.207 1632.849 1214.029 1243.339 1282.739 1111.130 1330.913 +60000 (returns) 1055.813 1034.663 1071.205 1110.047 1221.745 1014.220 1047.630 1105.257 1040.757 1072.466 +65000 (returns) 1263.137 971.913 1373.835 1043.585 988.835 964.506 1038.903 1022.506 1110.349 995.829 +70000 (returns) 1270.997 1268.703 1663.879 1318.740 1226.673 1442.372 1232.578 1293.641 1285.339 1226.656 +75000 (returns) 1770.742 1046.543 1486.308 1254.383 2186.060 1220.895 1382.005 1290.828 1598.859 1573.593 +80000 (returns) 1323.712 968.315 978.057 1028.046 1149.099 1031.068 1160.192 1188.009 1043.804 1033.331 +85000 (returns) 1295.061 2163.609 1361.515 1607.672 1339.084 1338.865 1367.623 1637.710 1501.806 1324.653 +90000 (returns) 1344.558 1294.001 1951.626 2467.092 1309.429 1273.054 1318.872 1219.041 1291.264 1219.891 +95000 (returns) 1198.763 1058.085 1039.058 1041.816 1049.214 1031.822 1027.953 1038.314 958.611 1054.959 +100000 (returns) 1307.621 1365.795 1363.546 1567.771 1617.453 1655.708 2365.413 1587.278 1628.219 1367.073 +105000 (returns) 1331.634 1376.244 1504.034 1196.161 1222.597 1270.627 1227.086 1990.418 2166.748 1336.672 +110000 (returns) 2168.806 1335.711 1949.294 3371.523 2209.442 1624.431 2228.798 1336.139 1570.031 1934.625 +115000 (returns) 1378.181 1727.880 1248.418 1891.599 1969.575 1378.018 1350.644 1362.914 1272.800 2181.099 +120000 (returns) 1339.192 2162.192 2225.800 1315.555 1322.675 1958.266 1477.654 2191.232 1991.841 2214.408 +125000 (returns) 2168.353 3281.668 1860.596 1809.488 3252.019 1547.094 1536.021 1513.233 1695.884 1516.459 +130000 (returns) 1547.054 1569.914 1632.318 1508.411 1567.709 1567.934 1564.666 1403.548 1558.055 1612.961 +135000 (returns) 1889.560 1539.794 2287.885 1514.343 1776.575 1882.989 2205.488 2775.753 2468.497 2117.491 +140000 (returns) 1503.234 2099.930 1589.458 1592.996 1605.021 2333.009 1542.619 1628.567 2422.387 3195.266 +145000 (returns) 3004.885 2426.902 2672.430 1939.501 2181.072 1753.867 1560.276 1621.030 1533.428 1775.071 +150000 (returns) 1287.450 1924.718 1579.354 1832.440 1776.163 1288.000 1483.294 3345.801 1444.241 1287.520 +155000 (returns) 1904.448 1898.429 1893.466 2819.667 1594.638 1605.871 3217.709 1582.634 1913.927 1533.868 +160000 (returns) 2623.463 1333.156 2606.535 1740.148 1464.968 2202.777 1502.343 1324.568 1856.724 1370.320 +165000 (returns) 1306.675 1587.800 1471.021 1537.723 1502.282 1575.187 1574.595 2158.329 2461.355 1338.081 +170000 (returns) 1614.935 1499.471 1742.636 1600.023 1539.178 1593.812 1458.983 1315.345 1459.005 1602.933 +175000 (returns) 2704.750 3240.596 1594.193 3234.505 2184.769 3262.740 1879.707 1922.361 2460.534 3059.321 +180000 (returns) 2968.682 1745.409 1592.316 2204.293 1893.409 3263.530 1895.253 1607.511 1886.057 3283.980 +185000 (returns) 1854.907 1948.370 2029.295 2533.583 1912.100 3049.001 3331.788 2437.169 2250.895 2341.508 +190000 (returns) 2004.730 1585.219 1484.768 1905.639 1902.561 1617.788 1527.000 2443.096 1615.395 3281.216 +195000 (returns) 1592.449 1581.303 1573.622 1456.875 1600.548 1588.742 1489.339 1344.439 1635.814 1608.119 +200000 (returns) 3210.581 3004.615 3222.603 3207.343 2753.420 2469.517 1899.374 2158.698 1913.253 2164.299 +205000 (returns) 2156.588 1589.696 2334.604 1902.271 1629.371 1782.243 1756.391 1868.855 2179.852 2151.939 +210000 (returns) 1341.678 1924.950 2168.797 1910.690 1878.231 1856.156 1559.959 1884.518 1514.375 2325.065 +215000 (returns) 3339.442 1889.114 2468.313 1913.828 1867.202 1857.914 2202.941 2729.954 2179.637 1877.173 +220000 (returns) 2183.252 3167.183 2287.499 3159.995 2746.350 2089.506 2959.031 2682.913 1902.053 1925.755 +225000 (returns) 1574.820 1566.766 1540.211 1734.253 1566.032 1574.177 1590.326 1594.646 1564.950 3238.437 +230000 (returns) 2479.200 1608.826 1343.777 1614.889 1781.782 1356.442 1569.965 1586.509 2434.678 1607.657 +235000 (returns) 1544.035 1875.224 1589.975 1891.328 1616.024 1449.238 1603.269 2160.739 1822.818 3260.335 +240000 (returns) 3040.457 3337.859 2177.090 2645.719 1880.490 2332.217 1602.593 1823.991 2062.000 3110.071 +245000 (returns) 1579.148 1516.825 1578.303 1886.483 1924.323 1894.425 2294.030 2845.229 1562.906 1591.857 +250000 (returns) 1342.265 1465.454 1304.492 1542.957 1361.114 1585.919 1325.691 1347.149 1380.704 1556.911 +255000 (returns) 1599.717 1581.269 1544.772 1519.674 2093.779 1512.309 1784.663 2143.599 1827.890 1608.199 +260000 (returns) 1570.387 1574.429 1923.990 1573.123 1840.235 1528.339 1570.760 1596.753 1591.056 1597.886 +265000 (returns) 1539.336 3071.603 3052.285 1883.782 2688.912 1580.215 1884.058 1877.642 2307.294 1852.400 +270000 (returns) 1790.788 2014.847 1416.550 2363.190 1607.278 1291.797 1535.143 1589.212 1320.441 1599.718 +275000 (returns) 1912.122 1494.929 2788.467 1385.649 1595.042 1604.971 1489.643 3222.475 1518.710 3241.627 +280000 (returns) 1289.600 1584.803 1310.650 1568.189 1528.039 1597.840 1477.811 1869.584 1592.279 1425.959 +285000 (returns) 1891.391 2123.280 1894.214 1689.017 1578.758 1448.747 1311.935 1347.672 2021.007 1326.579 +290000 (returns) 1593.357 1457.293 1312.765 1389.064 1469.396 1627.666 1586.478 1517.494 1419.491 1470.121 +295000 (returns) 1589.938 1874.906 1892.121 2799.688 1493.622 3264.478 2519.952 2196.785 2141.259 1594.456 +300000 (returns) 1503.631 1294.048 1914.559 1775.390 1426.184 1510.301 1500.393 1439.021 1441.070 1440.720 +305000 (returns) 2781.940 1604.016 1827.304 1610.266 1776.078 1532.073 2360.421 1601.906 1875.756 1602.328 +310000 (returns) 1586.589 1576.632 1509.306 2350.959 1807.967 2947.176 1355.763 1760.494 1762.342 1540.271 +315000 (returns) 2416.777 1942.341 1931.253 3276.109 3121.389 1644.957 1864.196 2508.546 3317.825 2981.502 +320000 (returns) 1486.687 1595.753 2979.957 1633.326 1437.053 1446.516 2896.853 3236.247 3214.386 1598.705 +325000 (returns) 1583.566 1541.348 1602.999 1330.480 1931.773 1296.791 1381.068 1463.802 1532.284 1466.710 +330000 (returns) 1606.475 1579.458 3220.787 1609.727 1803.386 2762.184 1873.153 1582.992 1925.743 1878.815 +335000 (returns) 1900.310 2387.018 1598.458 1770.224 2746.811 1811.960 2163.230 1902.643 1624.087 1554.119 +340000 (returns) 2410.350 1765.600 1596.198 1857.652 1534.533 1788.467 2388.775 1922.156 1938.779 1661.788 +345000 (returns) 1541.922 2771.116 2305.686 1442.655 1390.708 1567.031 1505.747 1565.585 1417.176 1576.041 +350000 (returns) 1558.225 1641.416 1632.873 1612.017 1595.012 1749.247 1294.602 1943.788 1655.944 1280.281 +355000 (returns) 1523.174 1805.412 2485.714 3247.032 1904.805 2165.094 1421.747 1459.153 1596.605 2387.928 +360000 (returns) 1327.196 1327.619 1511.284 1344.430 1518.260 1333.843 1334.446 3016.864 1314.722 1767.943 +365000 (returns) 2409.165 1306.397 2520.923 1368.842 2170.449 1613.959 1312.529 1310.431 1920.390 2057.758 +370000 (returns) 1914.009 3098.603 1742.074 1916.507 1827.313 1779.430 1859.972 1296.585 1879.098 1328.169 +375000 (returns) 1867.637 3300.347 2205.396 1912.029 2947.908 1610.548 1865.186 1440.674 1865.671 1858.347 +380000 (returns) 1308.512 1354.652 1559.588 2140.150 2511.056 1471.260 1317.204 1853.745 1515.764 1733.177 +385000 (returns) 1918.690 1795.178 1592.147 1649.994 1780.254 1637.945 1879.957 1729.489 1575.966 2734.731 +390000 (returns) 1815.548 1813.305 2145.094 1789.124 1897.738 2442.374 1737.742 1910.883 1889.131 2768.759 +395000 (returns) 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1579.790 1612.885 1836.015 1428.139 +490000 (returns) 2428.765 3335.961 1955.419 2173.731 3284.007 1795.074 2151.961 2680.197 1463.384 1912.500 +495000 (returns) 1891.644 1454.996 1602.026 2239.102 1588.604 1878.014 1505.855 1930.980 1598.216 2115.071 +500000 (returns) 1855.537 1837.386 1777.187 1915.275 1760.356 1849.636 1850.031 1818.030 2182.476 1844.178 +505000 (returns) 2155.250 2008.295 2406.939 2669.675 2053.279 2192.098 3066.371 2636.375 2268.198 2750.876 +510000 (returns) 2002.554 3341.081 3283.625 2175.938 1896.843 1925.033 2529.617 2212.083 1942.224 2479.155 +515000 (returns) 2205.878 1387.414 1812.426 2935.548 1836.895 3265.389 2138.593 1602.864 2199.009 3304.744 +520000 (returns) 1771.033 1874.538 1921.935 1626.319 1625.424 2295.958 2255.633 1595.531 2139.374 1602.893 +525000 (returns) 2821.213 2101.986 2133.939 3258.350 2768.622 3238.141 3251.978 2479.097 1916.436 2797.963 +530000 (returns) 1916.399 1913.112 1848.076 1716.053 2997.330 2429.877 1791.296 1750.104 3290.121 3307.324 +535000 (returns) 1869.662 1922.188 1933.280 1919.730 2213.144 1951.132 2096.764 2346.686 1786.995 2192.315 +540000 (returns) 1932.189 1899.862 2752.190 1938.355 2219.385 1881.610 1912.463 2895.666 2653.835 1821.363 +545000 (returns) 1913.564 2147.186 3264.870 3348.174 3120.315 2402.867 1917.859 2141.804 2447.555 1885.988 +550000 (returns) 1867.236 1861.790 1925.930 2125.798 1786.544 1841.030 2110.310 1913.186 1760.797 3208.796 +555000 (returns) 1881.005 1934.744 1940.052 2200.776 2069.266 3301.498 1917.009 3202.644 3221.132 3062.269 +560000 (returns) 1915.063 1905.125 1922.963 1933.759 1914.537 1947.943 1480.512 3222.098 1908.179 2588.243 +565000 (returns) 1725.499 1804.555 1754.913 2254.827 2607.949 1911.649 1896.928 1829.059 2517.234 1861.395 +570000 (returns) 1776.654 1892.285 1842.583 1879.216 1791.479 1833.792 1781.643 1958.649 1913.988 3216.851 +575000 (returns) 1870.037 1865.970 1771.191 1838.770 1882.981 1471.694 1929.415 1952.936 1923.212 2410.747 +580000 (returns) 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2443.932 3317.929 1917.268 3287.074 +675000 (returns) 2151.515 1911.229 1908.255 1922.208 2146.056 2950.215 1923.877 2494.581 1856.021 2396.027 +680000 (returns) 2062.173 1923.995 1862.201 1766.879 3015.941 1965.074 1900.807 1624.575 1847.554 2489.203 +685000 (returns) 2563.759 1936.436 1783.845 2304.794 3091.898 3241.362 2258.151 2451.212 2077.709 1812.732 +690000 (returns) 1494.833 1901.851 1936.604 1781.020 2101.078 2354.635 1905.495 1806.763 1573.004 1882.311 +695000 (returns) 1615.531 2057.582 2002.011 2180.975 2007.656 1903.309 1905.293 1851.516 3249.320 1924.894 +700000 (returns) 2017.186 1801.370 3356.415 1936.229 1873.591 1902.732 1921.251 1926.838 1890.278 1931.989 +705000 (returns) 1826.148 2175.738 1934.740 1921.661 1917.204 2195.055 1892.615 2083.546 2087.100 1917.908 +710000 (returns) 3196.971 2981.916 2085.650 1765.417 1831.923 2586.339 1933.197 2656.363 1931.249 1853.986 +715000 (returns) 1921.054 2127.212 3003.384 1943.635 1911.480 1836.163 3252.480 1912.659 2149.946 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1920.660 1840.964 1946.184 2190.743 1935.800 2056.780 1888.373 +1000000 (returns) 1870.008 2218.788 1918.190 2509.585 2272.571 1923.889 1933.077 1882.083 1921.280 1922.735 diff --git a/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-v2_results/seed-10/evaluation_result_scalar.tsv b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-v2_results/seed-10/evaluation_result_scalar.tsv new file mode 100644 index 00000000..58c9b1f3 --- /dev/null +++ b/reproductions/algorithms/mujoco/iql/reproduction_results/hopper-medium-v2_results/seed-10/evaluation_result_scalar.tsv @@ -0,0 +1,201 @@ +iteration mean std_dev min max median +5000 1277.193 86.025 1132.032 1369.221 1300.873 +10000 1287.636 17.947 1262.991 1320.328 1287.053 +15000 1763.089 296.094 1484.652 2599.111 1712.202 +20000 1225.075 30.946 1201.389 1304.541 1210.775 +25000 1455.476 154.674 1244.069 1659.586 1499.911 +30000 1299.744 33.628 1271.536 1390.052 1287.601 +35000 1360.568 188.184 1036.702 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(returns) 5117.717 5020.335 4992.651 5103.849 5117.961 5114.487 5123.784 5094.274 5092.245 4976.682 +975000 (returns) 5076.675 5094.527 5097.417 5021.330 5107.485 5076.481 5021.137 5100.949 5117.280 5080.358 +980000 (returns) 5029.247 5092.443 5107.364 5090.355 5067.451 5102.412 5042.737 5015.219 4877.252 5103.010 +985000 (returns) 4973.415 5107.145 5035.764 5045.238 5066.343 5051.577 5046.792 5005.452 5089.971 4964.000 +990000 (returns) 5006.779 4979.370 5104.979 5100.720 5053.573 5059.701 5036.593 5111.215 5013.616 4978.824 +995000 (returns) 5061.540 5022.685 5099.479 5097.712 5086.047 5109.845 5114.681 5116.314 5047.258 5011.866 +1000000 (returns) 5033.343 5097.144 5107.985 5001.556 5110.307 5108.205 5105.821 5058.502 5066.941 5002.755 diff --git a/reproductions/algorithms/mujoco/iql/reproduction_results/walker2d-medium-expert-v2_results/seed-100/evaluation_result_scalar.tsv 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4207.194 934.813 2961.629 5066.421 4900.679 +70000 2211.023 1019.881 1375.409 4778.765 1717.043 +75000 4016.401 1306.234 1539.761 5083.592 4672.715 +80000 4557.017 795.816 2201.893 4996.856 4836.772 +85000 2582.593 1678.350 1099.023 4993.424 1302.481 +90000 4815.783 283.701 4214.634 5044.742 4946.232 +95000 4874.162 37.923 4775.388 4915.267 4889.326 +100000 3890.008 1235.363 2141.813 4930.771 4836.275 +105000 5042.432 67.247 4902.580 5115.603 5074.506 +110000 2960.344 1374.393 1099.745 4953.838 2611.973 +115000 3738.335 1372.025 1310.004 5107.058 4285.961 +120000 4795.812 597.466 3018.572 5086.247 5003.221 +125000 4293.898 1022.696 2600.542 5039.615 4917.069 +130000 5003.510 106.399 4784.067 5120.244 5032.814 +135000 5026.054 44.302 4964.584 5097.327 5016.617 +140000 4718.131 815.045 2285.728 5101.902 4995.180 +145000 5071.911 9.634 5052.235 5089.376 5073.122 +150000 4941.646 189.799 4665.698 5166.311 4998.100 +155000 4666.561 776.243 2553.327 5098.292 5000.031 +160000 4192.089 932.855 2196.007 5076.389 4541.901 +165000 5049.257 52.256 4969.497 5121.940 5069.732 +170000 4380.188 948.622 2645.235 5096.045 4915.392 +175000 5029.386 177.117 4534.288 5183.644 5091.777 +180000 4004.336 1251.269 1851.597 5097.364 4671.386 +185000 5089.889 48.798 5007.222 5172.074 5094.228 +190000 5039.737 29.197 4994.194 5089.358 5034.206 +195000 5025.422 97.964 4792.304 5116.681 5078.429 +200000 5019.768 56.010 4926.847 5101.058 5014.338 +205000 4886.326 544.044 3262.981 5183.294 5057.247 +210000 4816.476 389.179 3673.473 5053.731 4960.302 +215000 5050.994 34.761 5010.732 5124.628 5041.707 +220000 5030.022 94.927 4824.002 5093.684 5074.211 +225000 4923.648 49.934 4858.787 5028.898 4916.658 +230000 4537.900 924.927 2696.844 5189.790 5077.767 +235000 4999.189 30.094 4951.669 5054.315 5000.339 +240000 4995.178 59.020 4908.961 5094.209 4990.318 +245000 4912.015 116.344 4650.437 5026.033 4968.653 +250000 4948.073 62.061 4800.131 5023.350 4962.299 +255000 4995.707 50.765 4931.193 5099.140 4985.407 +260000 5025.013 15.693 5007.472 5061.755 5019.542 +265000 4982.701 73.090 4866.574 5096.152 5012.652 +270000 4966.187 38.865 4914.594 5029.801 4960.117 +275000 5027.165 50.450 4951.864 5092.858 5040.824 +280000 4745.619 791.133 2378.239 5062.759 5034.052 +285000 5022.311 34.262 4962.017 5062.735 5035.393 +290000 5028.312 34.373 4982.969 5103.672 5022.990 +295000 4791.029 549.678 3186.778 5094.462 5006.572 +300000 4549.657 844.994 3079.140 5165.361 5061.960 +305000 5006.436 51.135 4923.667 5092.281 5018.278 +310000 4989.169 65.874 4850.000 5070.332 5022.087 +315000 4935.368 211.465 4318.608 5085.201 5002.028 +320000 4667.282 838.376 2224.705 5078.170 4999.416 +325000 4663.459 786.016 3001.585 5111.962 5056.120 +330000 4937.880 340.732 3927.185 5123.628 5058.386 +335000 4677.540 982.562 1905.471 5155.840 5100.896 +340000 3484.066 1371.777 1702.138 5154.768 2806.780 +345000 5026.192 29.588 4981.423 5091.054 5030.291 +350000 5040.518 36.850 4995.518 5096.334 5033.597 +355000 5083.376 51.977 4981.456 5143.689 5101.835 +360000 5061.507 43.841 4996.117 5118.144 5071.442 +365000 5148.748 20.061 5095.431 5174.461 5153.212 +370000 5091.208 11.278 5061.774 5099.329 5096.149 +375000 5129.044 38.256 5048.877 5168.746 5144.552 +380000 4999.528 277.083 4172.371 5130.380 5086.256 +385000 5030.118 45.722 4966.094 5098.782 5029.162 +390000 5045.720 14.248 5014.932 5063.367 5050.368 +395000 5030.797 40.936 4965.278 5095.656 5028.968 +400000 4982.981 47.237 4873.456 5059.899 4983.837 +405000 5082.169 24.118 5045.180 5115.966 5089.022 +410000 5048.824 41.211 4988.792 5114.809 5053.289 +415000 4919.796 464.786 3535.500 5138.052 5071.706 +420000 5075.513 9.719 5061.517 5087.705 5078.280 +425000 5052.865 40.392 4981.100 5107.938 5061.936 +430000 5068.782 41.838 4987.121 5131.729 5073.410 +435000 5035.975 52.750 4952.950 5114.025 5030.550 +440000 5082.282 38.264 4997.099 5142.144 5081.117 +445000 5011.252 27.687 4960.771 5048.070 5020.238 +450000 5018.661 43.802 4927.175 5062.174 5039.936 +455000 5077.474 43.721 5031.613 5170.842 5070.474 +460000 5095.320 6.941 5082.188 5105.762 5096.716 +465000 4945.886 290.055 4097.927 5140.901 5023.000 +470000 4977.378 41.797 4889.595 5051.547 4978.365 +475000 5045.534 26.946 4972.765 5070.299 5050.684 +480000 5014.824 31.237 4964.304 5083.894 5013.646 +485000 5030.284 63.498 4932.492 5145.257 5015.681 +490000 4988.576 27.225 4932.354 5036.183 4988.508 +495000 5018.158 71.013 4903.575 5124.288 5025.139 +500000 4977.815 81.427 4786.020 5087.058 4995.044 +505000 5101.618 31.006 5012.190 5124.360 5105.765 +510000 5093.386 10.835 5064.137 5103.809 5096.289 +515000 5033.786 7.721 5019.107 5049.087 5034.624 +520000 4863.043 420.367 3635.089 5091.295 5020.249 +525000 5021.188 53.256 4938.499 5102.623 5027.724 +530000 5079.035 24.487 5014.929 5113.031 5086.823 +535000 5092.063 37.826 4995.493 5127.352 5105.587 +540000 5057.756 39.846 4973.072 5108.852 5069.648 +545000 4958.043 72.208 4781.318 5035.646 4959.633 +550000 4894.021 115.112 4753.502 5059.108 4880.070 +555000 5044.076 32.065 4978.143 5091.169 5045.616 +560000 5090.332 9.885 5078.002 5110.930 5088.095 +565000 4967.003 77.364 4833.807 5097.120 4966.258 +570000 4905.597 376.805 3778.241 5076.401 5026.989 +575000 5043.975 34.806 4982.690 5094.309 5037.779 +580000 5001.185 38.935 4960.553 5086.828 4985.638 +585000 5046.895 41.076 5001.903 5119.093 5032.340 +590000 5027.530 72.661 4827.809 5098.470 5040.826 +595000 5038.241 26.164 4992.624 5074.548 5040.770 +600000 5046.725 24.995 4998.832 5081.961 5052.845 +605000 5021.032 51.659 4930.069 5091.450 5025.018 +610000 5087.823 28.651 5028.211 5121.493 5095.840 +615000 5073.343 31.902 5013.100 5117.944 5076.805 +620000 5040.423 39.874 4961.952 5109.678 5039.435 +625000 5006.996 27.115 4955.765 5038.570 5014.874 +630000 5063.234 29.050 4996.541 5113.421 5067.470 +635000 5030.106 37.397 4977.153 5098.159 5030.183 +640000 5075.744 40.226 4956.585 5097.172 5090.840 +645000 4978.175 45.430 4856.840 5021.296 4991.324 +650000 4986.551 41.628 4927.985 5058.571 4980.475 +655000 5038.788 38.995 4969.312 5083.761 5048.081 +660000 5025.673 33.797 4985.816 5094.621 5021.380 +665000 5049.572 7.384 5037.139 5061.793 5050.457 +670000 5038.349 36.425 4952.389 5084.271 5048.498 +675000 5062.374 31.661 4995.122 5094.846 5068.702 +680000 5034.558 24.952 5011.980 5087.186 5022.072 +685000 5014.640 41.246 4946.036 5076.300 5005.887 +690000 5032.673 62.652 4936.051 5109.326 5053.236 +695000 5081.309 24.917 5013.721 5100.518 5089.737 +700000 5016.376 13.741 4996.775 5041.025 5019.226 +705000 5054.554 44.571 4983.112 5108.896 5062.900 +710000 5028.690 32.265 4986.329 5090.466 5023.792 +715000 5022.995 31.568 4983.512 5102.760 5017.286 +720000 5036.657 41.299 4993.039 5131.517 5028.865 +725000 5053.403 67.322 4901.189 5119.286 5070.460 +730000 5026.772 26.669 4977.760 5080.498 5021.839 +735000 5069.000 28.895 5020.639 5109.293 5074.596 +740000 5046.514 33.480 4984.701 5087.987 5056.324 +745000 5030.383 39.832 4987.414 5091.028 5010.685 +750000 5076.391 37.594 5013.409 5120.362 5089.905 +755000 5052.792 36.835 5000.225 5100.198 5050.108 +760000 5095.296 21.349 5038.863 5120.734 5100.804 +765000 5074.680 25.511 4999.200 5088.439 5082.943 +770000 5062.225 31.617 5005.843 5090.647 5080.229 +775000 5097.718 24.236 5030.650 5120.778 5103.648 +780000 5078.050 37.418 4982.892 5111.789 5095.146 +785000 5036.757 38.515 4983.683 5111.660 5038.721 +790000 5048.069 52.788 4959.464 5126.248 5064.075 +795000 5088.526 39.597 5017.453 5137.214 5088.829 +800000 5026.385 57.927 4881.136 5090.550 5030.681 +805000 5006.765 33.560 4919.179 5053.312 5011.126 +810000 5028.386 28.157 4982.391 5080.780 5028.013 +815000 5015.668 23.389 4978.158 5058.506 5018.594 +820000 5043.312 20.695 5014.717 5074.330 5043.202 +825000 4986.760 68.081 4877.545 5084.604 4988.688 +830000 5068.138 34.856 4998.499 5109.898 5084.553 +835000 5097.354 32.462 5005.907 5124.053 5107.797 +840000 5038.061 42.182 4970.454 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5083.173 28.686 5042.277 5128.255 5082.477 +945000 5073.663 32.573 5004.324 5113.415 5081.396 +950000 5046.473 57.300 4967.213 5112.785 5053.273 +955000 5038.112 39.640 4987.278 5112.632 5038.004 +960000 5001.468 52.265 4858.013 5067.800 5013.730 +965000 5084.985 33.471 5004.848 5131.796 5085.303 +970000 5075.399 53.428 4976.682 5123.784 5099.062 +975000 5079.364 31.662 5021.137 5117.280 5087.442 +980000 5052.749 66.364 4877.252 5107.364 5078.903 +985000 5038.569 43.941 4964.000 5107.145 5046.015 +990000 5044.537 47.515 4978.824 5111.215 5045.083 +995000 5076.743 36.573 5011.866 5116.314 5091.880 +1000000 5069.256 41.513 5001.556 5110.307 5082.042 diff --git a/reproductions/algorithms/mujoco/iql/reproduction_results/walker2d-medium-expert-v2_results/seed-100/result.png b/reproductions/algorithms/mujoco/iql/reproduction_results/walker2d-medium-expert-v2_results/seed-100/result.png new file mode 100644 index 00000000..7da40c5b Binary files /dev/null and b/reproductions/algorithms/mujoco/iql/reproduction_results/walker2d-medium-expert-v2_results/seed-100/result.png differ diff --git a/reproductions/algorithms/mujoco/iql/reproduction_results/walker2d-medium-replay-v2_results/evaluation_result_average_scalar.tsv b/reproductions/algorithms/mujoco/iql/reproduction_results/walker2d-medium-replay-v2_results/evaluation_result_average_scalar.tsv new file mode 100644 index 00000000..9ba1b2f5 --- /dev/null +++ b/reproductions/algorithms/mujoco/iql/reproduction_results/walker2d-medium-replay-v2_results/evaluation_result_average_scalar.tsv @@ -0,0 +1,201 @@ +iteration mean std_dev min max median +5000 287.591 35.750 236.353 359.211 286.823 +10000 452.240 114.252 282.932 573.652 525.323 +15000 428.569 166.027 201.644 730.992 488.171 +20000 238.070 79.465 115.035 324.823 269.434 +25000 606.049 296.590 214.694 1294.052 555.410 +30000 562.986 305.664 127.715 1589.494 464.857 +35000 724.102 425.016 191.967 1875.074 697.135 +40000 1162.592 1108.084 111.903 3364.350 551.427 +45000 555.893 314.210 137.741 1286.452 559.693 +50000 1376.868 835.353 158.398 3059.592 1420.198 +55000 1263.294 817.229 339.298 2589.383 1368.646 +60000 1874.484 1066.662 153.865 4012.357 1668.097 +65000 1636.394 1051.788 305.238 3943.825 1140.784 +70000 2066.924 513.073 1486.672 4039.018 1929.927 +75000 2062.781 541.616 1027.295 3633.059 1926.234 +80000 2541.327 844.948 1469.944 4001.468 2211.208 +85000 2252.471 635.639 1392.827 3826.646 2170.699 +90000 2825.075 810.257 1146.106 4395.375 2816.708 +95000 2635.232 925.695 625.636 3990.229 2725.985 +100000 2781.042 822.078 523.961 4072.014 2807.565 +105000 2131.017 984.371 667.217 3940.304 1914.153 +110000 2549.476 650.859 1178.392 4007.280 2416.890 +115000 2863.245 923.256 963.403 3837.475 3133.305 +120000 2849.856 813.682 997.073 3870.735 2900.585 +125000 2488.023 1078.580 726.835 4158.739 2482.380 +130000 3199.542 742.101 1847.162 4309.383 3555.751 +135000 2651.951 1033.695 865.942 4212.009 2456.537 +140000 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a/reproductions/algorithms/mujoco/iql/reproduction_results/walker2d-medium-replay-v2_results/expert_normalized_score.tsv_scalar.tsv b/reproductions/algorithms/mujoco/iql/reproduction_results/walker2d-medium-replay-v2_results/expert_normalized_score.tsv_scalar.tsv new file mode 100644 index 00000000..d4036873 --- /dev/null +++ b/reproductions/algorithms/mujoco/iql/reproduction_results/walker2d-medium-replay-v2_results/expert_normalized_score.tsv_scalar.tsv @@ -0,0 +1,201 @@ +iteration mean std_dev +5000 6.229 0.779 +10000 9.816 2.489 +15000 9.300 3.617 +20000 5.150 1.731 +25000 13.166 6.461 +30000 12.228 6.658 +35000 15.738 9.258 +40000 25.290 24.138 +45000 12.074 6.845 +50000 29.957 18.197 +55000 27.483 17.802 +60000 40.797 23.235 +65000 35.611 22.911 +70000 44.989 11.176 +75000 44.899 11.798 +80000 55.323 18.406 +85000 49.031 13.846 +90000 61.504 17.650 +95000 57.369 20.165 +100000 60.545 17.908 +105000 46.385 21.443 +110000 55.501 14.178 +115000 62.335 20.112 +120000 62.044 17.725 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b/reproductions/algorithms/mujoco/iql/reproduction_results/walker2d-medium-replay-v2_results/result.png new file mode 100644 index 00000000..72adce78 Binary files /dev/null and b/reproductions/algorithms/mujoco/iql/reproduction_results/walker2d-medium-replay-v2_results/result.png differ diff --git a/reproductions/algorithms/mujoco/iql/reproduction_results/walker2d-medium-replay-v2_results/seed-1/best_score_scalar.tsv b/reproductions/algorithms/mujoco/iql/reproduction_results/walker2d-medium-replay-v2_results/seed-1/best_score_scalar.tsv new file mode 100644 index 00000000..e84515ca --- /dev/null +++ b/reproductions/algorithms/mujoco/iql/reproduction_results/walker2d-medium-replay-v2_results/seed-1/best_score_scalar.tsv @@ -0,0 +1,2 @@ +iteration best_mean_iteration mean std_dev best_median_iteration median +1 855000.000 4041.682 273.047 885000.000 4155.005 diff --git a/reproductions/algorithms/mujoco/iql/reproduction_results/walker2d-medium-replay-v2_results/seed-1/evaluation_result_histogram.tsv b/reproductions/algorithms/mujoco/iql/reproduction_results/walker2d-medium-replay-v2_results/seed-1/evaluation_result_histogram.tsv new file mode 100644 index 00000000..e0f74376 --- /dev/null +++ b/reproductions/algorithms/mujoco/iql/reproduction_results/walker2d-medium-replay-v2_results/seed-1/evaluation_result_histogram.tsv @@ -0,0 +1,201 @@ +iteration(key) values +5000 (returns) 286.679 286.967 290.719 303.635 283.787 294.378 278.337 285.855 294.364 280.861 +10000 (returns) 547.339 540.740 537.982 530.935 528.806 573.652 527.289 515.461 519.293 541.136 +15000 (returns) 204.572 205.855 204.891 702.270 730.992 276.094 266.585 203.185 201.644 207.271 +20000 (returns) 271.426 202.126 267.442 284.201 286.098 222.265 291.008 246.129 222.169 248.946 +25000 (returns) 545.419 249.315 572.753 546.962 555.347 473.160 555.474 584.266 467.654 557.162 +30000 (returns) 786.683 696.031 884.592 845.416 1589.494 849.638 939.958 886.389 127.715 909.967 +35000 (returns) 1365.656 1345.509 1480.471 1102.696 1875.074 1287.392 499.952 542.394 481.551 643.365 +40000 (returns) 114.562 116.581 626.876 549.155 530.316 519.768 111.903 622.579 589.523 553.699 +45000 (returns) 137.757 584.873 144.844 552.034 137.741 154.133 784.003 567.353 653.024 142.210 +50000 (returns) 158.398 2596.608 2174.785 2063.317 2618.787 1277.534 2307.418 1615.073 1871.181 2373.109 +55000 (returns) 2033.947 2390.402 1907.299 2449.797 1809.638 2137.076 2589.383 2470.742 2280.865 1711.665 +60000 (returns) 498.429 682.263 326.376 3745.582 2372.945 445.302 3953.406 3017.055 3318.963 1849.925 +65000 (returns) 1988.132 2484.773 2498.843 2447.810 1993.114 2819.544 646.456 1455.455 2445.382 2041.308 +70000 (returns) 1886.416 2285.217 2590.458 1746.680 1577.656 4039.018 2488.613 2519.708 2336.853 2475.481 +75000 (returns) 2169.837 3046.245 2267.307 2431.406 2324.036 1948.254 3633.059 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605.572 4014.165 1768.430 2600.568 611.925 3193.543 1594.392 472.673 2106.291 +965000 (returns) 4152.384 3987.079 4187.858 4142.342 1457.775 4133.408 3476.704 4085.288 3697.595 3914.004 +970000 (returns) 1167.182 4132.565 2625.464 1497.196 4031.124 581.967 3924.700 4199.068 3143.610 4112.105 +975000 (returns) 4210.575 3023.827 2847.415 2994.547 1250.570 4163.459 4106.640 2100.663 3901.484 4180.323 +980000 (returns) 4040.854 1835.942 4015.743 4079.690 632.458 331.025 3967.167 3886.861 3982.367 4107.944 +985000 (returns) 2477.679 3925.750 4136.360 3193.221 3039.128 4118.549 4112.143 378.759 3390.493 3852.178 +990000 (returns) 2524.714 4057.478 2906.698 4035.252 4071.042 589.226 1500.508 3878.085 1848.528 358.842 +995000 (returns) 3897.779 4215.451 3369.686 3997.661 4202.176 2641.286 837.468 3877.305 1600.519 367.057 +1000000 (returns) 602.800 3952.641 4115.855 4030.957 4206.743 3754.789 601.050 3935.316 4131.998 901.729 diff --git a/reproductions/algorithms/mujoco/iql/reproduction_results/walker2d-medium-replay-v2_results/seed-10/evaluation_result_scalar.tsv b/reproductions/algorithms/mujoco/iql/reproduction_results/walker2d-medium-replay-v2_results/seed-10/evaluation_result_scalar.tsv new file mode 100644 index 00000000..af995cd8 --- /dev/null +++ b/reproductions/algorithms/mujoco/iql/reproduction_results/walker2d-medium-replay-v2_results/seed-10/evaluation_result_scalar.tsv @@ -0,0 +1,201 @@ +iteration mean std_dev min max median +5000 245.587 6.671 236.353 255.651 245.574 +10000 291.397 6.850 282.932 304.922 288.257 +15000 458.429 153.422 260.291 638.962 531.078 +20000 144.238 54.339 115.035 305.611 125.709 +25000 903.409 162.615 686.440 1193.747 877.347 +30000 491.731 172.162 328.041 847.900 417.992 +35000 690.403 130.517 314.875 828.083 717.668 +40000 1021.279 605.167 379.284 1934.143 860.422 +45000 925.629 131.368 766.753 1286.452 887.661 +50000 1111.711 656.415 301.629 2309.125 829.999 +55000 871.587 412.545 513.665 1385.355 560.190 +60000 1648.282 188.065 1457.275 2133.107 1619.723 +65000 2113.632 1295.572 305.238 3943.825 2564.934 +70000 1852.948 170.708 1486.672 2156.704 1834.682 +75000 2106.294 516.629 1301.838 3023.252 1959.856 +80000 3571.335 543.417 2151.076 4001.468 3850.056 +85000 2200.270 508.246 1541.310 3401.855 2213.548 +90000 2336.806 673.381 1146.106 3882.786 2290.679 +95000 3044.153 624.108 1958.270 3990.229 3048.891 +100000 2432.362 507.877 1427.215 3461.607 2469.756 +105000 2800.348 843.191 1563.543 3940.304 3102.550 +110000 2525.178 751.727 1178.392 4007.280 2338.753 +115000 2245.469 1057.575 963.403 3837.475 1864.355 +120000 3198.714 454.857 2213.920 3778.124 3373.438 +125000 3541.610 678.257 2208.306 4158.739 3837.896 +130000 3672.284 158.440 3243.799 3863.885 3722.560 +135000 2031.069 854.914 865.942 4212.009 1933.375 +140000 2410.535 901.075 1470.978 4189.982 2187.340 +145000 2756.811 767.420 1780.177 3743.609 2848.761 +150000 3232.679 875.035 1555.894 3836.959 3772.554 +155000 2022.516 871.253 1116.843 3961.539 1616.049 +160000 3276.750 735.996 1597.510 3954.729 3543.319 +165000 2355.321 659.244 1424.491 3466.925 2433.451 +170000 1898.441 152.531 1685.629 2184.614 1865.207 +175000 2402.583 1005.330 1140.687 4322.246 2489.710 +180000 2721.725 1117.257 1139.811 4368.800 2537.416 +185000 2379.958 743.772 1588.584 3874.871 2082.252 +190000 2706.372 774.951 1750.210 4065.625 2406.083 +195000 2426.071 1025.797 979.269 4199.172 2314.014 +200000 2889.870 1036.821 1780.805 4212.330 2517.580 +205000 4069.249 78.985 3968.074 4212.633 4064.793 +210000 2152.347 1048.538 1447.264 4249.516 1503.050 +215000 3383.274 801.501 996.328 3913.896 3609.042 +220000 1904.436 378.297 1248.491 2652.417 1887.665 +225000 2856.937 1013.304 1567.375 4060.366 2865.017 +230000 3488.407 676.155 2067.774 3976.928 3803.366 +235000 2967.729 1156.585 652.172 4144.765 3391.241 +240000 2820.874 1193.477 1218.750 4094.454 3126.628 +245000 2817.528 989.201 1228.191 3964.875 2789.462 +250000 3616.350 694.372 1808.989 4131.878 3909.875 +255000 2908.179 964.099 1595.844 3972.276 2999.987 +260000 2715.765 1048.714 702.412 4082.844 2640.771 +265000 2924.113 956.200 1283.036 4212.697 2937.549 +270000 1141.470 1269.002 347.727 4141.188 622.843 +275000 3303.372 900.484 2109.568 4120.361 3922.720 +280000 3725.880 442.777 2807.238 4070.230 3932.519 +285000 3345.684 1032.514 1812.013 4295.500 3992.131 +290000 2729.042 757.409 996.536 3650.899 2813.051 +295000 3086.892 1015.338 1336.714 4022.220 3614.250 +300000 3471.100 781.571 1918.265 4138.257 3932.144 +305000 2478.602 475.506 1784.850 3436.477 2373.542 +310000 2325.779 703.506 1523.525 3671.791 2107.217 +315000 2657.145 1189.729 383.630 3814.711 2979.842 +320000 1904.885 488.911 1596.815 3138.182 1702.034 +325000 3231.363 755.275 1468.323 4121.132 3433.025 +330000 2290.323 1267.343 590.428 3761.734 2199.450 +335000 2554.016 924.441 1664.774 3974.236 1995.312 +340000 1683.014 503.817 1185.820 3061.982 1531.809 +345000 3444.544 1072.347 688.037 4143.691 4042.963 +350000 1092.896 753.509 550.480 2462.225 630.672 +355000 1954.208 399.014 1285.865 2472.041 2047.416 +360000 3149.819 835.486 1848.011 4052.074 3205.172 +365000 1901.796 1171.738 340.421 4037.315 1703.045 +370000 3319.198 845.053 1850.849 4169.932 3719.342 +375000 3094.014 1048.967 832.841 3974.549 3821.072 +380000 2626.750 1154.638 501.161 4119.400 2350.907 +385000 3616.146 749.439 2364.279 4306.285 4086.139 +390000 2693.580 1072.667 1177.251 3873.269 2715.175 +395000 3440.062 859.437 1716.872 4107.087 3899.188 +400000 3137.613 849.495 2007.176 4146.017 3234.542 +405000 2612.423 1085.887 673.243 4033.825 2526.730 +410000 3435.973 881.276 1864.416 4205.476 3912.225 +415000 2445.124 1025.619 355.434 3898.035 2383.077 +420000 3952.490 426.901 2715.856 4248.840 4081.288 +425000 2781.517 1013.752 1233.949 3954.685 2724.649 +430000 2769.814 1019.362 1318.168 4025.240 2796.021 +435000 2810.224 1128.799 542.219 4150.827 3073.033 +440000 3684.105 604.054 1899.341 4079.983 3863.460 +445000 2571.290 719.786 1737.489 4114.120 2375.602 +450000 3529.334 793.618 1672.198 4249.756 3803.536 +455000 2939.677 1037.325 1595.459 4181.571 2814.879 +460000 3326.747 1014.577 999.877 4045.937 3940.179 +465000 3029.366 867.400 1353.592 3938.773 3346.948 +470000 3174.028 1224.654 591.272 4152.541 3940.773 +475000 3870.273 256.208 3368.840 4073.226 3998.736 +480000 3665.836 761.709 1871.577 4149.249 4029.793 +485000 3830.954 699.570 2037.843 4258.610 4144.859 +490000 3777.063 548.726 2159.951 4102.481 3918.025 +495000 3548.058 589.745 2345.586 4177.436 3824.083 +500000 3065.400 767.968 2122.249 4119.204 3121.414 +505000 2761.286 1245.853 508.336 4149.933 2602.893 +510000 3484.820 946.653 1476.281 4158.393 4031.861 +515000 3072.164 988.496 1630.748 4004.286 3809.668 +520000 3761.744 178.376 3344.596 3901.163 3835.786 +525000 3658.301 749.121 2132.913 4219.277 3992.352 +530000 2763.962 1219.124 1347.341 4185.900 2743.167 +535000 3270.216 1443.197 377.881 4169.839 4013.457 +540000 3159.024 1297.906 739.148 4083.428 3852.232 +545000 3578.870 702.790 1898.057 4240.033 3897.634 +550000 2240.746 1313.606 621.306 4143.331 1669.069 +555000 2756.471 1439.521 346.392 4274.465 3308.498 +560000 2794.276 867.671 1964.930 4126.134 2433.383 +565000 3151.908 1029.553 1387.640 4144.619 3482.428 +570000 2606.712 879.873 603.223 3848.996 2917.750 +575000 2974.407 991.942 1672.196 4085.186 2965.643 +580000 3198.907 1138.913 1111.073 4062.561 3978.913 +585000 3433.978 1063.677 836.389 4143.553 4056.186 +590000 3275.631 770.344 1820.867 4172.691 3608.462 +595000 3381.971 993.037 1584.711 4230.158 3882.238 +600000 3576.188 1108.925 730.081 4194.288 4103.211 +605000 3319.818 579.197 2435.402 4003.019 3353.039 +610000 3286.557 928.692 1426.626 4120.107 3699.256 +615000 3703.399 713.407 2032.346 4199.062 3999.194 +620000 3352.462 723.724 1756.027 4118.782 3342.407 +625000 2679.448 1077.366 1361.475 4138.490 2518.949 +630000 3815.117 290.969 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4246.336 4036.670 +730000 3849.581 428.879 2954.338 4202.024 4010.924 +735000 3665.725 959.977 994.311 4238.013 4040.267 +740000 3998.415 179.069 3539.758 4196.321 4052.440 +745000 3145.944 1179.687 538.234 4093.169 3883.727 +750000 2923.676 1636.803 309.481 4227.111 4028.535 +755000 3435.213 1096.402 455.559 4241.813 3926.460 +760000 2078.600 1506.741 376.961 4194.062 1556.041 +765000 2575.528 1414.230 334.983 4017.684 2918.090 +770000 3355.712 912.896 1837.216 4133.809 3874.060 +775000 2884.113 1369.337 382.050 4113.666 3312.531 +780000 3456.739 838.810 1812.115 4142.512 3990.379 +785000 3304.682 1197.050 561.129 4312.944 4024.063 +790000 3098.294 1214.535 781.956 4196.404 3766.943 +795000 3659.029 1101.201 471.492 4195.314 4079.504 +800000 3670.716 754.782 1834.439 4190.052 4037.625 +805000 3058.471 1350.868 491.747 4142.245 3671.969 +810000 2760.153 1378.152 329.523 4103.917 3290.954 +815000 3325.567 896.307 1894.001 4182.131 3977.547 +820000 3113.104 1495.295 343.833 4183.076 4021.816 +825000 3637.752 857.810 1265.236 4073.451 4022.951 +830000 2909.688 1021.363 1663.210 4067.328 2910.183 +835000 1972.237 1551.724 433.792 4131.553 1218.839 +840000 2543.093 960.081 1597.668 4051.387 2172.475 +845000 3203.621 1298.381 608.700 4236.652 3960.385 +850000 2566.670 1381.158 529.256 4121.524 2539.901 +855000 3652.423 1019.473 697.638 4209.563 4065.306 +860000 2915.169 1310.196 524.119 4127.820 3389.948 +865000 2855.930 1380.029 470.212 4171.397 3538.370 +870000 3437.956 804.810 1803.262 4215.764 3623.973 +875000 3031.026 1238.311 346.859 4134.841 3534.324 +880000 2865.981 1443.791 343.881 4175.891 3641.468 +885000 3098.880 1092.394 462.240 4212.105 3257.376 +890000 3237.917 1189.841 512.821 4229.583 3874.342 +895000 3023.807 1177.383 736.531 4195.030 3544.622 +900000 3180.523 1206.541 694.992 4190.631 3889.624 +905000 3099.557 971.485 1155.163 4118.750 3230.832 +910000 3383.731 1455.280 429.480 4229.669 4076.119 +915000 3675.433 752.827 1735.643 4156.715 4028.016 +920000 3388.850 1120.468 337.664 4134.409 3876.850 +925000 2909.330 1399.984 418.394 4197.093 3579.157 +930000 3281.974 1149.069 597.192 4210.725 3922.873 +935000 2643.169 1513.331 339.869 4085.864 3365.744 +940000 2719.377 1439.112 446.517 4201.085 3221.297 +945000 3927.777 421.761 2680.953 4168.737 4051.843 +950000 2555.981 1688.827 340.043 4050.995 3754.138 +955000 3479.815 1012.276 601.346 4102.354 3920.283 +960000 2114.909 1300.094 472.673 4181.526 1937.361 +965000 3723.444 785.797 1457.775 4187.858 4036.184 +970000 2941.498 1321.618 581.967 4199.068 3534.155 +975000 3277.950 968.000 1250.570 4210.575 3462.656 +980000 3088.005 1456.078 331.025 4107.944 3974.767 +985000 3262.426 1095.853 378.759 4136.360 3621.335 +990000 2577.037 1375.344 358.842 4071.042 2715.706 +995000 2900.639 1386.638 367.057 4215.451 3623.496 +1000000 3023.388 1526.319 601.050 4206.743 3943.979 diff --git a/reproductions/algorithms/mujoco/iql/reproduction_results/walker2d-medium-replay-v2_results/seed-10/result.png b/reproductions/algorithms/mujoco/iql/reproduction_results/walker2d-medium-replay-v2_results/seed-10/result.png new file mode 100644 index 00000000..326829b4 Binary files /dev/null and b/reproductions/algorithms/mujoco/iql/reproduction_results/walker2d-medium-replay-v2_results/seed-10/result.png differ diff --git a/reproductions/algorithms/mujoco/iql/reproduction_results/walker2d-medium-replay-v2_results/seed-100/best_score_scalar.tsv b/reproductions/algorithms/mujoco/iql/reproduction_results/walker2d-medium-replay-v2_results/seed-100/best_score_scalar.tsv new file mode 100644 index 00000000..b43e0cad --- /dev/null +++ b/reproductions/algorithms/mujoco/iql/reproduction_results/walker2d-medium-replay-v2_results/seed-100/best_score_scalar.tsv @@ -0,0 +1,2 @@ +iteration best_mean_iteration mean std_dev best_median_iteration median +1 330000.000 3925.708 143.464 515000.000 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3432.370 719.746 1554.337 4004.052 3724.012 +115000 3329.230 874.394 1412.133 4034.883 3770.218 +120000 3018.245 975.044 1315.414 4060.815 3535.149 +125000 3371.961 889.815 1128.588 4149.640 3837.117 +130000 3348.820 788.250 1577.474 3989.184 3721.483 +135000 3572.404 496.564 1501.329 4269.574 3738.750 +140000 3231.035 820.829 1317.730 3944.573 3657.729 +145000 3446.468 690.160 1675.897 3915.035 3723.784 +150000 2706.800 1259.049 342.394 4091.704 3349.591 +155000 3363.289 749.816 1570.496 4004.697 3782.097 +160000 3552.796 682.494 1397.603 4190.583 3806.195 +165000 3581.401 503.190 1671.622 3934.302 3719.001 +170000 3502.963 715.557 1429.025 4093.066 3836.809 +175000 3545.034 570.466 1550.146 3969.293 3783.336 +180000 3437.867 734.357 1707.662 3993.636 3780.394 +185000 3243.863 1130.589 410.704 4229.786 3835.903 +190000 3464.107 923.403 493.842 4111.580 3775.502 +195000 3662.845 372.454 1947.622 3979.191 3773.474 +200000 3630.436 679.018 1504.460 4054.608 3873.475 +205000 3279.710 939.162 572.797 3962.429 3774.052 +210000 3707.654 269.539 2446.908 3894.178 3772.815 +215000 3510.745 581.865 1948.352 3906.001 3789.073 +220000 3207.129 1139.694 689.623 4052.595 3857.057 +225000 3461.663 619.972 1200.583 4064.747 3629.211 +230000 3708.984 357.401 1992.417 4014.567 3770.196 +235000 3688.589 573.704 1433.620 4035.791 3900.200 +240000 3628.418 513.998 2317.981 4141.194 3840.630 +245000 3628.445 523.716 1677.580 4057.678 3790.789 +250000 3690.502 467.421 1890.149 3955.745 3838.464 +255000 3505.970 609.114 1616.897 3993.178 3771.963 +260000 3514.506 725.109 908.629 3907.750 3816.291 +265000 3428.911 832.584 1048.687 4190.619 3869.949 +270000 3792.107 172.327 3284.103 4059.048 3814.433 +275000 3635.458 506.489 1534.472 3904.231 3783.572 +280000 3703.501 488.338 1696.255 3989.794 3844.992 +285000 3785.354 196.054 2779.334 3966.824 3829.492 +290000 3810.824 361.727 1901.752 4065.691 3854.532 +295000 3456.991 891.898 589.904 4280.288 3771.716 +300000 3640.086 602.217 1793.878 4065.164 3814.808 +305000 3740.155 268.247 2685.762 3916.671 3811.149 +310000 3695.531 581.775 1492.294 4153.487 3844.293 +315000 3524.609 678.699 1568.798 3891.760 3799.574 +320000 3802.313 98.911 3547.342 4081.012 3800.962 +325000 3645.261 520.026 1685.927 4029.347 3795.253 +330000 3767.459 203.260 2793.579 4028.570 3798.932 +335000 3748.888 166.565 3182.467 3938.021 3788.014 +340000 3731.683 522.303 1317.733 4011.336 3876.698 +345000 3798.535 75.093 3631.585 3937.710 3799.468 +350000 3729.205 646.864 363.514 4043.284 3868.979 +355000 3726.287 218.290 2679.251 4022.556 3764.072 +360000 3736.329 279.089 2533.491 3930.382 3820.323 +365000 3763.363 93.718 3530.942 3928.623 3779.428 +370000 3632.975 548.542 1402.287 3968.065 3834.615 +375000 3555.090 714.804 1391.457 3978.014 3815.934 +380000 3564.485 566.475 1377.590 3856.669 3768.714 +385000 3658.937 468.819 1652.773 3967.209 3786.774 +390000 3740.110 365.846 1839.826 4021.562 3793.214 +395000 3610.338 427.294 1598.589 3941.587 3697.664 +400000 3450.223 691.376 1592.015 3957.888 3754.173 +405000 3704.287 285.199 2404.893 4102.708 3766.953 +410000 3572.668 337.962 2341.707 3979.248 3660.109 +415000 3690.796 117.325 3154.517 3813.402 3713.441 +420000 3690.791 413.821 1529.416 3943.878 3764.625 +425000 3661.213 458.901 1838.605 3918.484 3812.275 +430000 3791.129 59.150 3676.614 3947.795 3775.023 +435000 3755.236 255.057 2503.582 4002.854 3812.181 +440000 3676.964 462.760 1644.828 3956.058 3800.711 +445000 3619.654 539.367 1607.932 3867.020 3795.433 +450000 3783.084 88.628 3606.167 3971.652 3781.962 +455000 3620.901 360.040 1824.386 3892.410 3693.954 +460000 3676.153 398.485 1866.686 3886.258 3799.553 +465000 3768.329 88.945 3437.941 3932.739 3762.883 +470000 3722.998 166.278 2940.606 3917.374 3750.784 +475000 3810.721 126.570 3243.662 4037.267 3816.445 +480000 3653.007 396.111 2046.274 3881.678 3774.088 +485000 3726.560 58.082 3598.113 3840.215 3723.373 +490000 3753.166 242.147 2778.413 3981.954 3807.533 +495000 3710.696 573.075 984.082 4019.421 3869.532 +500000 3342.256 847.750 741.738 3936.197 3731.046 +505000 3700.594 280.196 2293.978 3962.046 3722.303 +510000 3801.208 98.194 3591.301 3944.545 3811.549 +515000 3616.335 420.513 1904.070 3852.981 3753.481 +520000 3738.986 88.979 3479.161 3965.351 3750.427 +525000 3729.947 165.715 2924.739 3899.205 3746.347 +530000 3635.783 484.233 1593.967 3984.682 3774.640 +535000 3671.124 327.167 2131.868 3875.815 3763.275 +540000 3738.714 371.198 1787.083 4016.019 3803.501 +545000 3603.898 556.934 735.643 3911.597 3709.331 +550000 3774.936 94.913 3581.190 3954.051 3787.439 +555000 3763.728 78.232 3602.619 3917.901 3781.562 +560000 3767.794 235.335 2551.507 3930.387 3813.957 +565000 3549.598 779.191 626.343 3868.565 3738.314 +570000 3748.543 96.875 3365.261 3948.154 3760.293 +575000 3461.047 886.130 690.527 3967.404 3772.358 +580000 3552.819 709.957 720.351 3883.148 3772.131 +585000 3742.259 280.012 2285.255 3950.037 3792.994 +590000 3647.153 503.322 1176.995 4081.471 3770.303 +595000 3792.670 81.871 3628.052 4032.175 3764.646 +600000 3697.570 358.352 1777.830 3815.825 3755.784 +605000 3653.357 407.187 2104.883 3855.250 3781.053 +610000 3688.984 328.180 1953.922 3846.604 3761.633 +615000 3723.749 400.145 1629.310 4002.948 3784.186 +620000 3569.582 503.500 2218.958 4044.468 3766.046 +625000 3714.282 261.944 2506.940 3936.870 3768.458 +630000 3708.708 370.775 1743.596 4019.149 3772.782 +635000 3686.003 337.188 1945.011 4084.927 3749.526 +640000 3667.152 308.950 2296.027 3884.898 3750.166 +645000 3801.023 48.356 3689.104 3896.450 3795.586 +650000 3740.881 127.983 3139.594 3845.559 3772.976 +655000 3782.400 99.263 3480.277 4028.375 3789.994 +660000 3756.365 80.135 3421.708 3888.975 3767.323 +665000 3781.493 53.888 3659.714 3942.498 3781.718 +670000 3776.602 58.834 3644.411 3858.174 3787.601 +675000 3716.789 133.149 3135.892 3917.418 3718.529 +680000 3690.855 418.606 1504.700 3921.857 3767.635 +685000 3795.475 87.847 3673.087 4112.450 3794.269 +690000 3680.274 275.625 2227.964 3867.612 3726.390 +695000 3796.773 48.986 3679.895 3931.157 3799.996 +700000 3749.767 381.939 1718.162 3940.411 3825.918 +705000 3670.485 416.583 2102.124 3906.456 3785.341 +710000 3684.075 359.150 2136.164 3925.815 3796.342 +715000 3736.777 45.409 3637.948 3832.196 3736.274 +720000 3765.635 61.481 3632.276 3889.314 3769.159 +725000 3758.623 237.596 2545.681 4022.677 3794.028 +730000 3745.040 194.390 2760.552 3900.250 3774.011 +735000 3723.054 242.454 2473.213 3898.184 3767.084 +740000 3728.968 209.021 2633.175 3844.329 3767.151 +745000 3742.085 132.178 3102.397 3862.097 3767.013 +750000 3813.239 53.411 3723.875 3966.742 3807.216 +755000 3663.578 391.030 1950.713 3936.266 3778.026 +760000 3684.159 430.110 1678.555 3950.919 3790.328 +765000 3748.516 185.701 2789.539 3899.792 3766.119 +770000 3754.968 62.301 3633.027 3851.787 3764.753 +775000 3764.409 69.068 3542.602 3919.445 3761.342 +780000 3759.767 96.638 3420.153 3939.074 3764.837 +785000 3779.881 58.109 3629.581 3896.471 3794.669 +790000 3776.468 97.359 3369.717 3921.208 3778.773 +795000 3775.158 115.020 3252.542 3927.407 3785.639 +800000 3725.312 290.561 2211.092 3998.508 3773.490 +805000 3671.353 279.595 2309.972 3831.229 3739.229 +810000 3784.283 65.341 3633.410 3971.302 3783.450 +815000 3552.247 528.570 1766.657 3852.476 3734.882 +820000 3754.533 176.808 2852.755 3955.236 3781.437 +825000 3773.256 39.803 3667.385 3845.686 3781.289 +830000 3770.917 50.972 3631.539 3862.319 3768.052 +835000 3784.878 74.975 3616.357 3912.399 3778.223 +840000 3746.038 151.256 2981.351 3834.885 3780.711 +845000 3699.375 241.419 2474.167 3911.079 3738.506 +850000 3614.874 432.859 1646.235 3836.989 3757.775 +855000 3623.387 519.028 1524.725 3860.313 3781.325 +860000 3781.736 43.719 3645.680 3867.876 3781.582 +865000 3779.999 49.815 3638.272 3855.168 3785.968 +870000 3687.034 377.788 1693.594 3837.624 3771.032 +875000 3769.874 60.731 3622.889 3892.665 3776.216 +880000 3758.643 61.491 3628.966 3903.316 3762.684 +885000 3738.343 239.751 2559.335 3990.513 3785.195 +890000 3763.173 77.919 3487.998 3893.725 3769.327 +895000 3740.875 52.068 3611.772 3824.369 3758.699 +900000 3782.311 52.689 3643.995 3862.541 3785.141 +905000 3769.680 49.453 3657.792 3866.262 3774.024 +910000 3785.307 103.879 3285.916 3879.623 3804.857 +915000 3693.253 409.274 1545.138 3889.575 3774.314 +920000 3734.745 136.516 3093.983 3869.579 3767.568 +925000 3779.698 88.833 3406.466 3912.407 3788.635 +930000 3758.936 52.471 3644.787 3842.592 3765.928 +935000 3760.984 136.794 3074.509 3893.845 3777.978 +940000 3766.701 55.081 3627.294 3881.834 3769.838 +945000 3775.740 51.469 3677.913 3862.349 3763.947 +950000 3773.927 49.704 3630.175 3865.094 3771.207 +955000 3729.254 326.132 1996.354 3894.912 3789.619 +960000 3770.210 59.798 3653.735 3898.306 3778.537 +965000 3741.697 191.100 2850.158 3950.207 3793.290 +970000 3539.849 621.778 1205.317 3950.954 3756.874 +975000 3769.093 43.995 3678.072 3850.000 3773.956 +980000 3721.026 166.297 3092.212 3853.511 3765.945 +985000 3642.118 405.651 2272.616 3962.736 3775.422 +990000 3783.507 47.760 3683.655 3865.251 3779.573 +995000 3744.837 103.296 3287.373 3891.969 3759.753 +1000000 3777.819 53.946 3650.953 3854.686 3785.434 diff --git a/reproductions/algorithms/mujoco/iql/reproduction_results/walker2d-medium-v2_results/expert_normalized_score.tsv_scalar.tsv b/reproductions/algorithms/mujoco/iql/reproduction_results/walker2d-medium-v2_results/expert_normalized_score.tsv_scalar.tsv new file mode 100644 index 00000000..fedefe99 --- /dev/null +++ b/reproductions/algorithms/mujoco/iql/reproduction_results/walker2d-medium-v2_results/expert_normalized_score.tsv_scalar.tsv @@ -0,0 +1,201 @@ +iteration mean std_dev +5000 21.824 17.058 +10000 33.363 14.162 +15000 42.310 23.961 +20000 21.826 8.970 +25000 31.473 20.080 +30000 59.492 17.518 +35000 43.549 24.155 +40000 51.091 20.354 +45000 47.655 31.124 +50000 54.711 21.196 +55000 69.034 16.433 +60000 65.947 20.662 +65000 60.664 23.113 +70000 55.606 23.228 +75000 72.160 16.716 +80000 74.172 16.161 +85000 68.548 19.223 +90000 70.345 18.072 +95000 73.714 15.100 +100000 72.666 18.895 +105000 75.668 15.205 +110000 74.733 15.678 +115000 72.486 19.047 +120000 65.712 21.240 +125000 73.417 19.383 +130000 72.913 17.171 +135000 77.783 10.817 +140000 70.347 17.880 +145000 75.040 15.034 +150000 58.928 27.426 +155000 73.228 16.333 +160000 77.356 14.867 +165000 77.979 10.961 +170000 76.271 15.587 +175000 77.187 12.427 +180000 74.853 15.997 +185000 70.627 24.628 +190000 75.424 20.115 +195000 79.753 8.113 +200000 79.047 14.791 +205000 71.407 20.458 +210000 80.729 5.871 +215000 76.440 12.675 +220000 69.826 24.826 +225000 75.371 13.505 +230000 80.758 7.785 +235000 80.314 12.497 +240000 79.003 11.197 +245000 79.004 11.408 +250000 80.356 10.182 +255000 76.336 13.269 +260000 76.522 15.795 +265000 74.658 18.136 +270000 82.569 3.754 +275000 79.157 11.033 +280000 80.639 10.638 +285000 82.422 4.271 +290000 82.977 7.880 +295000 75.269 19.428 +300000 79.258 13.118 +305000 81.437 5.843 +310000 80.465 12.673 +315000 76.742 14.784 +320000 82.791 2.155 +325000 79.370 11.328 +330000 82.032 4.428 +335000 81.628 3.628 +340000 81.253 11.377 +345000 82.709 1.636 +350000 81.199 14.091 +355000 81.135 4.755 +360000 81.354 6.079 +365000 81.943 2.041 +370000 79.103 11.949 +375000 77.406 15.571 +380000 77.611 12.340 +385000 79.668 10.212 +390000 81.436 7.969 +395000 78.610 9.308 +400000 75.122 15.060 +405000 80.656 6.213 +410000 77.789 7.362 +415000 80.362 2.556 +420000 80.362 9.014 +425000 79.718 9.996 +430000 82.548 1.288 +435000 81.766 5.556 +440000 80.061 10.080 +445000 78.813 11.749 +450000 82.373 1.931 +455000 78.840 7.843 +460000 80.043 8.680 +465000 82.051 1.938 +470000 81.064 3.622 +475000 82.975 2.757 +480000 79.539 8.629 +485000 81.141 1.265 +490000 81.721 5.275 +495000 80.796 12.483 +500000 72.770 18.467 +505000 80.576 6.104 +510000 82.767 2.139 +515000 78.740 9.160 +520000 81.412 1.938 +525000 81.215 3.610 +530000 79.164 10.548 +535000 79.934 7.127 +540000 81.406 8.086 +545000 78.469 12.132 +550000 82.195 2.068 +555000 81.951 1.704 +560000 82.040 5.126 +565000 77.286 16.973 +570000 81.620 2.110 +575000 75.358 19.303 +580000 77.357 15.465 +585000 81.483 6.100 +590000 79.412 10.964 +595000 82.581 1.783 +600000 80.510 7.806 +605000 79.547 8.870 +610000 80.323 7.149 +615000 81.080 8.716 +620000 77.722 10.968 +625000 80.874 5.706 +630000 80.752 8.077 +635000 80.258 7.345 +640000 79.847 6.730 +645000 82.763 1.053 +650000 81.453 2.788 +655000 82.358 2.162 +660000 81.791 1.746 +665000 82.338 1.174 +670000 82.231 1.282 +675000 80.928 2.900 +680000 80.364 9.119 +685000 82.643 1.914 +690000 80.133 6.004 +695000 82.671 1.067 +700000 81.647 8.320 +705000 79.920 9.075 +710000 80.216 7.823 +715000 81.364 0.989 +720000 81.992 1.339 +725000 81.840 5.176 +730000 81.544 4.234 +735000 81.065 5.281 +740000 81.194 4.553 +745000 81.480 2.879 +750000 83.029 1.163 +755000 79.769 8.518 +760000 80.218 9.369 +765000 81.620 4.045 +770000 81.760 1.357 +775000 81.966 1.505 +780000 81.865 2.105 +785000 82.303 1.266 +790000 82.228 2.121 +795000 82.200 2.506 +800000 81.114 6.329 +805000 79.939 6.091 +810000 82.399 1.423 +815000 77.344 11.514 +820000 81.751 3.851 +825000 82.159 0.867 +830000 82.108 1.110 +835000 82.412 1.633 +840000 81.566 3.295 +845000 80.549 5.259 +850000 78.708 9.429 +855000 78.894 11.306 +860000 82.343 0.952 +865000 82.305 1.085 +870000 80.280 8.229 +875000 82.085 1.323 +880000 81.840 1.339 +885000 81.398 5.223 +890000 81.939 1.697 +895000 81.453 1.134 +900000 82.356 1.148 +905000 82.081 1.077 +910000 82.421 2.263 +915000 80.416 8.915 +920000 81.320 2.974 +925000 82.299 1.935 +930000 81.847 1.143 +935000 81.891 2.980 +940000 82.016 1.200 +945000 82.213 1.121 +950000 82.173 1.083 +955000 81.200 7.104 +960000 82.092 1.303 +965000 81.471 4.163 +970000 77.074 13.544 +975000 82.068 0.958 +980000 81.021 3.622 +985000 79.302 8.836 +990000 82.382 1.040 +995000 81.539 2.250 +1000000 82.258 1.175 diff --git a/reproductions/algorithms/mujoco/iql/reproduction_results/walker2d-medium-v2_results/result.png b/reproductions/algorithms/mujoco/iql/reproduction_results/walker2d-medium-v2_results/result.png new file mode 100644 index 00000000..a41034b1 Binary files /dev/null and b/reproductions/algorithms/mujoco/iql/reproduction_results/walker2d-medium-v2_results/result.png differ diff --git a/reproductions/algorithms/mujoco/iql/reproduction_results/walker2d-medium-v2_results/seed-1/best_score_scalar.tsv b/reproductions/algorithms/mujoco/iql/reproduction_results/walker2d-medium-v2_results/seed-1/best_score_scalar.tsv new file mode 100644 index 00000000..c9f9eaae --- /dev/null +++ b/reproductions/algorithms/mujoco/iql/reproduction_results/walker2d-medium-v2_results/seed-1/best_score_scalar.tsv @@ -0,0 +1,2 @@ +iteration best_mean_iteration mean std_dev best_median_iteration median +1 220000.000 3948.581 66.277 185000.000 4000.865 diff --git 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b/reproductions/algorithms/mujoco/iql/reproduction_results/walker2d-medium-v2_results/seed-100/result.png new file mode 100644 index 00000000..137ee571 Binary files /dev/null and b/reproductions/algorithms/mujoco/iql/reproduction_results/walker2d-medium-v2_results/seed-100/result.png differ diff --git a/tests/test_functions.py b/tests/test_functions.py index 0ac16f35..cb93c30a 100644 --- a/tests/test_functions.py +++ b/tests/test_functions.py @@ -578,6 +578,16 @@ def test_compute_std_with_invalid_args(self): with pytest.raises(ValueError): RF.compute_std(variance_variable, 0.01, "dummy_add") + @pytest.mark.parametrize("expectile", [0.0, 0.25, 0.5, 0.75, 1.0]) + def test_expectile_regression(self, expectile): + x_array = np.arange(-2.0, 3.0) + x = nn.Variable.from_numpy_array(x_array) + loss = RF.expectile_regression(x, expectile) + loss.forward() + + expected = np.where(x.d > 0, expectile, 1 - expectile) * (x_array**2) + assert np.allclose(loss.d, expected) + if __name__ == "__main__": pytest.main()