Seed: [42, 37, 8, 67, 52]
Alpha Value: 0.9
Learning Rate: 0.01
Discount Factor: 0.9
Number of Episodes: 50
Max Iterations: 500
Number of Batches: 5
Directory Path ./tests/swimmer/alpha_0_9/
batch = 1
inside iterator
Iteration [  0  ]
Obj. val : 12.797526048425965, Avg. Ret : -0.8208798088116558
Iteration [  1  ]
Obj. val : 13.043565214868796, Avg. Ret : -1.1353132510308623
Iteration [  2  ]
Obj. val : 16.92431307714781, Avg. Ret : -0.09810492329228629
Iteration [  3  ]
Obj. val : 14.269240885848308, Avg. Ret : -0.8428140136637359
Iteration [  4  ]
Obj. val : 21.82240317104469, Avg. Ret : -2.9688821545250126
Iteration [  5  ]
Obj. val : 17.878817952461183, Avg. Ret : -1.415086339256503
Iteration [  6  ]
Obj. val : 8.924240102276723, Avg. Ret : -0.7318002824126776
Iteration [  7  ]
Obj. val : 10.578428459026426, Avg. Ret : -2.068115300781996
Iteration [  8  ]
Obj. val : 8.285197468341348, Avg. Ret : -0.7643642082293267
Iteration [  9  ]
Obj. val : 14.324211494969163, Avg. Ret : -1.9011517096667057
Iteration [  10  ]
Obj. val : 13.197733510409622, Avg. Ret : -1.6135015355171844
Iteration [  11  ]
Obj. val : 9.781791255617948, Avg. Ret : -2.8659930098368664
Iteration [  12  ]
Obj. val : 16.793894720210275, Avg. Ret : -0.5734761706554982
Iteration [  13  ]
Obj. val : 20.96143404074732, Avg. Ret : -2.255513674316504
Iteration [  14  ]
Obj. val : 15.007143070793472, Avg. Ret : -2.296518988993503
Iteration [  15  ]
Obj. val : 17.45929909394303, Avg. Ret : -3.8442062259190077
Iteration [  16  ]
Obj. val : 12.895274892996472, Avg. Ret : -1.4292839569605462
Iteration [  17  ]
Obj. val : 14.396015792363812, Avg. Ret : -3.330821749260514
Iteration [  18  ]
Obj. val : 9.770149290272656, Avg. Ret : -0.6451755159906145
Iteration [  19  ]
Obj. val : 22.728024829876098, Avg. Ret : -3.785741039180648
Iteration [  20  ]
Obj. val : 10.934402310415496, Avg. Ret : 2.41635514317328
Iteration [  21  ]
Obj. val : 19.87985978652594, Avg. Ret : -2.5693091030699646
Iteration [  22  ]
Obj. val : 13.81292250878364, Avg. Ret : 19.901348546847476
Iteration [  23  ]
Obj. val : 17.45893706287481, Avg. Ret : 9.325992256657281
Iteration [  24  ]
Obj. val : 17.216619242252584, Avg. Ret : -8.65642773441778
Iteration [  25  ]
Obj. val : 13.878401281443836, Avg. Ret : -12.800965855855013
Iteration [  26  ]
Obj. val : 11.12759700615996, Avg. Ret : 29.2270282058963
Iteration [  27  ]
Obj. val : 14.046119964484157, Avg. Ret : -40.9234100887763
Iteration [  28  ]
Obj. val : 9.117329451355538, Avg. Ret : -47.772776463709604
Iteration [  29  ]
Obj. val : 20.444265633497288, Avg. Ret : 14.339227652072953
Iteration [  30  ]
Obj. val : 13.884087796879427, Avg. Ret : -25.952644822161087
Iteration [  31  ]
Obj. val : 20.143100147682134, Avg. Ret : -7.059846473486111
Iteration [  32  ]
Obj. val : 16.750234152519933, Avg. Ret : -17.224676585276917
Iteration [  33  ]
Obj. val : 19.9626465913595, Avg. Ret : -5.958587577760589
Iteration [  34  ]
Obj. val : 18.328868287024157, Avg. Ret : -10.426503741143675
Iteration [  35  ]
Obj. val : 16.842126443938184, Avg. Ret : -41.60844497184316
Iteration [  36  ]
Obj. val : 16.628823196508847, Avg. Ret : -1.7559137593588536
Iteration [  37  ]
Obj. val : 15.665777587932162, Avg. Ret : -11.742655717344268
Iteration [  38  ]
Obj. val : 12.472963043969324, Avg. Ret : -26.563372817388764
Iteration [  39  ]
Obj. val : 15.594750599850155, Avg. Ret : -1.0599791959934382
Iteration [  40  ]
Obj. val : 12.978289383137824, Avg. Ret : -31.55385930141848
Iteration [  41  ]
Obj. val : 8.945058706888947, Avg. Ret : -16.411403311337466
Iteration [  42  ]
Obj. val : 17.43782959998684, Avg. Ret : 5.715269752304595
Iteration [  43  ]
Obj. val : 9.34168469360559, Avg. Ret : -7.7122814164836315
Iteration [  44  ]
Obj. val : 11.700364649018026, Avg. Ret : -1.8813932158132447
Iteration [  45  ]
Obj. val : 13.727699721266216, Avg. Ret : -1.3106618081646269
Iteration [  46  ]
Obj. val : 14.211169423168835, Avg. Ret : 1.1216248014450887
Iteration [  47  ]
Obj. val : 19.478755633153913, Avg. Ret : -1.5029338588470051
Iteration [  48  ]
Obj. val : 18.31775961938267, Avg. Ret : -6.15315141284114
Iteration [  49  ]
Obj. val : 15.40211897617802, Avg. Ret : 0.13681433575202154
Iteration [  50  ]
Obj. val : 13.202470353527664, Avg. Ret : -3.2750620199685243
Iteration [  51  ]
Obj. val : 15.857014064364495, Avg. Ret : -3.20726104083552
Iteration [  52  ]
Obj. val : 13.762834905498014, Avg. Ret : 4.147505045576806
Iteration [  53  ]
Obj. val : 13.889640241672048, Avg. Ret : -0.8961230220457486
Iteration [  54  ]
Obj. val : 13.21034432126057, Avg. Ret : 3.780855120392173
Iteration [  55  ]
Obj. val : 20.763942528589727, Avg. Ret : -5.263375480726281
Iteration [  56  ]
Obj. val : 15.763020972119856, Avg. Ret : -2.9621023148926606
Iteration [  57  ]
Obj. val : 21.026541681850407, Avg. Ret : -1.4596211675714414
Iteration [  58  ]
Obj. val : 16.8940287704574, Avg. Ret : -0.30635540199481776
Iteration [  59  ]
Obj. val : 15.679400318848959, Avg. Ret : -0.15538357174759987
Iteration [  60  ]
Obj. val : 22.142911239911818, Avg. Ret : 3.603599608996597
Iteration [  61  ]
Obj. val : 23.737173724640783, Avg. Ret : 0.3324756355143848
Iteration [  62  ]
Obj. val : 19.57827906936858, Avg. Ret : -4.136711790580941
Iteration [  63  ]
Obj. val : 19.89203692615527, Avg. Ret : 2.6505898706218556
Iteration [  64  ]
Obj. val : 16.97415799692731, Avg. Ret : -1.8831569033418407
Iteration [  65  ]
Obj. val : 22.681992083786202, Avg. Ret : -3.3197881807639624
Iteration [  66  ]
Obj. val : 19.250537698295986, Avg. Ret : 2.68591440276204
Iteration [  67  ]
Obj. val : 22.340177639161098, Avg. Ret : 0.9730832638961425
Iteration [  68  ]
Obj. val : 20.93328850393103, Avg. Ret : -5.165308669290869
Iteration [  69  ]
Obj. val : 24.128754374389484, Avg. Ret : 4.572613725936008
Iteration [  70  ]
Obj. val : 15.902778646706707, Avg. Ret : -0.23562392593636963
Iteration [  71  ]
Obj. val : 17.143883013426215, Avg. Ret : -4.508926955795894
Iteration [  72  ]
Obj. val : 21.08979054754764, Avg. Ret : 1.6568923273386307
Iteration [  73  ]
Obj. val : 20.139826827422304, Avg. Ret : 3.649123636446863
Iteration [  74  ]
Obj. val : 22.62012940126254, Avg. Ret : -3.7918128751967366
Iteration [  75  ]
Obj. val : 19.7220346303664, Avg. Ret : -0.44432045717204816
Iteration [  76  ]
Obj. val : 21.938953752452633, Avg. Ret : 6.04840364839842
Iteration [  77  ]
Obj. val : 26.14733461948018, Avg. Ret : -5.98059952624271
Iteration [  78  ]
Obj. val : 26.032730295363518, Avg. Ret : 3.6490917335425532
Iteration [  79  ]
Obj. val : 15.432017172441553, Avg. Ret : 2.909015871050117
Iteration [  80  ]
Obj. val : 23.813805686957693, Avg. Ret : -4.626906389258397
Iteration [  81  ]
Obj. val : 21.088125043725796, Avg. Ret : 7.369471908136403
Iteration [  82  ]
Obj. val : 21.391003650298053, Avg. Ret : 5.327815167921922
Iteration [  83  ]
Obj. val : 22.157023022110472, Avg. Ret : -2.5129586553481396
Iteration [  84  ]
Obj. val : 24.63604184399109, Avg. Ret : 5.300404497148543
Iteration [  85  ]
Obj. val : 20.061842484507594, Avg. Ret : 5.19233832195412
Iteration [  86  ]
Obj. val : 20.413419088548437, Avg. Ret : -6.964933108857414
Iteration [  87  ]
Obj. val : 24.096015174360023, Avg. Ret : 3.282045269959418
Iteration [  88  ]
Obj. val : 21.570501777761827, Avg. Ret : 8.401396777197117
Iteration [  89  ]
Obj. val : 23.81271702786949, Avg. Ret : -6.644930429000036
Iteration [  90  ]
Obj. val : 22.135417196765598, Avg. Ret : 6.122075624135747
Iteration [  91  ]
Obj. val : 20.98076832619186, Avg. Ret : 2.0508114123191548
Iteration [  92  ]
Obj. val : 26.443698607746967, Avg. Ret : -6.67875649990151
Iteration [  93  ]
Obj. val : 27.0303992393422, Avg. Ret : 1.7871132694708936
Iteration [  94  ]
Obj. val : 25.691350152395824, Avg. Ret : 7.471461448986895
Iteration [  95  ]
Obj. val : 23.069228458485316, Avg. Ret : -6.197007616762319
Iteration [  96  ]
Obj. val : 19.77663551283556, Avg. Ret : 7.0139591713838545
Iteration [  97  ]
Obj. val : 22.100279722980357, Avg. Ret : 5.97359858568354
Iteration [  98  ]
Obj. val : 23.61347239436556, Avg. Ret : -7.100237408611296
Iteration [  99  ]
Obj. val : 19.752501776184786, Avg. Ret : 4.331249782847303
checkpoint for objective values, iteration: 100. Saved at  ./tests/swimmer/alpha_0_9/ cvar_obj_1.csv
checkpoint for avg return values, iteration: 100. Saved at  ./tests/swimmer/alpha_0_9/ cvar_ret_1.csv
Iteration [  100  ]
Obj. val : 19.195665873915324, Avg. Ret : 8.924980966940472
Iteration [  101  ]
Obj. val : 22.457087661806536, Avg. Ret : -4.025346908106326
Iteration [  102  ]
Obj. val : 25.868980995634054, Avg. Ret : 6.674694897029104
Iteration [  103  ]
Obj. val : 23.720913161036485, Avg. Ret : 3.0208597305919525
Iteration [  104  ]
Obj. val : 21.167590232997107, Avg. Ret : -6.98452956289746
Iteration [  105  ]
Obj. val : 26.919642718517792, Avg. Ret : 6.710001232046949
Iteration [  106  ]
Obj. val : 24.315177323364686, Avg. Ret : 3.5195557153461965
Iteration [  107  ]
Obj. val : 22.702820239731334, Avg. Ret : -1.6549228846689927
Iteration [  108  ]
Obj. val : 21.24144851915367, Avg. Ret : 1.3233168716412655
Iteration [  109  ]
Obj. val : 25.584509255605905, Avg. Ret : 7.005315615525868
Iteration [  110  ]
Obj. val : 18.51824505960024, Avg. Ret : -5.9241693377024625
Iteration [  111  ]
Obj. val : 30.335959257486497, Avg. Ret : 7.064024307956755
Iteration [  112  ]
Obj. val : 25.137722375160184, Avg. Ret : 8.257880909664047
Iteration [  113  ]
Obj. val : 28.137706418836594, Avg. Ret : -6.346019814611764
Iteration [  114  ]
Obj. val : 27.05284307527795, Avg. Ret : 7.538450293502802
Iteration [  115  ]
Obj. val : 26.968311609916334, Avg. Ret : 4.986839301900568
Iteration [  116  ]
Obj. val : 26.967537253147935, Avg. Ret : -3.6350740866302345
Iteration [  117  ]
Obj. val : 25.589832071152408, Avg. Ret : 5.418648751084333
Iteration [  118  ]
Obj. val : 28.95688273025006, Avg. Ret : 8.269508655730043
Iteration [  119  ]
Obj. val : 26.13230071077464, Avg. Ret : -6.556890226261808
Iteration [  120  ]
Obj. val : 29.547511915911674, Avg. Ret : 7.3962464298111925
Iteration [  121  ]
Obj. val : 25.671062676983407, Avg. Ret : 5.174620302479411
Iteration [  122  ]
Obj. val : 24.99210177657688, Avg. Ret : -6.212019586958715
Iteration [  123  ]
Obj. val : 27.352188195313367, Avg. Ret : 7.062741088242278
Iteration [  124  ]
Obj. val : 27.615999985914492, Avg. Ret : 6.640697157954322
Iteration [  125  ]
Obj. val : 26.343576333549166, Avg. Ret : -8.183841194658061
Iteration [  126  ]
Obj. val : 23.33276025538176, Avg. Ret : 6.421784487330591
Iteration [  127  ]
Obj. val : 29.522810702022653, Avg. Ret : 5.739897957218979
Iteration [  128  ]
Obj. val : 23.408825972129023, Avg. Ret : -7.016911138414556
Iteration [  129  ]
Obj. val : 29.101516437127223, Avg. Ret : 9.112730196765249
Iteration [  130  ]
Obj. val : 29.486372479019693, Avg. Ret : 6.664055758425299
Iteration [  131  ]
Obj. val : 26.53872174267289, Avg. Ret : -6.030308410146111
Iteration [  132  ]
Obj. val : 28.111530995155807, Avg. Ret : 6.114226134632141
Iteration [  133  ]
Obj. val : 27.399231713953437, Avg. Ret : 2.6786660036345715
Iteration [  134  ]
Obj. val : 26.25705073212677, Avg. Ret : -4.519015195693177
Iteration [  135  ]
Obj. val : 27.750210970252674, Avg. Ret : 8.744801679431516
Iteration [  136  ]
Obj. val : 25.005289936036267, Avg. Ret : 2.234342574190188
Iteration [  137  ]
Obj. val : 28.047111024298864, Avg. Ret : -5.838304764505028
Iteration [  138  ]
Obj. val : 24.34672386110152, Avg. Ret : 3.76247056499751
Iteration [  139  ]
Obj. val : 30.73731350456093, Avg. Ret : 6.260651448298542
Iteration [  140  ]
Obj. val : 27.59848816789259, Avg. Ret : -4.295806453155189
Iteration [  141  ]
Obj. val : 28.940518307773957, Avg. Ret : 5.120343433317614
Iteration [  142  ]
Obj. val : 25.933043110985228, Avg. Ret : 6.730061043326166
Iteration [  143  ]
Obj. val : 28.969345138931722, Avg. Ret : -4.319429227490803
Iteration [  144  ]
Obj. val : 30.603805003903013, Avg. Ret : 6.673455800059842
Iteration [  145  ]
Obj. val : 26.50232135852558, Avg. Ret : 5.67307097870181
Iteration [  146  ]
Obj. val : 27.794784090472216, Avg. Ret : -4.289909090107434
Iteration [  147  ]
Obj. val : 25.966243463457218, Avg. Ret : 2.3079686023508335
Iteration [  148  ]
Obj. val : 28.864292964043962, Avg. Ret : 5.857034490204289
Iteration [  149  ]
Obj. val : 27.068230118171833, Avg. Ret : -3.9348506419586524
Iteration [  150  ]
Obj. val : 29.74599530285434, Avg. Ret : 1.1525744075103612
Iteration [  151  ]
Obj. val : 26.74919853978916, Avg. Ret : 7.3088703480418795
Iteration [  152  ]
Obj. val : 25.886261681881916, Avg. Ret : -4.647095371481436
Iteration [  153  ]
Obj. val : 31.144408345385585, Avg. Ret : 5.224780054700595
Iteration [  154  ]
Obj. val : 26.37621900559092, Avg. Ret : 4.464998743049348
Iteration [  155  ]
Obj. val : 28.06371210852849, Avg. Ret : -4.246142292148762
Iteration [  156  ]
Obj. val : 30.381858398038574, Avg. Ret : 7.51809307945957
Iteration [  157  ]
Obj. val : 26.572663462323526, Avg. Ret : 4.883081897234073
Iteration [  158  ]
Obj. val : 29.935710876502156, Avg. Ret : -6.80919454155709
Iteration [  159  ]
Obj. val : 29.256292352430133, Avg. Ret : 4.623698586352087
Iteration [  160  ]
Obj. val : 29.067462180897753, Avg. Ret : 7.379540265478823
Iteration [  161  ]
Obj. val : 31.793792850037764, Avg. Ret : -6.405556173860405
Iteration [  162  ]
Obj. val : 28.130778205578043, Avg. Ret : 3.920532537151481
Iteration [  163  ]
Obj. val : 31.119730935154713, Avg. Ret : 4.567666944774044
Iteration [  164  ]
Obj. val : 29.09126901860352, Avg. Ret : -5.440824726377176
Iteration [  165  ]
Obj. val : 27.278717176459423, Avg. Ret : 2.585520760621486
Iteration [  166  ]
Obj. val : 26.074702811138476, Avg. Ret : 11.533011062887624
Iteration [  167  ]
Obj. val : 30.031972265174414, Avg. Ret : -5.047651104579471
Iteration [  168  ]
Obj. val : 28.792649163531603, Avg. Ret : 10.501397292649527
Iteration [  169  ]
Obj. val : 28.177105392400243, Avg. Ret : 9.50897479781462
Iteration [  170  ]
Obj. val : 27.98347409632323, Avg. Ret : -1.25232743524359
Iteration [  171  ]
Obj. val : 29.62860837260473, Avg. Ret : 6.922136465582894
Iteration [  172  ]
Obj. val : 26.5251219778319, Avg. Ret : 2.501176477589187
Iteration [  173  ]
Obj. val : 28.44214728666774, Avg. Ret : -6.686676447886457
Iteration [  174  ]
Obj. val : 28.480884381422044, Avg. Ret : 3.570456235945108
Iteration [  175  ]
Obj. val : 28.995421737253025, Avg. Ret : 11.228251086219018
Iteration [  176  ]
Obj. val : 32.27514139267883, Avg. Ret : -2.496964364478489
Iteration [  177  ]
Obj. val : 29.346841229714705, Avg. Ret : 8.57635470464204
Iteration [  178  ]
Obj. val : 30.239291986243053, Avg. Ret : 5.137889961983107
Iteration [  179  ]
Obj. val : 29.23204953702742, Avg. Ret : -3.9678194795419324
Iteration [  180  ]
Obj. val : 28.731001648101117, Avg. Ret : 8.996564534155741
Iteration [  181  ]
Obj. val : 28.282569023858372, Avg. Ret : 5.5951014243177815
Iteration [  182  ]
Obj. val : 32.01517005654125, Avg. Ret : -4.896773249266682
Iteration [  183  ]
Obj. val : 28.428040313973135, Avg. Ret : 9.289285782638455
Iteration [  184  ]
Obj. val : 30.556754376224667, Avg. Ret : 6.18433447082443
Iteration [  185  ]
Obj. val : 25.032720621084707, Avg. Ret : -1.2476764426127382
Iteration [  186  ]
Obj. val : 30.82831464692096, Avg. Ret : 3.14543943048256
Iteration [  187  ]
Obj. val : 29.956235610806278, Avg. Ret : 6.567926294305341
Iteration [  188  ]
Obj. val : 25.956088159627924, Avg. Ret : -1.8917703267088155
Iteration [  189  ]
Obj. val : 29.286091485596515, Avg. Ret : 6.988990183659204
Iteration [  190  ]
Obj. val : 29.903139559089883, Avg. Ret : 7.366736527048504
Iteration [  191  ]
Obj. val : 28.539343544088794, Avg. Ret : -3.2832195465192724
Iteration [  192  ]
Obj. val : 29.456213751111065, Avg. Ret : 8.171544863017258
Iteration [  193  ]
Obj. val : 32.05763539486317, Avg. Ret : 5.6696831750136285
Iteration [  194  ]
Obj. val : 28.095493446648494, Avg. Ret : -3.2039666608997366
Iteration [  195  ]
Obj. val : 29.636636816180335, Avg. Ret : 8.681218067066828
Iteration [  196  ]
Obj. val : 29.93623931659635, Avg. Ret : 4.269882530780317
Iteration [  197  ]
Obj. val : 32.07756517188419, Avg. Ret : -1.3070944683433632
Iteration [  198  ]
Obj. val : 31.29541088117904, Avg. Ret : 6.345488975123376
Iteration [  199  ]
Obj. val : 29.851986691373668, Avg. Ret : 6.778415705477998
checkpoint for objective values, iteration: 200. Saved at  ./tests/swimmer/alpha_0_9/ cvar_obj_1.csv
checkpoint for avg return values, iteration: 200. Saved at  ./tests/swimmer/alpha_0_9/ cvar_ret_1.csv
Iteration [  200  ]
Obj. val : 28.138813222362174, Avg. Ret : -2.7926490167382427
Iteration [  201  ]
Obj. val : 29.306877386401652, Avg. Ret : 14.107675124348916
Iteration [  202  ]
Obj. val : 28.68895716691056, Avg. Ret : 7.853932721932941
Iteration [  203  ]
Obj. val : 28.92429794965871, Avg. Ret : -2.0390443421579563
Iteration [  204  ]
Obj. val : 29.1584973363791, Avg. Ret : 5.8681604463244765
Iteration [  205  ]
Obj. val : 31.060931594977493, Avg. Ret : 12.133153791945011
Iteration [  206  ]
Obj. val : 30.85682019916679, Avg. Ret : -2.5879402847816517
Iteration [  207  ]
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Obj. val : 34.662871615152056, Avg. Ret : 1.775007840660363
checkpoint for objective values, iteration: 300. Saved at  ./tests/swimmer/alpha_0_9/ cvar_obj_1.csv
checkpoint for avg return values, iteration: 300. Saved at  ./tests/swimmer/alpha_0_9/ cvar_ret_1.csv
Iteration [  300  ]
Obj. val : 32.80614822400918, Avg. Ret : 9.845371291375859
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Obj. val : 31.76711568746684, Avg. Ret : 6.526674230235041
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Obj. val : 35.10907811218743, Avg. Ret : 11.125492020246497
checkpoint for objective values, iteration: 400. Saved at  ./tests/swimmer/alpha_0_9/ cvar_obj_1.csv
checkpoint for avg return values, iteration: 400. Saved at  ./tests/swimmer/alpha_0_9/ cvar_ret_1.csv
Iteration [  400  ]
Obj. val : 37.57998854000388, Avg. Ret : 11.187646816061953
Iteration [  401  ]
Obj. val : 36.99133686024202, Avg. Ret : 6.552175988814704
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