/scratch/zt1/project/sshah389-prj/user/snallani/myenv/lib/python3.10/site-packages/hdmf/spec/namespace.py:535: UserWarning: Ignoring cached namespace 'hdmf-common' version 1.5.0 because version 1.8.0 is already loaded.
  warn("Ignoring cached namespace '%s' version %s because version %s is already loaded."
/scratch/zt1/project/sshah389-prj/user/snallani/myenv/lib/python3.10/site-packages/hdmf/spec/namespace.py:535: UserWarning: Ignoring cached namespace 'core' version 2.4.0 because version 2.8.0 is already loaded.
  warn("Ignoring cached namespace '%s' version %s because version %s is already loaded."
/scratch/zt1/project/sshah389-prj/user/snallani/myenv/lib/python3.10/site-packages/hdmf/spec/namespace.py:535: UserWarning: Ignoring cached namespace 'hdmf-experimental' version 0.1.0 because version 0.5.0 is already loaded.
  warn("Ignoring cached namespace '%s' version %s because version %s is already loaded."
Processing MC_MAZE data from scratch...
Applying spike processing: 'binary'
Spike rates shape: (94095, 182)
Hand velocity shape: (94095, 2)
Total unique trials: 114750
Splitting each random permutation into: 80325 train, 17212 validation, 17213 test trials

--- Split 1/10 ---
Calculating normalization statistics from training set...
Rates Mean shape: (182,), Vel Mean: [45.477818   4.1457214]
Rates Std shape: (182,), Vel Std: [353.26355 312.00394]

Data loaded: 94095 total time points with 182 neurons
Train set: 65272 samples (69.4%)
Validation set: 14391 samples (15.3%)
Test set: 14432 samples (15.3%)

Moving training tensors to device: cuda

--- Starting Online Adaptation ---
Starting online adaptation on MC Maze dataset...
Using normalized velocities for training
Using device: cuda
Starting PURE online adaptation on MC Maze dataset...
Processing EACH TIME POINT INDIVIDUALLY (no batching)
Fast learning rate: 0.0001, Slow learning rate: 0.001
Window size: 100, Meta learning rate: 0.1
Time point 0 (Cycle 1, Index 0): Train loss = 0.073765
  Desired velocity: [-0.1545, -0.3517]
  Predicted velocity: [0.0000, 0.0000]
  Update window: 1/100
  Meta params: Plasticity=1.00, Sensitivity=1.00
  Validation @ step 1000 (First 1000 steps): Loss=0.928459, Corr_X=0.2077, Corr_Y=0.0988
  >>> New best validation model saved & loaded with Avg Corr: 0.1533 <<<
Time point 1000 (Cycle 1, Index 1000): Train loss = 2.000000
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.0205, -0.0310]
  Update window: 1/100
  Meta params: Plasticity=1.06, Sensitivity=1.06
  Logged Correlation @ step 1000 (last 1001 steps): X=-0.0287, Y=0.0995
  Validation @ step 2000 (First 1000 steps): Loss=0.906025, Corr_X=0.3083, Corr_Y=0.1319
  >>> New best validation model saved & loaded with Avg Corr: 0.2201 <<<
Time point 2000 (Cycle 1, Index 2000): Train loss = 0.099861
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.0403, -0.0828]
  Update window: 1/100
  Meta params: Plasticity=1.00, Sensitivity=1.00
  Logged Correlation @ step 2000 (last 1000 steps): X=0.2277, Y=0.1580
  Validation @ step 3000 (First 1000 steps): Loss=0.906466, Corr_X=0.3138, Corr_Y=0.1338
  >>> New best validation model saved & loaded with Avg Corr: 0.2238 <<<
Time point 3000 (Cycle 1, Index 3000): Train loss = 0.240645
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [-0.0208, -0.0286]
  Update window: 1/100
  Meta params: Plasticity=1.17, Sensitivity=1.17
  Logged Correlation @ step 3000 (last 1000 steps): X=0.2511, Y=0.1551
  Validation @ step 4000 (First 1000 steps): Loss=0.880077, Corr_X=0.3238, Corr_Y=0.2600
  >>> New best validation model saved & loaded with Avg Corr: 0.2919 <<<
Time point 4000 (Cycle 1, Index 4000): Train loss = 0.146717
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [-0.0778, -0.0161]
  Update window: 1/100
  Meta params: Plasticity=1.11, Sensitivity=1.11
  Logged Correlation @ step 4000 (last 1000 steps): X=0.3822, Y=0.3752
  Validation @ step 5000 (First 1000 steps): Loss=0.859259, Corr_X=0.4664, Corr_Y=0.2148
  >>> New best validation model saved & loaded with Avg Corr: 0.3406 <<<
  *** Test Set @ step 5000 (First 500 steps): Corr_X=0.1713, Corr_Y=0.4694 ***
Time point 5000 (Cycle 1, Index 5000): Train loss = 0.074618
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [0.0256, 0.0938]
  Update window: 1/100
  Meta params: Plasticity=1.29, Sensitivity=1.29
  Logged Correlation @ step 5000 (last 1000 steps): X=0.4011, Y=0.3316
  Validation @ step 6000 (First 1000 steps): Loss=0.835030, Corr_X=0.4593, Corr_Y=0.3896
  >>> New best validation model saved & loaded with Avg Corr: 0.4244 <<<
Time point 6000 (Cycle 1, Index 6000): Train loss = 1.337139
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [-0.0065, -0.0069]
  Update window: 1/100
  Meta params: Plasticity=1.23, Sensitivity=1.23
  Logged Correlation @ step 6000 (last 1000 steps): X=0.4407, Y=0.2167
  Validation @ step 7000 (First 1000 steps): Loss=0.808841, Corr_X=0.5670, Corr_Y=0.3612
  >>> New best validation model saved & loaded with Avg Corr: 0.4641 <<<
Time point 7000 (Cycle 1, Index 7000): Train loss = 0.797553
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.0345, 0.2560]
  Update window: 1/100
  Meta params: Plasticity=1.34, Sensitivity=1.34
  Logged Correlation @ step 7000 (last 1000 steps): X=0.3269, Y=0.5605
  Validation @ step 8000 (First 1000 steps): Loss=0.792858, Corr_X=0.5611, Corr_Y=0.3982
  >>> New best validation model saved & loaded with Avg Corr: 0.4796 <<<
Time point 8000 (Cycle 1, Index 8000): Train loss = 0.289674
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.1111, 0.1992]
  Update window: 1/100
  Meta params: Plasticity=1.04, Sensitivity=1.04
  Logged Correlation @ step 8000 (last 1000 steps): X=0.5616, Y=0.4296
  Validation @ step 9000 (First 1000 steps): Loss=0.790234, Corr_X=0.5051, Corr_Y=0.4502
Time point 9000 (Cycle 1, Index 9000): Train loss = 1.386738
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [-0.0041, 0.3005]
  Update window: 1/100
  Meta params: Plasticity=1.21, Sensitivity=1.21
  Logged Correlation @ step 9000 (last 1000 steps): X=0.4549, Y=0.4943
  Validation @ step 10000 (First 1000 steps): Loss=0.754696, Corr_X=0.5752, Corr_Y=0.4742
  >>> New best validation model saved & loaded with Avg Corr: 0.5247 <<<
  *** Test Set @ step 10000 (First 500 steps): Corr_X=0.5822, Corr_Y=0.5618 ***
Time point 10000 (Cycle 1, Index 10000): Train loss = 0.254886
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.1629, 0.2135]
  Update window: 1/100
  Meta params: Plasticity=0.94, Sensitivity=0.94
  Logged Correlation @ step 10000 (last 1000 steps): X=0.5177, Y=0.5577
  Validation @ step 11000 (First 1000 steps): Loss=0.720792, Corr_X=0.6223, Corr_Y=0.4752
  >>> New best validation model saved & loaded with Avg Corr: 0.5488 <<<
Time point 11000 (Cycle 1, Index 11000): Train loss = 0.553692
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [-0.0394, 0.2472]
  Update window: 1/100
  Meta params: Plasticity=0.73, Sensitivity=0.73
  Logged Correlation @ step 11000 (last 1000 steps): X=0.6108, Y=0.5492
  Validation @ step 12000 (First 1000 steps): Loss=0.686692, Corr_X=0.6349, Corr_Y=0.5296
  >>> New best validation model saved & loaded with Avg Corr: 0.5823 <<<
Time point 12000 (Cycle 1, Index 12000): Train loss = 1.155488
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.0655, 0.1735]
  Update window: 1/100
  Meta params: Plasticity=0.57, Sensitivity=0.57
  Logged Correlation @ step 12000 (last 1000 steps): X=0.6512, Y=0.6510
  Validation @ step 13000 (First 1000 steps): Loss=0.673911, Corr_X=0.6515, Corr_Y=0.5304
  >>> New best validation model saved & loaded with Avg Corr: 0.5909 <<<
Time point 13000 (Cycle 1, Index 13000): Train loss = 0.481006
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.0980, 0.2528]
  Update window: 1/100
  Meta params: Plasticity=0.54, Sensitivity=0.54
  Logged Correlation @ step 13000 (last 1000 steps): X=0.6995, Y=0.6446
  Validation @ step 14000 (First 1000 steps): Loss=0.650370, Corr_X=0.6696, Corr_Y=0.5582
  >>> New best validation model saved & loaded with Avg Corr: 0.6139 <<<
Time point 14000 (Cycle 1, Index 14000): Train loss = 1.404229
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.1116, 0.1160]
  Update window: 1/100
  Meta params: Plasticity=0.51, Sensitivity=0.51
  Logged Correlation @ step 14000 (last 1000 steps): X=0.6866, Y=0.4880
  Validation @ step 15000 (First 1000 steps): Loss=0.640305, Corr_X=0.6689, Corr_Y=0.5506
  *** Test Set @ step 15000 (First 500 steps): Corr_X=0.6410, Corr_Y=0.5994 ***
Time point 15000 (Cycle 1, Index 15000): Train loss = 0.240979
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.1269, -0.0392]
  Update window: 1/100
  Meta params: Plasticity=0.60, Sensitivity=0.60
  Logged Correlation @ step 15000 (last 1000 steps): X=0.6815, Y=0.5038
  Validation @ step 16000 (First 1000 steps): Loss=0.632178, Corr_X=0.6770, Corr_Y=0.5337
Time point 16000 (Cycle 1, Index 16000): Train loss = 1.165031
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [-0.0205, 0.1431]
  Update window: 1/100
  Meta params: Plasticity=0.57, Sensitivity=0.57
  Logged Correlation @ step 16000 (last 1000 steps): X=0.6434, Y=0.5274
  Validation @ step 17000 (First 1000 steps): Loss=0.620326, Corr_X=0.6909, Corr_Y=0.5799
  >>> New best validation model saved & loaded with Avg Corr: 0.6354 <<<
Time point 17000 (Cycle 1, Index 17000): Train loss = 0.008852
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [-0.0234, 0.3119]
  Update window: 1/100
  Meta params: Plasticity=0.54, Sensitivity=0.54
  Logged Correlation @ step 17000 (last 1000 steps): X=0.7068, Y=0.5922
  Validation @ step 18000 (First 1000 steps): Loss=0.576576, Corr_X=0.7039, Corr_Y=0.5953
  >>> New best validation model saved & loaded with Avg Corr: 0.6496 <<<
Time point 18000 (Cycle 1, Index 18000): Train loss = 0.124058
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.0147, 0.3474]
  Update window: 1/100
  Meta params: Plasticity=0.63, Sensitivity=0.63
  Logged Correlation @ step 18000 (last 1000 steps): X=0.7482, Y=0.6864
  Validation @ step 19000 (First 1000 steps): Loss=0.566313, Corr_X=0.7132, Corr_Y=0.5893
  >>> New best validation model saved & loaded with Avg Corr: 0.6512 <<<
Time point 19000 (Cycle 1, Index 19000): Train loss = 1.281414
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [-0.0412, 0.2086]
  Update window: 1/100
  Meta params: Plasticity=0.73, Sensitivity=0.73
  Logged Correlation @ step 19000 (last 1000 steps): X=0.7109, Y=0.5402
  Validation @ step 20000 (First 1000 steps): Loss=0.543063, Corr_X=0.7226, Corr_Y=0.6081
  >>> New best validation model saved & loaded with Avg Corr: 0.6654 <<<
  *** Test Set @ step 20000 (First 500 steps): Corr_X=0.6849, Corr_Y=0.6534 ***
Time point 20000 (Cycle 1, Index 20000): Train loss = 0.187192
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.3523, 0.0992]
  Update window: 1/100
  Meta params: Plasticity=0.47, Sensitivity=0.47
  Logged Correlation @ step 20000 (last 1000 steps): X=0.7421, Y=0.6521
  Validation @ step 21000 (First 1000 steps): Loss=0.531540, Corr_X=0.7328, Corr_Y=0.5968
Time point 21000 (Cycle 1, Index 21000): Train loss = 0.884499
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.2287, 0.3465]
  Update window: 1/100
  Meta params: Plasticity=0.36, Sensitivity=0.36
  Logged Correlation @ step 21000 (last 1000 steps): X=0.6739, Y=0.6479
  Validation @ step 22000 (First 1000 steps): Loss=0.545550, Corr_X=0.7057, Corr_Y=0.6127
Time point 22000 (Cycle 1, Index 22000): Train loss = 0.199155
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [-0.0438, 0.2893]
  Update window: 1/100
  Meta params: Plasticity=0.34, Sensitivity=0.34
  Logged Correlation @ step 22000 (last 1000 steps): X=0.6894, Y=0.6906
  Validation @ step 23000 (First 1000 steps): Loss=0.517323, Corr_X=0.7293, Corr_Y=0.6318
  >>> New best validation model saved & loaded with Avg Corr: 0.6806 <<<
Time point 23000 (Cycle 1, Index 23000): Train loss = 0.000165
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [-0.1091, 0.3630]
  Update window: 1/100
  Meta params: Plasticity=0.49, Sensitivity=0.49
  Logged Correlation @ step 23000 (last 1000 steps): X=0.6865, Y=0.6112
  Validation @ step 24000 (First 1000 steps): Loss=0.510275, Corr_X=0.7346, Corr_Y=0.6341
  >>> New best validation model saved & loaded with Avg Corr: 0.6844 <<<
Time point 24000 (Cycle 1, Index 24000): Train loss = 1.297843
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.1773, 0.4296]
  Update window: 1/100
  Meta params: Plasticity=0.47, Sensitivity=0.47
  Logged Correlation @ step 24000 (last 1000 steps): X=0.7244, Y=0.6775
  Validation @ step 25000 (First 1000 steps): Loss=0.492586, Corr_X=0.7498, Corr_Y=0.6376
  >>> New best validation model saved & loaded with Avg Corr: 0.6937 <<<
  *** Test Set @ step 25000 (First 500 steps): Corr_X=0.6635, Corr_Y=0.6679 ***
Time point 25000 (Cycle 1, Index 25000): Train loss = 0.110681
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.3830, 0.0339]
  Update window: 1/100
  Meta params: Plasticity=0.30, Sensitivity=0.30
  Logged Correlation @ step 25000 (last 1000 steps): X=0.7576, Y=0.6473
  Validation @ step 26000 (First 1000 steps): Loss=0.494587, Corr_X=0.7377, Corr_Y=0.6428
Time point 26000 (Cycle 1, Index 26000): Train loss = 0.320726
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.3440, 0.3044]
  Update window: 1/100
  Meta params: Plasticity=0.28, Sensitivity=0.28
  Logged Correlation @ step 26000 (last 1000 steps): X=0.7560, Y=0.6631
  Validation @ step 27000 (First 1000 steps): Loss=0.478995, Corr_X=0.7556, Corr_Y=0.6424
  >>> New best validation model saved & loaded with Avg Corr: 0.6990 <<<
Time point 27000 (Cycle 1, Index 27000): Train loss = 0.101339
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.3140, 0.2619]
  Update window: 1/100
  Meta params: Plasticity=0.40, Sensitivity=0.40
  Logged Correlation @ step 27000 (last 1000 steps): X=0.6800, Y=0.7316
  Validation @ step 28000 (First 1000 steps): Loss=0.486165, Corr_X=0.7388, Corr_Y=0.6362
Time point 28000 (Cycle 1, Index 28000): Train loss = 0.409982
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.1606, 0.2561]
  Update window: 1/100
  Meta params: Plasticity=0.57, Sensitivity=0.57
  Logged Correlation @ step 28000 (last 1000 steps): X=0.7442, Y=0.6974
  Validation @ step 29000 (First 1000 steps): Loss=0.472181, Corr_X=0.7520, Corr_Y=0.6470
  >>> New best validation model saved & loaded with Avg Corr: 0.6995 <<<
Time point 29000 (Cycle 1, Index 29000): Train loss = 2.000000
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.3046, 0.3894]
  Update window: 1/100
  Meta params: Plasticity=0.66, Sensitivity=0.66
  Logged Correlation @ step 29000 (last 1000 steps): X=0.7726, Y=0.6807
  Validation @ step 30000 (First 1000 steps): Loss=0.460313, Corr_X=0.7630, Corr_Y=0.6479
  >>> New best validation model saved & loaded with Avg Corr: 0.7055 <<<
  *** Test Set @ step 30000 (First 500 steps): Corr_X=0.7161, Corr_Y=0.6560 ***
Time point 30000 (Cycle 1, Index 30000): Train loss = 0.679211
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.7118, 0.1550]
  Update window: 1/100
  Meta params: Plasticity=0.77, Sensitivity=0.77
  Logged Correlation @ step 30000 (last 1000 steps): X=0.7819, Y=0.7221
  Validation @ step 31000 (First 1000 steps): Loss=0.474388, Corr_X=0.7584, Corr_Y=0.6436
Time point 31000 (Cycle 1, Index 31000): Train loss = 0.196398
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.2761, 0.4514]
  Update window: 1/100
  Meta params: Plasticity=0.89, Sensitivity=0.89
  Logged Correlation @ step 31000 (last 1000 steps): X=0.6643, Y=0.6839
  Validation @ step 32000 (First 1000 steps): Loss=0.454709, Corr_X=0.7641, Corr_Y=0.6504
  >>> New best validation model saved & loaded with Avg Corr: 0.7072 <<<
Time point 32000 (Cycle 1, Index 32000): Train loss = 0.168717
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6030, 0.4350]
  Update window: 1/100
  Meta params: Plasticity=1.04, Sensitivity=1.04
  Logged Correlation @ step 32000 (last 1000 steps): X=0.7184, Y=0.7080
  Validation @ step 33000 (First 1000 steps): Loss=0.447176, Corr_X=0.7672, Corr_Y=0.6658
  >>> New best validation model saved & loaded with Avg Corr: 0.7165 <<<
Time point 33000 (Cycle 1, Index 33000): Train loss = 0.553389
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6218, 0.5024]
  Update window: 1/100
  Meta params: Plasticity=1.47, Sensitivity=1.47
  Logged Correlation @ step 33000 (last 1000 steps): X=0.7702, Y=0.7153
  Validation @ step 34000 (First 1000 steps): Loss=0.429686, Corr_X=0.7771, Corr_Y=0.6825
  >>> New best validation model saved & loaded with Avg Corr: 0.7298 <<<
Time point 34000 (Cycle 1, Index 34000): Train loss = 1.009632
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.1746, 0.4978]
  Update window: 1/100
  Meta params: Plasticity=1.35, Sensitivity=1.35
  Logged Correlation @ step 34000 (last 1000 steps): X=0.7333, Y=0.6677
  Validation @ step 35000 (First 1000 steps): Loss=0.494668, Corr_X=0.7838, Corr_Y=0.6719
  *** Test Set @ step 35000 (First 500 steps): Corr_X=0.7347, Corr_Y=0.6870 ***
Time point 35000 (Cycle 1, Index 35000): Train loss = 0.486877
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.4893, 0.5222]
  Update window: 1/100
  Meta params: Plasticity=1.05, Sensitivity=1.05
  Logged Correlation @ step 35000 (last 1000 steps): X=0.7353, Y=0.7211
  Validation @ step 36000 (First 1000 steps): Loss=0.410144, Corr_X=0.7877, Corr_Y=0.6968
  >>> New best validation model saved & loaded with Avg Corr: 0.7423 <<<
Time point 36000 (Cycle 1, Index 36000): Train loss = 0.368705
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6638, 0.4996]
  Update window: 1/100
  Meta params: Plasticity=1.00, Sensitivity=1.00
  Logged Correlation @ step 36000 (last 1000 steps): X=0.7865, Y=0.7142
  Validation @ step 37000 (First 1000 steps): Loss=0.415630, Corr_X=0.7879, Corr_Y=0.7050
  >>> New best validation model saved & loaded with Avg Corr: 0.7465 <<<
Time point 37000 (Cycle 1, Index 37000): Train loss = 0.296878
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.4654, 0.6948]
  Update window: 1/100
  Meta params: Plasticity=0.95, Sensitivity=0.95
  Logged Correlation @ step 37000 (last 1000 steps): X=0.7527, Y=0.7380
  Validation @ step 38000 (First 1000 steps): Loss=0.432409, Corr_X=0.7795, Corr_Y=0.6891
Time point 38000 (Cycle 1, Index 38000): Train loss = 0.076909
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [1.0671, 0.8971]
  Update window: 1/100
  Meta params: Plasticity=1.35, Sensitivity=1.35
  Logged Correlation @ step 38000 (last 1000 steps): X=0.7595, Y=0.7563
  Validation @ step 39000 (First 1000 steps): Loss=0.458323, Corr_X=0.7909, Corr_Y=0.7002
Time point 39000 (Cycle 1, Index 39000): Train loss = 0.515709
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5015, 0.9634]
  Update window: 1/100
  Meta params: Plasticity=1.35, Sensitivity=1.35
  Logged Correlation @ step 39000 (last 1000 steps): X=0.7776, Y=0.7549
  Validation @ step 40000 (First 1000 steps): Loss=0.406236, Corr_X=0.7975, Corr_Y=0.7050
  >>> New best validation model saved & loaded with Avg Corr: 0.7512 <<<
  *** Test Set @ step 40000 (First 500 steps): Corr_X=0.7655, Corr_Y=0.7258 ***
Time point 40000 (Cycle 1, Index 40000): Train loss = 0.852871
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.9076, 0.3002]
  Update window: 1/100
  Meta params: Plasticity=1.20, Sensitivity=1.20
  Logged Correlation @ step 40000 (last 1000 steps): X=0.7728, Y=0.6775
  Validation @ step 41000 (First 1000 steps): Loss=0.437057, Corr_X=0.7949, Corr_Y=0.7130
  >>> New best validation model saved & loaded with Avg Corr: 0.7540 <<<
Time point 41000 (Cycle 1, Index 41000): Train loss = 0.452155
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.3340, 0.9373]
  Update window: 1/100
  Meta params: Plasticity=1.14, Sensitivity=1.14
  Logged Correlation @ step 41000 (last 1000 steps): X=0.7461, Y=0.7331
  Validation @ step 42000 (First 1000 steps): Loss=0.388087, Corr_X=0.8069, Corr_Y=0.7099
  >>> New best validation model saved & loaded with Avg Corr: 0.7584 <<<
Time point 42000 (Cycle 1, Index 42000): Train loss = 0.516165
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.7257, 0.6481]
  Update window: 1/100
  Meta params: Plasticity=0.89, Sensitivity=0.89
  Logged Correlation @ step 42000 (last 1000 steps): X=0.8189, Y=0.7705
  Validation @ step 43000 (First 1000 steps): Loss=0.390683, Corr_X=0.8102, Corr_Y=0.7262
  >>> New best validation model saved & loaded with Avg Corr: 0.7682 <<<
Time point 43000 (Cycle 1, Index 43000): Train loss = 0.241585
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5837, 0.7123]
  Update window: 1/100
  Meta params: Plasticity=0.69, Sensitivity=0.69
  Logged Correlation @ step 43000 (last 1000 steps): X=0.7484, Y=0.6786
  Validation @ step 44000 (First 1000 steps): Loss=0.419794, Corr_X=0.8003, Corr_Y=0.7254
Time point 44000 (Cycle 1, Index 44000): Train loss = 0.131616
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.3543, 0.7746]
  Update window: 1/100
  Meta params: Plasticity=0.66, Sensitivity=0.66
  Logged Correlation @ step 44000 (last 1000 steps): X=0.7955, Y=0.7289
  Validation @ step 45000 (First 1000 steps): Loss=0.404656, Corr_X=0.7927, Corr_Y=0.7253
  *** Test Set @ step 45000 (First 500 steps): Corr_X=0.7784, Corr_Y=0.7268 ***
Time point 45000 (Cycle 1, Index 45000): Train loss = 0.492113
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.7109, 0.1553]
  Update window: 1/100
  Meta params: Plasticity=0.51, Sensitivity=0.51
  Logged Correlation @ step 45000 (last 1000 steps): X=0.8039, Y=0.7680
  Validation @ step 46000 (First 1000 steps): Loss=0.402991, Corr_X=0.8070, Corr_Y=0.7205
Time point 46000 (Cycle 1, Index 46000): Train loss = 0.805038
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6403, 0.8284]
  Update window: 1/100
  Meta params: Plasticity=0.49, Sensitivity=0.49
  Logged Correlation @ step 46000 (last 1000 steps): X=0.7949, Y=0.6452
  Validation @ step 47000 (First 1000 steps): Loss=0.382703, Corr_X=0.8100, Corr_Y=0.7392
  >>> New best validation model saved & loaded with Avg Corr: 0.7746 <<<
Time point 47000 (Cycle 1, Index 47000): Train loss = 0.288459
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6574, 0.6804]
  Update window: 1/100
  Meta params: Plasticity=0.57, Sensitivity=0.57
  Logged Correlation @ step 47000 (last 1000 steps): X=0.8045, Y=0.7590
  Validation @ step 48000 (First 1000 steps): Loss=0.389305, Corr_X=0.8022, Corr_Y=0.7240
Time point 48000 (Cycle 1, Index 48000): Train loss = 1.297383
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6270, 0.7667]
  Update window: 1/100
  Meta params: Plasticity=0.36, Sensitivity=0.36
  Logged Correlation @ step 48000 (last 1000 steps): X=0.7361, Y=0.7226
  Validation @ step 49000 (First 1000 steps): Loss=0.388992, Corr_X=0.8117, Corr_Y=0.7241
Time point 49000 (Cycle 1, Index 49000): Train loss = 0.116895
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6107, 0.7444]
  Update window: 1/100
  Meta params: Plasticity=0.34, Sensitivity=0.34
  Logged Correlation @ step 49000 (last 1000 steps): X=0.8214, Y=0.7326
  Validation @ step 50000 (First 1000 steps): Loss=0.392169, Corr_X=0.8096, Corr_Y=0.7214
  *** Test Set @ step 50000 (First 500 steps): Corr_X=0.7786, Corr_Y=0.7316 ***
Time point 50000 (Cycle 1, Index 50000): Train loss = 0.379655
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.7023, 0.3410]
  Update window: 1/100
  Meta params: Plasticity=0.22, Sensitivity=0.22
  Logged Correlation @ step 50000 (last 1000 steps): X=0.7411, Y=0.7104
  Validation @ step 51000 (First 1000 steps): Loss=0.384918, Corr_X=0.8084, Corr_Y=0.7279
Time point 51000 (Cycle 1, Index 51000): Train loss = 0.075850
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6743, 0.9909]
  Update window: 1/100
  Meta params: Plasticity=0.22, Sensitivity=0.22
  Logged Correlation @ step 51000 (last 1000 steps): X=0.7807, Y=0.7666
  Validation @ step 52000 (First 1000 steps): Loss=0.385502, Corr_X=0.8068, Corr_Y=0.7296
Time point 52000 (Cycle 1, Index 52000): Train loss = 0.275578
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5603, 0.9520]
  Update window: 1/100
  Meta params: Plasticity=0.21, Sensitivity=0.21
  Logged Correlation @ step 52000 (last 1000 steps): X=0.7451, Y=0.7640
  Validation @ step 53000 (First 1000 steps): Loss=0.392617, Corr_X=0.8112, Corr_Y=0.7294
Time point 53000 (Cycle 1, Index 53000): Train loss = 0.087652
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.7376, 0.7998]
  Update window: 1/100
  Meta params: Plasticity=0.29, Sensitivity=0.29
  Logged Correlation @ step 53000 (last 1000 steps): X=0.8096, Y=0.7640
  Validation @ step 54000 (First 1000 steps): Loss=0.387888, Corr_X=0.8068, Corr_Y=0.7375
Time point 54000 (Cycle 1, Index 54000): Train loss = 0.232213
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6911, 0.7893]
  Update window: 1/100
  Meta params: Plasticity=0.28, Sensitivity=0.28
  Logged Correlation @ step 54000 (last 1000 steps): X=0.8033, Y=0.6925
  Validation @ step 55000 (First 1000 steps): Loss=0.387990, Corr_X=0.8031, Corr_Y=0.7302
  *** Test Set @ step 55000 (First 500 steps): Corr_X=0.7759, Corr_Y=0.7428 ***
Time point 55000 (Cycle 1, Index 55000): Train loss = 0.392862
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.8223, 0.3293]
  Update window: 1/100
  Meta params: Plasticity=0.32, Sensitivity=0.32
  Logged Correlation @ step 55000 (last 1000 steps): X=0.7477, Y=0.7867
  Validation @ step 56000 (First 1000 steps): Loss=0.384621, Corr_X=0.8160, Corr_Y=0.7238
Time point 56000 (Cycle 1, Index 56000): Train loss = 2.000000
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6080, 0.7846]
  Update window: 1/100
  Meta params: Plasticity=0.31, Sensitivity=0.31
  Logged Correlation @ step 56000 (last 1000 steps): X=0.7796, Y=0.7738
  Validation @ step 57000 (First 1000 steps): Loss=0.391800, Corr_X=0.8101, Corr_Y=0.7285
Time point 57000 (Cycle 1, Index 57000): Train loss = 0.259696
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5736, 0.8368]
  Update window: 1/100
  Meta params: Plasticity=0.29, Sensitivity=0.29
  Logged Correlation @ step 57000 (last 1000 steps): X=0.7884, Y=0.7596
  Validation @ step 58000 (First 1000 steps): Loss=0.391505, Corr_X=0.8108, Corr_Y=0.7343
Time point 58000 (Cycle 1, Index 58000): Train loss = 0.214164
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6578, 0.7289]
  Update window: 1/100
  Meta params: Plasticity=0.20, Sensitivity=0.20
  Logged Correlation @ step 58000 (last 1000 steps): X=0.7888, Y=0.7032
  Validation @ step 59000 (First 1000 steps): Loss=0.392577, Corr_X=0.8107, Corr_Y=0.7237
Time point 59000 (Cycle 1, Index 59000): Train loss = 0.807220
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6796, 0.7172]
  Update window: 1/100
  Meta params: Plasticity=0.20, Sensitivity=0.20
  Logged Correlation @ step 59000 (last 1000 steps): X=0.7699, Y=0.7435
  Validation @ step 60000 (First 1000 steps): Loss=0.376694, Corr_X=0.8130, Corr_Y=0.7312
  *** Test Set @ step 60000 (First 500 steps): Corr_X=0.7764, Corr_Y=0.7183 ***
Time point 60000 (Cycle 1, Index 60000): Train loss = 1.540024
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.7208, 0.1975]
  Update window: 1/100
  Meta params: Plasticity=0.24, Sensitivity=0.24
  Logged Correlation @ step 60000 (last 1000 steps): X=0.7497, Y=0.7848
  Validation @ step 61000 (First 1000 steps): Loss=0.382512, Corr_X=0.8188, Corr_Y=0.7285
Time point 61000 (Cycle 1, Index 61000): Train loss = 0.404467
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6806, 0.8442]
  Update window: 1/100
  Meta params: Plasticity=0.20, Sensitivity=0.20
  Logged Correlation @ step 61000 (last 1000 steps): X=0.7993, Y=0.7675
  Validation @ step 62000 (First 1000 steps): Loss=0.400587, Corr_X=0.8099, Corr_Y=0.7310
Time point 62000 (Cycle 1, Index 62000): Train loss = 0.078357
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.7115, 0.8293]
  Update window: 1/100
  Meta params: Plasticity=0.29, Sensitivity=0.29
  Logged Correlation @ step 62000 (last 1000 steps): X=0.7935, Y=0.7854
  Validation @ step 63000 (First 1000 steps): Loss=0.387340, Corr_X=0.8120, Corr_Y=0.7295
Time point 63000 (Cycle 1, Index 63000): Train loss = 0.508836
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6261, 0.7209]
  Update window: 1/100
  Meta params: Plasticity=0.28, Sensitivity=0.28
  Logged Correlation @ step 63000 (last 1000 steps): X=0.7871, Y=0.7414
  Validation @ step 64000 (First 1000 steps): Loss=0.386808, Corr_X=0.8155, Corr_Y=0.7303
Time point 64000 (Cycle 1, Index 64000): Train loss = 0.014430
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.4631, 0.6506]
  Update window: 1/100
  Meta params: Plasticity=0.39, Sensitivity=0.39
  Logged Correlation @ step 64000 (last 1000 steps): X=0.7920, Y=0.7509
  Validation @ step 65000 (First 1000 steps): Loss=0.374124, Corr_X=0.8209, Corr_Y=0.7302
  >>> New best validation model saved & loaded with Avg Corr: 0.7756 <<<
  *** Test Set @ step 65000 (First 500 steps): Corr_X=0.7735, Corr_Y=0.7311 ***
Time point 65000 (Cycle 1, Index 65000): Train loss = 0.697968
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.7357, 0.3843]
  Update window: 1/100
  Meta params: Plasticity=0.37, Sensitivity=0.37
  Logged Correlation @ step 65000 (last 1000 steps): X=0.7980, Y=0.7791

======= COMPLETED CYCLE 1 THROUGH TRAINING DATA =======
  Validation @ step 66000 (First 1000 steps): Loss=0.379889, Corr_X=0.8146, Corr_Y=0.7256
Time point 66000 (Cycle 2, Index 728): Train loss = 1.338257
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5792, 0.7712]
  Update window: 1/100
  Meta params: Plasticity=0.35, Sensitivity=0.35
  Logged Correlation @ step 66000 (last 1000 steps): X=0.7330, Y=0.7664
  Validation @ step 67000 (First 1000 steps): Loss=0.398412, Corr_X=0.8083, Corr_Y=0.7276
Time point 67000 (Cycle 2, Index 1728): Train loss = 0.576463
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6693, 0.7145]
  Update window: 1/100
  Meta params: Plasticity=0.34, Sensitivity=0.34
  Logged Correlation @ step 67000 (last 1000 steps): X=0.7677, Y=0.7796
  Validation @ step 68000 (First 1000 steps): Loss=0.380491, Corr_X=0.8150, Corr_Y=0.7327
Time point 68000 (Cycle 2, Index 2728): Train loss = 0.135946
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6080, 0.7592]
  Update window: 1/100
  Meta params: Plasticity=0.32, Sensitivity=0.32
  Logged Correlation @ step 68000 (last 1000 steps): X=0.7901, Y=0.7491
  Validation @ step 69000 (First 1000 steps): Loss=0.374909, Corr_X=0.8137, Corr_Y=0.7333
Time point 69000 (Cycle 2, Index 3728): Train loss = 0.423331
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.4817, 0.6536]
  Update window: 1/100
  Meta params: Plasticity=0.37, Sensitivity=0.37
  Logged Correlation @ step 69000 (last 1000 steps): X=0.7863, Y=0.7990
  Validation @ step 70000 (First 1000 steps): Loss=0.383859, Corr_X=0.8117, Corr_Y=0.7371
  *** Test Set @ step 70000 (First 500 steps): Corr_X=0.7847, Corr_Y=0.7583 ***
Time point 70000 (Cycle 2, Index 4728): Train loss = 0.387819
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.6869, 0.3968]
  Update window: 1/100
  Meta params: Plasticity=0.35, Sensitivity=0.35
  Logged Correlation @ step 70000 (last 1000 steps): X=0.8135, Y=0.7457
  Validation @ step 71000 (First 1000 steps): Loss=0.384663, Corr_X=0.8140, Corr_Y=0.7365
Time point 71000 (Cycle 2, Index 5728): Train loss = 1.595740
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.8101, 0.7113]
  Update window: 1/100
  Meta params: Plasticity=0.28, Sensitivity=0.28
  Logged Correlation @ step 71000 (last 1000 steps): X=0.7857, Y=0.7701
  Validation @ step 72000 (First 1000 steps): Loss=0.383921, Corr_X=0.8037, Corr_Y=0.7434
Time point 72000 (Cycle 2, Index 6728): Train loss = 0.327869
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.4587, 0.5896]
  Update window: 1/100
  Meta params: Plasticity=0.26, Sensitivity=0.26
  Logged Correlation @ step 72000 (last 1000 steps): X=0.7639, Y=0.7508
  Validation @ step 73000 (First 1000 steps): Loss=0.370437, Corr_X=0.8150, Corr_Y=0.7420
  >>> New best validation model saved & loaded with Avg Corr: 0.7785 <<<
Time point 73000 (Cycle 2, Index 7728): Train loss = 0.468231
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6863, 0.7960]
  Update window: 1/100
  Meta params: Plasticity=0.25, Sensitivity=0.25
  Logged Correlation @ step 73000 (last 1000 steps): X=0.7657, Y=0.7386
  Validation @ step 74000 (First 1000 steps): Loss=0.382716, Corr_X=0.8087, Corr_Y=0.7425
Time point 74000 (Cycle 2, Index 8728): Train loss = 0.145234
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5923, 0.8245]
  Update window: 1/100
  Meta params: Plasticity=0.24, Sensitivity=0.24
  Logged Correlation @ step 74000 (last 1000 steps): X=0.8107, Y=0.7142
  Validation @ step 75000 (First 1000 steps): Loss=0.377370, Corr_X=0.8102, Corr_Y=0.7377
  *** Test Set @ step 75000 (First 500 steps): Corr_X=0.7985, Corr_Y=0.7459 ***
Time point 75000 (Cycle 2, Index 9728): Train loss = 0.079141
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.6940, 0.3125]
  Update window: 1/100
  Meta params: Plasticity=0.34, Sensitivity=0.34
  Logged Correlation @ step 75000 (last 1000 steps): X=0.8481, Y=0.7774
  Validation @ step 76000 (First 1000 steps): Loss=0.376099, Corr_X=0.8136, Corr_Y=0.7280
Time point 76000 (Cycle 2, Index 10728): Train loss = 0.233882
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.4447, 0.4447]
  Update window: 1/100
  Meta params: Plasticity=0.26, Sensitivity=0.26
  Logged Correlation @ step 76000 (last 1000 steps): X=0.7960, Y=0.7824
  Validation @ step 77000 (First 1000 steps): Loss=0.372351, Corr_X=0.8082, Corr_Y=0.7378
Time point 77000 (Cycle 2, Index 11728): Train loss = 0.659200
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.4190, 0.5388]
  Update window: 1/100
  Meta params: Plasticity=0.25, Sensitivity=0.25
  Logged Correlation @ step 77000 (last 1000 steps): X=0.7562, Y=0.8035
  Validation @ step 78000 (First 1000 steps): Loss=0.385889, Corr_X=0.8091, Corr_Y=0.7399
Time point 78000 (Cycle 2, Index 12728): Train loss = 0.130484
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5035, 0.6891]
  Update window: 1/100
  Meta params: Plasticity=0.29, Sensitivity=0.29
  Logged Correlation @ step 78000 (last 1000 steps): X=0.7908, Y=0.7911
  Validation @ step 79000 (First 1000 steps): Loss=0.370454, Corr_X=0.8093, Corr_Y=0.7440
Time point 79000 (Cycle 2, Index 13728): Train loss = 0.043400
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.4419, 0.6057]
  Update window: 1/100
  Meta params: Plasticity=0.34, Sensitivity=0.34
  Logged Correlation @ step 79000 (last 1000 steps): X=0.8128, Y=0.7340
  Validation @ step 80000 (First 1000 steps): Loss=0.367820, Corr_X=0.8137, Corr_Y=0.7408
  *** Test Set @ step 80000 (First 500 steps): Corr_X=0.7878, Corr_Y=0.7435 ***
Time point 80000 (Cycle 2, Index 14728): Train loss = 0.738979
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.6130, 0.1882]
  Update window: 1/100
  Meta params: Plasticity=0.26, Sensitivity=0.26
  Logged Correlation @ step 80000 (last 1000 steps): X=0.7832, Y=0.6801
  Validation @ step 81000 (First 1000 steps): Loss=0.385993, Corr_X=0.8084, Corr_Y=0.7394
Time point 81000 (Cycle 2, Index 15728): Train loss = 0.223826
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.4632, 0.5689]
  Update window: 1/100
  Meta params: Plasticity=0.30, Sensitivity=0.30
  Logged Correlation @ step 81000 (last 1000 steps): X=0.7932, Y=0.7042
  Validation @ step 82000 (First 1000 steps): Loss=0.389965, Corr_X=0.8155, Corr_Y=0.7399
Time point 82000 (Cycle 2, Index 16728): Train loss = 0.023416
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.3810, 0.5657]
  Update window: 1/100
  Meta params: Plasticity=0.35, Sensitivity=0.35
  Logged Correlation @ step 82000 (last 1000 steps): X=0.8605, Y=0.7756
  Validation @ step 83000 (First 1000 steps): Loss=0.395334, Corr_X=0.8127, Corr_Y=0.7340
Time point 83000 (Cycle 2, Index 17728): Train loss = 0.100832
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.3209, 0.7183]
  Update window: 1/100
  Meta params: Plasticity=0.28, Sensitivity=0.28
  Logged Correlation @ step 83000 (last 1000 steps): X=0.8192, Y=0.7897
  Validation @ step 84000 (First 1000 steps): Loss=0.374789, Corr_X=0.8154, Corr_Y=0.7457
  >>> New best validation model saved & loaded with Avg Corr: 0.7805 <<<
Time point 84000 (Cycle 2, Index 18728): Train loss = 0.165711
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.4385, 0.5216]
  Update window: 1/100
  Meta params: Plasticity=0.26, Sensitivity=0.26
  Logged Correlation @ step 84000 (last 1000 steps): X=0.7957, Y=0.7239
  Validation @ step 85000 (First 1000 steps): Loss=0.373689, Corr_X=0.8180, Corr_Y=0.7427
  *** Test Set @ step 85000 (First 500 steps): Corr_X=0.7905, Corr_Y=0.7453 ***
Time point 85000 (Cycle 2, Index 19728): Train loss = 0.316597
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.7083, 0.4541]
  Update window: 1/100
  Meta params: Plasticity=0.37, Sensitivity=0.37
  Logged Correlation @ step 85000 (last 1000 steps): X=0.8028, Y=0.6953
  Validation @ step 86000 (First 1000 steps): Loss=0.359450, Corr_X=0.8218, Corr_Y=0.7441
  >>> New best validation model saved & loaded with Avg Corr: 0.7830 <<<
Time point 86000 (Cycle 2, Index 20728): Train loss = 0.187134
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6336, 0.5881]
  Update window: 1/100
  Meta params: Plasticity=0.35, Sensitivity=0.35
  Logged Correlation @ step 86000 (last 1000 steps): X=0.8057, Y=0.7462
  Validation @ step 87000 (First 1000 steps): Loss=0.390623, Corr_X=0.8129, Corr_Y=0.7417
Time point 87000 (Cycle 2, Index 21728): Train loss = 0.266348
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.2889, 0.7107]
  Update window: 1/100
  Meta params: Plasticity=0.34, Sensitivity=0.34
  Logged Correlation @ step 87000 (last 1000 steps): X=0.7896, Y=0.7698
  Validation @ step 88000 (First 1000 steps): Loss=0.379832, Corr_X=0.8200, Corr_Y=0.7405
Time point 88000 (Cycle 2, Index 22728): Train loss = 0.317754
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5298, 0.6208]
  Update window: 1/100
  Meta params: Plasticity=0.32, Sensitivity=0.32
  Logged Correlation @ step 88000 (last 1000 steps): X=0.7941, Y=0.6890
  Validation @ step 89000 (First 1000 steps): Loss=0.377556, Corr_X=0.8209, Corr_Y=0.7549
  >>> New best validation model saved & loaded with Avg Corr: 0.7879 <<<
Time point 89000 (Cycle 2, Index 23728): Train loss = 0.090701
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5812, 0.6868]
  Update window: 1/100
  Meta params: Plasticity=0.30, Sensitivity=0.30
  Logged Correlation @ step 89000 (last 1000 steps): X=0.8007, Y=0.7357
  Validation @ step 90000 (First 1000 steps): Loss=0.366809, Corr_X=0.8229, Corr_Y=0.7484
  *** Test Set @ step 90000 (First 500 steps): Corr_X=0.7951, Corr_Y=0.7409 ***
Time point 90000 (Cycle 2, Index 24728): Train loss = 0.016303
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.5044, 0.4060]
  Update window: 1/100
  Meta params: Plasticity=0.29, Sensitivity=0.29
  Logged Correlation @ step 90000 (last 1000 steps): X=0.8328, Y=0.7544
  Validation @ step 91000 (First 1000 steps): Loss=0.360020, Corr_X=0.8217, Corr_Y=0.7476
Time point 91000 (Cycle 2, Index 25728): Train loss = 0.039126
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5695, 0.6139]
  Update window: 1/100
  Meta params: Plasticity=0.23, Sensitivity=0.23
  Logged Correlation @ step 91000 (last 1000 steps): X=0.8408, Y=0.7589
  Validation @ step 92000 (First 1000 steps): Loss=0.352918, Corr_X=0.8290, Corr_Y=0.7438
Time point 92000 (Cycle 2, Index 26728): Train loss = 0.266756
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.3750, 0.5922]
  Update window: 1/100
  Meta params: Plasticity=0.26, Sensitivity=0.26
  Logged Correlation @ step 92000 (last 1000 steps): X=0.7538, Y=0.7587
  Validation @ step 93000 (First 1000 steps): Loss=0.361550, Corr_X=0.8168, Corr_Y=0.7560
Time point 93000 (Cycle 2, Index 27728): Train loss = 0.589125
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5015, 0.6188]
  Update window: 1/100
  Meta params: Plasticity=0.25, Sensitivity=0.25
  Logged Correlation @ step 93000 (last 1000 steps): X=0.8071, Y=0.8022
  Validation @ step 94000 (First 1000 steps): Loss=0.367359, Corr_X=0.8234, Corr_Y=0.7450
Time point 94000 (Cycle 2, Index 28728): Train loss = 2.000000
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5482, 0.6287]
  Update window: 1/100
  Meta params: Plasticity=0.24, Sensitivity=0.24
  Logged Correlation @ step 94000 (last 1000 steps): X=0.8353, Y=0.7581
  Validation @ step 95000 (First 1000 steps): Loss=0.383550, Corr_X=0.8144, Corr_Y=0.7495
  *** Test Set @ step 95000 (First 500 steps): Corr_X=0.7753, Corr_Y=0.7363 ***
Time point 95000 (Cycle 2, Index 29728): Train loss = 0.293768
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.7747, 0.3684]
  Update window: 1/100
  Meta params: Plasticity=0.24, Sensitivity=0.24
  Logged Correlation @ step 95000 (last 1000 steps): X=0.8268, Y=0.7647
  Validation @ step 96000 (First 1000 steps): Loss=0.369457, Corr_X=0.8246, Corr_Y=0.7429
Time point 96000 (Cycle 2, Index 30728): Train loss = 0.369448
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.3653, 0.6341]
  Update window: 1/100
  Meta params: Plasticity=0.28, Sensitivity=0.28
  Logged Correlation @ step 96000 (last 1000 steps): X=0.7824, Y=0.7671
  Validation @ step 97000 (First 1000 steps): Loss=0.364050, Corr_X=0.8173, Corr_Y=0.7506
Time point 97000 (Cycle 2, Index 31728): Train loss = 0.774112
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.3933, 0.8227]
  Update window: 1/100
  Meta params: Plasticity=0.33, Sensitivity=0.33
  Logged Correlation @ step 97000 (last 1000 steps): X=0.7783, Y=0.7942
  Validation @ step 98000 (First 1000 steps): Loss=0.357129, Corr_X=0.8260, Corr_Y=0.7497
Time point 98000 (Cycle 2, Index 32728): Train loss = 0.054487
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.4805, 0.6147]
  Update window: 1/100
  Meta params: Plasticity=0.25, Sensitivity=0.25
  Logged Correlation @ step 98000 (last 1000 steps): X=0.8215, Y=0.7679
  Validation @ step 99000 (First 1000 steps): Loss=0.373707, Corr_X=0.8232, Corr_Y=0.7499
Time point 99000 (Cycle 2, Index 33728): Train loss = 0.557545
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.4743, 0.6802]
  Update window: 1/100
  Meta params: Plasticity=0.20, Sensitivity=0.20
  Logged Correlation @ step 99000 (last 1000 steps): X=0.7991, Y=0.7387
  Validation @ step 100000 (First 1000 steps): Loss=0.379277, Corr_X=0.8260, Corr_Y=0.7439
  *** Test Set @ step 100000 (First 500 steps): Corr_X=0.7967, Corr_Y=0.7597 ***
Time point 100000 (Cycle 2, Index 34728): Train loss = 0.198599
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.7225, 0.5661]
  Update window: 1/100
  Meta params: Plasticity=0.22, Sensitivity=0.22
  Logged Correlation @ step 100000 (last 1000 steps): X=0.7874, Y=0.8153
  Validation @ step 101000 (First 1000 steps): Loss=0.367313, Corr_X=0.8262, Corr_Y=0.7510
  >>> New best validation model saved & loaded with Avg Corr: 0.7886 <<<
Time point 101000 (Cycle 2, Index 35728): Train loss = 0.018052
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6561, 0.6715]
  Update window: 1/100
  Meta params: Plasticity=0.20, Sensitivity=0.20
  Logged Correlation @ step 101000 (last 1000 steps): X=0.8579, Y=0.7655
  Validation @ step 102000 (First 1000 steps): Loss=0.370877, Corr_X=0.8206, Corr_Y=0.7415
Time point 102000 (Cycle 2, Index 36728): Train loss = 0.514568
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.4365, 0.6727]
  Update window: 1/100
  Meta params: Plasticity=0.26, Sensitivity=0.26
  Logged Correlation @ step 102000 (last 1000 steps): X=0.8283, Y=0.8066
  Validation @ step 103000 (First 1000 steps): Loss=0.360539, Corr_X=0.8327, Corr_Y=0.7469
  >>> New best validation model saved & loaded with Avg Corr: 0.7898 <<<
Time point 103000 (Cycle 2, Index 37728): Train loss = 0.303369
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6868, 0.7177]
  Update window: 1/100
  Meta params: Plasticity=0.37, Sensitivity=0.37
  Logged Correlation @ step 103000 (last 1000 steps): X=0.7648, Y=0.7841
  Validation @ step 104000 (First 1000 steps): Loss=0.365147, Corr_X=0.8205, Corr_Y=0.7509
Time point 104000 (Cycle 2, Index 38728): Train loss = 2.000000
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.4495, 0.8428]
  Update window: 1/100
  Meta params: Plasticity=0.35, Sensitivity=0.35
  Logged Correlation @ step 104000 (last 1000 steps): X=0.8600, Y=0.8004
  Validation @ step 105000 (First 1000 steps): Loss=0.351850, Corr_X=0.8298, Corr_Y=0.7502
  >>> New best validation model saved & loaded with Avg Corr: 0.7900 <<<
  *** Test Set @ step 105000 (First 500 steps): Corr_X=0.7939, Corr_Y=0.7445 ***
Time point 105000 (Cycle 2, Index 39728): Train loss = 0.073234
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.7896, 0.2134]
  Update window: 1/100
  Meta params: Plasticity=0.41, Sensitivity=0.41
  Logged Correlation @ step 105000 (last 1000 steps): X=0.7877, Y=0.7402
  Validation @ step 106000 (First 1000 steps): Loss=0.382920, Corr_X=0.8162, Corr_Y=0.7519
Time point 106000 (Cycle 2, Index 40728): Train loss = 0.619344
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5397, 0.5855]
  Update window: 1/100
  Meta params: Plasticity=0.39, Sensitivity=0.39
  Logged Correlation @ step 106000 (last 1000 steps): X=0.8329, Y=0.7578
  Validation @ step 107000 (First 1000 steps): Loss=0.367083, Corr_X=0.8219, Corr_Y=0.7436
Time point 107000 (Cycle 2, Index 41728): Train loss = 0.302445
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5987, 0.8196]
  Update window: 1/100
  Meta params: Plasticity=0.30, Sensitivity=0.30
  Logged Correlation @ step 107000 (last 1000 steps): X=0.8296, Y=0.7840
  Validation @ step 108000 (First 1000 steps): Loss=0.359243, Corr_X=0.8250, Corr_Y=0.7486
Time point 108000 (Cycle 2, Index 42728): Train loss = 0.706602
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.7878, 0.7852]
  Update window: 1/100
  Meta params: Plasticity=0.23, Sensitivity=0.23
  Logged Correlation @ step 108000 (last 1000 steps): X=0.8073, Y=0.7205
  Validation @ step 109000 (First 1000 steps): Loss=0.364099, Corr_X=0.8202, Corr_Y=0.7545
Time point 109000 (Cycle 2, Index 43728): Train loss = 0.082518
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.2840, 0.8694]
  Update window: 1/100
  Meta params: Plasticity=0.22, Sensitivity=0.22
  Logged Correlation @ step 109000 (last 1000 steps): X=0.7769, Y=0.7114
  Validation @ step 110000 (First 1000 steps): Loss=0.372653, Corr_X=0.8181, Corr_Y=0.7518
  *** Test Set @ step 110000 (First 500 steps): Corr_X=0.7876, Corr_Y=0.7444 ***
Time point 110000 (Cycle 2, Index 44728): Train loss = 0.065283
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.7326, 0.3344]
  Update window: 1/100
  Meta params: Plasticity=0.22, Sensitivity=0.22
  Logged Correlation @ step 110000 (last 1000 steps): X=0.8283, Y=0.7888
  Validation @ step 111000 (First 1000 steps): Loss=0.367693, Corr_X=0.8195, Corr_Y=0.7489
Time point 111000 (Cycle 2, Index 45728): Train loss = 1.539234
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.3489, 0.7555]
  Update window: 1/100
  Meta params: Plasticity=0.26, Sensitivity=0.26
  Logged Correlation @ step 111000 (last 1000 steps): X=0.8261, Y=0.7651
  Validation @ step 112000 (First 1000 steps): Loss=0.367618, Corr_X=0.8268, Corr_Y=0.7503
Time point 112000 (Cycle 2, Index 46728): Train loss = 0.246430
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.4589, 0.7053]
  Update window: 1/100
  Meta params: Plasticity=0.25, Sensitivity=0.25
  Logged Correlation @ step 112000 (last 1000 steps): X=0.8027, Y=0.6949
  Validation @ step 113000 (First 1000 steps): Loss=0.345724, Corr_X=0.8280, Corr_Y=0.7634
  >>> New best validation model saved & loaded with Avg Corr: 0.7957 <<<
Time point 113000 (Cycle 2, Index 47728): Train loss = 0.348484
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6378, 0.6015]
  Update window: 1/100
  Meta params: Plasticity=0.24, Sensitivity=0.24
  Logged Correlation @ step 113000 (last 1000 steps): X=0.7643, Y=0.7697
  Validation @ step 114000 (First 1000 steps): Loss=0.353439, Corr_X=0.8281, Corr_Y=0.7602
Time point 114000 (Cycle 2, Index 48728): Train loss = 0.148263
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5597, 0.7355]
  Update window: 1/100
  Meta params: Plasticity=0.22, Sensitivity=0.22
  Logged Correlation @ step 114000 (last 1000 steps): X=0.8265, Y=0.7404
  Validation @ step 115000 (First 1000 steps): Loss=0.372680, Corr_X=0.8166, Corr_Y=0.7448
  *** Test Set @ step 115000 (First 500 steps): Corr_X=0.7867, Corr_Y=0.7547 ***
Time point 115000 (Cycle 2, Index 49728): Train loss = 0.019016
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.6574, 0.2384]
  Update window: 1/100
  Meta params: Plasticity=0.26, Sensitivity=0.26
  Logged Correlation @ step 115000 (last 1000 steps): X=0.8007, Y=0.7686
  Validation @ step 116000 (First 1000 steps): Loss=0.370364, Corr_X=0.8185, Corr_Y=0.7487
Time point 116000 (Cycle 2, Index 50728): Train loss = 0.188238
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.3082, 0.8208]
  Update window: 1/100
  Meta params: Plasticity=0.24, Sensitivity=0.24
  Logged Correlation @ step 116000 (last 1000 steps): X=0.7764, Y=0.7609
  Validation @ step 117000 (First 1000 steps): Loss=0.355881, Corr_X=0.8276, Corr_Y=0.7504
Time point 117000 (Cycle 2, Index 51728): Train loss = 0.106100
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.4871, 0.6524]
  Update window: 1/100
  Meta params: Plasticity=0.23, Sensitivity=0.23
  Logged Correlation @ step 117000 (last 1000 steps): X=0.8057, Y=0.7932
  Validation @ step 118000 (First 1000 steps): Loss=0.361554, Corr_X=0.8224, Corr_Y=0.7502
Time point 118000 (Cycle 2, Index 52728): Train loss = 0.275098
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5788, 0.6268]
  Update window: 1/100
  Meta params: Plasticity=0.27, Sensitivity=0.27
  Logged Correlation @ step 118000 (last 1000 steps): X=0.7874, Y=0.7601
  Validation @ step 119000 (First 1000 steps): Loss=0.373993, Corr_X=0.8226, Corr_Y=0.7569
Time point 119000 (Cycle 2, Index 53728): Train loss = 0.340420
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.3309, 0.6688]
  Update window: 1/100
  Meta params: Plasticity=0.20, Sensitivity=0.20
  Logged Correlation @ step 119000 (last 1000 steps): X=0.8316, Y=0.7318
  Validation @ step 120000 (First 1000 steps): Loss=0.356291, Corr_X=0.8240, Corr_Y=0.7535
  *** Test Set @ step 120000 (First 500 steps): Corr_X=0.7953, Corr_Y=0.7636 ***
Time point 120000 (Cycle 2, Index 54728): Train loss = 0.181071
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.5942, 0.4868]
  Update window: 1/100
  Meta params: Plasticity=0.20, Sensitivity=0.20
  Logged Correlation @ step 120000 (last 1000 steps): X=0.7674, Y=0.8008
  Validation @ step 121000 (First 1000 steps): Loss=0.356574, Corr_X=0.8245, Corr_Y=0.7535
Time point 121000 (Cycle 2, Index 55728): Train loss = 0.556799
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5292, 0.7779]
  Update window: 1/100
  Meta params: Plasticity=0.22, Sensitivity=0.22
  Logged Correlation @ step 121000 (last 1000 steps): X=0.7848, Y=0.8092
  Validation @ step 122000 (First 1000 steps): Loss=0.359022, Corr_X=0.8203, Corr_Y=0.7567
Time point 122000 (Cycle 2, Index 56728): Train loss = 0.096386
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5340, 0.6539]
  Update window: 1/100
  Meta params: Plasticity=0.24, Sensitivity=0.24
  Logged Correlation @ step 122000 (last 1000 steps): X=0.8156, Y=0.7502
  Validation @ step 123000 (First 1000 steps): Loss=0.356999, Corr_X=0.8197, Corr_Y=0.7650
Time point 123000 (Cycle 2, Index 57728): Train loss = 0.509403
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.7091, 0.7878]
  Update window: 1/100
  Meta params: Plasticity=0.22, Sensitivity=0.22
  Logged Correlation @ step 123000 (last 1000 steps): X=0.8201, Y=0.7120
  Validation @ step 124000 (First 1000 steps): Loss=0.350803, Corr_X=0.8273, Corr_Y=0.7556
Time point 124000 (Cycle 2, Index 58728): Train loss = 0.129536
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.4777, 0.5695]
  Update window: 1/100
  Meta params: Plasticity=0.26, Sensitivity=0.26
  Logged Correlation @ step 124000 (last 1000 steps): X=0.7945, Y=0.7725
  Validation @ step 125000 (First 1000 steps): Loss=0.348204, Corr_X=0.8242, Corr_Y=0.7663
  *** Test Set @ step 125000 (First 500 steps): Corr_X=0.8026, Corr_Y=0.7744 ***
Time point 125000 (Cycle 2, Index 59728): Train loss = 0.631303
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.6281, 0.6254]
  Update window: 1/100
  Meta params: Plasticity=0.30, Sensitivity=0.30
  Logged Correlation @ step 125000 (last 1000 steps): X=0.7652, Y=0.8153
  Validation @ step 126000 (First 1000 steps): Loss=0.346557, Corr_X=0.8260, Corr_Y=0.7670
  >>> New best validation model saved & loaded with Avg Corr: 0.7965 <<<
Time point 126000 (Cycle 2, Index 60728): Train loss = 1.072196
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6929, 0.7205]
  Update window: 1/100
  Meta params: Plasticity=0.29, Sensitivity=0.29
  Logged Correlation @ step 126000 (last 1000 steps): X=0.8204, Y=0.7719
  Validation @ step 127000 (First 1000 steps): Loss=0.361593, Corr_X=0.8247, Corr_Y=0.7567
Time point 127000 (Cycle 2, Index 61728): Train loss = 0.433987
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5850, 0.4874]
  Update window: 1/100
  Meta params: Plasticity=0.22, Sensitivity=0.22
  Logged Correlation @ step 127000 (last 1000 steps): X=0.8101, Y=0.7882
  Validation @ step 128000 (First 1000 steps): Loss=0.352965, Corr_X=0.8301, Corr_Y=0.7604
Time point 128000 (Cycle 2, Index 62728): Train loss = 0.026927
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6197, 0.6702]
  Update window: 1/100
  Meta params: Plasticity=0.22, Sensitivity=0.22
  Logged Correlation @ step 128000 (last 1000 steps): X=0.8004, Y=0.7856
  Validation @ step 129000 (First 1000 steps): Loss=0.370585, Corr_X=0.8249, Corr_Y=0.7572
Time point 129000 (Cycle 2, Index 63728): Train loss = 0.164711
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.4471, 0.5758]
  Update window: 1/100
  Meta params: Plasticity=0.21, Sensitivity=0.21
  Logged Correlation @ step 129000 (last 1000 steps): X=0.8156, Y=0.7409
  Validation @ step 130000 (First 1000 steps): Loss=0.341297, Corr_X=0.8280, Corr_Y=0.7663
  >>> New best validation model saved & loaded with Avg Corr: 0.7972 <<<
  *** Test Set @ step 130000 (First 500 steps): Corr_X=0.8044, Corr_Y=0.7596 ***
Time point 130000 (Cycle 2, Index 64728): Train loss = 0.190437
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.7426, 0.3094]
  Update window: 1/100
  Meta params: Plasticity=0.25, Sensitivity=0.25
  Logged Correlation @ step 130000 (last 1000 steps): X=0.8476, Y=0.8003

======= COMPLETED CYCLE 2 THROUGH TRAINING DATA =======
  Validation @ step 131000 (First 1000 steps): Loss=0.350577, Corr_X=0.8195, Corr_Y=0.7639
Time point 131000 (Cycle 3, Index 456): Train loss = 0.208689
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5639, 0.4816]
  Update window: 1/100
  Meta params: Plasticity=0.24, Sensitivity=0.24
  Logged Correlation @ step 131000 (last 1000 steps): X=0.7230, Y=0.8055
  Validation @ step 132000 (First 1000 steps): Loss=0.360547, Corr_X=0.8214, Corr_Y=0.7601
Time point 132000 (Cycle 3, Index 1456): Train loss = 0.195241
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.4146, 0.6095]
  Update window: 1/100
  Meta params: Plasticity=0.41, Sensitivity=0.41
  Logged Correlation @ step 132000 (last 1000 steps): X=0.7553, Y=0.7685
  Validation @ step 133000 (First 1000 steps): Loss=0.349904, Corr_X=0.8305, Corr_Y=0.7661
  >>> New best validation model saved & loaded with Avg Corr: 0.7983 <<<
Time point 133000 (Cycle 3, Index 2456): Train loss = 0.026291
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5481, 0.7809]
  Update window: 1/100
  Meta params: Plasticity=0.32, Sensitivity=0.32
  Logged Correlation @ step 133000 (last 1000 steps): X=0.8148, Y=0.8227
  Validation @ step 134000 (First 1000 steps): Loss=0.344113, Corr_X=0.8297, Corr_Y=0.7622
Time point 134000 (Cycle 3, Index 3456): Train loss = 0.341286
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.4602, 0.6822]
  Update window: 1/100
  Meta params: Plasticity=0.37, Sensitivity=0.37
  Logged Correlation @ step 134000 (last 1000 steps): X=0.8002, Y=0.8070
  Validation @ step 135000 (First 1000 steps): Loss=0.343637, Corr_X=0.8258, Corr_Y=0.7642
  *** Test Set @ step 135000 (First 500 steps): Corr_X=0.7888, Corr_Y=0.7730 ***
Time point 135000 (Cycle 3, Index 4456): Train loss = 0.087699
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.5838, 0.2396]
  Update window: 1/100
  Meta params: Plasticity=0.35, Sensitivity=0.35
  Logged Correlation @ step 135000 (last 1000 steps): X=0.7816, Y=0.7790
  Validation @ step 136000 (First 1000 steps): Loss=0.349969, Corr_X=0.8317, Corr_Y=0.7612
Time point 136000 (Cycle 3, Index 5456): Train loss = 0.157642
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.4408, 0.5228]
  Update window: 1/100
  Meta params: Plasticity=0.34, Sensitivity=0.34
  Logged Correlation @ step 136000 (last 1000 steps): X=0.8240, Y=0.7683
  Validation @ step 137000 (First 1000 steps): Loss=0.348685, Corr_X=0.8241, Corr_Y=0.7637
Time point 137000 (Cycle 3, Index 6456): Train loss = 0.062126
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.3394, 0.4705]
  Update window: 1/100
  Meta params: Plasticity=0.39, Sensitivity=0.39
  Logged Correlation @ step 137000 (last 1000 steps): X=0.8425, Y=0.7363
  Validation @ step 138000 (First 1000 steps): Loss=0.354128, Corr_X=0.8196, Corr_Y=0.7610
Time point 138000 (Cycle 3, Index 7456): Train loss = 0.891743
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.3998, 0.5538]
  Update window: 1/100
  Meta params: Plasticity=0.37, Sensitivity=0.37
  Logged Correlation @ step 138000 (last 1000 steps): X=0.6920, Y=0.7340
  Validation @ step 139000 (First 1000 steps): Loss=0.373644, Corr_X=0.8273, Corr_Y=0.7582
Time point 139000 (Cycle 3, Index 8456): Train loss = 0.053156
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6660, 0.7347]
  Update window: 1/100
  Meta params: Plasticity=0.43, Sensitivity=0.43
  Logged Correlation @ step 139000 (last 1000 steps): X=0.8305, Y=0.7229
  Validation @ step 140000 (First 1000 steps): Loss=0.350817, Corr_X=0.8251, Corr_Y=0.7540
  *** Test Set @ step 140000 (First 500 steps): Corr_X=0.7968, Corr_Y=0.7637 ***
Time point 140000 (Cycle 3, Index 9456): Train loss = 0.141559
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.6982, 0.4474]
  Update window: 1/100
  Meta params: Plasticity=0.41, Sensitivity=0.41
  Logged Correlation @ step 140000 (last 1000 steps): X=0.8213, Y=0.7843
  Validation @ step 141000 (First 1000 steps): Loss=0.358791, Corr_X=0.8257, Corr_Y=0.7501
Time point 141000 (Cycle 3, Index 10456): Train loss = 0.064132
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.4326, 0.4719]
  Update window: 1/100
  Meta params: Plasticity=0.39, Sensitivity=0.39
  Logged Correlation @ step 141000 (last 1000 steps): X=0.8263, Y=0.7848
  Validation @ step 142000 (First 1000 steps): Loss=0.344988, Corr_X=0.8287, Corr_Y=0.7521
Time point 142000 (Cycle 3, Index 11456): Train loss = 0.132800
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5034, 0.4235]
  Update window: 1/100
  Meta params: Plasticity=0.55, Sensitivity=0.55
  Logged Correlation @ step 142000 (last 1000 steps): X=0.8022, Y=0.7864
  Validation @ step 143000 (First 1000 steps): Loss=0.382385, Corr_X=0.8196, Corr_Y=0.7534
Time point 143000 (Cycle 3, Index 12456): Train loss = 0.056792
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.4207, 0.6510]
  Update window: 1/100
  Meta params: Plasticity=0.64, Sensitivity=0.64
  Logged Correlation @ step 143000 (last 1000 steps): X=0.7825, Y=0.7824
  Validation @ step 144000 (First 1000 steps): Loss=0.358913, Corr_X=0.8261, Corr_Y=0.7471
Time point 144000 (Cycle 3, Index 13456): Train loss = 0.265600
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6522, 0.3703]
  Update window: 1/100
  Meta params: Plasticity=0.61, Sensitivity=0.61
  Logged Correlation @ step 144000 (last 1000 steps): X=0.8326, Y=0.7527
  Validation @ step 145000 (First 1000 steps): Loss=0.365316, Corr_X=0.8197, Corr_Y=0.7446
  *** Test Set @ step 145000 (First 500 steps): Corr_X=0.8091, Corr_Y=0.7729 ***
Time point 145000 (Cycle 3, Index 14456): Train loss = 0.068793
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.6991, 0.4388]
  Update window: 1/100
  Meta params: Plasticity=0.58, Sensitivity=0.58
  Logged Correlation @ step 145000 (last 1000 steps): X=0.8283, Y=0.7456
  Validation @ step 146000 (First 1000 steps): Loss=0.354304, Corr_X=0.8262, Corr_Y=0.7572
Time point 146000 (Cycle 3, Index 15456): Train loss = 0.014596
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.7691, 0.6653]
  Update window: 1/100
  Meta params: Plasticity=0.37, Sensitivity=0.37
  Logged Correlation @ step 146000 (last 1000 steps): X=0.7709, Y=0.7001
  Validation @ step 147000 (First 1000 steps): Loss=0.377109, Corr_X=0.8265, Corr_Y=0.7502
Time point 147000 (Cycle 3, Index 16456): Train loss = 0.346593
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5984, 0.6901]
  Update window: 1/100
  Meta params: Plasticity=0.29, Sensitivity=0.29
  Logged Correlation @ step 147000 (last 1000 steps): X=0.8439, Y=0.7945
  Validation @ step 148000 (First 1000 steps): Loss=0.380992, Corr_X=0.8289, Corr_Y=0.7500
Time point 148000 (Cycle 3, Index 17456): Train loss = 0.027532
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6995, 0.6838]
  Update window: 1/100
  Meta params: Plasticity=0.33, Sensitivity=0.33
  Logged Correlation @ step 148000 (last 1000 steps): X=0.8353, Y=0.7842
  Validation @ step 149000 (First 1000 steps): Loss=0.356788, Corr_X=0.8291, Corr_Y=0.7531
Time point 149000 (Cycle 3, Index 18456): Train loss = 0.081842
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5439, 0.6802]
  Update window: 1/100
  Meta params: Plasticity=0.39, Sensitivity=0.39
  Logged Correlation @ step 149000 (last 1000 steps): X=0.8327, Y=0.7960
  Validation @ step 150000 (First 1000 steps): Loss=0.369826, Corr_X=0.8314, Corr_Y=0.7464
  *** Test Set @ step 150000 (First 500 steps): Corr_X=0.8069, Corr_Y=0.7812 ***
Time point 150000 (Cycle 3, Index 19456): Train loss = 0.981750
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.7130, 0.4359]
  Update window: 1/100
  Meta params: Plasticity=0.37, Sensitivity=0.37
  Logged Correlation @ step 150000 (last 1000 steps): X=0.8003, Y=0.7346
  Validation @ step 151000 (First 1000 steps): Loss=0.358564, Corr_X=0.8249, Corr_Y=0.7490
Time point 151000 (Cycle 3, Index 20456): Train loss = 0.019385
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.4543, 0.6410]
  Update window: 1/100
  Meta params: Plasticity=0.29, Sensitivity=0.29
  Logged Correlation @ step 151000 (last 1000 steps): X=0.8473, Y=0.7444
  Validation @ step 152000 (First 1000 steps): Loss=0.350147, Corr_X=0.8367, Corr_Y=0.7481
Time point 152000 (Cycle 3, Index 21456): Train loss = 1.112945
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.4479, 0.6984]
  Update window: 1/100
  Meta params: Plasticity=0.27, Sensitivity=0.27
  Logged Correlation @ step 152000 (last 1000 steps): X=0.7986, Y=0.7565
  Validation @ step 153000 (First 1000 steps): Loss=0.344560, Corr_X=0.8356, Corr_Y=0.7609
Time point 153000 (Cycle 3, Index 22456): Train loss = 0.108146
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.4446, 0.5397]
  Update window: 1/100
  Meta params: Plasticity=0.26, Sensitivity=0.26
  Logged Correlation @ step 153000 (last 1000 steps): X=0.7801, Y=0.7090
  Validation @ step 154000 (First 1000 steps): Loss=0.351839, Corr_X=0.8324, Corr_Y=0.7583
Time point 154000 (Cycle 3, Index 23456): Train loss = 0.026486
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.4002, 0.4981]
  Update window: 1/100
  Meta params: Plasticity=0.20, Sensitivity=0.20
  Logged Correlation @ step 154000 (last 1000 steps): X=0.8099, Y=0.7553
  Validation @ step 155000 (First 1000 steps): Loss=0.349394, Corr_X=0.8301, Corr_Y=0.7629
  *** Test Set @ step 155000 (First 500 steps): Corr_X=0.8167, Corr_Y=0.7730 ***
Time point 155000 (Cycle 3, Index 24456): Train loss = 0.063829
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.4307, 0.5053]
  Update window: 1/100
  Meta params: Plasticity=0.35, Sensitivity=0.35
  Logged Correlation @ step 155000 (last 1000 steps): X=0.8248, Y=0.7671
  Validation @ step 156000 (First 1000 steps): Loss=0.334067, Corr_X=0.8369, Corr_Y=0.7605
  >>> New best validation model saved & loaded with Avg Corr: 0.7987 <<<
Time point 156000 (Cycle 3, Index 25456): Train loss = 0.640166
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5617, 0.7228]
  Update window: 1/100
  Meta params: Plasticity=0.41, Sensitivity=0.41
  Logged Correlation @ step 156000 (last 1000 steps): X=0.8456, Y=0.7667
  Validation @ step 157000 (First 1000 steps): Loss=0.342346, Corr_X=0.8310, Corr_Y=0.7560
Time point 157000 (Cycle 3, Index 26456): Train loss = 0.326995
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5135, 0.6637]
  Update window: 1/100
  Meta params: Plasticity=0.39, Sensitivity=0.39
  Logged Correlation @ step 157000 (last 1000 steps): X=0.7975, Y=0.7806
  Validation @ step 158000 (First 1000 steps): Loss=0.336150, Corr_X=0.8362, Corr_Y=0.7644
  >>> New best validation model saved & loaded with Avg Corr: 0.8003 <<<
Time point 158000 (Cycle 3, Index 27456): Train loss = 0.141087
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6518, 0.6535]
  Update window: 1/100
  Meta params: Plasticity=0.30, Sensitivity=0.30
  Logged Correlation @ step 158000 (last 1000 steps): X=0.8341, Y=0.7751
  Validation @ step 159000 (First 1000 steps): Loss=0.344384, Corr_X=0.8294, Corr_Y=0.7563
Time point 159000 (Cycle 3, Index 28456): Train loss = 0.139750
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.3281, 0.4621]
  Update window: 1/100
  Meta params: Plasticity=0.29, Sensitivity=0.29
  Logged Correlation @ step 159000 (last 1000 steps): X=0.8280, Y=0.7819
  Validation @ step 160000 (First 1000 steps): Loss=0.348028, Corr_X=0.8275, Corr_Y=0.7631
  *** Test Set @ step 160000 (First 500 steps): Corr_X=0.8121, Corr_Y=0.7806 ***
Time point 160000 (Cycle 3, Index 29456): Train loss = 0.355083
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.4813, 0.4423]
  Update window: 1/100
  Meta params: Plasticity=0.27, Sensitivity=0.27
  Logged Correlation @ step 160000 (last 1000 steps): X=0.8620, Y=0.7894
  Validation @ step 161000 (First 1000 steps): Loss=0.344158, Corr_X=0.8315, Corr_Y=0.7550
Time point 161000 (Cycle 3, Index 30456): Train loss = 0.143042
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.8020, 0.7852]
  Update window: 1/100
  Meta params: Plasticity=0.20, Sensitivity=0.20
  Logged Correlation @ step 161000 (last 1000 steps): X=0.7934, Y=0.7667
  Validation @ step 162000 (First 1000 steps): Loss=0.358754, Corr_X=0.8206, Corr_Y=0.7583
Time point 162000 (Cycle 3, Index 31456): Train loss = 0.336276
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6895, 0.5937]
  Update window: 1/100
  Meta params: Plasticity=0.22, Sensitivity=0.22
  Logged Correlation @ step 162000 (last 1000 steps): X=0.7832, Y=0.7914
  Validation @ step 163000 (First 1000 steps): Loss=0.352327, Corr_X=0.8289, Corr_Y=0.7579
Time point 163000 (Cycle 3, Index 32456): Train loss = 0.314213
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5086, 0.6604]
  Update window: 1/100
  Meta params: Plasticity=0.32, Sensitivity=0.32
  Logged Correlation @ step 163000 (last 1000 steps): X=0.8194, Y=0.8049
  Validation @ step 164000 (First 1000 steps): Loss=0.363389, Corr_X=0.8288, Corr_Y=0.7538
Time point 164000 (Cycle 3, Index 33456): Train loss = 0.164509
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5580, 0.6761]
  Update window: 1/100
  Meta params: Plasticity=0.30, Sensitivity=0.30
  Logged Correlation @ step 164000 (last 1000 steps): X=0.8179, Y=0.8007
  Validation @ step 165000 (First 1000 steps): Loss=0.352290, Corr_X=0.8284, Corr_Y=0.7635
  *** Test Set @ step 165000 (First 500 steps): Corr_X=0.8181, Corr_Y=0.7874 ***
Time point 165000 (Cycle 3, Index 34456): Train loss = 0.007674
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.5897, 0.2811]
  Update window: 1/100
  Meta params: Plasticity=0.35, Sensitivity=0.35
  Logged Correlation @ step 165000 (last 1000 steps): X=0.7822, Y=0.7758
  Validation @ step 166000 (First 1000 steps): Loss=0.345844, Corr_X=0.8328, Corr_Y=0.7651
Time point 166000 (Cycle 3, Index 35456): Train loss = 0.030056
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6234, 0.5163]
  Update window: 1/100
  Meta params: Plasticity=0.41, Sensitivity=0.41
  Logged Correlation @ step 166000 (last 1000 steps): X=0.8384, Y=0.8046
  Validation @ step 167000 (First 1000 steps): Loss=0.339499, Corr_X=0.8315, Corr_Y=0.7728
  >>> New best validation model saved & loaded with Avg Corr: 0.8021 <<<
Time point 167000 (Cycle 3, Index 36456): Train loss = 0.343644
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6673, 0.6062]
  Update window: 1/100
  Meta params: Plasticity=0.39, Sensitivity=0.39
  Logged Correlation @ step 167000 (last 1000 steps): X=0.8669, Y=0.8086
  Validation @ step 168000 (First 1000 steps): Loss=0.355656, Corr_X=0.8297, Corr_Y=0.7613
Time point 168000 (Cycle 3, Index 37456): Train loss = 0.312756
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5243, 0.6332]
  Update window: 1/100
  Meta params: Plasticity=0.37, Sensitivity=0.37
  Logged Correlation @ step 168000 (last 1000 steps): X=0.7894, Y=0.7839
  Validation @ step 169000 (First 1000 steps): Loss=0.337511, Corr_X=0.8347, Corr_Y=0.7661
Time point 169000 (Cycle 3, Index 38456): Train loss = 0.103606
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.8236, 0.9189]
  Update window: 1/100
  Meta params: Plasticity=0.29, Sensitivity=0.29
  Logged Correlation @ step 169000 (last 1000 steps): X=0.8281, Y=0.8162
  Validation @ step 170000 (First 1000 steps): Loss=0.343117, Corr_X=0.8365, Corr_Y=0.7610
  *** Test Set @ step 170000 (First 500 steps): Corr_X=0.8041, Corr_Y=0.7725 ***
Time point 170000 (Cycle 3, Index 39456): Train loss = 0.181211
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.7356, 0.4643]
  Update window: 1/100
  Meta params: Plasticity=0.34, Sensitivity=0.34
  Logged Correlation @ step 170000 (last 1000 steps): X=0.8325, Y=0.7572
  Validation @ step 171000 (First 1000 steps): Loss=0.351166, Corr_X=0.8345, Corr_Y=0.7639
Time point 171000 (Cycle 3, Index 40456): Train loss = 0.816372
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.7207, 0.4192]
  Update window: 1/100
  Meta params: Plasticity=0.32, Sensitivity=0.32
  Logged Correlation @ step 171000 (last 1000 steps): X=0.7812, Y=0.7793
  Validation @ step 172000 (First 1000 steps): Loss=0.353116, Corr_X=0.8288, Corr_Y=0.7631
Time point 172000 (Cycle 3, Index 41456): Train loss = 0.476395
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5627, 0.7860]
  Update window: 1/100
  Meta params: Plasticity=0.30, Sensitivity=0.30
  Logged Correlation @ step 172000 (last 1000 steps): X=0.8332, Y=0.7877
  Validation @ step 173000 (First 1000 steps): Loss=0.337830, Corr_X=0.8306, Corr_Y=0.7704
Time point 173000 (Cycle 3, Index 42456): Train loss = 0.059329
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.4855, 0.5808]
  Update window: 1/100
  Meta params: Plasticity=0.29, Sensitivity=0.29
  Logged Correlation @ step 173000 (last 1000 steps): X=0.8188, Y=0.7532
  Validation @ step 174000 (First 1000 steps): Loss=0.345114, Corr_X=0.8360, Corr_Y=0.7639
Time point 174000 (Cycle 3, Index 43456): Train loss = 0.354351
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5886, 0.6486]
  Update window: 1/100
  Meta params: Plasticity=0.27, Sensitivity=0.27
  Logged Correlation @ step 174000 (last 1000 steps): X=0.8140, Y=0.7292
  Validation @ step 175000 (First 1000 steps): Loss=0.355076, Corr_X=0.8315, Corr_Y=0.7621
  *** Test Set @ step 175000 (First 500 steps): Corr_X=0.7993, Corr_Y=0.7868 ***
Time point 175000 (Cycle 3, Index 44456): Train loss = 0.237033
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.4699, 0.6385]
  Update window: 1/100
  Meta params: Plasticity=0.32, Sensitivity=0.32
  Logged Correlation @ step 175000 (last 1000 steps): X=0.8371, Y=0.7278
  Validation @ step 176000 (First 1000 steps): Loss=0.343522, Corr_X=0.8310, Corr_Y=0.7640
Time point 176000 (Cycle 3, Index 45456): Train loss = 0.281590
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6908, 0.6293]
  Update window: 1/100
  Meta params: Plasticity=0.30, Sensitivity=0.30
  Logged Correlation @ step 176000 (last 1000 steps): X=0.8141, Y=0.7914
  Validation @ step 177000 (First 1000 steps): Loss=0.344602, Corr_X=0.8310, Corr_Y=0.7659
Time point 177000 (Cycle 3, Index 46456): Train loss = 0.064779
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5781, 0.6100]
  Update window: 1/100
  Meta params: Plasticity=0.29, Sensitivity=0.29
  Logged Correlation @ step 177000 (last 1000 steps): X=0.7729, Y=0.7140
  Validation @ step 178000 (First 1000 steps): Loss=0.344059, Corr_X=0.8316, Corr_Y=0.7654
Time point 178000 (Cycle 3, Index 47456): Train loss = 0.139264
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.4865, 0.6317]
  Update window: 1/100
  Meta params: Plasticity=0.33, Sensitivity=0.33
  Logged Correlation @ step 178000 (last 1000 steps): X=0.8505, Y=0.7785
  Validation @ step 179000 (First 1000 steps): Loss=0.344868, Corr_X=0.8291, Corr_Y=0.7632
Time point 179000 (Cycle 3, Index 48456): Train loss = 0.062226
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6705, 0.5539]
  Update window: 1/100
  Meta params: Plasticity=0.32, Sensitivity=0.32
  Logged Correlation @ step 179000 (last 1000 steps): X=0.8016, Y=0.7590
  Validation @ step 180000 (First 1000 steps): Loss=0.353226, Corr_X=0.8292, Corr_Y=0.7506
  *** Test Set @ step 180000 (First 500 steps): Corr_X=0.8043, Corr_Y=0.7898 ***
Time point 180000 (Cycle 3, Index 49456): Train loss = 0.432191
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.7873, 0.4737]
  Update window: 1/100
  Meta params: Plasticity=0.30, Sensitivity=0.30
  Logged Correlation @ step 180000 (last 1000 steps): X=0.8256, Y=0.7813
  Validation @ step 181000 (First 1000 steps): Loss=0.347538, Corr_X=0.8332, Corr_Y=0.7595
Time point 181000 (Cycle 3, Index 50456): Train loss = 0.880189
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6660, 0.6490]
  Update window: 1/100
  Meta params: Plasticity=0.20, Sensitivity=0.20
  Logged Correlation @ step 181000 (last 1000 steps): X=0.7844, Y=0.7777
  Validation @ step 182000 (First 1000 steps): Loss=0.353982, Corr_X=0.8246, Corr_Y=0.7633
Time point 182000 (Cycle 3, Index 51456): Train loss = 0.101176
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5839, 0.6954]
  Update window: 1/100
  Meta params: Plasticity=0.27, Sensitivity=0.27
  Logged Correlation @ step 182000 (last 1000 steps): X=0.8082, Y=0.8019
  Validation @ step 183000 (First 1000 steps): Loss=0.358361, Corr_X=0.8226, Corr_Y=0.7579
Time point 183000 (Cycle 3, Index 52456): Train loss = 1.170551
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5465, 0.6315]
  Update window: 1/100
  Meta params: Plasticity=0.31, Sensitivity=0.31
  Logged Correlation @ step 183000 (last 1000 steps): X=0.7624, Y=0.7424
  Validation @ step 184000 (First 1000 steps): Loss=0.354616, Corr_X=0.8237, Corr_Y=0.7644
Time point 184000 (Cycle 3, Index 53456): Train loss = 0.035486
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5974, 0.6059]
  Update window: 1/100
  Meta params: Plasticity=0.29, Sensitivity=0.29
  Logged Correlation @ step 184000 (last 1000 steps): X=0.8351, Y=0.7808
  Validation @ step 185000 (First 1000 steps): Loss=0.364771, Corr_X=0.8220, Corr_Y=0.7651
  *** Test Set @ step 185000 (First 500 steps): Corr_X=0.7970, Corr_Y=0.7864 ***
Time point 185000 (Cycle 3, Index 54456): Train loss = 0.009863
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.8907, 0.4436]
  Update window: 1/100
  Meta params: Plasticity=0.28, Sensitivity=0.28
  Logged Correlation @ step 185000 (last 1000 steps): X=0.7979, Y=0.8039
  Validation @ step 186000 (First 1000 steps): Loss=0.345738, Corr_X=0.8294, Corr_Y=0.7707
Time point 186000 (Cycle 3, Index 55456): Train loss = 0.015509
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5563, 0.5834]
  Update window: 1/100
  Meta params: Plasticity=0.27, Sensitivity=0.27
  Logged Correlation @ step 186000 (last 1000 steps): X=0.7819, Y=0.7984
  Validation @ step 187000 (First 1000 steps): Loss=0.346072, Corr_X=0.8278, Corr_Y=0.7656
Time point 187000 (Cycle 3, Index 56456): Train loss = 0.272928
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6321, 0.5432]
  Update window: 1/100
  Meta params: Plasticity=0.31, Sensitivity=0.31
  Logged Correlation @ step 187000 (last 1000 steps): X=0.8331, Y=0.7806
  Validation @ step 188000 (First 1000 steps): Loss=0.358491, Corr_X=0.8308, Corr_Y=0.7587
Time point 188000 (Cycle 3, Index 57456): Train loss = 0.099261
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.8640, 0.6757]
  Update window: 1/100
  Meta params: Plasticity=0.44, Sensitivity=0.44
  Logged Correlation @ step 188000 (last 1000 steps): X=0.7891, Y=0.7911
  Validation @ step 189000 (First 1000 steps): Loss=0.332645, Corr_X=0.8320, Corr_Y=0.7723
  >>> New best validation model saved & loaded with Avg Corr: 0.8022 <<<
Time point 189000 (Cycle 3, Index 58456): Train loss = 0.127793
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6852, 0.8453]
  Update window: 1/100
  Meta params: Plasticity=0.34, Sensitivity=0.34
  Logged Correlation @ step 189000 (last 1000 steps): X=0.8076, Y=0.7167
  Validation @ step 190000 (First 1000 steps): Loss=0.342146, Corr_X=0.8263, Corr_Y=0.7706
  *** Test Set @ step 190000 (First 500 steps): Corr_X=0.8022, Corr_Y=0.7928 ***
Time point 190000 (Cycle 3, Index 59456): Train loss = 0.267964
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.7191, 0.4380]
  Update window: 1/100
  Meta params: Plasticity=0.40, Sensitivity=0.40
  Logged Correlation @ step 190000 (last 1000 steps): X=0.7621, Y=0.8191
  Validation @ step 191000 (First 1000 steps): Loss=0.338507, Corr_X=0.8348, Corr_Y=0.7662
Time point 191000 (Cycle 3, Index 60456): Train loss = 0.082419
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.7004, 0.7455]
  Update window: 1/100
  Meta params: Plasticity=0.31, Sensitivity=0.31
  Logged Correlation @ step 191000 (last 1000 steps): X=0.8274, Y=0.7760
  Validation @ step 192000 (First 1000 steps): Loss=0.340299, Corr_X=0.8290, Corr_Y=0.7673
Time point 192000 (Cycle 3, Index 61456): Train loss = 0.365534
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6978, 0.5268]
  Update window: 1/100
  Meta params: Plasticity=0.36, Sensitivity=0.36
  Logged Correlation @ step 192000 (last 1000 steps): X=0.8032, Y=0.7944
  Validation @ step 193000 (First 1000 steps): Loss=0.356142, Corr_X=0.8241, Corr_Y=0.7685
Time point 193000 (Cycle 3, Index 62456): Train loss = 0.478094
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5654, 0.5644]
  Update window: 1/100
  Meta params: Plasticity=0.34, Sensitivity=0.34
  Logged Correlation @ step 193000 (last 1000 steps): X=0.8249, Y=0.7927
  Validation @ step 194000 (First 1000 steps): Loss=0.348445, Corr_X=0.8314, Corr_Y=0.7687
Time point 194000 (Cycle 3, Index 63456): Train loss = 0.177012
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5819, 0.7464]
  Update window: 1/100
  Meta params: Plasticity=0.33, Sensitivity=0.33
  Logged Correlation @ step 194000 (last 1000 steps): X=0.8012, Y=0.7628
  Validation @ step 195000 (First 1000 steps): Loss=0.337500, Corr_X=0.8321, Corr_Y=0.7719
  *** Test Set @ step 195000 (First 500 steps): Corr_X=0.7971, Corr_Y=0.7952 ***
Time point 195000 (Cycle 3, Index 64456): Train loss = 0.219061
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.8151, 0.6521]
  Update window: 1/100
  Meta params: Plasticity=0.31, Sensitivity=0.31
  Logged Correlation @ step 195000 (last 1000 steps): X=0.8230, Y=0.8031

======= COMPLETED CYCLE 3 THROUGH TRAINING DATA =======
  Validation @ step 196000 (First 1000 steps): Loss=0.329457, Corr_X=0.8362, Corr_Y=0.7715
  >>> New best validation model saved & loaded with Avg Corr: 0.8039 <<<
Time point 196000 (Cycle 4, Index 184): Train loss = 0.035109
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.7402, 0.6198]
  Update window: 1/100
  Meta params: Plasticity=0.24, Sensitivity=0.24
  Logged Correlation @ step 196000 (last 1000 steps): X=0.8062, Y=0.8052
  Validation @ step 197000 (First 1000 steps): Loss=0.337020, Corr_X=0.8356, Corr_Y=0.7641
Time point 197000 (Cycle 4, Index 1184): Train loss = 0.753144
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.8333, 0.5693]
  Update window: 1/100
  Meta params: Plasticity=0.23, Sensitivity=0.23
  Logged Correlation @ step 197000 (last 1000 steps): X=0.7448, Y=0.8002
  Validation @ step 198000 (First 1000 steps): Loss=0.341275, Corr_X=0.8343, Corr_Y=0.7697
Time point 198000 (Cycle 4, Index 2184): Train loss = 0.000833
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.8427, 0.7007]
  Update window: 1/100
  Meta params: Plasticity=0.27, Sensitivity=0.27
  Logged Correlation @ step 198000 (last 1000 steps): X=0.8341, Y=0.8397
  Validation @ step 199000 (First 1000 steps): Loss=0.331075, Corr_X=0.8326, Corr_Y=0.7760
  >>> New best validation model saved & loaded with Avg Corr: 0.8043 <<<
Time point 199000 (Cycle 4, Index 3184): Train loss = 0.149229
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6493, 0.5982]
  Update window: 1/100
  Meta params: Plasticity=0.32, Sensitivity=0.32
  Logged Correlation @ step 199000 (last 1000 steps): X=0.7924, Y=0.8149
  Validation @ step 200000 (First 1000 steps): Loss=0.338452, Corr_X=0.8249, Corr_Y=0.7695
  *** Test Set @ step 200000 (First 500 steps): Corr_X=0.8261, Corr_Y=0.7803 ***
Time point 200000 (Cycle 4, Index 4184): Train loss = 0.209744
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.5894, 0.4774]
  Update window: 1/100
  Meta params: Plasticity=0.30, Sensitivity=0.30
  Logged Correlation @ step 200000 (last 1000 steps): X=0.7680, Y=0.7985
  Validation @ step 201000 (First 1000 steps): Loss=0.329794, Corr_X=0.8359, Corr_Y=0.7752
  >>> New best validation model saved & loaded with Avg Corr: 0.8056 <<<
Time point 201000 (Cycle 4, Index 5184): Train loss = 0.429573
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.7612, 0.6259]
  Update window: 1/100
  Meta params: Plasticity=0.35, Sensitivity=0.35
  Logged Correlation @ step 201000 (last 1000 steps): X=0.8429, Y=0.8037
  Validation @ step 202000 (First 1000 steps): Loss=0.348220, Corr_X=0.8277, Corr_Y=0.7665
Time point 202000 (Cycle 4, Index 6184): Train loss = 0.540938
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.4348, 0.6909]
  Update window: 1/100
  Meta params: Plasticity=0.33, Sensitivity=0.33
  Logged Correlation @ step 202000 (last 1000 steps): X=0.8400, Y=0.7056
  Validation @ step 203000 (First 1000 steps): Loss=0.338412, Corr_X=0.8307, Corr_Y=0.7717
Time point 203000 (Cycle 4, Index 7184): Train loss = 1.008973
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.7131, 0.6997]
  Update window: 1/100
  Meta params: Plasticity=0.26, Sensitivity=0.26
  Logged Correlation @ step 203000 (last 1000 steps): X=0.7019, Y=0.7880
  Validation @ step 204000 (First 1000 steps): Loss=0.345654, Corr_X=0.8281, Corr_Y=0.7701
Time point 204000 (Cycle 4, Index 8184): Train loss = 0.303685
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6415, 0.6144]
  Update window: 1/100
  Meta params: Plasticity=0.20, Sensitivity=0.20
  Logged Correlation @ step 204000 (last 1000 steps): X=0.8475, Y=0.7568
  Validation @ step 205000 (First 1000 steps): Loss=0.350054, Corr_X=0.8285, Corr_Y=0.7624
  *** Test Set @ step 205000 (First 500 steps): Corr_X=0.8045, Corr_Y=0.7972 ***
Time point 205000 (Cycle 4, Index 9184): Train loss = 0.089640
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.5622, 0.4545]
  Update window: 1/100
  Meta params: Plasticity=0.21, Sensitivity=0.21
  Logged Correlation @ step 205000 (last 1000 steps): X=0.7876, Y=0.7428
  Validation @ step 206000 (First 1000 steps): Loss=0.334228, Corr_X=0.8366, Corr_Y=0.7630
Time point 206000 (Cycle 4, Index 10184): Train loss = 0.098556
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6547, 0.3769]
  Update window: 1/100
  Meta params: Plasticity=0.22, Sensitivity=0.22
  Logged Correlation @ step 206000 (last 1000 steps): X=0.8561, Y=0.7762
  Validation @ step 207000 (First 1000 steps): Loss=0.329709, Corr_X=0.8267, Corr_Y=0.7753
Time point 207000 (Cycle 4, Index 11184): Train loss = 0.005158
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5230, 0.6212]
  Update window: 1/100
  Meta params: Plasticity=0.22, Sensitivity=0.22
  Logged Correlation @ step 207000 (last 1000 steps): X=0.8185, Y=0.8166
  Validation @ step 208000 (First 1000 steps): Loss=0.340261, Corr_X=0.8312, Corr_Y=0.7583
Time point 208000 (Cycle 4, Index 12184): Train loss = 0.239197
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.7077, 0.7166]
  Update window: 1/100
  Meta params: Plasticity=0.26, Sensitivity=0.26
  Logged Correlation @ step 208000 (last 1000 steps): X=0.7852, Y=0.8107
  Validation @ step 209000 (First 1000 steps): Loss=0.354628, Corr_X=0.8328, Corr_Y=0.7596
Time point 209000 (Cycle 4, Index 13184): Train loss = 0.197197
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5100, 0.6045]
  Update window: 1/100
  Meta params: Plasticity=0.25, Sensitivity=0.25
  Logged Correlation @ step 209000 (last 1000 steps): X=0.8342, Y=0.7932
  Validation @ step 210000 (First 1000 steps): Loss=0.333340, Corr_X=0.8309, Corr_Y=0.7675
  *** Test Set @ step 210000 (First 500 steps): Corr_X=0.8134, Corr_Y=0.7985 ***
Time point 210000 (Cycle 4, Index 14184): Train loss = 0.027729
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.5853, 0.4620]
  Update window: 1/100
  Meta params: Plasticity=0.24, Sensitivity=0.24
  Logged Correlation @ step 210000 (last 1000 steps): X=0.8259, Y=0.7142
  Validation @ step 211000 (First 1000 steps): Loss=0.334595, Corr_X=0.8304, Corr_Y=0.7684
Time point 211000 (Cycle 4, Index 15184): Train loss = 0.918439
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.8196, 0.6267]
  Update window: 1/100
  Meta params: Plasticity=0.27, Sensitivity=0.27
  Logged Correlation @ step 211000 (last 1000 steps): X=0.8121, Y=0.7361
  Validation @ step 212000 (First 1000 steps): Loss=0.356664, Corr_X=0.8259, Corr_Y=0.7670
Time point 212000 (Cycle 4, Index 16184): Train loss = 0.206556
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5449, 0.6055]
  Update window: 1/100
  Meta params: Plasticity=0.26, Sensitivity=0.26
  Logged Correlation @ step 212000 (last 1000 steps): X=0.8097, Y=0.7690
  Validation @ step 213000 (First 1000 steps): Loss=0.363272, Corr_X=0.8292, Corr_Y=0.7672
Time point 213000 (Cycle 4, Index 17184): Train loss = 0.043998
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.4903, 0.9308]
  Update window: 1/100
  Meta params: Plasticity=0.20, Sensitivity=0.20
  Logged Correlation @ step 213000 (last 1000 steps): X=0.8323, Y=0.7919
  Validation @ step 214000 (First 1000 steps): Loss=0.364429, Corr_X=0.8269, Corr_Y=0.7630
Time point 214000 (Cycle 4, Index 18184): Train loss = 0.034146
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.7453, 0.4897]
  Update window: 1/100
  Meta params: Plasticity=0.22, Sensitivity=0.22
  Logged Correlation @ step 214000 (last 1000 steps): X=0.8623, Y=0.8273
  Validation @ step 215000 (First 1000 steps): Loss=0.350876, Corr_X=0.8295, Corr_Y=0.7677
  *** Test Set @ step 215000 (First 500 steps): Corr_X=0.8051, Corr_Y=0.7992 ***
Time point 215000 (Cycle 4, Index 19184): Train loss = 0.302472
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.3459, 0.6092]
  Update window: 1/100
  Meta params: Plasticity=0.22, Sensitivity=0.22
  Logged Correlation @ step 215000 (last 1000 steps): X=0.8063, Y=0.7498
  Validation @ step 216000 (First 1000 steps): Loss=0.338249, Corr_X=0.8305, Corr_Y=0.7674
Time point 216000 (Cycle 4, Index 20184): Train loss = 0.269702
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.8145, 0.5527]
  Update window: 1/100
  Meta params: Plasticity=0.22, Sensitivity=0.22
  Logged Correlation @ step 216000 (last 1000 steps): X=0.8303, Y=0.7082
  Validation @ step 217000 (First 1000 steps): Loss=0.338808, Corr_X=0.8284, Corr_Y=0.7701
Time point 217000 (Cycle 4, Index 21184): Train loss = 0.275131
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5768, 0.5864]
  Update window: 1/100
  Meta params: Plasticity=0.25, Sensitivity=0.25
  Logged Correlation @ step 217000 (last 1000 steps): X=0.8044, Y=0.7672
  Validation @ step 218000 (First 1000 steps): Loss=0.346238, Corr_X=0.8264, Corr_Y=0.7758
Time point 218000 (Cycle 4, Index 22184): Train loss = 0.071037
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.3064, 0.7026]
  Update window: 1/100
  Meta params: Plasticity=0.24, Sensitivity=0.24
  Logged Correlation @ step 218000 (last 1000 steps): X=0.7949, Y=0.7875
  Validation @ step 219000 (First 1000 steps): Loss=0.361715, Corr_X=0.8260, Corr_Y=0.7722
Time point 219000 (Cycle 4, Index 23184): Train loss = 0.051130
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.4959, 0.5942]
  Update window: 1/100
  Meta params: Plasticity=0.23, Sensitivity=0.23
  Logged Correlation @ step 219000 (last 1000 steps): X=0.8135, Y=0.7452
  Validation @ step 220000 (First 1000 steps): Loss=0.340841, Corr_X=0.8365, Corr_Y=0.7707
  *** Test Set @ step 220000 (First 500 steps): Corr_X=0.8081, Corr_Y=0.7903 ***
Time point 220000 (Cycle 4, Index 24184): Train loss = 0.987753
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.3584, 0.7259]
  Update window: 1/100
  Meta params: Plasticity=0.21, Sensitivity=0.21
  Logged Correlation @ step 220000 (last 1000 steps): X=0.8380, Y=0.7569
  Validation @ step 221000 (First 1000 steps): Loss=0.329944, Corr_X=0.8387, Corr_Y=0.7627
Time point 221000 (Cycle 4, Index 25184): Train loss = 0.550178
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6443, 0.5271]
  Update window: 1/100
  Meta params: Plasticity=0.20, Sensitivity=0.20
  Logged Correlation @ step 221000 (last 1000 steps): X=0.8502, Y=0.7552
  Validation @ step 222000 (First 1000 steps): Loss=0.335468, Corr_X=0.8310, Corr_Y=0.7677
Time point 222000 (Cycle 4, Index 26184): Train loss = 0.727120
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6288, 0.5424]
  Update window: 1/100
  Meta params: Plasticity=0.22, Sensitivity=0.22
  Logged Correlation @ step 222000 (last 1000 steps): X=0.8322, Y=0.7572
  Validation @ step 223000 (First 1000 steps): Loss=0.341918, Corr_X=0.8321, Corr_Y=0.7627
Time point 223000 (Cycle 4, Index 27184): Train loss = 0.264779
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.7641, 0.5991]
  Update window: 1/100
  Meta params: Plasticity=0.38, Sensitivity=0.38
  Logged Correlation @ step 223000 (last 1000 steps): X=0.8010, Y=0.8095
  Validation @ step 224000 (First 1000 steps): Loss=0.332392, Corr_X=0.8296, Corr_Y=0.7715
Time point 224000 (Cycle 4, Index 28184): Train loss = 0.932530
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6801, 0.8595]
  Update window: 1/100
  Meta params: Plasticity=0.44, Sensitivity=0.44
  Logged Correlation @ step 224000 (last 1000 steps): X=0.8348, Y=0.8150
  Validation @ step 225000 (First 1000 steps): Loss=0.346170, Corr_X=0.8300, Corr_Y=0.7632
  *** Test Set @ step 225000 (First 500 steps): Corr_X=0.8048, Corr_Y=0.7909 ***
Time point 225000 (Cycle 4, Index 29184): Train loss = 0.010070
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.3003, 0.6440]
  Update window: 1/100
  Meta params: Plasticity=0.34, Sensitivity=0.34
  Logged Correlation @ step 225000 (last 1000 steps): X=0.8474, Y=0.7746
  Validation @ step 226000 (First 1000 steps): Loss=0.358690, Corr_X=0.8201, Corr_Y=0.7592
Time point 226000 (Cycle 4, Index 30184): Train loss = 0.220945
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6303, 0.8246]
  Update window: 1/100
  Meta params: Plasticity=0.33, Sensitivity=0.33
  Logged Correlation @ step 226000 (last 1000 steps): X=0.8340, Y=0.7708
  Validation @ step 227000 (First 1000 steps): Loss=0.348176, Corr_X=0.8304, Corr_Y=0.7639
Time point 227000 (Cycle 4, Index 31184): Train loss = 0.377083
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6243, 0.7252]
  Update window: 1/100
  Meta params: Plasticity=0.31, Sensitivity=0.31
  Logged Correlation @ step 227000 (last 1000 steps): X=0.7839, Y=0.7918
  Validation @ step 228000 (First 1000 steps): Loss=0.336877, Corr_X=0.8339, Corr_Y=0.7640
Time point 228000 (Cycle 4, Index 32184): Train loss = 0.253571
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.7469, 0.5489]
  Update window: 1/100
  Meta params: Plasticity=0.20, Sensitivity=0.20
  Logged Correlation @ step 228000 (last 1000 steps): X=0.8202, Y=0.8085
  Validation @ step 229000 (First 1000 steps): Loss=0.338508, Corr_X=0.8409, Corr_Y=0.7654
Time point 229000 (Cycle 4, Index 33184): Train loss = 0.204450
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5815, 0.6957]
  Update window: 1/100
  Meta params: Plasticity=0.27, Sensitivity=0.27
  Logged Correlation @ step 229000 (last 1000 steps): X=0.8237, Y=0.8358
  Validation @ step 230000 (First 1000 steps): Loss=0.333736, Corr_X=0.8376, Corr_Y=0.7774
  >>> New best validation model saved & loaded with Avg Corr: 0.8075 <<<
  *** Test Set @ step 230000 (First 500 steps): Corr_X=0.8216, Corr_Y=0.7982 ***
Time point 230000 (Cycle 4, Index 34184): Train loss = 0.231851
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.4194, 0.5868]
  Update window: 1/100
  Meta params: Plasticity=0.25, Sensitivity=0.25
  Logged Correlation @ step 230000 (last 1000 steps): X=0.7772, Y=0.7392
  Validation @ step 231000 (First 1000 steps): Loss=0.357948, Corr_X=0.8386, Corr_Y=0.7645
Time point 231000 (Cycle 4, Index 35184): Train loss = 0.178246
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6619, 0.5288]
  Update window: 1/100
  Meta params: Plasticity=0.24, Sensitivity=0.24
  Logged Correlation @ step 231000 (last 1000 steps): X=0.8398, Y=0.7912
  Validation @ step 232000 (First 1000 steps): Loss=0.342569, Corr_X=0.8383, Corr_Y=0.7709
Time point 232000 (Cycle 4, Index 36184): Train loss = 0.136468
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5978, 0.6275]
  Update window: 1/100
  Meta params: Plasticity=0.20, Sensitivity=0.20
  Logged Correlation @ step 232000 (last 1000 steps): X=0.8750, Y=0.8306
  Validation @ step 233000 (First 1000 steps): Loss=0.342035, Corr_X=0.8322, Corr_Y=0.7651
Time point 233000 (Cycle 4, Index 37184): Train loss = 0.049859
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6147, 0.5503]
  Update window: 1/100
  Meta params: Plasticity=0.22, Sensitivity=0.22
  Logged Correlation @ step 233000 (last 1000 steps): X=0.7814, Y=0.7666
  Validation @ step 234000 (First 1000 steps): Loss=0.343524, Corr_X=0.8304, Corr_Y=0.7717
Time point 234000 (Cycle 4, Index 38184): Train loss = 0.232713
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5827, 0.6700]
  Update window: 1/100
  Meta params: Plasticity=0.20, Sensitivity=0.20
  Logged Correlation @ step 234000 (last 1000 steps): X=0.8426, Y=0.7997
  Validation @ step 235000 (First 1000 steps): Loss=0.347897, Corr_X=0.8259, Corr_Y=0.7677
  *** Test Set @ step 235000 (First 500 steps): Corr_X=0.8139, Corr_Y=0.7974 ***
Time point 235000 (Cycle 4, Index 39184): Train loss = 0.015573
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.5834, 0.5996]
  Update window: 1/100
  Meta params: Plasticity=0.24, Sensitivity=0.24
  Logged Correlation @ step 235000 (last 1000 steps): X=0.8399, Y=0.7558
  Validation @ step 236000 (First 1000 steps): Loss=0.348414, Corr_X=0.8296, Corr_Y=0.7675
Time point 236000 (Cycle 4, Index 40184): Train loss = 0.344913
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6201, 0.7069]
  Update window: 1/100
  Meta params: Plasticity=0.28, Sensitivity=0.28
  Logged Correlation @ step 236000 (last 1000 steps): X=0.8356, Y=0.7742
  Validation @ step 237000 (First 1000 steps): Loss=0.349246, Corr_X=0.8286, Corr_Y=0.7698
Time point 237000 (Cycle 4, Index 41184): Train loss = 0.496081
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6514, 0.8795]
  Update window: 1/100
  Meta params: Plasticity=0.21, Sensitivity=0.21
  Logged Correlation @ step 237000 (last 1000 steps): X=0.7738, Y=0.8254
  Validation @ step 238000 (First 1000 steps): Loss=0.334795, Corr_X=0.8396, Corr_Y=0.7740
Time point 238000 (Cycle 4, Index 42184): Train loss = 0.450145
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5675, 0.6038]
  Update window: 1/100
  Meta params: Plasticity=0.24, Sensitivity=0.24
  Logged Correlation @ step 238000 (last 1000 steps): X=0.8418, Y=0.7587
  Validation @ step 239000 (First 1000 steps): Loss=0.341831, Corr_X=0.8317, Corr_Y=0.7674
Time point 239000 (Cycle 4, Index 43184): Train loss = 0.368525
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.7596, 0.4567]
  Update window: 1/100
  Meta params: Plasticity=0.23, Sensitivity=0.23
  Logged Correlation @ step 239000 (last 1000 steps): X=0.8337, Y=0.7276
  Validation @ step 240000 (First 1000 steps): Loss=0.346177, Corr_X=0.8332, Corr_Y=0.7738
  *** Test Set @ step 240000 (First 500 steps): Corr_X=0.8128, Corr_Y=0.8020 ***
Time point 240000 (Cycle 4, Index 44184): Train loss = 0.346000
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.1294, 0.7089]
  Update window: 1/100
  Meta params: Plasticity=0.22, Sensitivity=0.22
  Logged Correlation @ step 240000 (last 1000 steps): X=0.8438, Y=0.7520
  Validation @ step 241000 (First 1000 steps): Loss=0.344280, Corr_X=0.8325, Corr_Y=0.7644
Time point 241000 (Cycle 4, Index 45184): Train loss = 0.043246
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.7393, 0.7919]
  Update window: 1/100
  Meta params: Plasticity=0.24, Sensitivity=0.24
  Logged Correlation @ step 241000 (last 1000 steps): X=0.7839, Y=0.8065
  Validation @ step 242000 (First 1000 steps): Loss=0.340265, Corr_X=0.8368, Corr_Y=0.7637
Time point 242000 (Cycle 4, Index 46184): Train loss = 0.213607
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.8796, 0.5486]
  Update window: 1/100
  Meta params: Plasticity=0.22, Sensitivity=0.22
  Logged Correlation @ step 242000 (last 1000 steps): X=0.8043, Y=0.6989
  Validation @ step 243000 (First 1000 steps): Loss=0.337665, Corr_X=0.8355, Corr_Y=0.7759
Time point 243000 (Cycle 4, Index 47184): Train loss = 0.477020
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5641, 0.5976]
  Update window: 1/100
  Meta params: Plasticity=0.26, Sensitivity=0.26
  Logged Correlation @ step 243000 (last 1000 steps): X=0.8388, Y=0.7930
  Validation @ step 244000 (First 1000 steps): Loss=0.344936, Corr_X=0.8261, Corr_Y=0.7684
Time point 244000 (Cycle 4, Index 48184): Train loss = 0.546052
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.7558, 0.6542]
  Update window: 1/100
  Meta params: Plasticity=0.24, Sensitivity=0.24
  Logged Correlation @ step 244000 (last 1000 steps): X=0.7696, Y=0.7581
  Validation @ step 245000 (First 1000 steps): Loss=0.339777, Corr_X=0.8264, Corr_Y=0.7687
  *** Test Set @ step 245000 (First 500 steps): Corr_X=0.8091, Corr_Y=0.7934 ***
Time point 245000 (Cycle 4, Index 49184): Train loss = 0.085646
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.4428, 0.4959]
  Update window: 1/100
  Meta params: Plasticity=0.26, Sensitivity=0.26
  Logged Correlation @ step 245000 (last 1000 steps): X=0.8335, Y=0.7907
  Validation @ step 246000 (First 1000 steps): Loss=0.337255, Corr_X=0.8328, Corr_Y=0.7710
Time point 246000 (Cycle 4, Index 50184): Train loss = 0.047678
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.8619, 0.7577]
  Update window: 1/100
  Meta params: Plasticity=0.22, Sensitivity=0.22
  Logged Correlation @ step 246000 (last 1000 steps): X=0.7793, Y=0.7632
  Validation @ step 247000 (First 1000 steps): Loss=0.340887, Corr_X=0.8285, Corr_Y=0.7744
Time point 247000 (Cycle 4, Index 51184): Train loss = 0.082951
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5847, 0.7695]
  Update window: 1/100
  Meta params: Plasticity=0.32, Sensitivity=0.32
  Logged Correlation @ step 247000 (last 1000 steps): X=0.8181, Y=0.8232
  Validation @ step 248000 (First 1000 steps): Loss=0.332353, Corr_X=0.8323, Corr_Y=0.7758
Time point 248000 (Cycle 4, Index 52184): Train loss = 0.124189
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.7747, 0.4525]
  Update window: 1/100
  Meta params: Plasticity=0.37, Sensitivity=0.37
  Logged Correlation @ step 248000 (last 1000 steps): X=0.7706, Y=0.7819
  Validation @ step 249000 (First 1000 steps): Loss=0.337467, Corr_X=0.8341, Corr_Y=0.7697
Time point 249000 (Cycle 4, Index 53184): Train loss = 0.054674
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.7191, 0.8058]
  Update window: 1/100
  Meta params: Plasticity=0.24, Sensitivity=0.24
  Logged Correlation @ step 249000 (last 1000 steps): X=0.8376, Y=0.7967
  Validation @ step 250000 (First 1000 steps): Loss=0.342704, Corr_X=0.8335, Corr_Y=0.7714
  *** Test Set @ step 250000 (First 500 steps): Corr_X=0.8188, Corr_Y=0.8052 ***
Time point 250000 (Cycle 4, Index 54184): Train loss = 0.023531
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.5339, 0.5264]
  Update window: 1/100
  Meta params: Plasticity=0.22, Sensitivity=0.22
  Logged Correlation @ step 250000 (last 1000 steps): X=0.8250, Y=0.7658
  Validation @ step 251000 (First 1000 steps): Loss=0.326278, Corr_X=0.8394, Corr_Y=0.7779
  >>> New best validation model saved & loaded with Avg Corr: 0.8087 <<<
Time point 251000 (Cycle 4, Index 55184): Train loss = 0.245705
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6589, 0.6945]
  Update window: 1/100
  Meta params: Plasticity=0.22, Sensitivity=0.22
  Logged Correlation @ step 251000 (last 1000 steps): X=0.7904, Y=0.8121
  Validation @ step 252000 (First 1000 steps): Loss=0.331884, Corr_X=0.8344, Corr_Y=0.7702
Time point 252000 (Cycle 4, Index 56184): Train loss = 0.270137
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.7362, 0.7621]
  Update window: 1/100
  Meta params: Plasticity=0.22, Sensitivity=0.22
  Logged Correlation @ step 252000 (last 1000 steps): X=0.8270, Y=0.8208
  Validation @ step 253000 (First 1000 steps): Loss=0.343906, Corr_X=0.8340, Corr_Y=0.7649
Time point 253000 (Cycle 4, Index 57184): Train loss = 0.548071
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6572, 0.6891]
  Update window: 1/100
  Meta params: Plasticity=0.22, Sensitivity=0.22
  Logged Correlation @ step 253000 (last 1000 steps): X=0.8038, Y=0.8043
  Validation @ step 254000 (First 1000 steps): Loss=0.341230, Corr_X=0.8277, Corr_Y=0.7729
Time point 254000 (Cycle 4, Index 58184): Train loss = 0.310203
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6844, 0.5915]
  Update window: 1/100
  Meta params: Plasticity=0.22, Sensitivity=0.22
  Logged Correlation @ step 254000 (last 1000 steps): X=0.8199, Y=0.6837
  Validation @ step 255000 (First 1000 steps): Loss=0.331370, Corr_X=0.8351, Corr_Y=0.7716
  *** Test Set @ step 255000 (First 500 steps): Corr_X=0.8192, Corr_Y=0.7955 ***
Time point 255000 (Cycle 4, Index 59184): Train loss = 0.120396
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.4993, 0.4629]
  Update window: 1/100
  Meta params: Plasticity=0.21, Sensitivity=0.21
  Logged Correlation @ step 255000 (last 1000 steps): X=0.8031, Y=0.8191
  Validation @ step 256000 (First 1000 steps): Loss=0.326747, Corr_X=0.8352, Corr_Y=0.7745
Time point 256000 (Cycle 4, Index 60184): Train loss = 0.492526
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6836, 0.8396]
  Update window: 1/100
  Meta params: Plasticity=0.20, Sensitivity=0.20
  Logged Correlation @ step 256000 (last 1000 steps): X=0.7939, Y=0.7735
  Validation @ step 257000 (First 1000 steps): Loss=0.331623, Corr_X=0.8380, Corr_Y=0.7669
Time point 257000 (Cycle 4, Index 61184): Train loss = 0.343043
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6902, 0.5007]
  Update window: 1/100
  Meta params: Plasticity=0.24, Sensitivity=0.24
  Logged Correlation @ step 257000 (last 1000 steps): X=0.8357, Y=0.8036
  Validation @ step 258000 (First 1000 steps): Loss=0.332793, Corr_X=0.8354, Corr_Y=0.7760
Time point 258000 (Cycle 4, Index 62184): Train loss = 1.183267
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6032, 0.6212]
  Update window: 1/100
  Meta params: Plasticity=0.23, Sensitivity=0.23
  Logged Correlation @ step 258000 (last 1000 steps): X=0.8231, Y=0.8231
  Validation @ step 259000 (First 1000 steps): Loss=0.336090, Corr_X=0.8399, Corr_Y=0.7686
Time point 259000 (Cycle 4, Index 63184): Train loss = 0.852819
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5238, 0.6641]
  Update window: 1/100
  Meta params: Plasticity=0.27, Sensitivity=0.27
  Logged Correlation @ step 259000 (last 1000 steps): X=0.8359, Y=0.8115
  Validation @ step 260000 (First 1000 steps): Loss=0.341600, Corr_X=0.8352, Corr_Y=0.7610
  *** Test Set @ step 260000 (First 500 steps): Corr_X=0.8112, Corr_Y=0.8110 ***
Time point 260000 (Cycle 4, Index 64184): Train loss = 0.223586
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.2961, 0.2667]
  Update window: 1/100
  Meta params: Plasticity=0.25, Sensitivity=0.25
  Logged Correlation @ step 260000 (last 1000 steps): X=0.8147, Y=0.7835
  Validation @ step 261000 (First 1000 steps): Loss=0.330774, Corr_X=0.8346, Corr_Y=0.7738
Time point 261000 (Cycle 4, Index 65184): Train loss = 0.225175
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5291, 0.8483]
  Update window: 1/100
  Meta params: Plasticity=0.20, Sensitivity=0.20
  Logged Correlation @ step 261000 (last 1000 steps): X=0.8362, Y=0.8101

======= COMPLETED CYCLE 4 THROUGH TRAINING DATA =======
  Validation @ step 262000 (First 1000 steps): Loss=0.330689, Corr_X=0.8381, Corr_Y=0.7682
Time point 262000 (Cycle 5, Index 912): Train loss = 0.540776
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6357, 0.6404]
  Update window: 1/100
  Meta params: Plasticity=0.23, Sensitivity=0.23
  Logged Correlation @ step 262000 (last 1000 steps): X=0.7761, Y=0.8195
  Validation @ step 263000 (First 1000 steps): Loss=0.337068, Corr_X=0.8364, Corr_Y=0.7683
Time point 263000 (Cycle 5, Index 1912): Train loss = 0.400222
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5509, 0.9008]
  Update window: 1/100
  Meta params: Plasticity=0.33, Sensitivity=0.33
  Logged Correlation @ step 263000 (last 1000 steps): X=0.8098, Y=0.8234
  Validation @ step 264000 (First 1000 steps): Loss=0.334759, Corr_X=0.8316, Corr_Y=0.7770
Time point 264000 (Cycle 5, Index 2912): Train loss = 0.328920
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.4996, 0.6929]
  Update window: 1/100
  Meta params: Plasticity=0.31, Sensitivity=0.31
  Logged Correlation @ step 264000 (last 1000 steps): X=0.8206, Y=0.8255
  Validation @ step 265000 (First 1000 steps): Loss=0.330362, Corr_X=0.8296, Corr_Y=0.7745
  *** Test Set @ step 265000 (First 500 steps): Corr_X=0.8224, Corr_Y=0.7958 ***
Time point 265000 (Cycle 5, Index 3912): Train loss = 0.114458
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.4827, 0.5914]
  Update window: 1/100
  Meta params: Plasticity=0.20, Sensitivity=0.20
  Logged Correlation @ step 265000 (last 1000 steps): X=0.7992, Y=0.8263
  Validation @ step 266000 (First 1000 steps): Loss=0.335752, Corr_X=0.8286, Corr_Y=0.7678
Time point 266000 (Cycle 5, Index 4912): Train loss = 0.447011
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6394, 0.7313]
  Update window: 1/100
  Meta params: Plasticity=0.26, Sensitivity=0.26
  Logged Correlation @ step 266000 (last 1000 steps): X=0.8243, Y=0.7523
  Validation @ step 267000 (First 1000 steps): Loss=0.326309, Corr_X=0.8357, Corr_Y=0.7740
Time point 267000 (Cycle 5, Index 5912): Train loss = 0.268080
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6029, 0.6233]
  Update window: 1/100
  Meta params: Plasticity=0.30, Sensitivity=0.30
  Logged Correlation @ step 267000 (last 1000 steps): X=0.8287, Y=0.7800
  Validation @ step 268000 (First 1000 steps): Loss=0.341194, Corr_X=0.8324, Corr_Y=0.7589
Time point 268000 (Cycle 5, Index 6912): Train loss = 0.079720
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6587, 0.5802]
  Update window: 1/100
  Meta params: Plasticity=0.29, Sensitivity=0.29
  Logged Correlation @ step 268000 (last 1000 steps): X=0.7350, Y=0.7638
  Validation @ step 269000 (First 1000 steps): Loss=0.342426, Corr_X=0.8265, Corr_Y=0.7649
Time point 269000 (Cycle 5, Index 7912): Train loss = 0.046996
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5871, 0.7618]
  Update window: 1/100
  Meta params: Plasticity=0.27, Sensitivity=0.27
  Logged Correlation @ step 269000 (last 1000 steps): X=0.8136, Y=0.7198
  Validation @ step 270000 (First 1000 steps): Loss=0.336122, Corr_X=0.8377, Corr_Y=0.7689
  *** Test Set @ step 270000 (First 500 steps): Corr_X=0.8260, Corr_Y=0.8070 ***
Time point 270000 (Cycle 5, Index 8912): Train loss = 0.037760
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.2354, 0.5548]
  Update window: 1/100
  Meta params: Plasticity=0.22, Sensitivity=0.22
  Logged Correlation @ step 270000 (last 1000 steps): X=0.8115, Y=0.7870
  Validation @ step 271000 (First 1000 steps): Loss=0.338431, Corr_X=0.8329, Corr_Y=0.7693
Time point 271000 (Cycle 5, Index 9912): Train loss = 0.037945
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6575, 0.9146]
  Update window: 1/100
  Meta params: Plasticity=0.20, Sensitivity=0.20
  Logged Correlation @ step 271000 (last 1000 steps): X=0.8482, Y=0.7706
  Validation @ step 272000 (First 1000 steps): Loss=0.338176, Corr_X=0.8298, Corr_Y=0.7619
Time point 272000 (Cycle 5, Index 10912): Train loss = 0.095390
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6080, 0.7665]
  Update window: 1/100
  Meta params: Plasticity=0.20, Sensitivity=0.20
  Logged Correlation @ step 272000 (last 1000 steps): X=0.8363, Y=0.8231
  Validation @ step 273000 (First 1000 steps): Loss=0.333124, Corr_X=0.8311, Corr_Y=0.7646
Time point 273000 (Cycle 5, Index 11912): Train loss = 0.423556
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.7027, 0.5585]
  Update window: 1/100
  Meta params: Plasticity=0.22, Sensitivity=0.22
  Logged Correlation @ step 273000 (last 1000 steps): X=0.7950, Y=0.8047
  Validation @ step 274000 (First 1000 steps): Loss=0.336467, Corr_X=0.8344, Corr_Y=0.7657
Time point 274000 (Cycle 5, Index 12912): Train loss = 0.043090
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5443, 0.4211]
  Update window: 1/100
  Meta params: Plasticity=0.22, Sensitivity=0.22
  Logged Correlation @ step 274000 (last 1000 steps): X=0.8355, Y=0.8015
  Validation @ step 275000 (First 1000 steps): Loss=0.347658, Corr_X=0.8307, Corr_Y=0.7504
  *** Test Set @ step 275000 (First 500 steps): Corr_X=0.8063, Corr_Y=0.7982 ***
Time point 275000 (Cycle 5, Index 13912): Train loss = 1.814153
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.5083, 0.3609]
  Update window: 1/100
  Meta params: Plasticity=0.20, Sensitivity=0.20
  Logged Correlation @ step 275000 (last 1000 steps): X=0.8164, Y=0.7667
  Validation @ step 276000 (First 1000 steps): Loss=0.335544, Corr_X=0.8294, Corr_Y=0.7635
Time point 276000 (Cycle 5, Index 14912): Train loss = 0.276339
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.7931, 0.4283]
  Update window: 1/100
  Meta params: Plasticity=0.24, Sensitivity=0.24
  Logged Correlation @ step 276000 (last 1000 steps): X=0.8050, Y=0.7341
  Validation @ step 277000 (First 1000 steps): Loss=0.346839, Corr_X=0.8290, Corr_Y=0.7669
Time point 277000 (Cycle 5, Index 15912): Train loss = 0.024928
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.4087, 0.5681]
  Update window: 1/100
  Meta params: Plasticity=0.23, Sensitivity=0.23
  Logged Correlation @ step 277000 (last 1000 steps): X=0.8192, Y=0.7682
  Validation @ step 278000 (First 1000 steps): Loss=0.344533, Corr_X=0.8346, Corr_Y=0.7673
Time point 278000 (Cycle 5, Index 16912): Train loss = 0.322207
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5709, 0.6890]
  Update window: 1/100
  Meta params: Plasticity=0.22, Sensitivity=0.22
  Logged Correlation @ step 278000 (last 1000 steps): X=0.8646, Y=0.8076
  Validation @ step 279000 (First 1000 steps): Loss=0.354036, Corr_X=0.8339, Corr_Y=0.7637
Time point 279000 (Cycle 5, Index 17912): Train loss = 0.026059
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5591, 0.6183]
  Update window: 1/100
  Meta params: Plasticity=0.22, Sensitivity=0.22
  Logged Correlation @ step 279000 (last 1000 steps): X=0.8449, Y=0.8065
  Validation @ step 280000 (First 1000 steps): Loss=0.342888, Corr_X=0.8299, Corr_Y=0.7654
  *** Test Set @ step 280000 (First 500 steps): Corr_X=0.8105, Corr_Y=0.8022 ***
Time point 280000 (Cycle 5, Index 18912): Train loss = 0.070590
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.2864, 0.3364]
  Update window: 1/100
  Meta params: Plasticity=0.24, Sensitivity=0.24
  Logged Correlation @ step 280000 (last 1000 steps): X=0.8204, Y=0.7152
  Validation @ step 281000 (First 1000 steps): Loss=0.328396, Corr_X=0.8328, Corr_Y=0.7739
Time point 281000 (Cycle 5, Index 19912): Train loss = 1.333543
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5090, 0.5943]
  Update window: 1/100
  Meta params: Plasticity=0.23, Sensitivity=0.23
  Logged Correlation @ step 281000 (last 1000 steps): X=0.8237, Y=0.7459
  Validation @ step 282000 (First 1000 steps): Loss=0.330911, Corr_X=0.8355, Corr_Y=0.7614
Time point 282000 (Cycle 5, Index 20912): Train loss = 0.224820
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5903, 0.5608]
  Update window: 1/100
  Meta params: Plasticity=0.26, Sensitivity=0.26
  Logged Correlation @ step 282000 (last 1000 steps): X=0.8088, Y=0.7973
  Validation @ step 283000 (First 1000 steps): Loss=0.358012, Corr_X=0.8225, Corr_Y=0.7617
Time point 283000 (Cycle 5, Index 21912): Train loss = 0.749655
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.3868, 0.6415]
  Update window: 1/100
  Meta params: Plasticity=0.20, Sensitivity=0.20
  Logged Correlation @ step 283000 (last 1000 steps): X=0.7971, Y=0.7604
  Validation @ step 284000 (First 1000 steps): Loss=0.352032, Corr_X=0.8312, Corr_Y=0.7562
Time point 284000 (Cycle 5, Index 22912): Train loss = 0.368363
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.4621, 0.5468]
  Update window: 1/100
  Meta params: Plasticity=0.24, Sensitivity=0.24
  Logged Correlation @ step 284000 (last 1000 steps): X=0.7943, Y=0.7280
  Validation @ step 285000 (First 1000 steps): Loss=0.355534, Corr_X=0.8392, Corr_Y=0.7613
  *** Test Set @ step 285000 (First 500 steps): Corr_X=0.8228, Corr_Y=0.8136 ***
Time point 285000 (Cycle 5, Index 23912): Train loss = 0.073266
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.5349, 0.7802]
  Update window: 1/100
  Meta params: Plasticity=0.24, Sensitivity=0.24
  Logged Correlation @ step 285000 (last 1000 steps): X=0.8563, Y=0.7321
  Validation @ step 286000 (First 1000 steps): Loss=0.318066, Corr_X=0.8361, Corr_Y=0.7817
  >>> New best validation model saved & loaded with Avg Corr: 0.8089 <<<
Time point 286000 (Cycle 5, Index 24912): Train loss = 0.261977
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6246, 0.5431]
  Update window: 1/100
  Meta params: Plasticity=0.23, Sensitivity=0.23
  Logged Correlation @ step 286000 (last 1000 steps): X=0.8460, Y=0.8080
  Validation @ step 287000 (First 1000 steps): Loss=0.322618, Corr_X=0.8373, Corr_Y=0.7753
Time point 287000 (Cycle 5, Index 25912): Train loss = 0.591908
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.4864, 0.5745]
  Update window: 1/100
  Meta params: Plasticity=0.22, Sensitivity=0.22
  Logged Correlation @ step 287000 (last 1000 steps): X=0.8467, Y=0.7836
  Validation @ step 288000 (First 1000 steps): Loss=0.324671, Corr_X=0.8343, Corr_Y=0.7713
Time point 288000 (Cycle 5, Index 26912): Train loss = 0.174730
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6285, 0.5742]
  Update window: 1/100
  Meta params: Plasticity=0.20, Sensitivity=0.20
  Logged Correlation @ step 288000 (last 1000 steps): X=0.8254, Y=0.8121
  Validation @ step 289000 (First 1000 steps): Loss=0.333815, Corr_X=0.8313, Corr_Y=0.7686
Time point 289000 (Cycle 5, Index 27912): Train loss = 0.061899
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.4985, 0.6223]
  Update window: 1/100
  Meta params: Plasticity=0.24, Sensitivity=0.24
  Logged Correlation @ step 289000 (last 1000 steps): X=0.8181, Y=0.8233
  Validation @ step 290000 (First 1000 steps): Loss=0.331842, Corr_X=0.8334, Corr_Y=0.7717
  *** Test Set @ step 290000 (First 500 steps): Corr_X=0.8161, Corr_Y=0.8129 ***
Time point 290000 (Cycle 5, Index 28912): Train loss = 0.594331
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.5152, 0.5851]
  Update window: 1/100
  Meta params: Plasticity=0.23, Sensitivity=0.23
  Logged Correlation @ step 290000 (last 1000 steps): X=0.8710, Y=0.7781
  Validation @ step 291000 (First 1000 steps): Loss=0.332545, Corr_X=0.8353, Corr_Y=0.7710
Time point 291000 (Cycle 5, Index 29912): Train loss = 0.377527
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6943, 0.6784]
  Update window: 1/100
  Meta params: Plasticity=0.27, Sensitivity=0.27
  Logged Correlation @ step 291000 (last 1000 steps): X=0.8469, Y=0.7933
  Validation @ step 292000 (First 1000 steps): Loss=0.333611, Corr_X=0.8351, Corr_Y=0.7663
Time point 292000 (Cycle 5, Index 30912): Train loss = 0.551042
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6199, 0.4804]
  Update window: 1/100
  Meta params: Plasticity=0.25, Sensitivity=0.25
  Logged Correlation @ step 292000 (last 1000 steps): X=0.7829, Y=0.7912
  Validation @ step 293000 (First 1000 steps): Loss=0.331652, Corr_X=0.8374, Corr_Y=0.7682
Time point 293000 (Cycle 5, Index 31912): Train loss = 0.147906
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6308, 0.7502]
  Update window: 1/100
  Meta params: Plasticity=0.20, Sensitivity=0.20
  Logged Correlation @ step 293000 (last 1000 steps): X=0.8152, Y=0.7971
  Validation @ step 294000 (First 1000 steps): Loss=0.335668, Corr_X=0.8292, Corr_Y=0.7710
Time point 294000 (Cycle 5, Index 32912): Train loss = 0.167647
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6881, 0.5549]
  Update window: 1/100
  Meta params: Plasticity=0.22, Sensitivity=0.22
  Logged Correlation @ step 294000 (last 1000 steps): X=0.8335, Y=0.8173
  Validation @ step 295000 (First 1000 steps): Loss=0.346275, Corr_X=0.8323, Corr_Y=0.7666
  *** Test Set @ step 295000 (First 500 steps): Corr_X=0.8140, Corr_Y=0.8077 ***
Time point 295000 (Cycle 5, Index 33912): Train loss = 0.009377
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.4565, 0.6244]
  Update window: 1/100
  Meta params: Plasticity=0.27, Sensitivity=0.27
  Logged Correlation @ step 295000 (last 1000 steps): X=0.8055, Y=0.7826
  Validation @ step 296000 (First 1000 steps): Loss=0.346037, Corr_X=0.8388, Corr_Y=0.7684
Time point 296000 (Cycle 5, Index 34912): Train loss = 0.075397
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.8930, 0.6174]
  Update window: 1/100
  Meta params: Plasticity=0.31, Sensitivity=0.31
  Logged Correlation @ step 296000 (last 1000 steps): X=0.8010, Y=0.8033
  Validation @ step 297000 (First 1000 steps): Loss=0.330718, Corr_X=0.8385, Corr_Y=0.7716
Time point 297000 (Cycle 5, Index 35912): Train loss = 0.499602
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5303, 0.6125]
  Update window: 1/100
  Meta params: Plasticity=0.24, Sensitivity=0.24
  Logged Correlation @ step 297000 (last 1000 steps): X=0.8538, Y=0.7847
  Validation @ step 298000 (First 1000 steps): Loss=0.337063, Corr_X=0.8333, Corr_Y=0.7730
Time point 298000 (Cycle 5, Index 36912): Train loss = 1.784180
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.4452, 0.4744]
  Update window: 1/100
  Meta params: Plasticity=0.23, Sensitivity=0.23
  Logged Correlation @ step 298000 (last 1000 steps): X=0.8319, Y=0.8170
  Validation @ step 299000 (First 1000 steps): Loss=0.324740, Corr_X=0.8368, Corr_Y=0.7775
Time point 299000 (Cycle 5, Index 37912): Train loss = 0.004527
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6104, 0.6185]
  Update window: 1/100
  Meta params: Plasticity=0.27, Sensitivity=0.27
  Logged Correlation @ step 299000 (last 1000 steps): X=0.8173, Y=0.7955
  Validation @ step 300000 (First 1000 steps): Loss=0.339171, Corr_X=0.8314, Corr_Y=0.7714
  *** Test Set @ step 300000 (First 500 steps): Corr_X=0.8151, Corr_Y=0.7982 ***
Time point 300000 (Cycle 5, Index 38912): Train loss = 0.071103
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.6230, 0.8360]
  Update window: 1/100
  Meta params: Plasticity=0.25, Sensitivity=0.25
  Logged Correlation @ step 300000 (last 1000 steps): X=0.8570, Y=0.8098
  Validation @ step 301000 (First 1000 steps): Loss=0.326470, Corr_X=0.8395, Corr_Y=0.7711
Time point 301000 (Cycle 5, Index 39912): Train loss = 0.198075
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6300, 0.5325]
  Update window: 1/100
  Meta params: Plasticity=0.24, Sensitivity=0.24
  Logged Correlation @ step 301000 (last 1000 steps): X=0.8150, Y=0.7524
  Validation @ step 302000 (First 1000 steps): Loss=0.359443, Corr_X=0.8265, Corr_Y=0.7677
Time point 302000 (Cycle 5, Index 40912): Train loss = 0.239191
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5389, 0.8204]
  Update window: 1/100
  Meta params: Plasticity=0.20, Sensitivity=0.20
  Logged Correlation @ step 302000 (last 1000 steps): X=0.7733, Y=0.7747
  Validation @ step 303000 (First 1000 steps): Loss=0.328591, Corr_X=0.8339, Corr_Y=0.7767
Time point 303000 (Cycle 5, Index 41912): Train loss = 0.261695
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6361, 0.5939]
  Update window: 1/100
  Meta params: Plasticity=0.22, Sensitivity=0.22
  Logged Correlation @ step 303000 (last 1000 steps): X=0.8335, Y=0.8102
  Validation @ step 304000 (First 1000 steps): Loss=0.323687, Corr_X=0.8363, Corr_Y=0.7795
Time point 304000 (Cycle 5, Index 42912): Train loss = 0.175386
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5643, 0.7431]
  Update window: 1/100
  Meta params: Plasticity=0.20, Sensitivity=0.20
  Logged Correlation @ step 304000 (last 1000 steps): X=0.8322, Y=0.7316
  Validation @ step 305000 (First 1000 steps): Loss=0.334760, Corr_X=0.8350, Corr_Y=0.7708
  *** Test Set @ step 305000 (First 500 steps): Corr_X=0.8048, Corr_Y=0.8138 ***
Time point 305000 (Cycle 5, Index 43912): Train loss = 0.490247
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.4927, 0.4917]
  Update window: 1/100
  Meta params: Plasticity=0.24, Sensitivity=0.24
  Logged Correlation @ step 305000 (last 1000 steps): X=0.8145, Y=0.7502
  Validation @ step 306000 (First 1000 steps): Loss=0.340171, Corr_X=0.8312, Corr_Y=0.7706
Time point 306000 (Cycle 5, Index 44912): Train loss = 0.134938
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5408, 0.5317]
  Update window: 1/100
  Meta params: Plasticity=0.29, Sensitivity=0.29
  Logged Correlation @ step 306000 (last 1000 steps): X=0.8308, Y=0.8149
  Validation @ step 307000 (First 1000 steps): Loss=0.323819, Corr_X=0.8319, Corr_Y=0.7791
Time point 307000 (Cycle 5, Index 45912): Train loss = 0.503704
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6620, 0.4801]
  Update window: 1/100
  Meta params: Plasticity=0.28, Sensitivity=0.28
  Logged Correlation @ step 307000 (last 1000 steps): X=0.8354, Y=0.7282
  Validation @ step 308000 (First 1000 steps): Loss=0.353389, Corr_X=0.8307, Corr_Y=0.7677
Time point 308000 (Cycle 5, Index 46912): Train loss = 0.183439
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6401, 0.4275]
  Update window: 1/100
  Meta params: Plasticity=0.32, Sensitivity=0.32
  Logged Correlation @ step 308000 (last 1000 steps): X=0.8273, Y=0.7628
  Validation @ step 309000 (First 1000 steps): Loss=0.329631, Corr_X=0.8326, Corr_Y=0.7714
Time point 309000 (Cycle 5, Index 47912): Train loss = 0.084651
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6557, 0.7527]
  Update window: 1/100
  Meta params: Plasticity=0.25, Sensitivity=0.25
  Logged Correlation @ step 309000 (last 1000 steps): X=0.7720, Y=0.7966
  Validation @ step 310000 (First 1000 steps): Loss=0.329014, Corr_X=0.8310, Corr_Y=0.7717
  *** Test Set @ step 310000 (First 500 steps): Corr_X=0.8109, Corr_Y=0.8048 ***
Time point 310000 (Cycle 5, Index 48912): Train loss = 0.178206
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.0955, 0.2831]
  Update window: 1/100
  Meta params: Plasticity=0.29, Sensitivity=0.29
  Logged Correlation @ step 310000 (last 1000 steps): X=0.8532, Y=0.7848
  Validation @ step 311000 (First 1000 steps): Loss=0.353916, Corr_X=0.8304, Corr_Y=0.7624
Time point 311000 (Cycle 5, Index 49912): Train loss = 0.576824
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.7196, 0.6274]
  Update window: 1/100
  Meta params: Plasticity=0.23, Sensitivity=0.23
  Logged Correlation @ step 311000 (last 1000 steps): X=0.7962, Y=0.7706
  Validation @ step 312000 (First 1000 steps): Loss=0.345194, Corr_X=0.8278, Corr_Y=0.7663
Time point 312000 (Cycle 5, Index 50912): Train loss = 0.924902
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5847, 0.5583]
  Update window: 1/100
  Meta params: Plasticity=0.32, Sensitivity=0.32
  Logged Correlation @ step 312000 (last 1000 steps): X=0.7985, Y=0.8348
  Validation @ step 313000 (First 1000 steps): Loss=0.337263, Corr_X=0.8346, Corr_Y=0.7598
Time point 313000 (Cycle 5, Index 51912): Train loss = 2.000000
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6617, 0.5271]
  Update window: 1/100
  Meta params: Plasticity=0.21, Sensitivity=0.21
  Logged Correlation @ step 313000 (last 1000 steps): X=0.8129, Y=0.7921
  Validation @ step 314000 (First 1000 steps): Loss=0.340171, Corr_X=0.8307, Corr_Y=0.7665
Time point 314000 (Cycle 5, Index 52912): Train loss = 0.086514
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5387, 0.6327]
  Update window: 1/100
  Meta params: Plasticity=0.20, Sensitivity=0.20
  Logged Correlation @ step 314000 (last 1000 steps): X=0.8006, Y=0.8052
  Validation @ step 315000 (First 1000 steps): Loss=0.339585, Corr_X=0.8304, Corr_Y=0.7659
  *** Test Set @ step 315000 (First 500 steps): Corr_X=0.8223, Corr_Y=0.8123 ***
Time point 315000 (Cycle 5, Index 53912): Train loss = 0.031629
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.6746, 0.7853]
  Update window: 1/100
  Meta params: Plasticity=0.24, Sensitivity=0.24
  Logged Correlation @ step 315000 (last 1000 steps): X=0.8256, Y=0.7500
  Validation @ step 316000 (First 1000 steps): Loss=0.338025, Corr_X=0.8290, Corr_Y=0.7680
Time point 316000 (Cycle 5, Index 54912): Train loss = 0.001104
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.7501, 0.4791]
  Update window: 1/100
  Meta params: Plasticity=0.24, Sensitivity=0.24
  Logged Correlation @ step 316000 (last 1000 steps): X=0.7762, Y=0.8317
  Validation @ step 317000 (First 1000 steps): Loss=0.327341, Corr_X=0.8338, Corr_Y=0.7699
Time point 317000 (Cycle 5, Index 55912): Train loss = 0.320994
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5742, 0.3749]
  Update window: 1/100
  Meta params: Plasticity=0.22, Sensitivity=0.22
  Logged Correlation @ step 317000 (last 1000 steps): X=0.8130, Y=0.8207
  Validation @ step 318000 (First 1000 steps): Loss=0.350677, Corr_X=0.8258, Corr_Y=0.7612
Time point 318000 (Cycle 5, Index 56912): Train loss = 0.447661
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5551, 0.6325]
  Update window: 1/100
  Meta params: Plasticity=0.20, Sensitivity=0.20
  Logged Correlation @ step 318000 (last 1000 steps): X=0.8171, Y=0.7862
  Validation @ step 319000 (First 1000 steps): Loss=0.337547, Corr_X=0.8315, Corr_Y=0.7684
Time point 319000 (Cycle 5, Index 57912): Train loss = 0.867900
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6097, 0.6116]
  Update window: 1/100
  Meta params: Plasticity=0.27, Sensitivity=0.27
  Logged Correlation @ step 319000 (last 1000 steps): X=0.8146, Y=0.7652
  Validation @ step 320000 (First 1000 steps): Loss=0.333290, Corr_X=0.8273, Corr_Y=0.7725
  *** Test Set @ step 320000 (First 500 steps): Corr_X=0.8088, Corr_Y=0.8003 ***
Time point 320000 (Cycle 5, Index 58912): Train loss = 0.676947
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.6165, 0.6615]
  Update window: 1/100
  Meta params: Plasticity=0.21, Sensitivity=0.21
  Logged Correlation @ step 320000 (last 1000 steps): X=0.8248, Y=0.7817
  Validation @ step 321000 (First 1000 steps): Loss=0.324842, Corr_X=0.8352, Corr_Y=0.7711
Time point 321000 (Cycle 5, Index 59912): Train loss = 0.171668
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.6252, 0.4925]
  Update window: 1/100
  Meta params: Plasticity=0.24, Sensitivity=0.24
  Logged Correlation @ step 321000 (last 1000 steps): X=0.8121, Y=0.7945
  Validation @ step 322000 (First 1000 steps): Loss=0.328200, Corr_X=0.8367, Corr_Y=0.7673
Time point 322000 (Cycle 5, Index 60912): Train loss = 0.365795
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.7469, 0.5316]
  Update window: 1/100
  Meta params: Plasticity=0.20, Sensitivity=0.20
  Logged Correlation @ step 322000 (last 1000 steps): X=0.8141, Y=0.8101
  Validation @ step 323000 (First 1000 steps): Loss=0.337101, Corr_X=0.8290, Corr_Y=0.7730
Time point 323000 (Cycle 5, Index 61912): Train loss = 0.200973
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5837, 0.5715]
  Update window: 1/100
  Meta params: Plasticity=0.22, Sensitivity=0.22
  Logged Correlation @ step 323000 (last 1000 steps): X=0.8397, Y=0.7903
  Validation @ step 324000 (First 1000 steps): Loss=0.325587, Corr_X=0.8470, Corr_Y=0.7718
  >>> New best validation model saved & loaded with Avg Corr: 0.8094 <<<
Time point 324000 (Cycle 5, Index 62912): Train loss = 0.109463
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5176, 0.5250]
  Update window: 1/100
  Meta params: Plasticity=0.22, Sensitivity=0.22
  Logged Correlation @ step 324000 (last 1000 steps): X=0.8339, Y=0.8022
  Validation @ step 325000 (First 1000 steps): Loss=0.341182, Corr_X=0.8330, Corr_Y=0.7697
  *** Test Set @ step 325000 (First 500 steps): Corr_X=0.8182, Corr_Y=0.8150 ***
Time point 325000 (Cycle 5, Index 63912): Train loss = 0.534225
  Desired velocity: [0.5953, 1.1303]
  Predicted velocity: [-0.5009, 0.8562]
  Update window: 1/100
  Meta params: Plasticity=0.22, Sensitivity=0.22
  Logged Correlation @ step 325000 (last 1000 steps): X=0.8163, Y=0.7851
  Validation @ step 326000 (First 1000 steps): Loss=0.330788, Corr_X=0.8281, Corr_Y=0.7780
Time point 326000 (Cycle 5, Index 64912): Train loss = 0.142458
  Desired velocity: [1.5411, 1.3913]
  Predicted velocity: [0.5285, 0.5759]
  Update window: 1/100
  Meta params: Plasticity=0.20, Sensitivity=0.20
  Logged Correlation @ step 326000 (last 1000 steps): X=0.8426, Y=0.7868

Performing final evaluation on TEST set using best VALIDATION model...
FINAL TEST SET PERFORMANCE (best validation model): Corr_X = 0.8087, Corr_Y = 0.7758

=== ONLINE ADAPTATION COMPLETED ===
Total time points processed: 326360
Dataset cycles completed: 4
Average Training Loss: 0.407402
Best Training Loss: inf
Best Validation Avg Correlation: 0.8094
Final Test Correlation: X=0.8087, Y=0.7758
Final Meta Parameters: {'plasticity': 0.2, 'sensitivity': 0.2}
Total runtime: 1643.5 seconds (198.6 time points/second)
Saved meta parameters to meta_parameters.json
Saved periodic training correlations to periodic_training_correlations.csv

--- Plotting Data Check ---
Length of losses: 326360
Length of running_losses: 326360
Length of val_losses_raw: 0
---------------------------

Generating trajectory visualization using best VALIDATION model...
Visualizing trajectory for the full test set (14432 steps)...

Velocity magnitude analysis (Full Test Set, 14432 steps):
Actual velocity magnitude: 394.9895
Predicted velocity magnitude: 374.7457

Trajectory comparison metrics (Full Test Set, 14432 steps):
Raw predictions:
  Mean squared error (Position): 28795421.8154
  X-position correlation: 0.9879
  Y-position correlation: 0.6482
  X-VELOCITY correlation: 0.8087
  Y-VELOCITY correlation: 0.7758
Training Elapsed time (Online Adaptation):  1662.4731938838959

--- Running Kalman Filter ---

--- Setting up Kalman Filter ---
Estimating Observation Matrix H using Linear Regression...
Estimated H shape: (182, 2)
Estimating Measurement Noise Covariance R from residuals...
Estimated R shape: (182, 182) (Full covariance)
Estimating State Transition Matrix F using Linear Regression...
Estimated State Transition Matrix F:
[[ 0.99290955 -0.02971404]
 [ 0.02028859  0.9868179 ]]
Estimating Process Noise Covariance Q from residuals...
Estimated Process Noise Covariance Q:
[[1844.31840592  348.21286339]
 [ 348.21286339 2403.5496458 ]]
Initializing Kalman Filter...
Running Kalman Filter prediction/update loop for 14432 test steps...
Kalman Filter processing time: 17.38 seconds
--- Kalman Filter Setup and Run Complete ---
Split 1 - KF X-Velocity Correlation: 0.7837
Split 1 - KF Y-Velocity Correlation: 0.7536
--- Finished Split 1 ---