['--alg', 'sac', '--env', 'Walker2d-v3', '--learn', 'baseline', '--traj', 'expert', '--seed', '0']
episode: 0 training return: tensor(-877.6409, device='cuda:0')
episode: 1 training return: tensor(-813.5057, device='cuda:0')
episode: 2 training return: tensor(-897.7909, device='cuda:0')
episode: 3 training return: tensor(-810.3600, device='cuda:0')
epoch: 1 test_true_pfm: 3.0986187949907844 sim_pfm: -867.6054784730077
episode: 4 training return: tensor(-820.9737, device='cuda:0')
episode: 5 training return: tensor(-891.7738, device='cuda:0')
episode: 6 training return: tensor(-898.0396, device='cuda:0')
episode: 7 training return: tensor(-878.3309, device='cuda:0')
epoch: 2 test_true_pfm: 19.804211008721566 sim_pfm: -852.3474984076651
episode: 8 training return: tensor(-673.8643, device='cuda:0')
episode: 9 training return: tensor(-787.6544, device='cuda:0')
episode: 10 training return: tensor(-854.4542, device='cuda:0')
episode: 11 training return: tensor(-798.7917, device='cuda:0')
epoch: 3 test_true_pfm: -174.88256542826105 sim_pfm: -929.3299464086691
episode: 12 training return: tensor(-939.0510, device='cuda:0')
episode: 13 training return: tensor(-869.5772, device='cuda:0')
episode: 14 training return: tensor(-274.2764, device='cuda:0')
episode: 15 training return: tensor(-918.6755, device='cuda:0')
epoch: 4 test_true_pfm: 13.378993068224966 sim_pfm: -899.515046040217
episode: 16 training return: tensor(-893.4467, device='cuda:0')
episode: 17 training return: tensor(-888.5104, device='cuda:0')
episode: 18 training return: tensor(-875.1950, device='cuda:0')
episode: 19 training return: tensor(-885.3279, device='cuda:0')
epoch: 5 test_true_pfm: 11.62131941510261 sim_pfm: -885.1735402295986
episode: 20 training return: tensor(-846.4871, device='cuda:0')
episode: 21 training return: tensor(-852.2057, device='cuda:0')
episode: 22 training return: tensor(-908.7505, device='cuda:0')
episode: 23 training return: tensor(-918.7357, device='cuda:0')
epoch: 6 test_true_pfm: 69.42154465232646 sim_pfm: -935.9344075620174
