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wanted these files for my proj

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pulipakaa24
2025-12-12 09:00:17 -06:00
parent bfe6ebdf34
commit e5f479e266
15 changed files with 572 additions and 1 deletions
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RL Testing/RL_Trials/info.txt Normal file
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first trial was with plain gap-error minimization reward,
# --- FIX 2: Smoother Reward Function ---
# Reward function
reward = 1.0 # Survival bonus
# Distance Penalty (Squared is smoother than linear for fine control)
reward -= (gap_error * 100)**2
# Orientation Penalties
reward -= (roll_angle * 10)**2
reward -= (pitch_angle * 10)**2
next, added the following:
contact_points = p.getContactPoints(bodyA=self.podId, bodyB=self.trackId)
has_contact = len(contact_points) > 0
# Don't terminate on contact.
# Instead, penalize it, but allow the episode to continue so it can try to fix it.
# if has_contact:
# 5.0 is painful, but surviving 100 steps of pain is better than immediate death (-50)
reward -= len(contact_points)
# at this point, we still either stick or fall, no hovering training has been achieved.
# Tried increasing lambda value and starting at optimal all the time.
#Tried reducing entropy and resetting all params but allowing for full range of motion without bolts - 7 pm ish

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RL Testing/RL_Trials/training_log_20251211_084252.txt Normal file
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Training Started: 20251211_084252
Number of Episodes: 1000
Print Frequency: 10
Target Gap Height: 16.491741 mm
======================================================================
Ep 10 | Reward: 339.6 | Length: 2000 | R/step: 0.170 ( 17.0% of max) | Gap Error: 11.386 mm
Ep 20 | Reward: 582.7 | Length: 2000 | R/step: 0.291 ( 29.1% of max) | Gap Error: 12.576 mm
Ep 30 | Reward: 1572.2 | Length: 2000 | R/step: 0.786 ( 78.6% of max) | Gap Error: 17.500 mm
Ep 40 | Reward: 1574.1 | Length: 2000 | R/step: 0.787 ( 78.7% of max) | Gap Error: 17.505 mm
Ep 50 | Reward: 1272.2 | Length: 2000 | R/step: 0.636 ( 63.6% of max) | Gap Error: 16.009 mm
Ep 60 | Reward: 1874.6 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 18.990 mm
Ep 70 | Reward: 1570.4 | Length: 2000 | R/step: 0.785 ( 78.5% of max) | Gap Error: 17.495 mm
Ep 80 | Reward: 1874.3 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 18.995 mm
Ep 90 | Reward: 1874.3 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 18.996 mm
Ep 100 | Reward: 1571.3 | Length: 2000 | R/step: 0.786 ( 78.6% of max) | Gap Error: 17.498 mm
Ep 110 | Reward: 1874.2 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 18.995 mm
Ep 120 | Reward: 1874.0 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 19.000 mm
Ep 130 | Reward: 1874.1 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 18.998 mm
Ep 140 | Reward: 1874.2 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 18.997 mm
Ep 150 | Reward: 1874.1 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 18.998 mm
Ep 160 | Reward: 1873.8 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 19.002 mm
Ep 170 | Reward: 1874.4 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 18.990 mm
Ep 180 | Reward: 1874.9 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 18.987 mm
Ep 190 | Reward: 1875.5 | Length: 2000 | R/step: 0.938 ( 93.8% of max) | Gap Error: 18.927 mm
Ep 200 | Reward: 1876.3 | Length: 2000 | R/step: 0.938 ( 93.8% of max) | Gap Error: 18.949 mm
Ep 210 | Reward: 1273.8 | Length: 2000 | R/step: 0.637 ( 63.7% of max) | Gap Error: 16.011 mm
Ep 220 | Reward: 1571.1 | Length: 2000 | R/step: 0.786 ( 78.6% of max) | Gap Error: 17.494 mm
Ep 230 | Reward: 1874.6 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 18.990 mm
Ep 240 | Reward: 1877.3 | Length: 2000 | R/step: 0.939 ( 93.9% of max) | Gap Error: 18.912 mm
Ep 250 | Reward: 1584.6 | Length: 2000 | R/step: 0.792 ( 79.2% of max) | Gap Error: 17.495 mm
Ep 260 | Reward: 1876.5 | Length: 2000 | R/step: 0.938 ( 93.8% of max) | Gap Error: 18.948 mm
Ep 270 | Reward: 1876.6 | Length: 2000 | R/step: 0.938 ( 93.8% of max) | Gap Error: 18.955 mm
Ep 280 | Reward: 1576.3 | Length: 2000 | R/step: 0.788 ( 78.8% of max) | Gap Error: 17.433 mm
Ep 290 | Reward: 1878.4 | Length: 2000 | R/step: 0.939 ( 93.9% of max) | Gap Error: 18.920 mm
Ep 300 | Reward: 1877.9 | Length: 2000 | R/step: 0.939 ( 93.9% of max) | Gap Error: 18.884 mm
Ep 310 | Reward: 1878.5 | Length: 2000 | R/step: 0.939 ( 93.9% of max) | Gap Error: 18.880 mm
Ep 320 | Reward: 1878.0 | Length: 2000 | R/step: 0.939 ( 93.9% of max) | Gap Error: 18.899 mm
Ep 330 | Reward: 1575.8 | Length: 2000 | R/step: 0.788 ( 78.8% of max) | Gap Error: 17.475 mm
Ep 340 | Reward: 1874.9 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 18.986 mm
Ep 350 | Reward: 1873.8 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 19.001 mm
Ep 360 | Reward: 1874.0 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 18.999 mm
Ep 370 | Reward: 1874.3 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 18.995 mm
Ep 380 | Reward: 1874.1 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 18.996 mm
Ep 390 | Reward: 1874.2 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 18.996 mm
Ep 400 | Reward: 1873.9 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 18.998 mm
Ep 410 | Reward: 1873.9 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 19.002 mm
Ep 420 | Reward: 1874.2 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 18.996 mm
Ep 430 | Reward: 1874.2 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 18.998 mm
Ep 440 | Reward: 1874.0 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 18.999 mm
Ep 450 | Reward: 1874.0 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 19.000 mm
Ep 460 | Reward: 1874.1 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 18.997 mm
Ep 470 | Reward: 1874.2 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 18.995 mm
Ep 480 | Reward: 1874.3 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 18.996 mm
Ep 490 | Reward: 1874.5 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 18.992 mm
Ep 500 | Reward: 1874.3 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 18.996 mm
Ep 510 | Reward: 1874.7 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 18.991 mm
Ep 520 | Reward: 1874.5 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 18.989 mm
Ep 530 | Reward: 1874.7 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 18.990 mm
Ep 540 | Reward: 1874.9 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 18.987 mm
Ep 550 | Reward: 1875.1 | Length: 2000 | R/step: 0.938 ( 93.8% of max) | Gap Error: 18.985 mm
Ep 560 | Reward: 1572.3 | Length: 2000 | R/step: 0.786 ( 78.6% of max) | Gap Error: 17.487 mm
Ep 570 | Reward: 1874.4 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 18.995 mm
Ep 580 | Reward: 1274.7 | Length: 2000 | R/step: 0.637 ( 63.7% of max) | Gap Error: 16.011 mm
Ep 590 | Reward: 1875.5 | Length: 2000 | R/step: 0.938 ( 93.8% of max) | Gap Error: 18.979 mm
Ep 600 | Reward: 1876.6 | Length: 2000 | R/step: 0.938 ( 93.8% of max) | Gap Error: 18.964 mm
Ep 610 | Reward: 1875.6 | Length: 2000 | R/step: 0.938 ( 93.8% of max) | Gap Error: 18.977 mm
Ep 620 | Reward: 1875.2 | Length: 2000 | R/step: 0.938 ( 93.8% of max) | Gap Error: 18.981 mm
Ep 630 | Reward: 1875.4 | Length: 2000 | R/step: 0.938 ( 93.8% of max) | Gap Error: 18.976 mm
Ep 640 | Reward: 1874.8 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 18.988 mm
Ep 650 | Reward: 1574.9 | Length: 2000 | R/step: 0.787 ( 78.7% of max) | Gap Error: 17.495 mm
Ep 660 | Reward: 1875.1 | Length: 2000 | R/step: 0.938 ( 93.8% of max) | Gap Error: 18.983 mm
Ep 670 | Reward: 1875.4 | Length: 2000 | R/step: 0.938 ( 93.8% of max) | Gap Error: 18.981 mm
Ep 680 | Reward: 1875.2 | Length: 2000 | R/step: 0.938 ( 93.8% of max) | Gap Error: 18.983 mm
Ep 690 | Reward: 1574.9 | Length: 2000 | R/step: 0.787 ( 78.7% of max) | Gap Error: 17.504 mm
Ep 700 | Reward: 1874.6 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 18.990 mm
Ep 710 | Reward: 1874.4 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 18.995 mm
Ep 720 | Reward: 1572.4 | Length: 2000 | R/step: 0.786 ( 78.6% of max) | Gap Error: 17.500 mm
Ep 730 | Reward: 1874.2 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 18.996 mm
Ep 740 | Reward: 1874.7 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 18.987 mm
Ep 750 | Reward: 1874.7 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 18.988 mm
Ep 760 | Reward: 1874.8 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 18.989 mm
Ep 770 | Reward: 1874.6 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 18.993 mm
Ep 780 | Reward: 1874.8 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 18.988 mm
Ep 790 | Reward: 1574.2 | Length: 2000 | R/step: 0.787 ( 78.7% of max) | Gap Error: 17.502 mm
Ep 800 | Reward: 1271.4 | Length: 2000 | R/step: 0.636 ( 63.6% of max) | Gap Error: 16.010 mm
Ep 810 | Reward: 1874.5 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 18.993 mm
Ep 820 | Reward: 1576.0 | Length: 2000 | R/step: 0.788 ( 78.8% of max) | Gap Error: 17.509 mm
Ep 830 | Reward: 1573.7 | Length: 2000 | R/step: 0.787 ( 78.7% of max) | Gap Error: 17.502 mm
Ep 840 | Reward: 1874.4 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 18.995 mm
Ep 850 | Reward: 1875.2 | Length: 2000 | R/step: 0.938 ( 93.8% of max) | Gap Error: 18.981 mm
Ep 860 | Reward: 971.6 | Length: 2000 | R/step: 0.486 ( 48.6% of max) | Gap Error: 14.520 mm
Ep 870 | Reward: 1574.9 | Length: 2000 | R/step: 0.787 ( 78.7% of max) | Gap Error: 17.502 mm
Ep 880 | Reward: 1874.4 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 18.992 mm
Ep 890 | Reward: 1874.1 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 18.997 mm
Ep 900 | Reward: 1873.9 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 18.999 mm
Ep 910 | Reward: 1572.2 | Length: 2000 | R/step: 0.786 ( 78.6% of max) | Gap Error: 17.495 mm
Ep 920 | Reward: 1874.3 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 18.996 mm
Ep 930 | Reward: 1874.3 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 18.996 mm
Ep 940 | Reward: 1874.6 | Length: 2000 | R/step: 0.937 ( 93.7% of max) | Gap Error: 18.990 mm
Ep 950 | Reward: 1573.6 | Length: 2000 | R/step: 0.787 ( 78.7% of max) | Gap Error: 17.497 mm
Ep 960 | Reward: 1571.9 | Length: 2000 | R/step: 0.786 ( 78.6% of max) | Gap Error: 17.484 mm
Ep 970 | Reward: 1271.5 | Length: 2000 | R/step: 0.636 ( 63.6% of max) | Gap Error: 16.006 mm
Ep 980 | Reward: 1875.0 | Length: 2000 | R/step: 0.938 ( 93.8% of max) | Gap Error: 18.985 mm
Ep 990 | Reward: 1570.5 | Length: 2000 | R/step: 0.785 ( 78.5% of max) | Gap Error: 17.488 mm
Ep 1000 | Reward: 1575.9 | Length: 2000 | R/step: 0.788 ( 78.8% of max) | Gap Error: 17.503 mm
======================================================================
Training Completed: 20251211_095328

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RL Testing/RL_Trials/training_log_20251211_102102.txt Normal file
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Training Started: 20251211_102102
Number of Episodes: 1000
Print Frequency: 10
Target Gap Height: 16.491741 mm
======================================================================
Ep 10 | Reward: -7172.7 | Length: 500 | R/step: -14.345 (-1434.5% of max) | Gap Error: 16.068 mm
Ep 20 | Reward: -7031.0 | Length: 500 | R/step: -14.062 (-1406.2% of max) | Gap Error: 18.962 mm
Ep 30 | Reward: -7101.5 | Length: 500 | R/step: -14.203 (-1420.3% of max) | Gap Error: 17.537 mm
Ep 40 | Reward: -7031.1 | Length: 500 | R/step: -14.062 (-1406.2% of max) | Gap Error: 18.972 mm
Ep 50 | Reward: -7030.8 | Length: 500 | R/step: -14.062 (-1406.2% of max) | Gap Error: 18.949 mm
Ep 60 | Reward: -7031.1 | Length: 500 | R/step: -14.062 (-1406.2% of max) | Gap Error: 18.975 mm
Ep 70 | Reward: -7031.1 | Length: 500 | R/step: -14.062 (-1406.2% of max) | Gap Error: 18.974 mm
Ep 80 | Reward: -7031.2 | Length: 500 | R/step: -14.062 (-1406.2% of max) | Gap Error: 18.979 mm
Ep 90 | Reward: -7031.1 | Length: 500 | R/step: -14.062 (-1406.2% of max) | Gap Error: 18.962 mm
Ep 100 | Reward: -7031.1 | Length: 500 | R/step: -14.062 (-1406.2% of max) | Gap Error: 18.978 mm
Ep 110 | Reward: -7248.5 | Length: 500 | R/step: -14.497 (-1449.7% of max) | Gap Error: 14.626 mm
Ep 120 | Reward: -7164.7 | Length: 500 | R/step: -14.329 (-1432.9% of max) | Gap Error: 16.227 mm
Ep 130 | Reward: -7239.3 | Length: 500 | R/step: -14.479 (-1447.9% of max) | Gap Error: 14.752 mm
Ep 140 | Reward: -7611.2 | Length: 500 | R/step: -15.222 (-1522.2% of max) | Gap Error: 7.389 mm
Ep 150 | Reward: -7316.7 | Length: 500 | R/step: -14.633 (-1463.3% of max) | Gap Error: 13.257 mm
Ep 160 | Reward: -7657.2 | Length: 500 | R/step: -15.314 (-1531.4% of max) | Gap Error: 6.463 mm
Ep 170 | Reward: -7564.9 | Length: 500 | R/step: -15.130 (-1513.0% of max) | Gap Error: 8.263 mm
Ep 180 | Reward: -7320.2 | Length: 500 | R/step: -14.640 (-1464.0% of max) | Gap Error: 13.172 mm
Ep 190 | Reward: -7601.5 | Length: 500 | R/step: -15.203 (-1520.3% of max) | Gap Error: 7.545 mm
Ep 200 | Reward: -7311.8 | Length: 500 | R/step: -14.624 (-1462.4% of max) | Gap Error: 13.311 mm
Ep 210 | Reward: -7100.9 | Length: 500 | R/step: -14.202 (-1420.2% of max) | Gap Error: 17.572 mm
Ep 220 | Reward: -7170.8 | Length: 500 | R/step: -14.342 (-1434.2% of max) | Gap Error: 16.143 mm
Ep 230 | Reward: -7241.1 | Length: 500 | R/step: -14.482 (-1448.2% of max) | Gap Error: 14.729 mm
Ep 240 | Reward: -7310.3 | Length: 500 | R/step: -14.621 (-1462.1% of max) | Gap Error: 13.338 mm
Ep 250 | Reward: -7244.1 | Length: 500 | R/step: -14.488 (-1448.8% of max) | Gap Error: 14.699 mm
Ep 260 | Reward: -7172.7 | Length: 500 | R/step: -14.345 (-1434.5% of max) | Gap Error: 16.127 mm
Ep 270 | Reward: -7031.2 | Length: 500 | R/step: -14.062 (-1406.2% of max) | Gap Error: 18.962 mm
Ep 280 | Reward: -7031.2 | Length: 500 | R/step: -14.062 (-1406.2% of max) | Gap Error: 18.977 mm
Ep 290 | Reward: -7031.3 | Length: 500 | R/step: -14.063 (-1406.3% of max) | Gap Error: 18.967 mm
Ep 300 | Reward: -7031.4 | Length: 500 | R/step: -14.063 (-1406.3% of max) | Gap Error: 18.965 mm
Ep 310 | Reward: -7031.3 | Length: 500 | R/step: -14.063 (-1406.3% of max) | Gap Error: 18.927 mm
Ep 320 | Reward: -7031.3 | Length: 500 | R/step: -14.063 (-1406.3% of max) | Gap Error: 18.980 mm
Ep 330 | Reward: -7031.4 | Length: 500 | R/step: -14.063 (-1406.3% of max) | Gap Error: 18.957 mm
Ep 340 | Reward: -7101.4 | Length: 500 | R/step: -14.203 (-1420.3% of max) | Gap Error: 17.557 mm
Ep 350 | Reward: -7102.1 | Length: 500 | R/step: -14.204 (-1420.4% of max) | Gap Error: 17.547 mm
Ep 360 | Reward: -7312.6 | Length: 500 | R/step: -14.625 (-1462.5% of max) | Gap Error: 13.311 mm
Ep 370 | Reward: -7315.5 | Length: 500 | R/step: -14.631 (-1463.1% of max) | Gap Error: 13.255 mm
Ep 380 | Reward: -7380.4 | Length: 500 | R/step: -14.761 (-1476.1% of max) | Gap Error: 11.917 mm
Ep 390 | Reward: -7171.6 | Length: 500 | R/step: -14.343 (-1434.3% of max) | Gap Error: 16.108 mm
Ep 400 | Reward: -7244.8 | Length: 500 | R/step: -14.490 (-1449.0% of max) | Gap Error: 14.659 mm
Ep 410 | Reward: -7030.6 | Length: 500 | R/step: -14.061 (-1406.1% of max) | Gap Error: 18.943 mm
Ep 420 | Reward: -7169.8 | Length: 500 | R/step: -14.340 (-1434.0% of max) | Gap Error: 16.169 mm
Ep 430 | Reward: -7381.3 | Length: 500 | R/step: -14.763 (-1476.3% of max) | Gap Error: 11.908 mm
Ep 440 | Reward: -7306.4 | Length: 500 | R/step: -14.613 (-1461.3% of max) | Gap Error: 13.356 mm
Ep 450 | Reward: -7099.3 | Length: 500 | R/step: -14.199 (-1419.9% of max) | Gap Error: 17.564 mm
Ep 460 | Reward: -7031.0 | Length: 500 | R/step: -14.062 (-1406.2% of max) | Gap Error: 18.969 mm
Ep 470 | Reward: -7030.5 | Length: 500 | R/step: -14.061 (-1406.1% of max) | Gap Error: 18.934 mm
Ep 480 | Reward: -7100.7 | Length: 500 | R/step: -14.201 (-1420.1% of max) | Gap Error: 17.549 mm
Ep 490 | Reward: -7169.3 | Length: 500 | R/step: -14.339 (-1433.9% of max) | Gap Error: 16.184 mm
Ep 500 | Reward: -7101.3 | Length: 500 | R/step: -14.203 (-1420.3% of max) | Gap Error: 17.559 mm
Ep 510 | Reward: -7168.6 | Length: 500 | R/step: -14.337 (-1433.7% of max) | Gap Error: 16.185 mm
Ep 520 | Reward: -7385.4 | Length: 500 | R/step: -14.771 (-1477.1% of max) | Gap Error: 11.860 mm
Ep 530 | Reward: -7386.8 | Length: 500 | R/step: -14.774 (-1477.4% of max) | Gap Error: 11.816 mm
Ep 540 | Reward: -7173.0 | Length: 500 | R/step: -14.346 (-1434.6% of max) | Gap Error: 16.121 mm
Ep 550 | Reward: -7244.3 | Length: 500 | R/step: -14.489 (-1448.9% of max) | Gap Error: 14.693 mm
Ep 560 | Reward: -7242.9 | Length: 500 | R/step: -14.486 (-1448.6% of max) | Gap Error: 14.731 mm
Ep 570 | Reward: -7315.1 | Length: 500 | R/step: -14.630 (-1463.0% of max) | Gap Error: 13.236 mm
Ep 580 | Reward: -7243.6 | Length: 500 | R/step: -14.487 (-1448.7% of max) | Gap Error: 14.684 mm
Ep 590 | Reward: -7031.1 | Length: 500 | R/step: -14.062 (-1406.2% of max) | Gap Error: 18.979 mm
Ep 600 | Reward: -7168.0 | Length: 500 | R/step: -14.336 (-1433.6% of max) | Gap Error: 16.203 mm
Ep 610 | Reward: -7169.4 | Length: 500 | R/step: -14.339 (-1433.9% of max) | Gap Error: 16.183 mm
Ep 620 | Reward: -7102.4 | Length: 500 | R/step: -14.205 (-1420.5% of max) | Gap Error: 17.536 mm
Ep 630 | Reward: -7166.3 | Length: 500 | R/step: -14.333 (-1433.3% of max) | Gap Error: 16.216 mm
Ep 640 | Reward: -7030.7 | Length: 500 | R/step: -14.061 (-1406.1% of max) | Gap Error: 18.949 mm
Ep 650 | Reward: -7031.0 | Length: 500 | R/step: -14.062 (-1406.2% of max) | Gap Error: 18.966 mm
Ep 660 | Reward: -7098.9 | Length: 500 | R/step: -14.198 (-1419.8% of max) | Gap Error: 17.581 mm
Ep 670 | Reward: -7236.5 | Length: 500 | R/step: -14.473 (-1447.3% of max) | Gap Error: 14.809 mm
Ep 680 | Reward: -7174.4 | Length: 500 | R/step: -14.349 (-1434.9% of max) | Gap Error: 16.106 mm
Ep 690 | Reward: -7314.2 | Length: 500 | R/step: -14.628 (-1462.8% of max) | Gap Error: 13.294 mm
Ep 700 | Reward: -7102.0 | Length: 500 | R/step: -14.204 (-1420.4% of max) | Gap Error: 17.539 mm
Ep 710 | Reward: -7314.9 | Length: 500 | R/step: -14.630 (-1463.0% of max) | Gap Error: 13.277 mm
Ep 720 | Reward: -7310.9 | Length: 500 | R/step: -14.622 (-1462.2% of max) | Gap Error: 13.335 mm
Ep 730 | Reward: -7315.2 | Length: 500 | R/step: -14.630 (-1463.0% of max) | Gap Error: 13.275 mm
Ep 740 | Reward: -7386.0 | Length: 500 | R/step: -14.772 (-1477.2% of max) | Gap Error: 11.842 mm
Ep 750 | Reward: -7300.9 | Length: 500 | R/step: -14.602 (-1460.2% of max) | Gap Error: 13.480 mm
Ep 760 | Reward: -7311.7 | Length: 500 | R/step: -14.623 (-1462.3% of max) | Gap Error: 13.314 mm
Ep 770 | Reward: -7382.8 | Length: 500 | R/step: -14.766 (-1476.6% of max) | Gap Error: 11.885 mm
Ep 780 | Reward: -7529.6 | Length: 500 | R/step: -15.059 (-1505.9% of max) | Gap Error: 8.946 mm
Ep 790 | Reward: -7523.1 | Length: 500 | R/step: -15.046 (-1504.6% of max) | Gap Error: 9.063 mm
Ep 800 | Reward: -7391.4 | Length: 500 | R/step: -14.783 (-1478.3% of max) | Gap Error: 11.758 mm
Ep 810 | Reward: -7531.9 | Length: 500 | R/step: -15.064 (-1506.4% of max) | Gap Error: 8.915 mm
Ep 820 | Reward: -7462.2 | Length: 500 | R/step: -14.924 (-1492.4% of max) | Gap Error: 10.318 mm
Ep 830 | Reward: -7214.0 | Length: 500 | R/step: -14.428 (-1442.8% of max) | Gap Error: 15.251 mm
Ep 840 | Reward: -7426.1 | Length: 500 | R/step: -14.852 (-1485.2% of max) | Gap Error: 10.944 mm
Ep 850 | Reward: -7460.9 | Length: 500 | R/step: -14.922 (-1492.2% of max) | Gap Error: 10.270 mm
Ep 860 | Reward: -7663.9 | Length: 500 | R/step: -15.328 (-1532.8% of max) | Gap Error: 6.237 mm
Ep 870 | Reward: -7437.2 | Length: 500 | R/step: -14.874 (-1487.4% of max) | Gap Error: 10.765 mm
Ep 880 | Reward: -6530.8 | Length: 421 | R/step: -15.524 (-1552.4% of max) | Gap Error: 7.413 mm
Ep 890 | Reward: -7696.3 | Length: 500 | R/step: -15.393 (-1539.3% of max) | Gap Error: 5.736 mm
Ep 900 | Reward: -7732.4 | Length: 500 | R/step: -15.465 (-1546.5% of max) | Gap Error: 5.083 mm
Ep 910 | Reward: -7746.3 | Length: 500 | R/step: -15.493 (-1549.3% of max) | Gap Error: 4.839 mm
Ep 920 | Reward: -7745.4 | Length: 500 | R/step: -15.491 (-1549.1% of max) | Gap Error: 4.833 mm
Ep 930 | Reward: -7749.5 | Length: 500 | R/step: -15.499 (-1549.9% of max) | Gap Error: 4.838 mm
Ep 940 | Reward: -5944.1 | Length: 383 | R/step: -15.536 (-1553.6% of max) | Gap Error: 9.080 mm
Ep 950 | Reward: -4103.1 | Length: 261 | R/step: -15.739 (-1573.9% of max) | Gap Error: 12.558 mm
Ep 960 | Reward: -4697.1 | Length: 303 | R/step: -15.517 (-1551.7% of max) | Gap Error: 12.987 mm
Ep 970 | Reward: -4455.6 | Length: 288 | R/step: -15.455 (-1545.5% of max) | Gap Error: 14.009 mm
Ep 980 | Reward: -3854.4 | Length: 251 | R/step: -15.356 (-1535.6% of max) | Gap Error: 14.805 mm
Ep 990 | Reward: -5979.5 | Length: 415 | R/step: -14.405 (-1440.5% of max) | Gap Error: 17.115 mm
Ep 1000 | Reward: -7031.2 | Length: 500 | R/step: -14.062 (-1406.2% of max) | Gap Error: 18.909 mm
======================================================================
Training Completed: 20251211_103854

109
RL Testing/RL_Trials/training_log_20251211_110643.txt Normal file
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Training Started: 20251211_110643
Number of Episodes: 1000
Print Frequency: 10
Target Gap Height: 16.491741 mm
======================================================================
Ep 10 | Reward: -7123.0 | Length: 457 | R/step: -15.580 (-1558.0% of max) | Gap Error: 14.704 mm
Ep 20 | Reward: -6697.0 | Length: 418 | R/step: -16.025 (-1602.5% of max) | Gap Error: 11.138 mm
Ep 30 | Reward: -6050.2 | Length: 377 | R/step: -16.031 (-1603.1% of max) | Gap Error: 12.985 mm
Ep 40 | Reward: -7891.0 | Length: 500 | R/step: -15.782 (-1578.2% of max) | Gap Error: 11.726 mm
Ep 50 | Reward: -8254.2 | Length: 500 | R/step: -16.508 (-1650.8% of max) | Gap Error: 4.602 mm
Ep 60 | Reward: -8255.5 | Length: 500 | R/step: -16.511 (-1651.1% of max) | Gap Error: 4.537 mm
Ep 70 | Reward: -8185.8 | Length: 500 | R/step: -16.372 (-1637.2% of max) | Gap Error: 5.910 mm
Ep 80 | Reward: -7920.1 | Length: 500 | R/step: -15.840 (-1584.0% of max) | Gap Error: 11.089 mm
Ep 90 | Reward: -8262.8 | Length: 500 | R/step: -16.526 (-1652.6% of max) | Gap Error: 4.395 mm
Ep 100 | Reward: -8164.6 | Length: 500 | R/step: -16.329 (-1632.9% of max) | Gap Error: 6.340 mm
Ep 110 | Reward: -5294.0 | Length: 332 | R/step: -15.960 (-1596.0% of max) | Gap Error: 14.124 mm
Ep 120 | Reward: -6081.3 | Length: 375 | R/step: -16.230 (-1623.0% of max) | Gap Error: 11.482 mm
Ep 130 | Reward: -7346.6 | Length: 458 | R/step: -16.058 (-1605.8% of max) | Gap Error: 10.391 mm
Ep 140 | Reward: -7065.4 | Length: 458 | R/step: -15.427 (-1542.7% of max) | Gap Error: 15.974 mm
Ep 150 | Reward: -6516.7 | Length: 415 | R/step: -15.695 (-1569.5% of max) | Gap Error: 13.902 mm
Ep 160 | Reward: -6601.1 | Length: 417 | R/step: -15.822 (-1582.2% of max) | Gap Error: 13.542 mm
Ep 170 | Reward: -6440.3 | Length: 416 | R/step: -15.463 (-1546.3% of max) | Gap Error: 16.043 mm
Ep 180 | Reward: -5308.5 | Length: 336 | R/step: -15.799 (-1579.9% of max) | Gap Error: 15.176 mm
Ep 190 | Reward: -5847.7 | Length: 378 | R/step: -15.458 (-1545.8% of max) | Gap Error: 16.860 mm
Ep 200 | Reward: -5325.4 | Length: 333 | R/step: -16.007 (-1600.7% of max) | Gap Error: 14.364 mm
Ep 210 | Reward: -5893.1 | Length: 376 | R/step: -15.652 (-1565.2% of max) | Gap Error: 15.352 mm
Ep 220 | Reward: -7743.7 | Length: 500 | R/step: -15.487 (-1548.7% of max) | Gap Error: 14.608 mm
Ep 230 | Reward: -7180.3 | Length: 460 | R/step: -15.596 (-1559.6% of max) | Gap Error: 14.406 mm
Ep 240 | Reward: -7221.9 | Length: 459 | R/step: -15.741 (-1574.1% of max) | Gap Error: 13.200 mm
Ep 250 | Reward: -5970.0 | Length: 377 | R/step: -15.852 (-1585.2% of max) | Gap Error: 14.499 mm
Ep 260 | Reward: -7481.9 | Length: 462 | R/step: -16.212 (-1621.2% of max) | Gap Error: 8.666 mm
Ep 270 | Reward: -7189.7 | Length: 457 | R/step: -15.732 (-1573.2% of max) | Gap Error: 13.117 mm
Ep 280 | Reward: -6560.4 | Length: 418 | R/step: -15.710 (-1571.0% of max) | Gap Error: 14.139 mm
Ep 290 | Reward: -7423.1 | Length: 459 | R/step: -16.186 (-1618.6% of max) | Gap Error: 9.175 mm
Ep 300 | Reward: -7137.2 | Length: 458 | R/step: -15.594 (-1559.4% of max) | Gap Error: 14.544 mm
Ep 310 | Reward: -6457.1 | Length: 416 | R/step: -15.522 (-1552.2% of max) | Gap Error: 15.529 mm
Ep 320 | Reward: -7154.6 | Length: 459 | R/step: -15.598 (-1559.8% of max) | Gap Error: 14.440 mm
Ep 330 | Reward: -7814.2 | Length: 500 | R/step: -15.628 (-1562.8% of max) | Gap Error: 13.236 mm
Ep 340 | Reward: -7199.5 | Length: 457 | R/step: -15.744 (-1574.4% of max) | Gap Error: 13.286 mm
Ep 350 | Reward: -7234.7 | Length: 460 | R/step: -15.738 (-1573.8% of max) | Gap Error: 13.107 mm
Ep 360 | Reward: -7819.8 | Length: 500 | R/step: -15.640 (-1564.0% of max) | Gap Error: 13.160 mm
Ep 370 | Reward: -7148.2 | Length: 459 | R/step: -15.580 (-1558.0% of max) | Gap Error: 14.240 mm
Ep 380 | Reward: -7888.0 | Length: 500 | R/step: -15.776 (-1577.6% of max) | Gap Error: 11.788 mm
Ep 390 | Reward: -6321.7 | Length: 416 | R/step: -15.186 (-1518.6% of max) | Gap Error: 18.744 mm
Ep 400 | Reward: -7809.0 | Length: 500 | R/step: -15.618 (-1561.8% of max) | Gap Error: 13.359 mm
Ep 410 | Reward: -7004.8 | Length: 459 | R/step: -15.274 (-1527.4% of max) | Gap Error: 17.361 mm
Ep 420 | Reward: -7003.1 | Length: 455 | R/step: -15.391 (-1539.1% of max) | Gap Error: 15.613 mm
Ep 430 | Reward: -7280.0 | Length: 458 | R/step: -15.906 (-1590.6% of max) | Gap Error: 11.408 mm
Ep 440 | Reward: -7168.7 | Length: 460 | R/step: -15.594 (-1559.4% of max) | Gap Error: 13.981 mm
Ep 450 | Reward: -7605.7 | Length: 500 | R/step: -15.211 (-1521.1% of max) | Gap Error: 17.346 mm
Ep 460 | Reward: -6611.7 | Length: 417 | R/step: -15.871 (-1587.1% of max) | Gap Error: 12.581 mm
Ep 470 | Reward: -7086.7 | Length: 459 | R/step: -15.429 (-1542.9% of max) | Gap Error: 15.629 mm
Ep 480 | Reward: -7674.5 | Length: 500 | R/step: -15.349 (-1534.9% of max) | Gap Error: 16.008 mm
Ep 490 | Reward: -6481.8 | Length: 417 | R/step: -15.529 (-1552.9% of max) | Gap Error: 15.462 mm
Ep 500 | Reward: -7959.4 | Length: 500 | R/step: -15.919 (-1591.9% of max) | Gap Error: 10.456 mm
Ep 510 | Reward: -7088.4 | Length: 459 | R/step: -15.436 (-1543.6% of max) | Gap Error: 15.514 mm
Ep 520 | Reward: -7600.0 | Length: 500 | R/step: -15.200 (-1520.0% of max) | Gap Error: 17.460 mm
Ep 530 | Reward: -5979.7 | Length: 378 | R/step: -15.819 (-1581.9% of max) | Gap Error: 14.469 mm
Ep 540 | Reward: -6667.2 | Length: 416 | R/step: -16.038 (-1603.8% of max) | Gap Error: 11.886 mm
Ep 550 | Reward: -7165.7 | Length: 460 | R/step: -15.595 (-1559.5% of max) | Gap Error: 14.504 mm
Ep 560 | Reward: -7209.9 | Length: 458 | R/step: -15.739 (-1573.9% of max) | Gap Error: 12.949 mm
Ep 570 | Reward: -7745.6 | Length: 500 | R/step: -15.491 (-1549.1% of max) | Gap Error: 14.593 mm
Ep 580 | Reward: -7678.6 | Length: 500 | R/step: -15.357 (-1535.7% of max) | Gap Error: 15.895 mm
Ep 590 | Reward: -7107.0 | Length: 456 | R/step: -15.579 (-1557.9% of max) | Gap Error: 14.736 mm
Ep 600 | Reward: -7189.8 | Length: 458 | R/step: -15.712 (-1571.2% of max) | Gap Error: 13.386 mm
Ep 610 | Reward: -6914.9 | Length: 458 | R/step: -15.115 (-1511.5% of max) | Gap Error: 18.915 mm
Ep 620 | Reward: -7748.9 | Length: 500 | R/step: -15.498 (-1549.8% of max) | Gap Error: 14.607 mm
Ep 630 | Reward: -7894.4 | Length: 500 | R/step: -15.789 (-1578.9% of max) | Gap Error: 11.719 mm
Ep 640 | Reward: -6970.0 | Length: 457 | R/step: -15.255 (-1525.5% of max) | Gap Error: 17.182 mm
Ep 650 | Reward: -7746.9 | Length: 500 | R/step: -15.494 (-1549.4% of max) | Gap Error: 14.609 mm
Ep 660 | Reward: -7604.6 | Length: 500 | R/step: -15.209 (-1520.9% of max) | Gap Error: 17.373 mm
Ep 670 | Reward: -7747.7 | Length: 500 | R/step: -15.495 (-1549.5% of max) | Gap Error: 14.560 mm
Ep 680 | Reward: -6720.6 | Length: 419 | R/step: -16.043 (-1604.3% of max) | Gap Error: 11.076 mm
Ep 690 | Reward: -6998.9 | Length: 458 | R/step: -15.275 (-1527.5% of max) | Gap Error: 17.079 mm
Ep 700 | Reward: -7746.6 | Length: 500 | R/step: -15.493 (-1549.3% of max) | Gap Error: 14.625 mm
Ep 710 | Reward: -7894.9 | Length: 500 | R/step: -15.790 (-1579.0% of max) | Gap Error: 11.707 mm
Ep 720 | Reward: -7966.2 | Length: 500 | R/step: -15.932 (-1593.2% of max) | Gap Error: 10.268 mm
Ep 730 | Reward: -7966.1 | Length: 500 | R/step: -15.932 (-1593.2% of max) | Gap Error: 10.285 mm
Ep 740 | Reward: -7604.9 | Length: 500 | R/step: -15.210 (-1521.0% of max) | Gap Error: 17.376 mm
Ep 750 | Reward: -7673.6 | Length: 500 | R/step: -15.347 (-1534.7% of max) | Gap Error: 16.016 mm
Ep 760 | Reward: -7964.8 | Length: 500 | R/step: -15.930 (-1593.0% of max) | Gap Error: 10.311 mm
Ep 770 | Reward: -7747.0 | Length: 500 | R/step: -15.494 (-1549.4% of max) | Gap Error: 14.583 mm
Ep 780 | Reward: -7963.6 | Length: 500 | R/step: -15.927 (-1592.7% of max) | Gap Error: 10.346 mm
Ep 790 | Reward: -7209.1 | Length: 458 | R/step: -15.747 (-1574.7% of max) | Gap Error: 13.169 mm
Ep 800 | Reward: -7879.7 | Length: 500 | R/step: -15.759 (-1575.9% of max) | Gap Error: 11.951 mm
Ep 810 | Reward: -7960.0 | Length: 500 | R/step: -15.920 (-1592.0% of max) | Gap Error: 10.372 mm
Ep 820 | Reward: -7818.1 | Length: 500 | R/step: -15.636 (-1563.6% of max) | Gap Error: 13.177 mm
Ep 830 | Reward: -7965.3 | Length: 500 | R/step: -15.931 (-1593.1% of max) | Gap Error: 10.322 mm
Ep 840 | Reward: -7891.4 | Length: 500 | R/step: -15.783 (-1578.3% of max) | Gap Error: 11.716 mm
Ep 850 | Reward: -7883.5 | Length: 500 | R/step: -15.767 (-1576.7% of max) | Gap Error: 11.861 mm
Ep 860 | Reward: -7531.1 | Length: 500 | R/step: -15.062 (-1506.2% of max) | Gap Error: 18.853 mm
Ep 870 | Reward: -7601.2 | Length: 500 | R/step: -15.202 (-1520.2% of max) | Gap Error: 17.472 mm
Ep 880 | Reward: -7747.0 | Length: 500 | R/step: -15.494 (-1549.4% of max) | Gap Error: 14.594 mm
Ep 890 | Reward: -7600.6 | Length: 500 | R/step: -15.201 (-1520.1% of max) | Gap Error: 17.470 mm
Ep 900 | Reward: -7676.1 | Length: 500 | R/step: -15.352 (-1535.2% of max) | Gap Error: 15.984 mm
Ep 910 | Reward: -7750.4 | Length: 500 | R/step: -15.501 (-1550.1% of max) | Gap Error: 14.519 mm
Ep 920 | Reward: -7820.0 | Length: 500 | R/step: -15.640 (-1564.0% of max) | Gap Error: 13.170 mm
Ep 930 | Reward: -7884.7 | Length: 500 | R/step: -15.769 (-1576.9% of max) | Gap Error: 11.879 mm
Ep 940 | Reward: -7604.0 | Length: 500 | R/step: -15.208 (-1520.8% of max) | Gap Error: 17.410 mm
Ep 950 | Reward: -7677.5 | Length: 500 | R/step: -15.355 (-1535.5% of max) | Gap Error: 15.963 mm
Ep 960 | Reward: -7883.3 | Length: 500 | R/step: -15.767 (-1576.7% of max) | Gap Error: 11.895 mm
Ep 970 | Reward: -7818.1 | Length: 500 | R/step: -15.636 (-1563.6% of max) | Gap Error: 13.216 mm
Ep 980 | Reward: -7743.4 | Length: 500 | R/step: -15.487 (-1548.7% of max) | Gap Error: 14.655 mm
Ep 990 | Reward: -7960.6 | Length: 500 | R/step: -15.921 (-1592.1% of max) | Gap Error: 10.375 mm
Ep 1000 | Reward: -7601.5 | Length: 500 | R/step: -15.203 (-1520.3% of max) | Gap Error: 17.483 mm
======================================================================
Training Completed: 20251211_112339

23
RL Testing/RL_Trials/training_log_20251211_121404.txt Normal file
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Training Started: 20251211_121404
Number of Episodes: 2000
Print Frequency: 20
Target Gap Height: 16.491741 mm
Network: 256 hidden units with LayerNorm
Policy LR: 5e-4, Value LR: 1e-3, Entropy: 0.02
======================================================================
Ep 20 | R: -16131.1 | Len: 500 | R/s: -32.26 (-4032.8%) | Gap: 4.41mm (min: 4.26) | Best: 4.26mm
Ep 40 | R: -16140.1 | Len: 500 | R/s: -32.28 (-4035.0%) | Gap: 4.36mm (min: 4.25) | Best: 4.25mm
Ep 60 | R: -16140.8 | Len: 500 | R/s: -32.28 (-4035.2%) | Gap: 4.35mm (min: 4.22) | Best: 4.22mm
Ep 80 | R: -16143.7 | Len: 500 | R/s: -32.29 (-4035.9%) | Gap: 4.33mm (min: 4.22) | Best: 4.22mm
Ep 100 | R: -16142.5 | Len: 500 | R/s: -32.29 (-4035.6%) | Gap: 4.35mm (min: 4.26) | Best: 4.22mm
Ep 120 | R: -16142.2 | Len: 500 | R/s: -32.28 (-4035.5%) | Gap: 4.35mm (min: 4.26) | Best: 4.22mm
Ep 140 | R: -16142.9 | Len: 500 | R/s: -32.29 (-4035.7%) | Gap: 4.33mm (min: 4.23) | Best: 4.22mm
Ep 160 | R: -16144.1 | Len: 500 | R/s: -32.29 (-4036.0%) | Gap: 4.32mm (min: 4.21) | Best: 4.21mm
Ep 180 | R: -16141.0 | Len: 500 | R/s: -32.28 (-4035.3%) | Gap: 4.36mm (min: 4.22) | Best: 4.21mm
Ep 200 | R: -16143.8 | Len: 500 | R/s: -32.29 (-4035.9%) | Gap: 4.33mm (min: 4.21) | Best: 4.21mm
Ep 220 | R: -16144.3 | Len: 500 | R/s: -32.29 (-4036.1%) | Gap: 4.33mm (min: 4.23) | Best: 4.21mm
Ep 240 | R: -16145.9 | Len: 500 | R/s: -32.29 (-4036.5%) | Gap: 4.32mm (min: 4.21) | Best: 4.21mm
Ep 260 | R: -16142.5 | Len: 500 | R/s: -32.28 (-4035.6%) | Gap: 4.34mm (min: 4.24) | Best: 4.21mm
Ep 280 | R: -16146.9 | Len: 500 | R/s: -32.29 (-4036.7%) | Gap: 4.32mm (min: 4.21) | Best: 4.21mm
Ep 300 | R: -16145.6 | Len: 500 | R/s: -32.29 (-4036.4%) | Gap: 4.34mm (min: 4.21) | Best: 4.21mm

19
RL Testing/RL_Trials/training_log_20251211_122333.txt Normal file
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Training Started: 20251211_122333
Number of Episodes: 2000
Print Frequency: 20
Target Gap Height: 16.491741 mm
Network: 256 hidden units with LayerNorm
Policy LR: 5e-4, Value LR: 1e-3, Entropy: 0.02
======================================================================
Ep 20 | R: -16150.6 | Len: 500 | R/s: -32.30 (-4037.7%) | Gap: 4.18mm (min: 4.10) | Best: 4.10mm
Ep 40 | R: -16154.2 | Len: 500 | R/s: -32.31 (-4038.5%) | Gap: 4.18mm (min: 4.13) | Best: 4.10mm
Ep 60 | R: -16155.5 | Len: 500 | R/s: -32.31 (-4038.9%) | Gap: 4.16mm (min: 4.12) | Best: 4.10mm
Ep 80 | R: -16151.9 | Len: 500 | R/s: -32.30 (-4038.0%) | Gap: 4.20mm (min: 4.13) | Best: 4.10mm
Ep 100 | R: -16155.1 | Len: 500 | R/s: -32.31 (-4038.8%) | Gap: 4.18mm (min: 4.13) | Best: 4.10mm
Ep 120 | R: -16155.3 | Len: 500 | R/s: -32.31 (-4038.8%) | Gap: 4.19mm (min: 4.14) | Best: 4.10mm
Ep 140 | R: -16154.6 | Len: 500 | R/s: -32.31 (-4038.7%) | Gap: 4.18mm (min: 4.12) | Best: 4.10mm
Ep 160 | R: -16154.8 | Len: 500 | R/s: -32.31 (-4038.7%) | Gap: 4.19mm (min: 4.12) | Best: 4.10mm
Ep 180 | R: -16157.5 | Len: 500 | R/s: -32.32 (-4039.4%) | Gap: 4.19mm (min: 4.11) | Best: 4.10mm
Ep 200 | R: -16157.7 | Len: 500 | R/s: -32.32 (-4039.4%) | Gap: 4.21mm (min: 4.17) | Best: 4.10mm
Ep 220 | R: -16159.4 | Len: 500 | R/s: -32.32 (-4039.8%) | Gap: 4.19mm (min: 4.12) | Best: 4.10mm

9
RL Testing/RL_Trials/training_log_20251211_184547.txt Normal file
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Training Started: 20251211_184547
Number of Episodes: 2000
Print Frequency: 20
Target Gap Height: 16.491741 mm
Network: 256 hidden units with LayerNorm
Policy LR: 5e-4, Value LR: 1e-3, Entropy: 0.02
======================================================================
Ep 20 | R: -14585.9 | Len: 453 | R/s: -32.19 (-4023.9%) | Gap: 21.69mm (min:10.80) | Best: 10.80mm

12
RL Testing/RL_Trials/training_log_20251211_185541.txt Normal file
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Training Started: 20251211_185541
Number of Episodes: 2000
Print Frequency: 20
Target Gap Height: 16.491741 mm
Network: 256 hidden units with LayerNorm
Policy LR: 5e-4, Value LR: 1e-3, Entropy: 0.02
======================================================================
Ep 20 | R: -264.1 | Len: 28 | R/s: -9.47 (-1183.4%) | Gap: 20.27mm (min:11.48) | Best: 11.48mm
Ep 40 | R: -222.6 | Len: 24 | R/s: -9.45 (-1181.5%) | Gap: 21.62mm (min:19.97) | Best: 11.48mm
Ep 60 | R: -211.8 | Len: 23 | R/s: -9.37 (-1171.3%) | Gap: 21.47mm (min:19.53) | Best: 11.48mm
Ep 80 | R: -144.7 | Len: 15 | R/s: -9.65 (-1206.2%) | Gap: 21.89mm (min:20.01) | Best: 11.48mm

40
RL Testing/RL_Trials/training_log_20251211_190447.txt Normal file
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Training Started: 20251211_190447
Number of Episodes: 2000
Print Frequency: 20
Target Gap Height: 16.491741 mm
Network: 256 hidden units with LayerNorm
Policy LR: 5e-4, Value LR: 1e-3, Entropy: 0.02
======================================================================
Ep 20 | R: -2049.0 | Len: 66 | R/s: -31.16 (-3895.5%) | Gap: 13.46mm (min:10.84) | Best: 10.84mm
Ep 40 | R: -1124.2 | Len: 36 | R/s: -30.89 (-3860.7%) | Gap: 12.94mm (min:10.62) | Best: 10.62mm
Ep 60 | R: -900.8 | Len: 29 | R/s: -30.75 (-3843.2%) | Gap: 12.07mm (min:10.35) | Best: 10.35mm
Ep 80 | R: -885.5 | Len: 29 | R/s: -30.75 (-3843.2%) | Gap: 11.88mm (min:10.26) | Best: 10.26mm
Ep 100 | R: -1242.5 | Len: 40 | R/s: -30.99 (-3873.3%) | Gap: 13.41mm (min:10.71) | Best: 10.26mm
Ep 120 | R: -972.3 | Len: 32 | R/s: -30.77 (-3846.0%) | Gap: 12.38mm (min:10.39) | Best: 10.26mm
Ep 140 | R: -1182.0 | Len: 38 | R/s: -30.90 (-3862.8%) | Gap: 13.08mm (min:10.60) | Best: 10.26mm
Ep 160 | R: -953.0 | Len: 31 | R/s: -30.74 (-3842.8%) | Gap: 12.06mm (min:10.68) | Best: 10.26mm
Ep 180 | R: -1178.0 | Len: 38 | R/s: -30.92 (-3864.9%) | Gap: 12.61mm (min:10.55) | Best: 10.26mm
Ep 200 | R: -3914.1 | Len: 125 | R/s: -31.34 (-3917.2%) | Gap: 13.81mm (min:10.84) | Best: 10.26mm
Ep 220 | R: -13001.1 | Len: 412 | R/s: -31.59 (-3948.3%) | Gap: 17.74mm (min:11.72) | Best: 10.26mm
Ep 240 | R: -15119.0 | Len: 478 | R/s: -31.60 (-3950.4%) | Gap: 18.71mm (min:13.85) | Best: 10.26mm
Ep 260 | R: -12974.1 | Len: 411 | R/s: -31.59 (-3949.3%) | Gap: 17.73mm (min:12.36) | Best: 10.26mm
Ep 280 | R: -13695.3 | Len: 433 | R/s: -31.60 (-3949.5%) | Gap: 18.07mm (min:12.24) | Best: 10.26mm
Ep 300 | R: -15814.3 | Len: 500 | R/s: -31.63 (-3953.6%) | Gap: 18.97mm (min:18.92) | Best: 10.26mm
Ep 320 | R: -15814.0 | Len: 500 | R/s: -31.63 (-3953.5%) | Gap: 18.97mm (min:18.93) | Best: 10.26mm
Ep 340 | R: -15809.3 | Len: 500 | R/s: -31.62 (-3952.3%) | Gap: 18.96mm (min:18.89) | Best: 10.26mm
Ep 360 | R: -15816.5 | Len: 500 | R/s: -31.63 (-3954.1%) | Gap: 18.97mm (min:18.91) | Best: 10.26mm
Ep 380 | R: -15815.5 | Len: 500 | R/s: -31.63 (-3953.9%) | Gap: 18.97mm (min:18.92) | Best: 10.26mm
Ep 400 | R: -15818.2 | Len: 500 | R/s: -31.64 (-3954.5%) | Gap: 18.98mm (min:18.93) | Best: 10.26mm
Ep 420 | R: -15815.1 | Len: 500 | R/s: -31.63 (-3953.8%) | Gap: 18.97mm (min:18.89) | Best: 10.26mm
Ep 440 | R: -15816.0 | Len: 500 | R/s: -31.63 (-3954.0%) | Gap: 18.97mm (min:18.94) | Best: 10.26mm
Ep 460 | R: -15818.5 | Len: 500 | R/s: -31.64 (-3954.6%) | Gap: 18.98mm (min:18.93) | Best: 10.26mm
Ep 480 | R: -15819.3 | Len: 500 | R/s: -31.64 (-3954.8%) | Gap: 18.98mm (min:18.94) | Best: 10.26mm
Ep 500 | R: -15818.5 | Len: 500 | R/s: -31.64 (-3954.6%) | Gap: 18.97mm (min:18.94) | Best: 10.26mm
Ep 520 | R: -15819.8 | Len: 500 | R/s: -31.64 (-3954.9%) | Gap: 18.98mm (min:18.94) | Best: 10.26mm
Ep 540 | R: -15818.8 | Len: 500 | R/s: -31.64 (-3954.7%) | Gap: 18.97mm (min:18.92) | Best: 10.26mm
Ep 560 | R: -15818.3 | Len: 500 | R/s: -31.64 (-3954.6%) | Gap: 18.97mm (min:18.92) | Best: 10.26mm
Ep 580 | R: -15822.9 | Len: 500 | R/s: -31.65 (-3955.7%) | Gap: 18.98mm (min:18.93) | Best: 10.26mm
Ep 600 | R: -15819.6 | Len: 500 | R/s: -31.64 (-3954.9%) | Gap: 18.97mm (min:18.92) | Best: 10.26mm
Ep 620 | R: -15817.8 | Len: 500 | R/s: -31.64 (-3954.5%) | Gap: 18.96mm (min:18.91) | Best: 10.26mm
Ep 640 | R: -15821.5 | Len: 500 | R/s: -31.64 (-3955.4%) | Gap: 18.98mm (min:18.92) | Best: 10.26mm

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RL Testing/RL_Trials/training_log_20251211_191801.txt Normal file
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Training Started: 20251211_191801
Number of Episodes: 2000
Print Frequency: 20
Target Gap Height: 16.491741 mm
Network: 256 hidden units with LayerNorm
Policy LR: 5e-4, Value LR: 1e-3, Entropy: 0.02
======================================================================
Ep 20 | R: 755.5 | Len: 204 | R/s: 3.70 (462.3%) | Gap: 16.74mm (min:14.73) | Best: 14.73mm
Ep 40 | R: 407.2 | Len: 116 | R/s: 3.52 (439.9%) | Gap: 15.56mm (min:13.80) | Best: 13.80mm
Ep 60 | R: 157.4 | Len: 57 | R/s: 2.78 (347.5%) | Gap: 14.87mm (min:13.91) | Best: 13.80mm
Ep 80 | R: 182.7 | Len: 61 | R/s: 2.98 (372.0%) | Gap: 15.06mm (min:14.21) | Best: 13.80mm
Ep 100 | R: 487.2 | Len: 134 | R/s: 3.65 (455.9%) | Gap: 16.10mm (min:14.31) | Best: 13.80mm
Ep 120 | R: 1113.1 | Len: 297 | R/s: 3.75 (468.3%) | Gap: 17.64mm (min:15.95) | Best: 13.80mm
Ep 140 | R: 1434.7 | Len: 385 | R/s: 3.72 (465.6%) | Gap: 18.21mm (min:16.13) | Best: 13.80mm
Ep 160 | R: 641.4 | Len: 172 | R/s: 3.72 (464.8%) | Gap: 16.69mm (min:15.38) | Best: 13.80mm
Ep 180 | R: 1029.0 | Len: 274 | R/s: 3.76 (469.7%) | Gap: 17.43mm (min:14.60) | Best: 13.80mm
Ep 200 | R: 287.0 | Len: 85 | R/s: 3.39 (424.0%) | Gap: 15.61mm (min:14.18) | Best: 13.80mm
Ep 220 | R: 330.9 | Len: 94 | R/s: 3.52 (440.4%) | Gap: 15.85mm (min:14.93) | Best: 13.80mm
Ep 240 | R: 336.4 | Len: 103 | R/s: 3.28 (409.7%) | Gap: 15.15mm (min:13.83) | Best: 13.80mm
Ep 260 | R: 128.2 | Len: 50 | R/s: 2.58 (321.9%) | Gap: 14.51mm (min:13.90) | Best: 13.80mm
Ep 280 | R: 116.0 | Len: 46 | R/s: 2.51 (313.3%) | Gap: 14.30mm (min:13.49) | Best: 13.49mm
Ep 300 | R: 95.0 | Len: 39 | R/s: 2.45 (306.0%) | Gap: 13.85mm (min:13.19) | Best: 13.19mm
Ep 320 | R: 772.1 | Len: 200 | R/s: 3.86 (482.9%) | Gap: 16.77mm (min:15.05) | Best: 13.19mm
Ep 340 | R: 152.7 | Len: 54 | R/s: 2.84 (354.5%) | Gap: 14.81mm (min:13.96) | Best: 13.19mm
Ep 360 | R: 118.1 | Len: 47 | R/s: 2.52 (315.6%) | Gap: 14.36mm (min:13.50) | Best: 13.19mm
Ep 380 | R: 290.8 | Len: 81 | R/s: 3.60 (450.2%) | Gap: 15.56mm (min:14.06) | Best: 13.19mm
Ep 400 | R: 230.0 | Len: 69 | R/s: 3.35 (418.5%) | Gap: 15.38mm (min:14.74) | Best: 13.19mm
Ep 420 | R: 305.9 | Len: 85 | R/s: 3.58 (447.5%) | Gap: 15.82mm (min:15.08) | Best: 13.19mm
Ep 440 | R: 450.6 | Len: 116 | R/s: 3.90 (487.0%) | Gap: 16.25mm (min:14.81) | Best: 13.19mm
Ep 460 | R: 624.2 | Len: 161 | R/s: 3.89 (486.0%) | Gap: 16.65mm (min:15.01) | Best: 13.19mm
Ep 480 | R: 710.6 | Len: 192 | R/s: 3.70 (462.6%) | Gap: 16.62mm (min:14.71) | Best: 13.19mm
Ep 500 | R: 131.1 | Len: 49 | R/s: 2.65 (331.8%) | Gap: 14.44mm (min:13.45) | Best: 13.19mm
Ep 520 | R: 169.4 | Len: 58 | R/s: 2.90 (362.5%) | Gap: 14.97mm (min:14.22) | Best: 13.19mm
Ep 540 | R: 929.9 | Len: 263 | R/s: 3.53 (441.4%) | Gap: 16.99mm (min:14.49) | Best: 13.19mm
Ep 560 | R: 1760.6 | Len: 500 | R/s: 3.52 (440.1%) | Gap: 19.00mm (min:19.00) | Best: 13.19mm
Ep 580 | R: 1763.0 | Len: 500 | R/s: 3.53 (440.7%) | Gap: 19.00mm (min:18.99) | Best: 13.19mm
Ep 600 | R: 1775.4 | Len: 500 | R/s: 3.55 (443.8%) | Gap: 18.99mm (min:18.91) | Best: 13.19mm
Ep 620 | R: 1298.7 | Len: 355 | R/s: 3.66 (457.5%) | Gap: 17.94mm (min:14.49) | Best: 13.19mm
Ep 640 | R: 1576.3 | Len: 438 | R/s: 3.60 (450.3%) | Gap: 18.63mm (min:16.35) | Best: 13.19mm
Ep 660 | R: 1762.6 | Len: 500 | R/s: 3.53 (440.7%) | Gap: 19.00mm (min:19.00) | Best: 13.19mm
Ep 680 | R: 1761.3 | Len: 500 | R/s: 3.52 (440.3%) | Gap: 19.00mm (min:18.99) | Best: 13.19mm
Ep 700 | R: 1761.0 | Len: 500 | R/s: 3.52 (440.2%) | Gap: 19.00mm (min:18.99) | Best: 13.19mm
Ep 720 | R: 1754.8 | Len: 500 | R/s: 3.51 (438.7%) | Gap: 19.00mm (min:18.99) | Best: 13.19mm
Ep 740 | R: 1755.3 | Len: 500 | R/s: 3.51 (438.8%) | Gap: 19.00mm (min:18.99) | Best: 13.19mm
Ep 760 | R: 1756.6 | Len: 500 | R/s: 3.51 (439.2%) | Gap: 19.00mm (min:18.99) | Best: 13.19mm
Ep 780 | R: 1759.2 | Len: 500 | R/s: 3.52 (439.8%) | Gap: 19.00mm (min:18.99) | Best: 13.19mm
Ep 800 | R: 1756.9 | Len: 500 | R/s: 3.51 (439.2%) | Gap: 19.00mm (min:18.99) | Best: 13.19mm
Ep 820 | R: 1759.2 | Len: 500 | R/s: 3.52 (439.8%) | Gap: 19.00mm (min:18.99) | Best: 13.19mm
Ep 840 | R: 1593.2 | Len: 436 | R/s: 3.65 (456.7%) | Gap: 18.62mm (min:16.57) | Best: 13.19mm
Ep 860 | R: 1209.1 | Len: 334 | R/s: 3.62 (452.2%) | Gap: 17.92mm (min:15.21) | Best: 13.19mm
Ep 880 | R: 509.8 | Len: 149 | R/s: 3.43 (429.0%) | Gap: 16.16mm (min:14.21) | Best: 13.19mm
Ep 900 | R: 496.0 | Len: 148 | R/s: 3.36 (419.9%) | Gap: 15.86mm (min:14.56) | Best: 13.19mm
Ep 920 | R: 1770.0 | Len: 500 | R/s: 3.54 (442.5%) | Gap: 18.99mm (min:18.97) | Best: 13.19mm
Ep 940 | R: 1763.3 | Len: 500 | R/s: 3.53 (440.8%) | Gap: 19.00mm (min:18.99) | Best: 13.19mm
Ep 960 | R: 1753.9 | Len: 500 | R/s: 3.51 (438.5%) | Gap: 19.00mm (min:18.99) | Best: 13.19mm
Ep 980 | R: 1751.9 | Len: 500 | R/s: 3.50 (438.0%) | Gap: 19.00mm (min:18.99) | Best: 13.19mm
Ep 1000 | R: 1756.6 | Len: 500 | R/s: 3.51 (439.1%) | Gap: 19.00mm (min:18.99) | Best: 13.19mm
Ep 1020 | R: 1754.6 | Len: 500 | R/s: 3.51 (438.7%) | Gap: 19.00mm (min:18.99) | Best: 13.19mm
Ep 1040 | R: 1759.2 | Len: 500 | R/s: 3.52 (439.8%) | Gap: 19.00mm (min:19.00) | Best: 13.19mm
Ep 1060 | R: 1756.7 | Len: 500 | R/s: 3.51 (439.2%) | Gap: 19.00mm (min:19.00) | Best: 13.19mm
Ep 1080 | R: 1758.8 | Len: 500 | R/s: 3.52 (439.7%) | Gap: 19.00mm (min:18.99) | Best: 13.19mm
Ep 1100 | R: 1756.2 | Len: 500 | R/s: 3.51 (439.1%) | Gap: 19.00mm (min:18.99) | Best: 13.19mm
Ep 1120 | R: 1756.5 | Len: 500 | R/s: 3.51 (439.1%) | Gap: 19.00mm (min:18.99) | Best: 13.19mm
Ep 1140 | R: 1760.5 | Len: 500 | R/s: 3.52 (440.1%) | Gap: 19.00mm (min:18.99) | Best: 13.19mm
Ep 1160 | R: 1760.5 | Len: 500 | R/s: 3.52 (440.1%) | Gap: 19.00mm (min:19.00) | Best: 13.19mm
Ep 1180 | R: 1756.5 | Len: 500 | R/s: 3.51 (439.1%) | Gap: 19.00mm (min:18.99) | Best: 13.19mm
Ep 1200 | R: 1760.0 | Len: 500 | R/s: 3.52 (440.0%) | Gap: 19.00mm (min:19.00) | Best: 13.19mm
Ep 1220 | R: 1758.7 | Len: 500 | R/s: 3.52 (439.7%) | Gap: 19.00mm (min:19.00) | Best: 13.19mm
Ep 1240 | R: 1760.4 | Len: 500 | R/s: 3.52 (440.1%) | Gap: 19.00mm (min:19.00) | Best: 13.19mm
Ep 1260 | R: 1753.5 | Len: 500 | R/s: 3.51 (438.4%) | Gap: 19.00mm (min:19.00) | Best: 13.19mm
Ep 1280 | R: 1753.9 | Len: 500 | R/s: 3.51 (438.5%) | Gap: 19.00mm (min:19.00) | Best: 13.19mm
Ep 1300 | R: 1758.0 | Len: 500 | R/s: 3.52 (439.5%) | Gap: 19.00mm (min:19.00) | Best: 13.19mm
Ep 1320 | R: 1762.7 | Len: 500 | R/s: 3.53 (440.7%) | Gap: 19.00mm (min:19.00) | Best: 13.19mm
Ep 1340 | R: 1693.0 | Len: 459 | R/s: 3.69 (460.9%) | Gap: 18.61mm (min:16.25) | Best: 13.19mm
Ep 1360 | R: 713.0 | Len: 181 | R/s: 3.94 (492.2%) | Gap: 16.38mm (min:15.05) | Best: 13.19mm
Ep 1380 | R: 2118.4 | Len: 486 | R/s: 4.36 (545.4%) | Gap: 18.38mm (min:17.32) | Best: 13.19mm
Ep 1400 | R: 2157.4 | Len: 495 | R/s: 4.36 (544.9%) | Gap: 18.50mm (min:18.01) | Best: 13.19mm
Ep 1420 | R: 1181.5 | Len: 262 | R/s: 4.50 (563.0%) | Gap: 16.90mm (min:15.79) | Best: 13.19mm
Ep 1440 | R: 1332.5 | Len: 298 | R/s: 4.46 (558.1%) | Gap: 17.08mm (min:15.65) | Best: 13.19mm
Ep 1460 | R: 1496.5 | Len: 332 | R/s: 4.51 (563.8%) | Gap: 17.27mm (min:15.62) | Best: 13.19mm
Ep 1480 | R: 1545.4 | Len: 339 | R/s: 4.56 (570.1%) | Gap: 17.26mm (min:15.87) | Best: 13.19mm
Ep 1500 | R: 862.8 | Len: 201 | R/s: 4.29 (536.3%) | Gap: 16.17mm (min:14.88) | Best: 13.19mm
Ep 1520 | R: 809.8 | Len: 193 | R/s: 4.20 (524.6%) | Gap: 16.03mm (min:14.74) | Best: 13.19mm
Ep 1540 | R: 861.1 | Len: 204 | R/s: 4.22 (527.7%) | Gap: 16.25mm (min:14.93) | Best: 13.19mm
Ep 1560 | R: 1445.2 | Len: 329 | R/s: 4.40 (549.4%) | Gap: 17.24mm (min:15.19) | Best: 13.19mm
Ep 1580 | R: 1993.4 | Len: 486 | R/s: 4.11 (513.2%) | Gap: 18.55mm (min:16.26) | Best: 13.19mm
Ep 1600 | R: 1985.4 | Len: 500 | R/s: 3.97 (496.4%) | Gap: 18.75mm (min:18.57) | Best: 13.19mm
Ep 1620 | R: 1776.8 | Len: 500 | R/s: 3.55 (444.2%) | Gap: 18.97mm (min:18.91) | Best: 13.19mm
Ep 1640 | R: 1755.2 | Len: 500 | R/s: 3.51 (438.8%) | Gap: 18.99mm (min:18.97) | Best: 13.19mm
Ep 1660 | R: 1751.1 | Len: 500 | R/s: 3.50 (437.8%) | Gap: 19.00mm (min:19.00) | Best: 13.19mm
Ep 1680 | R: 1746.6 | Len: 500 | R/s: 3.49 (436.7%) | Gap: 19.00mm (min:19.00) | Best: 13.19mm
Ep 1700 | R: 1746.2 | Len: 500 | R/s: 3.49 (436.5%) | Gap: 19.00mm (min:19.00) | Best: 13.19mm
Ep 1720 | R: 1747.8 | Len: 500 | R/s: 3.50 (437.0%) | Gap: 19.00mm (min:19.00) | Best: 13.19mm
Ep 1740 | R: 1743.0 | Len: 500 | R/s: 3.49 (435.8%) | Gap: 19.00mm (min:19.00) | Best: 13.19mm
Ep 1760 | R: 1743.4 | Len: 500 | R/s: 3.49 (435.8%) | Gap: 19.00mm (min:19.00) | Best: 13.19mm
Ep 1780 | R: 1744.3 | Len: 500 | R/s: 3.49 (436.1%) | Gap: 19.00mm (min:19.00) | Best: 13.19mm
Ep 1800 | R: 1744.0 | Len: 500 | R/s: 3.49 (436.0%) | Gap: 19.00mm (min:19.00) | Best: 13.19mm
Ep 1820 | R: 1739.4 | Len: 500 | R/s: 3.48 (434.8%) | Gap: 19.00mm (min:19.00) | Best: 13.19mm
Ep 1840 | R: 1736.2 | Len: 500 | R/s: 3.47 (434.1%) | Gap: 19.00mm (min:19.00) | Best: 13.19mm
Ep 1860 | R: 1732.7 | Len: 500 | R/s: 3.47 (433.2%) | Gap: 19.00mm (min:19.00) | Best: 13.19mm
Ep 1880 | R: 1732.1 | Len: 500 | R/s: 3.46 (433.0%) | Gap: 19.00mm (min:19.00) | Best: 13.19mm
Ep 1900 | R: 1732.2 | Len: 500 | R/s: 3.46 (433.0%) | Gap: 19.00mm (min:19.00) | Best: 13.19mm
Ep 1920 | R: 1729.1 | Len: 500 | R/s: 3.46 (432.3%) | Gap: 19.00mm (min:19.00) | Best: 13.19mm
Ep 1940 | R: 1728.6 | Len: 500 | R/s: 3.46 (432.1%) | Gap: 19.00mm (min:19.00) | Best: 13.19mm
Ep 1960 | R: 1728.0 | Len: 500 | R/s: 3.46 (432.0%) | Gap: 19.00mm (min:19.00) | Best: 13.19mm
Ep 1980 | R: 1728.5 | Len: 500 | R/s: 3.46 (432.1%) | Gap: 19.00mm (min:19.00) | Best: 13.19mm
Ep 2000 | R: 1726.8 | Len: 500 | R/s: 3.45 (431.7%) | Gap: 19.00mm (min:19.00) | Best: 13.19mm
======================================================================
Training Completed: 20251211_195411
Best Gap Error Achieved: 13.191 mm