# Use Off-Policy VPG with Baseline to Play CartPole-v0¶

PyTorch version

In [1]:

    %matplotlib inline

    import sys
    import logging
    import itertools

    import numpy as np
    np.random.seed(0)
    import pandas as pd
    import gym
    import matplotlib.pyplot as plt
    import torch
    torch.manual_seed(0)
    import torch.nn as nn
    import torch.optim as optim
    import torch.distributions as distributions

    logging.basicConfig(level=logging.INFO,
            format='%(asctime)s [%(levelname)s] %(message)s',
            stream=sys.stdout, datefmt='%H:%M:%S')

In [2]:

    env = gym.make('CartPole-v0')
    for key in vars(env):
        logging.info('%s: %s', key, vars(env)[key])
    for key in vars(env.spec):
        logging.info('%s: %s', key, vars(env.spec)[key])

    00:02:21 [INFO] env: <CartPoleEnv<CartPole-v0>>
    00:02:21 [INFO] action_space: Discrete(2)
    00:02:21 [INFO] observation_space: Box(-3.4028234663852886e+38, 3.4028234663852886e+38, (4,), float32)
    00:02:21 [INFO] reward_range: (-inf, inf)
    00:02:21 [INFO] metadata: {'render.modes': ['human', 'rgb_array'], 'video.frames_per_second': 50}
    00:02:21 [INFO] _max_episode_steps: 200
    00:02:21 [INFO] _elapsed_steps: None
    00:02:21 [INFO] id: CartPole-v0
    00:02:21 [INFO] entry_point: gym.envs.classic_control:CartPoleEnv
    00:02:21 [INFO] reward_threshold: 195.0
    00:02:21 [INFO] nondeterministic: False
    00:02:21 [INFO] max_episode_steps: 200
    00:02:21 [INFO] _kwargs: {}
    00:02:21 [INFO] _env_name: CartPole

In [3]:

    class OffPolicyVPGwBaselineAgent:
        def __init__(self, env):
            self.action_n = env.action_space.n
            self.gamma = 0.99

            self.policy_net = self.build_net(
                    input_size=env.observation_space.shape[0],
                    hidden_sizes=[],
                    output_size=self.action_n, output_activator=nn.Softmax(1))
            self.policy_optimizer = optim.Adam(self.policy_net.parameters(), lr=0.06)
            self.baseline_net = self.build_net(
                    input_size=env.observation_space.shape[0],
                    hidden_sizes=[])
            self.baseline_optimizer = optim.Adam(self.policy_net.parameters(), lr=0.1)
            self.baseline_loss = nn.MSELoss()

        def build_net(self, input_size, hidden_sizes, output_size=1,
                output_activator=None, use_bias=False):
            layers = []
            for input_size, output_size in zip(
                    [input_size,] + hidden_sizes, hidden_sizes + [output_size,]):
                layers.append(nn.Linear(input_size, output_size, bias=use_bias))
                layers.append(nn.ReLU())
            layers = layers[:-1]
            if output_activator:
                layers.append(output_activator)
            model = nn.Sequential(*layers)
            return model

        def reset(self, mode=None):
            self.mode = mode
            if self.mode == 'train':
                self.trajectory = []

        def step(self, observation, reward, terminated):
            if self.mode == 'train':
                action = np.random.choice(self.action_n)  # use random policy
                self.trajectory += [observation, reward, terminated, action]
            else:
                state_tensor = torch.as_tensor(observation,
                        dtype=torch.float).unsqueeze(0)
                prob_tensor = self.policy_net(state_tensor)
                action_tensor = distributions.Categorical(prob_tensor).sample()
                action = action_tensor.numpy()[0]
            return action

        def close(self):
            if self.mode == 'train':
                self.learn()

        def learn(self):
            state_tensor = torch.as_tensor(self.trajectory[0::4], dtype=torch.float)
            reward_tensor = torch.as_tensor(self.trajectory[1::4], dtype=torch.float)
            action_tensor = torch.as_tensor(self.trajectory[3::4], dtype=torch.long)
            arange_tensor = torch.arange(state_tensor.shape[0], dtype=torch.float)

            # update baseline
            discount_tensor = self.gamma ** arange_tensor
            discounted_reward_tensor = discount_tensor * reward_tensor
            discounted_return_tensor = discounted_reward_tensor.flip(
                    0).cumsum(0).flip(0)
            return_tensor = discounted_return_tensor / discount_tensor
            pred_tensor = self.baseline_net(state_tensor)
            psi_tensor = (discounted_return_tensor -
                    discount_tensor * pred_tensor).detach()
            baseline_loss_tensor = self.baseline_loss(pred_tensor,
                    return_tensor.unsqueeze(1))
            self.baseline_optimizer.zero_grad()
            baseline_loss_tensor.backward()
            self.baseline_optimizer.step()

            # update policy
            all_pi_tensor = self.policy_net(state_tensor)
            pi_tensor = torch.gather(all_pi_tensor, 1,
                    action_tensor.unsqueeze(1)).squeeze(1)
            behavior_prob = 1. / self.action_n
            policy_loss_tensor = -(psi_tensor / behavior_prob * pi_tensor).mean()
            self.policy_optimizer.zero_grad()
            policy_loss_tensor.backward()
            self.policy_optimizer.step()

    agent = OffPolicyVPGwBaselineAgent(env)

In [4]:

    def play_episode(env, agent, seed=None, mode=None, render=False):
        observation, _ = env.reset(seed=seed)
        reward, terminated, truncated = 0., False, False
        agent.reset(mode=mode)
        episode_reward, elapsed_steps = 0., 0
        while True:
            action = agent.step(observation, reward, terminated)
            if render:
                env.render()
            if terminated or truncated:
                break
            observation, reward, terminated, truncated, _ = env.step(action)
            episode_reward += reward
            elapsed_steps += 1
        agent.close()
        return episode_reward, elapsed_steps

    logging.info('==== train ====')
    episode_rewards = []
    for episode in itertools.count():
        play_episode(env, agent, seed=episode,
                mode='train')
        episode_reward, elapsed_steps = play_episode(env, agent)
        episode_rewards.append(episode_reward)
        logging.info('train episode %d: reward = %.2f, steps = %d',
                episode, episode_reward, elapsed_steps)
        if np.mean(episode_rewards[-20:]) > 199:
            break
    plt.plot(episode_rewards)

    logging.info('==== test ====')
    episode_rewards = []
    for episode in range(100):
        episode_reward, elapsed_steps = play_episode(env, agent)
        episode_rewards.append(episode_reward)
        logging.info('test episode %d: reward = %.2f, steps = %d',
                episode, episode_reward, elapsed_steps)
    logging.info('average episode reward = %.2f ± %.2f',
            np.mean(episode_rewards), np.std(episode_rewards))

    00:02:21 [INFO] ==== train ====
    00:02:21 [INFO] train episode 0: reward = 39.00, steps = 39
    00:02:21 [INFO] train episode 1: reward = 56.00, steps = 56
    00:02:21 [INFO] train episode 2: reward = 61.00, steps = 61
    00:02:21 [INFO] train episode 3: reward = 72.00, steps = 72
    00:02:21 [INFO] train episode 4: reward = 45.00, steps = 45
    00:02:21 [INFO] train episode 5: reward = 39.00, steps = 39
    00:02:21 [INFO] train episode 6: reward = 28.00, steps = 28
    00:02:21 [INFO] train episode 7: reward = 129.00, steps = 129
    00:02:21 [INFO] train episode 8: reward = 17.00, steps = 17
    00:02:21 [INFO] train episode 9: reward = 24.00, steps = 24
    00:02:21 [INFO] train episode 10: reward = 51.00, steps = 51
    00:02:21 [INFO] train episode 11: reward = 16.00, steps = 16
    00:02:21 [INFO] train episode 12: reward = 15.00, steps = 15
    00:02:22 [INFO] train episode 13: reward = 32.00, steps = 32
    00:02:22 [INFO] train episode 14: reward = 79.00, steps = 79
    00:02:22 [INFO] train episode 15: reward = 44.00, steps = 44
    00:02:22 [INFO] train episode 16: reward = 18.00, steps = 18
    00:02:22 [INFO] train episode 17: reward = 17.00, steps = 17
    00:02:22 [INFO] train episode 18: reward = 19.00, steps = 19
    00:02:22 [INFO] train episode 19: reward = 49.00, steps = 49
    00:02:22 [INFO] train episode 20: reward = 47.00, steps = 47
    00:02:22 [INFO] train episode 21: reward = 68.00, steps = 68
    00:02:22 [INFO] train episode 22: reward = 48.00, steps = 48
    00:02:22 [INFO] train episode 23: reward = 91.00, steps = 91
    00:02:22 [INFO] train episode 24: reward = 9.00, steps = 9
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    00:02:57 [INFO] train episode 1335: reward = 122.00, steps = 122
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    00:02:57 [INFO] train episode 1339: reward = 118.00, steps = 118
    00:02:57 [INFO] train episode 1340: reward = 111.00, steps = 111
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    00:02:57 [INFO] train episode 1345: reward = 139.00, steps = 139
    00:02:57 [INFO] train episode 1346: reward = 133.00, steps = 133
    00:02:57 [INFO] train episode 1347: reward = 148.00, steps = 148
    00:02:57 [INFO] train episode 1348: reward = 143.00, steps = 143
    00:02:57 [INFO] train episode 1349: reward = 137.00, steps = 137
    00:02:57 [INFO] train episode 1350: reward = 139.00, steps = 139
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    00:02:57 [INFO] train episode 1353: reward = 136.00, steps = 136
    00:02:57 [INFO] train episode 1354: reward = 90.00, steps = 90
    00:02:57 [INFO] train episode 1355: reward = 133.00, steps = 133
    00:02:57 [INFO] train episode 1356: reward = 119.00, steps = 119
    00:02:57 [INFO] train episode 1357: reward = 121.00, steps = 121
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    00:02:58 [INFO] train episode 1365: reward = 200.00, steps = 200
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    00:02:58 [INFO] train episode 1371: reward = 120.00, steps = 120
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    00:02:58 [INFO] train episode 1380: reward = 120.00, steps = 120
    00:02:58 [INFO] train episode 1381: reward = 106.00, steps = 106
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    00:03:10 [INFO] train episode 1668: reward = 124.00, steps = 124
    00:03:10 [INFO] train episode 1669: reward = 114.00, steps = 114
    00:03:10 [INFO] train episode 1670: reward = 105.00, steps = 105
    00:03:11 [INFO] train episode 1671: reward = 147.00, steps = 147
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    00:03:11 [INFO] train episode 1673: reward = 158.00, steps = 158
    00:03:11 [INFO] train episode 1674: reward = 140.00, steps = 140
    00:03:11 [INFO] train episode 1675: reward = 116.00, steps = 116
    00:03:11 [INFO] train episode 1676: reward = 89.00, steps = 89
    00:03:11 [INFO] train episode 1677: reward = 136.00, steps = 136
    00:03:11 [INFO] train episode 1678: reward = 200.00, steps = 200
    00:03:11 [INFO] train episode 1679: reward = 125.00, steps = 125
    00:03:11 [INFO] train episode 1680: reward = 137.00, steps = 137
    00:03:11 [INFO] train episode 1681: reward = 181.00, steps = 181
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    00:03:11 [INFO] train episode 1691: reward = 166.00, steps = 166
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    00:03:12 [INFO] train episode 1708: reward = 129.00, steps = 129
    00:03:12 [INFO] train episode 1709: reward = 144.00, steps = 144
    00:03:12 [INFO] train episode 1710: reward = 138.00, steps = 138
    00:03:12 [INFO] train episode 1711: reward = 149.00, steps = 149
    00:03:12 [INFO] train episode 1712: reward = 111.00, steps = 111
    00:03:12 [INFO] train episode 1713: reward = 117.00, steps = 117
    00:03:12 [INFO] train episode 1714: reward = 134.00, steps = 134
    00:03:13 [INFO] train episode 1715: reward = 136.00, steps = 136
    00:03:13 [INFO] train episode 1716: reward = 174.00, steps = 174
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    00:03:13 [INFO] train episode 1718: reward = 113.00, steps = 113
    00:03:13 [INFO] train episode 1719: reward = 110.00, steps = 110
    00:03:13 [INFO] train episode 1720: reward = 184.00, steps = 184
    00:03:13 [INFO] train episode 1721: reward = 133.00, steps = 133
    00:03:13 [INFO] train episode 1722: reward = 194.00, steps = 194
    00:03:13 [INFO] train episode 1723: reward = 139.00, steps = 139
    00:03:13 [INFO] train episode 1724: reward = 139.00, steps = 139
    00:03:13 [INFO] train episode 1725: reward = 127.00, steps = 127
    00:03:13 [INFO] train episode 1726: reward = 135.00, steps = 135
    00:03:13 [INFO] train episode 1727: reward = 153.00, steps = 153
    00:03:13 [INFO] train episode 1728: reward = 112.00, steps = 112
    00:03:13 [INFO] train episode 1729: reward = 200.00, steps = 200
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    00:03:13 [INFO] train episode 1731: reward = 146.00, steps = 146
    00:03:13 [INFO] train episode 1732: reward = 200.00, steps = 200
    00:03:13 [INFO] train episode 1733: reward = 139.00, steps = 139
    00:03:13 [INFO] train episode 1734: reward = 125.00, steps = 125
    00:03:14 [INFO] train episode 1735: reward = 163.00, steps = 163
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    00:03:14 [INFO] train episode 1737: reward = 163.00, steps = 163
    00:03:14 [INFO] train episode 1738: reward = 135.00, steps = 135
    00:03:14 [INFO] train episode 1739: reward = 103.00, steps = 103
    00:03:14 [INFO] train episode 1740: reward = 108.00, steps = 108
    00:03:14 [INFO] train episode 1741: reward = 200.00, steps = 200
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    00:03:14 [INFO] train episode 1755: reward = 148.00, steps = 148
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    00:03:15 [INFO] train episode 1757: reward = 125.00, steps = 125
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    00:03:26 [INFO] train episode 1995: reward = 135.00, steps = 135
    00:03:27 [INFO] train episode 1996: reward = 133.00, steps = 133
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    00:03:27 [INFO] train episode 2007: reward = 188.00, steps = 188
    00:03:27 [INFO] train episode 2008: reward = 140.00, steps = 140
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    00:03:27 [INFO] train episode 2010: reward = 119.00, steps = 119
    00:03:27 [INFO] train episode 2011: reward = 140.00, steps = 140
    00:03:27 [INFO] train episode 2012: reward = 168.00, steps = 168
    00:03:27 [INFO] train episode 2013: reward = 168.00, steps = 168
    00:03:27 [INFO] train episode 2014: reward = 173.00, steps = 173
    00:03:27 [INFO] train episode 2015: reward = 174.00, steps = 174
    00:03:28 [INFO] train episode 2016: reward = 122.00, steps = 122
    00:03:28 [INFO] train episode 2017: reward = 141.00, steps = 141
    00:03:28 [INFO] train episode 2018: reward = 200.00, steps = 200
    00:03:28 [INFO] train episode 2019: reward = 198.00, steps = 198
    00:03:28 [INFO] train episode 2020: reward = 200.00, steps = 200
    00:03:28 [INFO] train episode 2021: reward = 170.00, steps = 170
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    00:03:28 [INFO] train episode 2023: reward = 200.00, steps = 200
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    00:03:28 [INFO] train episode 2027: reward = 200.00, steps = 200
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    00:03:28 [INFO] train episode 2029: reward = 170.00, steps = 170
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    00:04:14 [INFO] train episode 3028: reward = 200.00, steps = 200
    00:04:14 [INFO] train episode 3029: reward = 200.00, steps = 200
    00:04:14 [INFO] train episode 3030: reward = 172.00, steps = 172
    00:04:14 [INFO] train episode 3031: reward = 200.00, steps = 200
    00:04:14 [INFO] train episode 3032: reward = 154.00, steps = 154
    00:04:14 [INFO] train episode 3033: reward = 193.00, steps = 193
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    00:04:14 [INFO] train episode 3038: reward = 200.00, steps = 200
    00:04:15 [INFO] train episode 3039: reward = 200.00, steps = 200
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    00:04:15 [INFO] train episode 3057: reward = 175.00, steps = 175
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    00:04:29 [INFO] train episode 3310: reward = 200.00, steps = 200
    00:04:29 [INFO] train episode 3311: reward = 200.00, steps = 200
    00:04:29 [INFO] train episode 3312: reward = 200.00, steps = 200
    00:04:29 [INFO] train episode 3313: reward = 161.00, steps = 161
    00:04:29 [INFO] train episode 3314: reward = 200.00, steps = 200
    00:04:29 [INFO] train episode 3315: reward = 200.00, steps = 200
    00:04:29 [INFO] train episode 3316: reward = 139.00, steps = 139
    00:04:29 [INFO] train episode 3317: reward = 200.00, steps = 200
    00:04:30 [INFO] train episode 3318: reward = 200.00, steps = 200
    00:04:30 [INFO] train episode 3319: reward = 163.00, steps = 163
    00:04:30 [INFO] train episode 3320: reward = 182.00, steps = 182
    00:04:30 [INFO] train episode 3321: reward = 161.00, steps = 161
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    00:04:43 [INFO] train episode 3579: reward = 117.00, steps = 117
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    00:04:44 [INFO] train episode 3592: reward = 110.00, steps = 110
    00:04:44 [INFO] train episode 3593: reward = 174.00, steps = 174
    00:04:44 [INFO] train episode 3594: reward = 166.00, steps = 166
    00:04:44 [INFO] train episode 3595: reward = 130.00, steps = 130
    00:04:44 [INFO] train episode 3596: reward = 101.00, steps = 101
    00:04:44 [INFO] train episode 3597: reward = 200.00, steps = 200
    00:04:44 [INFO] train episode 3598: reward = 136.00, steps = 136
    00:04:44 [INFO] train episode 3599: reward = 108.00, steps = 108
    00:04:44 [INFO] train episode 3600: reward = 168.00, steps = 168
    00:04:44 [INFO] train episode 3601: reward = 124.00, steps = 124
    00:04:44 [INFO] train episode 3602: reward = 118.00, steps = 118
    00:04:44 [INFO] train episode 3603: reward = 200.00, steps = 200
    00:04:44 [INFO] train episode 3604: reward = 184.00, steps = 184
    00:04:44 [INFO] train episode 3605: reward = 135.00, steps = 135
    00:04:44 [INFO] train episode 3606: reward = 168.00, steps = 168
    00:04:44 [INFO] train episode 3607: reward = 112.00, steps = 112
    00:04:44 [INFO] train episode 3608: reward = 145.00, steps = 145
    00:04:44 [INFO] train episode 3609: reward = 141.00, steps = 141
    00:04:44 [INFO] train episode 3610: reward = 159.00, steps = 159
    00:04:44 [INFO] train episode 3611: reward = 98.00, steps = 98
    00:04:44 [INFO] train episode 3612: reward = 118.00, steps = 118
    00:04:44 [INFO] train episode 3613: reward = 107.00, steps = 107
    00:04:44 [INFO] train episode 3614: reward = 100.00, steps = 100
    00:04:44 [INFO] train episode 3615: reward = 113.00, steps = 113
    00:04:45 [INFO] train episode 3616: reward = 162.00, steps = 162
    00:04:45 [INFO] train episode 3617: reward = 124.00, steps = 124
    00:04:45 [INFO] train episode 3618: reward = 143.00, steps = 143
    00:04:45 [INFO] train episode 3619: reward = 128.00, steps = 128
    00:04:45 [INFO] train episode 3620: reward = 104.00, steps = 104
    00:04:45 [INFO] train episode 3621: reward = 140.00, steps = 140
    00:04:45 [INFO] train episode 3622: reward = 200.00, steps = 200
    00:04:45 [INFO] train episode 3623: reward = 197.00, steps = 197
    00:04:45 [INFO] train episode 3624: reward = 117.00, steps = 117
    00:04:45 [INFO] train episode 3625: reward = 135.00, steps = 135
    00:04:45 [INFO] train episode 3626: reward = 115.00, steps = 115
    00:04:45 [INFO] train episode 3627: reward = 116.00, steps = 116
    00:04:45 [INFO] train episode 3628: reward = 200.00, steps = 200
    00:04:45 [INFO] train episode 3629: reward = 138.00, steps = 138
    00:04:45 [INFO] train episode 3630: reward = 180.00, steps = 180
    00:04:45 [INFO] train episode 3631: reward = 155.00, steps = 155
    00:04:45 [INFO] train episode 3632: reward = 120.00, steps = 120
    00:04:45 [INFO] train episode 3633: reward = 111.00, steps = 111
    00:04:45 [INFO] train episode 3634: reward = 184.00, steps = 184
    00:04:45 [INFO] train episode 3635: reward = 115.00, steps = 115
    00:04:45 [INFO] train episode 3636: reward = 131.00, steps = 131
    00:04:45 [INFO] train episode 3637: reward = 142.00, steps = 142
    00:04:46 [INFO] train episode 3638: reward = 187.00, steps = 187
    00:04:46 [INFO] train episode 3639: reward = 120.00, steps = 120
    00:04:46 [INFO] train episode 3640: reward = 92.00, steps = 92
    00:04:46 [INFO] train episode 3641: reward = 200.00, steps = 200
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    00:04:46 [INFO] train episode 3643: reward = 123.00, steps = 123
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    00:04:46 [INFO] train episode 3646: reward = 200.00, steps = 200
    00:04:46 [INFO] train episode 3647: reward = 128.00, steps = 128
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    00:04:46 [INFO] train episode 3649: reward = 144.00, steps = 144
    00:04:46 [INFO] train episode 3650: reward = 147.00, steps = 147
    00:04:46 [INFO] train episode 3651: reward = 147.00, steps = 147
    00:04:46 [INFO] train episode 3652: reward = 125.00, steps = 125
    00:04:46 [INFO] train episode 3653: reward = 130.00, steps = 130
    00:04:46 [INFO] train episode 3654: reward = 136.00, steps = 136
    00:04:46 [INFO] train episode 3655: reward = 135.00, steps = 135
    00:04:46 [INFO] train episode 3656: reward = 200.00, steps = 200
    00:04:46 [INFO] train episode 3657: reward = 113.00, steps = 113
    00:04:46 [INFO] train episode 3658: reward = 133.00, steps = 133
    00:04:46 [INFO] train episode 3659: reward = 163.00, steps = 163
    00:04:46 [INFO] train episode 3660: reward = 177.00, steps = 177
    00:04:47 [INFO] train episode 3661: reward = 200.00, steps = 200
    00:04:47 [INFO] train episode 3662: reward = 153.00, steps = 153
    00:04:47 [INFO] train episode 3663: reward = 135.00, steps = 135
    00:04:47 [INFO] train episode 3664: reward = 117.00, steps = 117
    00:04:47 [INFO] train episode 3665: reward = 91.00, steps = 91
    00:04:47 [INFO] train episode 3666: reward = 164.00, steps = 164
    00:04:47 [INFO] train episode 3667: reward = 145.00, steps = 145
    00:04:47 [INFO] train episode 3668: reward = 126.00, steps = 126
    00:04:47 [INFO] train episode 3669: reward = 110.00, steps = 110
    00:04:47 [INFO] train episode 3670: reward = 151.00, steps = 151
    00:04:47 [INFO] train episode 3671: reward = 157.00, steps = 157
    00:04:47 [INFO] train episode 3672: reward = 123.00, steps = 123
    00:04:47 [INFO] train episode 3673: reward = 120.00, steps = 120
    00:04:47 [INFO] train episode 3674: reward = 115.00, steps = 115
    00:04:47 [INFO] train episode 3675: reward = 200.00, steps = 200
    00:04:47 [INFO] train episode 3676: reward = 138.00, steps = 138
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    00:04:47 [INFO] train episode 3678: reward = 200.00, steps = 200
    00:04:47 [INFO] train episode 3679: reward = 110.00, steps = 110
    00:04:47 [INFO] train episode 3680: reward = 149.00, steps = 149
    00:04:47 [INFO] train episode 3681: reward = 130.00, steps = 130
    00:04:47 [INFO] train episode 3682: reward = 100.00, steps = 100
    00:04:47 [INFO] train episode 3683: reward = 92.00, steps = 92
    00:04:48 [INFO] train episode 3684: reward = 132.00, steps = 132
    00:04:48 [INFO] train episode 3685: reward = 150.00, steps = 150
    00:04:48 [INFO] train episode 3686: reward = 115.00, steps = 115
    00:04:48 [INFO] train episode 3687: reward = 128.00, steps = 128
    00:04:48 [INFO] train episode 3688: reward = 197.00, steps = 197
    00:04:48 [INFO] train episode 3689: reward = 98.00, steps = 98
    00:04:48 [INFO] train episode 3690: reward = 200.00, steps = 200
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    00:04:48 [INFO] train episode 3693: reward = 113.00, steps = 113
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    00:04:48 [INFO] train episode 3696: reward = 101.00, steps = 101
    00:04:48 [INFO] train episode 3697: reward = 97.00, steps = 97
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    00:04:48 [INFO] train episode 3699: reward = 138.00, steps = 138
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    00:04:48 [INFO] train episode 3701: reward = 171.00, steps = 171
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    00:04:48 [INFO] train episode 3703: reward = 117.00, steps = 117
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    00:04:48 [INFO] train episode 3705: reward = 200.00, steps = 200
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    00:04:49 [INFO] train episode 3710: reward = 141.00, steps = 141
    00:04:49 [INFO] train episode 3711: reward = 127.00, steps = 127
    00:04:49 [INFO] train episode 3712: reward = 200.00, steps = 200
    00:04:49 [INFO] train episode 3713: reward = 123.00, steps = 123
    00:04:49 [INFO] train episode 3714: reward = 103.00, steps = 103
    00:04:49 [INFO] train episode 3715: reward = 120.00, steps = 120
    00:04:49 [INFO] train episode 3716: reward = 115.00, steps = 115
    00:04:49 [INFO] train episode 3717: reward = 98.00, steps = 98
    00:04:49 [INFO] train episode 3718: reward = 173.00, steps = 173
    00:04:49 [INFO] train episode 3719: reward = 137.00, steps = 137
    00:04:49 [INFO] train episode 3720: reward = 120.00, steps = 120
    00:04:49 [INFO] train episode 3721: reward = 103.00, steps = 103
    00:04:49 [INFO] train episode 3722: reward = 90.00, steps = 90
    00:04:49 [INFO] train episode 3723: reward = 103.00, steps = 103
    00:04:49 [INFO] train episode 3724: reward = 127.00, steps = 127
    00:04:49 [INFO] train episode 3725: reward = 162.00, steps = 162
    00:04:49 [INFO] train episode 3726: reward = 102.00, steps = 102
    00:04:49 [INFO] train episode 3727: reward = 96.00, steps = 96
    00:04:49 [INFO] train episode 3728: reward = 114.00, steps = 114
    00:04:49 [INFO] train episode 3729: reward = 156.00, steps = 156
    00:04:49 [INFO] train episode 3730: reward = 99.00, steps = 99
    00:04:49 [INFO] train episode 3731: reward = 123.00, steps = 123
    00:04:49 [INFO] train episode 3732: reward = 196.00, steps = 196
    00:04:50 [INFO] train episode 3733: reward = 142.00, steps = 142
    00:04:50 [INFO] train episode 3734: reward = 110.00, steps = 110
    00:04:50 [INFO] train episode 3735: reward = 93.00, steps = 93
    00:04:50 [INFO] train episode 3736: reward = 119.00, steps = 119
    00:04:50 [INFO] train episode 3737: reward = 113.00, steps = 113
    00:04:50 [INFO] train episode 3738: reward = 124.00, steps = 124
    00:04:50 [INFO] train episode 3739: reward = 84.00, steps = 84
    00:04:50 [INFO] train episode 3740: reward = 181.00, steps = 181
    00:04:50 [INFO] train episode 3741: reward = 115.00, steps = 115
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    00:04:50 [INFO] train episode 3743: reward = 110.00, steps = 110
    00:04:50 [INFO] train episode 3744: reward = 200.00, steps = 200
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    00:04:50 [INFO] train episode 3752: reward = 138.00, steps = 138
    00:04:50 [INFO] train episode 3753: reward = 200.00, steps = 200
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    00:04:50 [INFO] train episode 3756: reward = 92.00, steps = 92
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    00:04:53 [INFO] train episode 3819: reward = 188.00, steps = 188
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    00:04:53 [INFO] train episode 3821: reward = 156.00, steps = 156
    00:04:53 [INFO] train episode 3822: reward = 137.00, steps = 137
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    00:04:53 [INFO] train episode 3825: reward = 200.00, steps = 200
    00:04:54 [INFO] train episode 3826: reward = 121.00, steps = 121
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    00:04:54 [INFO] train episode 3828: reward = 200.00, steps = 200
    00:04:54 [INFO] train episode 3829: reward = 166.00, steps = 166
    00:04:54 [INFO] train episode 3830: reward = 164.00, steps = 164
    00:04:54 [INFO] train episode 3831: reward = 162.00, steps = 162
    00:04:54 [INFO] train episode 3832: reward = 181.00, steps = 181
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    00:04:54 [INFO] train episode 3836: reward = 200.00, steps = 200
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    00:04:54 [INFO] train episode 3839: reward = 200.00, steps = 200
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    00:04:58 [INFO] train episode 3923: reward = 156.00, steps = 156
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    00:04:58 [INFO] train episode 3926: reward = 144.00, steps = 144
    00:04:58 [INFO] train episode 3927: reward = 128.00, steps = 128
    00:04:58 [INFO] train episode 3928: reward = 148.00, steps = 148
    00:04:59 [INFO] train episode 3929: reward = 148.00, steps = 148
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    00:05:03 [INFO] train episode 4027: reward = 154.00, steps = 154
    00:05:03 [INFO] train episode 4028: reward = 200.00, steps = 200
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    00:05:14 [INFO] train episode 4218: reward = 171.00, steps = 171
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    00:05:14 [INFO] train episode 4220: reward = 153.00, steps = 153
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    00:05:16 [INFO] train episode 4268: reward = 181.00, steps = 181
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    00:05:17 [INFO] train episode 4280: reward = 161.00, steps = 161
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    00:05:17 [INFO] train episode 4289: reward = 176.00, steps = 176
    00:05:17 [INFO] train episode 4290: reward = 163.00, steps = 163
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    00:05:18 [INFO] train episode 4307: reward = 161.00, steps = 161
    00:05:18 [INFO] train episode 4308: reward = 114.00, steps = 114
    00:05:18 [INFO] train episode 4309: reward = 170.00, steps = 170
    00:05:18 [INFO] train episode 4310: reward = 181.00, steps = 181
    00:05:19 [INFO] train episode 4311: reward = 191.00, steps = 191
    00:05:19 [INFO] train episode 4312: reward = 159.00, steps = 159
    00:05:19 [INFO] train episode 4313: reward = 132.00, steps = 132
    00:05:19 [INFO] train episode 4314: reward = 175.00, steps = 175
    00:05:19 [INFO] train episode 4315: reward = 131.00, steps = 131
    00:05:19 [INFO] train episode 4316: reward = 154.00, steps = 154
    00:05:19 [INFO] train episode 4317: reward = 145.00, steps = 145
    00:05:19 [INFO] train episode 4318: reward = 184.00, steps = 184
    00:05:19 [INFO] train episode 4319: reward = 158.00, steps = 158
    00:05:19 [INFO] train episode 4320: reward = 123.00, steps = 123
    00:05:19 [INFO] train episode 4321: reward = 162.00, steps = 162
    00:05:19 [INFO] train episode 4322: reward = 138.00, steps = 138
    00:05:19 [INFO] train episode 4323: reward = 135.00, steps = 135
    00:05:19 [INFO] train episode 4324: reward = 119.00, steps = 119
    00:05:19 [INFO] train episode 4325: reward = 149.00, steps = 149
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    00:05:19 [INFO] train episode 4327: reward = 200.00, steps = 200
    00:05:19 [INFO] train episode 4328: reward = 200.00, steps = 200
    00:05:19 [INFO] train episode 4329: reward = 195.00, steps = 195
    00:05:19 [INFO] train episode 4330: reward = 166.00, steps = 166
    00:05:19 [INFO] train episode 4331: reward = 200.00, steps = 200
    00:05:19 [INFO] train episode 4332: reward = 169.00, steps = 169
    00:05:20 [INFO] train episode 4333: reward = 137.00, steps = 137
    00:05:20 [INFO] train episode 4334: reward = 161.00, steps = 161
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    00:05:20 [INFO] train episode 4336: reward = 200.00, steps = 200
    00:05:20 [INFO] train episode 4337: reward = 126.00, steps = 126
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    00:05:20 [INFO] train episode 4340: reward = 163.00, steps = 163
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    00:05:20 [INFO] train episode 4351: reward = 170.00, steps = 170
    00:05:20 [INFO] train episode 4352: reward = 120.00, steps = 120
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    00:05:21 [INFO] train episode 4361: reward = 161.00, steps = 161
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    00:05:23 [INFO] train episode 4412: reward = 133.00, steps = 133
    00:05:23 [INFO] train episode 4413: reward = 149.00, steps = 149
    00:05:23 [INFO] train episode 4414: reward = 179.00, steps = 179
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    00:05:24 [INFO] train episode 4418: reward = 139.00, steps = 139
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    00:05:24 [INFO] train episode 4423: reward = 200.00, steps = 200
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    00:05:24 [INFO] train episode 4425: reward = 139.00, steps = 139
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    00:05:24 [INFO] train episode 4427: reward = 126.00, steps = 126
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    00:05:24 [INFO] train episode 4429: reward = 200.00, steps = 200
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    00:05:29 [INFO] train episode 4527: reward = 175.00, steps = 175
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    00:05:29 [INFO] train episode 4529: reward = 122.00, steps = 122
    00:05:29 [INFO] train episode 4530: reward = 164.00, steps = 164
    00:05:29 [INFO] train episode 4531: reward = 142.00, steps = 142
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    00:05:31 [INFO] train episode 4563: reward = 128.00, steps = 128
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    00:05:33 [INFO] train episode 4593: reward = 191.00, steps = 191
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    00:05:33 [INFO] train episode 4601: reward = 200.00, steps = 200
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    00:05:33 [INFO] train episode 4606: reward = 200.00, steps = 200
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    00:05:33 [INFO] train episode 4610: reward = 143.00, steps = 143
    00:05:34 [INFO] train episode 4611: reward = 200.00, steps = 200
    00:05:34 [INFO] train episode 4612: reward = 155.00, steps = 155
    00:05:34 [INFO] train episode 4613: reward = 123.00, steps = 123
    00:05:34 [INFO] train episode 4614: reward = 163.00, steps = 163
    00:05:34 [INFO] train episode 4615: reward = 130.00, steps = 130
    00:05:34 [INFO] train episode 4616: reward = 141.00, steps = 141
    00:05:34 [INFO] train episode 4617: reward = 187.00, steps = 187
    00:05:34 [INFO] train episode 4618: reward = 193.00, steps = 193
    00:05:34 [INFO] train episode 4619: reward = 167.00, steps = 167
    00:05:34 [INFO] train episode 4620: reward = 115.00, steps = 115
    00:05:34 [INFO] train episode 4621: reward = 136.00, steps = 136
    00:05:34 [INFO] train episode 4622: reward = 136.00, steps = 136
    00:05:34 [INFO] train episode 4623: reward = 183.00, steps = 183
    00:05:34 [INFO] train episode 4624: reward = 192.00, steps = 192
    00:05:34 [INFO] train episode 4625: reward = 137.00, steps = 137
    00:05:34 [INFO] train episode 4626: reward = 170.00, steps = 170
    00:05:34 [INFO] train episode 4627: reward = 200.00, steps = 200
    00:05:34 [INFO] train episode 4628: reward = 149.00, steps = 149
    00:05:34 [INFO] train episode 4629: reward = 180.00, steps = 180
    00:05:34 [INFO] train episode 4630: reward = 154.00, steps = 154
    00:05:35 [INFO] train episode 4631: reward = 200.00, steps = 200
    00:05:35 [INFO] train episode 4632: reward = 122.00, steps = 122
    00:05:35 [INFO] train episode 4633: reward = 117.00, steps = 117
    00:05:35 [INFO] train episode 4634: reward = 136.00, steps = 136
    00:05:35 [INFO] train episode 4635: reward = 177.00, steps = 177
    00:05:35 [INFO] train episode 4636: reward = 133.00, steps = 133
    00:05:35 [INFO] train episode 4637: reward = 140.00, steps = 140
    00:05:35 [INFO] train episode 4638: reward = 183.00, steps = 183
    00:05:35 [INFO] train episode 4639: reward = 171.00, steps = 171
    00:05:35 [INFO] train episode 4640: reward = 139.00, steps = 139
    00:05:35 [INFO] train episode 4641: reward = 151.00, steps = 151
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    00:05:36 [INFO] train episode 4661: reward = 175.00, steps = 175
    00:05:36 [INFO] train episode 4662: reward = 165.00, steps = 165
    00:05:36 [INFO] train episode 4663: reward = 176.00, steps = 176
    00:05:36 [INFO] train episode 4664: reward = 162.00, steps = 162
    00:05:36 [INFO] train episode 4665: reward = 200.00, steps = 200
    00:05:36 [INFO] train episode 4666: reward = 149.00, steps = 149
    00:05:36 [INFO] train episode 4667: reward = 129.00, steps = 129
    00:05:36 [INFO] train episode 4668: reward = 193.00, steps = 193
    00:05:36 [INFO] train episode 4669: reward = 200.00, steps = 200
    00:05:36 [INFO] train episode 4670: reward = 200.00, steps = 200
    00:05:37 [INFO] train episode 4671: reward = 200.00, steps = 200
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    00:05:37 [INFO] train episode 4675: reward = 170.00, steps = 170
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    00:05:37 [INFO] train episode 4686: reward = 148.00, steps = 148
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    00:05:39 [INFO] train episode 4711: reward = 153.00, steps = 153
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    00:05:39 [INFO] train episode 4713: reward = 200.00, steps = 200
    00:05:39 [INFO] train episode 4714: reward = 188.00, steps = 188
    00:05:39 [INFO] train episode 4715: reward = 180.00, steps = 180
    00:05:39 [INFO] train episode 4716: reward = 200.00, steps = 200
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    00:05:39 [INFO] train episode 4718: reward = 200.00, steps = 200
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    00:05:40 [INFO] train episode 4728: reward = 200.00, steps = 200
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    00:05:48 [INFO] train episode 4870: reward = 174.00, steps = 174
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    00:05:48 [INFO] train episode 4873: reward = 200.00, steps = 200
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    00:05:48 [INFO] train episode 4882: reward = 200.00, steps = 200
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    00:05:48 [INFO] train episode 4884: reward = 164.00, steps = 164
    00:05:48 [INFO] train episode 4885: reward = 120.00, steps = 120
    00:05:49 [INFO] train episode 4886: reward = 200.00, steps = 200
    00:05:49 [INFO] train episode 4887: reward = 127.00, steps = 127
    00:05:49 [INFO] train episode 4888: reward = 139.00, steps = 139
    00:05:49 [INFO] train episode 4889: reward = 177.00, steps = 177
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    00:05:49 [INFO] train episode 4894: reward = 200.00, steps = 200
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    00:05:49 [INFO] train episode 4898: reward = 130.00, steps = 130
    00:05:49 [INFO] train episode 4899: reward = 134.00, steps = 134
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    00:05:49 [INFO] train episode 4901: reward = 160.00, steps = 160
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    00:05:49 [INFO] train episode 4904: reward = 170.00, steps = 170
    00:05:49 [INFO] train episode 4905: reward = 187.00, steps = 187
    00:05:50 [INFO] train episode 4906: reward = 149.00, steps = 149
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    00:05:50 [INFO] train episode 4913: reward = 130.00, steps = 130
    00:05:50 [INFO] train episode 4914: reward = 161.00, steps = 161
    00:05:50 [INFO] train episode 4915: reward = 185.00, steps = 185
    00:05:50 [INFO] train episode 4916: reward = 160.00, steps = 160
    00:05:50 [INFO] train episode 4917: reward = 132.00, steps = 132
    00:05:50 [INFO] train episode 4918: reward = 157.00, steps = 157
    00:05:50 [INFO] train episode 4919: reward = 142.00, steps = 142
    00:05:50 [INFO] train episode 4920: reward = 152.00, steps = 152
    00:05:50 [INFO] train episode 4921: reward = 166.00, steps = 166
    00:05:50 [INFO] train episode 4922: reward = 200.00, steps = 200
    00:05:50 [INFO] train episode 4923: reward = 178.00, steps = 178
    00:05:50 [INFO] train episode 4924: reward = 200.00, steps = 200
    00:05:50 [INFO] train episode 4925: reward = 200.00, steps = 200
    00:05:51 [INFO] train episode 4926: reward = 193.00, steps = 193
    00:05:51 [INFO] train episode 4927: reward = 174.00, steps = 174
    00:05:51 [INFO] train episode 4928: reward = 128.00, steps = 128
    00:05:51 [INFO] train episode 4929: reward = 198.00, steps = 198
    00:05:51 [INFO] train episode 4930: reward = 142.00, steps = 142
    00:05:51 [INFO] train episode 4931: reward = 200.00, steps = 200
    00:05:51 [INFO] train episode 4932: reward = 145.00, steps = 145
    00:05:51 [INFO] train episode 4933: reward = 168.00, steps = 168
    00:05:51 [INFO] train episode 4934: reward = 143.00, steps = 143
    00:05:51 [INFO] train episode 4935: reward = 142.00, steps = 142
    00:05:51 [INFO] train episode 4936: reward = 130.00, steps = 130
    00:05:51 [INFO] train episode 4937: reward = 170.00, steps = 170
    00:05:51 [INFO] train episode 4938: reward = 143.00, steps = 143
    00:05:51 [INFO] train episode 4939: reward = 131.00, steps = 131
    00:05:51 [INFO] train episode 4940: reward = 159.00, steps = 159
    00:05:51 [INFO] train episode 4941: reward = 168.00, steps = 168
    00:05:51 [INFO] train episode 4942: reward = 200.00, steps = 200
    00:05:51 [INFO] train episode 4943: reward = 172.00, steps = 172
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    00:05:51 [INFO] train episode 4945: reward = 200.00, steps = 200
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    00:05:52 [INFO] train episode 4950: reward = 129.00, steps = 129
    00:05:52 [INFO] train episode 4951: reward = 152.00, steps = 152
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    00:05:52 [INFO] train episode 4953: reward = 176.00, steps = 176
    00:05:52 [INFO] train episode 4954: reward = 200.00, steps = 200
    00:05:52 [INFO] train episode 4955: reward = 200.00, steps = 200
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    00:05:52 [INFO] train episode 4957: reward = 187.00, steps = 187
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    00:05:52 [INFO] train episode 4960: reward = 138.00, steps = 138
    00:05:52 [INFO] train episode 4961: reward = 125.00, steps = 125
    00:05:52 [INFO] train episode 4962: reward = 162.00, steps = 162
    00:05:52 [INFO] train episode 4963: reward = 200.00, steps = 200
    00:05:52 [INFO] train episode 4964: reward = 162.00, steps = 162
    00:05:53 [INFO] train episode 4965: reward = 192.00, steps = 192
    00:05:53 [INFO] train episode 4966: reward = 141.00, steps = 141
    00:05:53 [INFO] train episode 4967: reward = 181.00, steps = 181
    00:05:53 [INFO] train episode 4968: reward = 153.00, steps = 153
    00:05:53 [INFO] train episode 4969: reward = 200.00, steps = 200
    00:05:53 [INFO] train episode 4970: reward = 149.00, steps = 149
    00:05:53 [INFO] train episode 4971: reward = 172.00, steps = 172
    00:05:53 [INFO] train episode 4972: reward = 200.00, steps = 200
    00:05:53 [INFO] train episode 4973: reward = 174.00, steps = 174
    00:05:53 [INFO] train episode 4974: reward = 149.00, steps = 149
    00:05:53 [INFO] train episode 4975: reward = 200.00, steps = 200
    00:05:53 [INFO] train episode 4976: reward = 140.00, steps = 140
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    00:05:53 [INFO] train episode 4978: reward = 183.00, steps = 183
    00:05:53 [INFO] train episode 4979: reward = 161.00, steps = 161
    00:05:53 [INFO] train episode 4980: reward = 148.00, steps = 148
    00:05:53 [INFO] train episode 4981: reward = 174.00, steps = 174
    00:05:53 [INFO] train episode 4982: reward = 200.00, steps = 200
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    00:05:54 [INFO] train episode 5000: reward = 200.00, steps = 200
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    00:05:55 [INFO] train episode 5006: reward = 200.00, steps = 200
    00:05:55 [INFO] train episode 5007: reward = 139.00, steps = 139
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    00:05:56 [INFO] train episode 5024: reward = 172.00, steps = 172
    00:05:56 [INFO] train episode 5025: reward = 200.00, steps = 200
    00:05:56 [INFO] train episode 5026: reward = 200.00, steps = 200
    00:05:56 [INFO] train episode 5027: reward = 150.00, steps = 150
    00:05:56 [INFO] train episode 5028: reward = 174.00, steps = 174
    00:05:56 [INFO] train episode 5029: reward = 200.00, steps = 200
    00:05:56 [INFO] train episode 5030: reward = 200.00, steps = 200
    00:05:56 [INFO] train episode 5031: reward = 169.00, steps = 169
    00:05:56 [INFO] train episode 5032: reward = 154.00, steps = 154
    00:05:56 [INFO] train episode 5033: reward = 200.00, steps = 200
    00:05:56 [INFO] train episode 5034: reward = 180.00, steps = 180
    00:05:56 [INFO] train episode 5035: reward = 200.00, steps = 200
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    00:05:56 [INFO] train episode 5039: reward = 136.00, steps = 136
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    00:06:05 [INFO] train episode 5211: reward = 200.00, steps = 200
    00:06:05 [INFO] train episode 5212: reward = 138.00, steps = 138
    00:06:05 [INFO] train episode 5213: reward = 142.00, steps = 142
    00:06:05 [INFO] train episode 5214: reward = 153.00, steps = 153
    00:06:05 [INFO] train episode 5215: reward = 158.00, steps = 158
    00:06:05 [INFO] train episode 5216: reward = 200.00, steps = 200
    00:06:05 [INFO] train episode 5217: reward = 200.00, steps = 200
    00:06:05 [INFO] train episode 5218: reward = 180.00, steps = 180
    00:06:05 [INFO] train episode 5219: reward = 157.00, steps = 157
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    00:06:06 [INFO] train episode 5224: reward = 171.00, steps = 171
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    00:06:06 [INFO] train episode 5230: reward = 141.00, steps = 141
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    00:06:07 [INFO] train episode 5243: reward = 192.00, steps = 192
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    00:06:07 [INFO] train episode 5259: reward = 200.00, steps = 200
    00:06:07 [INFO] train episode 5260: reward = 117.00, steps = 117
    00:06:07 [INFO] train episode 5261: reward = 194.00, steps = 194
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    00:06:08 [INFO] train episode 5264: reward = 148.00, steps = 148
    00:06:08 [INFO] train episode 5265: reward = 150.00, steps = 150
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    00:06:08 [INFO] train episode 5268: reward = 186.00, steps = 186
    00:06:08 [INFO] train episode 5269: reward = 173.00, steps = 173
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    00:06:08 [INFO] train episode 5272: reward = 166.00, steps = 166
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    00:06:08 [INFO] train episode 5274: reward = 200.00, steps = 200
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    00:06:08 [INFO] train episode 5276: reward = 156.00, steps = 156
    00:06:08 [INFO] train episode 5277: reward = 130.00, steps = 130
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    00:06:08 [INFO] train episode 5279: reward = 200.00, steps = 200
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    00:06:08 [INFO] train episode 5281: reward = 200.00, steps = 200
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    00:06:09 [INFO] train episode 5286: reward = 124.00, steps = 124
    00:06:09 [INFO] train episode 5287: reward = 160.00, steps = 160
    00:06:09 [INFO] train episode 5288: reward = 116.00, steps = 116
    00:06:09 [INFO] train episode 5289: reward = 123.00, steps = 123
    00:06:09 [INFO] train episode 5290: reward = 167.00, steps = 167
    00:06:09 [INFO] train episode 5291: reward = 133.00, steps = 133
    00:06:09 [INFO] train episode 5292: reward = 172.00, steps = 172
    00:06:09 [INFO] train episode 5293: reward = 134.00, steps = 134
    00:06:09 [INFO] train episode 5294: reward = 163.00, steps = 163
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    00:06:09 [INFO] train episode 5296: reward = 200.00, steps = 200
    00:06:09 [INFO] train episode 5297: reward = 132.00, steps = 132
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    00:06:09 [INFO] train episode 5299: reward = 129.00, steps = 129
    00:06:09 [INFO] train episode 5300: reward = 129.00, steps = 129
    00:06:09 [INFO] train episode 5301: reward = 128.00, steps = 128
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    00:06:10 [INFO] train episode 5304: reward = 162.00, steps = 162
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    00:06:10 [INFO] train episode 5306: reward = 145.00, steps = 145
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    00:06:10 [INFO] train episode 5308: reward = 143.00, steps = 143
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    00:06:10 [INFO] train episode 5310: reward = 200.00, steps = 200
    00:06:10 [INFO] train episode 5311: reward = 187.00, steps = 187
    00:06:10 [INFO] train episode 5312: reward = 130.00, steps = 130
    00:06:10 [INFO] train episode 5313: reward = 116.00, steps = 116
    00:06:10 [INFO] train episode 5314: reward = 184.00, steps = 184
    00:06:10 [INFO] train episode 5315: reward = 190.00, steps = 190
    00:06:10 [INFO] train episode 5316: reward = 145.00, steps = 145
    00:06:10 [INFO] train episode 5317: reward = 160.00, steps = 160
    00:06:10 [INFO] train episode 5318: reward = 200.00, steps = 200
    00:06:10 [INFO] train episode 5319: reward = 200.00, steps = 200
    00:06:10 [INFO] train episode 5320: reward = 149.00, steps = 149
    00:06:10 [INFO] train episode 5321: reward = 119.00, steps = 119
    00:06:10 [INFO] train episode 5322: reward = 136.00, steps = 136
    00:06:10 [INFO] train episode 5323: reward = 116.00, steps = 116
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    00:06:10 [INFO] train episode 5325: reward = 114.00, steps = 114
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    00:06:11 [INFO] train episode 5329: reward = 164.00, steps = 164
    00:06:11 [INFO] train episode 5330: reward = 131.00, steps = 131
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    00:06:11 [INFO] train episode 5332: reward = 115.00, steps = 115
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    00:06:11 [INFO] train episode 5340: reward = 160.00, steps = 160
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    00:06:20 [INFO] train episode 5514: reward = 149.00, steps = 149
    00:06:20 [INFO] train episode 5515: reward = 179.00, steps = 179
    00:06:20 [INFO] train episode 5516: reward = 143.00, steps = 143
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    00:06:20 [INFO] train episode 5524: reward = 162.00, steps = 162
    00:06:20 [INFO] train episode 5525: reward = 171.00, steps = 171
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    00:06:20 [INFO] train episode 5527: reward = 164.00, steps = 164
    00:06:21 [INFO] train episode 5528: reward = 187.00, steps = 187
    00:06:21 [INFO] train episode 5529: reward = 117.00, steps = 117
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    00:06:21 [INFO] train episode 5531: reward = 145.00, steps = 145
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    00:06:21 [INFO] train episode 5533: reward = 144.00, steps = 144
    00:06:21 [INFO] train episode 5534: reward = 172.00, steps = 172
    00:06:21 [INFO] train episode 5535: reward = 200.00, steps = 200
    00:06:21 [INFO] train episode 5536: reward = 174.00, steps = 174
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    00:06:21 [INFO] train episode 5538: reward = 110.00, steps = 110
    00:06:21 [INFO] train episode 5539: reward = 105.00, steps = 105
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    00:06:21 [INFO] train episode 5545: reward = 100.00, steps = 100
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    00:06:22 [INFO] train episode 5551: reward = 138.00, steps = 138
    00:06:22 [INFO] train episode 5552: reward = 119.00, steps = 119
    00:06:22 [INFO] train episode 5553: reward = 171.00, steps = 171
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    00:06:22 [INFO] train episode 5557: reward = 148.00, steps = 148
    00:06:22 [INFO] train episode 5558: reward = 95.00, steps = 95
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    00:06:22 [INFO] train episode 5564: reward = 172.00, steps = 172
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    00:06:22 [INFO] train episode 5566: reward = 115.00, steps = 115
    00:06:22 [INFO] train episode 5567: reward = 98.00, steps = 98
    00:06:22 [INFO] train episode 5568: reward = 110.00, steps = 110
    00:06:22 [INFO] train episode 5569: reward = 116.00, steps = 116
    00:06:22 [INFO] train episode 5570: reward = 125.00, steps = 125
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    00:06:22 [INFO] train episode 5573: reward = 121.00, steps = 121
    00:06:23 [INFO] train episode 5574: reward = 200.00, steps = 200
    00:06:23 [INFO] train episode 5575: reward = 122.00, steps = 122
    00:06:23 [INFO] train episode 5576: reward = 109.00, steps = 109
    00:06:23 [INFO] train episode 5577: reward = 148.00, steps = 148
    00:06:23 [INFO] train episode 5578: reward = 137.00, steps = 137
    00:06:23 [INFO] train episode 5579: reward = 160.00, steps = 160
    00:06:23 [INFO] train episode 5580: reward = 101.00, steps = 101
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    00:06:23 [INFO] train episode 5582: reward = 90.00, steps = 90
    00:06:23 [INFO] train episode 5583: reward = 143.00, steps = 143
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    00:06:23 [INFO] train episode 5589: reward = 117.00, steps = 117
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    00:06:23 [INFO] train episode 5594: reward = 99.00, steps = 99
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    00:06:23 [INFO] train episode 5596: reward = 82.00, steps = 82
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    00:06:24 [INFO] train episode 5610: reward = 124.00, steps = 124
    00:06:24 [INFO] train episode 5611: reward = 92.00, steps = 92
    00:06:24 [INFO] train episode 5612: reward = 170.00, steps = 170
    00:06:24 [INFO] train episode 5613: reward = 119.00, steps = 119
    00:06:24 [INFO] train episode 5614: reward = 102.00, steps = 102
    00:06:24 [INFO] train episode 5615: reward = 163.00, steps = 163
    00:06:24 [INFO] train episode 5616: reward = 118.00, steps = 118
    00:06:24 [INFO] train episode 5617: reward = 200.00, steps = 200
    00:06:24 [INFO] train episode 5618: reward = 193.00, steps = 193
    00:06:24 [INFO] train episode 5619: reward = 144.00, steps = 144
    00:06:24 [INFO] train episode 5620: reward = 196.00, steps = 196
    00:06:24 [INFO] train episode 5621: reward = 200.00, steps = 200
    00:06:25 [INFO] train episode 5622: reward = 143.00, steps = 143
    00:06:25 [INFO] train episode 5623: reward = 99.00, steps = 99
    00:06:25 [INFO] train episode 5624: reward = 91.00, steps = 91
    00:06:25 [INFO] train episode 5625: reward = 106.00, steps = 106
    00:06:25 [INFO] train episode 5626: reward = 156.00, steps = 156
    00:06:25 [INFO] train episode 5627: reward = 127.00, steps = 127
    00:06:25 [INFO] train episode 5628: reward = 128.00, steps = 128
    00:06:25 [INFO] train episode 5629: reward = 163.00, steps = 163
    00:06:25 [INFO] train episode 5630: reward = 100.00, steps = 100
    00:06:25 [INFO] train episode 5631: reward = 172.00, steps = 172
    00:06:25 [INFO] train episode 5632: reward = 89.00, steps = 89
    00:06:25 [INFO] train episode 5633: reward = 100.00, steps = 100
    00:06:25 [INFO] train episode 5634: reward = 200.00, steps = 200
    00:06:25 [INFO] train episode 5635: reward = 96.00, steps = 96
    00:06:25 [INFO] train episode 5636: reward = 151.00, steps = 151
    00:06:25 [INFO] train episode 5637: reward = 119.00, steps = 119
    00:06:25 [INFO] train episode 5638: reward = 128.00, steps = 128
    00:06:25 [INFO] train episode 5639: reward = 142.00, steps = 142
    00:06:25 [INFO] train episode 5640: reward = 154.00, steps = 154
    00:06:25 [INFO] train episode 5641: reward = 116.00, steps = 116
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    00:06:29 [INFO] train episode 5711: reward = 151.00, steps = 151
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    00:06:29 [INFO] train episode 5714: reward = 152.00, steps = 152
    00:06:29 [INFO] train episode 5715: reward = 128.00, steps = 128
    00:06:29 [INFO] train episode 5716: reward = 117.00, steps = 117
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    00:06:29 [INFO] train episode 5719: reward = 200.00, steps = 200
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    00:06:29 [INFO] train episode 5721: reward = 150.00, steps = 150
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    00:06:29 [INFO] train episode 5724: reward = 194.00, steps = 194
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    00:06:29 [INFO] train episode 5726: reward = 173.00, steps = 173
    00:06:29 [INFO] train episode 5727: reward = 178.00, steps = 178
    00:06:29 [INFO] train episode 5728: reward = 192.00, steps = 192
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    00:06:29 [INFO] train episode 5730: reward = 200.00, steps = 200
    00:06:29 [INFO] train episode 5731: reward = 113.00, steps = 113
    00:06:29 [INFO] train episode 5732: reward = 138.00, steps = 138
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    00:06:38 [INFO] train episode 5910: reward = 174.00, steps = 174
    00:06:38 [INFO] train episode 5911: reward = 144.00, steps = 144
    00:06:38 [INFO] train episode 5912: reward = 173.00, steps = 173
    00:06:38 [INFO] train episode 5913: reward = 181.00, steps = 181
    00:06:38 [INFO] train episode 5914: reward = 147.00, steps = 147
    00:06:39 [INFO] train episode 5915: reward = 155.00, steps = 155
    00:06:39 [INFO] train episode 5916: reward = 179.00, steps = 179
    00:06:39 [INFO] train episode 5917: reward = 200.00, steps = 200
    00:06:39 [INFO] train episode 5918: reward = 166.00, steps = 166
    00:06:39 [INFO] train episode 5919: reward = 200.00, steps = 200
    00:06:39 [INFO] train episode 5920: reward = 197.00, steps = 197
    00:06:39 [INFO] train episode 5921: reward = 159.00, steps = 159
    00:06:39 [INFO] train episode 5922: reward = 164.00, steps = 164
    00:06:39 [INFO] train episode 5923: reward = 148.00, steps = 148
    00:06:39 [INFO] train episode 5924: reward = 192.00, steps = 192
    00:06:39 [INFO] train episode 5925: reward = 154.00, steps = 154
    00:06:39 [INFO] train episode 5926: reward = 181.00, steps = 181
    00:06:39 [INFO] train episode 5927: reward = 165.00, steps = 165
    00:06:39 [INFO] train episode 5928: reward = 197.00, steps = 197
    00:06:39 [INFO] train episode 5929: reward = 150.00, steps = 150
    00:06:39 [INFO] train episode 5930: reward = 194.00, steps = 194
    00:06:39 [INFO] train episode 5931: reward = 138.00, steps = 138
    00:06:39 [INFO] train episode 5932: reward = 200.00, steps = 200
    00:06:39 [INFO] train episode 5933: reward = 158.00, steps = 158
    00:06:40 [INFO] train episode 5934: reward = 193.00, steps = 193
    00:06:40 [INFO] train episode 5935: reward = 139.00, steps = 139
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    00:06:40 [INFO] train episode 5937: reward = 156.00, steps = 156
    00:06:40 [INFO] train episode 5938: reward = 148.00, steps = 148
    00:06:40 [INFO] train episode 5939: reward = 172.00, steps = 172
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    00:07:04 [INFO] ==== test ====
    00:07:04 [INFO] test episode 0: reward = 200.00, steps = 200
    00:07:04 [INFO] test episode 1: reward = 184.00, steps = 184
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    00:07:08 [INFO] test episode 80: reward = 200.00, steps = 200
    00:07:08 [INFO] test episode 81: reward = 200.00, steps = 200
    00:07:08 [INFO] test episode 82: reward = 200.00, steps = 200
    00:07:09 [INFO] test episode 83: reward = 200.00, steps = 200
    00:07:09 [INFO] test episode 84: reward = 189.00, steps = 189
    00:07:09 [INFO] test episode 85: reward = 200.00, steps = 200
    00:07:09 [INFO] test episode 86: reward = 200.00, steps = 200
    00:07:09 [INFO] test episode 87: reward = 200.00, steps = 200
    00:07:09 [INFO] test episode 88: reward = 200.00, steps = 200
    00:07:09 [INFO] test episode 89: reward = 200.00, steps = 200
    00:07:09 [INFO] test episode 90: reward = 200.00, steps = 200
    00:07:09 [INFO] test episode 91: reward = 200.00, steps = 200
    00:07:09 [INFO] test episode 92: reward = 200.00, steps = 200
    00:07:09 [INFO] test episode 93: reward = 200.00, steps = 200
    00:07:09 [INFO] test episode 94: reward = 184.00, steps = 184
    00:07:09 [INFO] test episode 95: reward = 200.00, steps = 200
    00:07:09 [INFO] test episode 96: reward = 197.00, steps = 197
    00:07:09 [INFO] test episode 97: reward = 200.00, steps = 200
    00:07:09 [INFO] test episode 98: reward = 200.00, steps = 200
    00:07:09 [INFO] test episode 99: reward = 200.00, steps = 200
    00:07:09 [INFO] average episode reward = 196.62 ± 7.61

In [5]:

    env.close()