diff --git "a/gns_checkpoints/Clothfold_GNS_12.07.10.59_11/log.txt" "b/gns_checkpoints/Clothfold_GNS_12.07.10.59_11/log.txt"
new file mode 100644--- /dev/null
+++ "b/gns_checkpoints/Clothfold_GNS_12.07.10.59_11/log.txt"
@@ -0,0 +1,4317 @@
+Logging to data/Clothfold_GNS_12.07.10.59_11
+train [0/1000] Loss: 1.3075inf
+------2022-12-07 11:55:55.258938 PST-------
+| lr                           | 0.0001   |
+| train/epoch                  | 0        |
+| vsbl/train/accel_loss        | 1.31     |
+| vsbl/train/lat_nxt_norm      | 2.76     |
+| vsbl/train/n_nxt_norm        | 6.74     |
+| vsbl/train/planning_error    | 1.36     |
+| vsbl/train/reward_pred_error | 0.424    |
+| vsbl/train/rollout_pos_error | 0.127    |
+| vsbl/train/sqrt_accel_loss   | 1.11     |
+| vsbl/train/total_loss        | 1.31     |
+-------------------------------------------
+valid [0/1000] Loss: 0.94820
+------2022-12-07 11:58:03.526348 PST-------
+| lr                           | 0.0001   |
+| valid/epoch                  | 0        |
+| vsbl/valid/accel_loss        | 0.948    |
+| vsbl/valid/lat_nxt_norm      | 3        |
+| vsbl/valid/n_nxt_norm        | 6.1      |
+| vsbl/valid/planning_error    | 1.39     |
+| vsbl/valid/reward_pred_error | 0.329    |
+| vsbl/valid/rollout_pos_error | 0.134    |
+| vsbl/valid/sqrt_accel_loss   | 0.845    |
+| vsbl/valid/total_loss        | 0.948    |
+-------------------------------------------
+train [1/1000] Loss: 0.76060
+------2022-12-07 12:52:35.733597 PST-------
+| lr                           | 0.0001   |
+| train/epoch                  | 1        |
+| vsbl/train/accel_loss        | 0.761    |
+| vsbl/train/lat_nxt_norm      | 3.17     |
+| vsbl/train/n_nxt_norm        | 5.96     |
+| vsbl/train/planning_error    | 1.24     |
+| vsbl/train/reward_pred_error | 0.209    |
+| vsbl/train/rollout_pos_error | 0.0775   |
+| vsbl/train/sqrt_accel_loss   | 0.854    |
+| vsbl/train/total_loss        | 0.761    |
+-------------------------------------------
+valid [1/1000] Loss: 0.71570
+------2022-12-07 12:54:28.847704 PST-------
+| lr                           | 0.0001   |
+| valid/epoch                  | 1        |
+| vsbl/valid/accel_loss        | 0.716    |
+| vsbl/valid/lat_nxt_norm      | 2.99     |
+| vsbl/valid/n_nxt_norm        | 6.02     |
+| vsbl/valid/planning_error    | 1.31     |
+| vsbl/valid/reward_pred_error | 0.21     |
+| vsbl/valid/rollout_pos_error | 0.086    |
+| vsbl/valid/sqrt_accel_loss   | 0.738    |
+| vsbl/valid/total_loss        | 0.716    |
+-------------------------------------------
+train [2/1000] Loss: 0.60080
+------2022-12-07 13:48:35.168019 PST-------
+| lr                           | 0.0001   |
+| train/epoch                  | 2        |
+| vsbl/train/accel_loss        | 0.601    |
+| vsbl/train/lat_nxt_norm      | 3.04     |
+| vsbl/train/n_nxt_norm        | 5.99     |
+| vsbl/train/planning_error    | 1.49     |
+| vsbl/train/reward_pred_error | 0.316    |
+| vsbl/train/rollout_pos_error | 0.0784   |
+| vsbl/train/sqrt_accel_loss   | 0.76     |
+| vsbl/train/total_loss        | 0.601    |
+-------------------------------------------
+valid [2/1000] Loss: 0.60820
+------2022-12-07 13:50:28.173284 PST-------
+| lr                           | 0.0001   |
+| valid/epoch                  | 2        |
+| vsbl/valid/accel_loss        | 0.608    |
+| vsbl/valid/lat_nxt_norm      | 2.84     |
+| vsbl/valid/n_nxt_norm        | 6.18     |
+| vsbl/valid/planning_error    | 1.27     |
+| vsbl/valid/reward_pred_error | 0.291    |
+| vsbl/valid/rollout_pos_error | 0.0792   |
+| vsbl/valid/sqrt_accel_loss   | 0.675    |
+| vsbl/valid/total_loss        | 0.608    |
+-------------------------------------------
+train [3/1000] Loss: 0.52100
+------2022-12-07 14:44:25.542983 PST-------
+| lr                           | 0.0001   |
+| train/epoch                  | 3        |
+| vsbl/train/accel_loss        | 0.521    |
+| vsbl/train/lat_nxt_norm      | 2.83     |
+| vsbl/train/n_nxt_norm        | 5.93     |
+| vsbl/train/planning_error    | 1.28     |
+| vsbl/train/reward_pred_error | 0.242    |
+| vsbl/train/rollout_pos_error | 0.0485   |
+| vsbl/train/sqrt_accel_loss   | 0.708    |
+| vsbl/train/total_loss        | 0.521    |
+-------------------------------------------
+valid [3/1000] Loss: 0.54860
+------2022-12-07 14:46:18.037124 PST-------
+| lr                           | 0.0001   |
+| valid/epoch                  | 3        |
+| vsbl/valid/accel_loss        | 0.549    |
+| vsbl/valid/lat_nxt_norm      | 2.77     |
+| vsbl/valid/n_nxt_norm        | 5.83     |
+| vsbl/valid/planning_error    | 1.35     |
+| vsbl/valid/reward_pred_error | 0.293    |
+| vsbl/valid/rollout_pos_error | 0.057    |
+| vsbl/valid/sqrt_accel_loss   | 0.643    |
+| vsbl/valid/total_loss        | 0.549    |
+-------------------------------------------
+train [4/1000] Loss: 0.46630
+------2022-12-07 15:40:16.181366 PST-------
+| lr                           | 0.0001   |
+| train/epoch                  | 4        |
+| vsbl/train/accel_loss        | 0.466    |
+| vsbl/train/lat_nxt_norm      | 2.73     |
+| vsbl/train/n_nxt_norm        | 5.9      |
+| vsbl/train/planning_error    | 1.28     |
+| vsbl/train/reward_pred_error | 0.269    |
+| vsbl/train/rollout_pos_error | 0.061    |
+| vsbl/train/sqrt_accel_loss   | 0.669    |
+| vsbl/train/total_loss        | 0.466    |
+-------------------------------------------
+valid [4/1000] Loss: 0.48780
+------2022-12-07 15:42:09.369666 PST-------
+| lr                           | 8e-05    |
+| valid/epoch                  | 4        |
+| vsbl/valid/accel_loss        | 0.488    |
+| vsbl/valid/lat_nxt_norm      | 2.64     |
+| vsbl/valid/n_nxt_norm        | 5.79     |
+| vsbl/valid/planning_error    | 1.11     |
+| vsbl/valid/reward_pred_error | 0.249    |
+| vsbl/valid/rollout_pos_error | 0.0587   |
+| vsbl/valid/sqrt_accel_loss   | 0.599    |
+| vsbl/valid/total_loss        | 0.488    |
+-------------------------------------------
+train [5/1000] Loss: 0.41300
+------2022-12-07 16:36:05.090354 PST-------
+| lr                           | 8e-05    |
+| train/epoch                  | 5        |
+| vsbl/train/accel_loss        | 0.413    |
+| vsbl/train/lat_nxt_norm      | 2.7      |
+| vsbl/train/n_nxt_norm        | 5.93     |
+| vsbl/train/planning_error    | 1.41     |
+| vsbl/train/reward_pred_error | 0.312    |
+| vsbl/train/rollout_pos_error | 0.0576   |
+| vsbl/train/sqrt_accel_loss   | 0.629    |
+| vsbl/train/total_loss        | 0.413    |
+-------------------------------------------
+valid [5/1000] Loss: 0.45270
+------2022-12-07 16:37:58.002087 PST-------
+| lr                           | 8e-05    |
+| valid/epoch                  | 5        |
+| vsbl/valid/accel_loss        | 0.453    |
+| vsbl/valid/lat_nxt_norm      | 2.67     |
+| vsbl/valid/n_nxt_norm        | 5.99     |
+| vsbl/valid/planning_error    | 1.26     |
+| vsbl/valid/reward_pred_error | 0.233    |
+| vsbl/valid/rollout_pos_error | 0.0493   |
+| vsbl/valid/sqrt_accel_loss   | 0.579    |
+| vsbl/valid/total_loss        | 0.453    |
+-------------------------------------------
+train [6/1000] Loss: 0.38390
+------2022-12-07 17:31:55.566283 PST-------
+| lr                           | 8e-05    |
+| train/epoch                  | 6        |
+| vsbl/train/accel_loss        | 0.384    |
+| vsbl/train/lat_nxt_norm      | 2.68     |
+| vsbl/train/n_nxt_norm        | 5.98     |
+| vsbl/train/planning_error    | 1.38     |
+| vsbl/train/reward_pred_error | 0.277    |
+| vsbl/train/rollout_pos_error | 0.0315   |
+| vsbl/train/sqrt_accel_loss   | 0.607    |
+| vsbl/train/total_loss        | 0.384    |
+-------------------------------------------
+valid [6/1000] Loss: 0.41450
+------2022-12-07 17:33:48.524918 PST-------
+| lr                           | 8e-05    |
+| valid/epoch                  | 6        |
+| vsbl/valid/accel_loss        | 0.414    |
+| vsbl/valid/lat_nxt_norm      | 2.7      |
+| vsbl/valid/n_nxt_norm        | 6.28     |
+| vsbl/valid/planning_error    | 1.29     |
+| vsbl/valid/reward_pred_error | 0.244    |
+| vsbl/valid/rollout_pos_error | 0.0346   |
+| vsbl/valid/sqrt_accel_loss   | 0.551    |
+| vsbl/valid/total_loss        | 0.414    |
+-------------------------------------------
+train [7/1000] Loss: 0.36270
+------2022-12-07 18:27:44.202279 PST-------
+| lr                           | 8e-05    |
+| train/epoch                  | 7        |
+| vsbl/train/accel_loss        | 0.363    |
+| vsbl/train/lat_nxt_norm      | 2.68     |
+| vsbl/train/n_nxt_norm        | 6.06     |
+| vsbl/train/planning_error    | 1.29     |
+| vsbl/train/reward_pred_error | 0.231    |
+| vsbl/train/rollout_pos_error | 0.0318   |
+| vsbl/train/sqrt_accel_loss   | 0.59     |
+| vsbl/train/total_loss        | 0.363    |
+-------------------------------------------
+valid [7/1000] Loss: 0.38090
+------2022-12-07 18:29:37.862913 PST-------
+| lr                           | 8e-05    |
+| valid/epoch                  | 7        |
+| vsbl/valid/accel_loss        | 0.381    |
+| vsbl/valid/lat_nxt_norm      | 2.65     |
+| vsbl/valid/n_nxt_norm        | 6.1      |
+| vsbl/valid/planning_error    | 1.35     |
+| vsbl/valid/reward_pred_error | 0.272    |
+| vsbl/valid/rollout_pos_error | 0.0331   |
+| vsbl/valid/sqrt_accel_loss   | 0.528    |
+| vsbl/valid/total_loss        | 0.381    |
+-------------------------------------------
+train [8/1000] Loss: 0.34370
+------2022-12-07 19:23:37.885592 PST-------
+| lr                           | 8e-05    |
+| train/epoch                  | 8        |
+| vsbl/train/accel_loss        | 0.344    |
+| vsbl/train/lat_nxt_norm      | 2.69     |
+| vsbl/train/n_nxt_norm        | 6.16     |
+| vsbl/train/planning_error    | 1.42     |
+| vsbl/train/reward_pred_error | 0.372    |
+| vsbl/train/rollout_pos_error | 0.0289   |
+| vsbl/train/sqrt_accel_loss   | 0.574    |
+| vsbl/train/total_loss        | 0.344    |
+-------------------------------------------
+valid [8/1000] Loss: 0.37900
+------2022-12-07 19:25:30.321919 PST-------
+| lr                           | 6.4e-05  |
+| valid/epoch                  | 8        |
+| vsbl/valid/accel_loss        | 0.379    |
+| vsbl/valid/lat_nxt_norm      | 2.7      |
+| vsbl/valid/n_nxt_norm        | 6.27     |
+| vsbl/valid/planning_error    | 1.27     |
+| vsbl/valid/reward_pred_error | 0.305    |
+| vsbl/valid/rollout_pos_error | 0.0274   |
+| vsbl/valid/sqrt_accel_loss   | 0.53     |
+| vsbl/valid/total_loss        | 0.379    |
+-------------------------------------------
+train [9/1000] Loss: 0.31680
+------2022-12-07 20:19:31.536637 PST-------
+| lr                           | 6.4e-05  |
+| train/epoch                  | 9        |
+| vsbl/train/accel_loss        | 0.317    |
+| vsbl/train/lat_nxt_norm      | 2.71     |
+| vsbl/train/n_nxt_norm        | 6.27     |
+| vsbl/train/planning_error    | 1.39     |
+| vsbl/train/reward_pred_error | 0.342    |
+| vsbl/train/rollout_pos_error | 0.0323   |
+| vsbl/train/sqrt_accel_loss   | 0.551    |
+| vsbl/train/total_loss        | 0.317    |
+-------------------------------------------
+valid [9/1000] Loss: 0.34460
+------2022-12-07 20:21:24.841069 PST-------
+| lr                           | 6.4e-05  |
+| valid/epoch                  | 9        |
+| vsbl/valid/accel_loss        | 0.345    |
+| vsbl/valid/lat_nxt_norm      | 2.73     |
+| vsbl/valid/n_nxt_norm        | 6.32     |
+| vsbl/valid/planning_error    | 1.19     |
+| vsbl/valid/reward_pred_error | 0.239    |
+| vsbl/valid/rollout_pos_error | 0.0378   |
+| vsbl/valid/sqrt_accel_loss   | 0.503    |
+| vsbl/valid/total_loss        | 0.345    |
+-------------------------------------------
+train [10/1000] Loss: 0.30410
+------2022-12-07 21:15:17.781126 PST-------
+| lr                           | 6.4e-05  |
+| train/epoch                  | 10       |
+| vsbl/train/accel_loss        | 0.304    |
+| vsbl/train/lat_nxt_norm      | 2.75     |
+| vsbl/train/n_nxt_norm        | 6.36     |
+| vsbl/train/planning_error    | 1.51     |
+| vsbl/train/reward_pred_error | 0.275    |
+| vsbl/train/rollout_pos_error | 0.0257   |
+| vsbl/train/sqrt_accel_loss   | 0.54     |
+| vsbl/train/total_loss        | 0.304    |
+-------------------------------------------
+valid [10/1000] Loss: 0.33230
+------2022-12-07 21:17:10.826210 PST-------
+| lr                           | 6.4e-05  |
+| valid/epoch                  | 10       |
+| vsbl/valid/accel_loss        | 0.332    |
+| vsbl/valid/lat_nxt_norm      | 2.75     |
+| vsbl/valid/n_nxt_norm        | 6.41     |
+| vsbl/valid/planning_error    | 1.39     |
+| vsbl/valid/reward_pred_error | 0.276    |
+| vsbl/valid/rollout_pos_error | 0.0259   |
+| vsbl/valid/sqrt_accel_loss   | 0.494    |
+| vsbl/valid/total_loss        | 0.332    |
+-------------------------------------------
+train [11/1000] Loss: 0.29260
+------2022-12-07 22:11:10.848287 PST-------
+| lr                           | 6.4e-05  |
+| train/epoch                  | 11       |
+| vsbl/train/accel_loss        | 0.293    |
+| vsbl/train/lat_nxt_norm      | 2.79     |
+| vsbl/train/n_nxt_norm        | 6.47     |
+| vsbl/train/planning_error    | 1.52     |
+| vsbl/train/reward_pred_error | 0.351    |
+| vsbl/train/rollout_pos_error | 0.0221   |
+| vsbl/train/sqrt_accel_loss   | 0.53     |
+| vsbl/train/total_loss        | 0.293    |
+-------------------------------------------
+valid [11/1000] Loss: 0.31670
+------2022-12-07 22:13:04.282557 PST-------
+| lr                           | 6.4e-05  |
+| valid/epoch                  | 11       |
+| vsbl/valid/accel_loss        | 0.317    |
+| vsbl/valid/lat_nxt_norm      | 2.78     |
+| vsbl/valid/n_nxt_norm        | 6.56     |
+| vsbl/valid/planning_error    | 1.28     |
+| vsbl/valid/reward_pred_error | 0.352    |
+| vsbl/valid/rollout_pos_error | 0.0233   |
+| vsbl/valid/sqrt_accel_loss   | 0.481    |
+| vsbl/valid/total_loss        | 0.317    |
+-------------------------------------------
+train [12/1000] Loss: 0.28360
+------2022-12-07 23:07:10.603620 PST-------
+| lr                           | 6.4e-05  |
+| train/epoch                  | 12       |
+| vsbl/train/accel_loss        | 0.284    |
+| vsbl/train/lat_nxt_norm      | 2.82     |
+| vsbl/train/n_nxt_norm        | 6.54     |
+| vsbl/train/planning_error    | 1.41     |
+| vsbl/train/reward_pred_error | 0.297    |
+| vsbl/train/rollout_pos_error | 0.0278   |
+| vsbl/train/sqrt_accel_loss   | 0.522    |
+| vsbl/train/total_loss        | 0.284    |
+-------------------------------------------
+valid [12/1000] Loss: 0.31300
+------2022-12-07 23:09:04.684914 PST-------
+| lr                           | 5.12e-05 |
+| valid/epoch                  | 12       |
+| vsbl/valid/accel_loss        | 0.313    |
+| vsbl/valid/lat_nxt_norm      | 2.81     |
+| vsbl/valid/n_nxt_norm        | 6.67     |
+| vsbl/valid/planning_error    | 1.22     |
+| vsbl/valid/reward_pred_error | 0.236    |
+| vsbl/valid/rollout_pos_error | 0.0251   |
+| vsbl/valid/sqrt_accel_loss   | 0.477    |
+| vsbl/valid/total_loss        | 0.313    |
+-------------------------------------------
+train [13/1000] Loss: 0.26570
+------2022-12-08 00:03:14.886687 PST-------
+| lr                           | 5.12e-05 |
+| train/epoch                  | 13       |
+| vsbl/train/accel_loss        | 0.266    |
+| vsbl/train/lat_nxt_norm      | 2.87     |
+| vsbl/train/n_nxt_norm        | 6.63     |
+| vsbl/train/planning_error    | 1.4      |
+| vsbl/train/reward_pred_error | 0.229    |
+| vsbl/train/rollout_pos_error | 0.019    |
+| vsbl/train/sqrt_accel_loss   | 0.505    |
+| vsbl/train/total_loss        | 0.266    |
+-------------------------------------------
+valid [13/1000] Loss: 0.29380
+------2022-12-08 00:05:10.161476 PST-------
+| lr                           | 5.12e-05 |
+| valid/epoch                  | 13       |
+| vsbl/valid/accel_loss        | 0.294    |
+| vsbl/valid/lat_nxt_norm      | 2.86     |
+| vsbl/valid/n_nxt_norm        | 6.67     |
+| vsbl/valid/planning_error    | 1.34     |
+| vsbl/valid/reward_pred_error | 0.396    |
+| vsbl/valid/rollout_pos_error | 0.0231   |
+| vsbl/valid/sqrt_accel_loss   | 0.464    |
+| vsbl/valid/total_loss        | 0.294    |
+-------------------------------------------
+train [14/1000] Loss: 0.25800
+------2022-12-08 00:59:30.910067 PST-------
+| lr                           | 5.12e-05 |
+| train/epoch                  | 14       |
+| vsbl/train/accel_loss        | 0.258    |
+| vsbl/train/lat_nxt_norm      | 2.9      |
+| vsbl/train/n_nxt_norm        | 6.71     |
+| vsbl/train/planning_error    | 1.17     |
+| vsbl/train/reward_pred_error | 0.256    |
+| vsbl/train/rollout_pos_error | 0.0208   |
+| vsbl/train/sqrt_accel_loss   | 0.498    |
+| vsbl/train/total_loss        | 0.258    |
+-------------------------------------------
+valid [14/1000] Loss: 0.29040
+------2022-12-08 01:01:23.760287 PST-------
+| lr                           | 5.12e-05 |
+| valid/epoch                  | 14       |
+| vsbl/valid/accel_loss        | 0.29     |
+| vsbl/valid/lat_nxt_norm      | 2.94     |
+| vsbl/valid/n_nxt_norm        | 6.85     |
+| vsbl/valid/planning_error    | 1.3      |
+| vsbl/valid/reward_pred_error | 0.307    |
+| vsbl/valid/rollout_pos_error | 0.0207   |
+| vsbl/valid/sqrt_accel_loss   | 0.462    |
+| vsbl/valid/total_loss        | 0.29     |
+-------------------------------------------
+train [15/1000] Loss: 0.25180
+------2022-12-08 01:55:34.813926 PST-------
+| lr                           | 5.12e-05 |
+| train/epoch                  | 15       |
+| vsbl/train/accel_loss        | 0.252    |
+| vsbl/train/lat_nxt_norm      | 2.92     |
+| vsbl/train/n_nxt_norm        | 6.78     |
+| vsbl/train/planning_error    | 1.44     |
+| vsbl/train/reward_pred_error | 0.297    |
+| vsbl/train/rollout_pos_error | 0.0243   |
+| vsbl/train/sqrt_accel_loss   | 0.492    |
+| vsbl/train/total_loss        | 0.252    |
+-------------------------------------------
+valid [15/1000] Loss: 0.28510
+------2022-12-08 01:57:32.868471 PST-------
+| lr                           | 5.12e-05 |
+| valid/epoch                  | 15       |
+| vsbl/valid/accel_loss        | 0.285    |
+| vsbl/valid/lat_nxt_norm      | 2.98     |
+| vsbl/valid/n_nxt_norm        | 6.78     |
+| vsbl/valid/planning_error    | 1.25     |
+| vsbl/valid/reward_pred_error | 0.257    |
+| vsbl/valid/rollout_pos_error | 0.0246   |
+| vsbl/valid/sqrt_accel_loss   | 0.458    |
+| vsbl/valid/total_loss        | 0.285    |
+-------------------------------------------
+train [16/1000] Loss: 0.24600
+------2022-12-08 02:51:40.714857 PST-------
+| lr                           | 5.12e-05 |
+| train/epoch                  | 16       |
+| vsbl/train/accel_loss        | 0.246    |
+| vsbl/train/lat_nxt_norm      | 2.96     |
+| vsbl/train/n_nxt_norm        | 6.85     |
+| vsbl/train/planning_error    | 1.53     |
+| vsbl/train/reward_pred_error | 0.274    |
+| vsbl/train/rollout_pos_error | 0.0223   |
+| vsbl/train/sqrt_accel_loss   | 0.486    |
+| vsbl/train/total_loss        | 0.246    |
+-------------------------------------------
+valid [16/1000] Loss: 0.27560
+------2022-12-08 02:53:34.297116 PST-------
+| lr                           | 4.1e-05  |
+| valid/epoch                  | 16       |
+| vsbl/valid/accel_loss        | 0.276    |
+| vsbl/valid/lat_nxt_norm      | 2.95     |
+| vsbl/valid/n_nxt_norm        | 6.91     |
+| vsbl/valid/planning_error    | 1.4      |
+| vsbl/valid/reward_pred_error | 0.256    |
+| vsbl/valid/rollout_pos_error | 0.0174   |
+| vsbl/valid/sqrt_accel_loss   | 0.45     |
+| vsbl/valid/total_loss        | 0.276    |
+-------------------------------------------
+train [17/1000] Loss: 0.23340
+------2022-12-08 03:47:54.608390 PST-------
+| lr                           | 4.1e-05  |
+| train/epoch                  | 17       |
+| vsbl/train/accel_loss        | 0.233    |
+| vsbl/train/lat_nxt_norm      | 2.99     |
+| vsbl/train/n_nxt_norm        | 6.92     |
+| vsbl/train/planning_error    | 1.19     |
+| vsbl/train/reward_pred_error | 0.3      |
+| vsbl/train/rollout_pos_error | 0.0217   |
+| vsbl/train/sqrt_accel_loss   | 0.474    |
+| vsbl/train/total_loss        | 0.233    |
+-------------------------------------------
+valid [17/1000] Loss: 0.26060
+------2022-12-08 03:49:47.765560 PST-------
+| lr                           | 4.1e-05  |
+| valid/epoch                  | 17       |
+| vsbl/valid/accel_loss        | 0.261    |
+| vsbl/valid/lat_nxt_norm      | 2.98     |
+| vsbl/valid/n_nxt_norm        | 6.93     |
+| vsbl/valid/planning_error    | 1.37     |
+| vsbl/valid/reward_pred_error | 0.282    |
+| vsbl/valid/rollout_pos_error | 0.0257   |
+| vsbl/valid/sqrt_accel_loss   | 0.438    |
+| vsbl/valid/total_loss        | 0.261    |
+-------------------------------------------
+train [18/1000] Loss: 0.22830
+------2022-12-08 04:44:02.549747 PST-------
+| lr                           | 4.1e-05  |
+| train/epoch                  | 18       |
+| vsbl/train/accel_loss        | 0.228    |
+| vsbl/train/lat_nxt_norm      | 3.01     |
+| vsbl/train/n_nxt_norm        | 6.98     |
+| vsbl/train/planning_error    | 1.43     |
+| vsbl/train/reward_pred_error | 0.327    |
+| vsbl/train/rollout_pos_error | 0.0216   |
+| vsbl/train/sqrt_accel_loss   | 0.469    |
+| vsbl/train/total_loss        | 0.228    |
+-------------------------------------------
+valid [18/1000] Loss: 0.26240
+------2022-12-08 04:45:59.168356 PST-------
+| lr                           | 4.1e-05  |
+| valid/epoch                  | 18       |
+| vsbl/valid/accel_loss        | 0.262    |
+| vsbl/valid/lat_nxt_norm      | 3.01     |
+| vsbl/valid/n_nxt_norm        | 7.05     |
+| vsbl/valid/planning_error    | 1.4      |
+| vsbl/valid/reward_pred_error | 0.371    |
+| vsbl/valid/rollout_pos_error | 0.023    |
+| vsbl/valid/sqrt_accel_loss   | 0.439    |
+| vsbl/valid/total_loss        | 0.262    |
+-------------------------------------------
+train [19/1000] Loss: 0.22400
+------2022-12-08 05:40:12.408682 PST-------
+| lr                           | 4.1e-05  |
+| train/epoch                  | 19       |
+| vsbl/train/accel_loss        | 0.224    |
+| vsbl/train/lat_nxt_norm      | 3.04     |
+| vsbl/train/n_nxt_norm        | 7.03     |
+| vsbl/train/planning_error    | 1.43     |
+| vsbl/train/reward_pred_error | 0.235    |
+| vsbl/train/rollout_pos_error | 0.0217   |
+| vsbl/train/sqrt_accel_loss   | 0.464    |
+| vsbl/train/total_loss        | 0.224    |
+-------------------------------------------
+valid [19/1000] Loss: 0.25340
+------2022-12-08 05:42:05.437930 PST-------
+| lr                           | 4.1e-05  |
+| valid/epoch                  | 19       |
+| vsbl/valid/accel_loss        | 0.253    |
+| vsbl/valid/lat_nxt_norm      | 3.02     |
+| vsbl/valid/n_nxt_norm        | 7.06     |
+| vsbl/valid/planning_error    | 1.23     |
+| vsbl/valid/reward_pred_error | 0.244    |
+| vsbl/valid/rollout_pos_error | 0.0251   |
+| vsbl/valid/sqrt_accel_loss   | 0.431    |
+| vsbl/valid/total_loss        | 0.253    |
+-------------------------------------------
+train [20/1000] Loss: 0.21980
+------2022-12-08 06:36:24.563014 PST-------
+| lr                           | 4.1e-05  |
+| train/epoch                  | 20       |
+| vsbl/train/accel_loss        | 0.22     |
+| vsbl/train/lat_nxt_norm      | 3.07     |
+| vsbl/train/n_nxt_norm        | 7.08     |
+| vsbl/train/planning_error    | 1.44     |
+| vsbl/train/reward_pred_error | 0.239    |
+| vsbl/train/rollout_pos_error | 0.018    |
+| vsbl/train/sqrt_accel_loss   | 0.46     |
+| vsbl/train/total_loss        | 0.22     |
+-------------------------------------------
+valid [20/1000] Loss: 0.25260
+------2022-12-08 06:38:18.374321 PST-------
+| lr                           | 3.28e-05 |
+| valid/epoch                  | 20       |
+| vsbl/valid/accel_loss        | 0.253    |
+| vsbl/valid/lat_nxt_norm      | 3.11     |
+| vsbl/valid/n_nxt_norm        | 7.15     |
+| vsbl/valid/planning_error    | 1.32     |
+| vsbl/valid/reward_pred_error | 0.33     |
+| vsbl/valid/rollout_pos_error | 0.0193   |
+| vsbl/valid/sqrt_accel_loss   | 0.431    |
+| vsbl/valid/total_loss        | 0.253    |
+-------------------------------------------
+train [21/1000] Loss: 0.21130
+------2022-12-08 07:32:17.386983 PST-------
+| lr                           | 3.28e-05 |
+| train/epoch                  | 21       |
+| vsbl/train/accel_loss        | 0.211    |
+| vsbl/train/lat_nxt_norm      | 3.08     |
+| vsbl/train/n_nxt_norm        | 7.13     |
+| vsbl/train/planning_error    | 1.33     |
+| vsbl/train/reward_pred_error | 0.267    |
+| vsbl/train/rollout_pos_error | 0.0208   |
+| vsbl/train/sqrt_accel_loss   | 0.451    |
+| vsbl/train/total_loss        | 0.211    |
+-------------------------------------------
+valid [21/1000] Loss: 0.24240
+------2022-12-08 07:34:10.348875 PST-------
+| lr                           | 3.28e-05 |
+| valid/epoch                  | 21       |
+| vsbl/valid/accel_loss        | 0.242    |
+| vsbl/valid/lat_nxt_norm      | 3.09     |
+| vsbl/valid/n_nxt_norm        | 7.23     |
+| vsbl/valid/planning_error    | 1.38     |
+| vsbl/valid/reward_pred_error | 0.365    |
+| vsbl/valid/rollout_pos_error | 0.0219   |
+| vsbl/valid/sqrt_accel_loss   | 0.423    |
+| vsbl/valid/total_loss        | 0.242    |
+-------------------------------------------
+train [22/1000] Loss: 0.20770
+------2022-12-08 08:28:04.483455 PST-------
+| lr                           | 3.28e-05 |
+| train/epoch                  | 22       |
+| vsbl/train/accel_loss        | 0.208    |
+| vsbl/train/lat_nxt_norm      | 3.1      |
+| vsbl/train/n_nxt_norm        | 7.17     |
+| vsbl/train/planning_error    | 1.62     |
+| vsbl/train/reward_pred_error | 0.366    |
+| vsbl/train/rollout_pos_error | 0.0189   |
+| vsbl/train/sqrt_accel_loss   | 0.447    |
+| vsbl/train/total_loss        | 0.208    |
+-------------------------------------------
+valid [22/1000] Loss: 0.24120
+------2022-12-08 08:29:57.751367 PST-------
+| lr                           | 3.28e-05 |
+| valid/epoch                  | 22       |
+| vsbl/valid/accel_loss        | 0.241    |
+| vsbl/valid/lat_nxt_norm      | 3.14     |
+| vsbl/valid/n_nxt_norm        | 7.27     |
+| vsbl/valid/planning_error    | 1.4      |
+| vsbl/valid/reward_pred_error | 0.281    |
+| vsbl/valid/rollout_pos_error | 0.0252   |
+| vsbl/valid/sqrt_accel_loss   | 0.421    |
+| vsbl/valid/total_loss        | 0.241    |
+-------------------------------------------
+train [23/1000] Loss: 0.20470
+------2022-12-08 09:23:55.122147 PST-------
+| lr                           | 3.28e-05 |
+| train/epoch                  | 23       |
+| vsbl/train/accel_loss        | 0.205    |
+| vsbl/train/lat_nxt_norm      | 3.11     |
+| vsbl/train/n_nxt_norm        | 7.19     |
+| vsbl/train/planning_error    | 1.45     |
+| vsbl/train/reward_pred_error | 0.389    |
+| vsbl/train/rollout_pos_error | 0.0177   |
+| vsbl/train/sqrt_accel_loss   | 0.444    |
+| vsbl/train/total_loss        | 0.205    |
+-------------------------------------------
+valid [23/1000] Loss: 0.23370
+------2022-12-08 09:25:48.774637 PST-------
+| lr                           | 3.28e-05 |
+| valid/epoch                  | 23       |
+| vsbl/valid/accel_loss        | 0.234    |
+| vsbl/valid/lat_nxt_norm      | 3.09     |
+| vsbl/valid/n_nxt_norm        | 7.23     |
+| vsbl/valid/planning_error    | 1.5      |
+| vsbl/valid/reward_pred_error | 0.373    |
+| vsbl/valid/rollout_pos_error | 0.0199   |
+| vsbl/valid/sqrt_accel_loss   | 0.414    |
+| vsbl/valid/total_loss        | 0.234    |
+-------------------------------------------
+train [24/1000] Loss: 0.20170
+------2022-12-08 10:19:53.581669 PST-------
+| lr                           | 3.28e-05 |
+| train/epoch                  | 24       |
+| vsbl/train/accel_loss        | 0.202    |
+| vsbl/train/lat_nxt_norm      | 3.13     |
+| vsbl/train/n_nxt_norm        | 7.24     |
+| vsbl/train/planning_error    | 1.48     |
+| vsbl/train/reward_pred_error | 0.335    |
+| vsbl/train/rollout_pos_error | 0.0236   |
+| vsbl/train/sqrt_accel_loss   | 0.441    |
+| vsbl/train/total_loss        | 0.202    |
+-------------------------------------------
+valid [24/1000] Loss: 0.23400
+------2022-12-08 10:21:47.239506 PST-------
+| lr                           | 2.62e-05 |
+| valid/epoch                  | 24       |
+| vsbl/valid/accel_loss        | 0.234    |
+| vsbl/valid/lat_nxt_norm      | 3.15     |
+| vsbl/valid/n_nxt_norm        | 7.34     |
+| vsbl/valid/planning_error    | 1.15     |
+| vsbl/valid/reward_pred_error | 0.243    |
+| vsbl/valid/rollout_pos_error | 0.0186   |
+| vsbl/valid/sqrt_accel_loss   | 0.414    |
+| vsbl/valid/total_loss        | 0.234    |
+-------------------------------------------
+train [25/1000] Loss: 0.19520
+------2022-12-08 11:15:50.034563 PST-------
+| lr                           | 2.62e-05 |
+| train/epoch                  | 25       |
+| vsbl/train/accel_loss        | 0.195    |
+| vsbl/train/lat_nxt_norm      | 3.15     |
+| vsbl/train/n_nxt_norm        | 7.27     |
+| vsbl/train/planning_error    | 1.31     |
+| vsbl/train/reward_pred_error | 0.218    |
+| vsbl/train/rollout_pos_error | 0.0173   |
+| vsbl/train/sqrt_accel_loss   | 0.434    |
+| vsbl/train/total_loss        | 0.195    |
+-------------------------------------------
+valid [25/1000] Loss: 0.22720
+------2022-12-08 11:17:43.266588 PST-------
+| lr                           | 2.62e-05 |
+| valid/epoch                  | 25       |
+| vsbl/valid/accel_loss        | 0.227    |
+| vsbl/valid/lat_nxt_norm      | 3.14     |
+| vsbl/valid/n_nxt_norm        | 7.28     |
+| vsbl/valid/planning_error    | 1.39     |
+| vsbl/valid/reward_pred_error | 0.308    |
+| vsbl/valid/rollout_pos_error | 0.0181   |
+| vsbl/valid/sqrt_accel_loss   | 0.409    |
+| vsbl/valid/total_loss        | 0.227    |
+-------------------------------------------
+train [26/1000] Loss: 0.19260
+------2022-12-08 12:11:46.263907 PST-------
+| lr                           | 2.62e-05 |
+| train/epoch                  | 26       |
+| vsbl/train/accel_loss        | 0.193    |
+| vsbl/train/lat_nxt_norm      | 3.16     |
+| vsbl/train/n_nxt_norm        | 7.29     |
+| vsbl/train/planning_error    | 1.24     |
+| vsbl/train/reward_pred_error | 0.264    |
+| vsbl/train/rollout_pos_error | 0.0173   |
+| vsbl/train/sqrt_accel_loss   | 0.431    |
+| vsbl/train/total_loss        | 0.193    |
+-------------------------------------------
+valid [26/1000] Loss: 0.22220
+------2022-12-08 12:13:39.440545 PST-------
+| lr                           | 2.62e-05 |
+| valid/epoch                  | 26       |
+| vsbl/valid/accel_loss        | 0.222    |
+| vsbl/valid/lat_nxt_norm      | 3.18     |
+| vsbl/valid/n_nxt_norm        | 7.33     |
+| vsbl/valid/planning_error    | 1.35     |
+| vsbl/valid/reward_pred_error | 0.27     |
+| vsbl/valid/rollout_pos_error | 0.0187   |
+| vsbl/valid/sqrt_accel_loss   | 0.404    |
+| vsbl/valid/total_loss        | 0.222    |
+-------------------------------------------
+train [27/1000] Loss: 0.19070
+------2022-12-08 13:07:38.139216 PST-------
+| lr                           | 2.62e-05 |
+| train/epoch                  | 27       |
+| vsbl/train/accel_loss        | 0.191    |
+| vsbl/train/lat_nxt_norm      | 3.18     |
+| vsbl/train/n_nxt_norm        | 7.33     |
+| vsbl/train/planning_error    | 1.57     |
+| vsbl/train/reward_pred_error | 0.332    |
+| vsbl/train/rollout_pos_error | 0.0209   |
+| vsbl/train/sqrt_accel_loss   | 0.429    |
+| vsbl/train/total_loss        | 0.191    |
+-------------------------------------------
+valid [27/1000] Loss: 0.22170
+------2022-12-08 13:09:31.400855 PST-------
+| lr                           | 2.62e-05 |
+| valid/epoch                  | 27       |
+| vsbl/valid/accel_loss        | 0.222    |
+| vsbl/valid/lat_nxt_norm      | 3.17     |
+| vsbl/valid/n_nxt_norm        | 7.39     |
+| vsbl/valid/planning_error    | 1.13     |
+| vsbl/valid/reward_pred_error | 0.258    |
+| vsbl/valid/rollout_pos_error | 0.0186   |
+| vsbl/valid/sqrt_accel_loss   | 0.404    |
+| vsbl/valid/total_loss        | 0.222    |
+-------------------------------------------
+train [28/1000] Loss: 0.18840
+------2022-12-08 14:03:33.780597 PST-------
+| lr                           | 2.62e-05 |
+| train/epoch                  | 28       |
+| vsbl/train/accel_loss        | 0.188    |
+| vsbl/train/lat_nxt_norm      | 3.19     |
+| vsbl/train/n_nxt_norm        | 7.35     |
+| vsbl/train/planning_error    | 1.31     |
+| vsbl/train/reward_pred_error | 0.263    |
+| vsbl/train/rollout_pos_error | 0.0187   |
+| vsbl/train/sqrt_accel_loss   | 0.426    |
+| vsbl/train/total_loss        | 0.188    |
+-------------------------------------------
+valid [28/1000] Loss: 0.21890
+------2022-12-08 14:05:26.215826 PST-------
+| lr                           | 2.1e-05  |
+| valid/epoch                  | 28       |
+| vsbl/valid/accel_loss        | 0.219    |
+| vsbl/valid/lat_nxt_norm      | 3.2      |
+| vsbl/valid/n_nxt_norm        | 7.36     |
+| vsbl/valid/planning_error    | 1.27     |
+| vsbl/valid/reward_pred_error | 0.337    |
+| vsbl/valid/rollout_pos_error | 0.0167   |
+| vsbl/valid/sqrt_accel_loss   | 0.401    |
+| vsbl/valid/total_loss        | 0.219    |
+-------------------------------------------
+train [29/1000] Loss: 0.18350
+------2022-12-08 14:59:27.458150 PST-------
+| lr                           | 2.1e-05  |
+| train/epoch                  | 29       |
+| vsbl/train/accel_loss        | 0.183    |
+| vsbl/train/lat_nxt_norm      | 3.2      |
+| vsbl/train/n_nxt_norm        | 7.37     |
+| vsbl/train/planning_error    | 1.47     |
+| vsbl/train/reward_pred_error | 0.354    |
+| vsbl/train/rollout_pos_error | 0.0229   |
+| vsbl/train/sqrt_accel_loss   | 0.421    |
+| vsbl/train/total_loss        | 0.183    |
+-------------------------------------------
+valid [29/1000] Loss: 0.21490
+------2022-12-08 15:01:20.979432 PST-------
+| lr                           | 2.1e-05  |
+| valid/epoch                  | 29       |
+| vsbl/valid/accel_loss        | 0.215    |
+| vsbl/valid/lat_nxt_norm      | 3.21     |
+| vsbl/valid/n_nxt_norm        | 7.43     |
+| vsbl/valid/planning_error    | 1.3      |
+| vsbl/valid/reward_pred_error | 0.3      |
+| vsbl/valid/rollout_pos_error | 0.0219   |
+| vsbl/valid/sqrt_accel_loss   | 0.398    |
+| vsbl/valid/total_loss        | 0.215    |
+-------------------------------------------
+train [30/1000] Loss: 0.18170
+------2022-12-08 15:55:18.980591 PST-------
+| lr                           | 2.1e-05  |
+| train/epoch                  | 30       |
+| vsbl/train/accel_loss        | 0.182    |
+| vsbl/train/lat_nxt_norm      | 3.21     |
+| vsbl/train/n_nxt_norm        | 7.4      |
+| vsbl/train/planning_error    | 1.5      |
+| vsbl/train/reward_pred_error | 0.281    |
+| vsbl/train/rollout_pos_error | 0.0187   |
+| vsbl/train/sqrt_accel_loss   | 0.419    |
+| vsbl/train/total_loss        | 0.182    |
+-------------------------------------------
+valid [30/1000] Loss: 0.21350
+------2022-12-08 15:57:12.093276 PST-------
+| lr                           | 2.1e-05  |
+| valid/epoch                  | 30       |
+| vsbl/valid/accel_loss        | 0.214    |
+| vsbl/valid/lat_nxt_norm      | 3.22     |
+| vsbl/valid/n_nxt_norm        | 7.43     |
+| vsbl/valid/planning_error    | 1.34     |
+| vsbl/valid/reward_pred_error | 0.283    |
+| vsbl/valid/rollout_pos_error | 0.0185   |
+| vsbl/valid/sqrt_accel_loss   | 0.396    |
+| vsbl/valid/total_loss        | 0.214    |
+-------------------------------------------
+train [31/1000] Loss: 0.18000
+------2022-12-08 16:51:19.790509 PST-------
+| lr                           | 2.1e-05  |
+| train/epoch                  | 31       |
+| vsbl/train/accel_loss        | 0.18     |
+| vsbl/train/lat_nxt_norm      | 3.22     |
+| vsbl/train/n_nxt_norm        | 7.41     |
+| vsbl/train/planning_error    | 1.37     |
+| vsbl/train/reward_pred_error | 0.287    |
+| vsbl/train/rollout_pos_error | 0.0211   |
+| vsbl/train/sqrt_accel_loss   | 0.417    |
+| vsbl/train/total_loss        | 0.18     |
+-------------------------------------------
+valid [31/1000] Loss: 0.21110
+------2022-12-08 16:53:13.533448 PST-------
+| lr                           | 2.1e-05  |
+| valid/epoch                  | 31       |
+| vsbl/valid/accel_loss        | 0.211    |
+| vsbl/valid/lat_nxt_norm      | 3.23     |
+| vsbl/valid/n_nxt_norm        | 7.42     |
+| vsbl/valid/planning_error    | 1.23     |
+| vsbl/valid/reward_pred_error | 0.274    |
+| vsbl/valid/rollout_pos_error | 0.0248   |
+| vsbl/valid/sqrt_accel_loss   | 0.394    |
+| vsbl/valid/total_loss        | 0.211    |
+-------------------------------------------
+train [32/1000] Loss: 0.17840
+------2022-12-08 17:49:25.038649 PST-------
+| lr                           | 2.1e-05  |
+| train/epoch                  | 32       |
+| vsbl/train/accel_loss        | 0.178    |
+| vsbl/train/lat_nxt_norm      | 3.22     |
+| vsbl/train/n_nxt_norm        | 7.42     |
+| vsbl/train/planning_error    | 1.43     |
+| vsbl/train/reward_pred_error | 0.339    |
+| vsbl/train/rollout_pos_error | 0.0201   |
+| vsbl/train/sqrt_accel_loss   | 0.415    |
+| vsbl/train/total_loss        | 0.178    |
+-------------------------------------------
+valid [32/1000] Loss: 0.21200
+------2022-12-08 17:52:23.857864 PST-------
+| lr                           | 1.68e-05 |
+| valid/epoch                  | 32       |
+| vsbl/valid/accel_loss        | 0.212    |
+| vsbl/valid/lat_nxt_norm      | 3.26     |
+| vsbl/valid/n_nxt_norm        | 7.5      |
+| vsbl/valid/planning_error    | 1.26     |
+| vsbl/valid/reward_pred_error | 0.275    |
+| vsbl/valid/rollout_pos_error | 0.0194   |
+| vsbl/valid/sqrt_accel_loss   | 0.395    |
+| vsbl/valid/total_loss        | 0.212    |
+-------------------------------------------
+train [33/1000] Loss: 0.17470
+------2022-12-08 18:54:20.272962 PST-------
+| lr                           | 1.68e-05 |
+| train/epoch                  | 33       |
+| vsbl/train/accel_loss        | 0.175    |
+| vsbl/train/lat_nxt_norm      | 3.24     |
+| vsbl/train/n_nxt_norm        | 7.44     |
+| vsbl/train/planning_error    | 1.46     |
+| vsbl/train/reward_pred_error | 0.324    |
+| vsbl/train/rollout_pos_error | 0.0185   |
+| vsbl/train/sqrt_accel_loss   | 0.411    |
+| vsbl/train/total_loss        | 0.175    |
+-------------------------------------------
+valid [33/1000] Loss: 0.20670
+------2022-12-08 18:57:49.152939 PST-------
+| lr                           | 1.68e-05 |
+| valid/epoch                  | 33       |
+| vsbl/valid/accel_loss        | 0.207    |
+| vsbl/valid/lat_nxt_norm      | 3.25     |
+| vsbl/valid/n_nxt_norm        | 7.47     |
+| vsbl/valid/planning_error    | 1.33     |
+| vsbl/valid/reward_pred_error | 0.271    |
+| vsbl/valid/rollout_pos_error | 0.0167   |
+| vsbl/valid/sqrt_accel_loss   | 0.39     |
+| vsbl/valid/total_loss        | 0.207    |
+-------------------------------------------
+train [34/1000] Loss: 0.17320
+------2022-12-08 19:55:30.454793 PST-------
+| lr                           | 1.68e-05 |
+| train/epoch                  | 34       |
+| vsbl/train/accel_loss        | 0.173    |
+| vsbl/train/lat_nxt_norm      | 3.24     |
+| vsbl/train/n_nxt_norm        | 7.46     |
+| vsbl/train/planning_error    | 1.41     |
+| vsbl/train/reward_pred_error | 0.267    |
+| vsbl/train/rollout_pos_error | 0.0206   |
+| vsbl/train/sqrt_accel_loss   | 0.409    |
+| vsbl/train/total_loss        | 0.173    |
+-------------------------------------------
+valid [34/1000] Loss: 0.20520
+------2022-12-08 19:57:23.388256 PST-------
+| lr                           | 1.68e-05 |
+| valid/epoch                  | 34       |
+| vsbl/valid/accel_loss        | 0.205    |
+| vsbl/valid/lat_nxt_norm      | 3.24     |
+| vsbl/valid/n_nxt_norm        | 7.47     |
+| vsbl/valid/planning_error    | 1.14     |
+| vsbl/valid/reward_pred_error | 0.237    |
+| vsbl/valid/rollout_pos_error | 0.0177   |
+| vsbl/valid/sqrt_accel_loss   | 0.388    |
+| vsbl/valid/total_loss        | 0.205    |
+-------------------------------------------
+train [35/1000] Loss: 0.17190
+------2022-12-08 20:51:22.157174 PST-------
+| lr                           | 1.68e-05 |
+| train/epoch                  | 35       |
+| vsbl/train/accel_loss        | 0.172    |
+| vsbl/train/lat_nxt_norm      | 3.25     |
+| vsbl/train/n_nxt_norm        | 7.47     |
+| vsbl/train/planning_error    | 1.46     |
+| vsbl/train/reward_pred_error | 0.248    |
+| vsbl/train/rollout_pos_error | 0.0181   |
+| vsbl/train/sqrt_accel_loss   | 0.408    |
+| vsbl/train/total_loss        | 0.172    |
+-------------------------------------------
+valid [35/1000] Loss: 0.20400
+------2022-12-08 20:53:16.007381 PST-------
+| lr                           | 1.68e-05 |
+| valid/epoch                  | 35       |
+| vsbl/valid/accel_loss        | 0.204    |
+| vsbl/valid/lat_nxt_norm      | 3.26     |
+| vsbl/valid/n_nxt_norm        | 7.54     |
+| vsbl/valid/planning_error    | 1.22     |
+| vsbl/valid/reward_pred_error | 0.294    |
+| vsbl/valid/rollout_pos_error | 0.0179   |
+| vsbl/valid/sqrt_accel_loss   | 0.387    |
+| vsbl/valid/total_loss        | 0.204    |
+-------------------------------------------
+train [36/1000] Loss: 0.17070
+------2022-12-08 21:47:29.656994 PST-------
+| lr                           | 1.68e-05 |
+| train/epoch                  | 36       |
+| vsbl/train/accel_loss        | 0.171    |
+| vsbl/train/lat_nxt_norm      | 3.25     |
+| vsbl/train/n_nxt_norm        | 7.48     |
+| vsbl/train/planning_error    | 1.28     |
+| vsbl/train/reward_pred_error | 0.253    |
+| vsbl/train/rollout_pos_error | 0.0212   |
+| vsbl/train/sqrt_accel_loss   | 0.406    |
+| vsbl/train/total_loss        | 0.171    |
+-------------------------------------------
+valid [36/1000] Loss: 0.20290
+------2022-12-08 21:49:23.397652 PST-------
+| lr                           | 1.34e-05 |
+| valid/epoch                  | 36       |
+| vsbl/valid/accel_loss        | 0.203    |
+| vsbl/valid/lat_nxt_norm      | 3.27     |
+| vsbl/valid/n_nxt_norm        | 7.52     |
+| vsbl/valid/planning_error    | 1.28     |
+| vsbl/valid/reward_pred_error | 0.314    |
+| vsbl/valid/rollout_pos_error | 0.016    |
+| vsbl/valid/sqrt_accel_loss   | 0.387    |
+| vsbl/valid/total_loss        | 0.203    |
+-------------------------------------------
+train [37/1000] Loss: 0.16790
+------2022-12-08 22:43:36.490915 PST-------
+| lr                           | 1.34e-05 |
+| train/epoch                  | 37       |
+| vsbl/train/accel_loss        | 0.168    |
+| vsbl/train/lat_nxt_norm      | 3.26     |
+| vsbl/train/n_nxt_norm        | 7.49     |
+| vsbl/train/planning_error    | 1.49     |
+| vsbl/train/reward_pred_error | 0.319    |
+| vsbl/train/rollout_pos_error | 0.0181   |
+| vsbl/train/sqrt_accel_loss   | 0.403    |
+| vsbl/train/total_loss        | 0.168    |
+-------------------------------------------
+valid [37/1000] Loss: 0.19990
+------2022-12-08 22:45:29.454177 PST-------
+| lr                           | 1.34e-05 |
+| valid/epoch                  | 37       |
+| vsbl/valid/accel_loss        | 0.2      |
+| vsbl/valid/lat_nxt_norm      | 3.26     |
+| vsbl/valid/n_nxt_norm        | 7.52     |
+| vsbl/valid/planning_error    | 1.31     |
+| vsbl/valid/reward_pred_error | 0.291    |
+| vsbl/valid/rollout_pos_error | 0.0202   |
+| vsbl/valid/sqrt_accel_loss   | 0.383    |
+| vsbl/valid/total_loss        | 0.2      |
+-------------------------------------------
+train [38/1000] Loss: 0.16680
+------2022-12-08 23:39:39.036470 PST-------
+| lr                           | 1.34e-05 |
+| train/epoch                  | 38       |
+| vsbl/train/accel_loss        | 0.167    |
+| vsbl/train/lat_nxt_norm      | 3.27     |
+| vsbl/train/n_nxt_norm        | 7.5      |
+| vsbl/train/planning_error    | 1.43     |
+| vsbl/train/reward_pred_error | 0.267    |
+| vsbl/train/rollout_pos_error | 0.0193   |
+| vsbl/train/sqrt_accel_loss   | 0.401    |
+| vsbl/train/total_loss        | 0.167    |
+-------------------------------------------
+valid [38/1000] Loss: 0.19920
+------2022-12-08 23:41:32.568429 PST-------
+| lr                           | 1.34e-05 |
+| valid/epoch                  | 38       |
+| vsbl/valid/accel_loss        | 0.199    |
+| vsbl/valid/lat_nxt_norm      | 3.28     |
+| vsbl/valid/n_nxt_norm        | 7.5      |
+| vsbl/valid/planning_error    | 1.37     |
+| vsbl/valid/reward_pred_error | 0.262    |
+| vsbl/valid/rollout_pos_error | 0.0219   |
+| vsbl/valid/sqrt_accel_loss   | 0.383    |
+| vsbl/valid/total_loss        | 0.199    |
+-------------------------------------------
+train [39/1000] Loss: 0.16590
+------2022-12-09 00:35:54.885413 PST-------
+| lr                           | 1.34e-05 |
+| train/epoch                  | 39       |
+| vsbl/train/accel_loss        | 0.166    |
+| vsbl/train/lat_nxt_norm      | 3.27     |
+| vsbl/train/n_nxt_norm        | 7.51     |
+| vsbl/train/planning_error    | 1.25     |
+| vsbl/train/reward_pred_error | 0.363    |
+| vsbl/train/rollout_pos_error | 0.0181   |
+| vsbl/train/sqrt_accel_loss   | 0.4      |
+| vsbl/train/total_loss        | 0.166    |
+-------------------------------------------
+valid [39/1000] Loss: 0.19850
+------2022-12-09 00:37:48.915251 PST-------
+| lr                           | 1.34e-05 |
+| valid/epoch                  | 39       |
+| vsbl/valid/accel_loss        | 0.198    |
+| vsbl/valid/lat_nxt_norm      | 3.28     |
+| vsbl/valid/n_nxt_norm        | 7.51     |
+| vsbl/valid/planning_error    | 1.33     |
+| vsbl/valid/reward_pred_error | 0.283    |
+| vsbl/valid/rollout_pos_error | 0.0202   |
+| vsbl/valid/sqrt_accel_loss   | 0.382    |
+| vsbl/valid/total_loss        | 0.198    |
+-------------------------------------------
+train [40/1000] Loss: 0.16490
+------2022-12-09 01:31:53.877120 PST-------
+| lr                           | 1.34e-05 |
+| train/epoch                  | 40       |
+| vsbl/train/accel_loss        | 0.165    |
+| vsbl/train/lat_nxt_norm      | 3.28     |
+| vsbl/train/n_nxt_norm        | 7.51     |
+| vsbl/train/planning_error    | 1.39     |
+| vsbl/train/reward_pred_error | 0.255    |
+| vsbl/train/rollout_pos_error | 0.017    |
+| vsbl/train/sqrt_accel_loss   | 0.399    |
+| vsbl/train/total_loss        | 0.165    |
+-------------------------------------------
+valid [40/1000] Loss: 0.19860
+------2022-12-09 01:33:47.794304 PST-------
+| lr                           | 1.07e-05 |
+| valid/epoch                  | 40       |
+| vsbl/valid/accel_loss        | 0.199    |
+| vsbl/valid/lat_nxt_norm      | 3.29     |
+| vsbl/valid/n_nxt_norm        | 7.58     |
+| vsbl/valid/planning_error    | 1.35     |
+| vsbl/valid/reward_pred_error | 0.272    |
+| vsbl/valid/rollout_pos_error | 0.0156   |
+| vsbl/valid/sqrt_accel_loss   | 0.382    |
+| vsbl/valid/total_loss        | 0.199    |
+-------------------------------------------
+train [41/1000] Loss: 0.16270
+------2022-12-09 02:28:05.213377 PST-------
+| lr                           | 1.07e-05 |
+| train/epoch                  | 41       |
+| vsbl/train/accel_loss        | 0.163    |
+| vsbl/train/lat_nxt_norm      | 3.28     |
+| vsbl/train/n_nxt_norm        | 7.52     |
+| vsbl/train/planning_error    | 1.53     |
+| vsbl/train/reward_pred_error | 0.296    |
+| vsbl/train/rollout_pos_error | 0.0173   |
+| vsbl/train/sqrt_accel_loss   | 0.396    |
+| vsbl/train/total_loss        | 0.163    |
+-------------------------------------------
+valid [41/1000] Loss: 0.19570
+------2022-12-09 02:30:00.079223 PST-------
+| lr                           | 1.07e-05 |
+| valid/epoch                  | 41       |
+| vsbl/valid/accel_loss        | 0.196    |
+| vsbl/valid/lat_nxt_norm      | 3.27     |
+| vsbl/valid/n_nxt_norm        | 7.57     |
+| vsbl/valid/planning_error    | 1.33     |
+| vsbl/valid/reward_pred_error | 0.305    |
+| vsbl/valid/rollout_pos_error | 0.0163   |
+| vsbl/valid/sqrt_accel_loss   | 0.379    |
+| vsbl/valid/total_loss        | 0.196    |
+-------------------------------------------
+train [42/1000] Loss: 0.16190
+------2022-12-09 03:24:04.601434 PST-------
+| lr                           | 1.07e-05 |
+| train/epoch                  | 42       |
+| vsbl/train/accel_loss        | 0.162    |
+| vsbl/train/lat_nxt_norm      | 3.29     |
+| vsbl/train/n_nxt_norm        | 7.54     |
+| vsbl/train/planning_error    | 1.42     |
+| vsbl/train/reward_pred_error | 0.307    |
+| vsbl/train/rollout_pos_error | 0.0184   |
+| vsbl/train/sqrt_accel_loss   | 0.395    |
+| vsbl/train/total_loss        | 0.162    |
+-------------------------------------------
+valid [42/1000] Loss: 0.19520
+------2022-12-09 03:25:58.902598 PST-------
+| lr                           | 1.07e-05 |
+| valid/epoch                  | 42       |
+| vsbl/valid/accel_loss        | 0.195    |
+| vsbl/valid/lat_nxt_norm      | 3.29     |
+| vsbl/valid/n_nxt_norm        | 7.59     |
+| vsbl/valid/planning_error    | 1.27     |
+| vsbl/valid/reward_pred_error | 0.265    |
+| vsbl/valid/rollout_pos_error | 0.0174   |
+| vsbl/valid/sqrt_accel_loss   | 0.379    |
+| vsbl/valid/total_loss        | 0.195    |
+-------------------------------------------
+train [43/1000] Loss: 0.16120
+------2022-12-09 04:20:23.847415 PST-------
+| lr                           | 1.07e-05 |
+| train/epoch                  | 43       |
+| vsbl/train/accel_loss        | 0.161    |
+| vsbl/train/lat_nxt_norm      | 3.29     |
+| vsbl/train/n_nxt_norm        | 7.55     |
+| vsbl/train/planning_error    | 1.19     |
+| vsbl/train/reward_pred_error | 0.248    |
+| vsbl/train/rollout_pos_error | 0.0188   |
+| vsbl/train/sqrt_accel_loss   | 0.395    |
+| vsbl/train/total_loss        | 0.161    |
+-------------------------------------------
+valid [43/1000] Loss: 0.19460
+------2022-12-09 04:22:18.477518 PST-------
+| lr                           | 1.07e-05 |
+| valid/epoch                  | 43       |
+| vsbl/valid/accel_loss        | 0.195    |
+| vsbl/valid/lat_nxt_norm      | 3.28     |
+| vsbl/valid/n_nxt_norm        | 7.6      |
+| vsbl/valid/planning_error    | 1.27     |
+| vsbl/valid/reward_pred_error | 0.264    |
+| vsbl/valid/rollout_pos_error | 0.02     |
+| vsbl/valid/sqrt_accel_loss   | 0.378    |
+| vsbl/valid/total_loss        | 0.195    |
+-------------------------------------------
+train [44/1000] Loss: 0.16040
+------2022-12-09 05:16:33.629762 PST-------
+| lr                           | 1.07e-05 |
+| train/epoch                  | 44       |
+| vsbl/train/accel_loss        | 0.16     |
+| vsbl/train/lat_nxt_norm      | 3.29     |
+| vsbl/train/n_nxt_norm        | 7.55     |
+| vsbl/train/planning_error    | 1.46     |
+| vsbl/train/reward_pred_error | 0.309    |
+| vsbl/train/rollout_pos_error | 0.0187   |
+| vsbl/train/sqrt_accel_loss   | 0.394    |
+| vsbl/train/total_loss        | 0.16     |
+-------------------------------------------
+valid [44/1000] Loss: 0.19380
+------2022-12-09 05:18:32.504229 PST-------
+| lr                           | 8.59e-06 |
+| valid/epoch                  | 44       |
+| vsbl/valid/accel_loss        | 0.194    |
+| vsbl/valid/lat_nxt_norm      | 3.31     |
+| vsbl/valid/n_nxt_norm        | 7.6      |
+| vsbl/valid/planning_error    | 1.22     |
+| vsbl/valid/reward_pred_error | 0.272    |
+| vsbl/valid/rollout_pos_error | 0.0165   |
+| vsbl/valid/sqrt_accel_loss   | 0.377    |
+| vsbl/valid/total_loss        | 0.194    |
+-------------------------------------------
+train [45/1000] Loss: 0.15870
+------2022-12-09 06:12:55.855706 PST-------
+| lr                           | 8.59e-06 |
+| train/epoch                  | 45       |
+| vsbl/train/accel_loss        | 0.159    |
+| vsbl/train/lat_nxt_norm      | 3.3      |
+| vsbl/train/n_nxt_norm        | 7.56     |
+| vsbl/train/planning_error    | 1.34     |
+| vsbl/train/reward_pred_error | 0.35     |
+| vsbl/train/rollout_pos_error | 0.0183   |
+| vsbl/train/sqrt_accel_loss   | 0.392    |
+| vsbl/train/total_loss        | 0.159    |
+-------------------------------------------
+valid [45/1000] Loss: 0.19250
+------2022-12-09 06:14:49.656128 PST-------
+| lr                           | 8.59e-06 |
+| valid/epoch                  | 45       |
+| vsbl/valid/accel_loss        | 0.193    |
+| vsbl/valid/lat_nxt_norm      | 3.29     |
+| vsbl/valid/n_nxt_norm        | 7.57     |
+| vsbl/valid/planning_error    | 1.27     |
+| vsbl/valid/reward_pred_error | 0.256    |
+| vsbl/valid/rollout_pos_error | 0.0169   |
+| vsbl/valid/sqrt_accel_loss   | 0.376    |
+| vsbl/valid/total_loss        | 0.193    |
+-------------------------------------------
+train [46/1000] Loss: 0.15810
+------2022-12-09 07:09:10.146827 PST-------
+| lr                           | 8.59e-06 |
+| train/epoch                  | 46       |
+| vsbl/train/accel_loss        | 0.158    |
+| vsbl/train/lat_nxt_norm      | 3.3      |
+| vsbl/train/n_nxt_norm        | 7.56     |
+| vsbl/train/planning_error    | 1.35     |
+| vsbl/train/reward_pred_error | 0.293    |
+| vsbl/train/rollout_pos_error | 0.018    |
+| vsbl/train/sqrt_accel_loss   | 0.391    |
+| vsbl/train/total_loss        | 0.158    |
+-------------------------------------------
+valid [46/1000] Loss: 0.19180
+------2022-12-09 07:11:05.469484 PST-------
+| lr                           | 8.59e-06 |
+| valid/epoch                  | 46       |
+| vsbl/valid/accel_loss        | 0.192    |
+| vsbl/valid/lat_nxt_norm      | 3.31     |
+| vsbl/valid/n_nxt_norm        | 7.59     |
+| vsbl/valid/planning_error    | 1.28     |
+| vsbl/valid/reward_pred_error | 0.268    |
+| vsbl/valid/rollout_pos_error | 0.0163   |
+| vsbl/valid/sqrt_accel_loss   | 0.375    |
+| vsbl/valid/total_loss        | 0.192    |
+-------------------------------------------
+train [47/1000] Loss: 0.15750
+------2022-12-09 08:05:17.852861 PST-------
+| lr                           | 8.59e-06 |
+| train/epoch                  | 47       |
+| vsbl/train/accel_loss        | 0.157    |
+| vsbl/train/lat_nxt_norm      | 3.3      |
+| vsbl/train/n_nxt_norm        | 7.57     |
+| vsbl/train/planning_error    | 1.4      |
+| vsbl/train/reward_pred_error | 0.322    |
+| vsbl/train/rollout_pos_error | 0.018    |
+| vsbl/train/sqrt_accel_loss   | 0.39     |
+| vsbl/train/total_loss        | 0.157    |
+-------------------------------------------
+valid [47/1000] Loss: 0.19140
+------2022-12-09 08:07:12.028062 PST-------
+| lr                           | 8.59e-06 |
+| valid/epoch                  | 47       |
+| vsbl/valid/accel_loss        | 0.191    |
+| vsbl/valid/lat_nxt_norm      | 3.31     |
+| vsbl/valid/n_nxt_norm        | 7.6      |
+| vsbl/valid/planning_error    | 1.21     |
+| vsbl/valid/reward_pred_error | 0.302    |
+| vsbl/valid/rollout_pos_error | 0.0199   |
+| vsbl/valid/sqrt_accel_loss   | 0.375    |
+| vsbl/valid/total_loss        | 0.191    |
+-------------------------------------------
+train [48/1000] Loss: 0.15690
+------2022-12-09 09:01:10.018608 PST-------
+| lr                           | 8.59e-06 |
+| train/epoch                  | 48       |
+| vsbl/train/accel_loss        | 0.157    |
+| vsbl/train/lat_nxt_norm      | 3.3      |
+| vsbl/train/n_nxt_norm        | 7.58     |
+| vsbl/train/planning_error    | 1.58     |
+| vsbl/train/reward_pred_error | 0.355    |
+| vsbl/train/rollout_pos_error | 0.0184   |
+| vsbl/train/sqrt_accel_loss   | 0.389    |
+| vsbl/train/total_loss        | 0.157    |
+-------------------------------------------
+valid [48/1000] Loss: 0.19070
+------2022-12-09 09:03:02.313323 PST-------
+| lr                           | 6.87e-06 |
+| valid/epoch                  | 48       |
+| vsbl/valid/accel_loss        | 0.191    |
+| vsbl/valid/lat_nxt_norm      | 3.32     |
+| vsbl/valid/n_nxt_norm        | 7.64     |
+| vsbl/valid/planning_error    | 1.35     |
+| vsbl/valid/reward_pred_error | 0.256    |
+| vsbl/valid/rollout_pos_error | 0.0181   |
+| vsbl/valid/sqrt_accel_loss   | 0.374    |
+| vsbl/valid/total_loss        | 0.191    |
+-------------------------------------------
+train [49/1000] Loss: 0.15560
+------2022-12-09 09:56:58.512162 PST-------
+| lr                           | 6.87e-06 |
+| train/epoch                  | 49       |
+| vsbl/train/accel_loss        | 0.156    |
+| vsbl/train/lat_nxt_norm      | 3.31     |
+| vsbl/train/n_nxt_norm        | 7.59     |
+| vsbl/train/planning_error    | 1.37     |
+| vsbl/train/reward_pred_error | 0.293    |
+| vsbl/train/rollout_pos_error | 0.0166   |
+| vsbl/train/sqrt_accel_loss   | 0.388    |
+| vsbl/train/total_loss        | 0.156    |
+-------------------------------------------
+valid [49/1000] Loss: 0.18990
+------2022-12-09 09:58:51.196131 PST-------
+| lr                           | 6.87e-06 |
+| valid/epoch                  | 49       |
+| vsbl/valid/accel_loss        | 0.19     |
+| vsbl/valid/lat_nxt_norm      | 3.32     |
+| vsbl/valid/n_nxt_norm        | 7.65     |
+| vsbl/valid/planning_error    | 1.36     |
+| vsbl/valid/reward_pred_error | 0.28     |
+| vsbl/valid/rollout_pos_error | 0.0196   |
+| vsbl/valid/sqrt_accel_loss   | 0.373    |
+| vsbl/valid/total_loss        | 0.19     |
+-------------------------------------------
+train [50/1000] Loss: 0.15510
+------2022-12-09 10:52:47.877853 PST-------
+| lr                           | 6.87e-06 |
+| train/epoch                  | 50       |
+| vsbl/train/accel_loss        | 0.155    |
+| vsbl/train/lat_nxt_norm      | 3.31     |
+| vsbl/train/n_nxt_norm        | 7.58     |
+| vsbl/train/planning_error    | 1.34     |
+| vsbl/train/reward_pred_error | 0.244    |
+| vsbl/train/rollout_pos_error | 0.0171   |
+| vsbl/train/sqrt_accel_loss   | 0.387    |
+| vsbl/train/total_loss        | 0.155    |
+-------------------------------------------
+valid [50/1000] Loss: 0.18900
+------2022-12-09 10:54:41.116315 PST-------
+| lr                           | 6.87e-06 |
+| valid/epoch                  | 50       |
+| vsbl/valid/accel_loss        | 0.189    |
+| vsbl/valid/lat_nxt_norm      | 3.32     |
+| vsbl/valid/n_nxt_norm        | 7.59     |
+| vsbl/valid/planning_error    | 1.38     |
+| vsbl/valid/reward_pred_error | 0.293    |
+| vsbl/valid/rollout_pos_error | 0.0172   |
+| vsbl/valid/sqrt_accel_loss   | 0.373    |
+| vsbl/valid/total_loss        | 0.189    |
+-------------------------------------------
+train [51/1000] Loss: 0.15460
+------2022-12-09 11:48:43.839435 PST-------
+| lr                           | 6.87e-06 |
+| train/epoch                  | 51       |
+| vsbl/train/accel_loss        | 0.155    |
+| vsbl/train/lat_nxt_norm      | 3.31     |
+| vsbl/train/n_nxt_norm        | 7.59     |
+| vsbl/train/planning_error    | 1.52     |
+| vsbl/train/reward_pred_error | 0.275    |
+| vsbl/train/rollout_pos_error | 0.0198   |
+| vsbl/train/sqrt_accel_loss   | 0.387    |
+| vsbl/train/total_loss        | 0.155    |
+-------------------------------------------
+valid [51/1000] Loss: 0.18900
+------2022-12-09 11:50:37.697267 PST-------
+| lr                           | 6.87e-06 |
+| valid/epoch                  | 51       |
+| vsbl/valid/accel_loss        | 0.189    |
+| vsbl/valid/lat_nxt_norm      | 3.32     |
+| vsbl/valid/n_nxt_norm        | 7.62     |
+| vsbl/valid/planning_error    | 1.36     |
+| vsbl/valid/reward_pred_error | 0.329    |
+| vsbl/valid/rollout_pos_error | 0.0197   |
+| vsbl/valid/sqrt_accel_loss   | 0.372    |
+| vsbl/valid/total_loss        | 0.189    |
+-------------------------------------------
+train [52/1000] Loss: 0.15420
+------2022-12-09 12:44:42.317864 PST-------
+| lr                           | 6.87e-06 |
+| train/epoch                  | 52       |
+| vsbl/train/accel_loss        | 0.154    |
+| vsbl/train/lat_nxt_norm      | 3.32     |
+| vsbl/train/n_nxt_norm        | 7.6      |
+| vsbl/train/planning_error    | 1.4      |
+| vsbl/train/reward_pred_error | 0.348    |
+| vsbl/train/rollout_pos_error | 0.0227   |
+| vsbl/train/sqrt_accel_loss   | 0.386    |
+| vsbl/train/total_loss        | 0.154    |
+-------------------------------------------
+valid [52/1000] Loss: 0.18840
+------2022-12-09 12:46:37.760946 PST-------
+| lr                           | 5.5e-06  |
+| valid/epoch                  | 52       |
+| vsbl/valid/accel_loss        | 0.188    |
+| vsbl/valid/lat_nxt_norm      | 3.33     |
+| vsbl/valid/n_nxt_norm        | 7.61     |
+| vsbl/valid/planning_error    | 1.37     |
+| vsbl/valid/reward_pred_error | 1.7      |
+| vsbl/valid/rollout_pos_error | 0.0314   |
+| vsbl/valid/sqrt_accel_loss   | 0.372    |
+| vsbl/valid/total_loss        | 0.188    |
+-------------------------------------------
+train [53/1000] Loss: 0.15310
+------2022-12-09 13:40:42.357916 PST-------
+| lr                           | 5.5e-06  |
+| train/epoch                  | 53       |
+| vsbl/train/accel_loss        | 0.153    |
+| vsbl/train/lat_nxt_norm      | 3.32     |
+| vsbl/train/n_nxt_norm        | 7.6      |
+| vsbl/train/planning_error    | 1.34     |
+| vsbl/train/reward_pred_error | 0.23     |
+| vsbl/train/rollout_pos_error | 0.0191   |
+| vsbl/train/sqrt_accel_loss   | 0.385    |
+| vsbl/train/total_loss        | 0.153    |
+-------------------------------------------
+valid [53/1000] Loss: 0.18770
+------2022-12-09 13:42:35.931079 PST-------
+| lr                           | 5.5e-06  |
+| valid/epoch                  | 53       |
+| vsbl/valid/accel_loss        | 0.188    |
+| vsbl/valid/lat_nxt_norm      | 3.33     |
+| vsbl/valid/n_nxt_norm        | 7.63     |
+| vsbl/valid/planning_error    | 1.38     |
+| vsbl/valid/reward_pred_error | 0.344    |
+| vsbl/valid/rollout_pos_error | 0.02     |
+| vsbl/valid/sqrt_accel_loss   | 0.371    |
+| vsbl/valid/total_loss        | 0.188    |
+-------------------------------------------
+train [54/1000] Loss: 0.15270
+------2022-12-09 14:36:41.768796 PST-------
+| lr                           | 5.5e-06  |
+| train/epoch                  | 54       |
+| vsbl/train/accel_loss        | 0.153    |
+| vsbl/train/lat_nxt_norm      | 3.32     |
+| vsbl/train/n_nxt_norm        | 7.6      |
+| vsbl/train/planning_error    | 1.21     |
+| vsbl/train/reward_pred_error | 0.224    |
+| vsbl/train/rollout_pos_error | 0.0194   |
+| vsbl/train/sqrt_accel_loss   | 0.384    |
+| vsbl/train/total_loss        | 0.153    |
+-------------------------------------------
+valid [54/1000] Loss: 0.18730
+------2022-12-09 14:38:35.058148 PST-------
+| lr                           | 5.5e-06  |
+| valid/epoch                  | 54       |
+| vsbl/valid/accel_loss        | 0.187    |
+| vsbl/valid/lat_nxt_norm      | 3.33     |
+| vsbl/valid/n_nxt_norm        | 7.66     |
+| vsbl/valid/planning_error    | 1.31     |
+| vsbl/valid/reward_pred_error | 0.316    |
+| vsbl/valid/rollout_pos_error | 0.0159   |
+| vsbl/valid/sqrt_accel_loss   | 0.371    |
+| vsbl/valid/total_loss        | 0.187    |
+-------------------------------------------
+train [55/1000] Loss: 0.15240
+------2022-12-09 15:32:43.346643 PST-------
+| lr                           | 5.5e-06  |
+| train/epoch                  | 55       |
+| vsbl/train/accel_loss        | 0.152    |
+| vsbl/train/lat_nxt_norm      | 3.32     |
+| vsbl/train/n_nxt_norm        | 7.61     |
+| vsbl/train/planning_error    | 1.42     |
+| vsbl/train/reward_pred_error | 0.337    |
+| vsbl/train/rollout_pos_error | 0.0208   |
+| vsbl/train/sqrt_accel_loss   | 0.384    |
+| vsbl/train/total_loss        | 0.152    |
+-------------------------------------------
+valid [55/1000] Loss: 0.18700
+------2022-12-09 15:34:36.288256 PST-------
+| lr                           | 5.5e-06  |
+| valid/epoch                  | 55       |
+| vsbl/valid/accel_loss        | 0.187    |
+| vsbl/valid/lat_nxt_norm      | 3.31     |
+| vsbl/valid/n_nxt_norm        | 7.62     |
+| vsbl/valid/planning_error    | 1.28     |
+| vsbl/valid/reward_pred_error | 0.249    |
+| vsbl/valid/rollout_pos_error | 0.0191   |
+| vsbl/valid/sqrt_accel_loss   | 0.371    |
+| vsbl/valid/total_loss        | 0.187    |
+-------------------------------------------
+train [56/1000] Loss: 0.15200
+------2022-12-09 16:28:44.981649 PST-------
+| lr                           | 5.5e-06  |
+| train/epoch                  | 56       |
+| vsbl/train/accel_loss        | 0.152    |
+| vsbl/train/lat_nxt_norm      | 3.32     |
+| vsbl/train/n_nxt_norm        | 7.61     |
+| vsbl/train/planning_error    | 1.39     |
+| vsbl/train/reward_pred_error | 0.265    |
+| vsbl/train/rollout_pos_error | 0.0197   |
+| vsbl/train/sqrt_accel_loss   | 0.383    |
+| vsbl/train/total_loss        | 0.152    |
+-------------------------------------------
+valid [56/1000] Loss: 0.18670
+------2022-12-09 16:30:39.951631 PST-------
+| lr                           | 4.4e-06  |
+| valid/epoch                  | 56       |
+| vsbl/valid/accel_loss        | 0.187    |
+| vsbl/valid/lat_nxt_norm      | 3.33     |
+| vsbl/valid/n_nxt_norm        | 7.63     |
+| vsbl/valid/planning_error    | 1.23     |
+| vsbl/valid/reward_pred_error | 0.336    |
+| vsbl/valid/rollout_pos_error | 0.0173   |
+| vsbl/valid/sqrt_accel_loss   | 0.37     |
+| vsbl/valid/total_loss        | 0.187    |
+-------------------------------------------
+train [57/1000] Loss: 0.15120
+------2022-12-09 17:24:51.993769 PST-------
+| lr                           | 4.4e-06  |
+| train/epoch                  | 57       |
+| vsbl/train/accel_loss        | 0.151    |
+| vsbl/train/lat_nxt_norm      | 3.33     |
+| vsbl/train/n_nxt_norm        | 7.61     |
+| vsbl/train/planning_error    | 1.3      |
+| vsbl/train/reward_pred_error | 0.318    |
+| vsbl/train/rollout_pos_error | 0.0182   |
+| vsbl/train/sqrt_accel_loss   | 0.382    |
+| vsbl/train/total_loss        | 0.151    |
+-------------------------------------------
+valid [57/1000] Loss: 0.18600
+------2022-12-09 17:26:45.509887 PST-------
+| lr                           | 4.4e-06  |
+| valid/epoch                  | 57       |
+| vsbl/valid/accel_loss        | 0.186    |
+| vsbl/valid/lat_nxt_norm      | 3.33     |
+| vsbl/valid/n_nxt_norm        | 7.65     |
+| vsbl/valid/planning_error    | 1.14     |
+| vsbl/valid/reward_pred_error | 0.252    |
+| vsbl/valid/rollout_pos_error | 0.019    |
+| vsbl/valid/sqrt_accel_loss   | 0.369    |
+| vsbl/valid/total_loss        | 0.186    |
+-------------------------------------------
+train [58/1000] Loss: 0.15090
+------2022-12-09 18:20:55.806017 PST-------
+| lr                           | 4.4e-06  |
+| train/epoch                  | 58       |
+| vsbl/train/accel_loss        | 0.151    |
+| vsbl/train/lat_nxt_norm      | 3.33     |
+| vsbl/train/n_nxt_norm        | 7.62     |
+| vsbl/train/planning_error    | 1.46     |
+| vsbl/train/reward_pred_error | 0.255    |
+| vsbl/train/rollout_pos_error | 0.0189   |
+| vsbl/train/sqrt_accel_loss   | 0.382    |
+| vsbl/train/total_loss        | 0.151    |
+-------------------------------------------
+valid [58/1000] Loss: 0.18570
+------2022-12-09 18:22:51.355825 PST-------
+| lr                           | 4.4e-06  |
+| valid/epoch                  | 58       |
+| vsbl/valid/accel_loss        | 0.186    |
+| vsbl/valid/lat_nxt_norm      | 3.33     |
+| vsbl/valid/n_nxt_norm        | 7.65     |
+| vsbl/valid/planning_error    | 1.32     |
+| vsbl/valid/reward_pred_error | 0.275    |
+| vsbl/valid/rollout_pos_error | 0.0173   |
+| vsbl/valid/sqrt_accel_loss   | 0.369    |
+| vsbl/valid/total_loss        | 0.186    |
+-------------------------------------------
+train [59/1000] Loss: 0.15060
+------2022-12-09 19:17:03.863954 PST-------
+| lr                           | 4.4e-06  |
+| train/epoch                  | 59       |
+| vsbl/train/accel_loss        | 0.151    |
+| vsbl/train/lat_nxt_norm      | 3.33     |
+| vsbl/train/n_nxt_norm        | 7.62     |
+| vsbl/train/planning_error    | 1.35     |
+| vsbl/train/reward_pred_error | 0.263    |
+| vsbl/train/rollout_pos_error | 0.0183   |
+| vsbl/train/sqrt_accel_loss   | 0.382    |
+| vsbl/train/total_loss        | 0.151    |
+-------------------------------------------
+valid [59/1000] Loss: 0.18560
+------2022-12-09 19:18:58.938359 PST-------
+| lr                           | 4.4e-06  |
+| valid/epoch                  | 59       |
+| vsbl/valid/accel_loss        | 0.186    |
+| vsbl/valid/lat_nxt_norm      | 3.34     |
+| vsbl/valid/n_nxt_norm        | 7.64     |
+| vsbl/valid/planning_error    | 1.37     |
+| vsbl/valid/reward_pred_error | 0.321    |
+| vsbl/valid/rollout_pos_error | 0.0217   |
+| vsbl/valid/sqrt_accel_loss   | 0.369    |
+| vsbl/valid/total_loss        | 0.186    |
+-------------------------------------------
+train [60/1000] Loss: 0.15030
+------2022-12-09 20:13:10.963900 PST-------
+| lr                           | 4.4e-06  |
+| train/epoch                  | 60       |
+| vsbl/train/accel_loss        | 0.15     |
+| vsbl/train/lat_nxt_norm      | 3.33     |
+| vsbl/train/n_nxt_norm        | 7.62     |
+| vsbl/train/planning_error    | 1.43     |
+| vsbl/train/reward_pred_error | 0.251    |
+| vsbl/train/rollout_pos_error | 0.016    |
+| vsbl/train/sqrt_accel_loss   | 0.381    |
+| vsbl/train/total_loss        | 0.15     |
+-------------------------------------------
+valid [60/1000] Loss: 0.18520
+------2022-12-09 20:15:05.759306 PST-------
+| lr                           | 3.52e-06 |
+| valid/epoch                  | 60       |
+| vsbl/valid/accel_loss        | 0.185    |
+| vsbl/valid/lat_nxt_norm      | 3.34     |
+| vsbl/valid/n_nxt_norm        | 7.65     |
+| vsbl/valid/planning_error    | 1.17     |
+| vsbl/valid/reward_pred_error | 0.287    |
+| vsbl/valid/rollout_pos_error | 0.0178   |
+| vsbl/valid/sqrt_accel_loss   | 0.369    |
+| vsbl/valid/total_loss        | 0.185    |
+-------------------------------------------
+train [61/1000] Loss: 0.14970
+------2022-12-09 21:09:22.694665 PST-------
+| lr                           | 3.52e-06 |
+| train/epoch                  | 61       |
+| vsbl/train/accel_loss        | 0.15     |
+| vsbl/train/lat_nxt_norm      | 3.33     |
+| vsbl/train/n_nxt_norm        | 7.62     |
+| vsbl/train/planning_error    | 1.48     |
+| vsbl/train/reward_pred_error | 0.275    |
+| vsbl/train/rollout_pos_error | 0.0199   |
+| vsbl/train/sqrt_accel_loss   | 0.38     |
+| vsbl/train/total_loss        | 0.15     |
+-------------------------------------------
+valid [61/1000] Loss: 0.18490
+------2022-12-09 21:11:16.247230 PST-------
+| lr                           | 3.52e-06 |
+| valid/epoch                  | 61       |
+| vsbl/valid/accel_loss        | 0.185    |
+| vsbl/valid/lat_nxt_norm      | 3.34     |
+| vsbl/valid/n_nxt_norm        | 7.66     |
+| vsbl/valid/planning_error    | 1.25     |
+| vsbl/valid/reward_pred_error | 0.323    |
+| vsbl/valid/rollout_pos_error | 0.0174   |
+| vsbl/valid/sqrt_accel_loss   | 0.368    |
+| vsbl/valid/total_loss        | 0.185    |
+-------------------------------------------
+train [62/1000] Loss: 0.14940
+------2022-12-09 22:05:32.794752 PST-------
+| lr                           | 3.52e-06 |
+| train/epoch                  | 62       |
+| vsbl/train/accel_loss        | 0.149    |
+| vsbl/train/lat_nxt_norm      | 3.33     |
+| vsbl/train/n_nxt_norm        | 7.63     |
+| vsbl/train/planning_error    | 1.44     |
+| vsbl/train/reward_pred_error | 0.228    |
+| vsbl/train/rollout_pos_error | 0.0193   |
+| vsbl/train/sqrt_accel_loss   | 0.38     |
+| vsbl/train/total_loss        | 0.149    |
+-------------------------------------------
+valid [62/1000] Loss: 0.18460
+------2022-12-09 22:07:27.821121 PST-------
+| lr                           | 3.52e-06 |
+| valid/epoch                  | 62       |
+| vsbl/valid/accel_loss        | 0.185    |
+| vsbl/valid/lat_nxt_norm      | 3.35     |
+| vsbl/valid/n_nxt_norm        | 7.67     |
+| vsbl/valid/planning_error    | 1.35     |
+| vsbl/valid/reward_pred_error | 0.341    |
+| vsbl/valid/rollout_pos_error | 0.0174   |
+| vsbl/valid/sqrt_accel_loss   | 0.368    |
+| vsbl/valid/total_loss        | 0.185    |
+-------------------------------------------
+train [63/1000] Loss: 0.14920
+------2022-12-09 23:01:50.648241 PST-------
+| lr                           | 3.52e-06 |
+| train/epoch                  | 63       |
+| vsbl/train/accel_loss        | 0.149    |
+| vsbl/train/lat_nxt_norm      | 3.33     |
+| vsbl/train/n_nxt_norm        | 7.63     |
+| vsbl/train/planning_error    | 1.63     |
+| vsbl/train/reward_pred_error | 0.32     |
+| vsbl/train/rollout_pos_error | 0.0178   |
+| vsbl/train/sqrt_accel_loss   | 0.38     |
+| vsbl/train/total_loss        | 0.149    |
+-------------------------------------------
+valid [63/1000] Loss: 0.18450
+------2022-12-09 23:03:44.825178 PST-------
+| lr                           | 3.52e-06 |
+| valid/epoch                  | 63       |
+| vsbl/valid/accel_loss        | 0.185    |
+| vsbl/valid/lat_nxt_norm      | 3.33     |
+| vsbl/valid/n_nxt_norm        | 7.64     |
+| vsbl/valid/planning_error    | 1.24     |
+| vsbl/valid/reward_pred_error | 0.272    |
+| vsbl/valid/rollout_pos_error | 0.0183   |
+| vsbl/valid/sqrt_accel_loss   | 0.368    |
+| vsbl/valid/total_loss        | 0.185    |
+-------------------------------------------
+train [64/1000] Loss: 0.14900
+------2022-12-09 23:58:08.759743 PST-------
+| lr                           | 3.52e-06 |
+| train/epoch                  | 64       |
+| vsbl/train/accel_loss        | 0.149    |
+| vsbl/train/lat_nxt_norm      | 3.34     |
+| vsbl/train/n_nxt_norm        | 7.63     |
+| vsbl/train/planning_error    | 1.37     |
+| vsbl/train/reward_pred_error | 0.267    |
+| vsbl/train/rollout_pos_error | 0.0167   |
+| vsbl/train/sqrt_accel_loss   | 0.38     |
+| vsbl/train/total_loss        | 0.149    |
+-------------------------------------------
+valid [64/1000] Loss: 0.18430
+------2022-12-10 00:00:04.538610 PST-------
+| lr                           | 2.81e-06 |
+| valid/epoch                  | 64       |
+| vsbl/valid/accel_loss        | 0.184    |
+| vsbl/valid/lat_nxt_norm      | 3.35     |
+| vsbl/valid/n_nxt_norm        | 7.67     |
+| vsbl/valid/planning_error    | 1.45     |
+| vsbl/valid/reward_pred_error | 0.306    |
+| vsbl/valid/rollout_pos_error | 0.0181   |
+| vsbl/valid/sqrt_accel_loss   | 0.367    |
+| vsbl/valid/total_loss        | 0.184    |
+-------------------------------------------
+train [65/1000] Loss: 0.14840
+------2022-12-10 00:54:35.965598 PST-------
+| lr                           | 2.81e-06 |
+| train/epoch                  | 65       |
+| vsbl/train/accel_loss        | 0.148    |
+| vsbl/train/lat_nxt_norm      | 3.34     |
+| vsbl/train/n_nxt_norm        | 7.63     |
+| vsbl/train/planning_error    | 1.43     |
+| vsbl/train/reward_pred_error | 0.249    |
+| vsbl/train/rollout_pos_error | 0.0188   |
+| vsbl/train/sqrt_accel_loss   | 0.379    |
+| vsbl/train/total_loss        | 0.148    |
+-------------------------------------------
+valid [65/1000] Loss: 0.18390
+------2022-12-10 00:56:41.214534 PST-------
+| lr                           | 2.81e-06 |
+| valid/epoch                  | 65       |
+| vsbl/valid/accel_loss        | 0.184    |
+| vsbl/valid/lat_nxt_norm      | 3.34     |
+| vsbl/valid/n_nxt_norm        | 7.67     |
+| vsbl/valid/planning_error    | 1.46     |
+| vsbl/valid/reward_pred_error | 0.352    |
+| vsbl/valid/rollout_pos_error | 0.0187   |
+| vsbl/valid/sqrt_accel_loss   | 0.367    |
+| vsbl/valid/total_loss        | 0.184    |
+-------------------------------------------
+train [66/1000] Loss: 0.14830
+------2022-12-10 01:51:15.467138 PST-------
+| lr                           | 2.81e-06 |
+| train/epoch                  | 66       |
+| vsbl/train/accel_loss        | 0.148    |
+| vsbl/train/lat_nxt_norm      | 3.34     |
+| vsbl/train/n_nxt_norm        | 7.63     |
+| vsbl/train/planning_error    | 1.47     |
+| vsbl/train/reward_pred_error | 0.322    |
+| vsbl/train/rollout_pos_error | 0.0167   |
+| vsbl/train/sqrt_accel_loss   | 0.379    |
+| vsbl/train/total_loss        | 0.148    |
+-------------------------------------------
+valid [66/1000] Loss: 0.18370
+------2022-12-10 01:53:12.666902 PST-------
+| lr                           | 2.81e-06 |
+| valid/epoch                  | 66       |
+| vsbl/valid/accel_loss        | 0.184    |
+| vsbl/valid/lat_nxt_norm      | 3.34     |
+| vsbl/valid/n_nxt_norm        | 7.66     |
+| vsbl/valid/planning_error    | 1.32     |
+| vsbl/valid/reward_pred_error | 0.282    |
+| vsbl/valid/rollout_pos_error | 0.017    |
+| vsbl/valid/sqrt_accel_loss   | 0.367    |
+| vsbl/valid/total_loss        | 0.184    |
+-------------------------------------------
+train [67/1000] Loss: 0.14810
+------2022-12-10 02:47:33.301927 PST-------
+| lr                           | 2.81e-06 |
+| train/epoch                  | 67       |
+| vsbl/train/accel_loss        | 0.148    |
+| vsbl/train/lat_nxt_norm      | 3.34     |
+| vsbl/train/n_nxt_norm        | 7.63     |
+| vsbl/train/planning_error    | 1.44     |
+| vsbl/train/reward_pred_error | 0.284    |
+| vsbl/train/rollout_pos_error | 0.0184   |
+| vsbl/train/sqrt_accel_loss   | 0.378    |
+| vsbl/train/total_loss        | 0.148    |
+-------------------------------------------
+valid [67/1000] Loss: 0.18370
+------2022-12-10 02:49:33.663506 PST-------
+| lr                           | 2.81e-06 |
+| valid/epoch                  | 67       |
+| vsbl/valid/accel_loss        | 0.184    |
+| vsbl/valid/lat_nxt_norm      | 3.34     |
+| vsbl/valid/n_nxt_norm        | 7.65     |
+| vsbl/valid/planning_error    | 1.41     |
+| vsbl/valid/reward_pred_error | 0.304    |
+| vsbl/valid/rollout_pos_error | 0.0153   |
+| vsbl/valid/sqrt_accel_loss   | 0.367    |
+| vsbl/valid/total_loss        | 0.184    |
+-------------------------------------------
+train [68/1000] Loss: 0.14790
+------2022-12-10 03:44:07.822272 PST-------
+| lr                           | 2.81e-06 |
+| train/epoch                  | 68       |
+| vsbl/train/accel_loss        | 0.148    |
+| vsbl/train/lat_nxt_norm      | 3.34     |
+| vsbl/train/n_nxt_norm        | 7.64     |
+| vsbl/train/planning_error    | 1.42     |
+| vsbl/train/reward_pred_error | 0.264    |
+| vsbl/train/rollout_pos_error | 0.0207   |
+| vsbl/train/sqrt_accel_loss   | 0.378    |
+| vsbl/train/total_loss        | 0.148    |
+-------------------------------------------
+valid [68/1000] Loss: 0.18370
+------2022-12-10 03:46:04.107391 PST-------
+| lr                           | 2.25e-06 |
+| valid/epoch                  | 68       |
+| vsbl/valid/accel_loss        | 0.184    |
+| vsbl/valid/lat_nxt_norm      | 3.35     |
+| vsbl/valid/n_nxt_norm        | 7.67     |
+| vsbl/valid/planning_error    | 1.33     |
+| vsbl/valid/reward_pred_error | 0.274    |
+| vsbl/valid/rollout_pos_error | 0.0167   |
+| vsbl/valid/sqrt_accel_loss   | 0.367    |
+| vsbl/valid/total_loss        | 0.184    |
+-------------------------------------------
+train [69/1000] Loss: 0.14750
+------2022-12-10 04:40:18.318687 PST-------
+| lr                           | 2.25e-06 |
+| train/epoch                  | 69       |
+| vsbl/train/accel_loss        | 0.147    |
+| vsbl/train/lat_nxt_norm      | 3.34     |
+| vsbl/train/n_nxt_norm        | 7.64     |
+| vsbl/train/planning_error    | 1.5      |
+| vsbl/train/reward_pred_error | 0.252    |
+| vsbl/train/rollout_pos_error | 0.0161   |
+| vsbl/train/sqrt_accel_loss   | 0.378    |
+| vsbl/train/total_loss        | 0.147    |
+-------------------------------------------
+valid [69/1000] Loss: 0.18300
+------2022-12-10 04:42:19.036770 PST-------
+| lr                           | 2.25e-06 |
+| valid/epoch                  | 69       |
+| vsbl/valid/accel_loss        | 0.183    |
+| vsbl/valid/lat_nxt_norm      | 3.35     |
+| vsbl/valid/n_nxt_norm        | 7.67     |
+| vsbl/valid/planning_error    | 1.42     |
+| vsbl/valid/reward_pred_error | 0.274    |
+| vsbl/valid/rollout_pos_error | 0.0194   |
+| vsbl/valid/sqrt_accel_loss   | 0.366    |
+| vsbl/valid/total_loss        | 0.183    |
+-------------------------------------------
+train [70/1000] Loss: 0.14730
+------2022-12-10 05:36:47.962003 PST-------
+| lr                           | 2.25e-06 |
+| train/epoch                  | 70       |
+| vsbl/train/accel_loss        | 0.147    |
+| vsbl/train/lat_nxt_norm      | 3.34     |
+| vsbl/train/n_nxt_norm        | 7.64     |
+| vsbl/train/planning_error    | 1.35     |
+| vsbl/train/reward_pred_error | 0.285    |
+| vsbl/train/rollout_pos_error | 0.0212   |
+| vsbl/train/sqrt_accel_loss   | 0.378    |
+| vsbl/train/total_loss        | 0.147    |
+-------------------------------------------
+valid [70/1000] Loss: 0.18290
+------2022-12-10 05:38:43.487964 PST-------
+| lr                           | 2.25e-06 |
+| valid/epoch                  | 70       |
+| vsbl/valid/accel_loss        | 0.183    |
+| vsbl/valid/lat_nxt_norm      | 3.34     |
+| vsbl/valid/n_nxt_norm        | 7.66     |
+| vsbl/valid/planning_error    | 1.41     |
+| vsbl/valid/reward_pred_error | 0.332    |
+| vsbl/valid/rollout_pos_error | 0.0189   |
+| vsbl/valid/sqrt_accel_loss   | 0.366    |
+| vsbl/valid/total_loss        | 0.183    |
+-------------------------------------------
+train [71/1000] Loss: 0.14720
+------2022-12-10 06:32:58.532310 PST-------
+| lr                           | 2.25e-06 |
+| train/epoch                  | 71       |
+| vsbl/train/accel_loss        | 0.147    |
+| vsbl/train/lat_nxt_norm      | 3.34     |
+| vsbl/train/n_nxt_norm        | 7.64     |
+| vsbl/train/planning_error    | 1.44     |
+| vsbl/train/reward_pred_error | 0.349    |
+| vsbl/train/rollout_pos_error | 0.0174   |
+| vsbl/train/sqrt_accel_loss   | 0.377    |
+| vsbl/train/total_loss        | 0.147    |
+-------------------------------------------
+valid [71/1000] Loss: 0.18290
+------2022-12-10 06:34:55.362791 PST-------
+| lr                           | 2.25e-06 |
+| valid/epoch                  | 71       |
+| vsbl/valid/accel_loss        | 0.183    |
+| vsbl/valid/lat_nxt_norm      | 3.35     |
+| vsbl/valid/n_nxt_norm        | 7.67     |
+| vsbl/valid/planning_error    | 1.16     |
+| vsbl/valid/reward_pred_error | 0.296    |
+| vsbl/valid/rollout_pos_error | 0.0183   |
+| vsbl/valid/sqrt_accel_loss   | 0.366    |
+| vsbl/valid/total_loss        | 0.183    |
+-------------------------------------------
+train [72/1000] Loss: 0.14710
+------2022-12-10 07:29:21.821429 PST-------
+| lr                           | 2.25e-06 |
+| train/epoch                  | 72       |
+| vsbl/train/accel_loss        | 0.147    |
+| vsbl/train/lat_nxt_norm      | 3.34     |
+| vsbl/train/n_nxt_norm        | 7.64     |
+| vsbl/train/planning_error    | 1.33     |
+| vsbl/train/reward_pred_error | 0.336    |
+| vsbl/train/rollout_pos_error | 0.0201   |
+| vsbl/train/sqrt_accel_loss   | 0.377    |
+| vsbl/train/total_loss        | 0.147    |
+-------------------------------------------
+valid [72/1000] Loss: 0.18300
+------2022-12-10 07:31:16.045299 PST-------
+| lr                           | 1.8e-06  |
+| valid/epoch                  | 72       |
+| vsbl/valid/accel_loss        | 0.183    |
+| vsbl/valid/lat_nxt_norm      | 3.34     |
+| vsbl/valid/n_nxt_norm        | 7.67     |
+| vsbl/valid/planning_error    | 1.34     |
+| vsbl/valid/reward_pred_error | 0.278    |
+| vsbl/valid/rollout_pos_error | 0.0187   |
+| vsbl/valid/sqrt_accel_loss   | 0.366    |
+| vsbl/valid/total_loss        | 0.183    |
+-------------------------------------------
+train [73/1000] Loss: 0.14670
+------2022-12-10 08:25:28.005602 PST-------
+| lr                           | 1.8e-06  |
+| train/epoch                  | 73       |
+| vsbl/train/accel_loss        | 0.147    |
+| vsbl/train/lat_nxt_norm      | 3.34     |
+| vsbl/train/n_nxt_norm        | 7.64     |
+| vsbl/train/planning_error    | 1.4      |
+| vsbl/train/reward_pred_error | 0.277    |
+| vsbl/train/rollout_pos_error | 0.0209   |
+| vsbl/train/sqrt_accel_loss   | 0.377    |
+| vsbl/train/total_loss        | 0.147    |
+-------------------------------------------
+valid [73/1000] Loss: 0.18270
+------2022-12-10 08:27:22.472331 PST-------
+| lr                           | 1.8e-06  |
+| valid/epoch                  | 73       |
+| vsbl/valid/accel_loss        | 0.183    |
+| vsbl/valid/lat_nxt_norm      | 3.35     |
+| vsbl/valid/n_nxt_norm        | 7.66     |
+| vsbl/valid/planning_error    | 1.1      |
+| vsbl/valid/reward_pred_error | 0.232    |
+| vsbl/valid/rollout_pos_error | 0.0166   |
+| vsbl/valid/sqrt_accel_loss   | 0.366    |
+| vsbl/valid/total_loss        | 0.183    |
+-------------------------------------------
+train [74/1000] Loss: 0.14660
+------2022-12-10 09:21:31.826499 PST-------
+| lr                           | 1.8e-06  |
+| train/epoch                  | 74       |
+| vsbl/train/accel_loss        | 0.147    |
+| vsbl/train/lat_nxt_norm      | 3.34     |
+| vsbl/train/n_nxt_norm        | 7.64     |
+| vsbl/train/planning_error    | 1.48     |
+| vsbl/train/reward_pred_error | 0.261    |
+| vsbl/train/rollout_pos_error | 0.0202   |
+| vsbl/train/sqrt_accel_loss   | 0.377    |
+| vsbl/train/total_loss        | 0.147    |
+-------------------------------------------
+valid [74/1000] Loss: 0.18250
+------2022-12-10 09:23:26.517792 PST-------
+| lr                           | 1.8e-06  |
+| valid/epoch                  | 74       |
+| vsbl/valid/accel_loss        | 0.183    |
+| vsbl/valid/lat_nxt_norm      | 3.35     |
+| vsbl/valid/n_nxt_norm        | 7.68     |
+| vsbl/valid/planning_error    | 1.3      |
+| vsbl/valid/reward_pred_error | 0.24     |
+| vsbl/valid/rollout_pos_error | 0.0153   |
+| vsbl/valid/sqrt_accel_loss   | 0.366    |
+| vsbl/valid/total_loss        | 0.183    |
+-------------------------------------------
+train [75/1000] Loss: 0.14650
+------2022-12-10 10:17:38.560100 PST-------
+| lr                           | 1.8e-06  |
+| train/epoch                  | 75       |
+| vsbl/train/accel_loss        | 0.146    |
+| vsbl/train/lat_nxt_norm      | 3.34     |
+| vsbl/train/n_nxt_norm        | 7.64     |
+| vsbl/train/planning_error    | 1.35     |
+| vsbl/train/reward_pred_error | 0.3      |
+| vsbl/train/rollout_pos_error | 0.0186   |
+| vsbl/train/sqrt_accel_loss   | 0.376    |
+| vsbl/train/total_loss        | 0.146    |
+-------------------------------------------
+valid [75/1000] Loss: 0.18250
+------2022-12-10 10:19:33.708403 PST-------
+| lr                           | 1.8e-06  |
+| valid/epoch                  | 75       |
+| vsbl/valid/accel_loss        | 0.182    |
+| vsbl/valid/lat_nxt_norm      | 3.35     |
+| vsbl/valid/n_nxt_norm        | 7.68     |
+| vsbl/valid/planning_error    | 1.33     |
+| vsbl/valid/reward_pred_error | 0.264    |
+| vsbl/valid/rollout_pos_error | 0.018    |
+| vsbl/valid/sqrt_accel_loss   | 0.366    |
+| vsbl/valid/total_loss        | 0.182    |
+-------------------------------------------
+train [76/1000] Loss: 0.14640
+------2022-12-10 11:13:48.328355 PST-------
+| lr                           | 1.8e-06  |
+| train/epoch                  | 76       |
+| vsbl/train/accel_loss        | 0.146    |
+| vsbl/train/lat_nxt_norm      | 3.34     |
+| vsbl/train/n_nxt_norm        | 7.64     |
+| vsbl/train/planning_error    | 1.45     |
+| vsbl/train/reward_pred_error | 0.308    |
+| vsbl/train/rollout_pos_error | 0.0207   |
+| vsbl/train/sqrt_accel_loss   | 0.376    |
+| vsbl/train/total_loss        | 0.146    |
+-------------------------------------------
+valid [76/1000] Loss: 0.18240
+------2022-12-10 11:15:44.534982 PST-------
+| lr                           | 1.44e-06 |
+| valid/epoch                  | 76       |
+| vsbl/valid/accel_loss        | 0.182    |
+| vsbl/valid/lat_nxt_norm      | 3.35     |
+| vsbl/valid/n_nxt_norm        | 7.67     |
+| vsbl/valid/planning_error    | 1.18     |
+| vsbl/valid/reward_pred_error | 0.287    |
+| vsbl/valid/rollout_pos_error | 0.0215   |
+| vsbl/valid/sqrt_accel_loss   | 0.365    |
+| vsbl/valid/total_loss        | 0.182    |
+-------------------------------------------
+train [77/1000] Loss: 0.14610
+------2022-12-10 12:09:58.714751 PST-------
+| lr                           | 1.44e-06 |
+| train/epoch                  | 77       |
+| vsbl/train/accel_loss        | 0.146    |
+| vsbl/train/lat_nxt_norm      | 3.34     |
+| vsbl/train/n_nxt_norm        | 7.65     |
+| vsbl/train/planning_error    | 1.4      |
+| vsbl/train/reward_pred_error | 0.291    |
+| vsbl/train/rollout_pos_error | 0.0161   |
+| vsbl/train/sqrt_accel_loss   | 0.376    |
+| vsbl/train/total_loss        | 0.146    |
+-------------------------------------------
+valid [77/1000] Loss: 0.18220
+------2022-12-10 12:11:52.270486 PST-------
+| lr                           | 1.44e-06 |
+| valid/epoch                  | 77       |
+| vsbl/valid/accel_loss        | 0.182    |
+| vsbl/valid/lat_nxt_norm      | 3.35     |
+| vsbl/valid/n_nxt_norm        | 7.67     |
+| vsbl/valid/planning_error    | 1.32     |
+| vsbl/valid/reward_pred_error | 0.28     |
+| vsbl/valid/rollout_pos_error | 0.0189   |
+| vsbl/valid/sqrt_accel_loss   | 0.365    |
+| vsbl/valid/total_loss        | 0.182    |
+-------------------------------------------
+train [78/1000] Loss: 0.14600
+------2022-12-10 13:06:03.362334 PST-------
+| lr                           | 1.44e-06 |
+| train/epoch                  | 78       |
+| vsbl/train/accel_loss        | 0.146    |
+| vsbl/train/lat_nxt_norm      | 3.34     |
+| vsbl/train/n_nxt_norm        | 7.65     |
+| vsbl/train/planning_error    | 1.44     |
+| vsbl/train/reward_pred_error | 0.289    |
+| vsbl/train/rollout_pos_error | 0.0185   |
+| vsbl/train/sqrt_accel_loss   | 0.376    |
+| vsbl/train/total_loss        | 0.146    |
+-------------------------------------------
+valid [78/1000] Loss: 0.18220
+------2022-12-10 13:07:57.447837 PST-------
+| lr                           | 1.44e-06 |
+| valid/epoch                  | 78       |
+| vsbl/valid/accel_loss        | 0.182    |
+| vsbl/valid/lat_nxt_norm      | 3.35     |
+| vsbl/valid/n_nxt_norm        | 7.68     |
+| vsbl/valid/planning_error    | 1.26     |
+| vsbl/valid/reward_pred_error | 0.222    |
+| vsbl/valid/rollout_pos_error | 0.0141   |
+| vsbl/valid/sqrt_accel_loss   | 0.365    |
+| vsbl/valid/total_loss        | 0.182    |
+-------------------------------------------
+train [79/1000] Loss: 0.14590
+------2022-12-10 14:02:03.484890 PST-------
+| lr                           | 1.44e-06 |
+| train/epoch                  | 79       |
+| vsbl/train/accel_loss        | 0.146    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.65     |
+| vsbl/train/planning_error    | 1.4      |
+| vsbl/train/reward_pred_error | 0.28     |
+| vsbl/train/rollout_pos_error | 0.0178   |
+| vsbl/train/sqrt_accel_loss   | 0.376    |
+| vsbl/train/total_loss        | 0.146    |
+-------------------------------------------
+valid [79/1000] Loss: 0.18210
+------2022-12-10 14:03:56.575271 PST-------
+| lr                           | 1.44e-06 |
+| valid/epoch                  | 79       |
+| vsbl/valid/accel_loss        | 0.182    |
+| vsbl/valid/lat_nxt_norm      | 3.35     |
+| vsbl/valid/n_nxt_norm        | 7.68     |
+| vsbl/valid/planning_error    | 1.36     |
+| vsbl/valid/reward_pred_error | 0.353    |
+| vsbl/valid/rollout_pos_error | 0.0168   |
+| vsbl/valid/sqrt_accel_loss   | 0.365    |
+| vsbl/valid/total_loss        | 0.182    |
+-------------------------------------------
+train [80/1000] Loss: 0.14590
+------2022-12-10 14:58:04.606517 PST-------
+| lr                           | 1.44e-06 |
+| train/epoch                  | 80       |
+| vsbl/train/accel_loss        | 0.146    |
+| vsbl/train/lat_nxt_norm      | 3.34     |
+| vsbl/train/n_nxt_norm        | 7.65     |
+| vsbl/train/planning_error    | 1.16     |
+| vsbl/train/reward_pred_error | 0.297    |
+| vsbl/train/rollout_pos_error | 0.0201   |
+| vsbl/train/sqrt_accel_loss   | 0.376    |
+| vsbl/train/total_loss        | 0.146    |
+-------------------------------------------
+valid [80/1000] Loss: 0.18190
+------2022-12-10 14:59:58.904546 PST-------
+| lr                           | 1.15e-06 |
+| valid/epoch                  | 80       |
+| vsbl/valid/accel_loss        | 0.182    |
+| vsbl/valid/lat_nxt_norm      | 3.35     |
+| vsbl/valid/n_nxt_norm        | 7.68     |
+| vsbl/valid/planning_error    | 1.26     |
+| vsbl/valid/reward_pred_error | 0.238    |
+| vsbl/valid/rollout_pos_error | 0.0186   |
+| vsbl/valid/sqrt_accel_loss   | 0.365    |
+| vsbl/valid/total_loss        | 0.182    |
+-------------------------------------------
+train [81/1000] Loss: 0.14560
+------2022-12-10 15:54:04.070591 PST-------
+| lr                           | 1.15e-06 |
+| train/epoch                  | 81       |
+| vsbl/train/accel_loss        | 0.146    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.65     |
+| vsbl/train/planning_error    | 1.37     |
+| vsbl/train/reward_pred_error | 0.251    |
+| vsbl/train/rollout_pos_error | 0.0197   |
+| vsbl/train/sqrt_accel_loss   | 0.375    |
+| vsbl/train/total_loss        | 0.146    |
+-------------------------------------------
+valid [81/1000] Loss: 0.18190
+------2022-12-10 15:55:57.857010 PST-------
+| lr                           | 1.15e-06 |
+| valid/epoch                  | 81       |
+| vsbl/valid/accel_loss        | 0.182    |
+| vsbl/valid/lat_nxt_norm      | 3.35     |
+| vsbl/valid/n_nxt_norm        | 7.68     |
+| vsbl/valid/planning_error    | 1.41     |
+| vsbl/valid/reward_pred_error | 0.285    |
+| vsbl/valid/rollout_pos_error | 0.0144   |
+| vsbl/valid/sqrt_accel_loss   | 0.365    |
+| vsbl/valid/total_loss        | 0.182    |
+-------------------------------------------
+train [82/1000] Loss: 0.14550
+------2022-12-10 16:49:56.414666 PST-------
+| lr                           | 1.15e-06 |
+| train/epoch                  | 82       |
+| vsbl/train/accel_loss        | 0.146    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.65     |
+| vsbl/train/planning_error    | 1.42     |
+| vsbl/train/reward_pred_error | 0.358    |
+| vsbl/train/rollout_pos_error | 0.0197   |
+| vsbl/train/sqrt_accel_loss   | 0.375    |
+| vsbl/train/total_loss        | 0.146    |
+-------------------------------------------
+valid [82/1000] Loss: 0.18180
+------2022-12-10 16:51:49.775622 PST-------
+| lr                           | 1.15e-06 |
+| valid/epoch                  | 82       |
+| vsbl/valid/accel_loss        | 0.182    |
+| vsbl/valid/lat_nxt_norm      | 3.35     |
+| vsbl/valid/n_nxt_norm        | 7.68     |
+| vsbl/valid/planning_error    | 1.31     |
+| vsbl/valid/reward_pred_error | 0.309    |
+| vsbl/valid/rollout_pos_error | 0.018    |
+| vsbl/valid/sqrt_accel_loss   | 0.365    |
+| vsbl/valid/total_loss        | 0.182    |
+-------------------------------------------
+train [83/1000] Loss: 0.14550
+------2022-12-10 17:46:00.909307 PST-------
+| lr                           | 1.15e-06 |
+| train/epoch                  | 83       |
+| vsbl/train/accel_loss        | 0.146    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.65     |
+| vsbl/train/planning_error    | 1.47     |
+| vsbl/train/reward_pred_error | 0.3      |
+| vsbl/train/rollout_pos_error | 0.0204   |
+| vsbl/train/sqrt_accel_loss   | 0.375    |
+| vsbl/train/total_loss        | 0.146    |
+-------------------------------------------
+valid [83/1000] Loss: 0.18170
+------2022-12-10 17:47:58.693467 PST-------
+| lr                           | 1.15e-06 |
+| valid/epoch                  | 83       |
+| vsbl/valid/accel_loss        | 0.182    |
+| vsbl/valid/lat_nxt_norm      | 3.35     |
+| vsbl/valid/n_nxt_norm        | 7.68     |
+| vsbl/valid/planning_error    | 1.47     |
+| vsbl/valid/reward_pred_error | 0.45     |
+| vsbl/valid/rollout_pos_error | 0.0183   |
+| vsbl/valid/sqrt_accel_loss   | 0.365    |
+| vsbl/valid/total_loss        | 0.182    |
+-------------------------------------------
+train [84/1000] Loss: 0.14540
+------2022-12-10 18:42:14.138318 PST-------
+| lr                           | 1.15e-06 |
+| train/epoch                  | 84       |
+| vsbl/train/accel_loss        | 0.145    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.65     |
+| vsbl/train/planning_error    | 1.46     |
+| vsbl/train/reward_pred_error | 0.337    |
+| vsbl/train/rollout_pos_error | 0.0186   |
+| vsbl/train/sqrt_accel_loss   | 0.375    |
+| vsbl/train/total_loss        | 0.145    |
+-------------------------------------------
+valid [84/1000] Loss: 0.18170
+------2022-12-10 18:44:09.856933 PST-------
+| lr                           | 9.22e-07 |
+| valid/epoch                  | 84       |
+| vsbl/valid/accel_loss        | 0.182    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.34     |
+| vsbl/valid/reward_pred_error | 0.285    |
+| vsbl/valid/rollout_pos_error | 0.0191   |
+| vsbl/valid/sqrt_accel_loss   | 0.365    |
+| vsbl/valid/total_loss        | 0.182    |
+-------------------------------------------
+train [85/1000] Loss: 0.14520
+------2022-12-10 19:38:13.506477 PST-------
+| lr                           | 9.22e-07 |
+| train/epoch                  | 85       |
+| vsbl/train/accel_loss        | 0.145    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.65     |
+| vsbl/train/planning_error    | 1.3      |
+| vsbl/train/reward_pred_error | 0.246    |
+| vsbl/train/rollout_pos_error | 0.0194   |
+| vsbl/train/sqrt_accel_loss   | 0.375    |
+| vsbl/train/total_loss        | 0.145    |
+-------------------------------------------
+valid [85/1000] Loss: 0.18160
+------2022-12-10 19:40:07.804684 PST-------
+| lr                           | 9.22e-07 |
+| valid/epoch                  | 85       |
+| vsbl/valid/accel_loss        | 0.182    |
+| vsbl/valid/lat_nxt_norm      | 3.35     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.48     |
+| vsbl/valid/reward_pred_error | 0.228    |
+| vsbl/valid/rollout_pos_error | 0.0154   |
+| vsbl/valid/sqrt_accel_loss   | 0.365    |
+| vsbl/valid/total_loss        | 0.182    |
+-------------------------------------------
+train [86/1000] Loss: 0.14520
+------2022-12-10 20:34:13.366822 PST-------
+| lr                           | 9.22e-07 |
+| train/epoch                  | 86       |
+| vsbl/train/accel_loss        | 0.145    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.65     |
+| vsbl/train/planning_error    | 1.19     |
+| vsbl/train/reward_pred_error | 0.268    |
+| vsbl/train/rollout_pos_error | 0.0175   |
+| vsbl/train/sqrt_accel_loss   | 0.375    |
+| vsbl/train/total_loss        | 0.145    |
+-------------------------------------------
+valid [86/1000] Loss: 0.18150
+------2022-12-10 20:36:07.917708 PST-------
+| lr                           | 9.22e-07 |
+| valid/epoch                  | 86       |
+| vsbl/valid/accel_loss        | 0.182    |
+| vsbl/valid/lat_nxt_norm      | 3.35     |
+| vsbl/valid/n_nxt_norm        | 7.67     |
+| vsbl/valid/planning_error    | 1.24     |
+| vsbl/valid/reward_pred_error | 0.264    |
+| vsbl/valid/rollout_pos_error | 0.0171   |
+| vsbl/valid/sqrt_accel_loss   | 0.365    |
+| vsbl/valid/total_loss        | 0.182    |
+-------------------------------------------
+train [87/1000] Loss: 0.14520
+------2022-12-10 21:30:16.494643 PST-------
+| lr                           | 9.22e-07 |
+| train/epoch                  | 87       |
+| vsbl/train/accel_loss        | 0.145    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.65     |
+| vsbl/train/planning_error    | 1.42     |
+| vsbl/train/reward_pred_error | 0.289    |
+| vsbl/train/rollout_pos_error | 0.0183   |
+| vsbl/train/sqrt_accel_loss   | 0.375    |
+| vsbl/train/total_loss        | 0.145    |
+-------------------------------------------
+valid [87/1000] Loss: 0.18150
+------2022-12-10 21:32:13.930739 PST-------
+| lr                           | 9.22e-07 |
+| valid/epoch                  | 87       |
+| vsbl/valid/accel_loss        | 0.182    |
+| vsbl/valid/lat_nxt_norm      | 3.35     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.2      |
+| vsbl/valid/reward_pred_error | 0.266    |
+| vsbl/valid/rollout_pos_error | 0.0185   |
+| vsbl/valid/sqrt_accel_loss   | 0.364    |
+| vsbl/valid/total_loss        | 0.182    |
+-------------------------------------------
+train [88/1000] Loss: 0.14510
+------2022-12-10 22:26:34.284416 PST-------
+| lr                           | 9.22e-07 |
+| train/epoch                  | 88       |
+| vsbl/train/accel_loss        | 0.145    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.65     |
+| vsbl/train/planning_error    | 1.4      |
+| vsbl/train/reward_pred_error | 0.315    |
+| vsbl/train/rollout_pos_error | 0.0165   |
+| vsbl/train/sqrt_accel_loss   | 0.375    |
+| vsbl/train/total_loss        | 0.145    |
+-------------------------------------------
+valid [88/1000] Loss: 0.18140
+------2022-12-10 22:28:29.490405 PST-------
+| lr                           | 7.38e-07 |
+| valid/epoch                  | 88       |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.35     |
+| vsbl/valid/n_nxt_norm        | 7.68     |
+| vsbl/valid/planning_error    | 1.43     |
+| vsbl/valid/reward_pred_error | 0.311    |
+| vsbl/valid/rollout_pos_error | 0.0194   |
+| vsbl/valid/sqrt_accel_loss   | 0.364    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [89/1000] Loss: 0.14490
+------2022-12-10 23:22:48.892060 PST-------
+| lr                           | 7.38e-07 |
+| train/epoch                  | 89       |
+| vsbl/train/accel_loss        | 0.145    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.65     |
+| vsbl/train/planning_error    | 1.43     |
+| vsbl/train/reward_pred_error | 0.308    |
+| vsbl/train/rollout_pos_error | 0.0205   |
+| vsbl/train/sqrt_accel_loss   | 0.374    |
+| vsbl/train/total_loss        | 0.145    |
+-------------------------------------------
+valid [89/1000] Loss: 0.18140
+------2022-12-10 23:24:48.364214 PST-------
+| lr                           | 7.38e-07 |
+| valid/epoch                  | 89       |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.35     |
+| vsbl/valid/n_nxt_norm        | 7.68     |
+| vsbl/valid/planning_error    | 1.32     |
+| vsbl/valid/reward_pred_error | 0.308    |
+| vsbl/valid/rollout_pos_error | 0.0215   |
+| vsbl/valid/sqrt_accel_loss   | 0.364    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [90/1000] Loss: 0.14490
+------2022-12-11 00:19:24.498528 PST-------
+| lr                           | 7.38e-07 |
+| train/epoch                  | 90       |
+| vsbl/train/accel_loss        | 0.145    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.65     |
+| vsbl/train/planning_error    | 1.63     |
+| vsbl/train/reward_pred_error | 0.286    |
+| vsbl/train/rollout_pos_error | 0.019    |
+| vsbl/train/sqrt_accel_loss   | 0.374    |
+| vsbl/train/total_loss        | 0.145    |
+-------------------------------------------
+valid [90/1000] Loss: 0.18130
+------2022-12-11 00:21:28.050638 PST-------
+| lr                           | 7.38e-07 |
+| valid/epoch                  | 90       |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.35     |
+| vsbl/valid/n_nxt_norm        | 7.68     |
+| vsbl/valid/planning_error    | 1.4      |
+| vsbl/valid/reward_pred_error | 0.326    |
+| vsbl/valid/rollout_pos_error | 0.0202   |
+| vsbl/valid/sqrt_accel_loss   | 0.364    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [91/1000] Loss: 0.14480
+------2022-12-11 01:15:53.020885 PST-------
+| lr                           | 7.38e-07 |
+| train/epoch                  | 91       |
+| vsbl/train/accel_loss        | 0.145    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.65     |
+| vsbl/train/planning_error    | 1.21     |
+| vsbl/train/reward_pred_error | 0.266    |
+| vsbl/train/rollout_pos_error | 0.0184   |
+| vsbl/train/sqrt_accel_loss   | 0.374    |
+| vsbl/train/total_loss        | 0.145    |
+-------------------------------------------
+valid [91/1000] Loss: 0.18130
+------2022-12-11 01:17:50.868873 PST-------
+| lr                           | 7.38e-07 |
+| valid/epoch                  | 91       |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.68     |
+| vsbl/valid/planning_error    | 1.07     |
+| vsbl/valid/reward_pred_error | 0.283    |
+| vsbl/valid/rollout_pos_error | 0.0207   |
+| vsbl/valid/sqrt_accel_loss   | 0.364    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [92/1000] Loss: 0.14480
+------2022-12-11 02:12:12.394348 PST-------
+| lr                           | 7.38e-07 |
+| train/epoch                  | 92       |
+| vsbl/train/accel_loss        | 0.145    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.65     |
+| vsbl/train/planning_error    | 1.34     |
+| vsbl/train/reward_pred_error | 0.24     |
+| vsbl/train/rollout_pos_error | 0.0175   |
+| vsbl/train/sqrt_accel_loss   | 0.374    |
+| vsbl/train/total_loss        | 0.145    |
+-------------------------------------------
+valid [92/1000] Loss: 0.18120
+------2022-12-11 02:14:13.535570 PST-------
+| lr                           | 5.9e-07  |
+| valid/epoch                  | 92       |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.35     |
+| vsbl/valid/n_nxt_norm        | 7.68     |
+| vsbl/valid/planning_error    | 1.37     |
+| vsbl/valid/reward_pred_error | 0.269    |
+| vsbl/valid/rollout_pos_error | 0.0173   |
+| vsbl/valid/sqrt_accel_loss   | 0.364    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [93/1000] Loss: 0.14470
+------2022-12-11 03:08:44.696551 PST-------
+| lr                           | 5.9e-07  |
+| train/epoch                  | 93       |
+| vsbl/train/accel_loss        | 0.145    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.65     |
+| vsbl/train/planning_error    | 1.49     |
+| vsbl/train/reward_pred_error | 0.279    |
+| vsbl/train/rollout_pos_error | 0.0182   |
+| vsbl/train/sqrt_accel_loss   | 0.374    |
+| vsbl/train/total_loss        | 0.145    |
+-------------------------------------------
+valid [93/1000] Loss: 0.18120
+------2022-12-11 03:10:41.218850 PST-------
+| lr                           | 5.9e-07  |
+| valid/epoch                  | 93       |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.35     |
+| vsbl/valid/n_nxt_norm        | 7.68     |
+| vsbl/valid/planning_error    | 1.21     |
+| vsbl/valid/reward_pred_error | 0.327    |
+| vsbl/valid/rollout_pos_error | 0.0161   |
+| vsbl/valid/sqrt_accel_loss   | 0.364    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [94/1000] Loss: 0.14460
+------2022-12-11 04:05:01.805296 PST-------
+| lr                           | 5.9e-07  |
+| train/epoch                  | 94       |
+| vsbl/train/accel_loss        | 0.145    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.34     |
+| vsbl/train/reward_pred_error | 0.301    |
+| vsbl/train/rollout_pos_error | 0.0172   |
+| vsbl/train/sqrt_accel_loss   | 0.374    |
+| vsbl/train/total_loss        | 0.145    |
+-------------------------------------------
+valid [94/1000] Loss: 0.18110
+------2022-12-11 04:07:02.463076 PST-------
+| lr                           | 5.9e-07  |
+| valid/epoch                  | 94       |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.35     |
+| vsbl/valid/n_nxt_norm        | 7.68     |
+| vsbl/valid/planning_error    | 1.3      |
+| vsbl/valid/reward_pred_error | 0.279    |
+| vsbl/valid/rollout_pos_error | 0.0197   |
+| vsbl/valid/sqrt_accel_loss   | 0.364    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [95/1000] Loss: 0.14460
+------2022-12-11 05:01:33.713927 PST-------
+| lr                           | 5.9e-07  |
+| train/epoch                  | 95       |
+| vsbl/train/accel_loss        | 0.145    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.65     |
+| vsbl/train/planning_error    | 1.37     |
+| vsbl/train/reward_pred_error | 0.292    |
+| vsbl/train/rollout_pos_error | 0.0191   |
+| vsbl/train/sqrt_accel_loss   | 0.374    |
+| vsbl/train/total_loss        | 0.145    |
+-------------------------------------------
+valid [95/1000] Loss: 0.18110
+------2022-12-11 05:03:30.691073 PST-------
+| lr                           | 5.9e-07  |
+| valid/epoch                  | 95       |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.35     |
+| vsbl/valid/n_nxt_norm        | 7.68     |
+| vsbl/valid/planning_error    | 1.34     |
+| vsbl/valid/reward_pred_error | 0.288    |
+| vsbl/valid/rollout_pos_error | 0.0209   |
+| vsbl/valid/sqrt_accel_loss   | 0.364    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [96/1000] Loss: 0.14460
+------2022-12-11 05:57:50.493798 PST-------
+| lr                           | 5.9e-07  |
+| train/epoch                  | 96       |
+| vsbl/train/accel_loss        | 0.145    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.65     |
+| vsbl/train/planning_error    | 1.18     |
+| vsbl/train/reward_pred_error | 0.317    |
+| vsbl/train/rollout_pos_error | 0.0196   |
+| vsbl/train/sqrt_accel_loss   | 0.374    |
+| vsbl/train/total_loss        | 0.145    |
+-------------------------------------------
+valid [96/1000] Loss: 0.18120
+------2022-12-11 05:59:48.172514 PST-------
+| lr                           | 4.72e-07 |
+| valid/epoch                  | 96       |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.36     |
+| vsbl/valid/reward_pred_error | 0.31     |
+| vsbl/valid/rollout_pos_error | 0.0192   |
+| vsbl/valid/sqrt_accel_loss   | 0.364    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [97/1000] Loss: 0.14450
+------2022-12-11 06:54:21.767389 PST-------
+| lr                           | 4.72e-07 |
+| train/epoch                  | 97       |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.45     |
+| vsbl/train/reward_pred_error | 0.26     |
+| vsbl/train/rollout_pos_error | 0.0193   |
+| vsbl/train/sqrt_accel_loss   | 0.374    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [97/1000] Loss: 0.18110
+------2022-12-11 06:56:20.940444 PST-------
+| lr                           | 4.72e-07 |
+| valid/epoch                  | 97       |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.35     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.35     |
+| vsbl/valid/reward_pred_error | 0.251    |
+| vsbl/valid/rollout_pos_error | 0.0179   |
+| vsbl/valid/sqrt_accel_loss   | 0.364    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [98/1000] Loss: 0.14450
+------2022-12-11 07:50:40.192876 PST-------
+| lr                           | 4.72e-07 |
+| train/epoch                  | 98       |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.22     |
+| vsbl/train/reward_pred_error | 0.235    |
+| vsbl/train/rollout_pos_error | 0.0178   |
+| vsbl/train/sqrt_accel_loss   | 0.374    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [98/1000] Loss: 0.18100
+------2022-12-11 07:52:36.472925 PST-------
+| lr                           | 4.72e-07 |
+| valid/epoch                  | 98       |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.35     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.38     |
+| vsbl/valid/reward_pred_error | 0.303    |
+| vsbl/valid/rollout_pos_error | 0.0186   |
+| vsbl/valid/sqrt_accel_loss   | 0.364    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [99/1000] Loss: 0.14450
+------2022-12-11 08:46:47.747568 PST-------
+| lr                           | 4.72e-07 |
+| train/epoch                  | 99       |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.65     |
+| vsbl/train/planning_error    | 1.4      |
+| vsbl/train/reward_pred_error | 0.303    |
+| vsbl/train/rollout_pos_error | 0.0181   |
+| vsbl/train/sqrt_accel_loss   | 0.374    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [99/1000] Loss: 0.18110
+------2022-12-11 08:48:43.304571 PST-------
+| lr                           | 4.72e-07 |
+| valid/epoch                  | 99       |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.35     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.22     |
+| vsbl/valid/reward_pred_error | 0.224    |
+| vsbl/valid/rollout_pos_error | 0.016    |
+| vsbl/valid/sqrt_accel_loss   | 0.364    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [100/1000] Loss: 0.14440
+------2022-12-11 09:43:03.583543 PST-------
+| lr                           | 4.72e-07 |
+| train/epoch                  | 100      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.38     |
+| vsbl/train/reward_pred_error | 0.246    |
+| vsbl/train/rollout_pos_error | 0.0165   |
+| vsbl/train/sqrt_accel_loss   | 0.374    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [100/1000] Loss: 0.18100
+------2022-12-11 09:45:05.461635 PST-------
+| lr                           | 3.78e-07 |
+| valid/epoch                  | 100      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.35     |
+| vsbl/valid/n_nxt_norm        | 7.68     |
+| vsbl/valid/planning_error    | 1.35     |
+| vsbl/valid/reward_pred_error | 0.326    |
+| vsbl/valid/rollout_pos_error | 0.0202   |
+| vsbl/valid/sqrt_accel_loss   | 0.364    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [101/1000] Loss: 0.14430
+------2022-12-11 10:45:03.489418 PST-------
+| lr                           | 3.78e-07 |
+| train/epoch                  | 101      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.2      |
+| vsbl/train/reward_pred_error | 0.226    |
+| vsbl/train/rollout_pos_error | 0.0177   |
+| vsbl/train/sqrt_accel_loss   | 0.374    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [101/1000] Loss: 0.18090
+------2022-12-11 10:48:13.899626 PST-------
+| lr                           | 3.78e-07 |
+| valid/epoch                  | 101      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.35     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.15     |
+| vsbl/valid/reward_pred_error | 0.269    |
+| vsbl/valid/rollout_pos_error | 0.0185   |
+| vsbl/valid/sqrt_accel_loss   | 0.364    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [102/1000] Loss: 0.14430
+------2022-12-11 11:52:44.426217 PST-------
+| lr                           | 3.78e-07 |
+| train/epoch                  | 102      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.41     |
+| vsbl/train/reward_pred_error | 0.315    |
+| vsbl/train/rollout_pos_error | 0.0192   |
+| vsbl/train/sqrt_accel_loss   | 0.374    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [102/1000] Loss: 0.18100
+------2022-12-11 11:56:19.904502 PST-------
+| lr                           | 3.78e-07 |
+| valid/epoch                  | 102      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.19     |
+| vsbl/valid/reward_pred_error | 0.262    |
+| vsbl/valid/rollout_pos_error | 0.0184   |
+| vsbl/valid/sqrt_accel_loss   | 0.364    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [103/1000] Loss: 0.14430
+------2022-12-11 13:01:50.354323 PST-------
+| lr                           | 3.78e-07 |
+| train/epoch                  | 103      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.22     |
+| vsbl/train/reward_pred_error | 0.27     |
+| vsbl/train/rollout_pos_error | 0.018    |
+| vsbl/train/sqrt_accel_loss   | 0.374    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [103/1000] Loss: 0.18090
+------2022-12-11 13:05:21.028683 PST-------
+| lr                           | 3.78e-07 |
+| valid/epoch                  | 103      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.35     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.4      |
+| vsbl/valid/reward_pred_error | 0.401    |
+| vsbl/valid/rollout_pos_error | 0.0177   |
+| vsbl/valid/sqrt_accel_loss   | 0.364    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [104/1000] Loss: 0.14430
+------2022-12-11 14:10:19.743931 PST-------
+| lr                           | 3.78e-07 |
+| train/epoch                  | 104      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.48     |
+| vsbl/train/reward_pred_error | 0.302    |
+| vsbl/train/rollout_pos_error | 0.0189   |
+| vsbl/train/sqrt_accel_loss   | 0.374    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [104/1000] Loss: 0.18090
+------2022-12-11 14:13:43.812747 PST-------
+| lr                           | 3.02e-07 |
+| valid/epoch                  | 104      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.34     |
+| vsbl/valid/reward_pred_error | 0.275    |
+| vsbl/valid/rollout_pos_error | 0.0193   |
+| vsbl/valid/sqrt_accel_loss   | 0.364    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [105/1000] Loss: 0.14420
+------2022-12-11 15:19:17.660520 PST-------
+| lr                           | 3.02e-07 |
+| train/epoch                  | 105      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.25     |
+| vsbl/train/reward_pred_error | 0.232    |
+| vsbl/train/rollout_pos_error | 0.0181   |
+| vsbl/train/sqrt_accel_loss   | 0.374    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [105/1000] Loss: 0.18090
+------2022-12-11 15:22:45.648621 PST-------
+| lr                           | 3.02e-07 |
+| valid/epoch                  | 105      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.2      |
+| vsbl/valid/reward_pred_error | 0.331    |
+| vsbl/valid/rollout_pos_error | 0.0196   |
+| vsbl/valid/sqrt_accel_loss   | 0.364    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [106/1000] Loss: 0.14420
+------2022-12-11 16:28:01.485218 PST-------
+| lr                           | 3.02e-07 |
+| train/epoch                  | 106      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.39     |
+| vsbl/train/reward_pred_error | 0.287    |
+| vsbl/train/rollout_pos_error | 0.0178   |
+| vsbl/train/sqrt_accel_loss   | 0.374    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [106/1000] Loss: 0.18090
+------2022-12-11 16:31:12.649191 PST-------
+| lr                           | 3.02e-07 |
+| valid/epoch                  | 106      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.35     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.22     |
+| vsbl/valid/reward_pred_error | 0.286    |
+| vsbl/valid/rollout_pos_error | 0.0183   |
+| vsbl/valid/sqrt_accel_loss   | 0.364    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [107/1000] Loss: 0.14420
+------2022-12-11 17:37:58.099833 PST-------
+| lr                           | 3.02e-07 |
+| train/epoch                  | 107      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.44     |
+| vsbl/train/reward_pred_error | 0.338    |
+| vsbl/train/rollout_pos_error | 0.0196   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [107/1000] Loss: 0.18090
+------2022-12-11 17:41:45.210500 PST-------
+| lr                           | 3.02e-07 |
+| valid/epoch                  | 107      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.15     |
+| vsbl/valid/reward_pred_error | 0.251    |
+| vsbl/valid/rollout_pos_error | 0.019    |
+| vsbl/valid/sqrt_accel_loss   | 0.364    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [108/1000] Loss: 0.14420
+------2022-12-11 18:47:28.700097 PST-------
+| lr                           | 3.02e-07 |
+| train/epoch                  | 108      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.35     |
+| vsbl/train/reward_pred_error | 0.281    |
+| vsbl/train/rollout_pos_error | 0.02     |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [108/1000] Loss: 0.18080
+------2022-12-11 18:50:54.047669 PST-------
+| lr                           | 2.42e-07 |
+| valid/epoch                  | 108      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.25     |
+| vsbl/valid/reward_pred_error | 0.312    |
+| vsbl/valid/rollout_pos_error | 0.0163   |
+| vsbl/valid/sqrt_accel_loss   | 0.364    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [109/1000] Loss: 0.14410
+------2022-12-11 19:56:07.660023 PST-------
+| lr                           | 2.42e-07 |
+| train/epoch                  | 109      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.39     |
+| vsbl/train/reward_pred_error | 0.234    |
+| vsbl/train/rollout_pos_error | 0.0167   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [109/1000] Loss: 0.18080
+------2022-12-11 19:59:29.382038 PST-------
+| lr                           | 2.42e-07 |
+| valid/epoch                  | 109      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.26     |
+| vsbl/valid/reward_pred_error | 0.434    |
+| vsbl/valid/rollout_pos_error | 0.0179   |
+| vsbl/valid/sqrt_accel_loss   | 0.364    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [110/1000] Loss: 0.14410
+------2022-12-11 21:05:54.000702 PST-------
+| lr                           | 2.42e-07 |
+| train/epoch                  | 110      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.33     |
+| vsbl/train/reward_pred_error | 0.223    |
+| vsbl/train/rollout_pos_error | 0.0189   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [110/1000] Loss: 0.18080
+------2022-12-11 21:09:29.743058 PST-------
+| lr                           | 2.42e-07 |
+| valid/epoch                  | 110      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.26     |
+| vsbl/valid/reward_pred_error | 0.253    |
+| vsbl/valid/rollout_pos_error | 0.0192   |
+| vsbl/valid/sqrt_accel_loss   | 0.364    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [111/1000] Loss: 0.14410
+------2022-12-11 22:15:58.233106 PST-------
+| lr                           | 2.42e-07 |
+| train/epoch                  | 111      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.32     |
+| vsbl/train/reward_pred_error | 0.309    |
+| vsbl/train/rollout_pos_error | 0.0184   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [111/1000] Loss: 0.18080
+------2022-12-11 22:19:34.508805 PST-------
+| lr                           | 2.42e-07 |
+| valid/epoch                  | 111      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.25     |
+| vsbl/valid/reward_pred_error | 0.242    |
+| vsbl/valid/rollout_pos_error | 0.0184   |
+| vsbl/valid/sqrt_accel_loss   | 0.364    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [112/1000] Loss: 0.14400
+------2022-12-11 23:30:06.492833 PST-------
+| lr                           | 2.42e-07 |
+| train/epoch                  | 112      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.34     |
+| vsbl/train/reward_pred_error | 0.351    |
+| vsbl/train/rollout_pos_error | 0.0182   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [112/1000] Loss: 0.18080
+------2022-12-11 23:34:18.479739 PST-------
+| lr                           | 1.93e-07 |
+| valid/epoch                  | 112      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.35     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.28     |
+| vsbl/valid/reward_pred_error | 0.304    |
+| vsbl/valid/rollout_pos_error | 0.0175   |
+| vsbl/valid/sqrt_accel_loss   | 0.364    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [113/1000] Loss: 0.14400
+------2022-12-12 00:44:11.263635 PST-------
+| lr                           | 1.93e-07 |
+| train/epoch                  | 113      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.44     |
+| vsbl/train/reward_pred_error | 0.256    |
+| vsbl/train/rollout_pos_error | 0.0197   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [113/1000] Loss: 0.18080
+------2022-12-12 00:47:51.611182 PST-------
+| lr                           | 1.93e-07 |
+| valid/epoch                  | 113      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.32     |
+| vsbl/valid/reward_pred_error | 0.27     |
+| vsbl/valid/rollout_pos_error | 0.0198   |
+| vsbl/valid/sqrt_accel_loss   | 0.364    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [114/1000] Loss: 0.14400
+------2022-12-12 01:54:00.468015 PST-------
+| lr                           | 1.93e-07 |
+| train/epoch                  | 114      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.42     |
+| vsbl/train/reward_pred_error | 0.226    |
+| vsbl/train/rollout_pos_error | 0.017    |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [114/1000] Loss: 0.18080
+------2022-12-12 01:57:18.547606 PST-------
+| lr                           | 1.93e-07 |
+| valid/epoch                  | 114      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.23     |
+| vsbl/valid/reward_pred_error | 0.287    |
+| vsbl/valid/rollout_pos_error | 0.0206   |
+| vsbl/valid/sqrt_accel_loss   | 0.364    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [115/1000] Loss: 0.14400
+------2022-12-12 03:03:50.967300 PST-------
+| lr                           | 1.93e-07 |
+| train/epoch                  | 115      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.12     |
+| vsbl/train/reward_pred_error | 0.289    |
+| vsbl/train/rollout_pos_error | 0.0189   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [115/1000] Loss: 0.18080
+------2022-12-12 03:07:43.659056 PST-------
+| lr                           | 1.93e-07 |
+| valid/epoch                  | 115      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.17     |
+| vsbl/valid/reward_pred_error | 0.266    |
+| vsbl/valid/rollout_pos_error | 0.0194   |
+| vsbl/valid/sqrt_accel_loss   | 0.364    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [116/1000] Loss: 0.14400
+------2022-12-12 04:16:35.384885 PST-------
+| lr                           | 1.93e-07 |
+| train/epoch                  | 116      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.22     |
+| vsbl/train/reward_pred_error | 0.262    |
+| vsbl/train/rollout_pos_error | 0.0166   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [116/1000] Loss: 0.18080
+------2022-12-12 04:19:55.892686 PST-------
+| lr                           | 1.55e-07 |
+| valid/epoch                  | 116      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.16     |
+| vsbl/valid/reward_pred_error | 0.266    |
+| vsbl/valid/rollout_pos_error | 0.0191   |
+| vsbl/valid/sqrt_accel_loss   | 0.364    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [117/1000] Loss: 0.14400
+------2022-12-12 05:25:25.231237 PST-------
+| lr                           | 1.55e-07 |
+| train/epoch                  | 117      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.54     |
+| vsbl/train/reward_pred_error | 0.369    |
+| vsbl/train/rollout_pos_error | 0.0167   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [117/1000] Loss: 0.18070
+------2022-12-12 05:28:52.780807 PST-------
+| lr                           | 1.55e-07 |
+| valid/epoch                  | 117      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.49     |
+| vsbl/valid/reward_pred_error | 0.326    |
+| vsbl/valid/rollout_pos_error | 0.0171   |
+| vsbl/valid/sqrt_accel_loss   | 0.364    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [118/1000] Loss: 0.14390
+------2022-12-12 06:38:29.598231 PST-------
+| lr                           | 1.55e-07 |
+| train/epoch                  | 118      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.29     |
+| vsbl/train/reward_pred_error | 0.278    |
+| vsbl/train/rollout_pos_error | 0.0194   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [118/1000] Loss: 0.18070
+------2022-12-12 06:42:05.578439 PST-------
+| lr                           | 1.55e-07 |
+| valid/epoch                  | 118      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.32     |
+| vsbl/valid/reward_pred_error | 0.322    |
+| vsbl/valid/rollout_pos_error | 0.0204   |
+| vsbl/valid/sqrt_accel_loss   | 0.364    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [119/1000] Loss: 0.14390
+------2022-12-12 07:47:21.498534 PST-------
+| lr                           | 1.55e-07 |
+| train/epoch                  | 119      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.38     |
+| vsbl/train/reward_pred_error | 0.259    |
+| vsbl/train/rollout_pos_error | 0.0205   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [119/1000] Loss: 0.18070
+------2022-12-12 07:50:33.456248 PST-------
+| lr                           | 1.55e-07 |
+| valid/epoch                  | 119      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.3      |
+| vsbl/valid/reward_pred_error | 0.22     |
+| vsbl/valid/rollout_pos_error | 0.0158   |
+| vsbl/valid/sqrt_accel_loss   | 0.364    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [120/1000] Loss: 0.14400
+------2022-12-12 08:56:09.948685 PST-------
+| lr                           | 1.55e-07 |
+| train/epoch                  | 120      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.41     |
+| vsbl/train/reward_pred_error | 0.268    |
+| vsbl/train/rollout_pos_error | 0.0198   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [120/1000] Loss: 0.18070
+------2022-12-12 08:59:27.325410 PST-------
+| lr                           | 1.24e-07 |
+| valid/epoch                  | 120      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.33     |
+| vsbl/valid/reward_pred_error | 0.289    |
+| vsbl/valid/rollout_pos_error | 0.0177   |
+| vsbl/valid/sqrt_accel_loss   | 0.364    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [121/1000] Loss: 0.14390
+------2022-12-12 10:06:41.342794 PST-------
+| lr                           | 1.24e-07 |
+| train/epoch                  | 121      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.36     |
+| vsbl/train/reward_pred_error | 0.292    |
+| vsbl/train/rollout_pos_error | 0.0186   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [121/1000] Loss: 0.18070
+------2022-12-12 10:09:41.452736 PST-------
+| lr                           | 1.24e-07 |
+| valid/epoch                  | 121      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.51     |
+| vsbl/valid/reward_pred_error | 0.301    |
+| vsbl/valid/rollout_pos_error | 0.0176   |
+| vsbl/valid/sqrt_accel_loss   | 0.364    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [122/1000] Loss: 0.14390
+------2022-12-12 11:15:17.092040 PST-------
+| lr                           | 1.24e-07 |
+| train/epoch                  | 122      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.37     |
+| vsbl/train/reward_pred_error | 0.248    |
+| vsbl/train/rollout_pos_error | 0.0201   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [122/1000] Loss: 0.18070
+------2022-12-12 11:18:55.767388 PST-------
+| lr                           | 1.24e-07 |
+| valid/epoch                  | 122      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.44     |
+| vsbl/valid/reward_pred_error | 0.328    |
+| vsbl/valid/rollout_pos_error | 0.02     |
+| vsbl/valid/sqrt_accel_loss   | 0.364    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [123/1000] Loss: 0.14390
+------2022-12-12 12:24:37.332399 PST-------
+| lr                           | 1.24e-07 |
+| train/epoch                  | 123      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.34     |
+| vsbl/train/reward_pred_error | 0.305    |
+| vsbl/train/rollout_pos_error | 0.0176   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [123/1000] Loss: 0.18070
+------2022-12-12 12:28:07.827664 PST-------
+| lr                           | 1.24e-07 |
+| valid/epoch                  | 123      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.24     |
+| vsbl/valid/reward_pred_error | 0.284    |
+| vsbl/valid/rollout_pos_error | 0.0175   |
+| vsbl/valid/sqrt_accel_loss   | 0.364    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [124/1000] Loss: 0.14390
+------2022-12-12 13:33:58.012199 PST-------
+| lr                           | 1.24e-07 |
+| train/epoch                  | 124      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.26     |
+| vsbl/train/reward_pred_error | 0.286    |
+| vsbl/train/rollout_pos_error | 0.0197   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [124/1000] Loss: 0.18070
+------2022-12-12 13:37:32.284133 PST-------
+| lr                           | 9.9e-08  |
+| valid/epoch                  | 124      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.41     |
+| vsbl/valid/reward_pred_error | 0.32     |
+| vsbl/valid/rollout_pos_error | 0.0213   |
+| vsbl/valid/sqrt_accel_loss   | 0.364    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [125/1000] Loss: 0.14390
+------2022-12-12 14:43:38.130564 PST-------
+| lr                           | 9.9e-08  |
+| train/epoch                  | 125      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.35     |
+| vsbl/train/reward_pred_error | 0.261    |
+| vsbl/train/rollout_pos_error | 0.0181   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [125/1000] Loss: 0.18070
+------2022-12-12 14:46:57.864024 PST-------
+| lr                           | 9.9e-08  |
+| valid/epoch                  | 125      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.19     |
+| vsbl/valid/reward_pred_error | 0.341    |
+| vsbl/valid/rollout_pos_error | 0.0188   |
+| vsbl/valid/sqrt_accel_loss   | 0.364    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [126/1000] Loss: 0.14390
+------2022-12-12 15:51:25.748331 PST-------
+| lr                           | 9.9e-08  |
+| train/epoch                  | 126      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.37     |
+| vsbl/train/reward_pred_error | 0.245    |
+| vsbl/train/rollout_pos_error | 0.0167   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [126/1000] Loss: 0.18070
+------2022-12-12 15:54:50.689790 PST-------
+| lr                           | 9.9e-08  |
+| valid/epoch                  | 126      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.54     |
+| vsbl/valid/reward_pred_error | 0.313    |
+| vsbl/valid/rollout_pos_error | 0.0191   |
+| vsbl/valid/sqrt_accel_loss   | 0.364    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [127/1000] Loss: 0.14380
+------2022-12-12 17:00:43.175004 PST-------
+| lr                           | 9.9e-08  |
+| train/epoch                  | 127      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.35     |
+| vsbl/train/reward_pred_error | 0.288    |
+| vsbl/train/rollout_pos_error | 0.0193   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [127/1000] Loss: 0.18070
+------2022-12-12 17:04:33.252980 PST-------
+| lr                           | 9.9e-08  |
+| valid/epoch                  | 127      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.3      |
+| vsbl/valid/reward_pred_error | 0.237    |
+| vsbl/valid/rollout_pos_error | 0.0176   |
+| vsbl/valid/sqrt_accel_loss   | 0.364    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [128/1000] Loss: 0.14380
+------2022-12-12 18:12:34.672955 PST-------
+| lr                           | 9.9e-08  |
+| train/epoch                  | 128      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.21     |
+| vsbl/train/reward_pred_error | 0.274    |
+| vsbl/train/rollout_pos_error | 0.0167   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [128/1000] Loss: 0.18070
+------2022-12-12 18:16:01.464758 PST-------
+| lr                           | 7.92e-08 |
+| valid/epoch                  | 128      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.2      |
+| vsbl/valid/reward_pred_error | 0.895    |
+| vsbl/valid/rollout_pos_error | 0.0287   |
+| vsbl/valid/sqrt_accel_loss   | 0.364    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [129/1000] Loss: 0.14380
+------2022-12-12 19:20:49.594585 PST-------
+| lr                           | 7.92e-08 |
+| train/epoch                  | 129      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.33     |
+| vsbl/train/reward_pred_error | 0.341    |
+| vsbl/train/rollout_pos_error | 0.0192   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [129/1000] Loss: 0.18060
+------2022-12-12 19:24:29.610415 PST-------
+| lr                           | 7.92e-08 |
+| valid/epoch                  | 129      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.34     |
+| vsbl/valid/reward_pred_error | 0.342    |
+| vsbl/valid/rollout_pos_error | 0.0184   |
+| vsbl/valid/sqrt_accel_loss   | 0.363    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [130/1000] Loss: 0.14380
+------2022-12-12 20:29:36.937771 PST-------
+| lr                           | 7.92e-08 |
+| train/epoch                  | 130      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.28     |
+| vsbl/train/reward_pred_error | 0.298    |
+| vsbl/train/rollout_pos_error | 0.022    |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [130/1000] Loss: 0.18070
+------2022-12-12 20:32:55.442258 PST-------
+| lr                           | 7.92e-08 |
+| valid/epoch                  | 130      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.3      |
+| vsbl/valid/reward_pred_error | 0.33     |
+| vsbl/valid/rollout_pos_error | 0.0195   |
+| vsbl/valid/sqrt_accel_loss   | 0.363    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [131/1000] Loss: 0.14380
+------2022-12-12 21:38:07.581824 PST-------
+| lr                           | 7.92e-08 |
+| train/epoch                  | 131      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.56     |
+| vsbl/train/reward_pred_error | 0.34     |
+| vsbl/train/rollout_pos_error | 0.0215   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [131/1000] Loss: 0.18070
+------2022-12-12 21:41:41.548988 PST-------
+| lr                           | 7.92e-08 |
+| valid/epoch                  | 131      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.37     |
+| vsbl/valid/reward_pred_error | 0.285    |
+| vsbl/valid/rollout_pos_error | 0.0193   |
+| vsbl/valid/sqrt_accel_loss   | 0.363    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [132/1000] Loss: 0.14380
+------2022-12-12 22:50:10.108394 PST-------
+| lr                           | 7.92e-08 |
+| train/epoch                  | 132      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.46     |
+| vsbl/train/reward_pred_error | 0.227    |
+| vsbl/train/rollout_pos_error | 0.0183   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [132/1000] Loss: 0.18060
+------2022-12-12 22:54:12.940748 PST-------
+| lr                           | 6.34e-08 |
+| valid/epoch                  | 132      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.52     |
+| vsbl/valid/reward_pred_error | 0.27     |
+| vsbl/valid/rollout_pos_error | 0.0169   |
+| vsbl/valid/sqrt_accel_loss   | 0.363    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [133/1000] Loss: 0.14380
+------2022-12-13 00:07:18.041749 PST-------
+| lr                           | 6.34e-08 |
+| train/epoch                  | 133      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.4      |
+| vsbl/train/reward_pred_error | 0.277    |
+| vsbl/train/rollout_pos_error | 0.0178   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [133/1000] Loss: 0.18060
+------2022-12-13 00:11:12.886254 PST-------
+| lr                           | 6.34e-08 |
+| valid/epoch                  | 133      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.37     |
+| vsbl/valid/reward_pred_error | 0.266    |
+| vsbl/valid/rollout_pos_error | 0.0158   |
+| vsbl/valid/sqrt_accel_loss   | 0.363    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [134/1000] Loss: 0.14380
+------2022-12-13 01:26:47.526575 PST-------
+| lr                           | 6.34e-08 |
+| train/epoch                  | 134      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.36     |
+| vsbl/train/reward_pred_error | 0.271    |
+| vsbl/train/rollout_pos_error | 0.0204   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [134/1000] Loss: 0.18060
+------2022-12-13 01:30:31.407096 PST-------
+| lr                           | 6.34e-08 |
+| valid/epoch                  | 134      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.28     |
+| vsbl/valid/reward_pred_error | 0.396    |
+| vsbl/valid/rollout_pos_error | 0.0194   |
+| vsbl/valid/sqrt_accel_loss   | 0.363    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [135/1000] Loss: 0.14380
+------2022-12-13 02:37:27.720619 PST-------
+| lr                           | 6.34e-08 |
+| train/epoch                  | 135      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.35     |
+| vsbl/train/reward_pred_error | 0.296    |
+| vsbl/train/rollout_pos_error | 0.017    |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [135/1000] Loss: 0.18060
+------2022-12-13 02:41:15.162822 PST-------
+| lr                           | 6.34e-08 |
+| valid/epoch                  | 135      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.27     |
+| vsbl/valid/reward_pred_error | 0.279    |
+| vsbl/valid/rollout_pos_error | 0.0159   |
+| vsbl/valid/sqrt_accel_loss   | 0.363    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [136/1000] Loss: 0.14380
+------2022-12-13 03:55:32.778280 PST-------
+| lr                           | 6.34e-08 |
+| train/epoch                  | 136      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.33     |
+| vsbl/train/reward_pred_error | 0.241    |
+| vsbl/train/rollout_pos_error | 0.016    |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [136/1000] Loss: 0.18060
+------2022-12-13 03:59:43.738383 PST-------
+| lr                           | 5.07e-08 |
+| valid/epoch                  | 136      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.25     |
+| vsbl/valid/reward_pred_error | 0.254    |
+| vsbl/valid/rollout_pos_error | 0.0183   |
+| vsbl/valid/sqrt_accel_loss   | 0.363    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [137/1000] Loss: 0.14370
+------2022-12-13 05:13:08.424085 PST-------
+| lr                           | 5.07e-08 |
+| train/epoch                  | 137      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.54     |
+| vsbl/train/reward_pred_error | 0.291    |
+| vsbl/train/rollout_pos_error | 0.0193   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [137/1000] Loss: 0.18060
+------2022-12-13 05:16:30.001952 PST-------
+| lr                           | 5.07e-08 |
+| valid/epoch                  | 137      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.19     |
+| vsbl/valid/reward_pred_error | 0.234    |
+| vsbl/valid/rollout_pos_error | 0.0173   |
+| vsbl/valid/sqrt_accel_loss   | 0.363    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [138/1000] Loss: 0.14380
+------2022-12-13 06:26:56.508401 PST-------
+| lr                           | 5.07e-08 |
+| train/epoch                  | 138      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.62     |
+| vsbl/train/reward_pred_error | 0.344    |
+| vsbl/train/rollout_pos_error | 0.0217   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [138/1000] Loss: 0.18060
+------2022-12-13 06:30:27.811429 PST-------
+| lr                           | 5.07e-08 |
+| valid/epoch                  | 138      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.33     |
+| vsbl/valid/reward_pred_error | 0.264    |
+| vsbl/valid/rollout_pos_error | 0.0148   |
+| vsbl/valid/sqrt_accel_loss   | 0.363    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [139/1000] Loss: 0.14380
+------2022-12-13 07:40:03.942937 PST-------
+| lr                           | 5.07e-08 |
+| train/epoch                  | 139      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.51     |
+| vsbl/train/reward_pred_error | 0.306    |
+| vsbl/train/rollout_pos_error | 0.0183   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [139/1000] Loss: 0.18060
+------2022-12-13 07:43:44.520704 PST-------
+| lr                           | 5.07e-08 |
+| valid/epoch                  | 139      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.38     |
+| vsbl/valid/reward_pred_error | 0.289    |
+| vsbl/valid/rollout_pos_error | 0.0175   |
+| vsbl/valid/sqrt_accel_loss   | 0.363    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [140/1000] Loss: 0.14380
+------2022-12-13 08:50:57.196521 PST-------
+| lr                           | 5.07e-08 |
+| train/epoch                  | 140      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.31     |
+| vsbl/train/reward_pred_error | 0.25     |
+| vsbl/train/rollout_pos_error | 0.0159   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [140/1000] Loss: 0.18060
+------2022-12-13 08:54:16.337090 PST-------
+| lr                           | 4.06e-08 |
+| valid/epoch                  | 140      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.17     |
+| vsbl/valid/reward_pred_error | 0.266    |
+| vsbl/valid/rollout_pos_error | 0.0183   |
+| vsbl/valid/sqrt_accel_loss   | 0.363    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [141/1000] Loss: 0.14380
+------2022-12-13 09:59:48.142334 PST-------
+| lr                           | 4.06e-08 |
+| train/epoch                  | 141      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.43     |
+| vsbl/train/reward_pred_error | 0.33     |
+| vsbl/train/rollout_pos_error | 0.0177   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [141/1000] Loss: 0.18060
+------2022-12-13 10:03:22.426195 PST-------
+| lr                           | 4.06e-08 |
+| valid/epoch                  | 141      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.28     |
+| vsbl/valid/reward_pred_error | 0.222    |
+| vsbl/valid/rollout_pos_error | 0.0162   |
+| vsbl/valid/sqrt_accel_loss   | 0.363    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [142/1000] Loss: 0.14380
+------2022-12-13 11:08:50.580698 PST-------
+| lr                           | 4.06e-08 |
+| train/epoch                  | 142      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.36     |
+| vsbl/train/reward_pred_error | 0.297    |
+| vsbl/train/rollout_pos_error | 0.0201   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [142/1000] Loss: 0.18060
+------2022-12-13 11:12:11.975431 PST-------
+| lr                           | 4.06e-08 |
+| valid/epoch                  | 142      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.32     |
+| vsbl/valid/reward_pred_error | 0.326    |
+| vsbl/valid/rollout_pos_error | 0.0174   |
+| vsbl/valid/sqrt_accel_loss   | 0.363    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [143/1000] Loss: 0.14380
+------2022-12-13 12:20:10.247481 PST-------
+| lr                           | 4.06e-08 |
+| train/epoch                  | 143      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.36     |
+| vsbl/train/reward_pred_error | 0.264    |
+| vsbl/train/rollout_pos_error | 0.0181   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [143/1000] Loss: 0.18060
+------2022-12-13 12:23:48.492819 PST-------
+| lr                           | 4.06e-08 |
+| valid/epoch                  | 143      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.37     |
+| vsbl/valid/reward_pred_error | 0.254    |
+| vsbl/valid/rollout_pos_error | 0.0186   |
+| vsbl/valid/sqrt_accel_loss   | 0.363    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [144/1000] Loss: 0.14370
+------2022-12-13 13:29:43.009727 PST-------
+| lr                           | 4.06e-08 |
+| train/epoch                  | 144      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.34     |
+| vsbl/train/reward_pred_error | 0.26     |
+| vsbl/train/rollout_pos_error | 0.0176   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [144/1000] Loss: 0.18060
+------2022-12-13 13:32:59.036396 PST-------
+| lr                           | 4.06e-08 |
+| valid/epoch                  | 144      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.26     |
+| vsbl/valid/reward_pred_error | 0.248    |
+| vsbl/valid/rollout_pos_error | 0.0162   |
+| vsbl/valid/sqrt_accel_loss   | 0.363    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [145/1000] Loss: 0.14370
+------2022-12-13 14:37:39.986069 PST-------
+| lr                           | 4.06e-08 |
+| train/epoch                  | 145      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.33     |
+| vsbl/train/reward_pred_error | 0.264    |
+| vsbl/train/rollout_pos_error | 0.0188   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [145/1000] Loss: 0.18060
+------2022-12-13 14:41:01.518410 PST-------
+| lr                           | 4.06e-08 |
+| valid/epoch                  | 145      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.4      |
+| vsbl/valid/reward_pred_error | 0.287    |
+| vsbl/valid/rollout_pos_error | 0.016    |
+| vsbl/valid/sqrt_accel_loss   | 0.363    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [146/1000] Loss: 0.14380
+------2022-12-13 15:45:59.347246 PST-------
+| lr                           | 4.06e-08 |
+| train/epoch                  | 146      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.34     |
+| vsbl/train/reward_pred_error | 0.304    |
+| vsbl/train/rollout_pos_error | 0.0188   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [146/1000] Loss: 0.18060
+------2022-12-13 15:49:07.554353 PST-------
+| lr                           | 4.06e-08 |
+| valid/epoch                  | 146      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.2      |
+| vsbl/valid/reward_pred_error | 0.218    |
+| vsbl/valid/rollout_pos_error | 0.0171   |
+| vsbl/valid/sqrt_accel_loss   | 0.363    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [147/1000] Loss: 0.14370
+------2022-12-13 16:54:19.480154 PST-------
+| lr                           | 4.06e-08 |
+| train/epoch                  | 147      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.51     |
+| vsbl/train/reward_pred_error | 0.285    |
+| vsbl/train/rollout_pos_error | 0.0173   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [147/1000] Loss: 0.18060
+------2022-12-13 16:57:43.739319 PST-------
+| lr                           | 4.06e-08 |
+| valid/epoch                  | 147      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.31     |
+| vsbl/valid/reward_pred_error | 0.244    |
+| vsbl/valid/rollout_pos_error | 0.017    |
+| vsbl/valid/sqrt_accel_loss   | 0.363    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [148/1000] Loss: 0.14370
+------2022-12-13 18:02:45.414722 PST-------
+| lr                           | 4.06e-08 |
+| train/epoch                  | 148      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.34     |
+| vsbl/train/reward_pred_error | 0.401    |
+| vsbl/train/rollout_pos_error | 0.0195   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [148/1000] Loss: 0.18060
+------2022-12-13 18:06:12.977917 PST-------
+| lr                           | 4.06e-08 |
+| valid/epoch                  | 148      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.29     |
+| vsbl/valid/reward_pred_error | 0.278    |
+| vsbl/valid/rollout_pos_error | 0.0194   |
+| vsbl/valid/sqrt_accel_loss   | 0.363    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [149/1000] Loss: 0.14380
+------2022-12-13 19:10:19.868144 PST-------
+| lr                           | 4.06e-08 |
+| train/epoch                  | 149      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.39     |
+| vsbl/train/reward_pred_error | 0.3      |
+| vsbl/train/rollout_pos_error | 0.0194   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [149/1000] Loss: 0.18060
+------2022-12-13 19:13:33.977118 PST-------
+| lr                           | 4.06e-08 |
+| valid/epoch                  | 149      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.35     |
+| vsbl/valid/reward_pred_error | 0.327    |
+| vsbl/valid/rollout_pos_error | 0.019    |
+| vsbl/valid/sqrt_accel_loss   | 0.363    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [150/1000] Loss: 0.14370
+------2022-12-13 20:17:45.753158 PST-------
+| lr                           | 4.06e-08 |
+| train/epoch                  | 150      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.56     |
+| vsbl/train/reward_pred_error | 0.324    |
+| vsbl/train/rollout_pos_error | 0.0188   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [150/1000] Loss: 0.18060
+------2022-12-13 20:21:03.159932 PST-------
+| lr                           | 4.06e-08 |
+| valid/epoch                  | 150      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.28     |
+| vsbl/valid/reward_pred_error | 0.259    |
+| vsbl/valid/rollout_pos_error | 0.0196   |
+| vsbl/valid/sqrt_accel_loss   | 0.363    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [151/1000] Loss: 0.14370
+------2022-12-13 21:25:50.368774 PST-------
+| lr                           | 4.06e-08 |
+| train/epoch                  | 151      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.37     |
+| vsbl/train/reward_pred_error | 0.231    |
+| vsbl/train/rollout_pos_error | 0.0189   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [151/1000] Loss: 0.18060
+------2022-12-13 21:29:00.908335 PST-------
+| lr                           | 4.06e-08 |
+| valid/epoch                  | 151      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.2      |
+| vsbl/valid/reward_pred_error | 0.29     |
+| vsbl/valid/rollout_pos_error | 0.02     |
+| vsbl/valid/sqrt_accel_loss   | 0.363    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [152/1000] Loss: 0.14370
+------2022-12-13 22:34:07.994728 PST-------
+| lr                           | 4.06e-08 |
+| train/epoch                  | 152      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.44     |
+| vsbl/train/reward_pred_error | 0.314    |
+| vsbl/train/rollout_pos_error | 0.0194   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [152/1000] Loss: 0.18060
+------2022-12-13 22:37:52.634446 PST-------
+| lr                           | 4.06e-08 |
+| valid/epoch                  | 152      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.29     |
+| vsbl/valid/reward_pred_error | 0.258    |
+| vsbl/valid/rollout_pos_error | 0.0162   |
+| vsbl/valid/sqrt_accel_loss   | 0.363    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [153/1000] Loss: 0.14380
+------2022-12-13 23:48:43.092336 PST-------
+| lr                           | 4.06e-08 |
+| train/epoch                  | 153      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.37     |
+| vsbl/train/reward_pred_error | 0.273    |
+| vsbl/train/rollout_pos_error | 0.0176   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [153/1000] Loss: 0.18060
+------2022-12-13 23:52:18.810713 PST-------
+| lr                           | 4.06e-08 |
+| valid/epoch                  | 153      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.24     |
+| vsbl/valid/reward_pred_error | 0.331    |
+| vsbl/valid/rollout_pos_error | 0.0179   |
+| vsbl/valid/sqrt_accel_loss   | 0.363    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [154/1000] Loss: 0.14370
+------2022-12-14 01:04:32.123358 PST-------
+| lr                           | 4.06e-08 |
+| train/epoch                  | 154      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.34     |
+| vsbl/train/reward_pred_error | 0.259    |
+| vsbl/train/rollout_pos_error | 0.0184   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [154/1000] Loss: 0.18060
+------2022-12-14 01:08:39.120838 PST-------
+| lr                           | 4.06e-08 |
+| valid/epoch                  | 154      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.28     |
+| vsbl/valid/reward_pred_error | 0.253    |
+| vsbl/valid/rollout_pos_error | 0.0188   |
+| vsbl/valid/sqrt_accel_loss   | 0.363    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [155/1000] Loss: 0.14370
+------2022-12-14 02:15:57.747030 PST-------
+| lr                           | 4.06e-08 |
+| train/epoch                  | 155      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.35     |
+| vsbl/train/reward_pred_error | 0.309    |
+| vsbl/train/rollout_pos_error | 0.0169   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [155/1000] Loss: 0.18060
+------2022-12-14 02:20:05.760040 PST-------
+| lr                           | 4.06e-08 |
+| valid/epoch                  | 155      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.31     |
+| vsbl/valid/reward_pred_error | 0.324    |
+| vsbl/valid/rollout_pos_error | 0.0206   |
+| vsbl/valid/sqrt_accel_loss   | 0.363    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [156/1000] Loss: 0.14370
+------2022-12-14 03:33:57.252713 PST-------
+| lr                           | 4.06e-08 |
+| train/epoch                  | 156      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.5      |
+| vsbl/train/reward_pred_error | 0.293    |
+| vsbl/train/rollout_pos_error | 0.0174   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [156/1000] Loss: 0.18060
+------2022-12-14 03:37:18.367657 PST-------
+| lr                           | 4.06e-08 |
+| valid/epoch                  | 156      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.27     |
+| vsbl/valid/reward_pred_error | 0.285    |
+| vsbl/valid/rollout_pos_error | 0.0186   |
+| vsbl/valid/sqrt_accel_loss   | 0.363    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [157/1000] Loss: 0.14370
+------2022-12-14 04:46:11.544906 PST-------
+| lr                           | 4.06e-08 |
+| train/epoch                  | 157      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.47     |
+| vsbl/train/reward_pred_error | 0.278    |
+| vsbl/train/rollout_pos_error | 0.0187   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [157/1000] Loss: 0.18060
+------2022-12-14 04:50:20.926318 PST-------
+| lr                           | 4.06e-08 |
+| valid/epoch                  | 157      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.19     |
+| vsbl/valid/reward_pred_error | 0.265    |
+| vsbl/valid/rollout_pos_error | 0.0181   |
+| vsbl/valid/sqrt_accel_loss   | 0.363    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [158/1000] Loss: 0.14370
+------2022-12-14 06:00:19.963554 PST-------
+| lr                           | 4.06e-08 |
+| train/epoch                  | 158      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.46     |
+| vsbl/train/reward_pred_error | 0.284    |
+| vsbl/train/rollout_pos_error | 0.0181   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [158/1000] Loss: 0.18060
+------2022-12-14 06:03:28.888085 PST-------
+| lr                           | 4.06e-08 |
+| valid/epoch                  | 158      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.45     |
+| vsbl/valid/reward_pred_error | 0.278    |
+| vsbl/valid/rollout_pos_error | 0.0173   |
+| vsbl/valid/sqrt_accel_loss   | 0.363    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [159/1000] Loss: 0.14380
+------2022-12-14 07:14:54.477794 PST-------
+| lr                           | 4.06e-08 |
+| train/epoch                  | 159      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.52     |
+| vsbl/train/reward_pred_error | 0.293    |
+| vsbl/train/rollout_pos_error | 0.0198   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [159/1000] Loss: 0.18060
+------2022-12-14 07:18:12.088150 PST-------
+| lr                           | 4.06e-08 |
+| valid/epoch                  | 159      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.27     |
+| vsbl/valid/reward_pred_error | 0.316    |
+| vsbl/valid/rollout_pos_error | 0.0161   |
+| vsbl/valid/sqrt_accel_loss   | 0.363    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [160/1000] Loss: 0.14370
+------2022-12-14 08:22:51.176469 PST-------
+| lr                           | 4.06e-08 |
+| train/epoch                  | 160      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.35     |
+| vsbl/train/reward_pred_error | 0.31     |
+| vsbl/train/rollout_pos_error | 0.0197   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [160/1000] Loss: 0.18060
+------2022-12-14 08:26:21.642117 PST-------
+| lr                           | 4.06e-08 |
+| valid/epoch                  | 160      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.41     |
+| vsbl/valid/reward_pred_error | 0.294    |
+| vsbl/valid/rollout_pos_error | 0.0192   |
+| vsbl/valid/sqrt_accel_loss   | 0.363    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [161/1000] Loss: 0.14370
+------2022-12-14 09:30:59.025604 PST-------
+| lr                           | 4.06e-08 |
+| train/epoch                  | 161      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.41     |
+| vsbl/train/reward_pred_error | 0.328    |
+| vsbl/train/rollout_pos_error | 0.0192   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [161/1000] Loss: 0.18060
+------2022-12-14 09:34:32.913851 PST-------
+| lr                           | 4.06e-08 |
+| valid/epoch                  | 161      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.38     |
+| vsbl/valid/reward_pred_error | 0.239    |
+| vsbl/valid/rollout_pos_error | 0.0187   |
+| vsbl/valid/sqrt_accel_loss   | 0.363    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [162/1000] Loss: 0.14370
+------2022-12-14 10:39:15.072865 PST-------
+| lr                           | 4.06e-08 |
+| train/epoch                  | 162      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.51     |
+| vsbl/train/reward_pred_error | 0.256    |
+| vsbl/train/rollout_pos_error | 0.0182   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [162/1000] Loss: 0.18060
+------2022-12-14 10:42:44.330820 PST-------
+| lr                           | 4.06e-08 |
+| valid/epoch                  | 162      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.35     |
+| vsbl/valid/reward_pred_error | 0.261    |
+| vsbl/valid/rollout_pos_error | 0.0157   |
+| vsbl/valid/sqrt_accel_loss   | 0.363    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [163/1000] Loss: 0.14370
+------2022-12-14 11:46:18.936085 PST-------
+| lr                           | 4.06e-08 |
+| train/epoch                  | 163      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.11     |
+| vsbl/train/reward_pred_error | 0.327    |
+| vsbl/train/rollout_pos_error | 0.0206   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [163/1000] Loss: 0.18060
+------2022-12-14 11:49:35.505575 PST-------
+| lr                           | 4.06e-08 |
+| valid/epoch                  | 163      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.29     |
+| vsbl/valid/reward_pred_error | 0.345    |
+| vsbl/valid/rollout_pos_error | 0.0175   |
+| vsbl/valid/sqrt_accel_loss   | 0.363    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [164/1000] Loss: 0.14370
+------2022-12-14 12:54:53.078946 PST-------
+| lr                           | 4.06e-08 |
+| train/epoch                  | 164      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.29     |
+| vsbl/train/reward_pred_error | 0.308    |
+| vsbl/train/rollout_pos_error | 0.0244   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [164/1000] Loss: 0.18060
+------2022-12-14 12:58:15.351204 PST-------
+| lr                           | 4.06e-08 |
+| valid/epoch                  | 164      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.38     |
+| vsbl/valid/reward_pred_error | 0.373    |
+| vsbl/valid/rollout_pos_error | 0.0183   |
+| vsbl/valid/sqrt_accel_loss   | 0.363    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------
+train [165/1000] Loss: 0.14370
+------2022-12-14 14:03:00.234930 PST-------
+| lr                           | 4.06e-08 |
+| train/epoch                  | 165      |
+| vsbl/train/accel_loss        | 0.144    |
+| vsbl/train/lat_nxt_norm      | 3.35     |
+| vsbl/train/n_nxt_norm        | 7.66     |
+| vsbl/train/planning_error    | 1.47     |
+| vsbl/train/reward_pred_error | 0.288    |
+| vsbl/train/rollout_pos_error | 0.0207   |
+| vsbl/train/sqrt_accel_loss   | 0.373    |
+| vsbl/train/total_loss        | 0.144    |
+-------------------------------------------
+valid [165/1000] Loss: 0.18060
+------2022-12-14 14:06:28.627586 PST-------
+| lr                           | 4.06e-08 |
+| valid/epoch                  | 165      |
+| vsbl/valid/accel_loss        | 0.181    |
+| vsbl/valid/lat_nxt_norm      | 3.36     |
+| vsbl/valid/n_nxt_norm        | 7.69     |
+| vsbl/valid/planning_error    | 1.31     |
+| vsbl/valid/reward_pred_error | 0.356    |
+| vsbl/valid/rollout_pos_error | 0.0157   |
+| vsbl/valid/sqrt_accel_loss   | 0.363    |
+| vsbl/valid/total_loss        | 0.181    |
+-------------------------------------------