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Commit 0e92b9ab authored by Jaeyoung Lee's avatar Jaeyoung Lee
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mcts.py updated and tested.

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1 merge request!5Bug fix and improve MCTS and others
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_________________________________________________________________
Layer (type) Output Shape Param #
=================================================================
flatten_11 (Flatten) (None, 50) 0
_________________________________________________________________
dense_36 (Dense) (None, 64) 3264
_________________________________________________________________
dense_37 (Dense) (None, 64) 4160
_________________________________________________________________
dense_38 (Dense) (None, 64) 4160
_________________________________________________________________
dense_39 (Dense) (None, 5) 325
=================================================================
Total params: 11,909
Trainable params: 11,909
Non-trainable params: 0
_________________________________________________________________
None
Conducting 10 trials of 100 episodes each
Episode 0: Reward = 195.30 (0:00:29)
Episode 1: Reward = 193.37 (0:00:29)
Episode 2: Reward = 193.82 (0:01:41)
Episode 3: Reward = 90.81 (0:00:29)
Episode 4: Reward = 195.25 (0:00:58)
Episode 5: Reward = 196.16 (0:00:26)
Episode 6: Reward = 196.15 (0:00:16)
Episode 7: Reward = 141.69 (0:00:22)
Episode 8: Reward = 195.85 (0:00:49)
Episode 9: Reward = 196.69 (0:00:20)
Episode 10: Reward = 194.78 (0:00:32)
Episode 11: Reward = 195.18 (0:00:28)
Episode 12: Reward = 144.88 (0:00:13)
Episode 13: Reward = 195.28 (0:01:22)
Episode 14: Reward = 196.53 (0:00:31)
Episode 15: Reward = 195.15 (0:01:16)
Episode 16: Reward = 196.88 (0:00:15)
Episode 17: Reward = 196.49 (0:00:18)
Episode 18: Reward = 196.19 (0:00:56)
Episode 19: Reward = 195.02 (0:00:27)
Episode 20: Reward = 196.07 (0:00:25)
Episode 21: Reward = 196.61 (0:00:24)
Episode 22: Reward = 195.81 (0:00:21)
Episode 23: Reward = 144.83 (0:00:48)
Episode 24: Reward = 144.74 (0:00:25)
Episode 25: Reward = 194.39 (0:00:47)
Episode 26: Reward = 196.92 (0:00:22)
Episode 27: Reward = -251.44 (0:00:04)
Episode 28: Reward = 196.65 (0:00:20)
Episode 29: Reward = 196.73 (0:00:17)
Episode 30: Reward = 196.51 (0:00:27)
Episode 31: Reward = 196.14 (0:00:40)
Episode 32: Reward = 196.84 (0:00:24)
Episode 33: Reward = 195.97 (0:00:32)
Episode 34: Reward = 196.89 (0:00:10)
Episode 35: Reward = 197.23 (0:00:49)
Episode 36: Reward = 195.74 (0:00:14)
Episode 37: Reward = 195.36 (0:00:43)
Episode 38: Reward = 195.19 (0:00:30)
Episode 39: Reward = 195.64 (0:00:31)
Episode 40: Reward = 195.31 (0:01:08)
Episode 41: Reward = 196.19 (0:00:26)
Episode 42: Reward = 145.46 (0:00:39)
Episode 43: Reward = 196.44 (0:00:13)
Episode 44: Reward = 194.76 (0:00:54)
Episode 45: Reward = 146.20 (0:00:15)
Episode 46: Reward = 144.12 (0:00:28)
Episode 47: Reward = 196.80 (0:00:23)
Episode 48: Reward = 195.43 (0:00:21)
Episode 49: Reward = 92.85 (0:00:52)
Episode 50: Reward = 194.24 (0:01:17)
Episode 51: Reward = 141.44 (0:02:03)
Episode 52: Reward = 93.82 (0:00:59)
Episode 53: Reward = 195.31 (0:00:54)
Episode 54: Reward = 195.82 (0:01:14)
Episode 55: Reward = 194.17 (0:00:46)
Episode 56: Reward = 197.12 (0:00:52)
Episode 57: Reward = 197.11 (0:00:55)
Episode 58: Reward = 196.67 (0:00:16)
Episode 59: Reward = 195.56 (0:01:00)
Episode 60: Reward = 195.57 (0:00:26)
Episode 61: Reward = 196.19 (0:00:42)
Episode 62: Reward = 196.66 (0:00:14)
Episode 63: Reward = 197.11 (0:00:32)
Episode 64: Reward = 194.71 (0:00:30)
Episode 65: Reward = 145.49 (0:00:17)
Episode 66: Reward = 195.99 (0:01:01)
Episode 67: Reward = 92.08 (0:00:30)
Episode 68: Reward = 194.93 (0:01:42)
Episode 69: Reward = 196.46 (0:00:28)
Episode 70: Reward = 94.18 (0:00:53)
Episode 71: Reward = 195.35 (0:01:01)
Episode 72: Reward = 142.95 (0:01:17)
Episode 73: Reward = 194.91 (0:00:24)
Episode 74: Reward = 195.82 (0:00:52)
Episode 75: Reward = 193.19 (0:01:05)
Episode 76: Reward = 195.95 (0:00:18)
Episode 77: Reward = 194.60 (0:00:29)
Episode 78: Reward = 197.15 (0:00:19)
Episode 79: Reward = 146.18 (0:00:14)
Episode 80: Reward = 145.33 (0:00:11)
Episode 81: Reward = 196.58 (0:00:22)
Episode 82: Reward = 195.16 (0:00:31)
Episode 83: Reward = 193.35 (0:01:28)
Episode 84: Reward = 196.98 (0:00:24)
Episode 85: Reward = 196.63 (0:00:34)
Episode 86: Reward = 196.17 (0:00:25)
Episode 87: Reward = 195.23 (0:00:47)
Episode 88: Reward = 195.78 (0:01:34)
Episode 89: Reward = 195.52 (0:00:57)
Episode 90: Reward = 142.70 (0:01:26)
Episode 91: Reward = 145.36 (0:00:11)
Episode 92: Reward = 194.75 (0:00:28)
Episode 93: Reward = 196.03 (0:00:16)
Episode 94: Reward = 196.17 (0:00:14)
Episode 95: Reward = 195.85 (0:00:46)
Episode 96: Reward = 195.19 (0:01:23)
Episode 97: Reward = 196.30 (0:00:26)
Episode 98: Reward = 195.20 (0:01:01)
Episode 99: Reward = 196.95 (0:00:22)
Trial 0: Reward = (Avg: 178.96, Std: 51.17), Successes: 99/100
Trial 0 Termination reason(s):
LTL_violation: 1
Episode 0: Reward = 196.71 (0:00:16)
Episode 1: Reward = 143.77 (0:00:17)
Episode 2: Reward = 195.13 (0:01:25)
Episode 3: Reward = 144.74 (0:00:30)
Episode 4: Reward = 194.81 (0:01:56)
Episode 5: Reward = 195.64 (0:00:48)
Episode 6: Reward = 145.13 (0:00:38)
Episode 7: Reward = 192.94 (0:01:48)
Episode 8: Reward = 145.84 (0:00:18)
Episode 9: Reward = 94.59 (0:00:12)
Episode 10: Reward = 193.81 (0:00:48)
Episode 11: Reward = 196.12 (0:00:17)
Episode 12: Reward = 144.54 (0:01:02)
Episode 13: Reward = 197.19 (0:00:24)
Episode 14: Reward = 89.69 (0:02:38)
Episode 15: Reward = 142.81 (0:01:27)
Episode 16: Reward = 196.71 (0:00:16)
Episode 17: Reward = 195.83 (0:01:02)
Episode 18: Reward = 196.53 (0:00:32)
Episode 19: Reward = 195.29 (0:02:09)
Episode 20: Reward = 196.49 (0:00:57)
Episode 21: Reward = 197.08 (0:00:16)
Episode 22: Reward = 196.83 (0:00:20)
Episode 23: Reward = 143.33 (0:00:46)
Episode 24: Reward = 194.44 (0:00:49)
Episode 25: Reward = 194.64 (0:00:53)
Episode 26: Reward = 195.70 (0:00:53)
Episode 27: Reward = 196.51 (0:00:22)
Episode 28: Reward = 196.86 (0:00:29)
Episode 29: Reward = 196.70 (0:00:18)
Episode 30: Reward = 196.13 (0:00:15)
Episode 31: Reward = 38.55 (0:00:45)
Episode 32: Reward = 196.34 (0:00:34)
Episode 33: Reward = 194.26 (0:01:14)
Episode 34: Reward = 144.64 (0:00:50)
Episode 35: Reward = 194.32 (0:00:55)
Episode 36: Reward = 197.01 (0:00:19)
Episode 37: Reward = 195.65 (0:00:40)
Episode 38: Reward = 196.85 (0:00:20)
Episode 39: Reward = 194.81 (0:01:02)
Episode 40: Reward = 194.94 (0:00:41)
Episode 41: Reward = 196.89 (0:00:48)
Episode 42: Reward = 195.78 (0:00:19)
Episode 43: Reward = 142.77 (0:01:33)
Episode 44: Reward = 94.32 (0:00:22)
Episode 45: Reward = 196.49 (0:00:41)
Episode 46: Reward = 146.39 (0:00:22)
Episode 47: Reward = 196.07 (0:00:16)
Episode 48: Reward = 196.34 (0:00:35)
Episode 49: Reward = 194.45 (0:00:53)
Episode 50: Reward = 195.57 (0:00:48)
Episode 51: Reward = 195.71 (0:00:17)
Episode 52: Reward = 195.73 (0:00:29)
Episode 53: Reward = 196.05 (0:00:28)
Episode 54: Reward = 94.14 (0:00:46)
Episode 55: Reward = 196.12 (0:00:31)
Episode 56: Reward = 90.82 (0:01:10)
Episode 57: Reward = 143.24 (0:00:40)
Episode 58: Reward = 166.76 (0:00:33)
Episode 59: Reward = 194.62 (0:01:07)
Episode 60: Reward = 195.78 (0:00:27)
Episode 61: Reward = 144.87 (0:00:23)
Episode 62: Reward = 194.18 (0:02:23)
Episode 63: Reward = 197.33 (0:00:29)
Episode 64: Reward = 141.97 (0:00:26)
Episode 65: Reward = 195.49 (0:00:40)
Episode 66: Reward = 196.52 (0:00:18)
Episode 67: Reward = 194.35 (0:01:51)
Episode 68: Reward = 195.44 (0:02:15)
Episode 69: Reward = 196.92 (0:00:15)
Episode 70: Reward = 194.70 (0:00:45)
Episode 71: Reward = 196.09 (0:00:27)
Episode 72: Reward = 196.70 (0:00:21)
Episode 73: Reward = 196.78 (0:00:24)
Episode 74: Reward = 196.55 (0:00:14)
Episode 75: Reward = 144.96 (0:00:29)
Episode 76: Reward = 197.04 (0:00:20)
Episode 77: Reward = 144.82 (0:01:08)
Episode 78: Reward = 195.73 (0:00:22)
Episode 79: Reward = 194.53 (0:01:47)
Episode 80: Reward = 196.55 (0:00:21)
Episode 81: Reward = 194.87 (0:02:06)
Episode 82: Reward = 196.32 (0:00:34)
Episode 83: Reward = 195.91 (0:00:57)
Episode 84: Reward = 193.11 (0:02:24)
Episode 85: Reward = 196.61 (0:00:29)
Episode 86: Reward = 145.68 (0:00:20)
Episode 87: Reward = 146.22 (0:00:21)
Episode 88: Reward = 194.88 (0:00:29)
Episode 89: Reward = 142.46 (0:01:16)
Episode 90: Reward = 195.34 (0:01:08)
Episode 91: Reward = 193.65 (0:01:06)
Episode 92: Reward = 197.07 (0:00:20)
Episode 93: Reward = 196.49 (0:00:20)
Episode 94: Reward = 195.14 (0:00:59)
Episode 95: Reward = 145.34 (0:00:51)
Episode 96: Reward = -200.80 (0:00:07)
Episode 97: Reward = 194.18 (0:02:26)
Episode 98: Reward = 196.19 (0:01:09)
Episode 99: Reward = 195.62 (0:01:08)
Trial 1: Reward = (Avg: 175.00, Std: 49.30), Successes: 99/100
Trial 1 Termination reason(s):
ego_collision: 1
Episode 0: Reward = 143.20 (0:01:01)
Episode 1: Reward = 195.09 (0:00:47)
Episode 2: Reward = 196.86 (0:00:21)
Episode 3: Reward = 195.57 (0:00:46)
Episode 4: Reward = 145.71 (0:00:18)
Episode 5: Reward = 195.24 (0:00:24)
Episode 6: Reward = 96.30 (0:01:06)
Episode 7: Reward = 146.09 (0:00:16)
Episode 8: Reward = 194.74 (0:00:39)
Episode 9: Reward = 145.27 (0:00:27)
Episode 10: Reward = 145.32 (0:00:28)
Episode 11: Reward = 93.92 (0:00:21)
Episode 12: Reward = 143.02 (0:01:35)
Episode 13: Reward = 197.32 (0:00:13)
Episode 14: Reward = 142.90 (0:00:19)
Episode 15: Reward = 144.89 (0:00:48)
Episode 16: Reward = 195.95 (0:00:31)
Episode 17: Reward = 196.84 (0:00:18)
Episode 18: Reward = 194.94 (0:00:49)
Episode 19: Reward = 195.55 (0:01:16)
Episode 20: Reward = 137.77 (0:02:16)
Episode 21: Reward = 144.62 (0:00:44)
Episode 22: Reward = 195.62 (0:01:04)
Episode 23: Reward = 196.65 (0:00:32)
Episode 24: Reward = 195.67 (0:00:26)
Episode 25: Reward = 197.00 (0:00:38)
Episode 26: Reward = 194.30 (0:00:33)
Episode 27: Reward = 145.26 (0:00:18)
Episode 28: Reward = 145.45 (0:00:48)
Episode 29: Reward = 195.79 (0:01:15)
Episode 30: Reward = 196.01 (0:00:56)
Episode 31: Reward = 195.77 (0:00:30)
Episode 32: Reward = 195.91 (0:00:30)
Episode 33: Reward = 194.58 (0:01:03)
Episode 34: Reward = 196.40 (0:00:35)
Episode 35: Reward = 194.60 (0:00:29)
Episode 36: Reward = 143.91 (0:01:35)
Episode 37: Reward = 145.75 (0:00:27)
Episode 38: Reward = 143.89 (0:01:01)
Episode 39: Reward = 195.55 (0:00:46)
Episode 40: Reward = 144.88 (0:00:32)
Episode 41: Reward = 196.83 (0:00:23)
Episode 42: Reward = 194.49 (0:02:33)
Episode 43: Reward = 192.72 (0:01:41)
Episode 44: Reward = 196.90 (0:00:26)
Episode 45: Reward = 196.64 (0:00:29)
Episode 46: Reward = 196.41 (0:00:30)
Episode 47: Reward = 145.73 (0:00:19)
Episode 48: Reward = 195.81 (0:00:37)
Episode 49: Reward = 93.84 (0:00:24)
Episode 50: Reward = 195.93 (0:00:28)
Episode 51: Reward = 141.84 (0:00:54)
Episode 52: Reward = 196.08 (0:00:21)
Episode 53: Reward = 195.56 (0:00:25)
Episode 54: Reward = -352.91 (0:00:06)
Episode 55: Reward = 196.55 (0:00:30)
Episode 56: Reward = 196.44 (0:00:28)
Episode 57: Reward = 194.13 (0:01:23)
Episode 58: Reward = 194.19 (0:01:29)
Episode 59: Reward = 193.55 (0:01:52)
Episode 60: Reward = 195.85 (0:00:25)
Episode 61: Reward = 145.32 (0:00:29)
Episode 62: Reward = 194.00 (0:00:57)
Episode 63: Reward = 145.21 (0:00:27)
Episode 64: Reward = 196.88 (0:00:22)
Episode 65: Reward = 194.63 (0:01:14)
Episode 66: Reward = 194.86 (0:00:47)
Episode 67: Reward = 196.41 (0:00:35)
Episode 68: Reward = 145.06 (0:00:25)
Episode 69: Reward = 196.85 (0:00:39)
Episode 70: Reward = 145.12 (0:00:23)
Episode 71: Reward = 144.94 (0:00:27)
Episode 72: Reward = 196.40 (0:00:21)
Episode 73: Reward = 196.28 (0:00:30)
Episode 74: Reward = 145.44 (0:00:19)
Episode 75: Reward = 195.93 (0:00:35)
Episode 76: Reward = 194.47 (0:01:02)
Episode 77: Reward = 196.55 (0:00:17)
Episode 78: Reward = 194.25 (0:01:36)
Episode 79: Reward = 195.98 (0:00:21)
Episode 80: Reward = 144.19 (0:00:12)
Episode 81: Reward = 195.07 (0:00:57)
Episode 82: Reward = 196.11 (0:00:24)
Episode 83: Reward = 196.57 (0:00:33)
Episode 84: Reward = 91.68 (0:01:18)
Episode 85: Reward = 196.77 (0:00:14)
Episode 86: Reward = 144.56 (0:00:31)
Episode 87: Reward = 144.22 (0:00:49)
Episode 88: Reward = 195.64 (0:00:54)
Episode 89: Reward = 196.25 (0:00:21)
Episode 90: Reward = 196.91 (0:00:24)
Episode 91: Reward = 196.54 (0:00:30)
Episode 92: Reward = 95.10 (0:00:48)
Episode 93: Reward = 93.46 (0:00:46)
Episode 94: Reward = -14.61 (0:01:11)
Episode 95: Reward = 144.17 (0:00:50)
Episode 96: Reward = 195.31 (0:01:41)
Episode 97: Reward = 197.14 (0:00:21)
Episode 98: Reward = 145.13 (0:00:24)
Episode 99: Reward = 195.44 (0:01:25)
Trial 2: Reward = (Avg: 167.17, Std: 63.41), Successes: 99/100
Trial 2 Termination reason(s):
ego_collision: 1
Episode 0: Reward = 195.64 (0:01:22)
Episode 1: Reward = 196.18 (0:00:38)
Episode 2: Reward = 38.17 (0:00:41)
Episode 3: Reward = 196.73 (0:00:20)
Episode 4: Reward = -354.39 (0:00:08)
Episode 5: Reward = 196.78 (0:00:20)
Episode 6: Reward = 144.73 (0:00:27)
Episode 7: Reward = 144.93 (0:01:15)
Episode 8: Reward = 145.62 (0:00:44)
Episode 9: Reward = 144.93 (0:00:35)
Episode 10: Reward = 195.09 (0:01:52)
Episode 11: Reward = 196.24 (0:00:48)
Episode 12: Reward = 194.81 (0:00:29)
Episode 13: Reward = 196.69 (0:00:29)
Episode 14: Reward = 196.63 (0:00:38)
Episode 15: Reward = 194.94 (0:01:04)
Episode 16: Reward = 195.82 (0:00:56)
Episode 17: Reward = 196.11 (0:00:40)
Episode 18: Reward = 192.52 (0:01:13)
Episode 19: Reward = 194.67 (0:01:03)
Episode 20: Reward = 93.74 (0:00:32)
Episode 21: Reward = 143.18 (0:00:38)
Episode 22: Reward = 194.30 (0:01:55)
Episode 23: Reward = 194.06 (0:01:34)
Episode 24: Reward = 196.75 (0:00:24)
Episode 25: Reward = 140.48 (0:00:28)
Episode 26: Reward = 196.34 (0:00:30)
Episode 27: Reward = 195.91 (0:00:20)
Episode 28: Reward = 195.16 (0:02:00)
Episode 29: Reward = 195.71 (0:00:19)
Episode 30: Reward = 145.01 (0:00:34)
Episode 31: Reward = 196.80 (0:00:23)
Episode 32: Reward = 38.71 (0:01:44)
Episode 33: Reward = 145.91 (0:00:30)
Episode 34: Reward = 195.73 (0:00:38)
Episode 35: Reward = 144.42 (0:00:58)
Episode 36: Reward = 196.23 (0:00:40)
Episode 37: Reward = 143.85 (0:01:55)
Episode 38: Reward = 195.62 (0:00:44)
Episode 39: Reward = 193.98 (0:01:02)
Episode 40: Reward = 196.78 (0:00:28)
Episode 41: Reward = 195.83 (0:00:50)
Episode 42: Reward = 195.92 (0:00:21)
Episode 43: Reward = 145.04 (0:00:27)
Episode 44: Reward = 196.68 (0:00:44)
Episode 45: Reward = 95.24 (0:00:31)
Episode 46: Reward = 195.19 (0:01:41)
Episode 47: Reward = 195.60 (0:00:33)
Episode 48: Reward = 195.13 (0:00:44)
Episode 49: Reward = 195.94 (0:00:23)
Episode 50: Reward = 195.86 (0:00:51)
Episode 51: Reward = 195.26 (0:00:56)
Episode 52: Reward = 197.06 (0:00:15)
Episode 53: Reward = 145.17 (0:00:30)
Episode 54: Reward = 194.52 (0:00:48)
Episode 55: Reward = 195.41 (0:00:59)
Episode 56: Reward = 196.58 (0:00:14)
Episode 57: Reward = 195.20 (0:00:52)
Episode 58: Reward = 194.79 (0:00:32)
Episode 59: Reward = -200.84 (0:00:02)
Episode 60: Reward = 195.42 (0:01:21)
Episode 61: Reward = -251.42 (0:00:04)
Episode 62: Reward = 142.77 (0:00:38)
Episode 63: Reward = 145.03 (0:00:49)
Episode 64: Reward = 94.40 (0:00:47)
Episode 65: Reward = 196.86 (0:00:19)
Episode 66: Reward = 94.08 (0:00:29)
Episode 67: Reward = 144.71 (0:00:54)
Episode 68: Reward = 196.54 (0:00:32)
Episode 69: Reward = 145.11 (0:00:28)
Episode 70: Reward = 196.64 (0:00:24)
Episode 71: Reward = 196.67 (0:00:20)
Episode 72: Reward = 144.74 (0:00:44)
Episode 73: Reward = 144.98 (0:00:42)
Episode 74: Reward = 144.77 (0:00:43)
Episode 75: Reward = 195.35 (0:00:23)
Episode 76: Reward = 195.37 (0:01:24)
Episode 77: Reward = 196.81 (0:00:17)
Episode 78: Reward = 195.15 (0:00:58)
Episode 79: Reward = 40.94 (0:01:37)
Episode 80: Reward = 196.47 (0:00:16)
Episode 81: Reward = 145.17 (0:00:54)
Episode 82: Reward = 196.86 (0:00:11)
Episode 83: Reward = 196.15 (0:01:51)
Episode 84: Reward = 195.40 (0:00:24)
Episode 85: Reward = 140.74 (0:00:31)
Episode 86: Reward = 143.32 (0:00:24)
Episode 87: Reward = 195.07 (0:00:26)
Episode 88: Reward = 93.92 (0:00:37)
Episode 89: Reward = 196.19 (0:00:56)
Episode 90: Reward = 195.24 (0:01:29)
Episode 91: Reward = 193.81 (0:01:31)
Episode 92: Reward = 144.10 (0:00:39)
Episode 93: Reward = 197.06 (0:00:39)
Episode 94: Reward = 196.17 (0:00:48)
Episode 95: Reward = 195.00 (0:01:03)
Episode 96: Reward = 95.22 (0:00:29)
Episode 97: Reward = 40.96 (0:00:36)
Episode 98: Reward = 196.62 (0:00:26)
Episode 99: Reward = 43.77 (0:00:33)
Trial 3: Reward = (Avg: 156.13, Std: 86.37), Successes: 97/100
Trial 3 Termination reason(s):
LTL_violation: 2
ego_collision: 1
Episode 0: Reward = 145.25 (0:00:54)
Episode 1: Reward = 196.17 (0:00:16)
Episode 2: Reward = 141.23 (0:01:06)
Episode 3: Reward = 196.16 (0:00:21)
Episode 4: Reward = 196.54 (0:00:23)
Episode 5: Reward = 193.99 (0:00:51)
Episode 6: Reward = 143.41 (0:01:20)
Episode 7: Reward = 138.97 (0:01:59)
Episode 8: Reward = 196.03 (0:00:32)
Episode 9: Reward = 196.31 (0:00:19)
Episode 10: Reward = 145.33 (0:01:14)
Episode 11: Reward = 94.45 (0:00:30)
Episode 12: Reward = 195.77 (0:00:16)
Episode 13: Reward = 145.48 (0:00:35)
Episode 14: Reward = 94.13 (0:00:40)
Episode 15: Reward = 144.64 (0:01:00)
Episode 16: Reward = 144.05 (0:01:12)
Episode 17: Reward = 93.12 (0:00:46)
Episode 18: Reward = 141.30 (0:00:26)
Episode 19: Reward = 92.66 (0:00:36)
Episode 20: Reward = 195.51 (0:00:53)
Episode 21: Reward = 195.73 (0:00:45)
Episode 22: Reward = 195.26 (0:01:42)
Episode 23: Reward = 194.24 (0:01:09)
Episode 24: Reward = 194.81 (0:01:45)
Episode 25: Reward = 194.27 (0:01:21)
Episode 26: Reward = 196.44 (0:00:35)
Episode 27: Reward = 144.81 (0:00:46)
Episode 28: Reward = 196.62 (0:00:14)
Episode 29: Reward = 196.29 (0:00:47)
Episode 30: Reward = 145.56 (0:00:16)
Episode 31: Reward = 196.50 (0:00:22)
Episode 32: Reward = 194.84 (0:01:10)
Episode 33: Reward = 194.41 (0:00:55)
Episode 34: Reward = 145.15 (0:00:31)
Episode 35: Reward = 194.35 (0:01:37)
Episode 36: Reward = 196.90 (0:00:13)
Episode 37: Reward = 143.53 (0:00:44)
Episode 38: Reward = 196.37 (0:00:18)
Episode 39: Reward = 195.39 (0:00:53)
Episode 40: Reward = 196.32 (0:00:14)
Episode 41: Reward = 196.02 (0:01:26)
Episode 42: Reward = 142.28 (0:01:54)
Episode 43: Reward = 195.69 (0:00:32)
Episode 44: Reward = 195.76 (0:00:19)
Episode 45: Reward = 196.36 (0:00:27)
Episode 46: Reward = 196.76 (0:00:14)
Episode 47: Reward = 194.92 (0:01:09)
Episode 48: Reward = 194.74 (0:00:55)
Episode 49: Reward = 195.97 (0:01:10)
Episode 50: Reward = 196.67 (0:00:21)
Episode 51: Reward = 195.88 (0:00:12)
Episode 52: Reward = 94.41 (0:00:25)
Episode 53: Reward = 145.39 (0:00:27)
Episode 54: Reward = 196.60 (0:00:18)
Episode 55: Reward = 142.46 (0:00:13)
Episode 56: Reward = 195.89 (0:00:16)
Episode 57: Reward = 92.15 (0:00:47)
Episode 58: Reward = 194.93 (0:00:29)
Episode 59: Reward = 93.44 (0:00:30)
Episode 60: Reward = 195.67 (0:00:31)
Episode 61: Reward = 195.51 (0:00:46)
Episode 62: Reward = 92.06 (0:00:43)
Episode 63: Reward = 196.81 (0:00:26)
Episode 64: Reward = 196.80 (0:00:18)
Episode 65: Reward = 192.84 (0:00:49)
Episode 66: Reward = 145.06 (0:00:24)
Episode 67: Reward = 195.99 (0:00:51)
Episode 68: Reward = 196.82 (0:00:34)
Episode 69: Reward = 146.29 (0:00:24)
Episode 70: Reward = 144.21 (0:00:28)
Episode 71: Reward = 195.83 (0:00:28)
Episode 72: Reward = 196.74 (0:00:35)
Episode 73: Reward = 194.44 (0:00:43)
Episode 74: Reward = 144.74 (0:00:30)
Episode 75: Reward = 196.27 (0:00:19)
Episode 76: Reward = 141.77 (0:02:09)
Episode 77: Reward = 196.58 (0:00:27)
Episode 78: Reward = 194.76 (0:01:00)
Episode 79: Reward = 195.43 (0:00:44)
Episode 80: Reward = 92.28 (0:01:08)
Episode 81: Reward = 195.06 (0:01:02)
Episode 82: Reward = 194.79 (0:01:12)
Episode 83: Reward = 194.39 (0:01:02)
Episode 84: Reward = 196.55 (0:00:28)
Episode 85: Reward = 195.96 (0:00:26)
Episode 86: Reward = 197.09 (0:00:36)
Episode 87: Reward = 94.22 (0:00:58)
Episode 88: Reward = 191.84 (0:02:17)
Episode 89: Reward = 196.57 (0:00:14)
Episode 90: Reward = 195.91 (0:00:32)
Episode 91: Reward = 196.12 (0:00:27)
Episode 92: Reward = 145.65 (0:00:19)
Episode 93: Reward = 196.35 (0:00:40)
Episode 94: Reward = -352.61 (0:00:07)
Episode 95: Reward = 196.55 (0:00:22)
Episode 96: Reward = 143.33 (0:02:11)
Episode 97: Reward = 194.61 (0:01:50)
Episode 98: Reward = 195.02 (0:01:05)
Episode 99: Reward = 93.94 (0:00:31)
Trial 4: Reward = (Avg: 167.03, Std: 62.89), Successes: 99/100
Trial 4 Termination reason(s):
ego_collision: 1
Episode 0: Reward = 197.32 (0:00:13)
Episode 1: Reward = 196.73 (0:00:16)
Episode 2: Reward = 196.03 (0:00:19)
Episode 3: Reward = 43.44 (0:00:26)
Episode 4: Reward = 144.96 (0:00:23)
Episode 5: Reward = 144.42 (0:01:16)
Episode 6: Reward = 196.24 (0:00:34)
Episode 7: Reward = 145.72 (0:00:24)
Episode 8: Reward = 194.90 (0:01:12)
Episode 9: Reward = 93.40 (0:00:37)
Episode 10: Reward = 196.72 (0:00:20)
Episode 11: Reward = 196.16 (0:00:28)
Episode 12: Reward = 196.84 (0:00:19)
Episode 13: Reward = 195.59 (0:01:49)
Episode 14: Reward = 195.53 (0:00:58)
Episode 15: Reward = 195.57 (0:00:27)
Episode 16: Reward = 194.70 (0:01:02)
Episode 17: Reward = 143.78 (0:00:55)
Episode 18: Reward = 146.06 (0:00:16)
Episode 19: Reward = 195.91 (0:00:25)
Episode 20: Reward = 196.26 (0:00:17)
Episode 21: Reward = 145.18 (0:00:47)
Episode 22: Reward = 195.01 (0:01:04)
Episode 23: Reward = 194.79 (0:00:59)
Episode 24: Reward = 196.78 (0:00:24)
Episode 25: Reward = 194.99 (0:02:37)
Episode 26: Reward = 145.22 (0:00:51)
Episode 27: Reward = 196.44 (0:00:24)
Episode 28: Reward = 196.55 (0:00:32)
Episode 29: Reward = 197.19 (0:00:19)
Episode 30: Reward = 194.17 (0:01:07)
Episode 31: Reward = 195.49 (0:00:25)
Episode 32: Reward = 193.64 (0:01:54)
Episode 33: Reward = 138.97 (0:01:15)
Episode 34: Reward = 94.85 (0:00:34)
Episode 35: Reward = 137.37 (0:01:40)
Episode 36: Reward = 195.48 (0:01:03)
Episode 37: Reward = 145.61 (0:00:43)
Episode 38: Reward = 195.09 (0:00:48)
Episode 39: Reward = 144.26 (0:00:54)
Episode 40: Reward = 145.49 (0:00:21)
Episode 41: Reward = 145.53 (0:00:24)
Episode 42: Reward = 195.73 (0:01:08)
Episode 43: Reward = 195.95 (0:00:30)
Episode 44: Reward = 196.77 (0:00:38)
Episode 45: Reward = 94.54 (0:01:34)
Episode 46: Reward = 196.52 (0:00:32)
Episode 47: Reward = 196.95 (0:00:25)
Episode 48: Reward = 143.78 (0:01:06)
Episode 49: Reward = 194.57 (0:01:13)
Episode 50: Reward = 196.82 (0:00:32)
Episode 51: Reward = 195.87 (0:00:24)
Episode 52: Reward = 95.27 (0:00:55)
Episode 53: Reward = 194.38 (0:01:36)
Episode 54: Reward = 143.27 (0:01:08)
Episode 55: Reward = 194.05 (0:00:49)
Episode 56: Reward = 195.97 (0:00:41)
Episode 57: Reward = 43.44 (0:00:29)
Episode 58: Reward = 196.16 (0:00:14)
Episode 59: Reward = 195.96 (0:00:54)
Episode 60: Reward = 196.18 (0:00:32)
Episode 61: Reward = 195.37 (0:00:51)
Episode 62: Reward = 145.69 (0:01:00)
Episode 63: Reward = 196.57 (0:00:21)
Episode 64: Reward = 91.38 (0:01:34)
Episode 65: Reward = 196.12 (0:00:58)
Episode 66: Reward = 94.25 (0:00:22)
Episode 67: Reward = 140.71 (0:00:30)
Episode 68: Reward = 196.32 (0:00:53)
Episode 69: Reward = 196.09 (0:01:18)
Episode 70: Reward = 196.15 (0:00:16)
Episode 71: Reward = 197.00 (0:00:43)
Episode 72: Reward = 196.70 (0:00:21)
Episode 73: Reward = 144.73 (0:00:53)
Episode 74: Reward = 144.41 (0:00:32)
Episode 75: Reward = 197.09 (0:00:27)
Episode 76: Reward = 196.82 (0:00:15)
Episode 77: Reward = 192.60 (0:01:00)
Episode 78: Reward = 145.10 (0:00:40)
Episode 79: Reward = 196.63 (0:00:15)
Episode 80: Reward = 194.30 (0:01:49)
Episode 81: Reward = 194.43 (0:00:54)
Episode 82: Reward = 195.41 (0:00:54)
Episode 83: Reward = 195.29 (0:00:33)
Episode 84: Reward = 196.77 (0:00:41)
Episode 85: Reward = 144.59 (0:01:53)
Episode 86: Reward = -252.67 (0:00:07)
Episode 87: Reward = 195.14 (0:00:43)
Episode 88: Reward = 196.38 (0:00:52)
Episode 89: Reward = 142.86 (0:01:42)
Episode 90: Reward = 141.75 (0:01:06)
Episode 91: Reward = 195.78 (0:00:50)
Episode 92: Reward = 196.29 (0:00:20)
Episode 93: Reward = 196.51 (0:00:23)
Episode 94: Reward = 196.15 (0:00:36)
Episode 95: Reward = 193.63 (0:01:19)
Episode 96: Reward = 196.36 (0:00:46)
Episode 97: Reward = 195.77 (0:00:23)
Episode 98: Reward = 194.50 (0:00:54)
Episode 99: Reward = 196.28 (0:00:22)
Trial 5: Reward = (Avg: 170.22, Std: 55.36), Successes: 99/100
Trial 5 Termination reason(s):
ego_collision: 1
Episode 0: Reward = 196.09 (0:00:29)
Episode 1: Reward = 196.69 (0:00:42)
Episode 2: Reward = 195.10 (0:00:26)
Episode 3: Reward = 145.23 (0:01:12)
Episode 4: Reward = 144.73 (0:01:12)
Episode 5: Reward = 196.66 (0:00:39)
Episode 6: Reward = 196.39 (0:00:42)
Episode 7: Reward = 193.47 (0:01:01)
Episode 8: Reward = 194.81 (0:01:03)
Episode 9: Reward = 145.95 (0:00:19)
Episode 10: Reward = 196.60 (0:00:18)
Episode 11: Reward = -251.49 (0:00:04)
Episode 12: Reward = 196.90 (0:00:20)
Episode 13: Reward = 195.80 (0:00:34)
Episode 14: Reward = 195.06 (0:01:29)
Episode 15: Reward = 197.22 (0:00:43)
Episode 16: Reward = 196.64 (0:00:49)
Episode 17: Reward = -201.49 (0:00:03)
Episode 18: Reward = 194.72 (0:00:40)
Episode 19: Reward = 92.92 (0:00:41)
Episode 20: Reward = 143.20 (0:01:15)
Episode 21: Reward = 143.85 (0:00:44)
Episode 22: Reward = 196.24 (0:00:14)
Episode 23: Reward = 195.58 (0:00:26)
Episode 24: Reward = 194.94 (0:01:15)
Episode 25: Reward = 196.84 (0:00:36)
Episode 26: Reward = 196.99 (0:00:19)
Episode 27: Reward = 195.59 (0:00:59)
Episode 28: Reward = 193.90 (0:01:01)
Episode 29: Reward = 194.86 (0:00:27)
Episode 30: Reward = 196.57 (0:01:06)
Episode 31: Reward = 143.35 (0:00:31)
Episode 32: Reward = 195.41 (0:00:40)
Episode 33: Reward = 194.83 (0:01:03)
Episode 34: Reward = 194.41 (0:01:43)
Episode 35: Reward = 195.63 (0:00:54)
Episode 36: Reward = 143.92 (0:01:57)
Episode 37: Reward = 194.86 (0:01:12)
Episode 38: Reward = 196.76 (0:00:22)
Episode 39: Reward = 145.53 (0:00:16)
Episode 40: Reward = 195.74 (0:00:42)
Episode 41: Reward = 144.46 (0:01:00)
Episode 42: Reward = 193.02 (0:01:20)
Episode 43: Reward = 144.58 (0:01:14)
Episode 44: Reward = 196.31 (0:00:29)
Episode 45: Reward = 142.19 (0:01:15)
Episode 46: Reward = 194.78 (0:00:41)
Episode 47: Reward = 142.15 (0:01:26)
Episode 48: Reward = 196.38 (0:00:47)
Episode 49: Reward = 195.83 (0:00:57)
Episode 50: Reward = 194.98 (0:01:04)
Episode 51: Reward = 144.95 (0:00:48)
Episode 52: Reward = 196.36 (0:00:23)
Episode 53: Reward = 196.04 (0:00:30)
Episode 54: Reward = 144.27 (0:01:35)
Episode 55: Reward = 144.17 (0:01:08)
Episode 56: Reward = 196.32 (0:00:12)
Episode 57: Reward = 196.54 (0:00:18)
Episode 58: Reward = 195.49 (0:00:48)
Episode 59: Reward = 41.56 (0:01:01)
Episode 60: Reward = 197.39 (0:00:13)
Episode 61: Reward = 196.77 (0:00:26)
Episode 62: Reward = 196.95 (0:00:12)
Episode 63: Reward = 194.76 (0:01:27)
Episode 64: Reward = 193.39 (0:00:53)
Episode 65: Reward = 195.47 (0:00:49)
Episode 66: Reward = 196.00 (0:00:28)
Episode 67: Reward = 196.39 (0:00:26)
Episode 68: Reward = 195.58 (0:00:26)
Episode 69: Reward = 197.00 (0:00:11)
Episode 70: Reward = 195.70 (0:00:55)
Episode 71: Reward = 196.25 (0:00:16)
Episode 72: Reward = 194.27 (0:00:55)
Episode 73: Reward = 195.71 (0:02:08)
Episode 74: Reward = 142.45 (0:01:58)
Episode 75: Reward = 194.36 (0:00:30)
Episode 76: Reward = 196.02 (0:00:22)
Episode 77: Reward = 196.04 (0:00:18)
Episode 78: Reward = 196.43 (0:00:22)
Episode 79: Reward = 196.28 (0:00:21)
Episode 80: Reward = 196.15 (0:00:21)
Episode 81: Reward = 193.05 (0:01:29)
Episode 82: Reward = 194.45 (0:01:04)
Episode 83: Reward = 144.53 (0:00:42)
Episode 84: Reward = 195.46 (0:00:48)
Episode 85: Reward = 141.99 (0:02:35)
Episode 86: Reward = -301.99 (0:00:07)
Episode 87: Reward = 196.62 (0:00:21)
Episode 88: Reward = 194.39 (0:01:23)
Episode 89: Reward = 141.27 (0:01:49)
Episode 90: Reward = 196.63 (0:00:35)
Episode 91: Reward = 197.13 (0:00:17)
Episode 92: Reward = 194.77 (0:01:12)
Episode 93: Reward = 195.79 (0:00:38)
Episode 94: Reward = 196.69 (0:00:31)
Episode 95: Reward = 194.10 (0:00:43)
Episode 96: Reward = 197.05 (0:00:24)
Episode 97: Reward = 195.62 (0:01:01)
Episode 98: Reward = 195.04 (0:00:50)
Episode 99: Reward = 193.66 (0:01:03)
Trial 6: Reward = (Avg: 169.83, Std: 79.00), Successes: 97/100
Trial 6 Termination reason(s):
LTL_violation: 2
ego_collision: 1
Episode 0: Reward = 196.57 (0:00:28)
Episode 1: Reward = 91.89 (0:00:16)
Episode 2: Reward = 145.10 (0:00:42)
Episode 3: Reward = 196.23 (0:00:55)
Episode 4: Reward = 145.73 (0:00:18)
Episode 5: Reward = 195.96 (0:00:21)
Episode 6: Reward = 145.16 (0:00:35)
Episode 7: Reward = 196.60 (0:00:37)
Episode 8: Reward = 196.38 (0:01:36)
Episode 9: Reward = 196.32 (0:01:20)
Episode 10: Reward = 192.94 (0:02:17)
Episode 11: Reward = 196.27 (0:00:23)
Episode 12: Reward = 139.34 (0:00:31)
Episode 13: Reward = 195.60 (0:00:59)
Episode 14: Reward = 142.94 (0:00:36)
Episode 15: Reward = 196.15 (0:00:35)
Episode 16: Reward = 196.96 (0:00:32)
Episode 17: Reward = 195.96 (0:00:20)
Episode 18: Reward = 196.48 (0:00:17)
Episode 19: Reward = 194.87 (0:01:01)
Episode 20: Reward = 197.22 (0:00:10)
Episode 21: Reward = 93.27 (0:01:04)
Episode 22: Reward = 94.49 (0:00:41)
Episode 23: Reward = 194.53 (0:01:39)
Episode 24: Reward = -354.19 (0:00:11)
Episode 25: Reward = 92.48 (0:00:44)
Episode 26: Reward = 143.47 (0:00:49)
Episode 27: Reward = 144.55 (0:01:06)
Episode 28: Reward = 196.98 (0:00:22)
Episode 29: Reward = 195.93 (0:00:36)
Episode 30: Reward = 195.34 (0:01:12)
Episode 31: Reward = 196.79 (0:00:19)
Episode 32: Reward = 145.37 (0:00:28)
Episode 33: Reward = 195.23 (0:00:37)
Episode 34: Reward = 142.85 (0:01:08)
Episode 35: Reward = 175.08 (0:00:35)
Episode 36: Reward = 195.74 (0:00:29)
Episode 37: Reward = 144.91 (0:00:31)
Episode 38: Reward = 194.55 (0:01:03)
Episode 39: Reward = 91.86 (0:00:32)
Episode 40: Reward = 144.74 (0:01:06)
Episode 41: Reward = 94.47 (0:00:36)
Episode 42: Reward = 196.74 (0:00:21)
Episode 43: Reward = 145.25 (0:00:22)
Episode 44: Reward = 196.60 (0:00:57)
Episode 45: Reward = 195.32 (0:01:14)
Episode 46: Reward = 196.42 (0:00:22)
Episode 47: Reward = 196.44 (0:00:14)
Episode 48: Reward = 140.03 (0:02:24)
Episode 49: Reward = 195.80 (0:00:47)
Episode 50: Reward = 196.36 (0:00:29)
Episode 51: Reward = 195.65 (0:01:07)
Episode 52: Reward = 144.06 (0:01:03)
Episode 53: Reward = 194.92 (0:01:04)
Episode 54: Reward = 144.86 (0:00:16)
Episode 55: Reward = 195.46 (0:00:29)
Episode 56: Reward = 194.77 (0:00:57)
Episode 57: Reward = 196.99 (0:00:21)
Episode 58: Reward = 194.21 (0:01:42)
Episode 59: Reward = 93.84 (0:00:34)
Episode 60: Reward = 196.99 (0:00:37)
Episode 61: Reward = 196.77 (0:00:13)
Episode 62: Reward = 143.71 (0:01:34)
Episode 63: Reward = 195.88 (0:00:24)
Episode 64: Reward = 94.40 (0:01:08)
Episode 65: Reward = 145.46 (0:00:26)
Episode 66: Reward = 195.85 (0:00:28)
Episode 67: Reward = 195.39 (0:00:36)
Episode 68: Reward = 194.29 (0:00:42)
Episode 69: Reward = 43.24 (0:00:27)
Episode 70: Reward = 194.91 (0:00:26)
Episode 71: Reward = 145.64 (0:00:35)
Episode 72: Reward = 196.75 (0:00:37)
Episode 73: Reward = 191.51 (0:01:30)
Episode 74: Reward = 143.55 (0:01:44)
Episode 75: Reward = 92.96 (0:00:44)
Episode 76: Reward = 94.47 (0:00:38)
Episode 77: Reward = 195.47 (0:00:45)
Episode 78: Reward = 42.77 (0:00:28)
Episode 79: Reward = 144.20 (0:00:37)
Episode 80: Reward = 196.46 (0:00:16)
Episode 81: Reward = 196.88 (0:00:37)
Episode 82: Reward = 197.28 (0:00:52)
Episode 83: Reward = 196.29 (0:00:52)
Episode 84: Reward = 197.25 (0:00:23)
Episode 85: Reward = 195.87 (0:00:56)
Episode 86: Reward = 195.49 (0:01:01)
Episode 87: Reward = 194.17 (0:01:10)
Episode 88: Reward = 196.69 (0:00:25)
Episode 89: Reward = 145.11 (0:00:31)
Episode 90: Reward = 143.90 (0:00:52)
Episode 91: Reward = 194.50 (0:01:38)
Episode 92: Reward = 196.18 (0:00:22)
Episode 93: Reward = 195.32 (0:00:56)
Episode 94: Reward = 196.22 (0:00:33)
Episode 95: Reward = 196.33 (0:00:13)
Episode 96: Reward = 195.74 (0:00:46)
Episode 97: Reward = 195.89 (0:00:18)
Episode 98: Reward = 194.90 (0:01:47)
Episode 99: Reward = 143.63 (0:00:29)
Trial 7: Reward = (Avg: 164.91, Std: 64.86), Successes: 99/100
Trial 7 Termination reason(s):
LTL_violation: 1
Episode 0: Reward = 196.92 (0:00:26)
Episode 1: Reward = 145.90 (0:00:31)
Episode 2: Reward = 143.14 (0:01:38)
Episode 3: Reward = 142.40 (0:00:32)
Episode 4: Reward = 143.97 (0:01:23)
Episode 5: Reward = 194.62 (0:01:04)
Episode 6: Reward = 145.25 (0:00:29)
Episode 7: Reward = 144.39 (0:00:29)
Episode 8: Reward = 143.83 (0:01:22)
Episode 9: Reward = 144.29 (0:00:47)
Episode 10: Reward = 196.32 (0:00:22)
Episode 11: Reward = 193.92 (0:01:29)
Episode 12: Reward = 144.75 (0:01:00)
Episode 13: Reward = 143.66 (0:00:45)
Episode 14: Reward = 197.28 (0:00:52)
Episode 15: Reward = 196.81 (0:00:27)
Episode 16: Reward = 194.13 (0:00:48)
Episode 17: Reward = 196.09 (0:00:19)
Episode 18: Reward = 196.72 (0:00:28)
Episode 19: Reward = 195.65 (0:00:30)
Episode 20: Reward = 143.15 (0:00:27)
Episode 21: Reward = 195.48 (0:00:29)
Episode 22: Reward = 196.68 (0:00:27)
Episode 23: Reward = 145.67 (0:00:28)
Episode 24: Reward = 93.00 (0:00:43)
Episode 25: Reward = 195.82 (0:00:35)
Episode 26: Reward = 194.51 (0:01:08)
Episode 27: Reward = 197.22 (0:00:15)
Episode 28: Reward = 196.88 (0:00:15)
Episode 29: Reward = 91.18 (0:00:55)
Episode 30: Reward = 197.14 (0:00:13)
Episode 31: Reward = 145.86 (0:00:48)
Episode 32: Reward = 195.98 (0:00:16)
Episode 33: Reward = 196.14 (0:00:22)
Episode 34: Reward = 196.14 (0:00:23)
Episode 35: Reward = 196.66 (0:00:39)
Episode 36: Reward = 195.75 (0:00:44)
Episode 37: Reward = 195.04 (0:01:03)
Episode 38: Reward = 146.00 (0:00:22)
Episode 39: Reward = 194.82 (0:00:48)
Episode 40: Reward = 192.54 (0:01:56)
Episode 41: Reward = 195.02 (0:01:04)
Episode 42: Reward = 167.06 (0:00:38)
Episode 43: Reward = 142.80 (0:00:36)
Episode 44: Reward = 195.39 (0:01:50)
Episode 45: Reward = 196.87 (0:00:20)
Episode 46: Reward = 194.76 (0:00:28)
Episode 47: Reward = 194.91 (0:01:14)
Episode 48: Reward = 193.60 (0:00:58)
Episode 49: Reward = 196.21 (0:01:09)
Episode 50: Reward = 195.93 (0:00:41)
Episode 51: Reward = 196.13 (0:00:40)
Episode 52: Reward = 143.23 (0:01:00)
Episode 53: Reward = 194.83 (0:01:09)
Episode 54: Reward = 194.17 (0:01:04)
Episode 55: Reward = 194.99 (0:00:38)
Episode 56: Reward = 196.21 (0:00:28)
Episode 57: Reward = 194.93 (0:00:30)
Episode 58: Reward = 192.82 (0:01:01)
Episode 59: Reward = 93.31 (0:00:27)
Episode 60: Reward = 195.45 (0:00:54)
Episode 61: Reward = 140.21 (0:01:25)
Episode 62: Reward = 94.21 (0:00:27)
Episode 63: Reward = 196.52 (0:00:12)
Episode 64: Reward = 196.62 (0:00:21)
Episode 65: Reward = 194.95 (0:01:09)
Episode 66: Reward = 196.17 (0:00:20)
Episode 67: Reward = -201.04 (0:00:04)
Episode 68: Reward = 193.84 (0:01:28)
Episode 69: Reward = 195.89 (0:00:25)
Episode 70: Reward = 94.18 (0:00:28)
Episode 71: Reward = 145.21 (0:01:27)
Episode 72: Reward = 196.23 (0:00:18)
Episode 73: Reward = 193.48 (0:01:35)
Episode 74: Reward = 196.74 (0:00:28)
Episode 75: Reward = 195.41 (0:01:14)
Episode 76: Reward = 144.21 (0:00:35)
Episode 77: Reward = 193.59 (0:01:00)
Episode 78: Reward = 195.10 (0:01:06)
Episode 79: Reward = 195.23 (0:00:28)
Episode 80: Reward = 144.97 (0:00:31)
Episode 81: Reward = 195.96 (0:00:27)
Episode 82: Reward = 195.43 (0:00:31)
Episode 83: Reward = 195.47 (0:01:14)
Episode 84: Reward = 194.55 (0:00:32)
Episode 85: Reward = 145.21 (0:00:28)
Episode 86: Reward = 117.39 (0:00:30)
Episode 87: Reward = 141.92 (0:00:27)
Episode 88: Reward = 143.98 (0:00:42)
Episode 89: Reward = 145.08 (0:00:46)
Episode 90: Reward = 146.05 (0:00:16)
Episode 91: Reward = 195.30 (0:01:35)
Episode 92: Reward = 195.29 (0:01:06)
Episode 93: Reward = 195.43 (0:00:47)
Episode 94: Reward = 94.06 (0:00:21)
Episode 95: Reward = 196.20 (0:00:30)
Episode 96: Reward = 145.86 (0:00:38)
Episode 97: Reward = 195.50 (0:01:00)
Episode 98: Reward = 144.15 (0:00:44)
Episode 99: Reward = 145.21 (0:00:38)
Trial 8: Reward = (Avg: 170.00, Std: 48.51), Successes: 99/100
Trial 8 Termination reason(s):
ego_collision: 1
Episode 0: Reward = 197.20 (0:00:23)
Episode 1: Reward = 196.25 (0:00:13)
Episode 2: Reward = 195.31 (0:01:00)
Episode 3: Reward = 196.24 (0:00:15)
Episode 4: Reward = 195.54 (0:00:25)
Episode 5: Reward = 93.89 (0:00:46)
Episode 6: Reward = 196.11 (0:00:18)
Episode 7: Reward = 194.63 (0:02:04)
Episode 8: Reward = 195.63 (0:00:44)
Episode 9: Reward = 196.27 (0:00:16)
Episode 10: Reward = 196.49 (0:00:22)
Episode 11: Reward = 145.70 (0:00:41)
Episode 12: Reward = 195.09 (0:00:56)
Episode 13: Reward = 194.59 (0:01:15)
Episode 14: Reward = 195.61 (0:00:43)
Episode 15: Reward = 145.17 (0:00:57)
Episode 16: Reward = 196.86 (0:00:27)
Episode 17: Reward = 194.93 (0:01:25)
Episode 18: Reward = 145.24 (0:00:37)
Episode 19: Reward = 194.85 (0:00:52)
Episode 20: Reward = 144.36 (0:00:40)
Episode 21: Reward = 138.69 (0:00:48)
Episode 22: Reward = 196.78 (0:00:43)
Episode 23: Reward = 195.73 (0:00:37)
Episode 24: Reward = 195.07 (0:01:35)
Episode 25: Reward = 196.32 (0:00:36)
Episode 26: Reward = 195.84 (0:00:32)
Episode 27: Reward = 196.71 (0:00:12)
Episode 28: Reward = 195.80 (0:00:53)
Episode 29: Reward = 195.18 (0:00:57)
Episode 30: Reward = 145.21 (0:00:28)
Episode 31: Reward = 193.98 (0:01:42)
Episode 32: Reward = 194.96 (0:00:38)
Episode 33: Reward = 140.49 (0:00:37)
Episode 34: Reward = 194.92 (0:00:28)
Episode 35: Reward = 194.40 (0:00:33)
Episode 36: Reward = 194.19 (0:01:36)
Episode 37: Reward = 145.83 (0:00:16)
Episode 38: Reward = 142.09 (0:00:29)
Episode 39: Reward = 196.02 (0:00:20)
Episode 40: Reward = 194.50 (0:01:02)
Episode 41: Reward = 195.34 (0:00:46)
Episode 42: Reward = 193.54 (0:00:35)
Episode 43: Reward = -252.05 (0:00:08)
Episode 44: Reward = 195.88 (0:01:05)
Episode 45: Reward = -8.60 (0:01:05)
Episode 46: Reward = 195.96 (0:00:31)
Episode 47: Reward = 196.87 (0:00:29)
Episode 48: Reward = 144.37 (0:00:34)
Episode 49: Reward = 195.41 (0:00:34)
Episode 50: Reward = 144.60 (0:00:34)
Episode 51: Reward = 195.04 (0:00:32)
Episode 52: Reward = 94.62 (0:00:35)
Episode 53: Reward = 196.62 (0:00:23)
Episode 54: Reward = 145.48 (0:00:58)
Episode 55: Reward = 196.82 (0:00:12)
Episode 56: Reward = 138.51 (0:00:38)
Episode 57: Reward = 194.92 (0:01:14)
Episode 58: Reward = 145.32 (0:00:35)
Episode 59: Reward = 143.48 (0:00:28)
Episode 60: Reward = 143.70 (0:00:29)
Episode 61: Reward = 195.41 (0:00:29)
Episode 62: Reward = 195.77 (0:00:17)
Episode 63: Reward = 94.25 (0:00:29)
Episode 64: Reward = 196.14 (0:00:21)
Episode 65: Reward = 195.45 (0:00:47)
Episode 66: Reward = 197.05 (0:00:22)
Episode 67: Reward = 196.70 (0:00:27)
Episode 68: Reward = 142.47 (0:02:16)
Episode 69: Reward = 195.08 (0:01:13)
Episode 70: Reward = 196.27 (0:00:43)
Episode 71: Reward = 195.79 (0:00:47)
Episode 72: Reward = 196.56 (0:00:18)
Episode 73: Reward = 195.61 (0:00:36)
Episode 74: Reward = 41.43 (0:00:39)
Episode 75: Reward = 194.98 (0:00:29)
Episode 76: Reward = 195.24 (0:00:38)
Episode 77: Reward = 196.68 (0:00:15)
Episode 78: Reward = 196.15 (0:00:20)
Episode 79: Reward = 195.81 (0:00:25)
Episode 80: Reward = 195.12 (0:01:08)
Episode 81: Reward = 143.35 (0:01:44)
Episode 82: Reward = 145.09 (0:00:25)
Episode 83: Reward = 195.24 (0:01:49)
Episode 84: Reward = 196.20 (0:00:35)
Episode 85: Reward = 144.85 (0:00:31)
Episode 86: Reward = 145.29 (0:00:36)
Episode 87: Reward = 194.61 (0:00:39)
Episode 88: Reward = 196.14 (0:00:19)
Episode 89: Reward = 146.09 (0:00:17)
Episode 90: Reward = 192.61 (0:00:59)
Episode 91: Reward = 197.36 (0:00:29)
Episode 92: Reward = 196.98 (0:00:17)
Episode 93: Reward = 95.08 (0:00:41)
Episode 94: Reward = 145.09 (0:00:24)
Episode 95: Reward = 141.89 (0:02:09)
Episode 96: Reward = 143.16 (0:01:39)
Episode 97: Reward = 196.36 (0:00:16)
Episode 98: Reward = 89.18 (0:01:58)
Episode 99: Reward = 194.82 (0:01:46)
Trial 9: Reward = (Avg: 169.52, Std: 56.33), Successes: 99/100
Trial 9 Termination reason(s):
LTL_violation: 1
===========================
Overall: Reward = (Avg: 168.88, Std: 63.13), Success = (Avg: 98.60, Std: 0.80)
Termination reason(s):
LTL_violation: Avg: 0.70, Std: 0.78
ego_collision: Avg: 0.70, Std: 0.46
mcts.py
+ 1
− 2
View file @ 0e92b9ab
......@@ -89,8 +89,7 @@ def mcts_evaluation(depth,
start_time = time.time()
t = 0
while True:
if options.controller.can_transition():
options.controller.do_transition()
options.controller.do_transition()
features, R, terminal, info = options.controller.step_current_node(visualize_low_level_steps=visualize)
episode_reward += R
......
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